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   1                            .file   "fc.c"
   2                            .arch atmega1284p
   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 VarioCharacter
  11                            .data
  14                    VarioCharacter:
  15 0000 20                    .byte   32
  16                    .global GIER_GRAD_FAKTOR
  19                    GIER_GRAD_FAKTOR:
  20 0001 0B05 0000             .long   1291
  21                    .global FC_StatusFlags2
  22                    .global FC_StatusFlags2
  23                            .section .bss
  26                    FC_StatusFlags2:
  27 0000 00                    .skip 1,0
  28                    .global FC_StatusFlags
  29                    .global FC_StatusFlags
  32                    FC_StatusFlags:
  33 0001 00                    .skip 1,0
  34                    .global modell_fliegt
  35                    .global modell_fliegt
  38                    modell_fliegt:
  39 0002 0000                  .skip 2,0
  40                    .global MaxStickRoll
  41                    .global MaxStickRoll
  44                    MaxStickRoll:
  45 0004 0000                  .skip 2,0
  46                    .global MaxStickNick
  47                    .global MaxStickNick
  50                    MaxStickNick:
  51 0006 0000                  .skip 2,0
  52                    .global ExternHoehenValue
  53                            .data
  56                    ExternHoehenValue:
  57 0005 ECFF                  .word   -20
  58                    .global ExternStickGier
  59                    .global ExternStickGier
  60                            .section .bss
  63                    ExternStickGier:
  64 0008 0000                  .skip 2,0
  65                    .global ExternStickRoll
  66                    .global ExternStickRoll
  69                    ExternStickRoll:
  70 000a 0000                  .skip 2,0
  71                    .global ExternStickNick
  72                    .global ExternStickNick
  75                    ExternStickNick:
  76 000c 0000                  .skip 2,0
  77                    .global sintab
  78                            .data
  81                    sintab:
  82 0007 00                    .byte   0
  83 0008 02                    .byte   2
  84 0009 04                    .byte   4
  85 000a 06                    .byte   6
  86 000b 07                    .byte   7
  87 000c 08                    .byte   8
  88 000d 08                    .byte   8
  89 000e 08                    .byte   8
  90 000f 07                    .byte   7
  91 0010 06                    .byte   6
  92 0011 04                    .byte   4
  93 0012 02                    .byte   2
  94 0013 00                    .byte   0
  95 0014 FE                    .byte   -2
  96 0015 FC                    .byte   -4
  97 0016 FA                    .byte   -6
  98 0017 F9                    .byte   -7
  99 0018 F8                    .byte   -8
 100 0019 F8                    .byte   -8
 101 001a F8                    .byte   -8
 102 001b F9                    .byte   -7
 103 001c FA                    .byte   -6
 104 001d FC                    .byte   -4
 105 001e FE                    .byte   -2
 106 001f 00                    .byte   0
 107 0020 02                    .byte   2
 108 0021 04                    .byte   4
 109 0022 06                    .byte   6
 110 0023 07                    .byte   7
 111 0024 08                    .byte   8
 112 0025 08                    .byte   8
 113                    .global CareFree
 114                    .global CareFree
 115                            .section .bss
 118                    CareFree:
 119 000e 00                    .skip 1,0
 120                    .global Parameter_DynamicStability
 121                            .data
 124                    Parameter_DynamicStability:
 125 0026 64                    .byte   100
 126                    .global Parameter_CouplingYawCorrection
 129                    Parameter_CouplingYawCorrection:
 130 0027 40                    .byte   64
 131                    .global Parameter_AchsKopplung2
 134                    Parameter_AchsKopplung2:
 135 0028 41                    .byte   65
 136                    .global Parameter_AchsKopplung1
 139                    Parameter_AchsKopplung1:
 140 0029 5A                    .byte   90
 141                    .global Parameter_LoopGasLimit
 144                    Parameter_LoopGasLimit:
 145 002a 46                    .byte   70
 146                    .global Parameter_ServoRollControl
 149                    Parameter_ServoRollControl:
 150 002b 64                    .byte   100
 151                    .global Parameter_ServoNickControl
 154                    Parameter_ServoNickControl:
 155 002c 64                    .byte   100
 156                    .global Parameter_UserParam8
 157                    .global Parameter_UserParam8
 158                            .section .bss
 161                    Parameter_UserParam8:
 162 000f 00                    .skip 1,0
 163                    .global Parameter_UserParam7
 164                    .global Parameter_UserParam7
 167                    Parameter_UserParam7:
 168 0010 00                    .skip 1,0
 169                    .global Parameter_UserParam6
 170                    .global Parameter_UserParam6
 173                    Parameter_UserParam6:
 174 0011 00                    .skip 1,0
 175                    .global Parameter_UserParam5
 176                    .global Parameter_UserParam5
 179                    Parameter_UserParam5:
 180 0012 00                    .skip 1,0
 181                    .global Parameter_UserParam4
 182                    .global Parameter_UserParam4
 185                    Parameter_UserParam4:
 186 0013 00                    .skip 1,0
 187                    .global Parameter_UserParam3
 188                    .global Parameter_UserParam3
 191                    Parameter_UserParam3:
 192 0014 00                    .skip 1,0
 193                    .global Parameter_UserParam2
 194                    .global Parameter_UserParam2
 197                    Parameter_UserParam2:
 198 0015 00                    .skip 1,0
 199                    .global Parameter_UserParam1
 200                    .global Parameter_UserParam1
 203                    Parameter_UserParam1:
 204 0016 00                    .skip 1,0
 205                    .global Parameter_I_Faktor
 206                            .data
 209                    Parameter_I_Faktor:
 210 002d 0A                    .byte   10
 211                    .global Parameter_Gier_P
 214                    Parameter_Gier_P:
 215 002e 02                    .byte   2
 216                    .global Parameter_Gyro_Gier_I
 219                    Parameter_Gyro_Gier_I:
 220 002f 96                    .byte   -106
 221                    .global Parameter_Gyro_Gier_P
 224                    Parameter_Gyro_Gier_P:
 225 0030 96                    .byte   -106
 226                    .global Parameter_Gyro_I
 229                    Parameter_Gyro_I:
 230 0031 96                    .byte   -106
 231                    .global Parameter_Gyro_P
 234                    Parameter_Gyro_P:
 235 0032 96                    .byte   -106
 236                    .global Parameter_Gyro_D
 239                    Parameter_Gyro_D:
 240 0033 08                    .byte   8
 241                    .global Parameter_Hoehe_GPS_Z
 244                    Parameter_Hoehe_GPS_Z:
 245 0034 40                    .byte   64
 246                    .global Parameter_KompassWirkung
 249                    Parameter_KompassWirkung:
 250 0035 40                    .byte   64
 251                    .global Parameter_Hoehe_ACC_Wirkung
 254                    Parameter_Hoehe_ACC_Wirkung:
 255 0036 3A                    .byte   58
 256                    .global Parameter_Hoehe_P
 259                    Parameter_Hoehe_P:
 260 0037 10                    .byte   16
 261                    .global Parameter_HoehenSchalter
 264                    Parameter_HoehenSchalter:
 265 0038 FB                    .byte   -5
 266                    .global Parameter_Luftdruck_D
 269                    Parameter_Luftdruck_D:
 270 0039 30                    .byte   48
 271                    .global Looping_Oben
 272                    .global Looping_Oben
 273                            .section .bss
 276                    Looping_Oben:
 277 0017 00                    .skip 1,0
 278                    .global Looping_Unten
 279                    .global Looping_Unten
 282                    Looping_Unten:
 283 0018 00                    .skip 1,0
 284                    .global Looping_Rechts
 285                    .global Looping_Rechts
 288                    Looping_Rechts:
 289 0019 00                    .skip 1,0
 290                    .global Looping_Links
 291                    .global Looping_Links
 294                    Looping_Links:
 295 001a 00                    .skip 1,0
 296                    .global Looping_Roll
 297                    .global Looping_Roll
 300                    Looping_Roll:
 301 001b 00                    .skip 1,0
 302                    .global Looping_Nick
 303                    .global Looping_Nick
 306                    Looping_Nick:
 307 001c 00                    .skip 1,0
 308                    .global Ki
 309                            .data
 312                    Ki:
 313 003a 3801                  .word   312
 314                    .global HoverGas
 315                    .global HoverGas
 316                            .section .bss
 319                    HoverGas:
 320 001d 0000                  .skip 2,0
 321                    .global LageKorrekturNick
 322                    .global LageKorrekturNick
 325                    LageKorrekturNick:
 326 001f 0000                  .skip 2,0
 327                    .global LageKorrekturRoll
 328                    .global LageKorrekturRoll
 331                    LageKorrekturRoll:
 332 0021 0000                  .skip 2,0
 333                    .global CompassGierSetpoint
 334                    .global CompassGierSetpoint
 337                    CompassGierSetpoint:
 338 0023 0000                  .skip 2,0
 339                    .global WaypointTrimming
 340                    .global WaypointTrimming
 343                    WaypointTrimming:
 344 0025 00                    .skip 1,0
 345                    .global carefree_old
 346                            .data
 349                    carefree_old:
 350 003c 32                    .byte   50
 351                    .global FromNC_AltitudeSpeed
 352                    .global FromNC_AltitudeSpeed
 353                            .section .bss
 356                    FromNC_AltitudeSpeed:
 357 0026 00                    .skip 1,0
 358                    .global FromNC_AltitudeSetpoint
 359                    .global FromNC_AltitudeSetpoint
 362                    FromNC_AltitudeSetpoint:
 363 0027 0000 0000             .skip 4,0
 364                    .global AltitudeSetpointTrimming
 365                    .global AltitudeSetpointTrimming
 368                    AltitudeSetpointTrimming:
 369 002b 0000                  .skip 2,0
 370                    .global SollHoehe
 371                    .global SollHoehe
 374                    SollHoehe:
 375 002d 0000 0000             .skip 4,0
 376                    .global HoehenWert
 377                    .global HoehenWert
 380                    HoehenWert:
 381 0031 0000 0000             .skip 4,0
 382                    .global StartTrigger
 383                    .global StartTrigger
 386                    StartTrigger:
 387 0035 00                    .skip 1,0
 388                    .global MotorenEin
 389                    .global MotorenEin
 392                    MotorenEin:
 393 0036 00                    .skip 1,0
 394                    .global SenderOkay
 395                    .global SenderOkay
 398                    SenderOkay:
 399 0037 00                    .skip 1,0
 400                    .global Poti
 401                    .global Poti
 404                    Poti:
 405 0038 0000 0000             .skip 9,0
 405      0000 0000 
 405      00
 406                    .global StickGas
 407                    .global StickGas
 410                    StickGas:
 411 0041 0000                  .skip 2,0
 412                    .global StickGier
 413                    .global StickGier
 416                    StickGier:
 417 0043 0000                  .skip 2,0
 418                    .global StickRoll
 419                    .global StickRoll
 422                    StickRoll:
 423 0045 0000                  .skip 2,0
 424                    .global StickNick
 425                    .global StickNick
 428                    StickNick:
 429 0047 0000                  .skip 2,0
 430                    .global HoverGasMax
 431                            .data
 434                    HoverGasMax:
 435 003d FF03                  .word   1023
 436                    .global HoverGasMin
 437                    .global HoverGasMin
 438                            .section .bss
 441                    HoverGasMin:
 442 0049 0000                  .skip 2,0
 443                    .global StickGasHover
 444                            .data
 447                    StickGasHover:
 448 003f 7800                  .word   120
 449                    .global GierGyroFehler
 450                    .global GierGyroFehler
 451                            .section .bss
 454                    GierGyroFehler:
 455 004b 0000                  .skip 2,0
 456                    .global Umschlag180Roll
 457                            .data
 460                    Umschlag180Roll:
 461 0041 90D0 0300             .long   250000
 462                    .global Umschlag180Nick
 465                    Umschlag180Nick:
 466 0045 90D0 0300             .long   250000
 467                    .global TrichterFlug
 468                    .global TrichterFlug
 469                            .section .bss
 472                    TrichterFlug:
 473 004d 00                    .skip 1,0
 474                    .global HoehenReglerAktiv
 475                    .global HoehenReglerAktiv
 478                    HoehenReglerAktiv:
 479 004e 00                    .skip 1,0
 480                    .global KompassSignalSchlecht
 481                            .data
 484                    KompassSignalSchlecht:
 485 0049 3200                  .word   50
 486                    .global KompassFusion
 489                    KompassFusion:
 490 004b 20                    .byte   32
 491                    .global CalculateCompassTimer
 494                    CalculateCompassTimer:
 495 004c 64                    .byte   100
 496                    .global KompassSollWert
 497                    .global KompassSollWert
 498                            .section .bss
 501                    KompassSollWert:
 502 004f 0000                  .skip 2,0
 503                    .global KompassValue
 504                            .data
 507                    KompassValue:
 508 004d FFFF                  .word   -1
 509                    .global Mess_Integral_Hoch
 510                    .global Mess_Integral_Hoch
 511                            .section .bss
 514                    Mess_Integral_Hoch:
 515 0051 0000 0000             .skip 4,0
 516                    .global SummeRoll
 517                    .global SummeRoll
 520                    SummeRoll:
 521 0055 0000 0000             .skip 4,0
 522                    .global SummeNick
 523                    .global SummeNick
 526                    SummeNick:
 527 0059 0000 0000             .skip 4,0
 528                    .global Mess_Integral_Gier
 529                    .global Mess_Integral_Gier
 532                    Mess_Integral_Gier:
 533 005d 0000 0000             .skip 4,0
 534                    .global Mess_IntegralRoll2
 535                    .global Mess_IntegralRoll2
 538                    Mess_IntegralRoll2:
 539 0061 0000 0000             .skip 4,0
 540                    .global Mess_IntegralRoll
 541                    .global Mess_IntegralRoll
 544                    Mess_IntegralRoll:
 545 0065 0000 0000             .skip 4,0
 546                    .global Mess_IntegralNick2
 547                    .global Mess_IntegralNick2
 550                    Mess_IntegralNick2:
 551 0069 0000 0000             .skip 4,0
 552                    .global Mess_IntegralNick
 553                    .global Mess_IntegralNick
 556                    Mess_IntegralNick:
 557 006d 0000 0000             .skip 4,0
 558                    .global Integral_Gier
 559                    .global Integral_Gier
 562                    Integral_Gier:
 563 0071 0000 0000             .skip 4,0
 564                    .global IntegralAccZ
 565                    .global IntegralAccZ
 568                    IntegralAccZ:
 569 0075 0000 0000             .skip 4,0
 570                    .global IntegralAccRoll
 571                    .global IntegralAccRoll
 574                    IntegralAccRoll:
 575 0079 0000 0000             .skip 4,0
 576                    .global IntegralAccNick
 577                    .global IntegralAccNick
 580                    IntegralAccNick:
 581 007d 0000 0000             .skip 4,0
 582                    .global IntegralRoll2
 583                    .global IntegralRoll2
 586                    IntegralRoll2:
 587 0081 0000 0000             .skip 4,0
 588                    .global IntegralRoll
 589                    .global IntegralRoll
 592                    IntegralRoll:
 593 0085 0000 0000             .skip 4,0
 594                    .global IntegralNick2
 595                    .global IntegralNick2
 598                    IntegralNick2:
 599 0089 0000 0000             .skip 4,0
 600                    .global IntegralNick
 601                    .global IntegralNick
 604                    IntegralNick:
 605 008d 0000 0000             .skip 4,0
 606                    .global ControlHeading
 607                    .global ControlHeading
 610                    ControlHeading:
 611 0091 00                    .skip 1,0
 612                    .global NeutralAccZ
 613                    .global NeutralAccZ
 616                    NeutralAccZ:
 617 0092 0000                  .skip 2,0
 618                    .global NaviCntAcc
 619                    .global NaviCntAcc
 622                    NaviCntAcc:
 623 0094 0000                  .skip 2,0
 624                    .global NeutralAccY
 625                    .global NeutralAccY
 628                    NeutralAccY:
 629 0096 0000                  .skip 2,0
 630                    .global NeutralAccX
 631                    .global NeutralAccX
 634                    NeutralAccX:
 635 0098 0000                  .skip 2,0
 636                    .global StartNeutralNick
 637                    .global StartNeutralNick
 640                    StartNeutralNick:
 641 009a 0000                  .skip 2,0
 642                    .global StartNeutralRoll
 643                    .global StartNeutralRoll
 646                    StartNeutralRoll:
 647 009c 0000                  .skip 2,0
 648                    .global AdNeutralGier
 649                    .global AdNeutralGier
 652                    AdNeutralGier:
 653 009e 0000                  .skip 2,0
 654                    .global AdNeutralRoll
 655                    .global AdNeutralRoll
 658                    AdNeutralRoll:
 659 00a0 0000                  .skip 2,0
 660                    .global AdNeutralNick
 661                    .global AdNeutralNick
 664                    AdNeutralNick:
 665 00a2 0000                  .skip 2,0
 666                    .global BaroExpandActive
 667                    .global BaroExpandActive
 670                    BaroExpandActive:
 671 00a4 0000                  .skip 2,0
 672                    .global calibration_done
 673                    .global calibration_done
 676                    calibration_done:
 677 00a6 00                    .skip 1,0
 678                    .global panotrigger
 679                    .global panotrigger
 682                    panotrigger:
 683 00a7 00                    .skip 1,0
 684                    .global panograd
 685                    .global panograd
 688                    panograd:
 689 00a8 0000                  .skip 2,0
 690                    .global degreediv
 691                    .global degreediv
 694                    degreediv:
 695 00aa 0000                  .skip 2,0
 696                    .global degreedivold
 697                    .global degreedivold
 700                    degreedivold:
 701 00ac 0000                  .skip 2,0
 702                    .global degreeold
 703                    .global degreeold
 706                    degreeold:
 707 00ae 0000                  .skip 2,0
 708                    .global updatemotors
 709                            .data
 712                    updatemotors:
 713 004f 02                    .byte   2
 714                    .global pos4
 715                    .global pos4
 716                            .section .bss
 719                    pos4:
 720 00b0 00                    .skip 1,0
 721                    .global CurrentOffset
 722                    .global CurrentOffset
 725                    CurrentOffset:
 726 00b1 0000                  .skip 2,0
 727                    .global keynumber
 728                            .data
 731                    keynumber:
 732 0050 F9FF                  .word   -7
 733                    .global settingdest
 736                    settingdest:
 737 0052 05                    .byte   5
 738                            .text
 739                    .global CopyDebugValues
 741                    CopyDebugValues:
 742                    /* prologue: frame size=0 */
 743 0000 EF92                  push r14
 744 0002 FF92                  push r15
 745 0004 0F93                  push r16
 746 0006 1F93                  push r17
 747                    /* prologue end (size=4) */
 748 0008 8091 0000             lds r24,EE_Parameter+28
 749 000c 9927                  clr r25
 750 000e 880F                  lsl r24
 751 0010 991F                  rol r25
 752 0012 880F                  lsl r24
 753 0014 991F                  rol r25
 754 0016 7C01                  movw r14,r24
 755 0018 0027                  clr r16
 756 001a F7FC                  sbrc r15,7
 757 001c 0095                  com r16
 758 001e 102F                  mov r17,r16
 759 0020 8091 0000             lds r24,IntegralNick
 760 0024 9091 0000             lds r25,(IntegralNick)+1
 761 0028 A091 0000             lds r26,(IntegralNick)+2
 762 002c B091 0000             lds r27,(IntegralNick)+3
 763 0030 BC01                  movw r22,r24
 764 0032 CD01                  movw r24,r26
 765 0034 A801                  movw r20,r16
 766 0036 9701                  movw r18,r14
 767 0038 0E94 0000             call __divmodsi4
 768 003c 3093 0000             sts (DebugOut+2)+1,r19
 769 0040 2093 0000             sts DebugOut+2,r18
 770 0044 8091 0000             lds r24,IntegralRoll
 771 0048 9091 0000             lds r25,(IntegralRoll)+1
 772 004c A091 0000             lds r26,(IntegralRoll)+2
 773 0050 B091 0000             lds r27,(IntegralRoll)+3
 774 0054 BC01                  movw r22,r24
 775 0056 CD01                  movw r24,r26
 776 0058 A801                  movw r20,r16
 777 005a 9701                  movw r18,r14
 778 005c 0E94 0000             call __divmodsi4
 779 0060 3093 0000             sts (DebugOut+4)+1,r19
 780 0064 2093 0000             sts DebugOut+4,r18
 781 0068 8091 0000             lds r24,Mittelwert_AccNick
 782 006c 9091 0000             lds r25,(Mittelwert_AccNick)+1
 783 0070 97FD                  sbrc r25,7
 784 0072 0396                  adiw r24,3
 785                    .L2:
 786 0074 9595                  asr r25
 787 0076 8795                  ror r24
 788 0078 9595                  asr r25
 789 007a 8795                  ror r24
 790 007c 9093 0000             sts (DebugOut+6)+1,r25
 791 0080 8093 0000             sts DebugOut+6,r24
 792 0084 8091 0000             lds r24,Mittelwert_AccRoll
 793 0088 9091 0000             lds r25,(Mittelwert_AccRoll)+1
 794 008c 97FD                  sbrc r25,7
 795 008e 0396                  adiw r24,3
 796                    .L3:
 797 0090 9595                  asr r25
 798 0092 8795                  ror r24
 799 0094 9595                  asr r25
 800 0096 8795                  ror r24
 801 0098 9093 0000             sts (DebugOut+8)+1,r25
 802 009c 8093 0000             sts DebugOut+8,r24
 803 00a0 8091 0000             lds r24,AdNeutralGier
 804 00a4 9091 0000             lds r25,(AdNeutralGier)+1
 805 00a8 2091 0000             lds r18,AdWertGier
 806 00ac 3091 0000             lds r19,(AdWertGier)+1
 807 00b0 821B                  sub r24,r18
 808 00b2 930B                  sbc r25,r19
 809 00b4 9093 0000             sts (DebugOut+10)+1,r25
 810 00b8 8093 0000             sts DebugOut+10,r24
 811 00bc 8091 0000             lds r24,HoehenWert
 812 00c0 9091 0000             lds r25,(HoehenWert)+1
 813 00c4 A091 0000             lds r26,(HoehenWert)+2
 814 00c8 B091 0000             lds r27,(HoehenWert)+3
 815 00cc BC01                  movw r22,r24
 816 00ce CD01                  movw r24,r26
 817 00d0 25E0                  ldi r18,lo8(5)
 818 00d2 30E0                  ldi r19,hi8(5)
 819 00d4 40E0                  ldi r20,hlo8(5)
 820 00d6 50E0                  ldi r21,hhi8(5)
 821 00d8 0E94 0000             call __divmodsi4
 822 00dc 3093 0000             sts (DebugOut+12)+1,r19
 823 00e0 2093 0000             sts DebugOut+12,r18
 824 00e4 8091 0000             lds r24,AdWertAccHoch
 825 00e8 9091 0000             lds r25,(AdWertAccHoch)+1
 826 00ec 9093 0000             sts (DebugOut+14)+1,r25
 827 00f0 8093 0000             sts DebugOut+14,r24
 828 00f4 8091 0000             lds r24,KompassValue
 829 00f8 9091 0000             lds r25,(KompassValue)+1
 830 00fc 9093 0000             sts (DebugOut+18)+1,r25
 831 0100 8093 0000             sts DebugOut+18,r24
 832 0104 8091 0000             lds r24,UBat
 833 0108 9091 0000             lds r25,(UBat)+1
 834 010c 9093 0000             sts (DebugOut+20)+1,r25
 835 0110 8093 0000             sts DebugOut+20,r24
 836 0114 8091 0000             lds r24,SenderOkay
 837 0118 9927                  clr r25
 838 011a 9093 0000             sts (DebugOut+22)+1,r25
 839 011e 8093 0000             sts DebugOut+22,r24
 840 0122 8091 0000             lds r24,ErsatzKompassInGrad
 841 0126 9091 0000             lds r25,(ErsatzKompassInGrad)+1
 842 012a 9093 0000             sts (DebugOut+24)+1,r25
 843 012e 8093 0000             sts DebugOut+24,r24
 844 0132 8091 0000             lds r24,Motor+1
 845 0136 9927                  clr r25
 846 0138 9093 0000             sts (DebugOut+26)+1,r25
 847 013c 8093 0000             sts DebugOut+26,r24
 848 0140 8091 0000             lds r24,Motor+9
 849 0144 9927                  clr r25
 850 0146 9093 0000             sts (DebugOut+28)+1,r25
 851 014a 8093 0000             sts DebugOut+28,r24
 852 014e 8091 0000             lds r24,Motor+17
 853 0152 9927                  clr r25
 854 0154 9093 0000             sts (DebugOut+30)+1,r25
 855 0158 8093 0000             sts DebugOut+30,r24
 856 015c 8091 0000             lds r24,Motor+25
 857 0160 9927                  clr r25
 858 0162 9093 0000             sts (DebugOut+32)+1,r25
 859 0166 8093 0000             sts DebugOut+32,r24
 860 016a 8091 0000             lds r24,Motor+33
 861 016e 9927                  clr r25
 862 0170 9093 0000             sts (DebugOut+34)+1,r25
 863 0174 8093 0000             sts DebugOut+34,r24
 864 0178 8091 0000             lds r24,Motor+41
 865 017c 9927                  clr r25
 866 017e 9093 0000             sts (DebugOut+36)+1,r25
 867 0182 8093 0000             sts DebugOut+36,r24
 868 0186 8091 0000             lds r24,FromNC_AltitudeSpeed
 869 018a 9927                  clr r25
 870 018c 9093 0000             sts (DebugOut+38)+1,r25
 871 0190 8093 0000             sts DebugOut+38,r24
 872 0194 8091 0000             lds r24,Motor+49
 873 0198 9927                  clr r25
 874 019a 9093 0000             sts (DebugOut+52)+1,r25
 875 019e 8093 0000             sts DebugOut+52,r24
 876 01a2 8091 0000             lds r24,Motor+57
 877 01a6 9927                  clr r25
 878 01a8 9093 0000             sts (DebugOut+54)+1,r25
 879 01ac 8093 0000             sts DebugOut+54,r24
 880 01b0 8091 0000             lds r24,ServoNickValue
 881 01b4 9091 0000             lds r25,(ServoNickValue)+1
 882 01b8 9093 0000             sts (DebugOut+42)+1,r25
 883 01bc 8093 0000             sts DebugOut+42,r24
 884 01c0 8091 0000             lds r24,Capacity
 885 01c4 9091 0000             lds r25,(Capacity)+1
 886 01c8 9093 0000             sts (DebugOut+46)+1,r25
 887 01cc 8093 0000             sts DebugOut+46,r24
 888 01d0 8091 0000             lds r24,Capacity+6
 889 01d4 9091 0000             lds r25,(Capacity+6)+1
 890 01d8 9093 0000             sts (DebugOut+48)+1,r25
 891 01dc 8093 0000             sts DebugOut+48,r24
 892 01e0 8091 0000             lds r24,SollHoehe
 893 01e4 9091 0000             lds r25,(SollHoehe)+1
 894 01e8 A091 0000             lds r26,(SollHoehe)+2
 895 01ec B091 0000             lds r27,(SollHoehe)+3
 896 01f0 BC01                  movw r22,r24
 897 01f2 CD01                  movw r24,r26
 898 01f4 25E0                  ldi r18,lo8(5)
 899 01f6 30E0                  ldi r19,hi8(5)
 900 01f8 40E0                  ldi r20,hlo8(5)
 901 01fa 50E0                  ldi r21,hhi8(5)
 902 01fc 0E94 0000             call __divmodsi4
 903 0200 3093 0000             sts (DebugOut+50)+1,r19
 904 0204 2093 0000             sts DebugOut+50,r18
 905 0208 8091 0000             lds r24,KompassSollWert
 906 020c 9091 0000             lds r25,(KompassSollWert)+1
 907 0210 9093 0000             sts (DebugOut+56)+1,r25
 908 0214 8093 0000             sts DebugOut+56,r24
 909 0218 8091 0000             lds r24,Capacity+8
 910 021c 9927                  clr r25
 911 021e 9093 0000             sts (DebugOut+60)+1,r25
 912 0222 8093 0000             sts DebugOut+60,r24
 913 0226 8091 0000             lds r24,GPS_Nick
 914 022a 9091 0000             lds r25,(GPS_Nick)+1
 915 022e 9093 0000             sts (DebugOut+62)+1,r25
 916 0232 8093 0000             sts DebugOut+62,r24
 917 0236 8091 0000             lds r24,GPS_Roll
 918 023a 9091 0000             lds r25,(GPS_Roll)+1
 919 023e 9093 0000             sts (DebugOut+64)+1,r25
 920 0242 8093 0000             sts DebugOut+64,r24
 921 0246 8091 0000             lds r24,VersionInfo+5
 922 024a 8823                  tst r24
 923 024c 01F4                  brne .L5
 924 024e 8091 0000             lds r24,VersionInfo+6
 925 0252 8823                  tst r24
 926 0254 01F0                  breq .L4
 927                    .L5:
 928 0256 8091 0000             lds r24,DebugOut+1
 929 025a 8160                  ori r24,lo8(1)
 930 025c 00C0                  rjmp .L7
 931                    .L4:
 932 025e 8091 0000             lds r24,DebugOut+1
 933 0262 8E7F                  andi r24,lo8(-2)
 934                    .L7:
 935 0264 8093 0000             sts DebugOut+1,r24
 936                    /* epilogue: frame size=0 */
 937 0268 1F91                  pop r17
 938 026a 0F91                  pop r16
 939 026c FF90                  pop r15
 940 026e EF90                  pop r14
 941 0270 0895                  ret
 942                    /* epilogue end (size=5) */
 943                    /* function CopyDebugValues size 315 (306) */
 945                    .global Piep
 947                    Piep:
 948                    /* prologue: frame size=0 */
 949 0272 1F93                  push r17
 950 0274 CF93                  push r28
 951 0276 DF93                  push r29
 952                    /* prologue end (size=3) */
 953 0278 182F                  mov r17,r24
 954 027a EB01                  movw r28,r22
 955 027c 8091 0000             lds r24,MotorenEin
 956 0280 8823                  tst r24
 957 0282 01F4                  brne .L8
 958 0284 8091 0000             lds r24,PlatinenVersion
 959 0288 8C30                  cpi r24,lo8(12)
 960 028a 00F4                  brsh .L10
 961 028c 2998                  cbi 37-0x20,1
 962 028e 00C0                  rjmp .L11
 963                    .L10:
 964 0290 299A                  sbi 37-0x20,1
 965                    .L11:
 966 0292 1150                  subi r17,lo8(-(-1))
 967 0294 1F3F                  cpi r17,lo8(-1)
 968 0296 01F0                  breq .L21
 969 0298 D093 0000             sts (beeptime)+1,r29
 970 029c C093 0000             sts beeptime,r28
 971                    .L14:
 972 02a0 8091 0000             lds r24,beeptime
 973 02a4 9091 0000             lds r25,(beeptime)+1
 974 02a8 892B                  or r24,r25
 975 02aa 01F4                  brne .L14
 976 02ac CE01                  movw r24,r28
 977 02ae 8C0F                  add r24,r28
 978 02b0 9D1F                  adc r25,r29
 979 02b2 0E94 0000             call Delay_ms
 980 02b6 00C0                  rjmp .L11
 981                    .L21:
 982 02b8 8091 0000             lds r24,PlatinenVersion
 983 02bc 8C30                  cpi r24,lo8(12)
 984 02be 00F4                  brsh .L18
 985 02c0 299A                  sbi 37-0x20,1
 986 02c2 00C0                  rjmp .L8
 987                    .L18:
 988 02c4 2998                  cbi 37-0x20,1
 989                    .L8:
 990                    /* epilogue: frame size=0 */
 991 02c6 DF91                  pop r29
 992 02c8 CF91                  pop r28
 993 02ca 1F91                  pop r17
 994 02cc 0895                  ret
 995                    /* epilogue end (size=4) */
 996                    /* function Piep size 46 (39) */
 998                    .global CalibrierMittelwert
 1000                   CalibrierMittelwert:
 1001                   /* prologue: frame size=0 */
 1002 02ce CF93                 push r28
 1003 02d0 DF93                 push r29
 1004                   /* prologue end (size=2) */
 1005 02d2 8091 0000            lds r24,PlatinenVersion
 1006 02d6 8D30                 cpi r24,lo8(13)
 1007 02d8 01F4                 brne .L23
 1008 02da 0E94 0000            call SucheGyroOffset
 1009                   .L23:
 1010 02de 1092 7A00            sts 122,__zero_reg__
 1011 02e2 8091 0000            lds r24,AdWertNick
 1012 02e6 9091 0000            lds r25,(AdWertNick)+1
 1013 02ea 9093 0000            sts (MesswertNick)+1,r25
 1014 02ee 8093 0000            sts MesswertNick,r24
 1015 02f2 8091 0000            lds r24,AdWertRoll
 1016 02f6 9091 0000            lds r25,(AdWertRoll)+1
 1017 02fa 9093 0000            sts (MesswertRoll)+1,r25
 1018 02fe 8093 0000            sts MesswertRoll,r24
 1019 0302 8091 0000            lds r24,AdWertGier
 1020 0306 9091 0000            lds r25,(AdWertGier)+1
 1021 030a 9093 0000            sts (MesswertGier)+1,r25
 1022 030e 8093 0000            sts MesswertGier,r24
 1023 0312 2091 0000            lds r18,AdWertAccNick
 1024 0316 3091 0000            lds r19,(AdWertAccNick)+1
 1025 031a C901                 movw r24,r18
 1026 031c 880F                 lsl r24
 1027 031e 991F                 rol r25
 1028 0320 880F                 lsl r24
 1029 0322 991F                 rol r25
 1030 0324 820F                 add r24,r18
 1031 0326 931F                 adc r25,r19
 1032 0328 820F                 add r24,r18
 1033 032a 931F                 adc r25,r19
 1034 032c 9093 0000            sts (Mittelwert_AccNick)+1,r25
 1035 0330 8093 0000            sts Mittelwert_AccNick,r24
 1036 0334 2091 0000            lds r18,AdWertAccRoll
 1037 0338 3091 0000            lds r19,(AdWertAccRoll)+1
 1038 033c C901                 movw r24,r18
 1039 033e 880F                 lsl r24
 1040 0340 991F                 rol r25
 1041 0342 880F                 lsl r24
 1042 0344 991F                 rol r25
 1043 0346 820F                 add r24,r18
 1044 0348 931F                 adc r25,r19
 1045 034a 820F                 add r24,r18
 1046 034c 931F                 adc r25,r19
 1047 034e 9093 0000            sts (Mittelwert_AccRoll)+1,r25
 1048 0352 8093 0000            sts Mittelwert_AccRoll,r24
 1049 0356 8FEC                 ldi r24,lo8(-49)
 1050 0358 8093 7A00            sts 122,r24
 1051 035c A0E0                 ldi r26,lo8(Poti)
 1052 035e B0E0                 ldi r27,hi8(Poti)
 1053 0360 C0E0                 ldi r28,lo8(EE_Parameter+5)
 1054 0362 D0E0                 ldi r29,hi8(EE_Parameter+5)
 1055 0364 97E0                 ldi r25,lo8(7)
 1056                   .L33:
 1057 0366 8991                 ld r24,Y+
 1058 0368 E82F                 mov r30,r24
 1059 036a FF27                 clr r31
 1060 036c EE0F                 add r30,r30
 1061 036e FF1F                 adc r31,r31
 1062 0370 E050                 subi r30,lo8(-(PPM_in))
 1063 0372 F040                 sbci r31,hi8(-(PPM_in))
 1064 0374 0190                 ld __tmp_reg__,Z+
 1065 0376 F081                 ld r31,Z
 1066 0378 E02D                 mov r30,__tmp_reg__
 1067 037a E158                 subi r30,lo8(-(127))
 1068 037c FF4F                 sbci r31,hi8(-(127))
 1069 037e 1E16                 cp __zero_reg__,r30
 1070 0380 1F06                 cpc __zero_reg__,r31
 1071 0382 04F0                 brlt .L27
 1072 0384 E0E0                 ldi r30,lo8(0)
 1073 0386 F0E0                 ldi r31,hi8(0)
 1074 0388 00C0                 rjmp .L28
 1075                   .L27:
 1076 038a EF3F                 cpi r30,255
 1077 038c F105                 cpc r31,__zero_reg__
 1078 038e 04F0                 brlt .L28
 1079 0390 EFEF                 ldi r30,lo8(255)
 1080 0392 F0E0                 ldi r31,hi8(255)
 1081                   .L28:
 1082 0394 8C91                 ld r24,X
 1083 0396 282F                 mov r18,r24
 1084 0398 3327                 clr r19
 1085 039a E217                 cp r30,r18
 1086 039c F307                 cpc r31,r19
 1087 039e 04F4                 brge .L30
 1088 03a0 8150                 subi r24,lo8(-(-1))
 1089 03a2 00C0                 rjmp .L36
 1090                   .L30:
 1091 03a4 2E17                 cp r18,r30
 1092 03a6 3F07                 cpc r19,r31
 1093 03a8 04F4                 brge .L26
 1094 03aa 8F5F                 subi r24,lo8(-(1))
 1095                   .L36:
 1096 03ac 8C93                 st X,r24
 1097                   .L26:
 1098 03ae 9150                 subi r25,lo8(-(-1))
 1099 03b0 1196                 adiw r26,1
 1100 03b2 97FF                 sbrs r25,7
 1101 03b4 00C0                 rjmp .L33
 1102 03b6 8091 0000            lds r24,EE_Parameter+65
 1103 03ba 9927                 clr r25
 1104 03bc AA27                 clr r26
 1105 03be BB27                 clr r27
 1106 03c0 BC01                 movw r22,r24
 1107 03c2 CD01                 movw r24,r26
 1108 03c4 24EC                 ldi r18,lo8(2500)
 1109 03c6 39E0                 ldi r19,hi8(2500)
 1110 03c8 40E0                 ldi r20,hlo8(2500)
 1111 03ca 50E0                 ldi r21,hhi8(2500)
 1112 03cc 0E94 0000            call __mulsi3
 1113 03d0 DC01                 movw r26,r24
 1114 03d2 CB01                 movw r24,r22
 1115 03d4 8093 0000            sts Umschlag180Nick,r24
 1116 03d8 9093 0000            sts (Umschlag180Nick)+1,r25
 1117 03dc A093 0000            sts (Umschlag180Nick)+2,r26
 1118 03e0 B093 0000            sts (Umschlag180Nick)+3,r27
 1119 03e4 8091 0000            lds r24,EE_Parameter+66
 1120 03e8 9927                 clr r25
 1121 03ea AA27                 clr r26
 1122 03ec BB27                 clr r27
 1123 03ee BC01                 movw r22,r24
 1124 03f0 CD01                 movw r24,r26
 1125 03f2 0E94 0000            call __mulsi3
 1126 03f6 DC01                 movw r26,r24
 1127 03f8 CB01                 movw r24,r22
 1128 03fa 8093 0000            sts Umschlag180Roll,r24
 1129 03fe 9093 0000            sts (Umschlag180Roll)+1,r25
 1130 0402 A093 0000            sts (Umschlag180Roll)+2,r26
 1131 0406 B093 0000            sts (Umschlag180Roll)+3,r27
 1132                   /* epilogue: frame size=0 */
 1133 040a DF91                 pop r29
 1134 040c CF91                 pop r28
 1135 040e 0895                 ret
 1136                   /* epilogue end (size=3) */
 1137                   /* function CalibrierMittelwert size 161 (156) */
 1139                           .section        .progmem.data,"a",@progbits
 1142                   __c.36:
 1143 0000 0A0D 4143            .string "\n\rACC not calibrated!\r\n"
 1143      4320 6E6F 
 1143      7420 6361 
 1143      6C69 6272 
 1143      6174 6564 
 1144                           .text
 1145                   .global SetNeutral
 1147                   SetNeutral:
 1148                   /* prologue: frame size=0 */
 1149 0410 A0E0                 ldi r26,lo8(0)
 1150 0412 B0E0                 ldi r27,hi8(0)
 1151 0414 E0E0                 ldi r30,pm_lo8(1f)
 1152 0416 F0E0                 ldi r31,pm_hi8(1f)
 1153 0418 0C94 0000            jmp __prologue_saves__+12
 1154                   1:
 1155                   /* prologue end (size=6) */
 1156 041c 882E                 mov r8,r24
 1157 041e C0E0                 ldi r28,lo8(0)
 1158 0420 D0E0                 ldi r29,hi8(0)
 1159 0422 7E01                 movw r14,r28
 1160 0424 6E01                 movw r12,r28
 1161 0426 1092 0000            sts VersionInfo+5,__zero_reg__
 1162 042a 469A                 sbi 40-0x20,6
 1163 042c D093 0000            sts (NeutralAccX)+1,r29
 1164 0430 C093 0000            sts NeutralAccX,r28
 1165 0434 D093 0000            sts (NeutralAccY)+1,r29
 1166 0438 C093 0000            sts NeutralAccY,r28
 1167 043c D093 0000            sts (NeutralAccZ)+1,r29
 1168 0440 C093 0000            sts NeutralAccZ,r28
 1169 0444 D093 0000            sts (AdNeutralNick)+1,r29
 1170 0448 C093 0000            sts AdNeutralNick,r28
 1171 044c D093 0000            sts (AdNeutralRoll)+1,r29
 1172 0450 C093 0000            sts AdNeutralRoll,r28
 1173 0454 D093 0000            sts (AdNeutralGier)+1,r29
 1174 0458 C093 0000            sts AdNeutralGier,r28
 1175 045c 1092 0000            sts Parameter_AchsKopplung1,__zero_reg__
 1176 0460 1092 0000            sts Parameter_AchsKopplung2,__zero_reg__
 1177 0464 1092 0000            sts ExpandBaro,__zero_reg__
 1178 0468 0E94 0000            call CalibrierMittelwert
 1179 046c 84E6                 ldi r24,lo8(100)
 1180 046e 90E0                 ldi r25,hi8(100)
 1181 0470 0E94 0000            call Delay_ms_Mess
 1182 0474 0E94 0000            call CalibrierMittelwert
 1183 0478 8091 0000            lds r24,EE_Parameter+13
 1184 047c 80FF                 sbrs r24,0
 1185 047e 00C0                 rjmp .L38
 1186 0480 8091 0000            lds r24,MessLuftdruck
 1187 0484 9091 0000            lds r25,(MessLuftdruck)+1
 1188 0488 875B                 subi r24,lo8(951)
 1189 048a 9340                 sbci r25,hi8(951)
 1190 048c 00F4                 brsh .L40
 1191 048e 8091 0000            lds r24,MessLuftdruck
 1192 0492 9091 0000            lds r25,(MessLuftdruck)+1
 1193 0496 8E5E                 subi r24,lo8(750)
 1194 0498 9240                 sbci r25,hi8(750)
 1195 049a 00F4                 brsh .L38
 1196                   .L40:
 1197 049c 0E94 0000            call SucheLuftruckOffset
 1198                   .L38:
 1199 04a0 0FE1                 ldi r16,lo8(31)
 1200                   .L44:
 1201 04a2 8AE0                 ldi r24,lo8(10)
 1202 04a4 90E0                 ldi r25,hi8(10)
 1203 04a6 0E94 0000            call Delay_ms_Mess
 1204 04aa 8091 0000            lds r24,AdWertGier
 1205 04ae 9091 0000            lds r25,(AdWertGier)+1
 1206 04b2 C80F                 add r28,r24
 1207 04b4 D91F                 adc r29,r25
 1208 04b6 8091 0000            lds r24,AdWertNick
 1209 04ba 9091 0000            lds r25,(AdWertNick)+1
 1210 04be E80E                 add r14,r24
 1211 04c0 F91E                 adc r15,r25
 1212 04c2 8091 0000            lds r24,AdWertRoll
 1213 04c6 9091 0000            lds r25,(AdWertRoll)+1
 1214 04ca C80E                 add r12,r24
 1215 04cc D91E                 adc r13,r25
 1216 04ce 0150                 subi r16,lo8(-(-1))
 1217 04d0 07FF                 sbrs r16,7
 1218 04d2 00C0                 rjmp .L44
 1219 04d4 9701                 movw r18,r14
 1220 04d6 205F                 subi r18,lo8(-(16))
 1221 04d8 3F4F                 sbci r19,hi8(-(16))
 1222 04da 3695                 lsr r19
 1223 04dc 2795                 ror r18
 1224 04de 3695                 lsr r19
 1225 04e0 2795                 ror r18
 1226 04e2 3093 0000            sts (AdNeutralNick)+1,r19
 1227 04e6 2093 0000            sts AdNeutralNick,r18
 1228 04ea C601                 movw r24,r12
 1229 04ec 4096                 adiw r24,16
 1230 04ee 9695                 lsr r25
 1231 04f0 8795                 ror r24
 1232 04f2 9695                 lsr r25
 1233 04f4 8795                 ror r24
 1234 04f6 9093 0000            sts (AdNeutralRoll)+1,r25
 1235 04fa 8093 0000            sts AdNeutralRoll,r24
 1236 04fe 6096                 adiw r28,16
 1237 0500 F5E0                 ldi r31,5
 1238 0502 D695         1:      lsr r29
 1239 0504 C795                 ror r28
 1240 0506 FA95                 dec r31
 1241 0508 01F4                 brne 1b
 1242 050a D093 0000            sts (AdNeutralGier)+1,r29
 1243 050e C093 0000            sts AdNeutralGier,r28
 1244 0512 9093 0000            sts (StartNeutralRoll)+1,r25
 1245 0516 8093 0000            sts StartNeutralRoll,r24
 1246 051a 3093 0000            sts (StartNeutralNick)+1,r19
 1247 051e 2093 0000            sts StartNeutralNick,r18
 1248 0522 8820                 tst r8
 1249 0524 01F4                 brne .+2
 1250 0526 00C0                 rjmp .L45
 1251 0528 8091 0000            lds r24,Mittelwert_AccNick
 1252 052c 9091 0000            lds r25,(Mittelwert_AccNick)+1
 1253 0530 97FF                 sbrs r25,7
 1254 0532 00C0                 rjmp .L46
 1255 0534 9095                 com r25
 1256 0536 8195                 neg r24
 1257 0538 9F4F                 sbci r25,lo8(-1)
 1258                   .L46:
 1259 053a 6CE0                 ldi r22,lo8(12)
 1260 053c 70E0                 ldi r23,hi8(12)
 1261 053e 0E94 0000            call __divmodhi4
 1262 0542 9B01                 movw r18,r22
 1263 0544 7093 0000            sts (NeutralAccX)+1,r23
 1264 0548 6093 0000            sts NeutralAccX,r22
 1265 054c 8091 0000            lds r24,Mittelwert_AccRoll
 1266 0550 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 1267 0554 97FF                 sbrs r25,7
 1268 0556 00C0                 rjmp .L47
 1269 0558 9095                 com r25
 1270 055a 8195                 neg r24
 1271 055c 9F4F                 sbci r25,lo8(-1)
 1272                   .L47:
 1273 055e 6CE0                 ldi r22,lo8(12)
 1274 0560 70E0                 ldi r23,hi8(12)
 1275 0562 0E94 0000            call __divmodhi4
 1276 0566 7093 0000            sts (NeutralAccY)+1,r23
 1277 056a 6093 0000            sts NeutralAccY,r22
 1278 056e 8091 0000            lds r24,Aktuell_az
 1279 0572 9091 0000            lds r25,(Aktuell_az)+1
 1280 0576 9093 0000            sts (NeutralAccZ)+1,r25
 1281 057a 8093 0000            sts NeutralAccZ,r24
 1282 057e B901                 movw r22,r18
 1283 0580 84E0                 ldi r24,lo8(4)
 1284 0582 90E0                 ldi r25,hi8(4)
 1285 0584 0E94 0000            call SetParamWord
 1286 0588 6091 0000            lds r22,NeutralAccY
 1287 058c 7091 0000            lds r23,(NeutralAccY)+1
 1288 0590 86E0                 ldi r24,lo8(6)
 1289 0592 90E0                 ldi r25,hi8(6)
 1290 0594 0E94 0000            call SetParamWord
 1291 0598 6091 0000            lds r22,NeutralAccZ
 1292 059c 7091 0000            lds r23,(NeutralAccZ)+1
 1293 05a0 88E0                 ldi r24,lo8(8)
 1294 05a2 90E0                 ldi r25,hi8(8)
 1295 05a4 0E94 0000            call SetParamWord
 1296 05a8 00C0                 rjmp .L48
 1297                   .L45:
 1298 05aa 84E0                 ldi r24,lo8(4)
 1299 05ac 90E0                 ldi r25,hi8(4)
 1300 05ae 0E94 0000            call GetParamWord
 1301 05b2 9093 0000            sts (NeutralAccX)+1,r25
 1302 05b6 8093 0000            sts NeutralAccX,r24
 1303 05ba 86E0                 ldi r24,lo8(6)
 1304 05bc 90E0                 ldi r25,hi8(6)
 1305 05be 0E94 0000            call GetParamWord
 1306 05c2 9093 0000            sts (NeutralAccY)+1,r25
 1307 05c6 8093 0000            sts NeutralAccY,r24
 1308 05ca 88E0                 ldi r24,lo8(8)
 1309 05cc 90E0                 ldi r25,hi8(8)
 1310 05ce 0E94 0000            call GetParamWord
 1311 05d2 9C01                 movw r18,r24
 1312 05d4 9093 0000            sts (NeutralAccZ)+1,r25
 1313 05d8 8093 0000            sts NeutralAccZ,r24
 1314 05dc 8091 0000            lds r24,NeutralAccX
 1315 05e0 9091 0000            lds r25,(NeutralAccX)+1
 1316 05e4 8150                 subi r24,lo8(2049)
 1317 05e6 9840                 sbci r25,hi8(2049)
 1318 05e8 00F4                 brsh .L50
 1319 05ea 8091 0000            lds r24,NeutralAccY
 1320 05ee 9091 0000            lds r25,(NeutralAccY)+1
 1321 05f2 8150                 subi r24,lo8(2049)
 1322 05f4 9840                 sbci r25,hi8(2049)
 1323 05f6 00F4                 brsh .L50
 1324 05f8 2150                 subi r18,lo8(1025)
 1325 05fa 3440                 sbci r19,hi8(1025)
 1326 05fc 00F0                 brlo .L48
 1327                   .L50:
 1328 05fe 80E0                 ldi r24,lo8(__c.36)
 1329 0600 90E0                 ldi r25,hi8(__c.36)
 1330 0602 9F93                 push r25
 1331 0604 8F93                 push r24
 1332 0606 80E0                 ldi r24,lo8(pm(uart_putchar))
 1333 0608 90E0                 ldi r25,hi8(pm(uart_putchar))
 1334 060a 9F93                 push r25
 1335 060c 8F93                 push r24
 1336 060e E091 0000            lds r30,_printf_P
 1337 0612 F091 0000            lds r31,(_printf_P)+1
 1338 0616 0995                 icall
 1339 0618 8091 0000            lds r24,Mittelwert_AccNick
 1340 061c 9091 0000            lds r25,(Mittelwert_AccNick)+1
 1341 0620 97FF                 sbrs r25,7
 1342 0622 00C0                 rjmp .L51
 1343 0624 9095                 com r25
 1344 0626 8195                 neg r24
 1345 0628 9F4F                 sbci r25,lo8(-1)
 1346                   .L51:
 1347 062a 6CE0                 ldi r22,lo8(12)
 1348 062c 70E0                 ldi r23,hi8(12)
 1349 062e 0E94 0000            call __divmodhi4
 1350 0632 7093 0000            sts (NeutralAccX)+1,r23
 1351 0636 6093 0000            sts NeutralAccX,r22
 1352 063a 8091 0000            lds r24,Mittelwert_AccRoll
 1353 063e 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 1354 0642 97FF                 sbrs r25,7
 1355 0644 00C0                 rjmp .L52
 1356 0646 9095                 com r25
 1357 0648 8195                 neg r24
 1358 064a 9F4F                 sbci r25,lo8(-1)
 1359                   .L52:
 1360 064c 6CE0                 ldi r22,lo8(12)
 1361 064e 70E0                 ldi r23,hi8(12)
 1362 0650 0E94 0000            call __divmodhi4
 1363 0654 7093 0000            sts (NeutralAccY)+1,r23
 1364 0658 6093 0000            sts NeutralAccY,r22
 1365 065c 8091 0000            lds r24,Aktuell_az
 1366 0660 9091 0000            lds r25,(Aktuell_az)+1
 1367 0664 9093 0000            sts (NeutralAccZ)+1,r25
 1368 0668 8093 0000            sts NeutralAccZ,r24
 1369 066c 0F90                 pop __tmp_reg__
 1370 066e 0F90                 pop __tmp_reg__
 1371 0670 0F90                 pop __tmp_reg__
 1372 0672 0F90                 pop __tmp_reg__
 1373                   .L48:
 1374 0674 1092 0000            sts (MesswertNick)+1,__zero_reg__
 1375 0678 1092 0000            sts MesswertNick,__zero_reg__
 1376 067c 1092 0000            sts (MesswertRoll)+1,__zero_reg__
 1377 0680 1092 0000            sts MesswertRoll,__zero_reg__
 1378 0684 1092 0000            sts (MesswertGier)+1,__zero_reg__
 1379 0688 1092 0000            sts MesswertGier,__zero_reg__
 1380 068c 84E6                 ldi r24,lo8(100)
 1381 068e 90E0                 ldi r25,hi8(100)
 1382 0690 0E94 0000            call Delay_ms_Mess
 1383 0694 8091 0000            lds r24,AdWertAccNick
 1384 0698 9091 0000            lds r25,(AdWertAccNick)+1
 1385 069c 9C01                 movw r18,r24
 1386 069e 220F                 lsl r18
 1387 06a0 331F                 rol r19
 1388 06a2 220F                 lsl r18
 1389 06a4 331F                 rol r19
 1390 06a6 280F                 add r18,r24
 1391 06a8 391F                 adc r19,r25
 1392 06aa 280F                 add r18,r24
 1393 06ac 391F                 adc r19,r25
 1394 06ae 3093 0000            sts (Mittelwert_AccNick)+1,r19
 1395 06b2 2093 0000            sts Mittelwert_AccNick,r18
 1396 06b6 8091 0000            lds r24,AdWertAccRoll
 1397 06ba 9091 0000            lds r25,(AdWertAccRoll)+1
 1398 06be 8C01                 movw r16,r24
 1399 06c0 000F                 lsl r16
 1400 06c2 111F                 rol r17
 1401 06c4 000F                 lsl r16
 1402 06c6 111F                 rol r17
 1403 06c8 080F                 add r16,r24
 1404 06ca 191F                 adc r17,r25
 1405 06cc 080F                 add r16,r24
 1406 06ce 191F                 adc r17,r25
 1407 06d0 1093 0000            sts (Mittelwert_AccRoll)+1,r17
 1408 06d4 0093 0000            sts Mittelwert_AccRoll,r16
 1409 06d8 8091 0000            lds r24,EE_Parameter+28
 1410 06dc C82E                 mov r12,r24
 1411 06de DD24                 clr r13
 1412 06e0 EE24                 clr r14
 1413 06e2 FF24                 clr r15
 1414 06e4 4427                 clr r20
 1415 06e6 37FD                 sbrc r19,7
 1416 06e8 4095                 com r20
 1417 06ea 542F                 mov r21,r20
 1418 06ec C701                 movw r24,r14
 1419 06ee B601                 movw r22,r12
 1420 06f0 0E94 0000            call __mulsi3
 1421 06f4 4B01                 movw r8,r22
 1422 06f6 5C01                 movw r10,r24
 1423 06f8 6093 0000            sts IntegralNick,r22
 1424 06fc 7093 0000            sts (IntegralNick)+1,r23
 1425 0700 8093 0000            sts (IntegralNick)+2,r24
 1426 0704 9093 0000            sts (IntegralNick)+3,r25
 1427 0708 9801                 movw r18,r16
 1428 070a 4427                 clr r20
 1429 070c 37FD                 sbrc r19,7
 1430 070e 4095                 com r20
 1431 0710 542F                 mov r21,r20
 1432 0712 C701                 movw r24,r14
 1433 0714 B601                 movw r22,r12
 1434 0716 0E94 0000            call __mulsi3
 1435 071a DC01                 movw r26,r24
 1436 071c CB01                 movw r24,r22
 1437 071e 8093 0000            sts IntegralRoll,r24
 1438 0722 9093 0000            sts (IntegralRoll)+1,r25
 1439 0726 A093 0000            sts (IntegralRoll)+2,r26
 1440 072a B093 0000            sts (IntegralRoll)+3,r27
 1441 072e 8092 0000            sts Mess_IntegralNick2,r8
 1442 0732 9092 0000            sts (Mess_IntegralNick2)+1,r9
 1443 0736 A092 0000            sts (Mess_IntegralNick2)+2,r10
 1444 073a B092 0000            sts (Mess_IntegralNick2)+3,r11
 1445 073e 8093 0000            sts Mess_IntegralRoll2,r24
 1446 0742 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 1447 0746 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 1448 074a B093 0000            sts (Mess_IntegralRoll2)+3,r27
 1449 074e 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 1450 0752 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 1451 0756 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 1452 075a 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 1453 075e 8091 0000            lds r24,Luftdruck
 1454 0762 9091 0000            lds r25,(Luftdruck)+1
 1455 0766 A091 0000            lds r26,(Luftdruck)+2
 1456 076a B091 0000            lds r27,(Luftdruck)+3
 1457 076e 9093 0000            sts (StartLuftdruck)+1,r25
 1458 0772 8093 0000            sts StartLuftdruck,r24
 1459 0776 1092 0000            sts (VarioMeter)+1,__zero_reg__
 1460 077a 1092 0000            sts VarioMeter,__zero_reg__
 1461 077e 1092 0000            sts Mess_Integral_Hoch,__zero_reg__
 1462 0782 1092 0000            sts (Mess_Integral_Hoch)+1,__zero_reg__
 1463 0786 1092 0000            sts (Mess_Integral_Hoch)+2,__zero_reg__
 1464 078a 1092 0000            sts (Mess_Integral_Hoch)+3,__zero_reg__
 1465 078e 0091 0000            lds r16,KompassValue
 1466 0792 1091 0000            lds r17,(KompassValue)+1
 1467 0796 1093 0000            sts (KompassSollWert)+1,r17
 1468 079a 0093 0000            sts KompassSollWert,r16
 1469 079e 84E6                 ldi r24,lo8(100)
 1470 07a0 90E0                 ldi r25,hi8(100)
 1471 07a2 9093 0000            sts (KompassSignalSchlecht)+1,r25
 1472 07a6 8093 0000            sts KompassSignalSchlecht,r24
 1473 07aa 82E3                 ldi r24,lo8(50)
 1474 07ac 90E0                 ldi r25,hi8(50)
 1475 07ae 9093 0000            sts (beeptime)+1,r25
 1476 07b2 8093 0000            sts beeptime,r24
 1477 07b6 8091 0000            lds r24,EE_Parameter+65
 1478 07ba 9927                 clr r25
 1479 07bc AA27                 clr r26
 1480 07be BB27                 clr r27
 1481 07c0 BC01                 movw r22,r24
 1482 07c2 CD01                 movw r24,r26
 1483 07c4 24EC                 ldi r18,lo8(2500)
 1484 07c6 39E0                 ldi r19,hi8(2500)
 1485 07c8 40E0                 ldi r20,hlo8(2500)
 1486 07ca 50E0                 ldi r21,hhi8(2500)
 1487 07cc 0E94 0000            call __mulsi3
 1488 07d0 DC01                 movw r26,r24
 1489 07d2 CB01                 movw r24,r22
 1490 07d4 8856                 subi r24,lo8(-(15000))
 1491 07d6 954C                 sbci r25,hi8(-(15000))
 1492 07d8 AF4F                 sbci r26,hlo8(-(15000))
 1493 07da BF4F                 sbci r27,hhi8(-(15000))
 1494 07dc 8093 0000            sts Umschlag180Nick,r24
 1495 07e0 9093 0000            sts (Umschlag180Nick)+1,r25
 1496 07e4 A093 0000            sts (Umschlag180Nick)+2,r26
 1497 07e8 B093 0000            sts (Umschlag180Nick)+3,r27
 1498 07ec 8091 0000            lds r24,EE_Parameter+66
 1499 07f0 9927                 clr r25
 1500 07f2 AA27                 clr r26
 1501 07f4 BB27                 clr r27
 1502 07f6 BC01                 movw r22,r24
 1503 07f8 CD01                 movw r24,r26
 1504 07fa 0E94 0000            call __mulsi3
 1505 07fe DC01                 movw r26,r24
 1506 0800 CB01                 movw r24,r22
 1507 0802 8856                 subi r24,lo8(-(15000))
 1508 0804 954C                 sbci r25,hi8(-(15000))
 1509 0806 AF4F                 sbci r26,hlo8(-(15000))
 1510 0808 BF4F                 sbci r27,hhi8(-(15000))
 1511 080a 8093 0000            sts Umschlag180Roll,r24
 1512 080e 9093 0000            sts (Umschlag180Roll)+1,r25
 1513 0812 A093 0000            sts (Umschlag180Roll)+2,r26
 1514 0816 B093 0000            sts (Umschlag180Roll)+3,r27
 1515 081a 1092 0000            sts (ExternHoehenValue)+1,__zero_reg__
 1516 081e 1092 0000            sts ExternHoehenValue,__zero_reg__
 1517 0822 C801                 movw r24,r16
 1518 0824 AA27                 clr r26
 1519 0826 97FD                 sbrc r25,7
 1520 0828 A095                 com r26
 1521 082a BA2F                 mov r27,r26
 1522 082c 2091 0000            lds r18,GIER_GRAD_FAKTOR
 1523 0830 3091 0000            lds r19,(GIER_GRAD_FAKTOR)+1
 1524 0834 4091 0000            lds r20,(GIER_GRAD_FAKTOR)+2
 1525 0838 5091 0000            lds r21,(GIER_GRAD_FAKTOR)+3
 1526 083c BC01                 movw r22,r24
 1527 083e CD01                 movw r24,r26
 1528 0840 0E94 0000            call __mulsi3
 1529 0844 DC01                 movw r26,r24
 1530 0846 CB01                 movw r24,r22
 1531 0848 8093 0000            sts ErsatzKompass,r24
 1532 084c 9093 0000            sts (ErsatzKompass)+1,r25
 1533 0850 A093 0000            sts (ErsatzKompass)+2,r26
 1534 0854 B093 0000            sts (ErsatzKompass)+3,r27
 1535 0858 1092 0000            sts (GierGyroFehler)+1,__zero_reg__
 1536 085c 1092 0000            sts GierGyroFehler,__zero_reg__
 1537 0860 81E0                 ldi r24,lo8(1)
 1538 0862 8093 0000            sts SendVersionToNavi,r24
 1539 0866 0E94 0000            call LED_Init
 1540 086a 8091 0000            lds r24,FC_StatusFlags
 1541 086e 8460                 ori r24,lo8(4)
 1542 0870 8093 0000            sts FC_StatusFlags,r24
 1543 0874 8FEF                 ldi r24,lo8(-1)
 1544 0876 8093 0000            sts FromNaviCtrl_Value,r24
 1545 087a 1092 0000            sts FromNaviCtrl_Value+1,__zero_reg__
 1546 087e 80E2                 ldi r24,lo8(32)
 1547 0880 8093 0000            sts FromNaviCtrl_Value+2,r24
 1548 0884 C0E0                 ldi r28,lo8(Poti)
 1549 0886 D0E0                 ldi r29,hi8(Poti)
 1550 0888 A0E0                 ldi r26,lo8(EE_Parameter+5)
 1551 088a B0E0                 ldi r27,hi8(EE_Parameter+5)
 1552 088c 07E0                 ldi r16,lo8(7)
 1553                   .L56:
 1554 088e 8D91                 ld r24,X+
 1555 0890 E82F                 mov r30,r24
 1556 0892 FF27                 clr r31
 1557 0894 EE0F                 add r30,r30
 1558 0896 FF1F                 adc r31,r31
 1559 0898 E050                 subi r30,lo8(-(PPM_in))
 1560 089a F040                 sbci r31,hi8(-(PPM_in))
 1561 089c 8081                 ld r24,Z
 1562 089e 9181                 ldd r25,Z+1
 1563 08a0 8158                 subi r24,lo8(-(127))
 1564 08a2 8993                 st Y+,r24
 1565 08a4 0150                 subi r16,lo8(-(-1))
 1566 08a6 07FF                 sbrs r16,7
 1567 08a8 00C0                 rjmp .L56
 1568 08aa 84E6                 ldi r24,lo8(100)
 1569 08ac 8093 0000            sts SenderOkay,r24
 1570 08b0 8091 0000            lds r24,ServoActive
 1571 08b4 8823                 tst r24
 1572 08b6 01F0                 breq .L57
 1573 08b8 469A                 sbi 40-0x20,6
 1574 08ba 579A                 sbi 42-0x20,7
 1575                   .L57:
 1576 08bc 8091 0000            lds r24,AdNeutralNick
 1577 08c0 9091 0000            lds r25,(AdNeutralNick)+1
 1578 08c4 8056                 subi r24,lo8(-(-2400))
 1579 08c6 9940                 sbci r25,hi8(-(-2400))
 1580 08c8 815C                 subi r24,lo8(11201)
 1581 08ca 9B42                 sbci r25,hi8(11201)
 1582 08cc 00F0                 brlo .L58
 1583 08ce 8091 0000            lds r24,VersionInfo+5
 1584 08d2 8160                 ori r24,lo8(1)
 1585 08d4 8093 0000            sts VersionInfo+5,r24
 1586                   .L58:
 1587 08d8 8091 0000            lds r24,AdNeutralRoll
 1588 08dc 9091 0000            lds r25,(AdNeutralRoll)+1
 1589 08e0 8056                 subi r24,lo8(-(-2400))
 1590 08e2 9940                 sbci r25,hi8(-(-2400))
 1591 08e4 815C                 subi r24,lo8(11201)
 1592 08e6 9B42                 sbci r25,hi8(11201)
 1593 08e8 00F0                 brlo .L59
 1594 08ea 8091 0000            lds r24,VersionInfo+5
 1595 08ee 8260                 ori r24,lo8(2)
 1596 08f0 8093 0000            sts VersionInfo+5,r24
 1597                   .L59:
 1598 08f4 8091 0000            lds r24,AdNeutralGier
 1599 08f8 9091 0000            lds r25,(AdNeutralGier)+1
 1600 08fc 8C52                 subi r24,lo8(-(-300))
 1601 08fe 9140                 sbci r25,hi8(-(-300))
 1602 0900 8957                 subi r24,lo8(1401)
