Pre-launch Review
TVCROLLDAP
Scanned pages: 984-998
# Copyright: Public domain.# Filename: TVCROLLDAP.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: 984-998# 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 984# PROGRAM NAME...TVC ROLL AUTOPILOT# LOG SECTION...TVCROLLDAP SUBROUTINE...DAPCSM# MOD BY SCHLUNDT 21 OCTOBER 1968
# FUNCTIONAL DESCRIPTION....
# *AN ADAPTATION OF THE LEM P-AXIS CONTROLLER# *MAINTAIN OGA WITHIN 5 DEG DEADBND OF OGAD, WHERE OGAD = OGA AS SEEN# BY IGNITION (P40)# *MAINTAIN OGA RATE LESS THAN 0.1 DEG/SEC LIMIT CYCLE RATE# *SWITCHING LOGIC IN PHASE PLANE.... SEE GSOP CHAPTER 3# *USES T6 CLOCK TO TIME JET FIRINGS# *MAXIMUM JET FIRING TIME = 2.56 SECONDS, LIMITED TO 2.5 IF GREATER# *MINIMUM JET FIRING TIME = 15 MS# *JET PAIRS FIRE ALTERNATELY# *AT LEAST 1/2 SECOND DELAY BEFORE A NEW JET PAIR IS FIRED# *JET FIRINGS MAY NOT BE EXTENDED, ONLY SHORTENED, WHEN RE-EVALUATION# OF A JET FIRING TIME IS MADE ON A LATER PASS
# CALLING SEQUENCE....
# *ROLLDAP CALL VIA WAITLIST, IN PARTICULAR BY TVCEXEC (EVERY 1/2 SEC)# WITH A 3CS DELAY TO ALLOW FREE TIME FOR OTHER RUPTS (DWNRPT, ETC.)
# NORMAL EXIT MODES.... ENDOFJOB
# ALARM OR ABORT EXIT MODES.... NONE
# SUBROUTINES CALLED.....NONE
# OTHER INTERFACES....
# *TVCEXEC SETS UP ROLLDAP TASK EVERY 1/2 SECOND AND UPDATES 1/CONACC# EVERY 10 SECONDS (VIA MASSPROP AND S40.15)# *RESTARTS SUSPEND ROLL DAP COMPUTATIONS UNTIL THE NEXT 1/2 SEC# SAMPLE PERIOD. (THE PART OF TVCEXECUTIVE THAT CALLS ROLL DAP IS# NOT RESTARTED.) THE OGAD FROM IGNITION IS MAINTAINED.
# ERASABLE INITIALIZATION REQUIRED....
# *1/CONACC (S40.15)# *OGAD (CDUX AT IGNITION)# *OGANOW (CDUX AT TVCINIT4 AND TVCEXECUTIVE)# *OGAPAST (OGANOW AT TVCEXECUTIVE)# *ROLLFIRE = TEMREG = ROLLWORD = 0 (MRCLEAN LOOP IN TVCDAPON)## OUTPUT....
# *ROLL JET PAIR FIRINGS
# Page 985# DEBRIS.... MISCELLANEOUS, SHAREABLE WITH RCS/ENTRY, IN EBANK6 ONLY
# Page 986# SOME NOTES ON THE ROLL AUTOPILOT, AND IN PARTICULAR, ON ITS SWITCHING# LOGIC. SEE SECTION THREE OF THE GSOP (SUNDISK/COLOSSUS) FOR DETAILS.
# SWITCHING LOGIC IN THE PHASE PLANE....
# OGARATE# *# *# * * * * * * * * * * * *# * (REGION 1, SEE TEXT BELOW)# * *# *# * * * * * * * (COAST) * ...PARABOLA (SWITCHING = CONTROL)# * * .# * * *# * * (FIRE NEG ROLL JETS)# * * *# (-DB,+LMCRATE)....* *# * * *# * * OGAERROR# ************************************************************************# * * (-AK, OGAERR)# * * * (REGION 6-PRIME)# * * (SEE TEXT BELOW)# * * *# * * ...STRAIGHT LINE# (FIRE POS ROLL JETS) * * * .# * (COAST) *# * * * * * * * * * * *# * -MINLIM# * *# *# * * * * * * * * * * * * * * * *# * -MAXLIM# *# *
# SWITCHING PARABOLAS ARE CONTROL PARABOLAS, THUS REQUIRING KNOWLEDGE OF# CONTROL ACCELERATION CONACC, OR ITS RECIPROCAL, 1/CONACC, THE TVC# ROLL DAP GAIN (SEE TVCEXECUTIVE VARIABLE GAIN PACKAGE). JET# FIRING TIME IS SIMPLY THAT REQUIRED TO ACHIEVE THE DESIRED OGARATE,# SUBJECT TO THE LIMITATIONS DISCUSSED UNDER FUNCTIONAL DESCRIPTION,# ABOVE.
