diff --git a/Luminary099/FINDCDUW--GUIDAP_INTERFACE.agc b/Luminary099/FINDCDUW--GUIDAP_INTERFACE.agc index 6b861e7..896e7b9 100644 --- a/Luminary099/FINDCDUW--GUIDAP_INTERFACE.agc +++ b/Luminary099/FINDCDUW--GUIDAP_INTERFACE.agc @@ -26,7 +26,7 @@ # Page 908 # PROGRAM NAME: FINDCDUW -# MOD NUMBER: 1 68-07-15 +# MOD NUMBER: 1 68 07 15 # MOD AUTHOR: KLUMPP # # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22. @@ -35,7 +35,7 @@ # FETCHING FOR THE THRUST DIRECTION FILTER THE # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER # MODES. -# 3. TO SUBSTITUDE A STOPRATE FOR THE NORMAL +# 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL # AUTOPILOT COMMANDS WHENEVER # 1) NOT IN PNGCS-AUTO, OR # 2) ENGINE IS OFF. @@ -50,9 +50,9 @@ # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR # ACCELERATIONS AVAILABLE). # -# FINDCDUW ALIGNS THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION -# FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XDVINHIB SET, -# ALIGNS THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR. +# FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION +# FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET, +# ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR. # # Page 909 # SPECIFICATIONS: @@ -72,7 +72,7 @@ # ISSUING AUTOPILOT CMDS. # # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK. -# FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES, +# FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES. # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE. # # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN @@ -81,7 +81,6 @@ # # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT. # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT. -# OGABIAS POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI. # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED. # CSMDOCKD FLAG DENOTING CSM DOCKED. # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR. @@ -136,7 +135,7 @@ FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT MASK DAPBOOLS - TS FLAGOODW # FLAG0ODW = ANY PNZ NUMBER IF XOV INHIBTD + TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD # Page 911 # FETCH BASIC DATA @@ -185,15 +184,15 @@ PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC BOVB UNIT NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO BOV CALL - AFTRFLTR # IF UNIT DELV OVERFLOWS SKIP FILTER + AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR # THRUST DIRECTION FILTER EXIT - CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC - LXCH MPAC +3 # RENEWD AFTER RETURN FROM CALLER, + CA UNFVY/2 # FOR RESTARTS. UNFV/2 ALWAYS INTACT, MPAC + LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER, TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE. TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT. @@ -290,7 +289,7 @@ DELGMBLP TS TEM2 EXTEND INDEX TEM2 MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT - COM # FROM WHEN WE INITIALLY FETCHED THEM + COM # FROM WHEN WE INITIALLY FETCHED THEM INDEX TEM2 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI TS L # FOR PRECEDING TEST ON NEXT LOOP PASS @@ -312,14 +311,14 @@ DELGMBLP TS TEM2 # # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME, # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS -# THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALIGNMENT WITH THE MIDDLE GIMBAL +# THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY: # -# [ -DELATTX ] [ 1 SIN(CDUZD) 0 ] [ -DELGMBX ] -# [ ] [ ] [ ] -# [ -DELATTYPRIME ] = [ 0 COS(CDUZD) 0 ] [ -DELGMBY ] -# [ ] [ ] [ ] -# [ -DELATTZPRIME ] [ 0 0 1 ] [ -DELGMBZ ] +# * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX * +# * * * * * * +# * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY * +# * * * * * * +# * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ * LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED INDEX NDXCDUW @@ -343,7 +342,7 @@ DELGMBLP TS TEM2 DDOUBL COM EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG. - MSU -DELGMB # BASED ON UNLIMITED DELGMBV. + MSU -DELGMB # BASED ON UNLIMITED DELGMBY. TS L # ONE BIT ERROR IF OPERANDS IN MSU INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES? CA DAXMAX @@ -362,11 +361,11 @@ DELGMBLP TS TEM2 # Page 917 # COMPUTE COMMANDED ATTITUDE RATES # -# [ OMEGAPD ] [ -2 -4 SINCDUZ +0 ] [ -DELGMBZ ] -# [ ] [ ] [ ] -# [ OMEGAQD ] = [ +0 -8 COSCDUZ COSCDUX -4 SINCDUX ] [ -DELGMBY ] -# [ ] [ ] [ ] -# [ OMEGARD ] [ +0 +8 COSCDUZ SINCDUX -4 COSCDUX ] [ -DELGMBZ ] +# * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBZ * +# * * * * * * +# * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY * +# * * * * * * +# * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ * # # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS, @@ -603,7 +602,7 @@ ARCTRGSP EXTEND TC TEM4 USECOS CS TEM3 # COS IS SMALLER - TC SPARCSIN -1 # ANGLE = SIGN(SIN)(FI/2-ARCSIN(COS)) + TC SPARCSIN -1 # ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS)) AD HALF TS TEM3 # WE NO LONGER NEED COS CCS TEM2 @@ -622,7 +621,7 @@ SINZERO CCS L # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70 # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF -# 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP) +# 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO.(BOB CRISP) DOUBLE SPARCSIN TS SR @@ -687,8 +686,8 @@ ONESTO2S CCS A NOATTCNT TC ALARM OCT 00402 # NO ATTITUDE CONTROL - +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM - TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW ++2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM + TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW FCADR STOPRATE TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS @@ -738,6 +737,6 @@ CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD -DELERLIM = DAY/2MAX # 0 DEG LIMIT FOR LAG ANGLES, 1'S, PI +DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI # *** END OF FLY .132 ***