WebSVN - FlightCtrl - Blame - Rev 2299 - /branches/v0.90e_Ernstl

Rev	Author	Line No.	Line
2299	-	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 GasIsZeroCnt
		11	11 .global GasIsZeroCnt
		12	12 .section .bss
		13	15 GasIsZeroCnt:
		14	16 0000 0000 .skip 2,0
		15	17 .global HooverGasEmergencyPercent
		16	18 .global HooverGasEmergencyPercent
		17	21 HooverGasEmergencyPercent:
		18	22 0002 0000 .skip 2,0
		19	23 .global VarioCharacter
		20	24 .data
		21	27 VarioCharacter:
		22	28 0000 20 .byte 32
		23	29 .global GIER_GRAD_FAKTOR
		24	32 GIER_GRAD_FAKTOR:
		25	33 0001 0B05 0000 .long 1291
		26	34 .global FC_StatusFlags2
		27	35 .global FC_StatusFlags2
		28	36 .section .bss
		29	39 FC_StatusFlags2:
		30	40 0004 00 .skip 1,0
		31	41 .global FC_StatusFlags
		32	42 .global FC_StatusFlags
		33	45 FC_StatusFlags:
		34	46 0005 00 .skip 1,0
		35	47 .global modell_fliegt
		36	48 .global modell_fliegt
		37	51 modell_fliegt:
		38	52 0006 0000 .skip 2,0
		39	53 .global MaxStickRoll
		40	54 .global MaxStickRoll
		41	57 MaxStickRoll:
		42	58 0008 0000 .skip 2,0
		43	59 .global MaxStickNick
		44	60 .global MaxStickNick
		45	63 MaxStickNick:
		46	64 000a 0000 .skip 2,0
		47	65 .global ExternHoehenValue
		48	66 .data
		49	69 ExternHoehenValue:
		50	70 0005 ECFF .word -20
		51	71 .global ExternStickGier
		52	72 .global ExternStickGier
		53	73 .section .bss
		54	76 ExternStickGier:
		55	77 000c 0000 .skip 2,0
		56	78 .global ExternStickRoll
		57	79 .global ExternStickRoll
		58	82 ExternStickRoll:
		59	83 000e 0000 .skip 2,0
		60	84 .global ExternStickNick
		61	85 .global ExternStickNick
		62	88 ExternStickNick:
		63	89 0010 0000 .skip 2,0
		64	90 .global sintab
		65	91 .data
		66	94 sintab:
		67	95 0007 00 .byte 0
		68	96 0008 02 .byte 2
		69	97 0009 04 .byte 4
		70	98 000a 06 .byte 6
		71	99 000b 07 .byte 7
		72	100 000c 08 .byte 8
		73	101 000d 08 .byte 8
		74	102 000e 08 .byte 8
		75	103 000f 07 .byte 7
		76	104 0010 06 .byte 6
		77	105 0011 04 .byte 4
		78	106 0012 02 .byte 2
		79	107 0013 00 .byte 0
		80	108 0014 FE .byte -2
		81	109 0015 FC .byte -4
		82	110 0016 FA .byte -6
		83	111 0017 F9 .byte -7
		84	112 0018 F8 .byte -8
		85	113 0019 F8 .byte -8
		86	114 001a F8 .byte -8
		87	115 001b F9 .byte -7
		88	116 001c FA .byte -6
		89	117 001d FC .byte -4
		90	118 001e FE .byte -2
		91	119 001f 00 .byte 0
		92	120 0020 02 .byte 2
		93	121 0021 04 .byte 4
		94	122 0022 06 .byte 6
		95	123 0023 07 .byte 7
		96	124 0024 08 .byte 8
		97	125 0025 08 .byte 8
		98	126 .global CareFree
		99	127 .global CareFree
		100	128 .section .bss
		101	131 CareFree:
		102	132 0012 00 .skip 1,0
		103	133 .global Parameter_DynamicStability
		104	134 .data
		105	137 Parameter_DynamicStability:
		106	138 0026 64 .byte 100
		107	139 .global Parameter_CouplingYawCorrection
		108	142 Parameter_CouplingYawCorrection:
		109	143 0027 40 .byte 64
		110	144 .global Parameter_AchsKopplung2
		111	147 Parameter_AchsKopplung2:
		112	148 0028 41 .byte 65
		113	149 .global Parameter_AchsKopplung1
		114	152 Parameter_AchsKopplung1:
		115	153 0029 5A .byte 90
		116	154 .global Parameter_LoopGasLimit
		117	157 Parameter_LoopGasLimit:
		118	158 002a 46 .byte 70
		119	159 .global Parameter_ServoRollComp
		120	162 Parameter_ServoRollComp:
		121	163 002b 55 .byte 85
		122	164 .global Parameter_ServoNickComp
		123	167 Parameter_ServoNickComp:
		124	168 002c 32 .byte 50
		125	169 .global Parameter_ServoRollControl
		126	172 Parameter_ServoRollControl:
		127	173 002d 64 .byte 100
		128	174 .global Parameter_ServoNickControl
		129	177 Parameter_ServoNickControl:
		130	178 002e 64 .byte 100
		131	179 .global Parameter_UserParam8
		132	180 .global Parameter_UserParam8
		133	181 .section .bss
		134	184 Parameter_UserParam8:
		135	185 0013 00 .skip 1,0
		136	186 .global Parameter_UserParam7
		137	187 .global Parameter_UserParam7
		138	190 Parameter_UserParam7:
		139	191 0014 00 .skip 1,0
		140	192 .global Parameter_UserParam6
		141	193 .global Parameter_UserParam6
		142	196 Parameter_UserParam6:
		143	197 0015 00 .skip 1,0
		144	198 .global Parameter_UserParam5
		145	199 .global Parameter_UserParam5
		146	202 Parameter_UserParam5:
		147	203 0016 00 .skip 1,0
		148	204 .global Parameter_UserParam4
		149	205 .global Parameter_UserParam4
		150	208 Parameter_UserParam4:
		151	209 0017 00 .skip 1,0
		152	210 .global Parameter_UserParam3
		153	211 .global Parameter_UserParam3
		154	214 Parameter_UserParam3:
		155	215 0018 00 .skip 1,0
		156	216 .global Parameter_UserParam2
		157	217 .global Parameter_UserParam2
		158	220 Parameter_UserParam2:
		159	221 0019 00 .skip 1,0
		160	222 .global Parameter_UserParam1
		161	223 .global Parameter_UserParam1
		162	226 Parameter_UserParam1:
		163	227 001a 00 .skip 1,0
		164	228 .global Parameter_I_Faktor
		165	229 .data
		166	232 Parameter_I_Faktor:
		167	233 002f 0A .byte 10
		168	234 .global Parameter_Gier_P
		169	237 Parameter_Gier_P:
		170	238 0030 02 .byte 2
		171	239 .global Parameter_Gyro_Gier_I
		172	242 Parameter_Gyro_Gier_I:
		173	243 0031 96 .byte -106
		174	244 .global Parameter_Gyro_Gier_P
		175	247 Parameter_Gyro_Gier_P:
		176	248 0032 96 .byte -106
		177	249 .global Parameter_Gyro_I
		178	252 Parameter_Gyro_I:
		179	253 0033 96 .byte -106
		180	254 .global Parameter_Gyro_P
		181	257 Parameter_Gyro_P:
		182	258 0034 96 .byte -106
		183	259 .global Parameter_Gyro_D
		184	262 Parameter_Gyro_D:
		185	263 0035 08 .byte 8
		186	264 .global Parameter_Hoehe_GPS_Z
		187	267 Parameter_Hoehe_GPS_Z:
		188	268 0036 40 .byte 64
		189	269 .global Parameter_KompassWirkung
		190	272 Parameter_KompassWirkung:
		191	273 0037 40 .byte 64
		192	274 .global Parameter_Hoehe_ACC_Wirkung
		193	277 Parameter_Hoehe_ACC_Wirkung:
		194	278 0038 3A .byte 58
		195	279 .global Parameter_Hoehe_P
		196	282 Parameter_Hoehe_P:
		197	283 0039 10 .byte 16
		198	284 .global Parameter_HoehenSchalter
		199	287 Parameter_HoehenSchalter:
		200	288 003a FB .byte -5
		201	289 .global Parameter_Luftdruck_D
		202	292 Parameter_Luftdruck_D:
		203	293 003b 30 .byte 48
		204	294 .global Looping_Oben
		205	295 .global Looping_Oben
		206	296 .section .bss
		207	299 Looping_Oben:
		208	300 001b 00 .skip 1,0
		209	301 .global Looping_Unten
		210	302 .global Looping_Unten
		211	305 Looping_Unten:
		212	306 001c 00 .skip 1,0
		213	307 .global Looping_Rechts
		214	308 .global Looping_Rechts
		215	311 Looping_Rechts:
		216	312 001d 00 .skip 1,0
		217	313 .global Looping_Links
		218	314 .global Looping_Links
		219	317 Looping_Links:
		220	318 001e 00 .skip 1,0
		221	319 .global Looping_Roll
		222	320 .global Looping_Roll
		223	323 Looping_Roll:
		224	324 001f 00 .skip 1,0
		225	325 .global Looping_Nick
		226	326 .global Looping_Nick
		227	329 Looping_Nick:
		228	330 0020 00 .skip 1,0
		229	331 .global Ki
		230	332 .data
		231	335 Ki:
		232	336 003c 3801 .word 312
		233	337 .global HoverGas
		234	338 .global HoverGas
		235	339 .section .bss
		236	342 HoverGas:
		237	343 0021 0000 .skip 2,0
		238	344 .global LageKorrekturNick
		239	345 .global LageKorrekturNick
		240	348 LageKorrekturNick:
		241	349 0023 0000 .skip 2,0
		242	350 .global LageKorrekturRoll
		243	351 .global LageKorrekturRoll
		244	354 LageKorrekturRoll:
		245	355 0025 0000 .skip 2,0
		246	356 .global NeueKompassRichtungMerken
		247	357 .global NeueKompassRichtungMerken
		248	360 NeueKompassRichtungMerken:
		249	361 0027 00 .skip 1,0
		250	362 .global CalibrationDone
		251	363 .global CalibrationDone
		252	366 CalibrationDone:
		253	367 0028 00 .skip 1,0
		254	368 .global CompassGierSetpoint
		255	369 .global CompassGierSetpoint
		256	372 CompassGierSetpoint:
		257	373 0029 0000 .skip 2,0
		258	374 .global WaypointTrimming
		259	375 .global WaypointTrimming
		260	378 WaypointTrimming:
		261	379 002b 00 .skip 1,0
		262	380 .global carefree_old
		263	381 .data
		264	384 carefree_old:
		265	385 003e 32 .byte 50
		266	386 .global FromNC_AltitudeSpeed
		267	387 .global FromNC_AltitudeSpeed
		268	388 .section .bss
		269	391 FromNC_AltitudeSpeed:
		270	392 002c 00 .skip 1,0
		271	393 .global FromNC_AltitudeSetpoint
		272	394 .global FromNC_AltitudeSetpoint
		273	397 FromNC_AltitudeSetpoint:
		274	398 002d 0000 0000 .skip 4,0
		275	399 .global AltitudeSetpointTrimming
		276	400 .global AltitudeSetpointTrimming
		277	403 AltitudeSetpointTrimming:
		278	404 0031 0000 .skip 2,0
		279	405 .global SollHoehe
		280	406 .global SollHoehe
		281	409 SollHoehe:
		282	410 0033 0000 0000 .skip 4,0
		283	411 .global HoehenWert
		284	412 .global HoehenWert
		285	415 HoehenWert:
		286	416 0037 0000 0000 .skip 4,0
		287	417 .global StartTrigger
		288	418 .global StartTrigger
		289	421 StartTrigger:
		290	422 003b 00 .skip 1,0
		291	423 .global MotorenEin
		292	424 .global MotorenEin
		293	427 MotorenEin:
		294	428 003c 00 .skip 1,0
		295	429 .global SenderOkay
		296	430 .global SenderOkay
		297	433 SenderOkay:
		298	434 003d 00 .skip 1,0
		299	435 .global Poti
		300	436 .global Poti
		301	439 Poti:
		302	440 003e 0000 0000 .skip 9,0
		303	440 0000 0000
		304	440 00
		305	441 .global StickGas
		306	442 .global StickGas
		307	445 StickGas:
		308	446 0047 0000 .skip 2,0
		309	447 .global StickGier
		310	448 .global StickGier
		311	451 StickGier:
		312	452 0049 0000 .skip 2,0
		313	453 .global StickRoll
		314	454 .global StickRoll
		315	457 StickRoll:
		316	458 004b 0000 .skip 2,0
		317	459 .global StickNick
		318	460 .global StickNick
		319	463 StickNick:
		320	464 004d 0000 .skip 2,0
		321	465 .global HoverGasMax
		322	466 .data
		323	469 HoverGasMax:
		324	470 003f FF03 .word 1023
		325	471 .global HoverGasMin
		326	472 .global HoverGasMin
		327	473 .section .bss
		328	476 HoverGasMin:
		329	477 004f 0000 .skip 2,0
		330	478 .global StickGasHover
		331	479 .data
		332	482 StickGasHover:
		333	483 0041 7800 .word 120
		334	484 .global GierGyroFehler
		335	485 .global GierGyroFehler
		336	486 .section .bss
		337	489 GierGyroFehler:
		338	490 0051 0000 .skip 2,0
		339	491 .global Umschlag180Roll
		340	492 .data
		341	495 Umschlag180Roll:
		342	496 0043 90D0 0300 .long 250000
		343	497 .global Umschlag180Nick
		344	500 Umschlag180Nick:
		345	501 0047 90D0 0300 .long 250000
		346	502 .global TrichterFlug
		347	503 .global TrichterFlug
		348	504 .section .bss
		349	507 TrichterFlug:
		350	508 0053 00 .skip 1,0
		351	509 .global HoehenReglerAktiv
		352	510 .global HoehenReglerAktiv
		353	513 HoehenReglerAktiv:
		354	514 0054 00 .skip 1,0
		355	515 .global KompassSignalSchlecht
		356	516 .data
		357	519 KompassSignalSchlecht:
		358	520 004b 3200 .word 50
		359	521 .global KompassFusion
		360	524 KompassFusion:
		361	525 004d 20 .byte 32
		362	526 .global CalculateCompassTimer
		363	529 CalculateCompassTimer:
		364	530 004e 64 .byte 100
		365	531 .global KompassSollWert
		366	532 .global KompassSollWert
		367	533 .section .bss
		368	536 KompassSollWert:
		369	537 0055 0000 .skip 2,0
		370	538 .global KompassValue
		371	539 .data
		372	542 KompassValue:
		373	543 004f FFFF .word -1
		374	544 .global Mess_Integral_Hoch
		375	545 .global Mess_Integral_Hoch
		376	546 .section .bss
		377	549 Mess_Integral_Hoch:
		378	550 0057 0000 0000 .skip 4,0
		379	551 .global SummeRoll
		380	552 .global SummeRoll
		381	555 SummeRoll:
		382	556 005b 0000 0000 .skip 4,0
		383	557 .global SummeNick
		384	558 .global SummeNick
		385	561 SummeNick:
		386	562 005f 0000 0000 .skip 4,0
		387	563 .global Mess_Integral_Gier2
		388	564 .global Mess_Integral_Gier2
		389	567 Mess_Integral_Gier2:
		390	568 0063 0000 0000 .skip 4,0
		391	569 .global Mess_Integral_Gier
		392	570 .global Mess_Integral_Gier
		393	573 Mess_Integral_Gier:
		394	574 0067 0000 0000 .skip 4,0
		395	575 .global Mess_IntegralRoll2
		396	576 .global Mess_IntegralRoll2
		397	579 Mess_IntegralRoll2:
		398	580 006b 0000 0000 .skip 4,0
		399	581 .global Mess_IntegralRoll
		400	582 .global Mess_IntegralRoll
		401	585 Mess_IntegralRoll:
		402	586 006f 0000 0000 .skip 4,0
		403	587 .global Mess_IntegralNick2
		404	588 .global Mess_IntegralNick2
		405	591 Mess_IntegralNick2:
		406	592 0073 0000 0000 .skip 4,0
		407	593 .global Mess_IntegralNick
		408	594 .global Mess_IntegralNick
		409	597 Mess_IntegralNick:
		410	598 0077 0000 0000 .skip 4,0
		411	599 .global Integral_Gier
		412	600 .global Integral_Gier
		413	603 Integral_Gier:
		414	604 007b 0000 0000 .skip 4,0
		415	605 .global IntegralAccZ
		416	606 .global IntegralAccZ
		417	609 IntegralAccZ:
		418	610 007f 0000 0000 .skip 4,0
		419	611 .global IntegralAccRoll
		420	612 .global IntegralAccRoll
		421	615 IntegralAccRoll:
		422	616 0083 0000 0000 .skip 4,0
		423	617 .global IntegralAccNick
		424	618 .global IntegralAccNick
		425	621 IntegralAccNick:
		426	622 0087 0000 0000 .skip 4,0
		427	623 .global IntegralRoll2
		428	624 .global IntegralRoll2
		429	627 IntegralRoll2:
		430	628 008b 0000 0000 .skip 4,0
		431	629 .global IntegralRoll
		432	630 .global IntegralRoll
		433	633 IntegralRoll:
		434	634 008f 0000 0000 .skip 4,0
		435	635 .global IntegralNick2
		436	636 .global IntegralNick2
		437	639 IntegralNick2:
		438	640 0093 0000 0000 .skip 4,0
		439	641 .global IntegralNick
		440	642 .global IntegralNick
		441	645 IntegralNick:
		442	646 0097 0000 0000 .skip 4,0
		443	647 .global ControlHeading
		444	648 .global ControlHeading
		445	651 ControlHeading:
		446	652 009b 00 .skip 1,0
		447	653 .global NeutralAccZ
		448	654 .global NeutralAccZ
		449	657 NeutralAccZ:
		450	658 009c 0000 .skip 2,0
		451	659 .global NaviCntAcc
		452	660 .global NaviCntAcc
		453	663 NaviCntAcc:
		454	664 009e 0000 .skip 2,0
		455	665 .global NeutralAccY
		456	666 .global NeutralAccY
		457	669 NeutralAccY:
		458	670 00a0 0000 .skip 2,0
		459	671 .global NeutralAccX
		460	672 .global NeutralAccX
		461	675 NeutralAccX:
		462	676 00a2 0000 .skip 2,0
		463	677 .global StartNeutralNick
		464	678 .global StartNeutralNick
		465	681 StartNeutralNick:
		466	682 00a4 0000 .skip 2,0
		467	683 .global StartNeutralRoll
		468	684 .global StartNeutralRoll
		469	687 StartNeutralRoll:
		470	688 00a6 0000 .skip 2,0
		471	689 .global AdNeutralGier
		472	690 .global AdNeutralGier
		473	693 AdNeutralGier:
		474	694 00a8 0000 .skip 2,0
		475	695 .global AdNeutralRoll
		476	696 .global AdNeutralRoll
		477	699 AdNeutralRoll:
		478	700 00aa 0000 .skip 2,0
		479	701 .global AdNeutralNick
		480	702 .global AdNeutralNick
		481	705 AdNeutralNick:
		482	706 00ac 0000 .skip 2,0
		483	707 .global BaroExpandActive
		484	708 .global BaroExpandActive
		485	711 BaroExpandActive:
		486	712 00ae 0000 .skip 2,0
		487	713 .text
		488	714 .global CopyDebugValues
		489	716 CopyDebugValues:
		490	717 /* prologue: frame size=0 */
		491	718 0000 EF92 push r14
		492	719 0002 FF92 push r15
		493	720 0004 0F93 push r16
		494	721 0006 1F93 push r17
		495	722 /* prologue end (size=4) */
		496	723 0008 8091 0000 lds r24,EE_Parameter+28
		497	724 000c 9927 clr r25
		498	725 000e 880F lsl r24
		499	726 0010 991F rol r25
		500	727 0012 880F lsl r24
		501	728 0014 991F rol r25
		502	729 0016 7C01 movw r14,r24
		503	730 0018 0027 clr r16
		504	731 001a F7FC sbrc r15,7
		505	732 001c 0095 com r16
		506	733 001e 102F mov r17,r16
		507	734 0020 8091 0000 lds r24,IntegralNick
		508	735 0024 9091 0000 lds r25,(IntegralNick)+1
		509	736 0028 A091 0000 lds r26,(IntegralNick)+2
		510	737 002c B091 0000 lds r27,(IntegralNick)+3
		511	738 0030 BC01 movw r22,r24
		512	739 0032 CD01 movw r24,r26
		513	740 0034 A801 movw r20,r16
		514	741 0036 9701 movw r18,r14
		515	742 0038 0E94 0000 call __divmodsi4
		516	743 003c 3093 0000 sts (DebugOut+2)+1,r19
		517	744 0040 2093 0000 sts DebugOut+2,r18
		518	745 0044 8091 0000 lds r24,IntegralRoll
		519	746 0048 9091 0000 lds r25,(IntegralRoll)+1
		520	747 004c A091 0000 lds r26,(IntegralRoll)+2
		521	748 0050 B091 0000 lds r27,(IntegralRoll)+3
		522	749 0054 BC01 movw r22,r24
		523	750 0056 CD01 movw r24,r26
		524	751 0058 A801 movw r20,r16
		525	752 005a 9701 movw r18,r14
		526	753 005c 0E94 0000 call __divmodsi4
		527	754 0060 3093 0000 sts (DebugOut+4)+1,r19
		528	755 0064 2093 0000 sts DebugOut+4,r18
		529	756 0068 8091 0000 lds r24,Mittelwert_AccNick
		530	757 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1
		531	758 0070 97FD sbrc r25,7
		532	759 0072 0396 adiw r24,3
		533	760 .L2:
		534	761 0074 9595 asr r25
		535	762 0076 8795 ror r24
		536	763 0078 9595 asr r25
		537	764 007a 8795 ror r24
		538	765 007c 9093 0000 sts (DebugOut+6)+1,r25
		539	766 0080 8093 0000 sts DebugOut+6,r24
		540	767 0084 8091 0000 lds r24,Mittelwert_AccRoll
		541	768 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		542	769 008c 97FD sbrc r25,7
		543	770 008e 0396 adiw r24,3
		544	771 .L3:
		545	772 0090 9595 asr r25
		546	773 0092 8795 ror r24
		547	774 0094 9595 asr r25
		548	775 0096 8795 ror r24
		549	776 0098 9093 0000 sts (DebugOut+8)+1,r25
		550	777 009c 8093 0000 sts DebugOut+8,r24
		551	778 00a0 8091 0000 lds r24,AdNeutralGier
		552	779 00a4 9091 0000 lds r25,(AdNeutralGier)+1
		553	780 00a8 2091 0000 lds r18,AdWertGier
		554	781 00ac 3091 0000 lds r19,(AdWertGier)+1
		555	782 00b0 821B sub r24,r18
		556	783 00b2 930B sbc r25,r19
		557	784 00b4 9093 0000 sts (DebugOut+10)+1,r25
		558	785 00b8 8093 0000 sts DebugOut+10,r24
		559	786 00bc 8091 0000 lds r24,HoehenWert
		560	787 00c0 9091 0000 lds r25,(HoehenWert)+1
		561	788 00c4 A091 0000 lds r26,(HoehenWert)+2
		562	789 00c8 B091 0000 lds r27,(HoehenWert)+3
		563	790 00cc BC01 movw r22,r24
		564	791 00ce CD01 movw r24,r26
		565	792 00d0 25E0 ldi r18,lo8(5)
		566	793 00d2 30E0 ldi r19,hi8(5)
		567	794 00d4 40E0 ldi r20,hlo8(5)
		568	795 00d6 50E0 ldi r21,hhi8(5)
		569	796 00d8 0E94 0000 call __divmodsi4
		570	797 00dc 3093 0000 sts (DebugOut+12)+1,r19
		571	798 00e0 2093 0000 sts DebugOut+12,r18
		572	799 00e4 8091 0000 lds r24,AdWertAccHoch
		573	800 00e8 9091 0000 lds r25,(AdWertAccHoch)+1
		574	801 00ec 9093 0000 sts (DebugOut+14)+1,r25
		575	802 00f0 8093 0000 sts DebugOut+14,r24
		576	803 00f4 8091 0000 lds r24,KompassValue
		577	804 00f8 9091 0000 lds r25,(KompassValue)+1
		578	805 00fc 9093 0000 sts (DebugOut+18)+1,r25
		579	806 0100 8093 0000 sts DebugOut+18,r24
		580	807 0104 8091 0000 lds r24,UBat
		581	808 0108 9091 0000 lds r25,(UBat)+1
		582	809 010c 9093 0000 sts (DebugOut+20)+1,r25
		583	810 0110 8093 0000 sts DebugOut+20,r24
		584	811 0114 8091 0000 lds r24,SenderOkay
		585	812 0118 9927 clr r25
		586	813 011a 9093 0000 sts (DebugOut+22)+1,r25
		587	814 011e 8093 0000 sts DebugOut+22,r24
		588	815 0122 8091 0000 lds r24,ErsatzKompassInGrad
		589	816 0126 9091 0000 lds r25,(ErsatzKompassInGrad)+1
		590	817 012a 9093 0000 sts (DebugOut+24)+1,r25
		591	818 012e 8093 0000 sts DebugOut+24,r24
		592	819 0132 8091 0000 lds r24,Motor+1
		593	820 0136 9927 clr r25
		594	821 0138 9093 0000 sts (DebugOut+26)+1,r25
		595	822 013c 8093 0000 sts DebugOut+26,r24
		596	823 0140 8091 0000 lds r24,Motor+9
		597	824 0144 9927 clr r25
		598	825 0146 9093 0000 sts (DebugOut+28)+1,r25
		599	826 014a 8093 0000 sts DebugOut+28,r24
		600	827 014e 8091 0000 lds r24,Motor+17
		601	828 0152 9927 clr r25
		602	829 0154 9093 0000 sts (DebugOut+30)+1,r25
		603	830 0158 8093 0000 sts DebugOut+30,r24
		604	831 015c 8091 0000 lds r24,Motor+25
		605	832 0160 9927 clr r25
		606	833 0162 9093 0000 sts (DebugOut+32)+1,r25
		607	834 0166 8093 0000 sts DebugOut+32,r24
		608	835 016a 8091 0000 lds r24,ServoNickValue
		609	836 016e 9091 0000 lds r25,(ServoNickValue)+1
		610	837 0172 9093 0000 sts (DebugOut+42)+1,r25
		611	838 0176 8093 0000 sts DebugOut+42,r24
		612	839 017a 8091 0000 lds r24,Capacity
		613	840 017e 9091 0000 lds r25,(Capacity)+1
		614	841 0182 9093 0000 sts (DebugOut+46)+1,r25
		615	842 0186 8093 0000 sts DebugOut+46,r24
		616	843 018a 8091 0000 lds r24,Capacity+4
		617	844 018e 9091 0000 lds r25,(Capacity+4)+1
		618	845 0192 9093 0000 sts (DebugOut+48)+1,r25
		619	846 0196 8093 0000 sts DebugOut+48,r24
		620	847 019a 8091 0000 lds r24,SollHoehe
		621	848 019e 9091 0000 lds r25,(SollHoehe)+1
		622	849 01a2 A091 0000 lds r26,(SollHoehe)+2
		623	850 01a6 B091 0000 lds r27,(SollHoehe)+3
		624	851 01aa BC01 movw r22,r24
		625	852 01ac CD01 movw r24,r26
		626	853 01ae 25E0 ldi r18,lo8(5)
		627	854 01b0 30E0 ldi r19,hi8(5)
		628	855 01b2 40E0 ldi r20,hlo8(5)
		629	856 01b4 50E0 ldi r21,hhi8(5)
		630	857 01b6 0E94 0000 call __divmodsi4
		631	858 01ba 3093 0000 sts (DebugOut+50)+1,r19
		632	859 01be 2093 0000 sts DebugOut+50,r18
		633	860 01c2 8091 0000 lds r24,KompassSollWert
		634	861 01c6 9091 0000 lds r25,(KompassSollWert)+1
		635	862 01ca 9093 0000 sts (DebugOut+56)+1,r25
		636	863 01ce 8093 0000 sts DebugOut+56,r24
		637	864 01d2 8091 0000 lds r24,Capacity+6
		638	865 01d6 9927 clr r25
		639	866 01d8 9093 0000 sts (DebugOut+60)+1,r25
		640	867 01dc 8093 0000 sts DebugOut+60,r24
		641	868 01e0 8091 0000 lds r24,GPS_Nick
		642	869 01e4 9091 0000 lds r25,(GPS_Nick)+1
		643	870 01e8 9093 0000 sts (DebugOut+62)+1,r25
		644	871 01ec 8093 0000 sts DebugOut+62,r24
		645	872 01f0 8091 0000 lds r24,GPS_Roll
		646	873 01f4 9091 0000 lds r25,(GPS_Roll)+1
		647	874 01f8 9093 0000 sts (DebugOut+64)+1,r25
		648	875 01fc 8093 0000 sts DebugOut+64,r24
		649	876 0200 8091 0000 lds r24,VersionInfo+5
		650	877 0204 8823 tst r24
		651	878 0206 01F4 brne .L5
		652	879 0208 8091 0000 lds r24,VersionInfo+6
		653	880 020c 8823 tst r24
		654	881 020e 01F0 breq .L4
		655	882 .L5:
		656	883 0210 8091 0000 lds r24,DebugOut+1
		657	884 0214 8160 ori r24,lo8(1)
		658	885 0216 00C0 rjmp .L7
		659	886 .L4:
		660	887 0218 8091 0000 lds r24,DebugOut+1
		661	888 021c 8E7F andi r24,lo8(-2)
		662	889 .L7:
		663	890 021e 8093 0000 sts DebugOut+1,r24
		664	891 /* epilogue: frame size=0 */
		665	892 0222 1F91 pop r17
		666	893 0224 0F91 pop r16
		667	894 0226 FF90 pop r15
		668	895 0228 EF90 pop r14
		669	896 022a 0895 ret
		670	897 /* epilogue end (size=5) */
		671	898 /* function CopyDebugValues size 280 (271) */
		672	900 .global Piep
		673	902 Piep:
		674	903 /* prologue: frame size=0 */
		675	904 022c EF92 push r14
		676	905 022e FF92 push r15
		677	906 0230 1F93 push r17
		678	907 0232 CF93 push r28
		679	908 0234 DF93 push r29
		680	909 /* prologue end (size=5) */
		681	910 0236 182F mov r17,r24
		682	911 0238 7B01 movw r14,r22
		683	912 023a 8091 0000 lds r24,MotorenEin
		684	913 023e 8823 tst r24
		685	914 0240 01F4 brne .L8
		686	915 0242 8091 0000 lds r24,PlatinenVersion
		687	916 0246 8C30 cpi r24,lo8(12)
		688	917 0248 00F0 brlo .L11
		689	918 024a 8631 cpi r24,lo8(22)
		690	919 024c 01F4 brne .L10
		691	920 .L11:
		692	921 024e 2998 cbi 37-0x20,1
		693	922 0250 00C0 rjmp .L12
		694	923 .L10:
		695	924 0252 299A sbi 37-0x20,1
		696	925 .L12:
		697	926 0254 1150 subi r17,lo8(-(-1))
		698	927 0256 1F3F cpi r17,lo8(-1)
		699	928 0258 01F0 breq .L26
		700	929 025a F092 0000 sts (beeptime)+1,r15
		701	930 025e E092 0000 sts beeptime,r14
		702	931 0262 E701 movw r28,r14
		703	932 .L34:
		704	933 0264 8091 0000 lds r24,beeptime
		705	934 0268 9091 0000 lds r25,(beeptime)+1
		706	935 026c 892B or r24,r25
		707	936 026e 01F4 brne .L31
		708	937 0270 2097 sbiw r28,0
		709	938 0272 01F0 breq .L12
		710	939 .L31:
		711	940 0274 8091 0000 lds r24,UpdateMotor
		712	941 0278 8823 tst r24
		713	942 027a 01F0 breq .L34
		714	943 027c 1092 0000 sts UpdateMotor,__zero_reg__
		715	944 0280 8091 0000 lds r24,beeptime
		716	945 0284 9091 0000 lds r25,(beeptime)+1
		717	946 0288 892B or r24,r25
		718	947 028a 01F4 brne .L19
		719	948 028c 2197 sbiw r28,1
		720	949 .L19:
		721	950 028e 0E94 0000 call LIBFC_Polling
		722	951 0292 00C0 rjmp .L34
		723	952 .L26:
		724	953 0294 8091 0000 lds r24,PlatinenVersion
		725	954 0298 8C30 cpi r24,lo8(12)
		726	955 029a 00F0 brlo .L23
		727	956 029c 8631 cpi r24,lo8(22)
		728	957 029e 01F4 brne .L22
		729	958 .L23:
		730	959 02a0 299A sbi 37-0x20,1
		731	960 02a2 00C0 rjmp .L8
		732	961 .L22:
		733	962 02a4 2998 cbi 37-0x20,1
		734	963 .L8:
		735	964 /* epilogue: frame size=0 */
		736	965 02a6 DF91 pop r29
		737	966 02a8 CF91 pop r28
		738	967 02aa 1F91 pop r17
		739	968 02ac FF90 pop r15
		740	969 02ae EF90 pop r14
		741	970 02b0 0895 ret
		742	971 /* epilogue end (size=6) */
		743	972 /* function Piep size 67 (56) */
		744	974 .global CalibrierMittelwert
		745	976 CalibrierMittelwert:
		746	977 /* prologue: frame size=0 */
		747	978 02b2 CF93 push r28
		748	979 02b4 DF93 push r29
		749	980 /* prologue end (size=2) */
		750	981 02b6 8091 0000 lds r24,PlatinenVersion
		751	982 02ba 8D30 cpi r24,lo8(13)
		752	983 02bc 01F4 brne .L36
		753	984 02be 0E94 0000 call SucheGyroOffset
		754	985 .L36:
		755	986 02c2 1092 7A00 sts 122,__zero_reg__
		756	987 02c6 8091 0000 lds r24,AdWertNick
		757	988 02ca 9091 0000 lds r25,(AdWertNick)+1
		758	989 02ce 9093 0000 sts (MesswertNick)+1,r25
		759	990 02d2 8093 0000 sts MesswertNick,r24
		760	991 02d6 8091 0000 lds r24,AdWertRoll
		761	992 02da 9091 0000 lds r25,(AdWertRoll)+1
		762	993 02de 9093 0000 sts (MesswertRoll)+1,r25
		763	994 02e2 8093 0000 sts MesswertRoll,r24
		764	995 02e6 8091 0000 lds r24,AdWertGier
		765	996 02ea 9091 0000 lds r25,(AdWertGier)+1
		766	997 02ee 9093 0000 sts (MesswertGier)+1,r25
		767	998 02f2 8093 0000 sts MesswertGier,r24
		768	999 02f6 2091 0000 lds r18,AdWertAccNick
		769	1000 02fa 3091 0000 lds r19,(AdWertAccNick)+1
		770	1001 02fe C901 movw r24,r18
		771	1002 0300 880F lsl r24
		772	1003 0302 991F rol r25
		773	1004 0304 880F lsl r24
		774	1005 0306 991F rol r25
		775	1006 0308 820F add r24,r18
		776	1007 030a 931F adc r25,r19
		777	1008 030c 820F add r24,r18
		778	1009 030e 931F adc r25,r19
		779	1010 0310 9093 0000 sts (Mittelwert_AccNick)+1,r25
		780	1011 0314 8093 0000 sts Mittelwert_AccNick,r24
		781	1012 0318 2091 0000 lds r18,AdWertAccRoll
		782	1013 031c 3091 0000 lds r19,(AdWertAccRoll)+1
		783	1014 0320 C901 movw r24,r18
		784	1015 0322 880F lsl r24
		785	1016 0324 991F rol r25
		786	1017 0326 880F lsl r24
		787	1018 0328 991F rol r25
		788	1019 032a 820F add r24,r18
		789	1020 032c 931F adc r25,r19
		790	1021 032e 820F add r24,r18
		791	1022 0330 931F adc r25,r19
		792	1023 0332 9093 0000 sts (Mittelwert_AccRoll)+1,r25
		793	1024 0336 8093 0000 sts Mittelwert_AccRoll,r24
		794	1025 033a 8FEC ldi r24,lo8(-49)
		795	1026 033c 8093 7A00 sts 122,r24
		796	1027 0340 A0E0 ldi r26,lo8(Poti)
		797	1028 0342 B0E0 ldi r27,hi8(Poti)
		798	1029 0344 C0E0 ldi r28,lo8(EE_Parameter+5)
		799	1030 0346 D0E0 ldi r29,hi8(EE_Parameter+5)
		800	1031 0348 97E0 ldi r25,lo8(7)
		801	1032 .L46:
		802	1033 034a 8991 ld r24,Y+
		803	1034 034c E82F mov r30,r24
		804	1035 034e FF27 clr r31
		805	1036 0350 EE0F add r30,r30
		806	1037 0352 FF1F adc r31,r31
		807	1038 0354 E050 subi r30,lo8(-(PPM_in))
		808	1039 0356 F040 sbci r31,hi8(-(PPM_in))
		809	1040 0358 0190 ld __tmp_reg__,Z+
		810	1041 035a F081 ld r31,Z
		811	1042 035c E02D mov r30,__tmp_reg__
		812	1043 035e E158 subi r30,lo8(-(127))
		813	1044 0360 FF4F sbci r31,hi8(-(127))
		814	1045 0362 1E16 cp __zero_reg__,r30
		815	1046 0364 1F06 cpc __zero_reg__,r31
		816	1047 0366 04F0 brlt .L40
		817	1048 0368 E0E0 ldi r30,lo8(0)
		818	1049 036a F0E0 ldi r31,hi8(0)
		819	1050 036c 00C0 rjmp .L41
		820	1051 .L40:
		821	1052 036e EF3F cpi r30,255
		822	1053 0370 F105 cpc r31,__zero_reg__
		823	1054 0372 04F0 brlt .L41
		824	1055 0374 EFEF ldi r30,lo8(255)
		825	1056 0376 F0E0 ldi r31,hi8(255)
		826	1057 .L41:
		827	1058 0378 8C91 ld r24,X
		828	1059 037a 282F mov r18,r24
		829	1060 037c 3327 clr r19
		830	1061 037e E217 cp r30,r18
		831	1062 0380 F307 cpc r31,r19
		832	1063 0382 04F4 brge .L43
		833	1064 0384 8150 subi r24,lo8(-(-1))
		834	1065 0386 00C0 rjmp .L49
		835	1066 .L43:
		836	1067 0388 2E17 cp r18,r30
		837	1068 038a 3F07 cpc r19,r31
		838	1069 038c 04F4 brge .L39
		839	1070 038e 8F5F subi r24,lo8(-(1))
		840	1071 .L49:
		841	1072 0390 8C93 st X,r24
		842	1073 .L39:
		843	1074 0392 9150 subi r25,lo8(-(-1))
		844	1075 0394 1196 adiw r26,1
		845	1076 0396 97FF sbrs r25,7
		846	1077 0398 00C0 rjmp .L46
		847	1078 039a 8091 0000 lds r24,EE_Parameter+65
		848	1079 039e 9927 clr r25
		849	1080 03a0 AA27 clr r26
		850	1081 03a2 BB27 clr r27
		851	1082 03a4 BC01 movw r22,r24
		852	1083 03a6 CD01 movw r24,r26
		853	1084 03a8 24EC ldi r18,lo8(2500)
		854	1085 03aa 39E0 ldi r19,hi8(2500)
		855	1086 03ac 40E0 ldi r20,hlo8(2500)
		856	1087 03ae 50E0 ldi r21,hhi8(2500)
		857	1088 03b0 0E94 0000 call __mulsi3
		858	1089 03b4 DC01 movw r26,r24
		859	1090 03b6 CB01 movw r24,r22
		860	1091 03b8 8093 0000 sts Umschlag180Nick,r24
		861	1092 03bc 9093 0000 sts (Umschlag180Nick)+1,r25
		862	1093 03c0 A093 0000 sts (Umschlag180Nick)+2,r26
		863	1094 03c4 B093 0000 sts (Umschlag180Nick)+3,r27
		864	1095 03c8 8091 0000 lds r24,EE_Parameter+66
		865	1096 03cc 9927 clr r25
		866	1097 03ce AA27 clr r26
		867	1098 03d0 BB27 clr r27
		868	1099 03d2 BC01 movw r22,r24
		869	1100 03d4 CD01 movw r24,r26
		870	1101 03d6 0E94 0000 call __mulsi3
		871	1102 03da DC01 movw r26,r24
		872	1103 03dc CB01 movw r24,r22
		873	1104 03de 8093 0000 sts Umschlag180Roll,r24
		874	1105 03e2 9093 0000 sts (Umschlag180Roll)+1,r25
		875	1106 03e6 A093 0000 sts (Umschlag180Roll)+2,r26
		876	1107 03ea B093 0000 sts (Umschlag180Roll)+3,r27
		877	1108 /* epilogue: frame size=0 */
		878	1109 03ee DF91 pop r29
		879	1110 03f0 CF91 pop r28
		880	1111 03f2 0895 ret
		881	1112 /* epilogue end (size=3) */
		882	1113 /* function CalibrierMittelwert size 161 (156) */
		883	1115 .section .progmem.data,"a",@progbits
		884	1118 __c.35:
		885	1119 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n"
		886	1119 4320 6E6F
		887	1119 7420 6361
		888	1119 6C69 6272
		889	1119 6174 6564
		890	1120 .text
		891	1121 .global SetNeutral
		892	1123 SetNeutral:
		893	1124 /* prologue: frame size=0 */
		894	1125 03f4 A0E0 ldi r26,lo8(0)
		895	1126 03f6 B0E0 ldi r27,hi8(0)
		896	1127 03f8 E0E0 ldi r30,pm_lo8(1f)
		897	1128 03fa F0E0 ldi r31,pm_hi8(1f)
		898	1129 03fc 0C94 0000 jmp __prologue_saves__+12
		899	1130 1:
		900	1131 /* prologue end (size=6) */
		901	1132 0400 882E mov r8,r24
		902	1133 0402 C0E0 ldi r28,lo8(0)
		903	1134 0404 D0E0 ldi r29,hi8(0)
		904	1135 0406 7E01 movw r14,r28
		905	1136 0408 6E01 movw r12,r28
		906	1137 040a 1092 0000 sts VersionInfo+5,__zero_reg__
		907	1138 040e D093 0000 sts (NeutralAccX)+1,r29
		908	1139 0412 C093 0000 sts NeutralAccX,r28
		909	1140 0416 D093 0000 sts (NeutralAccY)+1,r29
		910	1141 041a C093 0000 sts NeutralAccY,r28
		911	1142 041e D093 0000 sts (NeutralAccZ)+1,r29
		912	1143 0422 C093 0000 sts NeutralAccZ,r28
		913	1144 0426 D093 0000 sts (AdNeutralNick)+1,r29
		914	1145 042a C093 0000 sts AdNeutralNick,r28
		915	1146 042e D093 0000 sts (AdNeutralRoll)+1,r29
		916	1147 0432 C093 0000 sts AdNeutralRoll,r28
		917	1148 0436 D093 0000 sts (AdNeutralGier)+1,r29
		918	1149 043a C093 0000 sts AdNeutralGier,r28
		919	1150 043e 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__
		920	1151 0442 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__
		921	1152 0446 1092 0000 sts ExpandBaro,__zero_reg__
		922	1153 044a 0E94 0000 call CalibrierMittelwert
		923	1154 044e 84E6 ldi r24,lo8(100)
		924	1155 0450 90E0 ldi r25,hi8(100)
		925	1156 0452 0E94 0000 call Delay_ms_Mess
		926	1157 0456 0E94 0000 call CalibrierMittelwert
		927	1158 045a 8091 0000 lds r24,EE_Parameter+13
		928	1159 045e 80FF sbrs r24,0
		929	1160 0460 00C0 rjmp .L51
		930	1161 0462 8091 0000 lds r24,MessLuftdruck
		931	1162 0466 9091 0000 lds r25,(MessLuftdruck)+1
		932	1163 046a 875B subi r24,lo8(951)
		933	1164 046c 9340 sbci r25,hi8(951)
		934	1165 046e 00F4 brsh .L53
		935	1166 0470 8091 0000 lds r24,MessLuftdruck
		936	1167 0474 9091 0000 lds r25,(MessLuftdruck)+1
		937	1168 0478 8E5E subi r24,lo8(750)
		938	1169 047a 9240 sbci r25,hi8(750)
		939	1170 047c 00F4 brsh .L51
		940	1171 .L53:
		941	1172 047e 0E94 0000 call SucheLuftruckOffset
		942	1173 .L51:
		943	1174 0482 0FE1 ldi r16,lo8(31)
		944	1175 .L57:
		945	1176 0484 8AE0 ldi r24,lo8(10)
		946	1177 0486 90E0 ldi r25,hi8(10)
		947	1178 0488 0E94 0000 call Delay_ms_Mess
		948	1179 048c 8091 0000 lds r24,AdWertGier
		949	1180 0490 9091 0000 lds r25,(AdWertGier)+1
		950	1181 0494 C80F add r28,r24
		951	1182 0496 D91F adc r29,r25
		952	1183 0498 8091 0000 lds r24,AdWertNick
		953	1184 049c 9091 0000 lds r25,(AdWertNick)+1
		954	1185 04a0 E80E add r14,r24
		955	1186 04a2 F91E adc r15,r25
		956	1187 04a4 8091 0000 lds r24,AdWertRoll
		957	1188 04a8 9091 0000 lds r25,(AdWertRoll)+1
		958	1189 04ac C80E add r12,r24
		959	1190 04ae D91E adc r13,r25
		960	1191 04b0 0150 subi r16,lo8(-(-1))
		961	1192 04b2 07FF sbrs r16,7
		962	1193 04b4 00C0 rjmp .L57
		963	1194 04b6 9701 movw r18,r14
		964	1195 04b8 205F subi r18,lo8(-(16))
		965	1196 04ba 3F4F sbci r19,hi8(-(16))
		966	1197 04bc 3695 lsr r19
		967	1198 04be 2795 ror r18
		968	1199 04c0 3695 lsr r19
		969	1200 04c2 2795 ror r18
		970	1201 04c4 3093 0000 sts (AdNeutralNick)+1,r19
		971	1202 04c8 2093 0000 sts AdNeutralNick,r18
		972	1203 04cc C601 movw r24,r12
		973	1204 04ce 4096 adiw r24,16
		974	1205 04d0 9695 lsr r25
		975	1206 04d2 8795 ror r24
		976	1207 04d4 9695 lsr r25
		977	1208 04d6 8795 ror r24
		978	1209 04d8 9093 0000 sts (AdNeutralRoll)+1,r25
		979	1210 04dc 8093 0000 sts AdNeutralRoll,r24
		980	1211 04e0 6096 adiw r28,16
		981	1212 04e2 F5E0 ldi r31,5
		982	1213 04e4 D695 1: lsr r29
		983	1214 04e6 C795 ror r28
		984	1215 04e8 FA95 dec r31
		985	1216 04ea 01F4 brne 1b
		986	1217 04ec D093 0000 sts (AdNeutralGier)+1,r29
		987	1218 04f0 C093 0000 sts AdNeutralGier,r28
		988	1219 04f4 9093 0000 sts (StartNeutralRoll)+1,r25
		989	1220 04f8 8093 0000 sts StartNeutralRoll,r24
		990	1221 04fc 3093 0000 sts (StartNeutralNick)+1,r19
		991	1222 0500 2093 0000 sts StartNeutralNick,r18
		992	1223 0504 8820 tst r8
		993	1224 0506 01F4 brne .+2
		994	1225 0508 00C0 rjmp .L58
		995	1226 050a 8091 0000 lds r24,Mittelwert_AccNick
		996	1227 050e 9091 0000 lds r25,(Mittelwert_AccNick)+1
		997	1228 0512 97FF sbrs r25,7
		998	1229 0514 00C0 rjmp .L59
		999	1230 0516 9095 com r25
		1000	1231 0518 8195 neg r24
		1001	1232 051a 9F4F sbci r25,lo8(-1)
		1002	1233 .L59:
		1003	1234 051c 6CE0 ldi r22,lo8(12)
		1004	1235 051e 70E0 ldi r23,hi8(12)
		1005	1236 0520 0E94 0000 call __divmodhi4
		1006	1237 0524 9B01 movw r18,r22
		1007	1238 0526 7093 0000 sts (NeutralAccX)+1,r23
		1008	1239 052a 6093 0000 sts NeutralAccX,r22
		1009	1240 052e 8091 0000 lds r24,Mittelwert_AccRoll
		1010	1241 0532 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		1011	1242 0536 97FF sbrs r25,7
		1012	1243 0538 00C0 rjmp .L60
		1013	1244 053a 9095 com r25
		1014	1245 053c 8195 neg r24
		1015	1246 053e 9F4F sbci r25,lo8(-1)
		1016	1247 .L60:
		1017	1248 0540 6CE0 ldi r22,lo8(12)
		1018	1249 0542 70E0 ldi r23,hi8(12)
		1019	1250 0544 0E94 0000 call __divmodhi4
		1020	1251 0548 7093 0000 sts (NeutralAccY)+1,r23
		1021	1252 054c 6093 0000 sts NeutralAccY,r22
		1022	1253 0550 8091 0000 lds r24,Aktuell_az
		1023	1254 0554 9091 0000 lds r25,(Aktuell_az)+1
		1024	1255 0558 9093 0000 sts (NeutralAccZ)+1,r25
		1025	1256 055c 8093 0000 sts NeutralAccZ,r24
		1026	1257 0560 B901 movw r22,r18
		1027	1258 0562 84E0 ldi r24,lo8(4)
		1028	1259 0564 90E0 ldi r25,hi8(4)
		1029	1260 0566 0E94 0000 call SetParamWord
		1030	1261 056a 6091 0000 lds r22,NeutralAccY
		1031	1262 056e 7091 0000 lds r23,(NeutralAccY)+1
		1032	1263 0572 86E0 ldi r24,lo8(6)
		1033	1264 0574 90E0 ldi r25,hi8(6)
		1034	1265 0576 0E94 0000 call SetParamWord
		1035	1266 057a 6091 0000 lds r22,NeutralAccZ
		1036	1267 057e 7091 0000 lds r23,(NeutralAccZ)+1
		1037	1268 0582 88E0 ldi r24,lo8(8)
		1038	1269 0584 90E0 ldi r25,hi8(8)
		1039	1270 0586 0E94 0000 call SetParamWord
		1040	1271 058a 00C0 rjmp .L61
		1041	1272 .L58:
		1042	1273 058c 84E0 ldi r24,lo8(4)
		1043	1274 058e 90E0 ldi r25,hi8(4)
		1044	1275 0590 0E94 0000 call GetParamWord
		1045	1276 0594 9093 0000 sts (NeutralAccX)+1,r25
		1046	1277 0598 8093 0000 sts NeutralAccX,r24
		1047	1278 059c 86E0 ldi r24,lo8(6)
		1048	1279 059e 90E0 ldi r25,hi8(6)
		1049	1280 05a0 0E94 0000 call GetParamWord
		1050	1281 05a4 9093 0000 sts (NeutralAccY)+1,r25
		1051	1282 05a8 8093 0000 sts NeutralAccY,r24
		1052	1283 05ac 88E0 ldi r24,lo8(8)
		1053	1284 05ae 90E0 ldi r25,hi8(8)
		1054	1285 05b0 0E94 0000 call GetParamWord
		1055	1286 05b4 9C01 movw r18,r24
		1056	1287 05b6 9093 0000 sts (NeutralAccZ)+1,r25
		1057	1288 05ba 8093 0000 sts NeutralAccZ,r24
		1058	1289 05be 8091 0000 lds r24,NeutralAccX
		1059	1290 05c2 9091 0000 lds r25,(NeutralAccX)+1
		1060	1291 05c6 8150 subi r24,lo8(2049)
		1061	1292 05c8 9840 sbci r25,hi8(2049)
		1062	1293 05ca 00F4 brsh .L63
		1063	1294 05cc 8091 0000 lds r24,NeutralAccY
		1064	1295 05d0 9091 0000 lds r25,(NeutralAccY)+1
		1065	1296 05d4 8150 subi r24,lo8(2049)
		1066	1297 05d6 9840 sbci r25,hi8(2049)
		1067	1298 05d8 00F4 brsh .L63
		1068	1299 05da 2150 subi r18,lo8(1025)
		1069	1300 05dc 3440 sbci r19,hi8(1025)
		1070	1301 05de 00F0 brlo .L61
		1071	1302 .L63:
		1072	1303 05e0 80E0 ldi r24,lo8(__c.35)
		1073	1304 05e2 90E0 ldi r25,hi8(__c.35)
		1074	1305 05e4 9F93 push r25
		1075	1306 05e6 8F93 push r24
		1076	1307 05e8 80E0 ldi r24,lo8(pm(uart_putchar))
		1077	1308 05ea 90E0 ldi r25,hi8(pm(uart_putchar))
		1078	1309 05ec 9F93 push r25
		1079	1310 05ee 8F93 push r24
		1080	1311 05f0 E091 0000 lds r30,_printf_P
		1081	1312 05f4 F091 0000 lds r31,(_printf_P)+1
		1082	1313 05f8 0995 icall
		1083	1314 05fa 8091 0000 lds r24,Mittelwert_AccNick
		1084	1315 05fe 9091 0000 lds r25,(Mittelwert_AccNick)+1
		1085	1316 0602 97FF sbrs r25,7
		1086	1317 0604 00C0 rjmp .L64
		1087	1318 0606 9095 com r25
		1088	1319 0608 8195 neg r24
		1089	1320 060a 9F4F sbci r25,lo8(-1)
		1090	1321 .L64:
		1091	1322 060c 6CE0 ldi r22,lo8(12)
		1092	1323 060e 70E0 ldi r23,hi8(12)
		1093	1324 0610 0E94 0000 call __divmodhi4
		1094	1325 0614 7093 0000 sts (NeutralAccX)+1,r23
		1095	1326 0618 6093 0000 sts NeutralAccX,r22
		1096	1327 061c 8091 0000 lds r24,Mittelwert_AccRoll
		1097	1328 0620 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		1098	1329 0624 97FF sbrs r25,7
		1099	1330 0626 00C0 rjmp .L65
		1100	1331 0628 9095 com r25
		1101	1332 062a 8195 neg r24
		1102	1333 062c 9F4F sbci r25,lo8(-1)
		1103	1334 .L65:
		1104	1335 062e 6CE0 ldi r22,lo8(12)
		1105	1336 0630 70E0 ldi r23,hi8(12)
		1106	1337 0632 0E94 0000 call __divmodhi4
		1107	1338 0636 7093 0000 sts (NeutralAccY)+1,r23
		1108	1339 063a 6093 0000 sts NeutralAccY,r22
		1109	1340 063e 8091 0000 lds r24,Aktuell_az
		1110	1341 0642 9091 0000 lds r25,(Aktuell_az)+1
		1111	1342 0646 9093 0000 sts (NeutralAccZ)+1,r25
		1112	1343 064a 8093 0000 sts NeutralAccZ,r24
		1113	1344 064e 0F90 pop __tmp_reg__
		1114	1345 0650 0F90 pop __tmp_reg__
		1115	1346 0652 0F90 pop __tmp_reg__
		1116	1347 0654 0F90 pop __tmp_reg__
		1117	1348 .L61:
		1118	1349 0656 1092 0000 sts (MesswertNick)+1,__zero_reg__
		1119	1350 065a 1092 0000 sts MesswertNick,__zero_reg__
		1120	1351 065e 1092 0000 sts (MesswertRoll)+1,__zero_reg__
		1121	1352 0662 1092 0000 sts MesswertRoll,__zero_reg__
		1122	1353 0666 1092 0000 sts (MesswertGier)+1,__zero_reg__
		1123	1354 066a 1092 0000 sts MesswertGier,__zero_reg__
		1124	1355 066e 84E6 ldi r24,lo8(100)
		1125	1356 0670 90E0 ldi r25,hi8(100)
		1126	1357 0672 0E94 0000 call Delay_ms_Mess
		1127	1358 0676 8091 0000 lds r24,AdWertAccNick
		1128	1359 067a 9091 0000 lds r25,(AdWertAccNick)+1
		1129	1360 067e 9C01 movw r18,r24
		1130	1361 0680 220F lsl r18
		1131	1362 0682 331F rol r19
		1132	1363 0684 220F lsl r18
		1133	1364 0686 331F rol r19
		1134	1365 0688 280F add r18,r24
		1135	1366 068a 391F adc r19,r25
		1136	1367 068c 280F add r18,r24
		1137	1368 068e 391F adc r19,r25
		1138	1369 0690 3093 0000 sts (Mittelwert_AccNick)+1,r19
		1139	1370 0694 2093 0000 sts Mittelwert_AccNick,r18
		1140	1371 0698 8091 0000 lds r24,AdWertAccRoll
		1141	1372 069c 9091 0000 lds r25,(AdWertAccRoll)+1
		1142	1373 06a0 8C01 movw r16,r24
		1143	1374 06a2 000F lsl r16
		1144	1375 06a4 111F rol r17
		1145	1376 06a6 000F lsl r16
		1146	1377 06a8 111F rol r17
		1147	1378 06aa 080F add r16,r24
		1148	1379 06ac 191F adc r17,r25
		1149	1380 06ae 080F add r16,r24
		1150	1381 06b0 191F adc r17,r25
		1151	1382 06b2 1093 0000 sts (Mittelwert_AccRoll)+1,r17
		1152	1383 06b6 0093 0000 sts Mittelwert_AccRoll,r16
		1153	1384 06ba 8091 0000 lds r24,EE_Parameter+28
		1154	1385 06be C82E mov r12,r24
		1155	1386 06c0 DD24 clr r13
		1156	1387 06c2 EE24 clr r14
		1157	1388 06c4 FF24 clr r15
		1158	1389 06c6 4427 clr r20
		1159	1390 06c8 37FD sbrc r19,7
		1160	1391 06ca 4095 com r20
		1161	1392 06cc 542F mov r21,r20
		1162	1393 06ce C701 movw r24,r14
		1163	1394 06d0 B601 movw r22,r12
		1164	1395 06d2 0E94 0000 call __mulsi3
		1165	1396 06d6 4B01 movw r8,r22
		1166	1397 06d8 5C01 movw r10,r24
		1167	1398 06da 6093 0000 sts IntegralNick,r22
		1168	1399 06de 7093 0000 sts (IntegralNick)+1,r23
		1169	1400 06e2 8093 0000 sts (IntegralNick)+2,r24
		1170	1401 06e6 9093 0000 sts (IntegralNick)+3,r25
		1171	1402 06ea 9801 movw r18,r16
		1172	1403 06ec 4427 clr r20
		1173	1404 06ee 37FD sbrc r19,7
		1174	1405 06f0 4095 com r20
		1175	1406 06f2 542F mov r21,r20
		1176	1407 06f4 C701 movw r24,r14
		1177	1408 06f6 B601 movw r22,r12
		1178	1409 06f8 0E94 0000 call __mulsi3
		1179	1410 06fc DC01 movw r26,r24
		1180	1411 06fe CB01 movw r24,r22
		1181	1412 0700 8093 0000 sts IntegralRoll,r24
		1182	1413 0704 9093 0000 sts (IntegralRoll)+1,r25
		1183	1414 0708 A093 0000 sts (IntegralRoll)+2,r26
		1184	1415 070c B093 0000 sts (IntegralRoll)+3,r27
		1185	1416 0710 8092 0000 sts Mess_IntegralNick,r8
		1186	1417 0714 9092 0000 sts (Mess_IntegralNick)+1,r9
		1187	1418 0718 A092 0000 sts (Mess_IntegralNick)+2,r10
		1188	1419 071c B092 0000 sts (Mess_IntegralNick)+3,r11
		1189	1420 0720 8093 0000 sts Mess_IntegralRoll,r24
		1190	1421 0724 9093 0000 sts (Mess_IntegralRoll)+1,r25
		1191	1422 0728 A093 0000 sts (Mess_IntegralRoll)+2,r26
		1192	1423 072c B093 0000 sts (Mess_IntegralRoll)+3,r27
		1193	1424 0730 1092 0000 sts Mess_Integral_Gier,__zero_reg__
		1194	1425 0734 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
		1195	1426 0738 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
		1196	1427 073c 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__
		1197	1428 0740 8091 0000 lds r24,Luftdruck
		1198	1429 0744 9091 0000 lds r25,(Luftdruck)+1
		1199	1430 0748 A091 0000 lds r26,(Luftdruck)+2
		1200	1431 074c B091 0000 lds r27,(Luftdruck)+3
		1201	1432 0750 9093 0000 sts (StartLuftdruck)+1,r25
		1202	1433 0754 8093 0000 sts StartLuftdruck,r24
		1203	1434 0758 1092 0000 sts (VarioMeter)+1,__zero_reg__
		1204	1435 075c 1092 0000 sts VarioMeter,__zero_reg__
		1205	1436 0760 1092 0000 sts Mess_Integral_Hoch,__zero_reg__
		1206	1437 0764 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__
		1207	1438 0768 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__
		1208	1439 076c 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__
		1209	1440 0770 0091 0000 lds r16,KompassValue
		1210	1441 0774 1091 0000 lds r17,(KompassValue)+1
		1211	1442 0778 1093 0000 sts (KompassSollWert)+1,r17
		1212	1443 077c 0093 0000 sts KompassSollWert,r16
		1213	1444 0780 84E6 ldi r24,lo8(100)
		1214	1445 0782 90E0 ldi r25,hi8(100)
		1215	1446 0784 9093 0000 sts (KompassSignalSchlecht)+1,r25
		1216	1447 0788 8093 0000 sts KompassSignalSchlecht,r24
		1217	1448 078c 82E3 ldi r24,lo8(50)
		1218	1449 078e 90E0 ldi r25,hi8(50)
		1219	1450 0790 9093 0000 sts (beeptime)+1,r25
		1220	1451 0794 8093 0000 sts beeptime,r24
		1221	1452 0798 8091 0000 lds r24,EE_Parameter+65
		1222	1453 079c 9927 clr r25
		1223	1454 079e AA27 clr r26
		1224	1455 07a0 BB27 clr r27
		1225	1456 07a2 BC01 movw r22,r24
		1226	1457 07a4 CD01 movw r24,r26
		1227	1458 07a6 24EC ldi r18,lo8(2500)
		1228	1459 07a8 39E0 ldi r19,hi8(2500)
		1229	1460 07aa 40E0 ldi r20,hlo8(2500)
		1230	1461 07ac 50E0 ldi r21,hhi8(2500)
		1231	1462 07ae 0E94 0000 call __mulsi3
		1232	1463 07b2 DC01 movw r26,r24
		1233	1464 07b4 CB01 movw r24,r22
		1234	1465 07b6 8856 subi r24,lo8(-(15000))
		1235	1466 07b8 954C sbci r25,hi8(-(15000))
		1236	1467 07ba AF4F sbci r26,hlo8(-(15000))
		1237	1468 07bc BF4F sbci r27,hhi8(-(15000))
		1238	1469 07be 8093 0000 sts Umschlag180Nick,r24
		1239	1470 07c2 9093 0000 sts (Umschlag180Nick)+1,r25
		1240	1471 07c6 A093 0000 sts (Umschlag180Nick)+2,r26
		1241	1472 07ca B093 0000 sts (Umschlag180Nick)+3,r27
		1242	1473 07ce 8091 0000 lds r24,EE_Parameter+66
		1243	1474 07d2 9927 clr r25
		1244	1475 07d4 AA27 clr r26
		1245	1476 07d6 BB27 clr r27
		1246	1477 07d8 BC01 movw r22,r24
		1247	1478 07da CD01 movw r24,r26
		1248	1479 07dc 0E94 0000 call __mulsi3
		1249	1480 07e0 DC01 movw r26,r24
		1250	1481 07e2 CB01 movw r24,r22
		1251	1482 07e4 8856 subi r24,lo8(-(15000))
		1252	1483 07e6 954C sbci r25,hi8(-(15000))
		1253	1484 07e8 AF4F sbci r26,hlo8(-(15000))
		1254	1485 07ea BF4F sbci r27,hhi8(-(15000))
		1255	1486 07ec 8093 0000 sts Umschlag180Roll,r24
		1256	1487 07f0 9093 0000 sts (Umschlag180Roll)+1,r25
		1257	1488 07f4 A093 0000 sts (Umschlag180Roll)+2,r26
		1258	1489 07f8 B093 0000 sts (Umschlag180Roll)+3,r27
		1259	1490 07fc 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__
		1260	1491 0800 1092 0000 sts ExternHoehenValue,__zero_reg__
		1261	1492 0804 C801 movw r24,r16
		1262	1493 0806 AA27 clr r26
		1263	1494 0808 97FD sbrc r25,7
		1264	1495 080a A095 com r26
		1265	1496 080c BA2F mov r27,r26
		1266	1497 080e 2091 0000 lds r18,GIER_GRAD_FAKTOR
		1267	1498 0812 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1
		1268	1499 0816 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2
		1269	1500 081a 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3
		1270	1501 081e BC01 movw r22,r24
		1271	1502 0820 CD01 movw r24,r26
		1272	1503 0822 0E94 0000 call __mulsi3
		1273	1504 0826 DC01 movw r26,r24
		1274	1505 0828 CB01 movw r24,r22
		1275	1506 082a 8093 0000 sts ErsatzKompass,r24
		1276	1507 082e 9093 0000 sts (ErsatzKompass)+1,r25
		1277	1508 0832 A093 0000 sts (ErsatzKompass)+2,r26
		1278	1509 0836 B093 0000 sts (ErsatzKompass)+3,r27
		1279	1510 083a 1092 0000 sts (GierGyroFehler)+1,__zero_reg__
		1280	1511 083e 1092 0000 sts GierGyroFehler,__zero_reg__
		1281	1512 0842 0E94 0000 call LED_Init
		1282	1513 0846 8091 0000 lds r24,FC_StatusFlags
		1283	1514 084a 8460 ori r24,lo8(4)
		1284	1515 084c 8093 0000 sts FC_StatusFlags,r24
		1285	1516 0850 8FEF ldi r24,lo8(-1)
		1286	1517 0852 8093 0000 sts FromNaviCtrl_Value,r24
		1287	1518 0856 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__
		1288	1519 085a 80E2 ldi r24,lo8(32)
		1289	1520 085c 8093 0000 sts FromNaviCtrl_Value+2,r24
		1290	1521 0860 C0E0 ldi r28,lo8(Poti)
		1291	1522 0862 D0E0 ldi r29,hi8(Poti)
		1292	1523 0864 A0E0 ldi r26,lo8(EE_Parameter+5)
		1293	1524 0866 B0E0 ldi r27,hi8(EE_Parameter+5)
		1294	1525 0868 07E0 ldi r16,lo8(7)
		1295	1526 .L69:
		1296	1527 086a 8D91 ld r24,X+
		1297	1528 086c E82F mov r30,r24
		1298	1529 086e FF27 clr r31
		1299	1530 0870 EE0F add r30,r30
		1300	1531 0872 FF1F adc r31,r31
		1301	1532 0874 E050 subi r30,lo8(-(PPM_in))
		1302	1533 0876 F040 sbci r31,hi8(-(PPM_in))
		1303	1534 0878 8081 ld r24,Z
		1304	1535 087a 9181 ldd r25,Z+1
		1305	1536 087c 8158 subi r24,lo8(-(127))
		1306	1537 087e 8993 st Y+,r24
		1307	1538 0880 0150 subi r16,lo8(-(-1))
		1308	1539 0882 07FF sbrs r16,7
		1309	1540 0884 00C0 rjmp .L69
		1310	1541 0886 84E6 ldi r24,lo8(100)
		1311	1542 0888 8093 0000 sts SenderOkay,r24
		1312	1543 088c 8091 0000 lds r24,ServoActive
		1313	1544 0890 8823 tst r24
		1314	1545 0892 01F0 breq .L70
		1315	1546 0894 579A sbi 42-0x20,7
		1316	1547 0896 00C0 rjmp .L71
		1317	1548 .L70:
		1318	1549 0898 80E0 ldi r24,lo8(4352)
		1319	1550 089a 91E1 ldi r25,hi8(4352)
		1320	1551 089c 9093 0000 sts (NickServoValue)+1,r25
		1321	1552 08a0 8093 0000 sts NickServoValue,r24
		1322	1553 .L71:
		1323	1554 08a4 8091 0000 lds r24,AdNeutralNick
		1324	1555 08a8 9091 0000 lds r25,(AdNeutralNick)+1
		1325	1556 08ac 8056 subi r24,lo8(-(-2400))
		1326	1557 08ae 9940 sbci r25,hi8(-(-2400))
		1327	1558 08b0 815C subi r24,lo8(11201)
		1328	1559 08b2 9B42 sbci r25,hi8(11201)
		1329	1560 08b4 00F0 brlo .L72
		1330	1561 08b6 8091 0000 lds r24,VersionInfo+5
		1331	1562 08ba 8160 ori r24,lo8(1)
		1332	1563 08bc 8093 0000 sts VersionInfo+5,r24
		1333	1564 .L72:
		1334	1565 08c0 8091 0000 lds r24,AdNeutralRoll
		1335	1566 08c4 9091 0000 lds r25,(AdNeutralRoll)+1
		1336	1567 08c8 8056 subi r24,lo8(-(-2400))
		1337	1568 08ca 9940 sbci r25,hi8(-(-2400))
		1338	1569 08cc 815C subi r24,lo8(11201)
		1339	1570 08ce 9B42 sbci r25,hi8(11201)
		1340	1571 08d0 00F0 brlo .L73
		1341	1572 08d2 8091 0000 lds r24,VersionInfo+5
		1342	1573 08d6 8260 ori r24,lo8(2)
		1343	1574 08d8 8093 0000 sts VersionInfo+5,r24
		1344	1575 .L73:
		1345	1576 08dc 8091 0000 lds r24,AdNeutralGier
		1346	1577 08e0 9091 0000 lds r25,(AdNeutralGier)+1
		1347	1578 08e4 8C52 subi r24,lo8(-(-300))
		1348	1579 08e6 9140 sbci r25,hi8(-(-300))
		1349	1580 08e8 8957 subi r24,lo8(1401)
		1350	1581 08ea 9540 sbci r25,hi8(1401)
		1351	1582 08ec 00F0 brlo .L74
		1352	1583 08ee 8091 0000 lds r24,VersionInfo+5
		1353	1584 08f2 8460 ori r24,lo8(4)
		1354	1585 08f4 8093 0000 sts VersionInfo+5,r24
		1355	1586 .L74:
		1356	1587 08f8 8091 0000 lds r24,NeutralAccX
		1357	1588 08fc 9091 0000 lds r25,(NeutralAccX)+1
		1358	1589 0900 8C52 subi r24,lo8(-(-300))
		1359	1590 0902 9140 sbci r25,hi8(-(-300))
		1360	1591 0904 835C subi r24,lo8(451)
		1361	1592 0906 9140 sbci r25,hi8(451)
		1362	1593 0908 00F0 brlo .L75
		1363	1594 090a 8091 0000 lds r24,VersionInfo+5
		1364	1595 090e 8860 ori r24,lo8(8)
		1365	1596 0910 8093 0000 sts VersionInfo+5,r24
		1366	1597 .L75:
		1367	1598 0914 8091 0000 lds r24,NeutralAccY
		1368	1599 0918 9091 0000 lds r25,(NeutralAccY)+1
		1369	1600 091c 8C52 subi r24,lo8(-(-300))
		1370	1601 091e 9140 sbci r25,hi8(-(-300))
		1371	1602 0920 835C subi r24,lo8(451)
		1372	1603 0922 9140 sbci r25,hi8(451)
		1373	1604 0924 00F0 brlo .L76
		1374	1605 0926 8091 0000 lds r24,VersionInfo+5
		1375	1606 092a 8061 ori r24,lo8(16)
		1376	1607 092c 8093 0000 sts VersionInfo+5,r24
		1377	1608 .L76:
		1378	1609 0930 8091 0000 lds r24,NeutralAccZ
		1379	1610 0934 9091 0000 lds r25,(NeutralAccZ)+1
		1380	1611 0938 8050 subi r24,lo8(-(-512))
		1381	1612 093a 9240 sbci r25,hi8(-(-512))
		1382	1613 093c 8355 subi r24,lo8(339)
		1383	1614 093e 9140 sbci r25,hi8(339)
		1384	1615 0940 00F0 brlo .L77
		1385	1616 0942 8091 0000 lds r24,VersionInfo+5
		1386	1617 0946 8062 ori r24,lo8(32)
		1387	1618 0948 8093 0000 sts VersionInfo+5,r24
		1388	1619 .L77:
		1389	1620 094c 86E4 ldi r24,lo8(70)
		1390	1621 094e 8093 0000 sts carefree_old,r24
		1391	1622 0952 0E94 0000 call LIBFC_HoTT_Clear
		1392	1623 /* epilogue: frame size=0 */
		1393	1624 0956 ECE0 ldi r30,12
		1394	1625 0958 CDB7 in r28,__SP_L__
		1395	1626 095a DEB7 in r29,__SP_H__
		1396	1627 095c 0C94 0000 jmp __epilogue_restores__+12
		1397	1628 /* epilogue end (size=5) */
		1398	1629 /* function SetNeutral size 705 (694) */
		1399	1631 .lcomm tmpl.27,4
		1400	1632 .lcomm tmpl2.28,4
		1401	1633 .lcomm tmpl3.29,4
		1402	1634 .lcomm tmpl4.30,4
		1403	1635 .lcomm oldNick.31,2
		1404	1636 .lcomm oldRoll.32,2
		1405	1637 .lcomm d2Roll.33,2
		1406	1638 .lcomm d2Nick.34,2
		1407	1639 .global Mittelwert
		1408	1641 Mittelwert:
		1409	1642 /* prologue: frame size=19 */
		1410	1643 0960 A3E1 ldi r26,lo8(19)
		1411	1644 0962 B0E0 ldi r27,hi8(19)
		1412	1645 0964 E0E0 ldi r30,pm_lo8(1f)
		1413	1646 0966 F0E0 ldi r31,pm_hi8(1f)
		1414	1647 0968 0C94 0000 jmp __prologue_saves__+0
		1415	1648 1:
		1416	1649 /* prologue end (size=6) */
		1417	1650 096c 8091 0000 lds r24,AdNeutralGier
		1418	1651 0970 9091 0000 lds r25,(AdNeutralGier)+1
		1419	1652 0974 2091 0000 lds r18,AdWertGier
		1420	1653 0978 3091 0000 lds r19,(AdWertGier)+1
		1421	1654 097c 821B sub r24,r18
		1422	1655 097e 930B sbc r25,r19
		1423	1656 0980 9093 0000 sts (MesswertGier)+1,r25
		1424	1657 0984 8093 0000 sts MesswertGier,r24
		1425	1658 0988 8091 0000 lds r24,AdWertNickFilter
		1426	1659 098c 9091 0000 lds r25,(AdWertNickFilter)+1
		1427	1660 0990 97FD sbrc r25,7
		1428	1661 0992 0796 adiw r24,7
		1429	1662 .L83:
		1430	1663 0994 9C01 movw r18,r24
		1431	1664 0996 13E0 ldi r17,3
		1432	1665 0998 3595 1: asr r19
		1433	1666 099a 2795 ror r18
		1434	1667 099c 1A95 dec r17
		1435	1668 099e 01F4 brne 1b
		1436	1669 09a0 3093 0000 sts (MesswertNick)+1,r19
		1437	1670 09a4 2093 0000 sts MesswertNick,r18
		1438	1671 09a8 8091 0000 lds r24,AdWertRollFilter
		1439	1672 09ac 9091 0000 lds r25,(AdWertRollFilter)+1
		1440	1673 09b0 97FD sbrc r25,7
		1441	1674 09b2 0796 adiw r24,7
		1442	1675 .L84:
		1443	1676 09b4 B3E0 ldi r27,3
		1444	1677 09b6 9595 1: asr r25
		1445	1678 09b8 8795 ror r24
		1446	1679 09ba BA95 dec r27
		1447	1680 09bc 01F4 brne 1b
		1448	1681 09be 9093 0000 sts (MesswertRoll)+1,r25
		1449	1682 09c2 8093 0000 sts MesswertRoll,r24
		1450	1683 09c6 3093 0000 sts (RohMesswertNick)+1,r19
		1451	1684 09ca 2093 0000 sts RohMesswertNick,r18
		1452	1685 09ce 9093 0000 sts (RohMesswertRoll)+1,r25
		1453	1686 09d2 8093 0000 sts RohMesswertRoll,r24
		1454	1687 09d6 8091 0000 lds r24,Mittelwert_AccNick
		1455	1688 09da 9091 0000 lds r25,(Mittelwert_AccNick)+1
