diff --git a/Luminary099/P51-P53.agc b/Luminary099/P51-P53.agc index 3721df9..602a2e5 100644 --- a/Luminary099/P51-P53.agc +++ b/Luminary099/P51-P53.agc @@ -827,18 +827,16 @@ R54 = CHKSDATA # A = ABS(2(A1 - A2)) # Page 946 # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTANCE. +# EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED +# 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANGE) +# OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS. +# 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D. # -# EXIT MODE -- 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED -# 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE +# ERASABLE INITIALIZATION REQUIRED - +# 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6. +# 2.CATALOG VECTORS ARE STORED IN 6D AND 12D. # -# OUTPUT -- 1. VERB 6,NOUN 3 -- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS. -# 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D. -# -# ERASABLE INITIALIZATION REQUIRED -- -# 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6. -# 2. CATALOG VECTORS ARE STORED IN 6D AND 12D. -# -# DEBRIS -- +# DEBRIS - COUNT* $$/R54 CHKSDATA STQ SET @@ -885,13 +883,13 @@ CHKSDA TC INTPRET QMIN VB6N5 VN 605 -# NAME -- CAL53A -# FUNCTION -- COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY -# CALLING SEQUENCE -- CALL CAL53A -# INPUT -- X,Y,ZSMD, CDUX,Y,Z -# DESIRED GIMBAL ANGLES -- THETAD,+1,+2 -# OUTPUT -- THE IMU COORDINATES AT STORED IN REFSMMAT -# SUBROUTINES -- S52.2, IMUCOARSE, IMUFINE +# NAME - CAL53A +# FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY +# CALLING SEQUENCE - CALL CAL53A +# INPUT - X,Y,ZSMD ,CDUX,Y,Z +# DESIRED GIMBAL ANGLES - THETAD,+1,+2 +# OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT +# SUBROUTINES - S52.2, IMUCOARSE , IMUFINE COUNT* $$/R50 CAL53A CALL @@ -963,27 +961,30 @@ RDCDUS INHINT # READ CDUS COUNT* $$/INFLT # Page 949 -# NAME -- P51 -- IMU ORIENTATION DETERMINATION -# MOD. NO. 1 23 JAN 67 LOG SECTION -- P51-P53 +# NAME - P51 - IMU ORIENTATION DETERMINATION +# MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53 # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56 # # FUNCTIONAL DESCRIPTION -# DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING -# (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE -# STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT -# CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN. +# +# DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING +# (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE +# STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT +# CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN. # # CALLING SEQUENCE -# THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY. # -# SUBROUTINES CALLED +# THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY. +# +# SUBROUTINES CALLED. +# # GOPERF3 # GOPERF1 # GODSPR # IMUCOARS # IMUFIN20 -# AOTMARK (R53) -# CHKSDATA (R54) +# AOTMARK(R53) +# CHKSDATA(R54) # MKRELEAS # AXISGEN # MATMOVE @@ -992,13 +993,16 @@ RDCDUS INHINT # READ CDUS # NONE. # # ERASABLE INITIALIZATION +# # IMU ZERO FLAG SHOULD BE SET. # # OUTPUT +# # REFSMMAT # REFSMFLG # # DEBRIS +# # WORK AREA # STARAD # STARIND @@ -1042,7 +1046,7 @@ P51B TC PHASCHNG CALL NCOARSE SSP SETPD - STARIND # INDEX -- STAR 1 OR 2 + STARIND # INDEX-STAR 1 OR 2 0 0 P51C EXIT @@ -1138,12 +1142,12 @@ NCOARSE EXIT DRIFTFLG # Page 953 -# NAME -- S52.2 -# FUNCTION -- COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE -# CALL -- CALL S52.2 -# INPUT -- X,Y,ZSMD -# OUTPUT -- OGC,IGC,MGC,THETAD,+1,+2 -# SUBROUTINES -- CDUTRIG, CALCSMSC, MATMOVE, CALCGA +# NAME-S52.2 +# FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE +# CALL- CALL S52.2 +# INPUT- X,Y,ZSMD +# OUTPUT- OGC,IGC,MGC,THETAD,+1,+2 +# SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA COUNT* $$/S52.1 S52.2 STQ CALL @@ -1173,16 +1177,16 @@ S52.2.1 AXC,1 AXC,2 QMAJ # Page 954 -# NAME -- S52.3 -# FUNCTION -- XSMD= UNIT R -# YSMD= UNIT(V X R) -# ZSMD= UNIT(XSMD X YSMD) -# CALL -- DLOAD CALL -# TALIGN -# S52.3 -# INPUT -- TIME OF ALIGNMENT IN MPAC -# OUTPUT -- X,Y,ZSMD -# SUBROUTINES -- CSMCONIC +# NAME-S52.3 +# FUNCTION XSMD= UNIT R +# YSMD= UNIT(V X R) +# ZSMD= UNIT(XSMD X YSMD) +# CALL DLOAD CALL +# TALIGN +# S52.3 +# INPUT- TIME OF ALIGNMENT IN MPAC +# OUTPUT- X,Y,ZSMD +# SUBROUTINES- CSMCONIC COUNT* $$/S52.3 S52.3 STQ @@ -1203,21 +1207,20 @@ S52.3 STQ QMAJ # Page 955 -# NAME -- R52 (AUTOMATIC OPTICS POSITIONING ROUTINE) +# NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE) # -# FUNCTION -- POINT THE AOT APTICS AXIS BY MANEUVERING THE LEM TO A NAVIGATION -# STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT +# FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION +# STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT # -# CALLING -- CALL R52 +# CALLING -CALL R52 # -# INPUT -- BESTI AND BESTJ (STAR CODES TIMES 6) +# INPUT -BESTI AND BESTJ (STAR CODES TIMES 6) +# OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9 +# (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID) +# POINTVSM-1/2 UNIT NAV STAR VEC IN SM +# SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE # -# OUTPUT -- STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9 -# (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID) -# POINTVSM-1/2 UNIT NAV STAR VEC IN SM -# SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE -# -# SUBROUT -- R60LEM +# SUBROUT -R60LEM COUNT* $$/R52 R52 STQ EXIT @@ -1232,9 +1235,9 @@ R52 STQ EXIT R52A CAF V01N70 TC BANKCALL CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE - TC GOTOPOOH # V34 -- TERMINATE - TCF R52B # V33 -- PROCEED TO ORIENT LEM - TCF R52A # ENTER -- SELECT NEW STARCODE -- RECYCLE + TC GOTOPOOH # V34-TERMINATE + TCF R52B # V33-PROCEED TO ORIENT LEM + TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE R52B TC DOWNFLAG ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT @@ -2338,4 +2341,3 @@ LSORIENT STQ VLOAD XSMD STCALL YSMD QMAJ -