* Proof FIXED_FIXED_CONSTANT_POOL (#207) * Proof POWERED_FLIGHT_SUBROUTINES #244pull/405/head
Glenn Dwiyatcita
James Harris
parent
496453a615
commit
4f83a11ecb
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@ -37,22 +37,22 @@
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EBANK= DEXDEX
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COUNT* $$/POWFL
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# CDUTRIG, CDUTRIG1, CDUTRIG2, AND CD*GR*GS ALL COMPUTE THE SINES AND
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# CDUTRIG, CDUTRIG1, CDUTRIG2, AND CD*GR*GS ALL COMPUTE THE SINES AND
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# COSINES OF THREE 2'S COMPLEMENT ANGLES AND PLACE THE RESULT, DOUBLE
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# PRECISION, IN THE SAME ORDER AS THE INPUTS, AT SINCDU AND COSCDU. AN
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# ADDITIONAL OUTPUT IS THE 1'S COMPLENT ANGLES AT CDUSPOT. THESE
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# ROUTINES GO OUT OF THEIR WAY TO LEAVE THE MPAC AREA AS THEY FIND IT.
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# ADDITIONAL OUTPUT IS THE 1'S COMPLEMENT ANGLES AT CDUSPOT. THESE
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# ROUTINES GO OUT OF THEIR WAY TO LEAVE THE MPAC AREA AS THEY FIND IT,
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# EXCEPT FOR THE GENERALLY UNIMPORTANT MPAC +2. THEY DIFFER ONLY IN
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# WHERE THEY GET THE ANGLES, AND IN METHOD OF CALLING.
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#
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# CDUTRIG (AND CDUTRIG1, WHICH CAN BE CALLED IN BASIC) COMPUTE THE
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# CDUTRIG (AND CDUTRIG1, WHICH CAN BE CALLED IN BASIC) COMPUTE THE
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# SINES AND COSINES FROM THE CURRENT CONTENTS OF THE CDU REGISTERS.
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# THE CONTENTS OF CDUTEMP, ETC., ARE NOT TOUCHED SO THAT THEY MAY
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# CONTINUE TO FORM A CONSISTENT SET WITH THE LATEST PIPA READINGS.
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#
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# CDUTRIG1 IS LIKE CDUTRIG EXCEPT THAT IT CAN BE CALLED IN BASIC.
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#
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# CD*TR*GS FINDS CDU VALUES IN CDUSPOT RATHER THAN IN CDUTEMP. THIS
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# CDUTRIG1 IS LIKE CDUTRIG EXCEPT THAT IT CAN BE CALLED IN BASIC.
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# CD*TR*GS FINDS CDU VALUES IN CDUSPOT RATHER THAN IN CDUTEMP. THIS
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# ALLOWS USERS TO MAKE TRANSFORMATIONS USING ARBITRARY ANGLES, OR REAL
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# ANGLES IN AN ORDER OTHER THAN X Y Z. A CALL TO THIS ROUTINE IS
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# NECESSARY IN PREPARATION FOR A CALL TO AX*SR*T IN EITHER OF ITS TWO
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@ -62,8 +62,8 @@
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# MORE THAN ONCE, PROVIDED THE ANGLES HAVE NOT CHANGED. NOTE THAT SINCE
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# IT CLOBBERS BUF2 (IN THE SINE AND COSINE ROUTINES) CD*TR*GS CANNOT BE
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# CALLED USING BANKCALL. SORRY.
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#
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# CD*TR*G IS LIKE CD*TR*GS EXCEPT THAT IT CAN BE CALLED IN
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# CD*TR*G IS LIKE CD*TR*GS EXCEPT THAT IT CAN BE CALLED IN
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# INTERPRETIVE.
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CDUTRIG EXIT
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@ -118,10 +118,11 @@ TR*GL**P MASK SIX # MAKE IT EVEN AND SMALLER
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TC TEM2
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# Page 1367
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# *******************************************************************************************************
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# QUICTRIG, INTENDED FOR QUIDANCE CYCLE USE WHERE TIME IS CRITICAL, IS A MUCH FASTER VERSION OF CD*TR*GS.
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# QUICTRIG, INTENDED FOR GUIDANCE CYCLE USE WHERE TIME IS CRITICAL, IS A MUCH FASTER VERSION OF CD*TR*GS.
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# QUICTRIG COMPUTES AND STORES THE SINES AND COSINES OF THE 2'S COMPLEMENT ANGLES AT CDUSPOT, CDUSPOT +2,
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# AND CDUSPOT +4. UNLIKE CD*TR*GS, QUICTRIG DOES NOT LEAVE THE 1'S COMPLEMENT VERSIONS OF THE ANGLES IN
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# CDUSPOT. QUICTRIG'S EXECUTION TIME IS 4.1 MS; THIS IS 10 TIMES AS FAST AS CD*TR*GS. QUICTRIG MAY BE
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# CDUSPOT. QUICTRIG'S EXECUTION TIME IS 4.1 MS; THIS IS 10 TIMES AS FAST AS CD*TR*GS. QUICTRIG MAY BE
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# CALLED FROM INTERPRETIVE AS AN RTB OP-CODE, OR FROM BASIC VIA BANKCALL OR IBNKCALL.
