WebSVN - FlightCtrl - Blame - /branches/dongfang_FC

Rev	Author	Line No.	Line
1612	dongfang	1	1 .file "fc.c"
		2	2 __SREG__ = 0x3f
		3	3 __SP_H__ = 0x3e
		4	4 __SP_L__ = 0x3d
		5	5 __tmp_reg__ = 0
		6	6 __zero_reg__ = 1
		7	7 .global __do_copy_data
		8	8 .global __do_clear_bss
		9	9 .text
		10	10 .global MotorSmoothing
		11	12 MotorSmoothing:
		12	13 /* prologue: function */
		13	14 /* frame size = 0 */
		14	15 0000 680F add r22,r24
		15	16 0002 791F adc r23,r25
		16	17 0004 77FD sbrc r23,7
		17	18 0006 00C0 rjmp .L5
		18	19 0008 9B01 movw r18,r22
		19	20 000a 3595 asr r19
		20	21 000c 2795 ror r18
		21	22 000e C901 movw r24,r18
		22	23 /* epilogue start */
		23	24 0010 0895 ret
		24	25 .L5:
		25	26 0012 6F5F subi r22,lo8(-(1))
		26	27 0014 7F4F sbci r23,hi8(-(1))
		27	28 0016 9B01 movw r18,r22
		28	29 0018 3595 asr r19
		29	30 001a 2795 ror r18
		30	31 001c C901 movw r24,r18
		31	32 001e 0895 ret
		32	34 .global Mean
		33	36 Mean:
		34	37 0020 2F92 push r2
		35	38 0022 3F92 push r3
		36	39 0024 4F92 push r4
		37	40 0026 5F92 push r5
		38	41 0028 6F92 push r6
		39	42 002a 7F92 push r7
		40	43 002c 8F92 push r8
		41	44 002e 9F92 push r9
		42	45 0030 AF92 push r10
		43	46 0032 BF92 push r11
		44	47 0034 CF92 push r12
		45	48 0036 DF92 push r13
		46	49 0038 EF92 push r14
		47	50 003a FF92 push r15
		48	51 003c 0F93 push r16
		49	52 003e 1F93 push r17
		50	53 0040 CF93 push r28
		51	54 0042 DF93 push r29
		52	55 /* prologue: function */
		53	56 /* frame size = 0 */
		54	57 0044 6091 0000 lds r22,hiResPitchGyro
		55	58 0048 7091 0000 lds r23,(hiResPitchGyro)+1
		56	59 004c E090 0000 lds r14,vibrationOffsetNick
		57	60 0050 F090 0000 lds r15,(vibrationOffsetNick)+1
		58	61 0054 0091 0000 lds r16,(vibrationOffsetNick)+2
		59	62 0058 1091 0000 lds r17,(vibrationOffsetNick)+3
		60	63 005c 8827 clr r24
		61	64 005e 77FD sbrc r23,7
		62	65 0060 8095 com r24
		63	66 0062 982F mov r25,r24
		64	67 0064 6E19 sub r22,r14
		65	68 0066 7F09 sbc r23,r15
		66	69 0068 800B sbc r24,r16
		67	70 006a 910B sbc r25,r17
		68	71 006c 24E0 ldi r18,lo8(4)
		69	72 006e 30E0 ldi r19,hi8(4)
		70	73 0070 40E0 ldi r20,hlo8(4)
		71	74 0072 50E0 ldi r21,hhi8(4)
		72	75 0074 0E94 0000 call __divmodsi4
		73	76 0078 3093 0000 sts (GyroNick)+1,r19
		74	77 007c 2093 0000 sts GyroNick,r18
		75	78 0080 C090 0000 lds r12,filteredHiResPitchGyro
		76	79 0084 D090 0000 lds r13,(filteredHiResPitchGyro)+1
		77	80 0088 6091 0000 lds r22,hiResRollGyro
		78	81 008c 7091 0000 lds r23,(hiResRollGyro)+1
		79	82 0090 2090 0000 lds r2,vibrationOffsetRoll
		80	83 0094 3090 0000 lds r3,(vibrationOffsetRoll)+1
		81	84 0098 4090 0000 lds r4,(vibrationOffsetRoll)+2
		82	85 009c 5090 0000 lds r5,(vibrationOffsetRoll)+3
		83	86 00a0 8827 clr r24
		84	87 00a2 77FD sbrc r23,7
		85	88 00a4 8095 com r24
		86	89 00a6 982F mov r25,r24
		87	90 00a8 6219 sub r22,r2
		88	91 00aa 7309 sbc r23,r3
		89	92 00ac 8409 sbc r24,r4
		90	93 00ae 9509 sbc r25,r5
		91	94 00b0 24E0 ldi r18,lo8(4)
		92	95 00b2 30E0 ldi r19,hi8(4)
		93	96 00b4 40E0 ldi r20,hlo8(4)
		94	97 00b6 50E0 ldi r21,hhi8(4)
		95	98 00b8 0E94 0000 call __divmodsi4
		96	99 00bc 3093 0000 sts (GyroRoll)+1,r19
		97	100 00c0 2093 0000 sts GyroRoll,r18
		98	101 00c4 C091 0000 lds r28,filteredHiResRollGyro
		99	102 00c8 D091 0000 lds r29,(filteredHiResRollGyro)+1
		100	103 00cc 8091 0000 lds r24,hiResPitchGyro
		101	104 00d0 9091 0000 lds r25,(hiResPitchGyro)+1
		102	105 00d4 2091 0000 lds r18,NickNoisePeak
		103	106 00d8 3091 0000 lds r19,(NickNoisePeak)+1
		104	107 00dc 2817 cp r18,r24
		105	108 00de 3907 cpc r19,r25
		106	109 00e0 04F0 brlt .+2
		107	110 00e2 00C0 rjmp .L7
		108	111 00e4 8091 0000 lds r24,hiResPitchGyro
		109	112 00e8 9091 0000 lds r25,(hiResPitchGyro)+1
		110	113 00ec 9093 0000 sts (NickNoisePeak)+1,r25
		111	114 00f0 8093 0000 sts NickNoisePeak,r24
		112	115 .L8:
		113	116 00f4 8091 0000 lds r24,hiResRollGyro
		114	117 00f8 9091 0000 lds r25,(hiResRollGyro)+1
		115	118 00fc 2091 0000 lds r18,RollNoisePeak
		116	119 0100 3091 0000 lds r19,(RollNoisePeak)+1
		117	120 0104 2817 cp r18,r24
		118	121 0106 3907 cpc r19,r25
		119	122 0108 04F0 brlt .+2
		120	123 010a 00C0 rjmp .L9
		121	124 010c 8091 0000 lds r24,hiResRollGyro
		122	125 0110 9091 0000 lds r25,(hiResRollGyro)+1
		123	126 0114 9093 0000 sts (RollNoisePeak)+1,r25
		124	127 0118 8093 0000 sts RollNoisePeak,r24
		125	128 .L10:
		126	129 011c 8091 0000 lds r24,rawYawGyroSum
		127	130 0120 9091 0000 lds r25,(rawYawGyroSum)+1
		128	131 0124 2091 0000 lds r18,vibrationOffsetYaw
		129	132 0128 3091 0000 lds r19,(vibrationOffsetYaw)+1
		130	133 012c 821B sub r24,r18
		131	134 012e 930B sbc r25,r19
		132	135 0130 9093 0000 sts (GyroYaw)+1,r25
		133	136 0134 8093 0000 sts GyroYaw,r24
		134	137 0138 2091 7A00 lds r18,122
		135	138 013c 286C ori r18,lo8(-56)
		136	139 013e 2093 7A00 sts 122,r18
		137	140 0142 1092 0000 sts ADReady,__zero_reg__
		138	141 0146 AA27 clr r26
		139	142 0148 97FD sbrc r25,7
		140	143 014a A095 com r26
		141	144 014c BA2F mov r27,r26
		142	145 014e 2091 0000 lds r18,YawGyroHeading
		143	146 0152 3091 0000 lds r19,(YawGyroHeading)+1
		144	147 0156 4091 0000 lds r20,(YawGyroHeading)+2
		145	148 015a 5091 0000 lds r21,(YawGyroHeading)+3
		146	149 015e 280F add r18,r24
		147	150 0160 391F adc r19,r25
		148	151 0162 4A1F adc r20,r26
		149	152 0164 5B1F adc r21,r27
		150	153 0166 2093 0000 sts YawGyroHeading,r18
		151	154 016a 3093 0000 sts (YawGyroHeading)+1,r19
		152	155 016e 4093 0000 sts (YawGyroHeading)+2,r20
		153	156 0172 5093 0000 sts (YawGyroHeading)+3,r21
		154	157 0176 6090 0000 lds r6,ReadingIntegralGyroYaw
		155	158 017a 7090 0000 lds r7,(ReadingIntegralGyroYaw)+1
		156	159 017e 8090 0000 lds r8,(ReadingIntegralGyroYaw)+2
		157	160 0182 9090 0000 lds r9,(ReadingIntegralGyroYaw)+3
		158	161 0186 680E add r6,r24
		159	162 0188 791E adc r7,r25
		160	163 018a 8A1E adc r8,r26
		161	164 018c 9B1E adc r9,r27
		162	165 018e 6092 0000 sts ReadingIntegralGyroYaw,r6
		163	166 0192 7092 0000 sts (ReadingIntegralGyroYaw)+1,r7
		164	167 0196 8092 0000 sts (ReadingIntegralGyroYaw)+2,r8
		165	168 019a 9092 0000 sts (ReadingIntegralGyroYaw)+3,r9
		166	169 019e 2030 cpi r18,lo8(184320)
		167	170 01a0 80ED ldi r24,hi8(184320)
		168	171 01a2 3807 cpc r19,r24
		169	172 01a4 82E0 ldi r24,hlo8(184320)
		170	173 01a6 4807 cpc r20,r24
		171	174 01a8 80E0 ldi r24,hhi8(184320)
		172	175 01aa 5807 cpc r21,r24
		173	176 01ac 04F0 brlt .L11
		174	177 01ae DA01 movw r26,r20
		175	178 01b0 C901 movw r24,r18
		176	179 01b2 8050 subi r24,lo8(-(-184320))
		177	180 01b4 904D sbci r25,hi8(-(-184320))
		178	181 01b6 A240 sbci r26,hlo8(-(-184320))
		179	182 01b8 B040 sbci r27,hhi8(-(-184320))
		180	183 01ba 8093 0000 sts YawGyroHeading,r24
		181	184 01be 9093 0000 sts (YawGyroHeading)+1,r25
		182	185 01c2 A093 0000 sts (YawGyroHeading)+2,r26
		183	186 01c6 B093 0000 sts (YawGyroHeading)+3,r27
		184	187 01ca 9C01 movw r18,r24
		185	188 01cc AD01 movw r20,r26
		186	189 .L11:
		187	190 01ce 57FD sbrc r21,7
		188	191 01d0 00C0 rjmp .L18
		189	192 .L12:
		190	193 01d2 B601 movw r22,r12
		191	194 01d4 8827 clr r24
		192	195 01d6 77FD sbrc r23,7
		193	196 01d8 8095 com r24
		194	197 01da 982F mov r25,r24
		195	198 01dc 6E19 sub r22,r14
		196	199 01de 7F09 sbc r23,r15
		197	200 01e0 800B sbc r24,r16
		198	201 01e2 910B sbc r25,r17
		199	202 01e4 24E0 ldi r18,lo8(4)
		200	203 01e6 30E0 ldi r19,hi8(4)
		201	204 01e8 40E0 ldi r20,hlo8(4)
		202	205 01ea 50E0 ldi r21,hhi8(4)
		203	206 01ec 0E94 0000 call __divmodsi4
		204	207 01f0 4427 clr r20
		205	208 01f2 37FD sbrc r19,7
		206	209 01f4 4095 com r20
		207	210 01f6 542F mov r21,r20
		208	211 01f8 A090 0000 lds r10,ReadingIntegralGyroNick
		209	212 01fc B090 0000 lds r11,(ReadingIntegralGyroNick)+1
		210	213 0200 C090 0000 lds r12,(ReadingIntegralGyroNick)+2
		211	214 0204 D090 0000 lds r13,(ReadingIntegralGyroNick)+3
		212	215 0208 A20E add r10,r18
		213	216 020a B31E adc r11,r19
		214	217 020c C41E adc r12,r20
		215	218 020e D51E adc r13,r21
		216	219 0210 A092 0000 sts ReadingIntegralGyroNick,r10
		217	220 0214 B092 0000 sts (ReadingIntegralGyroNick)+1,r11
		218	221 0218 C092 0000 sts (ReadingIntegralGyroNick)+2,r12
		219	222 021c D092 0000 sts (ReadingIntegralGyroNick)+3,r13
		220	223 0220 E090 0000 lds r14,TurnOver180Nick
		221	224 0224 F090 0000 lds r15,(TurnOver180Nick)+1
		222	225 0228 0091 0000 lds r16,(TurnOver180Nick)+2
		223	226 022c 1091 0000 lds r17,(TurnOver180Nick)+3
		224	227 0230 EA14 cp r14,r10
		225	228 0232 FB04 cpc r15,r11
		226	229 0234 0C05 cpc r16,r12
		227	230 0236 1D05 cpc r17,r13
		228	231 0238 04F0 brlt .+2
		229	232 023a 00C0 rjmp .L13
		230	233 023c 8827 clr r24
		231	234 023e 9927 clr r25
		232	235 0240 DC01 movw r26,r24
		233	236 0242 8E19 sub r24,r14
		234	237 0244 9F09 sbc r25,r15
		235	238 0246 A00B sbc r26,r16
		236	239 0248 B10B sbc r27,r17
		237	240 024a 8093 0000 sts ReadingIntegralGyroNick,r24
		238	241 024e 9093 0000 sts (ReadingIntegralGyroNick)+1,r25
		239	242 0252 A093 0000 sts (ReadingIntegralGyroNick)+2,r26
		240	243 0256 B093 0000 sts (ReadingIntegralGyroNick)+3,r27
		241	244 025a 5C01 movw r10,r24
		242	245 025c 6D01 movw r12,r26
		243	246 .L14:
		244	247 025e BE01 movw r22,r28
		245	248 0260 8827 clr r24
		246	249 0262 77FD sbrc r23,7
		247	250 0264 8095 com r24
		248	251 0266 982F mov r25,r24
		249	252 0268 6219 sub r22,r2
		250	253 026a 7309 sbc r23,r3
		251	254 026c 8409 sbc r24,r4
		252	255 026e 9509 sbc r25,r5
		253	256 0270 24E0 ldi r18,lo8(4)
		254	257 0272 30E0 ldi r19,hi8(4)
		255	258 0274 40E0 ldi r20,hlo8(4)
		256	259 0276 50E0 ldi r21,hhi8(4)
		257	260 0278 0E94 0000 call __divmodsi4
		258	261 027c 4427 clr r20
		259	262 027e 37FD sbrc r19,7
		260	263 0280 4095 com r20
		261	264 0282 542F mov r21,r20
		262	265 0284 E090 0000 lds r14,ReadingIntegralGyroRoll
		263	266 0288 F090 0000 lds r15,(ReadingIntegralGyroRoll)+1
		264	267 028c 0091 0000 lds r16,(ReadingIntegralGyroRoll)+2
		265	268 0290 1091 0000 lds r17,(ReadingIntegralGyroRoll)+3
		266	269 0294 E20E add r14,r18
		267	270 0296 F31E adc r15,r19
		268	271 0298 041F adc r16,r20
		269	272 029a 151F adc r17,r21
		270	273 029c E092 0000 sts ReadingIntegralGyroRoll,r14
		271	274 02a0 F092 0000 sts (ReadingIntegralGyroRoll)+1,r15
		272	275 02a4 0093 0000 sts (ReadingIntegralGyroRoll)+2,r16
		273	276 02a8 1093 0000 sts (ReadingIntegralGyroRoll)+3,r17
		274	277 02ac 2091 0000 lds r18,TurnOver180Roll
		275	278 02b0 3091 0000 lds r19,(TurnOver180Roll)+1
		276	279 02b4 4091 0000 lds r20,(TurnOver180Roll)+2
		277	280 02b8 5091 0000 lds r21,(TurnOver180Roll)+3
		278	281 02bc 2E15 cp r18,r14
		279	282 02be 3F05 cpc r19,r15
		280	283 02c0 4007 cpc r20,r16
		281	284 02c2 5107 cpc r21,r17
		282	285 02c4 04F4 brge .+2
		283	286 02c6 00C0 rjmp .L19
		284	287 02c8 8827 clr r24
		285	288 02ca 9927 clr r25
		286	289 02cc DC01 movw r26,r24
		287	290 02ce 821B sub r24,r18
		288	291 02d0 930B sbc r25,r19
		289	292 02d2 A40B sbc r26,r20
		290	293 02d4 B50B sbc r27,r21
		291	294 02d6 E816 cp r14,r24
		292	295 02d8 F906 cpc r15,r25
		293	296 02da 0A07 cpc r16,r26
		294	297 02dc 1B07 cpc r17,r27
		295	298 02de 04F4 brge .L16
		296	299 02e0 2093 0000 sts ReadingIntegralGyroRoll,r18
		297	300 02e4 3093 0000 sts (ReadingIntegralGyroRoll)+1,r19
		298	301 02e8 4093 0000 sts (ReadingIntegralGyroRoll)+2,r20
		299	302 02ec 5093 0000 sts (ReadingIntegralGyroRoll)+3,r21
		300	303 02f0 7901 movw r14,r18
		301	304 02f2 8A01 movw r16,r20
		302	305 .L16:
		303	306 02f4 A092 0000 sts IntegralGyroNick,r10
		304	307 02f8 B092 0000 sts (IntegralGyroNick)+1,r11
		305	308 02fc C092 0000 sts (IntegralGyroNick)+2,r12
		306	309 0300 D092 0000 sts (IntegralGyroNick)+3,r13
		307	310 0304 E092 0000 sts IntegralGyroRoll,r14
		308	311 0308 F092 0000 sts (IntegralGyroRoll)+1,r15
		309	312 030c 0093 0000 sts (IntegralGyroRoll)+2,r16
		310	313 0310 1093 0000 sts (IntegralGyroRoll)+3,r17
		311	314 0314 6092 0000 sts IntegralGyroYaw,r6
		312	315 0318 7092 0000 sts (IntegralGyroYaw)+1,r7
		313	316 031c 8092 0000 sts (IntegralGyroYaw)+2,r8
		314	317 0320 9092 0000 sts (IntegralGyroYaw)+3,r9
		315	318 /* epilogue start */
		316	319 0324 DF91 pop r29
		317	320 0326 CF91 pop r28
		318	321 0328 1F91 pop r17
		319	322 032a 0F91 pop r16
		320	323 032c FF90 pop r15
		321	324 032e EF90 pop r14
		322	325 0330 DF90 pop r13
		323	326 0332 CF90 pop r12
		324	327 0334 BF90 pop r11
		325	328 0336 AF90 pop r10
		326	329 0338 9F90 pop r9
		327	330 033a 8F90 pop r8
		328	331 033c 7F90 pop r7
		329	332 033e 6F90 pop r6
		330	333 0340 5F90 pop r5
		331	334 0342 4F90 pop r4
		332	335 0344 3F90 pop r3
		333	336 0346 2F90 pop r2
		334	337 0348 0895 ret
		335	338 .L13:
		336	339 034a 8827 clr r24
		337	340 034c 9927 clr r25
		338	341 034e DC01 movw r26,r24
		339	342 0350 8E19 sub r24,r14
		340	343 0352 9F09 sbc r25,r15
		341	344 0354 A00B sbc r26,r16
		342	345 0356 B10B sbc r27,r17
		343	346 0358 A816 cp r10,r24
		344	347 035a B906 cpc r11,r25
		345	348 035c CA06 cpc r12,r26
		346	349 035e DB06 cpc r13,r27
		347	350 0360 04F0 brlt .+2
		348	351 0362 00C0 rjmp .L14
		349	352 0364 E092 0000 sts ReadingIntegralGyroNick,r14
		350	353 0368 F092 0000 sts (ReadingIntegralGyroNick)+1,r15
		351	354 036c 0093 0000 sts (ReadingIntegralGyroNick)+2,r16
		352	355 0370 1093 0000 sts (ReadingIntegralGyroNick)+3,r17
		353	356 0374 5701 movw r10,r14
		354	357 0376 6801 movw r12,r16
		355	358 0378 00C0 rjmp .L14
		356	359 .L9:
		357	360 037a 8091 0000 lds r24,hiResRollGyro
		358	361 037e 9091 0000 lds r25,(hiResRollGyro)+1
		359	362 0382 9095 com r25
		360	363 0384 8195 neg r24
		361	364 0386 9F4F sbci r25,lo8(-1)
		362	365 0388 2817 cp r18,r24
		363	366 038a 3907 cpc r19,r25
		364	367 038c 04F0 brlt .+2
		365	368 038e 00C0 rjmp .L10
		366	369 0390 8091 0000 lds r24,hiResRollGyro
		367	370 0394 9091 0000 lds r25,(hiResRollGyro)+1
		368	371 0398 9095 com r25
		369	372 039a 8195 neg r24
		370	373 039c 9F4F sbci r25,lo8(-1)
		371	374 039e 9093 0000 sts (RollNoisePeak)+1,r25
		372	375 03a2 8093 0000 sts RollNoisePeak,r24
		373	376 03a6 00C0 rjmp .L10
		374	377 .L7:
		375	378 03a8 8091 0000 lds r24,hiResPitchGyro
		376	379 03ac 9091 0000 lds r25,(hiResPitchGyro)+1
		377	380 03b0 9095 com r25
		378	381 03b2 8195 neg r24
		379	382 03b4 9F4F sbci r25,lo8(-1)
		380	383 03b6 2817 cp r18,r24
		381	384 03b8 3907 cpc r19,r25
		382	385 03ba 04F0 brlt .+2
		383	386 03bc 00C0 rjmp .L8
		384	387 03be 8091 0000 lds r24,hiResPitchGyro
		385	388 03c2 9091 0000 lds r25,(hiResPitchGyro)+1
		386	389 03c6 9095 com r25
		387	390 03c8 8195 neg r24
		388	391 03ca 9F4F sbci r25,lo8(-1)
		389	392 03cc 9093 0000 sts (NickNoisePeak)+1,r25
		390	393 03d0 8093 0000 sts NickNoisePeak,r24
		391	394 03d4 00C0 rjmp .L8
		392	395 .L19:
		393	396 03d6 8827 clr r24
		394	397 03d8 9927 clr r25
		395	398 03da DC01 movw r26,r24
		396	399 03dc 821B sub r24,r18
		397	400 03de 930B sbc r25,r19
		398	401 03e0 A40B sbc r26,r20
		399	402 03e2 B50B sbc r27,r21
		400	403 03e4 8093 0000 sts ReadingIntegralGyroRoll,r24
		401	404 03e8 9093 0000 sts (ReadingIntegralGyroRoll)+1,r25
		402	405 03ec A093 0000 sts (ReadingIntegralGyroRoll)+2,r26
		403	406 03f0 B093 0000 sts (ReadingIntegralGyroRoll)+3,r27
		404	407 03f4 7C01 movw r14,r24
		405	408 03f6 8D01 movw r16,r26
		406	409 03f8 00C0 rjmp .L16
		407	410 .L18:
		408	411 03fa 2050 subi r18,lo8(-(184320))
		409	412 03fc 3043 sbci r19,hi8(-(184320))
		410	413 03fe 4D4F sbci r20,hlo8(-(184320))
		411	414 0400 5F4F sbci r21,hhi8(-(184320))
		412	415 0402 2093 0000 sts YawGyroHeading,r18
		413	416 0406 3093 0000 sts (YawGyroHeading)+1,r19
		414	417 040a 4093 0000 sts (YawGyroHeading)+2,r20
		415	418 040e 5093 0000 sts (YawGyroHeading)+3,r21
		416	419 0412 00C0 rjmp .L12
		417	421 .global ParameterMapping
		418	423 ParameterMapping:
		419	424 /* prologue: function */
		420	425 /* frame size = 0 */
		421	426 0414 8091 0000 lds r24,RC_Quality
		422	427 0418 9091 0000 lds r25,(RC_Quality)+1
		423	428 041c 813A cpi r24,161
		424	429 041e 9105 cpc r25,__zero_reg__
		425	430 0420 04F0 brlt .L162
		426	431 0422 8091 0000 lds r24,ParamSet+11
		427	432 0426 8B3F cpi r24,lo8(-5)
		428	433 0428 00F4 brsh .L169
		429	434 042a 8093 0000 sts FCParam+1,r24
		430	435 .L24:
		431	436 042e 8091 0000 lds r24,ParamSet+10
		432	437 0432 8B3F cpi r24,lo8(-5)
		433	438 0434 00F0 brlo .L27
		434	439 0436 8B3F cpi r24,lo8(-5)
		435	440 0438 01F4 brne .+2
		436	441 043a 00C0 rjmp .L170
		437	442 043c 8C3F cpi r24,lo8(-4)
		438	443 043e 01F4 brne .+2
		439	444 0440 00C0 rjmp .L171
		440	445 0442 8D3F cpi r24,lo8(-3)
		441	446 0444 01F4 brne .+2
		442	447 0446 00C0 rjmp .L172
		443	448 0448 8E3F cpi r24,lo8(-2)
		444	449 044a 01F4 brne .L29
		445	450 044c 8091 0000 lds r24,Poti4
		446	451 0450 8093 0000 sts FCParam,r24
		447	452 0454 00C0 rjmp .L29
		448	453 .L157:
		449	454 0456 8093 0000 sts FCParam+24,r24
		450	455 .L159:
		451	456 045a 6091 0000 lds r22,FCParam+9
		452	457 045e 70E0 ldi r23,lo8(0)
		453	458 0460 6F5F subi r22,lo8(-(1))
		454	459 0462 7F4F sbci r23,hi8(-(1))
		455	460 0464 8CE3 ldi r24,lo8(10300)
		456	461 0466 98E2 ldi r25,hi8(10300)
		457	462 0468 0E94 0000 call __divmodhi4
		458	463 046c 7093 0000 sts (Ki)+1,r23
		459	464 0470 6093 0000 sts Ki,r22
		460	465 .L162:
		461	466 0474 0895 ret
		462	467 .L169:
		463	468 0476 8B3F cpi r24,lo8(-5)
		464	469 0478 01F4 brne .+2
		465	470 047a 00C0 rjmp .L173
		466	471 047c 8C3F cpi r24,lo8(-4)
		467	472 047e 01F4 brne .+2
		468	473 0480 00C0 rjmp .L174
		469	474 0482 8D3F cpi r24,lo8(-3)
		470	475 0484 01F4 brne .+2
		471	476 0486 00C0 rjmp .L175
		472	477 0488 8E3F cpi r24,lo8(-2)
		473	478 048a 01F4 brne .L24
		474	479 048c 8091 0000 lds r24,Poti4
		475	480 0490 8093 0000 sts FCParam+1,r24
		476	481 0494 00C0 rjmp .L24
		477	482 .L27:
		478	483 0496 8093 0000 sts FCParam,r24
		479	484 .L29:
		480	485 049a 8091 0000 lds r24,FCParam
		481	486 049e 8823 tst r24
		482	487 04a0 01F4 brne .L32
		483	488 04a2 1092 0000 sts FCParam,__zero_reg__
		484	489 .L33:
		485	490 04a6 8091 0000 lds r24,ParamSet+12
		486	491 04aa 8B3F cpi r24,lo8(-5)
		487	492 04ac 00F0 brlo .L34
		488	493 .L179:
		489	494 04ae 8B3F cpi r24,lo8(-5)
		490	495 04b0 01F4 brne .+2
		491	496 04b2 00C0 rjmp .L176
		492	497 04b4 8C3F cpi r24,lo8(-4)
		493	498 04b6 01F4 brne .+2
		494	499 04b8 00C0 rjmp .L177
		495	500 04ba 8D3F cpi r24,lo8(-3)
		496	501 04bc 01F4 brne .+2
		497	502 04be 00C0 rjmp .L178
		498	503 04c0 8E3F cpi r24,lo8(-2)
		499	504 04c2 01F4 brne .L36
		500	505 04c4 8091 0000 lds r24,Poti4
		501	506 04c8 8093 0000 sts FCParam+2,r24
		502	507 04cc 00C0 rjmp .L36
		503	508 .L32:
		504	509 04ce 8436 cpi r24,lo8(100)
		505	510 04d0 00F0 brlo .L33
		506	511 04d2 84E6 ldi r24,lo8(100)
		507	512 04d4 8093 0000 sts FCParam,r24
		508	513 04d8 8091 0000 lds r24,ParamSet+12
		509	514 04dc 8B3F cpi r24,lo8(-5)
		510	515 04de 00F4 brsh .L179
		511	516 .L34:
		512	517 04e0 8093 0000 sts FCParam+2,r24
		513	518 .L36:
		514	519 04e4 8091 0000 lds r24,FCParam+2
		515	520 04e8 8823 tst r24
		516	521 04ea 01F4 brne .L39
		517	522 04ec 1092 0000 sts FCParam+2,__zero_reg__
		518	523 .L40:
		519	524 04f0 8091 0000 lds r24,ParamSet+14
		520	525 04f4 8B3F cpi r24,lo8(-5)
		521	526 04f6 00F0 brlo .L41
		522	527 .L183:
		523	528 04f8 8B3F cpi r24,lo8(-5)
		524	529 04fa 01F4 brne .+2
		525	530 04fc 00C0 rjmp .L180
		526	531 04fe 8C3F cpi r24,lo8(-4)
		527	532 0500 01F4 brne .+2
		528	533 0502 00C0 rjmp .L181
		529	534 0504 8D3F cpi r24,lo8(-3)
		530	535 0506 01F4 brne .+2
		531	536 0508 00C0 rjmp .L182
		532	537 050a 8E3F cpi r24,lo8(-2)
		533	538 050c 01F4 brne .L43
		534	539 050e 8091 0000 lds r24,Poti4
		535	540 0512 8093 0000 sts FCParam+3,r24
		536	541 0516 00C0 rjmp .L43
		537	542 .L39:
		538	543 0518 8436 cpi r24,lo8(100)
		539	544 051a 00F0 brlo .L40
		540	545 051c 84E6 ldi r24,lo8(100)
		541	546 051e 8093 0000 sts FCParam+2,r24
		542	547 0522 8091 0000 lds r24,ParamSet+14
		543	548 0526 8B3F cpi r24,lo8(-5)
		544	549 0528 00F4 brsh .L183
		545	550 .L41:
		546	551 052a 8093 0000 sts FCParam+3,r24
		547	552 .L43:
		548	553 052e 8091 0000 lds r24,ParamSet+21
		549	554 0532 8B3F cpi r24,lo8(-5)
		550	555 0534 00F0 brlo .L46
		551	556 0536 8B3F cpi r24,lo8(-5)
		552	557 0538 01F4 brne .+2
		553	558 053a 00C0 rjmp .L184
		554	559 053c 8C3F cpi r24,lo8(-4)
		555	560 053e 01F4 brne .+2
		556	561 0540 00C0 rjmp .L185
		557	562 0542 8D3F cpi r24,lo8(-3)
		558	563 0544 01F4 brne .+2
		559	564 0546 00C0 rjmp .L186
		560	565 0548 8E3F cpi r24,lo8(-2)
		561	566 054a 01F4 brne .L48
		562	567 054c 8091 0000 lds r24,Poti4
		563	568 0550 8093 0000 sts FCParam+4,r24
		564	569 0554 00C0 rjmp .L48
		565	570 .L46:
		566	571 0556 8093 0000 sts FCParam+4,r24
		567	572 .L48:
		568	573 055a 8091 0000 lds r24,ParamSet+22
		569	574 055e 8B3F cpi r24,lo8(-5)
		570	575 0560 00F0 brlo .L51
		571	576 0562 8B3F cpi r24,lo8(-5)
		572	577 0564 01F4 brne .+2
		573	578 0566 00C0 rjmp .L187
		574	579 0568 8C3F cpi r24,lo8(-4)
		575	580 056a 01F4 brne .+2
		576	581 056c 00C0 rjmp .L188
		577	582 056e 8D3F cpi r24,lo8(-3)
		578	583 0570 01F4 brne .+2
		579	584 0572 00C0 rjmp .L189
		580	585 0574 8E3F cpi r24,lo8(-2)
		581	586 0576 01F4 brne .L53
		582	587 0578 8091 0000 lds r24,Poti4
		583	588 057c 8093 0000 sts FCParam+6,r24
		584	589 0580 00C0 rjmp .L53
		585	590 .L51:
		586	591 0582 8093 0000 sts FCParam+6,r24
		587	592 .L53:
		588	593 0586 8091 0000 lds r24,FCParam+6
		589	594 058a 8B30 cpi r24,lo8(11)
		590	595 058c 00F4 brsh .L56
		591	596 058e 8AE0 ldi r24,lo8(10)
		592	597 0590 8093 0000 sts FCParam+6,r24
		593	598 .L57:
		594	599 0594 8091 0000 lds r24,ParamSet+23
		595	600 0598 8B3F cpi r24,lo8(-5)
		596	601 059a 00F0 brlo .L58
		597	602 059c 8B3F cpi r24,lo8(-5)
		598	603 059e 01F4 brne .+2
		599	604 05a0 00C0 rjmp .L190
		600	605 05a2 8C3F cpi r24,lo8(-4)
		601	606 05a4 01F4 brne .+2
		602	607 05a6 00C0 rjmp .L191
		603	608 05a8 8D3F cpi r24,lo8(-3)
		604	609 05aa 01F4 brne .+2
		605	610 05ac 00C0 rjmp .L192
		606	611 05ae 8E3F cpi r24,lo8(-2)
		607	612 05b0 01F4 brne .L60
		608	613 05b2 8091 0000 lds r24,Poti4
		609	614 05b6 8093 0000 sts FCParam+7,r24
		610	615 05ba 00C0 rjmp .L60
		611	616 .L56:
		612	617 05bc 8F3F cpi r24,lo8(-1)
		613	618 05be 01F4 brne .L57
		614	619 05c0 8093 0000 sts FCParam+6,r24
		615	620 05c4 00C0 rjmp .L57
		616	621 .L58:
		617	622 05c6 8093 0000 sts FCParam+7,r24
		618	623 .L60:
		619	624 05ca 8091 0000 lds r24,ParamSet+24
		620	625 05ce 8B3F cpi r24,lo8(-5)
		621	626 05d0 00F0 brlo .L63
		622	627 05d2 8B3F cpi r24,lo8(-5)
		623	628 05d4 01F4 brne .+2
		624	629 05d6 00C0 rjmp .L193
		625	630 05d8 8C3F cpi r24,lo8(-4)
		626	631 05da 01F4 brne .+2
		627	632 05dc 00C0 rjmp .L194
		628	633 05de 8D3F cpi r24,lo8(-3)
		629	634 05e0 01F4 brne .+2
		630	635 05e2 00C0 rjmp .L195
		631	636 05e4 8E3F cpi r24,lo8(-2)
		632	637 05e6 01F4 brne .L65
		633	638 05e8 8091 0000 lds r24,Poti4
		634	639 05ec 8093 0000 sts FCParam+5,r24
		635	640 05f0 00C0 rjmp .L65
		636	641 .L63:
		637	642 05f2 8093 0000 sts FCParam+5,r24
		638	643 .L65:
		639	644 05f6 8091 0000 lds r24,ParamSet+29
		640	645 05fa 8B3F cpi r24,lo8(-5)
		641	646 05fc 00F0 brlo .L68
		642	647 05fe 8B3F cpi r24,lo8(-5)
		643	648 0600 01F4 brne .+2
		644	649 0602 00C0 rjmp .L196
		645	650 0604 8C3F cpi r24,lo8(-4)
		646	651 0606 01F4 brne .+2
		647	652 0608 00C0 rjmp .L197
		648	653 060a 8D3F cpi r24,lo8(-3)
		649	654 060c 01F4 brne .+2
		650	655 060e 00C0 rjmp .L198
		651	656 0610 8E3F cpi r24,lo8(-2)
		652	657 0612 01F4 brne .L70
		653	658 0614 8091 0000 lds r24,Poti4
		654	659 0618 8093 0000 sts FCParam+9,r24
		655	660 061c 00C0 rjmp .L70
		656	661 .L68:
		657	662 061e 8093 0000 sts FCParam+9,r24
		658	663 .L70:
		659	664 0622 8091 0000 lds r24,ParamSet+30
		660	665 0626 8B3F cpi r24,lo8(-5)
		661	666 0628 00F0 brlo .L73
		662	667 062a 8B3F cpi r24,lo8(-5)
		663	668 062c 01F4 brne .+2
		664	669 062e 00C0 rjmp .L199
		665	670 0630 8C3F cpi r24,lo8(-4)
		666	671 0632 01F4 brne .+2
		667	672 0634 00C0 rjmp .L200
		668	673 0636 8D3F cpi r24,lo8(-3)
		669	674 0638 01F4 brne .+2
		670	675 063a 00C0 rjmp .L201
		671	676 063c 8E3F cpi r24,lo8(-2)
		672	677 063e 01F4 brne .L75
		673	678 0640 8091 0000 lds r24,Poti4
		674	679 0644 8093 0000 sts FCParam+10,r24
		675	680 0648 00C0 rjmp .L75
		676	681 .L73:
		677	682 064a 8093 0000 sts FCParam+10,r24
		678	683 .L75:
		679	684 064e 8091 0000 lds r24,ParamSet+31
		680	685 0652 8B3F cpi r24,lo8(-5)
		681	686 0654 00F0 brlo .L78
		682	687 0656 8B3F cpi r24,lo8(-5)
		683	688 0658 01F4 brne .+2
		684	689 065a 00C0 rjmp .L202
		685	690 065c 8C3F cpi r24,lo8(-4)
		686	691 065e 01F4 brne .+2
		687	692 0660 00C0 rjmp .L203
		688	693 0662 8D3F cpi r24,lo8(-3)
		689	694 0664 01F4 brne .+2
		690	695 0666 00C0 rjmp .L204
		691	696 0668 8E3F cpi r24,lo8(-2)
		692	697 066a 01F4 brne .L80
		693	698 066c 8091 0000 lds r24,Poti4
		694	699 0670 8093 0000 sts FCParam+11,r24
		695	700 0674 00C0 rjmp .L80
		696	701 .L78:
		697	702 0676 8093 0000 sts FCParam+11,r24
		698	703 .L80:
		699	704 067a 8091 0000 lds r24,ParamSet+32
		700	705 067e 8B3F cpi r24,lo8(-5)
		701	706 0680 00F0 brlo .L83
		702	707 0682 8B3F cpi r24,lo8(-5)
		703	708 0684 01F4 brne .+2
		704	709 0686 00C0 rjmp .L205
		705	710 0688 8C3F cpi r24,lo8(-4)
		706	711 068a 01F4 brne .+2
		707	712 068c 00C0 rjmp .L206
		708	713 068e 8D3F cpi r24,lo8(-3)
		709	714 0690 01F4 brne .+2
		710	715 0692 00C0 rjmp .L207
		711	716 0694 8E3F cpi r24,lo8(-2)
		712	717 0696 01F4 brne .L85
		713	718 0698 8091 0000 lds r24,Poti4
		714	719 069c 8093 0000 sts FCParam+12,r24
		715	720 06a0 00C0 rjmp .L85
		716	721 .L83:
		717	722 06a2 8093 0000 sts FCParam+12,r24
		718	723 .L85:
		719	724 06a6 8091 0000 lds r24,ParamSet+33
		720	725 06aa 8B3F cpi r24,lo8(-5)
		721	726 06ac 00F0 brlo .L88
		722	727 06ae 8B3F cpi r24,lo8(-5)
		723	728 06b0 01F4 brne .+2
		724	729 06b2 00C0 rjmp .L208
		725	730 06b4 8C3F cpi r24,lo8(-4)
		726	731 06b6 01F4 brne .+2
		727	732 06b8 00C0 rjmp .L209
		728	733 06ba 8D3F cpi r24,lo8(-3)
		729	734 06bc 01F4 brne .+2
		730	735 06be 00C0 rjmp .L210
		731	736 06c0 8E3F cpi r24,lo8(-2)
		732	737 06c2 01F4 brne .L90
		733	738 06c4 8091 0000 lds r24,Poti4
		734	739 06c8 8093 0000 sts FCParam+13,r24
		735	740 06cc 00C0 rjmp .L90
		736	741 .L88:
		737	742 06ce 8093 0000 sts FCParam+13,r24
		738	743 .L90:
		739	744 06d2 8091 0000 lds r24,ParamSet+50
		740	745 06d6 8B3F cpi r24,lo8(-5)
		741	746 06d8 00F0 brlo .L93
		742	747 06da 8B3F cpi r24,lo8(-5)
		743	748 06dc 01F4 brne .+2
		744	749 06de 00C0 rjmp .L211
		745	750 06e0 8C3F cpi r24,lo8(-4)
		746	751 06e2 01F4 brne .+2
		747	752 06e4 00C0 rjmp .L212
		748	753 06e6 8D3F cpi r24,lo8(-3)
		749	754 06e8 01F4 brne .+2
		750	755 06ea 00C0 rjmp .L213
		751	756 06ec 8E3F cpi r24,lo8(-2)
		752	757 06ee 01F4 brne .L95
		753	758 06f0 8091 0000 lds r24,Poti4
		754	759 06f4 8093 0000 sts FCParam+14,r24
		755	760 06f8 00C0 rjmp .L95
		756	761 .L93:
		757	762 06fa 8093 0000 sts FCParam+14,r24
		758	763 .L95:
		759	764 06fe 8091 0000 lds r24,ParamSet+51
		760	765 0702 8B3F cpi r24,lo8(-5)
		761	766 0704 00F0 brlo .L98
		762	767 0706 8B3F cpi r24,lo8(-5)
		763	768 0708 01F4 brne .+2
		764	769 070a 00C0 rjmp .L214
		765	770 070c 8C3F cpi r24,lo8(-4)
		766	771 070e 01F4 brne .+2
		767	772 0710 00C0 rjmp .L215
		768	773 0712 8D3F cpi r24,lo8(-3)
