WebSVN - FlightCtrl - Blame - Rev 2304 - /branches/v0.90d_Ernstl

Rev	Author	Line No.	Line
2285	-	1	1 .file "fc.c"
		2	2 .arch atmega1284p
		3	3 __SREG__ = 0x3f
		4	4 __SP_H__ = 0x3e
		5	5 __SP_L__ = 0x3d
		6	6 __tmp_reg__ = 0
		7	7 __zero_reg__ = 1
		8	8 .global __do_copy_data
		9	9 .global __do_clear_bss
		10	10 .global GasIsZeroCnt
		11	11 .global GasIsZeroCnt
		12	12 .section .bss
		13	15 GasIsZeroCnt:
		14	16 0000 0000 .skip 2,0
		15	17 .global HooverGasEmergencyPercent
		16	18 .global HooverGasEmergencyPercent
		17	21 HooverGasEmergencyPercent:
		18	22 0002 0000 .skip 2,0
		19	23 .global VarioCharacter
		20	24 .data
		21	27 VarioCharacter:
		22	28 0000 20 .byte 32
		23	29 .global GIER_GRAD_FAKTOR
		24	32 GIER_GRAD_FAKTOR:
		25	33 0001 0B05 0000 .long 1291
		26	34 .global FC_StatusFlags2
		27	35 .global FC_StatusFlags2
		28	36 .section .bss
		29	39 FC_StatusFlags2:
		30	40 0004 00 .skip 1,0
		31	41 .global FC_StatusFlags
		32	42 .global FC_StatusFlags
		33	45 FC_StatusFlags:
		34	46 0005 00 .skip 1,0
		35	47 .global modell_fliegt
		36	48 .global modell_fliegt
		37	51 modell_fliegt:
		38	52 0006 0000 .skip 2,0
		39	53 .global MaxStickRoll
		40	54 .global MaxStickRoll
		41	57 MaxStickRoll:
		42	58 0008 0000 .skip 2,0
		43	59 .global MaxStickNick
		44	60 .global MaxStickNick
		45	63 MaxStickNick:
		46	64 000a 0000 .skip 2,0
		47	65 .global ExternHoehenValue
		48	66 .data
		49	69 ExternHoehenValue:
		50	70 0005 ECFF .word -20
		51	71 .global ExternStickGier
		52	72 .global ExternStickGier
		53	73 .section .bss
		54	76 ExternStickGier:
		55	77 000c 0000 .skip 2,0
		56	78 .global ExternStickRoll
		57	79 .global ExternStickRoll
		58	82 ExternStickRoll:
		59	83 000e 0000 .skip 2,0
		60	84 .global ExternStickNick
		61	85 .global ExternStickNick
		62	88 ExternStickNick:
		63	89 0010 0000 .skip 2,0
		64	90 .global sintab
		65	91 .data
		66	94 sintab:
		67	95 0007 00 .byte 0
		68	96 0008 02 .byte 2
		69	97 0009 04 .byte 4
		70	98 000a 06 .byte 6
		71	99 000b 07 .byte 7
		72	100 000c 08 .byte 8
		73	101 000d 08 .byte 8
		74	102 000e 08 .byte 8
		75	103 000f 07 .byte 7
		76	104 0010 06 .byte 6
		77	105 0011 04 .byte 4
		78	106 0012 02 .byte 2
		79	107 0013 00 .byte 0
		80	108 0014 FE .byte -2
		81	109 0015 FC .byte -4
		82	110 0016 FA .byte -6
		83	111 0017 F9 .byte -7
		84	112 0018 F8 .byte -8
		85	113 0019 F8 .byte -8
		86	114 001a F8 .byte -8
		87	115 001b F9 .byte -7
		88	116 001c FA .byte -6
		89	117 001d FC .byte -4
		90	118 001e FE .byte -2
		91	119 001f 00 .byte 0
		92	120 0020 02 .byte 2
		93	121 0021 04 .byte 4
		94	122 0022 06 .byte 6
		95	123 0023 07 .byte 7
		96	124 0024 08 .byte 8
		97	125 0025 08 .byte 8
		98	126 .global CareFree
		99	127 .global CareFree
		100	128 .section .bss
		101	131 CareFree:
		102	132 0012 00 .skip 1,0
		103	133 .global Parameter_DynamicStability
		104	134 .data
		105	137 Parameter_DynamicStability:
		106	138 0026 64 .byte 100
		107	139 .global Parameter_CouplingYawCorrection
		108	142 Parameter_CouplingYawCorrection:
		109	143 0027 40 .byte 64
		110	144 .global Parameter_AchsKopplung2
		111	147 Parameter_AchsKopplung2:
		112	148 0028 41 .byte 65
		113	149 .global Parameter_AchsKopplung1
		114	152 Parameter_AchsKopplung1:
		115	153 0029 5A .byte 90
		116	154 .global Parameter_LoopGasLimit
		117	157 Parameter_LoopGasLimit:
		118	158 002a 46 .byte 70
		119	159 .global Parameter_ServoRollControl
		120	162 Parameter_ServoRollControl:
		121	163 002b 64 .byte 100
		122	164 .global Parameter_ServoNickControl
		123	167 Parameter_ServoNickControl:
		124	168 002c 64 .byte 100
		125	169 .global Parameter_UserParam8
		126	170 .global Parameter_UserParam8
		127	171 .section .bss
		128	174 Parameter_UserParam8:
		129	175 0013 00 .skip 1,0
		130	176 .global Parameter_UserParam7
		131	177 .global Parameter_UserParam7
		132	180 Parameter_UserParam7:
		133	181 0014 00 .skip 1,0
		134	182 .global Parameter_UserParam6
		135	183 .global Parameter_UserParam6
		136	186 Parameter_UserParam6:
		137	187 0015 00 .skip 1,0
		138	188 .global Parameter_UserParam5
		139	189 .global Parameter_UserParam5
		140	192 Parameter_UserParam5:
		141	193 0016 00 .skip 1,0
		142	194 .global Parameter_UserParam4
		143	195 .global Parameter_UserParam4
		144	198 Parameter_UserParam4:
		145	199 0017 00 .skip 1,0
		146	200 .global Parameter_UserParam3
		147	201 .global Parameter_UserParam3
		148	204 Parameter_UserParam3:
		149	205 0018 00 .skip 1,0
		150	206 .global Parameter_UserParam2
		151	207 .global Parameter_UserParam2
		152	210 Parameter_UserParam2:
		153	211 0019 00 .skip 1,0
		154	212 .global Parameter_UserParam1
		155	213 .global Parameter_UserParam1
		156	216 Parameter_UserParam1:
		157	217 001a 00 .skip 1,0
		158	218 .global Parameter_I_Faktor
		159	219 .data
		160	222 Parameter_I_Faktor:
		161	223 002d 0A .byte 10
		162	224 .global Parameter_Gier_P
		163	227 Parameter_Gier_P:
		164	228 002e 02 .byte 2
		165	229 .global Parameter_Gyro_Gier_I
		166	232 Parameter_Gyro_Gier_I:
		167	233 002f 96 .byte -106
		168	234 .global Parameter_Gyro_Gier_P
		169	237 Parameter_Gyro_Gier_P:
		170	238 0030 96 .byte -106
		171	239 .global Parameter_Gyro_I
		172	242 Parameter_Gyro_I:
		173	243 0031 96 .byte -106
		174	244 .global Parameter_Gyro_P
		175	247 Parameter_Gyro_P:
		176	248 0032 96 .byte -106
		177	249 .global Parameter_Gyro_D
		178	252 Parameter_Gyro_D:
		179	253 0033 08 .byte 8
		180	254 .global Parameter_Hoehe_GPS_Z
		181	257 Parameter_Hoehe_GPS_Z:
		182	258 0034 40 .byte 64
		183	259 .global Parameter_KompassWirkung
		184	262 Parameter_KompassWirkung:
		185	263 0035 40 .byte 64
		186	264 .global Parameter_Hoehe_ACC_Wirkung
		187	267 Parameter_Hoehe_ACC_Wirkung:
		188	268 0036 3A .byte 58
		189	269 .global Parameter_Hoehe_P
		190	272 Parameter_Hoehe_P:
		191	273 0037 10 .byte 16
		192	274 .global Parameter_HoehenSchalter
		193	277 Parameter_HoehenSchalter:
		194	278 0038 FB .byte -5
		195	279 .global Parameter_Luftdruck_D
		196	282 Parameter_Luftdruck_D:
		197	283 0039 30 .byte 48
		198	284 .global Looping_Oben
		199	285 .global Looping_Oben
		200	286 .section .bss
		201	289 Looping_Oben:
		202	290 001b 00 .skip 1,0
		203	291 .global Looping_Unten
		204	292 .global Looping_Unten
		205	295 Looping_Unten:
		206	296 001c 00 .skip 1,0
		207	297 .global Looping_Rechts
		208	298 .global Looping_Rechts
		209	301 Looping_Rechts:
		210	302 001d 00 .skip 1,0
		211	303 .global Looping_Links
		212	304 .global Looping_Links
		213	307 Looping_Links:
		214	308 001e 00 .skip 1,0
		215	309 .global Looping_Roll
		216	310 .global Looping_Roll
		217	313 Looping_Roll:
		218	314 001f 00 .skip 1,0
		219	315 .global Looping_Nick
		220	316 .global Looping_Nick
		221	319 Looping_Nick:
		222	320 0020 00 .skip 1,0
		223	321 .global Ki
		224	322 .data
		225	325 Ki:
		226	326 003a 3801 .word 312
		227	327 .global HoverGas
		228	328 .global HoverGas
		229	329 .section .bss
		230	332 HoverGas:
		231	333 0021 0000 .skip 2,0
		232	334 .global LageKorrekturNick
		233	335 .global LageKorrekturNick
		234	338 LageKorrekturNick:
		235	339 0023 0000 .skip 2,0
		236	340 .global LageKorrekturRoll
		237	341 .global LageKorrekturRoll
		238	344 LageKorrekturRoll:
		239	345 0025 0000 .skip 2,0
		240	346 .global NeueKompassRichtungMerken
		241	347 .global NeueKompassRichtungMerken
		242	350 NeueKompassRichtungMerken:
		243	351 0027 00 .skip 1,0
		244	352 .global CalibrationDone
		245	353 .global CalibrationDone
		246	356 CalibrationDone:
		247	357 0028 00 .skip 1,0
		248	358 .global CompassGierSetpoint
		249	359 .global CompassGierSetpoint
		250	362 CompassGierSetpoint:
		251	363 0029 0000 .skip 2,0
		252	364 .global WaypointTrimming
		253	365 .global WaypointTrimming
		254	368 WaypointTrimming:
		255	369 002b 00 .skip 1,0
		256	370 .global carefree_old
		257	371 .data
		258	374 carefree_old:
		259	375 003c 32 .byte 50
		260	376 .global FromNC_AltitudeSpeed
		261	377 .global FromNC_AltitudeSpeed
		262	378 .section .bss
		263	381 FromNC_AltitudeSpeed:
		264	382 002c 00 .skip 1,0
		265	383 .global FromNC_AltitudeSetpoint
		266	384 .global FromNC_AltitudeSetpoint
		267	387 FromNC_AltitudeSetpoint:
		268	388 002d 0000 0000 .skip 4,0
		269	389 .global AltitudeSetpointTrimming
		270	390 .global AltitudeSetpointTrimming
		271	393 AltitudeSetpointTrimming:
		272	394 0031 0000 .skip 2,0
		273	395 .global SollHoehe
		274	396 .global SollHoehe
		275	399 SollHoehe:
		276	400 0033 0000 0000 .skip 4,0
		277	401 .global HoehenWert
		278	402 .global HoehenWert
		279	405 HoehenWert:
		280	406 0037 0000 0000 .skip 4,0
		281	407 .global StartTrigger
		282	408 .global StartTrigger
		283	411 StartTrigger:
		284	412 003b 00 .skip 1,0
		285	413 .global MotorenEin
		286	414 .global MotorenEin
		287	417 MotorenEin:
		288	418 003c 00 .skip 1,0
		289	419 .global SenderOkay
		290	420 .global SenderOkay
		291	423 SenderOkay:
		292	424 003d 00 .skip 1,0
		293	425 .global Poti
		294	426 .global Poti
		295	429 Poti:
		296	430 003e 0000 0000 .skip 9,0
		297	430 0000 0000
		298	430 00
		299	431 .global StickGas
		300	432 .global StickGas
		301	435 StickGas:
		302	436 0047 0000 .skip 2,0
		303	437 .global StickGier
		304	438 .global StickGier
		305	441 StickGier:
		306	442 0049 0000 .skip 2,0
		307	443 .global StickRoll
		308	444 .global StickRoll
		309	447 StickRoll:
		310	448 004b 0000 .skip 2,0
		311	449 .global StickNick
		312	450 .global StickNick
		313	453 StickNick:
		314	454 004d 0000 .skip 2,0
		315	455 .global HoverGasMax
		316	456 .data
		317	459 HoverGasMax:
		318	460 003d FF03 .word 1023
		319	461 .global HoverGasMin
		320	462 .global HoverGasMin
		321	463 .section .bss
		322	466 HoverGasMin:
		323	467 004f 0000 .skip 2,0
		324	468 .global StickGasHover
		325	469 .data
		326	472 StickGasHover:
		327	473 003f 7800 .word 120
		328	474 .global GierGyroFehler
		329	475 .global GierGyroFehler
		330	476 .section .bss
		331	479 GierGyroFehler:
		332	480 0051 0000 .skip 2,0
		333	481 .global Umschlag180Roll
		334	482 .data
		335	485 Umschlag180Roll:
		336	486 0041 90D0 0300 .long 250000
		337	487 .global Umschlag180Nick
		338	490 Umschlag180Nick:
		339	491 0045 90D0 0300 .long 250000
		340	492 .global TrichterFlug
		341	493 .global TrichterFlug
		342	494 .section .bss
		343	497 TrichterFlug:
		344	498 0053 00 .skip 1,0
		345	499 .global HoehenReglerAktiv
		346	500 .global HoehenReglerAktiv
		347	503 HoehenReglerAktiv:
		348	504 0054 00 .skip 1,0
		349	505 .global KompassSignalSchlecht
		350	506 .data
		351	509 KompassSignalSchlecht:
		352	510 0049 3200 .word 50
		353	511 .global KompassFusion
		354	514 KompassFusion:
		355	515 004b 20 .byte 32
		356	516 .global CalculateCompassTimer
		357	519 CalculateCompassTimer:
		358	520 004c 64 .byte 100
		359	521 .global KompassSollWert
		360	522 .global KompassSollWert
		361	523 .section .bss
		362	526 KompassSollWert:
		363	527 0055 0000 .skip 2,0
		364	528 .global KompassValue
		365	529 .data
		366	532 KompassValue:
		367	533 004d FFFF .word -1
		368	534 .global Mess_Integral_Hoch
		369	535 .global Mess_Integral_Hoch
		370	536 .section .bss
		371	539 Mess_Integral_Hoch:
		372	540 0057 0000 0000 .skip 4,0
		373	541 .global SummeRoll
		374	542 .global SummeRoll
		375	545 SummeRoll:
		376	546 005b 0000 0000 .skip 4,0
		377	547 .global SummeNick
		378	548 .global SummeNick
		379	551 SummeNick:
		380	552 005f 0000 0000 .skip 4,0
		381	553 .global Mess_Integral_Gier2
		382	554 .global Mess_Integral_Gier2
		383	557 Mess_Integral_Gier2:
		384	558 0063 0000 0000 .skip 4,0
		385	559 .global Mess_Integral_Gier
		386	560 .global Mess_Integral_Gier
		387	563 Mess_Integral_Gier:
		388	564 0067 0000 0000 .skip 4,0
		389	565 .global Mess_IntegralRoll2
		390	566 .global Mess_IntegralRoll2
		391	569 Mess_IntegralRoll2:
		392	570 006b 0000 0000 .skip 4,0
		393	571 .global Mess_IntegralRoll
		394	572 .global Mess_IntegralRoll
		395	575 Mess_IntegralRoll:
		396	576 006f 0000 0000 .skip 4,0
		397	577 .global Mess_IntegralNick2
		398	578 .global Mess_IntegralNick2
		399	581 Mess_IntegralNick2:
		400	582 0073 0000 0000 .skip 4,0
		401	583 .global Mess_IntegralNick
		402	584 .global Mess_IntegralNick
		403	587 Mess_IntegralNick:
		404	588 0077 0000 0000 .skip 4,0
		405	589 .global Integral_Gier
		406	590 .global Integral_Gier
		407	593 Integral_Gier:
		408	594 007b 0000 0000 .skip 4,0
		409	595 .global IntegralAccZ
		410	596 .global IntegralAccZ
		411	599 IntegralAccZ:
		412	600 007f 0000 0000 .skip 4,0
		413	601 .global IntegralAccRoll
		414	602 .global IntegralAccRoll
		415	605 IntegralAccRoll:
		416	606 0083 0000 0000 .skip 4,0
		417	607 .global IntegralAccNick
		418	608 .global IntegralAccNick
		419	611 IntegralAccNick:
		420	612 0087 0000 0000 .skip 4,0
		421	613 .global IntegralRoll2
		422	614 .global IntegralRoll2
		423	617 IntegralRoll2:
		424	618 008b 0000 0000 .skip 4,0
		425	619 .global IntegralRoll
		426	620 .global IntegralRoll
		427	623 IntegralRoll:
		428	624 008f 0000 0000 .skip 4,0
		429	625 .global IntegralNick2
		430	626 .global IntegralNick2
		431	629 IntegralNick2:
		432	630 0093 0000 0000 .skip 4,0
		433	631 .global IntegralNick
		434	632 .global IntegralNick
		435	635 IntegralNick:
		436	636 0097 0000 0000 .skip 4,0
		437	637 .global ControlHeading
		438	638 .global ControlHeading
		439	641 ControlHeading:
		440	642 009b 00 .skip 1,0
		441	643 .global NeutralAccZ
		442	644 .global NeutralAccZ
		443	647 NeutralAccZ:
		444	648 009c 0000 .skip 2,0
		445	649 .global NaviCntAcc
		446	650 .global NaviCntAcc
		447	653 NaviCntAcc:
		448	654 009e 0000 .skip 2,0
		449	655 .global NeutralAccY
		450	656 .global NeutralAccY
		451	659 NeutralAccY:
		452	660 00a0 0000 .skip 2,0
		453	661 .global NeutralAccX
		454	662 .global NeutralAccX
		455	665 NeutralAccX:
		456	666 00a2 0000 .skip 2,0
		457	667 .global StartNeutralNick
		458	668 .global StartNeutralNick
		459	671 StartNeutralNick:
		460	672 00a4 0000 .skip 2,0
		461	673 .global StartNeutralRoll
		462	674 .global StartNeutralRoll
		463	677 StartNeutralRoll:
		464	678 00a6 0000 .skip 2,0
		465	679 .global AdNeutralGier
		466	680 .global AdNeutralGier
		467	683 AdNeutralGier:
		468	684 00a8 0000 .skip 2,0
		469	685 .global AdNeutralRoll
		470	686 .global AdNeutralRoll
		471	689 AdNeutralRoll:
		472	690 00aa 0000 .skip 2,0
		473	691 .global AdNeutralNick
		474	692 .global AdNeutralNick
		475	695 AdNeutralNick:
		476	696 00ac 0000 .skip 2,0
		477	697 .global BaroExpandActive
		478	698 .global BaroExpandActive
		479	701 BaroExpandActive:
		480	702 00ae 0000 .skip 2,0
		481	703 .text
		482	704 .global CopyDebugValues
		483	706 CopyDebugValues:
		484	707 /* prologue: frame size=0 */
		485	708 0000 EF92 push r14
		486	709 0002 FF92 push r15
		487	710 0004 0F93 push r16
		488	711 0006 1F93 push r17
		489	712 /* prologue end (size=4) */
		490	713 0008 8091 0000 lds r24,EE_Parameter+28
		491	714 000c 9927 clr r25
		492	715 000e 880F lsl r24
		493	716 0010 991F rol r25
		494	717 0012 880F lsl r24
		495	718 0014 991F rol r25
		496	719 0016 7C01 movw r14,r24
		497	720 0018 0027 clr r16
		498	721 001a F7FC sbrc r15,7
		499	722 001c 0095 com r16
		500	723 001e 102F mov r17,r16
		501	724 0020 8091 0000 lds r24,IntegralNick
		502	725 0024 9091 0000 lds r25,(IntegralNick)+1
		503	726 0028 A091 0000 lds r26,(IntegralNick)+2
		504	727 002c B091 0000 lds r27,(IntegralNick)+3
		505	728 0030 BC01 movw r22,r24
		506	729 0032 CD01 movw r24,r26
		507	730 0034 A801 movw r20,r16
		508	731 0036 9701 movw r18,r14
		509	732 0038 0E94 0000 call __divmodsi4
		510	733 003c 3093 0000 sts (DebugOut+2)+1,r19
		511	734 0040 2093 0000 sts DebugOut+2,r18
		512	735 0044 8091 0000 lds r24,IntegralRoll
		513	736 0048 9091 0000 lds r25,(IntegralRoll)+1
		514	737 004c A091 0000 lds r26,(IntegralRoll)+2
		515	738 0050 B091 0000 lds r27,(IntegralRoll)+3
		516	739 0054 BC01 movw r22,r24
		517	740 0056 CD01 movw r24,r26
		518	741 0058 A801 movw r20,r16
		519	742 005a 9701 movw r18,r14
		520	743 005c 0E94 0000 call __divmodsi4
		521	744 0060 3093 0000 sts (DebugOut+4)+1,r19
		522	745 0064 2093 0000 sts DebugOut+4,r18
		523	746 0068 8091 0000 lds r24,Mittelwert_AccNick
		524	747 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1
		525	748 0070 97FD sbrc r25,7
		526	749 0072 0396 adiw r24,3
		527	750 .L2:
		528	751 0074 9595 asr r25
		529	752 0076 8795 ror r24
		530	753 0078 9595 asr r25
		531	754 007a 8795 ror r24
		532	755 007c 9093 0000 sts (DebugOut+6)+1,r25
		533	756 0080 8093 0000 sts DebugOut+6,r24
		534	757 0084 8091 0000 lds r24,Mittelwert_AccRoll
		535	758 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		536	759 008c 97FD sbrc r25,7
		537	760 008e 0396 adiw r24,3
		538	761 .L3:
		539	762 0090 9595 asr r25
		540	763 0092 8795 ror r24
		541	764 0094 9595 asr r25
		542	765 0096 8795 ror r24
		543	766 0098 9093 0000 sts (DebugOut+8)+1,r25
		544	767 009c 8093 0000 sts DebugOut+8,r24
		545	768 00a0 8091 0000 lds r24,AdNeutralGier
		546	769 00a4 9091 0000 lds r25,(AdNeutralGier)+1
		547	770 00a8 2091 0000 lds r18,AdWertGier
		548	771 00ac 3091 0000 lds r19,(AdWertGier)+1
		549	772 00b0 821B sub r24,r18
		550	773 00b2 930B sbc r25,r19
		551	774 00b4 9093 0000 sts (DebugOut+10)+1,r25
		552	775 00b8 8093 0000 sts DebugOut+10,r24
		553	776 00bc 8091 0000 lds r24,HoehenWert
		554	777 00c0 9091 0000 lds r25,(HoehenWert)+1
		555	778 00c4 A091 0000 lds r26,(HoehenWert)+2
		556	779 00c8 B091 0000 lds r27,(HoehenWert)+3
		557	780 00cc BC01 movw r22,r24
		558	781 00ce CD01 movw r24,r26
		559	782 00d0 25E0 ldi r18,lo8(5)
		560	783 00d2 30E0 ldi r19,hi8(5)
		561	784 00d4 40E0 ldi r20,hlo8(5)
		562	785 00d6 50E0 ldi r21,hhi8(5)
		563	786 00d8 0E94 0000 call __divmodsi4
		564	787 00dc 3093 0000 sts (DebugOut+12)+1,r19
		565	788 00e0 2093 0000 sts DebugOut+12,r18
		566	789 00e4 8091 0000 lds r24,AdWertAccHoch
		567	790 00e8 9091 0000 lds r25,(AdWertAccHoch)+1
		568	791 00ec 9093 0000 sts (DebugOut+14)+1,r25
		569	792 00f0 8093 0000 sts DebugOut+14,r24
		570	793 00f4 8091 0000 lds r24,KompassValue
		571	794 00f8 9091 0000 lds r25,(KompassValue)+1
		572	795 00fc 9093 0000 sts (DebugOut+18)+1,r25
		573	796 0100 8093 0000 sts DebugOut+18,r24
		574	797 0104 8091 0000 lds r24,UBat
		575	798 0108 9091 0000 lds r25,(UBat)+1
		576	799 010c 9093 0000 sts (DebugOut+20)+1,r25
		577	800 0110 8093 0000 sts DebugOut+20,r24
		578	801 0114 8091 0000 lds r24,SenderOkay
		579	802 0118 9927 clr r25
		580	803 011a 9093 0000 sts (DebugOut+22)+1,r25
		581	804 011e 8093 0000 sts DebugOut+22,r24
		582	805 0122 8091 0000 lds r24,ErsatzKompassInGrad
		583	806 0126 9091 0000 lds r25,(ErsatzKompassInGrad)+1
		584	807 012a 9093 0000 sts (DebugOut+24)+1,r25
		585	808 012e 8093 0000 sts DebugOut+24,r24
		586	809 0132 8091 0000 lds r24,Motor+1
		587	810 0136 9927 clr r25
		588	811 0138 9093 0000 sts (DebugOut+26)+1,r25
		589	812 013c 8093 0000 sts DebugOut+26,r24
		590	813 0140 8091 0000 lds r24,Motor+9
		591	814 0144 9927 clr r25
		592	815 0146 9093 0000 sts (DebugOut+28)+1,r25
		593	816 014a 8093 0000 sts DebugOut+28,r24
		594	817 014e 8091 0000 lds r24,Motor+17
		595	818 0152 9927 clr r25
		596	819 0154 9093 0000 sts (DebugOut+30)+1,r25
		597	820 0158 8093 0000 sts DebugOut+30,r24
		598	821 015c 8091 0000 lds r24,Motor+25
		599	822 0160 9927 clr r25
		600	823 0162 9093 0000 sts (DebugOut+32)+1,r25
		601	824 0166 8093 0000 sts DebugOut+32,r24
		602	825 016a 8091 0000 lds r24,ServoNickValue
		603	826 016e 9091 0000 lds r25,(ServoNickValue)+1
		604	827 0172 9093 0000 sts (DebugOut+42)+1,r25
		605	828 0176 8093 0000 sts DebugOut+42,r24
		606	829 017a 8091 0000 lds r24,Capacity
		607	830 017e 9091 0000 lds r25,(Capacity)+1
		608	831 0182 9093 0000 sts (DebugOut+46)+1,r25
		609	832 0186 8093 0000 sts DebugOut+46,r24
		610	833 018a 8091 0000 lds r24,Capacity+4
		611	834 018e 9091 0000 lds r25,(Capacity+4)+1
		612	835 0192 9093 0000 sts (DebugOut+48)+1,r25
		613	836 0196 8093 0000 sts DebugOut+48,r24
		614	837 019a 8091 0000 lds r24,SollHoehe
		615	838 019e 9091 0000 lds r25,(SollHoehe)+1
		616	839 01a2 A091 0000 lds r26,(SollHoehe)+2
		617	840 01a6 B091 0000 lds r27,(SollHoehe)+3
		618	841 01aa BC01 movw r22,r24
		619	842 01ac CD01 movw r24,r26
		620	843 01ae 25E0 ldi r18,lo8(5)
		621	844 01b0 30E0 ldi r19,hi8(5)
		622	845 01b2 40E0 ldi r20,hlo8(5)
		623	846 01b4 50E0 ldi r21,hhi8(5)
		624	847 01b6 0E94 0000 call __divmodsi4
		625	848 01ba 3093 0000 sts (DebugOut+50)+1,r19
		626	849 01be 2093 0000 sts DebugOut+50,r18
		627	850 01c2 8091 0000 lds r24,KompassSollWert
		628	851 01c6 9091 0000 lds r25,(KompassSollWert)+1
		629	852 01ca 9093 0000 sts (DebugOut+56)+1,r25
		630	853 01ce 8093 0000 sts DebugOut+56,r24
		631	854 01d2 8091 0000 lds r24,Capacity+6
		632	855 01d6 9927 clr r25
		633	856 01d8 9093 0000 sts (DebugOut+60)+1,r25
		634	857 01dc 8093 0000 sts DebugOut+60,r24
		635	858 01e0 8091 0000 lds r24,GPS_Nick
		636	859 01e4 9091 0000 lds r25,(GPS_Nick)+1
		637	860 01e8 9093 0000 sts (DebugOut+62)+1,r25
		638	861 01ec 8093 0000 sts DebugOut+62,r24
		639	862 01f0 8091 0000 lds r24,GPS_Roll
		640	863 01f4 9091 0000 lds r25,(GPS_Roll)+1
		641	864 01f8 9093 0000 sts (DebugOut+64)+1,r25
		642	865 01fc 8093 0000 sts DebugOut+64,r24
		643	866 0200 8091 0000 lds r24,VersionInfo+5
		644	867 0204 8823 tst r24
		645	868 0206 01F4 brne .L5
		646	869 0208 8091 0000 lds r24,VersionInfo+6
		647	870 020c 8823 tst r24
		648	871 020e 01F0 breq .L4
		649	872 .L5:
		650	873 0210 8091 0000 lds r24,DebugOut+1
		651	874 0214 8160 ori r24,lo8(1)
		652	875 0216 00C0 rjmp .L7
		653	876 .L4:
		654	877 0218 8091 0000 lds r24,DebugOut+1
		655	878 021c 8E7F andi r24,lo8(-2)
		656	879 .L7:
		657	880 021e 8093 0000 sts DebugOut+1,r24
		658	881 /* epilogue: frame size=0 */
		659	882 0222 1F91 pop r17
		660	883 0224 0F91 pop r16
		661	884 0226 FF90 pop r15
		662	885 0228 EF90 pop r14
		663	886 022a 0895 ret
		664	887 /* epilogue end (size=5) */
		665	888 /* function CopyDebugValues size 280 (271) */
		666	890 .global Piep
		667	892 Piep:
		668	893 /* prologue: frame size=0 */
		669	894 022c EF92 push r14
		670	895 022e FF92 push r15
		671	896 0230 1F93 push r17
		672	897 0232 CF93 push r28
		673	898 0234 DF93 push r29
		674	899 /* prologue end (size=5) */
		675	900 0236 182F mov r17,r24
		676	901 0238 7B01 movw r14,r22
		677	902 023a 8091 0000 lds r24,MotorenEin
		678	903 023e 8823 tst r24
		679	904 0240 01F4 brne .L8
		680	905 0242 8091 0000 lds r24,PlatinenVersion
		681	906 0246 8C30 cpi r24,lo8(12)
		682	907 0248 00F0 brlo .L11
		683	908 024a 8631 cpi r24,lo8(22)
		684	909 024c 01F4 brne .L10
		685	910 .L11:
		686	911 024e 2998 cbi 37-0x20,1
		687	912 0250 00C0 rjmp .L12
		688	913 .L10:
		689	914 0252 299A sbi 37-0x20,1
		690	915 .L12:
		691	916 0254 1150 subi r17,lo8(-(-1))
		692	917 0256 1F3F cpi r17,lo8(-1)
		693	918 0258 01F0 breq .L26
		694	919 025a F092 0000 sts (beeptime)+1,r15
		695	920 025e E092 0000 sts beeptime,r14
		696	921 0262 E701 movw r28,r14
		697	922 .L34:
		698	923 0264 8091 0000 lds r24,beeptime
		699	924 0268 9091 0000 lds r25,(beeptime)+1
		700	925 026c 892B or r24,r25
		701	926 026e 01F4 brne .L31
		702	927 0270 2097 sbiw r28,0
		703	928 0272 01F0 breq .L12
		704	929 .L31:
		705	930 0274 8091 0000 lds r24,UpdateMotor
		706	931 0278 8823 tst r24
		707	932 027a 01F0 breq .L34
		708	933 027c 1092 0000 sts UpdateMotor,__zero_reg__
		709	934 0280 8091 0000 lds r24,beeptime
		710	935 0284 9091 0000 lds r25,(beeptime)+1
		711	936 0288 892B or r24,r25
		712	937 028a 01F4 brne .L19
		713	938 028c 2197 sbiw r28,1
		714	939 .L19:
		715	940 028e 0E94 0000 call LIBFC_Polling
		716	941 0292 00C0 rjmp .L34
		717	942 .L26:
		718	943 0294 8091 0000 lds r24,PlatinenVersion
		719	944 0298 8C30 cpi r24,lo8(12)
		720	945 029a 00F0 brlo .L23
		721	946 029c 8631 cpi r24,lo8(22)
		722	947 029e 01F4 brne .L22
		723	948 .L23:
		724	949 02a0 299A sbi 37-0x20,1
		725	950 02a2 00C0 rjmp .L8
		726	951 .L22:
		727	952 02a4 2998 cbi 37-0x20,1
		728	953 .L8:
		729	954 /* epilogue: frame size=0 */
		730	955 02a6 DF91 pop r29
		731	956 02a8 CF91 pop r28
		732	957 02aa 1F91 pop r17
		733	958 02ac FF90 pop r15
		734	959 02ae EF90 pop r14
		735	960 02b0 0895 ret
		736	961 /* epilogue end (size=6) */
		737	962 /* function Piep size 67 (56) */
		738	964 .global CalibrierMittelwert
		739	966 CalibrierMittelwert:
		740	967 /* prologue: frame size=0 */
		741	968 02b2 CF93 push r28
		742	969 02b4 DF93 push r29
		743	970 /* prologue end (size=2) */
		744	971 02b6 8091 0000 lds r24,PlatinenVersion
		745	972 02ba 8D30 cpi r24,lo8(13)
		746	973 02bc 01F4 brne .L36
		747	974 02be 0E94 0000 call SucheGyroOffset
		748	975 .L36:
		749	976 02c2 1092 7A00 sts 122,__zero_reg__
		750	977 02c6 8091 0000 lds r24,AdWertNick
		751	978 02ca 9091 0000 lds r25,(AdWertNick)+1
		752	979 02ce 9093 0000 sts (MesswertNick)+1,r25
		753	980 02d2 8093 0000 sts MesswertNick,r24
		754	981 02d6 8091 0000 lds r24,AdWertRoll
		755	982 02da 9091 0000 lds r25,(AdWertRoll)+1
		756	983 02de 9093 0000 sts (MesswertRoll)+1,r25
		757	984 02e2 8093 0000 sts MesswertRoll,r24
		758	985 02e6 8091 0000 lds r24,AdWertGier
		759	986 02ea 9091 0000 lds r25,(AdWertGier)+1
		760	987 02ee 9093 0000 sts (MesswertGier)+1,r25
		761	988 02f2 8093 0000 sts MesswertGier,r24
		762	989 02f6 2091 0000 lds r18,AdWertAccNick
		763	990 02fa 3091 0000 lds r19,(AdWertAccNick)+1
		764	991 02fe C901 movw r24,r18
		765	992 0300 880F lsl r24
		766	993 0302 991F rol r25
		767	994 0304 880F lsl r24
		768	995 0306 991F rol r25
		769	996 0308 820F add r24,r18
		770	997 030a 931F adc r25,r19
		771	998 030c 820F add r24,r18
		772	999 030e 931F adc r25,r19
		773	1000 0310 9093 0000 sts (Mittelwert_AccNick)+1,r25
		774	1001 0314 8093 0000 sts Mittelwert_AccNick,r24
		775	1002 0318 2091 0000 lds r18,AdWertAccRoll
		776	1003 031c 3091 0000 lds r19,(AdWertAccRoll)+1
		777	1004 0320 C901 movw r24,r18
		778	1005 0322 880F lsl r24
		779	1006 0324 991F rol r25
		780	1007 0326 880F lsl r24
		781	1008 0328 991F rol r25
		782	1009 032a 820F add r24,r18
		783	1010 032c 931F adc r25,r19
		784	1011 032e 820F add r24,r18
		785	1012 0330 931F adc r25,r19
		786	1013 0332 9093 0000 sts (Mittelwert_AccRoll)+1,r25
		787	1014 0336 8093 0000 sts Mittelwert_AccRoll,r24
		788	1015 033a 8FEC ldi r24,lo8(-49)
		789	1016 033c 8093 7A00 sts 122,r24
		790	1017 0340 A0E0 ldi r26,lo8(Poti)
		791	1018 0342 B0E0 ldi r27,hi8(Poti)
		792	1019 0344 C0E0 ldi r28,lo8(EE_Parameter+5)
		793	1020 0346 D0E0 ldi r29,hi8(EE_Parameter+5)
		794	1021 0348 97E0 ldi r25,lo8(7)
		795	1022 .L46:
		796	1023 034a 8991 ld r24,Y+
		797	1024 034c E82F mov r30,r24
		798	1025 034e FF27 clr r31
		799	1026 0350 EE0F add r30,r30
		800	1027 0352 FF1F adc r31,r31
		801	1028 0354 E050 subi r30,lo8(-(PPM_in))
		802	1029 0356 F040 sbci r31,hi8(-(PPM_in))
		803	1030 0358 0190 ld __tmp_reg__,Z+
		804	1031 035a F081 ld r31,Z
		805	1032 035c E02D mov r30,__tmp_reg__
		806	1033 035e E158 subi r30,lo8(-(127))
		807	1034 0360 FF4F sbci r31,hi8(-(127))
		808	1035 0362 1E16 cp __zero_reg__,r30
		809	1036 0364 1F06 cpc __zero_reg__,r31
		810	1037 0366 04F0 brlt .L40
		811	1038 0368 E0E0 ldi r30,lo8(0)
		812	1039 036a F0E0 ldi r31,hi8(0)
		813	1040 036c 00C0 rjmp .L41
		814	1041 .L40:
		815	1042 036e EF3F cpi r30,255
		816	1043 0370 F105 cpc r31,__zero_reg__
		817	1044 0372 04F0 brlt .L41
		818	1045 0374 EFEF ldi r30,lo8(255)
		819	1046 0376 F0E0 ldi r31,hi8(255)
		820	1047 .L41:
		821	1048 0378 8C91 ld r24,X
		822	1049 037a 282F mov r18,r24
		823	1050 037c 3327 clr r19
		824	1051 037e E217 cp r30,r18
		825	1052 0380 F307 cpc r31,r19
		826	1053 0382 04F4 brge .L43
		827	1054 0384 8150 subi r24,lo8(-(-1))
		828	1055 0386 00C0 rjmp .L49
		829	1056 .L43:
		830	1057 0388 2E17 cp r18,r30
		831	1058 038a 3F07 cpc r19,r31
		832	1059 038c 04F4 brge .L39
		833	1060 038e 8F5F subi r24,lo8(-(1))
		834	1061 .L49:
		835	1062 0390 8C93 st X,r24
		836	1063 .L39:
		837	1064 0392 9150 subi r25,lo8(-(-1))
		838	1065 0394 1196 adiw r26,1
		839	1066 0396 97FF sbrs r25,7
		840	1067 0398 00C0 rjmp .L46
		841	1068 039a 8091 0000 lds r24,EE_Parameter+65
		842	1069 039e 9927 clr r25
		843	1070 03a0 AA27 clr r26
		844	1071 03a2 BB27 clr r27
		845	1072 03a4 BC01 movw r22,r24
		846	1073 03a6 CD01 movw r24,r26
		847	1074 03a8 24EC ldi r18,lo8(2500)
		848	1075 03aa 39E0 ldi r19,hi8(2500)
		849	1076 03ac 40E0 ldi r20,hlo8(2500)
		850	1077 03ae 50E0 ldi r21,hhi8(2500)
		851	1078 03b0 0E94 0000 call __mulsi3
		852	1079 03b4 DC01 movw r26,r24
		853	1080 03b6 CB01 movw r24,r22
		854	1081 03b8 8093 0000 sts Umschlag180Nick,r24
		855	1082 03bc 9093 0000 sts (Umschlag180Nick)+1,r25
		856	1083 03c0 A093 0000 sts (Umschlag180Nick)+2,r26
		857	1084 03c4 B093 0000 sts (Umschlag180Nick)+3,r27
		858	1085 03c8 8091 0000 lds r24,EE_Parameter+66
		859	1086 03cc 9927 clr r25
		860	1087 03ce AA27 clr r26
		861	1088 03d0 BB27 clr r27
		862	1089 03d2 BC01 movw r22,r24
		863	1090 03d4 CD01 movw r24,r26
		864	1091 03d6 0E94 0000 call __mulsi3
		865	1092 03da DC01 movw r26,r24
		866	1093 03dc CB01 movw r24,r22
		867	1094 03de 8093 0000 sts Umschlag180Roll,r24
		868	1095 03e2 9093 0000 sts (Umschlag180Roll)+1,r25
		869	1096 03e6 A093 0000 sts (Umschlag180Roll)+2,r26
		870	1097 03ea B093 0000 sts (Umschlag180Roll)+3,r27
		871	1098 /* epilogue: frame size=0 */
		872	1099 03ee DF91 pop r29
		873	1100 03f0 CF91 pop r28
		874	1101 03f2 0895 ret
		875	1102 /* epilogue end (size=3) */
		876	1103 /* function CalibrierMittelwert size 161 (156) */
		877	1105 .section .progmem.data,"a",@progbits
		878	1108 __c.35:
		879	1109 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n"
		880	1109 4320 6E6F
		881	1109 7420 6361
		882	1109 6C69 6272
		883	1109 6174 6564
		884	1110 .text
		885	1111 .global SetNeutral
		886	1113 SetNeutral:
		887	1114 /* prologue: frame size=0 */
		888	1115 03f4 A0E0 ldi r26,lo8(0)
		889	1116 03f6 B0E0 ldi r27,hi8(0)
		890	1117 03f8 E0E0 ldi r30,pm_lo8(1f)
		891	1118 03fa F0E0 ldi r31,pm_hi8(1f)
		892	1119 03fc 0C94 0000 jmp __prologue_saves__+12
		893	1120 1:
		894	1121 /* prologue end (size=6) */
		895	1122 0400 882E mov r8,r24
		896	1123 0402 C0E0 ldi r28,lo8(0)
		897	1124 0404 D0E0 ldi r29,hi8(0)
		898	1125 0406 7E01 movw r14,r28
		899	1126 0408 6E01 movw r12,r28
		900	1127 040a 1092 0000 sts VersionInfo+5,__zero_reg__
		901	1128 040e D093 0000 sts (NeutralAccX)+1,r29
		902	1129 0412 C093 0000 sts NeutralAccX,r28
		903	1130 0416 D093 0000 sts (NeutralAccY)+1,r29
		904	1131 041a C093 0000 sts NeutralAccY,r28
		905	1132 041e D093 0000 sts (NeutralAccZ)+1,r29
		906	1133 0422 C093 0000 sts NeutralAccZ,r28
		907	1134 0426 D093 0000 sts (AdNeutralNick)+1,r29
		908	1135 042a C093 0000 sts AdNeutralNick,r28
		909	1136 042e D093 0000 sts (AdNeutralRoll)+1,r29
		910	1137 0432 C093 0000 sts AdNeutralRoll,r28
		911	1138 0436 D093 0000 sts (AdNeutralGier)+1,r29
		912	1139 043a C093 0000 sts AdNeutralGier,r28
		913	1140 043e 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__
		914	1141 0442 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__
		915	1142 0446 1092 0000 sts ExpandBaro,__zero_reg__
		916	1143 044a 0E94 0000 call CalibrierMittelwert
		917	1144 044e 84E6 ldi r24,lo8(100)
		918	1145 0450 90E0 ldi r25,hi8(100)
		919	1146 0452 0E94 0000 call Delay_ms_Mess
		920	1147 0456 0E94 0000 call CalibrierMittelwert
		921	1148 045a 8091 0000 lds r24,EE_Parameter+13
		922	1149 045e 80FF sbrs r24,0
		923	1150 0460 00C0 rjmp .L51
		924	1151 0462 8091 0000 lds r24,MessLuftdruck
		925	1152 0466 9091 0000 lds r25,(MessLuftdruck)+1
		926	1153 046a 875B subi r24,lo8(951)
		927	1154 046c 9340 sbci r25,hi8(951)
		928	1155 046e 00F4 brsh .L53
		929	1156 0470 8091 0000 lds r24,MessLuftdruck
		930	1157 0474 9091 0000 lds r25,(MessLuftdruck)+1
		931	1158 0478 8E5E subi r24,lo8(750)
		932	1159 047a 9240 sbci r25,hi8(750)
		933	1160 047c 00F4 brsh .L51
		934	1161 .L53:
		935	1162 047e 0E94 0000 call SucheLuftruckOffset
		936	1163 .L51:
		937	1164 0482 0FE1 ldi r16,lo8(31)
		938	1165 .L57:
		939	1166 0484 8AE0 ldi r24,lo8(10)
		940	1167 0486 90E0 ldi r25,hi8(10)
		941	1168 0488 0E94 0000 call Delay_ms_Mess
		942	1169 048c 8091 0000 lds r24,AdWertGier
		943	1170 0490 9091 0000 lds r25,(AdWertGier)+1
		944	1171 0494 C80F add r28,r24
		945	1172 0496 D91F adc r29,r25
		946	1173 0498 8091 0000 lds r24,AdWertNick
		947	1174 049c 9091 0000 lds r25,(AdWertNick)+1
		948	1175 04a0 E80E add r14,r24
		949	1176 04a2 F91E adc r15,r25
		950	1177 04a4 8091 0000 lds r24,AdWertRoll
		951	1178 04a8 9091 0000 lds r25,(AdWertRoll)+1
		952	1179 04ac C80E add r12,r24
		953	1180 04ae D91E adc r13,r25
		954	1181 04b0 0150 subi r16,lo8(-(-1))
		955	1182 04b2 07FF sbrs r16,7
		956	1183 04b4 00C0 rjmp .L57
		957	1184 04b6 9701 movw r18,r14
		958	1185 04b8 205F subi r18,lo8(-(16))
		959	1186 04ba 3F4F sbci r19,hi8(-(16))
		960	1187 04bc 3695 lsr r19
		961	1188 04be 2795 ror r18
		962	1189 04c0 3695 lsr r19
		963	1190 04c2 2795 ror r18
		964	1191 04c4 3093 0000 sts (AdNeutralNick)+1,r19
		965	1192 04c8 2093 0000 sts AdNeutralNick,r18
		966	1193 04cc C601 movw r24,r12
		967	1194 04ce 4096 adiw r24,16
		968	1195 04d0 9695 lsr r25
		969	1196 04d2 8795 ror r24
		970	1197 04d4 9695 lsr r25
		971	1198 04d6 8795 ror r24
		972	1199 04d8 9093 0000 sts (AdNeutralRoll)+1,r25
		973	1200 04dc 8093 0000 sts AdNeutralRoll,r24
		974	1201 04e0 6096 adiw r28,16
		975	1202 04e2 F5E0 ldi r31,5
		976	1203 04e4 D695 1: lsr r29
		977	1204 04e6 C795 ror r28
		978	1205 04e8 FA95 dec r31
		979	1206 04ea 01F4 brne 1b
		980	1207 04ec D093 0000 sts (AdNeutralGier)+1,r29
		981	1208 04f0 C093 0000 sts AdNeutralGier,r28
		982	1209 04f4 9093 0000 sts (StartNeutralRoll)+1,r25
		983	1210 04f8 8093 0000 sts StartNeutralRoll,r24
		984	1211 04fc 3093 0000 sts (StartNeutralNick)+1,r19
		985	1212 0500 2093 0000 sts StartNeutralNick,r18
		986	1213 0504 8820 tst r8
		987	1214 0506 01F4 brne .+2
		988	1215 0508 00C0 rjmp .L58
		989	1216 050a 8091 0000 lds r24,Mittelwert_AccNick
		990	1217 050e 9091 0000 lds r25,(Mittelwert_AccNick)+1
		991	1218 0512 97FF sbrs r25,7
		992	1219 0514 00C0 rjmp .L59
		993	1220 0516 9095 com r25
		994	1221 0518 8195 neg r24
		995	1222 051a 9F4F sbci r25,lo8(-1)
		996	1223 .L59:
		997	1224 051c 6CE0 ldi r22,lo8(12)
		998	1225 051e 70E0 ldi r23,hi8(12)
		999	1226 0520 0E94 0000 call __divmodhi4
		1000	1227 0524 9B01 movw r18,r22
		1001	1228 0526 7093 0000 sts (NeutralAccX)+1,r23
		1002	1229 052a 6093 0000 sts NeutralAccX,r22
		1003	1230 052e 8091 0000 lds r24,Mittelwert_AccRoll
		1004	1231 0532 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		1005	1232 0536 97FF sbrs r25,7
		1006	1233 0538 00C0 rjmp .L60
		1007	1234 053a 9095 com r25
		1008	1235 053c 8195 neg r24
		1009	1236 053e 9F4F sbci r25,lo8(-1)
		1010	1237 .L60:
		1011	1238 0540 6CE0 ldi r22,lo8(12)
		1012	1239 0542 70E0 ldi r23,hi8(12)
		1013	1240 0544 0E94 0000 call __divmodhi4
		1014	1241 0548 7093 0000 sts (NeutralAccY)+1,r23
		1015	1242 054c 6093 0000 sts NeutralAccY,r22
		1016	1243 0550 8091 0000 lds r24,Aktuell_az
		1017	1244 0554 9091 0000 lds r25,(Aktuell_az)+1
		1018	1245 0558 9093 0000 sts (NeutralAccZ)+1,r25
		1019	1246 055c 8093 0000 sts NeutralAccZ,r24
		1020	1247 0560 B901 movw r22,r18
		1021	1248 0562 84E0 ldi r24,lo8(4)
		1022	1249 0564 90E0 ldi r25,hi8(4)
		1023	1250 0566 0E94 0000 call SetParamWord
		1024	1251 056a 6091 0000 lds r22,NeutralAccY
		1025	1252 056e 7091 0000 lds r23,(NeutralAccY)+1
		1026	1253 0572 86E0 ldi r24,lo8(6)
		1027	1254 0574 90E0 ldi r25,hi8(6)
		1028	1255 0576 0E94 0000 call SetParamWord
		1029	1256 057a 6091 0000 lds r22,NeutralAccZ
		1030	1257 057e 7091 0000 lds r23,(NeutralAccZ)+1
		1031	1258 0582 88E0 ldi r24,lo8(8)
		1032	1259 0584 90E0 ldi r25,hi8(8)
		1033	1260 0586 0E94 0000 call SetParamWord
		1034	1261 058a 00C0 rjmp .L61
		1035	1262 .L58:
		1036	1263 058c 84E0 ldi r24,lo8(4)
		1037	1264 058e 90E0 ldi r25,hi8(4)
		1038	1265 0590 0E94 0000 call GetParamWord
		1039	1266 0594 9093 0000 sts (NeutralAccX)+1,r25
		1040	1267 0598 8093 0000 sts NeutralAccX,r24
		1041	1268 059c 86E0 ldi r24,lo8(6)
		1042	1269 059e 90E0 ldi r25,hi8(6)
		1043	1270 05a0 0E94 0000 call GetParamWord
		1044	1271 05a4 9093 0000 sts (NeutralAccY)+1,r25
		1045	1272 05a8 8093 0000 sts NeutralAccY,r24
		1046	1273 05ac 88E0 ldi r24,lo8(8)
		1047	1274 05ae 90E0 ldi r25,hi8(8)
		1048	1275 05b0 0E94 0000 call GetParamWord
		1049	1276 05b4 9C01 movw r18,r24
		1050	1277 05b6 9093 0000 sts (NeutralAccZ)+1,r25
		1051	1278 05ba 8093 0000 sts NeutralAccZ,r24
		1052	1279 05be 8091 0000 lds r24,NeutralAccX
		1053	1280 05c2 9091 0000 lds r25,(NeutralAccX)+1
		1054	1281 05c6 8150 subi r24,lo8(2049)
		1055	1282 05c8 9840 sbci r25,hi8(2049)
		1056	1283 05ca 00F4 brsh .L63
		1057	1284 05cc 8091 0000 lds r24,NeutralAccY
		1058	1285 05d0 9091 0000 lds r25,(NeutralAccY)+1
		1059	1286 05d4 8150 subi r24,lo8(2049)
		1060	1287 05d6 9840 sbci r25,hi8(2049)
		1061	1288 05d8 00F4 brsh .L63
		1062	1289 05da 2150 subi r18,lo8(1025)
		1063	1290 05dc 3440 sbci r19,hi8(1025)
		1064	1291 05de 00F0 brlo .L61
		1065	1292 .L63:
		1066	1293 05e0 80E0 ldi r24,lo8(__c.35)
		1067	1294 05e2 90E0 ldi r25,hi8(__c.35)
		1068	1295 05e4 9F93 push r25
		1069	1296 05e6 8F93 push r24
		1070	1297 05e8 80E0 ldi r24,lo8(pm(uart_putchar))
		1071	1298 05ea 90E0 ldi r25,hi8(pm(uart_putchar))
		1072	1299 05ec 9F93 push r25
		1073	1300 05ee 8F93 push r24
		1074	1301 05f0 E091 0000 lds r30,_printf_P
		1075	1302 05f4 F091 0000 lds r31,(_printf_P)+1
		1076	1303 05f8 0995 icall
		1077	1304 05fa 8091 0000 lds r24,Mittelwert_AccNick
		1078	1305 05fe 9091 0000 lds r25,(Mittelwert_AccNick)+1
		1079	1306 0602 97FF sbrs r25,7
		1080	1307 0604 00C0 rjmp .L64
		1081	1308 0606 9095 com r25
		1082	1309 0608 8195 neg r24
		1083	1310 060a 9F4F sbci r25,lo8(-1)
		1084	1311 .L64:
		1085	1312 060c 6CE0 ldi r22,lo8(12)
		1086	1313 060e 70E0 ldi r23,hi8(12)
		1087	1314 0610 0E94 0000 call __divmodhi4
		1088	1315 0614 7093 0000 sts (NeutralAccX)+1,r23
		1089	1316 0618 6093 0000 sts NeutralAccX,r22
		1090	1317 061c 8091 0000 lds r24,Mittelwert_AccRoll
		1091	1318 0620 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		1092	1319 0624 97FF sbrs r25,7
		1093	1320 0626 00C0 rjmp .L65
		1094	1321 0628 9095 com r25
		1095	1322 062a 8195 neg r24
		1096	1323 062c 9F4F sbci r25,lo8(-1)
		1097	1324 .L65:
		1098	1325 062e 6CE0 ldi r22,lo8(12)
		1099	1326 0630 70E0 ldi r23,hi8(12)
		1100	1327 0632 0E94 0000 call __divmodhi4
		1101	1328 0636 7093 0000 sts (NeutralAccY)+1,r23
		1102	1329 063a 6093 0000 sts NeutralAccY,r22
		1103	1330 063e 8091 0000 lds r24,Aktuell_az
		1104	1331 0642 9091 0000 lds r25,(Aktuell_az)+1
		1105	1332 0646 9093 0000 sts (NeutralAccZ)+1,r25
		1106	1333 064a 8093 0000 sts NeutralAccZ,r24
		1107	1334 064e 0F90 pop __tmp_reg__
		1108	1335 0650 0F90 pop __tmp_reg__
		1109	1336 0652 0F90 pop __tmp_reg__
		1110	1337 0654 0F90 pop __tmp_reg__
		1111	1338 .L61:
		1112	1339 0656 1092 0000 sts (MesswertNick)+1,__zero_reg__
		1113	1340 065a 1092 0000 sts MesswertNick,__zero_reg__
		1114	1341 065e 1092 0000 sts (MesswertRoll)+1,__zero_reg__
		1115	1342 0662 1092 0000 sts MesswertRoll,__zero_reg__
		1116	1343 0666 1092 0000 sts (MesswertGier)+1,__zero_reg__
		1117	1344 066a 1092 0000 sts MesswertGier,__zero_reg__
		1118	1345 066e 84E6 ldi r24,lo8(100)
		1119	1346 0670 90E0 ldi r25,hi8(100)
		1120	1347 0672 0E94 0000 call Delay_ms_Mess
		1121	1348 0676 8091 0000 lds r24,AdWertAccNick
		1122	1349 067a 9091 0000 lds r25,(AdWertAccNick)+1
		1123	1350 067e 9C01 movw r18,r24
		1124	1351 0680 220F lsl r18
		1125	1352 0682 331F rol r19
		1126	1353 0684 220F lsl r18
		1127	1354 0686 331F rol r19
		1128	1355 0688 280F add r18,r24
		1129	1356 068a 391F adc r19,r25
		1130	1357 068c 280F add r18,r24
		1131	1358 068e 391F adc r19,r25
		1132	1359 0690 3093 0000 sts (Mittelwert_AccNick)+1,r19
		1133	1360 0694 2093 0000 sts Mittelwert_AccNick,r18
		1134	1361 0698 8091 0000 lds r24,AdWertAccRoll
		1135	1362 069c 9091 0000 lds r25,(AdWertAccRoll)+1
		1136	1363 06a0 8C01 movw r16,r24
		1137	1364 06a2 000F lsl r16
		1138	1365 06a4 111F rol r17
		1139	1366 06a6 000F lsl r16
		1140	1367 06a8 111F rol r17
		1141	1368 06aa 080F add r16,r24
		1142	1369 06ac 191F adc r17,r25
		1143	1370 06ae 080F add r16,r24
		1144	1371 06b0 191F adc r17,r25
		1145	1372 06b2 1093 0000 sts (Mittelwert_AccRoll)+1,r17
		1146	1373 06b6 0093 0000 sts Mittelwert_AccRoll,r16
		1147	1374 06ba 8091 0000 lds r24,EE_Parameter+28
		1148	1375 06be C82E mov r12,r24
		1149	1376 06c0 DD24 clr r13
		1150	1377 06c2 EE24 clr r14
		1151	1378 06c4 FF24 clr r15
		1152	1379 06c6 4427 clr r20
		1153	1380 06c8 37FD sbrc r19,7
		1154	1381 06ca 4095 com r20
		1155	1382 06cc 542F mov r21,r20
		1156	1383 06ce C701 movw r24,r14
		1157	1384 06d0 B601 movw r22,r12
		1158	1385 06d2 0E94 0000 call __mulsi3
		1159	1386 06d6 4B01 movw r8,r22
		1160	1387 06d8 5C01 movw r10,r24
		1161	1388 06da 6093 0000 sts IntegralNick,r22
		1162	1389 06de 7093 0000 sts (IntegralNick)+1,r23
		1163	1390 06e2 8093 0000 sts (IntegralNick)+2,r24
		1164	1391 06e6 9093 0000 sts (IntegralNick)+3,r25
		1165	1392 06ea 9801 movw r18,r16
		1166	1393 06ec 4427 clr r20
		1167	1394 06ee 37FD sbrc r19,7
		1168	1395 06f0 4095 com r20
		1169	1396 06f2 542F mov r21,r20
		1170	1397 06f4 C701 movw r24,r14
		1171	1398 06f6 B601 movw r22,r12
		1172	1399 06f8 0E94 0000 call __mulsi3
		1173	1400 06fc DC01 movw r26,r24
		1174	1401 06fe CB01 movw r24,r22
		1175	1402 0700 8093 0000 sts IntegralRoll,r24
		1176	1403 0704 9093 0000 sts (IntegralRoll)+1,r25
		1177	1404 0708 A093 0000 sts (IntegralRoll)+2,r26
		1178	1405 070c B093 0000 sts (IntegralRoll)+3,r27
		1179	1406 0710 8092 0000 sts Mess_IntegralNick,r8
		1180	1407 0714 9092 0000 sts (Mess_IntegralNick)+1,r9
		1181	1408 0718 A092 0000 sts (Mess_IntegralNick)+2,r10
		1182	1409 071c B092 0000 sts (Mess_IntegralNick)+3,r11
		1183	1410 0720 8093 0000 sts Mess_IntegralRoll,r24
		1184	1411 0724 9093 0000 sts (Mess_IntegralRoll)+1,r25
		1185	1412 0728 A093 0000 sts (Mess_IntegralRoll)+2,r26
		1186	1413 072c B093 0000 sts (Mess_IntegralRoll)+3,r27
		1187	1414 0730 1092 0000 sts Mess_Integral_Gier,__zero_reg__
		1188	1415 0734 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
		1189	1416 0738 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
		1190	1417 073c 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__
		1191	1418 0740 8091 0000 lds r24,Luftdruck
		1192	1419 0744 9091 0000 lds r25,(Luftdruck)+1
		1193	1420 0748 A091 0000 lds r26,(Luftdruck)+2
		1194	1421 074c B091 0000 lds r27,(Luftdruck)+3
		1195	1422 0750 9093 0000 sts (StartLuftdruck)+1,r25
		1196	1423 0754 8093 0000 sts StartLuftdruck,r24
		1197	1424 0758 1092 0000 sts (VarioMeter)+1,__zero_reg__
		1198	1425 075c 1092 0000 sts VarioMeter,__zero_reg__
		1199	1426 0760 1092 0000 sts Mess_Integral_Hoch,__zero_reg__
		1200	1427 0764 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__
		1201	1428 0768 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__
		1202	1429 076c 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__
		1203	1430 0770 0091 0000 lds r16,KompassValue
		1204	1431 0774 1091 0000 lds r17,(KompassValue)+1
		1205	1432 0778 1093 0000 sts (KompassSollWert)+1,r17
		1206	1433 077c 0093 0000 sts KompassSollWert,r16
		1207	1434 0780 84E6 ldi r24,lo8(100)
		1208	1435 0782 90E0 ldi r25,hi8(100)
		1209	1436 0784 9093 0000 sts (KompassSignalSchlecht)+1,r25
		1210	1437 0788 8093 0000 sts KompassSignalSchlecht,r24
		1211	1438 078c 82E3 ldi r24,lo8(50)
		1212	1439 078e 90E0 ldi r25,hi8(50)
		1213	1440 0790 9093 0000 sts (beeptime)+1,r25
		1214	1441 0794 8093 0000 sts beeptime,r24
		1215	1442 0798 8091 0000 lds r24,EE_Parameter+65
		1216	1443 079c 9927 clr r25
		1217	1444 079e AA27 clr r26
		1218	1445 07a0 BB27 clr r27
		1219	1446 07a2 BC01 movw r22,r24
		1220	1447 07a4 CD01 movw r24,r26
		1221	1448 07a6 24EC ldi r18,lo8(2500)
		1222	1449 07a8 39E0 ldi r19,hi8(2500)
		1223	1450 07aa 40E0 ldi r20,hlo8(2500)
		1224	1451 07ac 50E0 ldi r21,hhi8(2500)
		1225	1452 07ae 0E94 0000 call __mulsi3
		1226	1453 07b2 DC01 movw r26,r24
		1227	1454 07b4 CB01 movw r24,r22
		1228	1455 07b6 8856 subi r24,lo8(-(15000))
		1229	1456 07b8 954C sbci r25,hi8(-(15000))
		1230	1457 07ba AF4F sbci r26,hlo8(-(15000))
		1231	1458 07bc BF4F sbci r27,hhi8(-(15000))
		1232	1459 07be 8093 0000 sts Umschlag180Nick,r24
		1233	1460 07c2 9093 0000 sts (Umschlag180Nick)+1,r25
		1234	1461 07c6 A093 0000 sts (Umschlag180Nick)+2,r26
		1235	1462 07ca B093 0000 sts (Umschlag180Nick)+3,r27
		1236	1463 07ce 8091 0000 lds r24,EE_Parameter+66
		1237	1464 07d2 9927 clr r25
		1238	1465 07d4 AA27 clr r26
		1239	1466 07d6 BB27 clr r27
		1240	1467 07d8 BC01 movw r22,r24
		1241	1468 07da CD01 movw r24,r26
		1242	1469 07dc 0E94 0000 call __mulsi3
		1243	1470 07e0 DC01 movw r26,r24
		1244	1471 07e2 CB01 movw r24,r22
		1245	1472 07e4 8856 subi r24,lo8(-(15000))
		1246	1473 07e6 954C sbci r25,hi8(-(15000))
		1247	1474 07e8 AF4F sbci r26,hlo8(-(15000))
		1248	1475 07ea BF4F sbci r27,hhi8(-(15000))
		1249	1476 07ec 8093 0000 sts Umschlag180Roll,r24
		1250	1477 07f0 9093 0000 sts (Umschlag180Roll)+1,r25
		1251	1478 07f4 A093 0000 sts (Umschlag180Roll)+2,r26
		1252	1479 07f8 B093 0000 sts (Umschlag180Roll)+3,r27
		1253	1480 07fc 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__
		1254	1481 0800 1092 0000 sts ExternHoehenValue,__zero_reg__
		1255	1482 0804 C801 movw r24,r16
		1256	1483 0806 AA27 clr r26
		1257	1484 0808 97FD sbrc r25,7
		1258	1485 080a A095 com r26
		1259	1486 080c BA2F mov r27,r26
		1260	1487 080e 2091 0000 lds r18,GIER_GRAD_FAKTOR
		1261	1488 0812 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1
		1262	1489 0816 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2
		1263	1490 081a 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3
		1264	1491 081e BC01 movw r22,r24
		1265	1492 0820 CD01 movw r24,r26
		1266	1493 0822 0E94 0000 call __mulsi3
		1267	1494 0826 DC01 movw r26,r24
		1268	1495 0828 CB01 movw r24,r22
		1269	1496 082a 8093 0000 sts ErsatzKompass,r24
		1270	1497 082e 9093 0000 sts (ErsatzKompass)+1,r25
		1271	1498 0832 A093 0000 sts (ErsatzKompass)+2,r26
		1272	1499 0836 B093 0000 sts (ErsatzKompass)+3,r27
		1273	1500 083a 1092 0000 sts (GierGyroFehler)+1,__zero_reg__
		1274	1501 083e 1092 0000 sts GierGyroFehler,__zero_reg__
		1275	1502 0842 0E94 0000 call LED_Init
		1276	1503 0846 8091 0000 lds r24,FC_StatusFlags
		1277	1504 084a 8460 ori r24,lo8(4)
		1278	1505 084c 8093 0000 sts FC_StatusFlags,r24
		1279	1506 0850 8FEF ldi r24,lo8(-1)
		1280	1507 0852 8093 0000 sts FromNaviCtrl_Value,r24
		1281	1508 0856 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__
		1282	1509 085a 80E2 ldi r24,lo8(32)
		1283	1510 085c 8093 0000 sts FromNaviCtrl_Value+2,r24
		1284	1511 0860 C0E0 ldi r28,lo8(Poti)
		1285	1512 0862 D0E0 ldi r29,hi8(Poti)
		1286	1513 0864 A0E0 ldi r26,lo8(EE_Parameter+5)
		1287	1514 0866 B0E0 ldi r27,hi8(EE_Parameter+5)
		1288	1515 0868 07E0 ldi r16,lo8(7)
		1289	1516 .L69:
		1290	1517 086a 8D91 ld r24,X+
		1291	1518 086c E82F mov r30,r24
		1292	1519 086e FF27 clr r31
		1293	1520 0870 EE0F add r30,r30
		1294	1521 0872 FF1F adc r31,r31
		1295	1522 0874 E050 subi r30,lo8(-(PPM_in))
		1296	1523 0876 F040 sbci r31,hi8(-(PPM_in))
		1297	1524 0878 8081 ld r24,Z
		1298	1525 087a 9181 ldd r25,Z+1
		1299	1526 087c 8158 subi r24,lo8(-(127))
		1300	1527 087e 8993 st Y+,r24
		1301	1528 0880 0150 subi r16,lo8(-(-1))
		1302	1529 0882 07FF sbrs r16,7
		1303	1530 0884 00C0 rjmp .L69
		1304	1531 0886 84E6 ldi r24,lo8(100)
		1305	1532 0888 8093 0000 sts SenderOkay,r24
		1306	1533 088c 8091 0000 lds r24,ServoActive
		1307	1534 0890 8823 tst r24
		1308	1535 0892 01F0 breq .L70
		1309	1536 0894 579A sbi 42-0x20,7
		1310	1537 0896 00C0 rjmp .L71
		1311	1538 .L70:
		1312	1539 0898 80E0 ldi r24,lo8(4352)
		1313	1540 089a 91E1 ldi r25,hi8(4352)
		1314	1541 089c 9093 0000 sts (NickServoValue)+1,r25
		1315	1542 08a0 8093 0000 sts NickServoValue,r24
		1316	1543 .L71:
		1317	1544 08a4 8091 0000 lds r24,AdNeutralNick
		1318	1545 08a8 9091 0000 lds r25,(AdNeutralNick)+1
		1319	1546 08ac 8056 subi r24,lo8(-(-2400))
		1320	1547 08ae 9940 sbci r25,hi8(-(-2400))
		1321	1548 08b0 815C subi r24,lo8(11201)
		1322	1549 08b2 9B42 sbci r25,hi8(11201)
		1323	1550 08b4 00F0 brlo .L72
		1324	1551 08b6 8091 0000 lds r24,VersionInfo+5
		1325	1552 08ba 8160 ori r24,lo8(1)
		1326	1553 08bc 8093 0000 sts VersionInfo+5,r24
		1327	1554 .L72:
		1328	1555 08c0 8091 0000 lds r24,AdNeutralRoll
		1329	1556 08c4 9091 0000 lds r25,(AdNeutralRoll)+1
		1330	1557 08c8 8056 subi r24,lo8(-(-2400))
		1331	1558 08ca 9940 sbci r25,hi8(-(-2400))
		1332	1559 08cc 815C subi r24,lo8(11201)
		1333	1560 08ce 9B42 sbci r25,hi8(11201)
		1334	1561 08d0 00F0 brlo .L73
		1335	1562 08d2 8091 0000 lds r24,VersionInfo+5
		1336	1563 08d6 8260 ori r24,lo8(2)
		1337	1564 08d8 8093 0000 sts VersionInfo+5,r24
		1338	1565 .L73:
		1339	1566 08dc 8091 0000 lds r24,AdNeutralGier
		1340	1567 08e0 9091 0000 lds r25,(AdNeutralGier)+1
		1341	1568 08e4 8C52 subi r24,lo8(-(-300))
		1342	1569 08e6 9140 sbci r25,hi8(-(-300))
		1343	1570 08e8 8957 subi r24,lo8(1401)
		1344	1571 08ea 9540 sbci r25,hi8(1401)
		1345	1572 08ec 00F0 brlo .L74
		1346	1573 08ee 8091 0000 lds r24,VersionInfo+5
		1347	1574 08f2 8460 ori r24,lo8(4)
		1348	1575 08f4 8093 0000 sts VersionInfo+5,r24
		1349	1576 .L74:
		1350	1577 08f8 8091 0000 lds r24,NeutralAccX
		1351	1578 08fc 9091 0000 lds r25,(NeutralAccX)+1
		1352	1579 0900 8C52 subi r24,lo8(-(-300))
		1353	1580 0902 9140 sbci r25,hi8(-(-300))
		1354	1581 0904 835C subi r24,lo8(451)
		1355	1582 0906 9140 sbci r25,hi8(451)
		1356	1583 0908 00F0 brlo .L75
		1357	1584 090a 8091 0000 lds r24,VersionInfo+5
		1358	1585 090e 8860 ori r24,lo8(8)
		1359	1586 0910 8093 0000 sts VersionInfo+5,r24
		1360	1587 .L75:
		1361	1588 0914 8091 0000 lds r24,NeutralAccY
		1362	1589 0918 9091 0000 lds r25,(NeutralAccY)+1
		1363	1590 091c 8C52 subi r24,lo8(-(-300))
		1364	1591 091e 9140 sbci r25,hi8(-(-300))
		1365	1592 0920 835C subi r24,lo8(451)
		1366	1593 0922 9140 sbci r25,hi8(451)
		1367	1594 0924 00F0 brlo .L76
		1368	1595 0926 8091 0000 lds r24,VersionInfo+5
		1369	1596 092a 8061 ori r24,lo8(16)
		1370	1597 092c 8093 0000 sts VersionInfo+5,r24
		1371	1598 .L76:
		1372	1599 0930 8091 0000 lds r24,NeutralAccZ
		1373	1600 0934 9091 0000 lds r25,(NeutralAccZ)+1
		1374	1601 0938 8050 subi r24,lo8(-(-512))
		1375	1602 093a 9240 sbci r25,hi8(-(-512))
		1376	1603 093c 8355 subi r24,lo8(339)
		1377	1604 093e 9140 sbci r25,hi8(339)
		1378	1605 0940 00F0 brlo .L77
		1379	1606 0942 8091 0000 lds r24,VersionInfo+5
		1380	1607 0946 8062 ori r24,lo8(32)
		1381	1608 0948 8093 0000 sts VersionInfo+5,r24
		1382	1609 .L77:
		1383	1610 094c 86E4 ldi r24,lo8(70)
		1384	1611 094e 8093 0000 sts carefree_old,r24
		1385	1612 0952 0E94 0000 call LIBFC_HoTT_Clear
		1386	1613 /* epilogue: frame size=0 */
		1387	1614 0956 ECE0 ldi r30,12
		1388	1615 0958 CDB7 in r28,__SP_L__
		1389	1616 095a DEB7 in r29,__SP_H__
		1390	1617 095c 0C94 0000 jmp __epilogue_restores__+12
		1391	1618 /* epilogue end (size=5) */
		1392	1619 /* function SetNeutral size 705 (694) */
		1393	1621 .lcomm tmpl.27,4
		1394	1622 .lcomm tmpl2.28,4
		1395	1623 .lcomm tmpl3.29,4
		1396	1624 .lcomm tmpl4.30,4
		1397	1625 .lcomm oldNick.31,2
		1398	1626 .lcomm oldRoll.32,2
		1399	1627 .lcomm d2Roll.33,2
		1400	1628 .lcomm d2Nick.34,2
		1401	1629 .global Mittelwert
		1402	1631 Mittelwert:
		1403	1632 /* prologue: frame size=19 */
		1404	1633 0960 A3E1 ldi r26,lo8(19)
		1405	1634 0962 B0E0 ldi r27,hi8(19)
		1406	1635 0964 E0E0 ldi r30,pm_lo8(1f)
		1407	1636 0966 F0E0 ldi r31,pm_hi8(1f)
		1408	1637 0968 0C94 0000 jmp __prologue_saves__+0
		1409	1638 1:
		1410	1639 /* prologue end (size=6) */
		1411	1640 096c 8091 0000 lds r24,AdNeutralGier
		1412	1641 0970 9091 0000 lds r25,(AdNeutralGier)+1
		1413	1642 0974 2091 0000 lds r18,AdWertGier
		1414	1643 0978 3091 0000 lds r19,(AdWertGier)+1
		1415	1644 097c 821B sub r24,r18
		1416	1645 097e 930B sbc r25,r19
		1417	1646 0980 9093 0000 sts (MesswertGier)+1,r25
		1418	1647 0984 8093 0000 sts MesswertGier,r24
		1419	1648 0988 8091 0000 lds r24,AdWertNickFilter
		1420	1649 098c 9091 0000 lds r25,(AdWertNickFilter)+1
		1421	1650 0990 97FD sbrc r25,7
		1422	1651 0992 0796 adiw r24,7
		1423	1652 .L83:
		1424	1653 0994 9C01 movw r18,r24
		1425	1654 0996 13E0 ldi r17,3
		1426	1655 0998 3595 1: asr r19
		1427	1656 099a 2795 ror r18
		1428	1657 099c 1A95 dec r17
		1429	1658 099e 01F4 brne 1b
		1430	1659 09a0 3093 0000 sts (MesswertNick)+1,r19
		1431	1660 09a4 2093 0000 sts MesswertNick,r18
		1432	1661 09a8 8091 0000 lds r24,AdWertRollFilter
		1433	1662 09ac 9091 0000 lds r25,(AdWertRollFilter)+1
		1434	1663 09b0 97FD sbrc r25,7
		1435	1664 09b2 0796 adiw r24,7
		1436	1665 .L84:
		1437	1666 09b4 B3E0 ldi r27,3
		1438	1667 09b6 9595 1: asr r25
		1439	1668 09b8 8795 ror r24
		1440	1669 09ba BA95 dec r27
		1441	1670 09bc 01F4 brne 1b
		1442	1671 09be 9093 0000 sts (MesswertRoll)+1,r25
		1443	1672 09c2 8093 0000 sts MesswertRoll,r24
		1444	1673 09c6 3093 0000 sts (RohMesswertNick)+1,r19
		1445	1674 09ca 2093 0000 sts RohMesswertNick,r18
		1446	1675 09ce 9093 0000 sts (RohMesswertRoll)+1,r25
		1447	1676 09d2 8093 0000 sts RohMesswertRoll,r24
