Pre-launch Review
TVCDAPS
Scanned pages: 961-978
# Copyright: Public domain.# Filename: TVCDAPS.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: 961-978# Mod history: 2009-05-13 RSB Adapted from the Colossus249/ file of the# same name, using Comanche055 page images.# 2009-05-20 RSB Corrections: Eliminated an extraneous EXTEND,# added a missing instruction to PFORWARD.# 2000-05-21 RSB Wrong opcode was used with DELBRTMP and# DELBRTMP +1 operands in 4 places. Corrected# an MP operation in 2CASFLTR.## 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 961# PROGRAM NAME....TVCDAP, CONSISTING OF PITCHDAP, YAWDAP, ETC.# LOG SECTION...TVCDAPS SUBROUTINE...DAPCSM# MODIFIED BY SCHLUNDT 21 OCTOBER 1968# FUNCTIONAL DESCRIPTION....
# SELF-PERPETUATING T5 TASKS WHICH GENERATE THE COMMAND SIGNALS# FOR THE PITCH AND YAW SPS GIMBAL ACTUATORS DURING TVC (SPS) BURNS,# IN RESPONSE TO BODY-AXIS RATE COMMANDS FROM CROSS-PRODUCT STEERING# (S40.8). IF NO STEERING (IMPULSIVE BURNS) MAINTAINS ATTITUDE-HOLD# ABOUT THE REFERENCE (INITIAL) DIRECTIONS (ZERO RATE COMMANDS).
# THE PITCH AND YAW LOOPS ARE SEPARATE, BUT STRUCTURED IDENTICALLY.# EACH ATTITUDE-RATE LOOP INCLUDES GIMBAL ANGLE RATE DERIVATION,# GIMBAL/BODY AXIS TRANSFORMATION, BODY-AXIS ATTITUDE ERROR# INTEGRATION WITH ERROR LIMITING, THE GENERALIZED 6TH-ORDER FILTER# FOR CSM OR CSM/LM OPERATION. A FILTER OUTPUT LIMITER.# CG-OFFSET TRACKER FILTER, AND THE CG-TRACKER MINOR LOOP.
# THE DAPS ARE CYCLIC, CALLING EACH OTHER AT 1/2 THE DAP SAMPLE# TIME, AS DETERMINED BY T5TVCDT. THE ACTUATOR COMMANDS ARE# REGENERATED AS ANALOG VOLTAGES BY THE OPTICS ERROR COUNTERS, WHICH# TRANSMIT THE SIGNAL TO THE ACTUATOR SERVOS WHEN THERE IS PROPER CDU# MODING.
# CALLING SEQUENCE.... (TYPICALLY)
# T5 CALL OF TVCDAPON (TVCINITIALIZE) BY DOTVCON (P40)# T5 CALL OF DAPINIT (TVCDAPS) BY TVCINIT4 (TVCINITIALIZE)# T5 CALL OF PITCHDAP BY DAPINIT# T5 CALL OF YAWDAP BY PITCHDAP# T5 CALL OF PITCHDAP BY YAWDAP# ETC.# (AUTOMATIC SEQUENCING FROM TVCDAPON)
# NORMAL EXIT MODE....RESUME
# ALARM OR ABORT EXIT MODES....NONE
# SUBROUTINES CALLED....
# HACK FOR STROKE TEST (V68) WAVEFORM GENERATION# PCOPY, YCOPY FOR COPY-CYCLES (USED ALSO BY TVC RESTART PACKAGE)# DAPINIT FOR INITIAL CDUS FOR RATE MEASUREMENTS# ERRORLIM, ACTLIM FOR INPUT (ATTITUDE-ERROR INTEGRATION) AND# OUTPUT (ACTUATOR COMMAND) LIMITING, COMMON TO PITCH AND# YAW DAPS# FWDFLTR (INCLUDING OPTVARK) AND PRECOMP, TO COMPUTE FILTER# OUTPUTS AND STORAGE VALUES# RESUME
# Page 962# OTHER INTERFACES....
# S40.8 CROSS-PRODUCT STEERING FOR BODY AXIS RATE COMMANDS OMEGAY,ZC# S40.15 FOR THE INITIAL DAP GAINS VARK AND 1/CONACC# TVCEXECUTIVE FOR DAP GAIN UPDATES AND TMC LOOP OPERATIONS# TVCRESTART PACKAGE FOR TVC RESTART PROTECTION.
