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Rev Author Line No. Line
2286 - 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,SollHoehe
546
 769 00a4 9091 0000 		lds r25,(SollHoehe)+1
547
 770 00a8 A091 0000 		lds r26,(SollHoehe)+2
548
 771 00ac B091 0000 		lds r27,(SollHoehe)+3
549
 772 00b0 BC01      		movw r22,r24
550
 773 00b2 CD01      		movw r24,r26
551
 774 00b4 25E0      		ldi r18,lo8(5)
552
 775 00b6 30E0      		ldi r19,hi8(5)
553
 776 00b8 40E0      		ldi r20,hlo8(5)
554
 777 00ba 50E0      		ldi r21,hhi8(5)
555
 778 00bc 0E94 0000 		call __divmodsi4
556
 779 00c0 3093 0000 		sts (DebugOut+10)+1,r19
557
 780 00c4 2093 0000 		sts DebugOut+10,r18
558
 781 00c8 8091 0000 		lds r24,HoehenWert
559
 782 00cc 9091 0000 		lds r25,(HoehenWert)+1
560
 783 00d0 A091 0000 		lds r26,(HoehenWert)+2
561
 784 00d4 B091 0000 		lds r27,(HoehenWert)+3
562
 785 00d8 BC01      		movw r22,r24
563
 786 00da CD01      		movw r24,r26
564
 787 00dc 25E0      		ldi r18,lo8(5)
565
 788 00de 30E0      		ldi r19,hi8(5)
566
 789 00e0 40E0      		ldi r20,hlo8(5)
567
 790 00e2 50E0      		ldi r21,hhi8(5)
568
 791 00e4 0E94 0000 		call __divmodsi4
569
 792 00e8 3093 0000 		sts (DebugOut+12)+1,r19
570
 793 00ec 2093 0000 		sts DebugOut+12,r18
571
 794 00f0 8091 0000 		lds r24,KompassValue
572
 795 00f4 9091 0000 		lds r25,(KompassValue)+1
573
 796 00f8 9093 0000 		sts (DebugOut+14)+1,r25
574
 797 00fc 8093 0000 		sts DebugOut+14,r24
575
 798 0100 8091 0000 		lds r24,KompassSollWert
576
 799 0104 9091 0000 		lds r25,(KompassSollWert)+1
577
 800 0108 9093 0000 		sts (DebugOut+16)+1,r25
578
 801 010c 8093 0000 		sts DebugOut+16,r24
579
 802 0110 8091 0000 		lds r24,Capacity
580
 803 0114 9091 0000 		lds r25,(Capacity)+1
581
 804 0118 9093 0000 		sts (DebugOut+18)+1,r25
582
 805 011c 8093 0000 		sts DebugOut+18,r24
583
 806 0120 8091 0000 		lds r24,UBat
584
 807 0124 9091 0000 		lds r25,(UBat)+1
585
 808 0128 9093 0000 		sts (DebugOut+20)+1,r25
586
 809 012c 8093 0000 		sts DebugOut+20,r24
587
 810 0130 8091 0000 		lds r24,Motor+1
588
 811 0134 9927      		clr r25
589
 812 0136 9093 0000 		sts (DebugOut+22)+1,r25
590
 813 013a 8093 0000 		sts DebugOut+22,r24
591
 814 013e 8091 0000 		lds r24,Motor+9
592
 815 0142 9927      		clr r25
593
 816 0144 9093 0000 		sts (DebugOut+24)+1,r25
594
 817 0148 8093 0000 		sts DebugOut+24,r24
595
 818 014c 8091 0000 		lds r24,Motor+17
596
 819 0150 9927      		clr r25
597
 820 0152 9093 0000 		sts (DebugOut+26)+1,r25
598
 821 0156 8093 0000 		sts DebugOut+26,r24
599
 822 015a 8091 0000 		lds r24,Motor+25
600
 823 015e 9927      		clr r25
601
 824 0160 9093 0000 		sts (DebugOut+28)+1,r25
602
 825 0164 8093 0000 		sts DebugOut+28,r24
603
 826 0168 8091 0000 		lds r24,Motor+33
604
 827 016c 9927      		clr r25
605
 828 016e 9093 0000 		sts (DebugOut+30)+1,r25
606
 829 0172 8093 0000 		sts DebugOut+30,r24
607
 830 0176 8091 0000 		lds r24,Motor+41
608
 831 017a 9927      		clr r25
609
 832 017c 9093 0000 		sts (DebugOut+32)+1,r25
610
 833 0180 8093 0000 		sts DebugOut+32,r24
611
 834 0184 8091 0000 		lds r24,SenderOkay
612
 835 0188 9927      		clr r25
613
 836 018a 9093 0000 		sts (DebugOut+34)+1,r25
614
 837 018e 8093 0000 		sts DebugOut+34,r24
615
 838 0192 8091 0000 		lds r24,ErsatzKompass
616
 839 0196 9091 0000 		lds r25,(ErsatzKompass)+1
617
 840 019a A091 0000 		lds r26,(ErsatzKompass)+2
618
 841 019e B091 0000 		lds r27,(ErsatzKompass)+3
619
 842 01a2 2091 0000 		lds r18,GIER_GRAD_FAKTOR
620
 843 01a6 3091 0000 		lds r19,(GIER_GRAD_FAKTOR)+1
621
 844 01aa 4091 0000 		lds r20,(GIER_GRAD_FAKTOR)+2
622
 845 01ae 5091 0000 		lds r21,(GIER_GRAD_FAKTOR)+3
623
 846 01b2 BC01      		movw r22,r24
624
 847 01b4 CD01      		movw r24,r26
625
 848 01b6 0E94 0000 		call __divmodsi4
626
 849 01ba 3093 0000 		sts (DebugOut+36)+1,r19
627
 850 01be 2093 0000 		sts DebugOut+36,r18
628
 851 01c2 8091 0000 		lds r24,AdNeutralGier
629
 852 01c6 9091 0000 		lds r25,(AdNeutralGier)+1
630
 853 01ca 2091 0000 		lds r18,AdWertGier
631
 854 01ce 3091 0000 		lds r19,(AdWertGier)+1
632
 855 01d2 821B      		sub r24,r18
633
 856 01d4 930B      		sbc r25,r19
634
 857 01d6 9093 0000 		sts (DebugOut+38)+1,r25
635
 858 01da 8093 0000 		sts DebugOut+38,r24
636
 859 01de 1092 0000 		sts (DebugOut+40)+1,__zero_reg__
637
 860 01e2 1092 0000 		sts DebugOut+40,__zero_reg__
638
 861 01e6 8091 0000 		lds r24,ServoNickValue
639
 862 01ea 9091 0000 		lds r25,(ServoNickValue)+1
640
 863 01ee 9093 0000 		sts (DebugOut+42)+1,r25
641
 864 01f2 8093 0000 		sts DebugOut+42,r24
642
 865 01f6 1092 0000 		sts (DebugOut+44)+1,__zero_reg__
643
 866 01fa 1092 0000 		sts DebugOut+44,__zero_reg__
644
 867 01fe 1092 0000 		sts (DebugOut+46)+1,__zero_reg__
645
 868 0202 1092 0000 		sts DebugOut+46,__zero_reg__
646
 869 0206 8091 0000 		lds r24,Capacity+4
647
 870 020a 9091 0000 		lds r25,(Capacity+4)+1
648
 871 020e 9093 0000 		sts (DebugOut+48)+1,r25
649
 872 0212 8093 0000 		sts DebugOut+48,r24
650
 873 0216 8091 0000 		lds r24,Capacity+6
651
 874 021a 9927      		clr r25
652
 875 021c 9093 0000 		sts (DebugOut+50)+1,r25
653
 876 0220 8093 0000 		sts DebugOut+50,r24
654
 877 0224 1092 0000 		sts (DebugOut+52)+1,__zero_reg__
655
 878 0228 1092 0000 		sts DebugOut+52,__zero_reg__
656
 879 022c 1092 0000 		sts (DebugOut+54)+1,__zero_reg__
657
 880 0230 1092 0000 		sts DebugOut+54,__zero_reg__
658
 881 0234 1092 0000 		sts (DebugOut+56)+1,__zero_reg__
659
 882 0238 1092 0000 		sts DebugOut+56,__zero_reg__
660
 883 023c 8091 0000 		lds r24,AdWertAccHoch
661
 884 0240 9091 0000 		lds r25,(AdWertAccHoch)+1
662
 885 0244 9093 0000 		sts (DebugOut+58)+1,r25
663
 886 0248 8093 0000 		sts DebugOut+58,r24
664
 887 024c 1092 0000 		sts (DebugOut+60)+1,__zero_reg__
665
 888 0250 1092 0000 		sts DebugOut+60,__zero_reg__
666
 889 0254 8091 0000 		lds r24,GPS_Nick
667
 890 0258 9091 0000 		lds r25,(GPS_Nick)+1
668
 891 025c 9093 0000 		sts (DebugOut+62)+1,r25
669
 892 0260 8093 0000 		sts DebugOut+62,r24
670
 893 0264 8091 0000 		lds r24,GPS_Roll
671
 894 0268 9091 0000 		lds r25,(GPS_Roll)+1
672
 895 026c 9093 0000 		sts (DebugOut+64)+1,r25
673
 896 0270 8093 0000 		sts DebugOut+64,r24
674
 897 0274 8091 0000 		lds r24,VersionInfo+5
675
 898 0278 8823      		tst r24
676
 899 027a 01F4      		brne .L5
677
 900 027c 8091 0000 		lds r24,VersionInfo+6
678
 901 0280 8823      		tst r24
679
 902 0282 01F0      		breq .L4
680
 903               	.L5:
681
 904 0284 8091 0000 		lds r24,DebugOut+1
682
 905 0288 8160      		ori r24,lo8(1)
683
 906 028a 00C0      		rjmp .L7
684
 907               	.L4:
685
 908 028c 8091 0000 		lds r24,DebugOut+1
686
 909 0290 8E7F      		andi r24,lo8(-2)
687
 910               	.L7:
688
 911 0292 8093 0000 		sts DebugOut+1,r24
689
 912               	/* epilogue: frame size=0 */
690
 913 0296 1F91      		pop r17
691
 914 0298 0F91      		pop r16
692
 915 029a FF90      		pop r15
693
 916 029c EF90      		pop r14
694
 917 029e 0895      		ret
695
 918               	/* epilogue end (size=5) */
696
 919               	/* function CopyDebugValues size 338 (329) */
697
 921               	.global	Piep
698
 923               	Piep:
699
 924               	/* prologue: frame size=0 */
700
 925 02a0 EF92      		push r14
701
 926 02a2 FF92      		push r15
702
 927 02a4 1F93      		push r17
703
 928 02a6 CF93      		push r28
704
 929 02a8 DF93      		push r29
705
 930               	/* prologue end (size=5) */
706
 931 02aa 182F      		mov r17,r24
707
 932 02ac 7B01      		movw r14,r22
708
 933 02ae 8091 0000 		lds r24,MotorenEin
709
 934 02b2 8823      		tst r24
710
 935 02b4 01F4      		brne .L8
711
 936 02b6 8091 0000 		lds r24,PlatinenVersion
712
 937 02ba 8C30      		cpi r24,lo8(12)
713
 938 02bc 00F0      		brlo .L11
714
 939 02be 8631      		cpi r24,lo8(22)
715
 940 02c0 01F4      		brne .L10
716
 941               	.L11:
717
 942 02c2 2998      		cbi 37-0x20,1
718
 943 02c4 00C0      		rjmp .L12
719
 944               	.L10:
720
 945 02c6 299A      		sbi 37-0x20,1
721
 946               	.L12:
722
 947 02c8 1150      		subi r17,lo8(-(-1))
723
 948 02ca 1F3F      		cpi r17,lo8(-1)
724
 949 02cc 01F0      		breq .L26
725
 950 02ce F092 0000 		sts (beeptime)+1,r15
726
 951 02d2 E092 0000 		sts beeptime,r14
727
 952 02d6 E701      		movw r28,r14
728
 953               	.L34:
729
 954 02d8 8091 0000 		lds r24,beeptime
730
 955 02dc 9091 0000 		lds r25,(beeptime)+1
731
 956 02e0 892B      		or r24,r25
732
 957 02e2 01F4      		brne .L31
733
 958 02e4 2097      		sbiw r28,0
734
 959 02e6 01F0      		breq .L12
735
 960               	.L31:
736
 961 02e8 8091 0000 		lds r24,UpdateMotor
737
 962 02ec 8823      		tst r24
738
 963 02ee 01F0      		breq .L34
739
 964 02f0 1092 0000 		sts UpdateMotor,__zero_reg__
740
 965 02f4 8091 0000 		lds r24,beeptime
741
 966 02f8 9091 0000 		lds r25,(beeptime)+1
742
 967 02fc 892B      		or r24,r25
743
 968 02fe 01F4      		brne .L19
744
 969 0300 2197      		sbiw r28,1
745
 970               	.L19:
746
 971 0302 0E94 0000 		call LIBFC_Polling
747
 972 0306 00C0      		rjmp .L34
748
 973               	.L26:
749
 974 0308 8091 0000 		lds r24,PlatinenVersion
750
 975 030c 8C30      		cpi r24,lo8(12)
751
 976 030e 00F0      		brlo .L23
752
 977 0310 8631      		cpi r24,lo8(22)
753
 978 0312 01F4      		brne .L22
754
 979               	.L23:
755
 980 0314 299A      		sbi 37-0x20,1
756
 981 0316 00C0      		rjmp .L8
757
 982               	.L22:
758
 983 0318 2998      		cbi 37-0x20,1
759
 984               	.L8:
760
 985               	/* epilogue: frame size=0 */
761
 986 031a DF91      		pop r29
762
 987 031c CF91      		pop r28
763
 988 031e 1F91      		pop r17
764
 989 0320 FF90      		pop r15
765
 990 0322 EF90      		pop r14
766
 991 0324 0895      		ret
767
 992               	/* epilogue end (size=6) */
768
 993               	/* function Piep size 67 (56) */
769
 995               	.global	CalibrierMittelwert
770
 997               	CalibrierMittelwert:
771
 998               	/* prologue: frame size=0 */
772
 999 0326 CF93      		push r28
773
 1000 0328 DF93      		push r29
774
 1001               	/* prologue end (size=2) */
775
 1002 032a 8091 0000 		lds r24,PlatinenVersion
776
 1003 032e 8D30      		cpi r24,lo8(13)
777
 1004 0330 01F4      		brne .L36
778
 1005 0332 0E94 0000 		call SucheGyroOffset
779
 1006               	.L36:
780
 1007 0336 1092 7A00 		sts 122,__zero_reg__
781
 1008 033a 8091 0000 		lds r24,AdWertNick
782
 1009 033e 9091 0000 		lds r25,(AdWertNick)+1
783
 1010 0342 9093 0000 		sts (MesswertNick)+1,r25
784
 1011 0346 8093 0000 		sts MesswertNick,r24
785
 1012 034a 8091 0000 		lds r24,AdWertRoll
786
 1013 034e 9091 0000 		lds r25,(AdWertRoll)+1
787
 1014 0352 9093 0000 		sts (MesswertRoll)+1,r25
788
 1015 0356 8093 0000 		sts MesswertRoll,r24
789
 1016 035a 8091 0000 		lds r24,AdWertGier
790
 1017 035e 9091 0000 		lds r25,(AdWertGier)+1
791
 1018 0362 9093 0000 		sts (MesswertGier)+1,r25
792
 1019 0366 8093 0000 		sts MesswertGier,r24
793
 1020 036a 2091 0000 		lds r18,AdWertAccNick
794
 1021 036e 3091 0000 		lds r19,(AdWertAccNick)+1
795
 1022 0372 C901      		movw r24,r18
796
 1023 0374 880F      		lsl r24
797
 1024 0376 991F      		rol r25
798
 1025 0378 880F      		lsl r24
799
 1026 037a 991F      		rol r25
800
 1027 037c 820F      		add r24,r18
801
 1028 037e 931F      		adc r25,r19
802
 1029 0380 820F      		add r24,r18
803
 1030 0382 931F      		adc r25,r19
804
 1031 0384 9093 0000 		sts (Mittelwert_AccNick)+1,r25
805
 1032 0388 8093 0000 		sts Mittelwert_AccNick,r24
806
 1033 038c 2091 0000 		lds r18,AdWertAccRoll
807
 1034 0390 3091 0000 		lds r19,(AdWertAccRoll)+1
808
 1035 0394 C901      		movw r24,r18
809
 1036 0396 880F      		lsl r24
810
 1037 0398 991F      		rol r25
811
 1038 039a 880F      		lsl r24
812
 1039 039c 991F      		rol r25
813
 1040 039e 820F      		add r24,r18
814
 1041 03a0 931F      		adc r25,r19
815
 1042 03a2 820F      		add r24,r18
816
 1043 03a4 931F      		adc r25,r19
817
 1044 03a6 9093 0000 		sts (Mittelwert_AccRoll)+1,r25
818
 1045 03aa 8093 0000 		sts Mittelwert_AccRoll,r24
819
 1046 03ae 8FEC      		ldi r24,lo8(-49)
820
 1047 03b0 8093 7A00 		sts 122,r24
821
 1048 03b4 A0E0      		ldi r26,lo8(Poti)
822
 1049 03b6 B0E0      		ldi r27,hi8(Poti)
823
 1050 03b8 C0E0      		ldi r28,lo8(EE_Parameter+5)
824
 1051 03ba D0E0      		ldi r29,hi8(EE_Parameter+5)
825
 1052 03bc 97E0      		ldi r25,lo8(7)
826
 1053               	.L46:
827
 1054 03be 8991      		ld r24,Y+
828
 1055 03c0 E82F      		mov r30,r24
829
 1056 03c2 FF27      		clr r31
830
 1057 03c4 EE0F      		add r30,r30
831
 1058 03c6 FF1F      		adc r31,r31
832
 1059 03c8 E050      		subi r30,lo8(-(PPM_in))
833
 1060 03ca F040      		sbci r31,hi8(-(PPM_in))
834
 1061 03cc 0190      		ld __tmp_reg__,Z+
835
 1062 03ce F081      		ld r31,Z
836
 1063 03d0 E02D      		mov r30,__tmp_reg__
837
 1064 03d2 E158      		subi r30,lo8(-(127))
838
 1065 03d4 FF4F      		sbci r31,hi8(-(127))
839
 1066 03d6 1E16      		cp __zero_reg__,r30
840
 1067 03d8 1F06      		cpc __zero_reg__,r31
841
 1068 03da 04F0      		brlt .L40
842
 1069 03dc E0E0      		ldi r30,lo8(0)
843
 1070 03de F0E0      		ldi r31,hi8(0)
844
 1071 03e0 00C0      		rjmp .L41
845
 1072               	.L40:
846
 1073 03e2 EF3F      		cpi r30,255
847
 1074 03e4 F105      		cpc r31,__zero_reg__
848
 1075 03e6 04F0      		brlt .L41
849
 1076 03e8 EFEF      		ldi r30,lo8(255)
850
 1077 03ea F0E0      		ldi r31,hi8(255)
851
 1078               	.L41:
852
 1079 03ec 8C91      		ld r24,X
853
 1080 03ee 282F      		mov r18,r24
854
 1081 03f0 3327      		clr r19
855
 1082 03f2 E217      		cp r30,r18
856
 1083 03f4 F307      		cpc r31,r19
857
 1084 03f6 04F4      		brge .L43
858
 1085 03f8 8150      		subi r24,lo8(-(-1))
859
 1086 03fa 00C0      		rjmp .L49
860
 1087               	.L43:
861
 1088 03fc 2E17      		cp r18,r30
862
 1089 03fe 3F07      		cpc r19,r31
863
 1090 0400 04F4      		brge .L39
864
 1091 0402 8F5F      		subi r24,lo8(-(1))
865
 1092               	.L49:
866
 1093 0404 8C93      		st X,r24
867
 1094               	.L39:
868
 1095 0406 9150      		subi r25,lo8(-(-1))
869
 1096 0408 1196      		adiw r26,1
870
 1097 040a 97FF      		sbrs r25,7
871
 1098 040c 00C0      		rjmp .L46
872
 1099 040e 8091 0000 		lds r24,EE_Parameter+65
873
 1100 0412 9927      		clr r25
874
 1101 0414 AA27      		clr r26
875
 1102 0416 BB27      		clr r27
876
 1103 0418 BC01      		movw r22,r24
877
 1104 041a CD01      		movw r24,r26
878
 1105 041c 24EC      		ldi r18,lo8(2500)
879
 1106 041e 39E0      		ldi r19,hi8(2500)
880
 1107 0420 40E0      		ldi r20,hlo8(2500)
881
 1108 0422 50E0      		ldi r21,hhi8(2500)
882
 1109 0424 0E94 0000 		call __mulsi3
883
 1110 0428 DC01      		movw r26,r24
884
 1111 042a CB01      		movw r24,r22
885
 1112 042c 8093 0000 		sts Umschlag180Nick,r24
886
 1113 0430 9093 0000 		sts (Umschlag180Nick)+1,r25
887
 1114 0434 A093 0000 		sts (Umschlag180Nick)+2,r26
888
 1115 0438 B093 0000 		sts (Umschlag180Nick)+3,r27
889
 1116 043c 8091 0000 		lds r24,EE_Parameter+66
890
 1117 0440 9927      		clr r25
891
 1118 0442 AA27      		clr r26
892
 1119 0444 BB27      		clr r27
893
 1120 0446 BC01      		movw r22,r24
894
 1121 0448 CD01      		movw r24,r26
895
 1122 044a 0E94 0000 		call __mulsi3
896
 1123 044e DC01      		movw r26,r24
897
 1124 0450 CB01      		movw r24,r22
898
 1125 0452 8093 0000 		sts Umschlag180Roll,r24
899
 1126 0456 9093 0000 		sts (Umschlag180Roll)+1,r25
900
 1127 045a A093 0000 		sts (Umschlag180Roll)+2,r26
901
 1128 045e B093 0000 		sts (Umschlag180Roll)+3,r27
902
 1129               	/* epilogue: frame size=0 */
903
 1130 0462 DF91      		pop r29
904
 1131 0464 CF91      		pop r28
905
 1132 0466 0895      		ret
906
 1133               	/* epilogue end (size=3) */
907
 1134               	/* function CalibrierMittelwert size 161 (156) */
908
 1136               		.section	.progmem.data,"a",@progbits
909
 1139               	__c.35:
910
 1140 0000 0A0D 4143 		.string	"\n\rACC not calibrated!\r\n"
911
 1140      4320 6E6F
912
 1140      7420 6361
913
 1140      6C69 6272
914
 1140      6174 6564
915
 1141               		.text
916
 1142               	.global	SetNeutral
917
 1144               	SetNeutral:
918
 1145               	/* prologue: frame size=0 */
919
 1146 0468 A0E0      		ldi r26,lo8(0)
920
 1147 046a B0E0      		ldi r27,hi8(0)
921
 1148 046c E0E0      		ldi r30,pm_lo8(1f)
922
 1149 046e F0E0      		ldi r31,pm_hi8(1f)
923
 1150 0470 0C94 0000 		jmp __prologue_saves__+12
924
 1151               	1:
925
 1152               	/* prologue end (size=6) */
926
 1153 0474 882E      		mov r8,r24
927
 1154 0476 C0E0      		ldi r28,lo8(0)
928
 1155 0478 D0E0      		ldi r29,hi8(0)
929
 1156 047a 7E01      		movw r14,r28
930
 1157 047c 6E01      		movw r12,r28
931
 1158 047e 1092 0000 		sts VersionInfo+5,__zero_reg__
932
 1159 0482 D093 0000 		sts (NeutralAccX)+1,r29
933
 1160 0486 C093 0000 		sts NeutralAccX,r28
934
 1161 048a D093 0000 		sts (NeutralAccY)+1,r29
935
 1162 048e C093 0000 		sts NeutralAccY,r28
936
 1163 0492 D093 0000 		sts (NeutralAccZ)+1,r29
937
 1164 0496 C093 0000 		sts NeutralAccZ,r28
938
 1165 049a D093 0000 		sts (AdNeutralNick)+1,r29
939
 1166 049e C093 0000 		sts AdNeutralNick,r28
940
 1167 04a2 D093 0000 		sts (AdNeutralRoll)+1,r29
941
 1168 04a6 C093 0000 		sts AdNeutralRoll,r28
942
 1169 04aa D093 0000 		sts (AdNeutralGier)+1,r29
943
 1170 04ae C093 0000 		sts AdNeutralGier,r28
944
 1171 04b2 1092 0000 		sts Parameter_AchsKopplung1,__zero_reg__
945
 1172 04b6 1092 0000 		sts Parameter_AchsKopplung2,__zero_reg__
946
 1173 04ba 1092 0000 		sts ExpandBaro,__zero_reg__
947
 1174 04be 0E94 0000 		call CalibrierMittelwert
948
 1175 04c2 84E6      		ldi r24,lo8(100)
949
 1176 04c4 90E0      		ldi r25,hi8(100)
950
 1177 04c6 0E94 0000 		call Delay_ms_Mess
951
 1178 04ca 0E94 0000 		call CalibrierMittelwert
952
 1179 04ce 8091 0000 		lds r24,EE_Parameter+13
953
 1180 04d2 80FF      		sbrs r24,0
954
 1181 04d4 00C0      		rjmp .L51
955
 1182 04d6 8091 0000 		lds r24,MessLuftdruck
956
 1183 04da 9091 0000 		lds r25,(MessLuftdruck)+1
957
 1184 04de 875B      		subi r24,lo8(951)
958
 1185 04e0 9340      		sbci r25,hi8(951)
959
 1186 04e2 00F4      		brsh .L53
960
 1187 04e4 8091 0000 		lds r24,MessLuftdruck
961
 1188 04e8 9091 0000 		lds r25,(MessLuftdruck)+1
962
 1189 04ec 8E5E      		subi r24,lo8(750)
963
 1190 04ee 9240      		sbci r25,hi8(750)
964
 1191 04f0 00F4      		brsh .L51
965
 1192               	.L53:
966
 1193 04f2 0E94 0000 		call SucheLuftruckOffset
967
 1194               	.L51:
968
 1195 04f6 0FE1      		ldi r16,lo8(31)
969
 1196               	.L57:
970
 1197 04f8 8AE0      		ldi r24,lo8(10)
971
 1198 04fa 90E0      		ldi r25,hi8(10)
972
 1199 04fc 0E94 0000 		call Delay_ms_Mess
973
 1200 0500 8091 0000 		lds r24,AdWertGier
974
 1201 0504 9091 0000 		lds r25,(AdWertGier)+1
975
 1202 0508 C80F      		add r28,r24
976
 1203 050a D91F      		adc r29,r25
977
 1204 050c 8091 0000 		lds r24,AdWertNick
978
 1205 0510 9091 0000 		lds r25,(AdWertNick)+1
979
 1206 0514 E80E      		add r14,r24
980
 1207 0516 F91E      		adc r15,r25
981
 1208 0518 8091 0000 		lds r24,AdWertRoll
982
 1209 051c 9091 0000 		lds r25,(AdWertRoll)+1
983
 1210 0520 C80E      		add r12,r24
984
 1211 0522 D91E      		adc r13,r25
985
 1212 0524 0150      		subi r16,lo8(-(-1))
986
 1213 0526 07FF      		sbrs r16,7
987
 1214 0528 00C0      		rjmp .L57
988
 1215 052a 9701      		movw r18,r14
989
 1216 052c 205F      		subi r18,lo8(-(16))
990
 1217 052e 3F4F      		sbci r19,hi8(-(16))
991
 1218 0530 3695      		lsr r19
992
 1219 0532 2795      		ror r18
993
 1220 0534 3695      		lsr r19
994
 1221 0536 2795      		ror r18
995
 1222 0538 3093 0000 		sts (AdNeutralNick)+1,r19
996
 1223 053c 2093 0000 		sts AdNeutralNick,r18
997
 1224 0540 C601      		movw r24,r12
998
 1225 0542 4096      		adiw r24,16
999
 1226 0544 9695      		lsr r25
1000
 1227 0546 8795      		ror r24
1001
 1228 0548 9695      		lsr r25
1002
 1229 054a 8795      		ror r24
1003
 1230 054c 9093 0000 		sts (AdNeutralRoll)+1,r25
1004
 1231 0550 8093 0000 		sts AdNeutralRoll,r24
1005
 1232 0554 6096      		adiw r28,16
1006
 1233 0556 F5E0      		ldi r31,5
1007
 1234 0558 D695      	1:	lsr r29
1008
 1235 055a C795      		ror r28
1009
 1236 055c FA95      		dec r31
1010
 1237 055e 01F4      		brne 1b
1011
 1238 0560 D093 0000 		sts (AdNeutralGier)+1,r29
1012
 1239 0564 C093 0000 		sts AdNeutralGier,r28
1013
 1240 0568 9093 0000 		sts (StartNeutralRoll)+1,r25
1014
 1241 056c 8093 0000 		sts StartNeutralRoll,r24
1015
 1242 0570 3093 0000 		sts (StartNeutralNick)+1,r19
1016
 1243 0574 2093 0000 		sts StartNeutralNick,r18