		1456	1689 09de AC01 movw r20,r24
		1457	1690 09e0 440F lsl r20
		1458	1691 09e2 551F rol r21
		1459	1692 09e4 480F add r20,r24
		1460	1693 09e6 591F adc r21,r25
		1461	1694 09e8 2091 0000 lds r18,AdWertAccNick
		1462	1695 09ec 3091 0000 lds r19,(AdWertAccNick)+1
		1463	1696 09f0 C901 movw r24,r18
		1464	1697 09f2 880F lsl r24
		1465	1698 09f4 991F rol r25
		1466	1699 09f6 880F lsl r24
		1467	1700 09f8 991F rol r25
		1468	1701 09fa 820F add r24,r18
		1469	1702 09fc 931F adc r25,r19
		1470	1703 09fe 820F add r24,r18
		1471	1704 0a00 931F adc r25,r19
		1472	1705 0a02 480F add r20,r24
		1473	1706 0a04 591F adc r21,r25
		1474	1707 0a06 57FF sbrs r21,7
		1475	1708 0a08 00C0 rjmp .L85
		1476	1709 0a0a 4D5F subi r20,lo8(-(3))
		1477	1710 0a0c 5F4F sbci r21,hi8(-(3))
		1478	1711 .L85:
		1479	1712 0a0e 5595 asr r21
		1480	1713 0a10 4795 ror r20
		1481	1714 0a12 5595 asr r21
		1482	1715 0a14 4795 ror r20
		1483	1716 0a16 5093 0000 sts (Mittelwert_AccNick)+1,r21
		1484	1717 0a1a 4093 0000 sts Mittelwert_AccNick,r20
		1485	1718 0a1e 8091 0000 lds r24,Mittelwert_AccRoll
		1486	1719 0a22 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		1487	1720 0a26 AC01 movw r20,r24
		1488	1721 0a28 440F lsl r20
		1489	1722 0a2a 551F rol r21
		1490	1723 0a2c 480F add r20,r24
		1491	1724 0a2e 591F adc r21,r25
		1492	1725 0a30 2091 0000 lds r18,AdWertAccRoll
		1493	1726 0a34 3091 0000 lds r19,(AdWertAccRoll)+1
		1494	1727 0a38 C901 movw r24,r18
		1495	1728 0a3a 880F lsl r24
		1496	1729 0a3c 991F rol r25
		1497	1730 0a3e 880F lsl r24
		1498	1731 0a40 991F rol r25
		1499	1732 0a42 820F add r24,r18
		1500	1733 0a44 931F adc r25,r19
		1501	1734 0a46 820F add r24,r18
		1502	1735 0a48 931F adc r25,r19
		1503	1736 0a4a 480F add r20,r24
		1504	1737 0a4c 591F adc r21,r25
		1505	1738 0a4e 57FF sbrs r21,7
		1506	1739 0a50 00C0 rjmp .L86
		1507	1740 0a52 4D5F subi r20,lo8(-(3))
		1508	1741 0a54 5F4F sbci r21,hi8(-(3))
		1509	1742 .L86:
		1510	1743 0a56 5595 asr r21
		1511	1744 0a58 4795 ror r20
		1512	1745 0a5a 5595 asr r21
		1513	1746 0a5c 4795 ror r20
		1514	1747 0a5e 5093 0000 sts (Mittelwert_AccRoll)+1,r21
		1515	1748 0a62 4093 0000 sts Mittelwert_AccRoll,r20
		1516	1749 0a66 2091 0000 lds r18,AdWertAccNick
		1517	1750 0a6a 3091 0000 lds r19,(AdWertAccNick)+1
		1518	1751 0a6e C901 movw r24,r18
		1519	1752 0a70 880F lsl r24
		1520	1753 0a72 991F rol r25
		1521	1754 0a74 880F lsl r24
		1522	1755 0a76 991F rol r25
		1523	1756 0a78 820F add r24,r18
		1524	1757 0a7a 931F adc r25,r19
		1525	1758 0a7c 820F add r24,r18
		1526	1759 0a7e 931F adc r25,r19
		1527	1760 0a80 9C01 movw r18,r24
		1528	1761 0a82 4427 clr r20
		1529	1762 0a84 37FD sbrc r19,7
		1530	1763 0a86 4095 com r20
		1531	1764 0a88 542F mov r21,r20
		1532	1765 0a8a 8091 0000 lds r24,IntegralAccNick
		1533	1766 0a8e 9091 0000 lds r25,(IntegralAccNick)+1
		1534	1767 0a92 A091 0000 lds r26,(IntegralAccNick)+2
		1535	1768 0a96 B091 0000 lds r27,(IntegralAccNick)+3
		1536	1769 0a9a 820F add r24,r18
		1537	1770 0a9c 931F adc r25,r19
		1538	1771 0a9e A41F adc r26,r20
		1539	1772 0aa0 B51F adc r27,r21
		1540	1773 0aa2 8093 0000 sts IntegralAccNick,r24
		1541	1774 0aa6 9093 0000 sts (IntegralAccNick)+1,r25
		1542	1775 0aaa A093 0000 sts (IntegralAccNick)+2,r26
		1543	1776 0aae B093 0000 sts (IntegralAccNick)+3,r27
		1544	1777 0ab2 2091 0000 lds r18,AdWertAccRoll
		1545	1778 0ab6 3091 0000 lds r19,(AdWertAccRoll)+1
		1546	1779 0aba C901 movw r24,r18
		1547	1780 0abc 880F lsl r24
		1548	1781 0abe 991F rol r25
		1549	1782 0ac0 880F lsl r24
		1550	1783 0ac2 991F rol r25
		1551	1784 0ac4 820F add r24,r18
		1552	1785 0ac6 931F adc r25,r19
		1553	1786 0ac8 820F add r24,r18
		1554	1787 0aca 931F adc r25,r19
		1555	1788 0acc 9C01 movw r18,r24
		1556	1789 0ace 4427 clr r20
		1557	1790 0ad0 37FD sbrc r19,7
		1558	1791 0ad2 4095 com r20
		1559	1792 0ad4 542F mov r21,r20
		1560	1793 0ad6 8091 0000 lds r24,IntegralAccRoll
		1561	1794 0ada 9091 0000 lds r25,(IntegralAccRoll)+1
		1562	1795 0ade A091 0000 lds r26,(IntegralAccRoll)+2
		1563	1796 0ae2 B091 0000 lds r27,(IntegralAccRoll)+3
		1564	1797 0ae6 820F add r24,r18
		1565	1798 0ae8 931F adc r25,r19
		1566	1799 0aea A41F adc r26,r20
		1567	1800 0aec B51F adc r27,r21
		1568	1801 0aee 8093 0000 sts IntegralAccRoll,r24
		1569	1802 0af2 9093 0000 sts (IntegralAccRoll)+1,r25
		1570	1803 0af6 A093 0000 sts (IntegralAccRoll)+2,r26
		1571	1804 0afa B093 0000 sts (IntegralAccRoll)+3,r27
		1572	1805 0afe 8091 0000 lds r24,NaviAccNick
		1573	1806 0b02 9091 0000 lds r25,(NaviAccNick)+1
		1574	1807 0b06 2091 0000 lds r18,AdWertAccNick
		1575	1808 0b0a 3091 0000 lds r19,(AdWertAccNick)+1
		1576	1809 0b0e 820F add r24,r18
		1577	1810 0b10 931F adc r25,r19
		1578	1811 0b12 9093 0000 sts (NaviAccNick)+1,r25
		1579	1812 0b16 8093 0000 sts NaviAccNick,r24
		1580	1813 0b1a 8091 0000 lds r24,NaviAccRoll
		1581	1814 0b1e 9091 0000 lds r25,(NaviAccRoll)+1
		1582	1815 0b22 2091 0000 lds r18,AdWertAccRoll
		1583	1816 0b26 3091 0000 lds r19,(AdWertAccRoll)+1
		1584	1817 0b2a 820F add r24,r18
		1585	1818 0b2c 931F adc r25,r19
		1586	1819 0b2e 9093 0000 sts (NaviAccRoll)+1,r25
		1587	1820 0b32 8093 0000 sts NaviAccRoll,r24
		1588	1821 0b36 8091 0000 lds r24,NaviCntAcc
		1589	1822 0b3a 9091 0000 lds r25,(NaviCntAcc)+1
		1590	1823 0b3e 0196 adiw r24,1
		1591	1824 0b40 9093 0000 sts (NaviCntAcc)+1,r25
		1592	1825 0b44 8093 0000 sts NaviCntAcc,r24
		1593	1826 0b48 8091 0000 lds r24,Aktuell_az
		1594	1827 0b4c 9091 0000 lds r25,(Aktuell_az)+1
		1595	1828 0b50 2091 0000 lds r18,NeutralAccZ
		1596	1829 0b54 3091 0000 lds r19,(NeutralAccZ)+1
		1597	1830 0b58 821B sub r24,r18
		1598	1831 0b5a 930B sbc r25,r19
		1599	1832 0b5c 9C01 movw r18,r24
		1600	1833 0b5e 4427 clr r20
		1601	1834 0b60 37FD sbrc r19,7
		1602	1835 0b62 4095 com r20
		1603	1836 0b64 542F mov r21,r20
		1604	1837 0b66 8091 0000 lds r24,IntegralAccZ
		1605	1838 0b6a 9091 0000 lds r25,(IntegralAccZ)+1
		1606	1839 0b6e A091 0000 lds r26,(IntegralAccZ)+2
		1607	1840 0b72 B091 0000 lds r27,(IntegralAccZ)+3
		1608	1841 0b76 820F add r24,r18
		1609	1842 0b78 931F adc r25,r19
		1610	1843 0b7a A41F adc r26,r20
		1611	1844 0b7c B51F adc r27,r21
		1612	1845 0b7e 8093 0000 sts IntegralAccZ,r24
		1613	1846 0b82 9093 0000 sts (IntegralAccZ)+1,r25
		1614	1847 0b86 A093 0000 sts (IntegralAccZ)+2,r26
		1615	1848 0b8a B093 0000 sts (IntegralAccZ)+3,r27
		1616	1849 0b8e 8FEC ldi r24,lo8(-49)
		1617	1850 0b90 8093 7A00 sts 122,r24
		1618	1851 0b94 1092 0000 sts AdReady,__zero_reg__
		1619	1852 0b98 2091 0000 lds r18,Mess_IntegralRoll
		1620	1853 0b9c 3091 0000 lds r19,(Mess_IntegralRoll)+1
		1621	1854 0ba0 4091 0000 lds r20,(Mess_IntegralRoll)+2
		1622	1855 0ba4 5091 0000 lds r21,(Mess_IntegralRoll)+3
		1623	1856 0ba8 2987 std Y+9,r18
		1624	1857 0baa 3A87 std Y+10,r19
		1625	1858 0bac 4B87 std Y+11,r20
		1626	1859 0bae 5C87 std Y+12,r21
		1627	1860 0bb0 2954 subi r18,lo8(93001)
		1628	1861 0bb2 3B46 sbci r19,hi8(93001)
		1629	1862 0bb4 4140 sbci r20,hlo8(93001)
		1630	1863 0bb6 5040 sbci r21,hhi8(93001)
		1631	1864 0bb8 04F0 brlt .L87
		1632	1865 0bba 28E4 ldi r18,lo8(93000)
		1633	1866 0bbc 3BE6 ldi r19,hi8(93000)
		1634	1867 0bbe 41E0 ldi r20,hlo8(93000)
		1635	1868 0bc0 50E0 ldi r21,hhi8(93000)
		1636	1869 0bc2 00C0 rjmp .L167
		1637	1870 .L87:
		1638	1871 0bc4 8985 ldd r24,Y+9
		1639	1872 0bc6 9A85 ldd r25,Y+10
		1640	1873 0bc8 AB85 ldd r26,Y+11
		1641	1874 0bca BC85 ldd r27,Y+12
		1642	1875 0bcc 885B subi r24,lo8(-93000)
		1643	1876 0bce 9449 sbci r25,hi8(-93000)
		1644	1877 0bd0 AE4F sbci r26,hlo8(-93000)
		1645	1878 0bd2 BF4F sbci r27,hhi8(-93000)
		1646	1879 0bd4 04F4 brge .L89
		1647	1880 0bd6 28EB ldi r18,lo8(-93000)
		1648	1881 0bd8 34E9 ldi r19,hi8(-93000)
		1649	1882 0bda 4EEF ldi r20,hlo8(-93000)
		1650	1883 0bdc 5FEF ldi r21,hhi8(-93000)
		1651	1884 .L167:
		1652	1885 0bde 2D83 std Y+5,r18
		1653	1886 0be0 3E83 std Y+6,r19
		1654	1887 0be2 4F83 std Y+7,r20
		1655	1888 0be4 5887 std Y+8,r21
		1656	1889 0be6 00C0 rjmp .L88
		1657	1890 .L89:
		1658	1891 0be8 8985 ldd r24,Y+9
		1659	1892 0bea 9A85 ldd r25,Y+10
		1660	1893 0bec AB85 ldd r26,Y+11
		1661	1894 0bee BC85 ldd r27,Y+12
		1662	1895 0bf0 8D83 std Y+5,r24
		1663	1896 0bf2 9E83 std Y+6,r25
		1664	1897 0bf4 AF83 std Y+7,r26
		1665	1898 0bf6 B887 std Y+8,r27
		1666	1899 .L88:
		1667	1900 0bf8 2091 0000 lds r18,Mess_IntegralNick
		1668	1901 0bfc 3091 0000 lds r19,(Mess_IntegralNick)+1
		1669	1902 0c00 4091 0000 lds r20,(Mess_IntegralNick)+2
		1670	1903 0c04 5091 0000 lds r21,(Mess_IntegralNick)+3
		1671	1904 0c08 2D87 std Y+13,r18
		1672	1905 0c0a 3E87 std Y+14,r19
		1673	1906 0c0c 4F87 std Y+15,r20
		1674	1907 0c0e 588B std Y+16,r21
		1675	1908 0c10 2954 subi r18,lo8(93001)
		1676	1909 0c12 3B46 sbci r19,hi8(93001)
		1677	1910 0c14 4140 sbci r20,hlo8(93001)
		1678	1911 0c16 5040 sbci r21,hhi8(93001)
		1679	1912 0c18 04F0 brlt .L91
		1680	1913 0c1a 28E4 ldi r18,lo8(93000)
		1681	1914 0c1c 3BE6 ldi r19,hi8(93000)
		1682	1915 0c1e 41E0 ldi r20,hlo8(93000)
		1683	1916 0c20 50E0 ldi r21,hhi8(93000)
		1684	1917 0c22 00C0 rjmp .L168
		1685	1918 .L91:
		1686	1919 0c24 8D85 ldd r24,Y+13
		1687	1920 0c26 9E85 ldd r25,Y+14
		1688	1921 0c28 AF85 ldd r26,Y+15
		1689	1922 0c2a B889 ldd r27,Y+16
		1690	1923 0c2c 885B subi r24,lo8(-93000)
		1691	1924 0c2e 9449 sbci r25,hi8(-93000)
		1692	1925 0c30 AE4F sbci r26,hlo8(-93000)
		1693	1926 0c32 BF4F sbci r27,hhi8(-93000)
		1694	1927 0c34 04F4 brge .L93
		1695	1928 0c36 28EB ldi r18,lo8(-93000)
		1696	1929 0c38 34E9 ldi r19,hi8(-93000)
		1697	1930 0c3a 4EEF ldi r20,hlo8(-93000)
		1698	1931 0c3c 5FEF ldi r21,hhi8(-93000)
		1699	1932 .L168:
		1700	1933 0c3e 2983 std Y+1,r18
		1701	1934 0c40 3A83 std Y+2,r19
		1702	1935 0c42 4B83 std Y+3,r20
		1703	1936 0c44 5C83 std Y+4,r21
		1704	1937 0c46 00C0 rjmp .L92
		1705	1938 .L93:
		1706	1939 0c48 8D85 ldd r24,Y+13
		1707	1940 0c4a 9E85 ldd r25,Y+14
		1708	1941 0c4c AF85 ldd r26,Y+15
		1709	1942 0c4e B889 ldd r27,Y+16
		1710	1943 0c50 8983 std Y+1,r24
		1711	1944 0c52 9A83 std Y+2,r25
		1712	1945 0c54 AB83 std Y+3,r26
		1713	1946 0c56 BC83 std Y+4,r27
		1714	1947 .L92:
		1715	1948 0c58 A091 0000 lds r26,MesswertGier
		1716	1949 0c5c B091 0000 lds r27,(MesswertGier)+1
		1717	1950 0c60 BB8B std Y+19,r27
		1718	1951 0c62 AA8B std Y+18,r26
		1719	1952 0c64 FD01 movw r30,r26
		1720	1953 0c66 CF01 movw r24,r30
		1721	1954 0c68 AA27 clr r26
		1722	1955 0c6a 97FD sbrc r25,7
		1723	1956 0c6c A095 com r26
		1724	1957 0c6e BA2F mov r27,r26
		1725	1958 0c70 A090 0000 lds r10,Mess_Integral_Gier
		1726	1959 0c74 B090 0000 lds r11,(Mess_Integral_Gier)+1
		1727	1960 0c78 C090 0000 lds r12,(Mess_Integral_Gier)+2
		1728	1961 0c7c D090 0000 lds r13,(Mess_Integral_Gier)+3
		1729	1962 0c80 A80E add r10,r24
		1730	1963 0c82 B91E adc r11,r25
		1731	1964 0c84 CA1E adc r12,r26
		1732	1965 0c86 DB1E adc r13,r27
		1733	1966 0c88 A092 0000 sts Mess_Integral_Gier,r10
		1734	1967 0c8c B092 0000 sts (Mess_Integral_Gier)+1,r11
		1735	1968 0c90 C092 0000 sts (Mess_Integral_Gier)+2,r12
		1736	1969 0c94 D092 0000 sts (Mess_Integral_Gier)+3,r13
		1737	1970 0c98 E090 0000 lds r14,ErsatzKompass
		1738	1971 0c9c F090 0000 lds r15,(ErsatzKompass)+1
		1739	1972 0ca0 0091 0000 lds r16,(ErsatzKompass)+2
		1740	1973 0ca4 1091 0000 lds r17,(ErsatzKompass)+3
		1741	1974 0ca8 E80E add r14,r24
		1742	1975 0caa F91E adc r15,r25
		1743	1976 0cac 0A1F adc r16,r26
		1744	1977 0cae 1B1F adc r17,r27
		1745	1978 0cb0 E092 0000 sts ErsatzKompass,r14
		1746	1979 0cb4 F092 0000 sts (ErsatzKompass)+1,r15
		1747	1980 0cb8 0093 0000 sts (ErsatzKompass)+2,r16
		1748	1981 0cbc 1093 0000 sts (ErsatzKompass)+3,r17
		1749	1982 0cc0 F091 0000 lds r31,Looping_Nick
		1750	1983 0cc4 F98B std Y+17,r31
		1751	1984 0cc6 FF23 tst r31
		1752	1985 0cc8 01F0 breq .+2
		1753	1986 0cca 00C0 rjmp .L95
		1754	1987 0ccc 8091 0000 lds r24,Looping_Roll
		1755	1988 0cd0 8823 tst r24
		1756	1989 0cd2 01F0 breq .+2
		1757	1990 0cd4 00C0 rjmp .L95
		1758	1991 0cd6 8091 0000 lds r24,Parameter_GlobalConfig
		1759	1992 0cda 86FF sbrs r24,6
		1760	1993 0cdc 00C0 rjmp .L95
		1761	1994 0cde 8091 0000 lds r24,MesswertRoll
		1762	1995 0ce2 9091 0000 lds r25,(MesswertRoll)+1
		1763	1996 0ce6 AA27 clr r26
		1764	1997 0ce8 97FD sbrc r25,7
		1765	1998 0cea A095 com r26
		1766	1999 0cec BA2F mov r27,r26
		1767	2000 0cee BC01 movw r22,r24
		1768	2001 0cf0 CD01 movw r24,r26
		1769	2002 0cf2 2981 ldd r18,Y+1
		1770	2003 0cf4 3A81 ldd r19,Y+2
		1771	2004 0cf6 4B81 ldd r20,Y+3
		1772	2005 0cf8 5C81 ldd r21,Y+4
		1773	2006 0cfa 0E94 0000 call __mulsi3
		1774	2007 0cfe 9B01 movw r18,r22
		1775	2008 0d00 AC01 movw r20,r24
		1776	2009 0d02 97FF sbrs r25,7
		1777	2010 0d04 00C0 rjmp .L96
		1778	2011 0d06 2150 subi r18,lo8(-(2047))
		1779	2012 0d08 384F sbci r19,hi8(-(2047))
		1780	2013 0d0a 4F4F sbci r20,hlo8(-(2047))
		1781	2014 0d0c 5F4F sbci r21,hhi8(-(2047))
		1782	2015 .L96:
		1783	2016 0d0e BBE0 ldi r27,11
		1784	2017 0d10 5595 1: asr r21
		1785	2018 0d12 4795 ror r20
		1786	2019 0d14 3795 ror r19
		1787	2020 0d16 2795 ror r18
		1788	2021 0d18 BA95 dec r27
		1789	2022 0d1a 01F4 brne 1b
		1790	2023 0d1c 8091 0000 lds r24,Parameter_AchsKopplung2
		1791	2024 0d20 682E mov r6,r24
		1792	2025 0d22 7724 clr r7
		1793	2026 0d24 8824 clr r8
		1794	2027 0d26 9924 clr r9
		1795	2028 0d28 CA01 movw r24,r20
		1796	2029 0d2a B901 movw r22,r18
		1797	2030 0d2c A401 movw r20,r8
		1798	2031 0d2e 9301 movw r18,r6
		1799	2032 0d30 0E94 0000 call __mulsi3
		1800	2033 0d34 DC01 movw r26,r24
		1801	2034 0d36 CB01 movw r24,r22
		1802	2035 0d38 8093 0000 sts tmpl3.29,r24
		1803	2036 0d3c 9093 0000 sts (tmpl3.29)+1,r25
		1804	2037 0d40 A093 0000 sts (tmpl3.29)+2,r26
		1805	2038 0d44 B093 0000 sts (tmpl3.29)+3,r27
		1806	2039 0d48 B7FF sbrs r27,7
		1807	2040 0d4a 00C0 rjmp .L97
		1808	2041 0d4c 8150 subi r24,lo8(-(4095))
		1809	2042 0d4e 904F sbci r25,hi8(-(4095))
		1810	2043 0d50 AF4F sbci r26,hlo8(-(4095))
		1811	2044 0d52 BF4F sbci r27,hhi8(-(4095))
		1812	2045 .L97:
		1813	2046 0d54 1C01 movw r2,r24
		1814	2047 0d56 2D01 movw r4,r26
		1815	2048 0d58 ACE0 ldi r26,12
		1816	2049 0d5a 5594 1: asr r5
		1817	2050 0d5c 4794 ror r4
		1818	2051 0d5e 3794 ror r3
		1819	2052 0d60 2794 ror r2
		1820	2053 0d62 AA95 dec r26
		1821	2054 0d64 01F4 brne 1b
		1822	2055 0d66 2092 0000 sts tmpl3.29,r2
		1823	2056 0d6a 3092 0000 sts (tmpl3.29)+1,r3
		1824	2057 0d6e 4092 0000 sts (tmpl3.29)+2,r4
		1825	2058 0d72 5092 0000 sts (tmpl3.29)+3,r5
		1826	2059 0d76 8091 0000 lds r24,MesswertNick
		1827	2060 0d7a 9091 0000 lds r25,(MesswertNick)+1
		1828	2061 0d7e AA27 clr r26
		1829	2062 0d80 97FD sbrc r25,7
		1830	2063 0d82 A095 com r26
		1831	2064 0d84 BA2F mov r27,r26
		1832	2065 0d86 BC01 movw r22,r24
		1833	2066 0d88 CD01 movw r24,r26
		1834	2067 0d8a 2D81 ldd r18,Y+5
		1835	2068 0d8c 3E81 ldd r19,Y+6
		1836	2069 0d8e 4F81 ldd r20,Y+7
		1837	2070 0d90 5885 ldd r21,Y+8
		1838	2071 0d92 0E94 0000 call __mulsi3
		1839	2072 0d96 97FF sbrs r25,7
		1840	2073 0d98 00C0 rjmp .L98
		1841	2074 0d9a 6150 subi r22,lo8(-(2047))
		1842	2075 0d9c 784F sbci r23,hi8(-(2047))
		1843	2076 0d9e 8F4F sbci r24,hlo8(-(2047))
		1844	2077 0da0 9F4F sbci r25,hhi8(-(2047))
		1845	2078 .L98:
		1846	2079 0da2 FBE0 ldi r31,11
		1847	2080 0da4 9595 1: asr r25
		1848	2081 0da6 8795 ror r24
		1849	2082 0da8 7795 ror r23
		1850	2083 0daa 6795 ror r22
		1851	2084 0dac FA95 dec r31
		1852	2085 0dae 01F4 brne 1b
		1853	2086 0db0 A401 movw r20,r8
		1854	2087 0db2 9301 movw r18,r6
		1855	2088 0db4 0E94 0000 call __mulsi3
		1856	2089 0db8 DC01 movw r26,r24
		1857	2090 0dba CB01 movw r24,r22
		1858	2091 0dbc 8093 0000 sts tmpl4.30,r24
		1859	2092 0dc0 9093 0000 sts (tmpl4.30)+1,r25
		1860	2093 0dc4 A093 0000 sts (tmpl4.30)+2,r26
		1861	2094 0dc8 B093 0000 sts (tmpl4.30)+3,r27
		1862	2095 0dcc B7FF sbrs r27,7
		1863	2096 0dce 00C0 rjmp .L99
		1864	2097 0dd0 8150 subi r24,lo8(-(4095))
		1865	2098 0dd2 904F sbci r25,hi8(-(4095))
		1866	2099 0dd4 AF4F sbci r26,hlo8(-(4095))
		1867	2100 0dd6 BF4F sbci r27,hhi8(-(4095))
		1868	2101 .L99:
		1869	2102 0dd8 9C01 movw r18,r24
		1870	2103 0dda AD01 movw r20,r26
		1871	2104 0ddc ECE0 ldi r30,12
		1872	2105 0dde 5595 1: asr r21
		1873	2106 0de0 4795 ror r20
		1874	2107 0de2 3795 ror r19
		1875	2108 0de4 2795 ror r18
		1876	2109 0de6 EA95 dec r30
		1877	2110 0de8 01F4 brne 1b
		1878	2111 0dea 2093 0000 sts tmpl4.30,r18
		1879	2112 0dee 3093 0000 sts (tmpl4.30)+1,r19
		1880	2113 0df2 4093 0000 sts (tmpl4.30)+2,r20
		1881	2114 0df6 5093 0000 sts (tmpl4.30)+3,r21
		1882	2115 0dfa 8091 0000 lds r24,tmpl3.29
		1883	2116 0dfe 9091 0000 lds r25,(tmpl3.29)+1
		1884	2117 0e02 9093 0000 sts (KopplungsteilNickRoll)+1,r25
		1885	2118 0e06 8093 0000 sts KopplungsteilNickRoll,r24
		1886	2119 0e0a 8091 0000 lds r24,tmpl4.30
		1887	2120 0e0e 9091 0000 lds r25,(tmpl4.30)+1
		1888	2121 0e12 9093 0000 sts (KopplungsteilRollNick)+1,r25
		1889	2122 0e16 8093 0000 sts KopplungsteilRollNick,r24
		1890	2123 0e1a 2219 sub r18,r2
		1891	2124 0e1c 3309 sbc r19,r3
		1892	2125 0e1e 4409 sbc r20,r4
		1893	2126 0e20 5509 sbc r21,r5
		1894	2127 0e22 2093 0000 sts tmpl4.30,r18
		1895	2128 0e26 3093 0000 sts (tmpl4.30)+1,r19
		1896	2129 0e2a 4093 0000 sts (tmpl4.30)+2,r20
		1897	2130 0e2e 5093 0000 sts (tmpl4.30)+3,r21
		1898	2131 0e32 E20E add r14,r18
		1899	2132 0e34 F31E adc r15,r19
		1900	2133 0e36 041F adc r16,r20
		1901	2134 0e38 151F adc r17,r21
		1902	2135 0e3a E092 0000 sts ErsatzKompass,r14
		1903	2136 0e3e F092 0000 sts (ErsatzKompass)+1,r15
		1904	2137 0e42 0093 0000 sts (ErsatzKompass)+2,r16
		1905	2138 0e46 1093 0000 sts (ErsatzKompass)+3,r17
		1906	2139 0e4a 8091 0000 lds r24,Parameter_CouplingYawCorrection
		1907	2140 0e4e 8823 tst r24
		1908	2141 0e50 01F4 brne .L100
		1909	2142 0e52 57FF sbrs r21,7
		1910	2143 0e54 00C0 rjmp .L101
		1911	2144 0e56 2F5F subi r18,lo8(-(1))
		1912	2145 0e58 3F4F sbci r19,hi8(-(1))
		1913	2146 0e5a 4F4F sbci r20,hlo8(-(1))
		1914	2147 0e5c 5F4F sbci r21,hhi8(-(1))
		1915	2148 .L101:
		1916	2149 0e5e 5595 asr r21
		1917	2150 0e60 4795 ror r20
		1918	2151 0e62 3795 ror r19
		1919	2152 0e64 2795 ror r18
		1920	2153 0e66 A21A sub r10,r18
		1921	2154 0e68 B30A sbc r11,r19
		1922	2155 0e6a C40A sbc r12,r20
		1923	2156 0e6c D50A sbc r13,r21
		1924	2157 0e6e A092 0000 sts Mess_Integral_Gier,r10
		1925	2158 0e72 B092 0000 sts (Mess_Integral_Gier)+1,r11
		1926	2159 0e76 C092 0000 sts (Mess_Integral_Gier)+2,r12
		1927	2160 0e7a D092 0000 sts (Mess_Integral_Gier)+3,r13
		1928	2161 .L100:
		1929	2162 0e7e 2A89 ldd r18,Y+18
		1930	2163 0e80 3B89 ldd r19,Y+19
		1931	2164 0e82 7901 movw r14,r18
		1932	2165 0e84 0027 clr r16
		1933	2166 0e86 F7FC sbrc r15,7
		1934	2167 0e88 0095 com r16
		1935	2168 0e8a 102F mov r17,r16
		1936	2169 0e8c 8091 0000 lds r24,tmpl4.30
		1937	2170 0e90 9091 0000 lds r25,(tmpl4.30)+1
		1938	2171 0e94 A091 0000 lds r26,(tmpl4.30)+2
		1939	2172 0e98 B091 0000 lds r27,(tmpl4.30)+3
		1940	2173 0e9c E80E add r14,r24
		1941	2174 0e9e F91E adc r15,r25
		1942	2175 0ea0 0A1F adc r16,r26
		1943	2176 0ea2 1B1F adc r17,r27
		1944	2177 0ea4 C801 movw r24,r16
		1945	2178 0ea6 B701 movw r22,r14
		1946	2179 0ea8 2981 ldd r18,Y+1
		1947	2180 0eaa 3A81 ldd r19,Y+2
		1948	2181 0eac 4B81 ldd r20,Y+3
		1949	2182 0eae 5C81 ldd r21,Y+4
		1950	2183 0eb0 0E94 0000 call __mulsi3
		1951	2184 0eb4 9B01 movw r18,r22
		1952	2185 0eb6 AC01 movw r20,r24
		1953	2186 0eb8 97FF sbrs r25,7
		1954	2187 0eba 00C0 rjmp .L102
		1955	2188 0ebc 2150 subi r18,lo8(-(2047))
		1956	2189 0ebe 384F sbci r19,hi8(-(2047))
		1957	2190 0ec0 4F4F sbci r20,hlo8(-(2047))
		1958	2191 0ec2 5F4F sbci r21,hhi8(-(2047))
		1959	2192 .L102:
		1960	2193 0ec4 6BE0 ldi r22,11
		1961	2194 0ec6 5595 1: asr r21
		1962	2195 0ec8 4795 ror r20
		1963	2196 0eca 3795 ror r19
		1964	2197 0ecc 2795 ror r18
		1965	2198 0ece 6A95 dec r22
		1966	2199 0ed0 01F4 brne 1b
		1967	2200 0ed2 8091 0000 lds r24,Parameter_AchsKopplung1
		1968	2201 0ed6 A82E mov r10,r24
		1969	2202 0ed8 BB24 clr r11
		1970	2203 0eda CC24 clr r12
		1971	2204 0edc DD24 clr r13
		1972	2205 0ede CA01 movw r24,r20
		1973	2206 0ee0 B901 movw r22,r18
		1974	2207 0ee2 A601 movw r20,r12
		1975	2208 0ee4 9501 movw r18,r10
		1976	2209 0ee6 0E94 0000 call __mulsi3
		1977	2210 0eea DC01 movw r26,r24
		1978	2211 0eec CB01 movw r24,r22
		1979	2212 0eee 8093 0000 sts tmpl.27,r24
		1980	2213 0ef2 9093 0000 sts (tmpl.27)+1,r25
		1981	2214 0ef6 A093 0000 sts (tmpl.27)+2,r26
		1982	2215 0efa B093 0000 sts (tmpl.27)+3,r27
		1983	2216 0efe B7FF sbrs r27,7
		1984	2217 0f00 00C0 rjmp .L103
		1985	2218 0f02 8150 subi r24,lo8(-(4095))
		1986	2219 0f04 904F sbci r25,hi8(-(4095))
		1987	2220 0f06 AF4F sbci r26,hlo8(-(4095))
		1988	2221 0f08 BF4F sbci r27,hhi8(-(4095))
		1989	2222 .L103:
		1990	2223 0f0a 3C01 movw r6,r24
		1991	2224 0f0c 4D01 movw r8,r26
		1992	2225 0f0e 3CE0 ldi r19,12
		1993	2226 0f10 9594 1: asr r9
		1994	2227 0f12 8794 ror r8
		1995	2228 0f14 7794 ror r7
		1996	2229 0f16 6794 ror r6
		1997	2230 0f18 3A95 dec r19
		1998	2231 0f1a 01F4 brne 1b
		1999	2232 0f1c 6092 0000 sts tmpl.27,r6
		2000	2233 0f20 7092 0000 sts (tmpl.27)+1,r7
		2001	2234 0f24 8092 0000 sts (tmpl.27)+2,r8
		2002	2235 0f28 9092 0000 sts (tmpl.27)+3,r9
		2003	2236 0f2c C801 movw r24,r16
		2004	2237 0f2e B701 movw r22,r14
		2005	2238 0f30 2D81 ldd r18,Y+5
		2006	2239 0f32 3E81 ldd r19,Y+6
		2007	2240 0f34 4F81 ldd r20,Y+7
		2008	2241 0f36 5885 ldd r21,Y+8
		2009	2242 0f38 0E94 0000 call __mulsi3
		2010	2243 0f3c 97FF sbrs r25,7
		2011	2244 0f3e 00C0 rjmp .L104
		2012	2245 0f40 6150 subi r22,lo8(-(2047))
		2013	2246 0f42 784F sbci r23,hi8(-(2047))
		2014	2247 0f44 8F4F sbci r24,hlo8(-(2047))
		2015	2248 0f46 9F4F sbci r25,hhi8(-(2047))
		2016	2249 .L104:
		2017	2250 0f48 2BE0 ldi r18,11
		2018	2251 0f4a 9595 1: asr r25
		2019	2252 0f4c 8795 ror r24
		2020	2253 0f4e 7795 ror r23
		2021	2254 0f50 6795 ror r22
		2022	2255 0f52 2A95 dec r18
		2023	2256 0f54 01F4 brne 1b
		2024	2257 0f56 A601 movw r20,r12
		2025	2258 0f58 9501 movw r18,r10
		2026	2259 0f5a 0E94 0000 call __mulsi3
		2027	2260 0f5e DC01 movw r26,r24
		2028	2261 0f60 CB01 movw r24,r22
		2029	2262 0f62 8093 0000 sts tmpl2.28,r24
		2030	2263 0f66 9093 0000 sts (tmpl2.28)+1,r25
		2031	2264 0f6a A093 0000 sts (tmpl2.28)+2,r26
		2032	2265 0f6e B093 0000 sts (tmpl2.28)+3,r27
		2033	2266 0f72 B7FF sbrs r27,7
		2034	2267 0f74 00C0 rjmp .L105
		2035	2268 0f76 8150 subi r24,lo8(-(4095))
		2036	2269 0f78 904F sbci r25,hi8(-(4095))
		2037	2270 0f7a AF4F sbci r26,hlo8(-(4095))
		2038	2271 0f7c BF4F sbci r27,hhi8(-(4095))
		2039	2272 .L105:
		2040	2273 0f7e AC01 movw r20,r24
		2041	2274 0f80 BD01 movw r22,r26
		2042	2275 0f82 8CE0 ldi r24,12
		2043	2276 0f84 7595 1: asr r23
		2044	2277 0f86 6795 ror r22
		2045	2278 0f88 5795 ror r21
		2046	2279 0f8a 4795 ror r20
		2047	2280 0f8c 8A95 dec r24
		2048	2281 0f8e 01F4 brne 1b
		2049	2282 0f90 4093 0000 sts tmpl2.28,r20
		2050	2283 0f94 5093 0000 sts (tmpl2.28)+1,r21
		2051	2284 0f98 6093 0000 sts (tmpl2.28)+2,r22
		2052	2285 0f9c 7093 0000 sts (tmpl2.28)+3,r23
		2053	2286 0fa0 2A89 ldd r18,Y+18
		2054	2287 0fa2 3B89 ldd r19,Y+19
		2055	2288 0fa4 37FF sbrs r19,7
		2056	2289 0fa6 00C0 rjmp .L107
		2057	2290 0fa8 3095 com r19
		2058	2291 0faa 2195 neg r18
		2059	2292 0fac 3F4F sbci r19,lo8(-1)
		2060	2293 .L107:
		2061	2294 0fae 2134 cpi r18,65
		2062	2295 0fb0 3105 cpc r19,__zero_reg__
		2063	2296 0fb2 04F0 brlt .L112
		2064	2297 0fb4 D401 movw r26,r8
		2065	2298 0fb6 C301 movw r24,r6
		2066	2299 0fb8 97FE sbrs r9,7
		2067	2300 0fba 00C0 rjmp .L110
		2068	2301 0fbc B095 com r27
		2069	2302 0fbe A095 com r26
		2070	2303 0fc0 9095 com r25
		2071	2304 0fc2 8195 neg r24
		2072	2305 0fc4 9F4F sbci r25,lo8(-1)
		2073	2306 0fc6 AF4F sbci r26,lo8(-1)
		2074	2307 0fc8 BF4F sbci r27,lo8(-1)
		2075	2308 .L110:
		2076	2309 0fca 8138 cpi r24,lo8(129)
		2077	2310 0fcc 9105 cpc r25,__zero_reg__
		2078	2311 0fce A105 cpc r26,__zero_reg__
		2079	2312 0fd0 B105 cpc r27,__zero_reg__
		2080	2313 0fd2 04F4 brge .L109
		2081	2314 0fd4 DB01 movw r26,r22
		2082	2315 0fd6 CA01 movw r24,r20
		2083	2316 0fd8 77FF sbrs r23,7
		2084	2317 0fda 00C0 rjmp .L111
		2085	2318 0fdc B095 com r27
		2086	2319 0fde A095 com r26
		2087	2320 0fe0 9095 com r25
		2088	2321 0fe2 8195 neg r24
		2089	2322 0fe4 9F4F sbci r25,lo8(-1)
		2090	2323 0fe6 AF4F sbci r26,lo8(-1)
		2091	2324 0fe8 BF4F sbci r27,lo8(-1)
		2092	2325 .L111:
		2093	2326 0fea 8138 cpi r24,lo8(129)
		2094	2327 0fec 9105 cpc r25,__zero_reg__
		2095	2328 0fee A105 cpc r26,__zero_reg__
		2096	2329 0ff0 B105 cpc r27,__zero_reg__
		2097	2330 0ff2 04F0 brlt .L112
		2098	2331 .L109:
		2099	2332 0ff4 81E0 ldi r24,lo8(1)
		2100	2333 0ff6 8093 0000 sts TrichterFlug,r24
		2101	2334 0ffa 00C0 rjmp .L112
		2102	2335 .L95:
		2103	2336 0ffc 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__
		2104	2337 1000 1092 0000 sts KopplungsteilRollNick,__zero_reg__
		2105	2338 1004 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__
		2106	2339 1008 1092 0000 sts KopplungsteilNickRoll,__zero_reg__
		2107	2340 100c 1092 0000 sts tmpl2.28,__zero_reg__
		2108	2341 1010 1092 0000 sts (tmpl2.28)+1,__zero_reg__
		2109	2342 1014 1092 0000 sts (tmpl2.28)+2,__zero_reg__
		2110	2343 1018 1092 0000 sts (tmpl2.28)+3,__zero_reg__
		2111	2344 101c 1092 0000 sts tmpl.27,__zero_reg__
		2112	2345 1020 1092 0000 sts (tmpl.27)+1,__zero_reg__
		2113	2346 1024 1092 0000 sts (tmpl.27)+2,__zero_reg__
		2114	2347 1028 1092 0000 sts (tmpl.27)+3,__zero_reg__
		2115	2348 .L112:
		2116	2349 102c 8091 0000 lds r24,tmpl2.28
		2117	2350 1030 9091 0000 lds r25,(tmpl2.28)+1
		2118	2351 1034 A091 0000 lds r26,(tmpl2.28)+2
		2119	2352 1038 B091 0000 lds r27,(tmpl2.28)+3
		2120	2353 103c BC01 movw r22,r24
		2121	2354 103e CD01 movw r24,r26
		2122	2355 1040 24E6 ldi r18,lo8(100)
		2123	2356 1042 30E0 ldi r19,hi8(100)
		2124	2357 1044 40E0 ldi r20,hlo8(100)
		2125	2358 1046 50E0 ldi r21,hhi8(100)
		2126	2359 1048 0E94 0000 call __divmodsi4
		2127	2360 104c E090 0000 lds r14,tmpl.27
		2128	2361 1050 F090 0000 lds r15,(tmpl.27)+1
		2129	2362 1054 E21A sub r14,r18
		2130	2363 1056 F30A sbc r15,r19
		2131	2364 1058 F092 0000 sts (TrimRoll)+1,r15
		2132	2365 105c E092 0000 sts TrimRoll,r14
		2133	2366 1060 8091 0000 lds r24,tmpl.27
		2134	2367 1064 9091 0000 lds r25,(tmpl.27)+1
		2135	2368 1068 A091 0000 lds r26,(tmpl.27)+2
		2136	2369 106c B091 0000 lds r27,(tmpl.27)+3
		2137	2370 1070 BC01 movw r22,r24
		2138	2371 1072 CD01 movw r24,r26
		2139	2372 1074 24E6 ldi r18,lo8(100)
		2140	2373 1076 30E0 ldi r19,hi8(100)
		2141	2374 1078 40E0 ldi r20,hlo8(100)
		2142	2375 107a 50E0 ldi r21,hhi8(100)
		2143	2376 107c 0E94 0000 call __divmodsi4
		2144	2377 1080 DA01 movw r26,r20
		2145	2378 1082 C901 movw r24,r18
		2146	2379 1084 2091 0000 lds r18,tmpl2.28
		2147	2380 1088 3091 0000 lds r19,(tmpl2.28)+1
		2148	2381 108c 8C01 movw r16,r24
		2149	2382 108e 021B sub r16,r18
		2150	2383 1090 130B sbc r17,r19
		2151	2384 1092 1093 0000 sts (TrimNick)+1,r17
		2152	2385 1096 0093 0000 sts TrimNick,r16
		2153	2386 109a 8091 0000 lds r24,GIER_GRAD_FAKTOR
		2154	2387 109e 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1
		2155	2388 10a2 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2
		2156	2389 10a6 B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3
		2157	2390 10aa BC01 movw r22,r24
		2158	2391 10ac CD01 movw r24,r26
		2159	2392 10ae 28E6 ldi r18,lo8(360)
		2160	2393 10b0 31E0 ldi r19,hi8(360)
		2161	2394 10b2 40E0 ldi r20,hlo8(360)
		2162	2395 10b4 50E0 ldi r21,hhi8(360)
		2163	2396 10b6 0E94 0000 call __mulsi3
		2164	2397 10ba 2091 0000 lds r18,ErsatzKompass
		2165	2398 10be 3091 0000 lds r19,(ErsatzKompass)+1
		2166	2399 10c2 4091 0000 lds r20,(ErsatzKompass)+2
		2167	2400 10c6 5091 0000 lds r21,(ErsatzKompass)+3
		2168	2401 10ca 2617 cp r18,r22
		2169	2402 10cc 3707 cpc r19,r23
		2170	2403 10ce 4807 cpc r20,r24
		2171	2404 10d0 5907 cpc r21,r25
		2172	2405 10d2 04F0 brlt .L113
		2173	2406 10d4 261B sub r18,r22
		2174	2407 10d6 370B sbc r19,r23
		2175	2408 10d8 480B sbc r20,r24
		2176	2409 10da 590B sbc r21,r25
		2177	2410 10dc 2093 0000 sts ErsatzKompass,r18
		2178	2411 10e0 3093 0000 sts (ErsatzKompass)+1,r19
		2179	2412 10e4 4093 0000 sts (ErsatzKompass)+2,r20
		2180	2413 10e8 5093 0000 sts (ErsatzKompass)+3,r21
		2181	2414 .L113:
		2182	2415 10ec 2091 0000 lds r18,ErsatzKompass
		2183	2416 10f0 3091 0000 lds r19,(ErsatzKompass)+1
		2184	2417 10f4 4091 0000 lds r20,(ErsatzKompass)+2
		2185	2418 10f8 5091 0000 lds r21,(ErsatzKompass)+3
		2186	2419 10fc 57FF sbrs r21,7
		2187	2420 10fe 00C0 rjmp .L114
		2188	2421 1100 260F add r18,r22
		2189	2422 1102 371F adc r19,r23
		2190	2423 1104 481F adc r20,r24
		2191	2424 1106 591F adc r21,r25
		2192	2425 1108 2093 0000 sts ErsatzKompass,r18
		2193	2426 110c 3093 0000 sts (ErsatzKompass)+1,r19
		2194	2427 1110 4093 0000 sts (ErsatzKompass)+2,r20
		2195	2428 1114 5093 0000 sts (ErsatzKompass)+3,r21
		2196	2429 .L114:
		2197	2430 1118 6091 0000 lds r22,MesswertRoll
		2198	2431 111c 7091 0000 lds r23,(MesswertRoll)+1
		2199	2432 1120 6E0D add r22,r14
		2200	2433 1122 7F1D adc r23,r15
		2201	2434 1124 9B01 movw r18,r22
		2202	2435 1126 4427 clr r20
		2203	2436 1128 37FD sbrc r19,7
		2204	2437 112a 4095 com r20
		2205	2438 112c 542F mov r21,r20
		2206	2439 112e 8091 0000 lds r24,Mess_IntegralRoll2
		2207	2440 1132 9091 0000 lds r25,(Mess_IntegralRoll2)+1
		2208	2441 1136 A091 0000 lds r26,(Mess_IntegralRoll2)+2
		2209	2442 113a B091 0000 lds r27,(Mess_IntegralRoll2)+3
		2210	2443 113e 820F add r24,r18
		2211	2444 1140 931F adc r25,r19
		2212	2445 1142 A41F adc r26,r20
		2213	2446 1144 B51F adc r27,r21
		2214	2447 1146 8093 0000 sts Mess_IntegralRoll2,r24
		2215	2448 114a 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		2216	2449 114e A093 0000 sts (Mess_IntegralRoll2)+2,r26
		2217	2450 1152 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		2218	2451 1156 8091 0000 lds r24,LageKorrekturRoll
		2219	2452 115a 9091 0000 lds r25,(LageKorrekturRoll)+1
		2220	2453 115e 681B sub r22,r24
		2221	2454 1160 790B sbc r23,r25
		2222	2455 1162 CB01 movw r24,r22
		2223	2456 1164 AA27 clr r26
		2224	2457 1166 97FD sbrc r25,7
		2225	2458 1168 A095 com r26
		2226	2459 116a BA2F mov r27,r26
		2227	2460 116c 2985 ldd r18,Y+9
		2228	2461 116e 3A85 ldd r19,Y+10
		2229	2462 1170 4B85 ldd r20,Y+11
		2230	2463 1172 5C85 ldd r21,Y+12
		2231	2464 1174 820F add r24,r18
		2232	2465 1176 931F adc r25,r19
		2233	2466 1178 A41F adc r26,r20
		2234	2467 117a B51F adc r27,r21
		2235	2468 117c 8093 0000 sts Mess_IntegralRoll,r24
		2236	2469 1180 9093 0000 sts (Mess_IntegralRoll)+1,r25
		2237	2470 1184 A093 0000 sts (Mess_IntegralRoll)+2,r26
		2238	2471 1188 B093 0000 sts (Mess_IntegralRoll)+3,r27
		2239	2472 118c C090 0000 lds r12,Umschlag180Roll
		2240	2473 1190 D090 0000 lds r13,(Umschlag180Roll)+1
		2241	2474 1194 E090 0000 lds r14,(Umschlag180Roll)+2
		2242	2475 1198 F090 0000 lds r15,(Umschlag180Roll)+3
		2243	2476 119c C816 cp r12,r24
		2244	2477 119e D906 cpc r13,r25
		2245	2478 11a0 EA06 cpc r14,r26
		2246	2479 11a2 FB06 cpc r15,r27
		2247	2480 11a4 04F4 brge .L115
		2248	2481 11a6 88EA ldi r24,lo8(25000)
		2249	2482 11a8 91E6 ldi r25,hi8(25000)
		2250	2483 11aa A0E0 ldi r26,hlo8(25000)
		2251	2484 11ac B0E0 ldi r27,hhi8(25000)
		2252	2485 11ae 8C19 sub r24,r12
		2253	2486 11b0 9D09 sbc r25,r13
		2254	2487 11b2 AE09 sbc r26,r14
		2255	2488 11b4 BF09 sbc r27,r15
		2256	2489 11b6 8093 0000 sts Mess_IntegralRoll,r24
		2257	2490 11ba 9093 0000 sts (Mess_IntegralRoll)+1,r25
		2258	2491 11be A093 0000 sts (Mess_IntegralRoll)+2,r26
		2259	2492 11c2 B093 0000 sts (Mess_IntegralRoll)+3,r27
		2260	2493 11c6 8093 0000 sts Mess_IntegralRoll2,r24
		2261	2494 11ca 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		2262	2495 11ce A093 0000 sts (Mess_IntegralRoll2)+2,r26
		2263	2496 11d2 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		2264	2497 .L115:
		2265	2498 11d6 2227 clr r18
		2266	2499 11d8 3327 clr r19
		2267	2500 11da A901 movw r20,r18
		2268	2501 11dc 2C19 sub r18,r12
		2269	2502 11de 3D09 sbc r19,r13
		2270	2503 11e0 4E09 sbc r20,r14
		2271	2504 11e2 5F09 sbc r21,r15
		2272	2505 11e4 8091 0000 lds r24,Mess_IntegralRoll
		2273	2506 11e8 9091 0000 lds r25,(Mess_IntegralRoll)+1
		2274	2507 11ec A091 0000 lds r26,(Mess_IntegralRoll)+2
		2275	2508 11f0 B091 0000 lds r27,(Mess_IntegralRoll)+3
		2276	2509 11f4 8217 cp r24,r18
		2277	2510 11f6 9307 cpc r25,r19
		2278	2511 11f8 A407 cpc r26,r20
		2279	2512 11fa B507 cpc r27,r21
		2280	2513 11fc 04F4 brge .L116
		2281	2514 11fe D701 movw r26,r14
		2282	2515 1200 C601 movw r24,r12
		2283	2516 1202 885A subi r24,lo8(-(-25000))
		2284	2517 1204 9146 sbci r25,hi8(-(-25000))
		2285	2518 1206 A040 sbci r26,hlo8(-(-25000))
		2286	2519 1208 B040 sbci r27,hhi8(-(-25000))
		2287	2520 120a 8093 0000 sts Mess_IntegralRoll,r24
		2288	2521 120e 9093 0000 sts (Mess_IntegralRoll)+1,r25
		2289	2522 1212 A093 0000 sts (Mess_IntegralRoll)+2,r26
		2290	2523 1216 B093 0000 sts (Mess_IntegralRoll)+3,r27
		2291	2524 121a 8093 0000 sts Mess_IntegralRoll2,r24
		2292	2525 121e 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		2293	2526 1222 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		2294	2527 1226 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		2295	2528 .L116:
		2296	2529 122a 6091 0000 lds r22,MesswertNick
		2297	2530 122e 7091 0000 lds r23,(MesswertNick)+1
		2298	2531 1232 600F add r22,r16
		2299	2532 1234 711F adc r23,r17
		2300	2533 1236 9B01 movw r18,r22
		2301	2534 1238 4427 clr r20
		2302	2535 123a 37FD sbrc r19,7
		2303	2536 123c 4095 com r20
		2304	2537 123e 542F mov r21,r20
		2305	2538 1240 8091 0000 lds r24,Mess_IntegralNick2
		2306	2539 1244 9091 0000 lds r25,(Mess_IntegralNick2)+1
		2307	2540 1248 A091 0000 lds r26,(Mess_IntegralNick2)+2
		2308	2541 124c B091 0000 lds r27,(Mess_IntegralNick2)+3
		2309	2542 1250 820F add r24,r18
		2310	2543 1252 931F adc r25,r19
		2311	2544 1254 A41F adc r26,r20
		2312	2545 1256 B51F adc r27,r21
		2313	2546 1258 8093 0000 sts Mess_IntegralNick2,r24
		2314	2547 125c 9093 0000 sts (Mess_IntegralNick2)+1,r25
		2315	2548 1260 A093 0000 sts (Mess_IntegralNick2)+2,r26
		2316	2549 1264 B093 0000 sts (Mess_IntegralNick2)+3,r27
		2317	2550 1268 8091 0000 lds r24,LageKorrekturNick
		2318	2551 126c 9091 0000 lds r25,(LageKorrekturNick)+1
		2319	2552 1270 681B sub r22,r24
		2320	2553 1272 790B sbc r23,r25
		2321	2554 1274 CB01 movw r24,r22
		2322	2555 1276 AA27 clr r26
		2323	2556 1278 97FD sbrc r25,7
		2324	2557 127a A095 com r26
		2325	2558 127c BA2F mov r27,r26
		2326	2559 127e 2D85 ldd r18,Y+13
		2327	2560 1280 3E85 ldd r19,Y+14
		2328	2561 1282 4F85 ldd r20,Y+15
		2329	2562 1284 5889 ldd r21,Y+16
		2330	2563 1286 820F add r24,r18
		2331	2564 1288 931F adc r25,r19
		2332	2565 128a A41F adc r26,r20
		2333	2566 128c B51F adc r27,r21
		2334	2567 128e 8093 0000 sts Mess_IntegralNick,r24
		2335	2568 1292 9093 0000 sts (Mess_IntegralNick)+1,r25
		2336	2569 1296 A093 0000 sts (Mess_IntegralNick)+2,r26
		2337	2570 129a B093 0000 sts (Mess_IntegralNick)+3,r27
		2338	2571 129e E090 0000 lds r14,Umschlag180Nick
		2339	2572 12a2 F090 0000 lds r15,(Umschlag180Nick)+1
		2340	2573 12a6 0091 0000 lds r16,(Umschlag180Nick)+2
		2341	2574 12aa 1091 0000 lds r17,(Umschlag180Nick)+3
		2342	2575 12ae E816 cp r14,r24
		2343	2576 12b0 F906 cpc r15,r25
		2344	2577 12b2 0A07 cpc r16,r26
		2345	2578 12b4 1B07 cpc r17,r27
		2346	2579 12b6 04F4 brge .L117
		2347	2580 12b8 88EA ldi r24,lo8(25000)
		2348	2581 12ba 91E6 ldi r25,hi8(25000)
		2349	2582 12bc A0E0 ldi r26,hlo8(25000)
		2350	2583 12be B0E0 ldi r27,hhi8(25000)
		2351	2584 12c0 8E19 sub r24,r14
		2352	2585 12c2 9F09 sbc r25,r15
		2353	2586 12c4 A00B sbc r26,r16
		2354	2587 12c6 B10B sbc r27,r17
		2355	2588 12c8 8093 0000 sts Mess_IntegralNick,r24
		2356	2589 12cc 9093 0000 sts (Mess_IntegralNick)+1,r25
		2357	2590 12d0 A093 0000 sts (Mess_IntegralNick)+2,r26
		2358	2591 12d4 B093 0000 sts (Mess_IntegralNick)+3,r27
		2359	2592 12d8 8093 0000 sts Mess_IntegralNick2,r24
		2360	2593 12dc 9093 0000 sts (Mess_IntegralNick2)+1,r25
		2361	2594 12e0 A093 0000 sts (Mess_IntegralNick2)+2,r26
		2362	2595 12e4 B093 0000 sts (Mess_IntegralNick2)+3,r27
		2363	2596 .L117:
		2364	2597 12e8 2227 clr r18
		2365	2598 12ea 3327 clr r19
		2366	2599 12ec A901 movw r20,r18
		2367	2600 12ee 2E19 sub r18,r14
		2368	2601 12f0 3F09 sbc r19,r15
		2369	2602 12f2 400B sbc r20,r16
		2370	2603 12f4 510B sbc r21,r17
		2371	2604 12f6 8091 0000 lds r24,Mess_IntegralNick
		2372	2605 12fa 9091 0000 lds r25,(Mess_IntegralNick)+1
		2373	2606 12fe A091 0000 lds r26,(Mess_IntegralNick)+2
		2374	2607 1302 B091 0000 lds r27,(Mess_IntegralNick)+3
		2375	2608 1306 8217 cp r24,r18
		2376	2609 1308 9307 cpc r25,r19
		2377	2610 130a A407 cpc r26,r20
		2378	2611 130c B507 cpc r27,r21
		2379	2612 130e 04F4 brge .L118
		2380	2613 1310 D801 movw r26,r16
		2381	2614 1312 C701 movw r24,r14
		2382	2615 1314 885A subi r24,lo8(-(-25000))
		2383	2616 1316 9146 sbci r25,hi8(-(-25000))
		2384	2617 1318 A040 sbci r26,hlo8(-(-25000))
		2385	2618 131a B040 sbci r27,hhi8(-(-25000))
		2386	2619 131c 8093 0000 sts Mess_IntegralNick,r24
		2387	2620 1320 9093 0000 sts (Mess_IntegralNick)+1,r25
		2388	2621 1324 A093 0000 sts (Mess_IntegralNick)+2,r26
		2389	2622 1328 B093 0000 sts (Mess_IntegralNick)+3,r27
		2390	2623 132c 8093 0000 sts Mess_IntegralNick2,r24
		2391	2624 1330 9093 0000 sts (Mess_IntegralNick2)+1,r25
		2392	2625 1334 A093 0000 sts (Mess_IntegralNick2)+2,r26
		2393	2626 1338 B093 0000 sts (Mess_IntegralNick2)+3,r27
		2394	2627 .L118:
		2395	2628 133c 8091 0000 lds r24,Mess_Integral_Gier
		2396	2629 1340 9091 0000 lds r25,(Mess_Integral_Gier)+1
		2397	2630 1344 A091 0000 lds r26,(Mess_Integral_Gier)+2
		2398	2631 1348 B091 0000 lds r27,(Mess_Integral_Gier)+3
		2399	2632 134c 8093 0000 sts Integral_Gier,r24
		2400	2633 1350 9093 0000 sts (Integral_Gier)+1,r25
		2401	2634 1354 A093 0000 sts (Integral_Gier)+2,r26
		2402	2635 1358 B093 0000 sts (Integral_Gier)+3,r27
		2403	2636 135c 8091 0000 lds r24,Mess_IntegralNick
		2404	2637 1360 9091 0000 lds r25,(Mess_IntegralNick)+1
		2405	2638 1364 A091 0000 lds r26,(Mess_IntegralNick)+2
		2406	2639 1368 B091 0000 lds r27,(Mess_IntegralNick)+3
		2407	2640 136c 8093 0000 sts IntegralNick,r24
		2408	2641 1370 9093 0000 sts (IntegralNick)+1,r25
		2409	2642 1374 A093 0000 sts (IntegralNick)+2,r26
		2410	2643 1378 B093 0000 sts (IntegralNick)+3,r27
		2411	2644 137c 8091 0000 lds r24,Mess_IntegralRoll
		2412	2645 1380 9091 0000 lds r25,(Mess_IntegralRoll)+1
		2413	2646 1384 A091 0000 lds r26,(Mess_IntegralRoll)+2
		2414	2647 1388 B091 0000 lds r27,(Mess_IntegralRoll)+3
		2415	2648 138c 8093 0000 sts IntegralRoll,r24
		2416	2649 1390 9093 0000 sts (IntegralRoll)+1,r25
		2417	2650 1394 A093 0000 sts (IntegralRoll)+2,r26
		2418	2651 1398 B093 0000 sts (IntegralRoll)+3,r27
		2419	2652 139c 8091 0000 lds r24,Mess_IntegralNick2
		2420	2653 13a0 9091 0000 lds r25,(Mess_IntegralNick2)+1
		2421	2654 13a4 A091 0000 lds r26,(Mess_IntegralNick2)+2
		2422	2655 13a8 B091 0000 lds r27,(Mess_IntegralNick2)+3
		2423	2656 13ac 8093 0000 sts IntegralNick2,r24
		2424	2657 13b0 9093 0000 sts (IntegralNick2)+1,r25
		2425	2658 13b4 A093 0000 sts (IntegralNick2)+2,r26
		2426	2659 13b8 B093 0000 sts (IntegralNick2)+3,r27
		2427	2660 13bc 8091 0000 lds r24,Mess_IntegralRoll2
		2428	2661 13c0 9091 0000 lds r25,(Mess_IntegralRoll2)+1
		2429	2662 13c4 A091 0000 lds r26,(Mess_IntegralRoll2)+2
		2430	2663 13c8 B091 0000 lds r27,(Mess_IntegralRoll2)+3
		2431	2664 13cc 8093 0000 sts IntegralRoll2,r24
		2432	2665 13d0 9093 0000 sts (IntegralRoll2)+1,r25
		2433	2666 13d4 A093 0000 sts (IntegralRoll2)+2,r26
		2434	2667 13d8 B093 0000 sts (IntegralRoll2)+3,r27
		2435	2668 13dc 8091 0000 lds r24,HiResNick
		2436	2669 13e0 9091 0000 lds r25,(HiResNick)+1
		2437	2670 13e4 97FD sbrc r25,7
		2438	2671 13e6 0796 adiw r24,7
		2439	2672 .L119:
		2440	2673 13e8 03E0 ldi r16,3
		2441	2674 13ea 9595 1: asr r25
		2442	2675 13ec 8795 ror r24
		2443	2676 13ee 0A95 dec r16
		2444	2677 13f0 01F4 brne 1b
		2445	2678 13f2 9093 0000 sts (MesswertNick)+1,r25
		2446	2679 13f6 8093 0000 sts MesswertNick,r24
		2447	2680 13fa 8091 0000 lds r24,HiResRoll
		2448	2681 13fe 9091 0000 lds r25,(HiResRoll)+1
		2449	2682 1402 97FD sbrc r25,7
		2450	2683 1404 0796 adiw r24,7
		2451	2684 .L120:
		2452	2685 1406 13E0 ldi r17,3
		2453	2686 1408 9595 1: asr r25
		2454	2687 140a 8795 ror r24
		2455	2688 140c 1A95 dec r17
		2456	2689 140e 01F4 brne 1b
		2457	2690 1410 9093 0000 sts (MesswertRoll)+1,r25
		2458	2691 1414 8093 0000 sts MesswertRoll,r24
		2459	2692 1418 8091 0000 lds r24,AdWertNick
		2460	2693 141c 9091 0000 lds r25,(AdWertNick)+1
		2461	2694 1420 0F97 sbiw r24,15
		2462	2695 1422 04F4 brge .L121
		2463	2696 1424 88E1 ldi r24,lo8(-1000)
		2464	2697 1426 9CEF ldi r25,hi8(-1000)
		2465	2698 1428 9093 0000 sts (MesswertNick)+1,r25
		2466	2699 142c 8093 0000 sts MesswertNick,r24
		2467	2700 .L121:
		2468	2701 1430 8091 0000 lds r24,AdWertNick
		2469	2702 1434 9091 0000 lds r25,(AdWertNick)+1
		2470	2703 1438 0797 sbiw r24,7
		2471	2704 143a 04F4 brge .L122
		2472	2705 143c 80E3 ldi r24,lo8(-2000)
		2473	2706 143e 98EF ldi r25,hi8(-2000)
		2474	2707 1440 9093 0000 sts (MesswertNick)+1,r25
		2475	2708 1444 8093 0000 sts MesswertNick,r24
		2476	2709 .L122:
		2477	2710 1448 2091 0000 lds r18,PlatinenVersion
		2478	2711 144c 2A30 cpi r18,lo8(10)
		2479	2712 144e 01F4 brne .L123
		2480	2713 1450 8091 0000 lds r24,AdWertNick
		2481	2714 1454 9091 0000 lds r25,(AdWertNick)+1
		2482	2715 1458 835F subi r24,lo8(1011)
		2483	2716 145a 9340 sbci r25,hi8(1011)
		2484	2717 145c 04F0 brlt .L124
		2485	2718 145e 88EE ldi r24,lo8(1000)
		2486	2719 1460 93E0 ldi r25,hi8(1000)
		2487	2720 1462 9093 0000 sts (MesswertNick)+1,r25
		2488	2721 1466 8093 0000 sts MesswertNick,r24
		2489	2722 .L124:
		2490	2723 146a 8091 0000 lds r24,AdWertNick
		2491	2724 146e 9091 0000 lds r25,(AdWertNick)+1
		2492	2725 1472 8A5F subi r24,lo8(1018)
		2493	2726 1474 9340 sbci r25,hi8(1018)
		2494	2727 1476 04F0 brlt .L126
		2495	2728 1478 00C0 rjmp .L169
		2496	2729 .L123:
		2497	2730 147a 8091 0000 lds r24,AdWertNick
		2498	2731 147e 9091 0000 lds r25,(AdWertNick)+1
		2499	2732 1482 815D subi r24,lo8(2001)
		2500	2733 1484 9740 sbci r25,hi8(2001)
		2501	2734 1486 04F0 brlt .L127
		2502	2735 1488 88EE ldi r24,lo8(1000)
		2503	2736 148a 93E0 ldi r25,hi8(1000)
		2504	2737 148c 9093 0000 sts (MesswertNick)+1,r25
		2505	2738 1490 8093 0000 sts MesswertNick,r24
		2506	2739 .L127:
		2507	2740 1494 8091 0000 lds r24,AdWertNick
		2508	2741 1498 9091 0000 lds r25,(AdWertNick)+1
		2509	2742 149c 805E subi r24,lo8(2016)
		2510	2743 149e 9740 sbci r25,hi8(2016)
		2511	2744 14a0 04F0 brlt .L126
		2512	2745 .L169:
		2513	2746 14a2 80ED ldi r24,lo8(2000)
		2514	2747 14a4 97E0 ldi r25,hi8(2000)
		2515	2748 14a6 9093 0000 sts (MesswertNick)+1,r25
		2516	2749 14aa 8093 0000 sts MesswertNick,r24
		2517	2750 .L126:
		2518	2751 14ae 8091 0000 lds r24,AdWertRoll
		2519	2752 14b2 9091 0000 lds r25,(AdWertRoll)+1
		2520	2753 14b6 0F97 sbiw r24,15
		2521	2754 14b8 04F4 brge .L129
		2522	2755 14ba 88E1 ldi r24,lo8(-1000)
		2523	2756 14bc 9CEF ldi r25,hi8(-1000)
		2524	2757 14be 9093 0000 sts (MesswertRoll)+1,r25
		2525	2758 14c2 8093 0000 sts MesswertRoll,r24
		2526	2759 .L129:
		2527	2760 14c6 8091 0000 lds r24,AdWertRoll
		2528	2761 14ca 9091 0000 lds r25,(AdWertRoll)+1
		2529	2762 14ce 0797 sbiw r24,7
		2530	2763 14d0 04F4 brge .L130
		2531	2764 14d2 80E3 ldi r24,lo8(-2000)
		2532	2765 14d4 98EF ldi r25,hi8(-2000)
		2533	2766 14d6 9093 0000 sts (MesswertRoll)+1,r25
		2534	2767 14da 8093 0000 sts MesswertRoll,r24
		2535	2768 .L130:
		2536	2769 14de 2A30 cpi r18,lo8(10)
		2537	2770 14e0 01F4 brne .L131
		2538	2771 14e2 8091 0000 lds r24,AdWertRoll
		2539	2772 14e6 9091 0000 lds r25,(AdWertRoll)+1
		2540	2773 14ea 835F subi r24,lo8(1011)
		2541	2774 14ec 9340 sbci r25,hi8(1011)
		2542	2775 14ee 04F0 brlt .L132
		2543	2776 14f0 88EE ldi r24,lo8(1000)
		2544	2777 14f2 93E0 ldi r25,hi8(1000)
		2545	2778 14f4 9093 0000 sts (MesswertRoll)+1,r25
		2546	2779 14f8 8093 0000 sts MesswertRoll,r24
		2547	2780 .L132:
		2548	2781 14fc 8091 0000 lds r24,AdWertRoll
		2549	2782 1500 9091 0000 lds r25,(AdWertRoll)+1
		2550	2783 1504 8A5F subi r24,lo8(1018)
		2551	2784 1506 9340 sbci r25,hi8(1018)
		2552	2785 1508 04F0 brlt .L134
		2553	2786 150a 00C0 rjmp .L170
		2554	2787 .L131:
		2555	2788 150c 8091 0000 lds r24,AdWertRoll
		2556	2789 1510 9091 0000 lds r25,(AdWertRoll)+1
		2557	2790 1514 815D subi r24,lo8(2001)
		2558	2791 1516 9740 sbci r25,hi8(2001)
		2559	2792 1518 04F0 brlt .L135
		2560	2793 151a 88EE ldi r24,lo8(1000)
		2561	2794 151c 93E0 ldi r25,hi8(1000)
		2562	2795 151e 9093 0000 sts (MesswertRoll)+1,r25
		2563	2796 1522 8093 0000 sts MesswertRoll,r24
		2564	2797 .L135:
		2565	2798 1526 8091 0000 lds r24,AdWertRoll
		2566	2799 152a 9091 0000 lds r25,(AdWertRoll)+1
		2567	2800 152e 805E subi r24,lo8(2016)
		2568	2801 1530 9740 sbci r25,hi8(2016)
		2569	2802 1532 04F0 brlt .L134
		2570	2803 .L170:
		2571	2804 1534 80ED ldi r24,lo8(2000)
		2572	2805 1536 97E0 ldi r25,hi8(2000)
		2573	2806 1538 9093 0000 sts (MesswertRoll)+1,r25
		2574	2807 153c 8093 0000 sts MesswertRoll,r24
		2575	2808 .L134:
		2576	2809 1540 6091 0000 lds r22,Parameter_Gyro_D
		2577	2810 1544 6623 tst r22
		2578	2811 1546 01F4 brne .+2
		2579	2812 1548 00C0 rjmp .L137
		2580	2813 154a 4091 0000 lds r20,HiResNick
		2581	2814 154e 5091 0000 lds r21,(HiResNick)+1
		2582	2815 1552 8091 0000 lds r24,oldNick.31
		2583	2816 1556 9091 0000 lds r25,(oldNick.31)+1
		2584	2817 155a 481B sub r20,r24
		2585	2818 155c 590B sbc r21,r25
		2586	2819 155e 5093 0000 sts (d2Nick.34)+1,r21
		2587	2820 1562 4093 0000 sts d2Nick.34,r20
		2588	2821 1566 2091 0000 lds r18,HiResNick
		2589	2822 156a 3091 0000 lds r19,(HiResNick)+1
		2590	2823 156e 280F add r18,r24
		2591	2824 1570 391F adc r19,r25
		2592	2825 1572 37FF sbrs r19,7
		2593	2826 1574 00C0 rjmp .L138
		2594	2827 1576 2F5F subi r18,lo8(-(1))
		2595	2828 1578 3F4F sbci r19,hi8(-(1))
		2596	2829 .L138:
		2597	2830 157a 3595 asr r19
		2598	2831 157c 2795 ror r18
		2599	2832 157e 3093 0000 sts (oldNick.31)+1,r19
		2600	2833 1582 2093 0000 sts oldNick.31,r18
		2601	2834 1586 4138 cpi r20,129
		2602	2835 1588 5105 cpc r21,__zero_reg__
		2603	2836 158a 04F0 brlt .L139
		2604	2837 158c 80E8 ldi r24,lo8(128)
		2605	2838 158e 90E0 ldi r25,hi8(128)
		2606	2839 1590 00C0 rjmp .L171
		2607	2840 .L139:
		2608	2841 1592 4058 subi r20,lo8(-128)
		2609	2842 1594 5F4F sbci r21,hi8(-128)
		2610	2843 1596 04F4 brge .L140
		2611	2844 1598 80E8 ldi r24,lo8(-128)
		2612	2845 159a 9FEF ldi r25,hi8(-128)
		2613	2846 .L171:
		2614	2847 159c 9093 0000 sts (d2Nick.34)+1,r25
		2615	2848 15a0 8093 0000 sts d2Nick.34,r24
		2616	2849 .L140:
		2617	2850 15a4 4091 0000 lds r20,HiResRoll
		2618	2851 15a8 5091 0000 lds r21,(HiResRoll)+1
		2619	2852 15ac 8091 0000 lds r24,oldRoll.32
		2620	2853 15b0 9091 0000 lds r25,(oldRoll.32)+1
		2621	2854 15b4 481B sub r20,r24
		2622	2855 15b6 590B sbc r21,r25
		2623	2856 15b8 5093 0000 sts (d2Roll.33)+1,r21
		2624	2857 15bc 4093 0000 sts d2Roll.33,r20
		2625	2858 15c0 2091 0000 lds r18,HiResRoll
		2626	2859 15c4 3091 0000 lds r19,(HiResRoll)+1
		2627	2860 15c8 280F add r18,r24
		2628	2861 15ca 391F adc r19,r25
		2629	2862 15cc 37FF sbrs r19,7
		2630	2863 15ce 00C0 rjmp .L142
		2631	2864 15d0 2F5F subi r18,lo8(-(1))
		2632	2865 15d2 3F4F sbci r19,hi8(-(1))
		2633	2866 .L142:
		2634	2867 15d4 3595 asr r19
		2635	2868 15d6 2795 ror r18
		2636	2869 15d8 3093 0000 sts (oldRoll.32)+1,r19
		2637	2870 15dc 2093 0000 sts oldRoll.32,r18
		2638	2871 15e0 4138 cpi r20,129
		2639	2872 15e2 5105 cpc r21,__zero_reg__
		2640	2873 15e4 04F0 brlt .L143
		2641	2874 15e6 80E8 ldi r24,lo8(128)
		2642	2875 15e8 90E0 ldi r25,hi8(128)
		2643	2876 15ea 00C0 rjmp .L172
		2644	2877 .L143:
		2645	2878 15ec 4058 subi r20,lo8(-128)
		2646	2879 15ee 5F4F sbci r21,hi8(-128)
		2647	2880 15f0 04F4 brge .L144
		2648	2881 15f2 80E8 ldi r24,lo8(-128)
		2649	2882 15f4 9FEF ldi r25,hi8(-128)
		2650	2883 .L172:
		2651	2884 15f6 9093 0000 sts (d2Roll.33)+1,r25
		2652	2885 15fa 8093 0000 sts d2Roll.33,r24
		2653	2886 .L144:
		2654	2887 15fe 462F mov r20,r22
		2655	2888 1600 5527 clr r21
		2656	2889 1602 8091 0000 lds r24,d2Nick.34
		2657	2890 1606 9091 0000 lds r25,(d2Nick.34)+1
		2658	2891 160a 849F mul r24,r20
		2659	2892 160c B001 movw r22,r0
		2660	2893 160e 859F mul r24,r21
		2661	2894 1610 700D add r23,r0
		2662	2895 1612 949F mul r25,r20
		2663	2896 1614 700D add r23,r0
		2664	2897 1616 1124 clr r1
		2665	2898 1618 9B01 movw r18,r22
		2666	2899 161a 77FF sbrs r23,7
		2667	2900 161c 00C0 rjmp .L146
		2668	2901 161e 215F subi r18,lo8(-(15))
		2669	2902 1620 3F4F sbci r19,hi8(-(15))
		2670	2903 .L146:
		2671	2904 1622 F4E0 ldi r31,4
		2672	2905 1624 3595 1: asr r19
		2673	2906 1626 2795 ror r18
		2674	2907 1628 FA95 dec r31
		2675	2908 162a 01F4 brne 1b
		2676	2909 162c 8091 0000 lds r24,MesswertNick
		2677	2910 1630 9091 0000 lds r25,(MesswertNick)+1
		2678	2911 1634 820F add r24,r18
		2679	2912 1636 931F adc r25,r19
		2680	2913 1638 9093 0000 sts (MesswertNick)+1,r25
		2681	2914 163c 8093 0000 sts MesswertNick,r24
		2682	2915 1640 8091 0000 lds r24,d2Roll.33
		2683	2916 1644 9091 0000 lds r25,(d2Roll.33)+1
		2684	2917 1648 849F mul r24,r20
		2685	2918 164a D001 movw r26,r0
		2686	2919 164c 859F mul r24,r21
		2687	2920 164e B00D add r27,r0
		2688	2921 1650 949F mul r25,r20
		2689	2922 1652 B00D add r27,r0
		2690	2923 1654 1124 clr r1
		2691	2924 1656 AD01 movw r20,r26
		2692	2925 1658 9D01 movw r18,r26
		2693	2926 165a B7FF sbrs r27,7
		2694	2927 165c 00C0 rjmp .L147
		2695	2928 165e 215F subi r18,lo8(-(15))
		2696	2929 1660 3F4F sbci r19,hi8(-(15))
		2697	2930 .L147:
		2698	2931 1662 E4E0 ldi r30,4
		2699	2932 1664 3595 1: asr r19
		2700	2933 1666 2795 ror r18
		2701	2934 1668 EA95 dec r30
		2702	2935 166a 01F4 brne 1b
		2703	2936 166c 8091 0000 lds r24,MesswertRoll
		2704	2937 1670 9091 0000 lds r25,(MesswertRoll)+1
		2705	2938 1674 820F add r24,r18
		2706	2939 1676 931F adc r25,r19
		2707	2940 1678 9093 0000 sts (MesswertRoll)+1,r25
		2708	2941 167c 8093 0000 sts MesswertRoll,r24
		2709	2942 1680 8091 0000 lds r24,HiResNick
		2710	2943 1684 9091 0000 lds r25,(HiResNick)+1
		2711	2944 1688 860F add r24,r22
		2712	2945 168a 971F adc r25,r23
		2713	2946 168c 9093 0000 sts (HiResNick)+1,r25
		2714	2947 1690 8093 0000 sts HiResNick,r24
		2715	2948 1694 8091 0000 lds r24,HiResRoll
		2716	2949 1698 9091 0000 lds r25,(HiResRoll)+1
		2717	2950 169c 840F add r24,r20
		2718	2951 169e 951F adc r25,r21
		2719	2952 16a0 9093 0000 sts (HiResRoll)+1,r25
		2720	2953 16a4 8093 0000 sts HiResRoll,r24
		2721	2954 .L137:
		2722	2955 16a8 0091 0000 lds r16,RohMesswertRoll
		2723	2956 16ac 1091 0000 lds r17,(RohMesswertRoll)+1
		2724	2957 16b0 8091 0000 lds r24,KopplungsteilNickRoll
		2725	2958 16b4 9091 0000 lds r25,(KopplungsteilNickRoll)+1
		2726	2959 16b8 1016 cp __zero_reg__,r16
		2727	2960 16ba 1106 cpc __zero_reg__,r17
		2728	2961 16bc 04F4 brge .L148
		2729	2962 16be 9C01 movw r18,r24
		2730	2963 16c0 97FF sbrs r25,7
		2731	2964 16c2 00C0 rjmp .L149
		2732	2965 16c4 2227 clr r18
		2733	2966 16c6 3327 clr r19
		2734	2967 16c8 281B sub r18,r24
		2735	2968 16ca 390B sbc r19,r25
		2736	2969 .L149:
		2737	2970 16cc C901 movw r24,r18
		2738	2971 16ce AA27 clr r26
		2739	2972 16d0 97FD sbrc r25,7
		2740	2973 16d2 A095 com r26
		2741	2974 16d4 BA2F mov r27,r26
		2742	2975 16d6 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2743	2976 16da 3327 clr r19
		2744	2977 16dc 4427 clr r20
		2745	2978 16de 5527 clr r21
		2746	2979 16e0 BC01 movw r22,r24
		2747	2980 16e2 CD01 movw r24,r26
		2748	2981 16e4 0E94 0000 call __mulsi3
		2749	2982 16e8 9B01 movw r18,r22
		2750	2983 16ea AC01 movw r20,r24
		2751	2984 16ec 97FF sbrs r25,7
		2752	2985 16ee 00C0 rjmp .L150
		2753	2986 16f0 215C subi r18,lo8(-(63))
		2754	2987 16f2 3F4F sbci r19,hi8(-(63))
		2755	2988 16f4 4F4F sbci r20,hlo8(-(63))
		2756	2989 16f6 5F4F sbci r21,hhi8(-(63))
		2757	2990 .L150:
		2758	2991 16f8 76E0 ldi r23,6
		2759	2992 16fa 5595 1: asr r21
		2760	2993 16fc 4795 ror r20
		2761	2994 16fe 3795 ror r19
		2762	2995 1700 2795 ror r18
		2763	2996 1702 7A95 dec r23
		2764	2997 1704 01F4 brne 1b
		2765	2998 1706 8091 0000 lds r24,TrimRoll
		2766	2999 170a 9091 0000 lds r25,(TrimRoll)+1
		2767	3000 170e 820F add r24,r18
		2768	3001 1710 931F adc r25,r19
		2769	3002 1712 00C0 rjmp .L173
		2770	3003 .L148:
		2771	3004 1714 97FF sbrs r25,7
		2772	3005 1716 00C0 rjmp .L152
		2773	3006 1718 9095 com r25
		2774	3007 171a 8195 neg r24
		2775	3008 171c 9F4F sbci r25,lo8(-1)
		2776	3009 .L152:
		2777	3010 171e AA27 clr r26
		2778	3011 1720 97FD sbrc r25,7
		2779	3012 1722 A095 com r26
		2780	3013 1724 BA2F mov r27,r26
		2781	3014 1726 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2782	3015 172a 3327 clr r19
		2783	3016 172c 4427 clr r20
		2784	3017 172e 5527 clr r21
		2785	3018 1730 BC01 movw r22,r24
		2786	3019 1732 CD01 movw r24,r26
		2787	3020 1734 0E94 0000 call __mulsi3
		2788	3021 1738 9B01 movw r18,r22
		2789	3022 173a AC01 movw r20,r24
		2790	3023 173c 97FF sbrs r25,7
		2791	3024 173e 00C0 rjmp .L153