		1448	1677 09d6 8091 0000 lds r24,Mittelwert_AccNick
		1449	1678 09da 9091 0000 lds r25,(Mittelwert_AccNick)+1
		1450	1679 09de AC01 movw r20,r24
		1451	1680 09e0 440F lsl r20
		1452	1681 09e2 551F rol r21
		1453	1682 09e4 480F add r20,r24
		1454	1683 09e6 591F adc r21,r25
		1455	1684 09e8 2091 0000 lds r18,AdWertAccNick
		1456	1685 09ec 3091 0000 lds r19,(AdWertAccNick)+1
		1457	1686 09f0 C901 movw r24,r18
		1458	1687 09f2 880F lsl r24
		1459	1688 09f4 991F rol r25
		1460	1689 09f6 880F lsl r24
		1461	1690 09f8 991F rol r25
		1462	1691 09fa 820F add r24,r18
		1463	1692 09fc 931F adc r25,r19
		1464	1693 09fe 820F add r24,r18
		1465	1694 0a00 931F adc r25,r19
		1466	1695 0a02 480F add r20,r24
		1467	1696 0a04 591F adc r21,r25
		1468	1697 0a06 57FF sbrs r21,7
		1469	1698 0a08 00C0 rjmp .L85
		1470	1699 0a0a 4D5F subi r20,lo8(-(3))
		1471	1700 0a0c 5F4F sbci r21,hi8(-(3))
		1472	1701 .L85:
		1473	1702 0a0e 5595 asr r21
		1474	1703 0a10 4795 ror r20
		1475	1704 0a12 5595 asr r21
		1476	1705 0a14 4795 ror r20
		1477	1706 0a16 5093 0000 sts (Mittelwert_AccNick)+1,r21
		1478	1707 0a1a 4093 0000 sts Mittelwert_AccNick,r20
		1479	1708 0a1e 8091 0000 lds r24,Mittelwert_AccRoll
		1480	1709 0a22 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		1481	1710 0a26 AC01 movw r20,r24
		1482	1711 0a28 440F lsl r20
		1483	1712 0a2a 551F rol r21
		1484	1713 0a2c 480F add r20,r24
		1485	1714 0a2e 591F adc r21,r25
		1486	1715 0a30 2091 0000 lds r18,AdWertAccRoll
		1487	1716 0a34 3091 0000 lds r19,(AdWertAccRoll)+1
		1488	1717 0a38 C901 movw r24,r18
		1489	1718 0a3a 880F lsl r24
		1490	1719 0a3c 991F rol r25
		1491	1720 0a3e 880F lsl r24
		1492	1721 0a40 991F rol r25
		1493	1722 0a42 820F add r24,r18
		1494	1723 0a44 931F adc r25,r19
		1495	1724 0a46 820F add r24,r18
		1496	1725 0a48 931F adc r25,r19
		1497	1726 0a4a 480F add r20,r24
		1498	1727 0a4c 591F adc r21,r25
		1499	1728 0a4e 57FF sbrs r21,7
		1500	1729 0a50 00C0 rjmp .L86
		1501	1730 0a52 4D5F subi r20,lo8(-(3))
		1502	1731 0a54 5F4F sbci r21,hi8(-(3))
		1503	1732 .L86:
		1504	1733 0a56 5595 asr r21
		1505	1734 0a58 4795 ror r20
		1506	1735 0a5a 5595 asr r21
		1507	1736 0a5c 4795 ror r20
		1508	1737 0a5e 5093 0000 sts (Mittelwert_AccRoll)+1,r21
		1509	1738 0a62 4093 0000 sts Mittelwert_AccRoll,r20
		1510	1739 0a66 2091 0000 lds r18,AdWertAccNick
		1511	1740 0a6a 3091 0000 lds r19,(AdWertAccNick)+1
		1512	1741 0a6e C901 movw r24,r18
		1513	1742 0a70 880F lsl r24
		1514	1743 0a72 991F rol r25
		1515	1744 0a74 880F lsl r24
		1516	1745 0a76 991F rol r25
		1517	1746 0a78 820F add r24,r18
		1518	1747 0a7a 931F adc r25,r19
		1519	1748 0a7c 820F add r24,r18
		1520	1749 0a7e 931F adc r25,r19
		1521	1750 0a80 9C01 movw r18,r24
		1522	1751 0a82 4427 clr r20
		1523	1752 0a84 37FD sbrc r19,7
		1524	1753 0a86 4095 com r20
		1525	1754 0a88 542F mov r21,r20
		1526	1755 0a8a 8091 0000 lds r24,IntegralAccNick
		1527	1756 0a8e 9091 0000 lds r25,(IntegralAccNick)+1
		1528	1757 0a92 A091 0000 lds r26,(IntegralAccNick)+2
		1529	1758 0a96 B091 0000 lds r27,(IntegralAccNick)+3
		1530	1759 0a9a 820F add r24,r18
		1531	1760 0a9c 931F adc r25,r19
		1532	1761 0a9e A41F adc r26,r20
		1533	1762 0aa0 B51F adc r27,r21
		1534	1763 0aa2 8093 0000 sts IntegralAccNick,r24
		1535	1764 0aa6 9093 0000 sts (IntegralAccNick)+1,r25
		1536	1765 0aaa A093 0000 sts (IntegralAccNick)+2,r26
		1537	1766 0aae B093 0000 sts (IntegralAccNick)+3,r27
		1538	1767 0ab2 2091 0000 lds r18,AdWertAccRoll
		1539	1768 0ab6 3091 0000 lds r19,(AdWertAccRoll)+1
		1540	1769 0aba C901 movw r24,r18
		1541	1770 0abc 880F lsl r24
		1542	1771 0abe 991F rol r25
		1543	1772 0ac0 880F lsl r24
		1544	1773 0ac2 991F rol r25
		1545	1774 0ac4 820F add r24,r18
		1546	1775 0ac6 931F adc r25,r19
		1547	1776 0ac8 820F add r24,r18
		1548	1777 0aca 931F adc r25,r19
		1549	1778 0acc 9C01 movw r18,r24
		1550	1779 0ace 4427 clr r20
		1551	1780 0ad0 37FD sbrc r19,7
		1552	1781 0ad2 4095 com r20
		1553	1782 0ad4 542F mov r21,r20
		1554	1783 0ad6 8091 0000 lds r24,IntegralAccRoll
		1555	1784 0ada 9091 0000 lds r25,(IntegralAccRoll)+1
		1556	1785 0ade A091 0000 lds r26,(IntegralAccRoll)+2
		1557	1786 0ae2 B091 0000 lds r27,(IntegralAccRoll)+3
		1558	1787 0ae6 820F add r24,r18
		1559	1788 0ae8 931F adc r25,r19
		1560	1789 0aea A41F adc r26,r20
		1561	1790 0aec B51F adc r27,r21
		1562	1791 0aee 8093 0000 sts IntegralAccRoll,r24
		1563	1792 0af2 9093 0000 sts (IntegralAccRoll)+1,r25
		1564	1793 0af6 A093 0000 sts (IntegralAccRoll)+2,r26
		1565	1794 0afa B093 0000 sts (IntegralAccRoll)+3,r27
		1566	1795 0afe 8091 0000 lds r24,NaviAccNick
		1567	1796 0b02 9091 0000 lds r25,(NaviAccNick)+1
		1568	1797 0b06 2091 0000 lds r18,AdWertAccNick
		1569	1798 0b0a 3091 0000 lds r19,(AdWertAccNick)+1
		1570	1799 0b0e 820F add r24,r18
		1571	1800 0b10 931F adc r25,r19
		1572	1801 0b12 9093 0000 sts (NaviAccNick)+1,r25
		1573	1802 0b16 8093 0000 sts NaviAccNick,r24
		1574	1803 0b1a 8091 0000 lds r24,NaviAccRoll
		1575	1804 0b1e 9091 0000 lds r25,(NaviAccRoll)+1
		1576	1805 0b22 2091 0000 lds r18,AdWertAccRoll
		1577	1806 0b26 3091 0000 lds r19,(AdWertAccRoll)+1
		1578	1807 0b2a 820F add r24,r18
		1579	1808 0b2c 931F adc r25,r19
		1580	1809 0b2e 9093 0000 sts (NaviAccRoll)+1,r25
		1581	1810 0b32 8093 0000 sts NaviAccRoll,r24
		1582	1811 0b36 8091 0000 lds r24,NaviCntAcc
		1583	1812 0b3a 9091 0000 lds r25,(NaviCntAcc)+1
		1584	1813 0b3e 0196 adiw r24,1
		1585	1814 0b40 9093 0000 sts (NaviCntAcc)+1,r25
		1586	1815 0b44 8093 0000 sts NaviCntAcc,r24
		1587	1816 0b48 8091 0000 lds r24,Aktuell_az
		1588	1817 0b4c 9091 0000 lds r25,(Aktuell_az)+1
		1589	1818 0b50 2091 0000 lds r18,NeutralAccZ
		1590	1819 0b54 3091 0000 lds r19,(NeutralAccZ)+1
		1591	1820 0b58 821B sub r24,r18
		1592	1821 0b5a 930B sbc r25,r19
		1593	1822 0b5c 9C01 movw r18,r24
		1594	1823 0b5e 4427 clr r20
		1595	1824 0b60 37FD sbrc r19,7
		1596	1825 0b62 4095 com r20
		1597	1826 0b64 542F mov r21,r20
		1598	1827 0b66 8091 0000 lds r24,IntegralAccZ
		1599	1828 0b6a 9091 0000 lds r25,(IntegralAccZ)+1
		1600	1829 0b6e A091 0000 lds r26,(IntegralAccZ)+2
		1601	1830 0b72 B091 0000 lds r27,(IntegralAccZ)+3
		1602	1831 0b76 820F add r24,r18
		1603	1832 0b78 931F adc r25,r19
		1604	1833 0b7a A41F adc r26,r20
		1605	1834 0b7c B51F adc r27,r21
		1606	1835 0b7e 8093 0000 sts IntegralAccZ,r24
		1607	1836 0b82 9093 0000 sts (IntegralAccZ)+1,r25
		1608	1837 0b86 A093 0000 sts (IntegralAccZ)+2,r26
		1609	1838 0b8a B093 0000 sts (IntegralAccZ)+3,r27
		1610	1839 0b8e 8FEC ldi r24,lo8(-49)
		1611	1840 0b90 8093 7A00 sts 122,r24
		1612	1841 0b94 1092 0000 sts AdReady,__zero_reg__
		1613	1842 0b98 2091 0000 lds r18,Mess_IntegralRoll
		1614	1843 0b9c 3091 0000 lds r19,(Mess_IntegralRoll)+1
		1615	1844 0ba0 4091 0000 lds r20,(Mess_IntegralRoll)+2
		1616	1845 0ba4 5091 0000 lds r21,(Mess_IntegralRoll)+3
		1617	1846 0ba8 2987 std Y+9,r18
		1618	1847 0baa 3A87 std Y+10,r19
		1619	1848 0bac 4B87 std Y+11,r20
		1620	1849 0bae 5C87 std Y+12,r21
		1621	1850 0bb0 2954 subi r18,lo8(93001)
		1622	1851 0bb2 3B46 sbci r19,hi8(93001)
		1623	1852 0bb4 4140 sbci r20,hlo8(93001)
		1624	1853 0bb6 5040 sbci r21,hhi8(93001)
		1625	1854 0bb8 04F0 brlt .L87
		1626	1855 0bba 28E4 ldi r18,lo8(93000)
		1627	1856 0bbc 3BE6 ldi r19,hi8(93000)
		1628	1857 0bbe 41E0 ldi r20,hlo8(93000)
		1629	1858 0bc0 50E0 ldi r21,hhi8(93000)
		1630	1859 0bc2 00C0 rjmp .L167
		1631	1860 .L87:
		1632	1861 0bc4 8985 ldd r24,Y+9
		1633	1862 0bc6 9A85 ldd r25,Y+10
		1634	1863 0bc8 AB85 ldd r26,Y+11
		1635	1864 0bca BC85 ldd r27,Y+12
		1636	1865 0bcc 885B subi r24,lo8(-93000)
		1637	1866 0bce 9449 sbci r25,hi8(-93000)
		1638	1867 0bd0 AE4F sbci r26,hlo8(-93000)
		1639	1868 0bd2 BF4F sbci r27,hhi8(-93000)
		1640	1869 0bd4 04F4 brge .L89
		1641	1870 0bd6 28EB ldi r18,lo8(-93000)
		1642	1871 0bd8 34E9 ldi r19,hi8(-93000)
		1643	1872 0bda 4EEF ldi r20,hlo8(-93000)
		1644	1873 0bdc 5FEF ldi r21,hhi8(-93000)
		1645	1874 .L167:
		1646	1875 0bde 2D83 std Y+5,r18
		1647	1876 0be0 3E83 std Y+6,r19
		1648	1877 0be2 4F83 std Y+7,r20
		1649	1878 0be4 5887 std Y+8,r21
		1650	1879 0be6 00C0 rjmp .L88
		1651	1880 .L89:
		1652	1881 0be8 8985 ldd r24,Y+9
		1653	1882 0bea 9A85 ldd r25,Y+10
		1654	1883 0bec AB85 ldd r26,Y+11
		1655	1884 0bee BC85 ldd r27,Y+12
		1656	1885 0bf0 8D83 std Y+5,r24
		1657	1886 0bf2 9E83 std Y+6,r25
		1658	1887 0bf4 AF83 std Y+7,r26
		1659	1888 0bf6 B887 std Y+8,r27
		1660	1889 .L88:
		1661	1890 0bf8 2091 0000 lds r18,Mess_IntegralNick
		1662	1891 0bfc 3091 0000 lds r19,(Mess_IntegralNick)+1
		1663	1892 0c00 4091 0000 lds r20,(Mess_IntegralNick)+2
		1664	1893 0c04 5091 0000 lds r21,(Mess_IntegralNick)+3
		1665	1894 0c08 2D87 std Y+13,r18
		1666	1895 0c0a 3E87 std Y+14,r19
		1667	1896 0c0c 4F87 std Y+15,r20
		1668	1897 0c0e 588B std Y+16,r21
		1669	1898 0c10 2954 subi r18,lo8(93001)
		1670	1899 0c12 3B46 sbci r19,hi8(93001)
		1671	1900 0c14 4140 sbci r20,hlo8(93001)
		1672	1901 0c16 5040 sbci r21,hhi8(93001)
		1673	1902 0c18 04F0 brlt .L91
		1674	1903 0c1a 28E4 ldi r18,lo8(93000)
		1675	1904 0c1c 3BE6 ldi r19,hi8(93000)
		1676	1905 0c1e 41E0 ldi r20,hlo8(93000)
		1677	1906 0c20 50E0 ldi r21,hhi8(93000)
		1678	1907 0c22 00C0 rjmp .L168
		1679	1908 .L91:
		1680	1909 0c24 8D85 ldd r24,Y+13
		1681	1910 0c26 9E85 ldd r25,Y+14
		1682	1911 0c28 AF85 ldd r26,Y+15
		1683	1912 0c2a B889 ldd r27,Y+16
		1684	1913 0c2c 885B subi r24,lo8(-93000)
		1685	1914 0c2e 9449 sbci r25,hi8(-93000)
		1686	1915 0c30 AE4F sbci r26,hlo8(-93000)
		1687	1916 0c32 BF4F sbci r27,hhi8(-93000)
		1688	1917 0c34 04F4 brge .L93
		1689	1918 0c36 28EB ldi r18,lo8(-93000)
		1690	1919 0c38 34E9 ldi r19,hi8(-93000)
		1691	1920 0c3a 4EEF ldi r20,hlo8(-93000)
		1692	1921 0c3c 5FEF ldi r21,hhi8(-93000)
		1693	1922 .L168:
		1694	1923 0c3e 2983 std Y+1,r18
		1695	1924 0c40 3A83 std Y+2,r19
		1696	1925 0c42 4B83 std Y+3,r20
		1697	1926 0c44 5C83 std Y+4,r21
		1698	1927 0c46 00C0 rjmp .L92
		1699	1928 .L93:
		1700	1929 0c48 8D85 ldd r24,Y+13
		1701	1930 0c4a 9E85 ldd r25,Y+14
		1702	1931 0c4c AF85 ldd r26,Y+15
		1703	1932 0c4e B889 ldd r27,Y+16
		1704	1933 0c50 8983 std Y+1,r24
		1705	1934 0c52 9A83 std Y+2,r25
		1706	1935 0c54 AB83 std Y+3,r26
		1707	1936 0c56 BC83 std Y+4,r27
		1708	1937 .L92:
		1709	1938 0c58 A091 0000 lds r26,MesswertGier
		1710	1939 0c5c B091 0000 lds r27,(MesswertGier)+1
		1711	1940 0c60 BB8B std Y+19,r27
		1712	1941 0c62 AA8B std Y+18,r26
		1713	1942 0c64 FD01 movw r30,r26
		1714	1943 0c66 CF01 movw r24,r30
		1715	1944 0c68 AA27 clr r26
		1716	1945 0c6a 97FD sbrc r25,7
		1717	1946 0c6c A095 com r26
		1718	1947 0c6e BA2F mov r27,r26
		1719	1948 0c70 A090 0000 lds r10,Mess_Integral_Gier
		1720	1949 0c74 B090 0000 lds r11,(Mess_Integral_Gier)+1
		1721	1950 0c78 C090 0000 lds r12,(Mess_Integral_Gier)+2
		1722	1951 0c7c D090 0000 lds r13,(Mess_Integral_Gier)+3
		1723	1952 0c80 A80E add r10,r24
		1724	1953 0c82 B91E adc r11,r25
		1725	1954 0c84 CA1E adc r12,r26
		1726	1955 0c86 DB1E adc r13,r27
		1727	1956 0c88 A092 0000 sts Mess_Integral_Gier,r10
		1728	1957 0c8c B092 0000 sts (Mess_Integral_Gier)+1,r11
		1729	1958 0c90 C092 0000 sts (Mess_Integral_Gier)+2,r12
		1730	1959 0c94 D092 0000 sts (Mess_Integral_Gier)+3,r13
		1731	1960 0c98 E090 0000 lds r14,ErsatzKompass
		1732	1961 0c9c F090 0000 lds r15,(ErsatzKompass)+1
		1733	1962 0ca0 0091 0000 lds r16,(ErsatzKompass)+2
		1734	1963 0ca4 1091 0000 lds r17,(ErsatzKompass)+3
		1735	1964 0ca8 E80E add r14,r24
		1736	1965 0caa F91E adc r15,r25
		1737	1966 0cac 0A1F adc r16,r26
		1738	1967 0cae 1B1F adc r17,r27
		1739	1968 0cb0 E092 0000 sts ErsatzKompass,r14
		1740	1969 0cb4 F092 0000 sts (ErsatzKompass)+1,r15
		1741	1970 0cb8 0093 0000 sts (ErsatzKompass)+2,r16
		1742	1971 0cbc 1093 0000 sts (ErsatzKompass)+3,r17
		1743	1972 0cc0 F091 0000 lds r31,Looping_Nick
		1744	1973 0cc4 F98B std Y+17,r31
		1745	1974 0cc6 FF23 tst r31
		1746	1975 0cc8 01F0 breq .+2
		1747	1976 0cca 00C0 rjmp .L95
		1748	1977 0ccc 8091 0000 lds r24,Looping_Roll
		1749	1978 0cd0 8823 tst r24
		1750	1979 0cd2 01F0 breq .+2
		1751	1980 0cd4 00C0 rjmp .L95
		1752	1981 0cd6 8091 0000 lds r24,Parameter_GlobalConfig
		1753	1982 0cda 86FF sbrs r24,6
		1754	1983 0cdc 00C0 rjmp .L95
		1755	1984 0cde 8091 0000 lds r24,MesswertRoll
		1756	1985 0ce2 9091 0000 lds r25,(MesswertRoll)+1
		1757	1986 0ce6 AA27 clr r26
		1758	1987 0ce8 97FD sbrc r25,7
		1759	1988 0cea A095 com r26
		1760	1989 0cec BA2F mov r27,r26
		1761	1990 0cee BC01 movw r22,r24
		1762	1991 0cf0 CD01 movw r24,r26
		1763	1992 0cf2 2981 ldd r18,Y+1
		1764	1993 0cf4 3A81 ldd r19,Y+2
		1765	1994 0cf6 4B81 ldd r20,Y+3
		1766	1995 0cf8 5C81 ldd r21,Y+4
		1767	1996 0cfa 0E94 0000 call __mulsi3
		1768	1997 0cfe 9B01 movw r18,r22
		1769	1998 0d00 AC01 movw r20,r24
		1770	1999 0d02 97FF sbrs r25,7
		1771	2000 0d04 00C0 rjmp .L96
		1772	2001 0d06 2150 subi r18,lo8(-(2047))
		1773	2002 0d08 384F sbci r19,hi8(-(2047))
		1774	2003 0d0a 4F4F sbci r20,hlo8(-(2047))
		1775	2004 0d0c 5F4F sbci r21,hhi8(-(2047))
		1776	2005 .L96:
		1777	2006 0d0e BBE0 ldi r27,11
		1778	2007 0d10 5595 1: asr r21
		1779	2008 0d12 4795 ror r20
		1780	2009 0d14 3795 ror r19
		1781	2010 0d16 2795 ror r18
		1782	2011 0d18 BA95 dec r27
		1783	2012 0d1a 01F4 brne 1b
		1784	2013 0d1c 8091 0000 lds r24,Parameter_AchsKopplung2
		1785	2014 0d20 682E mov r6,r24
		1786	2015 0d22 7724 clr r7
		1787	2016 0d24 8824 clr r8
		1788	2017 0d26 9924 clr r9
		1789	2018 0d28 CA01 movw r24,r20
		1790	2019 0d2a B901 movw r22,r18
		1791	2020 0d2c A401 movw r20,r8
		1792	2021 0d2e 9301 movw r18,r6
		1793	2022 0d30 0E94 0000 call __mulsi3
		1794	2023 0d34 DC01 movw r26,r24
		1795	2024 0d36 CB01 movw r24,r22
		1796	2025 0d38 8093 0000 sts tmpl3.29,r24
		1797	2026 0d3c 9093 0000 sts (tmpl3.29)+1,r25
		1798	2027 0d40 A093 0000 sts (tmpl3.29)+2,r26
		1799	2028 0d44 B093 0000 sts (tmpl3.29)+3,r27
		1800	2029 0d48 B7FF sbrs r27,7
		1801	2030 0d4a 00C0 rjmp .L97
		1802	2031 0d4c 8150 subi r24,lo8(-(4095))
		1803	2032 0d4e 904F sbci r25,hi8(-(4095))
		1804	2033 0d50 AF4F sbci r26,hlo8(-(4095))
		1805	2034 0d52 BF4F sbci r27,hhi8(-(4095))
		1806	2035 .L97:
		1807	2036 0d54 1C01 movw r2,r24
		1808	2037 0d56 2D01 movw r4,r26
		1809	2038 0d58 ACE0 ldi r26,12
		1810	2039 0d5a 5594 1: asr r5
		1811	2040 0d5c 4794 ror r4
		1812	2041 0d5e 3794 ror r3
		1813	2042 0d60 2794 ror r2
		1814	2043 0d62 AA95 dec r26
		1815	2044 0d64 01F4 brne 1b
		1816	2045 0d66 2092 0000 sts tmpl3.29,r2
		1817	2046 0d6a 3092 0000 sts (tmpl3.29)+1,r3
		1818	2047 0d6e 4092 0000 sts (tmpl3.29)+2,r4
		1819	2048 0d72 5092 0000 sts (tmpl3.29)+3,r5
		1820	2049 0d76 8091 0000 lds r24,MesswertNick
		1821	2050 0d7a 9091 0000 lds r25,(MesswertNick)+1
		1822	2051 0d7e AA27 clr r26
		1823	2052 0d80 97FD sbrc r25,7
		1824	2053 0d82 A095 com r26
		1825	2054 0d84 BA2F mov r27,r26
		1826	2055 0d86 BC01 movw r22,r24
		1827	2056 0d88 CD01 movw r24,r26
		1828	2057 0d8a 2D81 ldd r18,Y+5
		1829	2058 0d8c 3E81 ldd r19,Y+6
		1830	2059 0d8e 4F81 ldd r20,Y+7
		1831	2060 0d90 5885 ldd r21,Y+8
		1832	2061 0d92 0E94 0000 call __mulsi3
		1833	2062 0d96 97FF sbrs r25,7
		1834	2063 0d98 00C0 rjmp .L98
		1835	2064 0d9a 6150 subi r22,lo8(-(2047))
		1836	2065 0d9c 784F sbci r23,hi8(-(2047))
		1837	2066 0d9e 8F4F sbci r24,hlo8(-(2047))
		1838	2067 0da0 9F4F sbci r25,hhi8(-(2047))
		1839	2068 .L98:
		1840	2069 0da2 FBE0 ldi r31,11
		1841	2070 0da4 9595 1: asr r25
		1842	2071 0da6 8795 ror r24
		1843	2072 0da8 7795 ror r23
		1844	2073 0daa 6795 ror r22
		1845	2074 0dac FA95 dec r31
		1846	2075 0dae 01F4 brne 1b
		1847	2076 0db0 A401 movw r20,r8
		1848	2077 0db2 9301 movw r18,r6
		1849	2078 0db4 0E94 0000 call __mulsi3
		1850	2079 0db8 DC01 movw r26,r24
		1851	2080 0dba CB01 movw r24,r22
		1852	2081 0dbc 8093 0000 sts tmpl4.30,r24
		1853	2082 0dc0 9093 0000 sts (tmpl4.30)+1,r25
		1854	2083 0dc4 A093 0000 sts (tmpl4.30)+2,r26
		1855	2084 0dc8 B093 0000 sts (tmpl4.30)+3,r27
		1856	2085 0dcc B7FF sbrs r27,7
		1857	2086 0dce 00C0 rjmp .L99
		1858	2087 0dd0 8150 subi r24,lo8(-(4095))
		1859	2088 0dd2 904F sbci r25,hi8(-(4095))
		1860	2089 0dd4 AF4F sbci r26,hlo8(-(4095))
		1861	2090 0dd6 BF4F sbci r27,hhi8(-(4095))
		1862	2091 .L99:
		1863	2092 0dd8 9C01 movw r18,r24
		1864	2093 0dda AD01 movw r20,r26
		1865	2094 0ddc ECE0 ldi r30,12
		1866	2095 0dde 5595 1: asr r21
		1867	2096 0de0 4795 ror r20
		1868	2097 0de2 3795 ror r19
		1869	2098 0de4 2795 ror r18
		1870	2099 0de6 EA95 dec r30
		1871	2100 0de8 01F4 brne 1b
		1872	2101 0dea 2093 0000 sts tmpl4.30,r18
		1873	2102 0dee 3093 0000 sts (tmpl4.30)+1,r19
		1874	2103 0df2 4093 0000 sts (tmpl4.30)+2,r20
		1875	2104 0df6 5093 0000 sts (tmpl4.30)+3,r21
		1876	2105 0dfa 8091 0000 lds r24,tmpl3.29
		1877	2106 0dfe 9091 0000 lds r25,(tmpl3.29)+1
		1878	2107 0e02 9093 0000 sts (KopplungsteilNickRoll)+1,r25
		1879	2108 0e06 8093 0000 sts KopplungsteilNickRoll,r24
		1880	2109 0e0a 8091 0000 lds r24,tmpl4.30
		1881	2110 0e0e 9091 0000 lds r25,(tmpl4.30)+1
		1882	2111 0e12 9093 0000 sts (KopplungsteilRollNick)+1,r25
		1883	2112 0e16 8093 0000 sts KopplungsteilRollNick,r24
		1884	2113 0e1a 2219 sub r18,r2
		1885	2114 0e1c 3309 sbc r19,r3
		1886	2115 0e1e 4409 sbc r20,r4
		1887	2116 0e20 5509 sbc r21,r5
		1888	2117 0e22 2093 0000 sts tmpl4.30,r18
		1889	2118 0e26 3093 0000 sts (tmpl4.30)+1,r19
		1890	2119 0e2a 4093 0000 sts (tmpl4.30)+2,r20
		1891	2120 0e2e 5093 0000 sts (tmpl4.30)+3,r21
		1892	2121 0e32 E20E add r14,r18
		1893	2122 0e34 F31E adc r15,r19
		1894	2123 0e36 041F adc r16,r20
		1895	2124 0e38 151F adc r17,r21
		1896	2125 0e3a E092 0000 sts ErsatzKompass,r14
		1897	2126 0e3e F092 0000 sts (ErsatzKompass)+1,r15
		1898	2127 0e42 0093 0000 sts (ErsatzKompass)+2,r16
		1899	2128 0e46 1093 0000 sts (ErsatzKompass)+3,r17
		1900	2129 0e4a 8091 0000 lds r24,Parameter_CouplingYawCorrection
		1901	2130 0e4e 8823 tst r24
		1902	2131 0e50 01F4 brne .L100
		1903	2132 0e52 57FF sbrs r21,7
		1904	2133 0e54 00C0 rjmp .L101
		1905	2134 0e56 2F5F subi r18,lo8(-(1))
		1906	2135 0e58 3F4F sbci r19,hi8(-(1))
		1907	2136 0e5a 4F4F sbci r20,hlo8(-(1))
		1908	2137 0e5c 5F4F sbci r21,hhi8(-(1))
		1909	2138 .L101:
		1910	2139 0e5e 5595 asr r21
		1911	2140 0e60 4795 ror r20
		1912	2141 0e62 3795 ror r19
		1913	2142 0e64 2795 ror r18
		1914	2143 0e66 A21A sub r10,r18
		1915	2144 0e68 B30A sbc r11,r19
		1916	2145 0e6a C40A sbc r12,r20
		1917	2146 0e6c D50A sbc r13,r21
		1918	2147 0e6e A092 0000 sts Mess_Integral_Gier,r10
		1919	2148 0e72 B092 0000 sts (Mess_Integral_Gier)+1,r11
		1920	2149 0e76 C092 0000 sts (Mess_Integral_Gier)+2,r12
		1921	2150 0e7a D092 0000 sts (Mess_Integral_Gier)+3,r13
		1922	2151 .L100:
		1923	2152 0e7e 2A89 ldd r18,Y+18
		1924	2153 0e80 3B89 ldd r19,Y+19
		1925	2154 0e82 7901 movw r14,r18
		1926	2155 0e84 0027 clr r16
		1927	2156 0e86 F7FC sbrc r15,7
		1928	2157 0e88 0095 com r16
		1929	2158 0e8a 102F mov r17,r16
		1930	2159 0e8c 8091 0000 lds r24,tmpl4.30
		1931	2160 0e90 9091 0000 lds r25,(tmpl4.30)+1
		1932	2161 0e94 A091 0000 lds r26,(tmpl4.30)+2
		1933	2162 0e98 B091 0000 lds r27,(tmpl4.30)+3
		1934	2163 0e9c E80E add r14,r24
		1935	2164 0e9e F91E adc r15,r25
		1936	2165 0ea0 0A1F adc r16,r26
		1937	2166 0ea2 1B1F adc r17,r27
		1938	2167 0ea4 C801 movw r24,r16
		1939	2168 0ea6 B701 movw r22,r14
		1940	2169 0ea8 2981 ldd r18,Y+1
		1941	2170 0eaa 3A81 ldd r19,Y+2
		1942	2171 0eac 4B81 ldd r20,Y+3
		1943	2172 0eae 5C81 ldd r21,Y+4
		1944	2173 0eb0 0E94 0000 call __mulsi3
		1945	2174 0eb4 9B01 movw r18,r22
		1946	2175 0eb6 AC01 movw r20,r24
		1947	2176 0eb8 97FF sbrs r25,7
		1948	2177 0eba 00C0 rjmp .L102
		1949	2178 0ebc 2150 subi r18,lo8(-(2047))
		1950	2179 0ebe 384F sbci r19,hi8(-(2047))
		1951	2180 0ec0 4F4F sbci r20,hlo8(-(2047))
		1952	2181 0ec2 5F4F sbci r21,hhi8(-(2047))
		1953	2182 .L102:
		1954	2183 0ec4 6BE0 ldi r22,11
		1955	2184 0ec6 5595 1: asr r21
		1956	2185 0ec8 4795 ror r20
		1957	2186 0eca 3795 ror r19
		1958	2187 0ecc 2795 ror r18
		1959	2188 0ece 6A95 dec r22
		1960	2189 0ed0 01F4 brne 1b
		1961	2190 0ed2 8091 0000 lds r24,Parameter_AchsKopplung1
		1962	2191 0ed6 A82E mov r10,r24
		1963	2192 0ed8 BB24 clr r11
		1964	2193 0eda CC24 clr r12
		1965	2194 0edc DD24 clr r13
		1966	2195 0ede CA01 movw r24,r20
		1967	2196 0ee0 B901 movw r22,r18
		1968	2197 0ee2 A601 movw r20,r12
		1969	2198 0ee4 9501 movw r18,r10
		1970	2199 0ee6 0E94 0000 call __mulsi3
		1971	2200 0eea DC01 movw r26,r24
		1972	2201 0eec CB01 movw r24,r22
		1973	2202 0eee 8093 0000 sts tmpl.27,r24
		1974	2203 0ef2 9093 0000 sts (tmpl.27)+1,r25
		1975	2204 0ef6 A093 0000 sts (tmpl.27)+2,r26
		1976	2205 0efa B093 0000 sts (tmpl.27)+3,r27
		1977	2206 0efe B7FF sbrs r27,7
		1978	2207 0f00 00C0 rjmp .L103
		1979	2208 0f02 8150 subi r24,lo8(-(4095))
		1980	2209 0f04 904F sbci r25,hi8(-(4095))
		1981	2210 0f06 AF4F sbci r26,hlo8(-(4095))
		1982	2211 0f08 BF4F sbci r27,hhi8(-(4095))
		1983	2212 .L103:
		1984	2213 0f0a 3C01 movw r6,r24
		1985	2214 0f0c 4D01 movw r8,r26
		1986	2215 0f0e 3CE0 ldi r19,12
		1987	2216 0f10 9594 1: asr r9
		1988	2217 0f12 8794 ror r8
		1989	2218 0f14 7794 ror r7
		1990	2219 0f16 6794 ror r6
		1991	2220 0f18 3A95 dec r19
		1992	2221 0f1a 01F4 brne 1b
		1993	2222 0f1c 6092 0000 sts tmpl.27,r6
		1994	2223 0f20 7092 0000 sts (tmpl.27)+1,r7
		1995	2224 0f24 8092 0000 sts (tmpl.27)+2,r8
		1996	2225 0f28 9092 0000 sts (tmpl.27)+3,r9
		1997	2226 0f2c C801 movw r24,r16
		1998	2227 0f2e B701 movw r22,r14
		1999	2228 0f30 2D81 ldd r18,Y+5
		2000	2229 0f32 3E81 ldd r19,Y+6
		2001	2230 0f34 4F81 ldd r20,Y+7
		2002	2231 0f36 5885 ldd r21,Y+8
		2003	2232 0f38 0E94 0000 call __mulsi3
		2004	2233 0f3c 97FF sbrs r25,7
		2005	2234 0f3e 00C0 rjmp .L104
		2006	2235 0f40 6150 subi r22,lo8(-(2047))
		2007	2236 0f42 784F sbci r23,hi8(-(2047))
		2008	2237 0f44 8F4F sbci r24,hlo8(-(2047))
		2009	2238 0f46 9F4F sbci r25,hhi8(-(2047))
		2010	2239 .L104:
		2011	2240 0f48 2BE0 ldi r18,11
		2012	2241 0f4a 9595 1: asr r25
		2013	2242 0f4c 8795 ror r24
		2014	2243 0f4e 7795 ror r23
		2015	2244 0f50 6795 ror r22
		2016	2245 0f52 2A95 dec r18
		2017	2246 0f54 01F4 brne 1b
		2018	2247 0f56 A601 movw r20,r12
		2019	2248 0f58 9501 movw r18,r10
		2020	2249 0f5a 0E94 0000 call __mulsi3
		2021	2250 0f5e DC01 movw r26,r24
		2022	2251 0f60 CB01 movw r24,r22
		2023	2252 0f62 8093 0000 sts tmpl2.28,r24
		2024	2253 0f66 9093 0000 sts (tmpl2.28)+1,r25
		2025	2254 0f6a A093 0000 sts (tmpl2.28)+2,r26
		2026	2255 0f6e B093 0000 sts (tmpl2.28)+3,r27
		2027	2256 0f72 B7FF sbrs r27,7
		2028	2257 0f74 00C0 rjmp .L105
		2029	2258 0f76 8150 subi r24,lo8(-(4095))
		2030	2259 0f78 904F sbci r25,hi8(-(4095))
		2031	2260 0f7a AF4F sbci r26,hlo8(-(4095))
		2032	2261 0f7c BF4F sbci r27,hhi8(-(4095))
		2033	2262 .L105:
		2034	2263 0f7e AC01 movw r20,r24
		2035	2264 0f80 BD01 movw r22,r26
		2036	2265 0f82 8CE0 ldi r24,12
		2037	2266 0f84 7595 1: asr r23
		2038	2267 0f86 6795 ror r22
		2039	2268 0f88 5795 ror r21
		2040	2269 0f8a 4795 ror r20
		2041	2270 0f8c 8A95 dec r24
		2042	2271 0f8e 01F4 brne 1b
		2043	2272 0f90 4093 0000 sts tmpl2.28,r20
		2044	2273 0f94 5093 0000 sts (tmpl2.28)+1,r21
		2045	2274 0f98 6093 0000 sts (tmpl2.28)+2,r22
		2046	2275 0f9c 7093 0000 sts (tmpl2.28)+3,r23
		2047	2276 0fa0 2A89 ldd r18,Y+18
		2048	2277 0fa2 3B89 ldd r19,Y+19
		2049	2278 0fa4 37FF sbrs r19,7
		2050	2279 0fa6 00C0 rjmp .L107
		2051	2280 0fa8 3095 com r19
		2052	2281 0faa 2195 neg r18
		2053	2282 0fac 3F4F sbci r19,lo8(-1)
		2054	2283 .L107:
		2055	2284 0fae 2134 cpi r18,65
		2056	2285 0fb0 3105 cpc r19,__zero_reg__
		2057	2286 0fb2 04F0 brlt .L112
		2058	2287 0fb4 D401 movw r26,r8
		2059	2288 0fb6 C301 movw r24,r6
		2060	2289 0fb8 97FE sbrs r9,7
		2061	2290 0fba 00C0 rjmp .L110
		2062	2291 0fbc B095 com r27
		2063	2292 0fbe A095 com r26
		2064	2293 0fc0 9095 com r25
		2065	2294 0fc2 8195 neg r24
		2066	2295 0fc4 9F4F sbci r25,lo8(-1)
		2067	2296 0fc6 AF4F sbci r26,lo8(-1)
		2068	2297 0fc8 BF4F sbci r27,lo8(-1)
		2069	2298 .L110:
		2070	2299 0fca 8138 cpi r24,lo8(129)
		2071	2300 0fcc 9105 cpc r25,__zero_reg__
		2072	2301 0fce A105 cpc r26,__zero_reg__
		2073	2302 0fd0 B105 cpc r27,__zero_reg__
		2074	2303 0fd2 04F4 brge .L109
		2075	2304 0fd4 DB01 movw r26,r22
		2076	2305 0fd6 CA01 movw r24,r20
		2077	2306 0fd8 77FF sbrs r23,7
		2078	2307 0fda 00C0 rjmp .L111
		2079	2308 0fdc B095 com r27
		2080	2309 0fde A095 com r26
		2081	2310 0fe0 9095 com r25
		2082	2311 0fe2 8195 neg r24
		2083	2312 0fe4 9F4F sbci r25,lo8(-1)
		2084	2313 0fe6 AF4F sbci r26,lo8(-1)
		2085	2314 0fe8 BF4F sbci r27,lo8(-1)
		2086	2315 .L111:
		2087	2316 0fea 8138 cpi r24,lo8(129)
		2088	2317 0fec 9105 cpc r25,__zero_reg__
		2089	2318 0fee A105 cpc r26,__zero_reg__
		2090	2319 0ff0 B105 cpc r27,__zero_reg__
		2091	2320 0ff2 04F0 brlt .L112
		2092	2321 .L109:
		2093	2322 0ff4 81E0 ldi r24,lo8(1)
		2094	2323 0ff6 8093 0000 sts TrichterFlug,r24
		2095	2324 0ffa 00C0 rjmp .L112
		2096	2325 .L95:
		2097	2326 0ffc 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__
		2098	2327 1000 1092 0000 sts KopplungsteilRollNick,__zero_reg__
		2099	2328 1004 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__
		2100	2329 1008 1092 0000 sts KopplungsteilNickRoll,__zero_reg__
		2101	2330 100c 1092 0000 sts tmpl2.28,__zero_reg__
		2102	2331 1010 1092 0000 sts (tmpl2.28)+1,__zero_reg__
		2103	2332 1014 1092 0000 sts (tmpl2.28)+2,__zero_reg__
		2104	2333 1018 1092 0000 sts (tmpl2.28)+3,__zero_reg__
		2105	2334 101c 1092 0000 sts tmpl.27,__zero_reg__
		2106	2335 1020 1092 0000 sts (tmpl.27)+1,__zero_reg__
		2107	2336 1024 1092 0000 sts (tmpl.27)+2,__zero_reg__
		2108	2337 1028 1092 0000 sts (tmpl.27)+3,__zero_reg__
		2109	2338 .L112:
		2110	2339 102c 8091 0000 lds r24,tmpl2.28
		2111	2340 1030 9091 0000 lds r25,(tmpl2.28)+1
		2112	2341 1034 A091 0000 lds r26,(tmpl2.28)+2
		2113	2342 1038 B091 0000 lds r27,(tmpl2.28)+3
		2114	2343 103c BC01 movw r22,r24
		2115	2344 103e CD01 movw r24,r26
		2116	2345 1040 24E6 ldi r18,lo8(100)
		2117	2346 1042 30E0 ldi r19,hi8(100)
		2118	2347 1044 40E0 ldi r20,hlo8(100)
		2119	2348 1046 50E0 ldi r21,hhi8(100)
		2120	2349 1048 0E94 0000 call __divmodsi4
		2121	2350 104c E090 0000 lds r14,tmpl.27
		2122	2351 1050 F090 0000 lds r15,(tmpl.27)+1
		2123	2352 1054 E21A sub r14,r18
		2124	2353 1056 F30A sbc r15,r19
		2125	2354 1058 F092 0000 sts (TrimRoll)+1,r15
		2126	2355 105c E092 0000 sts TrimRoll,r14
		2127	2356 1060 8091 0000 lds r24,tmpl.27
		2128	2357 1064 9091 0000 lds r25,(tmpl.27)+1
		2129	2358 1068 A091 0000 lds r26,(tmpl.27)+2
		2130	2359 106c B091 0000 lds r27,(tmpl.27)+3
		2131	2360 1070 BC01 movw r22,r24
		2132	2361 1072 CD01 movw r24,r26
		2133	2362 1074 24E6 ldi r18,lo8(100)
		2134	2363 1076 30E0 ldi r19,hi8(100)
		2135	2364 1078 40E0 ldi r20,hlo8(100)
		2136	2365 107a 50E0 ldi r21,hhi8(100)
		2137	2366 107c 0E94 0000 call __divmodsi4
		2138	2367 1080 DA01 movw r26,r20
		2139	2368 1082 C901 movw r24,r18
		2140	2369 1084 2091 0000 lds r18,tmpl2.28
		2141	2370 1088 3091 0000 lds r19,(tmpl2.28)+1
		2142	2371 108c 8C01 movw r16,r24
		2143	2372 108e 021B sub r16,r18
		2144	2373 1090 130B sbc r17,r19
		2145	2374 1092 1093 0000 sts (TrimNick)+1,r17
		2146	2375 1096 0093 0000 sts TrimNick,r16
		2147	2376 109a 8091 0000 lds r24,GIER_GRAD_FAKTOR
		2148	2377 109e 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1
		2149	2378 10a2 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2
		2150	2379 10a6 B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3
		2151	2380 10aa BC01 movw r22,r24
		2152	2381 10ac CD01 movw r24,r26
		2153	2382 10ae 28E6 ldi r18,lo8(360)
		2154	2383 10b0 31E0 ldi r19,hi8(360)
		2155	2384 10b2 40E0 ldi r20,hlo8(360)
		2156	2385 10b4 50E0 ldi r21,hhi8(360)
		2157	2386 10b6 0E94 0000 call __mulsi3
		2158	2387 10ba 2091 0000 lds r18,ErsatzKompass
		2159	2388 10be 3091 0000 lds r19,(ErsatzKompass)+1
		2160	2389 10c2 4091 0000 lds r20,(ErsatzKompass)+2
		2161	2390 10c6 5091 0000 lds r21,(ErsatzKompass)+3
		2162	2391 10ca 2617 cp r18,r22
		2163	2392 10cc 3707 cpc r19,r23
		2164	2393 10ce 4807 cpc r20,r24
		2165	2394 10d0 5907 cpc r21,r25
		2166	2395 10d2 04F0 brlt .L113
		2167	2396 10d4 261B sub r18,r22
		2168	2397 10d6 370B sbc r19,r23
		2169	2398 10d8 480B sbc r20,r24
		2170	2399 10da 590B sbc r21,r25
		2171	2400 10dc 2093 0000 sts ErsatzKompass,r18
		2172	2401 10e0 3093 0000 sts (ErsatzKompass)+1,r19
		2173	2402 10e4 4093 0000 sts (ErsatzKompass)+2,r20
		2174	2403 10e8 5093 0000 sts (ErsatzKompass)+3,r21
		2175	2404 .L113:
		2176	2405 10ec 2091 0000 lds r18,ErsatzKompass
		2177	2406 10f0 3091 0000 lds r19,(ErsatzKompass)+1
		2178	2407 10f4 4091 0000 lds r20,(ErsatzKompass)+2
		2179	2408 10f8 5091 0000 lds r21,(ErsatzKompass)+3
		2180	2409 10fc 57FF sbrs r21,7
		2181	2410 10fe 00C0 rjmp .L114
		2182	2411 1100 260F add r18,r22
		2183	2412 1102 371F adc r19,r23
		2184	2413 1104 481F adc r20,r24
		2185	2414 1106 591F adc r21,r25
		2186	2415 1108 2093 0000 sts ErsatzKompass,r18
		2187	2416 110c 3093 0000 sts (ErsatzKompass)+1,r19
		2188	2417 1110 4093 0000 sts (ErsatzKompass)+2,r20
		2189	2418 1114 5093 0000 sts (ErsatzKompass)+3,r21
		2190	2419 .L114:
		2191	2420 1118 6091 0000 lds r22,MesswertRoll
		2192	2421 111c 7091 0000 lds r23,(MesswertRoll)+1
		2193	2422 1120 6E0D add r22,r14
		2194	2423 1122 7F1D adc r23,r15
		2195	2424 1124 9B01 movw r18,r22
		2196	2425 1126 4427 clr r20
		2197	2426 1128 37FD sbrc r19,7
		2198	2427 112a 4095 com r20
		2199	2428 112c 542F mov r21,r20
		2200	2429 112e 8091 0000 lds r24,Mess_IntegralRoll2
		2201	2430 1132 9091 0000 lds r25,(Mess_IntegralRoll2)+1
		2202	2431 1136 A091 0000 lds r26,(Mess_IntegralRoll2)+2
		2203	2432 113a B091 0000 lds r27,(Mess_IntegralRoll2)+3
		2204	2433 113e 820F add r24,r18
		2205	2434 1140 931F adc r25,r19
		2206	2435 1142 A41F adc r26,r20
		2207	2436 1144 B51F adc r27,r21
		2208	2437 1146 8093 0000 sts Mess_IntegralRoll2,r24
		2209	2438 114a 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		2210	2439 114e A093 0000 sts (Mess_IntegralRoll2)+2,r26
		2211	2440 1152 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		2212	2441 1156 8091 0000 lds r24,LageKorrekturRoll
		2213	2442 115a 9091 0000 lds r25,(LageKorrekturRoll)+1
		2214	2443 115e 681B sub r22,r24
		2215	2444 1160 790B sbc r23,r25
		2216	2445 1162 CB01 movw r24,r22
		2217	2446 1164 AA27 clr r26
		2218	2447 1166 97FD sbrc r25,7
		2219	2448 1168 A095 com r26
		2220	2449 116a BA2F mov r27,r26
		2221	2450 116c 2985 ldd r18,Y+9
		2222	2451 116e 3A85 ldd r19,Y+10
		2223	2452 1170 4B85 ldd r20,Y+11
		2224	2453 1172 5C85 ldd r21,Y+12
		2225	2454 1174 820F add r24,r18
		2226	2455 1176 931F adc r25,r19
		2227	2456 1178 A41F adc r26,r20
		2228	2457 117a B51F adc r27,r21
		2229	2458 117c 8093 0000 sts Mess_IntegralRoll,r24
		2230	2459 1180 9093 0000 sts (Mess_IntegralRoll)+1,r25
		2231	2460 1184 A093 0000 sts (Mess_IntegralRoll)+2,r26
		2232	2461 1188 B093 0000 sts (Mess_IntegralRoll)+3,r27
		2233	2462 118c C090 0000 lds r12,Umschlag180Roll
		2234	2463 1190 D090 0000 lds r13,(Umschlag180Roll)+1
		2235	2464 1194 E090 0000 lds r14,(Umschlag180Roll)+2
		2236	2465 1198 F090 0000 lds r15,(Umschlag180Roll)+3
		2237	2466 119c C816 cp r12,r24
		2238	2467 119e D906 cpc r13,r25
		2239	2468 11a0 EA06 cpc r14,r26
		2240	2469 11a2 FB06 cpc r15,r27
		2241	2470 11a4 04F4 brge .L115
		2242	2471 11a6 88EA ldi r24,lo8(25000)
		2243	2472 11a8 91E6 ldi r25,hi8(25000)
		2244	2473 11aa A0E0 ldi r26,hlo8(25000)
		2245	2474 11ac B0E0 ldi r27,hhi8(25000)
		2246	2475 11ae 8C19 sub r24,r12
		2247	2476 11b0 9D09 sbc r25,r13
		2248	2477 11b2 AE09 sbc r26,r14
		2249	2478 11b4 BF09 sbc r27,r15
		2250	2479 11b6 8093 0000 sts Mess_IntegralRoll,r24
		2251	2480 11ba 9093 0000 sts (Mess_IntegralRoll)+1,r25
		2252	2481 11be A093 0000 sts (Mess_IntegralRoll)+2,r26
		2253	2482 11c2 B093 0000 sts (Mess_IntegralRoll)+3,r27
		2254	2483 11c6 8093 0000 sts Mess_IntegralRoll2,r24
		2255	2484 11ca 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		2256	2485 11ce A093 0000 sts (Mess_IntegralRoll2)+2,r26
		2257	2486 11d2 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		2258	2487 .L115:
		2259	2488 11d6 2227 clr r18
		2260	2489 11d8 3327 clr r19
		2261	2490 11da A901 movw r20,r18
		2262	2491 11dc 2C19 sub r18,r12
		2263	2492 11de 3D09 sbc r19,r13
		2264	2493 11e0 4E09 sbc r20,r14
		2265	2494 11e2 5F09 sbc r21,r15
		2266	2495 11e4 8091 0000 lds r24,Mess_IntegralRoll
		2267	2496 11e8 9091 0000 lds r25,(Mess_IntegralRoll)+1
		2268	2497 11ec A091 0000 lds r26,(Mess_IntegralRoll)+2
		2269	2498 11f0 B091 0000 lds r27,(Mess_IntegralRoll)+3
		2270	2499 11f4 8217 cp r24,r18
		2271	2500 11f6 9307 cpc r25,r19
		2272	2501 11f8 A407 cpc r26,r20
		2273	2502 11fa B507 cpc r27,r21
		2274	2503 11fc 04F4 brge .L116
		2275	2504 11fe D701 movw r26,r14
		2276	2505 1200 C601 movw r24,r12
		2277	2506 1202 885A subi r24,lo8(-(-25000))
		2278	2507 1204 9146 sbci r25,hi8(-(-25000))
		2279	2508 1206 A040 sbci r26,hlo8(-(-25000))
		2280	2509 1208 B040 sbci r27,hhi8(-(-25000))
		2281	2510 120a 8093 0000 sts Mess_IntegralRoll,r24
		2282	2511 120e 9093 0000 sts (Mess_IntegralRoll)+1,r25
		2283	2512 1212 A093 0000 sts (Mess_IntegralRoll)+2,r26
		2284	2513 1216 B093 0000 sts (Mess_IntegralRoll)+3,r27
		2285	2514 121a 8093 0000 sts Mess_IntegralRoll2,r24
		2286	2515 121e 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		2287	2516 1222 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		2288	2517 1226 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		2289	2518 .L116:
		2290	2519 122a 6091 0000 lds r22,MesswertNick
		2291	2520 122e 7091 0000 lds r23,(MesswertNick)+1
		2292	2521 1232 600F add r22,r16
		2293	2522 1234 711F adc r23,r17
		2294	2523 1236 9B01 movw r18,r22
		2295	2524 1238 4427 clr r20
		2296	2525 123a 37FD sbrc r19,7
		2297	2526 123c 4095 com r20
		2298	2527 123e 542F mov r21,r20
		2299	2528 1240 8091 0000 lds r24,Mess_IntegralNick2
		2300	2529 1244 9091 0000 lds r25,(Mess_IntegralNick2)+1
		2301	2530 1248 A091 0000 lds r26,(Mess_IntegralNick2)+2
		2302	2531 124c B091 0000 lds r27,(Mess_IntegralNick2)+3
		2303	2532 1250 820F add r24,r18
		2304	2533 1252 931F adc r25,r19
		2305	2534 1254 A41F adc r26,r20
		2306	2535 1256 B51F adc r27,r21
		2307	2536 1258 8093 0000 sts Mess_IntegralNick2,r24
		2308	2537 125c 9093 0000 sts (Mess_IntegralNick2)+1,r25
		2309	2538 1260 A093 0000 sts (Mess_IntegralNick2)+2,r26
		2310	2539 1264 B093 0000 sts (Mess_IntegralNick2)+3,r27
		2311	2540 1268 8091 0000 lds r24,LageKorrekturNick
		2312	2541 126c 9091 0000 lds r25,(LageKorrekturNick)+1
		2313	2542 1270 681B sub r22,r24
		2314	2543 1272 790B sbc r23,r25
		2315	2544 1274 CB01 movw r24,r22
		2316	2545 1276 AA27 clr r26
		2317	2546 1278 97FD sbrc r25,7
		2318	2547 127a A095 com r26
		2319	2548 127c BA2F mov r27,r26
		2320	2549 127e 2D85 ldd r18,Y+13
		2321	2550 1280 3E85 ldd r19,Y+14
		2322	2551 1282 4F85 ldd r20,Y+15
		2323	2552 1284 5889 ldd r21,Y+16
		2324	2553 1286 820F add r24,r18
		2325	2554 1288 931F adc r25,r19
		2326	2555 128a A41F adc r26,r20
		2327	2556 128c B51F adc r27,r21
		2328	2557 128e 8093 0000 sts Mess_IntegralNick,r24
		2329	2558 1292 9093 0000 sts (Mess_IntegralNick)+1,r25
		2330	2559 1296 A093 0000 sts (Mess_IntegralNick)+2,r26
		2331	2560 129a B093 0000 sts (Mess_IntegralNick)+3,r27
		2332	2561 129e E090 0000 lds r14,Umschlag180Nick
		2333	2562 12a2 F090 0000 lds r15,(Umschlag180Nick)+1
		2334	2563 12a6 0091 0000 lds r16,(Umschlag180Nick)+2
		2335	2564 12aa 1091 0000 lds r17,(Umschlag180Nick)+3
		2336	2565 12ae E816 cp r14,r24
		2337	2566 12b0 F906 cpc r15,r25
		2338	2567 12b2 0A07 cpc r16,r26
		2339	2568 12b4 1B07 cpc r17,r27
		2340	2569 12b6 04F4 brge .L117
		2341	2570 12b8 88EA ldi r24,lo8(25000)
		2342	2571 12ba 91E6 ldi r25,hi8(25000)
		2343	2572 12bc A0E0 ldi r26,hlo8(25000)
		2344	2573 12be B0E0 ldi r27,hhi8(25000)
		2345	2574 12c0 8E19 sub r24,r14
		2346	2575 12c2 9F09 sbc r25,r15
		2347	2576 12c4 A00B sbc r26,r16
		2348	2577 12c6 B10B sbc r27,r17
		2349	2578 12c8 8093 0000 sts Mess_IntegralNick,r24
		2350	2579 12cc 9093 0000 sts (Mess_IntegralNick)+1,r25
		2351	2580 12d0 A093 0000 sts (Mess_IntegralNick)+2,r26
		2352	2581 12d4 B093 0000 sts (Mess_IntegralNick)+3,r27
		2353	2582 12d8 8093 0000 sts Mess_IntegralNick2,r24
		2354	2583 12dc 9093 0000 sts (Mess_IntegralNick2)+1,r25
		2355	2584 12e0 A093 0000 sts (Mess_IntegralNick2)+2,r26
		2356	2585 12e4 B093 0000 sts (Mess_IntegralNick2)+3,r27
		2357	2586 .L117:
		2358	2587 12e8 2227 clr r18
		2359	2588 12ea 3327 clr r19
		2360	2589 12ec A901 movw r20,r18
		2361	2590 12ee 2E19 sub r18,r14
		2362	2591 12f0 3F09 sbc r19,r15
		2363	2592 12f2 400B sbc r20,r16
		2364	2593 12f4 510B sbc r21,r17
		2365	2594 12f6 8091 0000 lds r24,Mess_IntegralNick
		2366	2595 12fa 9091 0000 lds r25,(Mess_IntegralNick)+1
		2367	2596 12fe A091 0000 lds r26,(Mess_IntegralNick)+2
		2368	2597 1302 B091 0000 lds r27,(Mess_IntegralNick)+3
		2369	2598 1306 8217 cp r24,r18
		2370	2599 1308 9307 cpc r25,r19
		2371	2600 130a A407 cpc r26,r20
		2372	2601 130c B507 cpc r27,r21
		2373	2602 130e 04F4 brge .L118
		2374	2603 1310 D801 movw r26,r16
		2375	2604 1312 C701 movw r24,r14
		2376	2605 1314 885A subi r24,lo8(-(-25000))
		2377	2606 1316 9146 sbci r25,hi8(-(-25000))
		2378	2607 1318 A040 sbci r26,hlo8(-(-25000))
		2379	2608 131a B040 sbci r27,hhi8(-(-25000))
		2380	2609 131c 8093 0000 sts Mess_IntegralNick,r24
		2381	2610 1320 9093 0000 sts (Mess_IntegralNick)+1,r25
		2382	2611 1324 A093 0000 sts (Mess_IntegralNick)+2,r26
		2383	2612 1328 B093 0000 sts (Mess_IntegralNick)+3,r27
		2384	2613 132c 8093 0000 sts Mess_IntegralNick2,r24
		2385	2614 1330 9093 0000 sts (Mess_IntegralNick2)+1,r25
		2386	2615 1334 A093 0000 sts (Mess_IntegralNick2)+2,r26
		2387	2616 1338 B093 0000 sts (Mess_IntegralNick2)+3,r27
		2388	2617 .L118:
		2389	2618 133c 8091 0000 lds r24,Mess_Integral_Gier
		2390	2619 1340 9091 0000 lds r25,(Mess_Integral_Gier)+1
		2391	2620 1344 A091 0000 lds r26,(Mess_Integral_Gier)+2
		2392	2621 1348 B091 0000 lds r27,(Mess_Integral_Gier)+3
		2393	2622 134c 8093 0000 sts Integral_Gier,r24
		2394	2623 1350 9093 0000 sts (Integral_Gier)+1,r25
		2395	2624 1354 A093 0000 sts (Integral_Gier)+2,r26
		2396	2625 1358 B093 0000 sts (Integral_Gier)+3,r27
		2397	2626 135c 8091 0000 lds r24,Mess_IntegralNick
		2398	2627 1360 9091 0000 lds r25,(Mess_IntegralNick)+1
		2399	2628 1364 A091 0000 lds r26,(Mess_IntegralNick)+2
		2400	2629 1368 B091 0000 lds r27,(Mess_IntegralNick)+3
		2401	2630 136c 8093 0000 sts IntegralNick,r24
		2402	2631 1370 9093 0000 sts (IntegralNick)+1,r25
		2403	2632 1374 A093 0000 sts (IntegralNick)+2,r26
		2404	2633 1378 B093 0000 sts (IntegralNick)+3,r27
		2405	2634 137c 8091 0000 lds r24,Mess_IntegralRoll
		2406	2635 1380 9091 0000 lds r25,(Mess_IntegralRoll)+1
		2407	2636 1384 A091 0000 lds r26,(Mess_IntegralRoll)+2
		2408	2637 1388 B091 0000 lds r27,(Mess_IntegralRoll)+3
		2409	2638 138c 8093 0000 sts IntegralRoll,r24
		2410	2639 1390 9093 0000 sts (IntegralRoll)+1,r25
		2411	2640 1394 A093 0000 sts (IntegralRoll)+2,r26
		2412	2641 1398 B093 0000 sts (IntegralRoll)+3,r27
		2413	2642 139c 8091 0000 lds r24,Mess_IntegralNick2
		2414	2643 13a0 9091 0000 lds r25,(Mess_IntegralNick2)+1
		2415	2644 13a4 A091 0000 lds r26,(Mess_IntegralNick2)+2
		2416	2645 13a8 B091 0000 lds r27,(Mess_IntegralNick2)+3
		2417	2646 13ac 8093 0000 sts IntegralNick2,r24
		2418	2647 13b0 9093 0000 sts (IntegralNick2)+1,r25
		2419	2648 13b4 A093 0000 sts (IntegralNick2)+2,r26
		2420	2649 13b8 B093 0000 sts (IntegralNick2)+3,r27
		2421	2650 13bc 8091 0000 lds r24,Mess_IntegralRoll2
		2422	2651 13c0 9091 0000 lds r25,(Mess_IntegralRoll2)+1
		2423	2652 13c4 A091 0000 lds r26,(Mess_IntegralRoll2)+2
		2424	2653 13c8 B091 0000 lds r27,(Mess_IntegralRoll2)+3
		2425	2654 13cc 8093 0000 sts IntegralRoll2,r24
		2426	2655 13d0 9093 0000 sts (IntegralRoll2)+1,r25
		2427	2656 13d4 A093 0000 sts (IntegralRoll2)+2,r26
		2428	2657 13d8 B093 0000 sts (IntegralRoll2)+3,r27
		2429	2658 13dc 8091 0000 lds r24,HiResNick
		2430	2659 13e0 9091 0000 lds r25,(HiResNick)+1
		2431	2660 13e4 97FD sbrc r25,7
		2432	2661 13e6 0796 adiw r24,7
		2433	2662 .L119:
		2434	2663 13e8 03E0 ldi r16,3
		2435	2664 13ea 9595 1: asr r25
		2436	2665 13ec 8795 ror r24
		2437	2666 13ee 0A95 dec r16
		2438	2667 13f0 01F4 brne 1b
		2439	2668 13f2 9093 0000 sts (MesswertNick)+1,r25
		2440	2669 13f6 8093 0000 sts MesswertNick,r24
		2441	2670 13fa 8091 0000 lds r24,HiResRoll
		2442	2671 13fe 9091 0000 lds r25,(HiResRoll)+1
		2443	2672 1402 97FD sbrc r25,7
		2444	2673 1404 0796 adiw r24,7
		2445	2674 .L120:
		2446	2675 1406 13E0 ldi r17,3
		2447	2676 1408 9595 1: asr r25
		2448	2677 140a 8795 ror r24
		2449	2678 140c 1A95 dec r17
		2450	2679 140e 01F4 brne 1b
		2451	2680 1410 9093 0000 sts (MesswertRoll)+1,r25
		2452	2681 1414 8093 0000 sts MesswertRoll,r24
		2453	2682 1418 8091 0000 lds r24,AdWertNick
		2454	2683 141c 9091 0000 lds r25,(AdWertNick)+1
		2455	2684 1420 0F97 sbiw r24,15
		2456	2685 1422 04F4 brge .L121
		2457	2686 1424 88E1 ldi r24,lo8(-1000)
		2458	2687 1426 9CEF ldi r25,hi8(-1000)
		2459	2688 1428 9093 0000 sts (MesswertNick)+1,r25
		2460	2689 142c 8093 0000 sts MesswertNick,r24
		2461	2690 .L121:
		2462	2691 1430 8091 0000 lds r24,AdWertNick
		2463	2692 1434 9091 0000 lds r25,(AdWertNick)+1
		2464	2693 1438 0797 sbiw r24,7
		2465	2694 143a 04F4 brge .L122
		2466	2695 143c 80E3 ldi r24,lo8(-2000)
		2467	2696 143e 98EF ldi r25,hi8(-2000)
		2468	2697 1440 9093 0000 sts (MesswertNick)+1,r25
		2469	2698 1444 8093 0000 sts MesswertNick,r24
		2470	2699 .L122:
		2471	2700 1448 2091 0000 lds r18,PlatinenVersion
		2472	2701 144c 2A30 cpi r18,lo8(10)
		2473	2702 144e 01F4 brne .L123
		2474	2703 1450 8091 0000 lds r24,AdWertNick
		2475	2704 1454 9091 0000 lds r25,(AdWertNick)+1
		2476	2705 1458 835F subi r24,lo8(1011)
		2477	2706 145a 9340 sbci r25,hi8(1011)
		2478	2707 145c 04F0 brlt .L124
		2479	2708 145e 88EE ldi r24,lo8(1000)
		2480	2709 1460 93E0 ldi r25,hi8(1000)
		2481	2710 1462 9093 0000 sts (MesswertNick)+1,r25
		2482	2711 1466 8093 0000 sts MesswertNick,r24
		2483	2712 .L124:
		2484	2713 146a 8091 0000 lds r24,AdWertNick
		2485	2714 146e 9091 0000 lds r25,(AdWertNick)+1
		2486	2715 1472 8A5F subi r24,lo8(1018)
		2487	2716 1474 9340 sbci r25,hi8(1018)
		2488	2717 1476 04F0 brlt .L126
		2489	2718 1478 00C0 rjmp .L169
		2490	2719 .L123:
		2491	2720 147a 8091 0000 lds r24,AdWertNick
		2492	2721 147e 9091 0000 lds r25,(AdWertNick)+1
		2493	2722 1482 815D subi r24,lo8(2001)
		2494	2723 1484 9740 sbci r25,hi8(2001)
		2495	2724 1486 04F0 brlt .L127
		2496	2725 1488 88EE ldi r24,lo8(1000)
		2497	2726 148a 93E0 ldi r25,hi8(1000)
		2498	2727 148c 9093 0000 sts (MesswertNick)+1,r25
		2499	2728 1490 8093 0000 sts MesswertNick,r24
		2500	2729 .L127:
		2501	2730 1494 8091 0000 lds r24,AdWertNick
		2502	2731 1498 9091 0000 lds r25,(AdWertNick)+1
		2503	2732 149c 805E subi r24,lo8(2016)
		2504	2733 149e 9740 sbci r25,hi8(2016)
		2505	2734 14a0 04F0 brlt .L126
		2506	2735 .L169:
		2507	2736 14a2 80ED ldi r24,lo8(2000)
		2508	2737 14a4 97E0 ldi r25,hi8(2000)
		2509	2738 14a6 9093 0000 sts (MesswertNick)+1,r25
		2510	2739 14aa 8093 0000 sts MesswertNick,r24
		2511	2740 .L126:
		2512	2741 14ae 8091 0000 lds r24,AdWertRoll
		2513	2742 14b2 9091 0000 lds r25,(AdWertRoll)+1
		2514	2743 14b6 0F97 sbiw r24,15
		2515	2744 14b8 04F4 brge .L129
		2516	2745 14ba 88E1 ldi r24,lo8(-1000)
		2517	2746 14bc 9CEF ldi r25,hi8(-1000)
		2518	2747 14be 9093 0000 sts (MesswertRoll)+1,r25
		2519	2748 14c2 8093 0000 sts MesswertRoll,r24
		2520	2749 .L129:
		2521	2750 14c6 8091 0000 lds r24,AdWertRoll
		2522	2751 14ca 9091 0000 lds r25,(AdWertRoll)+1
		2523	2752 14ce 0797 sbiw r24,7
		2524	2753 14d0 04F4 brge .L130
		2525	2754 14d2 80E3 ldi r24,lo8(-2000)
		2526	2755 14d4 98EF ldi r25,hi8(-2000)
		2527	2756 14d6 9093 0000 sts (MesswertRoll)+1,r25
		2528	2757 14da 8093 0000 sts MesswertRoll,r24
		2529	2758 .L130:
		2530	2759 14de 2A30 cpi r18,lo8(10)
		2531	2760 14e0 01F4 brne .L131
		2532	2761 14e2 8091 0000 lds r24,AdWertRoll
		2533	2762 14e6 9091 0000 lds r25,(AdWertRoll)+1
		2534	2763 14ea 835F subi r24,lo8(1011)
		2535	2764 14ec 9340 sbci r25,hi8(1011)
		2536	2765 14ee 04F0 brlt .L132
		2537	2766 14f0 88EE ldi r24,lo8(1000)
		2538	2767 14f2 93E0 ldi r25,hi8(1000)
		2539	2768 14f4 9093 0000 sts (MesswertRoll)+1,r25
		2540	2769 14f8 8093 0000 sts MesswertRoll,r24
		2541	2770 .L132:
		2542	2771 14fc 8091 0000 lds r24,AdWertRoll
		2543	2772 1500 9091 0000 lds r25,(AdWertRoll)+1
		2544	2773 1504 8A5F subi r24,lo8(1018)
		2545	2774 1506 9340 sbci r25,hi8(1018)
		2546	2775 1508 04F0 brlt .L134
		2547	2776 150a 00C0 rjmp .L170
		2548	2777 .L131:
		2549	2778 150c 8091 0000 lds r24,AdWertRoll
		2550	2779 1510 9091 0000 lds r25,(AdWertRoll)+1
		2551	2780 1514 815D subi r24,lo8(2001)
		2552	2781 1516 9740 sbci r25,hi8(2001)
		2553	2782 1518 04F0 brlt .L135
		2554	2783 151a 88EE ldi r24,lo8(1000)
		2555	2784 151c 93E0 ldi r25,hi8(1000)
		2556	2785 151e 9093 0000 sts (MesswertRoll)+1,r25
		2557	2786 1522 8093 0000 sts MesswertRoll,r24
		2558	2787 .L135:
		2559	2788 1526 8091 0000 lds r24,AdWertRoll
		2560	2789 152a 9091 0000 lds r25,(AdWertRoll)+1
		2561	2790 152e 805E subi r24,lo8(2016)
		2562	2791 1530 9740 sbci r25,hi8(2016)
		2563	2792 1532 04F0 brlt .L134
		2564	2793 .L170:
		2565	2794 1534 80ED ldi r24,lo8(2000)
		2566	2795 1536 97E0 ldi r25,hi8(2000)
		2567	2796 1538 9093 0000 sts (MesswertRoll)+1,r25
		2568	2797 153c 8093 0000 sts MesswertRoll,r24
		2569	2798 .L134:
		2570	2799 1540 6091 0000 lds r22,Parameter_Gyro_D
		2571	2800 1544 6623 tst r22
		2572	2801 1546 01F4 brne .+2
		2573	2802 1548 00C0 rjmp .L137
		2574	2803 154a 4091 0000 lds r20,HiResNick
		2575	2804 154e 5091 0000 lds r21,(HiResNick)+1
		2576	2805 1552 8091 0000 lds r24,oldNick.31
		2577	2806 1556 9091 0000 lds r25,(oldNick.31)+1
		2578	2807 155a 481B sub r20,r24
		2579	2808 155c 590B sbc r21,r25
		2580	2809 155e 5093 0000 sts (d2Nick.34)+1,r21
		2581	2810 1562 4093 0000 sts d2Nick.34,r20
		2582	2811 1566 2091 0000 lds r18,HiResNick
		2583	2812 156a 3091 0000 lds r19,(HiResNick)+1
		2584	2813 156e 280F add r18,r24
		2585	2814 1570 391F adc r19,r25
		2586	2815 1572 37FF sbrs r19,7
		2587	2816 1574 00C0 rjmp .L138
		2588	2817 1576 2F5F subi r18,lo8(-(1))
		2589	2818 1578 3F4F sbci r19,hi8(-(1))
		2590	2819 .L138:
		2591	2820 157a 3595 asr r19
		2592	2821 157c 2795 ror r18
		2593	2822 157e 3093 0000 sts (oldNick.31)+1,r19
		2594	2823 1582 2093 0000 sts oldNick.31,r18
		2595	2824 1586 4138 cpi r20,129
		2596	2825 1588 5105 cpc r21,__zero_reg__
		2597	2826 158a 04F0 brlt .L139
		2598	2827 158c 80E8 ldi r24,lo8(128)
		2599	2828 158e 90E0 ldi r25,hi8(128)
		2600	2829 1590 00C0 rjmp .L171
		2601	2830 .L139:
		2602	2831 1592 4058 subi r20,lo8(-128)
		2603	2832 1594 5F4F sbci r21,hi8(-128)
		2604	2833 1596 04F4 brge .L140
		2605	2834 1598 80E8 ldi r24,lo8(-128)
		2606	2835 159a 9FEF ldi r25,hi8(-128)
		2607	2836 .L171:
		2608	2837 159c 9093 0000 sts (d2Nick.34)+1,r25
		2609	2838 15a0 8093 0000 sts d2Nick.34,r24
		2610	2839 .L140:
		2611	2840 15a4 4091 0000 lds r20,HiResRoll
		2612	2841 15a8 5091 0000 lds r21,(HiResRoll)+1
		2613	2842 15ac 8091 0000 lds r24,oldRoll.32
		2614	2843 15b0 9091 0000 lds r25,(oldRoll.32)+1
		2615	2844 15b4 481B sub r20,r24
		2616	2845 15b6 590B sbc r21,r25
		2617	2846 15b8 5093 0000 sts (d2Roll.33)+1,r21
		2618	2847 15bc 4093 0000 sts d2Roll.33,r20
		2619	2848 15c0 2091 0000 lds r18,HiResRoll
		2620	2849 15c4 3091 0000 lds r19,(HiResRoll)+1
		2621	2850 15c8 280F add r18,r24
		2622	2851 15ca 391F adc r19,r25
		2623	2852 15cc 37FF sbrs r19,7
		2624	2853 15ce 00C0 rjmp .L142
		2625	2854 15d0 2F5F subi r18,lo8(-(1))
		2626	2855 15d2 3F4F sbci r19,hi8(-(1))
		2627	2856 .L142:
		2628	2857 15d4 3595 asr r19
		2629	2858 15d6 2795 ror r18
		2630	2859 15d8 3093 0000 sts (oldRoll.32)+1,r19
		2631	2860 15dc 2093 0000 sts oldRoll.32,r18
		2632	2861 15e0 4138 cpi r20,129
		2633	2862 15e2 5105 cpc r21,__zero_reg__
		2634	2863 15e4 04F0 brlt .L143
		2635	2864 15e6 80E8 ldi r24,lo8(128)
		2636	2865 15e8 90E0 ldi r25,hi8(128)
		2637	2866 15ea 00C0 rjmp .L172
		2638	2867 .L143:
		2639	2868 15ec 4058 subi r20,lo8(-128)
		2640	2869 15ee 5F4F sbci r21,hi8(-128)
		2641	2870 15f0 04F4 brge .L144
		2642	2871 15f2 80E8 ldi r24,lo8(-128)
		2643	2872 15f4 9FEF ldi r25,hi8(-128)
		2644	2873 .L172:
		2645	2874 15f6 9093 0000 sts (d2Roll.33)+1,r25
		2646	2875 15fa 8093 0000 sts d2Roll.33,r24
		2647	2876 .L144:
		2648	2877 15fe 462F mov r20,r22
		2649	2878 1600 5527 clr r21
		2650	2879 1602 8091 0000 lds r24,d2Nick.34
		2651	2880 1606 9091 0000 lds r25,(d2Nick.34)+1
		2652	2881 160a 849F mul r24,r20
		2653	2882 160c B001 movw r22,r0
		2654	2883 160e 859F mul r24,r21
		2655	2884 1610 700D add r23,r0
		2656	2885 1612 949F mul r25,r20
		2657	2886 1614 700D add r23,r0
		2658	2887 1616 1124 clr r1
		2659	2888 1618 9B01 movw r18,r22
		2660	2889 161a 77FF sbrs r23,7
		2661	2890 161c 00C0 rjmp .L146
		2662	2891 161e 215F subi r18,lo8(-(15))
		2663	2892 1620 3F4F sbci r19,hi8(-(15))
		2664	2893 .L146:
		2665	2894 1622 F4E0 ldi r31,4
		2666	2895 1624 3595 1: asr r19
		2667	2896 1626 2795 ror r18
		2668	2897 1628 FA95 dec r31
		2669	2898 162a 01F4 brne 1b
		2670	2899 162c 8091 0000 lds r24,MesswertNick
		2671	2900 1630 9091 0000 lds r25,(MesswertNick)+1
		2672	2901 1634 820F add r24,r18
		2673	2902 1636 931F adc r25,r19
		2674	2903 1638 9093 0000 sts (MesswertNick)+1,r25
		2675	2904 163c 8093 0000 sts MesswertNick,r24
		2676	2905 1640 8091 0000 lds r24,d2Roll.33
		2677	2906 1644 9091 0000 lds r25,(d2Roll.33)+1
		2678	2907 1648 849F mul r24,r20
		2679	2908 164a D001 movw r26,r0
		2680	2909 164c 859F mul r24,r21
		2681	2910 164e B00D add r27,r0
		2682	2911 1650 949F mul r25,r20
		2683	2912 1652 B00D add r27,r0
		2684	2913 1654 1124 clr r1
		2685	2914 1656 AD01 movw r20,r26
		2686	2915 1658 9D01 movw r18,r26
		2687	2916 165a B7FF sbrs r27,7
		2688	2917 165c 00C0 rjmp .L147
		2689	2918 165e 215F subi r18,lo8(-(15))
		2690	2919 1660 3F4F sbci r19,hi8(-(15))
		2691	2920 .L147:
		2692	2921 1662 E4E0 ldi r30,4
		2693	2922 1664 3595 1: asr r19
		2694	2923 1666 2795 ror r18
		2695	2924 1668 EA95 dec r30
		2696	2925 166a 01F4 brne 1b
		2697	2926 166c 8091 0000 lds r24,MesswertRoll
		2698	2927 1670 9091 0000 lds r25,(MesswertRoll)+1
		2699	2928 1674 820F add r24,r18
		2700	2929 1676 931F adc r25,r19
		2701	2930 1678 9093 0000 sts (MesswertRoll)+1,r25
		2702	2931 167c 8093 0000 sts MesswertRoll,r24
		2703	2932 1680 8091 0000 lds r24,HiResNick
		2704	2933 1684 9091 0000 lds r25,(HiResNick)+1
		2705	2934 1688 860F add r24,r22
		2706	2935 168a 971F adc r25,r23
		2707	2936 168c 9093 0000 sts (HiResNick)+1,r25
		2708	2937 1690 8093 0000 sts HiResNick,r24
		2709	2938 1694 8091 0000 lds r24,HiResRoll
		2710	2939 1698 9091 0000 lds r25,(HiResRoll)+1
		2711	2940 169c 840F add r24,r20
		2712	2941 169e 951F adc r25,r21
		2713	2942 16a0 9093 0000 sts (HiResRoll)+1,r25
		2714	2943 16a4 8093 0000 sts HiResRoll,r24
		2715	2944 .L137:
		2716	2945 16a8 0091 0000 lds r16,RohMesswertRoll
		2717	2946 16ac 1091 0000 lds r17,(RohMesswertRoll)+1
		2718	2947 16b0 8091 0000 lds r24,KopplungsteilNickRoll
		2719	2948 16b4 9091 0000 lds r25,(KopplungsteilNickRoll)+1
		2720	2949 16b8 1016 cp __zero_reg__,r16
		2721	2950 16ba 1106 cpc __zero_reg__,r17
		2722	2951 16bc 04F4 brge .L148
		2723	2952 16be 9C01 movw r18,r24
		2724	2953 16c0 97FF sbrs r25,7
		2725	2954 16c2 00C0 rjmp .L149
		2726	2955 16c4 2227 clr r18
		2727	2956 16c6 3327 clr r19
		2728	2957 16c8 281B sub r18,r24
		2729	2958 16ca 390B sbc r19,r25
		2730	2959 .L149:
		2731	2960 16cc C901 movw r24,r18
		2732	2961 16ce AA27 clr r26
		2733	2962 16d0 97FD sbrc r25,7
		2734	2963 16d2 A095 com r26
		2735	2964 16d4 BA2F mov r27,r26
		2736	2965 16d6 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2737	2966 16da 3327 clr r19
		2738	2967 16dc 4427 clr r20
		2739	2968 16de 5527 clr r21
		2740	2969 16e0 BC01 movw r22,r24
		2741	2970 16e2 CD01 movw r24,r26
		2742	2971 16e4 0E94 0000 call __mulsi3
		2743	2972 16e8 9B01 movw r18,r22
		2744	2973 16ea AC01 movw r20,r24
		2745	2974 16ec 97FF sbrs r25,7
		2746	2975 16ee 00C0 rjmp .L150
		2747	2976 16f0 215C subi r18,lo8(-(63))
		2748	2977 16f2 3F4F sbci r19,hi8(-(63))
		2749	2978 16f4 4F4F sbci r20,hlo8(-(63))
		2750	2979 16f6 5F4F sbci r21,hhi8(-(63))
		2751	2980 .L150:
		2752	2981 16f8 76E0 ldi r23,6
		2753	2982 16fa 5595 1: asr r21
		2754	2983 16fc 4795 ror r20
		2755	2984 16fe 3795 ror r19
		2756	2985 1700 2795 ror r18
		2757	2986 1702 7A95 dec r23
		2758	2987 1704 01F4 brne 1b
		2759	2988 1706 8091 0000 lds r24,TrimRoll
		2760	2989 170a 9091 0000 lds r25,(TrimRoll)+1
		2761	2990 170e 820F add r24,r18
		2762	2991 1710 931F adc r25,r19
		2763	2992 1712 00C0 rjmp .L173
		2764	2993 .L148:
		2765	2994 1714 97FF sbrs r25,7
		2766	2995 1716 00C0 rjmp .L152
		2767	2996 1718 9095 com r25
		2768	2997 171a 8195 neg r24
		2769	2998 171c 9F4F sbci r25,lo8(-1)
		2770	2999 .L152:
		2771	3000 171e AA27 clr r26
		2772	3001 1720 97FD sbrc r25,7
		2773	3002 1722 A095 com r26
		2774	3003 1724 BA2F mov r27,r26
		2775	3004 1726 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2776	3005 172a 3327 clr r19
		2777	3006 172c 4427 clr r20
