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   1                            .file   "fc.c"
   2                            .arch atmega644
   3                    __SREG__ = 0x3f
   4                    __SP_H__ = 0x3e
   5                    __SP_L__ = 0x3d
   6                    __tmp_reg__ = 0
   7                    __zero_reg__ = 1
   8                            .global __do_copy_data
   9                            .global __do_clear_bss
  10                    .global filterDD
  11                    .global filterDD
  12                            .section .bss
  15                    filterDD:
  16 0000 0000                  .skip 2,0
  17                    .global filtersum
  18                    .global filtersum
  21                    filtersum:
  22 0002 0000                  .skip 2,0
  23                    .global gyroScaled
  24                    .global gyroScaled
  27                    gyroScaled:
  28 0004 0000                  .skip 2,0
  29                    .global gyroScaledOld
  30                    .global gyroScaledOld
  33                    gyroScaledOld:
  34 0006 0000                  .skip 2,0
  35                    .global mincontrollerDD
  36                    .global mincontrollerDD
  39                    mincontrollerDD:
  40 0008 0000                  .skip 2,0
  41                    .global maxcontrollerDD
  42                    .global maxcontrollerDD
  45                    maxcontrollerDD:
  46 000a 0000                  .skip 2,0
  47                    .global controllerDD
  48                    .global controllerDD
  51                    controllerDD:
  52 000c 0000                  .skip 2,0
  53                    .global mincontrollerD
  54                    .global mincontrollerD
  57                    mincontrollerD:
  58 000e 0000                  .skip 2,0
  59                    .global maxcontrollerD
  60                    .global maxcontrollerD
  63                    maxcontrollerD:
  64 0010 0000                  .skip 2,0
  65                    .global controllerD
  66                    .global controllerD
  69                    controllerD:
  70 0012 0000                  .skip 2,0
  71                    .global mincontrollerP
  72                    .global mincontrollerP
  75                    mincontrollerP:
  76 0014 0000                  .skip 2,0
  77                    .global maxcontrollerP
  78                    .global maxcontrollerP
  81                    maxcontrollerP:
  82 0016 0000                  .skip 2,0
  83                    .global controllerP
  84                    .global controllerP
  87                    controllerP:
  88 0018 0000                  .skip 2,0
  89                    .global kdd
  90                    .global kdd
  93                    kdd:
  94 001a 0000                  .skip 2,0
  95                    .global kd
  96                    .global kd
  99                    kd:
 100 001c 0000                  .skip 2,0
 101                    .global kp
 102                    .global kp
 105                    kp:
 106 001e 0000                  .skip 2,0
 107                    .global ipk
 108                    .global ipk
 111                    ipk:
 112 0020 0000 0000             .skip 6,0
 112      0000 
 113                    .global ucflg3
 114                            .data
 117                    ucflg3:
 118 0000 01                    .byte   1
 119                    .global ucflg2
 122                    ucflg2:
 123 0001 01                    .byte   1
 124                    .global ucflg1
 127                    ucflg1:
 128 0002 01                    .byte   1
 129                    .global LoadHandler
 130                    .global LoadHandler
 131                            .section .bss
 134                    LoadHandler:
 135 0026 00                    .skip 1,0
 136                    .global RequiredMotors
 137                            .data
 140                    RequiredMotors:
 141 0003 04                    .byte   4
 142                    .global GIER_GRAD_FAKTOR
 145                    GIER_GRAD_FAKTOR:
 146 0004 0B05 0000             .long   1291
 147                    .global MikroKopterFlags
 148                    .global MikroKopterFlags
 149                            .section .bss
 152                    MikroKopterFlags:
 153 0027 00                    .skip 1,0
 154                    .global modell_fliegt
 155                    .global modell_fliegt
 158                    modell_fliegt:
 159 0028 0000                  .skip 2,0
 160                    .global MaxStickRoll
 161                    .global MaxStickRoll
 164                    MaxStickRoll:
 165 002a 0000                  .skip 2,0
 166                    .global MaxStickNick
 167                    .global MaxStickNick
 170                    MaxStickNick:
 171 002c 0000                  .skip 2,0
 172                    .global ExternHoehenValue
 173                            .data
 176                    ExternHoehenValue:
 177 0008 ECFF                  .word   -20
 178                    .global ExternStickGier
 179                    .global ExternStickGier
 180                            .section .bss
 183                    ExternStickGier:
 184 002e 0000                  .skip 2,0
 185                    .global ExternStickRoll
 186                    .global ExternStickRoll
 189                    ExternStickRoll:
 190 0030 0000                  .skip 2,0
 191                    .global ExternStickNick
 192                    .global ExternStickNick
 195                    ExternStickNick:
 196 0032 0000                  .skip 2,0
 197                    .global Parameter_DynamicStability
 198                            .data
 201                    Parameter_DynamicStability:
 202 000a 64                    .byte   100
 203                    .global Parameter_CouplingYawCorrection
 206                    Parameter_CouplingYawCorrection:
 207 000b 40                    .byte   64
 208                    .global Parameter_AchsKopplung2
 211                    Parameter_AchsKopplung2:
 212 000c 41                    .byte   65
 213                    .global Parameter_AchsKopplung1
 216                    Parameter_AchsKopplung1:
 217 000d 5A                    .byte   90
 218                    .global Parameter_LoopGasLimit
 221                    Parameter_LoopGasLimit:
 222 000e 46                    .byte   70
 223                    .global Parameter_ServoRollControl
 226                    Parameter_ServoRollControl:
 227 000f 64                    .byte   100
 228                    .global Parameter_ServoNickControl
 231                    Parameter_ServoNickControl:
 232 0010 64                    .byte   100
 233                    .global Parameter_UserParam8
 234                    .global Parameter_UserParam8
 235                            .section .bss
 238                    Parameter_UserParam8:
 239 0034 00                    .skip 1,0
 240                    .global Parameter_UserParam7
 241                    .global Parameter_UserParam7
 244                    Parameter_UserParam7:
 245 0035 00                    .skip 1,0
 246                    .global Parameter_UserParam6
 247                    .global Parameter_UserParam6
 250                    Parameter_UserParam6:
 251 0036 00                    .skip 1,0
 252                    .global Parameter_UserParam5
 253                    .global Parameter_UserParam5
 256                    Parameter_UserParam5:
 257 0037 00                    .skip 1,0
 258                    .global Parameter_UserParam4
 259                    .global Parameter_UserParam4
 262                    Parameter_UserParam4:
 263 0038 00                    .skip 1,0
 264                    .global Parameter_UserParam3
 265                    .global Parameter_UserParam3
 268                    Parameter_UserParam3:
 269 0039 00                    .skip 1,0
 270                    .global Parameter_UserParam2
 271                    .global Parameter_UserParam2
 274                    Parameter_UserParam2:
 275 003a 00                    .skip 1,0
 276                    .global Parameter_UserParam1
 277                    .global Parameter_UserParam1
 280                    Parameter_UserParam1:
 281 003b 00                    .skip 1,0
 282                    .global Parameter_I_Faktor
 283                            .data
 286                    Parameter_I_Faktor:
 287 0011 0A                    .byte   10
 288                    .global Parameter_Gier_P
 291                    Parameter_Gier_P:
 292 0012 02                    .byte   2
 293                    .global Parameter_Gyro_Gier_I
 296                    Parameter_Gyro_Gier_I:
 297 0013 96                    .byte   -106
 298                    .global Parameter_Gyro_Gier_P
 301                    Parameter_Gyro_Gier_P:
 302 0014 96                    .byte   -106
 303                    .global Parameter_Gyro_I
 306                    Parameter_Gyro_I:
 307 0015 96                    .byte   -106
 308                    .global Parameter_Gyro_P
 311                    Parameter_Gyro_P:
 312 0016 96                    .byte   -106
 313                    .global Parameter_Gyro_D
 316                    Parameter_Gyro_D:
 317 0017 08                    .byte   8
 318                    .global Parameter_Hoehe_GPS_Z
 321                    Parameter_Hoehe_GPS_Z:
 322 0018 40                    .byte   64
 323                    .global Parameter_KompassWirkung
 326                    Parameter_KompassWirkung:
 327 0019 40                    .byte   64
 328                    .global Parameter_Hoehe_ACC_Wirkung
 331                    Parameter_Hoehe_ACC_Wirkung:
 332 001a 3A                    .byte   58
 333                    .global Parameter_Hoehe_P
 336                    Parameter_Hoehe_P:
 337 001b 10                    .byte   16
 338                    .global Parameter_MaxHoehe
 341                    Parameter_MaxHoehe:
 342 001c FB                    .byte   -5
 343                    .global Parameter_Luftdruck_D
 346                    Parameter_Luftdruck_D:
 347 001d 30                    .byte   48
 348                    .global Looping_Oben
 349                    .global Looping_Oben
 350                            .section .bss
 353                    Looping_Oben:
 354 003c 00                    .skip 1,0
 355                    .global Looping_Unten
 356                    .global Looping_Unten
 359                    Looping_Unten:
 360 003d 00                    .skip 1,0
 361                    .global Looping_Rechts
 362                    .global Looping_Rechts
 365                    Looping_Rechts:
 366 003e 00                    .skip 1,0
 367                    .global Looping_Links
 368                    .global Looping_Links
 371                    Looping_Links:
 372 003f 00                    .skip 1,0
 373                    .global Looping_Roll
 374                    .global Looping_Roll
 377                    Looping_Roll:
 378 0040 00                    .skip 1,0
 379                    .global Looping_Nick
 380                    .global Looping_Nick
 383                    Looping_Nick:
 384 0041 00                    .skip 1,0
 385                    .global Ki
 386                            .data
 389                    Ki:
 390 001e 3801                  .word   312
 391                    .global LageKorrekturNick
 392                    .global LageKorrekturNick
 393                            .section .bss
 396                    LageKorrekturNick:
 397 0042 0000                  .skip 2,0
 398                    .global LageKorrekturRoll
 399                    .global LageKorrekturRoll
 402                    LageKorrekturRoll:
 403 0044 0000                  .skip 2,0
 404                    .global SollHoehe
 405                    .global SollHoehe
 408                    SollHoehe:
 409 0046 0000 0000             .skip 4,0
 410                    .global HoehenWert
 411                    .global HoehenWert
 414                    HoehenWert:
 415 004a 0000 0000             .skip 4,0
 416                    .global StickGas
 417                    .global StickGas
 420                    StickGas:
 421 004e 0000                  .skip 2,0
 422                    .global StickGier
 423                    .global StickGier
 426                    StickGier:
 427 0050 0000                  .skip 2,0
 428                    .global StickRoll
 429                    .global StickRoll
 432                    StickRoll:
 433 0052 0000                  .skip 2,0
 434                    .global StickNick
 435                    .global StickNick
 438                    StickNick:
 439 0054 0000                  .skip 2,0
 440                    .global SenderRSSI
 441                    .global SenderRSSI
 444                    SenderRSSI:
 445 0056 00                    .skip 1,0
 446                    .global SenderOkay
 447                    .global SenderOkay
 450                    SenderOkay:
 451 0057 00                    .skip 1,0
 452                    .global Poti4
 453                    .global Poti4
 456                    Poti4:
 457 0058 0000                  .skip 2,0
 458                    .global Poti3
 459                    .global Poti3
 462                    Poti3:
 463 005a 0000                  .skip 2,0
 464                    .global Poti2
 465                    .global Poti2
 468                    Poti2:
 469 005c 0000                  .skip 2,0
 470                    .global Poti1
 471                    .global Poti1
 474                    Poti1:
 475 005e 0000                  .skip 2,0
 476                    .global GierGyroFehler
 477                    .global GierGyroFehler
 480                    GierGyroFehler:
 481 0060 0000                  .skip 2,0
 482                    .global Umschlag180Roll
 483                            .data
 486                    Umschlag180Roll:
 487 0020 90D0 0300             .long   250000
 488                    .global Umschlag180Nick
 491                    Umschlag180Nick:
 492 0024 90D0 0300             .long   250000
 493                    .global TrichterFlug
 494                    .global TrichterFlug
 495                            .section .bss
 498                    TrichterFlug:
 499 0062 00                    .skip 1,0
 500                    .global HoehenReglerAktiv
 501                    .global HoehenReglerAktiv
 504                    HoehenReglerAktiv:
 505 0063 00                    .skip 1,0
 506                    .global MotorenEin
 507                    .global MotorenEin
 510                    MotorenEin:
 511 0064 00                    .skip 1,0
 512                    .global KompassSignalSchlecht
 513                            .data
 516                    KompassSignalSchlecht:
 517 0028 F401                  .word   500
 518                    .global KompassRichtung
 519                    .global KompassRichtung
 520                            .section .bss
 523                    KompassRichtung:
 524 0065 0000                  .skip 2,0
 525                    .global KompassStartwert
 526                    .global KompassStartwert
 529                    KompassStartwert:
 530 0067 0000                  .skip 2,0
 531                    .global KompassValue
 532                    .global KompassValue
 535                    KompassValue:
 536 0069 0000                  .skip 2,0
 537                    .global Mess_Integral_Hoch
 538                    .global Mess_Integral_Hoch
 541                    Mess_Integral_Hoch:
 542 006b 0000 0000             .skip 4,0
 543                    .global Mess_Integral_Gier2
 544                    .global Mess_Integral_Gier2
 547                    Mess_Integral_Gier2:
 548 006f 0000 0000             .skip 4,0
 549                    .global Mess_Integral_Gier
 550                    .global Mess_Integral_Gier
 553                    Mess_Integral_Gier:
 554 0073 0000 0000             .skip 4,0
 555                    .global Mess_IntegralRoll2
 556                    .global Mess_IntegralRoll2
 559                    Mess_IntegralRoll2:
 560 0077 0000 0000             .skip 4,0
 561                    .global Mess_IntegralRoll
 562                    .global Mess_IntegralRoll
 565                    Mess_IntegralRoll:
 566 007b 0000 0000             .skip 4,0
 567                    .global Mess_IntegralNick2
 568                    .global Mess_IntegralNick2
 571                    Mess_IntegralNick2:
 572 007f 0000 0000             .skip 4,0
 573                    .global Mess_IntegralNick
 574                    .global Mess_IntegralNick
 577                    Mess_IntegralNick:
 578 0083 0000 0000             .skip 4,0
 579                    .global Integral_Gier
 580                    .global Integral_Gier
 583                    Integral_Gier:
 584 0087 0000 0000             .skip 4,0
 585                    .global IntegralAccZ
 586                    .global IntegralAccZ
 589                    IntegralAccZ:
 590 008b 0000 0000             .skip 4,0
 591                    .global IntegralAccRoll
 592                    .global IntegralAccRoll
 595                    IntegralAccRoll:
 596 008f 0000 0000             .skip 4,0
 597                    .global IntegralAccNick
 598                    .global IntegralAccNick
 601                    IntegralAccNick:
 602 0093 0000 0000             .skip 4,0
 603                    .global IntegralRoll2
 604                    .global IntegralRoll2
 607                    IntegralRoll2:
 608 0097 0000 0000             .skip 4,0
 609                    .global IntegralRoll
 610                    .global IntegralRoll
 613                    IntegralRoll:
 614 009b 0000 0000             .skip 4,0
 615                    .global IntegralNick2
 616                    .global IntegralNick2
 619                    IntegralNick2:
 620 009f 0000 0000             .skip 4,0
 621                    .global IntegralNick
 622                    .global IntegralNick
 625                    IntegralNick:
 626 00a3 0000 0000             .skip 4,0
 627                    .global CosinusRollWinkel
 628                    .global CosinusRollWinkel
 631                    CosinusRollWinkel:
 632 00a7 00                    .skip 1,0
 633                    .global CosinusNickWinkel
 634                    .global CosinusNickWinkel
 637                    CosinusNickWinkel:
 638 00a8 00                    .skip 1,0
 639                    .global NeutralAccZ
 640                    .global NeutralAccZ
 643                    NeutralAccZ:
 644 00a9 0000 0000             .skip 4,0
 645                    .global NaviCntAcc
 646                    .global NaviCntAcc
 649                    NaviCntAcc:
 650 00ad 0000                  .skip 2,0
 651                    .global NeutralAccY
 652                    .global NeutralAccY
 655                    NeutralAccY:
 656 00af 0000                  .skip 2,0
 657                    .global NeutralAccX
 658                    .global NeutralAccX
 661                    NeutralAccX:
 662 00b1 0000                  .skip 2,0
 663                    .global StartNeutralNick
 664                    .global StartNeutralNick
 667                    StartNeutralNick:
 668 00b3 0000                  .skip 2,0
 669                    .global StartNeutralRoll
 670                    .global StartNeutralRoll
 673                    StartNeutralRoll:
 674 00b5 0000                  .skip 2,0
 675                    .global AdNeutralGier
 676                    .global AdNeutralGier
 679                    AdNeutralGier:
 680 00b7 0000                  .skip 2,0
 681                    .global AdNeutralRoll
 682                    .global AdNeutralRoll
 685                    AdNeutralRoll:
 686 00b9 0000                  .skip 2,0
 687                    .global AdNeutralNick
 688                    .global AdNeutralNick
 691                    AdNeutralNick:
 692 00bb 0000                  .skip 2,0
 693                    .global I2CTimeout
 694                            .data
 697                    I2CTimeout:
 698 002a 6400                  .word   100
 699                    .global BaroExpandActive
 700                    .global BaroExpandActive
 701                            .section .bss
 704                    BaroExpandActive:
 705 00bd 0000                  .skip 2,0
 706                            .text
 708                    eeprom_read_byte:
 709                    /* prologue: frame size=0 */
 710                    /* prologue end (size=0) */
 711                    .L2:
 712 0000 F999                  sbic 63-0x20,1
 713 0002 00C0                  rjmp .L2
 714 0004 92BD                  out (65)+1-0x20,r25
 715 0006 81BD                  out 65-0x20,r24
 716                    /* #APP */
 717                            /* START EEPROM READ CRITICAL SECTION */ 
 718 0008 F89A                  sbi 31, 0 
 719 000a 80B5                  in r24, 32 
 720                            /* END EEPROM READ CRITICAL SECTION */ 
 721                            
 722                    /* #NOAPP */
 723 000c 9927                  clr r25
 724                    /* epilogue: frame size=0 */
 725 000e 0895                  ret
 726                    /* epilogue end (size=1) */
 727                    /* function eeprom_read_byte size 16 (15) */
 730                    eeprom_write_byte:
 731                    /* prologue: frame size=0 */
 732                    /* prologue end (size=0) */
 733                    .L7:
 734 0010 F999                  sbic 63-0x20,1
 735 0012 00C0                  rjmp .L7
 736 0014 1FBA                  out 63-0x20,__zero_reg__
 737 0016 92BD                  out (65)+1-0x20,r25
 738 0018 81BD                  out 65-0x20,r24
 739 001a 60BD                  out 64-0x20,r22
 740                    /* #APP */
 741                            /* START EEPROM WRITE CRITICAL SECTION */
 742 001c 0FB6                  in      r0, 63          
 743 001e F894                  cli                             
 744 0020 FA9A                  sbi     31, 2   
 745 0022 F99A                  sbi     31, 1   
 746 0024 0FBE                  out     63, r0          
 747                            /* END EEPROM WRITE CRITICAL SECTION */
 748                    /* #NOAPP */
 749                    /* epilogue: frame size=0 */
 750 0026 0895                  ret
 751                    /* epilogue end (size=1) */
 752                    /* function eeprom_write_byte size 21 (20) */
 754                    .global DefaultStickMapping
 756                    DefaultStickMapping:
 757                    /* prologue: frame size=0 */
 758                    /* prologue end (size=0) */
 759 0028 83E0                  ldi r24,lo8(3)
 760 002a 8093 0000             sts EE_Parameter,r24
 761 002e 82E0                  ldi r24,lo8(2)
 762 0030 8093 0000             sts EE_Parameter+1,r24
 763 0034 81E0                  ldi r24,lo8(1)
 764 0036 8093 0000             sts EE_Parameter+2,r24
 765 003a 84E0                  ldi r24,lo8(4)
 766 003c 8093 0000             sts EE_Parameter+3,r24
 767 0040 85E0                  ldi r24,lo8(5)
 768 0042 8093 0000             sts EE_Parameter+4,r24
 769 0046 86E0                  ldi r24,lo8(6)
 770 0048 8093 0000             sts EE_Parameter+5,r24
 771 004c 87E0                  ldi r24,lo8(7)
 772 004e 8093 0000             sts EE_Parameter+6,r24
 773 0052 88E0                  ldi r24,lo8(8)
 774 0054 8093 0000             sts EE_Parameter+7,r24
 775                    /* epilogue: frame size=0 */
 776 0058 0895                  ret
 777                    /* epilogue end (size=1) */
 778                    /* function DefaultStickMapping size 25 (24) */
 780                            .data
 781                    .LC0:
 782 002c 4265 6769             .string "Beginner"
 782      6E6E 6572 
 782      00
 783 0035 00                    .string ""
 784                            .text
 785                    .global DefaultKonstanten3
 787                    DefaultKonstanten3:
 788                    /* prologue: frame size=0 */
 789                    /* prologue end (size=0) */
 790 005a 68E0                  ldi r22,lo8(8)
 791 005c 6093 0000             sts EE_Parameter+8,r22
 792 0060 71E0                  ldi r23,lo8(1)
 793 0062 7093 0000             sts EE_Parameter+88,r23
 794 0066 4EE1                  ldi r20,lo8(30)
 795 0068 4093 0000             sts EE_Parameter+9,r20
 796 006c 8BEF                  ldi r24,lo8(-5)
 797 006e 8093 0000             sts EE_Parameter+11,r24
 798 0072 8AE0                  ldi r24,lo8(10)
 799 0074 8093 0000             sts EE_Parameter+12,r24
 800 0078 4093 0000             sts EE_Parameter+10,r20
 801 007c 4093 0000             sts EE_Parameter+14,r20
 802 0080 85E0                  ldi r24,lo8(5)
 803 0082 8093 0000             sts EE_Parameter+15,r24
 804 0086 80E4                  ldi r24,lo8(64)
 805 0088 8093 0000             sts EE_Parameter+16,r24
 806 008c 1092 0000             sts EE_Parameter+17,__zero_reg__
 807 0090 8FE0                  ldi r24,lo8(15)
 808 0092 8093 0000             sts EE_Parameter+13,r24
 809 0096 6093 0000             sts EE_Parameter+18,r22
 810 009a 20E1                  ldi r18,lo8(16)
 811 009c 2093 0000             sts EE_Parameter+19,r18
 812 00a0 56E0                  ldi r21,lo8(6)
 813 00a2 5093 0000             sts EE_Parameter+20,r21
 814 00a6 6093 0000             sts EE_Parameter+21,r22
 815 00aa 86EE                  ldi r24,lo8(-26)
 816 00ac 8093 0000             sts EE_Parameter+22,r24
 817 00b0 4093 0000             sts EE_Parameter+23,r20
 818 00b4 80E8                  ldi r24,lo8(-128)
 819 00b6 8093 0000             sts EE_Parameter+24,r24
 820 00ba 34E6                  ldi r19,lo8(100)
 821 00bc 3093 0000             sts EE_Parameter+25,r19
 822 00c0 98E7                  ldi r25,lo8(120)
 823 00c2 9093 0000             sts EE_Parameter+26,r25
 824 00c6 83E0                  ldi r24,lo8(3)
 825 00c8 8093 0000             sts EE_Parameter+27,r24
 826 00cc 3093 0000             sts EE_Parameter+28,r19
 827 00d0 9093 0000             sts EE_Parameter+29,r25
 828 00d4 81E2                  ldi r24,lo8(33)
 829 00d6 8093 0000             sts EE_Parameter+30,r24
 830 00da 83E2                  ldi r24,lo8(35)
 831 00dc 8093 0000             sts EE_Parameter+31,r24
 832 00e0 84E1                  ldi r24,lo8(20)
 833 00e2 8093 0000             sts EE_Parameter+32,r24
 834 00e6 1092 0000             sts EE_Parameter+33,__zero_reg__
 835 00ea 2093 0000             sts EE_Parameter+34,r18
 836 00ee 1092 0000             sts EE_Parameter+35,__zero_reg__
 837 00f2 1092 0000             sts EE_Parameter+36,__zero_reg__
 838 00f6 1092 0000             sts EE_Parameter+37,__zero_reg__
 839 00fa 1092 0000             sts EE_Parameter+38,__zero_reg__
 840 00fe 1092 0000             sts EE_Parameter+59,__zero_reg__
 841 0102 1092 0000             sts EE_Parameter+60,__zero_reg__
 842 0106 1092 0000             sts EE_Parameter+61,__zero_reg__
 843 010a 1092 0000             sts EE_Parameter+62,__zero_reg__
 844 010e 3093 0000             sts EE_Parameter+39,r19
 845 0112 98E2                  ldi r25,lo8(40)
 846 0114 9093 0000             sts EE_Parameter+40,r25
 847 0118 7093 0000             sts EE_Parameter+87,r23
 848 011c 1092 0000             sts EE_Parameter+41,__zero_reg__
 849 0120 8AEF                  ldi r24,lo8(-6)
 850 0122 8093 0000             sts EE_Parameter+42,r24
 851 0126 5093 0000             sts EE_Parameter+47,r21
 852 012a 3093 0000             sts EE_Parameter+43,r19
 853 012e 9093 0000             sts EE_Parameter+44,r25
 854 0132 1092 0000             sts EE_Parameter+45,__zero_reg__
 855 0136 8093 0000             sts EE_Parameter+46,r24
 856 013a 92E3                  ldi r25,lo8(50)
 857 013c 9093 0000             sts EE_Parameter+48,r25
 858 0140 2AE5                  ldi r18,lo8(90)
 859 0142 2093 0000             sts EE_Parameter+49,r18
 860 0146 9093 0000             sts EE_Parameter+50,r25
 861 014a 1092 0000             sts EE_Parameter+86,__zero_reg__
 862 014e 2093 0000             sts EE_Parameter+51,r18
 863 0152 80E5                  ldi r24,lo8(80)
 864 0154 8093 0000             sts EE_Parameter+52,r24
 865 0158 86E4                  ldi r24,lo8(70)
 866 015a 8093 0000             sts EE_Parameter+53,r24
 867 015e 85E5                  ldi r24,lo8(85)
 868 0160 8093 0000             sts EE_Parameter+54,r24
 869 0164 8093 0000             sts EE_Parameter+55,r24
 870 0168 80E2                  ldi r24,lo8(32)
 871 016a 8093 0000             sts EE_Parameter+56,r24
 872 016e 8093 0000             sts EE_Parameter+57,r24
 873 0172 9093 0000             sts EE_Parameter+58,r25
 874 0176 8FE5                  ldi r24,lo8(95)
 875 0178 8093 0000             sts EE_Parameter+63,r24
 876 017c 83EF                  ldi r24,lo8(-13)
 877 017e 8093 0000             sts EE_Parameter+65,r24
 878 0182 8AEA                  ldi r24,lo8(-86)
 879 0184 8093 0000             sts EE_Parameter+67,r24
 880 0188 8093 0000             sts EE_Parameter+68,r24
 881 018c 4093 0000             sts EE_Parameter+64,r20
 882 0190 4093 0000             sts EE_Parameter+66,r20
 883 0194 8CEF                  ldi r24,lo8(-4)
 884 0196 8093 0000             sts EE_Parameter+69,r24
 885 019a 3093 0000             sts EE_Parameter+70,r19
 886 019e 2093 0000             sts EE_Parameter+71,r18
 887 01a2 2093 0000             sts EE_Parameter+72,r18
 888 01a6 2093 0000             sts EE_Parameter+73,r18
 889 01aa 8BE4                  ldi r24,lo8(75)
 890 01ac 8093 0000             sts EE_Parameter+74,r24
 891 01b0 8093 0000             sts EE_Parameter+75,r24
 892 01b4 8093 0000             sts EE_Parameter+76,r24
 893 01b8 1092 0000             sts EE_Parameter+77,__zero_reg__
 894 01bc 5093 0000             sts EE_Parameter+78,r21
 895 01c0 6093 0000             sts EE_Parameter+79,r22
 896 01c4 2093 0000             sts EE_Parameter+80,r18
 897 01c8 4093 0000             sts EE_Parameter+81,r20
 898 01cc 3093 0000             sts EE_Parameter+82,r19
 899 01d0 3093 0000             sts EE_Parameter+83,r19
 900 01d4 84E0                  ldi r24,lo8(4)
 901 01d6 8093 0000             sts EE_Parameter+84,r24
 902 01da 8CE0                  ldi r24,lo8(12)
 903 01dc A0E0                  ldi r26,lo8(.LC0)
 904 01de B0E0                  ldi r27,hi8(.LC0)
 905 01e0 E0E0                  ldi r30,lo8(EE_Parameter+89)
 906 01e2 F0E0                  ldi r31,hi8(EE_Parameter+89)
 907 01e4 0D90                  ld __tmp_reg__,X+
 908 01e6 0192                  st Z+,__tmp_reg__
 909 01e8 8A95                  dec r24
 910 01ea 01F4                  brne .-8
 911                    /* epilogue: frame size=0 */
 912 01ec 0895                  ret
 913                    /* epilogue end (size=1) */
 914                    /* function DefaultKonstanten3 size 202 (201) */
 916                            .data
 917                    .LC1:
 918 0036 4E6F 726D             .string "Normal"
 918      616C 00
 919 003d 00                    .string ""
 920                            .text
 921                    .global DefaultKonstanten2
 923                    DefaultKonstanten2:
 924                    /* prologue: frame size=0 */
 925                    /* prologue end (size=0) */
 926 01ee 8AE6                  ldi r24,lo8(106)
 927 01f0 8093 0000             sts EE_Parameter+8,r24
 928 01f4 71E0                  ldi r23,lo8(1)
 929 01f6 7093 0000             sts EE_Parameter+88,r23
 930 01fa 5EE1                  ldi r21,lo8(30)
 931 01fc 5093 0000             sts EE_Parameter+9,r21
 932 0200 8BEF                  ldi r24,lo8(-5)
 933 0202 8093 0000             sts EE_Parameter+11,r24
 934 0206 9AE0                  ldi r25,lo8(10)
 935 0208 9093 0000             sts EE_Parameter+12,r25
 936 020c 5093 0000             sts EE_Parameter+10,r21
 937 0210 5093 0000             sts EE_Parameter+14,r21
 938 0214 85E0                  ldi r24,lo8(5)
 939 0216 8093 0000             sts EE_Parameter+15,r24
 940 021a 80E4                  ldi r24,lo8(64)
 941 021c 8093 0000             sts EE_Parameter+16,r24
 942 0220 1092 0000             sts EE_Parameter+17,__zero_reg__
 943 0224 8FE0                  ldi r24,lo8(15)
 944 0226 8093 0000             sts EE_Parameter+13,r24
 945 022a 9093 0000             sts EE_Parameter+18,r25
 946 022e 80E1                  ldi r24,lo8(16)
 947 0230 8093 0000             sts EE_Parameter+19,r24
 948 0234 66E0                  ldi r22,lo8(6)
 949 0236 6093 0000             sts EE_Parameter+20,r22
 950 023a E8E0                  ldi r30,lo8(8)
 951 023c E093 0000             sts EE_Parameter+21,r30
 952 0240 86EE                  ldi r24,lo8(-26)
 953 0242 8093 0000             sts EE_Parameter+22,r24
 954 0246 5093 0000             sts EE_Parameter+23,r21
 955 024a 80E8                  ldi r24,lo8(-128)
 956 024c 8093 0000             sts EE_Parameter+24,r24
 957 0250 2AE5                  ldi r18,lo8(90)
 958 0252 2093 0000             sts EE_Parameter+25,r18
 959 0256 98E7                  ldi r25,lo8(120)
 960 0258 9093 0000             sts EE_Parameter+26,r25
 961 025c 83E0                  ldi r24,lo8(3)
 962 025e 8093 0000             sts EE_Parameter+27,r24
 963 0262 2093 0000             sts EE_Parameter+28,r18
 964 0266 9093 0000             sts EE_Parameter+29,r25
 965 026a 81E2                  ldi r24,lo8(33)
 966 026c 8093 0000             sts EE_Parameter+30,r24
 967 0270 83E2                  ldi r24,lo8(35)
 968 0272 8093 0000             sts EE_Parameter+31,r24
 969 0276 5093 0000             sts EE_Parameter+32,r21
 970 027a 1092 0000             sts EE_Parameter+33,__zero_reg__
 971 027e 40E2                  ldi r20,lo8(32)
 972 0280 4093 0000             sts EE_Parameter+34,r20
 973 0284 1092 0000             sts EE_Parameter+35,__zero_reg__
 974 0288 1092 0000             sts EE_Parameter+36,__zero_reg__
 975 028c 1092 0000             sts EE_Parameter+37,__zero_reg__
 976 0290 1092 0000             sts EE_Parameter+38,__zero_reg__
 977 0294 1092 0000             sts EE_Parameter+59,__zero_reg__
 978 0298 1092 0000             sts EE_Parameter+60,__zero_reg__
 979 029c 1092 0000             sts EE_Parameter+61,__zero_reg__
 980 02a0 1092 0000             sts EE_Parameter+62,__zero_reg__
 981 02a4 34E6                  ldi r19,lo8(100)
 982 02a6 3093 0000             sts EE_Parameter+39,r19
 983 02aa 98E2                  ldi r25,lo8(40)
 984 02ac 9093 0000             sts EE_Parameter+40,r25
 985 02b0 7093 0000             sts EE_Parameter+87,r23
 986 02b4 1092 0000             sts EE_Parameter+41,__zero_reg__
 987 02b8 8AEF                  ldi r24,lo8(-6)
 988 02ba 8093 0000             sts EE_Parameter+42,r24
 989 02be 6093 0000             sts EE_Parameter+47,r22
 990 02c2 3093 0000             sts EE_Parameter+43,r19
 991 02c6 9093 0000             sts EE_Parameter+44,r25
 992 02ca 1092 0000             sts EE_Parameter+45,__zero_reg__
 993 02ce 8093 0000             sts EE_Parameter+46,r24
 994 02d2 82E3                  ldi r24,lo8(50)
 995 02d4 8093 0000             sts EE_Parameter+48,r24
 996 02d8 2093 0000             sts EE_Parameter+49,r18
 997 02dc 8093 0000             sts EE_Parameter+50,r24
 998 02e0 1092 0000             sts EE_Parameter+86,__zero_reg__
 999 02e4 2093 0000             sts EE_Parameter+51,r18
 1000 02e8 80E5                 ldi r24,lo8(80)
 1001 02ea 8093 0000            sts EE_Parameter+52,r24
 1002 02ee 8CE3                 ldi r24,lo8(60)
 1003 02f0 8093 0000            sts EE_Parameter+53,r24
 1004 02f4 85E5                 ldi r24,lo8(85)
 1005 02f6 8093 0000            sts EE_Parameter+54,r24
 1006 02fa 8093 0000            sts EE_Parameter+55,r24
 1007 02fe 4093 0000            sts EE_Parameter+56,r20
 1008 0302 4093 0000            sts EE_Parameter+57,r20
 1009 0306 9BE4                 ldi r25,lo8(75)
 1010 0308 9093 0000            sts EE_Parameter+58,r25
 1011 030c 8FE5                 ldi r24,lo8(95)
 1012 030e 8093 0000            sts EE_Parameter+63,r24
 1013 0312 83EF                 ldi r24,lo8(-13)
 1014 0314 8093 0000            sts EE_Parameter+65,r24
 1015 0318 8AEA                 ldi r24,lo8(-86)
 1016 031a 8093 0000            sts EE_Parameter+67,r24
 1017 031e 8093 0000            sts EE_Parameter+68,r24
 1018 0322 84E1                 ldi r24,lo8(20)
 1019 0324 8093 0000            sts EE_Parameter+64,r24
 1020 0328 8093 0000            sts EE_Parameter+66,r24
 1021 032c 8CEF                 ldi r24,lo8(-4)
 1022 032e 8093 0000            sts EE_Parameter+69,r24
 1023 0332 3093 0000            sts EE_Parameter+70,r19
 1024 0336 2093 0000            sts EE_Parameter+71,r18
 1025 033a 2093 0000            sts EE_Parameter+72,r18
 1026 033e 2093 0000            sts EE_Parameter+73,r18
 1027 0342 9093 0000            sts EE_Parameter+74,r25
 1028 0346 9093 0000            sts EE_Parameter+75,r25
 1029 034a 9093 0000            sts EE_Parameter+76,r25
 1030 034e 1092 0000            sts EE_Parameter+77,__zero_reg__
 1031 0352 6093 0000            sts EE_Parameter+78,r22
 1032 0356 E093 0000            sts EE_Parameter+79,r30
 1033 035a 2093 0000            sts EE_Parameter+80,r18
 1034 035e 5093 0000            sts EE_Parameter+81,r21
 1035 0362 3093 0000            sts EE_Parameter+82,r19
 1036 0366 3093 0000            sts EE_Parameter+83,r19
 1037 036a 84E0                 ldi r24,lo8(4)
 1038 036c 8093 0000            sts EE_Parameter+84,r24
 1039 0370 8CE0                 ldi r24,lo8(12)
 1040 0372 A0E0                 ldi r26,lo8(.LC1)
 1041 0374 B0E0                 ldi r27,hi8(.LC1)
 1042 0376 E0E0                 ldi r30,lo8(EE_Parameter+89)
 1043 0378 F0E0                 ldi r31,hi8(EE_Parameter+89)
 1044 037a 0D90                 ld __tmp_reg__,X+
 1045 037c 0192                 st Z+,__tmp_reg__
 1046 037e 8A95                 dec r24
 1047 0380 01F4                 brne .-8
 1048                   /* epilogue: frame size=0 */
 1049 0382 0895                 ret
 1050                   /* epilogue end (size=1) */
 1051                   /* function DefaultKonstanten2 size 203 (202) */
 1053                           .data
 1054                   .LC2:
 1055 003e 5370 6F72            .string "Sport"
 1055      7400 
 1056 0044 00                   .string ""
 1057                           .text
 1058                   .global DefaultKonstanten1
 1060                   DefaultKonstanten1:
 1061                   /* prologue: frame size=0 */
 1062 0384 1F93                 push r17
 1063                   /* prologue end (size=1) */
 1064 0386 8AE6                 ldi r24,lo8(106)
 1065 0388 8093 0000            sts EE_Parameter+8,r24
 1066 038c 51E0                 ldi r21,lo8(1)
 1067 038e 5093 0000            sts EE_Parameter+88,r21
 1068 0392 4EE1                 ldi r20,lo8(30)
 1069 0394 4093 0000            sts EE_Parameter+9,r20
 1070 0398 8BEF                 ldi r24,lo8(-5)
 1071 039a 8093 0000            sts EE_Parameter+11,r24
 1072 039e 8AE0                 ldi r24,lo8(10)
 1073 03a0 8093 0000            sts EE_Parameter+12,r24
 1074 03a4 4093 0000            sts EE_Parameter+10,r20
 1075 03a8 4093 0000            sts EE_Parameter+14,r20
 1076 03ac 85E0                 ldi r24,lo8(5)
 1077 03ae 8093 0000            sts EE_Parameter+15,r24
 1078 03b2 80E4                 ldi r24,lo8(64)
 1079 03b4 8093 0000            sts EE_Parameter+16,r24
 1080 03b8 1092 0000            sts EE_Parameter+17,__zero_reg__
 1081 03bc 84E1                 ldi r24,lo8(20)
 1082 03be 8093 0000            sts EE_Parameter+13,r24
 1083 03c2 8EE0                 ldi r24,lo8(14)
 1084 03c4 8093 0000            sts EE_Parameter+18,r24
 1085 03c8 E0E1                 ldi r30,lo8(16)
 1086 03ca E093 0000            sts EE_Parameter+19,r30
 1087 03ce 1CE0                 ldi r17,lo8(12)
 1088 03d0 1093 0000            sts EE_Parameter+20,r17
 1089 03d4 F8E0                 ldi r31,lo8(8)
 1090 03d6 F093 0000            sts EE_Parameter+21,r31
 1091 03da 86EE                 ldi r24,lo8(-26)
 1092 03dc 8093 0000            sts EE_Parameter+22,r24
 1093 03e0 4093 0000            sts EE_Parameter+23,r20
 1094 03e4 80E8                 ldi r24,lo8(-128)
 1095 03e6 8093 0000            sts EE_Parameter+24,r24
 1096 03ea 30E5                 ldi r19,lo8(80)
 1097 03ec 3093 0000            sts EE_Parameter+25,r19
 1098 03f0 96E9                 ldi r25,lo8(-106)
 1099 03f2 9093 0000            sts EE_Parameter+26,r25
 1100 03f6 83E0                 ldi r24,lo8(3)
 1101 03f8 8093 0000            sts EE_Parameter+27,r24
 1102 03fc 3093 0000            sts EE_Parameter+28,r19
 1103 0400 9093 0000            sts EE_Parameter+29,r25
 1104 0404 81E2                 ldi r24,lo8(33)
 1105 0406 8093 0000            sts EE_Parameter+30,r24
 1106 040a 83E2                 ldi r24,lo8(35)
 1107 040c 8093 0000            sts EE_Parameter+31,r24
 1108 0410 4093 0000            sts EE_Parameter+32,r20
 1109 0414 1092 0000            sts EE_Parameter+33,__zero_reg__
 1110 0418 60E2                 ldi r22,lo8(32)
 1111 041a 6093 0000            sts EE_Parameter+34,r22
 1112 041e 1092 0000            sts EE_Parameter+35,__zero_reg__
 1113 0422 1092 0000            sts EE_Parameter+36,__zero_reg__
 1114 0426 1092 0000            sts EE_Parameter+37,__zero_reg__
 1115 042a 1092 0000            sts EE_Parameter+38,__zero_reg__
 1116 042e 1092 0000            sts EE_Parameter+59,__zero_reg__
 1117 0432 1092 0000            sts EE_Parameter+60,__zero_reg__
 1118 0436 1092 0000            sts EE_Parameter+61,__zero_reg__
 1119 043a 1092 0000            sts EE_Parameter+62,__zero_reg__
 1120 043e 24E6                 ldi r18,lo8(100)
 1121 0440 2093 0000            sts EE_Parameter+39,r18
 1122 0444 98E2                 ldi r25,lo8(40)
 1123 0446 9093 0000            sts EE_Parameter+40,r25
 1124 044a 5093 0000            sts EE_Parameter+87,r21
 1125 044e 1092 0000            sts EE_Parameter+41,__zero_reg__
 1126 0452 8AEF                 ldi r24,lo8(-6)
 1127 0454 8093 0000            sts EE_Parameter+42,r24
 1128 0458 76E0                 ldi r23,lo8(6)
 1129 045a 7093 0000            sts EE_Parameter+47,r23
 1130 045e 2093 0000            sts EE_Parameter+43,r18
 1131 0462 9093 0000            sts EE_Parameter+44,r25
 1132 0466 1092 0000            sts EE_Parameter+45,__zero_reg__
 1133 046a 8093 0000            sts EE_Parameter+46,r24
 1134 046e 82E3                 ldi r24,lo8(50)
 1135 0470 8093 0000            sts EE_Parameter+48,r24
 1136 0474 9AE5                 ldi r25,lo8(90)
 1137 0476 9093 0000            sts EE_Parameter+49,r25
 1138 047a 8093 0000            sts EE_Parameter+50,r24
 1139 047e 1092 0000            sts EE_Parameter+86,__zero_reg__
 1140 0482 9093 0000            sts EE_Parameter+51,r25
 1141 0486 3093 0000            sts EE_Parameter+52,r19
 1142 048a 5093 0000            sts EE_Parameter+53,r21
 1143 048e 85E5                 ldi r24,lo8(85)
 1144 0490 8093 0000            sts EE_Parameter+54,r24
 1145 0494 8093 0000            sts EE_Parameter+55,r24
 1146 0498 E093 0000            sts EE_Parameter+56,r30
 1147 049c 6093 0000            sts EE_Parameter+57,r22
 1148 04a0 2093 0000            sts EE_Parameter+58,r18
 1149 04a4 8FE5                 ldi r24,lo8(95)
 1150 04a6 8093 0000            sts EE_Parameter+63,r24
 1151 04aa 83EF                 ldi r24,lo8(-13)
 1152 04ac 8093 0000            sts EE_Parameter+65,r24
 1153 04b0 8AEA                 ldi r24,lo8(-86)
 1154 04b2 8093 0000            sts EE_Parameter+67,r24
 1155 04b6 8093 0000            sts EE_Parameter+68,r24
 1156 04ba 8FE0                 ldi r24,lo8(15)
 1157 04bc 8093 0000            sts EE_Parameter+64,r24
 1158 04c0 8093 0000            sts EE_Parameter+66,r24
 1159 04c4 8CEF                 ldi r24,lo8(-4)
 1160 04c6 8093 0000            sts EE_Parameter+69,r24
 1161 04ca 2093 0000            sts EE_Parameter+70,r18
 1162 04ce 9093 0000            sts EE_Parameter+71,r25
 1163 04d2 9093 0000            sts EE_Parameter+72,r25
 1164 04d6 9093 0000            sts EE_Parameter+73,r25
 1165 04da 8BE4                 ldi r24,lo8(75)
 1166 04dc 8093 0000            sts EE_Parameter+74,r24
 1167 04e0 8093 0000            sts EE_Parameter+75,r24
 1168 04e4 8093 0000            sts EE_Parameter+76,r24
 1169 04e8 1092 0000            sts EE_Parameter+77,__zero_reg__
 1170 04ec 7093 0000            sts EE_Parameter+78,r23
 1171 04f0 F093 0000            sts EE_Parameter+79,r31
 1172 04f4 9093 0000            sts EE_Parameter+80,r25
 1173 04f8 4093 0000            sts EE_Parameter+81,r20
 1174 04fc 2093 0000            sts EE_Parameter+82,r18
 1175 0500 2093 0000            sts EE_Parameter+83,r18
 1176 0504 84E0                 ldi r24,lo8(4)
 1177 0506 8093 0000            sts EE_Parameter+84,r24
 1178 050a A0E0                 ldi r26,lo8(.LC2)
 1179 050c B0E0                 ldi r27,hi8(.LC2)
 1180 050e E0E0                 ldi r30,lo8(EE_Parameter+89)
 1181 0510 F0E0                 ldi r31,hi8(EE_Parameter+89)
 1182 0512 0D90                 ld __tmp_reg__,X+
 1183 0514 0192                 st Z+,__tmp_reg__
 1184 0516 1A95                 dec r17
 1185 0518 01F4                 brne .-8
 1186                   /* epilogue: frame size=0 */
 1187 051a 1F91                 pop r17
 1188 051c 0895                 ret
 1189                   /* epilogue end (size=2) */
 1190                   /* function DefaultKonstanten1 size 205 (202) */
 1192                   .global ReadParameterSet
 1194                   ReadParameterSet:
 1195                   /* prologue: frame size=0 */
 1196                   /* prologue end (size=0) */
 1197 051e 282F                 mov r18,r24
 1198 0520 FB01                 movw r30,r22
 1199 0522 8150                 subi r24,lo8(-(-1))
 1200 0524 8530                 cpi r24,lo8(5)
 1201 0526 00F0                 brlo .L15
 1202 0528 23E0                 ldi r18,lo8(3)
 1203                   .L15:
 1204 052a 842F                 mov r24,r20
 1205 052c 9927                 clr r25
 1206 052e 3327                 clr r19
 1207 0530 2150                 subi r18,lo8(-(-1))
 1208 0532 3040                 sbci r19,hi8(-(-1))
 1209 0534 829F                 mul r24,r18
 1210 0536 B001                 movw r22,r0
 1211 0538 839F                 mul r24,r19
 1212 053a 700D                 add r23,r0
 1213 053c 929F                 mul r25,r18
 1214 053e 700D                 add r23,r0
 1215 0540 1124                 clr r1
 1216 0542 6050                 subi r22,lo8(-(EEPromArray+100))
 1217 0544 7040                 sbci r23,hi8(-(EEPromArray+100))
 1218 0546 20E0                 ldi r18,lo8(pm(eeprom_read_byte))
 1219 0548 30E0                 ldi r19,hi8(pm(eeprom_read_byte))
 1220 054a AC01                 movw r20,r24
 1221 054c CF01                 movw r24,r30
 1222 054e 0E94 0000            call __eerd_block
 1223 0552 0E94 0000            call LED_Init
 1224                   /* epilogue: frame size=0 */
 1225 0556 0895                 ret
 1226                   /* epilogue end (size=1) */
 1227                   /* function ReadParameterSet size 29 (28) */
 1229                   .global SetActiveParamSetNumber
 1231                   SetActiveParamSetNumber:
 1232                   /* prologue: frame size=0 */
 1233                   /* prologue end (size=0) */
 1234 0558 282F                 mov r18,r24
 1235 055a 8630                 cpi r24,lo8(6)
 1236 055c 00F0                 brlo .L18
 1237 055e 25E0                 ldi r18,lo8(5)
 1238                   .L20:
 1239 0560 F999                 sbic 63-0x20,1
 1240 0562 00C0                 rjmp .L20
 1241 0564 1FBA                 out 63-0x20,__zero_reg__
 1242 0566 80E0                 ldi r24,lo8(EEPromArray+2)
 1243 0568 90E0                 ldi r25,hi8(EEPromArray+2)
 1244 056a 92BD                 out (65)+1-0x20,r25
 1245 056c 81BD                 out 65-0x20,r24
 1246 056e 20BD                 out 64-0x20,r18
 1247                   /* #APP */
 1248                           /* START EEPROM WRITE CRITICAL SECTION */
 1249 0570 0FB6                 in      r0, 63          
 1250 0572 F894                 cli                             
 1251 0574 FA9A                 sbi     31, 2   
 1252 0576 F99A                 sbi     31, 1   
 1253 0578 0FBE                 out     63, r0          
 1254                           /* END EEPROM WRITE CRITICAL SECTION */
 1255                   /* #NOAPP */
 1256 057a 0895                 ret
 1257                   .L18:
 1258 057c 8823                 tst r24
 1259 057e 01F4                 brne .L20
 1260 0580 0895                 ret
 1261                   /* epilogue: frame size=0 */
 1262                   /* epilogue: noreturn */
 1263                   /* epilogue end (size=0) */
 1264                   /* function SetActiveParamSetNumber size 30 (30) */
 1266                   .global WriteParameterSet
 1268                   WriteParameterSet:
 1269                   /* prologue: frame size=0 */
 1270 0582 FF92                 push r15
 1271 0584 0F93                 push r16
 1272 0586 1F93                 push r17
 1273 0588 CF93                 push r28
 1274                   /* prologue end (size=4) */
 1275 058a C82F                 mov r28,r24
 1276 058c 8B01                 movw r16,r22
 1277 058e F42E                 mov r15,r20
 1278 0590 8630                 cpi r24,lo8(6)
 1279 0592 00F0                 brlo .L27
 1280 0594 C5E0                 ldi r28,lo8(5)
 1281                   .L35:
 1282 0596 8F2D                 mov r24,r15
 1283 0598 9927                 clr r25
 1284 059a 2C2F                 mov r18,r28
 1285 059c 3327                 clr r19
 1286 059e 2150                 subi r18,lo8(-(-1))
 1287 05a0 3040                 sbci r19,hi8(-(-1))
 1288 05a2 829F                 mul r24,r18
 1289 05a4 F001                 movw r30,r0
 1290 05a6 839F                 mul r24,r19
 1291 05a8 F00D                 add r31,r0
 1292 05aa 929F                 mul r25,r18
 1293 05ac F00D                 add r31,r0
 1294 05ae 1124                 clr r1
 1295 05b0 20E0                 ldi r18,lo8(pm(eeprom_write_byte))
 1296 05b2 30E0                 ldi r19,hi8(pm(eeprom_write_byte))
 1297 05b4 AC01                 movw r20,r24
 1298 05b6 B801                 movw r22,r16
 1299 05b8 CF01                 movw r24,r30
 1300 05ba 8050                 subi r24,lo8(-(EEPromArray+100))
 1301 05bc 9040                 sbci r25,hi8(-(EEPromArray+100))
 1302 05be 0E94 0000            call __eewr_block
 1303                   .L30:
 1304 05c2 F999                 sbic 63-0x20,1
 1305 05c4 00C0                 rjmp .L30
 1306 05c6 1FBA                 out 63-0x20,__zero_reg__
 1307 05c8 80E0                 ldi r24,lo8(EEPromArray+98)
 1308 05ca 90E0                 ldi r25,hi8(EEPromArray+98)
 1309 05cc 92BD                 out (65)+1-0x20,r25
 1310 05ce 81BD                 out 65-0x20,r24
 1311 05d0 F0BC                 out 64-0x20,r15
 1312                   /* #APP */
 1313                           /* START EEPROM WRITE CRITICAL SECTION */
 1314 05d2 0FB6                 in      r0, 63          
 1315 05d4 F894                 cli                             
 1316 05d6 FA9A                 sbi     31, 2   
 1317 05d8 F99A                 sbi     31, 1   
 1318 05da 0FBE                 out     63, r0          
 1319                           /* END EEPROM WRITE CRITICAL SECTION */
 1320                   /* #NOAPP */
 1321 05dc 20E0                 ldi r18,lo8(pm(eeprom_write_byte))
 1322 05de 30E0                 ldi r19,hi8(pm(eeprom_write_byte))
 1323 05e0 48E0                 ldi r20,lo8(8)
 1324 05e2 50E0                 ldi r21,hi8(8)
 1325 05e4 B801                 movw r22,r16
 1326 05e6 80E0                 ldi r24,lo8(EEPromArray+80)
 1327 05e8 90E0                 ldi r25,hi8(EEPromArray+80)
 1328 05ea 0E94 0000            call __eewr_block
 1329 05ee 8C2F                 mov r24,r28
 1330 05f0 0E94 0000            call SetActiveParamSetNumber
 1331 05f4 0E94 0000            call LED_Init
 1332 05f8 00C0                 rjmp .L26
 1333                   .L27:
 1334 05fa 8823                 tst r24
 1335 05fc 01F4                 brne .L35
 1336                   .L26:
 1337                   /* epilogue: frame size=0 */
 1338 05fe CF91                 pop r28
 1339 0600 1F91                 pop r17
 1340 0602 0F91                 pop r16
 1341 0604 FF90                 pop r15
 1342 0606 0895                 ret
 1343                   /* epilogue end (size=5) */
 1344                   /* function WriteParameterSet size 76 (67) */
 1346                   .global GetActiveParamSetNumber
 1348                   GetActiveParamSetNumber:
 1349                   /* prologue: frame size=0 */
 1350 0608 CF93                 push r28
 1351                   /* prologue end (size=1) */
 1352                   .L37:
 1353 060a F999                 sbic 63-0x20,1
 1354 060c 00C0                 rjmp .L37
 1355 060e 80E0                 ldi r24,lo8(EEPromArray+2)
 1356 0610 90E0                 ldi r25,hi8(EEPromArray+2)
 1357 0612 92BD                 out (65)+1-0x20,r25
 1358 0614 81BD                 out 65-0x20,r24
 1359                   /* #APP */
 1360                           /* START EEPROM READ CRITICAL SECTION */ 
 1361 0616 F89A                 sbi 31, 0 
 1362 0618 80B5                 in r24, 32 
 1363                           /* END EEPROM READ CRITICAL SECTION */ 
 1364                           
 1365                   /* #NOAPP */
 1366 061a C82F                 mov r28,r24
 1367 061c 8150                 subi r24,lo8(-(-1))
 1368 061e 8530                 cpi r24,lo8(5)
 1369 0620 00F0                 brlo .L41
 1370 0622 C3E0                 ldi r28,lo8(3)
 1371 0624 8C2F                 mov r24,r28
 1372 0626 0E94 0000            call SetActiveParamSetNumber
 1373                   .L41:
 1374 062a 8C2F                 mov r24,r28
 1375 062c 9927                 clr r25
 1376                   /* epilogue: frame size=0 */
 1377 062e CF91                 pop r28
 1378 0630 0895                 ret
 1379                   /* epilogue end (size=2) */
 1380                   /* function GetActiveParamSetNumber size 29 (26) */
 1382                   .global MotorSmoothing
 1384                   MotorSmoothing:
 1385                   /* prologue: frame size=0 */
 1386                   /* prologue end (size=0) */
 1387 0632 6817                 cp r22,r24
 1388 0634 7907                 cpc r23,r25
 1389 0636 04F4                 brge .L43
 1390 0638 680F                 add r22,r24
 1391 063a 791F                 adc r23,r25
 1392 063c 77FD                 sbrc r23,7
 1393 063e 00C0                 rjmp .L46
 1394 0640 CB01                 movw r24,r22
 1395 0642 9595                 asr r25
 1396 0644 8795                 ror r24
 1397 0646 0895                 ret
 1398                   .L43:
 1399 0648 681B                 sub r22,r24
 1400 064a 790B                 sbc r23,r25
 1401 064c 861B                 sub r24,r22
 1402 064e 970B                 sbc r25,r23
 1403 0650 0895                 ret
 1404                   .L46:
 1405 0652 6F5F                 subi r22,lo8(-(1))
 1406 0654 7F4F                 sbci r23,hi8(-(1))
 1407 0656 CB01                 movw r24,r22
 1408 0658 9595                 asr r25
 1409 065a 8795                 ror r24
 1410 065c 0895                 ret
 1411                   /* epilogue: frame size=0 */
 1412                   /* epilogue: noreturn */
 1413                   /* epilogue end (size=0) */
 1414                   /* function MotorSmoothing size 22 (22) */
 1416                   .global Piep
 1418                   Piep:
 1419                   /* prologue: frame size=0 */
 1420 065e EF92                 push r14
 1421 0660 FF92                 push r15
 1422 0662 0F93                 push r16
 1423 0664 1F93                 push r17
 1424 0666 CF93                 push r28
 1425                   /* prologue end (size=5) */
 1426 0668 C82F                 mov r28,r24
 1427 066a 8B01                 movw r16,r22
 1428 066c 8091 0000            lds r24,MotorenEin
 1429 0670 8823                 tst r24
 1430 0672 01F4                 brne .L47
 1431 0674 C150                 subi r28,lo8(-(-1))
 1432 0676 CF3F                 cpi r28,lo8(-1)
 1433 0678 01F0                 breq .L47
 1434 067a 7B01                 movw r14,r22
 1435 067c E60E                 add r14,r22
 1436 067e F71E                 adc r15,r23
 1437                   .L54:
 1438 0680 1093 0000            sts (beeptime)+1,r17
 1439 0684 0093 0000            sts beeptime,r16
 1440                   .L51:
 1441 0688 8091 0000            lds r24,beeptime
 1442 068c 9091 0000            lds r25,(beeptime)+1
 1443 0690 892B                 or r24,r25
 1444 0692 01F4                 brne .L51
 1445 0694 C701                 movw r24,r14
 1446 0696 0E94 0000            call Delay_ms
 1447 069a C150                 subi r28,1
 1448 069c 00F4                 brcc .L54
 1449                   .L47:
 1450                   /* epilogue: frame size=0 */
 1451 069e CF91                 pop r28
 1452 06a0 1F91                 pop r17
 1453 06a2 0F91                 pop r16
 1454 06a4 FF90                 pop r15
 1455 06a6 EF90                 pop r14
 1456 06a8 0895                 ret
 1457                   /* epilogue end (size=6) */
 1458                   /* function Piep size 39 (28) */
 1460                           .lcomm tmpl.35,4
 1461                           .lcomm tmpl2.36,4
 1462                           .lcomm tmpl3.37,4
 1463                           .lcomm tmpl4.38,4
 1464                           .lcomm oldNick.39,2
 1465                           .lcomm oldRoll.40,2
 1466                           .lcomm d2Roll.41,2
 1467                           .lcomm d2Nick.42,2
 1468                   .global Mittelwert
 1470                   Mittelwert:
 1471                   /* prologue: frame size=61 */
 1472 06aa ADE3                 ldi r26,lo8(61)
 1473 06ac B0E0                 ldi r27,hi8(61)
 1474 06ae E0E0                 ldi r30,pm_lo8(1f)
 1475 06b0 F0E0                 ldi r31,pm_hi8(1f)
 1476 06b2 0C94 0000            jmp __prologue_saves__+0
 1477                   1:
 1478                   /* prologue end (size=6) */
 1479 06b6 2091 0000            lds r18,AdWertGier
 1480 06ba 3091 0000            lds r19,(AdWertGier)+1
 1481 06be 8091 0000            lds r24,AdNeutralGier
 1482 06c2 9091 0000            lds r25,(AdNeutralGier)+1
 1483 06c6 281B                 sub r18,r24
 1484 06c8 390B                 sbc r19,r25
 1485 06ca 3A87                 std Y+10,r19
 1486 06cc 2987                 std Y+9,r18
 1487 06ce 3093 0000            sts (MesswertGier)+1,r19
 1488 06d2 2093 0000            sts MesswertGier,r18
 1489 06d6 2091 0000            lds r18,AdWertNickFilter
 1490 06da 3091 0000            lds r19,(AdWertNickFilter)+1
 1491 06de 37FD                 sbrc r19,7
 1492 06e0 00C0                 rjmp .L186
 1493                   .L57:
 1494 06e2 3595                 asr r19
 1495 06e4 2795                 ror r18
 1496 06e6 3595                 asr r19
 1497 06e8 2795                 ror r18
 1498 06ea 3595                 asr r19
 1499 06ec 2795                 ror r18
 1500 06ee 3AA7                 std Y+42,r19
 1501 06f0 29A7                 std Y+41,r18
 1502 06f2 3C87                 std Y+12,r19
 1503 06f4 2B87                 std Y+11,r18
 1504 06f6 7901                 movw r14,r18
 1505 06f8 2091 0000            lds r18,AdWertRollFilter
 1506 06fc 3091 0000            lds r19,(AdWertRollFilter)+1
 1507 0700 37FD                 sbrc r19,7
 1508 0702 00C0                 rjmp .L187
 1509                   .L58:
 1510 0704 3595                 asr r19
 1511 0706 2795                 ror r18
 1512 0708 3595                 asr r19
 1513 070a 2795                 ror r18
 1514 070c 3595                 asr r19
 1515 070e 2795                 ror r18
 1516 0710 3CA7                 std Y+44,r19
 1517 0712 2BA7                 std Y+43,r18
 1518 0714 3E87                 std Y+14,r19
 1519 0716 2D87                 std Y+13,r18
 1520 0718 F092 0000            sts (RohMesswertNick)+1,r15
 1521 071c E092 0000            sts RohMesswertNick,r14
 1522 0720 3093 0000            sts (RohMesswertRoll)+1,r19
 1523 0724 2093 0000            sts RohMesswertRoll,r18
 1524 0728 8091 0000            lds r24,Mittelwert_AccNick
 1525 072c 9091 0000            lds r25,(Mittelwert_AccNick)+1
 1526 0730 AA27                 clr r26
 1527 0732 97FD                 sbrc r25,7
 1528 0734 A095                 com r26
 1529 0736 BA2F                 mov r27,r26
 1530 0738 7C01                 movw r14,r24
 1531 073a 8D01                 movw r16,r26
 1532 073c EE0C                 lsl r14
 1533 073e FF1C                 rol r15
 1534 0740 001F                 rol r16
 1535 0742 111F                 rol r17
 1536 0744 E80E                 add r14,r24
 1537 0746 F91E                 adc r15,r25
 1538 0748 0A1F                 adc r16,r26
 1539 074a 1B1F                 adc r17,r27
 1540 074c 8091 0000            lds r24,AdWertAccNick
 1541 0750 9091 0000            lds r25,(AdWertAccNick)+1
 1542 0754 9C01                 movw r18,r24
 1543 0756 4427                 clr r20
 1544 0758 37FD                 sbrc r19,7
 1545 075a 4095                 com r20
 1546 075c 542F                 mov r21,r20
 1547 075e DA01                 movw r26,r20
 1548 0760 C901                 movw r24,r18
 1549 0762 880F                 lsl r24
 1550 0764 991F                 rol r25
 1551 0766 AA1F                 rol r26
 1552 0768 BB1F                 rol r27
 1553 076a 880F                 lsl r24
 1554 076c 991F                 rol r25
 1555 076e AA1F                 rol r26
 1556 0770 BB1F                 rol r27
 1557 0772 820F                 add r24,r18
 1558 0774 931F                 adc r25,r19
 1559 0776 A41F                 adc r26,r20
 1560 0778 B51F                 adc r27,r21
 1561 077a 820F                 add r24,r18
 1562 077c 931F                 adc r25,r19
 1563 077e A41F                 adc r26,r20
 1564 0780 B51F                 adc r27,r21
 1565 0782 E80E                 add r14,r24
 1566 0784 F91E                 adc r15,r25
 1567 0786 0A1F                 adc r16,r26
 1568 0788 1B1F                 adc r17,r27
 1569 078a 17FD                 sbrc r17,7
 1570 078c 00C0                 rjmp .L188
 1571                   .L59:
 1572 078e 1595                 asr r17
 1573 0790 0795                 ror r16
 1574 0792 F794                 ror r15
 1575 0794 E794                 ror r14
 1576 0796 1595                 asr r17
 1577 0798 0795                 ror r16
 1578 079a F794                 ror r15
 1579 079c E794                 ror r14
 1580 079e F092 0000            sts (Mittelwert_AccNick)+1,r15
 1581 07a2 E092 0000            sts Mittelwert_AccNick,r14
 1582 07a6 8091 0000            lds r24,Mittelwert_AccRoll
 1583 07aa 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 1584 07ae AA27                 clr r26
 1585 07b0 97FD                 sbrc r25,7
 1586 07b2 A095                 com r26
 1587 07b4 BA2F                 mov r27,r26
 1588 07b6 7C01                 movw r14,r24
 1589 07b8 8D01                 movw r16,r26
 1590 07ba EE0C                 lsl r14
 1591 07bc FF1C                 rol r15
 1592 07be 001F                 rol r16
 1593 07c0 111F                 rol r17
 1594 07c2 E80E                 add r14,r24
 1595 07c4 F91E                 adc r15,r25
 1596 07c6 0A1F                 adc r16,r26
 1597 07c8 1B1F                 adc r17,r27
 1598 07ca 8091 0000            lds r24,AdWertAccRoll
 1599 07ce 9091 0000            lds r25,(AdWertAccRoll)+1
 1600 07d2 9C01                 movw r18,r24
 1601 07d4 4427                 clr r20
 1602 07d6 37FD                 sbrc r19,7
 1603 07d8 4095                 com r20
 1604 07da 542F                 mov r21,r20
 1605 07dc DA01                 movw r26,r20
 1606 07de C901                 movw r24,r18
 1607 07e0 880F                 lsl r24
 1608 07e2 991F                 rol r25
 1609 07e4 AA1F                 rol r26
 1610 07e6 BB1F                 rol r27
 1611 07e8 880F                 lsl r24
 1612 07ea 991F                 rol r25
 1613 07ec AA1F                 rol r26
 1614 07ee BB1F                 rol r27
 1615 07f0 820F                 add r24,r18
 1616 07f2 931F                 adc r25,r19
 1617 07f4 A41F                 adc r26,r20
 1618 07f6 B51F                 adc r27,r21
 1619 07f8 820F                 add r24,r18
 1620 07fa 931F                 adc r25,r19
 1621 07fc A41F                 adc r26,r20
 1622 07fe B51F                 adc r27,r21
 1623 0800 E80E                 add r14,r24
 1624 0802 F91E                 adc r15,r25
 1625 0804 0A1F                 adc r16,r26
 1626 0806 1B1F                 adc r17,r27
 1627 0808 17FD                 sbrc r17,7
 1628 080a 00C0                 rjmp .L189
 1629                   .L60:
 1630 080c 1595                 asr r17
 1631 080e 0795                 ror r16
 1632 0810 F794                 ror r15
 1633 0812 E794                 ror r14
 1634 0814 1595                 asr r17
 1635 0816 0795                 ror r16
 1636 0818 F794                 ror r15
 1637 081a E794                 ror r14
 1638 081c F092 0000            sts (Mittelwert_AccRoll)+1,r15
 1639 0820 E092 0000            sts Mittelwert_AccRoll,r14
 1640 0824 8091 0000            lds r24,Mittelwert_AccHoch
 1641 0828 9091 0000            lds r25,(Mittelwert_AccHoch)+1
 1642 082c AA27                 clr r26
 1643 082e 97FD                 sbrc r25,7
 1644 0830 A095                 com r26
 1645 0832 BA2F                 mov r27,r26
 1646 0834 9C01                 movw r18,r24
 1647 0836 AD01                 movw r20,r26
 1648 0838 220F                 lsl r18
 1649 083a 331F                 rol r19
 1650 083c 441F                 rol r20
 1651 083e 551F                 rol r21
 1652 0840 280F                 add r18,r24
 1653 0842 391F                 adc r19,r25
 1654 0844 4A1F                 adc r20,r26
 1655 0846 5B1F                 adc r21,r27
 1656 0848 8091 0000            lds r24,AdWertAccHoch
 1657 084c 9091 0000            lds r25,(AdWertAccHoch)+1
 1658 0850 AA27                 clr r26
 1659 0852 97FD                 sbrc r25,7
 1660 0854 A095                 com r26
 1661 0856 BA2F                 mov r27,r26
 1662 0858 280F                 add r18,r24
 1663 085a 391F                 adc r19,r25
 1664 085c 4A1F                 adc r20,r26
 1665 085e 5B1F                 adc r21,r27
 1666 0860 57FD                 sbrc r21,7
 1667 0862 00C0                 rjmp .L190
 1668                   .L61:
 1669 0864 5595                 asr r21
 1670 0866 4795                 ror r20
 1671 0868 3795                 ror r19
 1672 086a 2795                 ror r18
 1673 086c 5595                 asr r21
 1674 086e 4795                 ror r20
 1675 0870 3795                 ror r19
 1676 0872 2795                 ror r18
 1677 0874 3093 0000            sts (Mittelwert_AccHoch)+1,r19
 1678 0878 2093 0000            sts Mittelwert_AccHoch,r18
 1679 087c 2091 0000            lds r18,AdWertAccNick
 1680 0880 3091 0000            lds r19,(AdWertAccNick)+1
 1681 0884 C901                 movw r24,r18
 1682 0886 880F                 lsl r24
 1683 0888 991F                 rol r25
 1684 088a 880F                 lsl r24
 1685 088c 991F                 rol r25
 1686 088e 820F                 add r24,r18
 1687 0890 931F                 adc r25,r19
 1688 0892 820F                 add r24,r18
 1689 0894 931F                 adc r25,r19
 1690 0896 AA27                 clr r26
 1691 0898 97FD                 sbrc r25,7
 1692 089a A095                 com r26
 1693 089c BA2F                 mov r27,r26
 1694 089e 2091 0000            lds r18,IntegralAccNick
 1695 08a2 3091 0000            lds r19,(IntegralAccNick)+1
 1696 08a6 4091 0000            lds r20,(IntegralAccNick)+2
 1697 08aa 5091 0000            lds r21,(IntegralAccNick)+3
 1698 08ae 820F                 add r24,r18
 1699 08b0 931F                 adc r25,r19
 1700 08b2 A41F                 adc r26,r20
 1701 08b4 B51F                 adc r27,r21
 1702 08b6 8093 0000            sts IntegralAccNick,r24
 1703 08ba 9093 0000            sts (IntegralAccNick)+1,r25
 1704 08be A093 0000            sts (IntegralAccNick)+2,r26
 1705 08c2 B093 0000            sts (IntegralAccNick)+3,r27
 1706 08c6 2091 0000            lds r18,AdWertAccRoll
 1707 08ca 3091 0000            lds r19,(AdWertAccRoll)+1
 1708 08ce C901                 movw r24,r18
 1709 08d0 880F                 lsl r24
 1710 08d2 991F                 rol r25
 1711 08d4 880F                 lsl r24
 1712 08d6 991F                 rol r25
 1713 08d8 820F                 add r24,r18
 1714 08da 931F                 adc r25,r19
 1715 08dc 820F                 add r24,r18
 1716 08de 931F                 adc r25,r19
 1717 08e0 AA27                 clr r26
 1718 08e2 97FD                 sbrc r25,7
 1719 08e4 A095                 com r26
 1720 08e6 BA2F                 mov r27,r26
 1721 08e8 2091 0000            lds r18,IntegralAccRoll
 1722 08ec 3091 0000            lds r19,(IntegralAccRoll)+1
 1723 08f0 4091 0000            lds r20,(IntegralAccRoll)+2
 1724 08f4 5091 0000            lds r21,(IntegralAccRoll)+3