 1603 0902 9540                 sbci r25,hi8(1401)
 1604 0904 00F0                 brlo .L60
 1605 0906 8091 0000            lds r24,VersionInfo+5
 1606 090a 8460                 ori r24,lo8(4)
 1607 090c 8093 0000            sts VersionInfo+5,r24
 1608                   .L60:
 1609 0910 8091 0000            lds r24,NeutralAccX
 1610 0914 9091 0000            lds r25,(NeutralAccX)+1
 1611 0918 8C52                 subi r24,lo8(-(-300))
 1612 091a 9140                 sbci r25,hi8(-(-300))
 1613 091c 835C                 subi r24,lo8(451)
 1614 091e 9140                 sbci r25,hi8(451)
 1615 0920 00F0                 brlo .L61
 1616 0922 8091 0000            lds r24,VersionInfo+5
 1617 0926 8860                 ori r24,lo8(8)
 1618 0928 8093 0000            sts VersionInfo+5,r24
 1619                   .L61:
 1620 092c 8091 0000            lds r24,NeutralAccY
 1621 0930 9091 0000            lds r25,(NeutralAccY)+1
 1622 0934 8C52                 subi r24,lo8(-(-300))
 1623 0936 9140                 sbci r25,hi8(-(-300))
 1624 0938 835C                 subi r24,lo8(451)
 1625 093a 9140                 sbci r25,hi8(451)
 1626 093c 00F0                 brlo .L62
 1627 093e 8091 0000            lds r24,VersionInfo+5
 1628 0942 8061                 ori r24,lo8(16)
 1629 0944 8093 0000            sts VersionInfo+5,r24
 1630                   .L62:
 1631 0948 8091 0000            lds r24,NeutralAccZ
 1632 094c 9091 0000            lds r25,(NeutralAccZ)+1
 1633 0950 8050                 subi r24,lo8(-(-512))
 1634 0952 9240                 sbci r25,hi8(-(-512))
 1635 0954 8355                 subi r24,lo8(339)
 1636 0956 9140                 sbci r25,hi8(339)
 1637 0958 00F0                 brlo .L63
 1638 095a 8091 0000            lds r24,VersionInfo+5
 1639 095e 8062                 ori r24,lo8(32)
 1640 0960 8093 0000            sts VersionInfo+5,r24
 1641                   .L63:
 1642 0964 86E4                 ldi r24,lo8(70)
 1643 0966 8093 0000            sts carefree_old,r24
 1644                   /* epilogue: frame size=0 */
 1645 096a ECE0                 ldi r30,12
 1646 096c CDB7                 in r28,__SP_L__
 1647 096e DEB7                 in r29,__SP_H__
 1648 0970 0C94 0000            jmp __epilogue_restores__+12
 1649                   /* epilogue end (size=5) */
 1650                   /* function SetNeutral size 701 (690) */
 1652                           .lcomm tmpl.28,4
 1653                           .lcomm tmpl2.29,4
 1654                           .lcomm tmpl3.30,4
 1655                           .lcomm tmpl4.31,4
 1656                           .lcomm oldNick.32,2
 1657                           .lcomm oldRoll.33,2
 1658                           .lcomm d2Roll.34,2
 1659                           .lcomm d2Nick.35,2
 1660                   .global Mittelwert
 1662                   Mittelwert:
 1663                   /* prologue: frame size=19 */
 1664 0974 A3E1                 ldi r26,lo8(19)
 1665 0976 B0E0                 ldi r27,hi8(19)
 1666 0978 E0E0                 ldi r30,pm_lo8(1f)
 1667 097a F0E0                 ldi r31,pm_hi8(1f)
 1668 097c 0C94 0000            jmp __prologue_saves__+0
 1669                   1:
 1670                   /* prologue end (size=6) */
 1671 0980 8091 0000            lds r24,AdNeutralGier
 1672 0984 9091 0000            lds r25,(AdNeutralGier)+1
 1673 0988 2091 0000            lds r18,AdWertGier
 1674 098c 3091 0000            lds r19,(AdWertGier)+1
 1675 0990 821B                 sub r24,r18
 1676 0992 930B                 sbc r25,r19
 1677 0994 9093 0000            sts (MesswertGier)+1,r25
 1678 0998 8093 0000            sts MesswertGier,r24
 1679 099c 8091 0000            lds r24,AdWertNickFilter
 1680 09a0 9091 0000            lds r25,(AdWertNickFilter)+1
 1681 09a4 97FD                 sbrc r25,7
 1682 09a6 0796                 adiw r24,7
 1683                   .L69:
 1684 09a8 9C01                 movw r18,r24
 1685 09aa 13E0                 ldi r17,3
 1686 09ac 3595         1:      asr r19
 1687 09ae 2795                 ror r18
 1688 09b0 1A95                 dec r17
 1689 09b2 01F4                 brne 1b
 1690 09b4 3093 0000            sts (MesswertNick)+1,r19
 1691 09b8 2093 0000            sts MesswertNick,r18
 1692 09bc 8091 0000            lds r24,AdWertRollFilter
 1693 09c0 9091 0000            lds r25,(AdWertRollFilter)+1
 1694 09c4 97FD                 sbrc r25,7
 1695 09c6 0796                 adiw r24,7
 1696                   .L70:
 1697 09c8 B3E0                 ldi r27,3
 1698 09ca 9595         1:      asr r25
 1699 09cc 8795                 ror r24
 1700 09ce BA95                 dec r27
 1701 09d0 01F4                 brne 1b
 1702 09d2 9093 0000            sts (MesswertRoll)+1,r25
 1703 09d6 8093 0000            sts MesswertRoll,r24
 1704 09da 3093 0000            sts (RohMesswertNick)+1,r19
 1705 09de 2093 0000            sts RohMesswertNick,r18
 1706 09e2 9093 0000            sts (RohMesswertRoll)+1,r25
 1707 09e6 8093 0000            sts RohMesswertRoll,r24
 1708 09ea 8091 0000            lds r24,Mittelwert_AccNick
 1709 09ee 9091 0000            lds r25,(Mittelwert_AccNick)+1
 1710 09f2 AC01                 movw r20,r24
 1711 09f4 440F                 lsl r20
 1712 09f6 551F                 rol r21
 1713 09f8 480F                 add r20,r24
 1714 09fa 591F                 adc r21,r25
 1715 09fc 2091 0000            lds r18,AdWertAccNick
 1716 0a00 3091 0000            lds r19,(AdWertAccNick)+1
 1717 0a04 C901                 movw r24,r18
 1718 0a06 880F                 lsl r24
 1719 0a08 991F                 rol r25
 1720 0a0a 880F                 lsl r24
 1721 0a0c 991F                 rol r25
 1722 0a0e 820F                 add r24,r18
 1723 0a10 931F                 adc r25,r19
 1724 0a12 820F                 add r24,r18
 1725 0a14 931F                 adc r25,r19
 1726 0a16 480F                 add r20,r24
 1727 0a18 591F                 adc r21,r25
 1728 0a1a 57FF                 sbrs r21,7
 1729 0a1c 00C0                 rjmp .L71
 1730 0a1e 4D5F                 subi r20,lo8(-(3))
 1731 0a20 5F4F                 sbci r21,hi8(-(3))
 1732                   .L71:
 1733 0a22 5595                 asr r21
 1734 0a24 4795                 ror r20
 1735 0a26 5595                 asr r21
 1736 0a28 4795                 ror r20
 1737 0a2a 5093 0000            sts (Mittelwert_AccNick)+1,r21
 1738 0a2e 4093 0000            sts Mittelwert_AccNick,r20
 1739 0a32 8091 0000            lds r24,Mittelwert_AccRoll
 1740 0a36 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 1741 0a3a AC01                 movw r20,r24
 1742 0a3c 440F                 lsl r20
 1743 0a3e 551F                 rol r21
 1744 0a40 480F                 add r20,r24
 1745 0a42 591F                 adc r21,r25
 1746 0a44 2091 0000            lds r18,AdWertAccRoll
 1747 0a48 3091 0000            lds r19,(AdWertAccRoll)+1
 1748 0a4c C901                 movw r24,r18
 1749 0a4e 880F                 lsl r24
 1750 0a50 991F                 rol r25
 1751 0a52 880F                 lsl r24
 1752 0a54 991F                 rol r25
 1753 0a56 820F                 add r24,r18
 1754 0a58 931F                 adc r25,r19
 1755 0a5a 820F                 add r24,r18
 1756 0a5c 931F                 adc r25,r19
 1757 0a5e 480F                 add r20,r24
 1758 0a60 591F                 adc r21,r25
 1759 0a62 57FF                 sbrs r21,7
 1760 0a64 00C0                 rjmp .L72
 1761 0a66 4D5F                 subi r20,lo8(-(3))
 1762 0a68 5F4F                 sbci r21,hi8(-(3))
 1763                   .L72:
 1764 0a6a 5595                 asr r21
 1765 0a6c 4795                 ror r20
 1766 0a6e 5595                 asr r21
 1767 0a70 4795                 ror r20
 1768 0a72 5093 0000            sts (Mittelwert_AccRoll)+1,r21
 1769 0a76 4093 0000            sts Mittelwert_AccRoll,r20
 1770 0a7a 2091 0000            lds r18,AdWertAccNick
 1771 0a7e 3091 0000            lds r19,(AdWertAccNick)+1
 1772 0a82 C901                 movw r24,r18
 1773 0a84 880F                 lsl r24
 1774 0a86 991F                 rol r25
 1775 0a88 880F                 lsl r24
 1776 0a8a 991F                 rol r25
 1777 0a8c 820F                 add r24,r18
 1778 0a8e 931F                 adc r25,r19
 1779 0a90 820F                 add r24,r18
 1780 0a92 931F                 adc r25,r19
 1781 0a94 9C01                 movw r18,r24
 1782 0a96 4427                 clr r20
 1783 0a98 37FD                 sbrc r19,7
 1784 0a9a 4095                 com r20
 1785 0a9c 542F                 mov r21,r20
 1786 0a9e 8091 0000            lds r24,IntegralAccNick
 1787 0aa2 9091 0000            lds r25,(IntegralAccNick)+1
 1788 0aa6 A091 0000            lds r26,(IntegralAccNick)+2
 1789 0aaa B091 0000            lds r27,(IntegralAccNick)+3
 1790 0aae 820F                 add r24,r18
 1791 0ab0 931F                 adc r25,r19
 1792 0ab2 A41F                 adc r26,r20
 1793 0ab4 B51F                 adc r27,r21
 1794 0ab6 8093 0000            sts IntegralAccNick,r24
 1795 0aba 9093 0000            sts (IntegralAccNick)+1,r25
 1796 0abe A093 0000            sts (IntegralAccNick)+2,r26
 1797 0ac2 B093 0000            sts (IntegralAccNick)+3,r27
 1798 0ac6 2091 0000            lds r18,AdWertAccRoll
 1799 0aca 3091 0000            lds r19,(AdWertAccRoll)+1
 1800 0ace C901                 movw r24,r18
 1801 0ad0 880F                 lsl r24
 1802 0ad2 991F                 rol r25
 1803 0ad4 880F                 lsl r24
 1804 0ad6 991F                 rol r25
 1805 0ad8 820F                 add r24,r18
 1806 0ada 931F                 adc r25,r19
 1807 0adc 820F                 add r24,r18
 1808 0ade 931F                 adc r25,r19
 1809 0ae0 9C01                 movw r18,r24
 1810 0ae2 4427                 clr r20
 1811 0ae4 37FD                 sbrc r19,7
 1812 0ae6 4095                 com r20
 1813 0ae8 542F                 mov r21,r20
 1814 0aea 8091 0000            lds r24,IntegralAccRoll
 1815 0aee 9091 0000            lds r25,(IntegralAccRoll)+1
 1816 0af2 A091 0000            lds r26,(IntegralAccRoll)+2
 1817 0af6 B091 0000            lds r27,(IntegralAccRoll)+3
 1818 0afa 820F                 add r24,r18
 1819 0afc 931F                 adc r25,r19
 1820 0afe A41F                 adc r26,r20
 1821 0b00 B51F                 adc r27,r21
 1822 0b02 8093 0000            sts IntegralAccRoll,r24
 1823 0b06 9093 0000            sts (IntegralAccRoll)+1,r25
 1824 0b0a A093 0000            sts (IntegralAccRoll)+2,r26
 1825 0b0e B093 0000            sts (IntegralAccRoll)+3,r27
 1826 0b12 8091 0000            lds r24,NaviAccNick
 1827 0b16 9091 0000            lds r25,(NaviAccNick)+1
 1828 0b1a 2091 0000            lds r18,AdWertAccNick
 1829 0b1e 3091 0000            lds r19,(AdWertAccNick)+1
 1830 0b22 820F                 add r24,r18
 1831 0b24 931F                 adc r25,r19
 1832 0b26 9093 0000            sts (NaviAccNick)+1,r25
 1833 0b2a 8093 0000            sts NaviAccNick,r24
 1834 0b2e 8091 0000            lds r24,NaviAccRoll
 1835 0b32 9091 0000            lds r25,(NaviAccRoll)+1
 1836 0b36 2091 0000            lds r18,AdWertAccRoll
 1837 0b3a 3091 0000            lds r19,(AdWertAccRoll)+1
 1838 0b3e 820F                 add r24,r18
 1839 0b40 931F                 adc r25,r19
 1840 0b42 9093 0000            sts (NaviAccRoll)+1,r25
 1841 0b46 8093 0000            sts NaviAccRoll,r24
 1842 0b4a 8091 0000            lds r24,NaviCntAcc
 1843 0b4e 9091 0000            lds r25,(NaviCntAcc)+1
 1844 0b52 0196                 adiw r24,1
 1845 0b54 9093 0000            sts (NaviCntAcc)+1,r25
 1846 0b58 8093 0000            sts NaviCntAcc,r24
 1847 0b5c 8091 0000            lds r24,Aktuell_az
 1848 0b60 9091 0000            lds r25,(Aktuell_az)+1
 1849 0b64 2091 0000            lds r18,NeutralAccZ
 1850 0b68 3091 0000            lds r19,(NeutralAccZ)+1
 1851 0b6c 821B                 sub r24,r18
 1852 0b6e 930B                 sbc r25,r19
 1853 0b70 9C01                 movw r18,r24
 1854 0b72 4427                 clr r20
 1855 0b74 37FD                 sbrc r19,7
 1856 0b76 4095                 com r20
 1857 0b78 542F                 mov r21,r20
 1858 0b7a 8091 0000            lds r24,IntegralAccZ
 1859 0b7e 9091 0000            lds r25,(IntegralAccZ)+1
 1860 0b82 A091 0000            lds r26,(IntegralAccZ)+2
 1861 0b86 B091 0000            lds r27,(IntegralAccZ)+3
 1862 0b8a 820F                 add r24,r18
 1863 0b8c 931F                 adc r25,r19
 1864 0b8e A41F                 adc r26,r20
 1865 0b90 B51F                 adc r27,r21
 1866 0b92 8093 0000            sts IntegralAccZ,r24
 1867 0b96 9093 0000            sts (IntegralAccZ)+1,r25
 1868 0b9a A093 0000            sts (IntegralAccZ)+2,r26
 1869 0b9e B093 0000            sts (IntegralAccZ)+3,r27
 1870 0ba2 8FEC                 ldi r24,lo8(-49)
 1871 0ba4 8093 7A00            sts 122,r24
 1872 0ba8 1092 0000            sts AdReady,__zero_reg__
 1873 0bac 2091 0000            lds r18,Mess_IntegralRoll
 1874 0bb0 3091 0000            lds r19,(Mess_IntegralRoll)+1
 1875 0bb4 4091 0000            lds r20,(Mess_IntegralRoll)+2
 1876 0bb8 5091 0000            lds r21,(Mess_IntegralRoll)+3
 1877 0bbc 2987                 std Y+9,r18
 1878 0bbe 3A87                 std Y+10,r19
 1879 0bc0 4B87                 std Y+11,r20
 1880 0bc2 5C87                 std Y+12,r21
 1881 0bc4 2954                 subi r18,lo8(93001)
 1882 0bc6 3B46                 sbci r19,hi8(93001)
 1883 0bc8 4140                 sbci r20,hlo8(93001)
 1884 0bca 5040                 sbci r21,hhi8(93001)
 1885 0bcc 04F0                 brlt .L73
 1886 0bce 28E4                 ldi r18,lo8(93000)
 1887 0bd0 3BE6                 ldi r19,hi8(93000)
 1888 0bd2 41E0                 ldi r20,hlo8(93000)
 1889 0bd4 50E0                 ldi r21,hhi8(93000)
 1890 0bd6 00C0                 rjmp .L153
 1891                   .L73:
 1892 0bd8 8985                 ldd r24,Y+9
 1893 0bda 9A85                 ldd r25,Y+10
 1894 0bdc AB85                 ldd r26,Y+11
 1895 0bde BC85                 ldd r27,Y+12
 1896 0be0 885B                 subi r24,lo8(-93000)
 1897 0be2 9449                 sbci r25,hi8(-93000)
 1898 0be4 AE4F                 sbci r26,hlo8(-93000)
 1899 0be6 BF4F                 sbci r27,hhi8(-93000)
 1900 0be8 04F4                 brge .L75
 1901 0bea 28EB                 ldi r18,lo8(-93000)
 1902 0bec 34E9                 ldi r19,hi8(-93000)
 1903 0bee 4EEF                 ldi r20,hlo8(-93000)
 1904 0bf0 5FEF                 ldi r21,hhi8(-93000)
 1905                   .L153:
 1906 0bf2 2D83                 std Y+5,r18
 1907 0bf4 3E83                 std Y+6,r19
 1908 0bf6 4F83                 std Y+7,r20
 1909 0bf8 5887                 std Y+8,r21
 1910 0bfa 00C0                 rjmp .L74
 1911                   .L75:
 1912 0bfc 8985                 ldd r24,Y+9
 1913 0bfe 9A85                 ldd r25,Y+10
 1914 0c00 AB85                 ldd r26,Y+11
 1915 0c02 BC85                 ldd r27,Y+12
 1916 0c04 8D83                 std Y+5,r24
 1917 0c06 9E83                 std Y+6,r25
 1918 0c08 AF83                 std Y+7,r26
 1919 0c0a B887                 std Y+8,r27
 1920                   .L74:
 1921 0c0c 2091 0000            lds r18,Mess_IntegralNick
 1922 0c10 3091 0000            lds r19,(Mess_IntegralNick)+1
 1923 0c14 4091 0000            lds r20,(Mess_IntegralNick)+2
 1924 0c18 5091 0000            lds r21,(Mess_IntegralNick)+3
 1925 0c1c 2D87                 std Y+13,r18
 1926 0c1e 3E87                 std Y+14,r19
 1927 0c20 4F87                 std Y+15,r20
 1928 0c22 588B                 std Y+16,r21
 1929 0c24 2954                 subi r18,lo8(93001)
 1930 0c26 3B46                 sbci r19,hi8(93001)
 1931 0c28 4140                 sbci r20,hlo8(93001)
 1932 0c2a 5040                 sbci r21,hhi8(93001)
 1933 0c2c 04F0                 brlt .L77
 1934 0c2e 28E4                 ldi r18,lo8(93000)
 1935 0c30 3BE6                 ldi r19,hi8(93000)
 1936 0c32 41E0                 ldi r20,hlo8(93000)
 1937 0c34 50E0                 ldi r21,hhi8(93000)
 1938 0c36 00C0                 rjmp .L154
 1939                   .L77:
 1940 0c38 8D85                 ldd r24,Y+13
 1941 0c3a 9E85                 ldd r25,Y+14
 1942 0c3c AF85                 ldd r26,Y+15
 1943 0c3e B889                 ldd r27,Y+16
 1944 0c40 885B                 subi r24,lo8(-93000)
 1945 0c42 9449                 sbci r25,hi8(-93000)
 1946 0c44 AE4F                 sbci r26,hlo8(-93000)
 1947 0c46 BF4F                 sbci r27,hhi8(-93000)
 1948 0c48 04F4                 brge .L79
 1949 0c4a 28EB                 ldi r18,lo8(-93000)
 1950 0c4c 34E9                 ldi r19,hi8(-93000)
 1951 0c4e 4EEF                 ldi r20,hlo8(-93000)
 1952 0c50 5FEF                 ldi r21,hhi8(-93000)
 1953                   .L154:
 1954 0c52 2983                 std Y+1,r18
 1955 0c54 3A83                 std Y+2,r19
 1956 0c56 4B83                 std Y+3,r20
 1957 0c58 5C83                 std Y+4,r21
 1958 0c5a 00C0                 rjmp .L78
 1959                   .L79:
 1960 0c5c 8D85                 ldd r24,Y+13
 1961 0c5e 9E85                 ldd r25,Y+14
 1962 0c60 AF85                 ldd r26,Y+15
 1963 0c62 B889                 ldd r27,Y+16
 1964 0c64 8983                 std Y+1,r24
 1965 0c66 9A83                 std Y+2,r25
 1966 0c68 AB83                 std Y+3,r26
 1967 0c6a BC83                 std Y+4,r27
 1968                   .L78:
 1969 0c6c A091 0000            lds r26,MesswertGier
 1970 0c70 B091 0000            lds r27,(MesswertGier)+1
 1971 0c74 BB8B                 std Y+19,r27
 1972 0c76 AA8B                 std Y+18,r26
 1973 0c78 FD01                 movw r30,r26
 1974 0c7a CF01                 movw r24,r30
 1975 0c7c AA27                 clr r26
 1976 0c7e 97FD                 sbrc r25,7
 1977 0c80 A095                 com r26
 1978 0c82 BA2F                 mov r27,r26
 1979 0c84 A090 0000            lds r10,Mess_Integral_Gier
 1980 0c88 B090 0000            lds r11,(Mess_Integral_Gier)+1
 1981 0c8c C090 0000            lds r12,(Mess_Integral_Gier)+2
 1982 0c90 D090 0000            lds r13,(Mess_Integral_Gier)+3
 1983 0c94 A80E                 add r10,r24
 1984 0c96 B91E                 adc r11,r25
 1985 0c98 CA1E                 adc r12,r26
 1986 0c9a DB1E                 adc r13,r27
 1987 0c9c A092 0000            sts Mess_Integral_Gier,r10
 1988 0ca0 B092 0000            sts (Mess_Integral_Gier)+1,r11
 1989 0ca4 C092 0000            sts (Mess_Integral_Gier)+2,r12
 1990 0ca8 D092 0000            sts (Mess_Integral_Gier)+3,r13
 1991 0cac E090 0000            lds r14,ErsatzKompass
 1992 0cb0 F090 0000            lds r15,(ErsatzKompass)+1
 1993 0cb4 0091 0000            lds r16,(ErsatzKompass)+2
 1994 0cb8 1091 0000            lds r17,(ErsatzKompass)+3
 1995 0cbc E80E                 add r14,r24
 1996 0cbe F91E                 adc r15,r25
 1997 0cc0 0A1F                 adc r16,r26
 1998 0cc2 1B1F                 adc r17,r27
 1999 0cc4 E092 0000            sts ErsatzKompass,r14
 2000 0cc8 F092 0000            sts (ErsatzKompass)+1,r15
 2001 0ccc 0093 0000            sts (ErsatzKompass)+2,r16
 2002 0cd0 1093 0000            sts (ErsatzKompass)+3,r17
 2003 0cd4 F091 0000            lds r31,Looping_Nick
 2004 0cd8 F98B                 std Y+17,r31
 2005 0cda FF23                 tst r31
 2006 0cdc 01F0                 breq .+2
 2007 0cde 00C0                 rjmp .L81
 2008 0ce0 8091 0000            lds r24,Looping_Roll
 2009 0ce4 8823                 tst r24
 2010 0ce6 01F0                 breq .+2
 2011 0ce8 00C0                 rjmp .L81
 2012 0cea 8091 0000            lds r24,Parameter_GlobalConfig
 2013 0cee 86FF                 sbrs r24,6
 2014 0cf0 00C0                 rjmp .L81
 2015 0cf2 8091 0000            lds r24,MesswertRoll
 2016 0cf6 9091 0000            lds r25,(MesswertRoll)+1
 2017 0cfa AA27                 clr r26
 2018 0cfc 97FD                 sbrc r25,7
 2019 0cfe A095                 com r26
 2020 0d00 BA2F                 mov r27,r26
 2021 0d02 BC01                 movw r22,r24
 2022 0d04 CD01                 movw r24,r26
 2023 0d06 2981                 ldd r18,Y+1
 2024 0d08 3A81                 ldd r19,Y+2
 2025 0d0a 4B81                 ldd r20,Y+3
 2026 0d0c 5C81                 ldd r21,Y+4
 2027 0d0e 0E94 0000            call __mulsi3
 2028 0d12 9B01                 movw r18,r22
 2029 0d14 AC01                 movw r20,r24
 2030 0d16 97FF                 sbrs r25,7
 2031 0d18 00C0                 rjmp .L82
 2032 0d1a 2150                 subi r18,lo8(-(2047))
 2033 0d1c 384F                 sbci r19,hi8(-(2047))
 2034 0d1e 4F4F                 sbci r20,hlo8(-(2047))
 2035 0d20 5F4F                 sbci r21,hhi8(-(2047))
 2036                   .L82:
 2037 0d22 BBE0                 ldi r27,11
 2038 0d24 5595         1:      asr r21
 2039 0d26 4795                 ror r20
 2040 0d28 3795                 ror r19
 2041 0d2a 2795                 ror r18
 2042 0d2c BA95                 dec r27
 2043 0d2e 01F4                 brne 1b
 2044 0d30 8091 0000            lds r24,Parameter_AchsKopplung2
 2045 0d34 682E                 mov r6,r24
 2046 0d36 7724                 clr r7
 2047 0d38 8824                 clr r8
 2048 0d3a 9924                 clr r9
 2049 0d3c CA01                 movw r24,r20
 2050 0d3e B901                 movw r22,r18
 2051 0d40 A401                 movw r20,r8
 2052 0d42 9301                 movw r18,r6
 2053 0d44 0E94 0000            call __mulsi3
 2054 0d48 DC01                 movw r26,r24
 2055 0d4a CB01                 movw r24,r22
 2056 0d4c 8093 0000            sts tmpl3.30,r24
 2057 0d50 9093 0000            sts (tmpl3.30)+1,r25
 2058 0d54 A093 0000            sts (tmpl3.30)+2,r26
 2059 0d58 B093 0000            sts (tmpl3.30)+3,r27
 2060 0d5c B7FF                 sbrs r27,7
 2061 0d5e 00C0                 rjmp .L83
 2062 0d60 8150                 subi r24,lo8(-(4095))
 2063 0d62 904F                 sbci r25,hi8(-(4095))
 2064 0d64 AF4F                 sbci r26,hlo8(-(4095))
 2065 0d66 BF4F                 sbci r27,hhi8(-(4095))
 2066                   .L83:
 2067 0d68 1C01                 movw r2,r24
 2068 0d6a 2D01                 movw r4,r26
 2069 0d6c ACE0                 ldi r26,12
 2070 0d6e 5594         1:      asr r5
 2071 0d70 4794                 ror r4
 2072 0d72 3794                 ror r3
 2073 0d74 2794                 ror r2
 2074 0d76 AA95                 dec r26
 2075 0d78 01F4                 brne 1b
 2076 0d7a 2092 0000            sts tmpl3.30,r2
 2077 0d7e 3092 0000            sts (tmpl3.30)+1,r3
 2078 0d82 4092 0000            sts (tmpl3.30)+2,r4
 2079 0d86 5092 0000            sts (tmpl3.30)+3,r5
 2080 0d8a 8091 0000            lds r24,MesswertNick
 2081 0d8e 9091 0000            lds r25,(MesswertNick)+1
 2082 0d92 AA27                 clr r26
 2083 0d94 97FD                 sbrc r25,7
 2084 0d96 A095                 com r26
 2085 0d98 BA2F                 mov r27,r26
 2086 0d9a BC01                 movw r22,r24
 2087 0d9c CD01                 movw r24,r26
 2088 0d9e 2D81                 ldd r18,Y+5
 2089 0da0 3E81                 ldd r19,Y+6
 2090 0da2 4F81                 ldd r20,Y+7
 2091 0da4 5885                 ldd r21,Y+8
 2092 0da6 0E94 0000            call __mulsi3
 2093 0daa 97FF                 sbrs r25,7
 2094 0dac 00C0                 rjmp .L84
 2095 0dae 6150                 subi r22,lo8(-(2047))
 2096 0db0 784F                 sbci r23,hi8(-(2047))
 2097 0db2 8F4F                 sbci r24,hlo8(-(2047))
 2098 0db4 9F4F                 sbci r25,hhi8(-(2047))
 2099                   .L84:
 2100 0db6 FBE0                 ldi r31,11
 2101 0db8 9595         1:      asr r25
 2102 0dba 8795                 ror r24
 2103 0dbc 7795                 ror r23
 2104 0dbe 6795                 ror r22
 2105 0dc0 FA95                 dec r31
 2106 0dc2 01F4                 brne 1b
 2107 0dc4 A401                 movw r20,r8
 2108 0dc6 9301                 movw r18,r6
 2109 0dc8 0E94 0000            call __mulsi3
 2110 0dcc DC01                 movw r26,r24
 2111 0dce CB01                 movw r24,r22
 2112 0dd0 8093 0000            sts tmpl4.31,r24
 2113 0dd4 9093 0000            sts (tmpl4.31)+1,r25
 2114 0dd8 A093 0000            sts (tmpl4.31)+2,r26
 2115 0ddc B093 0000            sts (tmpl4.31)+3,r27
 2116 0de0 B7FF                 sbrs r27,7
 2117 0de2 00C0                 rjmp .L85
 2118 0de4 8150                 subi r24,lo8(-(4095))
 2119 0de6 904F                 sbci r25,hi8(-(4095))
 2120 0de8 AF4F                 sbci r26,hlo8(-(4095))
 2121 0dea BF4F                 sbci r27,hhi8(-(4095))
 2122                   .L85:
 2123 0dec 9C01                 movw r18,r24
 2124 0dee AD01                 movw r20,r26
 2125 0df0 ECE0                 ldi r30,12
 2126 0df2 5595         1:      asr r21
 2127 0df4 4795                 ror r20
 2128 0df6 3795                 ror r19
 2129 0df8 2795                 ror r18
 2130 0dfa EA95                 dec r30
 2131 0dfc 01F4                 brne 1b
 2132 0dfe 2093 0000            sts tmpl4.31,r18
 2133 0e02 3093 0000            sts (tmpl4.31)+1,r19
 2134 0e06 4093 0000            sts (tmpl4.31)+2,r20
 2135 0e0a 5093 0000            sts (tmpl4.31)+3,r21
 2136 0e0e 8091 0000            lds r24,tmpl3.30
 2137 0e12 9091 0000            lds r25,(tmpl3.30)+1
 2138 0e16 9093 0000            sts (KopplungsteilNickRoll)+1,r25
 2139 0e1a 8093 0000            sts KopplungsteilNickRoll,r24
 2140 0e1e 8091 0000            lds r24,tmpl4.31
 2141 0e22 9091 0000            lds r25,(tmpl4.31)+1
 2142 0e26 9093 0000            sts (KopplungsteilRollNick)+1,r25
 2143 0e2a 8093 0000            sts KopplungsteilRollNick,r24
 2144 0e2e 2219                 sub r18,r2
 2145 0e30 3309                 sbc r19,r3
 2146 0e32 4409                 sbc r20,r4
 2147 0e34 5509                 sbc r21,r5
 2148 0e36 2093 0000            sts tmpl4.31,r18
 2149 0e3a 3093 0000            sts (tmpl4.31)+1,r19
 2150 0e3e 4093 0000            sts (tmpl4.31)+2,r20
 2151 0e42 5093 0000            sts (tmpl4.31)+3,r21
 2152 0e46 E20E                 add r14,r18
 2153 0e48 F31E                 adc r15,r19
 2154 0e4a 041F                 adc r16,r20
 2155 0e4c 151F                 adc r17,r21
 2156 0e4e E092 0000            sts ErsatzKompass,r14
 2157 0e52 F092 0000            sts (ErsatzKompass)+1,r15
 2158 0e56 0093 0000            sts (ErsatzKompass)+2,r16
 2159 0e5a 1093 0000            sts (ErsatzKompass)+3,r17
 2160 0e5e 8091 0000            lds r24,Parameter_CouplingYawCorrection
 2161 0e62 8823                 tst r24
 2162 0e64 01F4                 brne .L86
 2163 0e66 57FF                 sbrs r21,7
 2164 0e68 00C0                 rjmp .L87
 2165 0e6a 2F5F                 subi r18,lo8(-(1))
 2166 0e6c 3F4F                 sbci r19,hi8(-(1))
 2167 0e6e 4F4F                 sbci r20,hlo8(-(1))
 2168 0e70 5F4F                 sbci r21,hhi8(-(1))
 2169                   .L87:
 2170 0e72 5595                 asr r21
 2171 0e74 4795                 ror r20
 2172 0e76 3795                 ror r19
 2173 0e78 2795                 ror r18
 2174 0e7a A21A                 sub r10,r18
 2175 0e7c B30A                 sbc r11,r19
 2176 0e7e C40A                 sbc r12,r20
 2177 0e80 D50A                 sbc r13,r21
 2178 0e82 A092 0000            sts Mess_Integral_Gier,r10
 2179 0e86 B092 0000            sts (Mess_Integral_Gier)+1,r11
 2180 0e8a C092 0000            sts (Mess_Integral_Gier)+2,r12
 2181 0e8e D092 0000            sts (Mess_Integral_Gier)+3,r13
 2182                   .L86:
 2183 0e92 2A89                 ldd r18,Y+18
 2184 0e94 3B89                 ldd r19,Y+19
 2185 0e96 7901                 movw r14,r18
 2186 0e98 0027                 clr r16
 2187 0e9a F7FC                 sbrc r15,7
 2188 0e9c 0095                 com r16
 2189 0e9e 102F                 mov r17,r16
 2190 0ea0 8091 0000            lds r24,tmpl4.31
 2191 0ea4 9091 0000            lds r25,(tmpl4.31)+1
 2192 0ea8 A091 0000            lds r26,(tmpl4.31)+2
 2193 0eac B091 0000            lds r27,(tmpl4.31)+3
 2194 0eb0 E80E                 add r14,r24
 2195 0eb2 F91E                 adc r15,r25
 2196 0eb4 0A1F                 adc r16,r26
 2197 0eb6 1B1F                 adc r17,r27
 2198 0eb8 C801                 movw r24,r16
 2199 0eba B701                 movw r22,r14
 2200 0ebc 2981                 ldd r18,Y+1
 2201 0ebe 3A81                 ldd r19,Y+2
 2202 0ec0 4B81                 ldd r20,Y+3
 2203 0ec2 5C81                 ldd r21,Y+4
 2204 0ec4 0E94 0000            call __mulsi3
 2205 0ec8 9B01                 movw r18,r22
 2206 0eca AC01                 movw r20,r24
 2207 0ecc 97FF                 sbrs r25,7
 2208 0ece 00C0                 rjmp .L88
 2209 0ed0 2150                 subi r18,lo8(-(2047))
 2210 0ed2 384F                 sbci r19,hi8(-(2047))
 2211 0ed4 4F4F                 sbci r20,hlo8(-(2047))
 2212 0ed6 5F4F                 sbci r21,hhi8(-(2047))
 2213                   .L88:
 2214 0ed8 6BE0                 ldi r22,11
 2215 0eda 5595         1:      asr r21
 2216 0edc 4795                 ror r20
 2217 0ede 3795                 ror r19
 2218 0ee0 2795                 ror r18
 2219 0ee2 6A95                 dec r22
 2220 0ee4 01F4                 brne 1b
 2221 0ee6 8091 0000            lds r24,Parameter_AchsKopplung1
 2222 0eea A82E                 mov r10,r24
 2223 0eec BB24                 clr r11
 2224 0eee CC24                 clr r12
 2225 0ef0 DD24                 clr r13
 2226 0ef2 CA01                 movw r24,r20
 2227 0ef4 B901                 movw r22,r18
 2228 0ef6 A601                 movw r20,r12
 2229 0ef8 9501                 movw r18,r10
 2230 0efa 0E94 0000            call __mulsi3
 2231 0efe DC01                 movw r26,r24
 2232 0f00 CB01                 movw r24,r22
 2233 0f02 8093 0000            sts tmpl.28,r24
 2234 0f06 9093 0000            sts (tmpl.28)+1,r25
 2235 0f0a A093 0000            sts (tmpl.28)+2,r26
 2236 0f0e B093 0000            sts (tmpl.28)+3,r27
 2237 0f12 B7FF                 sbrs r27,7
 2238 0f14 00C0                 rjmp .L89
 2239 0f16 8150                 subi r24,lo8(-(4095))
 2240 0f18 904F                 sbci r25,hi8(-(4095))
 2241 0f1a AF4F                 sbci r26,hlo8(-(4095))
 2242 0f1c BF4F                 sbci r27,hhi8(-(4095))
 2243                   .L89:
 2244 0f1e 3C01                 movw r6,r24
 2245 0f20 4D01                 movw r8,r26
 2246 0f22 3CE0                 ldi r19,12
 2247 0f24 9594         1:      asr r9
 2248 0f26 8794                 ror r8
 2249 0f28 7794                 ror r7
 2250 0f2a 6794                 ror r6
 2251 0f2c 3A95                 dec r19
 2252 0f2e 01F4                 brne 1b
 2253 0f30 6092 0000            sts tmpl.28,r6
 2254 0f34 7092 0000            sts (tmpl.28)+1,r7
 2255 0f38 8092 0000            sts (tmpl.28)+2,r8
 2256 0f3c 9092 0000            sts (tmpl.28)+3,r9
 2257 0f40 C801                 movw r24,r16
 2258 0f42 B701                 movw r22,r14
 2259 0f44 2D81                 ldd r18,Y+5
 2260 0f46 3E81                 ldd r19,Y+6
 2261 0f48 4F81                 ldd r20,Y+7
 2262 0f4a 5885                 ldd r21,Y+8
 2263 0f4c 0E94 0000            call __mulsi3
 2264 0f50 97FF                 sbrs r25,7
 2265 0f52 00C0                 rjmp .L90
 2266 0f54 6150                 subi r22,lo8(-(2047))
 2267 0f56 784F                 sbci r23,hi8(-(2047))
 2268 0f58 8F4F                 sbci r24,hlo8(-(2047))
 2269 0f5a 9F4F                 sbci r25,hhi8(-(2047))
 2270                   .L90:
 2271 0f5c 2BE0                 ldi r18,11
 2272 0f5e 9595         1:      asr r25
 2273 0f60 8795                 ror r24
 2274 0f62 7795                 ror r23
 2275 0f64 6795                 ror r22
 2276 0f66 2A95                 dec r18
 2277 0f68 01F4                 brne 1b
 2278 0f6a A601                 movw r20,r12
 2279 0f6c 9501                 movw r18,r10
 2280 0f6e 0E94 0000            call __mulsi3
 2281 0f72 DC01                 movw r26,r24
 2282 0f74 CB01                 movw r24,r22
 2283 0f76 8093 0000            sts tmpl2.29,r24
 2284 0f7a 9093 0000            sts (tmpl2.29)+1,r25
 2285 0f7e A093 0000            sts (tmpl2.29)+2,r26
 2286 0f82 B093 0000            sts (tmpl2.29)+3,r27
 2287 0f86 B7FF                 sbrs r27,7
 2288 0f88 00C0                 rjmp .L91
 2289 0f8a 8150                 subi r24,lo8(-(4095))
 2290 0f8c 904F                 sbci r25,hi8(-(4095))
 2291 0f8e AF4F                 sbci r26,hlo8(-(4095))
 2292 0f90 BF4F                 sbci r27,hhi8(-(4095))
 2293                   .L91:
 2294 0f92 AC01                 movw r20,r24
 2295 0f94 BD01                 movw r22,r26
 2296 0f96 8CE0                 ldi r24,12
 2297 0f98 7595         1:      asr r23
 2298 0f9a 6795                 ror r22
 2299 0f9c 5795                 ror r21
 2300 0f9e 4795                 ror r20
 2301 0fa0 8A95                 dec r24
 2302 0fa2 01F4                 brne 1b
 2303 0fa4 4093 0000            sts tmpl2.29,r20
 2304 0fa8 5093 0000            sts (tmpl2.29)+1,r21
 2305 0fac 6093 0000            sts (tmpl2.29)+2,r22
 2306 0fb0 7093 0000            sts (tmpl2.29)+3,r23
 2307 0fb4 2A89                 ldd r18,Y+18
 2308 0fb6 3B89                 ldd r19,Y+19
 2309 0fb8 37FF                 sbrs r19,7
 2310 0fba 00C0                 rjmp .L93
 2311 0fbc 3095                 com r19
 2312 0fbe 2195                 neg r18
 2313 0fc0 3F4F                 sbci r19,lo8(-1)
 2314                   .L93:
 2315 0fc2 2134                 cpi r18,65
 2316 0fc4 3105                 cpc r19,__zero_reg__
 2317 0fc6 04F0                 brlt .L98
 2318 0fc8 D401                 movw r26,r8
 2319 0fca C301                 movw r24,r6
 2320 0fcc 97FE                 sbrs r9,7
 2321 0fce 00C0                 rjmp .L96
 2322 0fd0 B095                 com r27
 2323 0fd2 A095                 com r26
 2324 0fd4 9095                 com r25
 2325 0fd6 8195                 neg r24
 2326 0fd8 9F4F                 sbci r25,lo8(-1)
 2327 0fda AF4F                 sbci r26,lo8(-1)
 2328 0fdc BF4F                 sbci r27,lo8(-1)
 2329                   .L96:
 2330 0fde 8138                 cpi r24,lo8(129)
 2331 0fe0 9105                 cpc r25,__zero_reg__
 2332 0fe2 A105                 cpc r26,__zero_reg__
 2333 0fe4 B105                 cpc r27,__zero_reg__
 2334 0fe6 04F4                 brge .L95
 2335 0fe8 DB01                 movw r26,r22
 2336 0fea CA01                 movw r24,r20
 2337 0fec 77FF                 sbrs r23,7
 2338 0fee 00C0                 rjmp .L97
 2339 0ff0 B095                 com r27
 2340 0ff2 A095                 com r26
 2341 0ff4 9095                 com r25
 2342 0ff6 8195                 neg r24
 2343 0ff8 9F4F                 sbci r25,lo8(-1)
 2344 0ffa AF4F                 sbci r26,lo8(-1)
 2345 0ffc BF4F                 sbci r27,lo8(-1)
 2346                   .L97:
 2347 0ffe 8138                 cpi r24,lo8(129)
 2348 1000 9105                 cpc r25,__zero_reg__
 2349 1002 A105                 cpc r26,__zero_reg__
 2350 1004 B105                 cpc r27,__zero_reg__
 2351 1006 04F0                 brlt .L98
 2352                   .L95:
 2353 1008 81E0                 ldi r24,lo8(1)
 2354 100a 8093 0000            sts TrichterFlug,r24
 2355 100e 00C0                 rjmp .L98
 2356                   .L81:
 2357 1010 1092 0000            sts (KopplungsteilRollNick)+1,__zero_reg__
 2358 1014 1092 0000            sts KopplungsteilRollNick,__zero_reg__
 2359 1018 1092 0000            sts (KopplungsteilNickRoll)+1,__zero_reg__
 2360 101c 1092 0000            sts KopplungsteilNickRoll,__zero_reg__
 2361 1020 1092 0000            sts tmpl2.29,__zero_reg__
 2362 1024 1092 0000            sts (tmpl2.29)+1,__zero_reg__
 2363 1028 1092 0000            sts (tmpl2.29)+2,__zero_reg__
 2364 102c 1092 0000            sts (tmpl2.29)+3,__zero_reg__
 2365 1030 1092 0000            sts tmpl.28,__zero_reg__
 2366 1034 1092 0000            sts (tmpl.28)+1,__zero_reg__
 2367 1038 1092 0000            sts (tmpl.28)+2,__zero_reg__
 2368 103c 1092 0000            sts (tmpl.28)+3,__zero_reg__
 2369                   .L98:
 2370 1040 8091 0000            lds r24,tmpl2.29
 2371 1044 9091 0000            lds r25,(tmpl2.29)+1
 2372 1048 A091 0000            lds r26,(tmpl2.29)+2
 2373 104c B091 0000            lds r27,(tmpl2.29)+3
 2374 1050 BC01                 movw r22,r24
 2375 1052 CD01                 movw r24,r26
 2376 1054 24E6                 ldi r18,lo8(100)
 2377 1056 30E0                 ldi r19,hi8(100)
 2378 1058 40E0                 ldi r20,hlo8(100)
 2379 105a 50E0                 ldi r21,hhi8(100)
 2380 105c 0E94 0000            call __divmodsi4
 2381 1060 E090 0000            lds r14,tmpl.28
 2382 1064 F090 0000            lds r15,(tmpl.28)+1
 2383 1068 E21A                 sub r14,r18
 2384 106a F30A                 sbc r15,r19
 2385 106c F092 0000            sts (TrimRoll)+1,r15
 2386 1070 E092 0000            sts TrimRoll,r14
 2387 1074 8091 0000            lds r24,tmpl.28
 2388 1078 9091 0000            lds r25,(tmpl.28)+1
 2389 107c A091 0000            lds r26,(tmpl.28)+2
 2390 1080 B091 0000            lds r27,(tmpl.28)+3
 2391 1084 BC01                 movw r22,r24
 2392 1086 CD01                 movw r24,r26
 2393 1088 24E6                 ldi r18,lo8(100)
 2394 108a 30E0                 ldi r19,hi8(100)
 2395 108c 40E0                 ldi r20,hlo8(100)
 2396 108e 50E0                 ldi r21,hhi8(100)
 2397 1090 0E94 0000            call __divmodsi4
 2398 1094 DA01                 movw r26,r20
 2399 1096 C901                 movw r24,r18
 2400 1098 2091 0000            lds r18,tmpl2.29
 2401 109c 3091 0000            lds r19,(tmpl2.29)+1
 2402 10a0 8C01                 movw r16,r24
 2403 10a2 021B                 sub r16,r18
 2404 10a4 130B                 sbc r17,r19
 2405 10a6 1093 0000            sts (TrimNick)+1,r17
 2406 10aa 0093 0000            sts TrimNick,r16
 2407 10ae 8091 0000            lds r24,GIER_GRAD_FAKTOR
 2408 10b2 9091 0000            lds r25,(GIER_GRAD_FAKTOR)+1
 2409 10b6 A091 0000            lds r26,(GIER_GRAD_FAKTOR)+2
 2410 10ba B091 0000            lds r27,(GIER_GRAD_FAKTOR)+3
 2411 10be BC01                 movw r22,r24
 2412 10c0 CD01                 movw r24,r26
 2413 10c2 28E6                 ldi r18,lo8(360)
 2414 10c4 31E0                 ldi r19,hi8(360)
 2415 10c6 40E0                 ldi r20,hlo8(360)
 2416 10c8 50E0                 ldi r21,hhi8(360)
 2417 10ca 0E94 0000            call __mulsi3
 2418 10ce 2091 0000            lds r18,ErsatzKompass
 2419 10d2 3091 0000            lds r19,(ErsatzKompass)+1
 2420 10d6 4091 0000            lds r20,(ErsatzKompass)+2
 2421 10da 5091 0000            lds r21,(ErsatzKompass)+3
 2422 10de 2617                 cp r18,r22
 2423 10e0 3707                 cpc r19,r23
 2424 10e2 4807                 cpc r20,r24
 2425 10e4 5907                 cpc r21,r25
 2426 10e6 04F0                 brlt .L99
 2427 10e8 261B                 sub r18,r22
 2428 10ea 370B                 sbc r19,r23
 2429 10ec 480B                 sbc r20,r24
 2430 10ee 590B                 sbc r21,r25
 2431 10f0 2093 0000            sts ErsatzKompass,r18
 2432 10f4 3093 0000            sts (ErsatzKompass)+1,r19
 2433 10f8 4093 0000            sts (ErsatzKompass)+2,r20
 2434 10fc 5093 0000            sts (ErsatzKompass)+3,r21
 2435                   .L99:
 2436 1100 2091 0000            lds r18,ErsatzKompass
 2437 1104 3091 0000            lds r19,(ErsatzKompass)+1
 2438 1108 4091 0000            lds r20,(ErsatzKompass)+2
 2439 110c 5091 0000            lds r21,(ErsatzKompass)+3
 2440 1110 57FF                 sbrs r21,7
 2441 1112 00C0                 rjmp .L100
 2442 1114 260F                 add r18,r22
 2443 1116 371F                 adc r19,r23
 2444 1118 481F                 adc r20,r24
 2445 111a 591F                 adc r21,r25
 2446 111c 2093 0000            sts ErsatzKompass,r18
 2447 1120 3093 0000            sts (ErsatzKompass)+1,r19
 2448 1124 4093 0000            sts (ErsatzKompass)+2,r20
 2449 1128 5093 0000            sts (ErsatzKompass)+3,r21
 2450                   .L100:
 2451 112c 6091 0000            lds r22,MesswertRoll
 2452 1130 7091 0000            lds r23,(MesswertRoll)+1
 2453 1134 6E0D                 add r22,r14
 2454 1136 7F1D                 adc r23,r15
 2455 1138 9B01                 movw r18,r22
 2456 113a 4427                 clr r20
 2457 113c 37FD                 sbrc r19,7
 2458 113e 4095                 com r20
 2459 1140 542F                 mov r21,r20
 2460 1142 8091 0000            lds r24,Mess_IntegralRoll2
 2461 1146 9091 0000            lds r25,(Mess_IntegralRoll2)+1
 2462 114a A091 0000            lds r26,(Mess_IntegralRoll2)+2
 2463 114e B091 0000            lds r27,(Mess_IntegralRoll2)+3
 2464 1152 820F                 add r24,r18
 2465 1154 931F                 adc r25,r19
 2466 1156 A41F                 adc r26,r20
 2467 1158 B51F                 adc r27,r21
 2468 115a 8093 0000            sts Mess_IntegralRoll2,r24
 2469 115e 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 2470 1162 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 2471 1166 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 2472 116a 8091 0000            lds r24,LageKorrekturRoll
 2473 116e 9091 0000            lds r25,(LageKorrekturRoll)+1
 2474 1172 681B                 sub r22,r24
 2475 1174 790B                 sbc r23,r25
 2476 1176 CB01                 movw r24,r22
 2477 1178 AA27                 clr r26
 2478 117a 97FD                 sbrc r25,7
 2479 117c A095                 com r26
 2480 117e BA2F                 mov r27,r26
 2481 1180 2985                 ldd r18,Y+9
 2482 1182 3A85                 ldd r19,Y+10
 2483 1184 4B85                 ldd r20,Y+11
 2484 1186 5C85                 ldd r21,Y+12
 2485 1188 820F                 add r24,r18
 2486 118a 931F                 adc r25,r19
 2487 118c A41F                 adc r26,r20
 2488 118e B51F                 adc r27,r21
 2489 1190 8093 0000            sts Mess_IntegralRoll,r24
 2490 1194 9093 0000            sts (Mess_IntegralRoll)+1,r25
 2491 1198 A093 0000            sts (Mess_IntegralRoll)+2,r26
 2492 119c B093 0000            sts (Mess_IntegralRoll)+3,r27
 2493 11a0 C090 0000            lds r12,Umschlag180Roll
 2494 11a4 D090 0000            lds r13,(Umschlag180Roll)+1
 2495 11a8 E090 0000            lds r14,(Umschlag180Roll)+2
 2496 11ac F090 0000            lds r15,(Umschlag180Roll)+3
 2497 11b0 C816                 cp r12,r24
 2498 11b2 D906                 cpc r13,r25
 2499 11b4 EA06                 cpc r14,r26
 2500 11b6 FB06                 cpc r15,r27
 2501 11b8 04F4                 brge .L101
 2502 11ba 88EA                 ldi r24,lo8(25000)
 2503 11bc 91E6                 ldi r25,hi8(25000)
 2504 11be A0E0                 ldi r26,hlo8(25000)
 2505 11c0 B0E0                 ldi r27,hhi8(25000)
 2506 11c2 8C19                 sub r24,r12
 2507 11c4 9D09                 sbc r25,r13
 2508 11c6 AE09                 sbc r26,r14
 2509 11c8 BF09                 sbc r27,r15
 2510 11ca 8093 0000            sts Mess_IntegralRoll,r24
 2511 11ce 9093 0000            sts (Mess_IntegralRoll)+1,r25
 2512 11d2 A093 0000            sts (Mess_IntegralRoll)+2,r26
 2513 11d6 B093 0000            sts (Mess_IntegralRoll)+3,r27
 2514 11da 8093 0000            sts Mess_IntegralRoll2,r24
 2515 11de 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 2516 11e2 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 2517 11e6 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 2518                   .L101:
 2519 11ea 2227                 clr r18
 2520 11ec 3327                 clr r19
 2521 11ee A901                 movw r20,r18
 2522 11f0 2C19                 sub r18,r12
 2523 11f2 3D09                 sbc r19,r13
 2524 11f4 4E09                 sbc r20,r14
 2525 11f6 5F09                 sbc r21,r15
 2526 11f8 8091 0000            lds r24,Mess_IntegralRoll
 2527 11fc 9091 0000            lds r25,(Mess_IntegralRoll)+1
 2528 1200 A091 0000            lds r26,(Mess_IntegralRoll)+2
 2529 1204 B091 0000            lds r27,(Mess_IntegralRoll)+3
 2530 1208 8217                 cp r24,r18
 2531 120a 9307                 cpc r25,r19
 2532 120c A407                 cpc r26,r20
 2533 120e B507                 cpc r27,r21
 2534 1210 04F4                 brge .L102
 2535 1212 D701                 movw r26,r14
 2536 1214 C601                 movw r24,r12
 2537 1216 885A                 subi r24,lo8(-(-25000))
 2538 1218 9146                 sbci r25,hi8(-(-25000))
 2539 121a A040                 sbci r26,hlo8(-(-25000))
 2540 121c B040                 sbci r27,hhi8(-(-25000))
 2541 121e 8093 0000            sts Mess_IntegralRoll,r24
 2542 1222 9093 0000            sts (Mess_IntegralRoll)+1,r25
 2543 1226 A093 0000            sts (Mess_IntegralRoll)+2,r26
 2544 122a B093 0000            sts (Mess_IntegralRoll)+3,r27
 2545 122e 8093 0000            sts Mess_IntegralRoll2,r24
 2546 1232 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 2547 1236 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 2548 123a B093 0000            sts (Mess_IntegralRoll2)+3,r27
 2549                   .L102:
 2550 123e 6091 0000            lds r22,MesswertNick
 2551 1242 7091 0000            lds r23,(MesswertNick)+1
 2552 1246 600F                 add r22,r16
 2553 1248 711F                 adc r23,r17
 2554 124a 9B01                 movw r18,r22
 2555 124c 4427                 clr r20
 2556 124e 37FD                 sbrc r19,7
 2557 1250 4095                 com r20
 2558 1252 542F                 mov r21,r20
 2559 1254 8091 0000            lds r24,Mess_IntegralNick2
 2560 1258 9091 0000            lds r25,(Mess_IntegralNick2)+1
 2561 125c A091 0000            lds r26,(Mess_IntegralNick2)+2
 2562 1260 B091 0000            lds r27,(Mess_IntegralNick2)+3
 2563 1264 820F                 add r24,r18
 2564 1266 931F                 adc r25,r19
 2565 1268 A41F                 adc r26,r20
 2566 126a B51F                 adc r27,r21
 2567 126c 8093 0000            sts Mess_IntegralNick2,r24
 2568 1270 9093 0000            sts (Mess_IntegralNick2)+1,r25
 2569 1274 A093 0000            sts (Mess_IntegralNick2)+2,r26
 2570 1278 B093 0000            sts (Mess_IntegralNick2)+3,r27
 2571 127c 8091 0000            lds r24,LageKorrekturNick
 2572 1280 9091 0000            lds r25,(LageKorrekturNick)+1
 2573 1284 681B                 sub r22,r24
 2574 1286 790B                 sbc r23,r25
 2575 1288 CB01                 movw r24,r22
 2576 128a AA27                 clr r26
 2577 128c 97FD                 sbrc r25,7
 2578 128e A095                 com r26
 2579 1290 BA2F                 mov r27,r26
 2580 1292 2D85                 ldd r18,Y+13
 2581 1294 3E85                 ldd r19,Y+14
 2582 1296 4F85                 ldd r20,Y+15
 2583 1298 5889                 ldd r21,Y+16
 2584 129a 820F                 add r24,r18
 2585 129c 931F                 adc r25,r19
 2586 129e A41F                 adc r26,r20
 2587 12a0 B51F                 adc r27,r21
 2588 12a2 8093 0000            sts Mess_IntegralNick,r24
 2589 12a6 9093 0000            sts (Mess_IntegralNick)+1,r25
 2590 12aa A093 0000            sts (Mess_IntegralNick)+2,r26
 2591 12ae B093 0000            sts (Mess_IntegralNick)+3,r27
 2592 12b2 E090 0000            lds r14,Umschlag180Nick
 2593 12b6 F090 0000            lds r15,(Umschlag180Nick)+1
 2594 12ba 0091 0000            lds r16,(Umschlag180Nick)+2
 2595 12be 1091 0000            lds r17,(Umschlag180Nick)+3
 2596 12c2 E816                 cp r14,r24
 2597 12c4 F906                 cpc r15,r25
 2598 12c6 0A07                 cpc r16,r26
 2599 12c8 1B07                 cpc r17,r27
 2600 12ca 04F4                 brge .L103
 2601 12cc 88EA                 ldi r24,lo8(25000)
 2602 12ce 91E6                 ldi r25,hi8(25000)
 2603 12d0 A0E0                 ldi r26,hlo8(25000)
 2604 12d2 B0E0                 ldi r27,hhi8(25000)
 2605 12d4 8E19                 sub r24,r14
 2606 12d6 9F09                 sbc r25,r15
 2607 12d8 A00B                 sbc r26,r16
 2608 12da B10B                 sbc r27,r17
 2609 12dc 8093 0000            sts Mess_IntegralNick,r24
 2610 12e0 9093 0000            sts (Mess_IntegralNick)+1,r25
 2611 12e4 A093 0000            sts (Mess_IntegralNick)+2,r26
 2612 12e8 B093 0000            sts (Mess_IntegralNick)+3,r27
 2613 12ec 8093 0000            sts Mess_IntegralNick2,r24
 2614 12f0 9093 0000            sts (Mess_IntegralNick2)+1,r25
 2615 12f4 A093 0000            sts (Mess_IntegralNick2)+2,r26
 2616 12f8 B093 0000            sts (Mess_IntegralNick2)+3,r27
 2617                   .L103:
 2618 12fc 2227                 clr r18
 2619 12fe 3327                 clr r19
 2620 1300 A901                 movw r20,r18
 2621 1302 2E19                 sub r18,r14
 2622 1304 3F09                 sbc r19,r15
 2623 1306 400B                 sbc r20,r16
 2624 1308 510B                 sbc r21,r17
 2625 130a 8091 0000            lds r24,Mess_IntegralNick
 2626 130e 9091 0000            lds r25,(Mess_IntegralNick)+1
 2627 1312 A091 0000            lds r26,(Mess_IntegralNick)+2
 2628 1316 B091 0000            lds r27,(Mess_IntegralNick)+3
 2629 131a 8217                 cp r24,r18
 2630 131c 9307                 cpc r25,r19
 2631 131e A407                 cpc r26,r20
 2632 1320 B507                 cpc r27,r21
 2633 1322 04F4                 brge .L104
 2634 1324 D801                 movw r26,r16
 2635 1326 C701                 movw r24,r14
 2636 1328 885A                 subi r24,lo8(-(-25000))
 2637 132a 9146                 sbci r25,hi8(-(-25000))
 2638 132c A040                 sbci r26,hlo8(-(-25000))
 2639 132e B040                 sbci r27,hhi8(-(-25000))
 2640 1330 8093 0000            sts Mess_IntegralNick,r24
 2641 1334 9093 0000            sts (Mess_IntegralNick)+1,r25
 2642 1338 A093 0000            sts (Mess_IntegralNick)+2,r26
 2643 133c B093 0000            sts (Mess_IntegralNick)+3,r27
 2644 1340 8093 0000            sts Mess_IntegralNick2,r24
 2645 1344 9093 0000            sts (Mess_IntegralNick2)+1,r25
 2646 1348 A093 0000            sts (Mess_IntegralNick2)+2,r26
 2647 134c B093 0000            sts (Mess_IntegralNick2)+3,r27
 2648                   .L104:
 2649 1350 8091 0000            lds r24,Mess_Integral_Gier
 2650 1354 9091 0000            lds r25,(Mess_Integral_Gier)+1
 2651 1358 A091 0000            lds r26,(Mess_Integral_Gier)+2
 2652 135c B091 0000            lds r27,(Mess_Integral_Gier)+3
 2653 1360 8093 0000            sts Integral_Gier,r24
 2654 1364 9093 0000            sts (Integral_Gier)+1,r25
 2655 1368 A093 0000            sts (Integral_Gier)+2,r26
 2656 136c B093 0000            sts (Integral_Gier)+3,r27
 2657 1370 8091 0000            lds r24,Mess_IntegralNick
 2658 1374 9091 0000            lds r25,(Mess_IntegralNick)+1
 2659 1378 A091 0000            lds r26,(Mess_IntegralNick)+2
 2660 137c B091 0000            lds r27,(Mess_IntegralNick)+3
 2661 1380 8093 0000            sts IntegralNick,r24
 2662 1384 9093 0000            sts (IntegralNick)+1,r25
 2663 1388 A093 0000            sts (IntegralNick)+2,r26
 2664 138c B093 0000            sts (IntegralNick)+3,r27
 2665 1390 8091 0000            lds r24,Mess_IntegralRoll
 2666 1394 9091 0000            lds r25,(Mess_IntegralRoll)+1
 2667 1398 A091 0000            lds r26,(Mess_IntegralRoll)+2
 2668 139c B091 0000            lds r27,(Mess_IntegralRoll)+3
 2669 13a0 8093 0000            sts IntegralRoll,r24
 2670 13a4 9093 0000            sts (IntegralRoll)+1,r25
 2671 13a8 A093 0000            sts (IntegralRoll)+2,r26
 2672 13ac B093 0000            sts (IntegralRoll)+3,r27
 2673 13b0 8091 0000            lds r24,Mess_IntegralNick2
 2674 13b4 9091 0000            lds r25,(Mess_IntegralNick2)+1
 2675 13b8 A091 0000            lds r26,(Mess_IntegralNick2)+2
 2676 13bc B091 0000            lds r27,(Mess_IntegralNick2)+3
 2677 13c0 8093 0000            sts IntegralNick2,r24
 2678 13c4 9093 0000            sts (IntegralNick2)+1,r25
 2679 13c8 A093 0000            sts (IntegralNick2)+2,r26
 2680 13cc B093 0000            sts (IntegralNick2)+3,r27
 2681 13d0 8091 0000            lds r24,Mess_IntegralRoll2
 2682 13d4 9091 0000            lds r25,(Mess_IntegralRoll2)+1
 2683 13d8 A091 0000            lds r26,(Mess_IntegralRoll2)+2
 2684 13dc B091 0000            lds r27,(Mess_IntegralRoll2)+3
 2685 13e0 8093 0000            sts IntegralRoll2,r24
 2686 13e4 9093 0000            sts (IntegralRoll2)+1,r25
 2687 13e8 A093 0000            sts (IntegralRoll2)+2,r26
 2688 13ec B093 0000            sts (IntegralRoll2)+3,r27
 2689 13f0 8091 0000            lds r24,HiResNick
 2690 13f4 9091 0000            lds r25,(HiResNick)+1
 2691 13f8 97FD                 sbrc r25,7
 2692 13fa 0796                 adiw r24,7
 2693                   .L105:
 2694 13fc 03E0                 ldi r16,3
 2695 13fe 9595         1:      asr r25
 2696 1400 8795                 ror r24
 2697 1402 0A95                 dec r16
 2698 1404 01F4                 brne 1b
 2699 1406 9093 0000            sts (MesswertNick)+1,r25
 2700 140a 8093 0000            sts MesswertNick,r24
 2701 140e 8091 0000            lds r24,HiResRoll
 2702 1412 9091 0000            lds r25,(HiResRoll)+1
 2703 1416 97FD                 sbrc r25,7
 2704 1418 0796                 adiw r24,7
 2705                   .L106:
 2706 141a 13E0                 ldi r17,3
 2707 141c 9595         1:      asr r25
 2708 141e 8795                 ror r24
 2709 1420 1A95                 dec r17
 2710 1422 01F4                 brne 1b
 2711 1424 9093 0000            sts (MesswertRoll)+1,r25
 2712 1428 8093 0000            sts MesswertRoll,r24
 2713 142c 8091 0000            lds r24,AdWertNick
 2714 1430 9091 0000            lds r25,(AdWertNick)+1
 2715 1434 0F97                 sbiw r24,15
 2716 1436 04F4                 brge .L107
 2717 1438 88E1                 ldi r24,lo8(-1000)
 2718 143a 9CEF                 ldi r25,hi8(-1000)
 2719 143c 9093 0000            sts (MesswertNick)+1,r25
 2720 1440 8093 0000            sts MesswertNick,r24
 2721                   .L107:
 2722 1444 8091 0000            lds r24,AdWertNick
 2723 1448 9091 0000            lds r25,(AdWertNick)+1
 2724 144c 0797                 sbiw r24,7
 2725 144e 04F4                 brge .L108
 2726 1450 80E3                 ldi r24,lo8(-2000)
 2727 1452 98EF                 ldi r25,hi8(-2000)
 2728 1454 9093 0000            sts (MesswertNick)+1,r25
 2729 1458 8093 0000            sts MesswertNick,r24
 2730                   .L108:
 2731 145c 2091 0000            lds r18,PlatinenVersion
 2732 1460 2A30                 cpi r18,lo8(10)
 2733 1462 01F4                 brne .L109
 2734 1464 8091 0000            lds r24,AdWertNick
 2735 1468 9091 0000            lds r25,(AdWertNick)+1
 2736 146c 835F                 subi r24,lo8(1011)
 2737 146e 9340                 sbci r25,hi8(1011)
 2738 1470 04F0                 brlt .L110
 2739 1472 88EE                 ldi r24,lo8(1000)
 2740 1474 93E0                 ldi r25,hi8(1000)
 2741 1476 9093 0000            sts (MesswertNick)+1,r25
 2742 147a 8093 0000            sts MesswertNick,r24
 2743                   .L110:
 2744 147e 8091 0000            lds r24,AdWertNick
 2745 1482 9091 0000            lds r25,(AdWertNick)+1
 2746 1486 8A5F                 subi r24,lo8(1018)
 2747 1488 9340                 sbci r25,hi8(1018)
 2748 148a 04F0                 brlt .L112
 2749 148c 00C0                 rjmp .L155
 2750                   .L109:
 2751 148e 8091 0000            lds r24,AdWertNick
 2752 1492 9091 0000            lds r25,(AdWertNick)+1
 2753 1496 815D                 subi r24,lo8(2001)
 2754 1498 9740                 sbci r25,hi8(2001)
 2755 149a 04F0                 brlt .L113
 2756 149c 88EE                 ldi r24,lo8(1000)
 2757 149e 93E0                 ldi r25,hi8(1000)
 2758 14a0 9093 0000            sts (MesswertNick)+1,r25
 2759 14a4 8093 0000            sts MesswertNick,r24
 2760                   .L113:
 2761 14a8 8091 0000            lds r24,AdWertNick
 2762 14ac 9091 0000            lds r25,(AdWertNick)+1
 2763 14b0 805E                 subi r24,lo8(2016)
 2764 14b2 9740                 sbci r25,hi8(2016)
 2765 14b4 04F0                 brlt .L112
 2766                   .L155:
 2767 14b6 80ED                 ldi r24,lo8(2000)
 2768 14b8 97E0                 ldi r25,hi8(2000)
 2769 14ba 9093 0000            sts (MesswertNick)+1,r25
 2770 14be 8093 0000            sts MesswertNick,r24
 2771                   .L112:
 2772 14c2 8091 0000            lds r24,AdWertRoll
 2773 14c6 9091 0000            lds r25,(AdWertRoll)+1
 2774 14ca 0F97                 sbiw r24,15
 2775 14cc 04F4                 brge .L115
 2776 14ce 88E1                 ldi r24,lo8(-1000)
 2777 14d0 9CEF                 ldi r25,hi8(-1000)
 2778 14d2 9093 0000            sts (MesswertRoll)+1,r25
 2779 14d6 8093 0000            sts MesswertRoll,r24
 2780                   .L115:
 2781 14da 8091 0000            lds r24,AdWertRoll
 2782 14de 9091 0000            lds r25,(AdWertRoll)+1
 2783 14e2 0797                 sbiw r24,7
 2784 14e4 04F4                 brge .L116
 2785 14e6 80E3                 ldi r24,lo8(-2000)
 2786 14e8 98EF                 ldi r25,hi8(-2000)
 2787 14ea 9093 0000            sts (MesswertRoll)+1,r25
 2788 14ee 8093 0000            sts MesswertRoll,r24
 2789                   .L116:
 2790 14f2 2A30                 cpi r18,lo8(10)
 2791 14f4 01F4                 brne .L117
 2792 14f6 8091 0000            lds r24,AdWertRoll
 2793 14fa 9091 0000            lds r25,(AdWertRoll)+1
 2794 14fe 835F                 subi r24,lo8(1011)
 2795 1500 9340                 sbci r25,hi8(1011)
 2796 1502 04F0                 brlt .L118
 2797 1504 88EE                 ldi r24,lo8(1000)
 2798 1506 93E0                 ldi r25,hi8(1000)
 2799 1508 9093 0000            sts (MesswertRoll)+1,r25
 2800 150c 8093 0000            sts MesswertRoll,r24
 2801                   .L118:
 2802 1510 8091 0000            lds r24,AdWertRoll
 2803 1514 9091 0000            lds r25,(AdWertRoll)+1
 2804 1518 8A5F                 subi r24,lo8(1018)
 2805 151a 9340                 sbci r25,hi8(1018)
 2806 151c 04F0                 brlt .L120
 2807 151e 00C0                 rjmp .L156
 2808                   .L117:
 2809 1520 8091 0000            lds r24,AdWertRoll
 2810 1524 9091 0000            lds r25,(AdWertRoll)+1
 2811 1528 815D                 subi r24,lo8(2001)
 2812 152a 9740                 sbci r25,hi8(2001)
 2813 152c 04F0                 brlt .L121
 2814 152e 88EE                 ldi r24,lo8(1000)
 2815 1530 93E0                 ldi r25,hi8(1000)
 2816 1532 9093 0000            sts (MesswertRoll)+1,r25
 2817 1536 8093 0000            sts MesswertRoll,r24
 2818                   .L121:
 2819 153a 8091 0000            lds r24,AdWertRoll
 2820 153e 9091 0000            lds r25,(AdWertRoll)+1
 2821 1542 805E                 subi r24,lo8(2016)
 2822 1544 9740                 sbci r25,hi8(2016)
 2823 1546 04F0                 brlt .L120
 2824                   .L156:
 2825 1548 80ED                 ldi r24,lo8(2000)
 2826 154a 97E0                 ldi r25,hi8(2000)
 2827 154c 9093 0000            sts (MesswertRoll)+1,r25
 2828 1550 8093 0000            sts MesswertRoll,r24
 2829                   .L120:
 2830 1554 6091 0000            lds r22,Parameter_Gyro_D
 2831 1558 6623                 tst r22
 2832 155a 01F4                 brne .+2
 2833 155c 00C0                 rjmp .L123
 2834 155e 4091 0000            lds r20,HiResNick
 2835 1562 5091 0000            lds r21,(HiResNick)+1
 2836 1566 8091 0000            lds r24,oldNick.32
 2837 156a 9091 0000            lds r25,(oldNick.32)+1
 2838 156e 481B                 sub r20,r24
 2839 1570 590B                 sbc r21,r25
 2840 1572 5093 0000            sts (d2Nick.35)+1,r21
 2841 1576 4093 0000            sts d2Nick.35,r20
 2842 157a 2091 0000            lds r18,HiResNick
 2843 157e 3091 0000            lds r19,(HiResNick)+1
 2844 1582 280F                 add r18,r24
 2845 1584 391F                 adc r19,r25
 2846 1586 37FF                 sbrs r19,7
 2847 1588 00C0                 rjmp .L124
 2848 158a 2F5F                 subi r18,lo8(-(1))
 2849 158c 3F4F                 sbci r19,hi8(-(1))
 2850                   .L124:
 2851 158e 3595                 asr r19
 2852 1590 2795                 ror r18
 2853 1592 3093 0000            sts (oldNick.32)+1,r19
 2854 1596 2093 0000            sts oldNick.32,r18
 2855 159a 4138                 cpi r20,129
 2856 159c 5105                 cpc r21,__zero_reg__
 2857 159e 04F0                 brlt .L125
 2858 15a0 80E8                 ldi r24,lo8(128)
 2859 15a2 90E0                 ldi r25,hi8(128)
 2860 15a4 00C0                 rjmp .L157
 2861                   .L125:
 2862 15a6 4058                 subi r20,lo8(-128)
 2863 15a8 5F4F                 sbci r21,hi8(-128)
 2864 15aa 04F4                 brge .L126
 2865 15ac 80E8                 ldi r24,lo8(-128)
 2866 15ae 9FEF                 ldi r25,hi8(-128)
 2867                   .L157:
 2868 15b0 9093 0000            sts (d2Nick.35)+1,r25
 2869 15b4 8093 0000            sts d2Nick.35,r24
 2870                   .L126:
 2871 15b8 4091 0000            lds r20,HiResRoll
 2872 15bc 5091 0000            lds r21,(HiResRoll)+1
 2873 15c0 8091 0000            lds r24,oldRoll.33
 2874 15c4 9091 0000            lds r25,(oldRoll.33)+1
 2875 15c8 481B                 sub r20,r24
 2876 15ca 590B                 sbc r21,r25
 2877 15cc 5093 0000            sts (d2Roll.34)+1,r21
 2878 15d0 4093 0000            sts d2Roll.34,r20
 2879 15d4 2091 0000            lds r18,HiResRoll
 2880 15d8 3091 0000            lds r19,(HiResRoll)+1
 2881 15dc 280F                 add r18,r24
 2882 15de 391F                 adc r19,r25
 2883 15e0 37FF                 sbrs r19,7
 2884 15e2 00C0                 rjmp .L128
 2885 15e4 2F5F                 subi r18,lo8(-(1))
 2886 15e6 3F4F                 sbci r19,hi8(-(1))
 2887                   .L128:
 2888 15e8 3595                 asr r19
 2889 15ea 2795                 ror r18
 2890 15ec 3093 0000            sts (oldRoll.33)+1,r19
 2891 15f0 2093 0000            sts oldRoll.33,r18
 2892 15f4 4138                 cpi r20,129
 2893 15f6 5105                 cpc r21,__zero_reg__
 2894 15f8 04F0                 brlt .L129
 2895 15fa 80E8                 ldi r24,lo8(128)
 2896 15fc 90E0                 ldi r25,hi8(128)
 2897 15fe 00C0                 rjmp .L158
 2898                   .L129:
 2899 1600 4058                 subi r20,lo8(-128)
 2900 1602 5F4F                 sbci r21,hi8(-128)
 2901 1604 04F4                 brge .L130
 2902 1606 80E8                 ldi r24,lo8(-128)
 2903 1608 9FEF                 ldi r25,hi8(-128)
 2904                   .L158:
 2905 160a 9093 0000            sts (d2Roll.34)+1,r25
 2906 160e 8093 0000            sts d2Roll.34,r24
 2907                   .L130:
 2908 1612 462F                 mov r20,r22
 2909 1614 5527                 clr r21
 2910 1616 8091 0000            lds r24,d2Nick.35
 2911 161a 9091 0000            lds r25,(d2Nick.35)+1
 2912 161e 849F                 mul r24,r20
 2913 1620 B001                 movw r22,r0
 2914 1622 859F                 mul r24,r21
 2915 1624 700D                 add r23,r0
 2916 1626 949F                 mul r25,r20
 2917 1628 700D                 add r23,r0
 2918 162a 1124                 clr r1
 2919 162c 9B01                 movw r18,r22
 2920 162e 77FF                 sbrs r23,7
 2921 1630 00C0                 rjmp .L132
 2922 1632 215F                 subi r18,lo8(-(15))
 2923 1634 3F4F                 sbci r19,hi8(-(15))
 2924                   .L132:
 2925 1636 F4E0                 ldi r31,4
 2926 1638 3595         1:      asr r19
