Merge pull request #754 from serialhex/POWERED_FLIGHT_SUBROUTINES-pro…

…ofread

Proof POWERED_FLIGHT_SUBROUTINES #624

Luminary099/POWERED_FLIGHT_SUBROUTINES.agc

@@ -35,22 +35,22 @@
 		EBANK=	DEXDEX
 		COUNT*	$$/POWFL
 
-# CDUTRIG, CDUTRIG1, CDUTRIG2, AND CD*TR*GS ALL COMPUTE THE SINES AND
+#    CDUTRIG, CDUTRIG1, CDUTRIG2, AND CD*TR*GS ALL COMPUTE THE SINES AND
 # COSINES OF THREE 2'S COMPLEMENT ANGLES AND PLACE THE RESULT, DOUBLE
 # PRECISION, IN THE SAME ORDER AS THE INPUTS, AT SINCDU AND COSCDU.  AN
 # ADDITIONAL OUTPUT IS THE 1'S COMPLEMENT ANGLES AT CDUSPOT.  THESE
-# ROUTINES GO OUT OF THEIR WAY TO LEAVE THE MPAC AREA AS THEY FIND IT.
+# ROUTINES GO OUT OF THEIR WAY TO LEAVE THE MPAC AREA AS THEY FIND IT,
 # EXCEPT FOR THE GENERALLY UNIMPORTANT MPAC +2.  THEY DIFFER ONLY IN
 # WHERE THEY GET THE ANGLES, AND IN METHOD OF CALLING.
 #
-# CDUTRIG (AND CDUTRIG1, WHICH CAN BE CALLED IN BASIC) COMPUTE THE
+#    CDUTRIG (AND CDUTRIG1, WHICH CAN BE CALLED IN BASIC) COMPUTE THE
 # SINES AND COSINES FROM THE CURRENT CONTENTS OF THE CDU REGISTERS.
 # THE CONTENTS OF CDUTEMP, ETC., ARE NOT TOUCHED SO THAT THEY MAY
 # CONTINUE TO FORM A CONSISTENT SET WITH THE LATEST PIPA READINGS.
 #
-# CDUTRIG1 IS LIKE CDUTRIG EXCEPT THAT IT CAN BE CALLED IN BASIC.
+#    CDUTRIG1 IS LIKE CDUTRIG EXCEPT THAT IT CAN BE CALLED IN BASIC.
 #
-# CD*TR*GS FINDS CDU VALUES IN CDUSPOT RATHER THAN IN CDUTEMP.  THIS
+#    CD*TR*GS FINDS CDU VALUES IN CDUSPOT RATHER THAN IN CDUTEMP.  THIS
 # ALLOWS USERS TO MAKE TRANSFORMATIONS USING ARBITRARY ANGLES, OR REAL
 # ANGLES IN AN ORDER OTHER THAN X Y Z.  A CALL TO THIS ROUTINE IS
 # NECESSARY IN PREPARATION FOR A CALL TO AX*SR*T IN EITHER OF ITS TWO
@@ -61,7 +61,7 @@
 # IT CLOBBERS BUF2 (IN THE SINE AND COSINE ROUTINES) CD*TR*GS CANNOT BE
 # CALLED USING BANKCALL.  SORRY.
 #
-# CD*TR*G IS LIKE CD*TR*GS EXCEPT THAT IT CAN BE CALLED IN
+#    CD*TR*G IS LIKE CD*TR*GS EXCEPT THAT IT CAN BE CALLED IN
 # INTERPRETIVE.
 
 CDUTRIG		EXIT
@@ -116,7 +116,7 @@ TR*GL**P	MASK	SIX		# MAKE IT EVEN AND SMALLER
 		TC	TEM2
 # Page 1261
 # *******************************************************************************************************
-# QUICTRIG, INTENDED FOR QUIDANCE CYCLE USE WHERE TIME IS CRITICAL, IS A MUCH FASTER VERSION OF CD*TR*GS.
+#    QUICTRIG, INTENDED FOR GUIDANCE CYCLE USE WHERE TIME IS CRITICAL, IS A MUCH FASTER VERSION OF CD*TR*GS.
 # QUICTRIG COMPUTES AND STORES THE SINES AND COSINES OF THE 2'S COMPLEMENT ANGLES AT CDUSPOT, CDUSPOT +2,
 # AND CDUSPOT +4.  UNLIKE CD*TR*GS, QUICTRIG DOES NOT LEAVE THE 1'S COMPLEMENT VERSIONS OF THE ANGLES IN
 # CDUSPOT.  QUICTRIG'S EXECUTION TIME IS 4.1 MS;  THIS IS 10 TIMES AS FAST AS CD*TR*GS.  QUICTRIG MAY BE
@@ -150,23 +150,23 @@ QUICTRIG	INHINT			# INHINT SINCE DAP USES THE SAME TEMPS
 
