finished though pg 965
serialhex
parent
60d9cea338
commit
5a50655fa6
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@ -1203,21 +1203,21 @@ S52.3 STQ
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QMAJ
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# Page 955
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# NAME -- R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
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# NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
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#
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# FUNCTION -- POINT THE AOT APTICS AXIS BY MANEUVERING THE LEM TO A NAVIGATION
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# STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
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# FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
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# STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
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#
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# CALLING -- CALL R52
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# CALLING -CALL R52
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#
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# INPUT -- BESTI AND BESTJ (STAR CODES TIMES 6)
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# INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
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#
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# OUTPUT -- STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
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# (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
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# POINTVSM-1/2 UNIT NAV STAR VEC IN SM
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# SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
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# OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
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# (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
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# POINTVSM-1/2 UNIT NAV STAR VEC IN SM
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# SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
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#
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# SUBROUT -- R60LEM
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# SUBROUT -R60LEM
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COUNT* $$/R52
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R52 STQ EXIT
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@ -1232,9 +1232,9 @@ R52 STQ EXIT
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R52A CAF V01N70
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TC BANKCALL
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CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
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TC GOTOPOOH # V34 -- TERMINATE
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TCF R52B # V33 -- PROCEED TO ORIENT LEM
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TCF R52A # ENTER -- SELECT NEW STARCODE -- RECYCLE
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TC GOTOPOOH # V34-TERMINATE
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TCF R52B # V33-PROCEED TO ORIENT LEM
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TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
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R52B TC DOWNFLAG
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ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
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@ -1259,7 +1259,7 @@ R52B TC DOWNFLAG
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CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
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TS L
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EBANK= XSM
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CA EBANK5 # CHANGE TO EBANK5 BUT DON'T DISTURB L
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CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
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TS EBANK
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CA BIT13 # SET ELV TO 45 DEG
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XCH L # SET C(A)=AZ, C(L)=45 DEG
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@ -1268,12 +1268,12 @@ R52B TC DOWNFLAG
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GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
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TC BANKCALL
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CADR GOFLASH
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TC GOTOPOOH # V34 -- TERMINATE
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TCF +2 # PROCEED -- CALC OPTIC AXIS
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TCF GETAZEL # ENTER -- RECYCLE
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TC GOTOPOOH # V34-TERMINATE
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TCF +2 # PROCEED-CALC OPTIC AXIS
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TCF GETAZEL # ENTER-RECYCLE
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EXTEND
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DCA AZ # PICK UP AZ AND EL IN SP 2'S COMP
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DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
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AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
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DXCH 8D
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TC INTPRET
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@ -1290,7 +1290,7 @@ AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
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TC BANKCALL
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CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
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CAF HIGH9 # IF COAS CALIBRATION CODE 0. RECYCLE
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CAF HIGH9 # IF COAS CALIBRATION CODE 0. RECYCLE
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MASK STARCODE
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EXTEND
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BZF R52A
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@ -1312,16 +1312,16 @@ V06N87 VN 687
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COUNT* $$/R59
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R59 CS FLAGWRD3
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MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR ACQUIRE
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MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
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CCS A
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TCF R59OUT # NO REFSMMAT GO TO AOTMARK
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CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
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TC BANKCALL
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CADR GOFLASH
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TC GOTOPOOH # V34 -- TERMINATE
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TCF R59A # V33 -- PROCEED
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TCF R59 # V32 -- RECYCLE
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TC GOTOPOOH # V34-TERMINATE
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TCF R59A # V33-PROCEED
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TCF R59 # V32-RECYCLE
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R59A CS HIGH9 # GRAB STARCODE FOR INDEX
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MASK AOTCODE
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@ -1348,7 +1348,7 @@ R59A CS HIGH9 # GRAB STARCODE FOR INDEX
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STORE STAR # TEMP STORE STAR VEC(NB)
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EXIT
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CAF BIT1 # INITIALIZE AZ POSITION COD TO 1 (-60)
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CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
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TS POSCODE
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EBANK= XYMARK
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@ -1381,7 +1381,7 @@ INCAZ CA EBANK7
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DSU BPL
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DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
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NXAX # NOT IN FIELD -- TRY NEXT POSITION
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NXAX # NOT IN FIELD - TRY NEXT POSITION
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DLOAD DSU # SEE IF STAR AT FIELD CENTER
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24D
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DEG.5
