Proof CM_ENTRY_DIGITAL_AUTOPILOT (closes #196)pull/345/head
cai
James Harris
parent
3a9b000cb4
commit
b47cb532c2
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@ -31,11 +31,11 @@
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# Colossus 2A
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# Page 1063
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# SUBROUTINE TO READ GIMBAL ANGLES AND FORM DIFFERENCES. GIMBAL ANGLES ARE SAVED IN 2'S COMPLEMENT, BUT THE
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# DIFFERENCES ARE IN 1'S COMP. ENTER AND READ ANGLES EACH .1 SEC.
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# SUBROUTINE TO READ GIMBAL ANGLES AND FORM DIFFERENCES. GIMBAL ANGLES ARE SAVED IN 2S COMPLEMENT, BUT THE
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# DIFFERENCES ARE IN 1S COMP. ENTER AND READ ANGLES EACH .1 SEC.
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#
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# CM/DSTBY = 1 FOR DAP OPERATION
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# CM/DSTBY = 0 TO TERMINATE DAP OPERATION
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# CM/DSTBY = 0 TO TERMINATE DAP OPERATION.
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BANK 15
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@ -47,17 +47,17 @@
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EBANK= AOG
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READGYMB CA TEN # KEEP RESTART DT GOING RELATIVE TO
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ADS CM/GYMDT # PIPTIME. (GROUP 6)
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ADS CM/GYMDT # PIPTIME. (GROUP 6)
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# IF A RESTART OCCURS, SKIP PRESENT CYCLE. THE
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# IF A RESTART OCCURS, SKIP PRESENT CYCLE. THE
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# PHASCHNG PROTECTION IS IN CM/DAPIC.
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CA BIT6 # CHECK FOR FINE ALIGN MODE OF CDU.
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MASK IMODES33 # (PROTECT AOG/PIP ETC AS WELL AS
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EXTEND # GIMBAL DIFFERENCES)
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MASK IMODES33 # ( PROTECT AOG/PIP ETC AS WELL AS
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EXTEND # GIMBAL DIFFERENCES)
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BZF READGYM1 # OK
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CS BIT1 # NOT IN FINE ALIGN, SO IDLE
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CS BIT1 # NOT IN FINE ALIGN, SO IDLE.
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MASK CM/FLAGS # SET GYMDIFSW = 0
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TS CM/FLAGS
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TC FLUSHJET # QUENCH JETS, SINCE MAY BE A WHILE.
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@ -87,7 +87,7 @@ DOBRATE? CS CM/FLAGS # CM/DSTBY=103D BIT2 GYMDIFSW=104D BIT1
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INDEX A
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TC +1
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TC DOBRATE # OK, GO ON
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TC CM/GYMIC # DON'T CALC BODYRATE ON FIRST PASS.
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TC CM/GYMIC # DONT CALC BODYRATE ON FIRST PASS.
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NOOP
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TC FLUSHJET # TURN OFF ALL JETS
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@ -97,7 +97,7 @@ DOBRATE? CS CM/FLAGS # CM/DSTBY=103D BIT2 GYMDIFSW=104D BIT1
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TC TASKOVER
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DOBRATE CA ONE # DO BODYRATE
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DOBRATE1 TS JETEM # SKIP BODYRATE
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DOBRATE1 TS JETEM # SKIP BODYRATE.
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CA TEN # KEEP CDU READ GOING.
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TC WAITLIST
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@ -108,9 +108,9 @@ DOBRATE1 TS JETEM # SKIP BODYRATE
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CCS JETEM
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TC BODYRATE
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TC TASKOVER # SKIP CALC ON INITIAL PASS. (PASSES)
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TC TASKOVER # SKIP CALC ON INITIAL PASS. (PASSES)
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CM/GYMIC ADS CM/FLAGS # GYMDIFSW: C(A)=1, KNOW BIT IS 0
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CM/GYMIC ADS CM/FLAGS # GYMDIFSW: C(A)=1, KNOW BIT IS 0
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CAF ZERO
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TS JETAG
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TS OLDELP
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@ -168,7 +168,7 @@ CM/DAPON CA EBAOG
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TS EBANK
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TC DOWNFLAG # RESET DAPBIT1. T5 RESTART IDENTIFIER.
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ADRES DAPBIT1 # BIT 15 FLAG 6 CMFLAGS.
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ADRES DAPBIT1 # BIT 15 FLAG 6 CM FLAGS.
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TC DOWNFLAG # RESET DAPBIT2
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ADRES DAPBIT2 # BIT 14 FLAG 6
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EXTEND
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@ -181,7 +181,7 @@ CM/DAPON CA EBAOG
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TC FLUSHJET # JETS DEPARTED ON SM. ZERO JET BITS.