		2792	3025 1740 215C subi r18,lo8(-(63))
		2793	3026 1742 3F4F sbci r19,hi8(-(63))
		2794	3027 1744 4F4F sbci r20,hlo8(-(63))
		2795	3028 1746 5F4F sbci r21,hhi8(-(63))
		2796	3029 .L153:
		2797	3030 1748 66E0 ldi r22,6
		2798	3031 174a 5595 1: asr r21
		2799	3032 174c 4795 ror r20
		2800	3033 174e 3795 ror r19
		2801	3034 1750 2795 ror r18
		2802	3035 1752 6A95 dec r22
		2803	3036 1754 01F4 brne 1b
		2804	3037 1756 8091 0000 lds r24,TrimRoll
		2805	3038 175a 9091 0000 lds r25,(TrimRoll)+1
		2806	3039 175e 821B sub r24,r18
		2807	3040 1760 930B sbc r25,r19
		2808	3041 .L173:
		2809	3042 1762 9093 0000 sts (TrimRoll)+1,r25
		2810	3043 1766 8093 0000 sts TrimRoll,r24
		2811	3044 176a E090 0000 lds r14,RohMesswertNick
		2812	3045 176e F090 0000 lds r15,(RohMesswertNick)+1
		2813	3046 1772 8091 0000 lds r24,KopplungsteilRollNick
		2814	3047 1776 9091 0000 lds r25,(KopplungsteilRollNick)+1
		2815	3048 177a 1E14 cp __zero_reg__,r14
		2816	3049 177c 1F04 cpc __zero_reg__,r15
		2817	3050 177e 04F4 brge .L154
		2818	3051 1780 9C01 movw r18,r24
		2819	3052 1782 97FF sbrs r25,7
		2820	3053 1784 00C0 rjmp .L155
		2821	3054 1786 2227 clr r18
		2822	3055 1788 3327 clr r19
		2823	3056 178a 281B sub r18,r24
		2824	3057 178c 390B sbc r19,r25
		2825	3058 .L155:
		2826	3059 178e C901 movw r24,r18
		2827	3060 1790 AA27 clr r26
		2828	3061 1792 97FD sbrc r25,7
		2829	3062 1794 A095 com r26
		2830	3063 1796 BA2F mov r27,r26
		2831	3064 1798 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2832	3065 179c 3327 clr r19
		2833	3066 179e 4427 clr r20
		2834	3067 17a0 5527 clr r21
		2835	3068 17a2 BC01 movw r22,r24
		2836	3069 17a4 CD01 movw r24,r26
		2837	3070 17a6 0E94 0000 call __mulsi3
		2838	3071 17aa 9B01 movw r18,r22
		2839	3072 17ac AC01 movw r20,r24
		2840	3073 17ae 97FF sbrs r25,7
		2841	3074 17b0 00C0 rjmp .L156
		2842	3075 17b2 215C subi r18,lo8(-(63))
		2843	3076 17b4 3F4F sbci r19,hi8(-(63))
		2844	3077 17b6 4F4F sbci r20,hlo8(-(63))
		2845	3078 17b8 5F4F sbci r21,hhi8(-(63))
		2846	3079 .L156:
		2847	3080 17ba 96E0 ldi r25,6
		2848	3081 17bc 5595 1: asr r21
		2849	3082 17be 4795 ror r20
		2850	3083 17c0 3795 ror r19
		2851	3084 17c2 2795 ror r18
		2852	3085 17c4 9A95 dec r25
		2853	3086 17c6 01F4 brne 1b
		2854	3087 17c8 8091 0000 lds r24,TrimNick
		2855	3088 17cc 9091 0000 lds r25,(TrimNick)+1
		2856	3089 17d0 820F add r24,r18
		2857	3090 17d2 931F adc r25,r19
		2858	3091 17d4 00C0 rjmp .L174
		2859	3092 .L154:
		2860	3093 17d6 97FF sbrs r25,7
		2861	3094 17d8 00C0 rjmp .L158
		2862	3095 17da 9095 com r25
		2863	3096 17dc 8195 neg r24
		2864	3097 17de 9F4F sbci r25,lo8(-1)
		2865	3098 .L158:
		2866	3099 17e0 AA27 clr r26
		2867	3100 17e2 97FD sbrc r25,7
		2868	3101 17e4 A095 com r26
		2869	3102 17e6 BA2F mov r27,r26
		2870	3103 17e8 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2871	3104 17ec 3327 clr r19
		2872	3105 17ee 4427 clr r20
		2873	3106 17f0 5527 clr r21
		2874	3107 17f2 BC01 movw r22,r24
		2875	3108 17f4 CD01 movw r24,r26
		2876	3109 17f6 0E94 0000 call __mulsi3
		2877	3110 17fa 9B01 movw r18,r22
		2878	3111 17fc AC01 movw r20,r24
		2879	3112 17fe 97FF sbrs r25,7
		2880	3113 1800 00C0 rjmp .L159
		2881	3114 1802 215C subi r18,lo8(-(63))
		2882	3115 1804 3F4F sbci r19,hi8(-(63))
		2883	3116 1806 4F4F sbci r20,hlo8(-(63))
		2884	3117 1808 5F4F sbci r21,hhi8(-(63))
		2885	3118 .L159:
		2886	3119 180a 86E0 ldi r24,6
		2887	3120 180c 5595 1: asr r21
		2888	3121 180e 4795 ror r20
		2889	3122 1810 3795 ror r19
		2890	3123 1812 2795 ror r18
		2891	3124 1814 8A95 dec r24
		2892	3125 1816 01F4 brne 1b
		2893	3126 1818 8091 0000 lds r24,TrimNick
		2894	3127 181c 9091 0000 lds r25,(TrimNick)+1
		2895	3128 1820 821B sub r24,r18
		2896	3129 1822 930B sbc r25,r19
		2897	3130 .L174:
		2898	3131 1824 9093 0000 sts (TrimNick)+1,r25
		2899	3132 1828 8093 0000 sts TrimNick,r24
		2900	3133 182c 8091 0000 lds r24,Parameter_GlobalConfig
		2901	3134 1830 87FF sbrs r24,7
		2902	3135 1832 00C0 rjmp .L82
		2903	3136 1834 B989 ldd r27,Y+17
		2904	3137 1836 BB23 tst r27
		2905	3138 1838 01F0 breq .+2
		2906	3139 183a 00C0 rjmp .L82
		2907	3140 183c 8091 0000 lds r24,Looping_Roll
		2908	3141 1840 8823 tst r24
		2909	3142 1842 01F4 brne .L82
		2910	3143 1844 E1E0 ldi r30,lo8(257)
		2911	3144 1846 EE16 cp r14,r30
		2912	3145 1848 E1E0 ldi r30,hi8(257)
		2913	3146 184a FE06 cpc r15,r30
		2914	3147 184c 04F0 brlt .L161
		2915	3148 184e 8091 0000 lds r24,MesswertNick
		2916	3149 1852 9091 0000 lds r25,(MesswertNick)+1
		2917	3150 1856 8E0D add r24,r14
		2918	3151 1858 9F1D adc r25,r15
		2919	3152 185a 8050 subi r24,lo8(-(-256))
		2920	3153 185c 9140 sbci r25,hi8(-(-256))
		2921	3154 185e 00C0 rjmp .L175
		2922	3155 .L161:
		2923	3156 1860 F0E0 ldi r31,lo8(-256)
		2924	3157 1862 EF16 cp r14,r31
		2925	3158 1864 FFEF ldi r31,hi8(-256)
		2926	3159 1866 FF06 cpc r15,r31
		2927	3160 1868 04F4 brge .L162
		2928	3161 186a 8091 0000 lds r24,MesswertNick
		2929	3162 186e 9091 0000 lds r25,(MesswertNick)+1
		2930	3163 1872 8E0D add r24,r14
		2931	3164 1874 9F1D adc r25,r15
		2932	3165 1876 8050 subi r24,lo8(-(256))
		2933	3166 1878 9F4F sbci r25,hi8(-(256))
		2934	3167 .L175:
		2935	3168 187a 9093 0000 sts (MesswertNick)+1,r25
		2936	3169 187e 8093 0000 sts MesswertNick,r24
		2937	3170 .L162:
		2938	3171 1882 21E0 ldi r18,hi8(257)
		2939	3172 1884 0130 cpi r16,lo8(257)
		2940	3173 1886 1207 cpc r17,r18
		2941	3174 1888 04F0 brlt .L164
		2942	3175 188a 8091 0000 lds r24,MesswertRoll
		2943	3176 188e 9091 0000 lds r25,(MesswertRoll)+1
		2944	3177 1892 800F add r24,r16
		2945	3178 1894 911F adc r25,r17
		2946	3179 1896 8050 subi r24,lo8(-(-256))
		2947	3180 1898 9140 sbci r25,hi8(-(-256))
		2948	3181 189a 00C0 rjmp .L176
		2949	3182 .L164:
		2950	3183 189c 3FEF ldi r19,hi8(-256)
		2951	3184 189e 0030 cpi r16,lo8(-256)
		2952	3185 18a0 1307 cpc r17,r19
		2953	3186 18a2 04F4 brge .L82
		2954	3187 18a4 8091 0000 lds r24,MesswertRoll
		2955	3188 18a8 9091 0000 lds r25,(MesswertRoll)+1
		2956	3189 18ac 800F add r24,r16
		2957	3190 18ae 911F adc r25,r17
		2958	3191 18b0 8050 subi r24,lo8(-(256))
		2959	3192 18b2 9F4F sbci r25,hi8(-(256))
		2960	3193 .L176:
		2961	3194 18b4 9093 0000 sts (MesswertRoll)+1,r25
		2962	3195 18b8 8093 0000 sts MesswertRoll,r24
		2963	3196 .L82:
		2964	3197 /* epilogue: frame size=19 */
		2965	3198 18bc E2E1 ldi r30,18
		2966	3199 18be CD5E subi r28,-19
		2967	3200 18c0 0C94 0000 jmp __epilogue_restores__+0
		2968	3201 /* epilogue end (size=4) */
		2969	3202 /* function Mittelwert size 2000 (1990) */
		2970	3204 .global SendMotorData
		2971	3206 SendMotorData:
		2972	3207 /* prologue: frame size=0 */
		2973	3208 /* prologue end (size=0) */
		2974	3209 18c4 8091 0000 lds r24,MotorenEin
		2975	3210 18c8 8823 tst r24
		2976	3211 18ca 01F4 brne .L178
		2977	3212 18cc 8091 0000 lds r24,FC_StatusFlags
		2978	3213 18d0 8C7F andi r24,lo8(-4)
		2979	3214 18d2 8093 0000 sts FC_StatusFlags,r24
		2980	3215 18d6 A0E0 ldi r26,lo8(MotorTest)
		2981	3216 18d8 B0E0 ldi r27,hi8(MotorTest)
		2982	3217 18da E0E0 ldi r30,lo8(Motor)
		2983	3218 18dc F0E0 ldi r31,hi8(Motor)
		2984	3219 18de 9BE0 ldi r25,lo8(11)
		2985	3220 .L183:
		2986	3221 18e0 8091 0000 lds r24,PC_MotortestActive
		2987	3222 18e4 8823 tst r24
		2988	3223 18e6 01F4 brne .L182
		2989	3224 18e8 8C93 st X,r24
		2990	3225 .L182:
		2991	3226 18ea 8D91 ld r24,X+
		2992	3227 18ec 8183 std Z+1,r24
		2993	3228 18ee 1282 std Z+2,__zero_reg__
		2994	3229 18f0 9150 subi r25,lo8(-(-1))
		2995	3230 18f2 3896 adiw r30,8
		2996	3231 18f4 97FF sbrs r25,7
		2997	3232 18f6 00C0 rjmp .L183
		2998	3233 18f8 8091 0000 lds r24,PC_MotortestActive
		2999	3234 18fc 8823 tst r24
		3000	3235 18fe 01F0 breq .L185
		3001	3236 1900 8091 0000 lds r24,PC_MotortestActive
		3002	3237 1904 8150 subi r24,lo8(-(-1))
		3003	3238 1906 8093 0000 sts PC_MotortestActive,r24
		3004	3239 190a 00C0 rjmp .L185
		3005	3240 .L178:
		3006	3241 190c 8091 0000 lds r24,FC_StatusFlags
		3007	3242 1910 8160 ori r24,lo8(1)
		3008	3243 1912 8093 0000 sts FC_StatusFlags,r24
		3009	3244 .L185:
		3010	3245 1916 8091 0000 lds r24,I2C_TransferActive
		3011	3246 191a 8823 tst r24
		3012	3247 191c 01F0 breq .L186
		3013	3248 191e 1092 0000 sts I2C_TransferActive,__zero_reg__
		3014	3249 1922 0895 ret
		3015	3250 .L186:
		3016	3251 1924 8093 0000 sts motor_write,r24
		3017	3252 1928 8093 0000 sts twi_state,r24
		3018	3253 192c 8091 0000 lds r24,BLFlags
		3019	3254 1930 8E7F andi r24,lo8(-2)
		3020	3255 1932 8093 0000 sts BLFlags,r24
		3021	3256 1936 85EA ldi r24,lo8(-91)
		3022	3257 1938 8093 BC00 sts 188,r24
		3023	3258 193c 0895 ret
		3024	3259 /* epilogue: frame size=0 */
		3025	3260 /* epilogue: noreturn */
		3026	3261 /* epilogue end (size=0) */
		3027	3262 /* function SendMotorData size 61 (61) */
		3028	3264 .global ParameterZuordnung
		3029	3266 ParameterZuordnung:
		3030	3267 /* prologue: frame size=0 */
		3031	3268 193e CF93 push r28
		3032	3269 1940 DF93 push r29
		3033	3270 /* prologue end (size=2) */
		3034	3271 1942 A0E0 ldi r26,lo8(Poti)
		3035	3272 1944 B0E0 ldi r27,hi8(Poti)
		3036	3273 1946 C0E0 ldi r28,lo8(EE_Parameter+5)
		3037	3274 1948 D0E0 ldi r29,hi8(EE_Parameter+5)
		3038	3275 194a 57E0 ldi r21,lo8(7)
		3039	3276 .L203:
		3040	3277 194c 9991 ld r25,Y+
		3041	3278 194e E92F mov r30,r25
		3042	3279 1950 FF27 clr r31
		3043	3280 1952 EE0F add r30,r30
		3044	3281 1954 FF1F adc r31,r31
		3045	3282 1956 E050 subi r30,lo8(-(PPM_in))
		3046	3283 1958 F040 sbci r31,hi8(-(PPM_in))
		3047	3284 195a 0190 ld __tmp_reg__,Z+
		3048	3285 195c F081 ld r31,Z
		3049	3286 195e E02D mov r30,__tmp_reg__
		3050	3287 1960 E158 subi r30,lo8(-(127))
		3051	3288 1962 FF4F sbci r31,hi8(-(127))
		3052	3289 1964 EF3F cpi r30,255
		3053	3290 1966 F105 cpc r31,__zero_reg__
		3054	3291 1968 01F0 breq .L194
		3055	3292 196a 04F0 brlt .L194
		3056	3293 196c EFEF ldi r30,lo8(255)
		3057	3294 196e F0E0 ldi r31,hi8(255)
		3058	3295 1970 00C0 rjmp .L195
		3059	3296 .L194:
		3060	3297 1972 F7FF sbrs r31,7
		3061	3298 1974 00C0 rjmp .L195
		3062	3299 1976 E0E0 ldi r30,lo8(0)
		3063	3300 1978 F0E0 ldi r31,hi8(0)
		3064	3301 .L195:
		3065	3302 197a 9931 cpi r25,lo8(25)
		3066	3303 197c 01F4 brne .L197
		3067	3304 197e EC93 st X,r30
		3068	3305 1980 00C0 rjmp .L193
		3069	3306 .L197:
		3070	3307 1982 4C91 ld r20,X
		3071	3308 1984 242F mov r18,r20
		3072	3309 1986 3327 clr r19
		3073	3310 1988 E217 cp r30,r18
		3074	3311 198a F307 cpc r31,r19
		3075	3312 198c 01F0 breq .L193
		3076	3313 198e CF01 movw r24,r30
		3077	3314 1990 821B sub r24,r18
		3078	3315 1992 930B sbc r25,r19
		3079	3316 1994 97FD sbrc r25,7
		3080	3317 1996 0396 adiw r24,3
		3081	3318 .L200:
		3082	3319 1998 9595 asr r25
		3083	3320 199a 8795 ror r24
		3084	3321 199c 9595 asr r25
		3085	3322 199e 8795 ror r24
		3086	3323 19a0 242F mov r18,r20
		3087	3324 19a2 280F add r18,r24
		3088	3325 19a4 2C93 st X,r18
		3089	3326 19a6 822F mov r24,r18
		3090	3327 19a8 9927 clr r25
		3091	3328 19aa E817 cp r30,r24
		3092	3329 19ac F907 cpc r31,r25
		3093	3330 19ae 04F4 brge .L201
		3094	3331 19b0 2150 subi r18,lo8(-(-1))
		3095	3332 19b2 00C0 rjmp .L327
		3096	3333 .L201:
		3097	3334 19b4 2F5F subi r18,lo8(-(1))
		3098	3335 .L327:
		3099	3336 19b6 2C93 st X,r18
		3100	3337 .L193:
		3101	3338 19b8 5150 subi r21,lo8(-(-1))
		3102	3339 19ba 1196 adiw r26,1
		3103	3340 19bc 57FF sbrs r21,7
		3104	3341 19be 00C0 rjmp .L203
		3105	3342 19c0 8091 0000 lds r24,EE_Parameter+15
		3106	3343 19c4 883F cpi r24,lo8(-8)
		3107	3344 19c6 00F0 brlo .L328
		3108	3345 19c8 EFEF ldi r30,lo8(255)
		3109	3346 19ca F0E0 ldi r31,hi8(255)
		3110	3347 19cc E81B sub r30,r24
		3111	3348 19ce F109 sbc r31,__zero_reg__
		3112	3349 19d0 E050 subi r30,lo8(-(Poti))
		3113	3350 19d2 F040 sbci r31,hi8(-(Poti))
		3114	3351 19d4 8081 ld r24,Z
		3115	3352 .L328:
		3116	3353 19d6 8093 0000 sts Parameter_Luftdruck_D,r24
		3117	3354 19da 8091 0000 lds r24,Parameter_Luftdruck_D
		3118	3355 19de 8823 tst r24
		3119	3356 19e0 01F0 breq .L207
		3120	3357 19e2 8436 cpi r24,lo8(100)
		3121	3358 19e4 00F0 brlo .L207
		3122	3359 19e6 84E6 ldi r24,lo8(100)
		3123	3360 19e8 8093 0000 sts Parameter_Luftdruck_D,r24
		3124	3361 .L207:
		3125	3362 19ec 8091 0000 lds r24,EE_Parameter+17
		3126	3363 19f0 883F cpi r24,lo8(-8)
		3127	3364 19f2 00F0 brlo .L329
		3128	3365 19f4 EFEF ldi r30,lo8(255)
		3129	3366 19f6 F0E0 ldi r31,hi8(255)
		3130	3367 19f8 E81B sub r30,r24
		3131	3368 19fa F109 sbc r31,__zero_reg__
		3132	3369 19fc E050 subi r30,lo8(-(Poti))
		3133	3370 19fe F040 sbci r31,hi8(-(Poti))
		3134	3371 1a00 8081 ld r24,Z
		3135	3372 .L329:
		3136	3373 1a02 8093 0000 sts Parameter_Hoehe_P,r24
		3137	3374 1a06 8091 0000 lds r24,Parameter_Hoehe_P
		3138	3375 1a0a 8823 tst r24
		3139	3376 1a0c 01F0 breq .L212
		3140	3377 1a0e 8436 cpi r24,lo8(100)
		3141	3378 1a10 00F0 brlo .L212
		3142	3379 1a12 84E6 ldi r24,lo8(100)
		3143	3380 1a14 8093 0000 sts Parameter_Hoehe_P,r24
		3144	3381 .L212:
		3145	3382 1a18 8091 0000 lds r24,EE_Parameter+30
		3146	3383 1a1c 883F cpi r24,lo8(-8)
		3147	3384 1a1e 00F0 brlo .L330
		3148	3385 1a20 EFEF ldi r30,lo8(255)
		3149	3386 1a22 F0E0 ldi r31,hi8(255)
		3150	3387 1a24 E81B sub r30,r24
		3151	3388 1a26 F109 sbc r31,__zero_reg__
		3152	3389 1a28 E050 subi r30,lo8(-(Poti))
		3153	3390 1a2a F040 sbci r31,hi8(-(Poti))
		3154	3391 1a2c 8081 ld r24,Z
		3155	3392 .L330:
		3156	3393 1a2e 8093 0000 sts Parameter_Gyro_P,r24
		3157	3394 1a32 8091 0000 lds r24,Parameter_Gyro_P
		3158	3395 1a36 8B30 cpi r24,lo8(11)
		3159	3396 1a38 00F4 brsh .L216
		3160	3397 1a3a 8AE0 ldi r24,lo8(10)
		3161	3398 1a3c 00C0 rjmp .L331
		3162	3399 .L216:
		3163	3400 1a3e 8F3F cpi r24,lo8(-1)
		3164	3401 1a40 01F4 brne .L217
		3165	3402 .L331:
		3166	3403 1a42 8093 0000 sts Parameter_Gyro_P,r24
		3167	3404 .L217:
		3168	3405 1a46 8091 0000 lds r24,EE_Parameter+75
		3169	3406 1a4a 883F cpi r24,lo8(-8)
		3170	3407 1a4c 00F0 brlo .L332
		3171	3408 1a4e EFEF ldi r30,lo8(255)
		3172	3409 1a50 F0E0 ldi r31,hi8(255)
		3173	3410 1a52 E81B sub r30,r24
		3174	3411 1a54 F109 sbc r31,__zero_reg__
		3175	3412 1a56 E050 subi r30,lo8(-(Poti))
		3176	3413 1a58 F040 sbci r31,hi8(-(Poti))
		3177	3414 1a5a 8081 ld r24,Z
		3178	3415 .L332:
		3179	3416 1a5c 8093 0000 sts Parameter_J16Timing,r24
		3180	3417 1a60 8091 0000 lds r24,Parameter_J16Timing
		3181	3418 1a64 8630 cpi r24,lo8(6)
		3182	3419 1a66 00F4 brsh .L221
		3183	3420 1a68 85E0 ldi r24,lo8(5)
		3184	3421 1a6a 00C0 rjmp .L333
		3185	3422 .L221:
		3186	3423 1a6c 8F3F cpi r24,lo8(-1)
		3187	3424 1a6e 01F4 brne .L222
		3188	3425 .L333:
		3189	3426 1a70 8093 0000 sts Parameter_J16Timing,r24
		3190	3427 .L222:
		3191	3428 1a74 8091 0000 lds r24,EE_Parameter+77
		3192	3429 1a78 883F cpi r24,lo8(-8)
		3193	3430 1a7a 00F0 brlo .L334
		3194	3431 1a7c EFEF ldi r30,lo8(255)
		3195	3432 1a7e F0E0 ldi r31,hi8(255)
		3196	3433 1a80 E81B sub r30,r24
		3197	3434 1a82 F109 sbc r31,__zero_reg__
		3198	3435 1a84 E050 subi r30,lo8(-(Poti))
		3199	3436 1a86 F040 sbci r31,hi8(-(Poti))
		3200	3437 1a88 8081 ld r24,Z
		3201	3438 .L334:
		3202	3439 1a8a 8093 0000 sts Parameter_J17Timing,r24
		3203	3440 1a8e 8091 0000 lds r24,Parameter_J17Timing
		3204	3441 1a92 8630 cpi r24,lo8(6)
		3205	3442 1a94 00F4 brsh .L226
		3206	3443 1a96 85E0 ldi r24,lo8(5)
		3207	3444 1a98 00C0 rjmp .L335
		3208	3445 .L226:
		3209	3446 1a9a 8F3F cpi r24,lo8(-1)
		3210	3447 1a9c 01F4 brne .L227
		3211	3448 .L335:
		3212	3449 1a9e 8093 0000 sts Parameter_J17Timing,r24
		3213	3450 .L227:
		3214	3451 1aa2 8091 0000 lds r24,EE_Parameter+56
		3215	3452 1aa6 873F cpi r24,lo8(-9)
		3216	3453 1aa8 01F4 brne .L229
		3217	3454 1aaa 4299 sbic 40-0x20,2
		3218	3455 1aac 00C0 rjmp .L368
		3219	3456 1aae 00C0 rjmp .L234
		3220	3457 .L229:
		3221	3458 1ab0 863F cpi r24,lo8(-10)
		3222	3459 1ab2 01F4 brne .L233
		3223	3460 1ab4 439B sbis 40-0x20,3
		3224	3461 1ab6 00C0 rjmp .L234
		3225	3462 .L368:
		3226	3463 1ab8 8CE8 ldi r24,lo8(-116)
		3227	3464 1aba 00C0 rjmp .L336
		3228	3465 .L234:
		3229	3466 1abc 86E4 ldi r24,lo8(70)
		3230	3467 1abe 00C0 rjmp .L336
		3231	3468 .L233:
		3232	3469 1ac0 883F cpi r24,lo8(-8)
		3233	3470 1ac2 00F0 brlo .L336
		3234	3471 1ac4 EFEF ldi r30,lo8(255)
		3235	3472 1ac6 F0E0 ldi r31,hi8(255)
		3236	3473 1ac8 E81B sub r30,r24
		3237	3474 1aca F109 sbc r31,__zero_reg__
		3238	3475 1acc E050 subi r30,lo8(-(Poti))
		3239	3476 1ace F040 sbci r31,hi8(-(Poti))
		3240	3477 1ad0 8081 ld r24,Z
		3241	3478 .L336:
		3242	3479 1ad2 8093 0000 sts Parameter_Servo3,r24
		3243	3480 1ad6 8091 0000 lds r24,EE_Parameter+57
		3244	3481 1ada 873F cpi r24,lo8(-9)
		3245	3482 1adc 01F4 brne .L239
		3246	3483 1ade 4299 sbic 40-0x20,2
		3247	3484 1ae0 00C0 rjmp .L369
		3248	3485 1ae2 00C0 rjmp .L244
		3249	3486 .L239:
		3250	3487 1ae4 863F cpi r24,lo8(-10)
		3251	3488 1ae6 01F4 brne .L243
		3252	3489 1ae8 439B sbis 40-0x20,3
		3253	3490 1aea 00C0 rjmp .L244
		3254	3491 .L369:
		3255	3492 1aec 8CE8 ldi r24,lo8(-116)
		3256	3493 1aee 00C0 rjmp .L337
		3257	3494 .L244:
		3258	3495 1af0 86E4 ldi r24,lo8(70)
		3259	3496 1af2 00C0 rjmp .L337
		3260	3497 .L243:
		3261	3498 1af4 883F cpi r24,lo8(-8)
		3262	3499 1af6 00F0 brlo .L337
		3263	3500 1af8 EFEF ldi r30,lo8(255)
		3264	3501 1afa F0E0 ldi r31,hi8(255)
		3265	3502 1afc E81B sub r30,r24
		3266	3503 1afe F109 sbc r31,__zero_reg__
		3267	3504 1b00 E050 subi r30,lo8(-(Poti))
		3268	3505 1b02 F040 sbci r31,hi8(-(Poti))
		3269	3506 1b04 8081 ld r24,Z
		3270	3507 .L337:
		3271	3508 1b06 8093 0000 sts Parameter_Servo4,r24
		3272	3509 1b0a 8091 0000 lds r24,EE_Parameter+58
		3273	3510 1b0e 883F cpi r24,lo8(-8)
		3274	3511 1b10 00F0 brlo .L338
		3275	3512 1b12 EFEF ldi r30,lo8(255)
		3276	3513 1b14 F0E0 ldi r31,hi8(255)
		3277	3514 1b16 E81B sub r30,r24
		3278	3515 1b18 F109 sbc r31,__zero_reg__
		3279	3516 1b1a E050 subi r30,lo8(-(Poti))
		3280	3517 1b1c F040 sbci r31,hi8(-(Poti))
		3281	3518 1b1e 8081 ld r24,Z
		3282	3519 .L338:
		3283	3520 1b20 8093 0000 sts Parameter_Servo5,r24
		3284	3521 1b24 8091 0000 lds r24,EE_Parameter+16
		3285	3522 1b28 883F cpi r24,lo8(-8)
		3286	3523 1b2a 00F0 brlo .L339
		3287	3524 1b2c EFEF ldi r30,lo8(255)
		3288	3525 1b2e F0E0 ldi r31,hi8(255)
		3289	3526 1b30 E81B sub r30,r24
		3290	3527 1b32 F109 sbc r31,__zero_reg__
		3291	3528 1b34 E050 subi r30,lo8(-(Poti))
		3292	3529 1b36 F040 sbci r31,hi8(-(Poti))
		3293	3530 1b38 8081 ld r24,Z
		3294	3531 .L339:
		3295	3532 1b3a 8093 0000 sts Parameter_HoehenSchalter,r24
		3296	3533 1b3e 8091 0000 lds r24,EE_Parameter+19
		3297	3534 1b42 883F cpi r24,lo8(-8)
		3298	3535 1b44 00F0 brlo .L340
		3299	3536 1b46 EFEF ldi r30,lo8(255)
		3300	3537 1b48 F0E0 ldi r31,hi8(255)
		3301	3538 1b4a E81B sub r30,r24
		3302	3539 1b4c F109 sbc r31,__zero_reg__
		3303	3540 1b4e E050 subi r30,lo8(-(Poti))
		3304	3541 1b50 F040 sbci r31,hi8(-(Poti))
		3305	3542 1b52 8081 ld r24,Z
		3306	3543 .L340:
		3307	3544 1b54 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24
		3308	3545 1b58 8091 0000 lds r24,EE_Parameter+21
		3309	3546 1b5c 883F cpi r24,lo8(-8)
		3310	3547 1b5e 00F0 brlo .L341
		3311	3548 1b60 EFEF ldi r30,lo8(255)
		3312	3549 1b62 F0E0 ldi r31,hi8(255)
		3313	3550 1b64 E81B sub r30,r24
		3314	3551 1b66 F109 sbc r31,__zero_reg__
		3315	3552 1b68 E050 subi r30,lo8(-(Poti))
		3316	3553 1b6a F040 sbci r31,hi8(-(Poti))
		3317	3554 1b6c 8081 ld r24,Z
		3318	3555 .L341:
		3319	3556 1b6e 8093 0000 sts Parameter_Hoehe_GPS_Z,r24
		3320	3557 1b72 8091 0000 lds r24,EE_Parameter+29
		3321	3558 1b76 883F cpi r24,lo8(-8)
		3322	3559 1b78 00F0 brlo .L342
		3323	3560 1b7a EFEF ldi r30,lo8(255)
		3324	3561 1b7c F0E0 ldi r31,hi8(255)
		3325	3562 1b7e E81B sub r30,r24
		3326	3563 1b80 F109 sbc r31,__zero_reg__
		3327	3564 1b82 E050 subi r30,lo8(-(Poti))
		3328	3565 1b84 F040 sbci r31,hi8(-(Poti))
		3329	3566 1b86 8081 ld r24,Z
		3330	3567 .L342:
		3331	3568 1b88 8093 0000 sts Parameter_KompassWirkung,r24
		3332	3569 1b8c 8091 0000 lds r24,EE_Parameter+31
		3333	3570 1b90 883F cpi r24,lo8(-8)
		3334	3571 1b92 00F0 brlo .L343
		3335	3572 1b94 EFEF ldi r30,lo8(255)
		3336	3573 1b96 F0E0 ldi r31,hi8(255)
		3337	3574 1b98 E81B sub r30,r24
		3338	3575 1b9a F109 sbc r31,__zero_reg__
		3339	3576 1b9c E050 subi r30,lo8(-(Poti))
		3340	3577 1b9e F040 sbci r31,hi8(-(Poti))
		3341	3578 1ba0 8081 ld r24,Z
		3342	3579 .L343:
		3343	3580 1ba2 8093 0000 sts Parameter_Gyro_I,r24
		3344	3581 1ba6 8091 0000 lds r24,EE_Parameter+32
		3345	3582 1baa 883F cpi r24,lo8(-8)
		3346	3583 1bac 00F0 brlo .L344
		3347	3584 1bae EFEF ldi r30,lo8(255)
		3348	3585 1bb0 F0E0 ldi r31,hi8(255)
		3349	3586 1bb2 E81B sub r30,r24
		3350	3587 1bb4 F109 sbc r31,__zero_reg__
		3351	3588 1bb6 E050 subi r30,lo8(-(Poti))
		3352	3589 1bb8 F040 sbci r31,hi8(-(Poti))
		3353	3590 1bba 8081 ld r24,Z
		3354	3591 .L344:
		3355	3592 1bbc 8093 0000 sts Parameter_Gyro_D,r24
		3356	3593 1bc0 8091 0000 lds r24,EE_Parameter+33
		3357	3594 1bc4 883F cpi r24,lo8(-8)
		3358	3595 1bc6 00F0 brlo .L345
		3359	3596 1bc8 EFEF ldi r30,lo8(255)
		3360	3597 1bca F0E0 ldi r31,hi8(255)
		3361	3598 1bcc E81B sub r30,r24
		3362	3599 1bce F109 sbc r31,__zero_reg__
		3363	3600 1bd0 E050 subi r30,lo8(-(Poti))
		3364	3601 1bd2 F040 sbci r31,hi8(-(Poti))
		3365	3602 1bd4 8081 ld r24,Z
		3366	3603 .L345:
		3367	3604 1bd6 8093 0000 sts Parameter_Gyro_Gier_P,r24
		3368	3605 1bda 8091 0000 lds r24,EE_Parameter+34
		3369	3606 1bde 883F cpi r24,lo8(-8)
		3370	3607 1be0 00F0 brlo .L346
		3371	3608 1be2 EFEF ldi r30,lo8(255)
		3372	3609 1be4 F0E0 ldi r31,hi8(255)
		3373	3610 1be6 E81B sub r30,r24
		3374	3611 1be8 F109 sbc r31,__zero_reg__
		3375	3612 1bea E050 subi r30,lo8(-(Poti))
		3376	3613 1bec F040 sbci r31,hi8(-(Poti))
		3377	3614 1bee 8081 ld r24,Z
		3378	3615 .L346:
		3379	3616 1bf0 8093 0000 sts Parameter_Gyro_Gier_I,r24
		3380	3617 1bf4 8091 0000 lds r24,EE_Parameter+40
		3381	3618 1bf8 883F cpi r24,lo8(-8)
		3382	3619 1bfa 00F0 brlo .L347
		3383	3620 1bfc EFEF ldi r30,lo8(255)
		3384	3621 1bfe F0E0 ldi r31,hi8(255)
		3385	3622 1c00 E81B sub r30,r24
		3386	3623 1c02 F109 sbc r31,__zero_reg__
		3387	3624 1c04 E050 subi r30,lo8(-(Poti))
		3388	3625 1c06 F040 sbci r31,hi8(-(Poti))
		3389	3626 1c08 8081 ld r24,Z
		3390	3627 .L347:
		3391	3628 1c0a 8093 0000 sts Parameter_I_Faktor,r24
		3392	3629 1c0e 8091 0000 lds r24,EE_Parameter+41
		3393	3630 1c12 883F cpi r24,lo8(-8)
		3394	3631 1c14 00F0 brlo .L348
		3395	3632 1c16 EFEF ldi r30,lo8(255)
		3396	3633 1c18 F0E0 ldi r31,hi8(255)
		3397	3634 1c1a E81B sub r30,r24
		3398	3635 1c1c F109 sbc r31,__zero_reg__
		3399	3636 1c1e E050 subi r30,lo8(-(Poti))
		3400	3637 1c20 F040 sbci r31,hi8(-(Poti))
		3401	3638 1c22 8081 ld r24,Z
		3402	3639 .L348:
		3403	3640 1c24 8093 0000 sts Parameter_UserParam1,r24
		3404	3641 1c28 8091 0000 lds r24,EE_Parameter+42
		3405	3642 1c2c 883F cpi r24,lo8(-8)
		3406	3643 1c2e 00F0 brlo .L349
		3407	3644 1c30 EFEF ldi r30,lo8(255)
		3408	3645 1c32 F0E0 ldi r31,hi8(255)
		3409	3646 1c34 E81B sub r30,r24
		3410	3647 1c36 F109 sbc r31,__zero_reg__
		3411	3648 1c38 E050 subi r30,lo8(-(Poti))
		3412	3649 1c3a F040 sbci r31,hi8(-(Poti))
		3413	3650 1c3c 8081 ld r24,Z
		3414	3651 .L349:
		3415	3652 1c3e 8093 0000 sts Parameter_UserParam2,r24
		3416	3653 1c42 8091 0000 lds r24,EE_Parameter+43
		3417	3654 1c46 883F cpi r24,lo8(-8)
		3418	3655 1c48 00F0 brlo .L350
		3419	3656 1c4a EFEF ldi r30,lo8(255)
		3420	3657 1c4c F0E0 ldi r31,hi8(255)
		3421	3658 1c4e E81B sub r30,r24
		3422	3659 1c50 F109 sbc r31,__zero_reg__
		3423	3660 1c52 E050 subi r30,lo8(-(Poti))
		3424	3661 1c54 F040 sbci r31,hi8(-(Poti))
		3425	3662 1c56 8081 ld r24,Z
		3426	3663 .L350:
		3427	3664 1c58 8093 0000 sts Parameter_UserParam3,r24
		3428	3665 1c5c 8091 0000 lds r24,EE_Parameter+44
		3429	3666 1c60 883F cpi r24,lo8(-8)
		3430	3667 1c62 00F0 brlo .L351
		3431	3668 1c64 EFEF ldi r30,lo8(255)
		3432	3669 1c66 F0E0 ldi r31,hi8(255)
		3433	3670 1c68 E81B sub r30,r24
		3434	3671 1c6a F109 sbc r31,__zero_reg__
		3435	3672 1c6c E050 subi r30,lo8(-(Poti))
		3436	3673 1c6e F040 sbci r31,hi8(-(Poti))
		3437	3674 1c70 8081 ld r24,Z
		3438	3675 .L351:
		3439	3676 1c72 8093 0000 sts Parameter_UserParam4,r24
		3440	3677 1c76 8091 0000 lds r24,EE_Parameter+70
		3441	3678 1c7a 883F cpi r24,lo8(-8)
		3442	3679 1c7c 00F0 brlo .L352
		3443	3680 1c7e EFEF ldi r30,lo8(255)
		3444	3681 1c80 F0E0 ldi r31,hi8(255)
		3445	3682 1c82 E81B sub r30,r24
		3446	3683 1c84 F109 sbc r31,__zero_reg__
		3447	3684 1c86 E050 subi r30,lo8(-(Poti))
		3448	3685 1c88 F040 sbci r31,hi8(-(Poti))
		3449	3686 1c8a 8081 ld r24,Z
		3450	3687 .L352:
		3451	3688 1c8c 8093 0000 sts Parameter_UserParam5,r24
		3452	3689 1c90 8091 0000 lds r24,EE_Parameter+71
		3453	3690 1c94 883F cpi r24,lo8(-8)
		3454	3691 1c96 00F0 brlo .L353
		3455	3692 1c98 EFEF ldi r30,lo8(255)
		3456	3693 1c9a F0E0 ldi r31,hi8(255)
		3457	3694 1c9c E81B sub r30,r24
		3458	3695 1c9e F109 sbc r31,__zero_reg__
		3459	3696 1ca0 E050 subi r30,lo8(-(Poti))
		3460	3697 1ca2 F040 sbci r31,hi8(-(Poti))
		3461	3698 1ca4 8081 ld r24,Z
		3462	3699 .L353:
		3463	3700 1ca6 8093 0000 sts Parameter_UserParam6,r24
		3464	3701 1caa 8091 0000 lds r24,EE_Parameter+72
		3465	3702 1cae 883F cpi r24,lo8(-8)
		3466	3703 1cb0 00F0 brlo .L354
		3467	3704 1cb2 EFEF ldi r30,lo8(255)
		3468	3705 1cb4 F0E0 ldi r31,hi8(255)
		3469	3706 1cb6 E81B sub r30,r24
		3470	3707 1cb8 F109 sbc r31,__zero_reg__
		3471	3708 1cba E050 subi r30,lo8(-(Poti))
		3472	3709 1cbc F040 sbci r31,hi8(-(Poti))
		3473	3710 1cbe 8081 ld r24,Z
		3474	3711 .L354:
		3475	3712 1cc0 8093 0000 sts Parameter_UserParam7,r24
		3476	3713 1cc4 8091 0000 lds r24,EE_Parameter+73
		3477	3714 1cc8 883F cpi r24,lo8(-8)
		3478	3715 1cca 00F0 brlo .L355
		3479	3716 1ccc EFEF ldi r30,lo8(255)
		3480	3717 1cce F0E0 ldi r31,hi8(255)
		3481	3718 1cd0 E81B sub r30,r24
		3482	3719 1cd2 F109 sbc r31,__zero_reg__
		3483	3720 1cd4 E050 subi r30,lo8(-(Poti))
		3484	3721 1cd6 F040 sbci r31,hi8(-(Poti))
		3485	3722 1cd8 8081 ld r24,Z
		3486	3723 .L355:
		3487	3724 1cda 8093 0000 sts Parameter_UserParam8,r24
		3488	3725 1cde 8091 0000 lds r24,EE_Parameter+45
		3489	3726 1ce2 883F cpi r24,lo8(-8)
		3490	3727 1ce4 00F0 brlo .L356
		3491	3728 1ce6 EFEF ldi r30,lo8(255)
		3492	3729 1ce8 F0E0 ldi r31,hi8(255)
		3493	3730 1cea E81B sub r30,r24
		3494	3731 1cec F109 sbc r31,__zero_reg__
		3495	3732 1cee E050 subi r30,lo8(-(Poti))
		3496	3733 1cf0 F040 sbci r31,hi8(-(Poti))
		3497	3734 1cf2 8081 ld r24,Z
		3498	3735 .L356:
		3499	3736 1cf4 8093 0000 sts Parameter_ServoNickControl,r24
		3500	3737 1cf8 8091 0000 lds r24,EE_Parameter+49
		3501	3738 1cfc 883F cpi r24,lo8(-8)
		3502	3739 1cfe 00F0 brlo .L357
		3503	3740 1d00 EFEF ldi r30,lo8(255)
		3504	3741 1d02 F0E0 ldi r31,hi8(255)
		3505	3742 1d04 E81B sub r30,r24
		3506	3743 1d06 F109 sbc r31,__zero_reg__
		3507	3744 1d08 E050 subi r30,lo8(-(Poti))
		3508	3745 1d0a F040 sbci r31,hi8(-(Poti))
		3509	3746 1d0c 8081 ld r24,Z
		3510	3747 .L357:
		3511	3748 1d0e 8093 0000 sts Parameter_ServoRollControl,r24
		3512	3749 1d12 8091 0000 lds r24,EE_Parameter+46
		3513	3750 1d16 883F cpi r24,lo8(-8)
		3514	3751 1d18 00F0 brlo .L358
		3515	3752 1d1a EFEF ldi r30,lo8(255)
		3516	3753 1d1c F0E0 ldi r31,hi8(255)
		3517	3754 1d1e E81B sub r30,r24
		3518	3755 1d20 F109 sbc r31,__zero_reg__
		3519	3756 1d22 E050 subi r30,lo8(-(Poti))
		3520	3757 1d24 F040 sbci r31,hi8(-(Poti))
		3521	3758 1d26 8081 ld r24,Z
		3522	3759 .L358:
		3523	3760 1d28 8093 0000 sts Parameter_ServoNickComp,r24
		3524	3761 1d2c 8091 0000 lds r24,EE_Parameter+50
		3525	3762 1d30 883F cpi r24,lo8(-8)
		3526	3763 1d32 00F0 brlo .L359
		3527	3764 1d34 EFEF ldi r30,lo8(255)
		3528	3765 1d36 F0E0 ldi r31,hi8(255)
		3529	3766 1d38 E81B sub r30,r24
		3530	3767 1d3a F109 sbc r31,__zero_reg__
		3531	3768 1d3c E050 subi r30,lo8(-(Poti))
		3532	3769 1d3e F040 sbci r31,hi8(-(Poti))
		3533	3770 1d40 8081 ld r24,Z
		3534	3771 .L359:
		3535	3772 1d42 8093 0000 sts Parameter_ServoRollComp,r24
		3536	3773 1d46 8091 0000 lds r24,EE_Parameter+59
		3537	3774 1d4a 883F cpi r24,lo8(-8)
		3538	3775 1d4c 00F0 brlo .L360
		3539	3776 1d4e EFEF ldi r30,lo8(255)
		3540	3777 1d50 F0E0 ldi r31,hi8(255)
		3541	3778 1d52 E81B sub r30,r24
		3542	3779 1d54 F109 sbc r31,__zero_reg__
		3543	3780 1d56 E050 subi r30,lo8(-(Poti))
		3544	3781 1d58 F040 sbci r31,hi8(-(Poti))
		3545	3782 1d5a 8081 ld r24,Z
		3546	3783 .L360:
		3547	3784 1d5c 8093 0000 sts Parameter_LoopGasLimit,r24
		3548	3785 1d60 8091 0000 lds r24,EE_Parameter+62
		3549	3786 1d64 883F cpi r24,lo8(-8)
		3550	3787 1d66 00F0 brlo .L361
		3551	3788 1d68 EFEF ldi r30,lo8(255)
		3552	3789 1d6a F0E0 ldi r31,hi8(255)
		3553	3790 1d6c E81B sub r30,r24
		3554	3791 1d6e F109 sbc r31,__zero_reg__
		3555	3792 1d70 E050 subi r30,lo8(-(Poti))
		3556	3793 1d72 F040 sbci r31,hi8(-(Poti))
		3557	3794 1d74 8081 ld r24,Z
		3558	3795 .L361:
		3559	3796 1d76 8093 0000 sts Parameter_AchsKopplung1,r24
		3560	3797 1d7a 8091 0000 lds r24,EE_Parameter+63
		3561	3798 1d7e 883F cpi r24,lo8(-8)
		3562	3799 1d80 00F0 brlo .L362
		3563	3800 1d82 EFEF ldi r30,lo8(255)
		3564	3801 1d84 F0E0 ldi r31,hi8(255)
		3565	3802 1d86 E81B sub r30,r24
		3566	3803 1d88 F109 sbc r31,__zero_reg__
		3567	3804 1d8a E050 subi r30,lo8(-(Poti))
		3568	3805 1d8c F040 sbci r31,hi8(-(Poti))
		3569	3806 1d8e 8081 ld r24,Z
		3570	3807 .L362:
		3571	3808 1d90 8093 0000 sts Parameter_AchsKopplung2,r24
		3572	3809 1d94 8091 0000 lds r24,EE_Parameter+64
		3573	3810 1d98 883F cpi r24,lo8(-8)
		3574	3811 1d9a 00F0 brlo .L363
		3575	3812 1d9c EFEF ldi r30,lo8(255)
		3576	3813 1d9e F0E0 ldi r31,hi8(255)
		3577	3814 1da0 E81B sub r30,r24
		3578	3815 1da2 F109 sbc r31,__zero_reg__
		3579	3816 1da4 E050 subi r30,lo8(-(Poti))
		3580	3817 1da6 F040 sbci r31,hi8(-(Poti))
		3581	3818 1da8 8081 ld r24,Z
		3582	3819 .L363:
		3583	3820 1daa 8093 0000 sts Parameter_CouplingYawCorrection,r24
		3584	3821 1dae 8091 0000 lds r24,EE_Parameter+104
		3585	3822 1db2 883F cpi r24,lo8(-8)
		3586	3823 1db4 00F0 brlo .L364
		3587	3824 1db6 EFEF ldi r30,lo8(255)
		3588	3825 1db8 F0E0 ldi r31,hi8(255)
		3589	3826 1dba E81B sub r30,r24
		3590	3827 1dbc F109 sbc r31,__zero_reg__
		3591	3828 1dbe E050 subi r30,lo8(-(Poti))
		3592	3829 1dc0 F040 sbci r31,hi8(-(Poti))
		3593	3830 1dc2 8081 ld r24,Z
		3594	3831 .L364:
		3595	3832 1dc4 8093 0000 sts Parameter_MaximumAltitude,r24
		3596	3833 1dc8 9091 0000 lds r25,NC_To_FC_MaxAltitude
		3597	3834 1dcc 9923 tst r25
		3598	3835 1dce 01F0 breq .L305
		3599	3836 1dd0 8091 0000 lds r24,Parameter_MaximumAltitude
		3600	3837 1dd4 9817 cp r25,r24
		3601	3838 1dd6 00F0 brlo .L304
		3602	3839 .L305:
		3603	3840 1dd8 8091 0000 lds r24,Parameter_MaximumAltitude
		3604	3841 1ddc 8823 tst r24
		3605	3842 1dde 01F4 brne .L303
		3606	3843 .L304:
		3607	3844 1de0 9093 0000 sts Parameter_MaximumAltitude,r25
		3608	3845 .L303:
		3609	3846 1de4 8091 0000 lds r24,EE_Parameter+13
		3610	3847 1de8 8093 0000 sts Parameter_GlobalConfig,r24
		3611	3848 1dec 8091 0000 lds r24,EE_Parameter+110
		3612	3849 1df0 8093 0000 sts Parameter_ExtraConfig,r24
		3613	3850 1df4 8091 0000 lds r24,EE_Parameter+69
		3614	3851 1df8 883F cpi r24,lo8(-8)
		3615	3852 1dfa 00F0 brlo .L365
		3616	3853 1dfc EFEF ldi r30,lo8(255)
		3617	3854 1dfe F0E0 ldi r31,hi8(255)
		3618	3855 1e00 E81B sub r30,r24
		3619	3856 1e02 F109 sbc r31,__zero_reg__
		3620	3857 1e04 E050 subi r30,lo8(-(Poti))
		3621	3858 1e06 F040 sbci r31,hi8(-(Poti))
		3622	3859 1e08 8081 ld r24,Z
		3623	3860 .L365:
		3624	3861 1e0a 8093 0000 sts Parameter_DynamicStability,r24
		3625	3862 1e0e 8091 0000 lds r24,EE_Parameter+97
		3626	3863 1e12 883F cpi r24,lo8(-8)
		3627	3864 1e14 00F0 brlo .L366
		3628	3865 1e16 EFEF ldi r30,lo8(255)
		3629	3866 1e18 F0E0 ldi r31,hi8(255)
		3630	3867 1e1a E81B sub r30,r24
		3631	3868 1e1c F109 sbc r31,__zero_reg__
		3632	3869 1e1e E050 subi r30,lo8(-(Poti))
		3633	3870 1e20 F040 sbci r31,hi8(-(Poti))
		3634	3871 1e22 8081 ld r24,Z
		3635	3872 .L366:
		3636	3873 1e24 8093 0000 sts Parameter_ExternalControl,r24
		3637	3874 1e28 8091 0000 lds r24,Parameter_I_Faktor
		3638	3875 1e2c 282F mov r18,r24
		3639	3876 1e2e 3327 clr r19
		3640	3877 1e30 2F5F subi r18,lo8(-(1))
		3641	3878 1e32 3F4F sbci r19,hi8(-(1))
		3642	3879 1e34 8CE3 ldi r24,lo8(10300)
		3643	3880 1e36 98E2 ldi r25,hi8(10300)
		3644	3881 1e38 B901 movw r22,r18
		3645	3882 1e3a 0E94 0000 call __divmodhi4
		3646	3883 1e3e 7093 0000 sts (Ki)+1,r23
		3647	3884 1e42 6093 0000 sts Ki,r22
		3648	3885 1e46 8091 0000 lds r24,EE_Parameter+27
		3649	3886 1e4a 8093 0000 sts MAX_GAS,r24
		3650	3887 1e4e 8091 0000 lds r24,EE_Parameter+26
		3651	3888 1e52 8093 0000 sts MIN_GAS,r24
		3652	3889 1e56 9091 0000 lds r25,EE_Parameter+99
		3653	3890 1e5a 9333 cpi r25,lo8(51)
		3654	3891 1e5c 00F4 brsh .+2
		3655	3892 1e5e 00C0 rjmp .L310
		3656	3893 1e60 81E0 ldi r24,lo8(1)
		3657	3894 1e62 8093 0000 sts CareFree,r24
		3658	3895 1e66 983F cpi r25,lo8(-8)
		3659	3896 1e68 00F0 brlo .L311
		3660	3897 1e6a EFEF ldi r30,lo8(255)
		3661	3898 1e6c F0E0 ldi r31,hi8(255)
		3662	3899 1e6e E91B sub r30,r25
		3663	3900 1e70 F109 sbc r31,__zero_reg__
		3664	3901 1e72 E050 subi r30,lo8(-(Poti))
		3665	3902 1e74 F040 sbci r31,hi8(-(Poti))
		3666	3903 1e76 8081 ld r24,Z
		3667	3904 1e78 8233 cpi r24,lo8(50)
		3668	3905 1e7a 00F4 brsh .L311
		3669	3906 1e7c 1092 0000 sts CareFree,__zero_reg__
		3670	3907 .L311:
		3671	3908 1e80 8091 0000 lds r24,carefree_old
		3672	3909 1e84 2091 0000 lds r18,CareFree
		3673	3910 1e88 8217 cp r24,r18
		3674	3911 1e8a 01F0 breq .L312
		3675	3912 1e8c 8330 cpi r24,lo8(3)
		3676	3913 1e8e 00F4 brsh .L313
		3677	3914 1e90 3091 0000 lds r19,SpeakHoTT
		3678	3915 1e94 2223 tst r18
		3679	3916 1e96 01F0 breq .L314
		3680	3917 1e98 8CED ldi r24,lo8(1500)
		3681	3918 1e9a 95E0 ldi r25,hi8(1500)
		3682	3919 1e9c 9093 0000 sts (beeptime)+1,r25
		3683	3920 1ea0 8093 0000 sts beeptime,r24
		3684	3921 1ea4 3323 tst r19
		3685	3922 1ea6 01F4 brne .L316
		3686	3923 1ea8 8EE2 ldi r24,lo8(46)
		3687	3924 1eaa 00C0 rjmp .L367
		3688	3925 .L314:
		3689	3926 1eac 88EC ldi r24,lo8(200)
		3690	3927 1eae 90E0 ldi r25,hi8(200)
		3691	3928 1eb0 9093 0000 sts (beeptime)+1,r25
		3692	3929 1eb4 8093 0000 sts beeptime,r24
		3693	3930 1eb8 3323 tst r19
		3694	3931 1eba 01F4 brne .L316
		3695	3932 1ebc 87E1 ldi r24,lo8(23)
		3696	3933 .L367:
		3697	3934 1ebe 8093 0000 sts SpeakHoTT,r24
		3698	3935 .L316:
		3699	3936 1ec2 85E0 ldi r24,lo8(5)
		3700	3937 1ec4 8093 0000 sts NeueKompassRichtungMerken,r24
		3701	3938 1ec8 2093 0000 sts carefree_old,r18
		3702	3939 1ecc 00C0 rjmp .L312
		3703	3940 .L313:
		3704	3941 1ece 8150 subi r24,lo8(-(-1))
		3705	3942 1ed0 8093 0000 sts carefree_old,r24
		3706	3943 .L312:
		3707	3944 1ed4 8091 0000 lds r24,FromNaviCtrl+7
		3708	3945 1ed8 9091 0000 lds r25,(FromNaviCtrl+7)+1
		3709	3946 1edc 97FF sbrs r25,7
		3710	3947 1ede 00C0 rjmp .L320
		3711	3948 1ee0 8091 0000 lds r24,CareFree
		3712	3949 1ee4 8823 tst r24
		3713	3950 1ee6 01F0 breq .L320
		3714	3951 1ee8 8091 0000 lds r24,VersionInfo+5
		3715	3952 1eec 8068 ori r24,lo8(-128)
		3716	3953 1eee 8093 0000 sts VersionInfo+5,r24
		3717	3954 1ef2 00C0 rjmp .L320
		3718	3955 .L310:
		3719	3956 1ef4 1092 0000 sts CareFree,__zero_reg__
		3720	3957 1ef8 8AE0 ldi r24,lo8(10)
		3721	3958 1efa 8093 0000 sts carefree_old,r24
		3722	3959 .L320:
		3723	3960 1efe 8091 0000 lds r24,FromNaviCtrl+7
		3724	3961 1f02 9091 0000 lds r25,(FromNaviCtrl+7)+1
		3725	3962 1f06 97FF sbrs r25,7
		3726	3963 1f08 00C0 rjmp .L321
		3727	3964 1f0a 8091 0000 lds r24,MotorenEin
		3728	3965 1f0e 8823 tst r24
		3729	3966 1f10 01F0 breq .L321
		3730	3967 1f12 8091 0000 lds r24,CareFree
		3731	3968 1f16 8823 tst r24
		3732	3969 1f18 01F0 breq .L321
		3733	3970 1f1a 8091 0000 lds r24,BeepMuster
		3734	3971 1f1e 9091 0000 lds r25,(BeepMuster)+1
		3735	3972 1f22 8F5F subi r24,lo8(-1)
		3736	3973 1f24 9F4F sbci r25,hi8(-1)
		3737	3974 1f26 01F4 brne .L321
		3738	3975 1f28 88E9 ldi r24,lo8(15000)
		3739	3976 1f2a 9AE3 ldi r25,hi8(15000)
		3740	3977 1f2c 9093 0000 sts (beeptime)+1,r25
		3741	3978 1f30 8093 0000 sts beeptime,r24
		3742	3979 1f34 80E0 ldi r24,lo8(-23552)
		3743	3980 1f36 94EA ldi r25,hi8(-23552)
		3744	3981 1f38 9093 0000 sts (BeepMuster)+1,r25
		3745	3982 1f3c 8093 0000 sts BeepMuster,r24
		3746	3983 1f40 1092 0000 sts CareFree,__zero_reg__
		3747	3984 .L321:
		3748	3985 1f44 8091 0000 lds r24,CareFree
		3749	3986 1f48 8823 tst r24
		3750	3987 1f4a 01F0 breq .L322
		3751	3988 1f4c 8091 0000 lds r24,FC_StatusFlags2
		3752	3989 1f50 8160 ori r24,lo8(1)
		3753	3990 1f52 8093 0000 sts FC_StatusFlags2,r24
		3754	3991 1f56 8091 0000 lds r24,Parameter_AchsKopplung1
		3755	3992 1f5a 823D cpi r24,lo8(-46)
		3756	3993 1f5c 00F4 brsh .L190
		3757	3994 1f5e 825E subi r24,lo8(-(30))
		3758	3995 1f60 8093 0000 sts Parameter_AchsKopplung1,r24
		3759	3996 1f64 00C0 rjmp .L190
		3760	3997 .L322:
		3761	3998 1f66 8091 0000 lds r24,FC_StatusFlags2
		3762	3999 1f6a 8E7F andi r24,lo8(-2)
		3763	4000 1f6c 8093 0000 sts FC_StatusFlags2,r24
		3764	4001 .L190:
		3765	4002 /* epilogue: frame size=0 */
		3766	4003 1f70 DF91 pop r29
		3767	4004 1f72 CF91 pop r28
		3768	4005 1f74 0895 ret
		3769	4006 /* epilogue end (size=3) */
		3770	4007 /* function ParameterZuordnung size 798 (793) */
		3771	4009 .lcomm sollGier.0,4
		3772	4010 .lcomm tmp_long.1,4
		3773	4011 .lcomm tmp_long2.2,4
		3774	4012 .lcomm IntegralFehlerNick.3,4
		3775	4013 .lcomm IntegralFehlerRoll.4,4
		3776	4014 .lcomm RcLostTimer.5,2
		3777	4015 .lcomm delay_neutral.6,1
		3778	4016 .lcomm delay_einschalten.7,1
		3779	4017 .lcomm delay_ausschalten.8,1
		3780	4018 .lcomm move_safety_switch.9,1
		3781	4019 .lcomm ausgleichNick.10,4
		3782	4020 .lcomm ausgleichRoll.11,4
		3783	4021 .lcomm stick_nick.12,2
		3784	4022 .lcomm stick_roll.13,2
		3785	4023 .lcomm cnt.14,2
		3786	4024 .lcomm last_n_p.15,1
		3787	4025 .lcomm last_n_n.16,1
		3788	4026 .lcomm last_r_p.17,1
		3789	4027 .lcomm last_r_n.18,1
		3790	4028 .lcomm MittelIntegralNick_Alt.19,4
		3791	4029 .lcomm MittelIntegralRoll_Alt.20,4
		3792	4030 .lcomm HeightTrimming.21,2
		3793	4031 .lcomm FilterHCGas.22,2
		3794	4032 .lcomm HoverGasFilter.23,4
		3795	4033 .data
		3796	4036 delay.24:
		3797	4037 0051 64 .byte 100
		3798	4038 .lcomm BaroAtUpperLimit.25,1
		3799	4039 .lcomm BaroAtLowerLimit.26,1
		3800	4040 .text
		3801	4041 .global MotorRegler
		3802	4043 MotorRegler:
		3803	4044 /* prologue: frame size=23 */
		3804	4045 1f76 A7E1 ldi r26,lo8(23)
		3805	4046 1f78 B0E0 ldi r27,hi8(23)
		3806	4047 1f7a E0E0 ldi r30,pm_lo8(1f)
		3807	4048 1f7c F0E0 ldi r31,pm_hi8(1f)
		3808	4049 1f7e 0C94 0000 jmp __prologue_saves__+0
		3809	4050 1:
		3810	4051 /* prologue end (size=6) */
		3811	4052 1f82 0E94 0000 call Mittelwert
		3812	4053 1f86 8091 0000 lds r24,FC_StatusFlags
		3813	4054 1f8a 9927 clr r25
		3814	4055 1f8c 8471 andi r24,lo8(20)
		3815	4056 1f8e 9070 andi r25,hi8(20)
		3816	4057 1f90 892B or r24,r25
		3817	4058 1f92 01F4 brne .L371
		3818	4059 1f94 8091 0000 lds r24,EE_Parameter+111
		3819	4060 1f98 82FF sbrs r24,2
		3820	4061 1f9a 00C0 rjmp .L372
		3821	4062 1f9c 8091 0000 lds r24,HoverGas
		3822	4063 1fa0 9091 0000 lds r25,(HoverGas)+1
		3823	4064 1fa4 0097 sbiw r24,0
		3824	4065 1fa6 01F0 breq .L373
		3825	4066 1fa8 02E0 ldi r16,hi8(600)
		3826	4067 1faa 8835 cpi r24,lo8(600)
		3827	4068 1fac 9007 cpc r25,r16
		3828	4069 1fae 04F4 brge .L373
		3829	4070 1fb0 9C01 movw r18,r24
		3830	4071 1fb2 97FF sbrs r25,7
		3831	4072 1fb4 00C0 rjmp .L374
		3832	4073 1fb6 2D5F subi r18,lo8(-(3))
		3833	4074 1fb8 3F4F sbci r19,hi8(-(3))
		3834	4075 .L374:
		3835	4076 1fba 3595 asr r19
		3836	4077 1fbc 2795 ror r18
		3837	4078 1fbe 3595 asr r19
		3838	4079 1fc0 2795 ror r18
		3839	4080 1fc2 8091 0000 lds r24,EE_Parameter+37
		3840	4081 1fc6 9927 clr r25
		3841	4082 1fc8 289F mul r18,r24
		3842	4083 1fca A001 movw r20,r0
		3843	4084 1fcc 299F mul r18,r25
		3844	4085 1fce 500D add r21,r0
		3845	4086 1fd0 389F mul r19,r24
		3846	4087 1fd2 500D add r21,r0
		3847	4088 1fd4 1124 clr r1
		3848	4089 1fd6 CA01 movw r24,r20
		3849	4090 1fd8 64E6 ldi r22,lo8(100)
		3850	4091 1fda 70E0 ldi r23,hi8(100)
		3851	4092 1fdc 0E94 0000 call __divmodhi4
		3852	4093 1fe0 CB01 movw r24,r22
		3853	4094 1fe2 00C0 rjmp .L893
		3854	4095 .L373:
		3855	4096 1fe4 8DE2 ldi r24,lo8(45)
		3856	4097 1fe6 90E0 ldi r25,hi8(45)
		3857	4098 1fe8 00C0 rjmp .L893
		3858	4099 .L372:
		3859	4100 1fea 8091 0000 lds r24,EE_Parameter+37
		3860	4101 1fee 9927 clr r25
		3861	4102 .L893:
		3862	4103 1ff0 9093 0000 sts (HooverGasEmergencyPercent)+1,r25
		3863	4104 1ff4 8093 0000 sts HooverGasEmergencyPercent,r24
		3864	4105 .L371:
		3865	4106 1ff8 2091 0000 lds r18,GasIsZeroCnt
		3866	4107 1ffc 3091 0000 lds r19,(GasIsZeroCnt)+1
		3867	4108 2000 55E7 ldi r21,hi8(30000)
		3868	4109 2002 2033 cpi r18,lo8(30000)
		3869	4110 2004 3507 cpc r19,r21
		3870	4111 2006 01F4 brne .L377
		3871	4112 2008 1092 0000 sts (StickGas)+1,__zero_reg__
		3872	4113 200c 1092 0000 sts StickGas,__zero_reg__
		3873	4114 2010 8091 0000 lds r24,MIN_GAS
		3874	4115 2014 9927 clr r25
		3875	4116 2016 9093 0000 sts (HooverGasEmergencyPercent)+1,r25
		3876	4117 201a 8093 0000 sts HooverGasEmergencyPercent,r24
		3877	4118 .L377:
		3878	4119 201e 6091 0000 lds r22,StickGas
		3879	4120 2022 7091 0000 lds r23,(StickGas)+1
		3880	4121 2026 7A83 std Y+2,r23
		3881	4122 2028 6983 std Y+1,r22
		3882	4123 202a 8091 0000 lds r24,MIN_GAS
		3883	4124 202e 9927 clr r25
		3884	4125 2030 0A96 adiw r24,10
		3885	4126 2032 6817 cp r22,r24
		3886	4127 2034 7907 cpc r23,r25
		3887	4128 2036 04F4 brge .L378
		3888	4129 2038 9A83 std Y+2,r25
		3889	4130 203a 8983 std Y+1,r24
		3890	4131 .L378:
		3891	4132 203c 8091 0000 lds r24,SenderOkay
		3892	4133 2040 8436 cpi r24,lo8(100)
		3893	4134 2042 00F0 brlo .+2
		3894	4135 2044 00C0 rjmp .L379
		3895	4136 2046 8091 0000 lds r24,FC_StatusFlags2
		3896	4137 204a 82FD sbrc r24,2
		3897	4138 204c 00C0 rjmp .L379
		3898	4139 204e 8091 0000 lds r24,RcLostTimer.5
		3899	4140 2052 9091 0000 lds r25,(RcLostTimer.5)+1
		3900	4141 2056 0097 sbiw r24,0
		3901	4142 2058 01F0 breq .L380
		3902	4143 205a 0197 sbiw r24,1
		3903	4144 205c 9093 0000 sts (RcLostTimer.5)+1,r25
		3904	4145 2060 8093 0000 sts RcLostTimer.5,r24
		3905	4146 2064 00C0 rjmp .L381
		3906	4147 .L380:
		3907	4148 2066 1092 0000 sts MotorenEin,__zero_reg__
		3908	4149 206a 9093 0000 sts (modell_fliegt)+1,r25
		3909	4150 206e 8093 0000 sts modell_fliegt,r24
		3910	4151 2072 8091 0000 lds r24,FC_StatusFlags
		3911	4152 2076 8D7E andi r24,lo8(-19)
		3912	4153 2078 8093 0000 sts FC_StatusFlags,r24
		3913	4154 .L381:
		3914	4155 207c 8091 0000 lds r24,PlatinenVersion
		3915	4156 2080 8A30 cpi r24,lo8(10)
		3916	4157 2082 01F0 breq .L383
		3917	4158 2084 8431 cpi r24,lo8(20)
		3918	4159 2086 00F0 brlo .L382
		3919	4160 .L383:
		3920	4161 2088 289A sbi 37-0x20,0
		3921	4162 208a 00C0 rjmp .L384
		3922	4163 .L382:
		3923	4164 208c 2898 cbi 37-0x20,0
		3924	4165 .L384:
		3925	4166 208e 8091 0000 lds r24,modell_fliegt
		3926	4167 2092 9091 0000 lds r25,(modell_fliegt)+1
		3927	4168 2096 895E subi r24,lo8(1001)
		3928	4169 2098 9340 sbci r25,hi8(1001)
		3929	4170 209a 00F0 brlo .L385
		3930	4171 209c 8091 0000 lds r24,Capacity+6
		3931	4172 20a0 8536 cpi r24,lo8(101)
		3932	4173 20a2 00F0 brlo .L385
		3933	4174 20a4 8091 0000 lds r24,HooverGasEmergencyPercent
		3934	4175 20a8 9091 0000 lds r25,(HooverGasEmergencyPercent)+1
		3935	4176 20ac 9A83 std Y+2,r25
		3936	4177 20ae 8983 std Y+1,r24
		3937	4178 20b0 8091 0000 lds r24,FC_StatusFlags
		3938	4179 20b4 8061 ori r24,lo8(16)
		3939	4180 20b6 8093 0000 sts FC_StatusFlags,r24
		3940	4181 20ba 8091 0000 lds r24,EE_Parameter+1
		3941	4182 20be A82F mov r26,r24
		3942	4183 20c0 BB27 clr r27
		3943	4184 20c2 AA0F add r26,r26
		3944	4185 20c4 BB1F adc r27,r27
		3945	4186 20c6 FD01 movw r30,r26
		3946	4187 20c8 E050 subi r30,lo8(-(PPM_diff))
		3947	4188 20ca F040 sbci r31,hi8(-(PPM_diff))
		3948	4189 20cc 1182 std Z+1,__zero_reg__
		3949	4190 20ce 1082 st Z,__zero_reg__
		3950	4191 20d0 8091 0000 lds r24,EE_Parameter+2
		3951	4192 20d4 282F mov r18,r24
		3952	4193 20d6 3327 clr r19
		3953	4194 20d8 220F add r18,r18
		3954	4195 20da 331F adc r19,r19
		3955	4196 20dc C901 movw r24,r18
		3956	4197 20de 8050 subi r24,lo8(-(PPM_diff))
		3957	4198 20e0 9040 sbci r25,hi8(-(PPM_diff))
		3958	4199 20e2 FC01 movw r30,r24
		3959	4200 20e4 1182 std Z+1,__zero_reg__
		3960	4201 20e6 1082 st Z,__zero_reg__
		3961	4202 20e8 A050 subi r26,lo8(-(PPM_in))
		3962	4203 20ea B040 sbci r27,hi8(-(PPM_in))
		3963	4204 20ec 1196 adiw r26,1
		3964	4205 20ee 1C92 st X,__zero_reg__
		3965	4206 20f0 1E92 st -X,__zero_reg__
		3966	4207 20f2 2050 subi r18,lo8(-(PPM_in))
		3967	4208 20f4 3040 sbci r19,hi8(-(PPM_in))
		3968	4209 20f6 D901 movw r26,r18
		3969	4210 20f8 1196 adiw r26,1
		3970	4211 20fa 1C92 st X,__zero_reg__
		3971	4212 20fc 1E92 st -X,__zero_reg__
		3972	4213 20fe 8091 0000 lds r24,EE_Parameter+4
		3973	4214 2102 E82F mov r30,r24
		3974	4215 2104 FF27 clr r31
		3975	4216 2106 EE0F add r30,r30
		3976	4217 2108 FF1F adc r31,r31
		3977	4218 210a E050 subi r30,lo8(-(PPM_in))
		3978	4219 210c F040 sbci r31,hi8(-(PPM_in))
		3979	4220 210e 1182 std Z+1,__zero_reg__
		3980	4221 2110 1082 st Z,__zero_reg__
		3981	4222 2112 00C0 rjmp .L387
		3982	4223 .L385:
		3983	4224 2114 1092 0000 sts MotorenEin,__zero_reg__
		3984	4225 2118 00C0 rjmp .L387
		3985	4226 .L379:
		3986	4227 211a 8091 0000 lds r24,SenderOkay
		3987	4228 211e 8D38 cpi r24,lo8(-115)
		3988	4229 2120 00F4 brsh .+2
		3989	4230 2122 00C0 rjmp .L388
		3990	4231 2124 8091 0000 lds r24,FC_StatusFlags
		3991	4232 2128 8F7E andi r24,lo8(-17)
		3992	4233 212a 8093 0000 sts FC_StatusFlags,r24
		3993	4234 212e 9091 0000 lds r25,EE_Parameter+38
		3994	4235 2132 82E3 ldi r24,lo8(50)
		3995	4236 2134 989F mul r25,r24
		3996	4237 2136 C001 movw r24,r0
		3997	4238 2138 1124 clr r1
		3998	4239 213a 9093 0000 sts (RcLostTimer.5)+1,r25
		3999	4240 213e 8093 0000 sts RcLostTimer.5,r24
		4000	4241 2142 E981 ldd r30,Y+1
		4001	4242 2144 FA81 ldd r31,Y+2
		4002	4243 2146 B997 sbiw r30,41
		4003	4244 2148 04F0 brlt .L389
		4004	4245 214a 8091 0000 lds r24,MotorenEin
		4005	4246 214e 8823 tst r24
		4006	4247 2150 01F0 breq .L389
		4007	4248 2152 8091 0000 lds r24,modell_fliegt
		4008	4249 2156 9091 0000 lds r25,(modell_fliegt)+1
		4009	4250 215a FFEF ldi r31,hi8(-1)
		4010	4251 215c 8F3F cpi r24,lo8(-1)
		4011	4252 215e 9F07 cpc r25,r31
		4012	4253 2160 01F0 breq .L389
		4013	4254 2162 0196 adiw r24,1
		4014	4255 2164 9093 0000 sts (modell_fliegt)+1,r25
		4015	4256 2168 8093 0000 sts modell_fliegt,r24
		4016	4257 .L389:
		4017	4258 216c 8091 0000 lds r24,modell_fliegt
		4018	4259 2170 9091 0000 lds r25,(modell_fliegt)+1
		4019	4260 2174 8F3F cpi r24,255
		4020	4261 2176 9105 cpc r25,__zero_reg__
		4021	4262 2178 01F0 breq .+2
		4022	4263 217a 00F4 brsh .L391
		4023	4264 217c 1092 0000 sts SummeNick,__zero_reg__
		4024	4265 2180 1092 0000 sts (SummeNick)+1,__zero_reg__
		4025	4266 2184 1092 0000 sts (SummeNick)+2,__zero_reg__
		4026	4267 2188 1092 0000 sts (SummeNick)+3,__zero_reg__
		4027	4268 218c 1092 0000 sts SummeRoll,__zero_reg__
		4028	4269 2190 1092 0000 sts (SummeRoll)+1,__zero_reg__
		4029	4270 2194 1092 0000 sts (SummeRoll)+2,__zero_reg__
		4030	4271 2198 1092 0000 sts (SummeRoll)+3,__zero_reg__
		4031	4272 219c 1092 0000 sts sollGier.0,__zero_reg__
		4032	4273 21a0 1092 0000 sts (sollGier.0)+1,__zero_reg__
		4033	4274 21a4 1092 0000 sts (sollGier.0)+2,__zero_reg__
		4034	4275 21a8 1092 0000 sts (sollGier.0)+3,__zero_reg__
		4035	4276 21ac 1092 0000 sts Mess_Integral_Gier,__zero_reg__
		4036	4277 21b0 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
		4037	4278 21b4 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
		4038	4279 21b8 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__
		4039	4280 21bc 00C0 rjmp .L392
		4040	4281 .L391:
		4041	4282 21be 8091 0000 lds r24,FC_StatusFlags
		4042	4283 21c2 8260 ori r24,lo8(2)
		4043	4284 21c4 8093 0000 sts FC_StatusFlags,r24
		4044	4285 .L392:
		4045	4286 21c8 8091 0000 lds r24,EE_Parameter+3
		4046	4287 21cc E82F mov r30,r24
		4047	4288 21ce FF27 clr r31
		4048	4289 21d0 EE0F add r30,r30
		4049	4290 21d2 FF1F adc r31,r31
		4050	4291 21d4 E050 subi r30,lo8(-(PPM_in))
		4051	4292 21d6 F040 sbci r31,hi8(-(PPM_in))
		4052	4293 21d8 8081 ld r24,Z
		4053	4294 21da 9181 ldd r25,Z+1
		4054	4295 21dc 8135 cpi r24,81
		4055	4296 21de 9105 cpc r25,__zero_reg__
		4056	4297 21e0 04F4 brge .+2
		4057	4298 21e2 00C0 rjmp .L393
		4058	4299 21e4 2091 0000 lds r18,MotorenEin
		4059	4300 21e8 2223 tst r18
		4060	4301 21ea 01F0 breq .+2
		4061	4302 21ec 00C0 rjmp .L393
		4062	4303 21ee 8091 0000 lds r24,EE_Parameter+4
		4063	4304 21f2 E82F mov r30,r24
		4064	4305 21f4 FF27 clr r31
		4065	4306 21f6 EE0F add r30,r30
		4066	4307 21f8 FF1F adc r31,r31
		4067	4308 21fa E050 subi r30,lo8(-(PPM_in))
		4068	4309 21fc F040 sbci r31,hi8(-(PPM_in))
		4069	4310 21fe 8081 ld r24,Z
		4070	4311 2200 9181 ldd r25,Z+1
		4071	4312 2202 8C34 cpi r24,76
		4072	4313 2204 9105 cpc r25,__zero_reg__
		4073	4314 2206 04F4 brge .+2
		4074	4315 2208 00C0 rjmp .L394
		4075	4316 220a 8091 0000 lds r24,delay_neutral.6
		4076	4317 220e 8F5F subi r24,lo8(-(1))
		4077	4318 2210 8093 0000 sts delay_neutral.6,r24
		4078	4319 2214 893C cpi r24,lo8(-55)
		4079	4320 2216 00F4 brsh .+2
		4080	4321 2218 00C0 rjmp .L393
		4081	4322 221a 2093 0000 sts delay_neutral.6,r18
		4082	4323 221e 1092 0000 sts (modell_fliegt)+1,__zero_reg__
		4083	4324 2222 1092 0000 sts modell_fliegt,__zero_reg__
		4084	4325 2226 3091 0000 lds r19,EE_Parameter+1
		4085	4326 222a E32F mov r30,r19
		4086	4327 222c FF27 clr r31
		4087	4328 222e EE0F add r30,r30
		4088	4329 2230 FF1F adc r31,r31
		4089	4330 2232 E050 subi r30,lo8(-(PPM_in))
		4090	4331 2234 F040 sbci r31,hi8(-(PPM_in))
		4091	4332 2236 8081 ld r24,Z
		4092	4333 2238 9181 ldd r25,Z+1
		4093	4334 223a 8734 cpi r24,71
		4094	4335 223c 9105 cpc r25,__zero_reg__
		4095	4336 223e 04F4 brge .L397
		4096	4337 2240 8091 0000 lds r24,EE_Parameter+2
		4097	4338 2244 E82F mov r30,r24
		4098	4339 2246 FF27 clr r31
		4099	4340 2248 EE0F add r30,r30
		4100	4341 224a FF1F adc r31,r31
		4101	4342 224c E050 subi r30,lo8(-(PPM_in))
		4102	4343 224e F040 sbci r31,hi8(-(PPM_in))
		4103	4344 2250 8081 ld r24,Z
		4104	4345 2252 9181 ldd r25,Z+1
		4105	4346 2254 0190 ld __tmp_reg__,Z+
		4106	4347 2256 F081 ld r31,Z
		4107	4348 2258 E02D mov r30,__tmp_reg__
		4108	4349 225a F7FF sbrs r31,7
		4109	4350 225c 00C0 rjmp .L398
		4110	4351 225e F095 com r31
		4111	4352 2260 E195 neg r30
		4112	4353 2262 FF4F sbci r31,lo8(-1)
		4113	4354 .L398:
		4114	4355 2264 E734 cpi r30,71
		4115	4356 2266 F105 cpc r31,__zero_reg__
		4116	4357 2268 04F4 brge .+2
		4117	4358 226a 00C0 rjmp .L396
		4118	4359 .L397:
		4119	4360 226c 41E0 ldi r20,lo8(1)
		4120	4361 226e 2091 0000 lds r18,EE_Parameter+2
		4121	4362 2272 A22F mov r26,r18
		4122	4363 2274 BB27 clr r27
		4123	4364 2276 AA0F add r26,r26
		4124	4365 2278 BB1F adc r27,r27
		4125	4366 227a A050 subi r26,lo8(-(PPM_in))
		4126	4367 227c B040 sbci r27,hi8(-(PPM_in))
		4127	4368 227e 8D91 ld r24,X+
		4128	4369 2280 9C91 ld r25,X
		4129	4370 2282 1197 sbiw r26,1
		4130	4371 2284 8734 cpi r24,71
		4131	4372 2286 9105 cpc r25,__zero_reg__
		4132	4373 2288 04F0 brlt .L399
		4133	4374 228a E32F mov r30,r19
		4134	4375 228c FF27 clr r31
		4135	4376 228e EE0F add r30,r30
		4136	4377 2290 FF1F adc r31,r31
		4137	4378 2292 E050 subi r30,lo8(-(PPM_in))
		4138	4379 2294 F040 sbci r31,hi8(-(PPM_in))
		4139	4380 2296 8081 ld r24,Z
		4140	4381 2298 9181 ldd r25,Z+1
		4141	4382 .L399:
		4142	4383 229a 8D91 ld r24,X+
		4143	4384 229c 9C91 ld r25,X
		4144	4385 229e 8734 cpi r24,71
		4145	4386 22a0 9105 cpc r25,__zero_reg__
		4146	4387 22a2 04F0 brlt .L400
		4147	4388 22a4 8091 0000 lds r24,EE_Parameter+1
		4148	4389 22a8 E82F mov r30,r24
		4149	4390 22aa FF27 clr r31
		4150	4391 22ac EE0F add r30,r30
		4151	4392 22ae FF1F adc r31,r31
		4152	4393 22b0 E050 subi r30,lo8(-(PPM_in))
		4153	4394 22b2 F040 sbci r31,hi8(-(PPM_in))
		4154	4395 22b4 8081 ld r24,Z
		4155	4396 22b6 9181 ldd r25,Z+1
		4156	4397 22b8 8734 cpi r24,71
		4157	4398 22ba 9105 cpc r25,__zero_reg__
		4158	4399 22bc 04F0 brlt .L400
		4159	4400 22be 42E0 ldi r20,lo8(2)
		4160	4401 .L400:
		4161	4402 22c0 E22F mov r30,r18
		4162	4403 22c2 FF27 clr r31
		4163	4404 22c4 EE0F add r30,r30
		4164	4405 22c6 FF1F adc r31,r31
		4165	4406 22c8 E050 subi r30,lo8(-(PPM_in))
		4166	4407 22ca F040 sbci r31,hi8(-(PPM_in))
		4167	4408 22cc 8081 ld r24,Z
		4168	4409 22ce 9181 ldd r25,Z+1
		4169	4410 22d0 8634 cpi r24,70
		4170	4411 22d2 9105 cpc r25,__zero_reg__
		4171	4412 22d4 04F4 brge .L401
		4172	4413 22d6 8091 0000 lds r24,EE_Parameter+1
		4173	4414 22da E82F mov r30,r24
		4174	4415 22dc FF27 clr r31
		4175	4416 22de EE0F add r30,r30
		4176	4417 22e0 FF1F adc r31,r31
		4177	4418 22e2 E050 subi r30,lo8(-(PPM_in))
		4178	4419 22e4 F040 sbci r31,hi8(-(PPM_in))
		4179	4420 22e6 8081 ld r24,Z
		4180	4421 22e8 9181 ldd r25,Z+1
		4181	4422 22ea 8734 cpi r24,71
		4182	4423 22ec 9105 cpc r25,__zero_reg__
		4183	4424 22ee 04F0 brlt .L401
		4184	4425 22f0 43E0 ldi r20,lo8(3)
		4185	4426 .L401:
		4186	4427 22f2 E22F mov r30,r18
