* Proof FIXED_FIXED_CONSTANT_POOL (#207) * wip(p1041/1062): Proof JET_SELECTION_LOGIC #220 * wip(p1062/1062: DONE): Proof JET_SELECTION_LOGIC #220pull/405/head
Glenn Dwiyatcita
James Harris
parent
9d2f8c04ab
commit
c1421dfa88
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@ -127,7 +127,6 @@ XLNNDX DEC 0 # INDICES FOR TRANSLATION COMMANDS
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DEC 0
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TWELVE = OCT14
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# TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT.
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# BITS 9, 10 CONTAIN THE NUMBER OF PITCH JETS USED TO PERFORM THE PITCH ROTATION
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# Page 1041
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@ -165,9 +164,9 @@ DFAILY CAF TWELVE
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# Page 1042
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# TABLE FOR PITCH(YAW) COMMANDS
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# BITS 4,3,2,1 = PITCH, X-TRANSLATION JETS SELECTED
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# BITS 10,9 = NO. PITCH JETS USED TO PERFORM ROTATION
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# BITS 10,9 = NO. PITCH JETS USED TO PERFORM ROTATION
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# BITS 8,7,6,5 = YAW, X-TRANSLATION JETS SELECTED
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# BITS 12,11: NO. YAW JETS USED TO PERFORM ROTATION
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# BITS 12,11 : NO. YAW JETS USED TO PERFORM ROTATION
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# ROT TRANS QUAD BIAS
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PYTABLE OCT 0 # 0 0 0
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@ -177,7 +176,7 @@ PYTABLE OCT 0 # 0 0 0
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OCT 2421 # + + 3
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OCT 2610 # - + 3
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OCT 0146 # 0 - 6
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OCT 2504 # + - 6
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OCT 2504 # + - 6
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OCT 2442 # - - 6
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OCT 0 # 0 A(B) 9
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OCT 2421 # + A(B) 9
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@ -253,8 +252,8 @@ BDZCHECK CA ZNDX
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BZMF NOBDZ # NO Z-TRANSLATION
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# Page 1044
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# TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES. Z-TRANSLATION WILL BE POSS-
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# IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS. CRITERION: IF THE RESULTANT NET ROLL
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# TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES. Z-TRANSLATION WILL BE POSS-
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# IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS. CRITERION.. IF THE RESULTANT NET ROLL
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# COMMANDS = 0 (WITH Z-TRANSLATION) AND IF TAU = 0, THEN INCLUDE THE BD Z-TRANSLATION COMMANDS. IF THE RESULTANT
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# ROLL COMMAND = 0, AND IF TAU NZ, THEN IGNORE THE BD Z-TRANSLATION
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@ -355,38 +354,34 @@ NOACY CA RWORD1 # Y-TRANSLATION NOT ACCEPTED
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TCF ROLLTIME
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# Page 1047
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# TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS
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#
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# EITHER AC OR BD ROLL MAY BE SELECTED. IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY
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# TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS
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# EITHER AC OR BD ROLL MAY BE SELECTED. IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY
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# PROVIDED THAT THERE ARE NO AC QUAD FAILURES. IF THERE ARE AC FAILURES, Y-TRANSLATION COMMANDS WILL BE IGNORED,
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# IN WHICH CASE THE ASTRONAUT SHOULD SWITCH TO BD ROLL.
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#
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# IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD
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# IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD
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# FAILURES. IF THERE ARE BD FAILURES, Z-TRANSLATION COMMANDS WILL BE IGNORED, IN WHICH CASE THE ASTRONAUT SHOULD
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# SWITCH TO AC ROLL.
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#
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# NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIRABLE ROLL
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# NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIRABLE ROLL
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# INTRODUCED BY THIS TRANSLATION WILL BE COMPENSATED BY THE TWO AC ROLL JETS ACTUATED BY THE AUTOPILOT LOGIC.
