AOSTASK_AND_AOSJOB.agc
# Copyright: Public domain.
# Filename: AOSTASK_AND_AOSJOB.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: 1485-1506
# Mod history: 2009-05-27 RSB Adapted from the corresponding
# Luminary131 file, using page
# images from Luminary 1A.
# 2009-06-05 RSB Corrected a memory-bank error type.
# 2009-06-07 RSB Corrected a typo.
#
# 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 2021112-061
# 16:27 JULY 14, 1969
# Page 1485
# PROGRAM NAME: 1/ACCS
# PROGRAM WRITTEN BY: BOB COVELLI AND MIKE HOUSTON
# LAST MODIFICATION: FEB. 14, 1969 BY G. KALAN
#
# PROGRAM DESCRIPTION:
# 1/ACCS PROVIDES THE INTERFACE BETWEEN THE GUIDANCE PROGRAMS AND THE DIGITAL AUTOPILOT. WHENEVER THERE IS A
# CHANGE IN THE MASS OF THE VEHICLE, IN THE DEADBAND SELECTED, IN THE VEHICLE CONFIGURATION (ASCENT-DESCENT-
# DOCKED), AND DURING A FRESH START OR A RESTART, 1/ACCS IS CALLED TO COMMUNICATE THE DATA CHANGES TO THE DAP.
#
# THE INPUTS TO 1/ACCS ARE MASS, ACCELERATION (ABDELV), DEADBAND (DB), OFFSET ACCELERATIONS (AOSQ AND AOSR),
# STAGE VERIFY BIT (CHAN30, BIT2), DOCKED BIT (DAPBOOLS, BIT13), DRIFT BIT (DAPBOOLS, BIT8), USEQRJTS (DAPBOOLS,
# BIT14), AND SURFACE FLAG (FLAGWRDB, BIT8), AND CH5MASK.
#
# 1/ACCS COMPUTES THE JET ACCELERATIONS (1JACC, 1JACCQ, 1JACCR) AS FUNCTIONS OF MASS. 1JACCU AND 1JACCV ARE
# FORMED BY RESOLVING 1JACCQ AND 1JACCR. IN THE DESCENT CASE, THE DESCENT ENGINE MOMENT ARM (L, PVT-CG) IS ALSO
# COMPUTED AS A FUNCTION OF MASS. THE RATE OF CHANGE OF ACCELERATION DUE TO ROTATION OF THE GIMBAL (ACCDOTQ,
# ACCDOTR) IS ALSO COMPUTED IN THE DESCENT CASE.
#
# AFTER THE ABOVE COMPUTATIONS, THE PROGRAM 1/ACCONT COMPUTES THE RECIPROCAL NET ACCELERATIONS ABOUT THE P, U,
# AND V AXES (2 JETS FOR P-AXIS, BOTH 1 AND 2 JETS FOR U AND V AXES), AND THE RECIPROCAL COAST ACCELERATIONS ABOUT
# THE P, U, AND V AXES. THE ACCELERATION FUNCTIONS (ACCFCTZ1 AND ACCFCTZ5) ARE ALSO COMPUTED FOR THESE AXES. THE
# FIRE AND COAST DEADBANDS AND AXISDIST ARE COMPUTED FOR EACH AXIS. FLAT AND ZONE3LIM, THE WIDTH AND HEIGHT OF THE
# MINIMUM IMPULSE ZONE, ARE COMPUTED. 1/ACCONT ALSO SETS ACCSWU AND ACCSWV, WHICH INDICATE WHEN 1 JET ACCELERATION
# IS NOT SUFFICIENT TO PRODUCE MINIMUM ACCELERATION. AT THE COMPLETION OF 1/ACCS, THE ACCSOKAY BIT IS SET.
#
# SUBROUTINES CALLED:
# TIMEGMBL
# MAKECADR
# ROT45DEG
#
# CALLING SEQUENCE:
# TC BANKCALL # (1/ACCS MUST BE CALLED BY BANKCALL)
# CADR 1/ACCS
#
# NORMAL EXIT: VIA BANKJUMP
#
# ALARM AND EXIT MODES: NONE
#
# INPUT/OUTPUT: SEE PROGRAM DESCRIPTION.
#
# DEBRIS:
# ALL OF THE EXECUTIVE TEMPORARY REGISTERS, EXCEPT FIXLOC AND OVFIND, AND THE CORE SET AREA FROM MPAC TO BANKSET.
#
# RESTRICTIONS:
# 1/ACCS MUST BE CALLED BY BANKCALL
# EBANK IS SET TO 6, BUT NOT RESTORED.
# Page 1486
BANK 20
SETLOC DAPS3
BANK
COUNT* $$/DAPAO
EBANK= AOSQ
# ENTRY IS THROUGH 1/ACCJOB OR 1/ACCSIT WHEN 1/ACCS IS TO BE DONE AS A SEPARATE NOVAC JOB.
# IT IS POSSIBLE FOR MORE THAN ONE OF THESE JOBS TO BE SET UP CONCURRENTLY. HOWEVER, SINCE THERE IS NO CHECK OF
# NEWJOB, A SECOND MANIFESTATION CANNOT BE STARTED UNTIL THE FIRST IS COMPLETED.
1/ACCSET CAF ZERO # ENTRY FROM FRESH START/RESTART CODING.
TS AOSQ # NULL THE OFFSET ESTIMATES FOR 1/ACCS.
TS AOSR
TS ALPHAQ # NULL THE OFFSET ESTIMATES FOR DOWNLIST
TS ALPHAR
1/ACCJOB TC BANKCALL # 1/ACCS ASSUMES ENTRY VIA BANKCALL.
CADR 1/ACCS +2 # SKIP EBANK SETTING.
TC ENDOFJOB
1/ACCS CA EBANK6 # ***** EBANK SET BUT NOT RESTORED *****
TS EBANK
TC MAKECADR # SAVE RETURN SO THAT BUF2 MAY BE USED
TS ACCRETRN
# DETERMINE MASS OF THE LEM.
CA DAPBOOLS # IS THE CSM DOCKED
MASK CSMDOCKD
TS DOCKTEMP # STORE RECORD OF STATE IN TEMP (MPAC +3).