# ERASABLE INITIALIZATION REQUIRED....
# PAD-LOAD ERASABLES ( SEE ERASABLE ASSIGNMENTS )# CONFIGURATION BITS (14, 13) OF DAPDATR1 AS IN R03# ENGINE-ON BIT (11.13) FOR RESTARTS# TVCPHASE FOR RESTARTS ( SEE DOTVCON, AND TVCINIT4 )# T5 BITS (15,14 OF FLAGWRD6) FOR RESTARTS# MISCELLANEOUS VARIABLES SET UP OR COMPUTED BY TVCDAPON....TVCINIT4,# INCLUDING THE ZEROING OF TEMPORARIES BY MRCLEAN# CDUX,Y,Z AND SINCDUX....COSCDUX AS PREPARED BY QUICTRIG (WITH# UPDATES EVERY 1/2 SECOND)# ALSO G+N PRIMARY, TVC ENABLE, AND OPTICS ERROR COUNTER ENABLE# UNLESS BENCH-TESTING.## OUTPUT....## TVCPITCH AND TVCYAW WITH COUNTER RELEASE (11.14 AND 11.13 INCREMEN-# TAL COMMANDS TO OPTICS ERROR COUNTERS), FILTER NODES, BODY-# AXIS ATTITUDE ERROR INTEGRATOR, TOTAL ACTUATOR COMMANDS,# OFFSET-TRACKER-FILTER OUTPUTS, ETC.# DEBRIS....
# MUCH, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
BANK 17 SETLOC DAPS2 BANK
EBANK= BZERO
COUNT* $$/DAPS
# Page 963# PITCH TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
PITCHDAP LXCH BANKRUPT # T5 ENTRY, NORMAL OR VIA DAPINIT EXTEND QXCH QRUPT
CAF YAWT5 # SET UP T5 CALL FOR YAW AUTOPILOT (LOW- TS T5LOC # ORDER PART OF 2CADR ALREADY THERE) CAE T5TVCDT TS TIME5
PSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST TC HACK # TEST-START OR TEST-IN-PROGRESS TCF +2 # NO-TEST TC HACK # TEST-IN-PROGRESS
PCDUDOTS CAE CDUY # COMPUTE CDUYDOT (USED BY PITCH AND YAW) XCH PCDUYPST EXTEND MSU PCDUYPST TCR RLIMTEST # RATE TEST TS MCDUYDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC)
CAE CDUZ # COMPUTE CDUZDOT (USED BY PITCH AND YAW) XCH PCDUZPST EXTEND MSU PCDUZPST TCR RLIMTEST # RATE TEST TS MCDUZDOT # (MINUS, SC.AT 1/2TVCDT REVS/SEC) TCF PINTEGRL
RLIMTEST TS TTMP1 # TEST FOR EXCESSIVE CDU RATES (GREATER EXTEND # THAN 2.33 DEG IN ONE SAMPLE PERIOD) MP 1/RTLIM EXTEND BZF +3 CAF ZERO TS TTMP1 CAE TTMP1 TC Q
PINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS PITCH-RATE DCA PERRB # ERROR, SC.AT B-1 REVS DXCH ERRBTMP
EXTEND DCA OMEGAYC DAS ERRBTMP
# Page 964 CS COSCDUZ # PREPARE BODY-AXIS PITCH RATE, OMEGAYB EXTEND MP COSCDUX DDOUBL EXTEND MP MCDUYDOT DDOUBL DXCH OMEGAYB
CS MCDUZDOT EXTEND MP SINCDUX DDOUBL DAS OMEGAYB # (COMPLETED OMEGAYB, SC.AT 1/2TVCDT REVS)
EXTEND # PICK UP -OMEGAYB (SIGN CHNG, INTEGRATE) DCS OMEGAYB DAS ERRBTMP