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CS 13,14,15
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MASK DAPDATR1 # SET CONFIG BITS=0 FOR ENTRY
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MASK DAPDATR1 # SET CONFIG BITS =0 FOR ENTRY
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TS DAPDATR1
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TC +4
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@ -198,8 +198,7 @@ NOTYET CA .5SEC
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# NEXT PASS.
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TS P63FLAG # SO WAKEP62 WILL NOT BE INITIATED UNTIL
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# HEADSUP IS SET IN P62.
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# FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62
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# FLAG TO PREVENT MULTIPLE CALLS TO WAKEP62.
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CA 7
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TS JETAG
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@ -240,7 +239,7 @@ CM/DAPIC CA EBAOG
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INHINT
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CM/DAP2C CS PIPTIME +1
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# PRIO OF P62 L PRIO AVG.:PIPTM=PIPTM1.
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# PRIO OF P62 L PRIO AVG.:PIPTM=PIPTM1
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TS JETEM
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CA POS1/2
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@ -264,13 +263,13 @@ CM/DAP2C CS PIPTIME +1
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MASK CM/FLAGS # DAPARM, .05GSW, LATSW, ENTRYDSP
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AD CM/SWIC2 # SET CM/DSTBY, LATSW
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# DISABLE ENTRY DISPLAY, SINCE DES. GIMB.
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# CALC. (P62.3) GOES TO ENDEXIT
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# CALC. (P62.3) GOES TO ENDEXIT.
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TS CM/FLAGS
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CA 7
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TS BETA/180 # NECESSARY: NO OVFL CORRECTIO
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TS BETA/180 # NECESSARY: NO OVFL CORRECTION
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CA ONE # INITIALIZE THE TM OF BODY RATES VIA
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TS SW/NDX # UPBUFF.
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TS SW/NDX # UPBUFF.
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TC 2PHSCHNG # DOES INHINT/RELINT
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OCT 40116 # SAVE TBASE6
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@ -282,20 +281,20 @@ CM/DAP2C CS PIPTIME +1
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CADR P62.2
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CM/SWIC1 OCT 16017
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CM/SWIC2 = TEN # 00012: CM/DSTBY, LATSW
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CM/SWIC2 = TEN # 00012 : CM/DSTBY, LATSW
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-CDUT+1 OCT 77766
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EBANK= T5LOC
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T5IDLER1 2CADR T5IDLOC
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# Page 1070
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# THIS SECTION CALCULATES THE ANGULAR BODY RATES EACH .1 SEC. THE ANGULAR RATES ARE THOSE ALONG THE BODY AXES
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# XB, YB, ZB, AND ARE NORMALLY DESIGNATED P, Q, R. REQUIREMENT: TEMPORARILY ERASE. JETEM, JETEM +1
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# XB, YB, ZB, AND ARE NORMALLY DESIGNATED P, Q, R. REQUIREMENT: TEMPORARY ERASE. JETEM, JETEM +1
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#
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# SINCE RESTARTS ZERO THE JET OUTPUT CHANNELS, NO ATTEMPT IS MADE TO RESTART THE ENTRY DAPS. THAT IS,
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# THE 0.1 SEC DAPS WILL MISS A CYCLE, AND WILL PICK UP AT THE NEXT 0.1 SEC UPDATE. MOST OF THE TIME THE 2 SEC
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# ROLL SYSTEM WILL MISS ONLY 0.1 SEC OF CONTROL. HOWEVER, IF THE RESTART OCCURS AFTER THE SECTION TIMETST HAS
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# SINCE RESTARTS ZERO THE JET OUTPUT CHANNELS, NO ATTEMPT IS MADE TO RESTART THE ENTRY DAPS. THAT IS,
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# THE 0.1 SEC DAPS WILL MISS A CYCLE, AND WILL PICK UP AT THE NEXT 0.1 SEC UPDATE. MOST OF THE TIME THE 2 SEC
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# ROLL SYSTEM WILL MISS ONLY 0.1 SEC OF CONTROL. HOWEVER, IF THE RESTART OCCURS AFTER THE SECTION TIMETST HAS
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# STARTED, THEN THE ROLL SYSTEM WILL MISS ONE CYCLE.
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# THIS IS NECESSARY UNDER THE GROUND-RULE THAT NO JET COMMANDS SHALL BE LESS THAN 14 MS.
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# THIS IS NECESSARY UNDER THE GROUNDRULE THAT NO JET COMMANDS SHALL BE LESS THAN 14 MS.
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EBANK= AOG
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BANK 15
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@ -304,7 +303,7 @@ T5IDLER1 2CADR T5IDLOC
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COUNT 15/DAPEN
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BODYRATE CA AMG # THESE ARE 2'S COMPL NOS, BUT USE ANYWAY.