 1725 08f8 820F                 add r24,r18
 1726 08fa 931F                 adc r25,r19
 1727 08fc A41F                 adc r26,r20
 1728 08fe B51F                 adc r27,r21
 1729 0900 8093 0000            sts IntegralAccRoll,r24
 1730 0904 9093 0000            sts (IntegralAccRoll)+1,r25
 1731 0908 A093 0000            sts (IntegralAccRoll)+2,r26
 1732 090c B093 0000            sts (IntegralAccRoll)+3,r27
 1733 0910 8091 0000            lds r24,NaviAccNick
 1734 0914 9091 0000            lds r25,(NaviAccNick)+1
 1735 0918 2091 0000            lds r18,AdWertAccNick
 1736 091c 3091 0000            lds r19,(AdWertAccNick)+1
 1737 0920 820F                 add r24,r18
 1738 0922 931F                 adc r25,r19
 1739 0924 9093 0000            sts (NaviAccNick)+1,r25
 1740 0928 8093 0000            sts NaviAccNick,r24
 1741 092c 8091 0000            lds r24,NaviAccRoll
 1742 0930 9091 0000            lds r25,(NaviAccRoll)+1
 1743 0934 2091 0000            lds r18,AdWertAccRoll
 1744 0938 3091 0000            lds r19,(AdWertAccRoll)+1
 1745 093c 820F                 add r24,r18
 1746 093e 931F                 adc r25,r19
 1747 0940 9093 0000            sts (NaviAccRoll)+1,r25
 1748 0944 8093 0000            sts NaviAccRoll,r24
 1749 0948 8091 0000            lds r24,NaviCntAcc
 1750 094c 9091 0000            lds r25,(NaviCntAcc)+1
 1751 0950 0196                 adiw r24,1
 1752 0952 9093 0000            sts (NaviCntAcc)+1,r25
 1753 0956 8093 0000            sts NaviCntAcc,r24
 1754 095a 8091 0000            lds r24,IntegralAccZ
 1755 095e 9091 0000            lds r25,(IntegralAccZ)+1
 1756 0962 A091 0000            lds r26,(IntegralAccZ)+2
 1757 0966 B091 0000            lds r27,(IntegralAccZ)+3
 1758 096a BC01                 movw r22,r24
 1759 096c CD01                 movw r24,r26
 1760 096e 0E94 0000            call __floatsisf
 1761 0972 5B01                 movw r10,r22
 1762 0974 6C01                 movw r12,r24
 1763 0976 8091 0000            lds r24,Aktuell_az
 1764 097a 9091 0000            lds r25,(Aktuell_az)+1
 1765 097e AA27                 clr r26
 1766 0980 97FD                 sbrc r25,7
 1767 0982 A095                 com r26
 1768 0984 BA2F                 mov r27,r26
 1769 0986 BC01                 movw r22,r24
 1770 0988 CD01                 movw r24,r26
 1771 098a 0E94 0000            call __floatsisf
 1772 098e 7B01                 movw r14,r22
 1773 0990 8C01                 movw r16,r24
 1774 0992 8091 0000            lds r24,NeutralAccZ
 1775 0996 9091 0000            lds r25,(NeutralAccZ)+1
 1776 099a A091 0000            lds r26,(NeutralAccZ)+2
 1777 099e B091 0000            lds r27,(NeutralAccZ)+3
 1778 09a2 9C01                 movw r18,r24
 1779 09a4 AD01                 movw r20,r26
 1780 09a6 C801                 movw r24,r16
 1781 09a8 B701                 movw r22,r14
 1782 09aa 0E94 0000            call __subsf3
 1783 09ae DC01                 movw r26,r24
 1784 09b0 CB01                 movw r24,r22
 1785 09b2 9C01                 movw r18,r24
 1786 09b4 AD01                 movw r20,r26
 1787 09b6 C601                 movw r24,r12
 1788 09b8 B501                 movw r22,r10
 1789 09ba 0E94 0000            call __addsf3
 1790 09be DC01                 movw r26,r24
 1791 09c0 CB01                 movw r24,r22
 1792 09c2 BC01                 movw r22,r24
 1793 09c4 CD01                 movw r24,r26
 1794 09c6 0E94 0000            call __fixsfsi
 1795 09ca DC01                 movw r26,r24
 1796 09cc CB01                 movw r24,r22
 1797 09ce 8093 0000            sts IntegralAccZ,r24
 1798 09d2 9093 0000            sts (IntegralAccZ)+1,r25
 1799 09d6 A093 0000            sts (IntegralAccZ)+2,r26
 1800 09da B093 0000            sts (IntegralAccZ)+3,r27
 1801 09de 8FEC                 ldi r24,lo8(-49)
 1802 09e0 8093 7A00            sts 122,r24
 1803 09e4 1092 0000            sts AdReady,__zero_reg__
 1804 09e8 2090 0000            lds r2,Mess_IntegralRoll
 1805 09ec 3090 0000            lds r3,(Mess_IntegralRoll)+1
 1806 09f0 4090 0000            lds r4,(Mess_IntegralRoll)+2
 1807 09f4 5090 0000            lds r5,(Mess_IntegralRoll)+3
 1808 09f8 39E4                 ldi r19,lo8(93001)
 1809 09fa 2316                 cp r2,r19
 1810 09fc 3BE6                 ldi r19,hi8(93001)
 1811 09fe 3306                 cpc r3,r19
 1812 0a00 31E0                 ldi r19,hlo8(93001)
 1813 0a02 4306                 cpc r4,r19
 1814 0a04 30E0                 ldi r19,hhi8(93001)
 1815 0a06 5306                 cpc r5,r19
 1816 0a08 04F4                 brge .+2
 1817 0a0a 00C0                 rjmp .L62
 1818 0a0c 88E4                 ldi r24,lo8(93000)
 1819 0a0e 9BE6                 ldi r25,hi8(93000)
 1820 0a10 A1E0                 ldi r26,hlo8(93000)
 1821 0a12 B0E0                 ldi r27,hhi8(93000)
 1822 0a14 8D83                 std Y+5,r24
 1823 0a16 9E83                 std Y+6,r25
 1824 0a18 AF83                 std Y+7,r26
 1825 0a1a B887                 std Y+8,r27
 1826                   .L63:
 1827 0a1c 6090 0000            lds r6,Mess_IntegralNick
 1828 0a20 7090 0000            lds r7,(Mess_IntegralNick)+1
 1829 0a24 8090 0000            lds r8,(Mess_IntegralNick)+2
 1830 0a28 9090 0000            lds r9,(Mess_IntegralNick)+3
 1831 0a2c 39E4                 ldi r19,lo8(93001)
 1832 0a2e 6316                 cp r6,r19
 1833 0a30 3BE6                 ldi r19,hi8(93001)
 1834 0a32 7306                 cpc r7,r19
 1835 0a34 31E0                 ldi r19,hlo8(93001)
 1836 0a36 8306                 cpc r8,r19
 1837 0a38 30E0                 ldi r19,hhi8(93001)
 1838 0a3a 9306                 cpc r9,r19
 1839 0a3c 04F4                 brge .+2
 1840 0a3e 00C0                 rjmp .L66
 1841 0a40 88E4                 ldi r24,lo8(93000)
 1842 0a42 9BE6                 ldi r25,hi8(93000)
 1843 0a44 A1E0                 ldi r26,hlo8(93000)
 1844 0a46 B0E0                 ldi r27,hhi8(93000)
 1845 0a48 8983                 std Y+1,r24
 1846 0a4a 9A83                 std Y+2,r25
 1847 0a4c AB83                 std Y+3,r26
 1848 0a4e BC83                 std Y+4,r27
 1849                   .L67:
 1850 0a50 4985                 ldd r20,Y+9
 1851 0a52 5A85                 ldd r21,Y+10
 1852 0a54 CA01                 movw r24,r20
 1853 0a56 AA27                 clr r26
 1854 0a58 97FD                 sbrc r25,7
 1855 0a5a A095                 com r26
 1856 0a5c BA2F                 mov r27,r26
 1857 0a5e 2091 0000            lds r18,Mess_Integral_Gier
 1858 0a62 3091 0000            lds r19,(Mess_Integral_Gier)+1
 1859 0a66 4091 0000            lds r20,(Mess_Integral_Gier)+2
 1860 0a6a 5091 0000            lds r21,(Mess_Integral_Gier)+3
 1861 0a6e 280F                 add r18,r24
 1862 0a70 391F                 adc r19,r25
 1863 0a72 4A1F                 adc r20,r26
 1864 0a74 5B1F                 adc r21,r27
 1865 0a76 2DA3                 std Y+37,r18
 1866 0a78 3EA3                 std Y+38,r19
 1867 0a7a 4FA3                 std Y+39,r20
 1868 0a7c 58A7                 std Y+40,r21
 1869 0a7e A090 0000            lds r10,ErsatzKompass
 1870 0a82 B090 0000            lds r11,(ErsatzKompass)+1
 1871 0a86 C090 0000            lds r12,(ErsatzKompass)+2
 1872 0a8a D090 0000            lds r13,(ErsatzKompass)+3
 1873 0a8e A80E                 add r10,r24
 1874 0a90 B91E                 adc r11,r25
 1875 0a92 CA1E                 adc r12,r26
 1876 0a94 DB1E                 adc r13,r27
 1877 0a96 8601                 movw r16,r12
 1878 0a98 7501                 movw r14,r10
 1879 0a9a 3091 0000            lds r19,Looping_Nick
 1880 0a9e 3BA3                 std Y+35,r19
 1881 0aa0 3323                 tst r19
 1882 0aa2 01F0                 breq .+2
 1883 0aa4 00C0                 rjmp .L166
 1884 0aa6 8091 0000            lds r24,Looping_Roll
 1885 0aaa 8823                 tst r24
 1886 0aac 01F0                 breq .+2
 1887 0aae 00C0                 rjmp .L167
 1888 0ab0 4091 0000            lds r20,EE_Parameter+8
 1889 0ab4 4CA3                 std Y+36,r20
 1890 0ab6 46FF                 sbrs r20,6
 1891 0ab8 00C0                 rjmp .L168
 1892 0aba EBA5                 ldd r30,Y+43
 1893 0abc FCA5                 ldd r31,Y+44
 1894 0abe CF01                 movw r24,r30
 1895 0ac0 AA27                 clr r26
 1896 0ac2 97FD                 sbrc r25,7
 1897 0ac4 A095                 com r26
 1898 0ac6 BA2F                 mov r27,r26
 1899 0ac8 BC01                 movw r22,r24
 1900 0aca CD01                 movw r24,r26
 1901 0acc 2981                 ldd r18,Y+1
 1902 0ace 3A81                 ldd r19,Y+2
 1903 0ad0 4B81                 ldd r20,Y+3
 1904 0ad2 5C81                 ldd r21,Y+4
 1905 0ad4 0E94 0000            call __mulsi3
 1906 0ad8 9B01                 movw r18,r22
 1907 0ada AC01                 movw r20,r24
 1908 0adc 97FD                 sbrc r25,7
 1909 0ade 00C0                 rjmp .L191
 1910                   .L71:
 1911 0ae0 BBE0                 ldi r27,11
 1912 0ae2 5595         1:      asr r21
 1913 0ae4 4795                 ror r20
 1914 0ae6 3795                 ror r19
 1915 0ae8 2795                 ror r18
 1916 0aea BA95                 dec r27
 1917 0aec 01F4                 brne 1b
 1918 0aee 8091 0000            lds r24,Parameter_AchsKopplung2
 1919 0af2 E82E                 mov r14,r24
 1920 0af4 FF24                 clr r15
 1921 0af6 0027                 clr r16
 1922 0af8 1127                 clr r17
 1923 0afa C801                 movw r24,r16
 1924 0afc B701                 movw r22,r14
 1925 0afe 0E94 0000            call __mulsi3
 1926 0b02 97FD                 sbrc r25,7
 1927 0b04 00C0                 rjmp .L192
 1928                   .L72:
 1929 0b06 ACE0                 ldi r26,12
 1930 0b08 9595         1:      asr r25
 1931 0b0a 8795                 ror r24
 1932 0b0c 7795                 ror r23
 1933 0b0e 6795                 ror r22
 1934 0b10 AA95                 dec r26
 1935 0b12 01F4                 brne 1b
 1936 0b14 6F87                 std Y+15,r22
 1937 0b16 788B                 std Y+16,r23
 1938 0b18 898B                 std Y+17,r24
 1939 0b1a 9A8B                 std Y+18,r25
 1940 0b1c 6093 0000            sts tmpl3.37,r22
 1941 0b20 7093 0000            sts (tmpl3.37)+1,r23
 1942 0b24 8093 0000            sts (tmpl3.37)+2,r24
 1943 0b28 9093 0000            sts (tmpl3.37)+3,r25
 1944 0b2c 29A5                 ldd r18,Y+41
 1945 0b2e 3AA5                 ldd r19,Y+42
 1946 0b30 C901                 movw r24,r18
 1947 0b32 AA27                 clr r26
 1948 0b34 97FD                 sbrc r25,7
 1949 0b36 A095                 com r26
 1950 0b38 BA2F                 mov r27,r26
 1951 0b3a BC01                 movw r22,r24
 1952 0b3c CD01                 movw r24,r26
 1953 0b3e 2D81                 ldd r18,Y+5
 1954 0b40 3E81                 ldd r19,Y+6
 1955 0b42 4F81                 ldd r20,Y+7
 1956 0b44 5885                 ldd r21,Y+8
 1957 0b46 0E94 0000            call __mulsi3
 1958 0b4a 9B01                 movw r18,r22
 1959 0b4c AC01                 movw r20,r24
 1960 0b4e 97FD                 sbrc r25,7
 1961 0b50 00C0                 rjmp .L193
 1962                   .L73:
 1963 0b52 FBE0                 ldi r31,11
 1964 0b54 5595         1:      asr r21
 1965 0b56 4795                 ror r20
 1966 0b58 3795                 ror r19
 1967 0b5a 2795                 ror r18
 1968 0b5c FA95                 dec r31
 1969 0b5e 01F4                 brne 1b
 1970 0b60 C801                 movw r24,r16
 1971 0b62 B701                 movw r22,r14
 1972 0b64 0E94 0000            call __mulsi3
 1973 0b68 97FD                 sbrc r25,7
 1974 0b6a 00C0                 rjmp .L194
 1975                   .L74:
 1976 0b6c DC01                 movw r26,r24
 1977 0b6e CB01                 movw r24,r22
 1978 0b70 ECE0                 ldi r30,12
 1979 0b72 B595         1:      asr r27
 1980 0b74 A795                 ror r26
 1981 0b76 9795                 ror r25
 1982 0b78 8795                 ror r24
 1983 0b7a EA95                 dec r30
 1984 0b7c 01F4                 brne 1b
 1985 0b7e 8093 0000            sts tmpl4.38,r24
 1986 0b82 9093 0000            sts (tmpl4.38)+1,r25
 1987 0b86 A093 0000            sts (tmpl4.38)+2,r26
 1988 0b8a B093 0000            sts (tmpl4.38)+3,r27
 1989 0b8e 2091 0000            lds r18,tmpl3.37
 1990 0b92 3091 0000            lds r19,(tmpl3.37)+1
 1991 0b96 3093 0000            sts (KopplungsteilNickRoll)+1,r19
 1992 0b9a 2093 0000            sts KopplungsteilNickRoll,r18
 1993 0b9e 2091 0000            lds r18,tmpl4.38
 1994 0ba2 3091 0000            lds r19,(tmpl4.38)+1
 1995 0ba6 3093 0000            sts (KopplungsteilRollNick)+1,r19
 1996 0baa 2093 0000            sts KopplungsteilRollNick,r18
 1997 0bae 2F85                 ldd r18,Y+15
 1998 0bb0 3889                 ldd r19,Y+16
 1999 0bb2 4989                 ldd r20,Y+17
 2000 0bb4 5A89                 ldd r21,Y+18
 2001 0bb6 821B                 sub r24,r18
 2002 0bb8 930B                 sbc r25,r19
 2003 0bba A40B                 sbc r26,r20
 2004 0bbc B50B                 sbc r27,r21
 2005 0bbe 8AAF                 std Y+58,r24
 2006 0bc0 9BAF                 std Y+59,r25
 2007 0bc2 ACAF                 std Y+60,r26
 2008 0bc4 BDAF                 std Y+61,r27
 2009 0bc6 8093 0000            sts tmpl4.38,r24
 2010 0bca 9093 0000            sts (tmpl4.38)+1,r25
 2011 0bce A093 0000            sts (tmpl4.38)+2,r26
 2012 0bd2 B093 0000            sts (tmpl4.38)+3,r27
 2013 0bd6 A80E                 add r10,r24
 2014 0bd8 B91E                 adc r11,r25
 2015 0bda CA1E                 adc r12,r26
 2016 0bdc DB1E                 adc r13,r27
 2017 0bde 8601                 movw r16,r12
 2018 0be0 7501                 movw r14,r10
 2019 0be2 3091 0000            lds r19,Parameter_CouplingYawCorrection
 2020 0be6 3DA7                 std Y+45,r19
 2021 0be8 3323                 tst r19
 2022 0bea 01F0                 breq .+2
 2023 0bec 00C0                 rjmp .L169
 2024 0bee 8EA7                 std Y+46,r24
 2025 0bf0 9FA7                 std Y+47,r25
 2026 0bf2 A8AB                 std Y+48,r26
 2027 0bf4 B9AB                 std Y+49,r27
 2028 0bf6 B7FD                 sbrc r27,7
 2029 0bf8 00C0                 rjmp .L195
 2030                   .L76:
 2031 0bfa 2EA5                 ldd r18,Y+46
 2032 0bfc 3FA5                 ldd r19,Y+47
 2033 0bfe 48A9                 ldd r20,Y+48
 2034 0c00 59A9                 ldd r21,Y+49
 2035 0c02 5595                 asr r21
 2036 0c04 4795                 ror r20
 2037 0c06 3795                 ror r19
 2038 0c08 2795                 ror r18
 2039 0c0a 8DA1                 ldd r24,Y+37
 2040 0c0c 9EA1                 ldd r25,Y+38
 2041 0c0e AFA1                 ldd r26,Y+39
 2042 0c10 B8A5                 ldd r27,Y+40
 2043 0c12 821B                 sub r24,r18
 2044 0c14 930B                 sbc r25,r19
 2045 0c16 A40B                 sbc r26,r20
 2046 0c18 B50B                 sbc r27,r21
 2047 0c1a 8DA3                 std Y+37,r24
 2048 0c1c 9EA3                 std Y+38,r25
 2049 0c1e AFA3                 std Y+39,r26
 2050 0c20 B8A7                 std Y+40,r27
 2051 0c22 8093 0000            sts Mess_Integral_Gier,r24
 2052 0c26 9093 0000            sts (Mess_Integral_Gier)+1,r25
 2053 0c2a A093 0000            sts (Mess_Integral_Gier)+2,r26
 2054 0c2e B093 0000            sts (Mess_Integral_Gier)+3,r27
 2055 0c32 00C0                 rjmp .L75
 2056                   .L62:
 2057 0c34 98EB                 ldi r25,lo8(-93000)
 2058 0c36 2916                 cp r2,r25
 2059 0c38 94E9                 ldi r25,hi8(-93000)
 2060 0c3a 3906                 cpc r3,r25
 2061 0c3c 9EEF                 ldi r25,hlo8(-93000)
 2062 0c3e 4906                 cpc r4,r25
 2063 0c40 9FEF                 ldi r25,hhi8(-93000)
 2064 0c42 5906                 cpc r5,r25
 2065 0c44 04F0                 brlt .+2
 2066 0c46 00C0                 rjmp .L64
 2067 0c48 28EB                 ldi r18,lo8(-93000)
 2068 0c4a 34E9                 ldi r19,hi8(-93000)
 2069 0c4c 4EEF                 ldi r20,hlo8(-93000)
 2070 0c4e 5FEF                 ldi r21,hhi8(-93000)
 2071 0c50 2D83                 std Y+5,r18
 2072 0c52 3E83                 std Y+6,r19
 2073 0c54 4F83                 std Y+7,r20
 2074 0c56 5887                 std Y+8,r21
 2075 0c58 00C0                 rjmp .L63
 2076                   .L166:
 2077 0c5a 2DA1                 ldd r18,Y+37
 2078 0c5c 3EA1                 ldd r19,Y+38
 2079 0c5e 4FA1                 ldd r20,Y+39
 2080 0c60 58A5                 ldd r21,Y+40
 2081 0c62 2093 0000            sts Mess_Integral_Gier,r18
 2082 0c66 3093 0000            sts (Mess_Integral_Gier)+1,r19
 2083 0c6a 4093 0000            sts (Mess_Integral_Gier)+2,r20
 2084 0c6e 5093 0000            sts (Mess_Integral_Gier)+3,r21
 2085 0c72 3091 0000            lds r19,EE_Parameter+8
 2086 0c76 3CA3                 std Y+36,r19
 2087                   .L70:
 2088 0c78 1092 0000            sts (KopplungsteilRollNick)+1,__zero_reg__
 2089 0c7c 1092 0000            sts KopplungsteilRollNick,__zero_reg__
 2090 0c80 1092 0000            sts (KopplungsteilNickRoll)+1,__zero_reg__
 2091 0c84 1092 0000            sts KopplungsteilNickRoll,__zero_reg__
 2092 0c88 1092 0000            sts tmpl2.36,__zero_reg__
 2093 0c8c 1092 0000            sts (tmpl2.36)+1,__zero_reg__
 2094 0c90 1092 0000            sts (tmpl2.36)+2,__zero_reg__
 2095 0c94 1092 0000            sts (tmpl2.36)+3,__zero_reg__
 2096 0c98 1092 0000            sts tmpl.35,__zero_reg__
 2097 0c9c 1092 0000            sts (tmpl.35)+1,__zero_reg__
 2098 0ca0 1092 0000            sts (tmpl.35)+2,__zero_reg__
 2099 0ca4 1092 0000            sts (tmpl.35)+3,__zero_reg__
 2100 0ca8 3091 0000            lds r19,Parameter_CouplingYawCorrection
 2101 0cac 3DA7                 std Y+45,r19
 2102                   .L87:
 2103 0cae 8091 0000            lds r24,tmpl2.36
 2104 0cb2 9091 0000            lds r25,(tmpl2.36)+1
 2105 0cb6 A091 0000            lds r26,(tmpl2.36)+2
 2106 0cba B091 0000            lds r27,(tmpl2.36)+3
 2107 0cbe BC01                 movw r22,r24
 2108 0cc0 CD01                 movw r24,r26
 2109 0cc2 24E6                 ldi r18,lo8(100)
 2110 0cc4 30E0                 ldi r19,hi8(100)
 2111 0cc6 40E0                 ldi r20,hlo8(100)
 2112 0cc8 50E0                 ldi r21,hhi8(100)
 2113 0cca 0E94 0000            call __divmodsi4
 2114 0cce DA01                 movw r26,r20
 2115 0cd0 C901                 movw r24,r18
 2116 0cd2 4091 0000            lds r20,tmpl.35
 2117 0cd6 5091 0000            lds r21,(tmpl.35)+1
 2118 0cda 481B                 sub r20,r24
 2119 0cdc 590B                 sbc r21,r25
 2120 0cde 58A3                 std Y+32,r21
 2121 0ce0 4F8F                 std Y+31,r20
 2122 0ce2 8091 0000            lds r24,tmpl.35
 2123 0ce6 9091 0000            lds r25,(tmpl.35)+1
 2124 0cea A091 0000            lds r26,(tmpl.35)+2
 2125 0cee B091 0000            lds r27,(tmpl.35)+3
 2126 0cf2 BC01                 movw r22,r24
 2127 0cf4 CD01                 movw r24,r26
 2128 0cf6 24E6                 ldi r18,lo8(100)
 2129 0cf8 30E0                 ldi r19,hi8(100)
 2130 0cfa 40E0                 ldi r20,hlo8(100)
 2131 0cfc 50E0                 ldi r21,hhi8(100)
 2132 0cfe 0E94 0000            call __divmodsi4
 2133 0d02 DA01                 movw r26,r20
 2134 0d04 C901                 movw r24,r18
 2135 0d06 2091 0000            lds r18,tmpl2.36
 2136 0d0a 3091 0000            lds r19,(tmpl2.36)+1
 2137 0d0e 821B                 sub r24,r18
 2138 0d10 930B                 sbc r25,r19
 2139 0d12 9AA3                 std Y+34,r25
 2140 0d14 89A3                 std Y+33,r24
 2141 0d16 8091 0000            lds r24,GIER_GRAD_FAKTOR
 2142 0d1a 9091 0000            lds r25,(GIER_GRAD_FAKTOR)+1
 2143 0d1e A091 0000            lds r26,(GIER_GRAD_FAKTOR)+2
 2144 0d22 B091 0000            lds r27,(GIER_GRAD_FAKTOR)+3
 2145 0d26 BC01                 movw r22,r24
 2146 0d28 CD01                 movw r24,r26
 2147 0d2a 28E6                 ldi r18,lo8(360)
 2148 0d2c 31E0                 ldi r19,hi8(360)
 2149 0d2e 40E0                 ldi r20,hlo8(360)
 2150 0d30 50E0                 ldi r21,hhi8(360)
 2151 0d32 0E94 0000            call __mulsi3
 2152 0d36 E616                 cp r14,r22
 2153 0d38 F706                 cpc r15,r23
 2154 0d3a 0807                 cpc r16,r24
 2155 0d3c 1907                 cpc r17,r25
 2156 0d3e 04F0                 brlt .L88
 2157 0d40 5701                 movw r10,r14
 2158 0d42 6801                 movw r12,r16
 2159 0d44 A61A                 sub r10,r22
 2160 0d46 B70A                 sbc r11,r23
 2161 0d48 C80A                 sbc r12,r24
 2162 0d4a D90A                 sbc r13,r25
 2163 0d4c 8601                 movw r16,r12
 2164 0d4e 7501                 movw r14,r10
 2165                   .L88:
 2166 0d50 17FD                 sbrc r17,7
 2167 0d52 00C0                 rjmp .L196
 2168 0d54 A092 0000            sts ErsatzKompass,r10
 2169 0d58 B092 0000            sts (ErsatzKompass)+1,r11
 2170 0d5c C092 0000            sts (ErsatzKompass)+2,r12
 2171 0d60 D092 0000            sts (ErsatzKompass)+3,r13
 2172                   .L89:
 2173 0d64 2BA5                 ldd r18,Y+43
 2174 0d66 3CA5                 ldd r19,Y+44
 2175 0d68 8F8D                 ldd r24,Y+31
 2176 0d6a 98A1                 ldd r25,Y+32
 2177 0d6c 280F                 add r18,r24
 2178 0d6e 391F                 adc r19,r25
 2179 0d70 7901                 movw r14,r18
 2180 0d72 0027                 clr r16
 2181 0d74 F7FC                 sbrc r15,7
 2182 0d76 0095                 com r16
 2183 0d78 102F                 mov r17,r16
 2184 0d7a 8091 0000            lds r24,Mess_IntegralRoll2
 2185 0d7e 9091 0000            lds r25,(Mess_IntegralRoll2)+1
 2186 0d82 A091 0000            lds r26,(Mess_IntegralRoll2)+2
 2187 0d86 B091 0000            lds r27,(Mess_IntegralRoll2)+3
 2188 0d8a E80E                 add r14,r24
 2189 0d8c F91E                 adc r15,r25
 2190 0d8e 0A1F                 adc r16,r26
 2191 0d90 1B1F                 adc r17,r27
 2192 0d92 5701                 movw r10,r14
 2193 0d94 6801                 movw r12,r16
 2194 0d96 8091 0000            lds r24,LageKorrekturRoll
 2195 0d9a 9091 0000            lds r25,(LageKorrekturRoll)+1
 2196 0d9e 281B                 sub r18,r24
 2197 0da0 390B                 sbc r19,r25
 2198 0da2 C901                 movw r24,r18
 2199 0da4 AA27                 clr r26
 2200 0da6 97FD                 sbrc r25,7
 2201 0da8 A095                 com r26
 2202 0daa BA2F                 mov r27,r26
 2203 0dac 280E                 add r2,r24
 2204 0dae 391E                 adc r3,r25
 2205 0db0 4A1E                 adc r4,r26
 2206 0db2 5B1E                 adc r5,r27
 2207 0db4 2091 0000            lds r18,Umschlag180Roll
 2208 0db8 3091 0000            lds r19,(Umschlag180Roll)+1
 2209 0dbc 4091 0000            lds r20,(Umschlag180Roll)+2
 2210 0dc0 5091 0000            lds r21,(Umschlag180Roll)+3
 2211 0dc4 2215                 cp r18,r2
 2212 0dc6 3305                 cpc r19,r3
 2213 0dc8 4405                 cpc r20,r4
 2214 0dca 5505                 cpc r21,r5
 2215 0dcc 04F4                 brge .L90
 2216 0dce A8EA                 ldi r26,lo8(25000)
 2217 0dd0 EA2E                 mov r14,r26
 2218 0dd2 A1E6                 ldi r26,hi8(25000)
 2219 0dd4 FA2E                 mov r15,r26
 2220 0dd6 012D                 mov r16,__zero_reg__
 2221 0dd8 112D                 mov r17,__zero_reg__
 2222 0dda E21A                 sub r14,r18
 2223 0ddc F30A                 sbc r15,r19
 2224 0dde 040B                 sbc r16,r20
 2225 0de0 150B                 sbc r17,r21
 2226 0de2 1701                 movw r2,r14
 2227 0de4 2801                 movw r4,r16
 2228 0de6 5701                 movw r10,r14
 2229 0de8 6801                 movw r12,r16
 2230                   .L90:
 2231 0dea 8827                 clr r24
 2232 0dec 9927                 clr r25
 2233 0dee DC01                 movw r26,r24
 2234 0df0 821B                 sub r24,r18
 2235 0df2 930B                 sbc r25,r19
 2236 0df4 A40B                 sbc r26,r20
 2237 0df6 B50B                 sbc r27,r21
 2238 0df8 2816                 cp r2,r24
 2239 0dfa 3906                 cpc r3,r25
 2240 0dfc 4A06                 cpc r4,r26
 2241 0dfe 5B06                 cpc r5,r27
 2242 0e00 04F0                 brlt .+2
 2243 0e02 00C0                 rjmp .L171
 2244 0e04 F8E5                 ldi r31,lo8(-25000)
 2245 0e06 2F2E                 mov r2,r31
 2246 0e08 FEE9                 ldi r31,hi8(-25000)
 2247 0e0a 3F2E                 mov r3,r31
 2248 0e0c FFEF                 ldi r31,hlo8(-25000)
 2249 0e0e 4F2E                 mov r4,r31
 2250 0e10 FFEF                 ldi r31,hhi8(-25000)
 2251 0e12 5F2E                 mov r5,r31
 2252 0e14 220E                 add r2,r18
 2253 0e16 331E                 adc r3,r19
 2254 0e18 441E                 adc r4,r20
 2255 0e1a 551E                 adc r5,r21
 2256 0e1c 2092 0000            sts Mess_IntegralRoll,r2
 2257 0e20 3092 0000            sts (Mess_IntegralRoll)+1,r3
 2258 0e24 4092 0000            sts (Mess_IntegralRoll)+2,r4
 2259 0e28 5092 0000            sts (Mess_IntegralRoll)+3,r5
 2260 0e2c 8201                 movw r16,r4
 2261 0e2e 7101                 movw r14,r2
 2262 0e30 2092 0000            sts Mess_IntegralRoll2,r2
 2263 0e34 3092 0000            sts (Mess_IntegralRoll2)+1,r3
 2264 0e38 4092 0000            sts (Mess_IntegralRoll2)+2,r4
 2265 0e3c 5092 0000            sts (Mess_IntegralRoll2)+3,r5
 2266                   .L91:
 2267 0e40 29A5                 ldd r18,Y+41
 2268 0e42 3AA5                 ldd r19,Y+42
 2269 0e44 A9A1                 ldd r26,Y+33
 2270 0e46 BAA1                 ldd r27,Y+34
 2271 0e48 2A0F                 add r18,r26
 2272 0e4a 3B1F                 adc r19,r27
 2273 0e4c A901                 movw r20,r18
 2274 0e4e 6627                 clr r22
 2275 0e50 57FD                 sbrc r21,7
 2276 0e52 6095                 com r22
 2277 0e54 762F                 mov r23,r22
 2278 0e56 8091 0000            lds r24,Mess_IntegralNick2
 2279 0e5a 9091 0000            lds r25,(Mess_IntegralNick2)+1
 2280 0e5e A091 0000            lds r26,(Mess_IntegralNick2)+2
 2281 0e62 B091 0000            lds r27,(Mess_IntegralNick2)+3
 2282 0e66 480F                 add r20,r24
 2283 0e68 591F                 adc r21,r25
 2284 0e6a 6A1F                 adc r22,r26
 2285 0e6c 7B1F                 adc r23,r27
 2286 0e6e 5A01                 movw r10,r20
 2287 0e70 6B01                 movw r12,r22
 2288 0e72 8091 0000            lds r24,LageKorrekturNick
 2289 0e76 9091 0000            lds r25,(LageKorrekturNick)+1
 2290 0e7a 281B                 sub r18,r24
 2291 0e7c 390B                 sbc r19,r25
 2292 0e7e C901                 movw r24,r18
 2293 0e80 AA27                 clr r26
 2294 0e82 97FD                 sbrc r25,7
 2295 0e84 A095                 com r26
 2296 0e86 BA2F                 mov r27,r26
 2297 0e88 680E                 add r6,r24
 2298 0e8a 791E                 adc r7,r25
 2299 0e8c 8A1E                 adc r8,r26
 2300 0e8e 9B1E                 adc r9,r27
 2301 0e90 8091 0000            lds r24,Umschlag180Nick
 2302 0e94 9091 0000            lds r25,(Umschlag180Nick)+1
 2303 0e98 A091 0000            lds r26,(Umschlag180Nick)+2
 2304 0e9c B091 0000            lds r27,(Umschlag180Nick)+3
 2305 0ea0 8EAB                 std Y+54,r24
 2306 0ea2 9FAB                 std Y+55,r25
 2307 0ea4 A8AF                 std Y+56,r26
 2308 0ea6 B9AF                 std Y+57,r27
 2309 0ea8 8615                 cp r24,r6
 2310 0eaa 9705                 cpc r25,r7
 2311 0eac A805                 cpc r26,r8
 2312 0eae B905                 cpc r27,r9
 2313 0eb0 04F4                 brge .L92
 2314 0eb2 48EA                 ldi r20,lo8(25000)
 2315 0eb4 51E6                 ldi r21,hi8(25000)
 2316 0eb6 60E0                 ldi r22,hlo8(25000)
 2317 0eb8 70E0                 ldi r23,hhi8(25000)
 2318 0eba 481B                 sub r20,r24
 2319 0ebc 590B                 sbc r21,r25
 2320 0ebe 6A0B                 sbc r22,r26
 2321 0ec0 7B0B                 sbc r23,r27
 2322 0ec2 3A01                 movw r6,r20
 2323 0ec4 4B01                 movw r8,r22
 2324 0ec6 5A01                 movw r10,r20
 2325 0ec8 6B01                 movw r12,r22
 2326                   .L92:
 2327 0eca 8EA9                 ldd r24,Y+54
 2328 0ecc 9FA9                 ldd r25,Y+55
 2329 0ece A8AD                 ldd r26,Y+56
 2330 0ed0 B9AD                 ldd r27,Y+57
 2331 0ed2 B095                 com r27
 2332 0ed4 A095                 com r26
 2333 0ed6 9095                 com r25
 2334 0ed8 8195                 neg r24
 2335 0eda 9F4F                 sbci r25,lo8(-1)
 2336 0edc AF4F                 sbci r26,lo8(-1)
 2337 0ede BF4F                 sbci r27,lo8(-1)
 2338 0ee0 6816                 cp r6,r24
 2339 0ee2 7906                 cpc r7,r25
 2340 0ee4 8A06                 cpc r8,r26
 2341 0ee6 9B06                 cpc r9,r27
 2342 0ee8 04F0                 brlt .+2
 2343 0eea 00C0                 rjmp .L172
 2344 0eec E8E5                 ldi r30,lo8(-25000)
 2345 0eee 6E2E                 mov r6,r30
 2346 0ef0 EEE9                 ldi r30,hi8(-25000)
 2347 0ef2 7E2E                 mov r7,r30
 2348 0ef4 EFEF                 ldi r30,hlo8(-25000)
 2349 0ef6 8E2E                 mov r8,r30
 2350 0ef8 EFEF                 ldi r30,hhi8(-25000)
 2351 0efa 9E2E                 mov r9,r30
 2352 0efc 2EA9                 ldd r18,Y+54
 2353 0efe 3FA9                 ldd r19,Y+55
 2354 0f00 48AD                 ldd r20,Y+56
 2355 0f02 59AD                 ldd r21,Y+57
 2356 0f04 620E                 add r6,r18
 2357 0f06 731E                 adc r7,r19
 2358 0f08 841E                 adc r8,r20
 2359 0f0a 951E                 adc r9,r21
 2360 0f0c 6092 0000            sts Mess_IntegralNick,r6
 2361 0f10 7092 0000            sts (Mess_IntegralNick)+1,r7
 2362 0f14 8092 0000            sts (Mess_IntegralNick)+2,r8
 2363 0f18 9092 0000            sts (Mess_IntegralNick)+3,r9
 2364 0f1c B401                 movw r22,r8
 2365 0f1e A301                 movw r20,r6
 2366 0f20 6092 0000            sts Mess_IntegralNick2,r6
 2367 0f24 7092 0000            sts (Mess_IntegralNick2)+1,r7
 2368 0f28 8092 0000            sts (Mess_IntegralNick2)+2,r8
 2369 0f2c 9092 0000            sts (Mess_IntegralNick2)+3,r9
 2370                   .L93:
 2371 0f30 8DA1                 ldd r24,Y+37
 2372 0f32 9EA1                 ldd r25,Y+38
 2373 0f34 AFA1                 ldd r26,Y+39
 2374 0f36 B8A5                 ldd r27,Y+40
 2375 0f38 8093 0000            sts Integral_Gier,r24
 2376 0f3c 9093 0000            sts (Integral_Gier)+1,r25
 2377 0f40 A093 0000            sts (Integral_Gier)+2,r26
 2378 0f44 B093 0000            sts (Integral_Gier)+3,r27
 2379 0f48 6092 0000            sts IntegralNick,r6
 2380 0f4c 7092 0000            sts (IntegralNick)+1,r7
 2381 0f50 8092 0000            sts (IntegralNick)+2,r8
 2382 0f54 9092 0000            sts (IntegralNick)+3,r9
 2383 0f58 2092 0000            sts IntegralRoll,r2
 2384 0f5c 3092 0000            sts (IntegralRoll)+1,r3
 2385 0f60 4092 0000            sts (IntegralRoll)+2,r4
 2386 0f64 5092 0000            sts (IntegralRoll)+3,r5
 2387 0f68 4093 0000            sts IntegralNick2,r20
 2388 0f6c 5093 0000            sts (IntegralNick2)+1,r21
 2389 0f70 6093 0000            sts (IntegralNick2)+2,r22
 2390 0f74 7093 0000            sts (IntegralNick2)+3,r23
 2391 0f78 E092 0000            sts IntegralRoll2,r14
 2392 0f7c F092 0000            sts (IntegralRoll2)+1,r15
 2393 0f80 0093 0000            sts (IntegralRoll2)+2,r16
 2394 0f84 1093 0000            sts (IntegralRoll2)+3,r17
 2395 0f88 8091 0000            lds r24,HiResNick
 2396 0f8c 9091 0000            lds r25,(HiResNick)+1
 2397 0f90 97FD                 sbrc r25,7
 2398 0f92 00C0                 rjmp .L197
 2399                   .L94:
 2400 0f94 7C01                 movw r14,r24
 2401 0f96 F594                 asr r15
 2402 0f98 E794                 ror r14
 2403 0f9a F594                 asr r15
 2404 0f9c E794                 ror r14
 2405 0f9e F594                 asr r15
 2406 0fa0 E794                 ror r14
 2407 0fa2 FAA6                 std Y+42,r15
 2408 0fa4 E9A6                 std Y+41,r14
 2409 0fa6 8091 0000            lds r24,HiResRoll
 2410 0faa 9091 0000            lds r25,(HiResRoll)+1
 2411 0fae 97FD                 sbrc r25,7
 2412 0fb0 00C0                 rjmp .L198
 2413                   .L95:
 2414 0fb2 8C01                 movw r16,r24
 2415 0fb4 1595                 asr r17
 2416 0fb6 0795                 ror r16
 2417 0fb8 1595                 asr r17
 2418 0fba 0795                 ror r16
 2419 0fbc 1595                 asr r17
 2420 0fbe 0795                 ror r16
 2421 0fc0 1CA7                 std Y+44,r17
 2422 0fc2 0BA7                 std Y+43,r16
 2423 0fc4 8091 0000            lds r24,AdWertNick
 2424 0fc8 9091 0000            lds r25,(AdWertNick)+1
 2425 0fcc 0F97                 sbiw r24,15
 2426 0fce 04F4                 brge .L96
 2427 0fd0 58E1                 ldi r21,lo8(-1000)
 2428 0fd2 E52E                 mov r14,r21
 2429 0fd4 5CEF                 ldi r21,hi8(-1000)
 2430 0fd6 F52E                 mov r15,r21
 2431 0fd8 FAA6                 std Y+42,r15
 2432 0fda E9A6                 std Y+41,r14
 2433                   .L96:
 2434 0fdc 8091 0000            lds r24,AdWertNick
 2435 0fe0 9091 0000            lds r25,(AdWertNick)+1
 2436 0fe4 0797                 sbiw r24,7
 2437 0fe6 04F4                 brge .L97
 2438 0fe8 40E3                 ldi r20,lo8(-2000)
 2439 0fea E42E                 mov r14,r20
 2440 0fec 48EF                 ldi r20,hi8(-2000)
 2441 0fee F42E                 mov r15,r20
 2442 0ff0 FAA6                 std Y+42,r15
 2443 0ff2 E9A6                 std Y+41,r14
 2444                   .L97:
 2445 0ff4 2091 0000            lds r18,PlatinenVersion
 2446 0ff8 2A30                 cpi r18,lo8(10)
 2447 0ffa 01F4                 brne .+2
 2448 0ffc 00C0                 rjmp .L199
 2449 0ffe 8091 0000            lds r24,AdWertNick
 2450 1002 9091 0000            lds r25,(AdWertNick)+1
 2451 1006 815D                 subi r24,lo8(2001)
 2452 1008 9740                 sbci r25,hi8(2001)
 2453 100a 04F0                 brlt .+2
 2454 100c 00C0                 rjmp .L200
 2455                   .L102:
 2456 100e 8091 0000            lds r24,AdWertNick
 2457 1012 9091 0000            lds r25,(AdWertNick)+1
 2458 1016 805E                 subi r24,lo8(2016)
 2459 1018 9740                 sbci r25,hi8(2016)
 2460 101a 04F0                 brlt .L101
 2461                   .L180:
 2462 101c 80ED                 ldi r24,lo8(2000)
 2463 101e E82E                 mov r14,r24
 2464 1020 87E0                 ldi r24,hi8(2000)
 2465 1022 F82E                 mov r15,r24
 2466 1024 FAA6                 std Y+42,r15
 2467 1026 E9A6                 std Y+41,r14
 2468                   .L101:
 2469 1028 8091 0000            lds r24,AdWertRoll
 2470 102c 9091 0000            lds r25,(AdWertRoll)+1
 2471 1030 0F97                 sbiw r24,15
 2472 1032 04F4                 brge .L104
 2473 1034 08E1                 ldi r16,lo8(-1000)
 2474 1036 1CEF                 ldi r17,hi8(-1000)
 2475 1038 1CA7                 std Y+44,r17
 2476 103a 0BA7                 std Y+43,r16
 2477                   .L104:
 2478 103c 8091 0000            lds r24,AdWertRoll
 2479 1040 9091 0000            lds r25,(AdWertRoll)+1
 2480 1044 0797                 sbiw r24,7
 2481 1046 04F4                 brge .L105
 2482 1048 00E3                 ldi r16,lo8(-2000)
 2483 104a 18EF                 ldi r17,hi8(-2000)
 2484 104c 1CA7                 std Y+44,r17
 2485 104e 0BA7                 std Y+43,r16
 2486                   .L105:
 2487 1050 2A30                 cpi r18,lo8(10)
 2488 1052 01F4                 brne .+2
 2489 1054 00C0                 rjmp .L201
 2490 1056 8091 0000            lds r24,AdWertRoll
 2491 105a 9091 0000            lds r25,(AdWertRoll)+1
 2492 105e 815D                 subi r24,lo8(2001)
 2493 1060 9740                 sbci r25,hi8(2001)
 2494 1062 04F0                 brlt .L110
 2495 1064 08EE                 ldi r16,lo8(1000)
 2496 1066 13E0                 ldi r17,hi8(1000)
 2497 1068 1CA7                 std Y+44,r17
 2498 106a 0BA7                 std Y+43,r16
 2499                   .L110:
 2500 106c 8091 0000            lds r24,AdWertRoll
 2501 1070 9091 0000            lds r25,(AdWertRoll)+1
 2502 1074 805E                 subi r24,lo8(2016)
 2503 1076 9740                 sbci r25,hi8(2016)
 2504 1078 04F0                 brlt .L109
 2505                   .L181:
 2506 107a 00ED                 ldi r16,lo8(2000)
 2507 107c 17E0                 ldi r17,hi8(2000)
 2508 107e 1CA7                 std Y+44,r17
 2509 1080 0BA7                 std Y+43,r16
 2510                   .L109:
 2511 1082 A091 0000            lds r26,Parameter_Gyro_D
 2512 1086 AA23                 tst r26
 2513 1088 01F4                 brne .+2
 2514 108a 00C0                 rjmp .L112
 2515 108c 6091 0000            lds r22,HiResNick
 2516 1090 7091 0000            lds r23,(HiResNick)+1
 2517 1094 8091 0000            lds r24,oldNick.39
 2518 1098 9091 0000            lds r25,(oldNick.39)+1
 2519 109c 681B                 sub r22,r24
 2520 109e 790B                 sbc r23,r25
 2521 10a0 2091 0000            lds r18,HiResNick
 2522 10a4 3091 0000            lds r19,(HiResNick)+1
 2523 10a8 280F                 add r18,r24
 2524 10aa 391F                 adc r19,r25
 2525 10ac 37FD                 sbrc r19,7
 2526 10ae 00C0                 rjmp .L202
 2527                   .L113:
 2528 10b0 3595                 asr r19
 2529 10b2 2795                 ror r18
 2530 10b4 3093 0000            sts (oldNick.39)+1,r19
 2531 10b8 2093 0000            sts oldNick.39,r18
 2532 10bc 6138                 cpi r22,129
 2533 10be 7105                 cpc r23,__zero_reg__
 2534 10c0 04F4                 brge .+2
 2535 10c2 00C0                 rjmp .L114
 2536 10c4 60E8                 ldi r22,lo8(128)
 2537 10c6 70E0                 ldi r23,hi8(128)
 2538                   .L173:
 2539 10c8 7093 0000            sts (d2Nick.42)+1,r23
 2540 10cc 6093 0000            sts d2Nick.42,r22
 2541 10d0 8A2F                 mov r24,r26
 2542 10d2 9927                 clr r25
 2543 10d4 869F                 mul r24,r22
 2544 10d6 F001                 movw r30,r0
 2545 10d8 879F                 mul r24,r23
 2546 10da F00D                 add r31,r0
 2547 10dc 969F                 mul r25,r22
 2548 10de F00D                 add r31,r0
 2549 10e0 1124                 clr r1
 2550 10e2 CF01                 movw r24,r30
 2551 10e4 F7FD                 sbrc r31,7
 2552 10e6 00C0                 rjmp .L203
 2553                   .L117:
 2554 10e8 7C01                 movw r14,r24
 2555 10ea F594                 asr r15
 2556 10ec E794                 ror r14
 2557 10ee F594                 asr r15
 2558 10f0 E794                 ror r14
 2559 10f2 F594                 asr r15
 2560 10f4 E794                 ror r14
 2561 10f6 F594                 asr r15
 2562 10f8 E794                 ror r14
 2563 10fa 29A5                 ldd r18,Y+41
 2564 10fc 3AA5                 ldd r19,Y+42
 2565 10fe E20E                 add r14,r18
 2566 1100 F31E                 adc r15,r19
 2567 1102 FAA6                 std Y+42,r15
 2568 1104 E9A6                 std Y+41,r14
 2569 1106 4091 0000            lds r20,HiResRoll
 2570 110a 5091 0000            lds r21,(HiResRoll)+1
 2571 110e 8091 0000            lds r24,oldRoll.40
 2572 1112 9091 0000            lds r25,(oldRoll.40)+1
 2573 1116 481B                 sub r20,r24
 2574 1118 590B                 sbc r21,r25
 2575 111a 2091 0000            lds r18,HiResRoll
 2576 111e 3091 0000            lds r19,(HiResRoll)+1
 2577 1122 280F                 add r18,r24
 2578 1124 391F                 adc r19,r25
 2579 1126 37FD                 sbrc r19,7
 2580 1128 00C0                 rjmp .L204
 2581                   .L118:
 2582 112a 3595                 asr r19
 2583 112c 2795                 ror r18
 2584 112e 3093 0000            sts (oldRoll.40)+1,r19
 2585 1132 2093 0000            sts oldRoll.40,r18
 2586 1136 4138                 cpi r20,129
 2587 1138 5105                 cpc r21,__zero_reg__
 2588 113a 04F4                 brge .+2
 2589 113c 00C0                 rjmp .L119
 2590 113e 40E8                 ldi r20,lo8(128)
 2591 1140 50E0                 ldi r21,hi8(128)
 2592                   .L174:
 2593 1142 5093 0000            sts (d2Roll.41)+1,r21
 2594 1146 4093 0000            sts d2Roll.41,r20
 2595 114a 8A2F                 mov r24,r26
 2596 114c 9927                 clr r25
 2597 114e 849F                 mul r24,r20
 2598 1150 D001                 movw r26,r0
 2599 1152 859F                 mul r24,r21
 2600 1154 B00D                 add r27,r0
 2601 1156 949F                 mul r25,r20
 2602 1158 B00D                 add r27,r0
 2603 115a 1124                 clr r1
 2604 115c AD01                 movw r20,r26
 2605 115e 9D01                 movw r18,r26
 2606 1160 B7FD                 sbrc r27,7
 2607 1162 00C0                 rjmp .L205
 2608                   .L122:
 2609 1164 8901                 movw r16,r18
 2610 1166 1595                 asr r17
 2611 1168 0795                 ror r16
 2612 116a 1595                 asr r17
 2613 116c 0795                 ror r16
 2614 116e 1595                 asr r17
 2615 1170 0795                 ror r16
 2616 1172 1595                 asr r17
 2617 1174 0795                 ror r16
 2618 1176 EBA5                 ldd r30,Y+43
 2619 1178 FCA5                 ldd r31,Y+44
 2620 117a 0E0F                 add r16,r30
 2621 117c 1F1F                 adc r17,r31
 2622 117e 1CA7                 std Y+44,r17
 2623 1180 0BA7                 std Y+43,r16
 2624 1182 869F                 mul r24,r22
 2625 1184 9001                 movw r18,r0
 2626 1186 879F                 mul r24,r23
 2627 1188 300D                 add r19,r0
 2628 118a 969F                 mul r25,r22
 2629 118c 300D                 add r19,r0
 2630 118e 1124                 clr r1
 2631 1190 C901                 movw r24,r18
 2632 1192 2091 0000            lds r18,HiResNick
 2633 1196 3091 0000            lds r19,(HiResNick)+1
 2634 119a 820F                 add r24,r18
 2635 119c 931F                 adc r25,r19
 2636 119e 9093 0000            sts (HiResNick)+1,r25
 2637 11a2 8093 0000            sts HiResNick,r24
 2638 11a6 8091 0000            lds r24,HiResRoll
 2639 11aa 9091 0000            lds r25,(HiResRoll)+1
 2640 11ae 480F                 add r20,r24
 2641 11b0 591F                 adc r21,r25
 2642 11b2 5093 0000            sts (HiResRoll)+1,r21
 2643 11b6 4093 0000            sts HiResRoll,r20
 2644                   .L112:
 2645 11ba 4D85                 ldd r20,Y+13
 2646 11bc 5E85                 ldd r21,Y+14
 2647 11be 1416                 cp __zero_reg__,r20
 2648 11c0 1506                 cpc __zero_reg__,r21
 2649 11c2 04F0                 brlt .+2
 2650 11c4 00C0                 rjmp .L123
 2651 11c6 8091 0000            lds r24,KopplungsteilNickRoll
 2652 11ca 9091 0000            lds r25,(KopplungsteilNickRoll)+1
 2653 11ce 97FD                 sbrc r25,7
 2654 11d0 00C0                 rjmp .L206
 2655                   .L124:
 2656 11d2 AA27                 clr r26
 2657 11d4 97FD                 sbrc r25,7
 2658 11d6 A095                 com r26
 2659 11d8 BA2F                 mov r27,r26
 2660 11da 6DA5                 ldd r22,Y+45
 2661 11dc 262F                 mov r18,r22
 2662 11de 3327                 clr r19
 2663 11e0 4427                 clr r20
 2664 11e2 5527                 clr r21
 2665 11e4 BC01                 movw r22,r24
 2666 11e6 CD01                 movw r24,r26
 2667 11e8 0E94 0000            call __mulsi3
 2668 11ec 97FD                 sbrc r25,7
 2669 11ee 00C0                 rjmp .L207
 2670                   .L125:
 2671 11f0 E6E0                 ldi r30,6
 2672 11f2 9595         1:      asr r25
 2673 11f4 8795                 ror r24
 2674 11f6 7795                 ror r23
 2675 11f8 6795                 ror r22
 2676 11fa EA95                 dec r30
 2677 11fc 01F4                 brne 1b
 2678 11fe AF8D                 ldd r26,Y+31
 2679 1200 B8A1                 ldd r27,Y+32
 2680 1202 A60F                 add r26,r22
 2681 1204 B71F                 adc r27,r23
 2682 1206 B093 0000            sts (TrimRoll)+1,r27
 2683 120a A093 0000            sts TrimRoll,r26
 2684 120e 4B85                 ldd r20,Y+11
 2685 1210 5C85                 ldd r21,Y+12
 2686 1212 1416                 cp __zero_reg__,r20
 2687 1214 1506                 cpc __zero_reg__,r21
 2688 1216 04F0                 brlt .+2
 2689 1218 00C0                 rjmp .L129
 2690                   .L217:
 2691 121a 8091 0000            lds r24,KopplungsteilRollNick
 2692 121e 9091 0000            lds r25,(KopplungsteilRollNick)+1
 2693 1222 97FD                 sbrc r25,7
 2694 1224 00C0                 rjmp .L208
 2695                   .L130:
 2696 1226 AA27                 clr r26
 2697 1228 97FD                 sbrc r25,7
 2698 122a A095                 com r26
 2699 122c BA2F                 mov r27,r26
 2700 122e 6DA5                 ldd r22,Y+45
 2701 1230 262F                 mov r18,r22
 2702 1232 3327                 clr r19
 2703 1234 4427                 clr r20
 2704 1236 5527                 clr r21
 2705 1238 BC01                 movw r22,r24
 2706 123a CD01                 movw r24,r26
 2707 123c 0E94 0000            call __mulsi3
 2708 1240 97FD                 sbrc r25,7
 2709 1242 00C0                 rjmp .L209
 2710                   .L131:
 2711 1244 46E0                 ldi r20,6
 2712 1246 9595         1:      asr r25
 2713 1248 8795                 ror r24
 2714 124a 7795                 ror r23
 2715 124c 6795                 ror r22
 2716 124e 4A95                 dec r20
 2717 1250 01F4                 brne 1b
 2718 1252 A9A1                 ldd r26,Y+33
 2719 1254 BAA1                 ldd r27,Y+34
 2720 1256 A60F                 add r26,r22
 2721 1258 B71F                 adc r27,r23
 2722 125a B093 0000            sts (TrimNick)+1,r27
 2723 125e A093 0000            sts TrimNick,r26
 2724 1262 3CA1                 ldd r19,Y+36
 2725 1264 37FD                 sbrc r19,7
 2726 1266 00C0                 rjmp .L210
 2727                   .L177:
 2728 1268 1093 0000            sts (MesswertRoll)+1,r17
 2729 126c 0093 0000            sts MesswertRoll,r16
 2730 1270 F092 0000            sts (MesswertNick)+1,r15
 2731 1274 E092 0000            sts MesswertNick,r14
 2732                   .L135:
 2733 1278 8091 0000            lds r24,EE_Parameter+4
 2734 127c E82F                 mov r30,r24
 2735 127e FF27                 clr r31
 2736 1280 EE0F                 add r30,r30
 2737 1282 FF1F                 adc r31,r31
 2738 1284 E050                 subi r30,lo8(-(PPM_in))
 2739 1286 F040                 sbci r31,hi8(-(PPM_in))
 2740 1288 8081                 ld r24,Z
 2741 128a 9181                 ldd r25,Z+1
 2742 128c 8259                 subi r24,lo8(-(110))
 2743 128e 9F4F                 sbci r25,hi8(-(110))
 2744 1290 A091 0000            lds r26,Poti1
 2745 1294 B091 0000            lds r27,(Poti1)+1
 2746 1298 A817                 cp r26,r24
 2747 129a B907                 cpc r27,r25
 2748 129c 04F0                 brlt .+2
 2749 129e 00C0                 rjmp .L142
 2750 12a0 CD01                 movw r24,r26
 2751 12a2 0196                 adiw r24,1
 2752                   .L182:
 2753 12a4 9093 0000            sts (Poti1)+1,r25
 2754 12a8 8093 0000            sts Poti1,r24
 2755 12ac DC01                 movw r26,r24
 2756                   .L143:
 2757 12ae 8091 0000            lds r24,EE_Parameter+5
 2758 12b2 E82F                 mov r30,r24
 2759 12b4 FF27                 clr r31
 2760 12b6 EE0F                 add r30,r30
 2761 12b8 FF1F                 adc r31,r31
 2762 12ba E050                 subi r30,lo8(-(PPM_in))
 2763 12bc F040                 sbci r31,hi8(-(PPM_in))
 2764 12be 8081                 ld r24,Z
 2765 12c0 9181                 ldd r25,Z+1
 2766 12c2 8259                 subi r24,lo8(-(110))
 2767 12c4 9F4F                 sbci r25,hi8(-(110))
 2768 12c6 6091 0000            lds r22,Poti2
 2769 12ca 7091 0000            lds r23,(Poti2)+1
 2770 12ce 6817                 cp r22,r24
 2771 12d0 7907                 cpc r23,r25
 2772 12d2 04F0                 brlt .+2
 2773 12d4 00C0                 rjmp .L145
 2774 12d6 CB01                 movw r24,r22
 2775 12d8 0196                 adiw r24,1
 2776                   .L183:
 2777 12da 9093 0000            sts (Poti2)+1,r25
 2778 12de 8093 0000            sts Poti2,r24
 2779 12e2 BC01                 movw r22,r24
 2780                   .L146:
 2781 12e4 8091 0000            lds r24,EE_Parameter+6
 2782 12e8 E82F                 mov r30,r24
 2783 12ea FF27                 clr r31
 2784 12ec EE0F                 add r30,r30
 2785 12ee FF1F                 adc r31,r31
 2786 12f0 E050                 subi r30,lo8(-(PPM_in))
 2787 12f2 F040                 sbci r31,hi8(-(PPM_in))
 2788 12f4 8081                 ld r24,Z
 2789 12f6 9181                 ldd r25,Z+1
 2790 12f8 8259                 subi r24,lo8(-(110))
 2791 12fa 9F4F                 sbci r25,hi8(-(110))
 2792 12fc 4091 0000            lds r20,Poti3
 2793 1300 5091 0000            lds r21,(Poti3)+1
 2794 1304 4817                 cp r20,r24
 2795 1306 5907                 cpc r21,r25
 2796 1308 04F0                 brlt .+2
 2797 130a 00C0                 rjmp .L148
 2798 130c CA01                 movw r24,r20
 2799 130e 0196                 adiw r24,1
 2800                   .L184:
 2801 1310 9093 0000            sts (Poti3)+1,r25
 2802 1314 8093 0000            sts Poti3,r24
 2803 1318 AC01                 movw r20,r24
 2804                   .L149:
 2805 131a 8091 0000            lds r24,EE_Parameter+7
 2806 131e E82F                 mov r30,r24
 2807 1320 FF27                 clr r31
 2808 1322 EE0F                 add r30,r30
 2809 1324 FF1F                 adc r31,r31
 2810 1326 E050                 subi r30,lo8(-(PPM_in))
 2811 1328 F040                 sbci r31,hi8(-(PPM_in))
 2812 132a 8081                 ld r24,Z
 2813 132c 9181                 ldd r25,Z+1
 2814 132e 8259                 subi r24,lo8(-(110))
 2815 1330 9F4F                 sbci r25,hi8(-(110))
 2816 1332 2091 0000            lds r18,Poti4
 2817 1336 3091 0000            lds r19,(Poti4)+1
 2818 133a 2817                 cp r18,r24
 2819 133c 3907                 cpc r19,r25
 2820 133e 04F0                 brlt .+2
 2821 1340 00C0                 rjmp .L151
 2822 1342 C901                 movw r24,r18
 2823 1344 0196                 adiw r24,1
 2824                   .L185:
 2825 1346 9093 0000            sts (Poti4)+1,r25
 2826 134a 8093 0000            sts Poti4,r24
 2827 134e 9C01                 movw r18,r24
 2828                   .L152:
 2829 1350 B7FD                 sbrc r27,7
 2830 1352 00C0                 rjmp .L211
 2831 1354 AF3F                 cpi r26,255
 2832 1356 B105                 cpc r27,__zero_reg__
 2833 1358 01F0                 breq .L155
 2834 135a 04F0                 brlt .L155
 2835 135c 8FEF                 ldi r24,lo8(255)
 2836 135e 90E0                 ldi r25,hi8(255)
 2837 1360 9093 0000            sts (Poti1)+1,r25
 2838 1364 8093 0000            sts Poti1,r24
 2839                   .L155:
 2840 1368 77FD                 sbrc r23,7
 2841 136a 00C0                 rjmp .L212
 2842 136c 6F3F                 cpi r22,255
 2843 136e 7105                 cpc r23,__zero_reg__
 2844 1370 01F0                 breq .L158
 2845 1372 04F0                 brlt .L158
 2846 1374 8FEF                 ldi r24,lo8(255)
 2847 1376 90E0                 ldi r25,hi8(255)
 2848 1378 9093 0000            sts (Poti2)+1,r25
 2849 137c 8093 0000            sts Poti2,r24
 2850                   .L158:
 2851 1380 57FD                 sbrc r21,7
 2852 1382 00C0                 rjmp .L213
 2853                   .L160:
 2854 1384 4F3F                 cpi r20,255
 2855 1386 5105                 cpc r21,__zero_reg__
 2856 1388 01F0                 breq .L161
 2857 138a 04F0                 brlt .L161
 2858 138c 8FEF                 ldi r24,lo8(255)
 2859 138e 90E0                 ldi r25,hi8(255)
 2860 1390 9093 0000            sts (Poti3)+1,r25
 2861 1394 8093 0000            sts Poti3,r24
 2862                   .L161:
 2863 1398 37FD                 sbrc r19,7
 2864 139a 00C0                 rjmp .L214
 2865                   .L163:
 2866 139c 2F3F                 cpi r18,255
 2867 139e 3105                 cpc r19,__zero_reg__
 2868 13a0 01F0                 breq .+2
 2869 13a2 04F4                 brge .+2
 2870 13a4 00C0                 rjmp .L56
 2871 13a6 8FEF                 ldi r24,lo8(255)
 2872 13a8 90E0                 ldi r25,hi8(255)
 2873 13aa 9093 0000            sts (Poti4)+1,r25
 2874 13ae 8093 0000            sts Poti4,r24
 2875 13b2 00C0                 rjmp .L56
 2876                   .L172:
 2877 13b4 6092 0000            sts Mess_IntegralNick,r6
 2878 13b8 7092 0000            sts (Mess_IntegralNick)+1,r7
 2879 13bc 8092 0000            sts (Mess_IntegralNick)+2,r8
 2880 13c0 9092 0000            sts (Mess_IntegralNick)+3,r9
 2881 13c4 A092 0000            sts Mess_IntegralNick2,r10
 2882 13c8 B092 0000            sts (Mess_IntegralNick2)+1,r11
 2883 13cc C092 0000            sts (Mess_IntegralNick2)+2,r12
 2884 13d0 D092 0000            sts (Mess_IntegralNick2)+3,r13
 2885 13d4 00C0                 rjmp .L93
 2886                   .L171:
 2887 13d6 2092 0000            sts Mess_IntegralRoll,r2
 2888 13da 3092 0000            sts (Mess_IntegralRoll)+1,r3
 2889 13de 4092 0000            sts (Mess_IntegralRoll)+2,r4
 2890 13e2 5092 0000            sts (Mess_IntegralRoll)+3,r5
 2891 13e6 A092 0000            sts Mess_IntegralRoll2,r10
 2892 13ea B092 0000            sts (Mess_IntegralRoll2)+1,r11
 2893 13ee C092 0000            sts (Mess_IntegralRoll2)+2,r12
 2894 13f2 D092 0000            sts (Mess_IntegralRoll2)+3,r13
 2895 13f6 00C0                 rjmp .L91
 2896                   .L66:
 2897 13f8 98EB                 ldi r25,lo8(-93000)
 2898 13fa 6916                 cp r6,r25
 2899 13fc 94E9                 ldi r25,hi8(-93000)
 2900 13fe 7906                 cpc r7,r25
 2901 1400 9EEF                 ldi r25,hlo8(-93000)
 2902 1402 8906                 cpc r8,r25
 2903 1404 9FEF                 ldi r25,hhi8(-93000)
 2904 1406 9906                 cpc r9,r25
 2905 1408 04F4                 brge .L68
 2906 140a 28EB                 ldi r18,lo8(-93000)
 2907 140c 34E9                 ldi r19,hi8(-93000)
 2908 140e 4EEF                 ldi r20,hlo8(-93000)
 2909 1410 5FEF                 ldi r21,hhi8(-93000)
 2910 1412 2983                 std Y+1,r18
 2911 1414 3A83                 std Y+2,r19
 2912 1416 4B83                 std Y+3,r20
 2913 1418 5C83                 std Y+4,r21
 2914 141a 00C0                 rjmp .L67
 2915                   .L200:
 2916 141c 98EE                 ldi r25,lo8(1000)
 2917 141e E92E                 mov r14,r25
 2918 1420 93E0                 ldi r25,hi8(1000)
 2919 1422 F92E                 mov r15,r25
 2920 1424 FAA6                 std Y+42,r15
 2921 1426 E9A6                 std Y+41,r14
 2922 1428 00C0                 rjmp .L102
 2923                   .L64:
 2924 142a 2D82                 std Y+5,r2
 2925 142c 3E82                 std Y+6,r3
 2926 142e 4F82                 std Y+7,r4
 2927 1430 5886                 std Y+8,r5
 2928 1432 00C0                 rjmp .L63
 2929                   .L167:
 2930 1434 8DA1                 ldd r24,Y+37
 2931 1436 9EA1                 ldd r25,Y+38
 2932 1438 AFA1                 ldd r26,Y+39
 2933 143a B8A5                 ldd r27,Y+40
 2934 143c 8093 0000            sts Mess_Integral_Gier,r24
 2935 1440 9093 0000            sts (Mess_Integral_Gier)+1,r25
 2936 1444 A093 0000            sts (Mess_Integral_Gier)+2,r26
 2937 1448 B093 0000            sts (Mess_Integral_Gier)+3,r27
 2938 144c 9091 0000            lds r25,EE_Parameter+8
 2939 1450 9CA3                 std Y+36,r25
 2940 1452 00C0                 rjmp .L70
 2941                   .L68:
 2942 1454 6982                 std Y+1,r6
 2943 1456 7A82                 std Y+2,r7
 2944 1458 8B82                 std Y+3,r8
 2945 145a 9C82                 std Y+4,r9
 2946 145c 00C0                 rjmp .L67
 2947                   .L145:
 2948 145e 8081                 ld r24,Z
 2949 1460 9181                 ldd r25,Z+1
 2950 1462 8259                 subi r24,lo8(-(110))
 2951 1464 9F4F                 sbci r25,hi8(-(110))
 2952 1466 8617                 cp r24,r22
 2953 1468 9707                 cpc r25,r23
 2954 146a 04F0                 brlt .+2
 2955 146c 00C0                 rjmp .L146
 2956 146e 6115                 cp r22,__zero_reg__
 2957 1470 7105                 cpc r23,__zero_reg__
 2958 1472 01F4                 brne .+2
 2959 1474 00C0                 rjmp .L146
 2960 1476 CB01                 movw r24,r22
 2961 1478 0197                 sbiw r24,1
 2962 147a 00C0                 rjmp .L183
 2963                   .L142:
 2964 147c 8081                 ld r24,Z
 2965 147e 9181                 ldd r25,Z+1
 2966 1480 8259                 subi r24,lo8(-(110))
 2967 1482 9F4F                 sbci r25,hi8(-(110))
 2968 1484 8A17                 cp r24,r26
 2969 1486 9B07                 cpc r25,r27
 2970 1488 04F0                 brlt .+2
 2971 148a 00C0                 rjmp .L143
 2972 148c 1097                 sbiw r26,0
 2973 148e 01F4                 brne .+2
 2974 1490 00C0                 rjmp .L143
 2975 1492 CD01                 movw r24,r26
 2976 1494 0197                 sbiw r24,1
 2977 1496 00C0                 rjmp .L182
 2978                   .L151:
 2979 1498 8081                 ld r24,Z
 2980 149a 9181                 ldd r25,Z+1
 2981 149c 8259                 subi r24,lo8(-(110))
 2982 149e 9F4F                 sbci r25,hi8(-(110))
 2983 14a0 8217                 cp r24,r18
 2984 14a2 9307                 cpc r25,r19
 2985 14a4 04F0                 brlt .+2
 2986 14a6 00C0                 rjmp .L152
 2987 14a8 2115                 cp r18,__zero_reg__
 2988 14aa 3105                 cpc r19,__zero_reg__
 2989 14ac 01F4                 brne .+2
 2990 14ae 00C0                 rjmp .L152
 2991 14b0 C901                 movw r24,r18
 2992 14b2 0197                 sbiw r24,1
 2993 14b4 00C0                 rjmp .L185
 2994                   .L148:
 2995 14b6 8081                 ld r24,Z
 2996 14b8 9181                 ldd r25,Z+1
 2997 14ba 8259                 subi r24,lo8(-(110))
 2998 14bc 9F4F                 sbci r25,hi8(-(110))
 2999 14be 8417                 cp r24,r20
 3000 14c0 9507                 cpc r25,r21
 3001 14c2 04F0                 brlt .+2
 3002 14c4 00C0                 rjmp .L149
 3003 14c6 4115                 cp r20,__zero_reg__
 3004 14c8 5105                 cpc r21,__zero_reg__
 3005 14ca 01F4                 brne .+2
 3006 14cc 00C0                 rjmp .L149
 3007 14ce CA01                 movw r24,r20
 3008 14d0 0197                 sbiw r24,1
 3009 14d2 00C0                 rjmp .L184
 3010                   .L199:
 3011 14d4 8091 0000            lds r24,AdWertNick
 3012 14d8 9091 0000            lds r25,(AdWertNick)+1
 3013 14dc 835F                 subi r24,lo8(1011)
 3014 14de 9340                 sbci r25,hi8(1011)
 3015 14e0 04F0                 brlt .L99
 3016 14e2 38EE                 ldi r19,lo8(1000)
 3017 14e4 E32E                 mov r14,r19
 3018 14e6 33E0                 ldi r19,hi8(1000)
 3019 14e8 F32E                 mov r15,r19
 3020 14ea FAA6                 std Y+42,r15
 3021 14ec E9A6                 std Y+41,r14
 3022                   .L99:
 3023 14ee 8091 0000            lds r24,AdWertNick
 3024 14f2 9091 0000            lds r25,(AdWertNick)+1
 3025 14f6 8A5F                 subi r24,lo8(1018)
 3026 14f8 9340                 sbci r25,hi8(1018)
 3027 14fa 04F4                 brge .+2
 3028 14fc 00C0                 rjmp .L101
 3029 14fe 00C0                 rjmp .L180
 3030                   .L201:
 3031 1500 8091 0000            lds r24,AdWertRoll
 3032 1504 9091 0000            lds r25,(AdWertRoll)+1
 3033 1508 835F                 subi r24,lo8(1011)
 3034 150a 9340                 sbci r25,hi8(1011)
 3035 150c 04F0                 brlt .L107
 3036 150e 08EE                 ldi r16,lo8(1000)
 3037 1510 13E0                 ldi r17,hi8(1000)
 3038 1512 1CA7                 std Y+44,r17
 3039 1514 0BA7                 std Y+43,r16
 3040                   .L107:
 3041 1516 8091 0000            lds r24,AdWertRoll
 3042 151a 9091 0000            lds r25,(AdWertRoll)+1
 3043 151e 8A5F                 subi r24,lo8(1018)
 3044 1520 9340                 sbci r25,hi8(1018)
 3045 1522 04F4                 brge .+2
 3046 1524 00C0                 rjmp .L109
 3047 1526 00C0                 rjmp .L181
 3048                   .L119:
 3049 1528 3FEF                 ldi r19,hi8(-128)
 3050 152a 4038                 cpi r20,lo8(-128)
 3051 152c 5307                 cpc r21,r19
 3052 152e 04F0                 brlt .+2
 3053 1530 00C0                 rjmp .L174
 3054 1532 40E8                 ldi r20,lo8(-128)
 3055 1534 5FEF                 ldi r21,hi8(-128)
 3056 1536 00C0                 rjmp .L174
 3057                   .L114:
 3058 1538 8FEF                 ldi r24,hi8(-128)
 3059 153a 6038                 cpi r22,lo8(-128)
 3060 153c 7807                 cpc r23,r24
 3061 153e 04F0                 brlt .+2
 3062 1540 00C0                 rjmp .L173
 3063 1542 60E8                 ldi r22,lo8(-128)
 3064 1544 7FEF                 ldi r23,hi8(-128)
 3065 1546 00C0                 rjmp .L173
 3066                   .L123:
 3067 1548 8091 0000            lds r24,KopplungsteilNickRoll
 3068 154c 9091 0000            lds r25,(KopplungsteilNickRoll)+1
 3069 1550 97FD                 sbrc r25,7
 3070 1552 00C0                 rjmp .L215
 3071                   .L127:
 3072 1554 AA27                 clr r26
 3073 1556 97FD                 sbrc r25,7
 3074 1558 A095                 com r26
 3075 155a BA2F                 mov r27,r26
 3076 155c EDA5                 ldd r30,Y+45
 3077 155e 2E2F                 mov r18,r30
 3078 1560 3327                 clr r19
 3079 1562 4427                 clr r20
 3080 1564 5527                 clr r21
 3081 1566 BC01                 movw r22,r24
 3082 1568 CD01                 movw r24,r26
 3083 156a 0E94 0000            call __mulsi3
 3084 156e 97FD                 sbrc r25,7
 3085 1570 00C0                 rjmp .L216
 3086                   .L128:
 3087 1572 56E0                 ldi r21,6
 3088 1574 9595         1:      asr r25
 3089 1576 8795                 ror r24
 3090 1578 7795                 ror r23
 3091 157a 6795                 ror r22
 3092 157c 5A95                 dec r21
 3093 157e 01F4                 brne 1b
 3094 1580 2F8D                 ldd r18,Y+31
 3095 1582 38A1                 ldd r19,Y+32
 3096 1584 261B                 sub r18,r22
 3097 1586 370B                 sbc r19,r23
 3098 1588 3093 0000            sts (TrimRoll)+1,r19
 3099 158c 2093 0000            sts TrimRoll,r18
 3100 1590 4B85                 ldd r20,Y+11
 3101 1592 5C85                 ldd r21,Y+12
 3102 1594 1416                 cp __zero_reg__,r20
 3103 1596 1506                 cpc __zero_reg__,r21
 3104 1598 04F4                 brge .+2
 3105 159a 00C0                 rjmp .L217
 3106                   .L129:
 3107 159c 8091 0000            lds r24,KopplungsteilRollNick
 3108 15a0 9091 0000            lds r25,(KopplungsteilRollNick)+1
 3109 15a4 97FD                 sbrc r25,7
 3110 15a6 00C0                 rjmp .L218
 3111                   .L133:
 3112 15a8 AA27                 clr r26
 3113 15aa 97FD                 sbrc r25,7
 3114 15ac A095                 com r26
 3115 15ae BA2F                 mov r27,r26
 3116 15b0 EDA5                 ldd r30,Y+45
 3117 15b2 2E2F                 mov r18,r30
 3118 15b4 3327                 clr r19
 3119 15b6 4427                 clr r20
 3120 15b8 5527                 clr r21
 3121 15ba BC01                 movw r22,r24
 3122 15bc CD01                 movw r24,r26
 3123 15be 0E94 0000            call __mulsi3
 3124 15c2 97FD                 sbrc r25,7
 3125 15c4 00C0                 rjmp .L219
 3126                   .L134:
 3127 15c6 36E0                 ldi r19,6
 3128 15c8 9595         1:      asr r25
 3129 15ca 8795                 ror r24
 3130 15cc 7795                 ror r23
 3131 15ce 6795                 ror r22
 3132 15d0 3A95                 dec r19
 3133 15d2 01F4                 brne 1b
 3134 15d4 29A1                 ldd r18,Y+33
 3135 15d6 3AA1                 ldd r19,Y+34
 3136 15d8 261B                 sub r18,r22
 3137 15da 370B                 sbc r19,r23
 3138 15dc 3093 0000            sts (TrimNick)+1,r19
 3139 15e0 2093 0000            sts TrimNick,r18
 3140 15e4 3CA1                 ldd r19,Y+36
 3141 15e6 37FF                 sbrs r19,7
 3142 15e8 00C0                 rjmp .L177
 3143                   .L210:
 3144 15ea 4BA1                 ldd r20,Y+35
 3145 15ec 4423                 tst r20
 3146 15ee 01F0                 breq .+2
 3147 15f0 00C0                 rjmp .L177
 3148 15f2 8091 0000            lds r24,Looping_Roll
 3149 15f6 8823                 tst r24
 3150 15f8 01F0                 breq .+2
 3151 15fa 00C0                 rjmp .L177
 3152 15fc 8B85                 ldd r24,Y+11
 3153 15fe 9C85                 ldd r25,Y+12
 3154 1600 A1E0                 ldi r26,hi8(257)
 3155 1602 8130                 cpi r24,lo8(257)
 3156 1604 9A07                 cpc r25,r26
 3157 1606 04F0                 brlt .+2
 3158 1608 00C0                 rjmp .L220
 3159 160a 2B85                 ldd r18,Y+11
 3160 160c 3C85                 ldd r19,Y+12
 3161 160e 4FEF                 ldi r20,hi8(-256)
 3162 1610 2030                 cpi r18,lo8(-256)
 3163 1612 3407                 cpc r19,r20
 3164 1614 04F0                 brlt .+2
 3165 1616 00C0                 rjmp .L178
 3166 1618 89A5                 ldd r24,Y+41
 3167 161a 9AA5                 ldd r25,Y+42
 3168 161c 280F                 add r18,r24
 3169 161e 391F                 adc r19,r25
 3170 1620 3C87                 std Y+12,r19
 3171 1622 2B87                 std Y+11,r18
 3172 1624 2050                 subi r18,lo8(-(256))
 3173 1626 3F4F                 sbci r19,hi8(-(256))
 3174 1628 3093 0000            sts (MesswertNick)+1,r19
 3175 162c 2093 0000            sts MesswertNick,r18
 3176                   .L137:
 3177 1630 AD85                 ldd r26,Y+13
 3178 1632 BE85                 ldd r27,Y+14
 3179 1634 E1E0                 ldi r30,hi8(257)
 3180 1636 A130                 cpi r26,lo8(257)
 3181 1638 BE07                 cpc r27,r30
 3182 163a 04F4                 brge .+2
 3183 163c 00C0                 rjmp .L139
 3184 163e 2BA5                 ldd r18,Y+43
 3185 1640 3CA5                 ldd r19,Y+44
 3186 1642 A20F                 add r26,r18
 3187 1644 B31F                 adc r27,r19
 3188 1646 BE87                 std Y+14,r27
 3189 1648 AD87                 std Y+13,r26
 3190 164a A050                 subi r26,lo8(-(-256))
 3191 164c B140                 sbci r27,hi8(-(-256))
 3192 164e B093 0000            sts (MesswertRoll)+1,r27
 3193 1652 A093 0000            sts MesswertRoll,r26
 3194 1656 00C0                 rjmp .L135
 3195                   .L212:
 3196 1658 1092 0000            sts (Poti2)+1,__zero_reg__
 3197 165c 1092 0000            sts Poti2,__zero_reg__
 3198 1660 57FF                 sbrs r21,7
 3199 1662 00C0                 rjmp .L160
 3200                   .L213:
 3201 1664 1092 0000            sts (Poti3)+1,__zero_reg__
 3202 1668 1092 0000            sts Poti3,__zero_reg__
 3203 166c 37FF                 sbrs r19,7
 3204 166e 00C0                 rjmp .L163
 3205                   .L214:
 3206 1670 1092 0000            sts (Poti4)+1,__zero_reg__
 3207 1674 1092 0000            sts Poti4,__zero_reg__
 3208 1678 00C0                 rjmp .L56
 3209                   .L211:
 3210 167a 1092 0000            sts (Poti1)+1,__zero_reg__
 3211 167e 1092 0000            sts Poti1,__zero_reg__
 3212 1682 00C0                 rjmp .L155
 3213                   .L187:
 3214 1684 295F                 subi r18,lo8(-(7))
 3215 1686 3F4F                 sbci r19,hi8(-(7))
 3216 1688 00C0                 rjmp .L58
 3217                   .L186:
 3218 168a 295F                 subi r18,lo8(-(7))
 3219 168c 3F4F                 sbci r19,hi8(-(7))
 3220 168e 00C0                 rjmp .L57
 3221                   .L190:
 3222 1690 2D5F                 subi r18,lo8(-(3))
 3223 1692 3F4F                 sbci r19,hi8(-(3))
 3224 1694 4F4F                 sbci r20,hlo8(-(3))
 3225 1696 5F4F                 sbci r21,hhi8(-(3))
 3226 1698 00C0                 rjmp .L61
 3227                   .L196:
 3228 169a E60E                 add r14,r22
 3229 169c F71E                 adc r15,r23
 3230 169e 081F                 adc r16,r24
 3231 16a0 191F                 adc r17,r25
 3232 16a2 E092 0000            sts ErsatzKompass,r14
 3233 16a6 F092 0000            sts (ErsatzKompass)+1,r15
 3234 16aa 0093 0000            sts (ErsatzKompass)+2,r16
 3235 16ae 1093 0000            sts (ErsatzKompass)+3,r17
 3236 16b2 00C0                 rjmp .L89
 3237                   .L189:
 3238 16b4 23E0                 ldi r18,lo8(3)