 2927 163a 2795                 ror r18
 2928 163c FA95                 dec r31
 2929 163e 01F4                 brne 1b
 2930 1640 8091 0000            lds r24,MesswertNick
 2931 1644 9091 0000            lds r25,(MesswertNick)+1
 2932 1648 820F                 add r24,r18
 2933 164a 931F                 adc r25,r19
 2934 164c 9093 0000            sts (MesswertNick)+1,r25
 2935 1650 8093 0000            sts MesswertNick,r24
 2936 1654 8091 0000            lds r24,d2Roll.34
 2937 1658 9091 0000            lds r25,(d2Roll.34)+1
 2938 165c 849F                 mul r24,r20
 2939 165e D001                 movw r26,r0
 2940 1660 859F                 mul r24,r21
 2941 1662 B00D                 add r27,r0
 2942 1664 949F                 mul r25,r20
 2943 1666 B00D                 add r27,r0
 2944 1668 1124                 clr r1
 2945 166a AD01                 movw r20,r26
 2946 166c 9D01                 movw r18,r26
 2947 166e B7FF                 sbrs r27,7
 2948 1670 00C0                 rjmp .L133
 2949 1672 215F                 subi r18,lo8(-(15))
 2950 1674 3F4F                 sbci r19,hi8(-(15))
 2951                   .L133:
 2952 1676 E4E0                 ldi r30,4
 2953 1678 3595         1:      asr r19
 2954 167a 2795                 ror r18
 2955 167c EA95                 dec r30
 2956 167e 01F4                 brne 1b
 2957 1680 8091 0000            lds r24,MesswertRoll
 2958 1684 9091 0000            lds r25,(MesswertRoll)+1
 2959 1688 820F                 add r24,r18
 2960 168a 931F                 adc r25,r19
 2961 168c 9093 0000            sts (MesswertRoll)+1,r25
 2962 1690 8093 0000            sts MesswertRoll,r24
 2963 1694 8091 0000            lds r24,HiResNick
 2964 1698 9091 0000            lds r25,(HiResNick)+1
 2965 169c 860F                 add r24,r22
 2966 169e 971F                 adc r25,r23
 2967 16a0 9093 0000            sts (HiResNick)+1,r25
 2968 16a4 8093 0000            sts HiResNick,r24
 2969 16a8 8091 0000            lds r24,HiResRoll
 2970 16ac 9091 0000            lds r25,(HiResRoll)+1
 2971 16b0 840F                 add r24,r20
 2972 16b2 951F                 adc r25,r21
 2973 16b4 9093 0000            sts (HiResRoll)+1,r25
 2974 16b8 8093 0000            sts HiResRoll,r24
 2975                   .L123:
 2976 16bc 0091 0000            lds r16,RohMesswertRoll
 2977 16c0 1091 0000            lds r17,(RohMesswertRoll)+1
 2978 16c4 8091 0000            lds r24,KopplungsteilNickRoll
 2979 16c8 9091 0000            lds r25,(KopplungsteilNickRoll)+1
 2980 16cc 1016                 cp __zero_reg__,r16
 2981 16ce 1106                 cpc __zero_reg__,r17
 2982 16d0 04F4                 brge .L134
 2983 16d2 9C01                 movw r18,r24
 2984 16d4 97FF                 sbrs r25,7
 2985 16d6 00C0                 rjmp .L135
 2986 16d8 2227                 clr r18
 2987 16da 3327                 clr r19
 2988 16dc 281B                 sub r18,r24
 2989 16de 390B                 sbc r19,r25
 2990                   .L135:
 2991 16e0 C901                 movw r24,r18
 2992 16e2 AA27                 clr r26
 2993 16e4 97FD                 sbrc r25,7
 2994 16e6 A095                 com r26
 2995 16e8 BA2F                 mov r27,r26
 2996 16ea 2091 0000            lds r18,Parameter_CouplingYawCorrection
 2997 16ee 3327                 clr r19
 2998 16f0 4427                 clr r20
 2999 16f2 5527                 clr r21
 3000 16f4 BC01                 movw r22,r24
 3001 16f6 CD01                 movw r24,r26
 3002 16f8 0E94 0000            call __mulsi3
 3003 16fc 9B01                 movw r18,r22
 3004 16fe AC01                 movw r20,r24
 3005 1700 97FF                 sbrs r25,7
 3006 1702 00C0                 rjmp .L136
 3007 1704 215C                 subi r18,lo8(-(63))
 3008 1706 3F4F                 sbci r19,hi8(-(63))
 3009 1708 4F4F                 sbci r20,hlo8(-(63))
 3010 170a 5F4F                 sbci r21,hhi8(-(63))
 3011                   .L136:
 3012 170c 76E0                 ldi r23,6
 3013 170e 5595         1:      asr r21
 3014 1710 4795                 ror r20
 3015 1712 3795                 ror r19
 3016 1714 2795                 ror r18
 3017 1716 7A95                 dec r23
 3018 1718 01F4                 brne 1b
 3019 171a 8091 0000            lds r24,TrimRoll
 3020 171e 9091 0000            lds r25,(TrimRoll)+1
 3021 1722 820F                 add r24,r18
 3022 1724 931F                 adc r25,r19
 3023 1726 00C0                 rjmp .L159
 3024                   .L134:
 3025 1728 97FF                 sbrs r25,7
 3026 172a 00C0                 rjmp .L138
 3027 172c 9095                 com r25
 3028 172e 8195                 neg r24
 3029 1730 9F4F                 sbci r25,lo8(-1)
 3030                   .L138:
 3031 1732 AA27                 clr r26
 3032 1734 97FD                 sbrc r25,7
 3033 1736 A095                 com r26
 3034 1738 BA2F                 mov r27,r26
 3035 173a 2091 0000            lds r18,Parameter_CouplingYawCorrection
 3036 173e 3327                 clr r19
 3037 1740 4427                 clr r20
 3038 1742 5527                 clr r21
 3039 1744 BC01                 movw r22,r24
 3040 1746 CD01                 movw r24,r26
 3041 1748 0E94 0000            call __mulsi3
 3042 174c 9B01                 movw r18,r22
 3043 174e AC01                 movw r20,r24
 3044 1750 97FF                 sbrs r25,7
 3045 1752 00C0                 rjmp .L139
 3046 1754 215C                 subi r18,lo8(-(63))
 3047 1756 3F4F                 sbci r19,hi8(-(63))
 3048 1758 4F4F                 sbci r20,hlo8(-(63))
 3049 175a 5F4F                 sbci r21,hhi8(-(63))
 3050                   .L139:
 3051 175c 66E0                 ldi r22,6
 3052 175e 5595         1:      asr r21
 3053 1760 4795                 ror r20
 3054 1762 3795                 ror r19
 3055 1764 2795                 ror r18
 3056 1766 6A95                 dec r22
 3057 1768 01F4                 brne 1b
 3058 176a 8091 0000            lds r24,TrimRoll
 3059 176e 9091 0000            lds r25,(TrimRoll)+1
 3060 1772 821B                 sub r24,r18
 3061 1774 930B                 sbc r25,r19
 3062                   .L159:
 3063 1776 9093 0000            sts (TrimRoll)+1,r25
 3064 177a 8093 0000            sts TrimRoll,r24
 3065 177e E090 0000            lds r14,RohMesswertNick
 3066 1782 F090 0000            lds r15,(RohMesswertNick)+1
 3067 1786 8091 0000            lds r24,KopplungsteilRollNick
 3068 178a 9091 0000            lds r25,(KopplungsteilRollNick)+1
 3069 178e 1E14                 cp __zero_reg__,r14
 3070 1790 1F04                 cpc __zero_reg__,r15
 3071 1792 04F4                 brge .L140
 3072 1794 9C01                 movw r18,r24
 3073 1796 97FF                 sbrs r25,7
 3074 1798 00C0                 rjmp .L141
 3075 179a 2227                 clr r18
 3076 179c 3327                 clr r19
 3077 179e 281B                 sub r18,r24
 3078 17a0 390B                 sbc r19,r25
 3079                   .L141:
 3080 17a2 C901                 movw r24,r18
 3081 17a4 AA27                 clr r26
 3082 17a6 97FD                 sbrc r25,7
 3083 17a8 A095                 com r26
 3084 17aa BA2F                 mov r27,r26
 3085 17ac 2091 0000            lds r18,Parameter_CouplingYawCorrection
 3086 17b0 3327                 clr r19
 3087 17b2 4427                 clr r20
 3088 17b4 5527                 clr r21
 3089 17b6 BC01                 movw r22,r24
 3090 17b8 CD01                 movw r24,r26
 3091 17ba 0E94 0000            call __mulsi3
 3092 17be 9B01                 movw r18,r22
 3093 17c0 AC01                 movw r20,r24
 3094 17c2 97FF                 sbrs r25,7
 3095 17c4 00C0                 rjmp .L142
 3096 17c6 215C                 subi r18,lo8(-(63))
 3097 17c8 3F4F                 sbci r19,hi8(-(63))
 3098 17ca 4F4F                 sbci r20,hlo8(-(63))
 3099 17cc 5F4F                 sbci r21,hhi8(-(63))
 3100                   .L142:
 3101 17ce 96E0                 ldi r25,6
 3102 17d0 5595         1:      asr r21
 3103 17d2 4795                 ror r20
 3104 17d4 3795                 ror r19
 3105 17d6 2795                 ror r18
 3106 17d8 9A95                 dec r25
 3107 17da 01F4                 brne 1b
 3108 17dc 8091 0000            lds r24,TrimNick
 3109 17e0 9091 0000            lds r25,(TrimNick)+1
 3110 17e4 820F                 add r24,r18
 3111 17e6 931F                 adc r25,r19
 3112 17e8 00C0                 rjmp .L160
 3113                   .L140:
 3114 17ea 97FF                 sbrs r25,7
 3115 17ec 00C0                 rjmp .L144
 3116 17ee 9095                 com r25
 3117 17f0 8195                 neg r24
 3118 17f2 9F4F                 sbci r25,lo8(-1)
 3119                   .L144:
 3120 17f4 AA27                 clr r26
 3121 17f6 97FD                 sbrc r25,7
 3122 17f8 A095                 com r26
 3123 17fa BA2F                 mov r27,r26
 3124 17fc 2091 0000            lds r18,Parameter_CouplingYawCorrection
 3125 1800 3327                 clr r19
 3126 1802 4427                 clr r20
 3127 1804 5527                 clr r21
 3128 1806 BC01                 movw r22,r24
 3129 1808 CD01                 movw r24,r26
 3130 180a 0E94 0000            call __mulsi3
 3131 180e 9B01                 movw r18,r22
 3132 1810 AC01                 movw r20,r24
 3133 1812 97FF                 sbrs r25,7
 3134 1814 00C0                 rjmp .L145
 3135 1816 215C                 subi r18,lo8(-(63))
 3136 1818 3F4F                 sbci r19,hi8(-(63))
 3137 181a 4F4F                 sbci r20,hlo8(-(63))
 3138 181c 5F4F                 sbci r21,hhi8(-(63))
 3139                   .L145:
 3140 181e 86E0                 ldi r24,6
 3141 1820 5595         1:      asr r21
 3142 1822 4795                 ror r20
 3143 1824 3795                 ror r19
 3144 1826 2795                 ror r18
 3145 1828 8A95                 dec r24
 3146 182a 01F4                 brne 1b
 3147 182c 8091 0000            lds r24,TrimNick
 3148 1830 9091 0000            lds r25,(TrimNick)+1
 3149 1834 821B                 sub r24,r18
 3150 1836 930B                 sbc r25,r19
 3151                   .L160:
 3152 1838 9093 0000            sts (TrimNick)+1,r25
 3153 183c 8093 0000            sts TrimNick,r24
 3154 1840 8091 0000            lds r24,Parameter_GlobalConfig
 3155 1844 87FF                 sbrs r24,7
 3156 1846 00C0                 rjmp .L68
 3157 1848 B989                 ldd r27,Y+17
 3158 184a BB23                 tst r27
 3159 184c 01F0                 breq .+2
 3160 184e 00C0                 rjmp .L68
 3161 1850 8091 0000            lds r24,Looping_Roll
 3162 1854 8823                 tst r24
 3163 1856 01F4                 brne .L68
 3164 1858 E1E0                 ldi r30,lo8(257)
 3165 185a EE16                 cp r14,r30
 3166 185c E1E0                 ldi r30,hi8(257)
 3167 185e FE06                 cpc r15,r30
 3168 1860 04F0                 brlt .L147
 3169 1862 8091 0000            lds r24,MesswertNick
 3170 1866 9091 0000            lds r25,(MesswertNick)+1
 3171 186a 8E0D                 add r24,r14
 3172 186c 9F1D                 adc r25,r15
 3173 186e 8050                 subi r24,lo8(-(-256))
 3174 1870 9140                 sbci r25,hi8(-(-256))
 3175 1872 00C0                 rjmp .L161
 3176                   .L147:
 3177 1874 F0E0                 ldi r31,lo8(-256)
 3178 1876 EF16                 cp r14,r31
 3179 1878 FFEF                 ldi r31,hi8(-256)
 3180 187a FF06                 cpc r15,r31
 3181 187c 04F4                 brge .L148
 3182 187e 8091 0000            lds r24,MesswertNick
 3183 1882 9091 0000            lds r25,(MesswertNick)+1
 3184 1886 8E0D                 add r24,r14
 3185 1888 9F1D                 adc r25,r15
 3186 188a 8050                 subi r24,lo8(-(256))
 3187 188c 9F4F                 sbci r25,hi8(-(256))
 3188                   .L161:
 3189 188e 9093 0000            sts (MesswertNick)+1,r25
 3190 1892 8093 0000            sts MesswertNick,r24
 3191                   .L148:
 3192 1896 21E0                 ldi r18,hi8(257)
 3193 1898 0130                 cpi r16,lo8(257)
 3194 189a 1207                 cpc r17,r18
 3195 189c 04F0                 brlt .L150
 3196 189e 8091 0000            lds r24,MesswertRoll
 3197 18a2 9091 0000            lds r25,(MesswertRoll)+1
 3198 18a6 800F                 add r24,r16
 3199 18a8 911F                 adc r25,r17
 3200 18aa 8050                 subi r24,lo8(-(-256))
 3201 18ac 9140                 sbci r25,hi8(-(-256))
 3202 18ae 00C0                 rjmp .L162
 3203                   .L150:
 3204 18b0 3FEF                 ldi r19,hi8(-256)
 3205 18b2 0030                 cpi r16,lo8(-256)
 3206 18b4 1307                 cpc r17,r19
 3207 18b6 04F4                 brge .L68
 3208 18b8 8091 0000            lds r24,MesswertRoll
 3209 18bc 9091 0000            lds r25,(MesswertRoll)+1
 3210 18c0 800F                 add r24,r16
 3211 18c2 911F                 adc r25,r17
 3212 18c4 8050                 subi r24,lo8(-(256))
 3213 18c6 9F4F                 sbci r25,hi8(-(256))
 3214                   .L162:
 3215 18c8 9093 0000            sts (MesswertRoll)+1,r25
 3216 18cc 8093 0000            sts MesswertRoll,r24
 3217                   .L68:
 3218                   /* epilogue: frame size=19 */
 3219 18d0 E2E1                 ldi r30,18
 3220 18d2 CD5E                 subi r28,-19
 3221 18d4 0C94 0000            jmp __epilogue_restores__+0
 3222                   /* epilogue end (size=4) */
 3223                   /* function Mittelwert size 2000 (1990) */
 3225                   .global SendMotorData
 3227                   SendMotorData:
 3228                   /* prologue: frame size=0 */
 3229                   /* prologue end (size=0) */
 3230 18d8 8091 0000            lds r24,MotorenEin
 3231 18dc 8823                 tst r24
 3232 18de 01F4                 brne .L164
 3233 18e0 8091 0000            lds r24,FC_StatusFlags
 3234 18e4 8C7F                 andi r24,lo8(-4)
 3235 18e6 8093 0000            sts FC_StatusFlags,r24
 3236 18ea A0E0                 ldi r26,lo8(MotorTest)
 3237 18ec B0E0                 ldi r27,hi8(MotorTest)
 3238 18ee E0E0                 ldi r30,lo8(Motor)
 3239 18f0 F0E0                 ldi r31,hi8(Motor)
 3240 18f2 9BE0                 ldi r25,lo8(11)
 3241                   .L169:
 3242 18f4 8091 0000            lds r24,PC_MotortestActive
 3243 18f8 8823                 tst r24
 3244 18fa 01F4                 brne .L168
 3245 18fc 8C93                 st X,r24
 3246                   .L168:
 3247 18fe 8D91                 ld r24,X+
 3248 1900 8183                 std Z+1,r24
 3249 1902 1282                 std Z+2,__zero_reg__
 3250 1904 9150                 subi r25,lo8(-(-1))
 3251 1906 3896                 adiw r30,8
 3252 1908 97FF                 sbrs r25,7
 3253 190a 00C0                 rjmp .L169
 3254 190c 8091 0000            lds r24,PC_MotortestActive
 3255 1910 8823                 tst r24
 3256 1912 01F0                 breq .L171
 3257 1914 8091 0000            lds r24,PC_MotortestActive
 3258 1918 8150                 subi r24,lo8(-(-1))
 3259 191a 8093 0000            sts PC_MotortestActive,r24
 3260 191e 00C0                 rjmp .L171
 3261                   .L164:
 3262 1920 8091 0000            lds r24,FC_StatusFlags
 3263 1924 8160                 ori r24,lo8(1)
 3264 1926 8093 0000            sts FC_StatusFlags,r24
 3265                   .L171:
 3266 192a 8091 0000            lds r24,I2C_TransferActive
 3267 192e 8823                 tst r24
 3268 1930 01F0                 breq .L172
 3269 1932 1092 0000            sts I2C_TransferActive,__zero_reg__
 3270 1936 0895                 ret
 3271                   .L172:
 3272 1938 8093 0000            sts motor_write,r24
 3273 193c 8093 0000            sts twi_state,r24
 3274 1940 8091 0000            lds r24,BLFlags
 3275 1944 8E7F                 andi r24,lo8(-2)
 3276 1946 8093 0000            sts BLFlags,r24
 3277 194a 85EA                 ldi r24,lo8(-91)
 3278 194c 8093 BC00            sts 188,r24
 3279 1950 0895                 ret
 3280                   /* epilogue: frame size=0 */
 3281                   /* epilogue: noreturn */
 3282                   /* epilogue end (size=0) */
 3283                   /* function SendMotorData size 61 (61) */
 3285                   .global ParameterZuordnung
 3287                   ParameterZuordnung:
 3288                   /* prologue: frame size=0 */
 3289 1952 CF93                 push r28
 3290 1954 DF93                 push r29
 3291                   /* prologue end (size=2) */
 3292 1956 A0E0                 ldi r26,lo8(Poti)
 3293 1958 B0E0                 ldi r27,hi8(Poti)
 3294 195a C0E0                 ldi r28,lo8(EE_Parameter+5)
 3295 195c D0E0                 ldi r29,hi8(EE_Parameter+5)
 3296 195e 57E0                 ldi r21,lo8(7)
 3297                   .L189:
 3298 1960 9991                 ld r25,Y+
 3299 1962 E92F                 mov r30,r25
 3300 1964 FF27                 clr r31
 3301 1966 EE0F                 add r30,r30
 3302 1968 FF1F                 adc r31,r31
 3303 196a E050                 subi r30,lo8(-(PPM_in))
 3304 196c F040                 sbci r31,hi8(-(PPM_in))
 3305 196e 0190                 ld __tmp_reg__,Z+
 3306 1970 F081                 ld r31,Z
 3307 1972 E02D                 mov r30,__tmp_reg__
 3308 1974 E158                 subi r30,lo8(-(127))
 3309 1976 FF4F                 sbci r31,hi8(-(127))
 3310 1978 EF3F                 cpi r30,255
 3311 197a F105                 cpc r31,__zero_reg__
 3312 197c 01F0                 breq .L180
 3313 197e 04F0                 brlt .L180
 3314 1980 EFEF                 ldi r30,lo8(255)
 3315 1982 F0E0                 ldi r31,hi8(255)
 3316 1984 00C0                 rjmp .L181
 3317                   .L180:
 3318 1986 F7FF                 sbrs r31,7
 3319 1988 00C0                 rjmp .L181
 3320 198a E0E0                 ldi r30,lo8(0)
 3321 198c F0E0                 ldi r31,hi8(0)
 3322                   .L181:
 3323 198e 9931                 cpi r25,lo8(25)
 3324 1990 01F4                 brne .L183
 3325 1992 EC93                 st X,r30
 3326 1994 00C0                 rjmp .L179
 3327                   .L183:
 3328 1996 4C91                 ld r20,X
 3329 1998 242F                 mov r18,r20
 3330 199a 3327                 clr r19
 3331 199c E217                 cp r30,r18
 3332 199e F307                 cpc r31,r19
 3333 19a0 01F0                 breq .L179
 3334 19a2 CF01                 movw r24,r30
 3335 19a4 821B                 sub r24,r18
 3336 19a6 930B                 sbc r25,r19
 3337 19a8 97FD                 sbrc r25,7
 3338 19aa 0396                 adiw r24,3
 3339                   .L186:
 3340 19ac 9595                 asr r25
 3341 19ae 8795                 ror r24
 3342 19b0 9595                 asr r25
 3343 19b2 8795                 ror r24
 3344 19b4 242F                 mov r18,r20
 3345 19b6 280F                 add r18,r24
 3346 19b8 2C93                 st X,r18
 3347 19ba 822F                 mov r24,r18
 3348 19bc 9927                 clr r25
 3349 19be E817                 cp r30,r24
 3350 19c0 F907                 cpc r31,r25
 3351 19c2 04F4                 brge .L187
 3352 19c4 2150                 subi r18,lo8(-(-1))
 3353 19c6 00C0                 rjmp .L288
 3354                   .L187:
 3355 19c8 2F5F                 subi r18,lo8(-(1))
 3356                   .L288:
 3357 19ca 2C93                 st X,r18
 3358                   .L179:
 3359 19cc 5150                 subi r21,lo8(-(-1))
 3360 19ce 1196                 adiw r26,1
 3361 19d0 57FF                 sbrs r21,7
 3362 19d2 00C0                 rjmp .L189
 3363 19d4 8091 0000            lds r24,EE_Parameter+15
 3364 19d8 883F                 cpi r24,lo8(-8)
 3365 19da 00F0                 brlo .L289
 3366 19dc EFEF                 ldi r30,lo8(255)
 3367 19de F0E0                 ldi r31,hi8(255)
 3368 19e0 E81B                 sub r30,r24
 3369 19e2 F109                 sbc r31,__zero_reg__
 3370 19e4 E050                 subi r30,lo8(-(Poti))
 3371 19e6 F040                 sbci r31,hi8(-(Poti))
 3372 19e8 8081                 ld r24,Z
 3373                   .L289:
 3374 19ea 8093 0000            sts Parameter_Luftdruck_D,r24
 3375 19ee 8091 0000            lds r24,Parameter_Luftdruck_D
 3376 19f2 8823                 tst r24
 3377 19f4 01F0                 breq .L193
 3378 19f6 8436                 cpi r24,lo8(100)
 3379 19f8 00F0                 brlo .L193
 3380 19fa 84E6                 ldi r24,lo8(100)
 3381 19fc 8093 0000            sts Parameter_Luftdruck_D,r24
 3382                   .L193:
 3383 1a00 8091 0000            lds r24,EE_Parameter+17
 3384 1a04 883F                 cpi r24,lo8(-8)
 3385 1a06 00F0                 brlo .L290
 3386 1a08 EFEF                 ldi r30,lo8(255)
 3387 1a0a F0E0                 ldi r31,hi8(255)
 3388 1a0c E81B                 sub r30,r24
 3389 1a0e F109                 sbc r31,__zero_reg__
 3390 1a10 E050                 subi r30,lo8(-(Poti))
 3391 1a12 F040                 sbci r31,hi8(-(Poti))
 3392 1a14 8081                 ld r24,Z
 3393                   .L290:
 3394 1a16 8093 0000            sts Parameter_Hoehe_P,r24
 3395 1a1a 8091 0000            lds r24,Parameter_Hoehe_P
 3396 1a1e 8823                 tst r24
 3397 1a20 01F0                 breq .L198
 3398 1a22 8436                 cpi r24,lo8(100)
 3399 1a24 00F0                 brlo .L198
 3400 1a26 84E6                 ldi r24,lo8(100)
 3401 1a28 8093 0000            sts Parameter_Hoehe_P,r24
 3402                   .L198:
 3403 1a2c 8091 0000            lds r24,EE_Parameter+30
 3404 1a30 883F                 cpi r24,lo8(-8)
 3405 1a32 00F0                 brlo .L291
 3406 1a34 EFEF                 ldi r30,lo8(255)
 3407 1a36 F0E0                 ldi r31,hi8(255)
 3408 1a38 E81B                 sub r30,r24
 3409 1a3a F109                 sbc r31,__zero_reg__
 3410 1a3c E050                 subi r30,lo8(-(Poti))
 3411 1a3e F040                 sbci r31,hi8(-(Poti))
 3412 1a40 8081                 ld r24,Z
 3413                   .L291:
 3414 1a42 8093 0000            sts Parameter_Gyro_P,r24
 3415 1a46 8091 0000            lds r24,Parameter_Gyro_P
 3416 1a4a 8B30                 cpi r24,lo8(11)
 3417 1a4c 00F4                 brsh .L202
 3418 1a4e 8AE0                 ldi r24,lo8(10)
 3419 1a50 00C0                 rjmp .L292
 3420                   .L202:
 3421 1a52 8F3F                 cpi r24,lo8(-1)
 3422 1a54 01F4                 brne .L203
 3423                   .L292:
 3424 1a56 8093 0000            sts Parameter_Gyro_P,r24
 3425                   .L203:
 3426 1a5a 8091 0000            lds r24,EE_Parameter+75
 3427 1a5e 883F                 cpi r24,lo8(-8)
 3428 1a60 00F0                 brlo .L293
 3429 1a62 EFEF                 ldi r30,lo8(255)
 3430 1a64 F0E0                 ldi r31,hi8(255)
 3431 1a66 E81B                 sub r30,r24
 3432 1a68 F109                 sbc r31,__zero_reg__
 3433 1a6a E050                 subi r30,lo8(-(Poti))
 3434 1a6c F040                 sbci r31,hi8(-(Poti))
 3435 1a6e 8081                 ld r24,Z
 3436                   .L293:
 3437 1a70 8093 0000            sts Parameter_J16Timing,r24
 3438 1a74 8091 0000            lds r24,Parameter_J16Timing
 3439 1a78 8630                 cpi r24,lo8(6)
 3440 1a7a 00F4                 brsh .L207
 3441 1a7c 85E0                 ldi r24,lo8(5)
 3442 1a7e 00C0                 rjmp .L294
 3443                   .L207:
 3444 1a80 8F3F                 cpi r24,lo8(-1)
 3445 1a82 01F4                 brne .L208
 3446                   .L294:
 3447 1a84 8093 0000            sts Parameter_J16Timing,r24
 3448                   .L208:
 3449 1a88 8091 0000            lds r24,EE_Parameter+77
 3450 1a8c 883F                 cpi r24,lo8(-8)
 3451 1a8e 00F0                 brlo .L295
 3452 1a90 EFEF                 ldi r30,lo8(255)
 3453 1a92 F0E0                 ldi r31,hi8(255)
 3454 1a94 E81B                 sub r30,r24
 3455 1a96 F109                 sbc r31,__zero_reg__
 3456 1a98 E050                 subi r30,lo8(-(Poti))
 3457 1a9a F040                 sbci r31,hi8(-(Poti))
 3458 1a9c 8081                 ld r24,Z
 3459                   .L295:
 3460 1a9e 8093 0000            sts Parameter_J17Timing,r24
 3461 1aa2 8091 0000            lds r24,Parameter_J17Timing
 3462 1aa6 8630                 cpi r24,lo8(6)
 3463 1aa8 00F4                 brsh .L212
 3464 1aaa 85E0                 ldi r24,lo8(5)
 3465 1aac 00C0                 rjmp .L296
 3466                   .L212:
 3467 1aae 8F3F                 cpi r24,lo8(-1)
 3468 1ab0 01F4                 brne .L213
 3469                   .L296:
 3470 1ab2 8093 0000            sts Parameter_J17Timing,r24
 3471                   .L213:
 3472 1ab6 8091 0000            lds r24,EE_Parameter+56
 3473 1aba 883F                 cpi r24,lo8(-8)
 3474 1abc 00F0                 brlo .L297
 3475 1abe EFEF                 ldi r30,lo8(255)
 3476 1ac0 F0E0                 ldi r31,hi8(255)
 3477 1ac2 E81B                 sub r30,r24
 3478 1ac4 F109                 sbc r31,__zero_reg__
 3479 1ac6 E050                 subi r30,lo8(-(Poti))
 3480 1ac8 F040                 sbci r31,hi8(-(Poti))
 3481 1aca 8081                 ld r24,Z
 3482                   .L297:
 3483 1acc 8093 0000            sts Parameter_Servo3,r24
 3484 1ad0 8091 0000            lds r24,EE_Parameter+57
 3485 1ad4 883F                 cpi r24,lo8(-8)
 3486 1ad6 00F0                 brlo .L298
 3487 1ad8 EFEF                 ldi r30,lo8(255)
 3488 1ada F0E0                 ldi r31,hi8(255)
 3489 1adc E81B                 sub r30,r24
 3490 1ade F109                 sbc r31,__zero_reg__
 3491 1ae0 E050                 subi r30,lo8(-(Poti))
 3492 1ae2 F040                 sbci r31,hi8(-(Poti))
 3493 1ae4 8081                 ld r24,Z
 3494                   .L298:
 3495 1ae6 8093 0000            sts Parameter_Servo4,r24
 3496 1aea 8091 0000            lds r24,EE_Parameter+58
 3497 1aee 883F                 cpi r24,lo8(-8)
 3498 1af0 00F0                 brlo .L299
 3499 1af2 EFEF                 ldi r30,lo8(255)
 3500 1af4 F0E0                 ldi r31,hi8(255)
 3501 1af6 E81B                 sub r30,r24
 3502 1af8 F109                 sbc r31,__zero_reg__
 3503 1afa E050                 subi r30,lo8(-(Poti))
 3504 1afc F040                 sbci r31,hi8(-(Poti))
 3505 1afe 8081                 ld r24,Z
 3506                   .L299:
 3507 1b00 8093 0000            sts Parameter_Servo5,r24
 3508 1b04 8091 0000            lds r24,EE_Parameter+16
 3509 1b08 883F                 cpi r24,lo8(-8)
 3510 1b0a 00F0                 brlo .L300
 3511 1b0c EFEF                 ldi r30,lo8(255)
 3512 1b0e F0E0                 ldi r31,hi8(255)
 3513 1b10 E81B                 sub r30,r24
 3514 1b12 F109                 sbc r31,__zero_reg__
 3515 1b14 E050                 subi r30,lo8(-(Poti))
 3516 1b16 F040                 sbci r31,hi8(-(Poti))
 3517 1b18 8081                 ld r24,Z
 3518                   .L300:
 3519 1b1a 8093 0000            sts Parameter_HoehenSchalter,r24
 3520 1b1e 8091 0000            lds r24,EE_Parameter+19
 3521 1b22 883F                 cpi r24,lo8(-8)
 3522 1b24 00F0                 brlo .L301
 3523 1b26 EFEF                 ldi r30,lo8(255)
 3524 1b28 F0E0                 ldi r31,hi8(255)
 3525 1b2a E81B                 sub r30,r24
 3526 1b2c F109                 sbc r31,__zero_reg__
 3527 1b2e E050                 subi r30,lo8(-(Poti))
 3528 1b30 F040                 sbci r31,hi8(-(Poti))
 3529 1b32 8081                 ld r24,Z
 3530                   .L301:
 3531 1b34 8093 0000            sts Parameter_Hoehe_ACC_Wirkung,r24
 3532 1b38 8091 0000            lds r24,EE_Parameter+21
 3533 1b3c 883F                 cpi r24,lo8(-8)
 3534 1b3e 00F0                 brlo .L302
 3535 1b40 EFEF                 ldi r30,lo8(255)
 3536 1b42 F0E0                 ldi r31,hi8(255)
 3537 1b44 E81B                 sub r30,r24
 3538 1b46 F109                 sbc r31,__zero_reg__
 3539 1b48 E050                 subi r30,lo8(-(Poti))
 3540 1b4a F040                 sbci r31,hi8(-(Poti))
 3541 1b4c 8081                 ld r24,Z
 3542                   .L302:
 3543 1b4e 8093 0000            sts Parameter_Hoehe_GPS_Z,r24
 3544 1b52 8091 0000            lds r24,EE_Parameter+29
 3545 1b56 883F                 cpi r24,lo8(-8)
 3546 1b58 00F0                 brlo .L303
 3547 1b5a EFEF                 ldi r30,lo8(255)
 3548 1b5c F0E0                 ldi r31,hi8(255)
 3549 1b5e E81B                 sub r30,r24
 3550 1b60 F109                 sbc r31,__zero_reg__
 3551 1b62 E050                 subi r30,lo8(-(Poti))
 3552 1b64 F040                 sbci r31,hi8(-(Poti))
 3553 1b66 8081                 ld r24,Z
 3554                   .L303:
 3555 1b68 8093 0000            sts Parameter_KompassWirkung,r24
 3556 1b6c 8091 0000            lds r24,EE_Parameter+31
 3557 1b70 883F                 cpi r24,lo8(-8)
 3558 1b72 00F0                 brlo .L304
 3559 1b74 EFEF                 ldi r30,lo8(255)
 3560 1b76 F0E0                 ldi r31,hi8(255)
 3561 1b78 E81B                 sub r30,r24
 3562 1b7a F109                 sbc r31,__zero_reg__
 3563 1b7c E050                 subi r30,lo8(-(Poti))
 3564 1b7e F040                 sbci r31,hi8(-(Poti))
 3565 1b80 8081                 ld r24,Z
 3566                   .L304:
 3567 1b82 8093 0000            sts Parameter_Gyro_I,r24
 3568 1b86 8091 0000            lds r24,EE_Parameter+32
 3569 1b8a 883F                 cpi r24,lo8(-8)
 3570 1b8c 00F0                 brlo .L305
 3571 1b8e EFEF                 ldi r30,lo8(255)
 3572 1b90 F0E0                 ldi r31,hi8(255)
 3573 1b92 E81B                 sub r30,r24
 3574 1b94 F109                 sbc r31,__zero_reg__
 3575 1b96 E050                 subi r30,lo8(-(Poti))
 3576 1b98 F040                 sbci r31,hi8(-(Poti))
 3577 1b9a 8081                 ld r24,Z
 3578                   .L305:
 3579 1b9c 8093 0000            sts Parameter_Gyro_D,r24
 3580 1ba0 8091 0000            lds r24,EE_Parameter+33
 3581 1ba4 883F                 cpi r24,lo8(-8)
 3582 1ba6 00F0                 brlo .L306
 3583 1ba8 EFEF                 ldi r30,lo8(255)
 3584 1baa F0E0                 ldi r31,hi8(255)
 3585 1bac E81B                 sub r30,r24
 3586 1bae F109                 sbc r31,__zero_reg__
 3587 1bb0 E050                 subi r30,lo8(-(Poti))
 3588 1bb2 F040                 sbci r31,hi8(-(Poti))
 3589 1bb4 8081                 ld r24,Z
 3590                   .L306:
 3591 1bb6 8093 0000            sts Parameter_Gyro_Gier_P,r24
 3592 1bba 8091 0000            lds r24,EE_Parameter+34
 3593 1bbe 883F                 cpi r24,lo8(-8)
 3594 1bc0 00F0                 brlo .L307
 3595 1bc2 EFEF                 ldi r30,lo8(255)
 3596 1bc4 F0E0                 ldi r31,hi8(255)
 3597 1bc6 E81B                 sub r30,r24
 3598 1bc8 F109                 sbc r31,__zero_reg__
 3599 1bca E050                 subi r30,lo8(-(Poti))
 3600 1bcc F040                 sbci r31,hi8(-(Poti))
 3601 1bce 8081                 ld r24,Z
 3602                   .L307:
 3603 1bd0 8093 0000            sts Parameter_Gyro_Gier_I,r24
 3604 1bd4 8091 0000            lds r24,EE_Parameter+40
 3605 1bd8 883F                 cpi r24,lo8(-8)
 3606 1bda 00F0                 brlo .L308
 3607 1bdc EFEF                 ldi r30,lo8(255)
 3608 1bde F0E0                 ldi r31,hi8(255)
 3609 1be0 E81B                 sub r30,r24
 3610 1be2 F109                 sbc r31,__zero_reg__
 3611 1be4 E050                 subi r30,lo8(-(Poti))
 3612 1be6 F040                 sbci r31,hi8(-(Poti))
 3613 1be8 8081                 ld r24,Z
 3614                   .L308:
 3615 1bea 8093 0000            sts Parameter_I_Faktor,r24
 3616 1bee 8091 0000            lds r24,EE_Parameter+41
 3617 1bf2 883F                 cpi r24,lo8(-8)
 3618 1bf4 00F0                 brlo .L309
 3619 1bf6 EFEF                 ldi r30,lo8(255)
 3620 1bf8 F0E0                 ldi r31,hi8(255)
 3621 1bfa E81B                 sub r30,r24
 3622 1bfc F109                 sbc r31,__zero_reg__
 3623 1bfe E050                 subi r30,lo8(-(Poti))
 3624 1c00 F040                 sbci r31,hi8(-(Poti))
 3625 1c02 8081                 ld r24,Z
 3626                   .L309:
 3627 1c04 8093 0000            sts Parameter_UserParam1,r24
 3628 1c08 8091 0000            lds r24,EE_Parameter+42
 3629 1c0c 883F                 cpi r24,lo8(-8)
 3630 1c0e 00F0                 brlo .L310
 3631 1c10 EFEF                 ldi r30,lo8(255)
 3632 1c12 F0E0                 ldi r31,hi8(255)
 3633 1c14 E81B                 sub r30,r24
 3634 1c16 F109                 sbc r31,__zero_reg__
 3635 1c18 E050                 subi r30,lo8(-(Poti))
 3636 1c1a F040                 sbci r31,hi8(-(Poti))
 3637 1c1c 8081                 ld r24,Z
 3638                   .L310:
 3639 1c1e 8093 0000            sts Parameter_UserParam2,r24
 3640 1c22 8091 0000            lds r24,EE_Parameter+43
 3641 1c26 883F                 cpi r24,lo8(-8)
 3642 1c28 00F0                 brlo .L311
 3643 1c2a EFEF                 ldi r30,lo8(255)
 3644 1c2c F0E0                 ldi r31,hi8(255)
 3645 1c2e E81B                 sub r30,r24
 3646 1c30 F109                 sbc r31,__zero_reg__
 3647 1c32 E050                 subi r30,lo8(-(Poti))
 3648 1c34 F040                 sbci r31,hi8(-(Poti))
 3649 1c36 8081                 ld r24,Z
 3650                   .L311:
 3651 1c38 8093 0000            sts Parameter_UserParam3,r24
 3652 1c3c 8091 0000            lds r24,EE_Parameter+44
 3653 1c40 883F                 cpi r24,lo8(-8)
 3654 1c42 00F0                 brlo .L312
 3655 1c44 EFEF                 ldi r30,lo8(255)
 3656 1c46 F0E0                 ldi r31,hi8(255)
 3657 1c48 E81B                 sub r30,r24
 3658 1c4a F109                 sbc r31,__zero_reg__
 3659 1c4c E050                 subi r30,lo8(-(Poti))
 3660 1c4e F040                 sbci r31,hi8(-(Poti))
 3661 1c50 8081                 ld r24,Z
 3662                   .L312:
 3663 1c52 8093 0000            sts Parameter_UserParam4,r24
 3664 1c56 8091 0000            lds r24,EE_Parameter+70
 3665 1c5a 883F                 cpi r24,lo8(-8)
 3666 1c5c 00F0                 brlo .L313
 3667 1c5e EFEF                 ldi r30,lo8(255)
 3668 1c60 F0E0                 ldi r31,hi8(255)
 3669 1c62 E81B                 sub r30,r24
 3670 1c64 F109                 sbc r31,__zero_reg__
 3671 1c66 E050                 subi r30,lo8(-(Poti))
 3672 1c68 F040                 sbci r31,hi8(-(Poti))
 3673 1c6a 8081                 ld r24,Z
 3674                   .L313:
 3675 1c6c 8093 0000            sts Parameter_UserParam5,r24
 3676 1c70 8091 0000            lds r24,EE_Parameter+71
 3677 1c74 883F                 cpi r24,lo8(-8)
 3678 1c76 00F0                 brlo .L314
 3679 1c78 EFEF                 ldi r30,lo8(255)
 3680 1c7a F0E0                 ldi r31,hi8(255)
 3681 1c7c E81B                 sub r30,r24
 3682 1c7e F109                 sbc r31,__zero_reg__
 3683 1c80 E050                 subi r30,lo8(-(Poti))
 3684 1c82 F040                 sbci r31,hi8(-(Poti))
 3685 1c84 8081                 ld r24,Z
 3686                   .L314:
 3687 1c86 8093 0000            sts Parameter_UserParam6,r24
 3688 1c8a 8091 0000            lds r24,EE_Parameter+72
 3689 1c8e 883F                 cpi r24,lo8(-8)
 3690 1c90 00F0                 brlo .L315
 3691 1c92 EFEF                 ldi r30,lo8(255)
 3692 1c94 F0E0                 ldi r31,hi8(255)
 3693 1c96 E81B                 sub r30,r24
 3694 1c98 F109                 sbc r31,__zero_reg__
 3695 1c9a E050                 subi r30,lo8(-(Poti))
 3696 1c9c F040                 sbci r31,hi8(-(Poti))
 3697 1c9e 8081                 ld r24,Z
 3698                   .L315:
 3699 1ca0 8093 0000            sts Parameter_UserParam7,r24
 3700 1ca4 8091 0000            lds r24,EE_Parameter+73
 3701 1ca8 883F                 cpi r24,lo8(-8)
 3702 1caa 00F0                 brlo .L316
 3703 1cac EFEF                 ldi r30,lo8(255)
 3704 1cae F0E0                 ldi r31,hi8(255)
 3705 1cb0 E81B                 sub r30,r24
 3706 1cb2 F109                 sbc r31,__zero_reg__
 3707 1cb4 E050                 subi r30,lo8(-(Poti))
 3708 1cb6 F040                 sbci r31,hi8(-(Poti))
 3709 1cb8 8081                 ld r24,Z
 3710                   .L316:
 3711 1cba 8093 0000            sts Parameter_UserParam8,r24
 3712 1cbe 8091 0000            lds r24,EE_Parameter+45
 3713 1cc2 883F                 cpi r24,lo8(-8)
 3714 1cc4 00F0                 brlo .L317
 3715 1cc6 EFEF                 ldi r30,lo8(255)
 3716 1cc8 F0E0                 ldi r31,hi8(255)
 3717 1cca E81B                 sub r30,r24
 3718 1ccc F109                 sbc r31,__zero_reg__
 3719 1cce E050                 subi r30,lo8(-(Poti))
 3720 1cd0 F040                 sbci r31,hi8(-(Poti))
 3721 1cd2 8081                 ld r24,Z
 3722                   .L317:
 3723 1cd4 8093 0000            sts Parameter_ServoNickControl,r24
 3724 1cd8 8091 0000            lds r24,EE_Parameter+49
 3725 1cdc 883F                 cpi r24,lo8(-8)
 3726 1cde 00F0                 brlo .L318
 3727 1ce0 EFEF                 ldi r30,lo8(255)
 3728 1ce2 F0E0                 ldi r31,hi8(255)
 3729 1ce4 E81B                 sub r30,r24
 3730 1ce6 F109                 sbc r31,__zero_reg__
 3731 1ce8 E050                 subi r30,lo8(-(Poti))
 3732 1cea F040                 sbci r31,hi8(-(Poti))
 3733 1cec 8081                 ld r24,Z
 3734                   .L318:
 3735 1cee 8093 0000            sts Parameter_ServoRollControl,r24
 3736 1cf2 8091 0000            lds r24,EE_Parameter+59
 3737 1cf6 883F                 cpi r24,lo8(-8)
 3738 1cf8 00F0                 brlo .L319
 3739 1cfa EFEF                 ldi r30,lo8(255)
 3740 1cfc F0E0                 ldi r31,hi8(255)
 3741 1cfe E81B                 sub r30,r24
 3742 1d00 F109                 sbc r31,__zero_reg__
 3743 1d02 E050                 subi r30,lo8(-(Poti))
 3744 1d04 F040                 sbci r31,hi8(-(Poti))
 3745 1d06 8081                 ld r24,Z
 3746                   .L319:
 3747 1d08 8093 0000            sts Parameter_LoopGasLimit,r24
 3748 1d0c 8091 0000            lds r24,EE_Parameter+62
 3749 1d10 883F                 cpi r24,lo8(-8)
 3750 1d12 00F0                 brlo .L320
 3751 1d14 EFEF                 ldi r30,lo8(255)
 3752 1d16 F0E0                 ldi r31,hi8(255)
 3753 1d18 E81B                 sub r30,r24
 3754 1d1a F109                 sbc r31,__zero_reg__
 3755 1d1c E050                 subi r30,lo8(-(Poti))
 3756 1d1e F040                 sbci r31,hi8(-(Poti))
 3757 1d20 8081                 ld r24,Z
 3758                   .L320:
 3759 1d22 8093 0000            sts Parameter_AchsKopplung1,r24
 3760 1d26 8091 0000            lds r24,EE_Parameter+63
 3761 1d2a 883F                 cpi r24,lo8(-8)
 3762 1d2c 00F0                 brlo .L321
 3763 1d2e EFEF                 ldi r30,lo8(255)
 3764 1d30 F0E0                 ldi r31,hi8(255)
 3765 1d32 E81B                 sub r30,r24
 3766 1d34 F109                 sbc r31,__zero_reg__
 3767 1d36 E050                 subi r30,lo8(-(Poti))
 3768 1d38 F040                 sbci r31,hi8(-(Poti))
 3769 1d3a 8081                 ld r24,Z
 3770                   .L321:
 3771 1d3c 8093 0000            sts Parameter_AchsKopplung2,r24
 3772 1d40 8091 0000            lds r24,EE_Parameter+64
 3773 1d44 883F                 cpi r24,lo8(-8)
 3774 1d46 00F0                 brlo .L322
 3775 1d48 EFEF                 ldi r30,lo8(255)
 3776 1d4a F0E0                 ldi r31,hi8(255)
 3777 1d4c E81B                 sub r30,r24
 3778 1d4e F109                 sbc r31,__zero_reg__
 3779 1d50 E050                 subi r30,lo8(-(Poti))
 3780 1d52 F040                 sbci r31,hi8(-(Poti))
 3781 1d54 8081                 ld r24,Z
 3782                   .L322:
 3783 1d56 8093 0000            sts Parameter_CouplingYawCorrection,r24
 3784 1d5a 8091 0000            lds r24,EE_Parameter+103
 3785 1d5e 883F                 cpi r24,lo8(-8)
 3786 1d60 00F0                 brlo .L323
 3787 1d62 EFEF                 ldi r30,lo8(255)
 3788 1d64 F0E0                 ldi r31,hi8(255)
 3789 1d66 E81B                 sub r30,r24
 3790 1d68 F109                 sbc r31,__zero_reg__
 3791 1d6a E050                 subi r30,lo8(-(Poti))
 3792 1d6c F040                 sbci r31,hi8(-(Poti))
 3793 1d6e 8081                 ld r24,Z
 3794                   .L323:
 3795 1d70 8093 0000            sts Parameter_MaximumAltitude,r24
 3796 1d74 8091 0000            lds r24,EE_Parameter+13
 3797 1d78 8093 0000            sts Parameter_GlobalConfig,r24
 3798 1d7c 8091 0000            lds r24,EE_Parameter+106
 3799 1d80 8093 0000            sts Parameter_ExtraConfig,r24
 3800 1d84 8091 0000            lds r24,EE_Parameter+69
 3801 1d88 883F                 cpi r24,lo8(-8)
 3802 1d8a 00F0                 brlo .L324
 3803 1d8c EFEF                 ldi r30,lo8(255)
 3804 1d8e F0E0                 ldi r31,hi8(255)
 3805 1d90 E81B                 sub r30,r24
 3806 1d92 F109                 sbc r31,__zero_reg__
 3807 1d94 E050                 subi r30,lo8(-(Poti))
 3808 1d96 F040                 sbci r31,hi8(-(Poti))
 3809 1d98 8081                 ld r24,Z
 3810                   .L324:
 3811 1d9a 8093 0000            sts Parameter_DynamicStability,r24
 3812 1d9e 8091 0000            lds r24,EE_Parameter+96
 3813 1da2 883F                 cpi r24,lo8(-8)
 3814 1da4 00F0                 brlo .L325
 3815 1da6 EFEF                 ldi r30,lo8(255)
 3816 1da8 F0E0                 ldi r31,hi8(255)
 3817 1daa E81B                 sub r30,r24
 3818 1dac F109                 sbc r31,__zero_reg__
 3819 1dae E050                 subi r30,lo8(-(Poti))
 3820 1db0 F040                 sbci r31,hi8(-(Poti))
 3821 1db2 8081                 ld r24,Z
 3822                   .L325:
 3823 1db4 8093 0000            sts Parameter_ExternalControl,r24
 3824 1db8 8091 0000            lds r24,Parameter_I_Faktor
 3825 1dbc 282F                 mov r18,r24
 3826 1dbe 3327                 clr r19
 3827 1dc0 2F5F                 subi r18,lo8(-(1))
 3828 1dc2 3F4F                 sbci r19,hi8(-(1))
 3829 1dc4 8CE3                 ldi r24,lo8(10300)
 3830 1dc6 98E2                 ldi r25,hi8(10300)
 3831 1dc8 B901                 movw r22,r18
 3832 1dca 0E94 0000            call __divmodhi4
 3833 1dce 7093 0000            sts (Ki)+1,r23
 3834 1dd2 6093 0000            sts Ki,r22
 3835 1dd6 8091 0000            lds r24,EE_Parameter+27
 3836 1dda 8093 0000            sts MAX_GAS,r24
 3837 1dde 8091 0000            lds r24,EE_Parameter+26
 3838 1de2 8093 0000            sts MIN_GAS,r24
 3839 1de6 9091 0000            lds r25,EE_Parameter+98
 3840 1dea 9333                 cpi r25,lo8(51)
 3841 1dec 00F0                 brlo .L273
 3842 1dee 81E0                 ldi r24,lo8(1)
 3843 1df0 8093 0000            sts CareFree,r24
 3844 1df4 983F                 cpi r25,lo8(-8)
 3845 1df6 00F0                 brlo .L274
 3846 1df8 EFEF                 ldi r30,lo8(255)
 3847 1dfa F0E0                 ldi r31,hi8(255)
 3848 1dfc E91B                 sub r30,r25
 3849 1dfe F109                 sbc r31,__zero_reg__
 3850 1e00 E050                 subi r30,lo8(-(Poti))
 3851 1e02 F040                 sbci r31,hi8(-(Poti))
 3852 1e04 8081                 ld r24,Z
 3853 1e06 8233                 cpi r24,lo8(50)
 3854 1e08 00F4                 brsh .L274
 3855 1e0a 1092 0000            sts CareFree,__zero_reg__
 3856                   .L274:
 3857 1e0e 8091 0000            lds r24,carefree_old
 3858 1e12 2091 0000            lds r18,CareFree
 3859 1e16 8217                 cp r24,r18
 3860 1e18 01F0                 breq .L275
 3861 1e1a 8330                 cpi r24,lo8(3)
 3862 1e1c 00F4                 brsh .L276
 3863 1e1e 2223                 tst r18
 3864 1e20 01F0                 breq .L277
 3865 1e22 8CED                 ldi r24,lo8(1500)
 3866 1e24 95E0                 ldi r25,hi8(1500)
 3867 1e26 00C0                 rjmp .L326
 3868                   .L277:
 3869 1e28 88EC                 ldi r24,lo8(200)
 3870 1e2a 90E0                 ldi r25,hi8(200)
 3871                   .L326:
 3872 1e2c 9093 0000            sts (beeptime)+1,r25
 3873 1e30 8093 0000            sts beeptime,r24
 3874 1e34 2093 0000            sts carefree_old,r18
 3875 1e38 00C0                 rjmp .L275
 3876                   .L276:
 3877 1e3a 8150                 subi r24,lo8(-(-1))
 3878 1e3c 8093 0000            sts carefree_old,r24
 3879                   .L275:
 3880 1e40 8091 0000            lds r24,FromNaviCtrl+7
 3881 1e44 9091 0000            lds r25,(FromNaviCtrl+7)+1
 3882 1e48 97FF                 sbrs r25,7
 3883 1e4a 00C0                 rjmp .L281
 3884 1e4c 8091 0000            lds r24,CareFree
 3885 1e50 8823                 tst r24
 3886 1e52 01F0                 breq .L281
 3887 1e54 8091 0000            lds r24,VersionInfo+5
 3888 1e58 8068                 ori r24,lo8(-128)
 3889 1e5a 8093 0000            sts VersionInfo+5,r24
 3890 1e5e 00C0                 rjmp .L281
 3891                   .L273:
 3892 1e60 1092 0000            sts CareFree,__zero_reg__
 3893 1e64 8AE0                 ldi r24,lo8(10)
 3894 1e66 8093 0000            sts carefree_old,r24
 3895                   .L281:
 3896 1e6a 8091 0000            lds r24,FromNaviCtrl+7
 3897 1e6e 9091 0000            lds r25,(FromNaviCtrl+7)+1
 3898 1e72 97FF                 sbrs r25,7
 3899 1e74 00C0                 rjmp .L282
 3900 1e76 8091 0000            lds r24,MotorenEin
 3901 1e7a 8823                 tst r24
 3902 1e7c 01F0                 breq .L282
 3903 1e7e 8091 0000            lds r24,CareFree
 3904 1e82 8823                 tst r24
 3905 1e84 01F0                 breq .L282
 3906 1e86 8091 0000            lds r24,BeepMuster
 3907 1e8a 9091 0000            lds r25,(BeepMuster)+1
 3908 1e8e 8F5F                 subi r24,lo8(-1)
 3909 1e90 9F4F                 sbci r25,hi8(-1)
 3910 1e92 01F4                 brne .L282
 3911 1e94 88E9                 ldi r24,lo8(15000)
 3912 1e96 9AE3                 ldi r25,hi8(15000)
 3913 1e98 9093 0000            sts (beeptime)+1,r25
 3914 1e9c 8093 0000            sts beeptime,r24
 3915 1ea0 80E0                 ldi r24,lo8(-23552)
 3916 1ea2 94EA                 ldi r25,hi8(-23552)
 3917 1ea4 9093 0000            sts (BeepMuster)+1,r25
 3918 1ea8 8093 0000            sts BeepMuster,r24
 3919 1eac 1092 0000            sts CareFree,__zero_reg__
 3920                   .L282:
 3921 1eb0 8091 0000            lds r24,CareFree
 3922 1eb4 8823                 tst r24
 3923 1eb6 01F0                 breq .L283
 3924 1eb8 8091 0000            lds r24,FC_StatusFlags2
 3925 1ebc 8160                 ori r24,lo8(1)
 3926 1ebe 8093 0000            sts FC_StatusFlags2,r24
 3927 1ec2 8091 0000            lds r24,Parameter_AchsKopplung1
 3928 1ec6 823D                 cpi r24,lo8(-46)
 3929 1ec8 00F4                 brsh .L176
 3930 1eca 825E                 subi r24,lo8(-(30))
 3931 1ecc 8093 0000            sts Parameter_AchsKopplung1,r24
 3932 1ed0 00C0                 rjmp .L176
 3933                   .L283:
 3934 1ed2 8091 0000            lds r24,FC_StatusFlags2
 3935 1ed6 8E7F                 andi r24,lo8(-2)
 3936 1ed8 8093 0000            sts FC_StatusFlags2,r24
 3937                   .L176:
 3938                   /* epilogue: frame size=0 */
 3939 1edc DF91                 pop r29
 3940 1ede CF91                 pop r28
 3941 1ee0 0895                 ret
 3942                   /* epilogue end (size=3) */
 3943                   /* function ParameterZuordnung size 714 (709) */
 3945                           .lcomm sollGier.0,4
 3946                           .lcomm tmp_long.1,4
 3947                           .lcomm tmp_long2.2,4
 3948                           .lcomm IntegralFehlerNick.3,4
 3949                           .lcomm IntegralFehlerRoll.4,4
 3950                           .lcomm RcLostTimer.5,2
 3951                           .lcomm delay_neutral.6,1
 3952                           .lcomm delay_einschalten.7,1
 3953                           .lcomm delay_ausschalten.8,1
 3954                           .lcomm calibration_done.9,1
 3955                           .lcomm NeueKompassRichtungMerken.10,1
 3956                           .lcomm ausgleichNick.11,4
 3957                           .lcomm ausgleichRoll.12,4
 3958                           .lcomm stick_nick.13,2
 3959                           .lcomm stick_roll.14,2
 3960                           .lcomm cnt.15,2
 3961                           .lcomm last_n_p.16,1
 3962                           .lcomm last_n_n.17,1
 3963                           .lcomm last_r_p.18,1
 3964                           .lcomm last_r_n.19,1
 3965                           .lcomm MittelIntegralNick_Alt.20,4
 3966                           .lcomm MittelIntegralRoll_Alt.21,4
 3967                           .lcomm HeightTrimming.22,2
 3968                           .lcomm FilterHCGas.23,2
 3969                           .lcomm HoverGasFilter.24,4
 3970                           .data
 3973                   delay.25:
 3974 0053 64                   .byte   100
 3975                           .lcomm BaroAtUpperLimit.26,1
 3976                           .lcomm BaroAtLowerLimit.27,1
 3977                           .text
 3978                   .global MotorRegler
 3980                   MotorRegler:
 3981                   /* prologue: frame size=23 */
 3982 1ee2 A7E1                 ldi r26,lo8(23)
 3983 1ee4 B0E0                 ldi r27,hi8(23)
 3984 1ee6 E0E0                 ldi r30,pm_lo8(1f)
 3985 1ee8 F0E0                 ldi r31,pm_hi8(1f)
 3986 1eea 0C94 0000            jmp __prologue_saves__+0
 3987                   1:
 3988                   /* prologue end (size=6) */
 3989 1eee 0E94 0000            call Mittelwert
 3990 1ef2 E090 0000            lds r14,StickGas
 3991 1ef6 F090 0000            lds r15,(StickGas)+1
 3992 1efa FA82                 std Y+2,r15
 3993 1efc E982                 std Y+1,r14
 3994 1efe 8091 0000            lds r24,MIN_GAS
 3995 1f02 9927                 clr r25
 3996 1f04 0A96                 adiw r24,10
 3997 1f06 E816                 cp r14,r24
 3998 1f08 F906                 cpc r15,r25
 3999 1f0a 04F4                 brge .L328
 4000 1f0c 9A83                 std Y+2,r25
 4001 1f0e 8983                 std Y+1,r24
 4002                   .L328:
 4003 1f10 8091 0000            lds r24,SenderOkay
 4004 1f14 8436                 cpi r24,lo8(100)
 4005 1f16 00F0                 brlo .+2
 4006 1f18 00C0                 rjmp .L329
 4007 1f1a 8091 0000            lds r24,FC_StatusFlags2
 4008 1f1e 82FD                 sbrc r24,2
 4009 1f20 00C0                 rjmp .L329
 4010 1f22 8091 0000            lds r24,RcLostTimer.5
 4011 1f26 9091 0000            lds r25,(RcLostTimer.5)+1
 4012 1f2a 0097                 sbiw r24,0
 4013 1f2c 01F0                 breq .L330
 4014 1f2e 0197                 sbiw r24,1
 4015 1f30 9093 0000            sts (RcLostTimer.5)+1,r25
 4016 1f34 8093 0000            sts RcLostTimer.5,r24
 4017 1f38 00C0                 rjmp .L331
 4018                   .L330:
 4019 1f3a 1092 0000            sts MotorenEin,__zero_reg__
 4020 1f3e 9093 0000            sts (modell_fliegt)+1,r25
 4021 1f42 8093 0000            sts modell_fliegt,r24
 4022 1f46 8091 0000            lds r24,FC_StatusFlags
 4023 1f4a 8D7E                 andi r24,lo8(-19)
 4024 1f4c 8093 0000            sts FC_StatusFlags,r24
 4025                   .L331:
 4026 1f50 8091 0000            lds r24,PlatinenVersion
 4027 1f54 8A30                 cpi r24,lo8(10)
 4028 1f56 01F0                 breq .L333
 4029 1f58 8431                 cpi r24,lo8(20)
 4030 1f5a 00F0                 brlo .L332
 4031                   .L333:
 4032 1f5c 289A                 sbi 37-0x20,0
 4033 1f5e 00C0                 rjmp .L334
 4034                   .L332:
 4035 1f60 2898                 cbi 37-0x20,0
 4036                   .L334:
 4037 1f62 8091 0000            lds r24,modell_fliegt
 4038 1f66 9091 0000            lds r25,(modell_fliegt)+1
 4039 1f6a 895E                 subi r24,lo8(1001)
 4040 1f6c 9340                 sbci r25,hi8(1001)
 4041 1f6e 00F0                 brlo .L335
 4042 1f70 8091 0000            lds r24,EE_Parameter+37
 4043 1f74 282F                 mov r18,r24
 4044 1f76 3327                 clr r19
 4045 1f78 3A83                 std Y+2,r19
 4046 1f7a 2983                 std Y+1,r18
 4047 1f7c 8091 0000            lds r24,FC_StatusFlags
 4048 1f80 8061                 ori r24,lo8(16)
 4049 1f82 8093 0000            sts FC_StatusFlags,r24
 4050 1f86 8091 0000            lds r24,EE_Parameter+1
 4051 1f8a A82F                 mov r26,r24
 4052 1f8c BB27                 clr r27
 4053 1f8e AA0F                 add r26,r26
 4054 1f90 BB1F                 adc r27,r27
 4055 1f92 FD01                 movw r30,r26
 4056 1f94 E050                 subi r30,lo8(-(PPM_diff))
 4057 1f96 F040                 sbci r31,hi8(-(PPM_diff))
 4058 1f98 1182                 std Z+1,__zero_reg__
 4059 1f9a 1082                 st Z,__zero_reg__
 4060 1f9c 8091 0000            lds r24,EE_Parameter+2
 4061 1fa0 282F                 mov r18,r24
 4062 1fa2 3327                 clr r19
 4063 1fa4 220F                 add r18,r18
 4064 1fa6 331F                 adc r19,r19
 4065 1fa8 C901                 movw r24,r18
 4066 1faa 8050                 subi r24,lo8(-(PPM_diff))
 4067 1fac 9040                 sbci r25,hi8(-(PPM_diff))
 4068 1fae FC01                 movw r30,r24
 4069 1fb0 1182                 std Z+1,__zero_reg__
 4070 1fb2 1082                 st Z,__zero_reg__
 4071 1fb4 A050                 subi r26,lo8(-(PPM_in))
 4072 1fb6 B040                 sbci r27,hi8(-(PPM_in))
 4073 1fb8 1196                 adiw r26,1
 4074 1fba 1C92                 st X,__zero_reg__
 4075 1fbc 1E92                 st -X,__zero_reg__
 4076 1fbe 2050                 subi r18,lo8(-(PPM_in))
 4077 1fc0 3040                 sbci r19,hi8(-(PPM_in))
 4078 1fc2 D901                 movw r26,r18
 4079 1fc4 1196                 adiw r26,1
 4080 1fc6 1C92                 st X,__zero_reg__
 4081 1fc8 1E92                 st -X,__zero_reg__
 4082 1fca 8091 0000            lds r24,EE_Parameter+4
 4083 1fce E82F                 mov r30,r24
 4084 1fd0 FF27                 clr r31
 4085 1fd2 EE0F                 add r30,r30
 4086 1fd4 FF1F                 adc r31,r31
 4087 1fd6 E050                 subi r30,lo8(-(PPM_in))
 4088 1fd8 F040                 sbci r31,hi8(-(PPM_in))
 4089 1fda 1182                 std Z+1,__zero_reg__
 4090 1fdc 1082                 st Z,__zero_reg__
 4091 1fde 00C0                 rjmp .L337
 4092                   .L335:
 4093 1fe0 1092 0000            sts MotorenEin,__zero_reg__
 4094 1fe4 00C0                 rjmp .L337
 4095                   .L329:
 4096 1fe6 8091 0000            lds r24,SenderOkay
 4097 1fea 8D38                 cpi r24,lo8(-115)
 4098 1fec 00F4                 brsh .+2
 4099 1fee 00C0                 rjmp .L337
 4100 1ff0 8091 0000            lds r24,FC_StatusFlags
 4101 1ff4 8F7E                 andi r24,lo8(-17)
 4102 1ff6 8093 0000            sts FC_StatusFlags,r24
 4103 1ffa 9091 0000            lds r25,EE_Parameter+38
 4104 1ffe 82E3                 ldi r24,lo8(50)
 4105 2000 989F                 mul r25,r24
 4106 2002 C001                 movw r24,r0
 4107 2004 1124                 clr r1
 4108 2006 9093 0000            sts (RcLostTimer.5)+1,r25
 4109 200a 8093 0000            sts RcLostTimer.5,r24
 4110 200e E981                 ldd r30,Y+1
 4111 2010 FA81                 ldd r31,Y+2
 4112 2012 B997                 sbiw r30,41
 4113 2014 04F0                 brlt .L339
 4114 2016 8091 0000            lds r24,MotorenEin
 4115 201a 8823                 tst r24
 4116 201c 01F0                 breq .L339
 4117 201e 8091 0000            lds r24,modell_fliegt
 4118 2022 9091 0000            lds r25,(modell_fliegt)+1
 4119 2026 FFEF                 ldi r31,hi8(-1)
 4120 2028 8F3F                 cpi r24,lo8(-1)
 4121 202a 9F07                 cpc r25,r31
 4122 202c 01F0                 breq .L339
 4123 202e 0196                 adiw r24,1
 4124 2030 9093 0000            sts (modell_fliegt)+1,r25
 4125 2034 8093 0000            sts modell_fliegt,r24
 4126                   .L339:
 4127 2038 8091 0000            lds r24,modell_fliegt
 4128 203c 9091 0000            lds r25,(modell_fliegt)+1
 4129 2040 8F3F                 cpi r24,255
 4130 2042 9105                 cpc r25,__zero_reg__
 4131 2044 01F0                 breq .+2
 4132 2046 00F4                 brsh .L341
 4133 2048 1092 0000            sts SummeNick,__zero_reg__
 4134 204c 1092 0000            sts (SummeNick)+1,__zero_reg__
 4135 2050 1092 0000            sts (SummeNick)+2,__zero_reg__
 4136 2054 1092 0000            sts (SummeNick)+3,__zero_reg__
 4137 2058 1092 0000            sts SummeRoll,__zero_reg__
 4138 205c 1092 0000            sts (SummeRoll)+1,__zero_reg__
 4139 2060 1092 0000            sts (SummeRoll)+2,__zero_reg__
 4140 2064 1092 0000            sts (SummeRoll)+3,__zero_reg__
 4141 2068 1092 0000            sts sollGier.0,__zero_reg__
 4142 206c 1092 0000            sts (sollGier.0)+1,__zero_reg__
 4143 2070 1092 0000            sts (sollGier.0)+2,__zero_reg__
 4144 2074 1092 0000            sts (sollGier.0)+3,__zero_reg__
 4145 2078 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 4146 207c 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 4147 2080 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 4148 2084 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 4149 2088 00C0                 rjmp .L342
 4150                   .L341:
 4151 208a 8091 0000            lds r24,FC_StatusFlags
 4152 208e 8260                 ori r24,lo8(2)
 4153 2090 8093 0000            sts FC_StatusFlags,r24
 4154                   .L342:
 4155 2094 8091 0000            lds r24,EE_Parameter+3
 4156 2098 E82F                 mov r30,r24
 4157 209a FF27                 clr r31
 4158 209c EE0F                 add r30,r30
 4159 209e FF1F                 adc r31,r31
 4160 20a0 E050                 subi r30,lo8(-(PPM_in))
 4161 20a2 F040                 sbci r31,hi8(-(PPM_in))
 4162 20a4 8081                 ld r24,Z
 4163 20a6 9181                 ldd r25,Z+1
 4164 20a8 8135                 cpi r24,81
 4165 20aa 9105                 cpc r25,__zero_reg__
 4166 20ac 04F4                 brge .+2
 4167 20ae 00C0                 rjmp .L343
 4168 20b0 2091 0000            lds r18,MotorenEin
 4169 20b4 2223                 tst r18
 4170 20b6 01F0                 breq .+2
 4171 20b8 00C0                 rjmp .L343
 4172 20ba 8091 0000            lds r24,EE_Parameter+4
 4173 20be E82F                 mov r30,r24
 4174 20c0 FF27                 clr r31
 4175 20c2 EE0F                 add r30,r30
 4176 20c4 FF1F                 adc r31,r31
 4177 20c6 E050                 subi r30,lo8(-(PPM_in))
 4178 20c8 F040                 sbci r31,hi8(-(PPM_in))
 4179 20ca 8081                 ld r24,Z
 4180 20cc 9181                 ldd r25,Z+1
 4181 20ce 8C34                 cpi r24,76
 4182 20d0 9105                 cpc r25,__zero_reg__
 4183 20d2 04F4                 brge .+2
 4184 20d4 00C0                 rjmp .L344
 4185 20d6 8091 0000            lds r24,delay_neutral.6
 4186 20da 8F5F                 subi r24,lo8(-(1))
 4187 20dc 8093 0000            sts delay_neutral.6,r24
 4188 20e0 893C                 cpi r24,lo8(-55)
 4189 20e2 00F4                 brsh .+2
 4190 20e4 00C0                 rjmp .L343
 4191 20e6 2093 0000            sts delay_neutral.6,r18
 4192 20ea 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 4193 20ee 1092 0000            sts modell_fliegt,__zero_reg__
 4194 20f2 3091 0000            lds r19,EE_Parameter+1
 4195 20f6 E32F                 mov r30,r19
 4196 20f8 FF27                 clr r31
 4197 20fa EE0F                 add r30,r30
 4198 20fc FF1F                 adc r31,r31
 4199 20fe E050                 subi r30,lo8(-(PPM_in))
 4200 2100 F040                 sbci r31,hi8(-(PPM_in))
 4201 2102 8081                 ld r24,Z
 4202 2104 9181                 ldd r25,Z+1
 4203 2106 8734                 cpi r24,71
 4204 2108 9105                 cpc r25,__zero_reg__
 4205 210a 04F4                 brge .L347
 4206 210c 8091 0000            lds r24,EE_Parameter+2
 4207 2110 E82F                 mov r30,r24
 4208 2112 FF27                 clr r31
 4209 2114 EE0F                 add r30,r30
 4210 2116 FF1F                 adc r31,r31
 4211 2118 E050                 subi r30,lo8(-(PPM_in))
 4212 211a F040                 sbci r31,hi8(-(PPM_in))
 4213 211c 8081                 ld r24,Z
 4214 211e 9181                 ldd r25,Z+1
 4215 2120 0190                 ld __tmp_reg__,Z+
 4216 2122 F081                 ld r31,Z
 4217 2124 E02D                 mov r30,__tmp_reg__
 4218 2126 F7FF                 sbrs r31,7
 4219 2128 00C0                 rjmp .L348
 4220 212a F095                 com r31
 4221 212c E195                 neg r30
 4222 212e FF4F                 sbci r31,lo8(-1)
 4223                   .L348:
 4224 2130 E734                 cpi r30,71
 4225 2132 F105                 cpc r31,__zero_reg__
 4226 2134 04F4                 brge .+2
 4227 2136 00C0                 rjmp .L346
 4228                   .L347:
 4229 2138 41E0                 ldi r20,lo8(1)
 4230 213a 2091 0000            lds r18,EE_Parameter+2
 4231 213e A22F                 mov r26,r18
 4232 2140 BB27                 clr r27
 4233 2142 AA0F                 add r26,r26
 4234 2144 BB1F                 adc r27,r27
 4235 2146 A050                 subi r26,lo8(-(PPM_in))
 4236 2148 B040                 sbci r27,hi8(-(PPM_in))
 4237 214a 8D91                 ld r24,X+
 4238 214c 9C91                 ld r25,X
 4239 214e 1197                 sbiw r26,1
 4240 2150 8734                 cpi r24,71
 4241 2152 9105                 cpc r25,__zero_reg__
 4242 2154 04F0                 brlt .L349
 4243 2156 E32F                 mov r30,r19
 4244 2158 FF27                 clr r31
 4245 215a EE0F                 add r30,r30
 4246 215c FF1F                 adc r31,r31
 4247 215e E050                 subi r30,lo8(-(PPM_in))
 4248 2160 F040                 sbci r31,hi8(-(PPM_in))
 4249 2162 8081                 ld r24,Z
 4250 2164 9181                 ldd r25,Z+1
 4251                   .L349:
 4252 2166 8D91                 ld r24,X+
 4253 2168 9C91                 ld r25,X
 4254 216a 8734                 cpi r24,71
 4255 216c 9105                 cpc r25,__zero_reg__
 4256 216e 04F0                 brlt .L350
 4257 2170 8091 0000            lds r24,EE_Parameter+1
 4258 2174 E82F                 mov r30,r24
 4259 2176 FF27                 clr r31
 4260 2178 EE0F                 add r30,r30
 4261 217a FF1F                 adc r31,r31
 4262 217c E050                 subi r30,lo8(-(PPM_in))
 4263 217e F040                 sbci r31,hi8(-(PPM_in))
 4264 2180 8081                 ld r24,Z
 4265 2182 9181                 ldd r25,Z+1
 4266 2184 8734                 cpi r24,71
 4267 2186 9105                 cpc r25,__zero_reg__
 4268 2188 04F0                 brlt .L350
 4269 218a 42E0                 ldi r20,lo8(2)
 4270                   .L350:
 4271 218c E22F                 mov r30,r18
 4272 218e FF27                 clr r31
 4273 2190 EE0F                 add r30,r30
 4274 2192 FF1F                 adc r31,r31
 4275 2194 E050                 subi r30,lo8(-(PPM_in))
 4276 2196 F040                 sbci r31,hi8(-(PPM_in))
 4277 2198 8081                 ld r24,Z
 4278 219a 9181                 ldd r25,Z+1
 4279 219c 8634                 cpi r24,70
 4280 219e 9105                 cpc r25,__zero_reg__
 4281 21a0 04F4                 brge .L351