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@ -1395,20 +1395,20 @@ INCAZ CA EBANK7
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SCAXIS # OA
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VXV UNIT
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XUNIT
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PUSH VXV # OA X UNITX PD 0-5
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PUSH VXV # OA X UNITX PD 0-5
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SCAXIS
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VCOMP
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UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
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UNIT PDVL # UNIT(OA X(OA X UNITX)) PD 6-11
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SCAXIS
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VXV UNIT
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STAR
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PUSH DOT # 1/2(OA X STAR) PD 12-17
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0 # DOT WITH 1/2(OA X UNITX) FOR YROT
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PUSH DOT # 1/2(OA X STAR) PD 12-17
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0 # DOT WITH 1/2(OA X UNITX) FOR YROT
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SL1 ARCCOS
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STOVL 26D # STORE THET SCALED IN REVS
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# Page 959
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DOT # UP 12-17, UP 6-11 FOR C2
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BPL DLOAD # IF THET NEG -- GET 360-THET
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BPL DLOAD # IF THET NEG-GET 360-THET
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R59D
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ABOUTONE
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DSU
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@ -1431,7 +1431,7 @@ R59D SLOAD SR1
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TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
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ZSPCR EXIT
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CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
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CAF ZERO # STAR ALMOST OPTIC AXIS,ZERO CURSOR
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TS CURSOR # AND SPIRAL ANGLES
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TS SPIRAL
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TCF 79DISP
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@ -1444,22 +1444,22 @@ NXAX EXIT
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BZMF R59ALM # THIS STAR NOT AT ANY POSITION
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TCF INCAZ
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R59ALM TC ALARM # THIS STAR CAN'T BE LOCATED IN AOT FIELD
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R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
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OCT 404
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CAF VB05N09 # DISPLAY ALARM
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TC BANKCALL
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CADR GOFLASH
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TCF GOTOPOOH # VB34 -- TERMINATE
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TCF R59OUT # VB33 -- PROCEED, GO WITHOUT ACQUIRE
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TCF R59 # VB32 -- RECYCLE AND TRY ANOTHER STAR
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TCF GOTOPOOH # VB34-TERMINATE
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TCF R59OUT # VB33-PROCEED, GO WITHOUT ACQUIRE
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TCF R59 # VB32-RECYCLE AND TRY ANOTHER STAR
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79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
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TC BANKCALL
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CADR GOFLASH
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TCF GOTOPOOH # V34 -- TERMINATE
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TCF GOTOPOOH # V34-TERMINATE
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# Page 960
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TCF R59E # V33 -- PROCEED TO MARK ROUTINE
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TCF R59 # V32 -- RECYCLE TO TOP OF R59 AGAIN
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TCF R59E # V33-PROCEED TO MARK ROUTINE
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TCF R59 # V32-RECYCLE TO TOP OF R59 AGAIN
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R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
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MASK POSCODE
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@ -1480,31 +1480,31 @@ R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
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V01N70* VN 170
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V06N79 VN 679
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DEG30 2DEC .083333333 # 30 DEGREES
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DEG.5 2DEC .00138888 # .5 DEGREES SCALED IN REVS.
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DEG.5 2DEC .00138888 # .5 DEGREES SCALED IN REVS
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DEG60 OCT 12525 # 60 DEG CDU SCALING
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CURSOR EQUALS GDT/2
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SPIRAL EQUALS GDT/2 +2
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POSCODE EQUALS GDT/2 +4
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# Page 961
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# NAME -- PLANET
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# FUNCTION -- TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
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# BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
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# MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
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# BY DSKY INPUT.
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# CALL -- CALL
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# PLANET
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# INPUT -- TIME IN MPAC
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# OUTPUT -- VECTOR IN MPAC
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# SUBROUTINES -- LOCSAM
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# DEBRIS -- VAC, STARAD - STARAD +17
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# NAME - PLANET
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# FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
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# BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
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# MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
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# BY DSKY INPUT
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# CALL - CALL
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# PLANET
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# INPUT - TIME IN MPAC
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# OUTPUT - VECTOR IN MPAC
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# SUBROUTINES - LOCSAM
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# DEBRIS - VAC .STARAD - STARAD +17
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SETLOC P50S
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BANK
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COUNT* $$/P51
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PLANET STOVL TSIGHT
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ZEROVEC
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ZEROVEC # ZERO N88 DISPLAY VEC
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STORE STARAD
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STQ EXIT
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GCTR
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@ -1561,41 +1561,35 @@ CALSAM DLOAD CALL
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GCTR
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DEC227 DEC 227
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VNPLANV VN 0688
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PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DON'T LOAD PIPTIME1
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PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
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# Page 963
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# GRAVITY VECTOR DETERMINATION ROUTINE
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# BY KEN VINCENT
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#
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# FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5.