CCS A
CS CSMMASS # DOCKED: LEMMAS = MASS - CSMMASS
AD MASS # LEM ALONE: LEMMASS = MASS
TS LEMMASS
# ON THE BASIS OF APSFLAG:
# SET THE P-AXIS RATE COMMAND LIMIT FOR 2-JET/2-JET CONTROL
# SET MPAC, WHICH INDICATES THE PROPER SET OF COEFFICIENTS FOR THE LEM-ALONE F(MASS) CALCULATIONS
# ENSURE THAT THE LEM MASS VALUE IS WITHIN THE ACCEPTABLE RANGE
INHINT
CAE FLGWRD10 # DETERMINE WHETHER STAGED.
MASK APSFLBIT
EXTEND
BZF DPSFLITE
# Page 1487
CS POSMAX # ASCENT (OR ON LUNAR SURFACE)
TS -2JETLIM # ALWAYS 2 JETS FOR P-AXIS RATE COMMAND
CAF OCT14 # INITIALIZE INDEX AT 12.
TS MPAC
CS LEMMASS # CHECK IF MASS TOO HIGH. CATCH STAGING.
AD HIASCENT
EXTEND
BZMF MASSFIX
CS LEMMASS # CHECK IF MASS TOO LOW. THIS LIMITS THE
AD LOASCENT # DECREMENTING BY MASSMON.
EXTEND
BZMF F(MASS)
MASSFIX ADS LEMMASS # STORE THE VIOLATED LIMIT AS LEMMASS.
ZL # ALSO CORRECT TOTAL MASS, ZEROING THE
CCS DOCKTEMP # LOW-ORDER WORD.
CAE CSMMASS # DOCKED: MASS = LEMMASS + CSMMASS
AD LEMMASS # LEM ALONE: MASS = LEMMASS
DXCH MASS
TCF F(MASS)
DPSFLITE CS BIT10 # FOUR JETS FOR P-AXIS RATE COMMAND ERRORS
TS -2JETLIM # EXCEEDING 1.4 DEG/SEC (SCALED AT 45)
CAF SIX # INITIALIZE INDEX AT 6.
TS MPAC
CS LEMMASS # CHECK IF MASS TOO HIGH. SHOULD NEVER
AD HIDESCNT # OCCUR EXCEPT PERHAPS BEFORE THE PAD
EXTEND # LOAD IS DONE.
BZMF MASSFIX
CS LEMMASS # CHECK IF MASS TOO LOW. THIS LIMITS THE
AD LODESCNT # DECREMENTING BY MASSMON.
AD HIASCENT
EXTEND
BZMF F(MASS)
TCF MASSFIX
# COMPUTATION OF FUNCTIONS OF MASS
F(MASS) RELINT
CCS DOCKTEMP
TCF DOCKED # DOCKED: USE SEPARATE COMPUTATION.
CA TWO
STCTR TS MPAC +1 # J=2,1,0 FOR 1JACCR,1JACCQ,1JACC
CS TWO
ADS MPAC # JX=10,8,6 OR 4,2,0 TO INDEX COEFS.
STCTR1 CAE LEMMASS
INDEX MPAC
AD INERCONC
TS MPAC +2 # MASS + C
# Page 1488
EXTEND
INDEX MPAC
DCA INERCONA
EXTEND
DV MPAC +2
INDEX MPAC
AD INERCONB
INDEX MPAC +1 # 1JACC(J)=A(JX)/(MASS+C(JX) + B(JX)
TS 1JACC # 1JACC(-1)=L,PVT-CG SCALED AT 8 FEET
CCS MPAC +1
TCF STCTR
TCF COMMEQS
TCF LRESC
# COEFFQ AND COEFFR ARE COMPUTED IN THIS SECTION. THEY ARE USED TO RESOLVE Q-R COMPONENTS INTO NON-ORTHOGONAL
# U AND V COMPONENTS (SEE ROT-TOUV SECTION).
COMMEQS CS 1JACCR
AD 1JACCQ
EXTEND
BZMF BIGIQ
EXTEND # EPSILON IS A MEASURE OF COUPLING AND IS
DV 1JACCQ # DEFINED=1-IQ/IR FOR IR GREATER THAN IQ.
