Revision 5f869cdbac789cb15fcd795bffcb549e1f2ca07e authored by Mike Stewart on 06 August 2019, 00:46:11 UTC, committed by Mike Stewart on 06 August 2019, 00:46:11 UTC
1 parent c6a551b
KALMAN_FILTER.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: KALMAN_FILTER.agc
## Purpose: A section of Luminary revision 97.
## It is part of the reconstructed source code for the
## original release of the flight software for the Lunar
## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
## The code has been recreated from a copy of Luminary 99
## revision 001, using asterisks indicating changed lines in
## the listing and Luminary Memos #83 and #85, which list
## changes between Luminary 97 and 98, and 98 and 99. The
## code has been adapted such that the resulting bugger words
## exactly match those specified for Luminary 97 in NASA drawing
## 2021152D, which gives relatively high confidence that the
## reconstruction is correct.
## Reference: pp. 1470-1471
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2019-07-28 MAS Created from Luminary 99.
## 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
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