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ORBITAL_INTEGRATION.agc
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### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: ORBITAL_INTEGRATION.agc
## Purpose: A section of Comanche revision 051.
## It is part of the reconstructed source code for the
## original release of the flight software for the Command
## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
## The code has been recreated from a copy of Comanche 055. It
## has been adapted such that the resulting bugger words
## exactly match those specified for Comanche 51 in NASA drawing
## 2021153D, which gives relatively high confidence that the
## reconstruction is correct.
## Reference: pp. 1334-1354
## Assembler: yaYUL
## Contact: Ron Burkey <[email protected]>.
## Website: www.ibiblio.org/apollo/index.html
## Mod history: 2019-07-30 MAS Created from Comanche 55, and removed R-2
## lunar potential model code.
## Page 1334
# DELETE
BANK 13
SETLOC ORBITAL
BANK
COUNT 11/ORBIT
# DELETE
KEPPREP LXA,2 SETPD
PBODY
0
DLOAD* SQRT # SQRT(MU) (+18 OR +15) 0D PL 2D
MUEARTH,2
PDVL UNIT # PL 8D
RCV
PDDL NORM # NORM R (+29 OR +27 - N1) 2D PL 4D
36D
X1
PDVL
DOT PDDL # F*SQRT(MU) (+7 OR +5) 4D PL 6D
VCV
TAU. # (+28)
DSU NORM
TC
S1
SR1
DDV PDDL
2D
DMP PUSH # FS (+6 +N1-N2) 6D PL 8D
4D
DSQ PDDL # (FS)SQ (+12 +2(N1-N2)) 8D PL 10D
4D
DSQ PDDL* # SSQ/MU (-2 OR +2(N1-N2)) 10D PL 12D
MUEARTH,2
SR3 SR4
PDVL VSQ # PREALIGN MU (+43 OR +37) 12D PL 14D
VCV
DMP BDSU # PL 12D
36D
DDV DMP # PL 10D
2D # -(1/R-ALPHA) (+12 +3N1-2N2)
DMP SL*
DP2/3
0 -3,1 # 10L(1/R-ALPHA) (+13 +2(N1-N2))
XSU,1 DAD # 2(FS)SQ - ETCETRA PL 8D
S1 # X1 = N2-N1
SL* DSU # -FS+2(FS)SQ ETC (+6 +N1-N2) PL 6D
8D,1
DMP DMP
0D
4D
SL* SL*
## Page 1335
8D,1
0,1 # S(-FS(1-2FS)-1/6...) (+17 OR +16)
DAD PDDL # PL 6D
XKEP
DMP SL* # S(+17 OR +16)
0D
1,1
BOVB DAD
TCDANZIG
STADR
STORE XKEPNEW
STQ AXC,1
KEPRTN
DEC 10
BON AXC,1
MOONFLAG
KEPLERN
DEC 2
GOTO
KEPLERN
## Page 1336
FBR3 LXA,1 SSP
DIFEQCNT
S1
DEC -13
DLOAD SR
DT/2
9D
TIX,1 ROUND
+1
PUSH DAD
TC
STODL TAU.
DAD
TET
STCALL TET
KEPPREP
## Page 1337
# AGC ROUTINE TO COMPUTE ACCELERATION COMPONENTS.
ACCOMP LXA,1 LXA,2
PBODY
PBODY
VLOAD
ZEROVEC
STOVL FV
ALPHAV
VSL* VAD
0 -7,2
RCV
STORE BETAV
BOF XCHX,2
DIM0FLAG
+5
DIFEQCNT
STORE VECTAB,2
XCHX,2
DIFEQCNT
VLOAD UNIT
ALPHAV
STODL ALPHAV
36D
STORE ALPHAM
CALL
GAMCOMP
VLOAD SXA,1
BETAV
S2
STODL ALPHAV
BETAM
STORE ALPHAM
BOF DLOAD
MIDFLAG
OBLATE
TET
CALL
LSPOS
AXT,2 LXA,1
2
S2
BOF
MOONFLAG
+3
VCOMP AXT,2
0
STORE BETAV
STOVL RPQV
## Page 1338
2D
STORE RPSV
BOF VLOAD
DIM0FLAG
GETRPSV
ALPHAV
VXSC VSR*
ALPHAM
1,2
VSU XCHX,2
BETAV
DIFEQCNT
STORE VECTAB +6,2
XCHX,2
DIFEQCNT
GETRPSV VLOAD INCR,1
RPQV
4
CLEAR BOF
RPQFLAG
MOONFLAG
+5
VSR VAD
9D
RPSV
STORE RPSV
CALL
GAMCOMP
AXT,2 INCR,1
4
4
VLOAD
RPSV
STCALL BETAV
GAMCOMP
GOTO
OBLATE
GAMCOMP VLOAD VSR1
BETAV
VSQ SETPD
0
NORM ROUND
31D
PDDL NORM # NORMED B SQUARED TO PD LIST
ALPHAM # NORMALIZE (LESS ONE) LENGTH OF ALPHA
32D # SAVING NORM SCALE FACTOR IN X1
SR1 PDVL
BETAV # C(PDL+2) = ALMOST NORMED ALPHA
UNIT
STODL BETAV
## Page 1339
36D
STORE BETAM
NORM BDDV # FORM NORMALIZED QUOTIENT ALPHAM/BETAM
33D
SR1R PUSH # C(PDL+2) = ALMOST NORMALIZED RHO.
