https://github.com/virtualagc/virtualagc
Tip revision: 7a9ecb86ff67a3d695b32b6dd0f7365a42048516 authored by Ron Burkey on 30 December 2017, 02:10:37 UTC
Experimental stuff related to triggering 1201 or 1202 alarms on demand.
Experimental stuff related to triggering 1201 or 1202 alarms on demand.
Tip revision: 7a9ecb8
KALMAN_FILTER.agc
### 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