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BODYRATE CA AMG # THESE ARE 2S COMPL NOS, BUT USE ANYWAY.
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TC SPCOS
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TS COSM
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@ -544,10 +543,10 @@ BIASEDZ TS JETEM2 # SAVE RATE/180. ERROR/180 IS IN L.
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TCF +2
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CA CM/BIAS
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AD L # BIAS THE ERROR.
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LXCH Q # SAVE CALLER'S RETURN ADDRES.
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LXCH Q # SAVE CALLERS RETURN ADDRESS.
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TC 3DDZ # GO GENERATE THE ERROR BIT.
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DXCH L # BIT TO L, RESTORE CALLER'S Q.
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4D/SDZ CCS JETEM2 # CAME HERE IN EXT ATM. C(L) = ERROR BIT
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DXCH L # BIT TO L, RESTORE CALLERS Q.
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4D/SDZ CCS JETEM2 # CAME HERE IN EXT ATM. C(L) = ERROR BIT
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AD 4D/SLIM # IF RATE GEQ 4D/S, SET L=0 AND TAKE
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TCF +2 # JET BITS ACCORDING TO SGN OF RATE.
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AD 4D/SLIM
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@ -641,7 +640,7 @@ EXDAP1 TS RAXERR # FOR YAW FDAI
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CA ONE # USE BETADOT TO COORD IN MODE +0
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INDEX A # OTHERWISE USE RREL.
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CA RREL
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TC BIASEDZ # GO TEST DZ +0 IF IN DX, +-1 OTHERWISE
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TC BIASEDZ # GO TEST DZ. +0 IF IN DZ, +-1 OTHERWISE
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# IF GEQ 4D/S, SET ERROR BIT IN L=0
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EXTEND
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ROR LCHAN # L HAS BETA BIT
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@ -660,7 +659,7 @@ EXDAP1 TS RAXERR # FOR YAW FDAI
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EXDAP2 INCR CMDAPMOD # SET CMDAPMOD TO +1
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CS ONE # INDICATE CHANGE FROM .1 SEC UPDATE TO
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TS JETAG # TO 2 SEC FOR ROLL JETS. (IF CMDAPMOD
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TS JETAG # TO 2 SEC FOR ROLL JETS. (IF CMDAPMOD
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# =0 AND JETAG =-1, QUENCHES JETS IF ON)
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CCS P63FLAG # IF FLAG WAS +1, SET =0.
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@ -687,11 +686,11 @@ EXDAP2 INCR CMDAPMOD # SET CMDAPMOD TO +1
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INDEX A
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CAF P/RJCODE # GET ROLL CODE
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EXTEND # ROLL CONTROL WITH YAW JETS.
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WRITE ROLLJETS # WE'LL SKIP REGULAR ROLL SYST
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WRITE ROLLJETS # WE,LL SKIP REGULAR ROLL SYST
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CA ROLLHOLD # ROLL/180 AT CM/DAPON TIME.
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EXTEND
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MSU ROLL/180 # 1'S COMPL, BUT SO WHAT'S A BIT?
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MSU ROLL/180 # 1,S COMPL, BUT SO WHATS A BIT.?
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TS L # FORCE A LIMIT CYCLE IN YAW RATE.
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CCS SALFA
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CA L # TO REMOVE ITS BIASING EFFECT ON M DOT.
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@ -713,11 +712,11 @@ SINTRIM DEC -.34202 # SIN(-20) (FOR NOMINAL L/D = .3)
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COSTRIM DEC .93969 # COS(-20) (FOR NOMINAL L/D = .3)
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# TO MAKE DAP INSENSITIVE TO PITCH ERRORS DUE TO ACCUMULATED NAV ERRORS, USE NOMINAL VALUE (-20 DEG) FOR TRIM ALFA
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# USED DURING ATMOSPHERIC COORDINATION. OUTSIDE ATMOSPHERE, NAV ERRORS WILL BE SLIGHT, BUT ALFA CAN DIFFER GREATLY
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# USED DURING ATMOSPHERIC COORDINATION. OUTSIDE ATMOSPHERE, NAV ERRORS WILL BE SLIGHT, BUT ALFA CAN DIFFER GREATLY
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# FROM TRIM, SO USE ON-BOARD ESTIMATES.
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# Page 1080
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# JET CODE TABLES FOLLOW
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# JET CODE TABLES FOLLOW _
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OCTAL 00120 # POS Y
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YJETCODE OCTAL 00000 # RCS JET BITS
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@ -787,7 +786,7 @@ GETLCX CA POS1/2 # FORM RCOM/360
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AD NEG1/2
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AD NEG1/2 # IGNORE OVFL
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XCH LCX/360 # -R/360
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ADS LCX/360 # LCX/360 = RCOM/360 - R/360 RANGE (-1,1)
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ADS LCX/360 # LCX/360 = RCOM/360 -R/360 RANGE (-1,1)
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# DOES SGN(-VT) (VT/180) (VT/180) (180/(4 A1 TT COSALFA)) + X/360 + SGN(X) / 2 OVFL ?