DLOAD*
ASCALE,1
STORE S1
XCHX,2 XAD,2
S1
32D
XSU,2 DLOAD
33D
2D
SR* XCHX,2
0 -1,2
S1
PUSH SR1R # RHO/4 TO 4D
PDVL DOT
ALPHAV
BETAV
SL1R BDSU # (RHO/4) - 2(ALPHAV/2.BETAV/2)
PUSH DMPR # TO PDL+6
4
SL1
PUSH DAD
DQUARTER
PUSH SQRT
DMPR PUSH
10D
SL1 DAD
DQUARTER
PDDL DAD # (1/4)+2((Q+1)/4) TO PD+14D
10D
HALFDP
DMPR SL1
8D
DAD DDV
THREE/8
14D
DMPR VXSC
6
BETAV # -
PDVL VSR3 # (G/2)(C(PD+4))B/2 TO PD+16D
ALPHAV
VAD PUSH # A12 + C(PD+16D) TO PD+16D
DLOAD DMP
0
12D # -
NORM ROUND
## Page 1340
30D
BDDV DMP*
2
MUEARTH,2
DCOMP VXSC
XCHX,2 XAD,2
S1
S2
XSU,2 XSU,2
30D
31D
BOV # CLEAR OVIND
+1
VSR* XCHX,2
0 -1,2
S1
VAD
FV
STORE FV
BOV RVQ # RETURN IF NO OVERFLOW
+1
GOBAQUE VLOAD ABVAL
TDELTAV
BZE
INT-ABRT
DLOAD SR
H
9D
PUSH BDSU
TC
STODL TAU.