		2778	3007 172e 5527 clr r21
		2779	3008 1730 BC01 movw r22,r24
		2780	3009 1732 CD01 movw r24,r26
		2781	3010 1734 0E94 0000 call __mulsi3
		2782	3011 1738 9B01 movw r18,r22
		2783	3012 173a AC01 movw r20,r24
		2784	3013 173c 97FF sbrs r25,7
		2785	3014 173e 00C0 rjmp .L153
		2786	3015 1740 215C subi r18,lo8(-(63))
		2787	3016 1742 3F4F sbci r19,hi8(-(63))
		2788	3017 1744 4F4F sbci r20,hlo8(-(63))
		2789	3018 1746 5F4F sbci r21,hhi8(-(63))
		2790	3019 .L153:
		2791	3020 1748 66E0 ldi r22,6
		2792	3021 174a 5595 1: asr r21
		2793	3022 174c 4795 ror r20
		2794	3023 174e 3795 ror r19
		2795	3024 1750 2795 ror r18
		2796	3025 1752 6A95 dec r22
		2797	3026 1754 01F4 brne 1b
		2798	3027 1756 8091 0000 lds r24,TrimRoll
		2799	3028 175a 9091 0000 lds r25,(TrimRoll)+1
		2800	3029 175e 821B sub r24,r18
		2801	3030 1760 930B sbc r25,r19
		2802	3031 .L173:
		2803	3032 1762 9093 0000 sts (TrimRoll)+1,r25
		2804	3033 1766 8093 0000 sts TrimRoll,r24
		2805	3034 176a E090 0000 lds r14,RohMesswertNick
		2806	3035 176e F090 0000 lds r15,(RohMesswertNick)+1
		2807	3036 1772 8091 0000 lds r24,KopplungsteilRollNick
		2808	3037 1776 9091 0000 lds r25,(KopplungsteilRollNick)+1
		2809	3038 177a 1E14 cp __zero_reg__,r14
		2810	3039 177c 1F04 cpc __zero_reg__,r15
		2811	3040 177e 04F4 brge .L154
		2812	3041 1780 9C01 movw r18,r24
		2813	3042 1782 97FF sbrs r25,7
		2814	3043 1784 00C0 rjmp .L155
		2815	3044 1786 2227 clr r18
		2816	3045 1788 3327 clr r19
		2817	3046 178a 281B sub r18,r24
		2818	3047 178c 390B sbc r19,r25
		2819	3048 .L155:
		2820	3049 178e C901 movw r24,r18
		2821	3050 1790 AA27 clr r26
		2822	3051 1792 97FD sbrc r25,7
		2823	3052 1794 A095 com r26
		2824	3053 1796 BA2F mov r27,r26
		2825	3054 1798 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2826	3055 179c 3327 clr r19
		2827	3056 179e 4427 clr r20
		2828	3057 17a0 5527 clr r21
		2829	3058 17a2 BC01 movw r22,r24
		2830	3059 17a4 CD01 movw r24,r26
		2831	3060 17a6 0E94 0000 call __mulsi3
		2832	3061 17aa 9B01 movw r18,r22
		2833	3062 17ac AC01 movw r20,r24
		2834	3063 17ae 97FF sbrs r25,7
		2835	3064 17b0 00C0 rjmp .L156
		2836	3065 17b2 215C subi r18,lo8(-(63))
		2837	3066 17b4 3F4F sbci r19,hi8(-(63))
		2838	3067 17b6 4F4F sbci r20,hlo8(-(63))
		2839	3068 17b8 5F4F sbci r21,hhi8(-(63))
		2840	3069 .L156:
		2841	3070 17ba 96E0 ldi r25,6
		2842	3071 17bc 5595 1: asr r21
		2843	3072 17be 4795 ror r20
		2844	3073 17c0 3795 ror r19
		2845	3074 17c2 2795 ror r18
		2846	3075 17c4 9A95 dec r25
		2847	3076 17c6 01F4 brne 1b
		2848	3077 17c8 8091 0000 lds r24,TrimNick
		2849	3078 17cc 9091 0000 lds r25,(TrimNick)+1
		2850	3079 17d0 820F add r24,r18
		2851	3080 17d2 931F adc r25,r19
		2852	3081 17d4 00C0 rjmp .L174
		2853	3082 .L154:
		2854	3083 17d6 97FF sbrs r25,7
		2855	3084 17d8 00C0 rjmp .L158
		2856	3085 17da 9095 com r25
		2857	3086 17dc 8195 neg r24
		2858	3087 17de 9F4F sbci r25,lo8(-1)
		2859	3088 .L158:
		2860	3089 17e0 AA27 clr r26
		2861	3090 17e2 97FD sbrc r25,7
		2862	3091 17e4 A095 com r26
		2863	3092 17e6 BA2F mov r27,r26
		2864	3093 17e8 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2865	3094 17ec 3327 clr r19
		2866	3095 17ee 4427 clr r20
		2867	3096 17f0 5527 clr r21
		2868	3097 17f2 BC01 movw r22,r24
		2869	3098 17f4 CD01 movw r24,r26
		2870	3099 17f6 0E94 0000 call __mulsi3
		2871	3100 17fa 9B01 movw r18,r22
		2872	3101 17fc AC01 movw r20,r24
		2873	3102 17fe 97FF sbrs r25,7
		2874	3103 1800 00C0 rjmp .L159
		2875	3104 1802 215C subi r18,lo8(-(63))
		2876	3105 1804 3F4F sbci r19,hi8(-(63))
		2877	3106 1806 4F4F sbci r20,hlo8(-(63))
		2878	3107 1808 5F4F sbci r21,hhi8(-(63))
		2879	3108 .L159:
		2880	3109 180a 86E0 ldi r24,6
		2881	3110 180c 5595 1: asr r21
		2882	3111 180e 4795 ror r20
		2883	3112 1810 3795 ror r19
		2884	3113 1812 2795 ror r18
		2885	3114 1814 8A95 dec r24
		2886	3115 1816 01F4 brne 1b
		2887	3116 1818 8091 0000 lds r24,TrimNick
		2888	3117 181c 9091 0000 lds r25,(TrimNick)+1
		2889	3118 1820 821B sub r24,r18
		2890	3119 1822 930B sbc r25,r19
		2891	3120 .L174:
		2892	3121 1824 9093 0000 sts (TrimNick)+1,r25
		2893	3122 1828 8093 0000 sts TrimNick,r24
		2894	3123 182c 8091 0000 lds r24,Parameter_GlobalConfig
		2895	3124 1830 87FF sbrs r24,7
		2896	3125 1832 00C0 rjmp .L82
		2897	3126 1834 B989 ldd r27,Y+17
		2898	3127 1836 BB23 tst r27
		2899	3128 1838 01F0 breq .+2
		2900	3129 183a 00C0 rjmp .L82
		2901	3130 183c 8091 0000 lds r24,Looping_Roll
		2902	3131 1840 8823 tst r24
		2903	3132 1842 01F4 brne .L82
		2904	3133 1844 E1E0 ldi r30,lo8(257)
		2905	3134 1846 EE16 cp r14,r30
		2906	3135 1848 E1E0 ldi r30,hi8(257)
		2907	3136 184a FE06 cpc r15,r30
		2908	3137 184c 04F0 brlt .L161
		2909	3138 184e 8091 0000 lds r24,MesswertNick
		2910	3139 1852 9091 0000 lds r25,(MesswertNick)+1
		2911	3140 1856 8E0D add r24,r14
		2912	3141 1858 9F1D adc r25,r15
		2913	3142 185a 8050 subi r24,lo8(-(-256))
		2914	3143 185c 9140 sbci r25,hi8(-(-256))
		2915	3144 185e 00C0 rjmp .L175
		2916	3145 .L161:
		2917	3146 1860 F0E0 ldi r31,lo8(-256)
		2918	3147 1862 EF16 cp r14,r31
		2919	3148 1864 FFEF ldi r31,hi8(-256)
		2920	3149 1866 FF06 cpc r15,r31
		2921	3150 1868 04F4 brge .L162
		2922	3151 186a 8091 0000 lds r24,MesswertNick
		2923	3152 186e 9091 0000 lds r25,(MesswertNick)+1
		2924	3153 1872 8E0D add r24,r14
		2925	3154 1874 9F1D adc r25,r15
		2926	3155 1876 8050 subi r24,lo8(-(256))
		2927	3156 1878 9F4F sbci r25,hi8(-(256))
		2928	3157 .L175:
		2929	3158 187a 9093 0000 sts (MesswertNick)+1,r25
		2930	3159 187e 8093 0000 sts MesswertNick,r24
		2931	3160 .L162:
		2932	3161 1882 21E0 ldi r18,hi8(257)
		2933	3162 1884 0130 cpi r16,lo8(257)
		2934	3163 1886 1207 cpc r17,r18
		2935	3164 1888 04F0 brlt .L164
		2936	3165 188a 8091 0000 lds r24,MesswertRoll
		2937	3166 188e 9091 0000 lds r25,(MesswertRoll)+1
		2938	3167 1892 800F add r24,r16
		2939	3168 1894 911F adc r25,r17
		2940	3169 1896 8050 subi r24,lo8(-(-256))
		2941	3170 1898 9140 sbci r25,hi8(-(-256))
		2942	3171 189a 00C0 rjmp .L176
		2943	3172 .L164:
		2944	3173 189c 3FEF ldi r19,hi8(-256)
		2945	3174 189e 0030 cpi r16,lo8(-256)
		2946	3175 18a0 1307 cpc r17,r19
		2947	3176 18a2 04F4 brge .L82
		2948	3177 18a4 8091 0000 lds r24,MesswertRoll
		2949	3178 18a8 9091 0000 lds r25,(MesswertRoll)+1
		2950	3179 18ac 800F add r24,r16
		2951	3180 18ae 911F adc r25,r17
		2952	3181 18b0 8050 subi r24,lo8(-(256))
		2953	3182 18b2 9F4F sbci r25,hi8(-(256))
		2954	3183 .L176:
		2955	3184 18b4 9093 0000 sts (MesswertRoll)+1,r25
		2956	3185 18b8 8093 0000 sts MesswertRoll,r24
		2957	3186 .L82:
		2958	3187 /* epilogue: frame size=19 */
		2959	3188 18bc E2E1 ldi r30,18
		2960	3189 18be CD5E subi r28,-19
		2961	3190 18c0 0C94 0000 jmp __epilogue_restores__+0
		2962	3191 /* epilogue end (size=4) */
		2963	3192 /* function Mittelwert size 2000 (1990) */
		2964	3194 .global SendMotorData
		2965	3196 SendMotorData:
		2966	3197 /* prologue: frame size=0 */
		2967	3198 /* prologue end (size=0) */
		2968	3199 18c4 8091 0000 lds r24,MotorenEin
		2969	3200 18c8 8823 tst r24
		2970	3201 18ca 01F4 brne .L178
		2971	3202 18cc 8091 0000 lds r24,FC_StatusFlags
		2972	3203 18d0 8C7F andi r24,lo8(-4)
		2973	3204 18d2 8093 0000 sts FC_StatusFlags,r24
		2974	3205 18d6 A0E0 ldi r26,lo8(MotorTest)
		2975	3206 18d8 B0E0 ldi r27,hi8(MotorTest)
		2976	3207 18da E0E0 ldi r30,lo8(Motor)
		2977	3208 18dc F0E0 ldi r31,hi8(Motor)
		2978	3209 18de 9BE0 ldi r25,lo8(11)
		2979	3210 .L183:
		2980	3211 18e0 8091 0000 lds r24,PC_MotortestActive
		2981	3212 18e4 8823 tst r24
		2982	3213 18e6 01F4 brne .L182
		2983	3214 18e8 8C93 st X,r24
		2984	3215 .L182:
		2985	3216 18ea 8D91 ld r24,X+
		2986	3217 18ec 8183 std Z+1,r24
		2987	3218 18ee 1282 std Z+2,__zero_reg__
		2988	3219 18f0 9150 subi r25,lo8(-(-1))
		2989	3220 18f2 3896 adiw r30,8
		2990	3221 18f4 97FF sbrs r25,7
		2991	3222 18f6 00C0 rjmp .L183
		2992	3223 18f8 8091 0000 lds r24,PC_MotortestActive
		2993	3224 18fc 8823 tst r24
		2994	3225 18fe 01F0 breq .L185
		2995	3226 1900 8091 0000 lds r24,PC_MotortestActive
		2996	3227 1904 8150 subi r24,lo8(-(-1))
		2997	3228 1906 8093 0000 sts PC_MotortestActive,r24
		2998	3229 190a 00C0 rjmp .L185
		2999	3230 .L178:
		3000	3231 190c 8091 0000 lds r24,FC_StatusFlags
		3001	3232 1910 8160 ori r24,lo8(1)
		3002	3233 1912 8093 0000 sts FC_StatusFlags,r24
		3003	3234 .L185:
		3004	3235 1916 8091 0000 lds r24,I2C_TransferActive
		3005	3236 191a 8823 tst r24
		3006	3237 191c 01F0 breq .L186
		3007	3238 191e 1092 0000 sts I2C_TransferActive,__zero_reg__
		3008	3239 1922 0895 ret
		3009	3240 .L186:
		3010	3241 1924 8093 0000 sts motor_write,r24
		3011	3242 1928 8093 0000 sts twi_state,r24
		3012	3243 192c 8091 0000 lds r24,BLFlags
		3013	3244 1930 8E7F andi r24,lo8(-2)
		3014	3245 1932 8093 0000 sts BLFlags,r24
		3015	3246 1936 85EA ldi r24,lo8(-91)
		3016	3247 1938 8093 BC00 sts 188,r24
		3017	3248 193c 0895 ret
		3018	3249 /* epilogue: frame size=0 */
		3019	3250 /* epilogue: noreturn */
		3020	3251 /* epilogue end (size=0) */
		3021	3252 /* function SendMotorData size 61 (61) */
		3022	3254 .global ParameterZuordnung
		3023	3256 ParameterZuordnung:
		3024	3257 /* prologue: frame size=0 */
		3025	3258 193e CF93 push r28
		3026	3259 1940 DF93 push r29
		3027	3260 /* prologue end (size=2) */
		3028	3261 1942 A0E0 ldi r26,lo8(Poti)
		3029	3262 1944 B0E0 ldi r27,hi8(Poti)
		3030	3263 1946 C0E0 ldi r28,lo8(EE_Parameter+5)
		3031	3264 1948 D0E0 ldi r29,hi8(EE_Parameter+5)
		3032	3265 194a 57E0 ldi r21,lo8(7)
		3033	3266 .L203:
		3034	3267 194c 9991 ld r25,Y+
		3035	3268 194e E92F mov r30,r25
		3036	3269 1950 FF27 clr r31
		3037	3270 1952 EE0F add r30,r30
		3038	3271 1954 FF1F adc r31,r31
		3039	3272 1956 E050 subi r30,lo8(-(PPM_in))
		3040	3273 1958 F040 sbci r31,hi8(-(PPM_in))
		3041	3274 195a 0190 ld __tmp_reg__,Z+
		3042	3275 195c F081 ld r31,Z
		3043	3276 195e E02D mov r30,__tmp_reg__
		3044	3277 1960 E158 subi r30,lo8(-(127))
		3045	3278 1962 FF4F sbci r31,hi8(-(127))
		3046	3279 1964 EF3F cpi r30,255
		3047	3280 1966 F105 cpc r31,__zero_reg__
		3048	3281 1968 01F0 breq .L194
		3049	3282 196a 04F0 brlt .L194
		3050	3283 196c EFEF ldi r30,lo8(255)
		3051	3284 196e F0E0 ldi r31,hi8(255)
		3052	3285 1970 00C0 rjmp .L195
		3053	3286 .L194:
		3054	3287 1972 F7FF sbrs r31,7
		3055	3288 1974 00C0 rjmp .L195
		3056	3289 1976 E0E0 ldi r30,lo8(0)
		3057	3290 1978 F0E0 ldi r31,hi8(0)
		3058	3291 .L195:
		3059	3292 197a 9931 cpi r25,lo8(25)
		3060	3293 197c 01F4 brne .L197
		3061	3294 197e EC93 st X,r30
		3062	3295 1980 00C0 rjmp .L193
		3063	3296 .L197:
		3064	3297 1982 4C91 ld r20,X
		3065	3298 1984 242F mov r18,r20
		3066	3299 1986 3327 clr r19
		3067	3300 1988 E217 cp r30,r18
		3068	3301 198a F307 cpc r31,r19
		3069	3302 198c 01F0 breq .L193
		3070	3303 198e CF01 movw r24,r30
		3071	3304 1990 821B sub r24,r18
		3072	3305 1992 930B sbc r25,r19
		3073	3306 1994 97FD sbrc r25,7
		3074	3307 1996 0396 adiw r24,3
		3075	3308 .L200:
		3076	3309 1998 9595 asr r25
		3077	3310 199a 8795 ror r24
		3078	3311 199c 9595 asr r25
		3079	3312 199e 8795 ror r24
		3080	3313 19a0 242F mov r18,r20
		3081	3314 19a2 280F add r18,r24
		3082	3315 19a4 2C93 st X,r18
		3083	3316 19a6 822F mov r24,r18
		3084	3317 19a8 9927 clr r25
		3085	3318 19aa E817 cp r30,r24
		3086	3319 19ac F907 cpc r31,r25
		3087	3320 19ae 04F4 brge .L201
		3088	3321 19b0 2150 subi r18,lo8(-(-1))
		3089	3322 19b2 00C0 rjmp .L323
		3090	3323 .L201:
		3091	3324 19b4 2F5F subi r18,lo8(-(1))
		3092	3325 .L323:
		3093	3326 19b6 2C93 st X,r18
		3094	3327 .L193:
		3095	3328 19b8 5150 subi r21,lo8(-(-1))
		3096	3329 19ba 1196 adiw r26,1
		3097	3330 19bc 57FF sbrs r21,7
		3098	3331 19be 00C0 rjmp .L203
		3099	3332 19c0 8091 0000 lds r24,EE_Parameter+15
		3100	3333 19c4 883F cpi r24,lo8(-8)
		3101	3334 19c6 00F0 brlo .L324
		3102	3335 19c8 EFEF ldi r30,lo8(255)
		3103	3336 19ca F0E0 ldi r31,hi8(255)
		3104	3337 19cc E81B sub r30,r24
		3105	3338 19ce F109 sbc r31,__zero_reg__
		3106	3339 19d0 E050 subi r30,lo8(-(Poti))
		3107	3340 19d2 F040 sbci r31,hi8(-(Poti))
		3108	3341 19d4 8081 ld r24,Z
		3109	3342 .L324:
		3110	3343 19d6 8093 0000 sts Parameter_Luftdruck_D,r24
		3111	3344 19da 8091 0000 lds r24,Parameter_Luftdruck_D
		3112	3345 19de 8823 tst r24
		3113	3346 19e0 01F0 breq .L207
		3114	3347 19e2 8436 cpi r24,lo8(100)
		3115	3348 19e4 00F0 brlo .L207
		3116	3349 19e6 84E6 ldi r24,lo8(100)
		3117	3350 19e8 8093 0000 sts Parameter_Luftdruck_D,r24
		3118	3351 .L207:
		3119	3352 19ec 8091 0000 lds r24,EE_Parameter+17
		3120	3353 19f0 883F cpi r24,lo8(-8)
		3121	3354 19f2 00F0 brlo .L325
		3122	3355 19f4 EFEF ldi r30,lo8(255)
		3123	3356 19f6 F0E0 ldi r31,hi8(255)
		3124	3357 19f8 E81B sub r30,r24
		3125	3358 19fa F109 sbc r31,__zero_reg__
		3126	3359 19fc E050 subi r30,lo8(-(Poti))
		3127	3360 19fe F040 sbci r31,hi8(-(Poti))
		3128	3361 1a00 8081 ld r24,Z
		3129	3362 .L325:
		3130	3363 1a02 8093 0000 sts Parameter_Hoehe_P,r24
		3131	3364 1a06 8091 0000 lds r24,Parameter_Hoehe_P
		3132	3365 1a0a 8823 tst r24
		3133	3366 1a0c 01F0 breq .L212
		3134	3367 1a0e 8436 cpi r24,lo8(100)
		3135	3368 1a10 00F0 brlo .L212
		3136	3369 1a12 84E6 ldi r24,lo8(100)
		3137	3370 1a14 8093 0000 sts Parameter_Hoehe_P,r24
		3138	3371 .L212:
		3139	3372 1a18 8091 0000 lds r24,EE_Parameter+30
		3140	3373 1a1c 883F cpi r24,lo8(-8)
		3141	3374 1a1e 00F0 brlo .L326
		3142	3375 1a20 EFEF ldi r30,lo8(255)
		3143	3376 1a22 F0E0 ldi r31,hi8(255)
		3144	3377 1a24 E81B sub r30,r24
		3145	3378 1a26 F109 sbc r31,__zero_reg__
		3146	3379 1a28 E050 subi r30,lo8(-(Poti))
		3147	3380 1a2a F040 sbci r31,hi8(-(Poti))
		3148	3381 1a2c 8081 ld r24,Z
		3149	3382 .L326:
		3150	3383 1a2e 8093 0000 sts Parameter_Gyro_P,r24
		3151	3384 1a32 8091 0000 lds r24,Parameter_Gyro_P
		3152	3385 1a36 8B30 cpi r24,lo8(11)
		3153	3386 1a38 00F4 brsh .L216
		3154	3387 1a3a 8AE0 ldi r24,lo8(10)
		3155	3388 1a3c 00C0 rjmp .L327
		3156	3389 .L216:
		3157	3390 1a3e 8F3F cpi r24,lo8(-1)
		3158	3391 1a40 01F4 brne .L217
		3159	3392 .L327:
		3160	3393 1a42 8093 0000 sts Parameter_Gyro_P,r24
		3161	3394 .L217:
		3162	3395 1a46 8091 0000 lds r24,EE_Parameter+75
		3163	3396 1a4a 883F cpi r24,lo8(-8)
		3164	3397 1a4c 00F0 brlo .L328
		3165	3398 1a4e EFEF ldi r30,lo8(255)
		3166	3399 1a50 F0E0 ldi r31,hi8(255)
		3167	3400 1a52 E81B sub r30,r24
		3168	3401 1a54 F109 sbc r31,__zero_reg__
		3169	3402 1a56 E050 subi r30,lo8(-(Poti))
		3170	3403 1a58 F040 sbci r31,hi8(-(Poti))
		3171	3404 1a5a 8081 ld r24,Z
		3172	3405 .L328:
		3173	3406 1a5c 8093 0000 sts Parameter_J16Timing,r24
		3174	3407 1a60 8091 0000 lds r24,Parameter_J16Timing
		3175	3408 1a64 8630 cpi r24,lo8(6)
		3176	3409 1a66 00F4 brsh .L221
		3177	3410 1a68 85E0 ldi r24,lo8(5)
		3178	3411 1a6a 00C0 rjmp .L329
		3179	3412 .L221:
		3180	3413 1a6c 8F3F cpi r24,lo8(-1)
		3181	3414 1a6e 01F4 brne .L222
		3182	3415 .L329:
		3183	3416 1a70 8093 0000 sts Parameter_J16Timing,r24
		3184	3417 .L222:
		3185	3418 1a74 8091 0000 lds r24,EE_Parameter+77
		3186	3419 1a78 883F cpi r24,lo8(-8)
		3187	3420 1a7a 00F0 brlo .L330
		3188	3421 1a7c EFEF ldi r30,lo8(255)
		3189	3422 1a7e F0E0 ldi r31,hi8(255)
		3190	3423 1a80 E81B sub r30,r24
		3191	3424 1a82 F109 sbc r31,__zero_reg__
		3192	3425 1a84 E050 subi r30,lo8(-(Poti))
		3193	3426 1a86 F040 sbci r31,hi8(-(Poti))
		3194	3427 1a88 8081 ld r24,Z
		3195	3428 .L330:
		3196	3429 1a8a 8093 0000 sts Parameter_J17Timing,r24
		3197	3430 1a8e 8091 0000 lds r24,Parameter_J17Timing
		3198	3431 1a92 8630 cpi r24,lo8(6)
		3199	3432 1a94 00F4 brsh .L226
		3200	3433 1a96 85E0 ldi r24,lo8(5)
		3201	3434 1a98 00C0 rjmp .L331
		3202	3435 .L226:
		3203	3436 1a9a 8F3F cpi r24,lo8(-1)
		3204	3437 1a9c 01F4 brne .L227
		3205	3438 .L331:
		3206	3439 1a9e 8093 0000 sts Parameter_J17Timing,r24
		3207	3440 .L227:
		3208	3441 1aa2 8091 0000 lds r24,EE_Parameter+56
		3209	3442 1aa6 873F cpi r24,lo8(-9)
		3210	3443 1aa8 01F4 brne .L229
		3211	3444 1aaa 4299 sbic 40-0x20,2
		3212	3445 1aac 00C0 rjmp .L362
		3213	3446 1aae 00C0 rjmp .L234
		3214	3447 .L229:
		3215	3448 1ab0 863F cpi r24,lo8(-10)
		3216	3449 1ab2 01F4 brne .L233
		3217	3450 1ab4 439B sbis 40-0x20,3
		3218	3451 1ab6 00C0 rjmp .L234
		3219	3452 .L362:
		3220	3453 1ab8 8CE8 ldi r24,lo8(-116)
		3221	3454 1aba 00C0 rjmp .L332
		3222	3455 .L234:
		3223	3456 1abc 86E4 ldi r24,lo8(70)
		3224	3457 1abe 00C0 rjmp .L332
		3225	3458 .L233:
		3226	3459 1ac0 883F cpi r24,lo8(-8)
		3227	3460 1ac2 00F0 brlo .L332
		3228	3461 1ac4 EFEF ldi r30,lo8(255)
		3229	3462 1ac6 F0E0 ldi r31,hi8(255)
		3230	3463 1ac8 E81B sub r30,r24
		3231	3464 1aca F109 sbc r31,__zero_reg__
		3232	3465 1acc E050 subi r30,lo8(-(Poti))
		3233	3466 1ace F040 sbci r31,hi8(-(Poti))
		3234	3467 1ad0 8081 ld r24,Z
		3235	3468 .L332:
		3236	3469 1ad2 8093 0000 sts Parameter_Servo3,r24
		3237	3470 1ad6 8091 0000 lds r24,EE_Parameter+57
		3238	3471 1ada 873F cpi r24,lo8(-9)
		3239	3472 1adc 01F4 brne .L239
		3240	3473 1ade 4299 sbic 40-0x20,2
		3241	3474 1ae0 00C0 rjmp .L363
		3242	3475 1ae2 00C0 rjmp .L244
		3243	3476 .L239:
		3244	3477 1ae4 863F cpi r24,lo8(-10)
		3245	3478 1ae6 01F4 brne .L243
		3246	3479 1ae8 439B sbis 40-0x20,3
		3247	3480 1aea 00C0 rjmp .L244
		3248	3481 .L363:
		3249	3482 1aec 8CE8 ldi r24,lo8(-116)
		3250	3483 1aee 00C0 rjmp .L333
		3251	3484 .L244:
		3252	3485 1af0 86E4 ldi r24,lo8(70)
		3253	3486 1af2 00C0 rjmp .L333
		3254	3487 .L243:
		3255	3488 1af4 883F cpi r24,lo8(-8)
		3256	3489 1af6 00F0 brlo .L333
		3257	3490 1af8 EFEF ldi r30,lo8(255)
		3258	3491 1afa F0E0 ldi r31,hi8(255)
		3259	3492 1afc E81B sub r30,r24
		3260	3493 1afe F109 sbc r31,__zero_reg__
		3261	3494 1b00 E050 subi r30,lo8(-(Poti))
		3262	3495 1b02 F040 sbci r31,hi8(-(Poti))
		3263	3496 1b04 8081 ld r24,Z
		3264	3497 .L333:
		3265	3498 1b06 8093 0000 sts Parameter_Servo4,r24
		3266	3499 1b0a 8091 0000 lds r24,EE_Parameter+58
		3267	3500 1b0e 883F cpi r24,lo8(-8)
		3268	3501 1b10 00F0 brlo .L334
		3269	3502 1b12 EFEF ldi r30,lo8(255)
		3270	3503 1b14 F0E0 ldi r31,hi8(255)
		3271	3504 1b16 E81B sub r30,r24
		3272	3505 1b18 F109 sbc r31,__zero_reg__
		3273	3506 1b1a E050 subi r30,lo8(-(Poti))
		3274	3507 1b1c F040 sbci r31,hi8(-(Poti))
		3275	3508 1b1e 8081 ld r24,Z
		3276	3509 .L334:
		3277	3510 1b20 8093 0000 sts Parameter_Servo5,r24
		3278	3511 1b24 8091 0000 lds r24,EE_Parameter+16
		3279	3512 1b28 883F cpi r24,lo8(-8)
		3280	3513 1b2a 00F0 brlo .L335
		3281	3514 1b2c EFEF ldi r30,lo8(255)
		3282	3515 1b2e F0E0 ldi r31,hi8(255)
		3283	3516 1b30 E81B sub r30,r24
		3284	3517 1b32 F109 sbc r31,__zero_reg__
		3285	3518 1b34 E050 subi r30,lo8(-(Poti))
		3286	3519 1b36 F040 sbci r31,hi8(-(Poti))
		3287	3520 1b38 8081 ld r24,Z
		3288	3521 .L335:
		3289	3522 1b3a 8093 0000 sts Parameter_HoehenSchalter,r24
		3290	3523 1b3e 8091 0000 lds r24,EE_Parameter+19
		3291	3524 1b42 883F cpi r24,lo8(-8)
		3292	3525 1b44 00F0 brlo .L336
		3293	3526 1b46 EFEF ldi r30,lo8(255)
		3294	3527 1b48 F0E0 ldi r31,hi8(255)
		3295	3528 1b4a E81B sub r30,r24
		3296	3529 1b4c F109 sbc r31,__zero_reg__
		3297	3530 1b4e E050 subi r30,lo8(-(Poti))
		3298	3531 1b50 F040 sbci r31,hi8(-(Poti))
		3299	3532 1b52 8081 ld r24,Z
		3300	3533 .L336:
		3301	3534 1b54 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24
		3302	3535 1b58 8091 0000 lds r24,EE_Parameter+21
		3303	3536 1b5c 883F cpi r24,lo8(-8)
		3304	3537 1b5e 00F0 brlo .L337
		3305	3538 1b60 EFEF ldi r30,lo8(255)
		3306	3539 1b62 F0E0 ldi r31,hi8(255)
		3307	3540 1b64 E81B sub r30,r24
		3308	3541 1b66 F109 sbc r31,__zero_reg__
		3309	3542 1b68 E050 subi r30,lo8(-(Poti))
		3310	3543 1b6a F040 sbci r31,hi8(-(Poti))
		3311	3544 1b6c 8081 ld r24,Z
		3312	3545 .L337:
		3313	3546 1b6e 8093 0000 sts Parameter_Hoehe_GPS_Z,r24
		3314	3547 1b72 8091 0000 lds r24,EE_Parameter+29
		3315	3548 1b76 883F cpi r24,lo8(-8)
		3316	3549 1b78 00F0 brlo .L338
		3317	3550 1b7a EFEF ldi r30,lo8(255)
		3318	3551 1b7c F0E0 ldi r31,hi8(255)
		3319	3552 1b7e E81B sub r30,r24
		3320	3553 1b80 F109 sbc r31,__zero_reg__
		3321	3554 1b82 E050 subi r30,lo8(-(Poti))
		3322	3555 1b84 F040 sbci r31,hi8(-(Poti))
		3323	3556 1b86 8081 ld r24,Z
		3324	3557 .L338:
		3325	3558 1b88 8093 0000 sts Parameter_KompassWirkung,r24
		3326	3559 1b8c 8091 0000 lds r24,EE_Parameter+31
		3327	3560 1b90 883F cpi r24,lo8(-8)
		3328	3561 1b92 00F0 brlo .L339
		3329	3562 1b94 EFEF ldi r30,lo8(255)
		3330	3563 1b96 F0E0 ldi r31,hi8(255)
		3331	3564 1b98 E81B sub r30,r24
		3332	3565 1b9a F109 sbc r31,__zero_reg__
		3333	3566 1b9c E050 subi r30,lo8(-(Poti))
		3334	3567 1b9e F040 sbci r31,hi8(-(Poti))
		3335	3568 1ba0 8081 ld r24,Z
		3336	3569 .L339:
		3337	3570 1ba2 8093 0000 sts Parameter_Gyro_I,r24
		3338	3571 1ba6 8091 0000 lds r24,EE_Parameter+32
		3339	3572 1baa 883F cpi r24,lo8(-8)
		3340	3573 1bac 00F0 brlo .L340
		3341	3574 1bae EFEF ldi r30,lo8(255)
		3342	3575 1bb0 F0E0 ldi r31,hi8(255)
		3343	3576 1bb2 E81B sub r30,r24
		3344	3577 1bb4 F109 sbc r31,__zero_reg__
		3345	3578 1bb6 E050 subi r30,lo8(-(Poti))
		3346	3579 1bb8 F040 sbci r31,hi8(-(Poti))
		3347	3580 1bba 8081 ld r24,Z
		3348	3581 .L340:
		3349	3582 1bbc 8093 0000 sts Parameter_Gyro_D,r24
		3350	3583 1bc0 8091 0000 lds r24,EE_Parameter+33
		3351	3584 1bc4 883F cpi r24,lo8(-8)
		3352	3585 1bc6 00F0 brlo .L341
		3353	3586 1bc8 EFEF ldi r30,lo8(255)
		3354	3587 1bca F0E0 ldi r31,hi8(255)
		3355	3588 1bcc E81B sub r30,r24
		3356	3589 1bce F109 sbc r31,__zero_reg__
		3357	3590 1bd0 E050 subi r30,lo8(-(Poti))
		3358	3591 1bd2 F040 sbci r31,hi8(-(Poti))
		3359	3592 1bd4 8081 ld r24,Z
		3360	3593 .L341:
		3361	3594 1bd6 8093 0000 sts Parameter_Gyro_Gier_P,r24
		3362	3595 1bda 8091 0000 lds r24,EE_Parameter+34
		3363	3596 1bde 883F cpi r24,lo8(-8)
		3364	3597 1be0 00F0 brlo .L342
		3365	3598 1be2 EFEF ldi r30,lo8(255)
		3366	3599 1be4 F0E0 ldi r31,hi8(255)
		3367	3600 1be6 E81B sub r30,r24
		3368	3601 1be8 F109 sbc r31,__zero_reg__
		3369	3602 1bea E050 subi r30,lo8(-(Poti))
		3370	3603 1bec F040 sbci r31,hi8(-(Poti))
		3371	3604 1bee 8081 ld r24,Z
		3372	3605 .L342:
		3373	3606 1bf0 8093 0000 sts Parameter_Gyro_Gier_I,r24
		3374	3607 1bf4 8091 0000 lds r24,EE_Parameter+40
		3375	3608 1bf8 883F cpi r24,lo8(-8)
		3376	3609 1bfa 00F0 brlo .L343
		3377	3610 1bfc EFEF ldi r30,lo8(255)
		3378	3611 1bfe F0E0 ldi r31,hi8(255)
		3379	3612 1c00 E81B sub r30,r24
		3380	3613 1c02 F109 sbc r31,__zero_reg__
		3381	3614 1c04 E050 subi r30,lo8(-(Poti))
		3382	3615 1c06 F040 sbci r31,hi8(-(Poti))
		3383	3616 1c08 8081 ld r24,Z
		3384	3617 .L343:
		3385	3618 1c0a 8093 0000 sts Parameter_I_Faktor,r24
		3386	3619 1c0e 8091 0000 lds r24,EE_Parameter+41
		3387	3620 1c12 883F cpi r24,lo8(-8)
		3388	3621 1c14 00F0 brlo .L344
		3389	3622 1c16 EFEF ldi r30,lo8(255)
		3390	3623 1c18 F0E0 ldi r31,hi8(255)
		3391	3624 1c1a E81B sub r30,r24
		3392	3625 1c1c F109 sbc r31,__zero_reg__
		3393	3626 1c1e E050 subi r30,lo8(-(Poti))
		3394	3627 1c20 F040 sbci r31,hi8(-(Poti))
		3395	3628 1c22 8081 ld r24,Z
		3396	3629 .L344:
		3397	3630 1c24 8093 0000 sts Parameter_UserParam1,r24
		3398	3631 1c28 8091 0000 lds r24,EE_Parameter+42
		3399	3632 1c2c 883F cpi r24,lo8(-8)
		3400	3633 1c2e 00F0 brlo .L345
		3401	3634 1c30 EFEF ldi r30,lo8(255)
		3402	3635 1c32 F0E0 ldi r31,hi8(255)
		3403	3636 1c34 E81B sub r30,r24
		3404	3637 1c36 F109 sbc r31,__zero_reg__
		3405	3638 1c38 E050 subi r30,lo8(-(Poti))
		3406	3639 1c3a F040 sbci r31,hi8(-(Poti))
		3407	3640 1c3c 8081 ld r24,Z
		3408	3641 .L345:
		3409	3642 1c3e 8093 0000 sts Parameter_UserParam2,r24
		3410	3643 1c42 8091 0000 lds r24,EE_Parameter+43
		3411	3644 1c46 883F cpi r24,lo8(-8)
		3412	3645 1c48 00F0 brlo .L346
		3413	3646 1c4a EFEF ldi r30,lo8(255)
		3414	3647 1c4c F0E0 ldi r31,hi8(255)
		3415	3648 1c4e E81B sub r30,r24
		3416	3649 1c50 F109 sbc r31,__zero_reg__
		3417	3650 1c52 E050 subi r30,lo8(-(Poti))
		3418	3651 1c54 F040 sbci r31,hi8(-(Poti))
		3419	3652 1c56 8081 ld r24,Z
		3420	3653 .L346:
		3421	3654 1c58 8093 0000 sts Parameter_UserParam3,r24
		3422	3655 1c5c 8091 0000 lds r24,EE_Parameter+44
		3423	3656 1c60 883F cpi r24,lo8(-8)
		3424	3657 1c62 00F0 brlo .L347
		3425	3658 1c64 EFEF ldi r30,lo8(255)
		3426	3659 1c66 F0E0 ldi r31,hi8(255)
		3427	3660 1c68 E81B sub r30,r24
		3428	3661 1c6a F109 sbc r31,__zero_reg__
		3429	3662 1c6c E050 subi r30,lo8(-(Poti))
		3430	3663 1c6e F040 sbci r31,hi8(-(Poti))
		3431	3664 1c70 8081 ld r24,Z
		3432	3665 .L347:
		3433	3666 1c72 8093 0000 sts Parameter_UserParam4,r24
		3434	3667 1c76 8091 0000 lds r24,EE_Parameter+70
		3435	3668 1c7a 883F cpi r24,lo8(-8)
		3436	3669 1c7c 00F0 brlo .L348
		3437	3670 1c7e EFEF ldi r30,lo8(255)
		3438	3671 1c80 F0E0 ldi r31,hi8(255)
		3439	3672 1c82 E81B sub r30,r24
		3440	3673 1c84 F109 sbc r31,__zero_reg__
		3441	3674 1c86 E050 subi r30,lo8(-(Poti))
		3442	3675 1c88 F040 sbci r31,hi8(-(Poti))
		3443	3676 1c8a 8081 ld r24,Z
		3444	3677 .L348:
		3445	3678 1c8c 8093 0000 sts Parameter_UserParam5,r24
		3446	3679 1c90 8091 0000 lds r24,EE_Parameter+71
		3447	3680 1c94 883F cpi r24,lo8(-8)
		3448	3681 1c96 00F0 brlo .L349
		3449	3682 1c98 EFEF ldi r30,lo8(255)
		3450	3683 1c9a F0E0 ldi r31,hi8(255)
		3451	3684 1c9c E81B sub r30,r24
		3452	3685 1c9e F109 sbc r31,__zero_reg__
		3453	3686 1ca0 E050 subi r30,lo8(-(Poti))
		3454	3687 1ca2 F040 sbci r31,hi8(-(Poti))
		3455	3688 1ca4 8081 ld r24,Z
		3456	3689 .L349:
		3457	3690 1ca6 8093 0000 sts Parameter_UserParam6,r24
		3458	3691 1caa 8091 0000 lds r24,EE_Parameter+72
		3459	3692 1cae 883F cpi r24,lo8(-8)
		3460	3693 1cb0 00F0 brlo .L350
		3461	3694 1cb2 EFEF ldi r30,lo8(255)
		3462	3695 1cb4 F0E0 ldi r31,hi8(255)
		3463	3696 1cb6 E81B sub r30,r24
		3464	3697 1cb8 F109 sbc r31,__zero_reg__
		3465	3698 1cba E050 subi r30,lo8(-(Poti))
		3466	3699 1cbc F040 sbci r31,hi8(-(Poti))
		3467	3700 1cbe 8081 ld r24,Z
		3468	3701 .L350:
		3469	3702 1cc0 8093 0000 sts Parameter_UserParam7,r24
		3470	3703 1cc4 8091 0000 lds r24,EE_Parameter+73
		3471	3704 1cc8 883F cpi r24,lo8(-8)
		3472	3705 1cca 00F0 brlo .L351
		3473	3706 1ccc EFEF ldi r30,lo8(255)
		3474	3707 1cce F0E0 ldi r31,hi8(255)
		3475	3708 1cd0 E81B sub r30,r24
		3476	3709 1cd2 F109 sbc r31,__zero_reg__
		3477	3710 1cd4 E050 subi r30,lo8(-(Poti))
		3478	3711 1cd6 F040 sbci r31,hi8(-(Poti))
		3479	3712 1cd8 8081 ld r24,Z
		3480	3713 .L351:
		3481	3714 1cda 8093 0000 sts Parameter_UserParam8,r24
		3482	3715 1cde 8091 0000 lds r24,EE_Parameter+45
		3483	3716 1ce2 883F cpi r24,lo8(-8)
		3484	3717 1ce4 00F0 brlo .L352
		3485	3718 1ce6 EFEF ldi r30,lo8(255)
		3486	3719 1ce8 F0E0 ldi r31,hi8(255)
		3487	3720 1cea E81B sub r30,r24
		3488	3721 1cec F109 sbc r31,__zero_reg__
		3489	3722 1cee E050 subi r30,lo8(-(Poti))
		3490	3723 1cf0 F040 sbci r31,hi8(-(Poti))
		3491	3724 1cf2 8081 ld r24,Z
		3492	3725 .L352:
		3493	3726 1cf4 8093 0000 sts Parameter_ServoNickControl,r24
		3494	3727 1cf8 8091 0000 lds r24,EE_Parameter+49
		3495	3728 1cfc 883F cpi r24,lo8(-8)
		3496	3729 1cfe 00F0 brlo .L353
		3497	3730 1d00 EFEF ldi r30,lo8(255)
		3498	3731 1d02 F0E0 ldi r31,hi8(255)
		3499	3732 1d04 E81B sub r30,r24
		3500	3733 1d06 F109 sbc r31,__zero_reg__
		3501	3734 1d08 E050 subi r30,lo8(-(Poti))
		3502	3735 1d0a F040 sbci r31,hi8(-(Poti))
		3503	3736 1d0c 8081 ld r24,Z
		3504	3737 .L353:
		3505	3738 1d0e 8093 0000 sts Parameter_ServoRollControl,r24
		3506	3739 1d12 8091 0000 lds r24,EE_Parameter+59
		3507	3740 1d16 883F cpi r24,lo8(-8)
		3508	3741 1d18 00F0 brlo .L354
		3509	3742 1d1a EFEF ldi r30,lo8(255)
		3510	3743 1d1c F0E0 ldi r31,hi8(255)
		3511	3744 1d1e E81B sub r30,r24
		3512	3745 1d20 F109 sbc r31,__zero_reg__
		3513	3746 1d22 E050 subi r30,lo8(-(Poti))
		3514	3747 1d24 F040 sbci r31,hi8(-(Poti))
		3515	3748 1d26 8081 ld r24,Z
		3516	3749 .L354:
		3517	3750 1d28 8093 0000 sts Parameter_LoopGasLimit,r24
		3518	3751 1d2c 8091 0000 lds r24,EE_Parameter+62
		3519	3752 1d30 883F cpi r24,lo8(-8)
		3520	3753 1d32 00F0 brlo .L355
		3521	3754 1d34 EFEF ldi r30,lo8(255)
		3522	3755 1d36 F0E0 ldi r31,hi8(255)
		3523	3756 1d38 E81B sub r30,r24
		3524	3757 1d3a F109 sbc r31,__zero_reg__
		3525	3758 1d3c E050 subi r30,lo8(-(Poti))
		3526	3759 1d3e F040 sbci r31,hi8(-(Poti))
		3527	3760 1d40 8081 ld r24,Z
		3528	3761 .L355:
		3529	3762 1d42 8093 0000 sts Parameter_AchsKopplung1,r24
		3530	3763 1d46 8091 0000 lds r24,EE_Parameter+63
		3531	3764 1d4a 883F cpi r24,lo8(-8)
		3532	3765 1d4c 00F0 brlo .L356
		3533	3766 1d4e EFEF ldi r30,lo8(255)
		3534	3767 1d50 F0E0 ldi r31,hi8(255)
		3535	3768 1d52 E81B sub r30,r24
		3536	3769 1d54 F109 sbc r31,__zero_reg__
		3537	3770 1d56 E050 subi r30,lo8(-(Poti))
		3538	3771 1d58 F040 sbci r31,hi8(-(Poti))
		3539	3772 1d5a 8081 ld r24,Z
		3540	3773 .L356:
		3541	3774 1d5c 8093 0000 sts Parameter_AchsKopplung2,r24
		3542	3775 1d60 8091 0000 lds r24,EE_Parameter+64
		3543	3776 1d64 883F cpi r24,lo8(-8)
		3544	3777 1d66 00F0 brlo .L357
		3545	3778 1d68 EFEF ldi r30,lo8(255)
		3546	3779 1d6a F0E0 ldi r31,hi8(255)
		3547	3780 1d6c E81B sub r30,r24
		3548	3781 1d6e F109 sbc r31,__zero_reg__
		3549	3782 1d70 E050 subi r30,lo8(-(Poti))
		3550	3783 1d72 F040 sbci r31,hi8(-(Poti))
		3551	3784 1d74 8081 ld r24,Z
		3552	3785 .L357:
		3553	3786 1d76 8093 0000 sts Parameter_CouplingYawCorrection,r24
		3554	3787 1d7a 8091 0000 lds r24,EE_Parameter+104
		3555	3788 1d7e 883F cpi r24,lo8(-8)
		3556	3789 1d80 00F0 brlo .L358
		3557	3790 1d82 EFEF ldi r30,lo8(255)
		3558	3791 1d84 F0E0 ldi r31,hi8(255)
		3559	3792 1d86 E81B sub r30,r24
		3560	3793 1d88 F109 sbc r31,__zero_reg__
		3561	3794 1d8a E050 subi r30,lo8(-(Poti))
		3562	3795 1d8c F040 sbci r31,hi8(-(Poti))
		3563	3796 1d8e 8081 ld r24,Z
		3564	3797 .L358:
		3565	3798 1d90 8093 0000 sts Parameter_MaximumAltitude,r24
		3566	3799 1d94 9091 0000 lds r25,NC_To_FC_MaxAltitude
		3567	3800 1d98 9923 tst r25
		3568	3801 1d9a 01F0 breq .L301
		3569	3802 1d9c 8091 0000 lds r24,Parameter_MaximumAltitude
		3570	3803 1da0 9817 cp r25,r24
		3571	3804 1da2 00F0 brlo .L300
		3572	3805 .L301:
		3573	3806 1da4 8091 0000 lds r24,Parameter_MaximumAltitude
		3574	3807 1da8 8823 tst r24
		3575	3808 1daa 01F4 brne .L299
		3576	3809 .L300:
		3577	3810 1dac 9093 0000 sts Parameter_MaximumAltitude,r25
		3578	3811 .L299:
		3579	3812 1db0 8091 0000 lds r24,EE_Parameter+13
		3580	3813 1db4 8093 0000 sts Parameter_GlobalConfig,r24
		3581	3814 1db8 8091 0000 lds r24,EE_Parameter+110
		3582	3815 1dbc 8093 0000 sts Parameter_ExtraConfig,r24
		3583	3816 1dc0 8091 0000 lds r24,EE_Parameter+69
		3584	3817 1dc4 883F cpi r24,lo8(-8)
		3585	3818 1dc6 00F0 brlo .L359
		3586	3819 1dc8 EFEF ldi r30,lo8(255)
		3587	3820 1dca F0E0 ldi r31,hi8(255)
		3588	3821 1dcc E81B sub r30,r24
		3589	3822 1dce F109 sbc r31,__zero_reg__
		3590	3823 1dd0 E050 subi r30,lo8(-(Poti))
		3591	3824 1dd2 F040 sbci r31,hi8(-(Poti))
		3592	3825 1dd4 8081 ld r24,Z
		3593	3826 .L359:
		3594	3827 1dd6 8093 0000 sts Parameter_DynamicStability,r24
		3595	3828 1dda 8091 0000 lds r24,EE_Parameter+97
		3596	3829 1dde 883F cpi r24,lo8(-8)
		3597	3830 1de0 00F0 brlo .L360
		3598	3831 1de2 EFEF ldi r30,lo8(255)
		3599	3832 1de4 F0E0 ldi r31,hi8(255)
		3600	3833 1de6 E81B sub r30,r24
		3601	3834 1de8 F109 sbc r31,__zero_reg__
		3602	3835 1dea E050 subi r30,lo8(-(Poti))
		3603	3836 1dec F040 sbci r31,hi8(-(Poti))
		3604	3837 1dee 8081 ld r24,Z
		3605	3838 .L360:
		3606	3839 1df0 8093 0000 sts Parameter_ExternalControl,r24
		3607	3840 1df4 8091 0000 lds r24,Parameter_I_Faktor
		3608	3841 1df8 282F mov r18,r24
		3609	3842 1dfa 3327 clr r19
		3610	3843 1dfc 2F5F subi r18,lo8(-(1))
		3611	3844 1dfe 3F4F sbci r19,hi8(-(1))
		3612	3845 1e00 8CE3 ldi r24,lo8(10300)
		3613	3846 1e02 98E2 ldi r25,hi8(10300)
		3614	3847 1e04 B901 movw r22,r18
		3615	3848 1e06 0E94 0000 call __divmodhi4
		3616	3849 1e0a 7093 0000 sts (Ki)+1,r23
		3617	3850 1e0e 6093 0000 sts Ki,r22
		3618	3851 1e12 8091 0000 lds r24,EE_Parameter+27
		3619	3852 1e16 8093 0000 sts MAX_GAS,r24
		3620	3853 1e1a 8091 0000 lds r24,EE_Parameter+26
		3621	3854 1e1e 8093 0000 sts MIN_GAS,r24
		3622	3855 1e22 9091 0000 lds r25,EE_Parameter+99
		3623	3856 1e26 9333 cpi r25,lo8(51)
		3624	3857 1e28 00F4 brsh .+2
		3625	3858 1e2a 00C0 rjmp .L306
		3626	3859 1e2c 81E0 ldi r24,lo8(1)
		3627	3860 1e2e 8093 0000 sts CareFree,r24
		3628	3861 1e32 983F cpi r25,lo8(-8)
		3629	3862 1e34 00F0 brlo .L307
		3630	3863 1e36 EFEF ldi r30,lo8(255)
		3631	3864 1e38 F0E0 ldi r31,hi8(255)
		3632	3865 1e3a E91B sub r30,r25
		3633	3866 1e3c F109 sbc r31,__zero_reg__
		3634	3867 1e3e E050 subi r30,lo8(-(Poti))
		3635	3868 1e40 F040 sbci r31,hi8(-(Poti))
		3636	3869 1e42 8081 ld r24,Z
		3637	3870 1e44 8233 cpi r24,lo8(50)
		3638	3871 1e46 00F4 brsh .L307
		3639	3872 1e48 1092 0000 sts CareFree,__zero_reg__
		3640	3873 .L307:
		3641	3874 1e4c 8091 0000 lds r24,carefree_old
		3642	3875 1e50 2091 0000 lds r18,CareFree
		3643	3876 1e54 8217 cp r24,r18
		3644	3877 1e56 01F0 breq .L308
		3645	3878 1e58 8330 cpi r24,lo8(3)
		3646	3879 1e5a 00F4 brsh .L309
		3647	3880 1e5c 3091 0000 lds r19,SpeakHoTT
		3648	3881 1e60 2223 tst r18
		3649	3882 1e62 01F0 breq .L310
		3650	3883 1e64 8CED ldi r24,lo8(1500)
		3651	3884 1e66 95E0 ldi r25,hi8(1500)
		3652	3885 1e68 9093 0000 sts (beeptime)+1,r25
		3653	3886 1e6c 8093 0000 sts beeptime,r24
		3654	3887 1e70 3323 tst r19
		3655	3888 1e72 01F4 brne .L312
		3656	3889 1e74 8EE2 ldi r24,lo8(46)
		3657	3890 1e76 00C0 rjmp .L361
		3658	3891 .L310:
		3659	3892 1e78 88EC ldi r24,lo8(200)
		3660	3893 1e7a 90E0 ldi r25,hi8(200)
		3661	3894 1e7c 9093 0000 sts (beeptime)+1,r25
		3662	3895 1e80 8093 0000 sts beeptime,r24
		3663	3896 1e84 3323 tst r19
		3664	3897 1e86 01F4 brne .L312
		3665	3898 1e88 87E1 ldi r24,lo8(23)
		3666	3899 .L361:
		3667	3900 1e8a 8093 0000 sts SpeakHoTT,r24
		3668	3901 .L312:
		3669	3902 1e8e 85E0 ldi r24,lo8(5)
		3670	3903 1e90 8093 0000 sts NeueKompassRichtungMerken,r24
		3671	3904 1e94 2093 0000 sts carefree_old,r18
		3672	3905 1e98 00C0 rjmp .L308
		3673	3906 .L309:
		3674	3907 1e9a 8150 subi r24,lo8(-(-1))
		3675	3908 1e9c 8093 0000 sts carefree_old,r24
		3676	3909 .L308:
		3677	3910 1ea0 8091 0000 lds r24,FromNaviCtrl+7
		3678	3911 1ea4 9091 0000 lds r25,(FromNaviCtrl+7)+1
		3679	3912 1ea8 97FF sbrs r25,7
		3680	3913 1eaa 00C0 rjmp .L316
		3681	3914 1eac 8091 0000 lds r24,CareFree
		3682	3915 1eb0 8823 tst r24
		3683	3916 1eb2 01F0 breq .L316
		3684	3917 1eb4 8091 0000 lds r24,VersionInfo+5
		3685	3918 1eb8 8068 ori r24,lo8(-128)
		3686	3919 1eba 8093 0000 sts VersionInfo+5,r24
		3687	3920 1ebe 00C0 rjmp .L316
		3688	3921 .L306:
		3689	3922 1ec0 1092 0000 sts CareFree,__zero_reg__
		3690	3923 1ec4 8AE0 ldi r24,lo8(10)
		3691	3924 1ec6 8093 0000 sts carefree_old,r24
		3692	3925 .L316:
		3693	3926 1eca 8091 0000 lds r24,FromNaviCtrl+7
		3694	3927 1ece 9091 0000 lds r25,(FromNaviCtrl+7)+1
		3695	3928 1ed2 97FF sbrs r25,7
		3696	3929 1ed4 00C0 rjmp .L317
		3697	3930 1ed6 8091 0000 lds r24,MotorenEin
		3698	3931 1eda 8823 tst r24
		3699	3932 1edc 01F0 breq .L317
		3700	3933 1ede 8091 0000 lds r24,CareFree
		3701	3934 1ee2 8823 tst r24
		3702	3935 1ee4 01F0 breq .L317
		3703	3936 1ee6 8091 0000 lds r24,BeepMuster
		3704	3937 1eea 9091 0000 lds r25,(BeepMuster)+1
		3705	3938 1eee 8F5F subi r24,lo8(-1)
		3706	3939 1ef0 9F4F sbci r25,hi8(-1)
		3707	3940 1ef2 01F4 brne .L317
		3708	3941 1ef4 88E9 ldi r24,lo8(15000)
		3709	3942 1ef6 9AE3 ldi r25,hi8(15000)
		3710	3943 1ef8 9093 0000 sts (beeptime)+1,r25
		3711	3944 1efc 8093 0000 sts beeptime,r24
		3712	3945 1f00 80E0 ldi r24,lo8(-23552)
		3713	3946 1f02 94EA ldi r25,hi8(-23552)
		3714	3947 1f04 9093 0000 sts (BeepMuster)+1,r25
		3715	3948 1f08 8093 0000 sts BeepMuster,r24
		3716	3949 1f0c 1092 0000 sts CareFree,__zero_reg__
		3717	3950 .L317:
		3718	3951 1f10 8091 0000 lds r24,CareFree
		3719	3952 1f14 8823 tst r24
		3720	3953 1f16 01F0 breq .L318
		3721	3954 1f18 8091 0000 lds r24,FC_StatusFlags2
		3722	3955 1f1c 8160 ori r24,lo8(1)
		3723	3956 1f1e 8093 0000 sts FC_StatusFlags2,r24
		3724	3957 1f22 8091 0000 lds r24,Parameter_AchsKopplung1
		3725	3958 1f26 823D cpi r24,lo8(-46)
		3726	3959 1f28 00F4 brsh .L190
		3727	3960 1f2a 825E subi r24,lo8(-(30))
		3728	3961 1f2c 8093 0000 sts Parameter_AchsKopplung1,r24
		3729	3962 1f30 00C0 rjmp .L190
		3730	3963 .L318:
		3731	3964 1f32 8091 0000 lds r24,FC_StatusFlags2
		3732	3965 1f36 8E7F andi r24,lo8(-2)
		3733	3966 1f38 8093 0000 sts FC_StatusFlags2,r24
		3734	3967 .L190:
		3735	3968 /* epilogue: frame size=0 */
		3736	3969 1f3c DF91 pop r29
		3737	3970 1f3e CF91 pop r28
		3738	3971 1f40 0895 ret
		3739	3972 /* epilogue end (size=3) */
		3740	3973 /* function ParameterZuordnung size 772 (767) */
		3741	3975 .lcomm sollGier.0,4
		3742	3976 .lcomm tmp_long.1,4
		3743	3977 .lcomm tmp_long2.2,4
		3744	3978 .lcomm IntegralFehlerNick.3,4
		3745	3979 .lcomm IntegralFehlerRoll.4,4
		3746	3980 .lcomm RcLostTimer.5,2
		3747	3981 .lcomm delay_neutral.6,1
		3748	3982 .lcomm delay_einschalten.7,1
		3749	3983 .lcomm delay_ausschalten.8,1
		3750	3984 .lcomm move_safety_switch.9,1
		3751	3985 .lcomm ausgleichNick.10,4
		3752	3986 .lcomm ausgleichRoll.11,4
		3753	3987 .lcomm stick_nick.12,2
		3754	3988 .lcomm stick_roll.13,2
		3755	3989 .lcomm cnt.14,2
		3756	3990 .lcomm last_n_p.15,1
		3757	3991 .lcomm last_n_n.16,1
		3758	3992 .lcomm last_r_p.17,1
		3759	3993 .lcomm last_r_n.18,1
		3760	3994 .lcomm MittelIntegralNick_Alt.19,4
		3761	3995 .lcomm MittelIntegralRoll_Alt.20,4
		3762	3996 .lcomm HeightTrimming.21,2
		3763	3997 .lcomm FilterHCGas.22,2
		3764	3998 .lcomm HoverGasFilter.23,4
		3765	3999 .data
		3766	4002 delay.24:
		3767	4003 004f 64 .byte 100
		3768	4004 .lcomm BaroAtUpperLimit.25,1
		3769	4005 .lcomm BaroAtLowerLimit.26,1
		3770	4006 .text
		3771	4007 .global MotorRegler
		3772	4009 MotorRegler:
		3773	4010 /* prologue: frame size=23 */
		3774	4011 1f42 A7E1 ldi r26,lo8(23)
		3775	4012 1f44 B0E0 ldi r27,hi8(23)
		3776	4013 1f46 E0E0 ldi r30,pm_lo8(1f)
		3777	4014 1f48 F0E0 ldi r31,pm_hi8(1f)
		3778	4015 1f4a 0C94 0000 jmp __prologue_saves__+0
		3779	4016 1:
		3780	4017 /* prologue end (size=6) */
		3781	4018 1f4e 0E94 0000 call Mittelwert
		3782	4019 1f52 8091 0000 lds r24,FC_StatusFlags
		3783	4020 1f56 9927 clr r25
		3784	4021 1f58 8471 andi r24,lo8(20)
		3785	4022 1f5a 9070 andi r25,hi8(20)
		3786	4023 1f5c 892B or r24,r25
		3787	4024 1f5e 01F4 brne .L365
		3788	4025 1f60 8091 0000 lds r24,EE_Parameter+111
		3789	4026 1f64 82FF sbrs r24,2
		3790	4027 1f66 00C0 rjmp .L366
		3791	4028 1f68 8091 0000 lds r24,HoverGas
		3792	4029 1f6c 9091 0000 lds r25,(HoverGas)+1
		3793	4030 1f70 0097 sbiw r24,0
		3794	4031 1f72 01F0 breq .L367
		3795	4032 1f74 02E0 ldi r16,hi8(600)
		3796	4033 1f76 8835 cpi r24,lo8(600)
		3797	4034 1f78 9007 cpc r25,r16
		3798	4035 1f7a 04F4 brge .L367
		3799	4036 1f7c 9C01 movw r18,r24
		3800	4037 1f7e 97FF sbrs r25,7
		3801	4038 1f80 00C0 rjmp .L368
		3802	4039 1f82 2D5F subi r18,lo8(-(3))
		3803	4040 1f84 3F4F sbci r19,hi8(-(3))
		3804	4041 .L368:
		3805	4042 1f86 3595 asr r19
		3806	4043 1f88 2795 ror r18
		3807	4044 1f8a 3595 asr r19
		3808	4045 1f8c 2795 ror r18
		3809	4046 1f8e 8091 0000 lds r24,EE_Parameter+37
		3810	4047 1f92 9927 clr r25
		3811	4048 1f94 289F mul r18,r24
		3812	4049 1f96 A001 movw r20,r0
		3813	4050 1f98 299F mul r18,r25
		3814	4051 1f9a 500D add r21,r0
		3815	4052 1f9c 389F mul r19,r24
		3816	4053 1f9e 500D add r21,r0
		3817	4054 1fa0 1124 clr r1
		3818	4055 1fa2 CA01 movw r24,r20
		3819	4056 1fa4 64E6 ldi r22,lo8(100)
		3820	4057 1fa6 70E0 ldi r23,hi8(100)
		3821	4058 1fa8 0E94 0000 call __divmodhi4
		3822	4059 1fac CB01 movw r24,r22
		3823	4060 1fae 00C0 rjmp .L887
		3824	4061 .L367:
		3825	4062 1fb0 8DE2 ldi r24,lo8(45)
		3826	4063 1fb2 90E0 ldi r25,hi8(45)
		3827	4064 1fb4 00C0 rjmp .L887
		3828	4065 .L366:
		3829	4066 1fb6 8091 0000 lds r24,EE_Parameter+37
		3830	4067 1fba 9927 clr r25
		3831	4068 .L887:
		3832	4069 1fbc 9093 0000 sts (HooverGasEmergencyPercent)+1,r25
		3833	4070 1fc0 8093 0000 sts HooverGasEmergencyPercent,r24
		3834	4071 .L365:
		3835	4072 1fc4 2091 0000 lds r18,GasIsZeroCnt
		3836	4073 1fc8 3091 0000 lds r19,(GasIsZeroCnt)+1
		3837	4074 1fcc 55E7 ldi r21,hi8(30000)
		3838	4075 1fce 2033 cpi r18,lo8(30000)
		3839	4076 1fd0 3507 cpc r19,r21
		3840	4077 1fd2 01F4 brne .L371
		3841	4078 1fd4 1092 0000 sts (StickGas)+1,__zero_reg__
		3842	4079 1fd8 1092 0000 sts StickGas,__zero_reg__
		3843	4080 1fdc 8091 0000 lds r24,MIN_GAS
		3844	4081 1fe0 9927 clr r25
		3845	4082 1fe2 9093 0000 sts (HooverGasEmergencyPercent)+1,r25
		3846	4083 1fe6 8093 0000 sts HooverGasEmergencyPercent,r24
		3847	4084 .L371:
		3848	4085 1fea 6091 0000 lds r22,StickGas
		3849	4086 1fee 7091 0000 lds r23,(StickGas)+1
		3850	4087 1ff2 7A83 std Y+2,r23
		3851	4088 1ff4 6983 std Y+1,r22
		3852	4089 1ff6 8091 0000 lds r24,MIN_GAS
		3853	4090 1ffa 9927 clr r25
		3854	4091 1ffc 0A96 adiw r24,10
		3855	4092 1ffe 6817 cp r22,r24
		3856	4093 2000 7907 cpc r23,r25
		3857	4094 2002 04F4 brge .L372
		3858	4095 2004 9A83 std Y+2,r25
		3859	4096 2006 8983 std Y+1,r24
		3860	4097 .L372:
		3861	4098 2008 8091 0000 lds r24,SenderOkay
		3862	4099 200c 8436 cpi r24,lo8(100)
		3863	4100 200e 00F0 brlo .+2
		3864	4101 2010 00C0 rjmp .L373
		3865	4102 2012 8091 0000 lds r24,FC_StatusFlags2
		3866	4103 2016 82FD sbrc r24,2
		3867	4104 2018 00C0 rjmp .L373
		3868	4105 201a 8091 0000 lds r24,RcLostTimer.5
		3869	4106 201e 9091 0000 lds r25,(RcLostTimer.5)+1
		3870	4107 2022 0097 sbiw r24,0
		3871	4108 2024 01F0 breq .L374
		3872	4109 2026 0197 sbiw r24,1
		3873	4110 2028 9093 0000 sts (RcLostTimer.5)+1,r25
		3874	4111 202c 8093 0000 sts RcLostTimer.5,r24
		3875	4112 2030 00C0 rjmp .L375
		3876	4113 .L374:
		3877	4114 2032 1092 0000 sts MotorenEin,__zero_reg__
		3878	4115 2036 9093 0000 sts (modell_fliegt)+1,r25
		3879	4116 203a 8093 0000 sts modell_fliegt,r24
		3880	4117 203e 8091 0000 lds r24,FC_StatusFlags
		3881	4118 2042 8D7E andi r24,lo8(-19)
		3882	4119 2044 8093 0000 sts FC_StatusFlags,r24
		3883	4120 .L375:
		3884	4121 2048 8091 0000 lds r24,PlatinenVersion
		3885	4122 204c 8A30 cpi r24,lo8(10)
		3886	4123 204e 01F0 breq .L377
		3887	4124 2050 8431 cpi r24,lo8(20)
		3888	4125 2052 00F0 brlo .L376
		3889	4126 .L377:
		3890	4127 2054 289A sbi 37-0x20,0
		3891	4128 2056 00C0 rjmp .L378
		3892	4129 .L376:
		3893	4130 2058 2898 cbi 37-0x20,0
		3894	4131 .L378:
		3895	4132 205a 8091 0000 lds r24,modell_fliegt
		3896	4133 205e 9091 0000 lds r25,(modell_fliegt)+1
		3897	4134 2062 895E subi r24,lo8(1001)
		3898	4135 2064 9340 sbci r25,hi8(1001)
		3899	4136 2066 00F0 brlo .L379
		3900	4137 2068 8091 0000 lds r24,Capacity+6
		3901	4138 206c 8536 cpi r24,lo8(101)
		3902	4139 206e 00F0 brlo .L379
		3903	4140 2070 8091 0000 lds r24,HooverGasEmergencyPercent
		3904	4141 2074 9091 0000 lds r25,(HooverGasEmergencyPercent)+1
		3905	4142 2078 9A83 std Y+2,r25
		3906	4143 207a 8983 std Y+1,r24
		3907	4144 207c 8091 0000 lds r24,FC_StatusFlags
		3908	4145 2080 8061 ori r24,lo8(16)
		3909	4146 2082 8093 0000 sts FC_StatusFlags,r24
		3910	4147 2086 8091 0000 lds r24,EE_Parameter+1
		3911	4148 208a A82F mov r26,r24
		3912	4149 208c BB27 clr r27
		3913	4150 208e AA0F add r26,r26
		3914	4151 2090 BB1F adc r27,r27
		3915	4152 2092 FD01 movw r30,r26
		3916	4153 2094 E050 subi r30,lo8(-(PPM_diff))
		3917	4154 2096 F040 sbci r31,hi8(-(PPM_diff))
		3918	4155 2098 1182 std Z+1,__zero_reg__
		3919	4156 209a 1082 st Z,__zero_reg__
		3920	4157 209c 8091 0000 lds r24,EE_Parameter+2
		3921	4158 20a0 282F mov r18,r24
		3922	4159 20a2 3327 clr r19
		3923	4160 20a4 220F add r18,r18
		3924	4161 20a6 331F adc r19,r19
		3925	4162 20a8 C901 movw r24,r18
		3926	4163 20aa 8050 subi r24,lo8(-(PPM_diff))
		3927	4164 20ac 9040 sbci r25,hi8(-(PPM_diff))
		3928	4165 20ae FC01 movw r30,r24
		3929	4166 20b0 1182 std Z+1,__zero_reg__
		3930	4167 20b2 1082 st Z,__zero_reg__
		3931	4168 20b4 A050 subi r26,lo8(-(PPM_in))
		3932	4169 20b6 B040 sbci r27,hi8(-(PPM_in))
		3933	4170 20b8 1196 adiw r26,1
		3934	4171 20ba 1C92 st X,__zero_reg__
		3935	4172 20bc 1E92 st -X,__zero_reg__
		3936	4173 20be 2050 subi r18,lo8(-(PPM_in))
		3937	4174 20c0 3040 sbci r19,hi8(-(PPM_in))
		3938	4175 20c2 D901 movw r26,r18
		3939	4176 20c4 1196 adiw r26,1
		3940	4177 20c6 1C92 st X,__zero_reg__
		3941	4178 20c8 1E92 st -X,__zero_reg__
		3942	4179 20ca 8091 0000 lds r24,EE_Parameter+4
		3943	4180 20ce E82F mov r30,r24
		3944	4181 20d0 FF27 clr r31
		3945	4182 20d2 EE0F add r30,r30
		3946	4183 20d4 FF1F adc r31,r31
		3947	4184 20d6 E050 subi r30,lo8(-(PPM_in))
		3948	4185 20d8 F040 sbci r31,hi8(-(PPM_in))
		3949	4186 20da 1182 std Z+1,__zero_reg__
		3950	4187 20dc 1082 st Z,__zero_reg__
		3951	4188 20de 00C0 rjmp .L381
		3952	4189 .L379:
		3953	4190 20e0 1092 0000 sts MotorenEin,__zero_reg__
		3954	4191 20e4 00C0 rjmp .L381
		3955	4192 .L373:
		3956	4193 20e6 8091 0000 lds r24,SenderOkay
		3957	4194 20ea 8D38 cpi r24,lo8(-115)
		3958	4195 20ec 00F4 brsh .+2
		3959	4196 20ee 00C0 rjmp .L382
		3960	4197 20f0 8091 0000 lds r24,FC_StatusFlags
		3961	4198 20f4 8F7E andi r24,lo8(-17)
		3962	4199 20f6 8093 0000 sts FC_StatusFlags,r24
		3963	4200 20fa 9091 0000 lds r25,EE_Parameter+38
		3964	4201 20fe 82E3 ldi r24,lo8(50)
		3965	4202 2100 989F mul r25,r24
		3966	4203 2102 C001 movw r24,r0
		3967	4204 2104 1124 clr r1
		3968	4205 2106 9093 0000 sts (RcLostTimer.5)+1,r25
		3969	4206 210a 8093 0000 sts RcLostTimer.5,r24
		3970	4207 210e E981 ldd r30,Y+1
		3971	4208 2110 FA81 ldd r31,Y+2
		3972	4209 2112 B997 sbiw r30,41
		3973	4210 2114 04F0 brlt .L383
		3974	4211 2116 8091 0000 lds r24,MotorenEin
		3975	4212 211a 8823 tst r24
		3976	4213 211c 01F0 breq .L383
		3977	4214 211e 8091 0000 lds r24,modell_fliegt
		3978	4215 2122 9091 0000 lds r25,(modell_fliegt)+1
		3979	4216 2126 FFEF ldi r31,hi8(-1)
		3980	4217 2128 8F3F cpi r24,lo8(-1)
		3981	4218 212a 9F07 cpc r25,r31
		3982	4219 212c 01F0 breq .L383
		3983	4220 212e 0196 adiw r24,1
		3984	4221 2130 9093 0000 sts (modell_fliegt)+1,r25
		3985	4222 2134 8093 0000 sts modell_fliegt,r24
		3986	4223 .L383:
		3987	4224 2138 8091 0000 lds r24,modell_fliegt
		3988	4225 213c 9091 0000 lds r25,(modell_fliegt)+1
		3989	4226 2140 8F3F cpi r24,255
		3990	4227 2142 9105 cpc r25,__zero_reg__
		3991	4228 2144 01F0 breq .+2
		3992	4229 2146 00F4 brsh .L385
		3993	4230 2148 1092 0000 sts SummeNick,__zero_reg__
		3994	4231 214c 1092 0000 sts (SummeNick)+1,__zero_reg__
		3995	4232 2150 1092 0000 sts (SummeNick)+2,__zero_reg__
		3996	4233 2154 1092 0000 sts (SummeNick)+3,__zero_reg__
		3997	4234 2158 1092 0000 sts SummeRoll,__zero_reg__
		3998	4235 215c 1092 0000 sts (SummeRoll)+1,__zero_reg__
		3999	4236 2160 1092 0000 sts (SummeRoll)+2,__zero_reg__
		4000	4237 2164 1092 0000 sts (SummeRoll)+3,__zero_reg__
		4001	4238 2168 1092 0000 sts sollGier.0,__zero_reg__
		4002	4239 216c 1092 0000 sts (sollGier.0)+1,__zero_reg__
		4003	4240 2170 1092 0000 sts (sollGier.0)+2,__zero_reg__
		4004	4241 2174 1092 0000 sts (sollGier.0)+3,__zero_reg__
		4005	4242 2178 1092 0000 sts Mess_Integral_Gier,__zero_reg__
		4006	4243 217c 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
		4007	4244 2180 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
		4008	4245 2184 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__
		4009	4246 2188 00C0 rjmp .L386
		4010	4247 .L385:
		4011	4248 218a 8091 0000 lds r24,FC_StatusFlags
		4012	4249 218e 8260 ori r24,lo8(2)
		4013	4250 2190 8093 0000 sts FC_StatusFlags,r24
		4014	4251 .L386:
		4015	4252 2194 8091 0000 lds r24,EE_Parameter+3
		4016	4253 2198 E82F mov r30,r24
		4017	4254 219a FF27 clr r31
		4018	4255 219c EE0F add r30,r30
		4019	4256 219e FF1F adc r31,r31
		4020	4257 21a0 E050 subi r30,lo8(-(PPM_in))
		4021	4258 21a2 F040 sbci r31,hi8(-(PPM_in))
		4022	4259 21a4 8081 ld r24,Z
		4023	4260 21a6 9181 ldd r25,Z+1
		4024	4261 21a8 8135 cpi r24,81
		4025	4262 21aa 9105 cpc r25,__zero_reg__
		4026	4263 21ac 04F4 brge .+2
		4027	4264 21ae 00C0 rjmp .L387
		4028	4265 21b0 2091 0000 lds r18,MotorenEin
		4029	4266 21b4 2223 tst r18
		4030	4267 21b6 01F0 breq .+2
		4031	4268 21b8 00C0 rjmp .L387
		4032	4269 21ba 8091 0000 lds r24,EE_Parameter+4
		4033	4270 21be E82F mov r30,r24
		4034	4271 21c0 FF27 clr r31
		4035	4272 21c2 EE0F add r30,r30
		4036	4273 21c4 FF1F adc r31,r31
		4037	4274 21c6 E050 subi r30,lo8(-(PPM_in))
		4038	4275 21c8 F040 sbci r31,hi8(-(PPM_in))
		4039	4276 21ca 8081 ld r24,Z
		4040	4277 21cc 9181 ldd r25,Z+1
		4041	4278 21ce 8C34 cpi r24,76
		4042	4279 21d0 9105 cpc r25,__zero_reg__
		4043	4280 21d2 04F4 brge .+2
		4044	4281 21d4 00C0 rjmp .L388
		4045	4282 21d6 8091 0000 lds r24,delay_neutral.6
		4046	4283 21da 8F5F subi r24,lo8(-(1))
		4047	4284 21dc 8093 0000 sts delay_neutral.6,r24
		4048	4285 21e0 893C cpi r24,lo8(-55)
		4049	4286 21e2 00F4 brsh .+2
		4050	4287 21e4 00C0 rjmp .L387
		4051	4288 21e6 2093 0000 sts delay_neutral.6,r18
		4052	4289 21ea 1092 0000 sts (modell_fliegt)+1,__zero_reg__
		4053	4290 21ee 1092 0000 sts modell_fliegt,__zero_reg__
		4054	4291 21f2 3091 0000 lds r19,EE_Parameter+1
		4055	4292 21f6 E32F mov r30,r19
		4056	4293 21f8 FF27 clr r31
		4057	4294 21fa EE0F add r30,r30
		4058	4295 21fc FF1F adc r31,r31
		4059	4296 21fe E050 subi r30,lo8(-(PPM_in))
		4060	4297 2200 F040 sbci r31,hi8(-(PPM_in))
		4061	4298 2202 8081 ld r24,Z
		4062	4299 2204 9181 ldd r25,Z+1
		4063	4300 2206 8734 cpi r24,71
		4064	4301 2208 9105 cpc r25,__zero_reg__
		4065	4302 220a 04F4 brge .L391
		4066	4303 220c 8091 0000 lds r24,EE_Parameter+2
		4067	4304 2210 E82F mov r30,r24
		4068	4305 2212 FF27 clr r31
		4069	4306 2214 EE0F add r30,r30
		4070	4307 2216 FF1F adc r31,r31
		4071	4308 2218 E050 subi r30,lo8(-(PPM_in))
		4072	4309 221a F040 sbci r31,hi8(-(PPM_in))
		4073	4310 221c 8081 ld r24,Z
		4074	4311 221e 9181 ldd r25,Z+1
		4075	4312 2220 0190 ld __tmp_reg__,Z+
		4076	4313 2222 F081 ld r31,Z
		4077	4314 2224 E02D mov r30,__tmp_reg__
		4078	4315 2226 F7FF sbrs r31,7
		4079	4316 2228 00C0 rjmp .L392
		4080	4317 222a F095 com r31
		4081	4318 222c E195 neg r30
		4082	4319 222e FF4F sbci r31,lo8(-1)
		4083	4320 .L392:
		4084	4321 2230 E734 cpi r30,71
		4085	4322 2232 F105 cpc r31,__zero_reg__
		4086	4323 2234 04F4 brge .+2
		4087	4324 2236 00C0 rjmp .L390
		4088	4325 .L391:
		4089	4326 2238 41E0 ldi r20,lo8(1)
		4090	4327 223a 2091 0000 lds r18,EE_Parameter+2
		4091	4328 223e A22F mov r26,r18
		4092	4329 2240 BB27 clr r27
		4093	4330 2242 AA0F add r26,r26
		4094	4331 2244 BB1F adc r27,r27
		4095	4332 2246 A050 subi r26,lo8(-(PPM_in))
		4096	4333 2248 B040 sbci r27,hi8(-(PPM_in))
		4097	4334 224a 8D91 ld r24,X+
		4098	4335 224c 9C91 ld r25,X
		4099	4336 224e 1197 sbiw r26,1
		4100	4337 2250 8734 cpi r24,71
		4101	4338 2252 9105 cpc r25,__zero_reg__
		4102	4339 2254 04F0 brlt .L393
		4103	4340 2256 E32F mov r30,r19
		4104	4341 2258 FF27 clr r31
		4105	4342 225a EE0F add r30,r30
		4106	4343 225c FF1F adc r31,r31
		4107	4344 225e E050 subi r30,lo8(-(PPM_in))
		4108	4345 2260 F040 sbci r31,hi8(-(PPM_in))
		4109	4346 2262 8081 ld r24,Z
		4110	4347 2264 9181 ldd r25,Z+1
		4111	4348 .L393:
		4112	4349 2266 8D91 ld r24,X+
		4113	4350 2268 9C91 ld r25,X
		4114	4351 226a 8734 cpi r24,71
		4115	4352 226c 9105 cpc r25,__zero_reg__
		4116	4353 226e 04F0 brlt .L394
		4117	4354 2270 8091 0000 lds r24,EE_Parameter+1
		4118	4355 2274 E82F mov r30,r24
		4119	4356 2276 FF27 clr r31
		4120	4357 2278 EE0F add r30,r30
		4121	4358 227a FF1F adc r31,r31
		4122	4359 227c E050 subi r30,lo8(-(PPM_in))
		4123	4360 227e F040 sbci r31,hi8(-(PPM_in))
		4124	4361 2280 8081 ld r24,Z
		4125	4362 2282 9181 ldd r25,Z+1
		4126	4363 2284 8734 cpi r24,71
		4127	4364 2286 9105 cpc r25,__zero_reg__
		4128	4365 2288 04F0 brlt .L394
		4129	4366 228a 42E0 ldi r20,lo8(2)
		4130	4367 .L394:
		4131	4368 228c E22F mov r30,r18
		4132	4369 228e FF27 clr r31
		4133	4370 2290 EE0F add r30,r30
		4134	4371 2292 FF1F adc r31,r31
		4135	4372 2294 E050 subi r30,lo8(-(PPM_in))
		4136	4373 2296 F040 sbci r31,hi8(-(PPM_in))
		4137	4374 2298 8081 ld r24,Z
		4138	4375 229a 9181 ldd r25,Z+1
		4139	4376 229c 8634 cpi r24,70
		4140	4377 229e 9105 cpc r25,__zero_reg__
		4141	4378 22a0 04F4 brge .L395
		4142	4379 22a2 8091 0000 lds r24,EE_Parameter+1
		4143	4380 22a6 E82F mov r30,r24
		4144	4381 22a8 FF27 clr r31
		4145	4382 22aa EE0F add r30,r30
		4146	4383 22ac FF1F adc r31,r31
		4147	4384 22ae E050 subi r30,lo8(-(PPM_in))
		4148	4385 22b0 F040 sbci r31,hi8(-(PPM_in))
		4149	4386 22b2 8081 ld r24,Z
		4150	4387 22b4 9181 ldd r25,Z+1
		4151	4388 22b6 8734 cpi r24,71
		4152	4389 22b8 9105 cpc r25,__zero_reg__
		4153	4390 22ba 04F0 brlt .L395
		4154	4391 22bc 43E0 ldi r20,lo8(3)
		4155	4392 .L395:
		4156	4393 22be E22F mov r30,r18
		4157	4394 22c0 FF27 clr r31
		4158	4395 22c2 EE0F add r30,r30
		4159	4396 22c4 FF1F adc r31,r31
		4160	4397 22c6 E050 subi r30,lo8(-(PPM_in))
		4161	4398 22c8 F040 sbci r31,hi8(-(PPM_in))
		4162	4399 22ca 8081 ld r24,Z
		4163	4400 22cc 9181 ldd r25,Z+1
		4164	4401 22ce 8A5B subi r24,lo8(-70)
		4165	4402 22d0 9F4F sbci r25,hi8(-70)
		4166	4403 22d2 04F4 brge .L396
		4167	4404 22d4 8091 0000 lds r24,EE_Parameter+1
		4168	4405 22d8 E82F mov r30,r24
		4169	4406 22da FF27 clr r31
		4170	4407 22dc EE0F add r30,r30
		4171	4408 22de FF1F adc r31,r31
