diff --git a/Comanche055/RCS-CSM_DIGITAL_AUTOPILOT.agc b/Comanche055/RCS-CSM_DIGITAL_AUTOPILOT.agc index cf13111..2f221d8 100644 --- a/Comanche055/RCS-CSM_DIGITAL_AUTOPILOT.agc +++ b/Comanche055/RCS-CSM_DIGITAL_AUTOPILOT.agc @@ -29,8 +29,8 @@ # Page 1002 # T5 INTERRUPT PROGRAM FOR THE RCS-CSM AUTOPILOT +# START OF T5 INTERRUPT PROGRAM -# START OF T5 INTERRUPT PROGRAM BANK 20 SETLOC DAPS3 @@ -40,7 +40,7 @@ EBANK= KMPAC REDORCS LXCH BANKRUPT # RESTART OF AUTOPILOT COMES HERE - CA T5PHASE # ON A T5 RUPT + CA T5PHASE # ON A T5 RUPT. EXTEND BZMF +2 # IF T5PHASE +0, -0, OR -, RESET TO - TCF +3 # IF T5PHASE +, LEAVE IT +. DO A FRESHDAP @@ -57,7 +57,7 @@ RCSATT LXCH BANKRUPT # SAVE BB EXTEND # SAVE Q QXCH QRUPT CAF BIT15 # BIT15 CHAN31 = 0 IF IMU POWER IS ON AND - EXTEND # S/C CONT SW IS IN CMC (I.E., IF G/C AUTO + EXTEND # S/C CONT SW IS IN CMC (I.E. IF G/C AUTO RAND CHAN31 # PILOT IS FULLY ENABLED) EXTEND BZF SETT5 # IF G/C AUTOPILOT IS FULLY ENABLED, @@ -92,17 +92,15 @@ ONESEK DEC 16284 # 1 SEC(TIME5) CHAN5 EQUALS 5 CHAN6 EQUALS 6 PRIO34A = PRIO34 +# CHECK PHASE OF T5 PROGRAM -# CHECK PHASE OF T5 PROGRAM -# -# BECAUSE OF THE LENGTH OF THE T5 PROGRAM,IT HAS BEEN DIVIDED INTO +# BECAUSE OF THE LENGTH OF THE T5 PROGRAM, IT HAS BEEN DIVIDED INTO # THREE PARTS, T5PHASE1, T5PHASE2, AND THE JET SELECTION LOGIC, # TO ALLOW FOR THE EXECUTION OF OTHER # INTERRUPTS. T5PHASE IS ALSO USED IN THE INITIALIZATION OF THE AUTOPILOT # VARIABLES AT TURN ON. -# # THE CODING OF T5PHASE IS... -# + # + = INITIALIZE T5 RCS-CSM AUTOPILOT # T5PHASE = +0 = PHASE2 OF THE T5 PROGRAM # - = RESTART DAP @@ -113,7 +111,7 @@ SETT5 CCS T5PHASE TCF T5PHASE2 # BRANCH TO PHASE2 OF PROGRAM TCF REDAP # RESTART AUTOPILOT - TS T5PHASE # PHASE 1 RESET FOR PHASE 2 + TS T5PHASE # PHASE 1 RESET FOR PHASE 2 CA TIME5 TS T5TIME # USED IN COMPENSATING FOR DELAYS IN T5 CAF DELTATT2 # RESET FOR T5RUPT IN 20MS FOR PHASE2 @@ -123,7 +121,7 @@ SETT5 CCS T5PHASE # IMU STATUS CHECK CS IMODES33 # CHECK IMU STATUS - MASK BIT6 # BIT6 = 0 IMU OK + MASK BIT6 # BIT6 = 0 IMU OK CCS A # BIT6 = 1 NO IMU TCF RATEFILT FREECHK CS RCSFLAGS # BIT14 INDICATES THAT RATES HAVE NOT BEEN @@ -147,16 +145,13 @@ RATEFILT CA RCSFLAGS # SEE IF RATEFILTER HAS BEEN INITIALIZED TCF KMATRIX # IF NOT, SKIP RATE DERIVATION # RATE FILTER TIMING = 7.72 MS -# + # RATE FILTER EQUATIONS -# -# # DRHO = DELRHO - (.1)ADOT + (1 = GAIN1)DRHO # -1 -# # ADOT = ADOT + GAIN2 DRHO + KMJ DFT # -1 -# _ * _ _ +# - * - - # WHERE DELRHO = AMGB (CDU - CDU ) # -1 @@ -170,7 +165,7 @@ DRHOLOOP TS SPNDX INDEX ATTKALMN # PICK UP DESIRED FILTER GAIN MP GAIN1 INDEX DPNDX - DAS DRHO # (1 -.064) DRHO + DAS DRHO # (1 -.064)DRHO EXTEND # Page 1005 INDEX DPNDX @@ -187,7 +182,7 @@ DRHOLOOP TS SPNDX CA CDUX # MEASURED BODY RATES-- XCH RHO EXTEND - MSU RHO # _ * _ _ + MSU RHO # - * - - COM # DELRHO = AMGB (CDU - CDU ) # -1 ZL @@ -219,8 +214,8 @@ DRHOLOOP TS SPNDX TS T5TEMP # (CDUZ - RHO2) SCALED 90 DEGS EXTEND MP AMGB5 - DAS DELTEMPY # DELTEMPY = AMGB4(CDUY-RHO1) - # + AMGB5(CDUZ-RHO2) + DAS DELTEMPY # DELTEMPY =AMGB4(CDUY-RHO1) + # + AMGB5(CDUZ-RHO2) CA AMGB8 EXTEND @@ -276,20 +271,20 @@ TENTHSEK TS ATTSEC # Page 1007 # WHEN AUTOMATIC MANEUVERS ARE BEING PERFORMED, THE FOLLOWING ANGLE ADDITION MUST BE MADE TO PROVIDE A SMOOTH # SEQUENCE OF ANGULAR COMMANDS TO THE AUTOPILOT-- -# + # CDUXD = CDUXD + DELCDUX (DOUBLE PRECISION) # CDUYD = CDUYD + DELCDUY (DOUBLE PRECISION) # CDUZD = CDUZD + DELCDUZ (DOUBLE PRECISION) -# -# THE STEERING PROGRAMS: + +# THE STEERING PROGRAMS- # 1) ATTITUDE MANEUVER ROUTINE # 2) LEM TRACKING -# + # SHOULD GENERATE THE DESIRED ANGLES (CDUXD, CDUYD, CDUZD) AS WELL AS THE INCREMENTAL ANGLES (DELCDUX, DELCDUY, # DELCDUZ) SO THAT THE GIMBAL ANGLE COMMANDS CAN BE INTERPOLATED BETWEEN UPDATES. -# -# HOLDFLAG CODING: -# + +# HOLDFLAG CODING- + # + = GRAB PRESENT CDU ANGLES AND STORE IN THETADX, THETADY, THETADZ # AND PERFORM ATTITUDE HOLD ABOUT THESE ANGLES # ALSO IGNORE AUTOMATIC STEERING @@ -306,15 +301,16 @@ TENTHSEK TS ATTSEC # +0 = IN ATTITUDE HOLD ABOUT A PREVIOUSLY ESTABLISHED REFERENCE # - = PERFORMING AUTOMATIC MANEUVER # -0 = NOT USED AT PRESENT -# -# NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT. + + +# NOTE THAT THIS FLAG MUST BE SET = - BY THE STEERING PROGRAM IF IT IS TO COMMAND THE AUTOPILOT. # SINCE ASTRONAUT ACTION MAY CHANGE THE HOLDFLAG SETTING, IT SHOULD BE MONITORED BY THE STEERING PROGRAM TO # DETERMINE IF THE AUTOMATIC SEQUENCE HAS BEEN INTERRUPTED AND IF SO, TAKE THE APPROPRIATE ACTION. CS HOLDFLAG EXTEND BZMF DACNDLS # IF HOLDFLAG +0,-0,+, BYPASS AUTOMATIC - # COMMANDS. + # COMMANDS DCDUINCR CAF TWO DELOOP TS SPNDX DOUBLE @@ -339,33 +335,33 @@ DELOOP TS SPNDX # Page 1009 # RCS-CSM AUTOPILOT ATTITUDE ERROR DISPLAY -# -# THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI: -# + +# THREE TYPES OF ATTITUDE ERRORS MAY BE DISPLAYED ON THE FDAI- + # MODE 1) AUTOPILOT FOLLOWING