KALMAN_FILTER.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: KALMAN_FILTER.agc
## Purpose: Part of the source code for Luminary 1A build 099.
## It is part of the source code for the Lunar Module's (LM)
## Apollo Guidance Computer (AGC), for Apollo 11.
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo.
## Pages: 1470-1471
## Mod history: 2009-05-27 RSB Adapted from the corresponding
## Luminary131 file, using page
## images from Luminary 1A.
## 2016-12-18 RSB Proofed text comments with octopus/ProoferComments
## but no errors found.
##
## This source code has been transcribed or otherwise adapted from
## digitized images of a hardcopy from the MIT Museum. The digitization
## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
## the Museum. Many thanks to both. The images (with suitable reduction
## in storage size and consequent reduction in image quality as well) are
## available online at www.ibiblio.org/apollo. If for some reason you
## find that the images are illegible, contact me at info@sandroid.org
## about getting access to the (much) higher-quality images which Paul
## actually created.
##
## Notations on the hardcopy document read, in part:
##
## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
## 16:27 JULY 14, 1969
## Page 1470
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 1471
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