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QUICTRIG INHINT # INHINT SINCE DAP USES THE SAME TEMPS
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@ -151,10 +152,12 @@ QUICTRIG INHINT # INHINT SINCE DAP USES THE SAME TEMPS
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TC A
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# Page 1368
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#****************************************************************************
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# THESE INTERFACE ROUTINES MAKE IT POSSIBLE TO CALL AX*SR*T, ETC., IN
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# THESE INTERFACE ROUTINES MAKE IT POSSIBLE TO CALL AX*SR*T, ETC., IN
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# INTERPRETIVE. LATER, WHERE POSSIBLE, THEY WILL BE ELIMINATED.
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#
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# NBSM WILL BE THE FIRST TO GO. IT SHOULD NOT BE USED.
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# NBSM WILL BE THE FIRST TO GO. IT SHOULD NOT BE USED.
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NBSM STQ
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X2
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@ -168,20 +171,20 @@ NBSM STQ
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STCALL 32D # SINCE THERE'S NO STGOTO
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X2
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# THESE INTERFACE ROUTINES ARE PERMANENT. ALL RESTORE USER'S EBANK
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# SETTING. ALL ARE STRICT INTERPRETIVE SUBROUTINES, CALLED USING "CALL",
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# THESE INTERFACE ROUTINES ARE PERMANENT. ALL RESTORE USER'S EBANK
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# SETTING. ALL ARE STRICT INTERPRETIVE SUBROUTINES, CALLED USING "CALL",
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# RETURNING VIA QPRET. ALL EXPECT AND RETURN THE VECTOR TO BE TRANSFOR-
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# MED INTERPRETER-STYLE IN MPAC: COMPONENTS AT MPAC, MPAC +3, AND MPAC +5.
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#
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# TRG*SMNB AND TRG*NBSM BOTH EXPECT TO SEE THE 2'S COMPLEMENT ANGLES
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# AT CDUSPOT (ORDER Y Z X, AT CDUSPOT, CDUSPOT +2, AND CDUSPOT +4. ODD
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# MED INTERPRETER-STYLE IN MPAC; COMPONENTS AT MPAC, MPAC +3, AND MPAC +5.
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# TRG*SMNB AND TRG*NBSM BOTH EXPECT TO SEE THE 2'S COMPLEMENT ANGLES
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# AT CDUSPOT (ORDER Y Z X, AT CDUSPOT, CDUSPOT +2, AND CDUSPOT +4; ODD
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# LOCATIONS NEED NOT BE ZEROED). TRG*NBSM DOES THE NB TO SM TRANSFOR-
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# MATION: TRG*SMNB, VICE VERSA.
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#
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# CDU*NBSM DOES ITS TRANSFORMATION USING THE PRESENT CONTENTS OF
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# MATION; TRG*SMNB, VICE VERSA.
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# CDU*NBSM DOES ITS TRANSFORMATION USING THE PRESENT CONTENTS OF
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# THE CDL COUNTERS. OTHERWISE IT IS LIKE TRG*NBSM.
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#
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# CDU*SMNB IS THE COMPLEMENT OF CDU*NBSM.
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# CDU*SMNB IS THE COMPLEMENT OF CDU*NBSM.
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CDU*SMNB EXIT
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TC CDUTRIGS
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@ -209,11 +212,11 @@ C*MM*N3 TC MPACVBUF # FOR AX*SR*T
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CA THREE # SIGNAL FOR NB TO SM TRANSFORMATION
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TCF C*MM*N2
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# *NBSM* AND *SMNB* EXPECT TO SEE THE SINES AND COSINES (AT SINCDU
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# *NBSM* AND *SMNB* EXPECT TO SEE THE SINES AND COSINES (AT SINCDU
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# AND COSCDU) RATHER THAN THE ANGLES THEMSELVES. OTHERWISE THEY ARE
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# LIKE TRG*NBSM AND TRG*SMNB.
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#
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# NOTE THAT JUST AS CD*TR*GS NEED BE CALLED ONLY ONCE FOR EACH SERIES
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# NOTE THAT JUST AS CD*TR*GS NEED BE CALLED ONLY ONCE FOR EACH SERIES
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# OF TRANSFORMATIONS USING THE SAME ANGLES, SO TOO ONLY ONE OF TRG*NBSM
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# AND TRG*SMNB NEED BE CALLED FOR EACH SERIES. FOR SUBSEQUENT TRANFOR-
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# MATIONS USE *NBSM* AND *SMNB*.
