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Proofread - FINDCDUW--GUIDAP_INTERFACE.agc

pull/746/head
DusekDan 2020-10-11 15:51:09 +02:00
parent 595b20c399
commit bc6b7b901a
1 changed files with 28 additions and 29 deletions
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Luminary099/FINDCDUW--GUIDAP_INTERFACE.agc
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@ -26,7 +26,7 @@
# Page 908 # Page 908
# PROGRAM NAME: FINDCDUW # PROGRAM NAME: FINDCDUW
# MOD NUMBER: 1 68-07-15 # MOD NUMBER: 1 68 07 15
# MOD AUTHOR: KLUMPP # MOD AUTHOR: KLUMPP
# #
# OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22. # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
@ -35,7 +35,7 @@
# FETCHING FOR THE THRUST DIRECTION FILTER THE # FETCHING FOR THE THRUST DIRECTION FILTER THE
# CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
# MODES. # MODES.
# 3. TO SUBSTITUDE A STOPRATE FOR THE NORMAL # 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
# AUTOPILOT COMMANDS WHENEVER # AUTOPILOT COMMANDS WHENEVER
# 1) NOT IN PNGCS-AUTO, OR # 1) NOT IN PNGCS-AUTO, OR
# 2) ENGINE IS OFF. # 2) ENGINE IS OFF.
@ -50,9 +50,9 @@
# LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
# ACCELERATIONS AVAILABLE). # ACCELERATIONS AVAILABLE).
# #
# FINDCDUW ALIGNS THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION # FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
# FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XDVINHIB SET, # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
# ALIGNS THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR. # ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
# #
# Page 909 # Page 909
# SPECIFICATIONS: # SPECIFICATIONS:
@ -72,7 +72,7 @@
# ISSUING AUTOPILOT CMDS. # ISSUING AUTOPILOT CMDS.
# #
# ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK. # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
# FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES, # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES.
# BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE. # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
# #
# 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
@ -81,7 +81,6 @@
# #
# INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT. # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
# UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT. # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
# OGABIAS POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI.
# XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED. # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
# CSMDOCKD FLAG DENOTING CSM DOCKED. # CSMDOCKD FLAG DENOTING CSM DOCKED.
# STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR. # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
@ -136,7 +135,7 @@ FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
MASK DAPBOOLS MASK DAPBOOLS
TS FLAGOODW # FLAG0ODW = ANY PNZ NUMBER IF XOV INHIBTD TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
# Page 911 # Page 911
# FETCH BASIC DATA # FETCH BASIC DATA
@ -185,15 +184,15 @@ PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
BOVB UNIT BOVB UNIT
NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
BOV CALL BOV CALL
AFTRFLTR # IF UNIT DELV OVERFLOWS SKIP FILTER AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
*SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
# THRUST DIRECTION FILTER # THRUST DIRECTION FILTER
EXIT EXIT
CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC CA UNFVY/2 # FOR RESTARTS. UNFV/2 ALWAYS INTACT, MPAC
LXCH MPAC +3 # RENEWD AFTER RETURN FROM CALLER, LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE. TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT. TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
@ -290,7 +289,7 @@ DELGMBLP TS TEM2
EXTEND EXTEND
INDEX TEM2 INDEX TEM2
MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT
COM # FROM WHEN WE INITIALLY FETCHED THEM COM # FROM WHEN WE INITIALLY FETCHED THEM
INDEX TEM2 INDEX TEM2
TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
TS L # FOR PRECEDING TEST ON NEXT LOOP PASS TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
@ -312,14 +311,14 @@ DELGMBLP TS TEM2
# #
# THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME, # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME,
# THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
# THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALIGNMENT WITH THE MIDDLE GIMBAL # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
# AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
# #
# [ -DELATTX ] [ 1 SIN(CDUZD) 0 ] [ -DELGMBX ] # * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
# [ ] [ ] [ ] # * * * * * *
# [ -DELATTYPRIME ] = [ 0 COS(CDUZD) 0 ] [ -DELGMBY ] # * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
# [ ] [ ] [ ] # * * * * * *
# [ -DELATTZPRIME ] [ 0 0 1 ] [ -DELGMBZ ] # * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
INDEX NDXCDUW INDEX NDXCDUW
@ -343,7 +342,7 @@ DELGMBLP TS TEM2
DDOUBL DDOUBL
COM COM
EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG. EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG.
MSU -DELGMB # BASED ON UNLIMITED DELGMBV. MSU -DELGMB # BASED ON UNLIMITED DELGMBY.
TS L # ONE BIT ERROR IF OPERANDS IN MSU TS L # ONE BIT ERROR IF OPERANDS IN MSU
INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES? INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
CA DAXMAX CA DAXMAX
@ -362,11 +361,11 @@ DELGMBLP TS TEM2
# Page 917 # Page 917
# COMPUTE COMMANDED ATTITUDE RATES # COMPUTE COMMANDED ATTITUDE RATES
# #
# [ OMEGAPD ] [ -2 -4 SINCDUZ +0 ] [ -DELGMBZ ] # * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBZ *
# [ ] [ ] [ ] # * * * * * *
# [ OMEGAQD ] = [ +0 -8 COSCDUZ COSCDUX -4 SINCDUX ] [ -DELGMBY ] # * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
# [ ] [ ] [ ] # * * * * * *
# [ OMEGARD ] [ +0 +8 COSCDUZ SINCDUX -4 COSCDUX ] [ -DELGMBZ ] # * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
# #
# ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
# PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS, # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
@ -603,7 +602,7 @@ ARCTRGSP EXTEND
TC TEM4 TC TEM4
USECOS CS TEM3 # COS IS SMALLER USECOS CS TEM3 # COS IS SMALLER
TC SPARCSIN -1 # ANGLE = SIGN(SIN)(FI/2-ARCSIN(COS)) TC SPARCSIN -1 # ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
AD HALF AD HALF
TS TEM3 # WE NO LONGER NEED COS TS TEM3 # WE NO LONGER NEED COS
CCS TEM2 CCS TEM2
@ -622,7 +621,7 @@ SINZERO CCS L
# SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
# 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70 # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
# DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
# 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP) # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO.(BOB CRISP)
DOUBLE DOUBLE
SPARCSIN TS SR SPARCSIN TS SR
@ -687,8 +686,8 @@ ONESTO2S CCS A
NOATTCNT TC ALARM NOATTCNT TC ALARM
OCT 00402 # NO ATTITUDE CONTROL OCT 00402 # NO ATTITUDE CONTROL
+2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
FCADR STOPRATE FCADR STOPRATE
TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
@ -738,6 +737,6 @@ CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
# CONTROL SAMPLE PERIOD/COMPUTATION PERIOD # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
DELERLIM = DAY/2MAX # 0 DEG LIMIT FOR LAG ANGLES, 1'S, PI DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
# *** END OF FLY .132 *** # *** END OF FLY .132 ***