 3239 16b6 30E0                 ldi r19,hi8(3)
 3240 16b8 40E0                 ldi r20,hlo8(3)
 3241 16ba 50E0                 ldi r21,hhi8(3)
 3242 16bc E20E                 add r14,r18
 3243 16be F31E                 adc r15,r19
 3244 16c0 041F                 adc r16,r20
 3245 16c2 151F                 adc r17,r21
 3246 16c4 00C0                 rjmp .L60
 3247                   .L188:
 3248 16c6 83E0                 ldi r24,lo8(3)
 3249 16c8 90E0                 ldi r25,hi8(3)
 3250 16ca A0E0                 ldi r26,hlo8(3)
 3251 16cc B0E0                 ldi r27,hhi8(3)
 3252 16ce E80E                 add r14,r24
 3253 16d0 F91E                 adc r15,r25
 3254 16d2 0A1F                 adc r16,r26
 3255 16d4 1B1F                 adc r17,r27
 3256 16d6 00C0                 rjmp .L59
 3257                   .L198:
 3258 16d8 0796                 adiw r24,7
 3259 16da 00C0                 rjmp .L95
 3260                   .L197:
 3261 16dc 0796                 adiw r24,7
 3262 16de 00C0                 rjmp .L94
 3263                   .L168:
 3264 16e0 2DA1                 ldd r18,Y+37
 3265 16e2 3EA1                 ldd r19,Y+38
 3266 16e4 4FA1                 ldd r20,Y+39
 3267 16e6 58A5                 ldd r21,Y+40
 3268 16e8 2093 0000            sts Mess_Integral_Gier,r18
 3269 16ec 3093 0000            sts (Mess_Integral_Gier)+1,r19
 3270 16f0 4093 0000            sts (Mess_Integral_Gier)+2,r20
 3271 16f4 5093 0000            sts (Mess_Integral_Gier)+3,r21
 3272 16f8 00C0                 rjmp .L70
 3273                   .L209:
 3274 16fa 615C                 subi r22,lo8(-(63))
 3275 16fc 7F4F                 sbci r23,hi8(-(63))
 3276 16fe 8F4F                 sbci r24,hlo8(-(63))
 3277 1700 9F4F                 sbci r25,hhi8(-(63))
 3278 1702 00C0                 rjmp .L131
 3279                   .L208:
 3280 1704 9095                 com r25
 3281 1706 8195                 neg r24
 3282 1708 9F4F                 sbci r25,lo8(-1)
 3283 170a 00C0                 rjmp .L130
 3284                   .L207:
 3285 170c 615C                 subi r22,lo8(-(63))
 3286 170e 7F4F                 sbci r23,hi8(-(63))
 3287 1710 8F4F                 sbci r24,hlo8(-(63))
 3288 1712 9F4F                 sbci r25,hhi8(-(63))
 3289 1714 00C0                 rjmp .L125
 3290                   .L206:
 3291 1716 9095                 com r25
 3292 1718 8195                 neg r24
 3293 171a 9F4F                 sbci r25,lo8(-1)
 3294 171c 00C0                 rjmp .L124
 3295                   .L205:
 3296 171e 215F                 subi r18,lo8(-(15))
 3297 1720 3F4F                 sbci r19,hi8(-(15))
 3298 1722 00C0                 rjmp .L122
 3299                   .L204:
 3300 1724 2F5F                 subi r18,lo8(-(1))
 3301 1726 3F4F                 sbci r19,hi8(-(1))
 3302 1728 00C0                 rjmp .L118
 3303                   .L203:
 3304 172a 0F96                 adiw r24,15
 3305 172c 00C0                 rjmp .L117
 3306                   .L202:
 3307 172e 2F5F                 subi r18,lo8(-(1))
 3308 1730 3F4F                 sbci r19,hi8(-(1))
 3309 1732 00C0                 rjmp .L113
 3310                   .L169:
 3311 1734 2DA1                 ldd r18,Y+37
 3312 1736 3EA1                 ldd r19,Y+38
 3313 1738 4FA1                 ldd r20,Y+39
 3314 173a 58A5                 ldd r21,Y+40
 3315 173c 2093 0000            sts Mess_Integral_Gier,r18
 3316 1740 3093 0000            sts (Mess_Integral_Gier)+1,r19
 3317 1744 4093 0000            sts (Mess_Integral_Gier)+2,r20
 3318 1748 5093 0000            sts (Mess_Integral_Gier)+3,r21
 3319                   .L75:
 3320 174c 8985                 ldd r24,Y+9
 3321 174e 9A85                 ldd r25,Y+10
 3322 1750 AA27                 clr r26
 3323 1752 97FD                 sbrc r25,7
 3324 1754 A095                 com r26
 3325 1756 BA2F                 mov r27,r26
 3326 1758 2AAD                 ldd r18,Y+58
 3327 175a 3BAD                 ldd r19,Y+59
 3328 175c 4CAD                 ldd r20,Y+60
 3329 175e 5DAD                 ldd r21,Y+61
 3330 1760 820F                 add r24,r18
 3331 1762 931F                 adc r25,r19
 3332 1764 A41F                 adc r26,r20
 3333 1766 B51F                 adc r27,r21
 3334 1768 8B8B                 std Y+19,r24
 3335 176a 9C8B                 std Y+20,r25
 3336 176c AD8B                 std Y+21,r26
 3337 176e BE8B                 std Y+22,r27
 3338 1770 BC01                 movw r22,r24
 3339 1772 CD01                 movw r24,r26
 3340 1774 2981                 ldd r18,Y+1
 3341 1776 3A81                 ldd r19,Y+2
 3342 1778 4B81                 ldd r20,Y+3
 3343 177a 5C81                 ldd r21,Y+4
 3344 177c 0E94 0000            call __mulsi3
 3345 1780 9B01                 movw r18,r22
 3346 1782 AC01                 movw r20,r24
 3347 1784 97FD                 sbrc r25,7
 3348 1786 00C0                 rjmp .L221
 3349                   .L77:
 3350 1788 6BE0                 ldi r22,11
 3351 178a 5595         1:      asr r21
 3352 178c 4795                 ror r20
 3353 178e 3795                 ror r19
 3354 1790 2795                 ror r18
 3355 1792 6A95                 dec r22
 3356 1794 01F4                 brne 1b
 3357 1796 6091 0000            lds r22,Parameter_AchsKopplung1
 3358 179a 862F                 mov r24,r22
 3359 179c 9927                 clr r25
 3360 179e AA27                 clr r26
 3361 17a0 BB27                 clr r27
 3362 17a2 8F8B                 std Y+23,r24
 3363 17a4 988F                 std Y+24,r25
 3364 17a6 A98F                 std Y+25,r26
 3365 17a8 BA8F                 std Y+26,r27
 3366 17aa BC01                 movw r22,r24
 3367 17ac CD01                 movw r24,r26
 3368 17ae 0E94 0000            call __mulsi3
 3369 17b2 97FD                 sbrc r25,7
 3370 17b4 00C0                 rjmp .L222
 3371                   .L78:
 3372 17b6 2CE0                 ldi r18,12
 3373 17b8 9595         1:      asr r25
 3374 17ba 8795                 ror r24
 3375 17bc 7795                 ror r23
 3376 17be 6795                 ror r22
 3377 17c0 2A95                 dec r18
 3378 17c2 01F4                 brne 1b
 3379 17c4 6B8F                 std Y+27,r22
 3380 17c6 7C8F                 std Y+28,r23
 3381 17c8 8D8F                 std Y+29,r24
 3382 17ca 9E8F                 std Y+30,r25
 3383 17cc 6093 0000            sts tmpl.35,r22
 3384 17d0 7093 0000            sts (tmpl.35)+1,r23
 3385 17d4 8093 0000            sts (tmpl.35)+2,r24
 3386 17d8 9093 0000            sts (tmpl.35)+3,r25
 3387 17dc 6B89                 ldd r22,Y+19
 3388 17de 7C89                 ldd r23,Y+20
 3389 17e0 8D89                 ldd r24,Y+21
 3390 17e2 9E89                 ldd r25,Y+22
 3391 17e4 2D81                 ldd r18,Y+5
 3392 17e6 3E81                 ldd r19,Y+6
 3393 17e8 4F81                 ldd r20,Y+7
 3394 17ea 5885                 ldd r21,Y+8
 3395 17ec 0E94 0000            call __mulsi3
 3396 17f0 9B01                 movw r18,r22
 3397 17f2 AC01                 movw r20,r24
 3398 17f4 97FD                 sbrc r25,7
 3399 17f6 00C0                 rjmp .L223
 3400                   .L79:
 3401 17f8 8BE0                 ldi r24,11
 3402 17fa 5595         1:      asr r21
 3403 17fc 4795                 ror r20
 3404 17fe 3795                 ror r19
 3405 1800 2795                 ror r18
 3406 1802 8A95                 dec r24
 3407 1804 01F4                 brne 1b
 3408 1806 6F89                 ldd r22,Y+23
 3409 1808 788D                 ldd r23,Y+24
 3410 180a 898D                 ldd r24,Y+25
 3411 180c 9A8D                 ldd r25,Y+26
 3412 180e 0E94 0000            call __mulsi3
 3413 1812 97FD                 sbrc r25,7
 3414 1814 00C0                 rjmp .L224
 3415                   .L80:
 3416 1816 BCE0                 ldi r27,12
 3417 1818 9595         1:      asr r25
 3418 181a 8795                 ror r24
 3419 181c 7795                 ror r23
 3420 181e 6795                 ror r22
 3421 1820 BA95                 dec r27
 3422 1822 01F4                 brne 1b
 3423 1824 6AAB                 std Y+50,r22
 3424 1826 7BAB                 std Y+51,r23
 3425 1828 8CAB                 std Y+52,r24
 3426 182a 9DAB                 std Y+53,r25
 3427 182c 6093 0000            sts tmpl2.36,r22
 3428 1830 7093 0000            sts (tmpl2.36)+1,r23
 3429 1834 8093 0000            sts (tmpl2.36)+2,r24
 3430 1838 9093 0000            sts (tmpl2.36)+3,r25
 3431 183c 2985                 ldd r18,Y+9
 3432 183e 3A85                 ldd r19,Y+10
 3433 1840 37FD                 sbrc r19,7
 3434 1842 00C0                 rjmp .L225
 3435                   .L82:
 3436 1844 2134                 cpi r18,65
 3437 1846 3105                 cpc r19,__zero_reg__
 3438 1848 04F4                 brge .+2
 3439 184a 00C0                 rjmp .L87
 3440 184c 6B8D                 ldd r22,Y+27
 3441 184e 7C8D                 ldd r23,Y+28
 3442 1850 8D8D                 ldd r24,Y+29
 3443 1852 9E8D                 ldd r25,Y+30
 3444 1854 97FD                 sbrc r25,7
 3445 1856 00C0                 rjmp .L226
 3446                   .L85:
 3447 1858 6138                 cpi r22,lo8(129)
 3448 185a 7105                 cpc r23,__zero_reg__
 3449 185c 8105                 cpc r24,__zero_reg__
 3450 185e 9105                 cpc r25,__zero_reg__
 3451 1860 04F4                 brge .L84
 3452 1862 6AA9                 ldd r22,Y+50
 3453 1864 7BA9                 ldd r23,Y+51
 3454 1866 8CA9                 ldd r24,Y+52
 3455 1868 9DA9                 ldd r25,Y+53
 3456 186a 97FD                 sbrc r25,7
 3457 186c 00C0                 rjmp .L227
 3458                   .L86:
 3459 186e 6138                 cpi r22,lo8(129)
 3460 1870 7105                 cpc r23,__zero_reg__
 3461 1872 8105                 cpc r24,__zero_reg__
 3462 1874 9105                 cpc r25,__zero_reg__
 3463 1876 04F4                 brge .+2
 3464 1878 00C0                 rjmp .L87
 3465                   .L84:
 3466 187a 81E0                 ldi r24,lo8(1)
 3467 187c 8093 0000            sts TrichterFlug,r24
 3468 1880 00C0                 rjmp .L87
 3469                   .L218:
 3470 1882 9095                 com r25
 3471 1884 8195                 neg r24
 3472 1886 9F4F                 sbci r25,lo8(-1)
 3473 1888 00C0                 rjmp .L133
 3474                   .L215:
 3475 188a 9095                 com r25
 3476 188c 8195                 neg r24
 3477 188e 9F4F                 sbci r25,lo8(-1)
 3478 1890 00C0                 rjmp .L127
 3479                   .L220:
 3480 1892 E9A5                 ldd r30,Y+41
 3481 1894 FAA5                 ldd r31,Y+42
 3482 1896 8E0F                 add r24,r30
 3483 1898 9F1F                 adc r25,r31
 3484 189a 9C87                 std Y+12,r25
 3485 189c 8B87                 std Y+11,r24
 3486 189e 8050                 subi r24,lo8(-(-256))
 3487 18a0 9140                 sbci r25,hi8(-(-256))
 3488 18a2 9093 0000            sts (MesswertNick)+1,r25
 3489 18a6 8093 0000            sts MesswertNick,r24
 3490 18aa 00C0                 rjmp .L137
 3491                   .L226:
 3492 18ac 9095                 com r25
 3493 18ae 8095                 com r24
 3494 18b0 7095                 com r23
 3495 18b2 6195                 neg r22
 3496 18b4 7F4F                 sbci r23,lo8(-1)
 3497 18b6 8F4F                 sbci r24,lo8(-1)
 3498 18b8 9F4F                 sbci r25,lo8(-1)
 3499 18ba 00C0                 rjmp .L85
 3500                   .L195:
 3501 18bc 0196                 adiw r24,1
 3502 18be A11D                 adc r26,__zero_reg__
 3503 18c0 B11D                 adc r27,__zero_reg__
 3504 18c2 8EA7                 std Y+46,r24
 3505 18c4 9FA7                 std Y+47,r25
 3506 18c6 A8AB                 std Y+48,r26
 3507 18c8 B9AB                 std Y+49,r27
 3508 18ca 00C0                 rjmp .L76
 3509                   .L216:
 3510 18cc 615C                 subi r22,lo8(-(63))
 3511 18ce 7F4F                 sbci r23,hi8(-(63))
 3512 18d0 8F4F                 sbci r24,hlo8(-(63))
 3513 18d2 9F4F                 sbci r25,hhi8(-(63))
 3514 18d4 00C0                 rjmp .L128
 3515                   .L219:
 3516 18d6 615C                 subi r22,lo8(-(63))
 3517 18d8 7F4F                 sbci r23,hi8(-(63))
 3518 18da 8F4F                 sbci r24,hlo8(-(63))
 3519 18dc 9F4F                 sbci r25,hhi8(-(63))
 3520 18de 00C0                 rjmp .L134
 3521                   .L224:
 3522 18e0 6150                 subi r22,lo8(-(4095))
 3523 18e2 704F                 sbci r23,hi8(-(4095))
 3524 18e4 8F4F                 sbci r24,hlo8(-(4095))
 3525 18e6 9F4F                 sbci r25,hhi8(-(4095))
 3526 18e8 00C0                 rjmp .L80
 3527                   .L223:
 3528 18ea 2150                 subi r18,lo8(-(2047))
 3529 18ec 384F                 sbci r19,hi8(-(2047))
 3530 18ee 4F4F                 sbci r20,hlo8(-(2047))
 3531 18f0 5F4F                 sbci r21,hhi8(-(2047))
 3532 18f2 00C0                 rjmp .L79
 3533                   .L222:
 3534 18f4 6150                 subi r22,lo8(-(4095))
 3535 18f6 704F                 sbci r23,hi8(-(4095))
 3536 18f8 8F4F                 sbci r24,hlo8(-(4095))
 3537 18fa 9F4F                 sbci r25,hhi8(-(4095))
 3538 18fc 00C0                 rjmp .L78
 3539                   .L221:
 3540 18fe 2150                 subi r18,lo8(-(2047))
 3541 1900 384F                 sbci r19,hi8(-(2047))
 3542 1902 4F4F                 sbci r20,hlo8(-(2047))
 3543 1904 5F4F                 sbci r21,hhi8(-(2047))
 3544 1906 00C0                 rjmp .L77
 3545                   .L139:
 3546 1908 4D85                 ldd r20,Y+13
 3547 190a 5E85                 ldd r21,Y+14
 3548 190c 6FEF                 ldi r22,hi8(-256)
 3549 190e 4030                 cpi r20,lo8(-256)
 3550 1910 5607                 cpc r21,r22
 3551 1912 04F4                 brge .L179
 3552 1914 8BA5                 ldd r24,Y+43
 3553 1916 9CA5                 ldd r25,Y+44
 3554 1918 480F                 add r20,r24
 3555 191a 591F                 adc r21,r25
 3556 191c 5E87                 std Y+14,r21
 3557 191e 4D87                 std Y+13,r20
 3558 1920 4050                 subi r20,lo8(-(256))
 3559 1922 5F4F                 sbci r21,hi8(-(256))
 3560 1924 5093 0000            sts (MesswertRoll)+1,r21
 3561 1928 4093 0000            sts MesswertRoll,r20
 3562 192c 00C0                 rjmp .L135
 3563                   .L192:
 3564 192e 6150                 subi r22,lo8(-(4095))
 3565 1930 704F                 sbci r23,hi8(-(4095))
 3566 1932 8F4F                 sbci r24,hlo8(-(4095))
 3567 1934 9F4F                 sbci r25,hhi8(-(4095))
 3568 1936 00C0                 rjmp .L72
 3569                   .L191:
 3570 1938 2150                 subi r18,lo8(-(2047))
 3571 193a 384F                 sbci r19,hi8(-(2047))
 3572 193c 4F4F                 sbci r20,hlo8(-(2047))
 3573 193e 5F4F                 sbci r21,hhi8(-(2047))
 3574 1940 00C0                 rjmp .L71
 3575                   .L225:
 3576 1942 3095                 com r19
 3577 1944 2195                 neg r18
 3578 1946 3F4F                 sbci r19,lo8(-1)
 3579 1948 00C0                 rjmp .L82
 3580                   .L194:
 3581 194a 6150                 subi r22,lo8(-(4095))
 3582 194c 704F                 sbci r23,hi8(-(4095))
 3583 194e 8F4F                 sbci r24,hlo8(-(4095))
 3584 1950 9F4F                 sbci r25,hhi8(-(4095))
 3585 1952 00C0                 rjmp .L74
 3586                   .L193:
 3587 1954 2150                 subi r18,lo8(-(2047))
 3588 1956 384F                 sbci r19,hi8(-(2047))
 3589 1958 4F4F                 sbci r20,hlo8(-(2047))
 3590 195a 5F4F                 sbci r21,hhi8(-(2047))
 3591 195c 00C0                 rjmp .L73
 3592                   .L178:
 3593 195e F092 0000            sts (MesswertNick)+1,r15
 3594 1962 E092 0000            sts MesswertNick,r14
 3595 1966 00C0                 rjmp .L137
 3596                   .L179:
 3597 1968 1093 0000            sts (MesswertRoll)+1,r17
 3598 196c 0093 0000            sts MesswertRoll,r16
 3599 1970 00C0                 rjmp .L135
 3600                   .L227:
 3601 1972 9095                 com r25
 3602 1974 8095                 com r24
 3603 1976 7095                 com r23
 3604 1978 6195                 neg r22
 3605 197a 7F4F                 sbci r23,lo8(-1)
 3606 197c 8F4F                 sbci r24,lo8(-1)
 3607 197e 9F4F                 sbci r25,lo8(-1)
 3608 1980 00C0                 rjmp .L86
 3609                   .L56:
 3610                   /* epilogue: frame size=61 */
 3611 1982 E2E1                 ldi r30,18
 3612 1984 C35C                 subi r28,-61
 3613 1986 0C94 0000            jmp __epilogue_restores__+0
 3614                   /* epilogue end (size=4) */
 3615                   /* function Mittelwert size 2429 (2419) */
 3617                   .global CalibrierMittelwert
 3619                   CalibrierMittelwert:
 3620                   /* prologue: frame size=0 */
 3621                   /* prologue end (size=0) */
 3622 198a 8091 0000            lds r24,PlatinenVersion
 3623 198e 8D30                 cpi r24,lo8(13)
 3624 1990 01F4                 brne .+2
 3625 1992 00C0                 rjmp .L258
 3626                   .L229:
 3627 1994 1092 7A00            sts 122,__zero_reg__
 3628 1998 8091 0000            lds r24,AdWertNick
 3629 199c 9091 0000            lds r25,(AdWertNick)+1
 3630 19a0 9093 0000            sts (MesswertNick)+1,r25
 3631 19a4 8093 0000            sts MesswertNick,r24
 3632 19a8 8091 0000            lds r24,AdWertRoll
 3633 19ac 9091 0000            lds r25,(AdWertRoll)+1
 3634 19b0 9093 0000            sts (MesswertRoll)+1,r25
 3635 19b4 8093 0000            sts MesswertRoll,r24
 3636 19b8 8091 0000            lds r24,AdWertGier
 3637 19bc 9091 0000            lds r25,(AdWertGier)+1
 3638 19c0 9093 0000            sts (MesswertGier)+1,r25
 3639 19c4 8093 0000            sts MesswertGier,r24
 3640 19c8 8091 0000            lds r24,AdWertAccNick
 3641 19cc 9091 0000            lds r25,(AdWertAccNick)+1
 3642 19d0 9C01                 movw r18,r24
 3643 19d2 4427                 clr r20
 3644 19d4 37FD                 sbrc r19,7
 3645 19d6 4095                 com r20
 3646 19d8 542F                 mov r21,r20
 3647 19da DA01                 movw r26,r20
 3648 19dc C901                 movw r24,r18
 3649 19de 880F                 lsl r24
 3650 19e0 991F                 rol r25
 3651 19e2 AA1F                 rol r26
 3652 19e4 BB1F                 rol r27
 3653 19e6 880F                 lsl r24
 3654 19e8 991F                 rol r25
 3655 19ea AA1F                 rol r26
 3656 19ec BB1F                 rol r27
 3657 19ee 820F                 add r24,r18
 3658 19f0 931F                 adc r25,r19
 3659 19f2 A41F                 adc r26,r20
 3660 19f4 B51F                 adc r27,r21
 3661 19f6 820F                 add r24,r18
 3662 19f8 931F                 adc r25,r19
 3663 19fa A41F                 adc r26,r20
 3664 19fc B51F                 adc r27,r21
 3665 19fe 9093 0000            sts (Mittelwert_AccNick)+1,r25
 3666 1a02 8093 0000            sts Mittelwert_AccNick,r24
 3667 1a06 8091 0000            lds r24,AdWertAccRoll
 3668 1a0a 9091 0000            lds r25,(AdWertAccRoll)+1
 3669 1a0e 9C01                 movw r18,r24
 3670 1a10 4427                 clr r20
 3671 1a12 37FD                 sbrc r19,7
 3672 1a14 4095                 com r20
 3673 1a16 542F                 mov r21,r20
 3674 1a18 DA01                 movw r26,r20
 3675 1a1a C901                 movw r24,r18
 3676 1a1c 880F                 lsl r24
 3677 1a1e 991F                 rol r25
 3678 1a20 AA1F                 rol r26
 3679 1a22 BB1F                 rol r27
 3680 1a24 880F                 lsl r24
 3681 1a26 991F                 rol r25
 3682 1a28 AA1F                 rol r26
 3683 1a2a BB1F                 rol r27
 3684 1a2c 820F                 add r24,r18
 3685 1a2e 931F                 adc r25,r19
 3686 1a30 A41F                 adc r26,r20
 3687 1a32 B51F                 adc r27,r21
 3688 1a34 820F                 add r24,r18
 3689 1a36 931F                 adc r25,r19
 3690 1a38 A41F                 adc r26,r20
 3691 1a3a B51F                 adc r27,r21
 3692 1a3c 9093 0000            sts (Mittelwert_AccRoll)+1,r25
 3693 1a40 8093 0000            sts Mittelwert_AccRoll,r24
 3694 1a44 8091 0000            lds r24,AdWertAccHoch
 3695 1a48 9091 0000            lds r25,(AdWertAccHoch)+1
 3696 1a4c 9093 0000            sts (Mittelwert_AccHoch)+1,r25
 3697 1a50 8093 0000            sts Mittelwert_AccHoch,r24
 3698 1a54 8FEC                 ldi r24,lo8(-49)
 3699 1a56 8093 7A00            sts 122,r24
 3700 1a5a 8091 0000            lds r24,EE_Parameter+4
 3701 1a5e E82F                 mov r30,r24
 3702 1a60 FF27                 clr r31
 3703 1a62 EE0F                 add r30,r30
 3704 1a64 FF1F                 adc r31,r31
 3705 1a66 E050                 subi r30,lo8(-(PPM_in))
 3706 1a68 F040                 sbci r31,hi8(-(PPM_in))
 3707 1a6a 8081                 ld r24,Z
 3708 1a6c 9181                 ldd r25,Z+1
 3709 1a6e 8259                 subi r24,lo8(-(110))
 3710 1a70 9F4F                 sbci r25,hi8(-(110))
 3711 1a72 A091 0000            lds r26,Poti1
 3712 1a76 B091 0000            lds r27,(Poti1)+1
 3713 1a7a A817                 cp r26,r24
 3714 1a7c B907                 cpc r27,r25
 3715 1a7e 04F0                 brlt .+2
 3716 1a80 00C0                 rjmp .L230
 3717 1a82 CD01                 movw r24,r26
 3718 1a84 0196                 adiw r24,1
 3719                   .L254:
 3720 1a86 9093 0000            sts (Poti1)+1,r25
 3721 1a8a 8093 0000            sts Poti1,r24
 3722 1a8e DC01                 movw r26,r24
 3723                   .L231:
 3724 1a90 8091 0000            lds r24,EE_Parameter+5
 3725 1a94 E82F                 mov r30,r24
 3726 1a96 FF27                 clr r31
 3727 1a98 EE0F                 add r30,r30
 3728 1a9a FF1F                 adc r31,r31
 3729 1a9c E050                 subi r30,lo8(-(PPM_in))
 3730 1a9e F040                 sbci r31,hi8(-(PPM_in))
 3731 1aa0 8081                 ld r24,Z
 3732 1aa2 9181                 ldd r25,Z+1
 3733 1aa4 8259                 subi r24,lo8(-(110))
 3734 1aa6 9F4F                 sbci r25,hi8(-(110))
 3735 1aa8 6091 0000            lds r22,Poti2
 3736 1aac 7091 0000            lds r23,(Poti2)+1
 3737 1ab0 6817                 cp r22,r24
 3738 1ab2 7907                 cpc r23,r25
 3739 1ab4 04F0                 brlt .+2
 3740 1ab6 00C0                 rjmp .L233
 3741 1ab8 CB01                 movw r24,r22
 3742 1aba 0196                 adiw r24,1
 3743                   .L255:
 3744 1abc 9093 0000            sts (Poti2)+1,r25
 3745 1ac0 8093 0000            sts Poti2,r24
 3746 1ac4 BC01                 movw r22,r24
 3747                   .L234:
 3748 1ac6 8091 0000            lds r24,EE_Parameter+6
 3749 1aca E82F                 mov r30,r24
 3750 1acc FF27                 clr r31
 3751 1ace EE0F                 add r30,r30
 3752 1ad0 FF1F                 adc r31,r31
 3753 1ad2 E050                 subi r30,lo8(-(PPM_in))
 3754 1ad4 F040                 sbci r31,hi8(-(PPM_in))
 3755 1ad6 8081                 ld r24,Z
 3756 1ad8 9181                 ldd r25,Z+1
 3757 1ada 8259                 subi r24,lo8(-(110))
 3758 1adc 9F4F                 sbci r25,hi8(-(110))
 3759 1ade 4091 0000            lds r20,Poti3
 3760 1ae2 5091 0000            lds r21,(Poti3)+1
 3761 1ae6 4817                 cp r20,r24
 3762 1ae8 5907                 cpc r21,r25
 3763 1aea 04F0                 brlt .+2
 3764 1aec 00C0                 rjmp .L236
 3765 1aee CA01                 movw r24,r20
 3766 1af0 0196                 adiw r24,1
 3767                   .L256:
 3768 1af2 9093 0000            sts (Poti3)+1,r25
 3769 1af6 8093 0000            sts Poti3,r24
 3770 1afa AC01                 movw r20,r24
 3771                   .L237:
 3772 1afc 8091 0000            lds r24,EE_Parameter+7
 3773 1b00 E82F                 mov r30,r24
 3774 1b02 FF27                 clr r31
 3775 1b04 EE0F                 add r30,r30
 3776 1b06 FF1F                 adc r31,r31
 3777 1b08 E050                 subi r30,lo8(-(PPM_in))
 3778 1b0a F040                 sbci r31,hi8(-(PPM_in))
 3779 1b0c 8081                 ld r24,Z
 3780 1b0e 9181                 ldd r25,Z+1
 3781 1b10 8259                 subi r24,lo8(-(110))
 3782 1b12 9F4F                 sbci r25,hi8(-(110))
 3783 1b14 2091 0000            lds r18,Poti4
 3784 1b18 3091 0000            lds r19,(Poti4)+1
 3785 1b1c 2817                 cp r18,r24
 3786 1b1e 3907                 cpc r19,r25
 3787 1b20 04F0                 brlt .+2
 3788 1b22 00C0                 rjmp .L239
 3789 1b24 C901                 movw r24,r18
 3790 1b26 0196                 adiw r24,1
 3791                   .L257:
 3792 1b28 9093 0000            sts (Poti4)+1,r25
 3793 1b2c 8093 0000            sts Poti4,r24
 3794 1b30 9C01                 movw r18,r24
 3795                   .L240:
 3796 1b32 B7FD                 sbrc r27,7
 3797 1b34 00C0                 rjmp .L259
 3798 1b36 AF3F                 cpi r26,255
 3799 1b38 B105                 cpc r27,__zero_reg__
 3800 1b3a 01F0                 breq .+4
 3801 1b3c 04F0                 brlt .+2
 3802 1b3e 00C0                 rjmp .L260
 3803                   .L243:
 3804 1b40 77FD                 sbrc r23,7
 3805 1b42 00C0                 rjmp .L261
 3806                   .L245:
 3807 1b44 6F3F                 cpi r22,255
 3808 1b46 7105                 cpc r23,__zero_reg__
 3809 1b48 01F0                 breq .L246
 3810 1b4a 04F0                 brlt .L246
 3811 1b4c 8FEF                 ldi r24,lo8(255)
 3812 1b4e 90E0                 ldi r25,hi8(255)
 3813 1b50 9093 0000            sts (Poti2)+1,r25
 3814 1b54 8093 0000            sts Poti2,r24
 3815                   .L246:
 3816 1b58 57FD                 sbrc r21,7
 3817 1b5a 00C0                 rjmp .L262
 3818                   .L248:
 3819 1b5c 4F3F                 cpi r20,255
 3820 1b5e 5105                 cpc r21,__zero_reg__
 3821 1b60 01F0                 breq .L249
 3822 1b62 04F0                 brlt .L249
 3823 1b64 8FEF                 ldi r24,lo8(255)
 3824 1b66 90E0                 ldi r25,hi8(255)
 3825 1b68 9093 0000            sts (Poti3)+1,r25
 3826 1b6c 8093 0000            sts Poti3,r24
 3827                   .L249:
 3828 1b70 37FD                 sbrc r19,7
 3829 1b72 00C0                 rjmp .L263
 3830                   .L251:
 3831 1b74 2F3F                 cpi r18,255
 3832 1b76 3105                 cpc r19,__zero_reg__
 3833 1b78 01F0                 breq .+2
 3834 1b7a 04F4                 brge .+2
 3835 1b7c 00C0                 rjmp .L252
 3836 1b7e 8FEF                 ldi r24,lo8(255)
 3837 1b80 90E0                 ldi r25,hi8(255)
 3838 1b82 9093 0000            sts (Poti4)+1,r25
 3839 1b86 8093 0000            sts Poti4,r24
 3840 1b8a 00C0                 rjmp .L252
 3841                   .L230:
 3842 1b8c 8081                 ld r24,Z
 3843 1b8e 9181                 ldd r25,Z+1
 3844 1b90 8259                 subi r24,lo8(-(110))
 3845 1b92 9F4F                 sbci r25,hi8(-(110))
 3846 1b94 8A17                 cp r24,r26
 3847 1b96 9B07                 cpc r25,r27
 3848 1b98 04F0                 brlt .+2
 3849 1b9a 00C0                 rjmp .L231
 3850 1b9c 1097                 sbiw r26,0
 3851 1b9e 01F4                 brne .+2
 3852 1ba0 00C0                 rjmp .L231
 3853 1ba2 CD01                 movw r24,r26
 3854 1ba4 0197                 sbiw r24,1
 3855 1ba6 00C0                 rjmp .L254
 3856                   .L239:
 3857 1ba8 8081                 ld r24,Z
 3858 1baa 9181                 ldd r25,Z+1
 3859 1bac 8259                 subi r24,lo8(-(110))
 3860 1bae 9F4F                 sbci r25,hi8(-(110))
 3861 1bb0 8217                 cp r24,r18
 3862 1bb2 9307                 cpc r25,r19
 3863 1bb4 04F0                 brlt .+2
 3864 1bb6 00C0                 rjmp .L240
 3865 1bb8 2115                 cp r18,__zero_reg__
 3866 1bba 3105                 cpc r19,__zero_reg__
 3867 1bbc 01F4                 brne .+2
 3868 1bbe 00C0                 rjmp .L240
 3869 1bc0 C901                 movw r24,r18
 3870 1bc2 0197                 sbiw r24,1
 3871 1bc4 00C0                 rjmp .L257
 3872                   .L236:
 3873 1bc6 8081                 ld r24,Z
 3874 1bc8 9181                 ldd r25,Z+1
 3875 1bca 8259                 subi r24,lo8(-(110))
 3876 1bcc 9F4F                 sbci r25,hi8(-(110))
 3877 1bce 8417                 cp r24,r20
 3878 1bd0 9507                 cpc r25,r21
 3879 1bd2 04F0                 brlt .+2
 3880 1bd4 00C0                 rjmp .L237
 3881 1bd6 4115                 cp r20,__zero_reg__
 3882 1bd8 5105                 cpc r21,__zero_reg__
 3883 1bda 01F4                 brne .+2
 3884 1bdc 00C0                 rjmp .L237
 3885 1bde CA01                 movw r24,r20
 3886 1be0 0197                 sbiw r24,1
 3887 1be2 00C0                 rjmp .L256
 3888                   .L233:
 3889 1be4 8081                 ld r24,Z
 3890 1be6 9181                 ldd r25,Z+1
 3891 1be8 8259                 subi r24,lo8(-(110))
 3892 1bea 9F4F                 sbci r25,hi8(-(110))
 3893 1bec 8617                 cp r24,r22
 3894 1bee 9707                 cpc r25,r23
 3895 1bf0 04F0                 brlt .+2
 3896 1bf2 00C0                 rjmp .L234
 3897 1bf4 6115                 cp r22,__zero_reg__
 3898 1bf6 7105                 cpc r23,__zero_reg__
 3899 1bf8 01F4                 brne .+2
 3900 1bfa 00C0                 rjmp .L234
 3901 1bfc CB01                 movw r24,r22
 3902 1bfe 0197                 sbiw r24,1
 3903 1c00 00C0                 rjmp .L255
 3904                   .L260:
 3905 1c02 8FEF                 ldi r24,lo8(255)
 3906 1c04 90E0                 ldi r25,hi8(255)
 3907 1c06 9093 0000            sts (Poti1)+1,r25
 3908 1c0a 8093 0000            sts Poti1,r24
 3909 1c0e 77FF                 sbrs r23,7
 3910 1c10 00C0                 rjmp .L245
 3911                   .L261:
 3912 1c12 1092 0000            sts (Poti2)+1,__zero_reg__
 3913 1c16 1092 0000            sts Poti2,__zero_reg__
 3914 1c1a 57FF                 sbrs r21,7
 3915 1c1c 00C0                 rjmp .L248
 3916                   .L262:
 3917 1c1e 1092 0000            sts (Poti3)+1,__zero_reg__
 3918 1c22 1092 0000            sts Poti3,__zero_reg__
 3919 1c26 37FF                 sbrs r19,7
 3920 1c28 00C0                 rjmp .L251
 3921                   .L263:
 3922 1c2a 1092 0000            sts (Poti4)+1,__zero_reg__
 3923 1c2e 1092 0000            sts Poti4,__zero_reg__
 3924 1c32 00C0                 rjmp .L252
 3925                   .L259:
 3926 1c34 1092 0000            sts (Poti1)+1,__zero_reg__
 3927 1c38 1092 0000            sts Poti1,__zero_reg__
 3928 1c3c 00C0                 rjmp .L243
 3929                   .L258:
 3930 1c3e 0E94 0000            call SucheGyroOffset
 3931 1c42 00C0                 rjmp .L229
 3932                   .L252:
 3933 1c44 8091 0000            lds r24,EE_Parameter+54
 3934 1c48 9927                 clr r25
 3935 1c4a AA27                 clr r26
 3936 1c4c BB27                 clr r27
 3937 1c4e BC01                 movw r22,r24
 3938 1c50 CD01                 movw r24,r26
 3939 1c52 24EC                 ldi r18,lo8(2500)
 3940 1c54 39E0                 ldi r19,hi8(2500)
 3941 1c56 40E0                 ldi r20,hlo8(2500)
 3942 1c58 50E0                 ldi r21,hhi8(2500)
 3943 1c5a 0E94 0000            call __mulsi3
 3944 1c5e DC01                 movw r26,r24
 3945 1c60 CB01                 movw r24,r22
 3946 1c62 8093 0000            sts Umschlag180Nick,r24
 3947 1c66 9093 0000            sts (Umschlag180Nick)+1,r25
 3948 1c6a A093 0000            sts (Umschlag180Nick)+2,r26
 3949 1c6e B093 0000            sts (Umschlag180Nick)+3,r27
 3950 1c72 8091 0000            lds r24,EE_Parameter+55
 3951 1c76 9927                 clr r25
 3952 1c78 AA27                 clr r26
 3953 1c7a BB27                 clr r27
 3954 1c7c BC01                 movw r22,r24
 3955 1c7e CD01                 movw r24,r26
 3956 1c80 0E94 0000            call __mulsi3
 3957 1c84 DC01                 movw r26,r24
 3958 1c86 CB01                 movw r24,r22
 3959 1c88 8093 0000            sts Umschlag180Roll,r24
 3960 1c8c 9093 0000            sts (Umschlag180Roll)+1,r25
 3961 1c90 A093 0000            sts (Umschlag180Roll)+2,r26
 3962 1c94 B093 0000            sts (Umschlag180Roll)+3,r27
 3963                   /* epilogue: frame size=0 */
 3964 1c98 0895                 ret
 3965                   /* epilogue end (size=1) */
 3966                   /* function CalibrierMittelwert size 392 (391) */
 3968                   .global SetNeutral
 3970                   SetNeutral:
 3971                   /* prologue: frame size=0 */
 3972 1c9a A0E0                 ldi r26,lo8(0)
 3973 1c9c B0E0                 ldi r27,hi8(0)
 3974 1c9e E0E0                 ldi r30,pm_lo8(1f)
 3975 1ca0 F0E0                 ldi r31,pm_hi8(1f)
 3976 1ca2 0C94 0000            jmp __prologue_saves__+8
 3977                   1:
 3978                   /* prologue end (size=6) */
 3979 1ca6 C0E0                 ldi r28,lo8(0)
 3980 1ca8 D0E0                 ldi r29,hi8(0)
 3981 1caa 7E01                 movw r14,r28
 3982 1cac 6E01                 movw r12,r28
 3983 1cae 469A                 sbi 40-0x20,6
 3984 1cb0 D093 0000            sts (NeutralAccX)+1,r29
 3985 1cb4 C093 0000            sts NeutralAccX,r28
 3986 1cb8 D093 0000            sts (NeutralAccY)+1,r29
 3987 1cbc C093 0000            sts NeutralAccY,r28
 3988 1cc0 80E0                 ldi r24,lo8(0x0)
 3989 1cc2 90E0                 ldi r25,hi8(0x0)
 3990 1cc4 A0E0                 ldi r26,hlo8(0x0)
 3991 1cc6 B0E0                 ldi r27,hhi8(0x0)
 3992 1cc8 8093 0000            sts NeutralAccZ,r24
 3993 1ccc 9093 0000            sts (NeutralAccZ)+1,r25
 3994 1cd0 A093 0000            sts (NeutralAccZ)+2,r26
 3995 1cd4 B093 0000            sts (NeutralAccZ)+3,r27
 3996 1cd8 D093 0000            sts (AdNeutralNick)+1,r29
 3997 1cdc C093 0000            sts AdNeutralNick,r28
 3998 1ce0 D093 0000            sts (AdNeutralRoll)+1,r29
 3999 1ce4 C093 0000            sts AdNeutralRoll,r28
 4000 1ce8 D093 0000            sts (AdNeutralGier)+1,r29
 4001 1cec C093 0000            sts AdNeutralGier,r28
 4002 1cf0 D093 0000            sts (AdNeutralGierBias)+1,r29
 4003 1cf4 C093 0000            sts AdNeutralGierBias,r28
 4004 1cf8 1092 0000            sts Parameter_AchsKopplung1,__zero_reg__
 4005 1cfc 1092 0000            sts Parameter_AchsKopplung2,__zero_reg__
 4006 1d00 1092 0000            sts ExpandBaro,__zero_reg__
 4007 1d04 0E94 0000            call CalibrierMittelwert
 4008 1d08 84E6                 ldi r24,lo8(100)
 4009 1d0a 90E0                 ldi r25,hi8(100)
 4010 1d0c 0E94 0000            call Delay_ms_Mess
 4011 1d10 0E94 0000            call CalibrierMittelwert
 4012 1d14 8091 0000            lds r24,EE_Parameter+8
 4013 1d18 80FF                 sbrs r24,0
 4014 1d1a 00C0                 rjmp .L265
 4015 1d1c 8091 0000            lds r24,MessLuftdruck
 4016 1d20 9091 0000            lds r25,(MessLuftdruck)+1
 4017 1d24 875B                 subi r24,lo8(951)
 4018 1d26 9340                 sbci r25,hi8(951)
 4019 1d28 00F0                 brlo .+2
 4020 1d2a 00C0                 rjmp .L267
 4021 1d2c 8091 0000            lds r24,MessLuftdruck
 4022 1d30 9091 0000            lds r25,(MessLuftdruck)+1
 4023 1d34 8E5E                 subi r24,lo8(750)
 4024 1d36 9240                 sbci r25,hi8(750)
 4025 1d38 00F4                 brsh .+2
 4026 1d3a 00C0                 rjmp .L267
 4027                   .L265:
 4028 1d3c 0FE1                 ldi r16,lo8(31)
 4029                   .L271:
 4030 1d3e 8AE0                 ldi r24,lo8(10)
 4031 1d40 90E0                 ldi r25,hi8(10)
 4032 1d42 0E94 0000            call Delay_ms_Mess
 4033 1d46 8091 0000            lds r24,AdWertGier
 4034 1d4a 9091 0000            lds r25,(AdWertGier)+1
 4035 1d4e C80F                 add r28,r24
 4036 1d50 D91F                 adc r29,r25
 4037 1d52 8091 0000            lds r24,AdWertNick
 4038 1d56 9091 0000            lds r25,(AdWertNick)+1
 4039 1d5a E80E                 add r14,r24
 4040 1d5c F91E                 adc r15,r25
 4041 1d5e 8091 0000            lds r24,AdWertRoll
 4042 1d62 9091 0000            lds r25,(AdWertRoll)+1
 4043 1d66 C80E                 add r12,r24
 4044 1d68 D91E                 adc r13,r25
 4045 1d6a 0150                 subi r16,lo8(-(-1))
 4046 1d6c 07FF                 sbrs r16,7
 4047 1d6e 00C0                 rjmp .L271
 4048 1d70 A701                 movw r20,r14
 4049 1d72 405F                 subi r20,lo8(-(16))
 4050 1d74 5F4F                 sbci r21,hi8(-(16))
 4051 1d76 5695                 lsr r21
 4052 1d78 4795                 ror r20
 4053 1d7a 5695                 lsr r21
 4054 1d7c 4795                 ror r20
 4055 1d7e 5093 0000            sts (AdNeutralNick)+1,r21
 4056 1d82 4093 0000            sts AdNeutralNick,r20
 4057 1d86 9601                 movw r18,r12
 4058 1d88 205F                 subi r18,lo8(-(16))
 4059 1d8a 3F4F                 sbci r19,hi8(-(16))
 4060 1d8c 3695                 lsr r19
 4061 1d8e 2795                 ror r18
 4062 1d90 3695                 lsr r19
 4063 1d92 2795                 ror r18
 4064 1d94 3093 0000            sts (AdNeutralRoll)+1,r19
 4065 1d98 2093 0000            sts AdNeutralRoll,r18
 4066 1d9c CE01                 movw r24,r28
 4067 1d9e 4096                 adiw r24,16
 4068 1da0 9695                 lsr r25
 4069 1da2 8795                 ror r24
 4070 1da4 9295                 swap r25
 4071 1da6 8295                 swap r24
 4072 1da8 8F70                 andi r24,0x0f
 4073 1daa 8927                 eor r24,r25
 4074 1dac 9F70                 andi r25,0x0f
 4075 1dae 8927                 eor r24,r25
 4076 1db0 9093 0000            sts (AdNeutralGier)+1,r25
 4077 1db4 8093 0000            sts AdNeutralGier,r24
 4078 1db8 9093 0000            sts (AdNeutralGierBias)+1,r25
 4079 1dbc 8093 0000            sts AdNeutralGierBias,r24
 4080 1dc0 3093 0000            sts (StartNeutralRoll)+1,r19
 4081 1dc4 2093 0000            sts StartNeutralRoll,r18
 4082 1dc8 5093 0000            sts (StartNeutralNick)+1,r21
 4083 1dcc 4093 0000            sts StartNeutralNick,r20
 4084                   .L273:
 4085 1dd0 F999                 sbic 63-0x20,1
 4086 1dd2 00C0                 rjmp .L273
 4087 1dd4 80E0                 ldi r24,lo8(EEPromArray+4)
 4088 1dd6 90E0                 ldi r25,hi8(EEPromArray+4)
 4089 1dd8 92BD                 out (65)+1-0x20,r25
 4090 1dda 81BD                 out 65-0x20,r24
 4091                   /* #APP */
 4092                           /* START EEPROM READ CRITICAL SECTION */ 
 4093 1ddc F89A                 sbi 31, 0 
 4094 1dde 80B5                 in r24, 32 
 4095                           /* END EEPROM READ CRITICAL SECTION */ 
 4096                           
 4097                   /* #NOAPP */
 4098 1de0 8530                 cpi r24,lo8(5)
 4099 1de2 00F4                 brsh .+2
 4100 1de4 00C0                 rjmp .L280
 4101 1de6 8091 0000            lds r24,Mittelwert_AccRoll
 4102 1dea 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 4103 1dee 97FD                 sbrc r25,7
 4104 1df0 00C0                 rjmp .L308
 4105                   .L277:
 4106 1df2 6CE0                 ldi r22,lo8(12)
 4107 1df4 70E0                 ldi r23,hi8(12)
 4108 1df6 0E94 0000            call __divmodhi4
 4109 1dfa 7093 0000            sts (NeutralAccY)+1,r23
 4110 1dfe 6093 0000            sts NeutralAccY,r22
 4111 1e02 8091 0000            lds r24,Mittelwert_AccNick
 4112 1e06 9091 0000            lds r25,(Mittelwert_AccNick)+1
 4113 1e0a 97FD                 sbrc r25,7
 4114 1e0c 00C0                 rjmp .L309
 4115                   .L278:
 4116 1e0e 6CE0                 ldi r22,lo8(12)
 4117 1e10 70E0                 ldi r23,hi8(12)
 4118 1e12 0E94 0000            call __divmodhi4
 4119 1e16 7093 0000            sts (NeutralAccX)+1,r23
 4120 1e1a 6093 0000            sts NeutralAccX,r22
 4121 1e1e 8091 0000            lds r24,Aktuell_az
 4122 1e22 9091 0000            lds r25,(Aktuell_az)+1
 4123 1e26 AA27                 clr r26
 4124 1e28 97FD                 sbrc r25,7
 4125 1e2a A095                 com r26
 4126 1e2c BA2F                 mov r27,r26
 4127                   .L307:
 4128 1e2e BC01                 movw r22,r24
 4129 1e30 CD01                 movw r24,r26
 4130 1e32 0E94 0000            call __floatsisf
 4131 1e36 DC01                 movw r26,r24
 4132 1e38 CB01                 movw r24,r22
 4133 1e3a 8093 0000            sts NeutralAccZ,r24
 4134 1e3e 9093 0000            sts (NeutralAccZ)+1,r25
 4135 1e42 A093 0000            sts (NeutralAccZ)+2,r26
 4136 1e46 B093 0000            sts (NeutralAccZ)+3,r27
 4137 1e4a 1092 0000            sts (MesswertNick)+1,__zero_reg__
 4138 1e4e 1092 0000            sts MesswertNick,__zero_reg__
 4139 1e52 1092 0000            sts (MesswertRoll)+1,__zero_reg__
 4140 1e56 1092 0000            sts MesswertRoll,__zero_reg__
 4141 1e5a 1092 0000            sts (MesswertGier)+1,__zero_reg__
 4142 1e5e 1092 0000            sts MesswertGier,__zero_reg__
 4143 1e62 84E6                 ldi r24,lo8(100)
 4144 1e64 90E0                 ldi r25,hi8(100)
 4145 1e66 0E94 0000            call Delay_ms_Mess
 4146 1e6a 8091 0000            lds r24,AdWertAccNick
 4147 1e6e 9091 0000            lds r25,(AdWertAccNick)+1
 4148 1e72 AA27                 clr r26
 4149 1e74 97FD                 sbrc r25,7
 4150 1e76 A095                 com r26
 4151 1e78 BA2F                 mov r27,r26
 4152 1e7a 9C01                 movw r18,r24
 4153 1e7c AD01                 movw r20,r26
 4154 1e7e 220F                 lsl r18
 4155 1e80 331F                 rol r19
 4156 1e82 441F                 rol r20
 4157 1e84 551F                 rol r21
 4158 1e86 220F                 lsl r18
 4159 1e88 331F                 rol r19
 4160 1e8a 441F                 rol r20
 4161 1e8c 551F                 rol r21
 4162 1e8e 280F                 add r18,r24
 4163 1e90 391F                 adc r19,r25
 4164 1e92 4A1F                 adc r20,r26
 4165 1e94 5B1F                 adc r21,r27
 4166 1e96 280F                 add r18,r24
 4167 1e98 391F                 adc r19,r25
 4168 1e9a 4A1F                 adc r20,r26
 4169 1e9c 5B1F                 adc r21,r27
 4170 1e9e 3093 0000            sts (Mittelwert_AccNick)+1,r19
 4171 1ea2 2093 0000            sts Mittelwert_AccNick,r18
 4172 1ea6 8091 0000            lds r24,AdWertAccRoll
 4173 1eaa 9091 0000            lds r25,(AdWertAccRoll)+1
 4174 1eae AA27                 clr r26
 4175 1eb0 97FD                 sbrc r25,7
 4176 1eb2 A095                 com r26
 4177 1eb4 BA2F                 mov r27,r26
 4178 1eb6 7C01                 movw r14,r24
 4179 1eb8 8D01                 movw r16,r26
 4180 1eba EE0C                 lsl r14
 4181 1ebc FF1C                 rol r15
 4182 1ebe 001F                 rol r16
 4183 1ec0 111F                 rol r17
 4184 1ec2 EE0C                 lsl r14
 4185 1ec4 FF1C                 rol r15
 4186 1ec6 001F                 rol r16
 4187 1ec8 111F                 rol r17
 4188 1eca E80E                 add r14,r24
 4189 1ecc F91E                 adc r15,r25
 4190 1ece 0A1F                 adc r16,r26
 4191 1ed0 1B1F                 adc r17,r27
 4192 1ed2 E80E                 add r14,r24
 4193 1ed4 F91E                 adc r15,r25
 4194 1ed6 0A1F                 adc r16,r26
 4195 1ed8 1B1F                 adc r17,r27
 4196 1eda F092 0000            sts (Mittelwert_AccRoll)+1,r15
 4197 1ede E092 0000            sts Mittelwert_AccRoll,r14
 4198 1ee2 8091 0000            lds r24,EE_Parameter+23
 4199 1ee6 682E                 mov r6,r24
 4200 1ee8 7724                 clr r7
 4201 1eea 8824                 clr r8
 4202 1eec 9924                 clr r9
 4203 1eee C901                 movw r24,r18
 4204 1ef0 9C01                 movw r18,r24
 4205 1ef2 4427                 clr r20
 4206 1ef4 37FD                 sbrc r19,7
 4207 1ef6 4095                 com r20
 4208 1ef8 542F                 mov r21,r20
 4209 1efa C401                 movw r24,r8
 4210 1efc B301                 movw r22,r6
 4211 1efe 0E94 0000            call __mulsi3
 4212 1f02 5B01                 movw r10,r22
 4213 1f04 6C01                 movw r12,r24
 4214 1f06 6093 0000            sts IntegralNick,r22
 4215 1f0a 7093 0000            sts (IntegralNick)+1,r23
 4216 1f0e 8093 0000            sts (IntegralNick)+2,r24
 4217 1f12 9093 0000            sts (IntegralNick)+3,r25
 4218 1f16 9701                 movw r18,r14
 4219 1f18 4427                 clr r20
 4220 1f1a 37FD                 sbrc r19,7
 4221 1f1c 4095                 com r20
 4222 1f1e 542F                 mov r21,r20
 4223 1f20 C401                 movw r24,r8
 4224 1f22 B301                 movw r22,r6
 4225 1f24 0E94 0000            call __mulsi3
 4226 1f28 DC01                 movw r26,r24
 4227 1f2a CB01                 movw r24,r22
 4228 1f2c 8093 0000            sts IntegralRoll,r24
 4229 1f30 9093 0000            sts (IntegralRoll)+1,r25
 4230 1f34 A093 0000            sts (IntegralRoll)+2,r26
 4231 1f38 B093 0000            sts (IntegralRoll)+3,r27
 4232 1f3c A092 0000            sts Mess_IntegralNick2,r10
 4233 1f40 B092 0000            sts (Mess_IntegralNick2)+1,r11
 4234 1f44 C092 0000            sts (Mess_IntegralNick2)+2,r12
 4235 1f48 D092 0000            sts (Mess_IntegralNick2)+3,r13
 4236 1f4c 8093 0000            sts Mess_IntegralRoll2,r24
 4237 1f50 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 4238 1f54 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 4239 1f58 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 4240 1f5c 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 4241 1f60 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 4242 1f64 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 4243 1f68 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 4244 1f6c 8091 0000            lds r24,Luftdruck
 4245 1f70 9091 0000            lds r25,(Luftdruck)+1
 4246 1f74 A091 0000            lds r26,(Luftdruck)+2
 4247 1f78 B091 0000            lds r27,(Luftdruck)+3
 4248 1f7c 9093 0000            sts (StartLuftdruck)+1,r25
 4249 1f80 8093 0000            sts StartLuftdruck,r24
 4250 1f84 1092 0000            sts (VarioMeter)+1,__zero_reg__
 4251 1f88 1092 0000            sts VarioMeter,__zero_reg__
 4252 1f8c 1092 0000            sts Mess_Integral_Hoch,__zero_reg__
 4253 1f90 1092 0000            sts (Mess_Integral_Hoch)+1,__zero_reg__
 4254 1f94 1092 0000            sts (Mess_Integral_Hoch)+2,__zero_reg__
 4255 1f98 1092 0000            sts (Mess_Integral_Hoch)+3,__zero_reg__
 4256 1f9c 0091 0000            lds r16,KompassValue
 4257 1fa0 1091 0000            lds r17,(KompassValue)+1
 4258 1fa4 1093 0000            sts (KompassStartwert)+1,r17
 4259 1fa8 0093 0000            sts KompassStartwert,r16
 4260 1fac 82E3                 ldi r24,lo8(50)
 4261 1fae 90E0                 ldi r25,hi8(50)
 4262 1fb0 9093 0000            sts (beeptime)+1,r25
 4263 1fb4 8093 0000            sts beeptime,r24
 4264 1fb8 8091 0000            lds r24,EE_Parameter+54
 4265 1fbc 9927                 clr r25
 4266 1fbe AA27                 clr r26
 4267 1fc0 BB27                 clr r27
 4268 1fc2 BC01                 movw r22,r24
 4269 1fc4 CD01                 movw r24,r26
 4270 1fc6 24EC                 ldi r18,lo8(2500)
 4271 1fc8 39E0                 ldi r19,hi8(2500)
 4272 1fca 40E0                 ldi r20,hlo8(2500)
 4273 1fcc 50E0                 ldi r21,hhi8(2500)
 4274 1fce 0E94 0000            call __mulsi3
 4275 1fd2 DC01                 movw r26,r24
 4276 1fd4 CB01                 movw r24,r22
 4277 1fd6 8856                 subi r24,lo8(-(15000))
 4278 1fd8 954C                 sbci r25,hi8(-(15000))
 4279 1fda AF4F                 sbci r26,hlo8(-(15000))
 4280 1fdc BF4F                 sbci r27,hhi8(-(15000))
 4281 1fde 8093 0000            sts Umschlag180Nick,r24
 4282 1fe2 9093 0000            sts (Umschlag180Nick)+1,r25
 4283 1fe6 A093 0000            sts (Umschlag180Nick)+2,r26
 4284 1fea B093 0000            sts (Umschlag180Nick)+3,r27
 4285 1fee 8091 0000            lds r24,EE_Parameter+55
 4286 1ff2 9927                 clr r25
 4287 1ff4 AA27                 clr r26
 4288 1ff6 BB27                 clr r27
 4289 1ff8 BC01                 movw r22,r24
 4290 1ffa CD01                 movw r24,r26
 4291 1ffc 0E94 0000            call __mulsi3
 4292 2000 DC01                 movw r26,r24
 4293 2002 CB01                 movw r24,r22
 4294 2004 8856                 subi r24,lo8(-(15000))
 4295 2006 954C                 sbci r25,hi8(-(15000))
 4296 2008 AF4F                 sbci r26,hlo8(-(15000))
 4297 200a BF4F                 sbci r27,hhi8(-(15000))
 4298 200c 8093 0000            sts Umschlag180Roll,r24
 4299 2010 9093 0000            sts (Umschlag180Roll)+1,r25
 4300 2014 A093 0000            sts (Umschlag180Roll)+2,r26
 4301 2018 B093 0000            sts (Umschlag180Roll)+3,r27
 4302 201c 1092 0000            sts (ExternHoehenValue)+1,__zero_reg__
 4303 2020 1092 0000            sts ExternHoehenValue,__zero_reg__
 4304 2024 C801                 movw r24,r16
 4305 2026 AA27                 clr r26
 4306 2028 97FD                 sbrc r25,7
 4307 202a A095                 com r26
 4308 202c BA2F                 mov r27,r26
 4309 202e 2091 0000            lds r18,GIER_GRAD_FAKTOR
 4310 2032 3091 0000            lds r19,(GIER_GRAD_FAKTOR)+1
 4311 2036 4091 0000            lds r20,(GIER_GRAD_FAKTOR)+2
 4312 203a 5091 0000            lds r21,(GIER_GRAD_FAKTOR)+3
 4313 203e BC01                 movw r22,r24
 4314 2040 CD01                 movw r24,r26
 4315 2042 0E94 0000            call __mulsi3
 4316 2046 DC01                 movw r26,r24
 4317 2048 CB01                 movw r24,r22
 4318 204a 8093 0000            sts ErsatzKompass,r24
 4319 204e 9093 0000            sts (ErsatzKompass)+1,r25
 4320 2052 A093 0000            sts (ErsatzKompass)+2,r26
 4321 2056 B093 0000            sts (ErsatzKompass)+3,r27
 4322 205a 1092 0000            sts (GierGyroFehler)+1,__zero_reg__
 4323 205e 1092 0000            sts GierGyroFehler,__zero_reg__
 4324 2062 81E0                 ldi r24,lo8(1)
 4325 2064 8093 0000            sts SendVersionToNavi,r24
 4326 2068 0E94 0000            call LED_Init
 4327 206c 8091 0000            lds r24,MikroKopterFlags
 4328 2070 8460                 ori r24,lo8(4)
 4329 2072 8093 0000            sts MikroKopterFlags,r24
 4330 2076 8091 0000            lds r24,EE_Parameter+4
 4331 207a E82F                 mov r30,r24
 4332 207c FF27                 clr r31
 4333 207e EE0F                 add r30,r30
 4334 2080 FF1F                 adc r31,r31
 4335 2082 E050                 subi r30,lo8(-(PPM_in))
 4336 2084 F040                 sbci r31,hi8(-(PPM_in))
 4337 2086 8081                 ld r24,Z
 4338 2088 9181                 ldd r25,Z+1
 4339 208a 8259                 subi r24,lo8(-(110))
 4340 208c 9F4F                 sbci r25,hi8(-(110))
 4341 208e 9093 0000            sts (Poti1)+1,r25
 4342 2092 8093 0000            sts Poti1,r24
 4343 2096 8091 0000            lds r24,EE_Parameter+5
 4344 209a E82F                 mov r30,r24
 4345 209c FF27                 clr r31
 4346 209e EE0F                 add r30,r30
 4347 20a0 FF1F                 adc r31,r31
 4348 20a2 E050                 subi r30,lo8(-(PPM_in))
 4349 20a4 F040                 sbci r31,hi8(-(PPM_in))
 4350 20a6 8081                 ld r24,Z
 4351 20a8 9181                 ldd r25,Z+1
 4352 20aa 8259                 subi r24,lo8(-(110))
 4353 20ac 9F4F                 sbci r25,hi8(-(110))
 4354 20ae 9093 0000            sts (Poti2)+1,r25
 4355 20b2 8093 0000            sts Poti2,r24
 4356 20b6 8091 0000            lds r24,EE_Parameter+6
 4357 20ba E82F                 mov r30,r24
 4358 20bc FF27                 clr r31
 4359 20be EE0F                 add r30,r30
 4360 20c0 FF1F                 adc r31,r31
 4361 20c2 E050                 subi r30,lo8(-(PPM_in))
 4362 20c4 F040                 sbci r31,hi8(-(PPM_in))
 4363 20c6 8081                 ld r24,Z
 4364 20c8 9181                 ldd r25,Z+1
 4365 20ca 8259                 subi r24,lo8(-(110))
 4366 20cc 9F4F                 sbci r25,hi8(-(110))
 4367 20ce 9093 0000            sts (Poti3)+1,r25
 4368 20d2 8093 0000            sts Poti3,r24
 4369 20d6 8091 0000            lds r24,EE_Parameter+7
 4370 20da E82F                 mov r30,r24
 4371 20dc FF27                 clr r31
 4372 20de EE0F                 add r30,r30
 4373 20e0 FF1F                 adc r31,r31
 4374 20e2 E050                 subi r30,lo8(-(PPM_in))
 4375 20e4 F040                 sbci r31,hi8(-(PPM_in))
 4376 20e6 8081                 ld r24,Z
 4377 20e8 9181                 ldd r25,Z+1
 4378 20ea 8259                 subi r24,lo8(-(110))
 4379 20ec 9F4F                 sbci r25,hi8(-(110))
 4380 20ee 9093 0000            sts (Poti4)+1,r25
 4381 20f2 8093 0000            sts Poti4,r24
 4382 20f6 84E6                 ldi r24,lo8(100)
 4383 20f8 8093 0000            sts SenderOkay,r24
 4384 20fc 8091 0000            lds r24,ServoActive
 4385 2100 8823                 tst r24
 4386 2102 01F4                 brne .+2
 4387 2104 00C0                 rjmp .L264
 4388 2106 469A                 sbi 40-0x20,6
 4389 2108 579A                 sbi 42-0x20,7
 4390 210a 00C0                 rjmp .L264
 4391                   .L267:
 4392 210c 0E94 0000            call SucheLuftruckOffset
 4393 2110 00C0                 rjmp .L265
 4394                   .L280:
 4395 2112 F999                 sbic 63-0x20,1
 4396 2114 00C0                 rjmp .L280
 4397 2116 80E0                 ldi r24,lo8(EEPromArray+4)
 4398 2118 90E0                 ldi r25,hi8(EEPromArray+4)
 4399 211a 92BD                 out (65)+1-0x20,r25
 4400 211c 81BD                 out 65-0x20,r24
 4401                   /* #APP */
 4402                           /* START EEPROM READ CRITICAL SECTION */ 
 4403 211e F89A                 sbi 31, 0 
 4404 2120 80B5                 in r24, 32 
 4405                           /* END EEPROM READ CRITICAL SECTION */ 
 4406                           
 4407                   /* #NOAPP */
 4408 2122 9927                 clr r25
 4409 2124 382F                 mov r19,r24
 4410 2126 2227                 clr r18
 4411                   .L284:
 4412 2128 F999                 sbic 63-0x20,1
 4413 212a 00C0                 rjmp .L284
 4414 212c 80E0                 ldi r24,lo8(EEPromArray+5)
 4415 212e 90E0                 ldi r25,hi8(EEPromArray+5)
 4416 2130 92BD                 out (65)+1-0x20,r25
 4417 2132 81BD                 out 65-0x20,r24
 4418                   /* #APP */
 4419                           /* START EEPROM READ CRITICAL SECTION */ 
 4420 2134 F89A                 sbi 31, 0 
 4421 2136 80B5                 in r24, 32 
 4422                           /* END EEPROM READ CRITICAL SECTION */ 
 4423                           
 4424                   /* #NOAPP */
 4425 2138 280F                 add r18,r24
 4426 213a 311D                 adc r19,__zero_reg__
 4427 213c 3093 0000            sts (NeutralAccX)+1,r19
 4428 2140 2093 0000            sts NeutralAccX,r18
 4429                   .L288:
 4430 2144 F999                 sbic 63-0x20,1
 4431 2146 00C0                 rjmp .L288
 4432 2148 80E0                 ldi r24,lo8(EEPromArray+6)
 4433 214a 90E0                 ldi r25,hi8(EEPromArray+6)
 4434 214c 92BD                 out (65)+1-0x20,r25
 4435 214e 81BD                 out 65-0x20,r24
 4436                   /* #APP */
 4437                           /* START EEPROM READ CRITICAL SECTION */ 
 4438 2150 F89A                 sbi 31, 0 
 4439 2152 80B5                 in r24, 32 
 4440                           /* END EEPROM READ CRITICAL SECTION */ 
 4441                           
 4442                   /* #NOAPP */
 4443 2154 9927                 clr r25
 4444 2156 382F                 mov r19,r24
 4445 2158 2227                 clr r18
 4446                   .L292:
 4447 215a F999                 sbic 63-0x20,1
 4448 215c 00C0                 rjmp .L292
 4449 215e 80E0                 ldi r24,lo8(EEPromArray+7)
 4450 2160 90E0                 ldi r25,hi8(EEPromArray+7)
 4451 2162 92BD                 out (65)+1-0x20,r25
 4452 2164 81BD                 out 65-0x20,r24
 4453                   /* #APP */
 4454                           /* START EEPROM READ CRITICAL SECTION */ 
 4455 2166 F89A                 sbi 31, 0 
 4456 2168 80B5                 in r24, 32 
 4457                           /* END EEPROM READ CRITICAL SECTION */ 
 4458                           
 4459                   /* #NOAPP */
 4460 216a 280F                 add r18,r24
 4461 216c 311D                 adc r19,__zero_reg__
 4462 216e 3093 0000            sts (NeutralAccY)+1,r19
 4463 2172 2093 0000            sts NeutralAccY,r18
 4464                   .L296:
 4465 2176 F999                 sbic 63-0x20,1
 4466 2178 00C0                 rjmp .L296
 4467 217a 80E0                 ldi r24,lo8(EEPromArray+8)
 4468 217c 90E0                 ldi r25,hi8(EEPromArray+8)
 4469 217e 92BD                 out (65)+1-0x20,r25
 4470 2180 81BD                 out 65-0x20,r24
 4471                   /* #APP */
 4472                           /* START EEPROM READ CRITICAL SECTION */ 
 4473 2182 F89A                 sbi 31, 0 
 4474 2184 80B5                 in r24, 32 
 4475                           /* END EEPROM READ CRITICAL SECTION */ 
 4476                           
 4477                   /* #NOAPP */
 4478 2186 9927                 clr r25
 4479 2188 382F                 mov r19,r24
 4480 218a 2227                 clr r18
 4481                   .L300:
 4482 218c F999                 sbic 63-0x20,1
 4483 218e 00C0                 rjmp .L300
 4484 2190 80E0                 ldi r24,lo8(EEPromArray+9)
 4485 2192 90E0                 ldi r25,hi8(EEPromArray+9)
 4486 2194 92BD                 out (65)+1-0x20,r25
 4487 2196 81BD                 out 65-0x20,r24
 4488                   /* #APP */
 4489                           /* START EEPROM READ CRITICAL SECTION */ 
 4490 2198 F89A                 sbi 31, 0 
 4491 219a 80B5                 in r24, 32 
 4492                           /* END EEPROM READ CRITICAL SECTION */ 
 4493                           
 4494                   /* #NOAPP */
 4495 219c 280F                 add r18,r24
 4496 219e 311D                 adc r19,__zero_reg__
 4497 21a0 C901                 movw r24,r18
 4498 21a2 AA27                 clr r26
 4499 21a4 97FD                 sbrc r25,7
 4500 21a6 A095                 com r26
 4501 21a8 BA2F                 mov r27,r26
 4502 21aa 00C0                 rjmp .L307
 4503                   .L309:
 4504 21ac 9095                 com r25
 4505 21ae 8195                 neg r24
 4506 21b0 9F4F                 sbci r25,lo8(-1)
 4507 21b2 00C0                 rjmp .L278
 4508                   .L308:
 4509 21b4 9095                 com r25
 4510 21b6 8195                 neg r24
 4511 21b8 9F4F                 sbci r25,lo8(-1)
 4512 21ba 00C0                 rjmp .L277
 4513                   .L264:
 4514                   /* epilogue: frame size=0 */
 4515 21bc EEE0                 ldi r30,14
 4516 21be CDB7                 in r28,__SP_L__
 4517 21c0 DEB7                 in r29,__SP_H__
 4518 21c2 0C94 0000            jmp __epilogue_restores__+8
 4519                   /* epilogue end (size=5) */
 4520                   /* function SetNeutral size 720 (709) */
 4522                   .global SendMotorData
 4524                   SendMotorData:
 4525                   /* prologue: frame size=0 */
 4526                   /* prologue end (size=0) */
 4527 21c6 9091 0000            lds r25,MotorenEin
 4528 21ca 9923                 tst r25
 4529 21cc 01F4                 brne .L311
 4530 21ce 8091 0000            lds r24,MikroKopterFlags
 4531 21d2 8C7F                 andi r24,lo8(-4)
 4532 21d4 8093 0000            sts MikroKopterFlags,r24
 4533                   .L316:
 4534 21d8 8091 0000            lds r24,PC_MotortestActive
 4535 21dc 8823                 tst r24
 4536 21de 01F4                 brne .L321
 4537 21e0 A92F                 mov r26,r25
 4538 21e2 BB27                 clr r27
 4539 21e4 FD01                 movw r30,r26
 4540 21e6 E050                 subi r30,lo8(-(MotorTest))
 4541 21e8 F040                 sbci r31,hi8(-(MotorTest))
 4542 21ea 8083                 st Z,r24
 4543                   .L315:
 4544 21ec FD01                 movw r30,r26
 4545 21ee E050                 subi r30,lo8(-(MotorTest))
 4546 21f0 F040                 sbci r31,hi8(-(MotorTest))
 4547 21f2 8081                 ld r24,Z
 4548 21f4 A050                 subi r26,lo8(-(Motor))
 4549 21f6 B040                 sbci r27,hi8(-(Motor))
 4550 21f8 8C93                 st X,r24
 4551 21fa 9F5F                 subi r25,lo8(-(1))
 4552 21fc 9230                 cpi r25,lo8(2)
 4553 21fe 00F0                 brlo .L316
 4554 2200 8091 0000            lds r24,PC_MotortestActive
 4555 2204 8823                 tst r24
 4556 2206 01F0                 breq .L318
 4557 2208 8091 0000            lds r24,PC_MotortestActive
 4558 220c 8150                 subi r24,lo8(-(-1))
 4559 220e 8093 0000            sts PC_MotortestActive,r24
 4560 2212 00C0                 rjmp .L318
 4561                   .L311:
 4562 2214 8091 0000            lds r24,MikroKopterFlags
 4563 2218 8160                 ori r24,lo8(1)
 4564 221a 8093 0000            sts MikroKopterFlags,r24
 4565 221e 00C0                 rjmp .L318
 4566                   .L321:
 4567 2220 A92F                 mov r26,r25
 4568 2222 BB27                 clr r27
 4569 2224 00C0                 rjmp .L315
 4570                   .L318:
 4571 2226 8091 0000            lds r24,Motor
 4572 222a 9927                 clr r25
 4573 222c 9093 0000            sts (DebugOut+26)+1,r25
 4574 2230 8093 0000            sts DebugOut+26,r24
 4575 2234 8091 0000            lds r24,Motor+1
 4576 2238 9927                 clr r25
 4577 223a 9093 0000            sts (DebugOut+28)+1,r25
 4578 223e 8093 0000            sts DebugOut+28,r24
 4579 2242 1092 0000            sts twi_state,__zero_reg__
 4580 2246 1092 0000            sts motor,__zero_reg__
 4581 224a 0E94 0000            call i2c_start
 4582                   /* epilogue: frame size=0 */
 4583 224e 0895                 ret
 4584                   /* epilogue end (size=1) */
 4585                   /* function SendMotorData size 69 (68) */
 4587                   .global ParameterZuordnung
 4589                   ParameterZuordnung:
 4590                   /* prologue: frame size=0 */
 4591                   /* prologue end (size=0) */
 4592 2250 8091 0000            lds r24,EE_Parameter+11
 4593 2254 8B3F                 cpi r24,lo8(-5)
 4594 2256 00F0                 brlo .L323
 4595 2258 8B3F                 cpi r24,lo8(-5)
 4596 225a 01F4                 brne .+2
 4597 225c 00C0                 rjmp .L619
 4598 225e 8C3F                 cpi r24,lo8(-4)
 4599 2260 01F4                 brne .+2
 4600 2262 00C0                 rjmp .L620
 4601 2264 8D3F                 cpi r24,lo8(-3)
 4602 2266 01F4                 brne .+2
 4603 2268 00C0                 rjmp .L621
 4604 226a 8E3F                 cpi r24,lo8(-2)
 4605 226c 01F4                 brne .L331
 4606 226e 8091 0000            lds r24,Poti4
 4607                   .L323:
 4608 2272 8093 0000            sts Parameter_MaxHoehe,r24
 4609                   .L331:
 4610 2276 8091 0000            lds r24,EE_Parameter+10
 4611 227a 8B3F                 cpi r24,lo8(-5)
 4612 227c 00F4                 brsh .+2
 4613 227e 00C0                 rjmp .L332
 4614 2280 8B3F                 cpi r24,lo8(-5)
 4615 2282 01F4                 brne .+2
 4616 2284 00C0                 rjmp .L622
 4617 2286 8C3F                 cpi r24,lo8(-4)
 4618 2288 01F4                 brne .+2
 4619 228a 00C0                 rjmp .L623
 4620 228c 8D3F                 cpi r24,lo8(-3)
 4621 228e 01F4                 brne .+2
 4622 2290 00C0                 rjmp .L624
 4623 2292 8E3F                 cpi r24,lo8(-2)
 4624 2294 01F4                 brne .+2
 4625 2296 00C0                 rjmp .L625
 4626 2298 8091 0000            lds r24,Parameter_Luftdruck_D
 4627 229c 8823                 tst r24
 4628 229e 01F0                 breq .+2
 4629 22a0 00C0                 rjmp .L626
 4630                   .L614:
 4631 22a2 8093 0000            sts Parameter_Luftdruck_D,r24
 4632                   .L342:
 4633 22a6 8091 0000            lds r24,EE_Parameter+12
 4634 22aa 8B3F                 cpi r24,lo8(-5)
 4635 22ac 00F4                 brsh .+2
 4636 22ae 00C0                 rjmp .L344
 4637 22b0 8B3F                 cpi r24,lo8(-5)
 4638 22b2 01F4                 brne .+2
 4639 22b4 00C0                 rjmp .L627
 4640 22b6 8C3F                 cpi r24,lo8(-4)
 4641 22b8 01F4                 brne .+2
 4642 22ba 00C0                 rjmp .L628
 4643 22bc 8D3F                 cpi r24,lo8(-3)
 4644 22be 01F4                 brne .+2
 4645 22c0 00C0                 rjmp .L629
 4646 22c2 8E3F                 cpi r24,lo8(-2)
 4647 22c4 01F4                 brne .+2
 4648 22c6 00C0                 rjmp .L630
 4649 22c8 8091 0000            lds r24,Parameter_Hoehe_P
 4650 22cc 8823                 tst r24
 4651 22ce 01F0                 breq .+2
 4652 22d0 00C0                 rjmp .L631
 4653                   .L615:
 4654 22d2 8093 0000            sts Parameter_Hoehe_P,r24
 4655                   .L354:
 4656 22d6 8091 0000            lds r24,EE_Parameter+14
 4657 22da 8B3F                 cpi r24,lo8(-5)
 4658 22dc 00F0                 brlo .L356
 4659 22de 8B3F                 cpi r24,lo8(-5)
 4660 22e0 01F4                 brne .+2
 4661 22e2 00C0                 rjmp .L632
 4662 22e4 8C3F                 cpi r24,lo8(-4)
 4663 22e6 01F4                 brne .+2
 4664 22e8 00C0                 rjmp .L633
 4665 22ea 8D3F                 cpi r24,lo8(-3)
 4666 22ec 01F4                 brne .+2
 4667 22ee 00C0                 rjmp .L634
 4668 22f0 8E3F                 cpi r24,lo8(-2)
 4669 22f2 01F4                 brne .L364
 4670 22f4 8091 0000            lds r24,Poti4
 4671                   .L356:
 4672 22f8 8093 0000            sts Parameter_Hoehe_ACC_Wirkung,r24
 4673                   .L364:
 4674 22fc 8091 0000            lds r24,EE_Parameter+16
 4675 2300 8B3F                 cpi r24,lo8(-5)
 4676 2302 00F0                 brlo .L365
 4677 2304 8B3F                 cpi r24,lo8(-5)
 4678 2306 01F4                 brne .+2
 4679 2308 00C0                 rjmp .L635
 4680 230a 8C3F                 cpi r24,lo8(-4)
 4681 230c 01F4                 brne .+2
 4682 230e 00C0                 rjmp .L636
 4683 2310 8D3F                 cpi r24,lo8(-3)
 4684 2312 01F4                 brne .+2
 4685 2314 00C0                 rjmp .L637
 4686 2316 8E3F                 cpi r24,lo8(-2)
 4687 2318 01F4                 brne .L373
 4688 231a 8091 0000            lds r24,Poti4
 4689                   .L365:
 4690 231e 8093 0000            sts Parameter_Hoehe_GPS_Z,r24
 4691                   .L373:
 4692 2322 8091 0000            lds r24,EE_Parameter+24
 4693 2326 8B3F                 cpi r24,lo8(-5)
 4694 2328 00F0                 brlo .L374
 4695 232a 8B3F                 cpi r24,lo8(-5)
 4696 232c 01F4                 brne .+2
 4697 232e 00C0                 rjmp .L638
 4698 2330 8C3F                 cpi r24,lo8(-4)
 4699 2332 01F4                 brne .+2
 4700 2334 00C0                 rjmp .L639
 4701 2336 8D3F                 cpi r24,lo8(-3)
 4702 2338 01F4                 brne .+2
 4703 233a 00C0                 rjmp .L640
 4704 233c 8E3F                 cpi r24,lo8(-2)
 4705 233e 01F4                 brne .L382
 4706 2340 8091 0000            lds r24,Poti4
 4707                   .L374:
 4708 2344 8093 0000            sts Parameter_KompassWirkung,r24
 4709                   .L382:
 4710 2348 8091 0000            lds r24,EE_Parameter+25
 4711 234c 8B3F                 cpi r24,lo8(-5)
 4712 234e 00F4                 brsh .+2
 4713 2350 00C0                 rjmp .L383
 4714 2352 8B3F                 cpi r24,lo8(-5)
 4715 2354 01F4                 brne .+2
 4716 2356 00C0                 rjmp .L641
 4717 2358 8C3F                 cpi r24,lo8(-4)
 4718 235a 01F4                 brne .+2
 4719 235c 00C0                 rjmp .L642
 4720 235e 8D3F                 cpi r24,lo8(-3)
 4721 2360 01F4                 brne .+2
 4722 2362 00C0                 rjmp .L643
 4723 2364 8E3F                 cpi r24,lo8(-2)
 4724 2366 01F4                 brne .+2
 4725 2368 00C0                 rjmp .L644
 4726 236a 8091 0000            lds r24,Parameter_Gyro_P
 4727 236e 8B30                 cpi r24,lo8(11)
 4728 2370 00F4                 brsh .+2
 4729 2372 00C0                 rjmp .L645
 4730                   .L392:
 4731 2374 8F3F                 cpi r24,lo8(-1)
 4732 2376 01F4                 brne .L393
 4733                   .L616:
 4734 2378 8093 0000            sts Parameter_Gyro_P,r24
 4735                   .L393:
 4736 237c 8091 0000            lds r24,EE_Parameter+26
 4737 2380 8B3F                 cpi r24,lo8(-5)
 4738 2382 00F0                 brlo .L395
 4739 2384 8B3F                 cpi r24,lo8(-5)
 4740 2386 01F4                 brne .+2
 4741 2388 00C0                 rjmp .L646
 4742 238a 8C3F                 cpi r24,lo8(-4)
