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# Copyright: Public domain.
# Filename: AUTOMATIC_MANEUVERS.agc
# Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
# It is part of the source code for the Command Module's (CM)
# Apollo Guidance Computer (AGC), for Apollo 11.
# Assembler: yaYUL
# Contact: Ron Burkey <info@sandroid.org>.
# Website: www.ibiblio.org/apollo.
# Pages: 1025-1036
# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the
# same name, using Comanche055 page images.
#
# 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 055 of AGC program Comanche by NASA
# 2021113-051. 10:28 APR. 1, 1969
#
# This AGC program shall also be referred to as
# Colossus 2A
# Page 1025
BANK 21
SETLOC DAPS3
BANK
COUNT 21/DAPAM
EBANK= KMPAC
AHFNOROT EXTEND
READ CHAN31
MASK BIT14
EXTEND
BZMF FREECONT
CA RCSFLAGS # SEE IF RATE FILTER HAS BEEN INITIALIZED
MASK BIT14
CCS A # IF SO, PROCEED WITH ATTITUDE CONTROL
TCF REINIT # IF NOT, RECYCLE TO INITIALIZE FILTER
# AUTOMATIC CONTROL YET
EXTEND
READ CHAN31
MASK BIT13
EXTEND
BZMF HOLDFUNC
AUTOCONT CA HOLDFLAG # IF HOLDFLAG IS +, GO TO GRABANG.
EXTEND # OTHERWISE, GO TO ATTHOLD.