TET
DSU STADR
STCALL TET
KEPPREP
CALL
RECTIFY
SETGO
RPQFLAG
TESTLOOP
INT-ABRT EXIT
TC POODOO
OCT 00430
## Page 1341
# THE OBLATE ROUTINE COMPUTES THE ACCELERATION DUE TO OBLATENESS. IT USES THE UNIT OF THE VEHICLE
# POSITION VECTOR FOUND IN ALPHAV AND THE DISTANCE TO THE CENTER IN ALPHAM. THIS IS ADDED TO THE SUM OF THE
# DISTURBING ACCELERATIONS IN FV AND THE PROPER DIFEQ STAGE IS CALLED VIA X1.
OBLATE LXA,2 DLOAD
PBODY
ALPHAM
SETPD DSU*
0
RDE,2
BPL BOF # GET URPV
NBRANCH
MOONFLAG
COSPHIE
VLOAD PDDL
ALPHAV
TET
PDDL CALL
3/5
R-TO-RP
STORE URPV
VLOAD VXV
504LM
ZUNIT
VAD VXM
ZUNIT
MMATRIX
UNIT # POSSIBLY UNNECESSARY
COMTERM STORE UZ
DLOAD DMPR
COSPHI/2
3/32
PDDL DSQ # P2/64 TO PD0
COSPHI/2
DMPR DSU
15/16
3/64
PUSH DMPR # P3/32 TO PD2
COSPHI/2
DMP SL1R
7/12
PDDL DMPR
0
2/3
BDSU PUSH # P4/128 TO PD4
DMPR DMPR
COSPHI/2 # BEGIN COMPUTING P5/1024
9/16
PDDL DMPR
2
5/128
BDSU
DMP*
J4REQ/J3,2
DDV DAD # -3
ALPHAM # (((P5/256)B 2 /R+P4/32) /R+P3/8)ALPHAV
4 # 4 3
DMPR* DDV
2J3RE/J2,2
ALPHAM
DAD VXSC
2
ALPHAV
STODL TVEC
DMP* SR1
J4REQ/J3,2
DDV DAD
ALPHAM # -3
DMPR* SR3
2J3RE/J2,2 # 3 4
DDV DAD
ALPHAM
VXSC VSL1
UZ
BVSU
TVEC
STODL TVEC
ALPHAM
NORM DSQ
X1
DSQ NORM
S1 # 4
PUSH BDDV* # NORMED R TO 0D
J2REQSQ,2
VXSC
TVEC
STORE TVEC
XAD,1 XAD,1
X1
X1
XAD,1 BOF
S1
MOONFLAG
NBRANCH1
DLOAD DSQ # 2
URPV # X B-2 TO 2D
PDDL DSQ
URPV +2 # 2 2
DAD PDDL # Y +X B-2 TO 2D
2D
SL1 DSU
## Page 1232
2D
PDDL PUSH # X -Y B-2 TO 4D COSPHI2 TO 6D
COSPHI/2
VXSC PDDL # 2COSPHI(UZ) B-3 TO 6D
UZ
DSQ DSU
3/5 # 2 2 2
DMP SL3 # (X -Y)((5COS (PHI)-3)UR 2COS(PHI)UZ)
5/8
VXSC VSU # B-3 TO 4D
ALPHAV
VXSC VSL2
PDDL
URPV
DMP PDVL # XY B-2 TO 10D
URPV +2
ALPHAV
VXV VXSC
UZ
VSL3 VAD # 4XY(UR X UZ) +D( 4D) B-3
PDDL
NORM DMP
X2
0D # 3J22R2MU/(X +Y )R
BDDV VXSC
3J22R2MU
VSL* VAD
0 -7,2
TVEC
LXA,2
PBODY
NBRANCH1 BOV
+1
VSL* VAD
0 -22D,1
FV
STORE FV
BOV
GOBAQUE
## Page 1344
NBRANCH SLOAD LXA,1
DIFEQCNT
MPAC
DMP CGOTO
-1/12
MPAC
DIFEQTAB
COSPHIE DLOAD
ALPHAV +4
STOVL COSPHI/2
ZUNIT
GOTO
COMTERM
DIFEQTAB CADR DIFEQ+0
CADR DIFEQ+1
CADR DIFEQ+2
TIMESTEP BOF CALL
MIDFLAG
RECTEST # SKIP ORIGIN CHANGE LOGIC
CHKSWTCH
BMN
DOSWITCH
RECTEST VLOAD ABVAL # RECTIFY IF
TDELTAV
BOV
CALLRECT
DSU BPL # 1) EITHER TDELTAV OR TNUV EQUALS OR
3/4 # EXCEEDS 3/4 IN MAGNITUDE
CALLRECT #
DAD SL* # OR
3/4 #
0 -7,2 # 2) ABVAL(TDELTAV) EQUALS OR EXCEEDS
DDV DSU # .01(ABVAL(RCV))
10D
RECRATIO
BPL VLOAD
CALLRECT
TNUV
ABVAL DSU
3/4
BOV
CALLRECT
BMN
INTGRATE
CALLRECT CALL
RECTIFY
INTGRATE VLOAD
TNUV
## Page 1345
STOVL ZV
TDELTAV
STORE YV
CLEAR
JSWITCH
DIFEQ0 VLOAD SSP
YV
DIFEQCNT
0
STODL ALPHAV
DPZERO
STORE H # START H AT ZERO. GOES 0(DELT/2)DELT.
BON GOTO
JSWITCH
DOW..
ACCOMP
CHKSWTCH STQ BOF
ORIGEX
RPQFLAG
RPQOK # MOON POSITION IS AVAILABLE
DLOAD CALL
TET
LUNPOS # GET MOON POSITION
BOF VCOMP
MOONFLAG
+1
STORE RPQV
RPQOK LXA,2 VLOAD # RESTORE X2 AFTER USING LUNPOS
PBODY
TDELTAV # -
VSL* VAD # |RQC|-RSPHERE WHEN OUTSIDE THE SPHERE.