 4743 238c 01F4                 brne .+2
 4744 238e 00C0                 rjmp .L647
 4745 2390 8D3F                 cpi r24,lo8(-3)
 4746 2392 01F4                 brne .+2
 4747 2394 00C0                 rjmp .L648
 4748 2396 8E3F                 cpi r24,lo8(-2)
 4749 2398 01F4                 brne .L403
 4750 239a 8091 0000            lds r24,Poti4
 4751                   .L395:
 4752 239e 8093 0000            sts Parameter_Gyro_I,r24
 4753                   .L403:
 4754 23a2 8091 0000            lds r24,EE_Parameter+27
 4755 23a6 8B3F                 cpi r24,lo8(-5)
 4756 23a8 00F0                 brlo .L404
 4757 23aa 8B3F                 cpi r24,lo8(-5)
 4758 23ac 01F4                 brne .+2
 4759 23ae 00C0                 rjmp .L649
 4760 23b0 8C3F                 cpi r24,lo8(-4)
 4761 23b2 01F4                 brne .+2
 4762 23b4 00C0                 rjmp .L650
 4763 23b6 8D3F                 cpi r24,lo8(-3)
 4764 23b8 01F4                 brne .+2
 4765 23ba 00C0                 rjmp .L651
 4766 23bc 8E3F                 cpi r24,lo8(-2)
 4767 23be 01F4                 brne .L412
 4768 23c0 8091 0000            lds r24,Poti4
 4769                   .L404:
 4770 23c4 8093 0000            sts Parameter_Gyro_D,r24
 4771                   .L412:
 4772 23c8 8091 0000            lds r24,EE_Parameter+28
 4773 23cc 8B3F                 cpi r24,lo8(-5)
 4774 23ce 00F0                 brlo .L413
 4775 23d0 8B3F                 cpi r24,lo8(-5)
 4776 23d2 01F4                 brne .+2
 4777 23d4 00C0                 rjmp .L652
 4778 23d6 8C3F                 cpi r24,lo8(-4)
 4779 23d8 01F4                 brne .+2
 4780 23da 00C0                 rjmp .L653
 4781 23dc 8D3F                 cpi r24,lo8(-3)
 4782 23de 01F4                 brne .+2
 4783 23e0 00C0                 rjmp .L654
 4784 23e2 8E3F                 cpi r24,lo8(-2)
 4785 23e4 01F4                 brne .L421
 4786 23e6 8091 0000            lds r24,Poti4
 4787                   .L413:
 4788 23ea 8093 0000            sts Parameter_Gyro_Gier_P,r24
 4789                   .L421:
 4790 23ee 8091 0000            lds r24,EE_Parameter+29
 4791 23f2 8B3F                 cpi r24,lo8(-5)
 4792 23f4 00F0                 brlo .L422
 4793 23f6 8B3F                 cpi r24,lo8(-5)
 4794 23f8 01F4                 brne .+2
 4795 23fa 00C0                 rjmp .L655
 4796 23fc 8C3F                 cpi r24,lo8(-4)
 4797 23fe 01F4                 brne .+2
 4798 2400 00C0                 rjmp .L656
 4799 2402 8D3F                 cpi r24,lo8(-3)
 4800 2404 01F4                 brne .+2
 4801 2406 00C0                 rjmp .L657
 4802 2408 8E3F                 cpi r24,lo8(-2)
 4803 240a 01F4                 brne .L430
 4804 240c 8091 0000            lds r24,Poti4
 4805                   .L422:
 4806 2410 8093 0000            sts Parameter_Gyro_Gier_I,r24
 4807                   .L430:
 4808 2414 2091 0000            lds r18,EE_Parameter+34
 4809 2418 2B3F                 cpi r18,lo8(-5)
 4810 241a 00F4                 brsh .+2
 4811 241c 00C0                 rjmp .L431
 4812 241e 2B3F                 cpi r18,lo8(-5)
 4813 2420 01F4                 brne .+2
 4814 2422 00C0                 rjmp .L658
 4815 2424 2C3F                 cpi r18,lo8(-4)
 4816 2426 01F4                 brne .+2
 4817 2428 00C0                 rjmp .L659
 4818 242a 2D3F                 cpi r18,lo8(-3)
 4819 242c 01F4                 brne .+2
 4820 242e 00C0                 rjmp .L660
 4821 2430 2E3F                 cpi r18,lo8(-2)
 4822 2432 01F4                 brne .+2
 4823 2434 00C0                 rjmp .L661
 4824 2436 2091 0000            lds r18,Parameter_I_Faktor
 4825 243a 8091 0000            lds r24,EE_Parameter+35
 4826 243e 8B3F                 cpi r24,lo8(-5)
 4827 2440 00F0                 brlo .+2
 4828 2442 00C0                 rjmp .L662
 4829                   .L440:
 4830 2444 8093 0000            sts Parameter_UserParam1,r24
 4831                   .L448:
 4832 2448 8091 0000            lds r24,EE_Parameter+36
 4833 244c 8B3F                 cpi r24,lo8(-5)
 4834 244e 00F0                 brlo .L449
 4835 2450 8B3F                 cpi r24,lo8(-5)
 4836 2452 01F4                 brne .+2
 4837 2454 00C0                 rjmp .L663
 4838 2456 8C3F                 cpi r24,lo8(-4)
 4839 2458 01F4                 brne .+2
 4840 245a 00C0                 rjmp .L664
 4841 245c 8D3F                 cpi r24,lo8(-3)
 4842 245e 01F4                 brne .+2
 4843 2460 00C0                 rjmp .L665
 4844 2462 8E3F                 cpi r24,lo8(-2)
 4845 2464 01F4                 brne .L457
 4846 2466 8091 0000            lds r24,Poti4
 4847                   .L449:
 4848 246a 8093 0000            sts Parameter_UserParam2,r24
 4849                   .L457:
 4850 246e 8091 0000            lds r24,EE_Parameter+37
 4851 2472 8B3F                 cpi r24,lo8(-5)
 4852 2474 00F0                 brlo .L458
 4853 2476 8B3F                 cpi r24,lo8(-5)
 4854 2478 01F4                 brne .+2
 4855 247a 00C0                 rjmp .L666
 4856 247c 8C3F                 cpi r24,lo8(-4)
 4857 247e 01F4                 brne .+2
 4858 2480 00C0                 rjmp .L667
 4859 2482 8D3F                 cpi r24,lo8(-3)
 4860 2484 01F4                 brne .+2
 4861 2486 00C0                 rjmp .L668
 4862 2488 8E3F                 cpi r24,lo8(-2)
 4863 248a 01F4                 brne .L466
 4864 248c 8091 0000            lds r24,Poti4
 4865                   .L458:
 4866 2490 8093 0000            sts Parameter_UserParam3,r24
 4867                   .L466:
 4868 2494 8091 0000            lds r24,EE_Parameter+38
 4869 2498 8B3F                 cpi r24,lo8(-5)
 4870 249a 00F0                 brlo .L467
 4871 249c 8B3F                 cpi r24,lo8(-5)
 4872 249e 01F4                 brne .+2
 4873 24a0 00C0                 rjmp .L669
 4874 24a2 8C3F                 cpi r24,lo8(-4)
 4875 24a4 01F4                 brne .+2
 4876 24a6 00C0                 rjmp .L670
 4877 24a8 8D3F                 cpi r24,lo8(-3)
 4878 24aa 01F4                 brne .+2
 4879 24ac 00C0                 rjmp .L671
 4880 24ae 8E3F                 cpi r24,lo8(-2)
 4881 24b0 01F4                 brne .L475
 4882 24b2 8091 0000            lds r24,Poti4
 4883                   .L467:
 4884 24b6 8093 0000            sts Parameter_UserParam4,r24
 4885                   .L475:
 4886 24ba 8091 0000            lds r24,EE_Parameter+59
 4887 24be 8B3F                 cpi r24,lo8(-5)
 4888 24c0 00F0                 brlo .L476
 4889 24c2 8B3F                 cpi r24,lo8(-5)
 4890 24c4 01F4                 brne .+2
 4891 24c6 00C0                 rjmp .L672
 4892 24c8 8C3F                 cpi r24,lo8(-4)
 4893 24ca 01F4                 brne .+2
 4894 24cc 00C0                 rjmp .L673
 4895 24ce 8D3F                 cpi r24,lo8(-3)
 4896 24d0 01F4                 brne .+2
 4897 24d2 00C0                 rjmp .L674
 4898 24d4 8E3F                 cpi r24,lo8(-2)
 4899 24d6 01F4                 brne .L484
 4900 24d8 8091 0000            lds r24,Poti4
 4901                   .L476:
 4902 24dc 8093 0000            sts Parameter_UserParam5,r24
 4903                   .L484:
 4904 24e0 8091 0000            lds r24,EE_Parameter+60
 4905 24e4 8B3F                 cpi r24,lo8(-5)
 4906 24e6 00F0                 brlo .L485
 4907 24e8 8B3F                 cpi r24,lo8(-5)
 4908 24ea 01F4                 brne .+2
 4909 24ec 00C0                 rjmp .L675
 4910 24ee 8C3F                 cpi r24,lo8(-4)
 4911 24f0 01F4                 brne .+2
 4912 24f2 00C0                 rjmp .L676
 4913 24f4 8D3F                 cpi r24,lo8(-3)
 4914 24f6 01F4                 brne .+2
 4915 24f8 00C0                 rjmp .L677
 4916 24fa 8E3F                 cpi r24,lo8(-2)
 4917 24fc 01F4                 brne .L493
 4918 24fe 8091 0000            lds r24,Poti4
 4919                   .L485:
 4920 2502 8093 0000            sts Parameter_UserParam6,r24
 4921                   .L493:
 4922 2506 8091 0000            lds r24,EE_Parameter+61
 4923 250a 8B3F                 cpi r24,lo8(-5)
 4924 250c 00F0                 brlo .L494
 4925 250e 8B3F                 cpi r24,lo8(-5)
 4926 2510 01F4                 brne .+2
 4927 2512 00C0                 rjmp .L678
 4928 2514 8C3F                 cpi r24,lo8(-4)
 4929 2516 01F4                 brne .+2
 4930 2518 00C0                 rjmp .L679
 4931 251a 8D3F                 cpi r24,lo8(-3)
 4932 251c 01F4                 brne .+2
 4933 251e 00C0                 rjmp .L680
 4934 2520 8E3F                 cpi r24,lo8(-2)
 4935 2522 01F4                 brne .L502
 4936 2524 8091 0000            lds r24,Poti4
 4937                   .L494:
 4938 2528 8093 0000            sts Parameter_UserParam7,r24
 4939                   .L502:
 4940 252c 8091 0000            lds r24,EE_Parameter+62
 4941 2530 8B3F                 cpi r24,lo8(-5)
 4942 2532 00F0                 brlo .L503
 4943 2534 8B3F                 cpi r24,lo8(-5)
 4944 2536 01F4                 brne .+2
 4945 2538 00C0                 rjmp .L681
 4946 253a 8C3F                 cpi r24,lo8(-4)
 4947 253c 01F4                 brne .+2
 4948 253e 00C0                 rjmp .L682
 4949 2540 8D3F                 cpi r24,lo8(-3)
 4950 2542 01F4                 brne .+2
 4951 2544 00C0                 rjmp .L683
 4952 2546 8E3F                 cpi r24,lo8(-2)
 4953 2548 01F4                 brne .L511
 4954 254a 8091 0000            lds r24,Poti4
 4955                   .L503:
 4956 254e 8093 0000            sts Parameter_UserParam8,r24
 4957                   .L511:
 4958 2552 8091 0000            lds r24,EE_Parameter+39
 4959 2556 8B3F                 cpi r24,lo8(-5)
 4960 2558 00F0                 brlo .L512
 4961 255a 8B3F                 cpi r24,lo8(-5)
 4962 255c 01F4                 brne .+2
 4963 255e 00C0                 rjmp .L684
 4964 2560 8C3F                 cpi r24,lo8(-4)
 4965 2562 01F4                 brne .+2
 4966 2564 00C0                 rjmp .L685
 4967 2566 8D3F                 cpi r24,lo8(-3)
 4968 2568 01F4                 brne .+2
 4969 256a 00C0                 rjmp .L686
 4970 256c 8E3F                 cpi r24,lo8(-2)
 4971 256e 01F4                 brne .L520
 4972 2570 8091 0000            lds r24,Poti4
 4973                   .L512:
 4974 2574 8093 0000            sts Parameter_ServoNickControl,r24
 4975                   .L520:
 4976 2578 8091 0000            lds r24,EE_Parameter+43
 4977 257c 8B3F                 cpi r24,lo8(-5)
 4978 257e 00F0                 brlo .L521
 4979 2580 8B3F                 cpi r24,lo8(-5)
 4980 2582 01F4                 brne .+2
 4981 2584 00C0                 rjmp .L687
 4982 2586 8C3F                 cpi r24,lo8(-4)
 4983 2588 01F4                 brne .+2
 4984 258a 00C0                 rjmp .L688
 4985 258c 8D3F                 cpi r24,lo8(-3)
 4986 258e 01F4                 brne .+2
 4987 2590 00C0                 rjmp .L689
 4988 2592 8E3F                 cpi r24,lo8(-2)
 4989 2594 01F4                 brne .L529
 4990 2596 8091 0000            lds r24,Poti4
 4991                   .L521:
 4992 259a 8093 0000            sts Parameter_ServoRollControl,r24
 4993                   .L529:
 4994 259e 8091 0000            lds r24,EE_Parameter+48
 4995 25a2 8B3F                 cpi r24,lo8(-5)
 4996 25a4 00F0                 brlo .L530
 4997 25a6 8B3F                 cpi r24,lo8(-5)
 4998 25a8 01F4                 brne .+2
 4999 25aa 00C0                 rjmp .L690
 5000 25ac 8C3F                 cpi r24,lo8(-4)
 5001 25ae 01F4                 brne .+2
 5002 25b0 00C0                 rjmp .L691
 5003 25b2 8D3F                 cpi r24,lo8(-3)
 5004 25b4 01F4                 brne .+2
 5005 25b6 00C0                 rjmp .L692
 5006 25b8 8E3F                 cpi r24,lo8(-2)
 5007 25ba 01F4                 brne .L538
 5008 25bc 8091 0000            lds r24,Poti4
 5009                   .L530:
 5010 25c0 8093 0000            sts Parameter_LoopGasLimit,r24
 5011                   .L538:
 5012 25c4 8091 0000            lds r24,EE_Parameter+51
 5013 25c8 8B3F                 cpi r24,lo8(-5)
 5014 25ca 00F0                 brlo .L539
 5015 25cc 8B3F                 cpi r24,lo8(-5)
 5016 25ce 01F4                 brne .+2
 5017 25d0 00C0                 rjmp .L693
 5018 25d2 8C3F                 cpi r24,lo8(-4)
 5019 25d4 01F4                 brne .+2
 5020 25d6 00C0                 rjmp .L694
 5021 25d8 8D3F                 cpi r24,lo8(-3)
 5022 25da 01F4                 brne .+2
 5023 25dc 00C0                 rjmp .L695
 5024 25de 8E3F                 cpi r24,lo8(-2)
 5025 25e0 01F4                 brne .L547
 5026 25e2 8091 0000            lds r24,Poti4
 5027                   .L539:
 5028 25e6 8093 0000            sts Parameter_AchsKopplung1,r24
 5029                   .L547:
 5030 25ea 8091 0000            lds r24,EE_Parameter+52
 5031 25ee 8B3F                 cpi r24,lo8(-5)
 5032 25f0 00F0                 brlo .L548
 5033 25f2 8B3F                 cpi r24,lo8(-5)
 5034 25f4 01F4                 brne .+2
 5035 25f6 00C0                 rjmp .L696
 5036 25f8 8C3F                 cpi r24,lo8(-4)
 5037 25fa 01F4                 brne .+2
 5038 25fc 00C0                 rjmp .L697
 5039 25fe 8D3F                 cpi r24,lo8(-3)
 5040 2600 01F4                 brne .+2
 5041 2602 00C0                 rjmp .L698
 5042 2604 8E3F                 cpi r24,lo8(-2)
 5043 2606 01F4                 brne .L556
 5044 2608 8091 0000            lds r24,Poti4
 5045                   .L548:
 5046 260c 8093 0000            sts Parameter_AchsKopplung2,r24
 5047                   .L556:
 5048 2610 8091 0000            lds r24,EE_Parameter+53
 5049 2614 8B3F                 cpi r24,lo8(-5)
 5050 2616 00F0                 brlo .L557
 5051 2618 8B3F                 cpi r24,lo8(-5)
 5052 261a 01F4                 brne .+2
 5053 261c 00C0                 rjmp .L699
 5054 261e 8C3F                 cpi r24,lo8(-4)
 5055 2620 01F4                 brne .+2
 5056 2622 00C0                 rjmp .L700
 5057 2624 8D3F                 cpi r24,lo8(-3)
 5058 2626 01F4                 brne .+2
 5059 2628 00C0                 rjmp .L701
 5060 262a 8E3F                 cpi r24,lo8(-2)
 5061 262c 01F4                 brne .L565
 5062 262e 8091 0000            lds r24,Poti4
 5063                   .L557:
 5064 2632 8093 0000            sts Parameter_CouplingYawCorrection,r24
 5065                   .L565:
 5066 2636 8091 0000            lds r24,EE_Parameter+58
 5067 263a 8B3F                 cpi r24,lo8(-5)
 5068 263c 00F0                 brlo .L566
 5069 263e 8B3F                 cpi r24,lo8(-5)
 5070 2640 01F4                 brne .+2
 5071 2642 00C0                 rjmp .L702
 5072 2644 8C3F                 cpi r24,lo8(-4)
 5073 2646 01F4                 brne .+2
 5074 2648 00C0                 rjmp .L703
 5075 264a 8D3F                 cpi r24,lo8(-3)
 5076 264c 01F4                 brne .+2
 5077 264e 00C0                 rjmp .L704
 5078 2650 8E3F                 cpi r24,lo8(-2)
 5079 2652 01F4                 brne .L574
 5080 2654 8091 0000            lds r24,Poti4
 5081                   .L566:
 5082 2658 8093 0000            sts Parameter_DynamicStability,r24
 5083                   .L574:
 5084 265c 8091 0000            lds r24,EE_Parameter+64
 5085 2660 8B3F                 cpi r24,lo8(-5)
 5086 2662 00F4                 brsh .+2
 5087 2664 00C0                 rjmp .L575
 5088 2666 8B3F                 cpi r24,lo8(-5)
 5089 2668 01F4                 brne .+2
 5090 266a 00C0                 rjmp .L705
 5091 266c 8C3F                 cpi r24,lo8(-4)
 5092 266e 01F4                 brne .+2
 5093 2670 00C0                 rjmp .L706
 5094 2672 8D3F                 cpi r24,lo8(-3)
 5095 2674 01F4                 brne .+2
 5096 2676 00C0                 rjmp .L707
 5097 2678 8E3F                 cpi r24,lo8(-2)
 5098 267a 01F4                 brne .+2
 5099 267c 00C0                 rjmp .L708
 5100 267e 8091 0000            lds r24,Parameter_J16Timing
 5101 2682 8230                 cpi r24,lo8(2)
 5102 2684 00F4                 brsh .+2
 5103 2686 00C0                 rjmp .L709
 5104                   .L584:
 5105 2688 8F3F                 cpi r24,lo8(-1)
 5106 268a 01F4                 brne .L585
 5107                   .L617:
 5108 268c 8093 0000            sts Parameter_J16Timing,r24
 5109                   .L585:
 5110 2690 8091 0000            lds r24,EE_Parameter+66
 5111 2694 8B3F                 cpi r24,lo8(-5)
 5112 2696 00F4                 brsh .+2
 5113 2698 00C0                 rjmp .L587
 5114 269a 8B3F                 cpi r24,lo8(-5)
 5115 269c 01F4                 brne .+2
 5116 269e 00C0                 rjmp .L710
 5117 26a0 8C3F                 cpi r24,lo8(-4)
 5118 26a2 01F4                 brne .+2
 5119 26a4 00C0                 rjmp .L711
 5120 26a6 8D3F                 cpi r24,lo8(-3)
 5121 26a8 01F4                 brne .+2
 5122 26aa 00C0                 rjmp .L712
 5123 26ac 8E3F                 cpi r24,lo8(-2)
 5124 26ae 01F4                 brne .+2
 5125 26b0 00C0                 rjmp .L713
 5126 26b2 8091 0000            lds r24,Parameter_J17Timing
 5127 26b6 8230                 cpi r24,lo8(2)
 5128 26b8 00F4                 brsh .+2
 5129 26ba 00C0                 rjmp .L714
 5130                   .L596:
 5131 26bc 8F3F                 cpi r24,lo8(-1)
 5132 26be 01F4                 brne .L597
 5133                   .L618:
 5134 26c0 8093 0000            sts Parameter_J17Timing,r24
 5135                   .L597:
 5136 26c4 8091 0000            lds r24,EE_Parameter+85
 5137 26c8 8B3F                 cpi r24,lo8(-5)
 5138 26ca 00F0                 brlo .L599
 5139 26cc 8B3F                 cpi r24,lo8(-5)
 5140 26ce 01F4                 brne .+2
 5141 26d0 00C0                 rjmp .L715
 5142 26d2 8C3F                 cpi r24,lo8(-4)
 5143 26d4 01F4                 brne .+2
 5144 26d6 00C0                 rjmp .L716
 5145 26d8 8D3F                 cpi r24,lo8(-3)
 5146 26da 01F4                 brne .+2
 5147 26dc 00C0                 rjmp .L717
 5148 26de 8E3F                 cpi r24,lo8(-2)
 5149 26e0 01F0                 breq .+2
 5150 26e2 00C0                 rjmp .L607
 5151 26e4 8091 0000            lds r24,Poti4
 5152                   .L599:
 5153 26e8 8093 0000            sts Parameter_ExternalControl,r24
 5154 26ec 00C0                 rjmp .L607
 5155                   .L622:
 5156 26ee 8091 0000            lds r24,Poti1
 5157                   .L332:
 5158 26f2 8093 0000            sts Parameter_Luftdruck_D,r24
 5159 26f6 8823                 tst r24
 5160 26f8 01F4                 brne .+2
 5161 26fa 00C0                 rjmp .L614
 5162                   .L626:
 5163 26fc 8436                 cpi r24,lo8(100)
 5164 26fe 00F4                 brsh .+2
 5165 2700 00C0                 rjmp .L342
 5166 2702 84E6                 ldi r24,lo8(100)
 5167 2704 00C0                 rjmp .L614
 5168                   .L627:
 5169 2706 8091 0000            lds r24,Poti1
 5170                   .L344:
 5171 270a 8093 0000            sts Parameter_Hoehe_P,r24
 5172 270e 8823                 tst r24
 5173 2710 01F4                 brne .+2
 5174 2712 00C0                 rjmp .L615
 5175                   .L631:
 5176 2714 8436                 cpi r24,lo8(100)
 5177 2716 00F4                 brsh .+2
 5178 2718 00C0                 rjmp .L354
 5179 271a 84E6                 ldi r24,lo8(100)
 5180 271c 00C0                 rjmp .L615
 5181                   .L641:
 5182 271e 8091 0000            lds r24,Poti1
 5183                   .L383:
 5184 2722 8093 0000            sts Parameter_Gyro_P,r24
 5185 2726 8B30                 cpi r24,lo8(11)
 5186 2728 00F0                 brlo .+2
 5187 272a 00C0                 rjmp .L392
 5188                   .L645:
 5189 272c 8AE0                 ldi r24,lo8(10)
 5190 272e 00C0                 rjmp .L616
 5191                   .L658:
 5192 2730 2091 0000            lds r18,Poti1
 5193                   .L431:
 5194 2734 2093 0000            sts Parameter_I_Faktor,r18
 5195 2738 8091 0000            lds r24,EE_Parameter+35
 5196 273c 8B3F                 cpi r24,lo8(-5)
 5197 273e 00F4                 brsh .+2
 5198 2740 00C0                 rjmp .L440
 5199                   .L662:
 5200 2742 8B3F                 cpi r24,lo8(-5)
 5201 2744 01F4                 brne .+2
 5202 2746 00C0                 rjmp .L718
 5203 2748 8C3F                 cpi r24,lo8(-4)
 5204 274a 01F4                 brne .+2
 5205 274c 00C0                 rjmp .L719
 5206 274e 8D3F                 cpi r24,lo8(-3)
 5207 2750 01F4                 brne .+2
 5208 2752 00C0                 rjmp .L720
 5209 2754 8E3F                 cpi r24,lo8(-2)
 5210 2756 01F0                 breq .+2
 5211 2758 00C0                 rjmp .L448
 5212 275a 8091 0000            lds r24,Poti4
 5213 275e 00C0                 rjmp .L440
 5214                   .L705:
 5215 2760 8091 0000            lds r24,Poti1
 5216                   .L575:
 5217 2764 8093 0000            sts Parameter_J16Timing,r24
 5218 2768 8230                 cpi r24,lo8(2)
 5219 276a 00F0                 brlo .+2
 5220 276c 00C0                 rjmp .L584
 5221                   .L709:
 5222 276e 81E0                 ldi r24,lo8(1)
 5223 2770 00C0                 rjmp .L617
 5224                   .L710:
 5225 2772 8091 0000            lds r24,Poti1
 5226                   .L587:
 5227 2776 8093 0000            sts Parameter_J17Timing,r24
 5228 277a 8230                 cpi r24,lo8(2)
 5229 277c 00F0                 brlo .+2
 5230 277e 00C0                 rjmp .L596
 5231                   .L714:
 5232 2780 81E0                 ldi r24,lo8(1)
 5233 2782 00C0                 rjmp .L618
 5234                   .L666:
 5235 2784 8091 0000            lds r24,Poti1
 5236 2788 00C0                 rjmp .L458
 5237                   .L669:
 5238 278a 8091 0000            lds r24,Poti1
 5239 278e 00C0                 rjmp .L467
 5240                   .L672:
 5241 2790 8091 0000            lds r24,Poti1
 5242 2794 00C0                 rjmp .L476
 5243                   .L675:
 5244 2796 8091 0000            lds r24,Poti1
 5245 279a 00C0                 rjmp .L485
 5246                   .L678:
 5247 279c 8091 0000            lds r24,Poti1
 5248 27a0 00C0                 rjmp .L494
 5249                   .L681:
 5250 27a2 8091 0000            lds r24,Poti1
 5251 27a6 00C0                 rjmp .L503
 5252                   .L684:
 5253 27a8 8091 0000            lds r24,Poti1
 5254 27ac 00C0                 rjmp .L512
 5255                   .L687:
 5256 27ae 8091 0000            lds r24,Poti1
 5257 27b2 00C0                 rjmp .L521
 5258                   .L690:
 5259 27b4 8091 0000            lds r24,Poti1
 5260 27b8 00C0                 rjmp .L530
 5261                   .L693:
 5262 27ba 8091 0000            lds r24,Poti1
 5263 27be 00C0                 rjmp .L539
 5264                   .L696:
 5265 27c0 8091 0000            lds r24,Poti1
 5266 27c4 00C0                 rjmp .L548
 5267                   .L699:
 5268 27c6 8091 0000            lds r24,Poti1
 5269 27ca 00C0                 rjmp .L557
 5270                   .L702:
 5271 27cc 8091 0000            lds r24,Poti1
 5272 27d0 00C0                 rjmp .L566
 5273                   .L715:
 5274 27d2 8091 0000            lds r24,Poti1
 5275 27d6 00C0                 rjmp .L599
 5276                   .L646:
 5277 27d8 8091 0000            lds r24,Poti1
 5278 27dc 00C0                 rjmp .L395
 5279                   .L649:
 5280 27de 8091 0000            lds r24,Poti1
 5281 27e2 00C0                 rjmp .L404
 5282                   .L652:
 5283 27e4 8091 0000            lds r24,Poti1
 5284 27e8 00C0                 rjmp .L413
 5285                   .L655:
 5286 27ea 8091 0000            lds r24,Poti1
 5287 27ee 00C0                 rjmp .L422
 5288                   .L718:
 5289 27f0 8091 0000            lds r24,Poti1
 5290 27f4 00C0                 rjmp .L440
 5291                   .L663:
 5292 27f6 8091 0000            lds r24,Poti1
 5293 27fa 00C0                 rjmp .L449
 5294                   .L635:
 5295 27fc 8091 0000            lds r24,Poti1
 5296 2800 00C0                 rjmp .L365
 5297                   .L638:
 5298 2802 8091 0000            lds r24,Poti1
 5299 2806 00C0                 rjmp .L374
 5300                   .L619:
 5301 2808 8091 0000            lds r24,Poti1
 5302 280c 00C0                 rjmp .L323
 5303                   .L632:
 5304 280e 8091 0000            lds r24,Poti1
 5305 2812 00C0                 rjmp .L356
 5306                   .L717:
 5307 2814 8091 0000            lds r24,Poti3
 5308 2818 00C0                 rjmp .L599
 5309                   .L674:
 5310 281a 8091 0000            lds r24,Poti3
 5311 281e 00C0                 rjmp .L476
 5312                   .L677:
 5313 2820 8091 0000            lds r24,Poti3
 5314 2824 00C0                 rjmp .L485
 5315                   .L720:
 5316 2826 8091 0000            lds r24,Poti3
 5317 282a 00C0                 rjmp .L440
 5318                   .L668:
 5319 282c 8091 0000            lds r24,Poti3
 5320 2830 00C0                 rjmp .L458
 5321                   .L671:
 5322 2832 8091 0000            lds r24,Poti3
 5323 2836 00C0                 rjmp .L467
 5324                   .L660:
 5325 2838 2091 0000            lds r18,Poti3
 5326 283c 00C0                 rjmp .L431
 5327                   .L665:
 5328 283e 8091 0000            lds r24,Poti3
 5329 2842 00C0                 rjmp .L449
 5330                   .L624:
 5331 2844 8091 0000            lds r24,Poti3
 5332 2848 00C0                 rjmp .L332
 5333                   .L629:
 5334 284a 8091 0000            lds r24,Poti3
 5335 284e 00C0                 rjmp .L344
 5336                   .L634:
 5337 2850 8091 0000            lds r24,Poti3
 5338 2854 00C0                 rjmp .L356
 5339                   .L621:
 5340 2856 8091 0000            lds r24,Poti3
 5341 285a 00C0                 rjmp .L323
 5342                   .L640:
 5343 285c 8091 0000            lds r24,Poti3
 5344 2860 00C0                 rjmp .L374
 5345                   .L648:
 5346 2862 8091 0000            lds r24,Poti3
 5347 2866 00C0                 rjmp .L395
 5348                   .L692:
 5349 2868 8091 0000            lds r24,Poti3
 5350 286c 00C0                 rjmp .L530
 5351                   .L695:
 5352 286e 8091 0000            lds r24,Poti3
 5353 2872 00C0                 rjmp .L539
 5354                   .L686:
 5355 2874 8091 0000            lds r24,Poti3
 5356 2878 00C0                 rjmp .L512
 5357                   .L689:
 5358 287a 8091 0000            lds r24,Poti3
 5359 287e 00C0                 rjmp .L521
 5360                   .L657:
 5361 2880 8091 0000            lds r24,Poti3
 5362 2884 00C0                 rjmp .L422
 5363                   .L654:
 5364 2886 8091 0000            lds r24,Poti3
 5365 288a 00C0                 rjmp .L413
 5366                   .L643:
 5367 288c 8091 0000            lds r24,Poti3
 5368 2890 00C0                 rjmp .L383
 5369                   .L637:
 5370 2892 8091 0000            lds r24,Poti3
 5371 2896 00C0                 rjmp .L365
 5372                   .L651:
 5373 2898 8091 0000            lds r24,Poti3
 5374 289c 00C0                 rjmp .L404
 5375                   .L698:
 5376 289e 8091 0000            lds r24,Poti3
 5377 28a2 00C0                 rjmp .L548
 5378                   .L701:
 5379 28a4 8091 0000            lds r24,Poti3
 5380 28a8 00C0                 rjmp .L557
 5381                   .L680:
 5382 28aa 8091 0000            lds r24,Poti3
 5383 28ae 00C0                 rjmp .L494
 5384                   .L683:
 5385 28b0 8091 0000            lds r24,Poti3
 5386 28b4 00C0                 rjmp .L503
 5387                   .L704:
 5388 28b6 8091 0000            lds r24,Poti3
 5389 28ba 00C0                 rjmp .L566
 5390                   .L707:
 5391 28bc 8091 0000            lds r24,Poti3
 5392 28c0 00C0                 rjmp .L575
 5393                   .L712:
 5394 28c2 8091 0000            lds r24,Poti3
 5395 28c6 00C0                 rjmp .L587
 5396                   .L650:
 5397 28c8 8091 0000            lds r24,Poti2
 5398 28cc 00C0                 rjmp .L404
 5399                   .L653:
 5400 28ce 8091 0000            lds r24,Poti2
 5401 28d2 00C0                 rjmp .L413
 5402                   .L636:
 5403 28d4 8091 0000            lds r24,Poti2
 5404 28d8 00C0                 rjmp .L365
 5405                   .L697:
 5406 28da 8091 0000            lds r24,Poti2
 5407 28de 00C0                 rjmp .L548
 5408                   .L706:
 5409 28e0 8091 0000            lds r24,Poti2
 5410 28e4 00C0                 rjmp .L575
 5411                   .L711:
 5412 28e6 8091 0000            lds r24,Poti2
 5413 28ea 00C0                 rjmp .L587
 5414                   .L700:
 5415 28ec 8091 0000            lds r24,Poti2
 5416 28f0 00C0                 rjmp .L557
 5417                   .L679:
 5418 28f2 8091 0000            lds r24,Poti2
 5419 28f6 00C0                 rjmp .L494
 5420                   .L682:
 5421 28f8 8091 0000            lds r24,Poti2
 5422 28fc 00C0                 rjmp .L503
 5423                   .L703:
 5424 28fe 8091 0000            lds r24,Poti2
 5425 2902 00C0                 rjmp .L566
 5426                   .L685:
 5427 2904 8091 0000            lds r24,Poti2
 5428 2908 00C0                 rjmp .L512
 5429                   .L688:
 5430 290a 8091 0000            lds r24,Poti2
 5431 290e 00C0                 rjmp .L521
 5432                   .L691:
 5433 2910 8091 0000            lds r24,Poti2
 5434 2914 00C0                 rjmp .L530
 5435                   .L694:
 5436 2916 8091 0000            lds r24,Poti2
 5437 291a 00C0                 rjmp .L539
 5438                   .L623:
 5439 291c 8091 0000            lds r24,Poti2
 5440 2920 00C0                 rjmp .L332
 5441                   .L659:
 5442 2922 2091 0000            lds r18,Poti2
 5443 2926 00C0                 rjmp .L431
 5444                   .L664:
 5445 2928 8091 0000            lds r24,Poti2
 5446 292c 00C0                 rjmp .L449
 5447                   .L639:
 5448 292e 8091 0000            lds r24,Poti2
 5449 2932 00C0                 rjmp .L374
 5450                   .L647:
 5451 2934 8091 0000            lds r24,Poti2
 5452 2938 00C0                 rjmp .L395
 5453                   .L642:
 5454 293a 8091 0000            lds r24,Poti2
 5455 293e 00C0                 rjmp .L383
 5456                   .L628:
 5457 2940 8091 0000            lds r24,Poti2
 5458 2944 00C0                 rjmp .L344
 5459                   .L633:
 5460 2946 8091 0000            lds r24,Poti2
 5461 294a 00C0                 rjmp .L356
 5462                   .L620:
 5463 294c 8091 0000            lds r24,Poti2
 5464 2950 00C0                 rjmp .L323
 5465                   .L676:
 5466 2952 8091 0000            lds r24,Poti2
 5467 2956 00C0                 rjmp .L485
 5468                   .L656:
 5469 2958 8091 0000            lds r24,Poti2
 5470 295c 00C0                 rjmp .L422
 5471                   .L719:
 5472 295e 8091 0000            lds r24,Poti2
 5473 2962 00C0                 rjmp .L440
 5474                   .L667:
 5475 2964 8091 0000            lds r24,Poti2
 5476 2968 00C0                 rjmp .L458
 5477                   .L670:
 5478 296a 8091 0000            lds r24,Poti2
 5479 296e 00C0                 rjmp .L467
 5480                   .L716:
 5481 2970 8091 0000            lds r24,Poti2
 5482 2974 00C0                 rjmp .L599
 5483                   .L673:
 5484 2976 8091 0000            lds r24,Poti2
 5485 297a 00C0                 rjmp .L476
 5486                   .L630:
 5487 297c 8091 0000            lds r24,Poti4
 5488 2980 00C0                 rjmp .L344
 5489                   .L661:
 5490 2982 2091 0000            lds r18,Poti4
 5491 2986 00C0                 rjmp .L431
 5492                   .L625:
 5493 2988 8091 0000            lds r24,Poti4
 5494 298c 00C0                 rjmp .L332
 5495                   .L644:
 5496 298e 8091 0000            lds r24,Poti4
 5497 2992 00C0                 rjmp .L383
 5498                   .L708:
 5499 2994 8091 0000            lds r24,Poti4
 5500 2998 00C0                 rjmp .L575
 5501                   .L713:
 5502 299a 8091 0000            lds r24,Poti4
 5503 299e 00C0                 rjmp .L587
 5504                   .L607:
 5505 29a0 3327                 clr r19
 5506 29a2 2F5F                 subi r18,lo8(-(1))
 5507 29a4 3F4F                 sbci r19,hi8(-(1))
 5508 29a6 8CE3                 ldi r24,lo8(10300)
 5509 29a8 98E2                 ldi r25,hi8(10300)
 5510 29aa B901                 movw r22,r18
 5511 29ac 0E94 0000            call __divmodhi4
 5512 29b0 7093 0000            sts (Ki)+1,r23
 5513 29b4 6093 0000            sts Ki,r22
 5514 29b8 8091 0000            lds r24,EE_Parameter+22
 5515 29bc 8093 0000            sts MAX_GAS,r24
 5516 29c0 8091 0000            lds r24,EE_Parameter+21
 5517 29c4 8093 0000            sts MIN_GAS,r24
 5518                   /* epilogue: frame size=0 */
 5519 29c8 0895                 ret
 5520                   /* epilogue end (size=1) */
 5521                   /* function ParameterZuordnung size 957 (956) */
 5523                           .lcomm SummeNick.0,4
 5524                           .lcomm SummeRoll.1,4
 5525                           .lcomm sollGier.2,4
 5526                           .lcomm tmp_long.3,4
 5527                           .lcomm tmp_long2.4,4
 5528                           .lcomm IntegralFehlerNick.5,4
 5529                           .lcomm IntegralFehlerRoll.6,4
 5530                           .lcomm RcLostTimer.7,2
 5531                           .lcomm delay_neutral.8,1
 5532                           .lcomm delay_einschalten.9,1
 5533                           .lcomm delay_ausschalten.10,1
 5534                           .lcomm TimerWerteausgabe.11,1
 5535                           .lcomm NeueKompassRichtungMerken.12,1
 5536                           .lcomm ausgleichNick.13,4
 5537                           .lcomm ausgleichRoll.14,4
 5538                           .lcomm stick_nick.15,2
 5539                           .lcomm stick_roll.16,2
 5540                           .lcomm cnt.17,2
 5541                           .lcomm last_n_p.18,1
 5542                           .lcomm last_n_n.19,1
 5543                           .lcomm last_r_p.20,1
 5544                           .lcomm last_r_n.21,1
 5545                           .lcomm MittelIntegralNick_Alt.22,4
 5546                           .lcomm MittelIntegralRoll_Alt.23,4
 5547                           .lcomm HeightTrimming.24,2
 5548                           .lcomm FilterHCGas.25,2
 5549                           .data
 5552                   StickGasHoover.26:
 5553 0045 7800                 .word   120
 5554                           .lcomm HooverGas.27,2
 5555                           .lcomm HooverGasMin.28,2
 5558                   HooverGasMax.29:
 5559 0047 FF03                 .word   1023
 5560                           .lcomm HooverGasFilter.30,4
 5563                   delay.31:
 5564 0049 64                   .byte   100
 5565                           .lcomm BaroAtUpperLimit.32,1
 5566                           .lcomm BaroAtLowerLimit.33,1
 5567                           .lcomm HeightTrimmingFlag.34,1
 5568                           .text
 5569                   .global MotorRegler
 5571                   MotorRegler:
 5572                   /* prologue: frame size=40 */
 5573 29ca A8E2                 ldi r26,lo8(40)
 5574 29cc B0E0                 ldi r27,hi8(40)
 5575 29ce E0E0                 ldi r30,pm_lo8(1f)
 5576 29d0 F0E0                 ldi r31,pm_hi8(1f)
 5577 29d2 0C94 0000            jmp __prologue_saves__+0
 5578                   1:
 5579                   /* prologue end (size=6) */
 5580 29d6 8091 0000            lds r24,LoadHandler
 5581 29da 8150                 subi r24,lo8(-(-1))
 5582 29dc 01F4                 brne .L1168
 5583 29de 85E0                 ldi r24,lo8(5)
 5584                   .L1168:
 5585 29e0 8093 0000            sts LoadHandler,r24
 5586 29e4 0E94 0000            call Mittelwert
 5587 29e8 2091 0000            lds r18,PlatinenVersion
 5588 29ec 2C30                 cpi r18,lo8(12)
 5589 29ee 00F0                 brlo .+2
 5590 29f0 00C0                 rjmp .L723
 5591 29f2 299A                 sbi 37-0x20,1
 5592                   .L724:
 5593 29f4 E090 0000            lds r14,StickGas
 5594 29f8 F090 0000            lds r15,(StickGas)+1
 5595 29fc FA82                 std Y+2,r15
 5596 29fe E982                 std Y+1,r14
 5597 2a00 8091 0000            lds r24,MIN_GAS
 5598 2a04 9927                 clr r25
 5599 2a06 0A96                 adiw r24,10
 5600 2a08 E816                 cp r14,r24
 5601 2a0a F906                 cpc r15,r25
 5602 2a0c 04F4                 brge .L725
 5603 2a0e 9A83                 std Y+2,r25
 5604 2a10 8983                 std Y+1,r24
 5605                   .L725:
 5606 2a12 8091 0000            lds r24,SenderOkay
 5607 2a16 8436                 cpi r24,lo8(100)
 5608 2a18 00F0                 brlo .+2
 5609 2a1a 00C0                 rjmp .L726
 5610 2a1c 8091 0000            lds r24,RcLostTimer.7
 5611 2a20 9091 0000            lds r25,(RcLostTimer.7)+1
 5612 2a24 0097                 sbiw r24,0
 5613 2a26 01F0                 breq .+2
 5614 2a28 00C0                 rjmp .L1211
 5615 2a2a 1092 0000            sts MotorenEin,__zero_reg__
 5616 2a2e 8091 0000            lds r24,MikroKopterFlags
 5617 2a32 8F7E                 andi r24,lo8(-17)
 5618 2a34 8093 0000            sts MikroKopterFlags,r24
 5619 2a38 2A30                 cpi r18,lo8(10)
 5620 2a3a 01F4                 brne .+2
 5621 2a3c 00C0                 rjmp .L730
 5622                   .L1232:
 5623 2a3e 2431                 cpi r18,lo8(20)
 5624 2a40 01F4                 brne .+2
 5625 2a42 00C0                 rjmp .L730
 5626 2a44 2898                 cbi 37-0x20,0
 5627 2a46 8091 0000            lds r24,modell_fliegt
 5628 2a4a 9091 0000            lds r25,(modell_fliegt)+1
 5629 2a4e 895E                 subi r24,lo8(1001)
 5630 2a50 9340                 sbci r25,hi8(1001)
 5631 2a52 00F4                 brsh .+2
 5632 2a54 00C0                 rjmp .L732
 5633                   .L1233:
 5634 2a56 8091 0000            lds r24,EE_Parameter+31
 5635 2a5a 282F                 mov r18,r24
 5636 2a5c 3327                 clr r19
 5637 2a5e 3A83                 std Y+2,r19
 5638 2a60 2983                 std Y+1,r18
 5639 2a62 8091 0000            lds r24,MikroKopterFlags
 5640 2a66 8061                 ori r24,lo8(16)
 5641 2a68 8093 0000            sts MikroKopterFlags,r24
 5642 2a6c 8091 0000            lds r24,EE_Parameter
 5643 2a70 A82F                 mov r26,r24
 5644 2a72 BB27                 clr r27
 5645 2a74 AA0F                 add r26,r26
 5646 2a76 BB1F                 adc r27,r27
 5647 2a78 FD01                 movw r30,r26
 5648 2a7a E050                 subi r30,lo8(-(PPM_diff))
 5649 2a7c F040                 sbci r31,hi8(-(PPM_diff))
 5650 2a7e 1182                 std Z+1,__zero_reg__
 5651 2a80 1082                 st Z,__zero_reg__
 5652 2a82 8091 0000            lds r24,EE_Parameter+1
 5653 2a86 282F                 mov r18,r24
 5654 2a88 3327                 clr r19
 5655 2a8a 220F                 add r18,r18
 5656 2a8c 331F                 adc r19,r19
 5657 2a8e C901                 movw r24,r18
 5658 2a90 8050                 subi r24,lo8(-(PPM_diff))
 5659 2a92 9040                 sbci r25,hi8(-(PPM_diff))
 5660 2a94 FC01                 movw r30,r24
 5661 2a96 1182                 std Z+1,__zero_reg__
 5662 2a98 1082                 st Z,__zero_reg__
 5663 2a9a A050                 subi r26,lo8(-(PPM_in))
 5664 2a9c B040                 sbci r27,hi8(-(PPM_in))
 5665 2a9e 1196                 adiw r26,1
 5666 2aa0 1C92                 st X,__zero_reg__
 5667 2aa2 1E92                 st -X,__zero_reg__
 5668 2aa4 2050                 subi r18,lo8(-(PPM_in))
 5669 2aa6 3040                 sbci r19,hi8(-(PPM_in))
 5670 2aa8 D901                 movw r26,r18
 5671 2aaa 1196                 adiw r26,1
 5672 2aac 1C92                 st X,__zero_reg__
 5673 2aae 1E92                 st -X,__zero_reg__
 5674 2ab0 8091 0000            lds r24,EE_Parameter+3
 5675 2ab4 E82F                 mov r30,r24
 5676 2ab6 FF27                 clr r31
 5677 2ab8 EE0F                 add r30,r30
 5678 2aba FF1F                 adc r31,r31
 5679 2abc E050                 subi r30,lo8(-(PPM_in))
 5680 2abe F040                 sbci r31,hi8(-(PPM_in))
 5681 2ac0 1182                 std Z+1,__zero_reg__
 5682 2ac2 1082                 st Z,__zero_reg__
 5683                   .L734:
 5684 2ac4 8091 0000            lds r24,NewPpmData
 5685 2ac8 8150                 subi r24,lo8(-(-1))
 5686 2aca 8093 0000            sts NewPpmData,r24
 5687 2ace 8091 0000            lds r24,NewPpmData
 5688 2ad2 8F3F                 cpi r24,lo8(-1)
 5689 2ad4 01F0                 breq .L808
 5690 2ad6 8091 0000            lds r24,MikroKopterFlags
 5691 2ada 84FF                 sbrs r24,4
 5692 2adc 00C0                 rjmp .L1149
 5693                   .L808:
 5694 2ade 0E94 0000            call ParameterZuordnung
 5695 2ae2 8091 0000            lds r24,stick_nick.15
 5696 2ae6 9091 0000            lds r25,(stick_nick.15)+1
 5697 2aea 9C01                 movw r18,r24
 5698 2aec 220F                 lsl r18
 5699 2aee 331F                 rol r19
 5700 2af0 280F                 add r18,r24
 5701 2af2 391F                 adc r19,r25
 5702 2af4 0091 0000            lds r16,EE_Parameter
 5703 2af8 A02F                 mov r26,r16
 5704 2afa BB27                 clr r27
 5705 2afc AA0F                 add r26,r26
 5706 2afe BB1F                 adc r27,r27
 5707 2b00 FD01                 movw r30,r26
 5708 2b02 E050                 subi r30,lo8(-(PPM_in))
 5709 2b04 F040                 sbci r31,hi8(-(PPM_in))
 5710 2b06 E090 0000            lds r14,EE_Parameter+18
 5711 2b0a 6E2D                 mov r22,r14
 5712 2b0c 7727                 clr r23
 5713 2b0e 8081                 ld r24,Z
 5714 2b10 9181                 ldd r25,Z+1
 5715 2b12 869F                 mul r24,r22
 5716 2b14 A001                 movw r20,r0
 5717 2b16 879F                 mul r24,r23
 5718 2b18 500D                 add r21,r0
 5719 2b1a 969F                 mul r25,r22
 5720 2b1c 500D                 add r21,r0
 5721 2b1e 1124                 clr r1
 5722 2b20 240F                 add r18,r20
 5723 2b22 351F                 adc r19,r21
 5724 2b24 37FF                 sbrs r19,7
 5725 2b26 00C0                 rjmp .+4
 5726 2b28 0C94 0000            jmp .L1212
 5727                   .L809:
 5728 2b2c 3595                 asr r19
 5729 2b2e 2795                 ror r18
 5730 2b30 3595                 asr r19
 5731 2b32 2795                 ror r18
 5732 2b34 A050                 subi r26,lo8(-(PPM_diff))
 5733 2b36 B040                 sbci r27,hi8(-(PPM_diff))
 5734 2b38 8091 0000            lds r24,EE_Parameter+19
 5735 2b3c 482F                 mov r20,r24
 5736 2b3e 5527                 clr r21
 5737 2b40 8D91                 ld r24,X+
 5738 2b42 9C91                 ld r25,X
 5739 2b44 849F                 mul r24,r20
 5740 2b46 D001                 movw r26,r0
 5741 2b48 859F                 mul r24,r21
 5742 2b4a B00D                 add r27,r0
 5743 2b4c 949F                 mul r25,r20
 5744 2b4e B00D                 add r27,r0
 5745 2b50 1124                 clr r1
 5746 2b52 CD01                 movw r24,r26
 5747 2b54 820F                 add r24,r18
 5748 2b56 931F                 adc r25,r19
 5749 2b58 9093 0000            sts (stick_nick.15)+1,r25
 5750 2b5c 8093 0000            sts stick_nick.15,r24
 5751 2b60 9093 0000            sts (StickNick)+1,r25
 5752 2b64 8093 0000            sts StickNick,r24
 5753 2b68 8091 0000            lds r24,stick_roll.16
 5754 2b6c 9091 0000            lds r25,(stick_roll.16)+1
 5755 2b70 9C01                 movw r18,r24
 5756 2b72 220F                 lsl r18
 5757 2b74 331F                 rol r19
 5758 2b76 280F                 add r18,r24
 5759 2b78 391F                 adc r19,r25
 5760 2b7a 1091 0000            lds r17,EE_Parameter+1
 5761 2b7e A12F                 mov r26,r17
 5762 2b80 BB27                 clr r27
 5763 2b82 AA0F                 add r26,r26
 5764 2b84 BB1F                 adc r27,r27
 5765 2b86 FD01                 movw r30,r26
 5766 2b88 E050                 subi r30,lo8(-(PPM_in))
 5767 2b8a F040                 sbci r31,hi8(-(PPM_in))
 5768 2b8c 8081                 ld r24,Z
 5769 2b8e 9181                 ldd r25,Z+1
 5770 2b90 869F                 mul r24,r22
 5771 2b92 F001                 movw r30,r0
 5772 2b94 879F                 mul r24,r23
 5773 2b96 F00D                 add r31,r0
 5774 2b98 969F                 mul r25,r22
 5775 2b9a F00D                 add r31,r0
 5776 2b9c 1124                 clr r1
 5777 2b9e 2E0F                 add r18,r30
 5778 2ba0 3F1F                 adc r19,r31
 5779 2ba2 37FF                 sbrs r19,7
 5780 2ba4 00C0                 rjmp .+4
 5781 2ba6 0C94 0000            jmp .L1213
 5782                   .L810:
 5783 2baa 3595                 asr r19
 5784 2bac 2795                 ror r18
 5785 2bae 3595                 asr r19
 5786 2bb0 2795                 ror r18
 5787 2bb2 A050                 subi r26,lo8(-(PPM_diff))
 5788 2bb4 B040                 sbci r27,hi8(-(PPM_diff))
 5789 2bb6 8D91                 ld r24,X+
 5790 2bb8 9C91                 ld r25,X
 5791 2bba 849F                 mul r24,r20
 5792 2bbc B001                 movw r22,r0
 5793 2bbe 859F                 mul r24,r21
 5794 2bc0 700D                 add r23,r0
 5795 2bc2 949F                 mul r25,r20
 5796 2bc4 700D                 add r23,r0
 5797 2bc6 1124                 clr r1
 5798 2bc8 CB01                 movw r24,r22
 5799 2bca 820F                 add r24,r18
 5800 2bcc 931F                 adc r25,r19
 5801 2bce 9093 0000            sts (stick_roll.16)+1,r25
 5802 2bd2 8093 0000            sts stick_roll.16,r24
 5803 2bd6 9093 0000            sts (StickRoll)+1,r25
 5804 2bda 8093 0000            sts StickRoll,r24
 5805 2bde 8091 0000            lds r24,EE_Parameter+3
 5806 2be2 E82F                 mov r30,r24
 5807 2be4 FF27                 clr r31
 5808 2be6 EE0F                 add r30,r30
 5809 2be8 FF1F                 adc r31,r31
 5810 2bea E050                 subi r30,lo8(-(PPM_in))
 5811 2bec F040                 sbci r31,hi8(-(PPM_in))
 5812 2bee 8081                 ld r24,Z
 5813 2bf0 9181                 ldd r25,Z+1
 5814 2bf2 9095                 com r25
 5815 2bf4 8195                 neg r24
 5816 2bf6 9F4F                 sbci r25,lo8(-1)
 5817 2bf8 8330                 cpi r24,3
 5818 2bfa 9105                 cpc r25,__zero_reg__
 5819 2bfc 04F4                 brge .+4
 5820 2bfe 0C94 0000            jmp .L811
 5821 2c02 0297                 sbiw r24,2
 5822                   .L1201:
 5823 2c04 9093 0000            sts (StickGier)+1,r25
 5824 2c08 8093 0000            sts StickGier,r24
 5825                   .L812:
 5826 2c0c 8091 0000            lds r24,EE_Parameter+2
 5827 2c10 E82F                 mov r30,r24
 5828 2c12 FF27                 clr r31
 5829 2c14 EE0F                 add r30,r30
 5830 2c16 FF1F                 adc r31,r31
 5831 2c18 E050                 subi r30,lo8(-(PPM_in))
 5832 2c1a F040                 sbci r31,hi8(-(PPM_in))
 5833 2c1c C080                 ld r12,Z
 5834 2c1e D180                 ldd r13,Z+1
 5835 2c20 88E7                 ldi r24,lo8(120)
 5836 2c22 90E0                 ldi r25,hi8(120)
 5837 2c24 C80E                 add r12,r24
 5838 2c26 D91E                 adc r13,r25
 5839 2c28 8091 0000            lds r24,Parameter_Gyro_P
 5840 2c2c 9927                 clr r25
 5841 2c2e AA27                 clr r26
 5842 2c30 97FD                 sbrc r25,7
 5843 2c32 A095                 com r26
 5844 2c34 BA2F                 mov r27,r26
 5845 2c36 BC01                 movw r22,r24
 5846 2c38 CD01                 movw r24,r26
 5847 2c3a 0E94 0000            call __floatsisf
 5848 2c3e DC01                 movw r26,r24
 5849 2c40 CB01                 movw r24,r22
 5850 2c42 20E0                 ldi r18,lo8(0x41200000)
 5851 2c44 30E0                 ldi r19,hi8(0x41200000)
 5852 2c46 40E2                 ldi r20,hlo8(0x41200000)
 5853 2c48 51E4                 ldi r21,hhi8(0x41200000)
 5854 2c4a BC01                 movw r22,r24
 5855 2c4c CD01                 movw r24,r26
 5856 2c4e 0E94 0000            call __addsf3
 5857 2c52 DC01                 movw r26,r24
 5858 2c54 CB01                 movw r24,r22
 5859 2c56 BC01                 movw r22,r24
 5860 2c58 CD01                 movw r24,r26
 5861 2c5a 0E94 0000            call __fixunssfsi
 5862 2c5e DC01                 movw r26,r24
 5863 2c60 CB01                 movw r24,r22
 5864 2c62 8093 0000            sts GyroFaktor,r24
 5865 2c66 F090 0000            lds r15,Parameter_Gyro_I
 5866 2c6a 8091 0000            lds r24,Parameter_Gyro_Gier_P
 5867 2c6e 9927                 clr r25
 5868 2c70 AA27                 clr r26
 5869 2c72 97FD                 sbrc r25,7
 5870 2c74 A095                 com r26
 5871 2c76 BA2F                 mov r27,r26
 5872 2c78 BC01                 movw r22,r24
 5873 2c7a CD01                 movw r24,r26
 5874 2c7c 0E94 0000            call __floatsisf
 5875 2c80 DC01                 movw r26,r24
 5876 2c82 CB01                 movw r24,r22
 5877 2c84 20E0                 ldi r18,lo8(0x41200000)
 5878 2c86 30E0                 ldi r19,hi8(0x41200000)
 5879 2c88 40E2                 ldi r20,hlo8(0x41200000)
 5880 2c8a 51E4                 ldi r21,hhi8(0x41200000)
 5881 2c8c BC01                 movw r22,r24
 5882 2c8e CD01                 movw r24,r26
 5883 2c90 0E94 0000            call __addsf3
 5884 2c94 DC01                 movw r26,r24
 5885 2c96 CB01                 movw r24,r22
 5886 2c98 BC01                 movw r22,r24
 5887 2c9a CD01                 movw r24,r26
 5888 2c9c 0E94 0000            call __fixunssfsi
 5889 2ca0 DC01                 movw r26,r24
 5890 2ca2 CB01                 movw r24,r22
 5891 2ca4 8093 0000            sts GyroFaktorGier,r24
 5892 2ca8 9091 0000            lds r25,Parameter_Gyro_Gier_I
 5893 2cac 9093 0000            sts IntegralFaktorGier,r25
 5894 2cb0 8091 0000            lds r24,ExternControl+10
 5895 2cb4 80FF                 sbrs r24,0
 5896 2cb6 00C0                 rjmp .L1175
 5897 2cb8 8091 0000            lds r24,Parameter_ExternalControl
 5898 2cbc 8138                 cpi r24,lo8(-127)
 5899 2cbe 00F0                 brlo .+4
 5900 2cc0 0C94 0000            jmp .L1214
 5901                   .L1175:
 5902 2cc4 D092 0000            sts (StickGas)+1,r13
 5903 2cc8 C092 0000            sts StickGas,r12
 5904                   .L815:
 5905 2ccc 8091 0000            lds r24,StickGas
 5906 2cd0 9091 0000            lds r25,(StickGas)+1
 5907 2cd4 97FF                 sbrs r25,7
 5908 2cd6 00C0                 rjmp .+4
 5909 2cd8 0C94 0000            jmp .L1215
 5910                   .L817:
 5911 2cdc 5091 0000            lds r21,EE_Parameter+8
 5912 2ce0 588B                 std Y+16,r21
 5913 2ce2 52FD                 sbrc r21,2
 5914 2ce4 00C0                 rjmp .+4
 5915 2ce6 0C94 0000            jmp .L1176
 5916 2cea 1092 0000            sts IntegralFaktor,__zero_reg__
 5917 2cee 4091 0000            lds r20,StickNick
 5918 2cf2 5091 0000            lds r21,(StickNick)+1
 5919 2cf6 CA01                 movw r24,r20
 5920 2cf8 57FF                 sbrs r21,7
 5921 2cfa 00C0                 rjmp .+4
 5922 2cfc 0C94 0000            jmp .L1216
 5923                   .L820:
 5924 2d00 9595                 asr r25
 5925 2d02 8795                 ror r24
 5926 2d04 9595                 asr r25
 5927 2d06 8795                 ror r24
 5928 2d08 97FF                 sbrs r25,7
 5929 2d0a 00C0                 rjmp .+4
 5930 2d0c 0C94 0000            jmp .L1217
 5931                   .L821:
 5932 2d10 2091 0000            lds r18,MaxStickNick
 5933 2d14 3091 0000            lds r19,(MaxStickNick)+1
 5934 2d18 2817                 cp r18,r24
 5935 2d1a 3907                 cpc r19,r25
 5936 2d1c 04F0                 brlt .+4
 5937 2d1e 0C94 0000            jmp .L819
 5938 2d22 CA01                 movw r24,r20
 5939 2d24 57FF                 sbrs r21,7
 5940 2d26 00C0                 rjmp .+4
 5941 2d28 0C94 0000            jmp .L1218
 5942                   .L822:
 5943 2d2c 97FF                 sbrs r25,7
 5944 2d2e 00C0                 rjmp .+4
 5945 2d30 0C94 0000            jmp .L1219
 5946                   .L823:
 5947 2d34 BC01                 movw r22,r24
 5948 2d36 7595                 asr r23
 5949 2d38 6795                 ror r22
 5950 2d3a 7595                 asr r23
 5951 2d3c 6795                 ror r22
 5952 2d3e 6536                 cpi r22,101
 5953 2d40 7105                 cpc r23,__zero_reg__
 5954 2d42 04F4                 brge .+4
 5955 2d44 0C94 0000            jmp .L825
 5956 2d48 64E6                 ldi r22,lo8(100)
 5957 2d4a 70E0                 ldi r23,hi8(100)
 5958 2d4c 4091 0000            lds r20,StickRoll
 5959 2d50 5091 0000            lds r21,(StickRoll)+1
 5960 2d54 CA01                 movw r24,r20
 5961 2d56 57FD                 sbrc r21,7
 5962 2d58 00C0                 rjmp .+4
 5963 2d5a 0C94 0000            jmp .L827
 5964                   .L1266:
 5965 2d5e 0396                 adiw r24,3
 5966 2d60 9595                 asr r25
 5967 2d62 8795                 ror r24
 5968 2d64 9595                 asr r25
 5969 2d66 8795                 ror r24
 5970 2d68 97FD                 sbrc r25,7
 5971 2d6a 00C0                 rjmp .+4
 5972 2d6c 0C94 0000            jmp .L828
 5973                   .L1267:
 5974 2d70 9095                 com r25
 5975 2d72 8195                 neg r24
 5976 2d74 9F4F                 sbci r25,lo8(-1)
 5977 2d76 2091 0000            lds r18,MaxStickRoll
 5978 2d7a 3091 0000            lds r19,(MaxStickRoll)+1
 5979 2d7e 2817                 cp r18,r24
 5980 2d80 3907                 cpc r19,r25
 5981 2d82 04F4                 brge .+4
 5982 2d84 0C94 0000            jmp .L1220
 5983                   .L826:
 5984 2d88 2150                 subi r18,lo8(-(-1))
 5985 2d8a 3040                 sbci r19,hi8(-(-1))
 5986                   .L832:
 5987 2d8c 8091 0000            lds r24,MikroKopterFlags
 5988 2d90 84FD                 sbrc r24,4
 5989 2d92 00C0                 rjmp .+4
 5990 2d94 0C94 0000            jmp .L1177
 5991                   .L1270:
 5992 2d98 1092 0000            sts (MaxStickNick)+1,__zero_reg__
 5993 2d9c 1092 0000            sts MaxStickNick,__zero_reg__
 5994 2da0 1092 0000            sts (MaxStickRoll)+1,__zero_reg__
 5995 2da4 1092 0000            sts MaxStickRoll,__zero_reg__
 5996                   .L833:
 5997 2da8 E12F                 mov r30,r17
 5998 2daa FF27                 clr r31
 5999 2dac EE0F                 add r30,r30
 6000 2dae FF1F                 adc r31,r31
 6001 2db0 E050                 subi r30,lo8(-(PPM_in))
 6002 2db2 F040                 sbci r31,hi8(-(PPM_in))
 6003 2db4 4091 0000            lds r20,EE_Parameter+49
 6004 2db8 242F                 mov r18,r20
 6005 2dba 3327                 clr r19
 6006 2dbc 8081                 ld r24,Z
 6007 2dbe 9181                 ldd r25,Z+1
 6008 2dc0 2817                 cp r18,r24
 6009 2dc2 3907                 cpc r19,r25
 6010 2dc4 04F4                 brge .L834
 6011 2dc6 8091 0000            lds r24,EE_Parameter+86
 6012 2dca 82FF                 sbrs r24,2
 6013 2dcc 00C0                 rjmp .+4
 6014 2dce 0C94 0000            jmp .L1221
 6015                   .L834:
 6016 2dd2 E12F                 mov r30,r17
 6017 2dd4 FF27                 clr r31
 6018 2dd6 EE0F                 add r30,r30
 6019 2dd8 FF1F                 adc r31,r31
 6020 2dda E050                 subi r30,lo8(-(PPM_in))
 6021 2ddc F040                 sbci r31,hi8(-(PPM_in))
 6022 2dde 842F                 mov r24,r20
 6023 2de0 9927                 clr r25
 6024 2de2 2091 0000            lds r18,EE_Parameter+50
 6025 2de6 821B                 sub r24,r18
 6026 2de8 9109                 sbc r25,__zero_reg__
 6027 2dea 2081                 ld r18,Z
 6028 2dec 3181                 ldd r19,Z+1
 6029 2dee 2817                 cp r18,r24
 6030 2df0 3907                 cpc r19,r25
 6031 2df2 04F4                 brge .L835
 6032 2df4 1092 0000            sts Looping_Links,__zero_reg__
 6033                   .L835:
 6034 2df8 E12F                 mov r30,r17
 6035 2dfa FF27                 clr r31
 6036 2dfc EE0F                 add r30,r30
 6037 2dfe FF1F                 adc r31,r31
 6038 2e00 E050                 subi r30,lo8(-(PPM_in))
 6039 2e02 F040                 sbci r31,hi8(-(PPM_in))
 6040 2e04 842F                 mov r24,r20
 6041 2e06 9927                 clr r25
 6042 2e08 2227                 clr r18
 6043 2e0a 3327                 clr r19
 6044 2e0c 281B                 sub r18,r24
 6045 2e0e 390B                 sbc r19,r25
 6046 2e10 8081                 ld r24,Z
 6047 2e12 9181                 ldd r25,Z+1
 6048 2e14 8217                 cp r24,r18
 6049 2e16 9307                 cpc r25,r19
 6050 2e18 04F4                 brge .L837
 6051 2e1a 8091 0000            lds r24,EE_Parameter+86
 6052 2e1e 83FF                 sbrs r24,3
 6053 2e20 00C0                 rjmp .+4
 6054 2e22 0C94 0000            jmp .L1222
 6055                   .L837:
 6056 2e26 8091 0000            lds r24,Looping_Rechts
 6057 2e2a 8823                 tst r24
 6058 2e2c 01F0                 breq .L838
 6059 2e2e E12F                 mov r30,r17
 6060 2e30 FF27                 clr r31
 6061 2e32 EE0F                 add r30,r30
 6062 2e34 FF1F                 adc r31,r31
 6063 2e36 E050                 subi r30,lo8(-(PPM_in))
 6064 2e38 F040                 sbci r31,hi8(-(PPM_in))
 6065 2e3a 8091 0000            lds r24,EE_Parameter+50
 6066 2e3e 9927                 clr r25
 6067 2e40 841B                 sub r24,r20
 6068 2e42 9109                 sbc r25,__zero_reg__
 6069 2e44 2081                 ld r18,Z
 6070 2e46 3181                 ldd r19,Z+1
 6071 2e48 8217                 cp r24,r18
 6072 2e4a 9307                 cpc r25,r19
 6073 2e4c 04F4                 brge .+4
 6074 2e4e 0C94 0000            jmp .L1223
 6075                   .L838:
 6076 2e52 E02F                 mov r30,r16
 6077 2e54 FF27                 clr r31
 6078 2e56 EE0F                 add r30,r30
 6079 2e58 FF1F                 adc r31,r31
 6080 2e5a E050                 subi r30,lo8(-(PPM_in))
 6081 2e5c F040                 sbci r31,hi8(-(PPM_in))
 6082 2e5e 242F                 mov r18,r20
 6083 2e60 3327                 clr r19
 6084 2e62 8081                 ld r24,Z
 6085 2e64 9181                 ldd r25,Z+1
 6086 2e66 2817                 cp r18,r24
 6087 2e68 3907                 cpc r19,r25
 6088 2e6a 04F4                 brge .L841
 6089 2e6c 8091 0000            lds r24,EE_Parameter+86
 6090 2e70 80FF                 sbrs r24,0
 6091 2e72 00C0                 rjmp .+4
 6092 2e74 0C94 0000            jmp .L1224
 6093                   .L841:
 6094 2e78 5091 0000            lds r21,Looping_Oben
 6095 2e7c 5523                 tst r21
 6096 2e7e 01F0                 breq .L842
 6097 2e80 E02F                 mov r30,r16
 6098 2e82 FF27                 clr r31
 6099 2e84 EE0F                 add r30,r30
 6100 2e86 FF1F                 adc r31,r31
 6101 2e88 E050                 subi r30,lo8(-(PPM_in))
 6102 2e8a F040                 sbci r31,hi8(-(PPM_in))
 6103 2e8c 842F                 mov r24,r20
 6104 2e8e 9927                 clr r25
 6105 2e90 2091 0000            lds r18,EE_Parameter+50
 6106 2e94 821B                 sub r24,r18
 6107 2e96 9109                 sbc r25,__zero_reg__
 6108 2e98 2081                 ld r18,Z
 6109 2e9a 3181                 ldd r19,Z+1
 6110 2e9c 2817                 cp r18,r24
 6111 2e9e 3907                 cpc r19,r25
 6112 2ea0 04F4                 brge .+4
 6113 2ea2 0C94 0000            jmp .L1225
 6114                   .L842:
 6115 2ea6 E02F                 mov r30,r16
 6116 2ea8 FF27                 clr r31
 6117 2eaa EE0F                 add r30,r30
 6118 2eac FF1F                 adc r31,r31
 6119 2eae E050                 subi r30,lo8(-(PPM_in))
 6120 2eb0 F040                 sbci r31,hi8(-(PPM_in))
 6121 2eb2 842F                 mov r24,r20
 6122 2eb4 9927                 clr r25
 6123 2eb6 2227                 clr r18
 6124 2eb8 3327                 clr r19
 6125 2eba 281B                 sub r18,r24
 6126 2ebc 390B                 sbc r19,r25
 6127 2ebe 8081                 ld r24,Z
 6128 2ec0 9181                 ldd r25,Z+1
 6129 2ec2 8217                 cp r24,r18
 6130 2ec4 9307                 cpc r25,r19
 6131 2ec6 04F4                 brge .L845
 6132 2ec8 8091 0000            lds r24,EE_Parameter+86
 6133 2ecc 81FF                 sbrs r24,1
 6134 2ece 00C0                 rjmp .+4
 6135 2ed0 0C94 0000            jmp .L1226
 6136                   .L845:
 6137 2ed4 8091 0000            lds r24,Looping_Unten
 6138 2ed8 8823                 tst r24
 6139 2eda 01F0                 breq .L846
 6140 2edc E02F                 mov r30,r16
 6141 2ede FF27                 clr r31
 6142 2ee0 EE0F                 add r30,r30
 6143 2ee2 FF1F                 adc r31,r31
 6144 2ee4 E050                 subi r30,lo8(-(PPM_in))
 6145 2ee6 F040                 sbci r31,hi8(-(PPM_in))
 6146 2ee8 8091 0000            lds r24,EE_Parameter+50
 6147 2eec 9927                 clr r25
 6148 2eee 841B                 sub r24,r20
 6149 2ef0 9109                 sbc r25,__zero_reg__
 6150 2ef2 2081                 ld r18,Z
 6151 2ef4 3181                 ldd r19,Z+1
 6152 2ef6 8217                 cp r24,r18
 6153 2ef8 9307                 cpc r25,r19
 6154 2efa 04F4                 brge .+4
 6155 2efc 0C94 0000            jmp .L1227
 6156                   .L846:
 6157 2f00 8091 0000            lds r24,Looping_Links
 6158 2f04 8823                 tst r24
 6159 2f06 01F4                 brne .L850
 6160 2f08 8091 0000            lds r24,Looping_Rechts
 6161 2f0c 8823                 tst r24
 6162 2f0e 01F4                 brne .+4
 6163 2f10 0C94 0000            jmp .L849
 6164                   .L850:
 6165 2f14 91E0                 ldi r25,lo8(1)
 6166                   .L851:
 6167 2f16 5523                 tst r21
 6168 2f18 01F4                 brne .L853
 6169 2f1a 8091 0000            lds r24,Looping_Unten
 6170 2f1e 8823                 tst r24
 6171 2f20 01F4                 brne .+4
 6172 2f22 0C94 0000            jmp .L852
 6173                   .L853:
 6174 2f26 81E0                 ldi r24,lo8(1)
 6175 2f28 8093 0000            sts Looping_Nick,r24
 6176 2f2c 1092 0000            sts Looping_Roll,__zero_reg__
 6177 2f30 1092 0000            sts Looping_Links,__zero_reg__
 6178 2f34 1092 0000            sts Looping_Rechts,__zero_reg__
 6179 2f38 00C0                 rjmp .L807
 6180                   .L723:
 6181 2f3a 2998                 cbi 37-0x20,1
 6182 2f3c 00C0                 rjmp .L724
 6183                   .L726:
 6184 2f3e 8091 0000            lds r24,SenderOkay
 6185 2f42 8D38                 cpi r24,lo8(-115)
 6186 2f44 00F4                 brsh .+2
 6187 2f46 00C0                 rjmp .L734
 6188 2f48 8091 0000            lds r24,MikroKopterFlags
 6189 2f4c 8F7E                 andi r24,lo8(-17)
 6190 2f4e 8093 0000            sts MikroKopterFlags,r24
 6191 2f52 9091 0000            lds r25,EE_Parameter+32
 6192 2f56 82E3                 ldi r24,lo8(50)
 6193 2f58 989F                 mul r25,r24
 6194 2f5a C001                 movw r24,r0
 6195 2f5c 1124                 clr r1
 6196 2f5e 9093 0000            sts (RcLostTimer.7)+1,r25
 6197 2f62 8093 0000            sts RcLostTimer.7,r24
 6198 2f66 E981                 ldd r30,Y+1
 6199 2f68 FA81                 ldd r31,Y+2
 6200 2f6a B997                 sbiw r30,41
 6201 2f6c 04F0                 brlt .+4
 6202 2f6e 0C94 0000            jmp .L1228
 6203                   .L1147:
 6204 2f72 8091 0000            lds r24,modell_fliegt
 6205 2f76 9091 0000            lds r25,(modell_fliegt)+1
 6206                   .L736:
 6207 2f7a 8F3F                 cpi r24,255
 6208 2f7c 9105                 cpc r25,__zero_reg__
 6209 2f7e 01F0                 breq .+6
 6210 2f80 00F0                 brlo .+4
 6211 2f82 0C94 0000            jmp .L738
 6212 2f86 1092 0000            sts SummeNick.0,__zero_reg__
 6213 2f8a 1092 0000            sts (SummeNick.0)+1,__zero_reg__
 6214 2f8e 1092 0000            sts (SummeNick.0)+2,__zero_reg__
 6215 2f92 1092 0000            sts (SummeNick.0)+3,__zero_reg__
 6216 2f96 1092 0000            sts SummeRoll.1,__zero_reg__
 6217 2f9a 1092 0000            sts (SummeRoll.1)+1,__zero_reg__
 6218 2f9e 1092 0000            sts (SummeRoll.1)+2,__zero_reg__
 6219 2fa2 1092 0000            sts (SummeRoll.1)+3,__zero_reg__
 6220 2fa6 8A3F                 cpi r24,250
 6221 2fa8 9105                 cpc r25,__zero_reg__
 6222 2faa 01F4                 brne .+4
 6223 2fac 0C94 0000            jmp .L1229
 6224                   .L740:
 6225 2fb0 3091 0000            lds r19,EE_Parameter+2
 6226 2fb4 E32F                 mov r30,r19
 6227 2fb6 FF27                 clr r31
 6228 2fb8 EE0F                 add r30,r30
 6229 2fba FF1F                 adc r31,r31
 6230 2fbc E050                 subi r30,lo8(-(PPM_in))
 6231 2fbe F040                 sbci r31,hi8(-(PPM_in))
 6232 2fc0 8081                 ld r24,Z
 6233 2fc2 9181                 ldd r25,Z+1
 6234 2fc4 8135                 cpi r24,81
 6235 2fc6 9105                 cpc r25,__zero_reg__
 6236 2fc8 04F4                 brge .+2
 6237 2fca 00C0                 rjmp .L741
 6238 2fcc 4091 0000            lds r20,MotorenEin
 6239 2fd0 4423                 tst r20
 6240 2fd2 01F0                 breq .+2
 6241 2fd4 00C0                 rjmp .L741
 6242 2fd6 8091 0000            lds r24,EE_Parameter+3
 6243 2fda E82F                 mov r30,r24
 6244 2fdc FF27                 clr r31
 6245 2fde EE0F                 add r30,r30
 6246 2fe0 FF1F                 adc r31,r31
 6247 2fe2 E050                 subi r30,lo8(-(PPM_in))
 6248 2fe4 F040                 sbci r31,hi8(-(PPM_in))
 6249 2fe6 8081                 ld r24,Z
 6250 2fe8 9181                 ldd r25,Z+1
 6251 2fea 8C34                 cpi r24,76
 6252 2fec 9105                 cpc r25,__zero_reg__
 6253 2fee 04F4                 brge .+4
 6254 2ff0 0C94 0000            jmp .L742
 6255 2ff4 8091 0000            lds r24,delay_neutral.8
 6256 2ff8 8F5F                 subi r24,lo8(-(1))
 6257 2ffa 893C                 cpi r24,lo8(-55)
 6258 2ffc 00F4                 brsh .+4
 6259 2ffe 0C94 0000            jmp .L1170
 6260 3002 2C30                 cpi r18,lo8(12)
 6261 3004 00F0                 brlo .+4
 6262 3006 0C94 0000            jmp .L744
 6263 300a 2998                 cbi 37-0x20,1
 6264                   .L745:
 6265 300c 1092 0000            sts MotorenEin,__zero_reg__
 6266 3010 1092 0000            sts delay_neutral.8,__zero_reg__
 6267 3014 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 6268 3018 1092 0000            sts modell_fliegt,__zero_reg__
 6269 301c 0091 0000            lds r16,EE_Parameter
 6270 3020 E02F                 mov r30,r16
 6271 3022 FF27                 clr r31
 6272 3024 EE0F                 add r30,r30
 6273 3026 FF1F                 adc r31,r31
 6274 3028 E050                 subi r30,lo8(-(PPM_in))
 6275 302a F040                 sbci r31,hi8(-(PPM_in))
 6276 302c 8081                 ld r24,Z
 6277 302e 9181                 ldd r25,Z+1
 6278 3030 8734                 cpi r24,71
 6279 3032 9105                 cpc r25,__zero_reg__
 6280 3034 04F0                 brlt .+4
 6281 3036 0C94 0000            jmp .L1148
 6282 303a 1091 0000            lds r17,EE_Parameter+1
 6283 303e E12F                 mov r30,r17
 6284 3040 FF27                 clr r31
 6285 3042 EE0F                 add r30,r30
 6286 3044 FF1F                 adc r31,r31
 6287 3046 E050                 subi r30,lo8(-(PPM_in))
 6288 3048 F040                 sbci r31,hi8(-(PPM_in))
 6289 304a 8081                 ld r24,Z
 6290 304c 9181                 ldd r25,Z+1
 6291 304e 0190                 ld __tmp_reg__,Z+
 6292 3050 F081                 ld r31,Z
 6293 3052 E02D                 mov r30,__tmp_reg__
 6294 3054 F7FF                 sbrs r31,7
 6295 3056 00C0                 rjmp .+4
 6296 3058 0C94 0000            jmp .L1230
 6297                   .L748:
 6298 305c E734                 cpi r30,71
 6299 305e F105                 cpc r31,__zero_reg__
 6300 3060 04F4                 brge .+2
 6301 3062 00C0                 rjmp .L746
 6302                   .L747:
 6303 3064 21E0                 ldi r18,lo8(1)
 6304 3066 A12F                 mov r26,r17
 6305 3068 BB27                 clr r27
 6306 306a AA0F                 add r26,r26
 6307 306c BB1F                 adc r27,r27
 6308 306e A050                 subi r26,lo8(-(PPM_in))
 6309 3070 B040                 sbci r27,hi8(-(PPM_in))
 6310 3072 8D91                 ld r24,X+
 6311 3074 9C91                 ld r25,X
 6312 3076 1197                 sbiw r26,1
 6313 3078 8734                 cpi r24,71
 6314 307a 9105                 cpc r25,__zero_reg__
 6315 307c 04F0                 brlt .L749
 6316 307e E02F                 mov r30,r16
 6317 3080 FF27                 clr r31
