WebSVN - FlightCtrl - Blame - Rev 2000 - /branches/V0.86d_MartinW

Rev	Author	Line No.	Line
1997	-	1	1 .file "fc.c"
		2	2 .arch atmega1284p
		3	3 __SREG__ = 0x3f
		4	4 __SP_H__ = 0x3e
		5	5 __SP_L__ = 0x3d
		6	6 __tmp_reg__ = 0
		7	7 __zero_reg__ = 1
		8	8 .global __do_copy_data
		9	9 .global __do_clear_bss
		10	10 .global VarioCharacter
		11	11 .data
		12	14 VarioCharacter:
		13	15 0000 20 .byte 32
		14	16 .global GIER_GRAD_FAKTOR
		15	19 GIER_GRAD_FAKTOR:
		16	20 0001 0B05 0000 .long 1291
		17	21 .global FC_StatusFlags2
		18	22 .global FC_StatusFlags2
		19	23 .section .bss
		20	26 FC_StatusFlags2:
		21	27 0000 00 .skip 1,0
		22	28 .global FC_StatusFlags
		23	29 .global FC_StatusFlags
		24	32 FC_StatusFlags:
		25	33 0001 00 .skip 1,0
		26	34 .global modell_fliegt
		27	35 .global modell_fliegt
		28	38 modell_fliegt:
		29	39 0002 0000 .skip 2,0
		30	40 .global MaxStickRoll
		31	41 .global MaxStickRoll
		32	44 MaxStickRoll:
		33	45 0004 0000 .skip 2,0
		34	46 .global MaxStickNick
		35	47 .global MaxStickNick
		36	50 MaxStickNick:
		37	51 0006 0000 .skip 2,0
		38	52 .global ExternHoehenValue
		39	53 .data
		40	56 ExternHoehenValue:
		41	57 0005 ECFF .word -20
		42	58 .global ExternStickGier
		43	59 .global ExternStickGier
		44	60 .section .bss
		45	63 ExternStickGier:
		46	64 0008 0000 .skip 2,0
		47	65 .global ExternStickRoll
		48	66 .global ExternStickRoll
		49	69 ExternStickRoll:
		50	70 000a 0000 .skip 2,0
		51	71 .global ExternStickNick
		52	72 .global ExternStickNick
		53	75 ExternStickNick:
		54	76 000c 0000 .skip 2,0
		55	77 .global sintab
		56	78 .data
		57	81 sintab:
		58	82 0007 00 .byte 0
		59	83 0008 02 .byte 2
		60	84 0009 04 .byte 4
		61	85 000a 06 .byte 6
		62	86 000b 07 .byte 7
		63	87 000c 08 .byte 8
		64	88 000d 08 .byte 8
		65	89 000e 08 .byte 8
		66	90 000f 07 .byte 7
		67	91 0010 06 .byte 6
		68	92 0011 04 .byte 4
		69	93 0012 02 .byte 2
		70	94 0013 00 .byte 0
		71	95 0014 FE .byte -2
		72	96 0015 FC .byte -4
		73	97 0016 FA .byte -6
		74	98 0017 F9 .byte -7
		75	99 0018 F8 .byte -8
		76	100 0019 F8 .byte -8
		77	101 001a F8 .byte -8
		78	102 001b F9 .byte -7
		79	103 001c FA .byte -6
		80	104 001d FC .byte -4
		81	105 001e FE .byte -2
		82	106 001f 00 .byte 0
		83	107 0020 02 .byte 2
		84	108 0021 04 .byte 4
		85	109 0022 06 .byte 6
		86	110 0023 07 .byte 7
		87	111 0024 08 .byte 8
		88	112 0025 08 .byte 8
		89	113 .global CareFree
		90	114 .global CareFree
		91	115 .section .bss
		92	118 CareFree:
		93	119 000e 00 .skip 1,0
		94	120 .global Parameter_DynamicStability
		95	121 .data
		96	124 Parameter_DynamicStability:
		97	125 0026 64 .byte 100
		98	126 .global Parameter_CouplingYawCorrection
		99	129 Parameter_CouplingYawCorrection:
		100	130 0027 40 .byte 64
		101	131 .global Parameter_AchsKopplung2
		102	134 Parameter_AchsKopplung2:
		103	135 0028 41 .byte 65
		104	136 .global Parameter_AchsKopplung1
		105	139 Parameter_AchsKopplung1:
		106	140 0029 5A .byte 90
		107	141 .global Parameter_LoopGasLimit
		108	144 Parameter_LoopGasLimit:
		109	145 002a 46 .byte 70
		110	146 .global Parameter_ServoRollControl
		111	149 Parameter_ServoRollControl:
		112	150 002b 64 .byte 100
		113	151 .global Parameter_ServoNickControl
		114	154 Parameter_ServoNickControl:
		115	155 002c 64 .byte 100
		116	156 .global Parameter_UserParam8
		117	157 .global Parameter_UserParam8
		118	158 .section .bss
		119	161 Parameter_UserParam8:
		120	162 000f 00 .skip 1,0
		121	163 .global Parameter_UserParam7
		122	164 .global Parameter_UserParam7
		123	167 Parameter_UserParam7:
		124	168 0010 00 .skip 1,0
		125	169 .global Parameter_UserParam6
		126	170 .global Parameter_UserParam6
		127	173 Parameter_UserParam6:
		128	174 0011 00 .skip 1,0
		129	175 .global Parameter_UserParam5
		130	176 .global Parameter_UserParam5
		131	179 Parameter_UserParam5:
		132	180 0012 00 .skip 1,0
		133	181 .global Parameter_UserParam4
		134	182 .global Parameter_UserParam4
		135	185 Parameter_UserParam4:
		136	186 0013 00 .skip 1,0
		137	187 .global Parameter_UserParam3
		138	188 .global Parameter_UserParam3
		139	191 Parameter_UserParam3:
		140	192 0014 00 .skip 1,0
		141	193 .global Parameter_UserParam2
		142	194 .global Parameter_UserParam2
		143	197 Parameter_UserParam2:
		144	198 0015 00 .skip 1,0
		145	199 .global Parameter_UserParam1
		146	200 .global Parameter_UserParam1
		147	203 Parameter_UserParam1:
		148	204 0016 00 .skip 1,0
		149	205 .global Parameter_I_Faktor
		150	206 .data
		151	209 Parameter_I_Faktor:
		152	210 002d 0A .byte 10
		153	211 .global Parameter_Gier_P
		154	214 Parameter_Gier_P:
		155	215 002e 02 .byte 2
		156	216 .global Parameter_Gyro_Gier_I
		157	219 Parameter_Gyro_Gier_I:
		158	220 002f 96 .byte -106
		159	221 .global Parameter_Gyro_Gier_P
		160	224 Parameter_Gyro_Gier_P:
		161	225 0030 96 .byte -106
		162	226 .global Parameter_Gyro_I
		163	229 Parameter_Gyro_I:
		164	230 0031 96 .byte -106
		165	231 .global Parameter_Gyro_P
		166	234 Parameter_Gyro_P:
		167	235 0032 96 .byte -106
		168	236 .global Parameter_Gyro_D
		169	239 Parameter_Gyro_D:
		170	240 0033 08 .byte 8
		171	241 .global Parameter_Hoehe_GPS_Z
		172	244 Parameter_Hoehe_GPS_Z:
		173	245 0034 40 .byte 64
		174	246 .global Parameter_KompassWirkung
		175	249 Parameter_KompassWirkung:
		176	250 0035 40 .byte 64
		177	251 .global Parameter_Hoehe_ACC_Wirkung
		178	254 Parameter_Hoehe_ACC_Wirkung:
		179	255 0036 3A .byte 58
		180	256 .global Parameter_Hoehe_P
		181	259 Parameter_Hoehe_P:
		182	260 0037 10 .byte 16
		183	261 .global Parameter_HoehenSchalter
		184	264 Parameter_HoehenSchalter:
		185	265 0038 FB .byte -5
		186	266 .global Parameter_Luftdruck_D
		187	269 Parameter_Luftdruck_D:
		188	270 0039 30 .byte 48
		189	271 .global Looping_Oben
		190	272 .global Looping_Oben
		191	273 .section .bss
		192	276 Looping_Oben:
		193	277 0017 00 .skip 1,0
		194	278 .global Looping_Unten
		195	279 .global Looping_Unten
		196	282 Looping_Unten:
		197	283 0018 00 .skip 1,0
		198	284 .global Looping_Rechts
		199	285 .global Looping_Rechts
		200	288 Looping_Rechts:
		201	289 0019 00 .skip 1,0
		202	290 .global Looping_Links
		203	291 .global Looping_Links
		204	294 Looping_Links:
		205	295 001a 00 .skip 1,0
		206	296 .global Looping_Roll
		207	297 .global Looping_Roll
		208	300 Looping_Roll:
		209	301 001b 00 .skip 1,0
		210	302 .global Looping_Nick
		211	303 .global Looping_Nick
		212	306 Looping_Nick:
		213	307 001c 00 .skip 1,0
		214	308 .global Ki
		215	309 .data
		216	312 Ki:
		217	313 003a 3801 .word 312
		218	314 .global HoverGas
		219	315 .global HoverGas
		220	316 .section .bss
		221	319 HoverGas:
		222	320 001d 0000 .skip 2,0
		223	321 .global LageKorrekturNick
		224	322 .global LageKorrekturNick
		225	325 LageKorrekturNick:
		226	326 001f 0000 .skip 2,0
		227	327 .global LageKorrekturRoll
		228	328 .global LageKorrekturRoll
		229	331 LageKorrekturRoll:
		230	332 0021 0000 .skip 2,0
		231	333 .global CompassGierSetpoint
		232	334 .global CompassGierSetpoint
		233	337 CompassGierSetpoint:
		234	338 0023 0000 .skip 2,0
		235	339 .global WaypointTrimming
		236	340 .global WaypointTrimming
		237	343 WaypointTrimming:
		238	344 0025 00 .skip 1,0
		239	345 .global carefree_old
		240	346 .data
		241	349 carefree_old:
		242	350 003c 32 .byte 50
		243	351 .global FromNC_AltitudeSpeed
		244	352 .global FromNC_AltitudeSpeed
		245	353 .section .bss
		246	356 FromNC_AltitudeSpeed:
		247	357 0026 00 .skip 1,0
		248	358 .global FromNC_AltitudeSetpoint
		249	359 .global FromNC_AltitudeSetpoint
		250	362 FromNC_AltitudeSetpoint:
		251	363 0027 0000 0000 .skip 4,0
		252	364 .global AltitudeSetpointTrimming
		253	365 .global AltitudeSetpointTrimming
		254	368 AltitudeSetpointTrimming:
		255	369 002b 0000 .skip 2,0
		256	370 .global SollHoehe
		257	371 .global SollHoehe
		258	374 SollHoehe:
		259	375 002d 0000 0000 .skip 4,0
		260	376 .global HoehenWert
		261	377 .global HoehenWert
		262	380 HoehenWert:
		263	381 0031 0000 0000 .skip 4,0
		264	382 .global StartTrigger
		265	383 .global StartTrigger
		266	386 StartTrigger:
		267	387 0035 00 .skip 1,0
		268	388 .global MotorenEin
		269	389 .global MotorenEin
		270	392 MotorenEin:
		271	393 0036 00 .skip 1,0
		272	394 .global SenderOkay
		273	395 .global SenderOkay
		274	398 SenderOkay:
		275	399 0037 00 .skip 1,0
		276	400 .global Poti
		277	401 .global Poti
		278	404 Poti:
		279	405 0038 0000 0000 .skip 9,0
		280	405 0000 0000
		281	405 00
		282	406 .global StickGas
		283	407 .global StickGas
		284	410 StickGas:
		285	411 0041 0000 .skip 2,0
		286	412 .global StickGier
		287	413 .global StickGier
		288	416 StickGier:
		289	417 0043 0000 .skip 2,0
		290	418 .global StickRoll
		291	419 .global StickRoll
		292	422 StickRoll:
		293	423 0045 0000 .skip 2,0
		294	424 .global StickNick
		295	425 .global StickNick
		296	428 StickNick:
		297	429 0047 0000 .skip 2,0
		298	430 .global HoverGasMax
		299	431 .data
		300	434 HoverGasMax:
		301	435 003d FF03 .word 1023
		302	436 .global HoverGasMin
		303	437 .global HoverGasMin
		304	438 .section .bss
		305	441 HoverGasMin:
		306	442 0049 0000 .skip 2,0
		307	443 .global StickGasHover
		308	444 .data
		309	447 StickGasHover:
		310	448 003f 7800 .word 120
		311	449 .global GierGyroFehler
		312	450 .global GierGyroFehler
		313	451 .section .bss
		314	454 GierGyroFehler:
		315	455 004b 0000 .skip 2,0
		316	456 .global Umschlag180Roll
		317	457 .data
		318	460 Umschlag180Roll:
		319	461 0041 90D0 0300 .long 250000
		320	462 .global Umschlag180Nick
		321	465 Umschlag180Nick:
		322	466 0045 90D0 0300 .long 250000
		323	467 .global TrichterFlug
		324	468 .global TrichterFlug
		325	469 .section .bss
		326	472 TrichterFlug:
		327	473 004d 00 .skip 1,0
		328	474 .global HoehenReglerAktiv
		329	475 .global HoehenReglerAktiv
		330	478 HoehenReglerAktiv:
		331	479 004e 00 .skip 1,0
		332	480 .global KompassSignalSchlecht
		333	481 .data
		334	484 KompassSignalSchlecht:
		335	485 0049 3200 .word 50
		336	486 .global KompassFusion
		337	489 KompassFusion:
		338	490 004b 20 .byte 32
		339	491 .global CalculateCompassTimer
		340	494 CalculateCompassTimer:
		341	495 004c 64 .byte 100
		342	496 .global KompassSollWert
		343	497 .global KompassSollWert
		344	498 .section .bss
		345	501 KompassSollWert:
		346	502 004f 0000 .skip 2,0
		347	503 .global KompassValue
		348	504 .data
		349	507 KompassValue:
		350	508 004d FFFF .word -1
		351	509 .global Mess_Integral_Hoch
		352	510 .global Mess_Integral_Hoch
		353	511 .section .bss
		354	514 Mess_Integral_Hoch:
		355	515 0051 0000 0000 .skip 4,0
		356	516 .global SummeRoll
		357	517 .global SummeRoll
		358	520 SummeRoll:
		359	521 0055 0000 0000 .skip 4,0
		360	522 .global SummeNick
		361	523 .global SummeNick
		362	526 SummeNick:
		363	527 0059 0000 0000 .skip 4,0
		364	528 .global Mess_Integral_Gier
		365	529 .global Mess_Integral_Gier
		366	532 Mess_Integral_Gier:
		367	533 005d 0000 0000 .skip 4,0
		368	534 .global Mess_IntegralRoll2
		369	535 .global Mess_IntegralRoll2
		370	538 Mess_IntegralRoll2:
		371	539 0061 0000 0000 .skip 4,0
		372	540 .global Mess_IntegralRoll
		373	541 .global Mess_IntegralRoll
		374	544 Mess_IntegralRoll:
		375	545 0065 0000 0000 .skip 4,0
		376	546 .global Mess_IntegralNick2
		377	547 .global Mess_IntegralNick2
		378	550 Mess_IntegralNick2:
		379	551 0069 0000 0000 .skip 4,0
		380	552 .global Mess_IntegralNick
		381	553 .global Mess_IntegralNick
		382	556 Mess_IntegralNick:
		383	557 006d 0000 0000 .skip 4,0
		384	558 .global Integral_Gier
		385	559 .global Integral_Gier
		386	562 Integral_Gier:
		387	563 0071 0000 0000 .skip 4,0
		388	564 .global IntegralAccZ
		389	565 .global IntegralAccZ
		390	568 IntegralAccZ:
		391	569 0075 0000 0000 .skip 4,0
		392	570 .global IntegralAccRoll
		393	571 .global IntegralAccRoll
		394	574 IntegralAccRoll:
		395	575 0079 0000 0000 .skip 4,0
		396	576 .global IntegralAccNick
		397	577 .global IntegralAccNick
		398	580 IntegralAccNick:
		399	581 007d 0000 0000 .skip 4,0
		400	582 .global IntegralRoll2
		401	583 .global IntegralRoll2
		402	586 IntegralRoll2:
		403	587 0081 0000 0000 .skip 4,0
		404	588 .global IntegralRoll
		405	589 .global IntegralRoll
		406	592 IntegralRoll:
		407	593 0085 0000 0000 .skip 4,0
		408	594 .global IntegralNick2
		409	595 .global IntegralNick2
		410	598 IntegralNick2:
		411	599 0089 0000 0000 .skip 4,0
		412	600 .global IntegralNick
		413	601 .global IntegralNick
		414	604 IntegralNick:
		415	605 008d 0000 0000 .skip 4,0
		416	606 .global ControlHeading
		417	607 .global ControlHeading
		418	610 ControlHeading:
		419	611 0091 00 .skip 1,0
		420	612 .global NeutralAccZ
		421	613 .global NeutralAccZ
		422	616 NeutralAccZ:
		423	617 0092 0000 .skip 2,0
		424	618 .global NaviCntAcc
		425	619 .global NaviCntAcc
		426	622 NaviCntAcc:
		427	623 0094 0000 .skip 2,0
		428	624 .global NeutralAccY
		429	625 .global NeutralAccY
		430	628 NeutralAccY:
		431	629 0096 0000 .skip 2,0
		432	630 .global NeutralAccX
		433	631 .global NeutralAccX
		434	634 NeutralAccX:
		435	635 0098 0000 .skip 2,0
		436	636 .global StartNeutralNick
		437	637 .global StartNeutralNick
		438	640 StartNeutralNick:
		439	641 009a 0000 .skip 2,0
		440	642 .global StartNeutralRoll
		441	643 .global StartNeutralRoll
		442	646 StartNeutralRoll:
		443	647 009c 0000 .skip 2,0
		444	648 .global AdNeutralGier
		445	649 .global AdNeutralGier
		446	652 AdNeutralGier:
		447	653 009e 0000 .skip 2,0
		448	654 .global AdNeutralRoll
		449	655 .global AdNeutralRoll
		450	658 AdNeutralRoll:
		451	659 00a0 0000 .skip 2,0
		452	660 .global AdNeutralNick
		453	661 .global AdNeutralNick
		454	664 AdNeutralNick:
		455	665 00a2 0000 .skip 2,0
		456	666 .global BaroExpandActive
		457	667 .global BaroExpandActive
		458	670 BaroExpandActive:
		459	671 00a4 0000 .skip 2,0
		460	672 .global calibration_done
		461	673 .global calibration_done
		462	676 calibration_done:
		463	677 00a6 00 .skip 1,0
		464	678 .global panotrigger
		465	679 .global panotrigger
		466	682 panotrigger:
		467	683 00a7 00 .skip 1,0
		468	684 .global panograd
		469	685 .global panograd
		470	688 panograd:
		471	689 00a8 0000 .skip 2,0
		472	690 .global degreediv
		473	691 .global degreediv
		474	694 degreediv:
		475	695 00aa 0000 .skip 2,0
		476	696 .global degreedivold
		477	697 .global degreedivold
		478	700 degreedivold:
		479	701 00ac 0000 .skip 2,0
		480	702 .global degreeold
		481	703 .global degreeold
		482	706 degreeold:
		483	707 00ae 0000 .skip 2,0
		484	708 .global updatemotors
		485	709 .data
		486	712 updatemotors:
		487	713 004f 02 .byte 2
		488	714 .global pos4
		489	715 .global pos4
		490	716 .section .bss
		491	719 pos4:
		492	720 00b0 00 .skip 1,0
		493	721 .global CurrentOffset
		494	722 .global CurrentOffset
		495	725 CurrentOffset:
		496	726 00b1 0000 .skip 2,0
		497	727 .global keynumber
		498	728 .data
		499	731 keynumber:
		500	732 0050 F9FF .word -7
		501	733 .global settingdest
		502	736 settingdest:
		503	737 0052 05 .byte 5
		504	738 .text
		505	739 .global CopyDebugValues
		506	741 CopyDebugValues:
		507	742 /* prologue: frame size=0 */
		508	743 0000 EF92 push r14
		509	744 0002 FF92 push r15
		510	745 0004 0F93 push r16
		511	746 0006 1F93 push r17
		512	747 /* prologue end (size=4) */
		513	748 0008 8091 0000 lds r24,EE_Parameter+28
		514	749 000c 9927 clr r25
		515	750 000e 880F lsl r24
		516	751 0010 991F rol r25
		517	752 0012 880F lsl r24
		518	753 0014 991F rol r25
		519	754 0016 7C01 movw r14,r24
		520	755 0018 0027 clr r16
		521	756 001a F7FC sbrc r15,7
		522	757 001c 0095 com r16
		523	758 001e 102F mov r17,r16
		524	759 0020 8091 0000 lds r24,IntegralNick
		525	760 0024 9091 0000 lds r25,(IntegralNick)+1
		526	761 0028 A091 0000 lds r26,(IntegralNick)+2
		527	762 002c B091 0000 lds r27,(IntegralNick)+3
		528	763 0030 BC01 movw r22,r24
		529	764 0032 CD01 movw r24,r26
		530	765 0034 A801 movw r20,r16
		531	766 0036 9701 movw r18,r14
		532	767 0038 0E94 0000 call __divmodsi4
		533	768 003c 3093 0000 sts (DebugOut+2)+1,r19
		534	769 0040 2093 0000 sts DebugOut+2,r18
		535	770 0044 8091 0000 lds r24,IntegralRoll
		536	771 0048 9091 0000 lds r25,(IntegralRoll)+1
		537	772 004c A091 0000 lds r26,(IntegralRoll)+2
		538	773 0050 B091 0000 lds r27,(IntegralRoll)+3
		539	774 0054 BC01 movw r22,r24
		540	775 0056 CD01 movw r24,r26
		541	776 0058 A801 movw r20,r16
		542	777 005a 9701 movw r18,r14
		543	778 005c 0E94 0000 call __divmodsi4
		544	779 0060 3093 0000 sts (DebugOut+4)+1,r19
		545	780 0064 2093 0000 sts DebugOut+4,r18
		546	781 0068 8091 0000 lds r24,Mittelwert_AccNick
		547	782 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1
		548	783 0070 97FD sbrc r25,7
		549	784 0072 0396 adiw r24,3
		550	785 .L2:
		551	786 0074 9595 asr r25
		552	787 0076 8795 ror r24
		553	788 0078 9595 asr r25
		554	789 007a 8795 ror r24
		555	790 007c 9093 0000 sts (DebugOut+6)+1,r25
		556	791 0080 8093 0000 sts DebugOut+6,r24
		557	792 0084 8091 0000 lds r24,Mittelwert_AccRoll
		558	793 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		559	794 008c 97FD sbrc r25,7
		560	795 008e 0396 adiw r24,3
		561	796 .L3:
		562	797 0090 9595 asr r25
		563	798 0092 8795 ror r24
		564	799 0094 9595 asr r25
		565	800 0096 8795 ror r24
		566	801 0098 9093 0000 sts (DebugOut+8)+1,r25
		567	802 009c 8093 0000 sts DebugOut+8,r24
		568	803 00a0 8091 0000 lds r24,AdNeutralGier
		569	804 00a4 9091 0000 lds r25,(AdNeutralGier)+1
		570	805 00a8 2091 0000 lds r18,AdWertGier
		571	806 00ac 3091 0000 lds r19,(AdWertGier)+1
		572	807 00b0 821B sub r24,r18
		573	808 00b2 930B sbc r25,r19
		574	809 00b4 9093 0000 sts (DebugOut+10)+1,r25
		575	810 00b8 8093 0000 sts DebugOut+10,r24
		576	811 00bc 8091 0000 lds r24,HoehenWert
		577	812 00c0 9091 0000 lds r25,(HoehenWert)+1
		578	813 00c4 A091 0000 lds r26,(HoehenWert)+2
		579	814 00c8 B091 0000 lds r27,(HoehenWert)+3
		580	815 00cc BC01 movw r22,r24
		581	816 00ce CD01 movw r24,r26
		582	817 00d0 25E0 ldi r18,lo8(5)
		583	818 00d2 30E0 ldi r19,hi8(5)
		584	819 00d4 40E0 ldi r20,hlo8(5)
		585	820 00d6 50E0 ldi r21,hhi8(5)
		586	821 00d8 0E94 0000 call __divmodsi4
		587	822 00dc 3093 0000 sts (DebugOut+12)+1,r19
		588	823 00e0 2093 0000 sts DebugOut+12,r18
		589	824 00e4 8091 0000 lds r24,AdWertAccHoch
		590	825 00e8 9091 0000 lds r25,(AdWertAccHoch)+1
		591	826 00ec 9093 0000 sts (DebugOut+14)+1,r25
		592	827 00f0 8093 0000 sts DebugOut+14,r24
		593	828 00f4 8091 0000 lds r24,KompassValue
		594	829 00f8 9091 0000 lds r25,(KompassValue)+1
		595	830 00fc 9093 0000 sts (DebugOut+18)+1,r25
		596	831 0100 8093 0000 sts DebugOut+18,r24
		597	832 0104 8091 0000 lds r24,UBat
		598	833 0108 9091 0000 lds r25,(UBat)+1
		599	834 010c 9093 0000 sts (DebugOut+20)+1,r25
		600	835 0110 8093 0000 sts DebugOut+20,r24
		601	836 0114 8091 0000 lds r24,SenderOkay
		602	837 0118 9927 clr r25
		603	838 011a 9093 0000 sts (DebugOut+22)+1,r25
		604	839 011e 8093 0000 sts DebugOut+22,r24
		605	840 0122 8091 0000 lds r24,ErsatzKompassInGrad
		606	841 0126 9091 0000 lds r25,(ErsatzKompassInGrad)+1
		607	842 012a 9093 0000 sts (DebugOut+24)+1,r25
		608	843 012e 8093 0000 sts DebugOut+24,r24
		609	844 0132 8091 0000 lds r24,Motor+1
		610	845 0136 9927 clr r25
		611	846 0138 9093 0000 sts (DebugOut+26)+1,r25
		612	847 013c 8093 0000 sts DebugOut+26,r24
		613	848 0140 8091 0000 lds r24,Motor+9
		614	849 0144 9927 clr r25
		615	850 0146 9093 0000 sts (DebugOut+28)+1,r25
		616	851 014a 8093 0000 sts DebugOut+28,r24
		617	852 014e 8091 0000 lds r24,Motor+17
		618	853 0152 9927 clr r25
		619	854 0154 9093 0000 sts (DebugOut+30)+1,r25
		620	855 0158 8093 0000 sts DebugOut+30,r24
		621	856 015c 8091 0000 lds r24,Motor+25
		622	857 0160 9927 clr r25
		623	858 0162 9093 0000 sts (DebugOut+32)+1,r25
		624	859 0166 8093 0000 sts DebugOut+32,r24
		625	860 016a 8091 0000 lds r24,Motor+33
		626	861 016e 9927 clr r25
		627	862 0170 9093 0000 sts (DebugOut+34)+1,r25
		628	863 0174 8093 0000 sts DebugOut+34,r24
		629	864 0178 8091 0000 lds r24,Motor+41
		630	865 017c 9927 clr r25
		631	866 017e 9093 0000 sts (DebugOut+36)+1,r25
		632	867 0182 8093 0000 sts DebugOut+36,r24
		633	868 0186 8091 0000 lds r24,FromNC_AltitudeSpeed
		634	869 018a 9927 clr r25
		635	870 018c 9093 0000 sts (DebugOut+38)+1,r25
		636	871 0190 8093 0000 sts DebugOut+38,r24
		637	872 0194 8091 0000 lds r24,Motor+49
		638	873 0198 9927 clr r25
		639	874 019a 9093 0000 sts (DebugOut+52)+1,r25
		640	875 019e 8093 0000 sts DebugOut+52,r24
		641	876 01a2 8091 0000 lds r24,Motor+57
		642	877 01a6 9927 clr r25
		643	878 01a8 9093 0000 sts (DebugOut+54)+1,r25
		644	879 01ac 8093 0000 sts DebugOut+54,r24
		645	880 01b0 8091 0000 lds r24,ServoNickValue
		646	881 01b4 9091 0000 lds r25,(ServoNickValue)+1
		647	882 01b8 9093 0000 sts (DebugOut+42)+1,r25
		648	883 01bc 8093 0000 sts DebugOut+42,r24
		649	884 01c0 8091 0000 lds r24,Capacity
		650	885 01c4 9091 0000 lds r25,(Capacity)+1
		651	886 01c8 9093 0000 sts (DebugOut+46)+1,r25
		652	887 01cc 8093 0000 sts DebugOut+46,r24
		653	888 01d0 8091 0000 lds r24,Capacity+6
		654	889 01d4 9091 0000 lds r25,(Capacity+6)+1
		655	890 01d8 9093 0000 sts (DebugOut+48)+1,r25
		656	891 01dc 8093 0000 sts DebugOut+48,r24
		657	892 01e0 8091 0000 lds r24,SollHoehe
		658	893 01e4 9091 0000 lds r25,(SollHoehe)+1
		659	894 01e8 A091 0000 lds r26,(SollHoehe)+2
		660	895 01ec B091 0000 lds r27,(SollHoehe)+3
		661	896 01f0 BC01 movw r22,r24
		662	897 01f2 CD01 movw r24,r26
		663	898 01f4 25E0 ldi r18,lo8(5)
		664	899 01f6 30E0 ldi r19,hi8(5)
		665	900 01f8 40E0 ldi r20,hlo8(5)
		666	901 01fa 50E0 ldi r21,hhi8(5)
		667	902 01fc 0E94 0000 call __divmodsi4
		668	903 0200 3093 0000 sts (DebugOut+50)+1,r19
		669	904 0204 2093 0000 sts DebugOut+50,r18
		670	905 0208 8091 0000 lds r24,KompassSollWert
		671	906 020c 9091 0000 lds r25,(KompassSollWert)+1
		672	907 0210 9093 0000 sts (DebugOut+56)+1,r25
		673	908 0214 8093 0000 sts DebugOut+56,r24
		674	909 0218 8091 0000 lds r24,Capacity+8
		675	910 021c 9927 clr r25
		676	911 021e 9093 0000 sts (DebugOut+60)+1,r25
		677	912 0222 8093 0000 sts DebugOut+60,r24
		678	913 0226 8091 0000 lds r24,GPS_Nick
		679	914 022a 9091 0000 lds r25,(GPS_Nick)+1
		680	915 022e 9093 0000 sts (DebugOut+62)+1,r25
		681	916 0232 8093 0000 sts DebugOut+62,r24
		682	917 0236 8091 0000 lds r24,GPS_Roll
		683	918 023a 9091 0000 lds r25,(GPS_Roll)+1
		684	919 023e 9093 0000 sts (DebugOut+64)+1,r25
		685	920 0242 8093 0000 sts DebugOut+64,r24
		686	921 0246 8091 0000 lds r24,VersionInfo+5
		687	922 024a 8823 tst r24
		688	923 024c 01F4 brne .L5
		689	924 024e 8091 0000 lds r24,VersionInfo+6
		690	925 0252 8823 tst r24
		691	926 0254 01F0 breq .L4
		692	927 .L5:
		693	928 0256 8091 0000 lds r24,DebugOut+1
		694	929 025a 8160 ori r24,lo8(1)
		695	930 025c 00C0 rjmp .L7
		696	931 .L4:
		697	932 025e 8091 0000 lds r24,DebugOut+1
		698	933 0262 8E7F andi r24,lo8(-2)
		699	934 .L7:
		700	935 0264 8093 0000 sts DebugOut+1,r24
		701	936 /* epilogue: frame size=0 */
		702	937 0268 1F91 pop r17
		703	938 026a 0F91 pop r16
		704	939 026c FF90 pop r15
		705	940 026e EF90 pop r14
		706	941 0270 0895 ret
		707	942 /* epilogue end (size=5) */
		708	943 /* function CopyDebugValues size 315 (306) */
		709	945 .global Piep
		710	947 Piep:
		711	948 /* prologue: frame size=0 */
		712	949 0272 1F93 push r17
		713	950 0274 CF93 push r28
		714	951 0276 DF93 push r29
		715	952 /* prologue end (size=3) */
		716	953 0278 182F mov r17,r24
		717	954 027a EB01 movw r28,r22
		718	955 027c 8091 0000 lds r24,MotorenEin
		719	956 0280 8823 tst r24
		720	957 0282 01F4 brne .L8
		721	958 0284 8091 0000 lds r24,PlatinenVersion
		722	959 0288 8C30 cpi r24,lo8(12)
		723	960 028a 00F4 brsh .L10
		724	961 028c 2998 cbi 37-0x20,1
		725	962 028e 00C0 rjmp .L11
		726	963 .L10:
		727	964 0290 299A sbi 37-0x20,1
		728	965 .L11:
		729	966 0292 1150 subi r17,lo8(-(-1))
		730	967 0294 1F3F cpi r17,lo8(-1)
		731	968 0296 01F0 breq .L21
		732	969 0298 D093 0000 sts (beeptime)+1,r29
		733	970 029c C093 0000 sts beeptime,r28
		734	971 .L14:
		735	972 02a0 8091 0000 lds r24,beeptime
		736	973 02a4 9091 0000 lds r25,(beeptime)+1
		737	974 02a8 892B or r24,r25
		738	975 02aa 01F4 brne .L14
		739	976 02ac CE01 movw r24,r28
		740	977 02ae 8C0F add r24,r28
		741	978 02b0 9D1F adc r25,r29
		742	979 02b2 0E94 0000 call Delay_ms
		743	980 02b6 00C0 rjmp .L11
		744	981 .L21:
		745	982 02b8 8091 0000 lds r24,PlatinenVersion
		746	983 02bc 8C30 cpi r24,lo8(12)
		747	984 02be 00F4 brsh .L18
		748	985 02c0 299A sbi 37-0x20,1
		749	986 02c2 00C0 rjmp .L8
		750	987 .L18:
		751	988 02c4 2998 cbi 37-0x20,1
		752	989 .L8:
		753	990 /* epilogue: frame size=0 */
		754	991 02c6 DF91 pop r29
		755	992 02c8 CF91 pop r28
		756	993 02ca 1F91 pop r17
		757	994 02cc 0895 ret
		758	995 /* epilogue end (size=4) */
		759	996 /* function Piep size 46 (39) */
		760	998 .global CalibrierMittelwert
		761	1000 CalibrierMittelwert:
		762	1001 /* prologue: frame size=0 */
		763	1002 02ce CF93 push r28
		764	1003 02d0 DF93 push r29
		765	1004 /* prologue end (size=2) */
		766	1005 02d2 8091 0000 lds r24,PlatinenVersion
		767	1006 02d6 8D30 cpi r24,lo8(13)
		768	1007 02d8 01F4 brne .L23
		769	1008 02da 0E94 0000 call SucheGyroOffset
		770	1009 .L23:
		771	1010 02de 1092 7A00 sts 122,__zero_reg__
		772	1011 02e2 8091 0000 lds r24,AdWertNick
		773	1012 02e6 9091 0000 lds r25,(AdWertNick)+1
		774	1013 02ea 9093 0000 sts (MesswertNick)+1,r25
		775	1014 02ee 8093 0000 sts MesswertNick,r24
		776	1015 02f2 8091 0000 lds r24,AdWertRoll
		777	1016 02f6 9091 0000 lds r25,(AdWertRoll)+1
		778	1017 02fa 9093 0000 sts (MesswertRoll)+1,r25
		779	1018 02fe 8093 0000 sts MesswertRoll,r24
		780	1019 0302 8091 0000 lds r24,AdWertGier
		781	1020 0306 9091 0000 lds r25,(AdWertGier)+1
		782	1021 030a 9093 0000 sts (MesswertGier)+1,r25
		783	1022 030e 8093 0000 sts MesswertGier,r24
		784	1023 0312 2091 0000 lds r18,AdWertAccNick
		785	1024 0316 3091 0000 lds r19,(AdWertAccNick)+1
		786	1025 031a C901 movw r24,r18
		787	1026 031c 880F lsl r24
		788	1027 031e 991F rol r25
		789	1028 0320 880F lsl r24
		790	1029 0322 991F rol r25
		791	1030 0324 820F add r24,r18
		792	1031 0326 931F adc r25,r19
		793	1032 0328 820F add r24,r18
		794	1033 032a 931F adc r25,r19
		795	1034 032c 9093 0000 sts (Mittelwert_AccNick)+1,r25
		796	1035 0330 8093 0000 sts Mittelwert_AccNick,r24
		797	1036 0334 2091 0000 lds r18,AdWertAccRoll
		798	1037 0338 3091 0000 lds r19,(AdWertAccRoll)+1
		799	1038 033c C901 movw r24,r18
		800	1039 033e 880F lsl r24
		801	1040 0340 991F rol r25
		802	1041 0342 880F lsl r24
		803	1042 0344 991F rol r25
		804	1043 0346 820F add r24,r18
		805	1044 0348 931F adc r25,r19
		806	1045 034a 820F add r24,r18
		807	1046 034c 931F adc r25,r19
		808	1047 034e 9093 0000 sts (Mittelwert_AccRoll)+1,r25
		809	1048 0352 8093 0000 sts Mittelwert_AccRoll,r24
		810	1049 0356 8FEC ldi r24,lo8(-49)
		811	1050 0358 8093 7A00 sts 122,r24
		812	1051 035c A0E0 ldi r26,lo8(Poti)
		813	1052 035e B0E0 ldi r27,hi8(Poti)
		814	1053 0360 C0E0 ldi r28,lo8(EE_Parameter+5)
		815	1054 0362 D0E0 ldi r29,hi8(EE_Parameter+5)
		816	1055 0364 97E0 ldi r25,lo8(7)
		817	1056 .L33:
		818	1057 0366 8991 ld r24,Y+
		819	1058 0368 E82F mov r30,r24
		820	1059 036a FF27 clr r31
		821	1060 036c EE0F add r30,r30
		822	1061 036e FF1F adc r31,r31
		823	1062 0370 E050 subi r30,lo8(-(PPM_in))
		824	1063 0372 F040 sbci r31,hi8(-(PPM_in))
		825	1064 0374 0190 ld __tmp_reg__,Z+
		826	1065 0376 F081 ld r31,Z
		827	1066 0378 E02D mov r30,__tmp_reg__
		828	1067 037a E158 subi r30,lo8(-(127))
		829	1068 037c FF4F sbci r31,hi8(-(127))
		830	1069 037e 1E16 cp __zero_reg__,r30
		831	1070 0380 1F06 cpc __zero_reg__,r31
		832	1071 0382 04F0 brlt .L27
		833	1072 0384 E0E0 ldi r30,lo8(0)
		834	1073 0386 F0E0 ldi r31,hi8(0)
		835	1074 0388 00C0 rjmp .L28
		836	1075 .L27:
		837	1076 038a EF3F cpi r30,255
		838	1077 038c F105 cpc r31,__zero_reg__
		839	1078 038e 04F0 brlt .L28
		840	1079 0390 EFEF ldi r30,lo8(255)
		841	1080 0392 F0E0 ldi r31,hi8(255)
		842	1081 .L28:
		843	1082 0394 8C91 ld r24,X
		844	1083 0396 282F mov r18,r24
		845	1084 0398 3327 clr r19
		846	1085 039a E217 cp r30,r18
		847	1086 039c F307 cpc r31,r19
		848	1087 039e 04F4 brge .L30
		849	1088 03a0 8150 subi r24,lo8(-(-1))
		850	1089 03a2 00C0 rjmp .L36
		851	1090 .L30:
		852	1091 03a4 2E17 cp r18,r30
		853	1092 03a6 3F07 cpc r19,r31
		854	1093 03a8 04F4 brge .L26
		855	1094 03aa 8F5F subi r24,lo8(-(1))
		856	1095 .L36:
		857	1096 03ac 8C93 st X,r24
		858	1097 .L26:
		859	1098 03ae 9150 subi r25,lo8(-(-1))
		860	1099 03b0 1196 adiw r26,1
		861	1100 03b2 97FF sbrs r25,7
		862	1101 03b4 00C0 rjmp .L33
		863	1102 03b6 8091 0000 lds r24,EE_Parameter+65
		864	1103 03ba 9927 clr r25
		865	1104 03bc AA27 clr r26
		866	1105 03be BB27 clr r27
		867	1106 03c0 BC01 movw r22,r24
		868	1107 03c2 CD01 movw r24,r26
		869	1108 03c4 24EC ldi r18,lo8(2500)
		870	1109 03c6 39E0 ldi r19,hi8(2500)
		871	1110 03c8 40E0 ldi r20,hlo8(2500)
		872	1111 03ca 50E0 ldi r21,hhi8(2500)
		873	1112 03cc 0E94 0000 call __mulsi3
		874	1113 03d0 DC01 movw r26,r24
		875	1114 03d2 CB01 movw r24,r22
		876	1115 03d4 8093 0000 sts Umschlag180Nick,r24
		877	1116 03d8 9093 0000 sts (Umschlag180Nick)+1,r25
		878	1117 03dc A093 0000 sts (Umschlag180Nick)+2,r26
		879	1118 03e0 B093 0000 sts (Umschlag180Nick)+3,r27
		880	1119 03e4 8091 0000 lds r24,EE_Parameter+66
		881	1120 03e8 9927 clr r25
		882	1121 03ea AA27 clr r26
		883	1122 03ec BB27 clr r27
		884	1123 03ee BC01 movw r22,r24
		885	1124 03f0 CD01 movw r24,r26
		886	1125 03f2 0E94 0000 call __mulsi3
		887	1126 03f6 DC01 movw r26,r24
		888	1127 03f8 CB01 movw r24,r22
		889	1128 03fa 8093 0000 sts Umschlag180Roll,r24
		890	1129 03fe 9093 0000 sts (Umschlag180Roll)+1,r25
		891	1130 0402 A093 0000 sts (Umschlag180Roll)+2,r26
		892	1131 0406 B093 0000 sts (Umschlag180Roll)+3,r27
		893	1132 /* epilogue: frame size=0 */
		894	1133 040a DF91 pop r29
		895	1134 040c CF91 pop r28
		896	1135 040e 0895 ret
		897	1136 /* epilogue end (size=3) */
		898	1137 /* function CalibrierMittelwert size 161 (156) */
		899	1139 .section .progmem.data,"a",@progbits
		900	1142 __c.36:
		901	1143 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n"
		902	1143 4320 6E6F
		903	1143 7420 6361
		904	1143 6C69 6272
		905	1143 6174 6564
		906	1144 .text
		907	1145 .global SetNeutral
		908	1147 SetNeutral:
		909	1148 /* prologue: frame size=0 */
		910	1149 0410 A0E0 ldi r26,lo8(0)
		911	1150 0412 B0E0 ldi r27,hi8(0)
		912	1151 0414 E0E0 ldi r30,pm_lo8(1f)
		913	1152 0416 F0E0 ldi r31,pm_hi8(1f)
		914	1153 0418 0C94 0000 jmp __prologue_saves__+12
		915	1154 1:
		916	1155 /* prologue end (size=6) */
		917	1156 041c 882E mov r8,r24
		918	1157 041e C0E0 ldi r28,lo8(0)
		919	1158 0420 D0E0 ldi r29,hi8(0)
		920	1159 0422 7E01 movw r14,r28
		921	1160 0424 6E01 movw r12,r28
		922	1161 0426 1092 0000 sts VersionInfo+5,__zero_reg__
		923	1162 042a 469A sbi 40-0x20,6
		924	1163 042c D093 0000 sts (NeutralAccX)+1,r29
		925	1164 0430 C093 0000 sts NeutralAccX,r28
		926	1165 0434 D093 0000 sts (NeutralAccY)+1,r29
		927	1166 0438 C093 0000 sts NeutralAccY,r28
		928	1167 043c D093 0000 sts (NeutralAccZ)+1,r29
		929	1168 0440 C093 0000 sts NeutralAccZ,r28
		930	1169 0444 D093 0000 sts (AdNeutralNick)+1,r29
		931	1170 0448 C093 0000 sts AdNeutralNick,r28
		932	1171 044c D093 0000 sts (AdNeutralRoll)+1,r29
		933	1172 0450 C093 0000 sts AdNeutralRoll,r28
		934	1173 0454 D093 0000 sts (AdNeutralGier)+1,r29
		935	1174 0458 C093 0000 sts AdNeutralGier,r28
		936	1175 045c 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__
		937	1176 0460 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__
		938	1177 0464 1092 0000 sts ExpandBaro,__zero_reg__
		939	1178 0468 0E94 0000 call CalibrierMittelwert
		940	1179 046c 84E6 ldi r24,lo8(100)
		941	1180 046e 90E0 ldi r25,hi8(100)
		942	1181 0470 0E94 0000 call Delay_ms_Mess
		943	1182 0474 0E94 0000 call CalibrierMittelwert
		944	1183 0478 8091 0000 lds r24,EE_Parameter+13
		945	1184 047c 80FF sbrs r24,0
		946	1185 047e 00C0 rjmp .L38
		947	1186 0480 8091 0000 lds r24,MessLuftdruck
		948	1187 0484 9091 0000 lds r25,(MessLuftdruck)+1
		949	1188 0488 875B subi r24,lo8(951)
		950	1189 048a 9340 sbci r25,hi8(951)
		951	1190 048c 00F4 brsh .L40
		952	1191 048e 8091 0000 lds r24,MessLuftdruck
		953	1192 0492 9091 0000 lds r25,(MessLuftdruck)+1
		954	1193 0496 8E5E subi r24,lo8(750)
		955	1194 0498 9240 sbci r25,hi8(750)
		956	1195 049a 00F4 brsh .L38
		957	1196 .L40:
		958	1197 049c 0E94 0000 call SucheLuftruckOffset
		959	1198 .L38:
		960	1199 04a0 0FE1 ldi r16,lo8(31)
		961	1200 .L44:
		962	1201 04a2 8AE0 ldi r24,lo8(10)
		963	1202 04a4 90E0 ldi r25,hi8(10)
		964	1203 04a6 0E94 0000 call Delay_ms_Mess
		965	1204 04aa 8091 0000 lds r24,AdWertGier
		966	1205 04ae 9091 0000 lds r25,(AdWertGier)+1
		967	1206 04b2 C80F add r28,r24
		968	1207 04b4 D91F adc r29,r25
		969	1208 04b6 8091 0000 lds r24,AdWertNick
		970	1209 04ba 9091 0000 lds r25,(AdWertNick)+1
		971	1210 04be E80E add r14,r24
		972	1211 04c0 F91E adc r15,r25
		973	1212 04c2 8091 0000 lds r24,AdWertRoll
		974	1213 04c6 9091 0000 lds r25,(AdWertRoll)+1
		975	1214 04ca C80E add r12,r24
		976	1215 04cc D91E adc r13,r25
		977	1216 04ce 0150 subi r16,lo8(-(-1))
		978	1217 04d0 07FF sbrs r16,7
		979	1218 04d2 00C0 rjmp .L44
		980	1219 04d4 9701 movw r18,r14
		981	1220 04d6 205F subi r18,lo8(-(16))
		982	1221 04d8 3F4F sbci r19,hi8(-(16))
		983	1222 04da 3695 lsr r19
		984	1223 04dc 2795 ror r18
		985	1224 04de 3695 lsr r19
		986	1225 04e0 2795 ror r18
		987	1226 04e2 3093 0000 sts (AdNeutralNick)+1,r19
		988	1227 04e6 2093 0000 sts AdNeutralNick,r18
		989	1228 04ea C601 movw r24,r12
		990	1229 04ec 4096 adiw r24,16
		991	1230 04ee 9695 lsr r25
		992	1231 04f0 8795 ror r24
		993	1232 04f2 9695 lsr r25
		994	1233 04f4 8795 ror r24
		995	1234 04f6 9093 0000 sts (AdNeutralRoll)+1,r25
		996	1235 04fa 8093 0000 sts AdNeutralRoll,r24
		997	1236 04fe 6096 adiw r28,16
		998	1237 0500 F5E0 ldi r31,5
		999	1238 0502 D695 1: lsr r29
		1000	1239 0504 C795 ror r28
		1001	1240 0506 FA95 dec r31
		1002	1241 0508 01F4 brne 1b
		1003	1242 050a D093 0000 sts (AdNeutralGier)+1,r29
		1004	1243 050e C093 0000 sts AdNeutralGier,r28
		1005	1244 0512 9093 0000 sts (StartNeutralRoll)+1,r25
		1006	1245 0516 8093 0000 sts StartNeutralRoll,r24
		1007	1246 051a 3093 0000 sts (StartNeutralNick)+1,r19
		1008	1247 051e 2093 0000 sts StartNeutralNick,r18
		1009	1248 0522 8820 tst r8
		1010	1249 0524 01F4 brne .+2
		1011	1250 0526 00C0 rjmp .L45
		1012	1251 0528 8091 0000 lds r24,Mittelwert_AccNick
		1013	1252 052c 9091 0000 lds r25,(Mittelwert_AccNick)+1
		1014	1253 0530 97FF sbrs r25,7
		1015	1254 0532 00C0 rjmp .L46
		1016	1255 0534 9095 com r25
		1017	1256 0536 8195 neg r24
		1018	1257 0538 9F4F sbci r25,lo8(-1)
		1019	1258 .L46:
		1020	1259 053a 6CE0 ldi r22,lo8(12)
		1021	1260 053c 70E0 ldi r23,hi8(12)
		1022	1261 053e 0E94 0000 call __divmodhi4
		1023	1262 0542 9B01 movw r18,r22
		1024	1263 0544 7093 0000 sts (NeutralAccX)+1,r23
		1025	1264 0548 6093 0000 sts NeutralAccX,r22
		1026	1265 054c 8091 0000 lds r24,Mittelwert_AccRoll
		1027	1266 0550 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		1028	1267 0554 97FF sbrs r25,7
		1029	1268 0556 00C0 rjmp .L47
		1030	1269 0558 9095 com r25
		1031	1270 055a 8195 neg r24
		1032	1271 055c 9F4F sbci r25,lo8(-1)
		1033	1272 .L47:
		1034	1273 055e 6CE0 ldi r22,lo8(12)
		1035	1274 0560 70E0 ldi r23,hi8(12)
		1036	1275 0562 0E94 0000 call __divmodhi4
		1037	1276 0566 7093 0000 sts (NeutralAccY)+1,r23
		1038	1277 056a 6093 0000 sts NeutralAccY,r22
		1039	1278 056e 8091 0000 lds r24,Aktuell_az
		1040	1279 0572 9091 0000 lds r25,(Aktuell_az)+1
		1041	1280 0576 9093 0000 sts (NeutralAccZ)+1,r25
		1042	1281 057a 8093 0000 sts NeutralAccZ,r24
		1043	1282 057e B901 movw r22,r18
		1044	1283 0580 84E0 ldi r24,lo8(4)
		1045	1284 0582 90E0 ldi r25,hi8(4)
		1046	1285 0584 0E94 0000 call SetParamWord
		1047	1286 0588 6091 0000 lds r22,NeutralAccY
		1048	1287 058c 7091 0000 lds r23,(NeutralAccY)+1
		1049	1288 0590 86E0 ldi r24,lo8(6)
		1050	1289 0592 90E0 ldi r25,hi8(6)
		1051	1290 0594 0E94 0000 call SetParamWord
		1052	1291 0598 6091 0000 lds r22,NeutralAccZ
		1053	1292 059c 7091 0000 lds r23,(NeutralAccZ)+1
		1054	1293 05a0 88E0 ldi r24,lo8(8)
		1055	1294 05a2 90E0 ldi r25,hi8(8)
		1056	1295 05a4 0E94 0000 call SetParamWord
		1057	1296 05a8 00C0 rjmp .L48
		1058	1297 .L45:
		1059	1298 05aa 84E0 ldi r24,lo8(4)
		1060	1299 05ac 90E0 ldi r25,hi8(4)
		1061	1300 05ae 0E94 0000 call GetParamWord
		1062	1301 05b2 9093 0000 sts (NeutralAccX)+1,r25
		1063	1302 05b6 8093 0000 sts NeutralAccX,r24
		1064	1303 05ba 86E0 ldi r24,lo8(6)
		1065	1304 05bc 90E0 ldi r25,hi8(6)
		1066	1305 05be 0E94 0000 call GetParamWord
		1067	1306 05c2 9093 0000 sts (NeutralAccY)+1,r25
		1068	1307 05c6 8093 0000 sts NeutralAccY,r24
		1069	1308 05ca 88E0 ldi r24,lo8(8)
		1070	1309 05cc 90E0 ldi r25,hi8(8)
		1071	1310 05ce 0E94 0000 call GetParamWord
		1072	1311 05d2 9C01 movw r18,r24
		1073	1312 05d4 9093 0000 sts (NeutralAccZ)+1,r25
		1074	1313 05d8 8093 0000 sts NeutralAccZ,r24
		1075	1314 05dc 8091 0000 lds r24,NeutralAccX
		1076	1315 05e0 9091 0000 lds r25,(NeutralAccX)+1
		1077	1316 05e4 8150 subi r24,lo8(2049)
		1078	1317 05e6 9840 sbci r25,hi8(2049)
		1079	1318 05e8 00F4 brsh .L50
		1080	1319 05ea 8091 0000 lds r24,NeutralAccY
		1081	1320 05ee 9091 0000 lds r25,(NeutralAccY)+1
		1082	1321 05f2 8150 subi r24,lo8(2049)
		1083	1322 05f4 9840 sbci r25,hi8(2049)
		1084	1323 05f6 00F4 brsh .L50
		1085	1324 05f8 2150 subi r18,lo8(1025)
		1086	1325 05fa 3440 sbci r19,hi8(1025)
		1087	1326 05fc 00F0 brlo .L48
		1088	1327 .L50:
		1089	1328 05fe 80E0 ldi r24,lo8(__c.36)
		1090	1329 0600 90E0 ldi r25,hi8(__c.36)
		1091	1330 0602 9F93 push r25
		1092	1331 0604 8F93 push r24
		1093	1332 0606 80E0 ldi r24,lo8(pm(uart_putchar))
		1094	1333 0608 90E0 ldi r25,hi8(pm(uart_putchar))
		1095	1334 060a 9F93 push r25
		1096	1335 060c 8F93 push r24
		1097	1336 060e E091 0000 lds r30,_printf_P
		1098	1337 0612 F091 0000 lds r31,(_printf_P)+1
		1099	1338 0616 0995 icall
		1100	1339 0618 8091 0000 lds r24,Mittelwert_AccNick
		1101	1340 061c 9091 0000 lds r25,(Mittelwert_AccNick)+1
		1102	1341 0620 97FF sbrs r25,7
		1103	1342 0622 00C0 rjmp .L51
		1104	1343 0624 9095 com r25
		1105	1344 0626 8195 neg r24
		1106	1345 0628 9F4F sbci r25,lo8(-1)
		1107	1346 .L51:
		1108	1347 062a 6CE0 ldi r22,lo8(12)
		1109	1348 062c 70E0 ldi r23,hi8(12)
		1110	1349 062e 0E94 0000 call __divmodhi4
		1111	1350 0632 7093 0000 sts (NeutralAccX)+1,r23
		1112	1351 0636 6093 0000 sts NeutralAccX,r22
		1113	1352 063a 8091 0000 lds r24,Mittelwert_AccRoll
		1114	1353 063e 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		1115	1354 0642 97FF sbrs r25,7
		1116	1355 0644 00C0 rjmp .L52
		1117	1356 0646 9095 com r25
		1118	1357 0648 8195 neg r24
		1119	1358 064a 9F4F sbci r25,lo8(-1)
		1120	1359 .L52:
		1121	1360 064c 6CE0 ldi r22,lo8(12)
		1122	1361 064e 70E0 ldi r23,hi8(12)
		1123	1362 0650 0E94 0000 call __divmodhi4
		1124	1363 0654 7093 0000 sts (NeutralAccY)+1,r23
		1125	1364 0658 6093 0000 sts NeutralAccY,r22
		1126	1365 065c 8091 0000 lds r24,Aktuell_az
		1127	1366 0660 9091 0000 lds r25,(Aktuell_az)+1
		1128	1367 0664 9093 0000 sts (NeutralAccZ)+1,r25
		1129	1368 0668 8093 0000 sts NeutralAccZ,r24
		1130	1369 066c 0F90 pop __tmp_reg__
		1131	1370 066e 0F90 pop __tmp_reg__
		1132	1371 0670 0F90 pop __tmp_reg__
		1133	1372 0672 0F90 pop __tmp_reg__
		1134	1373 .L48:
		1135	1374 0674 1092 0000 sts (MesswertNick)+1,__zero_reg__
		1136	1375 0678 1092 0000 sts MesswertNick,__zero_reg__
		1137	1376 067c 1092 0000 sts (MesswertRoll)+1,__zero_reg__
		1138	1377 0680 1092 0000 sts MesswertRoll,__zero_reg__
		1139	1378 0684 1092 0000 sts (MesswertGier)+1,__zero_reg__
		1140	1379 0688 1092 0000 sts MesswertGier,__zero_reg__
		1141	1380 068c 84E6 ldi r24,lo8(100)
		1142	1381 068e 90E0 ldi r25,hi8(100)
		1143	1382 0690 0E94 0000 call Delay_ms_Mess
		1144	1383 0694 8091 0000 lds r24,AdWertAccNick
		1145	1384 0698 9091 0000 lds r25,(AdWertAccNick)+1
		1146	1385 069c 9C01 movw r18,r24
		1147	1386 069e 220F lsl r18
		1148	1387 06a0 331F rol r19
		1149	1388 06a2 220F lsl r18
		1150	1389 06a4 331F rol r19
		1151	1390 06a6 280F add r18,r24
		1152	1391 06a8 391F adc r19,r25
		1153	1392 06aa 280F add r18,r24
		1154	1393 06ac 391F adc r19,r25
		1155	1394 06ae 3093 0000 sts (Mittelwert_AccNick)+1,r19
		1156	1395 06b2 2093 0000 sts Mittelwert_AccNick,r18
		1157	1396 06b6 8091 0000 lds r24,AdWertAccRoll
		1158	1397 06ba 9091 0000 lds r25,(AdWertAccRoll)+1
		1159	1398 06be 8C01 movw r16,r24
		1160	1399 06c0 000F lsl r16
		1161	1400 06c2 111F rol r17
		1162	1401 06c4 000F lsl r16
		1163	1402 06c6 111F rol r17
		1164	1403 06c8 080F add r16,r24
		1165	1404 06ca 191F adc r17,r25
		1166	1405 06cc 080F add r16,r24
		1167	1406 06ce 191F adc r17,r25
		1168	1407 06d0 1093 0000 sts (Mittelwert_AccRoll)+1,r17
		1169	1408 06d4 0093 0000 sts Mittelwert_AccRoll,r16
		1170	1409 06d8 8091 0000 lds r24,EE_Parameter+28
		1171	1410 06dc C82E mov r12,r24
		1172	1411 06de DD24 clr r13
		1173	1412 06e0 EE24 clr r14
		1174	1413 06e2 FF24 clr r15
		1175	1414 06e4 4427 clr r20
		1176	1415 06e6 37FD sbrc r19,7
		1177	1416 06e8 4095 com r20
		1178	1417 06ea 542F mov r21,r20
		1179	1418 06ec C701 movw r24,r14
		1180	1419 06ee B601 movw r22,r12
		1181	1420 06f0 0E94 0000 call __mulsi3
		1182	1421 06f4 4B01 movw r8,r22
		1183	1422 06f6 5C01 movw r10,r24
		1184	1423 06f8 6093 0000 sts IntegralNick,r22
		1185	1424 06fc 7093 0000 sts (IntegralNick)+1,r23
		1186	1425 0700 8093 0000 sts (IntegralNick)+2,r24
		1187	1426 0704 9093 0000 sts (IntegralNick)+3,r25
		1188	1427 0708 9801 movw r18,r16
		1189	1428 070a 4427 clr r20
		1190	1429 070c 37FD sbrc r19,7
		1191	1430 070e 4095 com r20
		1192	1431 0710 542F mov r21,r20
		1193	1432 0712 C701 movw r24,r14
		1194	1433 0714 B601 movw r22,r12
		1195	1434 0716 0E94 0000 call __mulsi3
		1196	1435 071a DC01 movw r26,r24
		1197	1436 071c CB01 movw r24,r22
		1198	1437 071e 8093 0000 sts IntegralRoll,r24
		1199	1438 0722 9093 0000 sts (IntegralRoll)+1,r25
		1200	1439 0726 A093 0000 sts (IntegralRoll)+2,r26
		1201	1440 072a B093 0000 sts (IntegralRoll)+3,r27
		1202	1441 072e 8092 0000 sts Mess_IntegralNick2,r8
		1203	1442 0732 9092 0000 sts (Mess_IntegralNick2)+1,r9
		1204	1443 0736 A092 0000 sts (Mess_IntegralNick2)+2,r10
		1205	1444 073a B092 0000 sts (Mess_IntegralNick2)+3,r11
		1206	1445 073e 8093 0000 sts Mess_IntegralRoll2,r24
		1207	1446 0742 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		1208	1447 0746 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		1209	1448 074a B093 0000 sts (Mess_IntegralRoll2)+3,r27
		1210	1449 074e 1092 0000 sts Mess_Integral_Gier,__zero_reg__
		1211	1450 0752 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
		1212	1451 0756 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
		1213	1452 075a 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__
		1214	1453 075e 8091 0000 lds r24,Luftdruck
		1215	1454 0762 9091 0000 lds r25,(Luftdruck)+1
		1216	1455 0766 A091 0000 lds r26,(Luftdruck)+2
		1217	1456 076a B091 0000 lds r27,(Luftdruck)+3
		1218	1457 076e 9093 0000 sts (StartLuftdruck)+1,r25
		1219	1458 0772 8093 0000 sts StartLuftdruck,r24
		1220	1459 0776 1092 0000 sts (VarioMeter)+1,__zero_reg__
		1221	1460 077a 1092 0000 sts VarioMeter,__zero_reg__
		1222	1461 077e 1092 0000 sts Mess_Integral_Hoch,__zero_reg__
		1223	1462 0782 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__
		1224	1463 0786 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__
		1225	1464 078a 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__
		1226	1465 078e 0091 0000 lds r16,KompassValue
		1227	1466 0792 1091 0000 lds r17,(KompassValue)+1
		1228	1467 0796 1093 0000 sts (KompassSollWert)+1,r17
		1229	1468 079a 0093 0000 sts KompassSollWert,r16
		1230	1469 079e 84E6 ldi r24,lo8(100)
		1231	1470 07a0 90E0 ldi r25,hi8(100)
		1232	1471 07a2 9093 0000 sts (KompassSignalSchlecht)+1,r25
		1233	1472 07a6 8093 0000 sts KompassSignalSchlecht,r24
		1234	1473 07aa 82E3 ldi r24,lo8(50)
		1235	1474 07ac 90E0 ldi r25,hi8(50)
		1236	1475 07ae 9093 0000 sts (beeptime)+1,r25
		1237	1476 07b2 8093 0000 sts beeptime,r24
		1238	1477 07b6 8091 0000 lds r24,EE_Parameter+65
		1239	1478 07ba 9927 clr r25
		1240	1479 07bc AA27 clr r26
		1241	1480 07be BB27 clr r27
		1242	1481 07c0 BC01 movw r22,r24
		1243	1482 07c2 CD01 movw r24,r26
		1244	1483 07c4 24EC ldi r18,lo8(2500)
		1245	1484 07c6 39E0 ldi r19,hi8(2500)
		1246	1485 07c8 40E0 ldi r20,hlo8(2500)
		1247	1486 07ca 50E0 ldi r21,hhi8(2500)
		1248	1487 07cc 0E94 0000 call __mulsi3
		1249	1488 07d0 DC01 movw r26,r24
		1250	1489 07d2 CB01 movw r24,r22
		1251	1490 07d4 8856 subi r24,lo8(-(15000))
		1252	1491 07d6 954C sbci r25,hi8(-(15000))
		1253	1492 07d8 AF4F sbci r26,hlo8(-(15000))
		1254	1493 07da BF4F sbci r27,hhi8(-(15000))
		1255	1494 07dc 8093 0000 sts Umschlag180Nick,r24
		1256	1495 07e0 9093 0000 sts (Umschlag180Nick)+1,r25
		1257	1496 07e4 A093 0000 sts (Umschlag180Nick)+2,r26
		1258	1497 07e8 B093 0000 sts (Umschlag180Nick)+3,r27
		1259	1498 07ec 8091 0000 lds r24,EE_Parameter+66
		1260	1499 07f0 9927 clr r25
		1261	1500 07f2 AA27 clr r26
		1262	1501 07f4 BB27 clr r27
		1263	1502 07f6 BC01 movw r22,r24
		1264	1503 07f8 CD01 movw r24,r26
		1265	1504 07fa 0E94 0000 call __mulsi3
		1266	1505 07fe DC01 movw r26,r24
		1267	1506 0800 CB01 movw r24,r22
		1268	1507 0802 8856 subi r24,lo8(-(15000))
		1269	1508 0804 954C sbci r25,hi8(-(15000))
		1270	1509 0806 AF4F sbci r26,hlo8(-(15000))
		1271	1510 0808 BF4F sbci r27,hhi8(-(15000))
		1272	1511 080a 8093 0000 sts Umschlag180Roll,r24
		1273	1512 080e 9093 0000 sts (Umschlag180Roll)+1,r25
		1274	1513 0812 A093 0000 sts (Umschlag180Roll)+2,r26
		1275	1514 0816 B093 0000 sts (Umschlag180Roll)+3,r27
		1276	1515 081a 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__
		1277	1516 081e 1092 0000 sts ExternHoehenValue,__zero_reg__
		1278	1517 0822 C801 movw r24,r16
		1279	1518 0824 AA27 clr r26
		1280	1519 0826 97FD sbrc r25,7
		1281	1520 0828 A095 com r26
		1282	1521 082a BA2F mov r27,r26
		1283	1522 082c 2091 0000 lds r18,GIER_GRAD_FAKTOR
		1284	1523 0830 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1
		1285	1524 0834 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2
		1286	1525 0838 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3
		1287	1526 083c BC01 movw r22,r24
		1288	1527 083e CD01 movw r24,r26
		1289	1528 0840 0E94 0000 call __mulsi3
		1290	1529 0844 DC01 movw r26,r24
		1291	1530 0846 CB01 movw r24,r22
		1292	1531 0848 8093 0000 sts ErsatzKompass,r24
		1293	1532 084c 9093 0000 sts (ErsatzKompass)+1,r25
		1294	1533 0850 A093 0000 sts (ErsatzKompass)+2,r26
		1295	1534 0854 B093 0000 sts (ErsatzKompass)+3,r27
		1296	1535 0858 1092 0000 sts (GierGyroFehler)+1,__zero_reg__
		1297	1536 085c 1092 0000 sts GierGyroFehler,__zero_reg__
		1298	1537 0860 81E0 ldi r24,lo8(1)
		1299	1538 0862 8093 0000 sts SendVersionToNavi,r24
		1300	1539 0866 0E94 0000 call LED_Init
		1301	1540 086a 8091 0000 lds r24,FC_StatusFlags
		1302	1541 086e 8460 ori r24,lo8(4)
		1303	1542 0870 8093 0000 sts FC_StatusFlags,r24
		1304	1543 0874 8FEF ldi r24,lo8(-1)
		1305	1544 0876 8093 0000 sts FromNaviCtrl_Value,r24
		1306	1545 087a 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__
		1307	1546 087e 80E2 ldi r24,lo8(32)
		1308	1547 0880 8093 0000 sts FromNaviCtrl_Value+2,r24
		1309	1548 0884 C0E0 ldi r28,lo8(Poti)
		1310	1549 0886 D0E0 ldi r29,hi8(Poti)
		1311	1550 0888 A0E0 ldi r26,lo8(EE_Parameter+5)
		1312	1551 088a B0E0 ldi r27,hi8(EE_Parameter+5)
		1313	1552 088c 07E0 ldi r16,lo8(7)
		1314	1553 .L56:
		1315	1554 088e 8D91 ld r24,X+
		1316	1555 0890 E82F mov r30,r24
		1317	1556 0892 FF27 clr r31
		1318	1557 0894 EE0F add r30,r30
		1319	1558 0896 FF1F adc r31,r31
		1320	1559 0898 E050 subi r30,lo8(-(PPM_in))
		1321	1560 089a F040 sbci r31,hi8(-(PPM_in))
		1322	1561 089c 8081 ld r24,Z
		1323	1562 089e 9181 ldd r25,Z+1
		1324	1563 08a0 8158 subi r24,lo8(-(127))
		1325	1564 08a2 8993 st Y+,r24
		1326	1565 08a4 0150 subi r16,lo8(-(-1))
		1327	1566 08a6 07FF sbrs r16,7
		1328	1567 08a8 00C0 rjmp .L56
		1329	1568 08aa 84E6 ldi r24,lo8(100)
		1330	1569 08ac 8093 0000 sts SenderOkay,r24
		1331	1570 08b0 8091 0000 lds r24,ServoActive
		1332	1571 08b4 8823 tst r24
		1333	1572 08b6 01F0 breq .L57
		1334	1573 08b8 469A sbi 40-0x20,6
		1335	1574 08ba 579A sbi 42-0x20,7
		1336	1575 .L57:
		1337	1576 08bc 8091 0000 lds r24,AdNeutralNick
		1338	1577 08c0 9091 0000 lds r25,(AdNeutralNick)+1
		1339	1578 08c4 8056 subi r24,lo8(-(-2400))
		1340	1579 08c6 9940 sbci r25,hi8(-(-2400))
		1341	1580 08c8 815C subi r24,lo8(11201)
		1342	1581 08ca 9B42 sbci r25,hi8(11201)
		1343	1582 08cc 00F0 brlo .L58
		1344	1583 08ce 8091 0000 lds r24,VersionInfo+5
		1345	1584 08d2 8160 ori r24,lo8(1)
		1346	1585 08d4 8093 0000 sts VersionInfo+5,r24
		1347	1586 .L58:
		1348	1587 08d8 8091 0000 lds r24,AdNeutralRoll
		1349	1588 08dc 9091 0000 lds r25,(AdNeutralRoll)+1
		1350	1589 08e0 8056 subi r24,lo8(-(-2400))
		1351	1590 08e2 9940 sbci r25,hi8(-(-2400))
		1352	1591 08e4 815C subi r24,lo8(11201)
		1353	1592 08e6 9B42 sbci r25,hi8(11201)
		1354	1593 08e8 00F0 brlo .L59
		1355	1594 08ea 8091 0000 lds r24,VersionInfo+5
		1356	1595 08ee 8260 ori r24,lo8(2)
		1357	1596 08f0 8093 0000 sts VersionInfo+5,r24
		1358	1597 .L59:
		1359	1598 08f4 8091 0000 lds r24,AdNeutralGier
		1360	1599 08f8 9091 0000 lds r25,(AdNeutralGier)+1
		1361	1600 08fc 8C52 subi r24,lo8(-(-300))
		1362	1601 08fe 9140 sbci r25,hi8(-(-300))
		1363	1602 0900 8957 subi r24,lo8(1401)
		1364	1603 0902 9540 sbci r25,hi8(1401)
		1365	1604 0904 00F0 brlo .L60
		1366	1605 0906 8091 0000 lds r24,VersionInfo+5
		1367	1606 090a 8460 ori r24,lo8(4)
		1368	1607 090c 8093 0000 sts VersionInfo+5,r24
		1369	1608 .L60:
		1370	1609 0910 8091 0000 lds r24,NeutralAccX
		1371	1610 0914 9091 0000 lds r25,(NeutralAccX)+1
		1372	1611 0918 8C52 subi r24,lo8(-(-300))
		1373	1612 091a 9140 sbci r25,hi8(-(-300))
		1374	1613 091c 835C subi r24,lo8(451)
		1375	1614 091e 9140 sbci r25,hi8(451)
		1376	1615 0920 00F0 brlo .L61
		1377	1616 0922 8091 0000 lds r24,VersionInfo+5
		1378	1617 0926 8860 ori r24,lo8(8)
		1379	1618 0928 8093 0000 sts VersionInfo+5,r24
		1380	1619 .L61:
		1381	1620 092c 8091 0000 lds r24,NeutralAccY
		1382	1621 0930 9091 0000 lds r25,(NeutralAccY)+1
		1383	1622 0934 8C52 subi r24,lo8(-(-300))
		1384	1623 0936 9140 sbci r25,hi8(-(-300))
		1385	1624 0938 835C subi r24,lo8(451)
		1386	1625 093a 9140 sbci r25,hi8(451)
		1387	1626 093c 00F0 brlo .L62
		1388	1627 093e 8091 0000 lds r24,VersionInfo+5
		1389	1628 0942 8061 ori r24,lo8(16)
		1390	1629 0944 8093 0000 sts VersionInfo+5,r24
		1391	1630 .L62:
		1392	1631 0948 8091 0000 lds r24,NeutralAccZ
		1393	1632 094c 9091 0000 lds r25,(NeutralAccZ)+1
		1394	1633 0950 8050 subi r24,lo8(-(-512))
		1395	1634 0952 9240 sbci r25,hi8(-(-512))
		1396	1635 0954 8355 subi r24,lo8(339)
		1397	1636 0956 9140 sbci r25,hi8(339)
		1398	1637 0958 00F0 brlo .L63
		1399	1638 095a 8091 0000 lds r24,VersionInfo+5
		1400	1639 095e 8062 ori r24,lo8(32)
		1401	1640 0960 8093 0000 sts VersionInfo+5,r24
		1402	1641 .L63:
		1403	1642 0964 86E4 ldi r24,lo8(70)
		1404	1643 0966 8093 0000 sts carefree_old,r24
		1405	1644 /* epilogue: frame size=0 */
		1406	1645 096a ECE0 ldi r30,12
		1407	1646 096c CDB7 in r28,__SP_L__
		1408	1647 096e DEB7 in r29,__SP_H__
		1409	1648 0970 0C94 0000 jmp __epilogue_restores__+12
		1410	1649 /* epilogue end (size=5) */
		1411	1650 /* function SetNeutral size 701 (690) */
		1412	1652 .lcomm tmpl.28,4
		1413	1653 .lcomm tmpl2.29,4
		1414	1654 .lcomm tmpl3.30,4
		1415	1655 .lcomm tmpl4.31,4
		1416	1656 .lcomm oldNick.32,2
		1417	1657 .lcomm oldRoll.33,2
		1418	1658 .lcomm d2Roll.34,2
		1419	1659 .lcomm d2Nick.35,2
		1420	1660 .global Mittelwert
		1421	1662 Mittelwert:
		1422	1663 /* prologue: frame size=19 */
		1423	1664 0974 A3E1 ldi r26,lo8(19)
		1424	1665 0976 B0E0 ldi r27,hi8(19)
		1425	1666 0978 E0E0 ldi r30,pm_lo8(1f)
		1426	1667 097a F0E0 ldi r31,pm_hi8(1f)
		1427	1668 097c 0C94 0000 jmp __prologue_saves__+0
		1428	1669 1:
		1429	1670 /* prologue end (size=6) */
		1430	1671 0980 8091 0000 lds r24,AdNeutralGier
		1431	1672 0984 9091 0000 lds r25,(AdNeutralGier)+1
		1432	1673 0988 2091 0000 lds r18,AdWertGier
		1433	1674 098c 3091 0000 lds r19,(AdWertGier)+1
		1434	1675 0990 821B sub r24,r18
		1435	1676 0992 930B sbc r25,r19
		1436	1677 0994 9093 0000 sts (MesswertGier)+1,r25
