### 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.
##		2017-03-03 RSB	Snapshot of Luminary 99 Rev 1. 

## 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