 4282 21a2 8091 0000            lds r24,EE_Parameter+1
 4283 21a6 E82F                 mov r30,r24
 4284 21a8 FF27                 clr r31
 4285 21aa EE0F                 add r30,r30
 4286 21ac FF1F                 adc r31,r31
 4287 21ae E050                 subi r30,lo8(-(PPM_in))
 4288 21b0 F040                 sbci r31,hi8(-(PPM_in))
 4289 21b2 8081                 ld r24,Z
 4290 21b4 9181                 ldd r25,Z+1
 4291 21b6 8734                 cpi r24,71
 4292 21b8 9105                 cpc r25,__zero_reg__
 4293 21ba 04F0                 brlt .L351
 4294 21bc 43E0                 ldi r20,lo8(3)
 4295                   .L351:
 4296 21be E22F                 mov r30,r18
 4297 21c0 FF27                 clr r31
 4298 21c2 EE0F                 add r30,r30
 4299 21c4 FF1F                 adc r31,r31
 4300 21c6 E050                 subi r30,lo8(-(PPM_in))
 4301 21c8 F040                 sbci r31,hi8(-(PPM_in))
 4302 21ca 8081                 ld r24,Z
 4303 21cc 9181                 ldd r25,Z+1
 4304 21ce 8A5B                 subi r24,lo8(-70)
 4305 21d0 9F4F                 sbci r25,hi8(-70)
 4306 21d2 04F4                 brge .L352
 4307 21d4 8091 0000            lds r24,EE_Parameter+1
 4308 21d8 E82F                 mov r30,r24
 4309 21da FF27                 clr r31
 4310 21dc EE0F                 add r30,r30
 4311 21de FF1F                 adc r31,r31
 4312 21e0 E050                 subi r30,lo8(-(PPM_in))
 4313 21e2 F040                 sbci r31,hi8(-(PPM_in))
 4314 21e4 8081                 ld r24,Z
 4315 21e6 9181                 ldd r25,Z+1
 4316 21e8 8734                 cpi r24,71
 4317 21ea 9105                 cpc r25,__zero_reg__
 4318 21ec 04F0                 brlt .L352
 4319 21ee 44E0                 ldi r20,lo8(4)
 4320                   .L352:
 4321 21f0 E22F                 mov r30,r18
 4322 21f2 FF27                 clr r31
 4323 21f4 EE0F                 add r30,r30
 4324 21f6 FF1F                 adc r31,r31
 4325 21f8 E050                 subi r30,lo8(-(PPM_in))
 4326 21fa F040                 sbci r31,hi8(-(PPM_in))
 4327 21fc 8081                 ld r24,Z
 4328 21fe 9181                 ldd r25,Z+1
 4329 2200 8A5B                 subi r24,lo8(-70)
 4330 2202 9F4F                 sbci r25,hi8(-70)
 4331 2204 04F4                 brge .L353
 4332 2206 8091 0000            lds r24,EE_Parameter+1
 4333 220a E82F                 mov r30,r24
 4334 220c FF27                 clr r31
 4335 220e EE0F                 add r30,r30
 4336 2210 FF1F                 adc r31,r31
 4337 2212 E050                 subi r30,lo8(-(PPM_in))
 4338 2214 F040                 sbci r31,hi8(-(PPM_in))
 4339 2216 8081                 ld r24,Z
 4340 2218 9181                 ldd r25,Z+1
 4341 221a 8634                 cpi r24,70
 4342 221c 9105                 cpc r25,__zero_reg__
 4343 221e 04F4                 brge .L353
 4344 2220 45E0                 ldi r20,lo8(5)
 4345                   .L353:
 4346 2222 842F                 mov r24,r20
 4347 2224 0E94 0000            call SetActiveParamSet
 4348                   .L346:
 4349 2228 8091 0000            lds r24,EE_Parameter+2
 4350 222c E82F                 mov r30,r24
 4351 222e FF27                 clr r31
 4352 2230 EE0F                 add r30,r30
 4353 2232 FF1F                 adc r31,r31
 4354 2234 E050                 subi r30,lo8(-(PPM_in))
 4355 2236 F040                 sbci r31,hi8(-(PPM_in))
 4356 2238 8081                 ld r24,Z
 4357 223a 9181                 ldd r25,Z+1
 4358 223c 0190                 ld __tmp_reg__,Z+
 4359 223e F081                 ld r31,Z
 4360 2240 E02D                 mov r30,__tmp_reg__
 4361 2242 F7FF                 sbrs r31,7
 4362 2244 00C0                 rjmp .L355
 4363 2246 F095                 com r31
 4364 2248 E195                 neg r30
 4365 224a FF4F                 sbci r31,lo8(-1)
 4366                   .L355:
 4367 224c 7E97                 sbiw r30,30
 4368 224e 04F4                 brge .L354
 4369 2250 8091 0000            lds r24,EE_Parameter+1
 4370 2254 E82F                 mov r30,r24
 4371 2256 FF27                 clr r31
 4372 2258 EE0F                 add r30,r30
 4373 225a FF1F                 adc r31,r31
 4374 225c E050                 subi r30,lo8(-(PPM_in))
 4375 225e F040                 sbci r31,hi8(-(PPM_in))
 4376 2260 8081                 ld r24,Z
 4377 2262 9181                 ldd r25,Z+1
 4378 2264 8A5B                 subi r24,lo8(-70)
 4379 2266 9F4F                 sbci r25,hi8(-70)
 4380 2268 04F4                 brge .L354
 4381 226a 81E0                 ldi r24,lo8(1)
 4382 226c 8093 0000            sts WinkelOut+6,r24
 4383 2270 88EE                 ldi r24,lo8(1000)
 4384 2272 93E0                 ldi r25,hi8(1000)
 4385 2274 9093 0000            sts (beeptime)+1,r25
 4386 2278 8093 0000            sts beeptime,r24
 4387 227c 00C0                 rjmp .L343
 4388                   .L354:
 4389 227e 0E94 0000            call GetActiveParamSet
 4390 2282 0E94 0000            call ParamSet_ReadFromEEProm
 4391 2286 80E0                 ldi r24,lo8(0)
 4392 2288 0E94 0000            call LipoDetection
 4393 228c 8091 0000            lds r24,EE_Parameter+39
 4394 2290 0E94 0000            call LIBFC_ReceiverInit
 4395 2294 8091 0000            lds r24,Parameter_GlobalConfig
 4396 2298 80FF                 sbrs r24,0
 4397 229a 00C0                 rjmp .L357
 4398 229c 8091 0000            lds r24,MessLuftdruck
 4399 22a0 9091 0000            lds r25,(MessLuftdruck)+1
 4400 22a4 875B                 subi r24,lo8(951)
 4401 22a6 9340                 sbci r25,hi8(951)
 4402 22a8 00F4                 brsh .L359
 4403 22aa 8091 0000            lds r24,MessLuftdruck
 4404 22ae 9091 0000            lds r25,(MessLuftdruck)+1
 4405 22b2 8E5E                 subi r24,lo8(750)
 4406 22b4 9240                 sbci r25,hi8(750)
 4407 22b6 00F4                 brsh .L357
 4408                   .L359:
 4409 22b8 0E94 0000            call SucheLuftruckOffset
 4410                   .L357:
 4411 22bc 1092 0000            sts ServoActive,__zero_reg__
 4412 22c0 80E0                 ldi r24,lo8(0)
 4413 22c2 0E94 0000            call SetNeutral
 4414 22c6 81E0                 ldi r24,lo8(1)
 4415 22c8 8093 0000            sts calibration_done.9,r24
 4416 22cc 8093 0000            sts ServoActive,r24
 4417 22d0 579A                 sbi 42-0x20,7
 4418 22d2 00C0                 rjmp .L824
 4419                   .L344:
 4420 22d4 8081                 ld r24,Z
 4421 22d6 9181                 ldd r25,Z+1
 4422 22d8 855B                 subi r24,lo8(-75)
 4423 22da 9F4F                 sbci r25,hi8(-75)
 4424 22dc 04F4                 brge .L361
 4425 22de 8091 0000            lds r24,delay_neutral.6
 4426 22e2 8F5F                 subi r24,lo8(-(1))
 4427 22e4 8093 0000            sts delay_neutral.6,r24
 4428 22e8 893C                 cpi r24,lo8(-55)
 4429 22ea 00F0                 brlo .L343
 4430 22ec 2093 0000            sts MotorenEin,r18
 4431 22f0 2093 0000            sts delay_neutral.6,r18
 4432 22f4 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 4433 22f8 1092 0000            sts modell_fliegt,__zero_reg__
 4434 22fc 81E0                 ldi r24,lo8(1)
 4435 22fe 0E94 0000            call SetNeutral
 4436 2302 81E0                 ldi r24,lo8(1)
 4437 2304 8093 0000            sts calibration_done.9,r24
 4438                   .L824:
 4439 2308 0E94 0000            call GetActiveParamSet
 4440 230c 68E7                 ldi r22,lo8(120)
 4441 230e 70E0                 ldi r23,hi8(120)
 4442 2310 0E94 0000            call Piep
 4443 2314 00C0                 rjmp .L343
 4444                   .L361:
 4445 2316 2093 0000            sts delay_neutral.6,r18
 4446                   .L343:
 4447 231a 8091 0000            lds r24,EE_Parameter+3
 4448 231e E82F                 mov r30,r24
 4449 2320 FF27                 clr r31
 4450 2322 EE0F                 add r30,r30
 4451 2324 FF1F                 adc r31,r31
 4452 2326 E050                 subi r30,lo8(-(PPM_in))
 4453 2328 F040                 sbci r31,hi8(-(PPM_in))
 4454 232a 8081                 ld r24,Z
 4455 232c 9181                 ldd r25,Z+1
 4456 232e 8B5A                 subi r24,lo8(-85)
 4457 2330 9F4F                 sbci r25,hi8(-85)
 4458 2332 04F0                 brlt .+2
 4459 2334 00C0                 rjmp .L337
 4460 2336 3091 0000            lds r19,MotorenEin
 4461 233a E091 0000            lds r30,EE_Parameter+4
 4462 233e 3323                 tst r19
 4463 2340 01F0                 breq .+2
 4464 2342 00C0                 rjmp .L365
 4465 2344 FF27                 clr r31
 4466 2346 EE0F                 add r30,r30
 4467 2348 FF1F                 adc r31,r31
 4468 234a E050                 subi r30,lo8(-(PPM_in))
 4469 234c F040                 sbci r31,hi8(-(PPM_in))
 4470 234e 8081                 ld r24,Z
 4471 2350 9181                 ldd r25,Z+1
 4472 2352 855B                 subi r24,lo8(-75)
 4473 2354 9F4F                 sbci r25,hi8(-75)
 4474 2356 04F0                 brlt .+2
 4475 2358 00C0                 rjmp .L366
 4476 235a 2091 0000            lds r18,EE_Parameter+99
 4477 235e E22F                 mov r30,r18
 4478 2360 FF27                 clr r31
 4479 2362 EE0F                 add r30,r30
 4480 2364 FF1F                 adc r31,r31
 4481 2366 E050                 subi r30,lo8(-(PPM_in))
 4482 2368 F040                 sbci r31,hi8(-(PPM_in))
 4483 236a 8081                 ld r24,Z
 4484 236c 9181                 ldd r25,Z+1
 4485 236e 855B                 subi r24,lo8(-75)
 4486 2370 9F4F                 sbci r25,hi8(-75)
 4487 2372 04F0                 brlt .L367
 4488 2374 2223                 tst r18
 4489 2376 01F0                 breq .+2
 4490 2378 00C0                 rjmp .L366
 4491                   .L367:
 4492 237a 8091 0000            lds r24,delay_einschalten.7
 4493 237e 8F5F                 subi r24,lo8(-(1))
 4494 2380 8093 0000            sts delay_einschalten.7,r24
 4495 2384 893C                 cpi r24,lo8(-55)
 4496 2386 00F4                 brsh .+2
 4497 2388 00C0                 rjmp .L337
 4498 238a 3093 0000            sts delay_einschalten.7,r19
 4499 238e 8091 0000            lds r24,VersionInfo+5
 4500 2392 8823                 tst r24
 4501 2394 01F0                 breq .+2
 4502 2396 00C0                 rjmp .L369
 4503 2398 8091 0000            lds r24,calibration_done.9
 4504 239c 8823                 tst r24
 4505 239e 01F4                 brne .+2
 4506 23a0 00C0                 rjmp .L369
 4507 23a2 8091 0000            lds r24,NC_ErrorCode
 4508 23a6 8823                 tst r24
 4509 23a8 01F0                 breq .+2
 4510 23aa 00C0                 rjmp .L369
 4511 23ac 81E0                 ldi r24,lo8(1)
 4512 23ae 90E0                 ldi r25,hi8(1)
 4513 23b0 9093 0000            sts (modell_fliegt)+1,r25
 4514 23b4 8093 0000            sts modell_fliegt,r24
 4515 23b8 81E0                 ldi r24,lo8(1)
 4516 23ba 8093 0000            sts MotorenEin,r24
 4517 23be 1092 0000            sts sollGier.0,__zero_reg__
 4518 23c2 1092 0000            sts (sollGier.0)+1,__zero_reg__
 4519 23c6 1092 0000            sts (sollGier.0)+2,__zero_reg__
 4520 23ca 1092 0000            sts (sollGier.0)+3,__zero_reg__
 4521 23ce 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 4522 23d2 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 4523 23d6 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 4524 23da 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 4525 23de 8091 0000            lds r24,EE_Parameter+28
 4526 23e2 E82E                 mov r14,r24
 4527 23e4 FF24                 clr r15
 4528 23e6 0027                 clr r16
 4529 23e8 1127                 clr r17
 4530 23ea 8091 0000            lds r24,Mittelwert_AccNick
 4531 23ee 9091 0000            lds r25,(Mittelwert_AccNick)+1
 4532 23f2 9C01                 movw r18,r24
 4533 23f4 4427                 clr r20
 4534 23f6 37FD                 sbrc r19,7
 4535 23f8 4095                 com r20
 4536 23fa 542F                 mov r21,r20
 4537 23fc C801                 movw r24,r16
 4538 23fe B701                 movw r22,r14
 4539 2400 0E94 0000            call __mulsi3
 4540 2404 DC01                 movw r26,r24
 4541 2406 CB01                 movw r24,r22
 4542 2408 8093 0000            sts Mess_IntegralNick,r24
 4543 240c 9093 0000            sts (Mess_IntegralNick)+1,r25
 4544 2410 A093 0000            sts (Mess_IntegralNick)+2,r26
 4545 2414 B093 0000            sts (Mess_IntegralNick)+3,r27
 4546 2418 8091 0000            lds r24,Mittelwert_AccRoll
 4547 241c 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 4548 2420 9C01                 movw r18,r24
 4549 2422 4427                 clr r20
 4550 2424 37FD                 sbrc r19,7
 4551 2426 4095                 com r20
 4552 2428 542F                 mov r21,r20
 4553 242a C801                 movw r24,r16
 4554 242c B701                 movw r22,r14
 4555 242e 0E94 0000            call __mulsi3
 4556 2432 DC01                 movw r26,r24
 4557 2434 CB01                 movw r24,r22
 4558 2436 8093 0000            sts Mess_IntegralRoll,r24
 4559 243a 9093 0000            sts (Mess_IntegralRoll)+1,r25
 4560 243e A093 0000            sts (Mess_IntegralRoll)+2,r26
 4561 2442 B093 0000            sts (Mess_IntegralRoll)+3,r27
 4562 2446 8091 0000            lds r24,IntegralNick
 4563 244a 9091 0000            lds r25,(IntegralNick)+1
 4564 244e A091 0000            lds r26,(IntegralNick)+2
 4565 2452 B091 0000            lds r27,(IntegralNick)+3
 4566 2456 8093 0000            sts Mess_IntegralNick2,r24
 4567 245a 9093 0000            sts (Mess_IntegralNick2)+1,r25
 4568 245e A093 0000            sts (Mess_IntegralNick2)+2,r26
 4569 2462 B093 0000            sts (Mess_IntegralNick2)+3,r27
 4570 2466 8091 0000            lds r24,IntegralRoll
 4571 246a 9091 0000            lds r25,(IntegralRoll)+1
 4572 246e A091 0000            lds r26,(IntegralRoll)+2
 4573 2472 B091 0000            lds r27,(IntegralRoll)+3
 4574 2476 8093 0000            sts Mess_IntegralRoll2,r24
 4575 247a 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 4576 247e A093 0000            sts (Mess_IntegralRoll2)+2,r26
 4577 2482 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 4578 2486 1092 0000            sts SummeNick,__zero_reg__
 4579 248a 1092 0000            sts (SummeNick)+1,__zero_reg__
 4580 248e 1092 0000            sts (SummeNick)+2,__zero_reg__
 4581 2492 1092 0000            sts (SummeNick)+3,__zero_reg__
 4582 2496 1092 0000            sts SummeRoll,__zero_reg__
 4583 249a 1092 0000            sts (SummeRoll)+1,__zero_reg__
 4584 249e 1092 0000            sts (SummeRoll)+2,__zero_reg__
 4585 24a2 1092 0000            sts (SummeRoll)+3,__zero_reg__
 4586 24a6 8091 0000            lds r24,FC_StatusFlags
 4587 24aa 8860                 ori r24,lo8(8)
 4588 24ac 8093 0000            sts FC_StatusFlags,r24
 4589 24b0 84E6                 ldi r24,lo8(100)
 4590 24b2 8093 0000            sts NeueKompassRichtungMerken.10,r24
 4591 24b6 00C0                 rjmp .L337
 4592                   .L369:
 4593 24b8 8CED                 ldi r24,lo8(1500)
 4594 24ba 95E0                 ldi r25,hi8(1500)
 4595 24bc 9093 0000            sts (beeptime)+1,r25
 4596 24c0 8093 0000            sts beeptime,r24
 4597 24c4 00C0                 rjmp .L337
 4598                   .L366:
 4599 24c6 1092 0000            sts delay_einschalten.7,__zero_reg__
 4600 24ca 00C0                 rjmp .L337
 4601                   .L365:
 4602 24cc FF27                 clr r31
 4603 24ce EE0F                 add r30,r30
 4604 24d0 FF1F                 adc r31,r31
 4605 24d2 E050                 subi r30,lo8(-(PPM_in))
 4606 24d4 F040                 sbci r31,hi8(-(PPM_in))
 4607 24d6 8081                 ld r24,Z
 4608 24d8 9181                 ldd r25,Z+1
 4609 24da 8C34                 cpi r24,76
 4610 24dc 9105                 cpc r25,__zero_reg__
 4611 24de 04F0                 brlt .L373
 4612 24e0 2091 0000            lds r18,EE_Parameter+99
 4613 24e4 E22F                 mov r30,r18
 4614 24e6 FF27                 clr r31
 4615 24e8 EE0F                 add r30,r30
 4616 24ea FF1F                 adc r31,r31
 4617 24ec E050                 subi r30,lo8(-(PPM_in))
 4618 24ee F040                 sbci r31,hi8(-(PPM_in))
 4619 24f0 8081                 ld r24,Z
 4620 24f2 9181                 ldd r25,Z+1
 4621 24f4 855B                 subi r24,lo8(-75)
 4622 24f6 9F4F                 sbci r25,hi8(-75)
 4623 24f8 04F0                 brlt .L374
 4624 24fa 2223                 tst r18
 4625 24fc 01F4                 brne .L373
 4626                   .L374:
 4627 24fe 8091 0000            lds r24,delay_ausschalten.8
 4628 2502 8F5F                 subi r24,lo8(-(1))
 4629 2504 8093 0000            sts delay_ausschalten.8,r24
 4630 2508 893C                 cpi r24,lo8(-55)
 4631 250a 00F0                 brlo .L337
 4632 250c 1092 0000            sts MotorenEin,__zero_reg__
 4633 2510 1092 0000            sts delay_ausschalten.8,__zero_reg__
 4634 2514 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 4635 2518 1092 0000            sts modell_fliegt,__zero_reg__
 4636 251c 00C0                 rjmp .L337
 4637                   .L373:
 4638 251e 1092 0000            sts delay_ausschalten.8,__zero_reg__
 4639                   .L337:
 4640 2522 8091 0000            lds r24,NewPpmData
 4641 2526 8150                 subi r24,lo8(-(-1))
 4642 2528 8093 0000            sts NewPpmData,r24
 4643 252c 8091 0000            lds r24,NewPpmData
 4644 2530 8F3F                 cpi r24,lo8(-1)
 4645 2532 01F0                 breq .L378
 4646 2534 8091 0000            lds r24,FC_StatusFlags
 4647 2538 84FF                 sbrs r24,4
 4648 253a 00C0                 rjmp .L377
 4649                   .L378:
 4650 253c 0E94 0000            call ParameterZuordnung
 4651 2540 B090 0000            lds r11,EE_Parameter+23
 4652 2544 8091 0000            lds r24,stick_nick.13
 4653 2548 9091 0000            lds r25,(stick_nick.13)+1
 4654 254c 9C01                 movw r18,r24
 4655 254e 220F                 lsl r18
 4656 2550 331F                 rol r19
 4657 2552 280F                 add r18,r24
 4658 2554 391F                 adc r19,r25
 4659 2556 C090 0000            lds r12,EE_Parameter+1
 4660 255a AC2D                 mov r26,r12
 4661 255c BB27                 clr r27
 4662 255e AA0F                 add r26,r26
 4663 2560 BB1F                 adc r27,r27
 4664 2562 FD01                 movw r30,r26
 4665 2564 E050                 subi r30,lo8(-(PPM_in))
 4666 2566 F040                 sbci r31,hi8(-(PPM_in))
 4667 2568 4B2D                 mov r20,r11
 4668 256a 5527                 clr r21
 4669 256c 8081                 ld r24,Z
 4670 256e 9181                 ldd r25,Z+1
 4671 2570 849F                 mul r24,r20
 4672 2572 F001                 movw r30,r0
 4673 2574 859F                 mul r24,r21
 4674 2576 F00D                 add r31,r0
 4675 2578 949F                 mul r25,r20
 4676 257a F00D                 add r31,r0
 4677 257c 1124                 clr r1
 4678 257e 2E0F                 add r18,r30
 4679 2580 3F1F                 adc r19,r31
 4680 2582 37FF                 sbrs r19,7
 4681 2584 00C0                 rjmp .L379
 4682 2586 2D5F                 subi r18,lo8(-(3))
 4683 2588 3F4F                 sbci r19,hi8(-(3))
 4684                   .L379:
 4685 258a B901                 movw r22,r18
 4686 258c 7595                 asr r23
 4687 258e 6795                 ror r22
 4688 2590 7595                 asr r23
 4689 2592 6795                 ror r22
 4690 2594 A050                 subi r26,lo8(-(PPM_diff))
 4691 2596 B040                 sbci r27,hi8(-(PPM_diff))
 4692 2598 8091 0000            lds r24,EE_Parameter+24
 4693 259c 082F                 mov r16,r24
 4694 259e 1127                 clr r17
 4695 25a0 8D91                 ld r24,X+
 4696 25a2 9C91                 ld r25,X
 4697 25a4 809F                 mul r24,r16
 4698 25a6 7001                 movw r14,r0
 4699 25a8 819F                 mul r24,r17
 4700 25aa F00C                 add r15,r0
 4701 25ac 909F                 mul r25,r16
 4702 25ae F00C                 add r15,r0
 4703 25b0 1124                 clr r1
 4704 25b2 6E0D                 add r22,r14
 4705 25b4 7F1D                 adc r23,r15
 4706 25b6 7093 0000            sts (stick_nick.13)+1,r23
 4707 25ba 6093 0000            sts stick_nick.13,r22
 4708 25be 8091 0000            lds r24,stick_roll.14
 4709 25c2 9091 0000            lds r25,(stick_roll.14)+1
 4710 25c6 9C01                 movw r18,r24
 4711 25c8 220F                 lsl r18
 4712 25ca 331F                 rol r19
 4713 25cc 280F                 add r18,r24
 4714 25ce 391F                 adc r19,r25
 4715 25d0 D090 0000            lds r13,EE_Parameter+2
 4716 25d4 AD2D                 mov r26,r13
 4717 25d6 BB27                 clr r27
 4718 25d8 AA0F                 add r26,r26
 4719 25da BB1F                 adc r27,r27
 4720 25dc FD01                 movw r30,r26
 4721 25de E050                 subi r30,lo8(-(PPM_in))
 4722 25e0 F040                 sbci r31,hi8(-(PPM_in))
 4723 25e2 8081                 ld r24,Z
 4724 25e4 9181                 ldd r25,Z+1
 4725 25e6 849F                 mul r24,r20
 4726 25e8 F001                 movw r30,r0
 4727 25ea 859F                 mul r24,r21
 4728 25ec F00D                 add r31,r0
 4729 25ee 949F                 mul r25,r20
 4730 25f0 F00D                 add r31,r0
 4731 25f2 1124                 clr r1
 4732 25f4 2E0F                 add r18,r30
 4733 25f6 3F1F                 adc r19,r31
 4734 25f8 37FF                 sbrs r19,7
 4735 25fa 00C0                 rjmp .L380
 4736 25fc 2D5F                 subi r18,lo8(-(3))
 4737 25fe 3F4F                 sbci r19,hi8(-(3))
 4738                   .L380:
 4739 2600 A901                 movw r20,r18
 4740 2602 5595                 asr r21
 4741 2604 4795                 ror r20
 4742 2606 5595                 asr r21
 4743 2608 4795                 ror r20
 4744 260a A050                 subi r26,lo8(-(PPM_diff))
 4745 260c B040                 sbci r27,hi8(-(PPM_diff))
 4746 260e 8D91                 ld r24,X+
 4747 2610 9C91                 ld r25,X
 4748 2612 809F                 mul r24,r16
 4749 2614 7001                 movw r14,r0
 4750 2616 819F                 mul r24,r17
 4751 2618 F00C                 add r15,r0
 4752 261a 909F                 mul r25,r16
 4753 261c F00C                 add r15,r0
 4754 261e 1124                 clr r1
 4755 2620 4E0D                 add r20,r14
 4756 2622 5F1D                 adc r21,r15
 4757 2624 5093 0000            sts (stick_roll.14)+1,r21
 4758 2628 4093 0000            sts stick_roll.14,r20
 4759 262c 8091 0000            lds r24,CareFree
 4760 2630 8823                 tst r24
 4761 2632 01F4                 brne .+2
 4762 2634 00C0                 rjmp .L381
 4763 2636 CB01                 movw r24,r22
 4764 2638 77FD                 sbrc r23,7
 4765 263a 0396                 adiw r24,3
 4766                   .L382:
 4767 263c DC01                 movw r26,r24
 4768 263e B595                 asr r27
 4769 2640 A795                 ror r26
 4770 2642 B595                 asr r27
 4771 2644 A795                 ror r26
 4772 2646 CA01                 movw r24,r20
 4773 2648 57FD                 sbrc r21,7
 4774 264a 0396                 adiw r24,3
 4775                   .L383:
 4776 264c FC01                 movw r30,r24
 4777 264e F595                 asr r31
 4778 2650 E795                 ror r30
 4779 2652 F595                 asr r31
 4780 2654 E795                 ror r30
 4781 2656 8091 0000            lds r24,FromNC_Rotate_C
 4782 265a 682F                 mov r22,r24
 4783 265c 7727                 clr r23
 4784 265e 67FD                 sbrc r22,7
 4785 2660 7095                 com r23
 4786 2662 6A9F                 mul r22,r26
 4787 2664 9001                 movw r18,r0
 4788 2666 6B9F                 mul r22,r27
 4789 2668 300D                 add r19,r0
 4790 266a 7A9F                 mul r23,r26
 4791 266c 300D                 add r19,r0
 4792 266e 1124                 clr r1
 4793 2670 8091 0000            lds r24,FromNC_Rotate_S
 4794 2674 482F                 mov r20,r24
 4795 2676 5527                 clr r21
 4796 2678 47FD                 sbrc r20,7
 4797 267a 5095                 com r21
 4798 267c 4E9F                 mul r20,r30
 4799 267e C001                 movw r24,r0
 4800 2680 4F9F                 mul r20,r31
 4801 2682 900D                 add r25,r0
 4802 2684 5E9F                 mul r21,r30
 4803 2686 900D                 add r25,r0
 4804 2688 1124                 clr r1
 4805 268a 280F                 add r18,r24
 4806 268c 391F                 adc r19,r25
 4807 268e 37FF                 sbrs r19,7
 4808 2690 00C0                 rjmp .L384
 4809 2692 295F                 subi r18,lo8(-(7))
 4810 2694 3F4F                 sbci r19,hi8(-(7))
 4811                   .L384:
 4812 2696 93E0                 ldi r25,3
 4813 2698 3595         1:      asr r19
 4814 269a 2795                 ror r18
 4815 269c 9A95                 dec r25
 4816 269e 01F4                 brne 1b
 4817 26a0 3093 0000            sts (StickNick)+1,r19
 4818 26a4 2093 0000            sts StickNick,r18
 4819 26a8 6E9F                 mul r22,r30
 4820 26aa 9001                 movw r18,r0
 4821 26ac 6F9F                 mul r22,r31
 4822 26ae 300D                 add r19,r0
 4823 26b0 7E9F                 mul r23,r30
 4824 26b2 300D                 add r19,r0
 4825 26b4 1124                 clr r1
 4826 26b6 4A9F                 mul r20,r26
 4827 26b8 C001                 movw r24,r0
 4828 26ba 4B9F                 mul r20,r27
 4829 26bc 900D                 add r25,r0
 4830 26be 5A9F                 mul r21,r26
 4831 26c0 900D                 add r25,r0
 4832 26c2 1124                 clr r1
 4833 26c4 00C0                 rjmp .L853
 4834                   .L381:
 4835 26c6 8091 0000            lds r24,EE_Parameter+97
 4836 26ca E82F                 mov r30,r24
 4837 26cc FF27                 clr r31
 4838 26ce E050                 subi r30,lo8(-(sintab))
 4839 26d0 F040                 sbci r31,hi8(-(sintab))
 4840 26d2 8681                 ldd r24,Z+6
 4841 26d4 8093 0000            sts FromNC_Rotate_C,r24
 4842 26d8 9081                 ld r25,Z
 4843 26da 9093 0000            sts FromNC_Rotate_S,r25
 4844 26de A82F                 mov r26,r24
 4845 26e0 BB27                 clr r27
 4846 26e2 A7FD                 sbrc r26,7
 4847 26e4 B095                 com r27
 4848 26e6 A69F                 mul r26,r22
 4849 26e8 9001                 movw r18,r0
 4850 26ea A79F                 mul r26,r23
 4851 26ec 300D                 add r19,r0
 4852 26ee B69F                 mul r27,r22
 4853 26f0 300D                 add r19,r0
 4854 26f2 1124                 clr r1
 4855 26f4 E92F                 mov r30,r25
 4856 26f6 FF27                 clr r31
 4857 26f8 E7FD                 sbrc r30,7
 4858 26fa F095                 com r31
 4859 26fc E49F                 mul r30,r20
 4860 26fe C001                 movw r24,r0
 4861 2700 E59F                 mul r30,r21
 4862 2702 900D                 add r25,r0
 4863 2704 F49F                 mul r31,r20
 4864 2706 900D                 add r25,r0
 4865 2708 1124                 clr r1
 4866 270a 280F                 add r18,r24
 4867 270c 391F                 adc r19,r25
 4868 270e 37FF                 sbrs r19,7
 4869 2710 00C0                 rjmp .L387
 4870 2712 295F                 subi r18,lo8(-(7))
 4871 2714 3F4F                 sbci r19,hi8(-(7))
 4872                   .L387:
 4873 2716 83E0                 ldi r24,3
 4874 2718 3595         1:      asr r19
 4875 271a 2795                 ror r18
 4876 271c 8A95                 dec r24
 4877 271e 01F4                 brne 1b
 4878 2720 3093 0000            sts (StickNick)+1,r19
 4879 2724 2093 0000            sts StickNick,r18
 4880 2728 A49F                 mul r26,r20
 4881 272a 9001                 movw r18,r0
 4882 272c A59F                 mul r26,r21
 4883 272e 300D                 add r19,r0
 4884 2730 B49F                 mul r27,r20
 4885 2732 300D                 add r19,r0
 4886 2734 1124                 clr r1
 4887 2736 E69F                 mul r30,r22
 4888 2738 C001                 movw r24,r0
 4889 273a E79F                 mul r30,r23
 4890 273c 900D                 add r25,r0
 4891 273e F69F                 mul r31,r22
 4892 2740 900D                 add r25,r0
 4893 2742 1124                 clr r1
 4894                   .L853:
 4895 2744 281B                 sub r18,r24
 4896 2746 390B                 sbc r19,r25
 4897 2748 37FF                 sbrs r19,7
 4898 274a 00C0                 rjmp .L388
 4899 274c 295F                 subi r18,lo8(-(7))
 4900 274e 3F4F                 sbci r19,hi8(-(7))
 4901                   .L388:
 4902 2750 03E0                 ldi r16,3
 4903 2752 3595         1:      asr r19
 4904 2754 2795                 ror r18
 4905 2756 0A95                 dec r16
 4906 2758 01F4                 brne 1b
 4907 275a 3093 0000            sts (StickRoll)+1,r19
 4908 275e 2093 0000            sts StickRoll,r18
 4909 2762 8091 0000            lds r24,EE_Parameter+4
 4910 2766 E82F                 mov r30,r24
 4911 2768 FF27                 clr r31
 4912 276a EE0F                 add r30,r30
 4913 276c FF1F                 adc r31,r31
 4914 276e E050                 subi r30,lo8(-(PPM_in))
 4915 2770 F040                 sbci r31,hi8(-(PPM_in))
 4916 2772 8081                 ld r24,Z
 4917 2774 9181                 ldd r25,Z+1
 4918 2776 9095                 com r25
 4919 2778 8195                 neg r24
 4920 277a 9F4F                 sbci r25,lo8(-1)
 4921 277c 9093 0000            sts (StickGier)+1,r25
 4922 2780 8093 0000            sts StickGier,r24
 4923 2784 8530                 cpi r24,5
 4924 2786 9105                 cpc r25,__zero_reg__
 4925 2788 04F0                 brlt .L389
 4926 278a 0497                 sbiw r24,4
 4927 278c 00C0                 rjmp .L825
 4928                   .L389:
 4929 278e 0FEF                 ldi r16,hi8(-4)
 4930 2790 8C3F                 cpi r24,lo8(-4)
 4931 2792 9007                 cpc r25,r16
 4932 2794 04F4                 brge .L391
 4933 2796 0496                 adiw r24,4
 4934                   .L825:
 4935 2798 9093 0000            sts (StickGier)+1,r25
 4936 279c 8093 0000            sts StickGier,r24
 4937 27a0 00C0                 rjmp .L390
 4938                   .L391:
 4939 27a2 1092 0000            sts (StickGier)+1,__zero_reg__
 4940 27a6 1092 0000            sts StickGier,__zero_reg__
 4941                   .L390:
 4942 27aa 8091 0000            lds r24,GPS_Aid_StickMultiplikator
 4943 27ae 8823                 tst r24
 4944 27b0 01F4                 brne .+2
 4945 27b2 00C0                 rjmp .L393
 4946 27b4 282F                 mov r18,r24
 4947 27b6 3327                 clr r19
 4948 27b8 8091 0000            lds r24,StickNick
 4949 27bc 9091 0000            lds r25,(StickNick)+1
 4950 27c0 97FD                 sbrc r25,7
 4951 27c2 0796                 adiw r24,7
 4952                   .L394:
 4953 27c4 13E0                 ldi r17,3
 4954 27c6 9595         1:      asr r25
 4955 27c8 8795                 ror r24
 4956 27ca 1A95                 dec r17
 4957 27cc 01F4                 brne 1b
 4958 27ce 289F                 mul r18,r24
 4959 27d0 A001                 movw r20,r0
 4960 27d2 299F                 mul r18,r25
 4961 27d4 500D                 add r21,r0
 4962 27d6 389F                 mul r19,r24
 4963 27d8 500D                 add r21,r0
 4964 27da 1124                 clr r1
 4965 27dc CA01                 movw r24,r20
 4966 27de 57FD                 sbrc r21,7
 4967 27e0 0F96                 adiw r24,15
 4968                   .L395:
 4969 27e2 B4E0                 ldi r27,4
 4970 27e4 9595         1:      asr r25
 4971 27e6 8795                 ror r24
 4972 27e8 BA95                 dec r27
 4973 27ea 01F4                 brne 1b
 4974 27ec 9093 0000            sts (StickNick)+1,r25
 4975 27f0 8093 0000            sts StickNick,r24
 4976 27f4 8091 0000            lds r24,StickRoll
 4977 27f8 9091 0000            lds r25,(StickRoll)+1
 4978 27fc 97FD                 sbrc r25,7
 4979 27fe 0796                 adiw r24,7
 4980                   .L396:
 4981 2800 A3E0                 ldi r26,3
 4982 2802 9595         1:      asr r25
 4983 2804 8795                 ror r24
 4984 2806 AA95                 dec r26
 4985 2808 01F4                 brne 1b
 4986 280a 289F                 mul r18,r24
 4987 280c B001                 movw r22,r0
 4988 280e 299F                 mul r18,r25
 4989 2810 700D                 add r23,r0
 4990 2812 389F                 mul r19,r24
 4991 2814 700D                 add r23,r0
 4992 2816 1124                 clr r1
 4993 2818 CB01                 movw r24,r22
 4994 281a 77FD                 sbrc r23,7
 4995 281c 0F96                 adiw r24,15
 4996                   .L397:
 4997 281e F4E0                 ldi r31,4
 4998 2820 9595         1:      asr r25
 4999 2822 8795                 ror r24
 5000 2824 FA95                 dec r31
 5001 2826 01F4                 brne 1b
 5002 2828 9093 0000            sts (StickRoll)+1,r25
 5003 282c 8093 0000            sts StickRoll,r24
 5004                   .L393:
 5005 2830 8090 0000            lds r8,StickNick
 5006 2834 9090 0000            lds r9,(StickNick)+1
 5007 2838 8091 0000            lds r24,GPS_Nick
 5008 283c 9091 0000            lds r25,(GPS_Nick)+1
 5009 2840 881A                 sub r8,r24
 5010 2842 990A                 sbc r9,r25
 5011 2844 9092 0000            sts (StickNick)+1,r9
 5012 2848 8092 0000            sts StickNick,r8
 5013 284c 0091 0000            lds r16,StickRoll
 5014 2850 1091 0000            lds r17,(StickRoll)+1
 5015 2854 8091 0000            lds r24,GPS_Roll
 5016 2858 9091 0000            lds r25,(GPS_Roll)+1
 5017 285c 081B                 sub r16,r24
 5018 285e 190B                 sbc r17,r25
 5019 2860 1093 0000            sts (StickRoll)+1,r17
 5020 2864 0093 0000            sts StickRoll,r16
 5021 2868 8091 0000            lds r24,EE_Parameter+3
 5022 286c E82F                 mov r30,r24
 5023 286e FF27                 clr r31
 5024 2870 EE0F                 add r30,r30
 5025 2872 FF1F                 adc r31,r31
 5026 2874 E050                 subi r30,lo8(-(PPM_in))
 5027 2876 F040                 sbci r31,hi8(-(PPM_in))
 5028 2878 E080                 ld r14,Z
 5029 287a F180                 ldd r15,Z+1
 5030 287c 8FE7                 ldi r24,lo8(127)
 5031 287e 90E0                 ldi r25,hi8(127)
 5032 2880 E80E                 add r14,r24
 5033 2882 F91E                 adc r15,r25
 5034 2884 F092 0000            sts (StickGas)+1,r15
 5035 2888 E092 0000            sts StickGas,r14
 5036 288c 8091 0000            lds r24,Parameter_Gyro_P
 5037 2890 9927                 clr r25
 5038 2892 AA27                 clr r26
 5039 2894 97FD                 sbrc r25,7
 5040 2896 A095                 com r26
 5041 2898 BA2F                 mov r27,r26
 5042 289a BC01                 movw r22,r24
 5043 289c CD01                 movw r24,r26
 5044 289e 0E94 0000            call __floatsisf
 5045 28a2 DC01                 movw r26,r24
 5046 28a4 CB01                 movw r24,r22
 5047 28a6 20E0                 ldi r18,lo8(0x41200000)
 5048 28a8 30E0                 ldi r19,hi8(0x41200000)
 5049 28aa 40E2                 ldi r20,hlo8(0x41200000)
 5050 28ac 51E4                 ldi r21,hhi8(0x41200000)
 5051 28ae BC01                 movw r22,r24
 5052 28b0 CD01                 movw r24,r26
 5053 28b2 0E94 0000            call __addsf3
 5054 28b6 DC01                 movw r26,r24
 5055 28b8 CB01                 movw r24,r22
 5056 28ba BC01                 movw r22,r24
 5057 28bc CD01                 movw r24,r26
 5058 28be 0E94 0000            call __fixunssfsi
 5059 28c2 DC01                 movw r26,r24
 5060 28c4 CB01                 movw r24,r22
 5061 28c6 8093 0000            sts GyroFaktor,r24
 5062 28ca 8091 0000            lds r24,Parameter_Gyro_I
 5063 28ce 8093 0000            sts IntegralFaktor,r24
 5064 28d2 8091 0000            lds r24,Parameter_Gyro_Gier_P
 5065 28d6 9927                 clr r25
 5066 28d8 AA27                 clr r26
 5067 28da 97FD                 sbrc r25,7
 5068 28dc A095                 com r26
 5069 28de BA2F                 mov r27,r26
 5070 28e0 BC01                 movw r22,r24
 5071 28e2 CD01                 movw r24,r26
 5072 28e4 0E94 0000            call __floatsisf
 5073 28e8 DC01                 movw r26,r24
 5074 28ea CB01                 movw r24,r22
 5075 28ec 20E0                 ldi r18,lo8(0x41200000)
 5076 28ee 30E0                 ldi r19,hi8(0x41200000)
 5077 28f0 40E2                 ldi r20,hlo8(0x41200000)
 5078 28f2 51E4                 ldi r21,hhi8(0x41200000)
 5079 28f4 BC01                 movw r22,r24
 5080 28f6 CD01                 movw r24,r26
 5081 28f8 0E94 0000            call __addsf3
 5082 28fc DC01                 movw r26,r24
 5083 28fe CB01                 movw r24,r22
 5084 2900 BC01                 movw r22,r24
 5085 2902 CD01                 movw r24,r26
 5086 2904 0E94 0000            call __fixunssfsi
 5087 2908 DC01                 movw r26,r24
 5088 290a CB01                 movw r24,r22
 5089 290c 8093 0000            sts GyroFaktorGier,r24
 5090 2910 8091 0000            lds r24,Parameter_Gyro_Gier_I
 5091 2914 8093 0000            sts IntegralFaktorGier,r24
 5092 2918 8091 0000            lds r24,ExternControl+10
 5093 291c 80FF                 sbrs r24,0
 5094 291e 00C0                 rjmp .L398
 5095 2920 8091 0000            lds r24,Parameter_ExternalControl
 5096 2924 8138                 cpi r24,lo8(-127)
 5097 2926 00F4                 brsh .+2
 5098 2928 00C0                 rjmp .L398
 5099 292a 8091 0000            lds r24,ExternControl+3
 5100 292e 9927                 clr r25
 5101 2930 87FD                 sbrc r24,7
 5102 2932 9095                 com r25
 5103 2934 2B2D                 mov r18,r11
 5104 2936 3327                 clr r19
 5105 2938 829F                 mul r24,r18
 5106 293a D001                 movw r26,r0
 5107 293c 839F                 mul r24,r19
 5108 293e B00D                 add r27,r0
 5109 2940 929F                 mul r25,r18
 5110 2942 B00D                 add r27,r0
 5111 2944 1124                 clr r1
 5112 2946 8A0E                 add r8,r26
 5113 2948 9B1E                 adc r9,r27
 5114 294a 9092 0000            sts (StickNick)+1,r9
 5115 294e 8092 0000            sts StickNick,r8
 5116 2952 8091 0000            lds r24,ExternControl+4
 5117 2956 9927                 clr r25
 5118 2958 87FD                 sbrc r24,7
 5119 295a 9095                 com r25
 5120 295c 829F                 mul r24,r18
 5121 295e F001                 movw r30,r0
 5122 2960 839F                 mul r24,r19
 5123 2962 F00D                 add r31,r0
 5124 2964 929F                 mul r25,r18
 5125 2966 F00D                 add r31,r0
 5126 2968 1124                 clr r1
 5127 296a 0E0F                 add r16,r30
 5128 296c 1F1F                 adc r17,r31
 5129 296e 1093 0000            sts (StickRoll)+1,r17
 5130 2972 0093 0000            sts StickRoll,r16
 5131 2976 8091 0000            lds r24,ExternControl+5
 5132 297a 282F                 mov r18,r24
 5133 297c 3327                 clr r19
 5134 297e 27FD                 sbrc r18,7
 5135 2980 3095                 com r19
 5136 2982 8091 0000            lds r24,StickGier
 5137 2986 9091 0000            lds r25,(StickGier)+1
 5138 298a 820F                 add r24,r18
 5139 298c 931F                 adc r25,r19
 5140 298e 9093 0000            sts (StickGier)+1,r25
 5141 2992 8093 0000            sts StickGier,r24
 5142 2996 8091 0000            lds r24,ExternControl+7
 5143 299a 282F                 mov r18,r24
 5144 299c 3327                 clr r19
 5145 299e 27FD                 sbrc r18,7
 5146 29a0 3095                 com r19
 5147 29a2 8091 0000            lds r24,EE_Parameter+18
 5148 29a6 9927                 clr r25
 5149 29a8 289F                 mul r18,r24
 5150 29aa 8001                 movw r16,r0
 5151 29ac 299F                 mul r18,r25
 5152 29ae 100D                 add r17,r0
 5153 29b0 389F                 mul r19,r24
 5154 29b2 100D                 add r17,r0
 5155 29b4 1124                 clr r1
 5156 29b6 1093 0000            sts (ExternHoehenValue)+1,r17
 5157 29ba 0093 0000            sts ExternHoehenValue,r16
 5158 29be 8091 0000            lds r24,ExternControl+6
 5159 29c2 9927                 clr r25
 5160 29c4 8E15                 cp r24,r14
 5161 29c6 9F05                 cpc r25,r15
 5162 29c8 04F4                 brge .L398
 5163 29ca 9093 0000            sts (StickGas)+1,r25
 5164 29ce 8093 0000            sts StickGas,r24
 5165                   .L398:
 5166 29d2 8091 0000            lds r24,StickGas
 5167 29d6 9091 0000            lds r25,(StickGas)+1
 5168 29da 97FF                 sbrs r25,7
 5169 29dc 00C0                 rjmp .L400
 5170 29de 1092 0000            sts (StickGas)+1,__zero_reg__
 5171 29e2 1092 0000            sts StickGas,__zero_reg__
 5172                   .L400:
 5173 29e6 8091 0000            lds r24,Parameter_GlobalConfig
 5174 29ea 82FF                 sbrs r24,2
 5175 29ec 00C0                 rjmp .L401
 5176 29ee 1092 0000            sts IntegralFaktor,__zero_reg__
 5177                   .L401:
 5178 29f2 4091 0000            lds r20,StickNick
 5179 29f6 5091 0000            lds r21,(StickNick)+1
 5180 29fa CA01                 movw r24,r20
 5181 29fc 57FD                 sbrc r21,7
 5182 29fe 0396                 adiw r24,3
 5183                   .L403:
 5184 2a00 9C01                 movw r18,r24
 5185 2a02 3595                 asr r19
 5186 2a04 2795                 ror r18
 5187 2a06 3595                 asr r19
 5188 2a08 2795                 ror r18
 5189 2a0a 37FF                 sbrs r19,7
 5190 2a0c 00C0                 rjmp .L404
 5191 2a0e 3095                 com r19
 5192 2a10 2195                 neg r18
 5193 2a12 3F4F                 sbci r19,lo8(-1)
 5194                   .L404:
 5195 2a14 8091 0000            lds r24,MaxStickNick
 5196 2a18 9091 0000            lds r25,(MaxStickNick)+1
 5197 2a1c 8217                 cp r24,r18
 5198 2a1e 9307                 cpc r25,r19
 5199 2a20 04F4                 brge .L402
 5200 2a22 CA01                 movw r24,r20
 5201 2a24 57FF                 sbrs r21,7
 5202 2a26 00C0                 rjmp .L405
 5203 2a28 9095                 com r25
 5204 2a2a 8195                 neg r24
 5205 2a2c 9F4F                 sbci r25,lo8(-1)
 5206                   .L405:
 5207 2a2e 97FD                 sbrc r25,7
 5208 2a30 0396                 adiw r24,3
 5209                   .L406:
 5210 2a32 9595                 asr r25
 5211 2a34 8795                 ror r24
 5212 2a36 9595                 asr r25
 5213 2a38 8795                 ror r24
 5214 2a3a 9093 0000            sts (MaxStickNick)+1,r25
 5215 2a3e 8093 0000            sts MaxStickNick,r24
 5216 2a42 8536                 cpi r24,101
 5217 2a44 9105                 cpc r25,__zero_reg__
 5218 2a46 04F0                 brlt .L408
 5219 2a48 84E6                 ldi r24,lo8(100)
 5220 2a4a 90E0                 ldi r25,hi8(100)
 5221 2a4c 00C0                 rjmp .L826
 5222                   .L402:
 5223 2a4e 0197                 sbiw r24,1
 5224                   .L826:
 5225 2a50 9093 0000            sts (MaxStickNick)+1,r25
 5226 2a54 8093 0000            sts MaxStickNick,r24
 5227                   .L408:
 5228 2a58 4091 0000            lds r20,StickRoll
 5229 2a5c 5091 0000            lds r21,(StickRoll)+1
 5230 2a60 CA01                 movw r24,r20
 5231 2a62 57FD                 sbrc r21,7
 5232 2a64 0396                 adiw r24,3
 5233                   .L410:
 5234 2a66 9C01                 movw r18,r24
 5235 2a68 3595                 asr r19
 5236 2a6a 2795                 ror r18
 5237 2a6c 3595                 asr r19
 5238 2a6e 2795                 ror r18
 5239 2a70 37FF                 sbrs r19,7
 5240 2a72 00C0                 rjmp .L411
 5241 2a74 3095                 com r19
 5242 2a76 2195                 neg r18
 5243 2a78 3F4F                 sbci r19,lo8(-1)
 5244                   .L411:
 5245 2a7a 8091 0000            lds r24,MaxStickRoll
 5246 2a7e 9091 0000            lds r25,(MaxStickRoll)+1
 5247 2a82 8217                 cp r24,r18
 5248 2a84 9307                 cpc r25,r19
 5249 2a86 04F4                 brge .L409
 5250 2a88 CA01                 movw r24,r20
 5251 2a8a 57FF                 sbrs r21,7
 5252 2a8c 00C0                 rjmp .L412
 5253 2a8e 9095                 com r25
 5254 2a90 8195                 neg r24
 5255 2a92 9F4F                 sbci r25,lo8(-1)
 5256                   .L412:
 5257 2a94 97FD                 sbrc r25,7
 5258 2a96 0396                 adiw r24,3
 5259                   .L413:
 5260 2a98 9595                 asr r25
 5261 2a9a 8795                 ror r24
 5262 2a9c 9595                 asr r25
 5263 2a9e 8795                 ror r24
 5264 2aa0 9093 0000            sts (MaxStickRoll)+1,r25
 5265 2aa4 8093 0000            sts MaxStickRoll,r24
 5266 2aa8 8536                 cpi r24,101
 5267 2aaa 9105                 cpc r25,__zero_reg__
 5268 2aac 04F0                 brlt .L415
 5269 2aae 84E6                 ldi r24,lo8(100)
 5270 2ab0 90E0                 ldi r25,hi8(100)
 5271 2ab2 00C0                 rjmp .L827
 5272                   .L409:
 5273 2ab4 0197                 sbiw r24,1
 5274                   .L827:
 5275 2ab6 9093 0000            sts (MaxStickRoll)+1,r25
 5276 2aba 8093 0000            sts MaxStickRoll,r24
 5277                   .L415:
 5278 2abe 8091 0000            lds r24,FC_StatusFlags
 5279 2ac2 84FF                 sbrs r24,4
 5280 2ac4 00C0                 rjmp .L416
 5281 2ac6 1092 0000            sts (MaxStickNick)+1,__zero_reg__
 5282 2aca 1092 0000            sts MaxStickNick,__zero_reg__
 5283 2ace 1092 0000            sts (MaxStickRoll)+1,__zero_reg__
 5284 2ad2 1092 0000            sts MaxStickRoll,__zero_reg__
 5285                   .L416:
 5286 2ad6 ED2D                 mov r30,r13
 5287 2ad8 FF27                 clr r31
 5288 2ada EE0F                 add r30,r30
 5289 2adc FF1F                 adc r31,r31
 5290 2ade E050                 subi r30,lo8(-(PPM_in))
 5291 2ae0 F040                 sbci r31,hi8(-(PPM_in))
 5292 2ae2 4091 0000            lds r20,EE_Parameter+60
 5293 2ae6 242F                 mov r18,r20
 5294 2ae8 3327                 clr r19
 5295 2aea 8081                 ld r24,Z
 5296 2aec 9181                 ldd r25,Z+1
 5297 2aee 2817                 cp r18,r24
 5298 2af0 3907                 cpc r19,r25
 5299 2af2 04F4                 brge .L417
 5300 2af4 8091 0000            lds r24,EE_Parameter+104
 5301 2af8 82FF                 sbrs r24,2
 5302 2afa 00C0                 rjmp .L417
 5303 2afc 81E0                 ldi r24,lo8(1)
 5304 2afe 8093 0000            sts Looping_Links,r24
 5305 2b02 00C0                 rjmp .L418
 5306                   .L417:
 5307 2b04 ED2D                 mov r30,r13
 5308 2b06 FF27                 clr r31
 5309 2b08 EE0F                 add r30,r30
 5310 2b0a FF1F                 adc r31,r31
 5311 2b0c E050                 subi r30,lo8(-(PPM_in))
 5312 2b0e F040                 sbci r31,hi8(-(PPM_in))
 5313 2b10 842F                 mov r24,r20
 5314 2b12 9927                 clr r25
 5315 2b14 2091 0000            lds r18,EE_Parameter+61
 5316 2b18 821B                 sub r24,r18
 5317 2b1a 9109                 sbc r25,__zero_reg__
 5318 2b1c 2081                 ld r18,Z
 5319 2b1e 3181                 ldd r19,Z+1
 5320 2b20 2817                 cp r18,r24
 5321 2b22 3907                 cpc r19,r25
 5322 2b24 04F4                 brge .L418
 5323 2b26 1092 0000            sts Looping_Links,__zero_reg__
 5324                   .L418:
 5325 2b2a 4091 0000            lds r20,EE_Parameter+2
 5326 2b2e E42F                 mov r30,r20
 5327 2b30 FF27                 clr r31
 5328 2b32 EE0F                 add r30,r30
 5329 2b34 FF1F                 adc r31,r31
 5330 2b36 E050                 subi r30,lo8(-(PPM_in))
 5331 2b38 F040                 sbci r31,hi8(-(PPM_in))
 5332 2b3a 5091 0000            lds r21,EE_Parameter+60
 5333 2b3e 852F                 mov r24,r21
 5334 2b40 9927                 clr r25
 5335 2b42 2227                 clr r18
 5336 2b44 3327                 clr r19
 5337 2b46 281B                 sub r18,r24
 5338 2b48 390B                 sbc r19,r25
 5339 2b4a 8081                 ld r24,Z
 5340 2b4c 9181                 ldd r25,Z+1
 5341 2b4e 8217                 cp r24,r18
 5342 2b50 9307                 cpc r25,r19
 5343 2b52 04F4                 brge .L420
 5344 2b54 8091 0000            lds r24,EE_Parameter+104
 5345 2b58 83FF                 sbrs r24,3
 5346 2b5a 00C0                 rjmp .L420
 5347 2b5c 81E0                 ldi r24,lo8(1)
 5348 2b5e 8093 0000            sts Looping_Rechts,r24
 5349 2b62 00C0                 rjmp .L421
 5350                   .L420:
 5351 2b64 8091 0000            lds r24,Looping_Rechts
 5352 2b68 8823                 tst r24
 5353 2b6a 01F0                 breq .L421
 5354 2b6c E42F                 mov r30,r20
 5355 2b6e FF27                 clr r31
 5356 2b70 EE0F                 add r30,r30
 5357 2b72 FF1F                 adc r31,r31
 5358 2b74 E050                 subi r30,lo8(-(PPM_in))
 5359 2b76 F040                 sbci r31,hi8(-(PPM_in))
 5360 2b78 8091 0000            lds r24,EE_Parameter+61
 5361 2b7c 9927                 clr r25
 5362 2b7e 851B                 sub r24,r21
 5363 2b80 9109                 sbc r25,__zero_reg__
 5364 2b82 2081                 ld r18,Z
 5365 2b84 3181                 ldd r19,Z+1
 5366 2b86 8217                 cp r24,r18
 5367 2b88 9307                 cpc r25,r19
 5368 2b8a 04F4                 brge .L421
 5369 2b8c 1092 0000            sts Looping_Rechts,__zero_reg__
 5370                   .L421:
 5371 2b90 EC2D                 mov r30,r12
 5372 2b92 FF27                 clr r31
 5373 2b94 EE0F                 add r30,r30
 5374 2b96 FF1F                 adc r31,r31
 5375 2b98 E050                 subi r30,lo8(-(PPM_in))
 5376 2b9a F040                 sbci r31,hi8(-(PPM_in))
 5377 2b9c 4091 0000            lds r20,EE_Parameter+60
 5378 2ba0 242F                 mov r18,r20
 5379 2ba2 3327                 clr r19
 5380 2ba4 8081                 ld r24,Z
 5381 2ba6 9181                 ldd r25,Z+1
 5382 2ba8 2817                 cp r18,r24
 5383 2baa 3907                 cpc r19,r25
 5384 2bac 04F4                 brge .L424
 5385 2bae 8091 0000            lds r24,EE_Parameter+104
 5386 2bb2 80FF                 sbrs r24,0
 5387 2bb4 00C0                 rjmp .L424
 5388 2bb6 81E0                 ldi r24,lo8(1)
 5389 2bb8 8093 0000            sts Looping_Oben,r24
 5390 2bbc 00C0                 rjmp .L425
 5391                   .L424:
 5392 2bbe 8091 0000            lds r24,Looping_Oben
 5393 2bc2 8823                 tst r24
 5394 2bc4 01F0                 breq .L425
 5395 2bc6 EC2D                 mov r30,r12
 5396 2bc8 FF27                 clr r31
 5397 2bca EE0F                 add r30,r30
 5398 2bcc FF1F                 adc r31,r31
 5399 2bce E050                 subi r30,lo8(-(PPM_in))
 5400 2bd0 F040                 sbci r31,hi8(-(PPM_in))
 5401 2bd2 842F                 mov r24,r20
 5402 2bd4 9927                 clr r25
 5403 2bd6 2091 0000            lds r18,EE_Parameter+61
 5404 2bda 821B                 sub r24,r18
 5405 2bdc 9109                 sbc r25,__zero_reg__
 5406 2bde 2081                 ld r18,Z
 5407 2be0 3181                 ldd r19,Z+1
 5408 2be2 2817                 cp r18,r24
 5409 2be4 3907                 cpc r19,r25
 5410 2be6 04F4                 brge .L425
 5411 2be8 1092 0000            sts Looping_Oben,__zero_reg__
 5412                   .L425:
 5413 2bec 4091 0000            lds r20,EE_Parameter+1
 5414 2bf0 E42F                 mov r30,r20
 5415 2bf2 FF27                 clr r31
 5416 2bf4 EE0F                 add r30,r30
 5417 2bf6 FF1F                 adc r31,r31
 5418 2bf8 E050                 subi r30,lo8(-(PPM_in))
 5419 2bfa F040                 sbci r31,hi8(-(PPM_in))
 5420 2bfc 5091 0000            lds r21,EE_Parameter+60
 5421 2c00 852F                 mov r24,r21
 5422 2c02 9927                 clr r25
 5423 2c04 2227                 clr r18
 5424 2c06 3327                 clr r19
 5425 2c08 281B                 sub r18,r24
 5426 2c0a 390B                 sbc r19,r25
 5427 2c0c 8081                 ld r24,Z
 5428 2c0e 9181                 ldd r25,Z+1
 5429 2c10 8217                 cp r24,r18
 5430 2c12 9307                 cpc r25,r19
 5431 2c14 04F4                 brge .L428
 5432 2c16 8091 0000            lds r24,EE_Parameter+104
 5433 2c1a 81FF                 sbrs r24,1
 5434 2c1c 00C0                 rjmp .L428
 5435 2c1e 81E0                 ldi r24,lo8(1)
 5436 2c20 8093 0000            sts Looping_Unten,r24
 5437 2c24 00C0                 rjmp .L429
 5438                   .L428:
 5439 2c26 8091 0000            lds r24,Looping_Unten
 5440 2c2a 8823                 tst r24
 5441 2c2c 01F0                 breq .L429
 5442 2c2e E42F                 mov r30,r20
 5443 2c30 FF27                 clr r31
 5444 2c32 EE0F                 add r30,r30
 5445 2c34 FF1F                 adc r31,r31
 5446 2c36 E050                 subi r30,lo8(-(PPM_in))
 5447 2c38 F040                 sbci r31,hi8(-(PPM_in))
 5448 2c3a 8091 0000            lds r24,EE_Parameter+61
 5449 2c3e 9927                 clr r25
 5450 2c40 851B                 sub r24,r21
 5451 2c42 9109                 sbc r25,__zero_reg__
 5452 2c44 2081                 ld r18,Z
 5453 2c46 3181                 ldd r19,Z+1
 5454 2c48 8217                 cp r24,r18
 5455 2c4a 9307                 cpc r25,r19
 5456 2c4c 04F4                 brge .L429
 5457 2c4e 1092 0000            sts Looping_Unten,__zero_reg__
 5458                   .L429:
 5459 2c52 8091 0000            lds r24,Looping_Links
 5460 2c56 8823                 tst r24
 5461 2c58 01F4                 brne .L433
 5462 2c5a 8091 0000            lds r24,Looping_Rechts
 5463 2c5e 8111                 cpse r24,__zero_reg__
 5464                   .L433:
 5465 2c60 81E0                 ldi r24,lo8(1)
 5466                   .L432:
 5467 2c62 8093 0000            sts Looping_Roll,r24
 5468 2c66 8091 0000            lds r24,Looping_Oben
 5469 2c6a 8823                 tst r24
 5470 2c6c 01F4                 brne .L436
 5471 2c6e 8091 0000            lds r24,Looping_Unten
 5472 2c72 8823                 tst r24
 5473 2c74 01F0                 breq .L435
 5474                   .L436:
 5475 2c76 81E0                 ldi r24,lo8(1)
 5476 2c78 8093 0000            sts Looping_Nick,r24
 5477 2c7c 1092 0000            sts Looping_Roll,__zero_reg__
 5478 2c80 1092 0000            sts Looping_Links,__zero_reg__
 5479 2c84 1092 0000            sts Looping_Rechts,__zero_reg__
 5480 2c88 00C0                 rjmp .L377
 5481                   .L435:
 5482 2c8a 8093 0000            sts Looping_Nick,r24
 5483                   .L377:
 5484 2c8e 8091 0000            lds r24,Looping_Roll
 5485 2c92 8823                 tst r24
 5486 2c94 01F4                 brne .L439
 5487 2c96 8091 0000            lds r24,Looping_Nick
 5488 2c9a 8823                 tst r24
 5489 2c9c 01F0                 breq .L438
 5490                   .L439:
 5491 2c9e 8091 0000            lds r24,EE_Parameter+59
 5492 2ca2 9927                 clr r25
 5493 2ca4 2981                 ldd r18,Y+1
 5494 2ca6 3A81                 ldd r19,Y+2
 5495 2ca8 8217                 cp r24,r18
 5496 2caa 9307                 cpc r25,r19
 5497 2cac 04F4                 brge .L440
 5498 2cae 9A83                 std Y+2,r25
 5499 2cb0 8983                 std Y+1,r24
 5500                   .L440:
 5501 2cb2 81E0                 ldi r24,lo8(1)
 5502 2cb4 8093 0000            sts TrichterFlug,r24
 5503                   .L438:
 5504 2cb8 8091 0000            lds r24,FC_StatusFlags2
 5505 2cbc 9927                 clr r25
 5506 2cbe 9C01                 movw r18,r24
 5507 2cc0 2470                 andi r18,lo8(4)
 5508 2cc2 3070                 andi r19,hi8(4)
 5509 2cc4 82FF                 sbrs r24,2
 5510 2cc6 00C0                 rjmp .L441
 5511 2cc8 8091 0000            lds r24,GPS_Nick
 5512 2ccc 9091 0000            lds r25,(GPS_Nick)+1
 5513 2cd0 9095                 com r25
 5514 2cd2 8195                 neg r24
 5515 2cd4 9F4F                 sbci r25,lo8(-1)
 5516 2cd6 9093 0000            sts (StickNick)+1,r25
 5517 2cda 8093 0000            sts StickNick,r24
 5518 2cde 8091 0000            lds r24,GPS_Roll
 5519 2ce2 9091 0000            lds r25,(GPS_Roll)+1
 5520 2ce6 9095                 com r25
 5521 2ce8 8195                 neg r24
 5522 2cea 9F4F                 sbci r25,lo8(-1)
 5523 2cec 9093 0000            sts (StickRoll)+1,r25
 5524 2cf0 8093 0000            sts StickRoll,r24
 5525 2cf4 8091 0000            lds r24,StickGasHover
 5526 2cf8 9091 0000            lds r25,(StickGasHover)+1
 5527 2cfc 9093 0000            sts (StickGas)+1,r25
 5528 2d00 8093 0000            sts StickGas,r24
 5529 2d04 8091 0000            lds r24,Parameter_GlobalConfig
 5530 2d08 8B77                 andi r24,lo8(123)
 5531 2d0a 8B66                 ori r24,lo8(107)
 5532 2d0c 8093 0000            sts Parameter_GlobalConfig,r24
 5533 2d10 8091 0000            lds r24,Parameter_ExtraConfig
 5534 2d14 8C7B                 andi r24,lo8(-68)
 5535 2d16 8093 0000            sts Parameter_ExtraConfig,r24
 5536 2d1a 88EC                 ldi r24,lo8(-56)
 5537 2d1c 8093 0000            sts Parameter_HoehenSchalter,r24
 5538 2d20 00C0                 rjmp .L442
 5539                   .L441:
 5540 2d22 8091 0000            lds r24,FC_StatusFlags
 5541 2d26 84FF                 sbrs r24,4
 5542 2d28 00C0                 rjmp .L442
 5543 2d2a 3093 0000            sts (StickGier)+1,r19
 5544 2d2e 2093 0000            sts StickGier,r18
 5545 2d32 3093 0000            sts (StickNick)+1,r19
 5546 2d36 2093 0000            sts StickNick,r18
 5547 2d3a 3093 0000            sts (StickRoll)+1,r19
 5548 2d3e 2093 0000            sts StickRoll,r18
 5549 2d42 9AE5                 ldi r25,lo8(90)
 5550 2d44 9093 0000            sts GyroFaktor,r25
 5551 2d48 88E7                 ldi r24,lo8(120)
 5552 2d4a 8093 0000            sts IntegralFaktor,r24
 5553 2d4e 9093 0000            sts GyroFaktorGier,r25
 5554 2d52 8093 0000            sts IntegralFaktorGier,r24
 5555 2d56 1092 0000            sts Looping_Roll,__zero_reg__
 5556 2d5a 1092 0000            sts Looping_Nick,__zero_reg__
 5557                   .L442:
 5558 2d5e 8091 0000            lds r24,MittelIntegralNick
 5559 2d62 9091 0000            lds r25,(MittelIntegralNick)+1
 5560 2d66 A091 0000            lds r26,(MittelIntegralNick)+2
 5561 2d6a B091 0000            lds r27,(MittelIntegralNick)+3
 5562 2d6e 2091 0000            lds r18,IntegralNick
 5563 2d72 3091 0000            lds r19,(IntegralNick)+1
 5564 2d76 4091 0000            lds r20,(IntegralNick)+2
 5565 2d7a 5091 0000            lds r21,(IntegralNick)+3
 5566 2d7e 820F                 add r24,r18
 5567 2d80 931F                 adc r25,r19
 5568 2d82 A41F                 adc r26,r20
 5569 2d84 B51F                 adc r27,r21
 5570 2d86 8093 0000            sts MittelIntegralNick,r24
 5571 2d8a 9093 0000            sts (MittelIntegralNick)+1,r25
 5572 2d8e A093 0000            sts (MittelIntegralNick)+2,r26
 5573 2d92 B093 0000            sts (MittelIntegralNick)+3,r27
 5574 2d96 8091 0000            lds r24,MittelIntegralRoll
 5575 2d9a 9091 0000            lds r25,(MittelIntegralRoll)+1
 5576 2d9e A091 0000            lds r26,(MittelIntegralRoll)+2
 5577 2da2 B091 0000            lds r27,(MittelIntegralRoll)+3
 5578 2da6 E090 0000            lds r14,IntegralRoll
 5579 2daa F090 0000            lds r15,(IntegralRoll)+1
 5580 2dae 0091 0000            lds r16,(IntegralRoll)+2
 5581 2db2 1091 0000            lds r17,(IntegralRoll)+3
 5582 2db6 EB82                 std Y+3,r14
 5583 2db8 FC82                 std Y+4,r15
 5584 2dba 0D83                 std Y+5,r16
 5585 2dbc 1E83                 std Y+6,r17
 5586 2dbe 8E0D                 add r24,r14
 5587 2dc0 9F1D                 adc r25,r15
 5588 2dc2 A01F                 adc r26,r16
 5589 2dc4 B11F                 adc r27,r17
 5590 2dc6 8093 0000            sts MittelIntegralRoll,r24
 5591 2dca 9093 0000            sts (MittelIntegralRoll)+1,r25
 5592 2dce A093 0000            sts (MittelIntegralRoll)+2,r26
 5593 2dd2 B093 0000            sts (MittelIntegralRoll)+3,r27
 5594 2dd6 8091 0000            lds r24,MittelIntegralNick2
 5595 2dda 9091 0000            lds r25,(MittelIntegralNick2)+1
 5596 2dde A091 0000            lds r26,(MittelIntegralNick2)+2
 5597 2de2 B091 0000            lds r27,(MittelIntegralNick2)+3
 5598 2de6 E090 0000            lds r14,IntegralNick2
 5599 2dea F090 0000            lds r15,(IntegralNick2)+1
 5600 2dee 0091 0000            lds r16,(IntegralNick2)+2
 5601 2df2 1091 0000            lds r17,(IntegralNick2)+3
 5602 2df6 EF82                 std Y+7,r14
 5603 2df8 F886                 std Y+8,r15
 5604 2dfa 0987                 std Y+9,r16
 5605 2dfc 1A87                 std Y+10,r17
 5606 2dfe 8E0D                 add r24,r14
 5607 2e00 9F1D                 adc r25,r15
 5608 2e02 A01F                 adc r26,r16
 5609 2e04 B11F                 adc r27,r17
 5610 2e06 8093 0000            sts MittelIntegralNick2,r24
 5611 2e0a 9093 0000            sts (MittelIntegralNick2)+1,r25
 5612 2e0e A093 0000            sts (MittelIntegralNick2)+2,r26
 5613 2e12 B093 0000            sts (MittelIntegralNick2)+3,r27
 5614 2e16 8091 0000            lds r24,MittelIntegralRoll2
 5615 2e1a 9091 0000            lds r25,(MittelIntegralRoll2)+1
 5616 2e1e A091 0000            lds r26,(MittelIntegralRoll2)+2
 5617 2e22 B091 0000            lds r27,(MittelIntegralRoll2)+3
 5618 2e26 E090 0000            lds r14,IntegralRoll2
 5619 2e2a F090 0000            lds r15,(IntegralRoll2)+1
 5620 2e2e 0091 0000            lds r16,(IntegralRoll2)+2
 5621 2e32 1091 0000            lds r17,(IntegralRoll2)+3
 5622 2e36 EB86                 std Y+11,r14
 5623 2e38 FC86                 std Y+12,r15
 5624 2e3a 0D87                 std Y+13,r16
 5625 2e3c 1E87                 std Y+14,r17
 5626 2e3e 8E0D                 add r24,r14
 5627 2e40 9F1D                 adc r25,r15
 5628 2e42 A01F                 adc r26,r16
 5629 2e44 B11F                 adc r27,r17
 5630 2e46 8093 0000            sts MittelIntegralRoll2,r24
 5631 2e4a 9093 0000            sts (MittelIntegralRoll2)+1,r25
 5632 2e4e A093 0000            sts (MittelIntegralRoll2)+2,r26
 5633 2e52 B093 0000            sts (MittelIntegralRoll2)+3,r27
 5634 2e56 F090 0000            lds r15,Looping_Nick
 5635 2e5a FF86                 std Y+15,r15
 5636 2e5c FF20                 tst r15
 5637 2e5e 01F4                 brne .L445
 5638 2e60 8091 0000            lds r24,Looping_Roll
 5639 2e64 8823                 tst r24
 5640 2e66 01F4                 brne .+2
 5641 2e68 00C0                 rjmp .L823
 5642                   .L445:
 5643 2e6a 1092 0000            sts IntegralAccNick,__zero_reg__
 5644 2e6e 1092 0000            sts (IntegralAccNick)+1,__zero_reg__
 5645 2e72 1092 0000            sts (IntegralAccNick)+2,__zero_reg__
 5646 2e76 1092 0000            sts (IntegralAccNick)+3,__zero_reg__
 5647 2e7a 1092 0000            sts IntegralAccRoll,__zero_reg__