		1437	1678 0998 8093 0000 sts MesswertGier,r24
		1438	1679 099c 8091 0000 lds r24,AdWertNickFilter
		1439	1680 09a0 9091 0000 lds r25,(AdWertNickFilter)+1
		1440	1681 09a4 97FD sbrc r25,7
		1441	1682 09a6 0796 adiw r24,7
		1442	1683 .L69:
		1443	1684 09a8 9C01 movw r18,r24
		1444	1685 09aa 13E0 ldi r17,3
		1445	1686 09ac 3595 1: asr r19
		1446	1687 09ae 2795 ror r18
		1447	1688 09b0 1A95 dec r17
		1448	1689 09b2 01F4 brne 1b
		1449	1690 09b4 3093 0000 sts (MesswertNick)+1,r19
		1450	1691 09b8 2093 0000 sts MesswertNick,r18
		1451	1692 09bc 8091 0000 lds r24,AdWertRollFilter
		1452	1693 09c0 9091 0000 lds r25,(AdWertRollFilter)+1
		1453	1694 09c4 97FD sbrc r25,7
		1454	1695 09c6 0796 adiw r24,7
		1455	1696 .L70:
		1456	1697 09c8 B3E0 ldi r27,3
		1457	1698 09ca 9595 1: asr r25
		1458	1699 09cc 8795 ror r24
		1459	1700 09ce BA95 dec r27
		1460	1701 09d0 01F4 brne 1b
		1461	1702 09d2 9093 0000 sts (MesswertRoll)+1,r25
		1462	1703 09d6 8093 0000 sts MesswertRoll,r24
		1463	1704 09da 3093 0000 sts (RohMesswertNick)+1,r19
		1464	1705 09de 2093 0000 sts RohMesswertNick,r18
		1465	1706 09e2 9093 0000 sts (RohMesswertRoll)+1,r25
		1466	1707 09e6 8093 0000 sts RohMesswertRoll,r24
		1467	1708 09ea 8091 0000 lds r24,Mittelwert_AccNick
		1468	1709 09ee 9091 0000 lds r25,(Mittelwert_AccNick)+1
		1469	1710 09f2 AC01 movw r20,r24
		1470	1711 09f4 440F lsl r20
		1471	1712 09f6 551F rol r21
		1472	1713 09f8 480F add r20,r24
		1473	1714 09fa 591F adc r21,r25
		1474	1715 09fc 2091 0000 lds r18,AdWertAccNick
		1475	1716 0a00 3091 0000 lds r19,(AdWertAccNick)+1
		1476	1717 0a04 C901 movw r24,r18
		1477	1718 0a06 880F lsl r24
		1478	1719 0a08 991F rol r25
		1479	1720 0a0a 880F lsl r24
		1480	1721 0a0c 991F rol r25
		1481	1722 0a0e 820F add r24,r18
		1482	1723 0a10 931F adc r25,r19
		1483	1724 0a12 820F add r24,r18
		1484	1725 0a14 931F adc r25,r19
		1485	1726 0a16 480F add r20,r24
		1486	1727 0a18 591F adc r21,r25
		1487	1728 0a1a 57FF sbrs r21,7
		1488	1729 0a1c 00C0 rjmp .L71
		1489	1730 0a1e 4D5F subi r20,lo8(-(3))
		1490	1731 0a20 5F4F sbci r21,hi8(-(3))
		1491	1732 .L71:
		1492	1733 0a22 5595 asr r21
		1493	1734 0a24 4795 ror r20
		1494	1735 0a26 5595 asr r21
		1495	1736 0a28 4795 ror r20
		1496	1737 0a2a 5093 0000 sts (Mittelwert_AccNick)+1,r21
		1497	1738 0a2e 4093 0000 sts Mittelwert_AccNick,r20
		1498	1739 0a32 8091 0000 lds r24,Mittelwert_AccRoll
		1499	1740 0a36 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		1500	1741 0a3a AC01 movw r20,r24
		1501	1742 0a3c 440F lsl r20
		1502	1743 0a3e 551F rol r21
		1503	1744 0a40 480F add r20,r24
		1504	1745 0a42 591F adc r21,r25
		1505	1746 0a44 2091 0000 lds r18,AdWertAccRoll
		1506	1747 0a48 3091 0000 lds r19,(AdWertAccRoll)+1
		1507	1748 0a4c C901 movw r24,r18
		1508	1749 0a4e 880F lsl r24
		1509	1750 0a50 991F rol r25
		1510	1751 0a52 880F lsl r24
		1511	1752 0a54 991F rol r25
		1512	1753 0a56 820F add r24,r18
		1513	1754 0a58 931F adc r25,r19
		1514	1755 0a5a 820F add r24,r18
		1515	1756 0a5c 931F adc r25,r19
		1516	1757 0a5e 480F add r20,r24
		1517	1758 0a60 591F adc r21,r25
		1518	1759 0a62 57FF sbrs r21,7
		1519	1760 0a64 00C0 rjmp .L72
		1520	1761 0a66 4D5F subi r20,lo8(-(3))
		1521	1762 0a68 5F4F sbci r21,hi8(-(3))
		1522	1763 .L72:
		1523	1764 0a6a 5595 asr r21
		1524	1765 0a6c 4795 ror r20
		1525	1766 0a6e 5595 asr r21
		1526	1767 0a70 4795 ror r20
		1527	1768 0a72 5093 0000 sts (Mittelwert_AccRoll)+1,r21
		1528	1769 0a76 4093 0000 sts Mittelwert_AccRoll,r20
		1529	1770 0a7a 2091 0000 lds r18,AdWertAccNick
		1530	1771 0a7e 3091 0000 lds r19,(AdWertAccNick)+1
		1531	1772 0a82 C901 movw r24,r18
		1532	1773 0a84 880F lsl r24
		1533	1774 0a86 991F rol r25
		1534	1775 0a88 880F lsl r24
		1535	1776 0a8a 991F rol r25
		1536	1777 0a8c 820F add r24,r18
		1537	1778 0a8e 931F adc r25,r19
		1538	1779 0a90 820F add r24,r18
		1539	1780 0a92 931F adc r25,r19
		1540	1781 0a94 9C01 movw r18,r24
		1541	1782 0a96 4427 clr r20
		1542	1783 0a98 37FD sbrc r19,7
		1543	1784 0a9a 4095 com r20
		1544	1785 0a9c 542F mov r21,r20
		1545	1786 0a9e 8091 0000 lds r24,IntegralAccNick
		1546	1787 0aa2 9091 0000 lds r25,(IntegralAccNick)+1
		1547	1788 0aa6 A091 0000 lds r26,(IntegralAccNick)+2
		1548	1789 0aaa B091 0000 lds r27,(IntegralAccNick)+3
		1549	1790 0aae 820F add r24,r18
		1550	1791 0ab0 931F adc r25,r19
		1551	1792 0ab2 A41F adc r26,r20
		1552	1793 0ab4 B51F adc r27,r21
		1553	1794 0ab6 8093 0000 sts IntegralAccNick,r24
		1554	1795 0aba 9093 0000 sts (IntegralAccNick)+1,r25
		1555	1796 0abe A093 0000 sts (IntegralAccNick)+2,r26
		1556	1797 0ac2 B093 0000 sts (IntegralAccNick)+3,r27
		1557	1798 0ac6 2091 0000 lds r18,AdWertAccRoll
		1558	1799 0aca 3091 0000 lds r19,(AdWertAccRoll)+1
		1559	1800 0ace C901 movw r24,r18
		1560	1801 0ad0 880F lsl r24
		1561	1802 0ad2 991F rol r25
		1562	1803 0ad4 880F lsl r24
		1563	1804 0ad6 991F rol r25
		1564	1805 0ad8 820F add r24,r18
		1565	1806 0ada 931F adc r25,r19
		1566	1807 0adc 820F add r24,r18
		1567	1808 0ade 931F adc r25,r19
		1568	1809 0ae0 9C01 movw r18,r24
		1569	1810 0ae2 4427 clr r20
		1570	1811 0ae4 37FD sbrc r19,7
		1571	1812 0ae6 4095 com r20
		1572	1813 0ae8 542F mov r21,r20
		1573	1814 0aea 8091 0000 lds r24,IntegralAccRoll
		1574	1815 0aee 9091 0000 lds r25,(IntegralAccRoll)+1
		1575	1816 0af2 A091 0000 lds r26,(IntegralAccRoll)+2
		1576	1817 0af6 B091 0000 lds r27,(IntegralAccRoll)+3
		1577	1818 0afa 820F add r24,r18
		1578	1819 0afc 931F adc r25,r19
		1579	1820 0afe A41F adc r26,r20
		1580	1821 0b00 B51F adc r27,r21
		1581	1822 0b02 8093 0000 sts IntegralAccRoll,r24
		1582	1823 0b06 9093 0000 sts (IntegralAccRoll)+1,r25
		1583	1824 0b0a A093 0000 sts (IntegralAccRoll)+2,r26
		1584	1825 0b0e B093 0000 sts (IntegralAccRoll)+3,r27
		1585	1826 0b12 8091 0000 lds r24,NaviAccNick
		1586	1827 0b16 9091 0000 lds r25,(NaviAccNick)+1
		1587	1828 0b1a 2091 0000 lds r18,AdWertAccNick
		1588	1829 0b1e 3091 0000 lds r19,(AdWertAccNick)+1
		1589	1830 0b22 820F add r24,r18
		1590	1831 0b24 931F adc r25,r19
		1591	1832 0b26 9093 0000 sts (NaviAccNick)+1,r25
		1592	1833 0b2a 8093 0000 sts NaviAccNick,r24
		1593	1834 0b2e 8091 0000 lds r24,NaviAccRoll
		1594	1835 0b32 9091 0000 lds r25,(NaviAccRoll)+1
		1595	1836 0b36 2091 0000 lds r18,AdWertAccRoll
		1596	1837 0b3a 3091 0000 lds r19,(AdWertAccRoll)+1
		1597	1838 0b3e 820F add r24,r18
		1598	1839 0b40 931F adc r25,r19
		1599	1840 0b42 9093 0000 sts (NaviAccRoll)+1,r25
		1600	1841 0b46 8093 0000 sts NaviAccRoll,r24
		1601	1842 0b4a 8091 0000 lds r24,NaviCntAcc
		1602	1843 0b4e 9091 0000 lds r25,(NaviCntAcc)+1
		1603	1844 0b52 0196 adiw r24,1
		1604	1845 0b54 9093 0000 sts (NaviCntAcc)+1,r25
		1605	1846 0b58 8093 0000 sts NaviCntAcc,r24
		1606	1847 0b5c 8091 0000 lds r24,Aktuell_az
		1607	1848 0b60 9091 0000 lds r25,(Aktuell_az)+1
		1608	1849 0b64 2091 0000 lds r18,NeutralAccZ
		1609	1850 0b68 3091 0000 lds r19,(NeutralAccZ)+1
		1610	1851 0b6c 821B sub r24,r18
		1611	1852 0b6e 930B sbc r25,r19
		1612	1853 0b70 9C01 movw r18,r24
		1613	1854 0b72 4427 clr r20
		1614	1855 0b74 37FD sbrc r19,7
		1615	1856 0b76 4095 com r20
		1616	1857 0b78 542F mov r21,r20
		1617	1858 0b7a 8091 0000 lds r24,IntegralAccZ
		1618	1859 0b7e 9091 0000 lds r25,(IntegralAccZ)+1
		1619	1860 0b82 A091 0000 lds r26,(IntegralAccZ)+2
		1620	1861 0b86 B091 0000 lds r27,(IntegralAccZ)+3
		1621	1862 0b8a 820F add r24,r18
		1622	1863 0b8c 931F adc r25,r19
		1623	1864 0b8e A41F adc r26,r20
		1624	1865 0b90 B51F adc r27,r21
		1625	1866 0b92 8093 0000 sts IntegralAccZ,r24
		1626	1867 0b96 9093 0000 sts (IntegralAccZ)+1,r25
		1627	1868 0b9a A093 0000 sts (IntegralAccZ)+2,r26
		1628	1869 0b9e B093 0000 sts (IntegralAccZ)+3,r27
		1629	1870 0ba2 8FEC ldi r24,lo8(-49)
		1630	1871 0ba4 8093 7A00 sts 122,r24
		1631	1872 0ba8 1092 0000 sts AdReady,__zero_reg__
		1632	1873 0bac 2091 0000 lds r18,Mess_IntegralRoll
		1633	1874 0bb0 3091 0000 lds r19,(Mess_IntegralRoll)+1
		1634	1875 0bb4 4091 0000 lds r20,(Mess_IntegralRoll)+2
		1635	1876 0bb8 5091 0000 lds r21,(Mess_IntegralRoll)+3
		1636	1877 0bbc 2987 std Y+9,r18
		1637	1878 0bbe 3A87 std Y+10,r19
		1638	1879 0bc0 4B87 std Y+11,r20
		1639	1880 0bc2 5C87 std Y+12,r21
		1640	1881 0bc4 2954 subi r18,lo8(93001)
		1641	1882 0bc6 3B46 sbci r19,hi8(93001)
		1642	1883 0bc8 4140 sbci r20,hlo8(93001)
		1643	1884 0bca 5040 sbci r21,hhi8(93001)
		1644	1885 0bcc 04F0 brlt .L73
		1645	1886 0bce 28E4 ldi r18,lo8(93000)
		1646	1887 0bd0 3BE6 ldi r19,hi8(93000)
		1647	1888 0bd2 41E0 ldi r20,hlo8(93000)
		1648	1889 0bd4 50E0 ldi r21,hhi8(93000)
		1649	1890 0bd6 00C0 rjmp .L153
		1650	1891 .L73:
		1651	1892 0bd8 8985 ldd r24,Y+9
		1652	1893 0bda 9A85 ldd r25,Y+10
		1653	1894 0bdc AB85 ldd r26,Y+11
		1654	1895 0bde BC85 ldd r27,Y+12
		1655	1896 0be0 885B subi r24,lo8(-93000)
		1656	1897 0be2 9449 sbci r25,hi8(-93000)
		1657	1898 0be4 AE4F sbci r26,hlo8(-93000)
		1658	1899 0be6 BF4F sbci r27,hhi8(-93000)
		1659	1900 0be8 04F4 brge .L75
		1660	1901 0bea 28EB ldi r18,lo8(-93000)
		1661	1902 0bec 34E9 ldi r19,hi8(-93000)
		1662	1903 0bee 4EEF ldi r20,hlo8(-93000)
		1663	1904 0bf0 5FEF ldi r21,hhi8(-93000)
		1664	1905 .L153:
		1665	1906 0bf2 2D83 std Y+5,r18
		1666	1907 0bf4 3E83 std Y+6,r19
		1667	1908 0bf6 4F83 std Y+7,r20
		1668	1909 0bf8 5887 std Y+8,r21
		1669	1910 0bfa 00C0 rjmp .L74
		1670	1911 .L75:
		1671	1912 0bfc 8985 ldd r24,Y+9
		1672	1913 0bfe 9A85 ldd r25,Y+10
		1673	1914 0c00 AB85 ldd r26,Y+11
		1674	1915 0c02 BC85 ldd r27,Y+12
		1675	1916 0c04 8D83 std Y+5,r24
		1676	1917 0c06 9E83 std Y+6,r25
		1677	1918 0c08 AF83 std Y+7,r26
		1678	1919 0c0a B887 std Y+8,r27
		1679	1920 .L74:
		1680	1921 0c0c 2091 0000 lds r18,Mess_IntegralNick
		1681	1922 0c10 3091 0000 lds r19,(Mess_IntegralNick)+1
		1682	1923 0c14 4091 0000 lds r20,(Mess_IntegralNick)+2
		1683	1924 0c18 5091 0000 lds r21,(Mess_IntegralNick)+3
		1684	1925 0c1c 2D87 std Y+13,r18
		1685	1926 0c1e 3E87 std Y+14,r19
		1686	1927 0c20 4F87 std Y+15,r20
		1687	1928 0c22 588B std Y+16,r21
		1688	1929 0c24 2954 subi r18,lo8(93001)
		1689	1930 0c26 3B46 sbci r19,hi8(93001)
		1690	1931 0c28 4140 sbci r20,hlo8(93001)
		1691	1932 0c2a 5040 sbci r21,hhi8(93001)
		1692	1933 0c2c 04F0 brlt .L77
		1693	1934 0c2e 28E4 ldi r18,lo8(93000)
		1694	1935 0c30 3BE6 ldi r19,hi8(93000)
		1695	1936 0c32 41E0 ldi r20,hlo8(93000)
		1696	1937 0c34 50E0 ldi r21,hhi8(93000)
		1697	1938 0c36 00C0 rjmp .L154
		1698	1939 .L77:
		1699	1940 0c38 8D85 ldd r24,Y+13
		1700	1941 0c3a 9E85 ldd r25,Y+14
		1701	1942 0c3c AF85 ldd r26,Y+15
		1702	1943 0c3e B889 ldd r27,Y+16
		1703	1944 0c40 885B subi r24,lo8(-93000)
		1704	1945 0c42 9449 sbci r25,hi8(-93000)
		1705	1946 0c44 AE4F sbci r26,hlo8(-93000)
		1706	1947 0c46 BF4F sbci r27,hhi8(-93000)
		1707	1948 0c48 04F4 brge .L79
		1708	1949 0c4a 28EB ldi r18,lo8(-93000)
		1709	1950 0c4c 34E9 ldi r19,hi8(-93000)
		1710	1951 0c4e 4EEF ldi r20,hlo8(-93000)
		1711	1952 0c50 5FEF ldi r21,hhi8(-93000)
		1712	1953 .L154:
		1713	1954 0c52 2983 std Y+1,r18
		1714	1955 0c54 3A83 std Y+2,r19
		1715	1956 0c56 4B83 std Y+3,r20
		1716	1957 0c58 5C83 std Y+4,r21
		1717	1958 0c5a 00C0 rjmp .L78
		1718	1959 .L79:
		1719	1960 0c5c 8D85 ldd r24,Y+13
		1720	1961 0c5e 9E85 ldd r25,Y+14
		1721	1962 0c60 AF85 ldd r26,Y+15
		1722	1963 0c62 B889 ldd r27,Y+16
		1723	1964 0c64 8983 std Y+1,r24
		1724	1965 0c66 9A83 std Y+2,r25
		1725	1966 0c68 AB83 std Y+3,r26
		1726	1967 0c6a BC83 std Y+4,r27
		1727	1968 .L78:
		1728	1969 0c6c A091 0000 lds r26,MesswertGier
		1729	1970 0c70 B091 0000 lds r27,(MesswertGier)+1
		1730	1971 0c74 BB8B std Y+19,r27
		1731	1972 0c76 AA8B std Y+18,r26
		1732	1973 0c78 FD01 movw r30,r26
		1733	1974 0c7a CF01 movw r24,r30
		1734	1975 0c7c AA27 clr r26
		1735	1976 0c7e 97FD sbrc r25,7
		1736	1977 0c80 A095 com r26
		1737	1978 0c82 BA2F mov r27,r26
		1738	1979 0c84 A090 0000 lds r10,Mess_Integral_Gier
		1739	1980 0c88 B090 0000 lds r11,(Mess_Integral_Gier)+1
		1740	1981 0c8c C090 0000 lds r12,(Mess_Integral_Gier)+2
		1741	1982 0c90 D090 0000 lds r13,(Mess_Integral_Gier)+3
		1742	1983 0c94 A80E add r10,r24
		1743	1984 0c96 B91E adc r11,r25
		1744	1985 0c98 CA1E adc r12,r26
		1745	1986 0c9a DB1E adc r13,r27
		1746	1987 0c9c A092 0000 sts Mess_Integral_Gier,r10
		1747	1988 0ca0 B092 0000 sts (Mess_Integral_Gier)+1,r11
		1748	1989 0ca4 C092 0000 sts (Mess_Integral_Gier)+2,r12
		1749	1990 0ca8 D092 0000 sts (Mess_Integral_Gier)+3,r13
		1750	1991 0cac E090 0000 lds r14,ErsatzKompass
		1751	1992 0cb0 F090 0000 lds r15,(ErsatzKompass)+1
		1752	1993 0cb4 0091 0000 lds r16,(ErsatzKompass)+2
		1753	1994 0cb8 1091 0000 lds r17,(ErsatzKompass)+3
		1754	1995 0cbc E80E add r14,r24
		1755	1996 0cbe F91E adc r15,r25
		1756	1997 0cc0 0A1F adc r16,r26
		1757	1998 0cc2 1B1F adc r17,r27
		1758	1999 0cc4 E092 0000 sts ErsatzKompass,r14
		1759	2000 0cc8 F092 0000 sts (ErsatzKompass)+1,r15
		1760	2001 0ccc 0093 0000 sts (ErsatzKompass)+2,r16
		1761	2002 0cd0 1093 0000 sts (ErsatzKompass)+3,r17
		1762	2003 0cd4 F091 0000 lds r31,Looping_Nick
		1763	2004 0cd8 F98B std Y+17,r31
		1764	2005 0cda FF23 tst r31
		1765	2006 0cdc 01F0 breq .+2
		1766	2007 0cde 00C0 rjmp .L81
		1767	2008 0ce0 8091 0000 lds r24,Looping_Roll
		1768	2009 0ce4 8823 tst r24
		1769	2010 0ce6 01F0 breq .+2
		1770	2011 0ce8 00C0 rjmp .L81
		1771	2012 0cea 8091 0000 lds r24,Parameter_GlobalConfig
		1772	2013 0cee 86FF sbrs r24,6
		1773	2014 0cf0 00C0 rjmp .L81
		1774	2015 0cf2 8091 0000 lds r24,MesswertRoll
		1775	2016 0cf6 9091 0000 lds r25,(MesswertRoll)+1
		1776	2017 0cfa AA27 clr r26
		1777	2018 0cfc 97FD sbrc r25,7
		1778	2019 0cfe A095 com r26
		1779	2020 0d00 BA2F mov r27,r26
		1780	2021 0d02 BC01 movw r22,r24
		1781	2022 0d04 CD01 movw r24,r26
		1782	2023 0d06 2981 ldd r18,Y+1
		1783	2024 0d08 3A81 ldd r19,Y+2
		1784	2025 0d0a 4B81 ldd r20,Y+3
		1785	2026 0d0c 5C81 ldd r21,Y+4
		1786	2027 0d0e 0E94 0000 call __mulsi3
		1787	2028 0d12 9B01 movw r18,r22
		1788	2029 0d14 AC01 movw r20,r24
		1789	2030 0d16 97FF sbrs r25,7
		1790	2031 0d18 00C0 rjmp .L82
		1791	2032 0d1a 2150 subi r18,lo8(-(2047))
		1792	2033 0d1c 384F sbci r19,hi8(-(2047))
		1793	2034 0d1e 4F4F sbci r20,hlo8(-(2047))
		1794	2035 0d20 5F4F sbci r21,hhi8(-(2047))
		1795	2036 .L82:
		1796	2037 0d22 BBE0 ldi r27,11
		1797	2038 0d24 5595 1: asr r21
		1798	2039 0d26 4795 ror r20
		1799	2040 0d28 3795 ror r19
		1800	2041 0d2a 2795 ror r18
		1801	2042 0d2c BA95 dec r27
		1802	2043 0d2e 01F4 brne 1b
		1803	2044 0d30 8091 0000 lds r24,Parameter_AchsKopplung2
		1804	2045 0d34 682E mov r6,r24
		1805	2046 0d36 7724 clr r7
		1806	2047 0d38 8824 clr r8
		1807	2048 0d3a 9924 clr r9
		1808	2049 0d3c CA01 movw r24,r20
		1809	2050 0d3e B901 movw r22,r18
		1810	2051 0d40 A401 movw r20,r8
		1811	2052 0d42 9301 movw r18,r6
		1812	2053 0d44 0E94 0000 call __mulsi3
		1813	2054 0d48 DC01 movw r26,r24
		1814	2055 0d4a CB01 movw r24,r22
		1815	2056 0d4c 8093 0000 sts tmpl3.30,r24
		1816	2057 0d50 9093 0000 sts (tmpl3.30)+1,r25
		1817	2058 0d54 A093 0000 sts (tmpl3.30)+2,r26
		1818	2059 0d58 B093 0000 sts (tmpl3.30)+3,r27
		1819	2060 0d5c B7FF sbrs r27,7
		1820	2061 0d5e 00C0 rjmp .L83
		1821	2062 0d60 8150 subi r24,lo8(-(4095))
		1822	2063 0d62 904F sbci r25,hi8(-(4095))
		1823	2064 0d64 AF4F sbci r26,hlo8(-(4095))
		1824	2065 0d66 BF4F sbci r27,hhi8(-(4095))
		1825	2066 .L83:
		1826	2067 0d68 1C01 movw r2,r24
		1827	2068 0d6a 2D01 movw r4,r26
		1828	2069 0d6c ACE0 ldi r26,12
		1829	2070 0d6e 5594 1: asr r5
		1830	2071 0d70 4794 ror r4
		1831	2072 0d72 3794 ror r3
		1832	2073 0d74 2794 ror r2
		1833	2074 0d76 AA95 dec r26
		1834	2075 0d78 01F4 brne 1b
		1835	2076 0d7a 2092 0000 sts tmpl3.30,r2
		1836	2077 0d7e 3092 0000 sts (tmpl3.30)+1,r3
		1837	2078 0d82 4092 0000 sts (tmpl3.30)+2,r4
		1838	2079 0d86 5092 0000 sts (tmpl3.30)+3,r5
		1839	2080 0d8a 8091 0000 lds r24,MesswertNick
		1840	2081 0d8e 9091 0000 lds r25,(MesswertNick)+1
		1841	2082 0d92 AA27 clr r26
		1842	2083 0d94 97FD sbrc r25,7
		1843	2084 0d96 A095 com r26
		1844	2085 0d98 BA2F mov r27,r26
		1845	2086 0d9a BC01 movw r22,r24
		1846	2087 0d9c CD01 movw r24,r26
		1847	2088 0d9e 2D81 ldd r18,Y+5
		1848	2089 0da0 3E81 ldd r19,Y+6
		1849	2090 0da2 4F81 ldd r20,Y+7
		1850	2091 0da4 5885 ldd r21,Y+8
		1851	2092 0da6 0E94 0000 call __mulsi3
		1852	2093 0daa 97FF sbrs r25,7
		1853	2094 0dac 00C0 rjmp .L84
		1854	2095 0dae 6150 subi r22,lo8(-(2047))
		1855	2096 0db0 784F sbci r23,hi8(-(2047))
		1856	2097 0db2 8F4F sbci r24,hlo8(-(2047))
		1857	2098 0db4 9F4F sbci r25,hhi8(-(2047))
		1858	2099 .L84:
		1859	2100 0db6 FBE0 ldi r31,11
		1860	2101 0db8 9595 1: asr r25
		1861	2102 0dba 8795 ror r24
		1862	2103 0dbc 7795 ror r23
		1863	2104 0dbe 6795 ror r22
		1864	2105 0dc0 FA95 dec r31
		1865	2106 0dc2 01F4 brne 1b
		1866	2107 0dc4 A401 movw r20,r8
		1867	2108 0dc6 9301 movw r18,r6
		1868	2109 0dc8 0E94 0000 call __mulsi3
		1869	2110 0dcc DC01 movw r26,r24
		1870	2111 0dce CB01 movw r24,r22
		1871	2112 0dd0 8093 0000 sts tmpl4.31,r24
		1872	2113 0dd4 9093 0000 sts (tmpl4.31)+1,r25
		1873	2114 0dd8 A093 0000 sts (tmpl4.31)+2,r26
		1874	2115 0ddc B093 0000 sts (tmpl4.31)+3,r27
		1875	2116 0de0 B7FF sbrs r27,7
		1876	2117 0de2 00C0 rjmp .L85
		1877	2118 0de4 8150 subi r24,lo8(-(4095))
		1878	2119 0de6 904F sbci r25,hi8(-(4095))
		1879	2120 0de8 AF4F sbci r26,hlo8(-(4095))
		1880	2121 0dea BF4F sbci r27,hhi8(-(4095))
		1881	2122 .L85:
		1882	2123 0dec 9C01 movw r18,r24
		1883	2124 0dee AD01 movw r20,r26
		1884	2125 0df0 ECE0 ldi r30,12
		1885	2126 0df2 5595 1: asr r21
		1886	2127 0df4 4795 ror r20
		1887	2128 0df6 3795 ror r19
		1888	2129 0df8 2795 ror r18
		1889	2130 0dfa EA95 dec r30
		1890	2131 0dfc 01F4 brne 1b
		1891	2132 0dfe 2093 0000 sts tmpl4.31,r18
		1892	2133 0e02 3093 0000 sts (tmpl4.31)+1,r19
		1893	2134 0e06 4093 0000 sts (tmpl4.31)+2,r20
		1894	2135 0e0a 5093 0000 sts (tmpl4.31)+3,r21
		1895	2136 0e0e 8091 0000 lds r24,tmpl3.30
		1896	2137 0e12 9091 0000 lds r25,(tmpl3.30)+1
		1897	2138 0e16 9093 0000 sts (KopplungsteilNickRoll)+1,r25
		1898	2139 0e1a 8093 0000 sts KopplungsteilNickRoll,r24
		1899	2140 0e1e 8091 0000 lds r24,tmpl4.31
		1900	2141 0e22 9091 0000 lds r25,(tmpl4.31)+1
		1901	2142 0e26 9093 0000 sts (KopplungsteilRollNick)+1,r25
		1902	2143 0e2a 8093 0000 sts KopplungsteilRollNick,r24
		1903	2144 0e2e 2219 sub r18,r2
		1904	2145 0e30 3309 sbc r19,r3
		1905	2146 0e32 4409 sbc r20,r4
		1906	2147 0e34 5509 sbc r21,r5
		1907	2148 0e36 2093 0000 sts tmpl4.31,r18
		1908	2149 0e3a 3093 0000 sts (tmpl4.31)+1,r19
		1909	2150 0e3e 4093 0000 sts (tmpl4.31)+2,r20
		1910	2151 0e42 5093 0000 sts (tmpl4.31)+3,r21
		1911	2152 0e46 E20E add r14,r18
		1912	2153 0e48 F31E adc r15,r19
		1913	2154 0e4a 041F adc r16,r20
		1914	2155 0e4c 151F adc r17,r21
		1915	2156 0e4e E092 0000 sts ErsatzKompass,r14
		1916	2157 0e52 F092 0000 sts (ErsatzKompass)+1,r15
		1917	2158 0e56 0093 0000 sts (ErsatzKompass)+2,r16
		1918	2159 0e5a 1093 0000 sts (ErsatzKompass)+3,r17
		1919	2160 0e5e 8091 0000 lds r24,Parameter_CouplingYawCorrection
		1920	2161 0e62 8823 tst r24
		1921	2162 0e64 01F4 brne .L86
		1922	2163 0e66 57FF sbrs r21,7
		1923	2164 0e68 00C0 rjmp .L87
		1924	2165 0e6a 2F5F subi r18,lo8(-(1))
		1925	2166 0e6c 3F4F sbci r19,hi8(-(1))
		1926	2167 0e6e 4F4F sbci r20,hlo8(-(1))
		1927	2168 0e70 5F4F sbci r21,hhi8(-(1))
		1928	2169 .L87:
		1929	2170 0e72 5595 asr r21
		1930	2171 0e74 4795 ror r20
		1931	2172 0e76 3795 ror r19
		1932	2173 0e78 2795 ror r18
		1933	2174 0e7a A21A sub r10,r18
		1934	2175 0e7c B30A sbc r11,r19
		1935	2176 0e7e C40A sbc r12,r20
		1936	2177 0e80 D50A sbc r13,r21
		1937	2178 0e82 A092 0000 sts Mess_Integral_Gier,r10
		1938	2179 0e86 B092 0000 sts (Mess_Integral_Gier)+1,r11
		1939	2180 0e8a C092 0000 sts (Mess_Integral_Gier)+2,r12
		1940	2181 0e8e D092 0000 sts (Mess_Integral_Gier)+3,r13
		1941	2182 .L86:
		1942	2183 0e92 2A89 ldd r18,Y+18
		1943	2184 0e94 3B89 ldd r19,Y+19
		1944	2185 0e96 7901 movw r14,r18
		1945	2186 0e98 0027 clr r16
		1946	2187 0e9a F7FC sbrc r15,7
		1947	2188 0e9c 0095 com r16
		1948	2189 0e9e 102F mov r17,r16
		1949	2190 0ea0 8091 0000 lds r24,tmpl4.31
		1950	2191 0ea4 9091 0000 lds r25,(tmpl4.31)+1
		1951	2192 0ea8 A091 0000 lds r26,(tmpl4.31)+2
		1952	2193 0eac B091 0000 lds r27,(tmpl4.31)+3
		1953	2194 0eb0 E80E add r14,r24
		1954	2195 0eb2 F91E adc r15,r25
		1955	2196 0eb4 0A1F adc r16,r26
		1956	2197 0eb6 1B1F adc r17,r27
		1957	2198 0eb8 C801 movw r24,r16
		1958	2199 0eba B701 movw r22,r14
		1959	2200 0ebc 2981 ldd r18,Y+1
		1960	2201 0ebe 3A81 ldd r19,Y+2
		1961	2202 0ec0 4B81 ldd r20,Y+3
		1962	2203 0ec2 5C81 ldd r21,Y+4
		1963	2204 0ec4 0E94 0000 call __mulsi3
		1964	2205 0ec8 9B01 movw r18,r22
		1965	2206 0eca AC01 movw r20,r24
		1966	2207 0ecc 97FF sbrs r25,7
		1967	2208 0ece 00C0 rjmp .L88
		1968	2209 0ed0 2150 subi r18,lo8(-(2047))
		1969	2210 0ed2 384F sbci r19,hi8(-(2047))
		1970	2211 0ed4 4F4F sbci r20,hlo8(-(2047))
		1971	2212 0ed6 5F4F sbci r21,hhi8(-(2047))
		1972	2213 .L88:
		1973	2214 0ed8 6BE0 ldi r22,11
		1974	2215 0eda 5595 1: asr r21
		1975	2216 0edc 4795 ror r20
		1976	2217 0ede 3795 ror r19
		1977	2218 0ee0 2795 ror r18
		1978	2219 0ee2 6A95 dec r22
		1979	2220 0ee4 01F4 brne 1b
		1980	2221 0ee6 8091 0000 lds r24,Parameter_AchsKopplung1
		1981	2222 0eea A82E mov r10,r24
		1982	2223 0eec BB24 clr r11
		1983	2224 0eee CC24 clr r12
		1984	2225 0ef0 DD24 clr r13
		1985	2226 0ef2 CA01 movw r24,r20
		1986	2227 0ef4 B901 movw r22,r18
		1987	2228 0ef6 A601 movw r20,r12
		1988	2229 0ef8 9501 movw r18,r10
		1989	2230 0efa 0E94 0000 call __mulsi3
		1990	2231 0efe DC01 movw r26,r24
		1991	2232 0f00 CB01 movw r24,r22
		1992	2233 0f02 8093 0000 sts tmpl.28,r24
		1993	2234 0f06 9093 0000 sts (tmpl.28)+1,r25
		1994	2235 0f0a A093 0000 sts (tmpl.28)+2,r26
		1995	2236 0f0e B093 0000 sts (tmpl.28)+3,r27
		1996	2237 0f12 B7FF sbrs r27,7
		1997	2238 0f14 00C0 rjmp .L89
		1998	2239 0f16 8150 subi r24,lo8(-(4095))
		1999	2240 0f18 904F sbci r25,hi8(-(4095))
		2000	2241 0f1a AF4F sbci r26,hlo8(-(4095))
		2001	2242 0f1c BF4F sbci r27,hhi8(-(4095))
		2002	2243 .L89:
		2003	2244 0f1e 3C01 movw r6,r24
		2004	2245 0f20 4D01 movw r8,r26
		2005	2246 0f22 3CE0 ldi r19,12
		2006	2247 0f24 9594 1: asr r9
		2007	2248 0f26 8794 ror r8
		2008	2249 0f28 7794 ror r7
		2009	2250 0f2a 6794 ror r6
		2010	2251 0f2c 3A95 dec r19
		2011	2252 0f2e 01F4 brne 1b
		2012	2253 0f30 6092 0000 sts tmpl.28,r6
		2013	2254 0f34 7092 0000 sts (tmpl.28)+1,r7
		2014	2255 0f38 8092 0000 sts (tmpl.28)+2,r8
		2015	2256 0f3c 9092 0000 sts (tmpl.28)+3,r9
		2016	2257 0f40 C801 movw r24,r16
		2017	2258 0f42 B701 movw r22,r14
		2018	2259 0f44 2D81 ldd r18,Y+5
		2019	2260 0f46 3E81 ldd r19,Y+6
		2020	2261 0f48 4F81 ldd r20,Y+7
		2021	2262 0f4a 5885 ldd r21,Y+8
		2022	2263 0f4c 0E94 0000 call __mulsi3
		2023	2264 0f50 97FF sbrs r25,7
		2024	2265 0f52 00C0 rjmp .L90
		2025	2266 0f54 6150 subi r22,lo8(-(2047))
		2026	2267 0f56 784F sbci r23,hi8(-(2047))
		2027	2268 0f58 8F4F sbci r24,hlo8(-(2047))
		2028	2269 0f5a 9F4F sbci r25,hhi8(-(2047))
		2029	2270 .L90:
		2030	2271 0f5c 2BE0 ldi r18,11
		2031	2272 0f5e 9595 1: asr r25
		2032	2273 0f60 8795 ror r24
		2033	2274 0f62 7795 ror r23
		2034	2275 0f64 6795 ror r22
		2035	2276 0f66 2A95 dec r18
		2036	2277 0f68 01F4 brne 1b
		2037	2278 0f6a A601 movw r20,r12
		2038	2279 0f6c 9501 movw r18,r10
		2039	2280 0f6e 0E94 0000 call __mulsi3
		2040	2281 0f72 DC01 movw r26,r24
		2041	2282 0f74 CB01 movw r24,r22
		2042	2283 0f76 8093 0000 sts tmpl2.29,r24
		2043	2284 0f7a 9093 0000 sts (tmpl2.29)+1,r25
		2044	2285 0f7e A093 0000 sts (tmpl2.29)+2,r26
		2045	2286 0f82 B093 0000 sts (tmpl2.29)+3,r27
		2046	2287 0f86 B7FF sbrs r27,7
		2047	2288 0f88 00C0 rjmp .L91
		2048	2289 0f8a 8150 subi r24,lo8(-(4095))
		2049	2290 0f8c 904F sbci r25,hi8(-(4095))
		2050	2291 0f8e AF4F sbci r26,hlo8(-(4095))
		2051	2292 0f90 BF4F sbci r27,hhi8(-(4095))
		2052	2293 .L91:
		2053	2294 0f92 AC01 movw r20,r24
		2054	2295 0f94 BD01 movw r22,r26
		2055	2296 0f96 8CE0 ldi r24,12
		2056	2297 0f98 7595 1: asr r23
		2057	2298 0f9a 6795 ror r22
		2058	2299 0f9c 5795 ror r21
		2059	2300 0f9e 4795 ror r20
		2060	2301 0fa0 8A95 dec r24
		2061	2302 0fa2 01F4 brne 1b
		2062	2303 0fa4 4093 0000 sts tmpl2.29,r20
		2063	2304 0fa8 5093 0000 sts (tmpl2.29)+1,r21
		2064	2305 0fac 6093 0000 sts (tmpl2.29)+2,r22
		2065	2306 0fb0 7093 0000 sts (tmpl2.29)+3,r23
		2066	2307 0fb4 2A89 ldd r18,Y+18
		2067	2308 0fb6 3B89 ldd r19,Y+19
		2068	2309 0fb8 37FF sbrs r19,7
		2069	2310 0fba 00C0 rjmp .L93
		2070	2311 0fbc 3095 com r19
		2071	2312 0fbe 2195 neg r18
		2072	2313 0fc0 3F4F sbci r19,lo8(-1)
		2073	2314 .L93:
		2074	2315 0fc2 2134 cpi r18,65
		2075	2316 0fc4 3105 cpc r19,__zero_reg__
		2076	2317 0fc6 04F0 brlt .L98
		2077	2318 0fc8 D401 movw r26,r8
		2078	2319 0fca C301 movw r24,r6
		2079	2320 0fcc 97FE sbrs r9,7
		2080	2321 0fce 00C0 rjmp .L96
		2081	2322 0fd0 B095 com r27
		2082	2323 0fd2 A095 com r26
		2083	2324 0fd4 9095 com r25
		2084	2325 0fd6 8195 neg r24
		2085	2326 0fd8 9F4F sbci r25,lo8(-1)
		2086	2327 0fda AF4F sbci r26,lo8(-1)
		2087	2328 0fdc BF4F sbci r27,lo8(-1)
		2088	2329 .L96:
		2089	2330 0fde 8138 cpi r24,lo8(129)
		2090	2331 0fe0 9105 cpc r25,__zero_reg__
		2091	2332 0fe2 A105 cpc r26,__zero_reg__
		2092	2333 0fe4 B105 cpc r27,__zero_reg__
		2093	2334 0fe6 04F4 brge .L95
		2094	2335 0fe8 DB01 movw r26,r22
		2095	2336 0fea CA01 movw r24,r20
		2096	2337 0fec 77FF sbrs r23,7
		2097	2338 0fee 00C0 rjmp .L97
		2098	2339 0ff0 B095 com r27
		2099	2340 0ff2 A095 com r26
		2100	2341 0ff4 9095 com r25
		2101	2342 0ff6 8195 neg r24
		2102	2343 0ff8 9F4F sbci r25,lo8(-1)
		2103	2344 0ffa AF4F sbci r26,lo8(-1)
		2104	2345 0ffc BF4F sbci r27,lo8(-1)
		2105	2346 .L97:
		2106	2347 0ffe 8138 cpi r24,lo8(129)
		2107	2348 1000 9105 cpc r25,__zero_reg__
		2108	2349 1002 A105 cpc r26,__zero_reg__
		2109	2350 1004 B105 cpc r27,__zero_reg__
		2110	2351 1006 04F0 brlt .L98
		2111	2352 .L95:
		2112	2353 1008 81E0 ldi r24,lo8(1)
		2113	2354 100a 8093 0000 sts TrichterFlug,r24
		2114	2355 100e 00C0 rjmp .L98
		2115	2356 .L81:
		2116	2357 1010 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__
		2117	2358 1014 1092 0000 sts KopplungsteilRollNick,__zero_reg__
		2118	2359 1018 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__
		2119	2360 101c 1092 0000 sts KopplungsteilNickRoll,__zero_reg__
		2120	2361 1020 1092 0000 sts tmpl2.29,__zero_reg__
		2121	2362 1024 1092 0000 sts (tmpl2.29)+1,__zero_reg__
		2122	2363 1028 1092 0000 sts (tmpl2.29)+2,__zero_reg__
		2123	2364 102c 1092 0000 sts (tmpl2.29)+3,__zero_reg__
		2124	2365 1030 1092 0000 sts tmpl.28,__zero_reg__
		2125	2366 1034 1092 0000 sts (tmpl.28)+1,__zero_reg__
		2126	2367 1038 1092 0000 sts (tmpl.28)+2,__zero_reg__
		2127	2368 103c 1092 0000 sts (tmpl.28)+3,__zero_reg__
		2128	2369 .L98:
		2129	2370 1040 8091 0000 lds r24,tmpl2.29
		2130	2371 1044 9091 0000 lds r25,(tmpl2.29)+1
		2131	2372 1048 A091 0000 lds r26,(tmpl2.29)+2
		2132	2373 104c B091 0000 lds r27,(tmpl2.29)+3
		2133	2374 1050 BC01 movw r22,r24
		2134	2375 1052 CD01 movw r24,r26
		2135	2376 1054 24E6 ldi r18,lo8(100)
		2136	2377 1056 30E0 ldi r19,hi8(100)
		2137	2378 1058 40E0 ldi r20,hlo8(100)
		2138	2379 105a 50E0 ldi r21,hhi8(100)
		2139	2380 105c 0E94 0000 call __divmodsi4
		2140	2381 1060 E090 0000 lds r14,tmpl.28
		2141	2382 1064 F090 0000 lds r15,(tmpl.28)+1
		2142	2383 1068 E21A sub r14,r18
		2143	2384 106a F30A sbc r15,r19
		2144	2385 106c F092 0000 sts (TrimRoll)+1,r15
		2145	2386 1070 E092 0000 sts TrimRoll,r14
		2146	2387 1074 8091 0000 lds r24,tmpl.28
		2147	2388 1078 9091 0000 lds r25,(tmpl.28)+1
		2148	2389 107c A091 0000 lds r26,(tmpl.28)+2
		2149	2390 1080 B091 0000 lds r27,(tmpl.28)+3
		2150	2391 1084 BC01 movw r22,r24
		2151	2392 1086 CD01 movw r24,r26
		2152	2393 1088 24E6 ldi r18,lo8(100)
		2153	2394 108a 30E0 ldi r19,hi8(100)
		2154	2395 108c 40E0 ldi r20,hlo8(100)
		2155	2396 108e 50E0 ldi r21,hhi8(100)
		2156	2397 1090 0E94 0000 call __divmodsi4
		2157	2398 1094 DA01 movw r26,r20
		2158	2399 1096 C901 movw r24,r18
		2159	2400 1098 2091 0000 lds r18,tmpl2.29
		2160	2401 109c 3091 0000 lds r19,(tmpl2.29)+1
		2161	2402 10a0 8C01 movw r16,r24
		2162	2403 10a2 021B sub r16,r18
		2163	2404 10a4 130B sbc r17,r19
		2164	2405 10a6 1093 0000 sts (TrimNick)+1,r17
		2165	2406 10aa 0093 0000 sts TrimNick,r16
		2166	2407 10ae 8091 0000 lds r24,GIER_GRAD_FAKTOR
		2167	2408 10b2 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1
		2168	2409 10b6 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2
		2169	2410 10ba B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3
		2170	2411 10be BC01 movw r22,r24
		2171	2412 10c0 CD01 movw r24,r26
		2172	2413 10c2 28E6 ldi r18,lo8(360)
		2173	2414 10c4 31E0 ldi r19,hi8(360)
		2174	2415 10c6 40E0 ldi r20,hlo8(360)
		2175	2416 10c8 50E0 ldi r21,hhi8(360)
		2176	2417 10ca 0E94 0000 call __mulsi3
		2177	2418 10ce 2091 0000 lds r18,ErsatzKompass
		2178	2419 10d2 3091 0000 lds r19,(ErsatzKompass)+1
		2179	2420 10d6 4091 0000 lds r20,(ErsatzKompass)+2
		2180	2421 10da 5091 0000 lds r21,(ErsatzKompass)+3
		2181	2422 10de 2617 cp r18,r22
		2182	2423 10e0 3707 cpc r19,r23
		2183	2424 10e2 4807 cpc r20,r24
		2184	2425 10e4 5907 cpc r21,r25
		2185	2426 10e6 04F0 brlt .L99
		2186	2427 10e8 261B sub r18,r22
		2187	2428 10ea 370B sbc r19,r23
		2188	2429 10ec 480B sbc r20,r24
		2189	2430 10ee 590B sbc r21,r25
		2190	2431 10f0 2093 0000 sts ErsatzKompass,r18
		2191	2432 10f4 3093 0000 sts (ErsatzKompass)+1,r19
		2192	2433 10f8 4093 0000 sts (ErsatzKompass)+2,r20
		2193	2434 10fc 5093 0000 sts (ErsatzKompass)+3,r21
		2194	2435 .L99:
		2195	2436 1100 2091 0000 lds r18,ErsatzKompass
		2196	2437 1104 3091 0000 lds r19,(ErsatzKompass)+1
		2197	2438 1108 4091 0000 lds r20,(ErsatzKompass)+2
		2198	2439 110c 5091 0000 lds r21,(ErsatzKompass)+3
		2199	2440 1110 57FF sbrs r21,7
		2200	2441 1112 00C0 rjmp .L100
		2201	2442 1114 260F add r18,r22
		2202	2443 1116 371F adc r19,r23
		2203	2444 1118 481F adc r20,r24
		2204	2445 111a 591F adc r21,r25
		2205	2446 111c 2093 0000 sts ErsatzKompass,r18
		2206	2447 1120 3093 0000 sts (ErsatzKompass)+1,r19
		2207	2448 1124 4093 0000 sts (ErsatzKompass)+2,r20
		2208	2449 1128 5093 0000 sts (ErsatzKompass)+3,r21
		2209	2450 .L100:
		2210	2451 112c 6091 0000 lds r22,MesswertRoll
		2211	2452 1130 7091 0000 lds r23,(MesswertRoll)+1
		2212	2453 1134 6E0D add r22,r14
		2213	2454 1136 7F1D adc r23,r15
		2214	2455 1138 9B01 movw r18,r22
		2215	2456 113a 4427 clr r20
		2216	2457 113c 37FD sbrc r19,7
		2217	2458 113e 4095 com r20
		2218	2459 1140 542F mov r21,r20
		2219	2460 1142 8091 0000 lds r24,Mess_IntegralRoll2
		2220	2461 1146 9091 0000 lds r25,(Mess_IntegralRoll2)+1
		2221	2462 114a A091 0000 lds r26,(Mess_IntegralRoll2)+2
		2222	2463 114e B091 0000 lds r27,(Mess_IntegralRoll2)+3
		2223	2464 1152 820F add r24,r18
		2224	2465 1154 931F adc r25,r19
		2225	2466 1156 A41F adc r26,r20
		2226	2467 1158 B51F adc r27,r21
		2227	2468 115a 8093 0000 sts Mess_IntegralRoll2,r24
		2228	2469 115e 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		2229	2470 1162 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		2230	2471 1166 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		2231	2472 116a 8091 0000 lds r24,LageKorrekturRoll
		2232	2473 116e 9091 0000 lds r25,(LageKorrekturRoll)+1
		2233	2474 1172 681B sub r22,r24
		2234	2475 1174 790B sbc r23,r25
		2235	2476 1176 CB01 movw r24,r22
		2236	2477 1178 AA27 clr r26
		2237	2478 117a 97FD sbrc r25,7
		2238	2479 117c A095 com r26
		2239	2480 117e BA2F mov r27,r26
		2240	2481 1180 2985 ldd r18,Y+9
		2241	2482 1182 3A85 ldd r19,Y+10
		2242	2483 1184 4B85 ldd r20,Y+11
		2243	2484 1186 5C85 ldd r21,Y+12
		2244	2485 1188 820F add r24,r18
		2245	2486 118a 931F adc r25,r19
		2246	2487 118c A41F adc r26,r20
		2247	2488 118e B51F adc r27,r21
		2248	2489 1190 8093 0000 sts Mess_IntegralRoll,r24
		2249	2490 1194 9093 0000 sts (Mess_IntegralRoll)+1,r25
		2250	2491 1198 A093 0000 sts (Mess_IntegralRoll)+2,r26
		2251	2492 119c B093 0000 sts (Mess_IntegralRoll)+3,r27
		2252	2493 11a0 C090 0000 lds r12,Umschlag180Roll
		2253	2494 11a4 D090 0000 lds r13,(Umschlag180Roll)+1
		2254	2495 11a8 E090 0000 lds r14,(Umschlag180Roll)+2
		2255	2496 11ac F090 0000 lds r15,(Umschlag180Roll)+3
		2256	2497 11b0 C816 cp r12,r24
		2257	2498 11b2 D906 cpc r13,r25
		2258	2499 11b4 EA06 cpc r14,r26
		2259	2500 11b6 FB06 cpc r15,r27
		2260	2501 11b8 04F4 brge .L101
		2261	2502 11ba 88EA ldi r24,lo8(25000)
		2262	2503 11bc 91E6 ldi r25,hi8(25000)
		2263	2504 11be A0E0 ldi r26,hlo8(25000)
		2264	2505 11c0 B0E0 ldi r27,hhi8(25000)
		2265	2506 11c2 8C19 sub r24,r12
		2266	2507 11c4 9D09 sbc r25,r13
		2267	2508 11c6 AE09 sbc r26,r14
		2268	2509 11c8 BF09 sbc r27,r15
		2269	2510 11ca 8093 0000 sts Mess_IntegralRoll,r24
		2270	2511 11ce 9093 0000 sts (Mess_IntegralRoll)+1,r25
		2271	2512 11d2 A093 0000 sts (Mess_IntegralRoll)+2,r26
		2272	2513 11d6 B093 0000 sts (Mess_IntegralRoll)+3,r27
		2273	2514 11da 8093 0000 sts Mess_IntegralRoll2,r24
		2274	2515 11de 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		2275	2516 11e2 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		2276	2517 11e6 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		2277	2518 .L101:
		2278	2519 11ea 2227 clr r18
		2279	2520 11ec 3327 clr r19
		2280	2521 11ee A901 movw r20,r18
		2281	2522 11f0 2C19 sub r18,r12
		2282	2523 11f2 3D09 sbc r19,r13
		2283	2524 11f4 4E09 sbc r20,r14
		2284	2525 11f6 5F09 sbc r21,r15
		2285	2526 11f8 8091 0000 lds r24,Mess_IntegralRoll
		2286	2527 11fc 9091 0000 lds r25,(Mess_IntegralRoll)+1
		2287	2528 1200 A091 0000 lds r26,(Mess_IntegralRoll)+2
		2288	2529 1204 B091 0000 lds r27,(Mess_IntegralRoll)+3
		2289	2530 1208 8217 cp r24,r18
		2290	2531 120a 9307 cpc r25,r19
		2291	2532 120c A407 cpc r26,r20
		2292	2533 120e B507 cpc r27,r21
		2293	2534 1210 04F4 brge .L102
		2294	2535 1212 D701 movw r26,r14
		2295	2536 1214 C601 movw r24,r12
		2296	2537 1216 885A subi r24,lo8(-(-25000))
		2297	2538 1218 9146 sbci r25,hi8(-(-25000))
		2298	2539 121a A040 sbci r26,hlo8(-(-25000))
		2299	2540 121c B040 sbci r27,hhi8(-(-25000))
		2300	2541 121e 8093 0000 sts Mess_IntegralRoll,r24
		2301	2542 1222 9093 0000 sts (Mess_IntegralRoll)+1,r25
		2302	2543 1226 A093 0000 sts (Mess_IntegralRoll)+2,r26
		2303	2544 122a B093 0000 sts (Mess_IntegralRoll)+3,r27
		2304	2545 122e 8093 0000 sts Mess_IntegralRoll2,r24
		2305	2546 1232 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		2306	2547 1236 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		2307	2548 123a B093 0000 sts (Mess_IntegralRoll2)+3,r27
		2308	2549 .L102:
		2309	2550 123e 6091 0000 lds r22,MesswertNick
		2310	2551 1242 7091 0000 lds r23,(MesswertNick)+1
		2311	2552 1246 600F add r22,r16
		2312	2553 1248 711F adc r23,r17
		2313	2554 124a 9B01 movw r18,r22
		2314	2555 124c 4427 clr r20
		2315	2556 124e 37FD sbrc r19,7
		2316	2557 1250 4095 com r20
		2317	2558 1252 542F mov r21,r20
		2318	2559 1254 8091 0000 lds r24,Mess_IntegralNick2
		2319	2560 1258 9091 0000 lds r25,(Mess_IntegralNick2)+1
		2320	2561 125c A091 0000 lds r26,(Mess_IntegralNick2)+2
		2321	2562 1260 B091 0000 lds r27,(Mess_IntegralNick2)+3
		2322	2563 1264 820F add r24,r18
		2323	2564 1266 931F adc r25,r19
		2324	2565 1268 A41F adc r26,r20
		2325	2566 126a B51F adc r27,r21
		2326	2567 126c 8093 0000 sts Mess_IntegralNick2,r24
		2327	2568 1270 9093 0000 sts (Mess_IntegralNick2)+1,r25
		2328	2569 1274 A093 0000 sts (Mess_IntegralNick2)+2,r26
		2329	2570 1278 B093 0000 sts (Mess_IntegralNick2)+3,r27
		2330	2571 127c 8091 0000 lds r24,LageKorrekturNick
		2331	2572 1280 9091 0000 lds r25,(LageKorrekturNick)+1
		2332	2573 1284 681B sub r22,r24
		2333	2574 1286 790B sbc r23,r25
		2334	2575 1288 CB01 movw r24,r22
		2335	2576 128a AA27 clr r26
		2336	2577 128c 97FD sbrc r25,7
		2337	2578 128e A095 com r26
		2338	2579 1290 BA2F mov r27,r26
		2339	2580 1292 2D85 ldd r18,Y+13
		2340	2581 1294 3E85 ldd r19,Y+14
		2341	2582 1296 4F85 ldd r20,Y+15
		2342	2583 1298 5889 ldd r21,Y+16
		2343	2584 129a 820F add r24,r18
		2344	2585 129c 931F adc r25,r19
		2345	2586 129e A41F adc r26,r20
		2346	2587 12a0 B51F adc r27,r21
		2347	2588 12a2 8093 0000 sts Mess_IntegralNick,r24
		2348	2589 12a6 9093 0000 sts (Mess_IntegralNick)+1,r25
		2349	2590 12aa A093 0000 sts (Mess_IntegralNick)+2,r26
		2350	2591 12ae B093 0000 sts (Mess_IntegralNick)+3,r27
		2351	2592 12b2 E090 0000 lds r14,Umschlag180Nick
		2352	2593 12b6 F090 0000 lds r15,(Umschlag180Nick)+1
		2353	2594 12ba 0091 0000 lds r16,(Umschlag180Nick)+2
		2354	2595 12be 1091 0000 lds r17,(Umschlag180Nick)+3
		2355	2596 12c2 E816 cp r14,r24
		2356	2597 12c4 F906 cpc r15,r25
		2357	2598 12c6 0A07 cpc r16,r26
		2358	2599 12c8 1B07 cpc r17,r27
		2359	2600 12ca 04F4 brge .L103
		2360	2601 12cc 88EA ldi r24,lo8(25000)
		2361	2602 12ce 91E6 ldi r25,hi8(25000)
		2362	2603 12d0 A0E0 ldi r26,hlo8(25000)
		2363	2604 12d2 B0E0 ldi r27,hhi8(25000)
		2364	2605 12d4 8E19 sub r24,r14
		2365	2606 12d6 9F09 sbc r25,r15
		2366	2607 12d8 A00B sbc r26,r16
		2367	2608 12da B10B sbc r27,r17
		2368	2609 12dc 8093 0000 sts Mess_IntegralNick,r24
		2369	2610 12e0 9093 0000 sts (Mess_IntegralNick)+1,r25
		2370	2611 12e4 A093 0000 sts (Mess_IntegralNick)+2,r26
		2371	2612 12e8 B093 0000 sts (Mess_IntegralNick)+3,r27
		2372	2613 12ec 8093 0000 sts Mess_IntegralNick2,r24
		2373	2614 12f0 9093 0000 sts (Mess_IntegralNick2)+1,r25
		2374	2615 12f4 A093 0000 sts (Mess_IntegralNick2)+2,r26
		2375	2616 12f8 B093 0000 sts (Mess_IntegralNick2)+3,r27
		2376	2617 .L103:
		2377	2618 12fc 2227 clr r18
		2378	2619 12fe 3327 clr r19
		2379	2620 1300 A901 movw r20,r18
		2380	2621 1302 2E19 sub r18,r14
		2381	2622 1304 3F09 sbc r19,r15
		2382	2623 1306 400B sbc r20,r16
		2383	2624 1308 510B sbc r21,r17
		2384	2625 130a 8091 0000 lds r24,Mess_IntegralNick
		2385	2626 130e 9091 0000 lds r25,(Mess_IntegralNick)+1
		2386	2627 1312 A091 0000 lds r26,(Mess_IntegralNick)+2
		2387	2628 1316 B091 0000 lds r27,(Mess_IntegralNick)+3
		2388	2629 131a 8217 cp r24,r18
		2389	2630 131c 9307 cpc r25,r19
		2390	2631 131e A407 cpc r26,r20
		2391	2632 1320 B507 cpc r27,r21
		2392	2633 1322 04F4 brge .L104
		2393	2634 1324 D801 movw r26,r16
		2394	2635 1326 C701 movw r24,r14
		2395	2636 1328 885A subi r24,lo8(-(-25000))
		2396	2637 132a 9146 sbci r25,hi8(-(-25000))
		2397	2638 132c A040 sbci r26,hlo8(-(-25000))
		2398	2639 132e B040 sbci r27,hhi8(-(-25000))
		2399	2640 1330 8093 0000 sts Mess_IntegralNick,r24
		2400	2641 1334 9093 0000 sts (Mess_IntegralNick)+1,r25
		2401	2642 1338 A093 0000 sts (Mess_IntegralNick)+2,r26
		2402	2643 133c B093 0000 sts (Mess_IntegralNick)+3,r27
		2403	2644 1340 8093 0000 sts Mess_IntegralNick2,r24
		2404	2645 1344 9093 0000 sts (Mess_IntegralNick2)+1,r25
		2405	2646 1348 A093 0000 sts (Mess_IntegralNick2)+2,r26
		2406	2647 134c B093 0000 sts (Mess_IntegralNick2)+3,r27
		2407	2648 .L104:
		2408	2649 1350 8091 0000 lds r24,Mess_Integral_Gier
		2409	2650 1354 9091 0000 lds r25,(Mess_Integral_Gier)+1
		2410	2651 1358 A091 0000 lds r26,(Mess_Integral_Gier)+2
		2411	2652 135c B091 0000 lds r27,(Mess_Integral_Gier)+3
		2412	2653 1360 8093 0000 sts Integral_Gier,r24
		2413	2654 1364 9093 0000 sts (Integral_Gier)+1,r25
		2414	2655 1368 A093 0000 sts (Integral_Gier)+2,r26
		2415	2656 136c B093 0000 sts (Integral_Gier)+3,r27
		2416	2657 1370 8091 0000 lds r24,Mess_IntegralNick
		2417	2658 1374 9091 0000 lds r25,(Mess_IntegralNick)+1
		2418	2659 1378 A091 0000 lds r26,(Mess_IntegralNick)+2
		2419	2660 137c B091 0000 lds r27,(Mess_IntegralNick)+3
		2420	2661 1380 8093 0000 sts IntegralNick,r24
		2421	2662 1384 9093 0000 sts (IntegralNick)+1,r25
		2422	2663 1388 A093 0000 sts (IntegralNick)+2,r26
		2423	2664 138c B093 0000 sts (IntegralNick)+3,r27
		2424	2665 1390 8091 0000 lds r24,Mess_IntegralRoll
		2425	2666 1394 9091 0000 lds r25,(Mess_IntegralRoll)+1
		2426	2667 1398 A091 0000 lds r26,(Mess_IntegralRoll)+2
		2427	2668 139c B091 0000 lds r27,(Mess_IntegralRoll)+3
		2428	2669 13a0 8093 0000 sts IntegralRoll,r24
		2429	2670 13a4 9093 0000 sts (IntegralRoll)+1,r25
		2430	2671 13a8 A093 0000 sts (IntegralRoll)+2,r26
		2431	2672 13ac B093 0000 sts (IntegralRoll)+3,r27
		2432	2673 13b0 8091 0000 lds r24,Mess_IntegralNick2
		2433	2674 13b4 9091 0000 lds r25,(Mess_IntegralNick2)+1
		2434	2675 13b8 A091 0000 lds r26,(Mess_IntegralNick2)+2
		2435	2676 13bc B091 0000 lds r27,(Mess_IntegralNick2)+3
		2436	2677 13c0 8093 0000 sts IntegralNick2,r24
		2437	2678 13c4 9093 0000 sts (IntegralNick2)+1,r25
		2438	2679 13c8 A093 0000 sts (IntegralNick2)+2,r26
		2439	2680 13cc B093 0000 sts (IntegralNick2)+3,r27
		2440	2681 13d0 8091 0000 lds r24,Mess_IntegralRoll2
		2441	2682 13d4 9091 0000 lds r25,(Mess_IntegralRoll2)+1
		2442	2683 13d8 A091 0000 lds r26,(Mess_IntegralRoll2)+2
		2443	2684 13dc B091 0000 lds r27,(Mess_IntegralRoll2)+3
		2444	2685 13e0 8093 0000 sts IntegralRoll2,r24
		2445	2686 13e4 9093 0000 sts (IntegralRoll2)+1,r25
		2446	2687 13e8 A093 0000 sts (IntegralRoll2)+2,r26
		2447	2688 13ec B093 0000 sts (IntegralRoll2)+3,r27
		2448	2689 13f0 8091 0000 lds r24,HiResNick
		2449	2690 13f4 9091 0000 lds r25,(HiResNick)+1
		2450	2691 13f8 97FD sbrc r25,7
		2451	2692 13fa 0796 adiw r24,7
		2452	2693 .L105:
		2453	2694 13fc 03E0 ldi r16,3
		2454	2695 13fe 9595 1: asr r25
		2455	2696 1400 8795 ror r24
		2456	2697 1402 0A95 dec r16
		2457	2698 1404 01F4 brne 1b
		2458	2699 1406 9093 0000 sts (MesswertNick)+1,r25
		2459	2700 140a 8093 0000 sts MesswertNick,r24
		2460	2701 140e 8091 0000 lds r24,HiResRoll
		2461	2702 1412 9091 0000 lds r25,(HiResRoll)+1
		2462	2703 1416 97FD sbrc r25,7
		2463	2704 1418 0796 adiw r24,7
		2464	2705 .L106:
		2465	2706 141a 13E0 ldi r17,3
		2466	2707 141c 9595 1: asr r25
		2467	2708 141e 8795 ror r24
		2468	2709 1420 1A95 dec r17
		2469	2710 1422 01F4 brne 1b
		2470	2711 1424 9093 0000 sts (MesswertRoll)+1,r25
		2471	2712 1428 8093 0000 sts MesswertRoll,r24
		2472	2713 142c 8091 0000 lds r24,AdWertNick
		2473	2714 1430 9091 0000 lds r25,(AdWertNick)+1
		2474	2715 1434 0F97 sbiw r24,15
		2475	2716 1436 04F4 brge .L107
		2476	2717 1438 88E1 ldi r24,lo8(-1000)
		2477	2718 143a 9CEF ldi r25,hi8(-1000)
		2478	2719 143c 9093 0000 sts (MesswertNick)+1,r25
		2479	2720 1440 8093 0000 sts MesswertNick,r24
		2480	2721 .L107:
		2481	2722 1444 8091 0000 lds r24,AdWertNick
		2482	2723 1448 9091 0000 lds r25,(AdWertNick)+1
		2483	2724 144c 0797 sbiw r24,7
		2484	2725 144e 04F4 brge .L108
		2485	2726 1450 80E3 ldi r24,lo8(-2000)
		2486	2727 1452 98EF ldi r25,hi8(-2000)
		2487	2728 1454 9093 0000 sts (MesswertNick)+1,r25
		2488	2729 1458 8093 0000 sts MesswertNick,r24
		2489	2730 .L108:
		2490	2731 145c 2091 0000 lds r18,PlatinenVersion
		2491	2732 1460 2A30 cpi r18,lo8(10)
		2492	2733 1462 01F4 brne .L109
		2493	2734 1464 8091 0000 lds r24,AdWertNick
		2494	2735 1468 9091 0000 lds r25,(AdWertNick)+1
		2495	2736 146c 835F subi r24,lo8(1011)
		2496	2737 146e 9340 sbci r25,hi8(1011)
		2497	2738 1470 04F0 brlt .L110
		2498	2739 1472 88EE ldi r24,lo8(1000)
		2499	2740 1474 93E0 ldi r25,hi8(1000)
		2500	2741 1476 9093 0000 sts (MesswertNick)+1,r25
		2501	2742 147a 8093 0000 sts MesswertNick,r24
		2502	2743 .L110:
		2503	2744 147e 8091 0000 lds r24,AdWertNick
		2504	2745 1482 9091 0000 lds r25,(AdWertNick)+1
		2505	2746 1486 8A5F subi r24,lo8(1018)
		2506	2747 1488 9340 sbci r25,hi8(1018)
		2507	2748 148a 04F0 brlt .L112
		2508	2749 148c 00C0 rjmp .L155
		2509	2750 .L109:
		2510	2751 148e 8091 0000 lds r24,AdWertNick
		2511	2752 1492 9091 0000 lds r25,(AdWertNick)+1
		2512	2753 1496 815D subi r24,lo8(2001)
		2513	2754 1498 9740 sbci r25,hi8(2001)
		2514	2755 149a 04F0 brlt .L113
		2515	2756 149c 88EE ldi r24,lo8(1000)
		2516	2757 149e 93E0 ldi r25,hi8(1000)
		2517	2758 14a0 9093 0000 sts (MesswertNick)+1,r25
		2518	2759 14a4 8093 0000 sts MesswertNick,r24
		2519	2760 .L113:
		2520	2761 14a8 8091 0000 lds r24,AdWertNick
		2521	2762 14ac 9091 0000 lds r25,(AdWertNick)+1
		2522	2763 14b0 805E subi r24,lo8(2016)
		2523	2764 14b2 9740 sbci r25,hi8(2016)
		2524	2765 14b4 04F0 brlt .L112
		2525	2766 .L155:
		2526	2767 14b6 80ED ldi r24,lo8(2000)
		2527	2768 14b8 97E0 ldi r25,hi8(2000)
		2528	2769 14ba 9093 0000 sts (MesswertNick)+1,r25
		2529	2770 14be 8093 0000 sts MesswertNick,r24
		2530	2771 .L112:
		2531	2772 14c2 8091 0000 lds r24,AdWertRoll
		2532	2773 14c6 9091 0000 lds r25,(AdWertRoll)+1
		2533	2774 14ca 0F97 sbiw r24,15
		2534	2775 14cc 04F4 brge .L115
		2535	2776 14ce 88E1 ldi r24,lo8(-1000)
		2536	2777 14d0 9CEF ldi r25,hi8(-1000)
		2537	2778 14d2 9093 0000 sts (MesswertRoll)+1,r25
		2538	2779 14d6 8093 0000 sts MesswertRoll,r24
		2539	2780 .L115:
		2540	2781 14da 8091 0000 lds r24,AdWertRoll
		2541	2782 14de 9091 0000 lds r25,(AdWertRoll)+1
		2542	2783 14e2 0797 sbiw r24,7
		2543	2784 14e4 04F4 brge .L116
		2544	2785 14e6 80E3 ldi r24,lo8(-2000)
		2545	2786 14e8 98EF ldi r25,hi8(-2000)
		2546	2787 14ea 9093 0000 sts (MesswertRoll)+1,r25
		2547	2788 14ee 8093 0000 sts MesswertRoll,r24
		2548	2789 .L116:
		2549	2790 14f2 2A30 cpi r18,lo8(10)
		2550	2791 14f4 01F4 brne .L117
		2551	2792 14f6 8091 0000 lds r24,AdWertRoll
		2552	2793 14fa 9091 0000 lds r25,(AdWertRoll)+1
		2553	2794 14fe 835F subi r24,lo8(1011)
		2554	2795 1500 9340 sbci r25,hi8(1011)
		2555	2796 1502 04F0 brlt .L118
		2556	2797 1504 88EE ldi r24,lo8(1000)
		2557	2798 1506 93E0 ldi r25,hi8(1000)
		2558	2799 1508 9093 0000 sts (MesswertRoll)+1,r25
		2559	2800 150c 8093 0000 sts MesswertRoll,r24
		2560	2801 .L118:
		2561	2802 1510 8091 0000 lds r24,AdWertRoll
		2562	2803 1514 9091 0000 lds r25,(AdWertRoll)+1
		2563	2804 1518 8A5F subi r24,lo8(1018)
		2564	2805 151a 9340 sbci r25,hi8(1018)
		2565	2806 151c 04F0 brlt .L120
		2566	2807 151e 00C0 rjmp .L156
		2567	2808 .L117:
		2568	2809 1520 8091 0000 lds r24,AdWertRoll
		2569	2810 1524 9091 0000 lds r25,(AdWertRoll)+1
		2570	2811 1528 815D subi r24,lo8(2001)
		2571	2812 152a 9740 sbci r25,hi8(2001)
		2572	2813 152c 04F0 brlt .L121
		2573	2814 152e 88EE ldi r24,lo8(1000)
		2574	2815 1530 93E0 ldi r25,hi8(1000)
		2575	2816 1532 9093 0000 sts (MesswertRoll)+1,r25
		2576	2817 1536 8093 0000 sts MesswertRoll,r24
		2577	2818 .L121:
		2578	2819 153a 8091 0000 lds r24,AdWertRoll
		2579	2820 153e 9091 0000 lds r25,(AdWertRoll)+1
		2580	2821 1542 805E subi r24,lo8(2016)
		2581	2822 1544 9740 sbci r25,hi8(2016)
		2582	2823 1546 04F0 brlt .L120
		2583	2824 .L156:
		2584	2825 1548 80ED ldi r24,lo8(2000)
		2585	2826 154a 97E0 ldi r25,hi8(2000)
		2586	2827 154c 9093 0000 sts (MesswertRoll)+1,r25
		2587	2828 1550 8093 0000 sts MesswertRoll,r24
		2588	2829 .L120:
		2589	2830 1554 6091 0000 lds r22,Parameter_Gyro_D
		2590	2831 1558 6623 tst r22
		2591	2832 155a 01F4 brne .+2
		2592	2833 155c 00C0 rjmp .L123
		2593	2834 155e 4091 0000 lds r20,HiResNick
		2594	2835 1562 5091 0000 lds r21,(HiResNick)+1
		2595	2836 1566 8091 0000 lds r24,oldNick.32
		2596	2837 156a 9091 0000 lds r25,(oldNick.32)+1
		2597	2838 156e 481B sub r20,r24
		2598	2839 1570 590B sbc r21,r25
		2599	2840 1572 5093 0000 sts (d2Nick.35)+1,r21
		2600	2841 1576 4093 0000 sts d2Nick.35,r20
		2601	2842 157a 2091 0000 lds r18,HiResNick
		2602	2843 157e 3091 0000 lds r19,(HiResNick)+1
		2603	2844 1582 280F add r18,r24
		2604	2845 1584 391F adc r19,r25
		2605	2846 1586 37FF sbrs r19,7
		2606	2847 1588 00C0 rjmp .L124
		2607	2848 158a 2F5F subi r18,lo8(-(1))
		2608	2849 158c 3F4F sbci r19,hi8(-(1))
		2609	2850 .L124:
		2610	2851 158e 3595 asr r19
		2611	2852 1590 2795 ror r18
		2612	2853 1592 3093 0000 sts (oldNick.32)+1,r19
		2613	2854 1596 2093 0000 sts oldNick.32,r18
		2614	2855 159a 4138 cpi r20,129
		2615	2856 159c 5105 cpc r21,__zero_reg__
		2616	2857 159e 04F0 brlt .L125
		2617	2858 15a0 80E8 ldi r24,lo8(128)
		2618	2859 15a2 90E0 ldi r25,hi8(128)
		2619	2860 15a4 00C0 rjmp .L157
		2620	2861 .L125:
		2621	2862 15a6 4058 subi r20,lo8(-128)
		2622	2863 15a8 5F4F sbci r21,hi8(-128)
		2623	2864 15aa 04F4 brge .L126
		2624	2865 15ac 80E8 ldi r24,lo8(-128)
		2625	2866 15ae 9FEF ldi r25,hi8(-128)
		2626	2867 .L157:
		2627	2868 15b0 9093 0000 sts (d2Nick.35)+1,r25
		2628	2869 15b4 8093 0000 sts d2Nick.35,r24
		2629	2870 .L126:
		2630	2871 15b8 4091 0000 lds r20,HiResRoll
		2631	2872 15bc 5091 0000 lds r21,(HiResRoll)+1
		2632	2873 15c0 8091 0000 lds r24,oldRoll.33
		2633	2874 15c4 9091 0000 lds r25,(oldRoll.33)+1
		2634	2875 15c8 481B sub r20,r24
		2635	2876 15ca 590B sbc r21,r25
		2636	2877 15cc 5093 0000 sts (d2Roll.34)+1,r21
		2637	2878 15d0 4093 0000 sts d2Roll.34,r20
		2638	2879 15d4 2091 0000 lds r18,HiResRoll
		2639	2880 15d8 3091 0000 lds r19,(HiResRoll)+1
		2640	2881 15dc 280F add r18,r24
		2641	2882 15de 391F adc r19,r25
		2642	2883 15e0 37FF sbrs r19,7
		2643	2884 15e2 00C0 rjmp .L128
		2644	2885 15e4 2F5F subi r18,lo8(-(1))
		2645	2886 15e6 3F4F sbci r19,hi8(-(1))
		2646	2887 .L128:
		2647	2888 15e8 3595 asr r19
		2648	2889 15ea 2795 ror r18
		2649	2890 15ec 3093 0000 sts (oldRoll.33)+1,r19
		2650	2891 15f0 2093 0000 sts oldRoll.33,r18
		2651	2892 15f4 4138 cpi r20,129
		2652	2893 15f6 5105 cpc r21,__zero_reg__
		2653	2894 15f8 04F0 brlt .L129
		2654	2895 15fa 80E8 ldi r24,lo8(128)
		2655	2896 15fc 90E0 ldi r25,hi8(128)
		2656	2897 15fe 00C0 rjmp .L158
		2657	2898 .L129:
		2658	2899 1600 4058 subi r20,lo8(-128)
		2659	2900 1602 5F4F sbci r21,hi8(-128)
		2660	2901 1604 04F4 brge .L130
		2661	2902 1606 80E8 ldi r24,lo8(-128)
		2662	2903 1608 9FEF ldi r25,hi8(-128)
		2663	2904 .L158:
		2664	2905 160a 9093 0000 sts (d2Roll.34)+1,r25
		2665	2906 160e 8093 0000 sts d2Roll.34,r24
		2666	2907 .L130:
		2667	2908 1612 462F mov r20,r22
		2668	2909 1614 5527 clr r21
		2669	2910 1616 8091 0000 lds r24,d2Nick.35
		2670	2911 161a 9091 0000 lds r25,(d2Nick.35)+1
		2671	2912 161e 849F mul r24,r20
		2672	2913 1620 B001 movw r22,r0
		2673	2914 1622 859F mul r24,r21
		2674	2915 1624 700D add r23,r0
		2675	2916 1626 949F mul r25,r20
		2676	2917 1628 700D add r23,r0
		2677	2918 162a 1124 clr r1
		2678	2919 162c 9B01 movw r18,r22
		2679	2920 162e 77FF sbrs r23,7
		2680	2921 1630 00C0 rjmp .L132
		2681	2922 1632 215F subi r18,lo8(-(15))
		2682	2923 1634 3F4F sbci r19,hi8(-(15))
		2683	2924 .L132:
		2684	2925 1636 F4E0 ldi r31,4
		2685	2926 1638 3595 1: asr r19
		2686	2927 163a 2795 ror r18
		2687	2928 163c FA95 dec r31
		2688	2929 163e 01F4 brne 1b
		2689	2930 1640 8091 0000 lds r24,MesswertNick
		2690	2931 1644 9091 0000 lds r25,(MesswertNick)+1
		2691	2932 1648 820F add r24,r18
		2692	2933 164a 931F adc r25,r19
		2693	2934 164c 9093 0000 sts (MesswertNick)+1,r25
		2694	2935 1650 8093 0000 sts MesswertNick,r24
		2695	2936 1654 8091 0000 lds r24,d2Roll.34
		2696	2937 1658 9091 0000 lds r25,(d2Roll.34)+1
		2697	2938 165c 849F mul r24,r20
		2698	2939 165e D001 movw r26,r0
		2699	2940 1660 859F mul r24,r21
		2700	2941 1662 B00D add r27,r0
		2701	2942 1664 949F mul r25,r20
		2702	2943 1666 B00D add r27,r0
		2703	2944 1668 1124 clr r1
		2704	2945 166a AD01 movw r20,r26
		2705	2946 166c 9D01 movw r18,r26
		2706	2947 166e B7FF sbrs r27,7
		2707	2948 1670 00C0 rjmp .L133
		2708	2949 1672 215F subi r18,lo8(-(15))
		2709	2950 1674 3F4F sbci r19,hi8(-(15))
		2710	2951 .L133:
		2711	2952 1676 E4E0 ldi r30,4
		2712	2953 1678 3595 1: asr r19
		2713	2954 167a 2795 ror r18
		2714	2955 167c EA95 dec r30
		2715	2956 167e 01F4 brne 1b
		2716	2957 1680 8091 0000 lds r24,MesswertRoll
		2717	2958 1684 9091 0000 lds r25,(MesswertRoll)+1
		2718	2959 1688 820F add r24,r18
		2719	2960 168a 931F adc r25,r19
		2720	2961 168c 9093 0000 sts (MesswertRoll)+1,r25
		2721	2962 1690 8093 0000 sts MesswertRoll,r24
		2722	2963 1694 8091 0000 lds r24,HiResNick
		2723	2964 1698 9091 0000 lds r25,(HiResNick)+1
		2724	2965 169c 860F add r24,r22
		2725	2966 169e 971F adc r25,r23
		2726	2967 16a0 9093 0000 sts (HiResNick)+1,r25
		2727	2968 16a4 8093 0000 sts HiResNick,r24
		2728	2969 16a8 8091 0000 lds r24,HiResRoll
		2729	2970 16ac 9091 0000 lds r25,(HiResRoll)+1
		2730	2971 16b0 840F add r24,r20
		2731	2972 16b2 951F adc r25,r21
		2732	2973 16b4 9093 0000 sts (HiResRoll)+1,r25
		2733	2974 16b8 8093 0000 sts HiResRoll,r24
		2734	2975 .L123:
		2735	2976 16bc 0091 0000 lds r16,RohMesswertRoll
		2736	2977 16c0 1091 0000 lds r17,(RohMesswertRoll)+1
		2737	2978 16c4 8091 0000 lds r24,KopplungsteilNickRoll
		2738	2979 16c8 9091 0000 lds r25,(KopplungsteilNickRoll)+1
		2739	2980 16cc 1016 cp __zero_reg__,r16
		2740	2981 16ce 1106 cpc __zero_reg__,r17
		2741	2982 16d0 04F4 brge .L134
		2742	2983 16d2 9C01 movw r18,r24
		2743	2984 16d4 97FF sbrs r25,7
		2744	2985 16d6 00C0 rjmp .L135
		2745	2986 16d8 2227 clr r18
		2746	2987 16da 3327 clr r19