		4187	4428 22f4 FF27 clr r31
		4188	4429 22f6 EE0F add r30,r30
		4189	4430 22f8 FF1F adc r31,r31
		4190	4431 22fa E050 subi r30,lo8(-(PPM_in))
		4191	4432 22fc F040 sbci r31,hi8(-(PPM_in))
		4192	4433 22fe 8081 ld r24,Z
		4193	4434 2300 9181 ldd r25,Z+1
		4194	4435 2302 8A5B subi r24,lo8(-70)
		4195	4436 2304 9F4F sbci r25,hi8(-70)
		4196	4437 2306 04F4 brge .L402
		4197	4438 2308 8091 0000 lds r24,EE_Parameter+1
		4198	4439 230c E82F mov r30,r24
		4199	4440 230e FF27 clr r31
		4200	4441 2310 EE0F add r30,r30
		4201	4442 2312 FF1F adc r31,r31
		4202	4443 2314 E050 subi r30,lo8(-(PPM_in))
		4203	4444 2316 F040 sbci r31,hi8(-(PPM_in))
		4204	4445 2318 8081 ld r24,Z
		4205	4446 231a 9181 ldd r25,Z+1
		4206	4447 231c 8734 cpi r24,71
		4207	4448 231e 9105 cpc r25,__zero_reg__
		4208	4449 2320 04F0 brlt .L402
		4209	4450 2322 44E0 ldi r20,lo8(4)
		4210	4451 .L402:
		4211	4452 2324 E22F mov r30,r18
		4212	4453 2326 FF27 clr r31
		4213	4454 2328 EE0F add r30,r30
		4214	4455 232a FF1F adc r31,r31
		4215	4456 232c E050 subi r30,lo8(-(PPM_in))
		4216	4457 232e F040 sbci r31,hi8(-(PPM_in))
		4217	4458 2330 8081 ld r24,Z
		4218	4459 2332 9181 ldd r25,Z+1
		4219	4460 2334 8A5B subi r24,lo8(-70)
		4220	4461 2336 9F4F sbci r25,hi8(-70)
		4221	4462 2338 04F4 brge .L403
		4222	4463 233a 8091 0000 lds r24,EE_Parameter+1
		4223	4464 233e E82F mov r30,r24
		4224	4465 2340 FF27 clr r31
		4225	4466 2342 EE0F add r30,r30
		4226	4467 2344 FF1F adc r31,r31
		4227	4468 2346 E050 subi r30,lo8(-(PPM_in))
		4228	4469 2348 F040 sbci r31,hi8(-(PPM_in))
		4229	4470 234a 8081 ld r24,Z
		4230	4471 234c 9181 ldd r25,Z+1
		4231	4472 234e 8634 cpi r24,70
		4232	4473 2350 9105 cpc r25,__zero_reg__
		4233	4474 2352 04F4 brge .L403
		4234	4475 2354 45E0 ldi r20,lo8(5)
		4235	4476 .L403:
		4236	4477 2356 842F mov r24,r20
		4237	4478 2358 0E94 0000 call SetActiveParamSet
		4238	4479 .L396:
		4239	4480 235c 8091 0000 lds r24,EE_Parameter+2
		4240	4481 2360 E82F mov r30,r24
		4241	4482 2362 FF27 clr r31
		4242	4483 2364 EE0F add r30,r30
		4243	4484 2366 FF1F adc r31,r31
		4244	4485 2368 E050 subi r30,lo8(-(PPM_in))
		4245	4486 236a F040 sbci r31,hi8(-(PPM_in))
		4246	4487 236c 8081 ld r24,Z
		4247	4488 236e 9181 ldd r25,Z+1
		4248	4489 2370 0190 ld __tmp_reg__,Z+
		4249	4490 2372 F081 ld r31,Z
		4250	4491 2374 E02D mov r30,__tmp_reg__
		4251	4492 2376 F7FF sbrs r31,7
		4252	4493 2378 00C0 rjmp .L405
		4253	4494 237a F095 com r31
		4254	4495 237c E195 neg r30
		4255	4496 237e FF4F sbci r31,lo8(-1)
		4256	4497 .L405:
		4257	4498 2380 7E97 sbiw r30,30
		4258	4499 2382 04F4 brge .L404
		4259	4500 2384 8091 0000 lds r24,EE_Parameter+1
		4260	4501 2388 E82F mov r30,r24
		4261	4502 238a FF27 clr r31
		4262	4503 238c EE0F add r30,r30
		4263	4504 238e FF1F adc r31,r31
		4264	4505 2390 E050 subi r30,lo8(-(PPM_in))
		4265	4506 2392 F040 sbci r31,hi8(-(PPM_in))
		4266	4507 2394 8081 ld r24,Z
		4267	4508 2396 9181 ldd r25,Z+1
		4268	4509 2398 8A5B subi r24,lo8(-70)
		4269	4510 239a 9F4F sbci r25,hi8(-70)
		4270	4511 239c 04F4 brge .L404
		4271	4512 239e 81E0 ldi r24,lo8(1)
		4272	4513 23a0 8093 0000 sts WinkelOut+6,r24
		4273	4514 23a4 1092 0000 sts CalibrationDone,__zero_reg__
		4274	4515 23a8 88EE ldi r24,lo8(1000)
		4275	4516 23aa 93E0 ldi r25,hi8(1000)
		4276	4517 23ac 9093 0000 sts (beeptime)+1,r25
		4277	4518 23b0 8093 0000 sts beeptime,r24
		4278	4519 23b4 00C0 rjmp .L393
		4279	4520 .L404:
		4280	4521 23b6 0E94 0000 call GetActiveParamSet
		4281	4522 23ba 0E94 0000 call ParamSet_ReadFromEEProm
		4282	4523 23be 80E0 ldi r24,lo8(0)
		4283	4524 23c0 0E94 0000 call LipoDetection
		4284	4525 23c4 8091 0000 lds r24,EE_Parameter+39
		4285	4526 23c8 0E94 0000 call LIBFC_ReceiverInit
		4286	4527 23cc 8091 0000 lds r24,Parameter_GlobalConfig
		4287	4528 23d0 80FF sbrs r24,0
		4288	4529 23d2 00C0 rjmp .L407
		4289	4530 23d4 8091 0000 lds r24,MessLuftdruck
		4290	4531 23d8 9091 0000 lds r25,(MessLuftdruck)+1
		4291	4532 23dc 875B subi r24,lo8(951)
		4292	4533 23de 9340 sbci r25,hi8(951)
		4293	4534 23e0 00F4 brsh .L409
		4294	4535 23e2 8091 0000 lds r24,MessLuftdruck
		4295	4536 23e6 9091 0000 lds r25,(MessLuftdruck)+1
		4296	4537 23ea 8E5E subi r24,lo8(750)
		4297	4538 23ec 9240 sbci r25,hi8(750)
		4298	4539 23ee 00F4 brsh .L407
		4299	4540 .L409:
		4300	4541 23f0 0E94 0000 call SucheLuftruckOffset
		4301	4542 .L407:
		4302	4543 23f4 80E0 ldi r24,lo8(0)
		4303	4544 23f6 0E94 0000 call SetNeutral
		4304	4545 23fa 81E0 ldi r24,lo8(1)
		4305	4546 23fc 8093 0000 sts CalibrationDone,r24
		4306	4547 2400 8093 0000 sts ServoActive,r24
		4307	4548 2404 579A sbi 42-0x20,7
		4308	4549 2406 00C0 rjmp .L894
		4309	4550 .L394:
		4310	4551 2408 8081 ld r24,Z
		4311	4552 240a 9181 ldd r25,Z+1
		4312	4553 240c 855B subi r24,lo8(-75)
		4313	4554 240e 9F4F sbci r25,hi8(-75)
		4314	4555 2410 04F4 brge .L411
		4315	4556 2412 8091 0000 lds r24,delay_neutral.6
		4316	4557 2416 8F5F subi r24,lo8(-(1))
		4317	4558 2418 8093 0000 sts delay_neutral.6,r24
		4318	4559 241c 893C cpi r24,lo8(-55)
		4319	4560 241e 00F0 brlo .L393
		4320	4561 2420 2093 0000 sts MotorenEin,r18
		4321	4562 2424 2093 0000 sts delay_neutral.6,r18
		4322	4563 2428 1092 0000 sts (modell_fliegt)+1,__zero_reg__
		4323	4564 242c 1092 0000 sts modell_fliegt,__zero_reg__
		4324	4565 2430 81E0 ldi r24,lo8(1)
		4325	4566 2432 0E94 0000 call SetNeutral
		4326	4567 2436 81E0 ldi r24,lo8(1)
		4327	4568 2438 8093 0000 sts CalibrationDone,r24
		4328	4569 .L894:
		4329	4570 243c 88E1 ldi r24,lo8(24)
		4330	4571 243e 8093 0000 sts SpeakHoTT,r24
		4331	4572 2442 0E94 0000 call GetActiveParamSet
		4332	4573 2446 68E7 ldi r22,lo8(120)
		4333	4574 2448 70E0 ldi r23,hi8(120)
		4334	4575 244a 0E94 0000 call Piep
		4335	4576 244e 00C0 rjmp .L393
		4336	4577 .L411:
		4337	4578 2450 2093 0000 sts delay_neutral.6,r18
		4338	4579 .L393:
		4339	4580 2454 8091 0000 lds r24,EE_Parameter+3
		4340	4581 2458 E82F mov r30,r24
		4341	4582 245a FF27 clr r31
		4342	4583 245c EE0F add r30,r30
		4343	4584 245e FF1F adc r31,r31
		4344	4585 2460 E050 subi r30,lo8(-(PPM_in))
		4345	4586 2462 F040 sbci r31,hi8(-(PPM_in))
		4346	4587 2464 8081 ld r24,Z
		4347	4588 2466 9181 ldd r25,Z+1
		4348	4589 2468 8B5A subi r24,lo8(-85)
		4349	4590 246a 9F4F sbci r25,hi8(-85)
		4350	4591 246c 04F0 brlt .+2
		4351	4592 246e 00C0 rjmp .L414
		4352	4593 2470 2091 0000 lds r18,EE_Parameter+100
		4353	4594 2474 E22F mov r30,r18
		4354	4595 2476 FF27 clr r31
		4355	4596 2478 EF77 andi r30,lo8(127)
		4356	4597 247a F070 andi r31,hi8(127)
		4357	4598 247c EE0F add r30,r30
		4358	4599 247e FF1F adc r31,r31
		4359	4600 2480 E050 subi r30,lo8(-(PPM_diff))
		4360	4601 2482 F040 sbci r31,hi8(-(PPM_diff))
		4361	4602 2484 8081 ld r24,Z
		4362	4603 2486 9181 ldd r25,Z+1
		4363	4604 2488 0697 sbiw r24,6
		4364	4605 248a 04F0 brlt .L415
		4365	4606 248c 84E6 ldi r24,lo8(100)
		4366	4607 248e 00C0 rjmp .L895
		4367	4608 .L415:
		4368	4609 2490 8081 ld r24,Z
		4369	4610 2492 9181 ldd r25,Z+1
		4370	4611 2494 8B5F subi r24,lo8(-5)
		4371	4612 2496 9F4F sbci r25,hi8(-5)
		4372	4613 2498 04F4 brge .L416
		4373	4614 249a 8CE9 ldi r24,lo8(-100)
		4374	4615 .L895:
		4375	4616 249c 8093 0000 sts move_safety_switch.9,r24
		4376	4617 .L416:
		4377	4618 24a0 8091 0000 lds r24,MotorenEin
		4378	4619 24a4 E091 0000 lds r30,EE_Parameter+4
		4379	4620 24a8 8823 tst r24
		4380	4621 24aa 01F0 breq .+2
		4381	4622 24ac 00C0 rjmp .L418
		4382	4623 24ae FF27 clr r31
		4383	4624 24b0 EE0F add r30,r30
		4384	4625 24b2 FF1F adc r31,r31
		4385	4626 24b4 E050 subi r30,lo8(-(PPM_in))
		4386	4627 24b6 F040 sbci r31,hi8(-(PPM_in))
		4387	4628 24b8 8081 ld r24,Z
		4388	4629 24ba 9181 ldd r25,Z+1
		4389	4630 24bc 855B subi r24,lo8(-75)
		4390	4631 24be 9F4F sbci r25,hi8(-75)
		4391	4632 24c0 04F4 brge .L421
		4392	4633 24c2 8091 0000 lds r24,EE_Parameter+111
		4393	4634 24c6 83FD sbrc r24,3
		4394	4635 24c8 00C0 rjmp .L422
		4395	4636 24ca E22F mov r30,r18
		4396	4637 24cc FF27 clr r31
		4397	4638 24ce EE0F add r30,r30
		4398	4639 24d0 FF1F adc r31,r31
		4399	4640 24d2 E050 subi r30,lo8(-(PPM_in))
		4400	4641 24d4 F040 sbci r31,hi8(-(PPM_in))
		4401	4642 24d6 8081 ld r24,Z
		4402	4643 24d8 9181 ldd r25,Z+1
		4403	4644 24da 855B subi r24,lo8(-75)
		4404	4645 24dc 9F4F sbci r25,hi8(-75)
		4405	4646 24de 04F0 brlt .L420
		4406	4647 .L422:
		4407	4648 24e0 8091 0000 lds r24,EE_Parameter+100
		4408	4649 24e4 8823 tst r24
		4409	4650 24e6 01F0 breq .L420
		4410	4651 .L421:
		4411	4652 24e8 8091 0000 lds r24,EE_Parameter+111
		4412	4653 24ec 83FF sbrs r24,3
		4413	4654 24ee 00C0 rjmp .L419
		4414	4655 24f0 8091 0000 lds r24,EE_Parameter+100
		4415	4656 24f4 E82F mov r30,r24
		4416	4657 24f6 FF27 clr r31
		4417	4658 24f8 EE0F add r30,r30
		4418	4659 24fa FF1F adc r31,r31
		4419	4660 24fc E050 subi r30,lo8(-(PPM_in))
		4420	4661 24fe F040 sbci r31,hi8(-(PPM_in))
		4421	4662 2500 8081 ld r24,Z
		4422	4663 2502 9181 ldd r25,Z+1
		4423	4664 2504 875F subi r24,lo8(-9)
		4424	4665 2506 9F4F sbci r25,hi8(-9)
		4425	4666 2508 04F4 brge .+2
		4426	4667 250a 00C0 rjmp .L419
		4427	4668 250c 8091 0000 lds r24,move_safety_switch.9
		4428	4669 2510 8436 cpi r24,lo8(100)
		4429	4670 2512 01F0 breq .+2
		4430	4671 2514 00C0 rjmp .L419
		4431	4672 .L420:
		4432	4673 2516 2091 0000 lds r18,CalibrationDone
		4433	4674 251a 2223 tst r18
		4434	4675 251c 01F0 breq .L423
		4435	4676 251e 8091 0000 lds r24,FC_StatusFlags
		4436	4677 2522 8860 ori r24,lo8(8)
		4437	4678 2524 8093 0000 sts FC_StatusFlags,r24
		4438	4679 .L423:
		4439	4680 2528 8091 0000 lds r24,delay_einschalten.7
		4440	4681 252c 8F5F subi r24,lo8(-(1))
		4441	4682 252e 8093 0000 sts delay_einschalten.7,r24
		4442	4683 2532 8E3F cpi r24,lo8(-2)
		4443	4684 2534 00F4 brsh .+2
		4444	4685 2536 00C0 rjmp .L429
		4445	4686 2538 1092 0000 sts delay_einschalten.7,__zero_reg__
		4446	4687 253c 8091 0000 lds r24,VersionInfo+5
		4447	4688 2540 8823 tst r24
		4448	4689 2542 01F0 breq .+2
		4449	4690 2544 00C0 rjmp .L425
		4450	4691 2546 2223 tst r18
		4451	4692 2548 01F4 brne .+2
		4452	4693 254a 00C0 rjmp .L425
		4453	4694 254c 8091 0000 lds r24,NC_ErrorCode
		4454	4695 2550 8823 tst r24
		4455	4696 2552 01F0 breq .+2
		4456	4697 2554 00C0 rjmp .L425
		4457	4698 2556 81E0 ldi r24,lo8(1)
		4458	4699 2558 90E0 ldi r25,hi8(1)
		4459	4700 255a 9093 0000 sts (modell_fliegt)+1,r25
		4460	4701 255e 8093 0000 sts modell_fliegt,r24
		4461	4702 2562 81E0 ldi r24,lo8(1)
		4462	4703 2564 8093 0000 sts MotorenEin,r24
		4463	4704 2568 1092 0000 sts sollGier.0,__zero_reg__
		4464	4705 256c 1092 0000 sts (sollGier.0)+1,__zero_reg__
		4465	4706 2570 1092 0000 sts (sollGier.0)+2,__zero_reg__
		4466	4707 2574 1092 0000 sts (sollGier.0)+3,__zero_reg__
		4467	4708 2578 1092 0000 sts Mess_Integral_Gier,__zero_reg__
		4468	4709 257c 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
		4469	4710 2580 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
		4470	4711 2584 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__
		4471	4712 2588 1092 0000 sts Mess_Integral_Gier2,__zero_reg__
		4472	4713 258c 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__
		4473	4714 2590 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__
		4474	4715 2594 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__
		4475	4716 2598 8091 0000 lds r24,EE_Parameter+28
		4476	4717 259c E82E mov r14,r24
		4477	4718 259e FF24 clr r15
		4478	4719 25a0 0027 clr r16
		4479	4720 25a2 1127 clr r17
		4480	4721 25a4 8091 0000 lds r24,Mittelwert_AccNick
		4481	4722 25a8 9091 0000 lds r25,(Mittelwert_AccNick)+1
		4482	4723 25ac 9C01 movw r18,r24
		4483	4724 25ae 4427 clr r20
		4484	4725 25b0 37FD sbrc r19,7
		4485	4726 25b2 4095 com r20
		4486	4727 25b4 542F mov r21,r20
		4487	4728 25b6 C801 movw r24,r16
		4488	4729 25b8 B701 movw r22,r14
		4489	4730 25ba 0E94 0000 call __mulsi3
		4490	4731 25be DC01 movw r26,r24
		4491	4732 25c0 CB01 movw r24,r22
		4492	4733 25c2 8093 0000 sts Mess_IntegralNick,r24
		4493	4734 25c6 9093 0000 sts (Mess_IntegralNick)+1,r25
		4494	4735 25ca A093 0000 sts (Mess_IntegralNick)+2,r26
		4495	4736 25ce B093 0000 sts (Mess_IntegralNick)+3,r27
		4496	4737 25d2 8091 0000 lds r24,Mittelwert_AccRoll
		4497	4738 25d6 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		4498	4739 25da 9C01 movw r18,r24
		4499	4740 25dc 4427 clr r20
		4500	4741 25de 37FD sbrc r19,7
		4501	4742 25e0 4095 com r20
		4502	4743 25e2 542F mov r21,r20
		4503	4744 25e4 C801 movw r24,r16
		4504	4745 25e6 B701 movw r22,r14
		4505	4746 25e8 0E94 0000 call __mulsi3
		4506	4747 25ec DC01 movw r26,r24
		4507	4748 25ee CB01 movw r24,r22
		4508	4749 25f0 8093 0000 sts Mess_IntegralRoll,r24
		4509	4750 25f4 9093 0000 sts (Mess_IntegralRoll)+1,r25
		4510	4751 25f8 A093 0000 sts (Mess_IntegralRoll)+2,r26
		4511	4752 25fc B093 0000 sts (Mess_IntegralRoll)+3,r27
		4512	4753 2600 8091 0000 lds r24,IntegralNick
		4513	4754 2604 9091 0000 lds r25,(IntegralNick)+1
		4514	4755 2608 A091 0000 lds r26,(IntegralNick)+2
		4515	4756 260c B091 0000 lds r27,(IntegralNick)+3
		4516	4757 2610 8093 0000 sts Mess_IntegralNick2,r24
		4517	4758 2614 9093 0000 sts (Mess_IntegralNick2)+1,r25
		4518	4759 2618 A093 0000 sts (Mess_IntegralNick2)+2,r26
		4519	4760 261c B093 0000 sts (Mess_IntegralNick2)+3,r27
		4520	4761 2620 8091 0000 lds r24,IntegralRoll
		4521	4762 2624 9091 0000 lds r25,(IntegralRoll)+1
		4522	4763 2628 A091 0000 lds r26,(IntegralRoll)+2
		4523	4764 262c B091 0000 lds r27,(IntegralRoll)+3
		4524	4765 2630 8093 0000 sts Mess_IntegralRoll2,r24
		4525	4766 2634 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		4526	4767 2638 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		4527	4768 263c B093 0000 sts (Mess_IntegralRoll2)+3,r27
		4528	4769 2640 1092 0000 sts SummeNick,__zero_reg__
		4529	4770 2644 1092 0000 sts (SummeNick)+1,__zero_reg__
		4530	4771 2648 1092 0000 sts (SummeNick)+2,__zero_reg__
		4531	4772 264c 1092 0000 sts (SummeNick)+3,__zero_reg__
		4532	4773 2650 1092 0000 sts SummeRoll,__zero_reg__
		4533	4774 2654 1092 0000 sts (SummeRoll)+1,__zero_reg__
		4534	4775 2658 1092 0000 sts (SummeRoll)+2,__zero_reg__
		4535	4776 265c 1092 0000 sts (SummeRoll)+3,__zero_reg__
		4536	4777 2660 84E6 ldi r24,lo8(100)
		4537	4778 2662 8093 0000 sts NeueKompassRichtungMerken,r24
		4538	4779 2666 84E3 ldi r24,lo8(52)
		4539	4780 2668 00C0 rjmp .L896
		4540	4781 .L425:
		4541	4782 266a 8CED ldi r24,lo8(1500)
		4542	4783 266c 95E0 ldi r25,hi8(1500)
		4543	4784 266e 9093 0000 sts (beeptime)+1,r25
		4544	4785 2672 8093 0000 sts beeptime,r24
		4545	4786 2676 2223 tst r18
		4546	4787 2678 01F0 breq .+2
		4547	4788 267a 00C0 rjmp .L429
		4548	4789 267c 81E0 ldi r24,lo8(1)
		4549	4790 267e 00C0 rjmp .L896
		4550	4791 .L419:
		4551	4792 2680 1092 0000 sts delay_einschalten.7,__zero_reg__
		4552	4793 2684 00C0 rjmp .L429
		4553	4794 .L418:
		4554	4795 2686 FF27 clr r31
		4555	4796 2688 EE0F add r30,r30
		4556	4797 268a FF1F adc r31,r31
		4557	4798 268c E050 subi r30,lo8(-(PPM_in))
		4558	4799 268e F040 sbci r31,hi8(-(PPM_in))
		4559	4800 2690 8081 ld r24,Z
		4560	4801 2692 9181 ldd r25,Z+1
		4561	4802 2694 8C34 cpi r24,76
		4562	4803 2696 9105 cpc r25,__zero_reg__
		4563	4804 2698 04F0 brlt .L432
		4564	4805 269a 8091 0000 lds r24,EE_Parameter+111
		4565	4806 269e 83FD sbrc r24,3
		4566	4807 26a0 00C0 rjmp .L433
		4567	4808 26a2 E22F mov r30,r18
		4568	4809 26a4 FF27 clr r31
		4569	4810 26a6 EE0F add r30,r30
		4570	4811 26a8 FF1F adc r31,r31
		4571	4812 26aa E050 subi r30,lo8(-(PPM_in))
		4572	4813 26ac F040 sbci r31,hi8(-(PPM_in))
		4573	4814 26ae 8081 ld r24,Z
		4574	4815 26b0 9181 ldd r25,Z+1
		4575	4816 26b2 855B subi r24,lo8(-75)
		4576	4817 26b4 9F4F sbci r25,hi8(-75)
		4577	4818 26b6 04F0 brlt .L431
		4578	4819 .L433:
		4579	4820 26b8 8091 0000 lds r24,EE_Parameter+100
		4580	4821 26bc 8823 tst r24
		4581	4822 26be 01F0 breq .L431
		4582	4823 .L432:
		4583	4824 26c0 8091 0000 lds r24,EE_Parameter+111
		4584	4825 26c4 83FF sbrs r24,3
		4585	4826 26c6 00C0 rjmp .L430
		4586	4827 26c8 8091 0000 lds r24,EE_Parameter+100
		4587	4828 26cc E82F mov r30,r24
		4588	4829 26ce FF27 clr r31
		4589	4830 26d0 EE0F add r30,r30
		4590	4831 26d2 FF1F adc r31,r31
		4591	4832 26d4 E050 subi r30,lo8(-(PPM_in))
		4592	4833 26d6 F040 sbci r31,hi8(-(PPM_in))
		4593	4834 26d8 8081 ld r24,Z
		4594	4835 26da 9181 ldd r25,Z+1
		4595	4836 26dc 8E5C subi r24,lo8(-50)
		4596	4837 26de 9F4F sbci r25,hi8(-50)
		4597	4838 26e0 04F4 brge .L430
		4598	4839 26e2 8091 0000 lds r24,move_safety_switch.9
		4599	4840 26e6 8C39 cpi r24,lo8(-100)
		4600	4841 26e8 01F4 brne .L430
		4601	4842 .L431:
		4602	4843 26ea 8091 0000 lds r24,delay_ausschalten.8
		4603	4844 26ee 8F5F subi r24,lo8(-(1))
		4604	4845 26f0 8093 0000 sts delay_ausschalten.8,r24
		4605	4846 26f4 8B3F cpi r24,lo8(-5)
		4606	4847 26f6 00F0 brlo .L429
		4607	4848 26f8 1092 0000 sts MotorenEin,__zero_reg__
		4608	4849 26fc 1092 0000 sts delay_ausschalten.8,__zero_reg__
		4609	4850 2700 1092 0000 sts (modell_fliegt)+1,__zero_reg__
		4610	4851 2704 1092 0000 sts modell_fliegt,__zero_reg__
		4611	4852 2708 86E2 ldi r24,lo8(38)
		4612	4853 .L896:
		4613	4854 270a 8093 0000 sts SpeakHoTT,r24
		4614	4855 270e 00C0 rjmp .L429
		4615	4856 .L430:
		4616	4857 2710 1092 0000 sts delay_ausschalten.8,__zero_reg__
		4617	4858 .L429:
		4618	4859 2714 8091 0000 lds r24,GasIsZeroCnt
		4619	4860 2718 9091 0000 lds r25,(GasIsZeroCnt)+1
		4620	4861 271c 13E0 ldi r17,hi8(1000)
		4621	4862 271e 883E cpi r24,lo8(1000)
		4622	4863 2720 9107 cpc r25,r17
		4623	4864 2722 00F4 brsh .L387
		4624	4865 2724 0196 adiw r24,1
		4625	4866 2726 9093 0000 sts (GasIsZeroCnt)+1,r25
		4626	4867 272a 8093 0000 sts GasIsZeroCnt,r24
		4627	4868 272e 00C0 rjmp .L387
		4628	4869 .L414:
		4629	4870 2730 1092 0000 sts move_safety_switch.9,__zero_reg__
		4630	4871 2734 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__
		4631	4872 2738 1092 0000 sts GasIsZeroCnt,__zero_reg__
		4632	4873 273c 00C0 rjmp .L387
		4633	4874 .L388:
		4634	4875 273e 2E5E subi r18,lo8(750)
		4635	4876 2740 3240 sbci r19,hi8(750)
		4636	4877 2742 00F0 brlo .L387
		4637	4878 2744 8091 0000 lds r24,GPSInfo+4
		4638	4879 2748 9091 0000 lds r25,(GPSInfo+4)+1
		4639	4880 274c 8059 subi r24,lo8(400)
		4640	4881 274e 9140 sbci r25,hi8(400)
		4641	4882 2750 00F4 brsh .L387
		4642	4883 2752 8091 0000 lds r24,HoehenWert
		4643	4884 2756 9091 0000 lds r25,(HoehenWert)+1
		4644	4885 275a A091 0000 lds r26,(HoehenWert)+2
		4645	4886 275e B091 0000 lds r27,(HoehenWert)+3
		4646	4887 2762 8C5D subi r24,lo8(1500)
		4647	4888 2764 9540 sbci r25,hi8(1500)
		4648	4889 2766 A040 sbci r26,hlo8(1500)
		4649	4890 2768 B040 sbci r27,hhi8(1500)
		4650	4891 276a 04F4 brge .L387
		4651	4892 276c 80E3 ldi r24,lo8(30000)
		4652	4893 276e 95E7 ldi r25,hi8(30000)
		4653	4894 2770 9093 0000 sts (GasIsZeroCnt)+1,r25
		4654	4895 2774 8093 0000 sts GasIsZeroCnt,r24
		4655	4896 2778 8091 0000 lds r24,modell_fliegt
		4656	4897 277c 9091 0000 lds r25,(modell_fliegt)+1
		4657	4898 2780 8A5E subi r24,lo8(1002)
		4658	4899 2782 9340 sbci r25,hi8(1002)
		4659	4900 2784 00F0 brlo .L387
		4660	4901 2786 89EE ldi r24,lo8(1001)
		4661	4902 2788 93E0 ldi r25,hi8(1001)
		4662	4903 278a 9093 0000 sts (modell_fliegt)+1,r25
		4663	4904 278e 8093 0000 sts modell_fliegt,r24
		4664	4905 .L387:
		4665	4906 2792 8091 0000 lds r24,NewPpmData
		4666	4907 2796 8150 subi r24,lo8(-(-1))
		4667	4908 2798 8093 0000 sts NewPpmData,r24
		4668	4909 279c 8091 0000 lds r24,NewPpmData
		4669	4910 27a0 8F3F cpi r24,lo8(-1)
		4670	4911 27a2 01F0 breq .L443
		4671	4912 27a4 8091 0000 lds r24,FC_StatusFlags
		4672	4913 27a8 84FF sbrs r24,4
		4673	4914 27aa 00C0 rjmp .L442
		4674	4915 .L443:
		4675	4916 27ac 0E94 0000 call ParameterZuordnung
		4676	4917 27b0 B090 0000 lds r11,EE_Parameter+23
		4677	4918 27b4 8091 0000 lds r24,stick_nick.12
		4678	4919 27b8 9091 0000 lds r25,(stick_nick.12)+1
		4679	4920 27bc 9C01 movw r18,r24
		4680	4921 27be 220F lsl r18
		4681	4922 27c0 331F rol r19
		4682	4923 27c2 280F add r18,r24
		4683	4924 27c4 391F adc r19,r25
		4684	4925 27c6 C090 0000 lds r12,EE_Parameter+1
		4685	4926 27ca AC2D mov r26,r12
		4686	4927 27cc BB27 clr r27
		4687	4928 27ce AA0F add r26,r26
		4688	4929 27d0 BB1F adc r27,r27
		4689	4930 27d2 FD01 movw r30,r26
		4690	4931 27d4 E050 subi r30,lo8(-(PPM_in))
		4691	4932 27d6 F040 sbci r31,hi8(-(PPM_in))
		4692	4933 27d8 4B2D mov r20,r11
		4693	4934 27da 5527 clr r21
		4694	4935 27dc 8081 ld r24,Z
		4695	4936 27de 9181 ldd r25,Z+1
		4696	4937 27e0 849F mul r24,r20
		4697	4938 27e2 F001 movw r30,r0
		4698	4939 27e4 859F mul r24,r21
		4699	4940 27e6 F00D add r31,r0
		4700	4941 27e8 949F mul r25,r20
		4701	4942 27ea F00D add r31,r0
		4702	4943 27ec 1124 clr r1
		4703	4944 27ee 2E0F add r18,r30
		4704	4945 27f0 3F1F adc r19,r31
		4705	4946 27f2 37FF sbrs r19,7
		4706	4947 27f4 00C0 rjmp .L444
		4707	4948 27f6 2D5F subi r18,lo8(-(3))
		4708	4949 27f8 3F4F sbci r19,hi8(-(3))
		4709	4950 .L444:
		4710	4951 27fa B901 movw r22,r18
		4711	4952 27fc 7595 asr r23
		4712	4953 27fe 6795 ror r22
		4713	4954 2800 7595 asr r23
		4714	4955 2802 6795 ror r22
		4715	4956 2804 A050 subi r26,lo8(-(PPM_diff))
		4716	4957 2806 B040 sbci r27,hi8(-(PPM_diff))
		4717	4958 2808 8091 0000 lds r24,EE_Parameter+24
		4718	4959 280c 082F mov r16,r24
		4719	4960 280e 1127 clr r17
		4720	4961 2810 8D91 ld r24,X+
		4721	4962 2812 9C91 ld r25,X
		4722	4963 2814 809F mul r24,r16
		4723	4964 2816 7001 movw r14,r0
		4724	4965 2818 819F mul r24,r17
		4725	4966 281a F00C add r15,r0
		4726	4967 281c 909F mul r25,r16
		4727	4968 281e F00C add r15,r0
		4728	4969 2820 1124 clr r1
		4729	4970 2822 6E0D add r22,r14
		4730	4971 2824 7F1D adc r23,r15
		4731	4972 2826 7093 0000 sts (stick_nick.12)+1,r23
		4732	4973 282a 6093 0000 sts stick_nick.12,r22
		4733	4974 282e 8091 0000 lds r24,stick_roll.13
		4734	4975 2832 9091 0000 lds r25,(stick_roll.13)+1
		4735	4976 2836 9C01 movw r18,r24
		4736	4977 2838 220F lsl r18
		4737	4978 283a 331F rol r19
		4738	4979 283c 280F add r18,r24
		4739	4980 283e 391F adc r19,r25
		4740	4981 2840 D090 0000 lds r13,EE_Parameter+2
		4741	4982 2844 AD2D mov r26,r13
		4742	4983 2846 BB27 clr r27
		4743	4984 2848 AA0F add r26,r26
		4744	4985 284a BB1F adc r27,r27
		4745	4986 284c FD01 movw r30,r26
		4746	4987 284e E050 subi r30,lo8(-(PPM_in))
		4747	4988 2850 F040 sbci r31,hi8(-(PPM_in))
		4748	4989 2852 8081 ld r24,Z
		4749	4990 2854 9181 ldd r25,Z+1
		4750	4991 2856 849F mul r24,r20
		4751	4992 2858 F001 movw r30,r0
		4752	4993 285a 859F mul r24,r21
		4753	4994 285c F00D add r31,r0
		4754	4995 285e 949F mul r25,r20
		4755	4996 2860 F00D add r31,r0
		4756	4997 2862 1124 clr r1
		4757	4998 2864 2E0F add r18,r30
		4758	4999 2866 3F1F adc r19,r31
		4759	5000 2868 37FF sbrs r19,7
		4760	5001 286a 00C0 rjmp .L445
		4761	5002 286c 2D5F subi r18,lo8(-(3))
		4762	5003 286e 3F4F sbci r19,hi8(-(3))
		4763	5004 .L445:
		4764	5005 2870 A901 movw r20,r18
		4765	5006 2872 5595 asr r21
		4766	5007 2874 4795 ror r20
		4767	5008 2876 5595 asr r21
		4768	5009 2878 4795 ror r20
		4769	5010 287a A050 subi r26,lo8(-(PPM_diff))
		4770	5011 287c B040 sbci r27,hi8(-(PPM_diff))
		4771	5012 287e 8D91 ld r24,X+
		4772	5013 2880 9C91 ld r25,X
		4773	5014 2882 809F mul r24,r16
		4774	5015 2884 7001 movw r14,r0
		4775	5016 2886 819F mul r24,r17
		4776	5017 2888 F00C add r15,r0
		4777	5018 288a 909F mul r25,r16
		4778	5019 288c F00C add r15,r0
		4779	5020 288e 1124 clr r1
		4780	5021 2890 4E0D add r20,r14
		4781	5022 2892 5F1D adc r21,r15
		4782	5023 2894 5093 0000 sts (stick_roll.13)+1,r21
		4783	5024 2898 4093 0000 sts stick_roll.13,r20
		4784	5025 289c 8091 0000 lds r24,CareFree
		4785	5026 28a0 8823 tst r24
		4786	5027 28a2 01F4 brne .+2
		4787	5028 28a4 00C0 rjmp .L446
		4788	5029 28a6 CB01 movw r24,r22
		4789	5030 28a8 77FD sbrc r23,7
		4790	5031 28aa 0396 adiw r24,3
		4791	5032 .L447:
		4792	5033 28ac DC01 movw r26,r24
		4793	5034 28ae B595 asr r27
		4794	5035 28b0 A795 ror r26
		4795	5036 28b2 B595 asr r27
		4796	5037 28b4 A795 ror r26
		4797	5038 28b6 CA01 movw r24,r20
		4798	5039 28b8 57FD sbrc r21,7
		4799	5040 28ba 0396 adiw r24,3
		4800	5041 .L448:
		4801	5042 28bc FC01 movw r30,r24
		4802	5043 28be F595 asr r31
		4803	5044 28c0 E795 ror r30
		4804	5045 28c2 F595 asr r31
		4805	5046 28c4 E795 ror r30
		4806	5047 28c6 8091 0000 lds r24,FromNC_Rotate_C
		4807	5048 28ca 682F mov r22,r24
		4808	5049 28cc 7727 clr r23
		4809	5050 28ce 67FD sbrc r22,7
		4810	5051 28d0 7095 com r23
		4811	5052 28d2 6A9F mul r22,r26
		4812	5053 28d4 9001 movw r18,r0
		4813	5054 28d6 6B9F mul r22,r27
		4814	5055 28d8 300D add r19,r0
		4815	5056 28da 7A9F mul r23,r26
		4816	5057 28dc 300D add r19,r0
		4817	5058 28de 1124 clr r1
		4818	5059 28e0 8091 0000 lds r24,FromNC_Rotate_S
		4819	5060 28e4 482F mov r20,r24
		4820	5061 28e6 5527 clr r21
		4821	5062 28e8 47FD sbrc r20,7
		4822	5063 28ea 5095 com r21
		4823	5064 28ec 4E9F mul r20,r30
		4824	5065 28ee C001 movw r24,r0
		4825	5066 28f0 4F9F mul r20,r31
		4826	5067 28f2 900D add r25,r0
		4827	5068 28f4 5E9F mul r21,r30
		4828	5069 28f6 900D add r25,r0
		4829	5070 28f8 1124 clr r1
		4830	5071 28fa 280F add r18,r24
		4831	5072 28fc 391F adc r19,r25
		4832	5073 28fe 37FF sbrs r19,7
		4833	5074 2900 00C0 rjmp .L449
		4834	5075 2902 295F subi r18,lo8(-(7))
		4835	5076 2904 3F4F sbci r19,hi8(-(7))
		4836	5077 .L449:
		4837	5078 2906 93E0 ldi r25,3
		4838	5079 2908 3595 1: asr r19
		4839	5080 290a 2795 ror r18
		4840	5081 290c 9A95 dec r25
		4841	5082 290e 01F4 brne 1b
		4842	5083 2910 3093 0000 sts (StickNick)+1,r19
		4843	5084 2914 2093 0000 sts StickNick,r18
		4844	5085 2918 6E9F mul r22,r30
		4845	5086 291a 9001 movw r18,r0
		4846	5087 291c 6F9F mul r22,r31
		4847	5088 291e 300D add r19,r0
		4848	5089 2920 7E9F mul r23,r30
		4849	5090 2922 300D add r19,r0
		4850	5091 2924 1124 clr r1
		4851	5092 2926 4A9F mul r20,r26
		4852	5093 2928 C001 movw r24,r0
		4853	5094 292a 4B9F mul r20,r27
		4854	5095 292c 900D add r25,r0
		4855	5096 292e 5A9F mul r21,r26
		4856	5097 2930 900D add r25,r0
		4857	5098 2932 1124 clr r1
		4858	5099 2934 00C0 rjmp .L925
		4859	5100 .L446:
		4860	5101 2936 8091 0000 lds r24,EE_Parameter+98
		4861	5102 293a E82F mov r30,r24
		4862	5103 293c FF27 clr r31
		4863	5104 293e E050 subi r30,lo8(-(sintab))
		4864	5105 2940 F040 sbci r31,hi8(-(sintab))
		4865	5106 2942 8681 ldd r24,Z+6
		4866	5107 2944 8093 0000 sts FromNC_Rotate_C,r24
		4867	5108 2948 9081 ld r25,Z
		4868	5109 294a 9093 0000 sts FromNC_Rotate_S,r25
		4869	5110 294e A82F mov r26,r24
		4870	5111 2950 BB27 clr r27
		4871	5112 2952 A7FD sbrc r26,7
		4872	5113 2954 B095 com r27
		4873	5114 2956 A69F mul r26,r22
		4874	5115 2958 9001 movw r18,r0
		4875	5116 295a A79F mul r26,r23
		4876	5117 295c 300D add r19,r0
		4877	5118 295e B69F mul r27,r22
		4878	5119 2960 300D add r19,r0
		4879	5120 2962 1124 clr r1
		4880	5121 2964 E92F mov r30,r25
		4881	5122 2966 FF27 clr r31
		4882	5123 2968 E7FD sbrc r30,7
		4883	5124 296a F095 com r31
		4884	5125 296c E49F mul r30,r20
		4885	5126 296e C001 movw r24,r0
		4886	5127 2970 E59F mul r30,r21
		4887	5128 2972 900D add r25,r0
		4888	5129 2974 F49F mul r31,r20
		4889	5130 2976 900D add r25,r0
		4890	5131 2978 1124 clr r1
		4891	5132 297a 280F add r18,r24
		4892	5133 297c 391F adc r19,r25
		4893	5134 297e 37FF sbrs r19,7
		4894	5135 2980 00C0 rjmp .L452
		4895	5136 2982 295F subi r18,lo8(-(7))
		4896	5137 2984 3F4F sbci r19,hi8(-(7))
		4897	5138 .L452:
		4898	5139 2986 83E0 ldi r24,3
		4899	5140 2988 3595 1: asr r19
		4900	5141 298a 2795 ror r18
		4901	5142 298c 8A95 dec r24
		4902	5143 298e 01F4 brne 1b
		4903	5144 2990 3093 0000 sts (StickNick)+1,r19
		4904	5145 2994 2093 0000 sts StickNick,r18
		4905	5146 2998 A49F mul r26,r20
		4906	5147 299a 9001 movw r18,r0
		4907	5148 299c A59F mul r26,r21
		4908	5149 299e 300D add r19,r0
		4909	5150 29a0 B49F mul r27,r20
		4910	5151 29a2 300D add r19,r0
		4911	5152 29a4 1124 clr r1
		4912	5153 29a6 E69F mul r30,r22
		4913	5154 29a8 C001 movw r24,r0
		4914	5155 29aa E79F mul r30,r23
		4915	5156 29ac 900D add r25,r0
		4916	5157 29ae F69F mul r31,r22
		4917	5158 29b0 900D add r25,r0
		4918	5159 29b2 1124 clr r1
		4919	5160 .L925:
		4920	5161 29b4 281B sub r18,r24
		4921	5162 29b6 390B sbc r19,r25
		4922	5163 29b8 37FF sbrs r19,7
		4923	5164 29ba 00C0 rjmp .L453
		4924	5165 29bc 295F subi r18,lo8(-(7))
		4925	5166 29be 3F4F sbci r19,hi8(-(7))
		4926	5167 .L453:
		4927	5168 29c0 03E0 ldi r16,3
		4928	5169 29c2 3595 1: asr r19
		4929	5170 29c4 2795 ror r18
		4930	5171 29c6 0A95 dec r16
		4931	5172 29c8 01F4 brne 1b
		4932	5173 29ca 3093 0000 sts (StickRoll)+1,r19
		4933	5174 29ce 2093 0000 sts StickRoll,r18
		4934	5175 29d2 8091 0000 lds r24,EE_Parameter+4
		4935	5176 29d6 E82F mov r30,r24
		4936	5177 29d8 FF27 clr r31
		4937	5178 29da EE0F add r30,r30
		4938	5179 29dc FF1F adc r31,r31
		4939	5180 29de E050 subi r30,lo8(-(PPM_in))
		4940	5181 29e0 F040 sbci r31,hi8(-(PPM_in))
		4941	5182 29e2 8081 ld r24,Z
		4942	5183 29e4 9181 ldd r25,Z+1
		4943	5184 29e6 9095 com r25
		4944	5185 29e8 8195 neg r24
		4945	5186 29ea 9F4F sbci r25,lo8(-1)
		4946	5187 29ec 9093 0000 sts (StickGier)+1,r25
		4947	5188 29f0 8093 0000 sts StickGier,r24
		4948	5189 29f4 8530 cpi r24,5
		4949	5190 29f6 9105 cpc r25,__zero_reg__
		4950	5191 29f8 04F0 brlt .L454
		4951	5192 29fa 0497 sbiw r24,4
		4952	5193 29fc 00C0 rjmp .L897
		4953	5194 .L454:
		4954	5195 29fe 0FEF ldi r16,hi8(-4)
		4955	5196 2a00 8C3F cpi r24,lo8(-4)
		4956	5197 2a02 9007 cpc r25,r16
		4957	5198 2a04 04F4 brge .L456
		4958	5199 2a06 0496 adiw r24,4
		4959	5200 .L897:
		4960	5201 2a08 9093 0000 sts (StickGier)+1,r25
		4961	5202 2a0c 8093 0000 sts StickGier,r24
		4962	5203 2a10 00C0 rjmp .L455
		4963	5204 .L456:
		4964	5205 2a12 1092 0000 sts (StickGier)+1,__zero_reg__
		4965	5206 2a16 1092 0000 sts StickGier,__zero_reg__
		4966	5207 .L455:
		4967	5208 2a1a 8091 0000 lds r24,GPS_Aid_StickMultiplikator
		4968	5209 2a1e 8823 tst r24
		4969	5210 2a20 01F4 brne .+2
		4970	5211 2a22 00C0 rjmp .L458
		4971	5212 2a24 282F mov r18,r24
		4972	5213 2a26 3327 clr r19
		4973	5214 2a28 8091 0000 lds r24,StickNick
		4974	5215 2a2c 9091 0000 lds r25,(StickNick)+1
		4975	5216 2a30 97FD sbrc r25,7
		4976	5217 2a32 0796 adiw r24,7
		4977	5218 .L459:
		4978	5219 2a34 13E0 ldi r17,3
		4979	5220 2a36 9595 1: asr r25
		4980	5221 2a38 8795 ror r24
		4981	5222 2a3a 1A95 dec r17
		4982	5223 2a3c 01F4 brne 1b
		4983	5224 2a3e 289F mul r18,r24
		4984	5225 2a40 A001 movw r20,r0
		4985	5226 2a42 299F mul r18,r25
		4986	5227 2a44 500D add r21,r0
		4987	5228 2a46 389F mul r19,r24
		4988	5229 2a48 500D add r21,r0
		4989	5230 2a4a 1124 clr r1
		4990	5231 2a4c CA01 movw r24,r20
		4991	5232 2a4e 57FD sbrc r21,7
		4992	5233 2a50 0F96 adiw r24,15
		4993	5234 .L460:
		4994	5235 2a52 B4E0 ldi r27,4
		4995	5236 2a54 9595 1: asr r25
		4996	5237 2a56 8795 ror r24
		4997	5238 2a58 BA95 dec r27
		4998	5239 2a5a 01F4 brne 1b
		4999	5240 2a5c 9093 0000 sts (StickNick)+1,r25
		5000	5241 2a60 8093 0000 sts StickNick,r24
		5001	5242 2a64 8091 0000 lds r24,StickRoll
		5002	5243 2a68 9091 0000 lds r25,(StickRoll)+1
		5003	5244 2a6c 97FD sbrc r25,7
		5004	5245 2a6e 0796 adiw r24,7
		5005	5246 .L461:
		5006	5247 2a70 A3E0 ldi r26,3
		5007	5248 2a72 9595 1: asr r25
		5008	5249 2a74 8795 ror r24
		5009	5250 2a76 AA95 dec r26
		5010	5251 2a78 01F4 brne 1b
		5011	5252 2a7a 289F mul r18,r24
		5012	5253 2a7c B001 movw r22,r0
		5013	5254 2a7e 299F mul r18,r25
		5014	5255 2a80 700D add r23,r0
		5015	5256 2a82 389F mul r19,r24
		5016	5257 2a84 700D add r23,r0
		5017	5258 2a86 1124 clr r1
		5018	5259 2a88 CB01 movw r24,r22
		5019	5260 2a8a 77FD sbrc r23,7
		5020	5261 2a8c 0F96 adiw r24,15
		5021	5262 .L462:
		5022	5263 2a8e F4E0 ldi r31,4
		5023	5264 2a90 9595 1: asr r25
		5024	5265 2a92 8795 ror r24
		5025	5266 2a94 FA95 dec r31
		5026	5267 2a96 01F4 brne 1b
		5027	5268 2a98 9093 0000 sts (StickRoll)+1,r25
		5028	5269 2a9c 8093 0000 sts StickRoll,r24
		5029	5270 .L458:
		5030	5271 2aa0 8090 0000 lds r8,StickNick
		5031	5272 2aa4 9090 0000 lds r9,(StickNick)+1
		5032	5273 2aa8 8091 0000 lds r24,GPS_Nick
		5033	5274 2aac 9091 0000 lds r25,(GPS_Nick)+1
		5034	5275 2ab0 881A sub r8,r24
		5035	5276 2ab2 990A sbc r9,r25
		5036	5277 2ab4 9092 0000 sts (StickNick)+1,r9
		5037	5278 2ab8 8092 0000 sts StickNick,r8
		5038	5279 2abc 0091 0000 lds r16,StickRoll
		5039	5280 2ac0 1091 0000 lds r17,(StickRoll)+1
		5040	5281 2ac4 8091 0000 lds r24,GPS_Roll
		5041	5282 2ac8 9091 0000 lds r25,(GPS_Roll)+1
		5042	5283 2acc 081B sub r16,r24
		5043	5284 2ace 190B sbc r17,r25
		5044	5285 2ad0 1093 0000 sts (StickRoll)+1,r17
		5045	5286 2ad4 0093 0000 sts StickRoll,r16
		5046	5287 2ad8 8091 0000 lds r24,EE_Parameter+3
		5047	5288 2adc E82F mov r30,r24
		5048	5289 2ade FF27 clr r31
		5049	5290 2ae0 EE0F add r30,r30
		5050	5291 2ae2 FF1F adc r31,r31
		5051	5292 2ae4 E050 subi r30,lo8(-(PPM_in))
		5052	5293 2ae6 F040 sbci r31,hi8(-(PPM_in))
		5053	5294 2ae8 E080 ld r14,Z
		5054	5295 2aea F180 ldd r15,Z+1
		5055	5296 2aec 8FE7 ldi r24,lo8(127)
		5056	5297 2aee 90E0 ldi r25,hi8(127)
		5057	5298 2af0 E80E add r14,r24
		5058	5299 2af2 F91E adc r15,r25
		5059	5300 2af4 F092 0000 sts (StickGas)+1,r15
		5060	5301 2af8 E092 0000 sts StickGas,r14
		5061	5302 2afc 8091 0000 lds r24,Parameter_Gyro_P
		5062	5303 2b00 9927 clr r25
		5063	5304 2b02 AA27 clr r26
		5064	5305 2b04 97FD sbrc r25,7
		5065	5306 2b06 A095 com r26
		5066	5307 2b08 BA2F mov r27,r26
		5067	5308 2b0a BC01 movw r22,r24
		5068	5309 2b0c CD01 movw r24,r26
		5069	5310 2b0e 0E94 0000 call __floatsisf
		5070	5311 2b12 DC01 movw r26,r24
		5071	5312 2b14 CB01 movw r24,r22
		5072	5313 2b16 20E0 ldi r18,lo8(0x41200000)
		5073	5314 2b18 30E0 ldi r19,hi8(0x41200000)
		5074	5315 2b1a 40E2 ldi r20,hlo8(0x41200000)
		5075	5316 2b1c 51E4 ldi r21,hhi8(0x41200000)
		5076	5317 2b1e BC01 movw r22,r24
		5077	5318 2b20 CD01 movw r24,r26
		5078	5319 2b22 0E94 0000 call __addsf3
		5079	5320 2b26 DC01 movw r26,r24
		5080	5321 2b28 CB01 movw r24,r22
		5081	5322 2b2a BC01 movw r22,r24
		5082	5323 2b2c CD01 movw r24,r26
		5083	5324 2b2e 0E94 0000 call __fixunssfsi
		5084	5325 2b32 DC01 movw r26,r24
		5085	5326 2b34 CB01 movw r24,r22
		5086	5327 2b36 8093 0000 sts GyroFaktor,r24
		5087	5328 2b3a 8091 0000 lds r24,Parameter_Gyro_I
		5088	5329 2b3e 8093 0000 sts IntegralFaktor,r24
		5089	5330 2b42 8091 0000 lds r24,Parameter_Gyro_Gier_P
		5090	5331 2b46 9927 clr r25
		5091	5332 2b48 AA27 clr r26
		5092	5333 2b4a 97FD sbrc r25,7
		5093	5334 2b4c A095 com r26
		5094	5335 2b4e BA2F mov r27,r26
		5095	5336 2b50 BC01 movw r22,r24
		5096	5337 2b52 CD01 movw r24,r26
		5097	5338 2b54 0E94 0000 call __floatsisf
		5098	5339 2b58 DC01 movw r26,r24
		5099	5340 2b5a CB01 movw r24,r22
		5100	5341 2b5c 20E0 ldi r18,lo8(0x41200000)
		5101	5342 2b5e 30E0 ldi r19,hi8(0x41200000)
		5102	5343 2b60 40E2 ldi r20,hlo8(0x41200000)
		5103	5344 2b62 51E4 ldi r21,hhi8(0x41200000)
		5104	5345 2b64 BC01 movw r22,r24
		5105	5346 2b66 CD01 movw r24,r26
		5106	5347 2b68 0E94 0000 call __addsf3
		5107	5348 2b6c DC01 movw r26,r24
		5108	5349 2b6e CB01 movw r24,r22
		5109	5350 2b70 BC01 movw r22,r24
		5110	5351 2b72 CD01 movw r24,r26
		5111	5352 2b74 0E94 0000 call __fixunssfsi
		5112	5353 2b78 DC01 movw r26,r24
		5113	5354 2b7a CB01 movw r24,r22
		5114	5355 2b7c 8093 0000 sts GyroFaktorGier,r24
		5115	5356 2b80 8091 0000 lds r24,Parameter_Gyro_Gier_I
		5116	5357 2b84 8093 0000 sts IntegralFaktorGier,r24
		5117	5358 2b88 8091 0000 lds r24,ExternControl+10
		5118	5359 2b8c 80FF sbrs r24,0
		5119	5360 2b8e 00C0 rjmp .L463
		5120	5361 2b90 8091 0000 lds r24,Parameter_ExternalControl
		5121	5362 2b94 8138 cpi r24,lo8(-127)
		5122	5363 2b96 00F4 brsh .+2
		5123	5364 2b98 00C0 rjmp .L463
		5124	5365 2b9a 8091 0000 lds r24,ExternControl+3
		5125	5366 2b9e 9927 clr r25
		5126	5367 2ba0 87FD sbrc r24,7
		5127	5368 2ba2 9095 com r25
		5128	5369 2ba4 2B2D mov r18,r11
		5129	5370 2ba6 3327 clr r19
		5130	5371 2ba8 829F mul r24,r18
		5131	5372 2baa D001 movw r26,r0
		5132	5373 2bac 839F mul r24,r19
		5133	5374 2bae B00D add r27,r0
		5134	5375 2bb0 929F mul r25,r18
		5135	5376 2bb2 B00D add r27,r0
		5136	5377 2bb4 1124 clr r1
		5137	5378 2bb6 8A0E add r8,r26
		5138	5379 2bb8 9B1E adc r9,r27
		5139	5380 2bba 9092 0000 sts (StickNick)+1,r9
		5140	5381 2bbe 8092 0000 sts StickNick,r8
		5141	5382 2bc2 8091 0000 lds r24,ExternControl+4
		5142	5383 2bc6 9927 clr r25
		5143	5384 2bc8 87FD sbrc r24,7
		5144	5385 2bca 9095 com r25
		5145	5386 2bcc 829F mul r24,r18
		5146	5387 2bce F001 movw r30,r0
		5147	5388 2bd0 839F mul r24,r19
		5148	5389 2bd2 F00D add r31,r0
		5149	5390 2bd4 929F mul r25,r18
		5150	5391 2bd6 F00D add r31,r0
		5151	5392 2bd8 1124 clr r1
		5152	5393 2bda 0E0F add r16,r30
		5153	5394 2bdc 1F1F adc r17,r31
		5154	5395 2bde 1093 0000 sts (StickRoll)+1,r17
		5155	5396 2be2 0093 0000 sts StickRoll,r16
		5156	5397 2be6 8091 0000 lds r24,ExternControl+5
		5157	5398 2bea 282F mov r18,r24
		5158	5399 2bec 3327 clr r19
		5159	5400 2bee 27FD sbrc r18,7
		5160	5401 2bf0 3095 com r19
		5161	5402 2bf2 8091 0000 lds r24,StickGier
		5162	5403 2bf6 9091 0000 lds r25,(StickGier)+1
		5163	5404 2bfa 820F add r24,r18
		5164	5405 2bfc 931F adc r25,r19
		5165	5406 2bfe 9093 0000 sts (StickGier)+1,r25
		5166	5407 2c02 8093 0000 sts StickGier,r24
		5167	5408 2c06 8091 0000 lds r24,ExternControl+7
		5168	5409 2c0a 282F mov r18,r24
		5169	5410 2c0c 3327 clr r19
		5170	5411 2c0e 27FD sbrc r18,7
		5171	5412 2c10 3095 com r19
		5172	5413 2c12 8091 0000 lds r24,EE_Parameter+18
		5173	5414 2c16 9927 clr r25
		5174	5415 2c18 289F mul r18,r24
		5175	5416 2c1a 8001 movw r16,r0
		5176	5417 2c1c 299F mul r18,r25
		5177	5418 2c1e 100D add r17,r0
		5178	5419 2c20 389F mul r19,r24
		5179	5420 2c22 100D add r17,r0
		5180	5421 2c24 1124 clr r1
		5181	5422 2c26 1093 0000 sts (ExternHoehenValue)+1,r17
		5182	5423 2c2a 0093 0000 sts ExternHoehenValue,r16
		5183	5424 2c2e 8091 0000 lds r24,ExternControl+6
		5184	5425 2c32 9927 clr r25
		5185	5426 2c34 8E15 cp r24,r14
		5186	5427 2c36 9F05 cpc r25,r15
		5187	5428 2c38 04F4 brge .L463
		5188	5429 2c3a 9093 0000 sts (StickGas)+1,r25
		5189	5430 2c3e 8093 0000 sts StickGas,r24
		5190	5431 .L463:
		5191	5432 2c42 8091 0000 lds r24,StickGas
		5192	5433 2c46 9091 0000 lds r25,(StickGas)+1
		5193	5434 2c4a 97FF sbrs r25,7
		5194	5435 2c4c 00C0 rjmp .L465
		5195	5436 2c4e 1092 0000 sts (StickGas)+1,__zero_reg__
		5196	5437 2c52 1092 0000 sts StickGas,__zero_reg__
		5197	5438 .L465:
		5198	5439 2c56 8091 0000 lds r24,Parameter_GlobalConfig
		5199	5440 2c5a 82FF sbrs r24,2
		5200	5441 2c5c 00C0 rjmp .L466
		5201	5442 2c5e 1092 0000 sts IntegralFaktor,__zero_reg__
		5202	5443 .L466:
		5203	5444 2c62 4091 0000 lds r20,StickNick
		5204	5445 2c66 5091 0000 lds r21,(StickNick)+1
		5205	5446 2c6a CA01 movw r24,r20
		5206	5447 2c6c 57FD sbrc r21,7
		5207	5448 2c6e 0396 adiw r24,3
		5208	5449 .L468:
		5209	5450 2c70 9C01 movw r18,r24
		5210	5451 2c72 3595 asr r19
		5211	5452 2c74 2795 ror r18
		5212	5453 2c76 3595 asr r19
		5213	5454 2c78 2795 ror r18
		5214	5455 2c7a 37FF sbrs r19,7
		5215	5456 2c7c 00C0 rjmp .L469
		5216	5457 2c7e 3095 com r19
		5217	5458 2c80 2195 neg r18
		5218	5459 2c82 3F4F sbci r19,lo8(-1)
		5219	5460 .L469:
		5220	5461 2c84 8091 0000 lds r24,MaxStickNick
		5221	5462 2c88 9091 0000 lds r25,(MaxStickNick)+1
		5222	5463 2c8c 8217 cp r24,r18
		5223	5464 2c8e 9307 cpc r25,r19
		5224	5465 2c90 04F4 brge .L467
		5225	5466 2c92 CA01 movw r24,r20
		5226	5467 2c94 57FF sbrs r21,7
		5227	5468 2c96 00C0 rjmp .L470
		5228	5469 2c98 9095 com r25
		5229	5470 2c9a 8195 neg r24
		5230	5471 2c9c 9F4F sbci r25,lo8(-1)
		5231	5472 .L470:
		5232	5473 2c9e 97FD sbrc r25,7
		5233	5474 2ca0 0396 adiw r24,3
		5234	5475 .L471:
		5235	5476 2ca2 9595 asr r25
		5236	5477 2ca4 8795 ror r24
		5237	5478 2ca6 9595 asr r25
		5238	5479 2ca8 8795 ror r24
		5239	5480 2caa 9093 0000 sts (MaxStickNick)+1,r25
		5240	5481 2cae 8093 0000 sts MaxStickNick,r24
		5241	5482 2cb2 8536 cpi r24,101
		5242	5483 2cb4 9105 cpc r25,__zero_reg__
		5243	5484 2cb6 04F0 brlt .L473
		5244	5485 2cb8 84E6 ldi r24,lo8(100)
		5245	5486 2cba 90E0 ldi r25,hi8(100)
		5246	5487 2cbc 00C0 rjmp .L898
		5247	5488 .L467:
		5248	5489 2cbe 0197 sbiw r24,1
		5249	5490 .L898:
		5250	5491 2cc0 9093 0000 sts (MaxStickNick)+1,r25
		5251	5492 2cc4 8093 0000 sts MaxStickNick,r24
		5252	5493 .L473:
		5253	5494 2cc8 4091 0000 lds r20,StickRoll
		5254	5495 2ccc 5091 0000 lds r21,(StickRoll)+1
		5255	5496 2cd0 CA01 movw r24,r20
		5256	5497 2cd2 57FD sbrc r21,7
		5257	5498 2cd4 0396 adiw r24,3
		5258	5499 .L475:
		5259	5500 2cd6 9C01 movw r18,r24
		5260	5501 2cd8 3595 asr r19
		5261	5502 2cda 2795 ror r18
		5262	5503 2cdc 3595 asr r19
		5263	5504 2cde 2795 ror r18
		5264	5505 2ce0 37FF sbrs r19,7
		5265	5506 2ce2 00C0 rjmp .L476
		5266	5507 2ce4 3095 com r19
		5267	5508 2ce6 2195 neg r18
		5268	5509 2ce8 3F4F sbci r19,lo8(-1)
		5269	5510 .L476:
		5270	5511 2cea 8091 0000 lds r24,MaxStickRoll
		5271	5512 2cee 9091 0000 lds r25,(MaxStickRoll)+1
		5272	5513 2cf2 8217 cp r24,r18
		5273	5514 2cf4 9307 cpc r25,r19
		5274	5515 2cf6 04F4 brge .L474
		5275	5516 2cf8 CA01 movw r24,r20
		5276	5517 2cfa 57FF sbrs r21,7
		5277	5518 2cfc 00C0 rjmp .L477
		5278	5519 2cfe 9095 com r25
		5279	5520 2d00 8195 neg r24
		5280	5521 2d02 9F4F sbci r25,lo8(-1)
		5281	5522 .L477:
		5282	5523 2d04 97FD sbrc r25,7
		5283	5524 2d06 0396 adiw r24,3
		5284	5525 .L478:
		5285	5526 2d08 9595 asr r25
		5286	5527 2d0a 8795 ror r24
		5287	5528 2d0c 9595 asr r25
		5288	5529 2d0e 8795 ror r24
		5289	5530 2d10 9093 0000 sts (MaxStickRoll)+1,r25
		5290	5531 2d14 8093 0000 sts MaxStickRoll,r24
		5291	5532 2d18 8536 cpi r24,101
		5292	5533 2d1a 9105 cpc r25,__zero_reg__
		5293	5534 2d1c 04F0 brlt .L480
		5294	5535 2d1e 84E6 ldi r24,lo8(100)
		5295	5536 2d20 90E0 ldi r25,hi8(100)
		5296	5537 2d22 00C0 rjmp .L899
		5297	5538 .L474:
		5298	5539 2d24 0197 sbiw r24,1
		5299	5540 .L899:
		5300	5541 2d26 9093 0000 sts (MaxStickRoll)+1,r25
		5301	5542 2d2a 8093 0000 sts MaxStickRoll,r24
		5302	5543 .L480:
		5303	5544 2d2e 8091 0000 lds r24,FC_StatusFlags
		5304	5545 2d32 84FF sbrs r24,4
		5305	5546 2d34 00C0 rjmp .L481
		5306	5547 2d36 1092 0000 sts (MaxStickNick)+1,__zero_reg__
		5307	5548 2d3a 1092 0000 sts MaxStickNick,__zero_reg__
		5308	5549 2d3e 1092 0000 sts (MaxStickRoll)+1,__zero_reg__
		5309	5550 2d42 1092 0000 sts MaxStickRoll,__zero_reg__
		5310	5551 .L481:
		5311	5552 2d46 ED2D mov r30,r13
		5312	5553 2d48 FF27 clr r31
		5313	5554 2d4a EE0F add r30,r30
		5314	5555 2d4c FF1F adc r31,r31
		5315	5556 2d4e E050 subi r30,lo8(-(PPM_in))
		5316	5557 2d50 F040 sbci r31,hi8(-(PPM_in))
		5317	5558 2d52 4091 0000 lds r20,EE_Parameter+60
		5318	5559 2d56 242F mov r18,r20
		5319	5560 2d58 3327 clr r19
		5320	5561 2d5a 8081 ld r24,Z
		5321	5562 2d5c 9181 ldd r25,Z+1
		5322	5563 2d5e 2817 cp r18,r24
		5323	5564 2d60 3907 cpc r19,r25
		5324	5565 2d62 04F4 brge .L482
		5325	5566 2d64 8091 0000 lds r24,EE_Parameter+108
		5326	5567 2d68 82FF sbrs r24,2
		5327	5568 2d6a 00C0 rjmp .L482
		5328	5569 2d6c 81E0 ldi r24,lo8(1)
		5329	5570 2d6e 8093 0000 sts Looping_Links,r24
		5330	5571 2d72 00C0 rjmp .L483
		5331	5572 .L482:
		5332	5573 2d74 ED2D mov r30,r13
		5333	5574 2d76 FF27 clr r31
		5334	5575 2d78 EE0F add r30,r30
		5335	5576 2d7a FF1F adc r31,r31
		5336	5577 2d7c E050 subi r30,lo8(-(PPM_in))
		5337	5578 2d7e F040 sbci r31,hi8(-(PPM_in))
		5338	5579 2d80 842F mov r24,r20
		5339	5580 2d82 9927 clr r25
		5340	5581 2d84 2091 0000 lds r18,EE_Parameter+61
		5341	5582 2d88 821B sub r24,r18
		5342	5583 2d8a 9109 sbc r25,__zero_reg__
		5343	5584 2d8c 2081 ld r18,Z
		5344	5585 2d8e 3181 ldd r19,Z+1
		5345	5586 2d90 2817 cp r18,r24
		5346	5587 2d92 3907 cpc r19,r25
		5347	5588 2d94 04F4 brge .L483
		5348	5589 2d96 1092 0000 sts Looping_Links,__zero_reg__
		5349	5590 .L483:
		5350	5591 2d9a 4091 0000 lds r20,EE_Parameter+2
		5351	5592 2d9e E42F mov r30,r20
		5352	5593 2da0 FF27 clr r31
		5353	5594 2da2 EE0F add r30,r30
		5354	5595 2da4 FF1F adc r31,r31
		5355	5596 2da6 E050 subi r30,lo8(-(PPM_in))
		5356	5597 2da8 F040 sbci r31,hi8(-(PPM_in))
		5357	5598 2daa 5091 0000 lds r21,EE_Parameter+60
		5358	5599 2dae 852F mov r24,r21
		5359	5600 2db0 9927 clr r25
		5360	5601 2db2 2227 clr r18
		5361	5602 2db4 3327 clr r19
		5362	5603 2db6 281B sub r18,r24
		5363	5604 2db8 390B sbc r19,r25
		5364	5605 2dba 8081 ld r24,Z
		5365	5606 2dbc 9181 ldd r25,Z+1
		5366	5607 2dbe 8217 cp r24,r18
		5367	5608 2dc0 9307 cpc r25,r19
		5368	5609 2dc2 04F4 brge .L485
		5369	5610 2dc4 8091 0000 lds r24,EE_Parameter+108
		5370	5611 2dc8 83FF sbrs r24,3
		5371	5612 2dca 00C0 rjmp .L485
		5372	5613 2dcc 81E0 ldi r24,lo8(1)
		5373	5614 2dce 8093 0000 sts Looping_Rechts,r24
		5374	5615 2dd2 00C0 rjmp .L486
		5375	5616 .L485:
		5376	5617 2dd4 8091 0000 lds r24,Looping_Rechts
		5377	5618 2dd8 8823 tst r24
		5378	5619 2dda 01F0 breq .L486
		5379	5620 2ddc E42F mov r30,r20
		5380	5621 2dde FF27 clr r31
		5381	5622 2de0 EE0F add r30,r30
		5382	5623 2de2 FF1F adc r31,r31
		5383	5624 2de4 E050 subi r30,lo8(-(PPM_in))
		5384	5625 2de6 F040 sbci r31,hi8(-(PPM_in))
		5385	5626 2de8 8091 0000 lds r24,EE_Parameter+61
		5386	5627 2dec 9927 clr r25
		5387	5628 2dee 851B sub r24,r21
		5388	5629 2df0 9109 sbc r25,__zero_reg__
		5389	5630 2df2 2081 ld r18,Z
		5390	5631 2df4 3181 ldd r19,Z+1
		5391	5632 2df6 8217 cp r24,r18
		5392	5633 2df8 9307 cpc r25,r19
		5393	5634 2dfa 04F4 brge .L486
		5394	5635 2dfc 1092 0000 sts Looping_Rechts,__zero_reg__
		5395	5636 .L486:
		5396	5637 2e00 EC2D mov r30,r12
		5397	5638 2e02 FF27 clr r31
		5398	5639 2e04 EE0F add r30,r30
		5399	5640 2e06 FF1F adc r31,r31
		5400	5641 2e08 E050 subi r30,lo8(-(PPM_in))
		5401	5642 2e0a F040 sbci r31,hi8(-(PPM_in))
		5402	5643 2e0c 4091 0000 lds r20,EE_Parameter+60
		5403	5644 2e10 242F mov r18,r20
		5404	5645 2e12 3327 clr r19
		5405	5646 2e14 8081 ld r24,Z
		5406	5647 2e16 9181 ldd r25,Z+1
		5407	5648 2e18 2817 cp r18,r24
		5408	5649 2e1a 3907 cpc r19,r25
		5409	5650 2e1c 04F4 brge .L489
		5410	5651 2e1e 8091 0000 lds r24,EE_Parameter+108
		5411	5652 2e22 80FF sbrs r24,0
		5412	5653 2e24 00C0 rjmp .L489
		5413	5654 2e26 81E0 ldi r24,lo8(1)
		5414	5655 2e28 8093 0000 sts Looping_Oben,r24
		5415	5656 2e2c 00C0 rjmp .L490
		5416	5657 .L489:
		5417	5658 2e2e 8091 0000 lds r24,Looping_Oben
		5418	5659 2e32 8823 tst r24
		5419	5660 2e34 01F0 breq .L490
		5420	5661 2e36 EC2D mov r30,r12
		5421	5662 2e38 FF27 clr r31
		5422	5663 2e3a EE0F add r30,r30
		5423	5664 2e3c FF1F adc r31,r31
		5424	5665 2e3e E050 subi r30,lo8(-(PPM_in))
		5425	5666 2e40 F040 sbci r31,hi8(-(PPM_in))
		5426	5667 2e42 842F mov r24,r20
		5427	5668 2e44 9927 clr r25
		5428	5669 2e46 2091 0000 lds r18,EE_Parameter+61
		5429	5670 2e4a 821B sub r24,r18
		5430	5671 2e4c 9109 sbc r25,__zero_reg__
		5431	5672 2e4e 2081 ld r18,Z
		5432	5673 2e50 3181 ldd r19,Z+1
		5433	5674 2e52 2817 cp r18,r24
		5434	5675 2e54 3907 cpc r19,r25
		5435	5676 2e56 04F4 brge .L490
		5436	5677 2e58 1092 0000 sts Looping_Oben,__zero_reg__
		5437	5678 .L490:
		5438	5679 2e5c 4091 0000 lds r20,EE_Parameter+1
		5439	5680 2e60 E42F mov r30,r20
		5440	5681 2e62 FF27 clr r31
		5441	5682 2e64 EE0F add r30,r30
		5442	5683 2e66 FF1F adc r31,r31
		5443	5684 2e68 E050 subi r30,lo8(-(PPM_in))
		5444	5685 2e6a F040 sbci r31,hi8(-(PPM_in))
		5445	5686 2e6c 5091 0000 lds r21,EE_Parameter+60
		5446	5687 2e70 852F mov r24,r21
		5447	5688 2e72 9927 clr r25
		5448	5689 2e74 2227 clr r18
		5449	5690 2e76 3327 clr r19
		5450	5691 2e78 281B sub r18,r24
		5451	5692 2e7a 390B sbc r19,r25
		5452	5693 2e7c 8081 ld r24,Z
		5453	5694 2e7e 9181 ldd r25,Z+1
		5454	5695 2e80 8217 cp r24,r18
		5455	5696 2e82 9307 cpc r25,r19
		5456	5697 2e84 04F4 brge .L493
		5457	5698 2e86 8091 0000 lds r24,EE_Parameter+108
		5458	5699 2e8a 81FF sbrs r24,1
		5459	5700 2e8c 00C0 rjmp .L493
		5460	5701 2e8e 81E0 ldi r24,lo8(1)
		5461	5702 2e90 8093 0000 sts Looping_Unten,r24
		5462	5703 2e94 00C0 rjmp .L494
		5463	5704 .L493:
		5464	5705 2e96 8091 0000 lds r24,Looping_Unten
		5465	5706 2e9a 8823 tst r24
		5466	5707 2e9c 01F0 breq .L494
		5467	5708 2e9e E42F mov r30,r20
		5468	5709 2ea0 FF27 clr r31
		5469	5710 2ea2 EE0F add r30,r30
		5470	5711 2ea4 FF1F adc r31,r31
		5471	5712 2ea6 E050 subi r30,lo8(-(PPM_in))
		5472	5713 2ea8 F040 sbci r31,hi8(-(PPM_in))
		5473	5714 2eaa 8091 0000 lds r24,EE_Parameter+61
		5474	5715 2eae 9927 clr r25
		5475	5716 2eb0 851B sub r24,r21
		5476	5717 2eb2 9109 sbc r25,__zero_reg__
		5477	5718 2eb4 2081 ld r18,Z
		5478	5719 2eb6 3181 ldd r19,Z+1
		5479	5720 2eb8 8217 cp r24,r18
		5480	5721 2eba 9307 cpc r25,r19
		5481	5722 2ebc 04F4 brge .L494
		5482	5723 2ebe 1092 0000 sts Looping_Unten,__zero_reg__
		5483	5724 .L494:
		5484	5725 2ec2 8091 0000 lds r24,Looping_Links
		5485	5726 2ec6 8823 tst r24
		5486	5727 2ec8 01F4 brne .L498
		5487	5728 2eca 8091 0000 lds r24,Looping_Rechts
		5488	5729 2ece 8111 cpse r24,__zero_reg__
		5489	5730 .L498:
		5490	5731 2ed0 81E0 ldi r24,lo8(1)
		5491	5732 .L497:
		5492	5733 2ed2 8093 0000 sts Looping_Roll,r24
		5493	5734 2ed6 8091 0000 lds r24,Looping_Oben
		5494	5735 2eda 8823 tst r24
		5495	5736 2edc 01F4 brne .L501
		5496	5737 2ede 8091 0000 lds r24,Looping_Unten
		5497	5738 2ee2 8823 tst r24
		5498	5739 2ee4 01F0 breq .L500
		5499	5740 .L501:
		5500	5741 2ee6 81E0 ldi r24,lo8(1)
		5501	5742 2ee8 8093 0000 sts Looping_Nick,r24
		5502	5743 2eec 1092 0000 sts Looping_Roll,__zero_reg__
		5503	5744 2ef0 1092 0000 sts Looping_Links,__zero_reg__
		5504	5745 2ef4 1092 0000 sts Looping_Rechts,__zero_reg__
		5505	5746 2ef8 00C0 rjmp .L442
		5506	5747 .L500:
		5507	5748 2efa 8093 0000 sts Looping_Nick,r24
		5508	5749 .L442:
		5509	5750 2efe 8091 0000 lds r24,Looping_Roll
		5510	5751 2f02 8823 tst r24
		5511	5752 2f04 01F4 brne .L504
		5512	5753 2f06 8091 0000 lds r24,Looping_Nick
		5513	5754 2f0a 8823 tst r24
		5514	5755 2f0c 01F0 breq .L503
		5515	5756 .L504:
		5516	5757 2f0e 8091 0000 lds r24,EE_Parameter+59
		5517	5758 2f12 9927 clr r25
		5518	5759 2f14 2981 ldd r18,Y+1
		5519	5760 2f16 3A81 ldd r19,Y+2
		5520	5761 2f18 8217 cp r24,r18
		5521	5762 2f1a 9307 cpc r25,r19
		5522	5763 2f1c 04F4 brge .L505
		5523	5764 2f1e 9A83 std Y+2,r25
		5524	5765 2f20 8983 std Y+1,r24
		5525	5766 .L505:
		5526	5767 2f22 81E0 ldi r24,lo8(1)
		5527	5768 2f24 8093 0000 sts TrichterFlug,r24
		5528	5769 .L503:
		5529	5770 2f28 8091 0000 lds r24,FC_StatusFlags2
		5530	5771 2f2c 9927 clr r25
		5531	5772 2f2e 9C01 movw r18,r24
		5532	5773 2f30 2470 andi r18,lo8(4)
		5533	5774 2f32 3070 andi r19,hi8(4)
		5534	5775 2f34 82FF sbrs r24,2
		5535	5776 2f36 00C0 rjmp .L506
		5536	5777 2f38 8091 0000 lds r24,GPS_Nick
		5537	5778 2f3c 9091 0000 lds r25,(GPS_Nick)+1
		5538	5779 2f40 9095 com r25
		5539	5780 2f42 8195 neg r24
		5540	5781 2f44 9F4F sbci r25,lo8(-1)
		5541	5782 2f46 9093 0000 sts (StickNick)+1,r25
		5542	5783 2f4a 8093 0000 sts StickNick,r24
		5543	5784 2f4e 8091 0000 lds r24,GPS_Roll
		5544	5785 2f52 9091 0000 lds r25,(GPS_Roll)+1
		5545	5786 2f56 9095 com r25
		5546	5787 2f58 8195 neg r24
		5547	5788 2f5a 9F4F sbci r25,lo8(-1)
		5548	5789 2f5c 9093 0000 sts (StickRoll)+1,r25
		5549	5790 2f60 8093 0000 sts StickRoll,r24
		5550	5791 2f64 8091 0000 lds r24,StickGasHover
		5551	5792 2f68 9091 0000 lds r25,(StickGasHover)+1
		5552	5793 2f6c 9093 0000 sts (StickGas)+1,r25
		5553	5794 2f70 8093 0000 sts StickGas,r24
		5554	5795 2f74 8091 0000 lds r24,Parameter_GlobalConfig
		5555	5796 2f78 8B77 andi r24,lo8(123)
		5556	5797 2f7a 8B66 ori r24,lo8(107)
		5557	5798 2f7c 8093 0000 sts Parameter_GlobalConfig,r24
		5558	5799 2f80 8091 0000 lds r24,Parameter_ExtraConfig
		5559	5800 2f84 8C7B andi r24,lo8(-68)
		5560	5801 2f86 8093 0000 sts Parameter_ExtraConfig,r24
		5561	5802 2f8a 88EC ldi r24,lo8(-56)
		5562	5803 2f8c 8093 0000 sts Parameter_HoehenSchalter,r24
		5563	5804 2f90 00C0 rjmp .L507
		5564	5805 .L506:
		5565	5806 2f92 8091 0000 lds r24,FC_StatusFlags
		5566	5807 2f96 84FF sbrs r24,4
		5567	5808 2f98 00C0 rjmp .L507
		5568	5809 2f9a 3093 0000 sts (StickGier)+1,r19
		5569	5810 2f9e 2093 0000 sts StickGier,r18
		5570	5811 2fa2 3093 0000 sts (StickNick)+1,r19
		5571	5812 2fa6 2093 0000 sts StickNick,r18
		5572	5813 2faa 3093 0000 sts (StickRoll)+1,r19
		5573	5814 2fae 2093 0000 sts StickRoll,r18
		5574	5815 2fb2 9AE5 ldi r25,lo8(90)
		5575	5816 2fb4 9093 0000 sts GyroFaktor,r25
		5576	5817 2fb8 88E7 ldi r24,lo8(120)
		5577	5818 2fba 8093 0000 sts IntegralFaktor,r24
		5578	5819 2fbe 9093 0000 sts GyroFaktorGier,r25
		5579	5820 2fc2 8093 0000 sts IntegralFaktorGier,r24
		5580	5821 2fc6 1092 0000 sts Looping_Roll,__zero_reg__
		5581	5822 2fca 1092 0000 sts Looping_Nick,__zero_reg__
		5582	5823 .L507:
		5583	5824 2fce 8091 0000 lds r24,MittelIntegralNick
		5584	5825 2fd2 9091 0000 lds r25,(MittelIntegralNick)+1
		5585	5826 2fd6 A091 0000 lds r26,(MittelIntegralNick)+2
		5586	5827 2fda B091 0000 lds r27,(MittelIntegralNick)+3
		5587	5828 2fde 2091 0000 lds r18,IntegralNick
		5588	5829 2fe2 3091 0000 lds r19,(IntegralNick)+1
		5589	5830 2fe6 4091 0000 lds r20,(IntegralNick)+2
		5590	5831 2fea 5091 0000 lds r21,(IntegralNick)+3
		5591	5832 2fee 820F add r24,r18
		5592	5833 2ff0 931F adc r25,r19
		5593	5834 2ff2 A41F adc r26,r20