		769	774 0714 01F4 brne .+2
		770	775 0716 00C0 rjmp .L216
		771	776 0718 8E3F cpi r24,lo8(-2)
		772	777 071a 01F4 brne .L100
		773	778 071c 8091 0000 lds r24,Poti4
		774	779 0720 8093 0000 sts FCParam+15,r24
		775	780 0724 00C0 rjmp .L100
		776	781 .L98:
		777	782 0726 8093 0000 sts FCParam+15,r24
		778	783 .L100:
		779	784 072a 8091 0000 lds r24,ParamSet+52
		780	785 072e 8B3F cpi r24,lo8(-5)
		781	786 0730 00F0 brlo .L103
		782	787 0732 8B3F cpi r24,lo8(-5)
		783	788 0734 01F4 brne .+2
		784	789 0736 00C0 rjmp .L217
		785	790 0738 8C3F cpi r24,lo8(-4)
		786	791 073a 01F4 brne .+2
		787	792 073c 00C0 rjmp .L218
		788	793 073e 8D3F cpi r24,lo8(-3)
		789	794 0740 01F4 brne .+2
		790	795 0742 00C0 rjmp .L219
		791	796 0744 8E3F cpi r24,lo8(-2)
		792	797 0746 01F4 brne .L105
		793	798 0748 8091 0000 lds r24,Poti4
		794	799 074c 8093 0000 sts FCParam+16,r24
		795	800 0750 00C0 rjmp .L105
		796	801 .L103:
		797	802 0752 8093 0000 sts FCParam+16,r24
		798	803 .L105:
		799	804 0756 8091 0000 lds r24,ParamSet+53
		800	805 075a 8B3F cpi r24,lo8(-5)
		801	806 075c 00F0 brlo .L108
		802	807 075e 8B3F cpi r24,lo8(-5)
		803	808 0760 01F4 brne .+2
		804	809 0762 00C0 rjmp .L220
		805	810 0764 8C3F cpi r24,lo8(-4)
		806	811 0766 01F4 brne .+2
		807	812 0768 00C0 rjmp .L221
		808	813 076a 8D3F cpi r24,lo8(-3)
		809	814 076c 01F4 brne .+2
		810	815 076e 00C0 rjmp .L222
		811	816 0770 8E3F cpi r24,lo8(-2)
		812	817 0772 01F4 brne .L110
		813	818 0774 8091 0000 lds r24,Poti4
		814	819 0778 8093 0000 sts FCParam+17,r24
		815	820 077c 00C0 rjmp .L110
		816	821 .L108:
		817	822 077e 8093 0000 sts FCParam+17,r24
		818	823 .L110:
		819	824 0782 8091 0000 lds r24,ParamSet+34
		820	825 0786 8B3F cpi r24,lo8(-5)
		821	826 0788 00F0 brlo .L113
		822	827 078a 8B3F cpi r24,lo8(-5)
		823	828 078c 01F4 brne .+2
		824	829 078e 00C0 rjmp .L223
		825	830 0790 8C3F cpi r24,lo8(-4)
		826	831 0792 01F4 brne .+2
		827	832 0794 00C0 rjmp .L224
		828	833 0796 8D3F cpi r24,lo8(-3)
		829	834 0798 01F4 brne .+2
		830	835 079a 00C0 rjmp .L225
		831	836 079c 8E3F cpi r24,lo8(-2)
		832	837 079e 01F4 brne .L115
		833	838 07a0 8091 0000 lds r24,Poti4
		834	839 07a4 8093 0000 sts FCParam+18,r24
		835	840 07a8 00C0 rjmp .L115
		836	841 .L113:
		837	842 07aa 8093 0000 sts FCParam+18,r24
		838	843 .L115:
		839	844 07ae 8091 0000 lds r24,ParamSet+39
		840	845 07b2 8B3F cpi r24,lo8(-5)
		841	846 07b4 00F0 brlo .L118
		842	847 07b6 8B3F cpi r24,lo8(-5)
		843	848 07b8 01F4 brne .+2
		844	849 07ba 00C0 rjmp .L226
		845	850 07bc 8C3F cpi r24,lo8(-4)
		846	851 07be 01F4 brne .+2
		847	852 07c0 00C0 rjmp .L227
		848	853 07c2 8D3F cpi r24,lo8(-3)
		849	854 07c4 01F4 brne .+2
		850	855 07c6 00C0 rjmp .L228
		851	856 07c8 8E3F cpi r24,lo8(-2)
		852	857 07ca 01F4 brne .L120
		853	858 07cc 8091 0000 lds r24,Poti4
		854	859 07d0 8093 0000 sts FCParam+19,r24
		855	860 07d4 00C0 rjmp .L120
		856	861 .L118:
		857	862 07d6 8093 0000 sts FCParam+19,r24
		858	863 .L120:
		859	864 07da 8091 0000 lds r24,ParamSet+42
		860	865 07de 8B3F cpi r24,lo8(-5)
		861	866 07e0 00F0 brlo .L123
		862	867 07e2 8B3F cpi r24,lo8(-5)
		863	868 07e4 01F4 brne .+2
		864	869 07e6 00C0 rjmp .L229
		865	870 07e8 8C3F cpi r24,lo8(-4)
		866	871 07ea 01F4 brne .+2
		867	872 07ec 00C0 rjmp .L230
		868	873 07ee 8D3F cpi r24,lo8(-3)
		869	874 07f0 01F4 brne .+2
		870	875 07f2 00C0 rjmp .L231
		871	876 07f4 8E3F cpi r24,lo8(-2)
		872	877 07f6 01F4 brne .L125
		873	878 07f8 8091 0000 lds r24,Poti4
		874	879 07fc 8093 0000 sts FCParam+20,r24
		875	880 0800 00C0 rjmp .L125
		876	881 .L123:
		877	882 0802 8093 0000 sts FCParam+20,r24
		878	883 .L125:
		879	884 0806 8091 0000 lds r24,ParamSet+43
		880	885 080a 8B3F cpi r24,lo8(-5)
		881	886 080c 00F0 brlo .L128
		882	887 080e 8B3F cpi r24,lo8(-5)
		883	888 0810 01F4 brne .+2
		884	889 0812 00C0 rjmp .L232
		885	890 0814 8C3F cpi r24,lo8(-4)
		886	891 0816 01F4 brne .+2
		887	892 0818 00C0 rjmp .L233
		888	893 081a 8D3F cpi r24,lo8(-3)
		889	894 081c 01F4 brne .+2
		890	895 081e 00C0 rjmp .L234
		891	896 0820 8E3F cpi r24,lo8(-2)
		892	897 0822 01F4 brne .L130
		893	898 0824 8091 0000 lds r24,Poti4
		894	899 0828 8093 0000 sts FCParam+21,r24
		895	900 082c 00C0 rjmp .L130
		896	901 .L128:
		897	902 082e 8093 0000 sts FCParam+21,r24
		898	903 .L130:
		899	904 0832 8091 0000 lds r24,ParamSet+44
		900	905 0836 8B3F cpi r24,lo8(-5)
		901	906 0838 00F0 brlo .L133
		902	907 083a 8B3F cpi r24,lo8(-5)
		903	908 083c 01F4 brne .+2
		904	909 083e 00C0 rjmp .L235
		905	910 0840 8C3F cpi r24,lo8(-4)
		906	911 0842 01F4 brne .+2
		907	912 0844 00C0 rjmp .L236
		908	913 0846 8D3F cpi r24,lo8(-3)
		909	914 0848 01F4 brne .+2
		910	915 084a 00C0 rjmp .L237
		911	916 084c 8E3F cpi r24,lo8(-2)
		912	917 084e 01F4 brne .L135
		913	918 0850 8091 0000 lds r24,Poti4
		914	919 0854 8093 0000 sts FCParam+22,r24
		915	920 0858 00C0 rjmp .L135
		916	921 .L133:
		917	922 085a 8093 0000 sts FCParam+22,r24
		918	923 .L135:
		919	924 085e 8091 0000 lds r24,ParamSet+49
		920	925 0862 8B3F cpi r24,lo8(-5)
		921	926 0864 00F0 brlo .L138
		922	927 0866 8B3F cpi r24,lo8(-5)
		923	928 0868 01F4 brne .+2
		924	929 086a 00C0 rjmp .L238
		925	930 086c 8C3F cpi r24,lo8(-4)
		926	931 086e 01F4 brne .+2
		927	932 0870 00C0 rjmp .L239
		928	933 0872 8D3F cpi r24,lo8(-3)
		929	934 0874 01F4 brne .+2
		930	935 0876 00C0 rjmp .L240
		931	936 0878 8E3F cpi r24,lo8(-2)
		932	937 087a 01F4 brne .L140
		933	938 087c 8091 0000 lds r24,Poti4
		934	939 0880 8093 0000 sts FCParam+23,r24
		935	940 0884 00C0 rjmp .L140
		936	941 .L138:
		937	942 0886 8093 0000 sts FCParam+23,r24
		938	943 .L140:
		939	944 088a 8091 0000 lds r24,ParamSet+55
		940	945 088e 8B3F cpi r24,lo8(-5)
		941	946 0890 00F0 brlo .L143
		942	947 0892 8B3F cpi r24,lo8(-5)
		943	948 0894 01F4 brne .+2
		944	949 0896 00C0 rjmp .L241
		945	950 0898 8C3F cpi r24,lo8(-4)
		946	951 089a 01F4 brne .+2
		947	952 089c 00C0 rjmp .L242
		948	953 089e 8D3F cpi r24,lo8(-3)
		949	954 08a0 01F4 brne .+2
		950	955 08a2 00C0 rjmp .L243
		951	956 08a4 8E3F cpi r24,lo8(-2)
		952	957 08a6 01F4 brne .L145
		953	958 08a8 8091 0000 lds r24,Poti4
		954	959 08ac 8093 0000 sts FCParam+25,r24
		955	960 08b0 00C0 rjmp .L145
		956	961 .L143:
		957	962 08b2 8093 0000 sts FCParam+25,r24
		958	963 .L145:
		959	964 08b6 8091 0000 lds r24,FCParam+25
		960	965 08ba 8230 cpi r24,lo8(2)
		961	966 08bc 00F4 brsh .+2
		962	967 08be 00C0 rjmp .L244
		963	968 08c0 8F3F cpi r24,lo8(-1)
		964	969 08c2 01F4 brne .+2
		965	970 08c4 00C0 rjmp .L245
		966	971 .L149:
		967	972 08c6 8091 0000 lds r24,ParamSet+57
		968	973 08ca 8B3F cpi r24,lo8(-5)
		969	974 08cc 00F0 brlo .L150
		970	975 08ce 8B3F cpi r24,lo8(-5)
		971	976 08d0 01F0 breq .L246
		972	977 08d2 8C3F cpi r24,lo8(-4)
		973	978 08d4 01F4 brne .+2
		974	979 08d6 00C0 rjmp .L247
		975	980 08d8 8D3F cpi r24,lo8(-3)
		976	981 08da 01F4 brne .+2
		977	982 08dc 00C0 rjmp .L248
		978	983 08de 8E3F cpi r24,lo8(-2)
		979	984 08e0 01F4 brne .L152
		980	985 08e2 8091 0000 lds r24,Poti4
		981	986 08e6 8093 0000 sts FCParam+26,r24
		982	987 08ea 00C0 rjmp .L152
		983	988 .L150:
		984	989 08ec 8093 0000 sts FCParam+26,r24
		985	990 .L152:
		986	991 08f0 8091 0000 lds r24,FCParam+26
		987	992 08f4 8230 cpi r24,lo8(2)
		988	993 08f6 00F4 brsh .+2
		989	994 08f8 00C0 rjmp .L249
		990	995 08fa 8F3F cpi r24,lo8(-1)
		991	996 08fc 01F4 brne .+2
		992	997 08fe 00C0 rjmp .L250
		993	998 .L156:
		994	999 0900 8091 0000 lds r24,ParamSet+74
		995	1000 0904 8B3F cpi r24,lo8(-5)
		996	1001 0906 00F4 brsh .+2
		997	1002 0908 00C0 rjmp .L157
		998	1003 090a 8B3F cpi r24,lo8(-5)
		999	1004 090c 01F4 brne .+2
		1000	1005 090e 00C0 rjmp .L251
		1001	1006 0910 8C3F cpi r24,lo8(-4)
		1002	1007 0912 01F4 brne .+2
		1003	1008 0914 00C0 rjmp .L252
		1004	1009 0916 8D3F cpi r24,lo8(-3)
		1005	1010 0918 01F4 brne .+2
		1006	1011 091a 00C0 rjmp .L253
		1007	1012 091c 8E3F cpi r24,lo8(-2)
		1008	1013 091e 01F0 breq .+2
		1009	1014 0920 00C0 rjmp .L159
		1010	1015 0922 8091 0000 lds r24,Poti4
		1011	1016 0926 8093 0000 sts FCParam+24,r24
		1012	1017 092a 00C0 rjmp .L159
		1013	1018 .L246:
		1014	1019 092c 8091 0000 lds r24,Poti1
		1015	1020 0930 8093 0000 sts FCParam+26,r24
		1016	1021 0934 00C0 rjmp .L152
		1017	1022 .L241:
		1018	1023 0936 8091 0000 lds r24,Poti1
		1019	1024 093a 8093 0000 sts FCParam+25,r24
		1020	1025 093e 00C0 rjmp .L145
		1021	1026 .L238:
		1022	1027 0940 8091 0000 lds r24,Poti1
		1023	1028 0944 8093 0000 sts FCParam+23,r24
		1024	1029 0948 00C0 rjmp .L140
		1025	1030 .L235:
		1026	1031 094a 8091 0000 lds r24,Poti1
		1027	1032 094e 8093 0000 sts FCParam+22,r24
		1028	1033 0952 00C0 rjmp .L135
		1029	1034 .L232:
		1030	1035 0954 8091 0000 lds r24,Poti1
		1031	1036 0958 8093 0000 sts FCParam+21,r24
		1032	1037 095c 00C0 rjmp .L130
		1033	1038 .L229:
		1034	1039 095e 8091 0000 lds r24,Poti1
		1035	1040 0962 8093 0000 sts FCParam+20,r24
		1036	1041 0966 00C0 rjmp .L125
		1037	1042 .L226:
		1038	1043 0968 8091 0000 lds r24,Poti1
		1039	1044 096c 8093 0000 sts FCParam+19,r24
		1040	1045 0970 00C0 rjmp .L120
		1041	1046 .L223:
		1042	1047 0972 8091 0000 lds r24,Poti1
		1043	1048 0976 8093 0000 sts FCParam+18,r24
		1044	1049 097a 00C0 rjmp .L115
		1045	1050 .L220:
		1046	1051 097c 8091 0000 lds r24,Poti1
		1047	1052 0980 8093 0000 sts FCParam+17,r24
		1048	1053 0984 00C0 rjmp .L110
		1049	1054 .L217:
		1050	1055 0986 8091 0000 lds r24,Poti1
		1051	1056 098a 8093 0000 sts FCParam+16,r24
		1052	1057 098e 00C0 rjmp .L105
		1053	1058 .L251:
		1054	1059 0990 8091 0000 lds r24,Poti1
		1055	1060 0994 8093 0000 sts FCParam+24,r24
		1056	1061 0998 00C0 rjmp .L159
		1057	1062 .L184:
		1058	1063 099a 8091 0000 lds r24,Poti1
		1059	1064 099e 8093 0000 sts FCParam+4,r24
		1060	1065 09a2 00C0 rjmp .L48
		1061	1066 .L190:
		1062	1067 09a4 8091 0000 lds r24,Poti1
		1063	1068 09a8 8093 0000 sts FCParam+7,r24
		1064	1069 09ac 00C0 rjmp .L60
		1065	1070 .L187:
		1066	1071 09ae 8091 0000 lds r24,Poti1
		1067	1072 09b2 8093 0000 sts FCParam+6,r24
		1068	1073 09b6 00C0 rjmp .L53
		1069	1074 .L173:
		1070	1075 09b8 8091 0000 lds r24,Poti1
		1071	1076 09bc 8093 0000 sts FCParam+1,r24
		1072	1077 09c0 00C0 rjmp .L24
		1073	1078 .L170:
		1074	1079 09c2 8091 0000 lds r24,Poti1
		1075	1080 09c6 8093 0000 sts FCParam,r24
		1076	1081 09ca 00C0 rjmp .L29
		1077	1082 .L176:
		1078	1083 09cc 8091 0000 lds r24,Poti1
		1079	1084 09d0 8093 0000 sts FCParam+2,r24
		1080	1085 09d4 00C0 rjmp .L36
		1081	1086 .L180:
		1082	1087 09d6 8091 0000 lds r24,Poti1
		1083	1088 09da 8093 0000 sts FCParam+3,r24
		1084	1089 09de 00C0 rjmp .L43
		1085	1090 .L193:
		1086	1091 09e0 8091 0000 lds r24,Poti1
		1087	1092 09e4 8093 0000 sts FCParam+5,r24
		1088	1093 09e8 00C0 rjmp .L65
		1089	1094 .L196:
		1090	1095 09ea 8091 0000 lds r24,Poti1
		1091	1096 09ee 8093 0000 sts FCParam+9,r24
		1092	1097 09f2 00C0 rjmp .L70
		1093	1098 .L202:
		1094	1099 09f4 8091 0000 lds r24,Poti1
		1095	1100 09f8 8093 0000 sts FCParam+11,r24
		1096	1101 09fc 00C0 rjmp .L80
		1097	1102 .L199:
		1098	1103 09fe 8091 0000 lds r24,Poti1
		1099	1104 0a02 8093 0000 sts FCParam+10,r24
		1100	1105 0a06 00C0 rjmp .L75
		1101	1106 .L214:
		1102	1107 0a08 8091 0000 lds r24,Poti1
		1103	1108 0a0c 8093 0000 sts FCParam+15,r24
		1104	1109 0a10 00C0 rjmp .L100
		1105	1110 .L211:
		1106	1111 0a12 8091 0000 lds r24,Poti1
		1107	1112 0a16 8093 0000 sts FCParam+14,r24
		1108	1113 0a1a 00C0 rjmp .L95
		1109	1114 .L208:
		1110	1115 0a1c 8091 0000 lds r24,Poti1
		1111	1116 0a20 8093 0000 sts FCParam+13,r24
		1112	1117 0a24 00C0 rjmp .L90
		1113	1118 .L205:
		1114	1119 0a26 8091 0000 lds r24,Poti1
		1115	1120 0a2a 8093 0000 sts FCParam+12,r24
		1116	1121 0a2e 00C0 rjmp .L85
		1117	1122 .L249:
		1118	1123 0a30 81E0 ldi r24,lo8(1)
		1119	1124 0a32 8093 0000 sts FCParam+26,r24
		1120	1125 0a36 00C0 rjmp .L156
		1121	1126 .L244:
		1122	1127 0a38 81E0 ldi r24,lo8(1)
		1123	1128 0a3a 8093 0000 sts FCParam+25,r24
		1124	1129 0a3e 00C0 rjmp .L149
		1125	1130 .L245:
		1126	1131 0a40 8093 0000 sts FCParam+25,r24
		1127	1132 0a44 00C0 rjmp .L149
		1128	1133 .L250:
		1129	1134 0a46 8093 0000 sts FCParam+26,r24
		1130	1135 0a4a 00C0 rjmp .L156
		1131	1136 .L177:
		1132	1137 0a4c 8091 0000 lds r24,Poti2
		1133	1138 0a50 8093 0000 sts FCParam+2,r24
		1134	1139 0a54 00C0 rjmp .L36
		1135	1140 .L171:
		1136	1141 0a56 8091 0000 lds r24,Poti2
		1137	1142 0a5a 8093 0000 sts FCParam,r24
		1138	1143 0a5e 00C0 rjmp .L29
		1139	1144 .L206:
		1140	1145 0a60 8091 0000 lds r24,Poti2
		1141	1146 0a64 8093 0000 sts FCParam+12,r24
		1142	1147 0a68 00C0 rjmp .L85
		1143	1148 .L212:
		1144	1149 0a6a 8091 0000 lds r24,Poti2
		1145	1150 0a6e 8093 0000 sts FCParam+14,r24
		1146	1151 0a72 00C0 rjmp .L95
		1147	1152 .L209:
		1148	1153 0a74 8091 0000 lds r24,Poti2
		1149	1154 0a78 8093 0000 sts FCParam+13,r24
		1150	1155 0a7c 00C0 rjmp .L90
		1151	1156 .L194:
		1152	1157 0a7e 8091 0000 lds r24,Poti2
		1153	1158 0a82 8093 0000 sts FCParam+5,r24
		1154	1159 0a86 00C0 rjmp .L65
		1155	1160 .L181:
		1156	1161 0a88 8091 0000 lds r24,Poti2
		1157	1162 0a8c 8093 0000 sts FCParam+3,r24
		1158	1163 0a90 00C0 rjmp .L43
		1159	1164 .L185:
		1160	1165 0a92 8091 0000 lds r24,Poti2
		1161	1166 0a96 8093 0000 sts FCParam+4,r24
		1162	1167 0a9a 00C0 rjmp .L48
		1163	1168 .L197:
		1164	1169 0a9c 8091 0000 lds r24,Poti2
		1165	1170 0aa0 8093 0000 sts FCParam+9,r24
		1166	1171 0aa4 00C0 rjmp .L70
		1167	1172 .L200:
		1168	1173 0aa6 8091 0000 lds r24,Poti2
		1169	1174 0aaa 8093 0000 sts FCParam+10,r24
		1170	1175 0aae 00C0 rjmp .L75
		1171	1176 .L203:
		1172	1177 0ab0 8091 0000 lds r24,Poti2
		1173	1178 0ab4 8093 0000 sts FCParam+11,r24
		1174	1179 0ab8 00C0 rjmp .L80
		1175	1180 .L227:
		1176	1181 0aba 8091 0000 lds r24,Poti2
		1177	1182 0abe 8093 0000 sts FCParam+19,r24
		1178	1183 0ac2 00C0 rjmp .L120
		1179	1184 .L233:
		1180	1185 0ac4 8091 0000 lds r24,Poti2
		1181	1186 0ac8 8093 0000 sts FCParam+21,r24
		1182	1187 0acc 00C0 rjmp .L130
		1183	1188 .L230:
		1184	1189 0ace 8091 0000 lds r24,Poti2
		1185	1190 0ad2 8093 0000 sts FCParam+20,r24
		1186	1191 0ad6 00C0 rjmp .L125
		1187	1192 .L218:
		1188	1193 0ad8 8091 0000 lds r24,Poti2
		1189	1194 0adc 8093 0000 sts FCParam+16,r24
		1190	1195 0ae0 00C0 rjmp .L105
		1191	1196 .L224:
		1192	1197 0ae2 8091 0000 lds r24,Poti2
		1193	1198 0ae6 8093 0000 sts FCParam+18,r24
		1194	1199 0aea 00C0 rjmp .L115
		1195	1200 .L221:
		1196	1201 0aec 8091 0000 lds r24,Poti2
		1197	1202 0af0 8093 0000 sts FCParam+17,r24
		1198	1203 0af4 00C0 rjmp .L110
		1199	1204 .L236:
		1200	1205 0af6 8091 0000 lds r24,Poti2
		1201	1206 0afa 8093 0000 sts FCParam+22,r24
		1202	1207 0afe 00C0 rjmp .L135
		1203	1208 .L215:
		1204	1209 0b00 8091 0000 lds r24,Poti2
		1205	1210 0b04 8093 0000 sts FCParam+15,r24
		1206	1211 0b08 00C0 rjmp .L100
		1207	1212 .L174:
		1208	1213 0b0a 8091 0000 lds r24,Poti2
		1209	1214 0b0e 8093 0000 sts FCParam+1,r24
		1210	1215 0b12 00C0 rjmp .L24
		1211	1216 .L191:
		1212	1217 0b14 8091 0000 lds r24,Poti2
		1213	1218 0b18 8093 0000 sts FCParam+7,r24
		1214	1219 0b1c 00C0 rjmp .L60
		1215	1220 .L188:
		1216	1221 0b1e 8091 0000 lds r24,Poti2
		1217	1222 0b22 8093 0000 sts FCParam+6,r24
		1218	1223 0b26 00C0 rjmp .L53
		1219	1224 .L252:
		1220	1225 0b28 8091 0000 lds r24,Poti2
		1221	1226 0b2c 8093 0000 sts FCParam+24,r24
		1222	1227 0b30 00C0 rjmp .L159
		1223	1228 .L247:
		1224	1229 0b32 8091 0000 lds r24,Poti2
		1225	1230 0b36 8093 0000 sts FCParam+26,r24
		1226	1231 0b3a 00C0 rjmp .L152
		1227	1232 .L242:
		1228	1233 0b3c 8091 0000 lds r24,Poti2
		1229	1234 0b40 8093 0000 sts FCParam+25,r24
		1230	1235 0b44 00C0 rjmp .L145
		1231	1236 .L239:
		1232	1237 0b46 8091 0000 lds r24,Poti2
		1233	1238 0b4a 8093 0000 sts FCParam+23,r24
		1234	1239 0b4e 00C0 rjmp .L140
		1235	1240 .L248:
		1236	1241 0b50 8091 0000 lds r24,Poti3
		1237	1242 0b54 8093 0000 sts FCParam+26,r24
		1238	1243 0b58 00C0 rjmp .L152
		1239	1244 .L253:
		1240	1245 0b5a 8091 0000 lds r24,Poti3
		1241	1246 0b5e 8093 0000 sts FCParam+24,r24
		1242	1247 0b62 00C0 rjmp .L159
		1243	1248 .L219:
		1244	1249 0b64 8091 0000 lds r24,Poti3
		1245	1250 0b68 8093 0000 sts FCParam+16,r24
		1246	1251 0b6c 00C0 rjmp .L105
		1247	1252 .L231:
		1248	1253 0b6e 8091 0000 lds r24,Poti3
		1249	1254 0b72 8093 0000 sts FCParam+20,r24
		1250	1255 0b76 00C0 rjmp .L125
		1251	1256 .L222:
		1252	1257 0b78 8091 0000 lds r24,Poti3
		1253	1258 0b7c 8093 0000 sts FCParam+17,r24
		1254	1259 0b80 00C0 rjmp .L110
		1255	1260 .L234:
		1256	1261 0b82 8091 0000 lds r24,Poti3
		1257	1262 0b86 8093 0000 sts FCParam+21,r24
		1258	1263 0b8a 00C0 rjmp .L130
		1259	1264 .L240:
		1260	1265 0b8c 8091 0000 lds r24,Poti3
		1261	1266 0b90 8093 0000 sts FCParam+23,r24
		1262	1267 0b94 00C0 rjmp .L140
		1263	1268 .L243:
		1264	1269 0b96 8091 0000 lds r24,Poti3
		1265	1270 0b9a 8093 0000 sts FCParam+25,r24
		1266	1271 0b9e 00C0 rjmp .L145
		1267	1272 .L225:
		1268	1273 0ba0 8091 0000 lds r24,Poti3
		1269	1274 0ba4 8093 0000 sts FCParam+18,r24
		1270	1275 0ba8 00C0 rjmp .L115
		1271	1276 .L237:
		1272	1277 0baa 8091 0000 lds r24,Poti3
		1273	1278 0bae 8093 0000 sts FCParam+22,r24
		1274	1279 0bb2 00C0 rjmp .L135
		1275	1280 .L178:
		1276	1281 0bb4 8091 0000 lds r24,Poti3
		1277	1282 0bb8 8093 0000 sts FCParam+2,r24
		1278	1283 0bbc 00C0 rjmp .L36
		1279	1284 .L201:
		1280	1285 0bbe 8091 0000 lds r24,Poti3
		1281	1286 0bc2 8093 0000 sts FCParam+10,r24
		1282	1287 0bc6 00C0 rjmp .L75
		1283	1288 .L186:
		1284	1289 0bc8 8091 0000 lds r24,Poti3
		1285	1290 0bcc 8093 0000 sts FCParam+4,r24
		1286	1291 0bd0 00C0 rjmp .L48
		1287	1292 .L207:
		1288	1293 0bd2 8091 0000 lds r24,Poti3
		1289	1294 0bd6 8093 0000 sts FCParam+12,r24
		1290	1295 0bda 00C0 rjmp .L85
		1291	1296 .L216:
		1292	1297 0bdc 8091 0000 lds r24,Poti3
		1293	1298 0be0 8093 0000 sts FCParam+15,r24
		1294	1299 0be4 00C0 rjmp .L100
		1295	1300 .L228:
		1296	1301 0be6 8091 0000 lds r24,Poti3
		1297	1302 0bea 8093 0000 sts FCParam+19,r24
		1298	1303 0bee 00C0 rjmp .L120
		1299	1304 .L192:
		1300	1305 0bf0 8091 0000 lds r24,Poti3
		1301	1306 0bf4 8093 0000 sts FCParam+7,r24
		1302	1307 0bf8 00C0 rjmp .L60
		1303	1308 .L213:
		1304	1309 0bfa 8091 0000 lds r24,Poti3
		1305	1310 0bfe 8093 0000 sts FCParam+14,r24
		1306	1311 0c02 00C0 rjmp .L95
		1307	1312 .L172:
		1308	1313 0c04 8091 0000 lds r24,Poti3
		1309	1314 0c08 8093 0000 sts FCParam,r24
		1310	1315 0c0c 00C0 rjmp .L29
		1311	1316 .L198:
		1312	1317 0c0e 8091 0000 lds r24,Poti3
		1313	1318 0c12 8093 0000 sts FCParam+9,r24
		1314	1319 0c16 00C0 rjmp .L70
		1315	1320 .L182:
		1316	1321 0c18 8091 0000 lds r24,Poti3
		1317	1322 0c1c 8093 0000 sts FCParam+3,r24
		1318	1323 0c20 00C0 rjmp .L43
		1319	1324 .L204:
		1320	1325 0c22 8091 0000 lds r24,Poti3
		1321	1326 0c26 8093 0000 sts FCParam+11,r24
		1322	1327 0c2a 00C0 rjmp .L80
		1323	1328 .L175:
		1324	1329 0c2c 8091 0000 lds r24,Poti3
		1325	1330 0c30 8093 0000 sts FCParam+1,r24
		1326	1331 0c34 00C0 rjmp .L24
		1327	1332 .L195:
		1328	1333 0c36 8091 0000 lds r24,Poti3
		1329	1334 0c3a 8093 0000 sts FCParam+5,r24
		1330	1335 0c3e 00C0 rjmp .L65
		1331	1336 .L189:
		1332	1337 0c40 8091 0000 lds r24,Poti3
		1333	1338 0c44 8093 0000 sts FCParam+6,r24
		1334	1339 0c48 00C0 rjmp .L53
		1335	1340 .L210:
		1336	1341 0c4a 8091 0000 lds r24,Poti3
		1337	1342 0c4e 8093 0000 sts FCParam+13,r24
		1338	1343 0c52 00C0 rjmp .L90
		1339	1345 .global SendMotorData
		1340	1347 SendMotorData:
		1341	1348 /* prologue: function */
		1342	1349 /* frame size = 0 */
		1343	1350 0c54 8091 0000 lds r24,MKFlags
		1344	1351 0c58 80FD sbrc r24,0
		1345	1352 0c5a 00C0 rjmp .L255
		1346	1353 0c5c 8091 0000 lds r24,MKFlags
		1347	1354 0c60 857F andi r24,lo8(-11)
		1348	1355 0c62 8093 0000 sts MKFlags,r24
		1349	1356 0c66 9091 0000 lds r25,MotorTest_Active
		1350	1357 0c6a E0E0 ldi r30,lo8(Motor)
		1351	1358 0c6c F0E0 ldi r31,hi8(Motor)
		1352	1359 0c6e A0E0 ldi r26,lo8(MotorTest)
		1353	1360 0c70 B0E0 ldi r27,hi8(MotorTest)
		1354	1361 0c72 00C0 rjmp .L258
		1355	1362 .L263:
		1356	1363 0c74 1082 st Z,__zero_reg__
		1357	1364 0c76 3596 adiw r30,5
		1358	1365 0c78 1196 adiw r26,1
		1359	1366 0c7a 80E0 ldi r24,hi8(Motor+60)
		1360	1367 0c7c E030 cpi r30,lo8(Motor+60)
		1361	1368 0c7e F807 cpc r31,r24
		1362	1369 0c80 01F0 breq .L262
		1363	1370 .L258:
		1364	1371 0c82 9923 tst r25
		1365	1372 0c84 01F0 breq .L263
		1366	1373 0c86 8C91 ld r24,X
		1367	1374 0c88 8083 st Z,r24
		1368	1375 0c8a 3596 adiw r30,5
		1369	1376 0c8c 1196 adiw r26,1
		1370	1377 0c8e 80E0 ldi r24,hi8(Motor+60)
		1371	1378 0c90 E030 cpi r30,lo8(Motor+60)
		1372	1379 0c92 F807 cpc r31,r24
		1373	1380 0c94 01F4 brne .L258
		1374	1381 .L262:
		1375	1382 0c96 9923 tst r25
		1376	1383 0c98 01F0 breq .L255
		1377	1384 0c9a 9150 subi r25,lo8(-(-1))
		1378	1385 0c9c 9093 0000 sts MotorTest_Active,r25
		1379	1386 .L255:
		1380	1387 0ca0 E0E0 ldi r30,lo8(DebugOut+26)
		1381	1388 0ca2 F0E0 ldi r31,hi8(DebugOut+26)
		1382	1389 0ca4 8091 0000 lds r24,Motor
		1383	1390 0ca8 8093 0000 sts DebugOut+26,r24
		1384	1391 0cac 1092 0000 sts DebugOut+27,__zero_reg__
		1385	1392 0cb0 8091 0000 lds r24,Motor+5
		1386	1393 0cb4 8093 0000 sts DebugOut+28,r24
		1387	1394 0cb8 1382 std Z+3,__zero_reg__
		1388	1395 0cba 8091 0000 lds r24,Motor+15
		1389	1396 0cbe 8093 0000 sts DebugOut+30,r24
		1390	1397 0cc2 1582 std Z+5,__zero_reg__
		1391	1398 0cc4 8091 0000 lds r24,Motor+10
		1392	1399 0cc8 8093 0000 sts DebugOut+32,r24
		1393	1400 0ccc 1782 std Z+7,__zero_reg__
		1394	1401 0cce 80E0 ldi r24,lo8(0)
		1395	1402 0cd0 0E94 0000 call I2C_Start
		1396	1403 /* epilogue start */
		1397	1404 0cd4 0895 ret
		1398	1406 .global SetNeutral
		1399	1408 SetNeutral:
		1400	1409 0cd6 1F93 push r17
		1401	1410 /* prologue: function */
		1402	1411 /* frame size = 0 */
		1403	1412 0cd8 182F mov r17,r24
		1404	1413 0cda 0E94 0000 call Servo_Off
		1405	1414 0cde 1092 0000 sts FCParam+20,__zero_reg__
		1406	1415 0ce2 1092 0000 sts FCParam+21,__zero_reg__
		1407	1416 0ce6 0E94 0000 call analog_calibrate
		1408	1417 0cea 1092 0000 sts (GyroNick)+1,__zero_reg__
		1409	1418 0cee 1092 0000 sts GyroNick,__zero_reg__
		1410	1419 0cf2 1092 0000 sts (GyroRoll)+1,__zero_reg__
		1411	1420 0cf6 1092 0000 sts GyroRoll,__zero_reg__
		1412	1421 0cfa 1092 0000 sts (GyroYaw)+1,__zero_reg__
		1413	1422 0cfe 1092 0000 sts GyroYaw,__zero_reg__
		1414	1423 0d02 1092 0000 sts IntegralGyroNick,__zero_reg__
		1415	1424 0d06 1092 0000 sts (IntegralGyroNick)+1,__zero_reg__
		1416	1425 0d0a 1092 0000 sts (IntegralGyroNick)+2,__zero_reg__
		1417	1426 0d0e 1092 0000 sts (IntegralGyroNick)+3,__zero_reg__
		1418	1427 0d12 1092 0000 sts ReadingIntegralGyroNick,__zero_reg__
		1419	1428 0d16 1092 0000 sts (ReadingIntegralGyroNick)+1,__zero_reg__
		1420	1429 0d1a 1092 0000 sts (ReadingIntegralGyroNick)+2,__zero_reg__
		1421	1430 0d1e 1092 0000 sts (ReadingIntegralGyroNick)+3,__zero_reg__
		1422	1431 0d22 1092 0000 sts IntegralGyroRoll,__zero_reg__
		1423	1432 0d26 1092 0000 sts (IntegralGyroRoll)+1,__zero_reg__
		1424	1433 0d2a 1092 0000 sts (IntegralGyroRoll)+2,__zero_reg__
		1425	1434 0d2e 1092 0000 sts (IntegralGyroRoll)+3,__zero_reg__
		1426	1435 0d32 1092 0000 sts ReadingIntegralGyroRoll,__zero_reg__
		1427	1436 0d36 1092 0000 sts (ReadingIntegralGyroRoll)+1,__zero_reg__
		1428	1437 0d3a 1092 0000 sts (ReadingIntegralGyroRoll)+2,__zero_reg__
		1429	1438 0d3e 1092 0000 sts (ReadingIntegralGyroRoll)+3,__zero_reg__
		1430	1439 0d42 1092 0000 sts IntegralGyroYaw,__zero_reg__
		1431	1440 0d46 1092 0000 sts (IntegralGyroYaw)+1,__zero_reg__
		1432	1441 0d4a 1092 0000 sts (IntegralGyroYaw)+2,__zero_reg__
		1433	1442 0d4e 1092 0000 sts (IntegralGyroYaw)+3,__zero_reg__
		1434	1443 0d52 1092 0000 sts ReadingIntegralGyroYaw,__zero_reg__
		1435	1444 0d56 1092 0000 sts (ReadingIntegralGyroYaw)+1,__zero_reg__
		1436	1445 0d5a 1092 0000 sts (ReadingIntegralGyroYaw)+2,__zero_reg__
		1437	1446 0d5e 1092 0000 sts (ReadingIntegralGyroYaw)+3,__zero_reg__
		1438	1447 0d62 8091 0000 lds r24,CompassHeading
		1439	1448 0d66 9091 0000 lds r25,(CompassHeading)+1
		1440	1449 0d6a 9093 0000 sts (CompassCourse)+1,r25
		1441	1450 0d6e 8093 0000 sts CompassCourse,r24
		1442	1451 0d72 AA27 clr r26
		1443	1452 0d74 97FD sbrc r25,7
		1444	1453 0d76 A095 com r26
		1445	1454 0d78 BA2F mov r27,r26
		1446	1455 0d7a 59E0 ldi r21,9
		1447	1456 0d7c 880F 1: lsl r24
		1448	1457 0d7e 991F rol r25
		1449	1458 0d80 AA1F rol r26
		1450	1459 0d82 BB1F rol r27
		1451	1460 0d84 5A95 dec r21
		1452	1461 0d86 01F4 brne 1b
		1453	1462 0d88 8093 0000 sts YawGyroHeading,r24
		1454	1463 0d8c 9093 0000 sts (YawGyroHeading)+1,r25
		1455	1464 0d90 A093 0000 sts (YawGyroHeading)+2,r26
		1456	1465 0d94 B093 0000 sts (YawGyroHeading)+3,r27
		1457	1466 0d98 82E3 ldi r24,lo8(50)
		1458	1467 0d9a 90E0 ldi r25,hi8(50)
		1459	1468 0d9c 9093 0000 sts (BeepTime)+1,r25
		1460	1469 0da0 8093 0000 sts BeepTime,r24
		1461	1470 0da4 1092 0000 sts (GPSStickNick)+1,__zero_reg__
		1462	1471 0da8 1092 0000 sts GPSStickNick,__zero_reg__
		1463	1472 0dac 1092 0000 sts (GPSStickRoll)+1,__zero_reg__
		1464	1473 0db0 1092 0000 sts GPSStickRoll,__zero_reg__
		1465	1474 0db4 8091 0000 lds r24,MKFlags
		1466	1475 0db8 8460 ori r24,lo8(4)
		1467	1476 0dba 8093 0000 sts MKFlags,r24
		1468	1477 0dbe 8FEF ldi r24,lo8(-1)
		1469	1478 0dc0 8093 0000 sts FCParam+27,r24
		1470	1479 0dc4 1092 0000 sts FCParam+28,__zero_reg__
		1471	1480 0dc8 80E2 ldi r24,lo8(32)
		1472	1481 0dca 8093 0000 sts FCParam+29,r24
		1473	1482 0dce E091 0000 lds r30,ParamSet+4
		1474	1483 0dd2 F0E0 ldi r31,lo8(0)
		1475	1484 0dd4 EE0F lsl r30
		1476	1485 0dd6 FF1F rol r31
		1477	1486 0dd8 E050 subi r30,lo8(-(PPM_in))
		1478	1487 0dda F040 sbci r31,hi8(-(PPM_in))
		1479	1488 0ddc 8081 ld r24,Z
		1480	1489 0dde 9181 ldd r25,Z+1
		1481	1490 0de0 8259 subi r24,lo8(-(110))
		1482	1491 0de2 9F4F sbci r25,hi8(-(110))
		1483	1492 0de4 9093 0000 sts (Poti1)+1,r25
		1484	1493 0de8 8093 0000 sts Poti1,r24
		1485	1494 0dec E091 0000 lds r30,ParamSet+5
		1486	1495 0df0 F0E0 ldi r31,lo8(0)
		1487	1496 0df2 EE0F lsl r30
		1488	1497 0df4 FF1F rol r31
		1489	1498 0df6 E050 subi r30,lo8(-(PPM_in))
		1490	1499 0df8 F040 sbci r31,hi8(-(PPM_in))
		1491	1500 0dfa 8081 ld r24,Z
		1492	1501 0dfc 9181 ldd r25,Z+1
		1493	1502 0dfe 8259 subi r24,lo8(-(110))
		1494	1503 0e00 9F4F sbci r25,hi8(-(110))
		1495	1504 0e02 9093 0000 sts (Poti2)+1,r25
		1496	1505 0e06 8093 0000 sts Poti2,r24
		1497	1506 0e0a E091 0000 lds r30,ParamSet+6
		1498	1507 0e0e F0E0 ldi r31,lo8(0)
		1499	1508 0e10 EE0F lsl r30
		1500	1509 0e12 FF1F rol r31
		1501	1510 0e14 E050 subi r30,lo8(-(PPM_in))
		1502	1511 0e16 F040 sbci r31,hi8(-(PPM_in))
		1503	1512 0e18 8081 ld r24,Z
		1504	1513 0e1a 9181 ldd r25,Z+1
		1505	1514 0e1c 8259 subi r24,lo8(-(110))
		1506	1515 0e1e 9F4F sbci r25,hi8(-(110))
		1507	1516 0e20 9093 0000 sts (Poti3)+1,r25
		1508	1517 0e24 8093 0000 sts Poti3,r24
		1509	1518 0e28 E091 0000 lds r30,ParamSet+7
		1510	1519 0e2c F0E0 ldi r31,lo8(0)
		1511	1520 0e2e EE0F lsl r30
		1512	1521 0e30 FF1F rol r31
		1513	1522 0e32 E050 subi r30,lo8(-(PPM_in))
		1514	1523 0e34 F040 sbci r31,hi8(-(PPM_in))
		1515	1524 0e36 8081 ld r24,Z
		1516	1525 0e38 9181 ldd r25,Z+1
		1517	1526 0e3a 8259 subi r24,lo8(-(110))
		1518	1527 0e3c 9F4F sbci r25,hi8(-(110))
		1519	1528 0e3e 9093 0000 sts (Poti4)+1,r25
