Proofread - FINDCDUW--GUIDAP_INTERFACE.agc
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# Page 908
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# PROGRAM NAME: FINDCDUW
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# MOD NUMBER: 1 68-07-15
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# MOD NUMBER: 1 68 07 15
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# MOD AUTHOR: KLUMPP
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#
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# OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
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@ -35,7 +35,7 @@
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# FETCHING FOR THE THRUST DIRECTION FILTER THE
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# CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
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# MODES.
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# 3. TO SUBSTITUDE A STOPRATE FOR THE NORMAL
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# 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
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# AUTOPILOT COMMANDS WHENEVER
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# 1) NOT IN PNGCS-AUTO, OR
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# 2) ENGINE IS OFF.
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@ -50,9 +50,9 @@
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# LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
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# ACCELERATIONS AVAILABLE).
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#
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# FINDCDUW ALIGNS THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
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# FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XDVINHIB SET,
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# ALIGNS THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
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# FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
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# FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
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# ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
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#
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# Page 909
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# SPECIFICATIONS:
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@ -72,7 +72,7 @@
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# ISSUING AUTOPILOT CMDS.
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#
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# ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
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# FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
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# FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES.
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# BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
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#
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# 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
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@ -81,7 +81,6 @@
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#
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# INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
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# UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
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# OGABIAS POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI.
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# XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
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# CSMDOCKD FLAG DENOTING CSM DOCKED.
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# STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
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@ -136,7 +135,7 @@ FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
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TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
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MASK DAPBOOLS
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TS FLAGOODW # FLAG0ODW = ANY PNZ NUMBER IF XOV INHIBTD
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TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
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# Page 911
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# FETCH BASIC DATA
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@ -185,15 +184,15 @@ PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
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BOVB UNIT
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NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
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BOV CALL
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AFTRFLTR # IF UNIT DELV OVERFLOWS SKIP FILTER
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AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
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*SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
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# THRUST DIRECTION FILTER
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EXIT
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CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
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LXCH MPAC +3 # RENEWD AFTER RETURN FROM CALLER,
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CA UNFVY/2 # FOR RESTARTS. UNFV/2 ALWAYS INTACT, MPAC
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LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
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TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
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TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
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@ -290,7 +289,7 @@ DELGMBLP TS TEM2
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EXTEND
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INDEX TEM2
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MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT
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COM # FROM WHEN WE INITIALLY FETCHED THEM
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COM # FROM WHEN WE INITIALLY FETCHED THEM
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INDEX TEM2
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TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
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TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
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@ -312,14 +311,14 @@ DELGMBLP TS TEM2
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#
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# THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME,
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# THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
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# THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALIGNMENT WITH THE MIDDLE GIMBAL
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# THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
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# AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
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#
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# [ -DELATTX ] [ 1 SIN(CDUZD) 0 ] [ -DELGMBX ]
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# [ ] [ ] [ ]
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# [ -DELATTYPRIME ] = [ 0 COS(CDUZD) 0 ] [ -DELGMBY ]
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# [ ] [ ] [ ]
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# [ -DELATTZPRIME ] [ 0 0 1 ] [ -DELGMBZ ]
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# * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
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# * * * * * *
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# * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
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# * * * * * *
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# * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
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LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
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INDEX NDXCDUW
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@ -343,7 +342,7 @@ DELGMBLP TS TEM2
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DDOUBL
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COM
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EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG.
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MSU -DELGMB # BASED ON UNLIMITED DELGMBV.
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MSU -DELGMB # BASED ON UNLIMITED DELGMBY.
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TS L # ONE BIT ERROR IF OPERANDS IN MSU
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INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
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CA DAXMAX
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@ -362,11 +361,11 @@ DELGMBLP TS TEM2
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# Page 917
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# COMPUTE COMMANDED ATTITUDE RATES
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#
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# [ OMEGAPD ] [ -2 -4 SINCDUZ +0 ] [ -DELGMBZ ]
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# [ ] [ ] [ ]
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# [ OMEGAQD ] = [ +0 -8 COSCDUZ COSCDUX -4 SINCDUX ] [ -DELGMBY ]
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# [ ] [ ] [ ]
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# [ OMEGARD ] [ +0 +8 COSCDUZ SINCDUX -4 COSCDUX ] [ -DELGMBZ ]
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# * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBZ *
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# * * * * * *
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# * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
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# * * * * * *
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# * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
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#
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# ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
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# PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
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@ -603,7 +602,7 @@ ARCTRGSP EXTEND
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TC TEM4
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USECOS CS TEM3 # COS IS SMALLER
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TC SPARCSIN -1 # ANGLE = SIGN(SIN)(FI/2-ARCSIN(COS))
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TC SPARCSIN -1 # ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
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AD HALF
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TS TEM3 # WE NO LONGER NEED COS
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CCS TEM2
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@ -622,7 +621,7 @@ SINZERO CCS L
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# SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
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# 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
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# DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
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# 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP)
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# 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO.(BOB CRISP)
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DOUBLE
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SPARCSIN TS SR
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@ -687,8 +686,8 @@ ONESTO2S CCS A
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NOATTCNT TC ALARM
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OCT 00402 # NO ATTITUDE CONTROL
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+2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
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TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
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+2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
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TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
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FCADR STOPRATE
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TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
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@ -738,6 +737,6 @@ CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
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DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
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# CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
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DELERLIM = DAY/2MAX # 0 DEG LIMIT FOR LAG ANGLES, 1'S, PI
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DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
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# *** END OF FLY .132 ***
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