 # Page 1262
 #****************************************************************************
-# THESE INTERFACE ROUTINES MAKE IT POSSIBLE TO CALL AX*SR*T, ETC., IN
+#    THESE INTERFACE ROUTINES MAKE IT POSSIBLE TO CALL AX*SR*T, ETC., IN
 # INTERPRETIVE.  LATER, WHERE POSSIBLE, THEY WILL BE ELIMINATED.
 #
-# THESE INTERFACE ROUTINES ARE PERMANENT.  ALL RESTORE USER'S EBANK
-# SETTING. ALL ARE STRICT INTERPRETIVE SUBROUTINES, CALLED USING "CALL",
-# RETURNING VIA QPRET.  ALL EXPECT AND RETURN THE VECTOR TO BE TRANSFORMED
-# INTERPRETER-STYLE IN MPAC; COMPONENTS AT MPAC, MPAC +3, AND MPAC +5.
+#    THESE INTERFACE ROUTINES ARE PERMANENT.  ALL RESTORE USER'S EBANK
+# SETTING.  ALL ARE STRICT INTERPRETIVE SUBROUTINES, CALLED USING "CALL",
+# RETURNING VIA QPRET.  ALL EXPECT AND RETURN THE VECTOR TO BE TRANSFOR-
+# MED INTERPRETER-STYLE IN MPAC; COMPONENTS AT MPAC, MPAC +3, AND MPAC +5.
 #
-# TRG*SMNB AND TRG*NBSM BOTH EXPECT TO SEE THE 2'S COMPLEMENT ANGLES
+#    TRG*SMNB AND TRG*NBSM BOTH EXPECT TO SEE THE 2'S COMPLEMENT ANGLES
 # AT CDUSPOT (ORDER Y Z X, AT CDUSPOT, CDUSPOT +2, AND CDUSPOT +4; ODD
-# LOCATIONS NEED NOT BE ZEROED).  TRG*NBSM DOES THE NB TO SM TRANSFORMATION;
-# TRG*SMNB, VICE VERSA.
+# LOCATIONS NEED NOT BE ZEROED).  TRG*NBSM DOES THE NB TO SM TRANSFOR-
+# MATION; TRG*SMNB, VICE VERSA.
 #
-# CDU*NBSM DOES ITS TRANSFORMATION USING THE PRESENT CONTENTS OF
-# THE CDL COUNTERS.  OTHERWISE IT IS LIKE TRG*NBSM.
+#    CDU*NBSM DOES ITS TRANSFORMATION USING THE PRESENT CONTENTS OF
+# THE CDU COUNTERS.  OTHERWISE IT IS LIKE TRG*NBSM.
 #
-# CDU*SMNB IS THE COMPLEMENT OF CDU*NBSM.
+#    CDU*SMNB IS THE COMPLEMENT OF CDU*NBSM.
 
 CDU*SMNB	EXIT
 		TC	CDUTRIGS
@@ -175,7 +175,7 @@ CDU*SMNB	EXIT
 TRG*SMNB	EXIT
 		TC	CD*TR*GS
 C*MM*N1		TC	MPACVBUF	# AX*SR*T EXPECTS VECTOR IN VBUF
-		CS	THREE		# SIGNAL FOR SM TO NB TRANSFORMATION.
+		CS	THREE		# SIGNAL FOR SM TO NB TRANSFORMATION
 C*MM*N2		TC	AX*SR*T
 		TC	INTPRET
 		VLOAD	RVQ
@@ -191,11 +191,11 @@ C*MM*N3		TC	MPACVBUF	# FOR AX*SR*T
 		CA	THREE		# SIGNAL FOR NB TO SM TRANSFORMATION
 		TCF	C*MM*N2
 