		1520	1529 0e42 8093 0000 sts Poti4,r24
		1521	1530 0e46 1123 tst r17
		1522	1531 0e48 01F0 breq .L265
		1523	1532 0e4a 8091 0000 lds r24,stickOffsetNick
		1524	1533 0e4e 9091 0000 lds r25,(stickOffsetNick)+1
		1525	1534 0e52 2091 0000 lds r18,StickNick
		1526	1535 0e56 3091 0000 lds r19,(StickNick)+1
		1527	1536 0e5a 820F add r24,r18
		1528	1537 0e5c 931F adc r25,r19
		1529	1538 0e5e 9093 0000 sts (stickOffsetNick)+1,r25
		1530	1539 0e62 8093 0000 sts stickOffsetNick,r24
		1531	1540 0e66 8091 0000 lds r24,stickOffsetRoll
		1532	1541 0e6a 9091 0000 lds r25,(stickOffsetRoll)+1
		1533	1542 0e6e 2091 0000 lds r18,StickRoll
		1534	1543 0e72 3091 0000 lds r19,(StickRoll)+1
		1535	1544 0e76 820F add r24,r18
		1536	1545 0e78 931F adc r25,r19
		1537	1546 0e7a 9093 0000 sts (stickOffsetRoll)+1,r25
		1538	1547 0e7e 8093 0000 sts stickOffsetRoll,r24
		1539	1548 .L265:
		1540	1549 0e82 0E94 0000 call Servo_On
		1541	1550 0e86 84E6 ldi r24,lo8(100)
		1542	1551 0e88 90E0 ldi r25,hi8(100)
		1543	1552 0e8a 9093 0000 sts (RC_Quality)+1,r25
		1544	1553 0e8e 8093 0000 sts RC_Quality,r24
		1545	1554 /* epilogue start */
		1546	1555 0e92 1F91 pop r17
		1547	1556 0e94 0895 ret
		1548	1558 .global Beep
		1549	1560 Beep:
		1550	1561 0e96 1F93 push r17
		1551	1562 0e98 CF93 push r28
		1552	1563 0e9a DF93 push r29
		1553	1564 /* prologue: function */
		1554	1565 /* frame size = 0 */
		1555	1566 0e9c 982F mov r25,r24
		1556	1567 0e9e 8823 tst r24
		1557	1568 0ea0 01F0 breq .L271
		1558	1569 0ea2 8091 0000 lds r24,MKFlags
		1559	1570 0ea6 80FD sbrc r24,0
		1560	1571 0ea8 00C0 rjmp .L271
		1561	1572 0eaa 192F mov r17,r25
		1562	1573 0eac 1150 subi r17,lo8(-(-1))
		1563	1574 0eae C4E6 ldi r28,lo8(100)
		1564	1575 0eb0 D0E0 ldi r29,hi8(100)
		1565	1576 0eb2 00C0 rjmp .L269
		1566	1577 .L270:
		1567	1578 0eb4 8091 0000 lds r24,MKFlags
		1568	1579 0eb8 1150 subi r17,lo8(-(-1))
		1569	1580 0eba 80FD sbrc r24,0
		1570	1581 0ebc 00C0 rjmp .L271
		1571	1582 .L269:
		1572	1583 0ebe D093 0000 sts (BeepTime)+1,r29
		1573	1584 0ec2 C093 0000 sts BeepTime,r28
		1574	1585 0ec6 8AEF ldi r24,lo8(250)
		1575	1586 0ec8 90E0 ldi r25,hi8(250)
		1576	1587 0eca 0E94 0000 call Delay_ms
		1577	1588 0ece 1123 tst r17
		1578	1589 0ed0 01F4 brne .L270
		1579	1590 .L271:
		1580	1591 /* epilogue start */
		1581	1592 0ed2 DF91 pop r29
		1582	1593 0ed4 CF91 pop r28
		1583	1594 0ed6 1F91 pop r17
		1584	1595 0ed8 0895 ret
		1585	1597 .global SetCompassCalState
		1586	1599 SetCompassCalState:
		1587	1600 /* prologue: function */
		1588	1601 /* frame size = 0 */
		1589	1602 0eda 8091 0000 lds r24,ParamSet
		1590	1603 0ede A82F mov r26,r24
		1591	1604 0ee0 B0E0 ldi r27,lo8(0)
		1592	1605 0ee2 AA0F lsl r26
		1593	1606 0ee4 BB1F rol r27
		1594	1607 0ee6 FD01 movw r30,r26
		1595	1608 0ee8 E050 subi r30,lo8(-(PPM_in))
		1596	1609 0eea F040 sbci r31,hi8(-(PPM_in))
		1597	1610 0eec 8081 ld r24,Z
		1598	1611 0eee 9181 ldd r25,Z+1
		1599	1612 0ef0 8D5E subi r24,lo8(-19)
		1600	1613 0ef2 9F4F sbci r25,hi8(-19)
		1601	1614 0ef4 04F0 brlt .L273
		1602	1615 0ef6 1092 0000 sts stick.1951,__zero_reg__
		1603	1616 .L273:
		1604	1617 0efa A050 subi r26,lo8(-(PPM_in))
		1605	1618 0efc B040 sbci r27,hi8(-(PPM_in))
		1606	1619 0efe 8D91 ld r24,X+
		1607	1620 0f00 9C91 ld r25,X
		1608	1621 0f02 8A5B subi r24,lo8(-70)
		1609	1622 0f04 9F4F sbci r25,hi8(-70)
		1610	1623 0f06 04F4 brge .L276
		1611	1624 0f08 8091 0000 lds r24,stick.1951
		1612	1625 0f0c 8823 tst r24
		1613	1626 0f0e 01F4 brne .L276
		1614	1627 0f10 81E0 ldi r24,lo8(1)
		1615	1628 0f12 8093 0000 sts stick.1951,r24
		1616	1629 0f16 8091 0000 lds r24,CompassCalState
		1617	1630 0f1a 8F5F subi r24,lo8(-(1))
		1618	1631 0f1c 8093 0000 sts CompassCalState,r24
		1619	1632 0f20 8530 cpi r24,lo8(5)
		1620	1633 0f22 00F0 brlo .L277
		1621	1634 0f24 88EE ldi r24,lo8(1000)
		1622	1635 0f26 93E0 ldi r25,hi8(1000)
		1623	1636 0f28 9093 0000 sts (BeepTime)+1,r25
		1624	1637 0f2c 8093 0000 sts BeepTime,r24
		1625	1638 .L276:
		1626	1639 0f30 0895 ret
		1627	1640 .L277:
		1628	1641 0f32 0E94 0000 call Beep
		1629	1642 0f36 0895 ret
		1630	1644 .global MotorControl
		1631	1646 MotorControl:
		1632	1647 0f38 2F92 push r2
		1633	1648 0f3a 3F92 push r3
		1634	1649 0f3c 4F92 push r4
		1635	1650 0f3e 5F92 push r5
		1636	1651 0f40 6F92 push r6
		1637	1652 0f42 7F92 push r7
		1638	1653 0f44 8F92 push r8
		1639	1654 0f46 9F92 push r9
		1640	1655 0f48 AF92 push r10
		1641	1656 0f4a BF92 push r11
		1642	1657 0f4c CF92 push r12
		1643	1658 0f4e DF92 push r13
		1644	1659 0f50 EF92 push r14
		1645	1660 0f52 FF92 push r15
		1646	1661 0f54 0F93 push r16
		1647	1662 0f56 1F93 push r17
		1648	1663 0f58 DF93 push r29
		1649	1664 0f5a CF93 push r28
		1650	1665 0f5c CDB7 in r28,__SP_L__
		1651	1666 0f5e DEB7 in r29,__SP_H__
		1652	1667 0f60 6B97 sbiw r28,27
		1653	1668 0f62 0FB6 in __tmp_reg__,__SREG__
		1654	1669 0f64 F894 cli
		1655	1670 0f66 DEBF out __SP_H__,r29
		1656	1671 0f68 0FBE out __SREG__,__tmp_reg__
		1657	1672 0f6a CDBF out __SP_L__,r28
		1658	1673 /* prologue: function */
		1659	1674 /* frame size = 27 */
		1660	1675 0f6c 0E94 0000 call Mean
		1661	1676 0f70 D090 0000 lds r13,BoardRelease
		1662	1677 0f74 2BE0 ldi r18,lo8(11)
		1663	1678 0f76 2D15 cp r18,r13
		1664	1679 0f78 00F4 brsh .+4
		1665	1680 0f7a 0C94 0000 jmp .L279
		1666	1681 0f7e 299A sbi 37-0x20,1
		1667	1682 .L280:
		1668	1683 0f80 4091 0000 lds r20,StickGas
		1669	1684 0f84 5091 0000 lds r21,(StickGas)+1
		1670	1685 0f88 5887 std Y+8,r21
		1671	1686 0f8a 4F83 std Y+7,r20
		1672	1687 0f8c 8091 0000 lds r24,ParamSet+18
		1673	1688 0f90 282F mov r18,r24
		1674	1689 0f92 30E0 ldi r19,lo8(0)
		1675	1690 0f94 C901 movw r24,r18
		1676	1691 0f96 0996 adiw r24,9
		1677	1692 0f98 8417 cp r24,r20
		1678	1693 0f9a 9507 cpc r25,r21
		1679	1694 0f9c 04F0 brlt .L281
		1680	1695 0f9e B901 movw r22,r18
		1681	1696 0fa0 665F subi r22,lo8(-(10))
		1682	1697 0fa2 7F4F sbci r23,hi8(-(10))
		1683	1698 0fa4 7887 std Y+8,r23
		1684	1699 0fa6 6F83 std Y+7,r22
		1685	1700 .L281:
		1686	1701 0fa8 8091 0000 lds r24,RC_Quality
		1687	1702 0fac 9091 0000 lds r25,(RC_Quality)+1
		1688	1703 0fb0 8837 cpi r24,120
		1689	1704 0fb2 9105 cpc r25,__zero_reg__
		1690	1705 0fb4 04F0 brlt .+2
		1691	1706 0fb6 00C0 rjmp .L282
		1692	1707 0fb8 8091 0000 lds r24,PcAccess
		1693	1708 0fbc 8823 tst r24
		1694	1709 0fbe 01F4 brne .L283
		1695	1710 0fc0 8091 0000 lds r24,BeepModulation
		1696	1711 0fc4 9091 0000 lds r25,(BeepModulation)+1
		1697	1712 0fc8 8F5F subi r24,lo8(-1)
		1698	1713 0fca 9F4F sbci r25,hi8(-1)
		1699	1714 0fcc 01F4 brne .+4
		1700	1715 0fce 0C94 0000 jmp .L481
		1701	1716 .L283:
		1702	1717 0fd2 8091 0000 lds r24,RcLostTimer.1981
		1703	1718 0fd6 9091 0000 lds r25,(RcLostTimer.1981)+1
		1704	1719 0fda 0097 sbiw r24,0
		1705	1720 0fdc 01F0 breq .+4
		1706	1721 0fde 0C94 0000 jmp .L482
		1707	1722 0fe2 8091 0000 lds r24,MKFlags
		1708	1723 0fe6 8E7E andi r24,lo8(-18)
		1709	1724 0fe8 8093 0000 sts MKFlags,r24
		1710	1725 0fec 8AE0 ldi r24,lo8(10)
		1711	1726 0fee D816 cp r13,r24
		1712	1727 0ff0 01F4 brne .+4
		1713	1728 0ff2 0C94 0000 jmp .L286
		1714	1729 .L541:
		1715	1730 0ff6 94E1 ldi r25,lo8(20)
		1716	1731 0ff8 D916 cp r13,r25
		1717	1732 0ffa 01F4 brne .+4
		1718	1733 0ffc 0C94 0000 jmp .L286
		1719	1734 1000 2898 cbi 37-0x20,0
		1720	1735 .L288:
		1721	1736 1002 8091 0000 lds r24,ModelIsFlying
		1722	1737 1006 9091 0000 lds r25,(ModelIsFlying)+1
		1723	1738 100a 895E subi r24,lo8(1001)
		1724	1739 100c 9340 sbci r25,hi8(1001)
		1725	1740 100e 00F4 brsh .+4
		1726	1741 1010 0C94 0000 jmp .L478
		1727	1742 1014 8091 0000 lds r24,ParamSet+26
		1728	1743 1018 282F mov r18,r24
		1729	1744 101a 30E0 ldi r19,lo8(0)
		1730	1745 101c 3887 std Y+8,r19
		1731	1746 101e 2F83 std Y+7,r18
		1732	1747 1020 8091 0000 lds r24,MKFlags
		1733	1748 1024 8061 ori r24,lo8(16)
		1734	1749 1026 8093 0000 sts MKFlags,r24
		1735	1750 102a E091 0000 lds r30,ParamSet
		1736	1751 102e 2E2F mov r18,r30
		1737	1752 1030 30E0 ldi r19,lo8(0)
		1738	1753 1032 220F lsl r18
		1739	1754 1034 331F rol r19
		1740	1755 1036 F901 movw r30,r18
		1741	1756 1038 E050 subi r30,lo8(-(PPM_diff))
		1742	1757 103a F040 sbci r31,hi8(-(PPM_diff))
		1743	1758 103c 1182 std Z+1,__zero_reg__
		1744	1759 103e 1082 st Z,__zero_reg__
		1745	1760 1040 A091 0000 lds r26,ParamSet+1
		1746	1761 1044 B0E0 ldi r27,lo8(0)
		1747	1762 1046 AA0F lsl r26
		1748	1763 1048 BB1F rol r27
		1749	1764 104a FD01 movw r30,r26
		1750	1765 104c E050 subi r30,lo8(-(PPM_diff))
		1751	1766 104e F040 sbci r31,hi8(-(PPM_diff))
		1752	1767 1050 1182 std Z+1,__zero_reg__
		1753	1768 1052 1082 st Z,__zero_reg__
		1754	1769 1054 E091 0000 lds r30,ParamSet+3
		1755	1770 1058 4E2F mov r20,r30
		1756	1771 105a 50E0 ldi r21,lo8(0)
		1757	1772 105c 440F lsl r20
		1758	1773 105e 551F rol r21
		1759	1774 1060 CA01 movw r24,r20
		1760	1775 1062 8050 subi r24,lo8(-(PPM_diff))
		1761	1776 1064 9040 sbci r25,hi8(-(PPM_diff))
		1762	1777 1066 FC01 movw r30,r24
		1763	1778 1068 1182 std Z+1,__zero_reg__
		1764	1779 106a 1082 st Z,__zero_reg__
		1765	1780 106c 2050 subi r18,lo8(-(PPM_in))
		1766	1781 106e 3040 sbci r19,hi8(-(PPM_in))
		1767	1782 1070 F901 movw r30,r18
		1768	1783 1072 1182 std Z+1,__zero_reg__
		1769	1784 1074 1082 st Z,__zero_reg__
		1770	1785 1076 A050 subi r26,lo8(-(PPM_in))
		1771	1786 1078 B040 sbci r27,hi8(-(PPM_in))
		1772	1787 107a 1196 adiw r26,1
		1773	1788 107c 1C92 st X,__zero_reg__
		1774	1789 107e 1E92 st -X,__zero_reg__
		1775	1790 1080 4050 subi r20,lo8(-(PPM_in))
		1776	1791 1082 5040 sbci r21,hi8(-(PPM_in))
		1777	1792 1084 FA01 movw r30,r20
		1778	1793 1086 1182 std Z+1,__zero_reg__
		1779	1794 1088 1082 st Z,__zero_reg__
		1780	1795 .L290:
		1781	1796 108a 8091 0000 lds r24,NewPpmData
		1782	1797 108e 8150 subi r24,lo8(-(-1))
		1783	1798 1090 8093 0000 sts NewPpmData,r24
		1784	1799 1094 8F5F subi r24,lo8(-(1))
		1785	1800 1096 01F4 brne .+2
		1786	1801 1098 00C0 rjmp .L355
		1787	1802 109a 8091 0000 lds r24,MKFlags
		1788	1803 109e 84FD sbrc r24,4
		1789	1804 10a0 00C0 rjmp .L355
		1790	1805 .L356:
		1791	1806 10a2 8091 0000 lds r24,LoopingRoll
		1792	1807 10a6 8823 tst r24
		1793	1808 10a8 01F0 breq .+4
		1794	1809 10aa 0C94 0000 jmp .L386
		1795	1810 .L528:
		1796	1811 10ae 8091 0000 lds r24,LoopingNick
		1797	1812 10b2 8823 tst r24
		1798	1813 10b4 01F0 breq .+4
		1799	1814 10b6 0C94 0000 jmp .L386
		1800	1815 .L387:
		1801	1816 10ba 8091 0000 lds r24,MKFlags
		1802	1817 10be 84FF sbrs r24,4
		1803	1818 10c0 00C0 rjmp .L389
		1804	1819 10c2 1092 0000 sts (StickYaw)+1,__zero_reg__
		1805	1820 10c6 1092 0000 sts StickYaw,__zero_reg__
		1806	1821 10ca 1092 0000 sts (StickNick)+1,__zero_reg__
		1807	1822 10ce 1092 0000 sts StickNick,__zero_reg__
		1808	1823 10d2 1092 0000 sts (StickRoll)+1,__zero_reg__
		1809	1824 10d6 1092 0000 sts StickRoll,__zero_reg__
		1810	1825 10da 9AE5 ldi r25,lo8(90)
		1811	1826 10dc 9093 0000 sts GyroPFactor,r25
		1812	1827 10e0 88E7 ldi r24,lo8(120)
		1813	1828 10e2 8093 0000 sts GyroIFactor,r24
		1814	1829 10e6 9093 0000 sts GyroYawPFactor,r25
		1815	1830 10ea 8093 0000 sts GyroYawIFactor,r24
		1816	1831 10ee 1092 0000 sts LoopingRoll,__zero_reg__
		1817	1832 10f2 1092 0000 sts LoopingNick,__zero_reg__
		1818	1833 10f6 1092 0000 sts (MaxStickNick)+1,__zero_reg__
		1819	1834 10fa 1092 0000 sts MaxStickNick,__zero_reg__
		1820	1835 10fe 1092 0000 sts (MaxStickRoll)+1,__zero_reg__
		1821	1836 1102 1092 0000 sts MaxStickRoll,__zero_reg__
		1822	1837 .L389:
		1823	1838 1106 3090 0000 lds r3,LoopingNick
		1824	1839 110a 3320 tst r3
		1825	1840 110c 01F0 breq .+4
		1826	1841 110e 0C94 0000 jmp .L390
		1827	1842 1112 8091 0000 lds r24,LoopingRoll
		1828	1843 1116 8823 tst r24
		1829	1844 1118 01F0 breq .+4
		1830	1845 111a 0C94 0000 jmp .L390
		1831	1846 .L391:
		1832	1847 111e 2091 0000 lds r18,ADCycleCount
		1833	1848 1122 3091 0000 lds r19,(ADCycleCount)+1
		1834	1849 1126 8091 0000 lds r24,FCParam+11
		1835	1850 112a 4AE0 ldi r20,lo8(10)
		1836	1851 112c 849F mul r24,r20
		1837	1852 112e C001 movw r24,r0
		1838	1853 1130 1124 clr r1
		1839	1854 1132 2817 cp r18,r24
		1840	1855 1134 3907 cpc r19,r25
		1841	1856 1136 00F4 brsh .+2
		1842	1857 1138 00C0 rjmp .L392
		1843	1858 113a 8091 0000 lds r24,FCParam+12
		1844	1859 113e 849F mul r24,r20
		1845	1860 1140 4001 movw r8,r0
		1846	1861 1142 1124 clr r1
		1847	1862 1144 8091 0000 lds r24,FCParam+13
		1848	1863 1148 849F mul r24,r20
		1849	1864 114a 3001 movw r6,r0
		1850	1865 114c 1124 clr r1
		1851	1866 114e E090 0000 lds r14,vibrationOffsetNick
		1852	1867 1152 F090 0000 lds r15,(vibrationOffsetNick)+1
		1853	1868 1156 0091 0000 lds r16,(vibrationOffsetNick)+2
		1854	1869 115a 1091 0000 lds r17,(vibrationOffsetNick)+3
		1855	1870 115e 8091 0000 lds r24,FCParam+10
		1856	1871 1162 C82E mov r12,r24
		1857	1872 1164 DD24 clr r13
		1858	1873 1166 8091 0000 lds r24,savedVibrationOffsetNick
		1859	1874 116a 9091 0000 lds r25,(savedVibrationOffsetNick)+1
		1860	1875 116e A701 movw r20,r14
		1861	1876 1170 481B sub r20,r24
		1862	1877 1172 590B sbc r21,r25
		1863	1878 1174 CA01 movw r24,r20
		1864	1879 1176 57FF sbrs r21,7
		1865	1880 1178 00C0 rjmp .+4
		1866	1881 117a 0C94 0000 jmp .L483
		1867	1882 117e 8C15 cp r24,r12
		1868	1883 1180 9D05 cpc r25,r13
		1869	1884 1182 04F0 brlt .+2
		1870	1885 1184 00C0 rjmp .L393
		1871	1886 .L542:
		1872	1887 1186 8091 0000 lds r24,FCParam+15
		1873	1888 118a 8823 tst r24
		1874	1889 118c 01F0 breq .+2
		1875	1890 118e 00C0 rjmp .L393
		1876	1891 1190 8091 0000 lds r24,filteredHiResPitchGyro
		1877	1892 1194 9091 0000 lds r25,(filteredHiResPitchGyro)+1
		1878	1893 1198 AA27 clr r26
		1879	1894 119a 97FD sbrc r25,7
		1880	1895 119c A095 com r26
		1881	1896 119e BA2F mov r27,r26
		1882	1897 11a0 E816 cp r14,r24
		1883	1898 11a2 F906 cpc r15,r25
		1884	1899 11a4 0A07 cpc r16,r26
		1885	1900 11a6 1B07 cpc r17,r27
		1886	1901 11a8 04F0 brlt .+4
		1887	1902 11aa 0C94 0000 jmp .L395
		1888	1903 11ae 2091 0000 lds r18,IntegralGyroNick
		1889	1904 11b2 3091 0000 lds r19,(IntegralGyroNick)+1
		1890	1905 11b6 4091 0000 lds r20,(IntegralGyroNick)+2
		1891	1906 11ba 5091 0000 lds r21,(IntegralGyroNick)+3
		1892	1907 11be 1216 cp __zero_reg__,r18
		1893	1908 11c0 1306 cpc __zero_reg__,r19
		1894	1909 11c2 1406 cpc __zero_reg__,r20
		1895	1910 11c4 1506 cpc __zero_reg__,r21
		1896	1911 11c6 04F0 brlt .+4
		1897	1912 11c8 0C94 0000 jmp .L395
		1898	1913 11cc A090 0000 lds r10,StickNick
		1899	1914 11d0 B090 0000 lds r11,(StickNick)+1
		1900	1915 11d4 A814 cp r10,r8
		1901	1916 11d6 B904 cpc r11,r9
		1902	1917 11d8 04F4 brge .+4
		1903	1918 11da 0C94 0000 jmp .L395
		1904	1919 11de 6A14 cp r6,r10
		1905	1920 11e0 7B04 cpc r7,r11
		1906	1921 11e2 04F4 brge .+4
		1907	1922 11e4 0C94 0000 jmp .L395
		1908	1923 11e8 8091 0000 lds r24,FCParam+16
		1909	1924 11ec 8058 subi r24,lo8(-(-128))
		1910	1925 11ee 9927 clr r25
		1911	1926 11f0 87FD sbrc r24,7
		1912	1927 11f2 9095 com r25
		1913	1928 11f4 A92F mov r26,r25
		1914	1929 11f6 B92F mov r27,r25
		1915	1930 11f8 8E0D add r24,r14
		1916	1931 11fa 9F1D adc r25,r15
		1917	1932 11fc A01F adc r26,r16
		1918	1933 11fe B11F adc r27,r17
		1919	1934 1200 8093 0000 sts vibrationOffsetNick,r24
		1920	1935 1204 9093 0000 sts (vibrationOffsetNick)+1,r25
		1921	1936 1208 A093 0000 sts (vibrationOffsetNick)+2,r26
		1922	1937 120c B093 0000 sts (vibrationOffsetNick)+3,r27
		1923	1938 .L479:
		1924	1939 1210 6091 0000 lds r22,FCParam+14
		1925	1940 1214 70E0 ldi r23,lo8(0)
		1926	1941 1216 80E0 ldi r24,lo8(0)
		1927	1942 1218 90E0 ldi r25,hi8(0)
		1928	1943 121a 0E94 0000 call __mulsi3
		1929	1944 121e 24E6 ldi r18,lo8(100)
		1930	1945 1220 30E0 ldi r19,hi8(100)
		1931	1946 1222 40E0 ldi r20,hlo8(100)
		1932	1947 1224 50E0 ldi r21,hhi8(100)
		1933	1948 1226 0E94 0000 call __divmodsi4
		1934	1949 122a 2093 0000 sts IntegralGyroNick,r18
		1935	1950 122e 3093 0000 sts (IntegralGyroNick)+1,r19
		1936	1951 1232 4093 0000 sts (IntegralGyroNick)+2,r20
		1937	1952 1236 5093 0000 sts (IntegralGyroNick)+3,r21
		1938	1953 .L393:
		1939	1954 123a E090 0000 lds r14,vibrationOffsetRoll
		1940	1955 123e F090 0000 lds r15,(vibrationOffsetRoll)+1
		1941	1956 1242 0091 0000 lds r16,(vibrationOffsetRoll)+2
		1942	1957 1246 1091 0000 lds r17,(vibrationOffsetRoll)+3
		1943	1958 124a 8091 0000 lds r24,savedVibrationOffsetRoll
		1944	1959 124e 9091 0000 lds r25,(savedVibrationOffsetRoll)+1
		1945	1960 1252 B701 movw r22,r14
		1946	1961 1254 681B sub r22,r24
		1947	1962 1256 790B sbc r23,r25
		1948	1963 1258 CB01 movw r24,r22
		1949	1964 125a 77FF sbrs r23,7
		1950	1965 125c 00C0 rjmp .+4
		1951	1966 125e 0C94 0000 jmp .L484
		1952	1967 1262 C816 cp r12,r24
		1953	1968 1264 D906 cpc r13,r25
		1954	1969 1266 04F0 brlt .+4
		1955	1970 1268 0C94 0000 jmp .L485
		1956	1971 .L396:
		1957	1972 126c 8091 0000 lds r24,NickNoisePeak
		1958	1973 1270 9091 0000 lds r25,(NickNoisePeak)+1
		1959	1974 1274 9093 0000 sts (debugNickNoisePeak)+1,r25
		1960	1975 1278 8093 0000 sts debugNickNoisePeak,r24
		1961	1976 127c 8091 0000 lds r24,RollNoisePeak
		1962	1977 1280 9091 0000 lds r25,(RollNoisePeak)+1
		1963	1978 1284 9093 0000 sts (debugRollNoisePeak)+1,r25
		1964	1979 1288 8093 0000 sts debugRollNoisePeak,r24
		1965	1980 128c 1092 0000 sts (RollNoisePeak)+1,__zero_reg__
		1966	1981 1290 1092 0000 sts RollNoisePeak,__zero_reg__
		1967	1982 1294 1092 0000 sts (NickNoisePeak)+1,__zero_reg__
		1968	1983 1298 1092 0000 sts NickNoisePeak,__zero_reg__
		1969	1984 129c 1092 0000 sts (ADCycleCount)+1,__zero_reg__
		1970	1985 12a0 1092 0000 sts ADCycleCount,__zero_reg__
		1971	1986 .L392:
		1972	1987 12a4 4091 0000 lds r20,StickYaw
		1973	1988 12a8 5091 0000 lds r21,(StickYaw)+1
		1974	1989 12ac CA01 movw r24,r20
		1975	1990 12ae 57FF sbrs r21,7
		1976	1991 12b0 00C0 rjmp .+4
		1977	1992 12b2 0C94 0000 jmp .L486
		1978	1993 .L400:
		1979	1994 12b6 4097 sbiw r24,16
		1980	1995 12b8 04F0 brlt .L399
		1981	1996 12ba 88EE ldi r24,lo8(1000)
		1982	1997 12bc 93E0 ldi r25,hi8(1000)
		1983	1998 12be 9093 0000 sts (BadCompassHeading)+1,r25
		1984	1999 12c2 8093 0000 sts BadCompassHeading,r24
		1985	2000 12c6 8091 0000 lds r24,ParamSet+8
		1986	2001 12ca 84FD sbrc r24,4
		1987	2002 12cc 00C0 rjmp .+4
		1988	2003 12ce 0C94 0000 jmp .L487
		1989	2004 .L399:
		1990	2005 12d2 8091 0000 lds r24,ParamSet+17
		1991	2006 12d6 90E0 ldi r25,lo8(0)
		1992	2007 12d8 849F mul r24,r20
		1993	2008 12da 9001 movw r18,r0
		1994	2009 12dc 859F mul r24,r21
		1995	2010 12de 300D add r19,r0
		1996	2011 12e0 949F mul r25,r20
		1997	2012 12e2 300D add r19,r0
		1998	2013 12e4 1124 clr r1
		1999	2014 12e6 37FF sbrs r19,7
		2000	2015 12e8 00C0 rjmp .+4
		2001	2016 12ea 0C94 0000 jmp .L488
		2002	2017 .L401:
		2003	2018 12ee 3595 asr r19
		2004	2019 12f0 2795 ror r18
		2005	2020 12f2 3595 asr r19
		2006	2021 12f4 2795 ror r18
		2007	2022 12f6 C901 movw r24,r18
		2008	2023 12f8 AA27 clr r26
		2009	2024 12fa 97FD sbrc r25,7
		2010	2025 12fc A095 com r26
		2011	2026 12fe BA2F mov r27,r26
		2012	2027 1300 8093 0000 sts SetPointYaw.1980,r24
		2013	2028 1304 9093 0000 sts (SetPointYaw.1980)+1,r25
		2014	2029 1308 A093 0000 sts (SetPointYaw.1980)+2,r26
		2015	2030 130c B093 0000 sts (SetPointYaw.1980)+3,r27
		2016	2031 1310 2091 0000 lds r18,ReadingIntegralGyroYaw
		2017	2032 1314 3091 0000 lds r19,(ReadingIntegralGyroYaw)+1
		2018	2033 1318 4091 0000 lds r20,(ReadingIntegralGyroYaw)+2
		2019	2034 131c 5091 0000 lds r21,(ReadingIntegralGyroYaw)+3
		2020	2035 1320 281B sub r18,r24
		2021	2036 1322 390B sbc r19,r25
		2022	2037 1324 4A0B sbc r20,r26
		2023	2038 1326 5B0B sbc r21,r27
		2024	2039 1328 2093 0000 sts ReadingIntegralGyroYaw,r18
		2025	2040 132c 3093 0000 sts (ReadingIntegralGyroYaw)+1,r19
		2026	2041 1330 4093 0000 sts (ReadingIntegralGyroYaw)+2,r20
		2027	2042 1334 5093 0000 sts (ReadingIntegralGyroYaw)+3,r21
		2028	2043 1338 203B cpi r18,lo8(-50000)
		2029	2044 133a 7CE3 ldi r23,hi8(-50000)
		2030	2045 133c 3707 cpc r19,r23
		2031	2046 133e 7FEF ldi r23,hlo8(-50000)
		2032	2047 1340 4707 cpc r20,r23
		2033	2048 1342 7FEF ldi r23,hhi8(-50000)
		2034	2049 1344 5707 cpc r21,r23
		2035	2050 1346 04F0 brlt .+4
		2036	2051 1348 0C94 0000 jmp .L402
		2037	2052 134c 80EB ldi r24,lo8(-50000)
		2038	2053 134e 9CE3 ldi r25,hi8(-50000)
		2039	2054 1350 AFEF ldi r26,hlo8(-50000)
		2040	2055 1352 BFEF ldi r27,hhi8(-50000)
		2041	2056 1354 8093 0000 sts ReadingIntegralGyroYaw,r24
		2042	2057 1358 9093 0000 sts (ReadingIntegralGyroYaw)+1,r25
		2043	2058 135c A093 0000 sts (ReadingIntegralGyroYaw)+2,r26
		2044	2059 1360 B093 0000 sts (ReadingIntegralGyroYaw)+3,r27
		2045	2060 .L403:
		2046	2061 1364 8091 0000 lds r24,ParamSet+8
		2047	2062 1368 8872 andi r24,lo8(40)
		2048	2063 136a 01F0 breq .+4
		2049	2064 136c 0C94 0000 jmp .L474
		2050	2065 1370 E091 0000 lds r30,GyroYaw
		2051	2066 1374 F091 0000 lds r31,(GyroYaw)+1
		2052	2067 1378 FC87 std Y+12,r31
		2053	2068 137a EB87 std Y+11,r30
		2054	2069 .L404:
		2055	2070 137c 8091 0000 lds r24,TimerDebugOut.1985
		2056	2071 1380 8150 subi r24,lo8(-(-1))
		2057	2072 1382 8093 0000 sts TimerDebugOut.1985,r24
		2058	2073 1386 8F5F subi r24,lo8(-(1))
		2059	2074 1388 01F4 brne .+4
		2060	2075 138a 0C94 0000 jmp .L475
		2061	2076 138e A090 0000 lds r10,StickNick
		2062	2077 1392 B090 0000 lds r11,(StickNick)+1
		2063	2078 1396 C090 0000 lds r12,StickRoll
		2064	2079 139a D090 0000 lds r13,(StickRoll)+1
		2065	2080 139e 4090 0000 lds r4,GyroNick
		2066	2081 13a2 5090 0000 lds r5,(GyroNick)+1
		2067	2082 13a6 8090 0000 lds r8,GyroRoll
		2068	2083 13aa 9090 0000 lds r9,(GyroRoll)+1
		2069	2084 .L422:
		2070	2085 13ae 8091 0000 lds r24,FunnelCourse
		2071	2086 13b2 8823 tst r24
		2072	2087 13b4 01F0 breq .L423
		2073	2088 13b6 1092 0000 sts IPartNick.1972,__zero_reg__
		2074	2089 13ba 1092 0000 sts (IPartNick.1972)+1,__zero_reg__
		2075	2090 13be 1092 0000 sts (IPartNick.1972)+2,__zero_reg__
		2076	2091 13c2 1092 0000 sts (IPartNick.1972)+3,__zero_reg__
		2077	2092 13c6 1092 0000 sts IPartRoll.1973,__zero_reg__
		2078	2093 13ca 1092 0000 sts (IPartRoll.1973)+1,__zero_reg__
		2079	2094 13ce 1092 0000 sts (IPartRoll.1973)+2,__zero_reg__
		2080	2095 13d2 1092 0000 sts (IPartRoll.1973)+3,__zero_reg__
		2081	2096 .L423:
		2082	2097 13d6 3320 tst r3
		2083	2098 13d8 01F4 brne .+4
		2084	2099 13da 0C94 0000 jmp .L424
		2085	2100 13de 1E82 std Y+6,__zero_reg__
		2086	2101 13e0 1D82 std Y+5,__zero_reg__
		2087	2102 13e2 2224 clr r2
		2088	2103 13e4 3324 clr r3
		2089	2104 13e6 7091 0000 lds r23,GyroIFactor
		2090	2105 13ea 7D87 std Y+13,r23
		2091	2106 .L425:
		2092	2107 13ec 8091 0000 lds r24,GyroPFactor
		2093	2108 13f0 E82E mov r14,r24
		2094	2109 13f2 FF24 clr r15
		2095	2110 13f4 00E0 ldi r16,lo8(0)
		2096	2111 13f6 10E0 ldi r17,hi8(0)
		2097	2112 13f8 8091 0000 lds r24,LoopingRoll
		2098	2113 13fc 8823 tst r24
		2099	2114 13fe 01F4 brne .+4
		2100	2115 1400 0C94 0000 jmp .L426
		2101	2116 1404 1C82 std Y+4,__zero_reg__
		2102	2117 1406 1B82 std Y+3,__zero_reg__
		2103	2118 1408 6624 clr r6
		2104	2119 140a 7724 clr r7
		2105	2120 .L427:
		2106	2121 140c B401 movw r22,r8
		2107	2122 140e 8827 clr r24
		2108	2123 1410 77FD sbrc r23,7
		2109	2124 1412 8095 com r24
		2110	2125 1414 982F mov r25,r24
		2111	2126 1416 A801 movw r20,r16
		2112	2127 1418 9701 movw r18,r14
		2113	2128 141a 0E94 0000 call __mulsi3
		2114	2129 141e 20E4 ldi r18,lo8(64)
		2115	2130 1420 30E0 ldi r19,hi8(64)
		2116	2131 1422 40E0 ldi r20,hlo8(64)
		2117	2132 1424 50E0 ldi r21,hhi8(64)
		2118	2133 1426 0E94 0000 call __divmodsi4
		2119	2134 142a B301 movw r22,r6
		2120	2135 142c 620F add r22,r18
		2121	2136 142e 731F adc r23,r19
		2122	2137 1430 7B8F std Y+27,r23
		2123	2138 1432 6A8F std Y+26,r22
		2124	2139 1434 7091 0000 lds r23,GyroYawPFactor
		2125	2140 1438 7A87 std Y+10,r23
		2126	2141 143a 8091 0000 lds r24,GyroYawIFactor
		2127	2142 143e 8987 std Y+9,r24
		2128	2143 1440 6090 0000 lds r6,IntegralGyroYaw
		2129	2144 1444 7090 0000 lds r7,(IntegralGyroYaw)+1
		2130	2145 1448 8090 0000 lds r8,(IntegralGyroYaw)+2
		2131	2146 144c 9090 0000 lds r9,(IntegralGyroYaw)+3
		2132	2147 1450 9201 movw r18,r4
		2133	2148 1452 4427 clr r20
		2134	2149 1454 37FD sbrc r19,7
		2135	2150 1456 4095 com r20
		2136	2151 1458 542F mov r21,r20
		2137	2152 145a C801 movw r24,r16
		2138	2153 145c B701 movw r22,r14
		2139	2154 145e 0E94 0000 call __mulsi3
		2140	2155 1462 20E4 ldi r18,lo8(64)
		2141	2156 1464 30E0 ldi r19,hi8(64)
		2142	2157 1466 40E0 ldi r20,hlo8(64)
		2143	2158 1468 50E0 ldi r21,hhi8(64)
		2144	2159 146a 0E94 0000 call __divmodsi4
		2145	2160 146e 220D add r18,r2
		2146	2161 1470 331D adc r19,r3
		2147	2162 1472 90E4 ldi r25,hi8(16385)
		2148	2163 1474 2130 cpi r18,lo8(16385)
		2149	2164 1476 3907 cpc r19,r25
		2150	2165 1478 04F0 brlt .L428
		2151	2166 147a 20E0 ldi r18,lo8(16384)
		2152	2167 147c 30E4 ldi r19,hi8(16384)
		2153	2168 .L428:
		2154	2169 147e 1901 movw r2,r18
		2155	2170 1480 E0EC ldi r30,hi8(-16384)
		2156	2171 1482 2030 cpi r18,lo8(-16384)
		2157	2172 1484 3E07 cpc r19,r30
		2158	2173 1486 04F4 brge .L429
		2159	2174 1488 212C mov r2,__zero_reg__
		2160	2175 148a A0EC ldi r26,hi8(-16384)
		2161	2176 148c 3A2E mov r3,r26
		2162	2177 .L429:
		2163	2178 148e 2A8D ldd r18,Y+26
		2164	2179 1490 3B8D ldd r19,Y+27
		2165	2180 1492 F0E4 ldi r31,hi8(16385)
		2166	2181 1494 2130 cpi r18,lo8(16385)
		2167	2182 1496 3F07 cpc r19,r31
		2168	2183 1498 04F0 brlt .L430
		2169	2184 149a 20E0 ldi r18,lo8(16384)
		2170	2185 149c 30E4 ldi r19,hi8(16384)
		2171	2186 .L430:
		2172	2187 149e 3A83 std Y+2,r19
		2173	2188 14a0 2983 std Y+1,r18
		2174	2189 14a2 2050 subi r18,lo8(-16384)
		2175	2190 14a4 304C sbci r19,hi8(-16384)
		2176	2191 14a6 04F4 brge .L431
		2177	2192 14a8 60E0 ldi r22,lo8(-16384)
		2178	2193 14aa 70EC ldi r23,hi8(-16384)
		2179	2194 14ac 7A83 std Y+2,r23
		2180	2195 14ae 6983 std Y+1,r22
		2181	2196 .L431:
		2182	2197 14b0 8091 0000 lds r24,MissingMotor
		2183	2198 14b4 8823 tst r24
		2184	2199 14b6 01F0 breq .L432
		2185	2200 14b8 8091 0000 lds r24,ModelIsFlying
		2186	2201 14bc 9091 0000 lds r25,(ModelIsFlying)+1
		2187	2202 14c0 0297 sbiw r24,2
		2188	2203 14c2 C097 sbiw r24,48
		2189	2204 14c4 00F4 brsh .+4
		2190	2205 14c6 0C94 0000 jmp .L489
		2191	2206 .L433:
		2192	2207 14ca 8091 0000 lds r24,ParamSet+18
		2193	2208 14ce E82F mov r30,r24
		2194	2209 14d0 F0E0 ldi r31,lo8(0)
		2195	2210 14d2 F887 std Y+8,r31
		2196	2211 14d4 EF83 std Y+7,r30
		2197	2212 .L432:
		2198	2213 14d6 8091 0000 lds r24,ParamSet+19
		2199	2214 14da 90E0 ldi r25,lo8(0)
		2200	2215 14dc 4497 sbiw r24,20
		2201	2216 14de 880F lsl r24
		2202	2217 14e0 991F rol r25
		2203	2218 14e2 880F lsl r24
		2204	2219 14e4 991F rol r25
		2205	2220 14e6 4F80 ldd r4,Y+7
		2206	2221 14e8 5884 ldd r5,Y+8
		2207	2222 14ea 440C lsl r4
		2208	2223 14ec 551C rol r5
		2209	2224 14ee 440C lsl r4
		2210	2225 14f0 551C rol r5
		2211	2226 14f2 8415 cp r24,r4
		2212	2227 14f4 9505 cpc r25,r5
		2213	2228 14f6 04F4 brge .L434
		2214	2229 14f8 2C01 movw r4,r24
		2215	2230 .L434:
		2216	2231 14fa 5092 0000 sts (DebugOut+16)+1,r5
		2217	2232 14fe 4092 0000 sts DebugOut+16,r4
		2218	2233 1502 2B85 ldd r18,Y+11
		2219	2234 1504 3C85 ldd r19,Y+12
		2220	2235 1506 220F lsl r18
		2221	2236 1508 331F rol r19
		2222	2237 150a B901 movw r22,r18
