diff --git a/Comanche055/JET_SELECTION_LOGIC.agc b/Comanche055/JET_SELECTION_LOGIC.agc index ea2980c..c6d593f 100644 --- a/Comanche055/JET_SELECTION_LOGIC.agc +++ b/Comanche055/JET_SELECTION_LOGIC.agc @@ -127,7 +127,6 @@ XLNNDX DEC 0 # INDICES FOR TRANSLATION COMMANDS DEC 0 TWELVE = OCT14 - # TABLE LOOK UP FOR PITCH COMMANDS WITH AND WITHOUT X-TRANSLATION AND AC QUAD FAILURES PRESENT. # BITS 9, 10 CONTAIN THE NUMBER OF PITCH JETS USED TO PERFORM THE PITCH ROTATION # Page 1041 @@ -165,9 +164,9 @@ DFAILY CAF TWELVE # Page 1042 # TABLE FOR PITCH(YAW) COMMANDS # BITS 4,3,2,1 = PITCH, X-TRANSLATION JETS SELECTED -# BITS 10,9 = NO. PITCH JETS USED TO PERFORM ROTATION +# BITS 10,9 = NO. PITCH JETS USED TO PERFORM ROTATION # BITS 8,7,6,5 = YAW, X-TRANSLATION JETS SELECTED -# BITS 12,11: NO. YAW JETS USED TO PERFORM ROTATION +# BITS 12,11 : NO. YAW JETS USED TO PERFORM ROTATION # ROT TRANS QUAD BIAS PYTABLE OCT 0 # 0 0 0 @@ -177,7 +176,7 @@ PYTABLE OCT 0 # 0 0 0 OCT 2421 # + + 3 OCT 2610 # - + 3 OCT 0146 # 0 - 6 - OCT 2504 # + - 6 + OCT 2504 # + - 6 OCT 2442 # - - 6 OCT 0 # 0 A(B) 9 OCT 2421 # + A(B) 9 @@ -253,8 +252,8 @@ BDZCHECK CA ZNDX BZMF NOBDZ # NO Z-TRANSLATION # Page 1044 -# TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES. Z-TRANSLATION WILL BE POSS- -# IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS. CRITERION: IF THE RESULTANT NET ROLL +# TABLE LOOK UP FOR BD Z-TRANSLATION WITH AND WITHOUT REAL BD QUAD FAILURES. Z-TRANSLATION WILL BE POSS- +# IBLE AS LONG AS ROLL COMMANDS CAN BE SATISFIED WITH THE AC ROLL JETS. CRITERION.. IF THE RESULTANT NET ROLL # COMMANDS = 0 (WITH Z-TRANSLATION) AND IF TAU = 0, THEN INCLUDE THE BD Z-TRANSLATION COMMANDS. IF THE RESULTANT # ROLL COMMAND = 0, AND IF TAU NZ, THEN IGNORE THE BD Z-TRANSLATION @@ -355,38 +354,34 @@ NOACY CA RWORD1 # Y-TRANSLATION NOT ACCEPTED TCF ROLLTIME # Page 1047 -# TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS -# -# EITHER AC OR BD ROLL MAY BE SELECTED. IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY +# TABLE FOR ROLL, Y AND Z-TRANSLATION COMMANDS + +# EITHER AC OR BD ROLL MAY BE SELECTED. IF AC ROLL IS SELECTED, Y-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY # PROVIDED THAT THERE ARE NO AC QUAD FAILURES. IF THERE ARE AC FAILURES, Y-TRANSLATION COMMANDS WILL BE IGNORED, # IN WHICH CASE THE ASTRONAUT SHOULD SWITCH TO BD ROLL. -# -# IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD +# IF BDROLL IS SELECTED, Z-TRANSLATIONS MAY BE SATISFIED SIMULTANEOUSLY PROVIDED THAT THERE ARE NO BD QUAD # FAILURES. IF THERE ARE BD FAILURES, Z-TRANSLATION COMMANDS WILL BE IGNORED, IN WHICH CASE THE ASTRONAUT SHOULD # SWITCH TO AC ROLL. -# -# NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIRABLE ROLL +# NOTE THAT IF ONE QUAD FAILS (E.G. B FAILED), Z-TRANSLATION IS STILL POSSIBLE AND THAT THE UNDESIRABLE ROLL # INTRODUCED BY THIS TRANSLATION WILL BE COMPENSATED BY THE TWO AC ROLL JETS ACTUATED BY THE AUTOPILOT LOGIC. -# -# WORD MAKE UP....RTABLE -# -# TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE. THE WORD CORRESPONDING -# TO AC ROLL HAS THE FOLLOWING INTERPRETATION: -# -# BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED. THE CODING IS: -# -# BIT NO. 11 10 9 NO. OF ROLL JETS -# -# 0 0 0 -2 -# 0 0 1 -1 -# 0 1 0 0 -# 0 1 1 +1 -# 1 0 0 +2 -# -# THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF + +# WORD MAKE UP....RTABLE + +# TWO WORDS, CORRESPONDING TO AC OR BD ROLL SELECTION, HAVE BEEN COMBINED INTO ONE TABLE. THE WORD CORRESPOND- +# ING TO AC ROLL HAS THE FOLLOWING INTERPRETATION.. +# BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE FOR THE WORD SELECTED. THE CODING IS.. +# BIT NO. 11 10 9 NO. OF ROLL JETS + +# 0 0 0 -2 +# 0 0 1 -1 +# 0 1 0 0 +# 0 1 1 +1 +# 1 0 0 +2 + +# THIS WORD MAY THEN BE ADDED TO THE WORD SELECTED FROM THE YZ-TRANSLATION TABLE, WHICH HAS THE SAME TYPE OF # CODING AS ABOVE, AND THE NET ROLL DETERMINED BY SHIFTING THE RESULTANT WORD RIGHT 8 PLACES AND SUBTRACTING FOUR. -# -# THE WORD CORRESPONDING TO THE BD ROLL HAS A SIMILAR INTERPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED + +# THE WORD CORRESPONDING TO THE BD ROLL HAS A SIMILAR INTERPRETATION, EXCEPT THAT BITS 12, 13, 14 ARE CODED # (AS ABOVE) TO GIVE THE NET ROLL TORQUE. # ROLL TRANS QUADFAIL BIAS @@ -408,25 +403,23 @@ RTABLE OCT 11000 # 0 0 OCT 04442 # - C(D) 12 # Page 1048 -# RTABLE MASKS: +# RTABLE MASKS - ACRJETS OCT 03760 BDRJETS OCT 34017 # Page 1049 -# Y, Z TRANSLATION TABLE -# -# ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE +# Y, Z TRANSLATION TABLE + +# ONCE AC OR BD ROLL IS SELECTED THE QUAD PAIR WHICH IS NOT BEING USED TO SATISFY THE ROLL COMMANDS MAY BE # USED TO SATISFY THE REMAINING TRANSLATION COMMANDS. HOWEVER, WE MUST MAKE SURE THAT ROLL COMMANDS ARE SATISFIED # WHEN THEY OCCUR. THEREFORE, THE Y-Z TRANSLATIONS FROM THIS TABLE WILL BE IGNORED IF THE NET ROLL TORQUE OF THE # COMBINED WORD IS ZERO AND THE ROLL COMMANDS ARE NON-ZERO. THIS SITUATION WOULD OCCUR, FOR EXAMPLE, IF WE EN- # COUNTER SIMULTANEOUS +R +Y -Z COMMANDS AND A QUAD D FAILURE WHILE USING AC FOR ROLL. -# -# TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILAR TO THE ROLL TABLE +# TO FACILITATE THE LOGIC, THE Y-Z TRANSLATION TABLE HAS BEEN CODED IN A MANNER SIMILAR TO THE ROLL TABLE # ABOVE. -# -# BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS. THE WORD SELECTED CAN THEN BE -# ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD. SIMILARLY BITS +# BITS 9,10,11 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Z-TRANSLATIONS. THE WORD SELECTED CAN THEN BE +# ADDED TO THE AC-ROLL WORD AND THE RESULTANT ROLL TORQUE DETERMINED FROM THE COMBINED WORD. SIMILIARLY BITS # 12,13,14 ARE CODED TO GIVE THE NET ROLL TORQUE INCURRED BY Y-TRANSLATIONS WHEN BD-ROLL IS SELECTED. # TRANSLATION QUADFAIL BIAS @@ -441,7 +434,7 @@ YZTABLE OCT 11000 # 0 0 OCT 15421 # +Z(+Y) D(C) 6 OCT 04442 # -Z(-Y) D(C) 6 -# YZ-TABLE MASKS: +# YZ-TABLE MASKS- BDZJETS OCT 03417 ACYJETS OCT 34360 @@ -452,27 +445,24 @@ ACYJETS OCT 34360 =-4 = NEG4 # Page 1050 -# CALCULATION OF JET ON-TIMES +# CALCULATION OF JET ON-TIMES # -# THE ROTATION COMMANDS (TAU:S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET +# THE ROTATION COMMANDS (TAU:S), WHICH WERE DETERMINED FROM THE JET SWITCHING LOGIC ON THE BASIS OF SINGLE JET # OPERATION, MUST NOW BE UPDATED BY THE ACTUAL NUMBER OF JETS TO BE USED IN SATISFYING THESE COMMANDS. TAU MUST -# ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5 -# INTERVAL. -# -# IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES +# ALSO BE DECREMENTED ACCORDING TO THE EXPECTED TORQUE GENERATED BY THE NEW