swh:1:snp:cdcd2bc43331a436e8c659ba93175ef7d7eb339b
Tip revision: 423a21ddaa1c3867372b485f068aa79e2302f769 authored by Mike Stewart on 05 September 2018, 06:04:25 UTC
Luminary130: Updated file headers and changelogs
Luminary130: Updated file headers and changelogs
Tip revision: 423a21d
GIMBAL_LOCK_AVOIDANCE.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: GIMBAL_LOCK_AVOIDANCE.agc
## Purpose: The main source file for Luminary revision 069.
## It is part of the source code for the original release
## of the flight software for the Lunar Module's (LM) Apollo
## Guidance Computer (AGC) for Apollo 10. The actual flown
## version was Luminary 69 revision 2, which included a
## newer lunar gravity model and only affected module 2.
## 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: p. 377
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2016-12-13 MAS Created from Luminary 99.
## 2016-12-14 MAS Updated from comment-proofed Luminary 99 version.
## 2017-01-13 RRB Updated for Luminary 69.
## 2017-01-27 RSB Proofed comment text using octopus/prooferComments
## and fixed errors found.
## 2017-08-22 RSB Fixed comment-text typo identified in ZERLINA 56.
## Page 377
BANK 15
SETLOC KALCMON1
BANK
# DETECTING GIMBAL LOCK
LOCSKIRT EQUALS NOGIMLOC
NOGIMLOC SET
CALCMAN3
WCALC LXC,1 DLOAD*
RATEINDX # CHOOSE THE DESIRED MANEUVER RATE
ARATE,1 # FROM A LIST OF FOUR
SR4 CALL # COMPUTE THE INCREMENTAL ROTATION MATRIX
DELCOMP # DEL CORRESPONDING TO A 1 SEC ROTATION
# ABOUT COF
DLOAD* VXSC
ARATE,1
COF
STODL BRATE # COMPONENT MANEUVER RATES 45 DEG/SEC
AM
DMP DDV*
ANGLTIME
ARATE,1
SR
5
STORE TM # MANEUVER EXECUTION TIME SCALED AS T2
SETGO
CALCMAN2 # 0(OFF) = CONTINUE MANEUVER
NEWANGL +1 # 1(ON) = START MANEUVER
# THE FOUR SELECTABLE FREE FALL MANEUVER RATES SELECTED BY
# LOADING RATEINDX WITH 0, 2, 4, 6, RESPECTIVELY
ARATE 2DEC .0088888888 # = 0.2 DEG/SEC $ 22.5 DEG/SEC
2DEC .0222222222 # = 0.5 DEG/SEC $ 22.5 DEG/SEC
2DEC .0888888888 # = 2.0 DEG/SEC $ 22.5 DEG/SEC
2DEC .4444444444 # = 10.0 DEG/SEC $ 22.5 DEG/SEC
ANGLTIME 2DEC .0001907349 # = 100B-19 FUDGE FACTOR TO CONVERT
# MANEUVER ANGLE TO MANEUVER TIME