		4172	4409 22e0 E050 subi r30,lo8(-(PPM_in))
		4173	4410 22e2 F040 sbci r31,hi8(-(PPM_in))
		4174	4411 22e4 8081 ld r24,Z
		4175	4412 22e6 9181 ldd r25,Z+1
		4176	4413 22e8 8734 cpi r24,71
		4177	4414 22ea 9105 cpc r25,__zero_reg__
		4178	4415 22ec 04F0 brlt .L396
		4179	4416 22ee 44E0 ldi r20,lo8(4)
		4180	4417 .L396:
		4181	4418 22f0 E22F mov r30,r18
		4182	4419 22f2 FF27 clr r31
		4183	4420 22f4 EE0F add r30,r30
		4184	4421 22f6 FF1F adc r31,r31
		4185	4422 22f8 E050 subi r30,lo8(-(PPM_in))
		4186	4423 22fa F040 sbci r31,hi8(-(PPM_in))
		4187	4424 22fc 8081 ld r24,Z
		4188	4425 22fe 9181 ldd r25,Z+1
		4189	4426 2300 8A5B subi r24,lo8(-70)
		4190	4427 2302 9F4F sbci r25,hi8(-70)
		4191	4428 2304 04F4 brge .L397
		4192	4429 2306 8091 0000 lds r24,EE_Parameter+1
		4193	4430 230a E82F mov r30,r24
		4194	4431 230c FF27 clr r31
		4195	4432 230e EE0F add r30,r30
		4196	4433 2310 FF1F adc r31,r31
		4197	4434 2312 E050 subi r30,lo8(-(PPM_in))
		4198	4435 2314 F040 sbci r31,hi8(-(PPM_in))
		4199	4436 2316 8081 ld r24,Z
		4200	4437 2318 9181 ldd r25,Z+1
		4201	4438 231a 8634 cpi r24,70
		4202	4439 231c 9105 cpc r25,__zero_reg__
		4203	4440 231e 04F4 brge .L397
		4204	4441 2320 45E0 ldi r20,lo8(5)
		4205	4442 .L397:
		4206	4443 2322 842F mov r24,r20
		4207	4444 2324 0E94 0000 call SetActiveParamSet
		4208	4445 .L390:
		4209	4446 2328 8091 0000 lds r24,EE_Parameter+2
		4210	4447 232c E82F mov r30,r24
		4211	4448 232e FF27 clr r31
		4212	4449 2330 EE0F add r30,r30
		4213	4450 2332 FF1F adc r31,r31
		4214	4451 2334 E050 subi r30,lo8(-(PPM_in))
		4215	4452 2336 F040 sbci r31,hi8(-(PPM_in))
		4216	4453 2338 8081 ld r24,Z
		4217	4454 233a 9181 ldd r25,Z+1
		4218	4455 233c 0190 ld __tmp_reg__,Z+
		4219	4456 233e F081 ld r31,Z
		4220	4457 2340 E02D mov r30,__tmp_reg__
		4221	4458 2342 F7FF sbrs r31,7
		4222	4459 2344 00C0 rjmp .L399
		4223	4460 2346 F095 com r31
		4224	4461 2348 E195 neg r30
		4225	4462 234a FF4F sbci r31,lo8(-1)
		4226	4463 .L399:
		4227	4464 234c 7E97 sbiw r30,30
		4228	4465 234e 04F4 brge .L398
		4229	4466 2350 8091 0000 lds r24,EE_Parameter+1
		4230	4467 2354 E82F mov r30,r24
		4231	4468 2356 FF27 clr r31
		4232	4469 2358 EE0F add r30,r30
		4233	4470 235a FF1F adc r31,r31
		4234	4471 235c E050 subi r30,lo8(-(PPM_in))
		4235	4472 235e F040 sbci r31,hi8(-(PPM_in))
		4236	4473 2360 8081 ld r24,Z
		4237	4474 2362 9181 ldd r25,Z+1
		4238	4475 2364 8A5B subi r24,lo8(-70)
		4239	4476 2366 9F4F sbci r25,hi8(-70)
		4240	4477 2368 04F4 brge .L398
		4241	4478 236a 81E0 ldi r24,lo8(1)
		4242	4479 236c 8093 0000 sts WinkelOut+6,r24
		4243	4480 2370 1092 0000 sts CalibrationDone,__zero_reg__
		4244	4481 2374 88EE ldi r24,lo8(1000)
		4245	4482 2376 93E0 ldi r25,hi8(1000)
		4246	4483 2378 9093 0000 sts (beeptime)+1,r25
		4247	4484 237c 8093 0000 sts beeptime,r24
		4248	4485 2380 00C0 rjmp .L387
		4249	4486 .L398:
		4250	4487 2382 0E94 0000 call GetActiveParamSet
		4251	4488 2386 0E94 0000 call ParamSet_ReadFromEEProm
		4252	4489 238a 80E0 ldi r24,lo8(0)
		4253	4490 238c 0E94 0000 call LipoDetection
		4254	4491 2390 8091 0000 lds r24,EE_Parameter+39
		4255	4492 2394 0E94 0000 call LIBFC_ReceiverInit
		4256	4493 2398 8091 0000 lds r24,Parameter_GlobalConfig
		4257	4494 239c 80FF sbrs r24,0
		4258	4495 239e 00C0 rjmp .L401
		4259	4496 23a0 8091 0000 lds r24,MessLuftdruck
		4260	4497 23a4 9091 0000 lds r25,(MessLuftdruck)+1
		4261	4498 23a8 875B subi r24,lo8(951)
		4262	4499 23aa 9340 sbci r25,hi8(951)
		4263	4500 23ac 00F4 brsh .L403
		4264	4501 23ae 8091 0000 lds r24,MessLuftdruck
		4265	4502 23b2 9091 0000 lds r25,(MessLuftdruck)+1
		4266	4503 23b6 8E5E subi r24,lo8(750)
		4267	4504 23b8 9240 sbci r25,hi8(750)
		4268	4505 23ba 00F4 brsh .L401
		4269	4506 .L403:
		4270	4507 23bc 0E94 0000 call SucheLuftruckOffset
		4271	4508 .L401:
		4272	4509 23c0 80E0 ldi r24,lo8(0)
		4273	4510 23c2 0E94 0000 call SetNeutral
		4274	4511 23c6 81E0 ldi r24,lo8(1)
		4275	4512 23c8 8093 0000 sts CalibrationDone,r24
		4276	4513 23cc 8093 0000 sts ServoActive,r24
		4277	4514 23d0 579A sbi 42-0x20,7
		4278	4515 23d2 00C0 rjmp .L888
		4279	4516 .L388:
		4280	4517 23d4 8081 ld r24,Z
		4281	4518 23d6 9181 ldd r25,Z+1
		4282	4519 23d8 855B subi r24,lo8(-75)
		4283	4520 23da 9F4F sbci r25,hi8(-75)
		4284	4521 23dc 04F4 brge .L405
		4285	4522 23de 8091 0000 lds r24,delay_neutral.6
		4286	4523 23e2 8F5F subi r24,lo8(-(1))
		4287	4524 23e4 8093 0000 sts delay_neutral.6,r24
		4288	4525 23e8 893C cpi r24,lo8(-55)
		4289	4526 23ea 00F0 brlo .L387
		4290	4527 23ec 2093 0000 sts MotorenEin,r18
		4291	4528 23f0 2093 0000 sts delay_neutral.6,r18
		4292	4529 23f4 1092 0000 sts (modell_fliegt)+1,__zero_reg__
		4293	4530 23f8 1092 0000 sts modell_fliegt,__zero_reg__
		4294	4531 23fc 81E0 ldi r24,lo8(1)
		4295	4532 23fe 0E94 0000 call SetNeutral
		4296	4533 2402 81E0 ldi r24,lo8(1)
		4297	4534 2404 8093 0000 sts CalibrationDone,r24
		4298	4535 .L888:
		4299	4536 2408 88E1 ldi r24,lo8(24)
		4300	4537 240a 8093 0000 sts SpeakHoTT,r24
		4301	4538 240e 0E94 0000 call GetActiveParamSet
		4302	4539 2412 68E7 ldi r22,lo8(120)
		4303	4540 2414 70E0 ldi r23,hi8(120)
		4304	4541 2416 0E94 0000 call Piep
		4305	4542 241a 00C0 rjmp .L387
		4306	4543 .L405:
		4307	4544 241c 2093 0000 sts delay_neutral.6,r18
		4308	4545 .L387:
		4309	4546 2420 8091 0000 lds r24,EE_Parameter+3
		4310	4547 2424 E82F mov r30,r24
		4311	4548 2426 FF27 clr r31
		4312	4549 2428 EE0F add r30,r30
		4313	4550 242a FF1F adc r31,r31
		4314	4551 242c E050 subi r30,lo8(-(PPM_in))
		4315	4552 242e F040 sbci r31,hi8(-(PPM_in))
		4316	4553 2430 8081 ld r24,Z
		4317	4554 2432 9181 ldd r25,Z+1
		4318	4555 2434 8B5A subi r24,lo8(-85)
		4319	4556 2436 9F4F sbci r25,hi8(-85)
		4320	4557 2438 04F0 brlt .+2
		4321	4558 243a 00C0 rjmp .L408
		4322	4559 243c 2091 0000 lds r18,EE_Parameter+100
		4323	4560 2440 E22F mov r30,r18
		4324	4561 2442 FF27 clr r31
		4325	4562 2444 EF77 andi r30,lo8(127)
		4326	4563 2446 F070 andi r31,hi8(127)
		4327	4564 2448 EE0F add r30,r30
		4328	4565 244a FF1F adc r31,r31
		4329	4566 244c E050 subi r30,lo8(-(PPM_diff))
		4330	4567 244e F040 sbci r31,hi8(-(PPM_diff))
		4331	4568 2450 8081 ld r24,Z
		4332	4569 2452 9181 ldd r25,Z+1
		4333	4570 2454 0697 sbiw r24,6
		4334	4571 2456 04F0 brlt .L409
		4335	4572 2458 84E6 ldi r24,lo8(100)
		4336	4573 245a 00C0 rjmp .L889
		4337	4574 .L409:
		4338	4575 245c 8081 ld r24,Z
		4339	4576 245e 9181 ldd r25,Z+1
		4340	4577 2460 8B5F subi r24,lo8(-5)
		4341	4578 2462 9F4F sbci r25,hi8(-5)
		4342	4579 2464 04F4 brge .L410
		4343	4580 2466 8CE9 ldi r24,lo8(-100)
		4344	4581 .L889:
		4345	4582 2468 8093 0000 sts move_safety_switch.9,r24
		4346	4583 .L410:
		4347	4584 246c 8091 0000 lds r24,MotorenEin
		4348	4585 2470 E091 0000 lds r30,EE_Parameter+4
		4349	4586 2474 8823 tst r24
		4350	4587 2476 01F0 breq .+2
		4351	4588 2478 00C0 rjmp .L412
		4352	4589 247a FF27 clr r31
		4353	4590 247c EE0F add r30,r30
		4354	4591 247e FF1F adc r31,r31
		4355	4592 2480 E050 subi r30,lo8(-(PPM_in))
		4356	4593 2482 F040 sbci r31,hi8(-(PPM_in))
		4357	4594 2484 8081 ld r24,Z
		4358	4595 2486 9181 ldd r25,Z+1
		4359	4596 2488 855B subi r24,lo8(-75)
		4360	4597 248a 9F4F sbci r25,hi8(-75)
		4361	4598 248c 04F4 brge .L415
		4362	4599 248e 8091 0000 lds r24,EE_Parameter+111
		4363	4600 2492 83FD sbrc r24,3
		4364	4601 2494 00C0 rjmp .L416
		4365	4602 2496 E22F mov r30,r18
		4366	4603 2498 FF27 clr r31
		4367	4604 249a EE0F add r30,r30
		4368	4605 249c FF1F adc r31,r31
		4369	4606 249e E050 subi r30,lo8(-(PPM_in))
		4370	4607 24a0 F040 sbci r31,hi8(-(PPM_in))
		4371	4608 24a2 8081 ld r24,Z
		4372	4609 24a4 9181 ldd r25,Z+1
		4373	4610 24a6 855B subi r24,lo8(-75)
		4374	4611 24a8 9F4F sbci r25,hi8(-75)
		4375	4612 24aa 04F0 brlt .L414
		4376	4613 .L416:
		4377	4614 24ac 8091 0000 lds r24,EE_Parameter+100
		4378	4615 24b0 8823 tst r24
		4379	4616 24b2 01F0 breq .L414
		4380	4617 .L415:
		4381	4618 24b4 8091 0000 lds r24,EE_Parameter+111
		4382	4619 24b8 83FF sbrs r24,3
		4383	4620 24ba 00C0 rjmp .L413
		4384	4621 24bc 8091 0000 lds r24,EE_Parameter+100
		4385	4622 24c0 E82F mov r30,r24
		4386	4623 24c2 FF27 clr r31
		4387	4624 24c4 EE0F add r30,r30
		4388	4625 24c6 FF1F adc r31,r31
		4389	4626 24c8 E050 subi r30,lo8(-(PPM_in))
		4390	4627 24ca F040 sbci r31,hi8(-(PPM_in))
		4391	4628 24cc 8081 ld r24,Z
		4392	4629 24ce 9181 ldd r25,Z+1
		4393	4630 24d0 875F subi r24,lo8(-9)
		4394	4631 24d2 9F4F sbci r25,hi8(-9)
		4395	4632 24d4 04F4 brge .+2
		4396	4633 24d6 00C0 rjmp .L413
		4397	4634 24d8 8091 0000 lds r24,move_safety_switch.9
		4398	4635 24dc 8436 cpi r24,lo8(100)
		4399	4636 24de 01F0 breq .+2
		4400	4637 24e0 00C0 rjmp .L413
		4401	4638 .L414:
		4402	4639 24e2 2091 0000 lds r18,CalibrationDone
		4403	4640 24e6 2223 tst r18
		4404	4641 24e8 01F0 breq .L417
		4405	4642 24ea 8091 0000 lds r24,FC_StatusFlags
		4406	4643 24ee 8860 ori r24,lo8(8)
		4407	4644 24f0 8093 0000 sts FC_StatusFlags,r24
		4408	4645 .L417:
		4409	4646 24f4 8091 0000 lds r24,delay_einschalten.7
		4410	4647 24f8 8F5F subi r24,lo8(-(1))
		4411	4648 24fa 8093 0000 sts delay_einschalten.7,r24
		4412	4649 24fe 8E3F cpi r24,lo8(-2)
		4413	4650 2500 00F4 brsh .+2
		4414	4651 2502 00C0 rjmp .L423
		4415	4652 2504 1092 0000 sts delay_einschalten.7,__zero_reg__
		4416	4653 2508 8091 0000 lds r24,VersionInfo+5
		4417	4654 250c 8823 tst r24
		4418	4655 250e 01F0 breq .+2
		4419	4656 2510 00C0 rjmp .L419
		4420	4657 2512 2223 tst r18
		4421	4658 2514 01F4 brne .+2
		4422	4659 2516 00C0 rjmp .L419
		4423	4660 2518 8091 0000 lds r24,NC_ErrorCode
		4424	4661 251c 8823 tst r24
		4425	4662 251e 01F0 breq .+2
		4426	4663 2520 00C0 rjmp .L419
		4427	4664 2522 81E0 ldi r24,lo8(1)
		4428	4665 2524 90E0 ldi r25,hi8(1)
		4429	4666 2526 9093 0000 sts (modell_fliegt)+1,r25
		4430	4667 252a 8093 0000 sts modell_fliegt,r24
		4431	4668 252e 81E0 ldi r24,lo8(1)
		4432	4669 2530 8093 0000 sts MotorenEin,r24
		4433	4670 2534 1092 0000 sts sollGier.0,__zero_reg__
		4434	4671 2538 1092 0000 sts (sollGier.0)+1,__zero_reg__
		4435	4672 253c 1092 0000 sts (sollGier.0)+2,__zero_reg__
		4436	4673 2540 1092 0000 sts (sollGier.0)+3,__zero_reg__
		4437	4674 2544 1092 0000 sts Mess_Integral_Gier,__zero_reg__
		4438	4675 2548 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
		4439	4676 254c 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
		4440	4677 2550 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__
		4441	4678 2554 1092 0000 sts Mess_Integral_Gier2,__zero_reg__
		4442	4679 2558 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__
		4443	4680 255c 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__
		4444	4681 2560 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__
		4445	4682 2564 8091 0000 lds r24,EE_Parameter+28
		4446	4683 2568 E82E mov r14,r24
		4447	4684 256a FF24 clr r15
		4448	4685 256c 0027 clr r16
		4449	4686 256e 1127 clr r17
		4450	4687 2570 8091 0000 lds r24,Mittelwert_AccNick
		4451	4688 2574 9091 0000 lds r25,(Mittelwert_AccNick)+1
		4452	4689 2578 9C01 movw r18,r24
		4453	4690 257a 4427 clr r20
		4454	4691 257c 37FD sbrc r19,7
		4455	4692 257e 4095 com r20
		4456	4693 2580 542F mov r21,r20
		4457	4694 2582 C801 movw r24,r16
		4458	4695 2584 B701 movw r22,r14
		4459	4696 2586 0E94 0000 call __mulsi3
		4460	4697 258a DC01 movw r26,r24
		4461	4698 258c CB01 movw r24,r22
		4462	4699 258e 8093 0000 sts Mess_IntegralNick,r24
		4463	4700 2592 9093 0000 sts (Mess_IntegralNick)+1,r25
		4464	4701 2596 A093 0000 sts (Mess_IntegralNick)+2,r26
		4465	4702 259a B093 0000 sts (Mess_IntegralNick)+3,r27
		4466	4703 259e 8091 0000 lds r24,Mittelwert_AccRoll
		4467	4704 25a2 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		4468	4705 25a6 9C01 movw r18,r24
		4469	4706 25a8 4427 clr r20
		4470	4707 25aa 37FD sbrc r19,7
		4471	4708 25ac 4095 com r20
		4472	4709 25ae 542F mov r21,r20
		4473	4710 25b0 C801 movw r24,r16
		4474	4711 25b2 B701 movw r22,r14
		4475	4712 25b4 0E94 0000 call __mulsi3
		4476	4713 25b8 DC01 movw r26,r24
		4477	4714 25ba CB01 movw r24,r22
		4478	4715 25bc 8093 0000 sts Mess_IntegralRoll,r24
		4479	4716 25c0 9093 0000 sts (Mess_IntegralRoll)+1,r25
		4480	4717 25c4 A093 0000 sts (Mess_IntegralRoll)+2,r26
		4481	4718 25c8 B093 0000 sts (Mess_IntegralRoll)+3,r27
		4482	4719 25cc 8091 0000 lds r24,IntegralNick
		4483	4720 25d0 9091 0000 lds r25,(IntegralNick)+1
		4484	4721 25d4 A091 0000 lds r26,(IntegralNick)+2
		4485	4722 25d8 B091 0000 lds r27,(IntegralNick)+3
		4486	4723 25dc 8093 0000 sts Mess_IntegralNick2,r24
		4487	4724 25e0 9093 0000 sts (Mess_IntegralNick2)+1,r25
		4488	4725 25e4 A093 0000 sts (Mess_IntegralNick2)+2,r26
		4489	4726 25e8 B093 0000 sts (Mess_IntegralNick2)+3,r27
		4490	4727 25ec 8091 0000 lds r24,IntegralRoll
		4491	4728 25f0 9091 0000 lds r25,(IntegralRoll)+1
		4492	4729 25f4 A091 0000 lds r26,(IntegralRoll)+2
		4493	4730 25f8 B091 0000 lds r27,(IntegralRoll)+3
		4494	4731 25fc 8093 0000 sts Mess_IntegralRoll2,r24
		4495	4732 2600 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		4496	4733 2604 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		4497	4734 2608 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		4498	4735 260c 1092 0000 sts SummeNick,__zero_reg__
		4499	4736 2610 1092 0000 sts (SummeNick)+1,__zero_reg__
		4500	4737 2614 1092 0000 sts (SummeNick)+2,__zero_reg__
		4501	4738 2618 1092 0000 sts (SummeNick)+3,__zero_reg__
		4502	4739 261c 1092 0000 sts SummeRoll,__zero_reg__
		4503	4740 2620 1092 0000 sts (SummeRoll)+1,__zero_reg__
		4504	4741 2624 1092 0000 sts (SummeRoll)+2,__zero_reg__
		4505	4742 2628 1092 0000 sts (SummeRoll)+3,__zero_reg__
		4506	4743 262c 84E6 ldi r24,lo8(100)
		4507	4744 262e 8093 0000 sts NeueKompassRichtungMerken,r24
		4508	4745 2632 84E3 ldi r24,lo8(52)
		4509	4746 2634 00C0 rjmp .L890
		4510	4747 .L419:
		4511	4748 2636 8CED ldi r24,lo8(1500)
		4512	4749 2638 95E0 ldi r25,hi8(1500)
		4513	4750 263a 9093 0000 sts (beeptime)+1,r25
		4514	4751 263e 8093 0000 sts beeptime,r24
		4515	4752 2642 2223 tst r18
		4516	4753 2644 01F0 breq .+2
		4517	4754 2646 00C0 rjmp .L423
		4518	4755 2648 81E0 ldi r24,lo8(1)
		4519	4756 264a 00C0 rjmp .L890
		4520	4757 .L413:
		4521	4758 264c 1092 0000 sts delay_einschalten.7,__zero_reg__
		4522	4759 2650 00C0 rjmp .L423
		4523	4760 .L412:
		4524	4761 2652 FF27 clr r31
		4525	4762 2654 EE0F add r30,r30
		4526	4763 2656 FF1F adc r31,r31
		4527	4764 2658 E050 subi r30,lo8(-(PPM_in))
		4528	4765 265a F040 sbci r31,hi8(-(PPM_in))
		4529	4766 265c 8081 ld r24,Z
		4530	4767 265e 9181 ldd r25,Z+1
		4531	4768 2660 8C34 cpi r24,76
		4532	4769 2662 9105 cpc r25,__zero_reg__
		4533	4770 2664 04F0 brlt .L426
		4534	4771 2666 8091 0000 lds r24,EE_Parameter+111
		4535	4772 266a 83FD sbrc r24,3
		4536	4773 266c 00C0 rjmp .L427
		4537	4774 266e E22F mov r30,r18
		4538	4775 2670 FF27 clr r31
		4539	4776 2672 EE0F add r30,r30
		4540	4777 2674 FF1F adc r31,r31
		4541	4778 2676 E050 subi r30,lo8(-(PPM_in))
		4542	4779 2678 F040 sbci r31,hi8(-(PPM_in))
		4543	4780 267a 8081 ld r24,Z
		4544	4781 267c 9181 ldd r25,Z+1
		4545	4782 267e 855B subi r24,lo8(-75)
		4546	4783 2680 9F4F sbci r25,hi8(-75)
		4547	4784 2682 04F0 brlt .L425
		4548	4785 .L427:
		4549	4786 2684 8091 0000 lds r24,EE_Parameter+100
		4550	4787 2688 8823 tst r24
		4551	4788 268a 01F0 breq .L425
		4552	4789 .L426:
		4553	4790 268c 8091 0000 lds r24,EE_Parameter+111
		4554	4791 2690 83FF sbrs r24,3
		4555	4792 2692 00C0 rjmp .L424
		4556	4793 2694 8091 0000 lds r24,EE_Parameter+100
		4557	4794 2698 E82F mov r30,r24
		4558	4795 269a FF27 clr r31
		4559	4796 269c EE0F add r30,r30
		4560	4797 269e FF1F adc r31,r31
		4561	4798 26a0 E050 subi r30,lo8(-(PPM_in))
		4562	4799 26a2 F040 sbci r31,hi8(-(PPM_in))
		4563	4800 26a4 8081 ld r24,Z
		4564	4801 26a6 9181 ldd r25,Z+1
		4565	4802 26a8 8E5C subi r24,lo8(-50)
		4566	4803 26aa 9F4F sbci r25,hi8(-50)
		4567	4804 26ac 04F4 brge .L424
		4568	4805 26ae 8091 0000 lds r24,move_safety_switch.9
		4569	4806 26b2 8C39 cpi r24,lo8(-100)
		4570	4807 26b4 01F4 brne .L424
		4571	4808 .L425:
		4572	4809 26b6 8091 0000 lds r24,delay_ausschalten.8
		4573	4810 26ba 8F5F subi r24,lo8(-(1))
		4574	4811 26bc 8093 0000 sts delay_ausschalten.8,r24
		4575	4812 26c0 8B3F cpi r24,lo8(-5)
		4576	4813 26c2 00F0 brlo .L423
		4577	4814 26c4 1092 0000 sts MotorenEin,__zero_reg__
		4578	4815 26c8 1092 0000 sts delay_ausschalten.8,__zero_reg__
		4579	4816 26cc 1092 0000 sts (modell_fliegt)+1,__zero_reg__
		4580	4817 26d0 1092 0000 sts modell_fliegt,__zero_reg__
		4581	4818 26d4 86E2 ldi r24,lo8(38)
		4582	4819 .L890:
		4583	4820 26d6 8093 0000 sts SpeakHoTT,r24
		4584	4821 26da 00C0 rjmp .L423
		4585	4822 .L424:
		4586	4823 26dc 1092 0000 sts delay_ausschalten.8,__zero_reg__
		4587	4824 .L423:
		4588	4825 26e0 8091 0000 lds r24,GasIsZeroCnt
		4589	4826 26e4 9091 0000 lds r25,(GasIsZeroCnt)+1
		4590	4827 26e8 13E0 ldi r17,hi8(1000)
		4591	4828 26ea 883E cpi r24,lo8(1000)
		4592	4829 26ec 9107 cpc r25,r17
		4593	4830 26ee 00F4 brsh .L381
		4594	4831 26f0 0196 adiw r24,1
		4595	4832 26f2 9093 0000 sts (GasIsZeroCnt)+1,r25
		4596	4833 26f6 8093 0000 sts GasIsZeroCnt,r24
		4597	4834 26fa 00C0 rjmp .L381
		4598	4835 .L408:
		4599	4836 26fc 1092 0000 sts move_safety_switch.9,__zero_reg__
		4600	4837 2700 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__
		4601	4838 2704 1092 0000 sts GasIsZeroCnt,__zero_reg__
		4602	4839 2708 00C0 rjmp .L381
		4603	4840 .L382:
		4604	4841 270a 2E5E subi r18,lo8(750)
		4605	4842 270c 3240 sbci r19,hi8(750)
		4606	4843 270e 00F0 brlo .L381
		4607	4844 2710 8091 0000 lds r24,GPSInfo+4
		4608	4845 2714 9091 0000 lds r25,(GPSInfo+4)+1
		4609	4846 2718 8059 subi r24,lo8(400)
		4610	4847 271a 9140 sbci r25,hi8(400)
		4611	4848 271c 00F4 brsh .L381
		4612	4849 271e 8091 0000 lds r24,HoehenWert
		4613	4850 2722 9091 0000 lds r25,(HoehenWert)+1
		4614	4851 2726 A091 0000 lds r26,(HoehenWert)+2
		4615	4852 272a B091 0000 lds r27,(HoehenWert)+3
		4616	4853 272e 8C5D subi r24,lo8(1500)
		4617	4854 2730 9540 sbci r25,hi8(1500)
		4618	4855 2732 A040 sbci r26,hlo8(1500)
		4619	4856 2734 B040 sbci r27,hhi8(1500)
		4620	4857 2736 04F4 brge .L381
		4621	4858 2738 80E3 ldi r24,lo8(30000)
		4622	4859 273a 95E7 ldi r25,hi8(30000)
		4623	4860 273c 9093 0000 sts (GasIsZeroCnt)+1,r25
		4624	4861 2740 8093 0000 sts GasIsZeroCnt,r24
		4625	4862 2744 8091 0000 lds r24,modell_fliegt
		4626	4863 2748 9091 0000 lds r25,(modell_fliegt)+1
		4627	4864 274c 8A5E subi r24,lo8(1002)
		4628	4865 274e 9340 sbci r25,hi8(1002)
		4629	4866 2750 00F0 brlo .L381
		4630	4867 2752 89EE ldi r24,lo8(1001)
		4631	4868 2754 93E0 ldi r25,hi8(1001)
		4632	4869 2756 9093 0000 sts (modell_fliegt)+1,r25
		4633	4870 275a 8093 0000 sts modell_fliegt,r24
		4634	4871 .L381:
		4635	4872 275e 8091 0000 lds r24,NewPpmData
		4636	4873 2762 8150 subi r24,lo8(-(-1))
		4637	4874 2764 8093 0000 sts NewPpmData,r24
		4638	4875 2768 8091 0000 lds r24,NewPpmData
		4639	4876 276c 8F3F cpi r24,lo8(-1)
		4640	4877 276e 01F0 breq .L437
		4641	4878 2770 8091 0000 lds r24,FC_StatusFlags
		4642	4879 2774 84FF sbrs r24,4
		4643	4880 2776 00C0 rjmp .L436
		4644	4881 .L437:
		4645	4882 2778 0E94 0000 call ParameterZuordnung
		4646	4883 277c B090 0000 lds r11,EE_Parameter+23
		4647	4884 2780 8091 0000 lds r24,stick_nick.12
		4648	4885 2784 9091 0000 lds r25,(stick_nick.12)+1
		4649	4886 2788 9C01 movw r18,r24
		4650	4887 278a 220F lsl r18
		4651	4888 278c 331F rol r19
		4652	4889 278e 280F add r18,r24
		4653	4890 2790 391F adc r19,r25
		4654	4891 2792 C090 0000 lds r12,EE_Parameter+1
		4655	4892 2796 AC2D mov r26,r12
		4656	4893 2798 BB27 clr r27
		4657	4894 279a AA0F add r26,r26
		4658	4895 279c BB1F adc r27,r27
		4659	4896 279e FD01 movw r30,r26
		4660	4897 27a0 E050 subi r30,lo8(-(PPM_in))
		4661	4898 27a2 F040 sbci r31,hi8(-(PPM_in))
		4662	4899 27a4 4B2D mov r20,r11
		4663	4900 27a6 5527 clr r21
		4664	4901 27a8 8081 ld r24,Z
		4665	4902 27aa 9181 ldd r25,Z+1
		4666	4903 27ac 849F mul r24,r20
		4667	4904 27ae F001 movw r30,r0
		4668	4905 27b0 859F mul r24,r21
		4669	4906 27b2 F00D add r31,r0
		4670	4907 27b4 949F mul r25,r20
		4671	4908 27b6 F00D add r31,r0
		4672	4909 27b8 1124 clr r1
		4673	4910 27ba 2E0F add r18,r30
		4674	4911 27bc 3F1F adc r19,r31
		4675	4912 27be 37FF sbrs r19,7
		4676	4913 27c0 00C0 rjmp .L438
		4677	4914 27c2 2D5F subi r18,lo8(-(3))
		4678	4915 27c4 3F4F sbci r19,hi8(-(3))
		4679	4916 .L438:
		4680	4917 27c6 B901 movw r22,r18
		4681	4918 27c8 7595 asr r23
		4682	4919 27ca 6795 ror r22
		4683	4920 27cc 7595 asr r23
		4684	4921 27ce 6795 ror r22
		4685	4922 27d0 A050 subi r26,lo8(-(PPM_diff))
		4686	4923 27d2 B040 sbci r27,hi8(-(PPM_diff))
		4687	4924 27d4 8091 0000 lds r24,EE_Parameter+24
		4688	4925 27d8 082F mov r16,r24
		4689	4926 27da 1127 clr r17
		4690	4927 27dc 8D91 ld r24,X+
		4691	4928 27de 9C91 ld r25,X
		4692	4929 27e0 809F mul r24,r16
		4693	4930 27e2 7001 movw r14,r0
		4694	4931 27e4 819F mul r24,r17
		4695	4932 27e6 F00C add r15,r0
		4696	4933 27e8 909F mul r25,r16
		4697	4934 27ea F00C add r15,r0
		4698	4935 27ec 1124 clr r1
		4699	4936 27ee 6E0D add r22,r14
		4700	4937 27f0 7F1D adc r23,r15
		4701	4938 27f2 7093 0000 sts (stick_nick.12)+1,r23
		4702	4939 27f6 6093 0000 sts stick_nick.12,r22
		4703	4940 27fa 8091 0000 lds r24,stick_roll.13
		4704	4941 27fe 9091 0000 lds r25,(stick_roll.13)+1
		4705	4942 2802 9C01 movw r18,r24
		4706	4943 2804 220F lsl r18
		4707	4944 2806 331F rol r19
		4708	4945 2808 280F add r18,r24
		4709	4946 280a 391F adc r19,r25
		4710	4947 280c D090 0000 lds r13,EE_Parameter+2
		4711	4948 2810 AD2D mov r26,r13
		4712	4949 2812 BB27 clr r27
		4713	4950 2814 AA0F add r26,r26
		4714	4951 2816 BB1F adc r27,r27
		4715	4952 2818 FD01 movw r30,r26
		4716	4953 281a E050 subi r30,lo8(-(PPM_in))
		4717	4954 281c F040 sbci r31,hi8(-(PPM_in))
		4718	4955 281e 8081 ld r24,Z
		4719	4956 2820 9181 ldd r25,Z+1
		4720	4957 2822 849F mul r24,r20
		4721	4958 2824 F001 movw r30,r0
		4722	4959 2826 859F mul r24,r21
		4723	4960 2828 F00D add r31,r0
		4724	4961 282a 949F mul r25,r20
		4725	4962 282c F00D add r31,r0
		4726	4963 282e 1124 clr r1
		4727	4964 2830 2E0F add r18,r30
		4728	4965 2832 3F1F adc r19,r31
		4729	4966 2834 37FF sbrs r19,7
		4730	4967 2836 00C0 rjmp .L439
		4731	4968 2838 2D5F subi r18,lo8(-(3))
		4732	4969 283a 3F4F sbci r19,hi8(-(3))
		4733	4970 .L439:
		4734	4971 283c A901 movw r20,r18
		4735	4972 283e 5595 asr r21
		4736	4973 2840 4795 ror r20
		4737	4974 2842 5595 asr r21
		4738	4975 2844 4795 ror r20
		4739	4976 2846 A050 subi r26,lo8(-(PPM_diff))
		4740	4977 2848 B040 sbci r27,hi8(-(PPM_diff))
		4741	4978 284a 8D91 ld r24,X+
		4742	4979 284c 9C91 ld r25,X
		4743	4980 284e 809F mul r24,r16
		4744	4981 2850 7001 movw r14,r0
		4745	4982 2852 819F mul r24,r17
		4746	4983 2854 F00C add r15,r0
		4747	4984 2856 909F mul r25,r16
		4748	4985 2858 F00C add r15,r0
		4749	4986 285a 1124 clr r1
		4750	4987 285c 4E0D add r20,r14
		4751	4988 285e 5F1D adc r21,r15
		4752	4989 2860 5093 0000 sts (stick_roll.13)+1,r21
		4753	4990 2864 4093 0000 sts stick_roll.13,r20
		4754	4991 2868 8091 0000 lds r24,CareFree
		4755	4992 286c 8823 tst r24
		4756	4993 286e 01F4 brne .+2
		4757	4994 2870 00C0 rjmp .L440
		4758	4995 2872 CB01 movw r24,r22
		4759	4996 2874 77FD sbrc r23,7
		4760	4997 2876 0396 adiw r24,3
		4761	4998 .L441:
		4762	4999 2878 DC01 movw r26,r24
		4763	5000 287a B595 asr r27
		4764	5001 287c A795 ror r26
		4765	5002 287e B595 asr r27
		4766	5003 2880 A795 ror r26
		4767	5004 2882 CA01 movw r24,r20
		4768	5005 2884 57FD sbrc r21,7
		4769	5006 2886 0396 adiw r24,3
		4770	5007 .L442:
		4771	5008 2888 FC01 movw r30,r24
		4772	5009 288a F595 asr r31
		4773	5010 288c E795 ror r30
		4774	5011 288e F595 asr r31
		4775	5012 2890 E795 ror r30
		4776	5013 2892 8091 0000 lds r24,FromNC_Rotate_C
		4777	5014 2896 682F mov r22,r24
		4778	5015 2898 7727 clr r23
		4779	5016 289a 67FD sbrc r22,7
		4780	5017 289c 7095 com r23
		4781	5018 289e 6A9F mul r22,r26
		4782	5019 28a0 9001 movw r18,r0
		4783	5020 28a2 6B9F mul r22,r27
		4784	5021 28a4 300D add r19,r0
		4785	5022 28a6 7A9F mul r23,r26
		4786	5023 28a8 300D add r19,r0
		4787	5024 28aa 1124 clr r1
		4788	5025 28ac 8091 0000 lds r24,FromNC_Rotate_S
		4789	5026 28b0 482F mov r20,r24
		4790	5027 28b2 5527 clr r21
		4791	5028 28b4 47FD sbrc r20,7
		4792	5029 28b6 5095 com r21
		4793	5030 28b8 4E9F mul r20,r30
		4794	5031 28ba C001 movw r24,r0
		4795	5032 28bc 4F9F mul r20,r31
		4796	5033 28be 900D add r25,r0
		4797	5034 28c0 5E9F mul r21,r30
		4798	5035 28c2 900D add r25,r0
		4799	5036 28c4 1124 clr r1
		4800	5037 28c6 280F add r18,r24
		4801	5038 28c8 391F adc r19,r25
		4802	5039 28ca 37FF sbrs r19,7
		4803	5040 28cc 00C0 rjmp .L443
		4804	5041 28ce 295F subi r18,lo8(-(7))
		4805	5042 28d0 3F4F sbci r19,hi8(-(7))
		4806	5043 .L443:
		4807	5044 28d2 93E0 ldi r25,3
		4808	5045 28d4 3595 1: asr r19
		4809	5046 28d6 2795 ror r18
		4810	5047 28d8 9A95 dec r25
		4811	5048 28da 01F4 brne 1b
		4812	5049 28dc 3093 0000 sts (StickNick)+1,r19
		4813	5050 28e0 2093 0000 sts StickNick,r18
		4814	5051 28e4 6E9F mul r22,r30
		4815	5052 28e6 9001 movw r18,r0
		4816	5053 28e8 6F9F mul r22,r31
		4817	5054 28ea 300D add r19,r0
		4818	5055 28ec 7E9F mul r23,r30
		4819	5056 28ee 300D add r19,r0
		4820	5057 28f0 1124 clr r1
		4821	5058 28f2 4A9F mul r20,r26
		4822	5059 28f4 C001 movw r24,r0
		4823	5060 28f6 4B9F mul r20,r27
		4824	5061 28f8 900D add r25,r0
		4825	5062 28fa 5A9F mul r21,r26
		4826	5063 28fc 900D add r25,r0
		4827	5064 28fe 1124 clr r1
		4828	5065 2900 00C0 rjmp .L919
		4829	5066 .L440:
		4830	5067 2902 8091 0000 lds r24,EE_Parameter+98
		4831	5068 2906 E82F mov r30,r24
		4832	5069 2908 FF27 clr r31
		4833	5070 290a E050 subi r30,lo8(-(sintab))
		4834	5071 290c F040 sbci r31,hi8(-(sintab))
		4835	5072 290e 8681 ldd r24,Z+6
		4836	5073 2910 8093 0000 sts FromNC_Rotate_C,r24
		4837	5074 2914 9081 ld r25,Z
		4838	5075 2916 9093 0000 sts FromNC_Rotate_S,r25
		4839	5076 291a A82F mov r26,r24
		4840	5077 291c BB27 clr r27
		4841	5078 291e A7FD sbrc r26,7
		4842	5079 2920 B095 com r27
		4843	5080 2922 A69F mul r26,r22
		4844	5081 2924 9001 movw r18,r0
		4845	5082 2926 A79F mul r26,r23
		4846	5083 2928 300D add r19,r0
		4847	5084 292a B69F mul r27,r22
		4848	5085 292c 300D add r19,r0
		4849	5086 292e 1124 clr r1
		4850	5087 2930 E92F mov r30,r25
		4851	5088 2932 FF27 clr r31
		4852	5089 2934 E7FD sbrc r30,7
		4853	5090 2936 F095 com r31
		4854	5091 2938 E49F mul r30,r20
		4855	5092 293a C001 movw r24,r0
		4856	5093 293c E59F mul r30,r21
		4857	5094 293e 900D add r25,r0
		4858	5095 2940 F49F mul r31,r20
		4859	5096 2942 900D add r25,r0
		4860	5097 2944 1124 clr r1
		4861	5098 2946 280F add r18,r24
		4862	5099 2948 391F adc r19,r25
		4863	5100 294a 37FF sbrs r19,7
		4864	5101 294c 00C0 rjmp .L446
		4865	5102 294e 295F subi r18,lo8(-(7))
		4866	5103 2950 3F4F sbci r19,hi8(-(7))
		4867	5104 .L446:
		4868	5105 2952 83E0 ldi r24,3
		4869	5106 2954 3595 1: asr r19
		4870	5107 2956 2795 ror r18
		4871	5108 2958 8A95 dec r24
		4872	5109 295a 01F4 brne 1b
		4873	5110 295c 3093 0000 sts (StickNick)+1,r19
		4874	5111 2960 2093 0000 sts StickNick,r18
		4875	5112 2964 A49F mul r26,r20
		4876	5113 2966 9001 movw r18,r0
		4877	5114 2968 A59F mul r26,r21
		4878	5115 296a 300D add r19,r0
		4879	5116 296c B49F mul r27,r20
		4880	5117 296e 300D add r19,r0
		4881	5118 2970 1124 clr r1
		4882	5119 2972 E69F mul r30,r22
		4883	5120 2974 C001 movw r24,r0
		4884	5121 2976 E79F mul r30,r23
		4885	5122 2978 900D add r25,r0
		4886	5123 297a F69F mul r31,r22
		4887	5124 297c 900D add r25,r0
		4888	5125 297e 1124 clr r1
		4889	5126 .L919:
		4890	5127 2980 281B sub r18,r24
		4891	5128 2982 390B sbc r19,r25
		4892	5129 2984 37FF sbrs r19,7
		4893	5130 2986 00C0 rjmp .L447
		4894	5131 2988 295F subi r18,lo8(-(7))
		4895	5132 298a 3F4F sbci r19,hi8(-(7))
		4896	5133 .L447:
		4897	5134 298c 03E0 ldi r16,3
		4898	5135 298e 3595 1: asr r19
		4899	5136 2990 2795 ror r18
		4900	5137 2992 0A95 dec r16
		4901	5138 2994 01F4 brne 1b
		4902	5139 2996 3093 0000 sts (StickRoll)+1,r19
		4903	5140 299a 2093 0000 sts StickRoll,r18
		4904	5141 299e 8091 0000 lds r24,EE_Parameter+4
		4905	5142 29a2 E82F mov r30,r24
		4906	5143 29a4 FF27 clr r31
		4907	5144 29a6 EE0F add r30,r30
		4908	5145 29a8 FF1F adc r31,r31
		4909	5146 29aa E050 subi r30,lo8(-(PPM_in))
		4910	5147 29ac F040 sbci r31,hi8(-(PPM_in))
		4911	5148 29ae 8081 ld r24,Z
		4912	5149 29b0 9181 ldd r25,Z+1
		4913	5150 29b2 9095 com r25
		4914	5151 29b4 8195 neg r24
		4915	5152 29b6 9F4F sbci r25,lo8(-1)
		4916	5153 29b8 9093 0000 sts (StickGier)+1,r25
		4917	5154 29bc 8093 0000 sts StickGier,r24
		4918	5155 29c0 8530 cpi r24,5
		4919	5156 29c2 9105 cpc r25,__zero_reg__
		4920	5157 29c4 04F0 brlt .L448
		4921	5158 29c6 0497 sbiw r24,4
		4922	5159 29c8 00C0 rjmp .L891
		4923	5160 .L448:
		4924	5161 29ca 0FEF ldi r16,hi8(-4)
		4925	5162 29cc 8C3F cpi r24,lo8(-4)
		4926	5163 29ce 9007 cpc r25,r16
		4927	5164 29d0 04F4 brge .L450
		4928	5165 29d2 0496 adiw r24,4
		4929	5166 .L891:
		4930	5167 29d4 9093 0000 sts (StickGier)+1,r25
		4931	5168 29d8 8093 0000 sts StickGier,r24
		4932	5169 29dc 00C0 rjmp .L449
		4933	5170 .L450:
		4934	5171 29de 1092 0000 sts (StickGier)+1,__zero_reg__
		4935	5172 29e2 1092 0000 sts StickGier,__zero_reg__
		4936	5173 .L449:
		4937	5174 29e6 8091 0000 lds r24,GPS_Aid_StickMultiplikator
		4938	5175 29ea 8823 tst r24
		4939	5176 29ec 01F4 brne .+2
		4940	5177 29ee 00C0 rjmp .L452
		4941	5178 29f0 282F mov r18,r24
		4942	5179 29f2 3327 clr r19
		4943	5180 29f4 8091 0000 lds r24,StickNick
		4944	5181 29f8 9091 0000 lds r25,(StickNick)+1
		4945	5182 29fc 97FD sbrc r25,7
		4946	5183 29fe 0796 adiw r24,7
		4947	5184 .L453:
		4948	5185 2a00 13E0 ldi r17,3
		4949	5186 2a02 9595 1: asr r25
		4950	5187 2a04 8795 ror r24
		4951	5188 2a06 1A95 dec r17
		4952	5189 2a08 01F4 brne 1b
		4953	5190 2a0a 289F mul r18,r24
		4954	5191 2a0c A001 movw r20,r0
		4955	5192 2a0e 299F mul r18,r25
		4956	5193 2a10 500D add r21,r0
		4957	5194 2a12 389F mul r19,r24
		4958	5195 2a14 500D add r21,r0
		4959	5196 2a16 1124 clr r1
		4960	5197 2a18 CA01 movw r24,r20
		4961	5198 2a1a 57FD sbrc r21,7
		4962	5199 2a1c 0F96 adiw r24,15
		4963	5200 .L454:
		4964	5201 2a1e B4E0 ldi r27,4
		4965	5202 2a20 9595 1: asr r25
		4966	5203 2a22 8795 ror r24
		4967	5204 2a24 BA95 dec r27
		4968	5205 2a26 01F4 brne 1b
		4969	5206 2a28 9093 0000 sts (StickNick)+1,r25
		4970	5207 2a2c 8093 0000 sts StickNick,r24
		4971	5208 2a30 8091 0000 lds r24,StickRoll
		4972	5209 2a34 9091 0000 lds r25,(StickRoll)+1
		4973	5210 2a38 97FD sbrc r25,7
		4974	5211 2a3a 0796 adiw r24,7
		4975	5212 .L455:
		4976	5213 2a3c A3E0 ldi r26,3
		4977	5214 2a3e 9595 1: asr r25
		4978	5215 2a40 8795 ror r24
		4979	5216 2a42 AA95 dec r26
		4980	5217 2a44 01F4 brne 1b
		4981	5218 2a46 289F mul r18,r24
		4982	5219 2a48 B001 movw r22,r0
		4983	5220 2a4a 299F mul r18,r25
		4984	5221 2a4c 700D add r23,r0
		4985	5222 2a4e 389F mul r19,r24
		4986	5223 2a50 700D add r23,r0
		4987	5224 2a52 1124 clr r1
		4988	5225 2a54 CB01 movw r24,r22
		4989	5226 2a56 77FD sbrc r23,7
		4990	5227 2a58 0F96 adiw r24,15
		4991	5228 .L456:
		4992	5229 2a5a F4E0 ldi r31,4
		4993	5230 2a5c 9595 1: asr r25
		4994	5231 2a5e 8795 ror r24
		4995	5232 2a60 FA95 dec r31
		4996	5233 2a62 01F4 brne 1b
		4997	5234 2a64 9093 0000 sts (StickRoll)+1,r25
		4998	5235 2a68 8093 0000 sts StickRoll,r24
		4999	5236 .L452:
		5000	5237 2a6c 8090 0000 lds r8,StickNick
		5001	5238 2a70 9090 0000 lds r9,(StickNick)+1
		5002	5239 2a74 8091 0000 lds r24,GPS_Nick
		5003	5240 2a78 9091 0000 lds r25,(GPS_Nick)+1
		5004	5241 2a7c 881A sub r8,r24
		5005	5242 2a7e 990A sbc r9,r25
		5006	5243 2a80 9092 0000 sts (StickNick)+1,r9
		5007	5244 2a84 8092 0000 sts StickNick,r8
		5008	5245 2a88 0091 0000 lds r16,StickRoll
		5009	5246 2a8c 1091 0000 lds r17,(StickRoll)+1
		5010	5247 2a90 8091 0000 lds r24,GPS_Roll
		5011	5248 2a94 9091 0000 lds r25,(GPS_Roll)+1
		5012	5249 2a98 081B sub r16,r24
		5013	5250 2a9a 190B sbc r17,r25
		5014	5251 2a9c 1093 0000 sts (StickRoll)+1,r17
		5015	5252 2aa0 0093 0000 sts StickRoll,r16
		5016	5253 2aa4 8091 0000 lds r24,EE_Parameter+3
		5017	5254 2aa8 E82F mov r30,r24
		5018	5255 2aaa FF27 clr r31
		5019	5256 2aac EE0F add r30,r30
		5020	5257 2aae FF1F adc r31,r31
		5021	5258 2ab0 E050 subi r30,lo8(-(PPM_in))
		5022	5259 2ab2 F040 sbci r31,hi8(-(PPM_in))
		5023	5260 2ab4 E080 ld r14,Z
		5024	5261 2ab6 F180 ldd r15,Z+1
		5025	5262 2ab8 8FE7 ldi r24,lo8(127)
		5026	5263 2aba 90E0 ldi r25,hi8(127)
		5027	5264 2abc E80E add r14,r24
		5028	5265 2abe F91E adc r15,r25
		5029	5266 2ac0 F092 0000 sts (StickGas)+1,r15
		5030	5267 2ac4 E092 0000 sts StickGas,r14
		5031	5268 2ac8 8091 0000 lds r24,Parameter_Gyro_P
		5032	5269 2acc 9927 clr r25
		5033	5270 2ace AA27 clr r26
		5034	5271 2ad0 97FD sbrc r25,7
		5035	5272 2ad2 A095 com r26
		5036	5273 2ad4 BA2F mov r27,r26
		5037	5274 2ad6 BC01 movw r22,r24
		5038	5275 2ad8 CD01 movw r24,r26
		5039	5276 2ada 0E94 0000 call __floatsisf
		5040	5277 2ade DC01 movw r26,r24
		5041	5278 2ae0 CB01 movw r24,r22
		5042	5279 2ae2 20E0 ldi r18,lo8(0x41200000)
		5043	5280 2ae4 30E0 ldi r19,hi8(0x41200000)
		5044	5281 2ae6 40E2 ldi r20,hlo8(0x41200000)
		5045	5282 2ae8 51E4 ldi r21,hhi8(0x41200000)
		5046	5283 2aea BC01 movw r22,r24
		5047	5284 2aec CD01 movw r24,r26
		5048	5285 2aee 0E94 0000 call __addsf3
		5049	5286 2af2 DC01 movw r26,r24
		5050	5287 2af4 CB01 movw r24,r22
		5051	5288 2af6 BC01 movw r22,r24
		5052	5289 2af8 CD01 movw r24,r26
		5053	5290 2afa 0E94 0000 call __fixunssfsi
		5054	5291 2afe DC01 movw r26,r24
		5055	5292 2b00 CB01 movw r24,r22
		5056	5293 2b02 8093 0000 sts GyroFaktor,r24
		5057	5294 2b06 8091 0000 lds r24,Parameter_Gyro_I
		5058	5295 2b0a 8093 0000 sts IntegralFaktor,r24
		5059	5296 2b0e 8091 0000 lds r24,Parameter_Gyro_Gier_P
		5060	5297 2b12 9927 clr r25
		5061	5298 2b14 AA27 clr r26
		5062	5299 2b16 97FD sbrc r25,7
		5063	5300 2b18 A095 com r26
		5064	5301 2b1a BA2F mov r27,r26
		5065	5302 2b1c BC01 movw r22,r24
		5066	5303 2b1e CD01 movw r24,r26
		5067	5304 2b20 0E94 0000 call __floatsisf
		5068	5305 2b24 DC01 movw r26,r24
		5069	5306 2b26 CB01 movw r24,r22
		5070	5307 2b28 20E0 ldi r18,lo8(0x41200000)
		5071	5308 2b2a 30E0 ldi r19,hi8(0x41200000)
		5072	5309 2b2c 40E2 ldi r20,hlo8(0x41200000)
		5073	5310 2b2e 51E4 ldi r21,hhi8(0x41200000)
		5074	5311 2b30 BC01 movw r22,r24
		5075	5312 2b32 CD01 movw r24,r26
		5076	5313 2b34 0E94 0000 call __addsf3
		5077	5314 2b38 DC01 movw r26,r24
		5078	5315 2b3a CB01 movw r24,r22
		5079	5316 2b3c BC01 movw r22,r24
		5080	5317 2b3e CD01 movw r24,r26
		5081	5318 2b40 0E94 0000 call __fixunssfsi
		5082	5319 2b44 DC01 movw r26,r24
		5083	5320 2b46 CB01 movw r24,r22
		5084	5321 2b48 8093 0000 sts GyroFaktorGier,r24
		5085	5322 2b4c 8091 0000 lds r24,Parameter_Gyro_Gier_I
		5086	5323 2b50 8093 0000 sts IntegralFaktorGier,r24
		5087	5324 2b54 8091 0000 lds r24,ExternControl+10
		5088	5325 2b58 80FF sbrs r24,0
		5089	5326 2b5a 00C0 rjmp .L457
		5090	5327 2b5c 8091 0000 lds r24,Parameter_ExternalControl
		5091	5328 2b60 8138 cpi r24,lo8(-127)
		5092	5329 2b62 00F4 brsh .+2
		5093	5330 2b64 00C0 rjmp .L457
		5094	5331 2b66 8091 0000 lds r24,ExternControl+3
		5095	5332 2b6a 9927 clr r25
		5096	5333 2b6c 87FD sbrc r24,7
		5097	5334 2b6e 9095 com r25
		5098	5335 2b70 2B2D mov r18,r11
		5099	5336 2b72 3327 clr r19
		5100	5337 2b74 829F mul r24,r18
		5101	5338 2b76 D001 movw r26,r0
		5102	5339 2b78 839F mul r24,r19
		5103	5340 2b7a B00D add r27,r0
		5104	5341 2b7c 929F mul r25,r18
		5105	5342 2b7e B00D add r27,r0
		5106	5343 2b80 1124 clr r1
		5107	5344 2b82 8A0E add r8,r26
		5108	5345 2b84 9B1E adc r9,r27
		5109	5346 2b86 9092 0000 sts (StickNick)+1,r9
		5110	5347 2b8a 8092 0000 sts StickNick,r8
		5111	5348 2b8e 8091 0000 lds r24,ExternControl+4
		5112	5349 2b92 9927 clr r25
		5113	5350 2b94 87FD sbrc r24,7
		5114	5351 2b96 9095 com r25
		5115	5352 2b98 829F mul r24,r18
		5116	5353 2b9a F001 movw r30,r0
		5117	5354 2b9c 839F mul r24,r19
		5118	5355 2b9e F00D add r31,r0
		5119	5356 2ba0 929F mul r25,r18
		5120	5357 2ba2 F00D add r31,r0
		5121	5358 2ba4 1124 clr r1
		5122	5359 2ba6 0E0F add r16,r30
		5123	5360 2ba8 1F1F adc r17,r31
		5124	5361 2baa 1093 0000 sts (StickRoll)+1,r17
		5125	5362 2bae 0093 0000 sts StickRoll,r16
		5126	5363 2bb2 8091 0000 lds r24,ExternControl+5
		5127	5364 2bb6 282F mov r18,r24
		5128	5365 2bb8 3327 clr r19
		5129	5366 2bba 27FD sbrc r18,7
		5130	5367 2bbc 3095 com r19
		5131	5368 2bbe 8091 0000 lds r24,StickGier
		5132	5369 2bc2 9091 0000 lds r25,(StickGier)+1
		5133	5370 2bc6 820F add r24,r18
		5134	5371 2bc8 931F adc r25,r19
		5135	5372 2bca 9093 0000 sts (StickGier)+1,r25
		5136	5373 2bce 8093 0000 sts StickGier,r24
		5137	5374 2bd2 8091 0000 lds r24,ExternControl+7
		5138	5375 2bd6 282F mov r18,r24
		5139	5376 2bd8 3327 clr r19
		5140	5377 2bda 27FD sbrc r18,7
		5141	5378 2bdc 3095 com r19
		5142	5379 2bde 8091 0000 lds r24,EE_Parameter+18
		5143	5380 2be2 9927 clr r25
		5144	5381 2be4 289F mul r18,r24
		5145	5382 2be6 8001 movw r16,r0
		5146	5383 2be8 299F mul r18,r25
		5147	5384 2bea 100D add r17,r0
		5148	5385 2bec 389F mul r19,r24
		5149	5386 2bee 100D add r17,r0
		5150	5387 2bf0 1124 clr r1
		5151	5388 2bf2 1093 0000 sts (ExternHoehenValue)+1,r17
		5152	5389 2bf6 0093 0000 sts ExternHoehenValue,r16
		5153	5390 2bfa 8091 0000 lds r24,ExternControl+6
		5154	5391 2bfe 9927 clr r25
		5155	5392 2c00 8E15 cp r24,r14
		5156	5393 2c02 9F05 cpc r25,r15
		5157	5394 2c04 04F4 brge .L457
		5158	5395 2c06 9093 0000 sts (StickGas)+1,r25
		5159	5396 2c0a 8093 0000 sts StickGas,r24
		5160	5397 .L457:
		5161	5398 2c0e 8091 0000 lds r24,StickGas
		5162	5399 2c12 9091 0000 lds r25,(StickGas)+1
		5163	5400 2c16 97FF sbrs r25,7
		5164	5401 2c18 00C0 rjmp .L459
		5165	5402 2c1a 1092 0000 sts (StickGas)+1,__zero_reg__
		5166	5403 2c1e 1092 0000 sts StickGas,__zero_reg__
		5167	5404 .L459:
		5168	5405 2c22 8091 0000 lds r24,Parameter_GlobalConfig
		5169	5406 2c26 82FF sbrs r24,2
		5170	5407 2c28 00C0 rjmp .L460
		5171	5408 2c2a 1092 0000 sts IntegralFaktor,__zero_reg__
		5172	5409 .L460:
		5173	5410 2c2e 4091 0000 lds r20,StickNick
		5174	5411 2c32 5091 0000 lds r21,(StickNick)+1
		5175	5412 2c36 CA01 movw r24,r20
		5176	5413 2c38 57FD sbrc r21,7
		5177	5414 2c3a 0396 adiw r24,3
		5178	5415 .L462:
		5179	5416 2c3c 9C01 movw r18,r24
		5180	5417 2c3e 3595 asr r19
		5181	5418 2c40 2795 ror r18
		5182	5419 2c42 3595 asr r19
		5183	5420 2c44 2795 ror r18
		5184	5421 2c46 37FF sbrs r19,7
		5185	5422 2c48 00C0 rjmp .L463
		5186	5423 2c4a 3095 com r19
		5187	5424 2c4c 2195 neg r18
		5188	5425 2c4e 3F4F sbci r19,lo8(-1)
		5189	5426 .L463:
		5190	5427 2c50 8091 0000 lds r24,MaxStickNick
		5191	5428 2c54 9091 0000 lds r25,(MaxStickNick)+1
		5192	5429 2c58 8217 cp r24,r18
		5193	5430 2c5a 9307 cpc r25,r19
		5194	5431 2c5c 04F4 brge .L461
		5195	5432 2c5e CA01 movw r24,r20
		5196	5433 2c60 57FF sbrs r21,7
		5197	5434 2c62 00C0 rjmp .L464
		5198	5435 2c64 9095 com r25
		5199	5436 2c66 8195 neg r24
		5200	5437 2c68 9F4F sbci r25,lo8(-1)
		5201	5438 .L464:
		5202	5439 2c6a 97FD sbrc r25,7
		5203	5440 2c6c 0396 adiw r24,3
		5204	5441 .L465:
		5205	5442 2c6e 9595 asr r25
		5206	5443 2c70 8795 ror r24
		5207	5444 2c72 9595 asr r25
		5208	5445 2c74 8795 ror r24
		5209	5446 2c76 9093 0000 sts (MaxStickNick)+1,r25
		5210	5447 2c7a 8093 0000 sts MaxStickNick,r24
		5211	5448 2c7e 8536 cpi r24,101
		5212	5449 2c80 9105 cpc r25,__zero_reg__
		5213	5450 2c82 04F0 brlt .L467
		5214	5451 2c84 84E6 ldi r24,lo8(100)
		5215	5452 2c86 90E0 ldi r25,hi8(100)
		5216	5453 2c88 00C0 rjmp .L892
		5217	5454 .L461:
		5218	5455 2c8a 0197 sbiw r24,1
		5219	5456 .L892:
		5220	5457 2c8c 9093 0000 sts (MaxStickNick)+1,r25
		5221	5458 2c90 8093 0000 sts MaxStickNick,r24
		5222	5459 .L467:
		5223	5460 2c94 4091 0000 lds r20,StickRoll
		5224	5461 2c98 5091 0000 lds r21,(StickRoll)+1
		5225	5462 2c9c CA01 movw r24,r20
		5226	5463 2c9e 57FD sbrc r21,7
		5227	5464 2ca0 0396 adiw r24,3
		5228	5465 .L469:
		5229	5466 2ca2 9C01 movw r18,r24
		5230	5467 2ca4 3595 asr r19
		5231	5468 2ca6 2795 ror r18
		5232	5469 2ca8 3595 asr r19
		5233	5470 2caa 2795 ror r18
		5234	5471 2cac 37FF sbrs r19,7
		5235	5472 2cae 00C0 rjmp .L470
		5236	5473 2cb0 3095 com r19
		5237	5474 2cb2 2195 neg r18
		5238	5475 2cb4 3F4F sbci r19,lo8(-1)
		5239	5476 .L470:
		5240	5477 2cb6 8091 0000 lds r24,MaxStickRoll
		5241	5478 2cba 9091 0000 lds r25,(MaxStickRoll)+1
		5242	5479 2cbe 8217 cp r24,r18
		5243	5480 2cc0 9307 cpc r25,r19
		5244	5481 2cc2 04F4 brge .L468
		5245	5482 2cc4 CA01 movw r24,r20
		5246	5483 2cc6 57FF sbrs r21,7
		5247	5484 2cc8 00C0 rjmp .L471
		5248	5485 2cca 9095 com r25
		5249	5486 2ccc 8195 neg r24
		5250	5487 2cce 9F4F sbci r25,lo8(-1)
		5251	5488 .L471:
		5252	5489 2cd0 97FD sbrc r25,7
		5253	5490 2cd2 0396 adiw r24,3
		5254	5491 .L472:
		5255	5492 2cd4 9595 asr r25
		5256	5493 2cd6 8795 ror r24
		5257	5494 2cd8 9595 asr r25
		5258	5495 2cda 8795 ror r24
		5259	5496 2cdc 9093 0000 sts (MaxStickRoll)+1,r25
		5260	5497 2ce0 8093 0000 sts MaxStickRoll,r24
		5261	5498 2ce4 8536 cpi r24,101
		5262	5499 2ce6 9105 cpc r25,__zero_reg__
		5263	5500 2ce8 04F0 brlt .L474
		5264	5501 2cea 84E6 ldi r24,lo8(100)
		5265	5502 2cec 90E0 ldi r25,hi8(100)
		5266	5503 2cee 00C0 rjmp .L893
		5267	5504 .L468:
		5268	5505 2cf0 0197 sbiw r24,1
		5269	5506 .L893:
		5270	5507 2cf2 9093 0000 sts (MaxStickRoll)+1,r25
		5271	5508 2cf6 8093 0000 sts MaxStickRoll,r24
		5272	5509 .L474:
		5273	5510 2cfa 8091 0000 lds r24,FC_StatusFlags
		5274	5511 2cfe 84FF sbrs r24,4
		5275	5512 2d00 00C0 rjmp .L475
		5276	5513 2d02 1092 0000 sts (MaxStickNick)+1,__zero_reg__
		5277	5514 2d06 1092 0000 sts MaxStickNick,__zero_reg__
		5278	5515 2d0a 1092 0000 sts (MaxStickRoll)+1,__zero_reg__
		5279	5516 2d0e 1092 0000 sts MaxStickRoll,__zero_reg__
		5280	5517 .L475:
		5281	5518 2d12 ED2D mov r30,r13
		5282	5519 2d14 FF27 clr r31
		5283	5520 2d16 EE0F add r30,r30
		5284	5521 2d18 FF1F adc r31,r31
		5285	5522 2d1a E050 subi r30,lo8(-(PPM_in))
		5286	5523 2d1c F040 sbci r31,hi8(-(PPM_in))
		5287	5524 2d1e 4091 0000 lds r20,EE_Parameter+60
		5288	5525 2d22 242F mov r18,r20
		5289	5526 2d24 3327 clr r19
		5290	5527 2d26 8081 ld r24,Z
		5291	5528 2d28 9181 ldd r25,Z+1
		5292	5529 2d2a 2817 cp r18,r24
		5293	5530 2d2c 3907 cpc r19,r25
		5294	5531 2d2e 04F4 brge .L476
		5295	5532 2d30 8091 0000 lds r24,EE_Parameter+108
		5296	5533 2d34 82FF sbrs r24,2
		5297	5534 2d36 00C0 rjmp .L476
		5298	5535 2d38 81E0 ldi r24,lo8(1)
		5299	5536 2d3a 8093 0000 sts Looping_Links,r24
		5300	5537 2d3e 00C0 rjmp .L477
		5301	5538 .L476:
		5302	5539 2d40 ED2D mov r30,r13
		5303	5540 2d42 FF27 clr r31
		5304	5541 2d44 EE0F add r30,r30
		5305	5542 2d46 FF1F adc r31,r31
		5306	5543 2d48 E050 subi r30,lo8(-(PPM_in))
		5307	5544 2d4a F040 sbci r31,hi8(-(PPM_in))
		5308	5545 2d4c 842F mov r24,r20
		5309	5546 2d4e 9927 clr r25
		5310	5547 2d50 2091 0000 lds r18,EE_Parameter+61
		5311	5548 2d54 821B sub r24,r18
		5312	5549 2d56 9109 sbc r25,__zero_reg__
		5313	5550 2d58 2081 ld r18,Z
		5314	5551 2d5a 3181 ldd r19,Z+1
		5315	5552 2d5c 2817 cp r18,r24
		5316	5553 2d5e 3907 cpc r19,r25
		5317	5554 2d60 04F4 brge .L477
		5318	5555 2d62 1092 0000 sts Looping_Links,__zero_reg__
		5319	5556 .L477:
		5320	5557 2d66 4091 0000 lds r20,EE_Parameter+2
		5321	5558 2d6a E42F mov r30,r20
		5322	5559 2d6c FF27 clr r31
		5323	5560 2d6e EE0F add r30,r30
		5324	5561 2d70 FF1F adc r31,r31
		5325	5562 2d72 E050 subi r30,lo8(-(PPM_in))
		5326	5563 2d74 F040 sbci r31,hi8(-(PPM_in))
		5327	5564 2d76 5091 0000 lds r21,EE_Parameter+60
		5328	5565 2d7a 852F mov r24,r21
		5329	5566 2d7c 9927 clr r25
		5330	5567 2d7e 2227 clr r18
		5331	5568 2d80 3327 clr r19
		5332	5569 2d82 281B sub r18,r24
		5333	5570 2d84 390B sbc r19,r25
		5334	5571 2d86 8081 ld r24,Z
		5335	5572 2d88 9181 ldd r25,Z+1
		5336	5573 2d8a 8217 cp r24,r18
		5337	5574 2d8c 9307 cpc r25,r19
		5338	5575 2d8e 04F4 brge .L479
		5339	5576 2d90 8091 0000 lds r24,EE_Parameter+108
		5340	5577 2d94 83FF sbrs r24,3
		5341	5578 2d96 00C0 rjmp .L479
		5342	5579 2d98 81E0 ldi r24,lo8(1)
		5343	5580 2d9a 8093 0000 sts Looping_Rechts,r24
		5344	5581 2d9e 00C0 rjmp .L480
		5345	5582 .L479:
		5346	5583 2da0 8091 0000 lds r24,Looping_Rechts
		5347	5584 2da4 8823 tst r24
		5348	5585 2da6 01F0 breq .L480
		5349	5586 2da8 E42F mov r30,r20
		5350	5587 2daa FF27 clr r31
		5351	5588 2dac EE0F add r30,r30
		5352	5589 2dae FF1F adc r31,r31
		5353	5590 2db0 E050 subi r30,lo8(-(PPM_in))
		5354	5591 2db2 F040 sbci r31,hi8(-(PPM_in))
		5355	5592 2db4 8091 0000 lds r24,EE_Parameter+61
		5356	5593 2db8 9927 clr r25
		5357	5594 2dba 851B sub r24,r21
		5358	5595 2dbc 9109 sbc r25,__zero_reg__
		5359	5596 2dbe 2081 ld r18,Z
		5360	5597 2dc0 3181 ldd r19,Z+1
		5361	5598 2dc2 8217 cp r24,r18
		5362	5599 2dc4 9307 cpc r25,r19
		5363	5600 2dc6 04F4 brge .L480
		5364	5601 2dc8 1092 0000 sts Looping_Rechts,__zero_reg__
		5365	5602 .L480:
		5366	5603 2dcc EC2D mov r30,r12
		5367	5604 2dce FF27 clr r31
		5368	5605 2dd0 EE0F add r30,r30
		5369	5606 2dd2 FF1F adc r31,r31
		5370	5607 2dd4 E050 subi r30,lo8(-(PPM_in))
		5371	5608 2dd6 F040 sbci r31,hi8(-(PPM_in))
		5372	5609 2dd8 4091 0000 lds r20,EE_Parameter+60
		5373	5610 2ddc 242F mov r18,r20
		5374	5611 2dde 3327 clr r19
		5375	5612 2de0 8081 ld r24,Z
		5376	5613 2de2 9181 ldd r25,Z+1
		5377	5614 2de4 2817 cp r18,r24
		5378	5615 2de6 3907 cpc r19,r25
		5379	5616 2de8 04F4 brge .L483
		5380	5617 2dea 8091 0000 lds r24,EE_Parameter+108
		5381	5618 2dee 80FF sbrs r24,0
		5382	5619 2df0 00C0 rjmp .L483
		5383	5620 2df2 81E0 ldi r24,lo8(1)
		5384	5621 2df4 8093 0000 sts Looping_Oben,r24
		5385	5622 2df8 00C0 rjmp .L484
		5386	5623 .L483:
		5387	5624 2dfa 8091 0000 lds r24,Looping_Oben
		5388	5625 2dfe 8823 tst r24
		5389	5626 2e00 01F0 breq .L484
		5390	5627 2e02 EC2D mov r30,r12
		5391	5628 2e04 FF27 clr r31
		5392	5629 2e06 EE0F add r30,r30
		5393	5630 2e08 FF1F adc r31,r31
		5394	5631 2e0a E050 subi r30,lo8(-(PPM_in))
		5395	5632 2e0c F040 sbci r31,hi8(-(PPM_in))
		5396	5633 2e0e 842F mov r24,r20
		5397	5634 2e10 9927 clr r25
		5398	5635 2e12 2091 0000 lds r18,EE_Parameter+61
		5399	5636 2e16 821B sub r24,r18
		5400	5637 2e18 9109 sbc r25,__zero_reg__
		5401	5638 2e1a 2081 ld r18,Z
		5402	5639 2e1c 3181 ldd r19,Z+1
		5403	5640 2e1e 2817 cp r18,r24
		5404	5641 2e20 3907 cpc r19,r25
		5405	5642 2e22 04F4 brge .L484
		5406	5643 2e24 1092 0000 sts Looping_Oben,__zero_reg__
		5407	5644 .L484:
		5408	5645 2e28 4091 0000 lds r20,EE_Parameter+1
		5409	5646 2e2c E42F mov r30,r20
		5410	5647 2e2e FF27 clr r31
		5411	5648 2e30 EE0F add r30,r30
		5412	5649 2e32 FF1F adc r31,r31
		5413	5650 2e34 E050 subi r30,lo8(-(PPM_in))
		5414	5651 2e36 F040 sbci r31,hi8(-(PPM_in))
		5415	5652 2e38 5091 0000 lds r21,EE_Parameter+60
		5416	5653 2e3c 852F mov r24,r21
		5417	5654 2e3e 9927 clr r25
		5418	5655 2e40 2227 clr r18
		5419	5656 2e42 3327 clr r19
		5420	5657 2e44 281B sub r18,r24
		5421	5658 2e46 390B sbc r19,r25
		5422	5659 2e48 8081 ld r24,Z
		5423	5660 2e4a 9181 ldd r25,Z+1
		5424	5661 2e4c 8217 cp r24,r18
		5425	5662 2e4e 9307 cpc r25,r19
		5426	5663 2e50 04F4 brge .L487
		5427	5664 2e52 8091 0000 lds r24,EE_Parameter+108
		5428	5665 2e56 81FF sbrs r24,1
		5429	5666 2e58 00C0 rjmp .L487
		5430	5667 2e5a 81E0 ldi r24,lo8(1)
		5431	5668 2e5c 8093 0000 sts Looping_Unten,r24
		5432	5669 2e60 00C0 rjmp .L488
		5433	5670 .L487:
		5434	5671 2e62 8091 0000 lds r24,Looping_Unten
		5435	5672 2e66 8823 tst r24
		5436	5673 2e68 01F0 breq .L488
		5437	5674 2e6a E42F mov r30,r20
		5438	5675 2e6c FF27 clr r31
		5439	5676 2e6e EE0F add r30,r30
		5440	5677 2e70 FF1F adc r31,r31
		5441	5678 2e72 E050 subi r30,lo8(-(PPM_in))
		5442	5679 2e74 F040 sbci r31,hi8(-(PPM_in))
		5443	5680 2e76 8091 0000 lds r24,EE_Parameter+61
		5444	5681 2e7a 9927 clr r25
		5445	5682 2e7c 851B sub r24,r21
		5446	5683 2e7e 9109 sbc r25,__zero_reg__
		5447	5684 2e80 2081 ld r18,Z
		5448	5685 2e82 3181 ldd r19,Z+1
		5449	5686 2e84 8217 cp r24,r18
		5450	5687 2e86 9307 cpc r25,r19
		5451	5688 2e88 04F4 brge .L488
		5452	5689 2e8a 1092 0000 sts Looping_Unten,__zero_reg__
		5453	5690 .L488:
		5454	5691 2e8e 8091 0000 lds r24,Looping_Links
		5455	5692 2e92 8823 tst r24
		5456	5693 2e94 01F4 brne .L492
		5457	5694 2e96 8091 0000 lds r24,Looping_Rechts
		5458	5695 2e9a 8111 cpse r24,__zero_reg__
		5459	5696 .L492:
		5460	5697 2e9c 81E0 ldi r24,lo8(1)
		5461	5698 .L491:
		5462	5699 2e9e 8093 0000 sts Looping_Roll,r24
		5463	5700 2ea2 8091 0000 lds r24,Looping_Oben
		5464	5701 2ea6 8823 tst r24
		5465	5702 2ea8 01F4 brne .L495
		5466	5703 2eaa 8091 0000 lds r24,Looping_Unten
		5467	5704 2eae 8823 tst r24
		5468	5705 2eb0 01F0 breq .L494
		5469	5706 .L495:
		5470	5707 2eb2 81E0 ldi r24,lo8(1)
		5471	5708 2eb4 8093 0000 sts Looping_Nick,r24
		5472	5709 2eb8 1092 0000 sts Looping_Roll,__zero_reg__
		5473	5710 2ebc 1092 0000 sts Looping_Links,__zero_reg__
		5474	5711 2ec0 1092 0000 sts Looping_Rechts,__zero_reg__
		5475	5712 2ec4 00C0 rjmp .L436
		5476	5713 .L494:
		5477	5714 2ec6 8093 0000 sts Looping_Nick,r24
		5478	5715 .L436:
		5479	5716 2eca 8091 0000 lds r24,Looping_Roll
		5480	5717 2ece 8823 tst r24
		5481	5718 2ed0 01F4 brne .L498
		5482	5719 2ed2 8091 0000 lds r24,Looping_Nick
		5483	5720 2ed6 8823 tst r24
		5484	5721 2ed8 01F0 breq .L497
		5485	5722 .L498:
		5486	5723 2eda 8091 0000 lds r24,EE_Parameter+59
		5487	5724 2ede 9927 clr r25
		5488	5725 2ee0 2981 ldd r18,Y+1
		5489	5726 2ee2 3A81 ldd r19,Y+2
		5490	5727 2ee4 8217 cp r24,r18
		5491	5728 2ee6 9307 cpc r25,r19
		5492	5729 2ee8 04F4 brge .L499
		5493	5730 2eea 9A83 std Y+2,r25
		5494	5731 2eec 8983 std Y+1,r24
		5495	5732 .L499:
		5496	5733 2eee 81E0 ldi r24,lo8(1)
		5497	5734 2ef0 8093 0000 sts TrichterFlug,r24
		5498	5735 .L497:
		5499	5736 2ef4 8091 0000 lds r24,FC_StatusFlags2
		5500	5737 2ef8 9927 clr r25
		5501	5738 2efa 9C01 movw r18,r24
		5502	5739 2efc 2470 andi r18,lo8(4)
		5503	5740 2efe 3070 andi r19,hi8(4)
		5504	5741 2f00 82FF sbrs r24,2
		5505	5742 2f02 00C0 rjmp .L500
		5506	5743 2f04 8091 0000 lds r24,GPS_Nick
		5507	5744 2f08 9091 0000 lds r25,(GPS_Nick)+1
		5508	5745 2f0c 9095 com r25
		5509	5746 2f0e 8195 neg r24
		5510	5747 2f10 9F4F sbci r25,lo8(-1)
		5511	5748 2f12 9093 0000 sts (StickNick)+1,r25
		5512	5749 2f16 8093 0000 sts StickNick,r24
		5513	5750 2f1a 8091 0000 lds r24,GPS_Roll
		5514	5751 2f1e 9091 0000 lds r25,(GPS_Roll)+1
		5515	5752 2f22 9095 com r25
		5516	5753 2f24 8195 neg r24
		5517	5754 2f26 9F4F sbci r25,lo8(-1)
		5518	5755 2f28 9093 0000 sts (StickRoll)+1,r25
		5519	5756 2f2c 8093 0000 sts StickRoll,r24
		5520	5757 2f30 8091 0000 lds r24,StickGasHover
		5521	5758 2f34 9091 0000 lds r25,(StickGasHover)+1
		5522	5759 2f38 9093 0000 sts (StickGas)+1,r25
		5523	5760 2f3c 8093 0000 sts StickGas,r24
		5524	5761 2f40 8091 0000 lds r24,Parameter_GlobalConfig
		5525	5762 2f44 8B77 andi r24,lo8(123)
		5526	5763 2f46 8B66 ori r24,lo8(107)
		5527	5764 2f48 8093 0000 sts Parameter_GlobalConfig,r24
		5528	5765 2f4c 8091 0000 lds r24,Parameter_ExtraConfig
		5529	5766 2f50 8C7B andi r24,lo8(-68)
		5530	5767 2f52 8093 0000 sts Parameter_ExtraConfig,r24
		5531	5768 2f56 88EC ldi r24,lo8(-56)
		5532	5769 2f58 8093 0000 sts Parameter_HoehenSchalter,r24
		5533	5770 2f5c 00C0 rjmp .L501
		5534	5771 .L500:
		5535	5772 2f5e 8091 0000 lds r24,FC_StatusFlags
		5536	5773 2f62 84FF sbrs r24,4
		5537	5774 2f64 00C0 rjmp .L501
		5538	5775 2f66 3093 0000 sts (StickGier)+1,r19
		5539	5776 2f6a 2093 0000 sts StickGier,r18
		5540	5777 2f6e 3093 0000 sts (StickNick)+1,r19
		5541	5778 2f72 2093 0000 sts StickNick,r18
		5542	5779 2f76 3093 0000 sts (StickRoll)+1,r19
		5543	5780 2f7a 2093 0000 sts StickRoll,r18
		5544	5781 2f7e 9AE5 ldi r25,lo8(90)
		5545	5782 2f80 9093 0000 sts GyroFaktor,r25
		5546	5783 2f84 88E7 ldi r24,lo8(120)
		5547	5784 2f86 8093 0000 sts IntegralFaktor,r24
		5548	5785 2f8a 9093 0000 sts GyroFaktorGier,r25
		5549	5786 2f8e 8093 0000 sts IntegralFaktorGier,r24
		5550	5787 2f92 1092 0000 sts Looping_Roll,__zero_reg__
		5551	5788 2f96 1092 0000 sts Looping_Nick,__zero_reg__
		5552	5789 .L501:
		5553	5790 2f9a 8091 0000 lds r24,MittelIntegralNick
		5554	5791 2f9e 9091 0000 lds r25,(MittelIntegralNick)+1
		5555	5792 2fa2 A091 0000 lds r26,(MittelIntegralNick)+2
		5556	5793 2fa6 B091 0000 lds r27,(MittelIntegralNick)+3
		5557	5794 2faa 2091 0000 lds r18,IntegralNick
		5558	5795 2fae 3091 0000 lds r19,(IntegralNick)+1
		5559	5796 2fb2 4091 0000 lds r20,(IntegralNick)+2
		5560	5797 2fb6 5091 0000 lds r21,(IntegralNick)+3
		5561	5798 2fba 820F add r24,r18
		5562	5799 2fbc 931F adc r25,r19
		5563	5800 2fbe A41F adc r26,r20
		5564	5801 2fc0 B51F adc r27,r21
		5565	5802 2fc2 8093 0000 sts MittelIntegralNick,r24
		5566	5803 2fc6 9093 0000 sts (MittelIntegralNick)+1,r25
		5567	5804 2fca A093 0000 sts (MittelIntegralNick)+2,r26
		5568	5805 2fce B093 0000 sts (MittelIntegralNick)+3,r27
		5569	5806 2fd2 8091 0000 lds r24,MittelIntegralRoll
		5570	5807 2fd6 9091 0000 lds r25,(MittelIntegralRoll)+1