ERRORS SELECTED BY V61E # GENERATED INTERNALLY BY THE AUTOPILOT -# + # MODE 2) TOTAL ATTITUDE ERRORS SELECTED BY V62E # WITH RESPECT TO THE CONTENTS OF N22 -# + # MODE 3) TOTAL ASTRONAUT ATTITUDE ERRORS SELECTED BY V63E # WITH RESPECT TO THE CONTENTS OF N17 -# + # MODE 1 IS PROVIDED AS A MONITOR OF THE RCS DAP AND ITS ABILITY TO TRACK AUTOMATIC STEERING COMMANDS. IN THIS -# MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE. -# +# MODE THE ATTITUDE ERRORS WILL BE ZEROED WHEN THE CMC MODE SWITCH IS IN FREE + # MODE 2 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED # IN N22. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES # AS A FLY-TO INDICATOR. -# + # MODE 3 IS PROVIDED TO ASSIST THE CREW IN MANUALLY MANEUVERING THE S/C TO THE ATTITUDE (GIMBAL ANGLES) SPECIFIED # IN N17. THE ATTITUDE ERRORS WRT THESE ANGLES AND THE CURRENT CDU ANGLES ARE RESOLVED INTO S/C CONTROL AXES # AS A FLY-TO INDICATOR. -# -# V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY + +# V60 IS PROVIDED TO LOAD N17 WITH A SNAPSHOT OF THE CURRENT CDU ANGLES, THUS SYNCHRONIZING THE MODE 3 DISPLAY # WITH THE CURRENT S/C ATTITUDE. THIS VERB MAY BE USED AT ANY TIME. -# -# THESE DISPLAYS WILL BE AVAILABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN + +# THESE DISPLAYS WILL BE AVAILABLE IN ANY MODE (AUTO, HOLD, FREE, G+N, OR SCS) ONCE THE RCS DAP HAS BEEN # INITIATED VIA V46E. MODE 1, HOWEVER, WILL BE MEANINGFUL ONLY IN G+N AUTO OR HOLD. THE CREW MAY PRESET (VIA # V25N17) AN ATTITUDE REFERENCE (DESIRED GIMBAL ANGLES) INTO N17 AT ANY TIME. @@ -380,43 +376,44 @@ KRESUME1 TCF RESUME # END PHASE 1 # Page 1010 # FDAI ATTITUDE ERROR DISPLAY SUBROUTINE -# + # PROGRAM DESCRIPTION: D. KEENE 5/24/67 -# -# THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS) + +# THIS SUBROUTINE IS USED TO DISPLAY ATTITUDE ERRORS ON THE FDAI VIA THE DIGITAL TO ANALOG CONVERTERS (DACS) # IN THE CDUS. CARE IS TAKEN TO METER OUT THE APPROPRIATE NUMBER OF PULSES TO THE IMU ERROR COUNTERS AND PREVENT # OVERFLOW, TO CONTROL THE RELAY SEQUENCING, AND TO AVOID INTERFERENCE WITH THE COARSE ALIGN LOOP WHICH ALSO USES # THE DACS. -# + + # CALLING SEQUENCE: -# -# DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE + +# DURING THE INITIALIZATION SECTION OF THE USER'S PROGRAM, BIT3 OF RCSFLAGS SHOULD BE SET TO INITIATE THE # TURN-ON SEQUENCE WITHIN THE NEEDLES PROGRAM: -# + # CS RCSFLAGS # IN EBANK6 # MASK BIT3 # ADS RCSFLAGS -# + # THEREAFTER, THE