# Copyright: Public domain. # Filename: LEM_GEOMETRY.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: 320-325 # Mod history: 2009-05-16 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 320 BANK 23 SETLOC LEMGEOM BANK SBANK= LOWSUPER EBANK= XSM # THESE TWO ROUTINES COMPUTE THE ACTUAL STATE VECTOR FOR LM,CSM BY ADDING # THE CONIC R,V AND THE DEVIATIONS R,V. THE STATE VECTORS ARE CONVERTED TO # METERS B-29 AND METERS/CSEC B-7 AND STORED APPROPRIATELY IN RN,VN OR # R-OTHER,V-OTHER FOR DOWNLINK. THE ROUTINES NAMES ARE SWITCHED IN THE # OTHER VEHICLES COMPUTER. # # INPUT # STATE VECTOR IN TEMPORARY STORAGE AREA # IF STATE VECTOR IS SCALED POS B27 AND VEL B5 # SET X2 TO +2 # IF STATE VECTOR IS SCALED POS B29 AND VEL B7 # SET X2 TO 0 # # OUTPUT # R(T) IN RN, V(T) IN VN, T IN PIPTIME # OR # R(T) IN R-OTHER, V(T) IN V-OTHER (T IS DEFINED BY T-OTHER) COUNT* $$/GEOM SVDWN2 BOF RVQ # SW=1=AVETOMID DOING W-MATRIX INTEG. AVEMIDSW +1 VLOAD VSL* TDELTAV 0 -7,2 VAD VSL* RCV 0,2 STOVL RN TNUV VSL* VAD 0 -4,2 VCV VSL* 0,2 STODL VN TET STORE PIPTIME RVQ # Page 321 SVDWN1 VLOAD VSL* TDELTAV 0 -7,2 VAD VSL* RCV 0,2 STOVL R-OTHER TNUV VSL* VAD 0 -4,2 VCV VSL* 0,2 STORE V-OTHER RVQ # Page 322 # THE FOLLOWING ROUTINE TAKES A HALF UNIT TARGET VECTOR REFERRED TO NAV BASE COORDINATES AND FINDS BOTH # GIMBAL ORIENTATIONS AT WHICH THE RR MIGHT SIGHT THE TARGET. THE GIMBAL ANGLES CORRESPONDING TO THE PRESENT MODE # ARE LEFT IN MODEA AND THOSE WHICH WOULD BE USED AFTER A REMODE IN MODEB. THIS ROUTINE ASSUMES MODE 1 IS TRUNNION # ANGLE LESS THAN 90 DEGS IN ABS VALUE WITH ARBITRARY SHAFT, WITH A CORRESPONDING DEFINITION FOR MODE 2. MODE # SELECTION AND LIMIT CHECKING ARE DONE ELSEWHERE. # # THE MODE 1 CONFIGURATION IS CALCULATED FROM THE VECTOR AND THEN MODE 2 IS FOUND USING THE RELATIONS # # S(2) = 180 + S(1) # T(2) = 180 - T(1) # # THE VECTOR ARRIVES IN MPAC WHERE TRG*SMNG OR *SMNB* WILL HAVE LEFT IT. RRANGLES STORE 32D DLOAD DCOMP # SINCE WE WILL FIND THE MODE 1 SHAFT 34D # ANGLE LATER, WE CAN FIND THE MODE 1 SETPD ASIN # TRUNNION BY SIMPLY TAKING THE ARCSIN OF 0 # THE Y COMPONENT, THE ASIN GIVIN AN PUSH BDSU # ANSWER WHOSE ABS VAL IS LESS THAN 90 DEG. LODPHALF STODL 4 # MODE 2 TRUNNION TO 4. LO6ZEROS STOVL 34D # UNIT THE PROJECTION OF THE VECTOR 32D # IN THE X-Z PLANE UNIT BOVB # IF OVERFLOW, TARGET VECTOR IS ALONG Y LUNDESCH # CALL FOR MANEUVER UNLESS ON LUNAR SURF STODL 32D # PROJECTION VECTOR. 32D SR1 STQ S2 STODL SINTH # USE ARCTRIG SINCE SHAFT COULD BE ARB. 36D SR1 STCALL COSTH ARCTRIG # Page 323 PUSH DAD # MODE 1 SHAFT TO 2. LODPHALF STOVL 6 4 RTB # FIND MODE 2 CDU ANGLES. 2V1STO2S STOVL MODEB 0 RTB # MODE 1 ANGLES TO MODE A. 2V1STO2S STORE MODEA EXIT CS RADMODES # SWAP MODEA AND MODEB IF RR IN MODE 2. MASK ANTENBIT CCS A TCF +4 DXCH MODEA DXCH MODEB DXCH MODEA TC INTPRET GOTO S2 # Page 324 # GIVEN RR TRUNNION AND SHAFT (T,S) IN TANGNB,+1, FIND THE ASSOCIATED # LINE OF SIGHT IN NAV BASE AXES. THE HALF UNIT VECTOR, .5(SIN(S)COS(T), # -SIN(T),COS(S)COS(T)) IS LEFT IN MPAC AND 32D. SETLOC INFLIGHT BANK COUNT* $$/GEOM RRNB SLOAD RTB TANGNB CDULOGIC SETPD PUSH # TRUNNION ANGLE TO 0 0 SIN DCOMP STODL 34D # Y COMPONENT COS PUSH # .5 COS(T) TO 0 SLOAD RTB TANGNB +1 CDULOGIC RRNB1 PUSH COS # SHAFT ANGLE TO 2 DMP SL1 0 STODL 36D # Z COMPONENT SIN DMP SL1 STOVL 32D 32D RVQ # THIS ENTRY TO RRNB REQUIRES THE TRUNNION AND SHAFT ANGLES IN MPAC AND MPAC +1 RESPECTIVELY RRNBMPAC STODL 20D # SAVE SHAFT CDU IN 21. MPAC # SET MODE TO DP. (THE PRECEEDING STORE # MAY BE DP, TP OR VECTOR.) RTB SETPD CDULOGIC 0 PUSH SIN # TRUNNION ANGLE TO 0 DCOMP STODL 34D # Y COMPONENT COS PUSH # .5COS(T) TO 0 SLOAD RTB # PICK UP CDU'S. 21D CDULOGIC GOTO RRNB1 # Page 325 # (This page has nothing on it.)