		5571	5808 2fda A091 0000 lds r26,(MittelIntegralRoll)+2
		5572	5809 2fde B091 0000 lds r27,(MittelIntegralRoll)+3
		5573	5810 2fe2 E090 0000 lds r14,IntegralRoll
		5574	5811 2fe6 F090 0000 lds r15,(IntegralRoll)+1
		5575	5812 2fea 0091 0000 lds r16,(IntegralRoll)+2
		5576	5813 2fee 1091 0000 lds r17,(IntegralRoll)+3
		5577	5814 2ff2 EB82 std Y+3,r14
		5578	5815 2ff4 FC82 std Y+4,r15
		5579	5816 2ff6 0D83 std Y+5,r16
		5580	5817 2ff8 1E83 std Y+6,r17
		5581	5818 2ffa 8E0D add r24,r14
		5582	5819 2ffc 9F1D adc r25,r15
		5583	5820 2ffe A01F adc r26,r16
		5584	5821 3000 B11F adc r27,r17
		5585	5822 3002 8093 0000 sts MittelIntegralRoll,r24
		5586	5823 3006 9093 0000 sts (MittelIntegralRoll)+1,r25
		5587	5824 300a A093 0000 sts (MittelIntegralRoll)+2,r26
		5588	5825 300e B093 0000 sts (MittelIntegralRoll)+3,r27
		5589	5826 3012 8091 0000 lds r24,MittelIntegralNick2
		5590	5827 3016 9091 0000 lds r25,(MittelIntegralNick2)+1
		5591	5828 301a A091 0000 lds r26,(MittelIntegralNick2)+2
		5592	5829 301e B091 0000 lds r27,(MittelIntegralNick2)+3
		5593	5830 3022 E090 0000 lds r14,IntegralNick2
		5594	5831 3026 F090 0000 lds r15,(IntegralNick2)+1
		5595	5832 302a 0091 0000 lds r16,(IntegralNick2)+2
		5596	5833 302e 1091 0000 lds r17,(IntegralNick2)+3
		5597	5834 3032 EF82 std Y+7,r14
		5598	5835 3034 F886 std Y+8,r15
		5599	5836 3036 0987 std Y+9,r16
		5600	5837 3038 1A87 std Y+10,r17
		5601	5838 303a 8E0D add r24,r14
		5602	5839 303c 9F1D adc r25,r15
		5603	5840 303e A01F adc r26,r16
		5604	5841 3040 B11F adc r27,r17
		5605	5842 3042 8093 0000 sts MittelIntegralNick2,r24
		5606	5843 3046 9093 0000 sts (MittelIntegralNick2)+1,r25
		5607	5844 304a A093 0000 sts (MittelIntegralNick2)+2,r26
		5608	5845 304e B093 0000 sts (MittelIntegralNick2)+3,r27
		5609	5846 3052 8091 0000 lds r24,MittelIntegralRoll2
		5610	5847 3056 9091 0000 lds r25,(MittelIntegralRoll2)+1
		5611	5848 305a A091 0000 lds r26,(MittelIntegralRoll2)+2
		5612	5849 305e B091 0000 lds r27,(MittelIntegralRoll2)+3
		5613	5850 3062 E090 0000 lds r14,IntegralRoll2
		5614	5851 3066 F090 0000 lds r15,(IntegralRoll2)+1
		5615	5852 306a 0091 0000 lds r16,(IntegralRoll2)+2
		5616	5853 306e 1091 0000 lds r17,(IntegralRoll2)+3
		5617	5854 3072 EB86 std Y+11,r14
		5618	5855 3074 FC86 std Y+12,r15
		5619	5856 3076 0D87 std Y+13,r16
		5620	5857 3078 1E87 std Y+14,r17
		5621	5858 307a 8E0D add r24,r14
		5622	5859 307c 9F1D adc r25,r15
		5623	5860 307e A01F adc r26,r16
		5624	5861 3080 B11F adc r27,r17
		5625	5862 3082 8093 0000 sts MittelIntegralRoll2,r24
		5626	5863 3086 9093 0000 sts (MittelIntegralRoll2)+1,r25
		5627	5864 308a A093 0000 sts (MittelIntegralRoll2)+2,r26
		5628	5865 308e B093 0000 sts (MittelIntegralRoll2)+3,r27
		5629	5866 3092 F090 0000 lds r15,Looping_Nick
		5630	5867 3096 FF86 std Y+15,r15
		5631	5868 3098 FF20 tst r15
		5632	5869 309a 01F4 brne .L504
		5633	5870 309c 8091 0000 lds r24,Looping_Roll
		5634	5871 30a0 8823 tst r24
		5635	5872 30a2 01F4 brne .+2
		5636	5873 30a4 00C0 rjmp .L886
		5637	5874 .L504:
		5638	5875 30a6 1092 0000 sts IntegralAccNick,__zero_reg__
		5639	5876 30aa 1092 0000 sts (IntegralAccNick)+1,__zero_reg__
		5640	5877 30ae 1092 0000 sts (IntegralAccNick)+2,__zero_reg__
		5641	5878 30b2 1092 0000 sts (IntegralAccNick)+3,__zero_reg__
		5642	5879 30b6 1092 0000 sts IntegralAccRoll,__zero_reg__
		5643	5880 30ba 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__
		5644	5881 30be 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__
		5645	5882 30c2 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__
		5646	5883 30c6 1092 0000 sts MittelIntegralNick,__zero_reg__
		5647	5884 30ca 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__
		5648	5885 30ce 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__
		5649	5886 30d2 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__
		5650	5887 30d6 1092 0000 sts MittelIntegralRoll,__zero_reg__
		5651	5888 30da 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__
		5652	5889 30de 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__
		5653	5890 30e2 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__
		5654	5891 30e6 1092 0000 sts MittelIntegralNick2,__zero_reg__
		5655	5892 30ea 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__
		5656	5893 30ee 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__
		5657	5894 30f2 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__
		5658	5895 30f6 1092 0000 sts MittelIntegralRoll2,__zero_reg__
		5659	5896 30fa 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__
		5660	5897 30fe 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__
		5661	5898 3102 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__
		5662	5899 3106 8091 0000 lds r24,Mess_IntegralNick
		5663	5900 310a 9091 0000 lds r25,(Mess_IntegralNick)+1
		5664	5901 310e A091 0000 lds r26,(Mess_IntegralNick)+2
		5665	5902 3112 B091 0000 lds r27,(Mess_IntegralNick)+3
		5666	5903 3116 8093 0000 sts Mess_IntegralNick2,r24
		5667	5904 311a 9093 0000 sts (Mess_IntegralNick2)+1,r25
		5668	5905 311e A093 0000 sts (Mess_IntegralNick2)+2,r26
		5669	5906 3122 B093 0000 sts (Mess_IntegralNick2)+3,r27
		5670	5907 3126 8091 0000 lds r24,Mess_IntegralRoll
		5671	5908 312a 9091 0000 lds r25,(Mess_IntegralRoll)+1
		5672	5909 312e A091 0000 lds r26,(Mess_IntegralRoll)+2
		5673	5910 3132 B091 0000 lds r27,(Mess_IntegralRoll)+3
		5674	5911 3136 8093 0000 sts Mess_IntegralRoll2,r24
		5675	5912 313a 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		5676	5913 313e A093 0000 sts (Mess_IntegralRoll2)+2,r26
		5677	5914 3142 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		5678	5915 3146 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__
		5679	5916 314a 1092 0000 sts ZaehlMessungen,__zero_reg__
		5680	5917 314e 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__
		5681	5918 3152 1092 0000 sts LageKorrekturNick,__zero_reg__
		5682	5919 3156 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__
		5683	5920 315a 1092 0000 sts LageKorrekturRoll,__zero_reg__
		5684	5921 315e 0F85 ldd r16,Y+15
		5685	5922 3160 0023 tst r16
		5686	5923 3162 01F0 breq .+2
		5687	5924 3164 00C0 rjmp .L505
		5688	5925 .L886:
		5689	5926 3166 8091 0000 lds r24,Looping_Roll
		5690	5927 316a 8823 tst r24
		5691	5928 316c 01F0 breq .+2
		5692	5929 316e 00C0 rjmp .L505
		5693	5930 3170 8091 0000 lds r24,Aktuell_az
		5694	5931 3174 9091 0000 lds r25,(Aktuell_az)+1
		5695	5932 3178 8150 subi r24,lo8(513)
		5696	5933 317a 9240 sbci r25,hi8(513)
		5697	5934 317c 04F4 brge .L506
		5698	5935 317e 8091 0000 lds r24,MotorenEin
		5699	5936 3182 8823 tst r24
		5700	5937 3184 01F4 brne .+2
		5701	5938 3186 00C0 rjmp .L505
		5702	5939 .L506:
		5703	5940 3188 9090 0000 lds r9,FromNaviCtrl_Value
		5704	5941 318c A090 0000 lds r10,EE_Parameter+28
		5705	5942 3190 2090 0000 lds r2,Mittelwert_AccNick
		5706	5943 3194 3090 0000 lds r3,(Mittelwert_AccNick)+1
		5707	5944 3198 4090 0000 lds r4,Mittelwert_AccRoll
		5708	5945 319c 5090 0000 lds r5,(Mittelwert_AccRoll)+1
		5709	5946 31a0 1914 cp __zero_reg__,r9
		5710	5947 31a2 04F0 brlt .+2
		5711	5948 31a4 00C0 rjmp .L507
		5712	5949 31a6 BB24 clr r11
		5713	5950 31a8 CC24 clr r12
		5714	5951 31aa DD24 clr r13
		5715	5952 31ac CA01 movw r24,r20
		5716	5953 31ae B901 movw r22,r18
		5717	5954 31b0 A601 movw r20,r12
		5718	5955 31b2 9501 movw r18,r10
		5719	5956 31b4 0E94 0000 call __divmodsi4
		5720	5957 31b8 7901 movw r14,r18
		5721	5958 31ba 8A01 movw r16,r20
		5722	5959 31bc 8091 0000 lds r24,FromNaviCtrl+9
		5723	5960 31c0 9091 0000 lds r25,(FromNaviCtrl+9)+1
		5724	5961 31c4 281A sub r2,r24
		5725	5962 31c6 390A sbc r3,r25
		5726	5963 31c8 C101 movw r24,r2
		5727	5964 31ca AA27 clr r26
		5728	5965 31cc 97FD sbrc r25,7
		5729	5966 31ce A095 com r26
		5730	5967 31d0 BA2F mov r27,r26
		5731	5968 31d2 E81A sub r14,r24
		5732	5969 31d4 F90A sbc r15,r25
		5733	5970 31d6 0A0B sbc r16,r26
		5734	5971 31d8 1B0B sbc r17,r27
		5735	5972 31da 6B81 ldd r22,Y+3
		5736	5973 31dc 7C81 ldd r23,Y+4
		5737	5974 31de 8D81 ldd r24,Y+5
		5738	5975 31e0 9E81 ldd r25,Y+6
		5739	5976 31e2 A601 movw r20,r12
		5740	5977 31e4 9501 movw r18,r10
		5741	5978 31e6 0E94 0000 call __divmodsi4
		5742	5979 31ea 5901 movw r10,r18
		5743	5980 31ec 6A01 movw r12,r20
		5744	5981 31ee 8091 0000 lds r24,FromNaviCtrl+11
		5745	5982 31f2 9091 0000 lds r25,(FromNaviCtrl+11)+1
		5746	5983 31f6 481A sub r4,r24
		5747	5984 31f8 590A sbc r5,r25
		5748	5985 31fa C201 movw r24,r4
		5749	5986 31fc AA27 clr r26
		5750	5987 31fe 97FD sbrc r25,7
		5751	5988 3200 A095 com r26
		5752	5989 3202 BA2F mov r27,r26
		5753	5990 3204 A81A sub r10,r24
		5754	5991 3206 B90A sbc r11,r25
		5755	5992 3208 CA0A sbc r12,r26
		5756	5993 320a DB0A sbc r13,r27
		5757	5994 320c 292C mov r2,r9
		5758	5995 320e 3324 clr r3
		5759	5996 3210 27FC sbrc r2,7
		5760	5997 3212 3094 com r3
		5761	5998 3214 432C mov r4,r3
		5762	5999 3216 532C mov r5,r3
		5763	6000 3218 C801 movw r24,r16
		5764	6001 321a B701 movw r22,r14
		5765	6002 321c A201 movw r20,r4
		5766	6003 321e 9101 movw r18,r2
		5767	6004 3220 0E94 0000 call __mulsi3
		5768	6005 3224 97FF sbrs r25,7
		5769	6006 3226 00C0 rjmp .L508
		5770	6007 3228 6150 subi r22,lo8(-(511))
		5771	6008 322a 7E4F sbci r23,hi8(-(511))
		5772	6009 322c 8F4F sbci r24,hlo8(-(511))
		5773	6010 322e 9F4F sbci r25,hhi8(-(511))
		5774	6011 .L508:
		5775	6012 3230 3B01 movw r6,r22
		5776	6013 3232 4C01 movw r8,r24
		5777	6014 3234 09E0 ldi r16,9
		5778	6015 3236 9594 1: asr r9
		5779	6016 3238 8794 ror r8
		5780	6017 323a 7794 ror r7
		5781	6018 323c 6794 ror r6
		5782	6019 323e 0A95 dec r16
		5783	6020 3240 01F4 brne 1b
		5784	6021 3242 C601 movw r24,r12
		5785	6022 3244 B501 movw r22,r10
		5786	6023 3246 A201 movw r20,r4
		5787	6024 3248 9101 movw r18,r2
		5788	6025 324a 0E94 0000 call __mulsi3
		5789	6026 324e 97FF sbrs r25,7
		5790	6027 3250 00C0 rjmp .L509
		5791	6028 3252 6150 subi r22,lo8(-(511))
		5792	6029 3254 7E4F sbci r23,hi8(-(511))
		5793	6030 3256 8F4F sbci r24,hlo8(-(511))
		5794	6031 3258 9F4F sbci r25,hhi8(-(511))
		5795	6032 .L509:
		5796	6033 325a 5B01 movw r10,r22
		5797	6034 325c 6C01 movw r12,r24
		5798	6035 325e 19E0 ldi r17,9
		5799	6036 3260 D594 1: asr r13
		5800	6037 3262 C794 ror r12
		5801	6038 3264 B794 ror r11
		5802	6039 3266 A794 ror r10
		5803	6040 3268 1A95 dec r17
		5804	6041 326a 01F4 brne 1b
		5805	6042 326c 8091 0000 lds r24,MaxStickNick
		5806	6043 3270 9091 0000 lds r25,(MaxStickNick)+1
		5807	6044 3274 8134 cpi r24,65
		5808	6045 3276 9105 cpc r25,__zero_reg__
		5809	6046 3278 04F4 brge .L511
		5810	6047 327a 8091 0000 lds r24,MaxStickRoll
		5811	6048 327e 9091 0000 lds r25,(MaxStickRoll)+1
		5812	6049 3282 8134 cpi r24,65
		5813	6050 3284 9105 cpc r25,__zero_reg__
		5814	6051 3286 04F0 brlt .L510
		5815	6052 .L511:
		5816	6053 3288 D401 movw r26,r8
		5817	6054 328a C301 movw r24,r6
		5818	6055 328c 97FE sbrs r9,7
		5819	6056 328e 00C0 rjmp .L512
		5820	6057 3290 0196 adiw r24,1
		5821	6058 3292 A11D adc r26,__zero_reg__
		5822	6059 3294 B11D adc r27,__zero_reg__
		5823	6060 .L512:
		5824	6061 3296 3C01 movw r6,r24
		5825	6062 3298 4D01 movw r8,r26
		5826	6063 329a 9594 asr r9
		5827	6064 329c 8794 ror r8
		5828	6065 329e 7794 ror r7
		5829	6066 32a0 6794 ror r6
		5830	6067 32a2 D601 movw r26,r12
		5831	6068 32a4 C501 movw r24,r10
		5832	6069 32a6 D7FE sbrs r13,7
		5833	6070 32a8 00C0 rjmp .L513
		5834	6071 32aa 0196 adiw r24,1
		5835	6072 32ac A11D adc r26,__zero_reg__
		5836	6073 32ae B11D adc r27,__zero_reg__
		5837	6074 .L513:
		5838	6075 32b0 5C01 movw r10,r24
		5839	6076 32b2 6D01 movw r12,r26
		5840	6077 32b4 D594 asr r13
		5841	6078 32b6 C794 ror r12
		5842	6079 32b8 B794 ror r11
		5843	6080 32ba A794 ror r10
		5844	6081 .L510:
		5845	6082 32bc 8091 0000 lds r24,FromNaviCtrl_Value+2
		5846	6083 32c0 282F mov r18,r24
		5847	6084 32c2 3327 clr r19
		5848	6085 32c4 27FD sbrc r18,7
		5849	6086 32c6 3095 com r19
		5850	6087 32c8 432F mov r20,r19
		5851	6088 32ca 532F mov r21,r19
		5852	6089 32cc 2615 cp r18,r6
		5853	6090 32ce 3705 cpc r19,r7
		5854	6091 32d0 4805 cpc r20,r8
		5855	6092 32d2 5905 cpc r21,r9
		5856	6093 32d4 04F4 brge .L514
		5857	6094 32d6 3901 movw r6,r18
		5858	6095 32d8 4A01 movw r8,r20
		5859	6096 .L514:
		5860	6097 32da 9927 clr r25
		5861	6098 32dc 87FD sbrc r24,7
		5862	6099 32de 9095 com r25
		5863	6100 32e0 9095 com r25
		5864	6101 32e2 8195 neg r24
		5865	6102 32e4 9F4F sbci r25,lo8(-1)
		5866	6103 32e6 AA27 clr r26
		5867	6104 32e8 97FD sbrc r25,7
		5868	6105 32ea A095 com r26
		5869	6106 32ec BA2F mov r27,r26
		5870	6107 32ee 6816 cp r6,r24
		5871	6108 32f0 7906 cpc r7,r25
		5872	6109 32f2 8A06 cpc r8,r26
		5873	6110 32f4 9B06 cpc r9,r27
		5874	6111 32f6 04F4 brge .L515
		5875	6112 32f8 3C01 movw r6,r24
		5876	6113 32fa 4D01 movw r8,r26
		5877	6114 .L515:
		5878	6115 32fc 2A15 cp r18,r10
		5879	6116 32fe 3B05 cpc r19,r11
		5880	6117 3300 4C05 cpc r20,r12
		5881	6118 3302 5D05 cpc r21,r13
		5882	6119 3304 04F4 brge .L516
		5883	6120 3306 5901 movw r10,r18
		5884	6121 3308 6A01 movw r12,r20
		5885	6122 .L516:
		5886	6123 330a A816 cp r10,r24
		5887	6124 330c B906 cpc r11,r25
		5888	6125 330e CA06 cpc r12,r26
		5889	6126 3310 DB06 cpc r13,r27
		5890	6127 3312 04F0 brlt .+2
		5891	6128 3314 00C0 rjmp .L518
		5892	6129 3316 5C01 movw r10,r24
		5893	6130 3318 6D01 movw r12,r26
		5894	6131 331a 00C0 rjmp .L518
		5895	6132 .L507:
		5896	6133 331c EA2C mov r14,r10
		5897	6134 331e FF24 clr r15
		5898	6135 3320 0027 clr r16
		5899	6136 3322 1127 clr r17
		5900	6137 3324 CA01 movw r24,r20
		5901	6138 3326 B901 movw r22,r18
		5902	6139 3328 A801 movw r20,r16
		5903	6140 332a 9701 movw r18,r14
		5904	6141 332c 0E94 0000 call __divmodsi4
		5905	6142 3330 3901 movw r6,r18
		5906	6143 3332 4A01 movw r8,r20
		5907	6144 3334 C101 movw r24,r2
		5908	6145 3336 AA27 clr r26
		5909	6146 3338 97FD sbrc r25,7
		5910	6147 333a A095 com r26
		5911	6148 333c BA2F mov r27,r26
		5912	6149 333e 681A sub r6,r24
		5913	6150 3340 790A sbc r7,r25
		5914	6151 3342 8A0A sbc r8,r26
		5915	6152 3344 9B0A sbc r9,r27
		5916	6153 3346 6B81 ldd r22,Y+3
		5917	6154 3348 7C81 ldd r23,Y+4
		5918	6155 334a 8D81 ldd r24,Y+5
		5919	6156 334c 9E81 ldd r25,Y+6
		5920	6157 334e A801 movw r20,r16
		5921	6158 3350 9701 movw r18,r14
		5922	6159 3352 0E94 0000 call __divmodsi4
		5923	6160 3356 5901 movw r10,r18
		5924	6161 3358 6A01 movw r12,r20
		5925	6162 335a C201 movw r24,r4
		5926	6163 335c AA27 clr r26
		5927	6164 335e 97FD sbrc r25,7
		5928	6165 3360 A095 com r26
		5929	6166 3362 BA2F mov r27,r26
		5930	6167 3364 A81A sub r10,r24
		5931	6168 3366 B90A sbc r11,r25
		5932	6169 3368 CA0A sbc r12,r26
		5933	6170 336a DB0A sbc r13,r27
		5934	6171 336c D401 movw r26,r8
		5935	6172 336e C301 movw r24,r6
		5936	6173 3370 97FE sbrs r9,7
		5937	6174 3372 00C0 rjmp .L519
		5938	6175 3374 0F96 adiw r24,15
		5939	6176 3376 A11D adc r26,__zero_reg__
		5940	6177 3378 B11D adc r27,__zero_reg__
		5941	6178 .L519:
		5942	6179 337a 3C01 movw r6,r24
		5943	6180 337c 4D01 movw r8,r26
		5944	6181 337e F4E0 ldi r31,4
		5945	6182 3380 9594 1: asr r9
		5946	6183 3382 8794 ror r8
		5947	6184 3384 7794 ror r7
		5948	6185 3386 6794 ror r6
		5949	6186 3388 FA95 dec r31
		5950	6187 338a 01F4 brne 1b
		5951	6188 338c D601 movw r26,r12
		5952	6189 338e C501 movw r24,r10
		5953	6190 3390 D7FE sbrs r13,7
		5954	6191 3392 00C0 rjmp .L520
		5955	6192 3394 0F96 adiw r24,15
		5956	6193 3396 A11D adc r26,__zero_reg__
		5957	6194 3398 B11D adc r27,__zero_reg__
		5958	6195 .L520:
		5959	6196 339a 5C01 movw r10,r24
		5960	6197 339c 6D01 movw r12,r26
		5961	6198 339e E4E0 ldi r30,4
		5962	6199 33a0 D594 1: asr r13
		5963	6200 33a2 C794 ror r12
		5964	6201 33a4 B794 ror r11
		5965	6202 33a6 A794 ror r10
		5966	6203 33a8 EA95 dec r30
		5967	6204 33aa 01F4 brne 1b
		5968	6205 33ac 8091 0000 lds r24,MaxStickNick
		5969	6206 33b0 9091 0000 lds r25,(MaxStickNick)+1
		5970	6207 33b4 8134 cpi r24,65
		5971	6208 33b6 9105 cpc r25,__zero_reg__
		5972	6209 33b8 04F4 brge .L522
		5973	6210 33ba 8091 0000 lds r24,MaxStickRoll
		5974	6211 33be 9091 0000 lds r25,(MaxStickRoll)+1
		5975	6212 33c2 8134 cpi r24,65
		5976	6213 33c4 9105 cpc r25,__zero_reg__
		5977	6214 33c6 04F0 brlt .L521
		5978	6215 .L522:
		5979	6216 33c8 C401 movw r24,r8
		5980	6217 33ca B301 movw r22,r6
		5981	6218 33cc 23E0 ldi r18,lo8(3)
		5982	6219 33ce 30E0 ldi r19,hi8(3)
		5983	6220 33d0 40E0 ldi r20,hlo8(3)
		5984	6221 33d2 50E0 ldi r21,hhi8(3)
		5985	6222 33d4 0E94 0000 call __divmodsi4
		5986	6223 33d8 3901 movw r6,r18
		5987	6224 33da 4A01 movw r8,r20
		5988	6225 33dc C601 movw r24,r12
		5989	6226 33de B501 movw r22,r10
		5990	6227 33e0 23E0 ldi r18,lo8(3)
		5991	6228 33e2 30E0 ldi r19,hi8(3)
		5992	6229 33e4 40E0 ldi r20,hlo8(3)
		5993	6230 33e6 50E0 ldi r21,hhi8(3)
		5994	6231 33e8 0E94 0000 call __divmodsi4
		5995	6232 33ec 5901 movw r10,r18
		5996	6233 33ee 6A01 movw r12,r20
		5997	6234 .L521:
		5998	6235 33f0 8091 0000 lds r24,EE_Parameter+4
		5999	6236 33f4 E82F mov r30,r24
		6000	6237 33f6 FF27 clr r31
		6001	6238 33f8 EE0F add r30,r30
		6002	6239 33fa FF1F adc r31,r31
		6003	6240 33fc E050 subi r30,lo8(-(PPM_in))
		6004	6241 33fe F040 sbci r31,hi8(-(PPM_in))
		6005	6242 3400 8081 ld r24,Z
		6006	6243 3402 9181 ldd r25,Z+1
		6007	6244 3404 0190 ld __tmp_reg__,Z+
		6008	6245 3406 F081 ld r31,Z
		6009	6246 3408 E02D mov r30,__tmp_reg__
		6010	6247 340a F7FF sbrs r31,7
		6011	6248 340c 00C0 rjmp .L524
		6012	6249 340e F095 com r31
		6013	6250 3410 E195 neg r30
		6014	6251 3412 FF4F sbci r31,lo8(-1)
		6015	6252 .L524:
		6016	6253 3414 7A97 sbiw r30,26
		6017	6254 3416 04F0 brlt .L523
		6018	6255 3418 C401 movw r24,r8
		6019	6256 341a B301 movw r22,r6
		6020	6257 341c 23E0 ldi r18,lo8(3)
		6021	6258 341e 30E0 ldi r19,hi8(3)
		6022	6259 3420 40E0 ldi r20,hlo8(3)
		6023	6260 3422 50E0 ldi r21,hhi8(3)
		6024	6261 3424 0E94 0000 call __divmodsi4
		6025	6262 3428 3901 movw r6,r18
		6026	6263 342a 4A01 movw r8,r20
		6027	6264 342c C601 movw r24,r12
		6028	6265 342e B501 movw r22,r10
		6029	6266 3430 23E0 ldi r18,lo8(3)
		6030	6267 3432 30E0 ldi r19,hi8(3)
		6031	6268 3434 40E0 ldi r20,hlo8(3)
		6032	6269 3436 50E0 ldi r21,hhi8(3)
		6033	6270 3438 0E94 0000 call __divmodsi4
		6034	6271 343c 5901 movw r10,r18
		6035	6272 343e 6A01 movw r12,r20
		6036	6273 .L523:
		6037	6274 3440 89E1 ldi r24,lo8(25)
		6038	6275 3442 8093 0000 sts KompassFusion,r24
		6039	6276 3446 21E2 ldi r18,lo8(33)
		6040	6277 3448 6216 cp r6,r18
		6041	6278 344a 7104 cpc r7,__zero_reg__
		6042	6279 344c 8104 cpc r8,__zero_reg__
		6043	6280 344e 9104 cpc r9,__zero_reg__
		6044	6281 3450 04F0 brlt .L525
		6045	6282 3452 70E2 ldi r23,lo8(32)
		6046	6283 3454 672E mov r6,r23
		6047	6284 3456 712C mov r7,__zero_reg__
		6048	6285 3458 812C mov r8,__zero_reg__
		6049	6286 345a 912C mov r9,__zero_reg__
		6050	6287 .L525:
		6051	6288 345c 30EE ldi r19,lo8(-32)
		6052	6289 345e 6316 cp r6,r19
		6053	6290 3460 3FEF ldi r19,hi8(-32)
		6054	6291 3462 7306 cpc r7,r19
		6055	6292 3464 3FEF ldi r19,hlo8(-32)
		6056	6293 3466 8306 cpc r8,r19
		6057	6294 3468 3FEF ldi r19,hhi8(-32)
		6058	6295 346a 9306 cpc r9,r19
		6059	6296 346c 04F4 brge .L526
		6060	6297 346e 60EE ldi r22,lo8(-32)
		6061	6298 3470 662E mov r6,r22
		6062	6299 3472 6FEF ldi r22,hi8(-32)
		6063	6300 3474 762E mov r7,r22
		6064	6301 3476 6FEF ldi r22,hlo8(-32)
		6065	6302 3478 862E mov r8,r22
		6066	6303 347a 6FEF ldi r22,hhi8(-32)
		6067	6304 347c 962E mov r9,r22
		6068	6305 .L526:
		6069	6306 347e 41E2 ldi r20,lo8(33)
		6070	6307 3480 A416 cp r10,r20
		6071	6308 3482 B104 cpc r11,__zero_reg__
		6072	6309 3484 C104 cpc r12,__zero_reg__
		6073	6310 3486 D104 cpc r13,__zero_reg__
		6074	6311 3488 04F0 brlt .L527
		6075	6312 348a 50E2 ldi r21,lo8(32)
		6076	6313 348c A52E mov r10,r21
		6077	6314 348e B12C mov r11,__zero_reg__
		6078	6315 3490 C12C mov r12,__zero_reg__
		6079	6316 3492 D12C mov r13,__zero_reg__
		6080	6317 .L527:
		6081	6318 3494 50EE ldi r21,lo8(-32)
		6082	6319 3496 A516 cp r10,r21
		6083	6320 3498 5FEF ldi r21,hi8(-32)
		6084	6321 349a B506 cpc r11,r21
		6085	6322 349c 5FEF ldi r21,hlo8(-32)
		6086	6323 349e C506 cpc r12,r21
		6087	6324 34a0 5FEF ldi r21,hhi8(-32)
		6088	6325 34a2 D506 cpc r13,r21
		6089	6326 34a4 04F4 brge .L518
		6090	6327 34a6 40EE ldi r20,lo8(-32)
		6091	6328 34a8 A42E mov r10,r20
		6092	6329 34aa 4FEF ldi r20,hi8(-32)
		6093	6330 34ac B42E mov r11,r20
		6094	6331 34ae 4FEF ldi r20,hlo8(-32)
		6095	6332 34b0 C42E mov r12,r20
		6096	6333 34b2 4FEF ldi r20,hhi8(-32)
		6097	6334 34b4 D42E mov r13,r20
		6098	6335 .L518:
		6099	6336 34b6 8091 0000 lds r24,Mess_IntegralNick
		6100	6337 34ba 9091 0000 lds r25,(Mess_IntegralNick)+1
		6101	6338 34be A091 0000 lds r26,(Mess_IntegralNick)+2
		6102	6339 34c2 B091 0000 lds r27,(Mess_IntegralNick)+3
		6103	6340 34c6 8619 sub r24,r6
		6104	6341 34c8 9709 sbc r25,r7
		6105	6342 34ca A809 sbc r26,r8
		6106	6343 34cc B909 sbc r27,r9
		6107	6344 34ce 8093 0000 sts Mess_IntegralNick,r24
		6108	6345 34d2 9093 0000 sts (Mess_IntegralNick)+1,r25
		6109	6346 34d6 A093 0000 sts (Mess_IntegralNick)+2,r26
		6110	6347 34da B093 0000 sts (Mess_IntegralNick)+3,r27
		6111	6348 34de 8091 0000 lds r24,Mess_IntegralRoll
		6112	6349 34e2 9091 0000 lds r25,(Mess_IntegralRoll)+1
		6113	6350 34e6 A091 0000 lds r26,(Mess_IntegralRoll)+2
		6114	6351 34ea B091 0000 lds r27,(Mess_IntegralRoll)+3
		6115	6352 34ee 8A19 sub r24,r10
		6116	6353 34f0 9B09 sbc r25,r11
		6117	6354 34f2 AC09 sbc r26,r12
		6118	6355 34f4 BD09 sbc r27,r13
		6119	6356 34f6 8093 0000 sts Mess_IntegralRoll,r24
		6120	6357 34fa 9093 0000 sts (Mess_IntegralRoll)+1,r25
		6121	6358 34fe A093 0000 sts (Mess_IntegralRoll)+2,r26
		6122	6359 3502 B093 0000 sts (Mess_IntegralRoll)+3,r27
		6123	6360 .L505:
		6124	6361 3506 8091 0000 lds r24,ZaehlMessungen
		6125	6362 350a 9091 0000 lds r25,(ZaehlMessungen)+1
		6126	6363 350e 8F3F cpi r24,255
		6127	6364 3510 9105 cpc r25,__zero_reg__
		6128	6365 3512 01F0 breq .+2
		6129	6366 3514 00F4 brsh .+2
		6130	6367 3516 00C0 rjmp .L529
		6131	6368 3518 6F85 ldd r22,Y+15
		6132	6369 351a 6623 tst r22
		6133	6370 351c 01F0 breq .+2
		6134	6371 351e 00C0 rjmp .L530
		6135	6372 3520 8091 0000 lds r24,Looping_Roll
		6136	6373 3524 8823 tst r24
		6137	6374 3526 01F0 breq .+2
		6138	6375 3528 00C0 rjmp .L530
		6139	6376 352a 8091 0000 lds r24,TrichterFlug
		6140	6377 352e 8823 tst r24
		6141	6378 3530 01F0 breq .+2
		6142	6379 3532 00C0 rjmp .L530
		6143	6380 3534 7091 0000 lds r23,EE_Parameter+68
		6144	6381 3538 788B std Y+16,r23
		6145	6382 353a 7723 tst r23
		6146	6383 353c 01F4 brne .+2
		6147	6384 353e 00C0 rjmp .L530
		6148	6385 3540 8091 0000 lds r24,MittelIntegralNick
		6149	6386 3544 9091 0000 lds r25,(MittelIntegralNick)+1
		6150	6387 3548 A091 0000 lds r26,(MittelIntegralNick)+2
		6151	6388 354c B091 0000 lds r27,(MittelIntegralNick)+3
		6152	6389 3550 B7FF sbrs r27,7
		6153	6390 3552 00C0 rjmp .L531
		6154	6391 3554 8150 subi r24,lo8(-(255))
		6155	6392 3556 9F4F sbci r25,hi8(-(255))
		6156	6393 3558 AF4F sbci r26,hlo8(-(255))
		6157	6394 355a BF4F sbci r27,hhi8(-(255))
		6158	6395 .L531:
		6159	6396 355c E92E mov r14,r25
		6160	6397 355e FA2E mov r15,r26
		6161	6398 3560 0B2F mov r16,r27
		6162	6399 3562 1127 clr r17
		6163	6400 3564 07FD sbrc r16,7
		6164	6401 3566 1A95 dec r17
		6165	6402 3568 E092 0000 sts MittelIntegralNick,r14
		6166	6403 356c F092 0000 sts (MittelIntegralNick)+1,r15
		6167	6404 3570 0093 0000 sts (MittelIntegralNick)+2,r16
		6168	6405 3574 1093 0000 sts (MittelIntegralNick)+3,r17
		6169	6406 3578 8091 0000 lds r24,MittelIntegralRoll
		6170	6407 357c 9091 0000 lds r25,(MittelIntegralRoll)+1
		6171	6408 3580 A091 0000 lds r26,(MittelIntegralRoll)+2
		6172	6409 3584 B091 0000 lds r27,(MittelIntegralRoll)+3
		6173	6410 3588 B7FF sbrs r27,7
		6174	6411 358a 00C0 rjmp .L532
		6175	6412 358c 8150 subi r24,lo8(-(255))
		6176	6413 358e 9F4F sbci r25,hi8(-(255))
		6177	6414 3590 AF4F sbci r26,hlo8(-(255))
		6178	6415 3592 BF4F sbci r27,hhi8(-(255))
		6179	6416 .L532:
		6180	6417 3594 892F mov r24,r25
		6181	6418 3596 9A2F mov r25,r26
		6182	6419 3598 AB2F mov r26,r27
		6183	6420 359a BB27 clr r27
		6184	6421 359c A7FD sbrc r26,7
		6185	6422 359e BA95 dec r27
		6186	6423 35a0 898B std Y+17,r24
		6187	6424 35a2 9A8B std Y+18,r25
		6188	6425 35a4 AB8B std Y+19,r26
		6189	6426 35a6 BC8B std Y+20,r27
		6190	6427 35a8 8093 0000 sts MittelIntegralRoll,r24
		6191	6428 35ac 9093 0000 sts (MittelIntegralRoll)+1,r25
		6192	6429 35b0 A093 0000 sts (MittelIntegralRoll)+2,r26
		6193	6430 35b4 B093 0000 sts (MittelIntegralRoll)+3,r27
		6194	6431 35b8 8091 0000 lds r24,EE_Parameter+28
		6195	6432 35bc A82E mov r10,r24
		6196	6433 35be BB24 clr r11
		6197	6434 35c0 CC24 clr r12
		6198	6435 35c2 DD24 clr r13
		6199	6436 35c4 2091 0000 lds r18,IntegralAccNick
		6200	6437 35c8 3091 0000 lds r19,(IntegralAccNick)+1
		6201	6438 35cc 4091 0000 lds r20,(IntegralAccNick)+2
		6202	6439 35d0 5091 0000 lds r21,(IntegralAccNick)+3
		6203	6440 35d4 C601 movw r24,r12
		6204	6441 35d6 B501 movw r22,r10
		6205	6442 35d8 0E94 0000 call __mulsi3
		6206	6443 35dc 97FF sbrs r25,7
		6207	6444 35de 00C0 rjmp .L533
		6208	6445 35e0 6150 subi r22,lo8(-(255))
		6209	6446 35e2 7F4F sbci r23,hi8(-(255))
		6210	6447 35e4 8F4F sbci r24,hlo8(-(255))
		6211	6448 35e6 9F4F sbci r25,hhi8(-(255))
		6212	6449 .L533:
		6213	6450 35e8 672E mov r6,r23
		6214	6451 35ea 782E mov r7,r24
		6215	6452 35ec 892E mov r8,r25
		6216	6453 35ee 9924 clr r9
		6217	6454 35f0 87FC sbrc r8,7
		6218	6455 35f2 9A94 dec r9
		6219	6456 35f4 6092 0000 sts IntegralAccNick,r6
		6220	6457 35f8 7092 0000 sts (IntegralAccNick)+1,r7
		6221	6458 35fc 8092 0000 sts (IntegralAccNick)+2,r8
		6222	6459 3600 9092 0000 sts (IntegralAccNick)+3,r9
		6223	6460 3604 2091 0000 lds r18,IntegralAccRoll
		6224	6461 3608 3091 0000 lds r19,(IntegralAccRoll)+1
		6225	6462 360c 4091 0000 lds r20,(IntegralAccRoll)+2
		6226	6463 3610 5091 0000 lds r21,(IntegralAccRoll)+3
		6227	6464 3614 C601 movw r24,r12
		6228	6465 3616 B501 movw r22,r10
		6229	6466 3618 0E94 0000 call __mulsi3
		6230	6467 361c 97FF sbrs r25,7
		6231	6468 361e 00C0 rjmp .L534
		6232	6469 3620 6150 subi r22,lo8(-(255))
		6233	6470 3622 7F4F sbci r23,hi8(-(255))
		6234	6471 3624 8F4F sbci r24,hlo8(-(255))
		6235	6472 3626 9F4F sbci r25,hhi8(-(255))
		6236	6473 .L534:
		6237	6474 3628 272E mov r2,r23
		6238	6475 362a 382E mov r3,r24
		6239	6476 362c 492E mov r4,r25
		6240	6477 362e 5524 clr r5
		6241	6478 3630 47FC sbrc r4,7
		6242	6479 3632 5A94 dec r5
		6243	6480 3634 2092 0000 sts IntegralAccRoll,r2
		6244	6481 3638 3092 0000 sts (IntegralAccRoll)+1,r3
		6245	6482 363c 4092 0000 sts (IntegralAccRoll)+2,r4
		6246	6483 3640 5092 0000 sts (IntegralAccRoll)+3,r5
		6247	6484 3644 8091 0000 lds r24,IntegralAccZ
		6248	6485 3648 9091 0000 lds r25,(IntegralAccZ)+1
		6249	6486 364c A091 0000 lds r26,(IntegralAccZ)+2
		6250	6487 3650 B091 0000 lds r27,(IntegralAccZ)+3
		6251	6488 3654 B7FF sbrs r27,7
		6252	6489 3656 00C0 rjmp .L535
		6253	6490 3658 8150 subi r24,lo8(-(255))
		6254	6491 365a 9F4F sbci r25,hi8(-(255))
		6255	6492 365c AF4F sbci r26,hlo8(-(255))
		6256	6493 365e BF4F sbci r27,hhi8(-(255))
		6257	6494 .L535:
		6258	6495 3660 892F mov r24,r25
		6259	6496 3662 9A2F mov r25,r26
		6260	6497 3664 AB2F mov r26,r27
		6261	6498 3666 BB27 clr r27
		6262	6499 3668 A7FD sbrc r26,7
		6263	6500 366a BA95 dec r27
		6264	6501 366c 8093 0000 sts IntegralAccZ,r24
		6265	6502 3670 9093 0000 sts (IntegralAccZ)+1,r25
		6266	6503 3674 A093 0000 sts (IntegralAccZ)+2,r26
		6267	6504 3678 B093 0000 sts (IntegralAccZ)+3,r27
		6268	6505 367c D801 movw r26,r16
		6269	6506 367e C701 movw r24,r14
		6270	6507 3680 8619 sub r24,r6
		6271	6508 3682 9709 sbc r25,r7
		6272	6509 3684 A809 sbc r26,r8
		6273	6510 3686 B909 sbc r27,r9
		6274	6511 3688 8093 0000 sts IntegralFehlerNick.3,r24
		6275	6512 368c 9093 0000 sts (IntegralFehlerNick.3)+1,r25
		6276	6513 3690 A093 0000 sts (IntegralFehlerNick.3)+2,r26
		6277	6514 3694 B093 0000 sts (IntegralFehlerNick.3)+3,r27
		6278	6515 3698 2091 0000 lds r18,EE_Parameter+67
		6279	6516 369c E22E mov r14,r18
		6280	6517 369e FF24 clr r15
		6281	6518 36a0 0027 clr r16
		6282	6519 36a2 1127 clr r17
		6283	6520 36a4 BC01 movw r22,r24
		6284	6521 36a6 CD01 movw r24,r26
		6285	6522 36a8 A801 movw r20,r16
		6286	6523 36aa 9701 movw r18,r14
		6287	6524 36ac 0E94 0000 call __divmodsi4
		6288	6525 36b0 5901 movw r10,r18
		6289	6526 36b2 6A01 movw r12,r20
		6290	6527 36b4 2093 0000 sts ausgleichNick.10,r18
		6291	6528 36b8 3093 0000 sts (ausgleichNick.10)+1,r19
		6292	6529 36bc 4093 0000 sts (ausgleichNick.10)+2,r20
		6293	6530 36c0 5093 0000 sts (ausgleichNick.10)+3,r21
		6294	6531 36c4 8989 ldd r24,Y+17
		6295	6532 36c6 9A89 ldd r25,Y+18
		6296	6533 36c8 AB89 ldd r26,Y+19
		6297	6534 36ca BC89 ldd r27,Y+20
		6298	6535 36cc 8219 sub r24,r2
		6299	6536 36ce 9309 sbc r25,r3
		6300	6537 36d0 A409 sbc r26,r4
		6301	6538 36d2 B509 sbc r27,r5
		6302	6539 36d4 8093 0000 sts IntegralFehlerRoll.4,r24
		6303	6540 36d8 9093 0000 sts (IntegralFehlerRoll.4)+1,r25
		6304	6541 36dc A093 0000 sts (IntegralFehlerRoll.4)+2,r26
		6305	6542 36e0 B093 0000 sts (IntegralFehlerRoll.4)+3,r27
		6306	6543 36e4 BC01 movw r22,r24
		6307	6544 36e6 CD01 movw r24,r26
		6308	6545 36e8 A801 movw r20,r16
		6309	6546 36ea 9701 movw r18,r14
		6310	6547 36ec 0E94 0000 call __divmodsi4
		6311	6548 36f0 2093 0000 sts ausgleichRoll.11,r18
		6312	6549 36f4 3093 0000 sts (ausgleichRoll.11)+1,r19
		6313	6550 36f8 4093 0000 sts (ausgleichRoll.11)+2,r20
		6314	6551 36fc 5093 0000 sts (ausgleichRoll.11)+3,r21
		6315	6552 3700 D601 movw r26,r12
		6316	6553 3702 C501 movw r24,r10
		6317	6554 3704 D7FE sbrs r13,7
		6318	6555 3706 00C0 rjmp .L536
		6319	6556 3708 8150 subi r24,lo8(-(255))
		6320	6557 370a 9F4F sbci r25,hi8(-(255))
		6321	6558 370c AF4F sbci r26,hlo8(-(255))
		6322	6559 370e BF4F sbci r27,hhi8(-(255))
		6323	6560 .L536:
		6324	6561 3710 892F mov r24,r25
		6325	6562 3712 9A2F mov r25,r26
		6326	6563 3714 AB2F mov r26,r27
		6327	6564 3716 BB27 clr r27
		6328	6565 3718 A7FD sbrc r26,7
		6329	6566 371a BA95 dec r27
		6330	6567 371c 9093 0000 sts (LageKorrekturNick)+1,r25
		6331	6568 3720 8093 0000 sts LageKorrekturNick,r24
		6332	6569 3724 57FF sbrs r21,7
		6333	6570 3726 00C0 rjmp .L537
		6334	6571 3728 2150 subi r18,lo8(-(255))
		6335	6572 372a 3F4F sbci r19,hi8(-(255))
		6336	6573 372c 4F4F sbci r20,hlo8(-(255))
		6337	6574 372e 5F4F sbci r21,hhi8(-(255))
		6338	6575 .L537:
		6339	6576 3730 BB27 clr r27
		6340	6577 3732 57FD sbrc r21,7
		6341	6578 3734 BA95 dec r27
		6342	6579 3736 A52F mov r26,r21
		6343	6580 3738 942F mov r25,r20
		6344	6581 373a 832F mov r24,r19
		6345	6582 373c 9093 0000 sts (LageKorrekturRoll)+1,r25
		6346	6583 3740 8093 0000 sts LageKorrekturRoll,r24
		6347	6584 3744 8091 0000 lds r24,MaxStickNick
		6348	6585 3748 9091 0000 lds r25,(MaxStickNick)+1
		6349	6586 374c 8134 cpi r24,65
		6350	6587 374e 9105 cpc r25,__zero_reg__
		6351	6588 3750 04F4 brge .L539
		6352	6589 3752 8091 0000 lds r24,MaxStickRoll
		6353	6590 3756 9091 0000 lds r25,(MaxStickRoll)+1
		6354	6591 375a 8134 cpi r24,65
		6355	6592 375c 9105 cpc r25,__zero_reg__
		6356	6593 375e 04F4 brge .L539
		6357	6594 3760 8091 0000 lds r24,EE_Parameter+4
		6358	6595 3764 E82F mov r30,r24
		6359	6596 3766 FF27 clr r31
		6360	6597 3768 EE0F add r30,r30
		6361	6598 376a FF1F adc r31,r31
		6362	6599 376c E050 subi r30,lo8(-(PPM_in))
		6363	6600 376e F040 sbci r31,hi8(-(PPM_in))
		6364	6601 3770 8081 ld r24,Z
		6365	6602 3772 9181 ldd r25,Z+1
		6366	6603 3774 0190 ld __tmp_reg__,Z+
		6367	6604 3776 F081 ld r31,Z
		6368	6605 3778 E02D mov r30,__tmp_reg__
		6369	6606 377a F7FF sbrs r31,7
		6370	6607 377c 00C0 rjmp .L540
		6371	6608 377e F095 com r31
		6372	6609 3780 E195 neg r30
		6373	6610 3782 FF4F sbci r31,lo8(-1)
		6374	6611 .L540:
		6375	6612 3784 7A97 sbiw r30,26
		6376	6613 3786 04F0 brlt .L538
		6377	6614 .L539:
		6378	6615 3788 8091 0000 lds r24,FromNaviCtrl_Value
		6379	6616 378c 8F3F cpi r24,lo8(-1)
		6380	6617 378e 01F4 brne .L538
		6381	6618 3790 8091 0000 lds r24,LageKorrekturNick
		6382	6619 3794 9091 0000 lds r25,(LageKorrekturNick)+1
		6383	6620 3798 97FD sbrc r25,7
		6384	6621 379a 0196 adiw r24,1
		6385	6622 .L541:
		6386	6623 379c 9595 asr r25
		6387	6624 379e 8795 ror r24
		6388	6625 37a0 9093 0000 sts (LageKorrekturNick)+1,r25
		6389	6626 37a4 8093 0000 sts LageKorrekturNick,r24
		6390	6627 37a8 8091 0000 lds r24,LageKorrekturRoll
		6391	6628 37ac 9091 0000 lds r25,(LageKorrekturRoll)+1
		6392	6629 37b0 97FD sbrc r25,7
		6393	6630 37b2 0196 adiw r24,1
		6394	6631 .L542:
		6395	6632 37b4 9595 asr r25
		6396	6633 37b6 8795 ror r24
		6397	6634 37b8 9093 0000 sts (LageKorrekturRoll)+1,r25
		6398	6635 37bc 8093 0000 sts LageKorrekturRoll,r24
		6399	6636 .L538:
		6400	6637 37c0 8091 0000 lds r24,MittelIntegralNick2
		6401	6638 37c4 9091 0000 lds r25,(MittelIntegralNick2)+1
		6402	6639 37c8 A091 0000 lds r26,(MittelIntegralNick2)+2
		6403	6640 37cc B091 0000 lds r27,(MittelIntegralNick2)+3
		6404	6641 37d0 B7FF sbrs r27,7
		6405	6642 37d2 00C0 rjmp .L543
		6406	6643 37d4 8150 subi r24,lo8(-(255))
		6407	6644 37d6 9F4F sbci r25,hi8(-(255))
		6408	6645 37d8 AF4F sbci r26,hlo8(-(255))
		6409	6646 37da BF4F sbci r27,hhi8(-(255))
		6410	6647 .L543:
		6411	6648 37dc 892F mov r24,r25
		6412	6649 37de 9A2F mov r25,r26
		6413	6650 37e0 AB2F mov r26,r27
		6414	6651 37e2 BB27 clr r27
		6415	6652 37e4 A7FD sbrc r26,7
		6416	6653 37e6 BA95 dec r27
		6417	6654 37e8 8093 0000 sts MittelIntegralNick2,r24
		6418	6655 37ec 9093 0000 sts (MittelIntegralNick2)+1,r25
		6419	6656 37f0 A093 0000 sts (MittelIntegralNick2)+2,r26
		6420	6657 37f4 B093 0000 sts (MittelIntegralNick2)+3,r27
		6421	6658 37f8 8091 0000 lds r24,MittelIntegralRoll2
		6422	6659 37fc 9091 0000 lds r25,(MittelIntegralRoll2)+1
		6423	6660 3800 A091 0000 lds r26,(MittelIntegralRoll2)+2
		6424	6661 3804 B091 0000 lds r27,(MittelIntegralRoll2)+3
		6425	6662 3808 B7FF sbrs r27,7
		6426	6663 380a 00C0 rjmp .L544
		6427	6664 380c 8150 subi r24,lo8(-(255))
		6428	6665 380e 9F4F sbci r25,hi8(-(255))
		6429	6666 3810 AF4F sbci r26,hlo8(-(255))
		6430	6667 3812 BF4F sbci r27,hhi8(-(255))
		6431	6668 .L544:
		6432	6669 3814 892F mov r24,r25
		6433	6670 3816 9A2F mov r25,r26
		6434	6671 3818 AB2F mov r26,r27
		6435	6672 381a BB27 clr r27
		6436	6673 381c A7FD sbrc r26,7
		6437	6674 381e BA95 dec r27
		6438	6675 3820 8093 0000 sts MittelIntegralRoll2,r24
		6439	6676 3824 9093 0000 sts (MittelIntegralRoll2)+1,r25
		6440	6677 3828 A093 0000 sts (MittelIntegralRoll2)+2,r26
		6441	6678 382c B093 0000 sts (MittelIntegralRoll2)+3,r27
		6442	6679 3830 8091 0000 lds r24,IntegralNick
		6443	6680 3834 9091 0000 lds r25,(IntegralNick)+1
		6444	6681 3838 A091 0000 lds r26,(IntegralNick)+2
		6445	6682 383c B091 0000 lds r27,(IntegralNick)+3
		6446	6683 3840 2F81 ldd r18,Y+7
		6447	6684 3842 3885 ldd r19,Y+8
		6448	6685 3844 4985 ldd r20,Y+9
		6449	6686 3846 5A85 ldd r21,Y+10
		6450	6687 3848 281B sub r18,r24
		6451	6688 384a 390B sbc r19,r25
		6452	6689 384c 4A0B sbc r20,r26
		6453	6690 384e 5B0B sbc r21,r27
		6454	6691 3850 2093 0000 sts tmp_long.1,r18
		6455	6692 3854 3093 0000 sts (tmp_long.1)+1,r19
		6456	6693 3858 4093 0000 sts (tmp_long.1)+2,r20
		6457	6694 385c 5093 0000 sts (tmp_long.1)+3,r21
		6458	6695 3860 8091 0000 lds r24,IntegralRoll
		6459	6696 3864 9091 0000 lds r25,(IntegralRoll)+1
		6460	6697 3868 A091 0000 lds r26,(IntegralRoll)+2
		6461	6698 386c B091 0000 lds r27,(IntegralRoll)+3
		6462	6699 3870 EB84 ldd r14,Y+11
		6463	6700 3872 FC84 ldd r15,Y+12
		6464	6701 3874 0D85 ldd r16,Y+13
		6465	6702 3876 1E85 ldd r17,Y+14
		6466	6703 3878 E81A sub r14,r24
		6467	6704 387a F90A sbc r15,r25
		6468	6705 387c 0A0B sbc r16,r26
		6469	6706 387e 1B0B sbc r17,r27
		6470	6707 3880 E092 0000 sts tmp_long2.2,r14
		6471	6708 3884 F092 0000 sts (tmp_long2.2)+1,r15
		6472	6709 3888 0093 0000 sts (tmp_long2.2)+2,r16
		6473	6710 388c 1093 0000 sts (tmp_long2.2)+3,r17
		6474	6711 3890 2093 0000 sts IntegralFehlerNick.3,r18
		6475	6712 3894 3093 0000 sts (IntegralFehlerNick.3)+1,r19
		6476	6713 3898 4093 0000 sts (IntegralFehlerNick.3)+2,r20
		6477	6714 389c 5093 0000 sts (IntegralFehlerNick.3)+3,r21
		6478	6715 38a0 E092 0000 sts IntegralFehlerRoll.4,r14
		6479	6716 38a4 F092 0000 sts (IntegralFehlerRoll.4)+1,r15
		6480	6717 38a8 0093 0000 sts (IntegralFehlerRoll.4)+2,r16
		6481	6718 38ac 1093 0000 sts (IntegralFehlerRoll.4)+3,r17
		6482	6719 38b0 8091 0000 lds r24,Mess_IntegralNick2
		6483	6720 38b4 9091 0000 lds r25,(Mess_IntegralNick2)+1
		6484	6721 38b8 A091 0000 lds r26,(Mess_IntegralNick2)+2
		6485	6722 38bc B091 0000 lds r27,(Mess_IntegralNick2)+3
		6486	6723 38c0 821B sub r24,r18
		6487	6724 38c2 930B sbc r25,r19
		6488	6725 38c4 A40B sbc r26,r20
		6489	6726 38c6 B50B sbc r27,r21
		6490	6727 38c8 8093 0000 sts Mess_IntegralNick2,r24
		6491	6728 38cc 9093 0000 sts (Mess_IntegralNick2)+1,r25
		6492	6729 38d0 A093 0000 sts (Mess_IntegralNick2)+2,r26
		6493	6730 38d4 B093 0000 sts (Mess_IntegralNick2)+3,r27
		6494	6731 38d8 8091 0000 lds r24,Mess_IntegralRoll2
		6495	6732 38dc 9091 0000 lds r25,(Mess_IntegralRoll2)+1
		6496	6733 38e0 A091 0000 lds r26,(Mess_IntegralRoll2)+2
		6497	6734 38e4 B091 0000 lds r27,(Mess_IntegralRoll2)+3
		6498	6735 38e8 8E19 sub r24,r14
		6499	6736 38ea 9F09 sbc r25,r15
		6500	6737 38ec A00B sbc r26,r16
		6501	6738 38ee B10B sbc r27,r17
		6502	6739 38f0 8093 0000 sts Mess_IntegralRoll2,r24
		6503	6740 38f4 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		6504	6741 38f8 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		6505	6742 38fc B093 0000 sts (Mess_IntegralRoll2)+3,r27
		6506	6743 3900 8889 ldd r24,Y+16
		6507	6744 3902 8823 tst r24
		6508	6745 3904 01F0 breq .L545
		6509	6746 3906 2091 0000 lds r18,GierGyroFehler
		6510	6747 390a 3091 0000 lds r19,(GierGyroFehler)+1
		6511	6748 390e 2138 cpi r18,129
		6512	6749 3910 3105 cpc r19,__zero_reg__
		6513	6750 3912 04F0 brlt .L546
		6514	6751 3914 8091 0000 lds r24,AdNeutralGier
		6515	6752 3918 9091 0000 lds r25,(AdNeutralGier)+1
		6516	6753 391c 0196 adiw r24,1
		6517	6754 391e 9093 0000 sts (AdNeutralGier)+1,r25
		6518	6755 3922 8093 0000 sts AdNeutralGier,r24
		6519	6756 .L546:
		6520	6757 3926 2058 subi r18,lo8(-128)
		6521	6758 3928 3F4F sbci r19,hi8(-128)
		6522	6759 392a 04F4 brge .L545
		6523	6760 392c 8091 0000 lds r24,AdNeutralGier
		6524	6761 3930 9091 0000 lds r25,(AdNeutralGier)+1
		6525	6762 3934 0197 sbiw r24,1
		6526	6763 3936 9093 0000 sts (AdNeutralGier)+1,r25
		6527	6764 393a 8093 0000 sts AdNeutralGier,r24
		6528	6765 .L545:
		6529	6766 393e 1092 0000 sts (GierGyroFehler)+1,__zero_reg__
		6530	6767 3942 1092 0000 sts GierGyroFehler,__zero_reg__
		6531	6768 3946 81E0 ldi r24,lo8(1)
		6532	6769 3948 90E0 ldi r25,hi8(1)
		6533	6770 394a 9093 0000 sts (cnt.14)+1,r25
		6534	6771 394e 8093 0000 sts cnt.14,r24
		6535	6772 3952 E090 0000 lds r14,IntegralFehlerNick.3
		6536	6773 3956 F090 0000 lds r15,(IntegralFehlerNick.3)+1
		6537	6774 395a 0091 0000 lds r16,(IntegralFehlerNick.3)+2
		6538	6775 395e 1091 0000 lds r17,(IntegralFehlerNick.3)+3
		6539	6776 3962 D801 movw r26,r16
		6540	6777 3964 C701 movw r24,r14
		6541	6778 3966 17FF sbrs r17,7
		6542	6779 3968 00C0 rjmp .L549
		6543	6780 396a 8827 clr r24
		6544	6781 396c 9927 clr r25
		6545	6782 396e DC01 movw r26,r24
		6546	6783 3970 8E19 sub r24,r14
		6547	6784 3972 9F09 sbc r25,r15
		6548	6785 3974 A00B sbc r26,r16
		6549	6786 3976 B10B sbc r27,r17
		6550	6787 .L549:
		6551	6788 3978 8150 subi r24,lo8(513)
		6552	6789 397a 9240 sbci r25,hi8(513)
		6553	6790 397c A040 sbci r26,hlo8(513)
		6554	6791 397e B040 sbci r27,hhi8(513)
		6555	6792 3980 04F0 brlt .L548
		6556	6793 3982 84E0 ldi r24,lo8(4)
		6557	6794 3984 90E0 ldi r25,hi8(4)
		6558	6795 3986 9093 0000 sts (cnt.14)+1,r25
		6559	6796 398a 8093 0000 sts cnt.14,r24
		6560	6797 .L548:
		6561	6798 398e 8091 0000 lds r24,MittelIntegralNick_Alt.19
		6562	6799 3992 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+1
		6563	6800 3996 A091 0000 lds r26,(MittelIntegralNick_Alt.19)+2
		6564	6801 399a B091 0000 lds r27,(MittelIntegralNick_Alt.19)+3
		6565	6802 399e 2091 0000 lds r18,MittelIntegralNick
		6566	6803 39a2 3091 0000 lds r19,(MittelIntegralNick)+1
		6567	6804 39a6 4091 0000 lds r20,(MittelIntegralNick)+2
		6568	6805 39aa 5091 0000 lds r21,(MittelIntegralNick)+3
		6569	6806 39ae 821B sub r24,r18
		6570	6807 39b0 930B sbc r25,r19
		6571	6808 39b2 A40B sbc r26,r20
		6572	6809 39b4 B50B sbc r27,r21
		6573	6810 39b6 815E subi r24,lo8(-(19999))
		6574	6811 39b8 914B sbci r25,hi8(-(19999))
		6575	6812 39ba AF4F sbci r26,hlo8(-(19999))
		6576	6813 39bc BF4F sbci r27,hhi8(-(19999))
		6577	6814 39be 8F53 subi r24,lo8(39999)
		6578	6815 39c0 9C49 sbci r25,hi8(39999)
		6579	6816 39c2 A040 sbci r26,hlo8(39999)
		6580	6817 39c4 B040 sbci r27,hhi8(39999)
		6581	6818 39c6 00F0 brlo .L551
		6582	6819 39c8 8091 0000 lds r24,FromNaviCtrl_Value+1
		6583	6820 39cc 8931 cpi r24,lo8(25)
		6584	6821 39ce 04F4 brge .+2
		6585	6822 39d0 00C0 rjmp .L550
		6586	6823 .L551:
		6587	6824 39d2 21E0 ldi r18,lo8(4097)
		6588	6825 39d4 E216 cp r14,r18
		6589	6826 39d6 20E1 ldi r18,hi8(4097)
		6590	6827 39d8 F206 cpc r15,r18
		6591	6828 39da 20E0 ldi r18,hlo8(4097)
		6592	6829 39dc 0207 cpc r16,r18
		6593	6830 39de 20E0 ldi r18,hhi8(4097)
		6594	6831 39e0 1207 cpc r17,r18
		6595	6832 39e2 04F4 brge .+2
		6596	6833 39e4 00C0 rjmp .L552
		6597	6834 39e6 8091 0000 lds r24,last_n_p.15
		6598	6835 39ea 8823 tst r24
		6599	6836 39ec 01F4 brne .+2
		6600	6837 39ee 00C0 rjmp .L553
		6601	6838 39f0 D801 movw r26,r16
		6602	6839 39f2 C701 movw r24,r14
		6603	6840 39f4 17FF sbrs r17,7
		6604	6841 39f6 00C0 rjmp .L554
		6605	6842 39f8 8827 clr r24
		6606	6843 39fa 9927 clr r25
		6607	6844 39fc DC01 movw r26,r24
		6608	6845 39fe 8E19 sub r24,r14
		6609	6846 3a00 9F09 sbc r25,r15
		6610	6847 3a02 A00B sbc r26,r16
		6611	6848 3a04 B10B sbc r27,r17
		6612	6849 .L554:
		6613	6850 3a06 9C01 movw r18,r24
		6614	6851 3a08 AD01 movw r20,r26
		6615	6852 3a0a B7FF sbrs r27,7
		6616	6853 3a0c 00C0 rjmp .L555
		6617	6854 3a0e 2150 subi r18,lo8(-(511))
		6618	6855 3a10 3E4F sbci r19,hi8(-(511))
		6619	6856 3a12 4F4F sbci r20,hlo8(-(511))
		6620	6857 3a14 5F4F sbci r21,hhi8(-(511))
		6621	6858 .L555:
		6622	6859 3a16 F9E0 ldi r31,9
		6623	6860 3a18 5595 1: asr r21
		6624	6861 3a1a 4795 ror r20
		6625	6862 3a1c 3795 ror r19
		6626	6863 3a1e 2795 ror r18
		6627	6864 3a20 FA95 dec r31
		6628	6865 3a22 01F4 brne 1b
		6629	6866 3a24 8091 0000 lds r24,cnt.14
		6630	6867 3a28 9091 0000 lds r25,(cnt.14)+1
		6631	6868 3a2c 820F add r24,r18
		6632	6869 3a2e 931F adc r25,r19
		6633	6870 3a30 9093 0000 sts (cnt.14)+1,r25
		6634	6871 3a34 8093 0000 sts cnt.14,r24
		6635	6872 3a38 D801 movw r26,r16
		6636	6873 3a3a C701 movw r24,r14
		6637	6874 3a3c 17FF sbrs r17,7
		6638	6875 3a3e 00C0 rjmp .L556
		6639	6876 3a40 0796 adiw r24,7
		6640	6877 3a42 A11D adc r26,__zero_reg__
		6641	6878 3a44 B11D adc r27,__zero_reg__
		6642	6879 .L556:
		6643	6880 3a46 E3E0 ldi r30,3
		6644	6881 3a48 B595 1: asr r27
		6645	6882 3a4a A795 ror r26
		6646	6883 3a4c 9795 ror r25
		6647	6884 3a4e 8795 ror r24
		6648	6885 3a50 EA95 dec r30
		6649	6886 3a52 01F4 brne 1b
		6650	6887 3a54 8093 0000 sts ausgleichNick.10,r24
		6651	6888 3a58 9093 0000 sts (ausgleichNick.10)+1,r25
		6652	6889 3a5c A093 0000 sts (ausgleichNick.10)+2,r26
		6653	6890 3a60 B093 0000 sts (ausgleichNick.10)+3,r27
		6654	6891 3a64 8958 subi r24,lo8(5001)
		6655	6892 3a66 9341 sbci r25,hi8(5001)
		6656	6893 3a68 A040 sbci r26,hlo8(5001)
		6657	6894 3a6a B040 sbci r27,hhi8(5001)
		6658	6895 3a6c 04F0 brlt .L557
		6659	6896 3a6e 88E8 ldi r24,lo8(5000)
		6660	6897 3a70 93E1 ldi r25,hi8(5000)
		6661	6898 3a72 A0E0 ldi r26,hlo8(5000)
		6662	6899 3a74 B0E0 ldi r27,hhi8(5000)
		6663	6900 3a76 8093 0000 sts ausgleichNick.10,r24
		6664	6901 3a7a 9093 0000 sts (ausgleichNick.10)+1,r25
		6665	6902 3a7e A093 0000 sts (ausgleichNick.10)+2,r26
		6666	6903 3a82 B093 0000 sts (ausgleichNick.10)+3,r27
		6667	6904 .L557:
		6668	6905 3a86 2091 0000 lds r18,ausgleichNick.10
		6669	6906 3a8a 3091 0000 lds r19,(ausgleichNick.10)+1
		6670	6907 3a8e 4091 0000 lds r20,(ausgleichNick.10)+2
		6671	6908 3a92 5091 0000 lds r21,(ausgleichNick.10)+3
		6672	6909 3a96 57FF sbrs r21,7
		6673	6910 3a98 00C0 rjmp .L558
		6674	6911 3a9a 2150 subi r18,lo8(-(255))
		6675	6912 3a9c 3F4F sbci r19,hi8(-(255))
		6676	6913 3a9e 4F4F sbci r20,hlo8(-(255))
		6677	6914 3aa0 5F4F sbci r21,hhi8(-(255))
		6678	6915 .L558:
		6679	6916 3aa2 232F mov r18,r19
		6680	6917 3aa4 342F mov r19,r20
		6681	6918 3aa6 452F mov r20,r21
		6682	6919 3aa8 5527 clr r21
		6683	6920 3aaa 47FD sbrc r20,7
		6684	6921 3aac 5A95 dec r21
		6685	6922 3aae 8091 0000 lds r24,LageKorrekturNick
		6686	6923 3ab2 9091 0000 lds r25,(LageKorrekturNick)+1
		6687	6924 3ab6 820F add r24,r18
		6688	6925 3ab8 931F adc r25,r19
		6689	6926 3aba 9093 0000 sts (LageKorrekturNick)+1,r25
		6690	6927 3abe 8093 0000 sts LageKorrekturNick,r24
		6691	6928 3ac2 00C0 rjmp .L560
		6692	6929 .L553:
		6693	6930 3ac4 81E0 ldi r24,lo8(1)
		6694	6931 3ac6 8093 0000 sts last_n_p.15,r24
		6695	6932 3aca 00C0 rjmp .L560
		6696	6933 .L552:
		6697	6934 3acc 1092 0000 sts last_n_p.15,__zero_reg__
		6698	6935 .L560:
		6699	6936 3ad0 40E0 ldi r20,lo8(-4096)
		6700	6937 3ad2 E416 cp r14,r20
		6701	6938 3ad4 40EF ldi r20,hi8(-4096)
		6702	6939 3ad6 F406 cpc r15,r20
		6703	6940 3ad8 4FEF ldi r20,hlo8(-4096)
		6704	6941 3ada 0407 cpc r16,r20
		6705	6942 3adc 4FEF ldi r20,hhi8(-4096)
		6706	6943 3ade 1407 cpc r17,r20
		6707	6944 3ae0 04F0 brlt .+2
		6708	6945 3ae2 00C0 rjmp .L561
		6709	6946 3ae4 8091 0000 lds r24,last_n_n.16
		6710	6947 3ae8 8823 tst r24
		6711	6948 3aea 01F4 brne .+2
		6712	6949 3aec 00C0 rjmp .L562
		6713	6950 3aee D801 movw r26,r16
		6714	6951 3af0 C701 movw r24,r14
		6715	6952 3af2 17FF sbrs r17,7
		6716	6953 3af4 00C0 rjmp .L563
		6717	6954 3af6 8827 clr r24
		6718	6955 3af8 9927 clr r25
		6719	6956 3afa DC01 movw r26,r24
		6720	6957 3afc 8E19 sub r24,r14
		6721	6958 3afe 9F09 sbc r25,r15
		6722	6959 3b00 A00B sbc r26,r16
		6723	6960 3b02 B10B sbc r27,r17
		6724	6961 .L563:
		6725	6962 3b04 9C01 movw r18,r24
		6726	6963 3b06 AD01 movw r20,r26
		6727	6964 3b08 B7FF sbrs r27,7
		6728	6965 3b0a 00C0 rjmp .L564
		6729	6966 3b0c 2150 subi r18,lo8(-(511))
		6730	6967 3b0e 3E4F sbci r19,hi8(-(511))
		6731	6968 3b10 4F4F sbci r20,hlo8(-(511))
		6732	6969 3b12 5F4F sbci r21,hhi8(-(511))
		6733	6970 .L564:
		6734	6971 3b14 69E0 ldi r22,9
		6735	6972 3b16 5595 1: asr r21
		6736	6973 3b18 4795 ror r20
		6737	6974 3b1a 3795 ror r19
		6738	6975 3b1c 2795 ror r18
		6739	6976 3b1e 6A95 dec r22
		6740	6977 3b20 01F4 brne 1b
		6741	6978 3b22 8091 0000 lds r24,cnt.14
		6742	6979 3b26 9091 0000 lds r25,(cnt.14)+1
		6743	6980 3b2a 820F add r24,r18
		6744	6981 3b2c 931F adc r25,r19
		6745	6982 3b2e 9093 0000 sts (cnt.14)+1,r25
		6746	6983 3b32 8093 0000 sts cnt.14,r24
		6747	6984 3b36 D801 movw r26,r16
		6748	6985 3b38 C701 movw r24,r14
		6749	6986 3b3a 17FF sbrs r17,7
		6750	6987 3b3c 00C0 rjmp .L565
		6751	6988 3b3e 0796 adiw r24,7
		6752	6989 3b40 A11D adc r26,__zero_reg__
		6753	6990 3b42 B11D adc r27,__zero_reg__
		6754	6991 .L565:
		6755	6992 3b44 23E0 ldi r18,3
		6756	6993 3b46 B595 1: asr r27
		6757	6994 3b48 A795 ror r26
		6758	6995 3b4a 9795 ror r25
		6759	6996 3b4c 8795 ror r24
		6760	6997 3b4e 2A95 dec r18
		6761	6998 3b50 01F4 brne 1b
		6762	6999 3b52 8093 0000 sts ausgleichNick.10,r24
		6763	7000 3b56 9093 0000 sts (ausgleichNick.10)+1,r25
		6764	7001 3b5a A093 0000 sts (ausgleichNick.10)+2,r26
		6765	7002 3b5e B093 0000 sts (ausgleichNick.10)+3,r27
		6766	7003 3b62 8857 subi r24,lo8(-5000)
		6767	7004 3b64 9C4E sbci r25,hi8(-5000)
		6768	7005 3b66 AF4F sbci r26,hlo8(-5000)
		6769	7006 3b68 BF4F sbci r27,hhi8(-5000)
		6770	7007 3b6a 04F4 brge .L566
		6771	7008 3b6c 88E7 ldi r24,lo8(-5000)
		6772	7009 3b6e 9CEE ldi r25,hi8(-5000)
		6773	7010 3b70 AFEF ldi r26,hlo8(-5000)
		6774	7011 3b72 BFEF ldi r27,hhi8(-5000)
		6775	7012 3b74 8093 0000 sts ausgleichNick.10,r24
		6776	7013 3b78 9093 0000 sts (ausgleichNick.10)+1,r25
		6777	7014 3b7c A093 0000 sts (ausgleichNick.10)+2,r26
		6778	7015 3b80 B093 0000 sts (ausgleichNick.10)+3,r27
		6779	7016 .L566:
		6780	7017 3b84 2091 0000 lds r18,ausgleichNick.10
		6781	7018 3b88 3091 0000 lds r19,(ausgleichNick.10)+1
		6782	7019 3b8c 4091 0000 lds r20,(ausgleichNick.10)+2
		6783	7020 3b90 5091 0000 lds r21,(ausgleichNick.10)+3
		6784	7021 3b94 57FF sbrs r21,7
		6785	7022 3b96 00C0 rjmp .L567
		6786	7023 3b98 2150 subi r18,lo8(-(255))
		6787	7024 3b9a 3F4F sbci r19,hi8(-(255))
		6788	7025 3b9c 4F4F sbci r20,hlo8(-(255))
		6789	7026 3b9e 5F4F sbci r21,hhi8(-(255))
		6790	7027 .L567:
		6791	7028 3ba0 232F mov r18,r19
		6792	7029 3ba2 342F mov r19,r20
		6793	7030 3ba4 452F mov r20,r21
		6794	7031 3ba6 5527 clr r21
		6795	7032 3ba8 47FD sbrc r20,7
		6796	7033 3baa 5A95 dec r21
		6797	7034 3bac 8091 0000 lds r24,LageKorrekturNick
		6798	7035 3bb0 9091 0000 lds r25,(LageKorrekturNick)+1
		6799	7036 3bb4 820F add r24,r18
		6800	7037 3bb6 931F adc r25,r19
		6801	7038 3bb8 9093 0000 sts (LageKorrekturNick)+1,r25
		6802	7039 3bbc 8093 0000 sts LageKorrekturNick,r24
		6803	7040 3bc0 00C0 rjmp .L570
		6804	7041 .L562:
		6805	7042 3bc2 81E0 ldi r24,lo8(1)
		6806	7043 3bc4 8093 0000 sts last_n_n.16,r24
		6807	7044 3bc8 00C0 rjmp .L570
		6808	7045 .L561:
		6809	7046 3bca 1092 0000 sts last_n_n.16,__zero_reg__
		6810	7047 3bce 00C0 rjmp .L570
		6811	7048 .L550:
		6812	7049 3bd0 1092 0000 sts (cnt.14)+1,__zero_reg__
		6813	7050 3bd4 1092 0000 sts cnt.14,__zero_reg__
		6814	7051 3bd8 84E6 ldi r24,lo8(100)
		6815	7052 3bda 90E0 ldi r25,hi8(100)
		6816	7053 3bdc 9093 0000 sts (KompassSignalSchlecht)+1,r25
		6817	7054 3be0 8093 0000 sts KompassSignalSchlecht,r24
		6818	7055 .L570:
		6819	7056 3be4 6889 ldd r22,Y+16
		6820	7057 3be6 262F mov r18,r22
		6821	7058 3be8 3327 clr r19
		6822	7059 3bea 8091 0000 lds r24,cnt.14
		6823	7060 3bee 9091 0000 lds r25,(cnt.14)+1
		6824	7061 3bf2 2817 cp r18,r24
		6825	7062 3bf4 3907 cpc r19,r25
		6826	7063 3bf6 04F4 brge .L571
		6827	7064 3bf8 3093 0000 sts (cnt.14)+1,r19
		6828	7065 3bfc 2093 0000 sts cnt.14,r18
		6829	7066 .L571:
		6830	7067 3c00 1091 0000 lds r17,FromNaviCtrl_Value+1
		6831	7068 3c04 1123 tst r17
		6832	7069 3c06 01F0 breq .L572
		6833	7070 3c08 212F mov r18,r17
		6834	7071 3c0a 3327 clr r19
		6835	7072 3c0c 27FD sbrc r18,7
		6836	7073 3c0e 3095 com r19
		6837	7074 3c10 8091 0000 lds r24,cnt.14
		6838	7075 3c14 9091 0000 lds r25,(cnt.14)+1
		6839	7076 3c18 2817 cp r18,r24
		6840	7077 3c1a 3907 cpc r19,r25
		6841	7078 3c1c 04F4 brge .L572
		6842	7079 3c1e 3093 0000 sts (cnt.14)+1,r19
		6843	7080 3c22 2093 0000 sts cnt.14,r18
		6844	7081 .L572:
		6845	7082 3c26 4091 0000 lds r20,IntegralFehlerNick.3
		6846	7083 3c2a 5091 0000 lds r21,(IntegralFehlerNick.3)+1
		6847	7084 3c2e 6091 0000 lds r22,(IntegralFehlerNick.3)+2
		6848	7085 3c32 7091 0000 lds r23,(IntegralFehlerNick.3)+3
		6849	7086 3c36 4138 cpi r20,lo8(129)
		6850	7087 3c38 5105 cpc r21,__zero_reg__
		6851	7088 3c3a 6105 cpc r22,__zero_reg__
		6852	7089 3c3c 7105 cpc r23,__zero_reg__
		6853	7090 3c3e 04F0 brlt .L574
		6854	7091 3c40 8091 0000 lds r24,AdNeutralNick
		6855	7092 3c44 9091 0000 lds r25,(AdNeutralNick)+1
		6856	7093 3c48 2091 0000 lds r18,cnt.14
		6857	7094 3c4c 3091 0000 lds r19,(cnt.14)+1
		6858	7095 3c50 820F add r24,r18
		6859	7096 3c52 931F adc r25,r19
		6860	7097 3c54 9093 0000 sts (AdNeutralNick)+1,r25
		6861	7098 3c58 8093 0000 sts AdNeutralNick,r24
		6862	7099 .L574:
		6863	7100 3c5c 4058 subi r20,lo8(-128)
		6864	7101 3c5e 5F4F sbci r21,hi8(-128)
		6865	7102 3c60 6F4F sbci r22,hlo8(-128)
		6866	7103 3c62 7F4F sbci r23,hhi8(-128)
		6867	7104 3c64 04F4 brge .L575
		6868	7105 3c66 8091 0000 lds r24,AdNeutralNick
		6869	7106 3c6a 9091 0000 lds r25,(AdNeutralNick)+1
		6870	7107 3c6e 2091 0000 lds r18,cnt.14
		6871	7108 3c72 3091 0000 lds r19,(cnt.14)+1
		6872	7109 3c76 821B sub r24,r18
		6873	7110 3c78 930B sbc r25,r19
		6874	7111 3c7a 9093 0000 sts (AdNeutralNick)+1,r25
		6875	7112 3c7e 8093 0000 sts AdNeutralNick,r24
		6876	7113 .L575:
		6877	7114 3c82 81E0 ldi r24,lo8(1)
		6878	7115 3c84 90E0 ldi r25,hi8(1)
		6879	7116 3c86 9093 0000 sts (cnt.14)+1,r25
		6880	7117 3c8a 8093 0000 sts cnt.14,r24
		6881	7118 3c8e C090 0000 lds r12,IntegralFehlerRoll.4
		6882	7119 3c92 D090 0000 lds r13,(IntegralFehlerRoll.4)+1
		6883	7120 3c96 E090 0000 lds r14,(IntegralFehlerRoll.4)+2
		6884	7121 3c9a F090 0000 lds r15,(IntegralFehlerRoll.4)+3
		6885	7122 3c9e D701 movw r26,r14
		6886	7123 3ca0 C601 movw r24,r12
		6887	7124 3ca2 F7FE sbrs r15,7
		6888	7125 3ca4 00C0 rjmp .L577
		6889	7126 3ca6 8827 clr r24
		6890	7127 3ca8 9927 clr r25
		6891	7128 3caa DC01 movw r26,r24
		6892	7129 3cac 8C19 sub r24,r12
		6893	7130 3cae 9D09 sbc r25,r13
		6894	7131 3cb0 AE09 sbc r26,r14
		6895	7132 3cb2 BF09 sbc r27,r15
		6896	7133 .L577:
		6897	7134 3cb4 8150 subi r24,lo8(513)
