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@ -827,18 +827,16 @@ R54 = CHKSDATA
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# A = ABS(2(A1 - A2))
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# Page 946
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# THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTANCE.
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# EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
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# 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANGE)
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# OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
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# 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
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#
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# EXIT MODE -- 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
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# 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE
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# ERASABLE INITIALIZATION REQUIRED -
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# 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
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# 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
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#
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# OUTPUT -- 1. VERB 6,NOUN 3 -- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
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# 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
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#
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# ERASABLE INITIALIZATION REQUIRED --
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# 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
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# 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
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#
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# DEBRIS --
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# DEBRIS -
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COUNT* $$/R54
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CHKSDATA STQ SET
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@ -885,13 +883,13 @@ CHKSDA TC INTPRET
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QMIN
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VB6N5 VN 605
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# NAME -- CAL53A
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# FUNCTION -- COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
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# CALLING SEQUENCE -- CALL CAL53A
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# INPUT -- X,Y,ZSMD, CDUX,Y,Z
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# DESIRED GIMBAL ANGLES -- THETAD,+1,+2
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# OUTPUT -- THE IMU COORDINATES AT STORED IN REFSMMAT
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# SUBROUTINES -- S52.2, IMUCOARSE, IMUFINE
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# NAME - CAL53A
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# FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
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# CALLING SEQUENCE - CALL CAL53A
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# INPUT - X,Y,ZSMD ,CDUX,Y,Z
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# DESIRED GIMBAL ANGLES - THETAD,+1,+2
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# OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
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# SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
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COUNT* $$/R50
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CAL53A CALL
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@ -963,27 +961,30 @@ RDCDUS INHINT # READ CDUS
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COUNT* $$/INFLT
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# Page 949
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# NAME -- P51 -- IMU ORIENTATION DETERMINATION
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# MOD. NO. 1 23 JAN 67 LOG SECTION -- P51-P53
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# NAME - P51 - IMU ORIENTATION DETERMINATION
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# MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
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# MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
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#
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# FUNCTIONAL DESCRIPTION
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# DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
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# (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
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# STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
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# CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
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#
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# DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
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# (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
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# STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
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# CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
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#
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# CALLING SEQUENCE
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# THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
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#
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# SUBROUTINES CALLED
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# THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
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#
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# SUBROUTINES CALLED.
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#
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# GOPERF3
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# GOPERF1
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# GODSPR
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# IMUCOARS
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# IMUFIN20
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# AOTMARK (R53)
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# CHKSDATA (R54)
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# AOTMARK(R53)
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# CHKSDATA(R54)
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# MKRELEAS
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# AXISGEN
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# MATMOVE
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@ -992,13 +993,16 @@ RDCDUS INHINT # READ CDUS
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# NONE.
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#
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# ERASABLE INITIALIZATION
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#
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# IMU ZERO FLAG SHOULD BE SET.
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#
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# OUTPUT
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#
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# REFSMMAT
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# REFSMFLG
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#
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# DEBRIS
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#
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# WORK AREA
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# STARAD
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# STARIND
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@ -1042,7 +1046,7 @@ P51B TC PHASCHNG
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CALL
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NCOARSE
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SSP SETPD
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STARIND # INDEX -- STAR 1 OR 2
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STARIND # INDEX-STAR 1 OR 2
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0
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0
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P51C EXIT
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@ -1138,12 +1142,12 @@ NCOARSE EXIT
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DRIFTFLG
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# Page 953
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# NAME -- S52.2
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# FUNCTION -- COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
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# CALL -- CALL S52.2
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# INPUT -- X,Y,ZSMD
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# OUTPUT -- OGC,IGC,MGC,THETAD,+1,+2
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# SUBROUTINES -- CDUTRIG, CALCSMSC, MATMOVE, CALCGA
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# NAME-S52.2
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# FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
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# CALL- CALL S52.2
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# INPUT- X,Y,ZSMD
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# OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
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# SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
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COUNT* $$/S52.1
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S52.2 STQ CALL
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@ -1173,16 +1177,16 @@ S52.2.1 AXC,1 AXC,2
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QMAJ
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# Page 954
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# NAME -- S52.3
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# FUNCTION -- XSMD= UNIT R
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# YSMD= UNIT(V X R)
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# ZSMD= UNIT(XSMD X YSMD)
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# CALL -- DLOAD CALL
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# TALIGN
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# S52.3
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# INPUT -- TIME OF ALIGNMENT IN MPAC
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# OUTPUT -- X,Y,ZSMD
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# SUBROUTINES -- CSMCONIC
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# NAME-S52.3
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# FUNCTION XSMD= UNIT R
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# YSMD= UNIT(V X R)
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# ZSMD= UNIT(XSMD X YSMD)
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# CALL DLOAD CALL
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# TALIGN
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# S52.3
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# INPUT- TIME OF ALIGNMENT IN MPAC
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# OUTPUT- X,Y,ZSMD
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# SUBROUTINES- CSMCONIC
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COUNT* $$/S52.3
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S52.3 STQ
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@ -1203,21 +1207,20 @@ 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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# 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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# 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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#
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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 +1235,9 @@ 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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@ -2338,4 +2341,3 @@ LSORIENT STQ VLOAD
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XSMD
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STCALL YSMD
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QMAJ
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