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Proof ANGLFIND p405-409

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lewisjb 2021-10-27 21:23:28 +10:00
parent c3ba960480
commit a99c9d0257
1 changed files with 19 additions and 19 deletions
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38
Comanche055/ANGLFIND.agc
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@ -317,12 +317,12 @@ MAXANG DEC .472222
# D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
# NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
SD DEC .433015 # = SIN(D) $2 SD DEC .433015 # = SIN(D) $2
K3S1 DEC .86603 # = SIN(D) $2 K3S1 DEC .86603 # = SIN(D) $2
K4 DEC -.25 # = - COS(D) $2 K4 DEC -.25 # = - COS(D) $2
K4SQ DEC .125 # = COS(D)COS(D) $2 K4SQ DEC .125 # = COS(D)COS(D) $2
SNGLCD DEC .008725 # = SIN(NGL)COS(D) $2 SNGLCD DEC .008725 # = SIN(NGL)COS(D) $2
CNGL DEC .499695 # = COS(NGL) $2 CNGL DEC .499695 # = COS(NGL) $2
READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
CA CDUZ CA CDUZ
TS MPAC +2 TS MPAC +2
@ -429,14 +429,14 @@ ENDOCM EQUALS
# CALCULATION OF THE MATRIX DEL...... # CALCULATION OF THE MATRIX DEL......
# #
# * * --T * # * * --T *
# DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1 # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
# #
# - # -
# WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION. # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
# A IS THE ANGLE OF ROTATION (DP SCALED 2) # A IS THE ANGLE OF ROTATION (DP SCALED 2)
# - # -
# UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
COUNT 22/KALC COUNT 22/KALC
@ -476,7 +476,7 @@ DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
2 2
BOVB BOVB
SIGNMPAC SIGNMPAC
STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A) $1 STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
# COMPUTE THE OFF DIAGONAL TERMS OF DEL # COMPUTE THE OFF DIAGONAL TERMS OF DEL
@ -485,10 +485,10 @@ DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
COF +2 COF +2
DMP SL1 DMP SL1
4 4
PDDL DMP # D6 UX UY (1-COS A) $ 4 PDDL DMP # D6 UX UY (1-COS A) $ 4
COF +4 COF +4
0 0
PUSH DAD # D8 UZ SIN A $ 4 PUSH DAD # D8 UZ SIN A $ 4
6 6
SL2 BOVB SL2 BOVB
SIGNMPAC SIGNMPAC
@ -501,7 +501,7 @@ DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
DMP DMP DMP DMP
COF +4 COF +4
4 4
SL1 PDDL # D6 UX UZ (1-COS A ) $ 4 SL1 PDDL # D6 UX UZ (1-COS A ) $ 4
COF +2 COF +2
DMP PUSH # D8 UY SIN(A) DMP PUSH # D8 UY SIN(A)
0 0
@ -519,9 +519,9 @@ DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
DMP DMP DMP DMP
COF +4 COF +4
4 4
SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
COF COF
DMP PUSH # D6 UX SIN(A) DMP PUSH # D8 UX SIN(A)
0 0
DAD SL2 DAD SL2
6 6