 6318 3082 EE0F                 add r30,r30
 6319 3084 FF1F                 adc r31,r31
 6320 3086 E050                 subi r30,lo8(-(PPM_in))
 6321 3088 F040                 sbci r31,hi8(-(PPM_in))
 6322 308a 8081                 ld r24,Z
 6323 308c 9181                 ldd r25,Z+1
 6324                   .L749:
 6325 308e 8D91                 ld r24,X+
 6326 3090 9C91                 ld r25,X
 6327 3092 8734                 cpi r24,71
 6328 3094 9105                 cpc r25,__zero_reg__
 6329 3096 04F0                 brlt .L750
 6330 3098 E02F                 mov r30,r16
 6331 309a FF27                 clr r31
 6332 309c EE0F                 add r30,r30
 6333 309e FF1F                 adc r31,r31
 6334 30a0 E050                 subi r30,lo8(-(PPM_in))
 6335 30a2 F040                 sbci r31,hi8(-(PPM_in))
 6336 30a4 8081                 ld r24,Z
 6337 30a6 9181                 ldd r25,Z+1
 6338 30a8 8734                 cpi r24,71
 6339 30aa 9105                 cpc r25,__zero_reg__
 6340 30ac 04F0                 brlt .L750
 6341 30ae 22E0                 ldi r18,lo8(2)
 6342                   .L750:
 6343 30b0 E12F                 mov r30,r17
 6344 30b2 FF27                 clr r31
 6345 30b4 EE0F                 add r30,r30
 6346 30b6 FF1F                 adc r31,r31
 6347 30b8 E050                 subi r30,lo8(-(PPM_in))
 6348 30ba F040                 sbci r31,hi8(-(PPM_in))
 6349 30bc 8081                 ld r24,Z
 6350 30be 9181                 ldd r25,Z+1
 6351 30c0 8634                 cpi r24,70
 6352 30c2 9105                 cpc r25,__zero_reg__
 6353 30c4 04F4                 brge .L751
 6354 30c6 E02F                 mov r30,r16
 6355 30c8 FF27                 clr r31
 6356 30ca EE0F                 add r30,r30
 6357 30cc FF1F                 adc r31,r31
 6358 30ce E050                 subi r30,lo8(-(PPM_in))
 6359 30d0 F040                 sbci r31,hi8(-(PPM_in))
 6360 30d2 8081                 ld r24,Z
 6361 30d4 9181                 ldd r25,Z+1
 6362 30d6 8734                 cpi r24,71
 6363 30d8 9105                 cpc r25,__zero_reg__
 6364 30da 04F0                 brlt .L751
 6365 30dc 23E0                 ldi r18,lo8(3)
 6366                   .L751:
 6367 30de E12F                 mov r30,r17
 6368 30e0 FF27                 clr r31
 6369 30e2 EE0F                 add r30,r30
 6370 30e4 FF1F                 adc r31,r31
 6371 30e6 E050                 subi r30,lo8(-(PPM_in))
 6372 30e8 F040                 sbci r31,hi8(-(PPM_in))
 6373 30ea 8081                 ld r24,Z
 6374 30ec 9181                 ldd r25,Z+1
 6375 30ee 8A5B                 subi r24,lo8(-70)
 6376 30f0 9F4F                 sbci r25,hi8(-70)
 6377 30f2 04F4                 brge .L752
 6378 30f4 E02F                 mov r30,r16
 6379 30f6 FF27                 clr r31
 6380 30f8 EE0F                 add r30,r30
 6381 30fa FF1F                 adc r31,r31
 6382 30fc E050                 subi r30,lo8(-(PPM_in))
 6383 30fe F040                 sbci r31,hi8(-(PPM_in))
 6384 3100 8081                 ld r24,Z
 6385 3102 9181                 ldd r25,Z+1
 6386 3104 8734                 cpi r24,71
 6387 3106 9105                 cpc r25,__zero_reg__
 6388 3108 04F0                 brlt .L752
 6389 310a 24E0                 ldi r18,lo8(4)
 6390                   .L752:
 6391 310c E12F                 mov r30,r17
 6392 310e FF27                 clr r31
 6393 3110 EE0F                 add r30,r30
 6394 3112 FF1F                 adc r31,r31
 6395 3114 E050                 subi r30,lo8(-(PPM_in))
 6396 3116 F040                 sbci r31,hi8(-(PPM_in))
 6397 3118 8081                 ld r24,Z
 6398 311a 9181                 ldd r25,Z+1
 6399 311c 8A5B                 subi r24,lo8(-70)
 6400 311e 9F4F                 sbci r25,hi8(-70)
 6401 3120 04F4                 brge .L753
 6402 3122 E02F                 mov r30,r16
 6403 3124 FF27                 clr r31
 6404 3126 EE0F                 add r30,r30
 6405 3128 FF1F                 adc r31,r31
 6406 312a E050                 subi r30,lo8(-(PPM_in))
 6407 312c F040                 sbci r31,hi8(-(PPM_in))
 6408 312e 8081                 ld r24,Z
 6409 3130 9181                 ldd r25,Z+1
 6410 3132 8634                 cpi r24,70
 6411 3134 9105                 cpc r25,__zero_reg__
 6412 3136 04F4                 brge .L753
 6413 3138 25E0                 ldi r18,lo8(5)
 6414                   .L753:
 6415 313a 822F                 mov r24,r18
 6416 313c 0E94 0000            call SetActiveParamSetNumber
 6417 3140 1091 0000            lds r17,EE_Parameter+1
 6418                   .L746:
 6419 3144 E12F                 mov r30,r17
 6420 3146 FF27                 clr r31
 6421 3148 EE0F                 add r30,r30
 6422 314a FF1F                 adc r31,r31
 6423 314c E050                 subi r30,lo8(-(PPM_in))
 6424 314e F040                 sbci r31,hi8(-(PPM_in))
 6425 3150 8081                 ld r24,Z
 6426 3152 9181                 ldd r25,Z+1
 6427 3154 0190                 ld __tmp_reg__,Z+
 6428 3156 F081                 ld r31,Z
 6429 3158 E02D                 mov r30,__tmp_reg__
 6430 315a F7FF                 sbrs r31,7
 6431 315c 00C0                 rjmp .+4
 6432 315e 0C94 0000            jmp .L1231
 6433                   .L755:
 6434 3162 7E97                 sbiw r30,30
 6435 3164 04F0                 brlt .+4
 6436 3166 0C94 0000            jmp .L754
 6437 316a 8091 0000            lds r24,EE_Parameter
 6438 316e E82F                 mov r30,r24
 6439 3170 FF27                 clr r31
 6440 3172 EE0F                 add r30,r30
 6441 3174 FF1F                 adc r31,r31
 6442 3176 E050                 subi r30,lo8(-(PPM_in))
 6443 3178 F040                 sbci r31,hi8(-(PPM_in))
 6444 317a 8081                 ld r24,Z
 6445 317c 9181                 ldd r25,Z+1
 6446 317e 8A5B                 subi r24,lo8(-70)
 6447 3180 9F4F                 sbci r25,hi8(-70)
 6448 3182 04F0                 brlt .+4
 6449 3184 0C94 0000            jmp .L754
 6450 3188 81E0                 ldi r24,lo8(1)
 6451 318a 8093 0000            sts WinkelOut+6,r24
 6452 318e 88EE                 ldi r24,lo8(1000)
 6453 3190 93E0                 ldi r25,hi8(1000)
 6454 3192 9093 0000            sts (beeptime)+1,r25
 6455 3196 8093 0000            sts beeptime,r24
 6456 319a 3091 0000            lds r19,EE_Parameter+2
 6457                   .L741:
 6458 319e E32F                 mov r30,r19
 6459 31a0 FF27                 clr r31
 6460 31a2 EE0F                 add r30,r30
 6461 31a4 FF1F                 adc r31,r31
 6462 31a6 E050                 subi r30,lo8(-(PPM_in))
 6463 31a8 F040                 sbci r31,hi8(-(PPM_in))
 6464 31aa 8081                 ld r24,Z
 6465 31ac 9181                 ldd r25,Z+1
 6466 31ae 8B5A                 subi r24,lo8(-85)
 6467 31b0 9F4F                 sbci r25,hi8(-85)
 6468 31b2 04F0                 brlt .+2
 6469 31b4 00C0                 rjmp .L734
 6470 31b6 D090 0000            lds r13,EE_Parameter+3
 6471 31ba ED2D                 mov r30,r13
 6472 31bc FF27                 clr r31
 6473 31be EE0F                 add r30,r30
 6474 31c0 FF1F                 adc r31,r31
 6475 31c2 E050                 subi r30,lo8(-(PPM_in))
 6476 31c4 F040                 sbci r31,hi8(-(PPM_in))
 6477 31c6 8081                 ld r24,Z
 6478 31c8 9181                 ldd r25,Z+1
 6479 31ca 855B                 subi r24,lo8(-75)
 6480 31cc 9F4F                 sbci r25,hi8(-75)
 6481 31ce 04F0                 brlt .+4
 6482 31d0 0C94 0000            jmp .L801
 6483 31d4 8091 0000            lds r24,delay_einschalten.9
 6484 31d8 8F5F                 subi r24,lo8(-(1))
 6485 31da 893C                 cpi r24,lo8(-55)
 6486 31dc 00F4                 brsh .+4
 6487 31de 0C94 0000            jmp .L1171
 6488 31e2 88EC                 ldi r24,lo8(-56)
 6489 31e4 8093 0000            sts delay_einschalten.9,r24
 6490 31e8 81E0                 ldi r24,lo8(1)
 6491 31ea 90E0                 ldi r25,hi8(1)
 6492 31ec 9093 0000            sts (modell_fliegt)+1,r25
 6493 31f0 8093 0000            sts modell_fliegt,r24
 6494 31f4 81E0                 ldi r24,lo8(1)
 6495 31f6 8093 0000            sts MotorenEin,r24
 6496 31fa 1092 0000            sts sollGier.2,__zero_reg__
 6497 31fe 1092 0000            sts (sollGier.2)+1,__zero_reg__
 6498 3202 1092 0000            sts (sollGier.2)+2,__zero_reg__
 6499 3206 1092 0000            sts (sollGier.2)+3,__zero_reg__
 6500 320a 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 6501 320e 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 6502 3212 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 6503 3216 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 6504 321a 1092 0000            sts Mess_Integral_Gier2,__zero_reg__
 6505 321e 1092 0000            sts (Mess_Integral_Gier2)+1,__zero_reg__
 6506 3222 1092 0000            sts (Mess_Integral_Gier2)+2,__zero_reg__
 6507 3226 1092 0000            sts (Mess_Integral_Gier2)+3,__zero_reg__
 6508 322a 8091 0000            lds r24,EE_Parameter+23
 6509 322e E82E                 mov r14,r24
 6510 3230 FF24                 clr r15
 6511 3232 0027                 clr r16
 6512 3234 1127                 clr r17
 6513 3236 8091 0000            lds r24,Mittelwert_AccNick
 6514 323a 9091 0000            lds r25,(Mittelwert_AccNick)+1
 6515 323e 9C01                 movw r18,r24
 6516 3240 4427                 clr r20
 6517 3242 37FD                 sbrc r19,7
 6518 3244 4095                 com r20
 6519 3246 542F                 mov r21,r20
 6520 3248 C801                 movw r24,r16
 6521 324a B701                 movw r22,r14
 6522 324c 0E94 0000            call __mulsi3
 6523 3250 DC01                 movw r26,r24
 6524 3252 CB01                 movw r24,r22
 6525 3254 8093 0000            sts Mess_IntegralNick,r24
 6526 3258 9093 0000            sts (Mess_IntegralNick)+1,r25
 6527 325c A093 0000            sts (Mess_IntegralNick)+2,r26
 6528 3260 B093 0000            sts (Mess_IntegralNick)+3,r27
 6529 3264 8091 0000            lds r24,Mittelwert_AccRoll
 6530 3268 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 6531 326c 9C01                 movw r18,r24
 6532 326e 4427                 clr r20
 6533 3270 37FD                 sbrc r19,7
 6534 3272 4095                 com r20
 6535 3274 542F                 mov r21,r20
 6536 3276 C801                 movw r24,r16
 6537 3278 B701                 movw r22,r14
 6538 327a 0E94 0000            call __mulsi3
 6539 327e DC01                 movw r26,r24
 6540 3280 CB01                 movw r24,r22
 6541 3282 8093 0000            sts Mess_IntegralRoll,r24
 6542 3286 9093 0000            sts (Mess_IntegralRoll)+1,r25
 6543 328a A093 0000            sts (Mess_IntegralRoll)+2,r26
 6544 328e B093 0000            sts (Mess_IntegralRoll)+3,r27
 6545 3292 8091 0000            lds r24,IntegralNick
 6546 3296 9091 0000            lds r25,(IntegralNick)+1
 6547 329a A091 0000            lds r26,(IntegralNick)+2
 6548 329e B091 0000            lds r27,(IntegralNick)+3
 6549 32a2 8093 0000            sts Mess_IntegralNick2,r24
 6550 32a6 9093 0000            sts (Mess_IntegralNick2)+1,r25
 6551 32aa A093 0000            sts (Mess_IntegralNick2)+2,r26
 6552 32ae B093 0000            sts (Mess_IntegralNick2)+3,r27
 6553 32b2 8091 0000            lds r24,IntegralRoll
 6554 32b6 9091 0000            lds r25,(IntegralRoll)+1
 6555 32ba A091 0000            lds r26,(IntegralRoll)+2
 6556 32be B091 0000            lds r27,(IntegralRoll)+3
 6557 32c2 8093 0000            sts Mess_IntegralRoll2,r24
 6558 32c6 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 6559 32ca A093 0000            sts (Mess_IntegralRoll2)+2,r26
 6560 32ce B093 0000            sts (Mess_IntegralRoll2)+3,r27
 6561 32d2 1092 0000            sts SummeNick.0,__zero_reg__
 6562 32d6 1092 0000            sts (SummeNick.0)+1,__zero_reg__
 6563 32da 1092 0000            sts (SummeNick.0)+2,__zero_reg__
 6564 32de 1092 0000            sts (SummeNick.0)+3,__zero_reg__
 6565 32e2 1092 0000            sts SummeRoll.1,__zero_reg__
 6566 32e6 1092 0000            sts (SummeRoll.1)+1,__zero_reg__
 6567 32ea 1092 0000            sts (SummeRoll.1)+2,__zero_reg__
 6568 32ee 1092 0000            sts (SummeRoll.1)+3,__zero_reg__
 6569 32f2 8091 0000            lds r24,MikroKopterFlags
 6570 32f6 8860                 ori r24,lo8(8)
 6571 32f8 8093 0000            sts MikroKopterFlags,r24
 6572 32fc 0C94 0000            jmp .L803
 6573                   .L1211:
 6574 3300 0197                 sbiw r24,1
 6575 3302 9093 0000            sts (RcLostTimer.7)+1,r25
 6576 3306 8093 0000            sts RcLostTimer.7,r24
 6577 330a 2A30                 cpi r18,lo8(10)
 6578 330c 01F0                 breq .+2
 6579 330e 00C0                 rjmp .L1232
 6580                   .L730:
 6581 3310 289A                 sbi 37-0x20,0
 6582 3312 8091 0000            lds r24,modell_fliegt
 6583 3316 9091 0000            lds r25,(modell_fliegt)+1
 6584 331a 895E                 subi r24,lo8(1001)
 6585 331c 9340                 sbci r25,hi8(1001)
 6586 331e 00F0                 brlo .+2
 6587 3320 00C0                 rjmp .L1233
 6588                   .L732:
 6589 3322 1092 0000            sts MotorenEin,__zero_reg__
 6590 3326 00C0                 rjmp .L734
 6591                   .L1149:
 6592 3328 6091 0000            lds r22,EE_Parameter+8
 6593 332c 688B                 std Y+16,r22
 6594                   .L807:
 6595 332e 7091 0000            lds r23,Looping_Roll
 6596 3332 7B8F                 std Y+27,r23
 6597 3334 7723                 tst r23
 6598 3336 01F4                 brne .L856
 6599 3338 8091 0000            lds r24,Looping_Nick
 6600 333c 8823                 tst r24
 6601 333e 01F0                 breq .L855
 6602                   .L856:
 6603 3340 8091 0000            lds r24,EE_Parameter+48
 6604 3344 9927                 clr r25
 6605 3346 A981                 ldd r26,Y+1
 6606 3348 BA81                 ldd r27,Y+2
 6607 334a 8A17                 cp r24,r26
 6608 334c 9B07                 cpc r25,r27
 6609 334e 04F4                 brge .L857
 6610 3350 9A83                 std Y+2,r25
 6611 3352 8983                 std Y+1,r24
 6612                   .L857:
 6613 3354 81E0                 ldi r24,lo8(1)
 6614 3356 8093 0000            sts TrichterFlug,r24
 6615                   .L855:
 6616 335a 8091 0000            lds r24,MikroKopterFlags
 6617 335e 84FF                 sbrs r24,4
 6618 3360 00C0                 rjmp .L1150
 6619 3362 1092 0000            sts (StickGier)+1,__zero_reg__
 6620 3366 1092 0000            sts StickGier,__zero_reg__
 6621 336a 1092 0000            sts (StickNick)+1,__zero_reg__
 6622 336e 1092 0000            sts StickNick,__zero_reg__
 6623 3372 1092 0000            sts (StickRoll)+1,__zero_reg__
 6624 3376 1092 0000            sts StickRoll,__zero_reg__
 6625 337a 9AE5                 ldi r25,lo8(90)
 6626 337c 9093 0000            sts GyroFaktor,r25
 6627 3380 88E7                 ldi r24,lo8(120)
 6628 3382 8093 0000            sts IntegralFaktor,r24
 6629 3386 9093 0000            sts GyroFaktorGier,r25
 6630 338a 8A8F                 std Y+26,r24
 6631 338c 8093 0000            sts IntegralFaktorGier,r24
 6632 3390 1092 0000            sts Looping_Roll,__zero_reg__
 6633 3394 1092 0000            sts Looping_Nick,__zero_reg__
 6634 3398 1B8E                 std Y+27,__zero_reg__
 6635                   .L858:
 6636 339a 2091 0000            lds r18,MittelIntegralNick
 6637 339e 3091 0000            lds r19,(MittelIntegralNick)+1
 6638 33a2 4091 0000            lds r20,(MittelIntegralNick)+2
 6639 33a6 5091 0000            lds r21,(MittelIntegralNick)+3
 6640 33aa E090 0000            lds r14,IntegralNick
 6641 33ae F090 0000            lds r15,(IntegralNick)+1
 6642 33b2 0091 0000            lds r16,(IntegralNick)+2
 6643 33b6 1091 0000            lds r17,(IntegralNick)+3
 6644 33ba ED8E                 std Y+29,r14
 6645 33bc FE8E                 std Y+30,r15
 6646 33be 0F8F                 std Y+31,r16
 6647 33c0 18A3                 std Y+32,r17
 6648 33c2 2E0D                 add r18,r14
 6649 33c4 3F1D                 adc r19,r15
 6650 33c6 401F                 adc r20,r16
 6651 33c8 511F                 adc r21,r17
 6652 33ca 8091 0000            lds r24,MittelIntegralRoll
 6653 33ce 9091 0000            lds r25,(MittelIntegralRoll)+1
 6654 33d2 A091 0000            lds r26,(MittelIntegralRoll)+2
 6655 33d6 B091 0000            lds r27,(MittelIntegralRoll)+3
 6656 33da E090 0000            lds r14,IntegralRoll
 6657 33de F090 0000            lds r15,(IntegralRoll)+1
 6658 33e2 0091 0000            lds r16,(IntegralRoll)+2
 6659 33e6 1091 0000            lds r17,(IntegralRoll)+3
 6660 33ea EC86                 std Y+12,r14
 6661 33ec FD86                 std Y+13,r15
 6662 33ee 0E87                 std Y+14,r16
 6663 33f0 1F87                 std Y+15,r17
 6664 33f2 8E0D                 add r24,r14
 6665 33f4 9F1D                 adc r25,r15
 6666 33f6 A01F                 adc r26,r16
 6667 33f8 B11F                 adc r27,r17
 6668 33fa 2090 0000            lds r2,MittelIntegralNick2
 6669 33fe 3090 0000            lds r3,(MittelIntegralNick2)+1
 6670 3402 4090 0000            lds r4,(MittelIntegralNick2)+2
 6671 3406 5090 0000            lds r5,(MittelIntegralNick2)+3
 6672 340a E090 0000            lds r14,IntegralNick2
 6673 340e F090 0000            lds r15,(IntegralNick2)+1
 6674 3412 0091 0000            lds r16,(IntegralNick2)+2
 6675 3416 1091 0000            lds r17,(IntegralNick2)+3
 6676 341a EE8A                 std Y+22,r14
 6677 341c FF8A                 std Y+23,r15
 6678 341e 088F                 std Y+24,r16
 6679 3420 198F                 std Y+25,r17
 6680 3422 2E0C                 add r2,r14
 6681 3424 3F1C                 adc r3,r15
 6682 3426 401E                 adc r4,r16
 6683 3428 511E                 adc r5,r17
 6684 342a 6090 0000            lds r6,MittelIntegralRoll2
 6685 342e 7090 0000            lds r7,(MittelIntegralRoll2)+1
 6686 3432 8090 0000            lds r8,(MittelIntegralRoll2)+2
 6687 3436 9090 0000            lds r9,(MittelIntegralRoll2)+3
 6688 343a E090 0000            lds r14,IntegralRoll2
 6689 343e F090 0000            lds r15,(IntegralRoll2)+1
 6690 3442 0091 0000            lds r16,(IntegralRoll2)+2
 6691 3446 1091 0000            lds r17,(IntegralRoll2)+3
 6692 344a E9A2                 std Y+33,r14
 6693 344c FAA2                 std Y+34,r15
 6694 344e 0BA3                 std Y+35,r16
 6695 3450 1CA3                 std Y+36,r17
 6696 3452 6E0C                 add r6,r14
 6697 3454 7F1C                 adc r7,r15
 6698 3456 801E                 adc r8,r16
 6699 3458 911E                 adc r9,r17
 6700 345a F090 0000            lds r15,Looping_Nick
 6701 345e FB86                 std Y+11,r15
 6702 3460 FF20                 tst r15
 6703 3462 01F0                 breq .+2
 6704 3464 00C0                 rjmp .L860
 6705 3466 0B8D                 ldd r16,Y+27
 6706 3468 0023                 tst r16
 6707 346a 01F0                 breq .+2
 6708 346c 00C0                 rjmp .L860
 6709 346e 8093 0000            sts MittelIntegralRoll,r24
 6710 3472 9093 0000            sts (MittelIntegralRoll)+1,r25
 6711 3476 A093 0000            sts (MittelIntegralRoll)+2,r26
 6712 347a B093 0000            sts (MittelIntegralRoll)+3,r27
 6713 347e 2093 0000            sts MittelIntegralNick,r18
 6714 3482 3093 0000            sts (MittelIntegralNick)+1,r19
 6715 3486 4093 0000            sts (MittelIntegralNick)+2,r20
 6716 348a 5093 0000            sts (MittelIntegralNick)+3,r21
 6717                   .L1196:
 6718 348e 8091 0000            lds r24,Aktuell_az
 6719 3492 9091 0000            lds r25,(Aktuell_az)+1
 6720 3496 8150                 subi r24,lo8(513)
 6721 3498 9240                 sbci r25,hi8(513)
 6722 349a 04F0                 brlt .+2
 6723 349c 00C0                 rjmp .L862
 6724 349e 8091 0000            lds r24,MotorenEin
 6725 34a2 8823                 tst r24
 6726 34a4 01F0                 breq .+2
 6727 34a6 00C0                 rjmp .L862
 6728                   .L861:
 6729 34a8 8091 0000            lds r24,ZaehlMessungen
 6730 34ac 9091 0000            lds r25,(ZaehlMessungen)+1
 6731 34b0 8F3F                 cpi r24,255
 6732 34b2 9105                 cpc r25,__zero_reg__
 6733 34b4 01F0                 breq .+2
 6734 34b6 00F4                 brsh .+2
 6735 34b8 00C0                 rjmp .L1151
 6736                   .L1265:
 6737 34ba 8B85                 ldd r24,Y+11
 6738 34bc 8823                 tst r24
 6739 34be 01F0                 breq .+2
 6740 34c0 00C0                 rjmp .L874
 6741 34c2 9B8D                 ldd r25,Y+27
 6742 34c4 9923                 tst r25
 6743 34c6 01F0                 breq .+2
 6744 34c8 00C0                 rjmp .L874
 6745 34ca A091 0000            lds r26,TrichterFlug
 6746 34ce AC8F                 std Y+28,r26
 6747 34d0 AA23                 tst r26
 6748 34d2 01F0                 breq .+2
 6749 34d4 00C0                 rjmp .L874
 6750 34d6 B091 0000            lds r27,EE_Parameter+57
 6751 34da B98B                 std Y+17,r27
 6752 34dc BB23                 tst r27
 6753 34de 01F4                 brne .+2
 6754 34e0 00C0                 rjmp .L874
 6755 34e2 2092 0000            sts MittelIntegralNick2,r2
 6756 34e6 3092 0000            sts (MittelIntegralNick2)+1,r3
 6757 34ea 4092 0000            sts (MittelIntegralNick2)+2,r4
 6758 34ee 5092 0000            sts (MittelIntegralNick2)+3,r5
 6759 34f2 6092 0000            sts MittelIntegralRoll2,r6
 6760 34f6 7092 0000            sts (MittelIntegralRoll2)+1,r7
 6761 34fa 8092 0000            sts (MittelIntegralRoll2)+2,r8
 6762 34fe 9092 0000            sts (MittelIntegralRoll2)+3,r9
 6763 3502 8091 0000            lds r24,MittelIntegralNick
 6764 3506 9091 0000            lds r25,(MittelIntegralNick)+1
 6765 350a A091 0000            lds r26,(MittelIntegralNick)+2
 6766 350e B091 0000            lds r27,(MittelIntegralNick)+3
 6767 3512 B7FF                 sbrs r27,7
 6768 3514 00C0                 rjmp .+4
 6769 3516 0C94 0000            jmp .L1234
 6770                   .L875:
 6771 351a 292E                 mov r2,r25
 6772 351c 3A2E                 mov r3,r26
 6773 351e 4B2E                 mov r4,r27
 6774 3520 5524                 clr r5
 6775 3522 47FC                 sbrc r4,7
 6776 3524 5A94                 dec r5
 6777 3526 2092 0000            sts MittelIntegralNick,r2
 6778 352a 3092 0000            sts (MittelIntegralNick)+1,r3
 6779 352e 4092 0000            sts (MittelIntegralNick)+2,r4
 6780 3532 5092 0000            sts (MittelIntegralNick)+3,r5
 6781 3536 8091 0000            lds r24,MittelIntegralRoll
 6782 353a 9091 0000            lds r25,(MittelIntegralRoll)+1
 6783 353e A091 0000            lds r26,(MittelIntegralRoll)+2
 6784 3542 B091 0000            lds r27,(MittelIntegralRoll)+3
 6785 3546 B7FF                 sbrs r27,7
 6786 3548 00C0                 rjmp .+4
 6787 354a 0C94 0000            jmp .L1235
 6788                   .L876:
 6789 354e 892F                 mov r24,r25
 6790 3550 9A2F                 mov r25,r26
 6791 3552 AB2F                 mov r26,r27
 6792 3554 BB27                 clr r27
 6793 3556 A7FD                 sbrc r26,7
 6794 3558 BA95                 dec r27
 6795 355a 8B83                 std Y+3,r24
 6796 355c 9C83                 std Y+4,r25
 6797 355e AD83                 std Y+5,r26
 6798 3560 BE83                 std Y+6,r27
 6799 3562 8093 0000            sts MittelIntegralRoll,r24
 6800 3566 9093 0000            sts (MittelIntegralRoll)+1,r25
 6801 356a A093 0000            sts (MittelIntegralRoll)+2,r26
 6802 356e B093 0000            sts (MittelIntegralRoll)+3,r27
 6803 3572 8091 0000            lds r24,EE_Parameter+23
 6804 3576 E82E                 mov r14,r24
 6805 3578 FF24                 clr r15
 6806 357a 0027                 clr r16
 6807 357c 1127                 clr r17
 6808 357e 2091 0000            lds r18,IntegralAccNick
 6809 3582 3091 0000            lds r19,(IntegralAccNick)+1
 6810 3586 4091 0000            lds r20,(IntegralAccNick)+2
 6811 358a 5091 0000            lds r21,(IntegralAccNick)+3
 6812 358e C801                 movw r24,r16
 6813 3590 B701                 movw r22,r14
 6814 3592 0E94 0000            call __mulsi3
 6815 3596 97FF                 sbrs r25,7
 6816 3598 00C0                 rjmp .+4
 6817 359a 0C94 0000            jmp .L1236
 6818                   .L877:
 6819 359e 672E                 mov r6,r23
 6820 35a0 782E                 mov r7,r24
 6821 35a2 892E                 mov r8,r25
 6822 35a4 9924                 clr r9
 6823 35a6 87FC                 sbrc r8,7
 6824 35a8 9A94                 dec r9
 6825 35aa 2091 0000            lds r18,IntegralAccRoll
 6826 35ae 3091 0000            lds r19,(IntegralAccRoll)+1
 6827 35b2 4091 0000            lds r20,(IntegralAccRoll)+2
 6828 35b6 5091 0000            lds r21,(IntegralAccRoll)+3
 6829 35ba C801                 movw r24,r16
 6830 35bc B701                 movw r22,r14
 6831 35be 0E94 0000            call __mulsi3
 6832 35c2 97FF                 sbrs r25,7
 6833 35c4 00C0                 rjmp .+4
 6834 35c6 0C94 0000            jmp .L1237
 6835                   .L878:
 6836 35ca A72E                 mov r10,r23
 6837 35cc B82E                 mov r11,r24
 6838 35ce C92E                 mov r12,r25
 6839 35d0 DD24                 clr r13
 6840 35d2 C7FC                 sbrc r12,7
 6841 35d4 DA94                 dec r13
 6842 35d6 D201                 movw r26,r4
 6843 35d8 C101                 movw r24,r2
 6844 35da 8619                 sub r24,r6
 6845 35dc 9709                 sbc r25,r7
 6846 35de A809                 sbc r26,r8
 6847 35e0 B909                 sbc r27,r9
 6848 35e2 2091 0000            lds r18,EE_Parameter+56
 6849 35e6 E22E                 mov r14,r18
 6850 35e8 FF24                 clr r15
 6851 35ea 0027                 clr r16
 6852 35ec 1127                 clr r17
 6853 35ee BC01                 movw r22,r24
 6854 35f0 CD01                 movw r24,r26
 6855 35f2 A801                 movw r20,r16
 6856 35f4 9701                 movw r18,r14
 6857 35f6 0E94 0000            call __divmodsi4
 6858 35fa 3901                 movw r6,r18
 6859 35fc 4A01                 movw r8,r20
 6860 35fe 1901                 movw r2,r18
 6861 3600 2A01                 movw r4,r20
 6862 3602 8B81                 ldd r24,Y+3
 6863 3604 9C81                 ldd r25,Y+4
 6864 3606 AD81                 ldd r26,Y+5
 6865 3608 BE81                 ldd r27,Y+6
 6866 360a 8A19                 sub r24,r10
 6867 360c 9B09                 sbc r25,r11
 6868 360e AC09                 sbc r26,r12
 6869 3610 BD09                 sbc r27,r13
 6870 3612 BC01                 movw r22,r24
 6871 3614 CD01                 movw r24,r26
 6872 3616 A801                 movw r20,r16
 6873 3618 9701                 movw r18,r14
 6874 361a 0E94 0000            call __divmodsi4
 6875 361e D401                 movw r26,r8
 6876 3620 C301                 movw r24,r6
 6877 3622 97FE                 sbrs r9,7
 6878 3624 00C0                 rjmp .+4
 6879 3626 0C94 0000            jmp .L1238
 6880                   .L880:
 6881 362a 892F                 mov r24,r25
 6882 362c 9A2F                 mov r25,r26
 6883 362e AB2F                 mov r26,r27
 6884 3630 BB27                 clr r27
 6885 3632 A7FD                 sbrc r26,7
 6886 3634 BA95                 dec r27
 6887 3636 BC01                 movw r22,r24
 6888 3638 DA01                 movw r26,r20
 6889 363a C901                 movw r24,r18
 6890 363c 57FF                 sbrs r21,7
 6891 363e 00C0                 rjmp .+4
 6892 3640 0C94 0000            jmp .L1239
 6893                   .L881:
 6894 3644 892F                 mov r24,r25
 6895 3646 9A2F                 mov r25,r26
 6896 3648 AB2F                 mov r26,r27
 6897 364a BB27                 clr r27
 6898 364c A7FD                 sbrc r26,7
 6899 364e BA95                 dec r27
 6900 3650 6C01                 movw r12,r24
 6901 3652 8091 0000            lds r24,MaxStickNick
 6902 3656 9091 0000            lds r25,(MaxStickNick)+1
 6903 365a 8134                 cpi r24,65
 6904 365c 9105                 cpc r25,__zero_reg__
 6905 365e 04F4                 brge .L883
 6906 3660 8091 0000            lds r24,MaxStickRoll
 6907 3664 9091 0000            lds r25,(MaxStickRoll)+1
 6908 3668 8134                 cpi r24,65
 6909 366a 9105                 cpc r25,__zero_reg__
 6910 366c 04F4                 brge .L883
 6911 366e 8091 0000            lds r24,EE_Parameter+3
 6912 3672 E82F                 mov r30,r24
 6913 3674 FF27                 clr r31
 6914 3676 EE0F                 add r30,r30
 6915 3678 FF1F                 adc r31,r31
 6916 367a E050                 subi r30,lo8(-(PPM_in))
 6917 367c F040                 sbci r31,hi8(-(PPM_in))
 6918 367e 8081                 ld r24,Z
 6919 3680 9181                 ldd r25,Z+1
 6920 3682 0190                 ld __tmp_reg__,Z+
 6921 3684 F081                 ld r31,Z
 6922 3686 E02D                 mov r30,__tmp_reg__
 6923 3688 F7FF                 sbrs r31,7
 6924 368a 00C0                 rjmp .+4
 6925 368c 0C94 0000            jmp .L1240
 6926                   .L884:
 6927 3690 7A97                 sbiw r30,26
 6928 3692 04F0                 brlt .L882
 6929                   .L883:
 6930 3694 7093 0000            sts (LageKorrekturNick)+1,r23
 6931 3698 6093 0000            sts LageKorrekturNick,r22
 6932 369c D092 0000            sts (LageKorrekturRoll)+1,r13
 6933 36a0 C092 0000            sts LageKorrekturRoll,r12
 6934 36a4 CB01                 movw r24,r22
 6935 36a6 77FF                 sbrs r23,7
 6936 36a8 00C0                 rjmp .+4
 6937 36aa 0C94 0000            jmp .L1241
 6938                   .L885:
 6939 36ae BC01                 movw r22,r24
 6940 36b0 7595                 asr r23
 6941 36b2 6795                 ror r22
 6942 36b4 C601                 movw r24,r12
 6943 36b6 D7FE                 sbrs r13,7
 6944 36b8 00C0                 rjmp .+4
 6945 36ba 0C94 0000            jmp .L1242
 6946                   .L886:
 6947 36be 6C01                 movw r12,r24
 6948 36c0 D594                 asr r13
 6949 36c2 C794                 ror r12
 6950                   .L882:
 6951 36c4 EE88                 ldd r14,Y+22
 6952 36c6 FF88                 ldd r15,Y+23
 6953 36c8 088D                 ldd r16,Y+24
 6954 36ca 198D                 ldd r17,Y+25
 6955 36cc 2D8D                 ldd r18,Y+29
 6956 36ce 3E8D                 ldd r19,Y+30
 6957 36d0 4F8D                 ldd r20,Y+31
 6958 36d2 58A1                 ldd r21,Y+32
 6959 36d4 E21A                 sub r14,r18
 6960 36d6 F30A                 sbc r15,r19
 6961 36d8 040B                 sbc r16,r20
 6962 36da 150B                 sbc r17,r21
 6963 36dc EDA2                 std Y+37,r14
 6964 36de FEA2                 std Y+38,r15
 6965 36e0 0FA3                 std Y+39,r16
 6966 36e2 18A7                 std Y+40,r17
 6967 36e4 E092 0000            sts tmp_long.3,r14
 6968 36e8 F092 0000            sts (tmp_long.3)+1,r15
 6969 36ec 0093 0000            sts (tmp_long.3)+2,r16
 6970 36f0 1093 0000            sts (tmp_long.3)+3,r17
 6971 36f4 89A1                 ldd r24,Y+33
 6972 36f6 9AA1                 ldd r25,Y+34
 6973 36f8 ABA1                 ldd r26,Y+35
 6974 36fa BCA1                 ldd r27,Y+36
 6975 36fc EC84                 ldd r14,Y+12
 6976 36fe FD84                 ldd r15,Y+13
 6977 3700 0E85                 ldd r16,Y+14
 6978 3702 1F85                 ldd r17,Y+15
 6979 3704 8E19                 sub r24,r14
 6980 3706 9F09                 sbc r25,r15
 6981 3708 A00B                 sbc r26,r16
 6982 370a B10B                 sbc r27,r17
 6983 370c 8F83                 std Y+7,r24
 6984 370e 9887                 std Y+8,r25
 6985 3710 A987                 std Y+9,r26
 6986 3712 BA87                 std Y+10,r27
 6987 3714 8093 0000            sts tmp_long2.4,r24
 6988 3718 9093 0000            sts (tmp_long2.4)+1,r25
 6989 371c A093 0000            sts (tmp_long2.4)+2,r26
 6990 3720 B093 0000            sts (tmp_long2.4)+3,r27
 6991 3724 0DA1                 ldd r16,Y+37
 6992 3726 1EA1                 ldd r17,Y+38
 6993 3728 2FA1                 ldd r18,Y+39
 6994 372a 38A5                 ldd r19,Y+40
 6995 372c 0093 0000            sts IntegralFehlerNick.5,r16
 6996 3730 1093 0000            sts (IntegralFehlerNick.5)+1,r17
 6997 3734 2093 0000            sts (IntegralFehlerNick.5)+2,r18
 6998 3738 3093 0000            sts (IntegralFehlerNick.5)+3,r19
 6999 373c 8093 0000            sts IntegralFehlerRoll.6,r24
 7000 3740 9093 0000            sts (IntegralFehlerRoll.6)+1,r25
 7001 3744 A093 0000            sts (IntegralFehlerRoll.6)+2,r26
 7002 3748 B093 0000            sts (IntegralFehlerRoll.6)+3,r27
 7003 374c 8091 0000            lds r24,Mess_IntegralNick2
 7004 3750 9091 0000            lds r25,(Mess_IntegralNick2)+1
 7005 3754 A091 0000            lds r26,(Mess_IntegralNick2)+2
 7006 3758 B091 0000            lds r27,(Mess_IntegralNick2)+3
 7007 375c 801B                 sub r24,r16
 7008 375e 910B                 sbc r25,r17
 7009 3760 A20B                 sbc r26,r18
 7010 3762 B30B                 sbc r27,r19
 7011 3764 8093 0000            sts Mess_IntegralNick2,r24
 7012 3768 9093 0000            sts (Mess_IntegralNick2)+1,r25
 7013 376c A093 0000            sts (Mess_IntegralNick2)+2,r26
 7014 3770 B093 0000            sts (Mess_IntegralNick2)+3,r27
 7015 3774 8091 0000            lds r24,Mess_IntegralRoll2
 7016 3778 9091 0000            lds r25,(Mess_IntegralRoll2)+1
 7017 377c A091 0000            lds r26,(Mess_IntegralRoll2)+2
 7018 3780 B091 0000            lds r27,(Mess_IntegralRoll2)+3
 7019 3784 2F81                 ldd r18,Y+7
 7020 3786 3885                 ldd r19,Y+8
 7021 3788 4985                 ldd r20,Y+9
 7022 378a 5A85                 ldd r21,Y+10
 7023 378c 821B                 sub r24,r18
 7024 378e 930B                 sbc r25,r19
 7025 3790 A40B                 sbc r26,r20
 7026 3792 B50B                 sbc r27,r21
 7027 3794 8093 0000            sts Mess_IntegralRoll2,r24
 7028 3798 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 7029 379c A093 0000            sts (Mess_IntegralRoll2)+2,r26
 7030 37a0 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 7031 37a4 3989                 ldd r19,Y+17
 7032 37a6 3323                 tst r19
 7033 37a8 01F0                 breq .L889
 7034 37aa 2091 0000            lds r18,GierGyroFehler
 7035 37ae 3091 0000            lds r19,(GierGyroFehler)+1
 7036 37b2 2138                 cpi r18,129
 7037 37b4 3105                 cpc r19,__zero_reg__
 7038 37b6 04F0                 brlt .L890
 7039 37b8 8091 0000            lds r24,AdNeutralGier
 7040 37bc 9091 0000            lds r25,(AdNeutralGier)+1
 7041 37c0 0196                 adiw r24,1
 7042 37c2 9093 0000            sts (AdNeutralGier)+1,r25
 7043 37c6 8093 0000            sts AdNeutralGier,r24
 7044 37ca 8091 0000            lds r24,AdNeutralGierBias
 7045 37ce 9091 0000            lds r25,(AdNeutralGierBias)+1
 7046 37d2 0196                 adiw r24,1
 7047 37d4 9093 0000            sts (AdNeutralGierBias)+1,r25
 7048 37d8 8093 0000            sts AdNeutralGierBias,r24
 7049                   .L890:
 7050 37dc 2058                 subi r18,lo8(-128)
 7051 37de 3F4F                 sbci r19,hi8(-128)
 7052 37e0 04F4                 brge .L889
 7053 37e2 8091 0000            lds r24,AdNeutralGier
 7054 37e6 9091 0000            lds r25,(AdNeutralGier)+1
 7055 37ea 0197                 sbiw r24,1
 7056 37ec 9093 0000            sts (AdNeutralGier)+1,r25
 7057 37f0 8093 0000            sts AdNeutralGier,r24
 7058 37f4 8091 0000            lds r24,AdNeutralGierBias
 7059 37f8 9091 0000            lds r25,(AdNeutralGierBias)+1
 7060 37fc 0197                 sbiw r24,1
 7061 37fe 9093 0000            sts (AdNeutralGierBias)+1,r25
 7062 3802 8093 0000            sts AdNeutralGierBias,r24
 7063                   .L889:
 7064 3806 1092 0000            sts (GierGyroFehler)+1,__zero_reg__
 7065 380a 1092 0000            sts GierGyroFehler,__zero_reg__
 7066 380e 41E0                 ldi r20,lo8(1)
 7067 3810 A42E                 mov r10,r20
 7068 3812 B12C                 mov r11,__zero_reg__
 7069 3814 8DA1                 ldd r24,Y+37
 7070 3816 9EA1                 ldd r25,Y+38
 7071 3818 AFA1                 ldd r26,Y+39
 7072 381a B8A5                 ldd r27,Y+40
 7073 381c B7FF                 sbrs r27,7
 7074 381e 00C0                 rjmp .+4
 7075 3820 0C94 0000            jmp .L1243
 7076                   .L893:
 7077 3824 8150                 subi r24,lo8(513)
 7078 3826 9240                 sbci r25,hi8(513)
 7079 3828 A040                 sbci r26,hlo8(513)
 7080 382a B040                 sbci r27,hhi8(513)
 7081 382c 04F0                 brlt .L892
 7082 382e 34E0                 ldi r19,lo8(4)
 7083 3830 A32E                 mov r10,r19
 7084 3832 B12C                 mov r11,__zero_reg__
 7085                   .L892:
 7086 3834 8091 0000            lds r24,MittelIntegralNick_Alt.22
 7087 3838 9091 0000            lds r25,(MittelIntegralNick_Alt.22)+1
 7088 383c A091 0000            lds r26,(MittelIntegralNick_Alt.22)+2
 7089 3840 B091 0000            lds r27,(MittelIntegralNick_Alt.22)+3
 7090 3844 E090 0000            lds r14,MittelIntegralNick
 7091 3848 F090 0000            lds r15,(MittelIntegralNick)+1
 7092 384c 0091 0000            lds r16,(MittelIntegralNick)+2
 7093 3850 1091 0000            lds r17,(MittelIntegralNick)+3
 7094 3854 8E19                 sub r24,r14
 7095 3856 9F09                 sbc r25,r15
 7096 3858 A00B                 sbc r26,r16
 7097 385a B10B                 sbc r27,r17
 7098 385c 815E                 subi r24,lo8(-(19999))
 7099 385e 914B                 sbci r25,hi8(-(19999))
 7100 3860 AF4F                 sbci r26,hlo8(-(19999))
 7101 3862 BF4F                 sbci r27,hhi8(-(19999))
 7102 3864 8F53                 subi r24,lo8(39999)
 7103 3866 9C49                 sbci r25,hi8(39999)
 7104 3868 A040                 sbci r26,hlo8(39999)
 7105 386a B040                 sbci r27,hhi8(39999)
 7106 386c 00F0                 brlo .+4
 7107 386e 0C94 0000            jmp .L894
 7108 3872 B092 0000            sts (cnt.17)+1,r11
 7109 3876 A092 0000            sts cnt.17,r10
 7110 387a 2DA1                 ldd r18,Y+37
 7111 387c 3EA1                 ldd r19,Y+38
 7112 387e 4FA1                 ldd r20,Y+39
 7113 3880 58A5                 ldd r21,Y+40
 7114 3882 2130                 cpi r18,lo8(4097)
 7115 3884 80E1                 ldi r24,hi8(4097)
 7116 3886 3807                 cpc r19,r24
 7117 3888 80E0                 ldi r24,hlo8(4097)
 7118 388a 4807                 cpc r20,r24
 7119 388c 80E0                 ldi r24,hhi8(4097)
 7120 388e 5807                 cpc r21,r24
 7121 3890 04F4                 brge .+4
 7122 3892 0C94 0000            jmp .L895
 7123 3896 8091 0000            lds r24,last_n_p.18
 7124 389a 8823                 tst r24
 7125 389c 01F4                 brne .+4
 7126 389e 0C94 0000            jmp .L896
 7127 38a2 7093 0000            sts (LageKorrekturNick)+1,r23
 7128 38a6 6093 0000            sts LageKorrekturNick,r22
 7129 38aa DA01                 movw r26,r20
 7130 38ac C901                 movw r24,r18
 7131 38ae 57FF                 sbrs r21,7
 7132 38b0 00C0                 rjmp .+4
 7133 38b2 0C94 0000            jmp .L1244
 7134                   .L897:
 7135 38b6 B7FF                 sbrs r27,7
 7136 38b8 00C0                 rjmp .+4
 7137 38ba 0C94 0000            jmp .L1245
 7138                   .L898:
 7139 38be 29E0                 ldi r18,9
 7140 38c0 B595         1:      asr r27
 7141 38c2 A795                 ror r26
 7142 38c4 9795                 ror r25
 7143 38c6 8795                 ror r24
 7144 38c8 2A95                 dec r18
 7145 38ca 01F4                 brne 1b
 7146 38cc A80E                 add r10,r24
 7147 38ce B91E                 adc r11,r25
 7148 38d0 B092 0000            sts (cnt.17)+1,r11
 7149 38d4 A092 0000            sts cnt.17,r10
 7150 38d8 2DA1                 ldd r18,Y+37
 7151 38da 3EA1                 ldd r19,Y+38
 7152 38dc 4FA1                 ldd r20,Y+39
 7153 38de 58A5                 ldd r21,Y+40
 7154 38e0 57FF                 sbrs r21,7
 7155 38e2 00C0                 rjmp .+4
 7156 38e4 0C94 0000            jmp .L1246
 7157                   .L899:
 7158 38e8 3901                 movw r6,r18
 7159 38ea 4A01                 movw r8,r20
 7160 38ec A3E0                 ldi r26,3
 7161 38ee 9594         1:      asr r9
 7162 38f0 8794                 ror r8
 7163 38f2 7794                 ror r7
 7164 38f4 6794                 ror r6
 7165 38f6 AA95                 dec r26
 7166 38f8 01F4                 brne 1b
 7167 38fa 1301                 movw r2,r6
 7168 38fc 2401                 movw r4,r8
 7169 38fe 99E8                 ldi r25,lo8(5001)
 7170 3900 6916                 cp r6,r25
 7171 3902 93E1                 ldi r25,hi8(5001)
 7172 3904 7906                 cpc r7,r25
 7173 3906 90E0                 ldi r25,hlo8(5001)
 7174 3908 8906                 cpc r8,r25
 7175 390a 90E0                 ldi r25,hhi8(5001)
 7176 390c 9906                 cpc r9,r25
 7177 390e 04F0                 brlt .L900
 7178 3910 F8E8                 ldi r31,lo8(5000)
 7179 3912 6F2E                 mov r6,r31
 7180 3914 F3E1                 ldi r31,hi8(5000)
 7181 3916 7F2E                 mov r7,r31
 7182 3918 812C                 mov r8,__zero_reg__
 7183 391a 912C                 mov r9,__zero_reg__
 7184 391c 1301                 movw r2,r6
 7185 391e 2401                 movw r4,r8
 7186                   .L900:
 7187 3920 D401                 movw r26,r8
 7188 3922 C301                 movw r24,r6
 7189 3924 97FE                 sbrs r9,7
 7190 3926 00C0                 rjmp .+4
 7191 3928 0C94 0000            jmp .L1247
 7192                   .L901:
 7193 392c 892F                 mov r24,r25
 7194 392e 9A2F                 mov r25,r26
 7195 3930 AB2F                 mov r26,r27
 7196 3932 BB27                 clr r27
 7197 3934 A7FD                 sbrc r26,7
 7198 3936 BA95                 dec r27
 7199 3938 680F                 add r22,r24
 7200 393a 791F                 adc r23,r25
 7201                   .L903:
 7202 393c 2DA1                 ldd r18,Y+37
 7203 393e 3EA1                 ldd r19,Y+38
 7204 3940 4FA1                 ldd r20,Y+39
 7205 3942 58A5                 ldd r21,Y+40
 7206 3944 2030                 cpi r18,lo8(-4096)
 7207 3946 80EF                 ldi r24,hi8(-4096)
 7208 3948 3807                 cpc r19,r24
 7209 394a 8FEF                 ldi r24,hlo8(-4096)
 7210 394c 4807                 cpc r20,r24
 7211 394e 8FEF                 ldi r24,hhi8(-4096)
 7212 3950 5807                 cpc r21,r24
 7213 3952 04F0                 brlt .+4
 7214 3954 0C94 0000            jmp .L904
 7215 3958 8091 0000            lds r24,last_n_n.19
 7216 395c 8823                 tst r24
 7217 395e 01F4                 brne .+4
 7218 3960 0C94 0000            jmp .L905
 7219 3964 7093 0000            sts (LageKorrekturNick)+1,r23
 7220 3968 6093 0000            sts LageKorrekturNick,r22
 7221 396c DA01                 movw r26,r20
 7222 396e C901                 movw r24,r18
 7223 3970 57FF                 sbrs r21,7
 7224 3972 00C0                 rjmp .+4
 7225 3974 0C94 0000            jmp .L1248
 7226                   .L906:
 7227 3978 9C01                 movw r18,r24
 7228 397a AD01                 movw r20,r26
 7229 397c B7FF                 sbrs r27,7
 7230 397e 00C0                 rjmp .+4
 7231 3980 0C94 0000            jmp .L1249
 7232                   .L907:
 7233 3984 69E0                 ldi r22,9
 7234 3986 5595         1:      asr r21
 7235 3988 4795                 ror r20
 7236 398a 3795                 ror r19
 7237 398c 2795                 ror r18
 7238 398e 6A95                 dec r22
 7239 3990 01F4                 brne 1b
 7240 3992 8091 0000            lds r24,cnt.17
 7241 3996 9091 0000            lds r25,(cnt.17)+1
 7242 399a 820F                 add r24,r18
 7243 399c 931F                 adc r25,r19
 7244 399e 9093 0000            sts (cnt.17)+1,r25
 7245 39a2 8093 0000            sts cnt.17,r24
 7246 39a6 2DA1                 ldd r18,Y+37
 7247 39a8 3EA1                 ldd r19,Y+38
 7248 39aa 4FA1                 ldd r20,Y+39
 7249 39ac 58A5                 ldd r21,Y+40
 7250 39ae 57FF                 sbrs r21,7
 7251 39b0 00C0                 rjmp .+4
 7252 39b2 0C94 0000            jmp .L1250
 7253                   .L908:
 7254 39b6 3901                 movw r6,r18
 7255 39b8 4A01                 movw r8,r20
 7256 39ba 43E0                 ldi r20,3
 7257 39bc 9594         1:      asr r9
 7258 39be 8794                 ror r8
 7259 39c0 7794                 ror r7
 7260 39c2 6794                 ror r6
 7261 39c4 4A95                 dec r20
 7262 39c6 01F4                 brne 1b
 7263 39c8 98E7                 ldi r25,lo8(-5000)
 7264 39ca 6916                 cp r6,r25
 7265 39cc 9CEE                 ldi r25,hi8(-5000)
 7266 39ce 7906                 cpc r7,r25
 7267 39d0 9FEF                 ldi r25,hlo8(-5000)
 7268 39d2 8906                 cpc r8,r25
 7269 39d4 9FEF                 ldi r25,hhi8(-5000)
 7270 39d6 9906                 cpc r9,r25
 7271 39d8 04F4                 brge .L1179
 7272 39da 38E7                 ldi r19,lo8(-5000)
 7273 39dc 632E                 mov r6,r19
 7274 39de 3CEE                 ldi r19,hi8(-5000)
 7275 39e0 732E                 mov r7,r19
 7276 39e2 3FEF                 ldi r19,hlo8(-5000)
 7277 39e4 832E                 mov r8,r19
 7278 39e6 3FEF                 ldi r19,hhi8(-5000)
 7279 39e8 932E                 mov r9,r19
 7280                   .L1179:
 7281 39ea 6092 0000            sts ausgleichNick.13,r6
 7282 39ee 7092 0000            sts (ausgleichNick.13)+1,r7
 7283 39f2 8092 0000            sts (ausgleichNick.13)+2,r8
 7284 39f6 9092 0000            sts (ausgleichNick.13)+3,r9
 7285 39fa D401                 movw r26,r8
 7286 39fc C301                 movw r24,r6
 7287 39fe 97FE                 sbrs r9,7
 7288 3a00 00C0                 rjmp .+4
 7289 3a02 0C94 0000            jmp .L1251
 7290                   .L910:
 7291 3a06 892F                 mov r24,r25
 7292 3a08 9A2F                 mov r25,r26
 7293 3a0a AB2F                 mov r26,r27
 7294 3a0c BB27                 clr r27
 7295 3a0e A7FD                 sbrc r26,7
 7296 3a10 BA95                 dec r27
 7297 3a12 6091 0000            lds r22,LageKorrekturNick
 7298 3a16 7091 0000            lds r23,(LageKorrekturNick)+1
 7299 3a1a 680F                 add r22,r24
 7300 3a1c 791F                 adc r23,r25
 7301                   .L913:
 7302 3a1e A989                 ldd r26,Y+17
 7303 3a20 2A2F                 mov r18,r26
 7304 3a22 3327                 clr r19
 7305 3a24 8091 0000            lds r24,cnt.17
 7306 3a28 9091 0000            lds r25,(cnt.17)+1
 7307 3a2c 2817                 cp r18,r24
 7308 3a2e 3907                 cpc r19,r25
 7309 3a30 04F4                 brge .L914
 7310 3a32 3093 0000            sts (cnt.17)+1,r19
 7311 3a36 2093 0000            sts cnt.17,r18
 7312                   .L914:
 7313 3a3a 2DA1                 ldd r18,Y+37
 7314 3a3c 3EA1                 ldd r19,Y+38
 7315 3a3e 4FA1                 ldd r20,Y+39
 7316 3a40 58A5                 ldd r21,Y+40
 7317 3a42 2138                 cpi r18,lo8(129)
 7318 3a44 3105                 cpc r19,__zero_reg__
 7319 3a46 4105                 cpc r20,__zero_reg__
 7320 3a48 5105                 cpc r21,__zero_reg__
 7321 3a4a 04F0                 brlt .L915
 7322 3a4c 8091 0000            lds r24,AdNeutralNick
 7323 3a50 9091 0000            lds r25,(AdNeutralNick)+1
 7324 3a54 2091 0000            lds r18,cnt.17
 7325 3a58 3091 0000            lds r19,(cnt.17)+1
 7326 3a5c 820F                 add r24,r18
 7327 3a5e 931F                 adc r25,r19
 7328 3a60 9093 0000            sts (AdNeutralNick)+1,r25
 7329 3a64 8093 0000            sts AdNeutralNick,r24
 7330                   .L915:
 7331 3a68 8DA1                 ldd r24,Y+37
 7332 3a6a 9EA1                 ldd r25,Y+38
 7333 3a6c AFA1                 ldd r26,Y+39
 7334 3a6e B8A5                 ldd r27,Y+40
 7335 3a70 8058                 subi r24,lo8(-128)
 7336 3a72 9F4F                 sbci r25,hi8(-128)
 7337 3a74 AF4F                 sbci r26,hlo8(-128)
 7338 3a76 BF4F                 sbci r27,hhi8(-128)
 7339 3a78 04F4                 brge .L916
 7340 3a7a 8091 0000            lds r24,AdNeutralNick
 7341 3a7e 9091 0000            lds r25,(AdNeutralNick)+1
 7342 3a82 2091 0000            lds r18,cnt.17
 7343 3a86 3091 0000            lds r19,(cnt.17)+1
 7344 3a8a 821B                 sub r24,r18
 7345 3a8c 930B                 sbc r25,r19
 7346 3a8e 9093 0000            sts (AdNeutralNick)+1,r25
 7347 3a92 8093 0000            sts AdNeutralNick,r24
 7348                   .L916:
 7349 3a96 B1E0                 ldi r27,lo8(1)
 7350 3a98 AB2E                 mov r10,r27
 7351 3a9a B12C                 mov r11,__zero_reg__
 7352 3a9c 8F81                 ldd r24,Y+7
 7353 3a9e 9885                 ldd r25,Y+8
 7354 3aa0 A985                 ldd r26,Y+9
 7355 3aa2 BA85                 ldd r27,Y+10
 7356 3aa4 B7FF                 sbrs r27,7
 7357 3aa6 00C0                 rjmp .+4
 7358 3aa8 0C94 0000            jmp .L1252
 7359                   .L918:
 7360 3aac 8150                 subi r24,lo8(513)
 7361 3aae 9240                 sbci r25,hi8(513)
 7362 3ab0 A040                 sbci r26,hlo8(513)
 7363 3ab2 B040                 sbci r27,hhi8(513)
 7364 3ab4 04F0                 brlt .L917
 7365 3ab6 A4E0                 ldi r26,lo8(4)
 7366 3ab8 AA2E                 mov r10,r26
 7367 3aba B12C                 mov r11,__zero_reg__
 7368                   .L917:
 7369 3abc 20E0                 ldi r18,lo8(0)
 7370 3abe 30E0                 ldi r19,hi8(0)
 7371 3ac0 40E0                 ldi r20,hlo8(0)
 7372 3ac2 50E0                 ldi r21,hhi8(0)
 7373 3ac4 8091 0000            lds r24,MittelIntegralRoll_Alt.23
 7374 3ac8 9091 0000            lds r25,(MittelIntegralRoll_Alt.23)+1
 7375 3acc A091 0000            lds r26,(MittelIntegralRoll_Alt.23)+2
 7376 3ad0 B091 0000            lds r27,(MittelIntegralRoll_Alt.23)+3
 7377 3ad4 6090 0000            lds r6,MittelIntegralRoll
 7378 3ad8 7090 0000            lds r7,(MittelIntegralRoll)+1
 7379 3adc 8090 0000            lds r8,(MittelIntegralRoll)+2
 7380 3ae0 9090 0000            lds r9,(MittelIntegralRoll)+3
 7381 3ae4 8619                 sub r24,r6
 7382 3ae6 9709                 sbc r25,r7
 7383 3ae8 A809                 sbc r26,r8
 7384 3aea B909                 sbc r27,r9
 7385 3aec 815E                 subi r24,lo8(-(19999))
 7386 3aee 914B                 sbci r25,hi8(-(19999))
 7387 3af0 AF4F                 sbci r26,hlo8(-(19999))
 7388 3af2 BF4F                 sbci r27,hhi8(-(19999))
 7389 3af4 8F53                 subi r24,lo8(39999)
 7390 3af6 9C49                 sbci r25,hi8(39999)
 7391 3af8 A040                 sbci r26,hlo8(39999)
 7392 3afa B040                 sbci r27,hhi8(39999)
 7393 3afc 00F0                 brlo .+4
 7394 3afe 0C94 0000            jmp .L919
 7395 3b02 B092 0000            sts (cnt.17)+1,r11
 7396 3b06 A092 0000            sts cnt.17,r10
 7397 3b0a 8F81                 ldd r24,Y+7
 7398 3b0c 9885                 ldd r25,Y+8
 7399 3b0e A985                 ldd r26,Y+9
 7400 3b10 BA85                 ldd r27,Y+10
 7401 3b12 8150                 subi r24,lo8(4097)
 7402 3b14 9041                 sbci r25,hi8(4097)
 7403 3b16 A040                 sbci r26,hlo8(4097)
 7404 3b18 B040                 sbci r27,hhi8(4097)
 7405 3b1a 04F4                 brge .+4
 7406 3b1c 0C94 0000            jmp .L920
 7407 3b20 8091 0000            lds r24,last_r_p.20
 7408 3b24 8823                 tst r24
 7409 3b26 01F4                 brne .+4
 7410 3b28 0C94 0000            jmp .L921
 7411 3b2c D092 0000            sts (LageKorrekturRoll)+1,r13
 7412 3b30 C092 0000            sts LageKorrekturRoll,r12
 7413 3b34 8F81                 ldd r24,Y+7
 7414 3b36 9885                 ldd r25,Y+8
 7415 3b38 A985                 ldd r26,Y+9
 7416 3b3a BA85                 ldd r27,Y+10
 7417 3b3c B7FF                 sbrs r27,7
 7418 3b3e 00C0                 rjmp .+4
 7419 3b40 0C94 0000            jmp .L1253
 7420                   .L922:
 7421 3b44 B7FF                 sbrs r27,7
 7422 3b46 00C0                 rjmp .+4
 7423 3b48 0C94 0000            jmp .L1254
 7424                   .L923:
 7425 3b4c F9E0                 ldi r31,9
 7426 3b4e B595         1:      asr r27
 7427 3b50 A795                 ror r26
 7428 3b52 9795                 ror r25
 7429 3b54 8795                 ror r24
 7430 3b56 FA95                 dec r31
 7431 3b58 01F4                 brne 1b
 7432 3b5a A80E                 add r10,r24
 7433 3b5c B91E                 adc r11,r25
 7434 3b5e B092 0000            sts (cnt.17)+1,r11
 7435 3b62 A092 0000            sts cnt.17,r10
 7436 3b66 2F81                 ldd r18,Y+7
 7437 3b68 3885                 ldd r19,Y+8
 7438 3b6a 4985                 ldd r20,Y+9
 7439 3b6c 5A85                 ldd r21,Y+10
 7440 3b6e 57FF                 sbrs r21,7
 7441 3b70 00C0                 rjmp .+4
 7442 3b72 0C94 0000            jmp .L1255
 7443                   .L924:
 7444 3b76 E3E0                 ldi r30,3
 7445 3b78 5595         1:      asr r21
 7446 3b7a 4795                 ror r20
 7447 3b7c 3795                 ror r19
 7448 3b7e 2795                 ror r18
 7449 3b80 EA95                 dec r30
 7450 3b82 01F4                 brne 1b
 7451 3b84 2938                 cpi r18,lo8(5001)
 7452 3b86 F3E1                 ldi r31,hi8(5001)
 7453 3b88 3F07                 cpc r19,r31
 7454 3b8a F0E0                 ldi r31,hlo8(5001)
 7455 3b8c 4F07                 cpc r20,r31
 7456 3b8e F0E0                 ldi r31,hhi8(5001)
 7457 3b90 5F07                 cpc r21,r31
 7458 3b92 04F4                 brge .+4
 7459 3b94 0C94 0000            jmp .L1180
 7460 3b98 88E8                 ldi r24,lo8(5000)
 7461 3b9a 93E1                 ldi r25,hi8(5000)
 7462 3b9c A0E0                 ldi r26,hlo8(5000)
 7463 3b9e B0E0                 ldi r27,hhi8(5000)
 7464 3ba0 8093 0000            sts ausgleichRoll.14,r24
 7465 3ba4 9093 0000            sts (ausgleichRoll.14)+1,r25
 7466 3ba8 A093 0000            sts (ausgleichRoll.14)+2,r26
 7467 3bac B093 0000            sts (ausgleichRoll.14)+3,r27
 7468                   .L925:
 7469 3bb0 8091 0000            lds r24,ausgleichRoll.14
 7470 3bb4 9091 0000            lds r25,(ausgleichRoll.14)+1
 7471 3bb8 A091 0000            lds r26,(ausgleichRoll.14)+2
 7472 3bbc B091 0000            lds r27,(ausgleichRoll.14)+3
 7473 3bc0 B7FF                 sbrs r27,7
 7474 3bc2 00C0                 rjmp .+4
 7475 3bc4 0C94 0000            jmp .L1256
 7476                   .L926:
 7477 3bc8 892F                 mov r24,r25
 7478 3bca 9A2F                 mov r25,r26
 7479 3bcc AB2F                 mov r26,r27
 7480 3bce BB27                 clr r27
 7481 3bd0 A7FD                 sbrc r26,7
 7482 3bd2 BA95                 dec r27
 7483 3bd4 C090 0000            lds r12,LageKorrekturRoll
 7484 3bd8 D090 0000            lds r13,(LageKorrekturRoll)+1
 7485 3bdc C80E                 add r12,r24
 7486 3bde D91E                 adc r13,r25
 7487                   .L928:
 7488 3be0 2F81                 ldd r18,Y+7
 7489 3be2 3885                 ldd r19,Y+8
 7490 3be4 4985                 ldd r20,Y+9
 7491 3be6 5A85                 ldd r21,Y+10
 7492 3be8 2030                 cpi r18,lo8(-4096)
 7493 3bea 80EF                 ldi r24,hi8(-4096)
 7494 3bec 3807                 cpc r19,r24
 7495 3bee 8FEF                 ldi r24,hlo8(-4096)
 7496 3bf0 4807                 cpc r20,r24
 7497 3bf2 8FEF                 ldi r24,hhi8(-4096)
 7498 3bf4 5807                 cpc r21,r24
 7499 3bf6 04F0                 brlt .+4
 7500 3bf8 0C94 0000            jmp .L929
 7501 3bfc 8091 0000            lds r24,last_r_n.21
 7502 3c00 8823                 tst r24
 7503 3c02 01F4                 brne .+4
 7504 3c04 0C94 0000            jmp .L930
 7505 3c08 D092 0000            sts (LageKorrekturRoll)+1,r13
 7506 3c0c C092 0000            sts LageKorrekturRoll,r12
 7507 3c10 DA01                 movw r26,r20
 7508 3c12 C901                 movw r24,r18
 7509 3c14 57FF                 sbrs r21,7
 7510 3c16 00C0                 rjmp .+4
 7511 3c18 0C94 0000            jmp .L1257
 7512                   .L931:
 7513 3c1c 9C01                 movw r18,r24
 7514 3c1e AD01                 movw r20,r26
 7515 3c20 B7FF                 sbrs r27,7
 7516 3c22 00C0                 rjmp .+4
 7517 3c24 0C94 0000            jmp .L1258
 7518                   .L932:
 7519 3c28 B9E0                 ldi r27,9
 7520 3c2a 5595         1:      asr r21
 7521 3c2c 4795                 ror r20
 7522 3c2e 3795                 ror r19
 7523 3c30 2795                 ror r18
 7524 3c32 BA95                 dec r27
 7525 3c34 01F4                 brne 1b
 7526 3c36 8091 0000            lds r24,cnt.17
 7527 3c3a 9091 0000            lds r25,(cnt.17)+1
 7528 3c3e 820F                 add r24,r18
 7529 3c40 931F                 adc r25,r19
 7530 3c42 9093 0000            sts (cnt.17)+1,r25
 7531 3c46 8093 0000            sts cnt.17,r24
 7532 3c4a 2F81                 ldd r18,Y+7
 7533 3c4c 3885                 ldd r19,Y+8
 7534 3c4e 4985                 ldd r20,Y+9
 7535 3c50 5A85                 ldd r21,Y+10
 7536 3c52 57FF                 sbrs r21,7
 7537 3c54 00C0                 rjmp .+4
 7538 3c56 0C94 0000            jmp .L1259
 7539                   .L933:
 7540 3c5a A3E0                 ldi r26,3
 7541 3c5c 5595         1:      asr r21
 7542 3c5e 4795                 ror r20
 7543 3c60 3795                 ror r19
 7544 3c62 2795                 ror r18
 7545 3c64 AA95                 dec r26
 7546 3c66 01F4                 brne 1b
 7547 3c68 2837                 cpi r18,lo8(-5000)
 7548 3c6a 9CEE                 ldi r25,hi8(-5000)
 7549 3c6c 3907                 cpc r19,r25
 7550 3c6e 9FEF                 ldi r25,hlo8(-5000)
 7551 3c70 4907                 cpc r20,r25
 7552 3c72 9FEF                 ldi r25,hhi8(-5000)
 7553 3c74 5907                 cpc r21,r25
 7554 3c76 04F0                 brlt .+4
 7555 3c78 0C94 0000            jmp .L1181
 7556 3c7c 88E7                 ldi r24,lo8(-5000)
 7557 3c7e 9CEE                 ldi r25,hi8(-5000)
 7558 3c80 AFEF                 ldi r26,hlo8(-5000)
 7559 3c82 BFEF                 ldi r27,hhi8(-5000)
 7560 3c84 8093 0000            sts ausgleichRoll.14,r24
 7561 3c88 9093 0000            sts (ausgleichRoll.14)+1,r25
 7562 3c8c A093 0000            sts (ausgleichRoll.14)+2,r26
 7563 3c90 B093 0000            sts (ausgleichRoll.14)+3,r27
 7564                   .L934:
 7565 3c94 8091 0000            lds r24,ausgleichRoll.14
 7566 3c98 9091 0000            lds r25,(ausgleichRoll.14)+1
 7567 3c9c A091 0000            lds r26,(ausgleichRoll.14)+2
 7568 3ca0 B091 0000            lds r27,(ausgleichRoll.14)+3
 7569 3ca4 B7FF                 sbrs r27,7
 7570 3ca6 00C0                 rjmp .+4
 7571 3ca8 0C94 0000            jmp .L1260
 7572                   .L935:
 7573 3cac 892F                 mov r24,r25
 7574 3cae 9A2F                 mov r25,r26
 7575 3cb0 AB2F                 mov r26,r27
 7576 3cb2 BB27                 clr r27
 7577 3cb4 A7FD                 sbrc r26,7
 7578 3cb6 BA95                 dec r27
 7579 3cb8 C090 0000            lds r12,LageKorrekturRoll
 7580 3cbc D090 0000            lds r13,(LageKorrekturRoll)+1
 7581 3cc0 C80E                 add r12,r24
 7582 3cc2 D91E                 adc r13,r25
 7583                   .L938:
 7584 3cc4 A989                 ldd r26,Y+17
 7585 3cc6 2A2F                 mov r18,r26
 7586 3cc8 3327                 clr r19
 7587 3cca 8091 0000            lds r24,cnt.17
 7588 3cce 9091 0000            lds r25,(cnt.17)+1
 7589 3cd2 2817                 cp r18,r24
 7590 3cd4 3907                 cpc r19,r25
 7591 3cd6 04F4                 brge .L939
 7592 3cd8 3093 0000            sts (cnt.17)+1,r19
 7593 3cdc 2093 0000            sts cnt.17,r18
 7594                   .L939:
 7595 3ce0 2F81                 ldd r18,Y+7
 7596 3ce2 3885                 ldd r19,Y+8
 7597 3ce4 4985                 ldd r20,Y+9
 7598 3ce6 5A85                 ldd r21,Y+10
 7599 3ce8 2138                 cpi r18,lo8(129)
 7600 3cea 3105                 cpc r19,__zero_reg__
 7601 3cec 4105                 cpc r20,__zero_reg__
 7602 3cee 5105                 cpc r21,__zero_reg__
 7603 3cf0 04F0                 brlt .L940
 7604 3cf2 8091 0000            lds r24,AdNeutralRoll
 7605 3cf6 9091 0000            lds r25,(AdNeutralRoll)+1
 7606 3cfa 2091 0000            lds r18,cnt.17
 7607 3cfe 3091 0000            lds r19,(cnt.17)+1
 7608 3d02 820F                 add r24,r18
 7609 3d04 931F                 adc r25,r19
 7610 3d06 9093 0000            sts (AdNeutralRoll)+1,r25
 7611 3d0a 8093 0000            sts AdNeutralRoll,r24
 7612                   .L940:
 7613 3d0e 8F81                 ldd r24,Y+7
 7614 3d10 9885                 ldd r25,Y+8
 7615 3d12 A985                 ldd r26,Y+9
 7616 3d14 BA85                 ldd r27,Y+10
 7617 3d16 8058                 subi r24,lo8(-128)
 7618 3d18 9F4F                 sbci r25,hi8(-128)
 7619 3d1a AF4F                 sbci r26,hlo8(-128)
 7620 3d1c BF4F                 sbci r27,hhi8(-128)
 7621 3d1e 04F0                 brlt .+2
 7622 3d20 00C0                 rjmp .L942
 7623 3d22 8091 0000            lds r24,AdNeutralRoll
 7624 3d26 9091 0000            lds r25,(AdNeutralRoll)+1
 7625 3d2a 2091 0000            lds r18,cnt.17
 7626 3d2e 3091 0000            lds r19,(cnt.17)+1
 7627 3d32 821B                 sub r24,r18
 7628 3d34 930B                 sbc r25,r19
 7629 3d36 9093 0000            sts (AdNeutralRoll)+1,r25
 7630 3d3a 8093 0000            sts AdNeutralRoll,r24
 7631 3d3e 00C0                 rjmp .L942
 7632                   .L862:
 7633 3d40 8091 0000            lds r24,EE_Parameter+23
 7634 3d44 E82E                 mov r14,r24
 7635 3d46 FF24                 clr r15
 7636 3d48 0027                 clr r16
 7637 3d4a 1127                 clr r17
 7638 3d4c 6D8D                 ldd r22,Y+29
 7639 3d4e 7E8D                 ldd r23,Y+30
 7640 3d50 8F8D                 ldd r24,Y+31
 7641 3d52 98A1                 ldd r25,Y+32
 7642 3d54 A801                 movw r20,r16
 7643 3d56 9701                 movw r18,r14
 7644 3d58 0E94 0000            call __divmodsi4
 7645 3d5c 5901                 movw r10,r18
 7646 3d5e 6A01                 movw r12,r20
 7647 3d60 8091 0000            lds r24,Mittelwert_AccNick
 7648 3d64 9091 0000            lds r25,(Mittelwert_AccNick)+1
 7649 3d68 AA27                 clr r26
 7650 3d6a 97FD                 sbrc r25,7
 7651 3d6c A095                 com r26
 7652 3d6e BA2F                 mov r27,r26
 7653 3d70 A81A                 sub r10,r24
 7654 3d72 B90A                 sbc r11,r25
 7655 3d74 CA0A                 sbc r12,r26
 7656 3d76 DB0A                 sbc r13,r27
 7657 3d78 6C85                 ldd r22,Y+12
 7658 3d7a 7D85                 ldd r23,Y+13
 7659 3d7c 8E85                 ldd r24,Y+14
 7660 3d7e 9F85                 ldd r25,Y+15
 7661 3d80 A801                 movw r20,r16
 7662 3d82 9701                 movw r18,r14
 7663 3d84 0E94 0000            call __divmodsi4
 7664 3d88 7901                 movw r14,r18
 7665 3d8a 8A01                 movw r16,r20
 7666 3d8c 8091 0000            lds r24,Mittelwert_AccRoll
 7667 3d90 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 7668 3d94 AA27                 clr r26
 7669 3d96 97FD                 sbrc r25,7
 7670 3d98 A095                 com r26
 7671 3d9a BA2F                 mov r27,r26
 7672 3d9c E81A                 sub r14,r24
 7673 3d9e F90A                 sbc r15,r25
 7674 3da0 0A0B                 sbc r16,r26
 7675 3da2 1B0B                 sbc r17,r27
 7676 3da4 D601                 movw r26,r12
 7677 3da6 C501                 movw r24,r10
 7678 3da8 D7FE                 sbrs r13,7
 7679 3daa 00C0                 rjmp .+4
 7680 3dac 0C94 0000            jmp .L1261
 7681                   .L863:
 7682 3db0 5C01                 movw r10,r24
 7683 3db2 6D01                 movw r12,r26
 7684 3db4 A4E0                 ldi r26,4
 7685 3db6 D594         1:      asr r13
 7686 3db8 C794                 ror r12
 7687 3dba B794                 ror r11
 7688 3dbc A794                 ror r10
 7689 3dbe AA95                 dec r26
 7690 3dc0 01F4                 brne 1b
 7691 3dc2 D801                 movw r26,r16
 7692 3dc4 C701                 movw r24,r14
 7693 3dc6 17FF                 sbrs r17,7
 7694 3dc8 00C0                 rjmp .+4
 7695 3dca 0C94 0000            jmp .L1262
 7696                   .L864:
 7697 3dce 7C01                 movw r14,r24
 7698 3dd0 8D01                 movw r16,r26
 7699 3dd2 F4E0                 ldi r31,4
 7700 3dd4 1595         1:      asr r17
 7701 3dd6 0795                 ror r16
 7702 3dd8 F794                 ror r15
 7703 3dda E794                 ror r14
 7704 3ddc FA95                 dec r31
 7705 3dde 01F4                 brne 1b
 7706 3de0 8091 0000            lds r24,MaxStickNick
 7707 3de4 9091 0000            lds r25,(MaxStickNick)+1
 7708 3de8 8134                 cpi r24,65
 7709 3dea 9105                 cpc r25,__zero_reg__
 7710 3dec 04F4                 brge .+2
 7711 3dee 00C0                 rjmp .L1263
 7712                   .L866:
 7713 3df0 C601                 movw r24,r12
 7714 3df2 B501                 movw r22,r10
 7715 3df4 23E0                 ldi r18,lo8(3)
 7716 3df6 30E0                 ldi r19,hi8(3)
 7717 3df8 40E0                 ldi r20,hlo8(3)
 7718 3dfa 50E0                 ldi r21,hhi8(3)
 7719 3dfc 0E94 0000            call __divmodsi4
 7720 3e00 5901                 movw r10,r18
 7721 3e02 6A01                 movw r12,r20
 7722 3e04 C801                 movw r24,r16
 7723 3e06 B701                 movw r22,r14
 7724 3e08 23E0                 ldi r18,lo8(3)
 7725 3e0a 30E0                 ldi r19,hi8(3)
 7726 3e0c 40E0                 ldi r20,hlo8(3)
 7727 3e0e 50E0                 ldi r21,hhi8(3)
 7728 3e10 0E94 0000            call __divmodsi4
 7729 3e14 7901                 movw r14,r18
 7730 3e16 8A01                 movw r16,r20
 7731                   .L865:
 7732 3e18 8091 0000            lds r24,EE_Parameter+3
 7733 3e1c E82F                 mov r30,r24
 7734 3e1e FF27                 clr r31
 7735 3e20 EE0F                 add r30,r30
 7736 3e22 FF1F                 adc r31,r31
 7737 3e24 E050                 subi r30,lo8(-(PPM_in))
 7738 3e26 F040                 sbci r31,hi8(-(PPM_in))
 7739 3e28 8081                 ld r24,Z
 7740 3e2a 9181                 ldd r25,Z+1
 7741 3e2c 0190                 ld __tmp_reg__,Z+
 7742 3e2e F081                 ld r31,Z
 7743 3e30 E02D                 mov r30,__tmp_reg__
 7744 3e32 F7FF                 sbrs r31,7
 7745 3e34 00C0                 rjmp .+4
 7746 3e36 0C94 0000            jmp .L1264
 7747                   .L868:
 7748 3e3a 7A97                 sbiw r30,26
 7749 3e3c 04F0                 brlt .L867
 7750 3e3e C601                 movw r24,r12
 7751 3e40 B501                 movw r22,r10
 7752 3e42 23E0                 ldi r18,lo8(3)
 7753 3e44 30E0                 ldi r19,hi8(3)
 7754 3e46 40E0                 ldi r20,hlo8(3)
 7755 3e48 50E0                 ldi r21,hhi8(3)
 7756 3e4a 0E94 0000            call __divmodsi4
 7757 3e4e 5901                 movw r10,r18
 7758 3e50 6A01                 movw r12,r20
 7759 3e52 C801                 movw r24,r16
 7760 3e54 B701                 movw r22,r14
 7761 3e56 23E0                 ldi r18,lo8(3)
 7762 3e58 30E0                 ldi r19,hi8(3)
 7763 3e5a 40E0                 ldi r20,hlo8(3)
 7764 3e5c 50E0                 ldi r21,hhi8(3)
 7765 3e5e 0E94 0000            call __divmodsi4
 7766 3e62 7901                 movw r14,r18
 7767 3e64 8A01                 movw r16,r20
 7768                   .L867:
 7769 3e66 41E2                 ldi r20,lo8(33)
 7770 3e68 A416                 cp r10,r20
 7771 3e6a B104                 cpc r11,__zero_reg__
 7772 3e6c C104                 cpc r12,__zero_reg__
 7773 3e6e D104                 cpc r13,__zero_reg__
 7774 3e70 04F0                 brlt .L869
 7775 3e72 E0E2                 ldi r30,lo8(32)
 7776 3e74 AE2E                 mov r10,r30
 7777 3e76 B12C                 mov r11,__zero_reg__
 7778 3e78 C12C                 mov r12,__zero_reg__
 7779 3e7a D12C                 mov r13,__zero_reg__
 7780                   .L869:
 7781 3e7c 50EE                 ldi r21,lo8(-32)
 7782 3e7e A516                 cp r10,r21
 7783 3e80 5FEF                 ldi r21,hi8(-32)
 7784 3e82 B506                 cpc r11,r21
 7785 3e84 5FEF                 ldi r21,hlo8(-32)
 7786 3e86 C506                 cpc r12,r21
 7787 3e88 5FEF                 ldi r21,hhi8(-32)
 7788 3e8a D506                 cpc r13,r21
 7789 3e8c 04F4                 brge .L870
 7790 3e8e 70EE                 ldi r23,lo8(-32)
 7791 3e90 A72E                 mov r10,r23
 7792 3e92 7FEF                 ldi r23,hi8(-32)
 7793 3e94 B72E                 mov r11,r23
 7794 3e96 7FEF                 ldi r23,hlo8(-32)
 7795 3e98 C72E                 mov r12,r23
 7796 3e9a 7FEF                 ldi r23,hhi8(-32)
 7797 3e9c D72E                 mov r13,r23
 7798                   .L870:
 7799 3e9e 61E2                 ldi r22,lo8(33)
 7800 3ea0 E616                 cp r14,r22
 7801 3ea2 F104                 cpc r15,__zero_reg__
 7802 3ea4 0105                 cpc r16,__zero_reg__
 7803 3ea6 1105                 cpc r17,__zero_reg__
 7804 3ea8 04F0                 brlt .L871
 7805 3eaa 60E2                 ldi r22,lo8(32)
 7806 3eac E62E                 mov r14,r22
 7807 3eae F12C                 mov r15,__zero_reg__
 7808 3eb0 012D                 mov r16,__zero_reg__
 7809 3eb2 112D                 mov r17,__zero_reg__
 7810                   .L871:
 7811 3eb4 70EE                 ldi r23,lo8(-32)
 7812 3eb6 E716                 cp r14,r23
 7813 3eb8 7FEF                 ldi r23,hi8(-32)
 7814 3eba F706                 cpc r15,r23
 7815 3ebc 7FEF                 ldi r23,hlo8(-32)
 7816 3ebe 0707                 cpc r16,r23
 7817 3ec0 7FEF                 ldi r23,hhi8(-32)
 7818 3ec2 1707                 cpc r17,r23
 7819 3ec4 04F4                 brge .L872
 7820 3ec6 50EE                 ldi r21,lo8(-32)
 7821 3ec8 E52E                 mov r14,r21
 7822 3eca 5FEF                 ldi r21,hi8(-32)
 7823 3ecc F52E                 mov r15,r21
 7824 3ece 5FEF                 ldi r21,hlo8(-32)
 7825 3ed0 052F                 mov r16,r21
 7826 3ed2 5FEF                 ldi r21,hhi8(-32)
 7827 3ed4 152F                 mov r17,r21
 7828                   .L872:
 7829 3ed6 8091 0000            lds r24,Mess_IntegralNick
 7830 3eda 9091 0000            lds r25,(Mess_IntegralNick)+1
 7831 3ede A091 0000            lds r26,(Mess_IntegralNick)+2
 7832 3ee2 B091 0000            lds r27,(Mess_IntegralNick)+3
 7833 3ee6 8A19                 sub r24,r10
 7834 3ee8 9B09                 sbc r25,r11
 7835 3eea AC09                 sbc r26,r12
 7836 3eec BD09                 sbc r27,r13
 7837 3eee 8093 0000            sts Mess_IntegralNick,r24
 7838 3ef2 9093 0000            sts (Mess_IntegralNick)+1,r25
 7839 3ef6 A093 0000            sts (Mess_IntegralNick)+2,r26
 7840 3efa B093 0000            sts (Mess_IntegralNick)+3,r27
 7841 3efe 8091 0000            lds r24,Mess_IntegralRoll
 7842 3f02 9091 0000            lds r25,(Mess_IntegralRoll)+1
 7843 3f06 A091 0000            lds r26,(Mess_IntegralRoll)+2
 7844 3f0a B091 0000            lds r27,(Mess_IntegralRoll)+3
 7845 3f0e 8E19                 sub r24,r14
 7846 3f10 9F09                 sbc r25,r15
 7847 3f12 A00B                 sbc r26,r16
 7848 3f14 B10B                 sbc r27,r17
 7849 3f16 8093 0000            sts Mess_IntegralRoll,r24
 7850 3f1a 9093 0000            sts (Mess_IntegralRoll)+1,r25
 7851 3f1e A093 0000            sts (Mess_IntegralRoll)+2,r26
 7852 3f22 B093 0000            sts (Mess_IntegralRoll)+3,r27
 7853 3f26 8091 0000            lds r24,ZaehlMessungen
 7854 3f2a 9091 0000            lds r25,(ZaehlMessungen)+1
 7855 3f2e 8F3F                 cpi r24,255
 7856 3f30 9105                 cpc r25,__zero_reg__
 7857 3f32 01F0                 breq .+4
 7858 3f34 00F0                 brlo .+2
 7859 3f36 00C0                 rjmp .L1265
 7860                   .L1151:
 7861 3f38 2092 0000            sts MittelIntegralNick2,r2
 7862 3f3c 3092 0000            sts (MittelIntegralNick2)+1,r3
 7863 3f40 4092 0000            sts (MittelIntegralNick2)+2,r4
 7864 3f44 5092 0000            sts (MittelIntegralNick2)+3,r5
 7865 3f48 6092 0000            sts MittelIntegralRoll2,r6
 7866 3f4c 7092 0000            sts (MittelIntegralRoll2)+1,r7
 7867 3f50 8092 0000            sts (MittelIntegralRoll2)+2,r8
 7868 3f54 9092 0000            sts (MittelIntegralRoll2)+3,r9
 7869 3f58 F091 0000            lds r31,TrichterFlug
 7870 3f5c FC8F                 std Y+28,r31
 7871 3f5e 0091 0000            lds r16,StickGier
 7872 3f62 1091 0000            lds r17,(StickGier)+1
 7873 3f66 C801                 movw r24,r16
 7874 3f68 17FF                 sbrs r17,7
 7875 3f6a 00C0                 rjmp .L945
 7876                   .L1271:
 7877 3f6c 8827                 clr r24
 7878 3f6e 9927                 clr r25
 7879 3f70 801B                 sub r24,r16
 7880 3f72 910B                 sbc r25,r17
 7881 3f74 00C0                 rjmp .L945
 7882                   .L860:
 7883 3f76 1092 0000            sts IntegralAccNick,__zero_reg__
 7884 3f7a 1092 0000            sts (IntegralAccNick)+1,__zero_reg__
 7885 3f7e 1092 0000            sts (IntegralAccNick)+2,__zero_reg__
 7886 3f82 1092 0000            sts (IntegralAccNick)+3,__zero_reg__
 7887 3f86 1092 0000            sts IntegralAccRoll,__zero_reg__
 7888 3f8a 1092 0000            sts (IntegralAccRoll)+1,__zero_reg__
 7889 3f8e 1092 0000            sts (IntegralAccRoll)+2,__zero_reg__
 7890 3f92 1092 0000            sts (IntegralAccRoll)+3,__zero_reg__
 7891 3f96 1092 0000            sts MittelIntegralNick,__zero_reg__
 7892 3f9a 1092 0000            sts (MittelIntegralNick)+1,__zero_reg__
 7893 3f9e 1092 0000            sts (MittelIntegralNick)+2,__zero_reg__
 7894 3fa2 1092 0000            sts (MittelIntegralNick)+3,__zero_reg__
 7895 3fa6 1092 0000            sts MittelIntegralRoll,__zero_reg__
 7896 3faa 1092 0000            sts (MittelIntegralRoll)+1,__zero_reg__
 7897 3fae 1092 0000            sts (MittelIntegralRoll)+2,__zero_reg__
 7898 3fb2 1092 0000            sts (MittelIntegralRoll)+3,__zero_reg__
 7899 3fb6 6624                 clr r6
 7900 3fb8 7724                 clr r7
 7901 3fba 4301                 movw r8,r6
 7902 3fbc 1301                 movw r2,r6
 7903 3fbe 2401                 movw r4,r8
 7904 3fc0 8091 0000            lds r24,Mess_IntegralNick
 7905 3fc4 9091 0000            lds r25,(Mess_IntegralNick)+1
 7906 3fc8 A091 0000            lds r26,(Mess_IntegralNick)+2
 7907 3fcc B091 0000            lds r27,(Mess_IntegralNick)+3
 7908 3fd0 8093 0000            sts Mess_IntegralNick2,r24
 7909 3fd4 9093 0000            sts (Mess_IntegralNick2)+1,r25
 7910 3fd8 A093 0000            sts (Mess_IntegralNick2)+2,r26
 7911 3fdc B093 0000            sts (Mess_IntegralNick2)+3,r27
 7912 3fe0 8091 0000            lds r24,Mess_IntegralRoll
 7913 3fe4 9091 0000            lds r25,(Mess_IntegralRoll)+1
 7914 3fe8 A091 0000            lds r26,(Mess_IntegralRoll)+2
 7915 3fec B091 0000            lds r27,(Mess_IntegralRoll)+3
 7916 3ff0 8093 0000            sts Mess_IntegralRoll2,r24
 7917 3ff4 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 7918 3ff8 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 7919 3ffc B093 0000            sts (Mess_IntegralRoll2)+3,r27
 7920 4000 1092 0000            sts (ZaehlMessungen)+1,__zero_reg__
 7921 4004 1092 0000            sts ZaehlMessungen,__zero_reg__
 7922 4008 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 7923 400c 1092 0000            sts LageKorrekturNick,__zero_reg__
 7924 4010 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 7925 4014 1092 0000            sts LageKorrekturRoll,__zero_reg__
 7926 4018 1B85                 ldd r17,Y+11
 7927 401a 1123                 tst r17
 7928 401c 01F0                 breq .+2
 7929 401e 00C0                 rjmp .L861
 7930 4020 2B8D                 ldd r18,Y+27
 7931 4022 2223                 tst r18
 7932 4024 01F0                 breq .+2
 7933 4026 00C0                 rjmp .L861
 7934 4028 00C0                 rjmp .L1196
 7935                   .L1150:
 7936 402a B091 0000            lds r27,IntegralFaktorGier
 7937 402e BA8F                 std Y+26,r27
 7938 4030 00C0                 rjmp .L858
 7939                   .L811:
 7940 4032 7FEF                 ldi r23,hi8(-2)
 7941 4034 8E3F                 cpi r24,lo8(-2)
 7942 4036 9707                 cpc r25,r23
 7943 4038 04F0                 brlt .+2
 7944 403a 00C0                 rjmp .L813
 7945 403c 0296                 adiw r24,2
 7946 403e 0C94 0000            jmp .L1201
 7947                   .L819:
 7948 4042 B901                 movw r22,r18
 7949 4044 6150                 subi r22,lo8(-(-1))
 7950 4046 7040                 sbci r23,hi8(-(-1))
 7951                   .L825:
 7952 4048 4091 0000            lds r20,StickRoll
 7953 404c 5091 0000            lds r21,(StickRoll)+1
 7954 4050 CA01                 movw r24,r20
 7955 4052 57FF                 sbrs r21,7
 7956 4054 00C0                 rjmp .+4
 7957 4056 0C94 0000            jmp .L1266
 7958                   .L827:
 7959 405a 9595                 asr r25
 7960 405c 8795                 ror r24
 7961 405e 9595                 asr r25
 7962 4060 8795                 ror r24
 7963 4062 97FF                 sbrs r25,7
 7964 4064 00C0                 rjmp .+4
 7965 4066 0C94 0000            jmp .L1267
 7966                   .L828:
 7967 406a 2091 0000            lds r18,MaxStickRoll
 7968 406e 3091 0000            lds r19,(MaxStickRoll)+1
 7969 4072 2817                 cp r18,r24
 7970 4074 3907                 cpc r19,r25
 7971 4076 04F0                 brlt .+4
 7972 4078 0C94 0000            jmp .L826
 7973                   .L1220:
 7974 407c CA01                 movw r24,r20
 7975 407e 57FF                 sbrs r21,7
 7976 4080 00C0                 rjmp .+4
 7977 4082 0C94 0000            jmp .L1268
 7978                   .L829:
 7979 4086 97FF                 sbrs r25,7
 7980 4088 00C0                 rjmp .+4
 7981 408a 0C94 0000            jmp .L1269
 7982                   .L830:
 7983 408e 9C01                 movw r18,r24
 7984 4090 3595                 asr r19
 7985 4092 2795                 ror r18
 7986 4094 3595                 asr r19
 7987 4096 2795                 ror r18
 7988 4098 2536                 cpi r18,101
 7989 409a 3105                 cpc r19,__zero_reg__
 7990 409c 04F4                 brge .+4
 7991 409e 0C94 0000            jmp .L832
 7992 40a2 24E6                 ldi r18,lo8(100)
 7993 40a4 30E0                 ldi r19,hi8(100)
 7994 40a6 8091 0000            lds r24,MikroKopterFlags
 7995 40aa 84FF                 sbrs r24,4
 7996 40ac 00C0                 rjmp .+4
 7997 40ae 0C94 0000            jmp .L1270
 7998                   .L1177:
 7999 40b2 3093 0000            sts (MaxStickRoll)+1,r19
 8000 40b6 2093 0000            sts MaxStickRoll,r18
 8001 40ba 7093 0000            sts (MaxStickNick)+1,r23
 8002 40be 6093 0000            sts MaxStickNick,r22
 8003 40c2 0C94 0000            jmp .L833
 8004                   .L1176:
 8005 40c6 F092 0000            sts IntegralFaktor,r15
 8006 40ca 4091 0000            lds r20,StickNick
 8007 40ce 5091 0000            lds r21,(StickNick)+1
 8008 40d2 CA01                 movw r24,r20
 8009 40d4 57FD                 sbrc r21,7
 8010 40d6 00C0                 rjmp .+4
 8011 40d8 0C94 0000            jmp .L820
 8012                   .L1216:
 8013 40dc 0396                 adiw r24,3
 8014 40de 9595                 asr r25
 8015 40e0 8795                 ror r24
 8016 40e2 9595                 asr r25
 8017 40e4 8795                 ror r24
 8018 40e6 97FD                 sbrc r25,7
 8019 40e8 00C0                 rjmp .+4
 8020 40ea 0C94 0000            jmp .L821
 8021                   .L1217:
 8022 40ee 9095                 com r25
 8023 40f0 8195                 neg r24
 8024 40f2 9F4F                 sbci r25,lo8(-1)
 8025 40f4 0C94 0000            jmp .L821
 8026                   .L1263:
 8027 40f8 8091 0000            lds r24,MaxStickRoll
 8028 40fc 9091 0000            lds r25,(MaxStickRoll)+1
 8029 4100 8134                 cpi r24,65
 8030 4102 9105                 cpc r25,__zero_reg__
 8031 4104 04F4                 brge .+2
 8032 4106 00C0                 rjmp .L865
 8033 4108 00C0                 rjmp .L866
 8034                   .L852:
 8035 410a 9093 0000            sts Looping_Roll,r25
 8036 410e 8093 0000            sts Looping_Nick,r24
 8037 4112 00C0                 rjmp .L807
 8038                   .L813:
 8039 4114 1092 0000            sts (StickGier)+1,__zero_reg__
 8040 4118 1092 0000            sts StickGier,__zero_reg__
 8041 411c 0C94 0000            jmp .L812
 8042                   .L849:
 8043 4120 982F                 mov r25,r24
 8044 4122 0C94 0000            jmp .L851
 8045                   .L1226:
 8046 4126 81E0                 ldi r24,lo8(1)
 8047 4128 8093 0000            sts Looping_Unten,r24
 8048 412c 0C94 0000            jmp .L846
 8049                   .L1224:
 8050 4130 81E0                 ldi r24,lo8(1)
 8051 4132 8093 0000            sts Looping_Oben,r24
 8052 4136 582F                 mov r21,r24
 8053 4138 0C94 0000            jmp .L842
 8054                   .L1222:
 8055 413c 81E0                 ldi r24,lo8(1)
 8056 413e 8093 0000            sts Looping_Rechts,r24
 8057 4142 0C94 0000            jmp .L838
 8058                   .L1221:
 8059 4146 81E0                 ldi r24,lo8(1)
 8060 4148 8093 0000            sts Looping_Links,r24
 8061 414c 0C94 0000            jmp .L835
 8062                   .L1214:
 8063 4150 8091 0000            lds r24,ExternControl+3
 8064 4154 9927                 clr r25
 8065 4156 87FD                 sbrc r24,7
 8066 4158 9095                 com r25
 8067 415a 4E2D                 mov r20,r14
 8068 415c 5527                 clr r21
 8069 415e 849F                 mul r24,r20
 8070 4160 D001                 movw r26,r0
 8071 4162 859F                 mul r24,r21
 8072 4164 B00D                 add r27,r0
 8073 4166 949F                 mul r25,r20
 8074 4168 B00D                 add r27,r0
 8075 416a 1124                 clr r1
 8076 416c CD01                 movw r24,r26
 8077 416e 2091 0000            lds r18,StickNick
 8078 4172 3091 0000            lds r19,(StickNick)+1
 8079 4176 820F                 add r24,r18
 8080 4178 931F                 adc r25,r19
 8081 417a 9093 0000            sts (StickNick)+1,r25
 8082 417e 8093 0000            sts StickNick,r24
 8083 4182 8091 0000            lds r24,ExternControl+4
 8084 4186 9927                 clr r25
 8085 4188 87FD                 sbrc r24,7
 8086 418a 9095                 com r25
 8087 418c 849F                 mul r24,r20
 8088 418e F001                 movw r30,r0
 8089 4190 859F                 mul r24,r21
 8090 4192 F00D                 add r31,r0
 8091 4194 949F                 mul r25,r20
 8092 4196 F00D                 add r31,r0
 8093 4198 1124                 clr r1
 8094 419a CF01                 movw r24,r30
 8095 419c 2091 0000            lds r18,StickRoll
 8096 41a0 3091 0000            lds r19,(StickRoll)+1
 8097 41a4 820F                 add r24,r18
 8098 41a6 931F                 adc r25,r19
 8099 41a8 9093 0000            sts (StickRoll)+1,r25
 8100 41ac 8093 0000            sts StickRoll,r24
 8101 41b0 8091 0000            lds r24,ExternControl+5
 8102 41b4 9927                 clr r25
 8103 41b6 87FD                 sbrc r24,7
 8104 41b8 9095                 com r25
 8105 41ba 2091 0000            lds r18,StickGier
 8106 41be 3091 0000            lds r19,(StickGier)+1
 8107 41c2 820F                 add r24,r18
 8108 41c4 931F                 adc r25,r19
 8109 41c6 9093 0000            sts (StickGier)+1,r25
 8110 41ca 8093 0000            sts StickGier,r24
 8111 41ce 8091 0000            lds r24,ExternControl+7
 8112 41d2 282F                 mov r18,r24
 8113 41d4 3327                 clr r19
 8114 41d6 27FD                 sbrc r18,7
 8115 41d8 3095                 com r19
 8116 41da 8091 0000            lds r24,EE_Parameter+13
 8117 41de 9927                 clr r25
 8118 41e0 289F                 mul r18,r24
 8119 41e2 A001                 movw r20,r0
 8120 41e4 299F                 mul r18,r25
 8121 41e6 500D                 add r21,r0
 8122 41e8 389F                 mul r19,r24
 8123 41ea 500D                 add r21,r0
 8124 41ec 1124                 clr r1
 8125 41ee 5093 0000            sts (ExternHoehenValue)+1,r21
 8126 41f2 4093 0000            sts ExternHoehenValue,r20
 8127 41f6 8091 0000            lds r24,ExternControl+6
 8128 41fa 9927                 clr r25
 8129 41fc 8C15                 cp r24,r12
 8130 41fe 9D05                 cpc r25,r13
 8131 4200 04F0                 brlt .+4
 8132 4202 0C94 0000            jmp .L1175
 8133 4206 9093 0000            sts (StickGas)+1,r25
 8134 420a 8093 0000            sts StickGas,r24
 8135 420e 0C94 0000            jmp .L815
 8136                   .L1228:
 8137 4212 8091 0000            lds r24,MotorenEin
 8138 4216 8823                 tst r24
 8139 4218 01F4                 brne .+4
 8140 421a 0C94 0000            jmp .L1147
 8141 421e 8091 0000            lds r24,modell_fliegt
 8142 4222 9091 0000            lds r25,(modell_fliegt)+1
 8143 4226 FFEF                 ldi r31,hi8(-1)
 8144 4228 8F3F                 cpi r24,lo8(-1)
 8145 422a 9F07                 cpc r25,r31
 8146 422c 01F4                 brne .+4
 8147 422e 0C94 0000            jmp .L736
 8148 4232 0196                 adiw r24,1
 8149 4234 9093 0000            sts (modell_fliegt)+1,r25
 8150 4238 8093 0000            sts modell_fliegt,r24
 8151 423c 0C94 0000            jmp .L736
 8152                   .L1223:
 8153 4240 1092 0000            sts Looping_Rechts,__zero_reg__
 8154 4244 0C94 0000            jmp .L838
 8155                   .L1227:
 8156 4248 1092 0000            sts Looping_Unten,__zero_reg__
 8157 424c 0C94 0000            jmp .L846
 8158                   .L1225:
 8159 4250 1092 0000            sts Looping_Oben,__zero_reg__
 8160 4254 50E0                 ldi r21,lo8(0)
 8161 4256 0C94 0000            jmp .L842
 8162                   .L874:
 8163 425a 60E0                 ldi r22,lo8(0)
 8164 425c 70E0                 ldi r23,hi8(0)
 8165 425e 6B01                 movw r12,r22
 8166 4260 1092 0000            sts TrichterFlug,__zero_reg__
 8167 4264 1C8E                 std Y+28,__zero_reg__
 8168 4266 E090 0000            lds r14,MittelIntegralNick
 8169 426a F090 0000            lds r15,(MittelIntegralNick)+1
 8170 426e 0091 0000            lds r16,(MittelIntegralNick)+2
 8171 4272 1091 0000            lds r17,(MittelIntegralNick)+3
 8172 4276 6090 0000            lds r6,MittelIntegralRoll
 8173 427a 7090 0000            lds r7,(MittelIntegralRoll)+1
 8174 427e 8090 0000            lds r8,(MittelIntegralRoll)+2
 8175 4282 9090 0000            lds r9,(MittelIntegralRoll)+3
 8176                   .L942:
 8177 4286 8091 0000            lds r24,IntegralFaktor
 8178 428a 8823                 tst r24
 8179 428c 01F0                 breq .+2
 8180 428e 00C0                 rjmp .L1182
 8181 4290 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 8182 4294 1092 0000            sts LageKorrekturRoll,__zero_reg__
 8183 4298 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 8184 429c 1092 0000            sts LageKorrekturNick,__zero_reg__
 8185                   .L943:
 8186 42a0 E092 0000            sts MittelIntegralNick_Alt.22,r14
 8187 42a4 F092 0000            sts (MittelIntegralNick_Alt.22)+1,r15
 8188 42a8 0093 0000            sts (MittelIntegralNick_Alt.22)+2,r16
 8189 42ac 1093 0000            sts (MittelIntegralNick_Alt.22)+3,r17
 8190 42b0 6092 0000            sts MittelIntegralRoll_Alt.23,r6
 8191 42b4 7092 0000            sts (MittelIntegralRoll_Alt.23)+1,r7
 8192 42b8 8092 0000            sts (MittelIntegralRoll_Alt.23)+2,r8
 8193 42bc 9092 0000            sts (MittelIntegralRoll_Alt.23)+3,r9
 8194 42c0 1092 0000            sts IntegralAccNick,__zero_reg__
 8195 42c4 1092 0000            sts (IntegralAccNick)+1,__zero_reg__
 8196 42c8 1092 0000            sts (IntegralAccNick)+2,__zero_reg__
 8197 42cc 1092 0000            sts (IntegralAccNick)+3,__zero_reg__
 8198 42d0 1092 0000            sts IntegralAccRoll,__zero_reg__
 8199 42d4 1092 0000            sts (IntegralAccRoll)+1,__zero_reg__
 8200 42d8 1092 0000            sts (IntegralAccRoll)+2,__zero_reg__
 8201 42dc 1092 0000            sts (IntegralAccRoll)+3,__zero_reg__
 8202 42e0 1092 0000            sts IntegralAccZ,__zero_reg__
 8203 42e4 1092 0000            sts (IntegralAccZ)+1,__zero_reg__
 8204 42e8 1092 0000            sts (IntegralAccZ)+2,__zero_reg__
 8205 42ec 1092 0000            sts (IntegralAccZ)+3,__zero_reg__
 8206 42f0 1092 0000            sts MittelIntegralNick,__zero_reg__
 8207 42f4 1092 0000            sts (MittelIntegralNick)+1,__zero_reg__
 8208 42f8 1092 0000            sts (MittelIntegralNick)+2,__zero_reg__
 8209 42fc 1092 0000            sts (MittelIntegralNick)+3,__zero_reg__
 8210 4300 1092 0000            sts MittelIntegralRoll,__zero_reg__
 8211 4304 1092 0000            sts (MittelIntegralRoll)+1,__zero_reg__
 8212 4308 1092 0000            sts (MittelIntegralRoll)+2,__zero_reg__
 8213 430c 1092 0000            sts (MittelIntegralRoll)+3,__zero_reg__
 8214 4310 1092 0000            sts MittelIntegralNick2,__zero_reg__
 8215 4314 1092 0000            sts (MittelIntegralNick2)+1,__zero_reg__
 8216 4318 1092 0000            sts (MittelIntegralNick2)+2,__zero_reg__
 8217 431c 1092 0000            sts (MittelIntegralNick2)+3,__zero_reg__
 8218 4320 1092 0000            sts MittelIntegralRoll2,__zero_reg__
 8219 4324 1092 0000            sts (MittelIntegralRoll2)+1,__zero_reg__
 8220 4328 1092 0000            sts (MittelIntegralRoll2)+2,__zero_reg__
 8221 432c 1092 0000            sts (MittelIntegralRoll2)+3,__zero_reg__
 8222 4330 1092 0000            sts (ZaehlMessungen)+1,__zero_reg__
 8223 4334 1092 0000            sts ZaehlMessungen,__zero_reg__
 8224 4338 0091 0000            lds r16,StickGier
 8225 433c 1091 0000            lds r17,(StickGier)+1
 8226 4340 C801                 movw r24,r16
 8227 4342 17FD                 sbrc r17,7
 8228 4344 00C0                 rjmp .L1271
 8229                   .L945:
 8230 4346 4097                 sbiw r24,16
 8231 4348 04F0                 brlt .L944
 8232 434a 68EE                 ldi r22,lo8(1000)
 8233 434c 262E                 mov r2,r22
 8234 434e 63E0                 ldi r22,hi8(1000)
 8235 4350 362E                 mov r3,r22
 8236 4352 3092 0000            sts (KompassSignalSchlecht)+1,r3
 8237 4356 2092 0000            sts KompassSignalSchlecht,r2
 8238 435a E888                 ldd r14,Y+16
 8239 435c E4FC                 sbrc r14,4
 8240 435e 00C0                 rjmp .L944
 8241 4360 81E0                 ldi r24,lo8(1)
 8242 4362 8093 0000            sts NeueKompassRichtungMerken.12,r24
 8243                   .L944:
 8244 4366 B090 0000            lds r11,EE_Parameter+20
 8245 436a CB2C                 mov r12,r11
 8246 436c DD24                 clr r13
 8247 436e EE24                 clr r14
 8248 4370 FF24                 clr r15
 8249 4372 B801                 movw r22,r16
 8250 4374 8827                 clr r24
 8251 4376 77FD                 sbrc r23,7
 8252 4378 8095                 com r24
 8253 437a 982F                 mov r25,r24
 8254 437c 9801                 movw r18,r16
 8255 437e 17FD                 sbrc r17,7
 8256 4380 00C0                 rjmp .L1272
 8257                   .L947:
 8258 4382 4427                 clr r20
 8259 4384 37FD                 sbrc r19,7
 8260 4386 4095                 com r20
 8261 4388 542F                 mov r21,r20
 8262 438a 0E94 0000            call __mulsi3
 8263 438e 9B01                 movw r18,r22
 8264 4390 AC01                 movw r20,r24
 8265 4392 C701                 movw r24,r14
 8266 4394 B601                 movw r22,r12
 8267 4396 0E94 0000            call __mulsi3
 8268 439a 97FD                 sbrc r25,7
 8269 439c 00C0                 rjmp .L1273
 8270                   .L948:
 8271 439e 59E0                 ldi r21,9
 8272 43a0 9595         1:      asr r25
 8273 43a2 8795                 ror r24
 8274 43a4 7795                 ror r23
 8275 43a6 6795                 ror r22
 8276 43a8 5A95                 dec r21
 8277 43aa 01F4                 brne 1b
 8278 43ac 9B01                 movw r18,r22
 8279 43ae 8B2D                 mov r24,r11
 8280 43b0 9927                 clr r25
 8281 43b2 809F                 mul r24,r16
 8282 43b4 A001                 movw r20,r0
 8283 43b6 819F                 mul r24,r17
 8284 43b8 500D                 add r21,r0
 8285 43ba 909F                 mul r25,r16
 8286 43bc 500D                 add r21,r0
 8287 43be 1124                 clr r1
 8288 43c0 CA01                 movw r24,r20
 8289 43c2 57FD                 sbrc r21,7
 8290 43c4 00C0                 rjmp .L1274
 8291                   .L949:
 8292 43c6 9595                 asr r25
 8293 43c8 8795                 ror r24
 8294 43ca 9595                 asr r25
 8295 43cc 8795                 ror r24
 8296 43ce 280F                 add r18,r24
 8297 43d0 391F                 adc r19,r25
 8298 43d2 C901                 movw r24,r18
 8299 43d4 AA27                 clr r26
 8300 43d6 97FD                 sbrc r25,7
 8301 43d8 A095                 com r26
 8302 43da BA2F                 mov r27,r26
 8303 43dc 8093 0000            sts sollGier.2,r24
 8304 43e0 9093 0000            sts (sollGier.2)+1,r25
 8305 43e4 A093 0000            sts (sollGier.2)+2,r26
 8306 43e8 B093 0000            sts (sollGier.2)+3,r27
 8307 43ec 2091 0000            lds r18,Mess_Integral_Gier
 8308 43f0 3091 0000            lds r19,(Mess_Integral_Gier)+1
 8309 43f4 4091 0000            lds r20,(Mess_Integral_Gier)+2
 8310 43f8 5091 0000            lds r21,(Mess_Integral_Gier)+3
 8311 43fc 281B                 sub r18,r24
 8312 43fe 390B                 sbc r19,r25
 8313 4400 4A0B                 sbc r20,r26
 8314 4402 5B0B                 sbc r21,r27
 8315 4404 2135                 cpi r18,lo8(50001)
 8316 4406 63EC                 ldi r22,hi8(50001)
 8317 4408 3607                 cpc r19,r22
 8318 440a 60E0                 ldi r22,hlo8(50001)
 8319 440c 4607                 cpc r20,r22
 8320 440e 60E0                 ldi r22,hhi8(50001)
 8321 4410 5607                 cpc r21,r22
 8322 4412 04F4                 brge .+2
 8323 4414 00C0                 rjmp .L1183
 8324 4416 80E5                 ldi r24,lo8(50000)
 8325 4418 93EC                 ldi r25,hi8(50000)
 8326 441a A0E0                 ldi r26,hlo8(50000)
 8327 441c B0E0                 ldi r27,hhi8(50000)
 8328 441e 8093 0000            sts Mess_Integral_Gier,r24
 8329 4422 9093 0000            sts (Mess_Integral_Gier)+1,r25
 8330 4426 A093 0000            sts (Mess_Integral_Gier)+2,r26
 8331 442a B093 0000            sts (Mess_Integral_Gier)+3,r27
 8332                   .L950:
 8333 442e 8091 0000            lds r24,Mess_Integral_Gier
 8334 4432 9091 0000            lds r25,(Mess_Integral_Gier)+1
 8335 4436 A091 0000            lds r26,(Mess_Integral_Gier)+2
 8336 443a B091 0000            lds r27,(Mess_Integral_Gier)+3
 8337 443e 805B                 subi r24,lo8(-50000)
 8338 4440 9C43                 sbci r25,hi8(-50000)
 8339 4442 AF4F                 sbci r26,hlo8(-50000)
 8340 4444 BF4F                 sbci r27,hhi8(-50000)
 8341 4446 04F4                 brge .L951
 8342 4448 80EB                 ldi r24,lo8(-50000)
 8343 444a 9CE3                 ldi r25,hi8(-50000)
 8344 444c AFEF                 ldi r26,hlo8(-50000)
 8345 444e BFEF                 ldi r27,hhi8(-50000)
 8346 4450 8093 0000            sts Mess_Integral_Gier,r24
 8347 4454 9093 0000            sts (Mess_Integral_Gier)+1,r25
 8348 4458 A093 0000            sts (Mess_Integral_Gier)+2,r26
 8349 445c B093 0000            sts (Mess_Integral_Gier)+3,r27
 8350                   .L951:
 8351 4460 8091 0000            lds r24,KompassValue
 8352 4464 9091 0000            lds r25,(KompassValue)+1
 8353 4468 9EA3                 std Y+38,r25
 8354 446a 8DA3                 std Y+37,r24
 8355 446c 892B                 or r24,r25
 8356 446e 01F4                 brne .+2
 8357 4470 00C0                 rjmp .L1153
 8358 4472 9889                 ldd r25,Y+16
 8359 4474 93FF                 sbrs r25,3
 8360 4476 00C0                 rjmp .L1153
 8361 4478 8D8D                 ldd r24,Y+29
 8362 447a 9E8D                 ldd r25,Y+30
 8363 447c AF8D                 ldd r26,Y+31
 8364 447e B8A1                 ldd r27,Y+32
 8365 4480 B7FF                 sbrs r27,7
 8366 4482 00C0                 rjmp .+4
 8367 4484 0C94 0000            jmp .L1275
 8368                   .L953:
 8369 4488 29E0                 ldi r18,9
 8370 448a B595         1:      asr r27
 8371 448c A795                 ror r26
 8372 448e 9795                 ror r25
 8373 4490 8795                 ror r24
 8374 4492 2A95                 dec r18
 8375 4494 01F4                 brne 1b
 8376 4496 6C01                 movw r12,r24
 8377 4498 97FF                 sbrs r25,7
 8378 449a 00C0                 rjmp .+4
 8379 449c 0C94 0000            jmp .L1276
 8380                   .L954:
 8381 44a0 8C85                 ldd r24,Y+12
 8382 44a2 9D85                 ldd r25,Y+13
 8383 44a4 AE85                 ldd r26,Y+14
 8384 44a6 BF85                 ldd r27,Y+15
 8385 44a8 B7FF                 sbrs r27,7
 8386 44aa 00C0                 rjmp .+4
 8387 44ac 0C94 0000            jmp .L1277
 8388                   .L955:
 8389 44b0 09E0                 ldi r16,9
 8390 44b2 B595         1:      asr r27
 8391 44b4 A795                 ror r26
 8392 44b6 9795                 ror r25
 8393 44b8 8795                 ror r24
 8394 44ba 0A95                 dec r16
 8395 44bc 01F4                 brne 1b
 8396 44be BC01                 movw r22,r24
 8397 44c0 97FF                 sbrs r25,7
 8398 44c2 00C0                 rjmp .+4
 8399 44c4 0C94 0000            jmp .L1278
 8400                   .L956:
 8401 44c8 C616                 cp r12,r22
 8402 44ca D706                 cpc r13,r23
 8403 44cc 04F4                 brge .L957
 8404 44ce 6B01                 movw r12,r22
 8405                   .L957:
 8406 44d0 B601                 movw r22,r12
 8407 44d2 D7FE                 sbrs r13,7
 8408 44d4 00C0                 rjmp .+4
 8409 44d6 0C94 0000            jmp .L1279
 8410                   .L958:
 8411 44da 5B01                 movw r10,r22
 8412 44dc B594                 asr r11
 8413 44de A794                 ror r10
 8414 44e0 B594                 asr r11
 8415 44e2 A794                 ror r10
 8416 44e4 B594                 asr r11
 8417 44e6 A794                 ror r10
 8418 44e8 0894                 sec
 8419 44ea A11C                 adc r10,__zero_reg__
 8420 44ec B11C                 adc r11,__zero_reg__
 8421 44ee ADA1                 ldd r26,Y+37
 8422 44f0 BEA1                 ldd r27,Y+38
 8423 44f2 A45E                 subi r26,lo8(-(540))
 8424 44f4 BD4F                 sbci r27,hi8(-(540))
 8425 44f6 7D01                 movw r14,r26
 8426 44f8 0027                 clr r16
 8427 44fa F7FC                 sbrc r15,7
 8428 44fc 0095                 com r16
 8429 44fe 102F                 mov r17,r16
 8430 4500 AC51                 subi r26,lo8(-(-540))
 8431 4502 B240                 sbci r27,hi8(-(-540))
 8432 4504 BEA3                 std Y+38,r27
 8433 4506 ADA3                 std Y+37,r26
 8434 4508 4090 0000            lds r4,ErsatzKompass
 8435 450c 5090 0000            lds r5,(ErsatzKompass)+1
 8436 4510 6090 0000            lds r6,(ErsatzKompass)+2
 8437 4514 7090 0000            lds r7,(ErsatzKompass)+3
 8438 4518 2091 0000            lds r18,GIER_GRAD_FAKTOR
 8439 451c 3091 0000            lds r19,(GIER_GRAD_FAKTOR)+1
 8440 4520 4091 0000            lds r20,(GIER_GRAD_FAKTOR)+2
 8441 4524 5091 0000            lds r21,(GIER_GRAD_FAKTOR)+3
 8442 4528 2A8B                 std Y+18,r18
 8443 452a 3B8B                 std Y+19,r19
 8444 452c 4C8B                 std Y+20,r20
 8445 452e 5D8B                 std Y+21,r21
 8446 4530 C301                 movw r24,r6
 8447 4532 B201                 movw r22,r4
 8448 4534 0E94 0000            call __divmodsi4
 8449 4538 E21A                 sub r14,r18
 8450 453a F30A                 sbc r15,r19
 8451 453c 040B                 sbc r16,r20
 8452 453e 150B                 sbc r17,r21
 8453 4540 C801                 movw r24,r16
 8454 4542 B701                 movw r22,r14
 8455 4544 28E6                 ldi r18,lo8(360)
 8456 4546 31E0                 ldi r19,hi8(360)
 8457 4548 40E0                 ldi r20,hlo8(360)
 8458 454a 50E0                 ldi r21,hhi8(360)
 8459 454c 0E94 0000            call __divmodsi4
 8460 4550 DC01                 movw r26,r24
 8461 4552 CB01                 movw r24,r22
 8462 4554 8C01                 movw r16,r24
 8463 4556 045B                 subi r16,lo8(-(-180))
 8464 4558 1040                 sbci r17,hi8(-(-180))
 8465 455a 8090 0000            lds r8,MesswertGier
 8466 455e 9090 0000            lds r9,(MesswertGier)+1
 8467 4562 C401                 movw r24,r8
 8468 4564 97FE                 sbrs r9,7
 8469 4566 00C0                 rjmp .+4
 8470 4568 0C94 0000            jmp .L1280
 8471                   .L960:
 8472 456c 8138                 cpi r24,129
 8473 456e 9105                 cpc r25,__zero_reg__
 8474 4570 04F0                 brlt .L959
 8475 4572 00E0                 ldi r16,lo8(0)
 8476 4574 10E0                 ldi r17,hi8(0)
 8477                   .L959:
 8478 4576 2090 0000            lds r2,KompassSignalSchlecht
 8479 457a 3090 0000            lds r3,(KompassSignalSchlecht)+1
 8480 457e 2114                 cp r2,__zero_reg__
 8481 4580 3104                 cpc r3,__zero_reg__
 8482 4582 01F4                 brne .L961
 8483 4584 39E1                 ldi r19,lo8(25)
 8484 4586 C316                 cp r12,r19
 8485 4588 D104                 cpc r13,__zero_reg__
 8486 458a 04F4                 brge .L961
 8487 458c 8091 0000            lds r24,GierGyroFehler
 8488 4590 9091 0000            lds r25,(GierGyroFehler)+1
 8489 4594 800F                 add r24,r16
 8490 4596 911F                 adc r25,r17
 8491 4598 9093 0000            sts (GierGyroFehler)+1,r25
 8492 459c 8093 0000            sts GierGyroFehler,r24
 8493 45a0 8091 0000            lds r24,NeueKompassRichtungMerken.12
 8494 45a4 8823                 tst r24
 8495 45a6 01F0                 breq .+4
 8496 45a8 0C94 0000            jmp .L1281
 8497                   .L961:
 8498 45ac C801                 movw r24,r16
 8499 45ae 880F                 lsl r24
 8500 45b0 991F                 rol r25
 8501 45b2 880F                 lsl r24
 8502 45b4 991F                 rol r25
 8503 45b6 880F                 lsl r24
 8504 45b8 991F                 rol r25
 8505 45ba B501                 movw r22,r10
 8506 45bc 0E94 0000            call __divmodhi4
 8507 45c0 9B01                 movw r18,r22
 8508 45c2 4427                 clr r20
 8509 45c4 37FD                 sbrc r19,7
 8510 45c6 4095                 com r20
 8511 45c8 542F                 mov r21,r20
 8512 45ca 240D                 add r18,r4
 8513 45cc 351D                 adc r19,r5
 8514 45ce 461D                 adc r20,r6
 8515 45d0 571D                 adc r21,r7
 8516 45d2 2093 0000            sts ErsatzKompass,r18
 8517 45d6 3093 0000            sts (ErsatzKompass)+1,r19
 8518 45da 4093 0000            sts (ErsatzKompass)+2,r20
 8519 45de 5093 0000            sts (ErsatzKompass)+3,r21
 8520 45e2 1091 0000            lds r17,Parameter_KompassWirkung
 8521 45e6 612F                 mov r22,r17
 8522 45e8 7727                 clr r23
 8523 45ea 6C9D                 mul r22,r12
 8524 45ec C001                 movw r24,r0
 8525 45ee 6D9D                 mul r22,r13
 8526 45f0 900D                 add r25,r0
 8527 45f2 7C9D                 mul r23,r12
 8528 45f4 900D                 add r25,r0
 8529 45f6 1124                 clr r1
 8530 45f8 97FF                 sbrs r25,7
 8531 45fa 00C0                 rjmp .+4
 8532 45fc 0C94 0000            jmp .L1282
 8533                   .L963:
 8534 4600 6C01                 movw r12,r24
 8535 4602 D594                 asr r13
 8536 4604 C794                 ror r12
 8537 4606 D594                 asr r13
 8538 4608 C794                 ror r12
 8539 460a D594                 asr r13
 8540 460c C794                 ror r12
 8541 460e D594                 asr r13
 8542 4610 C794                 ror r12
 8543 4612 D594                 asr r13
 8544 4614 C794                 ror r12
 8545 4616 6C19                 sub r22,r12
 8546 4618 7D09                 sbc r23,r13
 8547 461a 6B01                 movw r12,r22
 8548 461c 77FF                 sbrs r23,7
 8549 461e 00C0                 rjmp .+4
 8550 4620 0C94 0000            jmp .L964
 8551 4624 2114                 cp r2,__zero_reg__
 8552 4626 3104                 cpc r3,__zero_reg__
 8553 4628 01F0                 breq .+4
 8554 462a 0C94 0000            jmp .L1198
 8555 462e E090 0000            lds r14,MaxStickNick
 8556 4632 F090 0000            lds r15,(MaxStickNick)+1
 8557 4636 8091 0000            lds r24,MaxStickRoll
 8558 463a 9091 0000            lds r25,(MaxStickRoll)+1
 8559 463e E80E                 add r14,r24
 8560 4640 F91E                 adc r15,r25
 8561 4642 F7FE                 sbrs r15,7
 8562 4644 00C0                 rjmp .+4
 8563 4646 0C94 0000            jmp .L1283
 8564                   .L966:
 8565 464a F594                 asr r15
 8566 464c E794                 ror r14
 8567 464e F594                 asr r15
 8568 4650 E794                 ror r14
 8569 4652 F594                 asr r15
 8570 4654 E794                 ror r14
 8571 4656 80E4                 ldi r24,lo8(64)
 8572 4658 90E0                 ldi r25,hi8(64)
 8573 465a E80E                 add r14,r24
 8574 465c F91E                 adc r15,r25
 8575 465e CA01                 movw r24,r20
 8576 4660 B901                 movw r22,r18
 8577 4662 2A89                 ldd r18,Y+18
 8578 4664 3B89                 ldd r19,Y+19
 8579 4666 4C89                 ldd r20,Y+20
 8580 4668 5D89                 ldd r21,Y+21
 8581 466a 0E94 0000            call __divmodsi4
 8582 466e DA01                 movw r26,r20
 8583 4670 C901                 movw r24,r18
 8584 4672 2091 0000            lds r18,KompassStartwert
 8585 4676 3091 0000            lds r19,(KompassStartwert)+1
 8586 467a 4427                 clr r20
 8587 467c 37FD                 sbrc r19,7
 8588 467e 4095                 com r20
 8589 4680 542F                 mov r21,r20
 8590 4682 821B                 sub r24,r18
 8591 4684 930B                 sbc r25,r19
 8592 4686 A40B                 sbc r26,r20
 8593 4688 B50B                 sbc r27,r21
 8594 468a 845E                 subi r24,lo8(-(540))
 8595 468c 9D4F                 sbci r25,hi8(-(540))
 8596 468e AF4F                 sbci r26,hlo8(-(540))
 8597 4690 BF4F                 sbci r27,hhi8(-(540))
 8598 4692 BC01                 movw r22,r24
 8599 4694 CD01                 movw r24,r26
 8600 4696 28E6                 ldi r18,lo8(360)
 8601 4698 31E0                 ldi r19,hi8(360)
 8602 469a 40E0                 ldi r20,hlo8(360)
 8603 469c 50E0                 ldi r21,hhi8(360)
 8604 469e 0E94 0000            call __divmodsi4
 8605 46a2 DC01                 movw r26,r24
 8606 46a4 CB01                 movw r24,r22
 8607 46a6 845B                 subi r24,lo8(-(-180))
 8608 46a8 9040                 sbci r25,hi8(-(-180))
 8609 46aa 8C9D                 mul r24,r12
 8610 46ac D001                 movw r26,r0
 8611 46ae 8D9D                 mul r24,r13
 8612 46b0 B00D                 add r27,r0
 8613 46b2 9C9D                 mul r25,r12
 8614 46b4 B00D                 add r27,r0
 8615 46b6 1124                 clr r1
 8616 46b8 CD01                 movw r24,r26
 8617 46ba B701                 movw r22,r14
 8618 46bc 0E94 0000            call __divmodhi4
 8619 46c0 83E0                 ldi r24,lo8(3)
 8620 46c2 189F                 mul r17,r24
 8621 46c4 6001                 movw r12,r0
 8622 46c6 1124                 clr r1
 8623 46c8 C616                 cp r12,r22
 8624 46ca D706                 cpc r13,r23
 8625 46cc 04F4                 brge .+4
 8626 46ce 0C94 0000            jmp .L1284
 8627 46d2 8827                 clr r24
 8628 46d4 9927                 clr r25
 8629 46d6 8C19                 sub r24,r12
 8630 46d8 9D09                 sbc r25,r13
 8631 46da 6817                 cp r22,r24
 8632 46dc 7907                 cpc r23,r25
 8633 46de 04F4                 brge .L968
 8634 46e0 BC01                 movw r22,r24
 8635                   .L968:
 8636 46e2 CB01                 movw r24,r22
 8637 46e4 AA27                 clr r26
 8638 46e6 97FD                 sbrc r25,7
 8639 46e8 A095                 com r26
 8640 46ea BA2F                 mov r27,r26
 8641 46ec 2091 0000            lds r18,Mess_Integral_Gier
 8642 46f0 3091 0000            lds r19,(Mess_Integral_Gier)+1
 8643 46f4 4091 0000            lds r20,(Mess_Integral_Gier)+2
 8644 46f8 5091 0000            lds r21,(Mess_Integral_Gier)+3
 8645 46fc 820F                 add r24,r18
 8646 46fe 931F                 adc r25,r19
 8647 4700 A41F                 adc r26,r20
 8648 4702 B51F                 adc r27,r21
 8649 4704 8093 0000            sts Mess_Integral_Gier,r24
 8650 4708 9093 0000            sts (Mess_Integral_Gier)+1,r25
 8651 470c A093 0000            sts (Mess_Integral_Gier)+2,r26
 8652 4710 B093 0000            sts (Mess_Integral_Gier)+3,r27
 8653 4714 00C0                 rjmp .L952
 8654                   .L1153:
 8655 4716 8090 0000            lds r8,MesswertGier
 8656 471a 9090 0000            lds r9,(MesswertGier)+1
 8657                   .L952:
 8658 471e 8091 0000            lds r24,TimerWerteausgabe.11
 8659 4722 8150                 subi r24,lo8(-(-1))
 8660 4724 8F3F                 cpi r24,lo8(-1)
 8661 4726 01F4                 brne .+2
 8662 4728 00C0                 rjmp .L1285
 8663 472a 8093 0000            sts TimerWerteausgabe.11,r24
 8664 472e A090 0000            lds r10,MesswertNick
 8665 4732 B090 0000            lds r11,(MesswertNick)+1
 8666                   .L972:
 8667 4736 BC8D                 ldd r27,Y+28
 8668 4738 BB23                 tst r27
 8669 473a 01F0                 breq .L974
 8670 473c 1092 0000            sts SummeRoll.1,__zero_reg__
 8671 4740 1092 0000            sts (SummeRoll.1)+1,__zero_reg__
 8672 4744 1092 0000            sts (SummeRoll.1)+2,__zero_reg__
 8673 4748 1092 0000            sts (SummeRoll.1)+3,__zero_reg__
 8674 474c 1092 0000            sts SummeNick.0,__zero_reg__
 8675 4750 1092 0000            sts (SummeNick.0)+1,__zero_reg__
 8676 4754 1092 0000            sts (SummeNick.0)+2,__zero_reg__
 8677 4758 1092 0000            sts (SummeNick.0)+3,__zero_reg__
 8678                   .L974:
 8679 475c EB85                 ldd r30,Y+11
 8680 475e EE23                 tst r30
 8681 4760 01F0                 breq .+2
 8682 4762 00C0                 rjmp .L975
 8683 4764 8091 0000            lds r24,IntegralFaktor
 8684 4768 9927                 clr r25
 8685 476a AA27                 clr r26
 8686 476c BB27                 clr r27
 8687 476e BC01                 movw r22,r24
 8688 4770 CD01                 movw r24,r26
 8689 4772 2D8D                 ldd r18,Y+29
 8690 4774 3E8D                 ldd r19,Y+30
 8691 4776 4F8D                 ldd r20,Y+31
 8692 4778 58A1                 ldd r21,Y+32
 8693 477a 0E94 0000            call __mulsi3
 8694 477e DC01                 movw r26,r24
 8695 4780 CB01                 movw r24,r22
 8696 4782 BC01                 movw r22,r24
 8697 4784 CD01                 movw r24,r26
 8698 4786 28EF                 ldi r18,lo8(11000)
 8699 4788 3AE2                 ldi r19,hi8(11000)
 8700 478a 40E0                 ldi r20,hlo8(11000)
 8701 478c 50E0                 ldi r21,hhi8(11000)
 8702 478e 0E94 0000            call __divmodsi4
 8703 4792 2901                 movw r4,r18
 8704                   .L976:
 8705 4794 FB8D                 ldd r31,Y+27
 8706 4796 FF23                 tst r31
 8707 4798 01F0                 breq .+2
 8708 479a 00C0                 rjmp .L977
 8709 479c 8091 0000            lds r24,IntegralFaktor
 8710 47a0 9927                 clr r25
 8711 47a2 AA27                 clr r26
 8712 47a4 BB27                 clr r27
 8713 47a6 BC01                 movw r22,r24
 8714 47a8 CD01                 movw r24,r26
 8715 47aa 2C85                 ldd r18,Y+12
 8716 47ac 3D85                 ldd r19,Y+13
 8717 47ae 4E85                 ldd r20,Y+14
 8718 47b0 5F85                 ldd r21,Y+15
 8719 47b2 0E94 0000            call __mulsi3
 8720 47b6 DC01                 movw r26,r24
 8721 47b8 CB01                 movw r24,r22
 8722 47ba BC01                 movw r22,r24
 8723 47bc CD01                 movw r24,r26
 8724 47be 28EF                 ldi r18,lo8(11000)
 8725 47c0 3AE2                 ldi r19,hi8(11000)
 8726 47c2 40E0                 ldi r20,hlo8(11000)
 8727 47c4 50E0                 ldi r21,hhi8(11000)
 8728 47c6 0E94 0000            call __divmodsi4
 8729 47ca 1901                 movw r2,r18
 8730                   .L978:
 8731 47cc 0091 0000            lds r16,TrimNick
 8732 47d0 1091 0000            lds r17,(TrimNick)+1
 8733 47d4 093C                 cpi r16,201
 8734 47d6 1105                 cpc r17,__zero_reg__
 8735 47d8 04F4                 brge .+2
 8736 47da 00C0                 rjmp .L979
 8737 47dc 08EC                 ldi r16,lo8(200)
 8738 47de 10E0                 ldi r17,hi8(200)
 8739                   .L1202:
 8740 47e0 1093 0000            sts (TrimNick)+1,r17
 8741 47e4 0093 0000            sts TrimNick,r16
 8742                   .L980:
 8743 47e8 4091 0000            lds r20,TrimRoll
 8744 47ec 5091 0000            lds r21,(TrimRoll)+1
 8745 47f0 5EA3                 std Y+38,r21
 8746 47f2 4DA3                 std Y+37,r20
 8747 47f4 493C                 cpi r20,201
 8748 47f6 5105                 cpc r21,__zero_reg__
 8749 47f8 04F4                 brge .+2
 8750 47fa 00C0                 rjmp .L982
 8751 47fc 68EC                 ldi r22,lo8(200)
 8752 47fe 70E0                 ldi r23,hi8(200)
 8753 4800 7EA3                 std Y+38,r23
 8754 4802 6DA3                 std Y+37,r22
 8755 4804 7093 0000            sts (TrimRoll)+1,r23
 8756 4808 6093 0000            sts TrimRoll,r22
 8757                   .L983:
 8758 480c C501                 movw r24,r10
 8759 480e AA27                 clr r26
 8760 4810 97FD                 sbrc r25,7
 8761 4812 A095                 com r26
 8762 4814 BA2F                 mov r27,r26
 8763 4816 2091 0000            lds r18,GyroFaktor
 8764 481a C22E                 mov r12,r18
 8765 481c DD24                 clr r13
 8766 481e EE24                 clr r14
 8767 4820 FF24                 clr r15
 8768 4822 BC01                 movw r22,r24
 8769 4824 CD01                 movw r24,r26
 8770 4826 A701                 movw r20,r14
 8771 4828 9601                 movw r18,r12
 8772 482a 0E94 0000            call __mulsi3
 8773 482e 9B01                 movw r18,r22
 8774 4830 AC01                 movw r20,r24
 8775 4832 C801                 movw r24,r16
 8776 4834 AA27                 clr r26
 8777 4836 97FD                 sbrc r25,7
 8778 4838 A095                 com r26
 8779 483a BA2F                 mov r27,r26
 8780 483c 67E0                 ldi r22,7
 8781 483e 880F         1:      lsl r24
 8782 4840 991F                 rol r25
 8783 4842 AA1F                 rol r26
 8784 4844 BB1F                 rol r27
 8785 4846 6A95                 dec r22
 8786 4848 01F4                 brne 1b
 8787 484a 280F                 add r18,r24
 8788 484c 391F                 adc r19,r25
 8789 484e 4A1F                 adc r20,r26
 8790 4850 5B1F                 adc r21,r27
 8791 4852 57FD                 sbrc r21,7
 8792 4854 00C0                 rjmp .L1286
 8793                   .L985:
 8794 4856 86E0                 ldi r24,6
 8795 4858 5595         1:      asr r21
 8796 485a 4795                 ror r20
 8797 485c 3795                 ror r19
 8798 485e 2795                 ror r18
 8799 4860 8A95                 dec r24
 8800 4862 01F4                 brne 1b
 8801 4864 5201                 movw r10,r4
 8802 4866 A20E                 add r10,r18
 8803 4868 B31E                 adc r11,r19
 8804 486a 3501                 movw r6,r10
 8805 486c 8091 0000            lds r24,MesswertRoll
 8806 4870 9091 0000            lds r25,(MesswertRoll)+1
 8807 4874 AA27                 clr r26
 8808 4876 97FD                 sbrc r25,7
 8809 4878 A095                 com r26
 8810 487a BA2F                 mov r27,r26
 8811 487c BC01                 movw r22,r24
 8812 487e CD01                 movw r24,r26
 8813 4880 A701                 movw r20,r14
 8814 4882 9601                 movw r18,r12
 8815 4884 0E94 0000            call __mulsi3
 8816 4888 9B01                 movw r18,r22
 8817 488a AC01                 movw r20,r24
 8818 488c EDA0                 ldd r14,Y+37
 8819 488e FEA0                 ldd r15,Y+38
 8820 4890 C701                 movw r24,r14
 8821 4892 AA27                 clr r26
 8822 4894 97FD                 sbrc r25,7
 8823 4896 A095                 com r26
 8824 4898 BA2F                 mov r27,r26
 8825 489a 07E0                 ldi r16,7
 8826 489c 880F         1:      lsl r24
 8827 489e 991F                 rol r25
 8828 48a0 AA1F                 rol r26
 8829 48a2 BB1F                 rol r27
 8830 48a4 0A95                 dec r16
 8831 48a6 01F4                 brne 1b
 8832 48a8 280F                 add r18,r24
 8833 48aa 391F                 adc r19,r25
 8834 48ac 4A1F                 adc r20,r26
 8835 48ae 5B1F                 adc r21,r27
 8836 48b0 57FD                 sbrc r21,7
 8837 48b2 00C0                 rjmp .L1287
 8838                   .L986:
 8839 48b4 16E0                 ldi r17,6
 8840 48b6 5595         1:      asr r21
 8841 48b8 4795                 ror r20
 8842 48ba 3795                 ror r19
 8843 48bc 2795                 ror r18
 8844 48be 1A95                 dec r17
 8845 48c0 01F4                 brne 1b
 8846 48c2 8101                 movw r16,r2
 8847 48c4 020F                 add r16,r18
 8848 48c6 131F                 adc r17,r19
 8849 48c8 1EA3                 std Y+38,r17
 8850 48ca 0DA3                 std Y+37,r16
 8851 48cc 6801                 movw r12,r16
 8852 48ce 880C                 add r8,r8
 8853 48d0 991C                 adc r9,r9
 8854 48d2 C401                 movw r24,r8
 8855 48d4 AA27                 clr r26
 8856 48d6 97FD                 sbrc r25,7
 8857 48d8 A095                 com r26
 8858 48da BA2F                 mov r27,r26
 8859 48dc 2091 0000            lds r18,GyroFaktorGier
 8860 48e0 3327                 clr r19
 8861 48e2 4427                 clr r20
 8862 48e4 5527                 clr r21
 8863 48e6 BC01                 movw r22,r24
 8864 48e8 CD01                 movw r24,r26
 8865 48ea 0E94 0000            call __mulsi3
 8866 48ee 7B01                 movw r14,r22
 8867 48f0 8C01                 movw r16,r24
 8868 48f2 97FD                 sbrc r25,7
 8869 48f4 00C0                 rjmp .L1288
 8870                   .L987:
 8871 48f6 B6E0                 ldi r27,6
 8872 48f8 1595         1:      asr r17
 8873 48fa 0795                 ror r16
 8874 48fc F794                 ror r15
 8875 48fe E794                 ror r14
 8876 4900 BA95                 dec r27
 8877 4902 01F4                 brne 1b
 8878 4904 3A8D                 ldd r19,Y+26
 8879 4906 832F                 mov r24,r19
 8880 4908 9927                 clr r25
 8881 490a AA27                 clr r26
 8882 490c BB27                 clr r27
 8883 490e 2091 0000            lds r18,Integral_Gier
 8884 4912 3091 0000            lds r19,(Integral_Gier)+1
 8885 4916 4091 0000            lds r20,(Integral_Gier)+2
 8886 491a 5091 0000            lds r21,(Integral_Gier)+3
 8887 491e BC01                 movw r22,r24
 8888 4920 CD01                 movw r24,r26
 8889 4922 0E94 0000            call __mulsi3
 8890 4926 DC01                 movw r26,r24
 8891 4928 CB01                 movw r24,r22
 8892 492a BC01                 movw r22,r24
 8893 492c CD01                 movw r24,r26
 8894 492e 20EF                 ldi r18,lo8(22000)
 8895 4930 35E5                 ldi r19,hi8(22000)
 8896 4932 40E0                 ldi r20,hlo8(22000)
 8897 4934 50E0                 ldi r21,hhi8(22000)
 8898 4936 0E94 0000            call __divmodsi4
 8899 493a 4701                 movw r8,r14
 8900 493c 820E                 add r8,r18
 8901 493e 931E                 adc r9,r19
 8902 4940 C401                 movw r24,r8
 8903 4942 41E0                 ldi r20,lo8(16385)
 8904 4944 A416                 cp r10,r20
 8905 4946 40E4                 ldi r20,hi8(16385)
 8906 4948 B406                 cpc r11,r20
 8907 494a 04F0                 brlt .L988
 8908 494c A12C                 mov r10,__zero_reg__
 8909 494e A0E4                 ldi r26,hi8(16384)
 8910 4950 BA2E                 mov r11,r26
 8911 4952 3501                 movw r6,r10
 8912                   .L988:
 8913 4954 50E0                 ldi r21,lo8(-16384)
 8914 4956 A516                 cp r10,r21
 8915 4958 50EC                 ldi r21,hi8(-16384)
 8916 495a B506                 cpc r11,r21
 8917 495c 04F0                 brlt .+2
 8918 495e 00C0                 rjmp .L1184
 8919 4960 A12C                 mov r10,__zero_reg__
 8920 4962 F0EC                 ldi r31,hi8(-16384)
 8921 4964 BF2E                 mov r11,r31
 8922 4966 B092 0000            sts (MesswertNick)+1,r11
 8923 496a A092 0000            sts MesswertNick,r10
 8924                   .L989:
 8925 496e 6DA1                 ldd r22,Y+37
 8926 4970 7EA1                 ldd r23,Y+38
 8927 4972 6150                 subi r22,lo8(16385)
 8928 4974 7044                 sbci r23,hi8(16385)
 8929 4976 04F0                 brlt .L990
 8930 4978 E0E0                 ldi r30,lo8(16384)
 8931 497a F0E4                 ldi r31,hi8(16384)
 8932 497c FEA3                 std Y+38,r31
 8933 497e EDA3                 std Y+37,r30
 8934 4980 6F01                 movw r12,r30
 8935                   .L990:
 8936 4982 0DA1                 ldd r16,Y+37
 8937 4984 1EA1                 ldd r17,Y+38
 8938 4986 0050                 subi r16,lo8(-16384)
 8939 4988 104C                 sbci r17,hi8(-16384)
 8940 498a 04F0                 brlt .+2
 8941 498c 00C0                 rjmp .L1185
 8942 498e 40E0                 ldi r20,lo8(-16384)
 8943 4990 50EC                 ldi r21,hi8(-16384)
 8944 4992 5EA3                 std Y+38,r21
 8945 4994 4DA3                 std Y+37,r20
 8946 4996 5093 0000            sts (MesswertRoll)+1,r21
 8947 499a 4093 0000            sts MesswertRoll,r20
 8948                   .L991:
 8949 499e 51E0                 ldi r21,lo8(16385)
 8950 49a0 8516                 cp r8,r21
 8951 49a2 50E4                 ldi r21,hi8(16385)
 8952 49a4 9506                 cpc r9,r21
 8953 49a6 04F0                 brlt .L992
 8954 49a8 812C                 mov r8,__zero_reg__
 8955 49aa E0E4                 ldi r30,hi8(16384)
 8956 49ac 9E2E                 mov r9,r30
 8957 49ae C401                 movw r24,r8
 8958                   .L992:
 8959 49b0 60E0                 ldi r22,lo8(-16384)
 8960 49b2 8616                 cp r8,r22
 8961 49b4 60EC                 ldi r22,hi8(-16384)
 8962 49b6 9606                 cpc r9,r22
 8963 49b8 04F0                 brlt .+2
 8964 49ba 00C0                 rjmp .L1186
 8965 49bc 812C                 mov r8,__zero_reg__
 8966 49be 70EC                 ldi r23,hi8(-16384)
 8967 49c0 972E                 mov r9,r23
 8968 49c2 9092 0000            sts (MesswertGier)+1,r9
 8969 49c6 8092 0000            sts MesswertGier,r8
 8970                   .L993:
 8971 49ca 8091 0000            lds r24,BattLowVoltageWarning
 8972 49ce 482F                 mov r20,r24
 8973 49d0 5527                 clr r21
 8974 49d2 8091 0000            lds r24,UBat
 8975 49d6 9091 0000            lds r25,(UBat)+1
 8976 49da 4817                 cp r20,r24
 8977 49dc 5907                 cpc r21,r25
 8978 49de 04F4                 brge .L994
 8979 49e0 2091 0000            lds r18,UBat
 8980 49e4 3091 0000            lds r19,(UBat)+1
 8981 49e8 A981                 ldd r26,Y+1
 8982 49ea BA81                 ldd r27,Y+2
 8983 49ec 4A9F                 mul r20,r26
 8984 49ee C001                 movw r24,r0
 8985 49f0 4B9F                 mul r20,r27
 8986 49f2 900D                 add r25,r0
 8987 49f4 5A9F                 mul r21,r26
 8988 49f6 900D                 add r25,r0
 8989 49f8 1124                 clr r1
 8990 49fa B901                 movw r22,r18
 8991 49fc 0E94 0000            call __udivmodhi4
 8992 4a00 7A83                 std Y+2,r23
 8993 4a02 6983                 std Y+1,r22
 8994                   .L994:
 8995 4a04 E981                 ldd r30,Y+1
 8996 4a06 FA81                 ldd r31,Y+2
 8997 4a08 EE0F                 lsl r30
 8998 4a0a FF1F                 rol r31
 8999 4a0c EE0F                 lsl r30
 9000 4a0e FF1F                 rol r31
 9001 4a10 FA83                 std Y+2,r31
 9002 4a12 E983                 std Y+1,r30
 9003 4a14 F889                 ldd r31,Y+16
 9004 4a16 F0FF                 sbrs r31,0
 9005 4a18 00C0                 rjmp .L1157
 9006 4a1a 0B8D                 ldd r16,Y+27
 9007 4a1c 0023                 tst r16
 9008 4a1e 01F4                 brne .L1157
 9009 4a20 1B85                 ldd r17,Y+11
 9010 4a22 1123                 tst r17
 9011 4a24 01F4                 brne .L1157
 9012 4a26 2091 0000            lds r18,BaroExpandActive
 9013 4a2a 3091 0000            lds r19,(BaroExpandActive)+1
 9014 4a2e 2115                 cp r18,__zero_reg__
 9015 4a30 3105                 cpc r19,__zero_reg__
 9016 4a32 01F0                 breq .+2
 9017 4a34 00C0                 rjmp .L996
 9018 4a36 8091 0000            lds r24,MessLuftdruck
 9019 4a3a 9091 0000            lds r25,(MessLuftdruck)+1
 9020 4a3e 8959                 subi r24,lo8(921)
 9021 4a40 9340                 sbci r25,hi8(921)
 9022 4a42 00F0                 brlo .+2
 9023 4a44 00C0                 rjmp .L1289
 9024 4a46 8091 0000            lds r24,MessLuftdruck
 9025 4a4a 9091 0000            lds r25,(MessLuftdruck)+1
 9026 4a4e 8436                 cpi r24,100
 9027 4a50 9105                 cpc r25,__zero_reg__
 9028 4a52 00F0                 brlo .+4
 9029 4a54 0C94 0000            jmp .L1001
 9030 4a58 87B5                 in r24,71-0x20
 9031 4a5a 8B30                 cpi r24,lo8(11)
 9032 4a5c 00F4                 brsh .+4
 9033 4a5e 0C94 0000            jmp .L1002
 9034 4a62 8091 0000            lds r24,ExpandBaro
 9035 4a66 8F5F                 subi r24,lo8(-(1))
 9036                   .L1203:
 9037 4a68 8093 0000            sts ExpandBaro,r24
 9038 4a6c 9AE0                 ldi r25,lo8(10)
 9039 4a6e 8902                 muls r24,r25
 9040 4a70 9001                 movw r18,r0
 9041 4a72 1124                 clr r1
 9042 4a74 8091 0000            lds r24,DruckOffsetSetting
 9043 4a78 821B                 sub r24,r18
 9044 4a7a 87BD                 out 71-0x20,r24
 9045 4a7c 8CE2                 ldi r24,lo8(300)
 9046 4a7e 91E0                 ldi r25,hi8(300)
 9047 4a80 9093 0000            sts (beeptime)+1,r25
 9048 4a84 8093 0000            sts beeptime,r24
 9049 4a88 8EE5                 ldi r24,lo8(350)
 9050 4a8a 91E0                 ldi r25,hi8(350)
 9051 4a8c 9093 0000            sts (BaroExpandActive)+1,r25
 9052 4a90 8093 0000            sts BaroExpandActive,r24
 9053 4a94 00C0                 rjmp .L1005
 9054                   .L1157:
 9055 4a96 D090 0000            lds r13,MAX_GAS
 9056                   .L995:
 9057 4a9a 8091 0000            lds r24,MIN_GAS
 9058 4a9e 9927                 clr r25
 9059 4aa0 880F                 lsl r24
 9060 4aa2 991F                 rol r25
 9061 4aa4 880F                 lsl r24
 9062 4aa6 991F                 rol r25
 9063 4aa8 8896                 adiw r24,40
 9064 4aaa 6981                 ldd r22,Y+1
 9065 4aac 7A81                 ldd r23,Y+2
 9066 4aae 6817                 cp r22,r24
 9067 4ab0 7907                 cpc r23,r25
 9068 4ab2 04F4                 brge .L1088
 9069 4ab4 9A83                 std Y+2,r25
 9070 4ab6 8983                 std Y+1,r24
 9071                   .L1088:
 9072 4ab8 8D2D                 mov r24,r13
 9073 4aba 9927                 clr r25
 9074 4abc 880F                 lsl r24
 9075 4abe 991F                 rol r25
 9076 4ac0 880F                 lsl r24
 9077 4ac2 991F                 rol r25
 9078 4ac4 8055                 subi r24,lo8(-(-80))
 9079 4ac6 9040                 sbci r25,hi8(-(-80))
 9080 4ac8 A981                 ldd r26,Y+1
 9081 4aca BA81                 ldd r27,Y+2
 9082 4acc 8A17                 cp r24,r26
 9083 4ace 9B07                 cpc r25,r27
 9084 4ad0 04F4                 brge .L1089
 9085 4ad2 9A83                 std Y+2,r25
 9086 4ad4 8983                 std Y+1,r24
 9087                   .L1089:
 9088 4ad6 8091 0000            lds r24,MissingMotor
 9089 4ada 8823                 tst r24
 9090 4adc 01F0                 breq .L1090
 9091 4ade 8091 0000            lds r24,modell_fliegt
 9092 4ae2 9091 0000            lds r25,(modell_fliegt)+1
 9093 4ae6 0297                 sbiw r24,2
 9094 4ae8 C097                 sbiw r24,48
 9095 4aea 00F4                 brsh .L1090
 9096 4aec E981                 ldd r30,Y+1
 9097 4aee FA81                 ldd r31,Y+2
 9098 4af0 1E16                 cp __zero_reg__,r30
 9099 4af2 1F06                 cpc __zero_reg__,r31
 9100 4af4 04F4                 brge .L1090
 9101 4af6 81E0                 ldi r24,lo8(1)
 9102 4af8 90E0                 ldi r25,hi8(1)
 9103 4afa 9093 0000            sts (modell_fliegt)+1,r25
 9104 4afe 8093 0000            sts modell_fliegt,r24
 9105                   .L1090:
 9106 4b02 8091 0000            lds r24,StickNick
 9107 4b06 9091 0000            lds r25,(StickNick)+1
 9108 4b0a B501                 movw r22,r10
 9109 4b0c 681B                 sub r22,r24
 9110 4b0e 790B                 sbc r23,r25
 9111 4b10 7093 0000            sts (DiffNick)+1,r23
 9112 4b14 6093 0000            sts DiffNick,r22
 9113 4b18 E091 0000            lds r30,IntegralFaktor
 9114 4b1c EE23                 tst r30
 9115 4b1e 01F4                 brne .+2
 9116 4b20 00C0                 rjmp .L1104
 9117 4b22 481A                 sub r4,r24
 9118 4b24 590A                 sbc r5,r25
 9119 4b26 C201                 movw r24,r4
 9120 4b28 AA27                 clr r26
 9121 4b2a 97FD                 sbrc r25,7
 9122 4b2c A095                 com r26
 9123 4b2e BA2F                 mov r27,r26
 9124                   .L1208:
 9125 4b30 2091 0000            lds r18,SummeNick.0
 9126 4b34 3091 0000            lds r19,(SummeNick.0)+1
 9127 4b38 4091 0000            lds r20,(SummeNick.0)+2
 9128 4b3c 5091 0000            lds r21,(SummeNick.0)+3
 9129 4b40 820F                 add r24,r18
 9130 4b42 931F                 adc r25,r19
 9131 4b44 A41F                 adc r26,r20
 9132 4b46 B51F                 adc r27,r21
 9133 4b48 8093 0000            sts SummeNick.0,r24
 9134 4b4c 9093 0000            sts (SummeNick.0)+1,r25
 9135 4b50 A093 0000            sts (SummeNick.0)+2,r26
 9136 4b54 B093 0000            sts (SummeNick.0)+3,r27
 9137 4b58 8091 0000            lds r24,SummeNick.0
 9138 4b5c 9091 0000            lds r25,(SummeNick.0)+1
 9139 4b60 A091 0000            lds r26,(SummeNick.0)+2
 9140 4b64 B091 0000            lds r27,(SummeNick.0)+3
 9141 4b68 8130                 cpi r24,lo8(64001)
 9142 4b6a FAEF                 ldi r31,hi8(64001)
 9143 4b6c 9F07                 cpc r25,r31
 9144 4b6e F0E0                 ldi r31,hlo8(64001)
 9145 4b70 AF07                 cpc r26,r31
 9146 4b72 F0E0                 ldi r31,hhi8(64001)
 9147 4b74 BF07                 cpc r27,r31
 9148 4b76 04F0                 brlt .L1106
 9149 4b78 80E0                 ldi r24,lo8(64000)
 9150 4b7a 9AEF                 ldi r25,hi8(64000)
 9151 4b7c A0E0                 ldi r26,hlo8(64000)
 9152 4b7e B0E0                 ldi r27,hhi8(64000)
 9153 4b80 8093 0000            sts SummeNick.0,r24
 9154 4b84 9093 0000            sts (SummeNick.0)+1,r25
 9155 4b88 A093 0000            sts (SummeNick.0)+2,r26
 9156 4b8c B093 0000            sts (SummeNick.0)+3,r27
 9157                   .L1106:
 9158 4b90 8050                 subi r24,lo8(-64000)
 9159 4b92 9640                 sbci r25,hi8(-64000)
 9160 4b94 AF4F                 sbci r26,hlo8(-64000)
 9161 4b96 BF4F                 sbci r27,hhi8(-64000)
 9162 4b98 04F4                 brge .L1107
 9163 4b9a 80E0                 ldi r24,lo8(-64000)
 9164 4b9c 96E0                 ldi r25,hi8(-64000)
 9165 4b9e AFEF                 ldi r26,hlo8(-64000)
 9166 4ba0 BFEF                 ldi r27,hhi8(-64000)
 9167 4ba2 8093 0000            sts SummeNick.0,r24
 9168 4ba6 9093 0000            sts (SummeNick.0)+1,r25
 9169 4baa A093 0000            sts (SummeNick.0)+2,r26
 9170 4bae B093 0000            sts (SummeNick.0)+3,r27
 9171                   .L1107:
 9172 4bb2 8091 0000            lds r24,StickRoll
 9173 4bb6 9091 0000            lds r25,(StickRoll)+1
 9174 4bba 6DA1                 ldd r22,Y+37
 9175 4bbc 7EA1                 ldd r23,Y+38
 9176 4bbe 681B                 sub r22,r24
 9177 4bc0 790B                 sbc r23,r25
 9178 4bc2 7093 0000            sts (DiffRoll)+1,r23
 9179 4bc6 6093 0000            sts DiffRoll,r22
 9180 4bca EE23                 tst r30
 9181 4bcc 01F4                 brne .+2
 9182 4bce 00C0                 rjmp .L1113
 9183 4bd0 281A                 sub r2,r24
 9184 4bd2 390A                 sbc r3,r25
 9185 4bd4 C101                 movw r24,r2
 9186 4bd6 AA27                 clr r26
 9187 4bd8 97FD                 sbrc r25,7
 9188 4bda A095                 com r26
 9189 4bdc BA2F                 mov r27,r26
 9190                   .L1209:
 9191 4bde 2091 0000            lds r18,SummeRoll.1
 9192 4be2 3091 0000            lds r19,(SummeRoll.1)+1
 9193 4be6 4091 0000            lds r20,(SummeRoll.1)+2
 9194 4bea 5091 0000            lds r21,(SummeRoll.1)+3
 9195 4bee 820F                 add r24,r18
 9196 4bf0 931F                 adc r25,r19
 9197 4bf2 A41F                 adc r26,r20
 9198 4bf4 B51F                 adc r27,r21
 9199 4bf6 8093 0000            sts SummeRoll.1,r24
 9200 4bfa 9093 0000            sts (SummeRoll.1)+1,r25
 9201 4bfe A093 0000            sts (SummeRoll.1)+2,r26
 9202 4c02 B093 0000            sts (SummeRoll.1)+3,r27
 9203 4c06 8091 0000            lds r24,SummeRoll.1
 9204 4c0a 9091 0000            lds r25,(SummeRoll.1)+1
 9205 4c0e A091 0000            lds r26,(SummeRoll.1)+2
 9206 4c12 B091 0000            lds r27,(SummeRoll.1)+3
 9207 4c16 8130                 cpi r24,lo8(64001)
 9208 4c18 1AEF                 ldi r17,hi8(64001)
 9209 4c1a 9107                 cpc r25,r17
 9210 4c1c 10E0                 ldi r17,hlo8(64001)
 9211 4c1e A107                 cpc r26,r17
 9212 4c20 10E0                 ldi r17,hhi8(64001)
 9213 4c22 B107                 cpc r27,r17
 9214 4c24 04F0                 brlt .L1115
 9215 4c26 80E0                 ldi r24,lo8(64000)
 9216 4c28 9AEF                 ldi r25,hi8(64000)
 9217 4c2a A0E0                 ldi r26,hlo8(64000)
 9218 4c2c B0E0                 ldi r27,hhi8(64000)
 9219 4c2e 8093 0000            sts SummeRoll.1,r24
 9220 4c32 9093 0000            sts (SummeRoll.1)+1,r25
 9221 4c36 A093 0000            sts (SummeRoll.1)+2,r26
 9222 4c3a B093 0000            sts (SummeRoll.1)+3,r27
 9223                   .L1115:
 9224 4c3e 8050                 subi r24,lo8(-64000)
 9225 4c40 9640                 sbci r25,hi8(-64000)
 9226 4c42 AF4F                 sbci r26,hlo8(-64000)
 9227 4c44 BF4F                 sbci r27,hhi8(-64000)
 9228 4c46 04F4                 brge .L1116
 9229 4c48 80E0                 ldi r24,lo8(-64000)
 9230 4c4a 96E0                 ldi r25,hi8(-64000)
 9231 4c4c AFEF                 ldi r26,hlo8(-64000)
 9232 4c4e BFEF                 ldi r27,hhi8(-64000)
 9233 4c50 8093 0000            sts SummeRoll.1,r24
 9234 4c54 9093 0000            sts (SummeRoll.1)+1,r25
 9235 4c58 A093 0000            sts (SummeRoll.1)+2,r26
 9236 4c5c B093 0000            sts (SummeRoll.1)+3,r27
 9237                   .L1116:
 9238 4c60 8091 0000            lds r24,PPM_in+4
 9239 4c64 9091 0000            lds r25,(PPM_in+4)+1
 9240 4c68 845C                 subi r24,lo8(-60)
 9241 4c6a 9F4F                 sbci r25,hi8(-60)
 9242 4c6c 04F4                 brge .L1122
 9243 4c6e 8091 0000            lds r24,ucflg2
 9244 4c72 8130                 cpi r24,lo8(1)
 9245 4c74 01F4                 brne .+2
 9246 4c76 00C0                 rjmp .L1290
 9247                   .L1122:
 9248 4c78 8091 0000            lds r24,PPM_in+4
 9249 4c7c 9091 0000            lds r25,(PPM_in+4)+1
 9250 4c80 8D5E                 subi r24,lo8(-19)
 9251 4c82 9F4F                 sbci r25,hi8(-19)
 9252 4c84 04F0                 brlt .L1125
 9253 4c86 8091 0000            lds r24,PPM_in+4
 9254 4c8a 9091 0000            lds r25,(PPM_in+4)+1
 9255 4c8e 4497                 sbiw r24,20
 9256 4c90 04F4                 brge .L1125
 9257 4c92 81E0                 ldi r24,lo8(1)
 9258 4c94 8093 0000            sts ucflg2,r24
 9259                   .L1125:
 9260 4c98 8091 0000            lds r24,PPM_in+10
 9261 4c9c 9091 0000            lds r25,(PPM_in+10)+1
 9262 4ca0 805B                 subi r24,lo8(-80)
 9263 4ca2 9F4F                 sbci r25,hi8(-80)
 9264 4ca4 04F4                 brge .L1126
 9265 4ca6 8091 0000            lds r24,ucflg3
 9266 4caa 8130                 cpi r24,lo8(1)
 9267 4cac 01F4                 brne .+2
 9268 4cae 00C0                 rjmp .L1291
 9269                   .L1126:
 9270 4cb0 8091 0000            lds r24,PPM_in+10
 9271 4cb4 9091 0000            lds r25,(PPM_in+10)+1
 9272 4cb8 8135                 cpi r24,81
 9273 4cba 9105                 cpc r25,__zero_reg__
 9274 4cbc 04F0                 brlt .L1128
 9275 4cbe 81E0                 ldi r24,lo8(1)
 9276 4cc0 8093 0000            sts ucflg3,r24
 9277                   .L1128:
 9278 4cc4 0091 0000            lds r16,ipk
 9279 4cc8 1091 0000            lds r17,(ipk)+1
 9280 4ccc 1093 0000            sts (kp)+1,r17
 9281 4cd0 0093 0000            sts kp,r16