		2747	2988 16dc 281B sub r18,r24
		2748	2989 16de 390B sbc r19,r25
		2749	2990 .L135:
		2750	2991 16e0 C901 movw r24,r18
		2751	2992 16e2 AA27 clr r26
		2752	2993 16e4 97FD sbrc r25,7
		2753	2994 16e6 A095 com r26
		2754	2995 16e8 BA2F mov r27,r26
		2755	2996 16ea 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2756	2997 16ee 3327 clr r19
		2757	2998 16f0 4427 clr r20
		2758	2999 16f2 5527 clr r21
		2759	3000 16f4 BC01 movw r22,r24
		2760	3001 16f6 CD01 movw r24,r26
		2761	3002 16f8 0E94 0000 call __mulsi3
		2762	3003 16fc 9B01 movw r18,r22
		2763	3004 16fe AC01 movw r20,r24
		2764	3005 1700 97FF sbrs r25,7
		2765	3006 1702 00C0 rjmp .L136
		2766	3007 1704 215C subi r18,lo8(-(63))
		2767	3008 1706 3F4F sbci r19,hi8(-(63))
		2768	3009 1708 4F4F sbci r20,hlo8(-(63))
		2769	3010 170a 5F4F sbci r21,hhi8(-(63))
		2770	3011 .L136:
		2771	3012 170c 76E0 ldi r23,6
		2772	3013 170e 5595 1: asr r21
		2773	3014 1710 4795 ror r20
		2774	3015 1712 3795 ror r19
		2775	3016 1714 2795 ror r18
		2776	3017 1716 7A95 dec r23
		2777	3018 1718 01F4 brne 1b
		2778	3019 171a 8091 0000 lds r24,TrimRoll
		2779	3020 171e 9091 0000 lds r25,(TrimRoll)+1
		2780	3021 1722 820F add r24,r18
		2781	3022 1724 931F adc r25,r19
		2782	3023 1726 00C0 rjmp .L159
		2783	3024 .L134:
		2784	3025 1728 97FF sbrs r25,7
		2785	3026 172a 00C0 rjmp .L138
		2786	3027 172c 9095 com r25
		2787	3028 172e 8195 neg r24
		2788	3029 1730 9F4F sbci r25,lo8(-1)
		2789	3030 .L138:
		2790	3031 1732 AA27 clr r26
		2791	3032 1734 97FD sbrc r25,7
		2792	3033 1736 A095 com r26
		2793	3034 1738 BA2F mov r27,r26
		2794	3035 173a 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2795	3036 173e 3327 clr r19
		2796	3037 1740 4427 clr r20
		2797	3038 1742 5527 clr r21
		2798	3039 1744 BC01 movw r22,r24
		2799	3040 1746 CD01 movw r24,r26
		2800	3041 1748 0E94 0000 call __mulsi3
		2801	3042 174c 9B01 movw r18,r22
		2802	3043 174e AC01 movw r20,r24
		2803	3044 1750 97FF sbrs r25,7
		2804	3045 1752 00C0 rjmp .L139
		2805	3046 1754 215C subi r18,lo8(-(63))
		2806	3047 1756 3F4F sbci r19,hi8(-(63))
		2807	3048 1758 4F4F sbci r20,hlo8(-(63))
		2808	3049 175a 5F4F sbci r21,hhi8(-(63))
		2809	3050 .L139:
		2810	3051 175c 66E0 ldi r22,6
		2811	3052 175e 5595 1: asr r21
		2812	3053 1760 4795 ror r20
		2813	3054 1762 3795 ror r19
		2814	3055 1764 2795 ror r18
		2815	3056 1766 6A95 dec r22
		2816	3057 1768 01F4 brne 1b
		2817	3058 176a 8091 0000 lds r24,TrimRoll
		2818	3059 176e 9091 0000 lds r25,(TrimRoll)+1
		2819	3060 1772 821B sub r24,r18
		2820	3061 1774 930B sbc r25,r19
		2821	3062 .L159:
		2822	3063 1776 9093 0000 sts (TrimRoll)+1,r25
		2823	3064 177a 8093 0000 sts TrimRoll,r24
		2824	3065 177e E090 0000 lds r14,RohMesswertNick
		2825	3066 1782 F090 0000 lds r15,(RohMesswertNick)+1
		2826	3067 1786 8091 0000 lds r24,KopplungsteilRollNick
		2827	3068 178a 9091 0000 lds r25,(KopplungsteilRollNick)+1
		2828	3069 178e 1E14 cp __zero_reg__,r14
		2829	3070 1790 1F04 cpc __zero_reg__,r15
		2830	3071 1792 04F4 brge .L140
		2831	3072 1794 9C01 movw r18,r24
		2832	3073 1796 97FF sbrs r25,7
		2833	3074 1798 00C0 rjmp .L141
		2834	3075 179a 2227 clr r18
		2835	3076 179c 3327 clr r19
		2836	3077 179e 281B sub r18,r24
		2837	3078 17a0 390B sbc r19,r25
		2838	3079 .L141:
		2839	3080 17a2 C901 movw r24,r18
		2840	3081 17a4 AA27 clr r26
		2841	3082 17a6 97FD sbrc r25,7
		2842	3083 17a8 A095 com r26
		2843	3084 17aa BA2F mov r27,r26
		2844	3085 17ac 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2845	3086 17b0 3327 clr r19
		2846	3087 17b2 4427 clr r20
		2847	3088 17b4 5527 clr r21
		2848	3089 17b6 BC01 movw r22,r24
		2849	3090 17b8 CD01 movw r24,r26
		2850	3091 17ba 0E94 0000 call __mulsi3
		2851	3092 17be 9B01 movw r18,r22
		2852	3093 17c0 AC01 movw r20,r24
		2853	3094 17c2 97FF sbrs r25,7
		2854	3095 17c4 00C0 rjmp .L142
		2855	3096 17c6 215C subi r18,lo8(-(63))
		2856	3097 17c8 3F4F sbci r19,hi8(-(63))
		2857	3098 17ca 4F4F sbci r20,hlo8(-(63))
		2858	3099 17cc 5F4F sbci r21,hhi8(-(63))
		2859	3100 .L142:
		2860	3101 17ce 96E0 ldi r25,6
		2861	3102 17d0 5595 1: asr r21
		2862	3103 17d2 4795 ror r20
		2863	3104 17d4 3795 ror r19
		2864	3105 17d6 2795 ror r18
		2865	3106 17d8 9A95 dec r25
		2866	3107 17da 01F4 brne 1b
		2867	3108 17dc 8091 0000 lds r24,TrimNick
		2868	3109 17e0 9091 0000 lds r25,(TrimNick)+1
		2869	3110 17e4 820F add r24,r18
		2870	3111 17e6 931F adc r25,r19
		2871	3112 17e8 00C0 rjmp .L160
		2872	3113 .L140:
		2873	3114 17ea 97FF sbrs r25,7
		2874	3115 17ec 00C0 rjmp .L144
		2875	3116 17ee 9095 com r25
		2876	3117 17f0 8195 neg r24
		2877	3118 17f2 9F4F sbci r25,lo8(-1)
		2878	3119 .L144:
		2879	3120 17f4 AA27 clr r26
		2880	3121 17f6 97FD sbrc r25,7
		2881	3122 17f8 A095 com r26
		2882	3123 17fa BA2F mov r27,r26
		2883	3124 17fc 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2884	3125 1800 3327 clr r19
		2885	3126 1802 4427 clr r20
		2886	3127 1804 5527 clr r21
		2887	3128 1806 BC01 movw r22,r24
		2888	3129 1808 CD01 movw r24,r26
		2889	3130 180a 0E94 0000 call __mulsi3
		2890	3131 180e 9B01 movw r18,r22
		2891	3132 1810 AC01 movw r20,r24
		2892	3133 1812 97FF sbrs r25,7
		2893	3134 1814 00C0 rjmp .L145
		2894	3135 1816 215C subi r18,lo8(-(63))
		2895	3136 1818 3F4F sbci r19,hi8(-(63))
		2896	3137 181a 4F4F sbci r20,hlo8(-(63))
		2897	3138 181c 5F4F sbci r21,hhi8(-(63))
		2898	3139 .L145:
		2899	3140 181e 86E0 ldi r24,6
		2900	3141 1820 5595 1: asr r21
		2901	3142 1822 4795 ror r20
		2902	3143 1824 3795 ror r19
		2903	3144 1826 2795 ror r18
		2904	3145 1828 8A95 dec r24
		2905	3146 182a 01F4 brne 1b
		2906	3147 182c 8091 0000 lds r24,TrimNick
		2907	3148 1830 9091 0000 lds r25,(TrimNick)+1
		2908	3149 1834 821B sub r24,r18
		2909	3150 1836 930B sbc r25,r19
		2910	3151 .L160:
		2911	3152 1838 9093 0000 sts (TrimNick)+1,r25
		2912	3153 183c 8093 0000 sts TrimNick,r24
		2913	3154 1840 8091 0000 lds r24,Parameter_GlobalConfig
		2914	3155 1844 87FF sbrs r24,7
		2915	3156 1846 00C0 rjmp .L68
		2916	3157 1848 B989 ldd r27,Y+17
		2917	3158 184a BB23 tst r27
		2918	3159 184c 01F0 breq .+2
		2919	3160 184e 00C0 rjmp .L68
		2920	3161 1850 8091 0000 lds r24,Looping_Roll
		2921	3162 1854 8823 tst r24
		2922	3163 1856 01F4 brne .L68
		2923	3164 1858 E1E0 ldi r30,lo8(257)
		2924	3165 185a EE16 cp r14,r30
		2925	3166 185c E1E0 ldi r30,hi8(257)
		2926	3167 185e FE06 cpc r15,r30
		2927	3168 1860 04F0 brlt .L147
		2928	3169 1862 8091 0000 lds r24,MesswertNick
		2929	3170 1866 9091 0000 lds r25,(MesswertNick)+1
		2930	3171 186a 8E0D add r24,r14
		2931	3172 186c 9F1D adc r25,r15
		2932	3173 186e 8050 subi r24,lo8(-(-256))
		2933	3174 1870 9140 sbci r25,hi8(-(-256))
		2934	3175 1872 00C0 rjmp .L161
		2935	3176 .L147:
		2936	3177 1874 F0E0 ldi r31,lo8(-256)
		2937	3178 1876 EF16 cp r14,r31
		2938	3179 1878 FFEF ldi r31,hi8(-256)
		2939	3180 187a FF06 cpc r15,r31
		2940	3181 187c 04F4 brge .L148
		2941	3182 187e 8091 0000 lds r24,MesswertNick
		2942	3183 1882 9091 0000 lds r25,(MesswertNick)+1
		2943	3184 1886 8E0D add r24,r14
		2944	3185 1888 9F1D adc r25,r15
		2945	3186 188a 8050 subi r24,lo8(-(256))
		2946	3187 188c 9F4F sbci r25,hi8(-(256))
		2947	3188 .L161:
		2948	3189 188e 9093 0000 sts (MesswertNick)+1,r25
		2949	3190 1892 8093 0000 sts MesswertNick,r24
		2950	3191 .L148:
		2951	3192 1896 21E0 ldi r18,hi8(257)
		2952	3193 1898 0130 cpi r16,lo8(257)
		2953	3194 189a 1207 cpc r17,r18
		2954	3195 189c 04F0 brlt .L150
		2955	3196 189e 8091 0000 lds r24,MesswertRoll
		2956	3197 18a2 9091 0000 lds r25,(MesswertRoll)+1
		2957	3198 18a6 800F add r24,r16
		2958	3199 18a8 911F adc r25,r17
		2959	3200 18aa 8050 subi r24,lo8(-(-256))
		2960	3201 18ac 9140 sbci r25,hi8(-(-256))
		2961	3202 18ae 00C0 rjmp .L162
		2962	3203 .L150:
		2963	3204 18b0 3FEF ldi r19,hi8(-256)
		2964	3205 18b2 0030 cpi r16,lo8(-256)
		2965	3206 18b4 1307 cpc r17,r19
		2966	3207 18b6 04F4 brge .L68
		2967	3208 18b8 8091 0000 lds r24,MesswertRoll
		2968	3209 18bc 9091 0000 lds r25,(MesswertRoll)+1
		2969	3210 18c0 800F add r24,r16
		2970	3211 18c2 911F adc r25,r17
		2971	3212 18c4 8050 subi r24,lo8(-(256))
		2972	3213 18c6 9F4F sbci r25,hi8(-(256))
		2973	3214 .L162:
		2974	3215 18c8 9093 0000 sts (MesswertRoll)+1,r25
		2975	3216 18cc 8093 0000 sts MesswertRoll,r24
		2976	3217 .L68:
		2977	3218 /* epilogue: frame size=19 */
		2978	3219 18d0 E2E1 ldi r30,18
		2979	3220 18d2 CD5E subi r28,-19
		2980	3221 18d4 0C94 0000 jmp __epilogue_restores__+0
		2981	3222 /* epilogue end (size=4) */
		2982	3223 /* function Mittelwert size 2000 (1990) */
		2983	3225 .global SendMotorData
		2984	3227 SendMotorData:
		2985	3228 /* prologue: frame size=0 */
		2986	3229 /* prologue end (size=0) */
		2987	3230 18d8 8091 0000 lds r24,MotorenEin
		2988	3231 18dc 8823 tst r24
		2989	3232 18de 01F4 brne .L164
		2990	3233 18e0 8091 0000 lds r24,FC_StatusFlags
		2991	3234 18e4 8C7F andi r24,lo8(-4)
		2992	3235 18e6 8093 0000 sts FC_StatusFlags,r24
		2993	3236 18ea A0E0 ldi r26,lo8(MotorTest)
		2994	3237 18ec B0E0 ldi r27,hi8(MotorTest)
		2995	3238 18ee E0E0 ldi r30,lo8(Motor)
		2996	3239 18f0 F0E0 ldi r31,hi8(Motor)
		2997	3240 18f2 9BE0 ldi r25,lo8(11)
		2998	3241 .L169:
		2999	3242 18f4 8091 0000 lds r24,PC_MotortestActive
		3000	3243 18f8 8823 tst r24
		3001	3244 18fa 01F4 brne .L168
		3002	3245 18fc 8C93 st X,r24
		3003	3246 .L168:
		3004	3247 18fe 8D91 ld r24,X+
		3005	3248 1900 8183 std Z+1,r24
		3006	3249 1902 1282 std Z+2,__zero_reg__
		3007	3250 1904 9150 subi r25,lo8(-(-1))
		3008	3251 1906 3896 adiw r30,8
		3009	3252 1908 97FF sbrs r25,7
		3010	3253 190a 00C0 rjmp .L169
		3011	3254 190c 8091 0000 lds r24,PC_MotortestActive
		3012	3255 1910 8823 tst r24
		3013	3256 1912 01F0 breq .L171
		3014	3257 1914 8091 0000 lds r24,PC_MotortestActive
		3015	3258 1918 8150 subi r24,lo8(-(-1))
		3016	3259 191a 8093 0000 sts PC_MotortestActive,r24
		3017	3260 191e 00C0 rjmp .L171
		3018	3261 .L164:
		3019	3262 1920 8091 0000 lds r24,FC_StatusFlags
		3020	3263 1924 8160 ori r24,lo8(1)
		3021	3264 1926 8093 0000 sts FC_StatusFlags,r24
		3022	3265 .L171:
		3023	3266 192a 8091 0000 lds r24,I2C_TransferActive
		3024	3267 192e 8823 tst r24
		3025	3268 1930 01F0 breq .L172
		3026	3269 1932 1092 0000 sts I2C_TransferActive,__zero_reg__
		3027	3270 1936 0895 ret
		3028	3271 .L172:
		3029	3272 1938 8093 0000 sts motor_write,r24
		3030	3273 193c 8093 0000 sts twi_state,r24
		3031	3274 1940 8091 0000 lds r24,BLFlags
		3032	3275 1944 8E7F andi r24,lo8(-2)
		3033	3276 1946 8093 0000 sts BLFlags,r24
		3034	3277 194a 85EA ldi r24,lo8(-91)
		3035	3278 194c 8093 BC00 sts 188,r24
		3036	3279 1950 0895 ret
		3037	3280 /* epilogue: frame size=0 */
		3038	3281 /* epilogue: noreturn */
		3039	3282 /* epilogue end (size=0) */
		3040	3283 /* function SendMotorData size 61 (61) */
		3041	3285 .global ParameterZuordnung
		3042	3287 ParameterZuordnung:
		3043	3288 /* prologue: frame size=0 */
		3044	3289 1952 CF93 push r28
		3045	3290 1954 DF93 push r29
		3046	3291 /* prologue end (size=2) */
		3047	3292 1956 A0E0 ldi r26,lo8(Poti)
		3048	3293 1958 B0E0 ldi r27,hi8(Poti)
		3049	3294 195a C0E0 ldi r28,lo8(EE_Parameter+5)
		3050	3295 195c D0E0 ldi r29,hi8(EE_Parameter+5)
		3051	3296 195e 57E0 ldi r21,lo8(7)
		3052	3297 .L189:
		3053	3298 1960 9991 ld r25,Y+
		3054	3299 1962 E92F mov r30,r25
		3055	3300 1964 FF27 clr r31
		3056	3301 1966 EE0F add r30,r30
		3057	3302 1968 FF1F adc r31,r31
		3058	3303 196a E050 subi r30,lo8(-(PPM_in))
		3059	3304 196c F040 sbci r31,hi8(-(PPM_in))
		3060	3305 196e 0190 ld __tmp_reg__,Z+
		3061	3306 1970 F081 ld r31,Z
		3062	3307 1972 E02D mov r30,__tmp_reg__
		3063	3308 1974 E158 subi r30,lo8(-(127))
		3064	3309 1976 FF4F sbci r31,hi8(-(127))
		3065	3310 1978 EF3F cpi r30,255
		3066	3311 197a F105 cpc r31,__zero_reg__
		3067	3312 197c 01F0 breq .L180
		3068	3313 197e 04F0 brlt .L180
		3069	3314 1980 EFEF ldi r30,lo8(255)
		3070	3315 1982 F0E0 ldi r31,hi8(255)
		3071	3316 1984 00C0 rjmp .L181
		3072	3317 .L180:
		3073	3318 1986 F7FF sbrs r31,7
		3074	3319 1988 00C0 rjmp .L181
		3075	3320 198a E0E0 ldi r30,lo8(0)
		3076	3321 198c F0E0 ldi r31,hi8(0)
		3077	3322 .L181:
		3078	3323 198e 9931 cpi r25,lo8(25)
		3079	3324 1990 01F4 brne .L183
		3080	3325 1992 EC93 st X,r30
		3081	3326 1994 00C0 rjmp .L179
		3082	3327 .L183:
		3083	3328 1996 4C91 ld r20,X
		3084	3329 1998 242F mov r18,r20
		3085	3330 199a 3327 clr r19
		3086	3331 199c E217 cp r30,r18
		3087	3332 199e F307 cpc r31,r19
		3088	3333 19a0 01F0 breq .L179
		3089	3334 19a2 CF01 movw r24,r30
		3090	3335 19a4 821B sub r24,r18
		3091	3336 19a6 930B sbc r25,r19
		3092	3337 19a8 97FD sbrc r25,7
		3093	3338 19aa 0396 adiw r24,3
		3094	3339 .L186:
		3095	3340 19ac 9595 asr r25
		3096	3341 19ae 8795 ror r24
		3097	3342 19b0 9595 asr r25
		3098	3343 19b2 8795 ror r24
		3099	3344 19b4 242F mov r18,r20
		3100	3345 19b6 280F add r18,r24
		3101	3346 19b8 2C93 st X,r18
		3102	3347 19ba 822F mov r24,r18
		3103	3348 19bc 9927 clr r25
		3104	3349 19be E817 cp r30,r24
		3105	3350 19c0 F907 cpc r31,r25
		3106	3351 19c2 04F4 brge .L187
		3107	3352 19c4 2150 subi r18,lo8(-(-1))
		3108	3353 19c6 00C0 rjmp .L288
		3109	3354 .L187:
		3110	3355 19c8 2F5F subi r18,lo8(-(1))
		3111	3356 .L288:
		3112	3357 19ca 2C93 st X,r18
		3113	3358 .L179:
		3114	3359 19cc 5150 subi r21,lo8(-(-1))
		3115	3360 19ce 1196 adiw r26,1
		3116	3361 19d0 57FF sbrs r21,7
		3117	3362 19d2 00C0 rjmp .L189
		3118	3363 19d4 8091 0000 lds r24,EE_Parameter+15
		3119	3364 19d8 883F cpi r24,lo8(-8)
		3120	3365 19da 00F0 brlo .L289
		3121	3366 19dc EFEF ldi r30,lo8(255)
		3122	3367 19de F0E0 ldi r31,hi8(255)
		3123	3368 19e0 E81B sub r30,r24
		3124	3369 19e2 F109 sbc r31,__zero_reg__
		3125	3370 19e4 E050 subi r30,lo8(-(Poti))
		3126	3371 19e6 F040 sbci r31,hi8(-(Poti))
		3127	3372 19e8 8081 ld r24,Z
		3128	3373 .L289:
		3129	3374 19ea 8093 0000 sts Parameter_Luftdruck_D,r24
		3130	3375 19ee 8091 0000 lds r24,Parameter_Luftdruck_D
		3131	3376 19f2 8823 tst r24
		3132	3377 19f4 01F0 breq .L193
		3133	3378 19f6 8436 cpi r24,lo8(100)
		3134	3379 19f8 00F0 brlo .L193
		3135	3380 19fa 84E6 ldi r24,lo8(100)
		3136	3381 19fc 8093 0000 sts Parameter_Luftdruck_D,r24
		3137	3382 .L193:
		3138	3383 1a00 8091 0000 lds r24,EE_Parameter+17
		3139	3384 1a04 883F cpi r24,lo8(-8)
		3140	3385 1a06 00F0 brlo .L290
		3141	3386 1a08 EFEF ldi r30,lo8(255)
		3142	3387 1a0a F0E0 ldi r31,hi8(255)
		3143	3388 1a0c E81B sub r30,r24
		3144	3389 1a0e F109 sbc r31,__zero_reg__
		3145	3390 1a10 E050 subi r30,lo8(-(Poti))
		3146	3391 1a12 F040 sbci r31,hi8(-(Poti))
		3147	3392 1a14 8081 ld r24,Z
		3148	3393 .L290:
		3149	3394 1a16 8093 0000 sts Parameter_Hoehe_P,r24
		3150	3395 1a1a 8091 0000 lds r24,Parameter_Hoehe_P
		3151	3396 1a1e 8823 tst r24
		3152	3397 1a20 01F0 breq .L198
		3153	3398 1a22 8436 cpi r24,lo8(100)
		3154	3399 1a24 00F0 brlo .L198
		3155	3400 1a26 84E6 ldi r24,lo8(100)
		3156	3401 1a28 8093 0000 sts Parameter_Hoehe_P,r24
		3157	3402 .L198:
		3158	3403 1a2c 8091 0000 lds r24,EE_Parameter+30
		3159	3404 1a30 883F cpi r24,lo8(-8)
		3160	3405 1a32 00F0 brlo .L291
		3161	3406 1a34 EFEF ldi r30,lo8(255)
		3162	3407 1a36 F0E0 ldi r31,hi8(255)
		3163	3408 1a38 E81B sub r30,r24
		3164	3409 1a3a F109 sbc r31,__zero_reg__
		3165	3410 1a3c E050 subi r30,lo8(-(Poti))
		3166	3411 1a3e F040 sbci r31,hi8(-(Poti))
		3167	3412 1a40 8081 ld r24,Z
		3168	3413 .L291:
		3169	3414 1a42 8093 0000 sts Parameter_Gyro_P,r24
		3170	3415 1a46 8091 0000 lds r24,Parameter_Gyro_P
		3171	3416 1a4a 8B30 cpi r24,lo8(11)
		3172	3417 1a4c 00F4 brsh .L202
		3173	3418 1a4e 8AE0 ldi r24,lo8(10)
		3174	3419 1a50 00C0 rjmp .L292
		3175	3420 .L202:
		3176	3421 1a52 8F3F cpi r24,lo8(-1)
		3177	3422 1a54 01F4 brne .L203
		3178	3423 .L292:
		3179	3424 1a56 8093 0000 sts Parameter_Gyro_P,r24
		3180	3425 .L203:
		3181	3426 1a5a 8091 0000 lds r24,EE_Parameter+75
		3182	3427 1a5e 883F cpi r24,lo8(-8)
		3183	3428 1a60 00F0 brlo .L293
		3184	3429 1a62 EFEF ldi r30,lo8(255)
		3185	3430 1a64 F0E0 ldi r31,hi8(255)
		3186	3431 1a66 E81B sub r30,r24
		3187	3432 1a68 F109 sbc r31,__zero_reg__
		3188	3433 1a6a E050 subi r30,lo8(-(Poti))
		3189	3434 1a6c F040 sbci r31,hi8(-(Poti))
		3190	3435 1a6e 8081 ld r24,Z
		3191	3436 .L293:
		3192	3437 1a70 8093 0000 sts Parameter_J16Timing,r24
		3193	3438 1a74 8091 0000 lds r24,Parameter_J16Timing
		3194	3439 1a78 8630 cpi r24,lo8(6)
		3195	3440 1a7a 00F4 brsh .L207
		3196	3441 1a7c 85E0 ldi r24,lo8(5)
		3197	3442 1a7e 00C0 rjmp .L294
		3198	3443 .L207:
		3199	3444 1a80 8F3F cpi r24,lo8(-1)
		3200	3445 1a82 01F4 brne .L208
		3201	3446 .L294:
		3202	3447 1a84 8093 0000 sts Parameter_J16Timing,r24
		3203	3448 .L208:
		3204	3449 1a88 8091 0000 lds r24,EE_Parameter+77
		3205	3450 1a8c 883F cpi r24,lo8(-8)
		3206	3451 1a8e 00F0 brlo .L295
		3207	3452 1a90 EFEF ldi r30,lo8(255)
		3208	3453 1a92 F0E0 ldi r31,hi8(255)
		3209	3454 1a94 E81B sub r30,r24
		3210	3455 1a96 F109 sbc r31,__zero_reg__
		3211	3456 1a98 E050 subi r30,lo8(-(Poti))
		3212	3457 1a9a F040 sbci r31,hi8(-(Poti))
		3213	3458 1a9c 8081 ld r24,Z
		3214	3459 .L295:
		3215	3460 1a9e 8093 0000 sts Parameter_J17Timing,r24
		3216	3461 1aa2 8091 0000 lds r24,Parameter_J17Timing
		3217	3462 1aa6 8630 cpi r24,lo8(6)
		3218	3463 1aa8 00F4 brsh .L212
		3219	3464 1aaa 85E0 ldi r24,lo8(5)
		3220	3465 1aac 00C0 rjmp .L296
		3221	3466 .L212:
		3222	3467 1aae 8F3F cpi r24,lo8(-1)
		3223	3468 1ab0 01F4 brne .L213
		3224	3469 .L296:
		3225	3470 1ab2 8093 0000 sts Parameter_J17Timing,r24
		3226	3471 .L213:
		3227	3472 1ab6 8091 0000 lds r24,EE_Parameter+56
		3228	3473 1aba 883F cpi r24,lo8(-8)
		3229	3474 1abc 00F0 brlo .L297
		3230	3475 1abe EFEF ldi r30,lo8(255)
		3231	3476 1ac0 F0E0 ldi r31,hi8(255)
		3232	3477 1ac2 E81B sub r30,r24
		3233	3478 1ac4 F109 sbc r31,__zero_reg__
		3234	3479 1ac6 E050 subi r30,lo8(-(Poti))
		3235	3480 1ac8 F040 sbci r31,hi8(-(Poti))
		3236	3481 1aca 8081 ld r24,Z
		3237	3482 .L297:
		3238	3483 1acc 8093 0000 sts Parameter_Servo3,r24
		3239	3484 1ad0 8091 0000 lds r24,EE_Parameter+57
		3240	3485 1ad4 883F cpi r24,lo8(-8)
		3241	3486 1ad6 00F0 brlo .L298
		3242	3487 1ad8 EFEF ldi r30,lo8(255)
		3243	3488 1ada F0E0 ldi r31,hi8(255)
		3244	3489 1adc E81B sub r30,r24
		3245	3490 1ade F109 sbc r31,__zero_reg__
		3246	3491 1ae0 E050 subi r30,lo8(-(Poti))
		3247	3492 1ae2 F040 sbci r31,hi8(-(Poti))
		3248	3493 1ae4 8081 ld r24,Z
		3249	3494 .L298:
		3250	3495 1ae6 8093 0000 sts Parameter_Servo4,r24
		3251	3496 1aea 8091 0000 lds r24,EE_Parameter+58
		3252	3497 1aee 883F cpi r24,lo8(-8)
		3253	3498 1af0 00F0 brlo .L299
		3254	3499 1af2 EFEF ldi r30,lo8(255)
		3255	3500 1af4 F0E0 ldi r31,hi8(255)
		3256	3501 1af6 E81B sub r30,r24
		3257	3502 1af8 F109 sbc r31,__zero_reg__
		3258	3503 1afa E050 subi r30,lo8(-(Poti))
		3259	3504 1afc F040 sbci r31,hi8(-(Poti))
		3260	3505 1afe 8081 ld r24,Z
		3261	3506 .L299:
		3262	3507 1b00 8093 0000 sts Parameter_Servo5,r24
		3263	3508 1b04 8091 0000 lds r24,EE_Parameter+16
		3264	3509 1b08 883F cpi r24,lo8(-8)
		3265	3510 1b0a 00F0 brlo .L300
		3266	3511 1b0c EFEF ldi r30,lo8(255)
		3267	3512 1b0e F0E0 ldi r31,hi8(255)
		3268	3513 1b10 E81B sub r30,r24
		3269	3514 1b12 F109 sbc r31,__zero_reg__
		3270	3515 1b14 E050 subi r30,lo8(-(Poti))
		3271	3516 1b16 F040 sbci r31,hi8(-(Poti))
		3272	3517 1b18 8081 ld r24,Z
		3273	3518 .L300:
		3274	3519 1b1a 8093 0000 sts Parameter_HoehenSchalter,r24
		3275	3520 1b1e 8091 0000 lds r24,EE_Parameter+19
		3276	3521 1b22 883F cpi r24,lo8(-8)
		3277	3522 1b24 00F0 brlo .L301
		3278	3523 1b26 EFEF ldi r30,lo8(255)
		3279	3524 1b28 F0E0 ldi r31,hi8(255)
		3280	3525 1b2a E81B sub r30,r24
		3281	3526 1b2c F109 sbc r31,__zero_reg__
		3282	3527 1b2e E050 subi r30,lo8(-(Poti))
		3283	3528 1b30 F040 sbci r31,hi8(-(Poti))
		3284	3529 1b32 8081 ld r24,Z
		3285	3530 .L301:
		3286	3531 1b34 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24
		3287	3532 1b38 8091 0000 lds r24,EE_Parameter+21
		3288	3533 1b3c 883F cpi r24,lo8(-8)
		3289	3534 1b3e 00F0 brlo .L302
		3290	3535 1b40 EFEF ldi r30,lo8(255)
		3291	3536 1b42 F0E0 ldi r31,hi8(255)
		3292	3537 1b44 E81B sub r30,r24
		3293	3538 1b46 F109 sbc r31,__zero_reg__
		3294	3539 1b48 E050 subi r30,lo8(-(Poti))
		3295	3540 1b4a F040 sbci r31,hi8(-(Poti))
		3296	3541 1b4c 8081 ld r24,Z
		3297	3542 .L302:
		3298	3543 1b4e 8093 0000 sts Parameter_Hoehe_GPS_Z,r24
		3299	3544 1b52 8091 0000 lds r24,EE_Parameter+29
		3300	3545 1b56 883F cpi r24,lo8(-8)
		3301	3546 1b58 00F0 brlo .L303
		3302	3547 1b5a EFEF ldi r30,lo8(255)
		3303	3548 1b5c F0E0 ldi r31,hi8(255)
		3304	3549 1b5e E81B sub r30,r24
		3305	3550 1b60 F109 sbc r31,__zero_reg__
		3306	3551 1b62 E050 subi r30,lo8(-(Poti))
		3307	3552 1b64 F040 sbci r31,hi8(-(Poti))
		3308	3553 1b66 8081 ld r24,Z
		3309	3554 .L303:
		3310	3555 1b68 8093 0000 sts Parameter_KompassWirkung,r24
		3311	3556 1b6c 8091 0000 lds r24,EE_Parameter+31
		3312	3557 1b70 883F cpi r24,lo8(-8)
		3313	3558 1b72 00F0 brlo .L304
		3314	3559 1b74 EFEF ldi r30,lo8(255)
		3315	3560 1b76 F0E0 ldi r31,hi8(255)
		3316	3561 1b78 E81B sub r30,r24
		3317	3562 1b7a F109 sbc r31,__zero_reg__
		3318	3563 1b7c E050 subi r30,lo8(-(Poti))
		3319	3564 1b7e F040 sbci r31,hi8(-(Poti))
		3320	3565 1b80 8081 ld r24,Z
		3321	3566 .L304:
		3322	3567 1b82 8093 0000 sts Parameter_Gyro_I,r24
		3323	3568 1b86 8091 0000 lds r24,EE_Parameter+32
		3324	3569 1b8a 883F cpi r24,lo8(-8)
		3325	3570 1b8c 00F0 brlo .L305
		3326	3571 1b8e EFEF ldi r30,lo8(255)
		3327	3572 1b90 F0E0 ldi r31,hi8(255)
		3328	3573 1b92 E81B sub r30,r24
		3329	3574 1b94 F109 sbc r31,__zero_reg__
		3330	3575 1b96 E050 subi r30,lo8(-(Poti))
		3331	3576 1b98 F040 sbci r31,hi8(-(Poti))
		3332	3577 1b9a 8081 ld r24,Z
		3333	3578 .L305:
		3334	3579 1b9c 8093 0000 sts Parameter_Gyro_D,r24
		3335	3580 1ba0 8091 0000 lds r24,EE_Parameter+33
		3336	3581 1ba4 883F cpi r24,lo8(-8)
		3337	3582 1ba6 00F0 brlo .L306
		3338	3583 1ba8 EFEF ldi r30,lo8(255)
		3339	3584 1baa F0E0 ldi r31,hi8(255)
		3340	3585 1bac E81B sub r30,r24
		3341	3586 1bae F109 sbc r31,__zero_reg__
		3342	3587 1bb0 E050 subi r30,lo8(-(Poti))
		3343	3588 1bb2 F040 sbci r31,hi8(-(Poti))
		3344	3589 1bb4 8081 ld r24,Z
		3345	3590 .L306:
		3346	3591 1bb6 8093 0000 sts Parameter_Gyro_Gier_P,r24
		3347	3592 1bba 8091 0000 lds r24,EE_Parameter+34
		3348	3593 1bbe 883F cpi r24,lo8(-8)
		3349	3594 1bc0 00F0 brlo .L307
		3350	3595 1bc2 EFEF ldi r30,lo8(255)
		3351	3596 1bc4 F0E0 ldi r31,hi8(255)
		3352	3597 1bc6 E81B sub r30,r24
		3353	3598 1bc8 F109 sbc r31,__zero_reg__
		3354	3599 1bca E050 subi r30,lo8(-(Poti))
		3355	3600 1bcc F040 sbci r31,hi8(-(Poti))
		3356	3601 1bce 8081 ld r24,Z
		3357	3602 .L307:
		3358	3603 1bd0 8093 0000 sts Parameter_Gyro_Gier_I,r24
		3359	3604 1bd4 8091 0000 lds r24,EE_Parameter+40
		3360	3605 1bd8 883F cpi r24,lo8(-8)
		3361	3606 1bda 00F0 brlo .L308
		3362	3607 1bdc EFEF ldi r30,lo8(255)
		3363	3608 1bde F0E0 ldi r31,hi8(255)
		3364	3609 1be0 E81B sub r30,r24
		3365	3610 1be2 F109 sbc r31,__zero_reg__
		3366	3611 1be4 E050 subi r30,lo8(-(Poti))
		3367	3612 1be6 F040 sbci r31,hi8(-(Poti))
		3368	3613 1be8 8081 ld r24,Z
		3369	3614 .L308:
		3370	3615 1bea 8093 0000 sts Parameter_I_Faktor,r24
		3371	3616 1bee 8091 0000 lds r24,EE_Parameter+41
		3372	3617 1bf2 883F cpi r24,lo8(-8)
		3373	3618 1bf4 00F0 brlo .L309
		3374	3619 1bf6 EFEF ldi r30,lo8(255)
		3375	3620 1bf8 F0E0 ldi r31,hi8(255)
		3376	3621 1bfa E81B sub r30,r24
		3377	3622 1bfc F109 sbc r31,__zero_reg__
		3378	3623 1bfe E050 subi r30,lo8(-(Poti))
		3379	3624 1c00 F040 sbci r31,hi8(-(Poti))
		3380	3625 1c02 8081 ld r24,Z
		3381	3626 .L309:
		3382	3627 1c04 8093 0000 sts Parameter_UserParam1,r24
		3383	3628 1c08 8091 0000 lds r24,EE_Parameter+42
		3384	3629 1c0c 883F cpi r24,lo8(-8)
		3385	3630 1c0e 00F0 brlo .L310
		3386	3631 1c10 EFEF ldi r30,lo8(255)
		3387	3632 1c12 F0E0 ldi r31,hi8(255)
		3388	3633 1c14 E81B sub r30,r24
		3389	3634 1c16 F109 sbc r31,__zero_reg__
		3390	3635 1c18 E050 subi r30,lo8(-(Poti))
		3391	3636 1c1a F040 sbci r31,hi8(-(Poti))
		3392	3637 1c1c 8081 ld r24,Z
		3393	3638 .L310:
		3394	3639 1c1e 8093 0000 sts Parameter_UserParam2,r24
		3395	3640 1c22 8091 0000 lds r24,EE_Parameter+43
		3396	3641 1c26 883F cpi r24,lo8(-8)
		3397	3642 1c28 00F0 brlo .L311
		3398	3643 1c2a EFEF ldi r30,lo8(255)
		3399	3644 1c2c F0E0 ldi r31,hi8(255)
		3400	3645 1c2e E81B sub r30,r24
		3401	3646 1c30 F109 sbc r31,__zero_reg__
		3402	3647 1c32 E050 subi r30,lo8(-(Poti))
		3403	3648 1c34 F040 sbci r31,hi8(-(Poti))
		3404	3649 1c36 8081 ld r24,Z
		3405	3650 .L311:
		3406	3651 1c38 8093 0000 sts Parameter_UserParam3,r24
		3407	3652 1c3c 8091 0000 lds r24,EE_Parameter+44
		3408	3653 1c40 883F cpi r24,lo8(-8)
		3409	3654 1c42 00F0 brlo .L312
		3410	3655 1c44 EFEF ldi r30,lo8(255)
		3411	3656 1c46 F0E0 ldi r31,hi8(255)
		3412	3657 1c48 E81B sub r30,r24
		3413	3658 1c4a F109 sbc r31,__zero_reg__
		3414	3659 1c4c E050 subi r30,lo8(-(Poti))
		3415	3660 1c4e F040 sbci r31,hi8(-(Poti))
		3416	3661 1c50 8081 ld r24,Z
		3417	3662 .L312:
		3418	3663 1c52 8093 0000 sts Parameter_UserParam4,r24
		3419	3664 1c56 8091 0000 lds r24,EE_Parameter+70
		3420	3665 1c5a 883F cpi r24,lo8(-8)
		3421	3666 1c5c 00F0 brlo .L313
		3422	3667 1c5e EFEF ldi r30,lo8(255)
		3423	3668 1c60 F0E0 ldi r31,hi8(255)
		3424	3669 1c62 E81B sub r30,r24
		3425	3670 1c64 F109 sbc r31,__zero_reg__
		3426	3671 1c66 E050 subi r30,lo8(-(Poti))
		3427	3672 1c68 F040 sbci r31,hi8(-(Poti))
		3428	3673 1c6a 8081 ld r24,Z
		3429	3674 .L313:
		3430	3675 1c6c 8093 0000 sts Parameter_UserParam5,r24
		3431	3676 1c70 8091 0000 lds r24,EE_Parameter+71
		3432	3677 1c74 883F cpi r24,lo8(-8)
		3433	3678 1c76 00F0 brlo .L314
		3434	3679 1c78 EFEF ldi r30,lo8(255)
		3435	3680 1c7a F0E0 ldi r31,hi8(255)
		3436	3681 1c7c E81B sub r30,r24
		3437	3682 1c7e F109 sbc r31,__zero_reg__
		3438	3683 1c80 E050 subi r30,lo8(-(Poti))
		3439	3684 1c82 F040 sbci r31,hi8(-(Poti))
		3440	3685 1c84 8081 ld r24,Z
		3441	3686 .L314:
		3442	3687 1c86 8093 0000 sts Parameter_UserParam6,r24
		3443	3688 1c8a 8091 0000 lds r24,EE_Parameter+72
		3444	3689 1c8e 883F cpi r24,lo8(-8)
		3445	3690 1c90 00F0 brlo .L315
		3446	3691 1c92 EFEF ldi r30,lo8(255)
		3447	3692 1c94 F0E0 ldi r31,hi8(255)
		3448	3693 1c96 E81B sub r30,r24
		3449	3694 1c98 F109 sbc r31,__zero_reg__
		3450	3695 1c9a E050 subi r30,lo8(-(Poti))
		3451	3696 1c9c F040 sbci r31,hi8(-(Poti))
		3452	3697 1c9e 8081 ld r24,Z
		3453	3698 .L315:
		3454	3699 1ca0 8093 0000 sts Parameter_UserParam7,r24
		3455	3700 1ca4 8091 0000 lds r24,EE_Parameter+73
		3456	3701 1ca8 883F cpi r24,lo8(-8)
		3457	3702 1caa 00F0 brlo .L316
		3458	3703 1cac EFEF ldi r30,lo8(255)
		3459	3704 1cae F0E0 ldi r31,hi8(255)
		3460	3705 1cb0 E81B sub r30,r24
		3461	3706 1cb2 F109 sbc r31,__zero_reg__
		3462	3707 1cb4 E050 subi r30,lo8(-(Poti))
		3463	3708 1cb6 F040 sbci r31,hi8(-(Poti))
		3464	3709 1cb8 8081 ld r24,Z
		3465	3710 .L316:
		3466	3711 1cba 8093 0000 sts Parameter_UserParam8,r24
		3467	3712 1cbe 8091 0000 lds r24,EE_Parameter+45
		3468	3713 1cc2 883F cpi r24,lo8(-8)
		3469	3714 1cc4 00F0 brlo .L317
		3470	3715 1cc6 EFEF ldi r30,lo8(255)
		3471	3716 1cc8 F0E0 ldi r31,hi8(255)
		3472	3717 1cca E81B sub r30,r24
		3473	3718 1ccc F109 sbc r31,__zero_reg__
		3474	3719 1cce E050 subi r30,lo8(-(Poti))
		3475	3720 1cd0 F040 sbci r31,hi8(-(Poti))
		3476	3721 1cd2 8081 ld r24,Z
		3477	3722 .L317:
		3478	3723 1cd4 8093 0000 sts Parameter_ServoNickControl,r24
		3479	3724 1cd8 8091 0000 lds r24,EE_Parameter+49
		3480	3725 1cdc 883F cpi r24,lo8(-8)
		3481	3726 1cde 00F0 brlo .L318
		3482	3727 1ce0 EFEF ldi r30,lo8(255)
		3483	3728 1ce2 F0E0 ldi r31,hi8(255)
		3484	3729 1ce4 E81B sub r30,r24
		3485	3730 1ce6 F109 sbc r31,__zero_reg__
		3486	3731 1ce8 E050 subi r30,lo8(-(Poti))
		3487	3732 1cea F040 sbci r31,hi8(-(Poti))
		3488	3733 1cec 8081 ld r24,Z
		3489	3734 .L318:
		3490	3735 1cee 8093 0000 sts Parameter_ServoRollControl,r24
		3491	3736 1cf2 8091 0000 lds r24,EE_Parameter+59
		3492	3737 1cf6 883F cpi r24,lo8(-8)
		3493	3738 1cf8 00F0 brlo .L319
		3494	3739 1cfa EFEF ldi r30,lo8(255)
		3495	3740 1cfc F0E0 ldi r31,hi8(255)
		3496	3741 1cfe E81B sub r30,r24
		3497	3742 1d00 F109 sbc r31,__zero_reg__
		3498	3743 1d02 E050 subi r30,lo8(-(Poti))
		3499	3744 1d04 F040 sbci r31,hi8(-(Poti))
		3500	3745 1d06 8081 ld r24,Z
		3501	3746 .L319:
		3502	3747 1d08 8093 0000 sts Parameter_LoopGasLimit,r24
		3503	3748 1d0c 8091 0000 lds r24,EE_Parameter+62
		3504	3749 1d10 883F cpi r24,lo8(-8)
		3505	3750 1d12 00F0 brlo .L320
		3506	3751 1d14 EFEF ldi r30,lo8(255)
		3507	3752 1d16 F0E0 ldi r31,hi8(255)
		3508	3753 1d18 E81B sub r30,r24
		3509	3754 1d1a F109 sbc r31,__zero_reg__
		3510	3755 1d1c E050 subi r30,lo8(-(Poti))
		3511	3756 1d1e F040 sbci r31,hi8(-(Poti))
		3512	3757 1d20 8081 ld r24,Z
		3513	3758 .L320:
		3514	3759 1d22 8093 0000 sts Parameter_AchsKopplung1,r24
		3515	3760 1d26 8091 0000 lds r24,EE_Parameter+63
		3516	3761 1d2a 883F cpi r24,lo8(-8)
		3517	3762 1d2c 00F0 brlo .L321
		3518	3763 1d2e EFEF ldi r30,lo8(255)
		3519	3764 1d30 F0E0 ldi r31,hi8(255)
		3520	3765 1d32 E81B sub r30,r24
		3521	3766 1d34 F109 sbc r31,__zero_reg__
		3522	3767 1d36 E050 subi r30,lo8(-(Poti))
		3523	3768 1d38 F040 sbci r31,hi8(-(Poti))
		3524	3769 1d3a 8081 ld r24,Z
		3525	3770 .L321:
		3526	3771 1d3c 8093 0000 sts Parameter_AchsKopplung2,r24
		3527	3772 1d40 8091 0000 lds r24,EE_Parameter+64
		3528	3773 1d44 883F cpi r24,lo8(-8)
		3529	3774 1d46 00F0 brlo .L322
		3530	3775 1d48 EFEF ldi r30,lo8(255)
		3531	3776 1d4a F0E0 ldi r31,hi8(255)
		3532	3777 1d4c E81B sub r30,r24
		3533	3778 1d4e F109 sbc r31,__zero_reg__
		3534	3779 1d50 E050 subi r30,lo8(-(Poti))
		3535	3780 1d52 F040 sbci r31,hi8(-(Poti))
		3536	3781 1d54 8081 ld r24,Z
		3537	3782 .L322:
		3538	3783 1d56 8093 0000 sts Parameter_CouplingYawCorrection,r24
		3539	3784 1d5a 8091 0000 lds r24,EE_Parameter+103
		3540	3785 1d5e 883F cpi r24,lo8(-8)
		3541	3786 1d60 00F0 brlo .L323
		3542	3787 1d62 EFEF ldi r30,lo8(255)
		3543	3788 1d64 F0E0 ldi r31,hi8(255)
		3544	3789 1d66 E81B sub r30,r24
		3545	3790 1d68 F109 sbc r31,__zero_reg__
		3546	3791 1d6a E050 subi r30,lo8(-(Poti))
		3547	3792 1d6c F040 sbci r31,hi8(-(Poti))
		3548	3793 1d6e 8081 ld r24,Z
		3549	3794 .L323:
		3550	3795 1d70 8093 0000 sts Parameter_MaximumAltitude,r24
		3551	3796 1d74 8091 0000 lds r24,EE_Parameter+13
		3552	3797 1d78 8093 0000 sts Parameter_GlobalConfig,r24
		3553	3798 1d7c 8091 0000 lds r24,EE_Parameter+106
		3554	3799 1d80 8093 0000 sts Parameter_ExtraConfig,r24
		3555	3800 1d84 8091 0000 lds r24,EE_Parameter+69
		3556	3801 1d88 883F cpi r24,lo8(-8)
		3557	3802 1d8a 00F0 brlo .L324
		3558	3803 1d8c EFEF ldi r30,lo8(255)
		3559	3804 1d8e F0E0 ldi r31,hi8(255)
		3560	3805 1d90 E81B sub r30,r24
		3561	3806 1d92 F109 sbc r31,__zero_reg__
		3562	3807 1d94 E050 subi r30,lo8(-(Poti))
		3563	3808 1d96 F040 sbci r31,hi8(-(Poti))
		3564	3809 1d98 8081 ld r24,Z
		3565	3810 .L324:
		3566	3811 1d9a 8093 0000 sts Parameter_DynamicStability,r24
		3567	3812 1d9e 8091 0000 lds r24,EE_Parameter+96
		3568	3813 1da2 883F cpi r24,lo8(-8)
		3569	3814 1da4 00F0 brlo .L325
		3570	3815 1da6 EFEF ldi r30,lo8(255)
		3571	3816 1da8 F0E0 ldi r31,hi8(255)
		3572	3817 1daa E81B sub r30,r24
		3573	3818 1dac F109 sbc r31,__zero_reg__
		3574	3819 1dae E050 subi r30,lo8(-(Poti))
		3575	3820 1db0 F040 sbci r31,hi8(-(Poti))
		3576	3821 1db2 8081 ld r24,Z
		3577	3822 .L325:
		3578	3823 1db4 8093 0000 sts Parameter_ExternalControl,r24
		3579	3824 1db8 8091 0000 lds r24,Parameter_I_Faktor
		3580	3825 1dbc 282F mov r18,r24
		3581	3826 1dbe 3327 clr r19
		3582	3827 1dc0 2F5F subi r18,lo8(-(1))
		3583	3828 1dc2 3F4F sbci r19,hi8(-(1))
		3584	3829 1dc4 8CE3 ldi r24,lo8(10300)
		3585	3830 1dc6 98E2 ldi r25,hi8(10300)
		3586	3831 1dc8 B901 movw r22,r18
		3587	3832 1dca 0E94 0000 call __divmodhi4
		3588	3833 1dce 7093 0000 sts (Ki)+1,r23
		3589	3834 1dd2 6093 0000 sts Ki,r22
		3590	3835 1dd6 8091 0000 lds r24,EE_Parameter+27
		3591	3836 1dda 8093 0000 sts MAX_GAS,r24
		3592	3837 1dde 8091 0000 lds r24,EE_Parameter+26
		3593	3838 1de2 8093 0000 sts MIN_GAS,r24
		3594	3839 1de6 9091 0000 lds r25,EE_Parameter+98
		3595	3840 1dea 9333 cpi r25,lo8(51)
		3596	3841 1dec 00F0 brlo .L273
		3597	3842 1dee 81E0 ldi r24,lo8(1)
		3598	3843 1df0 8093 0000 sts CareFree,r24
		3599	3844 1df4 983F cpi r25,lo8(-8)
		3600	3845 1df6 00F0 brlo .L274
		3601	3846 1df8 EFEF ldi r30,lo8(255)
		3602	3847 1dfa F0E0 ldi r31,hi8(255)
		3603	3848 1dfc E91B sub r30,r25
		3604	3849 1dfe F109 sbc r31,__zero_reg__
		3605	3850 1e00 E050 subi r30,lo8(-(Poti))
		3606	3851 1e02 F040 sbci r31,hi8(-(Poti))
		3607	3852 1e04 8081 ld r24,Z
		3608	3853 1e06 8233 cpi r24,lo8(50)
		3609	3854 1e08 00F4 brsh .L274
		3610	3855 1e0a 1092 0000 sts CareFree,__zero_reg__
		3611	3856 .L274:
		3612	3857 1e0e 8091 0000 lds r24,carefree_old
		3613	3858 1e12 2091 0000 lds r18,CareFree
		3614	3859 1e16 8217 cp r24,r18
		3615	3860 1e18 01F0 breq .L275
		3616	3861 1e1a 8330 cpi r24,lo8(3)
		3617	3862 1e1c 00F4 brsh .L276
		3618	3863 1e1e 2223 tst r18
		3619	3864 1e20 01F0 breq .L277
		3620	3865 1e22 8CED ldi r24,lo8(1500)
		3621	3866 1e24 95E0 ldi r25,hi8(1500)
		3622	3867 1e26 00C0 rjmp .L326
		3623	3868 .L277:
		3624	3869 1e28 88EC ldi r24,lo8(200)
		3625	3870 1e2a 90E0 ldi r25,hi8(200)
		3626	3871 .L326:
		3627	3872 1e2c 9093 0000 sts (beeptime)+1,r25
		3628	3873 1e30 8093 0000 sts beeptime,r24
		3629	3874 1e34 2093 0000 sts carefree_old,r18
		3630	3875 1e38 00C0 rjmp .L275
		3631	3876 .L276:
		3632	3877 1e3a 8150 subi r24,lo8(-(-1))
		3633	3878 1e3c 8093 0000 sts carefree_old,r24
		3634	3879 .L275:
		3635	3880 1e40 8091 0000 lds r24,FromNaviCtrl+7
		3636	3881 1e44 9091 0000 lds r25,(FromNaviCtrl+7)+1
		3637	3882 1e48 97FF sbrs r25,7
		3638	3883 1e4a 00C0 rjmp .L281
		3639	3884 1e4c 8091 0000 lds r24,CareFree
		3640	3885 1e50 8823 tst r24
		3641	3886 1e52 01F0 breq .L281
		3642	3887 1e54 8091 0000 lds r24,VersionInfo+5
		3643	3888 1e58 8068 ori r24,lo8(-128)
		3644	3889 1e5a 8093 0000 sts VersionInfo+5,r24
		3645	3890 1e5e 00C0 rjmp .L281
		3646	3891 .L273:
		3647	3892 1e60 1092 0000 sts CareFree,__zero_reg__
		3648	3893 1e64 8AE0 ldi r24,lo8(10)
		3649	3894 1e66 8093 0000 sts carefree_old,r24
		3650	3895 .L281:
		3651	3896 1e6a 8091 0000 lds r24,FromNaviCtrl+7
		3652	3897 1e6e 9091 0000 lds r25,(FromNaviCtrl+7)+1
		3653	3898 1e72 97FF sbrs r25,7
		3654	3899 1e74 00C0 rjmp .L282
		3655	3900 1e76 8091 0000 lds r24,MotorenEin
		3656	3901 1e7a 8823 tst r24
		3657	3902 1e7c 01F0 breq .L282
		3658	3903 1e7e 8091 0000 lds r24,CareFree
		3659	3904 1e82 8823 tst r24
		3660	3905 1e84 01F0 breq .L282
		3661	3906 1e86 8091 0000 lds r24,BeepMuster
		3662	3907 1e8a 9091 0000 lds r25,(BeepMuster)+1
		3663	3908 1e8e 8F5F subi r24,lo8(-1)
		3664	3909 1e90 9F4F sbci r25,hi8(-1)
		3665	3910 1e92 01F4 brne .L282
		3666	3911 1e94 88E9 ldi r24,lo8(15000)
		3667	3912 1e96 9AE3 ldi r25,hi8(15000)
		3668	3913 1e98 9093 0000 sts (beeptime)+1,r25
		3669	3914 1e9c 8093 0000 sts beeptime,r24
		3670	3915 1ea0 80E0 ldi r24,lo8(-23552)
		3671	3916 1ea2 94EA ldi r25,hi8(-23552)
		3672	3917 1ea4 9093 0000 sts (BeepMuster)+1,r25
		3673	3918 1ea8 8093 0000 sts BeepMuster,r24
		3674	3919 1eac 1092 0000 sts CareFree,__zero_reg__
		3675	3920 .L282:
		3676	3921 1eb0 8091 0000 lds r24,CareFree
		3677	3922 1eb4 8823 tst r24
		3678	3923 1eb6 01F0 breq .L283
		3679	3924 1eb8 8091 0000 lds r24,FC_StatusFlags2
		3680	3925 1ebc 8160 ori r24,lo8(1)
		3681	3926 1ebe 8093 0000 sts FC_StatusFlags2,r24
		3682	3927 1ec2 8091 0000 lds r24,Parameter_AchsKopplung1
		3683	3928 1ec6 823D cpi r24,lo8(-46)
		3684	3929 1ec8 00F4 brsh .L176
		3685	3930 1eca 825E subi r24,lo8(-(30))
		3686	3931 1ecc 8093 0000 sts Parameter_AchsKopplung1,r24
		3687	3932 1ed0 00C0 rjmp .L176
		3688	3933 .L283:
		3689	3934 1ed2 8091 0000 lds r24,FC_StatusFlags2
		3690	3935 1ed6 8E7F andi r24,lo8(-2)
		3691	3936 1ed8 8093 0000 sts FC_StatusFlags2,r24
		3692	3937 .L176:
		3693	3938 /* epilogue: frame size=0 */
		3694	3939 1edc DF91 pop r29
		3695	3940 1ede CF91 pop r28
		3696	3941 1ee0 0895 ret
		3697	3942 /* epilogue end (size=3) */
		3698	3943 /* function ParameterZuordnung size 714 (709) */
		3699	3945 .lcomm sollGier.0,4
		3700	3946 .lcomm tmp_long.1,4
		3701	3947 .lcomm tmp_long2.2,4
		3702	3948 .lcomm IntegralFehlerNick.3,4
		3703	3949 .lcomm IntegralFehlerRoll.4,4
		3704	3950 .lcomm RcLostTimer.5,2
		3705	3951 .lcomm delay_neutral.6,1
		3706	3952 .lcomm delay_einschalten.7,1
		3707	3953 .lcomm delay_ausschalten.8,1
		3708	3954 .lcomm calibration_done.9,1
		3709	3955 .lcomm NeueKompassRichtungMerken.10,1
		3710	3956 .lcomm ausgleichNick.11,4
		3711	3957 .lcomm ausgleichRoll.12,4
		3712	3958 .lcomm stick_nick.13,2
		3713	3959 .lcomm stick_roll.14,2
		3714	3960 .lcomm cnt.15,2
		3715	3961 .lcomm last_n_p.16,1
		3716	3962 .lcomm last_n_n.17,1
		3717	3963 .lcomm last_r_p.18,1
		3718	3964 .lcomm last_r_n.19,1
		3719	3965 .lcomm MittelIntegralNick_Alt.20,4
		3720	3966 .lcomm MittelIntegralRoll_Alt.21,4
		3721	3967 .lcomm HeightTrimming.22,2
		3722	3968 .lcomm FilterHCGas.23,2
		3723	3969 .lcomm HoverGasFilter.24,4
		3724	3970 .data
		3725	3973 delay.25:
		3726	3974 0053 64 .byte 100
		3727	3975 .lcomm BaroAtUpperLimit.26,1
		3728	3976 .lcomm BaroAtLowerLimit.27,1
		3729	3977 .text
		3730	3978 .global MotorRegler
		3731	3980 MotorRegler:
		3732	3981 /* prologue: frame size=23 */
		3733	3982 1ee2 A7E1 ldi r26,lo8(23)
		3734	3983 1ee4 B0E0 ldi r27,hi8(23)
		3735	3984 1ee6 E0E0 ldi r30,pm_lo8(1f)
		3736	3985 1ee8 F0E0 ldi r31,pm_hi8(1f)
		3737	3986 1eea 0C94 0000 jmp __prologue_saves__+0
		3738	3987 1:
		3739	3988 /* prologue end (size=6) */
		3740	3989 1eee 0E94 0000 call Mittelwert
		3741	3990 1ef2 E090 0000 lds r14,StickGas
		3742	3991 1ef6 F090 0000 lds r15,(StickGas)+1
		3743	3992 1efa FA82 std Y+2,r15
		3744	3993 1efc E982 std Y+1,r14
		3745	3994 1efe 8091 0000 lds r24,MIN_GAS
		3746	3995 1f02 9927 clr r25
		3747	3996 1f04 0A96 adiw r24,10
		3748	3997 1f06 E816 cp r14,r24
		3749	3998 1f08 F906 cpc r15,r25
		3750	3999 1f0a 04F4 brge .L328
		3751	4000 1f0c 9A83 std Y+2,r25
		3752	4001 1f0e 8983 std Y+1,r24
		3753	4002 .L328:
		3754	4003 1f10 8091 0000 lds r24,SenderOkay
		3755	4004 1f14 8436 cpi r24,lo8(100)
		3756	4005 1f16 00F0 brlo .+2
		3757	4006 1f18 00C0 rjmp .L329
		3758	4007 1f1a 8091 0000 lds r24,FC_StatusFlags2
		3759	4008 1f1e 82FD sbrc r24,2
		3760	4009 1f20 00C0 rjmp .L329
		3761	4010 1f22 8091 0000 lds r24,RcLostTimer.5
		3762	4011 1f26 9091 0000 lds r25,(RcLostTimer.5)+1
		3763	4012 1f2a 0097 sbiw r24,0
		3764	4013 1f2c 01F0 breq .L330
		3765	4014 1f2e 0197 sbiw r24,1
		3766	4015 1f30 9093 0000 sts (RcLostTimer.5)+1,r25
		3767	4016 1f34 8093 0000 sts RcLostTimer.5,r24
		3768	4017 1f38 00C0 rjmp .L331
		3769	4018 .L330:
		3770	4019 1f3a 1092 0000 sts MotorenEin,__zero_reg__
		3771	4020 1f3e 9093 0000 sts (modell_fliegt)+1,r25
		3772	4021 1f42 8093 0000 sts modell_fliegt,r24
		3773	4022 1f46 8091 0000 lds r24,FC_StatusFlags
		3774	4023 1f4a 8D7E andi r24,lo8(-19)
		3775	4024 1f4c 8093 0000 sts FC_StatusFlags,r24
		3776	4025 .L331:
		3777	4026 1f50 8091 0000 lds r24,PlatinenVersion
		3778	4027 1f54 8A30 cpi r24,lo8(10)
		3779	4028 1f56 01F0 breq .L333
		3780	4029 1f58 8431 cpi r24,lo8(20)
		3781	4030 1f5a 00F0 brlo .L332
		3782	4031 .L333:
		3783	4032 1f5c 289A sbi 37-0x20,0
		3784	4033 1f5e 00C0 rjmp .L334
		3785	4034 .L332:
		3786	4035 1f60 2898 cbi 37-0x20,0
		3787	4036 .L334:
		3788	4037 1f62 8091 0000 lds r24,modell_fliegt
		3789	4038 1f66 9091 0000 lds r25,(modell_fliegt)+1
		3790	4039 1f6a 895E subi r24,lo8(1001)
		3791	4040 1f6c 9340 sbci r25,hi8(1001)
		3792	4041 1f6e 00F0 brlo .L335
		3793	4042 1f70 8091 0000 lds r24,EE_Parameter+37
		3794	4043 1f74 282F mov r18,r24
		3795	4044 1f76 3327 clr r19
		3796	4045 1f78 3A83 std Y+2,r19
		3797	4046 1f7a 2983 std Y+1,r18
		3798	4047 1f7c 8091 0000 lds r24,FC_StatusFlags
		3799	4048 1f80 8061 ori r24,lo8(16)
		3800	4049 1f82 8093 0000 sts FC_StatusFlags,r24
		3801	4050 1f86 8091 0000 lds r24,EE_Parameter+1
		3802	4051 1f8a A82F mov r26,r24
		3803	4052 1f8c BB27 clr r27
		3804	4053 1f8e AA0F add r26,r26
		3805	4054 1f90 BB1F adc r27,r27
		3806	4055 1f92 FD01 movw r30,r26
		3807	4056 1f94 E050 subi r30,lo8(-(PPM_diff))
		3808	4057 1f96 F040 sbci r31,hi8(-(PPM_diff))
		3809	4058 1f98 1182 std Z+1,__zero_reg__
		3810	4059 1f9a 1082 st Z,__zero_reg__
		3811	4060 1f9c 8091 0000 lds r24,EE_Parameter+2
		3812	4061 1fa0 282F mov r18,r24
		3813	4062 1fa2 3327 clr r19
		3814	4063 1fa4 220F add r18,r18
		3815	4064 1fa6 331F adc r19,r19
		3816	4065 1fa8 C901 movw r24,r18
		3817	4066 1faa 8050 subi r24,lo8(-(PPM_diff))
		3818	4067 1fac 9040 sbci r25,hi8(-(PPM_diff))
		3819	4068 1fae FC01 movw r30,r24
		3820	4069 1fb0 1182 std Z+1,__zero_reg__
		3821	4070 1fb2 1082 st Z,__zero_reg__
		3822	4071 1fb4 A050 subi r26,lo8(-(PPM_in))
		3823	4072 1fb6 B040 sbci r27,hi8(-(PPM_in))
		3824	4073 1fb8 1196 adiw r26,1
		3825	4074 1fba 1C92 st X,__zero_reg__
		3826	4075 1fbc 1E92 st -X,__zero_reg__
		3827	4076 1fbe 2050 subi r18,lo8(-(PPM_in))
		3828	4077 1fc0 3040 sbci r19,hi8(-(PPM_in))
		3829	4078 1fc2 D901 movw r26,r18
		3830	4079 1fc4 1196 adiw r26,1
		3831	4080 1fc6 1C92 st X,__zero_reg__
		3832	4081 1fc8 1E92 st -X,__zero_reg__
		3833	4082 1fca 8091 0000 lds r24,EE_Parameter+4
		3834	4083 1fce E82F mov r30,r24
		3835	4084 1fd0 FF27 clr r31
		3836	4085 1fd2 EE0F add r30,r30
		3837	4086 1fd4 FF1F adc r31,r31
		3838	4087 1fd6 E050 subi r30,lo8(-(PPM_in))
		3839	4088 1fd8 F040 sbci r31,hi8(-(PPM_in))
		3840	4089 1fda 1182 std Z+1,__zero_reg__
		3841	4090 1fdc 1082 st Z,__zero_reg__
		3842	4091 1fde 00C0 rjmp .L337
		3843	4092 .L335:
		3844	4093 1fe0 1092 0000 sts MotorenEin,__zero_reg__
		3845	4094 1fe4 00C0 rjmp .L337
		3846	4095 .L329:
		3847	4096 1fe6 8091 0000 lds r24,SenderOkay
		3848	4097 1fea 8D38 cpi r24,lo8(-115)
		3849	4098 1fec 00F4 brsh .+2
		3850	4099 1fee 00C0 rjmp .L337
		3851	4100 1ff0 8091 0000 lds r24,FC_StatusFlags
		3852	4101 1ff4 8F7E andi r24,lo8(-17)
		3853	4102 1ff6 8093 0000 sts FC_StatusFlags,r24
		3854	4103 1ffa 9091 0000 lds r25,EE_Parameter+38
		3855	4104 1ffe 82E3 ldi r24,lo8(50)
		3856	4105 2000 989F mul r25,r24
		3857	4106 2002 C001 movw r24,r0
		3858	4107 2004 1124 clr r1
		3859	4108 2006 9093 0000 sts (RcLostTimer.5)+1,r25
		3860	4109 200a 8093 0000 sts RcLostTimer.5,r24
		3861	4110 200e E981 ldd r30,Y+1
		3862	4111 2010 FA81 ldd r31,Y+2
		3863	4112 2012 B997 sbiw r30,41
		3864	4113 2014 04F0 brlt .L339
		3865	4114 2016 8091 0000 lds r24,MotorenEin
		3866	4115 201a 8823 tst r24
		3867	4116 201c 01F0 breq .L339
		3868	4117 201e 8091 0000 lds r24,modell_fliegt
		3869	4118 2022 9091 0000 lds r25,(modell_fliegt)+1
		3870	4119 2026 FFEF ldi r31,hi8(-1)
		3871	4120 2028 8F3F cpi r24,lo8(-1)
		3872	4121 202a 9F07 cpc r25,r31
		3873	4122 202c 01F0 breq .L339
		3874	4123 202e 0196 adiw r24,1
		3875	4124 2030 9093 0000 sts (modell_fliegt)+1,r25
		3876	4125 2034 8093 0000 sts modell_fliegt,r24
		3877	4126 .L339:
		3878	4127 2038 8091 0000 lds r24,modell_fliegt
		3879	4128 203c 9091 0000 lds r25,(modell_fliegt)+1
		3880	4129 2040 8F3F cpi r24,255
		3881	4130 2042 9105 cpc r25,__zero_reg__
		3882	4131 2044 01F0 breq .+2
		3883	4132 2046 00F4 brsh .L341
		3884	4133 2048 1092 0000 sts SummeNick,__zero_reg__
		3885	4134 204c 1092 0000 sts (SummeNick)+1,__zero_reg__
		3886	4135 2050 1092 0000 sts (SummeNick)+2,__zero_reg__
		3887	4136 2054 1092 0000 sts (SummeNick)+3,__zero_reg__
		3888	4137 2058 1092 0000 sts SummeRoll,__zero_reg__
		3889	4138 205c 1092 0000 sts (SummeRoll)+1,__zero_reg__
		3890	4139 2060 1092 0000 sts (SummeRoll)+2,__zero_reg__
		3891	4140 2064 1092 0000 sts (SummeRoll)+3,__zero_reg__
		3892	4141 2068 1092 0000 sts sollGier.0,__zero_reg__
		3893	4142 206c 1092 0000 sts (sollGier.0)+1,__zero_reg__
		3894	4143 2070 1092 0000 sts (sollGier.0)+2,__zero_reg__
		3895	4144 2074 1092 0000 sts (sollGier.0)+3,__zero_reg__
		3896	4145 2078 1092 0000 sts Mess_Integral_Gier,__zero_reg__
		3897	4146 207c 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
		3898	4147 2080 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
		3899	4148 2084 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__
		3900	4149 2088 00C0 rjmp .L342
		3901	4150 .L341:
		3902	4151 208a 8091 0000 lds r24,FC_StatusFlags
		3903	4152 208e 8260 ori r24,lo8(2)
		3904	4153 2090 8093 0000 sts FC_StatusFlags,r24
		3905	4154 .L342:
		3906	4155 2094 8091 0000 lds r24,EE_Parameter+3
		3907	4156 2098 E82F mov r30,r24
		3908	4157 209a FF27 clr r31
		3909	4158 209c EE0F add r30,r30
		3910	4159 209e FF1F adc r31,r31
		3911	4160 20a0 E050 subi r30,lo8(-(PPM_in))
		3912	4161 20a2 F040 sbci r31,hi8(-(PPM_in))
		3913	4162 20a4 8081 ld r24,Z
		3914	4163 20a6 9181 ldd r25,Z+1
		3915	4164 20a8 8135 cpi r24,81
		3916	4165 20aa 9105 cpc r25,__zero_reg__
		3917	4166 20ac 04F4 brge .+2
		3918	4167 20ae 00C0 rjmp .L343
		3919	4168 20b0 2091 0000 lds r18,MotorenEin
		3920	4169 20b4 2223 tst r18
		3921	4170 20b6 01F0 breq .+2
		3922	4171 20b8 00C0 rjmp .L343
		3923	4172 20ba 8091 0000 lds r24,EE_Parameter+4
		3924	4173 20be E82F mov r30,r24
		3925	4174 20c0 FF27 clr r31
		3926	4175 20c2 EE0F add r30,r30
		3927	4176 20c4 FF1F adc r31,r31
		3928	4177 20c6 E050 subi r30,lo8(-(PPM_in))
		3929	4178 20c8 F040 sbci r31,hi8(-(PPM_in))
		3930	4179 20ca 8081 ld r24,Z
		3931	4180 20cc 9181 ldd r25,Z+1
		3932	4181 20ce 8C34 cpi r24,76
		3933	4182 20d0 9105 cpc r25,__zero_reg__
		3934	4183 20d2 04F4 brge .+2
		3935	4184 20d4 00C0 rjmp .L344
		3936	4185 20d6 8091 0000 lds r24,delay_neutral.6
		3937	4186 20da 8F5F subi r24,lo8(-(1))
		3938	4187 20dc 8093 0000 sts delay_neutral.6,r24
		3939	4188 20e0 893C cpi r24,lo8(-55)
		3940	4189 20e2 00F4 brsh .+2
		3941	4190 20e4 00C0 rjmp .L343
		3942	4191 20e6 2093 0000 sts delay_neutral.6,r18
		3943	4192 20ea 1092 0000 sts (modell_fliegt)+1,__zero_reg__
		3944	4193 20ee 1092 0000 sts modell_fliegt,__zero_reg__
		3945	4194 20f2 3091 0000 lds r19,EE_Parameter+1
		3946	4195 20f6 E32F mov r30,r19
		3947	4196 20f8 FF27 clr r31
		3948	4197 20fa EE0F add r30,r30
		3949	4198 20fc FF1F adc r31,r31
		3950	4199 20fe E050 subi r30,lo8(-(PPM_in))
		3951	4200 2100 F040 sbci r31,hi8(-(PPM_in))
		3952	4201 2102 8081 ld r24,Z
		3953	4202 2104 9181 ldd r25,Z+1
		3954	4203 2106 8734 cpi r24,71
		3955	4204 2108 9105 cpc r25,__zero_reg__
		3956	4205 210a 04F4 brge .L347
		3957	4206 210c 8091 0000 lds r24,EE_Parameter+2
		3958	4207 2110 E82F mov r30,r24
		3959	4208 2112 FF27 clr r31
		3960	4209 2114 EE0F add r30,r30
		3961	4210 2116 FF1F adc r31,r31
		3962	4211 2118 E050 subi r30,lo8(-(PPM_in))
		3963	4212 211a F040 sbci r31,hi8(-(PPM_in))
		3964	4213 211c 8081 ld r24,Z
		3965	4214 211e 9181 ldd r25,Z+1
		3966	4215 2120 0190 ld __tmp_reg__,Z+
		3967	4216 2122 F081 ld r31,Z
		3968	4217 2124 E02D mov r30,__tmp_reg__
		3969	4218 2126 F7FF sbrs r31,7
		3970	4219 2128 00C0 rjmp .L348
		3971	4220 212a F095 com r31
		3972	4221 212c E195 neg r30
		3973	4222 212e FF4F sbci r31,lo8(-1)
		3974	4223 .L348:
		3975	4224 2130 E734 cpi r30,71
		3976	4225 2132 F105 cpc r31,__zero_reg__
		3977	4226 2134 04F4 brge .+2
		3978	4227 2136 00C0 rjmp .L346
		3979	4228 .L347:
		3980	4229 2138 41E0 ldi r20,lo8(1)
		3981	4230 213a 2091 0000 lds r18,EE_Parameter+2
		3982	4231 213e A22F mov r26,r18
		3983	4232 2140 BB27 clr r27
		3984	4233 2142 AA0F add r26,r26
		3985	4234 2144 BB1F adc r27,r27
		3986	4235 2146 A050 subi r26,lo8(-(PPM_in))
		3987	4236 2148 B040 sbci r27,hi8(-(PPM_in))
		3988	4237 214a 8D91 ld r24,X+
		3989	4238 214c 9C91 ld r25,X
		3990	4239 214e 1197 sbiw r26,1
		3991	4240 2150 8734 cpi r24,71
		3992	4241 2152 9105 cpc r25,__zero_reg__
		3993	4242 2154 04F0 brlt .L349
		3994	4243 2156 E32F mov r30,r19
		3995	4244 2158 FF27 clr r31
		3996	4245 215a EE0F add r30,r30
		3997	4246 215c FF1F adc r31,r31
		3998	4247 215e E050 subi r30,lo8(-(PPM_in))
		3999	4248 2160 F040 sbci r31,hi8(-(PPM_in))
		4000	4249 2162 8081 ld r24,Z
		4001	4250 2164 9181 ldd r25,Z+1
		4002	4251 .L349:
		4003	4252 2166 8D91 ld r24,X+
		4004	4253 2168 9C91 ld r25,X
		4005	4254 216a 8734 cpi r24,71
		4006	4255 216c 9105 cpc r25,__zero_reg__
		4007	4256 216e 04F0 brlt .L350
		4008	4257 2170 8091 0000 lds r24,EE_Parameter+1
		4009	4258 2174 E82F mov r30,r24
		4010	4259 2176 FF27 clr r31
		4011	4260 2178 EE0F add r30,r30
		4012	4261 217a FF1F adc r31,r31
		4013	4262 217c E050 subi r30,lo8(-(PPM_in))
		4014	4263 217e F040 sbci r31,hi8(-(PPM_in))
		4015	4264 2180 8081 ld r24,Z
		4016	4265 2182 9181 ldd r25,Z+1
		4017	4266 2184 8734 cpi r24,71
		4018	4267 2186 9105 cpc r25,__zero_reg__
		4019	4268 2188 04F0 brlt .L350
		4020	4269 218a 42E0 ldi r20,lo8(2)
		4021	4270 .L350:
		4022	4271 218c E22F mov r30,r18
		4023	4272 218e FF27 clr r31
		4024	4273 2190 EE0F add r30,r30
		4025	4274 2192 FF1F adc r31,r31
		4026	4275 2194 E050 subi r30,lo8(-(PPM_in))
		4027	4276 2196 F040 sbci r31,hi8(-(PPM_in))
		4028	4277 2198 8081 ld r24,Z
		4029	4278 219a 9181 ldd r25,Z+1
		4030	4279 219c 8634 cpi r24,70
		4031	4280 219e 9105 cpc r25,__zero_reg__
		4032	4281 21a0 04F4 brge .L351
		4033	4282 21a2 8091 0000 lds r24,EE_Parameter+1
		4034	4283 21a6 E82F mov r30,r24
		4035	4284 21a8 FF27 clr r31
		4036	4285 21aa EE0F add r30,r30
		4037	4286 21ac FF1F adc r31,r31
		4038	4287 21ae E050 subi r30,lo8(-(PPM_in))
		4039	4288 21b0 F040 sbci r31,hi8(-(PPM_in))
		4040	4289 21b2 8081 ld r24,Z
		4041	4290 21b4 9181 ldd r25,Z+1
		4042	4291 21b6 8734 cpi r24,71
		4043	4292 21b8 9105 cpc r25,__zero_reg__
		4044	4293 21ba 04F0 brlt .L351
		4045	4294 21bc 43E0 ldi r20,lo8(3)
		4046	4295 .L351:
		4047	4296 21be E22F mov r30,r18
		4048	4297 21c0 FF27 clr r31
		4049	4298 21c2 EE0F add r30,r30
		4050	4299 21c4 FF1F adc r31,r31
		4051	4300 21c6 E050 subi r30,lo8(-(PPM_in))
		4052	4301 21c8 F040 sbci r31,hi8(-(PPM_in))
		4053	4302 21ca 8081 ld r24,Z
		4054	4303 21cc 9181 ldd r25,Z+1
		4055	4304 21ce 8A5B subi r24,lo8(-70)
		4056	4305 21d0 9F4F sbci r25,hi8(-70)
		4057	4306 21d2 04F4 brge .L352
		4058	4307 21d4 8091 0000 lds r24,EE_Parameter+1
		4059	4308 21d8 E82F mov r30,r24
		4060	4309 21da FF27 clr r31
		4061	4310 21dc EE0F add r30,r30
		4062	4311 21de FF1F adc r31,r31
		4063	4312 21e0 E050 subi r30,lo8(-(PPM_in))
		4064	4313 21e2 F040 sbci r31,hi8(-(PPM_in))
		4065	4314 21e4 8081 ld r24,Z
		4066	4315 21e6 9181 ldd r25,Z+1
		4067	4316 21e8 8734 cpi r24,71
		4068	4317 21ea 9105 cpc r25,__zero_reg__
		4069	4318 21ec 04F0 brlt .L352
		4070	4319 21ee 44E0 ldi r20,lo8(4)
		4071	4320 .L352:
		4072	4321 21f0 E22F mov r30,r18
		4073	4322 21f2 FF27 clr r31
		4074	4323 21f4 EE0F add r30,r30
		4075	4324 21f6 FF1F adc r31,r31
		4076	4325 21f8 E050 subi r30,lo8(-(PPM_in))
		4077	4326 21fa F040 sbci r31,hi8(-(PPM_in))
		4078	4327 21fc 8081 ld r24,Z
		4079	4328 21fe 9181 ldd r25,Z+1
		4080	4329 2200 8A5B subi r24,lo8(-70)
		4081	4330 2202 9F4F sbci r25,hi8(-70)
		4082	4331 2204 04F4 brge .L353
		4083	4332 2206 8091 0000 lds r24,EE_Parameter+1
		4084	4333 220a E82F mov r30,r24
		4085	4334 220c FF27 clr r31
		4086	4335 220e EE0F add r30,r30
		4087	4336 2210 FF1F adc r31,r31
		4088	4337 2212 E050 subi r30,lo8(-(PPM_in))
		4089	4338 2214 F040 sbci r31,hi8(-(PPM_in))
		4090	4339 2216 8081 ld r24,Z
		4091	4340 2218 9181 ldd r25,Z+1
		4092	4341 221a 8634 cpi r24,70
		4093	4342 221c 9105 cpc r25,__zero_reg__
		4094	4343 221e 04F4 brge .L353
		4095	4344 2220 45E0 ldi r20,lo8(5)
		4096	4345 .L353:
		4097	4346 2222 842F mov r24,r20
		4098	4347 2224 0E94 0000 call SetActiveParamSet
		4099	4348 .L346:
		4100	4349 2228 8091 0000 lds r24,EE_Parameter+2
		4101	4350 222c E82F mov r30,r24
		4102	4351 222e FF27 clr r31
		4103	4352 2230 EE0F add r30,r30
		4104	4353 2232 FF1F adc r31,r31
		4105	4354 2234 E050 subi r30,lo8(-(PPM_in))
		4106	4355 2236 F040 sbci r31,hi8(-(PPM_in))
		4107	4356 2238 8081 ld r24,Z
		4108	4357 223a 9181 ldd r25,Z+1
		4109	4358 223c 0190 ld __tmp_reg__,Z+
		4110	4359 223e F081 ld r31,Z
		4111	4360 2240 E02D mov r30,__tmp_reg__
		4112	4361 2242 F7FF sbrs r31,7
		4113	4362 2244 00C0 rjmp .L355
		4114	4363 2246 F095 com r31
		4115	4364 2248 E195 neg r30
		4116	4365 224a FF4F sbci r31,lo8(-1)
		4117	4366 .L355:
		4118	4367 224c 7E97 sbiw r30,30
		4119	4368 224e 04F4 brge .L354
		4120	4369 2250 8091 0000 lds r24,EE_Parameter+1
		4121	4370 2254 E82F mov r30,r24
		4122	4371 2256 FF27 clr r31
		4123	4372 2258 EE0F add r30,r30
		4124	4373 225a FF1F adc r31,r31
		4125	4374 225c E050 subi r30,lo8(-(PPM_in))
		4126	4375 225e F040 sbci r31,hi8(-(PPM_in))
		4127	4376 2260 8081 ld r24,Z
		4128	4377 2262 9181 ldd r25,Z+1