TS EPSILON # THE COMPUTED EXPRESSION IS EQUIVALENT
AD -EPSMAX
EXTEND
BZMF GOODEPS1
CS -EPSMAX
TS EPSILON # EPSILON IS LIMITED TO A MAX. OF .42265
GOODEPS1 CA EPSILON
EXTEND
MP 0.35356
AD .7071
TS COEFFR # IN THIS CASE WHERE IR IS GREATER THAN
CS POSMAX # IQ, COEFFQ=-.707(1+.5EPSILON)(1-EPSILON)
AD EPSILON # AND COEFFR=.707(1+.5EPSILON)
EXTEND
MP COEFFR
TS COEFFQ
TCF JACCUV
BIGIQ EXTEND # EPSILON IS DEFINED AS 1-IR/IQ FOR IQ
DV 1JACCR # GREATER THAN IR. -EPSILON IS COMPUTED
TS -EPSILON # RATHER THAN EPSILON FOR CONVENIENCE
CS -EPSILON
AD -EPSMAX
EXTEND
BZMF GOODEPS2
CA -EPSMAX
TS -EPSILON # EPSILON IS LIMITED TO A MAX. OF .42265
# Page 1489
GOODEPS2 CA -EPSILON
EXTEND
MP 0.35356
AD -.7071
TS COEFFQ # IN THIS CASE WHERE IQ IS GREATER THAN
CS -EPSILON # IR, COEFFQ=-.707(1+.5EPSILON) AND
AD NEGMAX # COEFFR=.707(1+.5EPSILON)(1-EPSILON)
EXTEND
MP COEFFQ
TS COEFFR
JACCUV CS COEFFQ
EXTEND
MP 1JACCQ # 1JACCQ IS SCALED AT PI/4
TS 1JACCU # 1JACCU USED AS TEMPORARY STORAGE
CA COEFFR
EXTEND
MP 1JACCR
AD 1JACCU
EXTEND
MP BIT14 # SCALING CHANGED FROM PI/4 TO PI/2
TS 1JACCU
TS 1JACCV # SCALED AT PI/2 RADIANS/SEC(2)
CCS MPAC # COMPUTE L,PVT-CG IF IN DESCENT
CAF ZERO # ZERO SWITCHES AND GO TO 1/ACCONT IN
TS ALLOWGTS # ASCENT
TCF 1/ACCONT -1
CS TWO
TS MPAC
CS ONE
TS MPAC +1
TCF STCTR1
# THIS SECTION COMPUTES THE RATE OF CHANGE OF ACCELERATION DUE TO THE ROTATION OF THE GIMBALS. THE EQUATION
# IMPLEMENTED IN BOTH THE Y-X PLANE AND THE Z-X PLANE IS -- D(ALPHA)/DT = TL/I*D(DELTA)/DT, WHERE
# T = ENGINE THRUST FORCE
# L = PIVOT TO CG DISTANCE OF ENGINE
# I = MOMENT OF INERTIA
LRESC CAE ABDELV # SCALED AT 2(13) CM/SEC(2)
EXTEND
MP MASS # SCALED AT B+16 KGS
TC DVOVSUB # GET QUOTIENT WITH OVERFLOW PROTECTION
ADRES GFACTM
# MASS IS DIVIDED BY ACCELERATION OF GRAVITY IN ORDER TO MATCH THE UNITS OF IXX,IYY,IZZ, WHICH ARE SLUG-FT(2).
# THE RATIO OF ACCELERATION FROM PIPAS TO ACCELERATION OF GRAVITY IS THE SAME IN METRIC OR ENGINEERING UNITS, SO
# THAT IS UNCONVERTED. 2.20462 CONVERTS KG. TO LB. NOW T IN IN A SCALED AT 2(14).
EXTEND
MP L,PVT-CG # SCALED AT 8 FEET.
# Page 1490
INHINT
TS MPAC
EXTEND
MP 1JACCR
TC DVOVSUB # GET QUOTIENT WITH OVERFLOW PROTECTION
ADRES TORKJET1
TS ACCDOTR # SCALED AT PI/2(7)
CA MPAC
EXTEND
MP 1JACCQ
TC DVOVSUB # GET QUOTIENT WITH OVERFLOW PROTECTION
ADRES TORKJET1
SPSCONT TS ACCDOTQ # SCALED AT PI/2(7)
EXTEND
MP DGBF # .3ACCDOTQ SCALED AT PI/2(8)
TS KQ
CAE ACCDOTR # .3ACCDOTR AT PI/2(8)
EXTEND
MP DGBF
TS KRDAP
EXTEND # NOW COMPUTE QACCDOT, RACCDOT, THE SIGNED
READ CHAN12 # JERK TERMS. STORE CHANNEL 12. WITH GIMBAL
TS MPAC +1 # DRIVE BITS 9 THROUGH 12 SET LOOP
CAF BIT2 # INDEX TO COMPUTE RACCDOT, THEN QACCDOT.
TCF LOOP3
CAF ZERO # ACCDOTQ AND ACCDOTR ARE NOT NEGATIVE,
LOOP3 TS MPAC # BECAUSE THEY ARE MAGNITUDES
CA MPAC +1
INDEX MPAC # MASK CHANNEL IMAGE FOR ANY GIMBAL MOTION
MASK GIMBLBTS
EXTEND
BZF ZACCDOT # IF NONE, Q(R)ACCDOT IS ZERO.
CA MPAC +1
INDEX MPAC # GIMBAL IS MOVING. IS ROTATION POSITIVE.
MASK GIMBLBTS +1
EXTEND
BZF FRSTZERO # IF NOT POSITIVE, BRANCH
INDEX MPAC # POSITIVE ROTATION, NEGATIVE Q(R)ACCDOT.
CS ACCDOTQ
TCF STACCDOT
FRSTZERO INDEX MPAC # NEGATIVE ROTATION, POSITIVE Q(R)ACCDOT.
CA ACCDOTQ
TCF STACCDOT
ZACCDOT CAF ZERO
STACCDOT INDEX MPAC
TS QACCDOT # STORE Q(R)ACCDOT.
CCS MPAC
TCF LOOP3 -1 # NOW DO QACCDOT.
# Page 1491
CS DAPBOOLS # IS GIMBAL USABLE?
MASK USEQRJTS
EXTEND
BZF DOWNGTS # NO. BE SURE THE GIMBAL SWITCHES ARE DOWN
CS T5ADR # YES. IS THE DAP RUNNINT?
AD PAXISADR
EXTEND
BZF +2
TCF DOWNGTS # NO. BE SURE THE GIMBAL SWITCHES ARE DOWN
CCS INGTS # YES. IS GTS IN CONTROL?
TCF DOCKTEST # YES. PROCEED WITH 1/ACCS.
TC IBNKCALL # NO. NULL OFFSET AND FIND ALLOWGTS
CADR TIMEGMBL
DOCKTEST CCS DOCKTEMP # BYPASS 1/ACCONT WHEN DOCKED.