 5648 2e7e 1092 0000            sts (IntegralAccRoll)+1,__zero_reg__
 5649 2e82 1092 0000            sts (IntegralAccRoll)+2,__zero_reg__
 5650 2e86 1092 0000            sts (IntegralAccRoll)+3,__zero_reg__
 5651 2e8a 1092 0000            sts MittelIntegralNick,__zero_reg__
 5652 2e8e 1092 0000            sts (MittelIntegralNick)+1,__zero_reg__
 5653 2e92 1092 0000            sts (MittelIntegralNick)+2,__zero_reg__
 5654 2e96 1092 0000            sts (MittelIntegralNick)+3,__zero_reg__
 5655 2e9a 1092 0000            sts MittelIntegralRoll,__zero_reg__
 5656 2e9e 1092 0000            sts (MittelIntegralRoll)+1,__zero_reg__
 5657 2ea2 1092 0000            sts (MittelIntegralRoll)+2,__zero_reg__
 5658 2ea6 1092 0000            sts (MittelIntegralRoll)+3,__zero_reg__
 5659 2eaa 1092 0000            sts MittelIntegralNick2,__zero_reg__
 5660 2eae 1092 0000            sts (MittelIntegralNick2)+1,__zero_reg__
 5661 2eb2 1092 0000            sts (MittelIntegralNick2)+2,__zero_reg__
 5662 2eb6 1092 0000            sts (MittelIntegralNick2)+3,__zero_reg__
 5663 2eba 1092 0000            sts MittelIntegralRoll2,__zero_reg__
 5664 2ebe 1092 0000            sts (MittelIntegralRoll2)+1,__zero_reg__
 5665 2ec2 1092 0000            sts (MittelIntegralRoll2)+2,__zero_reg__
 5666 2ec6 1092 0000            sts (MittelIntegralRoll2)+3,__zero_reg__
 5667 2eca 8091 0000            lds r24,Mess_IntegralNick
 5668 2ece 9091 0000            lds r25,(Mess_IntegralNick)+1
 5669 2ed2 A091 0000            lds r26,(Mess_IntegralNick)+2
 5670 2ed6 B091 0000            lds r27,(Mess_IntegralNick)+3
 5671 2eda 8093 0000            sts Mess_IntegralNick2,r24
 5672 2ede 9093 0000            sts (Mess_IntegralNick2)+1,r25
 5673 2ee2 A093 0000            sts (Mess_IntegralNick2)+2,r26
 5674 2ee6 B093 0000            sts (Mess_IntegralNick2)+3,r27
 5675 2eea 8091 0000            lds r24,Mess_IntegralRoll
 5676 2eee 9091 0000            lds r25,(Mess_IntegralRoll)+1
 5677 2ef2 A091 0000            lds r26,(Mess_IntegralRoll)+2
 5678 2ef6 B091 0000            lds r27,(Mess_IntegralRoll)+3
 5679 2efa 8093 0000            sts Mess_IntegralRoll2,r24
 5680 2efe 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 5681 2f02 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 5682 2f06 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 5683 2f0a 1092 0000            sts (ZaehlMessungen)+1,__zero_reg__
 5684 2f0e 1092 0000            sts ZaehlMessungen,__zero_reg__
 5685 2f12 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 5686 2f16 1092 0000            sts LageKorrekturNick,__zero_reg__
 5687 2f1a 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 5688 2f1e 1092 0000            sts LageKorrekturRoll,__zero_reg__
 5689 2f22 0F85                 ldd r16,Y+15
 5690 2f24 0023                 tst r16
 5691 2f26 01F0                 breq .+2
 5692 2f28 00C0                 rjmp .L446
 5693                   .L823:
 5694 2f2a 8091 0000            lds r24,Looping_Roll
 5695 2f2e 8823                 tst r24
 5696 2f30 01F0                 breq .+2
 5697 2f32 00C0                 rjmp .L446
 5698 2f34 8091 0000            lds r24,Aktuell_az
 5699 2f38 9091 0000            lds r25,(Aktuell_az)+1
 5700 2f3c 8150                 subi r24,lo8(513)
 5701 2f3e 9240                 sbci r25,hi8(513)
 5702 2f40 04F4                 brge .L447
 5703 2f42 8091 0000            lds r24,MotorenEin
 5704 2f46 8823                 tst r24
 5705 2f48 01F4                 brne .+2
 5706 2f4a 00C0                 rjmp .L446
 5707                   .L447:
 5708 2f4c 9090 0000            lds r9,FromNaviCtrl_Value
 5709 2f50 A090 0000            lds r10,EE_Parameter+28
 5710 2f54 2090 0000            lds r2,Mittelwert_AccNick
 5711 2f58 3090 0000            lds r3,(Mittelwert_AccNick)+1
 5712 2f5c 4090 0000            lds r4,Mittelwert_AccRoll
 5713 2f60 5090 0000            lds r5,(Mittelwert_AccRoll)+1
 5714 2f64 1914                 cp __zero_reg__,r9
 5715 2f66 04F0                 brlt .+2
 5716 2f68 00C0                 rjmp .L448
 5717 2f6a BB24                 clr r11
 5718 2f6c CC24                 clr r12
 5719 2f6e DD24                 clr r13
 5720 2f70 CA01                 movw r24,r20
 5721 2f72 B901                 movw r22,r18
 5722 2f74 A601                 movw r20,r12
 5723 2f76 9501                 movw r18,r10
 5724 2f78 0E94 0000            call __divmodsi4
 5725 2f7c 7901                 movw r14,r18
 5726 2f7e 8A01                 movw r16,r20
 5727 2f80 8091 0000            lds r24,FromNaviCtrl+9
 5728 2f84 9091 0000            lds r25,(FromNaviCtrl+9)+1
 5729 2f88 281A                 sub r2,r24
 5730 2f8a 390A                 sbc r3,r25
 5731 2f8c C101                 movw r24,r2
 5732 2f8e AA27                 clr r26
 5733 2f90 97FD                 sbrc r25,7
 5734 2f92 A095                 com r26
 5735 2f94 BA2F                 mov r27,r26
 5736 2f96 E81A                 sub r14,r24
 5737 2f98 F90A                 sbc r15,r25
 5738 2f9a 0A0B                 sbc r16,r26
 5739 2f9c 1B0B                 sbc r17,r27
 5740 2f9e 6B81                 ldd r22,Y+3
 5741 2fa0 7C81                 ldd r23,Y+4
 5742 2fa2 8D81                 ldd r24,Y+5
 5743 2fa4 9E81                 ldd r25,Y+6
 5744 2fa6 A601                 movw r20,r12
 5745 2fa8 9501                 movw r18,r10
 5746 2faa 0E94 0000            call __divmodsi4
 5747 2fae 5901                 movw r10,r18
 5748 2fb0 6A01                 movw r12,r20
 5749 2fb2 8091 0000            lds r24,FromNaviCtrl+11
 5750 2fb6 9091 0000            lds r25,(FromNaviCtrl+11)+1
 5751 2fba 481A                 sub r4,r24
 5752 2fbc 590A                 sbc r5,r25
 5753 2fbe C201                 movw r24,r4
 5754 2fc0 AA27                 clr r26
 5755 2fc2 97FD                 sbrc r25,7
 5756 2fc4 A095                 com r26
 5757 2fc6 BA2F                 mov r27,r26
 5758 2fc8 A81A                 sub r10,r24
 5759 2fca B90A                 sbc r11,r25
 5760 2fcc CA0A                 sbc r12,r26
 5761 2fce DB0A                 sbc r13,r27
 5762 2fd0 292C                 mov r2,r9
 5763 2fd2 3324                 clr r3
 5764 2fd4 27FC                 sbrc r2,7
 5765 2fd6 3094                 com r3
 5766 2fd8 432C                 mov r4,r3
 5767 2fda 532C                 mov r5,r3
 5768 2fdc C801                 movw r24,r16
 5769 2fde B701                 movw r22,r14
 5770 2fe0 A201                 movw r20,r4
 5771 2fe2 9101                 movw r18,r2
 5772 2fe4 0E94 0000            call __mulsi3
 5773 2fe8 97FF                 sbrs r25,7
 5774 2fea 00C0                 rjmp .L449
 5775 2fec 6150                 subi r22,lo8(-(511))
 5776 2fee 7E4F                 sbci r23,hi8(-(511))
 5777 2ff0 8F4F                 sbci r24,hlo8(-(511))
 5778 2ff2 9F4F                 sbci r25,hhi8(-(511))
 5779                   .L449:
 5780 2ff4 3B01                 movw r6,r22
 5781 2ff6 4C01                 movw r8,r24
 5782 2ff8 09E0                 ldi r16,9
 5783 2ffa 9594         1:      asr r9
 5784 2ffc 8794                 ror r8
 5785 2ffe 7794                 ror r7
 5786 3000 6794                 ror r6
 5787 3002 0A95                 dec r16
 5788 3004 01F4                 brne 1b
 5789 3006 C601                 movw r24,r12
 5790 3008 B501                 movw r22,r10
 5791 300a A201                 movw r20,r4
 5792 300c 9101                 movw r18,r2
 5793 300e 0E94 0000            call __mulsi3
 5794 3012 97FF                 sbrs r25,7
 5795 3014 00C0                 rjmp .L450
 5796 3016 6150                 subi r22,lo8(-(511))
 5797 3018 7E4F                 sbci r23,hi8(-(511))
 5798 301a 8F4F                 sbci r24,hlo8(-(511))
 5799 301c 9F4F                 sbci r25,hhi8(-(511))
 5800                   .L450:
 5801 301e 5B01                 movw r10,r22
 5802 3020 6C01                 movw r12,r24
 5803 3022 19E0                 ldi r17,9
 5804 3024 D594         1:      asr r13
 5805 3026 C794                 ror r12
 5806 3028 B794                 ror r11
 5807 302a A794                 ror r10
 5808 302c 1A95                 dec r17
 5809 302e 01F4                 brne 1b
 5810 3030 8091 0000            lds r24,MaxStickNick
 5811 3034 9091 0000            lds r25,(MaxStickNick)+1
 5812 3038 8134                 cpi r24,65
 5813 303a 9105                 cpc r25,__zero_reg__
 5814 303c 04F4                 brge .L452
 5815 303e 8091 0000            lds r24,MaxStickRoll
 5816 3042 9091 0000            lds r25,(MaxStickRoll)+1
 5817 3046 8134                 cpi r24,65
 5818 3048 9105                 cpc r25,__zero_reg__
 5819 304a 04F0                 brlt .L451
 5820                   .L452:
 5821 304c D401                 movw r26,r8
 5822 304e C301                 movw r24,r6
 5823 3050 97FE                 sbrs r9,7
 5824 3052 00C0                 rjmp .L453
 5825 3054 0196                 adiw r24,1
 5826 3056 A11D                 adc r26,__zero_reg__
 5827 3058 B11D                 adc r27,__zero_reg__
 5828                   .L453:
 5829 305a 3C01                 movw r6,r24
 5830 305c 4D01                 movw r8,r26
 5831 305e 9594                 asr r9
 5832 3060 8794                 ror r8
 5833 3062 7794                 ror r7
 5834 3064 6794                 ror r6
 5835 3066 D601                 movw r26,r12
 5836 3068 C501                 movw r24,r10
 5837 306a D7FE                 sbrs r13,7
 5838 306c 00C0                 rjmp .L454
 5839 306e 0196                 adiw r24,1
 5840 3070 A11D                 adc r26,__zero_reg__
 5841 3072 B11D                 adc r27,__zero_reg__
 5842                   .L454:
 5843 3074 5C01                 movw r10,r24
 5844 3076 6D01                 movw r12,r26
 5845 3078 D594                 asr r13
 5846 307a C794                 ror r12
 5847 307c B794                 ror r11
 5848 307e A794                 ror r10
 5849                   .L451:
 5850 3080 8091 0000            lds r24,EE_Parameter+4
 5851 3084 E82F                 mov r30,r24
 5852 3086 FF27                 clr r31
 5853 3088 EE0F                 add r30,r30
 5854 308a FF1F                 adc r31,r31
 5855 308c E050                 subi r30,lo8(-(PPM_in))
 5856 308e F040                 sbci r31,hi8(-(PPM_in))
 5857 3090 8081                 ld r24,Z
 5858 3092 9181                 ldd r25,Z+1
 5859 3094 0190                 ld __tmp_reg__,Z+
 5860 3096 F081                 ld r31,Z
 5861 3098 E02D                 mov r30,__tmp_reg__
 5862 309a F7FF                 sbrs r31,7
 5863 309c 00C0                 rjmp .L456
 5864 309e F095                 com r31
 5865 30a0 E195                 neg r30
 5866 30a2 FF4F                 sbci r31,lo8(-1)
 5867                   .L456:
 5868 30a4 7A97                 sbiw r30,26
 5869 30a6 04F0                 brlt .L455
 5870 30a8 C401                 movw r24,r8
 5871 30aa B301                 movw r22,r6
 5872 30ac 23E0                 ldi r18,lo8(3)
 5873 30ae 30E0                 ldi r19,hi8(3)
 5874 30b0 40E0                 ldi r20,hlo8(3)
 5875 30b2 50E0                 ldi r21,hhi8(3)
 5876 30b4 0E94 0000            call __divmodsi4
 5877 30b8 3901                 movw r6,r18
 5878 30ba 4A01                 movw r8,r20
 5879 30bc C601                 movw r24,r12
 5880 30be B501                 movw r22,r10
 5881 30c0 23E0                 ldi r18,lo8(3)
 5882 30c2 30E0                 ldi r19,hi8(3)
 5883 30c4 40E0                 ldi r20,hlo8(3)
 5884 30c6 50E0                 ldi r21,hhi8(3)
 5885 30c8 0E94 0000            call __divmodsi4
 5886 30cc 5901                 movw r10,r18
 5887 30ce 6A01                 movw r12,r20
 5888                   .L455:
 5889 30d0 8091 0000            lds r24,FromNaviCtrl_Value+2
 5890 30d4 282F                 mov r18,r24
 5891 30d6 3327                 clr r19
 5892 30d8 27FD                 sbrc r18,7
 5893 30da 3095                 com r19
 5894 30dc 432F                 mov r20,r19
 5895 30de 532F                 mov r21,r19
 5896 30e0 2615                 cp r18,r6
 5897 30e2 3705                 cpc r19,r7
 5898 30e4 4805                 cpc r20,r8
 5899 30e6 5905                 cpc r21,r9
 5900 30e8 04F4                 brge .L457
 5901 30ea 3901                 movw r6,r18
 5902 30ec 4A01                 movw r8,r20
 5903                   .L457:
 5904 30ee 9927                 clr r25
 5905 30f0 87FD                 sbrc r24,7
 5906 30f2 9095                 com r25
 5907 30f4 9095                 com r25
 5908 30f6 8195                 neg r24
 5909 30f8 9F4F                 sbci r25,lo8(-1)
 5910 30fa AA27                 clr r26
 5911 30fc 97FD                 sbrc r25,7
 5912 30fe A095                 com r26
 5913 3100 BA2F                 mov r27,r26
 5914 3102 6816                 cp r6,r24
 5915 3104 7906                 cpc r7,r25
 5916 3106 8A06                 cpc r8,r26
 5917 3108 9B06                 cpc r9,r27
 5918 310a 04F4                 brge .L458
 5919 310c 3C01                 movw r6,r24
 5920 310e 4D01                 movw r8,r26
 5921                   .L458:
 5922 3110 2A15                 cp r18,r10
 5923 3112 3B05                 cpc r19,r11
 5924 3114 4C05                 cpc r20,r12
 5925 3116 5D05                 cpc r21,r13
 5926 3118 04F4                 brge .L459
 5927 311a 5901                 movw r10,r18
 5928 311c 6A01                 movw r12,r20
 5929                   .L459:
 5930 311e A816                 cp r10,r24
 5931 3120 B906                 cpc r11,r25
 5932 3122 CA06                 cpc r12,r26
 5933 3124 DB06                 cpc r13,r27
 5934 3126 04F0                 brlt .+2
 5935 3128 00C0                 rjmp .L461
 5936 312a 5C01                 movw r10,r24
 5937 312c 6D01                 movw r12,r26
 5938 312e 00C0                 rjmp .L461
 5939                   .L448:
 5940 3130 EA2C                 mov r14,r10
 5941 3132 FF24                 clr r15
 5942 3134 0027                 clr r16
 5943 3136 1127                 clr r17
 5944 3138 CA01                 movw r24,r20
 5945 313a B901                 movw r22,r18
 5946 313c A801                 movw r20,r16
 5947 313e 9701                 movw r18,r14
 5948 3140 0E94 0000            call __divmodsi4
 5949 3144 3901                 movw r6,r18
 5950 3146 4A01                 movw r8,r20
 5951 3148 C101                 movw r24,r2
 5952 314a AA27                 clr r26
 5953 314c 97FD                 sbrc r25,7
 5954 314e A095                 com r26
 5955 3150 BA2F                 mov r27,r26
 5956 3152 681A                 sub r6,r24
 5957 3154 790A                 sbc r7,r25
 5958 3156 8A0A                 sbc r8,r26
 5959 3158 9B0A                 sbc r9,r27
 5960 315a 6B81                 ldd r22,Y+3
 5961 315c 7C81                 ldd r23,Y+4
 5962 315e 8D81                 ldd r24,Y+5
 5963 3160 9E81                 ldd r25,Y+6
 5964 3162 A801                 movw r20,r16
 5965 3164 9701                 movw r18,r14
 5966 3166 0E94 0000            call __divmodsi4
 5967 316a 5901                 movw r10,r18
 5968 316c 6A01                 movw r12,r20
 5969 316e C201                 movw r24,r4
 5970 3170 AA27                 clr r26
 5971 3172 97FD                 sbrc r25,7
 5972 3174 A095                 com r26
 5973 3176 BA2F                 mov r27,r26
 5974 3178 A81A                 sub r10,r24
 5975 317a B90A                 sbc r11,r25
 5976 317c CA0A                 sbc r12,r26
 5977 317e DB0A                 sbc r13,r27
 5978 3180 D401                 movw r26,r8
 5979 3182 C301                 movw r24,r6
 5980 3184 97FE                 sbrs r9,7
 5981 3186 00C0                 rjmp .L462
 5982 3188 0F96                 adiw r24,15
 5983 318a A11D                 adc r26,__zero_reg__
 5984 318c B11D                 adc r27,__zero_reg__
 5985                   .L462:
 5986 318e 3C01                 movw r6,r24
 5987 3190 4D01                 movw r8,r26
 5988 3192 F4E0                 ldi r31,4
 5989 3194 9594         1:      asr r9
 5990 3196 8794                 ror r8
 5991 3198 7794                 ror r7
 5992 319a 6794                 ror r6
 5993 319c FA95                 dec r31
 5994 319e 01F4                 brne 1b
 5995 31a0 D601                 movw r26,r12
 5996 31a2 C501                 movw r24,r10
 5997 31a4 D7FE                 sbrs r13,7
 5998 31a6 00C0                 rjmp .L463
 5999 31a8 0F96                 adiw r24,15
 6000 31aa A11D                 adc r26,__zero_reg__
 6001 31ac B11D                 adc r27,__zero_reg__
 6002                   .L463:
 6003 31ae 5C01                 movw r10,r24
 6004 31b0 6D01                 movw r12,r26
 6005 31b2 E4E0                 ldi r30,4
 6006 31b4 D594         1:      asr r13
 6007 31b6 C794                 ror r12
 6008 31b8 B794                 ror r11
 6009 31ba A794                 ror r10
 6010 31bc EA95                 dec r30
 6011 31be 01F4                 brne 1b
 6012 31c0 8091 0000            lds r24,MaxStickNick
 6013 31c4 9091 0000            lds r25,(MaxStickNick)+1
 6014 31c8 8134                 cpi r24,65
 6015 31ca 9105                 cpc r25,__zero_reg__
 6016 31cc 04F4                 brge .L465
 6017 31ce 8091 0000            lds r24,MaxStickRoll
 6018 31d2 9091 0000            lds r25,(MaxStickRoll)+1
 6019 31d6 8134                 cpi r24,65
 6020 31d8 9105                 cpc r25,__zero_reg__
 6021 31da 04F0                 brlt .L464
 6022                   .L465:
 6023 31dc C401                 movw r24,r8
 6024 31de B301                 movw r22,r6
 6025 31e0 23E0                 ldi r18,lo8(3)
 6026 31e2 30E0                 ldi r19,hi8(3)
 6027 31e4 40E0                 ldi r20,hlo8(3)
 6028 31e6 50E0                 ldi r21,hhi8(3)
 6029 31e8 0E94 0000            call __divmodsi4
 6030 31ec 3901                 movw r6,r18
 6031 31ee 4A01                 movw r8,r20
 6032 31f0 C601                 movw r24,r12
 6033 31f2 B501                 movw r22,r10
 6034 31f4 23E0                 ldi r18,lo8(3)
 6035 31f6 30E0                 ldi r19,hi8(3)
 6036 31f8 40E0                 ldi r20,hlo8(3)
 6037 31fa 50E0                 ldi r21,hhi8(3)
 6038 31fc 0E94 0000            call __divmodsi4
 6039 3200 5901                 movw r10,r18
 6040 3202 6A01                 movw r12,r20
 6041                   .L464:
 6042 3204 8091 0000            lds r24,EE_Parameter+4
 6043 3208 E82F                 mov r30,r24
 6044 320a FF27                 clr r31
 6045 320c EE0F                 add r30,r30
 6046 320e FF1F                 adc r31,r31
 6047 3210 E050                 subi r30,lo8(-(PPM_in))
 6048 3212 F040                 sbci r31,hi8(-(PPM_in))
 6049 3214 8081                 ld r24,Z
 6050 3216 9181                 ldd r25,Z+1
 6051 3218 0190                 ld __tmp_reg__,Z+
 6052 321a F081                 ld r31,Z
 6053 321c E02D                 mov r30,__tmp_reg__
 6054 321e F7FF                 sbrs r31,7
 6055 3220 00C0                 rjmp .L467
 6056 3222 F095                 com r31
 6057 3224 E195                 neg r30
 6058 3226 FF4F                 sbci r31,lo8(-1)
 6059                   .L467:
 6060 3228 7A97                 sbiw r30,26
 6061 322a 04F0                 brlt .L466
 6062 322c C401                 movw r24,r8
 6063 322e B301                 movw r22,r6
 6064 3230 23E0                 ldi r18,lo8(3)
 6065 3232 30E0                 ldi r19,hi8(3)
 6066 3234 40E0                 ldi r20,hlo8(3)
 6067 3236 50E0                 ldi r21,hhi8(3)
 6068 3238 0E94 0000            call __divmodsi4
 6069 323c 3901                 movw r6,r18
 6070 323e 4A01                 movw r8,r20
 6071 3240 C601                 movw r24,r12
 6072 3242 B501                 movw r22,r10
 6073 3244 23E0                 ldi r18,lo8(3)
 6074 3246 30E0                 ldi r19,hi8(3)
 6075 3248 40E0                 ldi r20,hlo8(3)
 6076 324a 50E0                 ldi r21,hhi8(3)
 6077 324c 0E94 0000            call __divmodsi4
 6078 3250 5901                 movw r10,r18
 6079 3252 6A01                 movw r12,r20
 6080                   .L466:
 6081 3254 89E1                 ldi r24,lo8(25)
 6082 3256 8093 0000            sts KompassFusion,r24
 6083 325a 21E2                 ldi r18,lo8(33)
 6084 325c 6216                 cp r6,r18
 6085 325e 7104                 cpc r7,__zero_reg__
 6086 3260 8104                 cpc r8,__zero_reg__
 6087 3262 9104                 cpc r9,__zero_reg__
 6088 3264 04F0                 brlt .L468
 6089 3266 70E2                 ldi r23,lo8(32)
 6090 3268 672E                 mov r6,r23
 6091 326a 712C                 mov r7,__zero_reg__
 6092 326c 812C                 mov r8,__zero_reg__
 6093 326e 912C                 mov r9,__zero_reg__
 6094                   .L468:
 6095 3270 30EE                 ldi r19,lo8(-32)
 6096 3272 6316                 cp r6,r19
 6097 3274 3FEF                 ldi r19,hi8(-32)
 6098 3276 7306                 cpc r7,r19
 6099 3278 3FEF                 ldi r19,hlo8(-32)
 6100 327a 8306                 cpc r8,r19
 6101 327c 3FEF                 ldi r19,hhi8(-32)
 6102 327e 9306                 cpc r9,r19
 6103 3280 04F4                 brge .L469
 6104 3282 60EE                 ldi r22,lo8(-32)
 6105 3284 662E                 mov r6,r22
 6106 3286 6FEF                 ldi r22,hi8(-32)
 6107 3288 762E                 mov r7,r22
 6108 328a 6FEF                 ldi r22,hlo8(-32)
 6109 328c 862E                 mov r8,r22
 6110 328e 6FEF                 ldi r22,hhi8(-32)
 6111 3290 962E                 mov r9,r22
 6112                   .L469:
 6113 3292 41E2                 ldi r20,lo8(33)
 6114 3294 A416                 cp r10,r20
 6115 3296 B104                 cpc r11,__zero_reg__
 6116 3298 C104                 cpc r12,__zero_reg__
 6117 329a D104                 cpc r13,__zero_reg__
 6118 329c 04F0                 brlt .L470
 6119 329e 50E2                 ldi r21,lo8(32)
 6120 32a0 A52E                 mov r10,r21
 6121 32a2 B12C                 mov r11,__zero_reg__
 6122 32a4 C12C                 mov r12,__zero_reg__
 6123 32a6 D12C                 mov r13,__zero_reg__
 6124                   .L470:
 6125 32a8 50EE                 ldi r21,lo8(-32)
 6126 32aa A516                 cp r10,r21
 6127 32ac 5FEF                 ldi r21,hi8(-32)
 6128 32ae B506                 cpc r11,r21
 6129 32b0 5FEF                 ldi r21,hlo8(-32)
 6130 32b2 C506                 cpc r12,r21
 6131 32b4 5FEF                 ldi r21,hhi8(-32)
 6132 32b6 D506                 cpc r13,r21
 6133 32b8 04F4                 brge .L461
 6134 32ba 40EE                 ldi r20,lo8(-32)
 6135 32bc A42E                 mov r10,r20
 6136 32be 4FEF                 ldi r20,hi8(-32)
 6137 32c0 B42E                 mov r11,r20
 6138 32c2 4FEF                 ldi r20,hlo8(-32)
 6139 32c4 C42E                 mov r12,r20
 6140 32c6 4FEF                 ldi r20,hhi8(-32)
 6141 32c8 D42E                 mov r13,r20
 6142                   .L461:
 6143 32ca 8091 0000            lds r24,Mess_IntegralNick
 6144 32ce 9091 0000            lds r25,(Mess_IntegralNick)+1
 6145 32d2 A091 0000            lds r26,(Mess_IntegralNick)+2
 6146 32d6 B091 0000            lds r27,(Mess_IntegralNick)+3
 6147 32da 8619                 sub r24,r6
 6148 32dc 9709                 sbc r25,r7
 6149 32de A809                 sbc r26,r8
 6150 32e0 B909                 sbc r27,r9
 6151 32e2 8093 0000            sts Mess_IntegralNick,r24
 6152 32e6 9093 0000            sts (Mess_IntegralNick)+1,r25
 6153 32ea A093 0000            sts (Mess_IntegralNick)+2,r26
 6154 32ee B093 0000            sts (Mess_IntegralNick)+3,r27
 6155 32f2 8091 0000            lds r24,Mess_IntegralRoll
 6156 32f6 9091 0000            lds r25,(Mess_IntegralRoll)+1
 6157 32fa A091 0000            lds r26,(Mess_IntegralRoll)+2
 6158 32fe B091 0000            lds r27,(Mess_IntegralRoll)+3
 6159 3302 8A19                 sub r24,r10
 6160 3304 9B09                 sbc r25,r11
 6161 3306 AC09                 sbc r26,r12
 6162 3308 BD09                 sbc r27,r13
 6163 330a 8093 0000            sts Mess_IntegralRoll,r24
 6164 330e 9093 0000            sts (Mess_IntegralRoll)+1,r25
 6165 3312 A093 0000            sts (Mess_IntegralRoll)+2,r26
 6166 3316 B093 0000            sts (Mess_IntegralRoll)+3,r27
 6167                   .L446:
 6168 331a 8091 0000            lds r24,ZaehlMessungen
 6169 331e 9091 0000            lds r25,(ZaehlMessungen)+1
 6170 3322 8F3F                 cpi r24,255
 6171 3324 9105                 cpc r25,__zero_reg__
 6172 3326 01F0                 breq .+2
 6173 3328 00F4                 brsh .+2
 6174 332a 00C0                 rjmp .L472
 6175 332c 6F85                 ldd r22,Y+15
 6176 332e 6623                 tst r22
 6177 3330 01F0                 breq .+2
 6178 3332 00C0                 rjmp .L473
 6179 3334 8091 0000            lds r24,Looping_Roll
 6180 3338 8823                 tst r24
 6181 333a 01F0                 breq .+2
 6182 333c 00C0                 rjmp .L473
 6183 333e 8091 0000            lds r24,TrichterFlug
 6184 3342 8823                 tst r24
 6185 3344 01F0                 breq .+2
 6186 3346 00C0                 rjmp .L473
 6187 3348 7091 0000            lds r23,EE_Parameter+68
 6188 334c 788B                 std Y+16,r23
 6189 334e 7723                 tst r23
 6190 3350 01F4                 brne .+2
 6191 3352 00C0                 rjmp .L473
 6192 3354 8091 0000            lds r24,MittelIntegralNick
 6193 3358 9091 0000            lds r25,(MittelIntegralNick)+1
 6194 335c A091 0000            lds r26,(MittelIntegralNick)+2
 6195 3360 B091 0000            lds r27,(MittelIntegralNick)+3
 6196 3364 B7FF                 sbrs r27,7
 6197 3366 00C0                 rjmp .L474
 6198 3368 8150                 subi r24,lo8(-(255))
 6199 336a 9F4F                 sbci r25,hi8(-(255))
 6200 336c AF4F                 sbci r26,hlo8(-(255))
 6201 336e BF4F                 sbci r27,hhi8(-(255))
 6202                   .L474:
 6203 3370 E92E                 mov r14,r25
 6204 3372 FA2E                 mov r15,r26
 6205 3374 0B2F                 mov r16,r27
 6206 3376 1127                 clr r17
 6207 3378 07FD                 sbrc r16,7
 6208 337a 1A95                 dec r17
 6209 337c E092 0000            sts MittelIntegralNick,r14
 6210 3380 F092 0000            sts (MittelIntegralNick)+1,r15
 6211 3384 0093 0000            sts (MittelIntegralNick)+2,r16
 6212 3388 1093 0000            sts (MittelIntegralNick)+3,r17
 6213 338c 8091 0000            lds r24,MittelIntegralRoll
 6214 3390 9091 0000            lds r25,(MittelIntegralRoll)+1
 6215 3394 A091 0000            lds r26,(MittelIntegralRoll)+2
 6216 3398 B091 0000            lds r27,(MittelIntegralRoll)+3
 6217 339c B7FF                 sbrs r27,7
 6218 339e 00C0                 rjmp .L475
 6219 33a0 8150                 subi r24,lo8(-(255))
 6220 33a2 9F4F                 sbci r25,hi8(-(255))
 6221 33a4 AF4F                 sbci r26,hlo8(-(255))
 6222 33a6 BF4F                 sbci r27,hhi8(-(255))
 6223                   .L475:
 6224 33a8 892F                 mov r24,r25
 6225 33aa 9A2F                 mov r25,r26
 6226 33ac AB2F                 mov r26,r27
 6227 33ae BB27                 clr r27
 6228 33b0 A7FD                 sbrc r26,7
 6229 33b2 BA95                 dec r27
 6230 33b4 898B                 std Y+17,r24
 6231 33b6 9A8B                 std Y+18,r25
 6232 33b8 AB8B                 std Y+19,r26
 6233 33ba BC8B                 std Y+20,r27
 6234 33bc 8093 0000            sts MittelIntegralRoll,r24
 6235 33c0 9093 0000            sts (MittelIntegralRoll)+1,r25
 6236 33c4 A093 0000            sts (MittelIntegralRoll)+2,r26
 6237 33c8 B093 0000            sts (MittelIntegralRoll)+3,r27
 6238 33cc 8091 0000            lds r24,EE_Parameter+28
 6239 33d0 A82E                 mov r10,r24
 6240 33d2 BB24                 clr r11
 6241 33d4 CC24                 clr r12
 6242 33d6 DD24                 clr r13
 6243 33d8 2091 0000            lds r18,IntegralAccNick
 6244 33dc 3091 0000            lds r19,(IntegralAccNick)+1
 6245 33e0 4091 0000            lds r20,(IntegralAccNick)+2
 6246 33e4 5091 0000            lds r21,(IntegralAccNick)+3
 6247 33e8 C601                 movw r24,r12
 6248 33ea B501                 movw r22,r10
 6249 33ec 0E94 0000            call __mulsi3
 6250 33f0 97FF                 sbrs r25,7
 6251 33f2 00C0                 rjmp .L476
 6252 33f4 6150                 subi r22,lo8(-(255))
 6253 33f6 7F4F                 sbci r23,hi8(-(255))
 6254 33f8 8F4F                 sbci r24,hlo8(-(255))
 6255 33fa 9F4F                 sbci r25,hhi8(-(255))
 6256                   .L476:
 6257 33fc 672E                 mov r6,r23
 6258 33fe 782E                 mov r7,r24
 6259 3400 892E                 mov r8,r25
 6260 3402 9924                 clr r9
 6261 3404 87FC                 sbrc r8,7
 6262 3406 9A94                 dec r9
 6263 3408 6092 0000            sts IntegralAccNick,r6
 6264 340c 7092 0000            sts (IntegralAccNick)+1,r7
 6265 3410 8092 0000            sts (IntegralAccNick)+2,r8
 6266 3414 9092 0000            sts (IntegralAccNick)+3,r9
 6267 3418 2091 0000            lds r18,IntegralAccRoll
 6268 341c 3091 0000            lds r19,(IntegralAccRoll)+1
 6269 3420 4091 0000            lds r20,(IntegralAccRoll)+2
 6270 3424 5091 0000            lds r21,(IntegralAccRoll)+3
 6271 3428 C601                 movw r24,r12
 6272 342a B501                 movw r22,r10
 6273 342c 0E94 0000            call __mulsi3
 6274 3430 97FF                 sbrs r25,7
 6275 3432 00C0                 rjmp .L477
 6276 3434 6150                 subi r22,lo8(-(255))
 6277 3436 7F4F                 sbci r23,hi8(-(255))
 6278 3438 8F4F                 sbci r24,hlo8(-(255))
 6279 343a 9F4F                 sbci r25,hhi8(-(255))
 6280                   .L477:
 6281 343c 272E                 mov r2,r23
 6282 343e 382E                 mov r3,r24
 6283 3440 492E                 mov r4,r25
 6284 3442 5524                 clr r5
 6285 3444 47FC                 sbrc r4,7
 6286 3446 5A94                 dec r5
 6287 3448 2092 0000            sts IntegralAccRoll,r2
 6288 344c 3092 0000            sts (IntegralAccRoll)+1,r3
 6289 3450 4092 0000            sts (IntegralAccRoll)+2,r4
 6290 3454 5092 0000            sts (IntegralAccRoll)+3,r5
 6291 3458 8091 0000            lds r24,IntegralAccZ
 6292 345c 9091 0000            lds r25,(IntegralAccZ)+1
 6293 3460 A091 0000            lds r26,(IntegralAccZ)+2
 6294 3464 B091 0000            lds r27,(IntegralAccZ)+3
 6295 3468 B7FF                 sbrs r27,7
 6296 346a 00C0                 rjmp .L478
 6297 346c 8150                 subi r24,lo8(-(255))
 6298 346e 9F4F                 sbci r25,hi8(-(255))
 6299 3470 AF4F                 sbci r26,hlo8(-(255))
 6300 3472 BF4F                 sbci r27,hhi8(-(255))
 6301                   .L478:
 6302 3474 892F                 mov r24,r25
 6303 3476 9A2F                 mov r25,r26
 6304 3478 AB2F                 mov r26,r27
 6305 347a BB27                 clr r27
 6306 347c A7FD                 sbrc r26,7
 6307 347e BA95                 dec r27
 6308 3480 8093 0000            sts IntegralAccZ,r24
 6309 3484 9093 0000            sts (IntegralAccZ)+1,r25
 6310 3488 A093 0000            sts (IntegralAccZ)+2,r26
 6311 348c B093 0000            sts (IntegralAccZ)+3,r27
 6312 3490 D801                 movw r26,r16
 6313 3492 C701                 movw r24,r14
 6314 3494 8619                 sub r24,r6
 6315 3496 9709                 sbc r25,r7
 6316 3498 A809                 sbc r26,r8
 6317 349a B909                 sbc r27,r9
 6318 349c 8093 0000            sts IntegralFehlerNick.3,r24
 6319 34a0 9093 0000            sts (IntegralFehlerNick.3)+1,r25
 6320 34a4 A093 0000            sts (IntegralFehlerNick.3)+2,r26
 6321 34a8 B093 0000            sts (IntegralFehlerNick.3)+3,r27
 6322 34ac 2091 0000            lds r18,EE_Parameter+67
 6323 34b0 E22E                 mov r14,r18
 6324 34b2 FF24                 clr r15
 6325 34b4 0027                 clr r16
 6326 34b6 1127                 clr r17
 6327 34b8 BC01                 movw r22,r24
 6328 34ba CD01                 movw r24,r26
 6329 34bc A801                 movw r20,r16
 6330 34be 9701                 movw r18,r14
 6331 34c0 0E94 0000            call __divmodsi4
 6332 34c4 5901                 movw r10,r18
 6333 34c6 6A01                 movw r12,r20
 6334 34c8 2093 0000            sts ausgleichNick.11,r18
 6335 34cc 3093 0000            sts (ausgleichNick.11)+1,r19
 6336 34d0 4093 0000            sts (ausgleichNick.11)+2,r20
 6337 34d4 5093 0000            sts (ausgleichNick.11)+3,r21
 6338 34d8 8989                 ldd r24,Y+17
 6339 34da 9A89                 ldd r25,Y+18
 6340 34dc AB89                 ldd r26,Y+19
 6341 34de BC89                 ldd r27,Y+20
 6342 34e0 8219                 sub r24,r2
 6343 34e2 9309                 sbc r25,r3
 6344 34e4 A409                 sbc r26,r4
 6345 34e6 B509                 sbc r27,r5
 6346 34e8 8093 0000            sts IntegralFehlerRoll.4,r24
 6347 34ec 9093 0000            sts (IntegralFehlerRoll.4)+1,r25
 6348 34f0 A093 0000            sts (IntegralFehlerRoll.4)+2,r26
 6349 34f4 B093 0000            sts (IntegralFehlerRoll.4)+3,r27
 6350 34f8 BC01                 movw r22,r24
 6351 34fa CD01                 movw r24,r26
 6352 34fc A801                 movw r20,r16
 6353 34fe 9701                 movw r18,r14
 6354 3500 0E94 0000            call __divmodsi4
 6355 3504 2093 0000            sts ausgleichRoll.12,r18
 6356 3508 3093 0000            sts (ausgleichRoll.12)+1,r19
 6357 350c 4093 0000            sts (ausgleichRoll.12)+2,r20
 6358 3510 5093 0000            sts (ausgleichRoll.12)+3,r21
 6359 3514 D601                 movw r26,r12
 6360 3516 C501                 movw r24,r10
 6361 3518 D7FE                 sbrs r13,7
 6362 351a 00C0                 rjmp .L479
 6363 351c 8150                 subi r24,lo8(-(255))
 6364 351e 9F4F                 sbci r25,hi8(-(255))
 6365 3520 AF4F                 sbci r26,hlo8(-(255))
 6366 3522 BF4F                 sbci r27,hhi8(-(255))
 6367                   .L479:
 6368 3524 892F                 mov r24,r25
 6369 3526 9A2F                 mov r25,r26
 6370 3528 AB2F                 mov r26,r27
 6371 352a BB27                 clr r27
 6372 352c A7FD                 sbrc r26,7
 6373 352e BA95                 dec r27
 6374 3530 9093 0000            sts (LageKorrekturNick)+1,r25
 6375 3534 8093 0000            sts LageKorrekturNick,r24
 6376 3538 57FF                 sbrs r21,7
 6377 353a 00C0                 rjmp .L480
 6378 353c 2150                 subi r18,lo8(-(255))
 6379 353e 3F4F                 sbci r19,hi8(-(255))
 6380 3540 4F4F                 sbci r20,hlo8(-(255))
 6381 3542 5F4F                 sbci r21,hhi8(-(255))
 6382                   .L480:
 6383 3544 BB27                 clr r27
 6384 3546 57FD                 sbrc r21,7
 6385 3548 BA95                 dec r27
 6386 354a A52F                 mov r26,r21
 6387 354c 942F                 mov r25,r20
 6388 354e 832F                 mov r24,r19
 6389 3550 9093 0000            sts (LageKorrekturRoll)+1,r25
 6390 3554 8093 0000            sts LageKorrekturRoll,r24
 6391 3558 8091 0000            lds r24,MaxStickNick
 6392 355c 9091 0000            lds r25,(MaxStickNick)+1
 6393 3560 8134                 cpi r24,65
 6394 3562 9105                 cpc r25,__zero_reg__
 6395 3564 04F4                 brge .L482
 6396 3566 8091 0000            lds r24,MaxStickRoll
 6397 356a 9091 0000            lds r25,(MaxStickRoll)+1
 6398 356e 8134                 cpi r24,65
 6399 3570 9105                 cpc r25,__zero_reg__
 6400 3572 04F4                 brge .L482
 6401 3574 8091 0000            lds r24,EE_Parameter+4
 6402 3578 E82F                 mov r30,r24
 6403 357a FF27                 clr r31
 6404 357c EE0F                 add r30,r30
 6405 357e FF1F                 adc r31,r31
 6406 3580 E050                 subi r30,lo8(-(PPM_in))
 6407 3582 F040                 sbci r31,hi8(-(PPM_in))
 6408 3584 8081                 ld r24,Z
 6409 3586 9181                 ldd r25,Z+1
 6410 3588 0190                 ld __tmp_reg__,Z+
 6411 358a F081                 ld r31,Z
 6412 358c E02D                 mov r30,__tmp_reg__
 6413 358e F7FF                 sbrs r31,7
 6414 3590 00C0                 rjmp .L483
 6415 3592 F095                 com r31
 6416 3594 E195                 neg r30
 6417 3596 FF4F                 sbci r31,lo8(-1)
 6418                   .L483:
 6419 3598 7A97                 sbiw r30,26
 6420 359a 04F0                 brlt .L481
 6421                   .L482:
 6422 359c 8091 0000            lds r24,FromNaviCtrl_Value
 6423 35a0 8F3F                 cpi r24,lo8(-1)
 6424 35a2 01F4                 brne .L481
 6425 35a4 8091 0000            lds r24,LageKorrekturNick
 6426 35a8 9091 0000            lds r25,(LageKorrekturNick)+1
 6427 35ac 97FD                 sbrc r25,7
 6428 35ae 0196                 adiw r24,1
 6429                   .L484:
 6430 35b0 9595                 asr r25
 6431 35b2 8795                 ror r24
 6432 35b4 9093 0000            sts (LageKorrekturNick)+1,r25
 6433 35b8 8093 0000            sts LageKorrekturNick,r24
 6434 35bc 8091 0000            lds r24,LageKorrekturRoll
 6435 35c0 9091 0000            lds r25,(LageKorrekturRoll)+1
 6436 35c4 97FD                 sbrc r25,7
 6437 35c6 0196                 adiw r24,1
 6438                   .L485:
 6439 35c8 9595                 asr r25
 6440 35ca 8795                 ror r24
 6441 35cc 9093 0000            sts (LageKorrekturRoll)+1,r25
 6442 35d0 8093 0000            sts LageKorrekturRoll,r24
 6443                   .L481:
 6444 35d4 8091 0000            lds r24,MittelIntegralNick2
 6445 35d8 9091 0000            lds r25,(MittelIntegralNick2)+1
 6446 35dc A091 0000            lds r26,(MittelIntegralNick2)+2
 6447 35e0 B091 0000            lds r27,(MittelIntegralNick2)+3
 6448 35e4 B7FF                 sbrs r27,7
 6449 35e6 00C0                 rjmp .L486
 6450 35e8 8150                 subi r24,lo8(-(255))
 6451 35ea 9F4F                 sbci r25,hi8(-(255))
 6452 35ec AF4F                 sbci r26,hlo8(-(255))
 6453 35ee BF4F                 sbci r27,hhi8(-(255))
 6454                   .L486:
 6455 35f0 892F                 mov r24,r25
 6456 35f2 9A2F                 mov r25,r26
 6457 35f4 AB2F                 mov r26,r27
 6458 35f6 BB27                 clr r27
 6459 35f8 A7FD                 sbrc r26,7
 6460 35fa BA95                 dec r27
 6461 35fc 8093 0000            sts MittelIntegralNick2,r24
 6462 3600 9093 0000            sts (MittelIntegralNick2)+1,r25
 6463 3604 A093 0000            sts (MittelIntegralNick2)+2,r26
 6464 3608 B093 0000            sts (MittelIntegralNick2)+3,r27
 6465 360c 8091 0000            lds r24,MittelIntegralRoll2
 6466 3610 9091 0000            lds r25,(MittelIntegralRoll2)+1
 6467 3614 A091 0000            lds r26,(MittelIntegralRoll2)+2
 6468 3618 B091 0000            lds r27,(MittelIntegralRoll2)+3
 6469 361c B7FF                 sbrs r27,7
 6470 361e 00C0                 rjmp .L487
 6471 3620 8150                 subi r24,lo8(-(255))
 6472 3622 9F4F                 sbci r25,hi8(-(255))
 6473 3624 AF4F                 sbci r26,hlo8(-(255))
 6474 3626 BF4F                 sbci r27,hhi8(-(255))
 6475                   .L487:
 6476 3628 892F                 mov r24,r25
 6477 362a 9A2F                 mov r25,r26
 6478 362c AB2F                 mov r26,r27
 6479 362e BB27                 clr r27
 6480 3630 A7FD                 sbrc r26,7
 6481 3632 BA95                 dec r27
 6482 3634 8093 0000            sts MittelIntegralRoll2,r24
 6483 3638 9093 0000            sts (MittelIntegralRoll2)+1,r25
 6484 363c A093 0000            sts (MittelIntegralRoll2)+2,r26
 6485 3640 B093 0000            sts (MittelIntegralRoll2)+3,r27
 6486 3644 8091 0000            lds r24,IntegralNick
 6487 3648 9091 0000            lds r25,(IntegralNick)+1
 6488 364c A091 0000            lds r26,(IntegralNick)+2
 6489 3650 B091 0000            lds r27,(IntegralNick)+3
 6490 3654 2F81                 ldd r18,Y+7
 6491 3656 3885                 ldd r19,Y+8
 6492 3658 4985                 ldd r20,Y+9
 6493 365a 5A85                 ldd r21,Y+10
 6494 365c 281B                 sub r18,r24
 6495 365e 390B                 sbc r19,r25
 6496 3660 4A0B                 sbc r20,r26
 6497 3662 5B0B                 sbc r21,r27
 6498 3664 2093 0000            sts tmp_long.1,r18
 6499 3668 3093 0000            sts (tmp_long.1)+1,r19
 6500 366c 4093 0000            sts (tmp_long.1)+2,r20
 6501 3670 5093 0000            sts (tmp_long.1)+3,r21
 6502 3674 8091 0000            lds r24,IntegralRoll
 6503 3678 9091 0000            lds r25,(IntegralRoll)+1
 6504 367c A091 0000            lds r26,(IntegralRoll)+2
 6505 3680 B091 0000            lds r27,(IntegralRoll)+3
 6506 3684 EB84                 ldd r14,Y+11
 6507 3686 FC84                 ldd r15,Y+12
 6508 3688 0D85                 ldd r16,Y+13
 6509 368a 1E85                 ldd r17,Y+14
 6510 368c E81A                 sub r14,r24
 6511 368e F90A                 sbc r15,r25
 6512 3690 0A0B                 sbc r16,r26
 6513 3692 1B0B                 sbc r17,r27
 6514 3694 E092 0000            sts tmp_long2.2,r14
 6515 3698 F092 0000            sts (tmp_long2.2)+1,r15
 6516 369c 0093 0000            sts (tmp_long2.2)+2,r16
 6517 36a0 1093 0000            sts (tmp_long2.2)+3,r17
 6518 36a4 2093 0000            sts IntegralFehlerNick.3,r18
 6519 36a8 3093 0000            sts (IntegralFehlerNick.3)+1,r19
 6520 36ac 4093 0000            sts (IntegralFehlerNick.3)+2,r20
 6521 36b0 5093 0000            sts (IntegralFehlerNick.3)+3,r21
 6522 36b4 E092 0000            sts IntegralFehlerRoll.4,r14
 6523 36b8 F092 0000            sts (IntegralFehlerRoll.4)+1,r15
 6524 36bc 0093 0000            sts (IntegralFehlerRoll.4)+2,r16
 6525 36c0 1093 0000            sts (IntegralFehlerRoll.4)+3,r17
 6526 36c4 8091 0000            lds r24,Mess_IntegralNick2
 6527 36c8 9091 0000            lds r25,(Mess_IntegralNick2)+1
 6528 36cc A091 0000            lds r26,(Mess_IntegralNick2)+2
 6529 36d0 B091 0000            lds r27,(Mess_IntegralNick2)+3
 6530 36d4 821B                 sub r24,r18
 6531 36d6 930B                 sbc r25,r19
 6532 36d8 A40B                 sbc r26,r20
 6533 36da B50B                 sbc r27,r21
 6534 36dc 8093 0000            sts Mess_IntegralNick2,r24
 6535 36e0 9093 0000            sts (Mess_IntegralNick2)+1,r25
 6536 36e4 A093 0000            sts (Mess_IntegralNick2)+2,r26
 6537 36e8 B093 0000            sts (Mess_IntegralNick2)+3,r27
 6538 36ec 8091 0000            lds r24,Mess_IntegralRoll2
 6539 36f0 9091 0000            lds r25,(Mess_IntegralRoll2)+1
 6540 36f4 A091 0000            lds r26,(Mess_IntegralRoll2)+2
 6541 36f8 B091 0000            lds r27,(Mess_IntegralRoll2)+3
 6542 36fc 8E19                 sub r24,r14
 6543 36fe 9F09                 sbc r25,r15
 6544 3700 A00B                 sbc r26,r16
 6545 3702 B10B                 sbc r27,r17
 6546 3704 8093 0000            sts Mess_IntegralRoll2,r24
 6547 3708 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 6548 370c A093 0000            sts (Mess_IntegralRoll2)+2,r26
 6549 3710 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 6550 3714 8889                 ldd r24,Y+16
 6551 3716 8823                 tst r24
 6552 3718 01F0                 breq .L488
 6553 371a 2091 0000            lds r18,GierGyroFehler
 6554 371e 3091 0000            lds r19,(GierGyroFehler)+1
 6555 3722 2138                 cpi r18,129
 6556 3724 3105                 cpc r19,__zero_reg__
 6557 3726 04F0                 brlt .L489
 6558 3728 8091 0000            lds r24,AdNeutralGier
 6559 372c 9091 0000            lds r25,(AdNeutralGier)+1
 6560 3730 0196                 adiw r24,1
 6561 3732 9093 0000            sts (AdNeutralGier)+1,r25
 6562 3736 8093 0000            sts AdNeutralGier,r24
 6563                   .L489:
 6564 373a 2058                 subi r18,lo8(-128)
 6565 373c 3F4F                 sbci r19,hi8(-128)
 6566 373e 04F4                 brge .L488
 6567 3740 8091 0000            lds r24,AdNeutralGier
 6568 3744 9091 0000            lds r25,(AdNeutralGier)+1
 6569 3748 0197                 sbiw r24,1
 6570 374a 9093 0000            sts (AdNeutralGier)+1,r25
 6571 374e 8093 0000            sts AdNeutralGier,r24
 6572                   .L488:
 6573 3752 1092 0000            sts (GierGyroFehler)+1,__zero_reg__
 6574 3756 1092 0000            sts GierGyroFehler,__zero_reg__
 6575 375a 81E0                 ldi r24,lo8(1)
 6576 375c 90E0                 ldi r25,hi8(1)
 6577 375e 9093 0000            sts (cnt.15)+1,r25
 6578 3762 8093 0000            sts cnt.15,r24
 6579 3766 E090 0000            lds r14,IntegralFehlerNick.3
 6580 376a F090 0000            lds r15,(IntegralFehlerNick.3)+1
 6581 376e 0091 0000            lds r16,(IntegralFehlerNick.3)+2
 6582 3772 1091 0000            lds r17,(IntegralFehlerNick.3)+3
 6583 3776 D801                 movw r26,r16
 6584 3778 C701                 movw r24,r14
 6585 377a 17FF                 sbrs r17,7
 6586 377c 00C0                 rjmp .L492
 6587 377e 8827                 clr r24
 6588 3780 9927                 clr r25
 6589 3782 DC01                 movw r26,r24
 6590 3784 8E19                 sub r24,r14
 6591 3786 9F09                 sbc r25,r15
 6592 3788 A00B                 sbc r26,r16
 6593 378a B10B                 sbc r27,r17
 6594                   .L492:
 6595 378c 8150                 subi r24,lo8(513)
 6596 378e 9240                 sbci r25,hi8(513)
 6597 3790 A040                 sbci r26,hlo8(513)
 6598 3792 B040                 sbci r27,hhi8(513)
 6599 3794 04F0                 brlt .L491
 6600 3796 84E0                 ldi r24,lo8(4)
 6601 3798 90E0                 ldi r25,hi8(4)
 6602 379a 9093 0000            sts (cnt.15)+1,r25
 6603 379e 8093 0000            sts cnt.15,r24
 6604                   .L491:
 6605 37a2 8091 0000            lds r24,MittelIntegralNick_Alt.20
 6606 37a6 9091 0000            lds r25,(MittelIntegralNick_Alt.20)+1
 6607 37aa A091 0000            lds r26,(MittelIntegralNick_Alt.20)+2
 6608 37ae B091 0000            lds r27,(MittelIntegralNick_Alt.20)+3
 6609 37b2 2091 0000            lds r18,MittelIntegralNick
 6610 37b6 3091 0000            lds r19,(MittelIntegralNick)+1
 6611 37ba 4091 0000            lds r20,(MittelIntegralNick)+2
 6612 37be 5091 0000            lds r21,(MittelIntegralNick)+3
 6613 37c2 821B                 sub r24,r18
 6614 37c4 930B                 sbc r25,r19
 6615 37c6 A40B                 sbc r26,r20
 6616 37c8 B50B                 sbc r27,r21
 6617 37ca 815E                 subi r24,lo8(-(19999))
 6618 37cc 914B                 sbci r25,hi8(-(19999))
 6619 37ce AF4F                 sbci r26,hlo8(-(19999))
 6620 37d0 BF4F                 sbci r27,hhi8(-(19999))
 6621 37d2 8F53                 subi r24,lo8(39999)
 6622 37d4 9C49                 sbci r25,hi8(39999)
 6623 37d6 A040                 sbci r26,hlo8(39999)
 6624 37d8 B040                 sbci r27,hhi8(39999)
 6625 37da 00F0                 brlo .L494
 6626 37dc 8091 0000            lds r24,FromNaviCtrl_Value+1
 6627 37e0 8931                 cpi r24,lo8(25)
 6628 37e2 04F4                 brge .+2
 6629 37e4 00C0                 rjmp .L493
 6630                   .L494:
 6631 37e6 21E0                 ldi r18,lo8(4097)
 6632 37e8 E216                 cp r14,r18
 6633 37ea 20E1                 ldi r18,hi8(4097)
 6634 37ec F206                 cpc r15,r18
 6635 37ee 20E0                 ldi r18,hlo8(4097)
 6636 37f0 0207                 cpc r16,r18
 6637 37f2 20E0                 ldi r18,hhi8(4097)
 6638 37f4 1207                 cpc r17,r18
 6639 37f6 04F4                 brge .+2
 6640 37f8 00C0                 rjmp .L495
 6641 37fa 8091 0000            lds r24,last_n_p.16
 6642 37fe 8823                 tst r24
 6643 3800 01F4                 brne .+2
 6644 3802 00C0                 rjmp .L496
 6645 3804 D801                 movw r26,r16
 6646 3806 C701                 movw r24,r14
 6647 3808 17FF                 sbrs r17,7
 6648 380a 00C0                 rjmp .L497
 6649 380c 8827                 clr r24
 6650 380e 9927                 clr r25
 6651 3810 DC01                 movw r26,r24
 6652 3812 8E19                 sub r24,r14
 6653 3814 9F09                 sbc r25,r15
 6654 3816 A00B                 sbc r26,r16
 6655 3818 B10B                 sbc r27,r17
 6656                   .L497:
 6657 381a 9C01                 movw r18,r24
 6658 381c AD01                 movw r20,r26
 6659 381e B7FF                 sbrs r27,7
 6660 3820 00C0                 rjmp .L498
 6661 3822 2150                 subi r18,lo8(-(511))
 6662 3824 3E4F                 sbci r19,hi8(-(511))
 6663 3826 4F4F                 sbci r20,hlo8(-(511))
 6664 3828 5F4F                 sbci r21,hhi8(-(511))
 6665                   .L498:
 6666 382a F9E0                 ldi r31,9
 6667 382c 5595         1:      asr r21
 6668 382e 4795                 ror r20
 6669 3830 3795                 ror r19
 6670 3832 2795                 ror r18
 6671 3834 FA95                 dec r31
 6672 3836 01F4                 brne 1b
 6673 3838 8091 0000            lds r24,cnt.15
 6674 383c 9091 0000            lds r25,(cnt.15)+1
 6675 3840 820F                 add r24,r18
 6676 3842 931F                 adc r25,r19
 6677 3844 9093 0000            sts (cnt.15)+1,r25
 6678 3848 8093 0000            sts cnt.15,r24
 6679 384c D801                 movw r26,r16
 6680 384e C701                 movw r24,r14
 6681 3850 17FF                 sbrs r17,7
 6682 3852 00C0                 rjmp .L499
 6683 3854 0796                 adiw r24,7
 6684 3856 A11D                 adc r26,__zero_reg__
 6685 3858 B11D                 adc r27,__zero_reg__
 6686                   .L499:
 6687 385a E3E0                 ldi r30,3
 6688 385c B595         1:      asr r27
 6689 385e A795                 ror r26
 6690 3860 9795                 ror r25
 6691 3862 8795                 ror r24
 6692 3864 EA95                 dec r30
 6693 3866 01F4                 brne 1b
 6694 3868 8093 0000            sts ausgleichNick.11,r24
 6695 386c 9093 0000            sts (ausgleichNick.11)+1,r25
 6696 3870 A093 0000            sts (ausgleichNick.11)+2,r26
 6697 3874 B093 0000            sts (ausgleichNick.11)+3,r27
 6698 3878 8958                 subi r24,lo8(5001)
 6699 387a 9341                 sbci r25,hi8(5001)
 6700 387c A040                 sbci r26,hlo8(5001)
 6701 387e B040                 sbci r27,hhi8(5001)
 6702 3880 04F0                 brlt .L500
 6703 3882 88E8                 ldi r24,lo8(5000)
 6704 3884 93E1                 ldi r25,hi8(5000)
 6705 3886 A0E0                 ldi r26,hlo8(5000)
 6706 3888 B0E0                 ldi r27,hhi8(5000)
 6707 388a 8093 0000            sts ausgleichNick.11,r24
 6708 388e 9093 0000            sts (ausgleichNick.11)+1,r25
 6709 3892 A093 0000            sts (ausgleichNick.11)+2,r26
 6710 3896 B093 0000            sts (ausgleichNick.11)+3,r27
 6711                   .L500:
 6712 389a 2091 0000            lds r18,ausgleichNick.11
 6713 389e 3091 0000            lds r19,(ausgleichNick.11)+1
 6714 38a2 4091 0000            lds r20,(ausgleichNick.11)+2
 6715 38a6 5091 0000            lds r21,(ausgleichNick.11)+3
 6716 38aa 57FF                 sbrs r21,7
 6717 38ac 00C0                 rjmp .L501
 6718 38ae 2150                 subi r18,lo8(-(255))
 6719 38b0 3F4F                 sbci r19,hi8(-(255))
 6720 38b2 4F4F                 sbci r20,hlo8(-(255))
 6721 38b4 5F4F                 sbci r21,hhi8(-(255))
 6722                   .L501:
 6723 38b6 232F                 mov r18,r19
 6724 38b8 342F                 mov r19,r20
 6725 38ba 452F                 mov r20,r21
 6726 38bc 5527                 clr r21
 6727 38be 47FD                 sbrc r20,7
 6728 38c0 5A95                 dec r21
 6729 38c2 8091 0000            lds r24,LageKorrekturNick
 6730 38c6 9091 0000            lds r25,(LageKorrekturNick)+1
 6731 38ca 820F                 add r24,r18
 6732 38cc 931F                 adc r25,r19
 6733 38ce 9093 0000            sts (LageKorrekturNick)+1,r25
 6734 38d2 8093 0000            sts LageKorrekturNick,r24
 6735 38d6 00C0                 rjmp .L503
 6736                   .L496:
 6737 38d8 81E0                 ldi r24,lo8(1)
 6738 38da 8093 0000            sts last_n_p.16,r24
 6739 38de 00C0                 rjmp .L503
 6740                   .L495:
 6741 38e0 1092 0000            sts last_n_p.16,__zero_reg__
 6742                   .L503:
 6743 38e4 40E0                 ldi r20,lo8(-4096)
 6744 38e6 E416                 cp r14,r20
 6745 38e8 40EF                 ldi r20,hi8(-4096)
 6746 38ea F406                 cpc r15,r20
 6747 38ec 4FEF                 ldi r20,hlo8(-4096)
 6748 38ee 0407                 cpc r16,r20
 6749 38f0 4FEF                 ldi r20,hhi8(-4096)
 6750 38f2 1407                 cpc r17,r20
 6751 38f4 04F0                 brlt .+2
 6752 38f6 00C0                 rjmp .L504
 6753 38f8 8091 0000            lds r24,last_n_n.17
 6754 38fc 8823                 tst r24
 6755 38fe 01F4                 brne .+2
 6756 3900 00C0                 rjmp .L505
 6757 3902 D801                 movw r26,r16
 6758 3904 C701                 movw r24,r14
 6759 3906 17FF                 sbrs r17,7
 6760 3908 00C0                 rjmp .L506
 6761 390a 8827                 clr r24
 6762 390c 9927                 clr r25
 6763 390e DC01                 movw r26,r24
 6764 3910 8E19                 sub r24,r14
 6765 3912 9F09                 sbc r25,r15
 6766 3914 A00B                 sbc r26,r16
 6767 3916 B10B                 sbc r27,r17
 6768                   .L506:
 6769 3918 9C01                 movw r18,r24
 6770 391a AD01                 movw r20,r26
 6771 391c B7FF                 sbrs r27,7
 6772 391e 00C0                 rjmp .L507
 6773 3920 2150                 subi r18,lo8(-(511))
 6774 3922 3E4F                 sbci r19,hi8(-(511))
 6775 3924 4F4F                 sbci r20,hlo8(-(511))
 6776 3926 5F4F                 sbci r21,hhi8(-(511))
 6777                   .L507:
 6778 3928 69E0                 ldi r22,9
 6779 392a 5595         1:      asr r21
 6780 392c 4795                 ror r20
 6781 392e 3795                 ror r19
 6782 3930 2795                 ror r18
 6783 3932 6A95                 dec r22
 6784 3934 01F4                 brne 1b
 6785 3936 8091 0000            lds r24,cnt.15
 6786 393a 9091 0000            lds r25,(cnt.15)+1
 6787 393e 820F                 add r24,r18
 6788 3940 931F                 adc r25,r19
 6789 3942 9093 0000            sts (cnt.15)+1,r25
 6790 3946 8093 0000            sts cnt.15,r24
 6791 394a D801                 movw r26,r16
 6792 394c C701                 movw r24,r14
 6793 394e 17FF                 sbrs r17,7
 6794 3950 00C0                 rjmp .L508
 6795 3952 0796                 adiw r24,7
 6796 3954 A11D                 adc r26,__zero_reg__
 6797 3956 B11D                 adc r27,__zero_reg__
 6798                   .L508:
 6799 3958 23E0                 ldi r18,3
 6800 395a B595         1:      asr r27
 6801 395c A795                 ror r26
 6802 395e 9795                 ror r25
 6803 3960 8795                 ror r24
 6804 3962 2A95                 dec r18
 6805 3964 01F4                 brne 1b
 6806 3966 8093 0000            sts ausgleichNick.11,r24
 6807 396a 9093 0000            sts (ausgleichNick.11)+1,r25
 6808 396e A093 0000            sts (ausgleichNick.11)+2,r26
 6809 3972 B093 0000            sts (ausgleichNick.11)+3,r27
 6810 3976 8857                 subi r24,lo8(-5000)
 6811 3978 9C4E                 sbci r25,hi8(-5000)
 6812 397a AF4F                 sbci r26,hlo8(-5000)
 6813 397c BF4F                 sbci r27,hhi8(-5000)
 6814 397e 04F4                 brge .L509
 6815 3980 88E7                 ldi r24,lo8(-5000)
 6816 3982 9CEE                 ldi r25,hi8(-5000)
 6817 3984 AFEF                 ldi r26,hlo8(-5000)
 6818 3986 BFEF                 ldi r27,hhi8(-5000)
 6819 3988 8093 0000            sts ausgleichNick.11,r24
 6820 398c 9093 0000            sts (ausgleichNick.11)+1,r25
 6821 3990 A093 0000            sts (ausgleichNick.11)+2,r26
 6822 3994 B093 0000            sts (ausgleichNick.11)+3,r27
 6823                   .L509:
 6824 3998 2091 0000            lds r18,ausgleichNick.11
 6825 399c 3091 0000            lds r19,(ausgleichNick.11)+1
 6826 39a0 4091 0000            lds r20,(ausgleichNick.11)+2
 6827 39a4 5091 0000            lds r21,(ausgleichNick.11)+3
 6828 39a8 57FF                 sbrs r21,7
 6829 39aa 00C0                 rjmp .L510
 6830 39ac 2150                 subi r18,lo8(-(255))
 6831 39ae 3F4F                 sbci r19,hi8(-(255))
 6832 39b0 4F4F                 sbci r20,hlo8(-(255))
 6833 39b2 5F4F                 sbci r21,hhi8(-(255))
 6834                   .L510:
 6835 39b4 232F                 mov r18,r19
 6836 39b6 342F                 mov r19,r20
 6837 39b8 452F                 mov r20,r21
 6838 39ba 5527                 clr r21
 6839 39bc 47FD                 sbrc r20,7
 6840 39be 5A95                 dec r21
 6841 39c0 8091 0000            lds r24,LageKorrekturNick
 6842 39c4 9091 0000            lds r25,(LageKorrekturNick)+1
 6843 39c8 820F                 add r24,r18
 6844 39ca 931F                 adc r25,r19
 6845 39cc 9093 0000            sts (LageKorrekturNick)+1,r25
 6846 39d0 8093 0000            sts LageKorrekturNick,r24
 6847 39d4 00C0                 rjmp .L513
 6848                   .L505:
 6849 39d6 81E0                 ldi r24,lo8(1)
 6850 39d8 8093 0000            sts last_n_n.17,r24
 6851 39dc 00C0                 rjmp .L513
 6852                   .L504:
 6853 39de 1092 0000            sts last_n_n.17,__zero_reg__
 6854 39e2 00C0                 rjmp .L513
 6855                   .L493:
 6856 39e4 1092 0000            sts (cnt.15)+1,__zero_reg__
 6857 39e8 1092 0000            sts cnt.15,__zero_reg__
 6858 39ec 84E6                 ldi r24,lo8(100)
 6859 39ee 90E0                 ldi r25,hi8(100)
 6860 39f0 9093 0000            sts (KompassSignalSchlecht)+1,r25
 6861 39f4 8093 0000            sts KompassSignalSchlecht,r24
 6862                   .L513:
 6863 39f8 6889                 ldd r22,Y+16
 6864 39fa 262F                 mov r18,r22
 6865 39fc 3327                 clr r19
 6866 39fe 8091 0000            lds r24,cnt.15
 6867 3a02 9091 0000            lds r25,(cnt.15)+1
 6868 3a06 2817                 cp r18,r24
 6869 3a08 3907                 cpc r19,r25
 6870 3a0a 04F4                 brge .L514
 6871 3a0c 3093 0000            sts (cnt.15)+1,r19
 6872 3a10 2093 0000            sts cnt.15,r18
 6873                   .L514:
 6874 3a14 1091 0000            lds r17,FromNaviCtrl_Value+1
 6875 3a18 1123                 tst r17
 6876 3a1a 01F0                 breq .L515
 6877 3a1c 212F                 mov r18,r17
 6878 3a1e 3327                 clr r19
 6879 3a20 27FD                 sbrc r18,7
 6880 3a22 3095                 com r19
 6881 3a24 8091 0000            lds r24,cnt.15
 6882 3a28 9091 0000            lds r25,(cnt.15)+1
 6883 3a2c 2817                 cp r18,r24
 6884 3a2e 3907                 cpc r19,r25
 6885 3a30 04F4                 brge .L515
 6886 3a32 3093 0000            sts (cnt.15)+1,r19
 6887 3a36 2093 0000            sts cnt.15,r18
 6888                   .L515:
 6889 3a3a 4091 0000            lds r20,IntegralFehlerNick.3
 6890 3a3e 5091 0000            lds r21,(IntegralFehlerNick.3)+1
 6891 3a42 6091 0000            lds r22,(IntegralFehlerNick.3)+2
 6892 3a46 7091 0000            lds r23,(IntegralFehlerNick.3)+3
 6893 3a4a 4138                 cpi r20,lo8(129)
 6894 3a4c 5105                 cpc r21,__zero_reg__
 6895 3a4e 6105                 cpc r22,__zero_reg__
 6896 3a50 7105                 cpc r23,__zero_reg__
 6897 3a52 04F0                 brlt .L517
 6898 3a54 8091 0000            lds r24,AdNeutralNick
 6899 3a58 9091 0000            lds r25,(AdNeutralNick)+1
 6900 3a5c 2091 0000            lds r18,cnt.15
 6901 3a60 3091 0000            lds r19,(cnt.15)+1
 6902 3a64 820F                 add r24,r18
 6903 3a66 931F                 adc r25,r19
 6904 3a68 9093 0000            sts (AdNeutralNick)+1,r25
 6905 3a6c 8093 0000            sts AdNeutralNick,r24
 6906                   .L517:
 6907 3a70 4058                 subi r20,lo8(-128)
 6908 3a72 5F4F                 sbci r21,hi8(-128)
 6909 3a74 6F4F                 sbci r22,hlo8(-128)
 6910 3a76 7F4F                 sbci r23,hhi8(-128)
 6911 3a78 04F4                 brge .L518
 6912 3a7a 8091 0000            lds r24,AdNeutralNick
 6913 3a7e 9091 0000            lds r25,(AdNeutralNick)+1
 6914 3a82 2091 0000            lds r18,cnt.15
 6915 3a86 3091 0000            lds r19,(cnt.15)+1
 6916 3a8a 821B                 sub r24,r18
 6917 3a8c 930B                 sbc r25,r19
 6918 3a8e 9093 0000            sts (AdNeutralNick)+1,r25
 6919 3a92 8093 0000            sts AdNeutralNick,r24
 6920                   .L518:
 6921 3a96 81E0                 ldi r24,lo8(1)
 6922 3a98 90E0                 ldi r25,hi8(1)
 6923 3a9a 9093 0000            sts (cnt.15)+1,r25
 6924 3a9e 8093 0000            sts cnt.15,r24
 6925 3aa2 C090 0000            lds r12,IntegralFehlerRoll.4
 6926 3aa6 D090 0000            lds r13,(IntegralFehlerRoll.4)+1
 6927 3aaa E090 0000            lds r14,(IntegralFehlerRoll.4)+2
 6928 3aae F090 0000            lds r15,(IntegralFehlerRoll.4)+3
 6929 3ab2 D701                 movw r26,r14
 6930 3ab4 C601                 movw r24,r12
 6931 3ab6 F7FE                 sbrs r15,7
 6932 3ab8 00C0                 rjmp .L520
 6933 3aba 8827                 clr r24
 6934 3abc 9927                 clr r25
 6935 3abe DC01                 movw r26,r24
 6936 3ac0 8C19                 sub r24,r12
 6937 3ac2 9D09                 sbc r25,r13
 6938 3ac4 AE09                 sbc r26,r14
 6939 3ac6 BF09                 sbc r27,r15
 6940                   .L520:
 6941 3ac8 8150                 subi r24,lo8(513)
 6942 3aca 9240                 sbci r25,hi8(513)
 6943 3acc A040                 sbci r26,hlo8(513)
 6944 3ace B040                 sbci r27,hhi8(513)
 6945 3ad0 04F0                 brlt .L519
 6946 3ad2 84E0                 ldi r24,lo8(4)
 6947 3ad4 90E0                 ldi r25,hi8(4)
 6948 3ad6 9093 0000            sts (cnt.15)+1,r25
 6949 3ada 8093 0000            sts cnt.15,r24
 6950                   .L519:
 6951 3ade 8091 0000            lds r24,MittelIntegralRoll_Alt.21
 6952 3ae2 9091 0000            lds r25,(MittelIntegralRoll_Alt.21)+1
 6953 3ae6 A091 0000            lds r26,(MittelIntegralRoll_Alt.21)+2
 6954 3aea B091 0000            lds r27,(MittelIntegralRoll_Alt.21)+3
 6955 3aee 2091 0000            lds r18,MittelIntegralRoll
 6956 3af2 3091 0000            lds r19,(MittelIntegralRoll)+1
 6957 3af6 4091 0000            lds r20,(MittelIntegralRoll)+2
 6958 3afa 5091 0000            lds r21,(MittelIntegralRoll)+3
 6959 3afe 821B                 sub r24,r18
 6960 3b00 930B                 sbc r25,r19
 6961 3b02 A40B                 sbc r26,r20
 6962 3b04 B50B                 sbc r27,r21
 6963 3b06 815E                 subi r24,lo8(-(19999))
 6964 3b08 914B                 sbci r25,hi8(-(19999))
 6965 3b0a AF4F                 sbci r26,hlo8(-(19999))
 6966 3b0c BF4F                 sbci r27,hhi8(-(19999))
 6967 3b0e 8F53                 subi r24,lo8(39999)
 6968 3b10 9C49                 sbci r25,hi8(39999)
 6969 3b12 A040                 sbci r26,hlo8(39999)
 6970 3b14 B040                 sbci r27,hhi8(39999)
 6971 3b16 00F0                 brlo .L522
 6972 3b18 1931                 cpi r17,lo8(25)
 6973 3b1a 04F4                 brge .+2
 6974 3b1c 00C0                 rjmp .L521
 6975                   .L522:
 6976 3b1e 01E0                 ldi r16,lo8(4097)
 6977 3b20 C016                 cp r12,r16
 6978 3b22 00E1                 ldi r16,hi8(4097)
 6979 3b24 D006                 cpc r13,r16
 6980 3b26 00E0                 ldi r16,hlo8(4097)
 6981 3b28 E006                 cpc r14,r16
 6982 3b2a 00E0                 ldi r16,hhi8(4097)
 6983 3b2c F006                 cpc r15,r16
 6984 3b2e 04F4                 brge .+2
 6985 3b30 00C0                 rjmp .L523
 6986 3b32 8091 0000            lds r24,last_r_p.18
 6987 3b36 8823                 tst r24
 6988 3b38 01F4                 brne .+2
 6989 3b3a 00C0                 rjmp .L524
 6990 3b3c D701                 movw r26,r14
 6991 3b3e C601                 movw r24,r12
 6992 3b40 F7FE                 sbrs r15,7
 6993 3b42 00C0                 rjmp .L525
 6994 3b44 8827                 clr r24
 6995 3b46 9927                 clr r25
 6996 3b48 DC01                 movw r26,r24
 6997 3b4a 8C19                 sub r24,r12
 6998 3b4c 9D09                 sbc r25,r13
 6999 3b4e AE09                 sbc r26,r14
 7000 3b50 BF09                 sbc r27,r15
 7001                   .L525:
 7002 3b52 9C01                 movw r18,r24
 7003 3b54 AD01                 movw r20,r26
 7004 3b56 B7FF                 sbrs r27,7
 7005 3b58 00C0                 rjmp .L526
 7006 3b5a 2150                 subi r18,lo8(-(511))
 7007 3b5c 3E4F                 sbci r19,hi8(-(511))
 7008 3b5e 4F4F                 sbci r20,hlo8(-(511))
 7009 3b60 5F4F                 sbci r21,hhi8(-(511))
 7010                   .L526:
 7011 3b62 09E0                 ldi r16,9
 7012 3b64 5595         1:      asr r21
 7013 3b66 4795                 ror r20
 7014 3b68 3795                 ror r19
 7015 3b6a 2795                 ror r18
 7016 3b6c 0A95                 dec r16
 7017 3b6e 01F4                 brne 1b
 7018 3b70 8091 0000            lds r24,cnt.15
 7019 3b74 9091 0000            lds r25,(cnt.15)+1
 7020 3b78 820F                 add r24,r18
 7021 3b7a 931F                 adc r25,r19
 7022 3b7c 9093 0000            sts (cnt.15)+1,r25
 7023 3b80 8093 0000            sts cnt.15,r24
 7024 3b84 D701                 movw r26,r14
 7025 3b86 C601                 movw r24,r12
 7026 3b88 F7FE                 sbrs r15,7
 7027 3b8a 00C0                 rjmp .L527
 7028 3b8c 0796                 adiw r24,7
 7029 3b8e A11D                 adc r26,__zero_reg__
 7030 3b90 B11D                 adc r27,__zero_reg__
 7031                   .L527:
 7032 3b92 13E0                 ldi r17,3
 7033 3b94 B595         1:      asr r27
 7034 3b96 A795                 ror r26
 7035 3b98 9795                 ror r25
 7036 3b9a 8795                 ror r24
 7037 3b9c 1A95                 dec r17
 7038 3b9e 01F4                 brne 1b
 7039 3ba0 8093 0000            sts ausgleichRoll.12,r24
 7040 3ba4 9093 0000            sts (ausgleichRoll.12)+1,r25
 7041 3ba8 A093 0000            sts (ausgleichRoll.12)+2,r26
 7042 3bac B093 0000            sts (ausgleichRoll.12)+3,r27
 7043 3bb0 8958                 subi r24,lo8(5001)
 7044 3bb2 9341                 sbci r25,hi8(5001)
 7045 3bb4 A040                 sbci r26,hlo8(5001)
 7046 3bb6 B040                 sbci r27,hhi8(5001)
 7047 3bb8 04F0                 brlt .L528
 7048 3bba 88E8                 ldi r24,lo8(5000)
 7049 3bbc 93E1                 ldi r25,hi8(5000)
 7050 3bbe A0E0                 ldi r26,hlo8(5000)
 7051 3bc0 B0E0                 ldi r27,hhi8(5000)
 7052 3bc2 8093 0000            sts ausgleichRoll.12,r24
 7053 3bc6 9093 0000            sts (ausgleichRoll.12)+1,r25
 7054 3bca A093 0000            sts (ausgleichRoll.12)+2,r26
 7055 3bce B093 0000            sts (ausgleichRoll.12)+3,r27
 7056                   .L528:
 7057 3bd2 2091 0000            lds r18,ausgleichRoll.12
 7058 3bd6 3091 0000            lds r19,(ausgleichRoll.12)+1
 7059 3bda 4091 0000            lds r20,(ausgleichRoll.12)+2
 7060 3bde 5091 0000            lds r21,(ausgleichRoll.12)+3
 7061 3be2 57FF                 sbrs r21,7
 7062 3be4 00C0                 rjmp .L529
 7063 3be6 2150                 subi r18,lo8(-(255))
 7064 3be8 3F4F                 sbci r19,hi8(-(255))
 7065 3bea 4F4F                 sbci r20,hlo8(-(255))
 7066 3bec 5F4F                 sbci r21,hhi8(-(255))
 7067                   .L529:
 7068 3bee 232F                 mov r18,r19
 7069 3bf0 342F                 mov r19,r20
 7070 3bf2 452F                 mov r20,r21
 7071 3bf4 5527                 clr r21
 7072 3bf6 47FD                 sbrc r20,7
 7073 3bf8 5A95                 dec r21
 7074 3bfa 8091 0000            lds r24,LageKorrekturRoll
 7075 3bfe 9091 0000            lds r25,(LageKorrekturRoll)+1
 7076 3c02 820F                 add r24,r18
 7077 3c04 931F                 adc r25,r19
 7078 3c06 9093 0000            sts (LageKorrekturRoll)+1,r25
 7079 3c0a 8093 0000            sts LageKorrekturRoll,r24
 7080 3c0e 00C0                 rjmp .L531
 7081                   .L524:
 7082 3c10 81E0                 ldi r24,lo8(1)
 7083 3c12 8093 0000            sts last_r_p.18,r24
 7084 3c16 00C0                 rjmp .L531
 7085                   .L523:
 7086 3c18 1092 0000            sts last_r_p.18,__zero_reg__
 7087                   .L531:
 7088 3c1c 20E0                 ldi r18,lo8(-4096)
 7089 3c1e C216                 cp r12,r18
 7090 3c20 20EF                 ldi r18,hi8(-4096)
 7091 3c22 D206                 cpc r13,r18
 7092 3c24 2FEF                 ldi r18,hlo8(-4096)
 7093 3c26 E206                 cpc r14,r18
 7094 3c28 2FEF                 ldi r18,hhi8(-4096)
 7095 3c2a F206                 cpc r15,r18
 7096 3c2c 04F0                 brlt .+2
 7097 3c2e 00C0                 rjmp .L532
 7098 3c30 8091 0000            lds r24,last_r_n.19
 7099 3c34 8823                 tst r24
 7100 3c36 01F4                 brne .+2
 7101 3c38 00C0                 rjmp .L533
 7102 3c3a D701                 movw r26,r14
 7103 3c3c C601                 movw r24,r12
 7104 3c3e F7FE                 sbrs r15,7
 7105 3c40 00C0                 rjmp .L534
 7106 3c42 8827                 clr r24
 7107 3c44 9927                 clr r25
 7108 3c46 DC01                 movw r26,r24
 7109 3c48 8C19                 sub r24,r12
 7110 3c4a 9D09                 sbc r25,r13
 7111 3c4c AE09                 sbc r26,r14
 7112 3c4e BF09                 sbc r27,r15
 7113                   .L534:
 7114 3c50 9C01                 movw r18,r24
 7115 3c52 AD01                 movw r20,r26
 7116 3c54 B7FF                 sbrs r27,7
 7117 3c56 00C0                 rjmp .L535
 7118 3c58 2150                 subi r18,lo8(-(511))
 7119 3c5a 3E4F                 sbci r19,hi8(-(511))
 7120 3c5c 4F4F                 sbci r20,hlo8(-(511))
 7121 3c5e 5F4F                 sbci r21,hhi8(-(511))
 7122                   .L535:
 7123 3c60 E9E0                 ldi r30,9
 7124 3c62 5595         1:      asr r21
 7125 3c64 4795                 ror r20
 7126 3c66 3795                 ror r19
 7127 3c68 2795                 ror r18
 7128 3c6a EA95                 dec r30
 7129 3c6c 01F4                 brne 1b
 7130 3c6e 8091 0000            lds r24,cnt.15
 7131 3c72 9091 0000            lds r25,(cnt.15)+1
 7132 3c76 820F                 add r24,r18
 7133 3c78 931F                 adc r25,r19
 7134 3c7a 9093 0000            sts (cnt.15)+1,r25
 7135 3c7e 8093 0000            sts cnt.15,r24
 7136 3c82 D701                 movw r26,r14
 7137 3c84 C601                 movw r24,r12
 7138 3c86 F7FE                 sbrs r15,7
 7139 3c88 00C0                 rjmp .L536
 7140 3c8a 0796                 adiw r24,7
 7141 3c8c A11D                 adc r26,__zero_reg__
 7142 3c8e B11D                 adc r27,__zero_reg__
 7143                   .L536:
 7144 3c90 73E0                 ldi r23,3
 7145 3c92 B595         1:      asr r27
 7146 3c94 A795                 ror r26
 7147 3c96 9795                 ror r25
 7148 3c98 8795                 ror r24
 7149 3c9a 7A95                 dec r23
 7150 3c9c 01F4                 brne 1b
 7151 3c9e 8093 0000            sts ausgleichRoll.12,r24
 7152 3ca2 9093 0000            sts (ausgleichRoll.12)+1,r25
 7153 3ca6 A093 0000            sts (ausgleichRoll.12)+2,r26
 7154 3caa B093 0000            sts (ausgleichRoll.12)+3,r27
 7155 3cae 8857                 subi r24,lo8(-5000)
 7156 3cb0 9C4E                 sbci r25,hi8(-5000)
 7157 3cb2 AF4F                 sbci r26,hlo8(-5000)
 7158 3cb4 BF4F                 sbci r27,hhi8(-5000)
 7159 3cb6 04F4                 brge .L537
 7160 3cb8 88E7                 ldi r24,lo8(-5000)
 7161 3cba 9CEE                 ldi r25,hi8(-5000)
 7162 3cbc AFEF                 ldi r26,hlo8(-5000)
 7163 3cbe BFEF                 ldi r27,hhi8(-5000)
 7164 3cc0 8093 0000            sts ausgleichRoll.12,r24
 7165 3cc4 9093 0000            sts (ausgleichRoll.12)+1,r25
 7166 3cc8 A093 0000            sts (ausgleichRoll.12)+2,r26
 7167 3ccc B093 0000            sts (ausgleichRoll.12)+3,r27
 7168                   .L537:
 7169 3cd0 2091 0000            lds r18,ausgleichRoll.12
 7170 3cd4 3091 0000            lds r19,(ausgleichRoll.12)+1
 7171 3cd8 4091 0000            lds r20,(ausgleichRoll.12)+2
 7172 3cdc 5091 0000            lds r21,(ausgleichRoll.12)+3
 7173 3ce0 57FF                 sbrs r21,7
 7174 3ce2 00C0                 rjmp .L538
 7175 3ce4 2150                 subi r18,lo8(-(255))
 7176 3ce6 3F4F                 sbci r19,hi8(-(255))
 7177 3ce8 4F4F                 sbci r20,hlo8(-(255))
 7178 3cea 5F4F                 sbci r21,hhi8(-(255))
 7179                   .L538:
 7180 3cec 232F                 mov r18,r19
 7181 3cee 342F                 mov r19,r20
 7182 3cf0 452F                 mov r20,r21
 7183 3cf2 5527                 clr r21
 7184 3cf4 47FD                 sbrc r20,7
 7185 3cf6 5A95                 dec r21
 7186 3cf8 8091 0000            lds r24,LageKorrekturRoll
 7187 3cfc 9091 0000            lds r25,(LageKorrekturRoll)+1
 7188 3d00 820F                 add r24,r18
 7189 3d02 931F                 adc r25,r19
 7190 3d04 9093 0000            sts (LageKorrekturRoll)+1,r25
 7191 3d08 8093 0000            sts LageKorrekturRoll,r24
 7192 3d0c 00C0                 rjmp .L541
 7193                   .L533:
 7194 3d0e 81E0                 ldi r24,lo8(1)
 7195 3d10 8093 0000            sts last_r_n.19,r24
 7196 3d14 00C0                 rjmp .L541
 7197                   .L532:
 7198 3d16 1092 0000            sts last_r_n.19,__zero_reg__
 7199 3d1a 00C0                 rjmp .L541
 7200                   .L521:
 7201 3d1c 1092 0000            sts (cnt.15)+1,__zero_reg__
 7202 3d20 1092 0000            sts cnt.15,__zero_reg__
 7203 3d24 84E6                 ldi r24,lo8(100)
 7204 3d26 90E0                 ldi r25,hi8(100)
 7205 3d28 9093 0000            sts (KompassSignalSchlecht)+1,r25
 7206 3d2c 8093 0000            sts KompassSignalSchlecht,r24
 7207                   .L541:
 7208 3d30 4889                 ldd r20,Y+16
 7209 3d32 242F                 mov r18,r20
 7210 3d34 3327                 clr r19
 7211 3d36 8091 0000            lds r24,cnt.15
 7212 3d3a 9091 0000            lds r25,(cnt.15)+1
 7213 3d3e 2817                 cp r18,r24
 7214 3d40 3907                 cpc r19,r25
 7215 3d42 04F4                 brge .L542
 7216 3d44 3093 0000            sts (cnt.15)+1,r19
 7217 3d48 2093 0000            sts cnt.15,r18
 7218                   .L542:
 7219 3d4c 8091 0000            lds r24,FromNaviCtrl_Value+1
 7220 3d50 8823                 tst r24
 7221 3d52 01F0                 breq .L543
 7222 3d54 282F                 mov r18,r24
 7223 3d56 3327                 clr r19
 7224 3d58 27FD                 sbrc r18,7
 7225 3d5a 3095                 com r19
 7226 3d5c 8091 0000            lds r24,cnt.15
 7227 3d60 9091 0000            lds r25,(cnt.15)+1
 7228 3d64 2817                 cp r18,r24
 7229 3d66 3907                 cpc r19,r25
 7230 3d68 04F4                 brge .L543
 7231 3d6a 3093 0000            sts (cnt.15)+1,r19
 7232 3d6e 2093 0000            sts cnt.15,r18
 7233                   .L543:
 7234 3d72 4091 0000            lds r20,IntegralFehlerRoll.4
 7235 3d76 5091 0000            lds r21,(IntegralFehlerRoll.4)+1
 7236 3d7a 6091 0000            lds r22,(IntegralFehlerRoll.4)+2
 7237 3d7e 7091 0000            lds r23,(IntegralFehlerRoll.4)+3
 7238 3d82 4138                 cpi r20,lo8(129)
 7239 3d84 5105                 cpc r21,__zero_reg__
 7240 3d86 6105                 cpc r22,__zero_reg__
 7241 3d88 7105                 cpc r23,__zero_reg__
 7242 3d8a 04F0                 brlt .L545
 7243 3d8c 8091 0000            lds r24,AdNeutralRoll
 7244 3d90 9091 0000            lds r25,(AdNeutralRoll)+1
 7245 3d94 2091 0000            lds r18,cnt.15
 7246 3d98 3091 0000            lds r19,(cnt.15)+1
 7247 3d9c 820F                 add r24,r18
 7248 3d9e 931F                 adc r25,r19
 7249 3da0 9093 0000            sts (AdNeutralRoll)+1,r25
 7250 3da4 8093 0000            sts AdNeutralRoll,r24
 7251                   .L545:
 7252 3da8 4058                 subi r20,lo8(-128)
 7253 3daa 5F4F                 sbci r21,hi8(-128)
 7254 3dac 6F4F                 sbci r22,hlo8(-128)
 7255 3dae 7F4F                 sbci r23,hhi8(-128)
 7256 3db0 04F4                 brge .L547
 7257 3db2 8091 0000            lds r24,AdNeutralRoll
 7258 3db6 9091 0000            lds r25,(AdNeutralRoll)+1
 7259 3dba 2091 0000            lds r18,cnt.15
 7260 3dbe 3091 0000            lds r19,(cnt.15)+1
 7261 3dc2 821B                 sub r24,r18
 7262 3dc4 930B                 sbc r25,r19
 7263 3dc6 9093 0000            sts (AdNeutralRoll)+1,r25
 7264 3dca 8093 0000            sts AdNeutralRoll,r24
 7265 3dce 00C0                 rjmp .L547
 7266                   .L473:
 7267 3dd0 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 7268 3dd4 1092 0000            sts LageKorrekturRoll,__zero_reg__
 7269 3dd8 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 7270 3ddc 1092 0000            sts LageKorrekturNick,__zero_reg__
 7271 3de0 1092 0000            sts TrichterFlug,__zero_reg__
 7272                   .L547:
 7273 3de4 8091 0000            lds r24,IntegralFaktor
 7274 3de8 8823                 tst r24
 7275 3dea 01F4                 brne .L548
 7276 3dec 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 7277 3df0 1092 0000            sts LageKorrekturRoll,__zero_reg__
 7278 3df4 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 7279 3df8 1092 0000            sts LageKorrekturNick,__zero_reg__
 7280                   .L548:
 7281 3dfc 8091 0000            lds r24,MittelIntegralNick
 7282 3e00 9091 0000            lds r25,(MittelIntegralNick)+1
 7283 3e04 A091 0000            lds r26,(MittelIntegralNick)+2
 7284 3e08 B091 0000            lds r27,(MittelIntegralNick)+3
 7285 3e0c 8093 0000            sts MittelIntegralNick_Alt.20,r24
 7286 3e10 9093 0000            sts (MittelIntegralNick_Alt.20)+1,r25
 7287 3e14 A093 0000            sts (MittelIntegralNick_Alt.20)+2,r26
 7288 3e18 B093 0000            sts (MittelIntegralNick_Alt.20)+3,r27
 7289 3e1c 8091 0000            lds r24,MittelIntegralRoll
 7290 3e20 9091 0000            lds r25,(MittelIntegralRoll)+1
 7291 3e24 A091 0000            lds r26,(MittelIntegralRoll)+2
 7292 3e28 B091 0000            lds r27,(MittelIntegralRoll)+3
 7293 3e2c 8093 0000            sts MittelIntegralRoll_Alt.21,r24
 7294 3e30 9093 0000            sts (MittelIntegralRoll_Alt.21)+1,r25
 7295 3e34 A093 0000            sts (MittelIntegralRoll_Alt.21)+2,r26
 7296 3e38 B093 0000            sts (MittelIntegralRoll_Alt.21)+3,r27
 7297 3e3c 1092 0000            sts IntegralAccNick,__zero_reg__
 7298 3e40 1092 0000            sts (IntegralAccNick)+1,__zero_reg__
 7299 3e44 1092 0000            sts (IntegralAccNick)+2,__zero_reg__
 7300 3e48 1092 0000            sts (IntegralAccNick)+3,__zero_reg__
 7301 3e4c 1092 0000            sts IntegralAccRoll,__zero_reg__
 7302 3e50 1092 0000            sts (IntegralAccRoll)+1,__zero_reg__
 7303 3e54 1092 0000            sts (IntegralAccRoll)+2,__zero_reg__
 7304 3e58 1092 0000            sts (IntegralAccRoll)+3,__zero_reg__
 7305 3e5c 1092 0000            sts IntegralAccZ,__zero_reg__
 7306 3e60 1092 0000            sts (IntegralAccZ)+1,__zero_reg__
 7307 3e64 1092 0000            sts (IntegralAccZ)+2,__zero_reg__
 7308 3e68 1092 0000            sts (IntegralAccZ)+3,__zero_reg__
 7309 3e6c 1092 0000            sts MittelIntegralNick,__zero_reg__
 7310 3e70 1092 0000            sts (MittelIntegralNick)+1,__zero_reg__
 7311 3e74 1092 0000            sts (MittelIntegralNick)+2,__zero_reg__
 7312 3e78 1092 0000            sts (MittelIntegralNick)+3,__zero_reg__
 7313 3e7c 1092 0000            sts MittelIntegralRoll,__zero_reg__
 7314 3e80 1092 0000            sts (MittelIntegralRoll)+1,__zero_reg__
 7315 3e84 1092 0000            sts (MittelIntegralRoll)+2,__zero_reg__
 7316 3e88 1092 0000            sts (MittelIntegralRoll)+3,__zero_reg__
 7317 3e8c 1092 0000            sts MittelIntegralNick2,__zero_reg__
 7318 3e90 1092 0000            sts (MittelIntegralNick2)+1,__zero_reg__
 7319 3e94 1092 0000            sts (MittelIntegralNick2)+2,__zero_reg__
 7320 3e98 1092 0000            sts (MittelIntegralNick2)+3,__zero_reg__
 7321 3e9c 1092 0000            sts MittelIntegralRoll2,__zero_reg__
 7322 3ea0 1092 0000            sts (MittelIntegralRoll2)+1,__zero_reg__
 7323 3ea4 1092 0000            sts (MittelIntegralRoll2)+2,__zero_reg__
 7324 3ea8 1092 0000            sts (MittelIntegralRoll2)+3,__zero_reg__
 7325 3eac 1092 0000            sts (ZaehlMessungen)+1,__zero_reg__
 7326 3eb0 1092 0000            sts ZaehlMessungen,__zero_reg__
 7327                   .L472:
 7328 3eb4 E090 0000            lds r14,StickGier
 7329 3eb8 F090 0000            lds r15,(StickGier)+1
 7330 3ebc C701                 movw r24,r14
 7331 3ebe F7FE                 sbrs r15,7
 7332 3ec0 00C0                 rjmp .L550
 7333 3ec2 8827                 clr r24
 7334 3ec4 9927                 clr r25
 7335 3ec6 8E19                 sub r24,r14
 7336 3ec8 9F09                 sbc r25,r15
 7337                   .L550:
 7338 3eca 0497                 sbiw r24,4
 7339 3ecc 04F0                 brlt .L549
 7340 3ece 8091 0000            lds r24,Parameter_GlobalConfig
 7341 3ed2 84FD                 sbrc r24,4
 7342 3ed4 00C0                 rjmp .L549
 7343 3ed6 82E3                 ldi r24,lo8(50)
 7344 3ed8 8093 0000            sts NeueKompassRichtungMerken.10,r24
 7345                   .L549:
 7346 3edc 1091 0000            lds r17,EE_Parameter+25
 7347 3ee0 A12E                 mov r10,r17
 7348 3ee2 BB24                 clr r11
 7349 3ee4 CC24                 clr r12
 7350 3ee6 DD24                 clr r13
 7351 3ee8 B701                 movw r22,r14
 7352 3eea 8827                 clr r24
 7353 3eec 77FD                 sbrc r23,7
 7354 3eee 8095                 com r24
 7355 3ef0 982F                 mov r25,r24
 7356 3ef2 9701                 movw r18,r14
 7357 3ef4 F7FE                 sbrs r15,7
 7358 3ef6 00C0                 rjmp .L552
 7359 3ef8 2227                 clr r18
 7360 3efa 3327                 clr r19
 7361 3efc 2E19                 sub r18,r14
 7362 3efe 3F09                 sbc r19,r15
 7363                   .L552:
 7364 3f00 4427                 clr r20
 7365 3f02 37FD                 sbrc r19,7
 7366 3f04 4095                 com r20
 7367 3f06 542F                 mov r21,r20
 7368 3f08 0E94 0000            call __mulsi3
 7369 3f0c 9B01                 movw r18,r22
 7370 3f0e AC01                 movw r20,r24
 7371 3f10 C601                 movw r24,r12
 7372 3f12 B501                 movw r22,r10
 7373 3f14 0E94 0000            call __mulsi3
 7374 3f18 97FF                 sbrs r25,7
 7375 3f1a 00C0                 rjmp .L553
 7376 3f1c 6150                 subi r22,lo8(-(511))
 7377 3f1e 7E4F                 sbci r23,hi8(-(511))
 7378 3f20 8F4F                 sbci r24,hlo8(-(511))
 7379 3f22 9F4F                 sbci r25,hhi8(-(511))
 7380                   .L553:
 7381 3f24 59E0                 ldi r21,9
 7382 3f26 9595         1:      asr r25
 7383 3f28 8795                 ror r24
 7384 3f2a 7795                 ror r23
 7385 3f2c 6795                 ror r22
 7386 3f2e 5A95                 dec r21
 7387 3f30 01F4                 brne 1b
 7388 3f32 9B01                 movw r18,r22
 7389 3f34 812F                 mov r24,r17
 7390 3f36 9927                 clr r25
 7391 3f38 8E9D                 mul r24,r14
 7392 3f3a D001                 movw r26,r0
 7393 3f3c 8F9D                 mul r24,r15
 7394 3f3e B00D                 add r27,r0
 7395 3f40 9E9D                 mul r25,r14
 7396 3f42 B00D                 add r27,r0
 7397 3f44 1124                 clr r1
 7398 3f46 CD01                 movw r24,r26
 7399 3f48 B7FD                 sbrc r27,7
 7400 3f4a 0396                 adiw r24,3
 7401                   .L554:
 7402 3f4c 9595                 asr r25
 7403 3f4e 8795                 ror r24
 7404 3f50 9595                 asr r25
 7405 3f52 8795                 ror r24
 7406 3f54 280F                 add r18,r24
 7407 3f56 391F                 adc r19,r25
 7408 3f58 8091 0000            lds r24,CompassGierSetpoint
 7409 3f5c 9091 0000            lds r25,(CompassGierSetpoint)+1
 7410 3f60 280F                 add r18,r24
 7411 3f62 391F                 adc r19,r25
 7412 3f64 4427                 clr r20
 7413 3f66 37FD                 sbrc r19,7
 7414 3f68 4095                 com r20
 7415 3f6a 542F                 mov r21,r20
 7416 3f6c 2093 0000            sts sollGier.0,r18
 7417 3f70 3093 0000            sts (sollGier.0)+1,r19
 7418 3f74 4093 0000            sts (sollGier.0)+2,r20
 7419 3f78 5093 0000            sts (sollGier.0)+3,r21
 7420 3f7c 8091 0000            lds r24,Mess_Integral_Gier
 7421 3f80 9091 0000            lds r25,(Mess_Integral_Gier)+1
 7422 3f84 A091 0000            lds r26,(Mess_Integral_Gier)+2
 7423 3f88 B091 0000            lds r27,(Mess_Integral_Gier)+3
 7424 3f8c 821B                 sub r24,r18
 7425 3f8e 930B                 sbc r25,r19
 7426 3f90 A40B                 sbc r26,r20
 7427 3f92 B50B                 sbc r27,r21
 7428 3f94 8093 0000            sts Mess_Integral_Gier,r24
 7429 3f98 9093 0000            sts (Mess_Integral_Gier)+1,r25
 7430 3f9c A093 0000            sts (Mess_Integral_Gier)+2,r26
 7431 3fa0 B093 0000            sts (Mess_Integral_Gier)+3,r27
 7432 3fa4 8155                 subi r24,lo8(50001)
 7433 3fa6 934C                 sbci r25,hi8(50001)
 7434 3fa8 A040                 sbci r26,hlo8(50001)
 7435 3faa B040                 sbci r27,hhi8(50001)
 7436 3fac 04F0                 brlt .L555
 7437 3fae 80E5                 ldi r24,lo8(50000)
 7438 3fb0 93EC                 ldi r25,hi8(50000)
 7439 3fb2 A0E0                 ldi r26,hlo8(50000)
 7440 3fb4 B0E0                 ldi r27,hhi8(50000)
 7441 3fb6 8093 0000            sts Mess_Integral_Gier,r24
 7442 3fba 9093 0000            sts (Mess_Integral_Gier)+1,r25
 7443 3fbe A093 0000            sts (Mess_Integral_Gier)+2,r26
 7444 3fc2 B093 0000            sts (Mess_Integral_Gier)+3,r27
 7445                   .L555:
 7446 3fc6 8091 0000            lds r24,Mess_Integral_Gier
 7447 3fca 9091 0000            lds r25,(Mess_Integral_Gier)+1
 7448 3fce A091 0000            lds r26,(Mess_Integral_Gier)+2
 7449 3fd2 B091 0000            lds r27,(Mess_Integral_Gier)+3
 7450 3fd6 805B                 subi r24,lo8(-50000)
 7451 3fd8 9C43                 sbci r25,hi8(-50000)
 7452 3fda AF4F                 sbci r26,hlo8(-50000)
 7453 3fdc BF4F                 sbci r27,hhi8(-50000)
 7454 3fde 04F4                 brge .L556
 7455 3fe0 80EB                 ldi r24,lo8(-50000)
 7456 3fe2 9CE3                 ldi r25,hi8(-50000)
 7457 3fe4 AFEF                 ldi r26,hlo8(-50000)
 7458 3fe6 BFEF                 ldi r27,hhi8(-50000)
 7459 3fe8 8093 0000            sts Mess_Integral_Gier,r24
 7460 3fec 9093 0000            sts (Mess_Integral_Gier)+1,r25
 7461 3ff0 A093 0000            sts (Mess_Integral_Gier)+2,r26
 7462 3ff4 B093 0000            sts (Mess_Integral_Gier)+3,r27
 7463                   .L556:
 7464 3ff8 0091 0000            lds r16,KompassValue
 7465 3ffc 1091 0000            lds r17,(KompassValue)+1
 7466 4000 17FD                 sbrc r17,7
 7467 4002 00C0                 rjmp .L557
 7468 4004 8091 0000            lds r24,Parameter_GlobalConfig
 7469 4008 83FF                 sbrs r24,3
 7470 400a 00C0                 rjmp .L557
 7471 400c 8091 0000            lds r24,CalculateCompassTimer
 7472 4010 8150                 subi r24,lo8(-(-1))
 7473 4012 8093 0000            sts CalculateCompassTimer,r24
 7474 4016 8823                 tst r24
 7475 4018 01F0                 breq .+2
 7476 401a 00C0                 rjmp .L574
 7477 401c 8DE0                 ldi r24,lo8(13)
 7478 401e 8093 0000            sts CalculateCompassTimer,r24
 7479 4022 8091 0000            lds r24,IntegralNick
 7480 4026 9091 0000            lds r25,(IntegralNick)+1
 7481 402a A091 0000            lds r26,(IntegralNick)+2
 7482 402e B091 0000            lds r27,(IntegralNick)+3
 7483 4032 B7FF                 sbrs r27,7
 7484 4034 00C0                 rjmp .L559
 7485 4036 8150                 subi r24,lo8(-(511))
 7486 4038 9E4F                 sbci r25,hi8(-(511))
 7487 403a AF4F                 sbci r26,hlo8(-(511))
 7488 403c BF4F                 sbci r27,hhi8(-(511))
 7489                   .L559:
 7490 403e 39E0                 ldi r19,9
 7491 4040 B595         1:      asr r27
 7492 4042 A795                 ror r26
 7493 4044 9795                 ror r25
 7494 4046 8795                 ror r24
 7495 4048 3A95                 dec r19
 7496 404a 01F4                 brne 1b
 7497 404c 7C01                 movw r14,r24
 7498 404e 97FF                 sbrs r25,7
 7499 4050 00C0                 rjmp .L560
 7500 4052 F094                 com r15
 7501 4054 E194                 neg r14
 7502 4056 F108                 sbc r15,__zero_reg__
 7503 4058 F394                 inc r15
 7504                   .L560:
 7505 405a 8091 0000            lds r24,IntegralRoll
 7506 405e 9091 0000            lds r25,(IntegralRoll)+1
 7507 4062 A091 0000            lds r26,(IntegralRoll)+2
 7508 4066 B091 0000            lds r27,(IntegralRoll)+3
 7509 406a B7FF                 sbrs r27,7
 7510 406c 00C0                 rjmp .L561
 7511 406e 8150                 subi r24,lo8(-(511))
 7512 4070 9E4F                 sbci r25,hi8(-(511))
 7513 4072 AF4F                 sbci r26,hlo8(-(511))
 7514 4074 BF4F                 sbci r27,hhi8(-(511))
 7515                   .L561:
 7516 4076 29E0                 ldi r18,9
 7517 4078 B595         1:      asr r27
 7518 407a A795                 ror r26
 7519 407c 9795                 ror r25
 7520 407e 8795                 ror r24
 7521 4080 2A95                 dec r18
 7522 4082 01F4                 brne 1b
 7523 4084 9C01                 movw r18,r24
 7524 4086 97FF                 sbrs r25,7
 7525 4088 00C0                 rjmp .L562
 7526 408a 3095                 com r19
 7527 408c 2195                 neg r18
 7528 408e 3F4F                 sbci r19,lo8(-1)
 7529                   .L562:
 7530 4090 E216                 cp r14,r18
 7531 4092 F306                 cpc r15,r19
 7532 4094 04F4                 brge .L563
 7533 4096 7901                 movw r14,r18
 7534                   .L563:
 7535 4098 B701                 movw r22,r14
 7536 409a F7FE                 sbrs r15,7
 7537 409c 00C0                 rjmp .L564
 7538 409e 695F                 subi r22,lo8(-(7))
 7539 40a0 7F4F                 sbci r23,hi8(-(7))
 7540                   .L564:
 7541 40a2 2B01                 movw r4,r22
 7542 40a4 A3E0                 ldi r26,3
 7543 40a6 5594         1:      asr r5
 7544 40a8 4794                 ror r4
 7545 40aa AA95                 dec r26
 7546 40ac 01F4                 brne 1b
 7547 40ae 22E0                 ldi r18,lo8(2)
 7548 40b0 30E0                 ldi r19,hi8(2)
 7549 40b2 420E                 add r4,r18
 7550 40b4 531E                 adc r5,r19
 7551 40b6 6090 0000            lds r6,ErsatzKompass
 7552 40ba 7090 0000            lds r7,(ErsatzKompass)+1
 7553 40be 8090 0000            lds r8,(ErsatzKompass)+2
 7554 40c2 9090 0000            lds r9,(ErsatzKompass)+3
 7555 40c6 2091 0000            lds r18,GIER_GRAD_FAKTOR
 7556 40ca 3091 0000            lds r19,(GIER_GRAD_FAKTOR)+1
 7557 40ce 4091 0000            lds r20,(GIER_GRAD_FAKTOR)+2
 7558 40d2 5091 0000            lds r21,(GIER_GRAD_FAKTOR)+3
 7559 40d6 C401                 movw r24,r8
 7560 40d8 B301                 movw r22,r6
 7561 40da 0E94 0000            call __divmodsi4
 7562 40de 5901                 movw r10,r18
 7563 40e0 6A01                 movw r12,r20
 7564 40e2 3093 0000            sts (ErsatzKompassInGrad)+1,r19
 7565 40e6 2093 0000            sts ErsatzKompassInGrad,r18
 7566 40ea 021B                 sub r16,r18
 7567 40ec 130B                 sbc r17,r19
 7568 40ee C801                 movw r24,r16
 7569 40f0 845E                 subi r24,lo8(-(540))
 7570 40f2 9D4F                 sbci r25,hi8(-(540))
 7571 40f4 68E6                 ldi r22,lo8(360)
 7572 40f6 71E0                 ldi r23,hi8(360)
 7573 40f8 0E94 0000            call __divmodhi4
 7574 40fc 9C01                 movw r18,r24
 7575 40fe 245B                 subi r18,lo8(-(-180))
 7576 4100 3040                 sbci r19,hi8(-(-180))
 7577 4102 8091 0000            lds r24,KompassSignalSchlecht
 7578 4106 9091 0000            lds r25,(KompassSignalSchlecht)+1
 7579 410a 0097                 sbiw r24,0
 7580 410c 01F0                 breq .L565
 7581 410e 0197                 sbiw r24,1
 7582 4110 9093 0000            sts (KompassSignalSchlecht)+1,r25
 7583 4114 8093 0000            sts KompassSignalSchlecht,r24
 7584 4118 00C0                 rjmp .L566
 7585                   .L565:
 7586 411a 49E1                 ldi r20,lo8(25)
 7587 411c E416                 cp r14,r20
 7588 411e F104                 cpc r15,__zero_reg__
 7589 4120 04F4                 brge .L566
 7590 4122 8091 0000            lds r24,GierGyroFehler
 7591 4126 9091 0000            lds r25,(GierGyroFehler)+1
 7592 412a 820F                 add r24,r18
 7593 412c 931F                 adc r25,r19
 7594 412e 9093 0000            sts (GierGyroFehler)+1,r25
 7595 4132 8093 0000            sts GierGyroFehler,r24
 7596 4136 8091 0000            lds r24,NeueKompassRichtungMerken.10
 7597 413a 8823                 tst r24
 7598 413c 01F0                 breq .L566
 7599 413e 8150                 subi r24,lo8(-(-1))
 7600 4140 8093 0000            sts NeueKompassRichtungMerken.10,r24
 7601 4144 8823                 tst r24
 7602 4146 01F4                 brne .L566
 7603 4148 B092 0000            sts (KompassSollWert)+1,r11
 7604 414c A092 0000            sts KompassSollWert,r10
 7605                   .L566:
 7606 4150 8091 0000            lds r24,KompassSignalSchlecht
 7607 4154 9091 0000            lds r25,(KompassSignalSchlecht)+1
 7608 4158 892B                 or r24,r25
 7609 415a 01F4                 brne .L570
 7610 415c 8091 0000            lds r24,KompassFusion
 7611 4160 9927                 clr r25
 7612 4162 289F                 mul r18,r24
 7613 4164 B001                 movw r22,r0
 7614 4166 299F                 mul r18,r25
 7615 4168 700D                 add r23,r0
 7616 416a 389F                 mul r19,r24
 7617 416c 700D                 add r23,r0
 7618 416e 1124                 clr r1
 7619 4170 CB01                 movw r24,r22
 7620 4172 B201                 movw r22,r4
 7621 4174 0E94 0000            call __divmodhi4
 7622 4178 CB01                 movw r24,r22
 7623 417a AA27                 clr r26
 7624 417c 97FD                 sbrc r25,7
 7625 417e A095                 com r26
 7626 4180 BA2F                 mov r27,r26
 7627 4182 680E                 add r6,r24
 7628 4184 791E                 adc r7,r25
 7629 4186 8A1E                 adc r8,r26
 7630 4188 9B1E                 adc r9,r27
 7631 418a 6092 0000            sts ErsatzKompass,r6
 7632 418e 7092 0000            sts (ErsatzKompass)+1,r7
 7633 4192 8092 0000            sts (ErsatzKompass)+2,r8
 7634 4196 9092 0000            sts (ErsatzKompass)+3,r9
 7635                   .L570:
 7636 419a 8091 0000            lds r24,NeueKompassRichtungMerken.10
 7637 419e 8823                 tst r24
 7638 41a0 01F4                 brne .L557
 7639 41a2 8091 0000            lds r24,KompassSollWert
 7640 41a6 9091 0000            lds r25,(KompassSollWert)+1
 7641 41aa 2091 0000            lds r18,ErsatzKompassInGrad
 7642 41ae 3091 0000            lds r19,(ErsatzKompassInGrad)+1
 7643 41b2 821B                 sub r24,r18
 7644 41b4 930B                 sbc r25,r19
 7645 41b6 845E                 subi r24,lo8(-(540))
 7646 41b8 9D4F                 sbci r25,hi8(-(540))
 7647 41ba 68E6                 ldi r22,lo8(360)
 7648 41bc 71E0                 ldi r23,hi8(360)
 7649 41be 0E94 0000            call __divmodhi4
 7650 41c2 9C01                 movw r18,r24
 7651 41c4 245B                 subi r18,lo8(-(-180))
 7652 41c6 3040                 sbci r19,hi8(-(-180))
 7653 41c8 8091 0000            lds r24,Parameter_KompassWirkung
 7654 41cc 8695                 lsr r24
 7655 41ce 9927                 clr r25
 7656 41d0 289F                 mul r18,r24
 7657 41d2 D001                 movw r26,r0
 7658 41d4 299F                 mul r18,r25
 7659 41d6 B00D                 add r27,r0
 7660 41d8 389F                 mul r19,r24
 7661 41da B00D                 add r27,r0
 7662 41dc 1124                 clr r1
 7663 41de 9D01                 movw r18,r26
 7664 41e0 B7FF                 sbrs r27,7
 7665 41e2 00C0                 rjmp .L572
 7666 41e4 215F                 subi r18,lo8(-(15))
 7667 41e6 3F4F                 sbci r19,hi8(-(15))
 7668                   .L572:
 7669 41e8 F4E0                 ldi r31,4
 7670 41ea 3595         1:      asr r19
 7671 41ec 2795                 ror r18
 7672 41ee FA95                 dec r31
 7673 41f0 01F4                 brne 1b
 7674 41f2 3093 0000            sts (CompassGierSetpoint)+1,r19
 7675 41f6 2093 0000            sts CompassGierSetpoint,r18
 7676 41fa 00C0                 rjmp .L574
 7677                   .L557:
 7678 41fc 1092 0000            sts (CompassGierSetpoint)+1,__zero_reg__
 7679 4200 1092 0000            sts CompassGierSetpoint,__zero_reg__
 7680                   .L574:
 7681 4204 8091 0000            lds r24,TrichterFlug
 7682 4208 8823                 tst r24
 7683 420a 01F0                 breq .L575
 7684 420c 1092 0000            sts SummeRoll,__zero_reg__
 7685 4210 1092 0000            sts (SummeRoll)+1,__zero_reg__
 7686 4214 1092 0000            sts (SummeRoll)+2,__zero_reg__
 7687 4218 1092 0000            sts (SummeRoll)+3,__zero_reg__
 7688 421c 1092 0000            sts SummeNick,__zero_reg__
 7689 4220 1092 0000            sts (SummeNick)+1,__zero_reg__
 7690 4224 1092 0000            sts (SummeNick)+2,__zero_reg__
 7691 4228 1092 0000            sts (SummeNick)+3,__zero_reg__
 7692                   .L575:
 7693 422c F090 0000            lds r15,Looping_Nick
 7694 4230 FF20                 tst r15
 7695 4232 01F4                 brne .L576
 7696 4234 8091 0000            lds r24,IntegralFaktor
 7697 4238 282F                 mov r18,r24
 7698 423a 3327                 clr r19
 7699 423c 4427                 clr r20
 7700 423e 5527                 clr r21
 7701 4240 8091 0000            lds r24,IntegralNick
 7702 4244 9091 0000            lds r25,(IntegralNick)+1
 7703 4248 A091 0000            lds r26,(IntegralNick)+2
 7704 424c B091 0000            lds r27,(IntegralNick)+3
 7705 4250 BC01                 movw r22,r24
 7706 4252 CD01                 movw r24,r26
 7707 4254 0E94 0000            call __mulsi3
 7708 4258 DC01                 movw r26,r24
 7709 425a CB01                 movw r24,r22
 7710 425c BC01                 movw r22,r24
 7711 425e CD01                 movw r24,r26
 7712 4260 28EF                 ldi r18,lo8(11000)
 7713 4262 3AE2                 ldi r19,hi8(11000)
 7714 4264 40E0                 ldi r20,hlo8(11000)
 7715 4266 50E0                 ldi r21,hhi8(11000)
 7716 4268 0E94 0000            call __divmodsi4
 7717 426c 3901                 movw r6,r18
 7718 426e 00C0                 rjmp .L577
 7719                   .L576:
 7720 4270 6624                 clr r6
 7721 4272 7724                 clr r7
 7722                   .L577:
 7723 4274 E090 0000            lds r14,Looping_Roll
 7724 4278 EE20                 tst r14
 7725 427a 01F4                 brne .L578
 7726 427c 8091 0000            lds r24,IntegralFaktor
 7727 4280 282F                 mov r18,r24
 7728 4282 3327                 clr r19
 7729 4284 4427                 clr r20
 7730 4286 5527                 clr r21
 7731 4288 8091 0000            lds r24,IntegralRoll
 7732 428c 9091 0000            lds r25,(IntegralRoll)+1
 7733 4290 A091 0000            lds r26,(IntegralRoll)+2
 7734 4294 B091 0000            lds r27,(IntegralRoll)+3
 7735 4298 BC01                 movw r22,r24
 7736 429a CD01                 movw r24,r26
 7737 429c 0E94 0000            call __mulsi3
 7738 42a0 DC01                 movw r26,r24
 7739 42a2 CB01                 movw r24,r22
 7740 42a4 BC01                 movw r22,r24
 7741 42a6 CD01                 movw r24,r26
 7742 42a8 28EF                 ldi r18,lo8(11000)
 7743 42aa 3AE2                 ldi r19,hi8(11000)
 7744 42ac 40E0                 ldi r20,hlo8(11000)
 7745 42ae 50E0                 ldi r21,hhi8(11000)
 7746 42b0 0E94 0000            call __divmodsi4
 7747 42b4 2901                 movw r4,r18
 7748 42b6 00C0                 rjmp .L579
 7749                   .L578:
 7750 42b8 4424                 clr r4
 7751 42ba 5524                 clr r5
 7752                   .L579:
 7753 42bc 8091 0000            lds r24,TrimNick
 7754 42c0 9091 0000            lds r25,(TrimNick)+1
 7755 42c4 893C                 cpi r24,201
 7756 42c6 9105                 cpc r25,__zero_reg__
 7757 42c8 04F0                 brlt .L580
 7758 42ca 88EC                 ldi r24,lo8(200)
 7759 42cc 90E0                 ldi r25,hi8(200)
 7760 42ce 00C0                 rjmp .L828
 7761                   .L580:
 7762 42d0 8853                 subi r24,lo8(-200)
 7763 42d2 9F4F                 sbci r25,hi8(-200)
 7764 42d4 04F4                 brge .L581
 7765 42d6 88E3                 ldi r24,lo8(-200)
 7766 42d8 9FEF                 ldi r25,hi8(-200)
 7767                   .L828:
 7768 42da 9093 0000            sts (TrimNick)+1,r25
 7769 42de 8093 0000            sts TrimNick,r24
 7770                   .L581:
 7771 42e2 8091 0000            lds r24,TrimRoll
 7772 42e6 9091 0000            lds r25,(TrimRoll)+1
 7773 42ea 893C                 cpi r24,201
 7774 42ec 9105                 cpc r25,__zero_reg__
 7775 42ee 04F0                 brlt .L583
 7776 42f0 88EC                 ldi r24,lo8(200)
 7777 42f2 90E0                 ldi r25,hi8(200)
 7778 42f4 00C0                 rjmp .L829
 7779                   .L583:
 7780 42f6 8853                 subi r24,lo8(-200)
 7781 42f8 9F4F                 sbci r25,hi8(-200)
 7782 42fa 04F4                 brge .L584
 7783 42fc 88E3                 ldi r24,lo8(-200)
 7784 42fe 9FEF                 ldi r25,hi8(-200)
 7785                   .L829:
 7786 4300 9093 0000            sts (TrimRoll)+1,r25
 7787 4304 8093 0000            sts TrimRoll,r24
 7788                   .L584:
 7789 4308 8091 0000            lds r24,MesswertNick
 7790 430c 9091 0000            lds r25,(MesswertNick)+1
 7791 4310 AA27                 clr r26
 7792 4312 97FD                 sbrc r25,7
 7793 4314 A095                 com r26
 7794 4316 BA2F                 mov r27,r26
 7795 4318 2091 0000            lds r18,GyroFaktor
 7796 431c A22E                 mov r10,r18
 7797 431e BB24                 clr r11
 7798 4320 CC24                 clr r12
 7799 4322 DD24                 clr r13
 7800 4324 BC01                 movw r22,r24
 7801 4326 CD01                 movw r24,r26
 7802 4328 A601                 movw r20,r12
 7803 432a 9501                 movw r18,r10
 7804 432c 0E94 0000            call __mulsi3
 7805 4330 9B01                 movw r18,r22
 7806 4332 AC01                 movw r20,r24
 7807 4334 8091 0000            lds r24,TrimNick
 7808 4338 9091 0000            lds r25,(TrimNick)+1
 7809 433c AA27                 clr r26
 7810 433e 97FD                 sbrc r25,7
 7811 4340 A095                 com r26
 7812 4342 BA2F                 mov r27,r26
 7813 4344 E7E0                 ldi r30,7
 7814 4346 880F         1:      lsl r24
 7815 4348 991F                 rol r25
 7816 434a AA1F                 rol r26
 7817 434c BB1F                 rol r27
 7818 434e EA95                 dec r30
 7819 4350 01F4                 brne 1b
 7820 4352 280F                 add r18,r24
 7821 4354 391F                 adc r19,r25
 7822 4356 4A1F                 adc r20,r26
 7823 4358 5B1F                 adc r21,r27
 7824 435a 57FF                 sbrs r21,7
 7825 435c 00C0                 rjmp .L586
 7826 435e 215C                 subi r18,lo8(-(63))
 7827 4360 3F4F                 sbci r19,hi8(-(63))
 7828 4362 4F4F                 sbci r20,hlo8(-(63))
 7829 4364 5F4F                 sbci r21,hhi8(-(63))
 7830                   .L586:
 7831 4366 76E0                 ldi r23,6
 7832 4368 5595         1:      asr r21
 7833 436a 4795                 ror r20
 7834 436c 3795                 ror r19
 7835 436e 2795                 ror r18
 7836 4370 7A95                 dec r23
 7837 4372 01F4                 brne 1b
 7838 4374 8301                 movw r16,r6
 7839 4376 020F                 add r16,r18
 7840 4378 131F                 adc r17,r19
 7841 437a 1093 0000            sts (MesswertNick)+1,r17
 7842 437e 0093 0000            sts MesswertNick,r16
 7843 4382 8091 0000            lds r24,MesswertRoll
 7844 4386 9091 0000            lds r25,(MesswertRoll)+1
 7845 438a AA27                 clr r26
 7846 438c 97FD                 sbrc r25,7
 7847 438e A095                 com r26
 7848 4390 BA2F                 mov r27,r26
 7849 4392 BC01                 movw r22,r24
 7850 4394 CD01                 movw r24,r26
 7851 4396 A601                 movw r20,r12
 7852 4398 9501                 movw r18,r10
 7853 439a 0E94 0000            call __mulsi3
 7854 439e 9B01                 movw r18,r22
 7855 43a0 AC01                 movw r20,r24
 7856 43a2 8091 0000            lds r24,TrimRoll
 7857 43a6 9091 0000            lds r25,(TrimRoll)+1
 7858 43aa AA27                 clr r26
 7859 43ac 97FD                 sbrc r25,7
 7860 43ae A095                 com r26
 7861 43b0 BA2F                 mov r27,r26
 7862 43b2 67E0                 ldi r22,7
 7863 43b4 880F         1:      lsl r24
 7864 43b6 991F                 rol r25
 7865 43b8 AA1F                 rol r26
 7866 43ba BB1F                 rol r27
 7867 43bc 6A95                 dec r22
 7868 43be 01F4                 brne 1b
 7869 43c0 280F                 add r18,r24
 7870 43c2 391F                 adc r19,r25
 7871 43c4 4A1F                 adc r20,r26
 7872 43c6 5B1F                 adc r21,r27
 7873 43c8 57FF                 sbrs r21,7
 7874 43ca 00C0                 rjmp .L587
 7875 43cc 215C                 subi r18,lo8(-(63))
 7876 43ce 3F4F                 sbci r19,hi8(-(63))
 7877 43d0 4F4F                 sbci r20,hlo8(-(63))
 7878 43d2 5F4F                 sbci r21,hhi8(-(63))
 7879                   .L587:
 7880 43d4 F6E0                 ldi r31,6
 7881 43d6 5595         1:      asr r21
 7882 43d8 4795                 ror r20
 7883 43da 3795                 ror r19
 7884 43dc 2795                 ror r18
 7885 43de FA95                 dec r31
 7886 43e0 01F4                 brne 1b
 7887 43e2 4201                 movw r8,r4
 7888 43e4 820E                 add r8,r18
 7889 43e6 931E                 adc r9,r19
 7890 43e8 9092 0000            sts (MesswertRoll)+1,r9
 7891 43ec 8092 0000            sts MesswertRoll,r8
 7892 43f0 8091 0000            lds r24,MesswertGier
 7893 43f4 9091 0000            lds r25,(MesswertGier)+1
 7894 43f8 880F                 add r24,r24
 7895 43fa 991F                 adc r25,r25
 7896 43fc AA27                 clr r26
 7897 43fe 97FD                 sbrc r25,7
 7898 4400 A095                 com r26
 7899 4402 BA2F                 mov r27,r26
 7900 4404 2091 0000            lds r18,GyroFaktorGier
 7901 4408 3327                 clr r19
 7902 440a 4427                 clr r20
 7903 440c 5527                 clr r21
 7904 440e BC01                 movw r22,r24
 7905 4410 CD01                 movw r24,r26
 7906 4412 0E94 0000            call __mulsi3
 7907 4416 5B01                 movw r10,r22
 7908 4418 6C01                 movw r12,r24
 7909 441a 97FF                 sbrs r25,7
 7910 441c 00C0                 rjmp .L588
 7911 441e 2FE3                 ldi r18,lo8(63)
 7912 4420 30E0                 ldi r19,hi8(63)
 7913 4422 40E0                 ldi r20,hlo8(63)
 7914 4424 50E0                 ldi r21,hhi8(63)
 7915 4426 A20E                 add r10,r18
 7916 4428 B31E                 adc r11,r19
 7917 442a C41E                 adc r12,r20
 7918 442c D51E                 adc r13,r21
 7919                   .L588:
 7920 442e E6E0                 ldi r30,6
 7921 4430 D594         1:      asr r13
 7922 4432 C794                 ror r12
 7923 4434 B794                 ror r11
 7924 4436 A794                 ror r10
 7925 4438 EA95                 dec r30
 7926 443a 01F4                 brne 1b
 7927 443c 8091 0000            lds r24,IntegralFaktorGier
 7928 4440 282F                 mov r18,r24
 7929 4442 3327                 clr r19
 7930 4444 4427                 clr r20
 7931 4446 5527                 clr r21
 7932 4448 8091 0000            lds r24,Integral_Gier
 7933 444c 9091 0000            lds r25,(Integral_Gier)+1
 7934 4450 A091 0000            lds r26,(Integral_Gier)+2
 7935 4454 B091 0000            lds r27,(Integral_Gier)+3
 7936 4458 BC01                 movw r22,r24
 7937 445a CD01                 movw r24,r26
 7938 445c 0E94 0000            call __mulsi3
 7939 4460 DC01                 movw r26,r24
 7940 4462 CB01                 movw r24,r22
 7941 4464 BC01                 movw r22,r24
 7942 4466 CD01                 movw r24,r26
 7943 4468 20EF                 ldi r18,lo8(22000)
 7944 446a 35E5                 ldi r19,hi8(22000)
 7945 446c 40E0                 ldi r20,hlo8(22000)
 7946 446e 50E0                 ldi r21,hhi8(22000)
 7947 4470 0E94 0000            call __divmodsi4
 7948 4474 B501                 movw r22,r10
 7949 4476 620F                 add r22,r18
 7950 4478 731F                 adc r23,r19
 7951 447a 7093 0000            sts (MesswertGier)+1,r23
 7952 447e 6093 0000            sts MesswertGier,r22
 7953 4482 0150                 subi r16,lo8(4097)
 7954 4484 1041                 sbci r17,hi8(4097)
 7955 4486 04F0                 brlt .L589
 7956 4488 80E0                 ldi r24,lo8(4096)
 7957 448a 90E1                 ldi r25,hi8(4096)
 7958 448c 9093 0000            sts (MesswertNick)+1,r25
 7959 4490 8093 0000            sts MesswertNick,r24
 7960                   .L589:
 7961 4494 8091 0000            lds r24,MesswertNick
 7962 4498 9091 0000            lds r25,(MesswertNick)+1
 7963 449c 8050                 subi r24,lo8(-4096)
 7964 449e 904F                 sbci r25,hi8(-4096)
 7965 44a0 04F4                 brge .L590
 7966 44a2 80E0                 ldi r24,lo8(-4096)
 7967 44a4 90EF                 ldi r25,hi8(-4096)
 7968 44a6 9093 0000            sts (MesswertNick)+1,r25
 7969 44aa 8093 0000            sts MesswertNick,r24
 7970                   .L590:
 7971 44ae 51E0                 ldi r21,lo8(4097)
 7972 44b0 8516                 cp r8,r21
 7973 44b2 50E1                 ldi r21,hi8(4097)
 7974 44b4 9506                 cpc r9,r21
 7975 44b6 04F0                 brlt .L591
 7976 44b8 80E0                 ldi r24,lo8(4096)
 7977 44ba 90E1                 ldi r25,hi8(4096)
 7978 44bc 9093 0000            sts (MesswertRoll)+1,r25
 7979 44c0 8093 0000            sts MesswertRoll,r24
 7980                   .L591:
 7981 44c4 8091 0000            lds r24,MesswertRoll
 7982 44c8 9091 0000            lds r25,(MesswertRoll)+1
 7983 44cc 8050                 subi r24,lo8(-4096)
 7984 44ce 904F                 sbci r25,hi8(-4096)
 7985 44d0 04F4                 brge .L592
 7986 44d2 80E0                 ldi r24,lo8(-4096)
 7987 44d4 90EF                 ldi r25,hi8(-4096)
 7988 44d6 9093 0000            sts (MesswertRoll)+1,r25
 7989 44da 8093 0000            sts MesswertRoll,r24
 7990                   .L592:
 7991 44de 6150                 subi r22,lo8(4097)
 7992 44e0 7041                 sbci r23,hi8(4097)
 7993 44e2 04F0                 brlt .L593
 7994 44e4 80E0                 ldi r24,lo8(4096)
 7995 44e6 90E1                 ldi r25,hi8(4096)
 7996 44e8 9093 0000            sts (MesswertGier)+1,r25
 7997 44ec 8093 0000            sts MesswertGier,r24
 7998                   .L593:
 7999 44f0 8091 0000            lds r24,MesswertGier
 8000 44f4 9091 0000            lds r25,(MesswertGier)+1
 8001 44f8 8050                 subi r24,lo8(-4096)
 8002 44fa 904F                 sbci r25,hi8(-4096)
 8003 44fc 04F4                 brge .L594
 8004 44fe 80E0                 ldi r24,lo8(-4096)
 8005 4500 90EF                 ldi r25,hi8(-4096)
 8006 4502 9093 0000            sts (MesswertGier)+1,r25
 8007 4506 8093 0000            sts MesswertGier,r24
 8008                   .L594:
 8009 450a 8091 0000            lds r24,BattLowVoltageWarning
 8010 450e 482F                 mov r20,r24
 8011 4510 5527                 clr r21
 8012 4512 8091 0000            lds r24,UBat
 8013 4516 9091 0000            lds r25,(UBat)+1
 8014 451a 4817                 cp r20,r24
 8015 451c 5907                 cpc r21,r25
 8016 451e 04F4                 brge .L595
 8017 4520 2091 0000            lds r18,UBat
 8018 4524 3091 0000            lds r19,(UBat)+1
 8019 4528 0981                 ldd r16,Y+1
 8020 452a 1A81                 ldd r17,Y+2
 8021 452c 049F                 mul r16,r20
 8022 452e C001                 movw r24,r0
 8023 4530 059F                 mul r16,r21
 8024 4532 900D                 add r25,r0
 8025 4534 149F                 mul r17,r20
 8026 4536 900D                 add r25,r0
 8027 4538 1124                 clr r1
 8028 453a B901                 movw r22,r18
 8029 453c 0E94 0000            call __udivmodhi4
 8030 4540 7A83                 std Y+2,r23
 8031 4542 6983                 std Y+1,r22
 8032                   .L595:
 8033 4544 2981                 ldd r18,Y+1
 8034 4546 3A81                 ldd r19,Y+2
 8035 4548 220F                 lsl r18
 8036 454a 331F                 rol r19
 8037 454c 220F                 lsl r18
 8038 454e 331F                 rol r19
 8039 4550 3A83                 std Y+2,r19
 8040 4552 2983                 std Y+1,r18
 8041 4554 4091 0000            lds r20,Parameter_GlobalConfig
 8042 4558 40FD                 sbrc r20,0
 8043 455a 00C0                 rjmp .+4
 8044 455c 0C94 0000            jmp .L596
 8045 4560 EE20                 tst r14
 8046 4562 01F0                 breq .+2
 8047 4564 00C0                 rjmp .L596
 8048 4566 FF20                 tst r15
 8049 4568 01F0                 breq .+2
 8050 456a 00C0                 rjmp .L596
 8051 456c 00E0                 ldi r16,lo8(0)
 8052 456e 10E0                 ldi r17,hi8(0)
 8053 4570 4801                 movw r8,r16
 8054 4572 8091 0000            lds r24,HoverGas
 8055 4576 9091 0000            lds r25,(HoverGas)+1
 8056 457a 9093 0000            sts (DebugOut+44)+1,r25
 8057 457e 8093 0000            sts DebugOut+44,r24
 8058 4582 2091 0000            lds r18,BaroExpandActive
 8059 4586 3091 0000            lds r19,(BaroExpandActive)+1
 8060 458a 2115                 cp r18,__zero_reg__
 8061 458c 3105                 cpc r19,__zero_reg__
 8062 458e 01F0                 breq .+2
 8063 4590 00C0                 rjmp .L597
 8064 4592 8091 0000            lds r24,MessLuftdruck
 8065 4596 9091 0000            lds r25,(MessLuftdruck)+1
 8066 459a 8959                 subi r24,lo8(921)
 8067 459c 9340                 sbci r25,hi8(921)
 8068 459e 00F0                 brlo .L598
 8069 45a0 87B5                 in r24,71-0x20
 8070 45a2 803F                 cpi r24,lo8(-16)
 8071 45a4 00F4                 brsh .L599
 8072 45a6 8091 0000            lds r24,ExpandBaro
 8073 45aa 8150                 subi r24,lo8(-(-1))
 8074 45ac 00C0                 rjmp .L830
 8075                   .L599:
 8076 45ae 81E0                 ldi r24,lo8(1)
 8077 45b0 8093 0000            sts BaroAtLowerLimit.27,r24
 8078 45b4 00C0                 rjmp .L606
 8079                   .L598:
 8080 45b6 8091 0000            lds r24,MessLuftdruck
 8081 45ba 9091 0000            lds r25,(MessLuftdruck)+1
 8082 45be 8436                 cpi r24,100
 8083 45c0 9105                 cpc r25,__zero_reg__
 8084 45c2 00F4                 brsh .L602
 8085 45c4 87B5                 in r24,71-0x20
 8086 45c6 8031                 cpi r24,lo8(16)
 8087 45c8 00F0                 brlo .L603
 8088 45ca 8091 0000            lds r24,ExpandBaro
 8089 45ce 8F5F                 subi r24,lo8(-(1))
 8090                   .L830:
 8091 45d0 8093 0000            sts ExpandBaro,r24
 8092 45d4 9FE0                 ldi r25,lo8(15)
 8093 45d6 8902                 muls r24,r25
 8094 45d8 9001                 movw r18,r0
 8095 45da 1124                 clr r1
 8096 45dc 8091 0000            lds r24,DruckOffsetSetting
 8097 45e0 821B                 sub r24,r18
 8098 45e2 87BD                 out 71-0x20,r24
 8099 45e4 8CE2                 ldi r24,lo8(300)
 8100 45e6 91E0                 ldi r25,hi8(300)
 8101 45e8 9093 0000            sts (beeptime)+1,r25
 8102 45ec 8093 0000            sts beeptime,r24
 8103 45f0 8EE5                 ldi r24,lo8(350)
 8104 45f2 91E0                 ldi r25,hi8(350)
 8105 45f4 9093 0000            sts (BaroExpandActive)+1,r25
 8106 45f8 8093 0000            sts BaroExpandActive,r24
 8107 45fc 00C0                 rjmp .L606
 8108                   .L603:
 8109 45fe 81E0                 ldi r24,lo8(1)
 8110 4600 8093 0000            sts BaroAtUpperLimit.26,r24
 8111 4604 00C0                 rjmp .L606
 8112                   .L602:
 8113 4606 F092 0000            sts BaroAtUpperLimit.26,r15
 8114 460a F092 0000            sts BaroAtLowerLimit.27,r15
 8115 460e 00C0                 rjmp .L606
 8116                   .L597:
 8117 4610 8091 0000            lds r24,HoehenWert
 8118 4614 9091 0000            lds r25,(HoehenWert)+1
 8119 4618 A091 0000            lds r26,(HoehenWert)+2
 8120 461c B091 0000            lds r27,(HoehenWert)+3
 8121 4620 64E0                 ldi r22,4
 8122 4622 880F         1:      lsl r24
 8123 4624 991F                 rol r25
 8124 4626 AA1F                 rol r26
 8125 4628 BB1F                 rol r27
 8126 462a 6A95                 dec r22
 8127 462c 01F4                 brne 1b
 8128 462e 8093 0000            sts SummenHoehe,r24
 8129 4632 9093 0000            sts (SummenHoehe)+1,r25
 8130 4636 A093 0000            sts (SummenHoehe)+2,r26
 8131 463a B093 0000            sts (SummenHoehe)+3,r27
 8132 463e 1093 0000            sts (VarioMeter)+1,r17
 8133 4642 0093 0000            sts VarioMeter,r16
 8134 4646 2150                 subi r18,lo8(-(-1))
 8135 4648 3040                 sbci r19,hi8(-(-1))
 8136 464a 3093 0000            sts (BaroExpandActive)+1,r19
 8137 464e 2093 0000            sts BaroExpandActive,r18
 8138                   .L606:
 8139 4652 2091 0000            lds r18,Parameter_HoehenSchalter
 8140 4656 41FF                 sbrs r20,1
 8141 4658 00C0                 rjmp .L607
 8142 465a 2233                 cpi r18,lo8(50)
 8143 465c 00F4                 brsh .L608
 8144 465e 8091 0000            lds r24,delay.25
 8145 4662 8150                 subi r24,lo8(-(-1))
 8146 4664 8093 0000            sts delay.25,r24
 8147 4668 8F3F                 cpi r24,lo8(-1)
 8148 466a 01F4                 brne .L611
 8149 466c 1092 0000            sts HoehenReglerAktiv,__zero_reg__
 8150 4670 8091 0000            lds r24,HoehenWert
 8151 4674 9091 0000            lds r25,(HoehenWert)+1
 8152 4678 A091 0000            lds r26,(HoehenWert)+2
 8153 467c B091 0000            lds r27,(HoehenWert)+3
 8154 4680 8093 0000            sts SollHoehe,r24
 8155 4684 9093 0000            sts (SollHoehe)+1,r25
 8156 4688 A093 0000            sts (SollHoehe)+2,r26
 8157 468c B093 0000            sts (SollHoehe)+3,r27
 8158 4690 81E0                 ldi r24,lo8(1)
 8159 4692 00C0                 rjmp .L831
 8160                   .L608:
 8161 4694 81E0                 ldi r24,lo8(1)
 8162 4696 8093 0000            sts HoehenReglerAktiv,r24
 8163 469a 88EC                 ldi r24,lo8(-56)
 8164                   .L831:
 8165 469c 8093 0000            sts delay.25,r24
 8166 46a0 00C0                 rjmp .L611
 8167                   .L607:
 8168 46a2 8091 0000            lds r24,ExternHoehenValue
 8169 46a6 9091 0000            lds r25,(ExternHoehenValue)+1
 8170 46aa 820F                 add r24,r18
 8171 46ac 911D                 adc r25,__zero_reg__
 8172 46ae 2091 0000            lds r18,EE_Parameter+18
 8173 46b2 3327                 clr r19
 8174 46b4 829F                 mul r24,r18
 8175 46b6 A001                 movw r20,r0
 8176 46b8 839F                 mul r24,r19
 8177 46ba 500D                 add r21,r0
 8178 46bc 929F                 mul r25,r18
 8179 46be 500D                 add r21,r0
 8180 46c0 1124                 clr r1
 8181 46c2 CA01                 movw r24,r20
 8182 46c4 AA27                 clr r26
 8183 46c6 97FD                 sbrc r25,7
 8184 46c8 A095                 com r26
 8185 46ca BA2F                 mov r27,r26
 8186 46cc 8093 0000            sts SollHoehe,r24
 8187 46d0 9093 0000            sts (SollHoehe)+1,r25
 8188 46d4 A093 0000            sts (SollHoehe)+2,r26
 8189 46d8 B093 0000            sts (SollHoehe)+3,r27
 8190 46dc 81E0                 ldi r24,lo8(1)
 8191 46de 8093 0000            sts HoehenReglerAktiv,r24
 8192                   .L611:
 8193 46e2 8091 0000            lds r24,IntegralNick
 8194 46e6 9091 0000            lds r25,(IntegralNick)+1
 8195 46ea A091 0000            lds r26,(IntegralNick)+2
 8196 46ee B091 0000            lds r27,(IntegralNick)+3
 8197 46f2 E090 0000            lds r14,GIER_GRAD_FAKTOR
 8198 46f6 F090 0000            lds r15,(GIER_GRAD_FAKTOR)+1
 8199 46fa 0091 0000            lds r16,(GIER_GRAD_FAKTOR)+2
 8200 46fe 1091 0000            lds r17,(GIER_GRAD_FAKTOR)+3
 8201 4702 BC01                 movw r22,r24
 8202 4704 CD01                 movw r24,r26
 8203 4706 A801                 movw r20,r16
 8204 4708 9701                 movw r18,r14
 8205 470a 0E94 0000            call __divmodsi4
 8206 470e 5901                 movw r10,r18
 8207 4710 6A01                 movw r12,r20
 8208 4712 8091 0000            lds r24,IntegralRoll
 8209 4716 9091 0000            lds r25,(IntegralRoll)+1
 8210 471a A091 0000            lds r26,(IntegralRoll)+2
 8211 471e B091 0000            lds r27,(IntegralRoll)+3
 8212 4722 BC01                 movw r22,r24
 8213 4724 CD01                 movw r24,r26
 8214 4726 A801                 movw r20,r16
 8215 4728 9701                 movw r18,r14
 8216 472a 0E94 0000            call __divmodsi4
 8217 472e B901                 movw r22,r18
 8218 4730 C501                 movw r24,r10
 8219 4732 0E94 0000            call ihypot
 8220 4736 5C01                 movw r10,r24
 8221 4738 CC97                 sbiw r24,60
 8222 473a 04F0                 brlt .L612
 8223 473c 5CE3                 ldi r21,lo8(60)
 8224 473e A52E                 mov r10,r21
 8225 4740 B12C                 mov r11,__zero_reg__
 8226                   .L612:
 8227 4742 C501                 movw r24,r10
 8228 4744 0E94 0000            call c_cos_8192
 8229 4748 5C01                 movw r10,r24
 8230 474a 80E2                 ldi r24,lo8(32)
 8231 474c 8093 0000            sts VarioCharacter,r24
 8232 4750 1092 0000            sts (AltitudeSetpointTrimming)+1,__zero_reg__
 8233 4754 1092 0000            sts AltitudeSetpointTrimming,__zero_reg__
 8234 4758 8091 0000            lds r24,HoehenReglerAktiv
 8235 475c 8823                 tst r24
 8236 475e 01F4                 brne .+2
 8237 4760 00C0                 rjmp .L613
 8238 4762 8091 0000            lds r24,FC_StatusFlags
 8239 4766 9927                 clr r25
 8240 4768 9C01                 movw r18,r24
 8241 476a 2071                 andi r18,lo8(16)
 8242 476c 3070                 andi r19,hi8(16)
 8243 476e 84FD                 sbrc r24,4
 8244 4770 00C0                 rjmp .L613
 8245 4772 8091 0000            lds r24,FC_StatusFlags2
 8246 4776 8260                 ori r24,lo8(2)
 8247 4778 8093 0000            sts FC_StatusFlags2,r24
 8248 477c 7091 0000            lds r23,Parameter_ExtraConfig
 8249 4780 872F                 mov r24,r23
 8250 4782 9927                 clr r25
 8251 4784 41E0                 ldi r20,lo8(1)
 8252 4786 C42E                 mov r12,r20
 8253 4788 D12C                 mov r13,__zero_reg__
 8254 478a C822                 and r12,r24
 8255 478c D922                 and r13,r25
 8256 478e 80FD                 sbrc r24,0
 8257 4790 00C0                 rjmp .L615
 8258 4792 8091 0000            lds r24,Parameter_GlobalConfig
 8259 4796 81FD                 sbrc r24,1
 8260 4798 00C0                 rjmp .L614
 8261                   .L615:
 8262 479a C980                 ldd r12,Y+1
 8263 479c DA80                 ldd r13,Y+2
 8264 479e 3093 0000            sts (HeightTrimming.22)+1,r19
 8265 47a2 2093 0000            sts HeightTrimming.22,r18
 8266 47a6 3093 0000            sts (AltitudeSetpointTrimming)+1,r19
 8267 47aa 2093 0000            sts AltitudeSetpointTrimming,r18
 8268 47ae 8091 0000            lds r24,FC_StatusFlags
 8269 47b2 806C                 ori r24,lo8(-64)
 8270 47b4 8093 0000            sts FC_StatusFlags,r24
 8271 47b8 00C0                 rjmp .L616
 8272                   .L614:
 8273 47ba 8091 0000            lds r24,FC_StatusFlags
 8274 47be 81FF                 sbrs r24,1
 8275 47c0 00C0                 rjmp .L617
 8276 47c2 0091 0000            lds r16,StickGasHover
 8277 47c6 1091 0000            lds r17,(StickGasHover)+1
 8278 47ca C801                 movw r24,r16
 8279 47cc 0F96                 adiw r24,15
 8280 47ce 2090 0000            lds r2,StickGas
 8281 47d2 3090 0000            lds r3,(StickGas)+1
 8282 47d6 8215                 cp r24,r2
 8283 47d8 9305                 cpc r25,r3
 8284 47da 04F0                 brlt .+2
 8285 47dc 00C0                 rjmp .L618
 8286 47de 8091 0000            lds r24,BaroAtUpperLimit.26
 8287 47e2 8823                 tst r24
 8288 47e4 01F0                 breq .+2
 8289 47e6 00C0                 rjmp .L618
 8290 47e8 8091 0000            lds r24,FC_StatusFlags
 8291 47ec 87FF                 sbrs r24,7
 8292 47ee 00C0                 rjmp .L619
 8293 47f0 8091 0000            lds r24,FC_StatusFlags
 8294 47f4 8F77                 andi r24,lo8(127)
 8295 47f6 8093 0000            sts FC_StatusFlags,r24
 8296 47fa 8091 0000            lds r24,HoehenWert
 8297 47fe 9091 0000            lds r25,(HoehenWert)+1
 8298 4802 A091 0000            lds r26,(HoehenWert)+2
 8299 4806 B091 0000            lds r27,(HoehenWert)+3
 8300 480a 8093 0000            sts SollHoehe,r24
 8301 480e 9093 0000            sts (SollHoehe)+1,r25
 8302 4812 A093 0000            sts (SollHoehe)+2,r26
 8303 4816 B093 0000            sts (SollHoehe)+3,r27
 8304                   .L619:
 8305 481a 8091 0000            lds r24,FC_StatusFlags
 8306 481e 8064                 ori r24,lo8(64)
 8307 4820 8093 0000            sts FC_StatusFlags,r24