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#
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# WORD MAKE UP....RTABLE
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#
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# TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE. THE WORD CORRESPONDING
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# TO AC ROLL HAS THE FOLLOWING INTERPRETATION:
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#
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# BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED. THE CODING IS:
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#
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# BIT NO. 11 10 9 NO. OF ROLL JETS
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#
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# 0 0 0 -2
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# 0 0 1 -1
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# 0 1 0 0
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# 0 1 1 +1
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# 1 0 0 +2
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#
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# THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF
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# WORD MAKE UP....RTABLE
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# TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE. THE WORD CORRESPOND-
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# ING TO AC ROLL HAS THE FOLLOWING INTERPRETATION..
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# BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED. THE CODING IS..
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# BIT NO. 11 10 9 NO. OF ROLL JETS
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# 0 0 0 -2
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# 0 0 1 -1
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# 0 1 0 0
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# 0 1 1 +1
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# 1 0 0 +2
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# THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF
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# CODING AS ABOVE, AND THE NET ROLL DETERMINED BY SHIFTING THE RESULTANT WORD RIGHT 8 PLACES AND SUBTRACTING FOUR.
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#
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# THE WORD CORRESPONDING TO THE BD ROLL HAS A SIMILAR INTERPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED
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# THE WORD CORRESPONDING TO THE BD ROLL HAS A SIMILAR INTERPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED
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# (AS ABOVE) TO GIVE THE NET ROLL TORQUE.
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# ROLL TRANS QUADFAIL BIAS
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@ -408,25 +403,23 @@ RTABLE OCT 11000 # 0 0
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OCT 04442 # - C(D) 12
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# Page 1048
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# RTABLE MASKS:
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# RTABLE MASKS -
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ACRJETS OCT 03760
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BDRJETS OCT 34017
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# Page 1049
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# Y, Z TRANSLATION TABLE
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#
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# ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE
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# Y, Z TRANSLATION TABLE
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# ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE
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# USED TO SATISFY THE REMAINING TRANSLATION COMMANDS. HOWEVER, WE MUST MAKE SURE THAT ROLL COMMANDS ARE SATISFIED
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# WHEN THEY OCCUR. THEREFORE, THE Y-Z TRANSLATIONS FROM THIS TABLE WILL BE IGNORED IF THE NET ROLL TORQUE OF THE
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# COMBINED WORD IS ZERO AND THE ROLL COMMANDS ARE NON-ZERO. THIS SITUATION WOULD OCCUR, FOR EXAMPLE, IF WE EN-
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# COUNTER SIMULTANEOUS +R +Y -Z COMMANDS AND A QUAD D FAILURE WHILE USING AC FOR ROLL.
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#
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# TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILAR TO THE ROLL TABLE
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# TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILAR TO THE ROLL TABLE
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# ABOVE.
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#
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# BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS. THE WORD SELECTED CAN THEN BE
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# ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD. SIMILARLY BITS
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# BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS. THE WORD SELECTED CAN THEN BE
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# ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD. SIMILIARLY BITS
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# 12,13,14 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Y-TRANSLATIONS WHEN BD-ROLL IS SELECTED.
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# TRANSLATION QUADFAIL BIAS
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@ -441,7 +434,7 @@ YZTABLE OCT 11000 # 0 0
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OCT 15421 # +Z(+Y) D(C) 6
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OCT 04442 # -Z(-Y) D(C) 6
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# YZ-TABLE MASKS:
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# YZ-TABLE MASKS-
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BDZJETS OCT 03417
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ACYJETS OCT 34360
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@ -452,27 +445,24 @@ ACYJETS OCT 34360
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=-4 = NEG4
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# Page 1050
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# CALCULATION OF JET ON-TIMES
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# CALCULATION OF JET ON-TIMES
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#
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# THE ROTATION COMMANDS (TAU:S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET
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# THE ROTATION COMMANDS (TAU:S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET
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# OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS. TAU MUST
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# ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5
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# INTERVAL.