		4129	4378 2264 8A5B subi r24,lo8(-70)
		4130	4379 2266 9F4F sbci r25,hi8(-70)
		4131	4380 2268 04F4 brge .L354
		4132	4381 226a 81E0 ldi r24,lo8(1)
		4133	4382 226c 8093 0000 sts WinkelOut+6,r24
		4134	4383 2270 88EE ldi r24,lo8(1000)
		4135	4384 2272 93E0 ldi r25,hi8(1000)
		4136	4385 2274 9093 0000 sts (beeptime)+1,r25
		4137	4386 2278 8093 0000 sts beeptime,r24
		4138	4387 227c 00C0 rjmp .L343
		4139	4388 .L354:
		4140	4389 227e 0E94 0000 call GetActiveParamSet
		4141	4390 2282 0E94 0000 call ParamSet_ReadFromEEProm
		4142	4391 2286 80E0 ldi r24,lo8(0)
		4143	4392 2288 0E94 0000 call LipoDetection
		4144	4393 228c 8091 0000 lds r24,EE_Parameter+39
		4145	4394 2290 0E94 0000 call LIBFC_ReceiverInit
		4146	4395 2294 8091 0000 lds r24,Parameter_GlobalConfig
		4147	4396 2298 80FF sbrs r24,0
		4148	4397 229a 00C0 rjmp .L357
		4149	4398 229c 8091 0000 lds r24,MessLuftdruck
		4150	4399 22a0 9091 0000 lds r25,(MessLuftdruck)+1
		4151	4400 22a4 875B subi r24,lo8(951)
		4152	4401 22a6 9340 sbci r25,hi8(951)
		4153	4402 22a8 00F4 brsh .L359
		4154	4403 22aa 8091 0000 lds r24,MessLuftdruck
		4155	4404 22ae 9091 0000 lds r25,(MessLuftdruck)+1
		4156	4405 22b2 8E5E subi r24,lo8(750)
		4157	4406 22b4 9240 sbci r25,hi8(750)
		4158	4407 22b6 00F4 brsh .L357
		4159	4408 .L359:
		4160	4409 22b8 0E94 0000 call SucheLuftruckOffset
		4161	4410 .L357:
		4162	4411 22bc 1092 0000 sts ServoActive,__zero_reg__
		4163	4412 22c0 80E0 ldi r24,lo8(0)
		4164	4413 22c2 0E94 0000 call SetNeutral
		4165	4414 22c6 81E0 ldi r24,lo8(1)
		4166	4415 22c8 8093 0000 sts calibration_done.9,r24
		4167	4416 22cc 8093 0000 sts ServoActive,r24
		4168	4417 22d0 579A sbi 42-0x20,7
		4169	4418 22d2 00C0 rjmp .L824
		4170	4419 .L344:
		4171	4420 22d4 8081 ld r24,Z
		4172	4421 22d6 9181 ldd r25,Z+1
		4173	4422 22d8 855B subi r24,lo8(-75)
		4174	4423 22da 9F4F sbci r25,hi8(-75)
		4175	4424 22dc 04F4 brge .L361
		4176	4425 22de 8091 0000 lds r24,delay_neutral.6
		4177	4426 22e2 8F5F subi r24,lo8(-(1))
		4178	4427 22e4 8093 0000 sts delay_neutral.6,r24
		4179	4428 22e8 893C cpi r24,lo8(-55)
		4180	4429 22ea 00F0 brlo .L343
		4181	4430 22ec 2093 0000 sts MotorenEin,r18
		4182	4431 22f0 2093 0000 sts delay_neutral.6,r18
		4183	4432 22f4 1092 0000 sts (modell_fliegt)+1,__zero_reg__
		4184	4433 22f8 1092 0000 sts modell_fliegt,__zero_reg__
		4185	4434 22fc 81E0 ldi r24,lo8(1)
		4186	4435 22fe 0E94 0000 call SetNeutral
		4187	4436 2302 81E0 ldi r24,lo8(1)
		4188	4437 2304 8093 0000 sts calibration_done.9,r24
		4189	4438 .L824:
		4190	4439 2308 0E94 0000 call GetActiveParamSet
		4191	4440 230c 68E7 ldi r22,lo8(120)
		4192	4441 230e 70E0 ldi r23,hi8(120)
		4193	4442 2310 0E94 0000 call Piep
		4194	4443 2314 00C0 rjmp .L343
		4195	4444 .L361:
		4196	4445 2316 2093 0000 sts delay_neutral.6,r18
		4197	4446 .L343:
		4198	4447 231a 8091 0000 lds r24,EE_Parameter+3
		4199	4448 231e E82F mov r30,r24
		4200	4449 2320 FF27 clr r31
		4201	4450 2322 EE0F add r30,r30
		4202	4451 2324 FF1F adc r31,r31
		4203	4452 2326 E050 subi r30,lo8(-(PPM_in))
		4204	4453 2328 F040 sbci r31,hi8(-(PPM_in))
		4205	4454 232a 8081 ld r24,Z
		4206	4455 232c 9181 ldd r25,Z+1
		4207	4456 232e 8B5A subi r24,lo8(-85)
		4208	4457 2330 9F4F sbci r25,hi8(-85)
		4209	4458 2332 04F0 brlt .+2
		4210	4459 2334 00C0 rjmp .L337
		4211	4460 2336 3091 0000 lds r19,MotorenEin
		4212	4461 233a E091 0000 lds r30,EE_Parameter+4
		4213	4462 233e 3323 tst r19
		4214	4463 2340 01F0 breq .+2
		4215	4464 2342 00C0 rjmp .L365
		4216	4465 2344 FF27 clr r31
		4217	4466 2346 EE0F add r30,r30
		4218	4467 2348 FF1F adc r31,r31
		4219	4468 234a E050 subi r30,lo8(-(PPM_in))
		4220	4469 234c F040 sbci r31,hi8(-(PPM_in))
		4221	4470 234e 8081 ld r24,Z
		4222	4471 2350 9181 ldd r25,Z+1
		4223	4472 2352 855B subi r24,lo8(-75)
		4224	4473 2354 9F4F sbci r25,hi8(-75)
		4225	4474 2356 04F0 brlt .+2
		4226	4475 2358 00C0 rjmp .L366
		4227	4476 235a 2091 0000 lds r18,EE_Parameter+99
		4228	4477 235e E22F mov r30,r18
		4229	4478 2360 FF27 clr r31
		4230	4479 2362 EE0F add r30,r30
		4231	4480 2364 FF1F adc r31,r31
		4232	4481 2366 E050 subi r30,lo8(-(PPM_in))
		4233	4482 2368 F040 sbci r31,hi8(-(PPM_in))
		4234	4483 236a 8081 ld r24,Z
		4235	4484 236c 9181 ldd r25,Z+1
		4236	4485 236e 855B subi r24,lo8(-75)
		4237	4486 2370 9F4F sbci r25,hi8(-75)
		4238	4487 2372 04F0 brlt .L367
		4239	4488 2374 2223 tst r18
		4240	4489 2376 01F0 breq .+2
		4241	4490 2378 00C0 rjmp .L366
		4242	4491 .L367:
		4243	4492 237a 8091 0000 lds r24,delay_einschalten.7
		4244	4493 237e 8F5F subi r24,lo8(-(1))
		4245	4494 2380 8093 0000 sts delay_einschalten.7,r24
		4246	4495 2384 893C cpi r24,lo8(-55)
		4247	4496 2386 00F4 brsh .+2
		4248	4497 2388 00C0 rjmp .L337
		4249	4498 238a 3093 0000 sts delay_einschalten.7,r19
		4250	4499 238e 8091 0000 lds r24,VersionInfo+5
		4251	4500 2392 8823 tst r24
		4252	4501 2394 01F0 breq .+2
		4253	4502 2396 00C0 rjmp .L369
		4254	4503 2398 8091 0000 lds r24,calibration_done.9
		4255	4504 239c 8823 tst r24
		4256	4505 239e 01F4 brne .+2
		4257	4506 23a0 00C0 rjmp .L369
		4258	4507 23a2 8091 0000 lds r24,NC_ErrorCode
		4259	4508 23a6 8823 tst r24
		4260	4509 23a8 01F0 breq .+2
		4261	4510 23aa 00C0 rjmp .L369
		4262	4511 23ac 81E0 ldi r24,lo8(1)
		4263	4512 23ae 90E0 ldi r25,hi8(1)
		4264	4513 23b0 9093 0000 sts (modell_fliegt)+1,r25
		4265	4514 23b4 8093 0000 sts modell_fliegt,r24
		4266	4515 23b8 81E0 ldi r24,lo8(1)
		4267	4516 23ba 8093 0000 sts MotorenEin,r24
		4268	4517 23be 1092 0000 sts sollGier.0,__zero_reg__
		4269	4518 23c2 1092 0000 sts (sollGier.0)+1,__zero_reg__
		4270	4519 23c6 1092 0000 sts (sollGier.0)+2,__zero_reg__
		4271	4520 23ca 1092 0000 sts (sollGier.0)+3,__zero_reg__
		4272	4521 23ce 1092 0000 sts Mess_Integral_Gier,__zero_reg__
		4273	4522 23d2 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
		4274	4523 23d6 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
		4275	4524 23da 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__
		4276	4525 23de 8091 0000 lds r24,EE_Parameter+28
		4277	4526 23e2 E82E mov r14,r24
		4278	4527 23e4 FF24 clr r15
		4279	4528 23e6 0027 clr r16
		4280	4529 23e8 1127 clr r17
		4281	4530 23ea 8091 0000 lds r24,Mittelwert_AccNick
		4282	4531 23ee 9091 0000 lds r25,(Mittelwert_AccNick)+1
		4283	4532 23f2 9C01 movw r18,r24
		4284	4533 23f4 4427 clr r20
		4285	4534 23f6 37FD sbrc r19,7
		4286	4535 23f8 4095 com r20
		4287	4536 23fa 542F mov r21,r20
		4288	4537 23fc C801 movw r24,r16
		4289	4538 23fe B701 movw r22,r14
		4290	4539 2400 0E94 0000 call __mulsi3
		4291	4540 2404 DC01 movw r26,r24
		4292	4541 2406 CB01 movw r24,r22
		4293	4542 2408 8093 0000 sts Mess_IntegralNick,r24
		4294	4543 240c 9093 0000 sts (Mess_IntegralNick)+1,r25
		4295	4544 2410 A093 0000 sts (Mess_IntegralNick)+2,r26
		4296	4545 2414 B093 0000 sts (Mess_IntegralNick)+3,r27
		4297	4546 2418 8091 0000 lds r24,Mittelwert_AccRoll
		4298	4547 241c 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		4299	4548 2420 9C01 movw r18,r24
		4300	4549 2422 4427 clr r20
		4301	4550 2424 37FD sbrc r19,7
		4302	4551 2426 4095 com r20
		4303	4552 2428 542F mov r21,r20
		4304	4553 242a C801 movw r24,r16
		4305	4554 242c B701 movw r22,r14
		4306	4555 242e 0E94 0000 call __mulsi3
		4307	4556 2432 DC01 movw r26,r24
		4308	4557 2434 CB01 movw r24,r22
		4309	4558 2436 8093 0000 sts Mess_IntegralRoll,r24
		4310	4559 243a 9093 0000 sts (Mess_IntegralRoll)+1,r25
		4311	4560 243e A093 0000 sts (Mess_IntegralRoll)+2,r26
		4312	4561 2442 B093 0000 sts (Mess_IntegralRoll)+3,r27
		4313	4562 2446 8091 0000 lds r24,IntegralNick
		4314	4563 244a 9091 0000 lds r25,(IntegralNick)+1
		4315	4564 244e A091 0000 lds r26,(IntegralNick)+2
		4316	4565 2452 B091 0000 lds r27,(IntegralNick)+3
		4317	4566 2456 8093 0000 sts Mess_IntegralNick2,r24
		4318	4567 245a 9093 0000 sts (Mess_IntegralNick2)+1,r25
		4319	4568 245e A093 0000 sts (Mess_IntegralNick2)+2,r26
		4320	4569 2462 B093 0000 sts (Mess_IntegralNick2)+3,r27
		4321	4570 2466 8091 0000 lds r24,IntegralRoll
		4322	4571 246a 9091 0000 lds r25,(IntegralRoll)+1
		4323	4572 246e A091 0000 lds r26,(IntegralRoll)+2
		4324	4573 2472 B091 0000 lds r27,(IntegralRoll)+3
		4325	4574 2476 8093 0000 sts Mess_IntegralRoll2,r24
		4326	4575 247a 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		4327	4576 247e A093 0000 sts (Mess_IntegralRoll2)+2,r26
		4328	4577 2482 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		4329	4578 2486 1092 0000 sts SummeNick,__zero_reg__
		4330	4579 248a 1092 0000 sts (SummeNick)+1,__zero_reg__
		4331	4580 248e 1092 0000 sts (SummeNick)+2,__zero_reg__
		4332	4581 2492 1092 0000 sts (SummeNick)+3,__zero_reg__
		4333	4582 2496 1092 0000 sts SummeRoll,__zero_reg__
		4334	4583 249a 1092 0000 sts (SummeRoll)+1,__zero_reg__
		4335	4584 249e 1092 0000 sts (SummeRoll)+2,__zero_reg__
		4336	4585 24a2 1092 0000 sts (SummeRoll)+3,__zero_reg__
		4337	4586 24a6 8091 0000 lds r24,FC_StatusFlags
		4338	4587 24aa 8860 ori r24,lo8(8)
		4339	4588 24ac 8093 0000 sts FC_StatusFlags,r24
		4340	4589 24b0 84E6 ldi r24,lo8(100)
		4341	4590 24b2 8093 0000 sts NeueKompassRichtungMerken.10,r24
		4342	4591 24b6 00C0 rjmp .L337
		4343	4592 .L369:
		4344	4593 24b8 8CED ldi r24,lo8(1500)
		4345	4594 24ba 95E0 ldi r25,hi8(1500)
		4346	4595 24bc 9093 0000 sts (beeptime)+1,r25
		4347	4596 24c0 8093 0000 sts beeptime,r24
		4348	4597 24c4 00C0 rjmp .L337
		4349	4598 .L366:
		4350	4599 24c6 1092 0000 sts delay_einschalten.7,__zero_reg__
		4351	4600 24ca 00C0 rjmp .L337
		4352	4601 .L365:
		4353	4602 24cc FF27 clr r31
		4354	4603 24ce EE0F add r30,r30
		4355	4604 24d0 FF1F adc r31,r31
		4356	4605 24d2 E050 subi r30,lo8(-(PPM_in))
		4357	4606 24d4 F040 sbci r31,hi8(-(PPM_in))
		4358	4607 24d6 8081 ld r24,Z
		4359	4608 24d8 9181 ldd r25,Z+1
		4360	4609 24da 8C34 cpi r24,76
		4361	4610 24dc 9105 cpc r25,__zero_reg__
		4362	4611 24de 04F0 brlt .L373
		4363	4612 24e0 2091 0000 lds r18,EE_Parameter+99
		4364	4613 24e4 E22F mov r30,r18
		4365	4614 24e6 FF27 clr r31
		4366	4615 24e8 EE0F add r30,r30
		4367	4616 24ea FF1F adc r31,r31
		4368	4617 24ec E050 subi r30,lo8(-(PPM_in))
		4369	4618 24ee F040 sbci r31,hi8(-(PPM_in))
		4370	4619 24f0 8081 ld r24,Z
		4371	4620 24f2 9181 ldd r25,Z+1
		4372	4621 24f4 855B subi r24,lo8(-75)
		4373	4622 24f6 9F4F sbci r25,hi8(-75)
		4374	4623 24f8 04F0 brlt .L374
		4375	4624 24fa 2223 tst r18
		4376	4625 24fc 01F4 brne .L373
		4377	4626 .L374:
		4378	4627 24fe 8091 0000 lds r24,delay_ausschalten.8
		4379	4628 2502 8F5F subi r24,lo8(-(1))
		4380	4629 2504 8093 0000 sts delay_ausschalten.8,r24
		4381	4630 2508 893C cpi r24,lo8(-55)
		4382	4631 250a 00F0 brlo .L337
		4383	4632 250c 1092 0000 sts MotorenEin,__zero_reg__
		4384	4633 2510 1092 0000 sts delay_ausschalten.8,__zero_reg__
		4385	4634 2514 1092 0000 sts (modell_fliegt)+1,__zero_reg__
		4386	4635 2518 1092 0000 sts modell_fliegt,__zero_reg__
		4387	4636 251c 00C0 rjmp .L337
		4388	4637 .L373:
		4389	4638 251e 1092 0000 sts delay_ausschalten.8,__zero_reg__
		4390	4639 .L337:
		4391	4640 2522 8091 0000 lds r24,NewPpmData
		4392	4641 2526 8150 subi r24,lo8(-(-1))
		4393	4642 2528 8093 0000 sts NewPpmData,r24
		4394	4643 252c 8091 0000 lds r24,NewPpmData
		4395	4644 2530 8F3F cpi r24,lo8(-1)
		4396	4645 2532 01F0 breq .L378
		4397	4646 2534 8091 0000 lds r24,FC_StatusFlags
		4398	4647 2538 84FF sbrs r24,4
		4399	4648 253a 00C0 rjmp .L377
		4400	4649 .L378:
		4401	4650 253c 0E94 0000 call ParameterZuordnung
		4402	4651 2540 B090 0000 lds r11,EE_Parameter+23
		4403	4652 2544 8091 0000 lds r24,stick_nick.13
		4404	4653 2548 9091 0000 lds r25,(stick_nick.13)+1
		4405	4654 254c 9C01 movw r18,r24
		4406	4655 254e 220F lsl r18
		4407	4656 2550 331F rol r19
		4408	4657 2552 280F add r18,r24
		4409	4658 2554 391F adc r19,r25
		4410	4659 2556 C090 0000 lds r12,EE_Parameter+1
		4411	4660 255a AC2D mov r26,r12
		4412	4661 255c BB27 clr r27
		4413	4662 255e AA0F add r26,r26
		4414	4663 2560 BB1F adc r27,r27
		4415	4664 2562 FD01 movw r30,r26
		4416	4665 2564 E050 subi r30,lo8(-(PPM_in))
		4417	4666 2566 F040 sbci r31,hi8(-(PPM_in))
		4418	4667 2568 4B2D mov r20,r11
		4419	4668 256a 5527 clr r21
		4420	4669 256c 8081 ld r24,Z
		4421	4670 256e 9181 ldd r25,Z+1
		4422	4671 2570 849F mul r24,r20
		4423	4672 2572 F001 movw r30,r0
		4424	4673 2574 859F mul r24,r21
		4425	4674 2576 F00D add r31,r0
		4426	4675 2578 949F mul r25,r20
		4427	4676 257a F00D add r31,r0
		4428	4677 257c 1124 clr r1
		4429	4678 257e 2E0F add r18,r30
		4430	4679 2580 3F1F adc r19,r31
		4431	4680 2582 37FF sbrs r19,7
		4432	4681 2584 00C0 rjmp .L379
		4433	4682 2586 2D5F subi r18,lo8(-(3))
		4434	4683 2588 3F4F sbci r19,hi8(-(3))
		4435	4684 .L379:
		4436	4685 258a B901 movw r22,r18
		4437	4686 258c 7595 asr r23
		4438	4687 258e 6795 ror r22
		4439	4688 2590 7595 asr r23
		4440	4689 2592 6795 ror r22
		4441	4690 2594 A050 subi r26,lo8(-(PPM_diff))
		4442	4691 2596 B040 sbci r27,hi8(-(PPM_diff))
		4443	4692 2598 8091 0000 lds r24,EE_Parameter+24
		4444	4693 259c 082F mov r16,r24
		4445	4694 259e 1127 clr r17
		4446	4695 25a0 8D91 ld r24,X+
		4447	4696 25a2 9C91 ld r25,X
		4448	4697 25a4 809F mul r24,r16
		4449	4698 25a6 7001 movw r14,r0
		4450	4699 25a8 819F mul r24,r17
		4451	4700 25aa F00C add r15,r0
		4452	4701 25ac 909F mul r25,r16
		4453	4702 25ae F00C add r15,r0
		4454	4703 25b0 1124 clr r1
		4455	4704 25b2 6E0D add r22,r14
		4456	4705 25b4 7F1D adc r23,r15
		4457	4706 25b6 7093 0000 sts (stick_nick.13)+1,r23
		4458	4707 25ba 6093 0000 sts stick_nick.13,r22
		4459	4708 25be 8091 0000 lds r24,stick_roll.14
		4460	4709 25c2 9091 0000 lds r25,(stick_roll.14)+1
		4461	4710 25c6 9C01 movw r18,r24
		4462	4711 25c8 220F lsl r18
		4463	4712 25ca 331F rol r19
		4464	4713 25cc 280F add r18,r24
		4465	4714 25ce 391F adc r19,r25
		4466	4715 25d0 D090 0000 lds r13,EE_Parameter+2
		4467	4716 25d4 AD2D mov r26,r13
		4468	4717 25d6 BB27 clr r27
		4469	4718 25d8 AA0F add r26,r26
		4470	4719 25da BB1F adc r27,r27
		4471	4720 25dc FD01 movw r30,r26
		4472	4721 25de E050 subi r30,lo8(-(PPM_in))
		4473	4722 25e0 F040 sbci r31,hi8(-(PPM_in))
		4474	4723 25e2 8081 ld r24,Z
		4475	4724 25e4 9181 ldd r25,Z+1
		4476	4725 25e6 849F mul r24,r20
		4477	4726 25e8 F001 movw r30,r0
		4478	4727 25ea 859F mul r24,r21
		4479	4728 25ec F00D add r31,r0
		4480	4729 25ee 949F mul r25,r20
		4481	4730 25f0 F00D add r31,r0
		4482	4731 25f2 1124 clr r1
		4483	4732 25f4 2E0F add r18,r30
		4484	4733 25f6 3F1F adc r19,r31
		4485	4734 25f8 37FF sbrs r19,7
		4486	4735 25fa 00C0 rjmp .L380
		4487	4736 25fc 2D5F subi r18,lo8(-(3))
		4488	4737 25fe 3F4F sbci r19,hi8(-(3))
		4489	4738 .L380:
		4490	4739 2600 A901 movw r20,r18
		4491	4740 2602 5595 asr r21
		4492	4741 2604 4795 ror r20
		4493	4742 2606 5595 asr r21
		4494	4743 2608 4795 ror r20
		4495	4744 260a A050 subi r26,lo8(-(PPM_diff))
		4496	4745 260c B040 sbci r27,hi8(-(PPM_diff))
		4497	4746 260e 8D91 ld r24,X+
		4498	4747 2610 9C91 ld r25,X
		4499	4748 2612 809F mul r24,r16
		4500	4749 2614 7001 movw r14,r0
		4501	4750 2616 819F mul r24,r17
		4502	4751 2618 F00C add r15,r0
		4503	4752 261a 909F mul r25,r16
		4504	4753 261c F00C add r15,r0
		4505	4754 261e 1124 clr r1
		4506	4755 2620 4E0D add r20,r14
		4507	4756 2622 5F1D adc r21,r15
		4508	4757 2624 5093 0000 sts (stick_roll.14)+1,r21
		4509	4758 2628 4093 0000 sts stick_roll.14,r20
		4510	4759 262c 8091 0000 lds r24,CareFree
		4511	4760 2630 8823 tst r24
		4512	4761 2632 01F4 brne .+2
		4513	4762 2634 00C0 rjmp .L381
		4514	4763 2636 CB01 movw r24,r22
		4515	4764 2638 77FD sbrc r23,7
		4516	4765 263a 0396 adiw r24,3
		4517	4766 .L382:
		4518	4767 263c DC01 movw r26,r24
		4519	4768 263e B595 asr r27
		4520	4769 2640 A795 ror r26
		4521	4770 2642 B595 asr r27
		4522	4771 2644 A795 ror r26
		4523	4772 2646 CA01 movw r24,r20
		4524	4773 2648 57FD sbrc r21,7
		4525	4774 264a 0396 adiw r24,3
		4526	4775 .L383:
		4527	4776 264c FC01 movw r30,r24
		4528	4777 264e F595 asr r31
		4529	4778 2650 E795 ror r30
		4530	4779 2652 F595 asr r31
		4531	4780 2654 E795 ror r30
		4532	4781 2656 8091 0000 lds r24,FromNC_Rotate_C
		4533	4782 265a 682F mov r22,r24
		4534	4783 265c 7727 clr r23
		4535	4784 265e 67FD sbrc r22,7
		4536	4785 2660 7095 com r23
		4537	4786 2662 6A9F mul r22,r26
		4538	4787 2664 9001 movw r18,r0
		4539	4788 2666 6B9F mul r22,r27
		4540	4789 2668 300D add r19,r0
		4541	4790 266a 7A9F mul r23,r26
		4542	4791 266c 300D add r19,r0
		4543	4792 266e 1124 clr r1
		4544	4793 2670 8091 0000 lds r24,FromNC_Rotate_S
		4545	4794 2674 482F mov r20,r24
		4546	4795 2676 5527 clr r21
		4547	4796 2678 47FD sbrc r20,7
		4548	4797 267a 5095 com r21
		4549	4798 267c 4E9F mul r20,r30
		4550	4799 267e C001 movw r24,r0
		4551	4800 2680 4F9F mul r20,r31
		4552	4801 2682 900D add r25,r0
		4553	4802 2684 5E9F mul r21,r30
		4554	4803 2686 900D add r25,r0
		4555	4804 2688 1124 clr r1
		4556	4805 268a 280F add r18,r24
		4557	4806 268c 391F adc r19,r25
		4558	4807 268e 37FF sbrs r19,7
		4559	4808 2690 00C0 rjmp .L384
		4560	4809 2692 295F subi r18,lo8(-(7))
		4561	4810 2694 3F4F sbci r19,hi8(-(7))
		4562	4811 .L384:
		4563	4812 2696 93E0 ldi r25,3
		4564	4813 2698 3595 1: asr r19
		4565	4814 269a 2795 ror r18
		4566	4815 269c 9A95 dec r25
		4567	4816 269e 01F4 brne 1b
		4568	4817 26a0 3093 0000 sts (StickNick)+1,r19
		4569	4818 26a4 2093 0000 sts StickNick,r18
		4570	4819 26a8 6E9F mul r22,r30
		4571	4820 26aa 9001 movw r18,r0
		4572	4821 26ac 6F9F mul r22,r31
		4573	4822 26ae 300D add r19,r0
		4574	4823 26b0 7E9F mul r23,r30
		4575	4824 26b2 300D add r19,r0
		4576	4825 26b4 1124 clr r1
		4577	4826 26b6 4A9F mul r20,r26
		4578	4827 26b8 C001 movw r24,r0
		4579	4828 26ba 4B9F mul r20,r27
		4580	4829 26bc 900D add r25,r0
		4581	4830 26be 5A9F mul r21,r26
		4582	4831 26c0 900D add r25,r0
		4583	4832 26c2 1124 clr r1
		4584	4833 26c4 00C0 rjmp .L853
		4585	4834 .L381:
		4586	4835 26c6 8091 0000 lds r24,EE_Parameter+97
		4587	4836 26ca E82F mov r30,r24
		4588	4837 26cc FF27 clr r31
		4589	4838 26ce E050 subi r30,lo8(-(sintab))
		4590	4839 26d0 F040 sbci r31,hi8(-(sintab))
		4591	4840 26d2 8681 ldd r24,Z+6
		4592	4841 26d4 8093 0000 sts FromNC_Rotate_C,r24
		4593	4842 26d8 9081 ld r25,Z
		4594	4843 26da 9093 0000 sts FromNC_Rotate_S,r25
		4595	4844 26de A82F mov r26,r24
		4596	4845 26e0 BB27 clr r27
		4597	4846 26e2 A7FD sbrc r26,7
		4598	4847 26e4 B095 com r27
		4599	4848 26e6 A69F mul r26,r22
		4600	4849 26e8 9001 movw r18,r0
		4601	4850 26ea A79F mul r26,r23
		4602	4851 26ec 300D add r19,r0
		4603	4852 26ee B69F mul r27,r22
		4604	4853 26f0 300D add r19,r0
		4605	4854 26f2 1124 clr r1
		4606	4855 26f4 E92F mov r30,r25
		4607	4856 26f6 FF27 clr r31
		4608	4857 26f8 E7FD sbrc r30,7
		4609	4858 26fa F095 com r31
		4610	4859 26fc E49F mul r30,r20
		4611	4860 26fe C001 movw r24,r0
		4612	4861 2700 E59F mul r30,r21
		4613	4862 2702 900D add r25,r0
		4614	4863 2704 F49F mul r31,r20
		4615	4864 2706 900D add r25,r0
		4616	4865 2708 1124 clr r1
		4617	4866 270a 280F add r18,r24
		4618	4867 270c 391F adc r19,r25
		4619	4868 270e 37FF sbrs r19,7
		4620	4869 2710 00C0 rjmp .L387
		4621	4870 2712 295F subi r18,lo8(-(7))
		4622	4871 2714 3F4F sbci r19,hi8(-(7))
		4623	4872 .L387:
		4624	4873 2716 83E0 ldi r24,3
		4625	4874 2718 3595 1: asr r19
		4626	4875 271a 2795 ror r18
		4627	4876 271c 8A95 dec r24
		4628	4877 271e 01F4 brne 1b
		4629	4878 2720 3093 0000 sts (StickNick)+1,r19
		4630	4879 2724 2093 0000 sts StickNick,r18
		4631	4880 2728 A49F mul r26,r20
		4632	4881 272a 9001 movw r18,r0
		4633	4882 272c A59F mul r26,r21
		4634	4883 272e 300D add r19,r0
		4635	4884 2730 B49F mul r27,r20
		4636	4885 2732 300D add r19,r0
		4637	4886 2734 1124 clr r1
		4638	4887 2736 E69F mul r30,r22
		4639	4888 2738 C001 movw r24,r0
		4640	4889 273a E79F mul r30,r23
		4641	4890 273c 900D add r25,r0
		4642	4891 273e F69F mul r31,r22
		4643	4892 2740 900D add r25,r0
		4644	4893 2742 1124 clr r1
		4645	4894 .L853:
		4646	4895 2744 281B sub r18,r24
		4647	4896 2746 390B sbc r19,r25
		4648	4897 2748 37FF sbrs r19,7
		4649	4898 274a 00C0 rjmp .L388
		4650	4899 274c 295F subi r18,lo8(-(7))
		4651	4900 274e 3F4F sbci r19,hi8(-(7))
		4652	4901 .L388:
		4653	4902 2750 03E0 ldi r16,3
		4654	4903 2752 3595 1: asr r19
		4655	4904 2754 2795 ror r18
		4656	4905 2756 0A95 dec r16
		4657	4906 2758 01F4 brne 1b
		4658	4907 275a 3093 0000 sts (StickRoll)+1,r19
		4659	4908 275e 2093 0000 sts StickRoll,r18
		4660	4909 2762 8091 0000 lds r24,EE_Parameter+4
		4661	4910 2766 E82F mov r30,r24
		4662	4911 2768 FF27 clr r31
		4663	4912 276a EE0F add r30,r30
		4664	4913 276c FF1F adc r31,r31
		4665	4914 276e E050 subi r30,lo8(-(PPM_in))
		4666	4915 2770 F040 sbci r31,hi8(-(PPM_in))
		4667	4916 2772 8081 ld r24,Z
		4668	4917 2774 9181 ldd r25,Z+1
		4669	4918 2776 9095 com r25
		4670	4919 2778 8195 neg r24
		4671	4920 277a 9F4F sbci r25,lo8(-1)
		4672	4921 277c 9093 0000 sts (StickGier)+1,r25
		4673	4922 2780 8093 0000 sts StickGier,r24
		4674	4923 2784 8530 cpi r24,5
		4675	4924 2786 9105 cpc r25,__zero_reg__
		4676	4925 2788 04F0 brlt .L389
		4677	4926 278a 0497 sbiw r24,4
		4678	4927 278c 00C0 rjmp .L825
		4679	4928 .L389:
		4680	4929 278e 0FEF ldi r16,hi8(-4)
		4681	4930 2790 8C3F cpi r24,lo8(-4)
		4682	4931 2792 9007 cpc r25,r16
		4683	4932 2794 04F4 brge .L391
		4684	4933 2796 0496 adiw r24,4
		4685	4934 .L825:
		4686	4935 2798 9093 0000 sts (StickGier)+1,r25
		4687	4936 279c 8093 0000 sts StickGier,r24
		4688	4937 27a0 00C0 rjmp .L390
		4689	4938 .L391:
		4690	4939 27a2 1092 0000 sts (StickGier)+1,__zero_reg__
		4691	4940 27a6 1092 0000 sts StickGier,__zero_reg__
		4692	4941 .L390:
		4693	4942 27aa 8091 0000 lds r24,GPS_Aid_StickMultiplikator
		4694	4943 27ae 8823 tst r24
		4695	4944 27b0 01F4 brne .+2
		4696	4945 27b2 00C0 rjmp .L393
		4697	4946 27b4 282F mov r18,r24
		4698	4947 27b6 3327 clr r19
		4699	4948 27b8 8091 0000 lds r24,StickNick
		4700	4949 27bc 9091 0000 lds r25,(StickNick)+1
		4701	4950 27c0 97FD sbrc r25,7
		4702	4951 27c2 0796 adiw r24,7
		4703	4952 .L394:
		4704	4953 27c4 13E0 ldi r17,3
		4705	4954 27c6 9595 1: asr r25
		4706	4955 27c8 8795 ror r24
		4707	4956 27ca 1A95 dec r17
		4708	4957 27cc 01F4 brne 1b
		4709	4958 27ce 289F mul r18,r24
		4710	4959 27d0 A001 movw r20,r0
		4711	4960 27d2 299F mul r18,r25
		4712	4961 27d4 500D add r21,r0
		4713	4962 27d6 389F mul r19,r24
		4714	4963 27d8 500D add r21,r0
		4715	4964 27da 1124 clr r1
		4716	4965 27dc CA01 movw r24,r20
		4717	4966 27de 57FD sbrc r21,7
		4718	4967 27e0 0F96 adiw r24,15
		4719	4968 .L395:
		4720	4969 27e2 B4E0 ldi r27,4
		4721	4970 27e4 9595 1: asr r25
		4722	4971 27e6 8795 ror r24
		4723	4972 27e8 BA95 dec r27
		4724	4973 27ea 01F4 brne 1b
		4725	4974 27ec 9093 0000 sts (StickNick)+1,r25
		4726	4975 27f0 8093 0000 sts StickNick,r24
		4727	4976 27f4 8091 0000 lds r24,StickRoll
		4728	4977 27f8 9091 0000 lds r25,(StickRoll)+1
		4729	4978 27fc 97FD sbrc r25,7
		4730	4979 27fe 0796 adiw r24,7
		4731	4980 .L396:
		4732	4981 2800 A3E0 ldi r26,3
		4733	4982 2802 9595 1: asr r25
		4734	4983 2804 8795 ror r24
		4735	4984 2806 AA95 dec r26
		4736	4985 2808 01F4 brne 1b
		4737	4986 280a 289F mul r18,r24
		4738	4987 280c B001 movw r22,r0
		4739	4988 280e 299F mul r18,r25
		4740	4989 2810 700D add r23,r0
		4741	4990 2812 389F mul r19,r24
		4742	4991 2814 700D add r23,r0
		4743	4992 2816 1124 clr r1
		4744	4993 2818 CB01 movw r24,r22
		4745	4994 281a 77FD sbrc r23,7
		4746	4995 281c 0F96 adiw r24,15
		4747	4996 .L397:
		4748	4997 281e F4E0 ldi r31,4
		4749	4998 2820 9595 1: asr r25
		4750	4999 2822 8795 ror r24
		4751	5000 2824 FA95 dec r31
		4752	5001 2826 01F4 brne 1b
		4753	5002 2828 9093 0000 sts (StickRoll)+1,r25
		4754	5003 282c 8093 0000 sts StickRoll,r24
		4755	5004 .L393:
		4756	5005 2830 8090 0000 lds r8,StickNick
		4757	5006 2834 9090 0000 lds r9,(StickNick)+1
		4758	5007 2838 8091 0000 lds r24,GPS_Nick
		4759	5008 283c 9091 0000 lds r25,(GPS_Nick)+1
		4760	5009 2840 881A sub r8,r24
		4761	5010 2842 990A sbc r9,r25
		4762	5011 2844 9092 0000 sts (StickNick)+1,r9
		4763	5012 2848 8092 0000 sts StickNick,r8
		4764	5013 284c 0091 0000 lds r16,StickRoll
		4765	5014 2850 1091 0000 lds r17,(StickRoll)+1
		4766	5015 2854 8091 0000 lds r24,GPS_Roll
		4767	5016 2858 9091 0000 lds r25,(GPS_Roll)+1
		4768	5017 285c 081B sub r16,r24
		4769	5018 285e 190B sbc r17,r25
		4770	5019 2860 1093 0000 sts (StickRoll)+1,r17
		4771	5020 2864 0093 0000 sts StickRoll,r16
		4772	5021 2868 8091 0000 lds r24,EE_Parameter+3
		4773	5022 286c E82F mov r30,r24
		4774	5023 286e FF27 clr r31
		4775	5024 2870 EE0F add r30,r30
		4776	5025 2872 FF1F adc r31,r31
		4777	5026 2874 E050 subi r30,lo8(-(PPM_in))
		4778	5027 2876 F040 sbci r31,hi8(-(PPM_in))
		4779	5028 2878 E080 ld r14,Z
		4780	5029 287a F180 ldd r15,Z+1
		4781	5030 287c 8FE7 ldi r24,lo8(127)
		4782	5031 287e 90E0 ldi r25,hi8(127)
		4783	5032 2880 E80E add r14,r24
		4784	5033 2882 F91E adc r15,r25
		4785	5034 2884 F092 0000 sts (StickGas)+1,r15
		4786	5035 2888 E092 0000 sts StickGas,r14
		4787	5036 288c 8091 0000 lds r24,Parameter_Gyro_P
		4788	5037 2890 9927 clr r25
		4789	5038 2892 AA27 clr r26
		4790	5039 2894 97FD sbrc r25,7
		4791	5040 2896 A095 com r26
		4792	5041 2898 BA2F mov r27,r26
		4793	5042 289a BC01 movw r22,r24
		4794	5043 289c CD01 movw r24,r26
		4795	5044 289e 0E94 0000 call __floatsisf
		4796	5045 28a2 DC01 movw r26,r24
		4797	5046 28a4 CB01 movw r24,r22
		4798	5047 28a6 20E0 ldi r18,lo8(0x41200000)
		4799	5048 28a8 30E0 ldi r19,hi8(0x41200000)
		4800	5049 28aa 40E2 ldi r20,hlo8(0x41200000)
		4801	5050 28ac 51E4 ldi r21,hhi8(0x41200000)
		4802	5051 28ae BC01 movw r22,r24
		4803	5052 28b0 CD01 movw r24,r26
		4804	5053 28b2 0E94 0000 call __addsf3
		4805	5054 28b6 DC01 movw r26,r24
		4806	5055 28b8 CB01 movw r24,r22
		4807	5056 28ba BC01 movw r22,r24
		4808	5057 28bc CD01 movw r24,r26
		4809	5058 28be 0E94 0000 call __fixunssfsi
		4810	5059 28c2 DC01 movw r26,r24
		4811	5060 28c4 CB01 movw r24,r22
		4812	5061 28c6 8093 0000 sts GyroFaktor,r24
		4813	5062 28ca 8091 0000 lds r24,Parameter_Gyro_I
		4814	5063 28ce 8093 0000 sts IntegralFaktor,r24
		4815	5064 28d2 8091 0000 lds r24,Parameter_Gyro_Gier_P
		4816	5065 28d6 9927 clr r25
		4817	5066 28d8 AA27 clr r26
		4818	5067 28da 97FD sbrc r25,7
		4819	5068 28dc A095 com r26
		4820	5069 28de BA2F mov r27,r26
		4821	5070 28e0 BC01 movw r22,r24
		4822	5071 28e2 CD01 movw r24,r26
		4823	5072 28e4 0E94 0000 call __floatsisf
		4824	5073 28e8 DC01 movw r26,r24
		4825	5074 28ea CB01 movw r24,r22
		4826	5075 28ec 20E0 ldi r18,lo8(0x41200000)
		4827	5076 28ee 30E0 ldi r19,hi8(0x41200000)
		4828	5077 28f0 40E2 ldi r20,hlo8(0x41200000)
		4829	5078 28f2 51E4 ldi r21,hhi8(0x41200000)
		4830	5079 28f4 BC01 movw r22,r24
		4831	5080 28f6 CD01 movw r24,r26
		4832	5081 28f8 0E94 0000 call __addsf3
		4833	5082 28fc DC01 movw r26,r24
		4834	5083 28fe CB01 movw r24,r22
		4835	5084 2900 BC01 movw r22,r24
		4836	5085 2902 CD01 movw r24,r26
		4837	5086 2904 0E94 0000 call __fixunssfsi
		4838	5087 2908 DC01 movw r26,r24
		4839	5088 290a CB01 movw r24,r22
		4840	5089 290c 8093 0000 sts GyroFaktorGier,r24
		4841	5090 2910 8091 0000 lds r24,Parameter_Gyro_Gier_I
		4842	5091 2914 8093 0000 sts IntegralFaktorGier,r24
		4843	5092 2918 8091 0000 lds r24,ExternControl+10
		4844	5093 291c 80FF sbrs r24,0
		4845	5094 291e 00C0 rjmp .L398
		4846	5095 2920 8091 0000 lds r24,Parameter_ExternalControl
		4847	5096 2924 8138 cpi r24,lo8(-127)
		4848	5097 2926 00F4 brsh .+2
		4849	5098 2928 00C0 rjmp .L398
		4850	5099 292a 8091 0000 lds r24,ExternControl+3
		4851	5100 292e 9927 clr r25
		4852	5101 2930 87FD sbrc r24,7
		4853	5102 2932 9095 com r25
		4854	5103 2934 2B2D mov r18,r11
		4855	5104 2936 3327 clr r19
		4856	5105 2938 829F mul r24,r18
		4857	5106 293a D001 movw r26,r0
		4858	5107 293c 839F mul r24,r19
		4859	5108 293e B00D add r27,r0
		4860	5109 2940 929F mul r25,r18
		4861	5110 2942 B00D add r27,r0
		4862	5111 2944 1124 clr r1
		4863	5112 2946 8A0E add r8,r26
		4864	5113 2948 9B1E adc r9,r27
		4865	5114 294a 9092 0000 sts (StickNick)+1,r9
		4866	5115 294e 8092 0000 sts StickNick,r8
		4867	5116 2952 8091 0000 lds r24,ExternControl+4
		4868	5117 2956 9927 clr r25
		4869	5118 2958 87FD sbrc r24,7
		4870	5119 295a 9095 com r25
		4871	5120 295c 829F mul r24,r18
		4872	5121 295e F001 movw r30,r0
		4873	5122 2960 839F mul r24,r19
		4874	5123 2962 F00D add r31,r0
		4875	5124 2964 929F mul r25,r18
		4876	5125 2966 F00D add r31,r0
		4877	5126 2968 1124 clr r1
		4878	5127 296a 0E0F add r16,r30
		4879	5128 296c 1F1F adc r17,r31
		4880	5129 296e 1093 0000 sts (StickRoll)+1,r17
		4881	5130 2972 0093 0000 sts StickRoll,r16
		4882	5131 2976 8091 0000 lds r24,ExternControl+5
		4883	5132 297a 282F mov r18,r24
		4884	5133 297c 3327 clr r19
		4885	5134 297e 27FD sbrc r18,7
		4886	5135 2980 3095 com r19
		4887	5136 2982 8091 0000 lds r24,StickGier
		4888	5137 2986 9091 0000 lds r25,(StickGier)+1
		4889	5138 298a 820F add r24,r18
		4890	5139 298c 931F adc r25,r19
		4891	5140 298e 9093 0000 sts (StickGier)+1,r25
		4892	5141 2992 8093 0000 sts StickGier,r24
		4893	5142 2996 8091 0000 lds r24,ExternControl+7
		4894	5143 299a 282F mov r18,r24
		4895	5144 299c 3327 clr r19
		4896	5145 299e 27FD sbrc r18,7
		4897	5146 29a0 3095 com r19
		4898	5147 29a2 8091 0000 lds r24,EE_Parameter+18
		4899	5148 29a6 9927 clr r25
		4900	5149 29a8 289F mul r18,r24
		4901	5150 29aa 8001 movw r16,r0
		4902	5151 29ac 299F mul r18,r25
		4903	5152 29ae 100D add r17,r0
		4904	5153 29b0 389F mul r19,r24
		4905	5154 29b2 100D add r17,r0
		4906	5155 29b4 1124 clr r1
		4907	5156 29b6 1093 0000 sts (ExternHoehenValue)+1,r17
		4908	5157 29ba 0093 0000 sts ExternHoehenValue,r16
		4909	5158 29be 8091 0000 lds r24,ExternControl+6
		4910	5159 29c2 9927 clr r25
		4911	5160 29c4 8E15 cp r24,r14
		4912	5161 29c6 9F05 cpc r25,r15
		4913	5162 29c8 04F4 brge .L398
		4914	5163 29ca 9093 0000 sts (StickGas)+1,r25
		4915	5164 29ce 8093 0000 sts StickGas,r24
		4916	5165 .L398:
		4917	5166 29d2 8091 0000 lds r24,StickGas
		4918	5167 29d6 9091 0000 lds r25,(StickGas)+1
		4919	5168 29da 97FF sbrs r25,7
		4920	5169 29dc 00C0 rjmp .L400
		4921	5170 29de 1092 0000 sts (StickGas)+1,__zero_reg__
		4922	5171 29e2 1092 0000 sts StickGas,__zero_reg__
		4923	5172 .L400:
		4924	5173 29e6 8091 0000 lds r24,Parameter_GlobalConfig
		4925	5174 29ea 82FF sbrs r24,2
		4926	5175 29ec 00C0 rjmp .L401
		4927	5176 29ee 1092 0000 sts IntegralFaktor,__zero_reg__
		4928	5177 .L401:
		4929	5178 29f2 4091 0000 lds r20,StickNick
		4930	5179 29f6 5091 0000 lds r21,(StickNick)+1
		4931	5180 29fa CA01 movw r24,r20
		4932	5181 29fc 57FD sbrc r21,7
		4933	5182 29fe 0396 adiw r24,3
		4934	5183 .L403:
		4935	5184 2a00 9C01 movw r18,r24
		4936	5185 2a02 3595 asr r19
		4937	5186 2a04 2795 ror r18
		4938	5187 2a06 3595 asr r19
		4939	5188 2a08 2795 ror r18
		4940	5189 2a0a 37FF sbrs r19,7
		4941	5190 2a0c 00C0 rjmp .L404
		4942	5191 2a0e 3095 com r19
		4943	5192 2a10 2195 neg r18
		4944	5193 2a12 3F4F sbci r19,lo8(-1)
		4945	5194 .L404:
		4946	5195 2a14 8091 0000 lds r24,MaxStickNick
		4947	5196 2a18 9091 0000 lds r25,(MaxStickNick)+1
		4948	5197 2a1c 8217 cp r24,r18
		4949	5198 2a1e 9307 cpc r25,r19
		4950	5199 2a20 04F4 brge .L402
		4951	5200 2a22 CA01 movw r24,r20
		4952	5201 2a24 57FF sbrs r21,7
		4953	5202 2a26 00C0 rjmp .L405
		4954	5203 2a28 9095 com r25
		4955	5204 2a2a 8195 neg r24
		4956	5205 2a2c 9F4F sbci r25,lo8(-1)
		4957	5206 .L405:
		4958	5207 2a2e 97FD sbrc r25,7
		4959	5208 2a30 0396 adiw r24,3
		4960	5209 .L406:
		4961	5210 2a32 9595 asr r25
		4962	5211 2a34 8795 ror r24
		4963	5212 2a36 9595 asr r25
		4964	5213 2a38 8795 ror r24
		4965	5214 2a3a 9093 0000 sts (MaxStickNick)+1,r25
		4966	5215 2a3e 8093 0000 sts MaxStickNick,r24
		4967	5216 2a42 8536 cpi r24,101
		4968	5217 2a44 9105 cpc r25,__zero_reg__
		4969	5218 2a46 04F0 brlt .L408
		4970	5219 2a48 84E6 ldi r24,lo8(100)
		4971	5220 2a4a 90E0 ldi r25,hi8(100)
		4972	5221 2a4c 00C0 rjmp .L826
		4973	5222 .L402:
		4974	5223 2a4e 0197 sbiw r24,1
		4975	5224 .L826:
		4976	5225 2a50 9093 0000 sts (MaxStickNick)+1,r25
		4977	5226 2a54 8093 0000 sts MaxStickNick,r24
		4978	5227 .L408:
		4979	5228 2a58 4091 0000 lds r20,StickRoll
		4980	5229 2a5c 5091 0000 lds r21,(StickRoll)+1
		4981	5230 2a60 CA01 movw r24,r20
		4982	5231 2a62 57FD sbrc r21,7
		4983	5232 2a64 0396 adiw r24,3
		4984	5233 .L410:
		4985	5234 2a66 9C01 movw r18,r24
		4986	5235 2a68 3595 asr r19
		4987	5236 2a6a 2795 ror r18
		4988	5237 2a6c 3595 asr r19
		4989	5238 2a6e 2795 ror r18
		4990	5239 2a70 37FF sbrs r19,7
		4991	5240 2a72 00C0 rjmp .L411
		4992	5241 2a74 3095 com r19
		4993	5242 2a76 2195 neg r18
		4994	5243 2a78 3F4F sbci r19,lo8(-1)
		4995	5244 .L411:
		4996	5245 2a7a 8091 0000 lds r24,MaxStickRoll
		4997	5246 2a7e 9091 0000 lds r25,(MaxStickRoll)+1
		4998	5247 2a82 8217 cp r24,r18
		4999	5248 2a84 9307 cpc r25,r19
		5000	5249 2a86 04F4 brge .L409
		5001	5250 2a88 CA01 movw r24,r20
		5002	5251 2a8a 57FF sbrs r21,7
		5003	5252 2a8c 00C0 rjmp .L412
		5004	5253 2a8e 9095 com r25
		5005	5254 2a90 8195 neg r24
		5006	5255 2a92 9F4F sbci r25,lo8(-1)
		5007	5256 .L412:
		5008	5257 2a94 97FD sbrc r25,7
		5009	5258 2a96 0396 adiw r24,3
		5010	5259 .L413:
		5011	5260 2a98 9595 asr r25
		5012	5261 2a9a 8795 ror r24
		5013	5262 2a9c 9595 asr r25
		5014	5263 2a9e 8795 ror r24
		5015	5264 2aa0 9093 0000 sts (MaxStickRoll)+1,r25
		5016	5265 2aa4 8093 0000 sts MaxStickRoll,r24
		5017	5266 2aa8 8536 cpi r24,101
		5018	5267 2aaa 9105 cpc r25,__zero_reg__
		5019	5268 2aac 04F0 brlt .L415
		5020	5269 2aae 84E6 ldi r24,lo8(100)
		5021	5270 2ab0 90E0 ldi r25,hi8(100)
		5022	5271 2ab2 00C0 rjmp .L827
		5023	5272 .L409:
		5024	5273 2ab4 0197 sbiw r24,1
		5025	5274 .L827:
		5026	5275 2ab6 9093 0000 sts (MaxStickRoll)+1,r25
		5027	5276 2aba 8093 0000 sts MaxStickRoll,r24
		5028	5277 .L415:
		5029	5278 2abe 8091 0000 lds r24,FC_StatusFlags
		5030	5279 2ac2 84FF sbrs r24,4
		5031	5280 2ac4 00C0 rjmp .L416
		5032	5281 2ac6 1092 0000 sts (MaxStickNick)+1,__zero_reg__
		5033	5282 2aca 1092 0000 sts MaxStickNick,__zero_reg__
		5034	5283 2ace 1092 0000 sts (MaxStickRoll)+1,__zero_reg__
		5035	5284 2ad2 1092 0000 sts MaxStickRoll,__zero_reg__
		5036	5285 .L416:
		5037	5286 2ad6 ED2D mov r30,r13
		5038	5287 2ad8 FF27 clr r31
		5039	5288 2ada EE0F add r30,r30
		5040	5289 2adc FF1F adc r31,r31
		5041	5290 2ade E050 subi r30,lo8(-(PPM_in))
		5042	5291 2ae0 F040 sbci r31,hi8(-(PPM_in))
		5043	5292 2ae2 4091 0000 lds r20,EE_Parameter+60
		5044	5293 2ae6 242F mov r18,r20
		5045	5294 2ae8 3327 clr r19
		5046	5295 2aea 8081 ld r24,Z
		5047	5296 2aec 9181 ldd r25,Z+1
		5048	5297 2aee 2817 cp r18,r24
		5049	5298 2af0 3907 cpc r19,r25
		5050	5299 2af2 04F4 brge .L417
		5051	5300 2af4 8091 0000 lds r24,EE_Parameter+104
		5052	5301 2af8 82FF sbrs r24,2
		5053	5302 2afa 00C0 rjmp .L417
		5054	5303 2afc 81E0 ldi r24,lo8(1)
		5055	5304 2afe 8093 0000 sts Looping_Links,r24
		5056	5305 2b02 00C0 rjmp .L418
		5057	5306 .L417:
		5058	5307 2b04 ED2D mov r30,r13
		5059	5308 2b06 FF27 clr r31
		5060	5309 2b08 EE0F add r30,r30
		5061	5310 2b0a FF1F adc r31,r31
		5062	5311 2b0c E050 subi r30,lo8(-(PPM_in))
		5063	5312 2b0e F040 sbci r31,hi8(-(PPM_in))
		5064	5313 2b10 842F mov r24,r20
		5065	5314 2b12 9927 clr r25
		5066	5315 2b14 2091 0000 lds r18,EE_Parameter+61
		5067	5316 2b18 821B sub r24,r18
		5068	5317 2b1a 9109 sbc r25,__zero_reg__
		5069	5318 2b1c 2081 ld r18,Z
		5070	5319 2b1e 3181 ldd r19,Z+1
		5071	5320 2b20 2817 cp r18,r24
		5072	5321 2b22 3907 cpc r19,r25
		5073	5322 2b24 04F4 brge .L418
		5074	5323 2b26 1092 0000 sts Looping_Links,__zero_reg__
		5075	5324 .L418:
		5076	5325 2b2a 4091 0000 lds r20,EE_Parameter+2
		5077	5326 2b2e E42F mov r30,r20
		5078	5327 2b30 FF27 clr r31
		5079	5328 2b32 EE0F add r30,r30
		5080	5329 2b34 FF1F adc r31,r31
		5081	5330 2b36 E050 subi r30,lo8(-(PPM_in))
		5082	5331 2b38 F040 sbci r31,hi8(-(PPM_in))
		5083	5332 2b3a 5091 0000 lds r21,EE_Parameter+60
		5084	5333 2b3e 852F mov r24,r21
		5085	5334 2b40 9927 clr r25
		5086	5335 2b42 2227 clr r18
		5087	5336 2b44 3327 clr r19
		5088	5337 2b46 281B sub r18,r24
		5089	5338 2b48 390B sbc r19,r25
		5090	5339 2b4a 8081 ld r24,Z
		5091	5340 2b4c 9181 ldd r25,Z+1
		5092	5341 2b4e 8217 cp r24,r18
		5093	5342 2b50 9307 cpc r25,r19
		5094	5343 2b52 04F4 brge .L420
		5095	5344 2b54 8091 0000 lds r24,EE_Parameter+104
		5096	5345 2b58 83FF sbrs r24,3
		5097	5346 2b5a 00C0 rjmp .L420
		5098	5347 2b5c 81E0 ldi r24,lo8(1)
		5099	5348 2b5e 8093 0000 sts Looping_Rechts,r24
		5100	5349 2b62 00C0 rjmp .L421
		5101	5350 .L420:
		5102	5351 2b64 8091 0000 lds r24,Looping_Rechts
		5103	5352 2b68 8823 tst r24
		5104	5353 2b6a 01F0 breq .L421
		5105	5354 2b6c E42F mov r30,r20
		5106	5355 2b6e FF27 clr r31
		5107	5356 2b70 EE0F add r30,r30
		5108	5357 2b72 FF1F adc r31,r31
		5109	5358 2b74 E050 subi r30,lo8(-(PPM_in))
		5110	5359 2b76 F040 sbci r31,hi8(-(PPM_in))
		5111	5360 2b78 8091 0000 lds r24,EE_Parameter+61
		5112	5361 2b7c 9927 clr r25
		5113	5362 2b7e 851B sub r24,r21
		5114	5363 2b80 9109 sbc r25,__zero_reg__
		5115	5364 2b82 2081 ld r18,Z
		5116	5365 2b84 3181 ldd r19,Z+1
		5117	5366 2b86 8217 cp r24,r18
		5118	5367 2b88 9307 cpc r25,r19
		5119	5368 2b8a 04F4 brge .L421
		5120	5369 2b8c 1092 0000 sts Looping_Rechts,__zero_reg__
		5121	5370 .L421:
		5122	5371 2b90 EC2D mov r30,r12
		5123	5372 2b92 FF27 clr r31
		5124	5373 2b94 EE0F add r30,r30
		5125	5374 2b96 FF1F adc r31,r31
		5126	5375 2b98 E050 subi r30,lo8(-(PPM_in))
		5127	5376 2b9a F040 sbci r31,hi8(-(PPM_in))
		5128	5377 2b9c 4091 0000 lds r20,EE_Parameter+60
		5129	5378 2ba0 242F mov r18,r20
		5130	5379 2ba2 3327 clr r19
		5131	5380 2ba4 8081 ld r24,Z
		5132	5381 2ba6 9181 ldd r25,Z+1
		5133	5382 2ba8 2817 cp r18,r24
		5134	5383 2baa 3907 cpc r19,r25
		5135	5384 2bac 04F4 brge .L424
		5136	5385 2bae 8091 0000 lds r24,EE_Parameter+104
		5137	5386 2bb2 80FF sbrs r24,0
		5138	5387 2bb4 00C0 rjmp .L424
		5139	5388 2bb6 81E0 ldi r24,lo8(1)
		5140	5389 2bb8 8093 0000 sts Looping_Oben,r24
		5141	5390 2bbc 00C0 rjmp .L425
		5142	5391 .L424:
		5143	5392 2bbe 8091 0000 lds r24,Looping_Oben
		5144	5393 2bc2 8823 tst r24
		5145	5394 2bc4 01F0 breq .L425
		5146	5395 2bc6 EC2D mov r30,r12
		5147	5396 2bc8 FF27 clr r31
		5148	5397 2bca EE0F add r30,r30
		5149	5398 2bcc FF1F adc r31,r31
		5150	5399 2bce E050 subi r30,lo8(-(PPM_in))
		5151	5400 2bd0 F040 sbci r31,hi8(-(PPM_in))
		5152	5401 2bd2 842F mov r24,r20
		5153	5402 2bd4 9927 clr r25
		5154	5403 2bd6 2091 0000 lds r18,EE_Parameter+61
		5155	5404 2bda 821B sub r24,r18
		5156	5405 2bdc 9109 sbc r25,__zero_reg__
		5157	5406 2bde 2081 ld r18,Z
		5158	5407 2be0 3181 ldd r19,Z+1
		5159	5408 2be2 2817 cp r18,r24
		5160	5409 2be4 3907 cpc r19,r25
		5161	5410 2be6 04F4 brge .L425
		5162	5411 2be8 1092 0000 sts Looping_Oben,__zero_reg__
		5163	5412 .L425:
		5164	5413 2bec 4091 0000 lds r20,EE_Parameter+1
		5165	5414 2bf0 E42F mov r30,r20
		5166	5415 2bf2 FF27 clr r31
		5167	5416 2bf4 EE0F add r30,r30
		5168	5417 2bf6 FF1F adc r31,r31
		5169	5418 2bf8 E050 subi r30,lo8(-(PPM_in))
		5170	5419 2bfa F040 sbci r31,hi8(-(PPM_in))
		5171	5420 2bfc 5091 0000 lds r21,EE_Parameter+60
		5172	5421 2c00 852F mov r24,r21
		5173	5422 2c02 9927 clr r25
		5174	5423 2c04 2227 clr r18
		5175	5424 2c06 3327 clr r19
		5176	5425 2c08 281B sub r18,r24
		5177	5426 2c0a 390B sbc r19,r25
		5178	5427 2c0c 8081 ld r24,Z
		5179	5428 2c0e 9181 ldd r25,Z+1
		5180	5429 2c10 8217 cp r24,r18
		5181	5430 2c12 9307 cpc r25,r19
		5182	5431 2c14 04F4 brge .L428
		5183	5432 2c16 8091 0000 lds r24,EE_Parameter+104
		5184	5433 2c1a 81FF sbrs r24,1
		5185	5434 2c1c 00C0 rjmp .L428
		5186	5435 2c1e 81E0 ldi r24,lo8(1)
		5187	5436 2c20 8093 0000 sts Looping_Unten,r24
		5188	5437 2c24 00C0 rjmp .L429
		5189	5438 .L428:
		5190	5439 2c26 8091 0000 lds r24,Looping_Unten
		5191	5440 2c2a 8823 tst r24
		5192	5441 2c2c 01F0 breq .L429
		5193	5442 2c2e E42F mov r30,r20
		5194	5443 2c30 FF27 clr r31
		5195	5444 2c32 EE0F add r30,r30
		5196	5445 2c34 FF1F adc r31,r31
		5197	5446 2c36 E050 subi r30,lo8(-(PPM_in))
		5198	5447 2c38 F040 sbci r31,hi8(-(PPM_in))
		5199	5448 2c3a 8091 0000 lds r24,EE_Parameter+61
		5200	5449 2c3e 9927 clr r25
		5201	5450 2c40 851B sub r24,r21
		5202	5451 2c42 9109 sbc r25,__zero_reg__
		5203	5452 2c44 2081 ld r18,Z
		5204	5453 2c46 3181 ldd r19,Z+1
		5205	5454 2c48 8217 cp r24,r18
		5206	5455 2c4a 9307 cpc r25,r19
		5207	5456 2c4c 04F4 brge .L429
		5208	5457 2c4e 1092 0000 sts Looping_Unten,__zero_reg__
		5209	5458 .L429:
		5210	5459 2c52 8091 0000 lds r24,Looping_Links
		5211	5460 2c56 8823 tst r24
		5212	5461 2c58 01F4 brne .L433
		5213	5462 2c5a 8091 0000 lds r24,Looping_Rechts
		5214	5463 2c5e 8111 cpse r24,__zero_reg__
		5215	5464 .L433:
		5216	5465 2c60 81E0 ldi r24,lo8(1)
		5217	5466 .L432:
		5218	5467 2c62 8093 0000 sts Looping_Roll,r24
		5219	5468 2c66 8091 0000 lds r24,Looping_Oben
		5220	5469 2c6a 8823 tst r24
		5221	5470 2c6c 01F4 brne .L436
		5222	5471 2c6e 8091 0000 lds r24,Looping_Unten
		5223	5472 2c72 8823 tst r24
		5224	5473 2c74 01F0 breq .L435
		5225	5474 .L436:
		5226	5475 2c76 81E0 ldi r24,lo8(1)
		5227	5476 2c78 8093 0000 sts Looping_Nick,r24
		5228	5477 2c7c 1092 0000 sts Looping_Roll,__zero_reg__
		5229	5478 2c80 1092 0000 sts Looping_Links,__zero_reg__
		5230	5479 2c84 1092 0000 sts Looping_Rechts,__zero_reg__
		5231	5480 2c88 00C0 rjmp .L377
		5232	5481 .L435:
		5233	5482 2c8a 8093 0000 sts Looping_Nick,r24
		5234	5483 .L377:
		5235	5484 2c8e 8091 0000 lds r24,Looping_Roll
		5236	5485 2c92 8823 tst r24
		5237	5486 2c94 01F4 brne .L439
		5238	5487 2c96 8091 0000 lds r24,Looping_Nick
		5239	5488 2c9a 8823 tst r24
		5240	5489 2c9c 01F0 breq .L438
		5241	5490 .L439:
		5242	5491 2c9e 8091 0000 lds r24,EE_Parameter+59
		5243	5492 2ca2 9927 clr r25
		5244	5493 2ca4 2981 ldd r18,Y+1
		5245	5494 2ca6 3A81 ldd r19,Y+2
		5246	5495 2ca8 8217 cp r24,r18
		5247	5496 2caa 9307 cpc r25,r19
		5248	5497 2cac 04F4 brge .L440
		5249	5498 2cae 9A83 std Y+2,r25
		5250	5499 2cb0 8983 std Y+1,r24
		5251	5500 .L440:
		5252	5501 2cb2 81E0 ldi r24,lo8(1)
		5253	5502 2cb4 8093 0000 sts TrichterFlug,r24
		5254	5503 .L438:
		5255	5504 2cb8 8091 0000 lds r24,FC_StatusFlags2
		5256	5505 2cbc 9927 clr r25
		5257	5506 2cbe 9C01 movw r18,r24
		5258	5507 2cc0 2470 andi r18,lo8(4)
		5259	5508 2cc2 3070 andi r19,hi8(4)
		5260	5509 2cc4 82FF sbrs r24,2
		5261	5510 2cc6 00C0 rjmp .L441
		5262	5511 2cc8 8091 0000 lds r24,GPS_Nick
		5263	5512 2ccc 9091 0000 lds r25,(GPS_Nick)+1
		5264	5513 2cd0 9095 com r25
		5265	5514 2cd2 8195 neg r24
		5266	5515 2cd4 9F4F sbci r25,lo8(-1)
		5267	5516 2cd6 9093 0000 sts (StickNick)+1,r25
		5268	5517 2cda 8093 0000 sts StickNick,r24
		5269	5518 2cde 8091 0000 lds r24,GPS_Roll
		5270	5519 2ce2 9091 0000 lds r25,(GPS_Roll)+1
		5271	5520 2ce6 9095 com r25
		5272	5521 2ce8 8195 neg r24
		5273	5522 2cea 9F4F sbci r25,lo8(-1)
		5274	5523 2cec 9093 0000 sts (StickRoll)+1,r25
		5275	5524 2cf0 8093 0000 sts StickRoll,r24
		5276	5525 2cf4 8091 0000 lds r24,StickGasHover
		5277	5526 2cf8 9091 0000 lds r25,(StickGasHover)+1
		5278	5527 2cfc 9093 0000 sts (StickGas)+1,r25
		5279	5528 2d00 8093 0000 sts StickGas,r24
		5280	5529 2d04 8091 0000 lds r24,Parameter_GlobalConfig
		5281	5530 2d08 8B77 andi r24,lo8(123)
		5282	5531 2d0a 8B66 ori r24,lo8(107)
		5283	5532 2d0c 8093 0000 sts Parameter_GlobalConfig,r24
		5284	5533 2d10 8091 0000 lds r24,Parameter_ExtraConfig
		5285	5534 2d14 8C7B andi r24,lo8(-68)
		5286	5535 2d16 8093 0000 sts Parameter_ExtraConfig,r24
		5287	5536 2d1a 88EC ldi r24,lo8(-56)
		5288	5537 2d1c 8093 0000 sts Parameter_HoehenSchalter,r24
		5289	5538 2d20 00C0 rjmp .L442
		5290	5539 .L441:
		5291	5540 2d22 8091 0000 lds r24,FC_StatusFlags
		5292	5541 2d26 84FF sbrs r24,4
		5293	5542 2d28 00C0 rjmp .L442
		5294	5543 2d2a 3093 0000 sts (StickGier)+1,r19
		5295	5544 2d2e 2093 0000 sts StickGier,r18
		5296	5545 2d32 3093 0000 sts (StickNick)+1,r19
		5297	5546 2d36 2093 0000 sts StickNick,r18
		5298	5547 2d3a 3093 0000 sts (StickRoll)+1,r19
		5299	5548 2d3e 2093 0000 sts StickRoll,r18
		5300	5549 2d42 9AE5 ldi r25,lo8(90)
		5301	5550 2d44 9093 0000 sts GyroFaktor,r25
		5302	5551 2d48 88E7 ldi r24,lo8(120)
		5303	5552 2d4a 8093 0000 sts IntegralFaktor,r24
		5304	5553 2d4e 9093 0000 sts GyroFaktorGier,r25
		5305	5554 2d52 8093 0000 sts IntegralFaktorGier,r24
		5306	5555 2d56 1092 0000 sts Looping_Roll,__zero_reg__
		5307	5556 2d5a 1092 0000 sts Looping_Nick,__zero_reg__
		5308	5557 .L442:
		5309	5558 2d5e 8091 0000 lds r24,MittelIntegralNick
		5310	5559 2d62 9091 0000 lds r25,(MittelIntegralNick)+1
		5311	5560 2d66 A091 0000 lds r26,(MittelIntegralNick)+2
		5312	5561 2d6a B091 0000 lds r27,(MittelIntegralNick)+3
		5313	5562 2d6e 2091 0000 lds r18,IntegralNick
		5314	5563 2d72 3091 0000 lds r19,(IntegralNick)+1
		5315	5564 2d76 4091 0000 lds r20,(IntegralNick)+2
		5316	5565 2d7a 5091 0000 lds r21,(IntegralNick)+3
		5317	5566 2d7e 820F add r24,r18
		5318	5567 2d80 931F adc r25,r19
		5319	5568 2d82 A41F adc r26,r20
		5320	5569 2d84 B51F adc r27,r21
		5321	5570 2d86 8093 0000 sts MittelIntegralNick,r24
		5322	5571 2d8a 9093 0000 sts (MittelIntegralNick)+1,r25
		5323	5572 2d8e A093 0000 sts (MittelIntegralNick)+2,r26
		5324	5573 2d92 B093 0000 sts (MittelIntegralNick)+3,r27
		5325	5574 2d96 8091 0000 lds r24,MittelIntegralRoll
		5326	5575 2d9a 9091 0000 lds r25,(MittelIntegralRoll)+1
		5327	5576 2d9e A091 0000 lds r26,(MittelIntegralRoll)+2
		5328	5577 2da2 B091 0000 lds r27,(MittelIntegralRoll)+3
		5329	5578 2da6 E090 0000 lds r14,IntegralRoll
		5330	5579 2daa F090 0000 lds r15,(IntegralRoll)+1
		5331	5580 2dae 0091 0000 lds r16,(IntegralRoll)+2
		5332	5581 2db2 1091 0000 lds r17,(IntegralRoll)+3
		5333	5582 2db6 EB82 std Y+3,r14
		5334	5583 2db8 FC82 std Y+4,r15
		5335	5584 2dba 0D83 std Y+5,r16
		5336	5585 2dbc 1E83 std Y+6,r17
		5337	5586 2dbe 8E0D add r24,r14
		5338	5587 2dc0 9F1D adc r25,r15
		5339	5588 2dc2 A01F adc r26,r16
		5340	5589 2dc4 B11F adc r27,r17
		5341	5590 2dc6 8093 0000 sts MittelIntegralRoll,r24
		5342	5591 2dca 9093 0000 sts (MittelIntegralRoll)+1,r25
		5343	5592 2dce A093 0000 sts (MittelIntegralRoll)+2,r26
		5344	5593 2dd2 B093 0000 sts (MittelIntegralRoll)+3,r27
		5345	5594 2dd6 8091 0000 lds r24,MittelIntegralNick2
		5346	5595 2dda 9091 0000 lds r25,(MittelIntegralNick2)+1
		5347	5596 2dde A091 0000 lds r26,(MittelIntegralNick2)+2
		5348	5597 2de2 B091 0000 lds r27,(MittelIntegralNick2)+3
		5349	5598 2de6 E090 0000 lds r14,IntegralNick2
		5350	5599 2dea F090 0000 lds r15,(IntegralNick2)+1
		5351	5600 2dee 0091 0000 lds r16,(IntegralNick2)+2
		5352	5601 2df2 1091 0000 lds r17,(IntegralNick2)+3
		5353	5602 2df6 EF82 std Y+7,r14
		5354	5603 2df8 F886 std Y+8,r15
		5355	5604 2dfa 0987 std Y+9,r16
		5356	5605 2dfc 1A87 std Y+10,r17
		5357	5606 2dfe 8E0D add r24,r14
		5358	5607 2e00 9F1D adc r25,r15
		5359	5608 2e02 A01F adc r26,r16
		5360	5609 2e04 B11F adc r27,r17
		5361	5610 2e06 8093 0000 sts MittelIntegralNick2,r24
		5362	5611 2e0a 9093 0000 sts (MittelIntegralNick2)+1,r25
		5363	5612 2e0e A093 0000 sts (MittelIntegralNick2)+2,r26
		5364	5613 2e12 B093 0000 sts (MittelIntegralNick2)+3,r27
		5365	5614 2e16 8091 0000 lds r24,MittelIntegralRoll2
		5366	5615 2e1a 9091 0000 lds r25,(MittelIntegralRoll2)+1
		5367	5616 2e1e A091 0000 lds r26,(MittelIntegralRoll2)+2
		5368	5617 2e22 B091 0000 lds r27,(MittelIntegralRoll2)+3
		5369	5618 2e26 E090 0000 lds r14,IntegralRoll2
		5370	5619 2e2a F090 0000 lds r15,(IntegralRoll2)+1
		5371	5620 2e2e 0091 0000 lds r16,(IntegralRoll2)+2
		5372	5621 2e32 1091 0000 lds r17,(IntegralRoll2)+3
		5373	5622 2e36 EB86 std Y+11,r14
		5374	5623 2e38 FC86 std Y+12,r15
		5375	5624 2e3a 0D87 std Y+13,r16
		5376	5625 2e3c 1E87 std Y+14,r17
		5377	5626 2e3e 8E0D add r24,r14
		5378	5627 2e40 9F1D adc r25,r15
		5379	5628 2e42 A01F adc r26,r16
		5380	5629 2e44 B11F adc r27,r17
		5381	5630 2e46 8093 0000 sts MittelIntegralRoll2,r24
		5382	5631 2e4a 9093 0000 sts (MittelIntegralRoll2)+1,r25
		5383	5632 2e4e A093 0000 sts (MittelIntegralRoll2)+2,r26
		5384	5633 2e52 B093 0000 sts (MittelIntegralRoll2)+3,r27
		5385	5634 2e56 F090 0000 lds r15,Looping_Nick
		5386	5635 2e5a FF86 std Y+15,r15
		5387	5636 2e5c FF20 tst r15
		5388	5637 2e5e 01F4 brne .L445
		5389	5638 2e60 8091 0000 lds r24,Looping_Roll
		5390	5639 2e64 8823 tst r24
		5391	5640 2e66 01F4 brne .+2
		5392	5641 2e68 00C0 rjmp .L823
		5393	5642 .L445:
		5394	5643 2e6a 1092 0000 sts IntegralAccNick,__zero_reg__
		5395	5644 2e6e 1092 0000 sts (IntegralAccNick)+1,__zero_reg__
		5396	5645 2e72 1092 0000 sts (IntegralAccNick)+2,__zero_reg__
		5397	5646 2e76 1092 0000 sts (IntegralAccNick)+3,__zero_reg__
		5398	5647 2e7a 1092 0000 sts IntegralAccRoll,__zero_reg__
		5399	5648 2e7e 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__
		5400	5649 2e82 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__
		5401	5650 2e86 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__
		5402	5651 2e8a 1092 0000 sts MittelIntegralNick,__zero_reg__
		5403	5652 2e8e 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__
		5404	5653 2e92 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__
		5405	5654 2e96 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__
		5406	5655 2e9a 1092 0000 sts MittelIntegralRoll,__zero_reg__
		5407	5656 2e9e 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__
		5408	5657 2ea2 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__
		5409	5658 2ea6 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__
		5410	5659 2eaa 1092 0000 sts MittelIntegralNick2,__zero_reg__
		5411	5660 2eae 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__
		5412	5661 2eb2 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__
		5413	5662 2eb6 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__
		5414	5663 2eba 1092 0000 sts MittelIntegralRoll2,__zero_reg__
		5415	5664 2ebe 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__
		5416	5665 2ec2 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__
		5417	5666 2ec6 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__
		5418	5667 2eca 8091 0000 lds r24,Mess_IntegralNick
		5419	5668 2ece 9091 0000 lds r25,(Mess_IntegralNick)+1
		5420	5669 2ed2 A091 0000 lds r26,(Mess_IntegralNick)+2
		5421	5670 2ed6 B091 0000 lds r27,(Mess_IntegralNick)+3
		5422	5671 2eda 8093 0000 sts Mess_IntegralNick2,r24
		5423	5672 2ede 9093 0000 sts (Mess_IntegralNick2)+1,r25
		5424	5673 2ee2 A093 0000 sts (Mess_IntegralNick2)+2,r26
		5425	5674 2ee6 B093 0000 sts (Mess_IntegralNick2)+3,r27
		5426	5675 2eea 8091 0000 lds r24,Mess_IntegralRoll
		5427	5676 2eee 9091 0000 lds r25,(Mess_IntegralRoll)+1
		5428	5677 2ef2 A091 0000 lds r26,(Mess_IntegralRoll)+2
		5429	5678 2ef6 B091 0000 lds r27,(Mess_IntegralRoll)+3
		5430	5679 2efa 8093 0000 sts Mess_IntegralRoll2,r24
		5431	5680 2efe 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		5432	5681 2f02 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		5433	5682 2f06 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		5434	5683 2f0a 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__
		5435	5684 2f0e 1092 0000 sts ZaehlMessungen,__zero_reg__
		5436	5685 2f12 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__
		5437	5686 2f16 1092 0000 sts LageKorrekturNick,__zero_reg__
		5438	5687 2f1a 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__
		5439	5688 2f1e 1092 0000 sts LageKorrekturRoll,__zero_reg__
		5440	5689 2f22 0F85 ldd r16,Y+15
		5441	5690 2f24 0023 tst r16
		5442	5691 2f26 01F0 breq .+2
		5443	5692 2f28 00C0 rjmp .L446
		5444	5693 .L823:
		5445	5694 2f2a 8091 0000 lds r24,Looping_Roll
		5446	5695 2f2e 8823 tst r24
		5447	5696 2f30 01F0 breq .+2
		5448	5697 2f32 00C0 rjmp .L446
		5449	5698 2f34 8091 0000 lds r24,Aktuell_az
		5450	5699 2f38 9091 0000 lds r25,(Aktuell_az)+1
		5451	5700 2f3c 8150 subi r24,lo8(513)
		5452	5701 2f3e 9240 sbci r25,hi8(513)
		5453	5702 2f40 04F4 brge .L447
		5454	5703 2f42 8091 0000 lds r24,MotorenEin
		5455	5704 2f46 8823 tst r24
		5456	5705 2f48 01F4 brne .+2
		5457	5706 2f4a 00C0 rjmp .L446
		5458	5707 .L447:
		5459	5708 2f4c 9090 0000 lds r9,FromNaviCtrl_Value
		5460	5709 2f50 A090 0000 lds r10,EE_Parameter+28
		5461	5710 2f54 2090 0000 lds r2,Mittelwert_AccNick
		5462	5711 2f58 3090 0000 lds r3,(Mittelwert_AccNick)+1
		5463	5712 2f5c 4090 0000 lds r4,Mittelwert_AccRoll
		5464	5713 2f60 5090 0000 lds r5,(Mittelwert_AccRoll)+1
		5465	5714 2f64 1914 cp __zero_reg__,r9
		5466	5715 2f66 04F0 brlt .+2
		5467	5716 2f68 00C0 rjmp .L448
		5468	5717 2f6a BB24 clr r11