 8308 4824 E090 0000            lds r14,Parameter_MaximumAltitude
 8309 4828 EE20                 tst r14
 8310 482a 01F0                 breq .L620
 8311 482c 8091 0000            lds r24,SollHoehe
 8312 4830 9091 0000            lds r25,(SollHoehe)+1
 8313 4834 A091 0000            lds r26,(SollHoehe)+2
 8314 4838 B091 0000            lds r27,(SollHoehe)+3
 8315 483c BC01                 movw r22,r24
 8316 483e CD01                 movw r24,r26
 8317 4840 24E6                 ldi r18,lo8(100)
 8318 4842 30E0                 ldi r19,hi8(100)
 8319 4844 40E0                 ldi r20,hlo8(100)
 8320 4846 50E0                 ldi r21,hhi8(100)
 8321 4848 0E94 0000            call __divmodsi4
 8322 484c 8E2D                 mov r24,r14
 8323 484e 9927                 clr r25
 8324 4850 AA27                 clr r26
 8325 4852 BB27                 clr r27
 8326 4854 8217                 cp r24,r18
 8327 4856 9307                 cpc r25,r19
 8328 4858 A407                 cpc r26,r20
 8329 485a B507                 cpc r27,r21
 8330 485c 04F4                 brge .L620
 8331 485e D092 0000            sts (AltitudeSetpointTrimming)+1,r13
 8332 4862 C092 0000            sts AltitudeSetpointTrimming,r12
 8333 4866 00C0                 rjmp .L621
 8334                   .L620:
 8335 4868 C101                 movw r24,r2
 8336 486a 801B                 sub r24,r16
 8337 486c 910B                 sbc r25,r17
 8338 486e 0F97                 sbiw r24,15
 8339 4870 97FF                 sbrs r25,7
 8340 4872 00C0                 rjmp .L622
 8341 4874 9095                 com r25
 8342 4876 8195                 neg r24
 8343 4878 9F4F                 sbci r25,lo8(-1)
 8344                   .L622:
 8345 487a 9093 0000            sts (AltitudeSetpointTrimming)+1,r25
 8346 487e 8093 0000            sts AltitudeSetpointTrimming,r24
 8347 4882 8BE2                 ldi r24,lo8(43)
 8348 4884 8093 0000            sts VarioCharacter,r24
 8349                   .L621:
 8350 4888 1092 0000            sts WaypointTrimming,__zero_reg__
 8351 488c 00C0                 rjmp .L623
 8352                   .L618:
 8353 488e C801                 movw r24,r16
 8354 4890 0F97                 sbiw r24,15
 8355 4892 2816                 cp r2,r24
 8356 4894 3906                 cpc r3,r25
 8357 4896 04F4                 brge .L624
 8358 4898 2091 0000            lds r18,BaroAtLowerLimit.27
 8359 489c 2223                 tst r18
 8360 489e 01F4                 brne .L624
 8361 48a0 8091 0000            lds r24,FC_StatusFlags
 8362 48a4 86FF                 sbrs r24,6
 8363 48a6 00C0                 rjmp .L625
 8364 48a8 8091 0000            lds r24,FC_StatusFlags
 8365 48ac 8F7B                 andi r24,lo8(-65)
 8366 48ae 8093 0000            sts FC_StatusFlags,r24
 8367 48b2 8091 0000            lds r24,HoehenWert
 8368 48b6 9091 0000            lds r25,(HoehenWert)+1
 8369 48ba A091 0000            lds r26,(HoehenWert)+2
 8370 48be B091 0000            lds r27,(HoehenWert)+3
 8371 48c2 8093 0000            sts SollHoehe,r24
 8372 48c6 9093 0000            sts (SollHoehe)+1,r25
 8373 48ca A093 0000            sts (SollHoehe)+2,r26
 8374 48ce B093 0000            sts (SollHoehe)+3,r27
 8375                   .L625:
 8376 48d2 8091 0000            lds r24,FC_StatusFlags
 8377 48d6 8068                 ori r24,lo8(-128)
 8378 48d8 8093 0000            sts FC_StatusFlags,r24
 8379 48dc C101                 movw r24,r2
 8380 48de 801B                 sub r24,r16
 8381 48e0 910B                 sbc r25,r17
 8382 48e2 0F96                 adiw r24,15
 8383 48e4 97FF                 sbrs r25,7
 8384 48e6 00C0                 rjmp .L626
 8385 48e8 9095                 com r25
 8386 48ea 8195                 neg r24
 8387 48ec 9F4F                 sbci r25,lo8(-1)
 8388                   .L626:
 8389 48ee 9095                 com r25
 8390 48f0 8195                 neg r24
 8391 48f2 9F4F                 sbci r25,lo8(-1)
 8392 48f4 9093 0000            sts (AltitudeSetpointTrimming)+1,r25
 8393 48f8 8093 0000            sts AltitudeSetpointTrimming,r24
 8394 48fc 8DE2                 ldi r24,lo8(45)
 8395 48fe 8093 0000            sts VarioCharacter,r24
 8396 4902 2093 0000            sts WaypointTrimming,r18
 8397 4906 00C0                 rjmp .L623
 8398                   .L624:
 8399 4908 8DE3                 ldi r24,lo8(61)
 8400 490a 8093 0000            sts VarioCharacter,r24
 8401 490e 6091 0000            lds r22,FromNC_AltitudeSpeed
 8402 4912 6623                 tst r22
 8403 4914 01F0                 breq .L628
 8404 4916 2091 0000            lds r18,FromNC_AltitudeSetpoint
 8405 491a 3091 0000            lds r19,(FromNC_AltitudeSetpoint)+1
 8406 491e 4091 0000            lds r20,(FromNC_AltitudeSetpoint)+2
 8407 4922 5091 0000            lds r21,(FromNC_AltitudeSetpoint)+3
 8408 4926 8091 0000            lds r24,SollHoehe
 8409 492a 9091 0000            lds r25,(SollHoehe)+1
 8410 492e A091 0000            lds r26,(SollHoehe)+2
 8411 4932 B091 0000            lds r27,(SollHoehe)+3
 8412 4936 8217                 cp r24,r18
 8413 4938 9307                 cpc r25,r19
 8414 493a A407                 cpc r26,r20
 8415 493c B507                 cpc r27,r21
 8416 493e 04F4                 brge .L628
 8417 4940 8091 0000            lds r24,FC_StatusFlags
 8418 4944 8064                 ori r24,lo8(64)
 8419 4946 8093 0000            sts FC_StatusFlags,r24
 8420 494a 862F                 mov r24,r22
 8421 494c 9927                 clr r25
 8422 494e 9093 0000            sts (AltitudeSetpointTrimming)+1,r25
 8423 4952 8093 0000            sts AltitudeSetpointTrimming,r24
 8424 4956 8AE0                 ldi r24,lo8(10)
 8425 4958 8093 0000            sts WaypointTrimming,r24
 8426 495c 8EE5                 ldi r24,lo8(94)
 8427 495e 8093 0000            sts VarioCharacter,r24
 8428 4962 8091 0000            lds r24,FC_StatusFlags
 8429 4966 87FF                 sbrs r24,7
 8430 4968 00C0                 rjmp .L623
 8431 496a 8091 0000            lds r24,FC_StatusFlags
 8432 496e 8F77                 andi r24,lo8(127)
 8433 4970 00C0                 rjmp .L833
 8434                   .L628:
 8435 4972 6623                 tst r22
 8436 4974 01F4                 brne .+2
 8437 4976 00C0                 rjmp .L631
 8438 4978 2091 0000            lds r18,FromNC_AltitudeSetpoint
 8439 497c 3091 0000            lds r19,(FromNC_AltitudeSetpoint)+1
 8440 4980 4091 0000            lds r20,(FromNC_AltitudeSetpoint)+2
 8441 4984 5091 0000            lds r21,(FromNC_AltitudeSetpoint)+3
 8442 4988 8091 0000            lds r24,SollHoehe
 8443 498c 9091 0000            lds r25,(SollHoehe)+1
 8444 4990 A091 0000            lds r26,(SollHoehe)+2
 8445 4994 B091 0000            lds r27,(SollHoehe)+3
 8446 4998 2817                 cp r18,r24
 8447 499a 3907                 cpc r19,r25
 8448 499c 4A07                 cpc r20,r26
 8449 499e 5B07                 cpc r21,r27
 8450 49a0 04F4                 brge .L631
 8451 49a2 8091 0000            lds r24,FC_StatusFlags
 8452 49a6 8068                 ori r24,lo8(-128)
 8453 49a8 8093 0000            sts FC_StatusFlags,r24
 8454 49ac 862F                 mov r24,r22
 8455 49ae 9927                 clr r25
 8456 49b0 9095                 com r25
 8457 49b2 8195                 neg r24
 8458 49b4 9F4F                 sbci r25,lo8(-1)
 8459 49b6 9093 0000            sts (AltitudeSetpointTrimming)+1,r25
 8460 49ba 8093 0000            sts AltitudeSetpointTrimming,r24
 8461 49be 86EF                 ldi r24,lo8(-10)
 8462 49c0 8093 0000            sts WaypointTrimming,r24
 8463 49c4 86E7                 ldi r24,lo8(118)
 8464 49c6 8093 0000            sts VarioCharacter,r24
 8465 49ca 8091 0000            lds r24,FC_StatusFlags
 8466 49ce 86FF                 sbrs r24,6
 8467 49d0 00C0                 rjmp .L623
 8468 49d2 8091 0000            lds r24,FC_StatusFlags
 8469 49d6 8F7B                 andi r24,lo8(-65)
 8470                   .L833:
 8471 49d8 8093 0000            sts FC_StatusFlags,r24
 8472 49dc 8091 0000            lds r24,HoehenWert
 8473 49e0 9091 0000            lds r25,(HoehenWert)+1
 8474 49e4 A091 0000            lds r26,(HoehenWert)+2
 8475 49e8 B091 0000            lds r27,(HoehenWert)+3
 8476 49ec 8093 0000            sts SollHoehe,r24
 8477 49f0 9093 0000            sts (SollHoehe)+1,r25
 8478 49f4 A093 0000            sts (SollHoehe)+2,r26
 8479 49f8 B093 0000            sts (SollHoehe)+3,r27
 8480 49fc 00C0                 rjmp .L623
 8481                   .L631:
 8482 49fe 8091 0000            lds r24,FC_StatusFlags
 8483 4a02 807C                 andi r24,lo8(-64)
 8484 4a04 01F4                 brne .+2
 8485 4a06 00C0                 rjmp .L623
 8486 4a08 8091 0000            lds r24,WaypointTrimming
 8487 4a0c 8823                 tst r24
 8488 4a0e 01F4                 brne .L635
 8489 4a10 E090 0000            lds r14,HoehenWert
 8490 4a14 F090 0000            lds r15,(HoehenWert)+1
 8491 4a18 0091 0000            lds r16,(HoehenWert)+2
 8492 4a1c 1091 0000            lds r17,(HoehenWert)+3
 8493 4a20 D801                 movw r26,r16
 8494 4a22 C701                 movw r24,r14
 8495 4a24 8058                 subi r24,lo8(-(-128))
 8496 4a26 9040                 sbci r25,hi8(-(-128))
 8497 4a28 A040                 sbci r26,hlo8(-(-128))
 8498 4a2a B040                 sbci r27,hhi8(-(-128))
 8499 4a2c 2091 0000            lds r18,SollHoehe
 8500 4a30 3091 0000            lds r19,(SollHoehe)+1
 8501 4a34 4091 0000            lds r20,(SollHoehe)+2
 8502 4a38 5091 0000            lds r21,(SollHoehe)+3
 8503 4a3c 8217                 cp r24,r18
 8504 4a3e 9307                 cpc r25,r19
 8505 4a40 A407                 cpc r26,r20
 8506 4a42 B507                 cpc r27,r21
 8507 4a44 04F4                 brge .L832
 8508 4a46 D801                 movw r26,r16
 8509 4a48 C701                 movw r24,r14
 8510 4a4a 8058                 subi r24,lo8(-(128))
 8511 4a4c 9F4F                 sbci r25,hi8(-(128))
 8512 4a4e AF4F                 sbci r26,hlo8(-(128))
 8513 4a50 BF4F                 sbci r27,hhi8(-(128))
 8514 4a52 2817                 cp r18,r24
 8515 4a54 3907                 cpc r19,r25
 8516 4a56 4A07                 cpc r20,r26
 8517 4a58 5B07                 cpc r21,r27
 8518 4a5a 04F0                 brlt .L639
 8519                   .L832:
 8520 4a5c 8093 0000            sts SollHoehe,r24
 8521 4a60 9093 0000            sts (SollHoehe)+1,r25
 8522 4a64 A093 0000            sts (SollHoehe)+2,r26
 8523 4a68 B093 0000            sts (SollHoehe)+3,r27
 8524 4a6c 00C0                 rjmp .L639
 8525                   .L635:
 8526 4a6e 1092 0000            sts WaypointTrimming,__zero_reg__
 8527                   .L639:
 8528 4a72 8091 0000            lds r24,FC_StatusFlags
 8529 4a76 8F73                 andi r24,lo8(63)
 8530 4a78 8093 0000            sts FC_StatusFlags,r24
 8531 4a7c 1092 0000            sts (HeightTrimming.22)+1,__zero_reg__
 8532 4a80 1092 0000            sts HeightTrimming.22,__zero_reg__
 8533 4a84 71FF                 sbrs r23,1
 8534 4a86 00C0                 rjmp .L640
 8535 4a88 84EF                 ldi r24,lo8(500)
 8536 4a8a 91E0                 ldi r25,hi8(500)
 8537 4a8c 9093 0000            sts (beeptime)+1,r25
 8538 4a90 8093 0000            sts beeptime,r24
 8539                   .L640:
 8540 4a94 8091 0000            lds r24,StartTrigger
 8541 4a98 8823                 tst r24
 8542 4a9a 01F4                 brne .L623
 8543 4a9c 8091 0000            lds r24,HoehenWert
 8544 4aa0 9091 0000            lds r25,(HoehenWert)+1
 8545 4aa4 A091 0000            lds r26,(HoehenWert)+2
 8546 4aa8 B091 0000            lds r27,(HoehenWert)+3
 8547 4aac C397                 sbiw r24,51
 8548 4aae A105                 cpc r26,__zero_reg__
 8549 4ab0 B105                 cpc r27,__zero_reg__
 8550 4ab2 04F0                 brlt .L623
 8551 4ab4 81E0                 ldi r24,lo8(1)
 8552 4ab6 8093 0000            sts StartTrigger,r24
 8553                   .L623:
 8554 4aba 6091 0000            lds r22,HeightTrimming.22
 8555 4abe 7091 0000            lds r23,(HeightTrimming.22)+1
 8556 4ac2 8091 0000            lds r24,AltitudeSetpointTrimming
 8557 4ac6 9091 0000            lds r25,(AltitudeSetpointTrimming)+1
 8558 4aca 680F                 add r22,r24
 8559 4acc 791F                 adc r23,r25
 8560 4ace 7093 0000            sts (HeightTrimming.22)+1,r23
 8561 4ad2 6093 0000            sts HeightTrimming.22,r22
 8562 4ad6 CB01                 movw r24,r22
 8563 4ad8 77FF                 sbrs r23,7
 8564 4ada 00C0                 rjmp .L643
 8565 4adc 8827                 clr r24
 8566 4ade 9927                 clr r25
 8567 4ae0 861B                 sub r24,r22
 8568 4ae2 970B                 sbc r25,r23
 8569                   .L643:
 8570 4ae4 855F                 subi r24,lo8(501)
 8571 4ae6 9140                 sbci r25,hi8(501)
 8572 4ae8 04F4                 brge .+2
 8573 4aea 00C0                 rjmp .L642
 8574 4aec 4091 0000            lds r20,WaypointTrimming
 8575 4af0 4423                 tst r20
 8576 4af2 01F0                 breq .L644
 8577 4af4 8091 0000            lds r24,FromNC_AltitudeSetpoint
 8578 4af8 9091 0000            lds r25,(FromNC_AltitudeSetpoint)+1
 8579 4afc 2091 0000            lds r18,SollHoehe
 8580 4b00 3091 0000            lds r19,(SollHoehe)+1
 8581 4b04 821B                 sub r24,r18
 8582 4b06 930B                 sbc r25,r19
 8583 4b08 0996                 adiw r24,9
 8584 4b0a 4397                 sbiw r24,19
 8585 4b0c 00F4                 brsh .L645
 8586 4b0e 8091 0000            lds r24,FromNC_AltitudeSetpoint
 8587 4b12 9091 0000            lds r25,(FromNC_AltitudeSetpoint)+1
 8588 4b16 A091 0000            lds r26,(FromNC_AltitudeSetpoint)+2
 8589 4b1a B091 0000            lds r27,(FromNC_AltitudeSetpoint)+3
 8590 4b1e 00C0                 rjmp .L835
 8591                   .L645:
 8592 4b20 242F                 mov r18,r20
 8593 4b22 3327                 clr r19
 8594 4b24 27FD                 sbrc r18,7
 8595 4b26 3095                 com r19
 8596 4b28 432F                 mov r20,r19
 8597 4b2a 532F                 mov r21,r19
 8598 4b2c 8091 0000            lds r24,SollHoehe
 8599 4b30 9091 0000            lds r25,(SollHoehe)+1
 8600 4b34 A091 0000            lds r26,(SollHoehe)+2
 8601 4b38 B091 0000            lds r27,(SollHoehe)+3
 8602 4b3c 820F                 add r24,r18
 8603 4b3e 931F                 adc r25,r19
 8604 4b40 A41F                 adc r26,r20
 8605 4b42 B51F                 adc r27,r21
 8606                   .L835:
 8607 4b44 8093 0000            sts SollHoehe,r24
 8608 4b48 9093 0000            sts (SollHoehe)+1,r25
 8609 4b4c A093 0000            sts (SollHoehe)+2,r26
 8610 4b50 B093 0000            sts (SollHoehe)+3,r27
 8611 4b54 00C0                 rjmp .L647
 8612                   .L644:
 8613 4b56 8091 0000            lds r24,EE_Parameter+18
 8614 4b5a 2091 0000            lds r18,SollHoehe
 8615 4b5e 3091 0000            lds r19,(SollHoehe)+1
 8616 4b62 4091 0000            lds r20,(SollHoehe)+2
 8617 4b66 5091 0000            lds r21,(SollHoehe)+3
 8618 4b6a 1616                 cp __zero_reg__,r22
 8619 4b6c 1706                 cpc __zero_reg__,r23
 8620 4b6e 04F4                 brge .L648
 8621 4b70 63E0                 ldi r22,lo8(3)
 8622 4b72 0E94 0000            call __udivmodqi4
 8623 4b76 280F                 add r18,r24
 8624 4b78 311D                 adc r19,__zero_reg__
 8625 4b7a 411D                 adc r20,__zero_reg__
 8626 4b7c 511D                 adc r21,__zero_reg__
 8627 4b7e 00C0                 rjmp .L834
 8628                   .L648:
 8629 4b80 63E0                 ldi r22,lo8(3)
 8630 4b82 0E94 0000            call __udivmodqi4
 8631 4b86 281B                 sub r18,r24
 8632 4b88 3109                 sbc r19,__zero_reg__
 8633 4b8a 4109                 sbc r20,__zero_reg__
 8634 4b8c 5109                 sbc r21,__zero_reg__
 8635                   .L834:
 8636 4b8e 2093 0000            sts SollHoehe,r18
 8637 4b92 3093 0000            sts (SollHoehe)+1,r19
 8638 4b96 4093 0000            sts (SollHoehe)+2,r20
 8639 4b9a 5093 0000            sts (SollHoehe)+3,r21
 8640                   .L647:
 8641 4b9e 1092 0000            sts (HeightTrimming.22)+1,__zero_reg__
 8642 4ba2 1092 0000            sts HeightTrimming.22,__zero_reg__
 8643 4ba6 E090 0000            lds r14,HoehenWert
 8644 4baa F090 0000            lds r15,(HoehenWert)+1
 8645 4bae 0091 0000            lds r16,(HoehenWert)+2
 8646 4bb2 1091 0000            lds r17,(HoehenWert)+3
 8647 4bb6 D801                 movw r26,r16
 8648 4bb8 C701                 movw r24,r14
 8649 4bba 8050                 subi r24,lo8(-(-1024))
 8650 4bbc 9440                 sbci r25,hi8(-(-1024))
 8651 4bbe A040                 sbci r26,hlo8(-(-1024))
 8652 4bc0 B040                 sbci r27,hhi8(-(-1024))
 8653 4bc2 2091 0000            lds r18,SollHoehe
 8654 4bc6 3091 0000            lds r19,(SollHoehe)+1
 8655 4bca 4091 0000            lds r20,(SollHoehe)+2
 8656 4bce 5091 0000            lds r21,(SollHoehe)+3
 8657 4bd2 8217                 cp r24,r18
 8658 4bd4 9307                 cpc r25,r19
 8659 4bd6 A407                 cpc r26,r20
 8660 4bd8 B507                 cpc r27,r21
 8661 4bda 04F4                 brge .L836
 8662 4bdc D801                 movw r26,r16
 8663 4bde C701                 movw r24,r14
 8664 4be0 8050                 subi r24,lo8(-(1024))
 8665 4be2 9C4F                 sbci r25,hi8(-(1024))
 8666 4be4 AF4F                 sbci r26,hlo8(-(1024))
 8667 4be6 BF4F                 sbci r27,hhi8(-(1024))
 8668 4be8 2817                 cp r18,r24
 8669 4bea 3907                 cpc r19,r25
 8670 4bec 4A07                 cpc r20,r26
 8671 4bee 5B07                 cpc r21,r27
 8672 4bf0 04F0                 brlt .L651
 8673                   .L836:
 8674 4bf2 8093 0000            sts SollHoehe,r24
 8675 4bf6 9093 0000            sts (SollHoehe)+1,r25
 8676 4bfa A093 0000            sts (SollHoehe)+2,r26
 8677 4bfe B093 0000            sts (SollHoehe)+3,r27
 8678                   .L651:
 8679 4c02 8091 0000            lds r24,Parameter_ExtraConfig
 8680 4c06 81FF                 sbrs r24,1
 8681 4c08 00C0                 rjmp .L653
 8682 4c0a 84E6                 ldi r24,lo8(100)
 8683 4c0c 90E0                 ldi r25,hi8(100)
 8684 4c0e 9093 0000            sts (beeptime)+1,r25
 8685 4c12 8093 0000            sts beeptime,r24
 8686                   .L653:
 8687 4c16 8091 0000            lds r24,EE_Parameter+22
 8688 4c1a 8823                 tst r24
 8689 4c1c 01F4                 brne .L642
 8690 4c1e 8091 0000            lds r24,FromNC_AltitudeSpeed
 8691 4c22 8823                 tst r24
 8692 4c24 01F4                 brne .L642
 8693 4c26 4091 0000            lds r20,HoverGas
 8694 4c2a 5091 0000            lds r21,(HoverGas)+1
 8695 4c2e 57FF                 sbrs r21,7
 8696 4c30 00C0                 rjmp .L655
 8697 4c32 4D5F                 subi r20,lo8(-(3))
 8698 4c34 5F4F                 sbci r21,hi8(-(3))
 8699                   .L655:
 8700 4c36 5595                 asr r21
 8701 4c38 4795                 ror r20
 8702 4c3a 5595                 asr r21
 8703 4c3c 4795                 ror r20
 8704 4c3e 8091 0000            lds r24,UBat
 8705 4c42 9091 0000            lds r25,(UBat)+1
 8706 4c46 2091 0000            lds r18,BattLowVoltageWarning
 8707 4c4a 3327                 clr r19
 8708 4c4c 489F                 mul r20,r24
 8709 4c4e F001                 movw r30,r0
 8710 4c50 499F                 mul r20,r25
 8711 4c52 F00D                 add r31,r0
 8712 4c54 589F                 mul r21,r24
 8713 4c56 F00D                 add r31,r0
 8714 4c58 1124                 clr r1
 8715 4c5a CF01                 movw r24,r30
 8716 4c5c B901                 movw r22,r18
 8717 4c5e 0E94 0000            call __divmodhi4
 8718 4c62 7093 0000            sts (StickGasHover)+1,r23
 8719 4c66 6093 0000            sts StickGasHover,r22
 8720 4c6a 6634                 cpi r22,70
 8721 4c6c 7105                 cpc r23,__zero_reg__
 8722 4c6e 04F4                 brge .L656
 8723 4c70 86E4                 ldi r24,lo8(70)
 8724 4c72 90E0                 ldi r25,hi8(70)
 8725 4c74 00C0                 rjmp .L837
 8726                   .L656:
 8727 4c76 6739                 cpi r22,151
 8728 4c78 7105                 cpc r23,__zero_reg__
 8729 4c7a 04F0                 brlt .L642
 8730 4c7c 86E9                 ldi r24,lo8(150)
 8731 4c7e 90E0                 ldi r25,hi8(150)
 8732                   .L837:
 8733 4c80 9093 0000            sts (StickGasHover)+1,r25
 8734 4c84 8093 0000            sts StickGasHover,r24
 8735                   .L642:
 8736 4c88 8091 0000            lds r24,BaroExpandActive
 8737 4c8c 9091 0000            lds r25,(BaroExpandActive)+1
 8738 4c90 892B                 or r24,r25
 8739 4c92 01F0                 breq .L660
 8740 4c94 8091 0000            lds r24,HoehenWert
 8741 4c98 9091 0000            lds r25,(HoehenWert)+1
 8742 4c9c A091 0000            lds r26,(HoehenWert)+2
 8743 4ca0 B091 0000            lds r27,(HoehenWert)+3
 8744 4ca4 8093 0000            sts SollHoehe,r24
 8745 4ca8 9093 0000            sts (SollHoehe)+1,r25
 8746 4cac A093 0000            sts (SollHoehe)+2,r26
 8747 4cb0 B093 0000            sts (SollHoehe)+3,r27
 8748 4cb4 00C0                 rjmp .L660
 8749                   .L617:
 8750 4cb6 8091 0000            lds r24,HoehenWert
 8751 4cba 9091 0000            lds r25,(HoehenWert)+1
 8752 4cbe A091 0000            lds r26,(HoehenWert)+2
 8753 4cc2 B091 0000            lds r27,(HoehenWert)+3
 8754 4cc6 8059                 subi r24,lo8(-(-400))
 8755 4cc8 9140                 sbci r25,hi8(-(-400))
 8756 4cca A040                 sbci r26,hlo8(-(-400))
 8757 4ccc B040                 sbci r27,hhi8(-(-400))
 8758 4cce 8093 0000            sts SollHoehe,r24
 8759 4cd2 9093 0000            sts (SollHoehe)+1,r25
 8760 4cd6 A093 0000            sts (SollHoehe)+2,r26
 8761 4cda B093 0000            sts (SollHoehe)+3,r27
 8762 4cde 8091 0000            lds r24,EE_Parameter+22
 8763 4ce2 8823                 tst r24
 8764 4ce4 01F0                 breq .L661
 8765 4ce6 9927                 clr r25
 8766 4ce8 00C0                 rjmp .L838
 8767                   .L661:
 8768 4cea 88E7                 ldi r24,lo8(120)
 8769 4cec 90E0                 ldi r25,hi8(120)
 8770                   .L838:
 8771 4cee 9093 0000            sts (StickGasHover)+1,r25
 8772 4cf2 8093 0000            sts StickGasHover,r24
 8773 4cf6 E980                 ldd r14,Y+1
 8774 4cf8 FA80                 ldd r15,Y+2
 8775 4cfa F092 0000            sts (HoverGas)+1,r15
 8776 4cfe E092 0000            sts HoverGas,r14
 8777 4d02 8EE2                 ldi r24,lo8(46)
 8778 4d04 8093 0000            sts VarioCharacter,r24
 8779                   .L660:
 8780 4d08 C090 0000            lds r12,HoverGas
 8781 4d0c D090 0000            lds r13,(HoverGas)+1
 8782                   .L616:
 8783 4d10 E090 0000            lds r14,HoehenWert
 8784 4d14 F090 0000            lds r15,(HoehenWert)+1
 8785 4d18 0091 0000            lds r16,(HoehenWert)+2
 8786 4d1c 1091 0000            lds r17,(HoehenWert)+3
 8787 4d20 2091 0000            lds r18,SollHoehe
 8788 4d24 3091 0000            lds r19,(SollHoehe)+1
 8789 4d28 4091 0000            lds r20,(SollHoehe)+2
 8790 4d2c 5091 0000            lds r21,(SollHoehe)+3
 8791 4d30 2E15                 cp r18,r14
 8792 4d32 3F05                 cpc r19,r15
 8793 4d34 4007                 cpc r20,r16
 8794 4d36 5107                 cpc r21,r17
 8795 4d38 04F0                 brlt .L664
 8796 4d3a 8091 0000            lds r24,Parameter_ExtraConfig
 8797 4d3e 80FD                 sbrc r24,0
 8798 4d40 00C0                 rjmp .L722
 8799                   .L664:
 8800 4d42 8091 0000            lds r24,BaroExpandActive
 8801 4d46 9091 0000            lds r25,(BaroExpandActive)+1
 8802 4d4a 892B                 or r24,r25
 8803 4d4c 01F0                 breq .L665
 8804 4d4e C090 0000            lds r12,HoverGas
 8805 4d52 D090 0000            lds r13,(HoverGas)+1
 8806 4d56 00E0                 ldi r16,lo8(0)
 8807 4d58 10E0                 ldi r17,hi8(0)
 8808 4d5a 00C0                 rjmp .L666
 8809                   .L665:
 8810 4d5c D801                 movw r26,r16
 8811 4d5e C701                 movw r24,r14
 8812 4d60 821B                 sub r24,r18
 8813 4d62 930B                 sbc r25,r19
 8814 4d64 A40B                 sbc r26,r20
 8815 4d66 B50B                 sbc r27,r21
 8816 4d68 8093 0000            sts tmp_long.1,r24
 8817 4d6c 9093 0000            sts (tmp_long.1)+1,r25
 8818 4d70 A093 0000            sts (tmp_long.1)+2,r26
 8819 4d74 B093 0000            sts (tmp_long.1)+3,r27
 8820 4d78 8230                 cpi r24,lo8(-32766)
 8821 4d7a 00E8                 ldi r16,hi8(-32766)
 8822 4d7c 9007                 cpc r25,r16
 8823 4d7e 0FEF                 ldi r16,hlo8(-32766)
 8824 4d80 A007                 cpc r26,r16
 8825 4d82 0FEF                 ldi r16,hhi8(-32766)
 8826 4d84 B007                 cpc r27,r16
 8827 4d86 04F4                 brge .L667
 8828 4d88 81E0                 ldi r24,lo8(-32767)
 8829 4d8a 90E8                 ldi r25,hi8(-32767)
 8830 4d8c AFEF                 ldi r26,hlo8(-32767)
 8831 4d8e BFEF                 ldi r27,hhi8(-32767)
 8832 4d90 00C0                 rjmp .L839
 8833                   .L667:
 8834 4d92 8F5F                 subi r24,lo8(32767)
 8835 4d94 9F47                 sbci r25,hi8(32767)
 8836 4d96 A040                 sbci r26,hlo8(32767)
 8837 4d98 B040                 sbci r27,hhi8(32767)
 8838 4d9a 04F0                 brlt .L668
 8839 4d9c 8FEF                 ldi r24,lo8(32767)
 8840 4d9e 9FE7                 ldi r25,hi8(32767)
 8841 4da0 A0E0                 ldi r26,hlo8(32767)
 8842 4da2 B0E0                 ldi r27,hhi8(32767)
 8843                   .L839:
 8844 4da4 8093 0000            sts tmp_long.1,r24
 8845 4da8 9093 0000            sts (tmp_long.1)+1,r25
 8846 4dac A093 0000            sts (tmp_long.1)+2,r26
 8847 4db0 B093 0000            sts (tmp_long.1)+3,r27
 8848                   .L668:
 8849 4db4 0091 0000            lds r16,tmp_long.1
 8850 4db8 1091 0000            lds r17,(tmp_long.1)+1
 8851 4dbc 8091 0000            lds r24,Parameter_Hoehe_P
 8852 4dc0 282F                 mov r18,r24
 8853 4dc2 3327                 clr r19
 8854 4dc4 4427                 clr r20
 8855 4dc6 5527                 clr r21
 8856 4dc8 8091 0000            lds r24,tmp_long.1
 8857 4dcc 9091 0000            lds r25,(tmp_long.1)+1
 8858 4dd0 A091 0000            lds r26,(tmp_long.1)+2
 8859 4dd4 B091 0000            lds r27,(tmp_long.1)+3
 8860 4dd8 BC01                 movw r22,r24
 8861 4dda CD01                 movw r24,r26
 8862 4ddc 0E94 0000            call __mulsi3
 8863 4de0 97FF                 sbrs r25,7
 8864 4de2 00C0                 rjmp .L670
 8865 4de4 615E                 subi r22,lo8(-(31))
 8866 4de6 7F4F                 sbci r23,hi8(-(31))
 8867 4de8 8F4F                 sbci r24,hlo8(-(31))
 8868 4dea 9F4F                 sbci r25,hhi8(-(31))
 8869                   .L670:
 8870 4dec 25E0                 ldi r18,5
 8871 4dee 9595         1:      asr r25
 8872 4df0 8795                 ror r24
 8873 4df2 7795                 ror r23
 8874 4df4 6795                 ror r22
 8875 4df6 2A95                 dec r18
 8876 4df8 01F4                 brne 1b
 8877 4dfa 6093 0000            sts tmp_long.1,r22
 8878 4dfe 7093 0000            sts (tmp_long.1)+1,r23
 8879 4e02 8093 0000            sts (tmp_long.1)+2,r24
 8880 4e06 9093 0000            sts (tmp_long.1)+3,r25
 8881 4e0a 6530                 cpi r22,lo8(-507)
 8882 4e0c 2EEF                 ldi r18,hi8(-507)
 8883 4e0e 7207                 cpc r23,r18
 8884 4e10 2FEF                 ldi r18,hlo8(-507)
 8885 4e12 8207                 cpc r24,r18
 8886 4e14 2FEF                 ldi r18,hhi8(-507)
 8887 4e16 9207                 cpc r25,r18
 8888 4e18 04F4                 brge .L671
 8889 4e1a 84E0                 ldi r24,lo8(-508)
 8890 4e1c 9EEF                 ldi r25,hi8(-508)
 8891 4e1e AFEF                 ldi r26,hlo8(-508)
 8892 4e20 BFEF                 ldi r27,hhi8(-508)
 8893 4e22 00C0                 rjmp .L840
 8894                   .L671:
 8895 4e24 6050                 subi r22,lo8(1024)
 8896 4e26 7440                 sbci r23,hi8(1024)
 8897 4e28 8040                 sbci r24,hlo8(1024)
 8898 4e2a 9040                 sbci r25,hhi8(1024)
 8899 4e2c 04F0                 brlt .L672
 8900 4e2e 80E0                 ldi r24,lo8(1024)
 8901 4e30 94E0                 ldi r25,hi8(1024)
 8902 4e32 A0E0                 ldi r26,hlo8(1024)
 8903 4e34 B0E0                 ldi r27,hhi8(1024)
 8904                   .L840:
 8905 4e36 8093 0000            sts tmp_long.1,r24
 8906 4e3a 9093 0000            sts (tmp_long.1)+1,r25
 8907 4e3e A093 0000            sts (tmp_long.1)+2,r26
 8908 4e42 B093 0000            sts (tmp_long.1)+3,r27
 8909                   .L672:
 8910 4e46 8090 0000            lds r8,tmp_long.1
 8911 4e4a 9090 0000            lds r9,(tmp_long.1)+1
 8912 4e4e 2091 0000            lds r18,VarioMeter
 8913 4e52 3091 0000            lds r19,(VarioMeter)+1
 8914 4e56 37FF                 sbrs r19,7
 8915 4e58 00C0                 rjmp .L674
 8916 4e5a 295F                 subi r18,lo8(-(7))
 8917 4e5c 3F4F                 sbci r19,hi8(-(7))
 8918                   .L674:
 8919 4e5e 83E0                 ldi r24,3
 8920 4e60 3595         1:      asr r19
 8921 4e62 2795                 ror r18
 8922 4e64 8A95                 dec r24
 8923 4e66 01F4                 brne 1b
 8924 4e68 4FEF                 ldi r20,hi8(-126)
 8925 4e6a 2238                 cpi r18,lo8(-126)
 8926 4e6c 3407                 cpc r19,r20
 8927 4e6e 04F4                 brge .L675
 8928 4e70 21E8                 ldi r18,lo8(-127)
 8929 4e72 3FEF                 ldi r19,hi8(-127)
 8930 4e74 00C0                 rjmp .L676
 8931                   .L675:
 8932 4e76 2038                 cpi r18,128
 8933 4e78 3105                 cpc r19,__zero_reg__
 8934 4e7a 04F0                 brlt .L676
 8935 4e7c 20E8                 ldi r18,lo8(128)
 8936 4e7e 30E0                 ldi r19,hi8(128)
 8937                   .L676:
 8938 4e80 C901                 movw r24,r18
 8939 4e82 AA27                 clr r26
 8940 4e84 97FD                 sbrc r25,7
 8941 4e86 A095                 com r26
 8942 4e88 BA2F                 mov r27,r26
 8943 4e8a 2091 0000            lds r18,Parameter_Luftdruck_D
 8944 4e8e 3327                 clr r19
 8945 4e90 4427                 clr r20
 8946 4e92 5527                 clr r21
 8947 4e94 BC01                 movw r22,r24
 8948 4e96 CD01                 movw r24,r26
 8949 4e98 0E94 0000            call __mulsi3
 8950 4e9c 97FF                 sbrs r25,7
 8951 4e9e 00C0                 rjmp .L678
 8952 4ea0 6D5F                 subi r22,lo8(-(3))
 8953 4ea2 7F4F                 sbci r23,hi8(-(3))
 8954 4ea4 8F4F                 sbci r24,hlo8(-(3))
 8955 4ea6 9F4F                 sbci r25,hhi8(-(3))
 8956                   .L678:
 8957 4ea8 B2E0                 ldi r27,2
 8958 4eaa 9595         1:      asr r25
 8959 4eac 8795                 ror r24
 8960 4eae 7795                 ror r23
 8961 4eb0 6795                 ror r22
 8962 4eb2 BA95                 dec r27
 8963 4eb4 01F4                 brne 1b
 8964 4eb6 9B01                 movw r18,r22
 8965 4eb8 5FEF                 ldi r21,hi8(-255)
 8966 4eba 6130                 cpi r22,lo8(-255)
 8967 4ebc 7507                 cpc r23,r21
 8968 4ebe 04F4                 brge .L679
 8969 4ec0 20E0                 ldi r18,lo8(-256)
 8970 4ec2 3FEF                 ldi r19,hi8(-256)
 8971 4ec4 00C0                 rjmp .L680
 8972                   .L679:
 8973 4ec6 6F3F                 cpi r22,255
 8974 4ec8 7105                 cpc r23,__zero_reg__
 8975 4eca 01F0                 breq .L680
 8976 4ecc 04F0                 brlt .L680
 8977 4ece 20E0                 ldi r18,lo8(256)
 8978 4ed0 31E0                 ldi r19,hi8(256)
 8979                   .L680:
 8980 4ed2 8091 0000            lds r24,FC_StatusFlags
 8981 4ed6 807C                 andi r24,lo8(-64)
 8982 4ed8 01F0                 breq .L682
 8983 4eda C901                 movw r24,r18
 8984 4edc 37FD                 sbrc r19,7
 8985 4ede 0396                 adiw r24,3
 8986                   .L683:
 8987 4ee0 9C01                 movw r18,r24
 8988 4ee2 3595                 asr r19
 8989 4ee4 2795                 ror r18
 8990 4ee6 3595                 asr r19
 8991 4ee8 2795                 ror r18
 8992 4eea 00C0                 rjmp .L684
 8993                   .L682:
 8994 4eec 8091 0000            lds r24,Parameter_ExtraConfig
 8995 4ef0 80FF                 sbrs r24,0
 8996 4ef2 00C0                 rjmp .L684
 8997 4ef4 C901                 movw r24,r18
 8998 4ef6 37FD                 sbrc r19,7
 8999 4ef8 0796                 adiw r24,7
 9000                   .L686:
 9001 4efa 9C01                 movw r18,r24
 9002 4efc F3E0                 ldi r31,3
 9003 4efe 3595         1:      asr r19
 9004 4f00 2795                 ror r18
 9005 4f02 FA95                 dec r31
 9006 4f04 01F4                 brne 1b
 9007                   .L684:
 9008 4f06 820E                 add r8,r18
 9009 4f08 931E                 adc r9,r19
 9010                   .L666:
 9011 4f0a 2091 0000            lds r18,Parameter_Hoehe_ACC_Wirkung
 9012 4f0e 2223                 tst r18
 9013 4f10 01F4                 brne .+2
 9014 4f12 00C0                 rjmp .L687
 9015 4f14 6091 0000            lds r22,Mess_Integral_Hoch
 9016 4f18 7091 0000            lds r23,(Mess_Integral_Hoch)+1
 9017 4f1c 8091 0000            lds r24,(Mess_Integral_Hoch)+2
 9018 4f20 9091 0000            lds r25,(Mess_Integral_Hoch)+3
 9019 4f24 97FF                 sbrs r25,7
 9020 4f26 00C0                 rjmp .L688
 9021 4f28 6158                 subi r22,lo8(-(127))
 9022 4f2a 7F4F                 sbci r23,hi8(-(127))
 9023 4f2c 8F4F                 sbci r24,hlo8(-(127))
 9024 4f2e 9F4F                 sbci r25,hhi8(-(127))
 9025                   .L688:
 9026 4f30 E7E0                 ldi r30,7
 9027 4f32 9595         1:      asr r25
 9028 4f34 8795                 ror r24
 9029 4f36 7795                 ror r23
 9030 4f38 6795                 ror r22
 9031 4f3a EA95                 dec r30
 9032 4f3c 01F4                 brne 1b
 9033 4f3e 3327                 clr r19
 9034 4f40 4427                 clr r20
 9035 4f42 5527                 clr r21
 9036 4f44 0E94 0000            call __mulsi3
 9037 4f48 97FF                 sbrs r25,7
 9038 4f4a 00C0                 rjmp .L689
 9039 4f4c 615E                 subi r22,lo8(-(31))
 9040 4f4e 7F4F                 sbci r23,hi8(-(31))
 9041 4f50 8F4F                 sbci r24,hlo8(-(31))
 9042 4f52 9F4F                 sbci r25,hhi8(-(31))
 9043                   .L689:
 9044 4f54 55E0                 ldi r21,5
 9045 4f56 9595         1:      asr r25
 9046 4f58 8795                 ror r24
 9047 4f5a 7795                 ror r23
 9048 4f5c 6795                 ror r22
 9049 4f5e 5A95                 dec r21
 9050 4f60 01F4                 brne 1b
 9051 4f62 6093 0000            sts tmp_long.1,r22
 9052 4f66 7093 0000            sts (tmp_long.1)+1,r23
 9053 4f6a 8093 0000            sts (tmp_long.1)+2,r24
 9054 4f6e 9093 0000            sts (tmp_long.1)+3,r25
 9055 4f72 6138                 cpi r22,lo8(-127)
 9056 4f74 AFEF                 ldi r26,hi8(-127)
 9057 4f76 7A07                 cpc r23,r26
 9058 4f78 AFEF                 ldi r26,hlo8(-127)
 9059 4f7a 8A07                 cpc r24,r26
 9060 4f7c AFEF                 ldi r26,hhi8(-127)
 9061 4f7e 9A07                 cpc r25,r26
 9062 4f80 04F4                 brge .L690
 9063 4f82 80E8                 ldi r24,lo8(-128)
 9064 4f84 9FEF                 ldi r25,hi8(-128)
 9065 4f86 AFEF                 ldi r26,hlo8(-128)
 9066 4f88 BFEF                 ldi r27,hhi8(-128)
 9067 4f8a 00C0                 rjmp .L841
 9068                   .L690:
 9069 4f8c 6F3F                 cpi r22,lo8(255)
 9070 4f8e 7105                 cpc r23,__zero_reg__
 9071 4f90 8105                 cpc r24,__zero_reg__
 9072 4f92 9105                 cpc r25,__zero_reg__
 9073 4f94 01F0                 breq .L691
 9074 4f96 04F0                 brlt .L691
 9075 4f98 80E0                 ldi r24,lo8(256)
 9076 4f9a 91E0                 ldi r25,hi8(256)
 9077 4f9c A0E0                 ldi r26,hlo8(256)
 9078 4f9e B0E0                 ldi r27,hhi8(256)
 9079                   .L841:
 9080 4fa0 8093 0000            sts tmp_long.1,r24
 9081 4fa4 9093 0000            sts (tmp_long.1)+1,r25
 9082 4fa8 A093 0000            sts (tmp_long.1)+2,r26
 9083 4fac B093 0000            sts (tmp_long.1)+3,r27
 9084                   .L691:
 9085 4fb0 8091 0000            lds r24,tmp_long.1
 9086 4fb4 9091 0000            lds r25,(tmp_long.1)+1
 9087 4fb8 880E                 add r8,r24
 9088 4fba 991E                 adc r9,r25
 9089                   .L687:
 9090 4fbc 8091 0000            lds r24,Parameter_Hoehe_GPS_Z
 9091 4fc0 282F                 mov r18,r24
 9092 4fc2 3327                 clr r19
 9093 4fc4 8091 0000            lds r24,FromNaviCtrl_Value+4
 9094 4fc8 9927                 clr r25
 9095 4fca 87FD                 sbrc r24,7
 9096 4fcc 9095                 com r25
 9097 4fce 289F                 mul r18,r24
 9098 4fd0 F001                 movw r30,r0
 9099 4fd2 299F                 mul r18,r25
 9100 4fd4 F00D                 add r31,r0
 9101 4fd6 389F                 mul r19,r24
 9102 4fd8 F00D                 add r31,r0
 9103 4fda 1124                 clr r1
 9104 4fdc 9F01                 movw r18,r30
 9105 4fde F7FF                 sbrs r31,7
 9106 4fe0 00C0                 rjmp .L693
 9107 4fe2 2158                 subi r18,lo8(-(127))
 9108 4fe4 3F4F                 sbci r19,hi8(-(127))
 9109                   .L693:
 9110 4fe6 220F                 lsl r18
 9111 4fe8 232F                 mov r18,r19
 9112 4fea 221F                 rol r18
 9113 4fec 330B                 sbc r19,r19
 9114 4fee FFEF                 ldi r31,hi8(-127)
 9115 4ff0 2138                 cpi r18,lo8(-127)
 9116 4ff2 3F07                 cpc r19,r31
 9117 4ff4 04F4                 brge .L694
 9118 4ff6 20E8                 ldi r18,lo8(-128)
 9119 4ff8 3FEF                 ldi r19,hi8(-128)
 9120 4ffa 00C0                 rjmp .L695
 9121                   .L694:
 9122 4ffc 2F3F                 cpi r18,255
 9123 4ffe 3105                 cpc r19,__zero_reg__
 9124 5000 01F0                 breq .L695
 9125 5002 04F0                 brlt .L695
 9126 5004 20E0                 ldi r18,lo8(256)
 9127 5006 31E0                 ldi r19,hi8(256)
 9128                   .L695:
 9129 5008 820E                 add r8,r18
 9130 500a 931E                 adc r9,r19
 9131 500c C401                 movw r24,r8
 9132 500e AA27                 clr r26
 9133 5010 97FD                 sbrc r25,7
 9134 5012 A095                 com r26
 9135 5014 BA2F                 mov r27,r26
 9136 5016 E090 0000            lds r14,HoverGas
 9137 501a F090 0000            lds r15,(HoverGas)+1
 9138 501e 9701                 movw r18,r14
 9139 5020 4427                 clr r20
 9140 5022 37FD                 sbrc r19,7
 9141 5024 4095                 com r20
 9142 5026 542F                 mov r21,r20
 9143 5028 BC01                 movw r22,r24
 9144 502a CD01                 movw r24,r26
 9145 502c 0E94 0000            call __mulsi3
 9146 5030 97FF                 sbrs r25,7
 9147 5032 00C0                 rjmp .L697
 9148 5034 6150                 subi r22,lo8(-(511))
 9149 5036 7E4F                 sbci r23,hi8(-(511))
 9150 5038 8F4F                 sbci r24,hlo8(-(511))
 9151 503a 9F4F                 sbci r25,hhi8(-(511))
 9152                   .L697:
 9153 503c 29E0                 ldi r18,9
 9154 503e 9595         1:      asr r25
 9155 5040 8795                 ror r24
 9156 5042 7795                 ror r23
 9157 5044 6795                 ror r22
 9158 5046 2A95                 dec r18
 9159 5048 01F4                 brne 1b
 9160 504a C61A                 sub r12,r22
 9161 504c D70A                 sbc r13,r23
 9162 504e 8091 0000            lds r24,AltitudeSetpointTrimming
 9163 5052 9091 0000            lds r25,(AltitudeSetpointTrimming)+1
 9164 5056 892B                 or r24,r25
 9165 5058 01F0                 breq .+2
 9166 505a 00C0                 rjmp .L698
 9167 505c 1E14                 cp __zero_reg__,r14
 9168 505e 1F04                 cpc __zero_reg__,r15
 9169 5060 04F0                 brlt .+2
 9170 5062 00C0                 rjmp .L698
 9171 5064 9801                 movw r18,r16
 9172 5066 17FF                 sbrs r17,7
 9173 5068 00C0                 rjmp .L699
 9174 506a 3095                 com r19
 9175 506c 2195                 neg r18
 9176 506e 3F4F                 sbci r19,lo8(-1)
 9177                   .L699:
 9178 5070 2D33                 cpi r18,61
 9179 5072 3105                 cpc r19,__zero_reg__
 9180 5074 00F4                 brsh .L700
 9181 5076 8091 0000            lds r24,HoverGasMin
 9182 507a 9091 0000            lds r25,(HoverGasMin)+1
 9183 507e 8C15                 cp r24,r12
 9184 5080 9D05                 cpc r25,r13
 9185 5082 04F4                 brge .L843
 9186 5084 00C0                 rjmp .L852
 9187                   .L700:
 9188 5086 2C53                 subi r18,lo8(-(-60))
 9189 5088 3040                 sbci r19,hi8(-(-60))
 9190 508a 85E0                 ldi r24,5
 9191 508c 3695         1:      lsr r19
 9192 508e 2795                 ror r18
 9193 5090 8A95                 dec r24
 9194 5092 01F4                 brne 1b
 9195 5094 2031                 cpi r18,16
 9196 5096 3105                 cpc r19,__zero_reg__
 9197 5098 00F0                 brlo .L705
 9198 509a 2FE0                 ldi r18,lo8(15)
 9199 509c 30E0                 ldi r19,hi8(15)
 9200                   .L705:
 9201 509e 4091 0000            lds r20,HoverGasMin
 9202 50a2 5091 0000            lds r21,(HoverGasMin)+1
 9203 50a6 1016                 cp __zero_reg__,r16
 9204 50a8 1106                 cpc __zero_reg__,r17
 9205 50aa 04F4                 brge .L706
 9206 50ac 80E1                 ldi r24,lo8(16)
 9207 50ae 90E0                 ldi r25,hi8(16)
 9208 50b0 821B                 sub r24,r18
 9209 50b2 930B                 sbc r25,r19
 9210 50b4 489F                 mul r20,r24
 9211 50b6 9001                 movw r18,r0
 9212 50b8 499F                 mul r20,r25
 9213 50ba 300D                 add r19,r0
 9214 50bc 589F                 mul r21,r24
 9215 50be 300D                 add r19,r0
 9216 50c0 1124                 clr r1
 9217 50c2 B4E0                 ldi r27,4
 9218 50c4 3695         1:      lsr r19
 9219 50c6 2795                 ror r18
 9220 50c8 BA95                 dec r27
 9221 50ca 01F4                 brne 1b
 9222 50cc 2C15                 cp r18,r12
 9223 50ce 3D05                 cpc r19,r13
 9224 50d0 00F4                 brsh .L842
 9225                   .L852:
 9226 50d2 8091 0000            lds r24,HoverGasMax
 9227 50d6 9091 0000            lds r25,(HoverGasMax)+1
 9228 50da C816                 cp r12,r24
 9229 50dc D906                 cpc r13,r25
 9230 50de 04F0                 brlt .L698
 9231                   .L843:
 9232 50e0 6C01                 movw r12,r24
 9233 50e2 00C0                 rjmp .L698
 9234                   .L706:
 9235 50e4 205F                 subi r18,lo8(-(16))
 9236 50e6 3F4F                 sbci r19,hi8(-(16))
 9237 50e8 8091 0000            lds r24,HoverGasMax
 9238 50ec 9091 0000            lds r25,(HoverGasMax)+1
 9239 50f0 829F                 mul r24,r18
 9240 50f2 8001                 movw r16,r0
 9241 50f4 839F                 mul r24,r19
 9242 50f6 100D                 add r17,r0
 9243 50f8 929F                 mul r25,r18
 9244 50fa 100D                 add r17,r0
 9245 50fc 1124                 clr r1
 9246 50fe 9801                 movw r18,r16
 9247 5100 A4E0                 ldi r26,4
 9248 5102 3695         1:      lsr r19
 9249 5104 2795                 ror r18
 9250 5106 AA95                 dec r26
 9251 5108 01F4                 brne 1b
 9252 510a 4C15                 cp r20,r12
 9253 510c 5D05                 cpc r21,r13
 9254 510e 04F0                 brlt .L711
 9255 5110 6A01                 movw r12,r20
 9256 5112 00C0                 rjmp .L698
 9257                   .L711:
 9258 5114 C216                 cp r12,r18
 9259 5116 D306                 cpc r13,r19
 9260 5118 00F0                 brlo .L698
 9261                   .L842:
 9262 511a 6901                 movw r12,r18
 9263                   .L698:
 9264 511c C601                 movw r24,r12
 9265 511e AA27                 clr r26
 9266 5120 97FD                 sbrc r25,7
 9267 5122 A095                 com r26
 9268 5124 BA2F                 mov r27,r26
 9269 5126 FDE0                 ldi r31,13
 9270 5128 880F         1:      lsl r24
 9271 512a 991F                 rol r25
 9272 512c AA1F                 rol r26
 9273 512e BB1F                 rol r27
 9274 5130 FA95                 dec r31
 9275 5132 01F4                 brne 1b
 9276 5134 9501                 movw r18,r10
 9277 5136 4427                 clr r20
 9278 5138 37FD                 sbrc r19,7
 9279 513a 4095                 com r20
 9280 513c 542F                 mov r21,r20
 9281 513e BC01                 movw r22,r24
 9282 5140 CD01                 movw r24,r26
 9283 5142 0E94 0000            call __divmodsi4
 9284 5146 2093 0000            sts tmp_long2.2,r18
 9285 514a 3093 0000            sts (tmp_long2.2)+1,r19
 9286 514e 4093 0000            sts (tmp_long2.2)+2,r20
 9287 5152 5093 0000            sts (tmp_long2.2)+3,r21
 9288 5156 C090 0000            lds r12,tmp_long2.2
 9289 515a D090 0000            lds r13,(tmp_long2.2)+1
 9290 515e 8091 0000            lds r24,FilterHCGas.23
 9291 5162 9091 0000            lds r25,(FilterHCGas.23)+1
 9292 5166 9C01                 movw r18,r24
 9293 5168 220F                 lsl r18
 9294 516a 331F                 rol r19
 9295 516c 280F                 add r18,r24
 9296 516e 391F                 adc r19,r25
 9297 5170 2C0D                 add r18,r12
 9298 5172 3D1D                 adc r19,r13
 9299 5174 37FF                 sbrs r19,7
 9300 5176 00C0                 rjmp .L714
 9301 5178 2D5F                 subi r18,lo8(-(3))
 9302 517a 3F4F                 sbci r19,hi8(-(3))
 9303                   .L714:
 9304 517c A901                 movw r20,r18
 9305 517e 5595                 asr r21
 9306 5180 4795                 ror r20
 9307 5182 5595                 asr r21
 9308 5184 4795                 ror r20
 9309 5186 5093 0000            sts (FilterHCGas.23)+1,r21
 9310 518a 4093 0000            sts FilterHCGas.23,r20
 9311 518e 8091 0000            lds r24,EE_Parameter+14
 9312 5192 282F                 mov r18,r24
 9313 5194 3327                 clr r19
 9314 5196 220F                 lsl r18
 9315 5198 331F                 rol r19
 9316 519a 220F                 lsl r18
 9317 519c 331F                 rol r19
 9318 519e 2417                 cp r18,r20
 9319 51a0 3507                 cpc r19,r21
 9320 51a2 04F4                 brge .L844
 9321 51a4 8091 0000            lds r24,MAX_GAS
 9322 51a8 282F                 mov r18,r24
 9323 51aa 3327                 clr r19
 9324 51ac 220F                 lsl r18
 9325 51ae 331F                 rol r19
 9326 51b0 220F                 lsl r18
 9327 51b2 331F                 rol r19
 9328 51b4 2055                 subi r18,lo8(-(-80))
 9329 51b6 3040                 sbci r19,hi8(-(-80))
 9330 51b8 4217                 cp r20,r18
 9331 51ba 5307                 cpc r21,r19
 9332 51bc 04F0                 brlt .L716
 9333                   .L844:
 9334 51be 3093 0000            sts (FilterHCGas.23)+1,r19
 9335 51c2 2093 0000            sts FilterHCGas.23,r18
 9336                   .L716:
 9337 51c6 8091 0000            lds r24,Parameter_ExtraConfig
 9338 51ca 80FF                 sbrs r24,0
 9339 51cc 00C0                 rjmp .L718
 9340 51ce 8091 0000            lds r24,FilterHCGas.23
 9341 51d2 9091 0000            lds r25,(FilterHCGas.23)+1
 9342 51d6 2981                 ldd r18,Y+1
 9343 51d8 3A81                 ldd r19,Y+2
 9344 51da 8217                 cp r24,r18
 9345 51dc 9307                 cpc r25,r19
 9346 51de 04F0                 brlt .L719
 9347 51e0 3093 0000            sts (FilterHCGas.23)+1,r19
 9348 51e4 2093 0000            sts FilterHCGas.23,r18
 9349                   .L719:
 9350 51e8 4091 0000            lds r20,FilterHCGas.23
 9351 51ec 5091 0000            lds r21,(FilterHCGas.23)+1
 9352 51f0 5A83                 std Y+2,r21
 9353 51f2 4983                 std Y+1,r20
 9354 51f4 00C0                 rjmp .L722
 9355                   .L718:
 9356 51f6 2981                 ldd r18,Y+1
 9357 51f8 3A81                 ldd r19,Y+2
 9358 51fa 2E19                 sub r18,r14
 9359 51fc 3F09                 sbc r19,r15
 9360 51fe 37FF                 sbrs r19,7
 9361 5200 00C0                 rjmp .L721
 9362 5202 2D5F                 subi r18,lo8(-(3))
 9363 5204 3F4F                 sbci r19,hi8(-(3))
 9364                   .L721:
 9365 5206 3595                 asr r19
 9366 5208 2795                 ror r18
 9367 520a 3595                 asr r19
 9368 520c 2795                 ror r18
 9369 520e 6091 0000            lds r22,FilterHCGas.23
 9370 5212 7091 0000            lds r23,(FilterHCGas.23)+1
 9371 5216 620F                 add r22,r18
 9372 5218 731F                 adc r23,r19
 9373 521a 7A83                 std Y+2,r23
 9374 521c 6983                 std Y+1,r22
 9375 521e 00C0                 rjmp .L722
 9376                   .L613:
 9377 5220 8091 0000            lds r24,EE_Parameter+22
 9378 5224 8823                 tst r24
 9379 5226 01F4                 brne .L723
 9380 5228 6091 0000            lds r22,HoverGas
 9381 522c 7091 0000            lds r23,(HoverGas)+1
 9382 5230 77FF                 sbrs r23,7
 9383 5232 00C0                 rjmp .L724
 9384 5234 6D5F                 subi r22,lo8(-(3))
 9385 5236 7F4F                 sbci r23,hi8(-(3))
 9386                   .L724:
 9387 5238 7595                 asr r23
 9388 523a 6795                 ror r22
 9389 523c 7595                 asr r23
 9390 523e 6795                 ror r22
 9391 5240 4091 0000            lds r20,UBat
 9392 5244 5091 0000            lds r21,(UBat)+1
 9393 5248 8091 0000            lds r24,BattLowVoltageWarning
 9394 524c 282F                 mov r18,r24
 9395 524e 3327                 clr r19
 9396 5250 649F                 mul r22,r20
 9397 5252 C001                 movw r24,r0
 9398 5254 659F                 mul r22,r21
 9399 5256 900D                 add r25,r0
 9400 5258 749F                 mul r23,r20
 9401 525a 900D                 add r25,r0
 9402 525c 1124                 clr r1
 9403 525e B901                 movw r22,r18
 9404 5260 0E94 0000            call __divmodhi4
 9405 5264 CB01                 movw r24,r22
 9406 5266 00C0                 rjmp .L845
 9407                   .L723:
 9408 5268 9927                 clr r25
 9409                   .L845:
 9410 526a 9093 0000            sts (StickGasHover)+1,r25
 9411 526e 8093 0000            sts StickGasHover,r24
 9412 5272 8091 0000            lds r24,StickGasHover
 9413 5276 9091 0000            lds r25,(StickGasHover)+1
 9414 527a 8734                 cpi r24,71
 9415 527c 9105                 cpc r25,__zero_reg__
 9416 527e 04F4                 brge .L726
 9417 5280 86E4                 ldi r24,lo8(70)
 9418 5282 90E0                 ldi r25,hi8(70)
 9419 5284 00C0                 rjmp .L846
 9420                   .L726:
 9421 5286 8639                 cpi r24,150
 9422 5288 9105                 cpc r25,__zero_reg__
 9423 528a 04F0                 brlt .L727
 9424 528c 86E9                 ldi r24,lo8(150)
 9425 528e 90E0                 ldi r25,hi8(150)
 9426                   .L846:
 9427 5290 9093 0000            sts (StickGasHover)+1,r25
 9428 5294 8093 0000            sts StickGasHover,r24
 9429                   .L727:
 9430 5298 8981                 ldd r24,Y+1
 9431 529a 9A81                 ldd r25,Y+2
 9432 529c 9093 0000            sts (FilterHCGas.23)+1,r25
 9433 52a0 8093 0000            sts FilterHCGas.23,r24
 9434 52a4 8091 0000            lds r24,FC_StatusFlags
 9435 52a8 806C                 ori r24,lo8(-64)
 9436 52aa 8093 0000            sts FC_StatusFlags,r24
 9437 52ae 8091 0000            lds r24,FC_StatusFlags2
 9438 52b2 8D7F                 andi r24,lo8(-3)
 9439 52b4 8093 0000            sts FC_StatusFlags2,r24
 9440                   .L722:
 9441 52b8 8091 0000            lds r24,FC_StatusFlags
 9442 52bc 9927                 clr r25
 9443 52be 9C01                 movw r18,r24
 9444 52c0 2270                 andi r18,lo8(2)
 9445 52c2 3070                 andi r19,hi8(2)
 9446 52c4 81FF                 sbrs r24,1
 9447 52c6 00C0                 rjmp .L729
 9448 52c8 8091 0000            lds r24,HoverGasFilter.24
 9449 52cc 9091 0000            lds r25,(HoverGasFilter.24)+1
 9450 52d0 A091 0000            lds r26,(HoverGasFilter.24)+2
 9451 52d4 B091 0000            lds r27,(HoverGasFilter.24)+3
 9452 52d8 0097                 sbiw r24,0
 9453 52da A105                 cpc r26,__zero_reg__
 9454 52dc B105                 cpc r27,__zero_reg__
 9455 52de 01F0                 breq .L731
 9456 52e0 8091 0000            lds r24,StartTrigger
 9457 52e4 8130                 cpi r24,lo8(1)
 9458 52e6 01F4                 brne .L730
 9459                   .L731:
 9460 52e8 E981                 ldd r30,Y+1
 9461 52ea FA81                 ldd r31,Y+2
 9462 52ec CF01                 movw r24,r30
 9463 52ee AA27                 clr r26
 9464 52f0 97FD                 sbrc r25,7
 9465 52f2 A095                 com r26
 9466 52f4 BA2F                 mov r27,r26
 9467 52f6 1EE0                 ldi r17,14
 9468 52f8 880F         1:      lsl r24
 9469 52fa 991F                 rol r25
 9470 52fc AA1F                 rol r26
 9471 52fe BB1F                 rol r27
 9472 5300 1A95                 dec r17
 9473 5302 01F4                 brne 1b
 9474 5304 8093 0000            sts HoverGasFilter.24,r24
 9475 5308 9093 0000            sts (HoverGasFilter.24)+1,r25
 9476 530c A093 0000            sts (HoverGasFilter.24)+2,r26
 9477 5310 B093 0000            sts (HoverGasFilter.24)+3,r27
 9478                   .L730:
 9479 5314 8091 0000            lds r24,StartTrigger
 9480 5318 8130                 cpi r24,lo8(1)
 9481 531a 01F4                 brne .L732
 9482 531c 82E0                 ldi r24,lo8(2)
 9483 531e 8093 0000            sts StartTrigger,r24
 9484                   .L732:
 9485 5322 E980                 ldd r14,Y+1
 9486 5324 FA80                 ldd r15,Y+2
 9487 5326 C701                 movw r24,r14
 9488 5328 AA27                 clr r26
 9489 532a 97FD                 sbrc r25,7
 9490 532c A095                 com r26
 9491 532e BA2F                 mov r27,r26
 9492 5330 9501                 movw r18,r10
 9493 5332 4427                 clr r20
 9494 5334 37FD                 sbrc r19,7
 9495 5336 4095                 com r20
 9496 5338 542F                 mov r21,r20
 9497 533a BC01                 movw r22,r24
 9498 533c CD01                 movw r24,r26
 9499 533e 0E94 0000            call __mulsi3
 9500 5342 DC01                 movw r26,r24
 9501 5344 CB01                 movw r24,r22
 9502 5346 8093 0000            sts tmp_long2.2,r24
 9503 534a 9093 0000            sts (tmp_long2.2)+1,r25
 9504 534e A093 0000            sts (tmp_long2.2)+2,r26
 9505 5352 B093 0000            sts (tmp_long2.2)+3,r27
 9506 5356 B7FF                 sbrs r27,7
 9507 5358 00C0                 rjmp .L733
 9508 535a 8150                 subi r24,lo8(-(8191))
 9509 535c 904E                 sbci r25,hi8(-(8191))
 9510 535e AF4F                 sbci r26,hlo8(-(8191))
 9511 5360 BF4F                 sbci r27,hhi8(-(8191))
 9512                   .L733:
 9513 5362 7C01                 movw r14,r24
 9514 5364 8D01                 movw r16,r26
 9515 5366 FDE0                 ldi r31,13
 9516 5368 1595         1:      asr r17
 9517 536a 0795                 ror r16
 9518 536c F794                 ror r15
 9519 536e E794                 ror r14
 9520 5370 FA95                 dec r31
 9521 5372 01F4                 brne 1b
 9522 5374 E092 0000            sts tmp_long2.2,r14
 9523 5378 F092 0000            sts (tmp_long2.2)+1,r15
 9524 537c 0093 0000            sts (tmp_long2.2)+2,r16
 9525 5380 1093 0000            sts (tmp_long2.2)+3,r17
 9526 5384 6091 0000            lds r22,modell_fliegt
 9527 5388 7091 0000            lds r23,(modell_fliegt)+1
 9528 538c 2FE0                 ldi r18,hi8(4000)
 9529 538e 603A                 cpi r22,lo8(4000)
 9530 5390 7207                 cpc r23,r18
 9531 5392 00F4                 brsh .L734
 9532 5394 8091 0000            lds r24,HoverGasFilter.24
 9533 5398 9091 0000            lds r25,(HoverGasFilter.24)+1
 9534 539c A091 0000            lds r26,(HoverGasFilter.24)+2
 9535 53a0 B091 0000            lds r27,(HoverGasFilter.24)+3
 9536 53a4 9C01                 movw r18,r24
 9537 53a6 AD01                 movw r20,r26
 9538 53a8 EAE0                 ldi r30,10
 9539 53aa 5695         1:      lsr r21
 9540 53ac 4795                 ror r20
 9541 53ae 3795                 ror r19
 9542 53b0 2795                 ror r18
 9543 53b2 EA95                 dec r30
 9544 53b4 01F4                 brne 1b
 9545 53b6 821B                 sub r24,r18
 9546 53b8 930B                 sbc r25,r19
 9547 53ba A40B                 sbc r26,r20
 9548 53bc B50B                 sbc r27,r21
 9549 53be A801                 movw r20,r16
 9550 53c0 9701                 movw r18,r14
 9551 53c2 F4E0                 ldi r31,4
 9552 53c4 220F         1:      lsl r18
 9553 53c6 331F                 rol r19
 9554 53c8 441F                 rol r20
 9555 53ca 551F                 rol r21
 9556 53cc FA95                 dec r31
 9557 53ce 01F4                 brne 1b
 9558 53d0 820F                 add r24,r18
 9559 53d2 931F                 adc r25,r19
 9560 53d4 A41F                 adc r26,r20
 9561 53d6 B51F                 adc r27,r21
 9562 53d8 8093 0000            sts HoverGasFilter.24,r24
 9563 53dc 9093 0000            sts (HoverGasFilter.24)+1,r25
 9564 53e0 A093 0000            sts (HoverGasFilter.24)+2,r26
 9565 53e4 B093 0000            sts (HoverGasFilter.24)+3,r27
 9566                   .L734:
 9567 53e8 6054                 subi r22,lo8(8000)
 9568 53ea 7F41                 sbci r23,hi8(8000)
 9569 53ec 00F4                 brsh .L735
 9570 53ee 8091 0000            lds r24,HoverGasFilter.24
 9571 53f2 9091 0000            lds r25,(HoverGasFilter.24)+1
 9572 53f6 A091 0000            lds r26,(HoverGasFilter.24)+2
 9573 53fa B091 0000            lds r27,(HoverGasFilter.24)+3
 9574 53fe 9C01                 movw r18,r24
 9575 5400 AD01                 movw r20,r26
 9576 5402 ECE0                 ldi r30,12
 9577 5404 5695         1:      lsr r21
 9578 5406 4795                 ror r20
 9579 5408 3795                 ror r19
 9580 540a 2795                 ror r18
 9581 540c EA95                 dec r30
 9582 540e 01F4                 brne 1b
 9583 5410 821B                 sub r24,r18
 9584 5412 930B                 sbc r25,r19
 9585 5414 A40B                 sbc r26,r20
 9586 5416 B50B                 sbc r27,r21
 9587 5418 A801                 movw r20,r16
 9588 541a 9701                 movw r18,r14
 9589 541c 72E0                 ldi r23,2
 9590 541e 220F         1:      lsl r18
 9591 5420 331F                 rol r19
 9592 5422 441F                 rol r20
 9593 5424 551F                 rol r21
 9594 5426 7A95                 dec r23
 9595 5428 01F4                 brne 1b
 9596 542a 820F                 add r24,r18
 9597 542c 931F                 adc r25,r19
 9598 542e A41F                 adc r26,r20
 9599 5430 B51F                 adc r27,r21
 9600 5432 00C0                 rjmp .L847
 9601                   .L735:
 9602 5434 8091 0000            lds r24,VarioMeter
 9603 5438 9091 0000            lds r25,(VarioMeter)+1
 9604 543c 8091 0000            lds r24,VarioMeter
 9605 5440 9091 0000            lds r25,(VarioMeter)+1
 9606 5444 97FF                 sbrs r25,7
 9607 5446 00C0                 rjmp .L738
 9608 5448 9095                 com r25
 9609 544a 8195                 neg r24
 9610 544c 9F4F                 sbci r25,lo8(-1)
 9611                   .L738:
 9612 544e 8436                 cpi r24,100
 9613 5450 9105                 cpc r25,__zero_reg__
 9614 5452 04F4                 brge .L736
 9615 5454 8091 0000            lds r24,HoehenWert
 9616 5458 9091 0000            lds r25,(HoehenWert)+1
 9617 545c 2091 0000            lds r18,SollHoehe
 9618 5460 3091 0000            lds r19,(SollHoehe)+1
 9619 5464 821B                 sub r24,r18
 9620 5466 930B                 sbc r25,r19
 9621 5468 8150                 subi r24,lo8(-(255))
 9622 546a 9F4F                 sbci r25,hi8(-(255))
 9623 546c 8F5F                 subi r24,lo8(511)
 9624 546e 9140                 sbci r25,hi8(511)
 9625 5470 00F4                 brsh .L736
 9626 5472 8091 0000            lds r24,HoverGasFilter.24
 9627 5476 9091 0000            lds r25,(HoverGasFilter.24)+1
 9628 547a A091 0000            lds r26,(HoverGasFilter.24)+2
 9629 547e B091 0000            lds r27,(HoverGasFilter.24)+3
 9630 5482 9C01                 movw r18,r24
 9631 5484 AD01                 movw r20,r26
 9632 5486 6EE0                 ldi r22,14
 9633 5488 5695         1:      lsr r21
 9634 548a 4795                 ror r20
 9635 548c 3795                 ror r19
 9636 548e 2795                 ror r18
 9637 5490 6A95                 dec r22
 9638 5492 01F4                 brne 1b
 9639 5494 821B                 sub r24,r18
 9640 5496 930B                 sbc r25,r19
 9641 5498 A40B                 sbc r26,r20
 9642 549a B50B                 sbc r27,r21
 9643 549c 8E0D                 add r24,r14
 9644 549e 9F1D                 adc r25,r15
 9645 54a0 A01F                 adc r26,r16
 9646 54a2 B11F                 adc r27,r17
 9647                   .L847:
 9648 54a4 8093 0000            sts HoverGasFilter.24,r24
 9649 54a8 9093 0000            sts (HoverGasFilter.24)+1,r25
 9650 54ac A093 0000            sts (HoverGasFilter.24)+2,r26
 9651 54b0 B093 0000            sts (HoverGasFilter.24)+3,r27
 9652                   .L736:
 9653 54b4 8091 0000            lds r24,HoverGasFilter.24
 9654 54b8 9091 0000            lds r25,(HoverGasFilter.24)+1
 9655 54bc A091 0000            lds r26,(HoverGasFilter.24)+2
 9656 54c0 B091 0000            lds r27,(HoverGasFilter.24)+3
 9657 54c4 5EE0                 ldi r21,14
 9658 54c6 B695         1:      lsr r27
 9659 54c8 A795                 ror r26
 9660 54ca 9795                 ror r25
 9661 54cc 8795                 ror r24
 9662 54ce 5A95                 dec r21
 9663 54d0 01F4                 brne 1b
 9664 54d2 9093 0000            sts (HoverGas)+1,r25
 9665 54d6 8093 0000            sts HoverGas,r24
 9666 54da 4091 0000            lds r20,EE_Parameter+20
 9667 54de 4423                 tst r20
 9668 54e0 01F0                 breq .L739
 9669 54e2 5527                 clr r21
 9670 54e4 9C01                 movw r18,r24
 9671 54e6 BA01                 movw r22,r20
 9672 54e8 0E94 0000            call __divmodhi4
 9673 54ec C901                 movw r24,r18
 9674 54ee 861B                 sub r24,r22
 9675 54f0 970B                 sbc r25,r23