# THE THREE CONTROL REGIONS (+, -, AND ZERO TORQUE) ARE COMPRIZED OF# TWELVE SUBSET REGIONS ( 1...6, AND THE CORRESPONDING 1-PRIME...# 6-PRIME ) SEE SECTION 3 OF THE GSOP (SUNDISK OR COLOSSUS)# Page 987## GIVEN THE OPERATING POINT NOT IN THE COAST REGION, THE DESIRED OGARATE# IS AT THE POINT OF PENETRATION OF THE COAST REGION BY THE CONTROL# PARABOLA WHICH PASSES THROUGH THE OPERATING POINT. FOR REGION 3# DESIRED OGARATE IS SIMPLY +-MAXLIM. FOR REGIONS 1 OR 6 THE SOLUTION# TO A QUADRATIC IS REQUIRED (THE PENETRATION IS ALONG THE STRAIGHT# LINE OR MINLIM BOUNDRY SWITCH LINES). AN APPROXIMATION IS MADE# INSTEAD. TAKE AN OPERATING POINT IN REGION 6' . PASS A TANGENT TO# THE CONTROL PARABOLA THROUGH THE OPERATING POINT, AND FIND ITS# INTERSECTION WITH THE STRAIGHT LINE SECTION OF THE SWITCH CURVE...# THE INTERSECTION DEFINES THE DESIRED OGARATE. IF THE OPERATING POINT IS# CLOSE TO THE SWITCH LINE, THE APPROXIMATION IS QUITE GOOD (INDEED# THE APPROXIMATE AND QUADRATIC SOLUTIONS CONVERGE IN THE LIMIT AS# THE SWITCH LINE IS APPROACHED). IF THE OPERATING POINT IS NOT CLOSE# TO THE SWITCH LINE, THE APPROXIMATE SOLUTION GIVES VALID TREND# INFORMATION (DIRECTION OF DESIRED OGARATE) AT LEAST. THE# RE-EVALUATION OF DESIRED OGARATE IN SUBSEQUENT ROLL DAP PASSES (1/2# SECOND INTERVALS) WILL BENEFIT FROM THE CONVERGENT NATURE OF THE# APPROXIMATION.
# FOR LARGE OGAERROR THE TANGENT INTERSECTS +-MINLIM SWITCH BOUNDARY BEFORE# INTERSECTING THE STRAIGHT LINE SWITCH. HOWEVER THE MINLIM IS# IGNORED IN COMPUTING THE FIRING TIME, SO THAT THE EXTENSION (INTO# THE COAST REGION) OF THE STRAIGHT LINE SWITCH IS WHAT IS FIRED TO.# IF THE ROLL DAP FINDS ITSELF IN THE COAST REGION BEFORE REACHING# THE DESIRED INTERSECTION (IE. IN THE REGION BETWEEN THE MINLIM# AND THE STRAIGHT LINE SWITCH) IT WILL EXHIBIT NORMAL COAST-REGION# BEHAVIOR AND TURN OFF THE JETS. THE PURPOSE OF THIS FIRING POLICY# IS TO MAINTAIN STATIC ROLL STABILITY IN THE EVENT OF A JET# FAILED-ON.
# WHEN THE OPERATING POINT IS IN REGION 1 THE SAME APPROXIMATION IS# MADE, BUT AT AN ARTIFICIALLY-CREATED OR DUMMY OPERATING POINT,# DEFINED BY.. OGAERROR = INTERSECTION OF CONTROL PARABOLA AND# OGAERROR AXIS, OGARATE = +-LMCRATE WHERE SIGN IS OPPOSITE THAT OF# REAL OPERATING POINT RATE. WHEN THE OPERATING POINT HAS PASSED# FROM REGION 1 TO REGION 6', THE DUMMY POINT IS NO LONGER REQUIRED,# AND THE SOLUTION REVERTS TO THAT OF A REGULAR REGION 6' POINT.