		5469	5718 2f6c CC24 clr r12
		5470	5719 2f6e DD24 clr r13
		5471	5720 2f70 CA01 movw r24,r20
		5472	5721 2f72 B901 movw r22,r18
		5473	5722 2f74 A601 movw r20,r12
		5474	5723 2f76 9501 movw r18,r10
		5475	5724 2f78 0E94 0000 call __divmodsi4
		5476	5725 2f7c 7901 movw r14,r18
		5477	5726 2f7e 8A01 movw r16,r20
		5478	5727 2f80 8091 0000 lds r24,FromNaviCtrl+9
		5479	5728 2f84 9091 0000 lds r25,(FromNaviCtrl+9)+1
		5480	5729 2f88 281A sub r2,r24
		5481	5730 2f8a 390A sbc r3,r25
		5482	5731 2f8c C101 movw r24,r2
		5483	5732 2f8e AA27 clr r26
		5484	5733 2f90 97FD sbrc r25,7
		5485	5734 2f92 A095 com r26
		5486	5735 2f94 BA2F mov r27,r26
		5487	5736 2f96 E81A sub r14,r24
		5488	5737 2f98 F90A sbc r15,r25
		5489	5738 2f9a 0A0B sbc r16,r26
		5490	5739 2f9c 1B0B sbc r17,r27
		5491	5740 2f9e 6B81 ldd r22,Y+3
		5492	5741 2fa0 7C81 ldd r23,Y+4
		5493	5742 2fa2 8D81 ldd r24,Y+5
		5494	5743 2fa4 9E81 ldd r25,Y+6
		5495	5744 2fa6 A601 movw r20,r12
		5496	5745 2fa8 9501 movw r18,r10
		5497	5746 2faa 0E94 0000 call __divmodsi4
		5498	5747 2fae 5901 movw r10,r18
		5499	5748 2fb0 6A01 movw r12,r20
		5500	5749 2fb2 8091 0000 lds r24,FromNaviCtrl+11
		5501	5750 2fb6 9091 0000 lds r25,(FromNaviCtrl+11)+1
		5502	5751 2fba 481A sub r4,r24
		5503	5752 2fbc 590A sbc r5,r25
		5504	5753 2fbe C201 movw r24,r4
		5505	5754 2fc0 AA27 clr r26
		5506	5755 2fc2 97FD sbrc r25,7
		5507	5756 2fc4 A095 com r26
		5508	5757 2fc6 BA2F mov r27,r26
		5509	5758 2fc8 A81A sub r10,r24
		5510	5759 2fca B90A sbc r11,r25
		5511	5760 2fcc CA0A sbc r12,r26
		5512	5761 2fce DB0A sbc r13,r27
		5513	5762 2fd0 292C mov r2,r9
		5514	5763 2fd2 3324 clr r3
		5515	5764 2fd4 27FC sbrc r2,7
		5516	5765 2fd6 3094 com r3
		5517	5766 2fd8 432C mov r4,r3
		5518	5767 2fda 532C mov r5,r3
		5519	5768 2fdc C801 movw r24,r16
		5520	5769 2fde B701 movw r22,r14
		5521	5770 2fe0 A201 movw r20,r4
		5522	5771 2fe2 9101 movw r18,r2
		5523	5772 2fe4 0E94 0000 call __mulsi3
		5524	5773 2fe8 97FF sbrs r25,7
		5525	5774 2fea 00C0 rjmp .L449
		5526	5775 2fec 6150 subi r22,lo8(-(511))
		5527	5776 2fee 7E4F sbci r23,hi8(-(511))
		5528	5777 2ff0 8F4F sbci r24,hlo8(-(511))
		5529	5778 2ff2 9F4F sbci r25,hhi8(-(511))
		5530	5779 .L449:
		5531	5780 2ff4 3B01 movw r6,r22
		5532	5781 2ff6 4C01 movw r8,r24
		5533	5782 2ff8 09E0 ldi r16,9
		5534	5783 2ffa 9594 1: asr r9
		5535	5784 2ffc 8794 ror r8
		5536	5785 2ffe 7794 ror r7
		5537	5786 3000 6794 ror r6
		5538	5787 3002 0A95 dec r16
		5539	5788 3004 01F4 brne 1b
		5540	5789 3006 C601 movw r24,r12
		5541	5790 3008 B501 movw r22,r10
		5542	5791 300a A201 movw r20,r4
		5543	5792 300c 9101 movw r18,r2
		5544	5793 300e 0E94 0000 call __mulsi3
		5545	5794 3012 97FF sbrs r25,7
		5546	5795 3014 00C0 rjmp .L450
		5547	5796 3016 6150 subi r22,lo8(-(511))
		5548	5797 3018 7E4F sbci r23,hi8(-(511))
		5549	5798 301a 8F4F sbci r24,hlo8(-(511))
		5550	5799 301c 9F4F sbci r25,hhi8(-(511))
		5551	5800 .L450:
		5552	5801 301e 5B01 movw r10,r22
		5553	5802 3020 6C01 movw r12,r24
		5554	5803 3022 19E0 ldi r17,9
		5555	5804 3024 D594 1: asr r13
		5556	5805 3026 C794 ror r12
		5557	5806 3028 B794 ror r11
		5558	5807 302a A794 ror r10
		5559	5808 302c 1A95 dec r17
		5560	5809 302e 01F4 brne 1b
		5561	5810 3030 8091 0000 lds r24,MaxStickNick
		5562	5811 3034 9091 0000 lds r25,(MaxStickNick)+1
		5563	5812 3038 8134 cpi r24,65
		5564	5813 303a 9105 cpc r25,__zero_reg__
		5565	5814 303c 04F4 brge .L452
		5566	5815 303e 8091 0000 lds r24,MaxStickRoll
		5567	5816 3042 9091 0000 lds r25,(MaxStickRoll)+1
		5568	5817 3046 8134 cpi r24,65
		5569	5818 3048 9105 cpc r25,__zero_reg__
		5570	5819 304a 04F0 brlt .L451
		5571	5820 .L452:
		5572	5821 304c D401 movw r26,r8
		5573	5822 304e C301 movw r24,r6
		5574	5823 3050 97FE sbrs r9,7
		5575	5824 3052 00C0 rjmp .L453
		5576	5825 3054 0196 adiw r24,1
		5577	5826 3056 A11D adc r26,__zero_reg__
		5578	5827 3058 B11D adc r27,__zero_reg__
		5579	5828 .L453:
		5580	5829 305a 3C01 movw r6,r24
		5581	5830 305c 4D01 movw r8,r26
		5582	5831 305e 9594 asr r9
		5583	5832 3060 8794 ror r8
		5584	5833 3062 7794 ror r7
		5585	5834 3064 6794 ror r6
		5586	5835 3066 D601 movw r26,r12
		5587	5836 3068 C501 movw r24,r10
		5588	5837 306a D7FE sbrs r13,7
		5589	5838 306c 00C0 rjmp .L454
		5590	5839 306e 0196 adiw r24,1
		5591	5840 3070 A11D adc r26,__zero_reg__
		5592	5841 3072 B11D adc r27,__zero_reg__
		5593	5842 .L454:
		5594	5843 3074 5C01 movw r10,r24
		5595	5844 3076 6D01 movw r12,r26
		5596	5845 3078 D594 asr r13
		5597	5846 307a C794 ror r12
		5598	5847 307c B794 ror r11
		5599	5848 307e A794 ror r10
		5600	5849 .L451:
		5601	5850 3080 8091 0000 lds r24,EE_Parameter+4
		5602	5851 3084 E82F mov r30,r24
		5603	5852 3086 FF27 clr r31
		5604	5853 3088 EE0F add r30,r30
		5605	5854 308a FF1F adc r31,r31
		5606	5855 308c E050 subi r30,lo8(-(PPM_in))
		5607	5856 308e F040 sbci r31,hi8(-(PPM_in))
		5608	5857 3090 8081 ld r24,Z
		5609	5858 3092 9181 ldd r25,Z+1
		5610	5859 3094 0190 ld __tmp_reg__,Z+
		5611	5860 3096 F081 ld r31,Z
		5612	5861 3098 E02D mov r30,__tmp_reg__
		5613	5862 309a F7FF sbrs r31,7
		5614	5863 309c 00C0 rjmp .L456
		5615	5864 309e F095 com r31
		5616	5865 30a0 E195 neg r30
		5617	5866 30a2 FF4F sbci r31,lo8(-1)
		5618	5867 .L456:
		5619	5868 30a4 7A97 sbiw r30,26
		5620	5869 30a6 04F0 brlt .L455
		5621	5870 30a8 C401 movw r24,r8
		5622	5871 30aa B301 movw r22,r6
		5623	5872 30ac 23E0 ldi r18,lo8(3)
		5624	5873 30ae 30E0 ldi r19,hi8(3)
		5625	5874 30b0 40E0 ldi r20,hlo8(3)
		5626	5875 30b2 50E0 ldi r21,hhi8(3)
		5627	5876 30b4 0E94 0000 call __divmodsi4
		5628	5877 30b8 3901 movw r6,r18
		5629	5878 30ba 4A01 movw r8,r20
		5630	5879 30bc C601 movw r24,r12
		5631	5880 30be B501 movw r22,r10
		5632	5881 30c0 23E0 ldi r18,lo8(3)
		5633	5882 30c2 30E0 ldi r19,hi8(3)
		5634	5883 30c4 40E0 ldi r20,hlo8(3)
		5635	5884 30c6 50E0 ldi r21,hhi8(3)
		5636	5885 30c8 0E94 0000 call __divmodsi4
		5637	5886 30cc 5901 movw r10,r18
		5638	5887 30ce 6A01 movw r12,r20
		5639	5888 .L455:
		5640	5889 30d0 8091 0000 lds r24,FromNaviCtrl_Value+2
		5641	5890 30d4 282F mov r18,r24
		5642	5891 30d6 3327 clr r19
		5643	5892 30d8 27FD sbrc r18,7
		5644	5893 30da 3095 com r19
		5645	5894 30dc 432F mov r20,r19
		5646	5895 30de 532F mov r21,r19
		5647	5896 30e0 2615 cp r18,r6
		5648	5897 30e2 3705 cpc r19,r7
		5649	5898 30e4 4805 cpc r20,r8
		5650	5899 30e6 5905 cpc r21,r9
		5651	5900 30e8 04F4 brge .L457
		5652	5901 30ea 3901 movw r6,r18
		5653	5902 30ec 4A01 movw r8,r20
		5654	5903 .L457:
		5655	5904 30ee 9927 clr r25
		5656	5905 30f0 87FD sbrc r24,7
		5657	5906 30f2 9095 com r25
		5658	5907 30f4 9095 com r25
		5659	5908 30f6 8195 neg r24
		5660	5909 30f8 9F4F sbci r25,lo8(-1)
		5661	5910 30fa AA27 clr r26
		5662	5911 30fc 97FD sbrc r25,7
		5663	5912 30fe A095 com r26
		5664	5913 3100 BA2F mov r27,r26
		5665	5914 3102 6816 cp r6,r24
		5666	5915 3104 7906 cpc r7,r25
		5667	5916 3106 8A06 cpc r8,r26
		5668	5917 3108 9B06 cpc r9,r27
		5669	5918 310a 04F4 brge .L458
		5670	5919 310c 3C01 movw r6,r24
		5671	5920 310e 4D01 movw r8,r26
		5672	5921 .L458:
		5673	5922 3110 2A15 cp r18,r10
		5674	5923 3112 3B05 cpc r19,r11
		5675	5924 3114 4C05 cpc r20,r12
		5676	5925 3116 5D05 cpc r21,r13
		5677	5926 3118 04F4 brge .L459
		5678	5927 311a 5901 movw r10,r18
		5679	5928 311c 6A01 movw r12,r20
		5680	5929 .L459:
		5681	5930 311e A816 cp r10,r24
		5682	5931 3120 B906 cpc r11,r25
		5683	5932 3122 CA06 cpc r12,r26
		5684	5933 3124 DB06 cpc r13,r27
		5685	5934 3126 04F0 brlt .+2
		5686	5935 3128 00C0 rjmp .L461
		5687	5936 312a 5C01 movw r10,r24
		5688	5937 312c 6D01 movw r12,r26
		5689	5938 312e 00C0 rjmp .L461
		5690	5939 .L448:
		5691	5940 3130 EA2C mov r14,r10
		5692	5941 3132 FF24 clr r15
		5693	5942 3134 0027 clr r16
		5694	5943 3136 1127 clr r17
		5695	5944 3138 CA01 movw r24,r20
		5696	5945 313a B901 movw r22,r18
		5697	5946 313c A801 movw r20,r16
		5698	5947 313e 9701 movw r18,r14
		5699	5948 3140 0E94 0000 call __divmodsi4
		5700	5949 3144 3901 movw r6,r18
		5701	5950 3146 4A01 movw r8,r20
		5702	5951 3148 C101 movw r24,r2
		5703	5952 314a AA27 clr r26
		5704	5953 314c 97FD sbrc r25,7
		5705	5954 314e A095 com r26
		5706	5955 3150 BA2F mov r27,r26
		5707	5956 3152 681A sub r6,r24
		5708	5957 3154 790A sbc r7,r25
		5709	5958 3156 8A0A sbc r8,r26
		5710	5959 3158 9B0A sbc r9,r27
		5711	5960 315a 6B81 ldd r22,Y+3
		5712	5961 315c 7C81 ldd r23,Y+4
		5713	5962 315e 8D81 ldd r24,Y+5
		5714	5963 3160 9E81 ldd r25,Y+6
		5715	5964 3162 A801 movw r20,r16
		5716	5965 3164 9701 movw r18,r14
		5717	5966 3166 0E94 0000 call __divmodsi4
		5718	5967 316a 5901 movw r10,r18
		5719	5968 316c 6A01 movw r12,r20
		5720	5969 316e C201 movw r24,r4
		5721	5970 3170 AA27 clr r26
		5722	5971 3172 97FD sbrc r25,7
		5723	5972 3174 A095 com r26
		5724	5973 3176 BA2F mov r27,r26
		5725	5974 3178 A81A sub r10,r24
		5726	5975 317a B90A sbc r11,r25
		5727	5976 317c CA0A sbc r12,r26
		5728	5977 317e DB0A sbc r13,r27
		5729	5978 3180 D401 movw r26,r8
		5730	5979 3182 C301 movw r24,r6
		5731	5980 3184 97FE sbrs r9,7
		5732	5981 3186 00C0 rjmp .L462
		5733	5982 3188 0F96 adiw r24,15
		5734	5983 318a A11D adc r26,__zero_reg__
		5735	5984 318c B11D adc r27,__zero_reg__
		5736	5985 .L462:
		5737	5986 318e 3C01 movw r6,r24
		5738	5987 3190 4D01 movw r8,r26
		5739	5988 3192 F4E0 ldi r31,4
		5740	5989 3194 9594 1: asr r9
		5741	5990 3196 8794 ror r8
		5742	5991 3198 7794 ror r7
		5743	5992 319a 6794 ror r6
		5744	5993 319c FA95 dec r31
		5745	5994 319e 01F4 brne 1b
		5746	5995 31a0 D601 movw r26,r12
		5747	5996 31a2 C501 movw r24,r10
		5748	5997 31a4 D7FE sbrs r13,7
		5749	5998 31a6 00C0 rjmp .L463
		5750	5999 31a8 0F96 adiw r24,15
		5751	6000 31aa A11D adc r26,__zero_reg__
		5752	6001 31ac B11D adc r27,__zero_reg__
		5753	6002 .L463:
		5754	6003 31ae 5C01 movw r10,r24
		5755	6004 31b0 6D01 movw r12,r26
		5756	6005 31b2 E4E0 ldi r30,4
		5757	6006 31b4 D594 1: asr r13
		5758	6007 31b6 C794 ror r12
		5759	6008 31b8 B794 ror r11
		5760	6009 31ba A794 ror r10
		5761	6010 31bc EA95 dec r30
		5762	6011 31be 01F4 brne 1b
		5763	6012 31c0 8091 0000 lds r24,MaxStickNick
		5764	6013 31c4 9091 0000 lds r25,(MaxStickNick)+1
		5765	6014 31c8 8134 cpi r24,65
		5766	6015 31ca 9105 cpc r25,__zero_reg__
		5767	6016 31cc 04F4 brge .L465
		5768	6017 31ce 8091 0000 lds r24,MaxStickRoll
		5769	6018 31d2 9091 0000 lds r25,(MaxStickRoll)+1
		5770	6019 31d6 8134 cpi r24,65
		5771	6020 31d8 9105 cpc r25,__zero_reg__
		5772	6021 31da 04F0 brlt .L464
		5773	6022 .L465:
		5774	6023 31dc C401 movw r24,r8
		5775	6024 31de B301 movw r22,r6
		5776	6025 31e0 23E0 ldi r18,lo8(3)
		5777	6026 31e2 30E0 ldi r19,hi8(3)
		5778	6027 31e4 40E0 ldi r20,hlo8(3)
		5779	6028 31e6 50E0 ldi r21,hhi8(3)
		5780	6029 31e8 0E94 0000 call __divmodsi4
		5781	6030 31ec 3901 movw r6,r18
		5782	6031 31ee 4A01 movw r8,r20
		5783	6032 31f0 C601 movw r24,r12
		5784	6033 31f2 B501 movw r22,r10
		5785	6034 31f4 23E0 ldi r18,lo8(3)
		5786	6035 31f6 30E0 ldi r19,hi8(3)
		5787	6036 31f8 40E0 ldi r20,hlo8(3)
		5788	6037 31fa 50E0 ldi r21,hhi8(3)
		5789	6038 31fc 0E94 0000 call __divmodsi4
		5790	6039 3200 5901 movw r10,r18
		5791	6040 3202 6A01 movw r12,r20
		5792	6041 .L464:
		5793	6042 3204 8091 0000 lds r24,EE_Parameter+4
		5794	6043 3208 E82F mov r30,r24
		5795	6044 320a FF27 clr r31
		5796	6045 320c EE0F add r30,r30
		5797	6046 320e FF1F adc r31,r31
		5798	6047 3210 E050 subi r30,lo8(-(PPM_in))
		5799	6048 3212 F040 sbci r31,hi8(-(PPM_in))
		5800	6049 3214 8081 ld r24,Z
		5801	6050 3216 9181 ldd r25,Z+1
		5802	6051 3218 0190 ld __tmp_reg__,Z+
		5803	6052 321a F081 ld r31,Z
		5804	6053 321c E02D mov r30,__tmp_reg__
		5805	6054 321e F7FF sbrs r31,7
		5806	6055 3220 00C0 rjmp .L467
		5807	6056 3222 F095 com r31
		5808	6057 3224 E195 neg r30
		5809	6058 3226 FF4F sbci r31,lo8(-1)
		5810	6059 .L467:
		5811	6060 3228 7A97 sbiw r30,26
		5812	6061 322a 04F0 brlt .L466
		5813	6062 322c C401 movw r24,r8
		5814	6063 322e B301 movw r22,r6
		5815	6064 3230 23E0 ldi r18,lo8(3)
		5816	6065 3232 30E0 ldi r19,hi8(3)
		5817	6066 3234 40E0 ldi r20,hlo8(3)
		5818	6067 3236 50E0 ldi r21,hhi8(3)
		5819	6068 3238 0E94 0000 call __divmodsi4
		5820	6069 323c 3901 movw r6,r18
		5821	6070 323e 4A01 movw r8,r20
		5822	6071 3240 C601 movw r24,r12
		5823	6072 3242 B501 movw r22,r10
		5824	6073 3244 23E0 ldi r18,lo8(3)
		5825	6074 3246 30E0 ldi r19,hi8(3)
		5826	6075 3248 40E0 ldi r20,hlo8(3)
		5827	6076 324a 50E0 ldi r21,hhi8(3)
		5828	6077 324c 0E94 0000 call __divmodsi4
		5829	6078 3250 5901 movw r10,r18
		5830	6079 3252 6A01 movw r12,r20
		5831	6080 .L466:
		5832	6081 3254 89E1 ldi r24,lo8(25)
		5833	6082 3256 8093 0000 sts KompassFusion,r24
		5834	6083 325a 21E2 ldi r18,lo8(33)
		5835	6084 325c 6216 cp r6,r18
		5836	6085 325e 7104 cpc r7,__zero_reg__
		5837	6086 3260 8104 cpc r8,__zero_reg__
		5838	6087 3262 9104 cpc r9,__zero_reg__
		5839	6088 3264 04F0 brlt .L468
		5840	6089 3266 70E2 ldi r23,lo8(32)
		5841	6090 3268 672E mov r6,r23
		5842	6091 326a 712C mov r7,__zero_reg__
		5843	6092 326c 812C mov r8,__zero_reg__
		5844	6093 326e 912C mov r9,__zero_reg__
		5845	6094 .L468:
		5846	6095 3270 30EE ldi r19,lo8(-32)
		5847	6096 3272 6316 cp r6,r19
		5848	6097 3274 3FEF ldi r19,hi8(-32)
		5849	6098 3276 7306 cpc r7,r19
		5850	6099 3278 3FEF ldi r19,hlo8(-32)
		5851	6100 327a 8306 cpc r8,r19
		5852	6101 327c 3FEF ldi r19,hhi8(-32)
		5853	6102 327e 9306 cpc r9,r19
		5854	6103 3280 04F4 brge .L469
		5855	6104 3282 60EE ldi r22,lo8(-32)
		5856	6105 3284 662E mov r6,r22
		5857	6106 3286 6FEF ldi r22,hi8(-32)
		5858	6107 3288 762E mov r7,r22
		5859	6108 328a 6FEF ldi r22,hlo8(-32)
		5860	6109 328c 862E mov r8,r22
		5861	6110 328e 6FEF ldi r22,hhi8(-32)
		5862	6111 3290 962E mov r9,r22
		5863	6112 .L469:
		5864	6113 3292 41E2 ldi r20,lo8(33)
		5865	6114 3294 A416 cp r10,r20
		5866	6115 3296 B104 cpc r11,__zero_reg__
		5867	6116 3298 C104 cpc r12,__zero_reg__
		5868	6117 329a D104 cpc r13,__zero_reg__
		5869	6118 329c 04F0 brlt .L470
		5870	6119 329e 50E2 ldi r21,lo8(32)
		5871	6120 32a0 A52E mov r10,r21
		5872	6121 32a2 B12C mov r11,__zero_reg__
		5873	6122 32a4 C12C mov r12,__zero_reg__
		5874	6123 32a6 D12C mov r13,__zero_reg__
		5875	6124 .L470:
		5876	6125 32a8 50EE ldi r21,lo8(-32)
		5877	6126 32aa A516 cp r10,r21
		5878	6127 32ac 5FEF ldi r21,hi8(-32)
		5879	6128 32ae B506 cpc r11,r21
		5880	6129 32b0 5FEF ldi r21,hlo8(-32)
		5881	6130 32b2 C506 cpc r12,r21
		5882	6131 32b4 5FEF ldi r21,hhi8(-32)
		5883	6132 32b6 D506 cpc r13,r21
		5884	6133 32b8 04F4 brge .L461
		5885	6134 32ba 40EE ldi r20,lo8(-32)
		5886	6135 32bc A42E mov r10,r20
		5887	6136 32be 4FEF ldi r20,hi8(-32)
		5888	6137 32c0 B42E mov r11,r20
		5889	6138 32c2 4FEF ldi r20,hlo8(-32)
		5890	6139 32c4 C42E mov r12,r20
		5891	6140 32c6 4FEF ldi r20,hhi8(-32)
		5892	6141 32c8 D42E mov r13,r20
		5893	6142 .L461:
		5894	6143 32ca 8091 0000 lds r24,Mess_IntegralNick
		5895	6144 32ce 9091 0000 lds r25,(Mess_IntegralNick)+1
		5896	6145 32d2 A091 0000 lds r26,(Mess_IntegralNick)+2
		5897	6146 32d6 B091 0000 lds r27,(Mess_IntegralNick)+3
		5898	6147 32da 8619 sub r24,r6
		5899	6148 32dc 9709 sbc r25,r7
		5900	6149 32de A809 sbc r26,r8
		5901	6150 32e0 B909 sbc r27,r9
		5902	6151 32e2 8093 0000 sts Mess_IntegralNick,r24
		5903	6152 32e6 9093 0000 sts (Mess_IntegralNick)+1,r25
		5904	6153 32ea A093 0000 sts (Mess_IntegralNick)+2,r26
		5905	6154 32ee B093 0000 sts (Mess_IntegralNick)+3,r27
		5906	6155 32f2 8091 0000 lds r24,Mess_IntegralRoll
		5907	6156 32f6 9091 0000 lds r25,(Mess_IntegralRoll)+1
		5908	6157 32fa A091 0000 lds r26,(Mess_IntegralRoll)+2
		5909	6158 32fe B091 0000 lds r27,(Mess_IntegralRoll)+3
		5910	6159 3302 8A19 sub r24,r10
		5911	6160 3304 9B09 sbc r25,r11
		5912	6161 3306 AC09 sbc r26,r12
		5913	6162 3308 BD09 sbc r27,r13
		5914	6163 330a 8093 0000 sts Mess_IntegralRoll,r24
		5915	6164 330e 9093 0000 sts (Mess_IntegralRoll)+1,r25
		5916	6165 3312 A093 0000 sts (Mess_IntegralRoll)+2,r26
		5917	6166 3316 B093 0000 sts (Mess_IntegralRoll)+3,r27
		5918	6167 .L446:
		5919	6168 331a 8091 0000 lds r24,ZaehlMessungen
		5920	6169 331e 9091 0000 lds r25,(ZaehlMessungen)+1
		5921	6170 3322 8F3F cpi r24,255
		5922	6171 3324 9105 cpc r25,__zero_reg__
		5923	6172 3326 01F0 breq .+2
		5924	6173 3328 00F4 brsh .+2
		5925	6174 332a 00C0 rjmp .L472
		5926	6175 332c 6F85 ldd r22,Y+15
		5927	6176 332e 6623 tst r22
		5928	6177 3330 01F0 breq .+2
		5929	6178 3332 00C0 rjmp .L473
		5930	6179 3334 8091 0000 lds r24,Looping_Roll
		5931	6180 3338 8823 tst r24
		5932	6181 333a 01F0 breq .+2
		5933	6182 333c 00C0 rjmp .L473
		5934	6183 333e 8091 0000 lds r24,TrichterFlug
		5935	6184 3342 8823 tst r24
		5936	6185 3344 01F0 breq .+2
		5937	6186 3346 00C0 rjmp .L473
		5938	6187 3348 7091 0000 lds r23,EE_Parameter+68
		5939	6188 334c 788B std Y+16,r23
		5940	6189 334e 7723 tst r23
		5941	6190 3350 01F4 brne .+2
		5942	6191 3352 00C0 rjmp .L473
		5943	6192 3354 8091 0000 lds r24,MittelIntegralNick
		5944	6193 3358 9091 0000 lds r25,(MittelIntegralNick)+1
		5945	6194 335c A091 0000 lds r26,(MittelIntegralNick)+2
		5946	6195 3360 B091 0000 lds r27,(MittelIntegralNick)+3
		5947	6196 3364 B7FF sbrs r27,7
		5948	6197 3366 00C0 rjmp .L474
		5949	6198 3368 8150 subi r24,lo8(-(255))
		5950	6199 336a 9F4F sbci r25,hi8(-(255))
		5951	6200 336c AF4F sbci r26,hlo8(-(255))
		5952	6201 336e BF4F sbci r27,hhi8(-(255))
		5953	6202 .L474:
		5954	6203 3370 E92E mov r14,r25
		5955	6204 3372 FA2E mov r15,r26
		5956	6205 3374 0B2F mov r16,r27
		5957	6206 3376 1127 clr r17
		5958	6207 3378 07FD sbrc r16,7
		5959	6208 337a 1A95 dec r17
		5960	6209 337c E092 0000 sts MittelIntegralNick,r14
		5961	6210 3380 F092 0000 sts (MittelIntegralNick)+1,r15
		5962	6211 3384 0093 0000 sts (MittelIntegralNick)+2,r16
		5963	6212 3388 1093 0000 sts (MittelIntegralNick)+3,r17
		5964	6213 338c 8091 0000 lds r24,MittelIntegralRoll
		5965	6214 3390 9091 0000 lds r25,(MittelIntegralRoll)+1
		5966	6215 3394 A091 0000 lds r26,(MittelIntegralRoll)+2
		5967	6216 3398 B091 0000 lds r27,(MittelIntegralRoll)+3
		5968	6217 339c B7FF sbrs r27,7
		5969	6218 339e 00C0 rjmp .L475
		5970	6219 33a0 8150 subi r24,lo8(-(255))
		5971	6220 33a2 9F4F sbci r25,hi8(-(255))
		5972	6221 33a4 AF4F sbci r26,hlo8(-(255))
		5973	6222 33a6 BF4F sbci r27,hhi8(-(255))
		5974	6223 .L475:
		5975	6224 33a8 892F mov r24,r25
		5976	6225 33aa 9A2F mov r25,r26
		5977	6226 33ac AB2F mov r26,r27
		5978	6227 33ae BB27 clr r27
		5979	6228 33b0 A7FD sbrc r26,7
		5980	6229 33b2 BA95 dec r27
		5981	6230 33b4 898B std Y+17,r24
		5982	6231 33b6 9A8B std Y+18,r25
		5983	6232 33b8 AB8B std Y+19,r26
		5984	6233 33ba BC8B std Y+20,r27
		5985	6234 33bc 8093 0000 sts MittelIntegralRoll,r24
		5986	6235 33c0 9093 0000 sts (MittelIntegralRoll)+1,r25
		5987	6236 33c4 A093 0000 sts (MittelIntegralRoll)+2,r26
		5988	6237 33c8 B093 0000 sts (MittelIntegralRoll)+3,r27
		5989	6238 33cc 8091 0000 lds r24,EE_Parameter+28
		5990	6239 33d0 A82E mov r10,r24
		5991	6240 33d2 BB24 clr r11
		5992	6241 33d4 CC24 clr r12
		5993	6242 33d6 DD24 clr r13
		5994	6243 33d8 2091 0000 lds r18,IntegralAccNick
		5995	6244 33dc 3091 0000 lds r19,(IntegralAccNick)+1
		5996	6245 33e0 4091 0000 lds r20,(IntegralAccNick)+2
		5997	6246 33e4 5091 0000 lds r21,(IntegralAccNick)+3
		5998	6247 33e8 C601 movw r24,r12
		5999	6248 33ea B501 movw r22,r10
		6000	6249 33ec 0E94 0000 call __mulsi3
		6001	6250 33f0 97FF sbrs r25,7
		6002	6251 33f2 00C0 rjmp .L476
		6003	6252 33f4 6150 subi r22,lo8(-(255))
		6004	6253 33f6 7F4F sbci r23,hi8(-(255))
		6005	6254 33f8 8F4F sbci r24,hlo8(-(255))
		6006	6255 33fa 9F4F sbci r25,hhi8(-(255))
		6007	6256 .L476:
		6008	6257 33fc 672E mov r6,r23
		6009	6258 33fe 782E mov r7,r24
		6010	6259 3400 892E mov r8,r25
		6011	6260 3402 9924 clr r9
		6012	6261 3404 87FC sbrc r8,7
		6013	6262 3406 9A94 dec r9
		6014	6263 3408 6092 0000 sts IntegralAccNick,r6
		6015	6264 340c 7092 0000 sts (IntegralAccNick)+1,r7
		6016	6265 3410 8092 0000 sts (IntegralAccNick)+2,r8
		6017	6266 3414 9092 0000 sts (IntegralAccNick)+3,r9
		6018	6267 3418 2091 0000 lds r18,IntegralAccRoll
		6019	6268 341c 3091 0000 lds r19,(IntegralAccRoll)+1
		6020	6269 3420 4091 0000 lds r20,(IntegralAccRoll)+2
		6021	6270 3424 5091 0000 lds r21,(IntegralAccRoll)+3
		6022	6271 3428 C601 movw r24,r12
		6023	6272 342a B501 movw r22,r10
		6024	6273 342c 0E94 0000 call __mulsi3
		6025	6274 3430 97FF sbrs r25,7
		6026	6275 3432 00C0 rjmp .L477
		6027	6276 3434 6150 subi r22,lo8(-(255))
		6028	6277 3436 7F4F sbci r23,hi8(-(255))
		6029	6278 3438 8F4F sbci r24,hlo8(-(255))
		6030	6279 343a 9F4F sbci r25,hhi8(-(255))
		6031	6280 .L477:
		6032	6281 343c 272E mov r2,r23
		6033	6282 343e 382E mov r3,r24
		6034	6283 3440 492E mov r4,r25
		6035	6284 3442 5524 clr r5
		6036	6285 3444 47FC sbrc r4,7
		6037	6286 3446 5A94 dec r5
		6038	6287 3448 2092 0000 sts IntegralAccRoll,r2
		6039	6288 344c 3092 0000 sts (IntegralAccRoll)+1,r3
		6040	6289 3450 4092 0000 sts (IntegralAccRoll)+2,r4
		6041	6290 3454 5092 0000 sts (IntegralAccRoll)+3,r5
		6042	6291 3458 8091 0000 lds r24,IntegralAccZ
		6043	6292 345c 9091 0000 lds r25,(IntegralAccZ)+1
		6044	6293 3460 A091 0000 lds r26,(IntegralAccZ)+2
		6045	6294 3464 B091 0000 lds r27,(IntegralAccZ)+3
		6046	6295 3468 B7FF sbrs r27,7
		6047	6296 346a 00C0 rjmp .L478
		6048	6297 346c 8150 subi r24,lo8(-(255))
		6049	6298 346e 9F4F sbci r25,hi8(-(255))
		6050	6299 3470 AF4F sbci r26,hlo8(-(255))
		6051	6300 3472 BF4F sbci r27,hhi8(-(255))
		6052	6301 .L478:
		6053	6302 3474 892F mov r24,r25
		6054	6303 3476 9A2F mov r25,r26
		6055	6304 3478 AB2F mov r26,r27
		6056	6305 347a BB27 clr r27
		6057	6306 347c A7FD sbrc r26,7
		6058	6307 347e BA95 dec r27
		6059	6308 3480 8093 0000 sts IntegralAccZ,r24
		6060	6309 3484 9093 0000 sts (IntegralAccZ)+1,r25
		6061	6310 3488 A093 0000 sts (IntegralAccZ)+2,r26
		6062	6311 348c B093 0000 sts (IntegralAccZ)+3,r27
		6063	6312 3490 D801 movw r26,r16
		6064	6313 3492 C701 movw r24,r14
		6065	6314 3494 8619 sub r24,r6
		6066	6315 3496 9709 sbc r25,r7
		6067	6316 3498 A809 sbc r26,r8
		6068	6317 349a B909 sbc r27,r9
		6069	6318 349c 8093 0000 sts IntegralFehlerNick.3,r24
		6070	6319 34a0 9093 0000 sts (IntegralFehlerNick.3)+1,r25
		6071	6320 34a4 A093 0000 sts (IntegralFehlerNick.3)+2,r26
		6072	6321 34a8 B093 0000 sts (IntegralFehlerNick.3)+3,r27
		6073	6322 34ac 2091 0000 lds r18,EE_Parameter+67
		6074	6323 34b0 E22E mov r14,r18
		6075	6324 34b2 FF24 clr r15
		6076	6325 34b4 0027 clr r16
		6077	6326 34b6 1127 clr r17
		6078	6327 34b8 BC01 movw r22,r24
		6079	6328 34ba CD01 movw r24,r26
		6080	6329 34bc A801 movw r20,r16
		6081	6330 34be 9701 movw r18,r14
		6082	6331 34c0 0E94 0000 call __divmodsi4
		6083	6332 34c4 5901 movw r10,r18
		6084	6333 34c6 6A01 movw r12,r20
		6085	6334 34c8 2093 0000 sts ausgleichNick.11,r18
		6086	6335 34cc 3093 0000 sts (ausgleichNick.11)+1,r19
		6087	6336 34d0 4093 0000 sts (ausgleichNick.11)+2,r20
		6088	6337 34d4 5093 0000 sts (ausgleichNick.11)+3,r21
		6089	6338 34d8 8989 ldd r24,Y+17
		6090	6339 34da 9A89 ldd r25,Y+18
		6091	6340 34dc AB89 ldd r26,Y+19
		6092	6341 34de BC89 ldd r27,Y+20
		6093	6342 34e0 8219 sub r24,r2
		6094	6343 34e2 9309 sbc r25,r3
		6095	6344 34e4 A409 sbc r26,r4
		6096	6345 34e6 B509 sbc r27,r5
		6097	6346 34e8 8093 0000 sts IntegralFehlerRoll.4,r24
		6098	6347 34ec 9093 0000 sts (IntegralFehlerRoll.4)+1,r25
		6099	6348 34f0 A093 0000 sts (IntegralFehlerRoll.4)+2,r26
		6100	6349 34f4 B093 0000 sts (IntegralFehlerRoll.4)+3,r27
		6101	6350 34f8 BC01 movw r22,r24
		6102	6351 34fa CD01 movw r24,r26
		6103	6352 34fc A801 movw r20,r16
		6104	6353 34fe 9701 movw r18,r14
		6105	6354 3500 0E94 0000 call __divmodsi4
		6106	6355 3504 2093 0000 sts ausgleichRoll.12,r18
		6107	6356 3508 3093 0000 sts (ausgleichRoll.12)+1,r19
		6108	6357 350c 4093 0000 sts (ausgleichRoll.12)+2,r20
		6109	6358 3510 5093 0000 sts (ausgleichRoll.12)+3,r21
		6110	6359 3514 D601 movw r26,r12
		6111	6360 3516 C501 movw r24,r10
		6112	6361 3518 D7FE sbrs r13,7
		6113	6362 351a 00C0 rjmp .L479
		6114	6363 351c 8150 subi r24,lo8(-(255))
		6115	6364 351e 9F4F sbci r25,hi8(-(255))
		6116	6365 3520 AF4F sbci r26,hlo8(-(255))
		6117	6366 3522 BF4F sbci r27,hhi8(-(255))
		6118	6367 .L479:
		6119	6368 3524 892F mov r24,r25
		6120	6369 3526 9A2F mov r25,r26
		6121	6370 3528 AB2F mov r26,r27
		6122	6371 352a BB27 clr r27
		6123	6372 352c A7FD sbrc r26,7
		6124	6373 352e BA95 dec r27
		6125	6374 3530 9093 0000 sts (LageKorrekturNick)+1,r25
		6126	6375 3534 8093 0000 sts LageKorrekturNick,r24
		6127	6376 3538 57FF sbrs r21,7
		6128	6377 353a 00C0 rjmp .L480
		6129	6378 353c 2150 subi r18,lo8(-(255))
		6130	6379 353e 3F4F sbci r19,hi8(-(255))
		6131	6380 3540 4F4F sbci r20,hlo8(-(255))
		6132	6381 3542 5F4F sbci r21,hhi8(-(255))
		6133	6382 .L480:
		6134	6383 3544 BB27 clr r27
		6135	6384 3546 57FD sbrc r21,7
		6136	6385 3548 BA95 dec r27
		6137	6386 354a A52F mov r26,r21
		6138	6387 354c 942F mov r25,r20
		6139	6388 354e 832F mov r24,r19
		6140	6389 3550 9093 0000 sts (LageKorrekturRoll)+1,r25
		6141	6390 3554 8093 0000 sts LageKorrekturRoll,r24
		6142	6391 3558 8091 0000 lds r24,MaxStickNick
		6143	6392 355c 9091 0000 lds r25,(MaxStickNick)+1
		6144	6393 3560 8134 cpi r24,65
		6145	6394 3562 9105 cpc r25,__zero_reg__
		6146	6395 3564 04F4 brge .L482
		6147	6396 3566 8091 0000 lds r24,MaxStickRoll
		6148	6397 356a 9091 0000 lds r25,(MaxStickRoll)+1
		6149	6398 356e 8134 cpi r24,65
		6150	6399 3570 9105 cpc r25,__zero_reg__
		6151	6400 3572 04F4 brge .L482
		6152	6401 3574 8091 0000 lds r24,EE_Parameter+4
		6153	6402 3578 E82F mov r30,r24
		6154	6403 357a FF27 clr r31
		6155	6404 357c EE0F add r30,r30
		6156	6405 357e FF1F adc r31,r31
		6157	6406 3580 E050 subi r30,lo8(-(PPM_in))
		6158	6407 3582 F040 sbci r31,hi8(-(PPM_in))
		6159	6408 3584 8081 ld r24,Z
		6160	6409 3586 9181 ldd r25,Z+1
		6161	6410 3588 0190 ld __tmp_reg__,Z+
		6162	6411 358a F081 ld r31,Z
		6163	6412 358c E02D mov r30,__tmp_reg__
		6164	6413 358e F7FF sbrs r31,7
		6165	6414 3590 00C0 rjmp .L483
		6166	6415 3592 F095 com r31
		6167	6416 3594 E195 neg r30
		6168	6417 3596 FF4F sbci r31,lo8(-1)
		6169	6418 .L483:
		6170	6419 3598 7A97 sbiw r30,26
		6171	6420 359a 04F0 brlt .L481
		6172	6421 .L482:
		6173	6422 359c 8091 0000 lds r24,FromNaviCtrl_Value
		6174	6423 35a0 8F3F cpi r24,lo8(-1)
		6175	6424 35a2 01F4 brne .L481
		6176	6425 35a4 8091 0000 lds r24,LageKorrekturNick
		6177	6426 35a8 9091 0000 lds r25,(LageKorrekturNick)+1
		6178	6427 35ac 97FD sbrc r25,7
		6179	6428 35ae 0196 adiw r24,1
		6180	6429 .L484:
		6181	6430 35b0 9595 asr r25
		6182	6431 35b2 8795 ror r24
		6183	6432 35b4 9093 0000 sts (LageKorrekturNick)+1,r25
		6184	6433 35b8 8093 0000 sts LageKorrekturNick,r24
		6185	6434 35bc 8091 0000 lds r24,LageKorrekturRoll
		6186	6435 35c0 9091 0000 lds r25,(LageKorrekturRoll)+1
		6187	6436 35c4 97FD sbrc r25,7
		6188	6437 35c6 0196 adiw r24,1
		6189	6438 .L485:
		6190	6439 35c8 9595 asr r25
		6191	6440 35ca 8795 ror r24
		6192	6441 35cc 9093 0000 sts (LageKorrekturRoll)+1,r25
		6193	6442 35d0 8093 0000 sts LageKorrekturRoll,r24
		6194	6443 .L481:
		6195	6444 35d4 8091 0000 lds r24,MittelIntegralNick2
		6196	6445 35d8 9091 0000 lds r25,(MittelIntegralNick2)+1
		6197	6446 35dc A091 0000 lds r26,(MittelIntegralNick2)+2
		6198	6447 35e0 B091 0000 lds r27,(MittelIntegralNick2)+3
		6199	6448 35e4 B7FF sbrs r27,7
		6200	6449 35e6 00C0 rjmp .L486
		6201	6450 35e8 8150 subi r24,lo8(-(255))
		6202	6451 35ea 9F4F sbci r25,hi8(-(255))
		6203	6452 35ec AF4F sbci r26,hlo8(-(255))
		6204	6453 35ee BF4F sbci r27,hhi8(-(255))
		6205	6454 .L486:
		6206	6455 35f0 892F mov r24,r25
		6207	6456 35f2 9A2F mov r25,r26
		6208	6457 35f4 AB2F mov r26,r27
		6209	6458 35f6 BB27 clr r27
		6210	6459 35f8 A7FD sbrc r26,7
		6211	6460 35fa BA95 dec r27
		6212	6461 35fc 8093 0000 sts MittelIntegralNick2,r24
		6213	6462 3600 9093 0000 sts (MittelIntegralNick2)+1,r25
		6214	6463 3604 A093 0000 sts (MittelIntegralNick2)+2,r26
		6215	6464 3608 B093 0000 sts (MittelIntegralNick2)+3,r27
		6216	6465 360c 8091 0000 lds r24,MittelIntegralRoll2
		6217	6466 3610 9091 0000 lds r25,(MittelIntegralRoll2)+1
		6218	6467 3614 A091 0000 lds r26,(MittelIntegralRoll2)+2
		6219	6468 3618 B091 0000 lds r27,(MittelIntegralRoll2)+3
		6220	6469 361c B7FF sbrs r27,7
		6221	6470 361e 00C0 rjmp .L487
		6222	6471 3620 8150 subi r24,lo8(-(255))
		6223	6472 3622 9F4F sbci r25,hi8(-(255))
		6224	6473 3624 AF4F sbci r26,hlo8(-(255))
		6225	6474 3626 BF4F sbci r27,hhi8(-(255))
		6226	6475 .L487:
		6227	6476 3628 892F mov r24,r25
		6228	6477 362a 9A2F mov r25,r26
		6229	6478 362c AB2F mov r26,r27
		6230	6479 362e BB27 clr r27
		6231	6480 3630 A7FD sbrc r26,7
		6232	6481 3632 BA95 dec r27
		6233	6482 3634 8093 0000 sts MittelIntegralRoll2,r24
		6234	6483 3638 9093 0000 sts (MittelIntegralRoll2)+1,r25
		6235	6484 363c A093 0000 sts (MittelIntegralRoll2)+2,r26
		6236	6485 3640 B093 0000 sts (MittelIntegralRoll2)+3,r27
		6237	6486 3644 8091 0000 lds r24,IntegralNick
		6238	6487 3648 9091 0000 lds r25,(IntegralNick)+1
		6239	6488 364c A091 0000 lds r26,(IntegralNick)+2
		6240	6489 3650 B091 0000 lds r27,(IntegralNick)+3
		6241	6490 3654 2F81 ldd r18,Y+7
		6242	6491 3656 3885 ldd r19,Y+8
		6243	6492 3658 4985 ldd r20,Y+9
		6244	6493 365a 5A85 ldd r21,Y+10
		6245	6494 365c 281B sub r18,r24
		6246	6495 365e 390B sbc r19,r25
		6247	6496 3660 4A0B sbc r20,r26
		6248	6497 3662 5B0B sbc r21,r27
		6249	6498 3664 2093 0000 sts tmp_long.1,r18
		6250	6499 3668 3093 0000 sts (tmp_long.1)+1,r19
		6251	6500 366c 4093 0000 sts (tmp_long.1)+2,r20
		6252	6501 3670 5093 0000 sts (tmp_long.1)+3,r21
		6253	6502 3674 8091 0000 lds r24,IntegralRoll
		6254	6503 3678 9091 0000 lds r25,(IntegralRoll)+1
		6255	6504 367c A091 0000 lds r26,(IntegralRoll)+2
		6256	6505 3680 B091 0000 lds r27,(IntegralRoll)+3
		6257	6506 3684 EB84 ldd r14,Y+11
		6258	6507 3686 FC84 ldd r15,Y+12
		6259	6508 3688 0D85 ldd r16,Y+13
		6260	6509 368a 1E85 ldd r17,Y+14
		6261	6510 368c E81A sub r14,r24
		6262	6511 368e F90A sbc r15,r25
		6263	6512 3690 0A0B sbc r16,r26
		6264	6513 3692 1B0B sbc r17,r27
		6265	6514 3694 E092 0000 sts tmp_long2.2,r14
		6266	6515 3698 F092 0000 sts (tmp_long2.2)+1,r15
		6267	6516 369c 0093 0000 sts (tmp_long2.2)+2,r16
		6268	6517 36a0 1093 0000 sts (tmp_long2.2)+3,r17
		6269	6518 36a4 2093 0000 sts IntegralFehlerNick.3,r18
		6270	6519 36a8 3093 0000 sts (IntegralFehlerNick.3)+1,r19
		6271	6520 36ac 4093 0000 sts (IntegralFehlerNick.3)+2,r20
		6272	6521 36b0 5093 0000 sts (IntegralFehlerNick.3)+3,r21
		6273	6522 36b4 E092 0000 sts IntegralFehlerRoll.4,r14
		6274	6523 36b8 F092 0000 sts (IntegralFehlerRoll.4)+1,r15
		6275	6524 36bc 0093 0000 sts (IntegralFehlerRoll.4)+2,r16
		6276	6525 36c0 1093 0000 sts (IntegralFehlerRoll.4)+3,r17
		6277	6526 36c4 8091 0000 lds r24,Mess_IntegralNick2
		6278	6527 36c8 9091 0000 lds r25,(Mess_IntegralNick2)+1
		6279	6528 36cc A091 0000 lds r26,(Mess_IntegralNick2)+2
		6280	6529 36d0 B091 0000 lds r27,(Mess_IntegralNick2)+3
		6281	6530 36d4 821B sub r24,r18
		6282	6531 36d6 930B sbc r25,r19
		6283	6532 36d8 A40B sbc r26,r20
		6284	6533 36da B50B sbc r27,r21
		6285	6534 36dc 8093 0000 sts Mess_IntegralNick2,r24
		6286	6535 36e0 9093 0000 sts (Mess_IntegralNick2)+1,r25
		6287	6536 36e4 A093 0000 sts (Mess_IntegralNick2)+2,r26
		6288	6537 36e8 B093 0000 sts (Mess_IntegralNick2)+3,r27
		6289	6538 36ec 8091 0000 lds r24,Mess_IntegralRoll2
		6290	6539 36f0 9091 0000 lds r25,(Mess_IntegralRoll2)+1
		6291	6540 36f4 A091 0000 lds r26,(Mess_IntegralRoll2)+2
		6292	6541 36f8 B091 0000 lds r27,(Mess_IntegralRoll2)+3
		6293	6542 36fc 8E19 sub r24,r14
		6294	6543 36fe 9F09 sbc r25,r15
		6295	6544 3700 A00B sbc r26,r16
		6296	6545 3702 B10B sbc r27,r17
		6297	6546 3704 8093 0000 sts Mess_IntegralRoll2,r24
		6298	6547 3708 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		6299	6548 370c A093 0000 sts (Mess_IntegralRoll2)+2,r26
		6300	6549 3710 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		6301	6550 3714 8889 ldd r24,Y+16
		6302	6551 3716 8823 tst r24
		6303	6552 3718 01F0 breq .L488
		6304	6553 371a 2091 0000 lds r18,GierGyroFehler
		6305	6554 371e 3091 0000 lds r19,(GierGyroFehler)+1
		6306	6555 3722 2138 cpi r18,129
		6307	6556 3724 3105 cpc r19,__zero_reg__
		6308	6557 3726 04F0 brlt .L489
		6309	6558 3728 8091 0000 lds r24,AdNeutralGier
		6310	6559 372c 9091 0000 lds r25,(AdNeutralGier)+1
		6311	6560 3730 0196 adiw r24,1
		6312	6561 3732 9093 0000 sts (AdNeutralGier)+1,r25
		6313	6562 3736 8093 0000 sts AdNeutralGier,r24
		6314	6563 .L489:
		6315	6564 373a 2058 subi r18,lo8(-128)
		6316	6565 373c 3F4F sbci r19,hi8(-128)
		6317	6566 373e 04F4 brge .L488
		6318	6567 3740 8091 0000 lds r24,AdNeutralGier
		6319	6568 3744 9091 0000 lds r25,(AdNeutralGier)+1
		6320	6569 3748 0197 sbiw r24,1
		6321	6570 374a 9093 0000 sts (AdNeutralGier)+1,r25
		6322	6571 374e 8093 0000 sts AdNeutralGier,r24
		6323	6572 .L488:
		6324	6573 3752 1092 0000 sts (GierGyroFehler)+1,__zero_reg__
		6325	6574 3756 1092 0000 sts GierGyroFehler,__zero_reg__
		6326	6575 375a 81E0 ldi r24,lo8(1)
		6327	6576 375c 90E0 ldi r25,hi8(1)
		6328	6577 375e 9093 0000 sts (cnt.15)+1,r25
		6329	6578 3762 8093 0000 sts cnt.15,r24
		6330	6579 3766 E090 0000 lds r14,IntegralFehlerNick.3
		6331	6580 376a F090 0000 lds r15,(IntegralFehlerNick.3)+1
		6332	6581 376e 0091 0000 lds r16,(IntegralFehlerNick.3)+2
		6333	6582 3772 1091 0000 lds r17,(IntegralFehlerNick.3)+3
		6334	6583 3776 D801 movw r26,r16
		6335	6584 3778 C701 movw r24,r14
		6336	6585 377a 17FF sbrs r17,7
		6337	6586 377c 00C0 rjmp .L492
		6338	6587 377e 8827 clr r24
		6339	6588 3780 9927 clr r25
		6340	6589 3782 DC01 movw r26,r24
		6341	6590 3784 8E19 sub r24,r14
		6342	6591 3786 9F09 sbc r25,r15
		6343	6592 3788 A00B sbc r26,r16
		6344	6593 378a B10B sbc r27,r17
		6345	6594 .L492:
		6346	6595 378c 8150 subi r24,lo8(513)
		6347	6596 378e 9240 sbci r25,hi8(513)
		6348	6597 3790 A040 sbci r26,hlo8(513)
		6349	6598 3792 B040 sbci r27,hhi8(513)
		6350	6599 3794 04F0 brlt .L491
		6351	6600 3796 84E0 ldi r24,lo8(4)
		6352	6601 3798 90E0 ldi r25,hi8(4)
		6353	6602 379a 9093 0000 sts (cnt.15)+1,r25
		6354	6603 379e 8093 0000 sts cnt.15,r24
		6355	6604 .L491:
		6356	6605 37a2 8091 0000 lds r24,MittelIntegralNick_Alt.20
		6357	6606 37a6 9091 0000 lds r25,(MittelIntegralNick_Alt.20)+1
		6358	6607 37aa A091 0000 lds r26,(MittelIntegralNick_Alt.20)+2
		6359	6608 37ae B091 0000 lds r27,(MittelIntegralNick_Alt.20)+3
		6360	6609 37b2 2091 0000 lds r18,MittelIntegralNick
		6361	6610 37b6 3091 0000 lds r19,(MittelIntegralNick)+1
		6362	6611 37ba 4091 0000 lds r20,(MittelIntegralNick)+2
		6363	6612 37be 5091 0000 lds r21,(MittelIntegralNick)+3
		6364	6613 37c2 821B sub r24,r18
		6365	6614 37c4 930B sbc r25,r19
		6366	6615 37c6 A40B sbc r26,r20
		6367	6616 37c8 B50B sbc r27,r21
		6368	6617 37ca 815E subi r24,lo8(-(19999))
		6369	6618 37cc 914B sbci r25,hi8(-(19999))
		6370	6619 37ce AF4F sbci r26,hlo8(-(19999))
		6371	6620 37d0 BF4F sbci r27,hhi8(-(19999))
		6372	6621 37d2 8F53 subi r24,lo8(39999)
		6373	6622 37d4 9C49 sbci r25,hi8(39999)
		6374	6623 37d6 A040 sbci r26,hlo8(39999)
		6375	6624 37d8 B040 sbci r27,hhi8(39999)
		6376	6625 37da 00F0 brlo .L494
		6377	6626 37dc 8091 0000 lds r24,FromNaviCtrl_Value+1
		6378	6627 37e0 8931 cpi r24,lo8(25)
		6379	6628 37e2 04F4 brge .+2
		6380	6629 37e4 00C0 rjmp .L493
		6381	6630 .L494:
		6382	6631 37e6 21E0 ldi r18,lo8(4097)
		6383	6632 37e8 E216 cp r14,r18
		6384	6633 37ea 20E1 ldi r18,hi8(4097)
		6385	6634 37ec F206 cpc r15,r18
		6386	6635 37ee 20E0 ldi r18,hlo8(4097)
		6387	6636 37f0 0207 cpc r16,r18
		6388	6637 37f2 20E0 ldi r18,hhi8(4097)
		6389	6638 37f4 1207 cpc r17,r18
		6390	6639 37f6 04F4 brge .+2
		6391	6640 37f8 00C0 rjmp .L495
		6392	6641 37fa 8091 0000 lds r24,last_n_p.16
		6393	6642 37fe 8823 tst r24
		6394	6643 3800 01F4 brne .+2
		6395	6644 3802 00C0 rjmp .L496
		6396	6645 3804 D801 movw r26,r16
		6397	6646 3806 C701 movw r24,r14
		6398	6647 3808 17FF sbrs r17,7
		6399	6648 380a 00C0 rjmp .L497
		6400	6649 380c 8827 clr r24
		6401	6650 380e 9927 clr r25
		6402	6651 3810 DC01 movw r26,r24
		6403	6652 3812 8E19 sub r24,r14
		6404	6653 3814 9F09 sbc r25,r15
		6405	6654 3816 A00B sbc r26,r16
		6406	6655 3818 B10B sbc r27,r17
		6407	6656 .L497:
		6408	6657 381a 9C01 movw r18,r24
		6409	6658 381c AD01 movw r20,r26
		6410	6659 381e B7FF sbrs r27,7
		6411	6660 3820 00C0 rjmp .L498
		6412	6661 3822 2150 subi r18,lo8(-(511))
		6413	6662 3824 3E4F sbci r19,hi8(-(511))
		6414	6663 3826 4F4F sbci r20,hlo8(-(511))
		6415	6664 3828 5F4F sbci r21,hhi8(-(511))
		6416	6665 .L498:
		6417	6666 382a F9E0 ldi r31,9
		6418	6667 382c 5595 1: asr r21
		6419	6668 382e 4795 ror r20
		6420	6669 3830 3795 ror r19
		6421	6670 3832 2795 ror r18
		6422	6671 3834 FA95 dec r31
		6423	6672 3836 01F4 brne 1b
		6424	6673 3838 8091 0000 lds r24,cnt.15
		6425	6674 383c 9091 0000 lds r25,(cnt.15)+1
		6426	6675 3840 820F add r24,r18
		6427	6676 3842 931F adc r25,r19
		6428	6677 3844 9093 0000 sts (cnt.15)+1,r25
		6429	6678 3848 8093 0000 sts cnt.15,r24
		6430	6679 384c D801 movw r26,r16
		6431	6680 384e C701 movw r24,r14
		6432	6681 3850 17FF sbrs r17,7
		6433	6682 3852 00C0 rjmp .L499
		6434	6683 3854 0796 adiw r24,7
		6435	6684 3856 A11D adc r26,__zero_reg__
		6436	6685 3858 B11D adc r27,__zero_reg__
		6437	6686 .L499:
		6438	6687 385a E3E0 ldi r30,3
		6439	6688 385c B595 1: asr r27
		6440	6689 385e A795 ror r26
		6441	6690 3860 9795 ror r25
		6442	6691 3862 8795 ror r24
		6443	6692 3864 EA95 dec r30
		6444	6693 3866 01F4 brne 1b
		6445	6694 3868 8093 0000 sts ausgleichNick.11,r24
		6446	6695 386c 9093 0000 sts (ausgleichNick.11)+1,r25
		6447	6696 3870 A093 0000 sts (ausgleichNick.11)+2,r26
		6448	6697 3874 B093 0000 sts (ausgleichNick.11)+3,r27
		6449	6698 3878 8958 subi r24,lo8(5001)
		6450	6699 387a 9341 sbci r25,hi8(5001)
		6451	6700 387c A040 sbci r26,hlo8(5001)
		6452	6701 387e B040 sbci r27,hhi8(5001)
		6453	6702 3880 04F0 brlt .L500
		6454	6703 3882 88E8 ldi r24,lo8(5000)
		6455	6704 3884 93E1 ldi r25,hi8(5000)
		6456	6705 3886 A0E0 ldi r26,hlo8(5000)
		6457	6706 3888 B0E0 ldi r27,hhi8(5000)
		6458	6707 388a 8093 0000 sts ausgleichNick.11,r24
		6459	6708 388e 9093 0000 sts (ausgleichNick.11)+1,r25
		6460	6709 3892 A093 0000 sts (ausgleichNick.11)+2,r26
		6461	6710 3896 B093 0000 sts (ausgleichNick.11)+3,r27
		6462	6711 .L500:
		6463	6712 389a 2091 0000 lds r18,ausgleichNick.11
		6464	6713 389e 3091 0000 lds r19,(ausgleichNick.11)+1
		6465	6714 38a2 4091 0000 lds r20,(ausgleichNick.11)+2
		6466	6715 38a6 5091 0000 lds r21,(ausgleichNick.11)+3
		6467	6716 38aa 57FF sbrs r21,7
		6468	6717 38ac 00C0 rjmp .L501
		6469	6718 38ae 2150 subi r18,lo8(-(255))
		6470	6719 38b0 3F4F sbci r19,hi8(-(255))
		6471	6720 38b2 4F4F sbci r20,hlo8(-(255))
		6472	6721 38b4 5F4F sbci r21,hhi8(-(255))
		6473	6722 .L501:
		6474	6723 38b6 232F mov r18,r19
		6475	6724 38b8 342F mov r19,r20
		6476	6725 38ba 452F mov r20,r21
		6477	6726 38bc 5527 clr r21
		6478	6727 38be 47FD sbrc r20,7
		6479	6728 38c0 5A95 dec r21
		6480	6729 38c2 8091 0000 lds r24,LageKorrekturNick
		6481	6730 38c6 9091 0000 lds r25,(LageKorrekturNick)+1
		6482	6731 38ca 820F add r24,r18
		6483	6732 38cc 931F adc r25,r19
		6484	6733 38ce 9093 0000 sts (LageKorrekturNick)+1,r25
		6485	6734 38d2 8093 0000 sts LageKorrekturNick,r24
		6486	6735 38d6 00C0 rjmp .L503
		6487	6736 .L496:
		6488	6737 38d8 81E0 ldi r24,lo8(1)
		6489	6738 38da 8093 0000 sts last_n_p.16,r24
		6490	6739 38de 00C0 rjmp .L503
		6491	6740 .L495:
		6492	6741 38e0 1092 0000 sts last_n_p.16,__zero_reg__
		6493	6742 .L503:
		6494	6743 38e4 40E0 ldi r20,lo8(-4096)
		6495	6744 38e6 E416 cp r14,r20
		6496	6745 38e8 40EF ldi r20,hi8(-4096)
		6497	6746 38ea F406 cpc r15,r20
		6498	6747 38ec 4FEF ldi r20,hlo8(-4096)
		6499	6748 38ee 0407 cpc r16,r20
		6500	6749 38f0 4FEF ldi r20,hhi8(-4096)
		6501	6750 38f2 1407 cpc r17,r20
		6502	6751 38f4 04F0 brlt .+2
		6503	6752 38f6 00C0 rjmp .L504
		6504	6753 38f8 8091 0000 lds r24,last_n_n.17
		6505	6754 38fc 8823 tst r24
		6506	6755 38fe 01F4 brne .+2
		6507	6756 3900 00C0 rjmp .L505
		6508	6757 3902 D801 movw r26,r16
		6509	6758 3904 C701 movw r24,r14
		6510	6759 3906 17FF sbrs r17,7
		6511	6760 3908 00C0 rjmp .L506
		6512	6761 390a 8827 clr r24
		6513	6762 390c 9927 clr r25
		6514	6763 390e DC01 movw r26,r24
		6515	6764 3910 8E19 sub r24,r14
		6516	6765 3912 9F09 sbc r25,r15
		6517	6766 3914 A00B sbc r26,r16
		6518	6767 3916 B10B sbc r27,r17
		6519	6768 .L506:
		6520	6769 3918 9C01 movw r18,r24
		6521	6770 391a AD01 movw r20,r26
		6522	6771 391c B7FF sbrs r27,7
		6523	6772 391e 00C0 rjmp .L507
		6524	6773 3920 2150 subi r18,lo8(-(511))
		6525	6774 3922 3E4F sbci r19,hi8(-(511))
		6526	6775 3924 4F4F sbci r20,hlo8(-(511))
		6527	6776 3926 5F4F sbci r21,hhi8(-(511))
		6528	6777 .L507:
		6529	6778 3928 69E0 ldi r22,9
		6530	6779 392a 5595 1: asr r21
		6531	6780 392c 4795 ror r20
		6532	6781 392e 3795 ror r19
		6533	6782 3930 2795 ror r18
		6534	6783 3932 6A95 dec r22
		6535	6784 3934 01F4 brne 1b
		6536	6785 3936 8091 0000 lds r24,cnt.15
		6537	6786 393a 9091 0000 lds r25,(cnt.15)+1
		6538	6787 393e 820F add r24,r18
		6539	6788 3940 931F adc r25,r19
		6540	6789 3942 9093 0000 sts (cnt.15)+1,r25
		6541	6790 3946 8093 0000 sts cnt.15,r24
		6542	6791 394a D801 movw r26,r16
		6543	6792 394c C701 movw r24,r14
		6544	6793 394e 17FF sbrs r17,7
		6545	6794 3950 00C0 rjmp .L508
		6546	6795 3952 0796 adiw r24,7
		6547	6796 3954 A11D adc r26,__zero_reg__
		6548	6797 3956 B11D adc r27,__zero_reg__
		6549	6798 .L508:
		6550	6799 3958 23E0 ldi r18,3
		6551	6800 395a B595 1: asr r27
		6552	6801 395c A795 ror r26
		6553	6802 395e 9795 ror r25
		6554	6803 3960 8795 ror r24
		6555	6804 3962 2A95 dec r18
		6556	6805 3964 01F4 brne 1b
		6557	6806 3966 8093 0000 sts ausgleichNick.11,r24
		6558	6807 396a 9093 0000 sts (ausgleichNick.11)+1,r25
		6559	6808 396e A093 0000 sts (ausgleichNick.11)+2,r26
		6560	6809 3972 B093 0000 sts (ausgleichNick.11)+3,r27
		6561	6810 3976 8857 subi r24,lo8(-5000)
		6562	6811 3978 9C4E sbci r25,hi8(-5000)
		6563	6812 397a AF4F sbci r26,hlo8(-5000)
		6564	6813 397c BF4F sbci r27,hhi8(-5000)
		6565	6814 397e 04F4 brge .L509
		6566	6815 3980 88E7 ldi r24,lo8(-5000)
		6567	6816 3982 9CEE ldi r25,hi8(-5000)
		6568	6817 3984 AFEF ldi r26,hlo8(-5000)
		6569	6818 3986 BFEF ldi r27,hhi8(-5000)
		6570	6819 3988 8093 0000 sts ausgleichNick.11,r24
		6571	6820 398c 9093 0000 sts (ausgleichNick.11)+1,r25
		6572	6821 3990 A093 0000 sts (ausgleichNick.11)+2,r26
		6573	6822 3994 B093 0000 sts (ausgleichNick.11)+3,r27
		6574	6823 .L509:
		6575	6824 3998 2091 0000 lds r18,ausgleichNick.11
		6576	6825 399c 3091 0000 lds r19,(ausgleichNick.11)+1
		6577	6826 39a0 4091 0000 lds r20,(ausgleichNick.11)+2
		6578	6827 39a4 5091 0000 lds r21,(ausgleichNick.11)+3
		6579	6828 39a8 57FF sbrs r21,7
		6580	6829 39aa 00C0 rjmp .L510
		6581	6830 39ac 2150 subi r18,lo8(-(255))
		6582	6831 39ae 3F4F sbci r19,hi8(-(255))
		6583	6832 39b0 4F4F sbci r20,hlo8(-(255))
		6584	6833 39b2 5F4F sbci r21,hhi8(-(255))
		6585	6834 .L510:
		6586	6835 39b4 232F mov r18,r19
		6587	6836 39b6 342F mov r19,r20
		6588	6837 39b8 452F mov r20,r21
		6589	6838 39ba 5527 clr r21
		6590	6839 39bc 47FD sbrc r20,7
		6591	6840 39be 5A95 dec r21
		6592	6841 39c0 8091 0000 lds r24,LageKorrekturNick
		6593	6842 39c4 9091 0000 lds r25,(LageKorrekturNick)+1
		6594	6843 39c8 820F add r24,r18
		6595	6844 39ca 931F adc r25,r19
		6596	6845 39cc 9093 0000 sts (LageKorrekturNick)+1,r25
		6597	6846 39d0 8093 0000 sts LageKorrekturNick,r24
		6598	6847 39d4 00C0 rjmp .L513
		6599	6848 .L505:
		6600	6849 39d6 81E0 ldi r24,lo8(1)
		6601	6850 39d8 8093 0000 sts last_n_n.17,r24
		6602	6851 39dc 00C0 rjmp .L513
		6603	6852 .L504:
		6604	6853 39de 1092 0000 sts last_n_n.17,__zero_reg__
		6605	6854 39e2 00C0 rjmp .L513
		6606	6855 .L493:
		6607	6856 39e4 1092 0000 sts (cnt.15)+1,__zero_reg__
		6608	6857 39e8 1092 0000 sts cnt.15,__zero_reg__
		6609	6858 39ec 84E6 ldi r24,lo8(100)
		6610	6859 39ee 90E0 ldi r25,hi8(100)
		6611	6860 39f0 9093 0000 sts (KompassSignalSchlecht)+1,r25
		6612	6861 39f4 8093 0000 sts KompassSignalSchlecht,r24
		6613	6862 .L513:
		6614	6863 39f8 6889 ldd r22,Y+16
		6615	6864 39fa 262F mov r18,r22
		6616	6865 39fc 3327 clr r19
		6617	6866 39fe 8091 0000 lds r24,cnt.15
		6618	6867 3a02 9091 0000 lds r25,(cnt.15)+1
		6619	6868 3a06 2817 cp r18,r24
		6620	6869 3a08 3907 cpc r19,r25
		6621	6870 3a0a 04F4 brge .L514
		6622	6871 3a0c 3093 0000 sts (cnt.15)+1,r19
		6623	6872 3a10 2093 0000 sts cnt.15,r18
		6624	6873 .L514:
		6625	6874 3a14 1091 0000 lds r17,FromNaviCtrl_Value+1
		6626	6875 3a18 1123 tst r17
		6627	6876 3a1a 01F0 breq .L515
		6628	6877 3a1c 212F mov r18,r17
		6629	6878 3a1e 3327 clr r19
		6630	6879 3a20 27FD sbrc r18,7
		6631	6880 3a22 3095 com r19
		6632	6881 3a24 8091 0000 lds r24,cnt.15
		6633	6882 3a28 9091 0000 lds r25,(cnt.15)+1
		6634	6883 3a2c 2817 cp r18,r24
		6635	6884 3a2e 3907 cpc r19,r25
		6636	6885 3a30 04F4 brge .L515
		6637	6886 3a32 3093 0000 sts (cnt.15)+1,r19
		6638	6887 3a36 2093 0000 sts cnt.15,r18
		6639	6888 .L515:
		6640	6889 3a3a 4091 0000 lds r20,IntegralFehlerNick.3
		6641	6890 3a3e 5091 0000 lds r21,(IntegralFehlerNick.3)+1
		6642	6891 3a42 6091 0000 lds r22,(IntegralFehlerNick.3)+2
		6643	6892 3a46 7091 0000 lds r23,(IntegralFehlerNick.3)+3
		6644	6893 3a4a 4138 cpi r20,lo8(129)
		6645	6894 3a4c 5105 cpc r21,__zero_reg__
		6646	6895 3a4e 6105 cpc r22,__zero_reg__
		6647	6896 3a50 7105 cpc r23,__zero_reg__
		6648	6897 3a52 04F0 brlt .L517
		6649	6898 3a54 8091 0000 lds r24,AdNeutralNick
		6650	6899 3a58 9091 0000 lds r25,(AdNeutralNick)+1
		6651	6900 3a5c 2091 0000 lds r18,cnt.15
		6652	6901 3a60 3091 0000 lds r19,(cnt.15)+1
		6653	6902 3a64 820F add r24,r18
		6654	6903 3a66 931F adc r25,r19
		6655	6904 3a68 9093 0000 sts (AdNeutralNick)+1,r25
		6656	6905 3a6c 8093 0000 sts AdNeutralNick,r24
		6657	6906 .L517:
		6658	6907 3a70 4058 subi r20,lo8(-128)
		6659	6908 3a72 5F4F sbci r21,hi8(-128)
		6660	6909 3a74 6F4F sbci r22,hlo8(-128)
		6661	6910 3a76 7F4F sbci r23,hhi8(-128)
		6662	6911 3a78 04F4 brge .L518
		6663	6912 3a7a 8091 0000 lds r24,AdNeutralNick
		6664	6913 3a7e 9091 0000 lds r25,(AdNeutralNick)+1
		6665	6914 3a82 2091 0000 lds r18,cnt.15
		6666	6915 3a86 3091 0000 lds r19,(cnt.15)+1
		6667	6916 3a8a 821B sub r24,r18
		6668	6917 3a8c 930B sbc r25,r19
		6669	6918 3a8e 9093 0000 sts (AdNeutralNick)+1,r25
		6670	6919 3a92 8093 0000 sts AdNeutralNick,r24
		6671	6920 .L518:
		6672	6921 3a96 81E0 ldi r24,lo8(1)
		6673	6922 3a98 90E0 ldi r25,hi8(1)
		6674	6923 3a9a 9093 0000 sts (cnt.15)+1,r25
		6675	6924 3a9e 8093 0000 sts cnt.15,r24
		6676	6925 3aa2 C090 0000 lds r12,IntegralFehlerRoll.4
		6677	6926 3aa6 D090 0000 lds r13,(IntegralFehlerRoll.4)+1
		6678	6927 3aaa E090 0000 lds r14,(IntegralFehlerRoll.4)+2
		6679	6928 3aae F090 0000 lds r15,(IntegralFehlerRoll.4)+3
		6680	6929 3ab2 D701 movw r26,r14
		6681	6930 3ab4 C601 movw r24,r12
		6682	6931 3ab6 F7FE sbrs r15,7
		6683	6932 3ab8 00C0 rjmp .L520
		6684	6933 3aba 8827 clr r24
		6685	6934 3abc 9927 clr r25
		6686	6935 3abe DC01 movw r26,r24
		6687	6936 3ac0 8C19 sub r24,r12
		6688	6937 3ac2 9D09 sbc r25,r13
		6689	6938 3ac4 AE09 sbc r26,r14
		6690	6939 3ac6 BF09 sbc r27,r15
		6691	6940 .L520:
		6692	6941 3ac8 8150 subi r24,lo8(513)
		6693	6942 3aca 9240 sbci r25,hi8(513)
		6694	6943 3acc A040 sbci r26,hlo8(513)
		6695	6944 3ace B040 sbci r27,hhi8(513)
		6696	6945 3ad0 04F0 brlt .L519
		6697	6946 3ad2 84E0 ldi r24,lo8(4)
		6698	6947 3ad4 90E0 ldi r25,hi8(4)
		6699	6948 3ad6 9093 0000 sts (cnt.15)+1,r25
		6700	6949 3ada 8093 0000 sts cnt.15,r24
		6701	6950 .L519:
		6702	6951 3ade 8091 0000 lds r24,MittelIntegralRoll_Alt.21
		6703	6952 3ae2 9091 0000 lds r25,(MittelIntegralRoll_Alt.21)+1
		6704	6953 3ae6 A091 0000 lds r26,(MittelIntegralRoll_Alt.21)+2
		6705	6954 3aea B091 0000 lds r27,(MittelIntegralRoll_Alt.21)+3
		6706	6955 3aee 2091 0000 lds r18,MittelIntegralRoll
		6707	6956 3af2 3091 0000 lds r19,(MittelIntegralRoll)+1
		6708	6957 3af6 4091 0000 lds r20,(MittelIntegralRoll)+2
		6709	6958 3afa 5091 0000 lds r21,(MittelIntegralRoll)+3
		6710	6959 3afe 821B sub r24,r18
		6711	6960 3b00 930B sbc r25,r19
		6712	6961 3b02 A40B sbc r26,r20
		6713	6962 3b04 B50B sbc r27,r21
		6714	6963 3b06 815E subi r24,lo8(-(19999))
		6715	6964 3b08 914B sbci r25,hi8(-(19999))
		6716	6965 3b0a AF4F sbci r26,hlo8(-(19999))
		6717	6966 3b0c BF4F sbci r27,hhi8(-(19999))
		6718	6967 3b0e 8F53 subi r24,lo8(39999)
		6719	6968 3b10 9C49 sbci r25,hi8(39999)
		6720	6969 3b12 A040 sbci r26,hlo8(39999)
		6721	6970 3b14 B040 sbci r27,hhi8(39999)
		6722	6971 3b16 00F0 brlo .L522
		6723	6972 3b18 1931 cpi r17,lo8(25)
		6724	6973 3b1a 04F4 brge .+2
		6725	6974 3b1c 00C0 rjmp .L521
		6726	6975 .L522:
		6727	6976 3b1e 01E0 ldi r16,lo8(4097)
		6728	6977 3b20 C016 cp r12,r16
		6729	6978 3b22 00E1 ldi r16,hi8(4097)
		6730	6979 3b24 D006 cpc r13,r16
		6731	6980 3b26 00E0 ldi r16,hlo8(4097)
		6732	6981 3b28 E006 cpc r14,r16
		6733	6982 3b2a 00E0 ldi r16,hhi8(4097)
		6734	6983 3b2c F006 cpc r15,r16
		6735	6984 3b2e 04F4 brge .+2
		6736	6985 3b30 00C0 rjmp .L523
		6737	6986 3b32 8091 0000 lds r24,last_r_p.18
		6738	6987 3b36 8823 tst r24
		6739	6988 3b38 01F4 brne .+2
		6740	6989 3b3a 00C0 rjmp .L524
		6741	6990 3b3c D701 movw r26,r14
		6742	6991 3b3e C601 movw r24,r12
		6743	6992 3b40 F7FE sbrs r15,7
		6744	6993 3b42 00C0 rjmp .L525
		6745	6994 3b44 8827 clr r24
		6746	6995 3b46 9927 clr r25
		6747	6996 3b48 DC01 movw r26,r24
		6748	6997 3b4a 8C19 sub r24,r12
		6749	6998 3b4c 9D09 sbc r25,r13
		6750	6999 3b4e AE09 sbc r26,r14
		6751	7000 3b50 BF09 sbc r27,r15
		6752	7001 .L525:
		6753	7002 3b52 9C01 movw r18,r24
		6754	7003 3b54 AD01 movw r20,r26
		6755	7004 3b56 B7FF sbrs r27,7
		6756	7005 3b58 00C0 rjmp .L526
		6757	7006 3b5a 2150 subi r18,lo8(-(511))
		6758	7007 3b5c 3E4F sbci r19,hi8(-(511))
		6759	7008 3b5e 4F4F sbci r20,hlo8(-(511))
		6760	7009 3b60 5F4F sbci r21,hhi8(-(511))
		6761	7010 .L526:
		6762	7011 3b62 09E0 ldi r16,9
		6763	7012 3b64 5595 1: asr r21
		6764	7013 3b66 4795 ror r20
		6765	7014 3b68 3795 ror r19
		6766	7015 3b6a 2795 ror r18
		6767	7016 3b6c 0A95 dec r16
		6768	7017 3b6e 01F4 brne 1b
		6769	7018 3b70 8091 0000 lds r24,cnt.15
		6770	7019 3b74 9091 0000 lds r25,(cnt.15)+1
		6771	7020 3b78 820F add r24,r18
		6772	7021 3b7a 931F adc r25,r19
		6773	7022 3b7c 9093 0000 sts (cnt.15)+1,r25
		6774	7023 3b80 8093 0000 sts cnt.15,r24
		6775	7024 3b84 D701 movw r26,r14
		6776	7025 3b86 C601 movw r24,r12
		6777	7026 3b88 F7FE sbrs r15,7
		6778	7027 3b8a 00C0 rjmp .L527
		6779	7028 3b8c 0796 adiw r24,7
		6780	7029 3b8e A11D adc r26,__zero_reg__
		6781	7030 3b90 B11D adc r27,__zero_reg__
		6782	7031 .L527:
		6783	7032 3b92 13E0 ldi r17,3
		6784	7033 3b94 B595 1: asr r27
		6785	7034 3b96 A795 ror r26
		6786	7035 3b98 9795 ror r25
		6787	7036 3b9a 8795 ror r24
		6788	7037 3b9c 1A95 dec r17
		6789	7038 3b9e 01F4 brne 1b
		6790	7039 3ba0 8093 0000 sts ausgleichRoll.12,r24
		6791	7040 3ba4 9093 0000 sts (ausgleichRoll.12)+1,r25
		6792	7041 3ba8 A093 0000 sts (ausgleichRoll.12)+2,r26
		6793	7042 3bac B093 0000 sts (ausgleichRoll.12)+3,r27
		6794	7043 3bb0 8958 subi r24,lo8(5001)
		6795	7044 3bb2 9341 sbci r25,hi8(5001)
		6796	7045 3bb4 A040 sbci r26,hlo8(5001)
		6797	7046 3bb6 B040 sbci r27,hhi8(5001)
		6798	7047 3bb8 04F0 brlt .L528
		6799	7048 3bba 88E8 ldi r24,lo8(5000)
		6800	7049 3bbc 93E1 ldi r25,hi8(5000)
		6801	7050 3bbe A0E0 ldi r26,hlo8(5000)
		6802	7051 3bc0 B0E0 ldi r27,hhi8(5000)
		6803	7052 3bc2 8093 0000 sts ausgleichRoll.12,r24
		6804	7053 3bc6 9093 0000 sts (ausgleichRoll.12)+1,r25
		6805	7054 3bca A093 0000 sts (ausgleichRoll.12)+2,r26
		6806	7055 3bce B093 0000 sts (ausgleichRoll.12)+3,r27
		6807	7056 .L528:
		6808	7057 3bd2 2091 0000 lds r18,ausgleichRoll.12
		6809	7058 3bd6 3091 0000 lds r19,(ausgleichRoll.12)+1
		6810	7059 3bda 4091 0000 lds r20,(ausgleichRoll.12)+2
		6811	7060 3bde 5091 0000 lds r21,(ausgleichRoll.12)+3
		6812	7061 3be2 57FF sbrs r21,7
		6813	7062 3be4 00C0 rjmp .L529
		6814	7063 3be6 2150 subi r18,lo8(-(255))
		6815	7064 3be8 3F4F sbci r19,hi8(-(255))
		6816	7065 3bea 4F4F sbci r20,hlo8(-(255))
		6817	7066 3bec 5F4F sbci r21,hhi8(-(255))
		6818	7067 .L529:
		6819	7068 3bee 232F mov r18,r19
		6820	7069 3bf0 342F mov r19,r20
		6821	7070 3bf2 452F mov r20,r21
		6822	7071 3bf4 5527 clr r21
		6823	7072 3bf6 47FD sbrc r20,7
		6824	7073 3bf8 5A95 dec r21
		6825	7074 3bfa 8091 0000 lds r24,LageKorrekturRoll