TCF 1/ACCRET
TCF 1/ACCONT
# Page 1492
# SUBROUTINE: DVOVSUB
# AUTHOR: C. WORK, MOD 0, 12 JUNE 68
# PURPOSE: THIS SUBROUTINE PROVIDES A SINGLE-PRECISION MACHINE LANGUAGE DIVISION OPERATION WHICH RETURNS
# (1) THE QUOTIENT, IF THE DIVISION WAS NORMAL.
# (2) NEGMAX, IF THE QUOTIENT WAS IMPROPER AND NEGATIVE.
# (3) POSMAX, IF THE QUOTIENT WAS IMPROPER AND POSITIVE OR IF THERE WAS A ZERO DIVISOR.
# THE CALLING PROGRAM IS PRESUMED TO BE A JOB IN THE F BANK WHICH CONTAINS DVOVSUB. E BANK MUST BE 6.
# THE DIVISOR FOR THIS ROUTINE MAY BE IN EITHER FIXED OR ERASABLE STORAGE. SIGN AGREEMENT IS
# ASSUMED BETWEEN THE TWO HALVES OF THE DIVIDEND. (THIS IS CERTAIN IF THE A AND L REGISTERS ARE THE
# RESULT OF A MULTIPLICATION OPERATION.)
# CALL SEQUENCE: L TC DVOVSUB
# L +1 ADRES (DIVISOR)
# L +2 RETURN HERE, WITH RESULT IN A,L
# INPUT: DIVIDEND IN A,L (SIGN AGREEMENT ASSUMED), DIVISOR IN LOCATION DESIGNATED BY "ADRES".
# DIVISOR MAY BE IN THE DVOVSUB FBANK,FIXED-FIXED FBANK,EBANK 6, OR UNSWITCHED ERASABLE.
# OUTPUT: QUOTIENT AND REMAINDER, OR POSMAX (NEGMAX), WHICHEVER IS APPROPRIATE.
# DEBRIS: SCRATCHX,SCRATCHY,SCRATCHZ,A,L (NOTE: SCRATCHX,Y,Z ARE EQUATED TO MPAC +4,+5, AND +6.)
# ABORTS OR ALARMS: NONE
# EXITS: TO THE CALL POINT +2.
# SUBROUTINES CALLED: NONE.
DVOVSUB TS SCRATCHY # SAVE UPPER HALF OF DIVIDEND
TS SCRATCHX
INDEX Q # OBTAIN ADDRESS OF DIVISOR.
CA 0
INCR Q # STEP Q FOR PROPER RETURN SEQUENCE.
INDEX A
CA 0 # PICK UP THE DIVISOR.
EXTEND # RETURN POSMAX FOR A ZERO DIVISOR.
BZF MAXPLUS
TS SCRATCHZ # STORE DIVISOR.
CCS A # GET ABS(DIVISOR) IN THE A REGISTER.
AD BIT1
TCF ZEROPLUS
AD BIT1
ZEROPLUS XCH SCRATCHY # STORE ABS(DIVISOR). PICK UP TOP HALF OF
EXTEND # DIVIDEND.
BZMF GOODNEG # GET -ABS(DIVIDEND)
# Page 1493
CS A
GOODNEG AD SCRATCHY # ABS(DIVISOR) - ABS(DIVIDEND)
EXTEND
BZMF MAKEMAX # BRANCH IF DIVISION IS NOT PROPER.
CA SCRATCHX # RE-ESTABLISH THE DIVIDEND
EXTEND
DV SCRATCHZ # QUOTIENT IN THE A, REMAINDER IN L.
TC Q # RETURN TO CALLER.
MAKEMAX CCS SCRATCHX # DETERMINE THE SIGN OF THE QUOTIENT.
CCS SCRATCHZ # SCRATCHX AND SCRATCHZ ARE NON-ZERO.
TCF MAXPLUS
CCS SCRATCHZ
CAF NEGMAX # +,- OR -,+
TC Q
MAXPLUS CAF POSMAX # -,- OR +,+
TC Q
# COEFFICIENTS FOR THE JET ACCELERATION CURVE FITS
# THE CURVE FITS ARE OF THE FORM --
#
# 1JACC = A/(MASS + C) + B
#
# A IS SCALED AT PI/4 RAD/SEC**2 B+16KG, B IS SCALED AT PI/4 RAD/SEC**2, AND C IS SCALED AT B +16 KG.
#
# THE CURVE FIT FOR L,PVT-CG IS OF THE SAME FORM, EXCEPT THAT A IS SCALED AT 8 FT B+16 KG, B IS SCALED AT 8 FT,
# AND C IS SCALED AT B+16 KG.
2DEC +.0410511917 # L A DESCENT
INERCONA 2DEC +.0059347674 # 1JACCP A DESCENT
2DEC +.0014979264 # 1JACCQ A DESCENT
2DEC +.0010451889 # 1JACCR A DESCENT
2DEC +.0065443852 # 1JACCP A ASCENT
2DEC +.0035784354 # 1JACCQ A ASCENT
2DEC +.0056946631 # 1JACCR A ASCENT
DEC +.155044 # L B DESCENT
DEC -.025233 # L C DESCENT
# Page 1494
INERCONB DEC +.002989 # 1JACCP B DESCENT
INERCONC DEC +.008721 # 1JACCP C DESCENT
DEC +.018791 # 1JACCQ B DESCENT
DEC -.068163 # 1JACCQ C DESCENT
DEC +.021345 # 1JACCR B DESCENT
DEC -.066027 # 1JACCR C DESCENT
DEC +.000032 # 1JACCP B ASCENT
DEC -.006923 # 1JACCP C ASCENT
DEC +.162862 # 1JACCQ B ASCENT
DEC +.002588 # 1JACCQ C ASCENT
DEC +.009312 # 1JACCR B ASCENT
DEC -.023608 # 1JACCR C ASCENT
GIMBLBTS OCTAL 01400
OCTAL 01000
OCTAL 06000
OCTAL 04000
DGBF DEC 0.6 # .3 SCALED AT 1/2
0.35356 DEC 0.35356 # .70711 SCALED AT 2
GFACTM OCT 337 # 979.24/2.20462 AT B+15
.7071 DEC .70711
-.7071 DEC -.70711
-EPSMAX DEC -.42265
# CSM-DOCKED INERTIA COMPUTATIONS
DOCKED CA ONE # COEFTR = 1 FOR INERTIA COEFFICIENTS
SPSLOOP1 TS COEFCTR # = 7 FOR CG COEFFICIENTS
CA ONE # MASSCTR = 1 FOR CSM
TS MASSCTR # = 0 FOR LEM
INDEX COEFCTR
CA COEFF -1 # COEFF -1 = C
EXTEND
MP LEMMASS
EXTEND
MP CSMMASS # LET X = CSMMASS AND Y = LEMMASS
INDEX COEFCTR
AD COEFF # COEFF = F
TS MPAC # MPAC = C X Y + F
TCF +4
SPSLOOP2 TS MASSCTR # LOOP TWICE THROUGH HERE TO OBTAIN
EXTEND # MPAC = MPAC + (A X +D)X + (B Y +E)Y
DIM COEFCTR # LOOP #1 LOOP #2
INDEX COEFCTR
CA COEFF +2 # COEFF +2 = A OR B
EXTEND
# Page 1495
INDEX MASSCTR
MP LEMMASS
INDEX COEFCTR
AD COEFF +4 # COEFF +4 = E OR D
EXTEND
INDEX MASSCTR
MP LEMMASS
ADS MPAC
CCS MASSCTR
TCF SPSLOOP2
CCS COEFCTR # IF COEFCTR IS POS, EXIT FROM LOOP WITH
TCF +7 # CG X DELDOT = MPAC X 4 PI RAD-CM/SEC
TORQCONS 2DEC 0.51443 B-14 # CORRESPONDS TO 500 LB-FT
CA MPAC
TS MPAC +1 # INERTIA = (MPAC +1) X 2(38) KG-CM(2)
CA SEVEN
TCF SPSLOOP1
CA 1JACCCON # 1JACC=1JACCCON/MASS
ZL
TC DVOVSUB
ADRES MASS
TS 1JACC # SCALED AT PI/4
CA POSMAX # SET INVERSE JET ACCELERATIONS TO POSMAX,
TS 1/ANETP # WHICH CORRESPONDS TO ACCEL. OF 1.4 D/SS.
