Pre-launch Review
IMU PERFORMANCE TESTS 4
Scanned pages: 382-389
# Copyright: Public domain.# Filename: IMU_PERFORMANCE_TESTS_4.agc# Purpose: Part of the source code for Luminary 1A build 099.# It is part of the source code for the Lunar Module's (LM)# Apollo Guidance Computer (AGC), for Apollo 11.# Assembler: yaYUL# Contact: Ron Burkey <info@sandroid.org>.# Website: www.ibiblio.org/apollo.# Pages: 382-389# Mod history: 2009-05-17 RSB Adapted from the corresponding# Luminary131 file, using page# images from Luminary 1A.## 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 001 of AGC program LMY99 by NASA 2021112-061# 16:27 JULY 14, 1969
# Page 382# PROGRAM -- IMU PERFORMANCE TESTS 4# DATE -- NOV 15, 1966# BY -- GEORGE SCHMIDT IL7-146 EXT 1126# MOD NO-ZERO## FUNCTIONAL DESCRIPTION## THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS# IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS# SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST.## EARTHR,OGC ZERO,ERTHRVSE## NORMAL EXIT## LENGTHOT GOES TO ZERO -- RETURN TO IMU PERF TESTS 2 CONTROL## ALARMS## 1600 OVERFLOW IN DRIFT TEST# 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL# OUTPUT## FLASHING DISPLAY OF RESULTS -- CONTROLLED IN IMU PERF TESTS 2## DEBRIS## ALL CENTRALS -- ALL OF EBANK XSM
# Page 383 BANK 33 SETLOC IMU4 BANK COUNT* $$/P07
EBANK= XSM
ESTIMS INHINT CAE 1SECXT TC TWIDDLE EBANK= XSM ADRES ALLOOP CAF ZERO # ZERO THE PIPAS TS PIPAX TS PIPAY TS PIPAZ RELINT CA 77DECML TS ZERONDX CA ALXXXZ TC ZEROING TC INTPRET SLOAD SCHZEROS STOVL GCOMPSW -1 INTVAL +2 STOVL ALX1S SCHZEROS STORE DELVX STORE GCOMP SLOAD TORQNDX DCOMP BMN VERTSKIP CALL ERTHRVSEVERTSKIP EXIT TC SLEEPIE +1
# Page 384ALLOOP CA OVFLOWCK EXTEND BZF +2 TC TASKOVER CCS ALTIM CA A # SHOULD NEVER HIT THIS LOCATION TS ALTIMS CS A TS ALTIM CS ONE AD GEOCOMPS EXTEND BZF +4 CA LENGTHOT EXTEND BZMF +5 CAE 1SECXT TC TWIDDLE EBANK= XSM ADRES ALLOOP CAF ZERO XCH PIPAX TS DELVX CAF ZERO XCH PIPAY TS DELVY CAF ZERO XCH PIPAZ TS DELVZSPECSTS CAF PRIO20 TC FINDVAC EBANK= XSM 2CADR ALFLT # START THE JOB
TC TASKOVER
# Page 385ALFLT CCS GEOCOMPS TC +2 TC NORMLOP TC BANKCALL CADR 1/PIPANORMLOP TC INTPRET DLOAD INTVAL STOVL S1 DELVX VXM VSL1 XSM DLOAD DCOMP MPAC +3 STODL DPIPAY MPAC +5 STORE DPIPAZ
SETPD AXT,1 0 8D SLOAD DCOMP GEOCOMPS BMN PERFERASALCGKK SLOAD BMN ALTIMS ALFLT3ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST 12D ALX1SALKCG2 DLOAD* INCR,1 ALFDK +144D,1 DEC -2 STORE ALDK +10D,2 TIX,2 SXA,1 ALKCG2 ALX1S
ALFLT3 AXT,1 8DDELMLP DLOAD* DMP DPIPAY +8D,1 PIPASC SLR BDSU* 9D INTY +8D,1 STORE INTY +8D,1 PDDL DMP* VELSC# Page 386 VLAUN +8D,1 SL2R DSU STADR STORE DELM +8D,1 STORE DELM +10D,1 TIX,1 AXT,2 DELMLP 4ALILP DLOAD* DMPR* ALK +4,2 ALDK +4,2 STORE ALK +4,2 TIX,2 AXT,2 ALILP 8DALKLP LXC,1 SXA,1 CMPX1 CMPX1 DLOAD* DMPR* ALK +1,1 DELM +8D,2 DAD* INTY +8D,2 STORE INTY +8D,2 DLOAD* DAD* ALK +12D,2 ALDK +12D,2 STORE ALK +12D,2 DMPR* DAD* DELM +8D,2 INTY +16D,2 STORE INTY +16D,2 DLOAD* DMP* ALSK +1,1 DELM +8D,2 SL1R DAD* VLAUN +8D,2 STORE VLAUN +8D,2 TIX,2 AXT,1 ALKLP 8D
LOOSE DLOAD* PDDL* ACCWD +8D,1 VLAUN +8D,1 PDDL* VDEF POSNV +8D,1 MXV VSL1 TRANSM1# Page 387 DLOAD MPAC STORE POSNV +8D,1 DLOAD MPAC +3 STORE VLAUN +8D,1 DLOAD MPAC +5 STORE ACCWD +8D,1 TIX,1 LOOSE
AXT,2 AXT,1 # EVALUATE SINES AND COSINES 6 2BOOP DLOAD* DMPR ANGX +2,1 GEORGEJ SR2R PUSH SIN SL3R XAD,1 X1 STORE 16D,2 DLOAD COS STORE 22D,2 # COSINES TIX,2 BOOP
PERFERAS EXIT CA EBANK7 TS EBANK EBANK= ATIGINC TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN
# CAUTION## THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED# BEFORE ANY ATTEMPT IS MAKE TO RUN THE IMU PERFORMANCE TEST
EBANK= AZIMUTH CCS LENGTHOT TC SLEEPIE CCS TORQNDX TCF +2 TC SETUPER1 CA CDUX TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4
# Page 388SETUPER1 TC INTPRET DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY ANGZ ANGY PDDL VDEF ANGX VCOMP VXSC GEORGEJ MXV VSR1 XSM STORE OGC EXIT
CA OGCPL TC BANKCALL CADR IMUPULSE TC IMUSLLLGGEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST TC VALMIS TC INTPRET CALL ERTHRVSE EXIT TC TORQUE
SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT CCS TORQNDX # ARE WE DOING VERTDRIFT TC EARTHR* TC ENDOFJOB
SOMEERRR CA EBANK5 TS EBANK CA ONE TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF TC ALARM OCT 1600 TC ENDTEST1SOMERR2 CAF OCT1601 TC VARALARM TC DOWNFLAG ADRES IMUSE TC ENDOFJOB
OCT1601 OCT 01601DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANTSCHZEROS 2DEC .00000000# Page 389 2DEC .00000000
OCT 00000ONEDPP OCT 00000 # ORDER IS IMPORTANT OCT 00001
INTVAL OCT 4 OCT 2 DEC 144 DEC -1SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
77DECML DEC 77ALXXXZ GENADR ALX1S -1PIPASC 2DEC .13055869
VELSC 2DEC -.52223476 # 512/980.402
ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096
2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096
GEORGEJ 2DEC .63661977
GEORGEK 2DEC .59737013