		6826	7075 3bfe 9091 0000 lds r25,(LageKorrekturRoll)+1
		6827	7076 3c02 820F add r24,r18
		6828	7077 3c04 931F adc r25,r19
		6829	7078 3c06 9093 0000 sts (LageKorrekturRoll)+1,r25
		6830	7079 3c0a 8093 0000 sts LageKorrekturRoll,r24
		6831	7080 3c0e 00C0 rjmp .L531
		6832	7081 .L524:
		6833	7082 3c10 81E0 ldi r24,lo8(1)
		6834	7083 3c12 8093 0000 sts last_r_p.18,r24
		6835	7084 3c16 00C0 rjmp .L531
		6836	7085 .L523:
		6837	7086 3c18 1092 0000 sts last_r_p.18,__zero_reg__
		6838	7087 .L531:
		6839	7088 3c1c 20E0 ldi r18,lo8(-4096)
		6840	7089 3c1e C216 cp r12,r18
		6841	7090 3c20 20EF ldi r18,hi8(-4096)
		6842	7091 3c22 D206 cpc r13,r18
		6843	7092 3c24 2FEF ldi r18,hlo8(-4096)
		6844	7093 3c26 E206 cpc r14,r18
		6845	7094 3c28 2FEF ldi r18,hhi8(-4096)
		6846	7095 3c2a F206 cpc r15,r18
		6847	7096 3c2c 04F0 brlt .+2
		6848	7097 3c2e 00C0 rjmp .L532
		6849	7098 3c30 8091 0000 lds r24,last_r_n.19
		6850	7099 3c34 8823 tst r24
		6851	7100 3c36 01F4 brne .+2
		6852	7101 3c38 00C0 rjmp .L533
		6853	7102 3c3a D701 movw r26,r14
		6854	7103 3c3c C601 movw r24,r12
		6855	7104 3c3e F7FE sbrs r15,7
		6856	7105 3c40 00C0 rjmp .L534
		6857	7106 3c42 8827 clr r24
		6858	7107 3c44 9927 clr r25
		6859	7108 3c46 DC01 movw r26,r24
		6860	7109 3c48 8C19 sub r24,r12
		6861	7110 3c4a 9D09 sbc r25,r13
		6862	7111 3c4c AE09 sbc r26,r14
		6863	7112 3c4e BF09 sbc r27,r15
		6864	7113 .L534:
		6865	7114 3c50 9C01 movw r18,r24
		6866	7115 3c52 AD01 movw r20,r26
		6867	7116 3c54 B7FF sbrs r27,7
		6868	7117 3c56 00C0 rjmp .L535
		6869	7118 3c58 2150 subi r18,lo8(-(511))
		6870	7119 3c5a 3E4F sbci r19,hi8(-(511))
		6871	7120 3c5c 4F4F sbci r20,hlo8(-(511))
		6872	7121 3c5e 5F4F sbci r21,hhi8(-(511))
		6873	7122 .L535:
		6874	7123 3c60 E9E0 ldi r30,9
		6875	7124 3c62 5595 1: asr r21
		6876	7125 3c64 4795 ror r20
		6877	7126 3c66 3795 ror r19
		6878	7127 3c68 2795 ror r18
		6879	7128 3c6a EA95 dec r30
		6880	7129 3c6c 01F4 brne 1b
		6881	7130 3c6e 8091 0000 lds r24,cnt.15
		6882	7131 3c72 9091 0000 lds r25,(cnt.15)+1
		6883	7132 3c76 820F add r24,r18
		6884	7133 3c78 931F adc r25,r19
		6885	7134 3c7a 9093 0000 sts (cnt.15)+1,r25
		6886	7135 3c7e 8093 0000 sts cnt.15,r24
		6887	7136 3c82 D701 movw r26,r14
		6888	7137 3c84 C601 movw r24,r12
		6889	7138 3c86 F7FE sbrs r15,7
		6890	7139 3c88 00C0 rjmp .L536
		6891	7140 3c8a 0796 adiw r24,7
		6892	7141 3c8c A11D adc r26,__zero_reg__
		6893	7142 3c8e B11D adc r27,__zero_reg__
		6894	7143 .L536:
		6895	7144 3c90 73E0 ldi r23,3
		6896	7145 3c92 B595 1: asr r27
		6897	7146 3c94 A795 ror r26
		6898	7147 3c96 9795 ror r25
		6899	7148 3c98 8795 ror r24
		6900	7149 3c9a 7A95 dec r23
		6901	7150 3c9c 01F4 brne 1b
		6902	7151 3c9e 8093 0000 sts ausgleichRoll.12,r24
		6903	7152 3ca2 9093 0000 sts (ausgleichRoll.12)+1,r25
		6904	7153 3ca6 A093 0000 sts (ausgleichRoll.12)+2,r26
		6905	7154 3caa B093 0000 sts (ausgleichRoll.12)+3,r27
		6906	7155 3cae 8857 subi r24,lo8(-5000)
		6907	7156 3cb0 9C4E sbci r25,hi8(-5000)
		6908	7157 3cb2 AF4F sbci r26,hlo8(-5000)
		6909	7158 3cb4 BF4F sbci r27,hhi8(-5000)
		6910	7159 3cb6 04F4 brge .L537
		6911	7160 3cb8 88E7 ldi r24,lo8(-5000)
		6912	7161 3cba 9CEE ldi r25,hi8(-5000)
		6913	7162 3cbc AFEF ldi r26,hlo8(-5000)
		6914	7163 3cbe BFEF ldi r27,hhi8(-5000)
		6915	7164 3cc0 8093 0000 sts ausgleichRoll.12,r24
		6916	7165 3cc4 9093 0000 sts (ausgleichRoll.12)+1,r25
		6917	7166 3cc8 A093 0000 sts (ausgleichRoll.12)+2,r26
		6918	7167 3ccc B093 0000 sts (ausgleichRoll.12)+3,r27
		6919	7168 .L537:
		6920	7169 3cd0 2091 0000 lds r18,ausgleichRoll.12
		6921	7170 3cd4 3091 0000 lds r19,(ausgleichRoll.12)+1
		6922	7171 3cd8 4091 0000 lds r20,(ausgleichRoll.12)+2
		6923	7172 3cdc 5091 0000 lds r21,(ausgleichRoll.12)+3
		6924	7173 3ce0 57FF sbrs r21,7
		6925	7174 3ce2 00C0 rjmp .L538
		6926	7175 3ce4 2150 subi r18,lo8(-(255))
		6927	7176 3ce6 3F4F sbci r19,hi8(-(255))
		6928	7177 3ce8 4F4F sbci r20,hlo8(-(255))
		6929	7178 3cea 5F4F sbci r21,hhi8(-(255))
		6930	7179 .L538:
		6931	7180 3cec 232F mov r18,r19
		6932	7181 3cee 342F mov r19,r20
		6933	7182 3cf0 452F mov r20,r21
		6934	7183 3cf2 5527 clr r21
		6935	7184 3cf4 47FD sbrc r20,7
		6936	7185 3cf6 5A95 dec r21
		6937	7186 3cf8 8091 0000 lds r24,LageKorrekturRoll
		6938	7187 3cfc 9091 0000 lds r25,(LageKorrekturRoll)+1
		6939	7188 3d00 820F add r24,r18
		6940	7189 3d02 931F adc r25,r19
		6941	7190 3d04 9093 0000 sts (LageKorrekturRoll)+1,r25
		6942	7191 3d08 8093 0000 sts LageKorrekturRoll,r24
		6943	7192 3d0c 00C0 rjmp .L541
		6944	7193 .L533:
		6945	7194 3d0e 81E0 ldi r24,lo8(1)
		6946	7195 3d10 8093 0000 sts last_r_n.19,r24
		6947	7196 3d14 00C0 rjmp .L541
		6948	7197 .L532:
		6949	7198 3d16 1092 0000 sts last_r_n.19,__zero_reg__
		6950	7199 3d1a 00C0 rjmp .L541
		6951	7200 .L521:
		6952	7201 3d1c 1092 0000 sts (cnt.15)+1,__zero_reg__
		6953	7202 3d20 1092 0000 sts cnt.15,__zero_reg__
		6954	7203 3d24 84E6 ldi r24,lo8(100)
		6955	7204 3d26 90E0 ldi r25,hi8(100)
		6956	7205 3d28 9093 0000 sts (KompassSignalSchlecht)+1,r25
		6957	7206 3d2c 8093 0000 sts KompassSignalSchlecht,r24
		6958	7207 .L541:
		6959	7208 3d30 4889 ldd r20,Y+16
		6960	7209 3d32 242F mov r18,r20
		6961	7210 3d34 3327 clr r19
		6962	7211 3d36 8091 0000 lds r24,cnt.15
		6963	7212 3d3a 9091 0000 lds r25,(cnt.15)+1
		6964	7213 3d3e 2817 cp r18,r24
		6965	7214 3d40 3907 cpc r19,r25
		6966	7215 3d42 04F4 brge .L542
		6967	7216 3d44 3093 0000 sts (cnt.15)+1,r19
		6968	7217 3d48 2093 0000 sts cnt.15,r18
		6969	7218 .L542:
		6970	7219 3d4c 8091 0000 lds r24,FromNaviCtrl_Value+1
		6971	7220 3d50 8823 tst r24
		6972	7221 3d52 01F0 breq .L543
		6973	7222 3d54 282F mov r18,r24
		6974	7223 3d56 3327 clr r19
		6975	7224 3d58 27FD sbrc r18,7
		6976	7225 3d5a 3095 com r19
		6977	7226 3d5c 8091 0000 lds r24,cnt.15
		6978	7227 3d60 9091 0000 lds r25,(cnt.15)+1
		6979	7228 3d64 2817 cp r18,r24
		6980	7229 3d66 3907 cpc r19,r25
		6981	7230 3d68 04F4 brge .L543
		6982	7231 3d6a 3093 0000 sts (cnt.15)+1,r19
		6983	7232 3d6e 2093 0000 sts cnt.15,r18
		6984	7233 .L543:
		6985	7234 3d72 4091 0000 lds r20,IntegralFehlerRoll.4
		6986	7235 3d76 5091 0000 lds r21,(IntegralFehlerRoll.4)+1
		6987	7236 3d7a 6091 0000 lds r22,(IntegralFehlerRoll.4)+2
		6988	7237 3d7e 7091 0000 lds r23,(IntegralFehlerRoll.4)+3
		6989	7238 3d82 4138 cpi r20,lo8(129)
		6990	7239 3d84 5105 cpc r21,__zero_reg__
		6991	7240 3d86 6105 cpc r22,__zero_reg__
		6992	7241 3d88 7105 cpc r23,__zero_reg__
		6993	7242 3d8a 04F0 brlt .L545
		6994	7243 3d8c 8091 0000 lds r24,AdNeutralRoll
		6995	7244 3d90 9091 0000 lds r25,(AdNeutralRoll)+1
		6996	7245 3d94 2091 0000 lds r18,cnt.15
		6997	7246 3d98 3091 0000 lds r19,(cnt.15)+1
		6998	7247 3d9c 820F add r24,r18
		6999	7248 3d9e 931F adc r25,r19
		7000	7249 3da0 9093 0000 sts (AdNeutralRoll)+1,r25
		7001	7250 3da4 8093 0000 sts AdNeutralRoll,r24
		7002	7251 .L545:
		7003	7252 3da8 4058 subi r20,lo8(-128)
		7004	7253 3daa 5F4F sbci r21,hi8(-128)
		7005	7254 3dac 6F4F sbci r22,hlo8(-128)
		7006	7255 3dae 7F4F sbci r23,hhi8(-128)
		7007	7256 3db0 04F4 brge .L547
		7008	7257 3db2 8091 0000 lds r24,AdNeutralRoll
		7009	7258 3db6 9091 0000 lds r25,(AdNeutralRoll)+1
		7010	7259 3dba 2091 0000 lds r18,cnt.15
		7011	7260 3dbe 3091 0000 lds r19,(cnt.15)+1
		7012	7261 3dc2 821B sub r24,r18
		7013	7262 3dc4 930B sbc r25,r19
		7014	7263 3dc6 9093 0000 sts (AdNeutralRoll)+1,r25
		7015	7264 3dca 8093 0000 sts AdNeutralRoll,r24
		7016	7265 3dce 00C0 rjmp .L547
		7017	7266 .L473:
		7018	7267 3dd0 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__
		7019	7268 3dd4 1092 0000 sts LageKorrekturRoll,__zero_reg__
		7020	7269 3dd8 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__
		7021	7270 3ddc 1092 0000 sts LageKorrekturNick,__zero_reg__
		7022	7271 3de0 1092 0000 sts TrichterFlug,__zero_reg__
		7023	7272 .L547:
		7024	7273 3de4 8091 0000 lds r24,IntegralFaktor
		7025	7274 3de8 8823 tst r24
		7026	7275 3dea 01F4 brne .L548
		7027	7276 3dec 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__
		7028	7277 3df0 1092 0000 sts LageKorrekturRoll,__zero_reg__
		7029	7278 3df4 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__
		7030	7279 3df8 1092 0000 sts LageKorrekturNick,__zero_reg__
		7031	7280 .L548:
		7032	7281 3dfc 8091 0000 lds r24,MittelIntegralNick
		7033	7282 3e00 9091 0000 lds r25,(MittelIntegralNick)+1
		7034	7283 3e04 A091 0000 lds r26,(MittelIntegralNick)+2
		7035	7284 3e08 B091 0000 lds r27,(MittelIntegralNick)+3
		7036	7285 3e0c 8093 0000 sts MittelIntegralNick_Alt.20,r24
		7037	7286 3e10 9093 0000 sts (MittelIntegralNick_Alt.20)+1,r25
		7038	7287 3e14 A093 0000 sts (MittelIntegralNick_Alt.20)+2,r26
		7039	7288 3e18 B093 0000 sts (MittelIntegralNick_Alt.20)+3,r27
		7040	7289 3e1c 8091 0000 lds r24,MittelIntegralRoll
		7041	7290 3e20 9091 0000 lds r25,(MittelIntegralRoll)+1
		7042	7291 3e24 A091 0000 lds r26,(MittelIntegralRoll)+2
		7043	7292 3e28 B091 0000 lds r27,(MittelIntegralRoll)+3
		7044	7293 3e2c 8093 0000 sts MittelIntegralRoll_Alt.21,r24
		7045	7294 3e30 9093 0000 sts (MittelIntegralRoll_Alt.21)+1,r25
		7046	7295 3e34 A093 0000 sts (MittelIntegralRoll_Alt.21)+2,r26
		7047	7296 3e38 B093 0000 sts (MittelIntegralRoll_Alt.21)+3,r27
		7048	7297 3e3c 1092 0000 sts IntegralAccNick,__zero_reg__
		7049	7298 3e40 1092 0000 sts (IntegralAccNick)+1,__zero_reg__
		7050	7299 3e44 1092 0000 sts (IntegralAccNick)+2,__zero_reg__
		7051	7300 3e48 1092 0000 sts (IntegralAccNick)+3,__zero_reg__
		7052	7301 3e4c 1092 0000 sts IntegralAccRoll,__zero_reg__
		7053	7302 3e50 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__
		7054	7303 3e54 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__
		7055	7304 3e58 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__
		7056	7305 3e5c 1092 0000 sts IntegralAccZ,__zero_reg__
		7057	7306 3e60 1092 0000 sts (IntegralAccZ)+1,__zero_reg__
		7058	7307 3e64 1092 0000 sts (IntegralAccZ)+2,__zero_reg__
		7059	7308 3e68 1092 0000 sts (IntegralAccZ)+3,__zero_reg__
		7060	7309 3e6c 1092 0000 sts MittelIntegralNick,__zero_reg__
		7061	7310 3e70 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__
		7062	7311 3e74 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__
		7063	7312 3e78 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__
		7064	7313 3e7c 1092 0000 sts MittelIntegralRoll,__zero_reg__
		7065	7314 3e80 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__
		7066	7315 3e84 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__
		7067	7316 3e88 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__
		7068	7317 3e8c 1092 0000 sts MittelIntegralNick2,__zero_reg__
		7069	7318 3e90 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__
		7070	7319 3e94 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__
		7071	7320 3e98 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__
		7072	7321 3e9c 1092 0000 sts MittelIntegralRoll2,__zero_reg__
		7073	7322 3ea0 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__
		7074	7323 3ea4 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__
		7075	7324 3ea8 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__
		7076	7325 3eac 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__
		7077	7326 3eb0 1092 0000 sts ZaehlMessungen,__zero_reg__
		7078	7327 .L472:
		7079	7328 3eb4 E090 0000 lds r14,StickGier
		7080	7329 3eb8 F090 0000 lds r15,(StickGier)+1
		7081	7330 3ebc C701 movw r24,r14
		7082	7331 3ebe F7FE sbrs r15,7
		7083	7332 3ec0 00C0 rjmp .L550
		7084	7333 3ec2 8827 clr r24
		7085	7334 3ec4 9927 clr r25
		7086	7335 3ec6 8E19 sub r24,r14
		7087	7336 3ec8 9F09 sbc r25,r15
		7088	7337 .L550:
		7089	7338 3eca 0497 sbiw r24,4
		7090	7339 3ecc 04F0 brlt .L549
		7091	7340 3ece 8091 0000 lds r24,Parameter_GlobalConfig
		7092	7341 3ed2 84FD sbrc r24,4
		7093	7342 3ed4 00C0 rjmp .L549
		7094	7343 3ed6 82E3 ldi r24,lo8(50)
		7095	7344 3ed8 8093 0000 sts NeueKompassRichtungMerken.10,r24
		7096	7345 .L549:
		7097	7346 3edc 1091 0000 lds r17,EE_Parameter+25
		7098	7347 3ee0 A12E mov r10,r17
		7099	7348 3ee2 BB24 clr r11
		7100	7349 3ee4 CC24 clr r12
		7101	7350 3ee6 DD24 clr r13
		7102	7351 3ee8 B701 movw r22,r14
		7103	7352 3eea 8827 clr r24
		7104	7353 3eec 77FD sbrc r23,7
		7105	7354 3eee 8095 com r24
		7106	7355 3ef0 982F mov r25,r24
		7107	7356 3ef2 9701 movw r18,r14
		7108	7357 3ef4 F7FE sbrs r15,7
		7109	7358 3ef6 00C0 rjmp .L552
		7110	7359 3ef8 2227 clr r18
		7111	7360 3efa 3327 clr r19
		7112	7361 3efc 2E19 sub r18,r14
		7113	7362 3efe 3F09 sbc r19,r15
		7114	7363 .L552:
		7115	7364 3f00 4427 clr r20
		7116	7365 3f02 37FD sbrc r19,7
		7117	7366 3f04 4095 com r20
		7118	7367 3f06 542F mov r21,r20
		7119	7368 3f08 0E94 0000 call __mulsi3
		7120	7369 3f0c 9B01 movw r18,r22
		7121	7370 3f0e AC01 movw r20,r24
		7122	7371 3f10 C601 movw r24,r12
		7123	7372 3f12 B501 movw r22,r10
		7124	7373 3f14 0E94 0000 call __mulsi3
		7125	7374 3f18 97FF sbrs r25,7
		7126	7375 3f1a 00C0 rjmp .L553
		7127	7376 3f1c 6150 subi r22,lo8(-(511))
		7128	7377 3f1e 7E4F sbci r23,hi8(-(511))
		7129	7378 3f20 8F4F sbci r24,hlo8(-(511))
		7130	7379 3f22 9F4F sbci r25,hhi8(-(511))
		7131	7380 .L553:
		7132	7381 3f24 59E0 ldi r21,9
		7133	7382 3f26 9595 1: asr r25
		7134	7383 3f28 8795 ror r24
		7135	7384 3f2a 7795 ror r23
		7136	7385 3f2c 6795 ror r22
		7137	7386 3f2e 5A95 dec r21
		7138	7387 3f30 01F4 brne 1b
		7139	7388 3f32 9B01 movw r18,r22
		7140	7389 3f34 812F mov r24,r17
		7141	7390 3f36 9927 clr r25
		7142	7391 3f38 8E9D mul r24,r14
		7143	7392 3f3a D001 movw r26,r0
		7144	7393 3f3c 8F9D mul r24,r15
		7145	7394 3f3e B00D add r27,r0
		7146	7395 3f40 9E9D mul r25,r14
		7147	7396 3f42 B00D add r27,r0
		7148	7397 3f44 1124 clr r1
		7149	7398 3f46 CD01 movw r24,r26
		7150	7399 3f48 B7FD sbrc r27,7
		7151	7400 3f4a 0396 adiw r24,3
		7152	7401 .L554:
		7153	7402 3f4c 9595 asr r25
		7154	7403 3f4e 8795 ror r24
		7155	7404 3f50 9595 asr r25
		7156	7405 3f52 8795 ror r24
		7157	7406 3f54 280F add r18,r24
		7158	7407 3f56 391F adc r19,r25
		7159	7408 3f58 8091 0000 lds r24,CompassGierSetpoint
		7160	7409 3f5c 9091 0000 lds r25,(CompassGierSetpoint)+1
		7161	7410 3f60 280F add r18,r24
		7162	7411 3f62 391F adc r19,r25
		7163	7412 3f64 4427 clr r20
		7164	7413 3f66 37FD sbrc r19,7
		7165	7414 3f68 4095 com r20
		7166	7415 3f6a 542F mov r21,r20
		7167	7416 3f6c 2093 0000 sts sollGier.0,r18
		7168	7417 3f70 3093 0000 sts (sollGier.0)+1,r19
		7169	7418 3f74 4093 0000 sts (sollGier.0)+2,r20
		7170	7419 3f78 5093 0000 sts (sollGier.0)+3,r21
		7171	7420 3f7c 8091 0000 lds r24,Mess_Integral_Gier
		7172	7421 3f80 9091 0000 lds r25,(Mess_Integral_Gier)+1
		7173	7422 3f84 A091 0000 lds r26,(Mess_Integral_Gier)+2
		7174	7423 3f88 B091 0000 lds r27,(Mess_Integral_Gier)+3
		7175	7424 3f8c 821B sub r24,r18
		7176	7425 3f8e 930B sbc r25,r19
		7177	7426 3f90 A40B sbc r26,r20
		7178	7427 3f92 B50B sbc r27,r21
		7179	7428 3f94 8093 0000 sts Mess_Integral_Gier,r24
		7180	7429 3f98 9093 0000 sts (Mess_Integral_Gier)+1,r25
		7181	7430 3f9c A093 0000 sts (Mess_Integral_Gier)+2,r26
		7182	7431 3fa0 B093 0000 sts (Mess_Integral_Gier)+3,r27
		7183	7432 3fa4 8155 subi r24,lo8(50001)
		7184	7433 3fa6 934C sbci r25,hi8(50001)
		7185	7434 3fa8 A040 sbci r26,hlo8(50001)
		7186	7435 3faa B040 sbci r27,hhi8(50001)
		7187	7436 3fac 04F0 brlt .L555
		7188	7437 3fae 80E5 ldi r24,lo8(50000)
		7189	7438 3fb0 93EC ldi r25,hi8(50000)
		7190	7439 3fb2 A0E0 ldi r26,hlo8(50000)
		7191	7440 3fb4 B0E0 ldi r27,hhi8(50000)
		7192	7441 3fb6 8093 0000 sts Mess_Integral_Gier,r24
		7193	7442 3fba 9093 0000 sts (Mess_Integral_Gier)+1,r25
		7194	7443 3fbe A093 0000 sts (Mess_Integral_Gier)+2,r26
		7195	7444 3fc2 B093 0000 sts (Mess_Integral_Gier)+3,r27
		7196	7445 .L555:
		7197	7446 3fc6 8091 0000 lds r24,Mess_Integral_Gier
		7198	7447 3fca 9091 0000 lds r25,(Mess_Integral_Gier)+1
		7199	7448 3fce A091 0000 lds r26,(Mess_Integral_Gier)+2
		7200	7449 3fd2 B091 0000 lds r27,(Mess_Integral_Gier)+3
		7201	7450 3fd6 805B subi r24,lo8(-50000)
		7202	7451 3fd8 9C43 sbci r25,hi8(-50000)
		7203	7452 3fda AF4F sbci r26,hlo8(-50000)
		7204	7453 3fdc BF4F sbci r27,hhi8(-50000)
		7205	7454 3fde 04F4 brge .L556
		7206	7455 3fe0 80EB ldi r24,lo8(-50000)
		7207	7456 3fe2 9CE3 ldi r25,hi8(-50000)
		7208	7457 3fe4 AFEF ldi r26,hlo8(-50000)
		7209	7458 3fe6 BFEF ldi r27,hhi8(-50000)
		7210	7459 3fe8 8093 0000 sts Mess_Integral_Gier,r24
		7211	7460 3fec 9093 0000 sts (Mess_Integral_Gier)+1,r25
		7212	7461 3ff0 A093 0000 sts (Mess_Integral_Gier)+2,r26
		7213	7462 3ff4 B093 0000 sts (Mess_Integral_Gier)+3,r27
		7214	7463 .L556:
		7215	7464 3ff8 0091 0000 lds r16,KompassValue
		7216	7465 3ffc 1091 0000 lds r17,(KompassValue)+1
		7217	7466 4000 17FD sbrc r17,7
		7218	7467 4002 00C0 rjmp .L557
		7219	7468 4004 8091 0000 lds r24,Parameter_GlobalConfig
		7220	7469 4008 83FF sbrs r24,3
		7221	7470 400a 00C0 rjmp .L557
		7222	7471 400c 8091 0000 lds r24,CalculateCompassTimer
		7223	7472 4010 8150 subi r24,lo8(-(-1))
		7224	7473 4012 8093 0000 sts CalculateCompassTimer,r24
		7225	7474 4016 8823 tst r24
		7226	7475 4018 01F0 breq .+2
		7227	7476 401a 00C0 rjmp .L574
		7228	7477 401c 8DE0 ldi r24,lo8(13)
		7229	7478 401e 8093 0000 sts CalculateCompassTimer,r24
		7230	7479 4022 8091 0000 lds r24,IntegralNick
		7231	7480 4026 9091 0000 lds r25,(IntegralNick)+1
		7232	7481 402a A091 0000 lds r26,(IntegralNick)+2
		7233	7482 402e B091 0000 lds r27,(IntegralNick)+3
		7234	7483 4032 B7FF sbrs r27,7
		7235	7484 4034 00C0 rjmp .L559
		7236	7485 4036 8150 subi r24,lo8(-(511))
		7237	7486 4038 9E4F sbci r25,hi8(-(511))
		7238	7487 403a AF4F sbci r26,hlo8(-(511))
		7239	7488 403c BF4F sbci r27,hhi8(-(511))
		7240	7489 .L559:
		7241	7490 403e 39E0 ldi r19,9
		7242	7491 4040 B595 1: asr r27
		7243	7492 4042 A795 ror r26
		7244	7493 4044 9795 ror r25
		7245	7494 4046 8795 ror r24
		7246	7495 4048 3A95 dec r19
		7247	7496 404a 01F4 brne 1b
		7248	7497 404c 7C01 movw r14,r24
		7249	7498 404e 97FF sbrs r25,7
		7250	7499 4050 00C0 rjmp .L560
		7251	7500 4052 F094 com r15
		7252	7501 4054 E194 neg r14
		7253	7502 4056 F108 sbc r15,__zero_reg__
		7254	7503 4058 F394 inc r15
		7255	7504 .L560:
		7256	7505 405a 8091 0000 lds r24,IntegralRoll
		7257	7506 405e 9091 0000 lds r25,(IntegralRoll)+1
		7258	7507 4062 A091 0000 lds r26,(IntegralRoll)+2
		7259	7508 4066 B091 0000 lds r27,(IntegralRoll)+3
		7260	7509 406a B7FF sbrs r27,7
		7261	7510 406c 00C0 rjmp .L561
		7262	7511 406e 8150 subi r24,lo8(-(511))
		7263	7512 4070 9E4F sbci r25,hi8(-(511))
		7264	7513 4072 AF4F sbci r26,hlo8(-(511))
		7265	7514 4074 BF4F sbci r27,hhi8(-(511))
		7266	7515 .L561:
		7267	7516 4076 29E0 ldi r18,9
		7268	7517 4078 B595 1: asr r27
		7269	7518 407a A795 ror r26
		7270	7519 407c 9795 ror r25
		7271	7520 407e 8795 ror r24
		7272	7521 4080 2A95 dec r18
		7273	7522 4082 01F4 brne 1b
		7274	7523 4084 9C01 movw r18,r24
		7275	7524 4086 97FF sbrs r25,7
		7276	7525 4088 00C0 rjmp .L562
		7277	7526 408a 3095 com r19
		7278	7527 408c 2195 neg r18
		7279	7528 408e 3F4F sbci r19,lo8(-1)
		7280	7529 .L562:
		7281	7530 4090 E216 cp r14,r18
		7282	7531 4092 F306 cpc r15,r19
		7283	7532 4094 04F4 brge .L563
		7284	7533 4096 7901 movw r14,r18
		7285	7534 .L563:
		7286	7535 4098 B701 movw r22,r14
		7287	7536 409a F7FE sbrs r15,7
		7288	7537 409c 00C0 rjmp .L564
		7289	7538 409e 695F subi r22,lo8(-(7))
		7290	7539 40a0 7F4F sbci r23,hi8(-(7))
		7291	7540 .L564:
		7292	7541 40a2 2B01 movw r4,r22
		7293	7542 40a4 A3E0 ldi r26,3
		7294	7543 40a6 5594 1: asr r5
		7295	7544 40a8 4794 ror r4
		7296	7545 40aa AA95 dec r26
		7297	7546 40ac 01F4 brne 1b
		7298	7547 40ae 22E0 ldi r18,lo8(2)
		7299	7548 40b0 30E0 ldi r19,hi8(2)
		7300	7549 40b2 420E add r4,r18
		7301	7550 40b4 531E adc r5,r19
		7302	7551 40b6 6090 0000 lds r6,ErsatzKompass
		7303	7552 40ba 7090 0000 lds r7,(ErsatzKompass)+1
		7304	7553 40be 8090 0000 lds r8,(ErsatzKompass)+2
		7305	7554 40c2 9090 0000 lds r9,(ErsatzKompass)+3
		7306	7555 40c6 2091 0000 lds r18,GIER_GRAD_FAKTOR
		7307	7556 40ca 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1
		7308	7557 40ce 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2
		7309	7558 40d2 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3
		7310	7559 40d6 C401 movw r24,r8
		7311	7560 40d8 B301 movw r22,r6
		7312	7561 40da 0E94 0000 call __divmodsi4
		7313	7562 40de 5901 movw r10,r18
		7314	7563 40e0 6A01 movw r12,r20
		7315	7564 40e2 3093 0000 sts (ErsatzKompassInGrad)+1,r19
		7316	7565 40e6 2093 0000 sts ErsatzKompassInGrad,r18
		7317	7566 40ea 021B sub r16,r18
		7318	7567 40ec 130B sbc r17,r19
		7319	7568 40ee C801 movw r24,r16
		7320	7569 40f0 845E subi r24,lo8(-(540))
		7321	7570 40f2 9D4F sbci r25,hi8(-(540))
		7322	7571 40f4 68E6 ldi r22,lo8(360)
		7323	7572 40f6 71E0 ldi r23,hi8(360)
		7324	7573 40f8 0E94 0000 call __divmodhi4
		7325	7574 40fc 9C01 movw r18,r24
		7326	7575 40fe 245B subi r18,lo8(-(-180))
		7327	7576 4100 3040 sbci r19,hi8(-(-180))
		7328	7577 4102 8091 0000 lds r24,KompassSignalSchlecht
		7329	7578 4106 9091 0000 lds r25,(KompassSignalSchlecht)+1
		7330	7579 410a 0097 sbiw r24,0
		7331	7580 410c 01F0 breq .L565
		7332	7581 410e 0197 sbiw r24,1
		7333	7582 4110 9093 0000 sts (KompassSignalSchlecht)+1,r25
		7334	7583 4114 8093 0000 sts KompassSignalSchlecht,r24
		7335	7584 4118 00C0 rjmp .L566
		7336	7585 .L565:
		7337	7586 411a 49E1 ldi r20,lo8(25)
		7338	7587 411c E416 cp r14,r20
		7339	7588 411e F104 cpc r15,__zero_reg__
		7340	7589 4120 04F4 brge .L566
		7341	7590 4122 8091 0000 lds r24,GierGyroFehler
		7342	7591 4126 9091 0000 lds r25,(GierGyroFehler)+1
		7343	7592 412a 820F add r24,r18
		7344	7593 412c 931F adc r25,r19
		7345	7594 412e 9093 0000 sts (GierGyroFehler)+1,r25
		7346	7595 4132 8093 0000 sts GierGyroFehler,r24
		7347	7596 4136 8091 0000 lds r24,NeueKompassRichtungMerken.10
		7348	7597 413a 8823 tst r24
		7349	7598 413c 01F0 breq .L566
		7350	7599 413e 8150 subi r24,lo8(-(-1))
		7351	7600 4140 8093 0000 sts NeueKompassRichtungMerken.10,r24
		7352	7601 4144 8823 tst r24
		7353	7602 4146 01F4 brne .L566
		7354	7603 4148 B092 0000 sts (KompassSollWert)+1,r11
		7355	7604 414c A092 0000 sts KompassSollWert,r10
		7356	7605 .L566:
		7357	7606 4150 8091 0000 lds r24,KompassSignalSchlecht
		7358	7607 4154 9091 0000 lds r25,(KompassSignalSchlecht)+1
		7359	7608 4158 892B or r24,r25
		7360	7609 415a 01F4 brne .L570
		7361	7610 415c 8091 0000 lds r24,KompassFusion
		7362	7611 4160 9927 clr r25
		7363	7612 4162 289F mul r18,r24
		7364	7613 4164 B001 movw r22,r0
		7365	7614 4166 299F mul r18,r25
		7366	7615 4168 700D add r23,r0
		7367	7616 416a 389F mul r19,r24
		7368	7617 416c 700D add r23,r0
		7369	7618 416e 1124 clr r1
		7370	7619 4170 CB01 movw r24,r22
		7371	7620 4172 B201 movw r22,r4
		7372	7621 4174 0E94 0000 call __divmodhi4
		7373	7622 4178 CB01 movw r24,r22
		7374	7623 417a AA27 clr r26
		7375	7624 417c 97FD sbrc r25,7
		7376	7625 417e A095 com r26
		7377	7626 4180 BA2F mov r27,r26
		7378	7627 4182 680E add r6,r24
		7379	7628 4184 791E adc r7,r25
		7380	7629 4186 8A1E adc r8,r26
		7381	7630 4188 9B1E adc r9,r27
		7382	7631 418a 6092 0000 sts ErsatzKompass,r6
		7383	7632 418e 7092 0000 sts (ErsatzKompass)+1,r7
		7384	7633 4192 8092 0000 sts (ErsatzKompass)+2,r8
		7385	7634 4196 9092 0000 sts (ErsatzKompass)+3,r9
		7386	7635 .L570:
		7387	7636 419a 8091 0000 lds r24,NeueKompassRichtungMerken.10
		7388	7637 419e 8823 tst r24
		7389	7638 41a0 01F4 brne .L557
		7390	7639 41a2 8091 0000 lds r24,KompassSollWert
		7391	7640 41a6 9091 0000 lds r25,(KompassSollWert)+1
		7392	7641 41aa 2091 0000 lds r18,ErsatzKompassInGrad
		7393	7642 41ae 3091 0000 lds r19,(ErsatzKompassInGrad)+1
		7394	7643 41b2 821B sub r24,r18
		7395	7644 41b4 930B sbc r25,r19
		7396	7645 41b6 845E subi r24,lo8(-(540))
		7397	7646 41b8 9D4F sbci r25,hi8(-(540))
		7398	7647 41ba 68E6 ldi r22,lo8(360)
		7399	7648 41bc 71E0 ldi r23,hi8(360)
		7400	7649 41be 0E94 0000 call __divmodhi4
		7401	7650 41c2 9C01 movw r18,r24
		7402	7651 41c4 245B subi r18,lo8(-(-180))
		7403	7652 41c6 3040 sbci r19,hi8(-(-180))
		7404	7653 41c8 8091 0000 lds r24,Parameter_KompassWirkung
		7405	7654 41cc 8695 lsr r24
		7406	7655 41ce 9927 clr r25
		7407	7656 41d0 289F mul r18,r24
		7408	7657 41d2 D001 movw r26,r0
		7409	7658 41d4 299F mul r18,r25
		7410	7659 41d6 B00D add r27,r0
		7411	7660 41d8 389F mul r19,r24
		7412	7661 41da B00D add r27,r0
		7413	7662 41dc 1124 clr r1
		7414	7663 41de 9D01 movw r18,r26
		7415	7664 41e0 B7FF sbrs r27,7
		7416	7665 41e2 00C0 rjmp .L572
		7417	7666 41e4 215F subi r18,lo8(-(15))
		7418	7667 41e6 3F4F sbci r19,hi8(-(15))
		7419	7668 .L572:
		7420	7669 41e8 F4E0 ldi r31,4
		7421	7670 41ea 3595 1: asr r19
		7422	7671 41ec 2795 ror r18
		7423	7672 41ee FA95 dec r31
		7424	7673 41f0 01F4 brne 1b
		7425	7674 41f2 3093 0000 sts (CompassGierSetpoint)+1,r19
		7426	7675 41f6 2093 0000 sts CompassGierSetpoint,r18
		7427	7676 41fa 00C0 rjmp .L574
		7428	7677 .L557:
		7429	7678 41fc 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__
		7430	7679 4200 1092 0000 sts CompassGierSetpoint,__zero_reg__
		7431	7680 .L574:
		7432	7681 4204 8091 0000 lds r24,TrichterFlug
		7433	7682 4208 8823 tst r24
		7434	7683 420a 01F0 breq .L575
		7435	7684 420c 1092 0000 sts SummeRoll,__zero_reg__
		7436	7685 4210 1092 0000 sts (SummeRoll)+1,__zero_reg__
		7437	7686 4214 1092 0000 sts (SummeRoll)+2,__zero_reg__
		7438	7687 4218 1092 0000 sts (SummeRoll)+3,__zero_reg__
		7439	7688 421c 1092 0000 sts SummeNick,__zero_reg__
		7440	7689 4220 1092 0000 sts (SummeNick)+1,__zero_reg__
		7441	7690 4224 1092 0000 sts (SummeNick)+2,__zero_reg__
		7442	7691 4228 1092 0000 sts (SummeNick)+3,__zero_reg__
		7443	7692 .L575:
		7444	7693 422c F090 0000 lds r15,Looping_Nick
		7445	7694 4230 FF20 tst r15
		7446	7695 4232 01F4 brne .L576
		7447	7696 4234 8091 0000 lds r24,IntegralFaktor
		7448	7697 4238 282F mov r18,r24
		7449	7698 423a 3327 clr r19
		7450	7699 423c 4427 clr r20
		7451	7700 423e 5527 clr r21
		7452	7701 4240 8091 0000 lds r24,IntegralNick
		7453	7702 4244 9091 0000 lds r25,(IntegralNick)+1
		7454	7703 4248 A091 0000 lds r26,(IntegralNick)+2
		7455	7704 424c B091 0000 lds r27,(IntegralNick)+3
		7456	7705 4250 BC01 movw r22,r24
		7457	7706 4252 CD01 movw r24,r26
		7458	7707 4254 0E94 0000 call __mulsi3
		7459	7708 4258 DC01 movw r26,r24
		7460	7709 425a CB01 movw r24,r22
		7461	7710 425c BC01 movw r22,r24
		7462	7711 425e CD01 movw r24,r26
		7463	7712 4260 28EF ldi r18,lo8(11000)
		7464	7713 4262 3AE2 ldi r19,hi8(11000)
		7465	7714 4264 40E0 ldi r20,hlo8(11000)
		7466	7715 4266 50E0 ldi r21,hhi8(11000)
		7467	7716 4268 0E94 0000 call __divmodsi4
		7468	7717 426c 3901 movw r6,r18
		7469	7718 426e 00C0 rjmp .L577
		7470	7719 .L576:
		7471	7720 4270 6624 clr r6
		7472	7721 4272 7724 clr r7
		7473	7722 .L577:
		7474	7723 4274 E090 0000 lds r14,Looping_Roll
		7475	7724 4278 EE20 tst r14
		7476	7725 427a 01F4 brne .L578
		7477	7726 427c 8091 0000 lds r24,IntegralFaktor
		7478	7727 4280 282F mov r18,r24
		7479	7728 4282 3327 clr r19
		7480	7729 4284 4427 clr r20
		7481	7730 4286 5527 clr r21
		7482	7731 4288 8091 0000 lds r24,IntegralRoll
		7483	7732 428c 9091 0000 lds r25,(IntegralRoll)+1
		7484	7733 4290 A091 0000 lds r26,(IntegralRoll)+2
		7485	7734 4294 B091 0000 lds r27,(IntegralRoll)+3
		7486	7735 4298 BC01 movw r22,r24
		7487	7736 429a CD01 movw r24,r26
		7488	7737 429c 0E94 0000 call __mulsi3
		7489	7738 42a0 DC01 movw r26,r24
		7490	7739 42a2 CB01 movw r24,r22
		7491	7740 42a4 BC01 movw r22,r24
		7492	7741 42a6 CD01 movw r24,r26
		7493	7742 42a8 28EF ldi r18,lo8(11000)
		7494	7743 42aa 3AE2 ldi r19,hi8(11000)
		7495	7744 42ac 40E0 ldi r20,hlo8(11000)
		7496	7745 42ae 50E0 ldi r21,hhi8(11000)
		7497	7746 42b0 0E94 0000 call __divmodsi4
		7498	7747 42b4 2901 movw r4,r18
		7499	7748 42b6 00C0 rjmp .L579
		7500	7749 .L578:
		7501	7750 42b8 4424 clr r4
		7502	7751 42ba 5524 clr r5
		7503	7752 .L579:
		7504	7753 42bc 8091 0000 lds r24,TrimNick
		7505	7754 42c0 9091 0000 lds r25,(TrimNick)+1
		7506	7755 42c4 893C cpi r24,201
		7507	7756 42c6 9105 cpc r25,__zero_reg__
		7508	7757 42c8 04F0 brlt .L580
		7509	7758 42ca 88EC ldi r24,lo8(200)
		7510	7759 42cc 90E0 ldi r25,hi8(200)
		7511	7760 42ce 00C0 rjmp .L828
		7512	7761 .L580:
		7513	7762 42d0 8853 subi r24,lo8(-200)
		7514	7763 42d2 9F4F sbci r25,hi8(-200)
		7515	7764 42d4 04F4 brge .L581
		7516	7765 42d6 88E3 ldi r24,lo8(-200)
		7517	7766 42d8 9FEF ldi r25,hi8(-200)
		7518	7767 .L828:
		7519	7768 42da 9093 0000 sts (TrimNick)+1,r25
		7520	7769 42de 8093 0000 sts TrimNick,r24
		7521	7770 .L581:
		7522	7771 42e2 8091 0000 lds r24,TrimRoll
		7523	7772 42e6 9091 0000 lds r25,(TrimRoll)+1
		7524	7773 42ea 893C cpi r24,201
		7525	7774 42ec 9105 cpc r25,__zero_reg__
		7526	7775 42ee 04F0 brlt .L583
		7527	7776 42f0 88EC ldi r24,lo8(200)
		7528	7777 42f2 90E0 ldi r25,hi8(200)
		7529	7778 42f4 00C0 rjmp .L829
		7530	7779 .L583:
		7531	7780 42f6 8853 subi r24,lo8(-200)
		7532	7781 42f8 9F4F sbci r25,hi8(-200)
		7533	7782 42fa 04F4 brge .L584
		7534	7783 42fc 88E3 ldi r24,lo8(-200)
		7535	7784 42fe 9FEF ldi r25,hi8(-200)
		7536	7785 .L829:
		7537	7786 4300 9093 0000 sts (TrimRoll)+1,r25
		7538	7787 4304 8093 0000 sts TrimRoll,r24
		7539	7788 .L584:
		7540	7789 4308 8091 0000 lds r24,MesswertNick
		7541	7790 430c 9091 0000 lds r25,(MesswertNick)+1
		7542	7791 4310 AA27 clr r26
		7543	7792 4312 97FD sbrc r25,7
		7544	7793 4314 A095 com r26
		7545	7794 4316 BA2F mov r27,r26
		7546	7795 4318 2091 0000 lds r18,GyroFaktor
		7547	7796 431c A22E mov r10,r18
		7548	7797 431e BB24 clr r11
		7549	7798 4320 CC24 clr r12
		7550	7799 4322 DD24 clr r13
		7551	7800 4324 BC01 movw r22,r24
		7552	7801 4326 CD01 movw r24,r26
		7553	7802 4328 A601 movw r20,r12
		7554	7803 432a 9501 movw r18,r10
		7555	7804 432c 0E94 0000 call __mulsi3
		7556	7805 4330 9B01 movw r18,r22
		7557	7806 4332 AC01 movw r20,r24
		7558	7807 4334 8091 0000 lds r24,TrimNick
		7559	7808 4338 9091 0000 lds r25,(TrimNick)+1
		7560	7809 433c AA27 clr r26
		7561	7810 433e 97FD sbrc r25,7
		7562	7811 4340 A095 com r26
		7563	7812 4342 BA2F mov r27,r26
		7564	7813 4344 E7E0 ldi r30,7
		7565	7814 4346 880F 1: lsl r24
		7566	7815 4348 991F rol r25
		7567	7816 434a AA1F rol r26
		7568	7817 434c BB1F rol r27
		7569	7818 434e EA95 dec r30
		7570	7819 4350 01F4 brne 1b
		7571	7820 4352 280F add r18,r24
		7572	7821 4354 391F adc r19,r25
		7573	7822 4356 4A1F adc r20,r26
		7574	7823 4358 5B1F adc r21,r27
		7575	7824 435a 57FF sbrs r21,7
		7576	7825 435c 00C0 rjmp .L586
		7577	7826 435e 215C subi r18,lo8(-(63))
		7578	7827 4360 3F4F sbci r19,hi8(-(63))
		7579	7828 4362 4F4F sbci r20,hlo8(-(63))
		7580	7829 4364 5F4F sbci r21,hhi8(-(63))
		7581	7830 .L586:
		7582	7831 4366 76E0 ldi r23,6
		7583	7832 4368 5595 1: asr r21
		7584	7833 436a 4795 ror r20
		7585	7834 436c 3795 ror r19
		7586	7835 436e 2795 ror r18
		7587	7836 4370 7A95 dec r23
		7588	7837 4372 01F4 brne 1b
		7589	7838 4374 8301 movw r16,r6
		7590	7839 4376 020F add r16,r18
		7591	7840 4378 131F adc r17,r19
		7592	7841 437a 1093 0000 sts (MesswertNick)+1,r17
		7593	7842 437e 0093 0000 sts MesswertNick,r16
		7594	7843 4382 8091 0000 lds r24,MesswertRoll
		7595	7844 4386 9091 0000 lds r25,(MesswertRoll)+1
		7596	7845 438a AA27 clr r26
		7597	7846 438c 97FD sbrc r25,7
		7598	7847 438e A095 com r26
		7599	7848 4390 BA2F mov r27,r26
		7600	7849 4392 BC01 movw r22,r24
		7601	7850 4394 CD01 movw r24,r26
		7602	7851 4396 A601 movw r20,r12
		7603	7852 4398 9501 movw r18,r10
		7604	7853 439a 0E94 0000 call __mulsi3
		7605	7854 439e 9B01 movw r18,r22
		7606	7855 43a0 AC01 movw r20,r24
		7607	7856 43a2 8091 0000 lds r24,TrimRoll
		7608	7857 43a6 9091 0000 lds r25,(TrimRoll)+1
		7609	7858 43aa AA27 clr r26
		7610	7859 43ac 97FD sbrc r25,7
		7611	7860 43ae A095 com r26
		7612	7861 43b0 BA2F mov r27,r26
		7613	7862 43b2 67E0 ldi r22,7
		7614	7863 43b4 880F 1: lsl r24
		7615	7864 43b6 991F rol r25
		7616	7865 43b8 AA1F rol r26
		7617	7866 43ba BB1F rol r27
		7618	7867 43bc 6A95 dec r22
		7619	7868 43be 01F4 brne 1b
		7620	7869 43c0 280F add r18,r24
		7621	7870 43c2 391F adc r19,r25
		7622	7871 43c4 4A1F adc r20,r26
		7623	7872 43c6 5B1F adc r21,r27
		7624	7873 43c8 57FF sbrs r21,7
		7625	7874 43ca 00C0 rjmp .L587
		7626	7875 43cc 215C subi r18,lo8(-(63))
		7627	7876 43ce 3F4F sbci r19,hi8(-(63))
		7628	7877 43d0 4F4F sbci r20,hlo8(-(63))
		7629	7878 43d2 5F4F sbci r21,hhi8(-(63))
		7630	7879 .L587:
		7631	7880 43d4 F6E0 ldi r31,6
		7632	7881 43d6 5595 1: asr r21
		7633	7882 43d8 4795 ror r20
		7634	7883 43da 3795 ror r19
		7635	7884 43dc 2795 ror r18
		7636	7885 43de FA95 dec r31
		7637	7886 43e0 01F4 brne 1b
		7638	7887 43e2 4201 movw r8,r4
		7639	7888 43e4 820E add r8,r18
		7640	7889 43e6 931E adc r9,r19
		7641	7890 43e8 9092 0000 sts (MesswertRoll)+1,r9
		7642	7891 43ec 8092 0000 sts MesswertRoll,r8
		7643	7892 43f0 8091 0000 lds r24,MesswertGier
		7644	7893 43f4 9091 0000 lds r25,(MesswertGier)+1
		7645	7894 43f8 880F add r24,r24
		7646	7895 43fa 991F adc r25,r25
		7647	7896 43fc AA27 clr r26
		7648	7897 43fe 97FD sbrc r25,7
		7649	7898 4400 A095 com r26
		7650	7899 4402 BA2F mov r27,r26
		7651	7900 4404 2091 0000 lds r18,GyroFaktorGier
		7652	7901 4408 3327 clr r19
		7653	7902 440a 4427 clr r20
		7654	7903 440c 5527 clr r21
		7655	7904 440e BC01 movw r22,r24
		7656	7905 4410 CD01 movw r24,r26
		7657	7906 4412 0E94 0000 call __mulsi3
		7658	7907 4416 5B01 movw r10,r22
		7659	7908 4418 6C01 movw r12,r24
		7660	7909 441a 97FF sbrs r25,7
		7661	7910 441c 00C0 rjmp .L588
		7662	7911 441e 2FE3 ldi r18,lo8(63)
		7663	7912 4420 30E0 ldi r19,hi8(63)
		7664	7913 4422 40E0 ldi r20,hlo8(63)
		7665	7914 4424 50E0 ldi r21,hhi8(63)
		7666	7915 4426 A20E add r10,r18
		7667	7916 4428 B31E adc r11,r19
		7668	7917 442a C41E adc r12,r20
		7669	7918 442c D51E adc r13,r21
		7670	7919 .L588:
		7671	7920 442e E6E0 ldi r30,6
		7672	7921 4430 D594 1: asr r13
		7673	7922 4432 C794 ror r12
		7674	7923 4434 B794 ror r11
		7675	7924 4436 A794 ror r10
		7676	7925 4438 EA95 dec r30
		7677	7926 443a 01F4 brne 1b
		7678	7927 443c 8091 0000 lds r24,IntegralFaktorGier
		7679	7928 4440 282F mov r18,r24
		7680	7929 4442 3327 clr r19
		7681	7930 4444 4427 clr r20
		7682	7931 4446 5527 clr r21
		7683	7932 4448 8091 0000 lds r24,Integral_Gier
		7684	7933 444c 9091 0000 lds r25,(Integral_Gier)+1
		7685	7934 4450 A091 0000 lds r26,(Integral_Gier)+2
		7686	7935 4454 B091 0000 lds r27,(Integral_Gier)+3
		7687	7936 4458 BC01 movw r22,r24
		7688	7937 445a CD01 movw r24,r26
		7689	7938 445c 0E94 0000 call __mulsi3
		7690	7939 4460 DC01 movw r26,r24
		7691	7940 4462 CB01 movw r24,r22
		7692	7941 4464 BC01 movw r22,r24
		7693	7942 4466 CD01 movw r24,r26
		7694	7943 4468 20EF ldi r18,lo8(22000)
		7695	7944 446a 35E5 ldi r19,hi8(22000)
		7696	7945 446c 40E0 ldi r20,hlo8(22000)
		7697	7946 446e 50E0 ldi r21,hhi8(22000)
		7698	7947 4470 0E94 0000 call __divmodsi4
		7699	7948 4474 B501 movw r22,r10
		7700	7949 4476 620F add r22,r18
		7701	7950 4478 731F adc r23,r19
		7702	7951 447a 7093 0000 sts (MesswertGier)+1,r23
		7703	7952 447e 6093 0000 sts MesswertGier,r22
		7704	7953 4482 0150 subi r16,lo8(4097)
		7705	7954 4484 1041 sbci r17,hi8(4097)
		7706	7955 4486 04F0 brlt .L589
		7707	7956 4488 80E0 ldi r24,lo8(4096)
		7708	7957 448a 90E1 ldi r25,hi8(4096)
		7709	7958 448c 9093 0000 sts (MesswertNick)+1,r25
		7710	7959 4490 8093 0000 sts MesswertNick,r24
		7711	7960 .L589:
		7712	7961 4494 8091 0000 lds r24,MesswertNick
		7713	7962 4498 9091 0000 lds r25,(MesswertNick)+1
		7714	7963 449c 8050 subi r24,lo8(-4096)
		7715	7964 449e 904F sbci r25,hi8(-4096)
		7716	7965 44a0 04F4 brge .L590
		7717	7966 44a2 80E0 ldi r24,lo8(-4096)
		7718	7967 44a4 90EF ldi r25,hi8(-4096)
		7719	7968 44a6 9093 0000 sts (MesswertNick)+1,r25
		7720	7969 44aa 8093 0000 sts MesswertNick,r24
		7721	7970 .L590:
		7722	7971 44ae 51E0 ldi r21,lo8(4097)
		7723	7972 44b0 8516 cp r8,r21
		7724	7973 44b2 50E1 ldi r21,hi8(4097)
		7725	7974 44b4 9506 cpc r9,r21
		7726	7975 44b6 04F0 brlt .L591
		7727	7976 44b8 80E0 ldi r24,lo8(4096)
		7728	7977 44ba 90E1 ldi r25,hi8(4096)
		7729	7978 44bc 9093 0000 sts (MesswertRoll)+1,r25
		7730	7979 44c0 8093 0000 sts MesswertRoll,r24
		7731	7980 .L591:
		7732	7981 44c4 8091 0000 lds r24,MesswertRoll
		7733	7982 44c8 9091 0000 lds r25,(MesswertRoll)+1
		7734	7983 44cc 8050 subi r24,lo8(-4096)
		7735	7984 44ce 904F sbci r25,hi8(-4096)
		7736	7985 44d0 04F4 brge .L592
		7737	7986 44d2 80E0 ldi r24,lo8(-4096)
		7738	7987 44d4 90EF ldi r25,hi8(-4096)
		7739	7988 44d6 9093 0000 sts (MesswertRoll)+1,r25
		7740	7989 44da 8093 0000 sts MesswertRoll,r24
		7741	7990 .L592:
		7742	7991 44de 6150 subi r22,lo8(4097)
		7743	7992 44e0 7041 sbci r23,hi8(4097)
		7744	7993 44e2 04F0 brlt .L593
		7745	7994 44e4 80E0 ldi r24,lo8(4096)
		7746	7995 44e6 90E1 ldi r25,hi8(4096)
		7747	7996 44e8 9093 0000 sts (MesswertGier)+1,r25
		7748	7997 44ec 8093 0000 sts MesswertGier,r24
		7749	7998 .L593:
		7750	7999 44f0 8091 0000 lds r24,MesswertGier
		7751	8000 44f4 9091 0000 lds r25,(MesswertGier)+1
		7752	8001 44f8 8050 subi r24,lo8(-4096)
		7753	8002 44fa 904F sbci r25,hi8(-4096)
		7754	8003 44fc 04F4 brge .L594
		7755	8004 44fe 80E0 ldi r24,lo8(-4096)
		7756	8005 4500 90EF ldi r25,hi8(-4096)
		7757	8006 4502 9093 0000 sts (MesswertGier)+1,r25
		7758	8007 4506 8093 0000 sts MesswertGier,r24
		7759	8008 .L594:
		7760	8009 450a 8091 0000 lds r24,BattLowVoltageWarning
		7761	8010 450e 482F mov r20,r24
		7762	8011 4510 5527 clr r21
		7763	8012 4512 8091 0000 lds r24,UBat
		7764	8013 4516 9091 0000 lds r25,(UBat)+1
		7765	8014 451a 4817 cp r20,r24
		7766	8015 451c 5907 cpc r21,r25
		7767	8016 451e 04F4 brge .L595
		7768	8017 4520 2091 0000 lds r18,UBat
		7769	8018 4524 3091 0000 lds r19,(UBat)+1
		7770	8019 4528 0981 ldd r16,Y+1
		7771	8020 452a 1A81 ldd r17,Y+2
		7772	8021 452c 049F mul r16,r20
		7773	8022 452e C001 movw r24,r0
		7774	8023 4530 059F mul r16,r21
		7775	8024 4532 900D add r25,r0
		7776	8025 4534 149F mul r17,r20
		7777	8026 4536 900D add r25,r0
		7778	8027 4538 1124 clr r1
		7779	8028 453a B901 movw r22,r18
		7780	8029 453c 0E94 0000 call __udivmodhi4
		7781	8030 4540 7A83 std Y+2,r23
		7782	8031 4542 6983 std Y+1,r22
		7783	8032 .L595:
		7784	8033 4544 2981 ldd r18,Y+1
		7785	8034 4546 3A81 ldd r19,Y+2
		7786	8035 4548 220F lsl r18
		7787	8036 454a 331F rol r19
		7788	8037 454c 220F lsl r18
		7789	8038 454e 331F rol r19
		7790	8039 4550 3A83 std Y+2,r19
		7791	8040 4552 2983 std Y+1,r18
		7792	8041 4554 4091 0000 lds r20,Parameter_GlobalConfig
		7793	8042 4558 40FD sbrc r20,0
		7794	8043 455a 00C0 rjmp .+4
		7795	8044 455c 0C94 0000 jmp .L596
		7796	8045 4560 EE20 tst r14
		7797	8046 4562 01F0 breq .+2
		7798	8047 4564 00C0 rjmp .L596
		7799	8048 4566 FF20 tst r15
		7800	8049 4568 01F0 breq .+2
		7801	8050 456a 00C0 rjmp .L596
		7802	8051 456c 00E0 ldi r16,lo8(0)
		7803	8052 456e 10E0 ldi r17,hi8(0)
		7804	8053 4570 4801 movw r8,r16
		7805	8054 4572 8091 0000 lds r24,HoverGas
		7806	8055 4576 9091 0000 lds r25,(HoverGas)+1
		7807	8056 457a 9093 0000 sts (DebugOut+44)+1,r25
		7808	8057 457e 8093 0000 sts DebugOut+44,r24
		7809	8058 4582 2091 0000 lds r18,BaroExpandActive
		7810	8059 4586 3091 0000 lds r19,(BaroExpandActive)+1
		7811	8060 458a 2115 cp r18,__zero_reg__
		7812	8061 458c 3105 cpc r19,__zero_reg__
		7813	8062 458e 01F0 breq .+2
		7814	8063 4590 00C0 rjmp .L597
		7815	8064 4592 8091 0000 lds r24,MessLuftdruck
		7816	8065 4596 9091 0000 lds r25,(MessLuftdruck)+1
		7817	8066 459a 8959 subi r24,lo8(921)
		7818	8067 459c 9340 sbci r25,hi8(921)
		7819	8068 459e 00F0 brlo .L598
		7820	8069 45a0 87B5 in r24,71-0x20
		7821	8070 45a2 803F cpi r24,lo8(-16)
		7822	8071 45a4 00F4 brsh .L599
		7823	8072 45a6 8091 0000 lds r24,ExpandBaro
		7824	8073 45aa 8150 subi r24,lo8(-(-1))
		7825	8074 45ac 00C0 rjmp .L830
		7826	8075 .L599:
		7827	8076 45ae 81E0 ldi r24,lo8(1)
		7828	8077 45b0 8093 0000 sts BaroAtLowerLimit.27,r24
		7829	8078 45b4 00C0 rjmp .L606
		7830	8079 .L598:
		7831	8080 45b6 8091 0000 lds r24,MessLuftdruck
		7832	8081 45ba 9091 0000 lds r25,(MessLuftdruck)+1
		7833	8082 45be 8436 cpi r24,100
		7834	8083 45c0 9105 cpc r25,__zero_reg__
		7835	8084 45c2 00F4 brsh .L602
		7836	8085 45c4 87B5 in r24,71-0x20
		7837	8086 45c6 8031 cpi r24,lo8(16)
		7838	8087 45c8 00F0 brlo .L603
		7839	8088 45ca 8091 0000 lds r24,ExpandBaro
		7840	8089 45ce 8F5F subi r24,lo8(-(1))
		7841	8090 .L830:
		7842	8091 45d0 8093 0000 sts ExpandBaro,r24
		7843	8092 45d4 9FE0 ldi r25,lo8(15)
		7844	8093 45d6 8902 muls r24,r25
		7845	8094 45d8 9001 movw r18,r0
		7846	8095 45da 1124 clr r1
		7847	8096 45dc 8091 0000 lds r24,DruckOffsetSetting
		7848	8097 45e0 821B sub r24,r18
		7849	8098 45e2 87BD out 71-0x20,r24
		7850	8099 45e4 8CE2 ldi r24,lo8(300)
		7851	8100 45e6 91E0 ldi r25,hi8(300)
		7852	8101 45e8 9093 0000 sts (beeptime)+1,r25
		7853	8102 45ec 8093 0000 sts beeptime,r24
		7854	8103 45f0 8EE5 ldi r24,lo8(350)
		7855	8104 45f2 91E0 ldi r25,hi8(350)
		7856	8105 45f4 9093 0000 sts (BaroExpandActive)+1,r25
		7857	8106 45f8 8093 0000 sts BaroExpandActive,r24
		7858	8107 45fc 00C0 rjmp .L606
		7859	8108 .L603:
		7860	8109 45fe 81E0 ldi r24,lo8(1)
		7861	8110 4600 8093 0000 sts BaroAtUpperLimit.26,r24
		7862	8111 4604 00C0 rjmp .L606
		7863	8112 .L602:
		7864	8113 4606 F092 0000 sts BaroAtUpperLimit.26,r15
		7865	8114 460a F092 0000 sts BaroAtLowerLimit.27,r15
		7866	8115 460e 00C0 rjmp .L606
		7867	8116 .L597:
		7868	8117 4610 8091 0000 lds r24,HoehenWert
		7869	8118 4614 9091 0000 lds r25,(HoehenWert)+1
		7870	8119 4618 A091 0000 lds r26,(HoehenWert)+2
		7871	8120 461c B091 0000 lds r27,(HoehenWert)+3
		7872	8121 4620 64E0 ldi r22,4
		7873	8122 4622 880F 1: lsl r24
		7874	8123 4624 991F rol r25
		7875	8124 4626 AA1F rol r26
		7876	8125 4628 BB1F rol r27
		7877	8126 462a 6A95 dec r22
		7878	8127 462c 01F4 brne 1b
		7879	8128 462e 8093 0000 sts SummenHoehe,r24
		7880	8129 4632 9093 0000 sts (SummenHoehe)+1,r25
		7881	8130 4636 A093 0000 sts (SummenHoehe)+2,r26
		7882	8131 463a B093 0000 sts (SummenHoehe)+3,r27
		7883	8132 463e 1093 0000 sts (VarioMeter)+1,r17
		7884	8133 4642 0093 0000 sts VarioMeter,r16
		7885	8134 4646 2150 subi r18,lo8(-(-1))
		7886	8135 4648 3040 sbci r19,hi8(-(-1))
		7887	8136 464a 3093 0000 sts (BaroExpandActive)+1,r19
		7888	8137 464e 2093 0000 sts BaroExpandActive,r18
		7889	8138 .L606:
		7890	8139 4652 2091 0000 lds r18,Parameter_HoehenSchalter
		7891	8140 4656 41FF sbrs r20,1
		7892	8141 4658 00C0 rjmp .L607
		7893	8142 465a 2233 cpi r18,lo8(50)
		7894	8143 465c 00F4 brsh .L608
		7895	8144 465e 8091 0000 lds r24,delay.25
		7896	8145 4662 8150 subi r24,lo8(-(-1))
		7897	8146 4664 8093 0000 sts delay.25,r24
		7898	8147 4668 8F3F cpi r24,lo8(-1)
		7899	8148 466a 01F4 brne .L611
		7900	8149 466c 1092 0000 sts HoehenReglerAktiv,__zero_reg__
		7901	8150 4670 8091 0000 lds r24,HoehenWert
		7902	8151 4674 9091 0000 lds r25,(HoehenWert)+1
		7903	8152 4678 A091 0000 lds r26,(HoehenWert)+2
		7904	8153 467c B091 0000 lds r27,(HoehenWert)+3
		7905	8154 4680 8093 0000 sts SollHoehe,r24
		7906	8155 4684 9093 0000 sts (SollHoehe)+1,r25
		7907	8156 4688 A093 0000 sts (SollHoehe)+2,r26
		7908	8157 468c B093 0000 sts (SollHoehe)+3,r27
		7909	8158 4690 81E0 ldi r24,lo8(1)
		7910	8159 4692 00C0 rjmp .L831
		7911	8160 .L608:
		7912	8161 4694 81E0 ldi r24,lo8(1)
		7913	8162 4696 8093 0000 sts HoehenReglerAktiv,r24
		7914	8163 469a 88EC ldi r24,lo8(-56)
		7915	8164 .L831:
		7916	8165 469c 8093 0000 sts delay.25,r24
		7917	8166 46a0 00C0 rjmp .L611
		7918	8167 .L607:
		7919	8168 46a2 8091 0000 lds r24,ExternHoehenValue
		7920	8169 46a6 9091 0000 lds r25,(ExternHoehenValue)+1
		7921	8170 46aa 820F add r24,r18
		7922	8171 46ac 911D adc r25,__zero_reg__
		7923	8172 46ae 2091 0000 lds r18,EE_Parameter+18
		7924	8173 46b2 3327 clr r19
		7925	8174 46b4 829F mul r24,r18
		7926	8175 46b6 A001 movw r20,r0
		7927	8176 46b8 839F mul r24,r19
		7928	8177 46ba 500D add r21,r0
		7929	8178 46bc 929F mul r25,r18
		7930	8179 46be 500D add r21,r0
		7931	8180 46c0 1124 clr r1
		7932	8181 46c2 CA01 movw r24,r20
		7933	8182 46c4 AA27 clr r26
		7934	8183 46c6 97FD sbrc r25,7
		7935	8184 46c8 A095 com r26
		7936	8185 46ca BA2F mov r27,r26
		7937	8186 46cc 8093 0000 sts SollHoehe,r24
		7938	8187 46d0 9093 0000 sts (SollHoehe)+1,r25
		7939	8188 46d4 A093 0000 sts (SollHoehe)+2,r26
		7940	8189 46d8 B093 0000 sts (SollHoehe)+3,r27
		7941	8190 46dc 81E0 ldi r24,lo8(1)
		7942	8191 46de 8093 0000 sts HoehenReglerAktiv,r24
		7943	8192 .L611:
		7944	8193 46e2 8091 0000 lds r24,IntegralNick
		7945	8194 46e6 9091 0000 lds r25,(IntegralNick)+1
		7946	8195 46ea A091 0000 lds r26,(IntegralNick)+2
		7947	8196 46ee B091 0000 lds r27,(IntegralNick)+3
		7948	8197 46f2 E090 0000 lds r14,GIER_GRAD_FAKTOR
		7949	8198 46f6 F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1
		7950	8199 46fa 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2
		7951	8200 46fe 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3
		7952	8201 4702 BC01 movw r22,r24
		7953	8202 4704 CD01 movw r24,r26
		7954	8203 4706 A801 movw r20,r16
		7955	8204 4708 9701 movw r18,r14
		7956	8205 470a 0E94 0000 call __divmodsi4
		7957	8206 470e 5901 movw r10,r18
		7958	8207 4710 6A01 movw r12,r20
		7959	8208 4712 8091 0000 lds r24,IntegralRoll
		7960	8209 4716 9091 0000 lds r25,(IntegralRoll)+1
		7961	8210 471a A091 0000 lds r26,(IntegralRoll)+2
		7962	8211 471e B091 0000 lds r27,(IntegralRoll)+3
		7963	8212 4722 BC01 movw r22,r24
		7964	8213 4724 CD01 movw r24,r26
		7965	8214 4726 A801 movw r20,r16
		7966	8215 4728 9701 movw r18,r14
		7967	8216 472a 0E94 0000 call __divmodsi4
		7968	8217 472e B901 movw r22,r18
		7969	8218 4730 C501 movw r24,r10
		7970	8219 4732 0E94 0000 call ihypot
		7971	8220 4736 5C01 movw r10,r24
		7972	8221 4738 CC97 sbiw r24,60
		7973	8222 473a 04F0 brlt .L612
		7974	8223 473c 5CE3 ldi r21,lo8(60)
		7975	8224 473e A52E mov r10,r21
		7976	8225 4740 B12C mov r11,__zero_reg__
		7977	8226 .L612:
		7978	8227 4742 C501 movw r24,r10
		7979	8228 4744 0E94 0000 call c_cos_8192
		7980	8229 4748 5C01 movw r10,r24
		7981	8230 474a 80E2 ldi r24,lo8(32)
		7982	8231 474c 8093 0000 sts VarioCharacter,r24
		7983	8232 4750 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__
		7984	8233 4754 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__
		7985	8234 4758 8091 0000 lds r24,HoehenReglerAktiv
		7986	8235 475c 8823 tst r24
		7987	8236 475e 01F4 brne .+2
		7988	8237 4760 00C0 rjmp .L613
		7989	8238 4762 8091 0000 lds r24,FC_StatusFlags
		7990	8239 4766 9927 clr r25
		7991	8240 4768 9C01 movw r18,r24
		7992	8241 476a 2071 andi r18,lo8(16)
		7993	8242 476c 3070 andi r19,hi8(16)
		7994	8243 476e 84FD sbrc r24,4
		7995	8244 4770 00C0 rjmp .L613
		7996	8245 4772 8091 0000 lds r24,FC_StatusFlags2
		7997	8246 4776 8260 ori r24,lo8(2)
		7998	8247 4778 8093 0000 sts FC_StatusFlags2,r24
		7999	8248 477c 7091 0000 lds r23,Parameter_ExtraConfig
		8000	8249 4780 872F mov r24,r23
		8001	8250 4782 9927 clr r25
		8002	8251 4784 41E0 ldi r20,lo8(1)
		8003	8252 4786 C42E mov r12,r20
		8004	8253 4788 D12C mov r13,__zero_reg__
		8005	8254 478a C822 and r12,r24
		8006	8255 478c D922 and r13,r25
		8007	8256 478e 80FD sbrc r24,0
		8008	8257 4790 00C0 rjmp .L615
		8009	8258 4792 8091 0000 lds r24,Parameter_GlobalConfig
		8010	8259 4796 81FD sbrc r24,1
		8011	8260 4798 00C0 rjmp .L614
		8012	8261 .L615:
		8013	8262 479a C980 ldd r12,Y+1
		8014	8263 479c DA80 ldd r13,Y+2
		8015	8264 479e 3093 0000 sts (HeightTrimming.22)+1,r19
		8016	8265 47a2 2093 0000 sts HeightTrimming.22,r18
		8017	8266 47a6 3093 0000 sts (AltitudeSetpointTrimming)+1,r19
		8018	8267 47aa 2093 0000 sts AltitudeSetpointTrimming,r18
		8019	8268 47ae 8091 0000 lds r24,FC_StatusFlags
		8020	8269 47b2 806C ori r24,lo8(-64)
		8021	8270 47b4 8093 0000 sts FC_StatusFlags,r24
		8022	8271 47b8 00C0 rjmp .L616
		8023	8272 .L614:
		8024	8273 47ba 8091 0000 lds r24,FC_StatusFlags
		8025	8274 47be 81FF sbrs r24,1
		8026	8275 47c0 00C0 rjmp .L617
		8027	8276 47c2 0091 0000 lds r16,StickGasHover
		8028	8277 47c6 1091 0000 lds r17,(StickGasHover)+1
		8029	8278 47ca C801 movw r24,r16
		8030	8279 47cc 0F96 adiw r24,15
		8031	8280 47ce 2090 0000 lds r2,StickGas
		8032	8281 47d2 3090 0000 lds r3,(StickGas)+1
		8033	8282 47d6 8215 cp r24,r2
		8034	8283 47d8 9305 cpc r25,r3
		8035	8284 47da 04F0 brlt .+2
		8036	8285 47dc 00C0 rjmp .L618
		8037	8286 47de 8091 0000 lds r24,BaroAtUpperLimit.26
		8038	8287 47e2 8823 tst r24
		8039	8288 47e4 01F0 breq .+2
		8040	8289 47e6 00C0 rjmp .L618
		8041	8290 47e8 8091 0000 lds r24,FC_StatusFlags
		8042	8291 47ec 87FF sbrs r24,7
		8043	8292 47ee 00C0 rjmp .L619
		8044	8293 47f0 8091 0000 lds r24,FC_StatusFlags
		8045	8294 47f4 8F77 andi r24,lo8(127)
		8046	8295 47f6 8093 0000 sts FC_StatusFlags,r24
		8047	8296 47fa 8091 0000 lds r24,HoehenWert
		8048	8297 47fe 9091 0000 lds r25,(HoehenWert)+1
		8049	8298 4802 A091 0000 lds r26,(HoehenWert)+2
		8050	8299 4806 B091 0000 lds r27,(HoehenWert)+3
		8051	8300 480a 8093 0000 sts SollHoehe,r24
		8052	8301 480e 9093 0000 sts (SollHoehe)+1,r25
		8053	8302 4812 A093 0000 sts (SollHoehe)+2,r26
		8054	8303 4816 B093 0000 sts (SollHoehe)+3,r27
		8055	8304 .L619:
		8056	8305 481a 8091 0000 lds r24,FC_StatusFlags
		8057	8306 481e 8064 ori r24,lo8(64)
		8058	8307 4820 8093 0000 sts FC_StatusFlags,r24
		8059	8308 4824 E090 0000 lds r14,Parameter_MaximumAltitude
		8060	8309 4828 EE20 tst r14
		8061	8310 482a 01F0 breq .L620
		8062	8311 482c 8091 0000 lds r24,SollHoehe
		8063	8312 4830 9091 0000 lds r25,(SollHoehe)+1
		8064	8313 4834 A091 0000 lds r26,(SollHoehe)+2
		8065	8314 4838 B091 0000 lds r27,(SollHoehe)+3
		8066	8315 483c BC01 movw r22,r24
		8067	8316 483e CD01 movw r24,r26
		8068	8317 4840 24E6 ldi r18,lo8(100)
		8069	8318 4842 30E0 ldi r19,hi8(100)
		8070	8319 4844 40E0 ldi r20,hlo8(100)
		8071	8320 4846 50E0 ldi r21,hhi8(100)
		8072	8321 4848 0E94 0000 call __divmodsi4
		8073	8322 484c 8E2D mov r24,r14
		8074	8323 484e 9927 clr r25
		8075	8324 4850 AA27 clr r26
		8076	8325 4852 BB27 clr r27
		8077	8326 4854 8217 cp r24,r18
		8078	8327 4856 9307 cpc r25,r19
		8079	8328 4858 A407 cpc r26,r20
		8080	8329 485a B507 cpc r27,r21
		8081	8330 485c 04F4 brge .L620
		8082	8331 485e D092 0000 sts (AltitudeSetpointTrimming)+1,r13
		8083	8332 4862 C092 0000 sts AltitudeSetpointTrimming,r12
		8084	8333 4866 00C0 rjmp .L621
		8085	8334 .L620:
		8086	8335 4868 C101 movw r24,r2
		8087	8336 486a 801B sub r24,r16
		8088	8337 486c 910B sbc r25,r17
		8089	8338 486e 0F97 sbiw r24,15
		8090	8339 4870 97FF sbrs r25,7
		8091	8340 4872 00C0 rjmp .L622
		8092	8341 4874 9095 com r25
		8093	8342 4876 8195 neg r24
		8094	8343 4878 9F4F sbci r25,lo8(-1)
		8095	8344 .L622:
		8096	8345 487a 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8097	8346 487e 8093 0000 sts AltitudeSetpointTrimming,r24
		8098	8347 4882 8BE2 ldi r24,lo8(43)
		8099	8348 4884 8093 0000 sts VarioCharacter,r24
		8100	8349 .L621:
		8101	8350 4888 1092 0000 sts WaypointTrimming,__zero_reg__
		8102	8351 488c 00C0 rjmp .L623
		8103	8352 .L618:
		8104	8353 488e C801 movw r24,r16
		8105	8354 4890 0F97 sbiw r24,15
		8106	8355 4892 2816 cp r2,r24
		8107	8356 4894 3906 cpc r3,r25
		8108	8357 4896 04F4 brge .L624
		8109	8358 4898 2091 0000 lds r18,BaroAtLowerLimit.27
		8110	8359 489c 2223 tst r18
		8111	8360 489e 01F4 brne .L624
		8112	8361 48a0 8091 0000 lds r24,FC_StatusFlags
		8113	8362 48a4 86FF sbrs r24,6
		8114	8363 48a6 00C0 rjmp .L625
		8115	8364 48a8 8091 0000 lds r24,FC_StatusFlags
		8116	8365 48ac 8F7B andi r24,lo8(-65)
		8117	8366 48ae 8093 0000 sts FC_StatusFlags,r24
		8118	8367 48b2 8091 0000 lds r24,HoehenWert
		8119	8368 48b6 9091 0000 lds r25,(HoehenWert)+1
		8120	8369 48ba A091 0000 lds r26,(HoehenWert)+2
		8121	8370 48be B091 0000 lds r27,(HoehenWert)+3
		8122	8371 48c2 8093 0000 sts SollHoehe,r24
		8123	8372 48c6 9093 0000 sts (SollHoehe)+1,r25
		8124	8373 48ca A093 0000 sts (SollHoehe)+2,r26
		8125	8374 48ce B093 0000 sts (SollHoehe)+3,r27
		8126	8375 .L625:
		8127	8376 48d2 8091 0000 lds r24,FC_StatusFlags
		8128	8377 48d6 8068 ori r24,lo8(-128)
		8129	8378 48d8 8093 0000 sts FC_StatusFlags,r24
		8130	8379 48dc C101 movw r24,r2
		8131	8380 48de 801B sub r24,r16
		8132	8381 48e0 910B sbc r25,r17
		8133	8382 48e2 0F96 adiw r24,15
		8134	8383 48e4 97FF sbrs r25,7
		8135	8384 48e6 00C0 rjmp .L626
		8136	8385 48e8 9095 com r25
		8137	8386 48ea 8195 neg r24
		8138	8387 48ec 9F4F sbci r25,lo8(-1)
		8139	8388 .L626:
		8140	8389 48ee 9095 com r25
		8141	8390 48f0 8195 neg r24
		8142	8391 48f2 9F4F sbci r25,lo8(-1)