1017
 1244 0578 8820      		tst r8
1018
 1245 057a 01F4      		brne .+2
1019
 1246 057c 00C0      		rjmp .L58
1020
 1247 057e 8091 0000 		lds r24,Mittelwert_AccNick
1021
 1248 0582 9091 0000 		lds r25,(Mittelwert_AccNick)+1
1022
 1249 0586 97FF      		sbrs r25,7
1023
 1250 0588 00C0      		rjmp .L59
1024
 1251 058a 9095      		com r25
1025
 1252 058c 8195      		neg r24
1026
 1253 058e 9F4F      		sbci r25,lo8(-1)
1027
 1254               	.L59:
1028
 1255 0590 6CE0      		ldi r22,lo8(12)
1029
 1256 0592 70E0      		ldi r23,hi8(12)
1030
 1257 0594 0E94 0000 		call __divmodhi4
1031
 1258 0598 9B01      		movw r18,r22
1032
 1259 059a 7093 0000 		sts (NeutralAccX)+1,r23
1033
 1260 059e 6093 0000 		sts NeutralAccX,r22
1034
 1261 05a2 8091 0000 		lds r24,Mittelwert_AccRoll
1035
 1262 05a6 9091 0000 		lds r25,(Mittelwert_AccRoll)+1
1036
 1263 05aa 97FF      		sbrs r25,7
1037
 1264 05ac 00C0      		rjmp .L60
1038
 1265 05ae 9095      		com r25
1039
 1266 05b0 8195      		neg r24
1040
 1267 05b2 9F4F      		sbci r25,lo8(-1)
1041
 1268               	.L60:
1042
 1269 05b4 6CE0      		ldi r22,lo8(12)
1043
 1270 05b6 70E0      		ldi r23,hi8(12)
1044
 1271 05b8 0E94 0000 		call __divmodhi4
1045
 1272 05bc 7093 0000 		sts (NeutralAccY)+1,r23
1046
 1273 05c0 6093 0000 		sts NeutralAccY,r22
1047
 1274 05c4 8091 0000 		lds r24,Aktuell_az
1048
 1275 05c8 9091 0000 		lds r25,(Aktuell_az)+1
1049
 1276 05cc 9093 0000 		sts (NeutralAccZ)+1,r25
1050
 1277 05d0 8093 0000 		sts NeutralAccZ,r24
1051
 1278 05d4 B901      		movw r22,r18
1052
 1279 05d6 84E0      		ldi r24,lo8(4)
1053
 1280 05d8 90E0      		ldi r25,hi8(4)
1054
 1281 05da 0E94 0000 		call SetParamWord
1055
 1282 05de 6091 0000 		lds r22,NeutralAccY
1056
 1283 05e2 7091 0000 		lds r23,(NeutralAccY)+1
1057
 1284 05e6 86E0      		ldi r24,lo8(6)
1058
 1285 05e8 90E0      		ldi r25,hi8(6)
1059
 1286 05ea 0E94 0000 		call SetParamWord
1060
 1287 05ee 6091 0000 		lds r22,NeutralAccZ
1061
 1288 05f2 7091 0000 		lds r23,(NeutralAccZ)+1
1062
 1289 05f6 88E0      		ldi r24,lo8(8)
1063
 1290 05f8 90E0      		ldi r25,hi8(8)
1064
 1291 05fa 0E94 0000 		call SetParamWord
1065
 1292 05fe 00C0      		rjmp .L61
1066
 1293               	.L58:
1067
 1294 0600 84E0      		ldi r24,lo8(4)
1068
 1295 0602 90E0      		ldi r25,hi8(4)
1069
 1296 0604 0E94 0000 		call GetParamWord
1070
 1297 0608 9093 0000 		sts (NeutralAccX)+1,r25
1071
 1298 060c 8093 0000 		sts NeutralAccX,r24
1072
 1299 0610 86E0      		ldi r24,lo8(6)
1073
 1300 0612 90E0      		ldi r25,hi8(6)
1074
 1301 0614 0E94 0000 		call GetParamWord
1075
 1302 0618 9093 0000 		sts (NeutralAccY)+1,r25
1076
 1303 061c 8093 0000 		sts NeutralAccY,r24
1077
 1304 0620 88E0      		ldi r24,lo8(8)
1078
 1305 0622 90E0      		ldi r25,hi8(8)
1079
 1306 0624 0E94 0000 		call GetParamWord
1080
 1307 0628 9C01      		movw r18,r24
1081
 1308 062a 9093 0000 		sts (NeutralAccZ)+1,r25
1082
 1309 062e 8093 0000 		sts NeutralAccZ,r24
1083
 1310 0632 8091 0000 		lds r24,NeutralAccX
1084
 1311 0636 9091 0000 		lds r25,(NeutralAccX)+1
1085
 1312 063a 8150      		subi r24,lo8(2049)
1086
 1313 063c 9840      		sbci r25,hi8(2049)
1087
 1314 063e 00F4      		brsh .L63
1088
 1315 0640 8091 0000 		lds r24,NeutralAccY
1089
 1316 0644 9091 0000 		lds r25,(NeutralAccY)+1
1090
 1317 0648 8150      		subi r24,lo8(2049)
1091
 1318 064a 9840      		sbci r25,hi8(2049)
1092
 1319 064c 00F4      		brsh .L63
1093
 1320 064e 2150      		subi r18,lo8(1025)
1094
 1321 0650 3440      		sbci r19,hi8(1025)
1095
 1322 0652 00F0      		brlo .L61
1096
 1323               	.L63:
1097
 1324 0654 80E0      		ldi r24,lo8(__c.35)
1098
 1325 0656 90E0      		ldi r25,hi8(__c.35)
1099
 1326 0658 9F93      		push r25
1100
 1327 065a 8F93      		push r24
1101
 1328 065c 80E0      		ldi r24,lo8(pm(uart_putchar))
1102
 1329 065e 90E0      		ldi r25,hi8(pm(uart_putchar))
1103
 1330 0660 9F93      		push r25
1104
 1331 0662 8F93      		push r24
1105
 1332 0664 E091 0000 		lds r30,_printf_P
1106
 1333 0668 F091 0000 		lds r31,(_printf_P)+1
1107
 1334 066c 0995      		icall
1108
 1335 066e 8091 0000 		lds r24,Mittelwert_AccNick
1109
 1336 0672 9091 0000 		lds r25,(Mittelwert_AccNick)+1
1110
 1337 0676 97FF      		sbrs r25,7
1111
 1338 0678 00C0      		rjmp .L64
1112
 1339 067a 9095      		com r25
1113
 1340 067c 8195      		neg r24
1114
 1341 067e 9F4F      		sbci r25,lo8(-1)
1115
 1342               	.L64:
1116
 1343 0680 6CE0      		ldi r22,lo8(12)
1117
 1344 0682 70E0      		ldi r23,hi8(12)
1118
 1345 0684 0E94 0000 		call __divmodhi4
1119
 1346 0688 7093 0000 		sts (NeutralAccX)+1,r23
1120
 1347 068c 6093 0000 		sts NeutralAccX,r22
1121
 1348 0690 8091 0000 		lds r24,Mittelwert_AccRoll
1122
 1349 0694 9091 0000 		lds r25,(Mittelwert_AccRoll)+1
1123
 1350 0698 97FF      		sbrs r25,7
1124
 1351 069a 00C0      		rjmp .L65
1125
 1352 069c 9095      		com r25
1126
 1353 069e 8195      		neg r24
1127
 1354 06a0 9F4F      		sbci r25,lo8(-1)
1128
 1355               	.L65:
1129
 1356 06a2 6CE0      		ldi r22,lo8(12)
1130
 1357 06a4 70E0      		ldi r23,hi8(12)
1131
 1358 06a6 0E94 0000 		call __divmodhi4
1132
 1359 06aa 7093 0000 		sts (NeutralAccY)+1,r23
1133
 1360 06ae 6093 0000 		sts NeutralAccY,r22
1134
 1361 06b2 8091 0000 		lds r24,Aktuell_az
1135
 1362 06b6 9091 0000 		lds r25,(Aktuell_az)+1
1136
 1363 06ba 9093 0000 		sts (NeutralAccZ)+1,r25
1137
 1364 06be 8093 0000 		sts NeutralAccZ,r24
1138
 1365 06c2 0F90      		pop __tmp_reg__
1139
 1366 06c4 0F90      		pop __tmp_reg__
1140
 1367 06c6 0F90      		pop __tmp_reg__
1141
 1368 06c8 0F90      		pop __tmp_reg__
1142
 1369               	.L61:
1143
 1370 06ca 1092 0000 		sts (MesswertNick)+1,__zero_reg__
1144
 1371 06ce 1092 0000 		sts MesswertNick,__zero_reg__
1145
 1372 06d2 1092 0000 		sts (MesswertRoll)+1,__zero_reg__
1146
 1373 06d6 1092 0000 		sts MesswertRoll,__zero_reg__
1147
 1374 06da 1092 0000 		sts (MesswertGier)+1,__zero_reg__
1148
 1375 06de 1092 0000 		sts MesswertGier,__zero_reg__
1149
 1376 06e2 84E6      		ldi r24,lo8(100)
1150
 1377 06e4 90E0      		ldi r25,hi8(100)
1151
 1378 06e6 0E94 0000 		call Delay_ms_Mess
1152
 1379 06ea 8091 0000 		lds r24,AdWertAccNick
1153
 1380 06ee 9091 0000 		lds r25,(AdWertAccNick)+1
1154
 1381 06f2 9C01      		movw r18,r24
1155
 1382 06f4 220F      		lsl r18
1156
 1383 06f6 331F      		rol r19
1157
 1384 06f8 220F      		lsl r18
1158
 1385 06fa 331F      		rol r19
1159
 1386 06fc 280F      		add r18,r24
1160
 1387 06fe 391F      		adc r19,r25
1161
 1388 0700 280F      		add r18,r24
1162
 1389 0702 391F      		adc r19,r25
1163
 1390 0704 3093 0000 		sts (Mittelwert_AccNick)+1,r19
1164
 1391 0708 2093 0000 		sts Mittelwert_AccNick,r18
1165
 1392 070c 8091 0000 		lds r24,AdWertAccRoll
1166
 1393 0710 9091 0000 		lds r25,(AdWertAccRoll)+1
1167
 1394 0714 8C01      		movw r16,r24
1168
 1395 0716 000F      		lsl r16
1169
 1396 0718 111F      		rol r17
1170
 1397 071a 000F      		lsl r16
1171
 1398 071c 111F      		rol r17
1172
 1399 071e 080F      		add r16,r24
1173
 1400 0720 191F      		adc r17,r25
1174
 1401 0722 080F      		add r16,r24
1175
 1402 0724 191F      		adc r17,r25
1176
 1403 0726 1093 0000 		sts (Mittelwert_AccRoll)+1,r17
1177
 1404 072a 0093 0000 		sts Mittelwert_AccRoll,r16
1178
 1405 072e 8091 0000 		lds r24,EE_Parameter+28
1179
 1406 0732 C82E      		mov r12,r24
1180
 1407 0734 DD24      		clr r13
1181
 1408 0736 EE24      		clr r14
1182
 1409 0738 FF24      		clr r15
1183
 1410 073a 4427      		clr r20
1184
 1411 073c 37FD      		sbrc r19,7
1185
 1412 073e 4095      		com r20
1186
 1413 0740 542F      		mov r21,r20
1187
 1414 0742 C701      		movw r24,r14
1188
 1415 0744 B601      		movw r22,r12
1189
 1416 0746 0E94 0000 		call __mulsi3
1190
 1417 074a 4B01      		movw r8,r22
1191
 1418 074c 5C01      		movw r10,r24
1192
 1419 074e 6093 0000 		sts IntegralNick,r22
1193
 1420 0752 7093 0000 		sts (IntegralNick)+1,r23
1194
 1421 0756 8093 0000 		sts (IntegralNick)+2,r24
1195
 1422 075a 9093 0000 		sts (IntegralNick)+3,r25
1196
 1423 075e 9801      		movw r18,r16
1197
 1424 0760 4427      		clr r20
1198
 1425 0762 37FD      		sbrc r19,7
1199
 1426 0764 4095      		com r20
1200
 1427 0766 542F      		mov r21,r20
1201
 1428 0768 C701      		movw r24,r14
1202
 1429 076a B601      		movw r22,r12
1203
 1430 076c 0E94 0000 		call __mulsi3
1204
 1431 0770 DC01      		movw r26,r24
1205
 1432 0772 CB01      		movw r24,r22
1206
 1433 0774 8093 0000 		sts IntegralRoll,r24
1207
 1434 0778 9093 0000 		sts (IntegralRoll)+1,r25
1208
 1435 077c A093 0000 		sts (IntegralRoll)+2,r26
1209
 1436 0780 B093 0000 		sts (IntegralRoll)+3,r27
1210
 1437 0784 8092 0000 		sts Mess_IntegralNick,r8
1211
 1438 0788 9092 0000 		sts (Mess_IntegralNick)+1,r9
1212
 1439 078c A092 0000 		sts (Mess_IntegralNick)+2,r10
1213
 1440 0790 B092 0000 		sts (Mess_IntegralNick)+3,r11
1214
 1441 0794 8093 0000 		sts Mess_IntegralRoll,r24
1215
 1442 0798 9093 0000 		sts (Mess_IntegralRoll)+1,r25
1216
 1443 079c A093 0000 		sts (Mess_IntegralRoll)+2,r26
1217
 1444 07a0 B093 0000 		sts (Mess_IntegralRoll)+3,r27
1218
 1445 07a4 1092 0000 		sts Mess_Integral_Gier,__zero_reg__
1219
 1446 07a8 1092 0000 		sts (Mess_Integral_Gier)+1,__zero_reg__
1220
 1447 07ac 1092 0000 		sts (Mess_Integral_Gier)+2,__zero_reg__
1221
 1448 07b0 1092 0000 		sts (Mess_Integral_Gier)+3,__zero_reg__
1222
 1449 07b4 8091 0000 		lds r24,Luftdruck
1223
 1450 07b8 9091 0000 		lds r25,(Luftdruck)+1
1224
 1451 07bc A091 0000 		lds r26,(Luftdruck)+2
1225
 1452 07c0 B091 0000 		lds r27,(Luftdruck)+3
1226
 1453 07c4 9093 0000 		sts (StartLuftdruck)+1,r25
1227
 1454 07c8 8093 0000 		sts StartLuftdruck,r24
1228
 1455 07cc 1092 0000 		sts (VarioMeter)+1,__zero_reg__
1229
 1456 07d0 1092 0000 		sts VarioMeter,__zero_reg__
1230
 1457 07d4 1092 0000 		sts Mess_Integral_Hoch,__zero_reg__
1231
 1458 07d8 1092 0000 		sts (Mess_Integral_Hoch)+1,__zero_reg__
1232
 1459 07dc 1092 0000 		sts (Mess_Integral_Hoch)+2,__zero_reg__
1233
 1460 07e0 1092 0000 		sts (Mess_Integral_Hoch)+3,__zero_reg__
1234
 1461 07e4 0091 0000 		lds r16,KompassValue
1235
 1462 07e8 1091 0000 		lds r17,(KompassValue)+1
1236
 1463 07ec 1093 0000 		sts (KompassSollWert)+1,r17
1237
 1464 07f0 0093 0000 		sts KompassSollWert,r16
1238
 1465 07f4 84E6      		ldi r24,lo8(100)
1239
 1466 07f6 90E0      		ldi r25,hi8(100)
1240