		6898	7135 3cb6 9240 sbci r25,hi8(513)
		6899	7136 3cb8 A040 sbci r26,hlo8(513)
		6900	7137 3cba B040 sbci r27,hhi8(513)
		6901	7138 3cbc 04F0 brlt .L576
		6902	7139 3cbe 84E0 ldi r24,lo8(4)
		6903	7140 3cc0 90E0 ldi r25,hi8(4)
		6904	7141 3cc2 9093 0000 sts (cnt.14)+1,r25
		6905	7142 3cc6 8093 0000 sts cnt.14,r24
		6906	7143 .L576:
		6907	7144 3cca 8091 0000 lds r24,MittelIntegralRoll_Alt.20
		6908	7145 3cce 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+1
		6909	7146 3cd2 A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+2
		6910	7147 3cd6 B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+3
		6911	7148 3cda 2091 0000 lds r18,MittelIntegralRoll
		6912	7149 3cde 3091 0000 lds r19,(MittelIntegralRoll)+1
		6913	7150 3ce2 4091 0000 lds r20,(MittelIntegralRoll)+2
		6914	7151 3ce6 5091 0000 lds r21,(MittelIntegralRoll)+3
		6915	7152 3cea 821B sub r24,r18
		6916	7153 3cec 930B sbc r25,r19
		6917	7154 3cee A40B sbc r26,r20
		6918	7155 3cf0 B50B sbc r27,r21
		6919	7156 3cf2 815E subi r24,lo8(-(19999))
		6920	7157 3cf4 914B sbci r25,hi8(-(19999))
		6921	7158 3cf6 AF4F sbci r26,hlo8(-(19999))
		6922	7159 3cf8 BF4F sbci r27,hhi8(-(19999))
		6923	7160 3cfa 8F53 subi r24,lo8(39999)
		6924	7161 3cfc 9C49 sbci r25,hi8(39999)
		6925	7162 3cfe A040 sbci r26,hlo8(39999)
		6926	7163 3d00 B040 sbci r27,hhi8(39999)
		6927	7164 3d02 00F0 brlo .L579
		6928	7165 3d04 1931 cpi r17,lo8(25)
		6929	7166 3d06 04F4 brge .+2
		6930	7167 3d08 00C0 rjmp .L578
		6931	7168 .L579:
		6932	7169 3d0a 01E0 ldi r16,lo8(4097)
		6933	7170 3d0c C016 cp r12,r16
		6934	7171 3d0e 00E1 ldi r16,hi8(4097)
		6935	7172 3d10 D006 cpc r13,r16
		6936	7173 3d12 00E0 ldi r16,hlo8(4097)
		6937	7174 3d14 E006 cpc r14,r16
		6938	7175 3d16 00E0 ldi r16,hhi8(4097)
		6939	7176 3d18 F006 cpc r15,r16
		6940	7177 3d1a 04F4 brge .+2
		6941	7178 3d1c 00C0 rjmp .L580
		6942	7179 3d1e 8091 0000 lds r24,last_r_p.17
		6943	7180 3d22 8823 tst r24
		6944	7181 3d24 01F4 brne .+2
		6945	7182 3d26 00C0 rjmp .L581
		6946	7183 3d28 D701 movw r26,r14
		6947	7184 3d2a C601 movw r24,r12
		6948	7185 3d2c F7FE sbrs r15,7
		6949	7186 3d2e 00C0 rjmp .L582
		6950	7187 3d30 8827 clr r24
		6951	7188 3d32 9927 clr r25
		6952	7189 3d34 DC01 movw r26,r24
		6953	7190 3d36 8C19 sub r24,r12
		6954	7191 3d38 9D09 sbc r25,r13
		6955	7192 3d3a AE09 sbc r26,r14
		6956	7193 3d3c BF09 sbc r27,r15
		6957	7194 .L582:
		6958	7195 3d3e 9C01 movw r18,r24
		6959	7196 3d40 AD01 movw r20,r26
		6960	7197 3d42 B7FF sbrs r27,7
		6961	7198 3d44 00C0 rjmp .L583
		6962	7199 3d46 2150 subi r18,lo8(-(511))
		6963	7200 3d48 3E4F sbci r19,hi8(-(511))
		6964	7201 3d4a 4F4F sbci r20,hlo8(-(511))
		6965	7202 3d4c 5F4F sbci r21,hhi8(-(511))
		6966	7203 .L583:
		6967	7204 3d4e 09E0 ldi r16,9
		6968	7205 3d50 5595 1: asr r21
		6969	7206 3d52 4795 ror r20
		6970	7207 3d54 3795 ror r19
		6971	7208 3d56 2795 ror r18
		6972	7209 3d58 0A95 dec r16
		6973	7210 3d5a 01F4 brne 1b
		6974	7211 3d5c 8091 0000 lds r24,cnt.14
		6975	7212 3d60 9091 0000 lds r25,(cnt.14)+1
		6976	7213 3d64 820F add r24,r18
		6977	7214 3d66 931F adc r25,r19
		6978	7215 3d68 9093 0000 sts (cnt.14)+1,r25
		6979	7216 3d6c 8093 0000 sts cnt.14,r24
		6980	7217 3d70 D701 movw r26,r14
		6981	7218 3d72 C601 movw r24,r12
		6982	7219 3d74 F7FE sbrs r15,7
		6983	7220 3d76 00C0 rjmp .L584
		6984	7221 3d78 0796 adiw r24,7
		6985	7222 3d7a A11D adc r26,__zero_reg__
		6986	7223 3d7c B11D adc r27,__zero_reg__
		6987	7224 .L584:
		6988	7225 3d7e 13E0 ldi r17,3
		6989	7226 3d80 B595 1: asr r27
		6990	7227 3d82 A795 ror r26
		6991	7228 3d84 9795 ror r25
		6992	7229 3d86 8795 ror r24
		6993	7230 3d88 1A95 dec r17
		6994	7231 3d8a 01F4 brne 1b
		6995	7232 3d8c 8093 0000 sts ausgleichRoll.11,r24
		6996	7233 3d90 9093 0000 sts (ausgleichRoll.11)+1,r25
		6997	7234 3d94 A093 0000 sts (ausgleichRoll.11)+2,r26
		6998	7235 3d98 B093 0000 sts (ausgleichRoll.11)+3,r27
		6999	7236 3d9c 8958 subi r24,lo8(5001)
		7000	7237 3d9e 9341 sbci r25,hi8(5001)
		7001	7238 3da0 A040 sbci r26,hlo8(5001)
		7002	7239 3da2 B040 sbci r27,hhi8(5001)
		7003	7240 3da4 04F0 brlt .L585
		7004	7241 3da6 88E8 ldi r24,lo8(5000)
		7005	7242 3da8 93E1 ldi r25,hi8(5000)
		7006	7243 3daa A0E0 ldi r26,hlo8(5000)
		7007	7244 3dac B0E0 ldi r27,hhi8(5000)
		7008	7245 3dae 8093 0000 sts ausgleichRoll.11,r24
		7009	7246 3db2 9093 0000 sts (ausgleichRoll.11)+1,r25
		7010	7247 3db6 A093 0000 sts (ausgleichRoll.11)+2,r26
		7011	7248 3dba B093 0000 sts (ausgleichRoll.11)+3,r27
		7012	7249 .L585:
		7013	7250 3dbe 2091 0000 lds r18,ausgleichRoll.11
		7014	7251 3dc2 3091 0000 lds r19,(ausgleichRoll.11)+1
		7015	7252 3dc6 4091 0000 lds r20,(ausgleichRoll.11)+2
		7016	7253 3dca 5091 0000 lds r21,(ausgleichRoll.11)+3
		7017	7254 3dce 57FF sbrs r21,7
		7018	7255 3dd0 00C0 rjmp .L586
		7019	7256 3dd2 2150 subi r18,lo8(-(255))
		7020	7257 3dd4 3F4F sbci r19,hi8(-(255))
		7021	7258 3dd6 4F4F sbci r20,hlo8(-(255))
		7022	7259 3dd8 5F4F sbci r21,hhi8(-(255))
		7023	7260 .L586:
		7024	7261 3dda 232F mov r18,r19
		7025	7262 3ddc 342F mov r19,r20
		7026	7263 3dde 452F mov r20,r21
		7027	7264 3de0 5527 clr r21
		7028	7265 3de2 47FD sbrc r20,7
		7029	7266 3de4 5A95 dec r21
		7030	7267 3de6 8091 0000 lds r24,LageKorrekturRoll
		7031	7268 3dea 9091 0000 lds r25,(LageKorrekturRoll)+1
		7032	7269 3dee 820F add r24,r18
		7033	7270 3df0 931F adc r25,r19
		7034	7271 3df2 9093 0000 sts (LageKorrekturRoll)+1,r25
		7035	7272 3df6 8093 0000 sts LageKorrekturRoll,r24
		7036	7273 3dfa 00C0 rjmp .L588
		7037	7274 .L581:
		7038	7275 3dfc 81E0 ldi r24,lo8(1)
		7039	7276 3dfe 8093 0000 sts last_r_p.17,r24
		7040	7277 3e02 00C0 rjmp .L588
		7041	7278 .L580:
		7042	7279 3e04 1092 0000 sts last_r_p.17,__zero_reg__
		7043	7280 .L588:
		7044	7281 3e08 20E0 ldi r18,lo8(-4096)
		7045	7282 3e0a C216 cp r12,r18
		7046	7283 3e0c 20EF ldi r18,hi8(-4096)
		7047	7284 3e0e D206 cpc r13,r18
		7048	7285 3e10 2FEF ldi r18,hlo8(-4096)
		7049	7286 3e12 E206 cpc r14,r18
		7050	7287 3e14 2FEF ldi r18,hhi8(-4096)
		7051	7288 3e16 F206 cpc r15,r18
		7052	7289 3e18 04F0 brlt .+2
		7053	7290 3e1a 00C0 rjmp .L589
		7054	7291 3e1c 8091 0000 lds r24,last_r_n.18
		7055	7292 3e20 8823 tst r24
		7056	7293 3e22 01F4 brne .+2
		7057	7294 3e24 00C0 rjmp .L590
		7058	7295 3e26 D701 movw r26,r14
		7059	7296 3e28 C601 movw r24,r12
		7060	7297 3e2a F7FE sbrs r15,7
		7061	7298 3e2c 00C0 rjmp .L591
		7062	7299 3e2e 8827 clr r24
		7063	7300 3e30 9927 clr r25
		7064	7301 3e32 DC01 movw r26,r24
		7065	7302 3e34 8C19 sub r24,r12
		7066	7303 3e36 9D09 sbc r25,r13
		7067	7304 3e38 AE09 sbc r26,r14
		7068	7305 3e3a BF09 sbc r27,r15
		7069	7306 .L591:
		7070	7307 3e3c 9C01 movw r18,r24
		7071	7308 3e3e AD01 movw r20,r26
		7072	7309 3e40 B7FF sbrs r27,7
		7073	7310 3e42 00C0 rjmp .L592
		7074	7311 3e44 2150 subi r18,lo8(-(511))
		7075	7312 3e46 3E4F sbci r19,hi8(-(511))
		7076	7313 3e48 4F4F sbci r20,hlo8(-(511))
		7077	7314 3e4a 5F4F sbci r21,hhi8(-(511))
		7078	7315 .L592:
		7079	7316 3e4c E9E0 ldi r30,9
		7080	7317 3e4e 5595 1: asr r21
		7081	7318 3e50 4795 ror r20
		7082	7319 3e52 3795 ror r19
		7083	7320 3e54 2795 ror r18
		7084	7321 3e56 EA95 dec r30
		7085	7322 3e58 01F4 brne 1b
		7086	7323 3e5a 8091 0000 lds r24,cnt.14
		7087	7324 3e5e 9091 0000 lds r25,(cnt.14)+1
		7088	7325 3e62 820F add r24,r18
		7089	7326 3e64 931F adc r25,r19
		7090	7327 3e66 9093 0000 sts (cnt.14)+1,r25
		7091	7328 3e6a 8093 0000 sts cnt.14,r24
		7092	7329 3e6e D701 movw r26,r14
		7093	7330 3e70 C601 movw r24,r12
		7094	7331 3e72 F7FE sbrs r15,7
		7095	7332 3e74 00C0 rjmp .L593
		7096	7333 3e76 0796 adiw r24,7
		7097	7334 3e78 A11D adc r26,__zero_reg__
		7098	7335 3e7a B11D adc r27,__zero_reg__
		7099	7336 .L593:
		7100	7337 3e7c 73E0 ldi r23,3
		7101	7338 3e7e B595 1: asr r27
		7102	7339 3e80 A795 ror r26
		7103	7340 3e82 9795 ror r25
		7104	7341 3e84 8795 ror r24
		7105	7342 3e86 7A95 dec r23
		7106	7343 3e88 01F4 brne 1b
		7107	7344 3e8a 8093 0000 sts ausgleichRoll.11,r24
		7108	7345 3e8e 9093 0000 sts (ausgleichRoll.11)+1,r25
		7109	7346 3e92 A093 0000 sts (ausgleichRoll.11)+2,r26
		7110	7347 3e96 B093 0000 sts (ausgleichRoll.11)+3,r27
		7111	7348 3e9a 8857 subi r24,lo8(-5000)
		7112	7349 3e9c 9C4E sbci r25,hi8(-5000)
		7113	7350 3e9e AF4F sbci r26,hlo8(-5000)
		7114	7351 3ea0 BF4F sbci r27,hhi8(-5000)
		7115	7352 3ea2 04F4 brge .L594
		7116	7353 3ea4 88E7 ldi r24,lo8(-5000)
		7117	7354 3ea6 9CEE ldi r25,hi8(-5000)
		7118	7355 3ea8 AFEF ldi r26,hlo8(-5000)
		7119	7356 3eaa BFEF ldi r27,hhi8(-5000)
		7120	7357 3eac 8093 0000 sts ausgleichRoll.11,r24
		7121	7358 3eb0 9093 0000 sts (ausgleichRoll.11)+1,r25
		7122	7359 3eb4 A093 0000 sts (ausgleichRoll.11)+2,r26
		7123	7360 3eb8 B093 0000 sts (ausgleichRoll.11)+3,r27
		7124	7361 .L594:
		7125	7362 3ebc 2091 0000 lds r18,ausgleichRoll.11
		7126	7363 3ec0 3091 0000 lds r19,(ausgleichRoll.11)+1
		7127	7364 3ec4 4091 0000 lds r20,(ausgleichRoll.11)+2
		7128	7365 3ec8 5091 0000 lds r21,(ausgleichRoll.11)+3
		7129	7366 3ecc 57FF sbrs r21,7
		7130	7367 3ece 00C0 rjmp .L595
		7131	7368 3ed0 2150 subi r18,lo8(-(255))
		7132	7369 3ed2 3F4F sbci r19,hi8(-(255))
		7133	7370 3ed4 4F4F sbci r20,hlo8(-(255))
		7134	7371 3ed6 5F4F sbci r21,hhi8(-(255))
		7135	7372 .L595:
		7136	7373 3ed8 232F mov r18,r19
		7137	7374 3eda 342F mov r19,r20
		7138	7375 3edc 452F mov r20,r21
		7139	7376 3ede 5527 clr r21
		7140	7377 3ee0 47FD sbrc r20,7
		7141	7378 3ee2 5A95 dec r21
		7142	7379 3ee4 8091 0000 lds r24,LageKorrekturRoll
		7143	7380 3ee8 9091 0000 lds r25,(LageKorrekturRoll)+1
		7144	7381 3eec 820F add r24,r18
		7145	7382 3eee 931F adc r25,r19
		7146	7383 3ef0 9093 0000 sts (LageKorrekturRoll)+1,r25
		7147	7384 3ef4 8093 0000 sts LageKorrekturRoll,r24
		7148	7385 3ef8 00C0 rjmp .L598
		7149	7386 .L590:
		7150	7387 3efa 81E0 ldi r24,lo8(1)
		7151	7388 3efc 8093 0000 sts last_r_n.18,r24
		7152	7389 3f00 00C0 rjmp .L598
		7153	7390 .L589:
		7154	7391 3f02 1092 0000 sts last_r_n.18,__zero_reg__
		7155	7392 3f06 00C0 rjmp .L598
		7156	7393 .L578:
		7157	7394 3f08 1092 0000 sts (cnt.14)+1,__zero_reg__
		7158	7395 3f0c 1092 0000 sts cnt.14,__zero_reg__
		7159	7396 3f10 84E6 ldi r24,lo8(100)
		7160	7397 3f12 90E0 ldi r25,hi8(100)
		7161	7398 3f14 9093 0000 sts (KompassSignalSchlecht)+1,r25
		7162	7399 3f18 8093 0000 sts KompassSignalSchlecht,r24
		7163	7400 .L598:
		7164	7401 3f1c 4889 ldd r20,Y+16
		7165	7402 3f1e 242F mov r18,r20
		7166	7403 3f20 3327 clr r19
		7167	7404 3f22 8091 0000 lds r24,cnt.14
		7168	7405 3f26 9091 0000 lds r25,(cnt.14)+1
		7169	7406 3f2a 2817 cp r18,r24
		7170	7407 3f2c 3907 cpc r19,r25
		7171	7408 3f2e 04F4 brge .L599
		7172	7409 3f30 3093 0000 sts (cnt.14)+1,r19
		7173	7410 3f34 2093 0000 sts cnt.14,r18
		7174	7411 .L599:
		7175	7412 3f38 8091 0000 lds r24,FromNaviCtrl_Value+1
		7176	7413 3f3c 8823 tst r24
		7177	7414 3f3e 01F0 breq .L600
		7178	7415 3f40 282F mov r18,r24
		7179	7416 3f42 3327 clr r19
		7180	7417 3f44 27FD sbrc r18,7
		7181	7418 3f46 3095 com r19
		7182	7419 3f48 8091 0000 lds r24,cnt.14
		7183	7420 3f4c 9091 0000 lds r25,(cnt.14)+1
		7184	7421 3f50 2817 cp r18,r24
		7185	7422 3f52 3907 cpc r19,r25
		7186	7423 3f54 04F4 brge .L600
		7187	7424 3f56 3093 0000 sts (cnt.14)+1,r19
		7188	7425 3f5a 2093 0000 sts cnt.14,r18
		7189	7426 .L600:
		7190	7427 3f5e 4091 0000 lds r20,IntegralFehlerRoll.4
		7191	7428 3f62 5091 0000 lds r21,(IntegralFehlerRoll.4)+1
		7192	7429 3f66 6091 0000 lds r22,(IntegralFehlerRoll.4)+2
		7193	7430 3f6a 7091 0000 lds r23,(IntegralFehlerRoll.4)+3
		7194	7431 3f6e 4138 cpi r20,lo8(129)
		7195	7432 3f70 5105 cpc r21,__zero_reg__
		7196	7433 3f72 6105 cpc r22,__zero_reg__
		7197	7434 3f74 7105 cpc r23,__zero_reg__
		7198	7435 3f76 04F0 brlt .L602
		7199	7436 3f78 8091 0000 lds r24,AdNeutralRoll
		7200	7437 3f7c 9091 0000 lds r25,(AdNeutralRoll)+1
		7201	7438 3f80 2091 0000 lds r18,cnt.14
		7202	7439 3f84 3091 0000 lds r19,(cnt.14)+1
		7203	7440 3f88 820F add r24,r18
		7204	7441 3f8a 931F adc r25,r19
		7205	7442 3f8c 9093 0000 sts (AdNeutralRoll)+1,r25
		7206	7443 3f90 8093 0000 sts AdNeutralRoll,r24
		7207	7444 .L602:
		7208	7445 3f94 4058 subi r20,lo8(-128)
		7209	7446 3f96 5F4F sbci r21,hi8(-128)
		7210	7447 3f98 6F4F sbci r22,hlo8(-128)
		7211	7448 3f9a 7F4F sbci r23,hhi8(-128)
		7212	7449 3f9c 04F4 brge .L604
		7213	7450 3f9e 8091 0000 lds r24,AdNeutralRoll
		7214	7451 3fa2 9091 0000 lds r25,(AdNeutralRoll)+1
		7215	7452 3fa6 2091 0000 lds r18,cnt.14
		7216	7453 3faa 3091 0000 lds r19,(cnt.14)+1
		7217	7454 3fae 821B sub r24,r18
		7218	7455 3fb0 930B sbc r25,r19
		7219	7456 3fb2 9093 0000 sts (AdNeutralRoll)+1,r25
		7220	7457 3fb6 8093 0000 sts AdNeutralRoll,r24
		7221	7458 3fba 00C0 rjmp .L604
		7222	7459 .L530:
		7223	7460 3fbc 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__
		7224	7461 3fc0 1092 0000 sts LageKorrekturRoll,__zero_reg__
		7225	7462 3fc4 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__
		7226	7463 3fc8 1092 0000 sts LageKorrekturNick,__zero_reg__
		7227	7464 3fcc 1092 0000 sts TrichterFlug,__zero_reg__
		7228	7465 .L604:
		7229	7466 3fd0 8091 0000 lds r24,IntegralFaktor
		7230	7467 3fd4 8823 tst r24
		7231	7468 3fd6 01F4 brne .L605
		7232	7469 3fd8 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__
		7233	7470 3fdc 1092 0000 sts LageKorrekturRoll,__zero_reg__
		7234	7471 3fe0 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__
		7235	7472 3fe4 1092 0000 sts LageKorrekturNick,__zero_reg__
		7236	7473 .L605:
		7237	7474 3fe8 8091 0000 lds r24,MittelIntegralNick
		7238	7475 3fec 9091 0000 lds r25,(MittelIntegralNick)+1
		7239	7476 3ff0 A091 0000 lds r26,(MittelIntegralNick)+2
		7240	7477 3ff4 B091 0000 lds r27,(MittelIntegralNick)+3
		7241	7478 3ff8 8093 0000 sts MittelIntegralNick_Alt.19,r24
		7242	7479 3ffc 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r25
		7243	7480 4000 A093 0000 sts (MittelIntegralNick_Alt.19)+2,r26
		7244	7481 4004 B093 0000 sts (MittelIntegralNick_Alt.19)+3,r27
		7245	7482 4008 8091 0000 lds r24,MittelIntegralRoll
		7246	7483 400c 9091 0000 lds r25,(MittelIntegralRoll)+1
		7247	7484 4010 A091 0000 lds r26,(MittelIntegralRoll)+2
		7248	7485 4014 B091 0000 lds r27,(MittelIntegralRoll)+3
		7249	7486 4018 8093 0000 sts MittelIntegralRoll_Alt.20,r24
		7250	7487 401c 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r25
		7251	7488 4020 A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r26
		7252	7489 4024 B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r27
		7253	7490 4028 1092 0000 sts IntegralAccNick,__zero_reg__
		7254	7491 402c 1092 0000 sts (IntegralAccNick)+1,__zero_reg__
		7255	7492 4030 1092 0000 sts (IntegralAccNick)+2,__zero_reg__
		7256	7493 4034 1092 0000 sts (IntegralAccNick)+3,__zero_reg__
		7257	7494 4038 1092 0000 sts IntegralAccRoll,__zero_reg__
		7258	7495 403c 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__
		7259	7496 4040 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__
		7260	7497 4044 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__
		7261	7498 4048 1092 0000 sts IntegralAccZ,__zero_reg__
		7262	7499 404c 1092 0000 sts (IntegralAccZ)+1,__zero_reg__
		7263	7500 4050 1092 0000 sts (IntegralAccZ)+2,__zero_reg__
		7264	7501 4054 1092 0000 sts (IntegralAccZ)+3,__zero_reg__
		7265	7502 4058 1092 0000 sts MittelIntegralNick,__zero_reg__
		7266	7503 405c 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__
		7267	7504 4060 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__
		7268	7505 4064 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__
		7269	7506 4068 1092 0000 sts MittelIntegralRoll,__zero_reg__
		7270	7507 406c 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__
		7271	7508 4070 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__
		7272	7509 4074 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__
		7273	7510 4078 1092 0000 sts MittelIntegralNick2,__zero_reg__
		7274	7511 407c 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__
		7275	7512 4080 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__
		7276	7513 4084 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__
		7277	7514 4088 1092 0000 sts MittelIntegralRoll2,__zero_reg__
		7278	7515 408c 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__
		7279	7516 4090 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__
		7280	7517 4094 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__
		7281	7518 4098 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__
		7282	7519 409c 1092 0000 sts ZaehlMessungen,__zero_reg__
		7283	7520 .L529:
		7284	7521 40a0 E090 0000 lds r14,StickGier
		7285	7522 40a4 F090 0000 lds r15,(StickGier)+1
		7286	7523 40a8 C701 movw r24,r14
		7287	7524 40aa F7FE sbrs r15,7
		7288	7525 40ac 00C0 rjmp .L607
		7289	7526 40ae 8827 clr r24
		7290	7527 40b0 9927 clr r25
		7291	7528 40b2 8E19 sub r24,r14
		7292	7529 40b4 9F09 sbc r25,r15
		7293	7530 .L607:
		7294	7531 40b6 0497 sbiw r24,4
		7295	7532 40b8 04F0 brlt .L606
		7296	7533 40ba 8091 0000 lds r24,Parameter_GlobalConfig
		7297	7534 40be 84FD sbrc r24,4
		7298	7535 40c0 00C0 rjmp .L606
		7299	7536 40c2 82E3 ldi r24,lo8(50)
		7300	7537 40c4 8093 0000 sts NeueKompassRichtungMerken,r24
		7301	7538 .L606:
		7302	7539 40c8 1091 0000 lds r17,EE_Parameter+25
		7303	7540 40cc A12E mov r10,r17
		7304	7541 40ce BB24 clr r11
		7305	7542 40d0 CC24 clr r12
		7306	7543 40d2 DD24 clr r13
		7307	7544 40d4 B701 movw r22,r14
		7308	7545 40d6 8827 clr r24
		7309	7546 40d8 77FD sbrc r23,7
		7310	7547 40da 8095 com r24
		7311	7548 40dc 982F mov r25,r24
		7312	7549 40de 9701 movw r18,r14
		7313	7550 40e0 F7FE sbrs r15,7
		7314	7551 40e2 00C0 rjmp .L609
		7315	7552 40e4 2227 clr r18
		7316	7553 40e6 3327 clr r19
		7317	7554 40e8 2E19 sub r18,r14
		7318	7555 40ea 3F09 sbc r19,r15
		7319	7556 .L609:
		7320	7557 40ec 4427 clr r20
		7321	7558 40ee 37FD sbrc r19,7
		7322	7559 40f0 4095 com r20
		7323	7560 40f2 542F mov r21,r20
		7324	7561 40f4 0E94 0000 call __mulsi3
		7325	7562 40f8 9B01 movw r18,r22
		7326	7563 40fa AC01 movw r20,r24
		7327	7564 40fc C601 movw r24,r12
		7328	7565 40fe B501 movw r22,r10
		7329	7566 4100 0E94 0000 call __mulsi3
		7330	7567 4104 97FF sbrs r25,7
		7331	7568 4106 00C0 rjmp .L610
		7332	7569 4108 6150 subi r22,lo8(-(511))
		7333	7570 410a 7E4F sbci r23,hi8(-(511))
		7334	7571 410c 8F4F sbci r24,hlo8(-(511))
		7335	7572 410e 9F4F sbci r25,hhi8(-(511))
		7336	7573 .L610:
		7337	7574 4110 59E0 ldi r21,9
		7338	7575 4112 9595 1: asr r25
		7339	7576 4114 8795 ror r24
		7340	7577 4116 7795 ror r23
		7341	7578 4118 6795 ror r22
		7342	7579 411a 5A95 dec r21
		7343	7580 411c 01F4 brne 1b
		7344	7581 411e 9B01 movw r18,r22
		7345	7582 4120 812F mov r24,r17
		7346	7583 4122 9927 clr r25
		7347	7584 4124 8E9D mul r24,r14
		7348	7585 4126 D001 movw r26,r0
		7349	7586 4128 8F9D mul r24,r15
		7350	7587 412a B00D add r27,r0
		7351	7588 412c 9E9D mul r25,r14
		7352	7589 412e B00D add r27,r0
		7353	7590 4130 1124 clr r1
		7354	7591 4132 CD01 movw r24,r26
		7355	7592 4134 B7FD sbrc r27,7
		7356	7593 4136 0396 adiw r24,3
		7357	7594 .L611:
		7358	7595 4138 9595 asr r25
		7359	7596 413a 8795 ror r24
		7360	7597 413c 9595 asr r25
		7361	7598 413e 8795 ror r24
		7362	7599 4140 280F add r18,r24
		7363	7600 4142 391F adc r19,r25
		7364	7601 4144 8091 0000 lds r24,CompassGierSetpoint
		7365	7602 4148 9091 0000 lds r25,(CompassGierSetpoint)+1
		7366	7603 414c 280F add r18,r24
		7367	7604 414e 391F adc r19,r25
		7368	7605 4150 4427 clr r20
		7369	7606 4152 37FD sbrc r19,7
		7370	7607 4154 4095 com r20
		7371	7608 4156 542F mov r21,r20
		7372	7609 4158 2093 0000 sts sollGier.0,r18
		7373	7610 415c 3093 0000 sts (sollGier.0)+1,r19
		7374	7611 4160 4093 0000 sts (sollGier.0)+2,r20
		7375	7612 4164 5093 0000 sts (sollGier.0)+3,r21
		7376	7613 4168 8091 0000 lds r24,Mess_Integral_Gier
		7377	7614 416c 9091 0000 lds r25,(Mess_Integral_Gier)+1
		7378	7615 4170 A091 0000 lds r26,(Mess_Integral_Gier)+2
		7379	7616 4174 B091 0000 lds r27,(Mess_Integral_Gier)+3
		7380	7617 4178 821B sub r24,r18
		7381	7618 417a 930B sbc r25,r19
		7382	7619 417c A40B sbc r26,r20
		7383	7620 417e B50B sbc r27,r21
		7384	7621 4180 8093 0000 sts Mess_Integral_Gier,r24
		7385	7622 4184 9093 0000 sts (Mess_Integral_Gier)+1,r25
		7386	7623 4188 A093 0000 sts (Mess_Integral_Gier)+2,r26
		7387	7624 418c B093 0000 sts (Mess_Integral_Gier)+3,r27
		7388	7625 4190 8155 subi r24,lo8(50001)
		7389	7626 4192 934C sbci r25,hi8(50001)
		7390	7627 4194 A040 sbci r26,hlo8(50001)
		7391	7628 4196 B040 sbci r27,hhi8(50001)
		7392	7629 4198 04F0 brlt .L612
		7393	7630 419a 80E5 ldi r24,lo8(50000)
		7394	7631 419c 93EC ldi r25,hi8(50000)
		7395	7632 419e A0E0 ldi r26,hlo8(50000)
		7396	7633 41a0 B0E0 ldi r27,hhi8(50000)
		7397	7634 41a2 8093 0000 sts Mess_Integral_Gier,r24
		7398	7635 41a6 9093 0000 sts (Mess_Integral_Gier)+1,r25
		7399	7636 41aa A093 0000 sts (Mess_Integral_Gier)+2,r26
		7400	7637 41ae B093 0000 sts (Mess_Integral_Gier)+3,r27
		7401	7638 .L612:
		7402	7639 41b2 8091 0000 lds r24,Mess_Integral_Gier
		7403	7640 41b6 9091 0000 lds r25,(Mess_Integral_Gier)+1
		7404	7641 41ba A091 0000 lds r26,(Mess_Integral_Gier)+2
		7405	7642 41be B091 0000 lds r27,(Mess_Integral_Gier)+3
		7406	7643 41c2 805B subi r24,lo8(-50000)
		7407	7644 41c4 9C43 sbci r25,hi8(-50000)
		7408	7645 41c6 AF4F sbci r26,hlo8(-50000)
		7409	7646 41c8 BF4F sbci r27,hhi8(-50000)
		7410	7647 41ca 04F4 brge .L613
		7411	7648 41cc 80EB ldi r24,lo8(-50000)
		7412	7649 41ce 9CE3 ldi r25,hi8(-50000)
		7413	7650 41d0 AFEF ldi r26,hlo8(-50000)
		7414	7651 41d2 BFEF ldi r27,hhi8(-50000)
		7415	7652 41d4 8093 0000 sts Mess_Integral_Gier,r24
		7416	7653 41d8 9093 0000 sts (Mess_Integral_Gier)+1,r25
		7417	7654 41dc A093 0000 sts (Mess_Integral_Gier)+2,r26
		7418	7655 41e0 B093 0000 sts (Mess_Integral_Gier)+3,r27
		7419	7656 .L613:
		7420	7657 41e4 0091 0000 lds r16,KompassValue
		7421	7658 41e8 1091 0000 lds r17,(KompassValue)+1
		7422	7659 41ec 17FD sbrc r17,7
		7423	7660 41ee 00C0 rjmp .L614
		7424	7661 41f0 8091 0000 lds r24,Parameter_GlobalConfig
		7425	7662 41f4 83FF sbrs r24,3
		7426	7663 41f6 00C0 rjmp .L614
		7427	7664 41f8 8091 0000 lds r24,CalculateCompassTimer
		7428	7665 41fc 8150 subi r24,lo8(-(-1))
		7429	7666 41fe 8093 0000 sts CalculateCompassTimer,r24
		7430	7667 4202 8823 tst r24
		7431	7668 4204 01F0 breq .+2
		7432	7669 4206 00C0 rjmp .L631
		7433	7670 4208 8DE0 ldi r24,lo8(13)
		7434	7671 420a 8093 0000 sts CalculateCompassTimer,r24
		7435	7672 420e 8091 0000 lds r24,IntegralNick
		7436	7673 4212 9091 0000 lds r25,(IntegralNick)+1
		7437	7674 4216 A091 0000 lds r26,(IntegralNick)+2
		7438	7675 421a B091 0000 lds r27,(IntegralNick)+3
		7439	7676 421e B7FF sbrs r27,7
		7440	7677 4220 00C0 rjmp .L616
		7441	7678 4222 8150 subi r24,lo8(-(511))
		7442	7679 4224 9E4F sbci r25,hi8(-(511))
		7443	7680 4226 AF4F sbci r26,hlo8(-(511))
		7444	7681 4228 BF4F sbci r27,hhi8(-(511))
		7445	7682 .L616:
		7446	7683 422a 39E0 ldi r19,9
		7447	7684 422c B595 1: asr r27
		7448	7685 422e A795 ror r26
		7449	7686 4230 9795 ror r25
		7450	7687 4232 8795 ror r24
		7451	7688 4234 3A95 dec r19
		7452	7689 4236 01F4 brne 1b
		7453	7690 4238 7C01 movw r14,r24
		7454	7691 423a 97FF sbrs r25,7
		7455	7692 423c 00C0 rjmp .L617
		7456	7693 423e F094 com r15
		7457	7694 4240 E194 neg r14
		7458	7695 4242 F108 sbc r15,__zero_reg__
		7459	7696 4244 F394 inc r15
		7460	7697 .L617:
		7461	7698 4246 8091 0000 lds r24,IntegralRoll
		7462	7699 424a 9091 0000 lds r25,(IntegralRoll)+1
		7463	7700 424e A091 0000 lds r26,(IntegralRoll)+2
		7464	7701 4252 B091 0000 lds r27,(IntegralRoll)+3
		7465	7702 4256 B7FF sbrs r27,7
		7466	7703 4258 00C0 rjmp .L618
		7467	7704 425a 8150 subi r24,lo8(-(511))
		7468	7705 425c 9E4F sbci r25,hi8(-(511))
		7469	7706 425e AF4F sbci r26,hlo8(-(511))
		7470	7707 4260 BF4F sbci r27,hhi8(-(511))
		7471	7708 .L618:
		7472	7709 4262 29E0 ldi r18,9
		7473	7710 4264 B595 1: asr r27
		7474	7711 4266 A795 ror r26
		7475	7712 4268 9795 ror r25
		7476	7713 426a 8795 ror r24
		7477	7714 426c 2A95 dec r18
		7478	7715 426e 01F4 brne 1b
		7479	7716 4270 9C01 movw r18,r24
		7480	7717 4272 97FF sbrs r25,7
		7481	7718 4274 00C0 rjmp .L619
		7482	7719 4276 3095 com r19
		7483	7720 4278 2195 neg r18
		7484	7721 427a 3F4F sbci r19,lo8(-1)
		7485	7722 .L619:
		7486	7723 427c E216 cp r14,r18
		7487	7724 427e F306 cpc r15,r19
		7488	7725 4280 04F4 brge .L620
		7489	7726 4282 7901 movw r14,r18
		7490	7727 .L620:
		7491	7728 4284 B701 movw r22,r14
		7492	7729 4286 F7FE sbrs r15,7
		7493	7730 4288 00C0 rjmp .L621
		7494	7731 428a 695F subi r22,lo8(-(7))
		7495	7732 428c 7F4F sbci r23,hi8(-(7))
		7496	7733 .L621:
		7497	7734 428e 2B01 movw r4,r22
		7498	7735 4290 A3E0 ldi r26,3
		7499	7736 4292 5594 1: asr r5
		7500	7737 4294 4794 ror r4
		7501	7738 4296 AA95 dec r26
		7502	7739 4298 01F4 brne 1b
		7503	7740 429a 22E0 ldi r18,lo8(2)
		7504	7741 429c 30E0 ldi r19,hi8(2)
		7505	7742 429e 420E add r4,r18
		7506	7743 42a0 531E adc r5,r19
		7507	7744 42a2 6090 0000 lds r6,ErsatzKompass
		7508	7745 42a6 7090 0000 lds r7,(ErsatzKompass)+1
		7509	7746 42aa 8090 0000 lds r8,(ErsatzKompass)+2
		7510	7747 42ae 9090 0000 lds r9,(ErsatzKompass)+3
		7511	7748 42b2 2091 0000 lds r18,GIER_GRAD_FAKTOR
		7512	7749 42b6 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1
		7513	7750 42ba 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2
		7514	7751 42be 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3
		7515	7752 42c2 C401 movw r24,r8
		7516	7753 42c4 B301 movw r22,r6
		7517	7754 42c6 0E94 0000 call __divmodsi4
		7518	7755 42ca 5901 movw r10,r18
		7519	7756 42cc 6A01 movw r12,r20
		7520	7757 42ce 3093 0000 sts (ErsatzKompassInGrad)+1,r19
		7521	7758 42d2 2093 0000 sts ErsatzKompassInGrad,r18
		7522	7759 42d6 021B sub r16,r18
		7523	7760 42d8 130B sbc r17,r19
		7524	7761 42da C801 movw r24,r16
		7525	7762 42dc 845E subi r24,lo8(-(540))
		7526	7763 42de 9D4F sbci r25,hi8(-(540))
		7527	7764 42e0 68E6 ldi r22,lo8(360)
		7528	7765 42e2 71E0 ldi r23,hi8(360)
		7529	7766 42e4 0E94 0000 call __divmodhi4
		7530	7767 42e8 9C01 movw r18,r24
		7531	7768 42ea 245B subi r18,lo8(-(-180))
		7532	7769 42ec 3040 sbci r19,hi8(-(-180))
		7533	7770 42ee 8091 0000 lds r24,KompassSignalSchlecht
		7534	7771 42f2 9091 0000 lds r25,(KompassSignalSchlecht)+1
		7535	7772 42f6 0097 sbiw r24,0
		7536	7773 42f8 01F0 breq .L622
		7537	7774 42fa 0197 sbiw r24,1
		7538	7775 42fc 9093 0000 sts (KompassSignalSchlecht)+1,r25
		7539	7776 4300 8093 0000 sts KompassSignalSchlecht,r24
		7540	7777 4304 00C0 rjmp .L623
		7541	7778 .L622:
		7542	7779 4306 49E1 ldi r20,lo8(25)
		7543	7780 4308 E416 cp r14,r20
		7544	7781 430a F104 cpc r15,__zero_reg__
		7545	7782 430c 04F4 brge .L623
		7546	7783 430e 8091 0000 lds r24,GierGyroFehler
		7547	7784 4312 9091 0000 lds r25,(GierGyroFehler)+1
		7548	7785 4316 820F add r24,r18
		7549	7786 4318 931F adc r25,r19
		7550	7787 431a 9093 0000 sts (GierGyroFehler)+1,r25
		7551	7788 431e 8093 0000 sts GierGyroFehler,r24
		7552	7789 4322 8091 0000 lds r24,NeueKompassRichtungMerken
		7553	7790 4326 8823 tst r24
		7554	7791 4328 01F0 breq .L623
		7555	7792 432a 8150 subi r24,lo8(-(-1))
		7556	7793 432c 8093 0000 sts NeueKompassRichtungMerken,r24
		7557	7794 4330 8823 tst r24
		7558	7795 4332 01F4 brne .L623
		7559	7796 4334 B092 0000 sts (KompassSollWert)+1,r11
		7560	7797 4338 A092 0000 sts KompassSollWert,r10
		7561	7798 .L623:
		7562	7799 433c 8091 0000 lds r24,KompassSignalSchlecht
		7563	7800 4340 9091 0000 lds r25,(KompassSignalSchlecht)+1
		7564	7801 4344 892B or r24,r25
		7565	7802 4346 01F4 brne .L627
		7566	7803 4348 8091 0000 lds r24,KompassFusion
		7567	7804 434c 9927 clr r25
		7568	7805 434e 289F mul r18,r24
		7569	7806 4350 B001 movw r22,r0
		7570	7807 4352 299F mul r18,r25
		7571	7808 4354 700D add r23,r0
		7572	7809 4356 389F mul r19,r24
		7573	7810 4358 700D add r23,r0
		7574	7811 435a 1124 clr r1
		7575	7812 435c CB01 movw r24,r22
		7576	7813 435e B201 movw r22,r4
		7577	7814 4360 0E94 0000 call __divmodhi4
		7578	7815 4364 CB01 movw r24,r22
		7579	7816 4366 AA27 clr r26
		7580	7817 4368 97FD sbrc r25,7
		7581	7818 436a A095 com r26
		7582	7819 436c BA2F mov r27,r26
		7583	7820 436e 680E add r6,r24
		7584	7821 4370 791E adc r7,r25
		7585	7822 4372 8A1E adc r8,r26
		7586	7823 4374 9B1E adc r9,r27
		7587	7824 4376 6092 0000 sts ErsatzKompass,r6
		7588	7825 437a 7092 0000 sts (ErsatzKompass)+1,r7
		7589	7826 437e 8092 0000 sts (ErsatzKompass)+2,r8
		7590	7827 4382 9092 0000 sts (ErsatzKompass)+3,r9
		7591	7828 .L627:
		7592	7829 4386 8091 0000 lds r24,NeueKompassRichtungMerken
		7593	7830 438a 8823 tst r24
		7594	7831 438c 01F4 brne .L614
		7595	7832 438e 8091 0000 lds r24,KompassSollWert
		7596	7833 4392 9091 0000 lds r25,(KompassSollWert)+1
		7597	7834 4396 2091 0000 lds r18,ErsatzKompassInGrad
		7598	7835 439a 3091 0000 lds r19,(ErsatzKompassInGrad)+1
		7599	7836 439e 821B sub r24,r18
		7600	7837 43a0 930B sbc r25,r19
		7601	7838 43a2 845E subi r24,lo8(-(540))
		7602	7839 43a4 9D4F sbci r25,hi8(-(540))
		7603	7840 43a6 68E6 ldi r22,lo8(360)
		7604	7841 43a8 71E0 ldi r23,hi8(360)
		7605	7842 43aa 0E94 0000 call __divmodhi4
		7606	7843 43ae 9C01 movw r18,r24
		7607	7844 43b0 245B subi r18,lo8(-(-180))
		7608	7845 43b2 3040 sbci r19,hi8(-(-180))
		7609	7846 43b4 8091 0000 lds r24,Parameter_KompassWirkung
		7610	7847 43b8 8695 lsr r24
		7611	7848 43ba 9927 clr r25
		7612	7849 43bc 289F mul r18,r24
		7613	7850 43be D001 movw r26,r0
		7614	7851 43c0 299F mul r18,r25
		7615	7852 43c2 B00D add r27,r0
		7616	7853 43c4 389F mul r19,r24
		7617	7854 43c6 B00D add r27,r0
		7618	7855 43c8 1124 clr r1
		7619	7856 43ca 9D01 movw r18,r26
		7620	7857 43cc B7FF sbrs r27,7
		7621	7858 43ce 00C0 rjmp .L629
		7622	7859 43d0 215F subi r18,lo8(-(15))
		7623	7860 43d2 3F4F sbci r19,hi8(-(15))
		7624	7861 .L629:
		7625	7862 43d4 F4E0 ldi r31,4
		7626	7863 43d6 3595 1: asr r19
		7627	7864 43d8 2795 ror r18
		7628	7865 43da FA95 dec r31
		7629	7866 43dc 01F4 brne 1b
		7630	7867 43de 3093 0000 sts (CompassGierSetpoint)+1,r19
		7631	7868 43e2 2093 0000 sts CompassGierSetpoint,r18
		7632	7869 43e6 00C0 rjmp .L631
		7633	7870 .L614:
		7634	7871 43e8 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__
		7635	7872 43ec 1092 0000 sts CompassGierSetpoint,__zero_reg__
		7636	7873 .L631:
		7637	7874 43f0 8091 0000 lds r24,TrichterFlug
		7638	7875 43f4 8823 tst r24
		7639	7876 43f6 01F0 breq .L632
		7640	7877 43f8 1092 0000 sts SummeRoll,__zero_reg__
		7641	7878 43fc 1092 0000 sts (SummeRoll)+1,__zero_reg__
		7642	7879 4400 1092 0000 sts (SummeRoll)+2,__zero_reg__
		7643	7880 4404 1092 0000 sts (SummeRoll)+3,__zero_reg__
		7644	7881 4408 1092 0000 sts SummeNick,__zero_reg__
		7645	7882 440c 1092 0000 sts (SummeNick)+1,__zero_reg__
		7646	7883 4410 1092 0000 sts (SummeNick)+2,__zero_reg__
		7647	7884 4414 1092 0000 sts (SummeNick)+3,__zero_reg__
		7648	7885 .L632:
		7649	7886 4418 F090 0000 lds r15,Looping_Nick
		7650	7887 441c FF20 tst r15
		7651	7888 441e 01F4 brne .L633
		7652	7889 4420 8091 0000 lds r24,IntegralFaktor
		7653	7890 4424 282F mov r18,r24
		7654	7891 4426 3327 clr r19
		7655	7892 4428 4427 clr r20
		7656	7893 442a 5527 clr r21
		7657	7894 442c 8091 0000 lds r24,IntegralNick
		7658	7895 4430 9091 0000 lds r25,(IntegralNick)+1
		7659	7896 4434 A091 0000 lds r26,(IntegralNick)+2
		7660	7897 4438 B091 0000 lds r27,(IntegralNick)+3
		7661	7898 443c BC01 movw r22,r24
		7662	7899 443e CD01 movw r24,r26
		7663	7900 4440 0E94 0000 call __mulsi3
		7664	7901 4444 DC01 movw r26,r24
		7665	7902 4446 CB01 movw r24,r22
		7666	7903 4448 BC01 movw r22,r24
		7667	7904 444a CD01 movw r24,r26
		7668	7905 444c 28EF ldi r18,lo8(11000)
		7669	7906 444e 3AE2 ldi r19,hi8(11000)
		7670	7907 4450 40E0 ldi r20,hlo8(11000)
		7671	7908 4452 50E0 ldi r21,hhi8(11000)
		7672	7909 4454 0E94 0000 call __divmodsi4
		7673	7910 4458 3901 movw r6,r18
		7674	7911 445a 00C0 rjmp .L634
		7675	7912 .L633:
		7676	7913 445c 6624 clr r6
		7677	7914 445e 7724 clr r7
		7678	7915 .L634:
		7679	7916 4460 E090 0000 lds r14,Looping_Roll
		7680	7917 4464 EE20 tst r14
		7681	7918 4466 01F4 brne .L635
		7682	7919 4468 8091 0000 lds r24,IntegralFaktor
		7683	7920 446c 282F mov r18,r24
		7684	7921 446e 3327 clr r19
		7685	7922 4470 4427 clr r20
		7686	7923 4472 5527 clr r21
		7687	7924 4474 8091 0000 lds r24,IntegralRoll
		7688	7925 4478 9091 0000 lds r25,(IntegralRoll)+1
		7689	7926 447c A091 0000 lds r26,(IntegralRoll)+2
		7690	7927 4480 B091 0000 lds r27,(IntegralRoll)+3
		7691	7928 4484 BC01 movw r22,r24
		7692	7929 4486 CD01 movw r24,r26
		7693	7930 4488 0E94 0000 call __mulsi3
		7694	7931 448c DC01 movw r26,r24
		7695	7932 448e CB01 movw r24,r22
		7696	7933 4490 BC01 movw r22,r24
		7697	7934 4492 CD01 movw r24,r26
		7698	7935 4494 28EF ldi r18,lo8(11000)
		7699	7936 4496 3AE2 ldi r19,hi8(11000)
		7700	7937 4498 40E0 ldi r20,hlo8(11000)
		7701	7938 449a 50E0 ldi r21,hhi8(11000)
		7702	7939 449c 0E94 0000 call __divmodsi4
		7703	7940 44a0 2901 movw r4,r18
		7704	7941 44a2 00C0 rjmp .L636
		7705	7942 .L635:
		7706	7943 44a4 4424 clr r4
		7707	7944 44a6 5524 clr r5
		7708	7945 .L636:
		7709	7946 44a8 8091 0000 lds r24,TrimNick
		7710	7947 44ac 9091 0000 lds r25,(TrimNick)+1
		7711	7948 44b0 893C cpi r24,201
		7712	7949 44b2 9105 cpc r25,__zero_reg__
		7713	7950 44b4 04F0 brlt .L637
		7714	7951 44b6 88EC ldi r24,lo8(200)
		7715	7952 44b8 90E0 ldi r25,hi8(200)
		7716	7953 44ba 00C0 rjmp .L894
		7717	7954 .L637:
		7718	7955 44bc 8853 subi r24,lo8(-200)
		7719	7956 44be 9F4F sbci r25,hi8(-200)
		7720	7957 44c0 04F4 brge .L638
		7721	7958 44c2 88E3 ldi r24,lo8(-200)
		7722	7959 44c4 9FEF ldi r25,hi8(-200)
		7723	7960 .L894:
		7724	7961 44c6 9093 0000 sts (TrimNick)+1,r25
		7725	7962 44ca 8093 0000 sts TrimNick,r24
		7726	7963 .L638:
		7727	7964 44ce 8091 0000 lds r24,TrimRoll
		7728	7965 44d2 9091 0000 lds r25,(TrimRoll)+1
		7729	7966 44d6 893C cpi r24,201
		7730	7967 44d8 9105 cpc r25,__zero_reg__
		7731	7968 44da 04F0 brlt .L640
		7732	7969 44dc 88EC ldi r24,lo8(200)
		7733	7970 44de 90E0 ldi r25,hi8(200)
		7734	7971 44e0 00C0 rjmp .L895
		7735	7972 .L640:
		7736	7973 44e2 8853 subi r24,lo8(-200)
		7737	7974 44e4 9F4F sbci r25,hi8(-200)
		7738	7975 44e6 04F4 brge .L641
		7739	7976 44e8 88E3 ldi r24,lo8(-200)
		7740	7977 44ea 9FEF ldi r25,hi8(-200)
		7741	7978 .L895:
		7742	7979 44ec 9093 0000 sts (TrimRoll)+1,r25
		7743	7980 44f0 8093 0000 sts TrimRoll,r24
		7744	7981 .L641:
		7745	7982 44f4 8091 0000 lds r24,MesswertNick
		7746	7983 44f8 9091 0000 lds r25,(MesswertNick)+1
		7747	7984 44fc AA27 clr r26
		7748	7985 44fe 97FD sbrc r25,7
		7749	7986 4500 A095 com r26
		7750	7987 4502 BA2F mov r27,r26
		7751	7988 4504 2091 0000 lds r18,GyroFaktor
		7752	7989 4508 A22E mov r10,r18
		7753	7990 450a BB24 clr r11
		7754	7991 450c CC24 clr r12
		7755	7992 450e DD24 clr r13
		7756	7993 4510 BC01 movw r22,r24
		7757	7994 4512 CD01 movw r24,r26
		7758	7995 4514 A601 movw r20,r12
		7759	7996 4516 9501 movw r18,r10
		7760	7997 4518 0E94 0000 call __mulsi3
		7761	7998 451c 9B01 movw r18,r22
		7762	7999 451e AC01 movw r20,r24
		7763	8000 4520 8091 0000 lds r24,TrimNick
		7764	8001 4524 9091 0000 lds r25,(TrimNick)+1
		7765	8002 4528 AA27 clr r26
		7766	8003 452a 97FD sbrc r25,7
		7767	8004 452c A095 com r26
		7768	8005 452e BA2F mov r27,r26
		7769	8006 4530 E7E0 ldi r30,7
		7770	8007 4532 880F 1: lsl r24
		7771	8008 4534 991F rol r25
		7772	8009 4536 AA1F rol r26
		7773	8010 4538 BB1F rol r27
		7774	8011 453a EA95 dec r30
		7775	8012 453c 01F4 brne 1b
		7776	8013 453e 280F add r18,r24
		7777	8014 4540 391F adc r19,r25
		7778	8015 4542 4A1F adc r20,r26
		7779	8016 4544 5B1F adc r21,r27
		7780	8017 4546 57FF sbrs r21,7
		7781	8018 4548 00C0 rjmp .L643
		7782	8019 454a 215C subi r18,lo8(-(63))
		7783	8020 454c 3F4F sbci r19,hi8(-(63))
		7784	8021 454e 4F4F sbci r20,hlo8(-(63))
		7785	8022 4550 5F4F sbci r21,hhi8(-(63))
		7786	8023 .L643:
		7787	8024 4552 76E0 ldi r23,6
		7788	8025 4554 5595 1: asr r21
		7789	8026 4556 4795 ror r20
		7790	8027 4558 3795 ror r19
		7791	8028 455a 2795 ror r18
		7792	8029 455c 7A95 dec r23
		7793	8030 455e 01F4 brne 1b
		7794	8031 4560 8301 movw r16,r6
		7795	8032 4562 020F add r16,r18
		7796	8033 4564 131F adc r17,r19
		7797	8034 4566 1093 0000 sts (MesswertNick)+1,r17
		7798	8035 456a 0093 0000 sts MesswertNick,r16
		7799	8036 456e 8091 0000 lds r24,MesswertRoll
		7800	8037 4572 9091 0000 lds r25,(MesswertRoll)+1
		7801	8038 4576 AA27 clr r26
		7802	8039 4578 97FD sbrc r25,7
		7803	8040 457a A095 com r26
		7804	8041 457c BA2F mov r27,r26
		7805	8042 457e BC01 movw r22,r24
		7806	8043 4580 CD01 movw r24,r26
		7807	8044 4582 A601 movw r20,r12
		7808	8045 4584 9501 movw r18,r10
		7809	8046 4586 0E94 0000 call __mulsi3
		7810	8047 458a 9B01 movw r18,r22
		7811	8048 458c AC01 movw r20,r24
		7812	8049 458e 8091 0000 lds r24,TrimRoll
		7813	8050 4592 9091 0000 lds r25,(TrimRoll)+1
		7814	8051 4596 AA27 clr r26
		7815	8052 4598 97FD sbrc r25,7
		7816	8053 459a A095 com r26
		7817	8054 459c BA2F mov r27,r26
		7818	8055 459e 67E0 ldi r22,7
		7819	8056 45a0 880F 1: lsl r24
		7820	8057 45a2 991F rol r25
		7821	8058 45a4 AA1F rol r26
		7822	8059 45a6 BB1F rol r27
		7823	8060 45a8 6A95 dec r22
		7824	8061 45aa 01F4 brne 1b
		7825	8062 45ac 280F add r18,r24
		7826	8063 45ae 391F adc r19,r25
		7827	8064 45b0 4A1F adc r20,r26
		7828	8065 45b2 5B1F adc r21,r27
		7829	8066 45b4 57FF sbrs r21,7
		7830	8067 45b6 00C0 rjmp .L644
		7831	8068 45b8 215C subi r18,lo8(-(63))
		7832	8069 45ba 3F4F sbci r19,hi8(-(63))
		7833	8070 45bc 4F4F sbci r20,hlo8(-(63))
		7834	8071 45be 5F4F sbci r21,hhi8(-(63))
		7835	8072 .L644:
		7836	8073 45c0 F6E0 ldi r31,6
		7837	8074 45c2 5595 1: asr r21
		7838	8075 45c4 4795 ror r20
		7839	8076 45c6 3795 ror r19
		7840	8077 45c8 2795 ror r18
		7841	8078 45ca FA95 dec r31
		7842	8079 45cc 01F4 brne 1b
		7843	8080 45ce 4201 movw r8,r4
		7844	8081 45d0 820E add r8,r18
		7845	8082 45d2 931E adc r9,r19
		7846	8083 45d4 9092 0000 sts (MesswertRoll)+1,r9
		7847	8084 45d8 8092 0000 sts MesswertRoll,r8
		7848	8085 45dc 8091 0000 lds r24,MesswertGier
		7849	8086 45e0 9091 0000 lds r25,(MesswertGier)+1
		7850	8087 45e4 880F add r24,r24
		7851	8088 45e6 991F adc r25,r25
		7852	8089 45e8 AA27 clr r26
		7853	8090 45ea 97FD sbrc r25,7
		7854	8091 45ec A095 com r26
		7855	8092 45ee BA2F mov r27,r26
		7856	8093 45f0 2091 0000 lds r18,GyroFaktorGier
		7857	8094 45f4 3327 clr r19
		7858	8095 45f6 4427 clr r20
		7859	8096 45f8 5527 clr r21
		7860	8097 45fa BC01 movw r22,r24
		7861	8098 45fc CD01 movw r24,r26
		7862	8099 45fe 0E94 0000 call __mulsi3
		7863	8100 4602 5B01 movw r10,r22
		7864	8101 4604 6C01 movw r12,r24
		7865	8102 4606 97FF sbrs r25,7
		7866	8103 4608 00C0 rjmp .L645
		7867	8104 460a 2FE3 ldi r18,lo8(63)
		7868	8105 460c 30E0 ldi r19,hi8(63)
		7869	8106 460e 40E0 ldi r20,hlo8(63)
		7870	8107 4610 50E0 ldi r21,hhi8(63)
		7871	8108 4612 A20E add r10,r18
		7872	8109 4614 B31E adc r11,r19
		7873	8110 4616 C41E adc r12,r20
		7874	8111 4618 D51E adc r13,r21
		7875	8112 .L645:
		7876	8113 461a E6E0 ldi r30,6
		7877	8114 461c D594 1: asr r13
		7878	8115 461e C794 ror r12
		7879	8116 4620 B794 ror r11
		7880	8117 4622 A794 ror r10
		7881	8118 4624 EA95 dec r30
		7882	8119 4626 01F4 brne 1b
		7883	8120 4628 8091 0000 lds r24,IntegralFaktorGier
		7884	8121 462c 282F mov r18,r24
		7885	8122 462e 3327 clr r19
		7886	8123 4630 4427 clr r20
		7887	8124 4632 5527 clr r21
		7888	8125 4634 8091 0000 lds r24,Integral_Gier
		7889	8126 4638 9091 0000 lds r25,(Integral_Gier)+1
		7890	8127 463c A091 0000 lds r26,(Integral_Gier)+2
		7891	8128 4640 B091 0000 lds r27,(Integral_Gier)+3
		7892	8129 4644 BC01 movw r22,r24
		7893	8130 4646 CD01 movw r24,r26
		7894	8131 4648 0E94 0000 call __mulsi3
		7895	8132 464c DC01 movw r26,r24
		7896	8133 464e CB01 movw r24,r22
		7897	8134 4650 BC01 movw r22,r24
		7898	8135 4652 CD01 movw r24,r26
		7899	8136 4654 20EF ldi r18,lo8(22000)
		7900	8137 4656 35E5 ldi r19,hi8(22000)
		7901	8138 4658 40E0 ldi r20,hlo8(22000)
		7902	8139 465a 50E0 ldi r21,hhi8(22000)
		7903	8140 465c 0E94 0000 call __divmodsi4
		7904	8141 4660 B501 movw r22,r10
		7905	8142 4662 620F add r22,r18
		7906	8143 4664 731F adc r23,r19
		7907	8144 4666 7093 0000 sts (MesswertGier)+1,r23
		7908	8145 466a 6093 0000 sts MesswertGier,r22
		7909	8146 466e 0150 subi r16,lo8(4097)
		7910	8147 4670 1041 sbci r17,hi8(4097)
		7911	8148 4672 04F0 brlt .L646
		7912	8149 4674 80E0 ldi r24,lo8(4096)
		7913	8150 4676 90E1 ldi r25,hi8(4096)
		7914	8151 4678 9093 0000 sts (MesswertNick)+1,r25
		7915	8152 467c 8093 0000 sts MesswertNick,r24
		7916	8153 .L646:
		7917	8154 4680 8091 0000 lds r24,MesswertNick
		7918	8155 4684 9091 0000 lds r25,(MesswertNick)+1
		7919	8156 4688 8050 subi r24,lo8(-4096)
		7920	8157 468a 904F sbci r25,hi8(-4096)
		7921	8158 468c 04F4 brge .L647
		7922	8159 468e 80E0 ldi r24,lo8(-4096)
		7923	8160 4690 90EF ldi r25,hi8(-4096)
		7924	8161 4692 9093 0000 sts (MesswertNick)+1,r25
		7925	8162 4696 8093 0000 sts MesswertNick,r24
		7926	8163 .L647:
		7927	8164 469a 51E0 ldi r21,lo8(4097)
		7928	8165 469c 8516 cp r8,r21
		7929	8166 469e 50E1 ldi r21,hi8(4097)
		7930	8167 46a0 9506 cpc r9,r21
		7931	8168 46a2 04F0 brlt .L648
		7932	8169 46a4 80E0 ldi r24,lo8(4096)
		7933	8170 46a6 90E1 ldi r25,hi8(4096)
		7934	8171 46a8 9093 0000 sts (MesswertRoll)+1,r25
		7935	8172 46ac 8093 0000 sts MesswertRoll,r24
		7936	8173 .L648:
		7937	8174 46b0 8091 0000 lds r24,MesswertRoll
		7938	8175 46b4 9091 0000 lds r25,(MesswertRoll)+1
		7939	8176 46b8 8050 subi r24,lo8(-4096)
		7940	8177 46ba 904F sbci r25,hi8(-4096)
		7941	8178 46bc 04F4 brge .L649
		7942	8179 46be 80E0 ldi r24,lo8(-4096)
		7943	8180 46c0 90EF ldi r25,hi8(-4096)
		7944	8181 46c2 9093 0000 sts (MesswertRoll)+1,r25
		7945	8182 46c6 8093 0000 sts MesswertRoll,r24
		7946	8183 .L649:
		7947	8184 46ca 6150 subi r22,lo8(4097)
		7948	8185 46cc 7041 sbci r23,hi8(4097)
		7949	8186 46ce 04F0 brlt .L650
		7950	8187 46d0 80E0 ldi r24,lo8(4096)
		7951	8188 46d2 90E1 ldi r25,hi8(4096)
		7952	8189 46d4 9093 0000 sts (MesswertGier)+1,r25
		7953	8190 46d8 8093 0000 sts MesswertGier,r24
		7954	8191 .L650:
		7955	8192 46dc 8091 0000 lds r24,MesswertGier
		7956	8193 46e0 9091 0000 lds r25,(MesswertGier)+1
		7957	8194 46e4 8050 subi r24,lo8(-4096)
		7958	8195 46e6 904F sbci r25,hi8(-4096)
		7959	8196 46e8 04F4 brge .L651
		7960	8197 46ea 80E0 ldi r24,lo8(-4096)
		7961	8198 46ec 90EF ldi r25,hi8(-4096)
		7962	8199 46ee 9093 0000 sts (MesswertGier)+1,r25
		7963	8200 46f2 8093 0000 sts MesswertGier,r24
		7964	8201 .L651:
		7965	8202 46f6 8091 0000 lds r24,BattLowVoltageWarning
		7966	8203 46fa 482F mov r20,r24
		7967	8204 46fc 5527 clr r21
		7968	8205 46fe 8091 0000 lds r24,UBat
		7969	8206 4702 9091 0000 lds r25,(UBat)+1
		7970	8207 4706 4817 cp r20,r24
		7971	8208 4708 5907 cpc r21,r25
		7972	8209 470a 04F4 brge .L652
		7973	8210 470c 2091 0000 lds r18,UBat
		7974	8211 4710 3091 0000 lds r19,(UBat)+1
		7975	8212 4714 0981 ldd r16,Y+1
		7976	8213 4716 1A81 ldd r17,Y+2
		7977	8214 4718 049F mul r16,r20
		7978	8215 471a C001 movw r24,r0
		7979	8216 471c 059F mul r16,r21
		7980	8217 471e 900D add r25,r0
		7981	8218 4720 149F mul r17,r20
		7982	8219 4722 900D add r25,r0
		7983	8220 4724 1124 clr r1
		7984	8221 4726 B901 movw r22,r18
		7985	8222 4728 0E94 0000 call __udivmodhi4
		7986	8223 472c 7A83 std Y+2,r23
		7987	8224 472e 6983 std Y+1,r22
		7988	8225 .L652:
		7989	8226 4730 2981 ldd r18,Y+1
		7990	8227 4732 3A81 ldd r19,Y+2
		7991	8228 4734 220F lsl r18
		7992	8229 4736 331F rol r19
		7993	8230 4738 220F lsl r18
		7994	8231 473a 331F rol r19
		7995	8232 473c 3A83 std Y+2,r19
		7996	8233 473e 2983 std Y+1,r18
		7997	8234 4740 4091 0000 lds r20,Parameter_GlobalConfig
		7998	8235 4744 40FD sbrc r20,0
		7999	8236 4746 00C0 rjmp .+4
		8000	8237 4748 0C94 0000 jmp .L653
		8001	8238 474c EE20 tst r14
		8002	8239 474e 01F0 breq .+4
		8003	8240 4750 0C94 0000 jmp .L653
		8004	8241 4754 FF20 tst r15
		8005	8242 4756 01F0 breq .+4
		8006	8243 4758 0C94 0000 jmp .L653
		8007	8244 475c 00E0 ldi r16,lo8(0)
		8008	8245 475e 10E0 ldi r17,hi8(0)
		8009	8246 4760 4801 movw r8,r16
		8010	8247 4762 8091 0000 lds r24,HoverGas
		8011	8248 4766 9091 0000 lds r25,(HoverGas)+1
		8012	8249 476a 9093 0000 sts (DebugOut+44)+1,r25
		8013	8250 476e 8093 0000 sts DebugOut+44,r24
		8014	8251 4772 2091 0000 lds r18,BaroExpandActive
		8015	8252 4776 3091 0000 lds r19,(BaroExpandActive)+1
		8016	8253 477a 2115 cp r18,__zero_reg__
		8017	8254 477c 3105 cpc r19,__zero_reg__
		8018	8255 477e 01F0 breq .+2
		8019	8256 4780 00C0 rjmp .L654
		8020	8257 4782 8091 0000 lds r24,MessLuftdruck
		8021	8258 4786 9091 0000 lds r25,(MessLuftdruck)+1
		8022	8259 478a 8959 subi r24,lo8(921)
		8023	8260 478c 9340 sbci r25,hi8(921)
		8024	8261 478e 00F0 brlo .L655
		8025	8262 4790 87B5 in r24,71-0x20
		8026	8263 4792 803F cpi r24,lo8(-16)
		8027	8264 4794 00F4 brsh .L656
		8028	8265 4796 8091 0000 lds r24,ExpandBaro
		8029	8266 479a 8150 subi r24,lo8(-(-1))
		8030	8267 479c 00C0 rjmp .L896
		8031	8268 .L656:
		8032	8269 479e 81E0 ldi r24,lo8(1)
		8033	8270 47a0 8093 0000 sts BaroAtLowerLimit.26,r24
		8034	8271 47a4 00C0 rjmp .L663
		8035	8272 .L655:
		8036	8273 47a6 8091 0000 lds r24,MessLuftdruck
		8037	8274 47aa 9091 0000 lds r25,(MessLuftdruck)+1
		8038	8275 47ae 8436 cpi r24,100
		8039	8276 47b0 9105 cpc r25,__zero_reg__
		8040	8277 47b2 00F4 brsh .L659
		8041	8278 47b4 87B5 in r24,71-0x20
		8042	8279 47b6 8031 cpi r24,lo8(16)
		8043	8280 47b8 00F0 brlo .L660
		8044	8281 47ba 8091 0000 lds r24,ExpandBaro
		8045	8282 47be 8F5F subi r24,lo8(-(1))
		8046	8283 .L896:
		8047	8284 47c0 8093 0000 sts ExpandBaro,r24
		8048	8285 47c4 9FE0 ldi r25,lo8(15)
		8049	8286 47c6 8902 muls r24,r25
		8050	8287 47c8 9001 movw r18,r0
		8051	8288 47ca 1124 clr r1
		8052	8289 47cc 8091 0000 lds r24,DruckOffsetSetting
		8053	8290 47d0 821B sub r24,r18
		8054	8291 47d2 87BD out 71-0x20,r24
		8055	8292 47d4 8CE2 ldi r24,lo8(300)
		8056	8293 47d6 91E0 ldi r25,hi8(300)
		8057	8294 47d8 9093 0000 sts (beeptime)+1,r25
		8058	8295 47dc 8093 0000 sts beeptime,r24
		8059	8296 47e0 8EE5 ldi r24,lo8(350)
		8060	8297 47e2 91E0 ldi r25,hi8(350)
		8061	8298 47e4 9093 0000 sts (BaroExpandActive)+1,r25
		8062	8299 47e8 8093 0000 sts BaroExpandActive,r24
		8063	8300 47ec 00C0 rjmp .L663
		8064	8301 .L660:
		8065	8302 47ee 81E0 ldi r24,lo8(1)
		8066	8303 47f0 8093 0000 sts BaroAtUpperLimit.25,r24
		8067	8304 47f4 00C0 rjmp .L663
		8068	8305 .L659:
		8069	8306 47f6 F092 0000 sts BaroAtUpperLimit.25,r15
		8070	8307 47fa F092 0000 sts BaroAtLowerLimit.26,r15
		8071	8308 47fe 00C0 rjmp .L663
		8072	8309 .L654:
		8073	8310 4800 8091 0000 lds r24,HoehenWert
		8074	8311 4804 9091 0000 lds r25,(HoehenWert)+1
		8075	8312 4808 A091 0000 lds r26,(HoehenWert)+2
		8076	8313 480c B091 0000 lds r27,(HoehenWert)+3
		8077	8314 4810 64E0 ldi r22,4
		8078	8315 4812 880F 1: lsl r24
		8079	8316 4814 991F rol r25
		8080	8317 4816 AA1F rol r26
		8081	8318 4818 BB1F rol r27
		8082	8319 481a 6A95 dec r22
		8083	8320 481c 01F4 brne 1b
		8084	8321 481e 8093 0000 sts SummenHoehe,r24
		8085	8322 4822 9093 0000 sts (SummenHoehe)+1,r25
		8086	8323 4826 A093 0000 sts (SummenHoehe)+2,r26
		8087	8324 482a B093 0000 sts (SummenHoehe)+3,r27
		8088	8325 482e 1093 0000 sts (VarioMeter)+1,r17
		8089	8326 4832 0093 0000 sts VarioMeter,r16
		8090	8327 4836 2150 subi r18,lo8(-(-1))
		8091	8328 4838 3040 sbci r19,hi8(-(-1))
		8092	8329 483a 3093 0000 sts (BaroExpandActive)+1,r19
		8093	8330 483e 2093 0000 sts BaroExpandActive,r18
		8094	8331 .L663:
		8095	8332 4842 2091 0000 lds r18,Parameter_HoehenSchalter
		8096	8333 4846 41FF sbrs r20,1
		8097	8334 4848 00C0 rjmp .L664
		8098	8335 484a 2233 cpi r18,lo8(50)
		8099	8336 484c 00F4 brsh .L665
		8100	8337 484e 8091 0000 lds r24,delay.24
		8101	8338 4852 8150 subi r24,lo8(-(-1))
		8102	8339 4854 8093 0000 sts delay.24,r24
		8103	8340 4858 8F3F cpi r24,lo8(-1)
		8104	8341 485a 01F0 breq .+2
		8105	8342 485c 00C0 rjmp .L671
		8106	8343 485e 8091 0000 lds r24,SpeakHoTT
		8107	8344 4862 8823 tst r24
		8108	8345 4864 01F4 brne .L667
		8109	8346 4866 8091 0000 lds r24,HoehenReglerAktiv
		8110	8347 486a 8823 tst r24
		8111	8348 486c 01F0 breq .L667
		8112	8349 486e 88E2 ldi r24,lo8(40)
		8113	8350 4870 8093 0000 sts SpeakHoTT,r24
		8114	8351 .L667:
		8115	8352 4874 1092 0000 sts HoehenReglerAktiv,__zero_reg__
		8116	8353 4878 8091 0000 lds r24,HoehenWert
		8117	8354 487c 9091 0000 lds r25,(HoehenWert)+1
		8118	8355 4880 A091 0000 lds r26,(HoehenWert)+2
		8119	8356 4884 B091 0000 lds r27,(HoehenWert)+3
		8120	8357 4888 8093 0000 sts SollHoehe,r24
		8121	8358 488c 9093 0000 sts (SollHoehe)+1,r25
		8122	8359 4890 A093 0000 sts (SollHoehe)+2,r26
		8123	8360 4894 B093 0000 sts (SollHoehe)+3,r27
		8124	8361 4898 81E0 ldi r24,lo8(1)
		8125	8362 489a 8093 0000 sts delay.24,r24
		8126	8363 489e 00C0 rjmp .L671
		8127	8364 .L665:
		8128	8365 48a0 2734 cpi r18,lo8(71)
		8129	8366 48a2 00F0 brlo .L671
		8130	8367 48a4 8091 0000 lds r24,SpeakHoTT
		8131	8368 48a8 8823 tst r24
		8132	8369 48aa 01F4 brne .L670
		8133	8370 48ac 8091 0000 lds r24,HoehenReglerAktiv
		8134	8371 48b0 8823 tst r24
		8135	8372 48b2 01F4 brne .L670
		8136	8373 48b4 87E2 ldi r24,lo8(39)
		8137	8374 48b6 8093 0000 sts SpeakHoTT,r24
		8138	8375 .L670:
		8139	8376 48ba 88EC ldi r24,lo8(-56)
		8140	8377 48bc 8093 0000 sts delay.24,r24
		8141	8378 48c0 00C0 rjmp .L897
		8142	8379 .L664:
		8143	8380 48c2 8091 0000 lds r24,ExternHoehenValue
		8144	8381 48c6 9091 0000 lds r25,(ExternHoehenValue)+1
		8145	8382 48ca 820F add r24,r18
		8146	8383 48cc 911D adc r25,__zero_reg__
		8147	8384 48ce 2091 0000 lds r18,EE_Parameter+18
		8148	8385 48d2 3327 clr r19
		8149	8386 48d4 829F mul r24,r18
		8150	8387 48d6 A001 movw r20,r0
		8151	8388 48d8 839F mul r24,r19
		8152	8389 48da 500D add r21,r0
		8153	8390 48dc 929F mul r25,r18
		8154	8391 48de 500D add r21,r0
		8155	8392 48e0 1124 clr r1
		8156	8393 48e2 CA01 movw r24,r20
		8157	8394 48e4 AA27 clr r26
		8158	8395 48e6 97FD sbrc r25,7
		8159	8396 48e8 A095 com r26
		8160	8397 48ea BA2F mov r27,r26
		8161	8398 48ec 8093 0000 sts SollHoehe,r24
		8162	8399 48f0 9093 0000 sts (SollHoehe)+1,r25
		8163	8400 48f4 A093 0000 sts (SollHoehe)+2,r26
		8164	8401 48f8 B093 0000 sts (SollHoehe)+3,r27
		8165	8402 .L897:
		8166	8403 48fc 81E0 ldi r24,lo8(1)
		8167	8404 48fe 8093 0000 sts HoehenReglerAktiv,r24
		8168	8405 .L671:
		8169	8406 4902 8091 0000 lds r24,IntegralNick
		8170	8407 4906 9091 0000 lds r25,(IntegralNick)+1
		8171	8408 490a A091 0000 lds r26,(IntegralNick)+2
		8172	8409 490e B091 0000 lds r27,(IntegralNick)+3
		8173	8410 4912 E090 0000 lds r14,GIER_GRAD_FAKTOR
		8174	8411 4916 F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1
		8175	8412 491a 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2
		8176	8413 491e 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3
		8177	8414 4922 BC01 movw r22,r24
		8178	8415 4924 CD01 movw r24,r26
		8179	8416 4926 A801 movw r20,r16
		8180	8417 4928 9701 movw r18,r14
		8181	8418 492a 0E94 0000 call __divmodsi4
		8182	8419 492e 5901 movw r10,r18
		8183	8420 4930 6A01 movw r12,r20
		8184	8421 4932 8091 0000 lds r24,IntegralRoll
		8185	8422 4936 9091 0000 lds r25,(IntegralRoll)+1
		8186	8423 493a A091 0000 lds r26,(IntegralRoll)+2
		8187	8424 493e B091 0000 lds r27,(IntegralRoll)+3
		8188	8425 4942 BC01 movw r22,r24
		8189	8426 4944 CD01 movw r24,r26
		8190	8427 4946 A801 movw r20,r16
		8191	8428 4948 9701 movw r18,r14
		8192	8429 494a 0E94 0000 call __divmodsi4
		8193	8430 494e B901 movw r22,r18
		8194	8431 4950 C501 movw r24,r10
		8195	8432 4952 0E94 0000 call ihypot
		8196	8433 4956 5C01 movw r10,r24
		8197	8434 4958 CC97 sbiw r24,60
		8198	8435 495a 04F0 brlt .L672
		8199	8436 495c 5CE3 ldi r21,lo8(60)
		8200	8437 495e A52E mov r10,r21
		8201	8438 4960 B12C mov r11,__zero_reg__
		8202	8439 .L672:
		8203	8440 4962 C501 movw r24,r10
		8204	8441 4964 0E94 0000 call c_cos_8192
		8205	8442 4968 5C01 movw r10,r24
		8206	8443 496a 80E2 ldi r24,lo8(32)
		8207	8444 496c 8093 0000 sts VarioCharacter,r24
		8208	8445 4970 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__
		8209	8446 4974 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__
		8210	8447 4978 8091 0000 lds r24,HoehenReglerAktiv
		8211	8448 497c 8823 tst r24
		8212	8449 497e 01F4 brne .+2
		8213	8450 4980 00C0 rjmp .L673
		8214	8451 4982 8091 0000 lds r24,FC_StatusFlags
		8215	8452 4986 9927 clr r25
		8216	8453 4988 9C01 movw r18,r24
		8217	8454 498a 2071 andi r18,lo8(16)
		8218	8455 498c 3070 andi r19,hi8(16)
		8219	8456 498e 84FD sbrc r24,4
		8220	8457 4990 00C0 rjmp .L673
		8221	8458 4992 8091 0000 lds r24,FC_StatusFlags2
		8222	8459 4996 8260 ori r24,lo8(2)
		8223	8460 4998 8093 0000 sts FC_StatusFlags2,r24
		8224	8461 499c 7091 0000 lds r23,Parameter_ExtraConfig
		8225	8462 49a0 872F mov r24,r23
		8226	8463 49a2 9927 clr r25
		8227	8464 49a4 41E0 ldi r20,lo8(1)
		8228	8465 49a6 C42E mov r12,r20
		8229	8466 49a8 D12C mov r13,__zero_reg__
		8230	8467 49aa C822 and r12,r24
		8231	8468 49ac D922 and r13,r25
		8232	8469 49ae 80FD sbrc r24,0
