KALMAN FILTER

Scanned pages: 1470-1471

KALMAN_FILTER.agc

# Copyright:  Public domain.
# Filename:  KALMAN_FILTER.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:  1470-1471
# Mod history:  2009-05-27 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 1470
    EBANK=  NO.UJETS
    BANK  16
    SETLOC  DAPS1
    BANK

    COUNT*  $$/DAP

RATELOOP  CA  TWO
    TS  DAPTEMP6
    DOUBLE
    TS  Q
    INDEX  DAPTEMP6
    CCS  TJP
    TCF  +2
    TCF  LOOPRATE
    AD  -100MST6
    EXTEND
    BZMF  SMALLTJU
    INDEX  DAPTEMP6
    CCS  TJP
    CA  -100MST6
    TCF  +2
    CS  -100MST6
    INDEX  DAPTEMP6
    ADS  TJP
    INDEX  DAPTEMP6
    CCS  TJP
    CS  -100MS    # 0.1 AT 1
    TCF  +2
    CA  -100MS
LOOPRATE  EXTEND
    INDEX  DAPTEMP6
    MP  NO.PJETS
    CA  L
    INDEX  DAPTEMP6
    TS  DAPTEMP1  # SIGNED TORQUE AT 1 JET-SEC FOR FILTER
    EXTEND
    MP  BIT10    # RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
    EXTEND
    BZMF  NEGTORK
STORTORK  INDEX  Q    # INCREMENT DOWNLIST REGISTER.
    ADS  DOWNTORK  #   NOTE: NOT INITIALIZED; OVERFLOWS.

    CCS  DAPTEMP6
    TCF  RATELOOP +1
    TCF  ROTORQUE
SMALLTJU  CA  ZERO
    INDEX  DAPTEMP6
    XCH  TJP
    EXTEND
# Page 1471
    MP  ELEVEN    # 10.24 PLUS
    CA  L
    TCF  LOOPRATE
ROTORQUE  CA  DAPTEMP2
    AD  DAPTEMP3
    EXTEND
    MP  1JACCR
    TS  JETRATER
    CS  DAPTEMP3
    AD  DAPTEMP2
    EXTEND
    MP  1JACCQ
    TS  JETRATEQ
    TCF  BACKP
-100MST6  DEC  -160

NEGTORK    COM
    INCR  Q
    TCF  STORTORK