 1467 07f8 9093 0000 		sts (KompassSignalSchlecht)+1,r25
1241
 1468 07fc 8093 0000 		sts KompassSignalSchlecht,r24
1242
 1469 0800 82E3      		ldi r24,lo8(50)
1243
 1470 0802 90E0      		ldi r25,hi8(50)
1244
 1471 0804 9093 0000 		sts (beeptime)+1,r25
1245
 1472 0808 8093 0000 		sts beeptime,r24
1246
 1473 080c 8091 0000 		lds r24,EE_Parameter+65
1247
 1474 0810 9927      		clr r25
1248
 1475 0812 AA27      		clr r26
1249
 1476 0814 BB27      		clr r27
1250
 1477 0816 BC01      		movw r22,r24
1251
 1478 0818 CD01      		movw r24,r26
1252
 1479 081a 24EC      		ldi r18,lo8(2500)
1253
 1480 081c 39E0      		ldi r19,hi8(2500)
1254
 1481 081e 40E0      		ldi r20,hlo8(2500)
1255
 1482 0820 50E0      		ldi r21,hhi8(2500)
1256
 1483 0822 0E94 0000 		call __mulsi3
1257
 1484 0826 DC01      		movw r26,r24
1258
 1485 0828 CB01      		movw r24,r22
1259
 1486 082a 8856      		subi r24,lo8(-(15000))
1260
 1487 082c 954C      		sbci r25,hi8(-(15000))
1261
 1488 082e AF4F      		sbci r26,hlo8(-(15000))
1262
 1489 0830 BF4F      		sbci r27,hhi8(-(15000))
1263
 1490 0832 8093 0000 		sts Umschlag180Nick,r24
1264
 1491 0836 9093 0000 		sts (Umschlag180Nick)+1,r25
1265
 1492 083a A093 0000 		sts (Umschlag180Nick)+2,r26
1266
 1493 083e B093 0000 		sts (Umschlag180Nick)+3,r27
1267
 1494 0842 8091 0000 		lds r24,EE_Parameter+66
1268
 1495 0846 9927      		clr r25
1269
 1496 0848 AA27      		clr r26
1270
 1497 084a BB27      		clr r27
1271
 1498 084c BC01      		movw r22,r24
1272
 1499 084e CD01      		movw r24,r26
1273
 1500 0850 0E94 0000 		call __mulsi3
1274
 1501 0854 DC01      		movw r26,r24
1275
 1502 0856 CB01      		movw r24,r22
1276
 1503 0858 8856      		subi r24,lo8(-(15000))
1277
 1504 085a 954C      		sbci r25,hi8(-(15000))
1278
 1505 085c AF4F      		sbci r26,hlo8(-(15000))
1279
 1506 085e BF4F      		sbci r27,hhi8(-(15000))
1280
 1507 0860 8093 0000 		sts Umschlag180Roll,r24
1281
 1508 0864 9093 0000 		sts (Umschlag180Roll)+1,r25
1282
 1509 0868 A093 0000 		sts (Umschlag180Roll)+2,r26
1283
 1510 086c B093 0000 		sts (Umschlag180Roll)+3,r27
1284
 1511 0870 1092 0000 		sts (ExternHoehenValue)+1,__zero_reg__
1285
 1512 0874 1092 0000 		sts ExternHoehenValue,__zero_reg__
1286
 1513 0878 C801      		movw r24,r16
1287
 1514 087a AA27      		clr r26
1288
 1515 087c 97FD      		sbrc r25,7
1289
 1516 087e A095      		com r26
1290
 1517 0880 BA2F      		mov r27,r26
1291
 1518 0882 2091 0000 		lds r18,GIER_GRAD_FAKTOR
1292
 1519 0886 3091 0000 		lds r19,(GIER_GRAD_FAKTOR)+1
1293
 1520 088a 4091 0000 		lds r20,(GIER_GRAD_FAKTOR)+2
1294
 1521 088e 5091 0000 		lds r21,(GIER_GRAD_FAKTOR)+3
1295
 1522 0892 BC01      		movw r22,r24
1296
 1523 0894 CD01      		movw r24,r26
1297
 1524 0896 0E94 0000 		call __mulsi3
1298
 1525 089a DC01      		movw r26,r24
1299
 1526 089c CB01      		movw r24,r22
1300
 1527 089e 8093 0000 		sts ErsatzKompass,r24
1301
 1528 08a2 9093 0000 		sts (ErsatzKompass)+1,r25
1302
 1529 08a6 A093 0000 		sts (ErsatzKompass)+2,r26
1303
 1530 08aa B093 0000 		sts (ErsatzKompass)+3,r27
1304
 1531 08ae 1092 0000 		sts (GierGyroFehler)+1,__zero_reg__
1305
 1532 08b2 1092 0000 		sts GierGyroFehler,__zero_reg__
1306
 1533 08b6 0E94 0000 		call LED_Init
1307
 1534 08ba 8091 0000 		lds r24,FC_StatusFlags
1308
 1535 08be 8460      		ori r24,lo8(4)
1309
 1536 08c0 8093 0000 		sts FC_StatusFlags,r24
1310
 1537 08c4 8FEF      		ldi r24,lo8(-1)
1311
 1538 08c6 8093 0000 		sts FromNaviCtrl_Value,r24
1312
 1539 08ca 1092 0000 		sts FromNaviCtrl_Value+1,__zero_reg__
1313
 1540 08ce 80E2      		ldi r24,lo8(32)
1314
 1541 08d0 8093 0000 		sts FromNaviCtrl_Value+2,r24
1315
 1542 08d4 C0E0      		ldi r28,lo8(Poti)
1316
 1543 08d6 D0E0      		ldi r29,hi8(Poti)
1317
 1544 08d8 A0E0      		ldi r26,lo8(EE_Parameter+5)
1318
 1545 08da B0E0      		ldi r27,hi8(EE_Parameter+5)
1319
 1546 08dc 07E0      		ldi r16,lo8(7)
1320
 1547               	.L69:
1321
 1548 08de 8D91      		ld r24,X+
1322
 1549 08e0 E82F      		mov r30,r24
1323
 1550 08e2 FF27      		clr r31
1324
 1551 08e4 EE0F      		add r30,r30
1325
 1552 08e6 FF1F      		adc r31,r31
1326
 1553 08e8 E050      		subi r30,lo8(-(PPM_in))
1327
 1554 08ea F040      		sbci r31,hi8(-(PPM_in))
1328
 1555 08ec 8081      		ld r24,Z
1329
 1556 08ee 9181      		ldd r25,Z+1
1330
 1557 08f0 8158      		subi r24,lo8(-(127))
1331
 1558 08f2 8993      		st Y+,r24
1332
 1559 08f4 0150      		subi r16,lo8(-(-1))
1333
 1560 08f6 07FF      		sbrs r16,7
1334
 1561 08f8 00C0      		rjmp .L69
1335
 1562 08fa 84E6      		ldi r24,lo8(100)
1336
 1563 08fc 8093 0000 		sts SenderOkay,r24
1337
 1564 0900 8091 0000 		lds r24,ServoActive
1338
 1565 0904 8823      		tst r24
1339
 1566 0906 01F0      		breq .L70
1340
 1567 0908 579A      		sbi 42-0x20,7
1341
 1568 090a 00C0      		rjmp .L71
1342
 1569               	.L70:
1343
 1570 090c 80E0      		ldi r24,lo8(4352)
1344
 1571 090e 91E1      		ldi r25,hi8(4352)
1345
 1572 0910 9093 0000 		sts (NickServoValue)+1,r25
1346
 1573 0914 8093 0000 		sts NickServoValue,r24
1347
 1574               	.L71:
1348
 1575 0918 8091 0000 		lds r24,AdNeutralNick
1349
 1576 091c 9091 0000 		lds r25,(AdNeutralNick)+1
1350
 1577 0920 8056      		subi r24,lo8(-(-2400))
1351
 1578 0922 9940      		sbci r25,hi8(-(-2400))
1352
 1579 0924 815C      		subi r24,lo8(11201)
1353
 1580 0926 9B42      		sbci r25,hi8(11201)
1354
 1581 0928 00F0      		brlo .L72
1355
 1582 092a 8091 0000 		lds r24,VersionInfo+5
1356
 1583 092e 8160      		ori r24,lo8(1)
1357
 1584 0930 8093 0000 		sts VersionInfo+5,r24
1358
 1585               	.L72:
1359
 1586 0934 8091 0000 		lds r24,AdNeutralRoll
1360
 1587 0938 9091 0000 		lds r25,(AdNeutralRoll)+1
1361
 1588 093c 8056      		subi r24,lo8(-(-2400))
1362
 1589 093e 9940      		sbci r25,hi8(-(-2400))
1363
 1590 0940 815C      		subi r24,lo8(11201)
1364
 1591 0942 9B42      		sbci r25,hi8(11201)
1365
 1592 0944 00F0      		brlo .L73
1366
 1593 0946 8091 0000 		lds r24,VersionInfo+5
1367
 1594 094a 8260      		ori r24,lo8(2)
1368
 1595 094c 8093 0000 		sts VersionInfo+5,r24
1369
 1596               	.L73:
1370
 1597 0950 8091 0000 		lds r24,AdNeutralGier
1371
 1598 0954 9091 0000 		lds r25,(AdNeutralGier)+1
1372
 1599 0958 8C52      		subi r24,lo8(-(-300))
1373
 1600 095a 9140      		sbci r25,hi8(-(-300))
1374
 1601 095c 8957      		subi r24,lo8(1401)
1375
 1602 095e 9540      		sbci r25,hi8(1401)
1376
 1603 0960 00F0      		brlo .L74
1377
 1604 0962 8091 0000 		lds r24,VersionInfo+5
1378
 1605 0966 8460      		ori r24,lo8(4)
1379
 1606 0968 8093 0000 		sts VersionInfo+5,r24
1380
 1607               	.L74:
1381
 1608 096c 8091 0000 		lds r24,NeutralAccX
1382
 1609 0970 9091 0000 		lds r25,(NeutralAccX)+1
1383
 1610 0974 8C52      		subi r24,lo8(-(-300))
1384
 1611 0976 9140      		sbci r25,hi8(-(-300))
1385
 1612 0978 835C      		subi r24,lo8(451)
1386
 1613 097a 9140      		sbci r25,hi8(451)
1387
 1614 097c 00F0      		brlo .L75
1388
 1615 097e 8091 0000 		lds r24,VersionInfo+5
1389
 1616 0982 8860      		ori r24,lo8(8)
1390
 1617 0984 8093 0000 		sts VersionInfo+5,r24
1391
 1618               	.L75:
1392
 1619 0988 8091 0000 		lds r24,NeutralAccY
1393
 1620 098c 9091 0000 		lds r25,(NeutralAccY)+1
1394
 1621 0990 8C52      		subi r24,lo8(-(-300))
1395
 1622 0992 9140      		sbci r25,hi8(-(-300))
1396
 1623 0994 835C      		subi r24,lo8(451)
1397
 1624 0996 9140      		sbci r25,hi8(451)
1398
 1625 0998 00F0      		brlo .L76
1399
 1626 099a 8091 0000 		lds r24,VersionInfo+5
1400
 1627 099e 8061      		ori r24,lo8(16)
1401
 1628 09a0 8093 0000 		sts VersionInfo+5,r24
1402
 1629               	.L76:
1403
 1630 09a4 8091 0000 		lds r24,NeutralAccZ
1404
 1631 09a8 9091 0000 		lds r25,(NeutralAccZ)+1
1405
 1632 09ac 8050      		subi r24,lo8(-(-512))
1406
 1633 09ae 9240      		sbci r25,hi8(-(-512))
1407
 1634 09b0 8355      		subi r24,lo8(339)
1408
 1635 09b2 9140      		sbci r25,hi8(339)
1409
 1636 09b4 00F0      		brlo .L77
1410
 1637 09b6 8091 0000 		lds r24,VersionInfo+5
1411
 1638 09ba 8062      		ori r24,lo8(32)
1412
 1639 09bc 8093 0000 		sts VersionInfo+5,r24
1413
 1640               	.L77:
1414
 1641 09c0 86E4      		ldi r24,lo8(70)
1415
 1642 09c2 8093 0000 		sts carefree_old,r24
1416
 1643 09c6 0E94 0000 		call LIBFC_HoTT_Clear
1417
 1644               	/* epilogue: frame size=0 */
1418
 1645 09ca ECE0      		ldi r30,12
1419
 1646 09cc CDB7      		in r28,__SP_L__
1420
 1647 09ce DEB7      		in r29,__SP_H__
1421
 1648 09d0 0C94 0000 		jmp __epilogue_restores__+12
1422
 1649               	/* epilogue end (size=5) */
1423
 1650               	/* function SetNeutral size 705 (694) */
1424
 1652               		.lcomm tmpl.27,4
1425
 1653               		.lcomm tmpl2.28,4
1426
 1654               		.lcomm tmpl3.29,4
1427
 1655               		.lcomm tmpl4.30,4
1428
 1656               		.lcomm oldNick.31,2
1429
 1657               		.lcomm oldRoll.32,2
1430
 1658               		.lcomm d2Roll.33,2
1431
 1659               		.lcomm d2Nick.34,2
1432
 1660               	.global	Mittelwert
1433
 1662               	Mittelwert:
1434
 1663               	/* prologue: frame size=19 */
1435
 1664 09d4 A3E1      		ldi r26,lo8(19)
1436
 1665 09d6 B0E0      		ldi r27,hi8(19)
1437
 1666 09d8 E0E0      		ldi r30,pm_lo8(1f)
1438
 1667 09da F0E0      		ldi r31,pm_hi8(1f)
1439
 1668 09dc 0C94 0000 		jmp __prologue_saves__+0
1440
 1669               	1:
1441
 1670               	/* prologue end (size=6) */
1442
 1671 09e0 8091 0000 		lds r24,AdNeutralGier
1443
 1672 09e4 9091 0000 		lds r25,(AdNeutralGier)+1
1444
 1673 09e8 2091 0000 		lds r18,AdWertGier
1445
 1674 09ec 3091 0000 		lds r19,(AdWertGier)+1
1446
 1675 09f0 821B      		sub r24,r18
1447
 1676 09f2 930B      		sbc r25,r19
1448
 1677 09f4 9093 0000 		sts (MesswertGier)+1,r25
1449
 1678 09f8 8093 0000 		sts MesswertGier,r24
1450
 1679 09fc 8091 0000 		lds r24,AdWertNickFilter
1451
 1680 0a00 9091 0000 		lds r25,(AdWertNickFilter)+1
1452
 1681 0a04 97FD      		sbrc r25,7
1453
 1682 0a06 0796      		adiw r24,7
1454
 1683               	.L83:
1455
 1684 0a08 9C01      		movw r18,r24
1456
 1685 0a0a 13E0      		ldi r17,3
1457
 1686 0a0c 3595      	1:	asr r19
1458
 1687 0a0e 2795      		ror r18
1459
 1688 0a10 1A95      		dec r17
1460
 1689 0a12 01F4      		brne 1b
1461
 1690 0a14 3093 0000 		sts (MesswertNick)+1,r19
1462
 1691 0a18 2093 0000 		sts MesswertNick,r18
