forked from chrislgarry/Apollo-11
-
Notifications
You must be signed in to change notification settings - Fork 0
/
GIMBAL_LOCK_AVOIDANCE.s
99 lines (79 loc) · 2.15 KB
/
GIMBAL_LOCK_AVOIDANCE.s
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
# Copyright: Public domain.
# Filename: GIMBAL_LOCK_AVOIDANCE.agc
# Purpose: Part of the source code for Comanche, build 055.
# It is part of the source code for the Command Module's (CM)
# Apollo Guidance Computer (AGC), Apollo 11.
# Assembler: yaYUL
# Reference: pp. 412-413
# Contact: Onno Hommes <ohommes@cmu.edu>.
# Website: www.ibiblio.org/apollo.
# Mod history: 05/07/09 OH Transcription Batch 1 Assignment
#
# The contents of the "Comanche055" files, in general, are transcribed
# from scanned documents.
#
# Assemble revision 055 of AGC program Comanche by NASA
# 2021113-051. April 1, 1969.
#
# This AGC program shall also be referred to as Colossus 2A
#
# Prepared by
# Massachussets Institute of Technology
# 75 Cambridge Parkway
# Cambridge, Massachusetts
#
# under NASA contract NAS 9-4065.
#
# Refer directly to the online document mentioned above for further information.
# Please report any errors to info@sandroid.org.
# Page 412
BANK 15
SETLOC KALCMON1
BANK
EBANK= BCDU
# DETECTING GIMBAL LOCK
LOCSKIRT EQUALS WCALC
WCALC LXC,1 DLOAD*
RATEINDX
ARATE,1
SR4 CALL # COMPUTE THE INCREMENTAL ROTATION MATRIX
DELCOMP # DEL CORRESPONDING TO A 1 SEC ROTATION
# ABOUT COF
DLOAD* VXSC
ARATE,1
COF
MXV
QUADROT
STODL BRATE
AM
DMP DDV*
ANGLTIME
ARATE,1
SR
5
STOVL TM
BRATE
VXSC
BIASCALE
STORE BIASTEMP # ATTITUDE ERROR BIAS TO PREVENT OVERSHOOT
# IN SYSTEM
SETGO # STATE SWITCH CALCMAN2 (43D)
CALCMAN2 # 0(OFF) = BYPASS STARTING PROCEDURE
NEWANGL +1 # 1(ON) = START MANEUVER
ARATE 2DEC .0022222222 # = .05 DEG/SEC
2DEC .0088888889 # = .2 DEG/SEC
2DEC .0222222222 # = .5 DEG/SEC
2DEC .0888888889 # = 2 DEG/SEC $22.5 DEG/SEC
ANGLTIME 2DEC .000190735 # = 100B - 19
# MANEUVER ANGLE TO MANEUVER TIME
QUADROT 2DEC .1 # ROTATION MATRIX FROM S/C AXES TO CONTROL
# Page 413
2DEC 0 # AXES (X ROT = -7.25 DEG)
2DEC 0
2DEC 0
2DEC .099200 # =(.1)COS7.25
2DEC -.012620 # =-(.1)SIN7.25
2DEC 0
2DEC .012620 # (.1)SIN7.25
2DEC .099200 # (.1)COS7.25
BIASCALE 2DEC .0002543132 # = (450/180)(1/0.6)(1/16384)