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#
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# IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES
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# ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5 INT-
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# ERVAL.
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# IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES
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# (DFT:S, ALSO IN TERMS OF 1-JET OPERATION) FOR THE RATE FILTER.
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#
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# NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR. NEVERTHELESS, WE MUST
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# NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR. NEVERTHELESS, WE MUST
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# UPDATE DFT.
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#
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# WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH
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# WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH
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# THE TRANSLATIONS. THIS WILL BE DONE IN THE NEXT SECTION. HOWEVER, TO INSURE THAT JETS ARE NOT FIRED FOR LESS
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# THAN A MINIMUM IMPULSE (14MS), ALL JET CHANNEL COMMANDS WILL BE HELD FIXED FROM THE START OF THE T5 PROGRAM FOR
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# AT LEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS. MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL
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# ATLEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS. MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL
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# COMMANDS GENERATED BY THE MANUAL CONTROLS OR THE JET SWITCHING LOGIC, AND ALL TRANSLATION COMMANDS WILL BE
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# ACTIVE FOR ATLEAST ONE CYCLE OF THE T5 PROGRAM (.1SEC)
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# PITCH JET ON-TIME CALCULATION
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# PITCH JET ON-TIME CALCULATION
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PITCHTIM CCS TAU1
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TCF PTAUPOS
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@ -568,13 +558,13 @@ ROLLTIME CCS TAU
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TS DFT # PRESENT
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TCF RBYPASS
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DEC -480 # =-.3SEC
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DEC -320 # =-.2SEC
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=-.1SEC DEC -160 # =-.1SEC
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DFTMAX DEC 0 # 0
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=+.1SEC DEC 160 # =+.1SEC
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DEC 320 # =+.2SEC
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DEC 480 # =+.3SEC
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DEC -480 # = -.3SEC
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DEC -320 # = -.2SEC
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=-.1SEC DEC -160 # = -.1SEC
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DFTMAX DEC 0 # 0
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=+.1SEC DEC 160 # = +.1SEC
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DEC 320 # = +.2SEC
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DEC 480 # = +.3SEC
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=14MS DEC 23 # =14MS
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RBLAST CA TAU
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@ -618,12 +608,11 @@ NJET DEC 0
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DEC .333333 # = +1/3
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# Page 1055
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# WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH
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# WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH
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# CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT.
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#
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# IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE
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# IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE
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# CORRESPONDING ROTATIONS ARE COMPLETED.
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#
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# GENERATION OF THE SECOND PITCH(X-TRANS) WORD...PWORD2
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ASMBLWP CCS RACFAIL
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@ -759,20 +748,20 @@ YBYPASS CA YWORD1
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TS BLAST2
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# Page 1059
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# SORT THE JET ON-TIMES
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#
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# AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED. IN SUMMARY THESE ARE-
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#
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# RWORD1
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# RWORD2 BLAST
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#
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# PWORD1
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# PWORD2 BLAST1
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#
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# YWORD1
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# YWORD2 BLAST2
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#
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# IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED. TO FACILITATE
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# SORT THE JET ON-TIMES
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# AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED. IN SUMMARY THESE ARE-
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# RWORD1
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# RWORD2 BLAST
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# PWORD1
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# PWORD2 BLAST1
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# YWORD1
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# YWORD2 BLAST2
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# IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED. TO FACILITATE
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# THE SORTING PROCESS AND THE T6 PROGRAM, THE VARIABLES BLAST, BLAST1, BLAST2, ARE RESERVED AS DOUBLE PRECISION
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# WORDS. THE LOWER PART OF THESE WORDS CONTAIN A BRANCH INDEX ASSOCIATED WITH THE ROTATION AXIS OF THE HIGHER
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# ORDER WORD.
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@ -929,4 +918,3 @@ ENABT6 TS TIME6
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# END OF T6 INTERRUPT
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ENDSLECT EQUALS
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