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Proof P-AXIS_RCS_AUTOPILOT #610 #781

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Proof P-AXIS_RCS_AUTOPILOT #610 #781

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dhairyagada Oct 22, 2020
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dhairyagada Oct 24, 2020
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P-AXIS_RCS_AUTOPILOT completed
dhairyagada Oct 26, 2020
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Merge remote-tracking branch 'upstream/master' into master
dhairyagada Oct 26, 2020
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58 changes: 29 additions & 29 deletions Luminary099/P-AXIS_RCS_AUTOPILOT.agc
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Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,7 @@ PAXIS CA MS100
TC BAILOUT # STILL IN PROGRESS AND A RESTART IS
OCT 02000 # CALLED FOR. IT IS NEVER ZERO

TC CHEKBITS # RETURN IS TC I+1 IF DAP SHOULD STAY ON.
TC CHEKBITS # RETURN IS TO I+1 IF DAP SHOULD STAY ON.

CA CDUX # READ AND STORE CDU'S
TS DAPTREG4
Expand Down Expand Up @@ -89,7 +89,7 @@ PAXIS CA MS100
EXTEND
DIM TCQR

# RATFLOOP COMPUTES JETRATEQ, JRATER, AND 1JACC*NO. PJEETS IN ITEMP1.
# RATFLOOP COMPUTES JETRATEQ, JRATER, AND 1JACC*NO. PJETS IN ITEMP1.
# RETURNS TO BACKP.
#
# JETRATE = 1JACC*NO.PJETS*TJP (NOTE TJ IS THE TIME FIRED DURING CSP)
Expand All @@ -102,7 +102,7 @@ PAXIS CA MS100
TC Q
CS A
TC Q
SUBDIVDE EXTEND # OVERFLOW PROTECTION ROUTINE TO GIVE
SUBDIVDE EXTEND # OVERFLOW PROCTION ROUTINE TO GIVE
MP DAPTEMP3 # POSMAX OR NEGMAX IF THE DIVIDE WOULD
DAS OMEGAU # OVERFLOW

Expand Down Expand Up @@ -143,13 +143,13 @@ BACKP CA DAPTEMP1

# BEGINNING OF THE RATE DERIVATION
# OMEGAP,Q,R BODY RATES SCALED AT PI/4
# TRAPEDP,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
# TRAPER,Q,R BODY ANGLE ERRORS FROM PREDICTED ANGLE (PI/40)
# NP(QR)TRAPS NUMBER OF TIMES ANGLE ERROR HAS BEEN ACCUMULATED
# AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELERATION. (PI/4)
# JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELERATION. (PI/4)
# AOSQ(R)TERM CHANGE IN RATE DUE TO OFFSET ACCELLERATION. (PI/4)
# JETRATE,Q,R CHANGE IN RATE DUE TO JET ACCELLERATION. (PI/4)
# TRAPSIZE NEGATIVE LIMIT OF MAGNITUDE OF TRAPEDP, ETC.
# OMEGAU DP-TEMPORARY STORAGE
# OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)
# OMEGA = OMEGA + JETRATE + AOSTERM (+TRAPED/NTRAPS IF TRAPED BIG)

CAE DAPTREG4 # CDUX IS STORED HERE
TS L
Expand Down Expand Up @@ -274,7 +274,7 @@ LMONLY EXTEND # UNDOCKED
ADS OMEGAP
TC OVERSUB
TS OMEGAP
CA DAPTREG4 ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
CA DAPTREG4 # ABOUT 10 OR 0 FOR DOCKED OR UNDOCKED
TS NPTRAPS
SMALPDIF INCR NPTRAPS
P-RATE CA JETRATE
Expand Down Expand Up @@ -347,9 +347,9 @@ R-RATE INCR NRTRAPS
TS OMEGAR

# END OF RATE DERIVATION
# BEGIN OFFSET ESTIMATER
# IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
# AOS = AOS + K*SUMRATE
# BEGIN OFFSET ESTIMATER
# IN POWERED FLIGHT, AOSTASK WILL BE CALLED EVERY 2 SECONDS.
# AOS = AOS + K*SUMRATE

CS DAPBOOLS
MASK DRIFTBIT
Expand Down Expand Up @@ -398,7 +398,7 @@ PAXFILT CA CALLGMBL # EXECUTE ACDT+C12, IF NEEDED.
CA SUPERADR
DXCH ZRUPT
DXCH DAPZRUPT
TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME, IN THE
TCF NOQBRSM +1 # RELINT (JUST IN CASE) AND RESUME. IN THE
# FORM OF A JASK, AT SUPERJOB.