		5594	5835 2ff4 B51F adc r27,r21
		5595	5836 2ff6 8093 0000 sts MittelIntegralNick,r24
		5596	5837 2ffa 9093 0000 sts (MittelIntegralNick)+1,r25
		5597	5838 2ffe A093 0000 sts (MittelIntegralNick)+2,r26
		5598	5839 3002 B093 0000 sts (MittelIntegralNick)+3,r27
		5599	5840 3006 8091 0000 lds r24,MittelIntegralRoll
		5600	5841 300a 9091 0000 lds r25,(MittelIntegralRoll)+1
		5601	5842 300e A091 0000 lds r26,(MittelIntegralRoll)+2
		5602	5843 3012 B091 0000 lds r27,(MittelIntegralRoll)+3
		5603	5844 3016 E090 0000 lds r14,IntegralRoll
		5604	5845 301a F090 0000 lds r15,(IntegralRoll)+1
		5605	5846 301e 0091 0000 lds r16,(IntegralRoll)+2
		5606	5847 3022 1091 0000 lds r17,(IntegralRoll)+3
		5607	5848 3026 EB82 std Y+3,r14
		5608	5849 3028 FC82 std Y+4,r15
		5609	5850 302a 0D83 std Y+5,r16
		5610	5851 302c 1E83 std Y+6,r17
		5611	5852 302e 8E0D add r24,r14
		5612	5853 3030 9F1D adc r25,r15
		5613	5854 3032 A01F adc r26,r16
		5614	5855 3034 B11F adc r27,r17
		5615	5856 3036 8093 0000 sts MittelIntegralRoll,r24
		5616	5857 303a 9093 0000 sts (MittelIntegralRoll)+1,r25
		5617	5858 303e A093 0000 sts (MittelIntegralRoll)+2,r26
		5618	5859 3042 B093 0000 sts (MittelIntegralRoll)+3,r27
		5619	5860 3046 8091 0000 lds r24,MittelIntegralNick2
		5620	5861 304a 9091 0000 lds r25,(MittelIntegralNick2)+1
		5621	5862 304e A091 0000 lds r26,(MittelIntegralNick2)+2
		5622	5863 3052 B091 0000 lds r27,(MittelIntegralNick2)+3
		5623	5864 3056 E090 0000 lds r14,IntegralNick2
		5624	5865 305a F090 0000 lds r15,(IntegralNick2)+1
		5625	5866 305e 0091 0000 lds r16,(IntegralNick2)+2
		5626	5867 3062 1091 0000 lds r17,(IntegralNick2)+3
		5627	5868 3066 EF82 std Y+7,r14
		5628	5869 3068 F886 std Y+8,r15
		5629	5870 306a 0987 std Y+9,r16
		5630	5871 306c 1A87 std Y+10,r17
		5631	5872 306e 8E0D add r24,r14
		5632	5873 3070 9F1D adc r25,r15
		5633	5874 3072 A01F adc r26,r16
		5634	5875 3074 B11F adc r27,r17
		5635	5876 3076 8093 0000 sts MittelIntegralNick2,r24
		5636	5877 307a 9093 0000 sts (MittelIntegralNick2)+1,r25
		5637	5878 307e A093 0000 sts (MittelIntegralNick2)+2,r26
		5638	5879 3082 B093 0000 sts (MittelIntegralNick2)+3,r27
		5639	5880 3086 8091 0000 lds r24,MittelIntegralRoll2
		5640	5881 308a 9091 0000 lds r25,(MittelIntegralRoll2)+1
		5641	5882 308e A091 0000 lds r26,(MittelIntegralRoll2)+2
		5642	5883 3092 B091 0000 lds r27,(MittelIntegralRoll2)+3
		5643	5884 3096 E090 0000 lds r14,IntegralRoll2
		5644	5885 309a F090 0000 lds r15,(IntegralRoll2)+1
		5645	5886 309e 0091 0000 lds r16,(IntegralRoll2)+2
		5646	5887 30a2 1091 0000 lds r17,(IntegralRoll2)+3
		5647	5888 30a6 EB86 std Y+11,r14
		5648	5889 30a8 FC86 std Y+12,r15
		5649	5890 30aa 0D87 std Y+13,r16
		5650	5891 30ac 1E87 std Y+14,r17
		5651	5892 30ae 8E0D add r24,r14
		5652	5893 30b0 9F1D adc r25,r15
		5653	5894 30b2 A01F adc r26,r16
		5654	5895 30b4 B11F adc r27,r17
		5655	5896 30b6 8093 0000 sts MittelIntegralRoll2,r24
		5656	5897 30ba 9093 0000 sts (MittelIntegralRoll2)+1,r25
		5657	5898 30be A093 0000 sts (MittelIntegralRoll2)+2,r26
		5658	5899 30c2 B093 0000 sts (MittelIntegralRoll2)+3,r27
		5659	5900 30c6 F090 0000 lds r15,Looping_Nick
		5660	5901 30ca FF86 std Y+15,r15
		5661	5902 30cc FF20 tst r15
		5662	5903 30ce 01F4 brne .L510
		5663	5904 30d0 8091 0000 lds r24,Looping_Roll
		5664	5905 30d4 8823 tst r24
		5665	5906 30d6 01F4 brne .+2
		5666	5907 30d8 00C0 rjmp .L892
		5667	5908 .L510:
		5668	5909 30da 1092 0000 sts IntegralAccNick,__zero_reg__
		5669	5910 30de 1092 0000 sts (IntegralAccNick)+1,__zero_reg__
		5670	5911 30e2 1092 0000 sts (IntegralAccNick)+2,__zero_reg__
		5671	5912 30e6 1092 0000 sts (IntegralAccNick)+3,__zero_reg__
		5672	5913 30ea 1092 0000 sts IntegralAccRoll,__zero_reg__
		5673	5914 30ee 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__
		5674	5915 30f2 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__
		5675	5916 30f6 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__
		5676	5917 30fa 1092 0000 sts MittelIntegralNick,__zero_reg__
		5677	5918 30fe 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__
		5678	5919 3102 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__
		5679	5920 3106 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__
		5680	5921 310a 1092 0000 sts MittelIntegralRoll,__zero_reg__
		5681	5922 310e 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__
		5682	5923 3112 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__
		5683	5924 3116 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__
		5684	5925 311a 1092 0000 sts MittelIntegralNick2,__zero_reg__
		5685	5926 311e 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__
		5686	5927 3122 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__
		5687	5928 3126 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__
		5688	5929 312a 1092 0000 sts MittelIntegralRoll2,__zero_reg__
		5689	5930 312e 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__
		5690	5931 3132 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__
		5691	5932 3136 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__
		5692	5933 313a 8091 0000 lds r24,Mess_IntegralNick
		5693	5934 313e 9091 0000 lds r25,(Mess_IntegralNick)+1
		5694	5935 3142 A091 0000 lds r26,(Mess_IntegralNick)+2
		5695	5936 3146 B091 0000 lds r27,(Mess_IntegralNick)+3
		5696	5937 314a 8093 0000 sts Mess_IntegralNick2,r24
		5697	5938 314e 9093 0000 sts (Mess_IntegralNick2)+1,r25
		5698	5939 3152 A093 0000 sts (Mess_IntegralNick2)+2,r26
		5699	5940 3156 B093 0000 sts (Mess_IntegralNick2)+3,r27
		5700	5941 315a 8091 0000 lds r24,Mess_IntegralRoll
		5701	5942 315e 9091 0000 lds r25,(Mess_IntegralRoll)+1
		5702	5943 3162 A091 0000 lds r26,(Mess_IntegralRoll)+2
		5703	5944 3166 B091 0000 lds r27,(Mess_IntegralRoll)+3
		5704	5945 316a 8093 0000 sts Mess_IntegralRoll2,r24
		5705	5946 316e 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		5706	5947 3172 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		5707	5948 3176 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		5708	5949 317a 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__
		5709	5950 317e 1092 0000 sts ZaehlMessungen,__zero_reg__
		5710	5951 3182 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__
		5711	5952 3186 1092 0000 sts LageKorrekturNick,__zero_reg__
		5712	5953 318a 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__
		5713	5954 318e 1092 0000 sts LageKorrekturRoll,__zero_reg__
		5714	5955 3192 0F85 ldd r16,Y+15
		5715	5956 3194 0023 tst r16
		5716	5957 3196 01F0 breq .+2
		5717	5958 3198 00C0 rjmp .L511
		5718	5959 .L892:
		5719	5960 319a 8091 0000 lds r24,Looping_Roll
		5720	5961 319e 8823 tst r24
		5721	5962 31a0 01F0 breq .+2
		5722	5963 31a2 00C0 rjmp .L511
		5723	5964 31a4 8091 0000 lds r24,Aktuell_az
		5724	5965 31a8 9091 0000 lds r25,(Aktuell_az)+1
		5725	5966 31ac 8150 subi r24,lo8(513)
		5726	5967 31ae 9240 sbci r25,hi8(513)
		5727	5968 31b0 04F4 brge .L512
		5728	5969 31b2 8091 0000 lds r24,MotorenEin
		5729	5970 31b6 8823 tst r24
		5730	5971 31b8 01F4 brne .+2
		5731	5972 31ba 00C0 rjmp .L511
		5732	5973 .L512:
		5733	5974 31bc 9090 0000 lds r9,FromNaviCtrl_Value
		5734	5975 31c0 A090 0000 lds r10,EE_Parameter+28
		5735	5976 31c4 2090 0000 lds r2,Mittelwert_AccNick
		5736	5977 31c8 3090 0000 lds r3,(Mittelwert_AccNick)+1
		5737	5978 31cc 4090 0000 lds r4,Mittelwert_AccRoll
		5738	5979 31d0 5090 0000 lds r5,(Mittelwert_AccRoll)+1
		5739	5980 31d4 1914 cp __zero_reg__,r9
		5740	5981 31d6 04F0 brlt .+2
		5741	5982 31d8 00C0 rjmp .L513
		5742	5983 31da BB24 clr r11
		5743	5984 31dc CC24 clr r12
		5744	5985 31de DD24 clr r13
		5745	5986 31e0 CA01 movw r24,r20
		5746	5987 31e2 B901 movw r22,r18
		5747	5988 31e4 A601 movw r20,r12
		5748	5989 31e6 9501 movw r18,r10
		5749	5990 31e8 0E94 0000 call __divmodsi4
		5750	5991 31ec 7901 movw r14,r18
		5751	5992 31ee 8A01 movw r16,r20
		5752	5993 31f0 8091 0000 lds r24,FromNaviCtrl+9
		5753	5994 31f4 9091 0000 lds r25,(FromNaviCtrl+9)+1
		5754	5995 31f8 281A sub r2,r24
		5755	5996 31fa 390A sbc r3,r25
		5756	5997 31fc C101 movw r24,r2
		5757	5998 31fe AA27 clr r26
		5758	5999 3200 97FD sbrc r25,7
		5759	6000 3202 A095 com r26
		5760	6001 3204 BA2F mov r27,r26
		5761	6002 3206 E81A sub r14,r24
		5762	6003 3208 F90A sbc r15,r25
		5763	6004 320a 0A0B sbc r16,r26
		5764	6005 320c 1B0B sbc r17,r27
		5765	6006 320e 6B81 ldd r22,Y+3
		5766	6007 3210 7C81 ldd r23,Y+4
		5767	6008 3212 8D81 ldd r24,Y+5
		5768	6009 3214 9E81 ldd r25,Y+6
		5769	6010 3216 A601 movw r20,r12
		5770	6011 3218 9501 movw r18,r10
		5771	6012 321a 0E94 0000 call __divmodsi4
		5772	6013 321e 5901 movw r10,r18
		5773	6014 3220 6A01 movw r12,r20
		5774	6015 3222 8091 0000 lds r24,FromNaviCtrl+11
		5775	6016 3226 9091 0000 lds r25,(FromNaviCtrl+11)+1
		5776	6017 322a 481A sub r4,r24
		5777	6018 322c 590A sbc r5,r25
		5778	6019 322e C201 movw r24,r4
		5779	6020 3230 AA27 clr r26
		5780	6021 3232 97FD sbrc r25,7
		5781	6022 3234 A095 com r26
		5782	6023 3236 BA2F mov r27,r26
		5783	6024 3238 A81A sub r10,r24
		5784	6025 323a B90A sbc r11,r25
		5785	6026 323c CA0A sbc r12,r26
		5786	6027 323e DB0A sbc r13,r27
		5787	6028 3240 292C mov r2,r9
		5788	6029 3242 3324 clr r3
		5789	6030 3244 27FC sbrc r2,7
		5790	6031 3246 3094 com r3
		5791	6032 3248 432C mov r4,r3
		5792	6033 324a 532C mov r5,r3
		5793	6034 324c C801 movw r24,r16
		5794	6035 324e B701 movw r22,r14
		5795	6036 3250 A201 movw r20,r4
		5796	6037 3252 9101 movw r18,r2
		5797	6038 3254 0E94 0000 call __mulsi3
		5798	6039 3258 97FF sbrs r25,7
		5799	6040 325a 00C0 rjmp .L514
		5800	6041 325c 6150 subi r22,lo8(-(511))
		5801	6042 325e 7E4F sbci r23,hi8(-(511))
		5802	6043 3260 8F4F sbci r24,hlo8(-(511))
		5803	6044 3262 9F4F sbci r25,hhi8(-(511))
		5804	6045 .L514:
		5805	6046 3264 3B01 movw r6,r22
		5806	6047 3266 4C01 movw r8,r24
		5807	6048 3268 09E0 ldi r16,9
		5808	6049 326a 9594 1: asr r9
		5809	6050 326c 8794 ror r8
		5810	6051 326e 7794 ror r7
		5811	6052 3270 6794 ror r6
		5812	6053 3272 0A95 dec r16
		5813	6054 3274 01F4 brne 1b
		5814	6055 3276 C601 movw r24,r12
		5815	6056 3278 B501 movw r22,r10
		5816	6057 327a A201 movw r20,r4
		5817	6058 327c 9101 movw r18,r2
		5818	6059 327e 0E94 0000 call __mulsi3
		5819	6060 3282 97FF sbrs r25,7
		5820	6061 3284 00C0 rjmp .L515
		5821	6062 3286 6150 subi r22,lo8(-(511))
		5822	6063 3288 7E4F sbci r23,hi8(-(511))
		5823	6064 328a 8F4F sbci r24,hlo8(-(511))
		5824	6065 328c 9F4F sbci r25,hhi8(-(511))
		5825	6066 .L515:
		5826	6067 328e 5B01 movw r10,r22
		5827	6068 3290 6C01 movw r12,r24
		5828	6069 3292 19E0 ldi r17,9
		5829	6070 3294 D594 1: asr r13
		5830	6071 3296 C794 ror r12
		5831	6072 3298 B794 ror r11
		5832	6073 329a A794 ror r10
		5833	6074 329c 1A95 dec r17
		5834	6075 329e 01F4 brne 1b
		5835	6076 32a0 8091 0000 lds r24,MaxStickNick
		5836	6077 32a4 9091 0000 lds r25,(MaxStickNick)+1
		5837	6078 32a8 8134 cpi r24,65
		5838	6079 32aa 9105 cpc r25,__zero_reg__
		5839	6080 32ac 04F4 brge .L517
		5840	6081 32ae 8091 0000 lds r24,MaxStickRoll
		5841	6082 32b2 9091 0000 lds r25,(MaxStickRoll)+1
		5842	6083 32b6 8134 cpi r24,65
		5843	6084 32b8 9105 cpc r25,__zero_reg__
		5844	6085 32ba 04F0 brlt .L516
		5845	6086 .L517:
		5846	6087 32bc D401 movw r26,r8
		5847	6088 32be C301 movw r24,r6
		5848	6089 32c0 97FE sbrs r9,7
		5849	6090 32c2 00C0 rjmp .L518
		5850	6091 32c4 0196 adiw r24,1
		5851	6092 32c6 A11D adc r26,__zero_reg__
		5852	6093 32c8 B11D adc r27,__zero_reg__
		5853	6094 .L518:
		5854	6095 32ca 3C01 movw r6,r24
		5855	6096 32cc 4D01 movw r8,r26
		5856	6097 32ce 9594 asr r9
		5857	6098 32d0 8794 ror r8
		5858	6099 32d2 7794 ror r7
		5859	6100 32d4 6794 ror r6
		5860	6101 32d6 D601 movw r26,r12
		5861	6102 32d8 C501 movw r24,r10
		5862	6103 32da D7FE sbrs r13,7
		5863	6104 32dc 00C0 rjmp .L519
		5864	6105 32de 0196 adiw r24,1
		5865	6106 32e0 A11D adc r26,__zero_reg__
		5866	6107 32e2 B11D adc r27,__zero_reg__
		5867	6108 .L519:
		5868	6109 32e4 5C01 movw r10,r24
		5869	6110 32e6 6D01 movw r12,r26
		5870	6111 32e8 D594 asr r13
		5871	6112 32ea C794 ror r12
		5872	6113 32ec B794 ror r11
		5873	6114 32ee A794 ror r10
		5874	6115 .L516:
		5875	6116 32f0 8091 0000 lds r24,FromNaviCtrl_Value+2
		5876	6117 32f4 282F mov r18,r24
		5877	6118 32f6 3327 clr r19
		5878	6119 32f8 27FD sbrc r18,7
		5879	6120 32fa 3095 com r19
		5880	6121 32fc 432F mov r20,r19
		5881	6122 32fe 532F mov r21,r19
		5882	6123 3300 2615 cp r18,r6
		5883	6124 3302 3705 cpc r19,r7
		5884	6125 3304 4805 cpc r20,r8
		5885	6126 3306 5905 cpc r21,r9
		5886	6127 3308 04F4 brge .L520
		5887	6128 330a 3901 movw r6,r18
		5888	6129 330c 4A01 movw r8,r20
		5889	6130 .L520:
		5890	6131 330e 9927 clr r25
		5891	6132 3310 87FD sbrc r24,7
		5892	6133 3312 9095 com r25
		5893	6134 3314 9095 com r25
		5894	6135 3316 8195 neg r24
		5895	6136 3318 9F4F sbci r25,lo8(-1)
		5896	6137 331a AA27 clr r26
		5897	6138 331c 97FD sbrc r25,7
		5898	6139 331e A095 com r26
		5899	6140 3320 BA2F mov r27,r26
		5900	6141 3322 6816 cp r6,r24
		5901	6142 3324 7906 cpc r7,r25
		5902	6143 3326 8A06 cpc r8,r26
		5903	6144 3328 9B06 cpc r9,r27
		5904	6145 332a 04F4 brge .L521
		5905	6146 332c 3C01 movw r6,r24
		5906	6147 332e 4D01 movw r8,r26
		5907	6148 .L521:
		5908	6149 3330 2A15 cp r18,r10
		5909	6150 3332 3B05 cpc r19,r11
		5910	6151 3334 4C05 cpc r20,r12
		5911	6152 3336 5D05 cpc r21,r13
		5912	6153 3338 04F4 brge .L522
		5913	6154 333a 5901 movw r10,r18
		5914	6155 333c 6A01 movw r12,r20
		5915	6156 .L522:
		5916	6157 333e A816 cp r10,r24
		5917	6158 3340 B906 cpc r11,r25
		5918	6159 3342 CA06 cpc r12,r26
		5919	6160 3344 DB06 cpc r13,r27
		5920	6161 3346 04F0 brlt .+2
		5921	6162 3348 00C0 rjmp .L524
		5922	6163 334a 5C01 movw r10,r24
		5923	6164 334c 6D01 movw r12,r26
		5924	6165 334e 00C0 rjmp .L524
		5925	6166 .L513:
		5926	6167 3350 EA2C mov r14,r10
		5927	6168 3352 FF24 clr r15
		5928	6169 3354 0027 clr r16
		5929	6170 3356 1127 clr r17
		5930	6171 3358 CA01 movw r24,r20
		5931	6172 335a B901 movw r22,r18
		5932	6173 335c A801 movw r20,r16
		5933	6174 335e 9701 movw r18,r14
		5934	6175 3360 0E94 0000 call __divmodsi4
		5935	6176 3364 3901 movw r6,r18
		5936	6177 3366 4A01 movw r8,r20
		5937	6178 3368 C101 movw r24,r2
		5938	6179 336a AA27 clr r26
		5939	6180 336c 97FD sbrc r25,7
		5940	6181 336e A095 com r26
		5941	6182 3370 BA2F mov r27,r26
		5942	6183 3372 681A sub r6,r24
		5943	6184 3374 790A sbc r7,r25
		5944	6185 3376 8A0A sbc r8,r26
		5945	6186 3378 9B0A sbc r9,r27
		5946	6187 337a 6B81 ldd r22,Y+3
		5947	6188 337c 7C81 ldd r23,Y+4
		5948	6189 337e 8D81 ldd r24,Y+5
		5949	6190 3380 9E81 ldd r25,Y+6
		5950	6191 3382 A801 movw r20,r16
		5951	6192 3384 9701 movw r18,r14
		5952	6193 3386 0E94 0000 call __divmodsi4
		5953	6194 338a 5901 movw r10,r18
		5954	6195 338c 6A01 movw r12,r20
		5955	6196 338e C201 movw r24,r4
		5956	6197 3390 AA27 clr r26
		5957	6198 3392 97FD sbrc r25,7
		5958	6199 3394 A095 com r26
		5959	6200 3396 BA2F mov r27,r26
		5960	6201 3398 A81A sub r10,r24
		5961	6202 339a B90A sbc r11,r25
		5962	6203 339c CA0A sbc r12,r26
		5963	6204 339e DB0A sbc r13,r27
		5964	6205 33a0 D401 movw r26,r8
		5965	6206 33a2 C301 movw r24,r6
		5966	6207 33a4 97FE sbrs r9,7
		5967	6208 33a6 00C0 rjmp .L525
		5968	6209 33a8 0F96 adiw r24,15
		5969	6210 33aa A11D adc r26,__zero_reg__
		5970	6211 33ac B11D adc r27,__zero_reg__
		5971	6212 .L525:
		5972	6213 33ae 3C01 movw r6,r24
		5973	6214 33b0 4D01 movw r8,r26
		5974	6215 33b2 F4E0 ldi r31,4
		5975	6216 33b4 9594 1: asr r9
		5976	6217 33b6 8794 ror r8
		5977	6218 33b8 7794 ror r7
		5978	6219 33ba 6794 ror r6
		5979	6220 33bc FA95 dec r31
		5980	6221 33be 01F4 brne 1b
		5981	6222 33c0 D601 movw r26,r12
		5982	6223 33c2 C501 movw r24,r10
		5983	6224 33c4 D7FE sbrs r13,7
		5984	6225 33c6 00C0 rjmp .L526
		5985	6226 33c8 0F96 adiw r24,15
		5986	6227 33ca A11D adc r26,__zero_reg__
		5987	6228 33cc B11D adc r27,__zero_reg__
		5988	6229 .L526:
		5989	6230 33ce 5C01 movw r10,r24
		5990	6231 33d0 6D01 movw r12,r26
		5991	6232 33d2 E4E0 ldi r30,4
		5992	6233 33d4 D594 1: asr r13
		5993	6234 33d6 C794 ror r12
		5994	6235 33d8 B794 ror r11
		5995	6236 33da A794 ror r10
		5996	6237 33dc EA95 dec r30
		5997	6238 33de 01F4 brne 1b
		5998	6239 33e0 8091 0000 lds r24,MaxStickNick
		5999	6240 33e4 9091 0000 lds r25,(MaxStickNick)+1
		6000	6241 33e8 8134 cpi r24,65
		6001	6242 33ea 9105 cpc r25,__zero_reg__
		6002	6243 33ec 04F4 brge .L528
		6003	6244 33ee 8091 0000 lds r24,MaxStickRoll
		6004	6245 33f2 9091 0000 lds r25,(MaxStickRoll)+1
		6005	6246 33f6 8134 cpi r24,65
		6006	6247 33f8 9105 cpc r25,__zero_reg__
		6007	6248 33fa 04F0 brlt .L527
		6008	6249 .L528:
		6009	6250 33fc C401 movw r24,r8
		6010	6251 33fe B301 movw r22,r6
		6011	6252 3400 23E0 ldi r18,lo8(3)
		6012	6253 3402 30E0 ldi r19,hi8(3)
		6013	6254 3404 40E0 ldi r20,hlo8(3)
		6014	6255 3406 50E0 ldi r21,hhi8(3)
		6015	6256 3408 0E94 0000 call __divmodsi4
		6016	6257 340c 3901 movw r6,r18
		6017	6258 340e 4A01 movw r8,r20
		6018	6259 3410 C601 movw r24,r12
		6019	6260 3412 B501 movw r22,r10
		6020	6261 3414 23E0 ldi r18,lo8(3)
		6021	6262 3416 30E0 ldi r19,hi8(3)
		6022	6263 3418 40E0 ldi r20,hlo8(3)
		6023	6264 341a 50E0 ldi r21,hhi8(3)
		6024	6265 341c 0E94 0000 call __divmodsi4
		6025	6266 3420 5901 movw r10,r18
		6026	6267 3422 6A01 movw r12,r20
		6027	6268 .L527:
		6028	6269 3424 8091 0000 lds r24,EE_Parameter+4
		6029	6270 3428 E82F mov r30,r24
		6030	6271 342a FF27 clr r31
		6031	6272 342c EE0F add r30,r30
		6032	6273 342e FF1F adc r31,r31
		6033	6274 3430 E050 subi r30,lo8(-(PPM_in))
		6034	6275 3432 F040 sbci r31,hi8(-(PPM_in))
		6035	6276 3434 8081 ld r24,Z
		6036	6277 3436 9181 ldd r25,Z+1
		6037	6278 3438 0190 ld __tmp_reg__,Z+
		6038	6279 343a F081 ld r31,Z
		6039	6280 343c E02D mov r30,__tmp_reg__
		6040	6281 343e F7FF sbrs r31,7
		6041	6282 3440 00C0 rjmp .L530
		6042	6283 3442 F095 com r31
		6043	6284 3444 E195 neg r30
		6044	6285 3446 FF4F sbci r31,lo8(-1)
		6045	6286 .L530:
		6046	6287 3448 7A97 sbiw r30,26
		6047	6288 344a 04F0 brlt .L529
		6048	6289 344c C401 movw r24,r8
		6049	6290 344e B301 movw r22,r6
		6050	6291 3450 23E0 ldi r18,lo8(3)
		6051	6292 3452 30E0 ldi r19,hi8(3)
		6052	6293 3454 40E0 ldi r20,hlo8(3)
		6053	6294 3456 50E0 ldi r21,hhi8(3)
		6054	6295 3458 0E94 0000 call __divmodsi4
		6055	6296 345c 3901 movw r6,r18
		6056	6297 345e 4A01 movw r8,r20
		6057	6298 3460 C601 movw r24,r12
		6058	6299 3462 B501 movw r22,r10
		6059	6300 3464 23E0 ldi r18,lo8(3)
		6060	6301 3466 30E0 ldi r19,hi8(3)
		6061	6302 3468 40E0 ldi r20,hlo8(3)
		6062	6303 346a 50E0 ldi r21,hhi8(3)
		6063	6304 346c 0E94 0000 call __divmodsi4
		6064	6305 3470 5901 movw r10,r18
		6065	6306 3472 6A01 movw r12,r20
		6066	6307 .L529:
		6067	6308 3474 89E1 ldi r24,lo8(25)
		6068	6309 3476 8093 0000 sts KompassFusion,r24
		6069	6310 347a 21E2 ldi r18,lo8(33)
		6070	6311 347c 6216 cp r6,r18
		6071	6312 347e 7104 cpc r7,__zero_reg__
		6072	6313 3480 8104 cpc r8,__zero_reg__
		6073	6314 3482 9104 cpc r9,__zero_reg__
		6074	6315 3484 04F0 brlt .L531
		6075	6316 3486 70E2 ldi r23,lo8(32)
		6076	6317 3488 672E mov r6,r23
		6077	6318 348a 712C mov r7,__zero_reg__
		6078	6319 348c 812C mov r8,__zero_reg__
		6079	6320 348e 912C mov r9,__zero_reg__
		6080	6321 .L531:
		6081	6322 3490 30EE ldi r19,lo8(-32)
		6082	6323 3492 6316 cp r6,r19
		6083	6324 3494 3FEF ldi r19,hi8(-32)
		6084	6325 3496 7306 cpc r7,r19
		6085	6326 3498 3FEF ldi r19,hlo8(-32)
		6086	6327 349a 8306 cpc r8,r19
		6087	6328 349c 3FEF ldi r19,hhi8(-32)
		6088	6329 349e 9306 cpc r9,r19
		6089	6330 34a0 04F4 brge .L532
		6090	6331 34a2 60EE ldi r22,lo8(-32)
		6091	6332 34a4 662E mov r6,r22
		6092	6333 34a6 6FEF ldi r22,hi8(-32)
		6093	6334 34a8 762E mov r7,r22
		6094	6335 34aa 6FEF ldi r22,hlo8(-32)
		6095	6336 34ac 862E mov r8,r22
		6096	6337 34ae 6FEF ldi r22,hhi8(-32)
		6097	6338 34b0 962E mov r9,r22
		6098	6339 .L532:
		6099	6340 34b2 41E2 ldi r20,lo8(33)
		6100	6341 34b4 A416 cp r10,r20
		6101	6342 34b6 B104 cpc r11,__zero_reg__
		6102	6343 34b8 C104 cpc r12,__zero_reg__
		6103	6344 34ba D104 cpc r13,__zero_reg__
		6104	6345 34bc 04F0 brlt .L533
		6105	6346 34be 50E2 ldi r21,lo8(32)
		6106	6347 34c0 A52E mov r10,r21
		6107	6348 34c2 B12C mov r11,__zero_reg__
		6108	6349 34c4 C12C mov r12,__zero_reg__
		6109	6350 34c6 D12C mov r13,__zero_reg__
		6110	6351 .L533:
		6111	6352 34c8 50EE ldi r21,lo8(-32)
		6112	6353 34ca A516 cp r10,r21
		6113	6354 34cc 5FEF ldi r21,hi8(-32)
		6114	6355 34ce B506 cpc r11,r21
		6115	6356 34d0 5FEF ldi r21,hlo8(-32)
		6116	6357 34d2 C506 cpc r12,r21
		6117	6358 34d4 5FEF ldi r21,hhi8(-32)
		6118	6359 34d6 D506 cpc r13,r21
		6119	6360 34d8 04F4 brge .L524
		6120	6361 34da 40EE ldi r20,lo8(-32)
		6121	6362 34dc A42E mov r10,r20
		6122	6363 34de 4FEF ldi r20,hi8(-32)
		6123	6364 34e0 B42E mov r11,r20
		6124	6365 34e2 4FEF ldi r20,hlo8(-32)
		6125	6366 34e4 C42E mov r12,r20
		6126	6367 34e6 4FEF ldi r20,hhi8(-32)
		6127	6368 34e8 D42E mov r13,r20
		6128	6369 .L524:
		6129	6370 34ea 8091 0000 lds r24,Mess_IntegralNick
		6130	6371 34ee 9091 0000 lds r25,(Mess_IntegralNick)+1
		6131	6372 34f2 A091 0000 lds r26,(Mess_IntegralNick)+2
		6132	6373 34f6 B091 0000 lds r27,(Mess_IntegralNick)+3
		6133	6374 34fa 8619 sub r24,r6
		6134	6375 34fc 9709 sbc r25,r7
		6135	6376 34fe A809 sbc r26,r8
		6136	6377 3500 B909 sbc r27,r9
		6137	6378 3502 8093 0000 sts Mess_IntegralNick,r24
		6138	6379 3506 9093 0000 sts (Mess_IntegralNick)+1,r25
		6139	6380 350a A093 0000 sts (Mess_IntegralNick)+2,r26
		6140	6381 350e B093 0000 sts (Mess_IntegralNick)+3,r27
		6141	6382 3512 8091 0000 lds r24,Mess_IntegralRoll
		6142	6383 3516 9091 0000 lds r25,(Mess_IntegralRoll)+1
		6143	6384 351a A091 0000 lds r26,(Mess_IntegralRoll)+2
		6144	6385 351e B091 0000 lds r27,(Mess_IntegralRoll)+3
		6145	6386 3522 8A19 sub r24,r10
		6146	6387 3524 9B09 sbc r25,r11
		6147	6388 3526 AC09 sbc r26,r12
		6148	6389 3528 BD09 sbc r27,r13
		6149	6390 352a 8093 0000 sts Mess_IntegralRoll,r24
		6150	6391 352e 9093 0000 sts (Mess_IntegralRoll)+1,r25
		6151	6392 3532 A093 0000 sts (Mess_IntegralRoll)+2,r26
		6152	6393 3536 B093 0000 sts (Mess_IntegralRoll)+3,r27
		6153	6394 .L511:
		6154	6395 353a 8091 0000 lds r24,ZaehlMessungen
		6155	6396 353e 9091 0000 lds r25,(ZaehlMessungen)+1
		6156	6397 3542 8F3F cpi r24,255
		6157	6398 3544 9105 cpc r25,__zero_reg__
		6158	6399 3546 01F0 breq .+2
		6159	6400 3548 00F4 brsh .+2
		6160	6401 354a 00C0 rjmp .L535
		6161	6402 354c 6F85 ldd r22,Y+15
		6162	6403 354e 6623 tst r22
		6163	6404 3550 01F0 breq .+2
		6164	6405 3552 00C0 rjmp .L536
		6165	6406 3554 8091 0000 lds r24,Looping_Roll
		6166	6407 3558 8823 tst r24
		6167	6408 355a 01F0 breq .+2
		6168	6409 355c 00C0 rjmp .L536
		6169	6410 355e 8091 0000 lds r24,TrichterFlug
		6170	6411 3562 8823 tst r24
		6171	6412 3564 01F0 breq .+2
		6172	6413 3566 00C0 rjmp .L536
		6173	6414 3568 7091 0000 lds r23,EE_Parameter+68
		6174	6415 356c 788B std Y+16,r23
		6175	6416 356e 7723 tst r23
		6176	6417 3570 01F4 brne .+2
		6177	6418 3572 00C0 rjmp .L536
		6178	6419 3574 8091 0000 lds r24,MittelIntegralNick
		6179	6420 3578 9091 0000 lds r25,(MittelIntegralNick)+1
		6180	6421 357c A091 0000 lds r26,(MittelIntegralNick)+2
		6181	6422 3580 B091 0000 lds r27,(MittelIntegralNick)+3
		6182	6423 3584 B7FF sbrs r27,7
		6183	6424 3586 00C0 rjmp .L537
		6184	6425 3588 8150 subi r24,lo8(-(255))
		6185	6426 358a 9F4F sbci r25,hi8(-(255))
		6186	6427 358c AF4F sbci r26,hlo8(-(255))
		6187	6428 358e BF4F sbci r27,hhi8(-(255))
		6188	6429 .L537:
		6189	6430 3590 E92E mov r14,r25
		6190	6431 3592 FA2E mov r15,r26
		6191	6432 3594 0B2F mov r16,r27
		6192	6433 3596 1127 clr r17
		6193	6434 3598 07FD sbrc r16,7
		6194	6435 359a 1A95 dec r17
		6195	6436 359c E092 0000 sts MittelIntegralNick,r14
		6196	6437 35a0 F092 0000 sts (MittelIntegralNick)+1,r15
		6197	6438 35a4 0093 0000 sts (MittelIntegralNick)+2,r16
		6198	6439 35a8 1093 0000 sts (MittelIntegralNick)+3,r17
		6199	6440 35ac 8091 0000 lds r24,MittelIntegralRoll
		6200	6441 35b0 9091 0000 lds r25,(MittelIntegralRoll)+1
		6201	6442 35b4 A091 0000 lds r26,(MittelIntegralRoll)+2
		6202	6443 35b8 B091 0000 lds r27,(MittelIntegralRoll)+3
		6203	6444 35bc B7FF sbrs r27,7
		6204	6445 35be 00C0 rjmp .L538
		6205	6446 35c0 8150 subi r24,lo8(-(255))
		6206	6447 35c2 9F4F sbci r25,hi8(-(255))
		6207	6448 35c4 AF4F sbci r26,hlo8(-(255))
		6208	6449 35c6 BF4F sbci r27,hhi8(-(255))
		6209	6450 .L538:
		6210	6451 35c8 892F mov r24,r25
		6211	6452 35ca 9A2F mov r25,r26
		6212	6453 35cc AB2F mov r26,r27
		6213	6454 35ce BB27 clr r27
		6214	6455 35d0 A7FD sbrc r26,7
		6215	6456 35d2 BA95 dec r27
		6216	6457 35d4 898B std Y+17,r24
		6217	6458 35d6 9A8B std Y+18,r25
		6218	6459 35d8 AB8B std Y+19,r26
		6219	6460 35da BC8B std Y+20,r27
		6220	6461 35dc 8093 0000 sts MittelIntegralRoll,r24
		6221	6462 35e0 9093 0000 sts (MittelIntegralRoll)+1,r25
		6222	6463 35e4 A093 0000 sts (MittelIntegralRoll)+2,r26
		6223	6464 35e8 B093 0000 sts (MittelIntegralRoll)+3,r27
		6224	6465 35ec 8091 0000 lds r24,EE_Parameter+28
		6225	6466 35f0 A82E mov r10,r24
		6226	6467 35f2 BB24 clr r11
		6227	6468 35f4 CC24 clr r12
		6228	6469 35f6 DD24 clr r13
		6229	6470 35f8 2091 0000 lds r18,IntegralAccNick
		6230	6471 35fc 3091 0000 lds r19,(IntegralAccNick)+1
		6231	6472 3600 4091 0000 lds r20,(IntegralAccNick)+2
		6232	6473 3604 5091 0000 lds r21,(IntegralAccNick)+3
		6233	6474 3608 C601 movw r24,r12
		6234	6475 360a B501 movw r22,r10
		6235	6476 360c 0E94 0000 call __mulsi3
		6236	6477 3610 97FF sbrs r25,7
		6237	6478 3612 00C0 rjmp .L539
		6238	6479 3614 6150 subi r22,lo8(-(255))
		6239	6480 3616 7F4F sbci r23,hi8(-(255))
		6240	6481 3618 8F4F sbci r24,hlo8(-(255))
		6241	6482 361a 9F4F sbci r25,hhi8(-(255))
		6242	6483 .L539:
		6243	6484 361c 672E mov r6,r23
		6244	6485 361e 782E mov r7,r24
		6245	6486 3620 892E mov r8,r25
		6246	6487 3622 9924 clr r9
		6247	6488 3624 87FC sbrc r8,7
		6248	6489 3626 9A94 dec r9
		6249	6490 3628 6092 0000 sts IntegralAccNick,r6
		6250	6491 362c 7092 0000 sts (IntegralAccNick)+1,r7
		6251	6492 3630 8092 0000 sts (IntegralAccNick)+2,r8
		6252	6493 3634 9092 0000 sts (IntegralAccNick)+3,r9
		6253	6494 3638 2091 0000 lds r18,IntegralAccRoll
		6254	6495 363c 3091 0000 lds r19,(IntegralAccRoll)+1
		6255	6496 3640 4091 0000 lds r20,(IntegralAccRoll)+2
		6256	6497 3644 5091 0000 lds r21,(IntegralAccRoll)+3
		6257	6498 3648 C601 movw r24,r12
		6258	6499 364a B501 movw r22,r10
		6259	6500 364c 0E94 0000 call __mulsi3
		6260	6501 3650 97FF sbrs r25,7
		6261	6502 3652 00C0 rjmp .L540
		6262	6503 3654 6150 subi r22,lo8(-(255))
		6263	6504 3656 7F4F sbci r23,hi8(-(255))
		6264	6505 3658 8F4F sbci r24,hlo8(-(255))
		6265	6506 365a 9F4F sbci r25,hhi8(-(255))
		6266	6507 .L540:
		6267	6508 365c 272E mov r2,r23
		6268	6509 365e 382E mov r3,r24
		6269	6510 3660 492E mov r4,r25
		6270	6511 3662 5524 clr r5
		6271	6512 3664 47FC sbrc r4,7
		6272	6513 3666 5A94 dec r5
		6273	6514 3668 2092 0000 sts IntegralAccRoll,r2
		6274	6515 366c 3092 0000 sts (IntegralAccRoll)+1,r3
		6275	6516 3670 4092 0000 sts (IntegralAccRoll)+2,r4
		6276	6517 3674 5092 0000 sts (IntegralAccRoll)+3,r5
		6277	6518 3678 8091 0000 lds r24,IntegralAccZ
		6278	6519 367c 9091 0000 lds r25,(IntegralAccZ)+1
		6279	6520 3680 A091 0000 lds r26,(IntegralAccZ)+2
		6280	6521 3684 B091 0000 lds r27,(IntegralAccZ)+3
		6281	6522 3688 B7FF sbrs r27,7
		6282	6523 368a 00C0 rjmp .L541
		6283	6524 368c 8150 subi r24,lo8(-(255))
		6284	6525 368e 9F4F sbci r25,hi8(-(255))
		6285	6526 3690 AF4F sbci r26,hlo8(-(255))
		6286	6527 3692 BF4F sbci r27,hhi8(-(255))
		6287	6528 .L541:
		6288	6529 3694 892F mov r24,r25
		6289	6530 3696 9A2F mov r25,r26
		6290	6531 3698 AB2F mov r26,r27
		6291	6532 369a BB27 clr r27
		6292	6533 369c A7FD sbrc r26,7
		6293	6534 369e BA95 dec r27
		6294	6535 36a0 8093 0000 sts IntegralAccZ,r24
		6295	6536 36a4 9093 0000 sts (IntegralAccZ)+1,r25
		6296	6537 36a8 A093 0000 sts (IntegralAccZ)+2,r26
		6297	6538 36ac B093 0000 sts (IntegralAccZ)+3,r27
		6298	6539 36b0 D801 movw r26,r16
		6299	6540 36b2 C701 movw r24,r14
		6300	6541 36b4 8619 sub r24,r6
		6301	6542 36b6 9709 sbc r25,r7
		6302	6543 36b8 A809 sbc r26,r8
		6303	6544 36ba B909 sbc r27,r9
		6304	6545 36bc 8093 0000 sts IntegralFehlerNick.3,r24
		6305	6546 36c0 9093 0000 sts (IntegralFehlerNick.3)+1,r25
		6306	6547 36c4 A093 0000 sts (IntegralFehlerNick.3)+2,r26
		6307	6548 36c8 B093 0000 sts (IntegralFehlerNick.3)+3,r27
		6308	6549 36cc 2091 0000 lds r18,EE_Parameter+67
		6309	6550 36d0 E22E mov r14,r18
		6310	6551 36d2 FF24 clr r15
		6311	6552 36d4 0027 clr r16
		6312	6553 36d6 1127 clr r17
		6313	6554 36d8 BC01 movw r22,r24
		6314	6555 36da CD01 movw r24,r26
		6315	6556 36dc A801 movw r20,r16
		6316	6557 36de 9701 movw r18,r14
		6317	6558 36e0 0E94 0000 call __divmodsi4
		6318	6559 36e4 5901 movw r10,r18
		6319	6560 36e6 6A01 movw r12,r20
		6320	6561 36e8 2093 0000 sts ausgleichNick.10,r18
		6321	6562 36ec 3093 0000 sts (ausgleichNick.10)+1,r19
		6322	6563 36f0 4093 0000 sts (ausgleichNick.10)+2,r20
		6323	6564 36f4 5093 0000 sts (ausgleichNick.10)+3,r21
		6324	6565 36f8 8989 ldd r24,Y+17
		6325	6566 36fa 9A89 ldd r25,Y+18
		6326	6567 36fc AB89 ldd r26,Y+19
		6327	6568 36fe BC89 ldd r27,Y+20
		6328	6569 3700 8219 sub r24,r2
		6329	6570 3702 9309 sbc r25,r3
		6330	6571 3704 A409 sbc r26,r4
		6331	6572 3706 B509 sbc r27,r5
		6332	6573 3708 8093 0000 sts IntegralFehlerRoll.4,r24
		6333	6574 370c 9093 0000 sts (IntegralFehlerRoll.4)+1,r25
		6334	6575 3710 A093 0000 sts (IntegralFehlerRoll.4)+2,r26
		6335	6576 3714 B093 0000 sts (IntegralFehlerRoll.4)+3,r27
		6336	6577 3718 BC01 movw r22,r24
		6337	6578 371a CD01 movw r24,r26
		6338	6579 371c A801 movw r20,r16
		6339	6580 371e 9701 movw r18,r14
		6340	6581 3720 0E94 0000 call __divmodsi4
		6341	6582 3724 2093 0000 sts ausgleichRoll.11,r18
		6342	6583 3728 3093 0000 sts (ausgleichRoll.11)+1,r19
		6343	6584 372c 4093 0000 sts (ausgleichRoll.11)+2,r20
		6344	6585 3730 5093 0000 sts (ausgleichRoll.11)+3,r21
		6345	6586 3734 D601 movw r26,r12
		6346	6587 3736 C501 movw r24,r10
		6347	6588 3738 D7FE sbrs r13,7
		6348	6589 373a 00C0 rjmp .L542
		6349	6590 373c 8150 subi r24,lo8(-(255))
		6350	6591 373e 9F4F sbci r25,hi8(-(255))
		6351	6592 3740 AF4F sbci r26,hlo8(-(255))
		6352	6593 3742 BF4F sbci r27,hhi8(-(255))
		6353	6594 .L542:
		6354	6595 3744 892F mov r24,r25
		6355	6596 3746 9A2F mov r25,r26
		6356	6597 3748 AB2F mov r26,r27
		6357	6598 374a BB27 clr r27
		6358	6599 374c A7FD sbrc r26,7
		6359	6600 374e BA95 dec r27
		6360	6601 3750 9093 0000 sts (LageKorrekturNick)+1,r25
		6361	6602 3754 8093 0000 sts LageKorrekturNick,r24
		6362	6603 3758 57FF sbrs r21,7
		6363	6604 375a 00C0 rjmp .L543
		6364	6605 375c 2150 subi r18,lo8(-(255))
		6365	6606 375e 3F4F sbci r19,hi8(-(255))
		6366	6607 3760 4F4F sbci r20,hlo8(-(255))
		6367	6608 3762 5F4F sbci r21,hhi8(-(255))
		6368	6609 .L543:
		6369	6610 3764 BB27 clr r27
		6370	6611 3766 57FD sbrc r21,7
		6371	6612 3768 BA95 dec r27
		6372	6613 376a A52F mov r26,r21
		6373	6614 376c 942F mov r25,r20
		6374	6615 376e 832F mov r24,r19
		6375	6616 3770 9093 0000 sts (LageKorrekturRoll)+1,r25
		6376	6617 3774 8093 0000 sts LageKorrekturRoll,r24
		6377	6618 3778 8091 0000 lds r24,MaxStickNick
		6378	6619 377c 9091 0000 lds r25,(MaxStickNick)+1
		6379	6620 3780 8134 cpi r24,65
		6380	6621 3782 9105 cpc r25,__zero_reg__
		6381	6622 3784 04F4 brge .L545
		6382	6623 3786 8091 0000 lds r24,MaxStickRoll
		6383	6624 378a 9091 0000 lds r25,(MaxStickRoll)+1
		6384	6625 378e 8134 cpi r24,65
		6385	6626 3790 9105 cpc r25,__zero_reg__
		6386	6627 3792 04F4 brge .L545
		6387	6628 3794 8091 0000 lds r24,EE_Parameter+4
		6388	6629 3798 E82F mov r30,r24
		6389	6630 379a FF27 clr r31
		6390	6631 379c EE0F add r30,r30
		6391	6632 379e FF1F adc r31,r31
		6392	6633 37a0 E050 subi r30,lo8(-(PPM_in))
		6393	6634 37a2 F040 sbci r31,hi8(-(PPM_in))
		6394	6635 37a4 8081 ld r24,Z
		6395	6636 37a6 9181 ldd r25,Z+1
		6396	6637 37a8 0190 ld __tmp_reg__,Z+
		6397	6638 37aa F081 ld r31,Z
		6398	6639 37ac E02D mov r30,__tmp_reg__
		6399	6640 37ae F7FF sbrs r31,7
		6400	6641 37b0 00C0 rjmp .L546
		6401	6642 37b2 F095 com r31
		6402	6643 37b4 E195 neg r30
		6403	6644 37b6 FF4F sbci r31,lo8(-1)
		6404	6645 .L546:
		6405	6646 37b8 7A97 sbiw r30,26
		6406	6647 37ba 04F0 brlt .L544
		6407	6648 .L545:
		6408	6649 37bc 8091 0000 lds r24,FromNaviCtrl_Value
		6409	6650 37c0 8F3F cpi r24,lo8(-1)
		6410	6651 37c2 01F4 brne .L544
		6411	6652 37c4 8091 0000 lds r24,LageKorrekturNick
		6412	6653 37c8 9091 0000 lds r25,(LageKorrekturNick)+1
		6413	6654 37cc 97FD sbrc r25,7
		6414	6655 37ce 0196 adiw r24,1
		6415	6656 .L547:
		6416	6657 37d0 9595 asr r25
		6417	6658 37d2 8795 ror r24
		6418	6659 37d4 9093 0000 sts (LageKorrekturNick)+1,r25
		6419	6660 37d8 8093 0000 sts LageKorrekturNick,r24
		6420	6661 37dc 8091 0000 lds r24,LageKorrekturRoll
		6421	6662 37e0 9091 0000 lds r25,(LageKorrekturRoll)+1
		6422	6663 37e4 97FD sbrc r25,7
		6423	6664 37e6 0196 adiw r24,1
		6424	6665 .L548:
		6425	6666 37e8 9595 asr r25
		6426	6667 37ea 8795 ror r24
		6427	6668 37ec 9093 0000 sts (LageKorrekturRoll)+1,r25
		6428	6669 37f0 8093 0000 sts LageKorrekturRoll,r24
		6429	6670 .L544:
		6430	6671 37f4 8091 0000 lds r24,MittelIntegralNick2
		6431	6672 37f8 9091 0000 lds r25,(MittelIntegralNick2)+1
		6432	6673 37fc A091 0000 lds r26,(MittelIntegralNick2)+2
		6433	6674 3800 B091 0000 lds r27,(MittelIntegralNick2)+3
		6434	6675 3804 B7FF sbrs r27,7
		6435	6676 3806 00C0 rjmp .L549
		6436	6677 3808 8150 subi r24,lo8(-(255))
		6437	6678 380a 9F4F sbci r25,hi8(-(255))
		6438	6679 380c AF4F sbci r26,hlo8(-(255))
		6439	6680 380e BF4F sbci r27,hhi8(-(255))
		6440	6681 .L549:
		6441	6682 3810 892F mov r24,r25
		6442	6683 3812 9A2F mov r25,r26
		6443	6684 3814 AB2F mov r26,r27
		6444	6685 3816 BB27 clr r27
		6445	6686 3818 A7FD sbrc r26,7
		6446	6687 381a BA95 dec r27
		6447	6688 381c 8093 0000 sts MittelIntegralNick2,r24
		6448	6689 3820 9093 0000 sts (MittelIntegralNick2)+1,r25
		6449	6690 3824 A093 0000 sts (MittelIntegralNick2)+2,r26
		6450	6691 3828 B093 0000 sts (MittelIntegralNick2)+3,r27
		6451	6692 382c 8091 0000 lds r24,MittelIntegralRoll2
		6452	6693 3830 9091 0000 lds r25,(MittelIntegralRoll2)+1
		6453	6694 3834 A091 0000 lds r26,(MittelIntegralRoll2)+2
		6454	6695 3838 B091 0000 lds r27,(MittelIntegralRoll2)+3
		6455	6696 383c B7FF sbrs r27,7
		6456	6697 383e 00C0 rjmp .L550
		6457	6698 3840 8150 subi r24,lo8(-(255))
		6458	6699 3842 9F4F sbci r25,hi8(-(255))
		6459	6700 3844 AF4F sbci r26,hlo8(-(255))
		6460	6701 3846 BF4F sbci r27,hhi8(-(255))
		6461	6702 .L550:
		6462	6703 3848 892F mov r24,r25
		6463	6704 384a 9A2F mov r25,r26
		6464	6705 384c AB2F mov r26,r27
		6465	6706 384e BB27 clr r27
		6466	6707 3850 A7FD sbrc r26,7
		6467	6708 3852 BA95 dec r27
		6468	6709 3854 8093 0000 sts MittelIntegralRoll2,r24
		6469	6710 3858 9093 0000 sts (MittelIntegralRoll2)+1,r25
		6470	6711 385c A093 0000 sts (MittelIntegralRoll2)+2,r26
		6471	6712 3860 B093 0000 sts (MittelIntegralRoll2)+3,r27
		6472	6713 3864 8091 0000 lds r24,IntegralNick
		6473	6714 3868 9091 0000 lds r25,(IntegralNick)+1
		6474	6715 386c A091 0000 lds r26,(IntegralNick)+2
		6475	6716 3870 B091 0000 lds r27,(IntegralNick)+3
		6476	6717 3874 2F81 ldd r18,Y+7
		6477	6718 3876 3885 ldd r19,Y+8
		6478	6719 3878 4985 ldd r20,Y+9
		6479	6720 387a 5A85 ldd r21,Y+10
		6480	6721 387c 281B sub r18,r24
		6481	6722 387e 390B sbc r19,r25
		6482	6723 3880 4A0B sbc r20,r26
		6483	6724 3882 5B0B sbc r21,r27
		6484	6725 3884 2093 0000 sts tmp_long.1,r18
		6485	6726 3888 3093 0000 sts (tmp_long.1)+1,r19
		6486	6727 388c 4093 0000 sts (tmp_long.1)+2,r20
		6487	6728 3890 5093 0000 sts (tmp_long.1)+3,r21
		6488	6729 3894 8091 0000 lds r24,IntegralRoll
		6489	6730 3898 9091 0000 lds r25,(IntegralRoll)+1
		6490	6731 389c A091 0000 lds r26,(IntegralRoll)+2
		6491	6732 38a0 B091 0000 lds r27,(IntegralRoll)+3
		6492	6733 38a4 EB84 ldd r14,Y+11
		6493	6734 38a6 FC84 ldd r15,Y+12
		6494	6735 38a8 0D85 ldd r16,Y+13
		6495	6736 38aa 1E85 ldd r17,Y+14
		6496	6737 38ac E81A sub r14,r24
		6497	6738 38ae F90A sbc r15,r25
		6498	6739 38b0 0A0B sbc r16,r26
		6499	6740 38b2 1B0B sbc r17,r27
		6500	6741 38b4 E092 0000 sts tmp_long2.2,r14
		6501	6742 38b8 F092 0000 sts (tmp_long2.2)+1,r15
		6502	6743 38bc 0093 0000 sts (tmp_long2.2)+2,r16
		6503	6744 38c0 1093 0000 sts (tmp_long2.2)+3,r17
		6504	6745 38c4 2093 0000 sts IntegralFehlerNick.3,r18
		6505	6746 38c8 3093 0000 sts (IntegralFehlerNick.3)+1,r19
		6506	6747 38cc 4093 0000 sts (IntegralFehlerNick.3)+2,r20
		6507	6748 38d0 5093 0000 sts (IntegralFehlerNick.3)+3,r21
		6508	6749 38d4 E092 0000 sts IntegralFehlerRoll.4,r14
		6509	6750 38d8 F092 0000 sts (IntegralFehlerRoll.4)+1,r15
		6510	6751 38dc 0093 0000 sts (IntegralFehlerRoll.4)+2,r16
		6511	6752 38e0 1093 0000 sts (IntegralFehlerRoll.4)+3,r17
		6512	6753 38e4 8091 0000 lds r24,Mess_IntegralNick2
		6513	6754 38e8 9091 0000 lds r25,(Mess_IntegralNick2)+1
		6514	6755 38ec A091 0000 lds r26,(Mess_IntegralNick2)+2
		6515	6756 38f0 B091 0000 lds r27,(Mess_IntegralNick2)+3
		6516	6757 38f4 821B sub r24,r18
		6517	6758 38f6 930B sbc r25,r19
		6518	6759 38f8 A40B sbc r26,r20
		6519	6760 38fa B50B sbc r27,r21
		6520	6761 38fc 8093 0000 sts Mess_IntegralNick2,r24
		6521	6762 3900 9093 0000 sts (Mess_IntegralNick2)+1,r25
		6522	6763 3904 A093 0000 sts (Mess_IntegralNick2)+2,r26
		6523	6764 3908 B093 0000 sts (Mess_IntegralNick2)+3,r27
		6524	6765 390c 8091 0000 lds r24,Mess_IntegralRoll2
		6525	6766 3910 9091 0000 lds r25,(Mess_IntegralRoll2)+1
		6526	6767 3914 A091 0000 lds r26,(Mess_IntegralRoll2)+2
		6527	6768 3918 B091 0000 lds r27,(Mess_IntegralRoll2)+3
		6528	6769 391c 8E19 sub r24,r14
		6529	6770 391e 9F09 sbc r25,r15
		6530	6771 3920 A00B sbc r26,r16
		6531	6772 3922 B10B sbc r27,r17
		6532	6773 3924 8093 0000 sts Mess_IntegralRoll2,r24
		6533	6774 3928 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		6534	6775 392c A093 0000 sts (Mess_IntegralRoll2)+2,r26
		6535	6776 3930 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		6536	6777 3934 8889 ldd r24,Y+16
		6537	6778 3936 8823 tst r24
		6538	6779 3938 01F0 breq .L551
		6539	6780 393a 2091 0000 lds r18,GierGyroFehler
		6540	6781 393e 3091 0000 lds r19,(GierGyroFehler)+1
		6541	6782 3942 2138 cpi r18,129
		6542	6783 3944 3105 cpc r19,__zero_reg__
		6543	6784 3946 04F0 brlt .L552
		6544	6785 3948 8091 0000 lds r24,AdNeutralGier
		6545	6786 394c 9091 0000 lds r25,(AdNeutralGier)+1
		6546	6787 3950 0196 adiw r24,1
		6547	6788 3952 9093 0000 sts (AdNeutralGier)+1,r25
		6548	6789 3956 8093 0000 sts AdNeutralGier,r24
		6549	6790 .L552:
		6550	6791 395a 2058 subi r18,lo8(-128)
		6551	6792 395c 3F4F sbci r19,hi8(-128)
		6552	6793 395e 04F4 brge .L551
		6553	6794 3960 8091 0000 lds r24,AdNeutralGier
		6554	6795 3964 9091 0000 lds r25,(AdNeutralGier)+1
		6555	6796 3968 0197 sbiw r24,1
		6556	6797 396a 9093 0000 sts (AdNeutralGier)+1,r25
		6557	6798 396e 8093 0000 sts AdNeutralGier,r24
		6558	6799 .L551:
		6559	6800 3972 1092 0000 sts (GierGyroFehler)+1,__zero_reg__
		6560	6801 3976 1092 0000 sts GierGyroFehler,__zero_reg__
		6561	6802 397a 81E0 ldi r24,lo8(1)
		6562	6803 397c 90E0 ldi r25,hi8(1)
		6563	6804 397e 9093 0000 sts (cnt.14)+1,r25
		6564	6805 3982 8093 0000 sts cnt.14,r24
		6565	6806 3986 E090 0000 lds r14,IntegralFehlerNick.3
		6566	6807 398a F090 0000 lds r15,(IntegralFehlerNick.3)+1
		6567	6808 398e 0091 0000 lds r16,(IntegralFehlerNick.3)+2
		6568	6809 3992 1091 0000 lds r17,(IntegralFehlerNick.3)+3
		6569	6810 3996 D801 movw r26,r16
		6570	6811 3998 C701 movw r24,r14
		6571	6812 399a 17FF sbrs r17,7
		6572	6813 399c 00C0 rjmp .L555
		6573	6814 399e 8827 clr r24
		6574	6815 39a0 9927 clr r25
		6575	6816 39a2 DC01 movw r26,r24
		6576	6817 39a4 8E19 sub r24,r14
		6577	6818 39a6 9F09 sbc r25,r15
		6578	6819 39a8 A00B sbc r26,r16
		6579	6820 39aa B10B sbc r27,r17
		6580	6821 .L555:
		6581	6822 39ac 8150 subi r24,lo8(513)
		6582	6823 39ae 9240 sbci r25,hi8(513)
		6583	6824 39b0 A040 sbci r26,hlo8(513)
		6584	6825 39b2 B040 sbci r27,hhi8(513)
		6585	6826 39b4 04F0 brlt .L554
		6586	6827 39b6 84E0 ldi r24,lo8(4)
		6587	6828 39b8 90E0 ldi r25,hi8(4)
		6588	6829 39ba 9093 0000 sts (cnt.14)+1,r25
		6589	6830 39be 8093 0000 sts cnt.14,r24
		6590	6831 .L554:
		6591	6832 39c2 8091 0000 lds r24,MittelIntegralNick_Alt.19
		6592	6833 39c6 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+1
		6593	6834 39ca A091 0000 lds r26,(MittelIntegralNick_Alt.19)+2
		6594	6835 39ce B091 0000 lds r27,(MittelIntegralNick_Alt.19)+3
		6595	6836 39d2 2091 0000 lds r18,MittelIntegralNick
		6596	6837 39d6 3091 0000 lds r19,(MittelIntegralNick)+1
		6597	6838 39da 4091 0000 lds r20,(MittelIntegralNick)+2
		6598	6839 39de 5091 0000 lds r21,(MittelIntegralNick)+3
		6599	6840 39e2 821B sub r24,r18
		6600	6841 39e4 930B sbc r25,r19
		6601	6842 39e6 A40B sbc r26,r20
		6602	6843 39e8 B50B sbc r27,r21
		6603	6844 39ea 815E subi r24,lo8(-(19999))
		6604	6845 39ec 914B sbci r25,hi8(-(19999))
		6605	6846 39ee AF4F sbci r26,hlo8(-(19999))
		6606	6847 39f0 BF4F sbci r27,hhi8(-(19999))
		6607	6848 39f2 8F53 subi r24,lo8(39999)
		6608	6849 39f4 9C49 sbci r25,hi8(39999)
		6609	6850 39f6 A040 sbci r26,hlo8(39999)
		6610	6851 39f8 B040 sbci r27,hhi8(39999)
		6611	6852 39fa 00F0 brlo .L557
		6612	6853 39fc 8091 0000 lds r24,FromNaviCtrl_Value+1
		6613	6854 3a00 8931 cpi r24,lo8(25)
		6614	6855 3a02 04F4 brge .+2
		6615	6856 3a04 00C0 rjmp .L556
		6616	6857 .L557:
		6617	6858 3a06 21E0 ldi r18,lo8(4097)
		6618	6859 3a08 E216 cp r14,r18
		6619	6860 3a0a 20E1 ldi r18,hi8(4097)
		6620	6861 3a0c F206 cpc r15,r18
		6621	6862 3a0e 20E0 ldi r18,hlo8(4097)
		6622	6863 3a10 0207 cpc r16,r18
		6623	6864 3a12 20E0 ldi r18,hhi8(4097)
		6624	6865 3a14 1207 cpc r17,r18
		6625	6866 3a16 04F4 brge .+2
		6626	6867 3a18 00C0 rjmp .L558
		6627	6868 3a1a 8091 0000 lds r24,last_n_p.15
		6628	6869 3a1e 8823 tst r24
		6629	6870 3a20 01F4 brne .+2
		6630	6871 3a22 00C0 rjmp .L559
		6631	6872 3a24 D801 movw r26,r16
		6632	6873 3a26 C701 movw r24,r14
		6633	6874 3a28 17FF sbrs r17,7
		6634	6875 3a2a 00C0 rjmp .L560
		6635	6876 3a2c 8827 clr r24
		6636	6877 3a2e 9927 clr r25
		6637	6878 3a30 DC01 movw r26,r24
		6638	6879 3a32 8E19 sub r24,r14
		6639	6880 3a34 9F09 sbc r25,r15
		6640	6881 3a36 A00B sbc r26,r16
		6641	6882 3a38 B10B sbc r27,r17
		6642	6883 .L560:
		6643	6884 3a3a 9C01 movw r18,r24
		6644	6885 3a3c AD01 movw r20,r26
		6645	6886 3a3e B7FF sbrs r27,7
		6646	6887 3a40 00C0 rjmp .L561
		6647	6888 3a42 2150 subi r18,lo8(-(511))
		6648	6889 3a44 3E4F sbci r19,hi8(-(511))
		6649	6890 3a46 4F4F sbci r20,hlo8(-(511))
		6650	6891 3a48 5F4F sbci r21,hhi8(-(511))
		6651	6892 .L561:
		6652	6893 3a4a F9E0 ldi r31,9
		6653	6894 3a4c 5595 1: asr r21
		6654	6895 3a4e 4795 ror r20
		6655	6896 3a50 3795 ror r19
		6656	6897 3a52 2795 ror r18
		6657	6898 3a54 FA95 dec r31
		6658	6899 3a56 01F4 brne 1b
		6659	6900 3a58 8091 0000 lds r24,cnt.14
		6660	6901 3a5c 9091 0000 lds r25,(cnt.14)+1
		6661	6902 3a60 820F add r24,r18
		6662	6903 3a62 931F adc r25,r19
		6663	6904 3a64 9093 0000 sts (cnt.14)+1,r25
		6664	6905 3a68 8093 0000 sts cnt.14,r24
		6665	6906 3a6c D801 movw r26,r16
		6666	6907 3a6e C701 movw r24,r14
		6667	6908 3a70 17FF sbrs r17,7
		6668	6909 3a72 00C0 rjmp .L562
		6669	6910 3a74 0796 adiw r24,7
		6670	6911 3a76 A11D adc r26,__zero_reg__
		6671	6912 3a78 B11D adc r27,__zero_reg__
		6672	6913 .L562:
		6673	6914 3a7a E3E0 ldi r30,3
		6674	6915 3a7c B595 1: asr r27
		6675	6916 3a7e A795 ror r26
		6676	6917 3a80 9795 ror r25
		6677	6918 3a82 8795 ror r24
		6678	6919 3a84 EA95 dec r30
		6679	6920 3a86 01F4 brne 1b
		6680	6921 3a88 8093 0000 sts ausgleichNick.10,r24
		6681	6922 3a8c 9093 0000 sts (ausgleichNick.10)+1,r25
		6682	6923 3a90 A093 0000 sts (ausgleichNick.10)+2,r26
		6683	6924 3a94 B093 0000 sts (ausgleichNick.10)+3,r27
		6684	6925 3a98 8958 subi r24,lo8(5001)
		6685	6926 3a9a 9341 sbci r25,hi8(5001)
		6686	6927 3a9c A040 sbci r26,hlo8(5001)
		6687	6928 3a9e B040 sbci r27,hhi8(5001)
		6688	6929 3aa0 04F0 brlt .L563
		6689	6930 3aa2 88E8 ldi r24,lo8(5000)
		6690	6931 3aa4 93E1 ldi r25,hi8(5000)
		6691	6932 3aa6 A0E0 ldi r26,hlo8(5000)
		6692	6933 3aa8 B0E0 ldi r27,hhi8(5000)
		6693	6934 3aaa 8093 0000 sts ausgleichNick.10,r24
		6694	6935 3aae 9093 0000 sts (ausgleichNick.10)+1,r25
		6695	6936 3ab2 A093 0000 sts (ausgleichNick.10)+2,r26
		6696	6937 3ab6 B093 0000 sts (ausgleichNick.10)+3,r27
		6697	6938 .L563:
		6698	6939 3aba 2091 0000 lds r18,ausgleichNick.10
		6699	6940 3abe 3091 0000 lds r19,(ausgleichNick.10)+1
		6700	6941 3ac2 4091 0000 lds r20,(ausgleichNick.10)+2
		6701	6942 3ac6 5091 0000 lds r21,(ausgleichNick.10)+3
		6702	6943 3aca 57FF sbrs r21,7
		6703	6944 3acc 00C0 rjmp .L564
		6704	6945 3ace 2150 subi r18,lo8(-(255))
		6705	6946 3ad0 3F4F sbci r19,hi8(-(255))
		6706	6947 3ad2 4F4F sbci r20,hlo8(-(255))
		6707	6948 3ad4 5F4F sbci r21,hhi8(-(255))
		6708	6949 .L564:
		6709	6950 3ad6 232F mov r18,r19
		6710	6951 3ad8 342F mov r19,r20
		6711	6952 3ada 452F mov r20,r21
		6712	6953 3adc 5527 clr r21
		6713	6954 3ade 47FD sbrc r20,7
		6714	6955 3ae0 5A95 dec r21
		6715	6956 3ae2 8091 0000 lds r24,LageKorrekturNick
		6716	6957 3ae6 9091 0000 lds r25,(LageKorrekturNick)+1
		6717	6958 3aea 820F add r24,r18
		6718	6959 3aec 931F adc r25,r19
		6719	6960 3aee 9093 0000 sts (LageKorrekturNick)+1,r25
		6720	6961 3af2 8093 0000 sts LageKorrekturNick,r24
		6721	6962 3af6 00C0 rjmp .L566
		6722	6963 .L559:
		6723	6964 3af8 81E0 ldi r24,lo8(1)
		6724	6965 3afa 8093 0000 sts last_n_p.15,r24
		6725	6966 3afe 00C0 rjmp .L566
		6726	6967 .L558:
		6727	6968 3b00 1092 0000 sts last_n_p.15,__zero_reg__
		6728	6969 .L566:
		6729	6970 3b04 40E0 ldi r20,lo8(-4096)
		6730	6971 3b06 E416 cp r14,r20
		6731	6972 3b08 40EF ldi r20,hi8(-4096)
		6732	6973 3b0a F406 cpc r15,r20
		6733	6974 3b0c 4FEF ldi r20,hlo8(-4096)
		6734	6975 3b0e 0407 cpc r16,r20
		6735	6976 3b10 4FEF ldi r20,hhi8(-4096)
		6736	6977 3b12 1407 cpc r17,r20
		6737	6978 3b14 04F0 brlt .+2
		6738	6979 3b16 00C0 rjmp .L567
		6739	6980 3b18 8091 0000 lds r24,last_n_n.16
		6740	6981 3b1c 8823 tst r24
		6741	6982 3b1e 01F4 brne .+2
		6742	6983 3b20 00C0 rjmp .L568
		6743	6984 3b22 D801 movw r26,r16
		6744	6985 3b24 C701 movw r24,r14
		6745	6986 3b26 17FF sbrs r17,7
		6746	6987 3b28 00C0 rjmp .L569
		6747	6988 3b2a 8827 clr r24
		6748	6989 3b2c 9927 clr r25
		6749	6990 3b2e DC01 movw r26,r24
		6750	6991 3b30 8E19 sub r24,r14
		6751	6992 3b32 9F09 sbc r25,r15
		6752	6993 3b34 A00B sbc r26,r16
		6753	6994 3b36 B10B sbc r27,r17
		6754	6995 .L569:
		6755	6996 3b38 9C01 movw r18,r24
		6756	6997 3b3a AD01 movw r20,r26
		6757	6998 3b3c B7FF sbrs r27,7
		6758	6999 3b3e 00C0 rjmp .L570
		6759	7000 3b40 2150 subi r18,lo8(-(511))
		6760	7001 3b42 3E4F sbci r19,hi8(-(511))
		6761	7002 3b44 4F4F sbci r20,hlo8(-(511))
		6762	7003 3b46 5F4F sbci r21,hhi8(-(511))
		6763	7004 .L570:
		6764	7005 3b48 69E0 ldi r22,9
		6765	7006 3b4a 5595 1: asr r21
		6766	7007 3b4c 4795 ror r20
		6767	7008 3b4e 3795 ror r19
		6768	7009 3b50 2795 ror r18
		6769	7010 3b52 6A95 dec r22
		6770	7011 3b54 01F4 brne 1b
		6771	7012 3b56 8091 0000 lds r24,cnt.14
		6772	7013 3b5a 9091 0000 lds r25,(cnt.14)+1
		6773	7014 3b5e 820F add r24,r18
		6774	7015 3b60 931F adc r25,r19
		6775	7016 3b62 9093 0000 sts (cnt.14)+1,r25
		6776	7017 3b66 8093 0000 sts cnt.14,r24
		6777	7018 3b6a D801 movw r26,r16
		6778	7019 3b6c C701 movw r24,r14
		6779	7020 3b6e 17FF sbrs r17,7
		6780	7021 3b70 00C0 rjmp .L571
		6781	7022 3b72 0796 adiw r24,7
		6782	7023 3b74 A11D adc r26,__zero_reg__
		6783	7024 3b76 B11D adc r27,__zero_reg__
		6784	7025 .L571:
		6785	7026 3b78 23E0 ldi r18,3
		6786	7027 3b7a B595 1: asr r27
		6787	7028 3b7c A795 ror r26
		6788	7029 3b7e 9795 ror r25
		6789	7030 3b80 8795 ror r24
		6790	7031 3b82 2A95 dec r18
		6791	7032 3b84 01F4 brne 1b
		6792	7033 3b86 8093 0000 sts ausgleichNick.10,r24
		6793	7034 3b8a 9093 0000 sts (ausgleichNick.10)+1,r25
		6794	7035 3b8e A093 0000 sts (ausgleichNick.10)+2,r26
		6795	7036 3b92 B093 0000 sts (ausgleichNick.10)+3,r27
		6796	7037 3b96 8857 subi r24,lo8(-5000)
		6797	7038 3b98 9C4E sbci r25,hi8(-5000)
		6798	7039 3b9a AF4F sbci r26,hlo8(-5000)
		6799	7040 3b9c BF4F sbci r27,hhi8(-5000)
		6800	7041 3b9e 04F4 brge .L572
		6801	7042 3ba0 88E7 ldi r24,lo8(-5000)
		6802	7043 3ba2 9CEE ldi r25,hi8(-5000)
		6803	7044 3ba4 AFEF ldi r26,hlo8(-5000)
		6804	7045 3ba6 BFEF ldi r27,hhi8(-5000)
		6805	7046 3ba8 8093 0000 sts ausgleichNick.10,r24
		6806	7047 3bac 9093 0000 sts (ausgleichNick.10)+1,r25
		6807	7048 3bb0 A093 0000 sts (ausgleichNick.10)+2,r26
		6808	7049 3bb4 B093 0000 sts (ausgleichNick.10)+3,r27
		6809	7050 .L572:
		6810	7051 3bb8 2091 0000 lds r18,ausgleichNick.10
		6811	7052 3bbc 3091 0000 lds r19,(ausgleichNick.10)+1
		6812	7053 3bc0 4091 0000 lds r20,(ausgleichNick.10)+2
		6813	7054 3bc4 5091 0000 lds r21,(ausgleichNick.10)+3
		6814	7055 3bc8 57FF sbrs r21,7
		6815	7056 3bca 00C0 rjmp .L573
		6816	7057 3bcc 2150 subi r18,lo8(-(255))
		6817	7058 3bce 3F4F sbci r19,hi8(-(255))
		6818	7059 3bd0 4F4F sbci r20,hlo8(-(255))
		6819	7060 3bd2 5F4F sbci r21,hhi8(-(255))
		6820	7061 .L573:
		6821	7062 3bd4 232F mov r18,r19
		6822	7063 3bd6 342F mov r19,r20
		6823	7064 3bd8 452F mov r20,r21
		6824	7065 3bda 5527 clr r21
		6825	7066 3bdc 47FD sbrc r20,7
		6826	7067 3bde 5A95 dec r21
		6827	7068 3be0 8091 0000 lds r24,LageKorrekturNick
		6828	7069 3be4 9091 0000 lds r25,(LageKorrekturNick)+1
		6829	7070 3be8 820F add r24,r18
		6830	7071 3bea 931F adc r25,r19
		6831	7072 3bec 9093 0000 sts (LageKorrekturNick)+1,r25
		6832	7073 3bf0 8093 0000 sts LageKorrekturNick,r24
		6833	7074 3bf4 00C0 rjmp .L576
		6834	7075 .L568:
		6835	7076 3bf6 81E0 ldi r24,lo8(1)
		6836	7077 3bf8 8093 0000 sts last_n_n.16,r24
		6837	7078 3bfc 00C0 rjmp .L576
		6838	7079 .L567:
		6839	7080 3bfe 1092 0000 sts last_n_n.16,__zero_reg__
		6840	7081 3c02 00C0 rjmp .L576
		6841	7082 .L556:
		6842	7083 3c04 1092 0000 sts (cnt.14)+1,__zero_reg__
		6843	7084 3c08 1092 0000 sts cnt.14,__zero_reg__
		6844	7085 3c0c 84E6 ldi r24,lo8(100)
		6845	7086 3c0e 90E0 ldi r25,hi8(100)
		6846	7087 3c10 9093 0000 sts (KompassSignalSchlecht)+1,r25
		6847	7088 3c14 8093 0000 sts KompassSignalSchlecht,r24
		6848	7089 .L576:
		6849	7090 3c18 6889 ldd r22,Y+16
		6850	7091 3c1a 262F mov r18,r22
		6851	7092 3c1c 3327 clr r19
		6852	7093 3c1e 8091 0000 lds r24,cnt.14
		6853	7094 3c22 9091 0000 lds r25,(cnt.14)+1
		6854	7095 3c26 2817 cp r18,r24
		6855	7096 3c28 3907 cpc r19,r25
		6856	7097 3c2a 04F4 brge .L577
		6857	7098 3c2c 3093 0000 sts (cnt.14)+1,r19
		6858	7099 3c30 2093 0000 sts cnt.14,r18
		6859	7100 .L577:
		6860	7101 3c34 1091 0000 lds r17,FromNaviCtrl_Value+1
		6861	7102 3c38 1123 tst r17
		6862	7103 3c3a 01F0 breq .L578
		6863	7104 3c3c 212F mov r18,r17
		6864	7105 3c3e 3327 clr r19
		6865	7106 3c40 27FD sbrc r18,7
		6866	7107 3c42 3095 com r19
		6867	7108 3c44 8091 0000 lds r24,cnt.14
		6868	7109 3c48 9091 0000 lds r25,(cnt.14)+1
		6869	7110 3c4c 2817 cp r18,r24
		6870	7111 3c4e 3907 cpc r19,r25
		6871	7112 3c50 04F4 brge .L578
		6872	7113 3c52 3093 0000 sts (cnt.14)+1,r19
		6873	7114 3c56 2093 0000 sts cnt.14,r18
		6874	7115 .L578:
		6875	7116 3c5a 4091 0000 lds r20,IntegralFehlerNick.3
		6876	7117 3c5e 5091 0000 lds r21,(IntegralFehlerNick.3)+1
		6877	7118 3c62 6091 0000 lds r22,(IntegralFehlerNick.3)+2
		6878	7119 3c66 7091 0000 lds r23,(IntegralFehlerNick.3)+3
		6879	7120 3c6a 4138 cpi r20,lo8(129)
		6880	7121 3c6c 5105 cpc r21,__zero_reg__
		6881	7122 3c6e 6105 cpc r22,__zero_reg__
		6882	7123 3c70 7105 cpc r23,__zero_reg__
		6883	7124 3c72 04F0 brlt .L580
		6884	7125 3c74 8091 0000 lds r24,AdNeutralNick
		6885	7126 3c78 9091 0000 lds r25,(AdNeutralNick)+1
		6886	7127 3c7c 2091 0000 lds r18,cnt.14
		6887	7128 3c80 3091 0000 lds r19,(cnt.14)+1
		6888	7129 3c84 820F add r24,r18
		6889	7130 3c86 931F adc r25,r19
		6890	7131 3c88 9093 0000 sts (AdNeutralNick)+1,r25
		6891	7132 3c8c 8093 0000 sts AdNeutralNick,r24
		6892	7133 .L580:
		6893	7134 3c90 4058 subi r20,lo8(-128)
		6894	7135 3c92 5F4F sbci r21,hi8(-128)
		6895	7136 3c94 6F4F sbci r22,hlo8(-128)
		6896	7137 3c96 7F4F sbci r23,hhi8(-128)
		6897	7138 3c98 04F4 brge .L581
		6898	7139 3c9a 8091 0000 lds r24,AdNeutralNick
		6899	7140 3c9e 9091 0000 lds r25,(AdNeutralNick)+1
		6900	7141 3ca2 2091 0000 lds r18,cnt.14
		6901	7142 3ca6 3091 0000 lds r19,(cnt.14)+1
		6902	7143 3caa 821B sub r24,r18
		6903	7144 3cac 930B sbc r25,r19
		6904	7145 3cae 9093 0000 sts (AdNeutralNick)+1,r25
		6905	7146 3cb2 8093 0000 sts AdNeutralNick,r24
		6906	7147 .L581:
		6907	7148 3cb6 81E0 ldi r24,lo8(1)
		6908	7149 3cb8 90E0 ldi r25,hi8(1)
		6909	7150 3cba 9093 0000 sts (cnt.14)+1,r25
		6910	7151 3cbe 8093 0000 sts cnt.14,r24
		6911	7152 3cc2 C090 0000 lds r12,IntegralFehlerRoll.4
		6912	7153 3cc6 D090 0000 lds r13,(IntegralFehlerRoll.4)+1
		6913	7154 3cca E090 0000 lds r14,(IntegralFehlerRoll.4)+2
		6914	7155 3cce F090 0000 lds r15,(IntegralFehlerRoll.4)+3
		6915	7156 3cd2 D701 movw r26,r14
		6916	7157 3cd4 C601 movw r24,r12
		6917	7158 3cd6 F7FE sbrs r15,7
		6918	7159 3cd8 00C0 rjmp .L583
		6919	7160 3cda 8827 clr r24
