.MVS4 LDA ALPHA \ Set Q = alpha (the roll angle to rotate through) STA Q LDX INWK+2,Y \ Set (S R) = nosev_y STX R LDX INWK+3,Y STX S LDX INWK,Y \ These instructions have no effect as MAD overwrites STX P \ X and P when called, but they set X = P = nosev_x_lo LDA INWK+1,Y \ Set A = -nosev_x_hi EOR #%10000000 JSR MAD \ Set (A X) = Q * A + (S R) STA INWK+3,Y \ = alpha * -nosev_x_hi + nosev_y STX INWK+2,Y \ \ and store (A X) in nosev_y, so this does: \ \ nosev_y = nosev_y - alpha * nosev_x_hi STX P \ This instruction has no effect as MAD overwrites P, \ but it sets P = nosev_y_lo LDX INWK,Y \ Set (S R) = nosev_x STX R LDX INWK+1,Y STX S LDA INWK+3,Y \ Set A = nosev_y_hi JSR MAD \ Set (A X) = Q * A + (S R) STA INWK+1,Y \ = alpha * nosev_y_hi + nosev_x STX INWK,Y \ \ and store (A X) in nosev_x, so this does: \ \ nosev_x = nosev_x + alpha * nosev_y_hi STX P \ This instruction has no effect as MAD overwrites P, \ but it sets P = nosev_x_lo LDA BETA \ Set Q = beta (the pitch angle to rotate through) STA Q LDX INWK+2,Y \ Set (S R) = nosev_y STX R LDX INWK+3,Y STX S LDX INWK+4,Y STX P \ This instruction has no effect as MAD overwrites P, \ but it sets P = nosev_y LDA INWK+5,Y \ Set A = -nosev_z_hi EOR #%10000000 JSR MAD \ Set (A X) = Q * A + (S R) STA INWK+3,Y \ = beta * -nosev_z_hi + nosev_y STX INWK+2,Y \ \ and store (A X) in nosev_y, so this does: \ \ nosev_y = nosev_y - beta * nosev_z_hi STX P \ This instruction has no effect as MAD overwrites P, \ but it sets P = nosev_y_lo LDX INWK+4,Y \ Set (S R) = nosev_z STX R LDX INWK+5,Y STX S LDA INWK+3,Y \ Set A = nosev_y_hi JSR MAD \ Set (A X) = Q * A + (S R) STA INWK+5,Y \ = beta * nosev_y_hi + nosev_z STX INWK+4,Y \ \ and store (A X) in nosev_z, so this does: \ \ nosev_z = nosev_z + beta * nosev_y_hi RTS \ Return from the subroutineName: MVS4 [Show more] Type: Subroutine Category: Moving Summary: Apply pitch and roll to an orientation vector Deep dive: Orientation vectors Pitching and rollingContext: See this subroutine in context in the source code References: This subroutine is called as follows: * MVEIT (Part 7 of 9) calls MVS4

Apply pitch and roll angles alpha and beta to the orientation vector in Y. Specifically, this routine rotates a point (x, y, z) around the origin by pitch alpha and roll beta, using the small angle approximation to make the maths easier, and incorporating the Minsky circle algorithm to make the rotation more stable (though more elliptic). If that paragraph makes sense to you, then you should probably be writing this commentary! For the rest of us, there's a detailed explanation of all this in the deep dive on "Pitching and rolling". Arguments: Y Determines which of the INWK orientation vectors to transform: * Y = 9 rotates nosev: (nosev_x, nosev_y, nosev_z) * Y = 15 rotates roofv: (roofv_x, roofv_y, roofv_z) * Y = 21 rotates sidev: (sidev_x, sidev_y, sidev_z)

[X]

Subroutine MAD (category: Maths (Arithmetic))

Calculate (A X) = Q * A + (S R)