102 lines
2.2 KiB
Plaintext
102 lines
2.2 KiB
Plaintext
# Copyright: Public domain.
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# Filename: KALMAN_FILTER.agc
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# Purpose: Part of the source code for Luminary 1A build 099.
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# It is part of the source code for the Lunar Module's (LM)
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# Apollo Guidance Computer (AGC), for Apollo 11.
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# Assembler: yaYUL
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# Contact: Ron Burkey <info@sandroid.org>.
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# Website: www.ibiblio.org/apollo.
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# Pages: 1470-1471
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# Mod history: 2009-05-27 RSB Adapted from the corresponding
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# Luminary131 file, using page
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# images from Luminary 1A.
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#
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# This source code has been transcribed or otherwise adapted from
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# digitized images of a hardcopy from the MIT Museum. The digitization
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# was performed by Paul Fjeld, and arranged for by Deborah Douglas of
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# the Museum. Many thanks to both. The images (with suitable reduction
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# in storage size and consequent reduction in image quality as well) are
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# available online at www.ibiblio.org/apollo. If for some reason you
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# find that the images are illegible, contact me at info@sandroid.org
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# about getting access to the (much) higher-quality images which Paul
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# actually created.
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#
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# Notations on the hardcopy document read, in part:
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#
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# Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
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# 16:27 JULY 14, 1969
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# Page 1470
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EBANK= NO.UJETS
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BANK 16
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SETLOC DAPS1
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BANK
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COUNT* $$/DAP
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RATELOOP CA TWO
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TS DAPTEMP6
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DOUBLE
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TS Q
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INDEX DAPTEMP6
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CCS TJP
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TCF +2
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TCF LOOPRATE
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AD -100MST6
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EXTEND
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BZMF SMALLTJU
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INDEX DAPTEMP6
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CCS TJP
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CA -100MST6
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TCF +2
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CS -100MST6
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INDEX DAPTEMP6
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ADS TJP
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INDEX DAPTEMP6
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CCS TJP
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CS -100MS # 0.1 AT 1
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TCF +2
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CA -100MS
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LOOPRATE EXTEND
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INDEX DAPTEMP6
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MP NO.PJETS
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CA L
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INDEX DAPTEMP6
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TS DAPTEMP1 # SIGNED TORQUE AT 1 JET-SEC FOR FILTER
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EXTEND
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MP BIT10 # RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
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EXTEND
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BZMF NEGTORK
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STORTORK INDEX Q # INCREMENT DOWNLIST REGISTER.
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ADS DOWNTORK # NOTE: NOT INITIALIZED; OVERFLOWS.
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CCS DAPTEMP6
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TCF RATELOOP +1
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TCF ROTORQUE
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SMALLTJU CA ZERO
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INDEX DAPTEMP6
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XCH TJP
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EXTEND
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# Page 1471
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MP ELEVEN # 10.24 PLUS
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CA L
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TCF LOOPRATE
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ROTORQUE CA DAPTEMP2
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AD DAPTEMP3
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EXTEND
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MP 1JACCR
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TS JETRATER
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CS DAPTEMP3
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AD DAPTEMP2
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EXTEND
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MP 1JACCQ
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TS JETRATEQ
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TCF BACKP
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-100MST6 DEC -160
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NEGTORK COM
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INCR Q
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TCF STORTORK
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