		8143	8392 48f4 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8144	8393 48f8 8093 0000 sts AltitudeSetpointTrimming,r24
		8145	8394 48fc 8DE2 ldi r24,lo8(45)
		8146	8395 48fe 8093 0000 sts VarioCharacter,r24
		8147	8396 4902 2093 0000 sts WaypointTrimming,r18
		8148	8397 4906 00C0 rjmp .L623
		8149	8398 .L624:
		8150	8399 4908 8DE3 ldi r24,lo8(61)
		8151	8400 490a 8093 0000 sts VarioCharacter,r24
		8152	8401 490e 6091 0000 lds r22,FromNC_AltitudeSpeed
		8153	8402 4912 6623 tst r22
		8154	8403 4914 01F0 breq .L628
		8155	8404 4916 2091 0000 lds r18,FromNC_AltitudeSetpoint
		8156	8405 491a 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1
		8157	8406 491e 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2
		8158	8407 4922 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3
		8159	8408 4926 8091 0000 lds r24,SollHoehe
		8160	8409 492a 9091 0000 lds r25,(SollHoehe)+1
		8161	8410 492e A091 0000 lds r26,(SollHoehe)+2
		8162	8411 4932 B091 0000 lds r27,(SollHoehe)+3
		8163	8412 4936 8217 cp r24,r18
		8164	8413 4938 9307 cpc r25,r19
		8165	8414 493a A407 cpc r26,r20
		8166	8415 493c B507 cpc r27,r21
		8167	8416 493e 04F4 brge .L628
		8168	8417 4940 8091 0000 lds r24,FC_StatusFlags
		8169	8418 4944 8064 ori r24,lo8(64)
		8170	8419 4946 8093 0000 sts FC_StatusFlags,r24
		8171	8420 494a 862F mov r24,r22
		8172	8421 494c 9927 clr r25
		8173	8422 494e 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8174	8423 4952 8093 0000 sts AltitudeSetpointTrimming,r24
		8175	8424 4956 8AE0 ldi r24,lo8(10)
		8176	8425 4958 8093 0000 sts WaypointTrimming,r24
		8177	8426 495c 8EE5 ldi r24,lo8(94)
		8178	8427 495e 8093 0000 sts VarioCharacter,r24
		8179	8428 4962 8091 0000 lds r24,FC_StatusFlags
		8180	8429 4966 87FF sbrs r24,7
		8181	8430 4968 00C0 rjmp .L623
		8182	8431 496a 8091 0000 lds r24,FC_StatusFlags
		8183	8432 496e 8F77 andi r24,lo8(127)
		8184	8433 4970 00C0 rjmp .L833
		8185	8434 .L628:
		8186	8435 4972 6623 tst r22
		8187	8436 4974 01F4 brne .+2
		8188	8437 4976 00C0 rjmp .L631
		8189	8438 4978 2091 0000 lds r18,FromNC_AltitudeSetpoint
		8190	8439 497c 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1
		8191	8440 4980 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2
		8192	8441 4984 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3
		8193	8442 4988 8091 0000 lds r24,SollHoehe
		8194	8443 498c 9091 0000 lds r25,(SollHoehe)+1
		8195	8444 4990 A091 0000 lds r26,(SollHoehe)+2
		8196	8445 4994 B091 0000 lds r27,(SollHoehe)+3
		8197	8446 4998 2817 cp r18,r24
		8198	8447 499a 3907 cpc r19,r25
		8199	8448 499c 4A07 cpc r20,r26
		8200	8449 499e 5B07 cpc r21,r27
		8201	8450 49a0 04F4 brge .L631
		8202	8451 49a2 8091 0000 lds r24,FC_StatusFlags
		8203	8452 49a6 8068 ori r24,lo8(-128)
		8204	8453 49a8 8093 0000 sts FC_StatusFlags,r24
		8205	8454 49ac 862F mov r24,r22
		8206	8455 49ae 9927 clr r25
		8207	8456 49b0 9095 com r25
		8208	8457 49b2 8195 neg r24
		8209	8458 49b4 9F4F sbci r25,lo8(-1)
		8210	8459 49b6 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8211	8460 49ba 8093 0000 sts AltitudeSetpointTrimming,r24
		8212	8461 49be 86EF ldi r24,lo8(-10)
		8213	8462 49c0 8093 0000 sts WaypointTrimming,r24
		8214	8463 49c4 86E7 ldi r24,lo8(118)
		8215	8464 49c6 8093 0000 sts VarioCharacter,r24
		8216	8465 49ca 8091 0000 lds r24,FC_StatusFlags
		8217	8466 49ce 86FF sbrs r24,6
		8218	8467 49d0 00C0 rjmp .L623
		8219	8468 49d2 8091 0000 lds r24,FC_StatusFlags
		8220	8469 49d6 8F7B andi r24,lo8(-65)
		8221	8470 .L833:
		8222	8471 49d8 8093 0000 sts FC_StatusFlags,r24
		8223	8472 49dc 8091 0000 lds r24,HoehenWert
		8224	8473 49e0 9091 0000 lds r25,(HoehenWert)+1
		8225	8474 49e4 A091 0000 lds r26,(HoehenWert)+2
		8226	8475 49e8 B091 0000 lds r27,(HoehenWert)+3
		8227	8476 49ec 8093 0000 sts SollHoehe,r24
		8228	8477 49f0 9093 0000 sts (SollHoehe)+1,r25
		8229	8478 49f4 A093 0000 sts (SollHoehe)+2,r26
		8230	8479 49f8 B093 0000 sts (SollHoehe)+3,r27
		8231	8480 49fc 00C0 rjmp .L623
		8232	8481 .L631:
		8233	8482 49fe 8091 0000 lds r24,FC_StatusFlags
		8234	8483 4a02 807C andi r24,lo8(-64)
		8235	8484 4a04 01F4 brne .+2
		8236	8485 4a06 00C0 rjmp .L623
		8237	8486 4a08 8091 0000 lds r24,WaypointTrimming
		8238	8487 4a0c 8823 tst r24
		8239	8488 4a0e 01F4 brne .L635
		8240	8489 4a10 E090 0000 lds r14,HoehenWert
		8241	8490 4a14 F090 0000 lds r15,(HoehenWert)+1
		8242	8491 4a18 0091 0000 lds r16,(HoehenWert)+2
		8243	8492 4a1c 1091 0000 lds r17,(HoehenWert)+3
		8244	8493 4a20 D801 movw r26,r16
		8245	8494 4a22 C701 movw r24,r14
		8246	8495 4a24 8058 subi r24,lo8(-(-128))
		8247	8496 4a26 9040 sbci r25,hi8(-(-128))
		8248	8497 4a28 A040 sbci r26,hlo8(-(-128))
		8249	8498 4a2a B040 sbci r27,hhi8(-(-128))
		8250	8499 4a2c 2091 0000 lds r18,SollHoehe
		8251	8500 4a30 3091 0000 lds r19,(SollHoehe)+1
		8252	8501 4a34 4091 0000 lds r20,(SollHoehe)+2
		8253	8502 4a38 5091 0000 lds r21,(SollHoehe)+3
		8254	8503 4a3c 8217 cp r24,r18
		8255	8504 4a3e 9307 cpc r25,r19
		8256	8505 4a40 A407 cpc r26,r20
		8257	8506 4a42 B507 cpc r27,r21
		8258	8507 4a44 04F4 brge .L832
		8259	8508 4a46 D801 movw r26,r16
		8260	8509 4a48 C701 movw r24,r14
		8261	8510 4a4a 8058 subi r24,lo8(-(128))
		8262	8511 4a4c 9F4F sbci r25,hi8(-(128))
		8263	8512 4a4e AF4F sbci r26,hlo8(-(128))
		8264	8513 4a50 BF4F sbci r27,hhi8(-(128))
		8265	8514 4a52 2817 cp r18,r24
		8266	8515 4a54 3907 cpc r19,r25
		8267	8516 4a56 4A07 cpc r20,r26
		8268	8517 4a58 5B07 cpc r21,r27
		8269	8518 4a5a 04F0 brlt .L639
		8270	8519 .L832:
		8271	8520 4a5c 8093 0000 sts SollHoehe,r24
		8272	8521 4a60 9093 0000 sts (SollHoehe)+1,r25
		8273	8522 4a64 A093 0000 sts (SollHoehe)+2,r26
		8274	8523 4a68 B093 0000 sts (SollHoehe)+3,r27
		8275	8524 4a6c 00C0 rjmp .L639
		8276	8525 .L635:
		8277	8526 4a6e 1092 0000 sts WaypointTrimming,__zero_reg__
		8278	8527 .L639:
		8279	8528 4a72 8091 0000 lds r24,FC_StatusFlags
		8280	8529 4a76 8F73 andi r24,lo8(63)
		8281	8530 4a78 8093 0000 sts FC_StatusFlags,r24
		8282	8531 4a7c 1092 0000 sts (HeightTrimming.22)+1,__zero_reg__
		8283	8532 4a80 1092 0000 sts HeightTrimming.22,__zero_reg__
		8284	8533 4a84 71FF sbrs r23,1
		8285	8534 4a86 00C0 rjmp .L640
		8286	8535 4a88 84EF ldi r24,lo8(500)
		8287	8536 4a8a 91E0 ldi r25,hi8(500)
		8288	8537 4a8c 9093 0000 sts (beeptime)+1,r25
		8289	8538 4a90 8093 0000 sts beeptime,r24
		8290	8539 .L640:
		8291	8540 4a94 8091 0000 lds r24,StartTrigger
		8292	8541 4a98 8823 tst r24
		8293	8542 4a9a 01F4 brne .L623
		8294	8543 4a9c 8091 0000 lds r24,HoehenWert
		8295	8544 4aa0 9091 0000 lds r25,(HoehenWert)+1
		8296	8545 4aa4 A091 0000 lds r26,(HoehenWert)+2
		8297	8546 4aa8 B091 0000 lds r27,(HoehenWert)+3
		8298	8547 4aac C397 sbiw r24,51
		8299	8548 4aae A105 cpc r26,__zero_reg__
		8300	8549 4ab0 B105 cpc r27,__zero_reg__
		8301	8550 4ab2 04F0 brlt .L623
		8302	8551 4ab4 81E0 ldi r24,lo8(1)
		8303	8552 4ab6 8093 0000 sts StartTrigger,r24
		8304	8553 .L623:
		8305	8554 4aba 6091 0000 lds r22,HeightTrimming.22
		8306	8555 4abe 7091 0000 lds r23,(HeightTrimming.22)+1
		8307	8556 4ac2 8091 0000 lds r24,AltitudeSetpointTrimming
		8308	8557 4ac6 9091 0000 lds r25,(AltitudeSetpointTrimming)+1
		8309	8558 4aca 680F add r22,r24
		8310	8559 4acc 791F adc r23,r25
		8311	8560 4ace 7093 0000 sts (HeightTrimming.22)+1,r23
		8312	8561 4ad2 6093 0000 sts HeightTrimming.22,r22
		8313	8562 4ad6 CB01 movw r24,r22
		8314	8563 4ad8 77FF sbrs r23,7
		8315	8564 4ada 00C0 rjmp .L643
		8316	8565 4adc 8827 clr r24
		8317	8566 4ade 9927 clr r25
		8318	8567 4ae0 861B sub r24,r22
		8319	8568 4ae2 970B sbc r25,r23
		8320	8569 .L643:
		8321	8570 4ae4 855F subi r24,lo8(501)
		8322	8571 4ae6 9140 sbci r25,hi8(501)
		8323	8572 4ae8 04F4 brge .+2
		8324	8573 4aea 00C0 rjmp .L642
		8325	8574 4aec 4091 0000 lds r20,WaypointTrimming
		8326	8575 4af0 4423 tst r20
		8327	8576 4af2 01F0 breq .L644
		8328	8577 4af4 8091 0000 lds r24,FromNC_AltitudeSetpoint
		8329	8578 4af8 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1
		8330	8579 4afc 2091 0000 lds r18,SollHoehe
		8331	8580 4b00 3091 0000 lds r19,(SollHoehe)+1
		8332	8581 4b04 821B sub r24,r18
		8333	8582 4b06 930B sbc r25,r19
		8334	8583 4b08 0996 adiw r24,9
		8335	8584 4b0a 4397 sbiw r24,19
		8336	8585 4b0c 00F4 brsh .L645
		8337	8586 4b0e 8091 0000 lds r24,FromNC_AltitudeSetpoint
		8338	8587 4b12 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1
		8339	8588 4b16 A091 0000 lds r26,(FromNC_AltitudeSetpoint)+2
		8340	8589 4b1a B091 0000 lds r27,(FromNC_AltitudeSetpoint)+3
		8341	8590 4b1e 00C0 rjmp .L835
		8342	8591 .L645:
		8343	8592 4b20 242F mov r18,r20
		8344	8593 4b22 3327 clr r19
		8345	8594 4b24 27FD sbrc r18,7
		8346	8595 4b26 3095 com r19
		8347	8596 4b28 432F mov r20,r19
		8348	8597 4b2a 532F mov r21,r19
		8349	8598 4b2c 8091 0000 lds r24,SollHoehe
		8350	8599 4b30 9091 0000 lds r25,(SollHoehe)+1
		8351	8600 4b34 A091 0000 lds r26,(SollHoehe)+2
		8352	8601 4b38 B091 0000 lds r27,(SollHoehe)+3
		8353	8602 4b3c 820F add r24,r18
		8354	8603 4b3e 931F adc r25,r19
		8355	8604 4b40 A41F adc r26,r20
		8356	8605 4b42 B51F adc r27,r21
		8357	8606 .L835:
		8358	8607 4b44 8093 0000 sts SollHoehe,r24
		8359	8608 4b48 9093 0000 sts (SollHoehe)+1,r25
		8360	8609 4b4c A093 0000 sts (SollHoehe)+2,r26
		8361	8610 4b50 B093 0000 sts (SollHoehe)+3,r27
		8362	8611 4b54 00C0 rjmp .L647
		8363	8612 .L644:
		8364	8613 4b56 8091 0000 lds r24,EE_Parameter+18
		8365	8614 4b5a 2091 0000 lds r18,SollHoehe
		8366	8615 4b5e 3091 0000 lds r19,(SollHoehe)+1
		8367	8616 4b62 4091 0000 lds r20,(SollHoehe)+2
		8368	8617 4b66 5091 0000 lds r21,(SollHoehe)+3
		8369	8618 4b6a 1616 cp __zero_reg__,r22
		8370	8619 4b6c 1706 cpc __zero_reg__,r23
		8371	8620 4b6e 04F4 brge .L648
		8372	8621 4b70 63E0 ldi r22,lo8(3)
		8373	8622 4b72 0E94 0000 call __udivmodqi4
		8374	8623 4b76 280F add r18,r24
		8375	8624 4b78 311D adc r19,__zero_reg__
		8376	8625 4b7a 411D adc r20,__zero_reg__
		8377	8626 4b7c 511D adc r21,__zero_reg__
		8378	8627 4b7e 00C0 rjmp .L834
		8379	8628 .L648:
		8380	8629 4b80 63E0 ldi r22,lo8(3)
		8381	8630 4b82 0E94 0000 call __udivmodqi4
		8382	8631 4b86 281B sub r18,r24
		8383	8632 4b88 3109 sbc r19,__zero_reg__
		8384	8633 4b8a 4109 sbc r20,__zero_reg__
		8385	8634 4b8c 5109 sbc r21,__zero_reg__
		8386	8635 .L834:
		8387	8636 4b8e 2093 0000 sts SollHoehe,r18
		8388	8637 4b92 3093 0000 sts (SollHoehe)+1,r19
		8389	8638 4b96 4093 0000 sts (SollHoehe)+2,r20
		8390	8639 4b9a 5093 0000 sts (SollHoehe)+3,r21
		8391	8640 .L647:
		8392	8641 4b9e 1092 0000 sts (HeightTrimming.22)+1,__zero_reg__
		8393	8642 4ba2 1092 0000 sts HeightTrimming.22,__zero_reg__
		8394	8643 4ba6 E090 0000 lds r14,HoehenWert
		8395	8644 4baa F090 0000 lds r15,(HoehenWert)+1
		8396	8645 4bae 0091 0000 lds r16,(HoehenWert)+2
		8397	8646 4bb2 1091 0000 lds r17,(HoehenWert)+3
		8398	8647 4bb6 D801 movw r26,r16
		8399	8648 4bb8 C701 movw r24,r14
		8400	8649 4bba 8050 subi r24,lo8(-(-1024))
		8401	8650 4bbc 9440 sbci r25,hi8(-(-1024))
		8402	8651 4bbe A040 sbci r26,hlo8(-(-1024))
		8403	8652 4bc0 B040 sbci r27,hhi8(-(-1024))
		8404	8653 4bc2 2091 0000 lds r18,SollHoehe
		8405	8654 4bc6 3091 0000 lds r19,(SollHoehe)+1
		8406	8655 4bca 4091 0000 lds r20,(SollHoehe)+2
		8407	8656 4bce 5091 0000 lds r21,(SollHoehe)+3
		8408	8657 4bd2 8217 cp r24,r18
		8409	8658 4bd4 9307 cpc r25,r19
		8410	8659 4bd6 A407 cpc r26,r20
		8411	8660 4bd8 B507 cpc r27,r21
		8412	8661 4bda 04F4 brge .L836
		8413	8662 4bdc D801 movw r26,r16
		8414	8663 4bde C701 movw r24,r14
		8415	8664 4be0 8050 subi r24,lo8(-(1024))
		8416	8665 4be2 9C4F sbci r25,hi8(-(1024))
		8417	8666 4be4 AF4F sbci r26,hlo8(-(1024))
		8418	8667 4be6 BF4F sbci r27,hhi8(-(1024))
		8419	8668 4be8 2817 cp r18,r24
		8420	8669 4bea 3907 cpc r19,r25
		8421	8670 4bec 4A07 cpc r20,r26
		8422	8671 4bee 5B07 cpc r21,r27
		8423	8672 4bf0 04F0 brlt .L651
		8424	8673 .L836:
		8425	8674 4bf2 8093 0000 sts SollHoehe,r24
		8426	8675 4bf6 9093 0000 sts (SollHoehe)+1,r25
		8427	8676 4bfa A093 0000 sts (SollHoehe)+2,r26
		8428	8677 4bfe B093 0000 sts (SollHoehe)+3,r27
		8429	8678 .L651:
		8430	8679 4c02 8091 0000 lds r24,Parameter_ExtraConfig
		8431	8680 4c06 81FF sbrs r24,1
		8432	8681 4c08 00C0 rjmp .L653
		8433	8682 4c0a 84E6 ldi r24,lo8(100)
		8434	8683 4c0c 90E0 ldi r25,hi8(100)
		8435	8684 4c0e 9093 0000 sts (beeptime)+1,r25
		8436	8685 4c12 8093 0000 sts beeptime,r24
		8437	8686 .L653:
		8438	8687 4c16 8091 0000 lds r24,EE_Parameter+22
		8439	8688 4c1a 8823 tst r24
		8440	8689 4c1c 01F4 brne .L642
		8441	8690 4c1e 8091 0000 lds r24,FromNC_AltitudeSpeed
		8442	8691 4c22 8823 tst r24
		8443	8692 4c24 01F4 brne .L642
		8444	8693 4c26 4091 0000 lds r20,HoverGas
		8445	8694 4c2a 5091 0000 lds r21,(HoverGas)+1
		8446	8695 4c2e 57FF sbrs r21,7
		8447	8696 4c30 00C0 rjmp .L655
		8448	8697 4c32 4D5F subi r20,lo8(-(3))
		8449	8698 4c34 5F4F sbci r21,hi8(-(3))
		8450	8699 .L655:
		8451	8700 4c36 5595 asr r21
		8452	8701 4c38 4795 ror r20
		8453	8702 4c3a 5595 asr r21
		8454	8703 4c3c 4795 ror r20
		8455	8704 4c3e 8091 0000 lds r24,UBat
		8456	8705 4c42 9091 0000 lds r25,(UBat)+1
		8457	8706 4c46 2091 0000 lds r18,BattLowVoltageWarning
		8458	8707 4c4a 3327 clr r19
		8459	8708 4c4c 489F mul r20,r24
		8460	8709 4c4e F001 movw r30,r0
		8461	8710 4c50 499F mul r20,r25
		8462	8711 4c52 F00D add r31,r0
		8463	8712 4c54 589F mul r21,r24
		8464	8713 4c56 F00D add r31,r0
		8465	8714 4c58 1124 clr r1
		8466	8715 4c5a CF01 movw r24,r30
		8467	8716 4c5c B901 movw r22,r18
		8468	8717 4c5e 0E94 0000 call __divmodhi4
		8469	8718 4c62 7093 0000 sts (StickGasHover)+1,r23
		8470	8719 4c66 6093 0000 sts StickGasHover,r22
		8471	8720 4c6a 6634 cpi r22,70
		8472	8721 4c6c 7105 cpc r23,__zero_reg__
		8473	8722 4c6e 04F4 brge .L656
		8474	8723 4c70 86E4 ldi r24,lo8(70)
		8475	8724 4c72 90E0 ldi r25,hi8(70)
		8476	8725 4c74 00C0 rjmp .L837
		8477	8726 .L656:
		8478	8727 4c76 6739 cpi r22,151
		8479	8728 4c78 7105 cpc r23,__zero_reg__
		8480	8729 4c7a 04F0 brlt .L642
		8481	8730 4c7c 86E9 ldi r24,lo8(150)
		8482	8731 4c7e 90E0 ldi r25,hi8(150)
		8483	8732 .L837:
		8484	8733 4c80 9093 0000 sts (StickGasHover)+1,r25
		8485	8734 4c84 8093 0000 sts StickGasHover,r24
		8486	8735 .L642:
		8487	8736 4c88 8091 0000 lds r24,BaroExpandActive
		8488	8737 4c8c 9091 0000 lds r25,(BaroExpandActive)+1
		8489	8738 4c90 892B or r24,r25
		8490	8739 4c92 01F0 breq .L660
		8491	8740 4c94 8091 0000 lds r24,HoehenWert
		8492	8741 4c98 9091 0000 lds r25,(HoehenWert)+1
		8493	8742 4c9c A091 0000 lds r26,(HoehenWert)+2
		8494	8743 4ca0 B091 0000 lds r27,(HoehenWert)+3
		8495	8744 4ca4 8093 0000 sts SollHoehe,r24
		8496	8745 4ca8 9093 0000 sts (SollHoehe)+1,r25
		8497	8746 4cac A093 0000 sts (SollHoehe)+2,r26
		8498	8747 4cb0 B093 0000 sts (SollHoehe)+3,r27
		8499	8748 4cb4 00C0 rjmp .L660
		8500	8749 .L617:
		8501	8750 4cb6 8091 0000 lds r24,HoehenWert
		8502	8751 4cba 9091 0000 lds r25,(HoehenWert)+1
		8503	8752 4cbe A091 0000 lds r26,(HoehenWert)+2
		8504	8753 4cc2 B091 0000 lds r27,(HoehenWert)+3
		8505	8754 4cc6 8059 subi r24,lo8(-(-400))
		8506	8755 4cc8 9140 sbci r25,hi8(-(-400))
		8507	8756 4cca A040 sbci r26,hlo8(-(-400))
		8508	8757 4ccc B040 sbci r27,hhi8(-(-400))
		8509	8758 4cce 8093 0000 sts SollHoehe,r24
		8510	8759 4cd2 9093 0000 sts (SollHoehe)+1,r25
		8511	8760 4cd6 A093 0000 sts (SollHoehe)+2,r26
		8512	8761 4cda B093 0000 sts (SollHoehe)+3,r27
		8513	8762 4cde 8091 0000 lds r24,EE_Parameter+22
		8514	8763 4ce2 8823 tst r24
		8515	8764 4ce4 01F0 breq .L661
		8516	8765 4ce6 9927 clr r25
		8517	8766 4ce8 00C0 rjmp .L838
		8518	8767 .L661:
		8519	8768 4cea 88E7 ldi r24,lo8(120)
		8520	8769 4cec 90E0 ldi r25,hi8(120)
		8521	8770 .L838:
		8522	8771 4cee 9093 0000 sts (StickGasHover)+1,r25
		8523	8772 4cf2 8093 0000 sts StickGasHover,r24
		8524	8773 4cf6 E980 ldd r14,Y+1
		8525	8774 4cf8 FA80 ldd r15,Y+2
		8526	8775 4cfa F092 0000 sts (HoverGas)+1,r15
		8527	8776 4cfe E092 0000 sts HoverGas,r14
		8528	8777 4d02 8EE2 ldi r24,lo8(46)
		8529	8778 4d04 8093 0000 sts VarioCharacter,r24
		8530	8779 .L660:
		8531	8780 4d08 C090 0000 lds r12,HoverGas
		8532	8781 4d0c D090 0000 lds r13,(HoverGas)+1
		8533	8782 .L616:
		8534	8783 4d10 E090 0000 lds r14,HoehenWert
		8535	8784 4d14 F090 0000 lds r15,(HoehenWert)+1
		8536	8785 4d18 0091 0000 lds r16,(HoehenWert)+2
		8537	8786 4d1c 1091 0000 lds r17,(HoehenWert)+3
		8538	8787 4d20 2091 0000 lds r18,SollHoehe
		8539	8788 4d24 3091 0000 lds r19,(SollHoehe)+1
		8540	8789 4d28 4091 0000 lds r20,(SollHoehe)+2
		8541	8790 4d2c 5091 0000 lds r21,(SollHoehe)+3
		8542	8791 4d30 2E15 cp r18,r14
		8543	8792 4d32 3F05 cpc r19,r15
		8544	8793 4d34 4007 cpc r20,r16
		8545	8794 4d36 5107 cpc r21,r17
		8546	8795 4d38 04F0 brlt .L664
		8547	8796 4d3a 8091 0000 lds r24,Parameter_ExtraConfig
		8548	8797 4d3e 80FD sbrc r24,0
		8549	8798 4d40 00C0 rjmp .L722
		8550	8799 .L664:
		8551	8800 4d42 8091 0000 lds r24,BaroExpandActive
		8552	8801 4d46 9091 0000 lds r25,(BaroExpandActive)+1
		8553	8802 4d4a 892B or r24,r25
		8554	8803 4d4c 01F0 breq .L665
		8555	8804 4d4e C090 0000 lds r12,HoverGas
		8556	8805 4d52 D090 0000 lds r13,(HoverGas)+1
		8557	8806 4d56 00E0 ldi r16,lo8(0)
		8558	8807 4d58 10E0 ldi r17,hi8(0)
		8559	8808 4d5a 00C0 rjmp .L666
		8560	8809 .L665:
		8561	8810 4d5c D801 movw r26,r16
		8562	8811 4d5e C701 movw r24,r14
		8563	8812 4d60 821B sub r24,r18
		8564	8813 4d62 930B sbc r25,r19
		8565	8814 4d64 A40B sbc r26,r20
		8566	8815 4d66 B50B sbc r27,r21
		8567	8816 4d68 8093 0000 sts tmp_long.1,r24
		8568	8817 4d6c 9093 0000 sts (tmp_long.1)+1,r25
		8569	8818 4d70 A093 0000 sts (tmp_long.1)+2,r26
		8570	8819 4d74 B093 0000 sts (tmp_long.1)+3,r27
		8571	8820 4d78 8230 cpi r24,lo8(-32766)
		8572	8821 4d7a 00E8 ldi r16,hi8(-32766)
		8573	8822 4d7c 9007 cpc r25,r16
		8574	8823 4d7e 0FEF ldi r16,hlo8(-32766)
		8575	8824 4d80 A007 cpc r26,r16
		8576	8825 4d82 0FEF ldi r16,hhi8(-32766)
		8577	8826 4d84 B007 cpc r27,r16
		8578	8827 4d86 04F4 brge .L667
		8579	8828 4d88 81E0 ldi r24,lo8(-32767)
		8580	8829 4d8a 90E8 ldi r25,hi8(-32767)
		8581	8830 4d8c AFEF ldi r26,hlo8(-32767)
		8582	8831 4d8e BFEF ldi r27,hhi8(-32767)
		8583	8832 4d90 00C0 rjmp .L839
		8584	8833 .L667:
		8585	8834 4d92 8F5F subi r24,lo8(32767)
		8586	8835 4d94 9F47 sbci r25,hi8(32767)
		8587	8836 4d96 A040 sbci r26,hlo8(32767)
		8588	8837 4d98 B040 sbci r27,hhi8(32767)
		8589	8838 4d9a 04F0 brlt .L668
		8590	8839 4d9c 8FEF ldi r24,lo8(32767)
		8591	8840 4d9e 9FE7 ldi r25,hi8(32767)
		8592	8841 4da0 A0E0 ldi r26,hlo8(32767)
		8593	8842 4da2 B0E0 ldi r27,hhi8(32767)
		8594	8843 .L839:
		8595	8844 4da4 8093 0000 sts tmp_long.1,r24
		8596	8845 4da8 9093 0000 sts (tmp_long.1)+1,r25
		8597	8846 4dac A093 0000 sts (tmp_long.1)+2,r26
		8598	8847 4db0 B093 0000 sts (tmp_long.1)+3,r27
		8599	8848 .L668:
		8600	8849 4db4 0091 0000 lds r16,tmp_long.1
		8601	8850 4db8 1091 0000 lds r17,(tmp_long.1)+1
		8602	8851 4dbc 8091 0000 lds r24,Parameter_Hoehe_P
		8603	8852 4dc0 282F mov r18,r24
		8604	8853 4dc2 3327 clr r19
		8605	8854 4dc4 4427 clr r20
		8606	8855 4dc6 5527 clr r21
		8607	8856 4dc8 8091 0000 lds r24,tmp_long.1
		8608	8857 4dcc 9091 0000 lds r25,(tmp_long.1)+1
		8609	8858 4dd0 A091 0000 lds r26,(tmp_long.1)+2
		8610	8859 4dd4 B091 0000 lds r27,(tmp_long.1)+3
		8611	8860 4dd8 BC01 movw r22,r24
		8612	8861 4dda CD01 movw r24,r26
		8613	8862 4ddc 0E94 0000 call __mulsi3
		8614	8863 4de0 97FF sbrs r25,7
		8615	8864 4de2 00C0 rjmp .L670
		8616	8865 4de4 615E subi r22,lo8(-(31))
		8617	8866 4de6 7F4F sbci r23,hi8(-(31))
		8618	8867 4de8 8F4F sbci r24,hlo8(-(31))
		8619	8868 4dea 9F4F sbci r25,hhi8(-(31))
		8620	8869 .L670:
		8621	8870 4dec 25E0 ldi r18,5
		8622	8871 4dee 9595 1: asr r25
		8623	8872 4df0 8795 ror r24
		8624	8873 4df2 7795 ror r23
		8625	8874 4df4 6795 ror r22
		8626	8875 4df6 2A95 dec r18
		8627	8876 4df8 01F4 brne 1b
		8628	8877 4dfa 6093 0000 sts tmp_long.1,r22
		8629	8878 4dfe 7093 0000 sts (tmp_long.1)+1,r23
		8630	8879 4e02 8093 0000 sts (tmp_long.1)+2,r24
		8631	8880 4e06 9093 0000 sts (tmp_long.1)+3,r25
		8632	8881 4e0a 6530 cpi r22,lo8(-507)
		8633	8882 4e0c 2EEF ldi r18,hi8(-507)
		8634	8883 4e0e 7207 cpc r23,r18
		8635	8884 4e10 2FEF ldi r18,hlo8(-507)
		8636	8885 4e12 8207 cpc r24,r18
		8637	8886 4e14 2FEF ldi r18,hhi8(-507)
		8638	8887 4e16 9207 cpc r25,r18
		8639	8888 4e18 04F4 brge .L671
		8640	8889 4e1a 84E0 ldi r24,lo8(-508)
		8641	8890 4e1c 9EEF ldi r25,hi8(-508)
		8642	8891 4e1e AFEF ldi r26,hlo8(-508)
		8643	8892 4e20 BFEF ldi r27,hhi8(-508)
		8644	8893 4e22 00C0 rjmp .L840
		8645	8894 .L671:
		8646	8895 4e24 6050 subi r22,lo8(1024)
		8647	8896 4e26 7440 sbci r23,hi8(1024)
		8648	8897 4e28 8040 sbci r24,hlo8(1024)
		8649	8898 4e2a 9040 sbci r25,hhi8(1024)
		8650	8899 4e2c 04F0 brlt .L672
		8651	8900 4e2e 80E0 ldi r24,lo8(1024)
		8652	8901 4e30 94E0 ldi r25,hi8(1024)
		8653	8902 4e32 A0E0 ldi r26,hlo8(1024)
		8654	8903 4e34 B0E0 ldi r27,hhi8(1024)
		8655	8904 .L840:
		8656	8905 4e36 8093 0000 sts tmp_long.1,r24
		8657	8906 4e3a 9093 0000 sts (tmp_long.1)+1,r25
		8658	8907 4e3e A093 0000 sts (tmp_long.1)+2,r26
		8659	8908 4e42 B093 0000 sts (tmp_long.1)+3,r27
		8660	8909 .L672:
		8661	8910 4e46 8090 0000 lds r8,tmp_long.1
		8662	8911 4e4a 9090 0000 lds r9,(tmp_long.1)+1
		8663	8912 4e4e 2091 0000 lds r18,VarioMeter
		8664	8913 4e52 3091 0000 lds r19,(VarioMeter)+1
		8665	8914 4e56 37FF sbrs r19,7
		8666	8915 4e58 00C0 rjmp .L674
		8667	8916 4e5a 295F subi r18,lo8(-(7))
		8668	8917 4e5c 3F4F sbci r19,hi8(-(7))
		8669	8918 .L674:
		8670	8919 4e5e 83E0 ldi r24,3
		8671	8920 4e60 3595 1: asr r19
		8672	8921 4e62 2795 ror r18
		8673	8922 4e64 8A95 dec r24
		8674	8923 4e66 01F4 brne 1b
		8675	8924 4e68 4FEF ldi r20,hi8(-126)
		8676	8925 4e6a 2238 cpi r18,lo8(-126)
		8677	8926 4e6c 3407 cpc r19,r20
		8678	8927 4e6e 04F4 brge .L675
		8679	8928 4e70 21E8 ldi r18,lo8(-127)
		8680	8929 4e72 3FEF ldi r19,hi8(-127)
		8681	8930 4e74 00C0 rjmp .L676
		8682	8931 .L675:
		8683	8932 4e76 2038 cpi r18,128
		8684	8933 4e78 3105 cpc r19,__zero_reg__
		8685	8934 4e7a 04F0 brlt .L676
		8686	8935 4e7c 20E8 ldi r18,lo8(128)
		8687	8936 4e7e 30E0 ldi r19,hi8(128)
		8688	8937 .L676:
		8689	8938 4e80 C901 movw r24,r18
		8690	8939 4e82 AA27 clr r26
		8691	8940 4e84 97FD sbrc r25,7
		8692	8941 4e86 A095 com r26
		8693	8942 4e88 BA2F mov r27,r26
		8694	8943 4e8a 2091 0000 lds r18,Parameter_Luftdruck_D
		8695	8944 4e8e 3327 clr r19
		8696	8945 4e90 4427 clr r20
		8697	8946 4e92 5527 clr r21
		8698	8947 4e94 BC01 movw r22,r24
		8699	8948 4e96 CD01 movw r24,r26
		8700	8949 4e98 0E94 0000 call __mulsi3
		8701	8950 4e9c 97FF sbrs r25,7
		8702	8951 4e9e 00C0 rjmp .L678
		8703	8952 4ea0 6D5F subi r22,lo8(-(3))
		8704	8953 4ea2 7F4F sbci r23,hi8(-(3))
		8705	8954 4ea4 8F4F sbci r24,hlo8(-(3))
		8706	8955 4ea6 9F4F sbci r25,hhi8(-(3))
		8707	8956 .L678:
		8708	8957 4ea8 B2E0 ldi r27,2
		8709	8958 4eaa 9595 1: asr r25
		8710	8959 4eac 8795 ror r24
		8711	8960 4eae 7795 ror r23
		8712	8961 4eb0 6795 ror r22
		8713	8962 4eb2 BA95 dec r27
		8714	8963 4eb4 01F4 brne 1b
		8715	8964 4eb6 9B01 movw r18,r22
		8716	8965 4eb8 5FEF ldi r21,hi8(-255)
		8717	8966 4eba 6130 cpi r22,lo8(-255)
		8718	8967 4ebc 7507 cpc r23,r21
		8719	8968 4ebe 04F4 brge .L679
		8720	8969 4ec0 20E0 ldi r18,lo8(-256)
		8721	8970 4ec2 3FEF ldi r19,hi8(-256)
		8722	8971 4ec4 00C0 rjmp .L680
		8723	8972 .L679:
		8724	8973 4ec6 6F3F cpi r22,255
		8725	8974 4ec8 7105 cpc r23,__zero_reg__
		8726	8975 4eca 01F0 breq .L680
		8727	8976 4ecc 04F0 brlt .L680
		8728	8977 4ece 20E0 ldi r18,lo8(256)
		8729	8978 4ed0 31E0 ldi r19,hi8(256)
		8730	8979 .L680:
		8731	8980 4ed2 8091 0000 lds r24,FC_StatusFlags
		8732	8981 4ed6 807C andi r24,lo8(-64)
		8733	8982 4ed8 01F0 breq .L682
		8734	8983 4eda C901 movw r24,r18
		8735	8984 4edc 37FD sbrc r19,7
		8736	8985 4ede 0396 adiw r24,3
		8737	8986 .L683:
		8738	8987 4ee0 9C01 movw r18,r24
		8739	8988 4ee2 3595 asr r19
		8740	8989 4ee4 2795 ror r18
		8741	8990 4ee6 3595 asr r19
		8742	8991 4ee8 2795 ror r18
		8743	8992 4eea 00C0 rjmp .L684
		8744	8993 .L682:
		8745	8994 4eec 8091 0000 lds r24,Parameter_ExtraConfig
		8746	8995 4ef0 80FF sbrs r24,0
		8747	8996 4ef2 00C0 rjmp .L684
		8748	8997 4ef4 C901 movw r24,r18
		8749	8998 4ef6 37FD sbrc r19,7
		8750	8999 4ef8 0796 adiw r24,7
		8751	9000 .L686:
		8752	9001 4efa 9C01 movw r18,r24
		8753	9002 4efc F3E0 ldi r31,3
		8754	9003 4efe 3595 1: asr r19
		8755	9004 4f00 2795 ror r18
		8756	9005 4f02 FA95 dec r31
		8757	9006 4f04 01F4 brne 1b
		8758	9007 .L684:
		8759	9008 4f06 820E add r8,r18
		8760	9009 4f08 931E adc r9,r19
		8761	9010 .L666:
		8762	9011 4f0a 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung
		8763	9012 4f0e 2223 tst r18
		8764	9013 4f10 01F4 brne .+2
		8765	9014 4f12 00C0 rjmp .L687
		8766	9015 4f14 6091 0000 lds r22,Mess_Integral_Hoch
		8767	9016 4f18 7091 0000 lds r23,(Mess_Integral_Hoch)+1
		8768	9017 4f1c 8091 0000 lds r24,(Mess_Integral_Hoch)+2
		8769	9018 4f20 9091 0000 lds r25,(Mess_Integral_Hoch)+3
		8770	9019 4f24 97FF sbrs r25,7
		8771	9020 4f26 00C0 rjmp .L688
		8772	9021 4f28 6158 subi r22,lo8(-(127))
		8773	9022 4f2a 7F4F sbci r23,hi8(-(127))
		8774	9023 4f2c 8F4F sbci r24,hlo8(-(127))
		8775	9024 4f2e 9F4F sbci r25,hhi8(-(127))
		8776	9025 .L688:
		8777	9026 4f30 E7E0 ldi r30,7
		8778	9027 4f32 9595 1: asr r25
		8779	9028 4f34 8795 ror r24
		8780	9029 4f36 7795 ror r23
		8781	9030 4f38 6795 ror r22
		8782	9031 4f3a EA95 dec r30
		8783	9032 4f3c 01F4 brne 1b
		8784	9033 4f3e 3327 clr r19
		8785	9034 4f40 4427 clr r20
		8786	9035 4f42 5527 clr r21
		8787	9036 4f44 0E94 0000 call __mulsi3
		8788	9037 4f48 97FF sbrs r25,7
		8789	9038 4f4a 00C0 rjmp .L689
		8790	9039 4f4c 615E subi r22,lo8(-(31))
		8791	9040 4f4e 7F4F sbci r23,hi8(-(31))
		8792	9041 4f50 8F4F sbci r24,hlo8(-(31))
		8793	9042 4f52 9F4F sbci r25,hhi8(-(31))
		8794	9043 .L689:
		8795	9044 4f54 55E0 ldi r21,5
		8796	9045 4f56 9595 1: asr r25
		8797	9046 4f58 8795 ror r24
		8798	9047 4f5a 7795 ror r23
		8799	9048 4f5c 6795 ror r22
		8800	9049 4f5e 5A95 dec r21
		8801	9050 4f60 01F4 brne 1b
		8802	9051 4f62 6093 0000 sts tmp_long.1,r22
		8803	9052 4f66 7093 0000 sts (tmp_long.1)+1,r23
		8804	9053 4f6a 8093 0000 sts (tmp_long.1)+2,r24
		8805	9054 4f6e 9093 0000 sts (tmp_long.1)+3,r25
		8806	9055 4f72 6138 cpi r22,lo8(-127)
		8807	9056 4f74 AFEF ldi r26,hi8(-127)
		8808	9057 4f76 7A07 cpc r23,r26
		8809	9058 4f78 AFEF ldi r26,hlo8(-127)
		8810	9059 4f7a 8A07 cpc r24,r26
		8811	9060 4f7c AFEF ldi r26,hhi8(-127)
		8812	9061 4f7e 9A07 cpc r25,r26
		8813	9062 4f80 04F4 brge .L690
		8814	9063 4f82 80E8 ldi r24,lo8(-128)
		8815	9064 4f84 9FEF ldi r25,hi8(-128)
		8816	9065 4f86 AFEF ldi r26,hlo8(-128)
		8817	9066 4f88 BFEF ldi r27,hhi8(-128)
		8818	9067 4f8a 00C0 rjmp .L841
		8819	9068 .L690:
		8820	9069 4f8c 6F3F cpi r22,lo8(255)
		8821	9070 4f8e 7105 cpc r23,__zero_reg__
		8822	9071 4f90 8105 cpc r24,__zero_reg__
		8823	9072 4f92 9105 cpc r25,__zero_reg__
		8824	9073 4f94 01F0 breq .L691
		8825	9074 4f96 04F0 brlt .L691
		8826	9075 4f98 80E0 ldi r24,lo8(256)
		8827	9076 4f9a 91E0 ldi r25,hi8(256)
		8828	9077 4f9c A0E0 ldi r26,hlo8(256)
		8829	9078 4f9e B0E0 ldi r27,hhi8(256)
		8830	9079 .L841:
		8831	9080 4fa0 8093 0000 sts tmp_long.1,r24
		8832	9081 4fa4 9093 0000 sts (tmp_long.1)+1,r25
		8833	9082 4fa8 A093 0000 sts (tmp_long.1)+2,r26
		8834	9083 4fac B093 0000 sts (tmp_long.1)+3,r27
		8835	9084 .L691:
		8836	9085 4fb0 8091 0000 lds r24,tmp_long.1
		8837	9086 4fb4 9091 0000 lds r25,(tmp_long.1)+1
		8838	9087 4fb8 880E add r8,r24
		8839	9088 4fba 991E adc r9,r25
		8840	9089 .L687:
		8841	9090 4fbc 8091 0000 lds r24,Parameter_Hoehe_GPS_Z
		8842	9091 4fc0 282F mov r18,r24
		8843	9092 4fc2 3327 clr r19
		8844	9093 4fc4 8091 0000 lds r24,FromNaviCtrl_Value+4
		8845	9094 4fc8 9927 clr r25
		8846	9095 4fca 87FD sbrc r24,7
		8847	9096 4fcc 9095 com r25
		8848	9097 4fce 289F mul r18,r24
		8849	9098 4fd0 F001 movw r30,r0
		8850	9099 4fd2 299F mul r18,r25
		8851	9100 4fd4 F00D add r31,r0
		8852	9101 4fd6 389F mul r19,r24
		8853	9102 4fd8 F00D add r31,r0
		8854	9103 4fda 1124 clr r1
		8855	9104 4fdc 9F01 movw r18,r30
		8856	9105 4fde F7FF sbrs r31,7
		8857	9106 4fe0 00C0 rjmp .L693
		8858	9107 4fe2 2158 subi r18,lo8(-(127))
		8859	9108 4fe4 3F4F sbci r19,hi8(-(127))
		8860	9109 .L693:
		8861	9110 4fe6 220F lsl r18
		8862	9111 4fe8 232F mov r18,r19
		8863	9112 4fea 221F rol r18
		8864	9113 4fec 330B sbc r19,r19
		8865	9114 4fee FFEF ldi r31,hi8(-127)
		8866	9115 4ff0 2138 cpi r18,lo8(-127)
		8867	9116 4ff2 3F07 cpc r19,r31
		8868	9117 4ff4 04F4 brge .L694
		8869	9118 4ff6 20E8 ldi r18,lo8(-128)
		8870	9119 4ff8 3FEF ldi r19,hi8(-128)
		8871	9120 4ffa 00C0 rjmp .L695
		8872	9121 .L694:
		8873	9122 4ffc 2F3F cpi r18,255
		8874	9123 4ffe 3105 cpc r19,__zero_reg__
		8875	9124 5000 01F0 breq .L695
		8876	9125 5002 04F0 brlt .L695
		8877	9126 5004 20E0 ldi r18,lo8(256)
		8878	9127 5006 31E0 ldi r19,hi8(256)
		8879	9128 .L695:
		8880	9129 5008 820E add r8,r18
		8881	9130 500a 931E adc r9,r19
		8882	9131 500c C401 movw r24,r8
		8883	9132 500e AA27 clr r26
		8884	9133 5010 97FD sbrc r25,7
		8885	9134 5012 A095 com r26
		8886	9135 5014 BA2F mov r27,r26
		8887	9136 5016 E090 0000 lds r14,HoverGas
		8888	9137 501a F090 0000 lds r15,(HoverGas)+1
		8889	9138 501e 9701 movw r18,r14
		8890	9139 5020 4427 clr r20
		8891	9140 5022 37FD sbrc r19,7
		8892	9141 5024 4095 com r20
		8893	9142 5026 542F mov r21,r20
		8894	9143 5028 BC01 movw r22,r24
		8895	9144 502a CD01 movw r24,r26
		8896	9145 502c 0E94 0000 call __mulsi3
		8897	9146 5030 97FF sbrs r25,7
		8898	9147 5032 00C0 rjmp .L697
		8899	9148 5034 6150 subi r22,lo8(-(511))
		8900	9149 5036 7E4F sbci r23,hi8(-(511))
		8901	9150 5038 8F4F sbci r24,hlo8(-(511))
		8902	9151 503a 9F4F sbci r25,hhi8(-(511))
		8903	9152 .L697:
		8904	9153 503c 29E0 ldi r18,9
		8905	9154 503e 9595 1: asr r25
		8906	9155 5040 8795 ror r24
		8907	9156 5042 7795 ror r23
		8908	9157 5044 6795 ror r22
		8909	9158 5046 2A95 dec r18
		8910	9159 5048 01F4 brne 1b
		8911	9160 504a C61A sub r12,r22
		8912	9161 504c D70A sbc r13,r23
		8913	9162 504e 8091 0000 lds r24,AltitudeSetpointTrimming
		8914	9163 5052 9091 0000 lds r25,(AltitudeSetpointTrimming)+1
		8915	9164 5056 892B or r24,r25
		8916	9165 5058 01F0 breq .+2
		8917	9166 505a 00C0 rjmp .L698
		8918	9167 505c 1E14 cp __zero_reg__,r14
		8919	9168 505e 1F04 cpc __zero_reg__,r15
		8920	9169 5060 04F0 brlt .+2
		8921	9170 5062 00C0 rjmp .L698
		8922	9171 5064 9801 movw r18,r16
		8923	9172 5066 17FF sbrs r17,7
		8924	9173 5068 00C0 rjmp .L699
		8925	9174 506a 3095 com r19
		8926	9175 506c 2195 neg r18
		8927	9176 506e 3F4F sbci r19,lo8(-1)
		8928	9177 .L699:
		8929	9178 5070 2D33 cpi r18,61
		8930	9179 5072 3105 cpc r19,__zero_reg__
		8931	9180 5074 00F4 brsh .L700
		8932	9181 5076 8091 0000 lds r24,HoverGasMin
		8933	9182 507a 9091 0000 lds r25,(HoverGasMin)+1
		8934	9183 507e 8C15 cp r24,r12
		8935	9184 5080 9D05 cpc r25,r13
		8936	9185 5082 04F4 brge .L843
		8937	9186 5084 00C0 rjmp .L852
		8938	9187 .L700:
		8939	9188 5086 2C53 subi r18,lo8(-(-60))
		8940	9189 5088 3040 sbci r19,hi8(-(-60))
		8941	9190 508a 85E0 ldi r24,5
		8942	9191 508c 3695 1: lsr r19
		8943	9192 508e 2795 ror r18
		8944	9193 5090 8A95 dec r24
		8945	9194 5092 01F4 brne 1b
		8946	9195 5094 2031 cpi r18,16
		8947	9196 5096 3105 cpc r19,__zero_reg__
		8948	9197 5098 00F0 brlo .L705
		8949	9198 509a 2FE0 ldi r18,lo8(15)
		8950	9199 509c 30E0 ldi r19,hi8(15)
		8951	9200 .L705:
		8952	9201 509e 4091 0000 lds r20,HoverGasMin
		8953	9202 50a2 5091 0000 lds r21,(HoverGasMin)+1
		8954	9203 50a6 1016 cp __zero_reg__,r16
		8955	9204 50a8 1106 cpc __zero_reg__,r17
		8956	9205 50aa 04F4 brge .L706
		8957	9206 50ac 80E1 ldi r24,lo8(16)
		8958	9207 50ae 90E0 ldi r25,hi8(16)
		8959	9208 50b0 821B sub r24,r18
		8960	9209 50b2 930B sbc r25,r19
		8961	9210 50b4 489F mul r20,r24
		8962	9211 50b6 9001 movw r18,r0
		8963	9212 50b8 499F mul r20,r25
		8964	9213 50ba 300D add r19,r0
		8965	9214 50bc 589F mul r21,r24
		8966	9215 50be 300D add r19,r0
		8967	9216 50c0 1124 clr r1
		8968	9217 50c2 B4E0 ldi r27,4
		8969	9218 50c4 3695 1: lsr r19
		8970	9219 50c6 2795 ror r18
		8971	9220 50c8 BA95 dec r27
		8972	9221 50ca 01F4 brne 1b
		8973	9222 50cc 2C15 cp r18,r12
		8974	9223 50ce 3D05 cpc r19,r13
		8975	9224 50d0 00F4 brsh .L842
		8976	9225 .L852:
		8977	9226 50d2 8091 0000 lds r24,HoverGasMax
		8978	9227 50d6 9091 0000 lds r25,(HoverGasMax)+1
		8979	9228 50da C816 cp r12,r24
		8980	9229 50dc D906 cpc r13,r25
		8981	9230 50de 04F0 brlt .L698
		8982	9231 .L843:
		8983	9232 50e0 6C01 movw r12,r24
		8984	9233 50e2 00C0 rjmp .L698
		8985	9234 .L706:
		8986	9235 50e4 205F subi r18,lo8(-(16))
		8987	9236 50e6 3F4F sbci r19,hi8(-(16))
		8988	9237 50e8 8091 0000 lds r24,HoverGasMax
		8989	9238 50ec 9091 0000 lds r25,(HoverGasMax)+1
		8990	9239 50f0 829F mul r24,r18
		8991	9240 50f2 8001 movw r16,r0
		8992	9241 50f4 839F mul r24,r19
		8993	9242 50f6 100D add r17,r0
		8994	9243 50f8 929F mul r25,r18
		8995	9244 50fa 100D add r17,r0
		8996	9245 50fc 1124 clr r1
		8997	9246 50fe 9801 movw r18,r16
		8998	9247 5100 A4E0 ldi r26,4
		8999	9248 5102 3695 1: lsr r19
		9000	9249 5104 2795 ror r18
		9001	9250 5106 AA95 dec r26
		9002	9251 5108 01F4 brne 1b
		9003	9252 510a 4C15 cp r20,r12
		9004	9253 510c 5D05 cpc r21,r13
		9005	9254 510e 04F0 brlt .L711
		9006	9255 5110 6A01 movw r12,r20
		9007	9256 5112 00C0 rjmp .L698
		9008	9257 .L711:
		9009	9258 5114 C216 cp r12,r18
		9010	9259 5116 D306 cpc r13,r19
		9011	9260 5118 00F0 brlo .L698
		9012	9261 .L842:
		9013	9262 511a 6901 movw r12,r18
		9014	9263 .L698:
		9015	9264 511c C601 movw r24,r12
		9016	9265 511e AA27 clr r26
		9017	9266 5120 97FD sbrc r25,7
		9018	9267 5122 A095 com r26
		9019	9268 5124 BA2F mov r27,r26
		9020	9269 5126 FDE0 ldi r31,13
		9021	9270 5128 880F 1: lsl r24
		9022	9271 512a 991F rol r25
		9023	9272 512c AA1F rol r26
		9024	9273 512e BB1F rol r27
		9025	9274 5130 FA95 dec r31
		9026	9275 5132 01F4 brne 1b
		9027	9276 5134 9501 movw r18,r10
		9028	9277 5136 4427 clr r20
		9029	9278 5138 37FD sbrc r19,7
		9030	9279 513a 4095 com r20
		9031	9280 513c 542F mov r21,r20
		9032	9281 513e BC01 movw r22,r24
		9033	9282 5140 CD01 movw r24,r26
		9034	9283 5142 0E94 0000 call __divmodsi4
		9035	9284 5146 2093 0000 sts tmp_long2.2,r18
		9036	9285 514a 3093 0000 sts (tmp_long2.2)+1,r19
		9037	9286 514e 4093 0000 sts (tmp_long2.2)+2,r20
		9038	9287 5152 5093 0000 sts (tmp_long2.2)+3,r21
		9039	9288 5156 C090 0000 lds r12,tmp_long2.2
		9040	9289 515a D090 0000 lds r13,(tmp_long2.2)+1
		9041	9290 515e 8091 0000 lds r24,FilterHCGas.23
		9042	9291 5162 9091 0000 lds r25,(FilterHCGas.23)+1
		9043	9292 5166 9C01 movw r18,r24
		9044	9293 5168 220F lsl r18
		9045	9294 516a 331F rol r19
		9046	9295 516c 280F add r18,r24
		9047	9296 516e 391F adc r19,r25
		9048	9297 5170 2C0D add r18,r12
		9049	9298 5172 3D1D adc r19,r13
		9050	9299 5174 37FF sbrs r19,7
		9051	9300 5176 00C0 rjmp .L714
		9052	9301 5178 2D5F subi r18,lo8(-(3))
		9053	9302 517a 3F4F sbci r19,hi8(-(3))
		9054	9303 .L714:
		9055	9304 517c A901 movw r20,r18
		9056	9305 517e 5595 asr r21
		9057	9306 5180 4795 ror r20
		9058	9307 5182 5595 asr r21
		9059	9308 5184 4795 ror r20
		9060	9309 5186 5093 0000 sts (FilterHCGas.23)+1,r21
		9061	9310 518a 4093 0000 sts FilterHCGas.23,r20
		9062	9311 518e 8091 0000 lds r24,EE_Parameter+14
		9063	9312 5192 282F mov r18,r24
		9064	9313 5194 3327 clr r19
		9065	9314 5196 220F lsl r18
		9066	9315 5198 331F rol r19
		9067	9316 519a 220F lsl r18
		9068	9317 519c 331F rol r19
		9069	9318 519e 2417 cp r18,r20
		9070	9319 51a0 3507 cpc r19,r21
		9071	9320 51a2 04F4 brge .L844
		9072	9321 51a4 8091 0000 lds r24,MAX_GAS
		9073	9322 51a8 282F mov r18,r24
		9074	9323 51aa 3327 clr r19
		9075	9324 51ac 220F lsl r18
		9076	9325 51ae 331F rol r19
		9077	9326 51b0 220F lsl r18
		9078	9327 51b2 331F rol r19
		9079	9328 51b4 2055 subi r18,lo8(-(-80))
		9080	9329 51b6 3040 sbci r19,hi8(-(-80))
		9081	9330 51b8 4217 cp r20,r18
		9082	9331 51ba 5307 cpc r21,r19
		9083	9332 51bc 04F0 brlt .L716
		9084	9333 .L844:
		9085	9334 51be 3093 0000 sts (FilterHCGas.23)+1,r19
		9086	9335 51c2 2093 0000 sts FilterHCGas.23,r18
		9087	9336 .L716:
		9088	9337 51c6 8091 0000 lds r24,Parameter_ExtraConfig
		9089	9338 51ca 80FF sbrs r24,0
		9090	9339 51cc 00C0 rjmp .L718
		9091	9340 51ce 8091 0000 lds r24,FilterHCGas.23
		9092	9341 51d2 9091 0000 lds r25,(FilterHCGas.23)+1
		9093	9342 51d6 2981 ldd r18,Y+1
		9094	9343 51d8 3A81 ldd r19,Y+2
		9095	9344 51da 8217 cp r24,r18
		9096	9345 51dc 9307 cpc r25,r19
		9097	9346 51de 04F0 brlt .L719
		9098	9347 51e0 3093 0000 sts (FilterHCGas.23)+1,r19
		9099	9348 51e4 2093 0000 sts FilterHCGas.23,r18
		9100	9349 .L719:
		9101	9350 51e8 4091 0000 lds r20,FilterHCGas.23
		9102	9351 51ec 5091 0000 lds r21,(FilterHCGas.23)+1
		9103	9352 51f0 5A83 std Y+2,r21
		9104	9353 51f2 4983 std Y+1,r20
		9105	9354 51f4 00C0 rjmp .L722
		9106	9355 .L718:
		9107	9356 51f6 2981 ldd r18,Y+1
		9108	9357 51f8 3A81 ldd r19,Y+2
		9109	9358 51fa 2E19 sub r18,r14
		9110	9359 51fc 3F09 sbc r19,r15
		9111	9360 51fe 37FF sbrs r19,7
		9112	9361 5200 00C0 rjmp .L721
		9113	9362 5202 2D5F subi r18,lo8(-(3))
		9114	9363 5204 3F4F sbci r19,hi8(-(3))
		9115	9364 .L721:
		9116	9365 5206 3595 asr r19
		9117	9366 5208 2795 ror r18
		9118	9367 520a 3595 asr r19
		9119	9368 520c 2795 ror r18
		9120	9369 520e 6091 0000 lds r22,FilterHCGas.23
		9121	9370 5212 7091 0000 lds r23,(FilterHCGas.23)+1
		9122	9371 5216 620F add r22,r18
		9123	9372 5218 731F adc r23,r19
		9124	9373 521a 7A83 std Y+2,r23
		9125	9374 521c 6983 std Y+1,r22
		9126	9375 521e 00C0 rjmp .L722
		9127	9376 .L613:
		9128	9377 5220 8091 0000 lds r24,EE_Parameter+22
		9129	9378 5224 8823 tst r24
		9130	9379 5226 01F4 brne .L723
		9131	9380 5228 6091 0000 lds r22,HoverGas
		9132	9381 522c 7091 0000 lds r23,(HoverGas)+1
		9133	9382 5230 77FF sbrs r23,7
		9134	9383 5232 00C0 rjmp .L724
		9135	9384 5234 6D5F subi r22,lo8(-(3))
		9136	9385 5236 7F4F sbci r23,hi8(-(3))
		9137	9386 .L724:
		9138	9387 5238 7595 asr r23
		9139	9388 523a 6795 ror r22
		9140	9389 523c 7595 asr r23
		9141	9390 523e 6795 ror r22
		9142	9391 5240 4091 0000 lds r20,UBat
		9143	9392 5244 5091 0000 lds r21,(UBat)+1
		9144	9393 5248 8091 0000 lds r24,BattLowVoltageWarning
		9145	9394 524c 282F mov r18,r24
		9146	9395 524e 3327 clr r19
		9147	9396 5250 649F mul r22,r20
		9148	9397 5252 C001 movw r24,r0
		9149	9398 5254 659F mul r22,r21
		9150	9399 5256 900D add r25,r0
		9151	9400 5258 749F mul r23,r20
		9152	9401 525a 900D add r25,r0
		9153	9402 525c 1124 clr r1
		9154	9403 525e B901 movw r22,r18
		9155	9404 5260 0E94 0000 call __divmodhi4
		9156	9405 5264 CB01 movw r24,r22
		9157	9406 5266 00C0 rjmp .L845
		9158	9407 .L723:
		9159	9408 5268 9927 clr r25
		9160	9409 .L845:
		9161	9410 526a 9093 0000 sts (StickGasHover)+1,r25
		9162	9411 526e 8093 0000 sts StickGasHover,r24
		9163	9412 5272 8091 0000 lds r24,StickGasHover
		9164	9413 5276 9091 0000 lds r25,(StickGasHover)+1
		9165	9414 527a 8734 cpi r24,71
		9166	9415 527c 9105 cpc r25,__zero_reg__
		9167	9416 527e 04F4 brge .L726
		9168	9417 5280 86E4 ldi r24,lo8(70)
		9169	9418 5282 90E0 ldi r25,hi8(70)
		9170	9419 5284 00C0 rjmp .L846
		9171	9420 .L726:
		9172	9421 5286 8639 cpi r24,150
		9173	9422 5288 9105 cpc r25,__zero_reg__
		9174	9423 528a 04F0 brlt .L727
		9175	9424 528c 86E9 ldi r24,lo8(150)
		9176	9425 528e 90E0 ldi r25,hi8(150)
		9177	9426 .L846:
		9178	9427 5290 9093 0000 sts (StickGasHover)+1,r25
		9179	9428 5294 8093 0000 sts StickGasHover,r24
		9180	9429 .L727:
		9181	9430 5298 8981 ldd r24,Y+1
		9182	9431 529a 9A81 ldd r25,Y+2
		9183	9432 529c 9093 0000 sts (FilterHCGas.23)+1,r25
		9184	9433 52a0 8093 0000 sts FilterHCGas.23,r24
		9185	9434 52a4 8091 0000 lds r24,FC_StatusFlags
		9186	9435 52a8 806C ori r24,lo8(-64)
		9187	9436 52aa 8093 0000 sts FC_StatusFlags,r24
		9188	9437 52ae 8091 0000 lds r24,FC_StatusFlags2
		9189	9438 52b2 8D7F andi r24,lo8(-3)
		9190	9439 52b4 8093 0000 sts FC_StatusFlags2,r24
		9191	9440 .L722:
		9192	9441 52b8 8091 0000 lds r24,FC_StatusFlags
		9193	9442 52bc 9927 clr r25
		9194	9443 52be 9C01 movw r18,r24
		9195	9444 52c0 2270 andi r18,lo8(2)
		9196	9445 52c2 3070 andi r19,hi8(2)
		9197	9446 52c4 81FF sbrs r24,1
		9198	9447 52c6 00C0 rjmp .L729
		9199	9448 52c8 8091 0000 lds r24,HoverGasFilter.24
		9200	9449 52cc 9091 0000 lds r25,(HoverGasFilter.24)+1
		9201	9450 52d0 A091 0000 lds r26,(HoverGasFilter.24)+2
		9202	9451 52d4 B091 0000 lds r27,(HoverGasFilter.24)+3
		9203	9452 52d8 0097 sbiw r24,0
		9204	9453 52da A105 cpc r26,__zero_reg__
		9205	9454 52dc B105 cpc r27,__zero_reg__
		9206	9455 52de 01F0 breq .L731
		9207	9456 52e0 8091 0000 lds r24,StartTrigger
		9208	9457 52e4 8130 cpi r24,lo8(1)
		9209	9458 52e6 01F4 brne .L730
		9210	9459 .L731:
		9211	9460 52e8 E981 ldd r30,Y+1
		9212	9461 52ea FA81 ldd r31,Y+2
		9213	9462 52ec CF01 movw r24,r30
		9214	9463 52ee AA27 clr r26
		9215	9464 52f0 97FD sbrc r25,7
		9216	9465 52f2 A095 com r26
		9217	9466 52f4 BA2F mov r27,r26
		9218	9467 52f6 1EE0 ldi r17,14
		9219	9468 52f8 880F 1: lsl r24
		9220	9469 52fa 991F rol r25
		9221	9470 52fc AA1F rol r26
		9222	9471 52fe BB1F rol r27
		9223	9472 5300 1A95 dec r17
		9224	9473 5302 01F4 brne 1b
		9225	9474 5304 8093 0000 sts HoverGasFilter.24,r24
		9226	9475 5308 9093 0000 sts (HoverGasFilter.24)+1,r25
		9227	9476 530c A093 0000 sts (HoverGasFilter.24)+2,r26
		9228	9477 5310 B093 0000 sts (HoverGasFilter.24)+3,r27
		9229	9478 .L730:
		9230	9479 5314 8091 0000 lds r24,StartTrigger
		9231	9480 5318 8130 cpi r24,lo8(1)
		9232	9481 531a 01F4 brne .L732
		9233	9482 531c 82E0 ldi r24,lo8(2)
		9234	9483 531e 8093 0000 sts StartTrigger,r24
		9235	9484 .L732:
		9236	9485 5322 E980 ldd r14,Y+1
		9237	9486 5324 FA80 ldd r15,Y+2
		9238	9487 5326 C701 movw r24,r14
		9239	9488 5328 AA27 clr r26
		9240	9489 532a 97FD sbrc r25,7
		9241	9490 532c A095 com r26
		9242	9491 532e BA2F mov r27,r26
		9243	9492 5330 9501 movw r18,r10
		9244	9493 5332 4427 clr r20
		9245	9494 5334 37FD sbrc r19,7
		9246	9495 5336 4095 com r20
		9247	9496 5338 542F mov r21,r20
		9248	9497 533a BC01 movw r22,r24
		9249	9498 533c CD01 movw r24,r26
		9250	9499 533e 0E94 0000 call __mulsi3
		9251	9500 5342 DC01 movw r26,r24
		9252	9501 5344 CB01 movw r24,r22
		9253	9502 5346 8093 0000 sts tmp_long2.2,r24
		9254	9503 534a 9093 0000 sts (tmp_long2.2)+1,r25
		9255	9504 534e A093 0000 sts (tmp_long2.2)+2,r26
		9256	9505 5352 B093 0000 sts (tmp_long2.2)+3,r27
		9257	9506 5356 B7FF sbrs r27,7
		9258	9507 5358 00C0 rjmp .L733
		9259	9508 535a 8150 subi r24,lo8(-(8191))
		9260	9509 535c 904E sbci r25,hi8(-(8191))
		9261	9510 535e AF4F sbci r26,hlo8(-(8191))
		9262	9511 5360 BF4F sbci r27,hhi8(-(8191))
		9263	9512 .L733:
		9264	9513 5362 7C01 movw r14,r24
		9265	9514 5364 8D01 movw r16,r26
		9266	9515 5366 FDE0 ldi r31,13
		9267	9516 5368 1595 1: asr r17
		9268	9517 536a 0795 ror r16
		9269	9518 536c F794 ror r15
		9270	9519 536e E794 ror r14
		9271	9520 5370 FA95 dec r31
		9272	9521 5372 01F4 brne 1b
		9273	9522 5374 E092 0000 sts tmp_long2.2,r14
		9274	9523 5378 F092 0000 sts (tmp_long2.2)+1,r15
		9275	9524 537c 0093 0000 sts (tmp_long2.2)+2,r16
		9276	9525 5380 1093 0000 sts (tmp_long2.2)+3,r17
		9277	9526 5384 6091 0000 lds r22,modell_fliegt
		9278	9527 5388 7091 0000 lds r23,(modell_fliegt)+1
		9279	9528 538c 2FE0 ldi r18,hi8(4000)
		9280	9529 538e 603A cpi r22,lo8(4000)
		9281	9530 5390 7207 cpc r23,r18
		9282	9531 5392 00F4 brsh .L734
		9283	9532 5394 8091 0000 lds r24,HoverGasFilter.24
		9284	9533 5398 9091 0000 lds r25,(HoverGasFilter.24)+1
		9285	9534 539c A091 0000 lds r26,(HoverGasFilter.24)+2
		9286	9535 53a0 B091 0000 lds r27,(HoverGasFilter.24)+3
		9287	9536 53a4 9C01 movw r18,r24
		9288	9537 53a6 AD01 movw r20,r26
		9289	9538 53a8 EAE0 ldi r30,10
		9290	9539 53aa 5695 1: lsr r21
		9291	9540 53ac 4795 ror r20
		9292	9541 53ae 3795 ror r19
		9293	9542 53b0 2795 ror r18
		9294	9543 53b2 EA95 dec r30
		9295	9544 53b4 01F4 brne 1b
		9296	9545 53b6 821B sub r24,r18
		9297	9546 53b8 930B sbc r25,r19
		9298	9547 53ba A40B sbc r26,r20
		9299	9548 53bc B50B sbc r27,r21
		9300	9549 53be A801 movw r20,r16
		9301	9550 53c0 9701 movw r18,r14
		9302	9551 53c2 F4E0 ldi r31,4
		9303	9552 53c4 220F 1: lsl r18
		9304	9553 53c6 331F rol r19
		9305	9554 53c8 441F rol r20
		9306	9555 53ca 551F rol r21
		9307	9556 53cc FA95 dec r31
		9308	9557 53ce 01F4 brne 1b
		9309	9558 53d0 820F add r24,r18
		9310	9559 53d2 931F adc r25,r19
		9311	9560 53d4 A41F adc r26,r20
		9312	9561 53d6 B51F adc r27,r21
		9313	9562 53d8 8093 0000 sts HoverGasFilter.24,r24
		9314	9563 53dc 9093 0000 sts (HoverGasFilter.24)+1,r25
		9315	9564 53e0 A093 0000 sts (HoverGasFilter.24)+2,r26
		9316	9565 53e4 B093 0000 sts (HoverGasFilter.24)+3,r27
		9317	9566 .L734:
		9318	9567 53e8 6054 subi r22,lo8(8000)
		9319	9568 53ea 7F41 sbci r23,hi8(8000)
		9320	9569 53ec 00F4 brsh .L735
		9321	9570 53ee 8091 0000 lds r24,HoverGasFilter.24
		9322	9571 53f2 9091 0000 lds r25,(HoverGasFilter.24)+1
		9323	9572 53f6 A091 0000 lds r26,(HoverGasFilter.24)+2
		9324	9573 53fa B091 0000 lds r27,(HoverGasFilter.24)+3
		9325	9574 53fe 9C01 movw r18,r24
		9326	9575 5400 AD01 movw r20,r26
		9327	9576 5402 ECE0 ldi r30,12
		9328	9577 5404 5695 1: lsr r21
		9329	9578 5406 4795 ror r20
		9330	9579 5408 3795 ror r19
		9331	9580 540a 2795 ror r18
		9332	9581 540c EA95 dec r30
		9333	9582 540e 01F4 brne 1b
		9334	9583 5410 821B sub r24,r18
		9335	9584 5412 930B sbc r25,r19
		9336	9585 5414 A40B sbc r26,r20
		9337	9586 5416 B50B sbc r27,r21
		9338	9587 5418 A801 movw r20,r16
		9339	9588 541a 9701 movw r18,r14
		9340	9589 541c 72E0 ldi r23,2
		9341	9590 541e 220F 1: lsl r18
		9342	9591 5420 331F rol r19
		9343	9592 5422 441F rol r20
		9344	9593 5424 551F rol r21
		9345	9594 5426 7A95 dec r23
		9346	9595 5428 01F4 brne 1b
		9347	9596 542a 820F add r24,r18
		9348	9597 542c 931F adc r25,r19
		9349	9598 542e A41F adc r26,r20
		9350	9599 5430 B51F adc r27,r21
		9351	9600 5432 00C0 rjmp .L847
		9352	9601 .L735:
		9353	9602 5434 8091 0000 lds r24,VarioMeter
		9354	9603 5438 9091 0000 lds r25,(VarioMeter)+1
		9355	9604 543c 8091 0000 lds r24,VarioMeter
		9356	9605 5440 9091 0000 lds r25,(VarioMeter)+1
		9357	9606 5444 97FF sbrs r25,7
		9358	9607 5446 00C0 rjmp .L738
		9359	9608 5448 9095 com r25
		9360	9609 544a 8195 neg r24
		9361	9610 544c 9F4F sbci r25,lo8(-1)
		9362	9611 .L738:
		9363	9612 544e 8436 cpi r24,100
		9364	9613 5450 9105 cpc r25,__zero_reg__
		9365	9614 5452 04F4 brge .L736
		9366	9615 5454 8091 0000 lds r24,HoehenWert
		9367	9616 5458 9091 0000 lds r25,(HoehenWert)+1
		9368	9617 545c 2091 0000 lds r18,SollHoehe
		9369	9618 5460 3091 0000 lds r19,(SollHoehe)+1
		9370	9619 5464 821B sub r24,r18
		9371	9620 5466 930B sbc r25,r19
		9372	9621 5468 8150 subi r24,lo8(-(255))
		9373	9622 546a 9F4F sbci r25,hi8(-(255))
		9374	9623 546c 8F5F subi r24,lo8(511)
		9375	9624 546e 9140 sbci r25,hi8(511)
		9376	9625 5470 00F4 brsh .L736
		9377	9626 5472 8091 0000 lds r24,HoverGasFilter.24
		9378	9627 5476 9091 0000 lds r25,(HoverGasFilter.24)+1
		9379	9628 547a A091 0000 lds r26,(HoverGasFilter.24)+2
		9380	9629 547e B091 0000 lds r27,(HoverGasFilter.24)+3
		9381	9630 5482 9C01 movw r18,r24
		9382	9631 5484 AD01 movw r20,r26
		9383	9632 5486 6EE0 ldi r22,14
		9384	9633 5488 5695 1: lsr r21
		9385	9634 548a 4795 ror r20
		9386	9635 548c 3795 ror r19
		9387	9636 548e 2795 ror r18
		9388	9637 5490 6A95 dec r22
		9389	9638 5492 01F4 brne 1b
		9390	9639 5494 821B sub r24,r18
		9391	9640 5496 930B sbc r25,r19
		9392	9641 5498 A40B sbc r26,r20
		9393	9642 549a B50B sbc r27,r21
		9394	9643 549c 8E0D add r24,r14
		9395	9644 549e 9F1D adc r25,r15
		9396	9645 54a0 A01F adc r26,r16
		9397	9646 54a2 B11F adc r27,r17
		9398	9647 .L847:
		9399	9648 54a4 8093 0000 sts HoverGasFilter.24,r24
		9400	9649 54a8 9093 0000 sts (HoverGasFilter.24)+1,r25
		9401	9650 54ac A093 0000 sts (HoverGasFilter.24)+2,r26
		9402	9651 54b0 B093 0000 sts (HoverGasFilter.24)+3,r27
		9403	9652 .L736:
		9404	9653 54b4 8091 0000 lds r24,HoverGasFilter.24
		9405	9654 54b8 9091 0000 lds r25,(HoverGasFilter.24)+1
		9406	9655 54bc A091 0000 lds r26,(HoverGasFilter.24)+2
		9407	9656 54c0 B091 0000 lds r27,(HoverGasFilter.24)+3
		9408	9657 54c4 5EE0 ldi r21,14
		9409	9658 54c6 B695 1: lsr r27
		9410	9659 54c8 A795 ror r26
		9411	9660 54ca 9795 ror r25
		9412	9661 54cc 8795 ror r24
		9413	9662 54ce 5A95 dec r21
		9414	9663 54d0 01F4 brne 1b
		9415	9664 54d2 9093 0000 sts (HoverGas)+1,r25
		9416	9665 54d6 8093 0000 sts HoverGas,r24
		9417	9666 54da 4091 0000 lds r20,EE_Parameter+20
		9418	9667 54de 4423 tst r20
		9419	9668 54e0 01F0 breq .L739
		9420	9669 54e2 5527 clr r21
		9421	9670 54e4 9C01 movw r18,r24
		9422	9671 54e6 BA01 movw r22,r20
		9423	9672 54e8 0E94 0000 call __divmodhi4
		9424	9673 54ec C901 movw r24,r18
		9425	9674 54ee 861B sub r24,r22
		9426	9675 54f0 970B sbc r25,r23
		9427	9676 54f2 9093 0000 sts (HoverGasMin)+1,r25
		9428	9677 54f6 8093 0000 sts HoverGasMin,r24
		9429	9678 54fa 260F add r18,r22
		9430	9679 54fc 371F adc r19,r23
		9431	9680 54fe 3093 0000 sts (HoverGasMax)+1,r19
		9432	9681 5502 2093 0000 sts HoverGasMax,r18
		9433	9682 5506 00C0 rjmp .L742
		9434	9683 .L739:
		9435	9684 5508 1092 0000 sts (HoverGasMin)+1,__zero_reg__
		9436	9685 550c 1092 0000 sts HoverGasMin,__zero_reg__
		9437	9686 5510 8FEF ldi r24,lo8(1023)
		9438	9687 5512 93E0 ldi r25,hi8(1023)
		9439	9688 5514 9093 0000 sts (HoverGasMax)+1,r25
		9440	9689 5518 8093 0000 sts HoverGasMax,r24
		9441	9690 551c 00C0 rjmp .L742
		9442	9691 .L729:
		9443	9692 551e 1092 0000 sts StartTrigger,__zero_reg__
		9444	9693 5522 1092 0000 sts HoverGasFilter.24,__zero_reg__
		9445	9694 5526 1092 0000 sts (HoverGasFilter.24)+1,__zero_reg__
		9446	9695 552a 1092 0000 sts (HoverGasFilter.24)+2,__zero_reg__
		9447	9696 552e 1092 0000 sts (HoverGasFilter.24)+3,__zero_reg__
		9448	9697 5532 3093 0000 sts (HoverGas)+1,r19
		9449	9698 5536 2093 0000 sts HoverGas,r18
		9450	9699 553a 00C0 rjmp .L742
		9451	9700 .L596:
		9452	9701 553c 8091 0000 lds r24,FC_StatusFlags
		9453	9702 5540 806C ori r24,lo8(-64)
		9454	9703 5542 8093 0000 sts FC_StatusFlags,r24
		9455	9704 .L742:
		9456	9705 5546 2091 0000 lds r18,MIN_GAS
		9457	9706 554a 822F mov r24,r18
		9458	9707 554c 9927 clr r25
		9459	9708 554e 880F lsl r24
		9460	9709 5550 991F rol r25
		9461	9710 5552 880F lsl r24
		9462	9711 5554 991F rol r25
		9463	9712 5556 8896 adiw r24,40
		9464	9713 5558 6981 ldd r22,Y+1
		9465	9714 555a 7A81 ldd r23,Y+2
		9466	9715 555c 8617 cp r24,r22
		9467	9716 555e 9707 cpc r25,r23
		9468	9717 5560 04F0 brlt .L743
		9469	9718 5562 9A83 std Y+2,r25
		9470	9719 5564 8983 std Y+1,r24
		9471	9720 .L743:
		9472	9721 5566 7091 0000 lds r23,MAX_GAS
		9473	9722 556a 7D8B std Y+21,r23
		9474	9723 556c 872F mov r24,r23
		9475	9724 556e 9927 clr r25
		9476	9725 5570 880F lsl r24
		9477	9726 5572 991F rol r25
		9478	9727 5574 880F lsl r24
		9479	9728 5576 991F rol r25
		9480	9729 5578 8055 subi r24,lo8(-(-80))
		9481	9730 557a 9040 sbci r25,hi8(-(-80))
		9482	9731 557c A981 ldd r26,Y+1
		9483	9732 557e BA81 ldd r27,Y+2
		9484	9733 5580 8A17 cp r24,r26
		9485	9734 5582 9B07 cpc r25,r27
		9486	9735 5584 04F4 brge .L744
		9487	9736 5586 9A83 std Y+2,r25
		9488	9737 5588 8983 std Y+1,r24
		9489	9738 .L744:
		9490	9739 558a 8091 0000 lds r24,MissingMotor
		9491	9740 558e 8823 tst r24
		9492	9741 5590 01F4 brne .L746
		9493	9742 5592 8091 0000 lds r24,Capacity+8
		9494	9743 5596 8F3F cpi r24,lo8(-1)
		9495	9744 5598 01F4 brne .L746
		9496	9745 559a 8091 0000 lds r24,NC_ErrorCode
		9497	9746 559e 8823 tst r24
		9498	9747 55a0 01F0 breq .L745
		9499	9748 .L746:
		9500	9749 55a2 8091 0000 lds r24,modell_fliegt
		9501	9750 55a6 9091 0000 lds r25,(modell_fliegt)+1
		9502	9751 55aa 0297 sbiw r24,2
		9503	9752 55ac C097 sbiw r24,48
		9504	9753 55ae 00F4 brsh .L745
		9505	9754 55b0 E981 ldd r30,Y+1
		9506	9755 55b2 FA81 ldd r31,Y+2
		9507	9756 55b4 1E16 cp __zero_reg__,r30
		9508	9757 55b6 1F06 cpc __zero_reg__,r31
		9509	9758 55b8 04F4 brge .L745
		9510	9759 55ba 81E0 ldi r24,lo8(1)
		9511	9760 55bc 90E0 ldi r25,hi8(1)
		9512	9761 55be 9093 0000 sts (modell_fliegt)+1,r25
		9513	9762 55c2 8093 0000 sts modell_fliegt,r24
		9514	9763 55c6 E22E mov r14,r18
		9515	9764 55c8 FF24 clr r15
		9516	9765 55ca EE0C lsl r14
		9517	9766 55cc FF1C rol r15
		9518	9767 55ce EE0C lsl r14
		9519	9768 55d0 FF1C rol r15
		9520	9769 55d2 8701 movw r16,r14
		9521	9770 55d4 085D subi r16,lo8(-(40))