TS 1/ANET2 +1
TS 1/ANET2 +2
TS 1/ANET2 +17D
TS 1/ANET2 +18D
EXTEND
DCA TORQCONS
EXTEND
DV MPAC +1
INHINT
TS 1JACCQ # SCALED AT PI/4
TS 1JACCR
CA -.7071
TS COEFFQ # COEFFQ AND COEFFR ARE CHOSEN TO MAKE U-
CA .7071 # AND V-AXES ORTHOGONAL FOR DOCKED CASE
TS COEFFR
CA MASS # SCALED AT 2(16) KG
EXTEND
MP MPAC # SCALED AT 4 PI RAD-CM/SEC
EXTEND
MP ABDELV # SCALED AT 2(13) CM/SEC(2)
TC DVOVSUB # GET QUOTIENT WITH OVERFLOW PROTECTION
# Page 1496
ADRES MPAC +1
TS ACCDOTR
TCF SPSCONT # CONTINUE K, KSQ CALCULATIONS
1JACCCON OCT 00167 # SCALED AT PI/4X2(16) RAD/SEC(2)-KG
# 2 2
# COEFFICIENTS FOR CURVE FIT OF THE FORM Z = A X +B Y +C X Y +D X +E Y +F
COEFF DEC .19518 # C COEFFICIENT OF INERTIA
DEC -.00529 # F "
DEC -.17670 # B "
DEC -.03709 # A "
DEC .06974 # E "
DEC .02569 # D "
DEC .20096 # C COEFFICIENT OF CG
DEC .13564 # F "
DEC .75704 # B "
DEC -.37142 # A "
DEC -.63117 # E "
DEC .41179 # D "
# ASSIGNMENT OF TEMPORARIES FOR 1/ACCS (EXCLUDING 1/ACCONT)
# MPAC, MPAC +1, MPAC +2 USED EXPLICITLY
COEFCTR EQUALS MPAC +4
MASSCTR EQUALS MPAC +5
SCRATCHX EQUALS MPAC +4 # SCRATCH AREA FOR DVOVSUB ROUTINE.
SCRATCHY EQUALS SCRATCHX +1
SCRATCHZ EQUALS SCRATCHX +2
DOCKTEMP EQUALS MPAC +3 # RECORD OF CSMDOCKED BIT OF DAPBOOLS
EPSILON EQUALS MPAC +1
-EPSILON EQUALS EPSILON
-.1875 DEC -.18750
# Page 1497
BANK 20
SETLOC DAPS3
BANK
EBANK= AOSQ
COUNT* $$/DAPAO
-1 TS INGTS # ZERO INGTS IN ASCENT
1/ACCONT CA DB # INITIALIZE DBVAL1,2,3
EXTEND
MP BIT13
TS L # 0.25 DB
AD A
TS DBVAL3 # 0.50 DB
CS DBVAL1
AD L
TS DBVAL2 # -.75 DB
GETAOSUV INHINT
CAE AOSR # COMPUTE ASOU AND AOSV BY ROTATING
TS L # AOSQ AND AOSR.
CAE AOSQ
TC IBNKCALL
CADR ROT-TOUV
DXCH AOSU
RELINT
CA DAPBOOLS
MASK DRIFTBIT # ZERO DURING ULLAGE AND POWERED FLIGHT.
CCS A # IF DRIFTING LIGHT,
CA ONE # SET DRIFTER TO 1
TS DRIFTER # SAVE TO TEST FOR DRIFTING FLIGHT LATER
AD ALLOWGTS # NON-ZERO IF DRIFT OR GTS NEAR
CCS A
CA FLATVAL # DRIFTING FLIGHT, STORE .8 IN FLAT
TS FLATEMP # IN POWERED FLIGHT, STORE ZERO IN FLAT
EXTEND
BZF DOPAXIS # IF POWERED AND NO GTS, START P AXIS,
CCS DRIFTER # OTHERWISE SET ZONE3LIM
CA ZONE3MAX # 17.5 MS, SCALED AT 4 SECONDS.
TS Z3TEM
DOPAXIS CA 1JACC # 1JACC AT PI/4 = 2JACC AT PI/2 =
# ANET AT PI/2 = ANET/ACOAST AT 2(6).
AD BIT9 # 1 + ANET/ACOAST AT 2(6)
TS FUNTEM
CA 1JACC
# Page 1498
TC INVERT
INHINT # P AXIS DATA MUST BE CONSISTENT
TS 1/ANETP # SCALED AT 2(7)/PI.