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@ -840,7 +839,7 @@ COMPAT CA LCX/360 # CORRECT FOR ASSUMED COORD TURN.
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MP 180/8ATT
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TS VSQ/4API
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# IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 -.5 BUFLIM/360 POS?
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# IS SGN(VT) ( (180/4A1 TT) VT/180 VT/180 - .5 BUFLIM/360 ) -X/360 - .5 BUFLIM/360 POS?
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WHICHALF DOUBLE # FOR SECOND BURN, A1
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COM
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@ -861,7 +860,7 @@ WHICHALF DOUBLE # FOR SECOND BURN, A1
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AD BUFLIM
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AD BUFLIM
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EXTEND
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BZMF DZ1 # POINT (X,V) IN RHP
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BZMF DZ1 # POINT (X,V) IN RHP.
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# IS POINT WITHIN VELOCITY DZ?
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@ -899,7 +898,7 @@ DZ2 CS XMIN/360 # XMIN/360 = 4/360
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AD LCX/360
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AD SR # C(SR) = -VT/360
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EXTEND # IS X/360 - XMIN/360 -VT/360 NEG $
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BZMF DZCALL # YES, IN DZ. EXIT SETTING JETAG=0.
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BZMF DZCALL # YES, IN DZ. EXIT SETTING JETAG=0.
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# IS XD/360 - VM/360K - XS/360 POS?
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@ -1003,7 +1002,7 @@ TIMSCAL TS TOFF # IN CS
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TS JETAG # SET +0 TO SHOW ROLL DAP CALLED.
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# CAUSE THE TM OF BODY RATES VIA UPBUFF TO BE
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# INITIALIZED. ALSO CAUSE NEEDLES TO BE DONE ON EXIT
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# INITIALIZED. ALSO CAUSE NEEDLES TO BE DONE ON EXIT
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# AND ON ALTERNATE PASSES THROUGH CM/DUMPR.
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CA ONE
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@ -1188,7 +1187,7 @@ CM/FDAIR CA HALF
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CM/DUMPR CS SW/NDX # COMBINED ALTERNATION SWITCH AND FILE
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TS SW/NDX
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EXTEND # INDEX
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EXTEND # INDEX.
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BZMF CMTMFILE # FILE STARTS WITH SW/NDX +1 AND GOES TO
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# ENDBUF.
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# INDEX IS POS FOR NEEDLES.
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@ -1203,7 +1202,6 @@ CM/DUMPR CS SW/NDX # COMBINED ALTERNATION SWITCH AND FILE
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CMTMFILE AD THREE
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EXTEND
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BZMF SAVENDX
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# Page 1091
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CA TIME1 # INITIALIZE THE TM LIST IN UPBUFF.
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TS CMTMTIME
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@ -1250,9 +1248,9 @@ T5IDLER2 2CADR T5IDLOC
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# SPACER
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#
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# CONSTANTS USED IN THE ROLL CONTROL SYSTEM:
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# CONSTANTS ARE THE FOLLOWING: A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC, T = 2 SEC, TCDU = .1 SEC,
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# XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ, VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE
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# XBUF = 4DEG
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# CONSTANTS ARE THE FOLLOWING: A = 9.1 DEG/SECSQ, VM = 20 DEG/SEC, T = 2 SEC, TCDU = .1 SEC,
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# XMIN = 4 DEG, VMIN = 2 DEG/SEC, K = .25, A1 = 4.55 DEG/SECSQ, VI = 1 DEG/SEC, INTERCEPT WITH DZ SIDE
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# XBUF = 4 DEG
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-T-3 DEC -203 # CS
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VSQMIN DEC .61050061 E-3 # VSQ MIN/4 A PI = 4/(4 (9.1) 180)
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@ -1266,10 +1264,10 @@ XMIN/360 DEC 182 # XMIN/360 = 4/ 360 EXP 14 = 182 INTEGER
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1/16A1 = 180/8ATT
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# 1/16A1 = 180/(16 A1 TT)
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# = 180/(16 4.55 4)
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XS/360 DEC 91 # = (XMIN +VI (T-1/K))/360 = 2/360 EXP 14
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XS/360 DEC 91 # =(XMIN +VI (T-1/K))/360 = 2/360 EXP 14
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BUFLIM = XS/360 # 4/(2 360)
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KTRCS = HALF # KT = (.25) 2 = .5
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KTRCS = HALF # KT = (.25) 2 = .5
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# *** END OF TVCDAPS .011 ***
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