COMMANDS ACTING OVER THE NEXT T5 INT- +# ERVAL. +# IN ORDER TO MAINTAIN ACCURATE KNOWLEDGE OF VEHICLE ANGULAR RATES, WE MUST ALSO PROVIDE EXPECTED FIRING TIMES # (DFT:S, ALSO IN TERMS OF 1-JET OPERATION) FOR THE RATE FILTER. -# -# NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR. NEVERTHELESS, WE MUST +# NOTE THAT TRANSLATIONS CAN PRODUCE ROTATIONS EVEN THOUGH NO ROTATIONS WERE CALLED FOR. NEVERTHELESS, WE MUST # UPDATE DFT. -# -# WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH +# WHEN THE ROTATIONS HAVE FINISHED, WE MUST PROVIDE CHANNEL INFORMATION TO THE T6 PROGRAM TO CONTINUE ON WITH # THE TRANSLATIONS. THIS WILL BE DONE IN THE NEXT SECTION. HOWEVER, TO INSURE THAT JETS ARE NOT FIRED FOR LESS # THAN A MINIMUM IMPULSE (14MS), ALL JET CHANNEL COMMANDS WILL BE HELD FIXED FROM THE START OF THE T5 PROGRAM FOR -# AT LEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS. MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL +# ATLEAST 14MS UNTIL THE INITIALIZATION OF NEW COMMANDS. MOREOVER, A 14MS ON-TIME WILL BE ADDED TO ANY ROTATIONAL # COMMANDS GENERATED BY THE MANUAL CONTROLS OR THE JET SWITCHING LOGIC, AND ALL TRANSLATION COMMANDS WILL BE # ACTIVE FOR ATLEAST ONE CYCLE OF THE T5 PROGRAM (.1SEC) -# PITCH JET ON-TIME CALCULATION +# PITCH JET ON-TIME CALCULATION PITCHTIM CCS TAU1 TCF PTAUPOS @@ -568,13 +558,13 @@ ROLLTIME CCS TAU TS DFT # PRESENT TCF RBYPASS - DEC -480 # =-.3SEC - DEC -320 # =-.2SEC -=-.1SEC DEC -160 # =-.1SEC -DFTMAX DEC 0 # 0 -=+.1SEC DEC 160 # =+.1SEC - DEC 320 # =+.2SEC - DEC 480 # =+.3SEC + DEC -480 # = -.3SEC + DEC -320 # = -.2SEC +=-.1SEC DEC -160 # = -.1SEC +DFTMAX DEC 0 # 0 +=+.1SEC DEC 160 # = +.1SEC + DEC 320 # = +.2SEC + DEC 480 # = +.3SEC =14MS DEC 23 # =14MS RBLAST CA TAU @@ -618,12 +608,11 @@ NJET DEC 0 DEC .333333 # = +1/3 # Page 1055 -# WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH +# WHEN THE ROTATION COMMANDS ARE COMPLETED, IT IS NECESSARY TO REPLACE THESE COMMANDS BY NEW COMMANDS WHICH # CONTINUE ON WITH THE TRANSLATIONS IF ANY ARE PRESENT. -# -# IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE +# IN THIS SECTION THESE NEW COMMANDS ARE GENERATED AND STORED FOR REPLACEMENT OF THE CHANNEL COMMANDS WHEN THE # CORRESPONDING ROTATIONS ARE COMPLETED. -# + # GENERATION OF THE SECOND PITCH(X-TRANS) WORD...PWORD2 ASMBLWP CCS RACFAIL @@ -759,20 +748,20 @@ YBYPASS CA YWORD1 TS BLAST2 # Page 1059 -# SORT THE JET ON-TIMES -# -# AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED. IN SUMMARY THESE ARE- -# -# RWORD1 -# RWORD2 BLAST -# -# PWORD1 -# PWORD2 BLAST1 -# -# YWORD1 -# YWORD2 BLAST2 -# -# IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED. TO FACILITATE +# SORT THE JET ON-TIMES + +# AT THIS POINT ALL THE CHANNEL COMMANDS AND JET ON-TIMES HAVE BEEN DETERMINED. IN SUMMARY THESE ARE- + +# RWORD1 +# RWORD2 BLAST + +# PWORD1 +# PWORD2 BLAST1 + +# YWORD1 +# YWORD2 BLAST2 + +# IN THIS SECTION THE JET ON-TIMES ARE SORTED AND THE SEQUENCE OF T6 INTERRUPTS IS DETERMINED. TO FACILITATE # THE SORTING PROCESS AND THE T6 PROGRAM, THE VARIABLES BLAST, BLAST1, BLAST2, ARE RESERVED AS DOUBLE PRECISION # WORDS. THE LOWER PART OF THESE WORDS CONTAIN A BRANCH INDEX ASSOCIATED WITH THE ROTATION AXIS OF THE HIGHER # ORDER WORD. @@ -929,4 +918,3 @@ ENABT6 TS TIME6 # END OF T6 INTERRUPT ENDSLECT EQUALS -