1463
 1692 0a1c 8091 0000 		lds r24,AdWertRollFilter
1464
 1693 0a20 9091 0000 		lds r25,(AdWertRollFilter)+1
1465
 1694 0a24 97FD      		sbrc r25,7
1466
 1695 0a26 0796      		adiw r24,7
1467
 1696               	.L84:
1468
 1697 0a28 B3E0      		ldi r27,3
1469
 1698 0a2a 9595      	1:	asr r25
1470
 1699 0a2c 8795      		ror r24
1471
 1700 0a2e BA95      		dec r27
1472
 1701 0a30 01F4      		brne 1b
1473
 1702 0a32 9093 0000 		sts (MesswertRoll)+1,r25
1474
 1703 0a36 8093 0000 		sts MesswertRoll,r24
1475
 1704 0a3a 3093 0000 		sts (RohMesswertNick)+1,r19
1476
 1705 0a3e 2093 0000 		sts RohMesswertNick,r18
1477
 1706 0a42 9093 0000 		sts (RohMesswertRoll)+1,r25
1478
 1707 0a46 8093 0000 		sts RohMesswertRoll,r24
1479
 1708 0a4a 8091 0000 		lds r24,Mittelwert_AccNick
1480
 1709 0a4e 9091 0000 		lds r25,(Mittelwert_AccNick)+1
1481
 1710 0a52 AC01      		movw r20,r24
1482
 1711 0a54 440F      		lsl r20
1483
 1712 0a56 551F      		rol r21
1484
 1713 0a58 480F      		add r20,r24
1485
 1714 0a5a 591F      		adc r21,r25
1486
 1715 0a5c 2091 0000 		lds r18,AdWertAccNick
1487
 1716 0a60 3091 0000 		lds r19,(AdWertAccNick)+1
1488
 1717 0a64 C901      		movw r24,r18
1489
 1718 0a66 880F      		lsl r24
1490
 1719 0a68 991F      		rol r25
1491
 1720 0a6a 880F      		lsl r24
1492
 1721 0a6c 991F      		rol r25
1493
 1722 0a6e 820F      		add r24,r18
1494
 1723 0a70 931F      		adc r25,r19
1495
 1724 0a72 820F      		add r24,r18
1496
 1725 0a74 931F      		adc r25,r19
1497
 1726 0a76 480F      		add r20,r24
1498
 1727 0a78 591F      		adc r21,r25
1499
 1728 0a7a 57FF      		sbrs r21,7
1500
 1729 0a7c 00C0      		rjmp .L85
1501
 1730 0a7e 4D5F      		subi r20,lo8(-(3))
1502
 1731 0a80 5F4F      		sbci r21,hi8(-(3))
1503
 1732               	.L85:
1504
 1733 0a82 5595      		asr r21
1505
 1734 0a84 4795      		ror r20
1506
 1735 0a86 5595      		asr r21
1507
 1736 0a88 4795      		ror r20
1508
 1737 0a8a 5093 0000 		sts (Mittelwert_AccNick)+1,r21
1509
 1738 0a8e 4093 0000 		sts Mittelwert_AccNick,r20
1510
 1739 0a92 8091 0000 		lds r24,Mittelwert_AccRoll
1511
 1740 0a96 9091 0000 		lds r25,(Mittelwert_AccRoll)+1
1512
 1741 0a9a AC01      		movw r20,r24
1513
 1742 0a9c 440F      		lsl r20
1514
 1743 0a9e 551F      		rol r21
1515
 1744 0aa0 480F      		add r20,r24
1516
 1745 0aa2 591F      		adc r21,r25
1517
 1746 0aa4 2091 0000 		lds r18,AdWertAccRoll
1518
 1747 0aa8 3091 0000 		lds r19,(AdWertAccRoll)+1
1519
 1748 0aac C901      		movw r24,r18
1520
 1749 0aae 880F      		lsl r24
1521
 1750 0ab0 991F      		rol r25
1522
 1751 0ab2 880F      		lsl r24
1523
 1752 0ab4 991F      		rol r25
1524
 1753 0ab6 820F      		add r24,r18
1525
 1754 0ab8 931F      		adc r25,r19
1526
 1755 0aba 820F      		add r24,r18
1527
 1756 0abc 931F      		adc r25,r19
1528
 1757 0abe 480F      		add r20,r24
1529
 1758 0ac0 591F      		adc r21,r25
1530
 1759 0ac2 57FF      		sbrs r21,7
1531
 1760 0ac4 00C0      		rjmp .L86
1532
 1761 0ac6 4D5F      		subi r20,lo8(-(3))
1533
 1762 0ac8 5F4F      		sbci r21,hi8(-(3))
1534
 1763               	.L86:
1535
 1764 0aca 5595      		asr r21
1536
 1765 0acc 4795      		ror r20
1537
 1766 0ace 5595      		asr r21
1538
 1767 0ad0 4795      		ror r20
1539
 1768 0ad2 5093 0000 		sts (Mittelwert_AccRoll)+1,r21
1540
 1769 0ad6 4093 0000 		sts Mittelwert_AccRoll,r20
1541
 1770 0ada 2091 0000 		lds r18,AdWertAccNick
1542
 1771 0ade 3091 0000 		lds r19,(AdWertAccNick)+1
1543
 1772 0ae2 C901      		movw r24,r18
1544
 1773 0ae4 880F      		lsl r24
1545
 1774 0ae6 991F      		rol r25
1546
 1775 0ae8 880F      		lsl r24
1547
 1776 0aea 991F      		rol r25
1548
 1777 0aec 820F      		add r24,r18
1549
 1778 0aee 931F      		adc r25,r19
1550
 1779 0af0 820F      		add r24,r18
1551
 1780 0af2 931F      		adc r25,r19
1552
 1781 0af4 9C01      		movw r18,r24
1553
 1782 0af6 4427      		clr r20
1554
 1783 0af8 37FD      		sbrc r19,7
1555
 1784 0afa 4095      		com r20
1556
 1785 0afc 542F      		mov r21,r20
1557
 1786 0afe 8091 0000 		lds r24,IntegralAccNick
1558
 1787 0b02 9091 0000 		lds r25,(IntegralAccNick)+1
1559
 1788 0b06 A091 0000 		lds r26,(IntegralAccNick)+2
1560
 1789 0b0a B091 0000 		lds r27,(IntegralAccNick)+3
1561
 1790 0b0e 820F      		add r24,r18
1562
 1791 0b10 931F      		adc r25,r19
1563
 1792 0b12 A41F      		adc r26,r20
1564
 1793 0b14 B51F      		adc r27,r21
1565
 1794 0b16 8093 0000 		sts IntegralAccNick,r24
1566
 1795 0b1a 9093 0000 		sts (IntegralAccNick)+1,r25
1567
 1796 0b1e A093 0000 		sts (IntegralAccNick)+2,r26
1568
 1797 0b22 B093 0000 		sts (IntegralAccNick)+3,r27
1569
 1798 0b26 2091 0000 		lds r18,AdWertAccRoll
1570
 1799 0b2a 3091 0000 		lds r19,(AdWertAccRoll)+1
1571
 1800 0b2e C901      		movw r24,r18
1572
 1801 0b30 880F      		lsl r24
1573
 1802 0b32 991F      		rol r25
1574
 1803 0b34 880F      		lsl r24
1575
 1804 0b36 991F      		rol r25
1576
 1805 0b38 820F      		add r24,r18
1577
 1806 0b3a 931F      		adc r25,r19
1578
 1807 0b3c 820F      		add r24,r18
1579
 1808 0b3e 931F      		adc r25,r19
1580
 1809 0b40 9C01      		movw r18,r24
1581
 1810 0b42 4427      		clr r20
1582
 1811 0b44 37FD      		sbrc r19,7
1583
 1812 0b46 4095      		com r20
1584
 1813 0b48 542F      		mov r21,r20
1585
 1814 0b4a 8091 0000 		lds r24,IntegralAccRoll
1586
 1815 0b4e 9091 0000 		lds r25,(IntegralAccRoll)+1
1587
 1816 0b52 A091 0000 		lds r26,(IntegralAccRoll)+2
1588
 1817 0b56 B091 0000 		lds r27,(IntegralAccRoll)+3
1589
 1818 0b5a 820F      		add r24,r18
1590
 1819 0b5c 931F      		adc r25,r19
1591
 1820 0b5e A41F      		adc r26,r20
1592
 1821 0b60 B51F      		adc r27,r21
1593
 1822 0b62 8093 0000 		sts IntegralAccRoll,r24
1594
 1823 0b66 9093 0000 		sts (IntegralAccRoll)+1,r25
1595
 1824 0b6a A093 0000 		sts (IntegralAccRoll)+2,r26
1596
 1825 0b6e B093 0000 		sts (IntegralAccRoll)+3,r27
1597
 1826 0b72 8091 0000 		lds r24,NaviAccNick
1598
 1827 0b76 9091 0000 		lds r25,(NaviAccNick)+1
1599
 1828 0b7a 2091 0000 		lds r18,AdWertAccNick
1600
 1829 0b7e 3091 0000 		lds r19,(AdWertAccNick)+1
1601
 1830 0b82 820F      		add r24,r18
1602
 1831 0b84 931F      		adc r25,r19
1603
 1832 0b86 9093 0000 		sts (NaviAccNick)+1,r25
1604
 1833 0b8a 8093 0000 		sts NaviAccNick,r24
1605
 1834 0b8e 8091 0000 		lds r24,NaviAccRoll
1606
 1835 0b92 9091 0000 		lds r25,(NaviAccRoll)+1
1607
 1836 0b96 2091 0000 		lds r18,AdWertAccRoll
1608
 1837 0b9a 3091 0000 		lds r19,(AdWertAccRoll)+1
1609
 1838 0b9e 820F      		add r24,r18
1610
 1839 0ba0 931F      		adc r25,r19
1611
 1840 0ba2 9093 0000 		sts (NaviAccRoll)+1,r25
1612
 1841 0ba6 8093 0000 		sts NaviAccRoll,r24
1613
 1842 0baa 8091 0000 		lds r24,NaviCntAcc
1614
 1843 0bae 9091 0000 		lds r25,(NaviCntAcc)+1
1615
 1844 0bb2 0196      		adiw r24,1
1616
 1845 0bb4 9093 0000 		sts (NaviCntAcc)+1,r25
1617
 1846 0bb8 8093 0000 		sts NaviCntAcc,r24
1618
 1847 0bbc 8091 0000 		lds r24,Aktuell_az
1619
 1848 0bc0 9091 0000 		lds r25,(Aktuell_az)+1
1620
 1849 0bc4 2091 0000 		lds r18,NeutralAccZ
1621
 1850 0bc8 3091 0000 		lds r19,(NeutralAccZ)+1
1622
 1851 0bcc 821B      		sub r24,r18
1623
 1852 0bce 930B      		sbc r25,r19
1624
 1853 0bd0 9C01      		movw r18,r24
1625
 1854 0bd2 4427      		clr r20
1626
 1855 0bd4 37FD      		sbrc r19,7
1627
 1856 0bd6 4095      		com r20
1628
 1857 0bd8 542F      		mov r21,r20
1629
 1858 0bda 8091 0000 		lds r24,IntegralAccZ
1630
 1859 0bde 9091 0000 		lds r25,(IntegralAccZ)+1
1631
 1860 0be2 A091 0000 		lds r26,(IntegralAccZ)+2
1632
 1861 0be6 B091 0000 		lds r27,(IntegralAccZ)+3
1633
 1862 0bea 820F      		add r24,r18
1634
 1863 0bec 931F      		adc r25,r19
1635
 1864 0bee A41F      		adc r26,r20
1636
 1865 0bf0 B51F      		adc r27,r21
1637
 1866 0bf2 8093 0000 		sts IntegralAccZ,r24
1638
 1867 0bf6 9093 0000 		sts (IntegralAccZ)+1,r25
1639
 1868 0bfa A093 0000 		sts (IntegralAccZ)+2,r26
1640
 1869 0bfe B093 0000 		sts (IntegralAccZ)+3,r27
1641
 1870 0c02 8FEC      		ldi r24,lo8(-49)
1642
 1871 0c04 8093 7A00 		sts 122,r24
1643
 1872 0c08 1092 0000 		sts AdReady,__zero_reg__
1644
 1873 0c0c 2091 0000 		lds r18,Mess_IntegralRoll
1645
 1874 0c10 3091 0000 		lds r19,(Mess_IntegralRoll)+1
1646
 1875 0c14 4091 0000 		lds r20,(Mess_IntegralRoll)+2
1647
 1876 0c18 5091 0000 		lds r21,(Mess_IntegralRoll)+3
1648
 1877 0c1c 2987      		std Y+9,r18
1649
 1878 0c1e 3A87      		std Y+10,r19
1650
 1879 0c20 4B87      		std Y+11,r20
1651
 1880 0c22 5C87      		std Y+12,r21
1652
 1881 0c24 2954      		subi r18,lo8(93001)
1653
 1882 0c26 3B46      		sbci r19,hi8(93001)
1654
 1883 0c28 4140      		sbci r20,hlo8(93001)
1655
 1884 0c2a 5040      		sbci r21,hhi8(93001)
1656
 1885 0c2c 04F0      		brlt .L87
1657
 1886 0c2e 28E4      		ldi r18,lo8(93000)
1658
 1887 0c30 3BE6      		ldi r19,hi8(93000)
1659
 1888 0c32 41E0      		ldi r20,hlo8(93000)
1660
 1889 0c34 50E0      		ldi r21,hhi8(93000)
1661
 1890 0c36 00C0      		rjmp .L167
1662
 1891               	.L87:
1663
 1892 0c38 8985      		ldd r24,Y+9
1664
 1893 0c3a 9A85      		ldd r25,Y+10
1665
 1894 0c3c AB85      		ldd r26,Y+11
1666
 1895 0c3e BC85      		ldd r27,Y+12
1667
 1896 0c40 885B      		subi r24,lo8(-93000)
1668
 1897 0c42 9449      		sbci r25,hi8(-93000)
1669
 1898 0c44 AE4F      		sbci r26,hlo8(-93000)
1670
 1899 0c46 BF4F      		sbci r27,hhi8(-93000)
1671
 1900 0c48 04F4      		brge .L89
1672
 1901 0c4a 28EB      		ldi r18,lo8(-93000)
1673
 1902 0c4c 34E9      		ldi r19,hi8(-93000)
1674
 1903 0c4e 4EEF      		ldi r20,hlo8(-93000)
1675
 1904 0c50 5FEF      		ldi r21,hhi8(-93000)
1676
 1905               	.L167:
1677
 1906 0c52 2D83      		std Y+5,r18
1678
 1907 0c54 3E83      		std Y+6,r19
1679
 1908 0c56 4F83      		std Y+7,r20
1680
 1909 0c58 5887      		std Y+8,r21
1681
 1910 0c5a 00C0      		rjmp .L88
1682
 1911               	.L89:
1683
 1912 0c5c 8985      		ldd r24,Y+9
1684
 1913 0c5e 9A85      		ldd r25,Y+10
1685
 1914 0c60 AB85      		ldd r26,Y+11
1686
 1915 0c62 BC85      		ldd r27,Y+12
1687
 1916 0c64 8D83      		std Y+5,r24
1688
 1917 0c66 9E83      		std Y+6,r25
1689
 1918 0c68 AF83      		std Y+7,r26
1690
 1919 0c6a B887      		std Y+8,r27
1691
 1920               	.L88:
1692
 1921 0c6c 2091 0000 		lds r18,Mess_IntegralNick
1693
 1922 0c70 3091 0000 		lds r19,(Mess_IntegralNick)+1
1694
 1923 0c74 4091 0000 		lds r20,(Mess_IntegralNick)+2
1695
 1924 0c78 5091 0000 		lds r21,(Mess_IntegralNick)+3
1696