		9522	9771 55d6 1F4F sbci r17,hi8(-(40))
		9523	9772 55d8 1A83 std Y+2,r17
		9524	9773 55da 0983 std Y+1,r16
		9525	9774 .L745:
		9526	9775 55dc 2981 ldd r18,Y+1
		9527	9776 55de 3A81 ldd r19,Y+2
		9528	9777 55e0 3093 0000 sts (DebugOut+16)+1,r19
		9529	9778 55e4 2093 0000 sts DebugOut+16,r18
		9530	9779 55e8 8091 0000 lds r24,sollGier.0
		9531	9780 55ec 9091 0000 lds r25,(sollGier.0)+1
		9532	9781 55f0 A091 0000 lds r26,(sollGier.0)+2
		9533	9782 55f4 B091 0000 lds r27,(sollGier.0)+3
		9534	9783 55f8 12E0 ldi r17,2
		9535	9784 55fa 880F 1: lsl r24
		9536	9785 55fc 991F rol r25
		9537	9786 55fe AA1F rol r26
		9538	9787 5600 BB1F rol r27
		9539	9788 5602 1A95 dec r17
		9540	9789 5604 01F4 brne 1b
		9541	9790 5606 0091 0000 lds r16,MesswertGier
		9542	9791 560a 1091 0000 lds r17,(MesswertGier)+1
		9543	9792 560e 081B sub r16,r24
		9544	9793 5610 190B sbc r17,r25
		9545	9794 5612 213A cpi r18,161
		9546	9795 5614 3105 cpc r19,__zero_reg__
		9547	9796 5616 04F0 brlt .L748
		9548	9797 5618 C901 movw r24,r18
		9549	9798 561a 37FD sbrc r19,7
		9550	9799 561c 0196 adiw r24,1
		9551	9800 .L750:
		9552	9801 561e 9595 asr r25
		9553	9802 5620 8795 ror r24
		9554	9803 5622 8017 cp r24,r16
		9555	9804 5624 9107 cpc r25,r17
		9556	9805 5626 04F4 brge .L749
		9557	9806 5628 8C01 movw r16,r24
		9558	9807 .L749:
		9559	9808 562a 9095 com r25
		9560	9809 562c 8195 neg r24
		9561	9810 562e 9F4F sbci r25,lo8(-1)
		9562	9811 5630 0817 cp r16,r24
		9563	9812 5632 1907 cpc r17,r25
		9564	9813 5634 04F4 brge .L755
		9565	9814 5636 8C01 movw r16,r24
		9566	9815 5638 00C0 rjmp .L755
		9567	9816 .L748:
		9568	9817 563a 0135 cpi r16,81
		9569	9818 563c 1105 cpc r17,__zero_reg__
		9570	9819 563e 04F0 brlt .L756
		9571	9820 5640 00E5 ldi r16,lo8(80)
		9572	9821 5642 10E0 ldi r17,hi8(80)
		9573	9822 .L756:
		9574	9823 5644 3FEF ldi r19,hi8(-80)
		9575	9824 5646 003B cpi r16,lo8(-80)
		9576	9825 5648 1307 cpc r17,r19
		9577	9826 564a 04F4 brge .L755
		9578	9827 564c 00EB ldi r16,lo8(-80)
		9579	9828 564e 1FEF ldi r17,hi8(-80)
		9580	9829 .L755:
		9581	9830 5650 4D89 ldd r20,Y+21
		9582	9831 5652 242F mov r18,r20
		9583	9832 5654 3327 clr r19
		9584	9833 5656 220F lsl r18
		9585	9834 5658 331F rol r19
		9586	9835 565a 220F lsl r18
		9587	9836 565c 331F rol r19
		9588	9837 565e C901 movw r24,r18
		9589	9838 5660 6981 ldd r22,Y+1
		9590	9839 5662 7A81 ldd r23,Y+2
		9591	9840 5664 861B sub r24,r22
		9592	9841 5666 970B sbc r25,r23
		9593	9842 5668 8017 cp r24,r16
		9594	9843 566a 9107 cpc r25,r17
		9595	9844 566c 04F4 brge .L758
		9596	9845 566e 8C01 movw r16,r24
		9597	9846 .L758:
		9598	9847 5670 8981 ldd r24,Y+1
		9599	9848 5672 9A81 ldd r25,Y+2
		9600	9849 5674 821B sub r24,r18
		9601	9850 5676 930B sbc r25,r19
		9602	9851 5678 0817 cp r16,r24
		9603	9852 567a 1907 cpc r17,r25
		9604	9853 567c 04F4 brge .L759
		9605	9854 567e 8C01 movw r16,r24
		9606	9855 .L759:
		9607	9856 5680 8091 0000 lds r24,MesswertNick
		9608	9857 5684 9091 0000 lds r25,(MesswertNick)+1
		9609	9858 5688 6091 0000 lds r22,StickNick
		9610	9859 568c 7091 0000 lds r23,(StickNick)+1
		9611	9860 5690 861B sub r24,r22
		9612	9861 5692 970B sbc r25,r23
		9613	9862 5694 9093 0000 sts (DiffNick)+1,r25
		9614	9863 5698 8093 0000 sts DiffNick,r24
		9615	9864 569c D090 0000 lds r13,IntegralFaktor
		9616	9865 56a0 2091 0000 lds r18,SummeNick
		9617	9866 56a4 3091 0000 lds r19,(SummeNick)+1
		9618	9867 56a8 4091 0000 lds r20,(SummeNick)+2
		9619	9868 56ac 5091 0000 lds r21,(SummeNick)+3
		9620	9869 56b0 DD20 tst r13
		9621	9870 56b2 01F0 breq .L760
		9622	9871 56b4 661A sub r6,r22
		9623	9872 56b6 770A sbc r7,r23
		9624	9873 56b8 C301 movw r24,r6
		9625	9874 56ba AA27 clr r26
		9626	9875 56bc 97FD sbrc r25,7
		9627	9876 56be A095 com r26
		9628	9877 56c0 BA2F mov r27,r26
		9629	9878 56c2 00C0 rjmp .L848
		9630	9879 .L760:
		9631	9880 56c4 AA27 clr r26
		9632	9881 56c6 97FD sbrc r25,7
		9633	9882 56c8 A095 com r26
		9634	9883 56ca BA2F mov r27,r26
		9635	9884 .L848:
		9636	9885 56cc 280F add r18,r24
		9637	9886 56ce 391F adc r19,r25
		9638	9887 56d0 4A1F adc r20,r26
		9639	9888 56d2 5B1F adc r21,r27
		9640	9889 56d4 2093 0000 sts SummeNick,r18
		9641	9890 56d8 3093 0000 sts (SummeNick)+1,r19
		9642	9891 56dc 4093 0000 sts (SummeNick)+2,r20
		9643	9892 56e0 5093 0000 sts (SummeNick)+3,r21
		9644	9893 56e4 8091 0000 lds r24,SummeNick
		9645	9894 56e8 9091 0000 lds r25,(SummeNick)+1
		9646	9895 56ec A091 0000 lds r26,(SummeNick)+2
		9647	9896 56f0 B091 0000 lds r27,(SummeNick)+3
		9648	9897 56f4 8150 subi r24,lo8(64001)
		9649	9898 56f6 9A4F sbci r25,hi8(64001)
		9650	9899 56f8 A040 sbci r26,hlo8(64001)
		9651	9900 56fa B040 sbci r27,hhi8(64001)
		9652	9901 56fc 04F0 brlt .L762
		9653	9902 56fe 80E0 ldi r24,lo8(64000)
		9654	9903 5700 9AEF ldi r25,hi8(64000)
		9655	9904 5702 A0E0 ldi r26,hlo8(64000)
		9656	9905 5704 B0E0 ldi r27,hhi8(64000)
		9657	9906 5706 8093 0000 sts SummeNick,r24
		9658	9907 570a 9093 0000 sts (SummeNick)+1,r25
		9659	9908 570e A093 0000 sts (SummeNick)+2,r26
		9660	9909 5712 B093 0000 sts (SummeNick)+3,r27
		9661	9910 .L762:
		9662	9911 5716 8091 0000 lds r24,SummeNick
		9663	9912 571a 9091 0000 lds r25,(SummeNick)+1
		9664	9913 571e A091 0000 lds r26,(SummeNick)+2
		9665	9914 5722 B091 0000 lds r27,(SummeNick)+3
		9666	9915 5726 8050 subi r24,lo8(-64000)
		9667	9916 5728 9640 sbci r25,hi8(-64000)
		9668	9917 572a AF4F sbci r26,hlo8(-64000)
		9669	9918 572c BF4F sbci r27,hhi8(-64000)
		9670	9919 572e 04F4 brge .L763
		9671	9920 5730 80E0 ldi r24,lo8(-64000)
		9672	9921 5732 96E0 ldi r25,hi8(-64000)
		9673	9922 5734 AFEF ldi r26,hlo8(-64000)
		9674	9923 5736 BFEF ldi r27,hhi8(-64000)
		9675	9924 5738 8093 0000 sts SummeNick,r24
		9676	9925 573c 9093 0000 sts (SummeNick)+1,r25
		9677	9926 5740 A093 0000 sts (SummeNick)+2,r26
		9678	9927 5744 B093 0000 sts (SummeNick)+3,r27
		9679	9928 .L763:
		9680	9929 5748 C090 0000 lds r12,EE_Parameter+35
		9681	9930 574c 2091 0000 lds r18,DiffNick
		9682	9931 5750 3091 0000 lds r19,(DiffNick)+1
		9683	9932 5754 78E0 ldi r23,lo8(8)
		9684	9933 5756 E72E mov r14,r23
		9685	9934 5758 EC14 cp r14,r12
		9686	9935 575a 00F0 brlo .L764
		9687	9936 575c 8C2D mov r24,r12
		9688	9937 575e 9927 clr r25
		9689	9938 5760 829F mul r24,r18
		9690	9939 5762 A001 movw r20,r0
		9691	9940 5764 839F mul r24,r19
		9692	9941 5766 500D add r21,r0
		9693	9942 5768 929F mul r25,r18
		9694	9943 576a 500D add r21,r0
		9695	9944 576c 1124 clr r1
		9696	9945 576e CA01 movw r24,r20
		9697	9946 5770 57FD sbrc r21,7
		9698	9947 5772 0796 adiw r24,7
		9699	9948 .L765:
		9700	9949 5774 7C01 movw r14,r24
		9701	9950 5776 63E0 ldi r22,3
		9702	9951 5778 F594 1: asr r15
		9703	9952 577a E794 ror r14
		9704	9953 577c 6A95 dec r22
		9705	9954 577e 01F4 brne 1b
		9706	9955 5780 00C0 rjmp .L766
		9707	9956 .L764:
		9708	9957 5782 8C2D mov r24,r12
		9709	9958 5784 8695 lsr r24
		9710	9959 5786 9927 clr r25
		9711	9960 5788 829F mul r24,r18
		9712	9961 578a B001 movw r22,r0
		9713	9962 578c 839F mul r24,r19
		9714	9963 578e 700D add r23,r0
		9715	9964 5790 929F mul r25,r18
		9716	9965 5792 700D add r23,r0
		9717	9966 5794 1124 clr r1
		9718	9967 5796 CB01 movw r24,r22
		9719	9968 5798 77FD sbrc r23,7
		9720	9969 579a 0396 adiw r24,3
		9721	9970 .L767:
		9722	9971 579c 7C01 movw r14,r24
		9723	9972 579e F594 asr r15
		9724	9973 57a0 E794 ror r14
		9725	9974 57a2 F594 asr r15
		9726	9975 57a4 E794 ror r14
		9727	9976 .L766:
		9728	9977 57a6 A090 0000 lds r10,Ki
		9729	9978 57aa B090 0000 lds r11,(Ki)+1
		9730	9979 57ae 9501 movw r18,r10
		9731	9980 57b0 4427 clr r20
		9732	9981 57b2 37FD sbrc r19,7
		9733	9982 57b4 4095 com r20
		9734	9983 57b6 542F mov r21,r20
		9735	9984 57b8 8091 0000 lds r24,SummeNick
		9736	9985 57bc 9091 0000 lds r25,(SummeNick)+1
		9737	9986 57c0 A091 0000 lds r26,(SummeNick)+2
		9738	9987 57c4 B091 0000 lds r27,(SummeNick)+3
		9739	9988 57c8 BC01 movw r22,r24
		9740	9989 57ca CD01 movw r24,r26
		9741	9990 57cc 0E94 0000 call __divmodsi4
		9742	9991 57d0 E20E add r14,r18
		9743	9992 57d2 F31E adc r15,r19
		9744	9993 57d4 9090 0000 lds r9,Parameter_DynamicStability
		9745	9994 57d8 692D mov r22,r9
		9746	9995 57da 7727 clr r23
		9747	9996 57dc 8827 clr r24
		9748	9997 57de 9927 clr r25
		9749	9998 57e0 9801 movw r18,r16
		9750	9999 57e2 17FF sbrs r17,7
		9751	10000 57e4 00C0 rjmp .L768
		9752	10001 57e6 2227 clr r18
		9753	10002 57e8 3327 clr r19
		9754	10003 57ea 201B sub r18,r16
		9755	10004 57ec 310B sbc r19,r17
		9756	10005 .L768:
		9757	10006 57ee 37FF sbrs r19,7
		9758	10007 57f0 00C0 rjmp .L769
		9759	10008 57f2 2F5F subi r18,lo8(-(1))
		9760	10009 57f4 3F4F sbci r19,hi8(-(1))
		9761	10010 .L769:
		9762	10011 57f6 3595 asr r19
		9763	10012 57f8 2795 ror r18
		9764	10013 57fa A981 ldd r26,Y+1
		9765	10014 57fc BA81 ldd r27,Y+2
		9766	10015 57fe 2A0F add r18,r26
		9767	10016 5800 3B1F adc r19,r27
		9768	10017 5802 4427 clr r20
		9769	10018 5804 37FD sbrc r19,7
		9770	10019 5806 4095 com r20
		9771	10020 5808 542F mov r21,r20
		9772	10021 580a 0E94 0000 call __mulsi3
		9773	10022 580e 97FF sbrs r25,7
		9774	10023 5810 00C0 rjmp .L770
		9775	10024 5812 615C subi r22,lo8(-(63))
		9776	10025 5814 7F4F sbci r23,hi8(-(63))
		9777	10026 5816 8F4F sbci r24,hlo8(-(63))
		9778	10027 5818 9F4F sbci r25,hhi8(-(63))
		9779	10028 .L770:
		9780	10029 581a 26E0 ldi r18,6
		9781	10030 581c 9595 1: asr r25
		9782	10031 581e 8795 ror r24
		9783	10032 5820 7795 ror r23
		9784	10033 5822 6795 ror r22
		9785	10034 5824 2A95 dec r18
		9786	10035 5826 01F4 brne 1b
		9787	10036 5828 9B01 movw r18,r22
		9788	10037 582a 6E15 cp r22,r14
		9789	10038 582c 7F05 cpc r23,r15
		9790	10039 582e 04F4 brge .L771
		9791	10040 5830 7B01 movw r14,r22
		9792	10041 .L771:
		9793	10042 5832 3095 com r19
		9794	10043 5834 2195 neg r18
		9795	10044 5836 3F4F sbci r19,lo8(-1)
		9796	10045 5838 E216 cp r14,r18
		9797	10046 583a F306 cpc r15,r19
		9798	10047 583c 04F4 brge .L772
		9799	10048 583e 7901 movw r14,r18
		9800	10049 .L772:
		9801	10050 5840 8091 0000 lds r24,MesswertRoll
		9802	10051 5844 9091 0000 lds r25,(MesswertRoll)+1
		9803	10052 5848 6091 0000 lds r22,StickRoll
		9804	10053 584c 7091 0000 lds r23,(StickRoll)+1
		9805	10054 5850 861B sub r24,r22
		9806	10055 5852 970B sbc r25,r23
		9807	10056 5854 9093 0000 sts (DiffRoll)+1,r25
		9808	10057 5858 8093 0000 sts DiffRoll,r24
		9809	10058 585c 2091 0000 lds r18,SummeRoll
		9810	10059 5860 3091 0000 lds r19,(SummeRoll)+1
		9811	10060 5864 4091 0000 lds r20,(SummeRoll)+2
		9812	10061 5868 5091 0000 lds r21,(SummeRoll)+3
		9813	10062 586c DD20 tst r13
		9814	10063 586e 01F0 breq .L773
		9815	10064 5870 461A sub r4,r22
		9816	10065 5872 570A sbc r5,r23
		9817	10066 5874 C201 movw r24,r4
		9818	10067 5876 AA27 clr r26
		9819	10068 5878 97FD sbrc r25,7
		9820	10069 587a A095 com r26
		9821	10070 587c BA2F mov r27,r26
		9822	10071 587e 00C0 rjmp .L849
		9823	10072 .L773:
		9824	10073 5880 AA27 clr r26
		9825	10074 5882 97FD sbrc r25,7
		9826	10075 5884 A095 com r26
		9827	10076 5886 BA2F mov r27,r26
		9828	10077 .L849:
		9829	10078 5888 280F add r18,r24
		9830	10079 588a 391F adc r19,r25
		9831	10080 588c 4A1F adc r20,r26
		9832	10081 588e 5B1F adc r21,r27
		9833	10082 5890 2093 0000 sts SummeRoll,r18
		9834	10083 5894 3093 0000 sts (SummeRoll)+1,r19
		9835	10084 5898 4093 0000 sts (SummeRoll)+2,r20
		9836	10085 589c 5093 0000 sts (SummeRoll)+3,r21
		9837	10086 58a0 8091 0000 lds r24,SummeRoll
		9838	10087 58a4 9091 0000 lds r25,(SummeRoll)+1
		9839	10088 58a8 A091 0000 lds r26,(SummeRoll)+2
		9840	10089 58ac B091 0000 lds r27,(SummeRoll)+3
		9841	10090 58b0 8150 subi r24,lo8(64001)
		9842	10091 58b2 9A4F sbci r25,hi8(64001)
		9843	10092 58b4 A040 sbci r26,hlo8(64001)
		9844	10093 58b6 B040 sbci r27,hhi8(64001)
		9845	10094 58b8 04F0 brlt .L775
		9846	10095 58ba 80E0 ldi r24,lo8(64000)
		9847	10096 58bc 9AEF ldi r25,hi8(64000)
		9848	10097 58be A0E0 ldi r26,hlo8(64000)
		9849	10098 58c0 B0E0 ldi r27,hhi8(64000)
		9850	10099 58c2 8093 0000 sts SummeRoll,r24
		9851	10100 58c6 9093 0000 sts (SummeRoll)+1,r25
		9852	10101 58ca A093 0000 sts (SummeRoll)+2,r26
		9853	10102 58ce B093 0000 sts (SummeRoll)+3,r27
		9854	10103 .L775:
		9855	10104 58d2 8091 0000 lds r24,SummeRoll
		9856	10105 58d6 9091 0000 lds r25,(SummeRoll)+1
		9857	10106 58da A091 0000 lds r26,(SummeRoll)+2
		9858	10107 58de B091 0000 lds r27,(SummeRoll)+3
		9859	10108 58e2 8050 subi r24,lo8(-64000)
		9860	10109 58e4 9640 sbci r25,hi8(-64000)
		9861	10110 58e6 AF4F sbci r26,hlo8(-64000)
		9862	10111 58e8 BF4F sbci r27,hhi8(-64000)
		9863	10112 58ea 04F4 brge .L776
		9864	10113 58ec 80E0 ldi r24,lo8(-64000)
		9865	10114 58ee 96E0 ldi r25,hi8(-64000)
		9866	10115 58f0 AFEF ldi r26,hlo8(-64000)
		9867	10116 58f2 BFEF ldi r27,hhi8(-64000)
		9868	10117 58f4 8093 0000 sts SummeRoll,r24
		9869	10118 58f8 9093 0000 sts (SummeRoll)+1,r25
		9870	10119 58fc A093 0000 sts (SummeRoll)+2,r26
		9871	10120 5900 B093 0000 sts (SummeRoll)+3,r27
		9872	10121 .L776:
		9873	10122 5904 2091 0000 lds r18,DiffRoll
		9874	10123 5908 3091 0000 lds r19,(DiffRoll)+1
		9875	10124 590c 48E0 ldi r20,lo8(8)
		9876	10125 590e 4C15 cp r20,r12
		9877	10126 5910 00F0 brlo .L777
		9878	10127 5912 8C2D mov r24,r12
		9879	10128 5914 9927 clr r25
		9880	10129 5916 829F mul r24,r18
		9881	10130 5918 B001 movw r22,r0
		9882	10131 591a 839F mul r24,r19
		9883	10132 591c 700D add r23,r0
		9884	10133 591e 929F mul r25,r18
		9885	10134 5920 700D add r23,r0
		9886	10135 5922 1124 clr r1
		9887	10136 5924 CB01 movw r24,r22
		9888	10137 5926 77FD sbrc r23,7
		9889	10138 5928 0796 adiw r24,7
		9890	10139 .L778:
		9891	10140 592a 6C01 movw r12,r24
		9892	10141 592c B3E0 ldi r27,3
		9893	10142 592e D594 1: asr r13
		9894	10143 5930 C794 ror r12
		9895	10144 5932 BA95 dec r27
		9896	10145 5934 01F4 brne 1b
		9897	10146 5936 00C0 rjmp .L779
		9898	10147 .L777:
		9899	10148 5938 C694 lsr r12
		9900	10149 593a 8C2D mov r24,r12
		9901	10150 593c 9927 clr r25
		9902	10151 593e 829F mul r24,r18
		9903	10152 5940 D001 movw r26,r0
		9904	10153 5942 839F mul r24,r19
		9905	10154 5944 B00D add r27,r0
		9906	10155 5946 929F mul r25,r18
		9907	10156 5948 B00D add r27,r0
		9908	10157 594a 1124 clr r1
		9909	10158 594c CD01 movw r24,r26
		9910	10159 594e B7FD sbrc r27,7
		9911	10160 5950 0396 adiw r24,3
		9912	10161 .L780:
		9913	10162 5952 6C01 movw r12,r24
		9914	10163 5954 D594 asr r13
		9915	10164 5956 C794 ror r12
		9916	10165 5958 D594 asr r13
		9917	10166 595a C794 ror r12
		9918	10167 .L779:
		9919	10168 595c 9501 movw r18,r10
		9920	10169 595e 4427 clr r20
		9921	10170 5960 37FD sbrc r19,7
		9922	10171 5962 4095 com r20
		9923	10172 5964 542F mov r21,r20
		9924	10173 5966 8091 0000 lds r24,SummeRoll
		9925	10174 596a 9091 0000 lds r25,(SummeRoll)+1
		9926	10175 596e A091 0000 lds r26,(SummeRoll)+2
		9927	10176 5972 B091 0000 lds r27,(SummeRoll)+3
		9928	10177 5976 BC01 movw r22,r24
		9929	10178 5978 CD01 movw r24,r26
		9930	10179 597a 0E94 0000 call __divmodsi4
		9931	10180 597e C20E add r12,r18
		9932	10181 5980 D31E adc r13,r19
		9933	10182 5982 692D mov r22,r9
		9934	10183 5984 7727 clr r23
		9935	10184 5986 8827 clr r24
		9936	10185 5988 9927 clr r25
		9937	10186 598a 9801 movw r18,r16
		9938	10187 598c 17FF sbrs r17,7
		9939	10188 598e 00C0 rjmp .L781
		9940	10189 5990 2227 clr r18
		9941	10190 5992 3327 clr r19
		9942	10191 5994 201B sub r18,r16
		9943	10192 5996 310B sbc r19,r17
		9944	10193 .L781:
		9945	10194 5998 37FF sbrs r19,7
		9946	10195 599a 00C0 rjmp .L782
		9947	10196 599c 2F5F subi r18,lo8(-(1))
		9948	10197 599e 3F4F sbci r19,hi8(-(1))
		9949	10198 .L782:
		9950	10199 59a0 3595 asr r19
		9951	10200 59a2 2795 ror r18
		9952	10201 59a4 E981 ldd r30,Y+1
		9953	10202 59a6 FA81 ldd r31,Y+2
		9954	10203 59a8 2E0F add r18,r30
		9955	10204 59aa 3F1F adc r19,r31
		9956	10205 59ac 4427 clr r20
		9957	10206 59ae 37FD sbrc r19,7
		9958	10207 59b0 4095 com r20
		9959	10208 59b2 542F mov r21,r20
		9960	10209 59b4 0E94 0000 call __mulsi3
		9961	10210 59b8 97FF sbrs r25,7
		9962	10211 59ba 00C0 rjmp .L783
		9963	10212 59bc 615C subi r22,lo8(-(63))
		9964	10213 59be 7F4F sbci r23,hi8(-(63))
		9965	10214 59c0 8F4F sbci r24,hlo8(-(63))
		9966	10215 59c2 9F4F sbci r25,hhi8(-(63))
		9967	10216 .L783:
		9968	10217 59c4 E6E0 ldi r30,6
		9969	10218 59c6 9595 1: asr r25
		9970	10219 59c8 8795 ror r24
		9971	10220 59ca 7795 ror r23
		9972	10221 59cc 6795 ror r22
		9973	10222 59ce EA95 dec r30
		9974	10223 59d0 01F4 brne 1b
		9975	10224 59d2 9B01 movw r18,r22
		9976	10225 59d4 6C15 cp r22,r12
		9977	10226 59d6 7D05 cpc r23,r13
		9978	10227 59d8 04F4 brge .L784
		9979	10228 59da 6B01 movw r12,r22
		9980	10229 .L784:
		9981	10230 59dc 3095 com r19
		9982	10231 59de 2195 neg r18
		9983	10232 59e0 3F4F sbci r19,lo8(-1)
		9984	10233 59e2 C216 cp r12,r18
		9985	10234 59e4 D306 cpc r13,r19
		9986	10235 59e6 04F4 brge .L785
		9987	10236 59e8 6901 movw r12,r18
		9988	10237 .L785:
		9989	10238 59ea 8091 0000 lds r24,MIN_GAS
		9990	10239 59ee 282E mov r2,r24
		9991	10240 59f0 3324 clr r3
		9992	10241 59f2 5090 0000 lds r5,EE_Parameter+100
		9993	10242 59f6 60E0 ldi r22,lo8(Motor)
		9994	10243 59f8 862E mov r8,r22
		9995	10244 59fa 60E0 ldi r22,hi8(Motor)
		9996	10245 59fc 962E mov r9,r22
		9997	10246 59fe 50E0 ldi r21,lo8(Mixer+13)
		9998	10247 5a00 A52E mov r10,r21
		9999	10248 5a02 50E0 ldi r21,hi8(Mixer+13)
		10000	10249 5a04 B52E mov r11,r21
		10001	10250 5a06 4BE0 ldi r20,lo8(11)
		10002	10251 5a08 442E mov r4,r20
		10003	10252 5a0a 30E0 ldi r19,lo8(tmp_motorwert)
		10004	10253 5a0c 632E mov r6,r19
		10005	10254 5a0e 30E0 ldi r19,hi8(tmp_motorwert)
		10006	10255 5a10 732E mov r7,r19
		10007	10256 .L820:
		10008	10257 5a12 D501 movw r26,r10
		10009	10258 5a14 2C91 ld r18,X
		10010	10259 5a16 1216 cp __zero_reg__,r18
		10011	10260 5a18 04F0 brlt .+2
		10012	10261 5a1a 00C0 rjmp .L789
		10013	10262 5a1c 2034 cpi r18,lo8(64)
		10014	10263 5a1e 01F4 brne .L790
		10015	10264 5a20 E981 ldd r30,Y+1
		10016	10265 5a22 FA81 ldd r31,Y+2
		10017	10266 5a24 FF8B std Y+23,r31
		10018	10267 5a26 EE8B std Y+22,r30
		10019	10268 5a28 00C0 rjmp .L791
		10020	10269 .L790:
		10021	10270 5a2a 4981 ldd r20,Y+1
		10022	10271 5a2c 5A81 ldd r21,Y+2
		10023	10272 5a2e CA01 movw r24,r20
		10024	10273 5a30 AA27 clr r26
		10025	10274 5a32 97FD sbrc r25,7
		10026	10275 5a34 A095 com r26
		10027	10276 5a36 BA2F mov r27,r26
		10028	10277 5a38 3327 clr r19
		10029	10278 5a3a 27FD sbrc r18,7
		10030	10279 5a3c 3095 com r19
		10031	10280 5a3e 432F mov r20,r19
		10032	10281 5a40 532F mov r21,r19
		10033	10282 5a42 BC01 movw r22,r24
		10034	10283 5a44 CD01 movw r24,r26
		10035	10284 5a46 0E94 0000 call __mulsi3
		10036	10285 5a4a 97FF sbrs r25,7
		10037	10286 5a4c 00C0 rjmp .L792
		10038	10287 5a4e 615C subi r22,lo8(-(63))
		10039	10288 5a50 7F4F sbci r23,hi8(-(63))
		10040	10289 5a52 8F4F sbci r24,hlo8(-(63))
		10041	10290 5a54 9F4F sbci r25,hhi8(-(63))
		10042	10291 .L792:
		10043	10292 5a56 26E0 ldi r18,6
		10044	10293 5a58 9595 1: asr r25
		10045	10294 5a5a 8795 ror r24
		10046	10295 5a5c 7795 ror r23
		10047	10296 5a5e 6795 ror r22
		10048	10297 5a60 2A95 dec r18
		10049	10298 5a62 01F4 brne 1b
		10050	10299 5a64 7F8B std Y+23,r23
		10051	10300 5a66 6E8B std Y+22,r22
		10052	10301 .L791:
		10053	10302 5a68 F501 movw r30,r10
		10054	10303 5a6a 2181 ldd r18,Z+1
		10055	10304 5a6c 2034 cpi r18,lo8(64)
		10056	10305 5a6e 01F4 brne .L793
		10057	10306 5a70 2E89 ldd r18,Y+22
		10058	10307 5a72 3F89 ldd r19,Y+23
		10059	10308 5a74 2E0D add r18,r14
		10060	10309 5a76 3F1D adc r19,r15
		10061	10310 5a78 3F8B std Y+23,r19
		10062	10311 5a7a 2E8B std Y+22,r18
		10063	10312 5a7c 00C0 rjmp .L794
		10064	10313 .L793:
		10065	10314 5a7e 203C cpi r18,lo8(-64)
		10066	10315 5a80 01F4 brne .L795
		10067	10316 5a82 4E89 ldd r20,Y+22
		10068	10317 5a84 5F89 ldd r21,Y+23
		10069	10318 5a86 4E19 sub r20,r14
		10070	10319 5a88 5F09 sbc r21,r15
		10071	10320 5a8a 5F8B std Y+23,r21
		10072	10321 5a8c 4E8B std Y+22,r20
		10073	10322 5a8e 00C0 rjmp .L794
		10074	10323 .L795:
		10075	10324 5a90 C701 movw r24,r14
		10076	10325 5a92 AA27 clr r26
		10077	10326 5a94 97FD sbrc r25,7
		10078	10327 5a96 A095 com r26
		10079	10328 5a98 BA2F mov r27,r26
		10080	10329 5a9a 3327 clr r19
		10081	10330 5a9c 27FD sbrc r18,7
		10082	10331 5a9e 3095 com r19
		10083	10332 5aa0 432F mov r20,r19
		10084	10333 5aa2 532F mov r21,r19
		10085	10334 5aa4 BC01 movw r22,r24
		10086	10335 5aa6 CD01 movw r24,r26
		10087	10336 5aa8 0E94 0000 call __mulsi3
		10088	10337 5aac 97FF sbrs r25,7
		10089	10338 5aae 00C0 rjmp .L797
		10090	10339 5ab0 615C subi r22,lo8(-(63))
		10091	10340 5ab2 7F4F sbci r23,hi8(-(63))
		10092	10341 5ab4 8F4F sbci r24,hlo8(-(63))
		10093	10342 5ab6 9F4F sbci r25,hhi8(-(63))
		10094	10343 .L797:
		10095	10344 5ab8 B6E0 ldi r27,6
		10096	10345 5aba 9595 1: asr r25
		10097	10346 5abc 8795 ror r24
		10098	10347 5abe 7795 ror r23
		10099	10348 5ac0 6795 ror r22
		10100	10349 5ac2 BA95 dec r27
		10101	10350 5ac4 01F4 brne 1b
		10102	10351 5ac6 AE89 ldd r26,Y+22
		10103	10352 5ac8 BF89 ldd r27,Y+23
		10104	10353 5aca A60F add r26,r22
		10105	10354 5acc B71F adc r27,r23
		10106	10355 5ace BF8B std Y+23,r27
		10107	10356 5ad0 AE8B std Y+22,r26
		10108	10357 .L794:
		10109	10358 5ad2 F501 movw r30,r10
		10110	10359 5ad4 2281 ldd r18,Z+2
		10111	10360 5ad6 2034 cpi r18,lo8(64)
		10112	10361 5ad8 01F4 brne .L798
		10113	10362 5ada 2E89 ldd r18,Y+22
		10114	10363 5adc 3F89 ldd r19,Y+23
		10115	10364 5ade 2C0D add r18,r12
		10116	10365 5ae0 3D1D adc r19,r13
		10117	10366 5ae2 3F8B std Y+23,r19
		10118	10367 5ae4 2E8B std Y+22,r18
		10119	10368 5ae6 00C0 rjmp .L799
		10120	10369 .L798:
		10121	10370 5ae8 203C cpi r18,lo8(-64)
		10122	10371 5aea 01F4 brne .L800
		10123	10372 5aec 4E89 ldd r20,Y+22
		10124	10373 5aee 5F89 ldd r21,Y+23
		10125	10374 5af0 4C19 sub r20,r12
		10126	10375 5af2 5D09 sbc r21,r13
		10127	10376 5af4 5F8B std Y+23,r21
		10128	10377 5af6 4E8B std Y+22,r20
		10129	10378 5af8 00C0 rjmp .L799
		10130	10379 .L800:
		10131	10380 5afa C601 movw r24,r12
		10132	10381 5afc AA27 clr r26
		10133	10382 5afe 97FD sbrc r25,7
		10134	10383 5b00 A095 com r26
		10135	10384 5b02 BA2F mov r27,r26
		10136	10385 5b04 3327 clr r19
		10137	10386 5b06 27FD sbrc r18,7
		10138	10387 5b08 3095 com r19
		10139	10388 5b0a 432F mov r20,r19
		10140	10389 5b0c 532F mov r21,r19
		10141	10390 5b0e BC01 movw r22,r24
		10142	10391 5b10 CD01 movw r24,r26
		10143	10392 5b12 0E94 0000 call __mulsi3
		10144	10393 5b16 97FF sbrs r25,7
		10145	10394 5b18 00C0 rjmp .L802
		10146	10395 5b1a 615C subi r22,lo8(-(63))
		10147	10396 5b1c 7F4F sbci r23,hi8(-(63))
		10148	10397 5b1e 8F4F sbci r24,hlo8(-(63))
		10149	10398 5b20 9F4F sbci r25,hhi8(-(63))
		10150	10399 .L802:
		10151	10400 5b22 A6E0 ldi r26,6
		10152	10401 5b24 9595 1: asr r25
		10153	10402 5b26 8795 ror r24
		10154	10403 5b28 7795 ror r23
		10155	10404 5b2a 6795 ror r22
		10156	10405 5b2c AA95 dec r26
		10157	10406 5b2e 01F4 brne 1b
		10158	10407 5b30 AE89 ldd r26,Y+22
		10159	10408 5b32 BF89 ldd r27,Y+23
		10160	10409 5b34 A60F add r26,r22
		10161	10410 5b36 B71F adc r27,r23
		10162	10411 5b38 BF8B std Y+23,r27
		10163	10412 5b3a AE8B std Y+22,r26
		10164	10413 .L799:
		10165	10414 5b3c F501 movw r30,r10
		10166	10415 5b3e 2381 ldd r18,Z+3
		10167	10416 5b40 2034 cpi r18,lo8(64)
		10168	10417 5b42 01F4 brne .L803
		10169	10418 5b44 2E89 ldd r18,Y+22
		10170	10419 5b46 3F89 ldd r19,Y+23
		10171	10420 5b48 200F add r18,r16
		10172	10421 5b4a 311F adc r19,r17
		10173	10422 5b4c 3F8B std Y+23,r19
		10174	10423 5b4e 2E8B std Y+22,r18
		10175	10424 5b50 00C0 rjmp .L804
		10176	10425 .L803:
		10177	10426 5b52 203C cpi r18,lo8(-64)
		10178	10427 5b54 01F4 brne .L805
		10179	10428 5b56 4E89 ldd r20,Y+22
		10180	10429 5b58 5F89 ldd r21,Y+23
		10181	10430 5b5a 401B sub r20,r16
		10182	10431 5b5c 510B sbc r21,r17
		10183	10432 5b5e 5F8B std Y+23,r21
		10184	10433 5b60 4E8B std Y+22,r20
		10185	10434 5b62 00C0 rjmp .L804
		10186	10435 .L805:
		10187	10436 5b64 C801 movw r24,r16
		10188	10437 5b66 AA27 clr r26
		10189	10438 5b68 97FD sbrc r25,7
		10190	10439 5b6a A095 com r26
		10191	10440 5b6c BA2F mov r27,r26
		10192	10441 5b6e 3327 clr r19
		10193	10442 5b70 27FD sbrc r18,7
		10194	10443 5b72 3095 com r19
		10195	10444 5b74 432F mov r20,r19
		10196	10445 5b76 532F mov r21,r19
		10197	10446 5b78 BC01 movw r22,r24
		10198	10447 5b7a CD01 movw r24,r26
		10199	10448 5b7c 0E94 0000 call __mulsi3
		10200	10449 5b80 97FF sbrs r25,7
		10201	10450 5b82 00C0 rjmp .L807
		10202	10451 5b84 615C subi r22,lo8(-(63))
		10203	10452 5b86 7F4F sbci r23,hi8(-(63))
		10204	10453 5b88 8F4F sbci r24,hlo8(-(63))
		10205	10454 5b8a 9F4F sbci r25,hhi8(-(63))
		10206	10455 .L807:
		10207	10456 5b8c F6E0 ldi r31,6
		10208	10457 5b8e 9595 1: asr r25
		10209	10458 5b90 8795 ror r24
		10210	10459 5b92 7795 ror r23
		10211	10460 5b94 6795 ror r22
		10212	10461 5b96 FA95 dec r31
		10213	10462 5b98 01F4 brne 1b
		10214	10463 5b9a AE89 ldd r26,Y+22
		10215	10464 5b9c BF89 ldd r27,Y+23
		10216	10465 5b9e A60F add r26,r22
		10217	10466 5ba0 B71F adc r27,r23
		10218	10467 5ba2 BF8B std Y+23,r27
		10219	10468 5ba4 AE8B std Y+22,r26
		10220	10469 .L804:
		10221	10470 5ba6 F301 movw r30,r6
		10222	10471 5ba8 8081 ld r24,Z
		10223	10472 5baa 9181 ldd r25,Z+1
		10224	10473 5bac 2E89 ldd r18,Y+22
		10225	10474 5bae 3F89 ldd r19,Y+23
		10226	10475 5bb0 8217 cp r24,r18
		10227	10476 5bb2 9307 cpc r25,r19
		10228	10477 5bb4 04F4 brge .L808
		10229	10478 5bb6 B901 movw r22,r18
		10230	10479 5bb8 680F add r22,r24
		10231	10480 5bba 791F adc r23,r25
		10232	10481 5bbc 77FF sbrs r23,7
		10233	10482 5bbe 00C0 rjmp .L809
		10234	10483 5bc0 6F5F subi r22,lo8(-(1))
		10235	10484 5bc2 7F4F sbci r23,hi8(-(1))
		10236	10485 .L809:
		10237	10486 5bc4 7595 asr r23
		10238	10487 5bc6 6795 ror r22
		10239	10488 5bc8 7F8B std Y+23,r23
		10240	10489 5bca 6E8B std Y+22,r22
		10241	10490 5bcc 00C0 rjmp .L810
		10242	10491 .L808:
		10243	10492 5bce 5520 tst r5
		10244	10493 5bd0 01F4 brne .L811
		10245	10494 5bd2 4E89 ldd r20,Y+22
		10246	10495 5bd4 5F89 ldd r21,Y+23
		10247	10496 5bd6 440F add r20,r20
		10248	10497 5bd8 551F adc r21,r21
		10249	10498 5bda 481B sub r20,r24
		10250	10499 5bdc 590B sbc r21,r25
		10251	10500 5bde 5F8B std Y+23,r21
		10252	10501 5be0 4E8B std Y+22,r20
		10253	10502 5be2 00C0 rjmp .L810
		10254	10503 .L811:
		10255	10504 5be4 51E0 ldi r21,lo8(1)
		10256	10505 5be6 5515 cp r21,r5
		10257	10506 5be8 00F4 brsh .L810
		10258	10507 5bea 252D mov r18,r5
		10259	10508 5bec 3327 clr r19
		10260	10509 5bee 6E89 ldd r22,Y+22
		10261	10510 5bf0 7F89 ldd r23,Y+23
		10262	10511 5bf2 861B sub r24,r22
		10263	10512 5bf4 970B sbc r25,r23
		10264	10513 5bf6 B901 movw r22,r18
		10265	10514 5bf8 0E94 0000 call __divmodhi4
		10266	10515 5bfc AE89 ldd r26,Y+22
		10267	10516 5bfe BF89 ldd r27,Y+23
		10268	10517 5c00 A60F add r26,r22
		10269	10518 5c02 B71F adc r27,r23
		10270	10519 5c04 BF8B std Y+23,r27
		10271	10520 5c06 AE8B std Y+22,r26
		10272	10521 .L810:
		10273	10522 5c08 C101 movw r24,r2
		10274	10523 5c0a 880F lsl r24
		10275	10524 5c0c 991F rol r25
		10276	10525 5c0e 880F lsl r24
		10277	10526 5c10 991F rol r25
		10278	10527 5c12 EE89 ldd r30,Y+22
		10279	10528 5c14 FF89 ldd r31,Y+23
		10280	10529 5c16 8E17 cp r24,r30
		10281	10530 5c18 9F07 cpc r25,r31
		10282	10531 5c1a 04F4 brge .L850
		10283	10532 5c1c FD89 ldd r31,Y+21
		10284	10533 5c1e 8F2F mov r24,r31
		10285	10534 5c20 9927 clr r25
		10286	10535 5c22 880F lsl r24
		10287	10536 5c24 991F rol r25
		10288	10537 5c26 880F lsl r24
		10289	10538 5c28 991F rol r25
		10290	10539 5c2a 2E89 ldd r18,Y+22
		10291	10540 5c2c 3F89 ldd r19,Y+23
		10292	10541 5c2e 2817 cp r18,r24
		10293	10542 5c30 3907 cpc r19,r25
		10294	10543 5c32 04F0 brlt .L815
		10295	10544 .L850:
		10296	10545 5c34 9F8B std Y+23,r25
		10297	10546 5c36 8E8B std Y+22,r24
		10298	10547 .L815:
		10299	10548 5c38 8E89 ldd r24,Y+22
		10300	10549 5c3a 9F89 ldd r25,Y+23
		10301	10550 5c3c 97FD sbrc r25,7
		10302	10551 5c3e 0396 adiw r24,3
		10303	10552 .L817:
		10304	10553 5c40 9595 asr r25
		10305	10554 5c42 8795 ror r24
		10306	10555 5c44 9595 asr r25
		10307	10556 5c46 8795 ror r24
		10308	10557 5c48 F401 movw r30,r8
		10309	10558 5c4a 8183 std Z+1,r24
		10310	10559 5c4c 880F lsl r24
		10311	10560 5c4e 991F rol r25
		10312	10561 5c50 880F lsl r24
		10313	10562 5c52 991F rol r25
		10314	10563 5c54 2E89 ldd r18,Y+22
		10315	10564 5c56 3F89 ldd r19,Y+23
		10316	10565 5c58 281B sub r18,r24
		10317	10566 5c5a 390B sbc r19,r25
		10318	10567 5c5c C901 movw r24,r18
		10319	10568 5c5e 880F lsl r24
		10320	10569 5c60 8283 std Z+2,r24
		10321	10570 5c62 EE89 ldd r30,Y+22
		10322	10571 5c64 FF89 ldd r31,Y+23
		10323	10572 5c66 D301 movw r26,r6
		10324	10573 5c68 ED93 st X+,r30
		10325	10574 5c6a FC93 st X,r31
		10326	10575 5c6c 00C0 rjmp .L788
		10327	10576 .L789:
		10328	10577 5c6e F401 movw r30,r8
		10329	10578 5c70 1182 std Z+1,__zero_reg__
		10330	10579 5c72 1282 std Z+2,__zero_reg__
		10331	10580 .L788:
		10332	10581 5c74 4A94 dec r4
		10333	10582 5c76 22E0 ldi r18,lo8(2)
		10334	10583 5c78 30E0 ldi r19,hi8(2)
		10335	10584 5c7a 620E add r6,r18
		10336	10585 5c7c 731E adc r7,r19
		10337	10586 5c7e 44E0 ldi r20,lo8(4)
		10338	10587 5c80 50E0 ldi r21,hi8(4)
		10339	10588 5c82 A40E add r10,r20
		10340	10589 5c84 B51E adc r11,r21
		10341	10590 5c86 68E0 ldi r22,lo8(8)
		10342	10591 5c88 70E0 ldi r23,hi8(8)
		10343	10592 5c8a 860E add r8,r22
		10344	10593 5c8c 971E adc r9,r23
		10345	10594 5c8e 47FE sbrs r4,7
		10346	10595 5c90 00C0 rjmp .L820
		10347	10596 /* epilogue: frame size=23 */
		10348	10597 5c92 E2E1 ldi r30,18
		10349	10598 5c94 C95E subi r28,-23
		10350	10599 5c96 0C94 0000 jmp __epilogue_restores__+0
		10351	10600 /* epilogue end (size=4) */
		10352	10601 /* function MotorRegler size 8012 (8002) */
		10353	10603 .comm Motors,8,1
		10354	10604 .comm Motorsmax,8,1
		10355	10605 .comm MotorsTmax,2,1
		10356	10606 .comm loop1,1,1
		10357	10607 .comm loop2,1,1
		10358	10608 .comm loop3,1,1
		10359	10609 .comm pos1,1,1
		10360	10610 .comm pos2,1,1
		10361	10611 .comm pos3,1,1
		10362	10612 .comm TrimNick,2,1
		10363	10613 .comm TrimRoll,2,1
		10364	10614 .comm ErsatzKompass,4,1
		10365	10615 .comm ErsatzKompassInGrad,2,1
		10366	10616 .comm MesswertNick,2,1
		10367	10617 .comm MesswertRoll,2,1
		10368	10618 .comm MesswertGier,2,1
		10369	10619 .comm Mittelwert_AccNick,2,1
		10370	10620 .comm Mittelwert_AccRoll,2,1
		10371	10621 .comm NaviAccNick,2,1
		10372	10622 .comm NaviAccRoll,2,1
		10373	10623 .comm h,1,1
		10374	10624 .comm m,1,1
		10375	10625 .comm s,1,1
		10376	10626 .comm DiffNick,2,1
		10377	10627 .comm DiffRoll,2,1
		10378	10628 .comm Parameter_Servo3,1,1
		10379	10629 .comm Parameter_Servo4,1,1
		10380	10630 .comm Parameter_Servo5,1,1
		10381	10631 .comm Parameter_J16Bitmask,1,1
		10382	10632 .comm Parameter_J16Timing,1,1
		10383	10633 .comm Parameter_J17Bitmask,1,1
		10384	10634 .comm Parameter_J17Timing,1,1
		10385	10635 .comm Parameter_GlobalConfig,1,1
		10386	10636 .comm Parameter_ExtraConfig,1,1
		10387	10637 .comm MesswertGierBias,2,1
		10388	10638 .comm RohMesswertNick,2,1
		10389	10639 .comm RohMesswertRoll,2,1
		10390	10640 .comm MittelIntegralNick,4,1
		10391	10641 .comm MittelIntegralRoll,4,1
		10392	10642 .comm MittelIntegralNick2,4,1
		10393	10643 .comm MittelIntegralRoll2,4,1
		10394	10644 .comm MAX_GAS,1,1
		10395	10645 .comm MIN_GAS,1,1
		10396	10646 .comm GyroFaktor,1,1
		10397	10647 .comm GyroFaktorGier,1,1
		10398	10648 .comm IntegralFaktor,1,1
		10399	10649 .comm IntegralFaktorGier,1,1
		10400	10650 .comm Parameter_NaviGpsModeControl,1,1
		10401	10651 .comm Parameter_NaviGpsGain,1,1
		10402	10652 .comm Parameter_NaviGpsP,1,1
		10403	10653 .comm Parameter_NaviGpsI,1,1
		10404	10654 .comm Parameter_NaviGpsD,1,1
		10405	10655 .comm Parameter_NaviGpsACC,1,1
		10406	10656 .comm Parameter_NaviOperatingRadius,1,1
		10407	10657 .comm Parameter_NaviWindCorrection,1,1
		10408	10658 .comm Parameter_NaviSpeedCompensation,1,1
		10409	10659 .comm Parameter_ExternalControl,1,1
		10410	10660 .comm Parameter_MaximumAltitude,1,1
		10411	10661 .comm KopplungsteilNickRoll,2,1
		10412	10662 .comm KopplungsteilRollNick,2,1
		10413	10663 .comm tmp_motorwert,24,1
		10414	10664 /* File "fc.c": code 12010 = 0x2eea (11953), prologues 29, epilogues 28 */
		10415	DEFINED SYMBOLS
		10416	ABS:00000000 fc.c
		10417	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3 ABS:0000003f __SREG__
		10418	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:4 ABS:0000003e __SP_H__
		10419	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:5 ABS:0000003d __SP_L__
		10420	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:6 ABS:00000000 __tmp_reg__
		10421	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:7 ABS:00000001 __zero_reg__
		10422	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:14 .data:00000000 VarioCharacter
		10423	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:19 .data:00000001 GIER_GRAD_FAKTOR
		10424	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:26 .bss:00000000 FC_StatusFlags2
		10425	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:32 .bss:00000001 FC_StatusFlags
		10426	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:38 .bss:00000002 modell_fliegt
		10427	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:44 .bss:00000004 MaxStickRoll
		10428	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:50 .bss:00000006 MaxStickNick
		10429	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:56 .data:00000005 ExternHoehenValue
		10430	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:63 .bss:00000008 ExternStickGier
		10431	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:69 .bss:0000000a ExternStickRoll
		10432	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:75 .bss:0000000c ExternStickNick
		10433	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:81 .data:00000007 sintab
		10434	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:118 .bss:0000000e CareFree
		10435	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:124 .data:00000026 Parameter_DynamicStability
		10436	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:129 .data:00000027 Parameter_CouplingYawCorrection
		10437	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:134 .data:00000028 Parameter_AchsKopplung2
		10438	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:139 .data:00000029 Parameter_AchsKopplung1
		10439	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:144 .data:0000002a Parameter_LoopGasLimit
		10440	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:149 .data:0000002b Parameter_ServoRollControl
		10441	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:154 .data:0000002c Parameter_ServoNickControl
		10442	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:161 .bss:0000000f Parameter_UserParam8
		10443	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:167 .bss:00000010 Parameter_UserParam7
		10444	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:173 .bss:00000011 Parameter_UserParam6
		10445	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:179 .bss:00000012 Parameter_UserParam5
		10446	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:185 .bss:00000013 Parameter_UserParam4
		10447	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:191 .bss:00000014 Parameter_UserParam3
		10448	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:197 .bss:00000015 Parameter_UserParam2
		10449	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:203 .bss:00000016 Parameter_UserParam1
		10450	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:209 .data:0000002d Parameter_I_Faktor
		10451	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:214 .data:0000002e Parameter_Gier_P
		10452	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:219 .data:0000002f Parameter_Gyro_Gier_I
		10453	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:224 .data:00000030 Parameter_Gyro_Gier_P
		10454	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:229 .data:00000031 Parameter_Gyro_I
		10455	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:234 .data:00000032 Parameter_Gyro_P
		10456	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:239 .data:00000033 Parameter_Gyro_D
		10457	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:244 .data:00000034 Parameter_Hoehe_GPS_Z
		10458	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:249 .data:00000035 Parameter_KompassWirkung
		10459	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:254 .data:00000036 Parameter_Hoehe_ACC_Wirkung
		10460	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:259 .data:00000037 Parameter_Hoehe_P
		10461	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:264 .data:00000038 Parameter_HoehenSchalter
		10462	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:269 .data:00000039 Parameter_Luftdruck_D
		10463	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:276 .bss:00000017 Looping_Oben
		10464	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:282 .bss:00000018 Looping_Unten
		10465	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:288 .bss:00000019 Looping_Rechts
		10466	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:294 .bss:0000001a Looping_Links
		10467	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:300 .bss:0000001b Looping_Roll
		10468	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:306 .bss:0000001c Looping_Nick
		10469	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:312 .data:0000003a Ki
		10470	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:319 .bss:0000001d HoverGas
		10471	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:325 .bss:0000001f LageKorrekturNick
		10472	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:331 .bss:00000021 LageKorrekturRoll
		10473	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:337 .bss:00000023 CompassGierSetpoint
		10474	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:343 .bss:00000025 WaypointTrimming
		10475	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:349 .data:0000003c carefree_old
		10476	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:356 .bss:00000026 FromNC_AltitudeSpeed
		10477	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:362 .bss:00000027 FromNC_AltitudeSetpoint
		10478	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:368 .bss:0000002b AltitudeSetpointTrimming
		10479	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:374 .bss:0000002d SollHoehe
		10480	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:380 .bss:00000031 HoehenWert
		10481	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:386 .bss:00000035 StartTrigger
		10482	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:392 .bss:00000036 MotorenEin
		10483	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:398 .bss:00000037 SenderOkay
		10484	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:404 .bss:00000038 Poti
		10485	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:410 .bss:00000041 StickGas
		10486	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:416 .bss:00000043 StickGier
		10487	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:422 .bss:00000045 StickRoll
		10488	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:428 .bss:00000047 StickNick
		10489	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:434 .data:0000003d HoverGasMax
		10490	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:441 .bss:00000049 HoverGasMin
		10491	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:447 .data:0000003f StickGasHover
		10492	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:454 .bss:0000004b GierGyroFehler
		10493	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:460 .data:00000041 Umschlag180Roll
		10494	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:465 .data:00000045 Umschlag180Nick
		10495	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:472 .bss:0000004d TrichterFlug
		10496	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:478 .bss:0000004e HoehenReglerAktiv
		10497	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:484 .data:00000049 KompassSignalSchlecht
		10498	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:489 .data:0000004b KompassFusion
		10499	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:494 .data:0000004c CalculateCompassTimer
		10500	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:501 .bss:0000004f KompassSollWert
		10501	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:507 .data:0000004d KompassValue
		10502	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:514 .bss:00000051 Mess_Integral_Hoch
		10503	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:520 .bss:00000055 SummeRoll
		10504	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:526 .bss:00000059 SummeNick
		10505	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:532 .bss:0000005d Mess_Integral_Gier
		10506	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:538 .bss:00000061 Mess_IntegralRoll2
		10507	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:544 .bss:00000065 Mess_IntegralRoll
		10508	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:550 .bss:00000069 Mess_IntegralNick2
		10509	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:556 .bss:0000006d Mess_IntegralNick
		10510	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:562 .bss:00000071 Integral_Gier
		10511	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:568 .bss:00000075 IntegralAccZ
		10512	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:574 .bss:00000079 IntegralAccRoll
		10513	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:580 .bss:0000007d IntegralAccNick
		10514	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:586 .bss:00000081 IntegralRoll2
		10515	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:592 .bss:00000085 IntegralRoll
		10516	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:598 .bss:00000089 IntegralNick2
		10517	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:604 .bss:0000008d IntegralNick
		10518	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:610 .bss:00000091 ControlHeading
		10519	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:616 .bss:00000092 NeutralAccZ
		10520	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:622 .bss:00000094 NaviCntAcc
		10521	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:628 .bss:00000096 NeutralAccY
		10522	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:634 .bss:00000098 NeutralAccX
		10523	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:640 .bss:0000009a StartNeutralNick
		10524	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:646 .bss:0000009c StartNeutralRoll
		10525	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:652 .bss:0000009e AdNeutralGier
		10526	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:658 .bss:000000a0 AdNeutralRoll
		10527	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:664 .bss:000000a2 AdNeutralNick
		10528	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:670 .bss:000000a4 BaroExpandActive
		10529	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:676 .bss:000000a6 calibration_done
		10530	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:682 .bss:000000a7 panotrigger
		10531	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:688 .bss:000000a8 panograd
		10532	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:694 .bss:000000aa degreediv
		10533	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:700 .bss:000000ac degreedivold
		10534	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:706 .bss:000000ae degreeold
		10535	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:712 .data:0000004f updatemotors
		10536	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:719 .bss:000000b0 pos4
		10537	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:725 .bss:000000b1 CurrentOffset
		10538	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:731 .data:00000050 keynumber
		10539	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:736 .data:00000052 settingdest
		10540	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:741 .text:00000000 CopyDebugValues
		10541	COM:00000002 Mittelwert_AccNick
		10542	COM:00000002 Mittelwert_AccRoll
		10543	COM:00000002 ErsatzKompassInGrad
		10544	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:947 .text:00000272 Piep
		10545	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1000 .text:000002ce CalibrierMittelwert
		10546	COM:00000002 MesswertNick
		10547	COM:00000002 MesswertRoll
		10548	COM:00000002 MesswertGier
		10549	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1142 .progmem.data:00000000 __c.36
		10550	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1147 .text:00000410 SetNeutral
		10551	COM:00000004 ErsatzKompass
		10552	.bss:000000b3 tmpl.28
		10553	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1652 .bss:000000b7 tmpl2.29
		10554	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1653 .bss:000000bb tmpl3.30
		10555	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1654 .bss:000000bf tmpl4.31
		10556	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1655 .bss:000000c3 oldNick.32
		10557	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1656 .bss:000000c5 oldRoll.33
		10558	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1657 .bss:000000c7 d2Roll.34
		10559	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1658 .bss:000000c9 d2Nick.35
		10560	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1662 .text:00000974 Mittelwert
		10561	COM:00000002 RohMesswertNick
		10562	COM:00000002 RohMesswertRoll
		10563	COM:00000002 NaviAccNick
		10564	COM:00000002 NaviAccRoll
		10565	COM:00000001 Parameter_GlobalConfig
		10566	COM:00000002 KopplungsteilNickRoll
		10567	COM:00000002 KopplungsteilRollNick
		10568	COM:00000002 TrimRoll
		10569	COM:00000002 TrimNick
		10570	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3227 .text:000018d8 SendMotorData
		10571	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3287 .text:00001952 ParameterZuordnung
		10572	COM:00000001 Parameter_J16Timing
		10573	COM:00000001 Parameter_J17Timing
		10574	COM:00000001 Parameter_Servo3
		10575	COM:00000001 Parameter_Servo4
		10576	COM:00000001 Parameter_Servo5
		10577	COM:00000001 Parameter_MaximumAltitude
		10578	COM:00000001 Parameter_ExtraConfig
		10579	COM:00000001 Parameter_ExternalControl
		10580	COM:00000001 MAX_GAS
		10581	COM:00000001 MIN_GAS
		10582	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1659 .bss:000000cb sollGier.0
		10583	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3945 .bss:000000cf tmp_long.1
		10584	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3946 .bss:000000d3 tmp_long2.2
		10585	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3947 .bss:000000d7 IntegralFehlerNick.3
		10586	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3948 .bss:000000db IntegralFehlerRoll.4
		10587	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3949 .bss:000000df RcLostTimer.5
		10588	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3950 .bss:000000e1 delay_neutral.6
		10589	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3951 .bss:000000e2 delay_einschalten.7
		10590	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3952 .bss:000000e3 delay_ausschalten.8
		10591	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3953 .bss:000000e4 calibration_done.9
		10592	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3954 .bss:000000e5 NeueKompassRichtungMerken.10
		10593	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3955 .bss:000000e6 ausgleichNick.11
		10594	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3956 .bss:000000ea ausgleichRoll.12
		10595	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3957 .bss:000000ee stick_nick.13
		10596	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3958 .bss:000000f0 stick_roll.14
		10597	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3959 .bss:000000f2 cnt.15
		10598	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3960 .bss:000000f4 last_n_p.16
		10599	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3961 .bss:000000f5 last_n_n.17
		10600	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3962 .bss:000000f6 last_r_p.18
		10601	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3963 .bss:000000f7 last_r_n.19
		10602	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3964 .bss:000000f8 MittelIntegralNick_Alt.20
		10603	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3965 .bss:000000fc MittelIntegralRoll_Alt.21
		10604	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3966 .bss:00000100 HeightTrimming.22
		10605	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3967 .bss:00000102 FilterHCGas.23
		10606	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3968 .bss:00000104 HoverGasFilter.24
		10607	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3973 .data:00000053 delay.25
		10608	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3969 .bss:00000108 BaroAtUpperLimit.26
		10609	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3975 .bss:00000109 BaroAtLowerLimit.27
		10610	C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3980 .text:00001ee2 MotorRegler
		10611	COM:00000001 GyroFaktor
		10612	COM:00000001 IntegralFaktor
		10613	COM:00000001 GyroFaktorGier
		10614	COM:00000001 IntegralFaktorGier
		10615	COM:00000004 MittelIntegralNick
		10616	COM:00000004 MittelIntegralRoll
		10617	COM:00000004 MittelIntegralNick2
		10618	COM:00000004 MittelIntegralRoll2
		10619	COM:00000002 DiffNick
		10620	COM:00000002 DiffRoll
		10621	COM:00000018 tmp_motorwert
		10622	COM:00000008 Motors
		10623	COM:00000008 Motorsmax
		10624	COM:00000002 MotorsTmax
		10625	COM:00000001 loop1
		10626	COM:00000001 loop2
		10627	COM:00000001 loop3
		10628	COM:00000001 pos1
		10629	COM:00000001 pos2
		10630	COM:00000001 pos3
		10631	COM:00000001 h
		10632	COM:00000001 m
		10633	COM:00000001 s
		10634	COM:00000001 Parameter_J16Bitmask
		10635	COM:00000001 Parameter_J17Bitmask
		10636	COM:00000002 MesswertGierBias
		10637	COM:00000001 Parameter_NaviGpsModeControl
		10638	COM:00000001 Parameter_NaviGpsGain
		10639	COM:00000001 Parameter_NaviGpsP
		10640	COM:00000001 Parameter_NaviGpsI
		10641	COM:00000001 Parameter_NaviGpsD
		10642	COM:00000001 Parameter_NaviGpsACC
		10643	COM:00000001 Parameter_NaviOperatingRadius
		10644	COM:00000001 Parameter_NaviWindCorrection
		10645	COM:00000001 Parameter_NaviSpeedCompensation
		10646
		10647	UNDEFINED SYMBOLS
		10648	__do_copy_data
		10649	__do_clear_bss
		10650	EE_Parameter
		10651	__divmodsi4
		10652	DebugOut
		10653	AdWertGier
		10654	AdWertAccHoch
		10655	UBat
		10656	Motor
		10657	ServoNickValue
		10658	Capacity
		10659	GPS_Nick
		10660	GPS_Roll
		10661	VersionInfo
		10662	PlatinenVersion
		10663	beeptime
		10664	Delay_ms
		10665	SucheGyroOffset
		10666	AdWertNick
		10667	AdWertRoll
		10668	AdWertAccNick
		10669	AdWertAccRoll
		10670	PPM_in
		10671	__mulsi3
		10672	__prologue_saves__
		10673	ExpandBaro
		10674	Delay_ms_Mess
		10675	MessLuftdruck
		10676	SucheLuftruckOffset
		10677	__divmodhi4
		10678	Aktuell_az
		10679	SetParamWord
		10680	GetParamWord
		10681	uart_putchar
		10682	_printf_P
		10683	Luftdruck
		10684	StartLuftdruck
		10685	VarioMeter
		10686	SendVersionToNavi
		10687	LED_Init
		10688	FromNaviCtrl_Value
		10689	ServoActive
		10690	__epilogue_restores__
		10691	AdWertNickFilter
		10692	AdWertRollFilter
		10693	AdReady
		10694	HiResNick
		10695	HiResRoll
		10696	MotorTest
		10697	PC_MotortestActive
		10698	I2C_TransferActive
		10699	motor_write
		10700	twi_state
		10701	BLFlags
		10702	FromNaviCtrl
		10703	BeepMuster
		10704	PPM_diff
		10705	SetActiveParamSet
		10706	WinkelOut
		10707	GetActiveParamSet
		10708	ParamSet_ReadFromEEProm
		10709	LipoDetection
		10710	LIBFC_ReceiverInit
		10711	NC_ErrorCode
		10712	NewPpmData
		10713	FromNC_Rotate_C
		10714	FromNC_Rotate_S
		10715	GPS_Aid_StickMultiplikator
		10716	__floatsisf
		10717	__addsf3
		10718	__fixunssfsi
		10719	ExternControl
		10720	ZaehlMessungen
		10721	BattLowVoltageWarning
		10722	__udivmodhi4
		10723	DruckOffsetSetting
		10724	SummenHoehe
		10725	ihypot
		10726	c_cos_8192
		10727	__udivmodqi4
		10728	MissingMotor
		10729	Mixer

Subversion Repositories FlightCtrl

(root)/branches/V0.86d_MartinW_Jeti+V0.20/fc.lst - Rev 2000