		2223	2238 150c 8827 clr r24
		2224	2239 150e 77FD sbrc r23,7
		2225	2240 1510 8095 com r24
		2226	2241 1512 982F mov r25,r24
		2227	2242 1514 EA85 ldd r30,Y+10
		2228	2243 1516 2E2F mov r18,r30
		2229	2244 1518 30E0 ldi r19,lo8(0)
		2230	2245 151a 40E0 ldi r20,lo8(0)
		2231	2246 151c 50E0 ldi r21,hi8(0)
		2232	2247 151e 0E94 0000 call __mulsi3
		2233	2248 1522 20E4 ldi r18,lo8(64)
		2234	2249 1524 30E0 ldi r19,hi8(64)
		2235	2250 1526 40E0 ldi r20,hlo8(64)
		2236	2251 1528 50E0 ldi r21,hhi8(64)
		2237	2252 152a 0E94 0000 call __divmodsi4
		2238	2253 152e 7901 movw r14,r18
		2239	2254 1530 8A01 movw r16,r20
		2240	2255 1532 F985 ldd r31,Y+9
		2241	2256 1534 6F2F mov r22,r31
		2242	2257 1536 70E0 ldi r23,lo8(0)
		2243	2258 1538 80E0 ldi r24,lo8(0)
		2244	2259 153a 90E0 ldi r25,hi8(0)
		2245	2260 153c A401 movw r20,r8
		2246	2261 153e 9301 movw r18,r6
		2247	2262 1540 0E94 0000 call __mulsi3
		2248	2263 1544 20EF ldi r18,lo8(22000)
		2249	2264 1546 35E5 ldi r19,hi8(22000)
		2250	2265 1548 40E0 ldi r20,hlo8(22000)
		2251	2266 154a 50E0 ldi r21,hhi8(22000)
		2252	2267 154c 0E94 0000 call __divmodsi4
		2253	2268 1550 C701 movw r24,r14
		2254	2269 1552 820F add r24,r18
		2255	2270 1554 931F adc r25,r19
		2256	2271 1556 20E4 ldi r18,hi8(16385)
		2257	2272 1558 8130 cpi r24,lo8(16385)
		2258	2273 155a 9207 cpc r25,r18
		2259	2274 155c 04F0 brlt .L435
		2260	2275 155e 80E0 ldi r24,lo8(16384)
		2261	2276 1560 90E4 ldi r25,hi8(16384)
		2262	2277 .L435:
		2263	2278 1562 8C01 movw r16,r24
		2264	2279 1564 30EC ldi r19,hi8(-16384)
		2265	2280 1566 8030 cpi r24,lo8(-16384)
		2266	2281 1568 9307 cpc r25,r19
		2267	2282 156a 04F4 brge .L436
		2268	2283 156c 00E0 ldi r16,lo8(-16384)
		2269	2284 156e 10EC ldi r17,hi8(-16384)
		2270	2285 .L436:
		2271	2286 1570 6091 0000 lds r22,SetPointYaw.1980
		2272	2287 1574 7091 0000 lds r23,(SetPointYaw.1980)+1
		2273	2288 1578 8091 0000 lds r24,(SetPointYaw.1980)+2
		2274	2289 157c 9091 0000 lds r25,(SetPointYaw.1980)+3
		2275	2290 1580 2CEF ldi r18,lo8(-4)
		2276	2291 1582 3FEF ldi r19,hi8(-4)
		2277	2292 1584 4FEF ldi r20,hlo8(-4)
		2278	2293 1586 5FEF ldi r21,hhi8(-4)
		2279	2294 1588 0E94 0000 call __mulsi3
		2280	2295 158c 7801 movw r14,r16
		2281	2296 158e E60E add r14,r22
		2282	2297 1590 F71E adc r15,r23
		2283	2298 1592 41EA ldi r20,lo8(161)
		2284	2299 1594 4416 cp r4,r20
		2285	2300 1596 5104 cpc r5,__zero_reg__
		2286	2301 1598 04F4 brge .+2
		2287	2302 159a 00C0 rjmp .L437
		2288	2303 159c C201 movw r24,r4
		2289	2304 159e 57FE sbrs r5,7
		2290	2305 15a0 00C0 rjmp .+4
		2291	2306 15a2 0C94 0000 jmp .L490
		2292	2307 .L438:
		2293	2308 15a6 9595 asr r25
		2294	2309 15a8 8795 ror r24
		2295	2310 15aa 2227 clr r18
		2296	2311 15ac 3327 clr r19
		2297	2312 15ae 281B sub r18,r24
		2298	2313 15b0 390B sbc r19,r25
		2299	2314 15b2 E216 cp r14,r18
		2300	2315 15b4 F306 cpc r15,r19
		2301	2316 15b6 04F0 brlt .+4
		2302	2317 15b8 0C94 0000 jmp .L491
		2303	2318 .L439:
		2304	2319 15bc 8091 0000 lds r24,ParamSet+19
		2305	2320 15c0 90E0 ldi r25,lo8(0)
		2306	2321 15c2 880F lsl r24
		2307	2322 15c4 991F rol r25
		2308	2323 15c6 880F lsl r24
		2309	2324 15c8 991F rol r25
		2310	2325 15ca 3201 movw r6,r4
		2311	2326 15cc 681A sub r6,r24
		2312	2327 15ce 790A sbc r7,r25
		2313	2328 15d0 2615 cp r18,r6
		2314	2329 15d2 3705 cpc r19,r7
		2315	2330 15d4 04F0 brlt .L443
		2316	2331 15d6 8419 sub r24,r4
		2317	2332 15d8 9509 sbc r25,r5
		2318	2333 15da 3901 movw r6,r18
		2319	2334 15dc 8217 cp r24,r18
		2320	2335 15de 9307 cpc r25,r19
		2321	2336 15e0 04F4 brge .+4
		2322	2337 15e2 0C94 0000 jmp .L492
		2323	2338 .L443:
		2324	2339 15e6 6D85 ldd r22,Y+13
		2325	2340 15e8 6623 tst r22
		2326	2341 15ea 01F4 brne .+2
		2327	2342 15ec 00C0 rjmp .L445
		2328	2343 15ee 8D81 ldd r24,Y+5
		2329	2344 15f0 9E81 ldd r25,Y+6
		2330	2345 15f2 8A19 sub r24,r10
		2331	2346 15f4 9B09 sbc r25,r11
		2332	2347 15f6 FC01 movw r30,r24
		2333	2348 15f8 CF01 movw r24,r30
		2334	2349 15fa AA27 clr r26
		2335	2350 15fc 97FD sbrc r25,7
		2336	2351 15fe A095 com r26
		2337	2352 1600 BA2F mov r27,r26
		2338	2353 1602 E090 0000 lds r14,IPartNick.1972
		2339	2354 1606 F090 0000 lds r15,(IPartNick.1972)+1
		2340	2355 160a 0091 0000 lds r16,(IPartNick.1972)+2
		2341	2356 160e 1091 0000 lds r17,(IPartNick.1972)+3
		2342	2357 1612 E80E add r14,r24
		2343	2358 1614 F91E adc r15,r25
		2344	2359 1616 0A1F adc r16,r26
		2345	2360 1618 1B1F adc r17,r27
		2346	2361 161a E092 0000 sts IPartNick.1972,r14
		2347	2362 161e F092 0000 sts (IPartNick.1972)+1,r15
		2348	2363 1622 0093 0000 sts (IPartNick.1972)+2,r16
		2349	2364 1626 1093 0000 sts (IPartNick.1972)+3,r17
		2350	2365 .L446:
		2351	2366 162a F0E0 ldi r31,lo8(-64000)
		2352	2367 162c EF16 cp r14,r31
		2353	2368 162e F6E0 ldi r31,hi8(-64000)
		2354	2369 1630 FF06 cpc r15,r31
		2355	2370 1632 FFEF ldi r31,hlo8(-64000)
		2356	2371 1634 0F07 cpc r16,r31
		2357	2372 1636 FFEF ldi r31,hhi8(-64000)
		2358	2373 1638 1F07 cpc r17,r31
		2359	2374 163a 04F0 brlt .+2
		2360	2375 163c 00C0 rjmp .L447
		2361	2376 163e 80E0 ldi r24,lo8(-64000)
		2362	2377 1640 96E0 ldi r25,hi8(-64000)
		2363	2378 1642 AFEF ldi r26,hlo8(-64000)
		2364	2379 1644 BFEF ldi r27,hhi8(-64000)
		2365	2380 1646 8093 0000 sts IPartNick.1972,r24
		2366	2381 164a 9093 0000 sts (IPartNick.1972)+1,r25
		2367	2382 164e A093 0000 sts (IPartNick.1972)+2,r26
		2368	2383 1652 B093 0000 sts (IPartNick.1972)+3,r27
		2369	2384 1656 E12C mov r14,__zero_reg__
		2370	2385 1658 26E0 ldi r18,hi8(-64000)
		2371	2386 165a F22E mov r15,r18
		2372	2387 165c 2FEF ldi r18,hlo8(-64000)
		2373	2388 165e 022F mov r16,r18
		2374	2389 1660 2FEF ldi r18,hhi8(-64000)
		2375	2390 1662 122F mov r17,r18
		2376	2391 .L448:
		2377	2392 1664 A101 movw r20,r2
		2378	2393 1666 4A19 sub r20,r10
		2379	2394 1668 5B09 sbc r21,r11
		2380	2395 166a 5A01 movw r10,r20
		2381	2396 166c 8090 0000 lds r8,Ki
		2382	2397 1670 9090 0000 lds r9,(Ki)+1
		2383	2398 1674 9401 movw r18,r8
		2384	2399 1676 4427 clr r20
		2385	2400 1678 37FD sbrc r19,7
		2386	2401 167a 4095 com r20
		2387	2402 167c 542F mov r21,r20
		2388	2403 167e C801 movw r24,r16
		2389	2404 1680 B701 movw r22,r14
		2390	2405 1682 0E94 0000 call __divmodsi4
		2391	2406 1686 A20E add r10,r18
		2392	2407 1688 B31E adc r11,r19
		2393	2408 168a 5D85 ldd r21,Y+13
		2394	2409 168c 5523 tst r21
		2395	2410 168e 01F4 brne .+2
		2396	2411 1690 00C0 rjmp .L449
		2397	2412 1692 6B81 ldd r22,Y+3
		2398	2413 1694 7C81 ldd r23,Y+4
		2399	2414 1696 6C19 sub r22,r12
		2400	2415 1698 7D09 sbc r23,r13
		2401	2416 169a CB01 movw r24,r22
		2402	2417 169c AA27 clr r26
		2403	2418 169e 97FD sbrc r25,7
		2404	2419 16a0 A095 com r26
		2405	2420 16a2 BA2F mov r27,r26
		2406	2421 16a4 E090 0000 lds r14,IPartRoll.1973
		2407	2422 16a8 F090 0000 lds r15,(IPartRoll.1973)+1
		2408	2423 16ac 0091 0000 lds r16,(IPartRoll.1973)+2
		2409	2424 16b0 1091 0000 lds r17,(IPartRoll.1973)+3
		2410	2425 16b4 E80E add r14,r24
		2411	2426 16b6 F91E adc r15,r25
		2412	2427 16b8 0A1F adc r16,r26
		2413	2428 16ba 1B1F adc r17,r27
		2414	2429 16bc E092 0000 sts IPartRoll.1973,r14
		2415	2430 16c0 F092 0000 sts (IPartRoll.1973)+1,r15
		2416	2431 16c4 0093 0000 sts (IPartRoll.1973)+2,r16
		2417	2432 16c8 1093 0000 sts (IPartRoll.1973)+3,r17
		2418	2433 .L450:
		2419	2434 16cc 70E0 ldi r23,lo8(-64000)
		2420	2435 16ce E716 cp r14,r23
		2421	2436 16d0 76E0 ldi r23,hi8(-64000)
		2422	2437 16d2 F706 cpc r15,r23
		2423	2438 16d4 7FEF ldi r23,hlo8(-64000)
		2424	2439 16d6 0707 cpc r16,r23
		2425	2440 16d8 7FEF ldi r23,hhi8(-64000)
		2426	2441 16da 1707 cpc r17,r23
		2427	2442 16dc 04F0 brlt .+2
		2428	2443 16de 00C0 rjmp .L451
		2429	2444 16e0 80E0 ldi r24,lo8(-64000)
		2430	2445 16e2 96E0 ldi r25,hi8(-64000)
		2431	2446 16e4 AFEF ldi r26,hlo8(-64000)
		2432	2447 16e6 BFEF ldi r27,hhi8(-64000)
		2433	2448 16e8 8093 0000 sts IPartRoll.1973,r24
		2434	2449 16ec 9093 0000 sts (IPartRoll.1973)+1,r25
		2435	2450 16f0 A093 0000 sts (IPartRoll.1973)+2,r26
		2436	2451 16f4 B093 0000 sts (IPartRoll.1973)+3,r27
		2437	2452 16f8 E12C mov r14,__zero_reg__
		2438	2453 16fa 86E0 ldi r24,hi8(-64000)
		2439	2454 16fc F82E mov r15,r24
		2440	2455 16fe 8FEF ldi r24,hlo8(-64000)
		2441	2456 1700 082F mov r16,r24
		2442	2457 1702 8FEF ldi r24,hhi8(-64000)
		2443	2458 1704 182F mov r17,r24
		2444	2459 .L452:
		2445	2460 1706 E981 ldd r30,Y+1
		2446	2461 1708 FA81 ldd r31,Y+2
		2447	2462 170a EC19 sub r30,r12
		2448	2463 170c FD09 sbc r31,r13
		2449	2464 170e 6F01 movw r12,r30
		2450	2465 1710 9401 movw r18,r8
		2451	2466 1712 4427 clr r20
		2452	2467 1714 37FD sbrc r19,7
		2453	2468 1716 4095 com r20
		2454	2469 1718 542F mov r21,r20
		2455	2470 171a C801 movw r24,r16
		2456	2471 171c B701 movw r22,r14
		2457	2472 171e 0E94 0000 call __divmodsi4
		2458	2473 1722 C20E add r12,r18
		2459	2474 1724 D31E adc r13,r19
		2460	2475 1726 9301 movw r18,r6
		2461	2476 1728 77FE sbrs r7,7
		2462	2477 172a 00C0 rjmp .+4
		2463	2478 172c 0C94 0000 jmp .L493
		2464	2479 .L453:
		2465	2480 1730 3595 asr r19
		2466	2481 1732 2795 ror r18
		2467	2482 1734 240D add r18,r4
		2468	2483 1736 351D adc r19,r5
		2469	2484 1738 B901 movw r22,r18
		2470	2485 173a 8827 clr r24
		2471	2486 173c 77FD sbrc r23,7
		2472	2487 173e 8095 com r24
		2473	2488 1740 982F mov r25,r24
		2474	2489 1742 2091 0000 lds r18,FCParam+23
		2475	2490 1746 30E0 ldi r19,lo8(0)
		2476	2491 1748 40E0 ldi r20,lo8(0)
		2477	2492 174a 50E0 ldi r21,hi8(0)
		2478	2493 174c 0E94 0000 call __mulsi3
		2479	2494 1750 20E4 ldi r18,lo8(64)
		2480	2495 1752 30E0 ldi r19,hi8(64)
		2481	2496 1754 40E0 ldi r20,hlo8(64)
		2482	2497 1756 50E0 ldi r21,hhi8(64)
		2483	2498 1758 0E94 0000 call __divmodsi4
		2484	2499 175c B901 movw r22,r18
		2485	2500 175e 8827 clr r24
		2486	2501 1760 9927 clr r25
		2487	2502 1762 821B sub r24,r18
		2488	2503 1764 930B sbc r25,r19
		2489	2504 1766 A816 cp r10,r24
		2490	2505 1768 B906 cpc r11,r25
		2491	2506 176a 04F0 brlt .+2
		2492	2507 176c 00C0 rjmp .L454
		2493	2508 176e 9C01 movw r18,r24
		2494	2509 .L455:
		2495	2510 1770 C816 cp r12,r24
		2496	2511 1772 D906 cpc r13,r25
		2497	2512 1774 04F0 brlt .L458
		2498	2513 1776 CB01 movw r24,r22
		2499	2514 1778 C616 cp r12,r22
		2500	2515 177a D706 cpc r13,r23
		2501	2516 177c 04F4 brge .+4
		2502	2517 177e 0C94 0000 jmp .L494
		2503	2518 .L458:
		2504	2519 1782 B0E0 ldi r27,lo8(Mixer+13)
		2505	2520 1784 2B2E mov r2,r27
		2506	2521 1786 B0E0 ldi r27,hi8(Mixer+13)
		2507	2522 1788 3B2E mov r3,r27
		2508	2523 178a A0E0 ldi r26,lo8(Motor)
		2509	2524 178c 8A2E mov r8,r26
		2510	2525 178e A0E0 ldi r26,hi8(Motor)
		2511	2526 1790 9A2E mov r9,r26
		2512	2527 1792 F0E0 ldi r31,lo8(MotorValue.1987)
		2513	2528 1794 AF2E mov r10,r31
		2514	2529 1796 F0E0 ldi r31,hi8(MotorValue.1987)
		2515	2530 1798 BF2E mov r11,r31
		2516	2531 179a A301 movw r20,r6
		2517	2532 179c 6627 clr r22
		2518	2533 179e 57FD sbrc r21,7
		2519	2534 17a0 6095 com r22
		2520	2535 17a2 762F mov r23,r22
		2521	2536 17a4 4E87 std Y+14,r20
		2522	2537 17a6 5F87 std Y+15,r21
		2523	2538 17a8 688B std Y+16,r22
		2524	2539 17aa 798B std Y+17,r23
		2525	2540 17ac A201 movw r20,r4
		2526	2541 17ae 6627 clr r22
		2527	2542 17b0 57FD sbrc r21,7
		2528	2543 17b2 6095 com r22
		2529	2544 17b4 762F mov r23,r22
		2530	2545 17b6 4A8B std Y+18,r20
		2531	2546 17b8 5B8B std Y+19,r21
		2532	2547 17ba 6C8B std Y+20,r22
		2533	2548 17bc 7D8B std Y+21,r23
		2534	2549 17be A901 movw r20,r18
		2535	2550 17c0 6627 clr r22
		2536	2551 17c2 57FD sbrc r21,7
		2537	2552 17c4 6095 com r22
		2538	2553 17c6 762F mov r23,r22
		2539	2554 17c8 4E8B std Y+22,r20
		2540	2555 17ca 5F8B std Y+23,r21
		2541	2556 17cc 688F std Y+24,r22
		2542	2557 17ce 798F std Y+25,r23
		2543	2558 17d0 2C01 movw r4,r24
		2544	2559 17d2 6624 clr r6
		2545	2560 17d4 57FC sbrc r5,7
		2546	2561 17d6 6094 com r6
		2547	2562 17d8 762C mov r7,r6
		2548	2563 17da 00C0 rjmp .L466
		2549	2564 .L498:
		2550	2565 17dc 2381 ldd r18,Z+3
		2551	2566 17de 3327 clr r19
		2552	2567 17e0 27FD sbrc r18,7
		2553	2568 17e2 3095 com r19
		2554	2569 17e4 432F mov r20,r19
		2555	2570 17e6 532F mov r21,r19
		2556	2571 17e8 6E85 ldd r22,Y+14
		2557	2572 17ea 7F85 ldd r23,Y+15
		2558	2573 17ec 8889 ldd r24,Y+16
		2559	2574 17ee 9989 ldd r25,Y+17
		2560	2575 17f0 0E94 0000 call __mulsi3
		2561	2576 17f4 20E4 ldi r18,lo8(64)
		2562	2577 17f6 30E0 ldi r19,hi8(64)
		2563	2578 17f8 40E0 ldi r20,hlo8(64)
		2564	2579 17fa 50E0 ldi r21,hhi8(64)
		2565	2580 17fc 0E94 0000 call __divmodsi4
		2566	2581 1800 7901 movw r14,r18
		2567	2582 1802 8A01 movw r16,r20
		2568	2583 1804 2D2D mov r18,r13
		2569	2584 1806 3327 clr r19
		2570	2585 1808 27FD sbrc r18,7
		2571	2586 180a 3095 com r19
		2572	2587 180c 432F mov r20,r19
		2573	2588 180e 532F mov r21,r19
		2574	2589 1810 6A89 ldd r22,Y+18
		2575	2590 1812 7B89 ldd r23,Y+19
		2576	2591 1814 8C89 ldd r24,Y+20
		2577	2592 1816 9D89 ldd r25,Y+21
		2578	2593 1818 0E94 0000 call __mulsi3
		2579	2594 181c 20E4 ldi r18,lo8(64)
		2580	2595 181e 30E0 ldi r19,hi8(64)
		2581	2596 1820 40E0 ldi r20,hlo8(64)
		2582	2597 1822 50E0 ldi r21,hhi8(64)
		2583	2598 1824 0E94 0000 call __divmodsi4
		2584	2599 1828 E20E add r14,r18
		2585	2600 182a F31E adc r15,r19
		2586	2601 182c F101 movw r30,r2
		2587	2602 182e 2181 ldd r18,Z+1
		2588	2603 1830 3327 clr r19
		2589	2604 1832 27FD sbrc r18,7
		2590	2605 1834 3095 com r19
		2591	2606 1836 432F mov r20,r19
		2592	2607 1838 532F mov r21,r19
		2593	2608 183a 6E89 ldd r22,Y+22
		2594	2609 183c 7F89 ldd r23,Y+23
		2595	2610 183e 888D ldd r24,Y+24
		2596	2611 1840 998D ldd r25,Y+25
		2597	2612 1842 0E94 0000 call __mulsi3
		2598	2613 1846 20E4 ldi r18,lo8(64)
		2599	2614 1848 30E0 ldi r19,hi8(64)
		2600	2615 184a 40E0 ldi r20,hlo8(64)
		2601	2616 184c 50E0 ldi r21,hhi8(64)
		2602	2617 184e 0E94 0000 call __divmodsi4
		2603	2618 1852 E20E add r14,r18
		2604	2619 1854 F31E adc r15,r19
		2605	2620 1856 F101 movw r30,r2
		2606	2621 1858 2281 ldd r18,Z+2
		2607	2622 185a 3327 clr r19
		2608	2623 185c 27FD sbrc r18,7
		2609	2624 185e 3095 com r19
		2610	2625 1860 432F mov r20,r19
		2611	2626 1862 532F mov r21,r19
		2612	2627 1864 C301 movw r24,r6
		2613	2628 1866 B201 movw r22,r4
		2614	2629 1868 0E94 0000 call __mulsi3
		2615	2630 186c 20E4 ldi r18,lo8(64)
		2616	2631 186e 30E0 ldi r19,hi8(64)
		2617	2632 1870 40E0 ldi r20,hlo8(64)
		2618	2633 1872 50E0 ldi r21,hhi8(64)
		2619	2634 1874 0E94 0000 call __divmodsi4
		2620	2635 1878 E20E add r14,r18
		2621	2636 187a F31E adc r15,r19
		2622	2637 187c F501 movw r30,r10
		2623	2638 187e 8081 ld r24,Z
		2624	2639 1880 9181 ldd r25,Z+1
		2625	2640 1882 E80E add r14,r24
		2626	2641 1884 F91E adc r15,r25
		2627	2642 1886 F7FC sbrc r15,7
		2628	2643 1888 00C0 rjmp .L495
		2629	2644 .L461:
		2630	2645 188a C701 movw r24,r14
		2631	2646 188c 9595 asr r25
		2632	2647 188e 8795 ror r24
		2633	2648 1890 F501 movw r30,r10
		2634	2649 1892 8083 st Z,r24
		2635	2650 1894 9183 std Z+1,r25
		2636	2651 1896 97FD sbrc r25,7
		2637	2652 1898 00C0 rjmp .L496
		2638	2653 .L462:
		2639	2654 189a AC01 movw r20,r24
		2640	2655 189c 5595 asr r21
		2641	2656 189e 4795 ror r20
		2642	2657 18a0 5595 asr r21
		2643	2658 18a2 4795 ror r20
		2644	2659 18a4 8091 0000 lds r24,ParamSet+18
		2645	2660 18a8 282F mov r18,r24
		2646	2661 18aa 30E0 ldi r19,lo8(0)
		2647	2662 18ac 4217 cp r20,r18
		2648	2663 18ae 5307 cpc r21,r19
		2649	2664 18b0 04F0 brlt .L463
		2650	2665 18b2 8091 0000 lds r24,ParamSet+19
		2651	2666 18b6 90E0 ldi r25,lo8(0)
		2652	2667 18b8 9A01 movw r18,r20
		2653	2668 18ba 8417 cp r24,r20
		2654	2669 18bc 9507 cpc r25,r21
		2655	2670 18be 04F4 brge .L463
		2656	2671 18c0 9C01 movw r18,r24
		2657	2672 .L463:
		2658	2673 18c2 F401 movw r30,r8
		2659	2674 18c4 2083 st Z,r18
		2660	2675 .L465:
		2661	2676 18c6 24E0 ldi r18,lo8(4)
		2662	2677 18c8 30E0 ldi r19,hi8(4)
		2663	2678 18ca 220E add r2,r18
		2664	2679 18cc 331E adc r3,r19
		2665	2680 18ce 45E0 ldi r20,lo8(5)
		2666	2681 18d0 50E0 ldi r21,hi8(5)
		2667	2682 18d2 840E add r8,r20
		2668	2683 18d4 951E adc r9,r21
		2669	2684 18d6 62E0 ldi r22,lo8(2)
		2670	2685 18d8 70E0 ldi r23,hi8(2)
		2671	2686 18da A60E add r10,r22
		2672	2687 18dc B71E adc r11,r23
		2673	2688 18de 70E0 ldi r23,lo8(Mixer+61)
		2674	2689 18e0 2716 cp r2,r23
		2675	2690 18e2 70E0 ldi r23,hi8(Mixer+61)
		2676	2691 18e4 3706 cpc r3,r23
		2677	2692 18e6 01F4 brne .+2
		2678	2693 18e8 00C0 rjmp .L497
		2679	2694 .L466:
		2680	2695 18ea F101 movw r30,r2
		2681	2696 18ec D080 ld r13,Z
		2682	2697 18ee 1D14 cp __zero_reg__,r13
		2683	2698 18f0 04F4 brge .+2
		2684	2699 18f2 00C0 rjmp .L498
		2685	2700 18f4 F401 movw r30,r8
		2686	2701 18f6 1082 st Z,__zero_reg__
		2687	2702 18f8 00C0 rjmp .L465
		2688	2703 .L282:
		2689	2704 18fa 8091 0000 lds r24,RC_Quality
		2690	2705 18fe 9091 0000 lds r25,(RC_Quality)+1
		2691	2706 1902 8D38 cpi r24,141
		2692	2707 1904 9105 cpc r25,__zero_reg__
		2693	2708 1906 04F4 brge .+2
		2694	2709 1908 00C0 rjmp .L290
		2695	2710 190a 8091 0000 lds r24,MKFlags
		2696	2711 190e 8F7E andi r24,lo8(-17)
		2697	2712 1910 8093 0000 sts MKFlags,r24
		2698	2713 1914 8091 0000 lds r24,ParamSet+27
		2699	2714 1918 22E3 ldi r18,lo8(50)
		2700	2715 191a 829F mul r24,r18
		2701	2716 191c C001 movw r24,r0
		2702	2717 191e 1124 clr r1
		2703	2718 1920 9093 0000 sts (RcLostTimer.1981)+1,r25
		2704	2719 1924 8093 0000 sts RcLostTimer.1981,r24
		2705	2720 1928 2F81 ldd r18,Y+7
		2706	2721 192a 3885 ldd r19,Y+8
		2707	2722 192c 2932 cpi r18,41
		2708	2723 192e 3105 cpc r19,__zero_reg__
		2709	2724 1930 04F0 brlt .L291
		2710	2725 1932 8091 0000 lds r24,MKFlags
		2711	2726 1936 80FF sbrs r24,0
		2712	2727 1938 00C0 rjmp .L291
		2713	2728 193a 8091 0000 lds r24,ModelIsFlying
		2714	2729 193e 9091 0000 lds r25,(ModelIsFlying)+1
		2715	2730 1942 3FEF ldi r19,hi8(-1)
		2716	2731 1944 8F3F cpi r24,lo8(-1)
		2717	2732 1946 9307 cpc r25,r19
		2718	2733 1948 01F4 brne .+4
		2719	2734 194a 0C94 0000 jmp .L292
		2720	2735 194e 0196 adiw r24,1
		2721	2736 1950 9093 0000 sts (ModelIsFlying)+1,r25
		2722	2737 1954 8093 0000 sts ModelIsFlying,r24
		2723	2738 .L291:
		2724	2739 1958 8091 0000 lds r24,ModelIsFlying
		2725	2740 195c 9091 0000 lds r25,(ModelIsFlying)+1
		2726	2741 1960 8F3F cpi r24,255
		2727	2742 1962 9105 cpc r25,__zero_reg__
		2728	2743 1964 01F0 breq .+6
		2729	2744 1966 00F0 brlo .+4
		2730	2745 1968 0C94 0000 jmp .L292
		2731	2746 196c 1092 0000 sts IPartNick.1972,__zero_reg__
		2732	2747 1970 1092 0000 sts (IPartNick.1972)+1,__zero_reg__
		2733	2748 1974 1092 0000 sts (IPartNick.1972)+2,__zero_reg__
		2734	2749 1978 1092 0000 sts (IPartNick.1972)+3,__zero_reg__
		2735	2750 197c 1092 0000 sts IPartRoll.1973,__zero_reg__
		2736	2751 1980 1092 0000 sts (IPartRoll.1973)+1,__zero_reg__
		2737	2752 1984 1092 0000 sts (IPartRoll.1973)+2,__zero_reg__
		2738	2753 1988 1092 0000 sts (IPartRoll.1973)+3,__zero_reg__
		2739	2754 198c 1092 0000 sts (StickYaw)+1,__zero_reg__
		2740	2755 1990 1092 0000 sts StickYaw,__zero_reg__
		2741	2756 1994 8A3F cpi r24,250
		2742	2757 1996 9105 cpc r25,__zero_reg__
		2743	2758 1998 01F4 brne .+4
		2744	2759 199a 0C94 0000 jmp .L499
		2745	2760 .L293:
		2746	2761 199e 8091 0000 lds r24,ParamSet+4
		2747	2762 19a2 E82F mov r30,r24
		2748	2763 19a4 F0E0 ldi r31,lo8(0)
		2749	2764 19a6 EE0F lsl r30
		2750	2765 19a8 FF1F rol r31
		2751	2766 19aa E050 subi r30,lo8(-(PPM_in))
		2752	2767 19ac F040 sbci r31,hi8(-(PPM_in))
		2753	2768 19ae 8081 ld r24,Z
		2754	2769 19b0 9181 ldd r25,Z+1
		2755	2770 19b2 E090 0000 lds r14,Poti1
		2756	2771 19b6 F090 0000 lds r15,(Poti1)+1
		2757	2772 19ba 8359 subi r24,lo8(-(109))
		2758	2773 19bc 9F4F sbci r25,hi8(-(109))
		2759	2774 19be 8E15 cp r24,r14
		2760	2775 19c0 9F05 cpc r25,r15
		2761	2776 19c2 04F4 brge .+4
		2762	2777 19c4 0C94 0000 jmp .L294
		2763	2778 19c8 C701 movw r24,r14
		2764	2779 19ca 0196 adiw r24,1
		2765	2780 19cc 9093 0000 sts (Poti1)+1,r25
		2766	2781 19d0 8093 0000 sts Poti1,r24
		2767	2782 19d4 7C01 movw r14,r24
		2768	2783 .L295:
		2769	2784 19d6 8091 0000 lds r24,ParamSet+5
		2770	2785 19da E82F mov r30,r24
		2771	2786 19dc F0E0 ldi r31,lo8(0)
		2772	2787 19de EE0F lsl r30
		2773	2788 19e0 FF1F rol r31
		2774	2789 19e2 E050 subi r30,lo8(-(PPM_in))
		2775	2790 19e4 F040 sbci r31,hi8(-(PPM_in))
		2776	2791 19e6 8081 ld r24,Z
		2777	2792 19e8 9181 ldd r25,Z+1
		2778	2793 19ea 0091 0000 lds r16,Poti2
		2779	2794 19ee 1091 0000 lds r17,(Poti2)+1
		2780	2795 19f2 8359 subi r24,lo8(-(109))
		2781	2796 19f4 9F4F sbci r25,hi8(-(109))
		2782	2797 19f6 8017 cp r24,r16
		2783	2798 19f8 9107 cpc r25,r17
		2784	2799 19fa 04F4 brge .+4
		2785	2800 19fc 0C94 0000 jmp .L296
		2786	2801 1a00 C801 movw r24,r16
		2787	2802 1a02 0196 adiw r24,1
		2788	2803 1a04 9093 0000 sts (Poti2)+1,r25
		2789	2804 1a08 8093 0000 sts Poti2,r24
		2790	2805 1a0c 8C01 movw r16,r24
		2791	2806 .L297:
		2792	2807 1a0e 8091 0000 lds r24,ParamSet+6
		2793	2808 1a12 E82F mov r30,r24
		2794	2809 1a14 F0E0 ldi r31,lo8(0)
		2795	2810 1a16 EE0F lsl r30
		2796	2811 1a18 FF1F rol r31
		2797	2812 1a1a E050 subi r30,lo8(-(PPM_in))
		2798	2813 1a1c F040 sbci r31,hi8(-(PPM_in))
		2799	2814 1a1e 8081 ld r24,Z
		2800	2815 1a20 9181 ldd r25,Z+1
		2801	2816 1a22 A090 0000 lds r10,Poti3
		2802	2817 1a26 B090 0000 lds r11,(Poti3)+1
		2803	2818 1a2a 8359 subi r24,lo8(-(109))
		2804	2819 1a2c 9F4F sbci r25,hi8(-(109))
		2805	2820 1a2e 8A15 cp r24,r10
		2806	2821 1a30 9B05 cpc r25,r11
		2807	2822 1a32 04F4 brge .+4
		2808	2823 1a34 0C94 0000 jmp .L298
		2809	2824 1a38 C501 movw r24,r10
		2810	2825 1a3a 0196 adiw r24,1
		2811	2826 1a3c 9093 0000 sts (Poti3)+1,r25
		2812	2827 1a40 8093 0000 sts Poti3,r24
		2813	2828 1a44 5C01 movw r10,r24
		2814	2829 .L299:
		2815	2830 1a46 8091 0000 lds r24,ParamSet+7
		2816	2831 1a4a E82F mov r30,r24
		2817	2832 1a4c F0E0 ldi r31,lo8(0)
		2818	2833 1a4e EE0F lsl r30
		2819	2834 1a50 FF1F rol r31
		2820	2835 1a52 E050 subi r30,lo8(-(PPM_in))
		2821	2836 1a54 F040 sbci r31,hi8(-(PPM_in))
		2822	2837 1a56 8081 ld r24,Z
		2823	2838 1a58 9181 ldd r25,Z+1
		2824	2839 1a5a A091 0000 lds r26,Poti4
		2825	2840 1a5e B091 0000 lds r27,(Poti4)+1
		2826	2841 1a62 8359 subi r24,lo8(-(109))
		2827	2842 1a64 9F4F sbci r25,hi8(-(109))
		2828	2843 1a66 8A17 cp r24,r26
		2829	2844 1a68 9B07 cpc r25,r27
		2830	2845 1a6a 04F4 brge .+4
		2831	2846 1a6c 0C94 0000 jmp .L300
		2832	2847 1a70 CD01 movw r24,r26
		2833	2848 1a72 0196 adiw r24,1
		2834	2849 1a74 9093 0000 sts (Poti4)+1,r25
		2835	2850 1a78 8093 0000 sts Poti4,r24
		2836	2851 1a7c DC01 movw r26,r24
		2837	2852 .L301:
		2838	2853 1a7e 8091 0000 lds r24,PPM_in+18
		2839	2854 1a82 9091 0000 lds r25,(PPM_in+18)+1
		2840	2855 1a86 E091 0000 lds r30,Poti5
		2841	2856 1a8a F091 0000 lds r31,(Poti5)+1
		2842	2857 1a8e 8359 subi r24,lo8(-(109))
		2843	2858 1a90 9F4F sbci r25,hi8(-(109))
		2844	2859 1a92 8E17 cp r24,r30
		2845	2860 1a94 9F07 cpc r25,r31
		2846	2861 1a96 04F4 brge .+4
		2847	2862 1a98 0C94 0000 jmp .L302
		2848	2863 1a9c CF01 movw r24,r30
		2849	2864 1a9e 0196 adiw r24,1
		2850	2865 1aa0 9093 0000 sts (Poti5)+1,r25
		2851	2866 1aa4 8093 0000 sts Poti5,r24
		2852	2867 1aa8 FC01 movw r30,r24
		2853	2868 .L303:
		2854	2869 1aaa 8091 0000 lds r24,PPM_in+20
		2855	2870 1aae 9091 0000 lds r25,(PPM_in+20)+1
		2856	2871 1ab2 6091 0000 lds r22,Poti6
		2857	2872 1ab6 7091 0000 lds r23,(Poti6)+1
		2858	2873 1aba 8359 subi r24,lo8(-(109))
		2859	2874 1abc 9F4F sbci r25,hi8(-(109))
		2860	2875 1abe 8617 cp r24,r22
		2861	2876 1ac0 9707 cpc r25,r23
		2862	2877 1ac2 04F4 brge .+4
		2863	2878 1ac4 0C94 0000 jmp .L304
		2864	2879 1ac8 CB01 movw r24,r22
		2865	2880 1aca 0196 adiw r24,1
		2866	2881 1acc 9093 0000 sts (Poti6)+1,r25
		2867	2882 1ad0 8093 0000 sts Poti6,r24
		2868	2883 1ad4 BC01 movw r22,r24
		2869	2884 .L305:
		2870	2885 1ad6 8091 0000 lds r24,PPM_in+22
		2871	2886 1ada 9091 0000 lds r25,(PPM_in+22)+1
		2872	2887 1ade 4091 0000 lds r20,Poti7
		2873	2888 1ae2 5091 0000 lds r21,(Poti7)+1
		2874	2889 1ae6 8359 subi r24,lo8(-(109))
		2875	2890 1ae8 9F4F sbci r25,hi8(-(109))
		2876	2891 1aea 8417 cp r24,r20
		2877	2892 1aec 9507 cpc r25,r21
		2878	2893 1aee 04F4 brge .+4
		2879	2894 1af0 0C94 0000 jmp .L306
		2880	2895 1af4 CA01 movw r24,r20
		2881	2896 1af6 0196 adiw r24,1
		2882	2897 1af8 9093 0000 sts (Poti7)+1,r25
		2883	2898 1afc 8093 0000 sts Poti7,r24
		2884	2899 1b00 AC01 movw r20,r24
		2885	2900 .L307:
		2886	2901 1b02 8091 0000 lds r24,PPM_in+24
		2887	2902 1b06 9091 0000 lds r25,(PPM_in+24)+1
		2888	2903 1b0a 2091 0000 lds r18,Poti8
		2889	2904 1b0e 3091 0000 lds r19,(Poti8)+1
		2890	2905 1b12 8359 subi r24,lo8(-(109))
		2891	2906 1b14 9F4F sbci r25,hi8(-(109))
		2892	2907 1b16 8217 cp r24,r18
		2893	2908 1b18 9307 cpc r25,r19
		2894	2909 1b1a 04F4 brge .+4
		2895	2910 1b1c 0C94 0000 jmp .L308
		2896	2911 1b20 C901 movw r24,r18
		2897	2912 1b22 0196 adiw r24,1
		2898	2913 1b24 9093 0000 sts (Poti8)+1,r25
		2899	2914 1b28 8093 0000 sts Poti8,r24
		2900	2915 1b2c 9C01 movw r18,r24
		2901	2916 .L309:
		2902	2917 1b2e F7FE sbrs r15,7
		2903	2918 1b30 00C0 rjmp .+4
		2904	2919 1b32 0C94 0000 jmp .L500
		2905	2920 1b36 8FEF ldi r24,lo8(255)
		2906	2921 1b38 E816 cp r14,r24
		2907	2922 1b3a F104 cpc r15,__zero_reg__
		2908	2923 1b3c 01F0 breq .L311
		2909	2924 1b3e 04F0 brlt .L311
		2910	2925 1b40 8FEF ldi r24,lo8(255)
		2911	2926 1b42 90E0 ldi r25,hi8(255)
		2912	2927 1b44 9093 0000 sts (Poti1)+1,r25
		2913	2928 1b48 8093 0000 sts Poti1,r24
		2914	2929 .L311:
		2915	2930 1b4c 17FF sbrs r17,7
		2916	2931 1b4e 00C0 rjmp .+4
		2917	2932 1b50 0C94 0000 jmp .L501
		2918	2933 1b54 0F3F cpi r16,255
		2919	2934 1b56 1105 cpc r17,__zero_reg__
		2920	2935 1b58 01F0 breq .L313
		2921	2936 1b5a 04F0 brlt .L313
		2922	2937 1b5c 8FEF ldi r24,lo8(255)
		2923	2938 1b5e 90E0 ldi r25,hi8(255)
		2924	2939 1b60 9093 0000 sts (Poti2)+1,r25
		2925	2940 1b64 8093 0000 sts Poti2,r24
		2926	2941 .L313:
		2927	2942 1b68 B7FE sbrs r11,7
		2928	2943 1b6a 00C0 rjmp .+4
		2929	2944 1b6c 0C94 0000 jmp .L502
		2930	2945 1b70 9FEF ldi r25,lo8(255)
		2931	2946 1b72 A916 cp r10,r25
		2932	2947 1b74 B104 cpc r11,__zero_reg__
		2933	2948 1b76 01F0 breq .L315
		2934	2949 1b78 04F0 brlt .L315
		2935	2950 1b7a 8FEF ldi r24,lo8(255)
		2936	2951 1b7c 90E0 ldi r25,hi8(255)
		2937	2952 1b7e 9093 0000 sts (Poti3)+1,r25
		2938	2953 1b82 8093 0000 sts Poti3,r24
		2939	2954 .L315:
		2940	2955 1b86 B7FF sbrs r27,7
		2941	2956 1b88 00C0 rjmp .+4
		2942	2957 1b8a 0C94 0000 jmp .L503
		2943	2958 1b8e AF3F cpi r26,255
		2944	2959 1b90 B105 cpc r27,__zero_reg__
		2945	2960 1b92 01F0 breq .L317
		2946	2961 1b94 04F0 brlt .L317
		2947	2962 1b96 8FEF ldi r24,lo8(255)
		2948	2963 1b98 90E0 ldi r25,hi8(255)
		2949	2964 1b9a 9093 0000 sts (Poti4)+1,r25
		2950	2965 1b9e 8093 0000 sts Poti4,r24
		2951	2966 .L317:
		2952	2967 1ba2 F7FF sbrs r31,7
		2953	2968 1ba4 00C0 rjmp .+4
		2954	2969 1ba6 0C94 0000 jmp .L504
		2955	2970 1baa EF3F cpi r30,255
		2956	2971 1bac F105 cpc r31,__zero_reg__
		2957	2972 1bae 01F0 breq .L319
		2958	2973 1bb0 04F0 brlt .L319
		2959	2974 1bb2 8FEF ldi r24,lo8(255)
		2960	2975 1bb4 90E0 ldi r25,hi8(255)
		2961	2976 1bb6 9093 0000 sts (Poti5)+1,r25
		2962	2977 1bba 8093 0000 sts Poti5,r24
		2963	2978 .L319:
		2964	2979 1bbe 77FF sbrs r23,7
		2965	2980 1bc0 00C0 rjmp .+4