SUPERADR GENADR SUPERJOB +1
Expand Down Expand Up @@ -746,7 +746,7 @@ RATERROR CA CDUX # FINDCDUW REQUIRES THAT CDUXD=CDUX DURING
TS EDOTP
CCS DAPTEMP1 # IF P COMMAND CHANGE EXCEEDS BREAKOUT
TCF +3 # LEVEL, GO TO DIRECT RATE CONTROL. IF NOT
TCF +8D # CHECK FOR DIRECT RATE CONTROL LAST TIME.
TCF +8 # CHECK FOR DIRECT RATE CONTROL LAST TIME.
TCF +1
# Page 1435
AD -RATEDB
Expand Down Expand Up @@ -776,7 +776,7 @@ PEGI CA CDUX # DIRECT RATE CONTROL.
TC +1
TS ABSEDOTP
AD TARGETDB
EXTEND # IF RATE ERROR IS LESS THAN DEADBANK,
EXTEND # IF RATE ERROR IS LESS THAN DEADBAND,
BZMF LAST # FIRE, AN SWITCH TO PSEUDO-AUTO.
CA TCP
EXTEND # IF TIME IN RATE COMMAND EXCEEDS 4 SEC.
Expand Down Expand Up @@ -814,18 +814,18 @@ LAST CS PBIT
# TJP + FOR +P ROTATION
#
# OUTPUT: CHANNEL 6
# PJUMPADR FOR P-AXIS SKIP
# (JTLST CALL) (SMALL TJP)
# PJUMPADR FOR P-AXIS SKIP
# (JTLST CALL) (SMALL TJP)
#
# ORDER OF POLICIES TRIED IN CASE OF FAILURE.
# +P -P
# 7,15 8,16
# 4,12 3,11
# 4,7 8,11
# 7,12 11,16
# 12,15 3,16
# 4,15 3,8
# ALARM ALARM
# +P -P
# 7,15 8,16
# 4,12 3,11
# 4,7 8,11
# 7,12 11,16
# 12,15 3,16
# 4,15 3,8
# ALARM ALARM

CA AORBSYST
MASK DAPBOOLS
Expand Down Expand Up @@ -910,7 +910,7 @@ CALCPERR CA CDUY # P-ERROR CALCULATION.
XCH E # SAVE FIRST TERM (OF TWO)
CA CDUX # THIRD COMPONENT
EXTEND
MSU CDUXD # CDU VALUE -- ANGLE DESIRED (X-AXIS)
MSU CDUXD # CDU VALUE - ANGLE DESIRED (X-AXIS)
# EXTEND
# MP M13
AD DELPEROR # KALCMANU INTERFACE ERROR.
Expand Down Expand Up @@ -966,11 +966,11 @@ HEADTJET CA ZERO
# Page 1440
# JET POLICY CONSTRUCTION SUBROUTINE
#
# INPUT: ROTINDEX, NUMBERT
# INPUT: ROTINDEX, NUMBERT
#
# OUTPUT: POLYTEMP (JET POLICY)
# OUTPUT: POLYTEMP (JET POLICY)
#
# THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE
# THIS SUBROUTINE SELECT A SUBSET OF THE DESIRED JETS WHICH HAS NO FAILURE

SELECTP CA SIX
TS TEMPNUM
Expand All @@ -990,7 +990,7 @@ SELECTP CA SIX
TCF JETSOFF # ********** TCF ALARMJET **********
SELECTYZ TS NUMBERT
TCF SELECTP +1
-1 TCF ABORTYZ +2
-1 TCF ABORTYZ +2
JETSALL OCT 00252
OCT 00125 # +P
OCT 00140 # -Y
Expand Down