-# *NBSM* AND *SMNB* EXPECT TO SEE THE SINES AND COSINES (AT SINCDU
+#    *NBSM* AND *SMNB* EXPECT TO SEE THE SINES AND COSINES (AT SINCDU
 # AND COSCDU) RATHER THAN THE ANGLES THEMSELVES.  OTHERWISE THEY ARE
 # LIKE TRG*NBSM AND TRG*SMNB.
 #
-# NOTE THAT JUST AS CD*TR*GS NEED BE CALLED ONLY ONCE FOR EACH SERIES
+#    NOTE THAT JUST AS CD*TR*GS NEED BE CALLED ONLY ONCE FOR EACH SERIES
 # OF TRANSFORMATIONS USING THE SAME ANGLES, SO TOO ONLY ONE OF TRG*NBSM
 # Page 1263
 # AND TRG*SMNB NEED BE CALLED FOR EACH SERIES.  FOR SUBSEQUENT TRANFOR-
@@ -207,25 +207,25 @@ C*MM*N3		TC	MPACVBUF	# FOR AX*SR*T
 *NBSM*		EXIT
 		TCF	C*MM*N3
 
-# AX*SR*T COMBINES THE OLD SMNB AND NBSM.  FOR THE NB TO SM
+#    AX*SR*T COMBINES THE OLD SMNB AND NBSM.  FOR THE NB TO SM
 # TRANSFORMATION, ENTER WITH +3 IN A.  FOR SM TO NB, ENTER WITH -3.
 # THE VECTOR TO BE TRANSFORMED ARRIVES, AND IS RETURNED, IN VBUF.
 # AX*SR*T EXPECTS TO FIND THE SINES AND COSINES OF THE ANGLES OF ROTATION
 # AT SINCDU AND COSCDU, IN THE ORDER Y Z X.  A CALL TO CD*TR*GS, WITH
 # THE 2'S COMPLEMENT ANGLES (ORDER Y Z X) AT CDUSPOT, WILL TAKE CARE OF
-# THIS.  HERE IS A SAMPLE CALLING SEQUENCE:--
+# THIS.  HERE IS A SAMPLE CALLING SEQUENCE:-
 #		TC	CDUTRIGS
 #		CS	THREE		# ("CA THREE" FOR NBSM)
 #		TC	AX*SR*T
 # THE CALL TO CD*TR*GS NEED NOT BE REPEATED, WHEN AX*SR*T IS CALLED MORE
 # THAN ONCE, UNLESS THE ANGLES HAVE CHANGED.
 #
-# AX*SR*T IS GUARANTEED SAFE ONLY FOR VECTORS OF MAGNITUDE LESS THAN
+#    AX*SR*T IS GUARANTEED SAFE ONLY FOR VECTORS OF MAGNITUDE LESS THAN
 # UNITY.  A LOOK AT THE CASE IN WHICH A VECTOR OF GREATER MAGNITUDE
 # HAPPENS TO LIE ALONG AN AXIS OF THE SYSTEM TO WHICH IT IS TO BE TRANS-
 # FORMED CONVINCES ONE THAT THIS IS A RESTRICTION WHICH MUST BE ACCEPTED.
 
-AX*SR*T		TS	DEXDEX		# WHERE IT BECOMES THE INDEX OF INDEXES.
+AX*SR*T		TS	DEXDEX		# WHERE IT BECOMES THE INDEX OF INDEXES
 		EXTEND
 		QXCH	RTNSAVER
 
@@ -304,7 +304,7 @@ INDEXI		DEC	4		# **********   DON'T   ***********
 		BANK
 		COUNT*	$$/POWFL
 
-# ROUTINE FLESHPOT COMPUTES THE BODY-STABLE MEMBER TRANSFORMATION MATRIX (COMMONLY CALLED XNB) AND STORES
+#    ROUTINE FLESHPOT COMPUTES THE BODY-STABLE MEMBER TRANSFORMATION MATRIX (COMMONLY CALLED XNB) AND STORES
 # IT IN THE LOCATIONS SPECIFIED BY THE ECADR ENTERING IN A.
 
 CALCSMSC	EXIT
@@ -405,7 +405,7 @@ FLESHPOT	TS	TEM2
 		EXTEND
 		DCA	MPAC
 		INDEX	TEM1
-		DXCH	14		# = - SINY COSX + SINX SINZ COSY
+		DXCH	14		# = SINY COSX + SINX SINZ COSY
 
 		EXTEND
 		DCA	MPAC 	+3
@@ -444,4 +444,3 @@ FLESHPOT	TS	TEM2
 		CA	TEM2
 		TS	EBANK
 		TCF	SWRETURN
-