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|  MIL-D-70789A (AR)
3.5.3.1 Align. The DRU shall have two align submodes:
Normal Align and Stored Heading Align. During Stored Heading
Align, the vehicle will be stationary. During Normal Align the
vehicle will usually be stationary during the entire alignment,
but may be moved after 3.5 minutes (maximum) with degraded survey
accuracies.
3.5.3.1.1 Initialization. Within 20 seconds after
application of power or after receipt of a RESTART command,
except where noted, the DRU shall:
Reset STATUS bits S1/4, S1/5, S2/2, S4/0, and S4/1
a.
and set S1/7 (S1/7 shall remain reset for RESTART).
shall determine whether the Configuration Data Present flag,
Pointing Device Boresight Angles Present flag, and Vehicle
Boresight Angles Present flags are set. If any these flags
are reset, S1/7 shall remain set and S1/4, S1/5 and S2/2 shall
remain reset until the appropriate data command(s) have been
received by the DRU (3.5.8.9.1, 3.5.9.1.1, and 3.5.9.2.1).
Initiate BIT of itself, and if there is a failure
b.
set bit 7 of BUILT-IN-TEST DATA character D1.
Check if last shutdown was abnormal, and if so, set
c.
bit 0 of ALERT DATA character D1 and bit 1 of STATUS character S1
(Exception:
These bits shall not be set again for RESTART if
reset criteria were met and they were previously reset).
If a VMS is being used, initiate hardware BIT of the
d.
VMS. (Not rewired after receipt of a RESTART command if VMS BIT
already has been performed). If there is a failure, set bit 1 of
BUILT-IN-TEST DATA character D2, and bit 3 of STATUS character
S1. If the VMS passes BIT, reset bit 3 of STATUS character S1.
VMS BIT shall not be initiated before 3 seconds after application
of power.
If a VMS is not being used, set bit 3 of STATUS
e.
character S1.
Set bit 4 of STATUS character S2 to indicate that the
f.
pointing device is in the travel lock position. (Exception:
Travel lock discrete indicates that the pointing device is out of
travel lock or an OUT OF TRAVEL LOCK command has been received).
Determination of the travel lock state shall not be made before 3
seconds after application of power.
Respond to commands within 10 seconds after turn-on.
g.
Reset bit 7 of STATUS character S1 when the DRU is
h.
ready to proceed to Align (Already reset for RESTART).
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