PERORLIM TCR ERRORLIM # PITCH BODY-AXIS-ERROR INPUT LIMITER
PFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS DCA PTMP1 # FOR THE PITCH CHANNEL DXCH TMP1 EXTEND DCA PTMP3 DXCH TMP3 EXTEND DCA PTMP5 DXCH TMP5
TCR FWDFLTR # GO COMPUTE PRESENT OUTPUT # (INCLUDES VARIABLE GAIN PACKAGE)
POFFSET EXTEND DCA PDELOFF DAS CMDTMP # NO SCALED AT B+0 ASCREV
PACLIM TCR ACTLIM # ROUND OFF & LIMIT PITCH ACTUATOR COMMAND
POUT CS PCMD # INCREMENTAL PITCH COMMAND AD CMDTMP ADS TVCPITCH # UPDATE THE ERROR COUNTER (NO RESTART- # PROTECT. SINCE ERROR CNTR ZEROED)
CAF BIT11 # BIT FOR TVCPITCH COUNT RELEASE EXTEND WOR CHAN14
PPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR PITCH# Page 965 DCA PTMP2 DXCH TMP2 EXTEND DCA PTMP4 DXCH TMP4 EXTEND DCA PTMP6 DXCH TMP6
TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION
DELBARP CAE DELPBAR +1 # UPDATE PITCH OFFSET-TRACKER-FILTER EXTEND MP E(-AT) TS DELBRTMP +1 CAE DELPBAR EXTEND MP E(-AT) DAS DELBRTMP CAE CMDTMP EXTEND MP 1-E(-AT) DAS DELBRTMP
PCOPYCYC TCR PCOPY # PITCH COPYCYCLE
PDAPEND TCF RESUME # PITCH DAP COMPLETED# Page 966# PITCH TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA PITCH TVCDAP OR TVC RESTART PACKAGE)
PCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (1) # NOTE POSSIBLE RE-ENTRY FROM RESTART # PACKAGE, SHOULD A RESTART OCCUR # DURING PITCH COPYCYCLE.
EXTEND DCA TMP1 DXCH PTMP1 EXTEND DCA TMP2 DXCH PTMP2 EXTEND DCA TMP3 DXCH PTMP3 EXTEND DCA TMP4 DXCH PTMP4 EXTEND DCA TMP5 DXCH PTMP5 EXTEND DCA TMP6 DXCH PTMP6
PMISC EXTEND # MISC....PITCH-RATE-ERROR INTEGRATOR DCA ERRBTMP TS AK1 # FOR PITCH NEEDLES, SC.AT B-1 REVS DXCH PERRB
CAE CMDTMP # PITCH ACTUATOR COMMAND TS PCMD
EXTEND # PITCH OFFSET-TRACKER-FILTER DCA DELBRTMP DXCH DELPBAR
INCR TVCPHASE # PITCH COPYCYCLE COMPLETED (2)
TC Q
# Page 967# YAW TVCDAP STARTS HERE....(INCORPORATES CSM/LEM DAP FILTER, MODOR DESIGN)
YAWDAP LXCH BANKRUPT # T5 ENTRY, NORMAL EXTEND QXCH QRUPT
CAF PITCHT5 # SET UP T5 CALL FOR PITCH AUTOPILOT (LOW- TS T5LOC # ORDER PART OF 2CADR ALREADY THERE) CAE T5TVCDT TS TIME5
YSTROKER CCS STROKER # (STRKFLG) CHECK FOR STROKE TEST TC HACK # TEST-START OR TEST-IN-PROGRESS TCF +2 # NO-TEST TC HACK # TEST-IN-PROGRESS
# USE BODY RATES FROM PITCHDAP (PCDUDOTS)
YINTEGRL EXTEND # COMPUTE INTEGRAL OF BODY-AXIS YAW-RATE DCA YERRB # ERROR, SC.AT B-1 REVS DXCH ERRBTMP