		6920	7161 3cdc 9927 clr r25
		6921	7162 3cde DC01 movw r26,r24
		6922	7163 3ce0 8C19 sub r24,r12
		6923	7164 3ce2 9D09 sbc r25,r13
		6924	7165 3ce4 AE09 sbc r26,r14
		6925	7166 3ce6 BF09 sbc r27,r15
		6926	7167 .L583:
		6927	7168 3ce8 8150 subi r24,lo8(513)
		6928	7169 3cea 9240 sbci r25,hi8(513)
		6929	7170 3cec A040 sbci r26,hlo8(513)
		6930	7171 3cee B040 sbci r27,hhi8(513)
		6931	7172 3cf0 04F0 brlt .L582
		6932	7173 3cf2 84E0 ldi r24,lo8(4)
		6933	7174 3cf4 90E0 ldi r25,hi8(4)
		6934	7175 3cf6 9093 0000 sts (cnt.14)+1,r25
		6935	7176 3cfa 8093 0000 sts cnt.14,r24
		6936	7177 .L582:
		6937	7178 3cfe 8091 0000 lds r24,MittelIntegralRoll_Alt.20
		6938	7179 3d02 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+1
		6939	7180 3d06 A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+2
		6940	7181 3d0a B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+3
		6941	7182 3d0e 2091 0000 lds r18,MittelIntegralRoll
		6942	7183 3d12 3091 0000 lds r19,(MittelIntegralRoll)+1
		6943	7184 3d16 4091 0000 lds r20,(MittelIntegralRoll)+2
		6944	7185 3d1a 5091 0000 lds r21,(MittelIntegralRoll)+3
		6945	7186 3d1e 821B sub r24,r18
		6946	7187 3d20 930B sbc r25,r19
		6947	7188 3d22 A40B sbc r26,r20
		6948	7189 3d24 B50B sbc r27,r21
		6949	7190 3d26 815E subi r24,lo8(-(19999))
		6950	7191 3d28 914B sbci r25,hi8(-(19999))
		6951	7192 3d2a AF4F sbci r26,hlo8(-(19999))
		6952	7193 3d2c BF4F sbci r27,hhi8(-(19999))
		6953	7194 3d2e 8F53 subi r24,lo8(39999)
		6954	7195 3d30 9C49 sbci r25,hi8(39999)
		6955	7196 3d32 A040 sbci r26,hlo8(39999)
		6956	7197 3d34 B040 sbci r27,hhi8(39999)
		6957	7198 3d36 00F0 brlo .L585
		6958	7199 3d38 1931 cpi r17,lo8(25)
		6959	7200 3d3a 04F4 brge .+2
		6960	7201 3d3c 00C0 rjmp .L584
		6961	7202 .L585:
		6962	7203 3d3e 01E0 ldi r16,lo8(4097)
		6963	7204 3d40 C016 cp r12,r16
		6964	7205 3d42 00E1 ldi r16,hi8(4097)
		6965	7206 3d44 D006 cpc r13,r16
		6966	7207 3d46 00E0 ldi r16,hlo8(4097)
		6967	7208 3d48 E006 cpc r14,r16
		6968	7209 3d4a 00E0 ldi r16,hhi8(4097)
		6969	7210 3d4c F006 cpc r15,r16
		6970	7211 3d4e 04F4 brge .+2
		6971	7212 3d50 00C0 rjmp .L586
		6972	7213 3d52 8091 0000 lds r24,last_r_p.17
		6973	7214 3d56 8823 tst r24
		6974	7215 3d58 01F4 brne .+2
		6975	7216 3d5a 00C0 rjmp .L587
		6976	7217 3d5c D701 movw r26,r14
		6977	7218 3d5e C601 movw r24,r12
		6978	7219 3d60 F7FE sbrs r15,7
		6979	7220 3d62 00C0 rjmp .L588
		6980	7221 3d64 8827 clr r24
		6981	7222 3d66 9927 clr r25
		6982	7223 3d68 DC01 movw r26,r24
		6983	7224 3d6a 8C19 sub r24,r12
		6984	7225 3d6c 9D09 sbc r25,r13
		6985	7226 3d6e AE09 sbc r26,r14
		6986	7227 3d70 BF09 sbc r27,r15
		6987	7228 .L588:
		6988	7229 3d72 9C01 movw r18,r24
		6989	7230 3d74 AD01 movw r20,r26
		6990	7231 3d76 B7FF sbrs r27,7
		6991	7232 3d78 00C0 rjmp .L589
		6992	7233 3d7a 2150 subi r18,lo8(-(511))
		6993	7234 3d7c 3E4F sbci r19,hi8(-(511))
		6994	7235 3d7e 4F4F sbci r20,hlo8(-(511))
		6995	7236 3d80 5F4F sbci r21,hhi8(-(511))
		6996	7237 .L589:
		6997	7238 3d82 09E0 ldi r16,9
		6998	7239 3d84 5595 1: asr r21
		6999	7240 3d86 4795 ror r20
		7000	7241 3d88 3795 ror r19
		7001	7242 3d8a 2795 ror r18
		7002	7243 3d8c 0A95 dec r16
		7003	7244 3d8e 01F4 brne 1b
		7004	7245 3d90 8091 0000 lds r24,cnt.14
		7005	7246 3d94 9091 0000 lds r25,(cnt.14)+1
		7006	7247 3d98 820F add r24,r18
		7007	7248 3d9a 931F adc r25,r19
		7008	7249 3d9c 9093 0000 sts (cnt.14)+1,r25
		7009	7250 3da0 8093 0000 sts cnt.14,r24
		7010	7251 3da4 D701 movw r26,r14
		7011	7252 3da6 C601 movw r24,r12
		7012	7253 3da8 F7FE sbrs r15,7
		7013	7254 3daa 00C0 rjmp .L590
		7014	7255 3dac 0796 adiw r24,7
		7015	7256 3dae A11D adc r26,__zero_reg__
		7016	7257 3db0 B11D adc r27,__zero_reg__
		7017	7258 .L590:
		7018	7259 3db2 13E0 ldi r17,3
		7019	7260 3db4 B595 1: asr r27
		7020	7261 3db6 A795 ror r26
		7021	7262 3db8 9795 ror r25
		7022	7263 3dba 8795 ror r24
		7023	7264 3dbc 1A95 dec r17
		7024	7265 3dbe 01F4 brne 1b
		7025	7266 3dc0 8093 0000 sts ausgleichRoll.11,r24
		7026	7267 3dc4 9093 0000 sts (ausgleichRoll.11)+1,r25
		7027	7268 3dc8 A093 0000 sts (ausgleichRoll.11)+2,r26
		7028	7269 3dcc B093 0000 sts (ausgleichRoll.11)+3,r27
		7029	7270 3dd0 8958 subi r24,lo8(5001)
		7030	7271 3dd2 9341 sbci r25,hi8(5001)
		7031	7272 3dd4 A040 sbci r26,hlo8(5001)
		7032	7273 3dd6 B040 sbci r27,hhi8(5001)
		7033	7274 3dd8 04F0 brlt .L591
		7034	7275 3dda 88E8 ldi r24,lo8(5000)
		7035	7276 3ddc 93E1 ldi r25,hi8(5000)
		7036	7277 3dde A0E0 ldi r26,hlo8(5000)
		7037	7278 3de0 B0E0 ldi r27,hhi8(5000)
		7038	7279 3de2 8093 0000 sts ausgleichRoll.11,r24
		7039	7280 3de6 9093 0000 sts (ausgleichRoll.11)+1,r25
		7040	7281 3dea A093 0000 sts (ausgleichRoll.11)+2,r26
		7041	7282 3dee B093 0000 sts (ausgleichRoll.11)+3,r27
		7042	7283 .L591:
		7043	7284 3df2 2091 0000 lds r18,ausgleichRoll.11
		7044	7285 3df6 3091 0000 lds r19,(ausgleichRoll.11)+1
		7045	7286 3dfa 4091 0000 lds r20,(ausgleichRoll.11)+2
		7046	7287 3dfe 5091 0000 lds r21,(ausgleichRoll.11)+3
		7047	7288 3e02 57FF sbrs r21,7
		7048	7289 3e04 00C0 rjmp .L592
		7049	7290 3e06 2150 subi r18,lo8(-(255))
		7050	7291 3e08 3F4F sbci r19,hi8(-(255))
		7051	7292 3e0a 4F4F sbci r20,hlo8(-(255))
		7052	7293 3e0c 5F4F sbci r21,hhi8(-(255))
		7053	7294 .L592:
		7054	7295 3e0e 232F mov r18,r19
		7055	7296 3e10 342F mov r19,r20
		7056	7297 3e12 452F mov r20,r21
		7057	7298 3e14 5527 clr r21
		7058	7299 3e16 47FD sbrc r20,7
		7059	7300 3e18 5A95 dec r21
		7060	7301 3e1a 8091 0000 lds r24,LageKorrekturRoll
		7061	7302 3e1e 9091 0000 lds r25,(LageKorrekturRoll)+1
		7062	7303 3e22 820F add r24,r18
		7063	7304 3e24 931F adc r25,r19
		7064	7305 3e26 9093 0000 sts (LageKorrekturRoll)+1,r25
		7065	7306 3e2a 8093 0000 sts LageKorrekturRoll,r24
		7066	7307 3e2e 00C0 rjmp .L594
		7067	7308 .L587:
		7068	7309 3e30 81E0 ldi r24,lo8(1)
		7069	7310 3e32 8093 0000 sts last_r_p.17,r24
		7070	7311 3e36 00C0 rjmp .L594
		7071	7312 .L586:
		7072	7313 3e38 1092 0000 sts last_r_p.17,__zero_reg__
		7073	7314 .L594:
		7074	7315 3e3c 20E0 ldi r18,lo8(-4096)
		7075	7316 3e3e C216 cp r12,r18
		7076	7317 3e40 20EF ldi r18,hi8(-4096)
		7077	7318 3e42 D206 cpc r13,r18
		7078	7319 3e44 2FEF ldi r18,hlo8(-4096)
		7079	7320 3e46 E206 cpc r14,r18
		7080	7321 3e48 2FEF ldi r18,hhi8(-4096)
		7081	7322 3e4a F206 cpc r15,r18
		7082	7323 3e4c 04F0 brlt .+2
		7083	7324 3e4e 00C0 rjmp .L595
		7084	7325 3e50 8091 0000 lds r24,last_r_n.18
		7085	7326 3e54 8823 tst r24
		7086	7327 3e56 01F4 brne .+2
		7087	7328 3e58 00C0 rjmp .L596
		7088	7329 3e5a D701 movw r26,r14
		7089	7330 3e5c C601 movw r24,r12
		7090	7331 3e5e F7FE sbrs r15,7
		7091	7332 3e60 00C0 rjmp .L597
		7092	7333 3e62 8827 clr r24
		7093	7334 3e64 9927 clr r25
		7094	7335 3e66 DC01 movw r26,r24
		7095	7336 3e68 8C19 sub r24,r12
		7096	7337 3e6a 9D09 sbc r25,r13
		7097	7338 3e6c AE09 sbc r26,r14
		7098	7339 3e6e BF09 sbc r27,r15
		7099	7340 .L597:
		7100	7341 3e70 9C01 movw r18,r24
		7101	7342 3e72 AD01 movw r20,r26
		7102	7343 3e74 B7FF sbrs r27,7
		7103	7344 3e76 00C0 rjmp .L598
		7104	7345 3e78 2150 subi r18,lo8(-(511))
		7105	7346 3e7a 3E4F sbci r19,hi8(-(511))
		7106	7347 3e7c 4F4F sbci r20,hlo8(-(511))
		7107	7348 3e7e 5F4F sbci r21,hhi8(-(511))
		7108	7349 .L598:
		7109	7350 3e80 E9E0 ldi r30,9
		7110	7351 3e82 5595 1: asr r21
		7111	7352 3e84 4795 ror r20
		7112	7353 3e86 3795 ror r19
		7113	7354 3e88 2795 ror r18
		7114	7355 3e8a EA95 dec r30
		7115	7356 3e8c 01F4 brne 1b
		7116	7357 3e8e 8091 0000 lds r24,cnt.14
		7117	7358 3e92 9091 0000 lds r25,(cnt.14)+1
		7118	7359 3e96 820F add r24,r18
		7119	7360 3e98 931F adc r25,r19
		7120	7361 3e9a 9093 0000 sts (cnt.14)+1,r25
		7121	7362 3e9e 8093 0000 sts cnt.14,r24
		7122	7363 3ea2 D701 movw r26,r14
		7123	7364 3ea4 C601 movw r24,r12
		7124	7365 3ea6 F7FE sbrs r15,7
		7125	7366 3ea8 00C0 rjmp .L599
		7126	7367 3eaa 0796 adiw r24,7
		7127	7368 3eac A11D adc r26,__zero_reg__
		7128	7369 3eae B11D adc r27,__zero_reg__
		7129	7370 .L599:
		7130	7371 3eb0 73E0 ldi r23,3
		7131	7372 3eb2 B595 1: asr r27
		7132	7373 3eb4 A795 ror r26
		7133	7374 3eb6 9795 ror r25
		7134	7375 3eb8 8795 ror r24
		7135	7376 3eba 7A95 dec r23
		7136	7377 3ebc 01F4 brne 1b
		7137	7378 3ebe 8093 0000 sts ausgleichRoll.11,r24
		7138	7379 3ec2 9093 0000 sts (ausgleichRoll.11)+1,r25
		7139	7380 3ec6 A093 0000 sts (ausgleichRoll.11)+2,r26
		7140	7381 3eca B093 0000 sts (ausgleichRoll.11)+3,r27
		7141	7382 3ece 8857 subi r24,lo8(-5000)
		7142	7383 3ed0 9C4E sbci r25,hi8(-5000)
		7143	7384 3ed2 AF4F sbci r26,hlo8(-5000)
		7144	7385 3ed4 BF4F sbci r27,hhi8(-5000)
		7145	7386 3ed6 04F4 brge .L600
		7146	7387 3ed8 88E7 ldi r24,lo8(-5000)
		7147	7388 3eda 9CEE ldi r25,hi8(-5000)
		7148	7389 3edc AFEF ldi r26,hlo8(-5000)
		7149	7390 3ede BFEF ldi r27,hhi8(-5000)
		7150	7391 3ee0 8093 0000 sts ausgleichRoll.11,r24
		7151	7392 3ee4 9093 0000 sts (ausgleichRoll.11)+1,r25
		7152	7393 3ee8 A093 0000 sts (ausgleichRoll.11)+2,r26
		7153	7394 3eec B093 0000 sts (ausgleichRoll.11)+3,r27
		7154	7395 .L600:
		7155	7396 3ef0 2091 0000 lds r18,ausgleichRoll.11
		7156	7397 3ef4 3091 0000 lds r19,(ausgleichRoll.11)+1
		7157	7398 3ef8 4091 0000 lds r20,(ausgleichRoll.11)+2
		7158	7399 3efc 5091 0000 lds r21,(ausgleichRoll.11)+3
		7159	7400 3f00 57FF sbrs r21,7
		7160	7401 3f02 00C0 rjmp .L601
		7161	7402 3f04 2150 subi r18,lo8(-(255))
		7162	7403 3f06 3F4F sbci r19,hi8(-(255))
		7163	7404 3f08 4F4F sbci r20,hlo8(-(255))
		7164	7405 3f0a 5F4F sbci r21,hhi8(-(255))
		7165	7406 .L601:
		7166	7407 3f0c 232F mov r18,r19
		7167	7408 3f0e 342F mov r19,r20
		7168	7409 3f10 452F mov r20,r21
		7169	7410 3f12 5527 clr r21
		7170	7411 3f14 47FD sbrc r20,7
		7171	7412 3f16 5A95 dec r21
		7172	7413 3f18 8091 0000 lds r24,LageKorrekturRoll
		7173	7414 3f1c 9091 0000 lds r25,(LageKorrekturRoll)+1
		7174	7415 3f20 820F add r24,r18
		7175	7416 3f22 931F adc r25,r19
		7176	7417 3f24 9093 0000 sts (LageKorrekturRoll)+1,r25
		7177	7418 3f28 8093 0000 sts LageKorrekturRoll,r24
		7178	7419 3f2c 00C0 rjmp .L604
		7179	7420 .L596:
		7180	7421 3f2e 81E0 ldi r24,lo8(1)
		7181	7422 3f30 8093 0000 sts last_r_n.18,r24
		7182	7423 3f34 00C0 rjmp .L604
		7183	7424 .L595:
		7184	7425 3f36 1092 0000 sts last_r_n.18,__zero_reg__
		7185	7426 3f3a 00C0 rjmp .L604
		7186	7427 .L584:
		7187	7428 3f3c 1092 0000 sts (cnt.14)+1,__zero_reg__
		7188	7429 3f40 1092 0000 sts cnt.14,__zero_reg__
		7189	7430 3f44 84E6 ldi r24,lo8(100)
		7190	7431 3f46 90E0 ldi r25,hi8(100)
		7191	7432 3f48 9093 0000 sts (KompassSignalSchlecht)+1,r25
		7192	7433 3f4c 8093 0000 sts KompassSignalSchlecht,r24
		7193	7434 .L604:
		7194	7435 3f50 4889 ldd r20,Y+16
		7195	7436 3f52 242F mov r18,r20
		7196	7437 3f54 3327 clr r19
		7197	7438 3f56 8091 0000 lds r24,cnt.14
		7198	7439 3f5a 9091 0000 lds r25,(cnt.14)+1
		7199	7440 3f5e 2817 cp r18,r24
		7200	7441 3f60 3907 cpc r19,r25
		7201	7442 3f62 04F4 brge .L605
		7202	7443 3f64 3093 0000 sts (cnt.14)+1,r19
		7203	7444 3f68 2093 0000 sts cnt.14,r18
		7204	7445 .L605:
		7205	7446 3f6c 8091 0000 lds r24,FromNaviCtrl_Value+1
		7206	7447 3f70 8823 tst r24
		7207	7448 3f72 01F0 breq .L606
		7208	7449 3f74 282F mov r18,r24
		7209	7450 3f76 3327 clr r19
		7210	7451 3f78 27FD sbrc r18,7
		7211	7452 3f7a 3095 com r19
		7212	7453 3f7c 8091 0000 lds r24,cnt.14
		7213	7454 3f80 9091 0000 lds r25,(cnt.14)+1
		7214	7455 3f84 2817 cp r18,r24
		7215	7456 3f86 3907 cpc r19,r25
		7216	7457 3f88 04F4 brge .L606
		7217	7458 3f8a 3093 0000 sts (cnt.14)+1,r19
		7218	7459 3f8e 2093 0000 sts cnt.14,r18
		7219	7460 .L606:
		7220	7461 3f92 4091 0000 lds r20,IntegralFehlerRoll.4
		7221	7462 3f96 5091 0000 lds r21,(IntegralFehlerRoll.4)+1
		7222	7463 3f9a 6091 0000 lds r22,(IntegralFehlerRoll.4)+2
		7223	7464 3f9e 7091 0000 lds r23,(IntegralFehlerRoll.4)+3
		7224	7465 3fa2 4138 cpi r20,lo8(129)
		7225	7466 3fa4 5105 cpc r21,__zero_reg__
		7226	7467 3fa6 6105 cpc r22,__zero_reg__
		7227	7468 3fa8 7105 cpc r23,__zero_reg__
		7228	7469 3faa 04F0 brlt .L608
		7229	7470 3fac 8091 0000 lds r24,AdNeutralRoll
		7230	7471 3fb0 9091 0000 lds r25,(AdNeutralRoll)+1
		7231	7472 3fb4 2091 0000 lds r18,cnt.14
		7232	7473 3fb8 3091 0000 lds r19,(cnt.14)+1
		7233	7474 3fbc 820F add r24,r18
		7234	7475 3fbe 931F adc r25,r19
		7235	7476 3fc0 9093 0000 sts (AdNeutralRoll)+1,r25
		7236	7477 3fc4 8093 0000 sts AdNeutralRoll,r24
		7237	7478 .L608:
		7238	7479 3fc8 4058 subi r20,lo8(-128)
		7239	7480 3fca 5F4F sbci r21,hi8(-128)
		7240	7481 3fcc 6F4F sbci r22,hlo8(-128)
		7241	7482 3fce 7F4F sbci r23,hhi8(-128)
		7242	7483 3fd0 04F4 brge .L610
		7243	7484 3fd2 8091 0000 lds r24,AdNeutralRoll
		7244	7485 3fd6 9091 0000 lds r25,(AdNeutralRoll)+1
		7245	7486 3fda 2091 0000 lds r18,cnt.14
		7246	7487 3fde 3091 0000 lds r19,(cnt.14)+1
		7247	7488 3fe2 821B sub r24,r18
		7248	7489 3fe4 930B sbc r25,r19
		7249	7490 3fe6 9093 0000 sts (AdNeutralRoll)+1,r25
		7250	7491 3fea 8093 0000 sts AdNeutralRoll,r24
		7251	7492 3fee 00C0 rjmp .L610
		7252	7493 .L536:
		7253	7494 3ff0 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__
		7254	7495 3ff4 1092 0000 sts LageKorrekturRoll,__zero_reg__
		7255	7496 3ff8 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__
		7256	7497 3ffc 1092 0000 sts LageKorrekturNick,__zero_reg__
		7257	7498 4000 1092 0000 sts TrichterFlug,__zero_reg__
		7258	7499 .L610:
		7259	7500 4004 8091 0000 lds r24,IntegralFaktor
		7260	7501 4008 8823 tst r24
		7261	7502 400a 01F4 brne .L611
		7262	7503 400c 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__
		7263	7504 4010 1092 0000 sts LageKorrekturRoll,__zero_reg__
		7264	7505 4014 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__
		7265	7506 4018 1092 0000 sts LageKorrekturNick,__zero_reg__
		7266	7507 .L611:
		7267	7508 401c 8091 0000 lds r24,MittelIntegralNick
		7268	7509 4020 9091 0000 lds r25,(MittelIntegralNick)+1
		7269	7510 4024 A091 0000 lds r26,(MittelIntegralNick)+2
		7270	7511 4028 B091 0000 lds r27,(MittelIntegralNick)+3
		7271	7512 402c 8093 0000 sts MittelIntegralNick_Alt.19,r24
		7272	7513 4030 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r25
		7273	7514 4034 A093 0000 sts (MittelIntegralNick_Alt.19)+2,r26
		7274	7515 4038 B093 0000 sts (MittelIntegralNick_Alt.19)+3,r27
		7275	7516 403c 8091 0000 lds r24,MittelIntegralRoll
		7276	7517 4040 9091 0000 lds r25,(MittelIntegralRoll)+1
		7277	7518 4044 A091 0000 lds r26,(MittelIntegralRoll)+2
		7278	7519 4048 B091 0000 lds r27,(MittelIntegralRoll)+3
		7279	7520 404c 8093 0000 sts MittelIntegralRoll_Alt.20,r24
		7280	7521 4050 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r25
		7281	7522 4054 A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r26
		7282	7523 4058 B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r27
		7283	7524 405c 1092 0000 sts IntegralAccNick,__zero_reg__
		7284	7525 4060 1092 0000 sts (IntegralAccNick)+1,__zero_reg__
		7285	7526 4064 1092 0000 sts (IntegralAccNick)+2,__zero_reg__
		7286	7527 4068 1092 0000 sts (IntegralAccNick)+3,__zero_reg__
		7287	7528 406c 1092 0000 sts IntegralAccRoll,__zero_reg__
		7288	7529 4070 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__
		7289	7530 4074 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__
		7290	7531 4078 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__
		7291	7532 407c 1092 0000 sts IntegralAccZ,__zero_reg__
		7292	7533 4080 1092 0000 sts (IntegralAccZ)+1,__zero_reg__
		7293	7534 4084 1092 0000 sts (IntegralAccZ)+2,__zero_reg__
		7294	7535 4088 1092 0000 sts (IntegralAccZ)+3,__zero_reg__
		7295	7536 408c 1092 0000 sts MittelIntegralNick,__zero_reg__
		7296	7537 4090 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__
		7297	7538 4094 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__
		7298	7539 4098 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__
		7299	7540 409c 1092 0000 sts MittelIntegralRoll,__zero_reg__
		7300	7541 40a0 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__
		7301	7542 40a4 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__
		7302	7543 40a8 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__
		7303	7544 40ac 1092 0000 sts MittelIntegralNick2,__zero_reg__
		7304	7545 40b0 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__
		7305	7546 40b4 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__
		7306	7547 40b8 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__
		7307	7548 40bc 1092 0000 sts MittelIntegralRoll2,__zero_reg__
		7308	7549 40c0 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__
		7309	7550 40c4 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__
		7310	7551 40c8 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__
		7311	7552 40cc 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__
		7312	7553 40d0 1092 0000 sts ZaehlMessungen,__zero_reg__
		7313	7554 .L535:
		7314	7555 40d4 E090 0000 lds r14,StickGier
		7315	7556 40d8 F090 0000 lds r15,(StickGier)+1
		7316	7557 40dc C701 movw r24,r14
		7317	7558 40de F7FE sbrs r15,7
		7318	7559 40e0 00C0 rjmp .L613
		7319	7560 40e2 8827 clr r24
		7320	7561 40e4 9927 clr r25
		7321	7562 40e6 8E19 sub r24,r14
		7322	7563 40e8 9F09 sbc r25,r15
		7323	7564 .L613:
		7324	7565 40ea 0497 sbiw r24,4
		7325	7566 40ec 04F0 brlt .L612
		7326	7567 40ee 8091 0000 lds r24,Parameter_GlobalConfig
		7327	7568 40f2 84FD sbrc r24,4
		7328	7569 40f4 00C0 rjmp .L612
		7329	7570 40f6 82E3 ldi r24,lo8(50)
		7330	7571 40f8 8093 0000 sts NeueKompassRichtungMerken,r24
		7331	7572 .L612:
		7332	7573 40fc 1091 0000 lds r17,EE_Parameter+25
		7333	7574 4100 A12E mov r10,r17
		7334	7575 4102 BB24 clr r11
		7335	7576 4104 CC24 clr r12
		7336	7577 4106 DD24 clr r13
		7337	7578 4108 B701 movw r22,r14
		7338	7579 410a 8827 clr r24
		7339	7580 410c 77FD sbrc r23,7
		7340	7581 410e 8095 com r24
		7341	7582 4110 982F mov r25,r24
		7342	7583 4112 9701 movw r18,r14
		7343	7584 4114 F7FE sbrs r15,7
		7344	7585 4116 00C0 rjmp .L615
		7345	7586 4118 2227 clr r18
		7346	7587 411a 3327 clr r19
		7347	7588 411c 2E19 sub r18,r14
		7348	7589 411e 3F09 sbc r19,r15
		7349	7590 .L615:
		7350	7591 4120 4427 clr r20
		7351	7592 4122 37FD sbrc r19,7
		7352	7593 4124 4095 com r20
		7353	7594 4126 542F mov r21,r20
		7354	7595 4128 0E94 0000 call __mulsi3
		7355	7596 412c 9B01 movw r18,r22
		7356	7597 412e AC01 movw r20,r24
		7357	7598 4130 C601 movw r24,r12
		7358	7599 4132 B501 movw r22,r10
		7359	7600 4134 0E94 0000 call __mulsi3
		7360	7601 4138 97FF sbrs r25,7
		7361	7602 413a 00C0 rjmp .L616
		7362	7603 413c 6150 subi r22,lo8(-(511))
		7363	7604 413e 7E4F sbci r23,hi8(-(511))
		7364	7605 4140 8F4F sbci r24,hlo8(-(511))
		7365	7606 4142 9F4F sbci r25,hhi8(-(511))
		7366	7607 .L616:
		7367	7608 4144 59E0 ldi r21,9
		7368	7609 4146 9595 1: asr r25
		7369	7610 4148 8795 ror r24
		7370	7611 414a 7795 ror r23
		7371	7612 414c 6795 ror r22
		7372	7613 414e 5A95 dec r21
		7373	7614 4150 01F4 brne 1b
		7374	7615 4152 9B01 movw r18,r22
		7375	7616 4154 812F mov r24,r17
		7376	7617 4156 9927 clr r25
		7377	7618 4158 8E9D mul r24,r14
		7378	7619 415a D001 movw r26,r0
		7379	7620 415c 8F9D mul r24,r15
		7380	7621 415e B00D add r27,r0
		7381	7622 4160 9E9D mul r25,r14
		7382	7623 4162 B00D add r27,r0
		7383	7624 4164 1124 clr r1
		7384	7625 4166 CD01 movw r24,r26
		7385	7626 4168 B7FD sbrc r27,7
		7386	7627 416a 0396 adiw r24,3
		7387	7628 .L617:
		7388	7629 416c 9595 asr r25
		7389	7630 416e 8795 ror r24
		7390	7631 4170 9595 asr r25
		7391	7632 4172 8795 ror r24
		7392	7633 4174 280F add r18,r24
		7393	7634 4176 391F adc r19,r25
		7394	7635 4178 8091 0000 lds r24,CompassGierSetpoint
		7395	7636 417c 9091 0000 lds r25,(CompassGierSetpoint)+1
		7396	7637 4180 280F add r18,r24
		7397	7638 4182 391F adc r19,r25
		7398	7639 4184 4427 clr r20
		7399	7640 4186 37FD sbrc r19,7
		7400	7641 4188 4095 com r20
		7401	7642 418a 542F mov r21,r20
		7402	7643 418c 2093 0000 sts sollGier.0,r18
		7403	7644 4190 3093 0000 sts (sollGier.0)+1,r19
		7404	7645 4194 4093 0000 sts (sollGier.0)+2,r20
		7405	7646 4198 5093 0000 sts (sollGier.0)+3,r21
		7406	7647 419c 8091 0000 lds r24,Mess_Integral_Gier
		7407	7648 41a0 9091 0000 lds r25,(Mess_Integral_Gier)+1
		7408	7649 41a4 A091 0000 lds r26,(Mess_Integral_Gier)+2
		7409	7650 41a8 B091 0000 lds r27,(Mess_Integral_Gier)+3
		7410	7651 41ac 821B sub r24,r18
		7411	7652 41ae 930B sbc r25,r19
		7412	7653 41b0 A40B sbc r26,r20
		7413	7654 41b2 B50B sbc r27,r21
		7414	7655 41b4 8093 0000 sts Mess_Integral_Gier,r24
		7415	7656 41b8 9093 0000 sts (Mess_Integral_Gier)+1,r25
		7416	7657 41bc A093 0000 sts (Mess_Integral_Gier)+2,r26
		7417	7658 41c0 B093 0000 sts (Mess_Integral_Gier)+3,r27
		7418	7659 41c4 8155 subi r24,lo8(50001)
		7419	7660 41c6 934C sbci r25,hi8(50001)
		7420	7661 41c8 A040 sbci r26,hlo8(50001)
		7421	7662 41ca B040 sbci r27,hhi8(50001)
		7422	7663 41cc 04F0 brlt .L618
		7423	7664 41ce 80E5 ldi r24,lo8(50000)
		7424	7665 41d0 93EC ldi r25,hi8(50000)
		7425	7666 41d2 A0E0 ldi r26,hlo8(50000)
		7426	7667 41d4 B0E0 ldi r27,hhi8(50000)
		7427	7668 41d6 8093 0000 sts Mess_Integral_Gier,r24
		7428	7669 41da 9093 0000 sts (Mess_Integral_Gier)+1,r25
		7429	7670 41de A093 0000 sts (Mess_Integral_Gier)+2,r26
		7430	7671 41e2 B093 0000 sts (Mess_Integral_Gier)+3,r27
		7431	7672 .L618:
		7432	7673 41e6 8091 0000 lds r24,Mess_Integral_Gier
		7433	7674 41ea 9091 0000 lds r25,(Mess_Integral_Gier)+1
		7434	7675 41ee A091 0000 lds r26,(Mess_Integral_Gier)+2
		7435	7676 41f2 B091 0000 lds r27,(Mess_Integral_Gier)+3
		7436	7677 41f6 805B subi r24,lo8(-50000)
		7437	7678 41f8 9C43 sbci r25,hi8(-50000)
		7438	7679 41fa AF4F sbci r26,hlo8(-50000)
		7439	7680 41fc BF4F sbci r27,hhi8(-50000)
		7440	7681 41fe 04F4 brge .L619
		7441	7682 4200 80EB ldi r24,lo8(-50000)
		7442	7683 4202 9CE3 ldi r25,hi8(-50000)
		7443	7684 4204 AFEF ldi r26,hlo8(-50000)
		7444	7685 4206 BFEF ldi r27,hhi8(-50000)
		7445	7686 4208 8093 0000 sts Mess_Integral_Gier,r24
		7446	7687 420c 9093 0000 sts (Mess_Integral_Gier)+1,r25
		7447	7688 4210 A093 0000 sts (Mess_Integral_Gier)+2,r26
		7448	7689 4214 B093 0000 sts (Mess_Integral_Gier)+3,r27
		7449	7690 .L619:
		7450	7691 4218 0091 0000 lds r16,KompassValue
		7451	7692 421c 1091 0000 lds r17,(KompassValue)+1
		7452	7693 4220 17FD sbrc r17,7
		7453	7694 4222 00C0 rjmp .L620
		7454	7695 4224 8091 0000 lds r24,Parameter_GlobalConfig
		7455	7696 4228 83FF sbrs r24,3
		7456	7697 422a 00C0 rjmp .L620
		7457	7698 422c 8091 0000 lds r24,CalculateCompassTimer
		7458	7699 4230 8150 subi r24,lo8(-(-1))
		7459	7700 4232 8093 0000 sts CalculateCompassTimer,r24
		7460	7701 4236 8823 tst r24
		7461	7702 4238 01F0 breq .+2
		7462	7703 423a 00C0 rjmp .L637
		7463	7704 423c 8DE0 ldi r24,lo8(13)
		7464	7705 423e 8093 0000 sts CalculateCompassTimer,r24
		7465	7706 4242 8091 0000 lds r24,IntegralNick
		7466	7707 4246 9091 0000 lds r25,(IntegralNick)+1
		7467	7708 424a A091 0000 lds r26,(IntegralNick)+2
		7468	7709 424e B091 0000 lds r27,(IntegralNick)+3
		7469	7710 4252 B7FF sbrs r27,7
		7470	7711 4254 00C0 rjmp .L622
		7471	7712 4256 8150 subi r24,lo8(-(511))
		7472	7713 4258 9E4F sbci r25,hi8(-(511))
		7473	7714 425a AF4F sbci r26,hlo8(-(511))
		7474	7715 425c BF4F sbci r27,hhi8(-(511))
		7475	7716 .L622:
		7476	7717 425e 39E0 ldi r19,9
		7477	7718 4260 B595 1: asr r27
		7478	7719 4262 A795 ror r26
		7479	7720 4264 9795 ror r25
		7480	7721 4266 8795 ror r24
		7481	7722 4268 3A95 dec r19
		7482	7723 426a 01F4 brne 1b
		7483	7724 426c 7C01 movw r14,r24
		7484	7725 426e 97FF sbrs r25,7
		7485	7726 4270 00C0 rjmp .L623
		7486	7727 4272 F094 com r15
		7487	7728 4274 E194 neg r14
		7488	7729 4276 F108 sbc r15,__zero_reg__
		7489	7730 4278 F394 inc r15
		7490	7731 .L623:
		7491	7732 427a 8091 0000 lds r24,IntegralRoll
		7492	7733 427e 9091 0000 lds r25,(IntegralRoll)+1
		7493	7734 4282 A091 0000 lds r26,(IntegralRoll)+2
		7494	7735 4286 B091 0000 lds r27,(IntegralRoll)+3
		7495	7736 428a B7FF sbrs r27,7
		7496	7737 428c 00C0 rjmp .L624
		7497	7738 428e 8150 subi r24,lo8(-(511))
		7498	7739 4290 9E4F sbci r25,hi8(-(511))
		7499	7740 4292 AF4F sbci r26,hlo8(-(511))
		7500	7741 4294 BF4F sbci r27,hhi8(-(511))
		7501	7742 .L624:
		7502	7743 4296 29E0 ldi r18,9
		7503	7744 4298 B595 1: asr r27
		7504	7745 429a A795 ror r26
		7505	7746 429c 9795 ror r25
		7506	7747 429e 8795 ror r24
		7507	7748 42a0 2A95 dec r18
		7508	7749 42a2 01F4 brne 1b
		7509	7750 42a4 9C01 movw r18,r24
		7510	7751 42a6 97FF sbrs r25,7
		7511	7752 42a8 00C0 rjmp .L625
		7512	7753 42aa 3095 com r19
		7513	7754 42ac 2195 neg r18
		7514	7755 42ae 3F4F sbci r19,lo8(-1)
		7515	7756 .L625:
		7516	7757 42b0 E216 cp r14,r18
		7517	7758 42b2 F306 cpc r15,r19
		7518	7759 42b4 04F4 brge .L626
		7519	7760 42b6 7901 movw r14,r18
		7520	7761 .L626:
		7521	7762 42b8 B701 movw r22,r14
		7522	7763 42ba F7FE sbrs r15,7
		7523	7764 42bc 00C0 rjmp .L627
		7524	7765 42be 695F subi r22,lo8(-(7))
		7525	7766 42c0 7F4F sbci r23,hi8(-(7))
		7526	7767 .L627:
		7527	7768 42c2 2B01 movw r4,r22
		7528	7769 42c4 A3E0 ldi r26,3
		7529	7770 42c6 5594 1: asr r5
		7530	7771 42c8 4794 ror r4
		7531	7772 42ca AA95 dec r26
		7532	7773 42cc 01F4 brne 1b
		7533	7774 42ce 22E0 ldi r18,lo8(2)
		7534	7775 42d0 30E0 ldi r19,hi8(2)
		7535	7776 42d2 420E add r4,r18
		7536	7777 42d4 531E adc r5,r19
		7537	7778 42d6 6090 0000 lds r6,ErsatzKompass
		7538	7779 42da 7090 0000 lds r7,(ErsatzKompass)+1
		7539	7780 42de 8090 0000 lds r8,(ErsatzKompass)+2
		7540	7781 42e2 9090 0000 lds r9,(ErsatzKompass)+3
		7541	7782 42e6 2091 0000 lds r18,GIER_GRAD_FAKTOR
		7542	7783 42ea 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1
		7543	7784 42ee 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2
		7544	7785 42f2 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3
		7545	7786 42f6 C401 movw r24,r8
		7546	7787 42f8 B301 movw r22,r6
		7547	7788 42fa 0E94 0000 call __divmodsi4
		7548	7789 42fe 5901 movw r10,r18
		7549	7790 4300 6A01 movw r12,r20
		7550	7791 4302 3093 0000 sts (ErsatzKompassInGrad)+1,r19
		7551	7792 4306 2093 0000 sts ErsatzKompassInGrad,r18
		7552	7793 430a 021B sub r16,r18
		7553	7794 430c 130B sbc r17,r19
		7554	7795 430e C801 movw r24,r16
		7555	7796 4310 845E subi r24,lo8(-(540))
		7556	7797 4312 9D4F sbci r25,hi8(-(540))
		7557	7798 4314 68E6 ldi r22,lo8(360)
		7558	7799 4316 71E0 ldi r23,hi8(360)
		7559	7800 4318 0E94 0000 call __divmodhi4
		7560	7801 431c 9C01 movw r18,r24
		7561	7802 431e 245B subi r18,lo8(-(-180))
		7562	7803 4320 3040 sbci r19,hi8(-(-180))
		7563	7804 4322 8091 0000 lds r24,KompassSignalSchlecht
		7564	7805 4326 9091 0000 lds r25,(KompassSignalSchlecht)+1
		7565	7806 432a 0097 sbiw r24,0
		7566	7807 432c 01F0 breq .L628
		7567	7808 432e 0197 sbiw r24,1
		7568	7809 4330 9093 0000 sts (KompassSignalSchlecht)+1,r25
		7569	7810 4334 8093 0000 sts KompassSignalSchlecht,r24
		7570	7811 4338 00C0 rjmp .L629
		7571	7812 .L628:
		7572	7813 433a 49E1 ldi r20,lo8(25)
		7573	7814 433c E416 cp r14,r20
		7574	7815 433e F104 cpc r15,__zero_reg__
		7575	7816 4340 04F4 brge .L629
		7576	7817 4342 8091 0000 lds r24,GierGyroFehler
		7577	7818 4346 9091 0000 lds r25,(GierGyroFehler)+1
		7578	7819 434a 820F add r24,r18
		7579	7820 434c 931F adc r25,r19
		7580	7821 434e 9093 0000 sts (GierGyroFehler)+1,r25
		7581	7822 4352 8093 0000 sts GierGyroFehler,r24
		7582	7823 4356 8091 0000 lds r24,NeueKompassRichtungMerken
		7583	7824 435a 8823 tst r24
		7584	7825 435c 01F0 breq .L629
		7585	7826 435e 8150 subi r24,lo8(-(-1))
		7586	7827 4360 8093 0000 sts NeueKompassRichtungMerken,r24
		7587	7828 4364 8823 tst r24
		7588	7829 4366 01F4 brne .L629
		7589	7830 4368 B092 0000 sts (KompassSollWert)+1,r11
		7590	7831 436c A092 0000 sts KompassSollWert,r10
		7591	7832 .L629:
		7592	7833 4370 8091 0000 lds r24,KompassSignalSchlecht
		7593	7834 4374 9091 0000 lds r25,(KompassSignalSchlecht)+1
		7594	7835 4378 892B or r24,r25
		7595	7836 437a 01F4 brne .L633
		7596	7837 437c 8091 0000 lds r24,KompassFusion
		7597	7838 4380 9927 clr r25
		7598	7839 4382 289F mul r18,r24
		7599	7840 4384 B001 movw r22,r0
		7600	7841 4386 299F mul r18,r25
		7601	7842 4388 700D add r23,r0
		7602	7843 438a 389F mul r19,r24
		7603	7844 438c 700D add r23,r0
		7604	7845 438e 1124 clr r1
		7605	7846 4390 CB01 movw r24,r22
		7606	7847 4392 B201 movw r22,r4
		7607	7848 4394 0E94 0000 call __divmodhi4
		7608	7849 4398 CB01 movw r24,r22
		7609	7850 439a AA27 clr r26
		7610	7851 439c 97FD sbrc r25,7
		7611	7852 439e A095 com r26
		7612	7853 43a0 BA2F mov r27,r26
		7613	7854 43a2 680E add r6,r24
		7614	7855 43a4 791E adc r7,r25
		7615	7856 43a6 8A1E adc r8,r26
		7616	7857 43a8 9B1E adc r9,r27
		7617	7858 43aa 6092 0000 sts ErsatzKompass,r6
		7618	7859 43ae 7092 0000 sts (ErsatzKompass)+1,r7
		7619	7860 43b2 8092 0000 sts (ErsatzKompass)+2,r8
		7620	7861 43b6 9092 0000 sts (ErsatzKompass)+3,r9
		7621	7862 .L633:
		7622	7863 43ba 8091 0000 lds r24,NeueKompassRichtungMerken
		7623	7864 43be 8823 tst r24
		7624	7865 43c0 01F4 brne .L620
		7625	7866 43c2 8091 0000 lds r24,KompassSollWert
		7626	7867 43c6 9091 0000 lds r25,(KompassSollWert)+1
		7627	7868 43ca 2091 0000 lds r18,ErsatzKompassInGrad
		7628	7869 43ce 3091 0000 lds r19,(ErsatzKompassInGrad)+1
		7629	7870 43d2 821B sub r24,r18
		7630	7871 43d4 930B sbc r25,r19
		7631	7872 43d6 845E subi r24,lo8(-(540))
		7632	7873 43d8 9D4F sbci r25,hi8(-(540))
		7633	7874 43da 68E6 ldi r22,lo8(360)
		7634	7875 43dc 71E0 ldi r23,hi8(360)
		7635	7876 43de 0E94 0000 call __divmodhi4
		7636	7877 43e2 9C01 movw r18,r24
		7637	7878 43e4 245B subi r18,lo8(-(-180))
		7638	7879 43e6 3040 sbci r19,hi8(-(-180))
		7639	7880 43e8 8091 0000 lds r24,Parameter_KompassWirkung
		7640	7881 43ec 8695 lsr r24
		7641	7882 43ee 9927 clr r25
		7642	7883 43f0 289F mul r18,r24
		7643	7884 43f2 D001 movw r26,r0
		7644	7885 43f4 299F mul r18,r25
		7645	7886 43f6 B00D add r27,r0
		7646	7887 43f8 389F mul r19,r24
		7647	7888 43fa B00D add r27,r0
		7648	7889 43fc 1124 clr r1
		7649	7890 43fe 9D01 movw r18,r26
		7650	7891 4400 B7FF sbrs r27,7
		7651	7892 4402 00C0 rjmp .L635
		7652	7893 4404 215F subi r18,lo8(-(15))
		7653	7894 4406 3F4F sbci r19,hi8(-(15))
		7654	7895 .L635:
		7655	7896 4408 F4E0 ldi r31,4
		7656	7897 440a 3595 1: asr r19
		7657	7898 440c 2795 ror r18
		7658	7899 440e FA95 dec r31
		7659	7900 4410 01F4 brne 1b
		7660	7901 4412 3093 0000 sts (CompassGierSetpoint)+1,r19
		7661	7902 4416 2093 0000 sts CompassGierSetpoint,r18
		7662	7903 441a 00C0 rjmp .L637
		7663	7904 .L620:
		7664	7905 441c 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__
		7665	7906 4420 1092 0000 sts CompassGierSetpoint,__zero_reg__
		7666	7907 .L637:
		7667	7908 4424 8091 0000 lds r24,TrichterFlug
		7668	7909 4428 8823 tst r24
		7669	7910 442a 01F0 breq .L638
		7670	7911 442c 1092 0000 sts SummeRoll,__zero_reg__
		7671	7912 4430 1092 0000 sts (SummeRoll)+1,__zero_reg__
		7672	7913 4434 1092 0000 sts (SummeRoll)+2,__zero_reg__
		7673	7914 4438 1092 0000 sts (SummeRoll)+3,__zero_reg__
		7674	7915 443c 1092 0000 sts SummeNick,__zero_reg__
		7675	7916 4440 1092 0000 sts (SummeNick)+1,__zero_reg__
		7676	7917 4444 1092 0000 sts (SummeNick)+2,__zero_reg__
		7677	7918 4448 1092 0000 sts (SummeNick)+3,__zero_reg__
		7678	7919 .L638:
		7679	7920 444c F090 0000 lds r15,Looping_Nick
		7680	7921 4450 FF20 tst r15
		7681	7922 4452 01F4 brne .L639
		7682	7923 4454 8091 0000 lds r24,IntegralFaktor
		7683	7924 4458 282F mov r18,r24
		7684	7925 445a 3327 clr r19
		7685	7926 445c 4427 clr r20
		7686	7927 445e 5527 clr r21
		7687	7928 4460 8091 0000 lds r24,IntegralNick
		7688	7929 4464 9091 0000 lds r25,(IntegralNick)+1
		7689	7930 4468 A091 0000 lds r26,(IntegralNick)+2
		7690	7931 446c B091 0000 lds r27,(IntegralNick)+3
		7691	7932 4470 BC01 movw r22,r24
		7692	7933 4472 CD01 movw r24,r26
		7693	7934 4474 0E94 0000 call __mulsi3
		7694	7935 4478 DC01 movw r26,r24
		7695	7936 447a CB01 movw r24,r22
		7696	7937 447c BC01 movw r22,r24
		7697	7938 447e CD01 movw r24,r26
		7698	7939 4480 28EF ldi r18,lo8(11000)
		7699	7940 4482 3AE2 ldi r19,hi8(11000)
		7700	7941 4484 40E0 ldi r20,hlo8(11000)
		7701	7942 4486 50E0 ldi r21,hhi8(11000)
		7702	7943 4488 0E94 0000 call __divmodsi4
		7703	7944 448c 3901 movw r6,r18
		7704	7945 448e 00C0 rjmp .L640
		7705	7946 .L639:
		7706	7947 4490 6624 clr r6
		7707	7948 4492 7724 clr r7
		7708	7949 .L640:
		7709	7950 4494 E090 0000 lds r14,Looping_Roll
		7710	7951 4498 EE20 tst r14
		7711	7952 449a 01F4 brne .L641
		7712	7953 449c 8091 0000 lds r24,IntegralFaktor
		7713	7954 44a0 282F mov r18,r24
		7714	7955 44a2 3327 clr r19
		7715	7956 44a4 4427 clr r20
		7716	7957 44a6 5527 clr r21
		7717	7958 44a8 8091 0000 lds r24,IntegralRoll
		7718	7959 44ac 9091 0000 lds r25,(IntegralRoll)+1
		7719	7960 44b0 A091 0000 lds r26,(IntegralRoll)+2
		7720	7961 44b4 B091 0000 lds r27,(IntegralRoll)+3
		7721	7962 44b8 BC01 movw r22,r24
		7722	7963 44ba CD01 movw r24,r26
		7723	7964 44bc 0E94 0000 call __mulsi3
		7724	7965 44c0 DC01 movw r26,r24
		7725	7966 44c2 CB01 movw r24,r22
		7726	7967 44c4 BC01 movw r22,r24
		7727	7968 44c6 CD01 movw r24,r26
		7728	7969 44c8 28EF ldi r18,lo8(11000)
		7729	7970 44ca 3AE2 ldi r19,hi8(11000)
		7730	7971 44cc 40E0 ldi r20,hlo8(11000)
		7731	7972 44ce 50E0 ldi r21,hhi8(11000)
		7732	7973 44d0 0E94 0000 call __divmodsi4
		7733	7974 44d4 2901 movw r4,r18
		7734	7975 44d6 00C0 rjmp .L642
		7735	7976 .L641:
		7736	7977 44d8 4424 clr r4
		7737	7978 44da 5524 clr r5
		7738	7979 .L642:
		7739	7980 44dc 8091 0000 lds r24,TrimNick
		7740	7981 44e0 9091 0000 lds r25,(TrimNick)+1
		7741	7982 44e4 893C cpi r24,201
		7742	7983 44e6 9105 cpc r25,__zero_reg__
		7743	7984 44e8 04F0 brlt .L643
		7744	7985 44ea 88EC ldi r24,lo8(200)
		7745	7986 44ec 90E0 ldi r25,hi8(200)
		7746	7987 44ee 00C0 rjmp .L900
		7747	7988 .L643:
		7748	7989 44f0 8853 subi r24,lo8(-200)
		7749	7990 44f2 9F4F sbci r25,hi8(-200)
		7750	7991 44f4 04F4 brge .L644
		7751	7992 44f6 88E3 ldi r24,lo8(-200)
		7752	7993 44f8 9FEF ldi r25,hi8(-200)
		7753	7994 .L900:
		7754	7995 44fa 9093 0000 sts (TrimNick)+1,r25
		7755	7996 44fe 8093 0000 sts TrimNick,r24
		7756	7997 .L644:
		7757	7998 4502 8091 0000 lds r24,TrimRoll
		7758	7999 4506 9091 0000 lds r25,(TrimRoll)+1
		7759	8000 450a 893C cpi r24,201
		7760	8001 450c 9105 cpc r25,__zero_reg__
		7761	8002 450e 04F0 brlt .L646
		7762	8003 4510 88EC ldi r24,lo8(200)
		7763	8004 4512 90E0 ldi r25,hi8(200)
		7764	8005 4514 00C0 rjmp .L901
		7765	8006 .L646:
		7766	8007 4516 8853 subi r24,lo8(-200)
		7767	8008 4518 9F4F sbci r25,hi8(-200)
		7768	8009 451a 04F4 brge .L647
		7769	8010 451c 88E3 ldi r24,lo8(-200)
		7770	8011 451e 9FEF ldi r25,hi8(-200)
		7771	8012 .L901:
		7772	8013 4520 9093 0000 sts (TrimRoll)+1,r25
		7773	8014 4524 8093 0000 sts TrimRoll,r24
		7774	8015 .L647:
		7775	8016 4528 8091 0000 lds r24,MesswertNick
		7776	8017 452c 9091 0000 lds r25,(MesswertNick)+1
		7777	8018 4530 AA27 clr r26
		7778	8019 4532 97FD sbrc r25,7
		7779	8020 4534 A095 com r26
		7780	8021 4536 BA2F mov r27,r26
		7781	8022 4538 2091 0000 lds r18,GyroFaktor
		7782	8023 453c A22E mov r10,r18
		7783	8024 453e BB24 clr r11
		7784	8025 4540 CC24 clr r12
		7785	8026 4542 DD24 clr r13
		7786	8027 4544 BC01 movw r22,r24
		7787	8028 4546 CD01 movw r24,r26
		7788	8029 4548 A601 movw r20,r12
		7789	8030 454a 9501 movw r18,r10
		7790	8031 454c 0E94 0000 call __mulsi3
		7791	8032 4550 9B01 movw r18,r22
		7792	8033 4552 AC01 movw r20,r24
		7793	8034 4554 8091 0000 lds r24,TrimNick
		7794	8035 4558 9091 0000 lds r25,(TrimNick)+1
		7795	8036 455c AA27 clr r26
		7796	8037 455e 97FD sbrc r25,7
		7797	8038 4560 A095 com r26
		7798	8039 4562 BA2F mov r27,r26
		7799	8040 4564 E7E0 ldi r30,7
		7800	8041 4566 880F 1: lsl r24
		7801	8042 4568 991F rol r25
		7802	8043 456a AA1F rol r26
		7803	8044 456c BB1F rol r27
		7804	8045 456e EA95 dec r30
		7805	8046 4570 01F4 brne 1b
		7806	8047 4572 280F add r18,r24
		7807	8048 4574 391F adc r19,r25
		7808	8049 4576 4A1F adc r20,r26
		7809	8050 4578 5B1F adc r21,r27
		7810	8051 457a 57FF sbrs r21,7
		7811	8052 457c 00C0 rjmp .L649
		7812	8053 457e 215C subi r18,lo8(-(63))
		7813	8054 4580 3F4F sbci r19,hi8(-(63))
		7814	8055 4582 4F4F sbci r20,hlo8(-(63))
		7815	8056 4584 5F4F sbci r21,hhi8(-(63))
		7816	8057 .L649:
		7817	8058 4586 76E0 ldi r23,6
		7818	8059 4588 5595 1: asr r21
		7819	8060 458a 4795 ror r20
		7820	8061 458c 3795 ror r19
		7821	8062 458e 2795 ror r18
		7822	8063 4590 7A95 dec r23
		7823	8064 4592 01F4 brne 1b
		7824	8065 4594 8301 movw r16,r6
		7825	8066 4596 020F add r16,r18
		7826	8067 4598 131F adc r17,r19
		7827	8068 459a 1093 0000 sts (MesswertNick)+1,r17
		7828	8069 459e 0093 0000 sts MesswertNick,r16
		7829	8070 45a2 8091 0000 lds r24,MesswertRoll
		7830	8071 45a6 9091 0000 lds r25,(MesswertRoll)+1
		7831	8072 45aa AA27 clr r26
		7832	8073 45ac 97FD sbrc r25,7
		7833	8074 45ae A095 com r26
		7834	8075 45b0 BA2F mov r27,r26
		7835	8076 45b2 BC01 movw r22,r24
		7836	8077 45b4 CD01 movw r24,r26
		7837	8078 45b6 A601 movw r20,r12
		7838	8079 45b8 9501 movw r18,r10
		7839	8080 45ba 0E94 0000 call __mulsi3
		7840	8081 45be 9B01 movw r18,r22
		7841	8082 45c0 AC01 movw r20,r24
		7842	8083 45c2 8091 0000 lds r24,TrimRoll
		7843	8084 45c6 9091 0000 lds r25,(TrimRoll)+1
		7844	8085 45ca AA27 clr r26
		7845	8086 45cc 97FD sbrc r25,7
		7846	8087 45ce A095 com r26
		7847	8088 45d0 BA2F mov r27,r26
		7848	8089 45d2 67E0 ldi r22,7
		7849	8090 45d4 880F 1: lsl r24
		7850	8091 45d6 991F rol r25
		7851	8092 45d8 AA1F rol r26
		7852	8093 45da BB1F rol r27
		7853	8094 45dc 6A95 dec r22
		7854	8095 45de 01F4 brne 1b
		7855	8096 45e0 280F add r18,r24
		7856	8097 45e2 391F adc r19,r25
		7857	8098 45e4 4A1F adc r20,r26
		7858	8099 45e6 5B1F adc r21,r27
		7859	8100 45e8 57FF sbrs r21,7
		7860	8101 45ea 00C0 rjmp .L650
		7861	8102 45ec 215C subi r18,lo8(-(63))
		7862	8103 45ee 3F4F sbci r19,hi8(-(63))
		7863	8104 45f0 4F4F sbci r20,hlo8(-(63))
		7864	8105 45f2 5F4F sbci r21,hhi8(-(63))
		7865	8106 .L650:
		7866	8107 45f4 F6E0 ldi r31,6
		7867	8108 45f6 5595 1: asr r21
		7868	8109 45f8 4795 ror r20
		7869	8110 45fa 3795 ror r19
		7870	8111 45fc 2795 ror r18
		7871	8112 45fe FA95 dec r31
		7872	8113 4600 01F4 brne 1b
		7873	8114 4602 4201 movw r8,r4
		7874	8115 4604 820E add r8,r18
		7875	8116 4606 931E adc r9,r19
		7876	8117 4608 9092 0000 sts (MesswertRoll)+1,r9
		7877	8118 460c 8092 0000 sts MesswertRoll,r8
		7878	8119 4610 8091 0000 lds r24,MesswertGier
		7879	8120 4614 9091 0000 lds r25,(MesswertGier)+1
		7880	8121 4618 880F add r24,r24
		7881	8122 461a 991F adc r25,r25
		7882	8123 461c AA27 clr r26
		7883	8124 461e 97FD sbrc r25,7
		7884	8125 4620 A095 com r26
		7885	8126 4622 BA2F mov r27,r26
		7886	8127 4624 2091 0000 lds r18,GyroFaktorGier
		7887	8128 4628 3327 clr r19
		7888	8129 462a 4427 clr r20
		7889	8130 462c 5527 clr r21
		7890	8131 462e BC01 movw r22,r24
		7891	8132 4630 CD01 movw r24,r26
		7892	8133 4632 0E94 0000 call __mulsi3
		7893	8134 4636 5B01 movw r10,r22
		7894	8135 4638 6C01 movw r12,r24
		7895	8136 463a 97FF sbrs r25,7
		7896	8137 463c 00C0 rjmp .L651
		7897	8138 463e 2FE3 ldi r18,lo8(63)
		7898	8139 4640 30E0 ldi r19,hi8(63)
		7899	8140 4642 40E0 ldi r20,hlo8(63)
		7900	8141 4644 50E0 ldi r21,hhi8(63)
		7901	8142 4646 A20E add r10,r18
		7902	8143 4648 B31E adc r11,r19
		7903	8144 464a C41E adc r12,r20
		7904	8145 464c D51E adc r13,r21
		7905	8146 .L651:
		7906	8147 464e E6E0 ldi r30,6
		7907	8148 4650 D594 1: asr r13
		7908	8149 4652 C794 ror r12
		7909	8150 4654 B794 ror r11
		7910	8151 4656 A794 ror r10
		7911	8152 4658 EA95 dec r30
		7912	8153 465a 01F4 brne 1b
		7913	8154 465c 8091 0000 lds r24,IntegralFaktorGier
		7914	8155 4660 282F mov r18,r24
		7915	8156 4662 3327 clr r19
		7916	8157 4664 4427 clr r20
		7917	8158 4666 5527 clr r21
		7918	8159 4668 8091 0000 lds r24,Integral_Gier
		7919	8160 466c 9091 0000 lds r25,(Integral_Gier)+1
		7920	8161 4670 A091 0000 lds r26,(Integral_Gier)+2
		7921	8162 4674 B091 0000 lds r27,(Integral_Gier)+3
		7922	8163 4678 BC01 movw r22,r24
		7923	8164 467a CD01 movw r24,r26
		7924	8165 467c 0E94 0000 call __mulsi3
		7925	8166 4680 DC01 movw r26,r24
		7926	8167 4682 CB01 movw r24,r22
		7927	8168 4684 BC01 movw r22,r24
		7928	8169 4686 CD01 movw r24,r26
		7929	8170 4688 20EF ldi r18,lo8(22000)
		7930	8171 468a 35E5 ldi r19,hi8(22000)
		7931	8172 468c 40E0 ldi r20,hlo8(22000)
		7932	8173 468e 50E0 ldi r21,hhi8(22000)
		7933	8174 4690 0E94 0000 call __divmodsi4
		7934	8175 4694 B501 movw r22,r10
		7935	8176 4696 620F add r22,r18
		7936	8177 4698 731F adc r23,r19
		7937	8178 469a 7093 0000 sts (MesswertGier)+1,r23
		7938	8179 469e 6093 0000 sts MesswertGier,r22
		7939	8180 46a2 0150 subi r16,lo8(4097)
		7940	8181 46a4 1041 sbci r17,hi8(4097)
		7941	8182 46a6 04F0 brlt .L652
		7942	8183 46a8 80E0 ldi r24,lo8(4096)
		7943	8184 46aa 90E1 ldi r25,hi8(4096)
		7944	8185 46ac 9093 0000 sts (MesswertNick)+1,r25
		7945	8186 46b0 8093 0000 sts MesswertNick,r24
		7946	8187 .L652:
		7947	8188 46b4 8091 0000 lds r24,MesswertNick
		7948	8189 46b8 9091 0000 lds r25,(MesswertNick)+1
		7949	8190 46bc 8050 subi r24,lo8(-4096)
		7950	8191 46be 904F sbci r25,hi8(-4096)
		7951	8192 46c0 04F4 brge .L653
		7952	8193 46c2 80E0 ldi r24,lo8(-4096)
		7953	8194 46c4 90EF ldi r25,hi8(-4096)
		7954	8195 46c6 9093 0000 sts (MesswertNick)+1,r25
		7955	8196 46ca 8093 0000 sts MesswertNick,r24
		7956	8197 .L653:
		7957	8198 46ce 51E0 ldi r21,lo8(4097)
		7958	8199 46d0 8516 cp r8,r21
		7959	8200 46d2 50E1 ldi r21,hi8(4097)
		7960	8201 46d4 9506 cpc r9,r21
		7961	8202 46d6 04F0 brlt .L654
		7962	8203 46d8 80E0 ldi r24,lo8(4096)
		7963	8204 46da 90E1 ldi r25,hi8(4096)
		7964	8205 46dc 9093 0000 sts (MesswertRoll)+1,r25
		7965	8206 46e0 8093 0000 sts MesswertRoll,r24
		7966	8207 .L654:
		7967	8208 46e4 8091 0000 lds r24,MesswertRoll
		7968	8209 46e8 9091 0000 lds r25,(MesswertRoll)+1
		7969	8210 46ec 8050 subi r24,lo8(-4096)
		7970	8211 46ee 904F sbci r25,hi8(-4096)
		7971	8212 46f0 04F4 brge .L655
		7972	8213 46f2 80E0 ldi r24,lo8(-4096)
		7973	8214 46f4 90EF ldi r25,hi8(-4096)
		7974	8215 46f6 9093 0000 sts (MesswertRoll)+1,r25
		7975	8216 46fa 8093 0000 sts MesswertRoll,r24
		7976	8217 .L655:
		7977	8218 46fe 6150 subi r22,lo8(4097)
		7978	8219 4700 7041 sbci r23,hi8(4097)
		7979	8220 4702 04F0 brlt .L656
		7980	8221 4704 80E0 ldi r24,lo8(4096)
		7981	8222 4706 90E1 ldi r25,hi8(4096)
		7982	8223 4708 9093 0000 sts (MesswertGier)+1,r25
		7983	8224 470c 8093 0000 sts MesswertGier,r24
		7984	8225 .L656:
		7985	8226 4710 8091 0000 lds r24,MesswertGier
		7986	8227 4714 9091 0000 lds r25,(MesswertGier)+1
		7987	8228 4718 8050 subi r24,lo8(-4096)
		7988	8229 471a 904F sbci r25,hi8(-4096)
		7989	8230 471c 04F4 brge .L657
		7990	8231 471e 80E0 ldi r24,lo8(-4096)
		7991	8232 4720 90EF ldi r25,hi8(-4096)
		7992	8233 4722 9093 0000 sts (MesswertGier)+1,r25
		7993	8234 4726 8093 0000 sts MesswertGier,r24
		7994	8235 .L657:
		7995	8236 472a 8091 0000 lds r24,BattLowVoltageWarning
		7996	8237 472e 482F mov r20,r24
		7997	8238 4730 5527 clr r21
		7998	8239 4732 8091 0000 lds r24,UBat
		7999	8240 4736 9091 0000 lds r25,(UBat)+1
		8000	8241 473a 4817 cp r20,r24
		8001	8242 473c 5907 cpc r21,r25
		8002	8243 473e 04F4 brge .L658
		8003	8244 4740 2091 0000 lds r18,UBat
		8004	8245 4744 3091 0000 lds r19,(UBat)+1
		8005	8246 4748 0981 ldd r16,Y+1
		8006	8247 474a 1A81 ldd r17,Y+2
		8007	8248 474c 049F mul r16,r20
		8008	8249 474e C001 movw r24,r0
		8009	8250 4750 059F mul r16,r21
		8010	8251 4752 900D add r25,r0
		8011	8252 4754 149F mul r17,r20
		8012	8253 4756 900D add r25,r0
		8013	8254 4758 1124 clr r1
		8014	8255 475a B901 movw r22,r18
		8015	8256 475c 0E94 0000 call __udivmodhi4
		8016	8257 4760 7A83 std Y+2,r23
		8017	8258 4762 6983 std Y+1,r22
		8018	8259 .L658:
		8019	8260 4764 2981 ldd r18,Y+1
		8020	8261 4766 3A81 ldd r19,Y+2
		8021	8262 4768 220F lsl r18
		8022	8263 476a 331F rol r19
		8023	8264 476c 220F lsl r18
		8024	8265 476e 331F rol r19
		8025	8266 4770 3A83 std Y+2,r19
		8026	8267 4772 2983 std Y+1,r18
		8027	8268 4774 4091 0000 lds r20,Parameter_GlobalConfig
		8028	8269 4778 40FD sbrc r20,0
		8029	8270 477a 00C0 rjmp .+4
		8030	8271 477c 0C94 0000 jmp .L659
		8031	8272 4780 EE20 tst r14
		8032	8273 4782 01F0 breq .+4
		8033	8274 4784 0C94 0000 jmp .L659
		8034	8275 4788 FF20 tst r15
		8035	8276 478a 01F0 breq .+4
		8036	8277 478c 0C94 0000 jmp .L659
		8037	8278 4790 00E0 ldi r16,lo8(0)
		8038	8279 4792 10E0 ldi r17,hi8(0)
		8039	8280 4794 4801 movw r8,r16
		8040	8281 4796 8091 0000 lds r24,HoverGas
		8041	8282 479a 9091 0000 lds r25,(HoverGas)+1
		8042	8283 479e 9093 0000 sts (DebugOut+44)+1,r25
		8043	8284 47a2 8093 0000 sts DebugOut+44,r24
		8044	8285 47a6 2091 0000 lds r18,BaroExpandActive
		8045	8286 47aa 3091 0000 lds r19,(BaroExpandActive)+1
		8046	8287 47ae 2115 cp r18,__zero_reg__
		8047	8288 47b0 3105 cpc r19,__zero_reg__
		8048	8289 47b2 01F0 breq .+2
		8049	8290 47b4 00C0 rjmp .L660
		8050	8291 47b6 8091 0000 lds r24,MessLuftdruck
		8051	8292 47ba 9091 0000 lds r25,(MessLuftdruck)+1
		8052	8293 47be 8959 subi r24,lo8(921)
		8053	8294 47c0 9340 sbci r25,hi8(921)
		8054	8295 47c2 00F0 brlo .L661
		8055	8296 47c4 87B5 in r24,71-0x20
		8056	8297 47c6 803F cpi r24,lo8(-16)
		8057	8298 47c8 00F4 brsh .L662
		8058	8299 47ca 8091 0000 lds r24,ExpandBaro
		8059	8300 47ce 8150 subi r24,lo8(-(-1))
		8060	8301 47d0 00C0 rjmp .L902
		8061	8302 .L662:
		8062	8303 47d2 81E0 ldi r24,lo8(1)
		8063	8304 47d4 8093 0000 sts BaroAtLowerLimit.26,r24
		8064	8305 47d8 00C0 rjmp .L669
		8065	8306 .L661:
		8066	8307 47da 8091 0000 lds r24,MessLuftdruck
		8067	8308 47de 9091 0000 lds r25,(MessLuftdruck)+1
		8068	8309 47e2 8436 cpi r24,100
		8069	8310 47e4 9105 cpc r25,__zero_reg__
		8070	8311 47e6 00F4 brsh .L665
		8071	8312 47e8 87B5 in r24,71-0x20
		8072	8313 47ea 8031 cpi r24,lo8(16)
		8073	8314 47ec 00F0 brlo .L666
		8074	8315 47ee 8091 0000 lds r24,ExpandBaro
		8075	8316 47f2 8F5F subi r24,lo8(-(1))
		8076	8317 .L902:
		8077	8318 47f4 8093 0000 sts ExpandBaro,r24
		8078	8319 47f8 9FE0 ldi r25,lo8(15)
		8079	8320 47fa 8902 muls r24,r25
		8080	8321 47fc 9001 movw r18,r0
		8081	8322 47fe 1124 clr r1
		8082	8323 4800 8091 0000 lds r24,DruckOffsetSetting
		8083	8324 4804 821B sub r24,r18
		8084	8325 4806 87BD out 71-0x20,r24
		8085	8326 4808 8CE2 ldi r24,lo8(300)
		8086	8327 480a 91E0 ldi r25,hi8(300)
		8087	8328 480c 9093 0000 sts (beeptime)+1,r25
		8088	8329 4810 8093 0000 sts beeptime,r24
		8089	8330 4814 8EE5 ldi r24,lo8(350)
		8090	8331 4816 91E0 ldi r25,hi8(350)
		8091	8332 4818 9093 0000 sts (BaroExpandActive)+1,r25
		8092	8333 481c 8093 0000 sts BaroExpandActive,r24
		8093	8334 4820 00C0 rjmp .L669
		8094	8335 .L666:
		8095	8336 4822 81E0 ldi r24,lo8(1)
		8096	8337 4824 8093 0000 sts BaroAtUpperLimit.25,r24
		8097	8338 4828 00C0 rjmp .L669
		8098	8339 .L665:
		8099	8340 482a F092 0000 sts BaroAtUpperLimit.25,r15
		8100	8341 482e F092 0000 sts BaroAtLowerLimit.26,r15
		8101	8342 4832 00C0 rjmp .L669
		8102	8343 .L660:
		8103	8344 4834 8091 0000 lds r24,HoehenWert
		8104	8345 4838 9091 0000 lds r25,(HoehenWert)+1
		8105	8346 483c A091 0000 lds r26,(HoehenWert)+2
		8106	8347 4840 B091 0000 lds r27,(HoehenWert)+3
		8107	8348 4844 64E0 ldi r22,4
		8108	8349 4846 880F 1: lsl r24
		8109	8350 4848 991F rol r25
		8110	8351 484a AA1F rol r26
		8111	8352 484c BB1F rol r27
		8112	8353 484e 6A95 dec r22
		8113	8354 4850 01F4 brne 1b
		8114	8355 4852 8093 0000 sts SummenHoehe,r24
		8115	8356 4856 9093 0000 sts (SummenHoehe)+1,r25
		8116	8357 485a A093 0000 sts (SummenHoehe)+2,r26
		8117	8358 485e B093 0000 sts (SummenHoehe)+3,r27
		8118	8359 4862 1093 0000 sts (VarioMeter)+1,r17
		8119	8360 4866 0093 0000 sts VarioMeter,r16
		8120	8361 486a 2150 subi r18,lo8(-(-1))
		8121	8362 486c 3040 sbci r19,hi8(-(-1))
		8122	8363 486e 3093 0000 sts (BaroExpandActive)+1,r19
		8123	8364 4872 2093 0000 sts BaroExpandActive,r18
		8124	8365 .L669:
		8125	8366 4876 2091 0000 lds r18,Parameter_HoehenSchalter
		8126	8367 487a 41FF sbrs r20,1
		8127	8368 487c 00C0 rjmp .L670
		8128	8369 487e 2233 cpi r18,lo8(50)
		8129	8370 4880 00F4 brsh .L671
		8130	8371 4882 8091 0000 lds r24,delay.24
		8131	8372 4886 8150 subi r24,lo8(-(-1))
		8132	8373 4888 8093 0000 sts delay.24,r24
		8133	8374 488c 8F3F cpi r24,lo8(-1)
		8134	8375 488e 01F0 breq .+2
		8135	8376 4890 00C0 rjmp .L677
		8136	8377 4892 8091 0000 lds r24,SpeakHoTT
		8137	8378 4896 8823 tst r24
		8138	8379 4898 01F4 brne .L673
		8139	8380 489a 8091 0000 lds r24,HoehenReglerAktiv
		8140	8381 489e 8823 tst r24
		8141	8382 48a0 01F0 breq .L673
		8142	8383 48a2 88E2 ldi r24,lo8(40)
		8143	8384 48a4 8093 0000 sts SpeakHoTT,r24
		8144	8385 .L673:
		8145	8386 48a8 1092 0000 sts HoehenReglerAktiv,__zero_reg__
		8146	8387 48ac 8091 0000 lds r24,HoehenWert
		8147	8388 48b0 9091 0000 lds r25,(HoehenWert)+1
		8148	8389 48b4 A091 0000 lds r26,(HoehenWert)+2
		8149	8390 48b8 B091 0000 lds r27,(HoehenWert)+3
		8150	8391 48bc 8093 0000 sts SollHoehe,r24
		8151	8392 48c0 9093 0000 sts (SollHoehe)+1,r25
		8152	8393 48c4 A093 0000 sts (SollHoehe)+2,r26
		8153	8394 48c8 B093 0000 sts (SollHoehe)+3,r27
		8154	8395 48cc 81E0 ldi r24,lo8(1)
		8155	8396 48ce 8093 0000 sts delay.24,r24
		8156	8397 48d2 00C0 rjmp .L677
		8157	8398 .L671:
		8158	8399 48d4 2734 cpi r18,lo8(71)
		8159	8400 48d6 00F0 brlo .L677
		8160	8401 48d8 8091 0000 lds r24,SpeakHoTT
		8161	8402 48dc 8823 tst r24
		8162	8403 48de 01F4 brne .L676
		8163	8404 48e0 8091 0000 lds r24,HoehenReglerAktiv
		8164	8405 48e4 8823 tst r24
		8165	8406 48e6 01F4 brne .L676
		8166	8407 48e8 87E2 ldi r24,lo8(39)
		8167	8408 48ea 8093 0000 sts SpeakHoTT,r24
		8168	8409 .L676:
		8169	8410 48ee 88EC ldi r24,lo8(-56)
		8170	8411 48f0 8093 0000 sts delay.24,r24
		8171	8412 48f4 00C0 rjmp .L903
		8172	8413 .L670:
		8173	8414 48f6 8091 0000 lds r24,ExternHoehenValue
		8174	8415 48fa 9091 0000 lds r25,(ExternHoehenValue)+1
		8175	8416 48fe 820F add r24,r18
		8176	8417 4900 911D adc r25,__zero_reg__
		8177	8418 4902 2091 0000 lds r18,EE_Parameter+18
		8178	8419 4906 3327 clr r19
		8179	8420 4908 829F mul r24,r18
		8180	8421 490a A001 movw r20,r0
		8181	8422 490c 839F mul r24,r19
		8182	8423 490e 500D add r21,r0
		8183	8424 4910 929F mul r25,r18
		8184	8425 4912 500D add r21,r0
		8185	8426 4914 1124 clr r1
		8186	8427 4916 CA01 movw r24,r20
		8187	8428 4918 AA27 clr r26
		8188	8429 491a 97FD sbrc r25,7
		8189	8430 491c A095 com r26
		8190	8431 491e BA2F mov r27,r26
		8191	8432 4920 8093 0000 sts SollHoehe,r24
		8192	8433 4924 9093 0000 sts (SollHoehe)+1,r25
		8193	8434 4928 A093 0000 sts (SollHoehe)+2,r26
		8194	8435 492c B093 0000 sts (SollHoehe)+3,r27
		8195	8436 .L903:
		8196	8437 4930 81E0 ldi r24,lo8(1)
		8197	8438 4932 8093 0000 sts HoehenReglerAktiv,r24
		8198	8439 .L677:
		8199	8440 4936 8091 0000 lds r24,IntegralNick
		8200	8441 493a 9091 0000 lds r25,(IntegralNick)+1
		8201	8442 493e A091 0000 lds r26,(IntegralNick)+2
		8202	8443 4942 B091 0000 lds r27,(IntegralNick)+3
		8203	8444 4946 E090 0000 lds r14,GIER_GRAD_FAKTOR
		8204	8445 494a F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1
		8205	8446 494e 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2
		8206	8447 4952 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3
		8207	8448 4956 BC01 movw r22,r24
		8208	8449 4958 CD01 movw r24,r26
		8209	8450 495a A801 movw r20,r16
		8210	8451 495c 9701 movw r18,r14
		8211	8452 495e 0E94 0000 call __divmodsi4
		8212	8453 4962 5901 movw r10,r18
		8213	8454 4964 6A01 movw r12,r20
		8214	8455 4966 8091 0000 lds r24,IntegralRoll
		8215	8456 496a 9091 0000 lds r25,(IntegralRoll)+1
		8216	8457 496e A091 0000 lds r26,(IntegralRoll)+2
		8217	8458 4972 B091 0000 lds r27,(IntegralRoll)+3
		8218	8459 4976 BC01 movw r22,r24
		8219	8460 4978 CD01 movw r24,r26
		8220	8461 497a A801 movw r20,r16
		8221	8462 497c 9701 movw r18,r14
		8222	8463 497e 0E94 0000 call __divmodsi4
		8223	8464 4982 B901 movw r22,r18
		8224	8465 4984 C501 movw r24,r10
		8225	8466 4986 0E94 0000 call ihypot
		8226	8467 498a 5C01 movw r10,r24
		8227	8468 498c CC97 sbiw r24,60
		8228	8469 498e 04F0 brlt .L678
		8229	8470 4990 5CE3 ldi r21,lo8(60)
		8230	8471 4992 A52E mov r10,r21
		8231	8472 4994 B12C mov r11,__zero_reg__
		8232	8473 .L678:
		8233	8474 4996 C501 movw r24,r10
		8234	8475 4998 0E94 0000 call c_cos_8192
		8235	8476 499c 5C01 movw r10,r24
		8236	8477 499e 80E2 ldi r24,lo8(32)
		8237	8478 49a0 8093 0000 sts VarioCharacter,r24
		8238	8479 49a4 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__
		8239	8480 49a8 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__
		8240	8481 49ac 8091 0000 lds r24,HoehenReglerAktiv
		8241	8482 49b0 8823 tst r24
		8242	8483 49b2 01F4 brne .+2
		8243	8484 49b4 00C0 rjmp .L679
		8244	8485 49b6 8091 0000 lds r24,FC_StatusFlags
		8245	8486 49ba 9927 clr r25
		8246	8487 49bc 9C01 movw r18,r24
		8247	8488 49be 2071 andi r18,lo8(16)
		8248	8489 49c0 3070 andi r19,hi8(16)
		8249	8490 49c2 84FD sbrc r24,4
		8250	8491 49c4 00C0 rjmp .L679
		8251	8492 49c6 8091 0000 lds r24,FC_StatusFlags2
		8252	8493 49ca 8260 ori r24,lo8(2)
		8253	8494 49cc 8093 0000 sts FC_StatusFlags2,r24
		8254	8495 49d0 7091 0000 lds r23,Parameter_ExtraConfig
		8255	8496 49d4 872F mov r24,r23
		8256	8497 49d6 9927 clr r25
		8257	8498 49d8 41E0 ldi r20,lo8(1)
		8258	8499 49da C42E mov r12,r20
		8259	8500 49dc D12C mov r13,__zero_reg__