TS 1/ANETP +1
CS BIT9 # -1 AT 2(6)
EXTEND
MP 1/ANETP # -1/ANET AT 2(13)/PI
EXTEND
DV FUNTEM # -1/(ANET + ANET**2/ACOAST) AT 2(7)/PI
TS PACCFUN
TS PACCFUN +1
CA 1/.03 # NO AOS FOR P AXIS, ACOAST = AMIN
TS 1/ACOSTP
TS 1/ACOSTP +1
RELINT
ZL
CCS DRIFTER
DXCH AOSU # ZERO AOSU,V IF IN DRIFT, JUST TO BE SURE
UAXIS CA ZERO # DO U AXIS COMPUTATIONS
TS UV # ZERO FOR U AXIS, ONE FOR V AXIS.
BOTHAXES TS SIGNAOS # CODING COMMON TO U,V AXES
INDEX UV
CCS AOSU # PICK UP ABS(AOSU OR AOSV)
AD ONE # RESTORE TO PROPER VALUE
TCF +3 # AND LEAVE SIGNAOS AT ZERO
AD ONE # NEGATIVE, RESTORE TO PROPER VALUE
INCR SIGNAOS # AND SET SIGNAOS TO ONE TO SHOW AOS NEG
TS ABSAOS # SAVE ABS(AOS)
CS SIGNAOS
TS -SIGNAOS # USED AS AN INDEX
CA DBVAL1 # SET DB1, DB2 TO DBVAL1 (= DB)
TS DBB1
TS DBB2
CA ABSAOS # TEST MAGNITUDE OF ABS(AOS)
AD -.03R/S2
EXTEND
BZMF NOTMUCH # ABS(AOS) LESS THAN AMIN
BIGAOS CCS FLATEMP # AGS(AOS) GREATER THAN AMIN
TCF SKIPDB1 # I DRIFT OR GTS, DO NOT COMPUTE DB
CA DBVAL1
INDEX -SIGNAOS
# Page 1499
ADS DBB2 # DB2(1) = 2 DB
INDEX SIGNAOS
TS DBB4 # DB4(3) = 1 DB
CA -.1875 # -.1875 PI/2 RAD/SEC(2) SCALED AT PI/2
AD ABSAOS # ABSAOS IS SCALED AT PI/2
EXTEND
BZMF +3
CS DBVAL3 # -.5 DB
TCF DBONE
CS ABSAOS
DOUBLE
DOUBLE
AD BIT14
DOUBLE # 1-8 ABSAOS. (8 IS 16/PI SCALED AT 2/PI)
EXTEND
MP DB
DBONE INDEX SIGNAOS # DB1(2)=(1-8 ABSAOS) DB. IF ABSAOS IS
TS DBB1 # GREATER THAN .1875 THEN DB1(2) = -.5 DB
CA DBVAL2
INDEX -SIGNAOS
TS DBB3 # DB3(4) = -.75 DB
SKIPDB1 CA ABSAOS # ABS(AOS) GREATER THAN AMIN, SO IT IS
EXTEND
MP BIT12
AD ABSAOS # (9/8) ABSAOS.
TC INVERT # ALL RIGHT TO DIVIDE
INDEX -SIGNAOS
TS 1/ACOSTT +1 # 1/ACOASTPOS(NET) = 1/ABS(AOS)
CA 1/.03
INDEX SIGNAOS
TS 1/ACOSTT # 1/ACOASTNEG(POS) = 1/AIN
CA ABSAOS
AD 1JACCU
AD 1JACCU # 2 JACC + ABS(AOS)
AD BIT9 # MAXIMUM VALUE IN COMPUTATIONS
TS A # TEST FOR OVERFLOW
TCF SKIPDB2 # NO OVERFLOW, DO NORMAL COMPUTATION
CA ABSAOS # RESCALE TO PI TO PREVENT OVERFLOW
EXTEND
MP BIT14
AD 1JACCU # 1 JACC AT PI/2 = 2JACC AT PI
TS ANET # ANETPOS(NEG) MAX SCALED AT PI =
# ANETPOS(NEG) MAX/ACOASTNEG(POS) AT 2(7)
AD BIT8 # 1 + ANETPOS/ACOASTNEG AT 2(7)
XCH ANET # SAVE IN ANET, WHILE PICKING UP ANET
TC INVERT
EXTEND
# Page 1500
MP BIT14 # SCALE 1/ANET AT 2(7)/PI
TS 1/ANET
CA ACCHERE # SET UP RETURN FROM COMPUTATION ROUTINE
TS ARET
CS BIT8 # -1 AT 2(7)
TCF DOACCFUN # FINISH ACCFUN COMPUTATION
ACCHERE TCF ACCTHERE
NOTMUCH TS L # ABS(AOS) LESS THAN AMIN, SAVE IN L
CA 1/.03 # ACOASTPOS,NEG = AMIN
TS 1/ACOSTT
TS 1/ACOSTT +1
CCS FLATEMP
TCF SKIPDB2 # DO NOT COMPUTE DB IF DRIFT OR GTS
CA .0125RS # AMIN/2
AD L # L HAS ABS(AOS) - AMIN
EXTEND # RESULT IS ABS(AOS)- AMIN/2
BZMF NOAOS # ABS(AOS) LESS THAN AMIN/2
SOMEAOS CA DBVAL3 # AMIN/2 LT ABS(AOS) LT AMIN
INDEX -SIGNAOS
TS DBB3 # DB3(4) = DB/2
AD A
INDEX SIGNAOS
TS DBB4 # DB4(3) = DB
TCF SKIPDB2
NOAOS CA DBVAL1
TS DBB3 # DB3,4 = DB
TS DBB4
SKIPDB2 CA ABSAOS # ANETPOS(NEG) MAX = 2 JACC + ABS(AOS)
AD 1JACCU
AD 1JACCU
TS ANET # CANNOT OVERFLOW HERE
CL1/NET+ TC DO1/NET+ # COMPUTE 1/ANET, ACCFUN
ACCTHERE INDEX -SIGNAOS