 1925 0c7c 2D87      		std Y+13,r18
1697
 1926 0c7e 3E87      		std Y+14,r19
1698
 1927 0c80 4F87      		std Y+15,r20
1699
 1928 0c82 588B      		std Y+16,r21
1700
 1929 0c84 2954      		subi r18,lo8(93001)
1701
 1930 0c86 3B46      		sbci r19,hi8(93001)
1702
 1931 0c88 4140      		sbci r20,hlo8(93001)
1703
 1932 0c8a 5040      		sbci r21,hhi8(93001)
1704
 1933 0c8c 04F0      		brlt .L91
1705
 1934 0c8e 28E4      		ldi r18,lo8(93000)
1706
 1935 0c90 3BE6      		ldi r19,hi8(93000)
1707
 1936 0c92 41E0      		ldi r20,hlo8(93000)
1708
 1937 0c94 50E0      		ldi r21,hhi8(93000)
1709
 1938 0c96 00C0      		rjmp .L168
1710
 1939               	.L91:
1711
 1940 0c98 8D85      		ldd r24,Y+13
1712
 1941 0c9a 9E85      		ldd r25,Y+14
1713
 1942 0c9c AF85      		ldd r26,Y+15
1714
 1943 0c9e B889      		ldd r27,Y+16
1715
 1944 0ca0 885B      		subi r24,lo8(-93000)
1716
 1945 0ca2 9449      		sbci r25,hi8(-93000)
1717
 1946 0ca4 AE4F      		sbci r26,hlo8(-93000)
1718
 1947 0ca6 BF4F      		sbci r27,hhi8(-93000)
1719
 1948 0ca8 04F4      		brge .L93
1720
 1949 0caa 28EB      		ldi r18,lo8(-93000)
1721
 1950 0cac 34E9      		ldi r19,hi8(-93000)
1722
 1951 0cae 4EEF      		ldi r20,hlo8(-93000)
1723
 1952 0cb0 5FEF      		ldi r21,hhi8(-93000)
1724
 1953               	.L168:
1725
 1954 0cb2 2983      		std Y+1,r18
1726
 1955 0cb4 3A83      		std Y+2,r19
1727
 1956 0cb6 4B83      		std Y+3,r20
1728
 1957 0cb8 5C83      		std Y+4,r21
1729
 1958 0cba 00C0      		rjmp .L92
1730
 1959               	.L93:
1731
 1960 0cbc 8D85      		ldd r24,Y+13
1732
 1961 0cbe 9E85      		ldd r25,Y+14
1733
 1962 0cc0 AF85      		ldd r26,Y+15
1734
 1963 0cc2 B889      		ldd r27,Y+16
1735
 1964 0cc4 8983      		std Y+1,r24
1736
 1965 0cc6 9A83      		std Y+2,r25
1737
 1966 0cc8 AB83      		std Y+3,r26
1738
 1967 0cca BC83      		std Y+4,r27
1739
 1968               	.L92:
1740
 1969 0ccc A091 0000 		lds r26,MesswertGier
1741
 1970 0cd0 B091 0000 		lds r27,(MesswertGier)+1
1742
 1971 0cd4 BB8B      		std Y+19,r27
1743
 1972 0cd6 AA8B      		std Y+18,r26
1744
 1973 0cd8 FD01      		movw r30,r26
1745
 1974 0cda CF01      		movw r24,r30
1746
 1975 0cdc AA27      		clr r26
1747
 1976 0cde 97FD      		sbrc r25,7
1748
 1977 0ce0 A095      		com r26
1749
 1978 0ce2 BA2F      		mov r27,r26
1750
 1979 0ce4 A090 0000 		lds r10,Mess_Integral_Gier
1751
 1980 0ce8 B090 0000 		lds r11,(Mess_Integral_Gier)+1
1752
 1981 0cec C090 0000 		lds r12,(Mess_Integral_Gier)+2
1753
 1982 0cf0 D090 0000 		lds r13,(Mess_Integral_Gier)+3
1754
 1983 0cf4 A80E      		add r10,r24
1755
 1984 0cf6 B91E      		adc r11,r25
1756
 1985 0cf8 CA1E      		adc r12,r26
1757
 1986 0cfa DB1E      		adc r13,r27
1758
 1987 0cfc A092 0000 		sts Mess_Integral_Gier,r10
1759
 1988 0d00 B092 0000 		sts (Mess_Integral_Gier)+1,r11
1760
 1989 0d04 C092 0000 		sts (Mess_Integral_Gier)+2,r12
1761
 1990 0d08 D092 0000 		sts (Mess_Integral_Gier)+3,r13
1762
 1991 0d0c E090 0000 		lds r14,ErsatzKompass
1763
 1992 0d10 F090 0000 		lds r15,(ErsatzKompass)+1
1764
 1993 0d14 0091 0000 		lds r16,(ErsatzKompass)+2
1765
 1994 0d18 1091 0000 		lds r17,(ErsatzKompass)+3
1766
 1995 0d1c E80E      		add r14,r24
1767
 1996 0d1e F91E      		adc r15,r25
1768
 1997 0d20 0A1F      		adc r16,r26
1769
 1998 0d22 1B1F      		adc r17,r27
1770
 1999 0d24 E092 0000 		sts ErsatzKompass,r14
1771
 2000 0d28 F092 0000 		sts (ErsatzKompass)+1,r15
1772
 2001 0d2c 0093 0000 		sts (ErsatzKompass)+2,r16
1773
 2002 0d30 1093 0000 		sts (ErsatzKompass)+3,r17
1774
 2003 0d34 F091 0000 		lds r31,Looping_Nick
1775
 2004 0d38 F98B      		std Y+17,r31
1776
 2005 0d3a FF23      		tst r31
1777
 2006 0d3c 01F0      		breq .+2
1778
 2007 0d3e 00C0      		rjmp .L95
1779
 2008 0d40 8091 0000 		lds r24,Looping_Roll
1780
 2009 0d44 8823      		tst r24
1781
 2010 0d46 01F0      		breq .+2
1782
 2011 0d48 00C0      		rjmp .L95
1783
 2012 0d4a 8091 0000 		lds r24,Parameter_GlobalConfig
1784
 2013 0d4e 86FF      		sbrs r24,6
1785
 2014 0d50 00C0      		rjmp .L95
1786
 2015 0d52 8091 0000 		lds r24,MesswertRoll
1787
 2016 0d56 9091 0000 		lds r25,(MesswertRoll)+1
1788
 2017 0d5a AA27      		clr r26
1789
 2018 0d5c 97FD      		sbrc r25,7
1790
 2019 0d5e A095      		com r26
1791
 2020 0d60 BA2F      		mov r27,r26
1792
 2021 0d62 BC01      		movw r22,r24
1793
 2022 0d64 CD01      		movw r24,r26
1794
 2023 0d66 2981      		ldd r18,Y+1
1795
 2024 0d68 3A81      		ldd r19,Y+2
1796
 2025 0d6a 4B81      		ldd r20,Y+3
1797
 2026 0d6c 5C81      		ldd r21,Y+4
1798
 2027 0d6e 0E94 0000 		call __mulsi3
1799
 2028 0d72 9B01      		movw r18,r22
1800
 2029 0d74 AC01      		movw r20,r24
1801
 2030 0d76 97FF      		sbrs r25,7
1802
 2031 0d78 00C0      		rjmp .L96
1803
 2032 0d7a 2150      		subi r18,lo8(-(2047))
1804
 2033 0d7c 384F      		sbci r19,hi8(-(2047))
1805
 2034 0d7e 4F4F      		sbci r20,hlo8(-(2047))
1806
 2035 0d80 5F4F      		sbci r21,hhi8(-(2047))
1807
 2036               	.L96:
1808
 2037 0d82 BBE0      		ldi r27,11
1809
 2038 0d84 5595      	1:	asr r21
1810
 2039 0d86 4795      		ror r20
1811
 2040 0d88 3795      		ror r19
1812
 2041 0d8a 2795      		ror r18
1813
 2042 0d8c BA95      		dec r27
1814
 2043 0d8e 01F4      		brne 1b
1815
 2044 0d90 8091 0000 		lds r24,Parameter_AchsKopplung2
1816
 2045 0d94 682E      		mov r6,r24
1817
 2046 0d96 7724      		clr r7
1818
 2047 0d98 8824      		clr r8
1819
 2048 0d9a 9924      		clr r9
1820
 2049 0d9c CA01      		movw r24,r20
1821
 2050 0d9e B901      		movw r22,r18
1822
 2051 0da0 A401      		movw r20,r8
1823
 2052 0da2 9301      		movw r18,r6
1824
 2053 0da4 0E94 0000 		call __mulsi3
1825
 2054 0da8 DC01      		movw r26,r24
1826
 2055 0daa CB01      		movw r24,r22
1827
 2056 0dac 8093 0000 		sts tmpl3.29,r24
1828
 2057 0db0 9093 0000 		sts (tmpl3.29)+1,r25
1829
 2058 0db4 A093 0000 		sts (tmpl3.29)+2,r26
1830
 2059 0db8 B093 0000 		sts (tmpl3.29)+3,r27
1831
 2060 0dbc B7FF      		sbrs r27,7
1832
 2061 0dbe 00C0      		rjmp .L97
1833
 2062 0dc0 8150      		subi r24,lo8(-(4095))
1834
 2063 0dc2 904F      		sbci r25,hi8(-(4095))
1835
 2064 0dc4 AF4F      		sbci r26,hlo8(-(4095))
1836
 2065 0dc6 BF4F      		sbci r27,hhi8(-(4095))
1837
 2066               	.L97:
1838
 2067 0dc8 1C01      		movw r2,r24
1839
 2068 0dca 2D01      		movw r4,r26
1840
 2069 0dcc ACE0      		ldi r26,12
1841
 2070 0dce 5594      	1:	asr r5
1842
 2071 0dd0 4794      		ror r4
1843
 2072 0dd2 3794      		ror r3
1844
 2073 0dd4 2794      		ror r2
1845
 2074 0dd6 AA95      		dec r26
1846
 2075 0dd8 01F4      		brne 1b
1847
 2076 0dda 2092 0000 		sts tmpl3.29,r2
1848
 2077 0dde 3092 0000 		sts (tmpl3.29)+1,r3
1849
 2078 0de2 4092 0000 		sts (tmpl3.29)+2,r4
1850
 2079 0de6 5092 0000 		sts (tmpl3.29)+3,r5
1851
 2080 0dea 8091 0000 		lds r24,MesswertNick
1852
 2081 0dee 9091 0000 		lds r25,(MesswertNick)+1
1853
 2082 0df2 AA27      		clr r26
1854
 2083 0df4 97FD      		sbrc r25,7
1855
 2084 0df6 A095      		com r26
1856
 2085 0df8 BA2F      		mov r27,r26
1857
 2086 0dfa BC01      		movw r22,r24
1858
 2087 0dfc CD01      		movw r24,r26
1859
 2088 0dfe 2D81      		ldd r18,Y+5
1860
 2089 0e00 3E81      		ldd r19,Y+6
1861
 2090 0e02 4F81      		ldd r20,Y+7
1862
 2091 0e04 5885      		ldd r21,Y+8
1863
 2092 0e06 0E94 0000 		call __mulsi3
1864
 2093 0e0a 97FF      		sbrs r25,7
1865
 2094 0e0c 00C0      		rjmp .L98
1866
 2095 0e0e 6150      		subi r22,lo8(-(2047))
1867
 2096 0e10 784F      		sbci r23,hi8(-(2047))
1868
 2097 0e12 8F4F      		sbci r24,hlo8(-(2047))
1869
 2098 0e14 9F4F      		sbci r25,hhi8(-(2047))
1870
 2099               	.L98:
1871
 2100 0e16 FBE0      		ldi r31,11
1872
 2101 0e18 9595      	1:	asr r25
1873
 2102 0e1a 8795      		ror r24
1874
 2103 0e1c 7795      		ror r23
1875
 2104 0e1e 6795      		ror r22
1876
 2105 0e20 FA95      		dec r31
1877
 2106 0e22 01F4      		brne 1b
1878
 2107 0e24 A401      		movw r20,r8
1879
 2108 0e26 9301      		movw r18,r6
1880
 2109 0e28 0E94 0000 		call __mulsi3
1881
 2110 0e2c DC01      		movw r26,r24
1882
 2111 0e2e CB01      		movw r24,r22
1883
 2112 0e30 8093 0000 		sts tmpl4.30,r24
1884
 2113 0e34 9093 0000 		sts (tmpl4.30)+1,r25
1885
 2114 0e38 A093 0000 		sts (tmpl4.30)+2,r26
1886
 2115 0e3c B093 0000 		sts (tmpl4.30)+3,r27
1887
 2116 0e40 B7FF      		sbrs r27,7
1888
 2117 0e42 00C0      		rjmp .L99
1889
 2118 0e44 8150      		subi r24,lo8(-(4095))
1890
 2119 0e46 904F      		sbci r25,hi8(-(4095))
1891
 2120 0e48 AF4F      		sbci r26,hlo8(-(4095))
1892
 2121 0e4a BF4F      		sbci r27,hhi8(-(4095))
1893
 2122               	.L99:
1894
 2123 0e4c 9C01      		movw r18,r24
1895
 2124 0e4e AD01      		movw r20,r26
1896
 2125 0e50 ECE0      		ldi r30,12
1897
 2126 0e52 5595      	1:	asr r21
1898
 2127 0e54 4795      		ror r20
1899
 2128 0e56 3795      		ror r19
1900
 2129 0e58 2795      		ror r18
1901
 2130 0e5a EA95      		dec r30
1902
 2131 0e5c 01F4      		brne 1b
1903
 2132 0e5e 2093 0000 		sts tmpl4.30,r18
1904
 2133 0e62 3093 0000 		sts (tmpl4.30)+1,r19
1905
 2134 0e66 4093 0000 		sts (tmpl4.30)+2,r20
1906
 2135 0e6a 5093 0000 		sts (tmpl4.30)+3,r21
1907
 2136 0e6e 8091 0000 		lds r24,tmpl3.29
1908
 2137 0e72 9091 0000 		lds r25,(tmpl3.29)+1
1909
 2138 0e76 9093 0000 		sts (KopplungsteilNickRoll)+1,r25
1910
 2139 0e7a 8093 0000 		sts KopplungsteilNickRoll,r24
1911
 2140 0e7e 8091 0000 		lds r24,tmpl4.30
1912
 2141 0e82 9091 0000 		lds r25,(tmpl4.30)+1
1913
 2142 0e86 9093 0000 		sts (KopplungsteilRollNick)+1,r25
1914
 2143 0e8a 8093 0000 		sts KopplungsteilRollNick,r24
1915
 2144 0e8e 2219      		sub r18,r2
1916
 2145 0e90 3309      		sbc r19,r3
1917
 2146 0e92 4409      		sbc r20,r4
1918
 2147 0e94 5509      		sbc r21,r5
1919
 2148 0e96 2093 0000 		sts tmpl4.30,r18
1920
 2149 0e9a 3093 0000 		sts (tmpl4.30)+1,r19
1921
 2150 0e9e 4093 0000 		sts (tmpl4.30)+2,r20
1922
 2151 0ea2 5093 0000 		sts (tmpl4.30)+3,r21
1923
 2152 0ea6 E20E      		add r14,r18
1924
 2153 0ea8 F31E      		adc r15,r19
1925
 2154 0eaa 041F      		adc r16,r20
1926
 2155 0eac 151F      		adc r17,r21
1927
 2156 0eae E092 0000 		sts ErsatzKompass,r14
1928
 2157 0eb2 F092 0000 		sts (ErsatzKompass)+1,r15
1929
 2158 0eb6 0093 0000 		sts (ErsatzKompass)+2,r16
1930
 2159 0eba 1093 0000 		sts (ErsatzKompass)+3,r17
1931
 2160 0ebe 8091 0000 		lds r24,Parameter_CouplingYawCorrection
1932
 2161 0ec2 8823      		tst r24
1933
 2162 0ec4 01F4      		brne .L100
1934