# EQUATION FOR SWITCHING PARABOLA (SEE FIGURE ABOVE)....# 2# SOGAERROR = (DB - (SOGARATE) (1/CONACC)/2) SGN(SOGARATE)
# EQUATION FOR SWITCHING STRAIGHT LINE SEGMENT....
# SOGARATE = -(-SLOPE)(SOGAERROR) - SGN(SOGARATE) INTERCEP
# WHERE INTERCEP = DB(-SLOPE) - LMCRATE# Page 988## EQUATION FOR INTERSECTION, CONTROL PARABOLA AND STRAIGHT SWITCH LINE....
# DOGADOT = NUM/DEN, WHERE# 2# NUM = (-SLOPE)(OGARATE) (1/CONACC)# +SGN(DELOGA)(-SLOPE)(OGAERROR - SGN(DELOGA)(DB))# +LMCRATE
# DEN = (-SLOPE)(LMCRATE)(1/CONACC) - SGN(DELOGA)
# 2# DELOGA = OGAERROR - (DB - (OGADOT) (1/CONACC)/2) SGN(OGARATE)
# FOR REGIONS 6 AND 6-PRIME USE ACTUAL OPERATING POINT (OGA, OGARATE)# FOR OGAERROR AND OGARATE IN THE INTERSECTION EQUATIONS ABOVE.# FOR REGIONS 1 AND 1-PRIME USE DUMMY OPERATING POINT FOR OGAERROR# AND OGARATE, WHERE THE DUMMY POINT IS GIVEN BY....# OGAERROR= DELOGA + DB SGN(OGARATE)# OGARATE= -LMCRATE SGN(OGARATE)## NOTE, OGAERROR = OGA - OGAD USES DUMMY REGISTER OGA IN ROLL DAP CODING# ALSO, AT POINT WHERE DOGARATE IS COMPUTED, REGISTER DELOGA IS USED# AS A DUMMY REGISTER FOR THE OGAERROR IN THE NUM EQUATION ABOVE# Page 989
# ROLLDAP CODING....
SETLOC DAPROLL BANK EBANK= OGANOW COUNT* $$/ROLLROLLDAP CAE OGANOW # OGA RATE ESTIMATOR...SIMPLE FIRST-ORDER EXTEND # DIFFERENCE (SAMPLE TIME = 1/2 SEC) MSU OGAPAST EXTEND MP BIT5 LXCH A TS OGARATE # SC.AT B-4 REV/SEC
# COMPUTATIONS WHICH FOLLOW USE OGA FOR OGAERR (SAME REGISTER)# EXAMINE DURATION OF LAST JET FIRING IF JETS ARE NOW ON.
DURATION CA ROLLFIRE # SAME SGN AS PRESENT TORQ,MAGN=POSMAX EXTEND BZF +2 # ROLL JETS ARE NOW OFF. TCF ROLLOGIC # ENTER LOGIC,JETS NOW ON.
CAE TEMREG # EXAMINE LAST FIRING INTERVAL EXTEND # IF POSITIVE, DONT FIRE BZF ROLLOGIC # ENTER LOGIC, JETS NOW OFF.
CAF ZERO # JETS HAVE NOT BEEN OFF FOR 1/2 SEC. WAIT TS TEMREG # RESET TEMREGWAIT1/2 TCF TASKOVER # EXIT ROLL DAP
# COMPUTE DB-(1/2 CONACC) (OGARATE)SQ (1/2 IN THE SCALING)
ROLLOGIC CS OGARATE # SCALED AT 2(-4) REV/SEC EXTEND MP 1/CONACC # SCALED AT 2(+9) SEC SQ /REV EXTEND MP OGARATE AD DB # SCALED AT 2(+0) REV TS TEMREG # QUANTITY SCALED AT 2(+0) REV.
# GET SIGN OF OGARATE
CA OGARATE EXTEND BZMF +3 # LET SGN(0) BE NEGATIVE CA BIT1 TCF +2 CS BIT1 TS SGNRT # + OR - 2(-14)
# Page 990# CALCULATE DISTANCE FROM SWITCH PARABOLA (DELOGA)
EXTEND MP TEMREG # SGN(OGARATE) TEMREG NOW IN L CS L AD OGA # SCALED AT 2(+0) REVDELOGAC TS DELOGA # SC.AT B+0 REV, PLUS TO RIGHT OF C-PARAB