 9282 4cd4 E090 0000            lds r14,ipk+2
 9283 4cd8 F090 0000            lds r15,(ipk+2)+1
 9284 4cdc F092 0000            sts (kd)+1,r15
 9285 4ce0 E092 0000            sts kd,r14
 9286 4ce4 C090 0000            lds r12,ipk+4
 9287 4ce8 D090 0000            lds r13,(ipk+4)+1
 9288 4cec D092 0000            sts (kdd)+1,r13
 9289 4cf0 C092 0000            sts kdd,r12
 9290 4cf4 A090 0000            lds r10,PPM_in+2
 9291 4cf8 B090 0000            lds r11,(PPM_in+2)+1
 9292 4cfc 6FE7                 ldi r22,lo8(127)
 9293 4cfe 70E0                 ldi r23,hi8(127)
 9294 4d00 A60E                 add r10,r22
 9295 4d02 B71E                 adc r11,r23
 9296 4d04 C501                 movw r24,r10
 9297 4d06 7AE0                 ldi r23,lo8(10)
 9298 4d08 A716                 cp r10,r23
 9299 4d0a B104                 cpc r11,__zero_reg__
 9300 4d0c 04F4                 brge .L1129
 9301 4d0e EAE0                 ldi r30,lo8(10)
 9302 4d10 AE2E                 mov r10,r30
 9303 4d12 B12C                 mov r11,__zero_reg__
 9304 4d14 C501                 movw r24,r10
 9305                   .L1129:
 9306 4d16 A3E3                 ldi r26,lo8(51)
 9307 4d18 AA16                 cp r10,r26
 9308 4d1a B104                 cpc r11,__zero_reg__
 9309 4d1c 04F4                 brge .+2
 9310 4d1e 00C0                 rjmp .L1192
 9311 4d20 72E3                 ldi r23,lo8(50)
 9312 4d22 A72E                 mov r10,r23
 9313 4d24 B12C                 mov r11,__zero_reg__
 9314 4d26 B092 0000            sts (thrust)+1,r11
 9315 4d2a A092 0000            sts thrust,r10
 9316                   .L1130:
 9317 4d2e B092 0000            sts (DebugOut+16)+1,r11
 9318 4d32 A092 0000            sts DebugOut+16,r10
 9319 4d36 1092 0000            sts (desiredAngle)+1,__zero_reg__
 9320 4d3a 1092 0000            sts desiredAngle,__zero_reg__
 9321 4d3e 8091 0000            lds r24,EE_Parameter+23
 9322 4d42 9927                 clr r25
 9323 4d44 880F                 lsl r24
 9324 4d46 991F                 rol r25
 9325 4d48 880F                 lsl r24
 9326 4d4a 991F                 rol r25
 9327 4d4c 9C01                 movw r18,r24
 9328 4d4e 4427                 clr r20
 9329 4d50 37FD                 sbrc r19,7
 9330 4d52 4095                 com r20
 9331 4d54 542F                 mov r21,r20
 9332 4d56 6D8D                 ldd r22,Y+29
 9333 4d58 7E8D                 ldd r23,Y+30
 9334 4d5a 8F8D                 ldd r24,Y+31
 9335 4d5c 98A1                 ldd r25,Y+32
 9336 4d5e 0E94 0000            call __divmodsi4
 9337 4d62 3093 0000            sts (angle)+1,r19
 9338 4d66 2093 0000            sts angle,r18
 9339 4d6a A091 0000            lds r26,HiResNick
 9340 4d6e B091 0000            lds r27,(HiResNick)+1
 9341 4d72 B093 0000            sts (gyroScaled)+1,r27
 9342 4d76 A093 0000            sts gyroScaled,r26
 9343 4d7a 6091 0000            lds r22,PPM_in+4
 9344 4d7e 7091 0000            lds r23,(PPM_in+4)+1
 9345 4d82 77FD                 sbrc r23,7
 9346 4d84 00C0                 rjmp .L1292
 9347                   .L1131:
 9348 4d86 7595                 asr r23
 9349 4d88 6795                 ror r22
 9350 4d8a 7595                 asr r23
 9351 4d8c 6795                 ror r22
 9352 4d8e C901                 movw r24,r18
 9353 4d90 2227                 clr r18
 9354 4d92 3327                 clr r19
 9355 4d94 281B                 sub r18,r24
 9356 4d96 390B                 sbc r19,r25
 9357 4d98 37FD                 sbrc r19,7
 9358 4d9a 00C0                 rjmp .L1293
 9359                   .L1132:
 9360 4d9c 3595                 asr r19
 9361 4d9e 2795                 ror r18
 9362 4da0 3595                 asr r19
 9363 4da2 2795                 ror r18
 9364 4da4 3595                 asr r19
 9365 4da6 2795                 ror r18
 9366 4da8 3595                 asr r19
 9367 4daa 2795                 ror r18
 9368 4dac 209F                 mul r18,r16
 9369 4dae F001                 movw r30,r0
 9370 4db0 219F                 mul r18,r17
 9371 4db2 F00D                 add r31,r0
 9372 4db4 309F                 mul r19,r16
 9373 4db6 F00D                 add r31,r0
 9374 4db8 1124                 clr r1
 9375 4dba E60F                 add r30,r22
 9376 4dbc F71F                 adc r31,r23
 9377 4dbe F093 0000            sts (controllerP)+1,r31
 9378 4dc2 E093 0000            sts controllerP,r30
 9379 4dc6 8091 0000            lds r24,maxcontrollerP
 9380 4dca 9091 0000            lds r25,(maxcontrollerP)+1
 9381 4dce 8E17                 cp r24,r30
 9382 4dd0 9F07                 cpc r25,r31
 9383 4dd2 04F4                 brge .L1133
 9384 4dd4 F093 0000            sts (maxcontrollerP)+1,r31
 9385 4dd8 E093 0000            sts maxcontrollerP,r30
 9386                   .L1133:
 9387 4ddc 8091 0000            lds r24,mincontrollerP
 9388 4de0 9091 0000            lds r25,(mincontrollerP)+1
 9389 4de4 E817                 cp r30,r24
 9390 4de6 F907                 cpc r31,r25
 9391 4de8 04F4                 brge .L1134
 9392 4dea F093 0000            sts (mincontrollerP)+1,r31
 9393 4dee E093 0000            sts mincontrollerP,r30
 9394                   .L1134:
 9395 4df2 8827                 clr r24
 9396 4df4 9927                 clr r25
 9397 4df6 8A1B                 sub r24,r26
 9398 4df8 9B0B                 sbc r25,r27
 9399 4dfa 8E9D                 mul r24,r14
 9400 4dfc 8001                 movw r16,r0
 9401 4dfe 8F9D                 mul r24,r15
 9402 4e00 100D                 add r17,r0
 9403 4e02 9E9D                 mul r25,r14
 9404 4e04 100D                 add r17,r0
 9405 4e06 1124                 clr r1
 9406 4e08 C801                 movw r24,r16
 9407 4e0a 17FD                 sbrc r17,7
 9408 4e0c 00C0                 rjmp .L1294
 9409                   .L1135:
 9410 4e0e BC01                 movw r22,r24
 9411 4e10 672F                 mov r22,r23
 9412 4e12 770F                 lsl r23
 9413 4e14 770B                 sbc r23,r23
 9414 4e16 6595                 asr r22
 9415 4e18 7093 0000            sts (controllerD)+1,r23
 9416 4e1c 6093 0000            sts controllerD,r22
 9417 4e20 8091 0000            lds r24,maxcontrollerD
 9418 4e24 9091 0000            lds r25,(maxcontrollerD)+1
 9419 4e28 8617                 cp r24,r22
 9420 4e2a 9707                 cpc r25,r23
 9421 4e2c 04F4                 brge .L1136
 9422 4e2e 7093 0000            sts (maxcontrollerD)+1,r23
 9423 4e32 6093 0000            sts maxcontrollerD,r22
 9424                   .L1136:
 9425 4e36 8091 0000            lds r24,mincontrollerD
 9426 4e3a 9091 0000            lds r25,(mincontrollerD)+1
 9427 4e3e 6817                 cp r22,r24
 9428 4e40 7907                 cpc r23,r25
 9429 4e42 04F4                 brge .L1137
 9430 4e44 7093 0000            sts (mincontrollerD)+1,r23
 9431 4e48 6093 0000            sts mincontrollerD,r22
 9432                   .L1137:
 9433 4e4c 8091 0000            lds r24,gyroScaledOld
 9434 4e50 9091 0000            lds r25,(gyroScaledOld)+1
 9435 4e54 8A1B                 sub r24,r26
 9436 4e56 9B0B                 sbc r25,r27
 9437 4e58 8C9D                 mul r24,r12
 9438 4e5a A001                 movw r20,r0
 9439 4e5c 8D9D                 mul r24,r13
 9440 4e5e 500D                 add r21,r0
 9441 4e60 9C9D                 mul r25,r12
 9442 4e62 500D                 add r21,r0
 9443 4e64 1124                 clr r1
 9444 4e66 8091 0000            lds r24,filtersum
 9445 4e6a 9091 0000            lds r25,(filtersum)+1
 9446 4e6e 2091 0000            lds r18,filterDD
 9447 4e72 3091 0000            lds r19,(filterDD)+1
 9448 4e76 821B                 sub r24,r18
 9449 4e78 930B                 sbc r25,r19
 9450 4e7a 840F                 add r24,r20
 9451 4e7c 951F                 adc r25,r21
 9452 4e7e 9093 0000            sts (filtersum)+1,r25
 9453 4e82 8093 0000            sts filtersum,r24
 9454 4e86 97FD                 sbrc r25,7
 9455 4e88 00C0                 rjmp .L1295
 9456                   .L1138:
 9457 4e8a 9595                 asr r25
 9458 4e8c 8795                 ror r24
 9459 4e8e 9595                 asr r25
 9460 4e90 8795                 ror r24
 9461 4e92 9595                 asr r25
 9462 4e94 8795                 ror r24
 9463 4e96 9093 0000            sts (filterDD)+1,r25
 9464 4e9a 8093 0000            sts filterDD,r24
 9465 4e9e 97FD                 sbrc r25,7
 9466 4ea0 00C0                 rjmp .L1296
 9467                   .L1139:
 9468 4ea2 9C01                 movw r18,r24
 9469 4ea4 022E                 mov __tmp_reg__,r18
 9470 4ea6 232F                 mov r18,r19
 9471 4ea8 000C                 lsl __tmp_reg__
 9472 4eaa 221F                 rol r18
 9473 4eac 330B                 sbc r19,r19
 9474 4eae 000C                 lsl __tmp_reg__
 9475 4eb0 221F                 rol r18
 9476 4eb2 331F                 rol r19
 9477 4eb4 3093 0000            sts (controllerDD)+1,r19
 9478 4eb8 2093 0000            sts controllerDD,r18
 9479 4ebc B093 0000            sts (gyroScaledOld)+1,r27
 9480 4ec0 A093 0000            sts gyroScaledOld,r26
 9481 4ec4 8091 0000            lds r24,maxcontrollerDD
 9482 4ec8 9091 0000            lds r25,(maxcontrollerDD)+1
 9483 4ecc 8217                 cp r24,r18
 9484 4ece 9307                 cpc r25,r19
 9485 4ed0 04F4                 brge .L1140
 9486 4ed2 3093 0000            sts (maxcontrollerDD)+1,r19
 9487 4ed6 2093 0000            sts maxcontrollerDD,r18
 9488                   .L1140:
 9489 4eda 8091 0000            lds r24,mincontrollerDD
 9490 4ede 9091 0000            lds r25,(mincontrollerDD)+1
 9491 4ee2 2817                 cp r18,r24
 9492 4ee4 3907                 cpc r19,r25
 9493 4ee6 04F4                 brge .L1141
 9494 4ee8 3093 0000            sts (mincontrollerDD)+1,r19
 9495 4eec 2093 0000            sts mincontrollerDD,r18
 9496                   .L1141:
 9497 4ef0 A501                 movw r20,r10
 9498 4ef2 460F                 add r20,r22
 9499 4ef4 571F                 adc r21,r23
 9500 4ef6 420F                 add r20,r18
 9501 4ef8 531F                 adc r21,r19
 9502 4efa 4E0F                 add r20,r30
 9503 4efc 5F1F                 adc r21,r31
 9504 4efe C501                 movw r24,r10
 9505 4f00 861B                 sub r24,r22
 9506 4f02 970B                 sbc r25,r23
 9507 4f04 821B                 sub r24,r18
 9508 4f06 930B                 sbc r25,r19
 9509 4f08 8E1B                 sub r24,r30
 9510 4f0a 9F0B                 sbc r25,r31
 9511 4f0c 8333                 cpi r24,51
 9512 4f0e 9105                 cpc r25,__zero_reg__
 9513 4f10 04F0                 brlt .L1193
 9514 4f12 82E3                 ldi r24,lo8(50)
 9515 4f14 90E0                 ldi r25,hi8(50)
 9516                   .L1193:
 9517 4f16 9093 0000            sts (motorOutFront)+1,r25
 9518 4f1a 8093 0000            sts motorOutFront,r24
 9519 4f1e 8091 0000            lds r24,motorOutFront
 9520 4f22 9091 0000            lds r25,(motorOutFront)+1
 9521 4f26 1816                 cp __zero_reg__,r24
 9522 4f28 1906                 cpc __zero_reg__,r25
 9523 4f2a 04F0                 brlt .+2
 9524 4f2c 00C0                 rjmp .L1297
 9525                   .L1143:
 9526 4f2e 4333                 cpi r20,51
 9527 4f30 5105                 cpc r21,__zero_reg__
 9528 4f32 04F0                 brlt .L1194
 9529 4f34 82E3                 ldi r24,lo8(50)
 9530 4f36 90E0                 ldi r25,hi8(50)
 9531 4f38 9093 0000            sts (motorOutRear)+1,r25
 9532 4f3c 8093 0000            sts motorOutRear,r24
 9533 4f40 8091 0000            lds r24,motorOutRear
 9534 4f44 9091 0000            lds r25,(motorOutRear)+1
 9535 4f48 1816                 cp __zero_reg__,r24
 9536 4f4a 1906                 cpc __zero_reg__,r25
 9537 4f4c 04F4                 brge .+4
 9538 4f4e 0C94 0000            jmp .L1145
 9539 4f52 00C0                 rjmp .L1298
 9540                   .L1192:
 9541 4f54 9093 0000            sts (thrust)+1,r25
 9542 4f58 8093 0000            sts thrust,r24
 9543 4f5c 00C0                 rjmp .L1130
 9544                   .L1194:
 9545 4f5e 5093 0000            sts (motorOutRear)+1,r21
 9546 4f62 4093 0000            sts motorOutRear,r20
 9547 4f66 8091 0000            lds r24,motorOutRear
 9548 4f6a 9091 0000            lds r25,(motorOutRear)+1
 9549 4f6e 1816                 cp __zero_reg__,r24
 9550 4f70 1906                 cpc __zero_reg__,r25
 9551 4f72 04F4                 brge .+4
 9552 4f74 0C94 0000            jmp .L1145
 9553                   .L1298:
 9554 4f78 1092 0000            sts (motorOutRear)+1,__zero_reg__
 9555 4f7c 1092 0000            sts motorOutRear,__zero_reg__
 9556 4f80 0C94 0000            jmp .L1145
 9557                   .L982:
 9558 4f84 8DA1                 ldd r24,Y+37
 9559 4f86 9EA1                 ldd r25,Y+38
 9560 4f88 8853                 subi r24,lo8(-200)
 9561 4f8a 9F4F                 sbci r25,hi8(-200)
 9562 4f8c 04F0                 brlt .+2
 9563 4f8e 00C0                 rjmp .L983
 9564 4f90 E8E3                 ldi r30,lo8(-200)
 9565 4f92 FFEF                 ldi r31,hi8(-200)
 9566 4f94 FEA3                 std Y+38,r31
 9567 4f96 EDA3                 std Y+37,r30
 9568 4f98 F093 0000            sts (TrimRoll)+1,r31
 9569 4f9c E093 0000            sts TrimRoll,r30
 9570 4fa0 00C0                 rjmp .L983
 9571                   .L979:
 9572 4fa2 2FEF                 ldi r18,hi8(-200)
 9573 4fa4 0833                 cpi r16,lo8(-200)
 9574 4fa6 1207                 cpc r17,r18
 9575 4fa8 04F0                 brlt .+2
 9576 4faa 00C0                 rjmp .L980
 9577 4fac 08E3                 ldi r16,lo8(-200)
 9578 4fae 1FEF                 ldi r17,hi8(-200)
 9579 4fb0 00C0                 rjmp .L1202
 9580                   .L977:
 9581 4fb2 2224                 clr r2
 9582 4fb4 3324                 clr r3
 9583 4fb6 00C0                 rjmp .L978
 9584                   .L975:
 9585 4fb8 4424                 clr r4
 9586 4fba 5524                 clr r5
 9587 4fbc 00C0                 rjmp .L976
 9588                   .L1186:
 9589 4fbe 9093 0000            sts (MesswertGier)+1,r25
 9590 4fc2 8093 0000            sts MesswertGier,r24
 9591 4fc6 00C0                 rjmp .L993
 9592                   .L1185:
 9593 4fc8 D092 0000            sts (MesswertRoll)+1,r13
 9594 4fcc C092 0000            sts MesswertRoll,r12
 9595 4fd0 00C0                 rjmp .L991
 9596                   .L1184:
 9597 4fd2 7092 0000            sts (MesswertNick)+1,r7
 9598 4fd6 6092 0000            sts MesswertNick,r6
 9599 4fda 00C0                 rjmp .L989
 9600                   .L1104:
 9601 4fdc CB01                 movw r24,r22
 9602 4fde AA27                 clr r26
 9603 4fe0 97FD                 sbrc r25,7
 9604 4fe2 A095                 com r26
 9605 4fe4 BA2F                 mov r27,r26
 9606 4fe6 00C0                 rjmp .L1208
 9607                   .L1113:
 9608 4fe8 CB01                 movw r24,r22
 9609 4fea AA27                 clr r26
 9610 4fec 97FD                 sbrc r25,7
 9611 4fee A095                 com r26
 9612 4ff0 BA2F                 mov r27,r26
 9613 4ff2 00C0                 rjmp .L1209
 9614                   .L1183:
 9615 4ff4 2093 0000            sts Mess_Integral_Gier,r18
 9616 4ff8 3093 0000            sts (Mess_Integral_Gier)+1,r19
 9617 4ffc 4093 0000            sts (Mess_Integral_Gier)+2,r20
 9618 5000 5093 0000            sts (Mess_Integral_Gier)+3,r21
 9619 5004 00C0                 rjmp .L950
 9620                   .L1285:
 9621 5006 88E1                 ldi r24,lo8(24)
 9622 5008 8093 0000            sts TimerWerteausgabe.11,r24
 9623 500c 8091 0000            lds r24,EE_Parameter+23
 9624 5010 9927                 clr r25
 9625 5012 880F                 lsl r24
 9626 5014 991F                 rol r25
 9627 5016 880F                 lsl r24
 9628 5018 991F                 rol r25
 9629 501a 9C01                 movw r18,r24
 9630 501c 4427                 clr r20
 9631 501e 37FD                 sbrc r19,7
 9632 5020 4095                 com r20
 9633 5022 542F                 mov r21,r20
 9634 5024 6D8D                 ldd r22,Y+29
 9635 5026 7E8D                 ldd r23,Y+30
 9636 5028 8F8D                 ldd r24,Y+31
 9637 502a 98A1                 ldd r25,Y+32
 9638 502c 0E94 0000            call __divmodsi4
 9639 5030 3093 0000            sts (DebugOut+2)+1,r19
 9640 5034 2093 0000            sts DebugOut+2,r18
 9641 5038 8091 0000            lds r24,Mittelwert_AccNick
 9642 503c 9091 0000            lds r25,(Mittelwert_AccNick)+1
 9643 5040 97FD                 sbrc r25,7
 9644 5042 00C0                 rjmp .L1299
 9645                   .L973:
 9646 5044 9595                 asr r25
 9647 5046 8795                 ror r24
 9648 5048 9595                 asr r25
 9649 504a 8795                 ror r24
 9650 504c 9093 0000            sts (DebugOut+4)+1,r25
 9651 5050 8093 0000            sts DebugOut+4,r24
 9652 5054 8091 0000            lds r24,maxcontrollerDD
 9653 5058 9091 0000            lds r25,(maxcontrollerDD)+1
 9654 505c 9093 0000            sts (DebugOut+6)+1,r25
 9655 5060 8093 0000            sts DebugOut+6,r24
 9656 5064 8091 0000            lds r24,mincontrollerDD
 9657 5068 9091 0000            lds r25,(mincontrollerDD)+1
 9658 506c 9093 0000            sts (DebugOut+8)+1,r25
 9659 5070 8093 0000            sts DebugOut+8,r24
 9660 5074 A090 0000            lds r10,MesswertNick
 9661 5078 B090 0000            lds r11,(MesswertNick)+1
 9662 507c B092 0000            sts (DebugOut+10)+1,r11
 9663 5080 A092 0000            sts DebugOut+10,r10
 9664 5084 8091 0000            lds r24,HiResNick
 9665 5088 9091 0000            lds r25,(HiResNick)+1
 9666 508c 9093 0000            sts (DebugOut+12)+1,r25
 9667 5090 8093 0000            sts DebugOut+12,r24
 9668 5094 8091 0000            lds r24,AdWertAccNick
 9669 5098 9091 0000            lds r25,(AdWertAccNick)+1
 9670 509c 9093 0000            sts (DebugOut+14)+1,r25
 9671 50a0 8093 0000            sts DebugOut+14,r24
 9672 50a4 1092 0000            sts (DebugOut+18)+1,__zero_reg__
 9673 50a8 1092 0000            sts DebugOut+18,__zero_reg__
 9674 50ac 8091 0000            lds r24,UBat
 9675 50b0 9091 0000            lds r25,(UBat)+1
 9676 50b4 9093 0000            sts (DebugOut+20)+1,r25
 9677 50b8 8093 0000            sts DebugOut+20,r24
 9678 50bc 8091 0000            lds r24,SenderOkay
 9679 50c0 9927                 clr r25
 9680 50c2 9093 0000            sts (DebugOut+22)+1,r25
 9681 50c6 8093 0000            sts DebugOut+22,r24
 9682 50ca 8091 0000            lds r24,controllerP
 9683 50ce 9091 0000            lds r25,(controllerP)+1
 9684 50d2 9093 0000            sts (DebugOut+24)+1,r25
 9685 50d6 8093 0000            sts DebugOut+24,r24
 9686 50da 8091 0000            lds r24,controllerD
 9687 50de 9091 0000            lds r25,(controllerD)+1
 9688 50e2 9093 0000            sts (DebugOut+30)+1,r25
 9689 50e6 8093 0000            sts DebugOut+30,r24
 9690 50ea 8091 0000            lds r24,controllerDD
 9691 50ee 9091 0000            lds r25,(controllerDD)+1
 9692 50f2 9093 0000            sts (DebugOut+32)+1,r25
 9693 50f6 8093 0000            sts DebugOut+32,r24
 9694 50fa 8091 0000            lds r24,PPM_in+6
 9695 50fe 9091 0000            lds r25,(PPM_in+6)+1
 9696 5102 9093 0000            sts (DebugOut+34)+1,r25
 9697 5106 8093 0000            sts DebugOut+34,r24
 9698 510a 8091 0000            lds r24,ipk
 9699 510e 9091 0000            lds r25,(ipk)+1
 9700 5112 9093 0000            sts (DebugOut+36)+1,r25
 9701 5116 8093 0000            sts DebugOut+36,r24
 9702 511a 8091 0000            lds r24,ipk+2
 9703 511e 9091 0000            lds r25,(ipk+2)+1
 9704 5122 9093 0000            sts (DebugOut+38)+1,r25
 9705 5126 8093 0000            sts DebugOut+38,r24
 9706 512a 8091 0000            lds r24,ipk+4
 9707 512e 9091 0000            lds r25,(ipk+4)+1
 9708 5132 9093 0000            sts (DebugOut+40)+1,r25
 9709 5136 8093 0000            sts DebugOut+40,r24
 9710 513a 8091 0000            lds r24,ucflg1
 9711 513e 9927                 clr r25
 9712 5140 9093 0000            sts (DebugOut+42)+1,r25
 9713 5144 8093 0000            sts DebugOut+42,r24
 9714 5148 8091 0000            lds r24,PPM_in+10
 9715 514c 9091 0000            lds r25,(PPM_in+10)+1
 9716 5150 9093 0000            sts (DebugOut+44)+1,r25
 9717 5154 8093 0000            sts DebugOut+44,r24
 9718 5158 B092 0000            sts (DebugOut+46)+1,r11
 9719 515c A092 0000            sts DebugOut+46,r10
 9720 5160 8091 0000            lds r24,maxcontrollerD
 9721 5164 9091 0000            lds r25,(maxcontrollerD)+1
 9722 5168 9093 0000            sts (DebugOut+48)+1,r25
 9723 516c 8093 0000            sts DebugOut+48,r24
 9724 5170 8091 0000            lds r24,mincontrollerD
 9725 5174 9091 0000            lds r25,(mincontrollerD)+1
 9726 5178 9093 0000            sts (DebugOut+50)+1,r25
 9727 517c 8093 0000            sts DebugOut+50,r24
 9728 5180 8091 0000            lds r24,AdWertNick
 9729 5184 9091 0000            lds r25,(AdWertNick)+1
 9730 5188 9093 0000            sts (DebugOut+52)+1,r25
 9731 518c 8093 0000            sts DebugOut+52,r24
 9732 5190 8091 0000            lds r24,maxcontrollerP
 9733 5194 9091 0000            lds r25,(maxcontrollerP)+1
 9734 5198 9093 0000            sts (DebugOut+54)+1,r25
 9735 519c 8093 0000            sts DebugOut+54,r24
 9736 51a0 8091 0000            lds r24,mincontrollerP
 9737 51a4 9091 0000            lds r25,(mincontrollerP)+1
 9738 51a8 9093 0000            sts (DebugOut+56)+1,r25
 9739 51ac 8093 0000            sts DebugOut+56,r24
 9740 51b0 8091 0000            lds r24,PPM_in+8
 9741 51b4 9091 0000            lds r25,(PPM_in+8)+1
 9742 51b8 9093 0000            sts (DebugOut+58)+1,r25
 9743 51bc 8093 0000            sts DebugOut+58,r24
 9744 51c0 8091 0000            lds r24,PPM_in+6
 9745 51c4 9091 0000            lds r25,(PPM_in+6)+1
 9746 51c8 9093 0000            sts (DebugOut+60)+1,r25
 9747 51cc 8093 0000            sts DebugOut+60,r24
 9748 51d0 8091 0000            lds r24,PPM_in+4
 9749 51d4 9091 0000            lds r25,(PPM_in+4)+1
 9750 51d8 9093 0000            sts (DebugOut+62)+1,r25
 9751 51dc 8093 0000            sts DebugOut+62,r24
 9752 51e0 8091 0000            lds r24,PPM_in+2
 9753 51e4 9091 0000            lds r25,(PPM_in+2)+1
 9754 51e8 9093 0000            sts (DebugOut+64)+1,r25
 9755 51ec 8093 0000            sts DebugOut+64,r24
 9756 51f0 00C0                 rjmp .L972
 9757                   .L1182:
 9758 51f2 D092 0000            sts (LageKorrekturRoll)+1,r13
 9759 51f6 C092 0000            sts LageKorrekturRoll,r12
 9760 51fa 7093 0000            sts (LageKorrekturNick)+1,r23
 9761 51fe 6093 0000            sts LageKorrekturNick,r22
 9762 5202 00C0                 rjmp .L943
 9763                   .L1296:
 9764 5204 CF96                 adiw r24,63
 9765 5206 00C0                 rjmp .L1139
 9766                   .L1297:
 9767 5208 1092 0000            sts (motorOutFront)+1,__zero_reg__
 9768 520c 1092 0000            sts motorOutFront,__zero_reg__
 9769 5210 00C0                 rjmp .L1143
 9770                   .L1295:
 9771 5212 0796                 adiw r24,7
 9772 5214 00C0                 rjmp .L1138
 9773                   .L1294:
 9774 5216 8150                 subi r24,lo8(-(511))
 9775 5218 9E4F                 sbci r25,hi8(-(511))
 9776 521a 00C0                 rjmp .L1135
 9777                   .L1293:
 9778 521c 215F                 subi r18,lo8(-(15))
 9779 521e 3F4F                 sbci r19,hi8(-(15))
 9780 5220 00C0                 rjmp .L1132
 9781                   .L1292:
 9782 5222 6D5F                 subi r22,lo8(-(3))
 9783 5224 7F4F                 sbci r23,hi8(-(3))
 9784 5226 00C0                 rjmp .L1131
 9785                   .L1287:
 9786 5228 215C                 subi r18,lo8(-(63))
 9787 522a 3F4F                 sbci r19,hi8(-(63))
 9788 522c 4F4F                 sbci r20,hlo8(-(63))
 9789 522e 5F4F                 sbci r21,hhi8(-(63))
 9790 5230 00C0                 rjmp .L986
 9791                   .L1286:
 9792 5232 215C                 subi r18,lo8(-(63))
 9793 5234 3F4F                 sbci r19,hi8(-(63))
 9794 5236 4F4F                 sbci r20,hlo8(-(63))
 9795 5238 5F4F                 sbci r21,hhi8(-(63))
 9796 523a 00C0                 rjmp .L985
 9797                   .L1288:
 9798 523c 2FE3                 ldi r18,lo8(63)
 9799 523e 30E0                 ldi r19,hi8(63)
 9800 5240 40E0                 ldi r20,hlo8(63)
 9801 5242 50E0                 ldi r21,hhi8(63)
 9802 5244 E20E                 add r14,r18
 9803 5246 F31E                 adc r15,r19
 9804 5248 041F                 adc r16,r20
 9805 524a 151F                 adc r17,r21
 9806 524c 00C0                 rjmp .L987
 9807                   .L1274:
 9808 524e 0396                 adiw r24,3
 9809 5250 00C0                 rjmp .L949
 9810                   .L1273:
 9811 5252 6150                 subi r22,lo8(-(511))
 9812 5254 7E4F                 sbci r23,hi8(-(511))
 9813 5256 8F4F                 sbci r24,hlo8(-(511))
 9814 5258 9F4F                 sbci r25,hhi8(-(511))
 9815 525a 00C0                 rjmp .L948
 9816                   .L1272:
 9817 525c 2227                 clr r18
 9818 525e 3327                 clr r19
 9819 5260 201B                 sub r18,r16
 9820 5262 310B                 sbc r19,r17
 9821 5264 00C0                 rjmp .L947
 9822                   .L1290:
 9823 5266 1092 0000            sts ucflg2,__zero_reg__
 9824 526a 8091 0000            lds r24,ucflg1
 9825 526e 8230                 cpi r24,lo8(2)
 9826 5270 01F4                 brne .+2
 9827 5272 00C0                 rjmp .L1300
 9828 5274 8F5F                 subi r24,lo8(-(1))
 9829 5276 8093 0000            sts ucflg1,r24
 9830 527a 00C0                 rjmp .L1122
 9831                   .L1291:
 9832 527c 1092 0000            sts ucflg3,__zero_reg__
 9833 5280 E091 0000            lds r30,ucflg1
 9834 5284 E330                 cpi r30,lo8(3)
 9835 5286 00F0                 brlo .+2
 9836 5288 00C0                 rjmp .L1126
 9837 528a FF27                 clr r31
 9838 528c EE0F                 add r30,r30
 9839 528e FF1F                 adc r31,r31
 9840 5290 E050                 subi r30,lo8(-(ipk))
 9841 5292 F040                 sbci r31,hi8(-(ipk))
 9842 5294 8081                 ld r24,Z
 9843 5296 9181                 ldd r25,Z+1
 9844 5298 2091 0000            lds r18,PPM_in+6
 9845 529c 3091 0000            lds r19,(PPM_in+6)+1
 9846 52a0 820F                 add r24,r18
 9847 52a2 931F                 adc r25,r19
 9848 52a4 9183                 std Z+1,r25
 9849 52a6 8083                 st Z,r24
 9850 52a8 00C0                 rjmp .L1126
 9851                   .L738:
 9852 52aa 8091 0000            lds r24,MikroKopterFlags
 9853 52ae 8260                 ori r24,lo8(2)
 9854 52b0 8093 0000            sts MikroKopterFlags,r24
 9855 52b4 0C94 0000            jmp .L740
 9856                   .L1215:
 9857 52b8 1092 0000            sts (StickGas)+1,__zero_reg__
 9858 52bc 1092 0000            sts StickGas,__zero_reg__
 9859 52c0 0C94 0000            jmp .L817
 9860                   .L1212:
 9861 52c4 2D5F                 subi r18,lo8(-(3))
 9862 52c6 3F4F                 sbci r19,hi8(-(3))
 9863 52c8 0C94 0000            jmp .L809
 9864                   .L1213:
 9865 52cc 2D5F                 subi r18,lo8(-(3))
 9866 52ce 3F4F                 sbci r19,hi8(-(3))
 9867 52d0 0C94 0000            jmp .L810
 9868                   .L1261:
 9869 52d4 0F96                 adiw r24,15
 9870 52d6 A11D                 adc r26,__zero_reg__
 9871 52d8 B11D                 adc r27,__zero_reg__
 9872 52da 0C94 0000            jmp .L863
 9873                   .L1262:
 9874 52de 0F96                 adiw r24,15
 9875 52e0 A11D                 adc r26,__zero_reg__
 9876 52e2 B11D                 adc r27,__zero_reg__
 9877 52e4 0C94 0000            jmp .L864
 9878                   .L1264:
 9879 52e8 F095                 com r31
 9880 52ea E195                 neg r30
 9881 52ec FF4F                 sbci r31,lo8(-1)
 9882 52ee 0C94 0000            jmp .L868
 9883                   .L801:
 9884 52f2 1092 0000            sts delay_einschalten.9,__zero_reg__
 9885                   .L803:
 9886 52f6 ED2D                 mov r30,r13
 9887 52f8 FF27                 clr r31
 9888 52fa EE0F                 add r30,r30
 9889 52fc FF1F                 adc r31,r31
 9890 52fe E050                 subi r30,lo8(-(PPM_in))
 9891 5300 F040                 sbci r31,hi8(-(PPM_in))
 9892 5302 8081                 ld r24,Z
 9893 5304 9181                 ldd r25,Z+1
 9894 5306 8C34                 cpi r24,76
 9895 5308 9105                 cpc r25,__zero_reg__
 9896 530a 04F4                 brge .+2
 9897 530c 00C0                 rjmp .L804
 9898 530e 8091 0000            lds r24,delay_ausschalten.10
 9899 5312 8F5F                 subi r24,lo8(-(1))
 9900 5314 893C                 cpi r24,lo8(-55)
 9901 5316 00F4                 brsh .+2
 9902 5318 00C0                 rjmp .L1172
 9903 531a 1092 0000            sts MotorenEin,__zero_reg__
 9904 531e 88EC                 ldi r24,lo8(-56)
 9905 5320 8093 0000            sts delay_ausschalten.10,r24
 9906 5324 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 9907 5328 1092 0000            sts modell_fliegt,__zero_reg__
 9908 532c 0C94 0000            jmp .L734
 9909                   .L996:
 9910 5330 8091 0000            lds r24,HoehenWert
 9911 5334 9091 0000            lds r25,(HoehenWert)+1
 9912 5338 A091 0000            lds r26,(HoehenWert)+2
 9913 533c B091 0000            lds r27,(HoehenWert)+3
 9914 5340 54E0                 ldi r21,4
 9915 5342 880F         1:      lsl r24
 9916 5344 991F                 rol r25
 9917 5346 AA1F                 rol r26
 9918 5348 BB1F                 rol r27
 9919 534a 5A95                 dec r21
 9920 534c 01F4                 brne 1b
 9921 534e 8093 0000            sts SummenHoehe,r24
 9922 5352 9093 0000            sts (SummenHoehe)+1,r25
 9923 5356 A093 0000            sts (SummenHoehe)+2,r26
 9924 535a B093 0000            sts (SummenHoehe)+3,r27
 9925 535e 1092 0000            sts (VarioMeter)+1,__zero_reg__
 9926 5362 1092 0000            sts VarioMeter,__zero_reg__
 9927 5366 2150                 subi r18,lo8(-(-1))
 9928 5368 3040                 sbci r19,hi8(-(-1))
 9929 536a 3093 0000            sts (BaroExpandActive)+1,r19
 9930 536e 2093 0000            sts BaroExpandActive,r18
 9931                   .L1005:
 9932 5372 4889                 ldd r20,Y+16
 9933 5374 41FF                 sbrs r20,1
 9934 5376 00C0                 rjmp .L1006
 9935 5378 8091 0000            lds r24,Parameter_MaxHoehe
 9936 537c 8233                 cpi r24,lo8(50)
 9937 537e 00F0                 brlo .+2
 9938 5380 00C0                 rjmp .L1007
 9939 5382 8091 0000            lds r24,delay.31
 9940 5386 8150                 subi r24,1
 9941 5388 00F4                 brcc .L1187
 9942 538a 1092 0000            sts HoehenReglerAktiv,__zero_reg__
 9943 538e 8091 0000            lds r24,HoehenWert
 9944 5392 9091 0000            lds r25,(HoehenWert)+1
 9945 5396 A091 0000            lds r26,(HoehenWert)+2
 9946 539a B091 0000            lds r27,(HoehenWert)+3
 9947 539e 8093 0000            sts SollHoehe,r24
 9948 53a2 9093 0000            sts (SollHoehe)+1,r25
 9949 53a6 A093 0000            sts (SollHoehe)+2,r26
 9950 53aa B093 0000            sts (SollHoehe)+3,r27
 9951 53ae 81E0                 ldi r24,lo8(1)
 9952                   .L1187:
 9953 53b0 8093 0000            sts delay.31,r24
 9954 53b4 00C0                 rjmp .L1010
 9955                   .L804:
 9956 53b6 1092 0000            sts delay_ausschalten.10,__zero_reg__
 9957 53ba 0C94 0000            jmp .L734
 9958                   .L1006:
 9959 53be 2091 0000            lds r18,Parameter_MaxHoehe
 9960 53c2 8091 0000            lds r24,ExternHoehenValue
 9961 53c6 9091 0000            lds r25,(ExternHoehenValue)+1
 9962 53ca 820F                 add r24,r18
 9963 53cc 911D                 adc r25,__zero_reg__
 9964 53ce 2091 0000            lds r18,EE_Parameter+13
 9965 53d2 3327                 clr r19
 9966 53d4 829F                 mul r24,r18
 9967 53d6 B001                 movw r22,r0
 9968 53d8 839F                 mul r24,r19
 9969 53da 700D                 add r23,r0
 9970 53dc 929F                 mul r25,r18
 9971 53de 700D                 add r23,r0
 9972 53e0 1124                 clr r1
 9973 53e2 CB01                 movw r24,r22
 9974 53e4 AA27                 clr r26
 9975 53e6 97FD                 sbrc r25,7
 9976 53e8 A095                 com r26
 9977 53ea BA2F                 mov r27,r26
 9978 53ec 8093 0000            sts SollHoehe,r24
 9979 53f0 9093 0000            sts (SollHoehe)+1,r25
 9980 53f4 A093 0000            sts (SollHoehe)+2,r26
 9981 53f8 B093 0000            sts (SollHoehe)+3,r27
 9982 53fc 81E0                 ldi r24,lo8(1)
 9983 53fe 8093 0000            sts HoehenReglerAktiv,r24
 9984                   .L1010:
 9985 5402 E090 0000            lds r14,GIER_GRAD_FAKTOR
 9986 5406 F090 0000            lds r15,(GIER_GRAD_FAKTOR)+1
 9987 540a 0091 0000            lds r16,(GIER_GRAD_FAKTOR)+2
 9988 540e 1091 0000            lds r17,(GIER_GRAD_FAKTOR)+3
 9989 5412 6D8D                 ldd r22,Y+29
 9990 5414 7E8D                 ldd r23,Y+30
 9991 5416 8F8D                 ldd r24,Y+31
 9992 5418 98A1                 ldd r25,Y+32
 9993 541a A801                 movw r20,r16
 9994 541c 9701                 movw r18,r14
 9995 541e 0E94 0000            call __divmodsi4
 9996 5422 5901                 movw r10,r18
 9997 5424 6A01                 movw r12,r20
 9998 5426 6C85                 ldd r22,Y+12
 9999 5428 7D85                 ldd r23,Y+13
 10000 542a 8E85                ldd r24,Y+14
 10001 542c 9F85                ldd r25,Y+15
 10002 542e A801                movw r20,r16
 10003 5430 9701                movw r18,r14
 10004 5432 0E94 0000           call __divmodsi4
 10005 5436 B901                movw r22,r18
 10006 5438 C501                movw r24,r10
 10007 543a 0E94 0000           call ihypot
 10008 543e 5C01                movw r10,r24
 10009 5440 CD97                sbiw r24,61
 10010 5442 04F0                brlt .L1011
 10011 5444 4CE3                ldi r20,lo8(60)
 10012 5446 A42E                mov r10,r20
 10013 5448 B12C                mov r11,__zero_reg__
 10014                  .L1011:
 10015 544a C501                movw r24,r10
 10016 544c 0E94 0000           call c_cos_8192
 10017 5450 5C01                movw r10,r24
 10018 5452 8091 0000           lds r24,HoehenReglerAktiv
 10019 5456 8823                tst r24
 10020 5458 01F4                brne .+2
 10021 545a 00C0                rjmp .L1012
 10022 545c 8091 0000           lds r24,MikroKopterFlags
 10023 5460 9927                clr r25
 10024 5462 9C01                movw r18,r24
 10025 5464 2071                andi r18,lo8(16)
 10026 5466 3070                andi r19,hi8(16)
 10027 5468 84FD                sbrc r24,4
 10028 546a 00C0                rjmp .L1012
 10029 546c C090 0000           lds r12,EE_Parameter+88
 10030 5470 C0FC                sbrc r12,0
 10031 5472 00C0                rjmp .L1014
 10032 5474 8091 0000           lds r24,EE_Parameter+8
 10033 5478 81FD                sbrc r24,1
 10034 547a 00C0                rjmp .L1013
 10035                  .L1014:
 10036 547c 0981                ldd r16,Y+1
 10037 547e 1A81                ldd r17,Y+2
 10038 5480 3093 0000           sts (HeightTrimming.24)+1,r19
 10039 5484 2093 0000           sts HeightTrimming.24,r18
 10040 5488 6090 0000           lds r6,HoehenWert
 10041 548c 7090 0000           lds r7,(HoehenWert)+1
 10042 5490 8090 0000           lds r8,(HoehenWert)+2
 10043 5494 9090 0000           lds r9,(HoehenWert)+3
 10044                  .L1163:
 10045 5498 8091 0000           lds r24,SollHoehe
 10046 549c 9091 0000           lds r25,(SollHoehe)+1
 10047 54a0 A091 0000           lds r26,(SollHoehe)+2
 10048 54a4 B091 0000           lds r27,(SollHoehe)+3
 10049                  .L1015:
 10050 54a8 8615                cp r24,r6
 10051 54aa 9705                cpc r25,r7
 10052 54ac A805                cpc r26,r8
 10053 54ae B905                cpc r27,r9
 10054 54b0 04F0                brlt .L1040
 10055 54b2 C0FC                sbrc r12,0
 10056 54b4 00C0                rjmp .L1164
 10057                  .L1040:
 10058 54b6 E090 0000           lds r14,HoehenWert
 10059 54ba F090 0000           lds r15,(HoehenWert)+1
 10060 54be 8091 0000           lds r24,SollHoehe
 10061 54c2 9091 0000           lds r25,(SollHoehe)+1
 10062 54c6 E81A                sub r14,r24
 10063 54c8 F90A                sbc r15,r25
 10064 54ca 8091 0000           lds r24,Parameter_Hoehe_P
 10065 54ce 9927                clr r25
 10066 54d0 8E9D                mul r24,r14
 10067 54d2 9001                movw r18,r0
 10068 54d4 8F9D                mul r24,r15
 10069 54d6 300D                add r19,r0
 10070 54d8 9E9D                mul r25,r14
 10071 54da 300D                add r19,r0
 10072 54dc 1124                clr r1
 10073 54de C901                movw r24,r18
 10074 54e0 37FD                sbrc r19,7
 10075 54e2 00C0                rjmp .L1301
 10076                  .L1041:
 10077 54e4 9595                asr r25
 10078 54e6 8795                ror r24
 10079 54e8 9595                asr r25
 10080 54ea 8795                ror r24
 10081 54ec 9595                asr r25
 10082 54ee 8795                ror r24
 10083 54f0 9595                asr r25
 10084 54f2 8795                ror r24
 10085 54f4 081B                sub r16,r24
 10086 54f6 190B                sbc r17,r25
 10087 54f8 2091 0000           lds r18,VarioMeter
 10088 54fc 3091 0000           lds r19,(VarioMeter)+1
 10089 5500 37FD                sbrc r19,7
 10090 5502 00C0                rjmp .L1302
 10091                  .L1042:
 10092 5504 3595                asr r19
 10093 5506 2795                ror r18
 10094 5508 3595                asr r19
 10095 550a 2795                ror r18
 10096 550c 3595                asr r19
 10097 550e 2795                ror r18
 10098 5510 2930                cpi r18,9
 10099 5512 3105                cpc r19,__zero_reg__
 10100 5514 04F4                brge .+2
 10101 5516 00C0                rjmp .L1043
 10102 5518 28E0                ldi r18,lo8(8)
 10103 551a 30E0                ldi r19,hi8(8)
 10104                  .L1197:
 10105 551c 229F                mul r18,r18
 10106 551e A001                movw r20,r0
 10107 5520 239F                mul r18,r19
 10108 5522 500D                add r21,r0
 10109 5524 329F                mul r19,r18
 10110 5526 500D                add r21,r0
 10111 5528 1124                clr r1
 10112 552a 9A01                movw r18,r20
 10113 552c 57FD                sbrc r21,7
 10114 552e 00C0                rjmp .L1303
 10115                  .L1045:
 10116 5530 3595                asr r19
 10117 5532 2795                ror r18
 10118 5534 3595                asr r19
 10119 5536 2795                ror r18
 10120 5538 8091 0000           lds r24,VarioMeter
 10121 553c 9091 0000           lds r25,(VarioMeter)+1
 10122 5540 280F                add r18,r24
 10123 5542 391F                adc r19,r25
 10124                  .L1046:
 10125 5544 8091 0000           lds r24,Parameter_Luftdruck_D
 10126 5548 9927                clr r25
 10127 554a AA27                clr r26
 10128 554c BB27                clr r27
 10129 554e 4427                clr r20
 10130 5550 37FD                sbrc r19,7
 10131 5552 4095                com r20
 10132 5554 542F                mov r21,r20
 10133 5556 BC01                movw r22,r24
 10134 5558 CD01                movw r24,r26
 10135 555a 0E94 0000           call __mulsi3
 10136 555e 97FD                sbrc r25,7
 10137 5560 00C0                rjmp .L1304
 10138                  .L1048:
 10139 5562 A7E0                ldi r26,7
 10140 5564 9595        1:      asr r25
 10141 5566 8795                ror r24
 10142 5568 7795                ror r23
 10143 556a 6795                ror r22
 10144 556c AA95                dec r26
 10145 556e 01F4                brne 1b
 10146 5570 9B01                movw r18,r22
 10147 5572 5FEF                ldi r21,hi8(-127)
 10148 5574 6138                cpi r22,lo8(-127)
 10149 5576 7507                cpc r23,r21
 10150 5578 04F0                brlt .+2
 10151 557a 00C0                rjmp .L1049
 10152 557c 21E8                ldi r18,lo8(-127)
 10153 557e 3FEF                ldi r19,hi8(-127)
 10154                  .L1050:
 10155 5580 021B                sub r16,r18
 10156 5582 130B                sbc r17,r19
 10157 5584 6090 0000           lds r6,Mess_Integral_Hoch
 10158 5588 7090 0000           lds r7,(Mess_Integral_Hoch)+1
 10159 558c 8090 0000           lds r8,(Mess_Integral_Hoch)+2
 10160 5590 9090 0000           lds r9,(Mess_Integral_Hoch)+3
 10161 5594 97FC                sbrc r9,7
 10162 5596 00C0                rjmp .L1305
 10163                  .L1052:
 10164 5598 F7E0                ldi r31,7
 10165 559a 9594        1:      asr r9
 10166 559c 8794                ror r8
 10167 559e 7794                ror r7
 10168 55a0 6794                ror r6
 10169 55a2 FA95                dec r31
 10170 55a4 01F4                brne 1b
 10171 55a6 8091 0000           lds r24,Parameter_Hoehe_ACC_Wirkung
 10172 55aa 282F                mov r18,r24
 10173 55ac 3327                clr r19
 10174 55ae 4427                clr r20
 10175 55b0 5527                clr r21
 10176 55b2 C401                movw r24,r8
 10177 55b4 B301                movw r22,r6
 10178 55b6 0E94 0000           call __mulsi3
 10179 55ba 97FD                sbrc r25,7
 10180 55bc 00C0                rjmp .L1306
 10181                  .L1053:
 10182 55be E5E0                ldi r30,5
 10183 55c0 9595        1:      asr r25
 10184 55c2 8795                ror r24
 10185 55c4 7795                ror r23
 10186 55c6 6795                ror r22
 10187 55c8 EA95                dec r30
 10188 55ca 01F4                brne 1b
 10189 55cc 9B01                movw r18,r22
 10190 55ce 7FEF                ldi r23,hi8(-127)
 10191 55d0 2138                cpi r18,lo8(-127)
 10192 55d2 3707                cpc r19,r23
 10193 55d4 04F0                brlt .+2
 10194 55d6 00C0                rjmp .L1054
 10195 55d8 21E8                ldi r18,lo8(-127)
 10196 55da 3FEF                ldi r19,hi8(-127)
 10197                  .L1055:
 10198 55dc 021B                sub r16,r18
 10199 55de 130B                sbc r17,r19
 10200 55e0 85E9                ldi r24,lo8(149)
 10201 55e2 90E0                ldi r25,hi8(149)
 10202 55e4 E80E                add r14,r24
 10203 55e6 F91E                adc r15,r25
 10204 55e8 9BE2                ldi r25,lo8(299)
 10205 55ea E916                cp r14,r25
 10206 55ec 91E0                ldi r25,hi8(299)
 10207 55ee F906                cpc r15,r25
 10208 55f0 00F4                brsh .L1057
 10209 55f2 8091 0000           lds r24,HeightTrimming.24
 10210 55f6 9091 0000           lds r25,(HeightTrimming.24)+1
 10211 55fa 892B                or r24,r25
 10212 55fc 01F4                brne .L1057
 10213 55fe 8091 0000           lds r24,HooverGas.27
 10214 5602 9091 0000           lds r25,(HooverGas.27)+1
 10215 5606 1816                cp __zero_reg__,r24
 10216 5608 1906                cpc __zero_reg__,r25
 10217 560a 04F4                brge .L1057
 10218 560c 8091 0000           lds r24,HooverGasMin.28
 10219 5610 9091 0000           lds r25,(HooverGasMin.28)+1
 10220 5614 0817                cp r16,r24
 10221 5616 1907                cpc r17,r25
 10222 5618 04F4                brge .+2
 10223 561a 00C0                rjmp .L1206
 10224 561c 8091 0000           lds r24,HooverGasMax.29
 10225 5620 9091 0000           lds r25,(HooverGasMax.29)+1
 10226 5624 8017                cp r24,r16
 10227 5626 9107                cpc r25,r17
 10228 5628 04F4                brge .+2
 10229 562a 00C0                rjmp .L1206
 10230                  .L1057:
 10231 562c 8091 0000           lds r24,BaroExpandActive
 10232 5630 9091 0000           lds r25,(BaroExpandActive)+1
 10233 5634 892B                or r24,r25
 10234 5636 01F0                breq .L1061
 10235 5638 0091 0000           lds r16,HooverGas.27
 10236 563c 1091 0000           lds r17,(HooverGas.27)+1
 10237                  .L1061:
 10238 5640 C801                movw r24,r16
 10239 5642 AA27                clr r26
 10240 5644 97FD                sbrc r25,7
 10241 5646 A095                com r26
 10242 5648 BA2F                mov r27,r26
 10243 564a 5DE0                ldi r21,13
 10244 564c 880F        1:      lsl r24
 10245 564e 991F                rol r25
 10246 5650 AA1F                rol r26
 10247 5652 BB1F                rol r27
 10248 5654 5A95                dec r21
 10249 5656 01F4                brne 1b
 10250 5658 9501                movw r18,r10
 10251 565a 4427                clr r20
 10252 565c 37FD                sbrc r19,7
 10253 565e 4095                com r20
 10254 5660 542F                mov r21,r20
 10255 5662 BC01                movw r22,r24
 10256 5664 CD01                movw r24,r26
 10257 5666 0E94 0000           call __divmodsi4
 10258 566a 2093 0000           sts tmp_long2.4,r18
 10259 566e 3093 0000           sts (tmp_long2.4)+1,r19
 10260 5672 4093 0000           sts (tmp_long2.4)+2,r20
 10261 5676 5093 0000           sts (tmp_long2.4)+3,r21
 10262 567a 0091 0000           lds r16,tmp_long2.4
 10263 567e 1091 0000           lds r17,(tmp_long2.4)+1
 10264 5682 8091 0000           lds r24,FilterHCGas.25
 10265 5686 9091 0000           lds r25,(FilterHCGas.25)+1
 10266 568a 9C01                movw r18,r24
 10267 568c 220F                lsl r18
 10268 568e 331F                rol r19
 10269 5690 280F                add r18,r24
 10270 5692 391F                adc r19,r25
 10271 5694 200F                add r18,r16
 10272 5696 311F                adc r19,r17
 10273 5698 37FD                sbrc r19,7
 10274 569a 00C0                rjmp .L1307
 10275                  .L1062:
 10276 569c A901                movw r20,r18
 10277 569e 5595                asr r21
 10278 56a0 4795                ror r20
 10279 56a2 5595                asr r21
 10280 56a4 4795                ror r20
 10281 56a6 BA01                movw r22,r20
 10282 56a8 8091 0000           lds r24,EE_Parameter+9
 10283 56ac 282F                mov r18,r24
 10284 56ae 3327                clr r19
 10285 56b0 220F                lsl r18
 10286 56b2 331F                rol r19
 10287 56b4 220F                lsl r18
 10288 56b6 331F                rol r19
 10289 56b8 4217                cp r20,r18
 10290 56ba 5307                cpc r21,r19
 10291 56bc 04F0                brlt .+2
 10292 56be 00C0                rjmp .L1063
 10293 56c0 A901                movw r20,r18
 10294 56c2 B901                movw r22,r18
 10295 56c4 D090 0000           lds r13,MAX_GAS
 10296                  .L1064:
 10297 56c8 C0FE                sbrs r12,0
 10298 56ca 00C0                rjmp .L1190
 10299 56cc A981                ldd r26,Y+1
 10300 56ce BA81                ldd r27,Y+2
 10301 56d0 A417                cp r26,r20
 10302 56d2 B507                cpc r27,r21
 10303 56d4 04F0                brlt .+2
 10304 56d6 00C0                rjmp .L1190
 10305 56d8 AD01                movw r20,r26
 10306 56da B093 0000           sts (FilterHCGas.25)+1,r27
 10307 56de A093 0000           sts FilterHCGas.25,r26
 10308 56e2 5A83                std Y+2,r21
 10309 56e4 4983                std Y+1,r20
 10310 56e6 00C0                rjmp .L1068
 10311                  .L1012:
 10312 56e8 6091 0000           lds r22,EE_Parameter+17
 10313 56ec 6623                tst r22
 10314 56ee 01F4                brne .+2
 10315 56f0 00C0                rjmp .L1308
 10316 56f2 7727                clr r23
 10317                  .L1071:
 10318 56f4 6634                cpi r22,70
 10319 56f6 7105                cpc r23,__zero_reg__
 10320 56f8 04F0                brlt .+2
 10321 56fa 00C0                rjmp .L1072
 10322 56fc 26E4                ldi r18,lo8(70)
 10323 56fe 30E0                ldi r19,hi8(70)
 10324 5700 3093 0000           sts (StickGasHoover.26)+1,r19
 10325 5704 2093 0000           sts StickGasHoover.26,r18
 10326                  .L1073:
 10327 5708 E980                ldd r14,Y+1
 10328 570a FA80                ldd r15,Y+2
 10329 570c F092 0000           sts (FilterHCGas.25)+1,r15
 10330 5710 E092 0000           sts FilterHCGas.25,r14
 10331                  .L1164:
 10332 5714 D090 0000           lds r13,MAX_GAS
 10333                  .L1068:
 10334 5718 8091 0000           lds r24,MikroKopterFlags
 10335 571c 81FF                sbrs r24,1
 10336 571e 00C0                rjmp .L1165
 10337 5720 8091 0000           lds r24,MikroKopterFlags
 10338 5724 84FD                sbrc r24,4
 10339 5726 00C0                rjmp .L1166
 10340 5728 E090 0000           lds r14,HooverGasFilter.30
 10341 572c F090 0000           lds r15,(HooverGasFilter.30)+1
 10342 5730 0091 0000           lds r16,(HooverGasFilter.30)+2
 10343 5734 1091 0000           lds r17,(HooverGasFilter.30)+3
 10344 5738 E114                cp r14,__zero_reg__
 10345 573a F104                cpc r15,__zero_reg__
 10346 573c 0105                cpc r16,__zero_reg__
 10347 573e 1105                cpc r17,__zero_reg__
 10348 5740 01F4                brne .L1076
 10349 5742 2981                ldd r18,Y+1
 10350 5744 3A81                ldd r19,Y+2
 10351 5746 7901                movw r14,r18
 10352 5748 0027                clr r16
 10353 574a F7FC                sbrc r15,7
 10354 574c 0095                com r16
 10355 574e 102F                mov r17,r16
 10356 5750 ECE0                ldi r30,12
 10357 5752 EE0C        1:      lsl r14
 10358 5754 FF1C                rol r15
 10359 5756 001F                rol r16
 10360 5758 111F                rol r17
 10361 575a EA95                dec r30
 10362 575c 01F4                brne 1b
 10363 575e E092 0000           sts HooverGasFilter.30,r14
 10364 5762 F092 0000           sts (HooverGasFilter.30)+1,r15
 10365 5766 0093 0000           sts (HooverGasFilter.30)+2,r16
 10366 576a 1093 0000           sts (HooverGasFilter.30)+3,r17
 10367                  .L1076:
 10368 576e 8091 0000           lds r24,VarioMeter
 10369 5772 9091 0000           lds r25,(VarioMeter)+1
 10370 5776 8091 0000           lds r24,VarioMeter
 10371 577a 9091 0000           lds r25,(VarioMeter)+1
 10372 577e 97FD                sbrc r25,7
 10373 5780 00C0                rjmp .L1309
 10374                  .L1078:
 10375 5782 8436                cpi r24,100
 10376 5784 9105                cpc r25,__zero_reg__
 10377 5786 04F0                brlt .+2
 10378 5788 00C0                rjmp .L1167
 10379 578a 6981                ldd r22,Y+1
 10380 578c 7A81                ldd r23,Y+2
 10381 578e 9B01                movw r18,r22
 10382 5790 4427                clr r20
 10383 5792 37FD                sbrc r19,7
 10384 5794 4095                com r20
 10385 5796 542F                mov r21,r20
 10386 5798 C501                movw r24,r10
 10387 579a AA27                clr r26
 10388 579c 97FD                sbrc r25,7
 10389 579e A095                com r26
 10390 57a0 BA2F                mov r27,r26
 10391 57a2 BC01                movw r22,r24
 10392 57a4 CD01                movw r24,r26
 10393 57a6 0E94 0000           call __mulsi3
 10394 57aa 97FD                sbrc r25,7
 10395 57ac 00C0                rjmp .L1310
 10396                  .L1079:
 10397 57ae 9B01                movw r18,r22
 10398 57b0 AC01                movw r20,r24
 10399 57b2 7DE0                ldi r23,13
 10400 57b4 5595        1:      asr r21
 10401 57b6 4795                ror r20
 10402 57b8 3795                ror r19
 10403 57ba 2795                ror r18
 10404 57bc 7A95                dec r23
 10405 57be 01F4                brne 1b
 10406 57c0 2093 0000           sts tmp_long2.4,r18
 10407 57c4 3093 0000           sts (tmp_long2.4)+1,r19
 10408 57c8 4093 0000           sts (tmp_long2.4)+2,r20
 10409 57cc 5093 0000           sts (tmp_long2.4)+3,r21
 10410 57d0 8091 0000           lds r24,modell_fliegt
 10411 57d4 9091 0000           lds r25,(modell_fliegt)+1
 10412 57d8 77E0                ldi r23,hi8(2000)
 10413 57da 803D                cpi r24,lo8(2000)
 10414 57dc 9707                cpc r25,r23
 10415 57de 00F0                brlo .+2
 10416 57e0 00C0                rjmp .L1080
 10417 57e2 D801                movw r26,r16
 10418 57e4 C701                movw r24,r14
 10419 57e6 69E0                ldi r22,9
 10420 57e8 B695        1:      lsr r27
 10421 57ea A795                ror r26
 10422 57ec 9795                ror r25
 10423 57ee 8795                ror r24
 10424 57f0 6A95                dec r22
 10425 57f2 01F4                brne 1b
 10426 57f4 E81A                sub r14,r24
 10427 57f6 F90A                sbc r15,r25
 10428 57f8 0A0B                sbc r16,r26
 10429 57fa 1B0B                sbc r17,r27
 10430 57fc DA01                movw r26,r20
 10431 57fe C901                movw r24,r18
 10432 5800 23E0                ldi r18,3
 10433 5802 880F        1:      lsl r24
 10434 5804 991F                rol r25
 10435 5806 AA1F                rol r26
 10436 5808 BB1F                rol r27
 10437 580a 2A95                dec r18
 10438 580c 01F4                brne 1b
 10439                  .L1210:
 10440 580e E80E                add r14,r24
 10441 5810 F91E                adc r15,r25
 10442 5812 0A1F                adc r16,r26
 10443 5814 1B1F                adc r17,r27
 10444                  .L1207:
 10445 5816 E092 0000           sts HooverGasFilter.30,r14
 10446 581a F092 0000           sts (HooverGasFilter.30)+1,r15
 10447 581e 0093 0000           sts (HooverGasFilter.30)+2,r16
 10448 5822 1093 0000           sts (HooverGasFilter.30)+3,r17
 10449 5826 D801                movw r26,r16
 10450 5828 C701                movw r24,r14
 10451 582a 1CE0                ldi r17,12
 10452 582c B695        1:      lsr r27
 10453 582e A795                ror r26
 10454 5830 9795                ror r25
 10455 5832 8795                ror r24
 10456 5834 1A95                dec r17
 10457 5836 01F4                brne 1b
 10458 5838 9093 0000           sts (HooverGas.27)+1,r25
 10459 583c 8093 0000           sts HooverGas.27,r24
 10460 5840 4091 0000           lds r20,EE_Parameter+15
 10461 5844 4423                tst r20
 10462 5846 01F4                brne .+2
 10463 5848 00C0                rjmp .L1086
 10464 584a 5527                clr r21
 10465 584c 9C01                movw r18,r24
 10466 584e BA01                movw r22,r20
 10467 5850 0E94 0000           call __divmodhi4
 10468 5854 C901                movw r24,r18
 10469 5856 861B                sub r24,r22
 10470 5858 970B                sbc r25,r23
 10471 585a 9093 0000           sts (HooverGasMin.28)+1,r25
 10472 585e 8093 0000           sts HooverGasMin.28,r24
 10473 5862 260F                add r18,r22
 10474 5864 371F                adc r19,r23
 10475 5866 3093 0000           sts (HooverGasMax.29)+1,r19
 10476 586a 2093 0000           sts HooverGasMax.29,r18
 10477                  .L1166:
 10478 586e E090 0000           lds r14,IntegralNick
 10479 5872 F090 0000           lds r15,(IntegralNick)+1
 10480 5876 0091 0000           lds r16,(IntegralNick)+2
 10481 587a 1091 0000           lds r17,(IntegralNick)+3
 10482 587e ED8E                std Y+29,r14
 10483 5880 FE8E                std Y+30,r15
 10484 5882 0F8F                std Y+31,r16
 10485 5884 18A3                std Y+32,r17
 10486 5886 A090 0000           lds r10,MesswertNick
 10487 588a B090 0000           lds r11,(MesswertNick)+1
 10488 588e 0091 0000           lds r16,MesswertRoll
 10489 5892 1091 0000           lds r17,(MesswertRoll)+1
 10490 5896 1EA3                std Y+38,r17
 10491 5898 0DA3                std Y+37,r16
 10492 589a 00C0                rjmp .L995
 10493                  .L1299:
 10494 589c 0396                adiw r24,3
 10495 589e 00C0                rjmp .L973
 10496                  .L1268:
 10497 58a0 9095                com r25
 10498 58a2 8195                neg r24
 10499 58a4 9F4F                sbci r25,lo8(-1)
 10500 58a6 0C94 0000           jmp .L829
 10501                  .L1219:
 10502 58aa 0396                adiw r24,3
 10503 58ac 0C94 0000           jmp .L823
 10504                  .L1218:
 10505 58b0 9095                com r25
 10506 58b2 8195                neg r24
 10507 58b4 9F4F                sbci r25,lo8(-1)
 10508 58b6 0C94 0000           jmp .L822
 10509                  .L1269:
 10510 58ba 0396                adiw r24,3
 10511 58bc 0C94 0000           jmp .L830
 10512                  .L1280:
 10513 58c0 8827                clr r24
 10514 58c2 9927                clr r25
 10515 58c4 8819                sub r24,r8
 10516 58c6 9909                sbc r25,r9
 10517 58c8 0C94 0000           jmp .L960
 10518                  .L1279:
 10519 58cc 695F                subi r22,lo8(-(7))
 10520 58ce 7F4F                sbci r23,hi8(-(7))
 10521 58d0 0C94 0000           jmp .L958
 10522                  .L1278:
 10523 58d4 7095                com r23
 10524 58d6 6195                neg r22
 10525 58d8 7F4F                sbci r23,lo8(-1)
 10526 58da 0C94 0000           jmp .L956
 10527                  .L1277:
 10528 58de 8150                subi r24,lo8(-(511))
 10529 58e0 9E4F                sbci r25,hi8(-(511))
 10530 58e2 AF4F                sbci r26,hlo8(-(511))
 10531 58e4 BF4F                sbci r27,hhi8(-(511))
 10532 58e6 0C94 0000           jmp .L955
 10533                  .L1276:
 10534 58ea D094                com r13
 10535 58ec C194                neg r12
 10536 58ee D108                sbc r13,__zero_reg__
 10537 58f0 D394                inc r13
 10538 58f2 0C94 0000           jmp .L954
 10539                  .L1275:
 10540 58f6 8150                subi r24,lo8(-(511))
 10541 58f8 9E4F                sbci r25,hi8(-(511))
 10542 58fa AF4F                sbci r26,hlo8(-(511))
 10543 58fc BF4F                sbci r27,hhi8(-(511))
 10544 58fe 0C94 0000           jmp .L953
 10545                  .L964:
 10546 5902 84EF                ldi r24,lo8(500)
 10547 5904 91E0                ldi r25,hi8(500)
 10548 5906 9093 0000           sts (KompassSignalSchlecht)+1,r25
 10549 590a 8093 0000           sts KompassSignalSchlecht,r24
 10550 590e 0C94 0000           jmp .L952
 10551                  .L1282:
 10552 5912 4F96                adiw r24,31
 10553 5914 0C94 0000           jmp .L963
 10554                  .L1284:
 10555 5918 B601                movw r22,r12
 10556 591a 0C94 0000           jmp .L968
 10557                  .L1308:
 10558 591e 4091 0000           lds r20,HooverGas.27
 10559 5922 5091 0000           lds r21,(HooverGas.27)+1
 10560 5926 57FD                sbrc r21,7
 10561 5928 00C0                rjmp .L1311
 10562                  .L1070:
 10563 592a 5595                asr r21
 10564 592c 4795                ror r20
 10565 592e 5595                asr r21
 10566 5930 4795                ror r20
 10567 5932 8091 0000           lds r24,UBat
 10568 5936 9091 0000           lds r25,(UBat)+1
 10569 593a 2091 0000           lds r18,BattLowVoltageWarning
 10570 593e 3327                clr r19
 10571 5940 489F                mul r20,r24
 10572 5942 F001                movw r30,r0
 10573 5944 499F                mul r20,r25
 10574 5946 F00D                add r31,r0
 10575 5948 589F                mul r21,r24
 10576 594a F00D                add r31,r0
 10577 594c 1124                clr r1
 10578 594e CF01                movw r24,r30
 10579 5950 B901                movw r22,r18
 10580 5952 0E94 0000           call __divmodhi4
 10581 5956 00C0                rjmp .L1071
 10582                  .L1007:
 10583 5958 81E0                ldi r24,lo8(1)
 10584 595a 8093 0000           sts HoehenReglerAktiv,r24
 10585 595e 88EC                ldi r24,lo8(-56)
 10586 5960 8093 0000           sts delay.31,r24
 10587 5964 00C0                rjmp .L1010
 10588                  .L1172:
 10589 5966 8093 0000           sts delay_ausschalten.10,r24
 10590 596a 0C94 0000           jmp .L734
 10591                  .L1171:
 10592 596e 8093 0000           sts delay_einschalten.9,r24
 10593 5972 00C0                rjmp .L803
 10594                  .L1289:
 10595 5974 87B5                in r24,71-0x20
 10596 5976 853F                cpi r24,lo8(-11)
 10597 5978 00F0                brlo .+2
 10598 597a 00C0                rjmp .L998
 10599 597c 8091 0000           lds r24,ExpandBaro
 10600 5980 8150                subi r24,lo8(-(-1))
 10601 5982 00C0                rjmp .L1203
 10602                  .L1281:
 10603 5984 4DA1                ldd r20,Y+37
 10604 5986 5EA1                ldd r21,Y+38
 10605 5988 CA01                movw r24,r20
 10606 598a AA27                clr r26
 10607 598c 97FD                sbrc r25,7
 10608 598e A095                com r26
 10609 5990 BA2F                mov r27,r26
 10610 5992 BC01                movw r22,r24
 10611 5994 CD01                movw r24,r26
 10612 5996 2A89                ldd r18,Y+18
 10613 5998 3B89                ldd r19,Y+19
 10614 599a 4C89                ldd r20,Y+20
 10615 599c 5D89                ldd r21,Y+21
 10616 599e 0E94 0000           call __mulsi3
 10617 59a2 2B01                movw r4,r22
 10618 59a4 3C01                movw r6,r24
 10619 59a6 0E94 0000           call __divmodsi4
 10620 59aa 3093 0000           sts (KompassStartwert)+1,r19
 10621 59ae 2093 0000           sts KompassStartwert,r18
 10622 59b2 1092 0000           sts NeueKompassRichtungMerken.12,__zero_reg__
 10623 59b6 0C94 0000           jmp .L961
 10624                  .L742:
 10625 59ba 8081                ld r24,Z
 10626 59bc 9181                ldd r25,Z+1
 10627 59be 855B                subi r24,lo8(-75)
 10628 59c0 9F4F                sbci r25,hi8(-75)
 10629 59c2 04F0                brlt .+2
 10630 59c4 00C0                rjmp .L761
 10631 59c6 8091 0000           lds r24,delay_neutral.8
 10632 59ca 8F5F                subi r24,lo8(-(1))
 10633 59cc 893C                cpi r24,lo8(-55)
 10634 59ce 00F4                brsh .+2
 10635 59d0 00C0                rjmp .L1170
 10636 59d2 2C30                cpi r18,lo8(12)
 10637 59d4 00F0                brlo .+2
 10638 59d6 00C0                rjmp .L763
 10639 59d8 2998                cbi 37-0x20,1
 10640                  .L765:
 10641 59da 8FB3                in r24,63-0x20
 10642 59dc 9927                clr r25
 10643 59de 9C01                movw r18,r24
 10644 59e0 2270                andi r18,lo8(2)
 10645 59e2 3070                andi r19,hi8(2)
 10646 59e4 81FD                sbrc r24,1
 10647 59e6 00C0                rjmp .L765
 10648 59e8 1FBA                out 63-0x20,__zero_reg__
 10649 59ea 80E0                ldi r24,lo8(EEPromArray+4)
 10650 59ec 90E0                ldi r25,hi8(EEPromArray+4)
 10651 59ee 92BD                out (65)+1-0x20,r25
 10652 59f0 81BD                out 65-0x20,r24
 10653 59f2 8FEF                ldi r24,lo8(-1)
 10654 59f4 80BD                out 64-0x20,r24
 10655                  /* #APP */
 10656                          /* START EEPROM WRITE CRITICAL SECTION */
 10657 59f6 0FB6                in      r0, 63          
 10658 59f8 F894                cli                             
 10659 59fa FA9A                sbi     31, 2   
 10660 59fc F99A                sbi     31, 1   
 10661 59fe 0FBE                out     63, r0          
 10662                          /* END EEPROM WRITE CRITICAL SECTION */
 10663                  /* #NOAPP */
 10664 5a00 1092 0000           sts MotorenEin,__zero_reg__
 10665 5a04 1092 0000           sts delay_neutral.8,__zero_reg__
 10666 5a08 3093 0000           sts (modell_fliegt)+1,r19
 10667 5a0c 2093 0000           sts modell_fliegt,r18
 10668 5a10 0E94 0000           call SetNeutral
 10669 5a14 2091 0000           lds r18,NeutralAccX
 10670 5a18 3091 0000           lds r19,(NeutralAccX)+1
 10671 5a1c C901                movw r24,r18
 10672 5a1e 37FD                sbrc r19,7
 10673 5a20 00C0                rjmp .L1312
 10674                  .L769:
 10675 5a22 892F                mov r24,r25
 10676 5a24 990F                lsl r25
 10677 5a26 990B                sbc r25,r25
 10678 5a28 482F                mov r20,r24
 10679                  .L770:
 10680 5a2a F999                sbic 63-0x20,1
 10681 5a2c 00C0                rjmp .L770
 10682 5a2e 1FBA                out 63-0x20,__zero_reg__
 10683 5a30 80E0                ldi r24,lo8(EEPromArray+4)
 10684 5a32 90E0                ldi r25,hi8(EEPromArray+4)
 10685 5a34 92BD                out (65)+1-0x20,r25
 10686 5a36 81BD                out 65-0x20,r24
 10687 5a38 40BD                out 64-0x20,r20
 10688                  /* #APP */
 10689                          /* START EEPROM WRITE CRITICAL SECTION */
 10690 5a3a 0FB6                in      r0, 63          
 10691 5a3c F894                cli                             
 10692 5a3e FA9A                sbi     31, 2   
 10693 5a40 F99A                sbi     31, 1   
 10694 5a42 0FBE                out     63, r0          
 10695                          /* END EEPROM WRITE CRITICAL SECTION */
 10696                  /* #NOAPP */
 10697                  .L775:
 10698 5a44 F999                sbic 63-0x20,1
 10699 5a46 00C0                rjmp .L775
 10700 5a48 1FBA                out 63-0x20,__zero_reg__
 10701 5a4a 80E0                ldi r24,lo8(EEPromArray+5)
 10702 5a4c 90E0                ldi r25,hi8(EEPromArray+5)
 10703 5a4e 92BD                out (65)+1-0x20,r25
 10704 5a50 81BD                out 65-0x20,r24
 10705 5a52 20BD                out 64-0x20,r18
 10706                  /* #APP */
 10707                          /* START EEPROM WRITE CRITICAL SECTION */
 10708 5a54 0FB6                in      r0, 63          
 10709 5a56 F894                cli                             
 10710 5a58 FA9A                sbi     31, 2   
 10711 5a5a F99A                sbi     31, 1   
 10712 5a5c 0FBE                out     63, r0          
 10713                          /* END EEPROM WRITE CRITICAL SECTION */
 10714                  /* #NOAPP */
 10715 5a5e 2091 0000           lds r18,NeutralAccY
 10716 5a62 3091 0000           lds r19,(NeutralAccY)+1
 10717 5a66 C901                movw r24,r18
 10718 5a68 37FD                sbrc r19,7
 10719 5a6a 00C0                rjmp .L1313
 10720                  .L779:
 10721 5a6c 892F                mov r24,r25
 10722 5a6e 990F                lsl r25
 10723 5a70 990B                sbc r25,r25
 10724 5a72 482F                mov r20,r24
 10725                  .L780:
 10726 5a74 F999                sbic 63-0x20,1
 10727 5a76 00C0                rjmp .L780
 10728 5a78 1FBA                out 63-0x20,__zero_reg__
 10729 5a7a 80E0                ldi r24,lo8(EEPromArray+6)
 10730 5a7c 90E0                ldi r25,hi8(EEPromArray+6)
 10731 5a7e 92BD                out (65)+1-0x20,r25
 10732 5a80 81BD                out 65-0x20,r24
 10733 5a82 40BD                out 64-0x20,r20
 10734                  /* #APP */
 10735                          /* START EEPROM WRITE CRITICAL SECTION */
 10736 5a84 0FB6                in      r0, 63          
 10737 5a86 F894                cli                             
 10738 5a88 FA9A                sbi     31, 2   
 10739 5a8a F99A                sbi     31, 1   
 10740 5a8c 0FBE                out     63, r0          
 10741                          /* END EEPROM WRITE CRITICAL SECTION */
 10742                  /* #NOAPP */
 10743                  .L785:
 10744 5a8e F999                sbic 63-0x20,1
 10745 5a90 00C0                rjmp .L785
 10746 5a92 1FBA                out 63-0x20,__zero_reg__
 10747 5a94 80E0                ldi r24,lo8(EEPromArray+7)
 10748 5a96 90E0                ldi r25,hi8(EEPromArray+7)
 10749 5a98 92BD                out (65)+1-0x20,r25
 10750 5a9a 81BD                out 65-0x20,r24
 10751 5a9c 20BD                out 64-0x20,r18
 10752                  /* #APP */
 10753                          /* START EEPROM WRITE CRITICAL SECTION */
 10754 5a9e 0FB6                in      r0, 63          
 10755 5aa0 F894                cli                             
 10756 5aa2 FA9A                sbi     31, 2   
 10757 5aa4 F99A                sbi     31, 1   
 10758 5aa6 0FBE                out     63, r0          
 10759                          /* END EEPROM WRITE CRITICAL SECTION */
 10760                  /* #NOAPP */
 10761 5aa8 8091 0000           lds r24,NeutralAccZ
 10762 5aac 9091 0000           lds r25,(NeutralAccZ)+1
 10763 5ab0 A091 0000           lds r26,(NeutralAccZ)+2
 10764 5ab4 B091 0000           lds r27,(NeutralAccZ)+3
 10765 5ab8 BC01                movw r22,r24
 10766 5aba CD01                movw r24,r26
 10767 5abc 0E94 0000           call __fixsfsi
 10768 5ac0 DC01                movw r26,r24
 10769 5ac2 CB01                movw r24,r22
 10770 5ac4 9C01                movw r18,r24
 10771 5ac6 97FD                sbrc r25,7
 10772 5ac8 00C0                rjmp .L1314
 10773                  .L789:
 10774 5aca 832F                mov r24,r19
 10775 5acc 9927                clr r25
 10776 5ace 87FD                sbrc r24,7
 10777 5ad0 9A95                dec r25
 10778 5ad2 282F                mov r18,r24
 10779                  .L790:
 10780 5ad4 F999                sbic 63-0x20,1
 10781 5ad6 00C0                rjmp .L790
 10782 5ad8 1FBA                out 63-0x20,__zero_reg__
 10783 5ada 80E0                ldi r24,lo8(EEPromArray+8)
