https://github.com/virtualagc/virtualagc
Tip revision: 7d6cec3857985b92ed11312dcdeac0a49edb0ab8 authored by Mike Stewart on 13 March 2018, 04:58:16 UTC
yaAGC: Integrated the LR and RR into the new PulseInput/PulseOutput interface
yaAGC: Integrated the LR and RR into the new PulseInput/PulseOutput interface
Tip revision: 7d6cec3
GIMBAL_LOCK_AVOIDANCE.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: GIMBAL_LOCK_AVOIDANCE.agc
## Purpose: Part of the source code for Colossus build 237.
## This is for the Command Module's (CM) Apollo Guidance
## Computer (AGC), for Apollo 8.
## Assembler: yaYUL
## Contact: Onno Hommes <ohommes@alumni.cmu.edu>
## Website: www.ibiblio.org/apollo/index.html
## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
## Mod history: 2010-06-01 OH Adapted from corresponding Colossus 249 file.
## 2010-12-04 JL Remove Colossus 249 header comments. Change
## to double-hash page numbers.
## 2011-01-27 JL Minor fixes.
## 2016-12-30 RSB Proofed comment text using octopus/ProoferComments,
## and corrected errors found.
## Page 403
BANK 15
SETLOC KALCMON1
BANK
EBANK= BCDU
# DETECTING GIMBAL LOCK
LOCSKIRT EQUALS NOGIMLOC
NOGIMLOC SET
CALCMAN3
WCALC LXC,1 DLOAD*
RATEINDX
ARATE,1
SR4 CALL # COMPUTE THE INCREMENTAL ROTATION MATRIX
DELCOMP # DEL CORRESPONDING TO A 1 SEC ROTATION
# ABOUT COF
DLOAD* VXSC
ARATE,1
COF
MXV
QUADROT
STODL BRATE
AM
DMP DDV*
ANGLTIME
ARATE,1
SR
5
STOVL TM
BRATE
VXSC
BIASCALE
STORE BIASTEMP # ATTITUDE ERROR BIAS TO PREVENT OVERSHOOT
# IN SYSTEM
SETGO # STATE SWITCH CALCMAN2 (43D)
CALCMAN2 # 0(OFF) = BYPASS STARTING PROCEDURE
NEWANGL +1 # 1(ON) = START MANEUVER
ARATE 2DEC .0022222222 # = .05 DEG/SEC
2DEC .0088888889 # = .2 DEG/SEC
2DEC .0222222222 # = .5 DEG/SEC
2DEC .1777777777 # = 4 DEG/SEC $ 22.5 DEG/SEC
ANGLTIME 2DEC .000190735 # = 100B - 19
# MANEUVER ANGLE TO MANEUVER TIME
## Page 404
QUADROT 2DEC .1 # ROTATION MATRIX FROM S/C AXES TO CONTROL
2DEC 0 # AXES (X ROT = -7.25 DEG)
2DEC 0
2DEC 0
2DEC .099200 # =(.1)COS7.25
2DEC -.012620 # =-(.1)SIN7.25
2DEC 0
2DEC .012620 # (.1)SIN7.25
2DEC .099200 # (.1)COS7.25
BIASCALE 2DEC .0002543132 # = (450/180)(1/0.6)(1/16384)