https://github.com/virtualagc/virtualagc
Tip revision: d10bfaaf9cc06b7b75f73640f41dfaa3c2d3f895 authored by Ron Burkey on 27 August 2024, 21:50:25 UTC
Incremental progress on ASM101.
Incremental progress on ASM101.
Tip revision: d10bfaa
KALMAN_FILTER.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: KALMAN_FILTER.agc
## Purpose: A section of the reconstructed source code for Luminary 130.
## This was the original program released for the Apollo 13 LM,
## although several more revisions would follow. It has been
## reconstructed from a listing of Luminary 131, from which it
## differs on only two lines in P70-P71. The difference is
## described in detail in Luminary memo #129, which was used
## to perform the reconstruction. This file is intended to be a
## faithful reconstruction, 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. 1462-1463
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 06/08/03 RSB. Began transcribing.
## 05/14/05 RSB Corrected website reference above
## 2017-01-06 RSB Page numbers now agree with those on the
## original hardcopy, as opposed to the PDF page
## numbers in 1701.pdf.
## 2017-02-28 RSB Proofed comment text using octopus/ProoferComments.
## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
## Page 1462
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 1463
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