		8233	8470 49b0 00C0 rjmp .L675
		8234	8471 49b2 8091 0000 lds r24,Parameter_GlobalConfig
		8235	8472 49b6 81FD sbrc r24,1
		8236	8473 49b8 00C0 rjmp .L674
		8237	8474 .L675:
		8238	8475 49ba C980 ldd r12,Y+1
		8239	8476 49bc DA80 ldd r13,Y+2
		8240	8477 49be 3093 0000 sts (HeightTrimming.21)+1,r19
		8241	8478 49c2 2093 0000 sts HeightTrimming.21,r18
		8242	8479 49c6 3093 0000 sts (AltitudeSetpointTrimming)+1,r19
		8243	8480 49ca 2093 0000 sts AltitudeSetpointTrimming,r18
		8244	8481 49ce 8091 0000 lds r24,FC_StatusFlags
		8245	8482 49d2 806C ori r24,lo8(-64)
		8246	8483 49d4 8093 0000 sts FC_StatusFlags,r24
		8247	8484 49d8 00C0 rjmp .L676
		8248	8485 .L674:
		8249	8486 49da 8091 0000 lds r24,FC_StatusFlags
		8250	8487 49de 81FF sbrs r24,1
		8251	8488 49e0 00C0 rjmp .L677
		8252	8489 49e2 0091 0000 lds r16,StickGasHover
		8253	8490 49e6 1091 0000 lds r17,(StickGasHover)+1
		8254	8491 49ea C801 movw r24,r16
		8255	8492 49ec 0F96 adiw r24,15
		8256	8493 49ee 2090 0000 lds r2,StickGas
		8257	8494 49f2 3090 0000 lds r3,(StickGas)+1
		8258	8495 49f6 8215 cp r24,r2
		8259	8496 49f8 9305 cpc r25,r3
		8260	8497 49fa 04F0 brlt .+2
		8261	8498 49fc 00C0 rjmp .L678
		8262	8499 49fe 8091 0000 lds r24,BaroAtUpperLimit.25
		8263	8500 4a02 8823 tst r24
		8264	8501 4a04 01F0 breq .+2
		8265	8502 4a06 00C0 rjmp .L678
		8266	8503 4a08 8091 0000 lds r24,FC_StatusFlags
		8267	8504 4a0c 87FF sbrs r24,7
		8268	8505 4a0e 00C0 rjmp .L679
		8269	8506 4a10 8091 0000 lds r24,FC_StatusFlags
		8270	8507 4a14 8F77 andi r24,lo8(127)
		8271	8508 4a16 8093 0000 sts FC_StatusFlags,r24
		8272	8509 4a1a 8091 0000 lds r24,HoehenWert
		8273	8510 4a1e 9091 0000 lds r25,(HoehenWert)+1
		8274	8511 4a22 A091 0000 lds r26,(HoehenWert)+2
		8275	8512 4a26 B091 0000 lds r27,(HoehenWert)+3
		8276	8513 4a2a 8093 0000 sts SollHoehe,r24
		8277	8514 4a2e 9093 0000 sts (SollHoehe)+1,r25
		8278	8515 4a32 A093 0000 sts (SollHoehe)+2,r26
		8279	8516 4a36 B093 0000 sts (SollHoehe)+3,r27
		8280	8517 .L679:
		8281	8518 4a3a 8091 0000 lds r24,FC_StatusFlags
		8282	8519 4a3e 8064 ori r24,lo8(64)
		8283	8520 4a40 8093 0000 sts FC_StatusFlags,r24
		8284	8521 4a44 E090 0000 lds r14,Parameter_MaximumAltitude
		8285	8522 4a48 EE20 tst r14
		8286	8523 4a4a 01F0 breq .L680
		8287	8524 4a4c 8091 0000 lds r24,SollHoehe
		8288	8525 4a50 9091 0000 lds r25,(SollHoehe)+1
		8289	8526 4a54 A091 0000 lds r26,(SollHoehe)+2
		8290	8527 4a58 B091 0000 lds r27,(SollHoehe)+3
		8291	8528 4a5c BC01 movw r22,r24
		8292	8529 4a5e CD01 movw r24,r26
		8293	8530 4a60 24E6 ldi r18,lo8(100)
		8294	8531 4a62 30E0 ldi r19,hi8(100)
		8295	8532 4a64 40E0 ldi r20,hlo8(100)
		8296	8533 4a66 50E0 ldi r21,hhi8(100)
		8297	8534 4a68 0E94 0000 call __divmodsi4
		8298	8535 4a6c 8E2D mov r24,r14
		8299	8536 4a6e 9927 clr r25
		8300	8537 4a70 AA27 clr r26
		8301	8538 4a72 BB27 clr r27
		8302	8539 4a74 8217 cp r24,r18
		8303	8540 4a76 9307 cpc r25,r19
		8304	8541 4a78 A407 cpc r26,r20
		8305	8542 4a7a B507 cpc r27,r21
		8306	8543 4a7c 04F4 brge .L680
		8307	8544 4a7e D092 0000 sts (AltitudeSetpointTrimming)+1,r13
		8308	8545 4a82 C092 0000 sts AltitudeSetpointTrimming,r12
		8309	8546 4a86 00C0 rjmp .L681
		8310	8547 .L680:
		8311	8548 4a88 C101 movw r24,r2
		8312	8549 4a8a 801B sub r24,r16
		8313	8550 4a8c 910B sbc r25,r17
		8314	8551 4a8e 0F97 sbiw r24,15
		8315	8552 4a90 97FF sbrs r25,7
		8316	8553 4a92 00C0 rjmp .L682
		8317	8554 4a94 9095 com r25
		8318	8555 4a96 8195 neg r24
		8319	8556 4a98 9F4F sbci r25,lo8(-1)
		8320	8557 .L682:
		8321	8558 4a9a 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8322	8559 4a9e 8093 0000 sts AltitudeSetpointTrimming,r24
		8323	8560 4aa2 8BE2 ldi r24,lo8(43)
		8324	8561 4aa4 8093 0000 sts VarioCharacter,r24
		8325	8562 .L681:
		8326	8563 4aa8 1092 0000 sts WaypointTrimming,__zero_reg__
		8327	8564 4aac 00C0 rjmp .L683
		8328	8565 .L678:
		8329	8566 4aae C801 movw r24,r16
		8330	8567 4ab0 0F97 sbiw r24,15
		8331	8568 4ab2 2816 cp r2,r24
		8332	8569 4ab4 3906 cpc r3,r25
		8333	8570 4ab6 04F4 brge .L684
		8334	8571 4ab8 2091 0000 lds r18,BaroAtLowerLimit.26
		8335	8572 4abc 2223 tst r18
		8336	8573 4abe 01F4 brne .L684
		8337	8574 4ac0 8091 0000 lds r24,FC_StatusFlags
		8338	8575 4ac4 86FF sbrs r24,6
		8339	8576 4ac6 00C0 rjmp .L685
		8340	8577 4ac8 8091 0000 lds r24,FC_StatusFlags
		8341	8578 4acc 8F7B andi r24,lo8(-65)
		8342	8579 4ace 8093 0000 sts FC_StatusFlags,r24
		8343	8580 4ad2 8091 0000 lds r24,HoehenWert
		8344	8581 4ad6 9091 0000 lds r25,(HoehenWert)+1
		8345	8582 4ada A091 0000 lds r26,(HoehenWert)+2
		8346	8583 4ade B091 0000 lds r27,(HoehenWert)+3
		8347	8584 4ae2 8093 0000 sts SollHoehe,r24
		8348	8585 4ae6 9093 0000 sts (SollHoehe)+1,r25
		8349	8586 4aea A093 0000 sts (SollHoehe)+2,r26
		8350	8587 4aee B093 0000 sts (SollHoehe)+3,r27
		8351	8588 .L685:
		8352	8589 4af2 8091 0000 lds r24,FC_StatusFlags
		8353	8590 4af6 8068 ori r24,lo8(-128)
		8354	8591 4af8 8093 0000 sts FC_StatusFlags,r24
		8355	8592 4afc C101 movw r24,r2
		8356	8593 4afe 801B sub r24,r16
		8357	8594 4b00 910B sbc r25,r17
		8358	8595 4b02 0F96 adiw r24,15
		8359	8596 4b04 97FF sbrs r25,7
		8360	8597 4b06 00C0 rjmp .L686
		8361	8598 4b08 9095 com r25
		8362	8599 4b0a 8195 neg r24
		8363	8600 4b0c 9F4F sbci r25,lo8(-1)
		8364	8601 .L686:
		8365	8602 4b0e 9095 com r25
		8366	8603 4b10 8195 neg r24
		8367	8604 4b12 9F4F sbci r25,lo8(-1)
		8368	8605 4b14 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8369	8606 4b18 8093 0000 sts AltitudeSetpointTrimming,r24
		8370	8607 4b1c 8DE2 ldi r24,lo8(45)
		8371	8608 4b1e 8093 0000 sts VarioCharacter,r24
		8372	8609 4b22 2093 0000 sts WaypointTrimming,r18
		8373	8610 4b26 00C0 rjmp .L683
		8374	8611 .L684:
		8375	8612 4b28 8DE3 ldi r24,lo8(61)
		8376	8613 4b2a 8093 0000 sts VarioCharacter,r24
		8377	8614 4b2e 6091 0000 lds r22,FromNC_AltitudeSpeed
		8378	8615 4b32 6623 tst r22
		8379	8616 4b34 01F0 breq .L688
		8380	8617 4b36 2091 0000 lds r18,FromNC_AltitudeSetpoint
		8381	8618 4b3a 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1
		8382	8619 4b3e 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2
		8383	8620 4b42 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3
		8384	8621 4b46 8091 0000 lds r24,SollHoehe
		8385	8622 4b4a 9091 0000 lds r25,(SollHoehe)+1
		8386	8623 4b4e A091 0000 lds r26,(SollHoehe)+2
		8387	8624 4b52 B091 0000 lds r27,(SollHoehe)+3
		8388	8625 4b56 8217 cp r24,r18
		8389	8626 4b58 9307 cpc r25,r19
		8390	8627 4b5a A407 cpc r26,r20
		8391	8628 4b5c B507 cpc r27,r21
		8392	8629 4b5e 04F4 brge .L688
		8393	8630 4b60 8091 0000 lds r24,FC_StatusFlags
		8394	8631 4b64 8064 ori r24,lo8(64)
		8395	8632 4b66 8093 0000 sts FC_StatusFlags,r24
		8396	8633 4b6a 862F mov r24,r22
		8397	8634 4b6c 9927 clr r25
		8398	8635 4b6e 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8399	8636 4b72 8093 0000 sts AltitudeSetpointTrimming,r24
		8400	8637 4b76 8AE0 ldi r24,lo8(10)
		8401	8638 4b78 8093 0000 sts WaypointTrimming,r24
		8402	8639 4b7c 8EE5 ldi r24,lo8(94)
		8403	8640 4b7e 8093 0000 sts VarioCharacter,r24
		8404	8641 4b82 8091 0000 lds r24,FC_StatusFlags
		8405	8642 4b86 87FF sbrs r24,7
		8406	8643 4b88 00C0 rjmp .L683
		8407	8644 4b8a 8091 0000 lds r24,FC_StatusFlags
		8408	8645 4b8e 8F77 andi r24,lo8(127)
		8409	8646 4b90 00C0 rjmp .L899
		8410	8647 .L688:
		8411	8648 4b92 6623 tst r22
		8412	8649 4b94 01F4 brne .+2
		8413	8650 4b96 00C0 rjmp .L691
		8414	8651 4b98 2091 0000 lds r18,FromNC_AltitudeSetpoint
		8415	8652 4b9c 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1
		8416	8653 4ba0 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2
		8417	8654 4ba4 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3
		8418	8655 4ba8 8091 0000 lds r24,SollHoehe
		8419	8656 4bac 9091 0000 lds r25,(SollHoehe)+1
		8420	8657 4bb0 A091 0000 lds r26,(SollHoehe)+2
		8421	8658 4bb4 B091 0000 lds r27,(SollHoehe)+3
		8422	8659 4bb8 2817 cp r18,r24
		8423	8660 4bba 3907 cpc r19,r25
		8424	8661 4bbc 4A07 cpc r20,r26
		8425	8662 4bbe 5B07 cpc r21,r27
		8426	8663 4bc0 04F4 brge .L691
		8427	8664 4bc2 8091 0000 lds r24,FC_StatusFlags
		8428	8665 4bc6 8068 ori r24,lo8(-128)
		8429	8666 4bc8 8093 0000 sts FC_StatusFlags,r24
		8430	8667 4bcc 862F mov r24,r22
		8431	8668 4bce 9927 clr r25
		8432	8669 4bd0 9095 com r25
		8433	8670 4bd2 8195 neg r24
		8434	8671 4bd4 9F4F sbci r25,lo8(-1)
		8435	8672 4bd6 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8436	8673 4bda 8093 0000 sts AltitudeSetpointTrimming,r24
		8437	8674 4bde 86EF ldi r24,lo8(-10)
		8438	8675 4be0 8093 0000 sts WaypointTrimming,r24
		8439	8676 4be4 86E7 ldi r24,lo8(118)
		8440	8677 4be6 8093 0000 sts VarioCharacter,r24
		8441	8678 4bea 8091 0000 lds r24,FC_StatusFlags
		8442	8679 4bee 86FF sbrs r24,6
		8443	8680 4bf0 00C0 rjmp .L683
		8444	8681 4bf2 8091 0000 lds r24,FC_StatusFlags
		8445	8682 4bf6 8F7B andi r24,lo8(-65)
		8446	8683 .L899:
		8447	8684 4bf8 8093 0000 sts FC_StatusFlags,r24
		8448	8685 4bfc 8091 0000 lds r24,HoehenWert
		8449	8686 4c00 9091 0000 lds r25,(HoehenWert)+1
		8450	8687 4c04 A091 0000 lds r26,(HoehenWert)+2
		8451	8688 4c08 B091 0000 lds r27,(HoehenWert)+3
		8452	8689 4c0c 8093 0000 sts SollHoehe,r24
		8453	8690 4c10 9093 0000 sts (SollHoehe)+1,r25
		8454	8691 4c14 A093 0000 sts (SollHoehe)+2,r26
		8455	8692 4c18 B093 0000 sts (SollHoehe)+3,r27
		8456	8693 4c1c 00C0 rjmp .L683
		8457	8694 .L691:
		8458	8695 4c1e 8091 0000 lds r24,FC_StatusFlags
		8459	8696 4c22 807C andi r24,lo8(-64)
		8460	8697 4c24 01F4 brne .+2
		8461	8698 4c26 00C0 rjmp .L683
		8462	8699 4c28 8091 0000 lds r24,WaypointTrimming
		8463	8700 4c2c 8823 tst r24
		8464	8701 4c2e 01F4 brne .L695
		8465	8702 4c30 E090 0000 lds r14,HoehenWert
		8466	8703 4c34 F090 0000 lds r15,(HoehenWert)+1
		8467	8704 4c38 0091 0000 lds r16,(HoehenWert)+2
		8468	8705 4c3c 1091 0000 lds r17,(HoehenWert)+3
		8469	8706 4c40 D801 movw r26,r16
		8470	8707 4c42 C701 movw r24,r14
		8471	8708 4c44 8058 subi r24,lo8(-(-128))
		8472	8709 4c46 9040 sbci r25,hi8(-(-128))
		8473	8710 4c48 A040 sbci r26,hlo8(-(-128))
		8474	8711 4c4a B040 sbci r27,hhi8(-(-128))
		8475	8712 4c4c 2091 0000 lds r18,SollHoehe
		8476	8713 4c50 3091 0000 lds r19,(SollHoehe)+1
		8477	8714 4c54 4091 0000 lds r20,(SollHoehe)+2
		8478	8715 4c58 5091 0000 lds r21,(SollHoehe)+3
		8479	8716 4c5c 8217 cp r24,r18
		8480	8717 4c5e 9307 cpc r25,r19
		8481	8718 4c60 A407 cpc r26,r20
		8482	8719 4c62 B507 cpc r27,r21
		8483	8720 4c64 04F4 brge .L898
		8484	8721 4c66 D801 movw r26,r16
		8485	8722 4c68 C701 movw r24,r14
		8486	8723 4c6a 8058 subi r24,lo8(-(128))
		8487	8724 4c6c 9F4F sbci r25,hi8(-(128))
		8488	8725 4c6e AF4F sbci r26,hlo8(-(128))
		8489	8726 4c70 BF4F sbci r27,hhi8(-(128))
		8490	8727 4c72 2817 cp r18,r24
		8491	8728 4c74 3907 cpc r19,r25
		8492	8729 4c76 4A07 cpc r20,r26
		8493	8730 4c78 5B07 cpc r21,r27
		8494	8731 4c7a 04F0 brlt .L699
		8495	8732 .L898:
		8496	8733 4c7c 8093 0000 sts SollHoehe,r24
		8497	8734 4c80 9093 0000 sts (SollHoehe)+1,r25
		8498	8735 4c84 A093 0000 sts (SollHoehe)+2,r26
		8499	8736 4c88 B093 0000 sts (SollHoehe)+3,r27
		8500	8737 4c8c 00C0 rjmp .L699
		8501	8738 .L695:
		8502	8739 4c8e 1092 0000 sts WaypointTrimming,__zero_reg__
		8503	8740 .L699:
		8504	8741 4c92 8091 0000 lds r24,FC_StatusFlags
		8505	8742 4c96 8F73 andi r24,lo8(63)
		8506	8743 4c98 8093 0000 sts FC_StatusFlags,r24
		8507	8744 4c9c 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__
		8508	8745 4ca0 1092 0000 sts HeightTrimming.21,__zero_reg__
		8509	8746 4ca4 71FF sbrs r23,1
		8510	8747 4ca6 00C0 rjmp .L700
		8511	8748 4ca8 84EF ldi r24,lo8(500)
		8512	8749 4caa 91E0 ldi r25,hi8(500)
		8513	8750 4cac 9093 0000 sts (beeptime)+1,r25
		8514	8751 4cb0 8093 0000 sts beeptime,r24
		8515	8752 .L700:
		8516	8753 4cb4 8091 0000 lds r24,StartTrigger
		8517	8754 4cb8 8823 tst r24
		8518	8755 4cba 01F4 brne .L683
		8519	8756 4cbc 8091 0000 lds r24,HoehenWert
		8520	8757 4cc0 9091 0000 lds r25,(HoehenWert)+1
		8521	8758 4cc4 A091 0000 lds r26,(HoehenWert)+2
		8522	8759 4cc8 B091 0000 lds r27,(HoehenWert)+3
		8523	8760 4ccc C397 sbiw r24,51
		8524	8761 4cce A105 cpc r26,__zero_reg__
		8525	8762 4cd0 B105 cpc r27,__zero_reg__
		8526	8763 4cd2 04F0 brlt .L683
		8527	8764 4cd4 81E0 ldi r24,lo8(1)
		8528	8765 4cd6 8093 0000 sts StartTrigger,r24
		8529	8766 .L683:
		8530	8767 4cda 6091 0000 lds r22,HeightTrimming.21
		8531	8768 4cde 7091 0000 lds r23,(HeightTrimming.21)+1
		8532	8769 4ce2 8091 0000 lds r24,AltitudeSetpointTrimming
		8533	8770 4ce6 9091 0000 lds r25,(AltitudeSetpointTrimming)+1
		8534	8771 4cea 680F add r22,r24
		8535	8772 4cec 791F adc r23,r25
		8536	8773 4cee 7093 0000 sts (HeightTrimming.21)+1,r23
		8537	8774 4cf2 6093 0000 sts HeightTrimming.21,r22
		8538	8775 4cf6 CB01 movw r24,r22
		8539	8776 4cf8 77FF sbrs r23,7
		8540	8777 4cfa 00C0 rjmp .L703
		8541	8778 4cfc 8827 clr r24
		8542	8779 4cfe 9927 clr r25
		8543	8780 4d00 861B sub r24,r22
		8544	8781 4d02 970B sbc r25,r23
		8545	8782 .L703:
		8546	8783 4d04 855F subi r24,lo8(501)
		8547	8784 4d06 9140 sbci r25,hi8(501)
		8548	8785 4d08 04F4 brge .+2
		8549	8786 4d0a 00C0 rjmp .L702
		8550	8787 4d0c 4091 0000 lds r20,WaypointTrimming
		8551	8788 4d10 4423 tst r20
		8552	8789 4d12 01F0 breq .L704
		8553	8790 4d14 8091 0000 lds r24,FromNC_AltitudeSetpoint
		8554	8791 4d18 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1
		8555	8792 4d1c 2091 0000 lds r18,SollHoehe
		8556	8793 4d20 3091 0000 lds r19,(SollHoehe)+1
		8557	8794 4d24 821B sub r24,r18
		8558	8795 4d26 930B sbc r25,r19
		8559	8796 4d28 0996 adiw r24,9
		8560	8797 4d2a 4397 sbiw r24,19
		8561	8798 4d2c 00F4 brsh .L705
		8562	8799 4d2e 8091 0000 lds r24,FromNC_AltitudeSetpoint
		8563	8800 4d32 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1
		8564	8801 4d36 A091 0000 lds r26,(FromNC_AltitudeSetpoint)+2
		8565	8802 4d3a B091 0000 lds r27,(FromNC_AltitudeSetpoint)+3
		8566	8803 4d3e 00C0 rjmp .L901
		8567	8804 .L705:
		8568	8805 4d40 242F mov r18,r20
		8569	8806 4d42 3327 clr r19
		8570	8807 4d44 27FD sbrc r18,7
		8571	8808 4d46 3095 com r19
		8572	8809 4d48 432F mov r20,r19
		8573	8810 4d4a 532F mov r21,r19
		8574	8811 4d4c 8091 0000 lds r24,SollHoehe
		8575	8812 4d50 9091 0000 lds r25,(SollHoehe)+1
		8576	8813 4d54 A091 0000 lds r26,(SollHoehe)+2
		8577	8814 4d58 B091 0000 lds r27,(SollHoehe)+3
		8578	8815 4d5c 820F add r24,r18
		8579	8816 4d5e 931F adc r25,r19
		8580	8817 4d60 A41F adc r26,r20
		8581	8818 4d62 B51F adc r27,r21
		8582	8819 .L901:
		8583	8820 4d64 8093 0000 sts SollHoehe,r24
		8584	8821 4d68 9093 0000 sts (SollHoehe)+1,r25
		8585	8822 4d6c A093 0000 sts (SollHoehe)+2,r26
		8586	8823 4d70 B093 0000 sts (SollHoehe)+3,r27
		8587	8824 4d74 00C0 rjmp .L707
		8588	8825 .L704:
		8589	8826 4d76 8091 0000 lds r24,EE_Parameter+18
		8590	8827 4d7a 2091 0000 lds r18,SollHoehe
		8591	8828 4d7e 3091 0000 lds r19,(SollHoehe)+1
		8592	8829 4d82 4091 0000 lds r20,(SollHoehe)+2
		8593	8830 4d86 5091 0000 lds r21,(SollHoehe)+3
		8594	8831 4d8a 1616 cp __zero_reg__,r22
		8595	8832 4d8c 1706 cpc __zero_reg__,r23
		8596	8833 4d8e 04F4 brge .L708
		8597	8834 4d90 63E0 ldi r22,lo8(3)
		8598	8835 4d92 0E94 0000 call __udivmodqi4
		8599	8836 4d96 280F add r18,r24
		8600	8837 4d98 311D adc r19,__zero_reg__
		8601	8838 4d9a 411D adc r20,__zero_reg__
		8602	8839 4d9c 511D adc r21,__zero_reg__
		8603	8840 4d9e 00C0 rjmp .L900
		8604	8841 .L708:
		8605	8842 4da0 63E0 ldi r22,lo8(3)
		8606	8843 4da2 0E94 0000 call __udivmodqi4
		8607	8844 4da6 281B sub r18,r24
		8608	8845 4da8 3109 sbc r19,__zero_reg__
		8609	8846 4daa 4109 sbc r20,__zero_reg__
		8610	8847 4dac 5109 sbc r21,__zero_reg__
		8611	8848 .L900:
		8612	8849 4dae 2093 0000 sts SollHoehe,r18
		8613	8850 4db2 3093 0000 sts (SollHoehe)+1,r19
		8614	8851 4db6 4093 0000 sts (SollHoehe)+2,r20
		8615	8852 4dba 5093 0000 sts (SollHoehe)+3,r21
		8616	8853 .L707:
		8617	8854 4dbe 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__
		8618	8855 4dc2 1092 0000 sts HeightTrimming.21,__zero_reg__
		8619	8856 4dc6 E090 0000 lds r14,HoehenWert
		8620	8857 4dca F090 0000 lds r15,(HoehenWert)+1
		8621	8858 4dce 0091 0000 lds r16,(HoehenWert)+2
		8622	8859 4dd2 1091 0000 lds r17,(HoehenWert)+3
		8623	8860 4dd6 D801 movw r26,r16
		8624	8861 4dd8 C701 movw r24,r14
		8625	8862 4dda 8050 subi r24,lo8(-(-1024))
		8626	8863 4ddc 9440 sbci r25,hi8(-(-1024))
		8627	8864 4dde A040 sbci r26,hlo8(-(-1024))
		8628	8865 4de0 B040 sbci r27,hhi8(-(-1024))
		8629	8866 4de2 2091 0000 lds r18,SollHoehe
		8630	8867 4de6 3091 0000 lds r19,(SollHoehe)+1
		8631	8868 4dea 4091 0000 lds r20,(SollHoehe)+2
		8632	8869 4dee 5091 0000 lds r21,(SollHoehe)+3
		8633	8870 4df2 8217 cp r24,r18
		8634	8871 4df4 9307 cpc r25,r19
		8635	8872 4df6 A407 cpc r26,r20
		8636	8873 4df8 B507 cpc r27,r21
		8637	8874 4dfa 04F4 brge .L902
		8638	8875 4dfc D801 movw r26,r16
		8639	8876 4dfe C701 movw r24,r14
		8640	8877 4e00 8050 subi r24,lo8(-(1024))
		8641	8878 4e02 9C4F sbci r25,hi8(-(1024))
		8642	8879 4e04 AF4F sbci r26,hlo8(-(1024))
		8643	8880 4e06 BF4F sbci r27,hhi8(-(1024))
		8644	8881 4e08 2817 cp r18,r24
		8645	8882 4e0a 3907 cpc r19,r25
		8646	8883 4e0c 4A07 cpc r20,r26
		8647	8884 4e0e 5B07 cpc r21,r27
		8648	8885 4e10 04F0 brlt .L711
		8649	8886 .L902:
		8650	8887 4e12 8093 0000 sts SollHoehe,r24
		8651	8888 4e16 9093 0000 sts (SollHoehe)+1,r25
		8652	8889 4e1a A093 0000 sts (SollHoehe)+2,r26
		8653	8890 4e1e B093 0000 sts (SollHoehe)+3,r27
		8654	8891 .L711:
		8655	8892 4e22 8091 0000 lds r24,Parameter_ExtraConfig
		8656	8893 4e26 81FF sbrs r24,1
		8657	8894 4e28 00C0 rjmp .L713
		8658	8895 4e2a 84E6 ldi r24,lo8(100)
		8659	8896 4e2c 90E0 ldi r25,hi8(100)
		8660	8897 4e2e 9093 0000 sts (beeptime)+1,r25
		8661	8898 4e32 8093 0000 sts beeptime,r24
		8662	8899 .L713:
		8663	8900 4e36 8091 0000 lds r24,EE_Parameter+22
		8664	8901 4e3a 8823 tst r24
		8665	8902 4e3c 01F4 brne .L702
		8666	8903 4e3e 8091 0000 lds r24,FromNC_AltitudeSpeed
		8667	8904 4e42 8823 tst r24
		8668	8905 4e44 01F4 brne .L702
		8669	8906 4e46 4091 0000 lds r20,HoverGas
		8670	8907 4e4a 5091 0000 lds r21,(HoverGas)+1
		8671	8908 4e4e 57FF sbrs r21,7
		8672	8909 4e50 00C0 rjmp .L715
		8673	8910 4e52 4D5F subi r20,lo8(-(3))
		8674	8911 4e54 5F4F sbci r21,hi8(-(3))
		8675	8912 .L715:
		8676	8913 4e56 5595 asr r21
		8677	8914 4e58 4795 ror r20
		8678	8915 4e5a 5595 asr r21
		8679	8916 4e5c 4795 ror r20
		8680	8917 4e5e 8091 0000 lds r24,UBat
		8681	8918 4e62 9091 0000 lds r25,(UBat)+1
		8682	8919 4e66 2091 0000 lds r18,BattLowVoltageWarning
		8683	8920 4e6a 3327 clr r19
		8684	8921 4e6c 489F mul r20,r24
		8685	8922 4e6e F001 movw r30,r0
		8686	8923 4e70 499F mul r20,r25
		8687	8924 4e72 F00D add r31,r0
		8688	8925 4e74 589F mul r21,r24
		8689	8926 4e76 F00D add r31,r0
		8690	8927 4e78 1124 clr r1
		8691	8928 4e7a CF01 movw r24,r30
		8692	8929 4e7c B901 movw r22,r18
		8693	8930 4e7e 0E94 0000 call __divmodhi4
		8694	8931 4e82 7093 0000 sts (StickGasHover)+1,r23
		8695	8932 4e86 6093 0000 sts StickGasHover,r22
		8696	8933 4e8a 6634 cpi r22,70
		8697	8934 4e8c 7105 cpc r23,__zero_reg__
		8698	8935 4e8e 04F4 brge .L716
		8699	8936 4e90 86E4 ldi r24,lo8(70)
		8700	8937 4e92 90E0 ldi r25,hi8(70)
		8701	8938 4e94 00C0 rjmp .L903
		8702	8939 .L716:
		8703	8940 4e96 6739 cpi r22,151
		8704	8941 4e98 7105 cpc r23,__zero_reg__
		8705	8942 4e9a 04F0 brlt .L702
		8706	8943 4e9c 86E9 ldi r24,lo8(150)
		8707	8944 4e9e 90E0 ldi r25,hi8(150)
		8708	8945 .L903:
		8709	8946 4ea0 9093 0000 sts (StickGasHover)+1,r25
		8710	8947 4ea4 8093 0000 sts StickGasHover,r24
		8711	8948 .L702:
		8712	8949 4ea8 8091 0000 lds r24,BaroExpandActive
		8713	8950 4eac 9091 0000 lds r25,(BaroExpandActive)+1
		8714	8951 4eb0 892B or r24,r25
		8715	8952 4eb2 01F0 breq .L720
		8716	8953 4eb4 8091 0000 lds r24,HoehenWert
		8717	8954 4eb8 9091 0000 lds r25,(HoehenWert)+1
		8718	8955 4ebc A091 0000 lds r26,(HoehenWert)+2
		8719	8956 4ec0 B091 0000 lds r27,(HoehenWert)+3
		8720	8957 4ec4 8093 0000 sts SollHoehe,r24
		8721	8958 4ec8 9093 0000 sts (SollHoehe)+1,r25
		8722	8959 4ecc A093 0000 sts (SollHoehe)+2,r26
		8723	8960 4ed0 B093 0000 sts (SollHoehe)+3,r27
		8724	8961 4ed4 00C0 rjmp .L720
		8725	8962 .L677:
		8726	8963 4ed6 8091 0000 lds r24,HoehenWert
		8727	8964 4eda 9091 0000 lds r25,(HoehenWert)+1
		8728	8965 4ede A091 0000 lds r26,(HoehenWert)+2
		8729	8966 4ee2 B091 0000 lds r27,(HoehenWert)+3
		8730	8967 4ee6 8059 subi r24,lo8(-(-400))
		8731	8968 4ee8 9140 sbci r25,hi8(-(-400))
		8732	8969 4eea A040 sbci r26,hlo8(-(-400))
		8733	8970 4eec B040 sbci r27,hhi8(-(-400))
		8734	8971 4eee 8093 0000 sts SollHoehe,r24
		8735	8972 4ef2 9093 0000 sts (SollHoehe)+1,r25
		8736	8973 4ef6 A093 0000 sts (SollHoehe)+2,r26
		8737	8974 4efa B093 0000 sts (SollHoehe)+3,r27
		8738	8975 4efe 8091 0000 lds r24,EE_Parameter+22
		8739	8976 4f02 8823 tst r24
		8740	8977 4f04 01F0 breq .L721
		8741	8978 4f06 9927 clr r25
		8742	8979 4f08 00C0 rjmp .L904
		8743	8980 .L721:
		8744	8981 4f0a 88E7 ldi r24,lo8(120)
		8745	8982 4f0c 90E0 ldi r25,hi8(120)
		8746	8983 .L904:
		8747	8984 4f0e 9093 0000 sts (StickGasHover)+1,r25
		8748	8985 4f12 8093 0000 sts StickGasHover,r24
		8749	8986 4f16 E980 ldd r14,Y+1
		8750	8987 4f18 FA80 ldd r15,Y+2
		8751	8988 4f1a F092 0000 sts (HoverGas)+1,r15
		8752	8989 4f1e E092 0000 sts HoverGas,r14
		8753	8990 4f22 8EE2 ldi r24,lo8(46)
		8754	8991 4f24 8093 0000 sts VarioCharacter,r24
		8755	8992 .L720:
		8756	8993 4f28 C090 0000 lds r12,HoverGas
		8757	8994 4f2c D090 0000 lds r13,(HoverGas)+1
		8758	8995 .L676:
		8759	8996 4f30 E090 0000 lds r14,HoehenWert
		8760	8997 4f34 F090 0000 lds r15,(HoehenWert)+1
		8761	8998 4f38 0091 0000 lds r16,(HoehenWert)+2
		8762	8999 4f3c 1091 0000 lds r17,(HoehenWert)+3
		8763	9000 4f40 2091 0000 lds r18,SollHoehe
		8764	9001 4f44 3091 0000 lds r19,(SollHoehe)+1
		8765	9002 4f48 4091 0000 lds r20,(SollHoehe)+2
		8766	9003 4f4c 5091 0000 lds r21,(SollHoehe)+3
		8767	9004 4f50 2E15 cp r18,r14
		8768	9005 4f52 3F05 cpc r19,r15
		8769	9006 4f54 4007 cpc r20,r16
		8770	9007 4f56 5107 cpc r21,r17
		8771	9008 4f58 04F0 brlt .L724
		8772	9009 4f5a 8091 0000 lds r24,Parameter_ExtraConfig
		8773	9010 4f5e 80FD sbrc r24,0
		8774	9011 4f60 00C0 rjmp .L782
		8775	9012 .L724:
		8776	9013 4f62 8091 0000 lds r24,BaroExpandActive
		8777	9014 4f66 9091 0000 lds r25,(BaroExpandActive)+1
		8778	9015 4f6a 892B or r24,r25
		8779	9016 4f6c 01F0 breq .L725
		8780	9017 4f6e C090 0000 lds r12,HoverGas
		8781	9018 4f72 D090 0000 lds r13,(HoverGas)+1
		8782	9019 4f76 00E0 ldi r16,lo8(0)
		8783	9020 4f78 10E0 ldi r17,hi8(0)
		8784	9021 4f7a 00C0 rjmp .L726
		8785	9022 .L725:
		8786	9023 4f7c D801 movw r26,r16
		8787	9024 4f7e C701 movw r24,r14
		8788	9025 4f80 821B sub r24,r18
		8789	9026 4f82 930B sbc r25,r19
		8790	9027 4f84 A40B sbc r26,r20
		8791	9028 4f86 B50B sbc r27,r21
		8792	9029 4f88 8093 0000 sts tmp_long.1,r24
		8793	9030 4f8c 9093 0000 sts (tmp_long.1)+1,r25
		8794	9031 4f90 A093 0000 sts (tmp_long.1)+2,r26
		8795	9032 4f94 B093 0000 sts (tmp_long.1)+3,r27
		8796	9033 4f98 8230 cpi r24,lo8(-32766)
		8797	9034 4f9a 00E8 ldi r16,hi8(-32766)
		8798	9035 4f9c 9007 cpc r25,r16
		8799	9036 4f9e 0FEF ldi r16,hlo8(-32766)
		8800	9037 4fa0 A007 cpc r26,r16
		8801	9038 4fa2 0FEF ldi r16,hhi8(-32766)
		8802	9039 4fa4 B007 cpc r27,r16
		8803	9040 4fa6 04F4 brge .L727
		8804	9041 4fa8 81E0 ldi r24,lo8(-32767)
		8805	9042 4faa 90E8 ldi r25,hi8(-32767)
		8806	9043 4fac AFEF ldi r26,hlo8(-32767)
		8807	9044 4fae BFEF ldi r27,hhi8(-32767)
		8808	9045 4fb0 00C0 rjmp .L905
		8809	9046 .L727:
		8810	9047 4fb2 8F5F subi r24,lo8(32767)
		8811	9048 4fb4 9F47 sbci r25,hi8(32767)
		8812	9049 4fb6 A040 sbci r26,hlo8(32767)
		8813	9050 4fb8 B040 sbci r27,hhi8(32767)
		8814	9051 4fba 04F0 brlt .L728
		8815	9052 4fbc 8FEF ldi r24,lo8(32767)
		8816	9053 4fbe 9FE7 ldi r25,hi8(32767)
		8817	9054 4fc0 A0E0 ldi r26,hlo8(32767)
		8818	9055 4fc2 B0E0 ldi r27,hhi8(32767)
		8819	9056 .L905:
		8820	9057 4fc4 8093 0000 sts tmp_long.1,r24
		8821	9058 4fc8 9093 0000 sts (tmp_long.1)+1,r25
		8822	9059 4fcc A093 0000 sts (tmp_long.1)+2,r26
		8823	9060 4fd0 B093 0000 sts (tmp_long.1)+3,r27
		8824	9061 .L728:
		8825	9062 4fd4 0091 0000 lds r16,tmp_long.1
		8826	9063 4fd8 1091 0000 lds r17,(tmp_long.1)+1
		8827	9064 4fdc 8091 0000 lds r24,Parameter_Hoehe_P
		8828	9065 4fe0 282F mov r18,r24
		8829	9066 4fe2 3327 clr r19
		8830	9067 4fe4 4427 clr r20
		8831	9068 4fe6 5527 clr r21
		8832	9069 4fe8 8091 0000 lds r24,tmp_long.1
		8833	9070 4fec 9091 0000 lds r25,(tmp_long.1)+1
		8834	9071 4ff0 A091 0000 lds r26,(tmp_long.1)+2
		8835	9072 4ff4 B091 0000 lds r27,(tmp_long.1)+3
		8836	9073 4ff8 BC01 movw r22,r24
		8837	9074 4ffa CD01 movw r24,r26
		8838	9075 4ffc 0E94 0000 call __mulsi3
		8839	9076 5000 97FF sbrs r25,7
		8840	9077 5002 00C0 rjmp .L730
		8841	9078 5004 615E subi r22,lo8(-(31))
		8842	9079 5006 7F4F sbci r23,hi8(-(31))
		8843	9080 5008 8F4F sbci r24,hlo8(-(31))
		8844	9081 500a 9F4F sbci r25,hhi8(-(31))
		8845	9082 .L730:
		8846	9083 500c 25E0 ldi r18,5
		8847	9084 500e 9595 1: asr r25
		8848	9085 5010 8795 ror r24
		8849	9086 5012 7795 ror r23
		8850	9087 5014 6795 ror r22
		8851	9088 5016 2A95 dec r18
		8852	9089 5018 01F4 brne 1b
		8853	9090 501a 6093 0000 sts tmp_long.1,r22
		8854	9091 501e 7093 0000 sts (tmp_long.1)+1,r23
		8855	9092 5022 8093 0000 sts (tmp_long.1)+2,r24
		8856	9093 5026 9093 0000 sts (tmp_long.1)+3,r25
		8857	9094 502a 6530 cpi r22,lo8(-507)
		8858	9095 502c 2EEF ldi r18,hi8(-507)
		8859	9096 502e 7207 cpc r23,r18
		8860	9097 5030 2FEF ldi r18,hlo8(-507)
		8861	9098 5032 8207 cpc r24,r18
		8862	9099 5034 2FEF ldi r18,hhi8(-507)
		8863	9100 5036 9207 cpc r25,r18
		8864	9101 5038 04F4 brge .L731
		8865	9102 503a 84E0 ldi r24,lo8(-508)
		8866	9103 503c 9EEF ldi r25,hi8(-508)
		8867	9104 503e AFEF ldi r26,hlo8(-508)
		8868	9105 5040 BFEF ldi r27,hhi8(-508)
		8869	9106 5042 00C0 rjmp .L906
		8870	9107 .L731:
		8871	9108 5044 6050 subi r22,lo8(1024)
		8872	9109 5046 7440 sbci r23,hi8(1024)
		8873	9110 5048 8040 sbci r24,hlo8(1024)
		8874	9111 504a 9040 sbci r25,hhi8(1024)
		8875	9112 504c 04F0 brlt .L732
		8876	9113 504e 80E0 ldi r24,lo8(1024)
		8877	9114 5050 94E0 ldi r25,hi8(1024)
		8878	9115 5052 A0E0 ldi r26,hlo8(1024)
		8879	9116 5054 B0E0 ldi r27,hhi8(1024)
		8880	9117 .L906:
		8881	9118 5056 8093 0000 sts tmp_long.1,r24
		8882	9119 505a 9093 0000 sts (tmp_long.1)+1,r25
		8883	9120 505e A093 0000 sts (tmp_long.1)+2,r26
		8884	9121 5062 B093 0000 sts (tmp_long.1)+3,r27
		8885	9122 .L732:
		8886	9123 5066 8090 0000 lds r8,tmp_long.1
		8887	9124 506a 9090 0000 lds r9,(tmp_long.1)+1
		8888	9125 506e 2091 0000 lds r18,VarioMeter
		8889	9126 5072 3091 0000 lds r19,(VarioMeter)+1
		8890	9127 5076 37FF sbrs r19,7
		8891	9128 5078 00C0 rjmp .L734
		8892	9129 507a 295F subi r18,lo8(-(7))
		8893	9130 507c 3F4F sbci r19,hi8(-(7))
		8894	9131 .L734:
		8895	9132 507e 83E0 ldi r24,3
		8896	9133 5080 3595 1: asr r19
		8897	9134 5082 2795 ror r18
		8898	9135 5084 8A95 dec r24
		8899	9136 5086 01F4 brne 1b
		8900	9137 5088 4FEF ldi r20,hi8(-126)
		8901	9138 508a 2238 cpi r18,lo8(-126)
		8902	9139 508c 3407 cpc r19,r20
		8903	9140 508e 04F4 brge .L735
		8904	9141 5090 21E8 ldi r18,lo8(-127)
		8905	9142 5092 3FEF ldi r19,hi8(-127)
		8906	9143 5094 00C0 rjmp .L736
		8907	9144 .L735:
		8908	9145 5096 2038 cpi r18,128
		8909	9146 5098 3105 cpc r19,__zero_reg__
		8910	9147 509a 04F0 brlt .L736
		8911	9148 509c 20E8 ldi r18,lo8(128)
		8912	9149 509e 30E0 ldi r19,hi8(128)
		8913	9150 .L736:
		8914	9151 50a0 C901 movw r24,r18
		8915	9152 50a2 AA27 clr r26
		8916	9153 50a4 97FD sbrc r25,7
		8917	9154 50a6 A095 com r26
		8918	9155 50a8 BA2F mov r27,r26
		8919	9156 50aa 2091 0000 lds r18,Parameter_Luftdruck_D
		8920	9157 50ae 3327 clr r19
		8921	9158 50b0 4427 clr r20
		8922	9159 50b2 5527 clr r21
		8923	9160 50b4 BC01 movw r22,r24
		8924	9161 50b6 CD01 movw r24,r26
		8925	9162 50b8 0E94 0000 call __mulsi3
		8926	9163 50bc 97FF sbrs r25,7
		8927	9164 50be 00C0 rjmp .L738
		8928	9165 50c0 6D5F subi r22,lo8(-(3))
		8929	9166 50c2 7F4F sbci r23,hi8(-(3))
		8930	9167 50c4 8F4F sbci r24,hlo8(-(3))
		8931	9168 50c6 9F4F sbci r25,hhi8(-(3))
		8932	9169 .L738:
		8933	9170 50c8 B2E0 ldi r27,2
		8934	9171 50ca 9595 1: asr r25
		8935	9172 50cc 8795 ror r24
		8936	9173 50ce 7795 ror r23
		8937	9174 50d0 6795 ror r22
		8938	9175 50d2 BA95 dec r27
		8939	9176 50d4 01F4 brne 1b
		8940	9177 50d6 9B01 movw r18,r22
		8941	9178 50d8 5FEF ldi r21,hi8(-255)
		8942	9179 50da 6130 cpi r22,lo8(-255)
		8943	9180 50dc 7507 cpc r23,r21
		8944	9181 50de 04F4 brge .L739
		8945	9182 50e0 20E0 ldi r18,lo8(-256)
		8946	9183 50e2 3FEF ldi r19,hi8(-256)
		8947	9184 50e4 00C0 rjmp .L740
		8948	9185 .L739:
		8949	9186 50e6 6F3F cpi r22,255
		8950	9187 50e8 7105 cpc r23,__zero_reg__
		8951	9188 50ea 01F0 breq .L740
		8952	9189 50ec 04F0 brlt .L740
		8953	9190 50ee 20E0 ldi r18,lo8(256)
		8954	9191 50f0 31E0 ldi r19,hi8(256)
		8955	9192 .L740:
		8956	9193 50f2 8091 0000 lds r24,FC_StatusFlags
		8957	9194 50f6 807C andi r24,lo8(-64)
		8958	9195 50f8 01F0 breq .L742
		8959	9196 50fa C901 movw r24,r18
		8960	9197 50fc 37FD sbrc r19,7
		8961	9198 50fe 0396 adiw r24,3
		8962	9199 .L743:
		8963	9200 5100 9C01 movw r18,r24
		8964	9201 5102 3595 asr r19
		8965	9202 5104 2795 ror r18
		8966	9203 5106 3595 asr r19
		8967	9204 5108 2795 ror r18
		8968	9205 510a 00C0 rjmp .L744
		8969	9206 .L742:
		8970	9207 510c 8091 0000 lds r24,Parameter_ExtraConfig
		8971	9208 5110 80FF sbrs r24,0
		8972	9209 5112 00C0 rjmp .L744
		8973	9210 5114 C901 movw r24,r18
		8974	9211 5116 37FD sbrc r19,7
		8975	9212 5118 0796 adiw r24,7
		8976	9213 .L746:
		8977	9214 511a 9C01 movw r18,r24
		8978	9215 511c F3E0 ldi r31,3
		8979	9216 511e 3595 1: asr r19
		8980	9217 5120 2795 ror r18
		8981	9218 5122 FA95 dec r31
		8982	9219 5124 01F4 brne 1b
		8983	9220 .L744:
		8984	9221 5126 820E add r8,r18
		8985	9222 5128 931E adc r9,r19
		8986	9223 .L726:
		8987	9224 512a 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung
		8988	9225 512e 2223 tst r18
		8989	9226 5130 01F4 brne .+2
		8990	9227 5132 00C0 rjmp .L747
		8991	9228 5134 6091 0000 lds r22,Mess_Integral_Hoch
		8992	9229 5138 7091 0000 lds r23,(Mess_Integral_Hoch)+1
		8993	9230 513c 8091 0000 lds r24,(Mess_Integral_Hoch)+2
		8994	9231 5140 9091 0000 lds r25,(Mess_Integral_Hoch)+3
		8995	9232 5144 97FF sbrs r25,7
		8996	9233 5146 00C0 rjmp .L748
		8997	9234 5148 6158 subi r22,lo8(-(127))
		8998	9235 514a 7F4F sbci r23,hi8(-(127))
		8999	9236 514c 8F4F sbci r24,hlo8(-(127))
		9000	9237 514e 9F4F sbci r25,hhi8(-(127))
		9001	9238 .L748:
		9002	9239 5150 E7E0 ldi r30,7
		9003	9240 5152 9595 1: asr r25
		9004	9241 5154 8795 ror r24
		9005	9242 5156 7795 ror r23
		9006	9243 5158 6795 ror r22
		9007	9244 515a EA95 dec r30
		9008	9245 515c 01F4 brne 1b
		9009	9246 515e 3327 clr r19
		9010	9247 5160 4427 clr r20
		9011	9248 5162 5527 clr r21
		9012	9249 5164 0E94 0000 call __mulsi3
		9013	9250 5168 97FF sbrs r25,7
		9014	9251 516a 00C0 rjmp .L749
		9015	9252 516c 615E subi r22,lo8(-(31))
		9016	9253 516e 7F4F sbci r23,hi8(-(31))
		9017	9254 5170 8F4F sbci r24,hlo8(-(31))
		9018	9255 5172 9F4F sbci r25,hhi8(-(31))
		9019	9256 .L749:
		9020	9257 5174 55E0 ldi r21,5
		9021	9258 5176 9595 1: asr r25
		9022	9259 5178 8795 ror r24
		9023	9260 517a 7795 ror r23
		9024	9261 517c 6795 ror r22
		9025	9262 517e 5A95 dec r21
		9026	9263 5180 01F4 brne 1b
		9027	9264 5182 6093 0000 sts tmp_long.1,r22
		9028	9265 5186 7093 0000 sts (tmp_long.1)+1,r23
		9029	9266 518a 8093 0000 sts (tmp_long.1)+2,r24
		9030	9267 518e 9093 0000 sts (tmp_long.1)+3,r25
		9031	9268 5192 6138 cpi r22,lo8(-127)
		9032	9269 5194 AFEF ldi r26,hi8(-127)
		9033	9270 5196 7A07 cpc r23,r26
		9034	9271 5198 AFEF ldi r26,hlo8(-127)
		9035	9272 519a 8A07 cpc r24,r26
		9036	9273 519c AFEF ldi r26,hhi8(-127)
		9037	9274 519e 9A07 cpc r25,r26
		9038	9275 51a0 04F4 brge .L750
		9039	9276 51a2 80E8 ldi r24,lo8(-128)
		9040	9277 51a4 9FEF ldi r25,hi8(-128)
		9041	9278 51a6 AFEF ldi r26,hlo8(-128)
		9042	9279 51a8 BFEF ldi r27,hhi8(-128)
		9043	9280 51aa 00C0 rjmp .L907
		9044	9281 .L750:
		9045	9282 51ac 6F3F cpi r22,lo8(255)
		9046	9283 51ae 7105 cpc r23,__zero_reg__
		9047	9284 51b0 8105 cpc r24,__zero_reg__
		9048	9285 51b2 9105 cpc r25,__zero_reg__
		9049	9286 51b4 01F0 breq .L751
		9050	9287 51b6 04F0 brlt .L751
		9051	9288 51b8 80E0 ldi r24,lo8(256)
		9052	9289 51ba 91E0 ldi r25,hi8(256)
		9053	9290 51bc A0E0 ldi r26,hlo8(256)
		9054	9291 51be B0E0 ldi r27,hhi8(256)
		9055	9292 .L907:
		9056	9293 51c0 8093 0000 sts tmp_long.1,r24
		9057	9294 51c4 9093 0000 sts (tmp_long.1)+1,r25
		9058	9295 51c8 A093 0000 sts (tmp_long.1)+2,r26
		9059	9296 51cc B093 0000 sts (tmp_long.1)+3,r27
		9060	9297 .L751:
		9061	9298 51d0 8091 0000 lds r24,tmp_long.1
		9062	9299 51d4 9091 0000 lds r25,(tmp_long.1)+1
		9063	9300 51d8 880E add r8,r24
		9064	9301 51da 991E adc r9,r25
		9065	9302 .L747:
		9066	9303 51dc 8091 0000 lds r24,Parameter_Hoehe_GPS_Z
		9067	9304 51e0 282F mov r18,r24
		9068	9305 51e2 3327 clr r19
		9069	9306 51e4 8091 0000 lds r24,FromNaviCtrl_Value+4
		9070	9307 51e8 9927 clr r25
		9071	9308 51ea 87FD sbrc r24,7
		9072	9309 51ec 9095 com r25
		9073	9310 51ee 289F mul r18,r24
		9074	9311 51f0 F001 movw r30,r0
		9075	9312 51f2 299F mul r18,r25
		9076	9313 51f4 F00D add r31,r0
		9077	9314 51f6 389F mul r19,r24
		9078	9315 51f8 F00D add r31,r0
		9079	9316 51fa 1124 clr r1
		9080	9317 51fc 9F01 movw r18,r30
		9081	9318 51fe F7FF sbrs r31,7
		9082	9319 5200 00C0 rjmp .L753
		9083	9320 5202 2158 subi r18,lo8(-(127))
		9084	9321 5204 3F4F sbci r19,hi8(-(127))
		9085	9322 .L753:
		9086	9323 5206 220F lsl r18
		9087	9324 5208 232F mov r18,r19
		9088	9325 520a 221F rol r18
		9089	9326 520c 330B sbc r19,r19
		9090	9327 520e FFEF ldi r31,hi8(-127)
		9091	9328 5210 2138 cpi r18,lo8(-127)
		9092	9329 5212 3F07 cpc r19,r31
		9093	9330 5214 04F4 brge .L754
		9094	9331 5216 20E8 ldi r18,lo8(-128)
		9095	9332 5218 3FEF ldi r19,hi8(-128)
		9096	9333 521a 00C0 rjmp .L755
		9097	9334 .L754:
		9098	9335 521c 2F3F cpi r18,255
		9099	9336 521e 3105 cpc r19,__zero_reg__
		9100	9337 5220 01F0 breq .L755
		9101	9338 5222 04F0 brlt .L755
		9102	9339 5224 20E0 ldi r18,lo8(256)
		9103	9340 5226 31E0 ldi r19,hi8(256)
		9104	9341 .L755:
		9105	9342 5228 820E add r8,r18
		9106	9343 522a 931E adc r9,r19
		9107	9344 522c C401 movw r24,r8
		9108	9345 522e AA27 clr r26
		9109	9346 5230 97FD sbrc r25,7
		9110	9347 5232 A095 com r26
		9111	9348 5234 BA2F mov r27,r26
		9112	9349 5236 E090 0000 lds r14,HoverGas
		9113	9350 523a F090 0000 lds r15,(HoverGas)+1
		9114	9351 523e 9701 movw r18,r14
		9115	9352 5240 4427 clr r20
		9116	9353 5242 37FD sbrc r19,7
		9117	9354 5244 4095 com r20
		9118	9355 5246 542F mov r21,r20
		9119	9356 5248 BC01 movw r22,r24
		9120	9357 524a CD01 movw r24,r26
		9121	9358 524c 0E94 0000 call __mulsi3
		9122	9359 5250 97FF sbrs r25,7
		9123	9360 5252 00C0 rjmp .L757
		9124	9361 5254 6150 subi r22,lo8(-(511))
		9125	9362 5256 7E4F sbci r23,hi8(-(511))
		9126	9363 5258 8F4F sbci r24,hlo8(-(511))
		9127	9364 525a 9F4F sbci r25,hhi8(-(511))
		9128	9365 .L757:
		9129	9366 525c 29E0 ldi r18,9
		9130	9367 525e 9595 1: asr r25
		9131	9368 5260 8795 ror r24
		9132	9369 5262 7795 ror r23
		9133	9370 5264 6795 ror r22
		9134	9371 5266 2A95 dec r18
		9135	9372 5268 01F4 brne 1b
		9136	9373 526a C61A sub r12,r22
		9137	9374 526c D70A sbc r13,r23
		9138	9375 526e 8091 0000 lds r24,AltitudeSetpointTrimming
		9139	9376 5272 9091 0000 lds r25,(AltitudeSetpointTrimming)+1
		9140	9377 5276 892B or r24,r25
		9141	9378 5278 01F0 breq .+2
		9142	9379 527a 00C0 rjmp .L758
		9143	9380 527c 1E14 cp __zero_reg__,r14
		9144	9381 527e 1F04 cpc __zero_reg__,r15
		9145	9382 5280 04F0 brlt .+2
		9146	9383 5282 00C0 rjmp .L758
		9147	9384 5284 9801 movw r18,r16
		9148	9385 5286 17FF sbrs r17,7
		9149	9386 5288 00C0 rjmp .L759
		9150	9387 528a 3095 com r19
		9151	9388 528c 2195 neg r18
		9152	9389 528e 3F4F sbci r19,lo8(-1)
		9153	9390 .L759:
		9154	9391 5290 2D33 cpi r18,61
		9155	9392 5292 3105 cpc r19,__zero_reg__
		9156	9393 5294 00F4 brsh .L760
		9157	9394 5296 8091 0000 lds r24,HoverGasMin
		9158	9395 529a 9091 0000 lds r25,(HoverGasMin)+1
		9159	9396 529e 8C15 cp r24,r12
		9160	9397 52a0 9D05 cpc r25,r13
		9161	9398 52a2 04F4 brge .L909
		9162	9399 52a4 00C0 rjmp .L918
		9163	9400 .L760:
		9164	9401 52a6 2C53 subi r18,lo8(-(-60))
		9165	9402 52a8 3040 sbci r19,hi8(-(-60))
		9166	9403 52aa 85E0 ldi r24,5
		9167	9404 52ac 3695 1: lsr r19
		9168	9405 52ae 2795 ror r18
		9169	9406 52b0 8A95 dec r24
		9170	9407 52b2 01F4 brne 1b
		9171	9408 52b4 2031 cpi r18,16
		9172	9409 52b6 3105 cpc r19,__zero_reg__
		9173	9410 52b8 00F0 brlo .L765
		9174	9411 52ba 2FE0 ldi r18,lo8(15)
		9175	9412 52bc 30E0 ldi r19,hi8(15)
		9176	9413 .L765:
		9177	9414 52be 4091 0000 lds r20,HoverGasMin
		9178	9415 52c2 5091 0000 lds r21,(HoverGasMin)+1
		9179	9416 52c6 1016 cp __zero_reg__,r16
		9180	9417 52c8 1106 cpc __zero_reg__,r17
		9181	9418 52ca 04F4 brge .L766
		9182	9419 52cc 80E1 ldi r24,lo8(16)
		9183	9420 52ce 90E0 ldi r25,hi8(16)
		9184	9421 52d0 821B sub r24,r18
		9185	9422 52d2 930B sbc r25,r19
		9186	9423 52d4 489F mul r20,r24
		9187	9424 52d6 9001 movw r18,r0
		9188	9425 52d8 499F mul r20,r25
		9189	9426 52da 300D add r19,r0
		9190	9427 52dc 589F mul r21,r24
		9191	9428 52de 300D add r19,r0
		9192	9429 52e0 1124 clr r1
		9193	9430 52e2 B4E0 ldi r27,4
		9194	9431 52e4 3695 1: lsr r19
		9195	9432 52e6 2795 ror r18
		9196	9433 52e8 BA95 dec r27
		9197	9434 52ea 01F4 brne 1b
		9198	9435 52ec 2C15 cp r18,r12
		9199	9436 52ee 3D05 cpc r19,r13
		9200	9437 52f0 00F4 brsh .L908
		9201	9438 .L918:
		9202	9439 52f2 8091 0000 lds r24,HoverGasMax
		9203	9440 52f6 9091 0000 lds r25,(HoverGasMax)+1
		9204	9441 52fa C816 cp r12,r24
		9205	9442 52fc D906 cpc r13,r25
		9206	9443 52fe 04F0 brlt .L758
		9207	9444 .L909:
		9208	9445 5300 6C01 movw r12,r24
		9209	9446 5302 00C0 rjmp .L758
		9210	9447 .L766:
		9211	9448 5304 205F subi r18,lo8(-(16))
		9212	9449 5306 3F4F sbci r19,hi8(-(16))
		9213	9450 5308 8091 0000 lds r24,HoverGasMax
		9214	9451 530c 9091 0000 lds r25,(HoverGasMax)+1
		9215	9452 5310 829F mul r24,r18
		9216	9453 5312 8001 movw r16,r0
		9217	9454 5314 839F mul r24,r19
		9218	9455 5316 100D add r17,r0
		9219	9456 5318 929F mul r25,r18
		9220	9457 531a 100D add r17,r0
		9221	9458 531c 1124 clr r1
		9222	9459 531e 9801 movw r18,r16
		9223	9460 5320 A4E0 ldi r26,4
		9224	9461 5322 3695 1: lsr r19
		9225	9462 5324 2795 ror r18
		9226	9463 5326 AA95 dec r26
		9227	9464 5328 01F4 brne 1b
		9228	9465 532a 4C15 cp r20,r12
		9229	9466 532c 5D05 cpc r21,r13
		9230	9467 532e 04F0 brlt .L771
		9231	9468 5330 6A01 movw r12,r20
		9232	9469 5332 00C0 rjmp .L758
		9233	9470 .L771:
		9234	9471 5334 C216 cp r12,r18
		9235	9472 5336 D306 cpc r13,r19
		9236	9473 5338 00F0 brlo .L758
		9237	9474 .L908:
		9238	9475 533a 6901 movw r12,r18
		9239	9476 .L758:
		9240	9477 533c C601 movw r24,r12
		9241	9478 533e AA27 clr r26
		9242	9479 5340 97FD sbrc r25,7
		9243	9480 5342 A095 com r26
		9244	9481 5344 BA2F mov r27,r26
		9245	9482 5346 FDE0 ldi r31,13
		9246	9483 5348 880F 1: lsl r24
		9247	9484 534a 991F rol r25
		9248	9485 534c AA1F rol r26
		9249	9486 534e BB1F rol r27
		9250	9487 5350 FA95 dec r31
		9251	9488 5352 01F4 brne 1b
		9252	9489 5354 9501 movw r18,r10
		9253	9490 5356 4427 clr r20
		9254	9491 5358 37FD sbrc r19,7
		9255	9492 535a 4095 com r20
		9256	9493 535c 542F mov r21,r20
		9257	9494 535e BC01 movw r22,r24
		9258	9495 5360 CD01 movw r24,r26
		9259	9496 5362 0E94 0000 call __divmodsi4
		9260	9497 5366 2093 0000 sts tmp_long2.2,r18
		9261	9498 536a 3093 0000 sts (tmp_long2.2)+1,r19
		9262	9499 536e 4093 0000 sts (tmp_long2.2)+2,r20
		9263	9500 5372 5093 0000 sts (tmp_long2.2)+3,r21
		9264	9501 5376 C090 0000 lds r12,tmp_long2.2
		9265	9502 537a D090 0000 lds r13,(tmp_long2.2)+1
		9266	9503 537e 8091 0000 lds r24,FilterHCGas.22
		9267	9504 5382 9091 0000 lds r25,(FilterHCGas.22)+1
		9268	9505 5386 9C01 movw r18,r24
		9269	9506 5388 220F lsl r18
		9270	9507 538a 331F rol r19
		9271	9508 538c 280F add r18,r24
		9272	9509 538e 391F adc r19,r25
		9273	9510 5390 2C0D add r18,r12
		9274	9511 5392 3D1D adc r19,r13
		9275	9512 5394 37FF sbrs r19,7
		9276	9513 5396 00C0 rjmp .L774
		9277	9514 5398 2D5F subi r18,lo8(-(3))
		9278	9515 539a 3F4F sbci r19,hi8(-(3))
		9279	9516 .L774:
		9280	9517 539c A901 movw r20,r18
		9281	9518 539e 5595 asr r21
		9282	9519 53a0 4795 ror r20
		9283	9520 53a2 5595 asr r21
		9284	9521 53a4 4795 ror r20
		9285	9522 53a6 5093 0000 sts (FilterHCGas.22)+1,r21
		9286	9523 53aa 4093 0000 sts FilterHCGas.22,r20
		9287	9524 53ae 8091 0000 lds r24,EE_Parameter+14
		9288	9525 53b2 282F mov r18,r24
		9289	9526 53b4 3327 clr r19
		9290	9527 53b6 220F lsl r18
		9291	9528 53b8 331F rol r19
		9292	9529 53ba 220F lsl r18
		9293	9530 53bc 331F rol r19
		9294	9531 53be 2417 cp r18,r20
		9295	9532 53c0 3507 cpc r19,r21
		9296	9533 53c2 04F4 brge .L910
		9297	9534 53c4 8091 0000 lds r24,MAX_GAS
		9298	9535 53c8 282F mov r18,r24
		9299	9536 53ca 3327 clr r19
		9300	9537 53cc 220F lsl r18
		9301	9538 53ce 331F rol r19
		9302	9539 53d0 220F lsl r18
		9303	9540 53d2 331F rol r19
		9304	9541 53d4 2055 subi r18,lo8(-(-80))
		9305	9542 53d6 3040 sbci r19,hi8(-(-80))
		9306	9543 53d8 4217 cp r20,r18
		9307	9544 53da 5307 cpc r21,r19
		9308	9545 53dc 04F0 brlt .L776
		9309	9546 .L910:
		9310	9547 53de 3093 0000 sts (FilterHCGas.22)+1,r19
		9311	9548 53e2 2093 0000 sts FilterHCGas.22,r18
		9312	9549 .L776:
		9313	9550 53e6 8091 0000 lds r24,Parameter_ExtraConfig
		9314	9551 53ea 80FF sbrs r24,0
		9315	9552 53ec 00C0 rjmp .L778
		9316	9553 53ee 8091 0000 lds r24,FilterHCGas.22
		9317	9554 53f2 9091 0000 lds r25,(FilterHCGas.22)+1
		9318	9555 53f6 2981 ldd r18,Y+1
		9319	9556 53f8 3A81 ldd r19,Y+2
		9320	9557 53fa 8217 cp r24,r18
		9321	9558 53fc 9307 cpc r25,r19
		9322	9559 53fe 04F0 brlt .L779
		9323	9560 5400 3093 0000 sts (FilterHCGas.22)+1,r19
		9324	9561 5404 2093 0000 sts FilterHCGas.22,r18
		9325	9562 .L779:
		9326	9563 5408 4091 0000 lds r20,FilterHCGas.22
		9327	9564 540c 5091 0000 lds r21,(FilterHCGas.22)+1
		9328	9565 5410 5A83 std Y+2,r21
		9329	9566 5412 4983 std Y+1,r20
		9330	9567 5414 00C0 rjmp .L782
		9331	9568 .L778:
		9332	9569 5416 2981 ldd r18,Y+1
		9333	9570 5418 3A81 ldd r19,Y+2
		9334	9571 541a 2E19 sub r18,r14
		9335	9572 541c 3F09 sbc r19,r15
		9336	9573 541e 37FF sbrs r19,7
		9337	9574 5420 00C0 rjmp .L781
		9338	9575 5422 2D5F subi r18,lo8(-(3))
		9339	9576 5424 3F4F sbci r19,hi8(-(3))
		9340	9577 .L781:
		9341	9578 5426 3595 asr r19
		9342	9579 5428 2795 ror r18
		9343	9580 542a 3595 asr r19
		9344	9581 542c 2795 ror r18
		9345	9582 542e 6091 0000 lds r22,FilterHCGas.22
		9346	9583 5432 7091 0000 lds r23,(FilterHCGas.22)+1
		9347	9584 5436 620F add r22,r18
		9348	9585 5438 731F adc r23,r19
		9349	9586 543a 7A83 std Y+2,r23
		9350	9587 543c 6983 std Y+1,r22
		9351	9588 543e 00C0 rjmp .L782
		9352	9589 .L673:
		9353	9590 5440 8091 0000 lds r24,EE_Parameter+22
		9354	9591 5444 8823 tst r24
		9355	9592 5446 01F4 brne .L783
		9356	9593 5448 6091 0000 lds r22,HoverGas
		9357	9594 544c 7091 0000 lds r23,(HoverGas)+1
		9358	9595 5450 77FF sbrs r23,7
		9359	9596 5452 00C0 rjmp .L784
		9360	9597 5454 6D5F subi r22,lo8(-(3))
		9361	9598 5456 7F4F sbci r23,hi8(-(3))
		9362	9599 .L784:
		9363	9600 5458 7595 asr r23
		9364	9601 545a 6795 ror r22
		9365	9602 545c 7595 asr r23
		9366	9603 545e 6795 ror r22
		9367	9604 5460 4091 0000 lds r20,UBat
		9368	9605 5464 5091 0000 lds r21,(UBat)+1
		9369	9606 5468 8091 0000 lds r24,BattLowVoltageWarning
		9370	9607 546c 282F mov r18,r24
		9371	9608 546e 3327 clr r19
		9372	9609 5470 649F mul r22,r20
		9373	9610 5472 C001 movw r24,r0
		9374	9611 5474 659F mul r22,r21
		9375	9612 5476 900D add r25,r0
		9376	9613 5478 749F mul r23,r20
		9377	9614 547a 900D add r25,r0
		9378	9615 547c 1124 clr r1
		9379	9616 547e B901 movw r22,r18
		9380	9617 5480 0E94 0000 call __divmodhi4
		9381	9618 5484 CB01 movw r24,r22
		9382	9619 5486 00C0 rjmp .L911
		9383	9620 .L783:
		9384	9621 5488 9927 clr r25
		9385	9622 .L911:
		9386	9623 548a 9093 0000 sts (StickGasHover)+1,r25
		9387	9624 548e 8093 0000 sts StickGasHover,r24
		9388	9625 5492 8091 0000 lds r24,StickGasHover
		9389	9626 5496 9091 0000 lds r25,(StickGasHover)+1
		9390	9627 549a 8734 cpi r24,71
		9391	9628 549c 9105 cpc r25,__zero_reg__
		9392	9629 549e 04F4 brge .L786
		9393	9630 54a0 86E4 ldi r24,lo8(70)
		9394	9631 54a2 90E0 ldi r25,hi8(70)
		9395	9632 54a4 00C0 rjmp .L912
		9396	9633 .L786:
		9397	9634 54a6 8639 cpi r24,150
		9398	9635 54a8 9105 cpc r25,__zero_reg__
		9399	9636 54aa 04F0 brlt .L787
		9400	9637 54ac 86E9 ldi r24,lo8(150)
		9401	9638 54ae 90E0 ldi r25,hi8(150)
		9402	9639 .L912:
		9403	9640 54b0 9093 0000 sts (StickGasHover)+1,r25
		9404	9641 54b4 8093 0000 sts StickGasHover,r24
		9405	9642 .L787:
		9406	9643 54b8 8981 ldd r24,Y+1
		9407	9644 54ba 9A81 ldd r25,Y+2
		9408	9645 54bc 9093 0000 sts (FilterHCGas.22)+1,r25
		9409	9646 54c0 8093 0000 sts FilterHCGas.22,r24
		9410	9647 54c4 8091 0000 lds r24,FC_StatusFlags
		9411	9648 54c8 806C ori r24,lo8(-64)
		9412	9649 54ca 8093 0000 sts FC_StatusFlags,r24
		9413	9650 54ce 8091 0000 lds r24,FC_StatusFlags2
		9414	9651 54d2 8D7F andi r24,lo8(-3)
		9415	9652 54d4 8093 0000 sts FC_StatusFlags2,r24
		9416	9653 .L782:
		9417	9654 54d8 8091 0000 lds r24,FC_StatusFlags
		9418	9655 54dc 9927 clr r25
		9419	9656 54de 9C01 movw r18,r24
		9420	9657 54e0 2270 andi r18,lo8(2)
		9421	9658 54e2 3070 andi r19,hi8(2)
		9422	9659 54e4 81FF sbrs r24,1
		9423	9660 54e6 00C0 rjmp .L789
		9424	9661 54e8 8091 0000 lds r24,HoverGasFilter.23
		9425	9662 54ec 9091 0000 lds r25,(HoverGasFilter.23)+1
		9426	9663 54f0 A091 0000 lds r26,(HoverGasFilter.23)+2
		9427	9664 54f4 B091 0000 lds r27,(HoverGasFilter.23)+3
		9428	9665 54f8 0097 sbiw r24,0
		9429	9666 54fa A105 cpc r26,__zero_reg__
		9430	9667 54fc B105 cpc r27,__zero_reg__
		9431	9668 54fe 01F0 breq .L791
		9432	9669 5500 8091 0000 lds r24,StartTrigger
		9433	9670 5504 8130 cpi r24,lo8(1)
		9434	9671 5506 01F4 brne .L790
		9435	9672 .L791:
		9436	9673 5508 E981 ldd r30,Y+1
		9437	9674 550a FA81 ldd r31,Y+2
		9438	9675 550c CF01 movw r24,r30
		9439	9676 550e AA27 clr r26
		9440	9677 5510 97FD sbrc r25,7
		9441	9678 5512 A095 com r26
		9442	9679 5514 BA2F mov r27,r26
		9443	9680 5516 1EE0 ldi r17,14
		9444	9681 5518 880F 1: lsl r24
		9445	9682 551a 991F rol r25
		9446	9683 551c AA1F rol r26
		9447	9684 551e BB1F rol r27
		9448	9685 5520 1A95 dec r17
		9449	9686 5522 01F4 brne 1b
		9450	9687 5524 8093 0000 sts HoverGasFilter.23,r24
		9451	9688 5528 9093 0000 sts (HoverGasFilter.23)+1,r25
		9452	9689 552c A093 0000 sts (HoverGasFilter.23)+2,r26
		9453	9690 5530 B093 0000 sts (HoverGasFilter.23)+3,r27
		9454	9691 .L790:
		9455	9692 5534 8091 0000 lds r24,StartTrigger
		9456	9693 5538 8130 cpi r24,lo8(1)
		9457	9694 553a 01F4 brne .L792
		9458	9695 553c 82E0 ldi r24,lo8(2)
		9459	9696 553e 8093 0000 sts StartTrigger,r24
		9460	9697 .L792:
		9461	9698 5542 E980 ldd r14,Y+1
		9462	9699 5544 FA80 ldd r15,Y+2
		9463	9700 5546 C701 movw r24,r14
		9464	9701 5548 AA27 clr r26
		9465	9702 554a 97FD sbrc r25,7
		9466	9703 554c A095 com r26
		9467	9704 554e BA2F mov r27,r26
		9468	9705 5550 9501 movw r18,r10
		9469	9706 5552 4427 clr r20
		9470	9707 5554 37FD sbrc r19,7
		9471	9708 5556 4095 com r20
		9472	9709 5558 542F mov r21,r20
		9473	9710 555a BC01 movw r22,r24
		9474	9711 555c CD01 movw r24,r26
		9475	9712 555e 0E94 0000 call __mulsi3
		9476	9713 5562 DC01 movw r26,r24
		9477	9714 5564 CB01 movw r24,r22
		9478	9715 5566 8093 0000 sts tmp_long2.2,r24
		9479	9716 556a 9093 0000 sts (tmp_long2.2)+1,r25
		9480	9717 556e A093 0000 sts (tmp_long2.2)+2,r26
		9481	9718 5572 B093 0000 sts (tmp_long2.2)+3,r27
		9482	9719 5576 B7FF sbrs r27,7
		9483	9720 5578 00C0 rjmp .L793
		9484	9721 557a 8150 subi r24,lo8(-(8191))
		9485	9722 557c 904E sbci r25,hi8(-(8191))
		9486	9723 557e AF4F sbci r26,hlo8(-(8191))
		9487	9724 5580 BF4F sbci r27,hhi8(-(8191))
		9488	9725 .L793:
		9489	9726 5582 7C01 movw r14,r24
		9490	9727 5584 8D01 movw r16,r26
		9491	9728 5586 ADE0 ldi r26,13
		9492	9729 5588 1595 1: asr r17
		9493	9730 558a 0795 ror r16
		9494	9731 558c F794 ror r15
		9495	9732 558e E794 ror r14
		9496	9733 5590 AA95 dec r26
		9497	9734 5592 01F4 brne 1b
		9498	9735 5594 E092 0000 sts tmp_long2.2,r14
		9499	9736 5598 F092 0000 sts (tmp_long2.2)+1,r15
		9500	9737 559c 0093 0000 sts (tmp_long2.2)+2,r16
		9501	9738 55a0 1093 0000 sts (tmp_long2.2)+3,r17
		9502	9739 55a4 6091 0000 lds r22,modell_fliegt
		9503	9740 55a8 7091 0000 lds r23,(modell_fliegt)+1
		9504	9741 55ac 2FE0 ldi r18,hi8(4000)
		9505	9742 55ae 603A cpi r22,lo8(4000)
		9506	9743 55b0 7207 cpc r23,r18
		9507	9744 55b2 00F4 brsh .L794
		9508	9745 55b4 8091 0000 lds r24,HoverGasFilter.23
		9509	9746 55b8 9091 0000 lds r25,(HoverGasFilter.23)+1
		9510	9747 55bc A091 0000 lds r26,(HoverGasFilter.23)+2
		9511	9748 55c0 B091 0000 lds r27,(HoverGasFilter.23)+3
		9512	9749 55c4 9C01 movw r18,r24
		9513	9750 55c6 AD01 movw r20,r26
		9514	9751 55c8 FAE0 ldi r31,10
		9515	9752 55ca 5695 1: lsr r21
		9516	9753 55cc 4795 ror r20
		9517	9754 55ce 3795 ror r19
		9518	9755 55d0 2795 ror r18
		9519	9756 55d2 FA95 dec r31
		9520	9757 55d4 01F4 brne 1b
		9521	9758 55d6 821B sub r24,r18
		9522	9759 55d8 930B sbc r25,r19
		9523	9760 55da A40B sbc r26,r20
		9524	9761 55dc B50B sbc r27,r21
		9525	9762 55de A801 movw r20,r16
		9526	9763 55e0 9701 movw r18,r14
		9527	9764 55e2 E4E0 ldi r30,4
		9528	9765 55e4 220F 1: lsl r18
		9529	9766 55e6 331F rol r19
		9530	9767 55e8 441F rol r20
		9531	9768 55ea 551F rol r21
		9532	9769 55ec EA95 dec r30
		9533	9770 55ee 01F4 brne 1b
		9534	9771 55f0 820F add r24,r18
		9535	9772 55f2 931F adc r25,r19
		9536	9773 55f4 A41F adc r26,r20
		9537	9774 55f6 B51F adc r27,r21
		9538	9775 55f8 8093 0000 sts HoverGasFilter.23,r24
		9539	9776 55fc 9093 0000 sts (HoverGasFilter.23)+1,r25
		9540	9777 5600 A093 0000 sts (HoverGasFilter.23)+2,r26
		9541	9778 5604 B093 0000 sts (HoverGasFilter.23)+3,r27
		9542	9779 .L794:
		9543	9780 5608 6054 subi r22,lo8(8000)
		9544	9781 560a 7F41 sbci r23,hi8(8000)
		9545	9782 560c 00F4 brsh .L795
		9546	9783 560e 8091 0000 lds r24,HoverGasFilter.23
		9547	9784 5612 9091 0000 lds r25,(HoverGasFilter.23)+1
		9548	9785 5616 A091 0000 lds r26,(HoverGasFilter.23)+2
		9549	9786 561a B091 0000 lds r27,(HoverGasFilter.23)+3
		9550	9787 561e 9C01 movw r18,r24
		9551	9788 5620 AD01 movw r20,r26
		9552	9789 5622 6CE0 ldi r22,12
		9553	9790 5624 5695 1: lsr r21
		9554	9791 5626 4795 ror r20
		9555	9792 5628 3795 ror r19
		9556	9793 562a 2795 ror r18
		9557	9794 562c 6A95 dec r22
		9558	9795 562e 01F4 brne 1b
		9559	9796 5630 821B sub r24,r18
		9560	9797 5632 930B sbc r25,r19
		9561	9798 5634 A40B sbc r26,r20
		9562	9799 5636 B50B sbc r27,r21
		9563	9800 5638 A801 movw r20,r16
		9564	9801 563a 9701 movw r18,r14
		9565	9802 563c F2E0 ldi r31,2
		9566	9803 563e 220F 1: lsl r18
		9567	9804 5640 331F rol r19
		9568	9805 5642 441F rol r20
		9569	9806 5644 551F rol r21
		9570	9807 5646 FA95 dec r31
		9571	9808 5648 01F4 brne 1b
		9572	9809 564a 820F add r24,r18
		9573	9810 564c 931F adc r25,r19
		9574	9811 564e A41F adc r26,r20
		9575	9812 5650 B51F adc r27,r21
		9576	9813 5652 00C0 rjmp .L913
		9577	9814 .L795:
		9578	9815 5654 8091 0000 lds r24,VarioMeter
		9579	9816 5658 9091 0000 lds r25,(VarioMeter)+1
		9580	9817 565c 8091 0000 lds r24,VarioMeter
		9581	9818 5660 9091 0000 lds r25,(VarioMeter)+1
		9582	9819 5664 97FF sbrs r25,7
		9583	9820 5666 00C0 rjmp .L798
		9584	9821 5668 9095 com r25
		9585	9822 566a 8195 neg r24
		9586	9823 566c 9F4F sbci r25,lo8(-1)
		9587	9824 .L798:
		9588	9825 566e 8436 cpi r24,100
		9589	9826 5670 9105 cpc r25,__zero_reg__
		9590	9827 5672 04F4 brge .L796
		9591	9828 5674 8091 0000 lds r24,HoehenWert
		9592	9829 5678 9091 0000 lds r25,(HoehenWert)+1
		9593	9830 567c 2091 0000 lds r18,SollHoehe
		9594	9831 5680 3091 0000 lds r19,(SollHoehe)+1
		9595	9832 5684 821B sub r24,r18
		9596	9833 5686 930B sbc r25,r19
		9597	9834 5688 8150 subi r24,lo8(-(255))
		9598	9835 568a 9F4F sbci r25,hi8(-(255))
		9599	9836 568c 8F5F subi r24,lo8(511)
		9600	9837 568e 9140 sbci r25,hi8(511)
		9601	9838 5690 00F4 brsh .L796
		9602	9839 5692 8091 0000 lds r24,HoverGasFilter.23
		9603	9840 5696 9091 0000 lds r25,(HoverGasFilter.23)+1
		9604	9841 569a A091 0000 lds r26,(HoverGasFilter.23)+2
		9605	9842 569e B091 0000 lds r27,(HoverGasFilter.23)+3
		9606	9843 56a2 9C01 movw r18,r24
		9607	9844 56a4 AD01 movw r20,r26
		9608	9845 56a6 EEE0 ldi r30,14
		9609	9846 56a8 5695 1: lsr r21
		9610	9847 56aa 4795 ror r20
		9611	9848 56ac 3795 ror r19
		9612	9849 56ae 2795 ror r18
		9613	9850 56b0 EA95 dec r30
		9614	9851 56b2 01F4 brne 1b
		9615	9852 56b4 821B sub r24,r18
		9616	9853 56b6 930B sbc r25,r19
		9617	9854 56b8 A40B sbc r26,r20
		9618	9855 56ba B50B sbc r27,r21
		9619	9856 56bc 8E0D add r24,r14
		9620	9857 56be 9F1D adc r25,r15