 2163 0ec6 57FF      		sbrs r21,7
1935
 2164 0ec8 00C0      		rjmp .L101
1936
 2165 0eca 2F5F      		subi r18,lo8(-(1))
1937
 2166 0ecc 3F4F      		sbci r19,hi8(-(1))
1938
 2167 0ece 4F4F      		sbci r20,hlo8(-(1))
1939
 2168 0ed0 5F4F      		sbci r21,hhi8(-(1))
1940
 2169               	.L101:
1941
 2170 0ed2 5595      		asr r21
1942
 2171 0ed4 4795      		ror r20
1943
 2172 0ed6 3795      		ror r19
1944
 2173 0ed8 2795      		ror r18
1945
 2174 0eda A21A      		sub r10,r18
1946
 2175 0edc B30A      		sbc r11,r19
1947
 2176 0ede C40A      		sbc r12,r20
1948
 2177 0ee0 D50A      		sbc r13,r21
1949
 2178 0ee2 A092 0000 		sts Mess_Integral_Gier,r10
1950
 2179 0ee6 B092 0000 		sts (Mess_Integral_Gier)+1,r11
1951
 2180 0eea C092 0000 		sts (Mess_Integral_Gier)+2,r12
1952
 2181 0eee D092 0000 		sts (Mess_Integral_Gier)+3,r13
1953
 2182               	.L100:
1954
 2183 0ef2 2A89      		ldd r18,Y+18
1955
 2184 0ef4 3B89      		ldd r19,Y+19
1956
 2185 0ef6 7901      		movw r14,r18
1957
 2186 0ef8 0027      		clr r16
1958
 2187 0efa F7FC      		sbrc r15,7
1959
 2188 0efc 0095      		com r16
1960
 2189 0efe 102F      		mov r17,r16
1961
 2190 0f00 8091 0000 		lds r24,tmpl4.30
1962
 2191 0f04 9091 0000 		lds r25,(tmpl4.30)+1
1963
 2192 0f08 A091 0000 		lds r26,(tmpl4.30)+2
1964
 2193 0f0c B091 0000 		lds r27,(tmpl4.30)+3
1965
 2194 0f10 E80E      		add r14,r24
1966
 2195 0f12 F91E      		adc r15,r25
1967
 2196 0f14 0A1F      		adc r16,r26
1968
 2197 0f16 1B1F      		adc r17,r27
1969
 2198 0f18 C801      		movw r24,r16
1970
 2199 0f1a B701      		movw r22,r14
1971
 2200 0f1c 2981      		ldd r18,Y+1
1972
 2201 0f1e 3A81      		ldd r19,Y+2
1973
 2202 0f20 4B81      		ldd r20,Y+3
1974
 2203 0f22 5C81      		ldd r21,Y+4
1975
 2204 0f24 0E94 0000 		call __mulsi3
1976
 2205 0f28 9B01      		movw r18,r22
1977
 2206 0f2a AC01      		movw r20,r24
1978
 2207 0f2c 97FF      		sbrs r25,7
1979
 2208 0f2e 00C0      		rjmp .L102
1980
 2209 0f30 2150      		subi r18,lo8(-(2047))
1981
 2210 0f32 384F      		sbci r19,hi8(-(2047))
1982
 2211 0f34 4F4F      		sbci r20,hlo8(-(2047))
1983
 2212 0f36 5F4F      		sbci r21,hhi8(-(2047))
1984
 2213               	.L102:
1985
 2214 0f38 6BE0      		ldi r22,11
1986
 2215 0f3a 5595      	1:	asr r21
1987
 2216 0f3c 4795      		ror r20
1988
 2217 0f3e 3795      		ror r19
1989
 2218 0f40 2795      		ror r18
1990
 2219 0f42 6A95      		dec r22
1991
 2220 0f44 01F4      		brne 1b
1992
 2221 0f46 8091 0000 		lds r24,Parameter_AchsKopplung1
1993
 2222 0f4a A82E      		mov r10,r24
1994
 2223 0f4c BB24      		clr r11
1995
 2224 0f4e CC24      		clr r12
1996
 2225 0f50 DD24      		clr r13
1997
 2226 0f52 CA01      		movw r24,r20
1998
 2227 0f54 B901      		movw r22,r18
1999
 2228 0f56 A601      		movw r20,r12
2000
 2229 0f58 9501      		movw r18,r10
2001
 2230 0f5a 0E94 0000 		call __mulsi3
2002
 2231 0f5e DC01      		movw r26,r24
2003
 2232 0f60 CB01      		movw r24,r22
2004
 2233 0f62 8093 0000 		sts tmpl.27,r24
2005
 2234 0f66 9093 0000 		sts (tmpl.27)+1,r25
2006
 2235 0f6a A093 0000 		sts (tmpl.27)+2,r26
2007
 2236 0f6e B093 0000 		sts (tmpl.27)+3,r27
2008
 2237 0f72 B7FF      		sbrs r27,7
2009
 2238 0f74 00C0      		rjmp .L103
2010
 2239 0f76 8150      		subi r24,lo8(-(4095))
2011
 2240 0f78 904F      		sbci r25,hi8(-(4095))
2012
 2241 0f7a AF4F      		sbci r26,hlo8(-(4095))
2013
 2242 0f7c BF4F      		sbci r27,hhi8(-(4095))
2014
 2243               	.L103:
2015
 2244 0f7e 3C01      		movw r6,r24
2016
 2245 0f80 4D01      		movw r8,r26
2017
 2246 0f82 3CE0      		ldi r19,12
2018
 2247 0f84 9594      	1:	asr r9
2019
 2248 0f86 8794      		ror r8
2020
 2249 0f88 7794      		ror r7
2021
 2250 0f8a 6794      		ror r6
2022
 2251 0f8c 3A95      		dec r19
2023
 2252 0f8e 01F4      		brne 1b
2024
 2253 0f90 6092 0000 		sts tmpl.27,r6
2025
 2254 0f94 7092 0000 		sts (tmpl.27)+1,r7
2026
 2255 0f98 8092 0000 		sts (tmpl.27)+2,r8
2027
 2256 0f9c 9092 0000 		sts (tmpl.27)+3,r9
2028
 2257 0fa0 C801      		movw r24,r16
2029
 2258 0fa2 B701      		movw r22,r14
2030
 2259 0fa4 2D81      		ldd r18,Y+5
2031
 2260 0fa6 3E81      		ldd r19,Y+6
2032
 2261 0fa8 4F81      		ldd r20,Y+7
2033
 2262 0faa 5885      		ldd r21,Y+8
2034
 2263 0fac 0E94 0000 		call __mulsi3
2035
 2264 0fb0 97FF      		sbrs r25,7
2036
 2265 0fb2 00C0      		rjmp .L104
2037
 2266 0fb4 6150      		subi r22,lo8(-(2047))
2038
 2267 0fb6 784F      		sbci r23,hi8(-(2047))
2039
 2268 0fb8 8F4F      		sbci r24,hlo8(-(2047))
2040
 2269 0fba 9F4F      		sbci r25,hhi8(-(2047))
2041
 2270               	.L104:
2042
 2271 0fbc 2BE0      		ldi r18,11
2043
 2272 0fbe 9595      	1:	asr r25
2044
 2273 0fc0 8795      		ror r24
2045
 2274 0fc2 7795      		ror r23
2046
 2275 0fc4 6795      		ror r22
2047
 2276 0fc6 2A95      		dec r18
2048
 2277 0fc8 01F4      		brne 1b
2049
 2278 0fca A601      		movw r20,r12
2050
 2279 0fcc 9501      		movw r18,r10
2051
 2280 0fce 0E94 0000 		call __mulsi3
2052
 2281 0fd2 DC01      		movw r26,r24
2053
 2282 0fd4 CB01      		movw r24,r22
2054
 2283 0fd6 8093 0000 		sts tmpl2.28,r24
2055
 2284 0fda 9093 0000 		sts (tmpl2.28)+1,r25
2056
 2285 0fde A093 0000 		sts (tmpl2.28)+2,r26
2057
 2286 0fe2 B093 0000 		sts (tmpl2.28)+3,r27
2058
 2287 0fe6 B7FF      		sbrs r27,7
2059
 2288 0fe8 00C0      		rjmp .L105
2060
 2289 0fea 8150      		subi r24,lo8(-(4095))
2061
 2290 0fec 904F      		sbci r25,hi8(-(4095))
2062
 2291 0fee AF4F      		sbci r26,hlo8(-(4095))
2063
 2292 0ff0 BF4F      		sbci r27,hhi8(-(4095))
2064
 2293               	.L105:
2065
 2294 0ff2 AC01      		movw r20,r24
2066
 2295 0ff4 BD01      		movw r22,r26
2067
 2296 0ff6 8CE0      		ldi r24,12
2068
 2297 0ff8 7595      	1:	asr r23
2069
 2298 0ffa 6795      		ror r22
2070
 2299 0ffc 5795      		ror r21
2071
 2300 0ffe 4795      		ror r20
2072
 2301 1000 8A95      		dec r24
2073
 2302 1002 01F4      		brne 1b
2074
 2303 1004 4093 0000 		sts tmpl2.28,r20
2075
 2304 1008 5093 0000 		sts (tmpl2.28)+1,r21
2076
 2305 100c 6093 0000 		sts (tmpl2.28)+2,r22
2077
 2306 1010 7093 0000 		sts (tmpl2.28)+3,r23
2078
 2307 1014 2A89      		ldd r18,Y+18
2079
 2308 1016 3B89      		ldd r19,Y+19
2080
 2309 1018 37FF      		sbrs r19,7
2081
 2310 101a 00C0      		rjmp .L107
2082
 2311 101c 3095      		com r19
2083
 2312 101e 2195      		neg r18
2084
 2313 1020 3F4F      		sbci r19,lo8(-1)
2085
 2314               	.L107:
2086
 2315 1022 2134      		cpi r18,65
2087
 2316 1024 3105      		cpc r19,__zero_reg__
2088
 2317 1026 04F0      		brlt .L112
2089
 2318 1028 D401      		movw r26,r8
2090
 2319 102a C301      		movw r24,r6
2091
 2320 102c 97FE      		sbrs r9,7
2092
 2321 102e 00C0      		rjmp .L110
2093
 2322 1030 B095      		com r27
2094
 2323 1032 A095      		com r26
2095
 2324 1034 9095      		com r25
2096
 2325 1036 8195      		neg r24
2097
 2326 1038 9F4F      		sbci r25,lo8(-1)
2098
 2327 103a AF4F      		sbci r26,lo8(-1)
2099
 2328 103c BF4F      		sbci r27,lo8(-1)
2100
 2329               	.L110:
2101
 2330 103e 8138      		cpi r24,lo8(129)
2102
 2331 1040 9105      		cpc r25,__zero_reg__
2103
 2332 1042 A105      		cpc r26,__zero_reg__
2104
 2333 1044 B105      		cpc r27,__zero_reg__
2105
 2334 1046 04F4      		brge .L109
2106
 2335 1048 DB01      		movw r26,r22
2107
 2336 104a CA01      		movw r24,r20
2108
 2337 104c 77FF      		sbrs r23,7
2109
 2338 104e 00C0      		rjmp .L111
2110
 2339 1050 B095      		com r27
2111
 2340 1052 A095      		com r26
2112
 2341 1054 9095      		com r25
2113
 2342 1056 8195      		neg r24
2114
 2343 1058 9F4F      		sbci r25,lo8(-1)
2115
 2344 105a AF4F      		sbci r26,lo8(-1)
2116
 2345 105c BF4F      		sbci r27,lo8(-1)
2117
 2346               	.L111:
2118
 2347 105e 8138      		cpi r24,lo8(129)
2119
 2348 1060 9105      		cpc r25,__zero_reg__
2120
 2349 1062 A105      		cpc r26,__zero_reg__
2121
 2350 1064 B105      		cpc r27,__zero_reg__
2122
 2351 1066 04F0      		brlt .L112
2123
 2352               	.L109:
2124
 2353 1068 81E0      		ldi r24,lo8(1)
2125
 2354 106a 8093 0000 		sts TrichterFlug,r24
2126
 2355 106e 00C0      		rjmp .L112
2127
 2356               	.L95:
2128
 2357 1070 1092 0000 		sts (KopplungsteilRollNick)+1,__zero_reg__
2129
 2358 1074 1092 0000 		sts KopplungsteilRollNick,__zero_reg__
2130
 2359 1078 1092 0000 		sts (KopplungsteilNickRoll)+1,__zero_reg__
2131
 2360 107c 1092 0000 		sts KopplungsteilNickRoll,__zero_reg__
2132
 2361 1080 1092 0000 		sts tmpl2.28,__zero_reg__
2133
 2362 1084 1092 0000 		sts (tmpl2.28)+1,__zero_reg__
2134
 2363 1088 1092 0000 		sts (tmpl2.28)+2,__zero_reg__
2135
 2364 108c 1092 0000 		sts (tmpl2.28)+3,__zero_reg__
2136
 2365 1090 1092 0000 		sts tmpl.27,__zero_reg__
2137
 2366 1094 1092 0000 		sts (tmpl.27)+1,__zero_reg__
2138
 2367 1098 1092 0000 		sts (tmpl.27)+2,__zero_reg__
2139
 2368 109c 1092 0000 		sts (tmpl.27)+3,__zero_reg__
2140
 2369               	.L112:
2141
 2370 10a0 8091 0000 		lds r24,tmpl2.28
2142
 2371 10a4 9091 0000 		lds r25,(tmpl2.28)+1
2143
 2372 10a8 A091 0000 		lds r26,(tmpl2.28)+2
2144
 2373 10ac B091 0000 		lds r27,(tmpl2.28)+3
2145
 2374 10b0 BC01      		movw r22,r24
2146
 2375 10b2 CD01      		movw r24,r26
2147
 2376 10b4 24E6      		ldi r18,lo8(100)
2148
 2377 10b6 30E0      		ldi r19,hi8(100)
2149
 2378 10b8 40E0      		ldi r20,hlo8(100)
2150
 2379 10ba 50E0      		ldi r21,hhi8(100)
2151
 2380 10bc 0E94 0000 		call __divmodsi4
2152
 2381 10c0 E090 0000 		lds r14,tmpl.27
2153
 2382 10c4 F090 0000 		lds r15,(tmpl.27)+1
2154
 2383 10c8 E21A      		sub r14,r18
2155
 2384 10ca F30A      		sbc r15,r19
2156
 2385 10cc F092 0000 		sts (TrimRoll)+1,r15
2157
 2386 10d0 E092 0000 		sts TrimRoll,r14
2158
 2387 10d4 8091 0000 		lds r24,tmpl.27
2159
 2388 10d8 9091 0000 		lds r25,(tmpl.27)+1
2160
 2389 10dc A091 0000 		lds r26,(tmpl.27)+2
2161
 2390 10e0 B091 0000 		lds r27,(tmpl.27)+3
2162
 2391 10e4 BC01      		movw r22,r24
2163
 2392 10e6 CD01      		movw r24,r26
2164
 2393 10e8 24E6      		ldi r18,lo8(100)
2165
 2394 10ea 30E0      		ldi r19,hi8(100)
2166
 2395 10ec 40E0      		ldi r20,hlo8(100)
2167
 2396 10ee 50E0      		ldi r21,hhi8(100)
2168
 2397 10f0 0E94 0000 		call __divmodsi4
2169
 2398 10f4 DA01      		movw r26,r20
2170
 2399 10f6 C901      		movw r24,r18
2171
 2400 10f8 2091 0000 		lds r18,tmpl2.28
2172
 2401 10fc 3091 0000 		lds r19,(tmpl2.28)+1
2173
 2402 1100 8C01      		movw r16,r24
2174
 2403 1102 021B      		sub r16,r18
