### FILE="Main.annotation"
## Copyright:   Public domain.
## Filename:    KALMAN_FILTER.agc
## Purpose:     A section of Luminary revision 116.
##              It is part of the source code for the Lunar Module's (LM) 
##              Apollo Guidance Computer (AGC) for Apollo 12.
##              This file is intended to be a faithful transcription, except
##              that the code format has been changed to conform to the
##              requirements of the yaYUL assembler rather than the
##              original YUL assembler.
## Reference:   pp. 1460-1461
## Assembler:   yaYUL
## Contact:     Ron Burkey <info@sandroid.org>.
## Website:     www.ibiblio.org/apollo/index.html
## Mod history: 2017-01-22 MAS  Created from Luminary 99.
##		2017-01-23 RRB	Updated for Luminary 116.
##		2017-03-13 RSB	Proofed comment text via 3-way diff vs
##				Luminary 99 and 131 ... no problems found.

## Page 1460
                EBANK=          NO.UJETS                        
                BANK            16                              
                SETLOC          DAPS1                           
                BANK                                            

                COUNT*          $$/DAP                          

RATELOOP        CA              TWO                             
                TS              DAPTEMP6                        
                DOUBLE                                          
                TS              Q                               
                INDEX           DAPTEMP6                        
                CCS             TJP                             
                TCF             +2                              
                TCF             LOOPRATE                        
                AD              -100MST6                        
                EXTEND                                          
                BZMF            SMALLTJU                        
                INDEX           DAPTEMP6                        
                CCS             TJP                             
                CA              -100MST6                        
                TCF             +2                              
                CS              -100MST6                        
                INDEX           DAPTEMP6                        
                ADS             TJP                             
                INDEX           DAPTEMP6                        
                CCS             TJP                             
                CS              -100MS                          # 0.1 AT 1
                TCF             +2                              
                CA              -100MS                          
LOOPRATE        EXTEND                                          
                INDEX           DAPTEMP6                        
                MP              NO.PJETS                        
                CA              L                               
                INDEX           DAPTEMP6                        
                TS              DAPTEMP1                        # SIGNED TORQUE AT 1 JET-SEC FOR FILTER
                EXTEND                                          
                MP              BIT10                           # RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
                EXTEND                                          
                BZMF            NEGTORK                         
STORTORK        INDEX           Q                               # INCREMENT DOWNLIST REGISTER.
                ADS             DOWNTORK                        #   NOTE:  NOT INITIALIZED; OVERFLOWS.

                CCS             DAPTEMP6                        
                TCF             RATELOOP        +1              
                TCF             ROTORQUE                        
SMALLTJU        CA              ZERO                            
                INDEX           DAPTEMP6                        
                XCH             TJP                             
                EXTEND                                          
## Page 1461
                MP              ELEVEN                          # 10.24 PLUS
                CA              L                               
                TCF             LOOPRATE                        
ROTORQUE        CA              DAPTEMP2                        
                AD              DAPTEMP3                        
                EXTEND                                          
                MP              1JACCR                          
                TS              JETRATER                        
                CS              DAPTEMP3                        
                AD              DAPTEMP2                        
                EXTEND                                          
                MP              1JACCQ                          
                TS              JETRATEQ                        
                TCF             BACKP                           
-100MST6        DEC             -160                            

NEGTORK         COM                                             
                INCR            Q                               
                TCF             STORTORK