# EXAMINE SGN(DELOGA) AND CREATE CA OR CS INSTR. DEPENDING UPON SIGN.
EXTEND BZMF +3 CAF PRIO30 # =CA (30000) TCF +2 CAF BIT15 # =CS (40000) TS I
INDEX I # TSET ON I SGN(OGARATE) 0 SGNRT # CA OR CS COM EXTENDREG1TST BZMF ROLLON # IF REGION 1 (DELOGA OGARATE SAME SIGN)
# NO JET FIRE YET. TEST FOR MAX OGARATE
INDEX I 0 OGARATE # CA OR CS...BOTH MUST BE NEG. HERE TS IOGARATE # I.E. I OGARATE AD MAXLIM # SCALED AT 2(-4) REV/SEC EXTENDREG3TST BZMF RATELIM # IF REGION 3 (RATES TOO HIGH, FIRE JETS)
# COMPUTATION OF I((-SLOPE)OGA + OGARATE) - INTERCEPT..NOTE THAT STR. LINE# SWITCH SLOPE IS (SLOPE) DEG/SEC/DEG, A NEG QUANTITY
CA OGARATE EXTEND MP BIT14 TS TEMREG CA OGA EXTEND MP -SLOPE DDOUBL DDOUBL DDOUBL # (OGA ERROR MUST BE LESS THAN +-225 DEG) AD TEMREG
INDEX I 0 A # I((-SLOPE)OGA+OGARATE) AT 2(-3)REV/SEC COM# Page 991 AD INTERCEP # SCALED AT 2(-3) REV. COM EXTENDREG2TST BZMF NOROLL # IP REGION 2 (COAST SIDE OF STRT LINE)
# CHECK TO SEE IF OGARATE IS ABOVE MINLIM BOUNDARY
CA IOGARATE # ALWAYS NEGATIVE AD MINLIM # SCALED AT 2(-4) REV/SEC EXTENDREG4TST BZMF NOROLL # IF REGION 4 (COAST SIDE OF MINLIM)
# ALL AREAS CHECKED EXCEPT LAST AREA...NO FIRE IN THIS SMALL SEGMENT
INDEX I 0 OGA COM AD DB COM EXTENDREG5TST BZMF NOROLL # IF REGION 5 (COAST SIDE OF DB)
# JETS MUST FIRE NOW.OGARATE IS NEG.(OR VICE VERSA).USE DIRECT STR. LINE.# DELOGA AND DELOGART ARE USED AS DUMMY VARIABLES IN THE SOLUTION OF A# STRAIGHT LINE APPROXIMATION TO A QUADRATIC SOLUTION OF THE INTERSECTION# OF THE CONTROL PARABOLA AND THE STRAIGHT-LINE SWITCH LINE. THE STRAIGHT# LINE IS THE TANGENT TO THE CONTROL PARABOLA AT THE OPERATING POINT. (FOR# OPERATING POINTS IN REGIONS 6 AND 6')
REGION6 CAE OGA # USE ACTUAL OPERATING POINT FOR TANGENT TS DELOGA # ACTUAL STATE CA OGARATE TS DELOGART # ACTUAL STATE,I.E. DEL OGARATE TCF ONROLL
# JETS ALSO FIRE FROM HERE EXCEPT OGARATE IS POS (VICE VERSA),USE INDIRECT# STRAIGHT LINE ESTABLISHED BY TANGENT TO A CONTROL PARABOLA AT ((DELOGA# + DB SGN(DELOGA) ), -LMCRATE SGN(DELOGA) ) (THIS IS THE DUMMY# OPERATING POINT FOR OPERATING POINTS IN REGIONS 1 AND 1' )
ROLLON INDEX I 0 DB ADS DELOGA # DELOGA WAS DIST. FROM SWITCH PARABOLA
CS LMCRATE # LIMIT CYCLE RATE AT 2(-4) REV/SEC INDEX I 0 A TS DELOGART # EVALUATE STATE FOR INDIRECT LINE.