EXTEND DCA OMEGAZC DAS ERRBTMP
CAE COSCDUZ # PREPARE BODY-AXIS YAW-RATE, OMEGAZB EXTEND MP SINCDUX DDOUBL EXTEND MP MCDUYDOT DDOUBL DXCH OMEGAZB
CS MCDUZDOT EXTEND MP COSCDUX DDOUBL DAS OMEGAZB # (COMPLETED OMEGAZB, SC.AT 1/2TVCDT REVS)
EXTEND # PICK UP -OMEGAZB (SIGN CHNG, INTEGRATE) DCS OMEGAZB DAS ERRBTMP
YERORLIM TCR ERRORLIM # YAW BODY-AXIS-ERROR INPUT LIMITER
YFORWARD EXTEND # PREPARE THE FILTER STORAGE LOCATIONS DCA YTMP1 # FOR THE YAW CHANNEL# Page 968 DXCH TMP1 EXTEND DCA YTMP3 DXCH TMP3 EXTEND DCA YTMP5 DXCH TMP5
TCR FWDFLTR # GO COMPUTE PRESENT OUTPUT # (INCLUDES VARIABLE GAIN PACKAGE)
YOFFSET EXTEND DCA YDELOFF DAS CMDTMP # NOW SCALED AT B+0 ASCREV
YACLIM TCR ACTLIM # ROUND OFF & LIMIT YAW ACTUATOR COMMAND
YOUT CS YCMD # INCREMENTAL YAW COMMAND AD CMDTMP ADS TVCYAW # UPDATE THE ERROR COUNTER (NO RESTART- # PROTECT, SINCE ERROR CNTR ZEROED)
CAF BIT12 # BIT FOR TVCYAW COUNT RELEASE EXTEND WOR CHAN14
YPRECOMP EXTEND # PREPARE THE FILTER STORAGE FOR YAW DCA YTMP2 DXCH TMP2 EXTEND DCA YTMP4 DXCH TMP4 EXTEND DCA YTMP6 DXCH TMP6
TCR PRECOMP # TO THE FILTER FOR PRECOMPUTATION
DELBARY CAE DELYBAR +1 # UPDATE YAW OFFSET-TRACKER-FILTER EXTEND MP E(-AT) TS DELBRTMP +1 CAE DELYBAR EXTEND MP E(-AT) DAS DELBRTMP CAE CMDTMP EXTEND MP 1-E(-AT) DAS DELBRTMP
# Page 969YCOPYCYC TCR YCOPY # YAW COPYCYCLE
YDAPEND TCF RESUME # YAW DAP COMPLETED
# Page 970# TVCDAP COPYCYCLE SUBROUTINE (CALLED VIA YAW TVCDAP OR TVC RESTART PACKAGE)
YCOPY INCR TVCPHASE # RESTART-PROTECT THE COPYCYCLE. (3) # NOTE POSSIBLE RE-ENTRY FROM RESTART # PACKAGE, SHOULD A RESTART OCCUR # DURING YAW COPYCYCLE.
EXTEND DCA TMP1 DXCH YTMP1 EXTEND DCA TMP2 DXCH YTMP2 EXTEND DCA TMP3 DXCH YTMP3 EXTEND DCA TMP4 DXCH YTMP4 EXTEND DCA TMP5 DXCH YTMP5 EXTEND DCA TMP6 DXCH YTMP6
YMISC EXTEND # MISC....YAW-RATE-ERROR INTEGRATOR DCA ERRBTMP TS AK2 # FOR YAW NEEDLES, SC.AT B-1 REVS DXCH YERRB
CAE CMDTMP TS YCMD
EXTEND DCA DELBRTMP DXCH DELYBAR
CAF ZERO # YAW COPYCYCLE COMPLETED TS TVCPHASE # RESET TVCPHASE
TC Q
# Page 971# SUBROUTINES COMMON TO BOTH PITCH AND YAW DAPS....
# INITIALIZATION PACKAGE FOR CDURATES....
DAPINIT LXCH BANKRUPT # T5 RUPT ENTRY (CALLED BY TVCINT4)
CAF NEGONE # SET UP AD T5TVCDT # T5 CALL FOR PITCHDAP IN TVCDT SECS AD NEGMAX # (T5TVCDT = POSMAX - TVCDT/2 +1) AD T5TVCDT TS TIME5 CAF PITCHT5 # (BBCON ALREADY THERE) TS T5LOC
