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Proof CM_BODY_ATTITUDE (#195) (#336) 

🕵️ Proofread #195
pull/342/head
Glenn Dwiyatcita 2018-05-28 15:42:47 +02:00 committed by James Harris
parent 624a548983
commit 00444f654f
1 changed files with 18 additions and 19 deletions
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37
Comanche055/CM_BODY_ATTITUDE.agc
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@ -38,7 +38,7 @@
# PDL 12D - 15D SAFE.
# VALUE OF GIMBAL AND BODY ANGLES VALID AT PIP TIME ARE SAVED DURING READACCS.
# VALUES OF GIMBAL AND BODY ANGLES VALID AT PIP TIME ARE SAVED DURING READACCS.
EBANK= RTINIT # LET INTERPRETER SET EB
@ -66,8 +66,8 @@ CM/POSE TC INTPRET # COME HERE VIA AVEGEXIT.
S1 # UN FOR THE END OF THE TERMINAL PHASE.
SPVQUIT DEC .019405 # 1000/ 2 VS
TIX,1 VLOAD # IF V-VQUIT POS, BRANCH.
CM/POSE2 # SAME UYA IN OLDUYA
OLDUYA # OTHERWISE CONTINUE TO USE OLDUYA
CM/POSE2 # SAVE UYA IN OLDUYA
OLDUYA # OTHERWISE CONTINUE TO USE OLDUYA.
CM/POSE2 STORE UYA/2 # REF COORDS
STORE OLDUYA # RESTORE, OR SAVE AS CASE MAY BE.
@ -78,7 +78,7 @@ CM/POSE2 STORE UYA/2 # REF COORDS
STORE UZA/2 # REF COORDS
# Page 884
TLOAD # PICK UP CDUX, CDUY, CDUZ CORRESPONDING
AOG/PIP # TO PIPUP TIME IN 2'S C AND SAVE.
AOG/PIP # TO PIPUP TIME IN 2S.C AND SAVE.
CM/TRIO STODL 24D
25D # AIG/PIP
@ -97,7 +97,7 @@ CM/TRIO STODL 24D
0 # SM /2
DCOMP VXSC
UBX/2
VSL1 # NOISE WON'T OVFL
VSL1 # NOISE WONT OVFL.
STODL UBY/2 # =(-SMCI, NOISE, SMSI)/2
2 # CM /2 REPLACES NOISE
STODL UBY/2 +2 # UBY/2=(-SMCI, CM, SMSI)/2
@ -120,7 +120,7 @@ CM/TRIO STODL 24D
UBY/2 +4
STOVL UBY/2 +4 # YB/4 PLATFORM COORDS
# YB = (-COSMCI + SOSI , COCM , COSMSI + SOCI )
# YB = (-COSMCI + SOSI , COCM , COSMSI + SOCI )
UBY/2
VXM VSL2
@ -135,7 +135,7 @@ CM/TRIO STODL 24D
STOVL UBX/2 +2 # SM /2 REPLACES NOISE
UBX/2 # XB/2 PLATFORM COORDS
# XB = ( CMCI , SM , -CMSI )
# XB = ( CMCI , SM , -CMSI )
VXM VSL1
REFSMMAT # .5 UNIT
@ -145,8 +145,8 @@ CM/TRIO STODL 24D
UBY/2
STOVL UBZ/2 # ZB/2 DONE REF COORDS
# EQUIVALENT TO
# ZB = ( SOSMCI + COSI , -SOCM , -SOSMSI + COCI )
# EQUIVALENT TO
# ZB = ( SOSMCI + COSI , -SOCM , -SOSMSI + COCI)
UXA/2 # -UVREL/2 = -UVA/2
VXV UNIT # GET UNIT(-UVREL*UBY)/2 = UL/2
@ -199,13 +199,13 @@ CMTR1 INDEX FIXLOC
TS L
INHINT
# MUST REMAIN INHINTED UNTIL UPDATE OF BODY
# ANGLES, SO THAT GAMDIFSW IS VALID FIRST PASS
# INDICATOR.
# MUST REMAIN INHINTED UNTIL UPDATE OF BODY
# ANGLES, SO THAT GAMDIFSW IS VALID FIRST PASS
# INDICATOR.
CS CM/FLAGS
MASK BIT11 # GAMDIFSW=94D BIT11 INITLY=0
EXTEND # DON'T CALC GAMA DOT UNTIL HAVE FORMD
EXTEND # DONT CALC GAMA DOT UNTIL HAVE FORMD
# ONE DIFFERENCE.
BZF DOGAMDOT # IS OK, GO ON.
ADS CM/FLAGS # KNOW BIT IS 0
@ -224,12 +224,12 @@ DOGAMDOT CS L
EXTEND
BZMF +3 # SET GAMDOT=+0 AS TAG IF TOO SMALL.
NOGAMDOT CA ZERO # COME HERE INHINTED
NOGAMDOT CA ZERO # COME HERE INHINTED.
TS GAMDOT
# FOR NOW LEAVE IN 2'S C
# UPDATE ANGLES BY CORRECTING EULER ANG
# FOR NOW LEAVE IN 2S.C
# UPDATE ANGLES BY CORRECTING EUILER ANG
# FOR ACCRUED INCREMENT SINCE PIPUP
# R = R EUIL + R(NOW) - R(PIPUP)
# R = R EUIL + R(NOW) -R(PIPUP)
CS MPAC # GET (R EUL/180) /2
DOUBLE # POSSIBLE OVERFLOW
TC CORANGOV # CORRECT FOR OVFL IF ANY
@ -277,7 +277,7 @@ REDOPOSE EXTEND # RE-STARTS COME HERE
RELINT
TC INTPRET # CAN'T TC DANZIG AFTER PHASCHNG.
TC INTPRET # CANT TC DANZIG AFTER PHASCHNG.
CM/POSE3 VLOAD ABVAL # RETURN FROM CM/ATUP. (RESTART)
VN # 2(-7) M/CS
STORE VMAGI # FOR DISPLAY ON CALL.
@ -299,4 +299,3 @@ TCDU DEC .1 # TCDU = .1 SEC.
EBANK= AOG
REPOSADR 2CADR REDOPOSE