 9676 54f2 9093 0000            sts (HoverGasMin)+1,r25
 9677 54f6 8093 0000            sts HoverGasMin,r24
 9678 54fa 260F                 add r18,r22
 9679 54fc 371F                 adc r19,r23
 9680 54fe 3093 0000            sts (HoverGasMax)+1,r19
 9681 5502 2093 0000            sts HoverGasMax,r18
 9682 5506 00C0                 rjmp .L742
 9683                   .L739:
 9684 5508 1092 0000            sts (HoverGasMin)+1,__zero_reg__
 9685 550c 1092 0000            sts HoverGasMin,__zero_reg__
 9686 5510 8FEF                 ldi r24,lo8(1023)
 9687 5512 93E0                 ldi r25,hi8(1023)
 9688 5514 9093 0000            sts (HoverGasMax)+1,r25
 9689 5518 8093 0000            sts HoverGasMax,r24
 9690 551c 00C0                 rjmp .L742
 9691                   .L729:
 9692 551e 1092 0000            sts StartTrigger,__zero_reg__
 9693 5522 1092 0000            sts HoverGasFilter.24,__zero_reg__
 9694 5526 1092 0000            sts (HoverGasFilter.24)+1,__zero_reg__
 9695 552a 1092 0000            sts (HoverGasFilter.24)+2,__zero_reg__
 9696 552e 1092 0000            sts (HoverGasFilter.24)+3,__zero_reg__
 9697 5532 3093 0000            sts (HoverGas)+1,r19
 9698 5536 2093 0000            sts HoverGas,r18
 9699 553a 00C0                 rjmp .L742
 9700                   .L596:
 9701 553c 8091 0000            lds r24,FC_StatusFlags
 9702 5540 806C                 ori r24,lo8(-64)
 9703 5542 8093 0000            sts FC_StatusFlags,r24
 9704                   .L742:
 9705 5546 2091 0000            lds r18,MIN_GAS
 9706 554a 822F                 mov r24,r18
 9707 554c 9927                 clr r25
 9708 554e 880F                 lsl r24
 9709 5550 991F                 rol r25
 9710 5552 880F                 lsl r24
 9711 5554 991F                 rol r25
 9712 5556 8896                 adiw r24,40
 9713 5558 6981                 ldd r22,Y+1
 9714 555a 7A81                 ldd r23,Y+2
 9715 555c 8617                 cp r24,r22
 9716 555e 9707                 cpc r25,r23
 9717 5560 04F0                 brlt .L743
 9718 5562 9A83                 std Y+2,r25
 9719 5564 8983                 std Y+1,r24
 9720                   .L743:
 9721 5566 7091 0000            lds r23,MAX_GAS
 9722 556a 7D8B                 std Y+21,r23
 9723 556c 872F                 mov r24,r23
 9724 556e 9927                 clr r25
 9725 5570 880F                 lsl r24
 9726 5572 991F                 rol r25
 9727 5574 880F                 lsl r24
 9728 5576 991F                 rol r25
 9729 5578 8055                 subi r24,lo8(-(-80))
 9730 557a 9040                 sbci r25,hi8(-(-80))
 9731 557c A981                 ldd r26,Y+1
 9732 557e BA81                 ldd r27,Y+2
 9733 5580 8A17                 cp r24,r26
 9734 5582 9B07                 cpc r25,r27
 9735 5584 04F4                 brge .L744
 9736 5586 9A83                 std Y+2,r25
 9737 5588 8983                 std Y+1,r24
 9738                   .L744:
 9739 558a 8091 0000            lds r24,MissingMotor
 9740 558e 8823                 tst r24
 9741 5590 01F4                 brne .L746
 9742 5592 8091 0000            lds r24,Capacity+8
 9743 5596 8F3F                 cpi r24,lo8(-1)
 9744 5598 01F4                 brne .L746
 9745 559a 8091 0000            lds r24,NC_ErrorCode
 9746 559e 8823                 tst r24
 9747 55a0 01F0                 breq .L745
 9748                   .L746:
 9749 55a2 8091 0000            lds r24,modell_fliegt
 9750 55a6 9091 0000            lds r25,(modell_fliegt)+1
 9751 55aa 0297                 sbiw r24,2
 9752 55ac C097                 sbiw r24,48
 9753 55ae 00F4                 brsh .L745
 9754 55b0 E981                 ldd r30,Y+1
 9755 55b2 FA81                 ldd r31,Y+2
 9756 55b4 1E16                 cp __zero_reg__,r30
 9757 55b6 1F06                 cpc __zero_reg__,r31
 9758 55b8 04F4                 brge .L745
 9759 55ba 81E0                 ldi r24,lo8(1)
 9760 55bc 90E0                 ldi r25,hi8(1)
 9761 55be 9093 0000            sts (modell_fliegt)+1,r25
 9762 55c2 8093 0000            sts modell_fliegt,r24
 9763 55c6 E22E                 mov r14,r18
 9764 55c8 FF24                 clr r15
 9765 55ca EE0C                 lsl r14
 9766 55cc FF1C                 rol r15
 9767 55ce EE0C                 lsl r14
 9768 55d0 FF1C                 rol r15
 9769 55d2 8701                 movw r16,r14
 9770 55d4 085D                 subi r16,lo8(-(40))
 9771 55d6 1F4F                 sbci r17,hi8(-(40))
 9772 55d8 1A83                 std Y+2,r17
 9773 55da 0983                 std Y+1,r16
 9774                   .L745:
 9775 55dc 2981                 ldd r18,Y+1
 9776 55de 3A81                 ldd r19,Y+2
 9777 55e0 3093 0000            sts (DebugOut+16)+1,r19
 9778 55e4 2093 0000            sts DebugOut+16,r18
 9779 55e8 8091 0000            lds r24,sollGier.0
 9780 55ec 9091 0000            lds r25,(sollGier.0)+1
 9781 55f0 A091 0000            lds r26,(sollGier.0)+2
 9782 55f4 B091 0000            lds r27,(sollGier.0)+3
 9783 55f8 12E0                 ldi r17,2
 9784 55fa 880F         1:      lsl r24
 9785 55fc 991F                 rol r25
 9786 55fe AA1F                 rol r26
 9787 5600 BB1F                 rol r27
 9788 5602 1A95                 dec r17
 9789 5604 01F4                 brne 1b
 9790 5606 0091 0000            lds r16,MesswertGier
 9791 560a 1091 0000            lds r17,(MesswertGier)+1
 9792 560e 081B                 sub r16,r24
 9793 5610 190B                 sbc r17,r25
 9794 5612 213A                 cpi r18,161
 9795 5614 3105                 cpc r19,__zero_reg__
 9796 5616 04F0                 brlt .L748
 9797 5618 C901                 movw r24,r18
 9798 561a 37FD                 sbrc r19,7
 9799 561c 0196                 adiw r24,1
 9800                   .L750:
 9801 561e 9595                 asr r25
 9802 5620 8795                 ror r24
 9803 5622 8017                 cp r24,r16
 9804 5624 9107                 cpc r25,r17
 9805 5626 04F4                 brge .L749
 9806 5628 8C01                 movw r16,r24
 9807                   .L749:
 9808 562a 9095                 com r25
 9809 562c 8195                 neg r24
 9810 562e 9F4F                 sbci r25,lo8(-1)
 9811 5630 0817                 cp r16,r24
 9812 5632 1907                 cpc r17,r25
 9813 5634 04F4                 brge .L755
 9814 5636 8C01                 movw r16,r24
 9815 5638 00C0                 rjmp .L755
 9816                   .L748:
 9817 563a 0135                 cpi r16,81
 9818 563c 1105                 cpc r17,__zero_reg__
 9819 563e 04F0                 brlt .L756
 9820 5640 00E5                 ldi r16,lo8(80)
 9821 5642 10E0                 ldi r17,hi8(80)
 9822                   .L756:
 9823 5644 3FEF                 ldi r19,hi8(-80)
 9824 5646 003B                 cpi r16,lo8(-80)
 9825 5648 1307                 cpc r17,r19
 9826 564a 04F4                 brge .L755
 9827 564c 00EB                 ldi r16,lo8(-80)
 9828 564e 1FEF                 ldi r17,hi8(-80)
 9829                   .L755:
 9830 5650 4D89                 ldd r20,Y+21
 9831 5652 242F                 mov r18,r20
 9832 5654 3327                 clr r19
 9833 5656 220F                 lsl r18
 9834 5658 331F                 rol r19
 9835 565a 220F                 lsl r18
 9836 565c 331F                 rol r19
 9837 565e C901                 movw r24,r18
 9838 5660 6981                 ldd r22,Y+1
 9839 5662 7A81                 ldd r23,Y+2
 9840 5664 861B                 sub r24,r22
 9841 5666 970B                 sbc r25,r23
 9842 5668 8017                 cp r24,r16
 9843 566a 9107                 cpc r25,r17
 9844 566c 04F4                 brge .L758
 9845 566e 8C01                 movw r16,r24
 9846                   .L758:
 9847 5670 8981                 ldd r24,Y+1
 9848 5672 9A81                 ldd r25,Y+2
 9849 5674 821B                 sub r24,r18
 9850 5676 930B                 sbc r25,r19
 9851 5678 0817                 cp r16,r24
 9852 567a 1907                 cpc r17,r25
 9853 567c 04F4                 brge .L759
 9854 567e 8C01                 movw r16,r24
 9855                   .L759:
 9856 5680 8091 0000            lds r24,MesswertNick
 9857 5684 9091 0000            lds r25,(MesswertNick)+1
 9858 5688 6091 0000            lds r22,StickNick
 9859 568c 7091 0000            lds r23,(StickNick)+1
 9860 5690 861B                 sub r24,r22
 9861 5692 970B                 sbc r25,r23
 9862 5694 9093 0000            sts (DiffNick)+1,r25
 9863 5698 8093 0000            sts DiffNick,r24
 9864 569c D090 0000            lds r13,IntegralFaktor
 9865 56a0 2091 0000            lds r18,SummeNick
 9866 56a4 3091 0000            lds r19,(SummeNick)+1
 9867 56a8 4091 0000            lds r20,(SummeNick)+2
 9868 56ac 5091 0000            lds r21,(SummeNick)+3
 9869 56b0 DD20                 tst r13
 9870 56b2 01F0                 breq .L760
 9871 56b4 661A                 sub r6,r22
 9872 56b6 770A                 sbc r7,r23
 9873 56b8 C301                 movw r24,r6
 9874 56ba AA27                 clr r26
 9875 56bc 97FD                 sbrc r25,7
 9876 56be A095                 com r26
 9877 56c0 BA2F                 mov r27,r26
 9878 56c2 00C0                 rjmp .L848
 9879                   .L760:
 9880 56c4 AA27                 clr r26
 9881 56c6 97FD                 sbrc r25,7
 9882 56c8 A095                 com r26
 9883 56ca BA2F                 mov r27,r26
 9884                   .L848:
 9885 56cc 280F                 add r18,r24
 9886 56ce 391F                 adc r19,r25
 9887 56d0 4A1F                 adc r20,r26
 9888 56d2 5B1F                 adc r21,r27
 9889 56d4 2093 0000            sts SummeNick,r18
 9890 56d8 3093 0000            sts (SummeNick)+1,r19
 9891 56dc 4093 0000            sts (SummeNick)+2,r20
 9892 56e0 5093 0000            sts (SummeNick)+3,r21
 9893 56e4 8091 0000            lds r24,SummeNick
 9894 56e8 9091 0000            lds r25,(SummeNick)+1
 9895 56ec A091 0000            lds r26,(SummeNick)+2
 9896 56f0 B091 0000            lds r27,(SummeNick)+3
 9897 56f4 8150                 subi r24,lo8(64001)
 9898 56f6 9A4F                 sbci r25,hi8(64001)
 9899 56f8 A040                 sbci r26,hlo8(64001)
 9900 56fa B040                 sbci r27,hhi8(64001)
 9901 56fc 04F0                 brlt .L762
 9902 56fe 80E0                 ldi r24,lo8(64000)
 9903 5700 9AEF                 ldi r25,hi8(64000)
 9904 5702 A0E0                 ldi r26,hlo8(64000)
 9905 5704 B0E0                 ldi r27,hhi8(64000)
 9906 5706 8093 0000            sts SummeNick,r24
 9907 570a 9093 0000            sts (SummeNick)+1,r25
 9908 570e A093 0000            sts (SummeNick)+2,r26
 9909 5712 B093 0000            sts (SummeNick)+3,r27
 9910                   .L762:
 9911 5716 8091 0000            lds r24,SummeNick
 9912 571a 9091 0000            lds r25,(SummeNick)+1
 9913 571e A091 0000            lds r26,(SummeNick)+2
 9914 5722 B091 0000            lds r27,(SummeNick)+3
 9915 5726 8050                 subi r24,lo8(-64000)
 9916 5728 9640                 sbci r25,hi8(-64000)
 9917 572a AF4F                 sbci r26,hlo8(-64000)
 9918 572c BF4F                 sbci r27,hhi8(-64000)
 9919 572e 04F4                 brge .L763
 9920 5730 80E0                 ldi r24,lo8(-64000)
 9921 5732 96E0                 ldi r25,hi8(-64000)
 9922 5734 AFEF                 ldi r26,hlo8(-64000)
 9923 5736 BFEF                 ldi r27,hhi8(-64000)
 9924 5738 8093 0000            sts SummeNick,r24
 9925 573c 9093 0000            sts (SummeNick)+1,r25
 9926 5740 A093 0000            sts (SummeNick)+2,r26
 9927 5744 B093 0000            sts (SummeNick)+3,r27
 9928                   .L763:
 9929 5748 C090 0000            lds r12,EE_Parameter+35
 9930 574c 2091 0000            lds r18,DiffNick
 9931 5750 3091 0000            lds r19,(DiffNick)+1
 9932 5754 78E0                 ldi r23,lo8(8)
 9933 5756 E72E                 mov r14,r23
 9934 5758 EC14                 cp r14,r12
 9935 575a 00F0                 brlo .L764
 9936 575c 8C2D                 mov r24,r12
 9937 575e 9927                 clr r25
 9938 5760 829F                 mul r24,r18
 9939 5762 A001                 movw r20,r0
 9940 5764 839F                 mul r24,r19
 9941 5766 500D                 add r21,r0
 9942 5768 929F                 mul r25,r18
 9943 576a 500D                 add r21,r0
 9944 576c 1124                 clr r1
 9945 576e CA01                 movw r24,r20
 9946 5770 57FD                 sbrc r21,7
 9947 5772 0796                 adiw r24,7
 9948                   .L765:
 9949 5774 7C01                 movw r14,r24
 9950 5776 63E0                 ldi r22,3
 9951 5778 F594         1:      asr r15
 9952 577a E794                 ror r14
 9953 577c 6A95                 dec r22
 9954 577e 01F4                 brne 1b
 9955 5780 00C0                 rjmp .L766
 9956                   .L764:
 9957 5782 8C2D                 mov r24,r12
 9958 5784 8695                 lsr r24
 9959 5786 9927                 clr r25
 9960 5788 829F                 mul r24,r18
 9961 578a B001                 movw r22,r0
 9962 578c 839F                 mul r24,r19
 9963 578e 700D                 add r23,r0
 9964 5790 929F                 mul r25,r18
 9965 5792 700D                 add r23,r0
 9966 5794 1124                 clr r1
 9967 5796 CB01                 movw r24,r22
 9968 5798 77FD                 sbrc r23,7
 9969 579a 0396                 adiw r24,3
 9970                   .L767:
 9971 579c 7C01                 movw r14,r24
 9972 579e F594                 asr r15
 9973 57a0 E794                 ror r14
 9974 57a2 F594                 asr r15
 9975 57a4 E794                 ror r14
 9976                   .L766:
 9977 57a6 A090 0000            lds r10,Ki
 9978 57aa B090 0000            lds r11,(Ki)+1
 9979 57ae 9501                 movw r18,r10
 9980 57b0 4427                 clr r20
 9981 57b2 37FD                 sbrc r19,7
 9982 57b4 4095                 com r20
 9983 57b6 542F                 mov r21,r20
 9984 57b8 8091 0000            lds r24,SummeNick
 9985 57bc 9091 0000            lds r25,(SummeNick)+1
 9986 57c0 A091 0000            lds r26,(SummeNick)+2
 9987 57c4 B091 0000            lds r27,(SummeNick)+3
 9988 57c8 BC01                 movw r22,r24
 9989 57ca CD01                 movw r24,r26
 9990 57cc 0E94 0000            call __divmodsi4
 9991 57d0 E20E                 add r14,r18
 9992 57d2 F31E                 adc r15,r19
 9993 57d4 9090 0000            lds r9,Parameter_DynamicStability
 9994 57d8 692D                 mov r22,r9
 9995 57da 7727                 clr r23
 9996 57dc 8827                 clr r24
 9997 57de 9927                 clr r25
 9998 57e0 9801                 movw r18,r16
 9999 57e2 17FF                 sbrs r17,7
 10000 57e4 00C0                rjmp .L768
 10001 57e6 2227                clr r18
 10002 57e8 3327                clr r19
 10003 57ea 201B                sub r18,r16
 10004 57ec 310B                sbc r19,r17
 10005                  .L768:
 10006 57ee 37FF                sbrs r19,7
 10007 57f0 00C0                rjmp .L769
 10008 57f2 2F5F                subi r18,lo8(-(1))
 10009 57f4 3F4F                sbci r19,hi8(-(1))
 10010                  .L769:
 10011 57f6 3595                asr r19
 10012 57f8 2795                ror r18
 10013 57fa A981                ldd r26,Y+1
 10014 57fc BA81                ldd r27,Y+2
 10015 57fe 2A0F                add r18,r26
 10016 5800 3B1F                adc r19,r27
 10017 5802 4427                clr r20
 10018 5804 37FD                sbrc r19,7
 10019 5806 4095                com r20
 10020 5808 542F                mov r21,r20
 10021 580a 0E94 0000           call __mulsi3
 10022 580e 97FF                sbrs r25,7
 10023 5810 00C0                rjmp .L770
 10024 5812 615C                subi r22,lo8(-(63))
 10025 5814 7F4F                sbci r23,hi8(-(63))
 10026 5816 8F4F                sbci r24,hlo8(-(63))
 10027 5818 9F4F                sbci r25,hhi8(-(63))
 10028                  .L770:
 10029 581a 26E0                ldi r18,6
 10030 581c 9595        1:      asr r25
 10031 581e 8795                ror r24
 10032 5820 7795                ror r23
 10033 5822 6795                ror r22
 10034 5824 2A95                dec r18
 10035 5826 01F4                brne 1b
 10036 5828 9B01                movw r18,r22
 10037 582a 6E15                cp r22,r14
 10038 582c 7F05                cpc r23,r15
 10039 582e 04F4                brge .L771
 10040 5830 7B01                movw r14,r22
 10041                  .L771:
 10042 5832 3095                com r19
 10043 5834 2195                neg r18
 10044 5836 3F4F                sbci r19,lo8(-1)
 10045 5838 E216                cp r14,r18
 10046 583a F306                cpc r15,r19
 10047 583c 04F4                brge .L772
 10048 583e 7901                movw r14,r18
 10049                  .L772:
 10050 5840 8091 0000           lds r24,MesswertRoll
 10051 5844 9091 0000           lds r25,(MesswertRoll)+1
 10052 5848 6091 0000           lds r22,StickRoll
 10053 584c 7091 0000           lds r23,(StickRoll)+1
 10054 5850 861B                sub r24,r22
 10055 5852 970B                sbc r25,r23
 10056 5854 9093 0000           sts (DiffRoll)+1,r25
 10057 5858 8093 0000           sts DiffRoll,r24
 10058 585c 2091 0000           lds r18,SummeRoll
 10059 5860 3091 0000           lds r19,(SummeRoll)+1
 10060 5864 4091 0000           lds r20,(SummeRoll)+2
 10061 5868 5091 0000           lds r21,(SummeRoll)+3
 10062 586c DD20                tst r13
 10063 586e 01F0                breq .L773
 10064 5870 461A                sub r4,r22
 10065 5872 570A                sbc r5,r23
 10066 5874 C201                movw r24,r4
 10067 5876 AA27                clr r26
 10068 5878 97FD                sbrc r25,7
 10069 587a A095                com r26
 10070 587c BA2F                mov r27,r26
 10071 587e 00C0                rjmp .L849
 10072                  .L773:
 10073 5880 AA27                clr r26
 10074 5882 97FD                sbrc r25,7
 10075 5884 A095                com r26
 10076 5886 BA2F                mov r27,r26
 10077                  .L849:
 10078 5888 280F                add r18,r24
 10079 588a 391F                adc r19,r25
 10080 588c 4A1F                adc r20,r26
 10081 588e 5B1F                adc r21,r27
 10082 5890 2093 0000           sts SummeRoll,r18
 10083 5894 3093 0000           sts (SummeRoll)+1,r19
 10084 5898 4093 0000           sts (SummeRoll)+2,r20
 10085 589c 5093 0000           sts (SummeRoll)+3,r21
 10086 58a0 8091 0000           lds r24,SummeRoll
 10087 58a4 9091 0000           lds r25,(SummeRoll)+1
 10088 58a8 A091 0000           lds r26,(SummeRoll)+2
 10089 58ac B091 0000           lds r27,(SummeRoll)+3
 10090 58b0 8150                subi r24,lo8(64001)
 10091 58b2 9A4F                sbci r25,hi8(64001)
 10092 58b4 A040                sbci r26,hlo8(64001)
 10093 58b6 B040                sbci r27,hhi8(64001)
 10094 58b8 04F0                brlt .L775
 10095 58ba 80E0                ldi r24,lo8(64000)
 10096 58bc 9AEF                ldi r25,hi8(64000)
 10097 58be A0E0                ldi r26,hlo8(64000)
 10098 58c0 B0E0                ldi r27,hhi8(64000)
 10099 58c2 8093 0000           sts SummeRoll,r24
 10100 58c6 9093 0000           sts (SummeRoll)+1,r25
 10101 58ca A093 0000           sts (SummeRoll)+2,r26
 10102 58ce B093 0000           sts (SummeRoll)+3,r27
 10103                  .L775:
 10104 58d2 8091 0000           lds r24,SummeRoll
 10105 58d6 9091 0000           lds r25,(SummeRoll)+1
 10106 58da A091 0000           lds r26,(SummeRoll)+2
 10107 58de B091 0000           lds r27,(SummeRoll)+3
 10108 58e2 8050                subi r24,lo8(-64000)
 10109 58e4 9640                sbci r25,hi8(-64000)
 10110 58e6 AF4F                sbci r26,hlo8(-64000)
 10111 58e8 BF4F                sbci r27,hhi8(-64000)
 10112 58ea 04F4                brge .L776
 10113 58ec 80E0                ldi r24,lo8(-64000)
 10114 58ee 96E0                ldi r25,hi8(-64000)
 10115 58f0 AFEF                ldi r26,hlo8(-64000)
 10116 58f2 BFEF                ldi r27,hhi8(-64000)
 10117 58f4 8093 0000           sts SummeRoll,r24
 10118 58f8 9093 0000           sts (SummeRoll)+1,r25
 10119 58fc A093 0000           sts (SummeRoll)+2,r26
 10120 5900 B093 0000           sts (SummeRoll)+3,r27
 10121                  .L776:
 10122 5904 2091 0000           lds r18,DiffRoll
 10123 5908 3091 0000           lds r19,(DiffRoll)+1
 10124 590c 48E0                ldi r20,lo8(8)
 10125 590e 4C15                cp r20,r12
 10126 5910 00F0                brlo .L777
 10127 5912 8C2D                mov r24,r12
 10128 5914 9927                clr r25
 10129 5916 829F                mul r24,r18
 10130 5918 B001                movw r22,r0
 10131 591a 839F                mul r24,r19
 10132 591c 700D                add r23,r0
 10133 591e 929F                mul r25,r18
 10134 5920 700D                add r23,r0
 10135 5922 1124                clr r1
 10136 5924 CB01                movw r24,r22
 10137 5926 77FD                sbrc r23,7
 10138 5928 0796                adiw r24,7
 10139                  .L778:
 10140 592a 6C01                movw r12,r24
 10141 592c B3E0                ldi r27,3
 10142 592e D594        1:      asr r13
 10143 5930 C794                ror r12
 10144 5932 BA95                dec r27
 10145 5934 01F4                brne 1b
 10146 5936 00C0                rjmp .L779
 10147                  .L777:
 10148 5938 C694                lsr r12
 10149 593a 8C2D                mov r24,r12
 10150 593c 9927                clr r25
 10151 593e 829F                mul r24,r18
 10152 5940 D001                movw r26,r0
 10153 5942 839F                mul r24,r19
 10154 5944 B00D                add r27,r0
 10155 5946 929F                mul r25,r18
 10156 5948 B00D                add r27,r0
 10157 594a 1124                clr r1
 10158 594c CD01                movw r24,r26
 10159 594e B7FD                sbrc r27,7
 10160 5950 0396                adiw r24,3
 10161                  .L780:
 10162 5952 6C01                movw r12,r24
 10163 5954 D594                asr r13
 10164 5956 C794                ror r12
 10165 5958 D594                asr r13
 10166 595a C794                ror r12
 10167                  .L779:
 10168 595c 9501                movw r18,r10
 10169 595e 4427                clr r20
 10170 5960 37FD                sbrc r19,7
 10171 5962 4095                com r20
 10172 5964 542F                mov r21,r20
 10173 5966 8091 0000           lds r24,SummeRoll
 10174 596a 9091 0000           lds r25,(SummeRoll)+1
 10175 596e A091 0000           lds r26,(SummeRoll)+2
 10176 5972 B091 0000           lds r27,(SummeRoll)+3
 10177 5976 BC01                movw r22,r24
 10178 5978 CD01                movw r24,r26
 10179 597a 0E94 0000           call __divmodsi4
 10180 597e C20E                add r12,r18
 10181 5980 D31E                adc r13,r19
 10182 5982 692D                mov r22,r9
 10183 5984 7727                clr r23
 10184 5986 8827                clr r24
 10185 5988 9927                clr r25
 10186 598a 9801                movw r18,r16
 10187 598c 17FF                sbrs r17,7
 10188 598e 00C0                rjmp .L781
 10189 5990 2227                clr r18
 10190 5992 3327                clr r19
 10191 5994 201B                sub r18,r16
 10192 5996 310B                sbc r19,r17
 10193                  .L781:
 10194 5998 37FF                sbrs r19,7
 10195 599a 00C0                rjmp .L782
 10196 599c 2F5F                subi r18,lo8(-(1))
 10197 599e 3F4F                sbci r19,hi8(-(1))
 10198                  .L782:
 10199 59a0 3595                asr r19
 10200 59a2 2795                ror r18
 10201 59a4 E981                ldd r30,Y+1
 10202 59a6 FA81                ldd r31,Y+2
 10203 59a8 2E0F                add r18,r30
 10204 59aa 3F1F                adc r19,r31
 10205 59ac 4427                clr r20
 10206 59ae 37FD                sbrc r19,7
 10207 59b0 4095                com r20
 10208 59b2 542F                mov r21,r20
 10209 59b4 0E94 0000           call __mulsi3
 10210 59b8 97FF                sbrs r25,7
 10211 59ba 00C0                rjmp .L783
 10212 59bc 615C                subi r22,lo8(-(63))
 10213 59be 7F4F                sbci r23,hi8(-(63))
 10214 59c0 8F4F                sbci r24,hlo8(-(63))
 10215 59c2 9F4F                sbci r25,hhi8(-(63))
 10216                  .L783:
 10217 59c4 E6E0                ldi r30,6
 10218 59c6 9595        1:      asr r25
 10219 59c8 8795                ror r24
 10220 59ca 7795                ror r23
 10221 59cc 6795                ror r22
 10222 59ce EA95                dec r30
 10223 59d0 01F4                brne 1b
 10224 59d2 9B01                movw r18,r22
 10225 59d4 6C15                cp r22,r12
 10226 59d6 7D05                cpc r23,r13
 10227 59d8 04F4                brge .L784
 10228 59da 6B01                movw r12,r22
 10229                  .L784:
 10230 59dc 3095                com r19
 10231 59de 2195                neg r18
 10232 59e0 3F4F                sbci r19,lo8(-1)
 10233 59e2 C216                cp r12,r18
 10234 59e4 D306                cpc r13,r19
 10235 59e6 04F4                brge .L785
 10236 59e8 6901                movw r12,r18
 10237                  .L785:
 10238 59ea 8091 0000           lds r24,MIN_GAS
 10239 59ee 282E                mov r2,r24
 10240 59f0 3324                clr r3
 10241 59f2 5090 0000           lds r5,EE_Parameter+100
 10242 59f6 60E0                ldi r22,lo8(Motor)
 10243 59f8 862E                mov r8,r22
 10244 59fa 60E0                ldi r22,hi8(Motor)
 10245 59fc 962E                mov r9,r22
 10246 59fe 50E0                ldi r21,lo8(Mixer+13)
 10247 5a00 A52E                mov r10,r21
 10248 5a02 50E0                ldi r21,hi8(Mixer+13)
 10249 5a04 B52E                mov r11,r21
 10250 5a06 4BE0                ldi r20,lo8(11)
 10251 5a08 442E                mov r4,r20
 10252 5a0a 30E0                ldi r19,lo8(tmp_motorwert)
 10253 5a0c 632E                mov r6,r19
 10254 5a0e 30E0                ldi r19,hi8(tmp_motorwert)
 10255 5a10 732E                mov r7,r19
 10256                  .L820:
 10257 5a12 D501                movw r26,r10
 10258 5a14 2C91                ld r18,X
 10259 5a16 1216                cp __zero_reg__,r18
 10260 5a18 04F0                brlt .+2
 10261 5a1a 00C0                rjmp .L789
 10262 5a1c 2034                cpi r18,lo8(64)
 10263 5a1e 01F4                brne .L790
 10264 5a20 E981                ldd r30,Y+1
 10265 5a22 FA81                ldd r31,Y+2
 10266 5a24 FF8B                std Y+23,r31
 10267 5a26 EE8B                std Y+22,r30
 10268 5a28 00C0                rjmp .L791
 10269                  .L790:
 10270 5a2a 4981                ldd r20,Y+1
 10271 5a2c 5A81                ldd r21,Y+2
 10272 5a2e CA01                movw r24,r20
 10273 5a30 AA27                clr r26
 10274 5a32 97FD                sbrc r25,7
 10275 5a34 A095                com r26
 10276 5a36 BA2F                mov r27,r26
 10277 5a38 3327                clr r19
 10278 5a3a 27FD                sbrc r18,7
 10279 5a3c 3095                com r19
 10280 5a3e 432F                mov r20,r19
 10281 5a40 532F                mov r21,r19
 10282 5a42 BC01                movw r22,r24
 10283 5a44 CD01                movw r24,r26
 10284 5a46 0E94 0000           call __mulsi3
 10285 5a4a 97FF                sbrs r25,7
 10286 5a4c 00C0                rjmp .L792
 10287 5a4e 615C                subi r22,lo8(-(63))
 10288 5a50 7F4F                sbci r23,hi8(-(63))
 10289 5a52 8F4F                sbci r24,hlo8(-(63))
 10290 5a54 9F4F                sbci r25,hhi8(-(63))
 10291                  .L792:
 10292 5a56 26E0                ldi r18,6
 10293 5a58 9595        1:      asr r25
 10294 5a5a 8795                ror r24
 10295 5a5c 7795                ror r23
 10296 5a5e 6795                ror r22
 10297 5a60 2A95                dec r18
 10298 5a62 01F4                brne 1b
 10299 5a64 7F8B                std Y+23,r23
 10300 5a66 6E8B                std Y+22,r22
 10301                  .L791:
 10302 5a68 F501                movw r30,r10
 10303 5a6a 2181                ldd r18,Z+1
 10304 5a6c 2034                cpi r18,lo8(64)
 10305 5a6e 01F4                brne .L793
 10306 5a70 2E89                ldd r18,Y+22
 10307 5a72 3F89                ldd r19,Y+23
 10308 5a74 2E0D                add r18,r14
 10309 5a76 3F1D                adc r19,r15
 10310 5a78 3F8B                std Y+23,r19
 10311 5a7a 2E8B                std Y+22,r18
 10312 5a7c 00C0                rjmp .L794
 10313                  .L793:
 10314 5a7e 203C                cpi r18,lo8(-64)
 10315 5a80 01F4                brne .L795
 10316 5a82 4E89                ldd r20,Y+22
 10317 5a84 5F89                ldd r21,Y+23
 10318 5a86 4E19                sub r20,r14
 10319 5a88 5F09                sbc r21,r15
 10320 5a8a 5F8B                std Y+23,r21
 10321 5a8c 4E8B                std Y+22,r20
 10322 5a8e 00C0                rjmp .L794
 10323                  .L795:
 10324 5a90 C701                movw r24,r14
 10325 5a92 AA27                clr r26
 10326 5a94 97FD                sbrc r25,7
 10327 5a96 A095                com r26
 10328 5a98 BA2F                mov r27,r26
 10329 5a9a 3327                clr r19
 10330 5a9c 27FD                sbrc r18,7
 10331 5a9e 3095                com r19
 10332 5aa0 432F                mov r20,r19
 10333 5aa2 532F                mov r21,r19
 10334 5aa4 BC01                movw r22,r24
 10335 5aa6 CD01                movw r24,r26
 10336 5aa8 0E94 0000           call __mulsi3
 10337 5aac 97FF                sbrs r25,7
 10338 5aae 00C0                rjmp .L797
 10339 5ab0 615C                subi r22,lo8(-(63))
 10340 5ab2 7F4F                sbci r23,hi8(-(63))
 10341 5ab4 8F4F                sbci r24,hlo8(-(63))
 10342 5ab6 9F4F                sbci r25,hhi8(-(63))
 10343                  .L797:
 10344 5ab8 B6E0                ldi r27,6
 10345 5aba 9595        1:      asr r25
 10346 5abc 8795                ror r24
 10347 5abe 7795                ror r23
 10348 5ac0 6795                ror r22
 10349 5ac2 BA95                dec r27
 10350 5ac4 01F4                brne 1b
 10351 5ac6 AE89                ldd r26,Y+22
 10352 5ac8 BF89                ldd r27,Y+23
 10353 5aca A60F                add r26,r22
 10354 5acc B71F                adc r27,r23
 10355 5ace BF8B                std Y+23,r27
 10356 5ad0 AE8B                std Y+22,r26
 10357                  .L794:
 10358 5ad2 F501                movw r30,r10
 10359 5ad4 2281                ldd r18,Z+2
 10360 5ad6 2034                cpi r18,lo8(64)
 10361 5ad8 01F4                brne .L798
 10362 5ada 2E89                ldd r18,Y+22
 10363 5adc 3F89                ldd r19,Y+23
 10364 5ade 2C0D                add r18,r12
 10365 5ae0 3D1D                adc r19,r13
 10366 5ae2 3F8B                std Y+23,r19
 10367 5ae4 2E8B                std Y+22,r18
 10368 5ae6 00C0                rjmp .L799
 10369                  .L798:
 10370 5ae8 203C                cpi r18,lo8(-64)
 10371 5aea 01F4                brne .L800
 10372 5aec 4E89                ldd r20,Y+22
 10373 5aee 5F89                ldd r21,Y+23
 10374 5af0 4C19                sub r20,r12
 10375 5af2 5D09                sbc r21,r13
 10376 5af4 5F8B                std Y+23,r21
 10377 5af6 4E8B                std Y+22,r20
 10378 5af8 00C0                rjmp .L799
 10379                  .L800:
 10380 5afa C601                movw r24,r12
 10381 5afc AA27                clr r26
 10382 5afe 97FD                sbrc r25,7
 10383 5b00 A095                com r26
 10384 5b02 BA2F                mov r27,r26
 10385 5b04 3327                clr r19
 10386 5b06 27FD                sbrc r18,7
 10387 5b08 3095                com r19
 10388 5b0a 432F                mov r20,r19
 10389 5b0c 532F                mov r21,r19
 10390 5b0e BC01                movw r22,r24
 10391 5b10 CD01                movw r24,r26
 10392 5b12 0E94 0000           call __mulsi3
 10393 5b16 97FF                sbrs r25,7
 10394 5b18 00C0                rjmp .L802
 10395 5b1a 615C                subi r22,lo8(-(63))
 10396 5b1c 7F4F                sbci r23,hi8(-(63))
 10397 5b1e 8F4F                sbci r24,hlo8(-(63))
 10398 5b20 9F4F                sbci r25,hhi8(-(63))
 10399                  .L802:
 10400 5b22 A6E0                ldi r26,6
 10401 5b24 9595        1:      asr r25
 10402 5b26 8795                ror r24
 10403 5b28 7795                ror r23
 10404 5b2a 6795                ror r22
 10405 5b2c AA95                dec r26
 10406 5b2e 01F4                brne 1b
 10407 5b30 AE89                ldd r26,Y+22
 10408 5b32 BF89                ldd r27,Y+23
 10409 5b34 A60F                add r26,r22
 10410 5b36 B71F                adc r27,r23
 10411 5b38 BF8B                std Y+23,r27
 10412 5b3a AE8B                std Y+22,r26
 10413                  .L799:
 10414 5b3c F501                movw r30,r10
 10415 5b3e 2381                ldd r18,Z+3
 10416 5b40 2034                cpi r18,lo8(64)
 10417 5b42 01F4                brne .L803
 10418 5b44 2E89                ldd r18,Y+22
 10419 5b46 3F89                ldd r19,Y+23
 10420 5b48 200F                add r18,r16
 10421 5b4a 311F                adc r19,r17
 10422 5b4c 3F8B                std Y+23,r19
 10423 5b4e 2E8B                std Y+22,r18
 10424 5b50 00C0                rjmp .L804
 10425                  .L803:
 10426 5b52 203C                cpi r18,lo8(-64)
 10427 5b54 01F4                brne .L805
 10428 5b56 4E89                ldd r20,Y+22
 10429 5b58 5F89                ldd r21,Y+23
 10430 5b5a 401B                sub r20,r16
 10431 5b5c 510B                sbc r21,r17
 10432 5b5e 5F8B                std Y+23,r21
 10433 5b60 4E8B                std Y+22,r20
 10434 5b62 00C0                rjmp .L804
 10435                  .L805:
 10436 5b64 C801                movw r24,r16
 10437 5b66 AA27                clr r26
 10438 5b68 97FD                sbrc r25,7
 10439 5b6a A095                com r26
 10440 5b6c BA2F                mov r27,r26
 10441 5b6e 3327                clr r19
 10442 5b70 27FD                sbrc r18,7
 10443 5b72 3095                com r19
 10444 5b74 432F                mov r20,r19
 10445 5b76 532F                mov r21,r19
 10446 5b78 BC01                movw r22,r24
 10447 5b7a CD01                movw r24,r26
 10448 5b7c 0E94 0000           call __mulsi3
 10449 5b80 97FF                sbrs r25,7
 10450 5b82 00C0                rjmp .L807
 10451 5b84 615C                subi r22,lo8(-(63))
 10452 5b86 7F4F                sbci r23,hi8(-(63))
 10453 5b88 8F4F                sbci r24,hlo8(-(63))
 10454 5b8a 9F4F                sbci r25,hhi8(-(63))
 10455                  .L807:
 10456 5b8c F6E0                ldi r31,6
 10457 5b8e 9595        1:      asr r25
 10458 5b90 8795                ror r24
 10459 5b92 7795                ror r23
 10460 5b94 6795                ror r22
 10461 5b96 FA95                dec r31
 10462 5b98 01F4                brne 1b
 10463 5b9a AE89                ldd r26,Y+22
 10464 5b9c BF89                ldd r27,Y+23
 10465 5b9e A60F                add r26,r22
 10466 5ba0 B71F                adc r27,r23
 10467 5ba2 BF8B                std Y+23,r27
 10468 5ba4 AE8B                std Y+22,r26
 10469                  .L804:
 10470 5ba6 F301                movw r30,r6
 10471 5ba8 8081                ld r24,Z
 10472 5baa 9181                ldd r25,Z+1
 10473 5bac 2E89                ldd r18,Y+22
 10474 5bae 3F89                ldd r19,Y+23
 10475 5bb0 8217                cp r24,r18
 10476 5bb2 9307                cpc r25,r19
 10477 5bb4 04F4                brge .L808
 10478 5bb6 B901                movw r22,r18
 10479 5bb8 680F                add r22,r24
 10480 5bba 791F                adc r23,r25
 10481 5bbc 77FF                sbrs r23,7
 10482 5bbe 00C0                rjmp .L809
 10483 5bc0 6F5F                subi r22,lo8(-(1))
 10484 5bc2 7F4F                sbci r23,hi8(-(1))
 10485                  .L809:
 10486 5bc4 7595                asr r23
 10487 5bc6 6795                ror r22
 10488 5bc8 7F8B                std Y+23,r23
 10489 5bca 6E8B                std Y+22,r22
 10490 5bcc 00C0                rjmp .L810
 10491                  .L808:
 10492 5bce 5520                tst r5
 10493 5bd0 01F4                brne .L811
 10494 5bd2 4E89                ldd r20,Y+22
 10495 5bd4 5F89                ldd r21,Y+23
 10496 5bd6 440F                add r20,r20
 10497 5bd8 551F                adc r21,r21
 10498 5bda 481B                sub r20,r24
 10499 5bdc 590B                sbc r21,r25
 10500 5bde 5F8B                std Y+23,r21
 10501 5be0 4E8B                std Y+22,r20
 10502 5be2 00C0                rjmp .L810
 10503                  .L811:
 10504 5be4 51E0                ldi r21,lo8(1)
 10505 5be6 5515                cp r21,r5
 10506 5be8 00F4                brsh .L810
 10507 5bea 252D                mov r18,r5
 10508 5bec 3327                clr r19
 10509 5bee 6E89                ldd r22,Y+22
 10510 5bf0 7F89                ldd r23,Y+23
 10511 5bf2 861B                sub r24,r22
 10512 5bf4 970B                sbc r25,r23
 10513 5bf6 B901                movw r22,r18
 10514 5bf8 0E94 0000           call __divmodhi4
 10515 5bfc AE89                ldd r26,Y+22
 10516 5bfe BF89                ldd r27,Y+23
 10517 5c00 A60F                add r26,r22
 10518 5c02 B71F                adc r27,r23
 10519 5c04 BF8B                std Y+23,r27
 10520 5c06 AE8B                std Y+22,r26
 10521                  .L810:
 10522 5c08 C101                movw r24,r2
 10523 5c0a 880F                lsl r24
 10524 5c0c 991F                rol r25
 10525 5c0e 880F                lsl r24
 10526 5c10 991F                rol r25
 10527 5c12 EE89                ldd r30,Y+22
 10528 5c14 FF89                ldd r31,Y+23
 10529 5c16 8E17                cp r24,r30
 10530 5c18 9F07                cpc r25,r31
 10531 5c1a 04F4                brge .L850
 10532 5c1c FD89                ldd r31,Y+21
 10533 5c1e 8F2F                mov r24,r31
 10534 5c20 9927                clr r25
 10535 5c22 880F                lsl r24
 10536 5c24 991F                rol r25
 10537 5c26 880F                lsl r24
 10538 5c28 991F                rol r25
 10539 5c2a 2E89                ldd r18,Y+22
 10540 5c2c 3F89                ldd r19,Y+23
 10541 5c2e 2817                cp r18,r24
 10542 5c30 3907                cpc r19,r25
 10543 5c32 04F0                brlt .L815
 10544                  .L850:
 10545 5c34 9F8B                std Y+23,r25
 10546 5c36 8E8B                std Y+22,r24
 10547                  .L815:
 10548 5c38 8E89                ldd r24,Y+22
 10549 5c3a 9F89                ldd r25,Y+23
 10550 5c3c 97FD                sbrc r25,7
 10551 5c3e 0396                adiw r24,3
 10552                  .L817:
 10553 5c40 9595                asr r25
 10554 5c42 8795                ror r24
 10555 5c44 9595                asr r25
 10556 5c46 8795                ror r24
 10557 5c48 F401                movw r30,r8
 10558 5c4a 8183                std Z+1,r24
 10559 5c4c 880F                lsl r24
 10560 5c4e 991F                rol r25
 10561 5c50 880F                lsl r24
 10562 5c52 991F                rol r25
 10563 5c54 2E89                ldd r18,Y+22
 10564 5c56 3F89                ldd r19,Y+23
 10565 5c58 281B                sub r18,r24
 10566 5c5a 390B                sbc r19,r25
 10567 5c5c C901                movw r24,r18
 10568 5c5e 880F                lsl r24
 10569 5c60 8283                std Z+2,r24
 10570 5c62 EE89                ldd r30,Y+22
 10571 5c64 FF89                ldd r31,Y+23
 10572 5c66 D301                movw r26,r6
 10573 5c68 ED93                st X+,r30
 10574 5c6a FC93                st X,r31
 10575 5c6c 00C0                rjmp .L788
 10576                  .L789:
 10577 5c6e F401                movw r30,r8
 10578 5c70 1182                std Z+1,__zero_reg__
 10579 5c72 1282                std Z+2,__zero_reg__
 10580                  .L788:
 10581 5c74 4A94                dec r4
 10582 5c76 22E0                ldi r18,lo8(2)
 10583 5c78 30E0                ldi r19,hi8(2)
 10584 5c7a 620E                add r6,r18
 10585 5c7c 731E                adc r7,r19
 10586 5c7e 44E0                ldi r20,lo8(4)
 10587 5c80 50E0                ldi r21,hi8(4)
 10588 5c82 A40E                add r10,r20
 10589 5c84 B51E                adc r11,r21
 10590 5c86 68E0                ldi r22,lo8(8)
 10591 5c88 70E0                ldi r23,hi8(8)
 10592 5c8a 860E                add r8,r22
 10593 5c8c 971E                adc r9,r23
 10594 5c8e 47FE                sbrs r4,7
 10595 5c90 00C0                rjmp .L820
 10596                  /* epilogue: frame size=23 */
 10597 5c92 E2E1                ldi r30,18
 10598 5c94 C95E                subi r28,-23
 10599 5c96 0C94 0000           jmp __epilogue_restores__+0
 10600                  /* epilogue end (size=4) */
 10601                  /* function MotorRegler size 8012 (8002) */
 10603                          .comm Motors,8,1
 10604                          .comm Motorsmax,8,1
 10605                          .comm MotorsTmax,2,1
 10606                          .comm loop1,1,1
 10607                          .comm loop2,1,1
 10608                          .comm loop3,1,1
 10609                          .comm pos1,1,1
 10610                          .comm pos2,1,1
 10611                          .comm pos3,1,1
 10612                          .comm TrimNick,2,1
 10613                          .comm TrimRoll,2,1
 10614                          .comm ErsatzKompass,4,1
 10615                          .comm ErsatzKompassInGrad,2,1
 10616                          .comm MesswertNick,2,1
 10617                          .comm MesswertRoll,2,1
 10618                          .comm MesswertGier,2,1
 10619                          .comm Mittelwert_AccNick,2,1
 10620                          .comm Mittelwert_AccRoll,2,1
 10621                          .comm NaviAccNick,2,1
 10622                          .comm NaviAccRoll,2,1
 10623                          .comm h,1,1
 10624                          .comm m,1,1
 10625                          .comm s,1,1
 10626                          .comm DiffNick,2,1
 10627                          .comm DiffRoll,2,1
 10628                          .comm Parameter_Servo3,1,1
 10629                          .comm Parameter_Servo4,1,1
 10630                          .comm Parameter_Servo5,1,1
 10631                          .comm Parameter_J16Bitmask,1,1
 10632                          .comm Parameter_J16Timing,1,1
 10633                          .comm Parameter_J17Bitmask,1,1
 10634                          .comm Parameter_J17Timing,1,1
 10635                          .comm Parameter_GlobalConfig,1,1
 10636                          .comm Parameter_ExtraConfig,1,1
 10637                          .comm MesswertGierBias,2,1
 10638                          .comm RohMesswertNick,2,1
 10639                          .comm RohMesswertRoll,2,1
 10640                          .comm MittelIntegralNick,4,1
 10641                          .comm MittelIntegralRoll,4,1
 10642                          .comm MittelIntegralNick2,4,1
 10643                          .comm MittelIntegralRoll2,4,1
 10644                          .comm MAX_GAS,1,1
 10645                          .comm MIN_GAS,1,1
 10646                          .comm GyroFaktor,1,1
 10647                          .comm GyroFaktorGier,1,1
 10648                          .comm IntegralFaktor,1,1
 10649                          .comm IntegralFaktorGier,1,1
 10650                          .comm Parameter_NaviGpsModeControl,1,1
 10651                          .comm Parameter_NaviGpsGain,1,1
 10652                          .comm Parameter_NaviGpsP,1,1
 10653                          .comm Parameter_NaviGpsI,1,1
 10654                          .comm Parameter_NaviGpsD,1,1
 10655                          .comm Parameter_NaviGpsACC,1,1
 10656                          .comm Parameter_NaviOperatingRadius,1,1
 10657                          .comm Parameter_NaviWindCorrection,1,1
 10658                          .comm Parameter_NaviSpeedCompensation,1,1
 10659                          .comm Parameter_ExternalControl,1,1
 10660                          .comm Parameter_MaximumAltitude,1,1
 10661                          .comm KopplungsteilNickRoll,2,1
 10662                          .comm KopplungsteilRollNick,2,1
 10663                          .comm tmp_motorwert,24,1
 10664                  /* File "fc.c": code 12010 = 0x2eea (11953), prologues  29, epilogues  28 */
DEFINED SYMBOLS
                            *ABS*:00000000 fc.c
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3      *ABS*:0000003f __SREG__
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:4      *ABS*:0000003e __SP_H__
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:5      *ABS*:0000003d __SP_L__
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:6      *ABS*:00000000 __tmp_reg__
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:7      *ABS*:00000001 __zero_reg__
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:14     .data:00000000 VarioCharacter
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:19     .data:00000001 GIER_GRAD_FAKTOR
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:26     .bss:00000000 FC_StatusFlags2
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:32     .bss:00000001 FC_StatusFlags
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:38     .bss:00000002 modell_fliegt
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:44     .bss:00000004 MaxStickRoll
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:50     .bss:00000006 MaxStickNick
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:56     .data:00000005 ExternHoehenValue
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:63     .bss:00000008 ExternStickGier
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:69     .bss:0000000a ExternStickRoll
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:75     .bss:0000000c ExternStickNick
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:81     .data:00000007 sintab
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:118    .bss:0000000e CareFree
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:124    .data:00000026 Parameter_DynamicStability
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:129    .data:00000027 Parameter_CouplingYawCorrection
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:134    .data:00000028 Parameter_AchsKopplung2
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:139    .data:00000029 Parameter_AchsKopplung1
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:144    .data:0000002a Parameter_LoopGasLimit
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:149    .data:0000002b Parameter_ServoRollControl
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:154    .data:0000002c Parameter_ServoNickControl
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:161    .bss:0000000f Parameter_UserParam8
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:167    .bss:00000010 Parameter_UserParam7
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:173    .bss:00000011 Parameter_UserParam6
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:179    .bss:00000012 Parameter_UserParam5
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:185    .bss:00000013 Parameter_UserParam4
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:191    .bss:00000014 Parameter_UserParam3
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:197    .bss:00000015 Parameter_UserParam2
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:203    .bss:00000016 Parameter_UserParam1
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:209    .data:0000002d Parameter_I_Faktor
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:214    .data:0000002e Parameter_Gier_P
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:219    .data:0000002f Parameter_Gyro_Gier_I
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:224    .data:00000030 Parameter_Gyro_Gier_P
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:229    .data:00000031 Parameter_Gyro_I
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:234    .data:00000032 Parameter_Gyro_P
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:239    .data:00000033 Parameter_Gyro_D
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:244    .data:00000034 Parameter_Hoehe_GPS_Z
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:249    .data:00000035 Parameter_KompassWirkung
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:254    .data:00000036 Parameter_Hoehe_ACC_Wirkung
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:259    .data:00000037 Parameter_Hoehe_P
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:264    .data:00000038 Parameter_HoehenSchalter
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:269    .data:00000039 Parameter_Luftdruck_D
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:276    .bss:00000017 Looping_Oben
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:282    .bss:00000018 Looping_Unten
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:288    .bss:00000019 Looping_Rechts
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:294    .bss:0000001a Looping_Links
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:300    .bss:0000001b Looping_Roll
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:306    .bss:0000001c Looping_Nick
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:312    .data:0000003a Ki
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:319    .bss:0000001d HoverGas
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:325    .bss:0000001f LageKorrekturNick
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:331    .bss:00000021 LageKorrekturRoll
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:337    .bss:00000023 CompassGierSetpoint
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:343    .bss:00000025 WaypointTrimming
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:349    .data:0000003c carefree_old
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:356    .bss:00000026 FromNC_AltitudeSpeed
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:362    .bss:00000027 FromNC_AltitudeSetpoint
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:368    .bss:0000002b AltitudeSetpointTrimming
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:374    .bss:0000002d SollHoehe
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:380    .bss:00000031 HoehenWert
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:386    .bss:00000035 StartTrigger
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:392    .bss:00000036 MotorenEin
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:398    .bss:00000037 SenderOkay
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:404    .bss:00000038 Poti
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:410    .bss:00000041 StickGas
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:416    .bss:00000043 StickGier
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:422    .bss:00000045 StickRoll
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:428    .bss:00000047 StickNick
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:434    .data:0000003d HoverGasMax
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:441    .bss:00000049 HoverGasMin
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:447    .data:0000003f StickGasHover
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:454    .bss:0000004b GierGyroFehler
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:460    .data:00000041 Umschlag180Roll
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:465    .data:00000045 Umschlag180Nick
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:472    .bss:0000004d TrichterFlug
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:478    .bss:0000004e HoehenReglerAktiv
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:484    .data:00000049 KompassSignalSchlecht
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:489    .data:0000004b KompassFusion
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:494    .data:0000004c CalculateCompassTimer
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:501    .bss:0000004f KompassSollWert
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:507    .data:0000004d KompassValue
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:514    .bss:00000051 Mess_Integral_Hoch
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:520    .bss:00000055 SummeRoll
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:526    .bss:00000059 SummeNick
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:532    .bss:0000005d Mess_Integral_Gier
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:538    .bss:00000061 Mess_IntegralRoll2
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:544    .bss:00000065 Mess_IntegralRoll
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:550    .bss:00000069 Mess_IntegralNick2
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:556    .bss:0000006d Mess_IntegralNick
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:562    .bss:00000071 Integral_Gier
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:568    .bss:00000075 IntegralAccZ
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:574    .bss:00000079 IntegralAccRoll
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:580    .bss:0000007d IntegralAccNick
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:586    .bss:00000081 IntegralRoll2
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:592    .bss:00000085 IntegralRoll
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:598    .bss:00000089 IntegralNick2
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:604    .bss:0000008d IntegralNick
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:610    .bss:00000091 ControlHeading
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:616    .bss:00000092 NeutralAccZ
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:622    .bss:00000094 NaviCntAcc
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:628    .bss:00000096 NeutralAccY
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:634    .bss:00000098 NeutralAccX
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:640    .bss:0000009a StartNeutralNick
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:646    .bss:0000009c StartNeutralRoll
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:652    .bss:0000009e AdNeutralGier
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:658    .bss:000000a0 AdNeutralRoll
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:664    .bss:000000a2 AdNeutralNick
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:670    .bss:000000a4 BaroExpandActive
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:676    .bss:000000a6 calibration_done
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:682    .bss:000000a7 panotrigger
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:688    .bss:000000a8 panograd
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:694    .bss:000000aa degreediv
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:700    .bss:000000ac degreedivold
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:706    .bss:000000ae degreeold
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:712    .data:0000004f updatemotors
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:719    .bss:000000b0 pos4
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:725    .bss:000000b1 CurrentOffset
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:731    .data:00000050 keynumber
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:736    .data:00000052 settingdest
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:741    .text:00000000 CopyDebugValues
                            *COM*:00000002 Mittelwert_AccNick
                            *COM*:00000002 Mittelwert_AccRoll
                            *COM*:00000002 ErsatzKompassInGrad
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:947    .text:00000272 Piep
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1000   .text:000002ce CalibrierMittelwert
                            *COM*:00000002 MesswertNick
                            *COM*:00000002 MesswertRoll
                            *COM*:00000002 MesswertGier
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1142   .progmem.data:00000000 __c.36
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1147   .text:00000410 SetNeutral
                            *COM*:00000004 ErsatzKompass
                             .bss:000000b3 tmpl.28
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1652   .bss:000000b7 tmpl2.29
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1653   .bss:000000bb tmpl3.30
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1654   .bss:000000bf tmpl4.31
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1655   .bss:000000c3 oldNick.32
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1656   .bss:000000c5 oldRoll.33
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1657   .bss:000000c7 d2Roll.34
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1658   .bss:000000c9 d2Nick.35
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1662   .text:00000974 Mittelwert
                            *COM*:00000002 RohMesswertNick
                            *COM*:00000002 RohMesswertRoll
                            *COM*:00000002 NaviAccNick
                            *COM*:00000002 NaviAccRoll
                            *COM*:00000001 Parameter_GlobalConfig
                            *COM*:00000002 KopplungsteilNickRoll
                            *COM*:00000002 KopplungsteilRollNick
                            *COM*:00000002 TrimRoll
                            *COM*:00000002 TrimNick
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3227   .text:000018d8 SendMotorData
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3287   .text:00001952 ParameterZuordnung
                            *COM*:00000001 Parameter_J16Timing
                            *COM*:00000001 Parameter_J17Timing
                            *COM*:00000001 Parameter_Servo3
                            *COM*:00000001 Parameter_Servo4
                            *COM*:00000001 Parameter_Servo5
                            *COM*:00000001 Parameter_MaximumAltitude
                            *COM*:00000001 Parameter_ExtraConfig
                            *COM*:00000001 Parameter_ExternalControl
                            *COM*:00000001 MAX_GAS
                            *COM*:00000001 MIN_GAS
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:1659   .bss:000000cb sollGier.0
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3945   .bss:000000cf tmp_long.1
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3946   .bss:000000d3 tmp_long2.2
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3947   .bss:000000d7 IntegralFehlerNick.3
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3948   .bss:000000db IntegralFehlerRoll.4
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3949   .bss:000000df RcLostTimer.5
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3950   .bss:000000e1 delay_neutral.6
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3951   .bss:000000e2 delay_einschalten.7
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3952   .bss:000000e3 delay_ausschalten.8
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3953   .bss:000000e4 calibration_done.9
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3954   .bss:000000e5 NeueKompassRichtungMerken.10
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3955   .bss:000000e6 ausgleichNick.11
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3956   .bss:000000ea ausgleichRoll.12
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3957   .bss:000000ee stick_nick.13
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3958   .bss:000000f0 stick_roll.14
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3959   .bss:000000f2 cnt.15
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3960   .bss:000000f4 last_n_p.16
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3961   .bss:000000f5 last_n_n.17
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3962   .bss:000000f6 last_r_p.18
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3963   .bss:000000f7 last_r_n.19
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3964   .bss:000000f8 MittelIntegralNick_Alt.20
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3965   .bss:000000fc MittelIntegralRoll_Alt.21
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3966   .bss:00000100 HeightTrimming.22
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3967   .bss:00000102 FilterHCGas.23
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3968   .bss:00000104 HoverGasFilter.24
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3973   .data:00000053 delay.25
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3969   .bss:00000108 BaroAtUpperLimit.26
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3975   .bss:00000109 BaroAtLowerLimit.27
C:\Users\Thomas\AppData\Local\Temp/ccCyHAf1.s:3980   .text:00001ee2 MotorRegler
                            *COM*:00000001 GyroFaktor
                            *COM*:00000001 IntegralFaktor
                            *COM*:00000001 GyroFaktorGier
                            *COM*:00000001 IntegralFaktorGier
                            *COM*:00000004 MittelIntegralNick
                            *COM*:00000004 MittelIntegralRoll
                            *COM*:00000004 MittelIntegralNick2
                            *COM*:00000004 MittelIntegralRoll2
                            *COM*:00000002 DiffNick
                            *COM*:00000002 DiffRoll
                            *COM*:00000018 tmp_motorwert
                            *COM*:00000008 Motors
                            *COM*:00000008 Motorsmax
                            *COM*:00000002 MotorsTmax
                            *COM*:00000001 loop1
                            *COM*:00000001 loop2
                            *COM*:00000001 loop3
                            *COM*:00000001 pos1
                            *COM*:00000001 pos2
                            *COM*:00000001 pos3
                            *COM*:00000001 h
                            *COM*:00000001 m
                            *COM*:00000001 s
                            *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

UNDEFINED SYMBOLS
__do_copy_data
__do_clear_bss
EE_Parameter
__divmodsi4
DebugOut
AdWertGier
AdWertAccHoch
UBat
Motor
ServoNickValue
Capacity
GPS_Nick
GPS_Roll
VersionInfo
PlatinenVersion
beeptime
Delay_ms
SucheGyroOffset
AdWertNick
AdWertRoll
AdWertAccNick
AdWertAccRoll
PPM_in
__mulsi3
__prologue_saves__
ExpandBaro
Delay_ms_Mess
MessLuftdruck
SucheLuftruckOffset
__divmodhi4
Aktuell_az
SetParamWord
GetParamWord
uart_putchar
_printf_P
Luftdruck
StartLuftdruck
VarioMeter
SendVersionToNavi
LED_Init
FromNaviCtrl_Value
ServoActive
__epilogue_restores__
AdWertNickFilter
AdWertRollFilter
AdReady
HiResNick
HiResRoll
MotorTest
PC_MotortestActive
I2C_TransferActive
motor_write
twi_state
BLFlags
FromNaviCtrl
BeepMuster
PPM_diff
SetActiveParamSet
WinkelOut
GetActiveParamSet
ParamSet_ReadFromEEProm
LipoDetection
LIBFC_ReceiverInit
NC_ErrorCode
NewPpmData
FromNC_Rotate_C
FromNC_Rotate_S
GPS_Aid_StickMultiplikator
__floatsisf
__addsf3
__fixunssfsi
ExternControl
ZaehlMessungen
BattLowVoltageWarning
__udivmodhi4
DruckOffsetSetting
SummenHoehe
ihypot
c_cos_8192
__udivmodqi4
MissingMotor
Mixer