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#
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# THIS PROGRAM FINDS THE DIRECTION OF THE MOON'S GRAVITY
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# WHILE THE LM IS IN THE MOON'S SURFACE. IT WILL BE USED
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# FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
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# FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
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# THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
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# WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
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# FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
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# DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
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# PARTICULAR ORIENTATIONS. THE TWO READINGS ARE AVERAGED
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# AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
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# ORIENTATIONS WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
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# PARTICULAR ORIENTATIONS. THE TWO READINGS ARE AVERAGED
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# AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
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# ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
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# READINGS.
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#
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# CALL --
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# TC BANKCALL
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# CADR GVDETER
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#
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# INPUTS --
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# PIPAS, CDUS
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#
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# OUTPUTS --
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# STARSAV1 = UNIT GRAVITY
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# GSAV = DITTO
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# GRAVBIT = 1
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#
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# SUBROUTINES --
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# PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
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# *NBSM*, *SNMB*, CALCGA, GOFLASH
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#
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# DEBRIS --
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# VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
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# CALL-
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# TC BANKCALL
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# CADR GVDETER
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# INPUTS-
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# PIPAS,CDUS
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# OUTPUTS-
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# STARSAV1 = UNIT GRAVITY
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# GSAV = DITTO
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# GRAVBIT = 1
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# SUBROUTINES-
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# PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
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# *NBSM* ,*SNMB*, CALCGA,FOFLASH
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# DEBRIS-
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# VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
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GVDETER CAF 42DEG
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TS THETAD
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@ -1608,38 +1602,36 @@ GVDETER CAF 42DEG
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REFSMFLG
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LUNG
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# FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
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# FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
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#
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# DEFINE G COOR SYS
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# _
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# [ X ] [ UNIT G ]
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# * [ _ ] [ _ ]
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# M = [ Y ] = [ UNITEZSM * X ]
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# [ _ ] [ _ _ ]
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# [ Z ] [ UNIT( X * Y )]
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#
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# THEN ROTATED SM WRT PRESENT IS
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# DEFINE G COOR SYS
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# _
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# X UNIT G
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# * _ _
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# M= Y = UNITEZSM * X )
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# _ _ _
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# Z UNIT( X * Y )
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# THEN ROTATED SM WRT PRESENT IS
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#
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# Page 964
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# [ 1 0 0 ]
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# * *T [ ] * * *
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# XSM = M [ 0 -1 0 ] M = 2 (X X ) - 1/2 I
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# [ ] I J
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# [ 0 0 -1 ]
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# 1, 0 , 0
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# * *T * * *
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# XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
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# I J
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# 0, 0 ,-1
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#
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# ALSO NB WRT PRES SM IS
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# ALSO NB WRT PRES SM IS
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#
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# * * *
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# XNB = NBSM I
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#
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# * *
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# GIMBAL ANGLES = CALCGA( XSM, XNB )
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# * *
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# GIMBAL ANGLES = CALCGA( XSM , XNB )
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SETLOC P50S
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BANK
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COUNT* $$/P57
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AXT,1 SSP # X1=18
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18D # S1=6
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18D # S1= 6
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S1 # X2, -2
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6D
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LXC,2
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@ -1650,7 +1642,7 @@ GRAVEL VLOAD* CALL
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STORE XNB +18D,1
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VLOAD
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STAR
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LXC,2 VXSC* # COMPLEMENT -- UNITX ARE BACKWARD --
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LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
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X2
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STAR +6,2 # OUTER PRODUCT
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VSL2 LXC,2
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@ -1684,8 +1676,8 @@ GRAVEL VLOAD* CALL
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TC BANKCALL
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CADR GOFLASH
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TC GOTOPOOH
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TCF PROGRAV # VB33 -- PROCEED
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TC UPFLAG # VB32 -- RECYCLE -- STORE GRAV AND DO IT AGAIN
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TCF PROGRAV # VB33-PROCEED
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TC UPFLAG # VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
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ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
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PROGRAV TC PHASCHNG
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@ -1696,7 +1688,7 @@ PROGRAV TC PHASCHNG
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STARSAV1
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STORE GSAV
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EXIT
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CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY
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CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
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MASK FLAGWRD0
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CCS A
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TCF GVDETER # SET
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@ -2338,4 +2330,3 @@ LSORIENT STQ VLOAD
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XSMD
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STCALL YSMD
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QMAJ
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