		9621	9858 56c0 A01F adc r26,r16
		9622	9859 56c2 B11F adc r27,r17
		9623	9860 .L913:
		9624	9861 56c4 8093 0000 sts HoverGasFilter.23,r24
		9625	9862 56c8 9093 0000 sts (HoverGasFilter.23)+1,r25
		9626	9863 56cc A093 0000 sts (HoverGasFilter.23)+2,r26
		9627	9864 56d0 B093 0000 sts (HoverGasFilter.23)+3,r27
		9628	9865 .L796:
		9629	9866 56d4 8091 0000 lds r24,HoverGasFilter.23
		9630	9867 56d8 9091 0000 lds r25,(HoverGasFilter.23)+1
		9631	9868 56dc A091 0000 lds r26,(HoverGasFilter.23)+2
		9632	9869 56e0 B091 0000 lds r27,(HoverGasFilter.23)+3
		9633	9870 56e4 7EE0 ldi r23,14
		9634	9871 56e6 B695 1: lsr r27
		9635	9872 56e8 A795 ror r26
		9636	9873 56ea 9795 ror r25
		9637	9874 56ec 8795 ror r24
		9638	9875 56ee 7A95 dec r23
		9639	9876 56f0 01F4 brne 1b
		9640	9877 56f2 9093 0000 sts (HoverGas)+1,r25
		9641	9878 56f6 8093 0000 sts HoverGas,r24
		9642	9879 56fa 4091 0000 lds r20,EE_Parameter+20
		9643	9880 56fe 4423 tst r20
		9644	9881 5700 01F0 breq .L799
		9645	9882 5702 5527 clr r21
		9646	9883 5704 9C01 movw r18,r24
		9647	9884 5706 BA01 movw r22,r20
		9648	9885 5708 0E94 0000 call __divmodhi4
		9649	9886 570c C901 movw r24,r18
		9650	9887 570e 861B sub r24,r22
		9651	9888 5710 970B sbc r25,r23
		9652	9889 5712 9093 0000 sts (HoverGasMin)+1,r25
		9653	9890 5716 8093 0000 sts HoverGasMin,r24
		9654	9891 571a 260F add r18,r22
		9655	9892 571c 371F adc r19,r23
		9656	9893 571e 3093 0000 sts (HoverGasMax)+1,r19
		9657	9894 5722 2093 0000 sts HoverGasMax,r18
		9658	9895 5726 00C0 rjmp .L802
		9659	9896 .L799:
		9660	9897 5728 1092 0000 sts (HoverGasMin)+1,__zero_reg__
		9661	9898 572c 1092 0000 sts HoverGasMin,__zero_reg__
		9662	9899 5730 8FEF ldi r24,lo8(1023)
		9663	9900 5732 93E0 ldi r25,hi8(1023)
		9664	9901 5734 9093 0000 sts (HoverGasMax)+1,r25
		9665	9902 5738 8093 0000 sts HoverGasMax,r24
		9666	9903 573c 00C0 rjmp .L802
		9667	9904 .L789:
		9668	9905 573e 1092 0000 sts StartTrigger,__zero_reg__
		9669	9906 5742 1092 0000 sts HoverGasFilter.23,__zero_reg__
		9670	9907 5746 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__
		9671	9908 574a 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__
		9672	9909 574e 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__
		9673	9910 5752 3093 0000 sts (HoverGas)+1,r19
		9674	9911 5756 2093 0000 sts HoverGas,r18
		9675	9912 575a 00C0 rjmp .L802
		9676	9913 .L653:
		9677	9914 575c 8091 0000 lds r24,FC_StatusFlags
		9678	9915 5760 806C ori r24,lo8(-64)
		9679	9916 5762 8093 0000 sts FC_StatusFlags,r24
		9680	9917 .L802:
		9681	9918 5766 8091 0000 lds r24,NC_To_FC_Flags
		9682	9919 576a 81FF sbrs r24,1
		9683	9920 576c 00C0 rjmp .L803
		9684	9921 576e 8981 ldd r24,Y+1
		9685	9922 5770 9A81 ldd r25,Y+2
		9686	9923 5772 97FD sbrc r25,7
		9687	9924 5774 0396 adiw r24,3
		9688	9925 .L805:
		9689	9926 5776 9595 asr r25
		9690	9927 5778 8795 ror r24
		9691	9928 577a 9595 asr r25
		9692	9929 577c 8795 ror r24
		9693	9930 577e 2091 0000 lds r18,HooverGasEmergencyPercent
		9694	9931 5782 3091 0000 lds r19,(HooverGasEmergencyPercent)+1
		9695	9932 5786 2817 cp r18,r24
		9696	9933 5788 3907 cpc r19,r25
		9697	9934 578a 00F4 brsh .L804
		9698	9935 578c 8091 0000 lds r24,HoverGas
		9699	9936 5790 9091 0000 lds r25,(HoverGas)+1
		9700	9937 5794 892B or r24,r25
		9701	9938 5796 01F0 breq .L804
		9702	9939 5798 220F lsl r18
		9703	9940 579a 331F rol r19
		9704	9941 579c 220F lsl r18
		9705	9942 579e 331F rol r19
		9706	9943 57a0 3A83 std Y+2,r19
		9707	9944 57a2 2983 std Y+1,r18
		9708	9945 .L804:
		9709	9946 57a4 8091 0000 lds r24,HoehenWert
		9710	9947 57a8 9091 0000 lds r25,(HoehenWert)+1
		9711	9948 57ac A091 0000 lds r26,(HoehenWert)+2
		9712	9949 57b0 B091 0000 lds r27,(HoehenWert)+3
		9713	9950 57b4 8093 0000 sts SollHoehe,r24
		9714	9951 57b8 9093 0000 sts (SollHoehe)+1,r25
		9715	9952 57bc A093 0000 sts (SollHoehe)+2,r26
		9716	9953 57c0 B093 0000 sts (SollHoehe)+3,r27
		9717	9954 57c4 88E9 ldi r24,lo8(15000)
		9718	9955 57c6 9AE3 ldi r25,hi8(15000)
		9719	9956 57c8 9093 0000 sts (beeptime)+1,r25
		9720	9957 57cc 8093 0000 sts beeptime,r24
		9721	9958 57d0 80E0 ldi r24,lo8(3584)
		9722	9959 57d2 9EE0 ldi r25,hi8(3584)
		9723	9960 57d4 9093 0000 sts (BeepMuster)+1,r25
		9724	9961 57d8 8093 0000 sts BeepMuster,r24
		9725	9962 .L803:
		9726	9963 57dc 2091 0000 lds r18,MIN_GAS
		9727	9964 57e0 822F mov r24,r18
		9728	9965 57e2 9927 clr r25
		9729	9966 57e4 880F lsl r24
		9730	9967 57e6 991F rol r25
		9731	9968 57e8 880F lsl r24
		9732	9969 57ea 991F rol r25
		9733	9970 57ec 8896 adiw r24,40
		9734	9971 57ee 6981 ldd r22,Y+1
		9735	9972 57f0 7A81 ldd r23,Y+2
		9736	9973 57f2 8617 cp r24,r22
		9737	9974 57f4 9707 cpc r25,r23
		9738	9975 57f6 04F0 brlt .L806
		9739	9976 57f8 9A83 std Y+2,r25
		9740	9977 57fa 8983 std Y+1,r24
		9741	9978 .L806:
		9742	9979 57fc 7091 0000 lds r23,MAX_GAS
		9743	9980 5800 7D8B std Y+21,r23
		9744	9981 5802 872F mov r24,r23
		9745	9982 5804 9927 clr r25
		9746	9983 5806 880F lsl r24
		9747	9984 5808 991F rol r25
		9748	9985 580a 880F lsl r24
		9749	9986 580c 991F rol r25
		9750	9987 580e 8055 subi r24,lo8(-(-80))
		9751	9988 5810 9040 sbci r25,hi8(-(-80))
		9752	9989 5812 A981 ldd r26,Y+1
		9753	9990 5814 BA81 ldd r27,Y+2
		9754	9991 5816 8A17 cp r24,r26
		9755	9992 5818 9B07 cpc r25,r27
		9756	9993 581a 04F4 brge .L807
		9757	9994 581c 9A83 std Y+2,r25
		9758	9995 581e 8983 std Y+1,r24
		9759	9996 .L807:
		9760	9997 5820 8091 0000 lds r24,MissingMotor
		9761	9998 5824 8823 tst r24
		9762	9999 5826 01F4 brne .L809
		9763	10000 5828 8091 0000 lds r24,Capacity+6
		9764	10001 582c 8F3F cpi r24,lo8(-1)
		9765	10002 582e 01F4 brne .L809
		9766	10003 5830 8091 0000 lds r24,NC_ErrorCode
		9767	10004 5834 8823 tst r24
		9768	10005 5836 01F0 breq .L808
		9769	10006 .L809:
		9770	10007 5838 8091 0000 lds r24,modell_fliegt
		9771	10008 583c 9091 0000 lds r25,(modell_fliegt)+1
		9772	10009 5840 0297 sbiw r24,2
		9773	10010 5842 C097 sbiw r24,48
		9774	10011 5844 00F4 brsh .L808
		9775	10012 5846 E981 ldd r30,Y+1
		9776	10013 5848 FA81 ldd r31,Y+2
		9777	10014 584a 1E16 cp __zero_reg__,r30
		9778	10015 584c 1F06 cpc __zero_reg__,r31
		9779	10016 584e 04F4 brge .L808
		9780	10017 5850 81E0 ldi r24,lo8(1)
		9781	10018 5852 90E0 ldi r25,hi8(1)
		9782	10019 5854 9093 0000 sts (modell_fliegt)+1,r25
		9783	10020 5858 8093 0000 sts modell_fliegt,r24
		9784	10021 585c E22E mov r14,r18
		9785	10022 585e FF24 clr r15
		9786	10023 5860 EE0C lsl r14
		9787	10024 5862 FF1C rol r15
		9788	10025 5864 EE0C lsl r14
		9789	10026 5866 FF1C rol r15
		9790	10027 5868 8701 movw r16,r14
		9791	10028 586a 085D subi r16,lo8(-(40))
		9792	10029 586c 1F4F sbci r17,hi8(-(40))
		9793	10030 586e 1A83 std Y+2,r17
		9794	10031 5870 0983 std Y+1,r16
		9795	10032 .L808:
		9796	10033 5872 2981 ldd r18,Y+1
		9797	10034 5874 3A81 ldd r19,Y+2
		9798	10035 5876 3093 0000 sts (DebugOut+16)+1,r19
		9799	10036 587a 2093 0000 sts DebugOut+16,r18
		9800	10037 587e 8091 0000 lds r24,sollGier.0
		9801	10038 5882 9091 0000 lds r25,(sollGier.0)+1
		9802	10039 5886 A091 0000 lds r26,(sollGier.0)+2
		9803	10040 588a B091 0000 lds r27,(sollGier.0)+3
		9804	10041 588e 12E0 ldi r17,2
		9805	10042 5890 880F 1: lsl r24
		9806	10043 5892 991F rol r25
		9807	10044 5894 AA1F rol r26
		9808	10045 5896 BB1F rol r27
		9809	10046 5898 1A95 dec r17
		9810	10047 589a 01F4 brne 1b
		9811	10048 589c 0091 0000 lds r16,MesswertGier
		9812	10049 58a0 1091 0000 lds r17,(MesswertGier)+1
		9813	10050 58a4 081B sub r16,r24
		9814	10051 58a6 190B sbc r17,r25
		9815	10052 58a8 213A cpi r18,161
		9816	10053 58aa 3105 cpc r19,__zero_reg__
		9817	10054 58ac 04F0 brlt .L811
		9818	10055 58ae C901 movw r24,r18
		9819	10056 58b0 37FD sbrc r19,7
		9820	10057 58b2 0196 adiw r24,1
		9821	10058 .L813:
		9822	10059 58b4 9595 asr r25
		9823	10060 58b6 8795 ror r24
		9824	10061 58b8 8017 cp r24,r16
		9825	10062 58ba 9107 cpc r25,r17
		9826	10063 58bc 04F4 brge .L812
		9827	10064 58be 8C01 movw r16,r24
		9828	10065 .L812:
		9829	10066 58c0 9095 com r25
		9830	10067 58c2 8195 neg r24
		9831	10068 58c4 9F4F sbci r25,lo8(-1)
		9832	10069 58c6 0817 cp r16,r24
		9833	10070 58c8 1907 cpc r17,r25
		9834	10071 58ca 04F4 brge .L818
		9835	10072 58cc 8C01 movw r16,r24
		9836	10073 58ce 00C0 rjmp .L818
		9837	10074 .L811:
		9838	10075 58d0 0135 cpi r16,81
		9839	10076 58d2 1105 cpc r17,__zero_reg__
		9840	10077 58d4 04F0 brlt .L819
		9841	10078 58d6 00E5 ldi r16,lo8(80)
		9842	10079 58d8 10E0 ldi r17,hi8(80)
		9843	10080 .L819:
		9844	10081 58da 3FEF ldi r19,hi8(-80)
		9845	10082 58dc 003B cpi r16,lo8(-80)
		9846	10083 58de 1307 cpc r17,r19
		9847	10084 58e0 04F4 brge .L818
		9848	10085 58e2 00EB ldi r16,lo8(-80)
		9849	10086 58e4 1FEF ldi r17,hi8(-80)
		9850	10087 .L818:
		9851	10088 58e6 4D89 ldd r20,Y+21
		9852	10089 58e8 242F mov r18,r20
		9853	10090 58ea 3327 clr r19
		9854	10091 58ec 220F lsl r18
		9855	10092 58ee 331F rol r19
		9856	10093 58f0 220F lsl r18
		9857	10094 58f2 331F rol r19
		9858	10095 58f4 C901 movw r24,r18
		9859	10096 58f6 6981 ldd r22,Y+1
		9860	10097 58f8 7A81 ldd r23,Y+2
		9861	10098 58fa 861B sub r24,r22
		9862	10099 58fc 970B sbc r25,r23
		9863	10100 58fe 8017 cp r24,r16
		9864	10101 5900 9107 cpc r25,r17
		9865	10102 5902 04F4 brge .L821
		9866	10103 5904 8C01 movw r16,r24
		9867	10104 .L821:
		9868	10105 5906 8981 ldd r24,Y+1
		9869	10106 5908 9A81 ldd r25,Y+2
		9870	10107 590a 821B sub r24,r18
		9871	10108 590c 930B sbc r25,r19
		9872	10109 590e 0817 cp r16,r24
		9873	10110 5910 1907 cpc r17,r25
		9874	10111 5912 04F4 brge .L822
		9875	10112 5914 8C01 movw r16,r24
		9876	10113 .L822:
		9877	10114 5916 8091 0000 lds r24,MesswertNick
		9878	10115 591a 9091 0000 lds r25,(MesswertNick)+1
		9879	10116 591e 6091 0000 lds r22,StickNick
		9880	10117 5922 7091 0000 lds r23,(StickNick)+1
		9881	10118 5926 861B sub r24,r22
		9882	10119 5928 970B sbc r25,r23
		9883	10120 592a 9093 0000 sts (DiffNick)+1,r25
		9884	10121 592e 8093 0000 sts DiffNick,r24
		9885	10122 5932 D090 0000 lds r13,IntegralFaktor
		9886	10123 5936 2091 0000 lds r18,SummeNick
		9887	10124 593a 3091 0000 lds r19,(SummeNick)+1
		9888	10125 593e 4091 0000 lds r20,(SummeNick)+2
		9889	10126 5942 5091 0000 lds r21,(SummeNick)+3
		9890	10127 5946 DD20 tst r13
		9891	10128 5948 01F0 breq .L823
		9892	10129 594a 661A sub r6,r22
		9893	10130 594c 770A sbc r7,r23
		9894	10131 594e C301 movw r24,r6
		9895	10132 5950 AA27 clr r26
		9896	10133 5952 97FD sbrc r25,7
		9897	10134 5954 A095 com r26
		9898	10135 5956 BA2F mov r27,r26
		9899	10136 5958 00C0 rjmp .L914
		9900	10137 .L823:
		9901	10138 595a AA27 clr r26
		9902	10139 595c 97FD sbrc r25,7
		9903	10140 595e A095 com r26
		9904	10141 5960 BA2F mov r27,r26
		9905	10142 .L914:
		9906	10143 5962 280F add r18,r24
		9907	10144 5964 391F adc r19,r25
		9908	10145 5966 4A1F adc r20,r26
		9909	10146 5968 5B1F adc r21,r27
		9910	10147 596a 2093 0000 sts SummeNick,r18
		9911	10148 596e 3093 0000 sts (SummeNick)+1,r19
		9912	10149 5972 4093 0000 sts (SummeNick)+2,r20
		9913	10150 5976 5093 0000 sts (SummeNick)+3,r21
		9914	10151 597a 8091 0000 lds r24,SummeNick
		9915	10152 597e 9091 0000 lds r25,(SummeNick)+1
		9916	10153 5982 A091 0000 lds r26,(SummeNick)+2
		9917	10154 5986 B091 0000 lds r27,(SummeNick)+3
		9918	10155 598a 8150 subi r24,lo8(64001)
		9919	10156 598c 9A4F sbci r25,hi8(64001)
		9920	10157 598e A040 sbci r26,hlo8(64001)
		9921	10158 5990 B040 sbci r27,hhi8(64001)
		9922	10159 5992 04F0 brlt .L825
		9923	10160 5994 80E0 ldi r24,lo8(64000)
		9924	10161 5996 9AEF ldi r25,hi8(64000)
		9925	10162 5998 A0E0 ldi r26,hlo8(64000)
		9926	10163 599a B0E0 ldi r27,hhi8(64000)
		9927	10164 599c 8093 0000 sts SummeNick,r24
		9928	10165 59a0 9093 0000 sts (SummeNick)+1,r25
		9929	10166 59a4 A093 0000 sts (SummeNick)+2,r26
		9930	10167 59a8 B093 0000 sts (SummeNick)+3,r27
		9931	10168 .L825:
		9932	10169 59ac 8091 0000 lds r24,SummeNick
		9933	10170 59b0 9091 0000 lds r25,(SummeNick)+1
		9934	10171 59b4 A091 0000 lds r26,(SummeNick)+2
		9935	10172 59b8 B091 0000 lds r27,(SummeNick)+3
		9936	10173 59bc 8050 subi r24,lo8(-64000)
		9937	10174 59be 9640 sbci r25,hi8(-64000)
		9938	10175 59c0 AF4F sbci r26,hlo8(-64000)
		9939	10176 59c2 BF4F sbci r27,hhi8(-64000)
		9940	10177 59c4 04F4 brge .L826
		9941	10178 59c6 80E0 ldi r24,lo8(-64000)
		9942	10179 59c8 96E0 ldi r25,hi8(-64000)
		9943	10180 59ca AFEF ldi r26,hlo8(-64000)
		9944	10181 59cc BFEF ldi r27,hhi8(-64000)
		9945	10182 59ce 8093 0000 sts SummeNick,r24
		9946	10183 59d2 9093 0000 sts (SummeNick)+1,r25
		9947	10184 59d6 A093 0000 sts (SummeNick)+2,r26
		9948	10185 59da B093 0000 sts (SummeNick)+3,r27
		9949	10186 .L826:
		9950	10187 59de C090 0000 lds r12,EE_Parameter+35
		9951	10188 59e2 2091 0000 lds r18,DiffNick
		9952	10189 59e6 3091 0000 lds r19,(DiffNick)+1
		9953	10190 59ea 78E0 ldi r23,lo8(8)
		9954	10191 59ec E72E mov r14,r23
		9955	10192 59ee EC14 cp r14,r12
		9956	10193 59f0 00F0 brlo .L827
		9957	10194 59f2 8C2D mov r24,r12
		9958	10195 59f4 9927 clr r25
		9959	10196 59f6 829F mul r24,r18
		9960	10197 59f8 A001 movw r20,r0
		9961	10198 59fa 839F mul r24,r19
		9962	10199 59fc 500D add r21,r0
		9963	10200 59fe 929F mul r25,r18
		9964	10201 5a00 500D add r21,r0
		9965	10202 5a02 1124 clr r1
		9966	10203 5a04 CA01 movw r24,r20
		9967	10204 5a06 57FD sbrc r21,7
		9968	10205 5a08 0796 adiw r24,7
		9969	10206 .L828:
		9970	10207 5a0a 7C01 movw r14,r24
		9971	10208 5a0c 63E0 ldi r22,3
		9972	10209 5a0e F594 1: asr r15
		9973	10210 5a10 E794 ror r14
		9974	10211 5a12 6A95 dec r22
		9975	10212 5a14 01F4 brne 1b
		9976	10213 5a16 00C0 rjmp .L829
		9977	10214 .L827:
		9978	10215 5a18 8C2D mov r24,r12
		9979	10216 5a1a 8695 lsr r24
		9980	10217 5a1c 9927 clr r25
		9981	10218 5a1e 829F mul r24,r18
		9982	10219 5a20 B001 movw r22,r0
		9983	10220 5a22 839F mul r24,r19
		9984	10221 5a24 700D add r23,r0
		9985	10222 5a26 929F mul r25,r18
		9986	10223 5a28 700D add r23,r0
		9987	10224 5a2a 1124 clr r1
		9988	10225 5a2c CB01 movw r24,r22
		9989	10226 5a2e 77FD sbrc r23,7
		9990	10227 5a30 0396 adiw r24,3
		9991	10228 .L830:
		9992	10229 5a32 7C01 movw r14,r24
		9993	10230 5a34 F594 asr r15
		9994	10231 5a36 E794 ror r14
		9995	10232 5a38 F594 asr r15
		9996	10233 5a3a E794 ror r14
		9997	10234 .L829:
		9998	10235 5a3c A090 0000 lds r10,Ki
		9999	10236 5a40 B090 0000 lds r11,(Ki)+1
		10000	10237 5a44 9501 movw r18,r10
		10001	10238 5a46 4427 clr r20
		10002	10239 5a48 37FD sbrc r19,7
		10003	10240 5a4a 4095 com r20
		10004	10241 5a4c 542F mov r21,r20
		10005	10242 5a4e 8091 0000 lds r24,SummeNick
		10006	10243 5a52 9091 0000 lds r25,(SummeNick)+1
		10007	10244 5a56 A091 0000 lds r26,(SummeNick)+2
		10008	10245 5a5a B091 0000 lds r27,(SummeNick)+3
		10009	10246 5a5e BC01 movw r22,r24
		10010	10247 5a60 CD01 movw r24,r26
		10011	10248 5a62 0E94 0000 call __divmodsi4
		10012	10249 5a66 E20E add r14,r18
		10013	10250 5a68 F31E adc r15,r19
		10014	10251 5a6a 9090 0000 lds r9,Parameter_DynamicStability
		10015	10252 5a6e 692D mov r22,r9
		10016	10253 5a70 7727 clr r23
		10017	10254 5a72 8827 clr r24
		10018	10255 5a74 9927 clr r25
		10019	10256 5a76 9801 movw r18,r16
		10020	10257 5a78 17FF sbrs r17,7
		10021	10258 5a7a 00C0 rjmp .L831
		10022	10259 5a7c 2227 clr r18
		10023	10260 5a7e 3327 clr r19
		10024	10261 5a80 201B sub r18,r16
		10025	10262 5a82 310B sbc r19,r17
		10026	10263 .L831:
		10027	10264 5a84 37FF sbrs r19,7
		10028	10265 5a86 00C0 rjmp .L832
		10029	10266 5a88 2F5F subi r18,lo8(-(1))
		10030	10267 5a8a 3F4F sbci r19,hi8(-(1))
		10031	10268 .L832:
		10032	10269 5a8c 3595 asr r19
		10033	10270 5a8e 2795 ror r18
		10034	10271 5a90 A981 ldd r26,Y+1
		10035	10272 5a92 BA81 ldd r27,Y+2
		10036	10273 5a94 2A0F add r18,r26
		10037	10274 5a96 3B1F adc r19,r27
		10038	10275 5a98 4427 clr r20
		10039	10276 5a9a 37FD sbrc r19,7
		10040	10277 5a9c 4095 com r20
		10041	10278 5a9e 542F mov r21,r20
		10042	10279 5aa0 0E94 0000 call __mulsi3
		10043	10280 5aa4 97FF sbrs r25,7
		10044	10281 5aa6 00C0 rjmp .L833
		10045	10282 5aa8 615C subi r22,lo8(-(63))
		10046	10283 5aaa 7F4F sbci r23,hi8(-(63))
		10047	10284 5aac 8F4F sbci r24,hlo8(-(63))
		10048	10285 5aae 9F4F sbci r25,hhi8(-(63))
		10049	10286 .L833:
		10050	10287 5ab0 26E0 ldi r18,6
		10051	10288 5ab2 9595 1: asr r25
		10052	10289 5ab4 8795 ror r24
		10053	10290 5ab6 7795 ror r23
		10054	10291 5ab8 6795 ror r22
		10055	10292 5aba 2A95 dec r18
		10056	10293 5abc 01F4 brne 1b
		10057	10294 5abe 9B01 movw r18,r22
		10058	10295 5ac0 6E15 cp r22,r14
		10059	10296 5ac2 7F05 cpc r23,r15
		10060	10297 5ac4 04F4 brge .L834
		10061	10298 5ac6 7B01 movw r14,r22
		10062	10299 .L834:
		10063	10300 5ac8 3095 com r19
		10064	10301 5aca 2195 neg r18
		10065	10302 5acc 3F4F sbci r19,lo8(-1)
		10066	10303 5ace E216 cp r14,r18
		10067	10304 5ad0 F306 cpc r15,r19
		10068	10305 5ad2 04F4 brge .L835
		10069	10306 5ad4 7901 movw r14,r18
		10070	10307 .L835:
		10071	10308 5ad6 8091 0000 lds r24,MesswertRoll
		10072	10309 5ada 9091 0000 lds r25,(MesswertRoll)+1
		10073	10310 5ade 6091 0000 lds r22,StickRoll
		10074	10311 5ae2 7091 0000 lds r23,(StickRoll)+1
		10075	10312 5ae6 861B sub r24,r22
		10076	10313 5ae8 970B sbc r25,r23
		10077	10314 5aea 9093 0000 sts (DiffRoll)+1,r25
		10078	10315 5aee 8093 0000 sts DiffRoll,r24
		10079	10316 5af2 2091 0000 lds r18,SummeRoll
		10080	10317 5af6 3091 0000 lds r19,(SummeRoll)+1
		10081	10318 5afa 4091 0000 lds r20,(SummeRoll)+2
		10082	10319 5afe 5091 0000 lds r21,(SummeRoll)+3
		10083	10320 5b02 DD20 tst r13
		10084	10321 5b04 01F0 breq .L836
		10085	10322 5b06 461A sub r4,r22
		10086	10323 5b08 570A sbc r5,r23
		10087	10324 5b0a C201 movw r24,r4
		10088	10325 5b0c AA27 clr r26
		10089	10326 5b0e 97FD sbrc r25,7
		10090	10327 5b10 A095 com r26
		10091	10328 5b12 BA2F mov r27,r26
		10092	10329 5b14 00C0 rjmp .L915
		10093	10330 .L836:
		10094	10331 5b16 AA27 clr r26
		10095	10332 5b18 97FD sbrc r25,7
		10096	10333 5b1a A095 com r26
		10097	10334 5b1c BA2F mov r27,r26
		10098	10335 .L915:
		10099	10336 5b1e 280F add r18,r24
		10100	10337 5b20 391F adc r19,r25
		10101	10338 5b22 4A1F adc r20,r26
		10102	10339 5b24 5B1F adc r21,r27
		10103	10340 5b26 2093 0000 sts SummeRoll,r18
		10104	10341 5b2a 3093 0000 sts (SummeRoll)+1,r19
		10105	10342 5b2e 4093 0000 sts (SummeRoll)+2,r20
		10106	10343 5b32 5093 0000 sts (SummeRoll)+3,r21
		10107	10344 5b36 8091 0000 lds r24,SummeRoll
		10108	10345 5b3a 9091 0000 lds r25,(SummeRoll)+1
		10109	10346 5b3e A091 0000 lds r26,(SummeRoll)+2
		10110	10347 5b42 B091 0000 lds r27,(SummeRoll)+3
		10111	10348 5b46 8150 subi r24,lo8(64001)
		10112	10349 5b48 9A4F sbci r25,hi8(64001)
		10113	10350 5b4a A040 sbci r26,hlo8(64001)
		10114	10351 5b4c B040 sbci r27,hhi8(64001)
		10115	10352 5b4e 04F0 brlt .L838
		10116	10353 5b50 80E0 ldi r24,lo8(64000)
		10117	10354 5b52 9AEF ldi r25,hi8(64000)
		10118	10355 5b54 A0E0 ldi r26,hlo8(64000)
		10119	10356 5b56 B0E0 ldi r27,hhi8(64000)
		10120	10357 5b58 8093 0000 sts SummeRoll,r24
		10121	10358 5b5c 9093 0000 sts (SummeRoll)+1,r25
		10122	10359 5b60 A093 0000 sts (SummeRoll)+2,r26
		10123	10360 5b64 B093 0000 sts (SummeRoll)+3,r27
		10124	10361 .L838:
		10125	10362 5b68 8091 0000 lds r24,SummeRoll
		10126	10363 5b6c 9091 0000 lds r25,(SummeRoll)+1
		10127	10364 5b70 A091 0000 lds r26,(SummeRoll)+2
		10128	10365 5b74 B091 0000 lds r27,(SummeRoll)+3
		10129	10366 5b78 8050 subi r24,lo8(-64000)
		10130	10367 5b7a 9640 sbci r25,hi8(-64000)
		10131	10368 5b7c AF4F sbci r26,hlo8(-64000)
		10132	10369 5b7e BF4F sbci r27,hhi8(-64000)
		10133	10370 5b80 04F4 brge .L839
		10134	10371 5b82 80E0 ldi r24,lo8(-64000)
		10135	10372 5b84 96E0 ldi r25,hi8(-64000)
		10136	10373 5b86 AFEF ldi r26,hlo8(-64000)
		10137	10374 5b88 BFEF ldi r27,hhi8(-64000)
		10138	10375 5b8a 8093 0000 sts SummeRoll,r24
		10139	10376 5b8e 9093 0000 sts (SummeRoll)+1,r25
		10140	10377 5b92 A093 0000 sts (SummeRoll)+2,r26
		10141	10378 5b96 B093 0000 sts (SummeRoll)+3,r27
		10142	10379 .L839:
		10143	10380 5b9a 2091 0000 lds r18,DiffRoll
		10144	10381 5b9e 3091 0000 lds r19,(DiffRoll)+1
		10145	10382 5ba2 48E0 ldi r20,lo8(8)
		10146	10383 5ba4 4C15 cp r20,r12
		10147	10384 5ba6 00F0 brlo .L840
		10148	10385 5ba8 8C2D mov r24,r12
		10149	10386 5baa 9927 clr r25
		10150	10387 5bac 829F mul r24,r18
		10151	10388 5bae B001 movw r22,r0
		10152	10389 5bb0 839F mul r24,r19
		10153	10390 5bb2 700D add r23,r0
		10154	10391 5bb4 929F mul r25,r18
		10155	10392 5bb6 700D add r23,r0
		10156	10393 5bb8 1124 clr r1
		10157	10394 5bba CB01 movw r24,r22
		10158	10395 5bbc 77FD sbrc r23,7
		10159	10396 5bbe 0796 adiw r24,7
		10160	10397 .L841:
		10161	10398 5bc0 6C01 movw r12,r24
		10162	10399 5bc2 B3E0 ldi r27,3
		10163	10400 5bc4 D594 1: asr r13
		10164	10401 5bc6 C794 ror r12
		10165	10402 5bc8 BA95 dec r27
		10166	10403 5bca 01F4 brne 1b
		10167	10404 5bcc 00C0 rjmp .L842
		10168	10405 .L840:
		10169	10406 5bce C694 lsr r12
		10170	10407 5bd0 8C2D mov r24,r12
		10171	10408 5bd2 9927 clr r25
		10172	10409 5bd4 829F mul r24,r18
		10173	10410 5bd6 D001 movw r26,r0
		10174	10411 5bd8 839F mul r24,r19
		10175	10412 5bda B00D add r27,r0
		10176	10413 5bdc 929F mul r25,r18
		10177	10414 5bde B00D add r27,r0
		10178	10415 5be0 1124 clr r1
		10179	10416 5be2 CD01 movw r24,r26
		10180	10417 5be4 B7FD sbrc r27,7
		10181	10418 5be6 0396 adiw r24,3
		10182	10419 .L843:
		10183	10420 5be8 6C01 movw r12,r24
		10184	10421 5bea D594 asr r13
		10185	10422 5bec C794 ror r12
		10186	10423 5bee D594 asr r13
		10187	10424 5bf0 C794 ror r12
		10188	10425 .L842:
		10189	10426 5bf2 9501 movw r18,r10
		10190	10427 5bf4 4427 clr r20
		10191	10428 5bf6 37FD sbrc r19,7
		10192	10429 5bf8 4095 com r20
		10193	10430 5bfa 542F mov r21,r20
		10194	10431 5bfc 8091 0000 lds r24,SummeRoll
		10195	10432 5c00 9091 0000 lds r25,(SummeRoll)+1
		10196	10433 5c04 A091 0000 lds r26,(SummeRoll)+2
		10197	10434 5c08 B091 0000 lds r27,(SummeRoll)+3
		10198	10435 5c0c BC01 movw r22,r24
		10199	10436 5c0e CD01 movw r24,r26
		10200	10437 5c10 0E94 0000 call __divmodsi4
		10201	10438 5c14 C20E add r12,r18
		10202	10439 5c16 D31E adc r13,r19
		10203	10440 5c18 692D mov r22,r9
		10204	10441 5c1a 7727 clr r23
		10205	10442 5c1c 8827 clr r24
		10206	10443 5c1e 9927 clr r25
		10207	10444 5c20 9801 movw r18,r16
		10208	10445 5c22 17FF sbrs r17,7
		10209	10446 5c24 00C0 rjmp .L844
		10210	10447 5c26 2227 clr r18
		10211	10448 5c28 3327 clr r19
		10212	10449 5c2a 201B sub r18,r16
		10213	10450 5c2c 310B sbc r19,r17
		10214	10451 .L844:
		10215	10452 5c2e 37FF sbrs r19,7
		10216	10453 5c30 00C0 rjmp .L845
		10217	10454 5c32 2F5F subi r18,lo8(-(1))
		10218	10455 5c34 3F4F sbci r19,hi8(-(1))
		10219	10456 .L845:
		10220	10457 5c36 3595 asr r19
		10221	10458 5c38 2795 ror r18
		10222	10459 5c3a E981 ldd r30,Y+1
		10223	10460 5c3c FA81 ldd r31,Y+2
		10224	10461 5c3e 2E0F add r18,r30
		10225	10462 5c40 3F1F adc r19,r31
		10226	10463 5c42 4427 clr r20
		10227	10464 5c44 37FD sbrc r19,7
		10228	10465 5c46 4095 com r20
		10229	10466 5c48 542F mov r21,r20
		10230	10467 5c4a 0E94 0000 call __mulsi3
		10231	10468 5c4e 97FF sbrs r25,7
		10232	10469 5c50 00C0 rjmp .L846
		10233	10470 5c52 615C subi r22,lo8(-(63))
		10234	10471 5c54 7F4F sbci r23,hi8(-(63))
		10235	10472 5c56 8F4F sbci r24,hlo8(-(63))
		10236	10473 5c58 9F4F sbci r25,hhi8(-(63))
		10237	10474 .L846:
		10238	10475 5c5a E6E0 ldi r30,6
		10239	10476 5c5c 9595 1: asr r25
		10240	10477 5c5e 8795 ror r24
		10241	10478 5c60 7795 ror r23
		10242	10479 5c62 6795 ror r22
		10243	10480 5c64 EA95 dec r30
		10244	10481 5c66 01F4 brne 1b
		10245	10482 5c68 9B01 movw r18,r22
		10246	10483 5c6a 6C15 cp r22,r12
		10247	10484 5c6c 7D05 cpc r23,r13
		10248	10485 5c6e 04F4 brge .L847
		10249	10486 5c70 6B01 movw r12,r22
		10250	10487 .L847:
		10251	10488 5c72 3095 com r19
		10252	10489 5c74 2195 neg r18
		10253	10490 5c76 3F4F sbci r19,lo8(-1)
		10254	10491 5c78 C216 cp r12,r18
		10255	10492 5c7a D306 cpc r13,r19
		10256	10493 5c7c 04F4 brge .L848
		10257	10494 5c7e 6901 movw r12,r18
		10258	10495 .L848:
		10259	10496 5c80 8091 0000 lds r24,MIN_GAS
		10260	10497 5c84 282E mov r2,r24
		10261	10498 5c86 3324 clr r3
		10262	10499 5c88 5090 0000 lds r5,EE_Parameter+101
		10263	10500 5c8c 60E0 ldi r22,lo8(Motor)
		10264	10501 5c8e 862E mov r8,r22
		10265	10502 5c90 60E0 ldi r22,hi8(Motor)
		10266	10503 5c92 962E mov r9,r22
		10267	10504 5c94 50E0 ldi r21,lo8(Mixer+13)
		10268	10505 5c96 A52E mov r10,r21
		10269	10506 5c98 50E0 ldi r21,hi8(Mixer+13)
		10270	10507 5c9a B52E mov r11,r21
		10271	10508 5c9c 4BE0 ldi r20,lo8(11)
		10272	10509 5c9e 442E mov r4,r20
		10273	10510 5ca0 30E0 ldi r19,lo8(tmp_motorwert)
		10274	10511 5ca2 632E mov r6,r19
		10275	10512 5ca4 30E0 ldi r19,hi8(tmp_motorwert)
		10276	10513 5ca6 732E mov r7,r19
		10277	10514 .L883:
		10278	10515 5ca8 D501 movw r26,r10
		10279	10516 5caa 2C91 ld r18,X
		10280	10517 5cac 1216 cp __zero_reg__,r18
		10281	10518 5cae 04F0 brlt .+2
		10282	10519 5cb0 00C0 rjmp .L852
		10283	10520 5cb2 2034 cpi r18,lo8(64)
		10284	10521 5cb4 01F4 brne .L853
		10285	10522 5cb6 E981 ldd r30,Y+1
		10286	10523 5cb8 FA81 ldd r31,Y+2
		10287	10524 5cba FF8B std Y+23,r31
		10288	10525 5cbc EE8B std Y+22,r30
		10289	10526 5cbe 00C0 rjmp .L854
		10290	10527 .L853:
		10291	10528 5cc0 4981 ldd r20,Y+1
		10292	10529 5cc2 5A81 ldd r21,Y+2
		10293	10530 5cc4 CA01 movw r24,r20
		10294	10531 5cc6 AA27 clr r26
		10295	10532 5cc8 97FD sbrc r25,7
		10296	10533 5cca A095 com r26
		10297	10534 5ccc BA2F mov r27,r26
		10298	10535 5cce 3327 clr r19
		10299	10536 5cd0 27FD sbrc r18,7
		10300	10537 5cd2 3095 com r19
		10301	10538 5cd4 432F mov r20,r19
		10302	10539 5cd6 532F mov r21,r19
		10303	10540 5cd8 BC01 movw r22,r24
		10304	10541 5cda CD01 movw r24,r26
		10305	10542 5cdc 0E94 0000 call __mulsi3
		10306	10543 5ce0 97FF sbrs r25,7
		10307	10544 5ce2 00C0 rjmp .L855
		10308	10545 5ce4 615C subi r22,lo8(-(63))
		10309	10546 5ce6 7F4F sbci r23,hi8(-(63))
		10310	10547 5ce8 8F4F sbci r24,hlo8(-(63))
		10311	10548 5cea 9F4F sbci r25,hhi8(-(63))
		10312	10549 .L855:
		10313	10550 5cec 26E0 ldi r18,6
		10314	10551 5cee 9595 1: asr r25
		10315	10552 5cf0 8795 ror r24
		10316	10553 5cf2 7795 ror r23
		10317	10554 5cf4 6795 ror r22
		10318	10555 5cf6 2A95 dec r18
		10319	10556 5cf8 01F4 brne 1b
		10320	10557 5cfa 7F8B std Y+23,r23
		10321	10558 5cfc 6E8B std Y+22,r22
		10322	10559 .L854:
		10323	10560 5cfe F501 movw r30,r10
		10324	10561 5d00 2181 ldd r18,Z+1
		10325	10562 5d02 2034 cpi r18,lo8(64)
		10326	10563 5d04 01F4 brne .L856
		10327	10564 5d06 2E89 ldd r18,Y+22
		10328	10565 5d08 3F89 ldd r19,Y+23
		10329	10566 5d0a 2E0D add r18,r14
		10330	10567 5d0c 3F1D adc r19,r15
		10331	10568 5d0e 3F8B std Y+23,r19
		10332	10569 5d10 2E8B std Y+22,r18
		10333	10570 5d12 00C0 rjmp .L857
		10334	10571 .L856:
		10335	10572 5d14 203C cpi r18,lo8(-64)
		10336	10573 5d16 01F4 brne .L858
		10337	10574 5d18 4E89 ldd r20,Y+22
		10338	10575 5d1a 5F89 ldd r21,Y+23
		10339	10576 5d1c 4E19 sub r20,r14
		10340	10577 5d1e 5F09 sbc r21,r15
		10341	10578 5d20 5F8B std Y+23,r21
		10342	10579 5d22 4E8B std Y+22,r20
		10343	10580 5d24 00C0 rjmp .L857
		10344	10581 .L858:
		10345	10582 5d26 C701 movw r24,r14
		10346	10583 5d28 AA27 clr r26
		10347	10584 5d2a 97FD sbrc r25,7
		10348	10585 5d2c A095 com r26
		10349	10586 5d2e BA2F mov r27,r26
		10350	10587 5d30 3327 clr r19
		10351	10588 5d32 27FD sbrc r18,7
		10352	10589 5d34 3095 com r19
		10353	10590 5d36 432F mov r20,r19
		10354	10591 5d38 532F mov r21,r19
		10355	10592 5d3a BC01 movw r22,r24
		10356	10593 5d3c CD01 movw r24,r26
		10357	10594 5d3e 0E94 0000 call __mulsi3
		10358	10595 5d42 97FF sbrs r25,7
		10359	10596 5d44 00C0 rjmp .L860
		10360	10597 5d46 615C subi r22,lo8(-(63))
		10361	10598 5d48 7F4F sbci r23,hi8(-(63))
		10362	10599 5d4a 8F4F sbci r24,hlo8(-(63))
		10363	10600 5d4c 9F4F sbci r25,hhi8(-(63))
		10364	10601 .L860:
		10365	10602 5d4e B6E0 ldi r27,6
		10366	10603 5d50 9595 1: asr r25
		10367	10604 5d52 8795 ror r24
		10368	10605 5d54 7795 ror r23
		10369	10606 5d56 6795 ror r22
		10370	10607 5d58 BA95 dec r27
		10371	10608 5d5a 01F4 brne 1b
		10372	10609 5d5c AE89 ldd r26,Y+22
		10373	10610 5d5e BF89 ldd r27,Y+23
		10374	10611 5d60 A60F add r26,r22
		10375	10612 5d62 B71F adc r27,r23
		10376	10613 5d64 BF8B std Y+23,r27
		10377	10614 5d66 AE8B std Y+22,r26
		10378	10615 .L857:
		10379	10616 5d68 F501 movw r30,r10
		10380	10617 5d6a 2281 ldd r18,Z+2
		10381	10618 5d6c 2034 cpi r18,lo8(64)
		10382	10619 5d6e 01F4 brne .L861
		10383	10620 5d70 2E89 ldd r18,Y+22
		10384	10621 5d72 3F89 ldd r19,Y+23
		10385	10622 5d74 2C0D add r18,r12
		10386	10623 5d76 3D1D adc r19,r13
		10387	10624 5d78 3F8B std Y+23,r19
		10388	10625 5d7a 2E8B std Y+22,r18
		10389	10626 5d7c 00C0 rjmp .L862
		10390	10627 .L861:
		10391	10628 5d7e 203C cpi r18,lo8(-64)
		10392	10629 5d80 01F4 brne .L863
		10393	10630 5d82 4E89 ldd r20,Y+22
		10394	10631 5d84 5F89 ldd r21,Y+23
		10395	10632 5d86 4C19 sub r20,r12
		10396	10633 5d88 5D09 sbc r21,r13
		10397	10634 5d8a 5F8B std Y+23,r21
		10398	10635 5d8c 4E8B std Y+22,r20
		10399	10636 5d8e 00C0 rjmp .L862
		10400	10637 .L863:
		10401	10638 5d90 C601 movw r24,r12
		10402	10639 5d92 AA27 clr r26
		10403	10640 5d94 97FD sbrc r25,7
		10404	10641 5d96 A095 com r26
		10405	10642 5d98 BA2F mov r27,r26
		10406	10643 5d9a 3327 clr r19
		10407	10644 5d9c 27FD sbrc r18,7
		10408	10645 5d9e 3095 com r19
		10409	10646 5da0 432F mov r20,r19
		10410	10647 5da2 532F mov r21,r19
		10411	10648 5da4 BC01 movw r22,r24
		10412	10649 5da6 CD01 movw r24,r26
		10413	10650 5da8 0E94 0000 call __mulsi3
		10414	10651 5dac 97FF sbrs r25,7
		10415	10652 5dae 00C0 rjmp .L865
		10416	10653 5db0 615C subi r22,lo8(-(63))
		10417	10654 5db2 7F4F sbci r23,hi8(-(63))
		10418	10655 5db4 8F4F sbci r24,hlo8(-(63))
		10419	10656 5db6 9F4F sbci r25,hhi8(-(63))
		10420	10657 .L865:
		10421	10658 5db8 A6E0 ldi r26,6
		10422	10659 5dba 9595 1: asr r25
		10423	10660 5dbc 8795 ror r24
		10424	10661 5dbe 7795 ror r23
		10425	10662 5dc0 6795 ror r22
		10426	10663 5dc2 AA95 dec r26
		10427	10664 5dc4 01F4 brne 1b
		10428	10665 5dc6 AE89 ldd r26,Y+22
		10429	10666 5dc8 BF89 ldd r27,Y+23
		10430	10667 5dca A60F add r26,r22
		10431	10668 5dcc B71F adc r27,r23
		10432	10669 5dce BF8B std Y+23,r27
		10433	10670 5dd0 AE8B std Y+22,r26
		10434	10671 .L862:
		10435	10672 5dd2 F501 movw r30,r10
		10436	10673 5dd4 2381 ldd r18,Z+3
		10437	10674 5dd6 2034 cpi r18,lo8(64)
		10438	10675 5dd8 01F4 brne .L866
		10439	10676 5dda 2E89 ldd r18,Y+22
		10440	10677 5ddc 3F89 ldd r19,Y+23
		10441	10678 5dde 200F add r18,r16
		10442	10679 5de0 311F adc r19,r17
		10443	10680 5de2 3F8B std Y+23,r19
		10444	10681 5de4 2E8B std Y+22,r18
		10445	10682 5de6 00C0 rjmp .L867
		10446	10683 .L866:
		10447	10684 5de8 203C cpi r18,lo8(-64)
		10448	10685 5dea 01F4 brne .L868
		10449	10686 5dec 4E89 ldd r20,Y+22
		10450	10687 5dee 5F89 ldd r21,Y+23
		10451	10688 5df0 401B sub r20,r16
		10452	10689 5df2 510B sbc r21,r17
		10453	10690 5df4 5F8B std Y+23,r21
		10454	10691 5df6 4E8B std Y+22,r20
		10455	10692 5df8 00C0 rjmp .L867
		10456	10693 .L868:
		10457	10694 5dfa C801 movw r24,r16
		10458	10695 5dfc AA27 clr r26
		10459	10696 5dfe 97FD sbrc r25,7
		10460	10697 5e00 A095 com r26
		10461	10698 5e02 BA2F mov r27,r26
		10462	10699 5e04 3327 clr r19
		10463	10700 5e06 27FD sbrc r18,7
		10464	10701 5e08 3095 com r19
		10465	10702 5e0a 432F mov r20,r19
		10466	10703 5e0c 532F mov r21,r19
		10467	10704 5e0e BC01 movw r22,r24
		10468	10705 5e10 CD01 movw r24,r26
		10469	10706 5e12 0E94 0000 call __mulsi3
		10470	10707 5e16 97FF sbrs r25,7
		10471	10708 5e18 00C0 rjmp .L870
		10472	10709 5e1a 615C subi r22,lo8(-(63))
		10473	10710 5e1c 7F4F sbci r23,hi8(-(63))
		10474	10711 5e1e 8F4F sbci r24,hlo8(-(63))
		10475	10712 5e20 9F4F sbci r25,hhi8(-(63))
		10476	10713 .L870:
		10477	10714 5e22 F6E0 ldi r31,6
		10478	10715 5e24 9595 1: asr r25
		10479	10716 5e26 8795 ror r24
		10480	10717 5e28 7795 ror r23
		10481	10718 5e2a 6795 ror r22
		10482	10719 5e2c FA95 dec r31
		10483	10720 5e2e 01F4 brne 1b
		10484	10721 5e30 AE89 ldd r26,Y+22
		10485	10722 5e32 BF89 ldd r27,Y+23
		10486	10723 5e34 A60F add r26,r22
		10487	10724 5e36 B71F adc r27,r23
		10488	10725 5e38 BF8B std Y+23,r27
		10489	10726 5e3a AE8B std Y+22,r26
		10490	10727 .L867:
		10491	10728 5e3c F301 movw r30,r6
		10492	10729 5e3e 8081 ld r24,Z
		10493	10730 5e40 9181 ldd r25,Z+1
		10494	10731 5e42 2E89 ldd r18,Y+22
		10495	10732 5e44 3F89 ldd r19,Y+23
		10496	10733 5e46 8217 cp r24,r18
		10497	10734 5e48 9307 cpc r25,r19
		10498	10735 5e4a 04F4 brge .L871
		10499	10736 5e4c B901 movw r22,r18
		10500	10737 5e4e 680F add r22,r24
		10501	10738 5e50 791F adc r23,r25
		10502	10739 5e52 77FF sbrs r23,7
		10503	10740 5e54 00C0 rjmp .L872
		10504	10741 5e56 6F5F subi r22,lo8(-(1))
		10505	10742 5e58 7F4F sbci r23,hi8(-(1))
		10506	10743 .L872:
		10507	10744 5e5a 7595 asr r23
		10508	10745 5e5c 6795 ror r22
		10509	10746 5e5e 7F8B std Y+23,r23
		10510	10747 5e60 6E8B std Y+22,r22
		10511	10748 5e62 00C0 rjmp .L873
		10512	10749 .L871:
		10513	10750 5e64 5520 tst r5
		10514	10751 5e66 01F4 brne .L874
		10515	10752 5e68 4E89 ldd r20,Y+22
		10516	10753 5e6a 5F89 ldd r21,Y+23
		10517	10754 5e6c 440F add r20,r20
		10518	10755 5e6e 551F adc r21,r21
		10519	10756 5e70 481B sub r20,r24
		10520	10757 5e72 590B sbc r21,r25
		10521	10758 5e74 5F8B std Y+23,r21
		10522	10759 5e76 4E8B std Y+22,r20
		10523	10760 5e78 00C0 rjmp .L873
		10524	10761 .L874:
		10525	10762 5e7a 51E0 ldi r21,lo8(1)
		10526	10763 5e7c 5515 cp r21,r5
		10527	10764 5e7e 00F4 brsh .L873
		10528	10765 5e80 252D mov r18,r5
		10529	10766 5e82 3327 clr r19
		10530	10767 5e84 6E89 ldd r22,Y+22
		10531	10768 5e86 7F89 ldd r23,Y+23
		10532	10769 5e88 861B sub r24,r22
		10533	10770 5e8a 970B sbc r25,r23
		10534	10771 5e8c B901 movw r22,r18
		10535	10772 5e8e 0E94 0000 call __divmodhi4
		10536	10773 5e92 AE89 ldd r26,Y+22
		10537	10774 5e94 BF89 ldd r27,Y+23
		10538	10775 5e96 A60F add r26,r22
		10539	10776 5e98 B71F adc r27,r23
		10540	10777 5e9a BF8B std Y+23,r27
		10541	10778 5e9c AE8B std Y+22,r26
		10542	10779 .L873:
		10543	10780 5e9e C101 movw r24,r2
		10544	10781 5ea0 880F lsl r24
		10545	10782 5ea2 991F rol r25
		10546	10783 5ea4 880F lsl r24
		10547	10784 5ea6 991F rol r25
		10548	10785 5ea8 EE89 ldd r30,Y+22
		10549	10786 5eaa FF89 ldd r31,Y+23
		10550	10787 5eac 8E17 cp r24,r30
		10551	10788 5eae 9F07 cpc r25,r31
		10552	10789 5eb0 04F4 brge .L916
		10553	10790 5eb2 FD89 ldd r31,Y+21
		10554	10791 5eb4 8F2F mov r24,r31
		10555	10792 5eb6 9927 clr r25
		10556	10793 5eb8 880F lsl r24
		10557	10794 5eba 991F rol r25
		10558	10795 5ebc 880F lsl r24
		10559	10796 5ebe 991F rol r25
		10560	10797 5ec0 2E89 ldd r18,Y+22
		10561	10798 5ec2 3F89 ldd r19,Y+23
		10562	10799 5ec4 2817 cp r18,r24
		10563	10800 5ec6 3907 cpc r19,r25
		10564	10801 5ec8 04F0 brlt .L878
		10565	10802 .L916:
		10566	10803 5eca 9F8B std Y+23,r25
		10567	10804 5ecc 8E8B std Y+22,r24
		10568	10805 .L878:
		10569	10806 5ece 8E89 ldd r24,Y+22
		10570	10807 5ed0 9F89 ldd r25,Y+23
		10571	10808 5ed2 97FD sbrc r25,7
		10572	10809 5ed4 0396 adiw r24,3
		10573	10810 .L880:
		10574	10811 5ed6 9595 asr r25
		10575	10812 5ed8 8795 ror r24
		10576	10813 5eda 9595 asr r25
		10577	10814 5edc 8795 ror r24
		10578	10815 5ede F401 movw r30,r8
		10579	10816 5ee0 8183 std Z+1,r24
		10580	10817 5ee2 880F lsl r24
		10581	10818 5ee4 991F rol r25
		10582	10819 5ee6 880F lsl r24
		10583	10820 5ee8 991F rol r25
		10584	10821 5eea 2E89 ldd r18,Y+22
		10585	10822 5eec 3F89 ldd r19,Y+23
		10586	10823 5eee 281B sub r18,r24
		10587	10824 5ef0 390B sbc r19,r25
		10588	10825 5ef2 C901 movw r24,r18
		10589	10826 5ef4 880F lsl r24
		10590	10827 5ef6 8283 std Z+2,r24
		10591	10828 5ef8 EE89 ldd r30,Y+22
		10592	10829 5efa FF89 ldd r31,Y+23
		10593	10830 5efc D301 movw r26,r6
		10594	10831 5efe ED93 st X+,r30
		10595	10832 5f00 FC93 st X,r31
		10596	10833 5f02 00C0 rjmp .L851
		10597	10834 .L852:
		10598	10835 5f04 F401 movw r30,r8
		10599	10836 5f06 1182 std Z+1,__zero_reg__
		10600	10837 5f08 1282 std Z+2,__zero_reg__
		10601	10838 .L851:
		10602	10839 5f0a 4A94 dec r4
		10603	10840 5f0c 22E0 ldi r18,lo8(2)
		10604	10841 5f0e 30E0 ldi r19,hi8(2)
		10605	10842 5f10 620E add r6,r18
		10606	10843 5f12 731E adc r7,r19
		10607	10844 5f14 44E0 ldi r20,lo8(4)
		10608	10845 5f16 50E0 ldi r21,hi8(4)
		10609	10846 5f18 A40E add r10,r20
		10610	10847 5f1a B51E adc r11,r21
		10611	10848 5f1c 68E0 ldi r22,lo8(8)
		10612	10849 5f1e 70E0 ldi r23,hi8(8)
		10613	10850 5f20 860E add r8,r22
		10614	10851 5f22 971E adc r9,r23
		10615	10852 5f24 47FE sbrs r4,7
		10616	10853 5f26 00C0 rjmp .L883
		10617	10854 /* epilogue: frame size=23 */
		10618	10855 5f28 E2E1 ldi r30,18
		10619	10856 5f2a C95E subi r28,-23
		10620	10857 5f2c 0C94 0000 jmp __epilogue_restores__+0
		10621	10858 /* epilogue end (size=4) */
		10622	10859 /* function MotorRegler size 8305 (8295) */
		10623	10861 .comm TrimNick,2,1
		10624	10862 .comm TrimRoll,2,1
		10625	10863 .comm ErsatzKompass,4,1
		10626	10864 .comm ErsatzKompassInGrad,2,1
		10627	10865 .comm MesswertNick,2,1
		10628	10866 .comm MesswertRoll,2,1
		10629	10867 .comm MesswertGier,2,1
		10630	10868 .comm Mittelwert_AccNick,2,1
		10631	10869 .comm Mittelwert_AccRoll,2,1
		10632	10870 .comm NaviAccNick,2,1
		10633	10871 .comm NaviAccRoll,2,1
		10634	10872 .comm h,1,1
		10635	10873 .comm m,1,1
		10636	10874 .comm s,1,1
		10637	10875 .comm DiffNick,2,1
		10638	10876 .comm DiffRoll,2,1
		10639	10877 .comm Parameter_Servo3,1,1
		10640	10878 .comm Parameter_Servo4,1,1
		10641	10879 .comm Parameter_Servo5,1,1
		10642	10880 .comm Parameter_J16Bitmask,1,1
		10643	10881 .comm Parameter_J16Timing,1,1
		10644	10882 .comm Parameter_J17Bitmask,1,1
		10645	10883 .comm Parameter_J17Timing,1,1
		10646	10884 .comm Parameter_GlobalConfig,1,1
		10647	10885 .comm Parameter_ExtraConfig,1,1
		10648	10886 .comm MesswertGierBias,2,1
		10649	10887 .comm RohMesswertNick,2,1
		10650	10888 .comm RohMesswertRoll,2,1
		10651	10889 .comm MittelIntegralNick,4,1
		10652	10890 .comm MittelIntegralRoll,4,1
		10653	10891 .comm MittelIntegralNick2,4,1
		10654	10892 .comm MittelIntegralRoll2,4,1
		10655	10893 .comm MAX_GAS,1,1
		10656	10894 .comm MIN_GAS,1,1
		10657	10895 .comm GyroFaktor,1,1
		10658	10896 .comm GyroFaktorGier,1,1
		10659	10897 .comm IntegralFaktor,1,1
		10660	10898 .comm IntegralFaktorGier,1,1
		10661	10899 .comm Parameter_NaviGpsModeControl,1,1
		10662	10900 .comm Parameter_NaviGpsGain,1,1
		10663	10901 .comm Parameter_NaviGpsP,1,1
		10664	10902 .comm Parameter_NaviGpsI,1,1
		10665	10903 .comm Parameter_NaviGpsD,1,1
		10666	10904 .comm Parameter_NaviGpsACC,1,1
		10667	10905 .comm Parameter_NaviOperatingRadius,1,1
		10668	10906 .comm Parameter_NaviWindCorrection,1,1
		10669	10907 .comm Parameter_NaviSpeedCompensation,1,1
		10670	10908 .comm Parameter_ExternalControl,1,1
		10671	10909 .comm Parameter_MaximumAltitude,1,1
		10672	10910 .comm KopplungsteilNickRoll,2,1
		10673	10911 .comm KopplungsteilRollNick,2,1
		10674	10912 .comm tmp_motorwert,24,1
		10675	10913 /* File "fc.c": code 12351 = 0x303f (12290), prologues 31, epilogues 30 */
		10676	DEFINED SYMBOLS
		10677	ABS:00000000 fc.c
		10678	C:\Temp/ccqfRHGa.s:3 ABS:0000003f __SREG__
		10679	C:\Temp/ccqfRHGa.s:4 ABS:0000003e __SP_H__
		10680	C:\Temp/ccqfRHGa.s:5 ABS:0000003d __SP_L__
		10681	C:\Temp/ccqfRHGa.s:6 ABS:00000000 __tmp_reg__
		10682	C:\Temp/ccqfRHGa.s:7 ABS:00000001 __zero_reg__
		10683	C:\Temp/ccqfRHGa.s:15 .bss:00000000 GasIsZeroCnt
		10684	C:\Temp/ccqfRHGa.s:21 .bss:00000002 HooverGasEmergencyPercent
		10685	C:\Temp/ccqfRHGa.s:27 .data:00000000 VarioCharacter
		10686	C:\Temp/ccqfRHGa.s:32 .data:00000001 GIER_GRAD_FAKTOR
		10687	C:\Temp/ccqfRHGa.s:39 .bss:00000004 FC_StatusFlags2
		10688	C:\Temp/ccqfRHGa.s:45 .bss:00000005 FC_StatusFlags
		10689	C:\Temp/ccqfRHGa.s:51 .bss:00000006 modell_fliegt
		10690	C:\Temp/ccqfRHGa.s:57 .bss:00000008 MaxStickRoll
		10691	C:\Temp/ccqfRHGa.s:63 .bss:0000000a MaxStickNick
		10692	C:\Temp/ccqfRHGa.s:69 .data:00000005 ExternHoehenValue
		10693	C:\Temp/ccqfRHGa.s:76 .bss:0000000c ExternStickGier
		10694	C:\Temp/ccqfRHGa.s:82 .bss:0000000e ExternStickRoll
		10695	C:\Temp/ccqfRHGa.s:88 .bss:00000010 ExternStickNick
		10696	C:\Temp/ccqfRHGa.s:94 .data:00000007 sintab
		10697	C:\Temp/ccqfRHGa.s:131 .bss:00000012 CareFree
		10698	C:\Temp/ccqfRHGa.s:137 .data:00000026 Parameter_DynamicStability
		10699	C:\Temp/ccqfRHGa.s:142 .data:00000027 Parameter_CouplingYawCorrection
		10700	C:\Temp/ccqfRHGa.s:147 .data:00000028 Parameter_AchsKopplung2
		10701	C:\Temp/ccqfRHGa.s:152 .data:00000029 Parameter_AchsKopplung1
		10702	C:\Temp/ccqfRHGa.s:157 .data:0000002a Parameter_LoopGasLimit
		10703	C:\Temp/ccqfRHGa.s:162 .data:0000002b Parameter_ServoRollControl
		10704	C:\Temp/ccqfRHGa.s:167 .data:0000002c Parameter_ServoNickControl
		10705	C:\Temp/ccqfRHGa.s:174 .bss:00000013 Parameter_UserParam8
		10706	C:\Temp/ccqfRHGa.s:180 .bss:00000014 Parameter_UserParam7
		10707	C:\Temp/ccqfRHGa.s:186 .bss:00000015 Parameter_UserParam6
		10708	C:\Temp/ccqfRHGa.s:192 .bss:00000016 Parameter_UserParam5
		10709	C:\Temp/ccqfRHGa.s:198 .bss:00000017 Parameter_UserParam4
		10710	C:\Temp/ccqfRHGa.s:204 .bss:00000018 Parameter_UserParam3
		10711	C:\Temp/ccqfRHGa.s:210 .bss:00000019 Parameter_UserParam2
		10712	C:\Temp/ccqfRHGa.s:216 .bss:0000001a Parameter_UserParam1
		10713	C:\Temp/ccqfRHGa.s:222 .data:0000002d Parameter_I_Faktor
		10714	C:\Temp/ccqfRHGa.s:227 .data:0000002e Parameter_Gier_P
		10715	C:\Temp/ccqfRHGa.s:232 .data:0000002f Parameter_Gyro_Gier_I
		10716	C:\Temp/ccqfRHGa.s:237 .data:00000030 Parameter_Gyro_Gier_P
		10717	C:\Temp/ccqfRHGa.s:242 .data:00000031 Parameter_Gyro_I
		10718	C:\Temp/ccqfRHGa.s:247 .data:00000032 Parameter_Gyro_P
		10719	C:\Temp/ccqfRHGa.s:252 .data:00000033 Parameter_Gyro_D
		10720	C:\Temp/ccqfRHGa.s:257 .data:00000034 Parameter_Hoehe_GPS_Z
		10721	C:\Temp/ccqfRHGa.s:262 .data:00000035 Parameter_KompassWirkung
		10722	C:\Temp/ccqfRHGa.s:267 .data:00000036 Parameter_Hoehe_ACC_Wirkung
		10723	C:\Temp/ccqfRHGa.s:272 .data:00000037 Parameter_Hoehe_P
		10724	C:\Temp/ccqfRHGa.s:277 .data:00000038 Parameter_HoehenSchalter
		10725	C:\Temp/ccqfRHGa.s:282 .data:00000039 Parameter_Luftdruck_D
		10726	C:\Temp/ccqfRHGa.s:289 .bss:0000001b Looping_Oben
		10727	C:\Temp/ccqfRHGa.s:295 .bss:0000001c Looping_Unten
		10728	C:\Temp/ccqfRHGa.s:301 .bss:0000001d Looping_Rechts
		10729	C:\Temp/ccqfRHGa.s:307 .bss:0000001e Looping_Links
		10730	C:\Temp/ccqfRHGa.s:313 .bss:0000001f Looping_Roll
		10731	C:\Temp/ccqfRHGa.s:319 .bss:00000020 Looping_Nick
		10732	C:\Temp/ccqfRHGa.s:325 .data:0000003a Ki
		10733	C:\Temp/ccqfRHGa.s:332 .bss:00000021 HoverGas
		10734	C:\Temp/ccqfRHGa.s:338 .bss:00000023 LageKorrekturNick
		10735	C:\Temp/ccqfRHGa.s:344 .bss:00000025 LageKorrekturRoll
		10736	C:\Temp/ccqfRHGa.s:350 .bss:00000027 NeueKompassRichtungMerken
		10737	C:\Temp/ccqfRHGa.s:356 .bss:00000028 CalibrationDone
		10738	C:\Temp/ccqfRHGa.s:362 .bss:00000029 CompassGierSetpoint
		10739	C:\Temp/ccqfRHGa.s:368 .bss:0000002b WaypointTrimming
		10740	C:\Temp/ccqfRHGa.s:374 .data:0000003c carefree_old
		10741	C:\Temp/ccqfRHGa.s:381 .bss:0000002c FromNC_AltitudeSpeed
		10742	C:\Temp/ccqfRHGa.s:387 .bss:0000002d FromNC_AltitudeSetpoint
		10743	C:\Temp/ccqfRHGa.s:393 .bss:00000031 AltitudeSetpointTrimming
		10744	C:\Temp/ccqfRHGa.s:399 .bss:00000033 SollHoehe
		10745	C:\Temp/ccqfRHGa.s:405 .bss:00000037 HoehenWert
		10746	C:\Temp/ccqfRHGa.s:411 .bss:0000003b StartTrigger
		10747	C:\Temp/ccqfRHGa.s:417 .bss:0000003c MotorenEin
		10748	C:\Temp/ccqfRHGa.s:423 .bss:0000003d SenderOkay
		10749	C:\Temp/ccqfRHGa.s:429 .bss:0000003e Poti
		10750	C:\Temp/ccqfRHGa.s:435 .bss:00000047 StickGas
		10751	C:\Temp/ccqfRHGa.s:441 .bss:00000049 StickGier
		10752	C:\Temp/ccqfRHGa.s:447 .bss:0000004b StickRoll
		10753	C:\Temp/ccqfRHGa.s:453 .bss:0000004d StickNick
		10754	C:\Temp/ccqfRHGa.s:459 .data:0000003d HoverGasMax
		10755	C:\Temp/ccqfRHGa.s:466 .bss:0000004f HoverGasMin
		10756	C:\Temp/ccqfRHGa.s:472 .data:0000003f StickGasHover
		10757	C:\Temp/ccqfRHGa.s:479 .bss:00000051 GierGyroFehler
		10758	C:\Temp/ccqfRHGa.s:485 .data:00000041 Umschlag180Roll
		10759	C:\Temp/ccqfRHGa.s:490 .data:00000045 Umschlag180Nick
		10760	C:\Temp/ccqfRHGa.s:497 .bss:00000053 TrichterFlug
		10761	C:\Temp/ccqfRHGa.s:503 .bss:00000054 HoehenReglerAktiv
		10762	C:\Temp/ccqfRHGa.s:509 .data:00000049 KompassSignalSchlecht
		10763	C:\Temp/ccqfRHGa.s:514 .data:0000004b KompassFusion
		10764	C:\Temp/ccqfRHGa.s:519 .data:0000004c CalculateCompassTimer
		10765	C:\Temp/ccqfRHGa.s:526 .bss:00000055 KompassSollWert
		10766	C:\Temp/ccqfRHGa.s:532 .data:0000004d KompassValue
		10767	C:\Temp/ccqfRHGa.s:539 .bss:00000057 Mess_Integral_Hoch
		10768	C:\Temp/ccqfRHGa.s:545 .bss:0000005b SummeRoll
		10769	C:\Temp/ccqfRHGa.s:551 .bss:0000005f SummeNick
		10770	C:\Temp/ccqfRHGa.s:557 .bss:00000063 Mess_Integral_Gier2
		10771	C:\Temp/ccqfRHGa.s:563 .bss:00000067 Mess_Integral_Gier
		10772	C:\Temp/ccqfRHGa.s:569 .bss:0000006b Mess_IntegralRoll2
		10773	C:\Temp/ccqfRHGa.s:575 .bss:0000006f Mess_IntegralRoll
		10774	C:\Temp/ccqfRHGa.s:581 .bss:00000073 Mess_IntegralNick2
		10775	C:\Temp/ccqfRHGa.s:587 .bss:00000077 Mess_IntegralNick
		10776	C:\Temp/ccqfRHGa.s:593 .bss:0000007b Integral_Gier
		10777	C:\Temp/ccqfRHGa.s:599 .bss:0000007f IntegralAccZ
		10778	C:\Temp/ccqfRHGa.s:605 .bss:00000083 IntegralAccRoll
		10779	C:\Temp/ccqfRHGa.s:611 .bss:00000087 IntegralAccNick
		10780	C:\Temp/ccqfRHGa.s:617 .bss:0000008b IntegralRoll2
		10781	C:\Temp/ccqfRHGa.s:623 .bss:0000008f IntegralRoll
		10782	C:\Temp/ccqfRHGa.s:629 .bss:00000093 IntegralNick2
		10783	C:\Temp/ccqfRHGa.s:635 .bss:00000097 IntegralNick
		10784	C:\Temp/ccqfRHGa.s:641 .bss:0000009b ControlHeading
		10785	C:\Temp/ccqfRHGa.s:647 .bss:0000009c NeutralAccZ
		10786	C:\Temp/ccqfRHGa.s:653 .bss:0000009e NaviCntAcc
		10787	C:\Temp/ccqfRHGa.s:659 .bss:000000a0 NeutralAccY
		10788	C:\Temp/ccqfRHGa.s:665 .bss:000000a2 NeutralAccX
		10789	C:\Temp/ccqfRHGa.s:671 .bss:000000a4 StartNeutralNick
		10790	C:\Temp/ccqfRHGa.s:677 .bss:000000a6 StartNeutralRoll
		10791	C:\Temp/ccqfRHGa.s:683 .bss:000000a8 AdNeutralGier
		10792	C:\Temp/ccqfRHGa.s:689 .bss:000000aa AdNeutralRoll
		10793	C:\Temp/ccqfRHGa.s:695 .bss:000000ac AdNeutralNick
		10794	C:\Temp/ccqfRHGa.s:701 .bss:000000ae BaroExpandActive
		10795	C:\Temp/ccqfRHGa.s:706 .text:00000000 CopyDebugValues
		10796	COM:00000002 Mittelwert_AccNick
		10797	COM:00000002 Mittelwert_AccRoll
		10798	COM:00000002 ErsatzKompassInGrad
		10799	C:\Temp/ccqfRHGa.s:892 .text:0000022c Piep
		10800	C:\Temp/ccqfRHGa.s:966 .text:000002b2 CalibrierMittelwert
		10801	COM:00000002 MesswertNick
		10802	COM:00000002 MesswertRoll
		10803	COM:00000002 MesswertGier
		10804	C:\Temp/ccqfRHGa.s:1108 .progmem.data:00000000 __c.35
		10805	C:\Temp/ccqfRHGa.s:1113 .text:000003f4 SetNeutral
		10806	COM:00000004 ErsatzKompass
		10807	.bss:000000b0 tmpl.27
		10808	C:\Temp/ccqfRHGa.s:1621 .bss:000000b4 tmpl2.28
		10809	C:\Temp/ccqfRHGa.s:1622 .bss:000000b8 tmpl3.29
		10810	C:\Temp/ccqfRHGa.s:1623 .bss:000000bc tmpl4.30
		10811	C:\Temp/ccqfRHGa.s:1624 .bss:000000c0 oldNick.31
		10812	C:\Temp/ccqfRHGa.s:1625 .bss:000000c2 oldRoll.32
		10813	C:\Temp/ccqfRHGa.s:1626 .bss:000000c4 d2Roll.33
		10814	C:\Temp/ccqfRHGa.s:1627 .bss:000000c6 d2Nick.34
		10815	C:\Temp/ccqfRHGa.s:1631 .text:00000960 Mittelwert
		10816	COM:00000002 RohMesswertNick
		10817	COM:00000002 RohMesswertRoll
		10818	COM:00000002 NaviAccNick
		10819	COM:00000002 NaviAccRoll
		10820	COM:00000001 Parameter_GlobalConfig
		10821	COM:00000002 KopplungsteilNickRoll
		10822	COM:00000002 KopplungsteilRollNick
		10823	COM:00000002 TrimRoll
		10824	COM:00000002 TrimNick
		10825	C:\Temp/ccqfRHGa.s:3196 .text:000018c4 SendMotorData
		10826	C:\Temp/ccqfRHGa.s:3256 .text:0000193e ParameterZuordnung
		10827	COM:00000001 Parameter_J16Timing
		10828	COM:00000001 Parameter_J17Timing
		10829	COM:00000001 Parameter_Servo3
		10830	COM:00000001 Parameter_Servo4
		10831	COM:00000001 Parameter_Servo5
		10832	COM:00000001 Parameter_MaximumAltitude
		10833	COM:00000001 Parameter_ExtraConfig
		10834	COM:00000001 Parameter_ExternalControl
		10835	COM:00000001 MAX_GAS
		10836	COM:00000001 MIN_GAS
		10837	C:\Temp/ccqfRHGa.s:1628 .bss:000000c8 sollGier.0
		10838	C:\Temp/ccqfRHGa.s:3975 .bss:000000cc tmp_long.1
		10839	C:\Temp/ccqfRHGa.s:3976 .bss:000000d0 tmp_long2.2
		10840	C:\Temp/ccqfRHGa.s:3977 .bss:000000d4 IntegralFehlerNick.3
		10841	C:\Temp/ccqfRHGa.s:3978 .bss:000000d8 IntegralFehlerRoll.4
		10842	C:\Temp/ccqfRHGa.s:3979 .bss:000000dc RcLostTimer.5
		10843	C:\Temp/ccqfRHGa.s:3980 .bss:000000de delay_neutral.6
		10844	C:\Temp/ccqfRHGa.s:3981 .bss:000000df delay_einschalten.7
		10845	C:\Temp/ccqfRHGa.s:3982 .bss:000000e0 delay_ausschalten.8
		10846	C:\Temp/ccqfRHGa.s:3983 .bss:000000e1 move_safety_switch.9
		10847	C:\Temp/ccqfRHGa.s:3984 .bss:000000e2 ausgleichNick.10
		10848	C:\Temp/ccqfRHGa.s:3985 .bss:000000e6 ausgleichRoll.11
		10849	C:\Temp/ccqfRHGa.s:3986 .bss:000000ea stick_nick.12
		10850	C:\Temp/ccqfRHGa.s:3987 .bss:000000ec stick_roll.13
		10851	C:\Temp/ccqfRHGa.s:3988 .bss:000000ee cnt.14
		10852	C:\Temp/ccqfRHGa.s:3989 .bss:000000f0 last_n_p.15
		10853	C:\Temp/ccqfRHGa.s:3990 .bss:000000f1 last_n_n.16
		10854	C:\Temp/ccqfRHGa.s:3991 .bss:000000f2 last_r_p.17
		10855	C:\Temp/ccqfRHGa.s:3992 .bss:000000f3 last_r_n.18
		10856	C:\Temp/ccqfRHGa.s:3993 .bss:000000f4 MittelIntegralNick_Alt.19
		10857	C:\Temp/ccqfRHGa.s:3994 .bss:000000f8 MittelIntegralRoll_Alt.20
		10858	C:\Temp/ccqfRHGa.s:3995 .bss:000000fc HeightTrimming.21
		10859	C:\Temp/ccqfRHGa.s:3996 .bss:000000fe FilterHCGas.22
		10860	C:\Temp/ccqfRHGa.s:3997 .bss:00000100 HoverGasFilter.23
		10861	C:\Temp/ccqfRHGa.s:4002 .data:0000004f delay.24
		10862	C:\Temp/ccqfRHGa.s:3998 .bss:00000104 BaroAtUpperLimit.25
		10863	C:\Temp/ccqfRHGa.s:4004 .bss:00000105 BaroAtLowerLimit.26
		10864	C:\Temp/ccqfRHGa.s:4009 .text:00001f42 MotorRegler
		10865	COM:00000001 GyroFaktor
		10866	COM:00000001 IntegralFaktor
		10867	COM:00000001 GyroFaktorGier
		10868	COM:00000001 IntegralFaktorGier
		10869	COM:00000004 MittelIntegralNick
		10870	COM:00000004 MittelIntegralRoll
		10871	COM:00000004 MittelIntegralNick2
		10872	COM:00000004 MittelIntegralRoll2
		10873	COM:00000002 DiffNick
		10874	COM:00000002 DiffRoll
		10875	COM:00000018 tmp_motorwert
		10876	COM:00000001 h
		10877	COM:00000001 m
		10878	COM:00000001 s
		10879	COM:00000001 Parameter_J16Bitmask
		10880	COM:00000001 Parameter_J17Bitmask
		10881	COM:00000002 MesswertGierBias
		10882	COM:00000001 Parameter_NaviGpsModeControl
		10883	COM:00000001 Parameter_NaviGpsGain
		10884	COM:00000001 Parameter_NaviGpsP
		10885	COM:00000001 Parameter_NaviGpsI
		10886	COM:00000001 Parameter_NaviGpsD
		10887	COM:00000001 Parameter_NaviGpsACC
		10888	COM:00000001 Parameter_NaviOperatingRadius
		10889	COM:00000001 Parameter_NaviWindCorrection
		10890	COM:00000001 Parameter_NaviSpeedCompensation
		10891
		10892	UNDEFINED SYMBOLS
		10893	__do_copy_data
		10894	__do_clear_bss
		10895	EE_Parameter
		10896	__divmodsi4
		10897	DebugOut
		10898	AdWertGier
		10899	AdWertAccHoch
		10900	UBat
		10901	Motor
		10902	ServoNickValue
		10903	Capacity
		10904	GPS_Nick
		10905	GPS_Roll
		10906	VersionInfo
		10907	PlatinenVersion
		10908	beeptime
		10909	UpdateMotor
		10910	LIBFC_Polling
		10911	SucheGyroOffset
		10912	AdWertNick
		10913	AdWertRoll
		10914	AdWertAccNick
		10915	AdWertAccRoll
		10916	PPM_in
		10917	__mulsi3
		10918	__prologue_saves__
		10919	ExpandBaro
		10920	Delay_ms_Mess
		10921	MessLuftdruck
		10922	SucheLuftruckOffset
		10923	__divmodhi4
		10924	Aktuell_az
		10925	SetParamWord
		10926	GetParamWord
		10927	uart_putchar
		10928	_printf_P
		10929	Luftdruck
		10930	StartLuftdruck
		10931	VarioMeter
		10932	LED_Init
		10933	FromNaviCtrl_Value
		10934	ServoActive
		10935	NickServoValue
		10936	LIBFC_HoTT_Clear
		10937	__epilogue_restores__
		10938	AdWertNickFilter
		10939	AdWertRollFilter
		10940	AdReady
		10941	HiResNick
		10942	HiResRoll
		10943	MotorTest
		10944	PC_MotortestActive
		10945	I2C_TransferActive
		10946	motor_write
		10947	twi_state
		10948	BLFlags
		10949	NC_To_FC_MaxAltitude
		10950	SpeakHoTT
		10951	FromNaviCtrl
		10952	BeepMuster
		10953	PPM_diff
		10954	SetActiveParamSet
		10955	WinkelOut
		10956	GetActiveParamSet
		10957	ParamSet_ReadFromEEProm
		10958	LipoDetection
		10959	LIBFC_ReceiverInit
		10960	NC_ErrorCode
		10961	GPSInfo
		10962	NewPpmData
		10963	FromNC_Rotate_C
		10964	FromNC_Rotate_S
		10965	GPS_Aid_StickMultiplikator
		10966	__floatsisf
		10967	__addsf3
		10968	__fixunssfsi
		10969	ExternControl
		10970	ZaehlMessungen
		10971	BattLowVoltageWarning
		10972	__udivmodhi4
		10973	DruckOffsetSetting
		10974	SummenHoehe
		10975	ihypot
		10976	c_cos_8192
		10977	__udivmodqi4
		10978	NC_To_FC_Flags
		10979	MissingMotor
		10980	Mixer

Subversion Repositories FlightCtrl

(root)/branches/v0.90d_Ernstl_4-Motoren+Sexpander/fc.lst - Rev 2304