		2966	2981 1bc2 0C94 0000 jmp .L505
		2967	2982 1bc6 6F3F cpi r22,255
		2968	2983 1bc8 7105 cpc r23,__zero_reg__
		2969	2984 1bca 01F0 breq .L321
		2970	2985 1bcc 04F0 brlt .L321
		2971	2986 1bce 8FEF ldi r24,lo8(255)
		2972	2987 1bd0 90E0 ldi r25,hi8(255)
		2973	2988 1bd2 9093 0000 sts (Poti6)+1,r25
		2974	2989 1bd6 8093 0000 sts Poti6,r24
		2975	2990 .L321:
		2976	2991 1bda 57FF sbrs r21,7
		2977	2992 1bdc 00C0 rjmp .+4
		2978	2993 1bde 0C94 0000 jmp .L506
		2979	2994 1be2 4F3F cpi r20,255
		2980	2995 1be4 5105 cpc r21,__zero_reg__
		2981	2996 1be6 01F0 breq .L323
		2982	2997 1be8 04F0 brlt .L323
		2983	2998 1bea 8FEF ldi r24,lo8(255)
		2984	2999 1bec 90E0 ldi r25,hi8(255)
		2985	3000 1bee 9093 0000 sts (Poti7)+1,r25
		2986	3001 1bf2 8093 0000 sts Poti7,r24
		2987	3002 .L323:
		2988	3003 1bf6 37FF sbrs r19,7
		2989	3004 1bf8 00C0 rjmp .+4
		2990	3005 1bfa 0C94 0000 jmp .L507
		2991	3006 1bfe 2F3F cpi r18,255
		2992	3007 1c00 3105 cpc r19,__zero_reg__
		2993	3008 1c02 01F0 breq .L325
		2994	3009 1c04 04F0 brlt .L325
		2995	3010 1c06 8FEF ldi r24,lo8(255)
		2996	3011 1c08 90E0 ldi r25,hi8(255)
		2997	3012 1c0a 9093 0000 sts (Poti8)+1,r25
		2998	3013 1c0e 8093 0000 sts Poti8,r24
		2999	3014 .L325:
		3000	3015 1c12 8091 0000 lds r24,ParamSet+2
		3001	3016 1c16 A82F mov r26,r24
		3002	3017 1c18 B0E0 ldi r27,lo8(0)
		3003	3018 1c1a AA0F lsl r26
		3004	3019 1c1c BB1F rol r27
		3005	3020 1c1e FD01 movw r30,r26
		3006	3021 1c20 E050 subi r30,lo8(-(PPM_in))
		3007	3022 1c22 F040 sbci r31,hi8(-(PPM_in))
		3008	3023 1c24 8081 ld r24,Z
		3009	3024 1c26 9181 ldd r25,Z+1
		3010	3025 1c28 8135 cpi r24,81
		3011	3026 1c2a 9105 cpc r25,__zero_reg__
		3012	3027 1c2c 04F4 brge .+2
		3013	3028 1c2e 00C0 rjmp .L326
		3014	3029 1c30 8091 0000 lds r24,MKFlags
		3015	3030 1c34 80FD sbrc r24,0
		3016	3031 1c36 00C0 rjmp .L326
		3017	3032 1c38 8091 0000 lds r24,ParamSet+3
		3018	3033 1c3c E82F mov r30,r24
		3019	3034 1c3e F0E0 ldi r31,lo8(0)
		3020	3035 1c40 EE0F lsl r30
		3021	3036 1c42 FF1F rol r31
		3022	3037 1c44 E050 subi r30,lo8(-(PPM_in))
		3023	3038 1c46 F040 sbci r31,hi8(-(PPM_in))
		3024	3039 1c48 8081 ld r24,Z
		3025	3040 1c4a 9181 ldd r25,Z+1
		3026	3041 1c4c 8C34 cpi r24,76
		3027	3042 1c4e 9105 cpc r25,__zero_reg__
		3028	3043 1c50 04F4 brge .+4
		3029	3044 1c52 0C94 0000 jmp .L327
		3030	3045 1c56 8091 0000 lds r24,delay_neutral.1982
		3031	3046 1c5a 8F5F subi r24,lo8(-(1))
		3032	3047 1c5c 8093 0000 sts delay_neutral.1982,r24
		3033	3048 1c60 893C cpi r24,lo8(-55)
		3034	3049 1c62 00F4 brsh .+2
		3035	3050 1c64 00C0 rjmp .L326
		3036	3051 1c66 1092 0000 sts delay_neutral.1982,__zero_reg__
		3037	3052 1c6a EBE0 ldi r30,lo8(11)
		3038	3053 1c6c ED15 cp r30,r13
		3039	3054 1c6e 00F4 brsh .+4
		3040	3055 1c70 0C94 0000 jmp .L329
		3041	3056 1c74 2998 cbi 37-0x20,1
		3042	3057 .L330:
		3043	3058 1c76 1092 0000 sts (ModelIsFlying)+1,__zero_reg__
		3044	3059 1c7a 1092 0000 sts ModelIsFlying,__zero_reg__
		3045	3060 1c7e 8091 0000 lds r24,ParamSet
		3046	3061 1c82 482F mov r20,r24
		3047	3062 1c84 50E0 ldi r21,lo8(0)
		3048	3063 1c86 440F lsl r20
		3049	3064 1c88 551F rol r21
		3050	3065 1c8a FA01 movw r30,r20
		3051	3066 1c8c E050 subi r30,lo8(-(PPM_in))
		3052	3067 1c8e F040 sbci r31,hi8(-(PPM_in))
		3053	3068 1c90 8081 ld r24,Z
		3054	3069 1c92 9181 ldd r25,Z+1
		3055	3070 1c94 8734 cpi r24,71
		3056	3071 1c96 9105 cpc r25,__zero_reg__
		3057	3072 1c98 04F4 brge .+4
		3058	3073 1c9a 0C94 0000 jmp .L331
		3059	3074 1c9e 8091 0000 lds r24,ParamSet+1
		3060	3075 1ca2 A82F mov r26,r24
		3061	3076 1ca4 B0E0 ldi r27,lo8(0)
		3062	3077 1ca6 AA0F lsl r26
		3063	3078 1ca8 BB1F rol r27
		3064	3079 .L332:
		3065	3080 1caa FD01 movw r30,r26
		3066	3081 1cac E050 subi r30,lo8(-(PPM_in))
		3067	3082 1cae F040 sbci r31,hi8(-(PPM_in))
		3068	3083 1cb0 8081 ld r24,Z
		3069	3084 1cb2 9181 ldd r25,Z+1
		3070	3085 1cb4 8734 cpi r24,71
		3071	3086 1cb6 9105 cpc r25,__zero_reg__
		3072	3087 1cb8 04F0 brlt .L335
		3073	3088 1cba FA01 movw r30,r20
		3074	3089 1cbc E050 subi r30,lo8(-(PPM_in))
		3075	3090 1cbe F040 sbci r31,hi8(-(PPM_in))
		3076	3091 1cc0 0190 ld __tmp_reg__,Z+
		3077	3092 1cc2 F081 ld r31,Z
		3078	3093 1cc4 E02D mov r30,__tmp_reg__
		3079	3094 .L335:
		3080	3095 1cc6 FD01 movw r30,r26
		3081	3096 1cc8 E050 subi r30,lo8(-(PPM_in))
		3082	3097 1cca F040 sbci r31,hi8(-(PPM_in))
		3083	3098 1ccc 8081 ld r24,Z
		3084	3099 1cce 9181 ldd r25,Z+1
		3085	3100 1cd0 8734 cpi r24,71
		3086	3101 1cd2 9105 cpc r25,__zero_reg__
		3087	3102 1cd4 04F4 brge .+4
		3088	3103 1cd6 0C94 0000 jmp .L336
		3089	3104 1cda FA01 movw r30,r20
		3090	3105 1cdc E050 subi r30,lo8(-(PPM_in))
		3091	3106 1cde F040 sbci r31,hi8(-(PPM_in))
		3092	3107 1ce0 8081 ld r24,Z
		3093	3108 1ce2 9181 ldd r25,Z+1
		3094	3109 1ce4 8734 cpi r24,71
		3095	3110 1ce6 9105 cpc r25,__zero_reg__
		3096	3111 1ce8 04F4 brge .+4
		3097	3112 1cea 0C94 0000 jmp .L336
		3098	3113 1cee 22E0 ldi r18,lo8(2)
		3099	3114 .L337:
		3100	3115 1cf0 FD01 movw r30,r26
		3101	3116 1cf2 E050 subi r30,lo8(-(PPM_in))
		3102	3117 1cf4 F040 sbci r31,hi8(-(PPM_in))
		3103	3118 1cf6 8081 ld r24,Z
		3104	3119 1cf8 9181 ldd r25,Z+1
		3105	3120 1cfa 8634 cpi r24,70
		3106	3121 1cfc 9105 cpc r25,__zero_reg__
		3107	3122 1cfe 04F4 brge .L338
		3108	3123 1d00 FA01 movw r30,r20
		3109	3124 1d02 E050 subi r30,lo8(-(PPM_in))
		3110	3125 1d04 F040 sbci r31,hi8(-(PPM_in))
		3111	3126 1d06 8081 ld r24,Z
		3112	3127 1d08 9181 ldd r25,Z+1
		3113	3128 1d0a 8734 cpi r24,71
		3114	3129 1d0c 9105 cpc r25,__zero_reg__
		3115	3130 1d0e 04F0 brlt .L338
		3116	3131 1d10 23E0 ldi r18,lo8(3)
		3117	3132 .L338:
		3118	3133 1d12 FD01 movw r30,r26
		3119	3134 1d14 E050 subi r30,lo8(-(PPM_in))
		3120	3135 1d16 F040 sbci r31,hi8(-(PPM_in))
		3121	3136 1d18 8081 ld r24,Z
		3122	3137 1d1a 9181 ldd r25,Z+1
		3123	3138 1d1c 8A5B subi r24,lo8(-70)
		3124	3139 1d1e 9F4F sbci r25,hi8(-70)
		3125	3140 1d20 04F4 brge .L339
		3126	3141 1d22 FA01 movw r30,r20
		3127	3142 1d24 E050 subi r30,lo8(-(PPM_in))
		3128	3143 1d26 F040 sbci r31,hi8(-(PPM_in))
		3129	3144 1d28 8081 ld r24,Z
		3130	3145 1d2a 9181 ldd r25,Z+1
		3131	3146 1d2c 8734 cpi r24,71
		3132	3147 1d2e 9105 cpc r25,__zero_reg__
		3133	3148 1d30 04F0 brlt .L339
		3134	3149 1d32 24E0 ldi r18,lo8(4)
		3135	3150 .L339:
		3136	3151 1d34 A050 subi r26,lo8(-(PPM_in))
		3137	3152 1d36 B040 sbci r27,hi8(-(PPM_in))
		3138	3153 1d38 8D91 ld r24,X+
		3139	3154 1d3a 9C91 ld r25,X
		3140	3155 1d3c 8A5B subi r24,lo8(-70)
		3141	3156 1d3e 9F4F sbci r25,hi8(-70)
		3142	3157 1d40 04F4 brge .L340
		3143	3158 1d42 4050 subi r20,lo8(-(PPM_in))
		3144	3159 1d44 5040 sbci r21,hi8(-(PPM_in))
		3145	3160 1d46 FA01 movw r30,r20
		3146	3161 1d48 8081 ld r24,Z
		3147	3162 1d4a 9181 ldd r25,Z+1
		3148	3163 1d4c 8634 cpi r24,70
		3149	3164 1d4e 9105 cpc r25,__zero_reg__
		3150	3165 1d50 04F4 brge .L340
		3151	3166 1d52 25E0 ldi r18,lo8(5)
		3152	3167 .L340:
		3153	3168 1d54 822F mov r24,r18
		3154	3169 1d56 0E94 0000 call SetActiveParamSet
		3155	3170 1d5a 0E94 0000 call GetActiveParamSet
		3156	3171 1d5e 0E94 0000 call ParamSet_ReadFromEEProm
		3157	3172 .L476:
		3158	3173 1d62 80E0 ldi r24,lo8(0)
		3159	3174 .L477:
		3160	3175 1d64 0E94 0000 call SetNeutral
		3161	3176 1d68 0E94 0000 call GetActiveParamSet
		3162	3177 1d6c 0E94 0000 call Beep
		3163	3178 1d70 8091 0000 lds r24,ParamSet+2
		3164	3179 1d74 A82F mov r26,r24
		3165	3180 1d76 B0E0 ldi r27,lo8(0)
		3166	3181 1d78 AA0F lsl r26
		3167	3182 1d7a BB1F rol r27
		3168	3183 .L326:
		3169	3184 1d7c A050 subi r26,lo8(-(PPM_in))
		3170	3185 1d7e B040 sbci r27,hi8(-(PPM_in))
		3171	3186 1d80 8D91 ld r24,X+
		3172	3187 1d82 9C91 ld r25,X
		3173	3188 1d84 8B5A subi r24,lo8(-85)
		3174	3189 1d86 9F4F sbci r25,hi8(-85)
		3175	3190 1d88 04F0 brlt .+2
		3176	3191 1d8a 00C0 rjmp .L290
		3177	3192 1d8c E091 0000 lds r30,ParamSet+3
		3178	3193 1d90 F0E0 ldi r31,lo8(0)
		3179	3194 1d92 EE0F lsl r30
		3180	3195 1d94 FF1F rol r31
		3181	3196 1d96 E050 subi r30,lo8(-(PPM_in))
		3182	3197 1d98 F040 sbci r31,hi8(-(PPM_in))
		3183	3198 1d9a 8081 ld r24,Z
		3184	3199 1d9c 9181 ldd r25,Z+1
		3185	3200 1d9e 855B subi r24,lo8(-75)
		3186	3201 1da0 9F4F sbci r25,hi8(-75)
		3187	3202 1da2 04F0 brlt .+2
		3188	3203 1da4 00C0 rjmp .L348
		3189	3204 1da6 8091 0000 lds r24,delay_startmotors.1983
		3190	3205 1daa 9091 0000 lds r25,(delay_startmotors.1983)+1
		3191	3206 1dae 883C cpi r24,200
		3192	3207 1db0 9105 cpc r25,__zero_reg__
		3193	3208 1db2 00F4 brsh .+4
		3194	3209 1db4 0C94 0000 jmp .L508
		3195	3210 1db8 883C cpi r24,200
		3196	3211 1dba 9105 cpc r25,__zero_reg__
		3197	3212 1dbc 01F4 brne .+4
		3198	3213 1dbe 0C94 0000 jmp .L509
		3199	3214 1dc2 8091 0000 lds r24,hiResPitchGyro
		3200	3215 1dc6 9091 0000 lds r25,(hiResPitchGyro)+1
		3201	3216 1dca AA27 clr r26
		3202	3217 1dcc 97FD sbrc r25,7
		3203	3218 1dce A095 com r26
		3204	3219 1dd0 BA2F mov r27,r26
		3205	3220 1dd2 4091 0000 lds r20,vibrationCalNick.1974
		3206	3221 1dd6 5091 0000 lds r21,(vibrationCalNick.1974)+1
		3207	3222 1dda 6091 0000 lds r22,(vibrationCalNick.1974)+2
		3208	3223 1dde 7091 0000 lds r23,(vibrationCalNick.1974)+3
		3209	3224 1de2 480F add r20,r24
		3210	3225 1de4 591F adc r21,r25
		3211	3226 1de6 6A1F adc r22,r26
		3212	3227 1de8 7B1F adc r23,r27
		3213	3228 1dea 4093 0000 sts vibrationCalNick.1974,r20
		3214	3229 1dee 5093 0000 sts (vibrationCalNick.1974)+1,r21
		3215	3230 1df2 6093 0000 sts (vibrationCalNick.1974)+2,r22
		3216	3231 1df6 7093 0000 sts (vibrationCalNick.1974)+3,r23
		3217	3232 1dfa 8091 0000 lds r24,hiResRollGyro
		3218	3233 1dfe 9091 0000 lds r25,(hiResRollGyro)+1
		3219	3234 1e02 AA27 clr r26
		3220	3235 1e04 97FD sbrc r25,7
		3221	3236 1e06 A095 com r26
		3222	3237 1e08 BA2F mov r27,r26
		3223	3238 1e0a A090 0000 lds r10,vibrationCalRoll.1975
		3224	3239 1e0e B090 0000 lds r11,(vibrationCalRoll.1975)+1
		3225	3240 1e12 C090 0000 lds r12,(vibrationCalRoll.1975)+2
		3226	3241 1e16 D090 0000 lds r13,(vibrationCalRoll.1975)+3
		3227	3242 1e1a A80E add r10,r24
		3228	3243 1e1c B91E adc r11,r25
		3229	3244 1e1e CA1E adc r12,r26
		3230	3245 1e20 DB1E adc r13,r27
		3231	3246 1e22 A092 0000 sts vibrationCalRoll.1975,r10
		3232	3247 1e26 B092 0000 sts (vibrationCalRoll.1975)+1,r11
		3233	3248 1e2a C092 0000 sts (vibrationCalRoll.1975)+2,r12
		3234	3249 1e2e D092 0000 sts (vibrationCalRoll.1975)+3,r13
		3235	3250 1e32 8091 0000 lds r24,rawYawGyroSum
		3236	3251 1e36 9091 0000 lds r25,(rawYawGyroSum)+1
		3237	3252 1e3a AA27 clr r26
		3238	3253 1e3c 97FD sbrc r25,7
		3239	3254 1e3e A095 com r26
		3240	3255 1e40 BA2F mov r27,r26
		3241	3256 1e42 6090 0000 lds r6,vibrationCalYaw.1976
		3242	3257 1e46 7090 0000 lds r7,(vibrationCalYaw.1976)+1
		3243	3258 1e4a 8090 0000 lds r8,(vibrationCalYaw.1976)+2
		3244	3259 1e4e 9090 0000 lds r9,(vibrationCalYaw.1976)+3
		3245	3260 1e52 680E add r6,r24
		3246	3261 1e54 791E adc r7,r25
		3247	3262 1e56 8A1E adc r8,r26
		3248	3263 1e58 9B1E adc r9,r27
		3249	3264 1e5a 6092 0000 sts vibrationCalYaw.1976,r6
		3250	3265 1e5e 7092 0000 sts (vibrationCalYaw.1976)+1,r7
		3251	3266 1e62 8092 0000 sts (vibrationCalYaw.1976)+2,r8
		3252	3267 1e66 9092 0000 sts (vibrationCalYaw.1976)+3,r9
		3253	3268 1e6a 2091 0000 lds r18,vibrationCalCount.1977
		3254	3269 1e6e 3091 0000 lds r19,(vibrationCalCount.1977)+1
		3255	3270 1e72 2F5F subi r18,lo8(-(1))
		3256	3271 1e74 3F4F sbci r19,hi8(-(1))
		3257	3272 1e76 3093 0000 sts (vibrationCalCount.1977)+1,r19
		3258	3273 1e7a 2093 0000 sts vibrationCalCount.1977,r18
		3259	3274 1e7e 8091 0000 lds r24,FCParam+15
		3260	3275 1e82 8823 tst r24
		3261	3276 1e84 01F4 brne .+4
		3262	3277 1e86 0C94 0000 jmp .L352
		3263	3278 1e8a 8091 0000 lds r24,FCParam+16
		3264	3279 1e8e 90E0 ldi r25,lo8(0)
		3265	3280 1e90 8058 subi r24,lo8(-(-128))
		3266	3281 1e92 9040 sbci r25,hi8(-(-128))
		3267	3282 1e94 AA27 clr r26
		3268	3283 1e96 97FD sbrc r25,7
		3269	3284 1e98 A095 com r26
		3270	3285 1e9a BA2F mov r27,r26
		3271	3286 1e9c 8093 0000 sts vibrationOffsetNick,r24
		3272	3287 1ea0 9093 0000 sts (vibrationOffsetNick)+1,r25
		3273	3288 1ea4 A093 0000 sts (vibrationOffsetNick)+2,r26
		3274	3289 1ea8 B093 0000 sts (vibrationOffsetNick)+3,r27
		3275	3290 1eac 8091 0000 lds r24,FCParam+17
		3276	3291 1eb0 90E0 ldi r25,lo8(0)
		3277	3292 1eb2 8058 subi r24,lo8(-(-128))
		3278	3293 1eb4 9040 sbci r25,hi8(-(-128))
		3279	3294 1eb6 AA27 clr r26
		3280	3295 1eb8 97FD sbrc r25,7
		3281	3296 1eba A095 com r26
		3282	3297 1ebc BA2F mov r27,r26
		3283	3298 1ebe 8093 0000 sts vibrationOffsetRoll,r24
		3284	3299 1ec2 9093 0000 sts (vibrationOffsetRoll)+1,r25
		3285	3300 1ec6 A093 0000 sts (vibrationOffsetRoll)+2,r26
		3286	3301 1eca B093 0000 sts (vibrationOffsetRoll)+3,r27
		3287	3302 .L353:
		3288	3303 1ece 1092 0000 sts SetPointYaw.1980,__zero_reg__
		3289	3304 1ed2 1092 0000 sts (SetPointYaw.1980)+1,__zero_reg__
		3290	3305 1ed6 1092 0000 sts (SetPointYaw.1980)+2,__zero_reg__
		3291	3306 1eda 1092 0000 sts (SetPointYaw.1980)+3,__zero_reg__
		3292	3307 1ede 1092 0000 sts ReadingIntegralGyroYaw,__zero_reg__
		3293	3308 1ee2 1092 0000 sts (ReadingIntegralGyroYaw)+1,__zero_reg__
		3294	3309 1ee6 1092 0000 sts (ReadingIntegralGyroYaw)+2,__zero_reg__
		3295	3310 1eea 1092 0000 sts (ReadingIntegralGyroYaw)+3,__zero_reg__
		3296	3311 1eee 1092 0000 sts ReadingIntegralGyroNick,__zero_reg__
		3297	3312 1ef2 1092 0000 sts (ReadingIntegralGyroNick)+1,__zero_reg__
		3298	3313 1ef6 1092 0000 sts (ReadingIntegralGyroNick)+2,__zero_reg__
		3299	3314 1efa 1092 0000 sts (ReadingIntegralGyroNick)+3,__zero_reg__
		3300	3315 1efe 1092 0000 sts ReadingIntegralGyroRoll,__zero_reg__
		3301	3316 1f02 1092 0000 sts (ReadingIntegralGyroRoll)+1,__zero_reg__
		3302	3317 1f06 1092 0000 sts (ReadingIntegralGyroRoll)+2,__zero_reg__
		3303	3318 1f0a 1092 0000 sts (ReadingIntegralGyroRoll)+3,__zero_reg__
		3304	3319 1f0e 1092 0000 sts IPartNick.1972,__zero_reg__
		3305	3320 1f12 1092 0000 sts (IPartNick.1972)+1,__zero_reg__
		3306	3321 1f16 1092 0000 sts (IPartNick.1972)+2,__zero_reg__
		3307	3322 1f1a 1092 0000 sts (IPartNick.1972)+3,__zero_reg__
		3308	3323 1f1e 1092 0000 sts IPartRoll.1973,__zero_reg__
		3309	3324 1f22 1092 0000 sts (IPartRoll.1973)+1,__zero_reg__
		3310	3325 1f26 1092 0000 sts (IPartRoll.1973)+2,__zero_reg__
		3311	3326 1f2a 1092 0000 sts (IPartRoll.1973)+3,__zero_reg__
		3312	3327 1f2e 00C0 rjmp .L350
		3313	3328 .L355:
		3314	3329 1f30 0E94 0000 call ParameterMapping
		3315	3330 1f34 E091 0000 lds r30,ParamSet
		3316	3331 1f38 F0E0 ldi r31,lo8(0)
		3317	3332 1f3a EE0F lsl r30
		3318	3333 1f3c FF1F rol r31
		3319	3334 1f3e DF01 movw r26,r30
		3320	3335 1f40 A050 subi r26,lo8(-(PPM_in))
		3321	3336 1f42 B040 sbci r27,hi8(-(PPM_in))
		3322	3337 1f44 8D91 ld r24,X+
		3323	3338 1f46 9C91 ld r25,X
		3324	3339 1f48 6091 0000 lds r22,ParamSet+15
		3325	3340 1f4c 70E0 ldi r23,lo8(0)
		3326	3341 1f4e 869F mul r24,r22
		3327	3342 1f50 9001 movw r18,r0
		3328	3343 1f52 879F mul r24,r23
		3329	3344 1f54 300D add r19,r0
		3330	3345 1f56 969F mul r25,r22
		3331	3346 1f58 300D add r19,r0
		3332	3347 1f5a 1124 clr r1
		3333	3348 1f5c 3093 0000 sts (stick_nick.1990)+1,r19
		3334	3349 1f60 2093 0000 sts stick_nick.1990,r18
		3335	3350 1f64 E050 subi r30,lo8(-(PPM_diff))
		3336	3351 1f66 F040 sbci r31,hi8(-(PPM_diff))
		3337	3352 1f68 8081 ld r24,Z
		3338	3353 1f6a 9181 ldd r25,Z+1
		3339	3354 1f6c 4091 0000 lds r20,ParamSet+16
		3340	3355 1f70 50E0 ldi r21,lo8(0)
		3341	3356 1f72 FC01 movw r30,r24
		3342	3357 1f74 E49F mul r30,r20
		3343	3358 1f76 C001 movw r24,r0
		3344	3359 1f78 E59F mul r30,r21
		3345	3360 1f7a 900D add r25,r0
		3346	3361 1f7c F49F mul r31,r20
		3347	3362 1f7e 900D add r25,r0
		3348	3363 1f80 1124 clr r1
		3349	3364 1f82 820F add r24,r18
		3350	3365 1f84 931F adc r25,r19
		3351	3366 1f86 9093 0000 sts (stick_nick.1990)+1,r25
		3352	3367 1f8a 8093 0000 sts stick_nick.1990,r24
		3353	3368 1f8e 2091 0000 lds r18,stickOffsetNick
		3354	3369 1f92 3091 0000 lds r19,(stickOffsetNick)+1
		3355	3370 1f96 821B sub r24,r18
		3356	3371 1f98 930B sbc r25,r19
		3357	3372 1f9a 2091 0000 lds r18,GPSStickNick
		3358	3373 1f9e 3091 0000 lds r19,(GPSStickNick)+1
		3359	3374 1fa2 821B sub r24,r18
		3360	3375 1fa4 930B sbc r25,r19
		3361	3376 1fa6 9093 0000 sts (StickNick)+1,r25
		3362	3377 1faa 8093 0000 sts StickNick,r24
		3363	3378 1fae E091 0000 lds r30,ParamSet+1
		3364	3379 1fb2 F0E0 ldi r31,lo8(0)
		3365	3380 1fb4 EE0F lsl r30
		3366	3381 1fb6 FF1F rol r31
		3367	3382 1fb8 DF01 movw r26,r30
		3368	3383 1fba A050 subi r26,lo8(-(PPM_in))
		3369	3384 1fbc B040 sbci r27,hi8(-(PPM_in))
		3370	3385 1fbe 8D91 ld r24,X+
		3371	3386 1fc0 9C91 ld r25,X
		3372	3387 1fc2 869F mul r24,r22
		3373	3388 1fc4 9001 movw r18,r0
		3374	3389 1fc6 879F mul r24,r23
		3375	3390 1fc8 300D add r19,r0
		3376	3391 1fca 969F mul r25,r22
		3377	3392 1fcc 300D add r19,r0
		3378	3393 1fce 1124 clr r1
		3379	3394 1fd0 3093 0000 sts (stick_roll.1991)+1,r19
		3380	3395 1fd4 2093 0000 sts stick_roll.1991,r18
		3381	3396 1fd8 E050 subi r30,lo8(-(PPM_diff))
		3382	3397 1fda F040 sbci r31,hi8(-(PPM_diff))
		3383	3398 1fdc 8081 ld r24,Z
		3384	3399 1fde 9181 ldd r25,Z+1
		3385	3400 1fe0 BC01 movw r22,r24
		3386	3401 1fe2 649F mul r22,r20
		3387	3402 1fe4 C001 movw r24,r0
		3388	3403 1fe6 659F mul r22,r21
		3389	3404 1fe8 900D add r25,r0
		3390	3405 1fea 749F mul r23,r20
		3391	3406 1fec 900D add r25,r0
		3392	3407 1fee 1124 clr r1
		3393	3408 1ff0 820F add r24,r18
		3394	3409 1ff2 931F adc r25,r19
		3395	3410 1ff4 9093 0000 sts (stick_roll.1991)+1,r25
		3396	3411 1ff8 8093 0000 sts stick_roll.1991,r24
		3397	3412 1ffc 2091 0000 lds r18,stickOffsetRoll
		3398	3413 2000 3091 0000 lds r19,(stickOffsetRoll)+1
		3399	3414 2004 821B sub r24,r18
		3400	3415 2006 930B sbc r25,r19
		3401	3416 2008 2091 0000 lds r18,GPSStickRoll
		3402	3417 200c 3091 0000 lds r19,(GPSStickRoll)+1
		3403	3418 2010 821B sub r24,r18
		3404	3419 2012 930B sbc r25,r19
		3405	3420 2014 9093 0000 sts (StickRoll)+1,r25
		3406	3421 2018 8093 0000 sts StickRoll,r24
		3407	3422 201c E091 0000 lds r30,ParamSet+3
		3408	3423 2020 F0E0 ldi r31,lo8(0)
		3409	3424 2022 EE0F lsl r30
		3410	3425 2024 FF1F rol r31
		3411	3426 2026 E050 subi r30,lo8(-(PPM_in))
		3412	3427 2028 F040 sbci r31,hi8(-(PPM_in))
		3413	3428 202a 8081 ld r24,Z
		3414	3429 202c 9181 ldd r25,Z+1
		3415	3430 202e 2227 clr r18
		3416	3431 2030 3327 clr r19
		3417	3432 2032 281B sub r18,r24
		3418	3433 2034 390B sbc r19,r25
		3419	3434 2036 3093 0000 sts (StickYaw)+1,r19
		3420	3435 203a 2093 0000 sts StickYaw,r18
		3421	3436 203e 8091 0000 lds r24,ParamSet+8
		3422	3437 2042 8872 andi r24,lo8(40)
		3423	3438 2044 01F0 breq .L357
		3424	3439 2046 2330 cpi r18,3
		3425	3440 2048 3105 cpc r19,__zero_reg__
		3426	3441 204a 04F0 brlt .+2
		3427	3442 204c 00C0 rjmp .L510
		3428	3443 204e 7FEF ldi r23,hi8(-2)
		3429	3444 2050 2E3F cpi r18,lo8(-2)
		3430	3445 2052 3707 cpc r19,r23
		3431	3446 2054 04F0 brlt .+2
		3432	3447 2056 00C0 rjmp .L359
		3433	3448 2058 2E5F subi r18,lo8(-(2))
		3434	3449 205a 3F4F sbci r19,hi8(-(2))
		3435	3450 205c 3093 0000 sts (StickYaw)+1,r19
		3436	3451 2060 2093 0000 sts StickYaw,r18
		3437	3452 .L357:
		3438	3453 2064 E091 0000 lds r30,ParamSet+2
		3439	3454 2068 F0E0 ldi r31,lo8(0)
		3440	3455 206a EE0F lsl r30
		3441	3456 206c FF1F rol r31
		3442	3457 206e E050 subi r30,lo8(-(PPM_in))
		3443	3458 2070 F040 sbci r31,hi8(-(PPM_in))
		3444	3459 2072 0190 ld __tmp_reg__,Z+
		3445	3460 2074 F081 ld r31,Z
		3446	3461 2076 E02D mov r30,__tmp_reg__
		3447	3462 2078 E858 subi r30,lo8(-(120))
		3448	3463 207a FF4F sbci r31,hi8(-(120))
		3449	3464 207c F093 0000 sts (StickGas)+1,r31
		3450	3465 2080 E093 0000 sts StickGas,r30
		3451	3466 2084 8091 0000 lds r24,FCParam+6
		3452	3467 2088 865F subi r24,lo8(-(10))
		3453	3468 208a 8093 0000 sts GyroPFactor,r24
		3454	3469 208e 9091 0000 lds r25,FCParam+7
		3455	3470 2092 9093 0000 sts GyroIFactor,r25
		3456	3471 2096 8093 0000 sts GyroYawPFactor,r24
		3457	3472 209a 9093 0000 sts GyroYawIFactor,r25
		3458	3473 209e 8091 0000 lds r24,ExternControl+10
		3459	3474 20a2 80FF sbrs r24,0
		3460	3475 20a4 00C0 rjmp .L360
		3461	3476 20a6 8091 0000 lds r24,FCParam+24
		3462	3477 20aa 8138 cpi r24,lo8(-127)
		3463	3478 20ac 00F4 brsh .+2
		3464	3479 20ae 00C0 rjmp .L360
		3465	3480 20b0 2091 0000 lds r18,ParamSet+15
		3466	3481 20b4 30E0 ldi r19,lo8(0)
		3467	3482 20b6 8091 0000 lds r24,ExternControl+3
		3468	3483 20ba 9927 clr r25
		3469	3484 20bc 87FD sbrc r24,7
		3470	3485 20be 9095 com r25
		3471	3486 20c0 AC01 movw r20,r24
		3472	3487 20c2 249F mul r18,r20
		3473	3488 20c4 C001 movw r24,r0
		3474	3489 20c6 259F mul r18,r21
		3475	3490 20c8 900D add r25,r0
		3476	3491 20ca 349F mul r19,r20
		3477	3492 20cc 900D add r25,r0
		3478	3493 20ce 1124 clr r1
		3479	3494 20d0 A090 0000 lds r10,StickNick
		3480	3495 20d4 B090 0000 lds r11,(StickNick)+1
		3481	3496 20d8 A80E add r10,r24
		3482	3497 20da B91E adc r11,r25
		3483	3498 20dc B092 0000 sts (StickNick)+1,r11
		3484	3499 20e0 A092 0000 sts StickNick,r10
		3485	3500 20e4 8091 0000 lds r24,ExternControl+4
		3486	3501 20e8 9927 clr r25
		3487	3502 20ea 87FD sbrc r24,7
		3488	3503 20ec 9095 com r25
		3489	3504 20ee BC01 movw r22,r24
		3490	3505 20f0 269F mul r18,r22
		3491	3506 20f2 C001 movw r24,r0
		3492	3507 20f4 279F mul r18,r23
		3493	3508 20f6 900D add r25,r0
		3494	3509 20f8 369F mul r19,r22
		3495	3510 20fa 900D add r25,r0
		3496	3511 20fc 1124 clr r1
		3497	3512 20fe C090 0000 lds r12,StickRoll
		3498	3513 2102 D090 0000 lds r13,(StickRoll)+1
		3499	3514 2106 C80E add r12,r24
		3500	3515 2108 D91E adc r13,r25
		3501	3516 210a D092 0000 sts (StickRoll)+1,r13
		3502	3517 210e C092 0000 sts StickRoll,r12
		3503	3518 2112 2091 0000 lds r18,ExternControl+5
		3504	3519 2116 3327 clr r19
		3505	3520 2118 27FD sbrc r18,7
		3506	3521 211a 3095 com r19
		3507	3522 211c 8091 0000 lds r24,StickYaw
		3508	3523 2120 9091 0000 lds r25,(StickYaw)+1
		3509	3524 2124 820F add r24,r18
		3510	3525 2126 931F adc r25,r19
		3511	3526 2128 9093 0000 sts (StickYaw)+1,r25
		3512	3527 212c 8093 0000 sts StickYaw,r24
		3513	3528 2130 2091 0000 lds r18,ParamSet+13
		3514	3529 2134 30E0 ldi r19,lo8(0)
		3515	3530 2136 8091 0000 lds r24,ExternControl+7
		3516	3531 213a 9927 clr r25
		3517	3532 213c 87FD sbrc r24,7
		3518	3533 213e 9095 com r25
		3519	3534 2140 AC01 movw r20,r24
		3520	3535 2142 249F mul r18,r20
		3521	3536 2144 C001 movw r24,r0
		3522	3537 2146 259F mul r18,r21
		3523	3538 2148 900D add r25,r0
		3524	3539 214a 349F mul r19,r20
		3525	3540 214c 900D add r25,r0
		3526	3541 214e 1124 clr r1
		3527	3542 2150 9093 0000 sts (ExternHeightValue)+1,r25
		3528	3543 2154 8093 0000 sts ExternHeightValue,r24
		3529	3544 2158 8091 0000 lds r24,ExternControl+6
		3530	3545 215c 90E0 ldi r25,lo8(0)
		3531	3546 215e 8E17 cp r24,r30
		3532	3547 2160 9F07 cpc r25,r31
		3533	3548 2162 04F4 brge .L360
		3534	3549 2164 9093 0000 sts (StickGas)+1,r25
		3535	3550 2168 8093 0000 sts StickGas,r24
		3536	3551 .L360:
		3537	3552 216c 8091 0000 lds r24,StickGas
		3538	3553 2170 9091 0000 lds r25,(StickGas)+1
		3539	3554 2174 97FD sbrc r25,7
		3540	3555 2176 00C0 rjmp .L511
		3541	3556 2178 8091 0000 lds r24,ParamSet+8
		3542	3557 217c 82FD sbrc r24,2
		3543	3558 217e 00C0 rjmp .L512
		3544	3559 .L362:
		3545	3560 2180 6091 0000 lds r22,StickNick
		3546	3561 2184 7091 0000 lds r23,StickNick+1
		3547	3562 2188 4091 0000 lds r20,MaxStickNick
		3548	3563 218c 5091 0000 lds r21,(MaxStickNick)+1
		3549	3564 2190 CB01 movw r24,r22
		3550	3565 2192 9C01 movw r18,r24
		3551	3566 2194 97FD sbrc r25,7
		3552	3567 2196 00C0 rjmp .L513
		3553	3568 2198 3595 asr r19
		3554	3569 219a 2795 ror r18
		3555	3570 219c 3595 asr r19
		3556	3571 219e 2795 ror r18
		3557	3572 21a0 37FD sbrc r19,7
		3558	3573 21a2 00C0 rjmp .L514
		3559	3574 .L365:
		3560	3575 21a4 4217 cp r20,r18
		3561	3576 21a6 5307 cpc r21,r19
		3562	3577 21a8 04F4 brge .+2
		3563	3578 21aa 00C0 rjmp .L515
		3564	3579 21ac 4150 subi r20,lo8(-(-1))
		3565	3580 21ae 5040 sbci r21,hi8(-(-1))
		3566	3581 21b0 5093 0000 sts (MaxStickNick)+1,r21
		3567	3582 21b4 4093 0000 sts MaxStickNick,r20
		3568	3583 .L367:
		3569	3584 21b8 6091 0000 lds r22,StickRoll
		3570	3585 21bc 7091 0000 lds r23,StickRoll+1
		3571	3586 21c0 4091 0000 lds r20,MaxStickRoll
		3572	3587 21c4 5091 0000 lds r21,(MaxStickRoll)+1
		3573	3588 21c8 CB01 movw r24,r22
		3574	3589 21ca 9C01 movw r18,r24
		3575	3590 21cc 97FD sbrc r25,7
		3576	3591 21ce 00C0 rjmp .L516
		3577	3592 .L369:
		3578	3593 21d0 3595 asr r19
		3579	3594 21d2 2795 ror r18
		3580	3595 21d4 3595 asr r19
		3581	3596 21d6 2795 ror r18
		3582	3597 21d8 37FD sbrc r19,7
		3583	3598 21da 00C0 rjmp .L517
		3584	3599 .L370:
		3585	3600 21dc 4217 cp r20,r18
		3586	3601 21de 5307 cpc r21,r19
		3587	3602 21e0 04F0 brlt .+2
		3588	3603 21e2 00C0 rjmp .L368
		3589	3604 21e4 9B01 movw r18,r22
		3590	3605 21e6 77FD sbrc r23,7
		3591	3606 21e8 00C0 rjmp .L518
		3592	3607 .L371:
		3593	3608 21ea C901 movw r24,r18
		3594	3609 21ec 9595 asr r25
		3595	3610 21ee 8795 ror r24
		3596	3611 21f0 9595 asr r25
		3597	3612 21f2 8795 ror r24
		3598	3613 21f4 9093 0000 sts (MaxStickRoll)+1,r25
		3599	3614 21f8 8093 0000 sts MaxStickRoll,r24
		3600	3615 21fc 8536 cpi r24,101
		3601	3616 21fe 9105 cpc r25,__zero_reg__
		3602	3617 2200 04F0 brlt .+2
		3603	3618 2202 00C0 rjmp .L519
		3604	3619 .L372:
		3605	3620 2204 8091 0000 lds r24,ParamSet+1
		3606	3621 2208 A82F mov r26,r24
		3607	3622 220a B0E0 ldi r27,lo8(0)
		3608	3623 220c AA0F lsl r26
		3609	3624 220e BB1F rol r27
		3610	3625 2210 FD01 movw r30,r26
		3611	3626 2212 E050 subi r30,lo8(-(PPM_in))
		3612	3627 2214 F040 sbci r31,hi8(-(PPM_in))
		3613	3628 2216 2081 ld r18,Z
		3614	3629 2218 3181 ldd r19,Z+1
		3615	3630 221a 8091 0000 lds r24,ParamSet+40
		3616	3631 221e 482F mov r20,r24
		3617	3632 2220 50E0 ldi r21,lo8(0)
		3618	3633 2222 4217 cp r20,r18
		3619	3634 2224 5307 cpc r21,r19
		3620	3635 2226 04F4 brge .L373
		3621	3636 2228 8091 0000 lds r24,ParamSet+75
		3622	3637 222c 82FD sbrc r24,2
		3623	3638 222e 00C0 rjmp .L520
		3624	3639 .L373:
		3625	3640 2230 7091 0000 lds r23,LoopingLeft
		3626	3641 2234 7723 tst r23
		3627	3642 2236 01F0 breq .L374
		3628	3643 2238 FD01 movw r30,r26
		3629	3644 223a E050 subi r30,lo8(-(PPM_in))
		3630	3645 223c F040 sbci r31,hi8(-(PPM_in))
		3631	3646 223e 2081 ld r18,Z
		3632	3647 2240 3181 ldd r19,Z+1
		3633	3648 2242 8091 0000 lds r24,ParamSet+41
		3634	3649 2246 FA01 movw r30,r20
		3635	3650 2248 E81B sub r30,r24
		3636	3651 224a F109 sbc r31,__zero_reg__
		3637	3652 224c 2E17 cp r18,r30
		3638	3653 224e 3F07 cpc r19,r31
		3639	3654 2250 04F4 brge .+2
		3640	3655 2252 00C0 rjmp .L521
		3641	3656 .L374:
		3642	3657 2254 FD01 movw r30,r26
		3643	3658 2256 E050 subi r30,lo8(-(PPM_in))
		3644	3659 2258 F040 sbci r31,hi8(-(PPM_in))
		3645	3660 225a 2081 ld r18,Z
		3646	3661 225c 3181 ldd r19,Z+1
		3647	3662 225e 8827 clr r24
		3648	3663 2260 9927 clr r25
		3649	3664 2262 841B sub r24,r20
		3650	3665 2264 950B sbc r25,r21
		3651	3666 2266 2817 cp r18,r24
		3652	3667 2268 3907 cpc r19,r25
		3653	3668 226a 04F4 brge .L375
		3654	3669 226c 8091 0000 lds r24,ParamSet+75
		3655	3670 2270 83FD sbrc r24,3
		3656	3671 2272 00C0 rjmp .L522
		3657	3672 .L375:
		3658	3673 2274 8091 0000 lds r24,LoopingRight
		3659	3674 2278 8823 tst r24
		3660	3675 227a 01F0 breq .L376
		3661	3676 227c A050 subi r26,lo8(-(PPM_in))
		3662	3677 227e B040 sbci r27,hi8(-(PPM_in))
		3663	3678 2280 2D91 ld r18,X+
		3664	3679 2282 3C91 ld r19,X
		3665	3680 2284 8091 0000 lds r24,ParamSet+41
		3666	3681 2288 90E0 ldi r25,lo8(0)
		3667	3682 228a 841B sub r24,r20
		3668	3683 228c 950B sbc r25,r21
		3669	3684 228e 8217 cp r24,r18
		3670	3685 2290 9307 cpc r25,r19
		3671	3686 2292 04F4 brge .+2
		3672	3687 2294 00C0 rjmp .L523
		3673	3688 .L376:
		3674	3689 2296 8091 0000 lds r24,ParamSet
		3675	3690 229a A82F mov r26,r24
		3676	3691 229c B0E0 ldi r27,lo8(0)
		3677	3692 229e AA0F lsl r26
		3678	3693 22a0 BB1F rol r27
		3679	3694 22a2 FD01 movw r30,r26
		3680	3695 22a4 E050 subi r30,lo8(-(PPM_in))
		3681	3696 22a6 F040 sbci r31,hi8(-(PPM_in))
		3682	3697 22a8 8081 ld r24,Z
		3683	3698 22aa 9181 ldd r25,Z+1
		3684	3699 22ac 4817 cp r20,r24
		3685	3700 22ae 5907 cpc r21,r25
		3686	3701 22b0 04F4 brge .L377
		3687	3702 22b2 8091 0000 lds r24,ParamSet+75
		3688	3703 22b6 80FD sbrc r24,0
		3689	3704 22b8 00C0 rjmp .L524
		3690	3705 .L377:
		3691	3706 22ba 6091 0000 lds r22,LoopingTop
		3692	3707 22be 6623 tst r22
		3693	3708 22c0 01F0 breq .L378
		3694	3709 22c2 FD01 movw r30,r26
		3695	3710 22c4 E050 subi r30,lo8(-(PPM_in))
		3696	3711 22c6 F040 sbci r31,hi8(-(PPM_in))
		3697	3712 22c8 2081 ld r18,Z
		3698	3713 22ca 3181 ldd r19,Z+1
		3699	3714 22cc 8091 0000 lds r24,ParamSet+41
		3700	3715 22d0 FA01 movw r30,r20
		3701	3716 22d2 E81B sub r30,r24
		3702	3717 22d4 F109 sbc r31,__zero_reg__
		3703	3718 22d6 2E17 cp r18,r30
		3704	3719 22d8 3F07 cpc r19,r31
		3705	3720 22da 04F4 brge .+2
		3706	3721 22dc 00C0 rjmp .L525
		3707	3722 .L378:
		3708	3723 22de FD01 movw r30,r26
		3709	3724 22e0 E050 subi r30,lo8(-(PPM_in))
		3710	3725 22e2 F040 sbci r31,hi8(-(PPM_in))
		3711	3726 22e4 2081 ld r18,Z
		3712	3727 22e6 3181 ldd r19,Z+1
		3713	3728 22e8 8827 clr r24
		3714	3729 22ea 9927 clr r25
		3715	3730 22ec 841B sub r24,r20
		3716	3731 22ee 950B sbc r25,r21
		3717	3732 22f0 2817 cp r18,r24
		3718	3733 22f2 3907 cpc r19,r25
		3719	3734 22f4 04F4 brge .L379
		3720	3735 22f6 8091 0000 lds r24,ParamSet+75
		3721	3736 22fa 81FD sbrc r24,1
		3722	3737 22fc 00C0 rjmp .L526
		3723	3738 .L379:
		3724	3739 22fe 8091 0000 lds r24,LoopingDown
		3725	3740 2302 8823 tst r24
		3726	3741 2304 01F0 breq .L380
		3727	3742 2306 A050 subi r26,lo8(-(PPM_in))
		3728	3743 2308 B040 sbci r27,hi8(-(PPM_in))
		3729	3744 230a 2D91 ld r18,X+
		3730	3745 230c 3C91 ld r19,X
		3731	3746 230e 8091 0000 lds r24,ParamSet+41
		3732	3747 2312 90E0 ldi r25,lo8(0)
		3733	3748 2314 841B sub r24,r20
		3734	3749 2316 950B sbc r25,r21
		3735	3750 2318 8217 cp r24,r18
		3736	3751 231a 9307 cpc r25,r19
		3737	3752 231c 04F4 brge .+2
		3738	3753 231e 00C0 rjmp .L527
		3739	3754 .L380:
		3740	3755 2320 7723 tst r23
		3741	3756 2322 01F4 brne .L381
		3742	3757 2324 8091 0000 lds r24,LoopingRight
		3743	3758 2328 8823 tst r24
		3744	3759 232a 01F4 brne .+2
		3745	3760 232c 00C0 rjmp .L382
		3746	3761 .L381:
		3747	3762 232e 81E0 ldi r24,lo8(1)
		3748	3763 2330 8093 0000 sts LoopingRoll,r24
		3749	3764 .L383:
		3750	3765 2334 6623 tst r22
		3751	3766 2336 01F4 brne .L384
		3752	3767 2338 8091 0000 lds r24,LoopingDown
		3753	3768 233c 8823 tst r24
		3754	3769 233e 01F4 brne .+2
		3755	3770 2340 00C0 rjmp .L385
		3756	3771 .L384:
		3757	3772 2342 81E0 ldi r24,lo8(1)
		3758	3773 2344 8093 0000 sts LoopingNick,r24
		3759	3774 2348 1092 0000 sts LoopingRoll,__zero_reg__
		3760	3775 234c 1092 0000 sts LoopingLeft,__zero_reg__
		3761	3776 2350 1092 0000 sts LoopingRight,__zero_reg__
		3762	3777 2354 8091 0000 lds r24,LoopingRoll
		3763	3778 2358 8823 tst r24
		3764	3779 235a 01F4 brne .+4
		3765	3780 235c 0C94 0000 jmp .L528
		3766	3781 .L386:
		3767	3782 2360 8091 0000 lds r24,ParamSet+39
		3768	3783 2364 90E0 ldi r25,lo8(0)
		3769	3784 2366 2F81 ldd r18,Y+7
		3770	3785 2368 3885 ldd r19,Y+8
		3771	3786 236a 8217 cp r24,r18
		3772	3787 236c 9307 cpc r25,r19
		3773	3788 236e 04F4 brge .+2
		3774	3789 2370 00C0 rjmp .L529
		3775	3790 2372 81E0 ldi r24,lo8(1)
		3776	3791 2374 8093 0000 sts FunnelCourse,r24
		3777	3792 2378 0C94 0000 jmp .L387
		3778	3793 .L390:
		3779	3794 237c 1092 0000 sts (ADCycleCount)+1,__zero_reg__
		3780	3795 2380 1092 0000 sts ADCycleCount,__zero_reg__
		3781	3796 2384 0C94 0000 jmp .L391
		3782	3797 .L496:
		3783	3798 2388 0396 adiw r24,3
		3784	3799 238a 00C0 rjmp .L462
		3785	3800 .L495:
		3786	3801 238c 0894 sec
		3787	3802 238e E11C adc r14,__zero_reg__
		3788	3803 2390 F11C adc r15,__zero_reg__
		3789	3804 2392 00C0 rjmp .L461
		3790	3805 .L497:
		3791	3806 /* epilogue start */
		3792	3807 2394 6B96 adiw r28,27
		3793	3808 2396 0FB6 in __tmp_reg__,__SREG__
		3794	3809 2398 F894 cli
		3795	3810 239a DEBF out __SP_H__,r29
		3796	3811 239c 0FBE out __SREG__,__tmp_reg__
		3797	3812 239e CDBF out __SP_L__,r28
		3798	3813 23a0 CF91 pop r28
		3799	3814 23a2 DF91 pop r29
		3800	3815 23a4 1F91 pop r17
		3801	3816 23a6 0F91 pop r16
		3802	3817 23a8 FF90 pop r15
		3803	3818 23aa EF90 pop r14
		3804	3819 23ac DF90 pop r13
		3805	3820 23ae CF90 pop r12
		3806	3821 23b0 BF90 pop r11
		3807	3822 23b2 AF90 pop r10
		3808	3823 23b4 9F90 pop r9
		3809	3824 23b6 8F90 pop r8
		3810	3825 23b8 7F90 pop r7
		3811	3826 23ba 6F90 pop r6
		3812	3827 23bc 5F90 pop r5
		3813	3828 23be 4F90 pop r4
		3814	3829 23c0 3F90 pop r3
		3815	3830 23c2 2F90 pop r2
		3816	3831 23c4 0895 ret
		3817	3832 .L454:
		3818	3833 23c6 A216 cp r10,r18
		3819	3834 23c8 B306 cpc r11,r19
		3820	3835 23ca 04F0 brlt .+2
		3821	3836 23cc 00C0 rjmp .L455
		3822	3837 23ce 9501 movw r18,r10
		3823	3838 23d0 00C0 rjmp .L455
		3824	3839 .L451:
		3825	3840 23d2 81E0 ldi r24,lo8(64001)
		3826	3841 23d4 E816 cp r14,r24
		3827	3842 23d6 8AEF ldi r24,hi8(64001)
		3828	3843 23d8 F806 cpc r15,r24
		3829	3844 23da 80E0 ldi r24,hlo8(64001)
		3830	3845 23dc 0807 cpc r16,r24
		3831	3846 23de 80E0 ldi r24,hhi8(64001)
		3832	3847 23e0 1807 cpc r17,r24
		3833	3848 23e2 04F4 brge .+2
		3834	3849 23e4 00C0 rjmp .L452
		3835	3850 23e6 80E0 ldi r24,lo8(64000)
		3836	3851 23e8 9AEF ldi r25,hi8(64000)
		3837	3852 23ea A0E0 ldi r26,hlo8(64000)
		3838	3853 23ec B0E0 ldi r27,hhi8(64000)
		3839	3854 23ee 8093 0000 sts IPartRoll.1973,r24
		3840	3855 23f2 9093 0000 sts (IPartRoll.1973)+1,r25
		3841	3856 23f6 A093 0000 sts (IPartRoll.1973)+2,r26
		3842	3857 23fa B093 0000 sts (IPartRoll.1973)+3,r27
		3843	3858 23fe E12C mov r14,__zero_reg__
		3844	3859 2400 0AEF ldi r16,hi8(64000)
		3845	3860 2402 F02E mov r15,r16
		3846	3861 2404 012D mov r16,__zero_reg__
		3847	3862 2406 112D mov r17,__zero_reg__
		3848	3863 2408 00C0 rjmp .L452
		3849	3864 .L449:
		3850	3865 240a 8981 ldd r24,Y+1
		3851	3866 240c 9A81 ldd r25,Y+2
		3852	3867 240e 8C19 sub r24,r12
		3853	3868 2410 9D09 sbc r25,r13
		3854	3869 2412 AA27 clr r26
		3855	3870 2414 97FD sbrc r25,7
		3856	3871 2416 A095 com r26
		3857	3872 2418 BA2F mov r27,r26
		3858	3873 241a E090 0000 lds r14,IPartRoll.1973
		3859	3874 241e F090 0000 lds r15,(IPartRoll.1973)+1
		3860	3875 2422 0091 0000 lds r16,(IPartRoll.1973)+2
		3861	3876 2426 1091 0000 lds r17,(IPartRoll.1973)+3
		3862	3877 242a E80E add r14,r24
		3863	3878 242c F91E adc r15,r25
		3864	3879 242e 0A1F adc r16,r26
		3865	3880 2430 1B1F adc r17,r27
		3866	3881 2432 E092 0000 sts IPartRoll.1973,r14
		3867	3882 2436 F092 0000 sts (IPartRoll.1973)+1,r15
		3868	3883 243a 0093 0000 sts (IPartRoll.1973)+2,r16
		3869	3884 243e 1093 0000 sts (IPartRoll.1973)+3,r17
		3870	3885 2442 00C0 rjmp .L450
		3871	3886 .L447:
		3872	3887 2444 21E0 ldi r18,lo8(64001)
		3873	3888 2446 E216 cp r14,r18
		3874	3889 2448 2AEF ldi r18,hi8(64001)
		3875	3890 244a F206 cpc r15,r18
		3876	3891 244c 20E0 ldi r18,hlo8(64001)
		3877	3892 244e 0207 cpc r16,r18
		3878	3893 2450 20E0 ldi r18,hhi8(64001)
		3879	3894 2452 1207 cpc r17,r18
		3880	3895 2454 04F4 brge .+2
		3881	3896 2456 00C0 rjmp .L448
		3882	3897 2458 80E0 ldi r24,lo8(64000)
		3883	3898 245a 9AEF ldi r25,hi8(64000)
		3884	3899 245c A0E0 ldi r26,hlo8(64000)
		3885	3900 245e B0E0 ldi r27,hhi8(64000)
		3886	3901 2460 8093 0000 sts IPartNick.1972,r24
		3887	3902 2464 9093 0000 sts (IPartNick.1972)+1,r25
		3888	3903 2468 A093 0000 sts (IPartNick.1972)+2,r26
		3889	3904 246c B093 0000 sts (IPartNick.1972)+3,r27
		3890	3905 2470 E12C mov r14,__zero_reg__
		3891	3906 2472 9AEF ldi r25,hi8(64000)
		3892	3907 2474 F92E mov r15,r25
		3893	3908 2476 012D mov r16,__zero_reg__
		3894	3909 2478 112D mov r17,__zero_reg__
		3895	3910 247a 00C0 rjmp .L448
		3896	3911 .L445:
		3897	3912 247c C101 movw r24,r2
		3898	3913 247e 8A19 sub r24,r10
		3899	3914 2480 9B09 sbc r25,r11
		3900	3915 2482 AA27 clr r26
		3901	3916 2484 97FD sbrc r25,7
		3902	3917 2486 A095 com r26
		3903	3918 2488 BA2F mov r27,r26
		3904	3919 248a E090 0000 lds r14,IPartNick.1972
		3905	3920 248e F090 0000 lds r15,(IPartNick.1972)+1
		3906	3921 2492 0091 0000 lds r16,(IPartNick.1972)+2
		3907	3922 2496 1091 0000 lds r17,(IPartNick.1972)+3
		3908	3923 249a E80E add r14,r24
		3909	3924 249c F91E adc r15,r25
		3910	3925 249e 0A1F adc r16,r26
		3911	3926 24a0 1B1F adc r17,r27
		3912	3927 24a2 E092 0000 sts IPartNick.1972,r14
		3913	3928 24a6 F092 0000 sts (IPartNick.1972)+1,r15
		3914	3929 24aa 0093 0000 sts (IPartNick.1972)+2,r16
		3915	3930 24ae 1093 0000 sts (IPartNick.1972)+3,r17
		3916	3931 24b2 00C0 rjmp .L446
		3917	3932 .L437:
		3918	3933 24b4 C701 movw r24,r14
		3919	3934 24b6 8135 cpi r24,81
		3920	3935 24b8 9105 cpc r25,__zero_reg__
		3921	3936 24ba 04F0 brlt .+2
		3922	3937 24bc 00C0 rjmp .L530
		3923	3938 24be 9C01 movw r18,r24
		3924	3939 24c0 5FEF ldi r21,hi8(-80)
		3925	3940 24c2 803B cpi r24,lo8(-80)
		3926	3941 24c4 9507 cpc r25,r21
		3927	3942 24c6 04F0 brlt .+2
		3928	3943 24c8 00C0 rjmp .L439
		3929	3944 .L540:
		3930	3945 24ca 20EB ldi r18,lo8(-80)
		3931	3946 24cc 3FEF ldi r19,hi8(-80)
		3932	3947 24ce 00C0 rjmp .L439
		3933	3948 .L426:
		3934	3949 24d0 ED85 ldd r30,Y+13
		3935	3950 24d2 6E2F mov r22,r30
		3936	3951 24d4 70E0 ldi r23,lo8(0)
		3937	3952 24d6 80E0 ldi r24,lo8(0)
		3938	3953 24d8 90E0 ldi r25,hi8(0)
		3939	3954 24da 2091 0000 lds r18,IntegralGyroRoll
		3940	3955 24de 3091 0000 lds r19,(IntegralGyroRoll)+1
		3941	3956 24e2 4091 0000 lds r20,(IntegralGyroRoll)+2
		3942	3957 24e6 5091 0000 lds r21,(IntegralGyroRoll)+3
		3943	3958 24ea 0E94 0000 call __mulsi3
		3944	3959 24ee 28EF ldi r18,lo8(11000)
		3945	3960 24f0 3AE2 ldi r19,hi8(11000)
		3946	3961 24f2 40E0 ldi r20,hlo8(11000)
		3947	3962 24f4 50E0 ldi r21,hhi8(11000)
		3948	3963 24f6 0E94 0000 call __divmodsi4
		3949	3964 24fa 3C83 std Y+4,r19
		3950	3965 24fc 2B83 std Y+3,r18
		3951	3966 24fe 3901 movw r6,r18
		3952	3967 2500 0C94 0000 jmp .L427
		3953	3968 .L424:
		3954	3969 2504 8091 0000 lds r24,GyroIFactor
		3955	3970 2508 8D87 std Y+13,r24
		3956	3971 250a 682F mov r22,r24
		3957	3972 250c 70E0 ldi r23,lo8(0)
		3958	3973 250e 80E0 ldi r24,lo8(0)
		3959	3974 2510 90E0 ldi r25,hi8(0)
		3960	3975 2512 2091 0000 lds r18,IntegralGyroNick
		3961	3976 2516 3091 0000 lds r19,(IntegralGyroNick)+1
		3962	3977 251a 4091 0000 lds r20,(IntegralGyroNick)+2
		3963	3978 251e 5091 0000 lds r21,(IntegralGyroNick)+3
		3964	3979 2522 0E94 0000 call __mulsi3
		3965	3980 2526 28EF ldi r18,lo8(11000)
		3966	3981 2528 3AE2 ldi r19,hi8(11000)
		3967	3982 252a 40E0 ldi r20,hlo8(11000)
		3968	3983 252c 50E0 ldi r21,hhi8(11000)
		3969	3984 252e 0E94 0000 call __divmodsi4
		3970	3985 2532 3E83 std Y+6,r19
		3971	3986 2534 2D83 std Y+5,r18
		3972	3987 2536 1901 movw r2,r18
		3973	3988 2538 0C94 0000 jmp .L425
		3974	3989 .L475:
		3975	3990 253c 88E1 ldi r24,lo8(24)
		3976	3991 253e 8093 0000 sts TimerDebugOut.1985,r24
		3977	3992 2542 6091 0000 lds r22,IntegralGyroNick
		3978	3993 2546 7091 0000 lds r23,(IntegralGyroNick)+1
		3979	3994 254a 8091 0000 lds r24,(IntegralGyroNick)+2
		3980	3995 254e 9091 0000 lds r25,(IntegralGyroNick)+3
		3981	3996 2552 2AE0 ldi r18,lo8(10)
		3982	3997 2554 30E0 ldi r19,hi8(10)
		3983	3998 2556 40E0 ldi r20,hlo8(10)
		3984	3999 2558 50E0 ldi r21,hhi8(10)
		3985	4000 255a 0E94 0000 call __mulsi3
		3986	4001 255e 2FEB ldi r18,lo8(1215)
		3987	4002 2560 34E0 ldi r19,hi8(1215)
		3988	4003 2562 40E0 ldi r20,hlo8(1215)
		3989	4004 2564 50E0 ldi r21,hhi8(1215)
		3990	4005 2566 0E94 0000 call __divmodsi4
		3991	4006 256a 3093 0000 sts (DebugOut+2)+1,r19
		3992	4007 256e 2093 0000 sts DebugOut+2,r18
		3993	4008 2572 6091 0000 lds r22,IntegralGyroRoll
		3994	4009 2576 7091 0000 lds r23,(IntegralGyroRoll)+1
		3995	4010 257a 8091 0000 lds r24,(IntegralGyroRoll)+2
		3996	4011 257e 9091 0000 lds r25,(IntegralGyroRoll)+3
		3997	4012 2582 2AE0 ldi r18,lo8(10)
		3998	4013 2584 30E0 ldi r19,hi8(10)
		3999	4014 2586 40E0 ldi r20,hlo8(10)
		4000	4015 2588 50E0 ldi r21,hhi8(10)
		4001	4016 258a 0E94 0000 call __mulsi3
		4002	4017 258e 2FEB ldi r18,lo8(1215)
		4003	4018 2590 34E0 ldi r19,hi8(1215)
		4004	4019 2592 40E0 ldi r20,hlo8(1215)
		4005	4020 2594 50E0 ldi r21,hhi8(1215)
		4006	4021 2596 0E94 0000 call __divmodsi4
		4007	4022 259a 3093 0000 sts (DebugOut+4)+1,r19
		4008	4023 259e 2093 0000 sts DebugOut+4,r18
		4009	4024 25a2 4090 0000 lds r4,GyroNick
		4010	4025 25a6 5090 0000 lds r5,(GyroNick)+1
		4011	4026 25aa 5092 0000 sts (DebugOut+6)+1,r5
		4012	4027 25ae 4092 0000 sts DebugOut+6,r4
		4013	4028 25b2 8090 0000 lds r8,GyroRoll
		4014	4029 25b6 9090 0000 lds r9,(GyroRoll)+1
		4015	4030 25ba 9092 0000 sts (DebugOut+8)+1,r9
		4016	4031 25be 8092 0000 sts DebugOut+8,r8
		4017	4032 25c2 8B85 ldd r24,Y+11
		4018	4033 25c4 9C85 ldd r25,Y+12
		4019	4034 25c6 9093 0000 sts (DebugOut+10)+1,r25
		4020	4035 25ca 8093 0000 sts DebugOut+10,r24
		4021	4036 25ce 8091 0000 lds r24,ReadingHeight
		4022	4037 25d2 9091 0000 lds r25,(ReadingHeight)+1
		4023	4038 25d6 9093 0000 sts (DebugOut+12)+1,r25
		4024	4039 25da 8093 0000 sts DebugOut+12,r24
		4025	4040 25de 8091 0000 lds r24,CompassHeading
		4026	4041 25e2 9091 0000 lds r25,(CompassHeading)+1
		4027	4042 25e6 9093 0000 sts (DebugOut+18)+1,r25
		4028	4043 25ea 8093 0000 sts DebugOut+18,r24
		4029	4044 25ee 8091 0000 lds r24,UBat
		4030	4045 25f2 9091 0000 lds r25,(UBat)+1
		4031	4046 25f6 9093 0000 sts (DebugOut+20)+1,r25
		4032	4047 25fa 8093 0000 sts DebugOut+20,r24
		4033	4048 25fe 8091 0000 lds r24,RC_Quality
		4034	4049 2602 9091 0000 lds r25,(RC_Quality)+1
		4035	4050 2606 9093 0000 sts (DebugOut+22)+1,r25
		4036	4051 260a 8093 0000 sts DebugOut+22,r24
		4037	4052 260e 6091 0000 lds r22,YawGyroHeading
		4038	4053 2612 7091 0000 lds r23,(YawGyroHeading)+1
		4039	4054 2616 8091 0000 lds r24,(YawGyroHeading)+2
		4040	4055 261a 9091 0000 lds r25,(YawGyroHeading)+3
		4041	4056 261e 20E0 ldi r18,lo8(512)
		4042	4057 2620 32E0 ldi r19,hi8(512)
		4043	4058 2622 40E0 ldi r20,hlo8(512)
		4044	4059 2624 50E0 ldi r21,hhi8(512)
		4045	4060 2626 0E94 0000 call __divmodsi4
		4046	4061 262a 3093 0000 sts (DebugOut+24)+1,r19
		4047	4062 262e 2093 0000 sts DebugOut+24,r18
		4048	4063 2632 80E1 ldi r24,lo8(16)
		4049	4064 2634 90E0 ldi r25,hi8(16)
		4050	4065 2636 9093 0000 sts (DebugOut+34)+1,r25
		4051	4066 263a 8093 0000 sts DebugOut+34,r24
		4052	4067 263e 81E1 ldi r24,lo8(17)
		4053	4068 2640 90E0 ldi r25,hi8(17)
		4054	4069 2642 9093 0000 sts (DebugOut+36)+1,r25
		4055	4070 2646 8093 0000 sts DebugOut+36,r24
		4056	4071 264a 82E1 ldi r24,lo8(18)
		4057	4072 264c 90E0 ldi r25,hi8(18)
		4058	4073 264e 9093 0000 sts (DebugOut+38)+1,r25
		4059	4074 2652 8093 0000 sts DebugOut+38,r24
		4060	4075 2656 83E1 ldi r24,lo8(19)
		4061	4076 2658 90E0 ldi r25,hi8(19)
		4062	4077 265a 9093 0000 sts (DebugOut+40)+1,r25
		4063	4078 265e 8093 0000 sts DebugOut+40,r24
		4064	4079 2662 4091 0000 lds r20,vibrationOffsetNick
		4065	4080 2666 5091 0000 lds r21,(vibrationOffsetNick)+1
		4066	4081 266a 8091 0000 lds r24,savedVibrationOffsetNick
		4067	4082 266e 9091 0000 lds r25,(savedVibrationOffsetNick)+1
		4068	4083 2672 FA01 movw r30,r20
		4069	4084 2674 E81B sub r30,r24
		4070	4085 2676 F90B sbc r31,r25
		4071	4086 2678 F093 0000 sts (DebugOut+42)+1,r31
		4072	4087 267c E093 0000 sts DebugOut+42,r30
		4073	4088 2680 2091 0000 lds r18,vibrationOffsetRoll
		4074	4089 2684 3091 0000 lds r19,(vibrationOffsetRoll)+1
		4075	4090 2688 8091 0000 lds r24,savedVibrationOffsetRoll
		4076	4091 268c 9091 0000 lds r25,(savedVibrationOffsetRoll)+1
		4077	4092 2690 B901 movw r22,r18
		4078	4093 2692 681B sub r22,r24
		4079	4094 2694 790B sbc r23,r25
		4080	4095 2696 7093 0000 sts (DebugOut+44)+1,r23
		4081	4096 269a 6093 0000 sts DebugOut+44,r22
		4082	4097 269e 86E1 ldi r24,lo8(22)
		4083	4098 26a0 90E0 ldi r25,hi8(22)
		4084	4099 26a2 9093 0000 sts (DebugOut+46)+1,r25
		4085	4100 26a6 8093 0000 sts DebugOut+46,r24
		4086	4101 26aa 5092 0000 sts (DebugOut+48)+1,r5
		4087	4102 26ae 4092 0000 sts DebugOut+48,r4
		4088	4103 26b2 9092 0000 sts (DebugOut+50)+1,r9
		4089	4104 26b6 8092 0000 sts DebugOut+50,r8
		4090	4105 26ba 5093 0000 sts (DebugOut+52)+1,r21
		4091	4106 26be 4093 0000 sts DebugOut+52,r20
		4092	4107 26c2 3093 0000 sts (DebugOut+54)+1,r19
		4093	4108 26c6 2093 0000 sts DebugOut+54,r18
		4094	4109 26ca 8BE1 ldi r24,lo8(27)
		4095	4110 26cc 90E0 ldi r25,hi8(27)
		4096	4111 26ce 9093 0000 sts (DebugOut+56)+1,r25
		4097	4112 26d2 8093 0000 sts DebugOut+56,r24
		4098	4113 26d6 A090 0000 lds r10,StickNick
		4099	4114 26da B090 0000 lds r11,(StickNick)+1
		4100	4115 26de B092 0000 sts (DebugOut+58)+1,r11
		4101	4116 26e2 A092 0000 sts DebugOut+58,r10
		4102	4117 26e6 C090 0000 lds r12,StickRoll
		4103	4118 26ea D090 0000 lds r13,(StickRoll)+1
		4104	4119 26ee D092 0000 sts (DebugOut+60)+1,r13
		4105	4120 26f2 C092 0000 sts DebugOut+60,r12
		4106	4121 26f6 8091 0000 lds r24,debugNickNoisePeak
		4107	4122 26fa 9091 0000 lds r25,(debugNickNoisePeak)+1
		4108	4123 26fe 9093 0000 sts (DebugOut+62)+1,r25
		4109	4124 2702 8093 0000 sts DebugOut+62,r24
		4110	4125 2706 8091 0000 lds r24,debugRollNoisePeak
		4111	4126 270a 9091 0000 lds r25,(debugRollNoisePeak)+1
		4112	4127 270e 9093 0000 sts (DebugOut+64)+1,r25
		4113	4128 2712 8093 0000 sts DebugOut+64,r24
		4114	4129 2716 0C94 0000 jmp .L422
		4115	4130 .L474:
		4116	4131 271a 8091 0000 lds r24,CompassCalState
		4117	4132 271e 8823 tst r24
		4118	4133 2720 01F0 breq .+2
		4119	4134 2722 00C0 rjmp .L531
		4120	4135 .L405:
		4121	4136 2724 6091 0000 lds r22,IntegralGyroNick
		4122	4137 2728 7091 0000 lds r23,(IntegralGyroNick)+1
		4123	4138 272c 8091 0000 lds r24,(IntegralGyroNick)+2
		4124	4139 2730 9091 0000 lds r25,(IntegralGyroNick)+3
		4125	4140 2734 20E0 ldi r18,lo8(512)
		4126	4141 2736 32E0 ldi r19,hi8(512)
		4127	4142 2738 40E0 ldi r20,hlo8(512)
		4128	4143 273a 50E0 ldi r21,hhi8(512)
		4129	4144 273c 0E94 0000 call __divmodsi4
		4130	4145 2740 8901 movw r16,r18
		4131	4146 2742 37FD sbrc r19,7
		4132	4147 2744 00C0 rjmp .L532
		4133	4148 .L406:
		4134	4149 2746 6091 0000 lds r22,IntegralGyroRoll
		4135	4150 274a 7091 0000 lds r23,(IntegralGyroRoll)+1
		4136	4151 274e 8091 0000 lds r24,(IntegralGyroRoll)+2
		4137	4152 2752 9091 0000 lds r25,(IntegralGyroRoll)+3
		4138	4153 2756 20E0 ldi r18,lo8(512)
		4139	4154 2758 32E0 ldi r19,hi8(512)
		4140	4155 275a 40E0 ldi r20,hlo8(512)
		4141	4156 275c 50E0 ldi r21,hhi8(512)
		4142	4157 275e 0E94 0000 call __divmodsi4
		4143	4158 2762 5901 movw r10,r18
		4144	4159 2764 37FD sbrc r19,7
		4145	4160 2766 00C0 rjmp .L533
		4146	4161 .L407:
		4147	4162 2768 A016 cp r10,r16
		4148	4163 276a B106 cpc r11,r17
		4149	4164 276c 04F4 brge .L408
		4150	4165 276e 5801 movw r10,r16
		4151	4166 .L408:
		4152	4167 2770 C090 0000 lds r12,CompassHeading
		4153	4168 2774 D090 0000 lds r13,(CompassHeading)+1
		4154	4169 2778 D7FC sbrc r13,7
		4155	4170 277a 00C0 rjmp .L534
		4156	4171 277c 4CE1 ldi r20,lo8(540)
		4157	4172 277e 52E0 ldi r21,hi8(540)
		4158	4173 2780 C40E add r12,r20
		4159	4174 2782 D51E adc r13,r21
		4160	4175 2784 7601 movw r14,r12
		4161	4176 2786 0027 clr r16
		4162	4177 2788 F7FC sbrc r15,7
		4163	4178 278a 0095 com r16
		4164	4179 278c 102F mov r17,r16
		4165	4180 278e 64EE ldi r22,lo8(-540)
		4166	4181 2790 7DEF ldi r23,hi8(-540)
		4167	4182 2792 C60E add r12,r22
		4168	4183 2794 D71E adc r13,r23
		4169	4184 2796 6091 0000 lds r22,YawGyroHeading
		4170	4185 279a 7091 0000 lds r23,(YawGyroHeading)+1
		4171	4186 279e 8091 0000 lds r24,(YawGyroHeading)+2
		4172	4187 27a2 9091 0000 lds r25,(YawGyroHeading)+3
		4173	4188 27a6 20E0 ldi r18,lo8(512)
		4174	4189 27a8 32E0 ldi r19,hi8(512)
		4175	4190 27aa 40E0 ldi r20,hlo8(512)
		4176	4191 27ac 50E0 ldi r21,hhi8(512)
		4177	4192 27ae 0E94 0000 call __divmodsi4
		4178	4193 27b2 E21A sub r14,r18
		4179	4194 27b4 F30A sbc r15,r19
		4180	4195 27b6 040B sbc r16,r20
		4181	4196 27b8 150B sbc r17,r21
		4182	4197 27ba C801 movw r24,r16
		4183	4198 27bc B701 movw r22,r14
		4184	4199 27be 28E6 ldi r18,lo8(360)
		4185	4200 27c0 31E0 ldi r19,hi8(360)
		4186	4201 27c2 40E0 ldi r20,hlo8(360)
		4187	4202 27c4 50E0 ldi r21,hhi8(360)
		4188	4203 27c6 0E94 0000 call __divmodsi4
		4189	4204 27ca 645B subi r22,lo8(-(-180))
		4190	4205 27cc 7040 sbci r23,hi8(-(-180))
		4191	4206 .L410:
		4192	4207 27ce 8091 0000 lds r24,GyroYaw
		4193	4208 27d2 9091 0000 lds r25,(GyroYaw)+1
		4194	4209 27d6 9C87 std Y+12,r25
		4195	4210 27d8 8B87 std Y+11,r24
		4196	4211 27da 9C01 movw r18,r24
		4197	4212 27dc 97FD sbrc r25,7
		4198	4213 27de 00C0 rjmp .L535
		4199	4214 .L412:
		4200	4215 27e0 2138 cpi r18,129
		4201	4216 27e2 3105 cpc r19,__zero_reg__
		4202	4217 27e4 04F4 brge .+2
		4203	4218 27e6 00C0 rjmp .L411
		4204	4219 27e8 EE24 clr r14
		4205	4220 27ea FF24 clr r15
		4206	4221 .L413:
		4207	4222 27ec 0091 0000 lds r16,BadCompassHeading
		4208	4223 27f0 1091 0000 lds r17,(BadCompassHeading)+1
		4209	4224 27f4 0115 cp r16,__zero_reg__
		4210	4225 27f6 1105 cpc r17,__zero_reg__
		4211	4226 27f8 01F4 brne .L414
		4212	4227 27fa 99E1 ldi r25,lo8(25)
		4213	4228 27fc A916 cp r10,r25
		4214	4229 27fe B104 cpc r11,__zero_reg__
		4215	4230 2800 04F4 brge .+2
		4216	4231 2802 00C0 rjmp .L536
		4217	4232 .L414:
		4218	4233 2804 B501 movw r22,r10
		4219	4234 2806 7595 asr r23
		4220	4235 2808 6795 ror r22
		4221	4236 280a 7595 asr r23
		4222	4237 280c 6795 ror r22
		4223	4238 280e 7595 asr r23
		4224	4239 2810 6795 ror r22
		4225	4240 2812 6F5F subi r22,lo8(-(1))
		4226	4241 2814 7F4F sbci r23,hi8(-(1))
		4227	4242 2816 C701 movw r24,r14
		4228	4243 2818 0E94 0000 call __divmodhi4
		4229	4244 281c 9B01 movw r18,r22
		4230	4245 281e 4427 clr r20
		4231	4246 2820 37FD sbrc r19,7
		4232	4247 2822 4095 com r20
		4233	4248 2824 542F mov r21,r20
		4234	4249 2826 8091 0000 lds r24,YawGyroHeading
		4235	4250 282a 9091 0000 lds r25,(YawGyroHeading)+1
		4236	4251 282e A091 0000 lds r26,(YawGyroHeading)+2
		4237	4252 2832 B091 0000 lds r27,(YawGyroHeading)+3
		4238	4253 2836 280F add r18,r24
		4239	4254 2838 391F adc r19,r25
		4240	4255 283a 4A1F adc r20,r26
		4241	4256 283c 5B1F adc r21,r27
		4242	4257 283e 2093 0000 sts YawGyroHeading,r18
		4243	4258 2842 3093 0000 sts (YawGyroHeading)+1,r19
		4244	4259 2846 4093 0000 sts (YawGyroHeading)+2,r20
		4245	4260 284a 5093 0000 sts (YawGyroHeading)+3,r21
		4246	4261 284e 8091 0000 lds r24,FCParam+4
		4247	4262 2852 882E mov r8,r24
		4248	4263 2854 9924 clr r9
		4249	4264 2856 A89C mul r10,r8
		4250	4265 2858 C001 movw r24,r0
		4251	4266 285a A99C mul r10,r9
		4252	4267 285c 900D add r25,r0
		4253	4268 285e B89C mul r11,r8
		4254	4269 2860 900D add r25,r0
		4255	4270 2862 1124 clr r1
		4256	4271 2864 97FD sbrc r25,7
		4257	4272 2866 00C0 rjmp .L537
		4258	4273 .L415:
		4259	4274 2868 9595 asr r25
		4260	4275 286a 8795 ror r24
		4261	4276 286c 9595 asr r25
		4262	4277 286e 8795 ror r24
		4263	4278 2870 9595 asr r25
		4264	4279 2872 8795 ror r24
		4265	4280 2874 9595 asr r25
		4266	4281 2876 8795 ror r24
		4267	4282 2878 9595 asr r25
		4268	4283 287a 8795 ror r24
		4269	4284 287c 6401 movw r12,r8
		4270	4285 287e C81A sub r12,r24
		4271	4286 2880 D90A sbc r13,r25
		4272	4287 2882 D7FC sbrc r13,7
		4273	4288 2884 00C0 rjmp .L416
		4274	4289 2886 0115 cp r16,__zero_reg__
		4275	4290 2888 1105 cpc r17,__zero_reg__
		4276	4291 288a 01F0 breq .+2
		4277	4292 288c 00C0 rjmp .L417
		4278	4293 288e A090 0000 lds r10,MaxStickRoll
		4279	4294 2892 B090 0000 lds r11,(MaxStickRoll)+1
		4280	4295 2896 8091 0000 lds r24,MaxStickNick
		4281	4296 289a 9091 0000 lds r25,(MaxStickNick)+1
		4282	4297 289e A80E add r10,r24
		4283	4298 28a0 B91E adc r11,r25
		4284	4299 28a2 B7FC sbrc r11,7
		4285	4300 28a4 00C0 rjmp .L538
		4286	4301 .L418:
		4287	4302 28a6 B594 asr r11
		4288	4303 28a8 A794 ror r10
		4289	4304 28aa B594 asr r11
		4290	4305 28ac A794 ror r10
		4291	4306 28ae B594 asr r11
		4292	4307 28b0 A794 ror r10
		4293	4308 28b2 60E4 ldi r22,lo8(64)
		4294	4309 28b4 70E0 ldi r23,hi8(64)
		4295	4310 28b6 A60E add r10,r22
		4296	4311 28b8 B71E adc r11,r23
		4297	4312 28ba 8091 0000 lds r24,CompassCourse
		4298	4313 28be 9091 0000 lds r25,(CompassCourse)+1
		4299	4314 28c2 AA27 clr r26
		4300	4315 28c4 97FD sbrc r25,7
		4301	4316 28c6 A095 com r26
		4302	4317 28c8 BA2F mov r27,r26
		4303	4318 28ca 1CE1 ldi r17,lo8(540)
		4304	4319 28cc E12E mov r14,r17
		4305	4320 28ce 12E0 ldi r17,hi8(540)
		4306	4321 28d0 F12E mov r15,r17
		4307	4322 28d2 012D mov r16,__zero_reg__
		4308	4323 28d4 112D mov r17,__zero_reg__
		4309	4324 28d6 E81A sub r14,r24
		4310	4325 28d8 F90A sbc r15,r25
		4311	4326 28da 0A0B sbc r16,r26
		4312	4327 28dc 1B0B sbc r17,r27
		4313	4328 28de CA01 movw r24,r20
		4314	4329 28e0 B901 movw r22,r18
		4315	4330 28e2 20E0 ldi r18,lo8(512)
		4316	4331 28e4 32E0 ldi r19,hi8(512)
		4317	4332 28e6 40E0 ldi r20,hlo8(512)
		4318	4333 28e8 50E0 ldi r21,hhi8(512)
		4319	4334 28ea 0E94 0000 call __divmodsi4
		4320	4335 28ee E20E add r14,r18
		4321	4336 28f0 F31E adc r15,r19
		4322	4337 28f2 041F adc r16,r20
		4323	4338 28f4 151F adc r17,r21
		4324	4339 28f6 C801 movw r24,r16
		4325	4340 28f8 B701 movw r22,r14
		4326	4341 28fa 28E6 ldi r18,lo8(360)
		4327	4342 28fc 31E0 ldi r19,hi8(360)
		4328	4343 28fe 40E0 ldi r20,hlo8(360)
		4329	4344 2900 50E0 ldi r21,hhi8(360)
		4330	4345 2902 0E94 0000 call __divmodsi4
		4331	4346 2906 645B subi r22,lo8(-(-180))
		4332	4347 2908 7040 sbci r23,hi8(-(-180))
		4333	4348 290a 6C9D mul r22,r12
		4334	4349 290c C001 movw r24,r0
		4335	4350 290e 6D9D mul r22,r13
		4336	4351 2910 900D add r25,r0
		4337	4352 2912 7C9D mul r23,r12
		4338	4353 2914 900D add r25,r0
		4339	4354 2916 1124 clr r1
		4340	4355 2918 B501 movw r22,r10
		4341	4356 291a 0E94 0000 call __divmodhi4
		4342	4357 291e C401 movw r24,r8
		4343	4358 2920 880F lsl r24
		4344	4359 2922 991F rol r25
		4345	4360 2924 880D add r24,r8
		4346	4361 2926 991D adc r25,r9
		4347	4362 2928 8617 cp r24,r22
		4348	4363 292a 9707 cpc r25,r23
		4349	4364 292c 04F0 brlt .+2
		4350	4365 292e 00C0 rjmp .L419
		4351	4366 2930 BC01 movw r22,r24
		4352	4367 .L420:
		4353	4368 2932 9B01 movw r18,r22
		4354	4369 2934 4427 clr r20
		4355	4370 2936 37FD sbrc r19,7
		4356	4371 2938 4095 com r20
		4357	4372 293a 542F mov r21,r20
		4358	4373 293c 8091 0000 lds r24,ReadingIntegralGyroYaw
		4359	4374 2940 9091 0000 lds r25,(ReadingIntegralGyroYaw)+1