# Page 992# SOLVE STRAIGHT LINES SIMULTANEOUSLY TO OBTAIN DESIRED OGARATE.
ONROLL EXTEND # DELOGART IN ACC. ON ARRIVAL MP 1/CONACC DOUBLE EXTEND MP -SLOPE TS TEMREG # 2(-SLOPE)RATE /CONACC EXTEND MP DELOGART TS DELOGART # 2(-SLOPE)(RATESQ)/CONACC CS BIT11 INDEX I 0 ARATEDEN ADS TEMREG # DENOMINATOR COMPLETED
INDEX I 0 DELOGA COM AD DB COM EXTEND MP -SLOPE ADS DELOGART CA LMCRATE EXTEND MP BIT11RATENUM AD DELOGART # NUMERATOR COMPLETED
XCH L # PLACE NUMERATOR IN L FOR OVERFL. CHECK CA ZERO EXTEND DV TEMREG # OVERFLOW, IF ANYTHING, NOW APPEARS IN A EXTEND BZF DVOK # NO OVERFLOW....(0,L)/TEMREG = 0,L
MINLIMAP CCS A CAF POSMAX # POSITIVE OVERFLOW TCF ROLLSET CS POSMAX # NEGATIVE OVERFLOW TCF ROLLSET
DVOK LXCH A # PUT NUMERATOR BACK INTO A, 0 INTO L EXTEND DV TEMREG # RESULT OF DIVISION IS DESIRED OGARATE TCF ROLLSET # ( SCALED AT B-4 REV/SEC )
RATELIM CS MAXLIM INDEX I# Page 993 0 A # IF I = CA, DESIRED RATE IS -MAXLIM
# COMPUTE JET FIRE TIME, BASED ON DESIRED RATE MINUS PRESENT RATE
ROLLSET TS TEMREG # STORE DESIRED OGARATE (SCALED B-4) EXTEND SU OGARATE # RATE DIFF. SCALED AT 2(-4) REV/SEC TS TEMREG # OVERFLOW PROTECT TCF +3 # " " INDEX A # " " CS LIMITS # " " EXTEND MP T6SCALE # T6SCALE = 8/10.24 EXTEND MP 1/CONACC # SCALED AT B+9 SECSQ/REV (MAX < .60) DDOUBL DDOUBL TS TEMREG # OVERFLOW PROTECT TCF +3 # " " INDEX A # " " CS LIMITS # " " TS TEMREG # JET FIRE TIME AT 625 MICROSEC/BIT EXTEND # POS MEANS POSITIVE ROLL TORQUE. BZF NOROLL
# JET FIRE TIME IS NZ, TEST FOR JETS NOW ON.
CAE TEMREG # DESIRED CHANGE IN OGARATE EXTEND MP ROLLFIRE # (SGN OF TORQUE..ZERO IF JETS NOW OFF) CCS A TCF MOREROLL # CONTINUE FIRING WITH PRESENT POLARITY TCF NEWROLL # START NEW FIRING NOW, PLUS TCF NOROLL # TERMINATE OLD FIRING, NEW SIGN REQUESTED TCF NEWROLL # START NEW FIRING NOW, MINUS
# CONTINUE PRESENT FIRING
MOREROLL CAF ZERO TS I # USE TEMP. AS MOREROLL SWITCH TCF MAXTFIRE
# START NEW FIRING BUT CHECK IF GREATER THAN MIN FIRE TIME.
NEWROLL CCS TEMREG # CALL THIS T6FIRE AD ONE TCF +2 AD ONE COM # -MAG(T6FIRE) AD TMINFIRE # TMINFIRE-MAG(T6FIRE)# Page 994 COM EXTENDMINTST BZMF NOROLL # IF NOT GREATER THAN TMINFIRE (NEW FIRE)