		8260	8501 49de C822 and r12,r24
		8261	8502 49e0 D922 and r13,r25
		8262	8503 49e2 80FD sbrc r24,0
		8263	8504 49e4 00C0 rjmp .L681
		8264	8505 49e6 8091 0000 lds r24,Parameter_GlobalConfig
		8265	8506 49ea 81FD sbrc r24,1
		8266	8507 49ec 00C0 rjmp .L680
		8267	8508 .L681:
		8268	8509 49ee C980 ldd r12,Y+1
		8269	8510 49f0 DA80 ldd r13,Y+2
		8270	8511 49f2 3093 0000 sts (HeightTrimming.21)+1,r19
		8271	8512 49f6 2093 0000 sts HeightTrimming.21,r18
		8272	8513 49fa 3093 0000 sts (AltitudeSetpointTrimming)+1,r19
		8273	8514 49fe 2093 0000 sts AltitudeSetpointTrimming,r18
		8274	8515 4a02 8091 0000 lds r24,FC_StatusFlags
		8275	8516 4a06 806C ori r24,lo8(-64)
		8276	8517 4a08 8093 0000 sts FC_StatusFlags,r24
		8277	8518 4a0c 00C0 rjmp .L682
		8278	8519 .L680:
		8279	8520 4a0e 8091 0000 lds r24,FC_StatusFlags
		8280	8521 4a12 81FF sbrs r24,1
		8281	8522 4a14 00C0 rjmp .L683
		8282	8523 4a16 0091 0000 lds r16,StickGasHover
		8283	8524 4a1a 1091 0000 lds r17,(StickGasHover)+1
		8284	8525 4a1e C801 movw r24,r16
		8285	8526 4a20 0F96 adiw r24,15
		8286	8527 4a22 2090 0000 lds r2,StickGas
		8287	8528 4a26 3090 0000 lds r3,(StickGas)+1
		8288	8529 4a2a 8215 cp r24,r2
		8289	8530 4a2c 9305 cpc r25,r3
		8290	8531 4a2e 04F0 brlt .+2
		8291	8532 4a30 00C0 rjmp .L684
		8292	8533 4a32 8091 0000 lds r24,BaroAtUpperLimit.25
		8293	8534 4a36 8823 tst r24
		8294	8535 4a38 01F0 breq .+2
		8295	8536 4a3a 00C0 rjmp .L684
		8296	8537 4a3c 8091 0000 lds r24,FC_StatusFlags
		8297	8538 4a40 87FF sbrs r24,7
		8298	8539 4a42 00C0 rjmp .L685
		8299	8540 4a44 8091 0000 lds r24,FC_StatusFlags
		8300	8541 4a48 8F77 andi r24,lo8(127)
		8301	8542 4a4a 8093 0000 sts FC_StatusFlags,r24
		8302	8543 4a4e 8091 0000 lds r24,HoehenWert
		8303	8544 4a52 9091 0000 lds r25,(HoehenWert)+1
		8304	8545 4a56 A091 0000 lds r26,(HoehenWert)+2
		8305	8546 4a5a B091 0000 lds r27,(HoehenWert)+3
		8306	8547 4a5e 8093 0000 sts SollHoehe,r24
		8307	8548 4a62 9093 0000 sts (SollHoehe)+1,r25
		8308	8549 4a66 A093 0000 sts (SollHoehe)+2,r26
		8309	8550 4a6a B093 0000 sts (SollHoehe)+3,r27
		8310	8551 .L685:
		8311	8552 4a6e 8091 0000 lds r24,FC_StatusFlags
		8312	8553 4a72 8064 ori r24,lo8(64)
		8313	8554 4a74 8093 0000 sts FC_StatusFlags,r24
		8314	8555 4a78 E090 0000 lds r14,Parameter_MaximumAltitude
		8315	8556 4a7c EE20 tst r14
		8316	8557 4a7e 01F0 breq .L686
		8317	8558 4a80 8091 0000 lds r24,SollHoehe
		8318	8559 4a84 9091 0000 lds r25,(SollHoehe)+1
		8319	8560 4a88 A091 0000 lds r26,(SollHoehe)+2
		8320	8561 4a8c B091 0000 lds r27,(SollHoehe)+3
		8321	8562 4a90 BC01 movw r22,r24
		8322	8563 4a92 CD01 movw r24,r26
		8323	8564 4a94 24E6 ldi r18,lo8(100)
		8324	8565 4a96 30E0 ldi r19,hi8(100)
		8325	8566 4a98 40E0 ldi r20,hlo8(100)
		8326	8567 4a9a 50E0 ldi r21,hhi8(100)
		8327	8568 4a9c 0E94 0000 call __divmodsi4
		8328	8569 4aa0 8E2D mov r24,r14
		8329	8570 4aa2 9927 clr r25
		8330	8571 4aa4 AA27 clr r26
		8331	8572 4aa6 BB27 clr r27
		8332	8573 4aa8 8217 cp r24,r18
		8333	8574 4aaa 9307 cpc r25,r19
		8334	8575 4aac A407 cpc r26,r20
		8335	8576 4aae B507 cpc r27,r21
		8336	8577 4ab0 04F4 brge .L686
		8337	8578 4ab2 D092 0000 sts (AltitudeSetpointTrimming)+1,r13
		8338	8579 4ab6 C092 0000 sts AltitudeSetpointTrimming,r12
		8339	8580 4aba 00C0 rjmp .L687
		8340	8581 .L686:
		8341	8582 4abc C101 movw r24,r2
		8342	8583 4abe 801B sub r24,r16
		8343	8584 4ac0 910B sbc r25,r17
		8344	8585 4ac2 0F97 sbiw r24,15
		8345	8586 4ac4 97FF sbrs r25,7
		8346	8587 4ac6 00C0 rjmp .L688
		8347	8588 4ac8 9095 com r25
		8348	8589 4aca 8195 neg r24
		8349	8590 4acc 9F4F sbci r25,lo8(-1)
		8350	8591 .L688:
		8351	8592 4ace 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8352	8593 4ad2 8093 0000 sts AltitudeSetpointTrimming,r24
		8353	8594 4ad6 8BE2 ldi r24,lo8(43)
		8354	8595 4ad8 8093 0000 sts VarioCharacter,r24
		8355	8596 .L687:
		8356	8597 4adc 1092 0000 sts WaypointTrimming,__zero_reg__
		8357	8598 4ae0 00C0 rjmp .L689
		8358	8599 .L684:
		8359	8600 4ae2 C801 movw r24,r16
		8360	8601 4ae4 0F97 sbiw r24,15
		8361	8602 4ae6 2816 cp r2,r24
		8362	8603 4ae8 3906 cpc r3,r25
		8363	8604 4aea 04F4 brge .L690
		8364	8605 4aec 2091 0000 lds r18,BaroAtLowerLimit.26
		8365	8606 4af0 2223 tst r18
		8366	8607 4af2 01F4 brne .L690
		8367	8608 4af4 8091 0000 lds r24,FC_StatusFlags
		8368	8609 4af8 86FF sbrs r24,6
		8369	8610 4afa 00C0 rjmp .L691
		8370	8611 4afc 8091 0000 lds r24,FC_StatusFlags
		8371	8612 4b00 8F7B andi r24,lo8(-65)
		8372	8613 4b02 8093 0000 sts FC_StatusFlags,r24
		8373	8614 4b06 8091 0000 lds r24,HoehenWert
		8374	8615 4b0a 9091 0000 lds r25,(HoehenWert)+1
		8375	8616 4b0e A091 0000 lds r26,(HoehenWert)+2
		8376	8617 4b12 B091 0000 lds r27,(HoehenWert)+3
		8377	8618 4b16 8093 0000 sts SollHoehe,r24
		8378	8619 4b1a 9093 0000 sts (SollHoehe)+1,r25
		8379	8620 4b1e A093 0000 sts (SollHoehe)+2,r26
		8380	8621 4b22 B093 0000 sts (SollHoehe)+3,r27
		8381	8622 .L691:
		8382	8623 4b26 8091 0000 lds r24,FC_StatusFlags
		8383	8624 4b2a 8068 ori r24,lo8(-128)
		8384	8625 4b2c 8093 0000 sts FC_StatusFlags,r24
		8385	8626 4b30 C101 movw r24,r2
		8386	8627 4b32 801B sub r24,r16
		8387	8628 4b34 910B sbc r25,r17
		8388	8629 4b36 0F96 adiw r24,15
		8389	8630 4b38 97FF sbrs r25,7
		8390	8631 4b3a 00C0 rjmp .L692
		8391	8632 4b3c 9095 com r25
		8392	8633 4b3e 8195 neg r24
		8393	8634 4b40 9F4F sbci r25,lo8(-1)
		8394	8635 .L692:
		8395	8636 4b42 9095 com r25
		8396	8637 4b44 8195 neg r24
		8397	8638 4b46 9F4F sbci r25,lo8(-1)
		8398	8639 4b48 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8399	8640 4b4c 8093 0000 sts AltitudeSetpointTrimming,r24
		8400	8641 4b50 8DE2 ldi r24,lo8(45)
		8401	8642 4b52 8093 0000 sts VarioCharacter,r24
		8402	8643 4b56 2093 0000 sts WaypointTrimming,r18
		8403	8644 4b5a 00C0 rjmp .L689
		8404	8645 .L690:
		8405	8646 4b5c 8DE3 ldi r24,lo8(61)
		8406	8647 4b5e 8093 0000 sts VarioCharacter,r24
		8407	8648 4b62 6091 0000 lds r22,FromNC_AltitudeSpeed
		8408	8649 4b66 6623 tst r22
		8409	8650 4b68 01F0 breq .L694
		8410	8651 4b6a 2091 0000 lds r18,FromNC_AltitudeSetpoint
		8411	8652 4b6e 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1
		8412	8653 4b72 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2
		8413	8654 4b76 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3
		8414	8655 4b7a 8091 0000 lds r24,SollHoehe
		8415	8656 4b7e 9091 0000 lds r25,(SollHoehe)+1
		8416	8657 4b82 A091 0000 lds r26,(SollHoehe)+2
		8417	8658 4b86 B091 0000 lds r27,(SollHoehe)+3
		8418	8659 4b8a 8217 cp r24,r18
		8419	8660 4b8c 9307 cpc r25,r19
		8420	8661 4b8e A407 cpc r26,r20
		8421	8662 4b90 B507 cpc r27,r21
		8422	8663 4b92 04F4 brge .L694
		8423	8664 4b94 8091 0000 lds r24,FC_StatusFlags
		8424	8665 4b98 8064 ori r24,lo8(64)
		8425	8666 4b9a 8093 0000 sts FC_StatusFlags,r24
		8426	8667 4b9e 862F mov r24,r22
		8427	8668 4ba0 9927 clr r25
		8428	8669 4ba2 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8429	8670 4ba6 8093 0000 sts AltitudeSetpointTrimming,r24
		8430	8671 4baa 8AE0 ldi r24,lo8(10)
		8431	8672 4bac 8093 0000 sts WaypointTrimming,r24
		8432	8673 4bb0 8EE5 ldi r24,lo8(94)
		8433	8674 4bb2 8093 0000 sts VarioCharacter,r24
		8434	8675 4bb6 8091 0000 lds r24,FC_StatusFlags
		8435	8676 4bba 87FF sbrs r24,7
		8436	8677 4bbc 00C0 rjmp .L689
		8437	8678 4bbe 8091 0000 lds r24,FC_StatusFlags
		8438	8679 4bc2 8F77 andi r24,lo8(127)
		8439	8680 4bc4 00C0 rjmp .L905
		8440	8681 .L694:
		8441	8682 4bc6 6623 tst r22
		8442	8683 4bc8 01F4 brne .+2
		8443	8684 4bca 00C0 rjmp .L697
		8444	8685 4bcc 2091 0000 lds r18,FromNC_AltitudeSetpoint
		8445	8686 4bd0 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1
		8446	8687 4bd4 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2
		8447	8688 4bd8 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3
		8448	8689 4bdc 8091 0000 lds r24,SollHoehe
		8449	8690 4be0 9091 0000 lds r25,(SollHoehe)+1
		8450	8691 4be4 A091 0000 lds r26,(SollHoehe)+2
		8451	8692 4be8 B091 0000 lds r27,(SollHoehe)+3
		8452	8693 4bec 2817 cp r18,r24
		8453	8694 4bee 3907 cpc r19,r25
		8454	8695 4bf0 4A07 cpc r20,r26
		8455	8696 4bf2 5B07 cpc r21,r27
		8456	8697 4bf4 04F4 brge .L697
		8457	8698 4bf6 8091 0000 lds r24,FC_StatusFlags
		8458	8699 4bfa 8068 ori r24,lo8(-128)
		8459	8700 4bfc 8093 0000 sts FC_StatusFlags,r24
		8460	8701 4c00 862F mov r24,r22
		8461	8702 4c02 9927 clr r25
		8462	8703 4c04 9095 com r25
		8463	8704 4c06 8195 neg r24
		8464	8705 4c08 9F4F sbci r25,lo8(-1)
		8465	8706 4c0a 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8466	8707 4c0e 8093 0000 sts AltitudeSetpointTrimming,r24
		8467	8708 4c12 86EF ldi r24,lo8(-10)
		8468	8709 4c14 8093 0000 sts WaypointTrimming,r24
		8469	8710 4c18 86E7 ldi r24,lo8(118)
		8470	8711 4c1a 8093 0000 sts VarioCharacter,r24
		8471	8712 4c1e 8091 0000 lds r24,FC_StatusFlags
		8472	8713 4c22 86FF sbrs r24,6
		8473	8714 4c24 00C0 rjmp .L689
		8474	8715 4c26 8091 0000 lds r24,FC_StatusFlags
		8475	8716 4c2a 8F7B andi r24,lo8(-65)
		8476	8717 .L905:
		8477	8718 4c2c 8093 0000 sts FC_StatusFlags,r24
		8478	8719 4c30 8091 0000 lds r24,HoehenWert
		8479	8720 4c34 9091 0000 lds r25,(HoehenWert)+1
		8480	8721 4c38 A091 0000 lds r26,(HoehenWert)+2
		8481	8722 4c3c B091 0000 lds r27,(HoehenWert)+3
		8482	8723 4c40 8093 0000 sts SollHoehe,r24
		8483	8724 4c44 9093 0000 sts (SollHoehe)+1,r25
		8484	8725 4c48 A093 0000 sts (SollHoehe)+2,r26
		8485	8726 4c4c B093 0000 sts (SollHoehe)+3,r27
		8486	8727 4c50 00C0 rjmp .L689
		8487	8728 .L697:
		8488	8729 4c52 8091 0000 lds r24,FC_StatusFlags
		8489	8730 4c56 807C andi r24,lo8(-64)
		8490	8731 4c58 01F4 brne .+2
		8491	8732 4c5a 00C0 rjmp .L689
		8492	8733 4c5c 8091 0000 lds r24,WaypointTrimming
		8493	8734 4c60 8823 tst r24
		8494	8735 4c62 01F4 brne .L701
		8495	8736 4c64 E090 0000 lds r14,HoehenWert
		8496	8737 4c68 F090 0000 lds r15,(HoehenWert)+1
		8497	8738 4c6c 0091 0000 lds r16,(HoehenWert)+2
		8498	8739 4c70 1091 0000 lds r17,(HoehenWert)+3
		8499	8740 4c74 D801 movw r26,r16
		8500	8741 4c76 C701 movw r24,r14
		8501	8742 4c78 8058 subi r24,lo8(-(-128))
		8502	8743 4c7a 9040 sbci r25,hi8(-(-128))
		8503	8744 4c7c A040 sbci r26,hlo8(-(-128))
		8504	8745 4c7e B040 sbci r27,hhi8(-(-128))
		8505	8746 4c80 2091 0000 lds r18,SollHoehe
		8506	8747 4c84 3091 0000 lds r19,(SollHoehe)+1
		8507	8748 4c88 4091 0000 lds r20,(SollHoehe)+2
		8508	8749 4c8c 5091 0000 lds r21,(SollHoehe)+3
		8509	8750 4c90 8217 cp r24,r18
		8510	8751 4c92 9307 cpc r25,r19
		8511	8752 4c94 A407 cpc r26,r20
		8512	8753 4c96 B507 cpc r27,r21
		8513	8754 4c98 04F4 brge .L904
		8514	8755 4c9a D801 movw r26,r16
		8515	8756 4c9c C701 movw r24,r14
		8516	8757 4c9e 8058 subi r24,lo8(-(128))
		8517	8758 4ca0 9F4F sbci r25,hi8(-(128))
		8518	8759 4ca2 AF4F sbci r26,hlo8(-(128))
		8519	8760 4ca4 BF4F sbci r27,hhi8(-(128))
		8520	8761 4ca6 2817 cp r18,r24
		8521	8762 4ca8 3907 cpc r19,r25
		8522	8763 4caa 4A07 cpc r20,r26
		8523	8764 4cac 5B07 cpc r21,r27
		8524	8765 4cae 04F0 brlt .L705
		8525	8766 .L904:
		8526	8767 4cb0 8093 0000 sts SollHoehe,r24
		8527	8768 4cb4 9093 0000 sts (SollHoehe)+1,r25
		8528	8769 4cb8 A093 0000 sts (SollHoehe)+2,r26
		8529	8770 4cbc B093 0000 sts (SollHoehe)+3,r27
		8530	8771 4cc0 00C0 rjmp .L705
		8531	8772 .L701:
		8532	8773 4cc2 1092 0000 sts WaypointTrimming,__zero_reg__
		8533	8774 .L705:
		8534	8775 4cc6 8091 0000 lds r24,FC_StatusFlags
		8535	8776 4cca 8F73 andi r24,lo8(63)
		8536	8777 4ccc 8093 0000 sts FC_StatusFlags,r24
		8537	8778 4cd0 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__
		8538	8779 4cd4 1092 0000 sts HeightTrimming.21,__zero_reg__
		8539	8780 4cd8 71FF sbrs r23,1
		8540	8781 4cda 00C0 rjmp .L706
		8541	8782 4cdc 84EF ldi r24,lo8(500)
		8542	8783 4cde 91E0 ldi r25,hi8(500)
		8543	8784 4ce0 9093 0000 sts (beeptime)+1,r25
		8544	8785 4ce4 8093 0000 sts beeptime,r24
		8545	8786 .L706:
		8546	8787 4ce8 8091 0000 lds r24,StartTrigger
		8547	8788 4cec 8823 tst r24
		8548	8789 4cee 01F4 brne .L689
		8549	8790 4cf0 8091 0000 lds r24,HoehenWert
		8550	8791 4cf4 9091 0000 lds r25,(HoehenWert)+1
		8551	8792 4cf8 A091 0000 lds r26,(HoehenWert)+2
		8552	8793 4cfc B091 0000 lds r27,(HoehenWert)+3
		8553	8794 4d00 C397 sbiw r24,51
		8554	8795 4d02 A105 cpc r26,__zero_reg__
		8555	8796 4d04 B105 cpc r27,__zero_reg__
		8556	8797 4d06 04F0 brlt .L689
		8557	8798 4d08 81E0 ldi r24,lo8(1)
		8558	8799 4d0a 8093 0000 sts StartTrigger,r24
		8559	8800 .L689:
		8560	8801 4d0e 6091 0000 lds r22,HeightTrimming.21
		8561	8802 4d12 7091 0000 lds r23,(HeightTrimming.21)+1
		8562	8803 4d16 8091 0000 lds r24,AltitudeSetpointTrimming
		8563	8804 4d1a 9091 0000 lds r25,(AltitudeSetpointTrimming)+1
		8564	8805 4d1e 680F add r22,r24
		8565	8806 4d20 791F adc r23,r25
		8566	8807 4d22 7093 0000 sts (HeightTrimming.21)+1,r23
		8567	8808 4d26 6093 0000 sts HeightTrimming.21,r22
		8568	8809 4d2a CB01 movw r24,r22
		8569	8810 4d2c 77FF sbrs r23,7
		8570	8811 4d2e 00C0 rjmp .L709
		8571	8812 4d30 8827 clr r24
		8572	8813 4d32 9927 clr r25
		8573	8814 4d34 861B sub r24,r22
		8574	8815 4d36 970B sbc r25,r23
		8575	8816 .L709:
		8576	8817 4d38 855F subi r24,lo8(501)
		8577	8818 4d3a 9140 sbci r25,hi8(501)
		8578	8819 4d3c 04F4 brge .+2
		8579	8820 4d3e 00C0 rjmp .L708
		8580	8821 4d40 4091 0000 lds r20,WaypointTrimming
		8581	8822 4d44 4423 tst r20
		8582	8823 4d46 01F0 breq .L710
		8583	8824 4d48 8091 0000 lds r24,FromNC_AltitudeSetpoint
		8584	8825 4d4c 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1
		8585	8826 4d50 2091 0000 lds r18,SollHoehe
		8586	8827 4d54 3091 0000 lds r19,(SollHoehe)+1
		8587	8828 4d58 821B sub r24,r18
		8588	8829 4d5a 930B sbc r25,r19
		8589	8830 4d5c 0996 adiw r24,9
		8590	8831 4d5e 4397 sbiw r24,19
		8591	8832 4d60 00F4 brsh .L711
		8592	8833 4d62 8091 0000 lds r24,FromNC_AltitudeSetpoint
		8593	8834 4d66 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1
		8594	8835 4d6a A091 0000 lds r26,(FromNC_AltitudeSetpoint)+2
		8595	8836 4d6e B091 0000 lds r27,(FromNC_AltitudeSetpoint)+3
		8596	8837 4d72 00C0 rjmp .L907
		8597	8838 .L711:
		8598	8839 4d74 242F mov r18,r20
		8599	8840 4d76 3327 clr r19
		8600	8841 4d78 27FD sbrc r18,7
		8601	8842 4d7a 3095 com r19
		8602	8843 4d7c 432F mov r20,r19
		8603	8844 4d7e 532F mov r21,r19
		8604	8845 4d80 8091 0000 lds r24,SollHoehe
		8605	8846 4d84 9091 0000 lds r25,(SollHoehe)+1
		8606	8847 4d88 A091 0000 lds r26,(SollHoehe)+2
		8607	8848 4d8c B091 0000 lds r27,(SollHoehe)+3
		8608	8849 4d90 820F add r24,r18
		8609	8850 4d92 931F adc r25,r19
		8610	8851 4d94 A41F adc r26,r20
		8611	8852 4d96 B51F adc r27,r21
		8612	8853 .L907:
		8613	8854 4d98 8093 0000 sts SollHoehe,r24
		8614	8855 4d9c 9093 0000 sts (SollHoehe)+1,r25
		8615	8856 4da0 A093 0000 sts (SollHoehe)+2,r26
		8616	8857 4da4 B093 0000 sts (SollHoehe)+3,r27
		8617	8858 4da8 00C0 rjmp .L713
		8618	8859 .L710:
		8619	8860 4daa 8091 0000 lds r24,EE_Parameter+18
		8620	8861 4dae 2091 0000 lds r18,SollHoehe
		8621	8862 4db2 3091 0000 lds r19,(SollHoehe)+1
		8622	8863 4db6 4091 0000 lds r20,(SollHoehe)+2
		8623	8864 4dba 5091 0000 lds r21,(SollHoehe)+3
		8624	8865 4dbe 1616 cp __zero_reg__,r22
		8625	8866 4dc0 1706 cpc __zero_reg__,r23
		8626	8867 4dc2 04F4 brge .L714
		8627	8868 4dc4 63E0 ldi r22,lo8(3)
		8628	8869 4dc6 0E94 0000 call __udivmodqi4
		8629	8870 4dca 280F add r18,r24
		8630	8871 4dcc 311D adc r19,__zero_reg__
		8631	8872 4dce 411D adc r20,__zero_reg__
		8632	8873 4dd0 511D adc r21,__zero_reg__
		8633	8874 4dd2 00C0 rjmp .L906
		8634	8875 .L714:
		8635	8876 4dd4 63E0 ldi r22,lo8(3)
		8636	8877 4dd6 0E94 0000 call __udivmodqi4
		8637	8878 4dda 281B sub r18,r24
		8638	8879 4ddc 3109 sbc r19,__zero_reg__
		8639	8880 4dde 4109 sbc r20,__zero_reg__
		8640	8881 4de0 5109 sbc r21,__zero_reg__
		8641	8882 .L906:
		8642	8883 4de2 2093 0000 sts SollHoehe,r18
		8643	8884 4de6 3093 0000 sts (SollHoehe)+1,r19
		8644	8885 4dea 4093 0000 sts (SollHoehe)+2,r20
		8645	8886 4dee 5093 0000 sts (SollHoehe)+3,r21
		8646	8887 .L713:
		8647	8888 4df2 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__
		8648	8889 4df6 1092 0000 sts HeightTrimming.21,__zero_reg__
		8649	8890 4dfa E090 0000 lds r14,HoehenWert
		8650	8891 4dfe F090 0000 lds r15,(HoehenWert)+1
		8651	8892 4e02 0091 0000 lds r16,(HoehenWert)+2
		8652	8893 4e06 1091 0000 lds r17,(HoehenWert)+3
		8653	8894 4e0a D801 movw r26,r16
		8654	8895 4e0c C701 movw r24,r14
		8655	8896 4e0e 8050 subi r24,lo8(-(-1024))
		8656	8897 4e10 9440 sbci r25,hi8(-(-1024))
		8657	8898 4e12 A040 sbci r26,hlo8(-(-1024))
		8658	8899 4e14 B040 sbci r27,hhi8(-(-1024))
		8659	8900 4e16 2091 0000 lds r18,SollHoehe
		8660	8901 4e1a 3091 0000 lds r19,(SollHoehe)+1
		8661	8902 4e1e 4091 0000 lds r20,(SollHoehe)+2
		8662	8903 4e22 5091 0000 lds r21,(SollHoehe)+3
		8663	8904 4e26 8217 cp r24,r18
		8664	8905 4e28 9307 cpc r25,r19
		8665	8906 4e2a A407 cpc r26,r20
		8666	8907 4e2c B507 cpc r27,r21
		8667	8908 4e2e 04F4 brge .L908
		8668	8909 4e30 D801 movw r26,r16
		8669	8910 4e32 C701 movw r24,r14
		8670	8911 4e34 8050 subi r24,lo8(-(1024))
		8671	8912 4e36 9C4F sbci r25,hi8(-(1024))
		8672	8913 4e38 AF4F sbci r26,hlo8(-(1024))
		8673	8914 4e3a BF4F sbci r27,hhi8(-(1024))
		8674	8915 4e3c 2817 cp r18,r24
		8675	8916 4e3e 3907 cpc r19,r25
		8676	8917 4e40 4A07 cpc r20,r26
		8677	8918 4e42 5B07 cpc r21,r27
		8678	8919 4e44 04F0 brlt .L717
		8679	8920 .L908:
		8680	8921 4e46 8093 0000 sts SollHoehe,r24
		8681	8922 4e4a 9093 0000 sts (SollHoehe)+1,r25
		8682	8923 4e4e A093 0000 sts (SollHoehe)+2,r26
		8683	8924 4e52 B093 0000 sts (SollHoehe)+3,r27
		8684	8925 .L717:
		8685	8926 4e56 8091 0000 lds r24,Parameter_ExtraConfig
		8686	8927 4e5a 81FF sbrs r24,1
		8687	8928 4e5c 00C0 rjmp .L719
		8688	8929 4e5e 84E6 ldi r24,lo8(100)
		8689	8930 4e60 90E0 ldi r25,hi8(100)
		8690	8931 4e62 9093 0000 sts (beeptime)+1,r25
		8691	8932 4e66 8093 0000 sts beeptime,r24
		8692	8933 .L719:
		8693	8934 4e6a 8091 0000 lds r24,EE_Parameter+22
		8694	8935 4e6e 8823 tst r24
		8695	8936 4e70 01F4 brne .L708
		8696	8937 4e72 8091 0000 lds r24,FromNC_AltitudeSpeed
		8697	8938 4e76 8823 tst r24
		8698	8939 4e78 01F4 brne .L708
		8699	8940 4e7a 4091 0000 lds r20,HoverGas
		8700	8941 4e7e 5091 0000 lds r21,(HoverGas)+1
		8701	8942 4e82 57FF sbrs r21,7
		8702	8943 4e84 00C0 rjmp .L721
		8703	8944 4e86 4D5F subi r20,lo8(-(3))
		8704	8945 4e88 5F4F sbci r21,hi8(-(3))
		8705	8946 .L721:
		8706	8947 4e8a 5595 asr r21
		8707	8948 4e8c 4795 ror r20
		8708	8949 4e8e 5595 asr r21
		8709	8950 4e90 4795 ror r20
		8710	8951 4e92 8091 0000 lds r24,UBat
		8711	8952 4e96 9091 0000 lds r25,(UBat)+1
		8712	8953 4e9a 2091 0000 lds r18,BattLowVoltageWarning
		8713	8954 4e9e 3327 clr r19
		8714	8955 4ea0 489F mul r20,r24
		8715	8956 4ea2 F001 movw r30,r0
		8716	8957 4ea4 499F mul r20,r25
		8717	8958 4ea6 F00D add r31,r0
		8718	8959 4ea8 589F mul r21,r24
		8719	8960 4eaa F00D add r31,r0
		8720	8961 4eac 1124 clr r1
		8721	8962 4eae CF01 movw r24,r30
		8722	8963 4eb0 B901 movw r22,r18
		8723	8964 4eb2 0E94 0000 call __divmodhi4
		8724	8965 4eb6 7093 0000 sts (StickGasHover)+1,r23
		8725	8966 4eba 6093 0000 sts StickGasHover,r22
		8726	8967 4ebe 6634 cpi r22,70
		8727	8968 4ec0 7105 cpc r23,__zero_reg__
		8728	8969 4ec2 04F4 brge .L722
		8729	8970 4ec4 86E4 ldi r24,lo8(70)
		8730	8971 4ec6 90E0 ldi r25,hi8(70)
		8731	8972 4ec8 00C0 rjmp .L909
		8732	8973 .L722:
		8733	8974 4eca 6739 cpi r22,151
		8734	8975 4ecc 7105 cpc r23,__zero_reg__
		8735	8976 4ece 04F0 brlt .L708
		8736	8977 4ed0 86E9 ldi r24,lo8(150)
		8737	8978 4ed2 90E0 ldi r25,hi8(150)
		8738	8979 .L909:
		8739	8980 4ed4 9093 0000 sts (StickGasHover)+1,r25
		8740	8981 4ed8 8093 0000 sts StickGasHover,r24
		8741	8982 .L708:
		8742	8983 4edc 8091 0000 lds r24,BaroExpandActive
		8743	8984 4ee0 9091 0000 lds r25,(BaroExpandActive)+1
		8744	8985 4ee4 892B or r24,r25
		8745	8986 4ee6 01F0 breq .L726
		8746	8987 4ee8 8091 0000 lds r24,HoehenWert
		8747	8988 4eec 9091 0000 lds r25,(HoehenWert)+1
		8748	8989 4ef0 A091 0000 lds r26,(HoehenWert)+2
		8749	8990 4ef4 B091 0000 lds r27,(HoehenWert)+3
		8750	8991 4ef8 8093 0000 sts SollHoehe,r24
		8751	8992 4efc 9093 0000 sts (SollHoehe)+1,r25
		8752	8993 4f00 A093 0000 sts (SollHoehe)+2,r26
		8753	8994 4f04 B093 0000 sts (SollHoehe)+3,r27
		8754	8995 4f08 00C0 rjmp .L726
		8755	8996 .L683:
		8756	8997 4f0a 8091 0000 lds r24,HoehenWert
		8757	8998 4f0e 9091 0000 lds r25,(HoehenWert)+1
		8758	8999 4f12 A091 0000 lds r26,(HoehenWert)+2
		8759	9000 4f16 B091 0000 lds r27,(HoehenWert)+3
		8760	9001 4f1a 8059 subi r24,lo8(-(-400))
		8761	9002 4f1c 9140 sbci r25,hi8(-(-400))
		8762	9003 4f1e A040 sbci r26,hlo8(-(-400))
		8763	9004 4f20 B040 sbci r27,hhi8(-(-400))
		8764	9005 4f22 8093 0000 sts SollHoehe,r24
		8765	9006 4f26 9093 0000 sts (SollHoehe)+1,r25
		8766	9007 4f2a A093 0000 sts (SollHoehe)+2,r26
		8767	9008 4f2e B093 0000 sts (SollHoehe)+3,r27
		8768	9009 4f32 8091 0000 lds r24,EE_Parameter+22
		8769	9010 4f36 8823 tst r24
		8770	9011 4f38 01F0 breq .L727
		8771	9012 4f3a 9927 clr r25
		8772	9013 4f3c 00C0 rjmp .L910
		8773	9014 .L727:
		8774	9015 4f3e 88E7 ldi r24,lo8(120)
		8775	9016 4f40 90E0 ldi r25,hi8(120)
		8776	9017 .L910:
		8777	9018 4f42 9093 0000 sts (StickGasHover)+1,r25
		8778	9019 4f46 8093 0000 sts StickGasHover,r24
		8779	9020 4f4a E980 ldd r14,Y+1
		8780	9021 4f4c FA80 ldd r15,Y+2
		8781	9022 4f4e F092 0000 sts (HoverGas)+1,r15
		8782	9023 4f52 E092 0000 sts HoverGas,r14
		8783	9024 4f56 8EE2 ldi r24,lo8(46)
		8784	9025 4f58 8093 0000 sts VarioCharacter,r24
		8785	9026 .L726:
		8786	9027 4f5c C090 0000 lds r12,HoverGas
		8787	9028 4f60 D090 0000 lds r13,(HoverGas)+1
		8788	9029 .L682:
		8789	9030 4f64 E090 0000 lds r14,HoehenWert
		8790	9031 4f68 F090 0000 lds r15,(HoehenWert)+1
		8791	9032 4f6c 0091 0000 lds r16,(HoehenWert)+2
		8792	9033 4f70 1091 0000 lds r17,(HoehenWert)+3
		8793	9034 4f74 2091 0000 lds r18,SollHoehe
		8794	9035 4f78 3091 0000 lds r19,(SollHoehe)+1
		8795	9036 4f7c 4091 0000 lds r20,(SollHoehe)+2
		8796	9037 4f80 5091 0000 lds r21,(SollHoehe)+3
		8797	9038 4f84 2E15 cp r18,r14
		8798	9039 4f86 3F05 cpc r19,r15
		8799	9040 4f88 4007 cpc r20,r16
		8800	9041 4f8a 5107 cpc r21,r17
		8801	9042 4f8c 04F0 brlt .L730
		8802	9043 4f8e 8091 0000 lds r24,Parameter_ExtraConfig
		8803	9044 4f92 80FD sbrc r24,0
		8804	9045 4f94 00C0 rjmp .L788
		8805	9046 .L730:
		8806	9047 4f96 8091 0000 lds r24,BaroExpandActive
		8807	9048 4f9a 9091 0000 lds r25,(BaroExpandActive)+1
		8808	9049 4f9e 892B or r24,r25
		8809	9050 4fa0 01F0 breq .L731
		8810	9051 4fa2 C090 0000 lds r12,HoverGas
		8811	9052 4fa6 D090 0000 lds r13,(HoverGas)+1
		8812	9053 4faa 00E0 ldi r16,lo8(0)
		8813	9054 4fac 10E0 ldi r17,hi8(0)
		8814	9055 4fae 00C0 rjmp .L732
		8815	9056 .L731:
		8816	9057 4fb0 D801 movw r26,r16
		8817	9058 4fb2 C701 movw r24,r14
		8818	9059 4fb4 821B sub r24,r18
		8819	9060 4fb6 930B sbc r25,r19
		8820	9061 4fb8 A40B sbc r26,r20
		8821	9062 4fba B50B sbc r27,r21
		8822	9063 4fbc 8093 0000 sts tmp_long.1,r24
		8823	9064 4fc0 9093 0000 sts (tmp_long.1)+1,r25
		8824	9065 4fc4 A093 0000 sts (tmp_long.1)+2,r26
		8825	9066 4fc8 B093 0000 sts (tmp_long.1)+3,r27
		8826	9067 4fcc 8230 cpi r24,lo8(-32766)
		8827	9068 4fce 00E8 ldi r16,hi8(-32766)
		8828	9069 4fd0 9007 cpc r25,r16
		8829	9070 4fd2 0FEF ldi r16,hlo8(-32766)
		8830	9071 4fd4 A007 cpc r26,r16
		8831	9072 4fd6 0FEF ldi r16,hhi8(-32766)
		8832	9073 4fd8 B007 cpc r27,r16
		8833	9074 4fda 04F4 brge .L733
		8834	9075 4fdc 81E0 ldi r24,lo8(-32767)
		8835	9076 4fde 90E8 ldi r25,hi8(-32767)
		8836	9077 4fe0 AFEF ldi r26,hlo8(-32767)
		8837	9078 4fe2 BFEF ldi r27,hhi8(-32767)
		8838	9079 4fe4 00C0 rjmp .L911
		8839	9080 .L733:
		8840	9081 4fe6 8F5F subi r24,lo8(32767)
		8841	9082 4fe8 9F47 sbci r25,hi8(32767)
		8842	9083 4fea A040 sbci r26,hlo8(32767)
		8843	9084 4fec B040 sbci r27,hhi8(32767)
		8844	9085 4fee 04F0 brlt .L734
		8845	9086 4ff0 8FEF ldi r24,lo8(32767)
		8846	9087 4ff2 9FE7 ldi r25,hi8(32767)
		8847	9088 4ff4 A0E0 ldi r26,hlo8(32767)
		8848	9089 4ff6 B0E0 ldi r27,hhi8(32767)
		8849	9090 .L911:
		8850	9091 4ff8 8093 0000 sts tmp_long.1,r24
		8851	9092 4ffc 9093 0000 sts (tmp_long.1)+1,r25
		8852	9093 5000 A093 0000 sts (tmp_long.1)+2,r26
		8853	9094 5004 B093 0000 sts (tmp_long.1)+3,r27
		8854	9095 .L734:
		8855	9096 5008 0091 0000 lds r16,tmp_long.1
		8856	9097 500c 1091 0000 lds r17,(tmp_long.1)+1
		8857	9098 5010 8091 0000 lds r24,Parameter_Hoehe_P
		8858	9099 5014 282F mov r18,r24
		8859	9100 5016 3327 clr r19
		8860	9101 5018 4427 clr r20
		8861	9102 501a 5527 clr r21
		8862	9103 501c 8091 0000 lds r24,tmp_long.1
		8863	9104 5020 9091 0000 lds r25,(tmp_long.1)+1
		8864	9105 5024 A091 0000 lds r26,(tmp_long.1)+2
		8865	9106 5028 B091 0000 lds r27,(tmp_long.1)+3
		8866	9107 502c BC01 movw r22,r24
		8867	9108 502e CD01 movw r24,r26
		8868	9109 5030 0E94 0000 call __mulsi3
		8869	9110 5034 97FF sbrs r25,7
		8870	9111 5036 00C0 rjmp .L736
		8871	9112 5038 615E subi r22,lo8(-(31))
		8872	9113 503a 7F4F sbci r23,hi8(-(31))
		8873	9114 503c 8F4F sbci r24,hlo8(-(31))
		8874	9115 503e 9F4F sbci r25,hhi8(-(31))
		8875	9116 .L736:
		8876	9117 5040 25E0 ldi r18,5
		8877	9118 5042 9595 1: asr r25
		8878	9119 5044 8795 ror r24
		8879	9120 5046 7795 ror r23
		8880	9121 5048 6795 ror r22
		8881	9122 504a 2A95 dec r18
		8882	9123 504c 01F4 brne 1b
		8883	9124 504e 6093 0000 sts tmp_long.1,r22
		8884	9125 5052 7093 0000 sts (tmp_long.1)+1,r23
		8885	9126 5056 8093 0000 sts (tmp_long.1)+2,r24
		8886	9127 505a 9093 0000 sts (tmp_long.1)+3,r25
		8887	9128 505e 6530 cpi r22,lo8(-507)
		8888	9129 5060 2EEF ldi r18,hi8(-507)
		8889	9130 5062 7207 cpc r23,r18
		8890	9131 5064 2FEF ldi r18,hlo8(-507)
		8891	9132 5066 8207 cpc r24,r18
		8892	9133 5068 2FEF ldi r18,hhi8(-507)
		8893	9134 506a 9207 cpc r25,r18
		8894	9135 506c 04F4 brge .L737
		8895	9136 506e 84E0 ldi r24,lo8(-508)
		8896	9137 5070 9EEF ldi r25,hi8(-508)
		8897	9138 5072 AFEF ldi r26,hlo8(-508)
		8898	9139 5074 BFEF ldi r27,hhi8(-508)
		8899	9140 5076 00C0 rjmp .L912
		8900	9141 .L737:
		8901	9142 5078 6050 subi r22,lo8(1024)
		8902	9143 507a 7440 sbci r23,hi8(1024)
		8903	9144 507c 8040 sbci r24,hlo8(1024)
		8904	9145 507e 9040 sbci r25,hhi8(1024)
		8905	9146 5080 04F0 brlt .L738
		8906	9147 5082 80E0 ldi r24,lo8(1024)
		8907	9148 5084 94E0 ldi r25,hi8(1024)
		8908	9149 5086 A0E0 ldi r26,hlo8(1024)
		8909	9150 5088 B0E0 ldi r27,hhi8(1024)
		8910	9151 .L912:
		8911	9152 508a 8093 0000 sts tmp_long.1,r24
		8912	9153 508e 9093 0000 sts (tmp_long.1)+1,r25
		8913	9154 5092 A093 0000 sts (tmp_long.1)+2,r26
		8914	9155 5096 B093 0000 sts (tmp_long.1)+3,r27
		8915	9156 .L738:
		8916	9157 509a 8090 0000 lds r8,tmp_long.1
		8917	9158 509e 9090 0000 lds r9,(tmp_long.1)+1
		8918	9159 50a2 2091 0000 lds r18,VarioMeter
		8919	9160 50a6 3091 0000 lds r19,(VarioMeter)+1
		8920	9161 50aa 37FF sbrs r19,7
		8921	9162 50ac 00C0 rjmp .L740
		8922	9163 50ae 295F subi r18,lo8(-(7))
		8923	9164 50b0 3F4F sbci r19,hi8(-(7))
		8924	9165 .L740:
		8925	9166 50b2 83E0 ldi r24,3
		8926	9167 50b4 3595 1: asr r19
		8927	9168 50b6 2795 ror r18
		8928	9169 50b8 8A95 dec r24
		8929	9170 50ba 01F4 brne 1b
		8930	9171 50bc 4FEF ldi r20,hi8(-126)
		8931	9172 50be 2238 cpi r18,lo8(-126)
		8932	9173 50c0 3407 cpc r19,r20
		8933	9174 50c2 04F4 brge .L741
		8934	9175 50c4 21E8 ldi r18,lo8(-127)
		8935	9176 50c6 3FEF ldi r19,hi8(-127)
		8936	9177 50c8 00C0 rjmp .L742
		8937	9178 .L741:
		8938	9179 50ca 2038 cpi r18,128
		8939	9180 50cc 3105 cpc r19,__zero_reg__
		8940	9181 50ce 04F0 brlt .L742
		8941	9182 50d0 20E8 ldi r18,lo8(128)
		8942	9183 50d2 30E0 ldi r19,hi8(128)
		8943	9184 .L742:
		8944	9185 50d4 C901 movw r24,r18
		8945	9186 50d6 AA27 clr r26
		8946	9187 50d8 97FD sbrc r25,7
		8947	9188 50da A095 com r26
		8948	9189 50dc BA2F mov r27,r26
		8949	9190 50de 2091 0000 lds r18,Parameter_Luftdruck_D
		8950	9191 50e2 3327 clr r19
		8951	9192 50e4 4427 clr r20
		8952	9193 50e6 5527 clr r21
		8953	9194 50e8 BC01 movw r22,r24
		8954	9195 50ea CD01 movw r24,r26
		8955	9196 50ec 0E94 0000 call __mulsi3
		8956	9197 50f0 97FF sbrs r25,7
		8957	9198 50f2 00C0 rjmp .L744
		8958	9199 50f4 6D5F subi r22,lo8(-(3))
		8959	9200 50f6 7F4F sbci r23,hi8(-(3))
		8960	9201 50f8 8F4F sbci r24,hlo8(-(3))
		8961	9202 50fa 9F4F sbci r25,hhi8(-(3))
		8962	9203 .L744:
		8963	9204 50fc B2E0 ldi r27,2
		8964	9205 50fe 9595 1: asr r25
		8965	9206 5100 8795 ror r24
		8966	9207 5102 7795 ror r23
		8967	9208 5104 6795 ror r22
		8968	9209 5106 BA95 dec r27
		8969	9210 5108 01F4 brne 1b
		8970	9211 510a 9B01 movw r18,r22
		8971	9212 510c 5FEF ldi r21,hi8(-255)
		8972	9213 510e 6130 cpi r22,lo8(-255)
		8973	9214 5110 7507 cpc r23,r21
		8974	9215 5112 04F4 brge .L745
		8975	9216 5114 20E0 ldi r18,lo8(-256)
		8976	9217 5116 3FEF ldi r19,hi8(-256)
		8977	9218 5118 00C0 rjmp .L746
		8978	9219 .L745:
		8979	9220 511a 6F3F cpi r22,255
		8980	9221 511c 7105 cpc r23,__zero_reg__
		8981	9222 511e 01F0 breq .L746
		8982	9223 5120 04F0 brlt .L746
		8983	9224 5122 20E0 ldi r18,lo8(256)
		8984	9225 5124 31E0 ldi r19,hi8(256)
		8985	9226 .L746:
		8986	9227 5126 8091 0000 lds r24,FC_StatusFlags
		8987	9228 512a 807C andi r24,lo8(-64)
		8988	9229 512c 01F0 breq .L748
		8989	9230 512e C901 movw r24,r18
		8990	9231 5130 37FD sbrc r19,7
		8991	9232 5132 0396 adiw r24,3
		8992	9233 .L749:
		8993	9234 5134 9C01 movw r18,r24
		8994	9235 5136 3595 asr r19
		8995	9236 5138 2795 ror r18
		8996	9237 513a 3595 asr r19
		8997	9238 513c 2795 ror r18
		8998	9239 513e 00C0 rjmp .L750
		8999	9240 .L748:
		9000	9241 5140 8091 0000 lds r24,Parameter_ExtraConfig
		9001	9242 5144 80FF sbrs r24,0
		9002	9243 5146 00C0 rjmp .L750
		9003	9244 5148 C901 movw r24,r18
		9004	9245 514a 37FD sbrc r19,7
		9005	9246 514c 0796 adiw r24,7
		9006	9247 .L752:
		9007	9248 514e 9C01 movw r18,r24
		9008	9249 5150 F3E0 ldi r31,3
		9009	9250 5152 3595 1: asr r19
		9010	9251 5154 2795 ror r18
		9011	9252 5156 FA95 dec r31
		9012	9253 5158 01F4 brne 1b
		9013	9254 .L750:
		9014	9255 515a 820E add r8,r18
		9015	9256 515c 931E adc r9,r19
		9016	9257 .L732:
		9017	9258 515e 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung
		9018	9259 5162 2223 tst r18
		9019	9260 5164 01F4 brne .+2
		9020	9261 5166 00C0 rjmp .L753
		9021	9262 5168 6091 0000 lds r22,Mess_Integral_Hoch
		9022	9263 516c 7091 0000 lds r23,(Mess_Integral_Hoch)+1
		9023	9264 5170 8091 0000 lds r24,(Mess_Integral_Hoch)+2
		9024	9265 5174 9091 0000 lds r25,(Mess_Integral_Hoch)+3
		9025	9266 5178 97FF sbrs r25,7
		9026	9267 517a 00C0 rjmp .L754
		9027	9268 517c 6158 subi r22,lo8(-(127))
		9028	9269 517e 7F4F sbci r23,hi8(-(127))
		9029	9270 5180 8F4F sbci r24,hlo8(-(127))
		9030	9271 5182 9F4F sbci r25,hhi8(-(127))
		9031	9272 .L754:
		9032	9273 5184 E7E0 ldi r30,7
		9033	9274 5186 9595 1: asr r25
		9034	9275 5188 8795 ror r24
		9035	9276 518a 7795 ror r23
		9036	9277 518c 6795 ror r22
		9037	9278 518e EA95 dec r30
		9038	9279 5190 01F4 brne 1b
		9039	9280 5192 3327 clr r19
		9040	9281 5194 4427 clr r20
		9041	9282 5196 5527 clr r21
		9042	9283 5198 0E94 0000 call __mulsi3
		9043	9284 519c 97FF sbrs r25,7
		9044	9285 519e 00C0 rjmp .L755
		9045	9286 51a0 615E subi r22,lo8(-(31))
		9046	9287 51a2 7F4F sbci r23,hi8(-(31))
		9047	9288 51a4 8F4F sbci r24,hlo8(-(31))
		9048	9289 51a6 9F4F sbci r25,hhi8(-(31))
		9049	9290 .L755:
		9050	9291 51a8 55E0 ldi r21,5
		9051	9292 51aa 9595 1: asr r25
		9052	9293 51ac 8795 ror r24
		9053	9294 51ae 7795 ror r23
		9054	9295 51b0 6795 ror r22
		9055	9296 51b2 5A95 dec r21
		9056	9297 51b4 01F4 brne 1b
		9057	9298 51b6 6093 0000 sts tmp_long.1,r22
		9058	9299 51ba 7093 0000 sts (tmp_long.1)+1,r23
		9059	9300 51be 8093 0000 sts (tmp_long.1)+2,r24
		9060	9301 51c2 9093 0000 sts (tmp_long.1)+3,r25
		9061	9302 51c6 6138 cpi r22,lo8(-127)
		9062	9303 51c8 AFEF ldi r26,hi8(-127)
		9063	9304 51ca 7A07 cpc r23,r26
		9064	9305 51cc AFEF ldi r26,hlo8(-127)
		9065	9306 51ce 8A07 cpc r24,r26
		9066	9307 51d0 AFEF ldi r26,hhi8(-127)
		9067	9308 51d2 9A07 cpc r25,r26
		9068	9309 51d4 04F4 brge .L756
		9069	9310 51d6 80E8 ldi r24,lo8(-128)
		9070	9311 51d8 9FEF ldi r25,hi8(-128)
		9071	9312 51da AFEF ldi r26,hlo8(-128)
		9072	9313 51dc BFEF ldi r27,hhi8(-128)
		9073	9314 51de 00C0 rjmp .L913
		9074	9315 .L756:
		9075	9316 51e0 6F3F cpi r22,lo8(255)
		9076	9317 51e2 7105 cpc r23,__zero_reg__
		9077	9318 51e4 8105 cpc r24,__zero_reg__
		9078	9319 51e6 9105 cpc r25,__zero_reg__
		9079	9320 51e8 01F0 breq .L757
		9080	9321 51ea 04F0 brlt .L757
		9081	9322 51ec 80E0 ldi r24,lo8(256)
		9082	9323 51ee 91E0 ldi r25,hi8(256)
		9083	9324 51f0 A0E0 ldi r26,hlo8(256)
		9084	9325 51f2 B0E0 ldi r27,hhi8(256)
		9085	9326 .L913:
		9086	9327 51f4 8093 0000 sts tmp_long.1,r24
		9087	9328 51f8 9093 0000 sts (tmp_long.1)+1,r25
		9088	9329 51fc A093 0000 sts (tmp_long.1)+2,r26
		9089	9330 5200 B093 0000 sts (tmp_long.1)+3,r27
		9090	9331 .L757:
		9091	9332 5204 8091 0000 lds r24,tmp_long.1
		9092	9333 5208 9091 0000 lds r25,(tmp_long.1)+1
		9093	9334 520c 880E add r8,r24
		9094	9335 520e 991E adc r9,r25
		9095	9336 .L753:
		9096	9337 5210 8091 0000 lds r24,Parameter_Hoehe_GPS_Z
		9097	9338 5214 282F mov r18,r24
		9098	9339 5216 3327 clr r19
		9099	9340 5218 8091 0000 lds r24,FromNaviCtrl_Value+4
		9100	9341 521c 9927 clr r25
		9101	9342 521e 87FD sbrc r24,7
		9102	9343 5220 9095 com r25
		9103	9344 5222 289F mul r18,r24
		9104	9345 5224 F001 movw r30,r0
		9105	9346 5226 299F mul r18,r25
		9106	9347 5228 F00D add r31,r0
		9107	9348 522a 389F mul r19,r24
		9108	9349 522c F00D add r31,r0
		9109	9350 522e 1124 clr r1
		9110	9351 5230 9F01 movw r18,r30
		9111	9352 5232 F7FF sbrs r31,7
		9112	9353 5234 00C0 rjmp .L759
		9113	9354 5236 2158 subi r18,lo8(-(127))
		9114	9355 5238 3F4F sbci r19,hi8(-(127))
		9115	9356 .L759:
		9116	9357 523a 220F lsl r18
		9117	9358 523c 232F mov r18,r19
		9118	9359 523e 221F rol r18
		9119	9360 5240 330B sbc r19,r19
		9120	9361 5242 FFEF ldi r31,hi8(-127)
		9121	9362 5244 2138 cpi r18,lo8(-127)
		9122	9363 5246 3F07 cpc r19,r31
		9123	9364 5248 04F4 brge .L760
		9124	9365 524a 20E8 ldi r18,lo8(-128)
		9125	9366 524c 3FEF ldi r19,hi8(-128)
		9126	9367 524e 00C0 rjmp .L761
		9127	9368 .L760:
		9128	9369 5250 2F3F cpi r18,255
		9129	9370 5252 3105 cpc r19,__zero_reg__
		9130	9371 5254 01F0 breq .L761
		9131	9372 5256 04F0 brlt .L761
		9132	9373 5258 20E0 ldi r18,lo8(256)
		9133	9374 525a 31E0 ldi r19,hi8(256)
		9134	9375 .L761:
		9135	9376 525c 820E add r8,r18
		9136	9377 525e 931E adc r9,r19
		9137	9378 5260 C401 movw r24,r8
		9138	9379 5262 AA27 clr r26
		9139	9380 5264 97FD sbrc r25,7
		9140	9381 5266 A095 com r26
		9141	9382 5268 BA2F mov r27,r26
		9142	9383 526a E090 0000 lds r14,HoverGas
		9143	9384 526e F090 0000 lds r15,(HoverGas)+1
		9144	9385 5272 9701 movw r18,r14
		9145	9386 5274 4427 clr r20
		9146	9387 5276 37FD sbrc r19,7
		9147	9388 5278 4095 com r20
		9148	9389 527a 542F mov r21,r20
		9149	9390 527c BC01 movw r22,r24
		9150	9391 527e CD01 movw r24,r26
		9151	9392 5280 0E94 0000 call __mulsi3
		9152	9393 5284 97FF sbrs r25,7
		9153	9394 5286 00C0 rjmp .L763
		9154	9395 5288 6150 subi r22,lo8(-(511))
		9155	9396 528a 7E4F sbci r23,hi8(-(511))
		9156	9397 528c 8F4F sbci r24,hlo8(-(511))
		9157	9398 528e 9F4F sbci r25,hhi8(-(511))
		9158	9399 .L763:
		9159	9400 5290 29E0 ldi r18,9
		9160	9401 5292 9595 1: asr r25
		9161	9402 5294 8795 ror r24
		9162	9403 5296 7795 ror r23
		9163	9404 5298 6795 ror r22
		9164	9405 529a 2A95 dec r18
		9165	9406 529c 01F4 brne 1b
		9166	9407 529e C61A sub r12,r22
		9167	9408 52a0 D70A sbc r13,r23
		9168	9409 52a2 8091 0000 lds r24,AltitudeSetpointTrimming
		9169	9410 52a6 9091 0000 lds r25,(AltitudeSetpointTrimming)+1
		9170	9411 52aa 892B or r24,r25
		9171	9412 52ac 01F0 breq .+2
		9172	9413 52ae 00C0 rjmp .L764
		9173	9414 52b0 1E14 cp __zero_reg__,r14
		9174	9415 52b2 1F04 cpc __zero_reg__,r15
		9175	9416 52b4 04F0 brlt .+2
		9176	9417 52b6 00C0 rjmp .L764
		9177	9418 52b8 9801 movw r18,r16
		9178	9419 52ba 17FF sbrs r17,7
		9179	9420 52bc 00C0 rjmp .L765
		9180	9421 52be 3095 com r19
		9181	9422 52c0 2195 neg r18
		9182	9423 52c2 3F4F sbci r19,lo8(-1)
		9183	9424 .L765:
		9184	9425 52c4 2D33 cpi r18,61
		9185	9426 52c6 3105 cpc r19,__zero_reg__
		9186	9427 52c8 00F4 brsh .L766
		9187	9428 52ca 8091 0000 lds r24,HoverGasMin
		9188	9429 52ce 9091 0000 lds r25,(HoverGasMin)+1
		9189	9430 52d2 8C15 cp r24,r12
		9190	9431 52d4 9D05 cpc r25,r13
		9191	9432 52d6 04F4 brge .L915
		9192	9433 52d8 00C0 rjmp .L924
		9193	9434 .L766:
		9194	9435 52da 2C53 subi r18,lo8(-(-60))
		9195	9436 52dc 3040 sbci r19,hi8(-(-60))
		9196	9437 52de 85E0 ldi r24,5
		9197	9438 52e0 3695 1: lsr r19
		9198	9439 52e2 2795 ror r18
		9199	9440 52e4 8A95 dec r24
		9200	9441 52e6 01F4 brne 1b
		9201	9442 52e8 2031 cpi r18,16
		9202	9443 52ea 3105 cpc r19,__zero_reg__
		9203	9444 52ec 00F0 brlo .L771
		9204	9445 52ee 2FE0 ldi r18,lo8(15)
		9205	9446 52f0 30E0 ldi r19,hi8(15)
		9206	9447 .L771:
		9207	9448 52f2 4091 0000 lds r20,HoverGasMin
		9208	9449 52f6 5091 0000 lds r21,(HoverGasMin)+1
		9209	9450 52fa 1016 cp __zero_reg__,r16
		9210	9451 52fc 1106 cpc __zero_reg__,r17
		9211	9452 52fe 04F4 brge .L772
		9212	9453 5300 80E1 ldi r24,lo8(16)
		9213	9454 5302 90E0 ldi r25,hi8(16)
		9214	9455 5304 821B sub r24,r18
		9215	9456 5306 930B sbc r25,r19
		9216	9457 5308 489F mul r20,r24
		9217	9458 530a 9001 movw r18,r0
		9218	9459 530c 499F mul r20,r25
		9219	9460 530e 300D add r19,r0
		9220	9461 5310 589F mul r21,r24
		9221	9462 5312 300D add r19,r0
		9222	9463 5314 1124 clr r1
		9223	9464 5316 B4E0 ldi r27,4
		9224	9465 5318 3695 1: lsr r19
		9225	9466 531a 2795 ror r18
		9226	9467 531c BA95 dec r27
		9227	9468 531e 01F4 brne 1b
		9228	9469 5320 2C15 cp r18,r12
		9229	9470 5322 3D05 cpc r19,r13
		9230	9471 5324 00F4 brsh .L914
		9231	9472 .L924:
		9232	9473 5326 8091 0000 lds r24,HoverGasMax
		9233	9474 532a 9091 0000 lds r25,(HoverGasMax)+1
		9234	9475 532e C816 cp r12,r24
		9235	9476 5330 D906 cpc r13,r25
		9236	9477 5332 04F0 brlt .L764
		9237	9478 .L915:
		9238	9479 5334 6C01 movw r12,r24
		9239	9480 5336 00C0 rjmp .L764
		9240	9481 .L772:
		9241	9482 5338 205F subi r18,lo8(-(16))
		9242	9483 533a 3F4F sbci r19,hi8(-(16))
		9243	9484 533c 8091 0000 lds r24,HoverGasMax
		9244	9485 5340 9091 0000 lds r25,(HoverGasMax)+1
		9245	9486 5344 829F mul r24,r18
		9246	9487 5346 8001 movw r16,r0
		9247	9488 5348 839F mul r24,r19
		9248	9489 534a 100D add r17,r0
		9249	9490 534c 929F mul r25,r18
		9250	9491 534e 100D add r17,r0
		9251	9492 5350 1124 clr r1
		9252	9493 5352 9801 movw r18,r16
		9253	9494 5354 A4E0 ldi r26,4
		9254	9495 5356 3695 1: lsr r19
		9255	9496 5358 2795 ror r18
		9256	9497 535a AA95 dec r26
		9257	9498 535c 01F4 brne 1b
		9258	9499 535e 4C15 cp r20,r12
		9259	9500 5360 5D05 cpc r21,r13
		9260	9501 5362 04F0 brlt .L777
		9261	9502 5364 6A01 movw r12,r20
		9262	9503 5366 00C0 rjmp .L764
		9263	9504 .L777:
		9264	9505 5368 C216 cp r12,r18
		9265	9506 536a D306 cpc r13,r19
		9266	9507 536c 00F0 brlo .L764
		9267	9508 .L914:
		9268	9509 536e 6901 movw r12,r18
		9269	9510 .L764:
		9270	9511 5370 C601 movw r24,r12
		9271	9512 5372 AA27 clr r26
		9272	9513 5374 97FD sbrc r25,7
		9273	9514 5376 A095 com r26
		9274	9515 5378 BA2F mov r27,r26
		9275	9516 537a FDE0 ldi r31,13
		9276	9517 537c 880F 1: lsl r24
		9277	9518 537e 991F rol r25
		9278	9519 5380 AA1F rol r26
		9279	9520 5382 BB1F rol r27
		9280	9521 5384 FA95 dec r31
		9281	9522 5386 01F4 brne 1b
		9282	9523 5388 9501 movw r18,r10
		9283	9524 538a 4427 clr r20
		9284	9525 538c 37FD sbrc r19,7
		9285	9526 538e 4095 com r20
		9286	9527 5390 542F mov r21,r20
		9287	9528 5392 BC01 movw r22,r24
		9288	9529 5394 CD01 movw r24,r26
		9289	9530 5396 0E94 0000 call __divmodsi4
		9290	9531 539a 2093 0000 sts tmp_long2.2,r18
		9291	9532 539e 3093 0000 sts (tmp_long2.2)+1,r19
		9292	9533 53a2 4093 0000 sts (tmp_long2.2)+2,r20
		9293	9534 53a6 5093 0000 sts (tmp_long2.2)+3,r21
		9294	9535 53aa C090 0000 lds r12,tmp_long2.2
		9295	9536 53ae D090 0000 lds r13,(tmp_long2.2)+1
		9296	9537 53b2 8091 0000 lds r24,FilterHCGas.22
		9297	9538 53b6 9091 0000 lds r25,(FilterHCGas.22)+1
		9298	9539 53ba 9C01 movw r18,r24
		9299	9540 53bc 220F lsl r18
		9300	9541 53be 331F rol r19
		9301	9542 53c0 280F add r18,r24
		9302	9543 53c2 391F adc r19,r25
		9303	9544 53c4 2C0D add r18,r12
		9304	9545 53c6 3D1D adc r19,r13
		9305	9546 53c8 37FF sbrs r19,7
		9306	9547 53ca 00C0 rjmp .L780
		9307	9548 53cc 2D5F subi r18,lo8(-(3))
		9308	9549 53ce 3F4F sbci r19,hi8(-(3))
		9309	9550 .L780:
		9310	9551 53d0 A901 movw r20,r18
		9311	9552 53d2 5595 asr r21
		9312	9553 53d4 4795 ror r20
		9313	9554 53d6 5595 asr r21
		9314	9555 53d8 4795 ror r20
		9315	9556 53da 5093 0000 sts (FilterHCGas.22)+1,r21
		9316	9557 53de 4093 0000 sts FilterHCGas.22,r20
		9317	9558 53e2 8091 0000 lds r24,EE_Parameter+14
		9318	9559 53e6 282F mov r18,r24
		9319	9560 53e8 3327 clr r19
		9320	9561 53ea 220F lsl r18
		9321	9562 53ec 331F rol r19
		9322	9563 53ee 220F lsl r18
		9323	9564 53f0 331F rol r19
		9324	9565 53f2 2417 cp r18,r20
		9325	9566 53f4 3507 cpc r19,r21
		9326	9567 53f6 04F4 brge .L916
		9327	9568 53f8 8091 0000 lds r24,MAX_GAS
		9328	9569 53fc 282F mov r18,r24
		9329	9570 53fe 3327 clr r19
		9330	9571 5400 220F lsl r18
		9331	9572 5402 331F rol r19
		9332	9573 5404 220F lsl r18
		9333	9574 5406 331F rol r19
		9334	9575 5408 2055 subi r18,lo8(-(-80))
		9335	9576 540a 3040 sbci r19,hi8(-(-80))
		9336	9577 540c 4217 cp r20,r18
		9337	9578 540e 5307 cpc r21,r19
		9338	9579 5410 04F0 brlt .L782
		9339	9580 .L916:
		9340	9581 5412 3093 0000 sts (FilterHCGas.22)+1,r19
		9341	9582 5416 2093 0000 sts FilterHCGas.22,r18
		9342	9583 .L782:
		9343	9584 541a 8091 0000 lds r24,Parameter_ExtraConfig
		9344	9585 541e 80FF sbrs r24,0
		9345	9586 5420 00C0 rjmp .L784
		9346	9587 5422 8091 0000 lds r24,FilterHCGas.22
		9347	9588 5426 9091 0000 lds r25,(FilterHCGas.22)+1
		9348	9589 542a 2981 ldd r18,Y+1
		9349	9590 542c 3A81 ldd r19,Y+2
		9350	9591 542e 8217 cp r24,r18
		9351	9592 5430 9307 cpc r25,r19
		9352	9593 5432 04F0 brlt .L785
		9353	9594 5434 3093 0000 sts (FilterHCGas.22)+1,r19
		9354	9595 5438 2093 0000 sts FilterHCGas.22,r18
		9355	9596 .L785:
		9356	9597 543c 4091 0000 lds r20,FilterHCGas.22
		9357	9598 5440 5091 0000 lds r21,(FilterHCGas.22)+1
		9358	9599 5444 5A83 std Y+2,r21
		9359	9600 5446 4983 std Y+1,r20
		9360	9601 5448 00C0 rjmp .L788
		9361	9602 .L784:
		9362	9603 544a 2981 ldd r18,Y+1
		9363	9604 544c 3A81 ldd r19,Y+2
		9364	9605 544e 2E19 sub r18,r14
		9365	9606 5450 3F09 sbc r19,r15
		9366	9607 5452 37FF sbrs r19,7
		9367	9608 5454 00C0 rjmp .L787
		9368	9609 5456 2D5F subi r18,lo8(-(3))
		9369	9610 5458 3F4F sbci r19,hi8(-(3))
		9370	9611 .L787:
		9371	9612 545a 3595 asr r19
		9372	9613 545c 2795 ror r18
		9373	9614 545e 3595 asr r19
		9374	9615 5460 2795 ror r18
		9375	9616 5462 6091 0000 lds r22,FilterHCGas.22
		9376	9617 5466 7091 0000 lds r23,(FilterHCGas.22)+1
		9377	9618 546a 620F add r22,r18
		9378	9619 546c 731F adc r23,r19
		9379	9620 546e 7A83 std Y+2,r23
		9380	9621 5470 6983 std Y+1,r22
		9381	9622 5472 00C0 rjmp .L788
		9382	9623 .L679:
		9383	9624 5474 8091 0000 lds r24,EE_Parameter+22
		9384	9625 5478 8823 tst r24
		9385	9626 547a 01F4 brne .L789
		9386	9627 547c 6091 0000 lds r22,HoverGas
		9387	9628 5480 7091 0000 lds r23,(HoverGas)+1
		9388	9629 5484 77FF sbrs r23,7
		9389	9630 5486 00C0 rjmp .L790
		9390	9631 5488 6D5F subi r22,lo8(-(3))
		9391	9632 548a 7F4F sbci r23,hi8(-(3))
		9392	9633 .L790:
		9393	9634 548c 7595 asr r23
		9394	9635 548e 6795 ror r22
		9395	9636 5490 7595 asr r23
		9396	9637 5492 6795 ror r22
		9397	9638 5494 4091 0000 lds r20,UBat
		9398	9639 5498 5091 0000 lds r21,(UBat)+1
		9399	9640 549c 8091 0000 lds r24,BattLowVoltageWarning
		9400	9641 54a0 282F mov r18,r24
		9401	9642 54a2 3327 clr r19
		9402	9643 54a4 649F mul r22,r20
		9403	9644 54a6 C001 movw r24,r0
		9404	9645 54a8 659F mul r22,r21
		9405	9646 54aa 900D add r25,r0
		9406	9647 54ac 749F mul r23,r20
		9407	9648 54ae 900D add r25,r0
		9408	9649 54b0 1124 clr r1
		9409	9650 54b2 B901 movw r22,r18
		9410	9651 54b4 0E94 0000 call __divmodhi4
		9411	9652 54b8 CB01 movw r24,r22
		9412	9653 54ba 00C0 rjmp .L917
		9413	9654 .L789:
		9414	9655 54bc 9927 clr r25
		9415	9656 .L917:
		9416	9657 54be 9093 0000 sts (StickGasHover)+1,r25
		9417	9658 54c2 8093 0000 sts StickGasHover,r24
		9418	9659 54c6 8091 0000 lds r24,StickGasHover
		9419	9660 54ca 9091 0000 lds r25,(StickGasHover)+1
		9420	9661 54ce 8734 cpi r24,71
		9421	9662 54d0 9105 cpc r25,__zero_reg__
		9422	9663 54d2 04F4 brge .L792
		9423	9664 54d4 86E4 ldi r24,lo8(70)
		9424	9665 54d6 90E0 ldi r25,hi8(70)
		9425	9666 54d8 00C0 rjmp .L918
		9426	9667 .L792:
		9427	9668 54da 8639 cpi r24,150
		9428	9669 54dc 9105 cpc r25,__zero_reg__
		9429	9670 54de 04F0 brlt .L793
		9430	9671 54e0 86E9 ldi r24,lo8(150)
		9431	9672 54e2 90E0 ldi r25,hi8(150)
		9432	9673 .L918:
		9433	9674 54e4 9093 0000 sts (StickGasHover)+1,r25
		9434	9675 54e8 8093 0000 sts StickGasHover,r24
		9435	9676 .L793:
		9436	9677 54ec 8981 ldd r24,Y+1
		9437	9678 54ee 9A81 ldd r25,Y+2
		9438	9679 54f0 9093 0000 sts (FilterHCGas.22)+1,r25
		9439	9680 54f4 8093 0000 sts FilterHCGas.22,r24
		9440	9681 54f8 8091 0000 lds r24,FC_StatusFlags
		9441	9682 54fc 806C ori r24,lo8(-64)
		9442	9683 54fe 8093 0000 sts FC_StatusFlags,r24
		9443	9684 5502 8091 0000 lds r24,FC_StatusFlags2
		9444	9685 5506 8D7F andi r24,lo8(-3)
		9445	9686 5508 8093 0000 sts FC_StatusFlags2,r24
		9446	9687 .L788:
		9447	9688 550c 8091 0000 lds r24,FC_StatusFlags
		9448	9689 5510 9927 clr r25
		9449	9690 5512 9C01 movw r18,r24
		9450	9691 5514 2270 andi r18,lo8(2)
		9451	9692 5516 3070 andi r19,hi8(2)
		9452	9693 5518 81FF sbrs r24,1
		9453	9694 551a 00C0 rjmp .L795
		9454	9695 551c 8091 0000 lds r24,HoverGasFilter.23
		9455	9696 5520 9091 0000 lds r25,(HoverGasFilter.23)+1
		9456	9697 5524 A091 0000 lds r26,(HoverGasFilter.23)+2
		9457	9698 5528 B091 0000 lds r27,(HoverGasFilter.23)+3
		9458	9699 552c 0097 sbiw r24,0
		9459	9700 552e A105 cpc r26,__zero_reg__
		9460	9701 5530 B105 cpc r27,__zero_reg__
		9461	9702 5532 01F0 breq .L797
		9462	9703 5534 8091 0000 lds r24,StartTrigger
		9463	9704 5538 8130 cpi r24,lo8(1)
		9464	9705 553a 01F4 brne .L796
		9465	9706 .L797:
		9466	9707 553c E981 ldd r30,Y+1
		9467	9708 553e FA81 ldd r31,Y+2
		9468	9709 5540 CF01 movw r24,r30
		9469	9710 5542 AA27 clr r26
		9470	9711 5544 97FD sbrc r25,7
		9471	9712 5546 A095 com r26
		9472	9713 5548 BA2F mov r27,r26
		9473	9714 554a 1EE0 ldi r17,14
		9474	9715 554c 880F 1: lsl r24
		9475	9716 554e 991F rol r25
		9476	9717 5550 AA1F rol r26
		9477	9718 5552 BB1F rol r27
		9478	9719 5554 1A95 dec r17
		9479	9720 5556 01F4 brne 1b
		9480	9721 5558 8093 0000 sts HoverGasFilter.23,r24
		9481	9722 555c 9093 0000 sts (HoverGasFilter.23)+1,r25
		9482	9723 5560 A093 0000 sts (HoverGasFilter.23)+2,r26
		9483	9724 5564 B093 0000 sts (HoverGasFilter.23)+3,r27
		9484	9725 .L796:
		9485	9726 5568 8091 0000 lds r24,StartTrigger
		9486	9727 556c 8130 cpi r24,lo8(1)
		9487	9728 556e 01F4 brne .L798
		9488	9729 5570 82E0 ldi r24,lo8(2)
		9489	9730 5572 8093 0000 sts StartTrigger,r24
		9490	9731 .L798:
		9491	9732 5576 E980 ldd r14,Y+1
		9492	9733 5578 FA80 ldd r15,Y+2
		9493	9734 557a C701 movw r24,r14
		9494	9735 557c AA27 clr r26
		9495	9736 557e 97FD sbrc r25,7
		9496	9737 5580 A095 com r26
		9497	9738 5582 BA2F mov r27,r26
		9498	9739 5584 9501 movw r18,r10
		9499	9740 5586 4427 clr r20
		9500	9741 5588 37FD sbrc r19,7
		9501	9742 558a 4095 com r20
		9502	9743 558c 542F mov r21,r20
		9503	9744 558e BC01 movw r22,r24
		9504	9745 5590 CD01 movw r24,r26
		9505	9746 5592 0E94 0000 call __mulsi3
		9506	9747 5596 DC01 movw r26,r24
		9507	9748 5598 CB01 movw r24,r22
		9508	9749 559a 8093 0000 sts tmp_long2.2,r24
		9509	9750 559e 9093 0000 sts (tmp_long2.2)+1,r25
		9510	9751 55a2 A093 0000 sts (tmp_long2.2)+2,r26
		9511	9752 55a6 B093 0000 sts (tmp_long2.2)+3,r27
		9512	9753 55aa B7FF sbrs r27,7
		9513	9754 55ac 00C0 rjmp .L799
		9514	9755 55ae 8150 subi r24,lo8(-(8191))
		9515	9756 55b0 904E sbci r25,hi8(-(8191))
		9516	9757 55b2 AF4F sbci r26,hlo8(-(8191))
		9517	9758 55b4 BF4F sbci r27,hhi8(-(8191))
		9518	9759 .L799:
		9519	9760 55b6 7C01 movw r14,r24
		9520	9761 55b8 8D01 movw r16,r26
		9521	9762 55ba ADE0 ldi r26,13
		9522	9763 55bc 1595 1: asr r17
		9523	9764 55be 0795 ror r16
		9524	9765 55c0 F794 ror r15
		9525	9766 55c2 E794 ror r14
		9526	9767 55c4 AA95 dec r26
		9527	9768 55c6 01F4 brne 1b
		9528	9769 55c8 E092 0000 sts tmp_long2.2,r14
		9529	9770 55cc F092 0000 sts (tmp_long2.2)+1,r15
		9530	9771 55d0 0093 0000 sts (tmp_long2.2)+2,r16
		9531	9772 55d4 1093 0000 sts (tmp_long2.2)+3,r17
		9532	9773 55d8 6091 0000 lds r22,modell_fliegt
		9533	9774 55dc 7091 0000 lds r23,(modell_fliegt)+1
		9534	9775 55e0 2FE0 ldi r18,hi8(4000)
		9535	9776 55e2 603A cpi r22,lo8(4000)
		9536	9777 55e4 7207 cpc r23,r18
		9537	9778 55e6 00F4 brsh .L800
		9538	9779 55e8 8091 0000 lds r24,HoverGasFilter.23
		9539	9780 55ec 9091 0000 lds r25,(HoverGasFilter.23)+1
		9540	9781 55f0 A091 0000 lds r26,(HoverGasFilter.23)+2
		9541	9782 55f4 B091 0000 lds r27,(HoverGasFilter.23)+3
		9542	9783 55f8 9C01 movw r18,r24
		9543	9784 55fa AD01 movw r20,r26
		9544	9785 55fc FAE0 ldi r31,10
		9545	9786 55fe 5695 1: lsr r21
		9546	9787 5600 4795 ror r20
		9547	9788 5602 3795 ror r19
		9548	9789 5604 2795 ror r18
		9549	9790 5606 FA95 dec r31
		9550	9791 5608 01F4 brne 1b
		9551	9792 560a 821B sub r24,r18
		9552	9793 560c 930B sbc r25,r19
		9553	9794 560e A40B sbc r26,r20
		9554	9795 5610 B50B sbc r27,r21
		9555	9796 5612 A801 movw r20,r16
		9556	9797 5614 9701 movw r18,r14
		9557	9798 5616 E4E0 ldi r30,4
		9558	9799 5618 220F 1: lsl r18
		9559	9800 561a 331F rol r19
		9560	9801 561c 441F rol r20
		9561	9802 561e 551F rol r21
		9562	9803 5620 EA95 dec r30
		9563	9804 5622 01F4 brne 1b
		9564	9805 5624 820F add r24,r18
		9565	9806 5626 931F adc r25,r19
		9566	9807 5628 A41F adc r26,r20
		9567	9808 562a B51F adc r27,r21
		9568	9809 562c 8093 0000 sts HoverGasFilter.23,r24
		9569	9810 5630 9093 0000 sts (HoverGasFilter.23)+1,r25
		9570	9811 5634 A093 0000 sts (HoverGasFilter.23)+2,r26
		9571	9812 5638 B093 0000 sts (HoverGasFilter.23)+3,r27
		9572	9813 .L800:
		9573	9814 563c 6054 subi r22,lo8(8000)
		9574	9815 563e 7F41 sbci r23,hi8(8000)
		9575	9816 5640 00F4 brsh .L801
		9576	9817 5642 8091 0000 lds r24,HoverGasFilter.23
		9577	9818 5646 9091 0000 lds r25,(HoverGasFilter.23)+1
		9578	9819 564a A091 0000 lds r26,(HoverGasFilter.23)+2
		9579	9820 564e B091 0000 lds r27,(HoverGasFilter.23)+3
		9580	9821 5652 9C01 movw r18,r24
		9581	9822 5654 AD01 movw r20,r26
		9582	9823 5656 6CE0 ldi r22,12
		9583	9824 5658 5695 1: lsr r21
		9584	9825 565a 4795 ror r20
		9585	9826 565c 3795 ror r19
		9586	9827 565e 2795 ror r18
		9587	9828 5660 6A95 dec r22
		9588	9829 5662 01F4 brne 1b
		9589	9830 5664 821B sub r24,r18
		9590	9831 5666 930B sbc r25,r19
		9591	9832 5668 A40B sbc r26,r20
		9592	9833 566a B50B sbc r27,r21
		9593	9834 566c A801 movw r20,r16
		9594	9835 566e 9701 movw r18,r14
		9595	9836 5670 F2E0 ldi r31,2
		9596	9837 5672 220F 1: lsl r18
		9597	9838 5674 331F rol r19
		9598	9839 5676 441F rol r20
		9599	9840 5678 551F rol r21
		9600	9841 567a FA95 dec r31
		9601	9842 567c 01F4 brne 1b
		9602	9843 567e 820F add r24,r18
		9603	9844 5680 931F adc r25,r19
		9604	9845 5682 A41F adc r26,r20
		9605	9846 5684 B51F adc r27,r21
		9606	9847 5686 00C0 rjmp .L919
		9607	9848 .L801:
		9608	9849 5688 8091 0000 lds r24,VarioMeter
		9609	9850 568c 9091 0000 lds r25,(VarioMeter)+1
		9610	9851 5690 8091 0000 lds r24,VarioMeter
		9611	9852 5694 9091 0000 lds r25,(VarioMeter)+1
		9612	9853 5698 97FF sbrs r25,7
		9613	9854 569a 00C0 rjmp .L804
		9614	9855 569c 9095 com r25
		9615	9856 569e 8195 neg r24
		9616	9857 56a0 9F4F sbci r25,lo8(-1)
		9617	9858 .L804:
		9618	9859 56a2 8436 cpi r24,100
		9619	9860 56a4 9105 cpc r25,__zero_reg__
		9620	9861 56a6 04F4 brge .L802
		9621	9862 56a8 8091 0000 lds r24,HoehenWert
		9622	9863 56ac 9091 0000 lds r25,(HoehenWert)+1
		9623	9864 56b0 2091 0000 lds r18,SollHoehe
		9624	9865 56b4 3091 0000 lds r19,(SollHoehe)+1
		9625	9866 56b8 821B sub r24,r18
		9626	9867 56ba 930B sbc r25,r19
		9627	9868 56bc 8150 subi r24,lo8(-(255))
		9628	9869 56be 9F4F sbci r25,hi8(-(255))
		9629	9870 56c0 8F5F subi r24,lo8(511)
		9630	9871 56c2 9140 sbci r25,hi8(511)
		9631	9872 56c4 00F4 brsh .L802
		9632	9873 56c6 8091 0000 lds r24,HoverGasFilter.23
		9633	9874 56ca 9091 0000 lds r25,(HoverGasFilter.23)+1
		9634	9875 56ce A091 0000 lds r26,(HoverGasFilter.23)+2
		9635	9876 56d2 B091 0000 lds r27,(HoverGasFilter.23)+3
		9636	9877 56d6 9C01 movw r18,r24
		9637	9878 56d8 AD01 movw r20,r26
		9638	9879 56da EEE0 ldi r30,14
		9639	9880 56dc 5695 1: lsr r21
		9640	9881 56de 4795 ror r20
		9641	9882 56e0 3795 ror r19
		9642	9883 56e2 2795 ror r18
		9643	9884 56e4 EA95 dec r30
		9644	9885 56e6 01F4 brne 1b
		9645	9886 56e8 821B sub r24,r18
		9646	9887 56ea 930B sbc r25,r19
		9647	9888 56ec A40B sbc r26,r20
		9648	9889 56ee B50B sbc r27,r21
		9649	9890 56f0 8E0D add r24,r14
		9650	9891 56f2 9F1D adc r25,r15
		9651	9892 56f4 A01F adc r26,r16