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@ -224,25 +227,27 @@ C*MM*N3 TC MPACVBUF # FOR AX*SR*T
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*NBSM* EXIT
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TCF C*MM*N3
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# AX*SR*T COMBINES THE OLD SMNB AND NBSM. FOR THE NB TO SM
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# AX*SR*T COMBINES THE OLD SMNB AND NBSM. FOR THE NB TO SM
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# TRANSFORMATION, ENTER WITH +3 IN A. FOR SM TO NB, ENTER WITH -3.
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# THE VECTOR TO BE TRANSFORMED ARRIVES, AND IS RETURNED, IN VBUF.
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# AX*SR*T EXPECTS TO FIND THE SINES AND COSINES OF THE ANGLES OF ROTATION
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# AT SINCDU AND COSCDU, IN THE ORDER Y Z X. A CALL TO CD*TR*GS, WITH
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# THE 2'S COMPLEMENT ANGLES (ORDER Y Z X) AT CDUSPOT, WILL TAKE CARE OF
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# THIS. HERE IS A SAMPLE CALLING SEQUENCE:--
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# TC CDUTRIGS
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# CS THREE # ("CA THREE" FOR NBSM)
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# TC AX*SR*T
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# THIS. HERE IS A SAMPLE CALLING SEQUENCE:-
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# TC CDUTRIGS
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# CS THREE ("CA THREE" FOR NBSM)
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# TC AX*SR*T
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# THE CALL TO CD*TR*GS NEED NOT BE REPEATED, WHEN AX*SR*T IS CALLED MORE
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# THAN ONCE, UNLESS THE ANGLES HAVE CHANGED.
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#
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# AX*SR*T IS GUARANTEED SAFE ONLY FOR VECTORS OF MAGNITUDE LESS THAN
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# AX*SR*T IS GUARANTEED SAFE ONLY FOR VECTORS OF MAGNITUDE LESS THAN
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# UNITY. A LOOK AT THE CASE IN WHICH A VECTOR OF GREATER MAGNITUDE
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# HAPPENS TO LIE ALONG AN AXIS OF THE SYSTEM TO WHICH IT IS TO BE TRANS-
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# FORMED CONVINCES ONE THAT THIS IS A RESTRICTION WHICH MUST BE ACCEPTED.
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AX*SR*T TS DEXDEX # WHERE IT BECOMES THE INDEX OF INDEXES.
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AX*SR*T TS DEXDEX # WHERE IT BECOMES THE INDEX OF INDEXES
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EXTEND
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QXCH RTNSAVER
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@ -294,6 +299,7 @@ LOOP1 DXCH MPAC
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INDEX DEX1
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DXCH VBUF
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DXCH BUF # LOADING INDEX, STORING VECTOR COMPONENT
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CCS A # 'CAUSE THAT'S WHERE THE INDEX NOW IS
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TCF LOOP2
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@ -307,8 +313,10 @@ TSTPOINT CCS DEXDEX # ONLY THE BRANCHING FUNCTION IS USED
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TCF R*TL**P
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TC RTNSAVER
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SINESLOC ADRES SINCDU # FOR USE IN SETTING ADDRWD
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INDEXI DEC 4 # ********** DON'T ***********
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DEC 2 # ********** TOUCH ***********
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DEC 0 # ********** THESE ***********
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@ -318,9 +326,9 @@ INDEXI DEC 4 # ********** DON'T ***********
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# Page 1372
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# THIS SUBROUTINE COMPUTES INCREMENTAL CHANGES IN CDU(GIMBAL) ANGLES FROM INCREMENTAL CHANGES ABOUT SM AXES. IT
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# REQUIRES SM INCREMENTS AS A DP VECTOR SCALED AT ONE REVOLUTION(DTHETASM,+2,+4). SIN,COS(CDUY,Z,X) ARE IN
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# SINCDU,+2,+4 AND COSCDU,+2,+4 RESPECTIVELY, SCALED TO ONE HALF. CDU INCREMENTS ARE PLACED IN DCDU,+2,+4 SCALED TO
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# SINCDU,+2,+4 AND COSCDU,+2,+4 RESPECTIVELY,SCALED TO ONE HALF. CDU INCREENTS ARE PLACED IN DCDU,+2,+4 SCALED TO
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# ONE REVOLUTION.
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#
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# * COS(IGA)SEC(MGA) 0 -SIN(IGA)SEC(MGA) *
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# * *
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# * -COS(IGA)TAN(MGA) 1 SIN(IGA)TAN(MGA) *
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@ -361,4 +369,3 @@ SMCDURES DLOAD DMP
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SL1
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STORE DCDU +4
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RVQ
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