 10784 5adc 90E0                ldi r25,hi8(EEPromArray+8)
 10785 5ade 92BD                out (65)+1-0x20,r25
 10786 5ae0 81BD                out 65-0x20,r24
 10787 5ae2 20BD                out 64-0x20,r18
 10788                  /* #APP */
 10789                          /* START EEPROM WRITE CRITICAL SECTION */
 10790 5ae4 0FB6                in      r0, 63          
 10791 5ae6 F894                cli                             
 10792 5ae8 FA9A                sbi     31, 2   
 10793 5aea F99A                sbi     31, 1   
 10794 5aec 0FBE                out     63, r0          
 10795                          /* END EEPROM WRITE CRITICAL SECTION */
 10796                  /* #NOAPP */
 10797 5aee 8091 0000           lds r24,NeutralAccZ
 10798 5af2 9091 0000           lds r25,(NeutralAccZ)+1
 10799 5af6 A091 0000           lds r26,(NeutralAccZ)+2
 10800 5afa B091 0000           lds r27,(NeutralAccZ)+3
 10801 5afe BC01                movw r22,r24
 10802 5b00 CD01                movw r24,r26
 10803 5b02 0E94 0000           call __fixsfsi
 10804 5b06 DC01                movw r26,r24
 10805 5b08 CB01                movw r24,r22
 10806 5b0a 282F                mov r18,r24
 10807                  .L795:
 10808 5b0c F999                sbic 63-0x20,1
 10809 5b0e 00C0                rjmp .L795
 10810 5b10 1FBA                out 63-0x20,__zero_reg__
 10811 5b12 80E0                ldi r24,lo8(EEPromArray+9)
 10812 5b14 90E0                ldi r25,hi8(EEPromArray+9)
 10813 5b16 92BD                out (65)+1-0x20,r25
 10814 5b18 81BD                out 65-0x20,r24
 10815 5b1a 20BD                out 64-0x20,r18
 10816                  /* #APP */
 10817                          /* START EEPROM WRITE CRITICAL SECTION */
 10818 5b1c 0FB6                in      r0, 63          
 10819 5b1e F894                cli                             
 10820 5b20 FA9A                sbi     31, 2   
 10821 5b22 F99A                sbi     31, 1   
 10822 5b24 0FBE                out     63, r0          
 10823                          /* END EEPROM WRITE CRITICAL SECTION */
 10824                  /* #NOAPP */
 10825                  .L1199:
 10826 5b26 0E94 0000           call GetActiveParamSetNumber
 10827 5b2a 68E7                ldi r22,lo8(120)
 10828 5b2c 70E0                ldi r23,hi8(120)
 10829 5b2e 0E94 0000           call Piep
 10830 5b32 3091 0000           lds r19,EE_Parameter+2
 10831 5b36 0C94 0000           jmp .L741
 10832                  .L1206:
 10833 5b3a 8C01                movw r16,r24
 10834 5b3c 00C0                rjmp .L1057
 10835                  .L1165:
 10836 5b3e 6091 0000           lds r22,IntegralNick
 10837 5b42 7091 0000           lds r23,(IntegralNick)+1
 10838 5b46 8091 0000           lds r24,(IntegralNick)+2
 10839 5b4a 9091 0000           lds r25,(IntegralNick)+3
 10840 5b4e 6D8F                std Y+29,r22
 10841 5b50 7E8F                std Y+30,r23
 10842 5b52 8F8F                std Y+31,r24
 10843 5b54 98A3                std Y+32,r25
 10844 5b56 A090 0000           lds r10,MesswertNick
 10845 5b5a B090 0000           lds r11,(MesswertNick)+1
 10846 5b5e 8091 0000           lds r24,MesswertRoll
 10847 5b62 9091 0000           lds r25,(MesswertRoll)+1
 10848 5b66 9EA3                std Y+38,r25
 10849 5b68 8DA3                std Y+37,r24
 10850 5b6a 0C94 0000           jmp .L995
 10851                  .L1198:
 10852 5b6e 0894                sec
 10853 5b70 2108                sbc r2,__zero_reg__
 10854 5b72 3108                sbc r3,__zero_reg__
 10855 5b74 3092 0000           sts (KompassSignalSchlecht)+1,r3
 10856 5b78 2092 0000           sts KompassSignalSchlecht,r2
 10857 5b7c 0C94 0000           jmp .L952
 10858                  .L1072:
 10859 5b80 6739                cpi r22,151
 10860 5b82 7105                cpc r23,__zero_reg__
 10861 5b84 04F4                brge .+2
 10862 5b86 00C0                rjmp .L1191
 10863 5b88 86E9                ldi r24,lo8(150)
 10864 5b8a 90E0                ldi r25,hi8(150)
 10865 5b8c 9093 0000           sts (StickGasHoover.26)+1,r25
 10866 5b90 8093 0000           sts StickGasHoover.26,r24
 10867 5b94 00C0                rjmp .L1073
 10868                  .L1300:
 10869 5b96 1092 0000           sts ucflg1,__zero_reg__
 10870 5b9a 00C0                rjmp .L1122
 10871                  .L1229:
 10872 5b9c 81E0                ldi r24,lo8(1)
 10873 5b9e 8093 0000           sts NeueKompassRichtungMerken.12,r24
 10874 5ba2 1092 0000           sts sollGier.2,__zero_reg__
 10875 5ba6 1092 0000           sts (sollGier.2)+1,__zero_reg__
 10876 5baa 1092 0000           sts (sollGier.2)+2,__zero_reg__
 10877 5bae 1092 0000           sts (sollGier.2)+3,__zero_reg__
 10878 5bb2 1092 0000           sts Mess_Integral_Gier,__zero_reg__
 10879 5bb6 1092 0000           sts (Mess_Integral_Gier)+1,__zero_reg__
 10880 5bba 1092 0000           sts (Mess_Integral_Gier)+2,__zero_reg__
 10881 5bbe 1092 0000           sts (Mess_Integral_Gier)+3,__zero_reg__
 10882 5bc2 0C94 0000           jmp .L740
 10883                  .L1086:
 10884 5bc6 1092 0000           sts (HooverGasMin.28)+1,__zero_reg__
 10885 5bca 1092 0000           sts HooverGasMin.28,__zero_reg__
 10886 5bce 8FEF                ldi r24,lo8(1023)
 10887 5bd0 93E0                ldi r25,hi8(1023)
 10888 5bd2 9093 0000           sts (HooverGasMax.29)+1,r25
 10889 5bd6 8093 0000           sts HooverGasMax.29,r24
 10890                  .L1167:
 10891 5bda 2091 0000           lds r18,IntegralNick
 10892 5bde 3091 0000           lds r19,(IntegralNick)+1
 10893 5be2 4091 0000           lds r20,(IntegralNick)+2
 10894 5be6 5091 0000           lds r21,(IntegralNick)+3
 10895 5bea 2D8F                std Y+29,r18
 10896 5bec 3E8F                std Y+30,r19
 10897 5bee 4F8F                std Y+31,r20
 10898 5bf0 58A3                std Y+32,r21
 10899 5bf2 A090 0000           lds r10,MesswertNick
 10900 5bf6 B090 0000           lds r11,(MesswertNick)+1
 10901 5bfa 4091 0000           lds r20,MesswertRoll
 10902 5bfe 5091 0000           lds r21,(MesswertRoll)+1
 10903 5c02 5EA3                std Y+38,r21
 10904 5c04 4DA3                std Y+37,r20
 10905 5c06 0C94 0000           jmp .L995
 10906                  .L1170:
 10907 5c0a 8093 0000           sts delay_neutral.8,r24
 10908 5c0e 0C94 0000           jmp .L741
 10909                  .L1191:
 10910 5c12 7093 0000           sts (StickGasHoover.26)+1,r23
 10911 5c16 6093 0000           sts StickGasHoover.26,r22
 10912 5c1a 00C0                rjmp .L1073
 10913                  .L1283:
 10914 5c1c 67E0                ldi r22,lo8(7)
 10915 5c1e 70E0                ldi r23,hi8(7)
 10916 5c20 E60E                add r14,r22
 10917 5c22 F71E                adc r15,r23
 10918 5c24 0C94 0000           jmp .L966
 10919                  .L1190:
 10920 5c28 7093 0000           sts (FilterHCGas.25)+1,r23
 10921 5c2c 6093 0000           sts FilterHCGas.25,r22
 10922 5c30 5A83                std Y+2,r21
 10923 5c32 4983                std Y+1,r20
 10924 5c34 00C0                rjmp .L1068
 10925                  .L998:
 10926 5c36 81E0                ldi r24,lo8(1)
 10927 5c38 8093 0000           sts BaroAtLowerLimit.33,r24
 10928 5c3c 00C0                rjmp .L1005
 10929                  .L1001:
 10930 5c3e 3B85                ldd r19,Y+11
 10931 5c40 3093 0000           sts BaroAtUpperLimit.32,r19
 10932 5c44 3093 0000           sts BaroAtLowerLimit.33,r19
 10933 5c48 00C0                rjmp .L1005
 10934                  .L894:
 10935 5c4a 6092 0000           sts ausgleichNick.13,r6
 10936 5c4e 7092 0000           sts (ausgleichNick.13)+1,r7
 10937 5c52 8092 0000           sts (ausgleichNick.13)+2,r8
 10938 5c56 9092 0000           sts (ausgleichNick.13)+3,r9
 10939 5c5a 1092 0000           sts (cnt.17)+1,__zero_reg__
 10940 5c5e 1092 0000           sts cnt.17,__zero_reg__
 10941 5c62 88EE                ldi r24,lo8(1000)
 10942 5c64 282E                mov r2,r24
 10943 5c66 83E0                ldi r24,hi8(1000)
 10944 5c68 382E                mov r3,r24
 10945 5c6a 3092 0000           sts (KompassSignalSchlecht)+1,r3
 10946 5c6e 2092 0000           sts KompassSignalSchlecht,r2
 10947 5c72 0C94 0000           jmp .L913
 10948                  .L919:
 10949 5c76 2093 0000           sts ausgleichRoll.14,r18
 10950 5c7a 3093 0000           sts (ausgleichRoll.14)+1,r19
 10951 5c7e 4093 0000           sts (ausgleichRoll.14)+2,r20
 10952 5c82 5093 0000           sts (ausgleichRoll.14)+3,r21
 10953 5c86 1092 0000           sts (cnt.17)+1,__zero_reg__
 10954 5c8a 1092 0000           sts cnt.17,__zero_reg__
 10955 5c8e E8EE                ldi r30,lo8(1000)
 10956 5c90 2E2E                mov r2,r30
 10957 5c92 E3E0                ldi r30,hi8(1000)
 10958 5c94 3E2E                mov r3,r30
 10959 5c96 3092 0000           sts (KompassSignalSchlecht)+1,r3
 10960 5c9a 2092 0000           sts KompassSignalSchlecht,r2
 10961 5c9e 0C94 0000           jmp .L938
 10962                  .L761:
 10963 5ca2 4093 0000           sts delay_neutral.8,r20
 10964 5ca6 0C94 0000           jmp .L741
 10965                  .L1054:
 10966 5caa 2F3F                cpi r18,255
 10967 5cac 3105                cpc r19,__zero_reg__
 10968 5cae 01F0                breq .+2
 10969 5cb0 04F4                brge .+2
 10970 5cb2 00C0                rjmp .L1055
 10971 5cb4 2FEF                ldi r18,lo8(255)
 10972 5cb6 30E0                ldi r19,hi8(255)
 10973 5cb8 00C0                rjmp .L1055
 10974                  .L1063:
 10975 5cba D090 0000           lds r13,MAX_GAS
 10976 5cbe 2D2D                mov r18,r13
 10977 5cc0 3327                clr r19
 10978 5cc2 220F                lsl r18
 10979 5cc4 331F                rol r19
 10980 5cc6 220F                lsl r18
 10981 5cc8 331F                rol r19
 10982 5cca 2055                subi r18,lo8(-(-80))
 10983 5ccc 3040                sbci r19,hi8(-(-80))
 10984 5cce 2417                cp r18,r20
 10985 5cd0 3507                cpc r19,r21
 10986 5cd2 04F0                brlt .+2
 10987 5cd4 00C0                rjmp .L1064
 10988 5cd6 A901                movw r20,r18
 10989 5cd8 B901                movw r22,r18
 10990 5cda 00C0                rjmp .L1064
 10991                  .L1049:
 10992 5cdc 6F3F                cpi r22,255
 10993 5cde 7105                cpc r23,__zero_reg__
 10994 5ce0 01F0                breq .+2
 10995 5ce2 04F4                brge .+2
 10996 5ce4 00C0                rjmp .L1050
 10997 5ce6 2FEF                ldi r18,lo8(255)
 10998 5ce8 30E0                ldi r19,hi8(255)
 10999 5cea 00C0                rjmp .L1050
 11000                  .L1043:
 11001 5cec 1216                cp __zero_reg__,r18
 11002 5cee 1306                cpc __zero_reg__,r19
 11003 5cf0 04F4                brge .+2
 11004 5cf2 00C0                rjmp .L1197
 11005 5cf4 229F                mul r18,r18
 11006 5cf6 C001                movw r24,r0
 11007 5cf8 239F                mul r18,r19
 11008 5cfa 900D                add r25,r0
 11009 5cfc 329F                mul r19,r18
 11010 5cfe 900D                add r25,r0
 11011 5d00 1124                clr r1
 11012 5d02 97FD                sbrc r25,7
 11013 5d04 00C0                rjmp .L1315
 11014                  .L1047:
 11015 5d06 9595                asr r25
 11016 5d08 8795                ror r24
 11017 5d0a 9595                asr r25
 11018 5d0c 8795                ror r24
 11019 5d0e 2091 0000           lds r18,VarioMeter
 11020 5d12 3091 0000           lds r19,(VarioMeter)+1
 11021 5d16 281B                sub r18,r24
 11022 5d18 390B                sbc r19,r25
 11023 5d1a 00C0                rjmp .L1046
 11024                  .L754:
 11025 5d1c 0E94 0000           call GetActiveParamSetNumber
 11026 5d20 45E6                ldi r20,lo8(101)
 11027 5d22 60E0                ldi r22,lo8(EE_Parameter)
 11028 5d24 70E0                ldi r23,hi8(EE_Parameter)
 11029 5d26 0E94 0000           call ReadParameterSet
 11030 5d2a 8091 0000           lds r24,EE_Parameter+8
 11031 5d2e 80FF                sbrs r24,0
 11032 5d30 00C0                rjmp .L757
 11033 5d32 8091 0000           lds r24,MessLuftdruck
 11034 5d36 9091 0000           lds r25,(MessLuftdruck)+1
 11035 5d3a 875B                subi r24,lo8(951)
 11036 5d3c 9340                sbci r25,hi8(951)
 11037 5d3e 00F4                brsh .L759
 11038 5d40 8091 0000           lds r24,MessLuftdruck
 11039 5d44 9091 0000           lds r25,(MessLuftdruck)+1
 11040 5d48 8E5E                subi r24,lo8(750)
 11041 5d4a 9240                sbci r25,hi8(750)
 11042 5d4c 00F4                brsh .L757
 11043                  .L759:
 11044 5d4e 0E94 0000           call SucheLuftruckOffset
 11045                  .L757:
 11046 5d52 1092 0000           sts ServoActive,__zero_reg__
 11047 5d56 0E94 0000           call SetNeutral
 11048 5d5a 81E0                ldi r24,lo8(1)
 11049 5d5c 8093 0000           sts ServoActive,r24
 11050 5d60 579A                sbi 42-0x20,7
 11051 5d62 00C0                rjmp .L1199
 11052                  .L1311:
 11053 5d64 4D5F                subi r20,lo8(-(3))
 11054 5d66 5F4F                sbci r21,hi8(-(3))
 11055 5d68 00C0                rjmp .L1070
 11056                  .L1013:
 11057 5d6a 8091 0000           lds r24,MikroKopterFlags
 11058 5d6e 81FF                sbrs r24,1
 11059 5d70 00C0                rjmp .L1016
 11060 5d72 2091 0000           lds r18,StickGasHoover.26
 11061 5d76 3091 0000           lds r19,(StickGasHoover.26)+1
 11062 5d7a C901                movw r24,r18
 11063 5d7c 0F96                adiw r24,15
 11064 5d7e 4091 0000           lds r20,StickGas
 11065 5d82 5091 0000           lds r21,(StickGas)+1
 11066 5d86 8417                cp r24,r20
 11067 5d88 9507                cpc r25,r21
 11068 5d8a 04F0                brlt .+2
 11069 5d8c 00C0                rjmp .L1017
 11070 5d8e 8091 0000           lds r24,BaroAtUpperLimit.32
 11071 5d92 8823                tst r24
 11072 5d94 01F0                breq .+2
 11073 5d96 00C0                rjmp .L1017
 11074 5d98 8091 0000           lds r24,HeightTrimmingFlag.34
 11075 5d9c 81FF                sbrs r24,1
 11076 5d9e 00C0                rjmp .L1158
 11077 5da0 8D7F                andi r24,lo8(-3)
 11078 5da2 6090 0000           lds r6,HoehenWert
 11079 5da6 7090 0000           lds r7,(HoehenWert)+1
 11080 5daa 8090 0000           lds r8,(HoehenWert)+2
 11081 5dae 9090 0000           lds r9,(HoehenWert)+3
 11082 5db2 6092 0000           sts SollHoehe,r6
 11083 5db6 7092 0000           sts (SollHoehe)+1,r7
 11084 5dba 8092 0000           sts (SollHoehe)+2,r8
 11085 5dbe 9092 0000           sts (SollHoehe)+3,r9
 11086                  .L1018:
 11087 5dc2 8160                ori r24,lo8(1)
 11088 5dc4 8093 0000           sts HeightTrimmingFlag.34,r24
 11089 5dc8 421B                sub r20,r18
 11090 5dca 530B                sbc r21,r19
 11091 5dcc 9A01                movw r18,r20
 11092 5dce 2F50                subi r18,lo8(-(-15))
 11093 5dd0 3040                sbci r19,hi8(-(-15))
 11094 5dd2 37FD                sbrc r19,7
 11095 5dd4 00C0                rjmp .L1316
 11096                  .L1019:
 11097 5dd6 8091 0000           lds r24,HeightTrimming.24
 11098 5dda 9091 0000           lds r25,(HeightTrimming.24)+1
 11099 5dde 280F                add r18,r24
 11100 5de0 391F                adc r19,r25
 11101 5de2 3093 0000           sts (HeightTrimming.24)+1,r19
 11102 5de6 2093 0000           sts HeightTrimming.24,r18
 11103                  .L1020:
 11104 5dea 2091 0000           lds r18,HeightTrimming.24
 11105 5dee 3091 0000           lds r19,(HeightTrimming.24)+1
 11106 5df2 C901                movw r24,r18
 11107 5df4 37FD                sbrc r19,7
 11108 5df6 00C0                rjmp .L1317
 11109                  .L1028:
 11110 5df8 8150                subi r24,lo8(513)
 11111 5dfa 9240                sbci r25,hi8(513)
 11112 5dfc 04F4                brge .+2
 11113 5dfe 00C0                rjmp .L1162
 11114 5e00 8091 0000           lds r24,EE_Parameter+13
 11115 5e04 9927                clr r25
 11116 5e06 829F                mul r24,r18
 11117 5e08 F001                movw r30,r0
 11118 5e0a 839F                mul r24,r19
 11119 5e0c F00D                add r31,r0
 11120 5e0e 929F                mul r25,r18
 11121 5e10 F00D                add r31,r0
 11122 5e12 1124                clr r1
 11123 5e14 CF01                movw r24,r30
 11124 5e16 60E0                ldi r22,lo8(1280)
 11125 5e18 75E0                ldi r23,hi8(1280)
 11126 5e1a 0E94 0000           call __divmodhi4
 11127 5e1e CB01                movw r24,r22
 11128 5e20 AA27                clr r26
 11129 5e22 97FD                sbrc r25,7
 11130 5e24 A095                com r26
 11131 5e26 BA2F                mov r27,r26
 11132 5e28 2091 0000           lds r18,SollHoehe
 11133 5e2c 3091 0000           lds r19,(SollHoehe)+1
 11134 5e30 4091 0000           lds r20,(SollHoehe)+2
 11135 5e34 5091 0000           lds r21,(SollHoehe)+3
 11136 5e38 820F                add r24,r18
 11137 5e3a 931F                adc r25,r19
 11138 5e3c A41F                adc r26,r20
 11139 5e3e B51F                adc r27,r21
 11140 5e40 8093 0000           sts SollHoehe,r24
 11141 5e44 9093 0000           sts (SollHoehe)+1,r25
 11142 5e48 A093 0000           sts (SollHoehe)+2,r26
 11143 5e4c B093 0000           sts (SollHoehe)+3,r27
 11144 5e50 1092 0000           sts (HeightTrimming.24)+1,__zero_reg__
 11145 5e54 1092 0000           sts HeightTrimming.24,__zero_reg__
 11146 5e58 C1FE                sbrs r12,1
 11147 5e5a 00C0                rjmp .L1029
 11148 5e5c 8BE4                ldi r24,lo8(75)
 11149 5e5e 90E0                ldi r25,hi8(75)
 11150 5e60 9093 0000           sts (beeptime)+1,r25
 11151 5e64 8093 0000           sts beeptime,r24
 11152                  .L1029:
 11153 5e68 8091 0000           lds r24,EE_Parameter+17
 11154 5e6c 8823                tst r24
 11155 5e6e 01F0                breq .+2
 11156 5e70 00C0                rjmp .L1162
 11157 5e72 0091 0000           lds r16,HooverGas.27
 11158 5e76 1091 0000           lds r17,(HooverGas.27)+1
 11159 5e7a A801                movw r20,r16
 11160 5e7c 17FD                sbrc r17,7
 11161 5e7e 00C0                rjmp .L1318
 11162                  .L1031:
 11163 5e80 5595                asr r21
 11164 5e82 4795                ror r20
 11165 5e84 5595                asr r21
 11166 5e86 4795                ror r20
 11167 5e88 8091 0000           lds r24,UBat
 11168 5e8c 9091 0000           lds r25,(UBat)+1
 11169 5e90 2091 0000           lds r18,BattLowVoltageWarning
 11170 5e94 3327                clr r19
 11171 5e96 489F                mul r20,r24
 11172 5e98 7001                movw r14,r0
 11173 5e9a 499F                mul r20,r25
 11174 5e9c F00C                add r15,r0
 11175 5e9e 589F                mul r21,r24
 11176 5ea0 F00C                add r15,r0
 11177 5ea2 1124                clr r1
 11178 5ea4 C701                movw r24,r14
 11179 5ea6 B901                movw r22,r18
 11180 5ea8 0E94 0000           call __divmodhi4
 11181 5eac 6634                cpi r22,70
 11182 5eae 7105                cpc r23,__zero_reg__
 11183 5eb0 04F0                brlt .+2
 11184 5eb2 00C0                rjmp .L1032
 11185 5eb4 26E4                ldi r18,lo8(70)
 11186 5eb6 30E0                ldi r19,hi8(70)
 11187                  .L1204:
 11188 5eb8 3093 0000           sts (StickGasHoover.26)+1,r19
 11189 5ebc 2093 0000           sts StickGasHoover.26,r18
 11190                  .L1027:
 11191 5ec0 8091 0000           lds r24,BaroExpandActive
 11192 5ec4 9091 0000           lds r25,(BaroExpandActive)+1
 11193 5ec8 892B                or r24,r25
 11194 5eca 01F4                brne .+2
 11195 5ecc 00C0                rjmp .L1163
 11196 5ece D401                movw r26,r8
 11197 5ed0 C301                movw r24,r6
 11198 5ed2 6092 0000           sts SollHoehe,r6
 11199 5ed6 7092 0000           sts (SollHoehe)+1,r7
 11200 5eda 8092 0000           sts (SollHoehe)+2,r8
 11201 5ede 9092 0000           sts (SollHoehe)+3,r9
 11202 5ee2 00C0                rjmp .L1015
 11203                  .L929:
 11204 5ee4 1092 0000           sts last_r_n.21,__zero_reg__
 11205 5ee8 0C94 0000           jmp .L938
 11206                  .L1002:
 11207 5eec 81E0                ldi r24,lo8(1)
 11208 5eee 8093 0000           sts BaroAtUpperLimit.32,r24
 11209 5ef2 00C0                rjmp .L1005
 11210                  .L1080:
 11211 5ef4 AFE0                ldi r26,hi8(4000)
 11212 5ef6 803A                cpi r24,lo8(4000)
 11213 5ef8 9A07                cpc r25,r26
 11214 5efa 00F0                brlo .+2
 11215 5efc 00C0                rjmp .L1082
 11216 5efe D801                movw r26,r16
 11217 5f00 C701                movw r24,r14
 11218 5f02 FAE0                ldi r31,10
 11219 5f04 B695        1:      lsr r27
 11220 5f06 A795                ror r26
 11221 5f08 9795                ror r25
 11222 5f0a 8795                ror r24
 11223 5f0c FA95                dec r31
 11224 5f0e 01F4                brne 1b
 11225 5f10 E81A                sub r14,r24
 11226 5f12 F90A                sbc r15,r25
 11227 5f14 0A0B                sbc r16,r26
 11228 5f16 1B0B                sbc r17,r27
 11229 5f18 DA01                movw r26,r20
 11230 5f1a C901                movw r24,r18
 11231 5f1c 880F                lsl r24
 11232 5f1e 991F                rol r25
 11233 5f20 AA1F                rol r26
 11234 5f22 BB1F                rol r27
 11235 5f24 880F                lsl r24
 11236 5f26 991F                rol r25
 11237 5f28 AA1F                rol r26
 11238 5f2a BB1F                rol r27
 11239 5f2c 00C0                rjmp .L1210
 11240                  .L1148:
 11241 5f2e 1091 0000           lds r17,EE_Parameter+1
 11242 5f32 0C94 0000           jmp .L747
 11243                  .L744:
 11244 5f36 299A                sbi 37-0x20,1
 11245 5f38 0C94 0000           jmp .L745
 11246                  .L920:
 11247 5f3c 2093 0000           sts ausgleichRoll.14,r18
 11248 5f40 3093 0000           sts (ausgleichRoll.14)+1,r19
 11249 5f44 4093 0000           sts (ausgleichRoll.14)+2,r20
 11250 5f48 5093 0000           sts (ausgleichRoll.14)+3,r21
 11251 5f4c 1092 0000           sts last_r_p.20,__zero_reg__
 11252 5f50 0C94 0000           jmp .L928
 11253                  .L904:
 11254 5f54 2092 0000           sts ausgleichNick.13,r2
 11255 5f58 3092 0000           sts (ausgleichNick.13)+1,r3
 11256 5f5c 4092 0000           sts (ausgleichNick.13)+2,r4
 11257 5f60 5092 0000           sts (ausgleichNick.13)+3,r5
 11258 5f64 1092 0000           sts last_n_n.19,__zero_reg__
 11259 5f68 0C94 0000           jmp .L913
 11260                  .L895:
 11261 5f6c 1092 0000           sts last_n_p.18,__zero_reg__
 11262 5f70 0C94 0000           jmp .L903
 11263                  .L1252:
 11264 5f74 B095                com r27
 11265 5f76 A095                com r26
 11266 5f78 9095                com r25
 11267 5f7a 8195                neg r24
 11268 5f7c 9F4F                sbci r25,lo8(-1)
 11269 5f7e AF4F                sbci r26,lo8(-1)
 11270 5f80 BF4F                sbci r27,lo8(-1)
 11271 5f82 0C94 0000           jmp .L918
 11272                  .L1309:
 11273 5f86 9095                com r25
 11274 5f88 8195                neg r24
 11275 5f8a 9F4F                sbci r25,lo8(-1)
 11276 5f8c 00C0                rjmp .L1078
 11277                  .L1238:
 11278 5f8e 8150                subi r24,lo8(-(255))
 11279 5f90 9F4F                sbci r25,hi8(-(255))
 11280 5f92 AF4F                sbci r26,hlo8(-(255))
 11281 5f94 BF4F                sbci r27,hhi8(-(255))
 11282 5f96 0C94 0000           jmp .L880
 11283                  .L1237:
 11284 5f9a 6150                subi r22,lo8(-(255))
 11285 5f9c 7F4F                sbci r23,hi8(-(255))
 11286 5f9e 8F4F                sbci r24,hlo8(-(255))
 11287 5fa0 9F4F                sbci r25,hhi8(-(255))
 11288 5fa2 0C94 0000           jmp .L878
 11289                  .L1236:
 11290 5fa6 6150                subi r22,lo8(-(255))
 11291 5fa8 7F4F                sbci r23,hi8(-(255))
 11292 5faa 8F4F                sbci r24,hlo8(-(255))
 11293 5fac 9F4F                sbci r25,hhi8(-(255))
 11294 5fae 0C94 0000           jmp .L877
 11295                  .L1235:
 11296 5fb2 8150                subi r24,lo8(-(255))
 11297 5fb4 9F4F                sbci r25,hi8(-(255))
 11298 5fb6 AF4F                sbci r26,hlo8(-(255))
 11299 5fb8 BF4F                sbci r27,hhi8(-(255))
 11300 5fba 0C94 0000           jmp .L876
 11301                  .L1243:
 11302 5fbe B095                com r27
 11303 5fc0 A095                com r26
 11304 5fc2 9095                com r25
 11305 5fc4 8195                neg r24
 11306 5fc6 9F4F                sbci r25,lo8(-1)
 11307 5fc8 AF4F                sbci r26,lo8(-1)
 11308 5fca BF4F                sbci r27,lo8(-1)
 11309 5fcc 0C94 0000           jmp .L893
 11310                  .L1239:
 11311 5fd0 8150                subi r24,lo8(-(255))
 11312 5fd2 9F4F                sbci r25,hi8(-(255))
 11313 5fd4 AF4F                sbci r26,hlo8(-(255))
 11314 5fd6 BF4F                sbci r27,hhi8(-(255))
 11315 5fd8 0C94 0000           jmp .L881
 11316                  .L1234:
 11317 5fdc 8150                subi r24,lo8(-(255))
 11318 5fde 9F4F                sbci r25,hi8(-(255))
 11319 5fe0 AF4F                sbci r26,hlo8(-(255))
 11320 5fe2 BF4F                sbci r27,hhi8(-(255))
 11321 5fe4 0C94 0000           jmp .L875
 11322                  .L1242:
 11323 5fe8 0196                adiw r24,1
 11324 5fea 0C94 0000           jmp .L886
 11325                  .L1241:
 11326 5fee 0196                adiw r24,1
 11327 5ff0 0C94 0000           jmp .L885
 11328                  .L1307:
 11329 5ff4 2D5F                subi r18,lo8(-(3))
 11330 5ff6 3F4F                sbci r19,hi8(-(3))
 11331 5ff8 00C0                rjmp .L1062
 11332                  .L1306:
 11333 5ffa 615E                subi r22,lo8(-(31))
 11334 5ffc 7F4F                sbci r23,hi8(-(31))
 11335 5ffe 8F4F                sbci r24,hlo8(-(31))
 11336 6000 9F4F                sbci r25,hhi8(-(31))
 11337 6002 00C0                rjmp .L1053
 11338                  .L1305:
 11339 6004 6FE7                ldi r22,lo8(127)
 11340 6006 70E0                ldi r23,hi8(127)
 11341 6008 80E0                ldi r24,hlo8(127)
 11342 600a 90E0                ldi r25,hhi8(127)
 11343 600c 660E                add r6,r22
 11344 600e 771E                adc r7,r23
 11345 6010 881E                adc r8,r24
 11346 6012 991E                adc r9,r25
 11347 6014 00C0                rjmp .L1052
 11348                  .L1304:
 11349 6016 6158                subi r22,lo8(-(127))
 11350 6018 7F4F                sbci r23,hi8(-(127))
 11351 601a 8F4F                sbci r24,hlo8(-(127))
 11352 601c 9F4F                sbci r25,hhi8(-(127))
 11353 601e 00C0                rjmp .L1048
 11354                  .L1302:
 11355 6020 295F                subi r18,lo8(-(7))
 11356 6022 3F4F                sbci r19,hi8(-(7))
 11357 6024 00C0                rjmp .L1042
 11358                  .L1301:
 11359 6026 0F96                adiw r24,15
 11360 6028 00C0                rjmp .L1041
 11361                  .L1303:
 11362 602a 2D5F                subi r18,lo8(-(3))
 11363 602c 3F4F                sbci r19,hi8(-(3))
 11364 602e 00C0                rjmp .L1045
 11365                  .L1016:
 11366 6030 6090 0000           lds r6,HoehenWert
 11367 6034 7090 0000           lds r7,(HoehenWert)+1
 11368 6038 8090 0000           lds r8,(HoehenWert)+2
 11369 603c 9090 0000           lds r9,(HoehenWert)+3
 11370 6040 D401                movw r26,r8
 11371 6042 C301                movw r24,r6
 11372 6044 8059                subi r24,lo8(-(-400))
 11373 6046 9140                sbci r25,hi8(-(-400))
 11374 6048 A040                sbci r26,hlo8(-(-400))
 11375 604a B040                sbci r27,hhi8(-(-400))
 11376 604c 8093 0000           sts SollHoehe,r24
 11377 6050 9093 0000           sts (SollHoehe)+1,r25
 11378 6054 A093 0000           sts (SollHoehe)+2,r26
 11379 6058 B093 0000           sts (SollHoehe)+3,r27
 11380 605c 2091 0000           lds r18,EE_Parameter+17
 11381 6060 2223                tst r18
 11382 6062 01F4                brne .+2
 11383 6064 00C0                rjmp .L1037
 11384 6066 3327                clr r19
 11385                  .L1205:
 11386 6068 3093 0000           sts (StickGasHoover.26)+1,r19
 11387 606c 2093 0000           sts StickGasHoover.26,r18
 11388 6070 0091 0000           lds r16,HooverGas.27
 11389 6074 1091 0000           lds r17,(HooverGas.27)+1
 11390 6078 00C0                rjmp .L1015
 11391                  .L763:
 11392 607a 299A                sbi 37-0x20,1
 11393 607c 00C0                rjmp .L765
 11394                  .L930:
 11395 607e 81E0                ldi r24,lo8(1)
 11396 6080 8093 0000           sts last_r_n.21,r24
 11397 6084 0C94 0000           jmp .L938
 11398                  .L921:
 11399 6088 2093 0000           sts ausgleichRoll.14,r18
 11400 608c 3093 0000           sts (ausgleichRoll.14)+1,r19
 11401 6090 4093 0000           sts (ausgleichRoll.14)+2,r20
 11402 6094 5093 0000           sts (ausgleichRoll.14)+3,r21
 11403 6098 81E0                ldi r24,lo8(1)
 11404 609a 8093 0000           sts last_r_p.20,r24
 11405 609e 0C94 0000           jmp .L928
 11406                  .L1082:
 11407 60a2 8054                subi r24,lo8(8000)
 11408 60a4 9F41                sbci r25,hi8(8000)
 11409 60a6 00F0                brlo .+2
 11410 60a8 00C0                rjmp .L1084
 11411 60aa D801                movw r26,r16
 11412 60ac C701                movw r24,r14
 11413 60ae 7BE0                ldi r23,11
 11414 60b0 B695        1:      lsr r27
 11415 60b2 A795                ror r26
 11416 60b4 9795                ror r25
 11417 60b6 8795                ror r24
 11418 60b8 7A95                dec r23
 11419 60ba 01F4                brne 1b
 11420 60bc E81A                sub r14,r24
 11421 60be F90A                sbc r15,r25
 11422 60c0 0A0B                sbc r16,r26
 11423 60c2 1B0B                sbc r17,r27
 11424 60c4 DA01                movw r26,r20
 11425 60c6 C901                movw r24,r18
 11426 60c8 820F                add r24,r18
 11427 60ca 931F                adc r25,r19
 11428 60cc A41F                adc r26,r20
 11429 60ce B51F                adc r27,r21
 11430 60d0 00C0                rjmp .L1210
 11431                  .L905:
 11432 60d2 2092 0000           sts ausgleichNick.13,r2
 11433 60d6 3092 0000           sts (ausgleichNick.13)+1,r3
 11434 60da 4092 0000           sts (ausgleichNick.13)+2,r4
 11435 60de 5092 0000           sts (ausgleichNick.13)+3,r5
 11436 60e2 81E0                ldi r24,lo8(1)
 11437 60e4 8093 0000           sts last_n_n.19,r24
 11438 60e8 0C94 0000           jmp .L913
 11439                  .L896:
 11440 60ec 81E0                ldi r24,lo8(1)
 11441 60ee 8093 0000           sts last_n_p.18,r24
 11442 60f2 0C94 0000           jmp .L903
 11443                  .L1310:
 11444 60f6 6150                subi r22,lo8(-(8191))
 11445 60f8 704E                sbci r23,hi8(-(8191))
 11446 60fa 8F4F                sbci r24,hlo8(-(8191))
 11447 60fc 9F4F                sbci r25,hhi8(-(8191))
 11448 60fe 00C0                rjmp .L1079
 11449                  .L1231:
 11450 6100 F095                com r31
 11451 6102 E195                neg r30
 11452 6104 FF4F                sbci r31,lo8(-1)
 11453 6106 0C94 0000           jmp .L755
 11454                  .L1162:
 11455 610a 0091 0000           lds r16,HooverGas.27
 11456 610e 1091 0000           lds r17,(HooverGas.27)+1
 11457 6112 00C0                rjmp .L1027
 11458                  .L1017:
 11459 6114 C901                movw r24,r18
 11460 6116 0F97                sbiw r24,15
 11461 6118 4817                cp r20,r24
 11462 611a 5907                cpc r21,r25
 11463 611c 04F4                brge .L1021
 11464 611e 8091 0000           lds r24,BaroAtLowerLimit.33
 11465 6122 8823                tst r24
 11466 6124 01F4                brne .L1021
 11467 6126 8091 0000           lds r24,HeightTrimmingFlag.34
 11468 612a 80FF                sbrs r24,0
 11469 612c 00C0                rjmp .L1159
 11470 612e 8E7F                andi r24,lo8(-2)
 11471 6130 6090 0000           lds r6,HoehenWert
 11472 6134 7090 0000           lds r7,(HoehenWert)+1
 11473 6138 8090 0000           lds r8,(HoehenWert)+2
 11474 613c 9090 0000           lds r9,(HoehenWert)+3
 11475 6140 6092 0000           sts SollHoehe,r6
 11476 6144 7092 0000           sts (SollHoehe)+1,r7
 11477 6148 8092 0000           sts (SollHoehe)+2,r8
 11478 614c 9092 0000           sts (SollHoehe)+3,r9
 11479                  .L1022:
 11480 6150 8260                ori r24,lo8(2)
 11481 6152 8093 0000           sts HeightTrimmingFlag.34,r24
 11482 6156 421B                sub r20,r18
 11483 6158 530B                sbc r21,r19
 11484 615a 9A01                movw r18,r20
 11485 615c 215F                subi r18,lo8(-(15))
 11486 615e 3F4F                sbci r19,hi8(-(15))
 11487 6160 37FD                sbrc r19,7
 11488 6162 00C0                rjmp .L1319
 11489                  .L1023:
 11490 6164 8091 0000           lds r24,HeightTrimming.24
 11491 6168 9091 0000           lds r25,(HeightTrimming.24)+1
 11492 616c 821B                sub r24,r18
 11493 616e 930B                sbc r25,r19
 11494 6170 9093 0000           sts (HeightTrimming.24)+1,r25
 11495 6174 8093 0000           sts HeightTrimming.24,r24
 11496 6178 00C0                rjmp .L1020
 11497                  .L1021:
 11498 617a 2091 0000           lds r18,HeightTrimmingFlag.34
 11499 617e 822F                mov r24,r18
 11500 6180 9927                clr r25
 11501 6182 8370                andi r24,lo8(3)
 11502 6184 9070                andi r25,hi8(3)
 11503 6186 892B                or r24,r25
 11504 6188 01F4                brne .+2
 11505 618a 00C0                rjmp .L1160
 11506 618c 2C7F                andi r18,lo8(-4)
 11507 618e 2093 0000           sts HeightTrimmingFlag.34,r18
 11508 6192 1092 0000           sts (HeightTrimming.24)+1,__zero_reg__
 11509 6196 1092 0000           sts HeightTrimming.24,__zero_reg__
 11510 619a 6090 0000           lds r6,HoehenWert
 11511 619e 7090 0000           lds r7,(HoehenWert)+1
 11512 61a2 8090 0000           lds r8,(HoehenWert)+2
 11513 61a6 9090 0000           lds r9,(HoehenWert)+3
 11514 61aa 6092 0000           sts SollHoehe,r6
 11515 61ae 7092 0000           sts (SollHoehe)+1,r7
 11516 61b2 8092 0000           sts (SollHoehe)+2,r8
 11517 61b6 9092 0000           sts (SollHoehe)+3,r9
 11518 61ba C1FE                sbrs r12,1
 11519 61bc 00C0                rjmp .L1020
 11520 61be 84EF                ldi r24,lo8(500)
 11521 61c0 91E0                ldi r25,hi8(500)
 11522 61c2 9093 0000           sts (beeptime)+1,r25
 11523 61c6 8093 0000           sts beeptime,r24
 11524 61ca 00C0                rjmp .L1020
 11525                  .L1037:
 11526 61cc 28E7                ldi r18,lo8(120)
 11527 61ce 30E0                ldi r19,hi8(120)
 11528 61d0 00C0                rjmp .L1205
 11529                  .L1181:
 11530 61d2 2093 0000           sts ausgleichRoll.14,r18
 11531 61d6 3093 0000           sts (ausgleichRoll.14)+1,r19
 11532 61da 4093 0000           sts (ausgleichRoll.14)+2,r20
 11533 61de 5093 0000           sts (ausgleichRoll.14)+3,r21
 11534 61e2 0C94 0000           jmp .L934
 11535                  .L1180:
 11536 61e6 2093 0000           sts ausgleichRoll.14,r18
 11537 61ea 3093 0000           sts (ausgleichRoll.14)+1,r19
 11538 61ee 4093 0000           sts (ausgleichRoll.14)+2,r20
 11539 61f2 5093 0000           sts (ausgleichRoll.14)+3,r21
 11540 61f6 0C94 0000           jmp .L925
 11541                  .L1084:
 11542 61fa D801                movw r26,r16
 11543 61fc C701                movw r24,r14
 11544 61fe 6CE0                ldi r22,12
 11545 6200 B695        1:      lsr r27
 11546 6202 A795                ror r26
 11547 6204 9795                ror r25
 11548 6206 8795                ror r24
 11549 6208 6A95                dec r22
 11550 620a 01F4                brne 1b
 11551 620c E81A                sub r14,r24
 11552 620e F90A                sbc r15,r25
 11553 6210 0A0B                sbc r16,r26
 11554 6212 1B0B                sbc r17,r27
 11555 6214 E20E                add r14,r18
 11556 6216 F31E                adc r15,r19
 11557 6218 041F                adc r16,r20
 11558 621a 151F                adc r17,r21
 11559 621c 00C0                rjmp .L1207
 11560                  .L1314:
 11561 621e 2150                subi r18,lo8(-(255))
 11562 6220 3F4F                sbci r19,hi8(-(255))
 11563 6222 00C0                rjmp .L789
 11564                  .L1313:
 11565 6224 8150                subi r24,lo8(-(255))
 11566 6226 9F4F                sbci r25,hi8(-(255))
 11567 6228 00C0                rjmp .L779
 11568                  .L1230:
 11569 622a F095                com r31
 11570 622c E195                neg r30
 11571 622e FF4F                sbci r31,lo8(-1)
 11572 6230 0C94 0000           jmp .L748
 11573                  .L1240:
 11574 6234 F095                com r31
 11575 6236 E195                neg r30
 11576 6238 FF4F                sbci r31,lo8(-1)
 11577 623a 0C94 0000           jmp .L884
 11578                  .L1312:
 11579 623e 8150                subi r24,lo8(-(255))
 11580 6240 9F4F                sbci r25,hi8(-(255))
 11581 6242 00C0                rjmp .L769
 11582                  .L1160:
 11583 6244 6090 0000           lds r6,HoehenWert
 11584 6248 7090 0000           lds r7,(HoehenWert)+1
 11585 624c 8090 0000           lds r8,(HoehenWert)+2
 11586 6250 9090 0000           lds r9,(HoehenWert)+3
 11587 6254 00C0                rjmp .L1020
 11588                  .L1254:
 11589 6256 8150                subi r24,lo8(-(511))
 11590 6258 9E4F                sbci r25,hi8(-(511))
 11591 625a AF4F                sbci r26,hlo8(-(511))
 11592 625c BF4F                sbci r27,hhi8(-(511))
 11593 625e 0C94 0000           jmp .L923
 11594                  .L1253:
 11595 6262 B095                com r27
 11596 6264 A095                com r26
 11597 6266 9095                com r25
 11598 6268 8195                neg r24
 11599 626a 9F4F                sbci r25,lo8(-1)
 11600 626c AF4F                sbci r26,lo8(-1)
 11601 626e BF4F                sbci r27,lo8(-1)
 11602 6270 0C94 0000           jmp .L922
 11603                  .L1245:
 11604 6274 8150                subi r24,lo8(-(511))
 11605 6276 9E4F                sbci r25,hi8(-(511))
 11606 6278 AF4F                sbci r26,hlo8(-(511))
 11607 627a BF4F                sbci r27,hhi8(-(511))
 11608 627c 0C94 0000           jmp .L898
 11609                  .L1244:
 11610 6280 B095                com r27
 11611 6282 A095                com r26
 11612 6284 9095                com r25
 11613 6286 8195                neg r24
 11614 6288 9F4F                sbci r25,lo8(-1)
 11615 628a AF4F                sbci r26,lo8(-1)
 11616 628c BF4F                sbci r27,lo8(-1)
 11617 628e 0C94 0000           jmp .L897
 11618                  .L1257:
 11619 6292 B095                com r27
 11620 6294 A095                com r26
 11621 6296 9095                com r25
 11622 6298 8195                neg r24
 11623 629a 9F4F                sbci r25,lo8(-1)
 11624 629c AF4F                sbci r26,lo8(-1)
 11625 629e BF4F                sbci r27,lo8(-1)
 11626 62a0 0C94 0000           jmp .L931
 11627                  .L1260:
 11628 62a4 8150                subi r24,lo8(-(255))
 11629 62a6 9F4F                sbci r25,hi8(-(255))
 11630 62a8 AF4F                sbci r26,hlo8(-(255))
 11631 62aa BF4F                sbci r27,hhi8(-(255))
 11632 62ac 0C94 0000           jmp .L935
 11633                  .L1259:
 11634 62b0 295F                subi r18,lo8(-(7))
 11635 62b2 3F4F                sbci r19,hi8(-(7))
 11636 62b4 4F4F                sbci r20,hlo8(-(7))
 11637 62b6 5F4F                sbci r21,hhi8(-(7))
 11638 62b8 0C94 0000           jmp .L933
 11639                  .L1258:
 11640 62bc 2150                subi r18,lo8(-(511))
 11641 62be 3E4F                sbci r19,hi8(-(511))
 11642 62c0 4F4F                sbci r20,hlo8(-(511))
 11643 62c2 5F4F                sbci r21,hhi8(-(511))
 11644 62c4 0C94 0000           jmp .L932
 11645                  .L1255:
 11646 62c8 295F                subi r18,lo8(-(7))
 11647 62ca 3F4F                sbci r19,hi8(-(7))
 11648 62cc 4F4F                sbci r20,hlo8(-(7))
 11649 62ce 5F4F                sbci r21,hhi8(-(7))
 11650 62d0 0C94 0000           jmp .L924
 11651                  .L1256:
 11652 62d4 8150                subi r24,lo8(-(255))
 11653 62d6 9F4F                sbci r25,hi8(-(255))
 11654 62d8 AF4F                sbci r26,hlo8(-(255))
 11655 62da BF4F                sbci r27,hhi8(-(255))
 11656 62dc 0C94 0000           jmp .L926
 11657                  .L1247:
 11658 62e0 8150                subi r24,lo8(-(255))
 11659 62e2 9F4F                sbci r25,hi8(-(255))
 11660 62e4 AF4F                sbci r26,hlo8(-(255))
 11661 62e6 BF4F                sbci r27,hhi8(-(255))
 11662 62e8 0C94 0000           jmp .L901
 11663                  .L1246:
 11664 62ec 295F                subi r18,lo8(-(7))
 11665 62ee 3F4F                sbci r19,hi8(-(7))
 11666 62f0 4F4F                sbci r20,hlo8(-(7))
 11667 62f2 5F4F                sbci r21,hhi8(-(7))
 11668 62f4 0C94 0000           jmp .L899
 11669                  .L1317:
 11670 62f8 8827                clr r24
 11671 62fa 9927                clr r25
 11672 62fc 821B                sub r24,r18
 11673 62fe 930B                sbc r25,r19
 11674 6300 00C0                rjmp .L1028
 11675                  .L1251:
 11676 6302 8150                subi r24,lo8(-(255))
 11677 6304 9F4F                sbci r25,hi8(-(255))
 11678 6306 AF4F                sbci r26,hlo8(-(255))
 11679 6308 BF4F                sbci r27,hhi8(-(255))
 11680 630a 0C94 0000           jmp .L910
 11681                  .L1250:
 11682 630e 295F                subi r18,lo8(-(7))
 11683 6310 3F4F                sbci r19,hi8(-(7))
 11684 6312 4F4F                sbci r20,hlo8(-(7))
 11685 6314 5F4F                sbci r21,hhi8(-(7))
 11686 6316 0C94 0000           jmp .L908
 11687                  .L1249:
 11688 631a 2150                subi r18,lo8(-(511))
 11689 631c 3E4F                sbci r19,hi8(-(511))
 11690 631e 4F4F                sbci r20,hlo8(-(511))
 11691 6320 5F4F                sbci r21,hhi8(-(511))
 11692 6322 0C94 0000           jmp .L907
 11693                  .L1248:
 11694 6326 B095                com r27
 11695 6328 A095                com r26
 11696 632a 9095                com r25
 11697 632c 8195                neg r24
 11698 632e 9F4F                sbci r25,lo8(-1)
 11699 6330 AF4F                sbci r26,lo8(-1)
 11700 6332 BF4F                sbci r27,lo8(-1)
 11701 6334 0C94 0000           jmp .L906
 11702                  .L1315:
 11703 6338 0396                adiw r24,3
 11704 633a 00C0                rjmp .L1047
 11705                  .L1158:
 11706 633c 6090 0000           lds r6,HoehenWert
 11707 6340 7090 0000           lds r7,(HoehenWert)+1
 11708 6344 8090 0000           lds r8,(HoehenWert)+2
 11709 6348 9090 0000           lds r9,(HoehenWert)+3
 11710 634c 00C0                rjmp .L1018
 11711                  .L1032:
 11712 634e 6739                cpi r22,151
 11713 6350 7105                cpc r23,__zero_reg__
 11714 6352 04F0                brlt .L1188
 11715 6354 26E9                ldi r18,lo8(150)
 11716 6356 30E0                ldi r19,hi8(150)
 11717 6358 00C0                rjmp .L1204
 11718                  .L1159:
 11719 635a 6090 0000           lds r6,HoehenWert
 11720 635e 7090 0000           lds r7,(HoehenWert)+1
 11721 6362 8090 0000           lds r8,(HoehenWert)+2
 11722 6366 9090 0000           lds r9,(HoehenWert)+3
 11723 636a 00C0                rjmp .L1022
 11724                  .L1316:
 11725 636c 3095                com r19
 11726 636e 2195                neg r18
 11727 6370 3F4F                sbci r19,lo8(-1)
 11728 6372 00C0                rjmp .L1019
 11729                  .L1318:
 11730 6374 4D5F                subi r20,lo8(-(3))
 11731 6376 5F4F                sbci r21,hi8(-(3))
 11732 6378 00C0                rjmp .L1031
 11733                  .L1319:
 11734 637a 3095                com r19
 11735 637c 2195                neg r18
 11736 637e 3F4F                sbci r19,lo8(-1)
 11737 6380 00C0                rjmp .L1023
 11738                  .L1188:
 11739 6382 7093 0000           sts (StickGasHoover.26)+1,r23
 11740 6386 6093 0000           sts StickGasHoover.26,r22
 11741 638a 00C0                rjmp .L1027
 11742                  .L1145:
 11743 638c 8091 0000           lds r24,motorOutRear
 11744 6390 8093 0000           sts Motor+1,r24
 11745 6394 8091 0000           lds r24,motorOutFront
 11746 6398 8093 0000           sts Motor,r24
 11747                  /* epilogue: frame size=40 */
 11748 639c E2E1                ldi r30,18
 11749 639e C85D                subi r28,-40
 11750 63a0 0C94 0000           jmp __epilogue_restores__+0
 11751                  /* epilogue end (size=4) */
 11752                  /* function MotorRegler size 7530 (7520) */
 11754                          .comm TrimNick,2,1
 11755                          .comm TrimRoll,2,1
 11756                          .comm ErsatzKompass,4,1
 11757                          .comm ErsatzKompassInGrad,2,1
 11758                          .comm MesswertNick,2,1
 11759                          .comm MesswertRoll,2,1
 11760                          .comm MesswertGier,2,1
 11761                          .comm Mittelwert_AccNick,2,1
 11762                          .comm Mittelwert_AccRoll,2,1
 11763                          .comm Mittelwert_AccHoch,2,1
 11764                          .comm NaviAccNick,2,1
 11765                          .comm NaviAccRoll,2,1
 11766                          .comm h,1,1
 11767                          .comm m,1,1
 11768                          .comm s,1,1
 11769                          .comm DiffNick,2,1
 11770                          .comm DiffRoll,2,1
 11771                          .comm EE_Parameter,101,1
 11772                          .comm Mixer,77,1
 11773                          .comm Parameter_J16Bitmask,1,1
 11774                          .comm Parameter_J16Timing,1,1
 11775                          .comm Parameter_J17Bitmask,1,1
 11776                          .comm Parameter_J17Timing,1,1
 11777                          .comm Motor,2,1
 11778                  .global EEPromArray
 11779                          .section        .eeprom,"aw",@progbits
 11782                  EEPromArray:
 11783 0000 0000 0000           .skip 2048,0
 11783      0000 0000 
 11783      0000 0000 
 11783      0000 0000 
 11783      0000 0000 
 11784                          .comm MesswertGierBias,2,1
 11785                          .comm RohMesswertNick,2,1
 11786                          .comm RohMesswertRoll,2,1
 11787                          .comm AdNeutralGierBias,2,1
 11788                          .comm MittelIntegralNick,4,1
 11789                          .comm MittelIntegralRoll,4,1
 11790                          .comm MittelIntegralNick2,4,1
 11791                          .comm MittelIntegralRoll2,4,1
 11792                          .comm MAX_GAS,1,1
 11793                          .comm MIN_GAS,1,1
 11794                          .comm GyroFaktor,1,1
 11795                          .comm GyroFaktorGier,1,1
 11796                          .comm IntegralFaktor,1,1
 11797                          .comm IntegralFaktorGier,1,1
 11798                          .comm Parameter_NaviGpsModeControl,1,1
 11799                          .comm Parameter_NaviGpsGain,1,1
 11800                          .comm Parameter_NaviGpsP,1,1
 11801                          .comm Parameter_NaviGpsI,1,1
 11802                          .comm Parameter_NaviGpsD,1,1
 11803                          .comm Parameter_NaviGpsACC,1,1
 11804                          .comm Parameter_NaviOperatingRadius,1,1
 11805                          .comm Parameter_NaviWindCorrection,1,1
 11806                          .comm Parameter_NaviSpeedCompensation,1,1
 11807                          .comm Parameter_ExternalControl,1,1
 11808                          .comm KopplungsteilNickRoll,2,1
 11809                          .comm KopplungsteilRollNick,2,1
 11810                          .comm tmp_motorwert,4,1
 11811                          .comm angle,2,1
 11812                          .comm desiredAngle,2,1
 11813                          .comm motorOutFront,2,1
 11814                          .comm motorOutRear,2,1
 11815                          .comm thrust,2,1
 11816                  /* File "fc.c": code 12994 = 0x32c2 (12928), prologues  29, epilogues  37 */
DEFINED SYMBOLS
                            *ABS*:00000000 fc.c
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:3      *ABS*:0000003f __SREG__
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:4      *ABS*:0000003e __SP_H__
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5      *ABS*:0000003d __SP_L__
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:6      *ABS*:00000000 __tmp_reg__
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:7      *ABS*:00000001 __zero_reg__
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:15     .bss:00000000 filterDD
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:21     .bss:00000002 filtersum
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:27     .bss:00000004 gyroScaled
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:33     .bss:00000006 gyroScaledOld
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:39     .bss:00000008 mincontrollerDD
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:45     .bss:0000000a maxcontrollerDD
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:51     .bss:0000000c controllerDD
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:57     .bss:0000000e mincontrollerD
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:63     .bss:00000010 maxcontrollerD
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:69     .bss:00000012 controllerD
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:75     .bss:00000014 mincontrollerP
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:81     .bss:00000016 maxcontrollerP
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:87     .bss:00000018 controllerP
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:93     .bss:0000001a kdd
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:99     .bss:0000001c kd
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:105    .bss:0000001e kp
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:111    .bss:00000020 ipk
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:117    .data:00000000 ucflg3
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:122    .data:00000001 ucflg2
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:127    .data:00000002 ucflg1
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:134    .bss:00000026 LoadHandler
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:140    .data:00000003 RequiredMotors
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:145    .data:00000004 GIER_GRAD_FAKTOR
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:152    .bss:00000027 MikroKopterFlags
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:158    .bss:00000028 modell_fliegt
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:164    .bss:0000002a MaxStickRoll
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:170    .bss:0000002c MaxStickNick
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:176    .data:00000008 ExternHoehenValue
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:183    .bss:0000002e ExternStickGier
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:189    .bss:00000030 ExternStickRoll
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:195    .bss:00000032 ExternStickNick
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:201    .data:0000000a Parameter_DynamicStability
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:206    .data:0000000b Parameter_CouplingYawCorrection
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:211    .data:0000000c Parameter_AchsKopplung2
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:216    .data:0000000d Parameter_AchsKopplung1
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:221    .data:0000000e Parameter_LoopGasLimit
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:226    .data:0000000f Parameter_ServoRollControl
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:231    .data:00000010 Parameter_ServoNickControl
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:238    .bss:00000034 Parameter_UserParam8
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:244    .bss:00000035 Parameter_UserParam7
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:250    .bss:00000036 Parameter_UserParam6
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:256    .bss:00000037 Parameter_UserParam5
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:262    .bss:00000038 Parameter_UserParam4
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:268    .bss:00000039 Parameter_UserParam3
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:274    .bss:0000003a Parameter_UserParam2
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:280    .bss:0000003b Parameter_UserParam1
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:286    .data:00000011 Parameter_I_Faktor
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:291    .data:00000012 Parameter_Gier_P
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:296    .data:00000013 Parameter_Gyro_Gier_I
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:301    .data:00000014 Parameter_Gyro_Gier_P
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:306    .data:00000015 Parameter_Gyro_I
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:311    .data:00000016 Parameter_Gyro_P
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:316    .data:00000017 Parameter_Gyro_D
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:321    .data:00000018 Parameter_Hoehe_GPS_Z
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:326    .data:00000019 Parameter_KompassWirkung
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:331    .data:0000001a Parameter_Hoehe_ACC_Wirkung
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:336    .data:0000001b Parameter_Hoehe_P
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:341    .data:0000001c Parameter_MaxHoehe
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:346    .data:0000001d Parameter_Luftdruck_D
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:353    .bss:0000003c Looping_Oben
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:359    .bss:0000003d Looping_Unten
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:365    .bss:0000003e Looping_Rechts
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:371    .bss:0000003f Looping_Links
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:377    .bss:00000040 Looping_Roll
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:383    .bss:00000041 Looping_Nick
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:389    .data:0000001e Ki
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:396    .bss:00000042 LageKorrekturNick
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:402    .bss:00000044 LageKorrekturRoll
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:408    .bss:00000046 SollHoehe
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:414    .bss:0000004a HoehenWert
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:420    .bss:0000004e StickGas
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:426    .bss:00000050 StickGier
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:432    .bss:00000052 StickRoll
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:438    .bss:00000054 StickNick
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:444    .bss:00000056 SenderRSSI
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:450    .bss:00000057 SenderOkay
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:456    .bss:00000058 Poti4
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:462    .bss:0000005a Poti3
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:468    .bss:0000005c Poti2
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:474    .bss:0000005e Poti1
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:480    .bss:00000060 GierGyroFehler
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:486    .data:00000020 Umschlag180Roll
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:491    .data:00000024 Umschlag180Nick
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:498    .bss:00000062 TrichterFlug
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:504    .bss:00000063 HoehenReglerAktiv
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:510    .bss:00000064 MotorenEin
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:516    .data:00000028 KompassSignalSchlecht
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:523    .bss:00000065 KompassRichtung
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:529    .bss:00000067 KompassStartwert
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:535    .bss:00000069 KompassValue
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:541    .bss:0000006b Mess_Integral_Hoch
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:547    .bss:0000006f Mess_Integral_Gier2
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:553    .bss:00000073 Mess_Integral_Gier
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:559    .bss:00000077 Mess_IntegralRoll2
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:565    .bss:0000007b Mess_IntegralRoll
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:571    .bss:0000007f Mess_IntegralNick2
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:577    .bss:00000083 Mess_IntegralNick
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:583    .bss:00000087 Integral_Gier
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:589    .bss:0000008b IntegralAccZ
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:595    .bss:0000008f IntegralAccRoll
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:601    .bss:00000093 IntegralAccNick
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:607    .bss:00000097 IntegralRoll2
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:613    .bss:0000009b IntegralRoll
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:619    .bss:0000009f IntegralNick2
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:625    .bss:000000a3 IntegralNick
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:631    .bss:000000a7 CosinusRollWinkel
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:637    .bss:000000a8 CosinusNickWinkel
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:643    .bss:000000a9 NeutralAccZ
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:649    .bss:000000ad NaviCntAcc
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:655    .bss:000000af NeutralAccY
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:661    .bss:000000b1 NeutralAccX
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:667    .bss:000000b3 StartNeutralNick
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:673    .bss:000000b5 StartNeutralRoll
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:679    .bss:000000b7 AdNeutralGier
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:685    .bss:000000b9 AdNeutralRoll
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:691    .bss:000000bb AdNeutralNick
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:697    .data:0000002a I2CTimeout
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:704    .bss:000000bd BaroExpandActive
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:708    .text:00000000 eeprom_read_byte
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:730    .text:00000010 eeprom_write_byte
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:756    .text:00000028 DefaultStickMapping
                            *COM*:00000065 EE_Parameter
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:787    .text:0000005a DefaultKonstanten3
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:923    .text:000001ee DefaultKonstanten2
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1060   .text:00000384 DefaultKonstanten1
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1194   .text:0000051e ReadParameterSet
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:11782  .eeprom:00000000 EEPromArray
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1231   .text:00000558 SetActiveParamSetNumber
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1268   .text:00000582 WriteParameterSet
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1348   .text:00000608 GetActiveParamSetNumber
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1384   .text:00000632 MotorSmoothing
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1418   .text:0000065e Piep
                             .bss:000000bf tmpl.35
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1460   .bss:000000c3 tmpl2.36
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1461   .bss:000000c7 tmpl3.37
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1462   .bss:000000cb tmpl4.38
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1463   .bss:000000cf oldNick.39
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1464   .bss:000000d1 oldRoll.40
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1465   .bss:000000d3 d2Roll.41
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1466   .bss:000000d5 d2Nick.42
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1470   .text:000006aa Mittelwert
                            *COM*:00000002 MesswertGier
                            *COM*:00000002 RohMesswertNick
                            *COM*:00000002 RohMesswertRoll
                            *COM*:00000002 Mittelwert_AccNick
                            *COM*:00000002 Mittelwert_AccRoll
                            *COM*:00000002 Mittelwert_AccHoch
                            *COM*:00000002 NaviAccNick
                            *COM*:00000002 NaviAccRoll
                            *COM*:00000004 ErsatzKompass
                            *COM*:00000002 KopplungsteilNickRoll
                            *COM*:00000002 KopplungsteilRollNick
                            *COM*:00000002 TrimRoll
                            *COM*:00000002 TrimNick
                            *COM*:00000002 MesswertRoll
                            *COM*:00000002 MesswertNick
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:3619   .text:0000198a CalibrierMittelwert
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:3970   .text:00001c9a SetNeutral
                            *COM*:00000002 AdNeutralGierBias
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:4524   .text:000021c6 SendMotorData
                            *COM*:00000002 Motor
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:4589   .text:00002250 ParameterZuordnung
                            *COM*:00000001 Parameter_J16Timing
                            *COM*:00000001 Parameter_J17Timing
                            *COM*:00000001 Parameter_ExternalControl
                            *COM*:00000001 MAX_GAS
                            *COM*:00000001 MIN_GAS
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:1467   .bss:000000d7 SummeNick.0
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5523   .bss:000000db SummeRoll.1
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5524   .bss:000000df sollGier.2
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5525   .bss:000000e3 tmp_long.3
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5526   .bss:000000e7 tmp_long2.4
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5527   .bss:000000eb IntegralFehlerNick.5
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5528   .bss:000000ef IntegralFehlerRoll.6
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5529   .bss:000000f3 RcLostTimer.7
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5530   .bss:000000f5 delay_neutral.8
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5531   .bss:000000f6 delay_einschalten.9
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5532   .bss:000000f7 delay_ausschalten.10
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5533   .bss:000000f8 TimerWerteausgabe.11
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5534   .bss:000000f9 NeueKompassRichtungMerken.12
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5535   .bss:000000fa ausgleichNick.13
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5536   .bss:000000fe ausgleichRoll.14
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5537   .bss:00000102 stick_nick.15
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5538   .bss:00000104 stick_roll.16
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5539   .bss:00000106 cnt.17
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5540   .bss:00000108 last_n_p.18
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5541   .bss:00000109 last_n_n.19
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5542   .bss:0000010a last_r_p.20
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5543   .bss:0000010b last_r_n.21
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5544   .bss:0000010c MittelIntegralNick_Alt.22
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5545   .bss:00000110 MittelIntegralRoll_Alt.23
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5546   .bss:00000114 HeightTrimming.24
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5547   .bss:00000116 FilterHCGas.25
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5552   .data:00000045 StickGasHoover.26
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5548   .bss:00000118 HooverGas.27
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5554   .bss:0000011a HooverGasMin.28
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5558   .data:00000047 HooverGasMax.29
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5555   .bss:0000011c HooverGasFilter.30
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5563   .data:00000049 delay.31
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5560   .bss:00000120 BaroAtUpperLimit.32
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5565   .bss:00000121 BaroAtLowerLimit.33
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5566   .bss:00000122 HeightTrimmingFlag.34
C:\Users\Bernd\AppData\Local\Temp/ccllosgu.s:5571   .text:000029ca MotorRegler
                            *COM*:00000001 GyroFaktor
                            *COM*:00000001 GyroFaktorGier
                            *COM*:00000001 IntegralFaktorGier
                            *COM*:00000001 IntegralFaktor
                            *COM*:00000004 MittelIntegralNick
                            *COM*:00000004 MittelIntegralRoll
                            *COM*:00000004 MittelIntegralNick2
                            *COM*:00000004 MittelIntegralRoll2
                            *COM*:00000002 DiffNick
                            *COM*:00000002 DiffRoll
                            *COM*:00000002 thrust
                            *COM*:00000002 desiredAngle
                            *COM*:00000002 angle
                            *COM*:00000002 motorOutFront
                            *COM*:00000002 motorOutRear
                            *COM*:00000002 ErsatzKompassInGrad
                            *COM*:00000001 h
                            *COM*:00000001 m
                            *COM*:00000001 s
                            *COM*:0000004d Mixer
                            *COM*:00000001 Parameter_J16Bitmask
                            *COM*:00000001 Parameter_J17Bitmask
                            *COM*:00000002 MesswertGierBias
                            *COM*:00000001 Parameter_NaviGpsModeControl
                            *COM*:00000001 Parameter_NaviGpsGain
                            *COM*:00000001 Parameter_NaviGpsP
                            *COM*:00000001 Parameter_NaviGpsI
                            *COM*:00000001 Parameter_NaviGpsD
                            *COM*:00000001 Parameter_NaviGpsACC
                            *COM*:00000001 Parameter_NaviOperatingRadius
                            *COM*:00000001 Parameter_NaviWindCorrection
                            *COM*:00000001 Parameter_NaviSpeedCompensation
                            *COM*:00000004 tmp_motorwert

UNDEFINED SYMBOLS
__do_copy_data
__do_clear_bss
__eerd_block
LED_Init
__eewr_block
beeptime
Delay_ms
__prologue_saves__
AdWertGier
AdWertNickFilter
AdWertRollFilter
AdWertAccNick
AdWertAccRoll
AdWertAccHoch
__floatsisf
Aktuell_az
__subsf3
__addsf3
__fixsfsi
AdReady
__mulsi3
__divmodsi4
HiResNick
HiResRoll
AdWertNick
PlatinenVersion
AdWertRoll
PPM_in
__epilogue_restores__
SucheGyroOffset
ExpandBaro
Delay_ms_Mess
MessLuftdruck
__divmodhi4
Luftdruck
StartLuftdruck
VarioMeter
SendVersionToNavi
ServoActive
SucheLuftruckOffset
PC_MotortestActive
MotorTest
DebugOut
twi_state
motor
i2c_start
PPM_diff
NewPpmData
__fixunssfsi
ExternControl
WinkelOut
ZaehlMessungen
BattLowVoltageWarning
UBat
__udivmodhi4
DruckOffsetSetting
MissingMotor
SummenHoehe
ihypot
c_cos_8192