TS Z5TEM +2 # STORE ACCFUN IN TEMPORARY BUFFER
CA 1/ANET
INDEX -SIGNAOS
TS 1/ATEM2 +2 # STORE 1/ANET IN TEMPORARY BUFFER
CA ABSAOS # SEE IF OVERFLOW IN MIN CASE
AD 1JACCU
# Page 1501
AD BIT9 # MAXIMUM POSSIBLE VALUE
TS A # OVERFLOW POSSIBLE BUT REMOTE
TCF +2
CA POSMAX # IF OVERFLOW, TRUNCATE TO PI/2
AD -.03R/S2 # RESTORE TO CORRECT VALUE
TS ANET
TC DO1/NET+ # COMPUTE 1/ANET, ACCFUN
INDEX -SIGNAOS # STORE MIN VALUES JUST AS MAX VALUES
TS Z5TEM
CA 1/ANET
INDEX -SIGNAOS
TS 1/ATEM2
CS ABSAOS # NOW DO NEG(POS) CASES
AD 1JACCU
AD 1JACCU # ANETNEG(POS) MAX
TC 1/ANET- # COMPUTE 1/ANET, ACCFUN, AND ACCSW
INDEX SIGNAOS # STORE NEG(POS) VALUES JUST AS POS(NEG)
TS Z1TEM +2
TS L # SAVE IN L FOR POSSIBLE FUTURE USE
CA 1/ANET
INDEX SIGNAOS
TS 1/ATEM1 +2
CS ABSAOS
AD 1JACCU # 1/ANETNEG(POS) MIN
TS ANET
AD -.03R/S2 # TEST FOR AMIN
EXTEND # IF ANET LESS THAN AMIN, STORE MAX JET
BZMF FIXMIN # VALUES FOR MIN JETS AND SET ACCSW
TC 1/NETMIN # OTHERWISE DO MIN JET COMPUTATIONS
STMIN- INDEX SIGNAOS # STORE VALUES
TS Z1TEM
CA 1/ANET
INDEX SIGNAOS
TS 1/ATEM1
INDEX UV
CA +UMASK
MASK CH5MASK # TEST FOR +U (+V) JET FAILURES
EXTEND
BZF FAIL-
CA 1/ATEM2 # REPLACE FUNCTION VALUES DEPENDING ON THE
TS 1/ATEM2 +2 # FAILED JET PAIR WITH CORRESPONDING ONE-
CA Z5TEM # JET (OR AMIN) FUNCTION VALUES
TS Z5TEM +2
FAIL- INDEX UV
# Page 1502
CA -UMASK
MASK CH5MASK # TEST FOR -U (-V) JET FAILURES
EXTEND
BZF DBFUN
CA 1/ATEM1 # REPLACE FUNCTION VALUES DEPENDING ON THE
TS 1/ATEM1 +2 # FAILED JET PAIR WITH CORRESPONDING ONE-
CA Z1TEM # JET (OR AMIN) FUNCTION VALUES
TS Z1TEM +2
DBFUN CS DBB3 # COMPUTE AXISDIST
AD DBB1
AD FLATEMP
TS AXDSTEM
CS DBB4
AD DBB2
AD FLATEMP
TS AXDSTEM +1
INHINT
CCS UV # TEST FOR U OR V AXIS
TCF STORV # V AXIS STORE V VALUES
CA ACCSW # U AXIS STORE U VALUES
TS ACCSWU
CA NINE # TRANSFER 10 WORDS VIA GENTRAN
TC GENTRAN +1
ADRES 1/ATEM1 # TEMPORARY BUFFER
ADRES 1/ANET1 # THE REAL PLACE
RELINT
DXCH DBB1 # SAVE U DBS FOR LATER STORING
DXCH UDB1
DXCH DBB4
DXCH UDB4
DXCH AXDSTEM
DXCH UAXDIST
CA ONE # NOW DO V AXIS
TS UV
CA ZERO
TCF BOTHAXES # AND DO IT AGAIN
STORV CA ACCSW # STORE V AXIS VALUES
TS ACCSWV
CA NINE
TC GENTRAN +1
# Page 1503
ADRES 1/ATEM1 # TEMPORARY BUFFER
ADRES 1/ANET1 +16D # THE REAL PLACE
# NOW STORE DEADBANDS FOR ALL AXES
DXCH FLATEMP # FLAT AND ZONE3LIM
DXCH FLAT
CA DBVAL1 # COMPUTE P AXIS DEADBANDS
TS PDB1
TS PDB2
AD FLAT
TS PDB3
TS PDB4
CA ZERO
TS PAXDIST
TS PAXDIST +1
CCS FLAT
TCF DRFDB # DRIFT OR GTS -- COMPUTE DBS
DXCH UDB1 # STORE U DEADBANDS
DXCH FIREDB # CANNOT USE GENTRAN BECAUSE OF RELINT
DXCH UDB4
DXCH COASTDB
DXCH UAXDIST
DXCH AXISDIST
DXCH DBB1 # STORE V AXIS DEADBANDS
DXCH FIREDB +16D # COULD USE GENTRAN IF DESIRED
DXCH DBB4
DXCH COASTDB +16D
DXCH AXDSTEM
DXCH AXISDIST +16D
TCF 1/ACCRET +1 # ALL DONE
DRFDB CA DBVAL1 # DRIFT DEADBANDS
TS FIREDB
TS FIREDB +1
TS FIREDB +16D
TS FIREDB +17D
AD FLAT
TS COASTDB
TS COASTDB +1
TS COASTDB +16D
TS COASTDB +17D
CA ZERO
TS AXISDIST
TS AXISDIST +1
TS AXISDIST +16D
TS AXISDIST +17D
# Page 1504
1/ACCRET INHINT
CS DAPBOOLS # SET BIT TO INDICATE DATA GOOD.