BZMF ATTHOLD
TCF GRABANG
# MINIMUM IMPULSE CONTROL
FREECONT CAF ONE
TS HOLDFLAG # RESET HOLDFLAG
# INHIBIT AUTOMATIC STEERING
EXTEND
READ CHAN32
TS L
COM
MASK MANROT
MASK CHANTEMP
LXCH CHANTEMP
TC STICKCHK
INDEX RMANNDX
CA MINTAU # MINTAU +0
TS TAU # +1 +14MS MINIMUM IMPULSE
INDEX PMANNDX # +2 -14MS TIME
CA MINTAU # +3 +0
TS TAU1
INDEX YMANNDX
CA MINTAU
# Page 1026
TS TAU2
TCF T6PROGM
MINTAU DEC 0
DEC 23 # = 14MS
DEC -23 # = -14MS
DEC 0
# Page 1027
# CALCULATION OF ATTITUDE ERRORS-
# - * - - -
# AK = AMGB (CDUX - THETADX) + BIAS
#
# IE *AK * * 1 SIN(PSI) 0 ** CDUX - THETADX * *BIAS *
# * * * ** * * *
# *AK1* = * 0 COS(PSI)COS(PHI) SIN(PHI)** CDUY - THETADY * + *BIAS1*
# * * * ** * * *
# *AK2* * 0 -COS(PSI)SIN(PHI) COS(PHI)** CDUZ - THETADZ * *BIAS2*
#
# THE BIASES ARE ADDED ONLY WHILE PERFORMING AUTOMATIC MANEUVERS (ESP KALCMANU) TO PROVIDE ADDITIONAL LEAD
# AND PREVENT OVERSHOOT WHEN STARTING AN AUTOMATIC MANEUVER. NORMALLY THE REQUIRED LEAD IS ONLY 1-2 DEGREES.
# BUT DURING HIGH RATE MANEUVERS IT CAN BE AS MUCH AS 7 DEGREES. THE BIASES ARE COMPUTED BY KALCMANU AND REMAIN
# FIXED UNTIL THE MANEUVER IS COMPLETED AT WHICH TIME THEY ARE RESET TO ZERO.
ATTHOLD CA CDUX
EXTEND
MSU THETADX
TS ERRORX
CA CDUY
EXTEND
MSU THETADY
TS T5TEMP
EXTEND
MP AMGB1
ADS ERRORX
CA T5TEMP
EXTEND
MP AMGB4
TS ERRORY
CA T5TEMP
EXTEND
MP AMGB7
TS ERRORZ
CA CDUZ
EXTEND
MSU THETADZ
TS T5TEMP
EXTEND
MP AMGB5
ADS ERRORY
CA T5TEMP
EXTEND
MP AMGB8
ADS ERRORZ
CS HOLDFLAG
EXTEND
# Page 1028
BZMF JETS
CA BIAS # AD BIASES ONLY IF PERFORMING AUTOMATIC
ADS ERRORX
CA BIAS1
ADS ERRORY
CA BIAS2
ADS ERRORZ
TCF JETS
HOLDFUNC CCS HOLDFLAG
TCF +3
TCF ATTHOLD
TCF +1
GRABANG CAF ZERO # ZERO WBODYS AND BIASES
TS WBODY
TS WBODY +1
TS WBODY1
TS WBODY1 +1
TS WBODY2
TS WBODY2 +1
TS BIAS
TS BIAS1
TS BIAS2
CA RCSFLAGS
MASK OCT16000
EXTEND # IS RATE DAMPING COMPLETED
BZF ENDDAMP # IF SO, GO TO ENDDAMP
CAF ZERO # OTHERWISE, ZERO ERRORS
TS ERRORX
TS ERRORY
TS ERRORZ
TCF JETS
ENDDAMP TS HOLDFLAG # SET HOLDFLAG +0
EXTEND
DCA CDUX # PICK UP CDU ANGLES FOR ATTITUDE HOLD
DXCH THETADX # REFERENCES
CA CDUZ
TS THETADZ
TCF ATTHOLD
# Page 1029
# JET SWITCHING LOGIC AND CALCULATION OF REQUIRED ROTATION COMMANDS
#
# DETERMINE THE LOCATION OF THE RATE ERROR AND THE ATTITUDE ERROR RELATIVE TO THE SWITCHING LOGIC IN THE PHASE
# PLANE.
# COMPUTE THE CHANGE IN RATE CORRESPONDING TO THE ATTITUDE ERROR NECESSARY TO DRIVE THE THE S/C INTO THE
# APPROPRIATE DEADZONE.
#
# .
# R22 RATE . ERROR
# WL+H .
# ********************************* . ***** SWITCH LINES ENCLOSING DEADZONES
# R23 WL * .
# ----------------------------------* . ----- DESIRED RATE LINES
# R23 WL-H - *.
# ****************** - . R20, R21, R22, ETC REGIONS IN PHASE
# * - .* R18 R20 R21 PLANE FOF COMPUTING DESIRED RESPONSE
# * . *
# *- . *
# R22 R24*- R23 . *
# * . *
# * . *
# + -ADB . * AF ATTITUDE
# ........................+--+---------------+--+........................
# AF * . +ADB + ERROR
# * . *
# * . -*
# * . -*
# * . -*
# * . *
# *. - *
# . - *****************
# .* -
# . * --------------------------------
# . *
# . ********************************
# .
# FIG. 1 PHASE PLANE SWITCHING LOGIC
# CONSTANTS FOR JET SWITCHING LOGIC
WLH/SLOP DEC .00463 # = WL+H/SLOPE = .83333 DEG $180
WL-H/SLP DEC .00277 # = WL-H/SLOPE = .5 DEG $180
WLH 2DEC .0011111111 # = WL+H = 0.5 DEG/SEC $450
WLMH 2DEC .0006666666 # = WL-H = 0.3 DEG/SEC $450
WL 2DEC .0008888888 # = WL = 0.4 DEG/SEC $450
# Page 1030
SLOPE2 DEC .32 # = 0.8 DEG/SEC/DEG $450/180
JETS CA ADB
AD FOUR # AF = FLAT REGION = .044 DEG
TS T5TEMP # ADB+AF
CAF TWO
JLOOP TS SPNDX
DOUBLE
TS DPNDX
EXTEND
INDEX A
DCA ADOT
DXCH EDOT
CA HOLDFLAG # HOLDFLAG = +0 MEANS THAT DAP IS IN
EXTEND # ATTITUDE HOLD AND RATE DAMPING IS OVER.
BZF INHOLD # IF THIS IS THE CASE, BYPASS ADDITION
# OF WBODY AND GO TO INHOLD
EXTEND
INDEX DPNDX
DCS WBODY
DAS EDOT # = ADOT-WBODY
INHOLD INDEX SPNDX
CA ERRORX
TS AERR # AERR = BIAS + AK
CCS EDOT
TCF POSVEL
TCF SIGNCK1
TCF NEGVEL
SIGNCK1 CCS EDOT +1
TCF POSVEL
TCF POSVEL
TCF NEGVEL
TCF NEGVEL
POSVEL EXTEND
DCA EDOT
DXCH EDOTVEL
CA T5TEMP
TS ADBVEL # +(ADB+AF)
CA AERR
TS AERRVEL
TC J6.