CAE CDUY # READ AND STORE CDUS FOR DIFFERENTIATOR TS PCDUYPST # PAST-VALUES CAE CDUZ TS PCDUZPST
TCF NOQRSM
# BODY-AXIS-ERROR INPUT LIMITER PACKAGE....
ERRORLIM CAE ERRBTMP # CHECK FOR INPUT-ERROR LIMIT EXTEND # CHECKS UPPER WORD ONLY MP 1/ERRLIM EXTEND BZF +6 CCS ERRBTMP CAF ERRLIM TCF +2 CS ERRLIM TS ERRBTMP # LIMIT WRITES OVER UPPER WORD ONLY
TC Q
# ACTUATOR-COMMAND LIMITER PACKAGE....
ACTLIM CAE CMDTMP +1 # ROUND UP FOR OUTPUT DOUBLE TS L CAF ZERO AD CMDTMP
EXTEND # CHECK FOR ACTUATOR COMMAND LIMIT MP 1/ACTSAT EXTEND# Page 972 BZF +6 CCS CMDTMP # APPLY LIMITS CAF ACTSAT TCF +2 CS ACTSAT TS CMDTMP # LIMITS WRITE OVER CMDTMP
TC Q
# FILTER COMPUTATIONS FOR PRESENT OUTPUT................
FWDFLTR CAF ZERO TS DAP1 TS DAP2 TS DAP3 TS CMDTMP
TS DELBRTMP
1DAPCAS CAE ERRBTMP +1 # FIRST DAP CASCADE EXTEND MP N10 # N10 TS DAP1 +1 CA ERRBTMP EXTEND MP N10 # N10 DAS DAP1 DXCH TMP1 DAS DAP1
2DAPCAS CAE DAP1 +1 # SECOND DAP CASCADE EXTEND MP N10 +5 # N20 TS DAP2 +1 CA DAP1 EXTEND MP N10 +5 # N20 DAS DAP2 DXCH TMP3 DAS DAP2
CAE DAPDATR1 # TEST FOR LEM ON OR OFF MASK BIT14 CCS A TCF 3DAPCAS # LEM ON EXTEND # LEM OFF DCA DAP2 DXCH DAP3 TCF OPTVARK
# Page 9733DAPCAS CAE DAP2 +1 # THIRD DAP CASCADE EXTEND MP N10 +10D # N30 TS DAP3 +1 CA DAP2 EXTEND MP N10 +10D # N30 DAS DAP3 DXCH TMP5 DAS DAP3
OPTVARK CS DAP3 +1 # VARIABLE GAIN PACKAGE EXTEND # (ALSO, SIGN CHANGE IN FORWARD LOOP) MP VARK # SCALED AT 1/(8 ASCREV) OF ACTUAL VALUE TS CMDTMP +1 CS DAP3 EXTEND MP VARK DAS CMDTMP
DXCH CMDTMP # FIX UP SCALING - SCALED B+3 ASCREVS DDOUBL DDOUBL DXCH CMDTMP # - SCALED B+1 ASCREVS # NOTE - THERE IS AN INHERANT GAIN OF # (B+1 ASCREVS) ON THE OUTPUT DACS.