MASK ACCSOKAY
ADS DAPBOOLS
RELINT
CA ACCRETRN
TC BANKJUMP # RETURN TO CALLER
INVERT TS HOLD # ROUTINE TO INVERT -INPUT AT PI/2
CA BIT9 # 1 AT 2(6)
ZL # ZERO L FOR ACCURACY AND TO PREVENT OVFLO
EXTEND
DV HOLD
TC Q # RESULT AT 2(7)/PI
DOWNGTS CAF ZERO # ZERO SWITCHES WHEN USEQRJTS BIT IS UP
TS ALLOWGTS # OR DAP IS OFF
TS INGTS
TCF DOCKTEST
1/ANET- ZL
LXCH ACCSW # ZERO ACCSW
TS ANET # SAVE ANET
AD -.03R/S2 # TEST FOR MIN VALUE
EXTEND
BZMF NETNEG # ANET LESS THAN AMIN, SO FAKE IT
1/NETMIN CA ANET
EXTEND
INDEX -SIGNAOS
MP 1/ACOSTT +1 # ANETNEG(POS)/ACOASTPOS(NEG) AT 2(6)
# THE FOLLOWING CODING IS VALID FOR BOTH POS OR NEG
# VALUES OF AOS
DO1/NET+ AD BIT9 # 1 + ANET/ACOAST AT 2(6)
XCH ANET # SAVE AND PICK UP ANET
EXTEND
QXCH ARET # SAVE RETURN
TC INVERT
TS 1/ANET # 1/ANET AT 2(7)/PI
CS BIT9 # -1 AT 2(6)
DOACCFUN EXTEND
MP 1/ANET # -1/ANET AT 2(13)/PI
EXTEND
DV ANET # ACCFUN AT 2(7)/PI
TC ARET # RETURN
NETNEG CS -.03R/S2 # ANET LESS THAN AMIN -- SET EQUAL TO AMIN
TS ANET
# Page 1505
TCF 1/NETMIN +1 # CONTINUE AS IF NOTHING HAPPENED.
FIXMIN CCS SIGNAOS
CA TWO # IF AOS NEG, ACCSW = +1
AD NEGONE # IF AOS POS, ACCSW = -1
TS ACCSW
AD UV # IF ACCSW = +1, TEST FOR +U (+V) JET FAIL
INDEX A # IF ACCSW = -1, TEST FOR -U (-V) JET FAIL
CA -UMASK +1
MASK CH5MASK
EXTEND
BZF +4
CS -.03R/S2 # JET FAILURE -- CANNOT USE 2-JET VALUES
TS ANET # ANET = AMIN
TCF STMIN- -1 # CALCULATE FUNCTIONS USING AMIN
CA L # L HAS ACCFUN
TCF STMIN- # STORE MAX VALUES FOR MIN JETS
# ERASABLE ASSIGNMENTS FOR 1/ACCONT
1/ANETP EQUALS BLOCKTOP +2
1/ACOSTP EQUALS BLOCKTOP +4
PACCFUN EQUALS BLOCKTOP +8D
PDB1 EQUALS BLOCKTOP +10D
PDB2 EQUALS BLOCKTOP +11D
PDB4 EQUALS BLOCKTOP +12D
PDB3 EQUALS BLOCKTOP +13D
PAXDIST EQUALS BLOCKTOP +14D
ACCSW EQUALS VBUF # EXECUTIVE TEMPORARIES
# CANNOT DO CCS NEWJOB DURING 1/ACCS
1/ATEM1 EQUALS ACCSW +1 # TEMP BUFFER FOR U AND V AXES
1/ATEM2 EQUALS 1/ATEM1 +1
1/ACOSTT EQUALS 1/ATEM1 +4
Z1TEM EQUALS 1/ATEM1 +6
Z5TEM EQUALS 1/ATEM1 +7
UDB1 EQUALS 1/ATEM1 +10D # UAXIS DEADBAND BUFFER
UDB2 EQUALS 1/ATEM1 +11D
UDB4 EQUALS 1/ATEM1 +12D
UDB3 EQUALS 1/ATEM1 +13D
UAXDIST EQUALS 1/ATEM1 +14D
DBB1 EQUALS 1/ATEM1 +16D # TEMP DEADBAND BUFFER, ALSO V AXIS
DBB2 EQUALS 1/ATEM1 +17D
DBB4 EQUALS 1/ATEM1 +18D
DBB3 EQUALS 1/ATEM1 +19D
AXDSTEM EQUALS 1/ATEM1 +20D
# Page 1506
FLATEMP EQUALS 1/ATEM1 +22D
Z3TEM EQUALS 1/ATEM1 +23D # MUST FOLLOW FLATEMP
DBVAL1 EQUALS DB
DBVAL2 EQUALS INTB15+
DBVAL3 EQUALS INTB15+ +1
DRIFTER EQUALS INTB15+ +2
UV EQUALS MPAC
ANET EQUALS MPAC +3
FUNTEM EQUALS MPAC +3
1/ANET EQUALS MPAC +4
ARET EQUALS MPAC +5
ABSAOS EQUALS MPAC +6
SIGNAOS EQUALS MPAC +7
-SIGNAOS EQUALS MPAC +8D
HOLD EQUALS MPAC +9D
ACCRETRN EQUALS FIXLOC -1
ZONE3MAX DEC .004375 # 17.5 MS (35 MS FOR 1 JET) AT 4 SECONDS
FLATVAL DEC .01778 # .8 AT PI/4 RAD
-.03R/S2 OCT 77377 # -PI/2(7) AT PI/2
.0125RS EQUALS BIT8 # PI/2(+8) AT PI/2
1/.03 EQUALS POSMAX # 2(7)/PI AT 2(7)/PI
PAXISADR GENADR PAXIS
# THE FOLLOWING 4 CONSTANTS ARE JET
# FAILURE MASKS AND ARE INDEXED
-UMASK OCT 00110 # -U
OCT 00022 # -V
+UMASK OCT 00204 # +U
OCT 00041 # +V