# PROCEED WITH NEW FIRING BUT NOT LONGER THAN TMAXFIRE.
MAXTFIRE CA TEMREG EXTEND MP 1/TMXFIR # I.E. 1/TMAXFIRE EXTENDMAXTST BZF NOMXFIRE # IF LESS THAN TMAXFIRE
CCS A CAF TMAXFIRE # USE MAXIMUM TCF +2 CS TMAXFIRE # USE MAXIMUM TS TEMREG
# SET UP SIGN OF REQUIRED TORQUE.
NOMXFIRE CCS TEMREG # FOR TORQUE SIGN CA POSMAX # POSITIVE TORQUE REQUIRED TCF +2 CA NEGMAX # NEGATIVE TORQUE REQUIRED TS ROLLFIRE # SET ROLLFIRE FOR + OR - TORQUE
COM # COMPLEMENT... POS. FOR NEG. TORQUE EXTEND BZMF +3 # POSITIVE TORQUE REQUIRED CS TEMREG TS TEMREG
FIRELOOK CA I # IS IT MOREROLL EXTEND BZF FIREPLUG # YES TCF JETROLL # MAG(T6FIRE) NOW IN TEMREG
FIREPLUG CAE TIME6 # CHECK FOR EXTENDED FIRING EXTEND SU TEMREG EXTENDEXTENTST BZMF TASKOVER # IF EXTENSION WANTED, DONT, EXIT ROLL DAP TCF JETROLL
NOROLL CS ZERO # COAST....(NEG ZERO FOR TIME6) TS ROLLFIRE # NOTE, JETS CAN FIRE NEXT PASS TS TEMREG
JETROLL EXTEND DCA NOROL1T6# Page 995 DXCH T6LOC CA TEMREG # ENTER JET FIRING TIME TS TIME6
CA I # I=0 IF MOREROLL,KEEP SAME JETS ON EXTENDSAMEJETS BZF TASKOVER # IF JETS ON KEEP SAME JETS. EXIT ROLL DAP
CCS ROLLFIRE TCF +TORQUE TCF T6ENABL TCF -TORQUE TCF T6ENABL
# PROCEED WITH + TORQUE
+TORQUE CA ROLLWORD # WHAT WAS THE LAST +TORQUE COMBINATION MASK BIT1 # WAS IT NO.9-11 EXTEND BZF NO.9-11 # NOT 9-11, SO USE IT THIS TIME
NO.13-15 CS BIT1 MASK ROLLWORD TS ROLLWORD # CHANGE BIT 1 TO ZERO CAF +ROLL2 EXTEND WRITE CHAN6 TCF T6ENABL
NO.9-11 CAF BIT1 # 1ST + JETS TO FIRE (MRCLEAN OS ROLLWORD) ADS ROLLWORD # CHANGE BIT 1 TO ONE CAF +ROLL1 EXTEND WRITE CHAN6 TCF T6ENABL
-TORQUE CA ROLLWORD # WHAT WAS LAST -TORQUE COMBINATION MASK BIT2 # WAS IT NO.12-10 EXTEND BZF NO.12-10 # NOT 12-10, SO USE IT THIS TIME
NO.16-14 CS BIT2 MASK ROLLWORD TS ROLLWORD # CHANGE BIT 2 TO ZERO CAF -ROLL2 EXTEND WRITE CHAN6 TCF T6ENABL
NO.12-10 CAF BIT2 # 1ST -JETS TO FIRE (MRCLEAN OS ROLLWORD)# Page 996 ADS ROLLWORD # CHANGE BIT 2 TO ONE CAF -ROLL1 EXTEND WRITE CHAN6
T6ENABL CAF BIT15 EXTEND WOR CHAN13RDAPEND TCF TASKOVER # EXIT ROLL DAP
# Page 997# THIS T6 TASK SHUTS OFF ALL ROLL JETS
NOROLL1 LXCH BANKRUPT # SHUT OFF ALL (ROLL) JETS, (A T6 TASK CAF ZERO # CALLED BY ..JETROLL..) TS ROLLFIRE # ZERO INDICATES JETS NOW OFF EXTENDKILLJETS WRITE CHAN6 TCF NOQRSM
# Page 998# CONSTANTS FOR ROLL AUTOPILOT....
EBANK= BZERONOROL1T6 2CADR NOROLL1
DB DEC .01388889 # DEAD BAND (5 DEG), SC.AT B+0 REV
-SLOPE DEC 0.2 # -SWITCHLINE SLOPE(0.2 PER SEC) SC.AT B+0 # PER SECLMCRATE DEC .00027778 B+4 # LIMIT CYCLE RATE (0.1 DEG/SEC) SC.AT # B-4 REV/SECINTERCEP DEC .0025 B+3 # DB(-SLOPE) - LMCRATE, SC.AT B-3 REV/SC
MINLIM DEC .00277778 B+4 # RATELIM,MIN (1DEG/SEC), SC.AT B-4 REV/SC
1/MINLIM DEC 360 B-18 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT
MAXLIM DEC .01388889 B+4 # RATELIM,MAX (5DEG/SEC), SC.AT B-4 REV/SC
TMINFIRE DEC 1.5 B+4 # 15 MS (14MIN), SC.AT 16 BITS/CS
TMAXFIRE DEC 250 B+4 # 2.5 SEC, SC.AT 16 BITS/CS
1/TMXFIR = BIT3 # RECIPROCAL THEREOF, SHIFTED 14 RIGHT, # ROUNDS TO OCT00004, SO ALLOWS 2.56 # SEC FIRINGS BEFORE APPLYING LIMITT6SCALE = PRIO31 # (B+3) (16 BITS/CS) (100CS/SEC)
+ROLL1 = FIVE # ONBITS FOR JETS 9 AND 11+ROLL2 = OCT120 # ONBITS FOR JETS 13 AND 15-ROLL1 = TEN # ONBITS FOR JETS 12 NAD 10-ROLL2 OCT 240 # ONBITS FOR JETS 16 AND 14