TC Q
# FILTER PRECOMPUTATIONS FOR NEXT PASS................
PRECOMP CAF ZERO # ***** FIRST CASCADE FILTER ********** TS TTMP1 TS TTMP2
CA ERRBTMP +1 # MULTIPLY INPUT BY EXTEND MP N10 +1 # N11/2 TS TTMP1 +1 CA ERRBTMP EXTEND MP N10 +1 # N11/2 DAS TTMP1
CS DAP1 +1 # MULTIPLY OUTPUT BY EXTEND MP N10 +3 # D11/2 TS TTMP2 +1 CS DAP1
# Page 974 EXTEND MP N10 +3 # D11/2 DAS TTMP2
DXCH TTMP2 DAS TTMP1 DXCH TTMP1 DDOUBL DAS TMP2
DXCH TMP2 DXCH TMP1
CAF ZERO TS TTMP1 TS TMP2
CA ERRBTMP +1 # MULTIPLY INPUT BY EXTEND # SECOND-ORDER NUMERATOR COEFF. MP N10 +2 # N12 TS TTMP1 +1 CA ERRBTMP EXTEND MP N10 +2 # N12 DAS TTMP1
CS DAP1 +1 # MULTIPLY OUTPUT BY EXTEND MP N10 +4 # D12 TS TMP2 +1 CS DAP1 EXTEND MP N10 +4 # D12 DAS TMP2
DXCH TTMP1 DAS TMP2
2CASFLTR CAF ZERO # *****SECOND CASCADE FILTER***** TS TTMP1 TS TTMP2
CA DAP1 +1 # MULTIPLY INPUT BY EXTEND MP N10 +6 # N21/2 TS TTMP1 +1 CA DAP1 EXTEND MP N10 +6 # N21/2# Page 975 DAS TTMP1
CS DAP2 +1 # MULTIPLY OUTPUT BY EXTEND MP N10 +8D # D21/2 TS TTMP2 +1 CS DAP2 EXTEND MP N10 +8D # D21/2 DAS TTMP2
DXCH TTMP2 DAS TTMP1 DXCH TTMP1 DDOUBL DAS TMP4
DXCH TMP4 DXCH TMP3
CAF ZERO TS TTMP1 TS TMP4
CA DAP1 +1 # MULTIPLY INPUT BY EXTEND MP N10 +7 # N22 TS TTMP1 +1 CA DAP1 EXTEND MP N10 +7 # N22 DAS TTMP1
CS DAP2 +1 # MULTIPLY OUTPUT BY EXTEND MP N10 +9D # D22 TS TMP4 +1 CS DAP2 EXTEND MP N10 +9D # D22 DAS TMP4
DXCH TTMP1 DAS TMP4
CAE DAPDATR1 # TEST FOR LEM ON OR OFF MASK BIT13 CCS A TC Q # EXIT IF LEM OFF
# Page 9763CASFLTR CAF ZERO # *****THIRD CASCADE FILTER***** TS TTMP1 TS TTMP2
CA DAP2 +1 # MULTIPLY INPUT BY (1/2) EXTEND MP N10 +11D # N31/2 TS TTMP1 +1 CA DAP2 EXTEND MP N10 +11D # N31/2 DAS TTMP1
CS DAP3 +1 EXTEND MP N10 +13D # D31/2 TS TTMP2 +1 CS DAP3 EXTEND MP N10 +13D # D31/2 DAS TTMP2
DXCH TTMP2 DAS TTMP1 DXCH TTMP1 DDOUBL DAS TMP6
DXCH TMP6 DXCH TMP5
CAF ZERO TS TTMP1 TS TMP6
CA DAP2 +1 # MULTIPLY INPUT BY EXTEND MP N10 +12D # N32 TS TTMP1 +1 CA DAP2 EXTEND MP N10 +12D # N32 DAS TTMP1
CS DAP3 +1 EXTEND MP N10 +14D # D32 TS TMP6 +1 CS DAP3 EXTEND# Page 977 MP N10 +14D # D32 DAS TMP6
DXCH TTMP1 DAS TMP6
TC Q
# Page 978# CONSTANTS FOR AUTOPILOTS
# NOTE....1 ASCREV (ACTUATOR CMD SCALING) = 85.41 ARCSEC/BIT OR 1.07975111 REVS (85.41x16384/3600/360)
# 1 SPASCREV (SPECIAL ACTUATOR CMD SCALING) = 1.04620942 REVS
ACTSAT DEC 253 # ACTUATOR LIMIT (6 DEG), SC.AT 1ASCREV1/ACTSAT DEC .0039525692 # RECIPROCAL (1/253)
ERRLIM EQUALS BIT13 # FILTER INPUT LIMIT....B-3 REVS (45DEG),1/ERRLIM EQUALS BIT3 # SC.AT B-1 REV, AND ITS RECIPROCAL
PITCHT5 GENADR PITCHDAP # UPPER WORDS OF T5 2CADRS, LOWER WORDSDAPT5 GENADR DAPINIT # (BBCON) ALREADY THERE. ORDER ISYAWT5 GENADR YAWDAP # REQUIRED.
1/RTLIM DEC 0.004715 # .004715(CDUDIF) = 0 IF CDUIF < 2.33 DEG1-E(-AT) OCT 00243 # AT = .01SEC....EITHER(1/A=4SEC, T=40MS),E(-AT) OCT 37535 # OR(1/A=8SEC, T=80MS)