### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: RCS-CSM_DAP_EXECUTIVE_PROGRAMS.agc
## Purpose: A section of Manche45 revision 2.
## It is part of the reconstructed source code for the
## final, flown release of the flight software for the Command
## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
## The code has been recreated from a copy of Comanche 055. It
## has been adapted such that the resulting bugger words
## exactly match those specified for Manche 45/2 in NASA drawing
## 2021153D, which gives relatively high confidence that the
## reconstruction is correct.
## Assembler: yaYUL
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2020-12-24 MAS Created from Comanche 45.
## Page 1037
# CALCULATION OF AMGB, AMBG ONCE EVERY SECOND
#
# AMGB = 1 SIN(PSI) 0
# 0 COS(PSI)COS(PHI) SIN(PHI)
# 0 -COS(PSI)SIN(PHI) COS(PHI)
#
# AMBG = 1 -TAN(PSI)COS(PHI) TAN(PSI)SIN(PHI)
# 0 COS(PHI)/COS(PSI) -SIN(PHI)/COS(PSI)
# 0 SIN(PHI) COS(PHI)
#
# WHERE PHI AND PSI ARE CDU ANGLES
BANK 20
SETLOC DAPS8
BANK
COUNT* $$/DAPEX
EBANK= KMPAC
AMBGUPDT CA FLAGWRD6 # CHECK FOR RCS AUTOPILOT
EXTEND
BZMF ENDOFJOB # BIT15 = 0, BIT14 = 1
MASK BIT14 # IF NOT RCS, EXIT
EXTEND
BZF ENDOFJOB # TO PROTECT TVC DAP ON SWITCHOVER
CA CDUZ
TC SPSIN2
TS AMGB1 # CALCULATE AMGB
CA CDUZ
TC SPCOS2
TS CAPSI # MUST CHECK FOR GIMBAL LOCK
CAF QUADANGL # = 7.25 DEGREES JET QUAD ANGULAR OFFSET
EXTEND
MSU CDUX
COM # CDUX - 7.25 DEG
TC SPCOS1
TS AMGB8
EXTEND
MP CAPSI
TS AMGB4
CAF QUADANGL
EXTEND
MSU CDUX
COM # CDUX - 7.25 DEG
TC SPSIN1
TS AMGB5
EXTEND
MP CAPSI
COM
## Page 1038
TS AMGB7
TCF ENDOFJOB
QUADANGL DEC 660 # = 7.25 DEGREES