		9652	9893 56f6 B11F adc r27,r17
		9653	9894 .L919:
		9654	9895 56f8 8093 0000 sts HoverGasFilter.23,r24
		9655	9896 56fc 9093 0000 sts (HoverGasFilter.23)+1,r25
		9656	9897 5700 A093 0000 sts (HoverGasFilter.23)+2,r26
		9657	9898 5704 B093 0000 sts (HoverGasFilter.23)+3,r27
		9658	9899 .L802:
		9659	9900 5708 8091 0000 lds r24,HoverGasFilter.23
		9660	9901 570c 9091 0000 lds r25,(HoverGasFilter.23)+1
		9661	9902 5710 A091 0000 lds r26,(HoverGasFilter.23)+2
		9662	9903 5714 B091 0000 lds r27,(HoverGasFilter.23)+3
		9663	9904 5718 7EE0 ldi r23,14
		9664	9905 571a B695 1: lsr r27
		9665	9906 571c A795 ror r26
		9666	9907 571e 9795 ror r25
		9667	9908 5720 8795 ror r24
		9668	9909 5722 7A95 dec r23
		9669	9910 5724 01F4 brne 1b
		9670	9911 5726 9093 0000 sts (HoverGas)+1,r25
		9671	9912 572a 8093 0000 sts HoverGas,r24
		9672	9913 572e 4091 0000 lds r20,EE_Parameter+20
		9673	9914 5732 4423 tst r20
		9674	9915 5734 01F0 breq .L805
		9675	9916 5736 5527 clr r21
		9676	9917 5738 9C01 movw r18,r24
		9677	9918 573a BA01 movw r22,r20
		9678	9919 573c 0E94 0000 call __divmodhi4
		9679	9920 5740 C901 movw r24,r18
		9680	9921 5742 861B sub r24,r22
		9681	9922 5744 970B sbc r25,r23
		9682	9923 5746 9093 0000 sts (HoverGasMin)+1,r25
		9683	9924 574a 8093 0000 sts HoverGasMin,r24
		9684	9925 574e 260F add r18,r22
		9685	9926 5750 371F adc r19,r23
		9686	9927 5752 3093 0000 sts (HoverGasMax)+1,r19
		9687	9928 5756 2093 0000 sts HoverGasMax,r18
		9688	9929 575a 00C0 rjmp .L808
		9689	9930 .L805:
		9690	9931 575c 1092 0000 sts (HoverGasMin)+1,__zero_reg__
		9691	9932 5760 1092 0000 sts HoverGasMin,__zero_reg__
		9692	9933 5764 8FEF ldi r24,lo8(1023)
		9693	9934 5766 93E0 ldi r25,hi8(1023)
		9694	9935 5768 9093 0000 sts (HoverGasMax)+1,r25
		9695	9936 576c 8093 0000 sts HoverGasMax,r24
		9696	9937 5770 00C0 rjmp .L808
		9697	9938 .L795:
		9698	9939 5772 1092 0000 sts StartTrigger,__zero_reg__
		9699	9940 5776 1092 0000 sts HoverGasFilter.23,__zero_reg__
		9700	9941 577a 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__
		9701	9942 577e 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__
		9702	9943 5782 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__
		9703	9944 5786 3093 0000 sts (HoverGas)+1,r19
		9704	9945 578a 2093 0000 sts HoverGas,r18
		9705	9946 578e 00C0 rjmp .L808
		9706	9947 .L659:
		9707	9948 5790 8091 0000 lds r24,FC_StatusFlags
		9708	9949 5794 806C ori r24,lo8(-64)
		9709	9950 5796 8093 0000 sts FC_StatusFlags,r24
		9710	9951 .L808:
		9711	9952 579a 8091 0000 lds r24,NC_To_FC_Flags
		9712	9953 579e 81FF sbrs r24,1
		9713	9954 57a0 00C0 rjmp .L809
		9714	9955 57a2 8981 ldd r24,Y+1
		9715	9956 57a4 9A81 ldd r25,Y+2
		9716	9957 57a6 97FD sbrc r25,7
		9717	9958 57a8 0396 adiw r24,3
		9718	9959 .L811:
		9719	9960 57aa 9595 asr r25
		9720	9961 57ac 8795 ror r24
		9721	9962 57ae 9595 asr r25
		9722	9963 57b0 8795 ror r24
		9723	9964 57b2 2091 0000 lds r18,HooverGasEmergencyPercent
		9724	9965 57b6 3091 0000 lds r19,(HooverGasEmergencyPercent)+1
		9725	9966 57ba 2817 cp r18,r24
		9726	9967 57bc 3907 cpc r19,r25
		9727	9968 57be 00F4 brsh .L810
		9728	9969 57c0 8091 0000 lds r24,HoverGas
		9729	9970 57c4 9091 0000 lds r25,(HoverGas)+1
		9730	9971 57c8 892B or r24,r25
		9731	9972 57ca 01F0 breq .L810
		9732	9973 57cc 220F lsl r18
		9733	9974 57ce 331F rol r19
		9734	9975 57d0 220F lsl r18
		9735	9976 57d2 331F rol r19
		9736	9977 57d4 3A83 std Y+2,r19
		9737	9978 57d6 2983 std Y+1,r18
		9738	9979 .L810:
		9739	9980 57d8 8091 0000 lds r24,HoehenWert
		9740	9981 57dc 9091 0000 lds r25,(HoehenWert)+1
		9741	9982 57e0 A091 0000 lds r26,(HoehenWert)+2
		9742	9983 57e4 B091 0000 lds r27,(HoehenWert)+3
		9743	9984 57e8 8093 0000 sts SollHoehe,r24
		9744	9985 57ec 9093 0000 sts (SollHoehe)+1,r25
		9745	9986 57f0 A093 0000 sts (SollHoehe)+2,r26
		9746	9987 57f4 B093 0000 sts (SollHoehe)+3,r27
		9747	9988 57f8 88E9 ldi r24,lo8(15000)
		9748	9989 57fa 9AE3 ldi r25,hi8(15000)
		9749	9990 57fc 9093 0000 sts (beeptime)+1,r25
		9750	9991 5800 8093 0000 sts beeptime,r24
		9751	9992 5804 80E0 ldi r24,lo8(3584)
		9752	9993 5806 9EE0 ldi r25,hi8(3584)
		9753	9994 5808 9093 0000 sts (BeepMuster)+1,r25
		9754	9995 580c 8093 0000 sts BeepMuster,r24
		9755	9996 .L809:
		9756	9997 5810 2091 0000 lds r18,MIN_GAS
		9757	9998 5814 822F mov r24,r18
		9758	9999 5816 9927 clr r25
		9759	10000 5818 880F lsl r24
		9760	10001 581a 991F rol r25
		9761	10002 581c 880F lsl r24
		9762	10003 581e 991F rol r25
		9763	10004 5820 8896 adiw r24,40
		9764	10005 5822 6981 ldd r22,Y+1
		9765	10006 5824 7A81 ldd r23,Y+2
		9766	10007 5826 8617 cp r24,r22
		9767	10008 5828 9707 cpc r25,r23
		9768	10009 582a 04F0 brlt .L812
		9769	10010 582c 9A83 std Y+2,r25
		9770	10011 582e 8983 std Y+1,r24
		9771	10012 .L812:
		9772	10013 5830 7091 0000 lds r23,MAX_GAS
		9773	10014 5834 7D8B std Y+21,r23
		9774	10015 5836 872F mov r24,r23
		9775	10016 5838 9927 clr r25
		9776	10017 583a 880F lsl r24
		9777	10018 583c 991F rol r25
		9778	10019 583e 880F lsl r24
		9779	10020 5840 991F rol r25
		9780	10021 5842 8055 subi r24,lo8(-(-80))
		9781	10022 5844 9040 sbci r25,hi8(-(-80))
		9782	10023 5846 A981 ldd r26,Y+1
		9783	10024 5848 BA81 ldd r27,Y+2
		9784	10025 584a 8A17 cp r24,r26
		9785	10026 584c 9B07 cpc r25,r27
		9786	10027 584e 04F4 brge .L813
		9787	10028 5850 9A83 std Y+2,r25
		9788	10029 5852 8983 std Y+1,r24
		9789	10030 .L813:
		9790	10031 5854 8091 0000 lds r24,MissingMotor
		9791	10032 5858 8823 tst r24
		9792	10033 585a 01F4 brne .L815
		9793	10034 585c 8091 0000 lds r24,Capacity+6
		9794	10035 5860 8F3F cpi r24,lo8(-1)
		9795	10036 5862 01F4 brne .L815
		9796	10037 5864 8091 0000 lds r24,NC_ErrorCode
		9797	10038 5868 8823 tst r24
		9798	10039 586a 01F0 breq .L814
		9799	10040 .L815:
		9800	10041 586c 8091 0000 lds r24,modell_fliegt
		9801	10042 5870 9091 0000 lds r25,(modell_fliegt)+1
		9802	10043 5874 0297 sbiw r24,2
		9803	10044 5876 C097 sbiw r24,48
		9804	10045 5878 00F4 brsh .L814
		9805	10046 587a E981 ldd r30,Y+1
		9806	10047 587c FA81 ldd r31,Y+2
		9807	10048 587e 1E16 cp __zero_reg__,r30
		9808	10049 5880 1F06 cpc __zero_reg__,r31
		9809	10050 5882 04F4 brge .L814
		9810	10051 5884 81E0 ldi r24,lo8(1)
		9811	10052 5886 90E0 ldi r25,hi8(1)
		9812	10053 5888 9093 0000 sts (modell_fliegt)+1,r25
		9813	10054 588c 8093 0000 sts modell_fliegt,r24
		9814	10055 5890 E22E mov r14,r18
		9815	10056 5892 FF24 clr r15
		9816	10057 5894 EE0C lsl r14
		9817	10058 5896 FF1C rol r15
		9818	10059 5898 EE0C lsl r14
		9819	10060 589a FF1C rol r15
		9820	10061 589c 8701 movw r16,r14
		9821	10062 589e 085D subi r16,lo8(-(40))
		9822	10063 58a0 1F4F sbci r17,hi8(-(40))
		9823	10064 58a2 1A83 std Y+2,r17
		9824	10065 58a4 0983 std Y+1,r16
		9825	10066 .L814:
		9826	10067 58a6 2981 ldd r18,Y+1
		9827	10068 58a8 3A81 ldd r19,Y+2
		9828	10069 58aa 3093 0000 sts (DebugOut+16)+1,r19
		9829	10070 58ae 2093 0000 sts DebugOut+16,r18
		9830	10071 58b2 8091 0000 lds r24,sollGier.0
		9831	10072 58b6 9091 0000 lds r25,(sollGier.0)+1
		9832	10073 58ba A091 0000 lds r26,(sollGier.0)+2
		9833	10074 58be B091 0000 lds r27,(sollGier.0)+3
		9834	10075 58c2 12E0 ldi r17,2
		9835	10076 58c4 880F 1: lsl r24
		9836	10077 58c6 991F rol r25
		9837	10078 58c8 AA1F rol r26
		9838	10079 58ca BB1F rol r27
		9839	10080 58cc 1A95 dec r17
		9840	10081 58ce 01F4 brne 1b
		9841	10082 58d0 0091 0000 lds r16,MesswertGier
		9842	10083 58d4 1091 0000 lds r17,(MesswertGier)+1
		9843	10084 58d8 081B sub r16,r24
		9844	10085 58da 190B sbc r17,r25
		9845	10086 58dc 213A cpi r18,161
		9846	10087 58de 3105 cpc r19,__zero_reg__
		9847	10088 58e0 04F0 brlt .L817
		9848	10089 58e2 C901 movw r24,r18
		9849	10090 58e4 37FD sbrc r19,7
		9850	10091 58e6 0196 adiw r24,1
		9851	10092 .L819:
		9852	10093 58e8 9595 asr r25
		9853	10094 58ea 8795 ror r24
		9854	10095 58ec 8017 cp r24,r16
		9855	10096 58ee 9107 cpc r25,r17
		9856	10097 58f0 04F4 brge .L818
		9857	10098 58f2 8C01 movw r16,r24
		9858	10099 .L818:
		9859	10100 58f4 9095 com r25
		9860	10101 58f6 8195 neg r24
		9861	10102 58f8 9F4F sbci r25,lo8(-1)
		9862	10103 58fa 0817 cp r16,r24
		9863	10104 58fc 1907 cpc r17,r25
		9864	10105 58fe 04F4 brge .L824
		9865	10106 5900 8C01 movw r16,r24
		9866	10107 5902 00C0 rjmp .L824
		9867	10108 .L817:
		9868	10109 5904 0135 cpi r16,81
		9869	10110 5906 1105 cpc r17,__zero_reg__
		9870	10111 5908 04F0 brlt .L825
		9871	10112 590a 00E5 ldi r16,lo8(80)
		9872	10113 590c 10E0 ldi r17,hi8(80)
		9873	10114 .L825:
		9874	10115 590e 3FEF ldi r19,hi8(-80)
		9875	10116 5910 003B cpi r16,lo8(-80)
		9876	10117 5912 1307 cpc r17,r19
		9877	10118 5914 04F4 brge .L824
		9878	10119 5916 00EB ldi r16,lo8(-80)
		9879	10120 5918 1FEF ldi r17,hi8(-80)
		9880	10121 .L824:
		9881	10122 591a 4D89 ldd r20,Y+21
		9882	10123 591c 242F mov r18,r20
		9883	10124 591e 3327 clr r19
		9884	10125 5920 220F lsl r18
		9885	10126 5922 331F rol r19
		9886	10127 5924 220F lsl r18
		9887	10128 5926 331F rol r19
		9888	10129 5928 C901 movw r24,r18
		9889	10130 592a 6981 ldd r22,Y+1
		9890	10131 592c 7A81 ldd r23,Y+2
		9891	10132 592e 861B sub r24,r22
		9892	10133 5930 970B sbc r25,r23
		9893	10134 5932 8017 cp r24,r16
		9894	10135 5934 9107 cpc r25,r17
		9895	10136 5936 04F4 brge .L827
		9896	10137 5938 8C01 movw r16,r24
		9897	10138 .L827:
		9898	10139 593a 8981 ldd r24,Y+1
		9899	10140 593c 9A81 ldd r25,Y+2
		9900	10141 593e 821B sub r24,r18
		9901	10142 5940 930B sbc r25,r19
		9902	10143 5942 0817 cp r16,r24
		9903	10144 5944 1907 cpc r17,r25
		9904	10145 5946 04F4 brge .L828
		9905	10146 5948 8C01 movw r16,r24
		9906	10147 .L828:
		9907	10148 594a 8091 0000 lds r24,MesswertNick
		9908	10149 594e 9091 0000 lds r25,(MesswertNick)+1
		9909	10150 5952 6091 0000 lds r22,StickNick
		9910	10151 5956 7091 0000 lds r23,(StickNick)+1
		9911	10152 595a 861B sub r24,r22
		9912	10153 595c 970B sbc r25,r23
		9913	10154 595e 9093 0000 sts (DiffNick)+1,r25
		9914	10155 5962 8093 0000 sts DiffNick,r24
		9915	10156 5966 D090 0000 lds r13,IntegralFaktor
		9916	10157 596a 2091 0000 lds r18,SummeNick
		9917	10158 596e 3091 0000 lds r19,(SummeNick)+1
		9918	10159 5972 4091 0000 lds r20,(SummeNick)+2
		9919	10160 5976 5091 0000 lds r21,(SummeNick)+3
		9920	10161 597a DD20 tst r13
		9921	10162 597c 01F0 breq .L829
		9922	10163 597e 661A sub r6,r22
		9923	10164 5980 770A sbc r7,r23
		9924	10165 5982 C301 movw r24,r6
		9925	10166 5984 AA27 clr r26
		9926	10167 5986 97FD sbrc r25,7
		9927	10168 5988 A095 com r26
		9928	10169 598a BA2F mov r27,r26
		9929	10170 598c 00C0 rjmp .L920
		9930	10171 .L829:
		9931	10172 598e AA27 clr r26
		9932	10173 5990 97FD sbrc r25,7
		9933	10174 5992 A095 com r26
		9934	10175 5994 BA2F mov r27,r26
		9935	10176 .L920:
		9936	10177 5996 280F add r18,r24
		9937	10178 5998 391F adc r19,r25
		9938	10179 599a 4A1F adc r20,r26
		9939	10180 599c 5B1F adc r21,r27
		9940	10181 599e 2093 0000 sts SummeNick,r18
		9941	10182 59a2 3093 0000 sts (SummeNick)+1,r19
		9942	10183 59a6 4093 0000 sts (SummeNick)+2,r20
		9943	10184 59aa 5093 0000 sts (SummeNick)+3,r21
		9944	10185 59ae 8091 0000 lds r24,SummeNick
		9945	10186 59b2 9091 0000 lds r25,(SummeNick)+1
		9946	10187 59b6 A091 0000 lds r26,(SummeNick)+2
		9947	10188 59ba B091 0000 lds r27,(SummeNick)+3
		9948	10189 59be 8150 subi r24,lo8(64001)
		9949	10190 59c0 9A4F sbci r25,hi8(64001)
		9950	10191 59c2 A040 sbci r26,hlo8(64001)
		9951	10192 59c4 B040 sbci r27,hhi8(64001)
		9952	10193 59c6 04F0 brlt .L831
		9953	10194 59c8 80E0 ldi r24,lo8(64000)
		9954	10195 59ca 9AEF ldi r25,hi8(64000)
		9955	10196 59cc A0E0 ldi r26,hlo8(64000)
		9956	10197 59ce B0E0 ldi r27,hhi8(64000)
		9957	10198 59d0 8093 0000 sts SummeNick,r24
		9958	10199 59d4 9093 0000 sts (SummeNick)+1,r25
		9959	10200 59d8 A093 0000 sts (SummeNick)+2,r26
		9960	10201 59dc B093 0000 sts (SummeNick)+3,r27
		9961	10202 .L831:
		9962	10203 59e0 8091 0000 lds r24,SummeNick
		9963	10204 59e4 9091 0000 lds r25,(SummeNick)+1
		9964	10205 59e8 A091 0000 lds r26,(SummeNick)+2
		9965	10206 59ec B091 0000 lds r27,(SummeNick)+3
		9966	10207 59f0 8050 subi r24,lo8(-64000)
		9967	10208 59f2 9640 sbci r25,hi8(-64000)
		9968	10209 59f4 AF4F sbci r26,hlo8(-64000)
		9969	10210 59f6 BF4F sbci r27,hhi8(-64000)
		9970	10211 59f8 04F4 brge .L832
		9971	10212 59fa 80E0 ldi r24,lo8(-64000)
		9972	10213 59fc 96E0 ldi r25,hi8(-64000)
		9973	10214 59fe AFEF ldi r26,hlo8(-64000)
		9974	10215 5a00 BFEF ldi r27,hhi8(-64000)
		9975	10216 5a02 8093 0000 sts SummeNick,r24
		9976	10217 5a06 9093 0000 sts (SummeNick)+1,r25
		9977	10218 5a0a A093 0000 sts (SummeNick)+2,r26
		9978	10219 5a0e B093 0000 sts (SummeNick)+3,r27
		9979	10220 .L832:
		9980	10221 5a12 C090 0000 lds r12,EE_Parameter+35
		9981	10222 5a16 2091 0000 lds r18,DiffNick
		9982	10223 5a1a 3091 0000 lds r19,(DiffNick)+1
		9983	10224 5a1e 78E0 ldi r23,lo8(8)
		9984	10225 5a20 E72E mov r14,r23
		9985	10226 5a22 EC14 cp r14,r12
		9986	10227 5a24 00F0 brlo .L833
		9987	10228 5a26 8C2D mov r24,r12
		9988	10229 5a28 9927 clr r25
		9989	10230 5a2a 829F mul r24,r18
		9990	10231 5a2c A001 movw r20,r0
		9991	10232 5a2e 839F mul r24,r19
		9992	10233 5a30 500D add r21,r0
		9993	10234 5a32 929F mul r25,r18
		9994	10235 5a34 500D add r21,r0
		9995	10236 5a36 1124 clr r1
		9996	10237 5a38 CA01 movw r24,r20
		9997	10238 5a3a 57FD sbrc r21,7
		9998	10239 5a3c 0796 adiw r24,7
		9999	10240 .L834:
		10000	10241 5a3e 7C01 movw r14,r24
		10001	10242 5a40 63E0 ldi r22,3
		10002	10243 5a42 F594 1: asr r15
		10003	10244 5a44 E794 ror r14
		10004	10245 5a46 6A95 dec r22
		10005	10246 5a48 01F4 brne 1b
		10006	10247 5a4a 00C0 rjmp .L835
		10007	10248 .L833:
		10008	10249 5a4c 8C2D mov r24,r12
		10009	10250 5a4e 8695 lsr r24
		10010	10251 5a50 9927 clr r25
		10011	10252 5a52 829F mul r24,r18
		10012	10253 5a54 B001 movw r22,r0
		10013	10254 5a56 839F mul r24,r19
		10014	10255 5a58 700D add r23,r0
		10015	10256 5a5a 929F mul r25,r18
		10016	10257 5a5c 700D add r23,r0
		10017	10258 5a5e 1124 clr r1
		10018	10259 5a60 CB01 movw r24,r22
		10019	10260 5a62 77FD sbrc r23,7
		10020	10261 5a64 0396 adiw r24,3
		10021	10262 .L836:
		10022	10263 5a66 7C01 movw r14,r24
		10023	10264 5a68 F594 asr r15
		10024	10265 5a6a E794 ror r14
		10025	10266 5a6c F594 asr r15
		10026	10267 5a6e E794 ror r14
		10027	10268 .L835:
		10028	10269 5a70 A090 0000 lds r10,Ki
		10029	10270 5a74 B090 0000 lds r11,(Ki)+1
		10030	10271 5a78 9501 movw r18,r10
		10031	10272 5a7a 4427 clr r20
		10032	10273 5a7c 37FD sbrc r19,7
		10033	10274 5a7e 4095 com r20
		10034	10275 5a80 542F mov r21,r20
		10035	10276 5a82 8091 0000 lds r24,SummeNick
		10036	10277 5a86 9091 0000 lds r25,(SummeNick)+1
		10037	10278 5a8a A091 0000 lds r26,(SummeNick)+2
		10038	10279 5a8e B091 0000 lds r27,(SummeNick)+3
		10039	10280 5a92 BC01 movw r22,r24
		10040	10281 5a94 CD01 movw r24,r26
		10041	10282 5a96 0E94 0000 call __divmodsi4
		10042	10283 5a9a E20E add r14,r18
		10043	10284 5a9c F31E adc r15,r19
		10044	10285 5a9e 9090 0000 lds r9,Parameter_DynamicStability
		10045	10286 5aa2 692D mov r22,r9
		10046	10287 5aa4 7727 clr r23
		10047	10288 5aa6 8827 clr r24
		10048	10289 5aa8 9927 clr r25
		10049	10290 5aaa 9801 movw r18,r16
		10050	10291 5aac 17FF sbrs r17,7
		10051	10292 5aae 00C0 rjmp .L837
		10052	10293 5ab0 2227 clr r18
		10053	10294 5ab2 3327 clr r19
		10054	10295 5ab4 201B sub r18,r16
		10055	10296 5ab6 310B sbc r19,r17
		10056	10297 .L837:
		10057	10298 5ab8 37FF sbrs r19,7
		10058	10299 5aba 00C0 rjmp .L838
		10059	10300 5abc 2F5F subi r18,lo8(-(1))
		10060	10301 5abe 3F4F sbci r19,hi8(-(1))
		10061	10302 .L838:
		10062	10303 5ac0 3595 asr r19
		10063	10304 5ac2 2795 ror r18
		10064	10305 5ac4 A981 ldd r26,Y+1
		10065	10306 5ac6 BA81 ldd r27,Y+2
		10066	10307 5ac8 2A0F add r18,r26
		10067	10308 5aca 3B1F adc r19,r27
		10068	10309 5acc 4427 clr r20
		10069	10310 5ace 37FD sbrc r19,7
		10070	10311 5ad0 4095 com r20
		10071	10312 5ad2 542F mov r21,r20
		10072	10313 5ad4 0E94 0000 call __mulsi3
		10073	10314 5ad8 97FF sbrs r25,7
		10074	10315 5ada 00C0 rjmp .L839
		10075	10316 5adc 615C subi r22,lo8(-(63))
		10076	10317 5ade 7F4F sbci r23,hi8(-(63))
		10077	10318 5ae0 8F4F sbci r24,hlo8(-(63))
		10078	10319 5ae2 9F4F sbci r25,hhi8(-(63))
		10079	10320 .L839:
		10080	10321 5ae4 26E0 ldi r18,6
		10081	10322 5ae6 9595 1: asr r25
		10082	10323 5ae8 8795 ror r24
		10083	10324 5aea 7795 ror r23
		10084	10325 5aec 6795 ror r22
		10085	10326 5aee 2A95 dec r18
		10086	10327 5af0 01F4 brne 1b
		10087	10328 5af2 9B01 movw r18,r22
		10088	10329 5af4 6E15 cp r22,r14
		10089	10330 5af6 7F05 cpc r23,r15
		10090	10331 5af8 04F4 brge .L840
		10091	10332 5afa 7B01 movw r14,r22
		10092	10333 .L840:
		10093	10334 5afc 3095 com r19
		10094	10335 5afe 2195 neg r18
		10095	10336 5b00 3F4F sbci r19,lo8(-1)
		10096	10337 5b02 E216 cp r14,r18
		10097	10338 5b04 F306 cpc r15,r19
		10098	10339 5b06 04F4 brge .L841
		10099	10340 5b08 7901 movw r14,r18
		10100	10341 .L841:
		10101	10342 5b0a 8091 0000 lds r24,MesswertRoll
		10102	10343 5b0e 9091 0000 lds r25,(MesswertRoll)+1
		10103	10344 5b12 6091 0000 lds r22,StickRoll
		10104	10345 5b16 7091 0000 lds r23,(StickRoll)+1
		10105	10346 5b1a 861B sub r24,r22
		10106	10347 5b1c 970B sbc r25,r23
		10107	10348 5b1e 9093 0000 sts (DiffRoll)+1,r25
		10108	10349 5b22 8093 0000 sts DiffRoll,r24
		10109	10350 5b26 2091 0000 lds r18,SummeRoll
		10110	10351 5b2a 3091 0000 lds r19,(SummeRoll)+1
		10111	10352 5b2e 4091 0000 lds r20,(SummeRoll)+2
		10112	10353 5b32 5091 0000 lds r21,(SummeRoll)+3
		10113	10354 5b36 DD20 tst r13
		10114	10355 5b38 01F0 breq .L842
		10115	10356 5b3a 461A sub r4,r22
		10116	10357 5b3c 570A sbc r5,r23
		10117	10358 5b3e C201 movw r24,r4
		10118	10359 5b40 AA27 clr r26
		10119	10360 5b42 97FD sbrc r25,7
		10120	10361 5b44 A095 com r26
		10121	10362 5b46 BA2F mov r27,r26
		10122	10363 5b48 00C0 rjmp .L921
		10123	10364 .L842:
		10124	10365 5b4a AA27 clr r26
		10125	10366 5b4c 97FD sbrc r25,7
		10126	10367 5b4e A095 com r26
		10127	10368 5b50 BA2F mov r27,r26
		10128	10369 .L921:
		10129	10370 5b52 280F add r18,r24
		10130	10371 5b54 391F adc r19,r25
		10131	10372 5b56 4A1F adc r20,r26
		10132	10373 5b58 5B1F adc r21,r27
		10133	10374 5b5a 2093 0000 sts SummeRoll,r18
		10134	10375 5b5e 3093 0000 sts (SummeRoll)+1,r19
		10135	10376 5b62 4093 0000 sts (SummeRoll)+2,r20
		10136	10377 5b66 5093 0000 sts (SummeRoll)+3,r21
		10137	10378 5b6a 8091 0000 lds r24,SummeRoll
		10138	10379 5b6e 9091 0000 lds r25,(SummeRoll)+1
		10139	10380 5b72 A091 0000 lds r26,(SummeRoll)+2
		10140	10381 5b76 B091 0000 lds r27,(SummeRoll)+3
		10141	10382 5b7a 8150 subi r24,lo8(64001)
		10142	10383 5b7c 9A4F sbci r25,hi8(64001)
		10143	10384 5b7e A040 sbci r26,hlo8(64001)
		10144	10385 5b80 B040 sbci r27,hhi8(64001)
		10145	10386 5b82 04F0 brlt .L844
		10146	10387 5b84 80E0 ldi r24,lo8(64000)
		10147	10388 5b86 9AEF ldi r25,hi8(64000)
		10148	10389 5b88 A0E0 ldi r26,hlo8(64000)
		10149	10390 5b8a B0E0 ldi r27,hhi8(64000)
		10150	10391 5b8c 8093 0000 sts SummeRoll,r24
		10151	10392 5b90 9093 0000 sts (SummeRoll)+1,r25
		10152	10393 5b94 A093 0000 sts (SummeRoll)+2,r26
		10153	10394 5b98 B093 0000 sts (SummeRoll)+3,r27
		10154	10395 .L844:
		10155	10396 5b9c 8091 0000 lds r24,SummeRoll
		10156	10397 5ba0 9091 0000 lds r25,(SummeRoll)+1
		10157	10398 5ba4 A091 0000 lds r26,(SummeRoll)+2
		10158	10399 5ba8 B091 0000 lds r27,(SummeRoll)+3
		10159	10400 5bac 8050 subi r24,lo8(-64000)
		10160	10401 5bae 9640 sbci r25,hi8(-64000)
		10161	10402 5bb0 AF4F sbci r26,hlo8(-64000)
		10162	10403 5bb2 BF4F sbci r27,hhi8(-64000)
		10163	10404 5bb4 04F4 brge .L845
		10164	10405 5bb6 80E0 ldi r24,lo8(-64000)
		10165	10406 5bb8 96E0 ldi r25,hi8(-64000)
		10166	10407 5bba AFEF ldi r26,hlo8(-64000)
		10167	10408 5bbc BFEF ldi r27,hhi8(-64000)
		10168	10409 5bbe 8093 0000 sts SummeRoll,r24
		10169	10410 5bc2 9093 0000 sts (SummeRoll)+1,r25
		10170	10411 5bc6 A093 0000 sts (SummeRoll)+2,r26
		10171	10412 5bca B093 0000 sts (SummeRoll)+3,r27
		10172	10413 .L845:
		10173	10414 5bce 2091 0000 lds r18,DiffRoll
		10174	10415 5bd2 3091 0000 lds r19,(DiffRoll)+1
		10175	10416 5bd6 48E0 ldi r20,lo8(8)
		10176	10417 5bd8 4C15 cp r20,r12
		10177	10418 5bda 00F0 brlo .L846
		10178	10419 5bdc 8C2D mov r24,r12
		10179	10420 5bde 9927 clr r25
		10180	10421 5be0 829F mul r24,r18
		10181	10422 5be2 B001 movw r22,r0
		10182	10423 5be4 839F mul r24,r19
		10183	10424 5be6 700D add r23,r0
		10184	10425 5be8 929F mul r25,r18
		10185	10426 5bea 700D add r23,r0
		10186	10427 5bec 1124 clr r1
		10187	10428 5bee CB01 movw r24,r22
		10188	10429 5bf0 77FD sbrc r23,7
		10189	10430 5bf2 0796 adiw r24,7
		10190	10431 .L847:
		10191	10432 5bf4 6C01 movw r12,r24
		10192	10433 5bf6 B3E0 ldi r27,3
		10193	10434 5bf8 D594 1: asr r13
		10194	10435 5bfa C794 ror r12
		10195	10436 5bfc BA95 dec r27
		10196	10437 5bfe 01F4 brne 1b
		10197	10438 5c00 00C0 rjmp .L848
		10198	10439 .L846:
		10199	10440 5c02 C694 lsr r12
		10200	10441 5c04 8C2D mov r24,r12
		10201	10442 5c06 9927 clr r25
		10202	10443 5c08 829F mul r24,r18
		10203	10444 5c0a D001 movw r26,r0
		10204	10445 5c0c 839F mul r24,r19
		10205	10446 5c0e B00D add r27,r0
		10206	10447 5c10 929F mul r25,r18
		10207	10448 5c12 B00D add r27,r0
		10208	10449 5c14 1124 clr r1
		10209	10450 5c16 CD01 movw r24,r26
		10210	10451 5c18 B7FD sbrc r27,7
		10211	10452 5c1a 0396 adiw r24,3
		10212	10453 .L849:
		10213	10454 5c1c 6C01 movw r12,r24
		10214	10455 5c1e D594 asr r13
		10215	10456 5c20 C794 ror r12
		10216	10457 5c22 D594 asr r13
		10217	10458 5c24 C794 ror r12
		10218	10459 .L848:
		10219	10460 5c26 9501 movw r18,r10
		10220	10461 5c28 4427 clr r20
		10221	10462 5c2a 37FD sbrc r19,7
		10222	10463 5c2c 4095 com r20
		10223	10464 5c2e 542F mov r21,r20
		10224	10465 5c30 8091 0000 lds r24,SummeRoll
		10225	10466 5c34 9091 0000 lds r25,(SummeRoll)+1
		10226	10467 5c38 A091 0000 lds r26,(SummeRoll)+2
		10227	10468 5c3c B091 0000 lds r27,(SummeRoll)+3
		10228	10469 5c40 BC01 movw r22,r24
		10229	10470 5c42 CD01 movw r24,r26
		10230	10471 5c44 0E94 0000 call __divmodsi4
		10231	10472 5c48 C20E add r12,r18
		10232	10473 5c4a D31E adc r13,r19
		10233	10474 5c4c 692D mov r22,r9
		10234	10475 5c4e 7727 clr r23
		10235	10476 5c50 8827 clr r24
		10236	10477 5c52 9927 clr r25
		10237	10478 5c54 9801 movw r18,r16
		10238	10479 5c56 17FF sbrs r17,7
		10239	10480 5c58 00C0 rjmp .L850
		10240	10481 5c5a 2227 clr r18
		10241	10482 5c5c 3327 clr r19
		10242	10483 5c5e 201B sub r18,r16
		10243	10484 5c60 310B sbc r19,r17
		10244	10485 .L850:
		10245	10486 5c62 37FF sbrs r19,7
		10246	10487 5c64 00C0 rjmp .L851
		10247	10488 5c66 2F5F subi r18,lo8(-(1))
		10248	10489 5c68 3F4F sbci r19,hi8(-(1))
		10249	10490 .L851:
		10250	10491 5c6a 3595 asr r19
		10251	10492 5c6c 2795 ror r18
		10252	10493 5c6e E981 ldd r30,Y+1
		10253	10494 5c70 FA81 ldd r31,Y+2
		10254	10495 5c72 2E0F add r18,r30
		10255	10496 5c74 3F1F adc r19,r31
		10256	10497 5c76 4427 clr r20
		10257	10498 5c78 37FD sbrc r19,7
		10258	10499 5c7a 4095 com r20
		10259	10500 5c7c 542F mov r21,r20
		10260	10501 5c7e 0E94 0000 call __mulsi3
		10261	10502 5c82 97FF sbrs r25,7
		10262	10503 5c84 00C0 rjmp .L852
		10263	10504 5c86 615C subi r22,lo8(-(63))
		10264	10505 5c88 7F4F sbci r23,hi8(-(63))
		10265	10506 5c8a 8F4F sbci r24,hlo8(-(63))
		10266	10507 5c8c 9F4F sbci r25,hhi8(-(63))
		10267	10508 .L852:
		10268	10509 5c8e E6E0 ldi r30,6
		10269	10510 5c90 9595 1: asr r25
		10270	10511 5c92 8795 ror r24
		10271	10512 5c94 7795 ror r23
		10272	10513 5c96 6795 ror r22
		10273	10514 5c98 EA95 dec r30
		10274	10515 5c9a 01F4 brne 1b
		10275	10516 5c9c 9B01 movw r18,r22
		10276	10517 5c9e 6C15 cp r22,r12
		10277	10518 5ca0 7D05 cpc r23,r13
		10278	10519 5ca2 04F4 brge .L853
		10279	10520 5ca4 6B01 movw r12,r22
		10280	10521 .L853:
		10281	10522 5ca6 3095 com r19
		10282	10523 5ca8 2195 neg r18
		10283	10524 5caa 3F4F sbci r19,lo8(-1)
		10284	10525 5cac C216 cp r12,r18
		10285	10526 5cae D306 cpc r13,r19
		10286	10527 5cb0 04F4 brge .L854
		10287	10528 5cb2 6901 movw r12,r18
		10288	10529 .L854:
		10289	10530 5cb4 8091 0000 lds r24,MIN_GAS
		10290	10531 5cb8 282E mov r2,r24
		10291	10532 5cba 3324 clr r3
		10292	10533 5cbc 5090 0000 lds r5,EE_Parameter+101
		10293	10534 5cc0 60E0 ldi r22,lo8(Motor)
		10294	10535 5cc2 862E mov r8,r22
		10295	10536 5cc4 60E0 ldi r22,hi8(Motor)
		10296	10537 5cc6 962E mov r9,r22
		10297	10538 5cc8 50E0 ldi r21,lo8(Mixer+13)
		10298	10539 5cca A52E mov r10,r21
		10299	10540 5ccc 50E0 ldi r21,hi8(Mixer+13)
		10300	10541 5cce B52E mov r11,r21
		10301	10542 5cd0 4BE0 ldi r20,lo8(11)
		10302	10543 5cd2 442E mov r4,r20
		10303	10544 5cd4 30E0 ldi r19,lo8(tmp_motorwert)
		10304	10545 5cd6 632E mov r6,r19
		10305	10546 5cd8 30E0 ldi r19,hi8(tmp_motorwert)
		10306	10547 5cda 732E mov r7,r19
		10307	10548 .L889:
		10308	10549 5cdc D501 movw r26,r10
		10309	10550 5cde 2C91 ld r18,X
		10310	10551 5ce0 1216 cp __zero_reg__,r18
		10311	10552 5ce2 04F0 brlt .+2
		10312	10553 5ce4 00C0 rjmp .L858
		10313	10554 5ce6 2034 cpi r18,lo8(64)
		10314	10555 5ce8 01F4 brne .L859
		10315	10556 5cea E981 ldd r30,Y+1
		10316	10557 5cec FA81 ldd r31,Y+2
		10317	10558 5cee FF8B std Y+23,r31
		10318	10559 5cf0 EE8B std Y+22,r30
		10319	10560 5cf2 00C0 rjmp .L860
		10320	10561 .L859:
		10321	10562 5cf4 4981 ldd r20,Y+1
		10322	10563 5cf6 5A81 ldd r21,Y+2
		10323	10564 5cf8 CA01 movw r24,r20
		10324	10565 5cfa AA27 clr r26
		10325	10566 5cfc 97FD sbrc r25,7
		10326	10567 5cfe A095 com r26
		10327	10568 5d00 BA2F mov r27,r26
		10328	10569 5d02 3327 clr r19
		10329	10570 5d04 27FD sbrc r18,7
		10330	10571 5d06 3095 com r19
		10331	10572 5d08 432F mov r20,r19
		10332	10573 5d0a 532F mov r21,r19
		10333	10574 5d0c BC01 movw r22,r24
		10334	10575 5d0e CD01 movw r24,r26
		10335	10576 5d10 0E94 0000 call __mulsi3
		10336	10577 5d14 97FF sbrs r25,7
		10337	10578 5d16 00C0 rjmp .L861
		10338	10579 5d18 615C subi r22,lo8(-(63))
		10339	10580 5d1a 7F4F sbci r23,hi8(-(63))
		10340	10581 5d1c 8F4F sbci r24,hlo8(-(63))
		10341	10582 5d1e 9F4F sbci r25,hhi8(-(63))
		10342	10583 .L861:
		10343	10584 5d20 26E0 ldi r18,6
		10344	10585 5d22 9595 1: asr r25
		10345	10586 5d24 8795 ror r24
		10346	10587 5d26 7795 ror r23
		10347	10588 5d28 6795 ror r22
		10348	10589 5d2a 2A95 dec r18
		10349	10590 5d2c 01F4 brne 1b
		10350	10591 5d2e 7F8B std Y+23,r23
		10351	10592 5d30 6E8B std Y+22,r22
		10352	10593 .L860:
		10353	10594 5d32 F501 movw r30,r10
		10354	10595 5d34 2181 ldd r18,Z+1
		10355	10596 5d36 2034 cpi r18,lo8(64)
		10356	10597 5d38 01F4 brne .L862
		10357	10598 5d3a 2E89 ldd r18,Y+22
		10358	10599 5d3c 3F89 ldd r19,Y+23
		10359	10600 5d3e 2E0D add r18,r14
		10360	10601 5d40 3F1D adc r19,r15
		10361	10602 5d42 3F8B std Y+23,r19
		10362	10603 5d44 2E8B std Y+22,r18
		10363	10604 5d46 00C0 rjmp .L863
		10364	10605 .L862:
		10365	10606 5d48 203C cpi r18,lo8(-64)
		10366	10607 5d4a 01F4 brne .L864
		10367	10608 5d4c 4E89 ldd r20,Y+22
		10368	10609 5d4e 5F89 ldd r21,Y+23
		10369	10610 5d50 4E19 sub r20,r14
		10370	10611 5d52 5F09 sbc r21,r15
		10371	10612 5d54 5F8B std Y+23,r21
		10372	10613 5d56 4E8B std Y+22,r20
		10373	10614 5d58 00C0 rjmp .L863
		10374	10615 .L864:
		10375	10616 5d5a C701 movw r24,r14
		10376	10617 5d5c AA27 clr r26
		10377	10618 5d5e 97FD sbrc r25,7
		10378	10619 5d60 A095 com r26
		10379	10620 5d62 BA2F mov r27,r26
		10380	10621 5d64 3327 clr r19
		10381	10622 5d66 27FD sbrc r18,7
		10382	10623 5d68 3095 com r19
		10383	10624 5d6a 432F mov r20,r19
		10384	10625 5d6c 532F mov r21,r19
		10385	10626 5d6e BC01 movw r22,r24
		10386	10627 5d70 CD01 movw r24,r26
		10387	10628 5d72 0E94 0000 call __mulsi3
		10388	10629 5d76 97FF sbrs r25,7
		10389	10630 5d78 00C0 rjmp .L866
		10390	10631 5d7a 615C subi r22,lo8(-(63))
		10391	10632 5d7c 7F4F sbci r23,hi8(-(63))
		10392	10633 5d7e 8F4F sbci r24,hlo8(-(63))
		10393	10634 5d80 9F4F sbci r25,hhi8(-(63))
		10394	10635 .L866:
		10395	10636 5d82 B6E0 ldi r27,6
		10396	10637 5d84 9595 1: asr r25
		10397	10638 5d86 8795 ror r24
		10398	10639 5d88 7795 ror r23
		10399	10640 5d8a 6795 ror r22
		10400	10641 5d8c BA95 dec r27
		10401	10642 5d8e 01F4 brne 1b
		10402	10643 5d90 AE89 ldd r26,Y+22
		10403	10644 5d92 BF89 ldd r27,Y+23
		10404	10645 5d94 A60F add r26,r22
		10405	10646 5d96 B71F adc r27,r23
		10406	10647 5d98 BF8B std Y+23,r27
		10407	10648 5d9a AE8B std Y+22,r26
		10408	10649 .L863:
		10409	10650 5d9c F501 movw r30,r10
		10410	10651 5d9e 2281 ldd r18,Z+2
		10411	10652 5da0 2034 cpi r18,lo8(64)
		10412	10653 5da2 01F4 brne .L867
		10413	10654 5da4 2E89 ldd r18,Y+22
		10414	10655 5da6 3F89 ldd r19,Y+23
		10415	10656 5da8 2C0D add r18,r12
		10416	10657 5daa 3D1D adc r19,r13
		10417	10658 5dac 3F8B std Y+23,r19
		10418	10659 5dae 2E8B std Y+22,r18
		10419	10660 5db0 00C0 rjmp .L868
		10420	10661 .L867:
		10421	10662 5db2 203C cpi r18,lo8(-64)
		10422	10663 5db4 01F4 brne .L869
		10423	10664 5db6 4E89 ldd r20,Y+22
		10424	10665 5db8 5F89 ldd r21,Y+23
		10425	10666 5dba 4C19 sub r20,r12
		10426	10667 5dbc 5D09 sbc r21,r13
		10427	10668 5dbe 5F8B std Y+23,r21
		10428	10669 5dc0 4E8B std Y+22,r20
		10429	10670 5dc2 00C0 rjmp .L868
		10430	10671 .L869:
		10431	10672 5dc4 C601 movw r24,r12
		10432	10673 5dc6 AA27 clr r26
		10433	10674 5dc8 97FD sbrc r25,7
		10434	10675 5dca A095 com r26
		10435	10676 5dcc BA2F mov r27,r26
		10436	10677 5dce 3327 clr r19
		10437	10678 5dd0 27FD sbrc r18,7
		10438	10679 5dd2 3095 com r19
		10439	10680 5dd4 432F mov r20,r19
		10440	10681 5dd6 532F mov r21,r19
		10441	10682 5dd8 BC01 movw r22,r24
		10442	10683 5dda CD01 movw r24,r26
		10443	10684 5ddc 0E94 0000 call __mulsi3
		10444	10685 5de0 97FF sbrs r25,7
		10445	10686 5de2 00C0 rjmp .L871
		10446	10687 5de4 615C subi r22,lo8(-(63))
		10447	10688 5de6 7F4F sbci r23,hi8(-(63))
		10448	10689 5de8 8F4F sbci r24,hlo8(-(63))
		10449	10690 5dea 9F4F sbci r25,hhi8(-(63))
		10450	10691 .L871:
		10451	10692 5dec A6E0 ldi r26,6
		10452	10693 5dee 9595 1: asr r25
		10453	10694 5df0 8795 ror r24
		10454	10695 5df2 7795 ror r23
		10455	10696 5df4 6795 ror r22
		10456	10697 5df6 AA95 dec r26
		10457	10698 5df8 01F4 brne 1b
		10458	10699 5dfa AE89 ldd r26,Y+22
		10459	10700 5dfc BF89 ldd r27,Y+23
		10460	10701 5dfe A60F add r26,r22
		10461	10702 5e00 B71F adc r27,r23
		10462	10703 5e02 BF8B std Y+23,r27
		10463	10704 5e04 AE8B std Y+22,r26
		10464	10705 .L868:
		10465	10706 5e06 F501 movw r30,r10
		10466	10707 5e08 2381 ldd r18,Z+3
		10467	10708 5e0a 2034 cpi r18,lo8(64)
		10468	10709 5e0c 01F4 brne .L872
		10469	10710 5e0e 2E89 ldd r18,Y+22
		10470	10711 5e10 3F89 ldd r19,Y+23
		10471	10712 5e12 200F add r18,r16
		10472	10713 5e14 311F adc r19,r17
		10473	10714 5e16 3F8B std Y+23,r19
		10474	10715 5e18 2E8B std Y+22,r18
		10475	10716 5e1a 00C0 rjmp .L873
		10476	10717 .L872:
		10477	10718 5e1c 203C cpi r18,lo8(-64)
		10478	10719 5e1e 01F4 brne .L874
		10479	10720 5e20 4E89 ldd r20,Y+22
		10480	10721 5e22 5F89 ldd r21,Y+23
		10481	10722 5e24 401B sub r20,r16
		10482	10723 5e26 510B sbc r21,r17
		10483	10724 5e28 5F8B std Y+23,r21
		10484	10725 5e2a 4E8B std Y+22,r20
		10485	10726 5e2c 00C0 rjmp .L873
		10486	10727 .L874:
		10487	10728 5e2e C801 movw r24,r16
		10488	10729 5e30 AA27 clr r26
		10489	10730 5e32 97FD sbrc r25,7
		10490	10731 5e34 A095 com r26
		10491	10732 5e36 BA2F mov r27,r26
		10492	10733 5e38 3327 clr r19
		10493	10734 5e3a 27FD sbrc r18,7
		10494	10735 5e3c 3095 com r19
		10495	10736 5e3e 432F mov r20,r19
		10496	10737 5e40 532F mov r21,r19
		10497	10738 5e42 BC01 movw r22,r24
		10498	10739 5e44 CD01 movw r24,r26
		10499	10740 5e46 0E94 0000 call __mulsi3
		10500	10741 5e4a 97FF sbrs r25,7
		10501	10742 5e4c 00C0 rjmp .L876
		10502	10743 5e4e 615C subi r22,lo8(-(63))
		10503	10744 5e50 7F4F sbci r23,hi8(-(63))
		10504	10745 5e52 8F4F sbci r24,hlo8(-(63))
		10505	10746 5e54 9F4F sbci r25,hhi8(-(63))
		10506	10747 .L876:
		10507	10748 5e56 F6E0 ldi r31,6
		10508	10749 5e58 9595 1: asr r25
		10509	10750 5e5a 8795 ror r24
		10510	10751 5e5c 7795 ror r23
		10511	10752 5e5e 6795 ror r22
		10512	10753 5e60 FA95 dec r31
		10513	10754 5e62 01F4 brne 1b
		10514	10755 5e64 AE89 ldd r26,Y+22
		10515	10756 5e66 BF89 ldd r27,Y+23
		10516	10757 5e68 A60F add r26,r22
		10517	10758 5e6a B71F adc r27,r23
		10518	10759 5e6c BF8B std Y+23,r27
		10519	10760 5e6e AE8B std Y+22,r26
		10520	10761 .L873:
		10521	10762 5e70 F301 movw r30,r6
		10522	10763 5e72 8081 ld r24,Z
		10523	10764 5e74 9181 ldd r25,Z+1
		10524	10765 5e76 2E89 ldd r18,Y+22
		10525	10766 5e78 3F89 ldd r19,Y+23
		10526	10767 5e7a 8217 cp r24,r18
		10527	10768 5e7c 9307 cpc r25,r19
		10528	10769 5e7e 04F4 brge .L877
		10529	10770 5e80 B901 movw r22,r18
		10530	10771 5e82 680F add r22,r24
		10531	10772 5e84 791F adc r23,r25
		10532	10773 5e86 77FF sbrs r23,7
		10533	10774 5e88 00C0 rjmp .L878
		10534	10775 5e8a 6F5F subi r22,lo8(-(1))
		10535	10776 5e8c 7F4F sbci r23,hi8(-(1))
		10536	10777 .L878:
		10537	10778 5e8e 7595 asr r23
		10538	10779 5e90 6795 ror r22
		10539	10780 5e92 7F8B std Y+23,r23
		10540	10781 5e94 6E8B std Y+22,r22
		10541	10782 5e96 00C0 rjmp .L879
		10542	10783 .L877:
		10543	10784 5e98 5520 tst r5
		10544	10785 5e9a 01F4 brne .L880
		10545	10786 5e9c 4E89 ldd r20,Y+22
		10546	10787 5e9e 5F89 ldd r21,Y+23
		10547	10788 5ea0 440F add r20,r20
		10548	10789 5ea2 551F adc r21,r21
		10549	10790 5ea4 481B sub r20,r24
		10550	10791 5ea6 590B sbc r21,r25
		10551	10792 5ea8 5F8B std Y+23,r21
		10552	10793 5eaa 4E8B std Y+22,r20
		10553	10794 5eac 00C0 rjmp .L879
		10554	10795 .L880:
		10555	10796 5eae 51E0 ldi r21,lo8(1)
		10556	10797 5eb0 5515 cp r21,r5
		10557	10798 5eb2 00F4 brsh .L879
		10558	10799 5eb4 252D mov r18,r5
		10559	10800 5eb6 3327 clr r19
		10560	10801 5eb8 6E89 ldd r22,Y+22
		10561	10802 5eba 7F89 ldd r23,Y+23
		10562	10803 5ebc 861B sub r24,r22
		10563	10804 5ebe 970B sbc r25,r23
		10564	10805 5ec0 B901 movw r22,r18
		10565	10806 5ec2 0E94 0000 call __divmodhi4
		10566	10807 5ec6 AE89 ldd r26,Y+22
		10567	10808 5ec8 BF89 ldd r27,Y+23
		10568	10809 5eca A60F add r26,r22
		10569	10810 5ecc B71F adc r27,r23
		10570	10811 5ece BF8B std Y+23,r27
		10571	10812 5ed0 AE8B std Y+22,r26
		10572	10813 .L879:
		10573	10814 5ed2 C101 movw r24,r2
		10574	10815 5ed4 880F lsl r24
		10575	10816 5ed6 991F rol r25
		10576	10817 5ed8 880F lsl r24
		10577	10818 5eda 991F rol r25
		10578	10819 5edc EE89 ldd r30,Y+22
		10579	10820 5ede FF89 ldd r31,Y+23
		10580	10821 5ee0 8E17 cp r24,r30
		10581	10822 5ee2 9F07 cpc r25,r31
		10582	10823 5ee4 04F4 brge .L922
		10583	10824 5ee6 FD89 ldd r31,Y+21
		10584	10825 5ee8 8F2F mov r24,r31
		10585	10826 5eea 9927 clr r25
		10586	10827 5eec 880F lsl r24
		10587	10828 5eee 991F rol r25
		10588	10829 5ef0 880F lsl r24
		10589	10830 5ef2 991F rol r25
		10590	10831 5ef4 2E89 ldd r18,Y+22
		10591	10832 5ef6 3F89 ldd r19,Y+23
		10592	10833 5ef8 2817 cp r18,r24
		10593	10834 5efa 3907 cpc r19,r25
		10594	10835 5efc 04F0 brlt .L884
		10595	10836 .L922:
		10596	10837 5efe 9F8B std Y+23,r25
		10597	10838 5f00 8E8B std Y+22,r24
		10598	10839 .L884:
		10599	10840 5f02 8E89 ldd r24,Y+22
		10600	10841 5f04 9F89 ldd r25,Y+23
		10601	10842 5f06 97FD sbrc r25,7
		10602	10843 5f08 0396 adiw r24,3
		10603	10844 .L886:
		10604	10845 5f0a 9595 asr r25
		10605	10846 5f0c 8795 ror r24
		10606	10847 5f0e 9595 asr r25
		10607	10848 5f10 8795 ror r24
		10608	10849 5f12 F401 movw r30,r8
		10609	10850 5f14 8183 std Z+1,r24
		10610	10851 5f16 880F lsl r24
		10611	10852 5f18 991F rol r25
		10612	10853 5f1a 880F lsl r24
		10613	10854 5f1c 991F rol r25
		10614	10855 5f1e 2E89 ldd r18,Y+22
		10615	10856 5f20 3F89 ldd r19,Y+23
		10616	10857 5f22 281B sub r18,r24
		10617	10858 5f24 390B sbc r19,r25
		10618	10859 5f26 C901 movw r24,r18
		10619	10860 5f28 880F lsl r24
		10620	10861 5f2a 8283 std Z+2,r24
		10621	10862 5f2c EE89 ldd r30,Y+22
		10622	10863 5f2e FF89 ldd r31,Y+23
		10623	10864 5f30 D301 movw r26,r6
		10624	10865 5f32 ED93 st X+,r30
		10625	10866 5f34 FC93 st X,r31
		10626	10867 5f36 00C0 rjmp .L857
		10627	10868 .L858:
		10628	10869 5f38 F401 movw r30,r8
		10629	10870 5f3a 1182 std Z+1,__zero_reg__
		10630	10871 5f3c 1282 std Z+2,__zero_reg__
		10631	10872 .L857:
		10632	10873 5f3e 4A94 dec r4
		10633	10874 5f40 22E0 ldi r18,lo8(2)
		10634	10875 5f42 30E0 ldi r19,hi8(2)
		10635	10876 5f44 620E add r6,r18
		10636	10877 5f46 731E adc r7,r19
		10637	10878 5f48 44E0 ldi r20,lo8(4)
		10638	10879 5f4a 50E0 ldi r21,hi8(4)
		10639	10880 5f4c A40E add r10,r20
		10640	10881 5f4e B51E adc r11,r21
		10641	10882 5f50 68E0 ldi r22,lo8(8)
		10642	10883 5f52 70E0 ldi r23,hi8(8)
		10643	10884 5f54 860E add r8,r22
		10644	10885 5f56 971E adc r9,r23
		10645	10886 5f58 47FE sbrs r4,7
		10646	10887 5f5a 00C0 rjmp .L889
		10647	10888 /* epilogue: frame size=23 */
		10648	10889 5f5c E2E1 ldi r30,18
		10649	10890 5f5e C95E subi r28,-23
		10650	10891 5f60 0C94 0000 jmp __epilogue_restores__+0
		10651	10892 /* epilogue end (size=4) */
		10652	10893 /* function MotorRegler size 8305 (8295) */
		10653	10895 .comm TrimNick,2,1
		10654	10896 .comm TrimRoll,2,1
		10655	10897 .comm ErsatzKompass,4,1
		10656	10898 .comm ErsatzKompassInGrad,2,1
		10657	10899 .comm MesswertNick,2,1
		10658	10900 .comm MesswertRoll,2,1
		10659	10901 .comm MesswertGier,2,1
		10660	10902 .comm Mittelwert_AccNick,2,1
		10661	10903 .comm Mittelwert_AccRoll,2,1
		10662	10904 .comm NaviAccNick,2,1
		10663	10905 .comm NaviAccRoll,2,1
		10664	10906 .comm h,1,1
		10665	10907 .comm m,1,1
		10666	10908 .comm s,1,1
		10667	10909 .comm DiffNick,2,1
		10668	10910 .comm DiffRoll,2,1
		10669	10911 .comm Parameter_Servo3,1,1
		10670	10912 .comm Parameter_Servo4,1,1
		10671	10913 .comm Parameter_Servo5,1,1
		10672	10914 .comm Parameter_J16Bitmask,1,1
		10673	10915 .comm Parameter_J16Timing,1,1
		10674	10916 .comm Parameter_J17Bitmask,1,1
		10675	10917 .comm Parameter_J17Timing,1,1
		10676	10918 .comm Parameter_GlobalConfig,1,1
		10677	10919 .comm Parameter_ExtraConfig,1,1
		10678	10920 .comm MesswertGierBias,2,1
		10679	10921 .comm RohMesswertNick,2,1
		10680	10922 .comm RohMesswertRoll,2,1
		10681	10923 .comm MittelIntegralNick,4,1
		10682	10924 .comm MittelIntegralRoll,4,1
		10683	10925 .comm MittelIntegralNick2,4,1
		10684	10926 .comm MittelIntegralRoll2,4,1
		10685	10927 .comm MAX_GAS,1,1
		10686	10928 .comm MIN_GAS,1,1
		10687	10929 .comm GyroFaktor,1,1
		10688	10930 .comm GyroFaktorGier,1,1
		10689	10931 .comm IntegralFaktor,1,1
		10690	10932 .comm IntegralFaktorGier,1,1
		10691	10933 .comm Parameter_NaviGpsModeControl,1,1
		10692	10934 .comm Parameter_NaviGpsGain,1,1
		10693	10935 .comm Parameter_NaviGpsP,1,1
		10694	10936 .comm Parameter_NaviGpsI,1,1
		10695	10937 .comm Parameter_NaviGpsD,1,1
		10696	10938 .comm Parameter_NaviGpsACC,1,1
		10697	10939 .comm Parameter_NaviOperatingRadius,1,1
		10698	10940 .comm Parameter_NaviWindCorrection,1,1
		10699	10941 .comm Parameter_NaviSpeedCompensation,1,1
		10700	10942 .comm Parameter_ExternalControl,1,1
		10701	10943 .comm Parameter_MaximumAltitude,1,1
		10702	10944 .comm KopplungsteilNickRoll,2,1
		10703	10945 .comm KopplungsteilRollNick,2,1
		10704	10946 .comm tmp_motorwert,24,1
		10705	10947 /* File "fc.c": code 12377 = 0x3059 (12316), prologues 31, epilogues 30 */
		10706	DEFINED SYMBOLS
		10707	ABS:00000000 fc.c
		10708	C:\Temp/cch19s1E.s:3 ABS:0000003f __SREG__
		10709	C:\Temp/cch19s1E.s:4 ABS:0000003e __SP_H__
		10710	C:\Temp/cch19s1E.s:5 ABS:0000003d __SP_L__
		10711	C:\Temp/cch19s1E.s:6 ABS:00000000 __tmp_reg__
		10712	C:\Temp/cch19s1E.s:7 ABS:00000001 __zero_reg__
		10713	C:\Temp/cch19s1E.s:15 .bss:00000000 GasIsZeroCnt
		10714	C:\Temp/cch19s1E.s:21 .bss:00000002 HooverGasEmergencyPercent
		10715	C:\Temp/cch19s1E.s:27 .data:00000000 VarioCharacter
		10716	C:\Temp/cch19s1E.s:32 .data:00000001 GIER_GRAD_FAKTOR
		10717	C:\Temp/cch19s1E.s:39 .bss:00000004 FC_StatusFlags2
		10718	C:\Temp/cch19s1E.s:45 .bss:00000005 FC_StatusFlags
		10719	C:\Temp/cch19s1E.s:51 .bss:00000006 modell_fliegt
		10720	C:\Temp/cch19s1E.s:57 .bss:00000008 MaxStickRoll
		10721	C:\Temp/cch19s1E.s:63 .bss:0000000a MaxStickNick
		10722	C:\Temp/cch19s1E.s:69 .data:00000005 ExternHoehenValue
		10723	C:\Temp/cch19s1E.s:76 .bss:0000000c ExternStickGier
		10724	C:\Temp/cch19s1E.s:82 .bss:0000000e ExternStickRoll
		10725	C:\Temp/cch19s1E.s:88 .bss:00000010 ExternStickNick
		10726	C:\Temp/cch19s1E.s:94 .data:00000007 sintab
		10727	C:\Temp/cch19s1E.s:131 .bss:00000012 CareFree
		10728	C:\Temp/cch19s1E.s:137 .data:00000026 Parameter_DynamicStability
		10729	C:\Temp/cch19s1E.s:142 .data:00000027 Parameter_CouplingYawCorrection
		10730	C:\Temp/cch19s1E.s:147 .data:00000028 Parameter_AchsKopplung2
		10731	C:\Temp/cch19s1E.s:152 .data:00000029 Parameter_AchsKopplung1
		10732	C:\Temp/cch19s1E.s:157 .data:0000002a Parameter_LoopGasLimit
		10733	C:\Temp/cch19s1E.s:162 .data:0000002b Parameter_ServoRollComp
		10734	C:\Temp/cch19s1E.s:167 .data:0000002c Parameter_ServoNickComp
		10735	C:\Temp/cch19s1E.s:172 .data:0000002d Parameter_ServoRollControl
		10736	C:\Temp/cch19s1E.s:177 .data:0000002e Parameter_ServoNickControl
		10737	C:\Temp/cch19s1E.s:184 .bss:00000013 Parameter_UserParam8
		10738	C:\Temp/cch19s1E.s:190 .bss:00000014 Parameter_UserParam7
		10739	C:\Temp/cch19s1E.s:196 .bss:00000015 Parameter_UserParam6
		10740	C:\Temp/cch19s1E.s:202 .bss:00000016 Parameter_UserParam5
		10741	C:\Temp/cch19s1E.s:208 .bss:00000017 Parameter_UserParam4
		10742	C:\Temp/cch19s1E.s:214 .bss:00000018 Parameter_UserParam3
		10743	C:\Temp/cch19s1E.s:220 .bss:00000019 Parameter_UserParam2
		10744	C:\Temp/cch19s1E.s:226 .bss:0000001a Parameter_UserParam1
		10745	C:\Temp/cch19s1E.s:232 .data:0000002f Parameter_I_Faktor
		10746	C:\Temp/cch19s1E.s:237 .data:00000030 Parameter_Gier_P
		10747	C:\Temp/cch19s1E.s:242 .data:00000031 Parameter_Gyro_Gier_I
		10748	C:\Temp/cch19s1E.s:247 .data:00000032 Parameter_Gyro_Gier_P
		10749	C:\Temp/cch19s1E.s:252 .data:00000033 Parameter_Gyro_I
		10750	C:\Temp/cch19s1E.s:257 .data:00000034 Parameter_Gyro_P
		10751	C:\Temp/cch19s1E.s:262 .data:00000035 Parameter_Gyro_D
		10752	C:\Temp/cch19s1E.s:267 .data:00000036 Parameter_Hoehe_GPS_Z
		10753	C:\Temp/cch19s1E.s:272 .data:00000037 Parameter_KompassWirkung
		10754	C:\Temp/cch19s1E.s:277 .data:00000038 Parameter_Hoehe_ACC_Wirkung
		10755	C:\Temp/cch19s1E.s:282 .data:00000039 Parameter_Hoehe_P
		10756	C:\Temp/cch19s1E.s:287 .data:0000003a Parameter_HoehenSchalter
		10757	C:\Temp/cch19s1E.s:292 .data:0000003b Parameter_Luftdruck_D
		10758	C:\Temp/cch19s1E.s:299 .bss:0000001b Looping_Oben
		10759	C:\Temp/cch19s1E.s:305 .bss:0000001c Looping_Unten
		10760	C:\Temp/cch19s1E.s:311 .bss:0000001d Looping_Rechts
		10761	C:\Temp/cch19s1E.s:317 .bss:0000001e Looping_Links
		10762	C:\Temp/cch19s1E.s:323 .bss:0000001f Looping_Roll
		10763	C:\Temp/cch19s1E.s:329 .bss:00000020 Looping_Nick
		10764	C:\Temp/cch19s1E.s:335 .data:0000003c Ki
		10765	C:\Temp/cch19s1E.s:342 .bss:00000021 HoverGas
		10766	C:\Temp/cch19s1E.s:348 .bss:00000023 LageKorrekturNick
		10767	C:\Temp/cch19s1E.s:354 .bss:00000025 LageKorrekturRoll
		10768	C:\Temp/cch19s1E.s:360 .bss:00000027 NeueKompassRichtungMerken
		10769	C:\Temp/cch19s1E.s:366 .bss:00000028 CalibrationDone
		10770	C:\Temp/cch19s1E.s:372 .bss:00000029 CompassGierSetpoint
		10771	C:\Temp/cch19s1E.s:378 .bss:0000002b WaypointTrimming
		10772	C:\Temp/cch19s1E.s:384 .data:0000003e carefree_old
		10773	C:\Temp/cch19s1E.s:391 .bss:0000002c FromNC_AltitudeSpeed
		10774	C:\Temp/cch19s1E.s:397 .bss:0000002d FromNC_AltitudeSetpoint
		10775	C:\Temp/cch19s1E.s:403 .bss:00000031 AltitudeSetpointTrimming
		10776	C:\Temp/cch19s1E.s:409 .bss:00000033 SollHoehe
		10777	C:\Temp/cch19s1E.s:415 .bss:00000037 HoehenWert
		10778	C:\Temp/cch19s1E.s:421 .bss:0000003b StartTrigger
		10779	C:\Temp/cch19s1E.s:427 .bss:0000003c MotorenEin
		10780	C:\Temp/cch19s1E.s:433 .bss:0000003d SenderOkay
		10781	C:\Temp/cch19s1E.s:439 .bss:0000003e Poti
		10782	C:\Temp/cch19s1E.s:445 .bss:00000047 StickGas
		10783	C:\Temp/cch19s1E.s:451 .bss:00000049 StickGier
		10784	C:\Temp/cch19s1E.s:457 .bss:0000004b StickRoll
		10785	C:\Temp/cch19s1E.s:463 .bss:0000004d StickNick
		10786	C:\Temp/cch19s1E.s:469 .data:0000003f HoverGasMax
		10787	C:\Temp/cch19s1E.s:476 .bss:0000004f HoverGasMin
		10788	C:\Temp/cch19s1E.s:482 .data:00000041 StickGasHover
		10789	C:\Temp/cch19s1E.s:489 .bss:00000051 GierGyroFehler
		10790	C:\Temp/cch19s1E.s:495 .data:00000043 Umschlag180Roll
		10791	C:\Temp/cch19s1E.s:500 .data:00000047 Umschlag180Nick
		10792	C:\Temp/cch19s1E.s:507 .bss:00000053 TrichterFlug
		10793	C:\Temp/cch19s1E.s:513 .bss:00000054 HoehenReglerAktiv
		10794	C:\Temp/cch19s1E.s:519 .data:0000004b KompassSignalSchlecht
		10795	C:\Temp/cch19s1E.s:524 .data:0000004d KompassFusion
		10796	C:\Temp/cch19s1E.s:529 .data:0000004e CalculateCompassTimer
		10797	C:\Temp/cch19s1E.s:536 .bss:00000055 KompassSollWert
		10798	C:\Temp/cch19s1E.s:542 .data:0000004f KompassValue
		10799	C:\Temp/cch19s1E.s:549 .bss:00000057 Mess_Integral_Hoch
		10800	C:\Temp/cch19s1E.s:555 .bss:0000005b SummeRoll
		10801	C:\Temp/cch19s1E.s:561 .bss:0000005f SummeNick
		10802	C:\Temp/cch19s1E.s:567 .bss:00000063 Mess_Integral_Gier2
		10803	C:\Temp/cch19s1E.s:573 .bss:00000067 Mess_Integral_Gier
		10804	C:\Temp/cch19s1E.s:579 .bss:0000006b Mess_IntegralRoll2
		10805	C:\Temp/cch19s1E.s:585 .bss:0000006f Mess_IntegralRoll
		10806	C:\Temp/cch19s1E.s:591 .bss:00000073 Mess_IntegralNick2
		10807	C:\Temp/cch19s1E.s:597 .bss:00000077 Mess_IntegralNick
		10808	C:\Temp/cch19s1E.s:603 .bss:0000007b Integral_Gier
		10809	C:\Temp/cch19s1E.s:609 .bss:0000007f IntegralAccZ
		10810	C:\Temp/cch19s1E.s:615 .bss:00000083 IntegralAccRoll
		10811	C:\Temp/cch19s1E.s:621 .bss:00000087 IntegralAccNick
		10812	C:\Temp/cch19s1E.s:627 .bss:0000008b IntegralRoll2
		10813	C:\Temp/cch19s1E.s:633 .bss:0000008f IntegralRoll
		10814	C:\Temp/cch19s1E.s:639 .bss:00000093 IntegralNick2
		10815	C:\Temp/cch19s1E.s:645 .bss:00000097 IntegralNick
		10816	C:\Temp/cch19s1E.s:651 .bss:0000009b ControlHeading
		10817	C:\Temp/cch19s1E.s:657 .bss:0000009c NeutralAccZ
		10818	C:\Temp/cch19s1E.s:663 .bss:0000009e NaviCntAcc
		10819	C:\Temp/cch19s1E.s:669 .bss:000000a0 NeutralAccY
		10820	C:\Temp/cch19s1E.s:675 .bss:000000a2 NeutralAccX
		10821	C:\Temp/cch19s1E.s:681 .bss:000000a4 StartNeutralNick
		10822	C:\Temp/cch19s1E.s:687 .bss:000000a6 StartNeutralRoll
		10823	C:\Temp/cch19s1E.s:693 .bss:000000a8 AdNeutralGier
		10824	C:\Temp/cch19s1E.s:699 .bss:000000aa AdNeutralRoll
		10825	C:\Temp/cch19s1E.s:705 .bss:000000ac AdNeutralNick
		10826	C:\Temp/cch19s1E.s:711 .bss:000000ae BaroExpandActive
		10827	C:\Temp/cch19s1E.s:716 .text:00000000 CopyDebugValues
		10828	COM:00000002 Mittelwert_AccNick
		10829	COM:00000002 Mittelwert_AccRoll
		10830	COM:00000002 ErsatzKompassInGrad
		10831	C:\Temp/cch19s1E.s:902 .text:0000022c Piep
		10832	C:\Temp/cch19s1E.s:976 .text:000002b2 CalibrierMittelwert
		10833	COM:00000002 MesswertNick
		10834	COM:00000002 MesswertRoll
		10835	COM:00000002 MesswertGier
		10836	C:\Temp/cch19s1E.s:1118 .progmem.data:00000000 __c.35
		10837	C:\Temp/cch19s1E.s:1123 .text:000003f4 SetNeutral
		10838	COM:00000004 ErsatzKompass
		10839	.bss:000000b0 tmpl.27
		10840	C:\Temp/cch19s1E.s:1631 .bss:000000b4 tmpl2.28
		10841	C:\Temp/cch19s1E.s:1632 .bss:000000b8 tmpl3.29
		10842	C:\Temp/cch19s1E.s:1633 .bss:000000bc tmpl4.30
		10843	C:\Temp/cch19s1E.s:1634 .bss:000000c0 oldNick.31
		10844	C:\Temp/cch19s1E.s:1635 .bss:000000c2 oldRoll.32
		10845	C:\Temp/cch19s1E.s:1636 .bss:000000c4 d2Roll.33
		10846	C:\Temp/cch19s1E.s:1637 .bss:000000c6 d2Nick.34
		10847	C:\Temp/cch19s1E.s:1641 .text:00000960 Mittelwert
		10848	COM:00000002 RohMesswertNick
		10849	COM:00000002 RohMesswertRoll
		10850	COM:00000002 NaviAccNick
		10851	COM:00000002 NaviAccRoll
		10852	COM:00000001 Parameter_GlobalConfig
		10853	COM:00000002 KopplungsteilNickRoll
		10854	COM:00000002 KopplungsteilRollNick
		10855	COM:00000002 TrimRoll
		10856	COM:00000002 TrimNick
		10857	C:\Temp/cch19s1E.s:3206 .text:000018c4 SendMotorData
		10858	C:\Temp/cch19s1E.s:3266 .text:0000193e ParameterZuordnung
		10859	COM:00000001 Parameter_J16Timing
		10860	COM:00000001 Parameter_J17Timing
		10861	COM:00000001 Parameter_Servo3
		10862	COM:00000001 Parameter_Servo4
		10863	COM:00000001 Parameter_Servo5
		10864	COM:00000001 Parameter_MaximumAltitude
		10865	COM:00000001 Parameter_ExtraConfig
		10866	COM:00000001 Parameter_ExternalControl
		10867	COM:00000001 MAX_GAS
		10868	COM:00000001 MIN_GAS
		10869	C:\Temp/cch19s1E.s:1638 .bss:000000c8 sollGier.0
		10870	C:\Temp/cch19s1E.s:4009 .bss:000000cc tmp_long.1
		10871	C:\Temp/cch19s1E.s:4010 .bss:000000d0 tmp_long2.2
		10872	C:\Temp/cch19s1E.s:4011 .bss:000000d4 IntegralFehlerNick.3
		10873	C:\Temp/cch19s1E.s:4012 .bss:000000d8 IntegralFehlerRoll.4
		10874	C:\Temp/cch19s1E.s:4013 .bss:000000dc RcLostTimer.5
		10875	C:\Temp/cch19s1E.s:4014 .bss:000000de delay_neutral.6
		10876	C:\Temp/cch19s1E.s:4015 .bss:000000df delay_einschalten.7
		10877	C:\Temp/cch19s1E.s:4016 .bss:000000e0 delay_ausschalten.8
		10878	C:\Temp/cch19s1E.s:4017 .bss:000000e1 move_safety_switch.9
		10879	C:\Temp/cch19s1E.s:4018 .bss:000000e2 ausgleichNick.10
		10880	C:\Temp/cch19s1E.s:4019 .bss:000000e6 ausgleichRoll.11
		10881	C:\Temp/cch19s1E.s:4020 .bss:000000ea stick_nick.12
		10882	C:\Temp/cch19s1E.s:4021 .bss:000000ec stick_roll.13
		10883	C:\Temp/cch19s1E.s:4022 .bss:000000ee cnt.14
		10884	C:\Temp/cch19s1E.s:4023 .bss:000000f0 last_n_p.15
		10885	C:\Temp/cch19s1E.s:4024 .bss:000000f1 last_n_n.16
		10886	C:\Temp/cch19s1E.s:4025 .bss:000000f2 last_r_p.17
		10887	C:\Temp/cch19s1E.s:4026 .bss:000000f3 last_r_n.18
		10888	C:\Temp/cch19s1E.s:4027 .bss:000000f4 MittelIntegralNick_Alt.19
		10889	C:\Temp/cch19s1E.s:4028 .bss:000000f8 MittelIntegralRoll_Alt.20
		10890	C:\Temp/cch19s1E.s:4029 .bss:000000fc HeightTrimming.21
		10891	C:\Temp/cch19s1E.s:4030 .bss:000000fe FilterHCGas.22
		10892	C:\Temp/cch19s1E.s:4031 .bss:00000100 HoverGasFilter.23
		10893	C:\Temp/cch19s1E.s:4036 .data:00000051 delay.24
		10894	C:\Temp/cch19s1E.s:4032 .bss:00000104 BaroAtUpperLimit.25
		10895	C:\Temp/cch19s1E.s:4038 .bss:00000105 BaroAtLowerLimit.26
		10896	C:\Temp/cch19s1E.s:4043 .text:00001f76 MotorRegler
		10897	COM:00000001 GyroFaktor
		10898	COM:00000001 IntegralFaktor
		10899	COM:00000001 GyroFaktorGier
		10900	COM:00000001 IntegralFaktorGier
		10901	COM:00000004 MittelIntegralNick
		10902	COM:00000004 MittelIntegralRoll
		10903	COM:00000004 MittelIntegralNick2
		10904	COM:00000004 MittelIntegralRoll2
		10905	COM:00000002 DiffNick
		10906	COM:00000002 DiffRoll
		10907	COM:00000018 tmp_motorwert
		10908	COM:00000001 h
		10909	COM:00000001 m
		10910	COM:00000001 s
		10911	COM:00000001 Parameter_J16Bitmask
		10912	COM:00000001 Parameter_J17Bitmask
		10913	COM:00000002 MesswertGierBias
		10914	COM:00000001 Parameter_NaviGpsModeControl
		10915	COM:00000001 Parameter_NaviGpsGain
		10916	COM:00000001 Parameter_NaviGpsP
		10917	COM:00000001 Parameter_NaviGpsI
		10918	COM:00000001 Parameter_NaviGpsD
		10919	COM:00000001 Parameter_NaviGpsACC
		10920	COM:00000001 Parameter_NaviOperatingRadius
		10921	COM:00000001 Parameter_NaviWindCorrection
		10922	COM:00000001 Parameter_NaviSpeedCompensation
		10923
		10924	UNDEFINED SYMBOLS
		10925	__do_copy_data
		10926	__do_clear_bss
		10927	EE_Parameter
		10928	__divmodsi4
		10929	DebugOut
		10930	AdWertGier
		10931	AdWertAccHoch
		10932	UBat
		10933	Motor
		10934	ServoNickValue
		10935	Capacity
		10936	GPS_Nick
		10937	GPS_Roll
		10938	VersionInfo
		10939	PlatinenVersion
		10940	beeptime
		10941	UpdateMotor
		10942	LIBFC_Polling
		10943	SucheGyroOffset
		10944	AdWertNick
		10945	AdWertRoll
		10946	AdWertAccNick
		10947	AdWertAccRoll
		10948	PPM_in
		10949	__mulsi3
		10950	__prologue_saves__
		10951	ExpandBaro
		10952	Delay_ms_Mess
		10953	MessLuftdruck
		10954	SucheLuftruckOffset
		10955	__divmodhi4
		10956	Aktuell_az
		10957	SetParamWord
		10958	GetParamWord
		10959	uart_putchar
		10960	_printf_P
		10961	Luftdruck
		10962	StartLuftdruck
		10963	VarioMeter
		10964	LED_Init
		10965	FromNaviCtrl_Value
		10966	ServoActive
		10967	NickServoValue
		10968	LIBFC_HoTT_Clear
		10969	__epilogue_restores__
		10970	AdWertNickFilter
		10971	AdWertRollFilter
		10972	AdReady
		10973	HiResNick
		10974	HiResRoll
		10975	MotorTest
		10976	PC_MotortestActive
		10977	I2C_TransferActive
		10978	motor_write
		10979	twi_state
		10980	BLFlags
		10981	NC_To_FC_MaxAltitude
		10982	SpeakHoTT
		10983	FromNaviCtrl
		10984	BeepMuster
		10985	PPM_diff
		10986	SetActiveParamSet
		10987	WinkelOut
		10988	GetActiveParamSet
		10989	ParamSet_ReadFromEEProm
		10990	LipoDetection
		10991	LIBFC_ReceiverInit
		10992	NC_ErrorCode
		10993	GPSInfo
		10994	NewPpmData
		10995	FromNC_Rotate_C
		10996	FromNC_Rotate_S
		10997	GPS_Aid_StickMultiplikator
		10998	__floatsisf
		10999	__addsf3
		11000	__fixunssfsi
		11001	ExternControl
		11002	ZaehlMessungen
		11003	BattLowVoltageWarning
		11004	__udivmodhi4
		11005	DruckOffsetSetting
		11006	SummenHoehe
		11007	ihypot
		11008	c_cos_8192
		11009	__udivmodqi4
		11010	NC_To_FC_Flags
		11011	MissingMotor
		11012	Mixer

Subversion Repositories FlightCtrl

(root)/branches/v0.90e_Ernstl_4-Motoren+Sexpander/fc.lst - Rev 2299