ATTITUDE ERRORS GENERATED BY THE USER SHOULD BE TRANSFERED TO THE FOLLOWING LOCATIONS IN EBANK6: -# + # AK SCALED 180 DEGREES NOTE: THESE LOCATIONS ARE SUBJECT # AK1 SCALED 180 DEGREES TO CHANGE # AK2 SCALED 180 DEGREES -# + # FULL SCALED DEFLECTION CORRESPONDS TO 16 7/8 DEGREES OF ATTITUDE ERROR # (= 384 BITS IN IMU ERROR COUNTER) -# + # A CALL TO NEEDLER WILL THEN UPDATE THE DISPLAY: -# + # INHINT # TC IBNKCALL # NOTE: EBANK SHOULD BE SET TO E6 # CADR NEEDLER # RELINT -# -# THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PRORAM ARE + +# THIS PROCESS SHOULD BE REPEATED EACH TIME THE ERRORS ARE UPDATED. AT LEAST 3 PASSES THRU THE PROGRAM ARE # REQUIRED BEFORE ANYTHING IS ACTUALLY DISPLAYED ON THE ERROR METERS. -# NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING. -# +# NOTE: EACH CALL TO NEEDLER MUST BE SEPARATED BY AT LEAST 50MS TO ASSURE PROPER RELAY SEQUENCING. + # ERASABLE USED: # AK CDUXCMD # AK1 CDUYCMD @@ -424,21 +421,23 @@ KRESUME1 TCF RESUME # END PHASE 1 # EDRIVEX A,L,Q # EDRIVEY T5TEMP # EDRIVEZ SPNDX -# -# SWITCHES; RCSFLAGS BITS 3,2 -# -# I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY) + +# SWITCHES: RCSFLAGS BITS 3,2 + +# I/O CHANNELS: CHAN12 BIT 4 (COARSE ALIGN - READ ONLY) # Page 1011 -# CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE) -# CHAN14 BIT 13,14,15 (DAC ACTIVITY) -# -# SIGN CONVENTION: AK = THETAC - THETA +# CHAN12 BIT 6 (IMU ERROR COUNTER ENABLE) +# CHAN14 BIT 13,14,15 (DAC ACTIVITY) + + +# SIGN CONVENTION< AK = THETAC - THETA # WHERE THETAC = COMMAND ANGLE # THETA = PRESENT ANGLE + NEEDLER CAF BIT4 # CHECK FOR COARSE ALIGN ENABLE EXTEND # IF IN COARSE ALIGN DO NOT USE IMU - RAND CHAN12 # ERROR COUNTERS. DON'T USE NEEDLES + RAND CHAN12 # ERROR COUNTERS. DONT USE NEEDLES EXTEND BZF NEEDLER1 CS RCSFLAGS # SET BIT3 FOR INITIALIZATION PASS @@ -456,7 +455,7 @@ NEEDLER1 CA RCSFLAGS CS BIT6 # FIRST PASS BIT3 = 1 EXTEND # DISABLE IMU ERROR COUNTER TO ZERO DACS - WAND CHAN12 # MUST WAIT AT LEAST 60 MS. BEFORE + WAND CHAN12 # MUST WAIT AT LEAST 60 MS BEFORE NEEDLE11 CS ZERO # ENABLING COUNTERS. TS AK # ZERO THE INPUTS ON FIRST PASS TS AK1 @@ -533,19 +532,18 @@ DACLIMIT DEC 16000 # Page 1014 # INITIALIZATION PROGRAM FOR RCS-CSM AUTOPILOT -# -# THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY -# -# WBODY (+1) DFT TAU2 -# WBODY1 (+1) DFT1 BIAS -# WBODY2 (+1) DFT2 BIAS1 -# ADOT (+1) DRHO (+1) BIAS2 -# ADOT1 (+1) DRHO1 (+1) ERRORX -# ADOT2 (+1) DRHO2 (+1) ERRORY -# MERRORX (+1) ATTSEC ERRORZ -# MERRORY (+1) TAU -# MERRORZ (+1) TAU1 +# THE FOLLOWING QUANTITIES WILL BE ZEROED AND SHOULD APPEAR IN CONSECUTIVE LOCATIONS IN MEMORY AFTER WBODY + +# WBODY (+1) DFT TAU2 +# WBODY1 (+1) DFT1 BIAS +# WBODY2 (+1) DFT2 BIAS1 +# ADOT (+1) DRHO (+1) BIAS2 +# ADOT1 (+1) DRHO1 (+1) ERRORX +# ADOT2 (+1) DRHO2 (+1) ERRORY +# MERRORX (+1) ATTSEC ERRORZ +# MERRORY (+1) TAU +# MERRORZ (+1) TAU1 FRESHDAP CAF ONE # RESET HOLDFLAG TO STOP AUTOMATIC TS HOLDFLAG # STEERING AND PREPARE TO PICK UP AN # ATTITUDE HOLD REFERENCE @@ -582,7 +580,7 @@ ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS # MS FROM NOW AND EVERY 100MS THEREAFTER. CAF ELEVEN - TS ATTKALMN # RESET TO PICK UP KALMAN FILTER TAINS + TS ATTKALMN # RESET TO PICK UP KALMAN FILTER GAINS # TO INITIALIZE THE S/C ANGULAR RATES # Page 1015 CA CDUX @@ -600,7 +598,7 @@ ZEROT5 TS SPNDX # ZERO ALL NECESSARY ERASABLE REGISTERS TCF IMUAOK TS ATTKALMN # CANNOT USE IMU CAF RCSINITB # PROVIDE FREE CONTROL ONLY - TCF RCSSWIT # DON'T START UP RATE FILTER + TCF RCSSWIT # DONT START UP RATE FILTER # SIGNAL NO RATE FILTER IMUAOK CAF PRIO34 # START MATRIX INITIALIZATION @@ -608,10 +606,10 @@ IMUAOK CAF PRIO34 # START MATRIX INITIALIZATION EBANK= KMPAC 2CADR AMBGUPDT - CAF RCSINIT # CLEAR BIT14 --ASSUME WE HAVE A GOOD IMU -RCSSWIT TS RCSFLAGS # CLEAR BIT1 --INITIALIZE T6 PROGRAM - # SET BIT3 --INITIALIZE NEEDLES - # CLEAR BIT4 --RESET FOR FDAIDSP1 + CAF RCSINIT # CLEAR BIT14 -ASSUME WE HAVE A GOOD IMU +RCSSWIT TS RCSFLAGS # CLEAR BIT1 -INITIALIZE T6 PROGRAM + # SET BIT3 -INITIALIZE NEEDLES + # CLEAR BIT4 -RESET FOR FDAIDSP1 CAF T5WAIT60 # NEXT T5RUPT 60 MS FROM NOW TO ALLOW IMU # ERROR COUNTER TO ZERO. # (MINIMUM DELAY = 15 MS) @@ -632,7 +630,7 @@ T6ADDR 2CADR T6START ZEROJET CAF ELEVEN # ZERO BLAST2, BLAST1, BLAST, YWORD2, TS SPNDX # YWORD1, PWORD2, PWORD1, RWORD2, - CAF ZERO # AND RWORD1 + CAF ZERO # AND RWORD1. # Page 1016 INDEX SPNDX @@ -705,7 +703,7 @@ NOHIAUTO TS ATTKALMN # ROLL, BITS 8,7 FOR YAW, BITS 6,5 FOR # PITCH - CS RCSFLAGS # SET RATE DAMPING FLAGS (BITS 13,12, AND + CS RCSFLAGS # SET RATE DAMPING FLAGS (BITS 13,12,AND MASK OCT16000 # 11 OF RCSFLAGS) ADS RCSFLAGS @@ -721,7 +719,7 @@ NOCHANGE CS CH31TEMP # MEANS OF STICKCHK, TO 0, 1, OR 2 FOR NO, # +, OR - ROTATION RESPECTIVELY AS # COMMANDED BY THE RHC. - # + # HOWEVER, IT IS WELL TO NOTE THAT AFTER # THE RHC IS RETURNED TO DETENT, THE # PROGRAM BRANCHES TO AHFNOROT