		4360	4375 2944 A091 0000 lds r26,(ReadingIntegralGyroYaw)+2
		4361	4376 2948 B091 0000 lds r27,(ReadingIntegralGyroYaw)+3
		4362	4377 294c 820F add r24,r18
		4363	4378 294e 931F adc r25,r19
		4364	4379 2950 A41F adc r26,r20
		4365	4380 2952 B51F adc r27,r21
		4366	4381 2954 8093 0000 sts ReadingIntegralGyroYaw,r24
		4367	4382 2958 9093 0000 sts (ReadingIntegralGyroYaw)+1,r25
		4368	4383 295c A093 0000 sts (ReadingIntegralGyroYaw)+2,r26
		4369	4384 2960 B093 0000 sts (ReadingIntegralGyroYaw)+3,r27
		4370	4385 2964 0C94 0000 jmp .L404
		4371	4386 .L402:
		4372	4387 2968 2155 subi r18,lo8(50001)
		4373	4388 296a 334C sbci r19,hi8(50001)
		4374	4389 296c 4040 sbci r20,hlo8(50001)
		4375	4390 296e 5040 sbci r21,hhi8(50001)
		4376	4391 2970 04F4 brge .+4
		4377	4392 2972 0C94 0000 jmp .L403
		4378	4393 2976 80E5 ldi r24,lo8(50000)
		4379	4394 2978 93EC ldi r25,hi8(50000)
		4380	4395 297a A0E0 ldi r26,hlo8(50000)
		4381	4396 297c B0E0 ldi r27,hhi8(50000)
		4382	4397 297e 8093 0000 sts ReadingIntegralGyroYaw,r24
		4383	4398 2982 9093 0000 sts (ReadingIntegralGyroYaw)+1,r25
		4384	4399 2986 A093 0000 sts (ReadingIntegralGyroYaw)+2,r26
		4385	4400 298a B093 0000 sts (ReadingIntegralGyroYaw)+3,r27
		4386	4401 298e 0C94 0000 jmp .L403
		4387	4402 .L279:
		4388	4403 2992 2998 cbi 37-0x20,1
		4389	4404 2994 0C94 0000 jmp .L280
		4390	4405 .L529:
		4391	4406 2998 9887 std Y+8,r25
		4392	4407 299a 8F83 std Y+7,r24
		4393	4408 299c 81E0 ldi r24,lo8(1)
		4394	4409 299e 8093 0000 sts FunnelCourse,r24
		4395	4410 29a2 0C94 0000 jmp .L387
		4396	4411 .L515:
		4397	4412 29a6 9B01 movw r18,r22
		4398	4413 29a8 77FD sbrc r23,7
		4399	4414 29aa 00C0 rjmp .L539
		4400	4415 .L366:
		4401	4416 29ac C901 movw r24,r18
		4402	4417 29ae 9595 asr r25
		4403	4418 29b0 8795 ror r24
		4404	4419 29b2 9595 asr r25
		4405	4420 29b4 8795 ror r24
		4406	4421 29b6 9093 0000 sts (MaxStickNick)+1,r25
		4407	4422 29ba 8093 0000 sts MaxStickNick,r24
		4408	4423 29be 8536 cpi r24,101
		4409	4424 29c0 9105 cpc r25,__zero_reg__
		4410	4425 29c2 04F4 brge .+2
		4411	4426 29c4 00C0 rjmp .L367
		4412	4427 29c6 84E6 ldi r24,lo8(100)
		4413	4428 29c8 90E0 ldi r25,hi8(100)
		4414	4429 29ca 9093 0000 sts (MaxStickNick)+1,r25
		4415	4430 29ce 8093 0000 sts MaxStickNick,r24
		4416	4431 29d2 00C0 rjmp .L367
		4417	4432 .L512:
		4418	4433 29d4 1092 0000 sts GyroIFactor,__zero_reg__
		4419	4434 29d8 00C0 rjmp .L362
		4420	4435 .L530:
		4421	4436 29da 80E5 ldi r24,lo8(80)
		4422	4437 29dc 90E0 ldi r25,hi8(80)
		4423	4438 29de 9C01 movw r18,r24
		4424	4439 29e0 5FEF ldi r21,hi8(-80)
		4425	4440 29e2 803B cpi r24,lo8(-80)
		4426	4441 29e4 9507 cpc r25,r21
		4427	4442 29e6 04F0 brlt .+4
		4428	4443 29e8 0C94 0000 jmp .L439
		4429	4444 29ec 00C0 rjmp .L540
		4430	4445 .L494:
		4431	4446 29ee C601 movw r24,r12
		4432	4447 29f0 0C94 0000 jmp .L458
		4433	4448 .L492:
		4434	4449 29f4 3C01 movw r6,r24
		4435	4450 29f6 0C94 0000 jmp .L443
		4436	4451 .L531:
		4437	4452 29fa 8091 0000 lds r24,MKFlags
		4438	4453 29fe 80FD sbrc r24,0
		4439	4454 2a00 00C0 rjmp .L405
		4440	4455 2a02 0E94 0000 call SetCompassCalState
		4441	4456 2a06 3090 0000 lds r3,LoopingNick
		4442	4457 2a0a 2091 0000 lds r18,GyroYaw
		4443	4458 2a0e 3091 0000 lds r19,(GyroYaw)+1
		4444	4459 2a12 3C87 std Y+12,r19
		4445	4460 2a14 2B87 std Y+11,r18
		4446	4461 2a16 0C94 0000 jmp .L404
		4447	4462 .L482:
		4448	4463 2a1a 0197 sbiw r24,1
		4449	4464 2a1c 9093 0000 sts (RcLostTimer.1981)+1,r25
		4450	4465 2a20 8093 0000 sts RcLostTimer.1981,r24
		4451	4466 2a24 8AE0 ldi r24,lo8(10)
		4452	4467 2a26 D816 cp r13,r24
		4453	4468 2a28 01F0 breq .+4
		4454	4469 2a2a 0C94 0000 jmp .L541
		4455	4470 .L286:
		4456	4471 2a2e 289A sbi 37-0x20,0
		4457	4472 2a30 0C94 0000 jmp .L288
		4458	4473 .L491:
		4459	4474 2a34 9201 movw r18,r4
		4460	4475 2a36 3595 asr r19
		4461	4476 2a38 2795 ror r18
		4462	4477 2a3a E216 cp r14,r18
		4463	4478 2a3c F306 cpc r15,r19
		4464	4479 2a3e 04F0 brlt .+4
		4465	4480 2a40 0C94 0000 jmp .L439
		4466	4481 2a44 9701 movw r18,r14
		4467	4482 2a46 0C94 0000 jmp .L439
		4468	4483 .L489:
		4469	4484 2a4a 8F81 ldd r24,Y+7
		4470	4485 2a4c 9885 ldd r25,Y+8
		4471	4486 2a4e 892B or r24,r25
		4472	4487 2a50 01F4 brne .+4
		4473	4488 2a52 0C94 0000 jmp .L433
		4474	4489 2a56 81E0 ldi r24,lo8(1)
		4475	4490 2a58 90E0 ldi r25,hi8(1)
		4476	4491 2a5a 9093 0000 sts (ModelIsFlying)+1,r25
		4477	4492 2a5e 8093 0000 sts ModelIsFlying,r24
		4478	4493 2a62 0C94 0000 jmp .L433
		4479	4494 .L487:
		4480	4495 2a66 81E0 ldi r24,lo8(1)
		4481	4496 2a68 90E0 ldi r25,hi8(1)
		4482	4497 2a6a 9093 0000 sts (UpdateCompassCourse.1986)+1,r25
		4483	4498 2a6e 8093 0000 sts UpdateCompassCourse.1986,r24
		4484	4499 2a72 0C94 0000 jmp .L399
		4485	4500 .L485:
		4486	4501 2a76 8091 0000 lds r24,FCParam+15
		4487	4502 2a7a 8823 tst r24
		4488	4503 2a7c 01F0 breq .+4
		4489	4504 2a7e 0C94 0000 jmp .L396
		4490	4505 2a82 8091 0000 lds r24,filteredHiResRollGyro
		4491	4506 2a86 9091 0000 lds r25,(filteredHiResRollGyro)+1
		4492	4507 2a8a AA27 clr r26
		4493	4508 2a8c 97FD sbrc r25,7
		4494	4509 2a8e A095 com r26
		4495	4510 2a90 BA2F mov r27,r26
		4496	4511 2a92 E816 cp r14,r24
		4497	4512 2a94 F906 cpc r15,r25
		4498	4513 2a96 0A07 cpc r16,r26
		4499	4514 2a98 1B07 cpc r17,r27
		4500	4515 2a9a 04F0 brlt .+2
		4501	4516 2a9c 00C0 rjmp .L398
		4502	4517 2a9e 2091 0000 lds r18,IntegralGyroRoll
		4503	4518 2aa2 3091 0000 lds r19,(IntegralGyroRoll)+1
		4504	4519 2aa6 4091 0000 lds r20,(IntegralGyroRoll)+2
		4505	4520 2aaa 5091 0000 lds r21,(IntegralGyroRoll)+3
		4506	4521 2aae 1216 cp __zero_reg__,r18
		4507	4522 2ab0 1306 cpc __zero_reg__,r19
		4508	4523 2ab2 1406 cpc __zero_reg__,r20
		4509	4524 2ab4 1506 cpc __zero_reg__,r21
		4510	4525 2ab6 04F0 brlt .+2
		4511	4526 2ab8 00C0 rjmp .L398
		4512	4527 2aba C090 0000 lds r12,StickRoll
		4513	4528 2abe D090 0000 lds r13,(StickRoll)+1
		4514	4529 2ac2 C814 cp r12,r8
		4515	4530 2ac4 D904 cpc r13,r9
		4516	4531 2ac6 04F4 brge .+2
		4517	4532 2ac8 00C0 rjmp .L398
		4518	4533 2aca 6C14 cp r6,r12
		4519	4534 2acc 7D04 cpc r7,r13
		4520	4535 2ace 04F4 brge .+2
		4521	4536 2ad0 00C0 rjmp .L398
		4522	4537 2ad2 8091 0000 lds r24,FCParam+17
		4523	4538 2ad6 8058 subi r24,lo8(-(-128))
		4524	4539 2ad8 9927 clr r25
		4525	4540 2ada 87FD sbrc r24,7
		4526	4541 2adc 9095 com r25
		4527	4542 2ade A92F mov r26,r25
		4528	4543 2ae0 B92F mov r27,r25
		4529	4544 2ae2 8E0D add r24,r14
		4530	4545 2ae4 9F1D adc r25,r15
		4531	4546 2ae6 A01F adc r26,r16
		4532	4547 2ae8 B11F adc r27,r17
		4533	4548 2aea 8093 0000 sts vibrationOffsetRoll,r24
		4534	4549 2aee 9093 0000 sts (vibrationOffsetRoll)+1,r25
		4535	4550 2af2 A093 0000 sts (vibrationOffsetRoll)+2,r26
		4536	4551 2af6 B093 0000 sts (vibrationOffsetRoll)+3,r27
		4537	4552 .L480:
		4538	4553 2afa 6091 0000 lds r22,FCParam+14
		4539	4554 2afe 70E0 ldi r23,lo8(0)
		4540	4555 2b00 80E0 ldi r24,lo8(0)
		4541	4556 2b02 90E0 ldi r25,hi8(0)
		4542	4557 2b04 0E94 0000 call __mulsi3
		4543	4558 2b08 24E6 ldi r18,lo8(100)
		4544	4559 2b0a 30E0 ldi r19,hi8(100)
		4545	4560 2b0c 40E0 ldi r20,hlo8(100)
		4546	4561 2b0e 50E0 ldi r21,hhi8(100)
		4547	4562 2b10 0E94 0000 call __divmodsi4
		4548	4563 2b14 2093 0000 sts IntegralGyroRoll,r18
		4549	4564 2b18 3093 0000 sts (IntegralGyroRoll)+1,r19
		4550	4565 2b1c 4093 0000 sts (IntegralGyroRoll)+2,r20
		4551	4566 2b20 5093 0000 sts (IntegralGyroRoll)+3,r21
		4552	4567 2b24 0C94 0000 jmp .L396
		4553	4568 .L368:
		4554	4569 2b28 4150 subi r20,lo8(-(-1))
		4555	4570 2b2a 5040 sbci r21,hi8(-(-1))
		4556	4571 2b2c 5093 0000 sts (MaxStickRoll)+1,r21
		4557	4572 2b30 4093 0000 sts MaxStickRoll,r20
		4558	4573 2b34 00C0 rjmp .L372
		4559	4574 .L348:
		4560	4575 2b36 1092 0000 sts (delay_startmotors.1983)+1,__zero_reg__
		4561	4576 2b3a 1092 0000 sts delay_startmotors.1983,__zero_reg__
		4562	4577 .L350:
		4563	4578 2b3e E091 0000 lds r30,ParamSet+3
		4564	4579 2b42 F0E0 ldi r31,lo8(0)
		4565	4580 2b44 EE0F lsl r30
		4566	4581 2b46 FF1F rol r31
		4567	4582 2b48 E050 subi r30,lo8(-(PPM_in))
		4568	4583 2b4a F040 sbci r31,hi8(-(PPM_in))
		4569	4584 2b4c 8081 ld r24,Z
		4570	4585 2b4e 9181 ldd r25,Z+1
		4571	4586 2b50 8C34 cpi r24,76
		4572	4587 2b52 9105 cpc r25,__zero_reg__
		4573	4588 2b54 04F4 brge .+2
		4574	4589 2b56 00C0 rjmp .L354
		4575	4590 2b58 8091 0000 lds r24,delay_stopmotors.1984
		4576	4591 2b5c 9091 0000 lds r25,(delay_stopmotors.1984)+1
		4577	4592 2b60 0196 adiw r24,1
		4578	4593 2b62 9093 0000 sts (delay_stopmotors.1984)+1,r25
		4579	4594 2b66 8093 0000 sts delay_stopmotors.1984,r24
		4580	4595 2b6a 893C cpi r24,201
		4581	4596 2b6c 9105 cpc r25,__zero_reg__
		4582	4597 2b6e 00F4 brsh .+4
		4583	4598 2b70 0C94 0000 jmp .L290
		4584	4599 2b74 88EC ldi r24,lo8(200)
		4585	4600 2b76 90E0 ldi r25,hi8(200)
		4586	4601 2b78 9093 0000 sts (delay_stopmotors.1984)+1,r25
		4587	4602 2b7c 8093 0000 sts delay_stopmotors.1984,r24
		4588	4603 2b80 1092 0000 sts (ModelIsFlying)+1,__zero_reg__
		4589	4604 2b84 1092 0000 sts ModelIsFlying,__zero_reg__
		4590	4605 .L478:
		4591	4606 2b88 8091 0000 lds r24,MKFlags
		4592	4607 2b8c 8E7F andi r24,lo8(-2)
		4593	4608 2b8e 8093 0000 sts MKFlags,r24
		4594	4609 2b92 0C94 0000 jmp .L290
		4595	4610 .L411:
		4596	4611 2b96 7B01 movw r14,r22
		4597	4612 2b98 EE0C lsl r14
		4598	4613 2b9a FF1C rol r15
		4599	4614 2b9c EE0C lsl r14
		4600	4615 2b9e FF1C rol r15
		4601	4616 2ba0 EE0C lsl r14
		4602	4617 2ba2 FF1C rol r15
		4603	4618 2ba4 00C0 rjmp .L413
		4604	4619 .L486:
		4605	4620 2ba6 8827 clr r24
		4606	4621 2ba8 9927 clr r25
		4607	4622 2baa 841B sub r24,r20
		4608	4623 2bac 950B sbc r25,r21
		4609	4624 2bae 0C94 0000 jmp .L400
		4610	4625 .L493:
		4611	4626 2bb2 2227 clr r18
		4612	4627 2bb4 3327 clr r19
		4613	4628 2bb6 2619 sub r18,r6
		4614	4629 2bb8 3709 sbc r19,r7
		4615	4630 2bba 0C94 0000 jmp .L453
		4616	4631 .L488:
		4617	4632 2bbe 2D5F subi r18,lo8(-(3))
		4618	4633 2bc0 3F4F sbci r19,hi8(-(3))
		4619	4634 2bc2 0C94 0000 jmp .L401
		4620	4635 .L511:
		4621	4636 2bc6 1092 0000 sts (StickGas)+1,__zero_reg__
		4622	4637 2bca 1092 0000 sts StickGas,__zero_reg__
		4623	4638 2bce 8091 0000 lds r24,ParamSet+8
		4624	4639 2bd2 82FF sbrs r24,2
		4625	4640 2bd4 00C0 rjmp .L362
		4626	4641 2bd6 00C0 rjmp .L512
		4627	4642 .L510:
		4628	4643 2bd8 2250 subi r18,lo8(-(-2))
		4629	4644 2bda 3040 sbci r19,hi8(-(-2))
		4630	4645 2bdc 3093 0000 sts (StickYaw)+1,r19
		4631	4646 2be0 2093 0000 sts StickYaw,r18
		4632	4647 2be4 00C0 rjmp .L357
		4633	4648 .L519:
		4634	4649 2be6 84E6 ldi r24,lo8(100)
		4635	4650 2be8 90E0 ldi r25,hi8(100)
		4636	4651 2bea 9093 0000 sts (MaxStickRoll)+1,r25
		4637	4652 2bee 8093 0000 sts MaxStickRoll,r24
		4638	4653 2bf2 00C0 rjmp .L372
		4639	4654 .L385:
		4640	4655 2bf4 1092 0000 sts LoopingNick,__zero_reg__
		4641	4656 2bf8 0C94 0000 jmp .L356
		4642	4657 .L382:
		4643	4658 2bfc 1092 0000 sts LoopingRoll,__zero_reg__
		4644	4659 2c00 00C0 rjmp .L383
		4645	4660 .L526:
		4646	4661 2c02 81E0 ldi r24,lo8(1)
		4647	4662 2c04 8093 0000 sts LoopingDown,r24
		4648	4663 2c08 00C0 rjmp .L380
		4649	4664 .L524:
		4650	4665 2c0a 81E0 ldi r24,lo8(1)
		4651	4666 2c0c 8093 0000 sts LoopingTop,r24
		4652	4667 2c10 8091 0000 lds r24,ParamSet+40
		4653	4668 2c14 482F mov r20,r24
		4654	4669 2c16 50E0 ldi r21,lo8(0)
		4655	4670 2c18 61E0 ldi r22,lo8(1)
		4656	4671 2c1a 00C0 rjmp .L378
		4657	4672 .L522:
		4658	4673 2c1c 81E0 ldi r24,lo8(1)
		4659	4674 2c1e 8093 0000 sts LoopingRight,r24
		4660	4675 2c22 8091 0000 lds r24,ParamSet+40
		4661	4676 2c26 482F mov r20,r24
		4662	4677 2c28 50E0 ldi r21,lo8(0)
		4663	4678 2c2a 00C0 rjmp .L376
		4664	4679 .L520:
		4665	4680 2c2c 81E0 ldi r24,lo8(1)
		4666	4681 2c2e 8093 0000 sts LoopingLeft,r24
		4667	4682 2c32 71E0 ldi r23,lo8(1)
		4668	4683 2c34 00C0 rjmp .L374
		4669	4684 .L417:
		4670	4685 2c36 0150 subi r16,lo8(-(-1))
		4671	4686 2c38 1040 sbci r17,hi8(-(-1))
		4672	4687 2c3a 1093 0000 sts (BadCompassHeading)+1,r17
		4673	4688 2c3e 0093 0000 sts BadCompassHeading,r16
		4674	4689 2c42 0C94 0000 jmp .L404
		4675	4690 .L521:
		4676	4691 2c46 1092 0000 sts LoopingLeft,__zero_reg__
		4677	4692 2c4a 8091 0000 lds r24,ParamSet+1
		4678	4693 2c4e A82F mov r26,r24
		4679	4694 2c50 B0E0 ldi r27,lo8(0)
		4680	4695 2c52 8091 0000 lds r24,ParamSet+40
		4681	4696 2c56 482F mov r20,r24
		4682	4697 2c58 50E0 ldi r21,lo8(0)
		4683	4698 2c5a AA0F lsl r26
		4684	4699 2c5c BB1F rol r27
		4685	4700 2c5e 70E0 ldi r23,lo8(0)
		4686	4701 2c60 00C0 rjmp .L374
		4687	4702 .L525:
		4688	4703 2c62 1092 0000 sts LoopingTop,__zero_reg__
		4689	4704 2c66 8091 0000 lds r24,ParamSet
		4690	4705 2c6a A82F mov r26,r24
		4691	4706 2c6c B0E0 ldi r27,lo8(0)
		4692	4707 2c6e 8091 0000 lds r24,ParamSet+40
		4693	4708 2c72 482F mov r20,r24
		4694	4709 2c74 50E0 ldi r21,lo8(0)
		4695	4710 2c76 AA0F lsl r26
		4696	4711 2c78 BB1F rol r27
		4697	4712 2c7a 60E0 ldi r22,lo8(0)
		4698	4713 2c7c 00C0 rjmp .L378
		4699	4714 .L523:
		4700	4715 2c7e 1092 0000 sts LoopingRight,__zero_reg__
		4701	4716 2c82 8091 0000 lds r24,ParamSet+40
		4702	4717 2c86 482F mov r20,r24
		4703	4718 2c88 50E0 ldi r21,lo8(0)
		4704	4719 2c8a 00C0 rjmp .L376
		4705	4720 .L527:
		4706	4721 2c8c 1092 0000 sts LoopingDown,__zero_reg__
		4707	4722 2c90 00C0 rjmp .L380
		4708	4723 .L292:
		4709	4724 2c92 8091 0000 lds r24,MKFlags
		4710	4725 2c96 8260 ori r24,lo8(2)
		4711	4726 2c98 8093 0000 sts MKFlags,r24
		4712	4727 2c9c 0C94 0000 jmp .L293
		4713	4728 .L536:
		4714	4729 2ca0 8091 0000 lds r24,UpdateCompassCourse.1986
		4715	4730 2ca4 9091 0000 lds r25,(UpdateCompassCourse.1986)+1
		4716	4731 2ca8 892B or r24,r25
		4717	4732 2caa 01F4 brne .+2
		4718	4733 2cac 00C0 rjmp .L414
		4719	4734 2cae 88EC ldi r24,lo8(200)
		4720	4735 2cb0 90E0 ldi r25,hi8(200)
		4721	4736 2cb2 9093 0000 sts (BeepTime)+1,r25
		4722	4737 2cb6 8093 0000 sts BeepTime,r24
		4723	4738 2cba B601 movw r22,r12
		4724	4739 2cbc 8827 clr r24
		4725	4740 2cbe 77FD sbrc r23,7
		4726	4741 2cc0 8095 com r24
		4727	4742 2cc2 982F mov r25,r24
		4728	4743 2cc4 F9E0 ldi r31,9
		4729	4744 2cc6 660F 1: lsl r22
		4730	4745 2cc8 771F rol r23
		4731	4746 2cca 881F rol r24
		4732	4747 2ccc 991F rol r25
		4733	4748 2cce FA95 dec r31
		4734	4749 2cd0 01F4 brne 1b
		4735	4750 2cd2 6093 0000 sts YawGyroHeading,r22
		4736	4751 2cd6 7093 0000 sts (YawGyroHeading)+1,r23
		4737	4752 2cda 8093 0000 sts (YawGyroHeading)+2,r24
		4738	4753 2cde 9093 0000 sts (YawGyroHeading)+3,r25
		4739	4754 2ce2 20E0 ldi r18,lo8(512)
		4740	4755 2ce4 32E0 ldi r19,hi8(512)
		4741	4756 2ce6 40E0 ldi r20,hlo8(512)
		4742	4757 2ce8 50E0 ldi r21,hhi8(512)
		4743	4758 2cea 0E94 0000 call __divmodsi4
		4744	4759 2cee 3093 0000 sts (CompassCourse)+1,r19
		4745	4760 2cf2 2093 0000 sts CompassCourse,r18
		4746	4761 2cf6 1092 0000 sts (UpdateCompassCourse.1986)+1,__zero_reg__
		4747	4762 2cfa 1092 0000 sts UpdateCompassCourse.1986,__zero_reg__
		4748	4763 2cfe 00C0 rjmp .L414
		4749	4764 .L490:
		4750	4765 2d00 0196 adiw r24,1
		4751	4766 2d02 0C94 0000 jmp .L438
		4752	4767 .L484:
		4753	4768 2d06 9095 com r25
		4754	4769 2d08 8195 neg r24
		4755	4770 2d0a 9F4F sbci r25,lo8(-1)
		4756	4771 2d0c C816 cp r12,r24
		4757	4772 2d0e D906 cpc r13,r25
		4758	4773 2d10 04F4 brge .+4
		4759	4774 2d12 0C94 0000 jmp .L396
		4760	4775 2d16 00C0 rjmp .L485
		4761	4776 .L483:
		4762	4777 2d18 9095 com r25
		4763	4778 2d1a 8195 neg r24
		4764	4779 2d1c 9F4F sbci r25,lo8(-1)
		4765	4780 2d1e 8C15 cp r24,r12
		4766	4781 2d20 9D05 cpc r25,r13
		4767	4782 2d22 04F0 brlt .+4
		4768	4783 2d24 0C94 0000 jmp .L393
		4769	4784 2d28 0C94 0000 jmp .L542
		4770	4785 .L481:
		4771	4786 2d2c 88E9 ldi r24,lo8(15000)
		4772	4787 2d2e 9AE3 ldi r25,hi8(15000)
		4773	4788 2d30 9093 0000 sts (BeepTime)+1,r25
		4774	4789 2d34 8093 0000 sts BeepTime,r24
		4775	4790 2d38 80E0 ldi r24,lo8(3072)
		4776	4791 2d3a 9CE0 ldi r25,hi8(3072)
		4777	4792 2d3c 9093 0000 sts (BeepModulation)+1,r25
		4778	4793 2d40 8093 0000 sts BeepModulation,r24
		4779	4794 2d44 0C94 0000 jmp .L283
		4780	4795 .L398:
		4781	4796 2d48 8091 0000 lds r24,filteredHiResRollGyro
		4782	4797 2d4c 9091 0000 lds r25,(filteredHiResRollGyro)+1
		4783	4798 2d50 AA27 clr r26
		4784	4799 2d52 97FD sbrc r25,7
		4785	4800 2d54 A095 com r26
		4786	4801 2d56 BA2F mov r27,r26
		4787	4802 2d58 8E15 cp r24,r14
		4788	4803 2d5a 9F05 cpc r25,r15
		4789	4804 2d5c A007 cpc r26,r16
		4790	4805 2d5e B107 cpc r27,r17
		4791	4806 2d60 04F0 brlt .+4
		4792	4807 2d62 0C94 0000 jmp .L396
		4793	4808 2d66 2091 0000 lds r18,IntegralGyroRoll
		4794	4809 2d6a 3091 0000 lds r19,(IntegralGyroRoll)+1
		4795	4810 2d6e 4091 0000 lds r20,(IntegralGyroRoll)+2
		4796	4811 2d72 5091 0000 lds r21,(IntegralGyroRoll)+3
		4797	4812 2d76 57FD sbrc r21,7
		4798	4813 2d78 00C0 rjmp .+4
		4799	4814 2d7a 0C94 0000 jmp .L396
		4800	4815 2d7e C090 0000 lds r12,StickRoll
		4801	4816 2d82 D090 0000 lds r13,(StickRoll)+1
		4802	4817 2d86 8827 clr r24
		4803	4818 2d88 9927 clr r25
		4804	4819 2d8a 8819 sub r24,r8
		4805	4820 2d8c 9909 sbc r25,r9
		4806	4821 2d8e 8C15 cp r24,r12
		4807	4822 2d90 9D05 cpc r25,r13
		4808	4823 2d92 04F4 brge .+4
		4809	4824 2d94 0C94 0000 jmp .L396
		4810	4825 2d98 8827 clr r24
		4811	4826 2d9a 9927 clr r25
		4812	4827 2d9c 8619 sub r24,r6
		4813	4828 2d9e 9709 sbc r25,r7
		4814	4829 2da0 C816 cp r12,r24
		4815	4830 2da2 D906 cpc r13,r25
		4816	4831 2da4 04F4 brge .+4
		4817	4832 2da6 0C94 0000 jmp .L396
		4818	4833 2daa 8091 0000 lds r24,FCParam+17
		4819	4834 2dae 8058 subi r24,lo8(-(-128))
		4820	4835 2db0 9927 clr r25
		4821	4836 2db2 87FD sbrc r24,7
		4822	4837 2db4 9095 com r25
		4823	4838 2db6 A92F mov r26,r25
		4824	4839 2db8 B92F mov r27,r25
		4825	4840 2dba E81A sub r14,r24
		4826	4841 2dbc F90A sbc r15,r25
		4827	4842 2dbe 0A0B sbc r16,r26
		4828	4843 2dc0 1B0B sbc r17,r27
		4829	4844 2dc2 E092 0000 sts vibrationOffsetRoll,r14
		4830	4845 2dc6 F092 0000 sts (vibrationOffsetRoll)+1,r15
		4831	4846 2dca 0093 0000 sts (vibrationOffsetRoll)+2,r16
		4832	4847 2dce 1093 0000 sts (vibrationOffsetRoll)+3,r17
		4833	4848 2dd2 00C0 rjmp .L480
		4834	4849 .L395:
		4835	4850 2dd4 8091 0000 lds r24,filteredHiResPitchGyro
		4836	4851 2dd8 9091 0000 lds r25,(filteredHiResPitchGyro)+1
		4837	4852 2ddc AA27 clr r26
		4838	4853 2dde 97FD sbrc r25,7
		4839	4854 2de0 A095 com r26
		4840	4855 2de2 BA2F mov r27,r26
		4841	4856 2de4 8E15 cp r24,r14
		4842	4857 2de6 9F05 cpc r25,r15
		4843	4858 2de8 A007 cpc r26,r16
		4844	4859 2dea B107 cpc r27,r17
		4845	4860 2dec 04F0 brlt .+4
		4846	4861 2dee 0C94 0000 jmp .L393
		4847	4862 2df2 2091 0000 lds r18,IntegralGyroNick
		4848	4863 2df6 3091 0000 lds r19,(IntegralGyroNick)+1
		4849	4864 2dfa 4091 0000 lds r20,(IntegralGyroNick)+2
		4850	4865 2dfe 5091 0000 lds r21,(IntegralGyroNick)+3
		4851	4866 2e02 57FD sbrc r21,7
		4852	4867 2e04 00C0 rjmp .+4
		4853	4868 2e06 0C94 0000 jmp .L393
		4854	4869 2e0a A090 0000 lds r10,StickNick
		4855	4870 2e0e B090 0000 lds r11,(StickNick)+1
		4856	4871 2e12 8827 clr r24
		4857	4872 2e14 9927 clr r25
		4858	4873 2e16 8819 sub r24,r8
		4859	4874 2e18 9909 sbc r25,r9
		4860	4875 2e1a 8A15 cp r24,r10
		4861	4876 2e1c 9B05 cpc r25,r11
		4862	4877 2e1e 04F4 brge .+4
		4863	4878 2e20 0C94 0000 jmp .L393
		4864	4879 2e24 8827 clr r24
		4865	4880 2e26 9927 clr r25
		4866	4881 2e28 8619 sub r24,r6
		4867	4882 2e2a 9709 sbc r25,r7
		4868	4883 2e2c A816 cp r10,r24
		4869	4884 2e2e B906 cpc r11,r25
		4870	4885 2e30 04F4 brge .+4
		4871	4886 2e32 0C94 0000 jmp .L393
		4872	4887 2e36 8091 0000 lds r24,FCParam+16
		4873	4888 2e3a 8058 subi r24,lo8(-(-128))
		4874	4889 2e3c 9927 clr r25
		4875	4890 2e3e 87FD sbrc r24,7
		4876	4891 2e40 9095 com r25
		4877	4892 2e42 A92F mov r26,r25
		4878	4893 2e44 B92F mov r27,r25
		4879	4894 2e46 E81A sub r14,r24
		4880	4895 2e48 F90A sbc r15,r25
		4881	4896 2e4a 0A0B sbc r16,r26
		4882	4897 2e4c 1B0B sbc r17,r27
		4883	4898 2e4e E092 0000 sts vibrationOffsetNick,r14
		4884	4899 2e52 F092 0000 sts (vibrationOffsetNick)+1,r15
		4885	4900 2e56 0093 0000 sts (vibrationOffsetNick)+2,r16
		4886	4901 2e5a 1093 0000 sts (vibrationOffsetNick)+3,r17
		4887	4902 2e5e 0C94 0000 jmp .L479
		4888	4903 .L517:
		4889	4904 2e62 3095 com r19
		4890	4905 2e64 2195 neg r18
		4891	4906 2e66 3F4F sbci r19,lo8(-1)
		4892	4907 2e68 00C0 rjmp .L370
		4893	4908 .L516:
		4894	4909 2e6a 2D5F subi r18,lo8(-(3))
		4895	4910 2e6c 3F4F sbci r19,hi8(-(3))
		4896	4911 2e6e 00C0 rjmp .L369
		4897	4912 .L513:
		4898	4913 2e70 2D5F subi r18,lo8(-(3))
		4899	4914 2e72 3F4F sbci r19,hi8(-(3))
		4900	4915 2e74 3595 asr r19
		4901	4916 2e76 2795 ror r18
		4902	4917 2e78 3595 asr r19
		4903	4918 2e7a 2795 ror r18
		4904	4919 2e7c 37FF sbrs r19,7
		4905	4920 2e7e 00C0 rjmp .L365
		4906	4921 .L514:
		4907	4922 2e80 3095 com r19
		4908	4923 2e82 2195 neg r18
		4909	4924 2e84 3F4F sbci r19,lo8(-1)
		4910	4925 2e86 00C0 rjmp .L365
		4911	4926 .L534:
		4912	4927 2e88 60E0 ldi r22,lo8(0)
		4913	4928 2e8a 70E0 ldi r23,hi8(0)
		4914	4929 2e8c 00C0 rjmp .L410
		4915	4930 .L416:
		4916	4931 2e8e 84EF ldi r24,lo8(500)
		4917	4932 2e90 91E0 ldi r25,hi8(500)
		4918	4933 2e92 9093 0000 sts (BadCompassHeading)+1,r25
		4919	4934 2e96 8093 0000 sts BadCompassHeading,r24
		4920	4935 2e9a 0C94 0000 jmp .L404
		4921	4936 .L298:
		4922	4937 2e9e 8081 ld r24,Z
		4923	4938 2ea0 9181 ldd r25,Z+1
		4924	4939 2ea2 8259 subi r24,lo8(-(110))
		4925	4940 2ea4 9F4F sbci r25,hi8(-(110))
		4926	4941 2ea6 8A15 cp r24,r10
		4927	4942 2ea8 9B05 cpc r25,r11
		4928	4943 2eaa 04F0 brlt .+4
		4929	4944 2eac 0C94 0000 jmp .L299
		4930	4945 2eb0 A114 cp r10,__zero_reg__
		4931	4946 2eb2 B104 cpc r11,__zero_reg__
		4932	4947 2eb4 01F4 brne .+4
		4933	4948 2eb6 0C94 0000 jmp .L299
		4934	4949 2eba C501 movw r24,r10
		4935	4950 2ebc 0197 sbiw r24,1
		4936	4951 2ebe 9093 0000 sts (Poti3)+1,r25
		4937	4952 2ec2 8093 0000 sts Poti3,r24
		4938	4953 2ec6 5C01 movw r10,r24
		4939	4954 2ec8 0C94 0000 jmp .L299
		4940	4955 .L296:
		4941	4956 2ecc 8081 ld r24,Z
		4942	4957 2ece 9181 ldd r25,Z+1
		4943	4958 2ed0 8259 subi r24,lo8(-(110))
		4944	4959 2ed2 9F4F sbci r25,hi8(-(110))
		4945	4960 2ed4 8017 cp r24,r16
		4946	4961 2ed6 9107 cpc r25,r17
		4947	4962 2ed8 04F0 brlt .+4
		4948	4963 2eda 0C94 0000 jmp .L297
		4949	4964 2ede 0115 cp r16,__zero_reg__
		4950	4965 2ee0 1105 cpc r17,__zero_reg__
		4951	4966 2ee2 01F4 brne .+4
		4952	4967 2ee4 0C94 0000 jmp .L297
		4953	4968 2ee8 C801 movw r24,r16
		4954	4969 2eea 0197 sbiw r24,1
		4955	4970 2eec 9093 0000 sts (Poti2)+1,r25
		4956	4971 2ef0 8093 0000 sts Poti2,r24
		4957	4972 2ef4 8C01 movw r16,r24
		4958	4973 2ef6 0C94 0000 jmp .L297
		4959	4974 .L294:
		4960	4975 2efa 8081 ld r24,Z
		4961	4976 2efc 9181 ldd r25,Z+1
		4962	4977 2efe 8259 subi r24,lo8(-(110))
		4963	4978 2f00 9F4F sbci r25,hi8(-(110))
		4964	4979 2f02 8E15 cp r24,r14
		4965	4980 2f04 9F05 cpc r25,r15
		4966	4981 2f06 04F0 brlt .+4
		4967	4982 2f08 0C94 0000 jmp .L295
		4968	4983 2f0c E114 cp r14,__zero_reg__
		4969	4984 2f0e F104 cpc r15,__zero_reg__
		4970	4985 2f10 01F4 brne .+4
		4971	4986 2f12 0C94 0000 jmp .L295
		4972	4987 2f16 C701 movw r24,r14
		4973	4988 2f18 0197 sbiw r24,1
		4974	4989 2f1a 9093 0000 sts (Poti1)+1,r25
		4975	4990 2f1e 8093 0000 sts Poti1,r24
		4976	4991 2f22 7C01 movw r14,r24
		4977	4992 2f24 0C94 0000 jmp .L295
		4978	4993 .L308:
		4979	4994 2f28 8091 0000 lds r24,PPM_in+24
		4980	4995 2f2c 9091 0000 lds r25,(PPM_in+24)+1
		4981	4996 2f30 8259 subi r24,lo8(-(110))
		4982	4997 2f32 9F4F sbci r25,hi8(-(110))
		4983	4998 2f34 8217 cp r24,r18
		4984	4999 2f36 9307 cpc r25,r19
		4985	5000 2f38 04F0 brlt .+4
		4986	5001 2f3a 0C94 0000 jmp .L309
		4987	5002 2f3e 2115 cp r18,__zero_reg__
		4988	5003 2f40 3105 cpc r19,__zero_reg__
		4989	5004 2f42 01F4 brne .+4
		4990	5005 2f44 0C94 0000 jmp .L309
		4991	5006 2f48 C901 movw r24,r18
		4992	5007 2f4a 0197 sbiw r24,1
		4993	5008 2f4c 9093 0000 sts (Poti8)+1,r25
		4994	5009 2f50 8093 0000 sts Poti8,r24
		4995	5010 2f54 9C01 movw r18,r24
		4996	5011 2f56 0C94 0000 jmp .L309
		4997	5012 .L306:
		4998	5013 2f5a 8091 0000 lds r24,PPM_in+22
		4999	5014 2f5e 9091 0000 lds r25,(PPM_in+22)+1
		5000	5015 2f62 8259 subi r24,lo8(-(110))
		5001	5016 2f64 9F4F sbci r25,hi8(-(110))
		5002	5017 2f66 8417 cp r24,r20
		5003	5018 2f68 9507 cpc r25,r21
		5004	5019 2f6a 04F0 brlt .+4
		5005	5020 2f6c 0C94 0000 jmp .L307
		5006	5021 2f70 4115 cp r20,__zero_reg__
		5007	5022 2f72 5105 cpc r21,__zero_reg__
		5008	5023 2f74 01F4 brne .+4
		5009	5024 2f76 0C94 0000 jmp .L307
		5010	5025 2f7a CA01 movw r24,r20
		5011	5026 2f7c 0197 sbiw r24,1
		5012	5027 2f7e 9093 0000 sts (Poti7)+1,r25
		5013	5028 2f82 8093 0000 sts Poti7,r24
		5014	5029 2f86 AC01 movw r20,r24
		5015	5030 2f88 0C94 0000 jmp .L307
		5016	5031 .L304:
		5017	5032 2f8c 8091 0000 lds r24,PPM_in+20
		5018	5033 2f90 9091 0000 lds r25,(PPM_in+20)+1
		5019	5034 2f94 8259 subi r24,lo8(-(110))
		5020	5035 2f96 9F4F sbci r25,hi8(-(110))
		5021	5036 2f98 8617 cp r24,r22
		5022	5037 2f9a 9707 cpc r25,r23
		5023	5038 2f9c 04F0 brlt .+4
		5024	5039 2f9e 0C94 0000 jmp .L305
		5025	5040 2fa2 6115 cp r22,__zero_reg__
		5026	5041 2fa4 7105 cpc r23,__zero_reg__
		5027	5042 2fa6 01F4 brne .+4
		5028	5043 2fa8 0C94 0000 jmp .L305
		5029	5044 2fac CB01 movw r24,r22
		5030	5045 2fae 0197 sbiw r24,1
		5031	5046 2fb0 9093 0000 sts (Poti6)+1,r25
		5032	5047 2fb4 8093 0000 sts Poti6,r24
		5033	5048 2fb8 BC01 movw r22,r24
		5034	5049 2fba 0C94 0000 jmp .L305
		5035	5050 .L302:
		5036	5051 2fbe 8091 0000 lds r24,PPM_in+18
		5037	5052 2fc2 9091 0000 lds r25,(PPM_in+18)+1
		5038	5053 2fc6 8259 subi r24,lo8(-(110))
		5039	5054 2fc8 9F4F sbci r25,hi8(-(110))
		5040	5055 2fca 8E17 cp r24,r30
		5041	5056 2fcc 9F07 cpc r25,r31
		5042	5057 2fce 04F0 brlt .+4
		5043	5058 2fd0 0C94 0000 jmp .L303
		5044	5059 2fd4 3097 sbiw r30,0
		5045	5060 2fd6 01F4 brne .+4
		5046	5061 2fd8 0C94 0000 jmp .L303
		5047	5062 2fdc CF01 movw r24,r30
		5048	5063 2fde 0197 sbiw r24,1
		5049	5064 2fe0 9093 0000 sts (Poti5)+1,r25
		5050	5065 2fe4 8093 0000 sts Poti5,r24
		5051	5066 2fe8 FC01 movw r30,r24
		5052	5067 2fea 0C94 0000 jmp .L303
		5053	5068 .L300:
		5054	5069 2fee 8081 ld r24,Z
		5055	5070 2ff0 9181 ldd r25,Z+1
		5056	5071 2ff2 8259 subi r24,lo8(-(110))
		5057	5072 2ff4 9F4F sbci r25,hi8(-(110))
		5058	5073 2ff6 8A17 cp r24,r26
		5059	5074 2ff8 9B07 cpc r25,r27
		5060	5075 2ffa 04F0 brlt .+4
		5061	5076 2ffc 0C94 0000 jmp .L301
		5062	5077 3000 1097 sbiw r26,0
		5063	5078 3002 01F4 brne .+4
		5064	5079 3004 0C94 0000 jmp .L301
		5065	5080 3008 CD01 movw r24,r26
		5066	5081 300a 0197 sbiw r24,1
		5067	5082 300c 9093 0000 sts (Poti4)+1,r25
		5068	5083 3010 8093 0000 sts Poti4,r24
		5069	5084 3014 DC01 movw r26,r24
		5070	5085 3016 0C94 0000 jmp .L301
		5071	5086 .L537:
		5072	5087 301a 4F96 adiw r24,31
		5073	5088 301c 00C0 rjmp .L415
		5074	5089 .L533:
		5075	5090 301e B094 com r11
		5076	5091 3020 A194 neg r10
		5077	5092 3022 B108 sbc r11,__zero_reg__
		5078	5093 3024 B394 inc r11
		5079	5094 3026 00C0 rjmp .L407
		5080	5095 .L532:
		5081	5096 3028 1095 com r17
		5082	5097 302a 0195 neg r16
		5083	5098 302c 1F4F sbci r17,lo8(-1)
		5084	5099 302e 00C0 rjmp .L406
		5085	5100 .L535:
		5086	5101 3030 3095 com r19
		5087	5102 3032 2195 neg r18
		5088	5103 3034 3F4F sbci r19,lo8(-1)