NEGVEL EXTEND
DCS EDOT
DXCH EDOTVEL
CS T5TEMP
TS ADBVEL # -(ADB+AF)
CS AERR
TS AERRVEL
J6. EXTEND
# Page 1031
SU ADB
AD WLH/SLOP
EXTEND
BZMF J8
CS T5TEMP # (ADB+AF)
AD AERRVEL
EXTEND
BZMF +2
TCF J7
EXTEND
DCS EDOTVEL
EXTEND
DV SLOPE
EXTEND
SU AERRVEL
AD ADB
EXTEND
BZMF J18
TCF J23
J7 CS WL-H/SLP
EXTEND
SU T5TEMP # (ADB+AF)
AD AERRVEL
EXTEND
BZMF J20
TCF J21
J8 EXTEND
DCS WLH
DXCH WTEMP
EXTEND
DCA EDOTVEL
DAS WTEMP
CCS WTEMP
TCF J22
TCF SIGNCK2
TCF NJ22
SIGNCK2 CCS WTEMP +1
TCF J22
TCF J22
TCF NJ22
NJ22 EXTEND
DCA EDOTVEL
EXTEND
DV SLOPE
AD T5TEMP # (ADB+AF)
AD AERRVEL
# Page 1032
CCS A
TCF J23
TCF J23
TCF +2
TCF J23
EXTEND
DCS WLMH # WL - H
DXCH WTEMP
EXTEND
DCA EDOTVEL
DAS WTEMP
CCS WTEMP
TCF J23
TCF SIGNCK3
TCF NJ23
SIGNCK3 CCS WTEMP +1
TCF J23
TCF J23
TCF NJ23
NJ23 CA AERRVEL
AD T5TEMP # (ADB+AF)
AD WL-H/SLP
CCS A
TCF J24
TCF J24
TCF J22
TCF J22
J18 EXTEND
DCS EDOT
DXCH KMPAC
TCF JTIME
J20 CS AERR
AD ADBVEL
EXTEND
MP SLOPE2 # (HYSTERESIS SLOPE)
DXCH KMPAC
EXTEND
DCS EDOT
DAS KMPAC
TCF JTIME
J21 CCS EDOT
TCF JP
TCF SIGNCK4
TCF JN
SIGNCK4 CCS EDOT +1
# Page 1033
TCF JP
TCF JP
TCF JN
JN EXTEND
DCS EDOT
DXCH KMPAC
EXTEND
DCA WL
DAS KMPAC
TCF JTIME
JP EXTEND
DCS EDOT
DXCH KMPAC
EXTEND
DCS WL
DAS KMPAC
TCF JTIME
J22 CCS EDOT
TCF JN
TCF SIGNCK5
TCF JP
SIGNCK5 CCS EDOT +1
TCF JN
TCF JN
TCF JP
TCF JP
J23 INDEX SPNDX
CS BIT13 # RESET RATE DAMPING FLAG
MASK RCSFLAGS # BIT13 FOR ROLL (SPNDX = 0)
TS RCSFLAGS # BIT12 FOR PITCH (SPNDX = 1)
# BIT11 FOR YAW (SPNDX = 2)
INDEX SPNDX
CAF OCT01400 # IS THERE TO BE A FORCED FIRING ON THIS
MASK RCSFLAGS # AXIS
EXTEND
BZF DOJET +2 # NO, GO TO DOJET +2 AND DO NOTHING
TCF J18 # YES, GO TO J18 AND FORCE A FIRING
J24 CS AERR
EXTEND
SU ADBVEL
EXTEND
MP SLOPE2 # (HYSTERESIS SLOPE)
DXCH KMPAC
EXTEND
# Page 1034
DCS EDOT
DAS KMPAC
# Page 1035
# COMPUTE THE JET ON TIME NECESSARY TO ACCOMPLISH THE DESIRED CHANGE IN RATE, IE
#
# T = J/M(DELTA W)
# J
#
# DELTA W = DESIRED CHANGE IN S/C ANGULAR RATE AS DETERMINED BY THE
# SWITCHING LOGIC, AT THIS POINT STORED IN KMPAC.
#
# J/M = S/C INERTIA TO TORQUE 9ATIO SCALED BY
# (57.3/450)(B24/1600)(1/.8)
# FOR 1 JET OPERATION (M = 700 FT-LB).
# IE J/M = J(SLUG-FTFT) x 0.00000085601606
#
# THE CORRESPONDING COMPUTER VARIABLES ESTABLISHED BY
# KEYBOARD ENTRY ARE
# J/M (ROLL)
# J/M1 (PITCH)
# J/M2 (YAW)
#
# T = JET-ON TIME SCALED 16384/1600 SEC
# J
#
# THE COMPUTER VARIABLES ARE
# TAU (ROLL)
# TAU1 (PITCH)
# TAU2 (YAW)
JTIME INDEX SPNDX # PICK UP S/C INERTIA/TORQUE RATIO
CA J/M # SCALED (57.3/450)(B24/1600)
TC SMALLMP # FOR 1-JET OPERATION
CA BIT11
TC SMALLMP
CCS KMPAC
TCF +4
TCF TAUNORM
TCF +4
TCF TAUNORM
CA POSMAX
TCF DOJET
CA NEGMAX
TCF DOJET
TAUNORM CA KMPAC +1
DOJET INDEX SPNDX
TS TAU
CCS SPNDX
TCF JLOOP
TCF T6PROG
# Page 1036
ZEROCMDS CAF ZERO
TS TAU
TS TAU1
TS TAU2
T6PROG EXTEND # WHEN THE ROTATION COMMANDS (TAUS)
DCA JETADDR # HAVE BEEN DETERMINED
DXCH T5LOC # RESET T5LOC FOR PHASE3
TCF RESUME
EBANK= KMPAC
JETADDR 2CADR JETSLECT
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