AND AVOIDS @@ -792,7 +790,7 @@ NORATE ZL MASK OCT16000 EXTEND # IS RATE DAMPING COMPLETED BZF SPNDXCHK # YES, KEEP CURRENT MERRORX GO TO SPNDXCHK - TCF ZEROER # NO, GO TO ZEROER + TCF ZEROER # NO,GO TO ZEROER MERUPDAT INDEX Q # MERRORX=MERRORX+MEASURED CHANGE IN ANGLE CS MANTABLE -1 # -COMMANDED CHANGE IN ANGLE @@ -815,7 +813,7 @@ OCT01400 OCT 01400 # ROLL FORCED FIRING MASK ORDER OF OCT00060 OCT 00060 # PITCH FORCED FIRING MASK DEFINITION OCT00300 OCT 00300 # YAW FORCED FIRING MASK MUST BE # PRESERVED - # FOR INDEXING + # FOR INDEXING MANROT OCT 77 OCT16000 OCT 16000 # RATE DAMPING FLAGS MASK MANTABLE DEC .0071111 @@ -833,8 +831,8 @@ FREEFUNC INDEX RMANNDX # ACCELERATION TS TAU INDEX PMANNDX CA FREETAU # FREETAU 0 SEC - TS TAU1 # +1 +0.10 SEC - INDEX YMANNDX # +2 -0.10 SEC + TS TAU1 # +1 +0.10 SEC + INDEX YMANNDX # +2 -0.10 SEC CA FREETAU # (+3) 0 SEC TS TAU2 TCF T6PROGM @@ -853,7 +851,7 @@ T6PROGM CAF ZERO # FOR MANUAL ROTATIONS # Page 1021 DEC .2112 # FILTER GAIN FOR TRANSLATION, LEM ON DEC .8400 # FILTER GAIN FOR TRANSLATION 2(ZETA)WN DT - DEC .2112 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS + DEC .2112 # FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS GAIN1 DEC .0640 # KALMAN FILTER GAINS FOR INITIALIZATION DEC .3180 # OF ATTITUDE RATES DEC .3452 @@ -868,7 +866,7 @@ GAIN1 DEC .0640 # KALMAN FILTER GAINS FOR INITIALIZATION DEC .0174 # FILTER GAIN FOR TRANSLATION, LEM ON DEC .3600 # FILTER GAIN FOR TRANSLATION (WN)(WN)DT - DEC .0174 # FILTER GAIN FOR 4 DEGREE/SEC MANEUVERS + DEC .0174 # FILTER GAIN FOR 2 DEGREES/SEC MANEUVERS GAIN2 DEC .0016 # SCALED 10 DEC .0454 DEC .0545 @@ -884,9 +882,9 @@ STICKCHK TS T5TEMP MASK THREE # INDICES FOR MANUAL ROTATION TS PMANNDX CA T5TEMP - EXTEND # MAN RATE 0 0 RATE (DP) - MP QUARTER # +1 + RATE (DP) - TS T5TEMP # +2 - RATE (DP) + EXTEND # MAN RATE 0 0 RATE (DP) + MP QUARTER # +1 +RATE (DP) + TS T5TEMP # +2 -RATE (DP) MASK THREE # (+3) 0 RATE (DP) TS YMANNDX CA T5TEMP @@ -894,6 +892,8 @@ STICKCHK TS T5TEMP MP QUARTER TS RMANNDX TC Q + + KALUPDT TS ATTKALMN # INITIALIZATION OF ATTITUDE RATES USING # KALMAN FILTER TAKES 1.1 SEC @@ -918,7 +918,7 @@ FDAIDSP2 CS BIT4 # RESET FOR FDAIDSP1 EXTEND BZF FDAITOTL EXTEND - DCS ERRORX # OFF - DISPLAY AUTOPILOT FOLLOWING ERROR + DCS ERRORX # OFF -DISPLAY AUTOPILOT FOLLOWING ERROR DXCH AK CS ERRORZ TS AK2 @@ -973,4 +973,3 @@ WRTN17 EXTEND # GET SET TO COMPUTE TOTAL ASTRONAUT TCF GETAKS # Page 1024 (empty page) -