# Copyright: Public domain. # Filename: IMU_PERFORMANCE_TESTS_4.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey . # Website: www.ibiblio.org/apollo. # Pages: 382-389 # Mod history: 2009-05-17 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # # Notations on the hardcopy document read, in part: # # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61 # 16:27 JULY 14, 1969 # Page 382 # PROGRAM -- IMU PERFORMANCE TESTS 4 # DATE -- NOV 15, 1966 # BY -- GEORGE SCHMIDT IL7-146 EXT 1126 # MOD NO-ZERO # # FUNCTIONAL DESCRIPTION # # THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS # IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS # SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST. # # EARTHR,OGC ZERO,ERTHRVSE # # NORMAL EXIT # # LENGTHOT GOES TO ZERO -- RETURN TO IMU PERF TESTS 2 CONTROL # # ALARMS # # 1600 OVERFLOW IN DRIFT TEST # 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL # OUTPUT # # FLASHING DISPLAY OF RESULTS -- CONTROLLED IN IMU PERF TESTS 2 # # DEBRIS # # ALL CENTRALS -- ALL OF EBANK XSM # Page 383 BANK 33 SETLOC IMU4 BANK COUNT* $$/P07 EBANK= XSM ESTIMS INHINT CAE 1SECXT TC TWIDDLE EBANK= XSM ADRES ALLOOP CAF ZERO # ZERO THE PIPAS TS PIPAX TS PIPAY TS PIPAZ RELINT CA 77DECML TS ZERONDX CA ALXXXZ TC ZEROING TC INTPRET SLOAD SCHZEROS STOVL GCOMPSW -1 INTVAL +2 STOVL ALX1S SCHZEROS STORE DELVX STORE GCOMP SLOAD TORQNDX DCOMP BMN VERTSKIP CALL ERTHRVSE VERTSKIP EXIT TC SLEEPIE +1 # Page 384 ALLOOP CA OVFLOWCK EXTEND BZF +2 TC TASKOVER CCS ALTIM CA A # SHOULD NEVER HIT THIS LOCATION TS ALTIMS CS A TS ALTIM CS ONE AD GEOCOMPS EXTEND BZF +4 CA LENGTHOT EXTEND BZMF +5 CAE 1SECXT TC TWIDDLE EBANK= XSM ADRES ALLOOP CAF ZERO XCH PIPAX TS DELVX CAF ZERO XCH PIPAY TS DELVY CAF ZERO XCH PIPAZ TS DELVZ SPECSTS CAF PRIO20 TC FINDVAC EBANK= XSM 2CADR ALFLT # START THE JOB TC TASKOVER # Page 385 ALFLT CCS GEOCOMPS TC +2 TC NORMLOP TC BANKCALL CADR 1/PIPA NORMLOP TC INTPRET DLOAD INTVAL STOVL S1 DELVX VXM VSL1 XSM DLOAD DCOMP MPAC +3 STODL DPIPAY MPAC +5 STORE DPIPAZ SETPD AXT,1 0 8D SLOAD DCOMP GEOCOMPS BMN PERFERAS ALCGKK SLOAD BMN ALTIMS ALFLT3 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST 12D ALX1S ALKCG2 DLOAD* INCR,1 ALFDK +144D,1 DEC -2 STORE ALDK +10D,2 TIX,2 SXA,1 ALKCG2 ALX1S ALFLT3 AXT,1 8D DELMLP DLOAD* DMP DPIPAY +8D,1 PIPASC SLR BDSU* 9D INTY +8D,1 STORE INTY +8D,1 PDDL DMP* VELSC # Page 386 VLAUN +8D,1 SL2R DSU STADR STORE DELM +8D,1 STORE DELM +10D,1 TIX,1 AXT,2 DELMLP 4 ALILP DLOAD* DMPR* ALK +4,2 ALDK +4,2 STORE ALK +4,2 TIX,2 AXT,2 ALILP 8D ALKLP LXC,1 SXA,1 CMPX1 CMPX1 DLOAD* DMPR* ALK +1,1 DELM +8D,2 DAD* INTY +8D,2 STORE INTY +8D,2 DLOAD* DAD* ALK +12D,2 ALDK +12D,2 STORE ALK +12D,2 DMPR* DAD* DELM +8D,2 INTY +16D,2 STORE INTY +16D,2 DLOAD* DMP* ALSK +1,1 DELM +8D,2 SL1R DAD* VLAUN +8D,2 STORE VLAUN +8D,2 TIX,2 AXT,1 ALKLP 8D LOOSE DLOAD* PDDL* ACCWD +8D,1 VLAUN +8D,1 PDDL* VDEF POSNV +8D,1 MXV VSL1 TRANSM1 # Page 387 DLOAD MPAC STORE POSNV +8D,1 DLOAD MPAC +3 STORE VLAUN +8D,1 DLOAD MPAC +5 STORE ACCWD +8D,1 TIX,1 LOOSE AXT,2 AXT,1 # EVALUATE SINES AND COSINES 6 2 BOOP DLOAD* DMPR ANGX +2,1 GEORGEJ SR2R PUSH SIN SL3R XAD,1 X1 STORE 16D,2 DLOAD COS STORE 22D,2 # COSINES TIX,2 BOOP PERFERAS EXIT CA EBANK7 TS EBANK EBANK= ATIGINC TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN # CAUTION # # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED # BEFORE ANY ATTEMPT IS MAKE TO RUN THE IMU PERFORMANCE TEST EBANK= AZIMUTH CCS LENGTHOT TC SLEEPIE CCS TORQNDX TCF +2 TC SETUPER1 CA CDUX TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4 # Page 388 SETUPER1 TC INTPRET DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY ANGZ ANGY PDDL VDEF ANGX VCOMP VXSC GEORGEJ MXV VSR1 XSM STORE OGC EXIT CA OGCPL TC BANKCALL CADR IMUPULSE TC IMUSLLLG GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST TC VALMIS TC INTPRET CALL ERTHRVSE EXIT TC TORQUE SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT CCS TORQNDX # ARE WE DOING VERTDRIFT TC EARTHR* TC ENDOFJOB SOMEERRR CA EBANK5 TS EBANK CA ONE TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF TC ALARM OCT 1600 TC ENDTEST1 SOMERR2 CAF OCT1601 TC VARALARM TC DOWNFLAG ADRES IMUSE TC ENDOFJOB OCT1601 OCT 01601 DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT SCHZEROS 2DEC .00000000 # Page 389 2DEC .00000000 OCT 00000 ONEDPP OCT 00000 # ORDER IS IMPORTANT OCT 00001 INTVAL OCT 4 OCT 2 DEC 144 DEC -1 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES 77DECML DEC 77 ALXXXZ GENADR ALX1S -1 PIPASC 2DEC .13055869 VELSC 2DEC -.52223476 # 512/980.402 ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096 2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096 GEORGEJ 2DEC .63661977 GEORGEK 2DEC .59737013