0 -7,2 # - - -
RCV # R = RDEVIATION + RCONIC
BOF ABVAL
MOONFLAG
EARSPH
SR2 BDSU # INSIDE
RSPHERE
GOTO
ORIGEX
EARSPH VSU ABVAL # OUTSIDE
RPQV
DSU GOTO
RSPHERE
ORIGEX
DOSWITCH CALL
ORIGCHNG
GOTO
INTGRATE
## Page 1346
ORIGCHNG STQ CALL
ORIGEX
RECTIFY
VLOAD VSL*
RCV
0,2
VSU VSL*
RPQV
2,2
STORE RRECT
STODL RCV
TET
CALL
LUNVEL
BOF VCOMP
MOONFLAG
+1
PDVL VSL*
VCV
0,2
VSU
VSL*
0 +2,2
STORE VRECT
STORE VCV
LXA,2 SXA,2
ORIGEX
QPRET
BON GOTO
MOONFLAG
CLRMOON
SETMOON
## Page 1347
# THE RECTIFY SUBROUTINE IS CALLED BY THE INTEGRATION PROGRAM AND OCCASIONALLY BY THE MEASUREMENT INCORPORATION
# ROUTINES TO ESTABLISH A NEW CONIC.
RECTIFY LXA,2 VLOAD
PBODY
TDELTAV
VSL* VAD
0 -7,2
RCV
STORE RRECT
STOVL RCV
TNUV
VSL* VAD
0 -4,2
VCV
MINIRECT STORE VRECT
STOVL VCV
ZEROVEC
STORE TDELTAV
STODL TNUV
ZEROVEC
STORE TC
STORE XKEP
RVQ
## Page 1348
# THE THREE DIFEQ ROUTINES - DIFEQ+0, DIFEQ+12, AND DIFEQ+24 - ARE ENTEREDTO PROCESS THE CONTRIBUTIONS AT THE
# BEGINNING, MIDDLE, AND END OF THE TIMESTEP, RESPECTIVELY. THE UPDATING IS DONE BY THE NYSTROM METHOD.
DIFEQ+0 VLOAD VSR3
FV
STCALL PHIV
DIFEQCOM
DIFEQ+1 VLOAD VSR1
FV
PUSH VAD
PHIV
STOVL PSIV
VSR1 VAD
PHIV
STCALL PHIV
DIFEQCOM
DIFEQ+2 DLOAD DMPR
H
DP2/3
PUSH VXSC
PHIV
VSL1 VAD
ZV
VXSC VAD
H
YV
STOVL YV
FV
VSR3 VAD
PSIV
VXSC VSL1
VAD
ZV
STORE ZV
BOFF CALL
JSWITCH
ENDSTATE
GRP2PC
LXA,2 VLOAD
COLREG
ZV
VSL3 # ADJUST W-POSITION FOR STORAGE
STORE W +54D,2
VLOAD
YV
VSL3 BOV
WMATEND
STORE W,2
CALL
GRP2PC
## Page 1349
LXA,2 SSP
COLREG
S2
0
INCR,2 SXA,2
6
YV
TIX,2 CALL
RELOADSV
GRP2PC
LXA,2 SXA,2
YV
COLREG
NEXTCOL CALL
GRP2PC
LXA,2 VLOAD*
COLREG
W,2
VSR3 # ADJUST W-POSITION FOR INTEGRATION
STORE YV
VLOAD* AXT,1
W +54D,2
0
VSR3 # ADJUST W-VELOCITY FOR INTEGRATION
STCALL ZV
DIFEQ0
ENDSTATE BOV VLOAD
GOBAQUE
ZV
STOVL TNUV
YV
STORE TDELTAV
BON BOFF
MIDAVFLG
CKMID2 # CHECK FOR MID2 BEFORE GOING TO TIMEINC
DIM0FLAG
TESTLOOP
EXIT
TC PHASCHNG
OCT 04022 # PHASE 1
TC UPFLAG # PHASE CHANGE HAS OCCURRED BETWEEN
ADRES REINTFLG # INTSTALL AND INTWAKE
TC INTPRET
SSP
QPRET
AMOVED
BON GOTO
VINTFLAG
## Page 1350
ATOPCSM
ATOPLEM
AMOVED SET SSP
JSWITCH
COLREG
DEC -30
BOFF SSP
D6OR9FLG
NEXTCOL
COLREG
DEC -48
GOTO
NEXTCOL
RELOADSV DLOAD # RELOAD TEMPORARY STATE VECTOR
TDEC # FROM PERMANENT IN CASE OF
STCALL TDEC1
INTEGRV2 # BY STARTING AT INTEGRV2.
DIFEQCOM DLOAD DAD # INCREMENT H AND DIFEQCNT.
DT/2
H
INCR,1 SXA,1
DEC -12
DIFEQCNT # DIFEQCNT SET FOR NEXT ENTRY.