		5089	5104 3036 00C0 rjmp .L412
		5090	5105 .L359:
		5091	5106 3038 1092 0000 sts (StickYaw)+1,__zero_reg__
		5092	5107 303c 1092 0000 sts StickYaw,__zero_reg__
		5093	5108 3040 00C0 rjmp .L357
		5094	5109 .L507:
		5095	5110 3042 1092 0000 sts (Poti8)+1,__zero_reg__
		5096	5111 3046 1092 0000 sts Poti8,__zero_reg__
		5097	5112 304a 0C94 0000 jmp .L325
		5098	5113 .L500:
		5099	5114 304e 1092 0000 sts (Poti1)+1,__zero_reg__
		5100	5115 3052 1092 0000 sts Poti1,__zero_reg__
		5101	5116 3056 0C94 0000 jmp .L311
		5102	5117 .L506:
		5103	5118 305a 1092 0000 sts (Poti7)+1,__zero_reg__
		5104	5119 305e 1092 0000 sts Poti7,__zero_reg__
		5105	5120 3062 0C94 0000 jmp .L323
		5106	5121 .L505:
		5107	5122 3066 1092 0000 sts (Poti6)+1,__zero_reg__
		5108	5123 306a 1092 0000 sts Poti6,__zero_reg__
		5109	5124 306e 0C94 0000 jmp .L321
		5110	5125 .L504:
		5111	5126 3072 1092 0000 sts (Poti5)+1,__zero_reg__
		5112	5127 3076 1092 0000 sts Poti5,__zero_reg__
		5113	5128 307a 0C94 0000 jmp .L319
		5114	5129 .L503:
		5115	5130 307e 1092 0000 sts (Poti4)+1,__zero_reg__
		5116	5131 3082 1092 0000 sts Poti4,__zero_reg__
		5117	5132 3086 0C94 0000 jmp .L317
		5118	5133 .L502:
		5119	5134 308a 1092 0000 sts (Poti3)+1,__zero_reg__
		5120	5135 308e 1092 0000 sts Poti3,__zero_reg__
		5121	5136 3092 0C94 0000 jmp .L315
		5122	5137 .L501:
		5123	5138 3096 1092 0000 sts (Poti2)+1,__zero_reg__
		5124	5139 309a 1092 0000 sts Poti2,__zero_reg__
		5125	5140 309e 0C94 0000 jmp .L313
		5126	5141 .L419:
		5127	5142 30a2 4427 clr r20
		5128	5143 30a4 5527 clr r21
		5129	5144 30a6 481B sub r20,r24
		5130	5145 30a8 590B sbc r21,r25
		5131	5146 30aa 6417 cp r22,r20
		5132	5147 30ac 7507 cpc r23,r21
		5133	5148 30ae 04F0 brlt .+2
		5134	5149 30b0 00C0 rjmp .L420
		5135	5150 30b2 BA01 movw r22,r20
		5136	5151 30b4 00C0 rjmp .L420
		5137	5152 .L539:
		5138	5153 30b6 3095 com r19
		5139	5154 30b8 2195 neg r18
		5140	5155 30ba 3F4F sbci r19,lo8(-1)
		5141	5156 30bc 00C0 rjmp .L366
		5142	5157 .L518:
		5143	5158 30be 3095 com r19
		5144	5159 30c0 2195 neg r18
		5145	5160 30c2 3F4F sbci r19,lo8(-1)
		5146	5161 30c4 00C0 rjmp .L371
		5147	5162 .L354:
		5148	5163 30c6 1092 0000 sts (delay_stopmotors.1984)+1,__zero_reg__
		5149	5164 30ca 1092 0000 sts delay_stopmotors.1984,__zero_reg__
		5150	5165 30ce 0C94 0000 jmp .L290
		5151	5166 .L327:
		5152	5167 30d2 8081 ld r24,Z
		5153	5168 30d4 9181 ldd r25,Z+1
		5154	5169 30d6 855B subi r24,lo8(-75)
		5155	5170 30d8 9F4F sbci r25,hi8(-75)
		5156	5171 30da 04F4 brge .L344
		5157	5172 30dc 8091 0000 lds r24,delay_neutral.1982
		5158	5173 30e0 8F5F subi r24,lo8(-(1))
		5159	5174 30e2 8093 0000 sts delay_neutral.1982,r24
		5160	5175 30e6 893C cpi r24,lo8(-55)
		5161	5176 30e8 00F4 brsh .+4
		5162	5177 30ea 0C94 0000 jmp .L326
		5163	5178 30ee 1092 0000 sts delay_neutral.1982,__zero_reg__
		5164	5179 30f2 3BE0 ldi r19,lo8(11)
		5165	5180 30f4 3D15 cp r19,r13
		5166	5181 30f6 00F4 brsh .+2
		5167	5182 30f8 00C0 rjmp .L346
		5168	5183 30fa 2998 cbi 37-0x20,1
		5169	5184 .L347:
		5170	5185 30fc 1092 0000 sts (ModelIsFlying)+1,__zero_reg__
		5171	5186 3100 1092 0000 sts ModelIsFlying,__zero_reg__
		5172	5187 3104 0C94 0000 jmp .L476
		5173	5188 .L508:
		5174	5189 3108 0196 adiw r24,1
		5175	5190 310a 9093 0000 sts (delay_startmotors.1983)+1,r25
		5176	5191 310e 8093 0000 sts delay_startmotors.1983,r24
		5177	5192 3112 00C0 rjmp .L350
		5178	5193 .L499:
		5179	5194 3114 81E0 ldi r24,lo8(1)
		5180	5195 3116 90E0 ldi r25,hi8(1)
		5181	5196 3118 9093 0000 sts (UpdateCompassCourse.1986)+1,r25
		5182	5197 311c 8093 0000 sts UpdateCompassCourse.1986,r24
		5183	5198 3120 1092 0000 sts ReadingIntegralGyroYaw,__zero_reg__
		5184	5199 3124 1092 0000 sts (ReadingIntegralGyroYaw)+1,__zero_reg__
		5185	5200 3128 1092 0000 sts (ReadingIntegralGyroYaw)+2,__zero_reg__
		5186	5201 312c 1092 0000 sts (ReadingIntegralGyroYaw)+3,__zero_reg__
		5187	5202 3130 1092 0000 sts SetPointYaw.1980,__zero_reg__
		5188	5203 3134 1092 0000 sts (SetPointYaw.1980)+1,__zero_reg__
		5189	5204 3138 1092 0000 sts (SetPointYaw.1980)+2,__zero_reg__
		5190	5205 313c 1092 0000 sts (SetPointYaw.1980)+3,__zero_reg__
		5191	5206 3140 0C94 0000 jmp .L293
		5192	5207 .L538:
		5193	5208 3144 E7E0 ldi r30,lo8(7)
		5194	5209 3146 F0E0 ldi r31,hi8(7)
		5195	5210 3148 AE0E add r10,r30
		5196	5211 314a BF1E adc r11,r31
		5197	5212 314c 00C0 rjmp .L418
		5198	5213 .L344:
		5199	5214 314e 1092 0000 sts delay_neutral.1982,__zero_reg__
		5200	5215 3152 0C94 0000 jmp .L326
		5201	5216 .L352:
		5202	5217 3156 7901 movw r14,r18
		5203	5218 3158 0027 clr r16
		5204	5219 315a F7FC sbrc r15,7
		5205	5220 315c 0095 com r16
		5206	5221 315e 102F mov r17,r16
		5207	5222 3160 CB01 movw r24,r22
		5208	5223 3162 BA01 movw r22,r20
		5209	5224 3164 A801 movw r20,r16
		5210	5225 3166 9701 movw r18,r14
		5211	5226 3168 0E94 0000 call __divmodsi4
		5212	5227 316c 2093 0000 sts savedVibrationOffsetNick,r18
		5213	5228 3170 3093 0000 sts savedVibrationOffsetNick+1,r19
		5214	5229 3174 4093 0000 sts savedVibrationOffsetNick+2,r20
		5215	5230 3178 5093 0000 sts savedVibrationOffsetNick+3,r21
		5216	5231 317c 2093 0000 sts vibrationOffsetNick,r18
		5217	5232 3180 3093 0000 sts vibrationOffsetNick+1,r19
		5218	5233 3184 4093 0000 sts vibrationOffsetNick+2,r20
		5219	5234 3188 5093 0000 sts vibrationOffsetNick+3,r21
		5220	5235 318c C601 movw r24,r12
		5221	5236 318e B501 movw r22,r10
		5222	5237 3190 A801 movw r20,r16
		5223	5238 3192 9701 movw r18,r14
		5224	5239 3194 0E94 0000 call __divmodsi4
		5225	5240 3198 2093 0000 sts savedVibrationOffsetRoll,r18
		5226	5241 319c 3093 0000 sts savedVibrationOffsetRoll+1,r19
		5227	5242 31a0 4093 0000 sts savedVibrationOffsetRoll+2,r20
		5228	5243 31a4 5093 0000 sts savedVibrationOffsetRoll+3,r21
		5229	5244 31a8 2093 0000 sts vibrationOffsetRoll,r18
		5230	5245 31ac 3093 0000 sts vibrationOffsetRoll+1,r19
		5231	5246 31b0 4093 0000 sts vibrationOffsetRoll+2,r20
		5232	5247 31b4 5093 0000 sts vibrationOffsetRoll+3,r21
		5233	5248 31b8 C401 movw r24,r8
		5234	5249 31ba B301 movw r22,r6
		5235	5250 31bc A801 movw r20,r16
		5236	5251 31be 9701 movw r18,r14
		5237	5252 31c0 0E94 0000 call __divmodsi4
		5238	5253 31c4 2093 0000 sts vibrationOffsetYaw,r18
		5239	5254 31c8 3093 0000 sts (vibrationOffsetYaw)+1,r19
		5240	5255 31cc 4093 0000 sts (vibrationOffsetYaw)+2,r20
		5241	5256 31d0 5093 0000 sts (vibrationOffsetYaw)+3,r21
		5242	5257 31d4 0C94 0000 jmp .L353
		5243	5258 .L509:
		5244	5259 31d8 89EC ldi r24,lo8(201)
		5245	5260 31da 90E0 ldi r25,hi8(201)
		5246	5261 31dc 9093 0000 sts (delay_startmotors.1983)+1,r25
		5247	5262 31e0 8093 0000 sts delay_startmotors.1983,r24
		5248	5263 31e4 81E0 ldi r24,lo8(1)
		5249	5264 31e6 90E0 ldi r25,hi8(1)
		5250	5265 31e8 9093 0000 sts (ModelIsFlying)+1,r25
		5251	5266 31ec 8093 0000 sts ModelIsFlying,r24
		5252	5267 31f0 1092 0000 sts (vibrationCalCount.1977)+1,__zero_reg__
		5253	5268 31f4 1092 0000 sts vibrationCalCount.1977,__zero_reg__
		5254	5269 31f8 1092 0000 sts vibrationCalYaw.1976,__zero_reg__
		5255	5270 31fc 1092 0000 sts (vibrationCalYaw.1976)+1,__zero_reg__
		5256	5271 3200 1092 0000 sts (vibrationCalYaw.1976)+2,__zero_reg__
		5257	5272 3204 1092 0000 sts (vibrationCalYaw.1976)+3,__zero_reg__
		5258	5273 3208 1092 0000 sts vibrationCalRoll.1975,__zero_reg__
		5259	5274 320c 1092 0000 sts (vibrationCalRoll.1975)+1,__zero_reg__
		5260	5275 3210 1092 0000 sts (vibrationCalRoll.1975)+2,__zero_reg__
		5261	5276 3214 1092 0000 sts (vibrationCalRoll.1975)+3,__zero_reg__
		5262	5277 3218 1092 0000 sts vibrationCalNick.1974,__zero_reg__
		5263	5278 321c 1092 0000 sts (vibrationCalNick.1974)+1,__zero_reg__
		5264	5279 3220 1092 0000 sts (vibrationCalNick.1974)+2,__zero_reg__
		5265	5280 3224 1092 0000 sts (vibrationCalNick.1974)+3,__zero_reg__
		5266	5281 3228 88EE ldi r24,lo8(1000)
		5267	5282 322a 93E0 ldi r25,hi8(1000)
		5268	5283 322c A0E0 ldi r26,hlo8(1000)
		5269	5284 322e B0E0 ldi r27,hhi8(1000)
		5270	5285 3230 8093 0000 sts savedVibrationOffsetRoll,r24
		5271	5286 3234 9093 0000 sts (savedVibrationOffsetRoll)+1,r25
		5272	5287 3238 A093 0000 sts (savedVibrationOffsetRoll)+2,r26
		5273	5288 323c B093 0000 sts (savedVibrationOffsetRoll)+3,r27
		5274	5289 3240 8093 0000 sts savedVibrationOffsetNick,r24
		5275	5290 3244 9093 0000 sts (savedVibrationOffsetNick)+1,r25
		5276	5291 3248 A093 0000 sts (savedVibrationOffsetNick)+2,r26
		5277	5292 324c B093 0000 sts (savedVibrationOffsetNick)+3,r27
		5278	5293 3250 8091 0000 lds r24,MKFlags
		5279	5294 3254 8960 ori r24,lo8(9)
		5280	5295 3256 8093 0000 sts MKFlags,r24
		5281	5296 325a 00C0 rjmp .L350
		5282	5297 .L329:
		5283	5298 325c 299A sbi 37-0x20,1
		5284	5299 325e 0C94 0000 jmp .L330
		5285	5300 .L336:
		5286	5301 3262 21E0 ldi r18,lo8(1)
		5287	5302 3264 0C94 0000 jmp .L337
		5288	5303 .L331:
		5289	5304 3268 8091 0000 lds r24,ParamSet+1
		5290	5305 326c A82F mov r26,r24
		5291	5306 326e B0E0 ldi r27,lo8(0)
		5292	5307 3270 AA0F lsl r26
		5293	5308 3272 BB1F rol r27
		5294	5309 3274 FD01 movw r30,r26
		5295	5310 3276 E050 subi r30,lo8(-(PPM_in))
		5296	5311 3278 F040 sbci r31,hi8(-(PPM_in))
		5297	5312 327a 0190 ld __tmp_reg__,Z+
		5298	5313 327c F081 ld r31,Z
		5299	5314 327e E02D mov r30,__tmp_reg__
		5300	5315 3280 F7FD sbrc r31,7
		5301	5316 3282 00C0 rjmp .L543
		5302	5317 .L334:
		5303	5318 3284 E734 cpi r30,71
		5304	5319 3286 F105 cpc r31,__zero_reg__
		5305	5320 3288 04F0 brlt .+4
		5306	5321 328a 0C94 0000 jmp .L332
		5307	5322 328e 8091 0000 lds r24,ParamSet+8
		5308	5323 3292 8872 andi r24,lo8(40)
		5309	5324 3294 01F0 breq .L341
		5310	5325 3296 A050 subi r26,lo8(-(PPM_in))
		5311	5326 3298 B040 sbci r27,hi8(-(PPM_in))
		5312	5327 329a 8D91 ld r24,X+
		5313	5328 329c 9C91 ld r25,X
		5314	5329 329e 97FD sbrc r25,7
		5315	5330 32a0 00C0 rjmp .L544
		5316	5331 .L343:
		5317	5332 32a2 4E97 sbiw r24,30
		5318	5333 32a4 04F4 brge .L342
		5319	5334 32a6 4050 subi r20,lo8(-(PPM_in))
		5320	5335 32a8 5040 sbci r21,hi8(-(PPM_in))
		5321	5336 32aa FA01 movw r30,r20
		5322	5337 32ac 8081 ld r24,Z
		5323	5338 32ae 9181 ldd r25,Z+1
		5324	5339 32b0 8A5B subi r24,lo8(-70)
		5325	5340 32b2 9F4F sbci r25,hi8(-70)
		5326	5341 32b4 04F4 brge .L342
		5327	5342 32b6 81E0 ldi r24,lo8(1)
		5328	5343 32b8 8093 0000 sts CompassCalState,r24
		5329	5344 32bc 88EE ldi r24,lo8(1000)
		5330	5345 32be 93E0 ldi r25,hi8(1000)
		5331	5346 32c0 9093 0000 sts (BeepTime)+1,r25
		5332	5347 32c4 8093 0000 sts BeepTime,r24
		5333	5348 32c8 8091 0000 lds r24,ParamSet+2
		5334	5349 32cc A82F mov r26,r24
		5335	5350 32ce B0E0 ldi r27,lo8(0)
		5336	5351 32d0 AA0F lsl r26
		5337	5352 32d2 BB1F rol r27
		5338	5353 32d4 0C94 0000 jmp .L326
		5339	5354 .L346:
		5340	5355 32d8 299A sbi 37-0x20,1
		5341	5356 32da 00C0 rjmp .L347
		5342	5357 .L342:
		5343	5358 32dc 0E94 0000 call GetActiveParamSet
		5344	5359 32e0 0E94 0000 call ParamSet_ReadFromEEProm
		5345	5360 32e4 81E0 ldi r24,lo8(1)
		5346	5361 32e6 0C94 0000 jmp .L477
		5347	5362 .L341:
		5348	5363 32ea 0E94 0000 call GetActiveParamSet
		5349	5364 32ee 0E94 0000 call ParamSet_ReadFromEEProm
		5350	5365 32f2 0C94 0000 jmp .L476
		5351	5366 .L543:
		5352	5367 32f6 F095 com r31
		5353	5368 32f8 E195 neg r30
		5354	5369 32fa FF4F sbci r31,lo8(-1)
		5355	5370 32fc 00C0 rjmp .L334
		5356	5371 .L544:
		5357	5372 32fe 9095 com r25
		5358	5373 3300 8195 neg r24
		5359	5374 3302 9F4F sbci r25,lo8(-1)
		5360	5375 3304 00C0 rjmp .L343
		5361	5377 .global IntegralGyroNick
		5362	5378 .global IntegralGyroNick
		5363	5379 .section .bss
		5364	5382 IntegralGyroNick:
		5365	5383 0000 0000 0000 .skip 4,0
		5366	5384 .global IntegralGyroRoll
		5367	5385 .global IntegralGyroRoll
		5368	5388 IntegralGyroRoll:
		5369	5389 0004 0000 0000 .skip 4,0
		5370	5390 .global IntegralGyroYaw
		5371	5391 .global IntegralGyroYaw
		5372	5394 IntegralGyroYaw:
		5373	5395 0008 0000 0000 .skip 4,0
		5374	5396 .global ReadingIntegralGyroNick
		5375	5397 .global ReadingIntegralGyroNick
		5376	5400 ReadingIntegralGyroNick:
		5377	5401 000c 0000 0000 .skip 4,0
		5378	5402 .global ReadingIntegralGyroRoll
		5379	5403 .global ReadingIntegralGyroRoll
		5380	5406 ReadingIntegralGyroRoll:
		5381	5407 0010 0000 0000 .skip 4,0
		5382	5408 .global ReadingIntegralGyroYaw
		5383	5409 .global ReadingIntegralGyroYaw
		5384	5412 ReadingIntegralGyroYaw:
		5385	5413 0014 0000 0000 .skip 4,0
		5386	5414 .global CompassHeading
		5387	5415 .data
		5388	5418 CompassHeading:
		5389	5419 0000 FFFF .word -1
		5390	5420 .global CompassCourse
		5391	5423 CompassCourse:
		5392	5424 0002 FFFF .word -1
		5393	5425 .global CompassOffCourse
		5394	5426 .global CompassOffCourse
		5395	5427 .section .bss
		5396	5430 CompassOffCourse:
		5397	5431 0018 0000 .skip 2,0
		5398	5432 .global CompassCalState
		5399	5433 .global CompassCalState
		5400	5436 CompassCalState:
		5401	5437 001a 00 .skip 1,0
		5402	5438 .global FunnelCourse
		5403	5439 .global FunnelCourse
		5404	5442 FunnelCourse:
		5405	5443 001b 00 .skip 1,0
		5406	5444 .global BadCompassHeading
		5407	5445 .data
		5408	5448 BadCompassHeading:
		5409	5449 0004 F401 .word 500
		5410	5450 .global NaviAccNick
		5411	5451 .global NaviAccNick
		5412	5452 .section .bss
		5413	5455 NaviAccNick:
		5414	5456 001c 0000 .skip 2,0
		5415	5457 .global NaviAccRoll
		5416	5458 .global NaviAccRoll
		5417	5461 NaviAccRoll:
		5418	5462 001e 0000 .skip 2,0
		5419	5463 .global NaviCntAcc
		5420	5464 .global NaviCntAcc
		5421	5467 NaviCntAcc:
		5422	5468 0020 0000 .skip 2,0
		5423	5469 .global ModelIsFlying
		5424	5470 .global ModelIsFlying
		5425	5473 ModelIsFlying:
		5426	5474 0022 0000 .skip 2,0
		5427	5475 .global MKFlags
		5428	5476 .global MKFlags
		5429	5479 MKFlags:
		5430	5480 0024 00 .skip 1,0
		5431	5481 .global TurnOver180Nick
		5432	5482 .data
		5433	5485 TurnOver180Nick:
		5434	5486 0006 4C .byte 76
		5435	5487 0007 56 .byte 86
		5436	5488 0008 03 .byte 3
		5437	5489 0009 00 .byte 0
		5438	5490 .global TurnOver180Roll
		5439	5493 TurnOver180Roll:
		5440	5494 000a 4C .byte 76
		5441	5495 000b 56 .byte 86
		5442	5496 000c 03 .byte 3
		5443	5497 000d 00 .byte 0
		5444	5498 .global Ki
		5445	5501 Ki:
		5446	5502 000e 3801 .word 312
		5447	5503 .global Poti1
		5448	5504 .global Poti1
		5449	5505 .section .bss
		5450	5508 Poti1:
		5451	5509 0025 0000 .skip 2,0
		5452	5510 .global Poti2
		5453	5511 .global Poti2
		5454	5514 Poti2:
		5455	5515 0027 0000 .skip 2,0
		5456	5516 .global Poti3
		5457	5517 .global Poti3
		5458	5520 Poti3:
		5459	5521 0029 0000 .skip 2,0
		5460	5522 .global Poti4
		5461	5523 .global Poti4
		5462	5526 Poti4:
		5463	5527 002b 0000 .skip 2,0
		5464	5528 .global Poti5
		5465	5529 .global Poti5
		5466	5532 Poti5:
		5467	5533 002d 0000 .skip 2,0
		5468	5534 .global Poti6
		5469	5535 .global Poti6
		5470	5538 Poti6:
		5471	5539 002f 0000 .skip 2,0
		5472	5540 .global Poti7
		5473	5541 .global Poti7
		5474	5544 Poti7:
		5475	5545 0031 0000 .skip 2,0
		5476	5546 .global Poti8
		5477	5547 .global Poti8
		5478	5550 Poti8:
		5479	5551 0033 0000 .skip 2,0
		5480	5552 .global RequiredMotors
		5481	5553 .global RequiredMotors
		5482	5556 RequiredMotors:
		5483	5557 0035 00 .skip 1,0
		5484	5558 .global StickNick
		5485	5559 .global StickNick
		5486	5562 StickNick:
		5487	5563 0036 0000 .skip 2,0
		5488	5564 .global StickRoll
		5489	5565 .global StickRoll
		5490	5568 StickRoll:
		5491	5569 0038 0000 .skip 2,0
		5492	5570 .global StickYaw
		5493	5571 .global StickYaw
		5494	5574 StickYaw:
		5495	5575 003a 0000 .skip 2,0
		5496	5576 .global StickGas
		5497	5577 .global StickGas
		5498	5580 StickGas:
		5499	5581 003c 0000 .skip 2,0
		5500	5582 .global stickOffsetNick
		5501	5583 .global stickOffsetNick
		5502	5586 stickOffsetNick:
		5503	5587 003e 0000 .skip 2,0
		5504	5588 .global stickOffsetRoll
		5505	5589 .global stickOffsetRoll
		5506	5592 stickOffsetRoll:
		5507	5593 0040 0000 .skip 2,0
		5508	5594 .global vibrationOffsetNick
		5509	5595 .global vibrationOffsetNick
		5510	5598 vibrationOffsetNick:
		5511	5599 0042 0000 0000 .skip 4,0
		5512	5600 .global vibrationOffsetRoll
		5513	5601 .global vibrationOffsetRoll
		5514	5604 vibrationOffsetRoll:
		5515	5605 0046 0000 0000 .skip 4,0
		5516	5606 .global vibrationOffsetYaw
		5517	5607 .global vibrationOffsetYaw
		5518	5610 vibrationOffsetYaw:
		5519	5611 004a 0000 0000 .skip 4,0
		5520	5612 .global savedVibrationOffsetNick
		5521	5613 .global savedVibrationOffsetNick
		5522	5616 savedVibrationOffsetNick:
		5523	5617 004e 0000 0000 .skip 4,0
		5524	5618 .global savedVibrationOffsetRoll
		5525	5619 .global savedVibrationOffsetRoll
		5526	5622 savedVibrationOffsetRoll:
		5527	5623 0052 0000 0000 .skip 4,0
		5528	5624 .global GPSStickNick
		5529	5625 .global GPSStickNick
		5530	5628 GPSStickNick:
		5531	5629 0056 0000 .skip 2,0
		5532	5630 .global GPSStickRoll
		5533	5631 .global GPSStickRoll
		5534	5634 GPSStickRoll:
		5535	5635 0058 0000 .skip 2,0
		5536	5636 .global MaxStickNick
		5537	5637 .global MaxStickNick
		5538	5640 MaxStickNick:
		5539	5641 005a 0000 .skip 2,0
		5540	5642 .global MaxStickRoll
		5541	5643 .global MaxStickRoll
		5542	5646 MaxStickRoll:
		5543	5647 005c 0000 .skip 2,0
		5544	5648 .global ExternStickNick
		5545	5649 .global ExternStickNick
		5546	5652 ExternStickNick:
		5547	5653 005e 0000 .skip 2,0
		5548	5654 .global ExternStickRoll
		5549	5655 .global ExternStickRoll
		5550	5658 ExternStickRoll:
		5551	5659 0060 0000 .skip 2,0
		5552	5660 .global ExternStickYaw
		5553	5661 .global ExternStickYaw
		5554	5664 ExternStickYaw:
		5555	5665 0062 0000 .skip 2,0
		5556	5666 .global ExternHeightValue
		5557	5667 .data
		5558	5670 ExternHeightValue:
		5559	5671 0010 ECFF .word -20
		5560	5672 .global ReadingHeight
		5561	5673 .global ReadingHeight
		5562	5674 .section .bss
		5563	5677 ReadingHeight:
		5564	5678 0064 0000 .skip 2,0
		5565	5679 .global SetPointHeight
		5566	5680 .global SetPointHeight
		5567	5683 SetPointHeight:
		5568	5684 0066 0000 .skip 2,0
		5569	5685 .global AttitudeCorrectionRoll
		5570	5686 .global AttitudeCorrectionRoll
		5571	5689 AttitudeCorrectionRoll:
		5572	5690 0068 0000 .skip 2,0
		5573	5691 .global AttitudeCorrectionNick
		5574	5692 .global AttitudeCorrectionNick
		5575	5695 AttitudeCorrectionNick:
		5576	5696 006a 0000 .skip 2,0
		5577	5697 .global LoopingNick
		5578	5698 .global LoopingNick
		5579	5701 LoopingNick:
		5580	5702 006c 00 .skip 1,0
		5581	5703 .global LoopingRoll
		5582	5704 .global LoopingRoll
		5583	5707 LoopingRoll:
		5584	5708 006d 00 .skip 1,0
		5585	5709 .global LoopingLeft
		5586	5710 .global LoopingLeft
		5587	5713 LoopingLeft:
		5588	5714 006e 00 .skip 1,0
		5589	5715 .global LoopingRight
		5590	5716 .global LoopingRight
		5591	5719 LoopingRight:
		5592	5720 006f 00 .skip 1,0
		5593	5721 .global LoopingDown
		5594	5722 .global LoopingDown
		5595	5725 LoopingDown:
		5596	5726 0070 00 .skip 1,0
		5597	5727 .global LoopingTop
		5598	5728 .global LoopingTop
		5599	5731 LoopingTop:
		5600	5732 0071 00 .skip 1,0
		5601	5733 .global FCParam
		5602	5734 .data
		5603	5737 FCParam:
		5604	5738 0012 30 .byte 48
		5605	5739 0013 FB .byte -5
		5606	5740 0014 10 .byte 16
		5607	5741 0015 3A .byte 58
		5608	5742 0016 40 .byte 64
		5609	5743 0017 08 .byte 8
		5610	5744 0018 96 .byte -106
		5611	5745 0019 96 .byte -106
		5612	5746 001a 02 .byte 2
		5613	5747 001b 0A .byte 10
		5614	5748 001c 00 .byte 0
		5615	5749 001d 00 .byte 0
		5616	5750 001e 00 .byte 0
		5617	5751 001f 00 .byte 0
		5618	5752 0020 00 .byte 0
		5619	5753 0021 00 .byte 0
		5620	5754 0022 00 .byte 0
		5621	5755 0023 00 .byte 0
		5622	5756 0024 64 .byte 100
		5623	5757 0025 46 .byte 70
		5624	5758 0026 5A .byte 90
		5625	5759 0027 41 .byte 65
		5626	5760 0028 40 .byte 64
		5627	5761 0029 64 .byte 100
		5628	5762 002a 00 .byte 0
		5629	5763 002b 00 .byte 0
		5630	5764 002c 00 .byte 0
		5631	5765 002d 0000 00 .skip 3,0
		5632	5766 .lcomm stick_roll.1991,2
		5633	5767 .lcomm stick_nick.1990,2
		5634	5768 .lcomm MotorValue.1987,24
		5635	5769 .lcomm UpdateCompassCourse.1986,2
		5636	5770 .lcomm TimerDebugOut.1985,1
		5637	5771 .lcomm delay_stopmotors.1984,2
		5638	5772 .lcomm delay_startmotors.1983,2
		5639	5773 .lcomm delay_neutral.1982,1
		5640	5774 .lcomm RcLostTimer.1981,2
		5641	5775 .lcomm SetPointYaw.1980,4
		5642	5776 .lcomm vibrationCalCount.1977,2
		5643	5777 .lcomm vibrationCalYaw.1976,4
		5644	5778 .lcomm vibrationCalRoll.1975,4
		5645	5779 .lcomm vibrationCalNick.1974,4
		5646	5780 .lcomm IPartRoll.1973,4
		5647	5781 .lcomm IPartNick.1972,4
		5648	5784 stick.1951:
		5649	5785 0030 01 .byte 1
		5650	5786 .comm GyroNick,2,1
		5651	5787 .comm GyroRoll,2,1
		5652	5788 .comm GyroYaw,2,1
		5653	5789 .comm YawGyroHeading,4,1
		5654	5790 .comm GyroPFactor,1,1
		5655	5791 .comm GyroIFactor,1,1
		5656	5792 .comm GyroYawPFactor,1,1
		5657	5793 .comm GyroYawIFactor,1,1
		5658	5794 .comm NickNoisePeak,2,1
		5659	5795 .comm RollNoisePeak,2,1
		5660	5796 .comm debugNickNoisePeak,2,1
		5661	5797 .comm debugRollNoisePeak,2,1
		5662	DEFINED SYMBOLS
		5663	ABS:00000000 fc.c
		5664	/tmp/ccDP7nnW.s:2 ABS:0000003f __SREG__
		5665	/tmp/ccDP7nnW.s:3 ABS:0000003e __SP_H__
		5666	/tmp/ccDP7nnW.s:4 ABS:0000003d __SP_L__
		5667	/tmp/ccDP7nnW.s:5 ABS:00000000 __tmp_reg__
		5668	/tmp/ccDP7nnW.s:6 ABS:00000001 __zero_reg__
		5669	/tmp/ccDP7nnW.s:12 .text:00000000 MotorSmoothing
		5670	/tmp/ccDP7nnW.s:36 .text:00000020 Mean
		5671	/tmp/ccDP7nnW.s:5598 .bss:00000042 vibrationOffsetNick
		5672	COM:00000002 GyroNick
		5673	/tmp/ccDP7nnW.s:5604 .bss:00000046 vibrationOffsetRoll
		5674	COM:00000002 GyroRoll
		5675	COM:00000002 NickNoisePeak
		5676	COM:00000002 RollNoisePeak
		5677	/tmp/ccDP7nnW.s:5610 .bss:0000004a vibrationOffsetYaw
		5678	COM:00000002 GyroYaw
		5679	COM:00000004 YawGyroHeading
		5680	/tmp/ccDP7nnW.s:5412 .bss:00000014 ReadingIntegralGyroYaw
		5681	/tmp/ccDP7nnW.s:5400 .bss:0000000c ReadingIntegralGyroNick
		5682	/tmp/ccDP7nnW.s:5485 .data:00000006 TurnOver180Nick
		5683	/tmp/ccDP7nnW.s:5406 .bss:00000010 ReadingIntegralGyroRoll
		5684	/tmp/ccDP7nnW.s:5493 .data:0000000a TurnOver180Roll
		5685	/tmp/ccDP7nnW.s:5382 .bss:00000000 IntegralGyroNick
		5686	/tmp/ccDP7nnW.s:5388 .bss:00000004 IntegralGyroRoll
		5687	/tmp/ccDP7nnW.s:5394 .bss:00000008 IntegralGyroYaw
		5688	/tmp/ccDP7nnW.s:423 .text:00000414 ParameterMapping
		5689	/tmp/ccDP7nnW.s:5737 .data:00000012 FCParam
		5690	/tmp/ccDP7nnW.s:5526 .bss:0000002b Poti4
		5691	/tmp/ccDP7nnW.s:5501 .data:0000000e Ki
		5692	/tmp/ccDP7nnW.s:5508 .bss:00000025 Poti1
		5693	/tmp/ccDP7nnW.s:5514 .bss:00000027 Poti2
		5694	/tmp/ccDP7nnW.s:5520 .bss:00000029 Poti3
		5695	/tmp/ccDP7nnW.s:1347 .text:00000c54 SendMotorData
		5696	/tmp/ccDP7nnW.s:5479 .bss:00000024 MKFlags
		5697	/tmp/ccDP7nnW.s:1408 .text:00000cd6 SetNeutral
		5698	/tmp/ccDP7nnW.s:5418 .data:00000000 CompassHeading
		5699	/tmp/ccDP7nnW.s:5423 .data:00000002 CompassCourse
		5700	/tmp/ccDP7nnW.s:5628 .bss:00000056 GPSStickNick
		5701	/tmp/ccDP7nnW.s:5634 .bss:00000058 GPSStickRoll
		5702	/tmp/ccDP7nnW.s:5586 .bss:0000003e stickOffsetNick
		5703	/tmp/ccDP7nnW.s:5562 .bss:00000036 StickNick
		5704	/tmp/ccDP7nnW.s:5592 .bss:00000040 stickOffsetRoll
		5705	/tmp/ccDP7nnW.s:5568 .bss:00000038 StickRoll
		5706	/tmp/ccDP7nnW.s:1560 .text:00000e96 Beep
		5707	/tmp/ccDP7nnW.s:1599 .text:00000eda SetCompassCalState
		5708	/tmp/ccDP7nnW.s:5784 .data:00000030 stick.1951
		5709	/tmp/ccDP7nnW.s:5436 .bss:0000001a CompassCalState
		5710	/tmp/ccDP7nnW.s:1646 .text:00000f38 MotorControl
		5711	/tmp/ccDP7nnW.s:5580 .bss:0000003c StickGas
		5712	/tmp/ccDP7nnW.s:5773 .bss:00000096 RcLostTimer.1981
		5713	/tmp/ccDP7nnW.s:5473 .bss:00000022 ModelIsFlying
		5714	/tmp/ccDP7nnW.s:5707 .bss:0000006d LoopingRoll
		5715	/tmp/ccDP7nnW.s:5701 .bss:0000006c LoopingNick
		5716	/tmp/ccDP7nnW.s:5574 .bss:0000003a StickYaw
		5717	COM:00000001 GyroPFactor
		5718	COM:00000001 GyroIFactor
		5719	COM:00000001 GyroYawPFactor
		5720	COM:00000001 GyroYawIFactor
		5721	/tmp/ccDP7nnW.s:5640 .bss:0000005a MaxStickNick
		5722	/tmp/ccDP7nnW.s:5646 .bss:0000005c MaxStickRoll
		5723	/tmp/ccDP7nnW.s:5616 .bss:0000004e savedVibrationOffsetNick
		5724	/tmp/ccDP7nnW.s:5622 .bss:00000052 savedVibrationOffsetRoll
		5725	COM:00000002 debugNickNoisePeak
		5726	COM:00000002 debugRollNoisePeak
		5727	/tmp/ccDP7nnW.s:5448 .data:00000004 BadCompassHeading
		5728	/tmp/ccDP7nnW.s:5774 .bss:00000098 SetPointYaw.1980
		5729	/tmp/ccDP7nnW.s:5769 .bss:00000090 TimerDebugOut.1985
		5730	/tmp/ccDP7nnW.s:5442 .bss:0000001b FunnelCourse
		5731	/tmp/ccDP7nnW.s:5780 .bss:000000ae IPartNick.1972
		5732	/tmp/ccDP7nnW.s:5779 .bss:000000aa IPartRoll.1973
		5733	/tmp/ccDP7nnW.s:5767 .bss:00000076 MotorValue.1987
		5734	/tmp/ccDP7nnW.s:5532 .bss:0000002d Poti5
		5735	/tmp/ccDP7nnW.s:5538 .bss:0000002f Poti6
		5736	/tmp/ccDP7nnW.s:5544 .bss:00000031 Poti7
		5737	/tmp/ccDP7nnW.s:5550 .bss:00000033 Poti8
		5738	/tmp/ccDP7nnW.s:5772 .bss:00000095 delay_neutral.1982
		5739	/tmp/ccDP7nnW.s:5771 .bss:00000093 delay_startmotors.1983
		5740	/tmp/ccDP7nnW.s:5778 .bss:000000a6 vibrationCalNick.1974
		5741	/tmp/ccDP7nnW.s:5777 .bss:000000a2 vibrationCalRoll.1975
		5742	/tmp/ccDP7nnW.s:5776 .bss:0000009e vibrationCalYaw.1976
		5743	/tmp/ccDP7nnW.s:5775 .bss:0000009c vibrationCalCount.1977
		5744	/tmp/ccDP7nnW.s:5766 .bss:00000074 stick_nick.1990
		5745	.bss:00000072 stick_roll.1991
		5746	/tmp/ccDP7nnW.s:5670 .data:00000010 ExternHeightValue
		5747	/tmp/ccDP7nnW.s:5713 .bss:0000006e LoopingLeft
		5748	/tmp/ccDP7nnW.s:5719 .bss:0000006f LoopingRight
		5749	/tmp/ccDP7nnW.s:5731 .bss:00000071 LoopingTop
		5750	/tmp/ccDP7nnW.s:5725 .bss:00000070 LoopingDown
		5751	/tmp/ccDP7nnW.s:5677 .bss:00000064 ReadingHeight
		5752	/tmp/ccDP7nnW.s:5768 .bss:0000008e UpdateCompassCourse.1986
		5753	/tmp/ccDP7nnW.s:5770 .bss:00000091 delay_stopmotors.1984
		5754	/tmp/ccDP7nnW.s:5430 .bss:00000018 CompassOffCourse
		5755	/tmp/ccDP7nnW.s:5455 .bss:0000001c NaviAccNick
		5756	/tmp/ccDP7nnW.s:5461 .bss:0000001e NaviAccRoll
		5757	/tmp/ccDP7nnW.s:5467 .bss:00000020 NaviCntAcc
		5758	/tmp/ccDP7nnW.s:5556 .bss:00000035 RequiredMotors
		5759	/tmp/ccDP7nnW.s:5652 .bss:0000005e ExternStickNick
		5760	/tmp/ccDP7nnW.s:5658 .bss:00000060 ExternStickRoll
		5761	/tmp/ccDP7nnW.s:5664 .bss:00000062 ExternStickYaw
		5762	/tmp/ccDP7nnW.s:5683 .bss:00000066 SetPointHeight
		5763	/tmp/ccDP7nnW.s:5689 .bss:00000068 AttitudeCorrectionRoll
		5764	/tmp/ccDP7nnW.s:5695 .bss:0000006a AttitudeCorrectionNick
		5765
		5766	UNDEFINED SYMBOLS
		5767	__do_copy_data
		5768	__do_clear_bss
		5769	hiResPitchGyro
		5770	__divmodsi4
		5771	filteredHiResPitchGyro
		5772	hiResRollGyro
		5773	filteredHiResRollGyro
		5774	rawYawGyroSum
		5775	ADReady
		5776	RC_Quality
		5777	ParamSet
		5778	__divmodhi4
		5779	MotorTest_Active
		5780	Motor
		5781	MotorTest
		5782	DebugOut
		5783	I2C_Start
		5784	Servo_Off
		5785	analog_calibrate
		5786	BeepTime
		5787	PPM_in
		5788	Servo_On
		5789	Delay_ms
		5790	BoardRelease
		5791	PcAccess
		5792	BeepModulation
		5793	PPM_diff
		5794	NewPpmData
		5795	ADCycleCount
		5796	__mulsi3
		5797	MissingMotor
		5798	Mixer
		5799	SetActiveParamSet
		5800	GetActiveParamSet
		5801	ParamSet_ReadFromEEProm
		5802	ExternControl
		5803	UBat

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/fc.lst @ 1702 - Rev