STORE H
VXSC VSR1
FV
VAD VXSC
ZV
H
VAD
YV
STORE ALPHAV
BON GOTO
JSWITCH
DOW..
FBR3
WMATEND CLEAR CLEAR
DIM0FLAG # DONT INTEGRATE W THIS TIME
ORBWFLAG # INVALIDATE W
CLEAR
RENDWFLG
SET EXIT
STATEFLG # PICK UP STATE VECTOR UPDATE
TC ALARM
OCT 421
TC INTPRET
## Page 1351
GOTO
TESTLOOP # FINISH INTEGRATING STATE VECTOR
## Page 1352
# ORBITAL ROUTINE FOR EXTRAPOLATION OF THE W MATRIX. IT COMPUTES THE SECOND DERIVATIVE OF EACH COLUMN POSITION
# VECTOR OF THE MATRIX AND CALLS THE NYSTROM INTEGRATION ROUTINES TO SOLVE THE DIFFERENTIAL EQUATIONS. THE PROGRAM
# USES A TABLE OF VEHICLE POSITION VECTORS COMPUTED DURING THE INTEGRATION OF THE VEHICLES POSITION AND VELOCITY.
DOW.. LXA,2 DLOAD*
PBODY
MUEARTH,2
STCALL BETAM
DOW..1
STORE FV
BOF INCR,1
MIDFLAG
NBRANCH
DEC -6
LXC,2 DLOAD*
PBODY
MUEARTH -2,2
STCALL BETAM
DOW..1
BON VSR6
MOONFLAG
+1
VAD
FV
STCALL FV
NBRANCH
DOW..1 VLOAD VSR4
ALPHAV
PDVL* UNIT
VECTAB,1
PDVL VPROJ
ALPHAV
VXSC VSU
3/4
PDDL NORM
36D
S2
PUSH DSQ
DMP
NORM PDDL
34D
BETAM
SR1 DDV
VXSC
LXA,2 XAD,2
S2
S2
XAD,2 XAD,2
S2
34D
VSL* RVQ
## Page 1353
0 -8D,2
SETLOC ORBITAL1
BANK
3/5 2DEC .6 B-2
THREE/8 2DEC .375
.3D 2DEC .3 B-2
3/64 2DEC 3 B-6
DP1/4 2DEC .25
DQUARTER EQUALS DP1/4
POS1/4 EQUALS DP1/4
3/32 2DEC 3 B-5
15/16 2DEC 15. B-4
3/4 2DEC 3.0 B-2
7/12 2DEC .5833333333
9/16 2DEC 9 B-4
5/128 2DEC 5 B-7
DPZERO EQUALS ZEROVEC
DP2/3 2DEC .6666666667
2/3 EQUALS DP2/3
OCT27 OCT 27
# LM504 IS TEMPORARY
BANK 13
SETLOC ORBITAL2
BANK
# IT IS VITAL THAT THE FOLLOWING CONSTANTS NOT BE SHUFFLED
DEC -11
DEC -2
DEC -9
DEC -6
DEC -2
DEC -2
DEC 0
DEC -12
DEC -9
DEC -4
ASCALE DEC -7
DEC -6
## Page 1354
2DEC* 1.32715445 E16 B-54* # S
2DEC* 4.9027780 E8 B-30* # M
MUEARTH 2DEC* 3.986032 E10 B-36*
2DEC 0
## Between Comanche 51 and 55, the second number in J4REQ/J3 was changed from
## 0 to -176236.02 B-25.
J4REQ/J3 2DEC* .4991607391 E7 B-26*
2DEC 0
2J3RE/J2 2DEC* -.1355426363 E5 B-27*
2DEC* .3067493316 E18 B-60*
J2REQSQ 2DEC* 1.75501139 E21 B-72*
3J22R2MU 2DEC* 9.20479048 E16 B-58*
5/8 2DEC 5 B-3
-1/12 2DEC -.1
MUM = MUEARTH -2
RECRATIO 2DEC .01
RSPHERE 2DEC 64373.76 E3 B-29
RDM 2DEC 16093.44 E3 B-27
RDE 2DEC 80467.20 E3 B-29
RATT EQUALS 00
VATT EQUALS 6D
TAT EQUALS 12D
RATT1 EQUALS 14D
VATT1 EQUALS 20D
MU(P) EQUALS 26D
TDEC1 EQUALS 32D
URPV EQUALS 14D
COSPHI/2 EQUALS URPV +4
UZ EQUALS 20D
TVEC EQUALS 26D