2175
 2404 1104 130B      		sbc r17,r19
2176
 2405 1106 1093 0000 		sts (TrimNick)+1,r17
2177
 2406 110a 0093 0000 		sts TrimNick,r16
2178
 2407 110e 8091 0000 		lds r24,GIER_GRAD_FAKTOR
2179
 2408 1112 9091 0000 		lds r25,(GIER_GRAD_FAKTOR)+1
2180
 2409 1116 A091 0000 		lds r26,(GIER_GRAD_FAKTOR)+2
2181
 2410 111a B091 0000 		lds r27,(GIER_GRAD_FAKTOR)+3
2182
 2411 111e BC01      		movw r22,r24
2183
 2412 1120 CD01      		movw r24,r26
2184
 2413 1122 28E6      		ldi r18,lo8(360)
2185
 2414 1124 31E0      		ldi r19,hi8(360)
2186
 2415 1126 40E0      		ldi r20,hlo8(360)
2187
 2416 1128 50E0      		ldi r21,hhi8(360)
2188
 2417 112a 0E94 0000 		call __mulsi3
2189
 2418 112e 2091 0000 		lds r18,ErsatzKompass
2190
 2419 1132 3091 0000 		lds r19,(ErsatzKompass)+1
2191
 2420 1136 4091 0000 		lds r20,(ErsatzKompass)+2
2192
 2421 113a 5091 0000 		lds r21,(ErsatzKompass)+3
2193
 2422 113e 2617      		cp r18,r22
2194
 2423 1140 3707      		cpc r19,r23
2195
 2424 1142 4807      		cpc r20,r24
2196
 2425 1144 5907      		cpc r21,r25
2197
 2426 1146 04F0      		brlt .L113
2198
 2427 1148 261B      		sub r18,r22
2199
 2428 114a 370B      		sbc r19,r23
2200
 2429 114c 480B      		sbc r20,r24
2201
 2430 114e 590B      		sbc r21,r25
2202
 2431 1150 2093 0000 		sts ErsatzKompass,r18
2203
 2432 1154 3093 0000 		sts (ErsatzKompass)+1,r19
2204
 2433 1158 4093 0000 		sts (ErsatzKompass)+2,r20
2205
 2434 115c 5093 0000 		sts (ErsatzKompass)+3,r21
2206
 2435               	.L113:
2207
 2436 1160 2091 0000 		lds r18,ErsatzKompass
2208
 2437 1164 3091 0000 		lds r19,(ErsatzKompass)+1
2209
 2438 1168 4091 0000 		lds r20,(ErsatzKompass)+2
2210
 2439 116c 5091 0000 		lds r21,(ErsatzKompass)+3
2211
 2440 1170 57FF      		sbrs r21,7
2212
 2441 1172 00C0      		rjmp .L114
2213
 2442 1174 260F      		add r18,r22
2214
 2443 1176 371F      		adc r19,r23
2215
 2444 1178 481F      		adc r20,r24
2216
 2445 117a 591F      		adc r21,r25
2217
 2446 117c 2093 0000 		sts ErsatzKompass,r18
2218
 2447 1180 3093 0000 		sts (ErsatzKompass)+1,r19
2219
 2448 1184 4093 0000 		sts (ErsatzKompass)+2,r20
2220
 2449 1188 5093 0000 		sts (ErsatzKompass)+3,r21
2221
 2450               	.L114:
2222
 2451 118c 6091 0000 		lds r22,MesswertRoll
2223
 2452 1190 7091 0000 		lds r23,(MesswertRoll)+1
2224
 2453 1194 6E0D      		add r22,r14
2225
 2454 1196 7F1D      		adc r23,r15
2226
 2455 1198 9B01      		movw r18,r22
2227
 2456 119a 4427      		clr r20
2228
 2457 119c 37FD      		sbrc r19,7
2229
 2458 119e 4095      		com r20
2230
 2459 11a0 542F      		mov r21,r20
2231
 2460 11a2 8091 0000 		lds r24,Mess_IntegralRoll2
2232
 2461 11a6 9091 0000 		lds r25,(Mess_IntegralRoll2)+1
2233
 2462 11aa A091 0000 		lds r26,(Mess_IntegralRoll2)+2
2234
 2463 11ae B091 0000 		lds r27,(Mess_IntegralRoll2)+3
2235
 2464 11b2 820F      		add r24,r18
2236
 2465 11b4 931F      		adc r25,r19
2237
 2466 11b6 A41F      		adc r26,r20
2238
 2467 11b8 B51F      		adc r27,r21
2239
 2468 11ba 8093 0000 		sts Mess_IntegralRoll2,r24
2240
 2469 11be 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
2241
 2470 11c2 A093 0000 		sts (Mess_IntegralRoll2)+2,r26
2242
 2471 11c6 B093 0000 		sts (Mess_IntegralRoll2)+3,r27
2243
 2472 11ca 8091 0000 		lds r24,LageKorrekturRoll
2244
 2473 11ce 9091 0000 		lds r25,(LageKorrekturRoll)+1
2245
 2474 11d2 681B      		sub r22,r24
2246
 2475 11d4 790B      		sbc r23,r25
2247
 2476 11d6 CB01      		movw r24,r22
2248
 2477 11d8 AA27      		clr r26
2249
 2478 11da 97FD      		sbrc r25,7
2250
 2479 11dc A095      		com r26
2251
 2480 11de BA2F      		mov r27,r26
2252
 2481 11e0 2985      		ldd r18,Y+9
2253
 2482 11e2 3A85      		ldd r19,Y+10
2254
 2483 11e4 4B85      		ldd r20,Y+11
2255
 2484 11e6 5C85      		ldd r21,Y+12
2256
 2485 11e8 820F      		add r24,r18
2257
 2486 11ea 931F      		adc r25,r19
2258
 2487 11ec A41F      		adc r26,r20
2259
 2488 11ee B51F      		adc r27,r21
2260
 2489 11f0 8093 0000 		sts Mess_IntegralRoll,r24
2261
 2490 11f4 9093 0000 		sts (Mess_IntegralRoll)+1,r25
2262
 2491 11f8 A093 0000 		sts (Mess_IntegralRoll)+2,r26
2263
 2492 11fc B093 0000 		sts (Mess_IntegralRoll)+3,r27
2264
 2493 1200 C090 0000 		lds r12,Umschlag180Roll
2265
 2494 1204 D090 0000 		lds r13,(Umschlag180Roll)+1
2266
 2495 1208 E090 0000 		lds r14,(Umschlag180Roll)+2
2267
 2496 120c F090 0000 		lds r15,(Umschlag180Roll)+3
2268
 2497 1210 C816      		cp r12,r24
2269
 2498 1212 D906      		cpc r13,r25
2270
 2499 1214 EA06      		cpc r14,r26
2271
 2500 1216 FB06      		cpc r15,r27
2272
 2501 1218 04F4      		brge .L115
2273
 2502 121a 88EA      		ldi r24,lo8(25000)
2274
 2503 121c 91E6      		ldi r25,hi8(25000)
2275
 2504 121e A0E0      		ldi r26,hlo8(25000)
2276
 2505 1220 B0E0      		ldi r27,hhi8(25000)
2277
 2506 1222 8C19      		sub r24,r12
2278
 2507 1224 9D09      		sbc r25,r13
2279
 2508 1226 AE09      		sbc r26,r14
2280
 2509 1228 BF09      		sbc r27,r15
2281
 2510 122a 8093 0000 		sts Mess_IntegralRoll,r24
2282
 2511 122e 9093 0000 		sts (Mess_IntegralRoll)+1,r25
2283
 2512 1232 A093 0000 		sts (Mess_IntegralRoll)+2,r26
2284
 2513 1236 B093 0000 		sts (Mess_IntegralRoll)+3,r27
2285
 2514 123a 8093 0000 		sts Mess_IntegralRoll2,r24
2286
 2515 123e 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
2287
 2516 1242 A093 0000 		sts (Mess_IntegralRoll2)+2,r26
2288
 2517 1246 B093 0000 		sts (Mess_IntegralRoll2)+3,r27
2289
 2518               	.L115:
2290
 2519 124a 2227      		clr r18
2291
 2520 124c 3327      		clr r19
2292
 2521 124e A901      		movw r20,r18
2293
 2522 1250 2C19      		sub r18,r12
2294
 2523 1252 3D09      		sbc r19,r13
2295
 2524 1254 4E09      		sbc r20,r14
2296
 2525 1256 5F09      		sbc r21,r15
2297
 2526 1258 8091 0000 		lds r24,Mess_IntegralRoll
2298
 2527 125c 9091 0000 		lds r25,(Mess_IntegralRoll)+1
2299
 2528 1260 A091 0000 		lds r26,(Mess_IntegralRoll)+2
2300
 2529 1264 B091 0000 		lds r27,(Mess_IntegralRoll)+3
2301
 2530 1268 8217      		cp r24,r18
2302
 2531 126a 9307      		cpc r25,r19
2303
 2532 126c A407      		cpc r26,r20
2304
 2533 126e B507      		cpc r27,r21
2305
 2534 1270 04F4      		brge .L116
2306
 2535 1272 D701      		movw r26,r14
2307
 2536 1274 C601      		movw r24,r12
2308
 2537 1276 885A      		subi r24,lo8(-(-25000))
2309
 2538 1278 9146      		sbci r25,hi8(-(-25000))
2310
 2539 127a A040      		sbci r26,hlo8(-(-25000))
2311
 2540 127c B040      		sbci r27,hhi8(-(-25000))
2312
 2541 127e 8093 0000 		sts Mess_IntegralRoll,r24
2313
 2542 1282 9093 0000 		sts (Mess_IntegralRoll)+1,r25
2314
 2543 1286 A093 0000 		sts (Mess_IntegralRoll)+2,r26
2315
 2544 128a B093 0000 		sts (Mess_IntegralRoll)+3,r27
2316
 2545 128e 8093 0000 		sts Mess_IntegralRoll2,r24
2317
 2546 1292 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
2318
 2547 1296 A093 0000 		sts (Mess_IntegralRoll2)+2,r26
2319
 2548 129a B093 0000 		sts (Mess_IntegralRoll2)+3,r27
2320
 2549               	.L116:
2321
 2550 129e 6091 0000 		lds r22,MesswertNick
2322
 2551 12a2 7091 0000 		lds r23,(MesswertNick)+1
2323
 2552 12a6 600F      		add r22,r16
2324
 2553 12a8 711F      		adc r23,r17
2325
 2554 12aa 9B01      		movw r18,r22
2326
 2555 12ac 4427      		clr r20
2327
 2556 12ae 37FD      		sbrc r19,7
2328
 2557 12b0 4095      		com r20
2329
 2558 12b2 542F      		mov r21,r20
2330
 2559 12b4 8091 0000 		lds r24,Mess_IntegralNick2
2331
 2560 12b8 9091 0000 		lds r25,(Mess_IntegralNick2)+1
2332
 2561 12bc A091 0000 		lds r26,(Mess_IntegralNick2)+2
2333
 2562 12c0 B091 0000 		lds r27,(Mess_IntegralNick2)+3
2334
 2563 12c4 820F      		add r24,r18
2335
 2564 12c6 931F      		adc r25,r19
2336
 2565 12c8 A41F      		adc r26,r20
2337
 2566 12ca B51F      		adc r27,r21
2338
 2567 12cc 8093 0000 		sts Mess_IntegralNick2,r24
2339
 2568 12d0 9093 0000 		sts (Mess_IntegralNick2)+1,r25
2340
 2569 12d4 A093 0000 		sts (Mess_IntegralNick2)+2,r26
2341
 2570 12d8 B093 0000 		sts (Mess_IntegralNick2)+3,r27
2342
 2571 12dc 8091 0000 		lds r24,LageKorrekturNick
2343
 2572 12e0 9091 0000 		lds r25,(LageKorrekturNick)+1
2344
 2573 12e4 681B      		sub r22,r24
2345
 2574 12e6 790B      		sbc r23,r25
2346
 2575 12e8 CB01      		movw r24,r22
2347
 2576 12ea AA27      		clr r26
2348
 2577 12ec 97FD      		sbrc r25,7
2349
 2578 12ee A095      		com r26
2350
 2579 12f0 BA2F      		mov r27,r26
2351
 2580 12f2 2D85      		ldd r18,Y+13
2352
 2581 12f4 3E85      		ldd r19,Y+14
2353
 2582 12f6 4F85      		ldd r20,Y+15
2354
 2583 12f8 5889      		ldd r21,Y+16
2355
 2584 12fa 820F      		add r24,r18
2356
 2585 12fc 931F      		adc r25,r19
2357
 2586 12fe A41F      		adc r26,r20
2358
 2587 1300 B51F      		adc r27,r21
2359
 2588 1302 8093 0000 		sts Mess_IntegralNick,r24
2360
 2589 1306 9093 0000 		sts (Mess_IntegralNick)+1,r25
2361
 2590 130a A093 0000 		sts (Mess_IntegralNick)+2,r26
2362
 2591 130e B093 0000 		sts (Mess_IntegralNick)+3,r27
2363
 2592 1312 E090 0000 		lds r14,Umschlag180Nick
2364
 2593 1316 F090 0000 		lds r15,(Umschlag180Nick)+1
2365
 2594 131a 0091 0000 		lds r16,(Umschlag180Nick)+2
2366
 2595 131e 1091 0000 		lds r17,(Umschlag180Nick)+3
2367
 2596 1322 E816      		cp r14,r24
2368
 2597 1324 F906      		cpc r15,r25
2369
 2598 1326 0A07      		cpc r16,r26
2370
 2599 1328 1B07      		cpc r17,r27
2371
 2600 132a 04F4      		brge .L117
2372
 2601 132c 88EA      		ldi r24,lo8(25000)
2373
 2602 132e 91E6      		ldi r25,hi8(25000)
2374
 2603 1330 A0E0      		ldi r26,hlo8(25000)
2375
 2604 1332 B0E0      		ldi r27,hhi8(25000)
2376
 2605 1334 8E19      		sub r24,r14
2377
 2606 1336 9F09      		sbc r25,r15
2378
 2607 1338 A00B      		sbc r26,r16
2379
 2608 133a B10B      		sbc r27,r17
2380
 2609 133c 8093 0000 		sts Mess_IntegralNick,r24
2381
 2610 1340 9093 0000 		sts (Mess_IntegralNick)+1,r25
2382
 2611 1344 A093 0000 		sts (Mess_IntegralNick)+2,r26
2383
 2612 1348 B093 0000 		sts (Mess_IntegralNick)+3,r27
2384
 2613 134c 8093 0000 		sts Mess_IntegralNick2,r24
2385
 2614 1350 9093 0000 		sts (Mess_IntegralNick2)+1,r25
2386
 2615 1354 A093 0000 		sts (Mess_IntegralNick2)+2,r26
2387
 2616 1358 B093 0000 		sts (Mess_IntegralNick2)+3,r27
2388
 2617               	.L117:
2389
 2618 135c 2227      		clr r18
2390
 2619 135e 3327      		clr r19
2391
 2620 1360 A901      		movw r20,r18
2392
 2621 1362 2E19      		sub r18,r14
2393
 2622 1364 3F09      		sbc r19,r15
2394
 2623 1366 400B      		sbc r20,r16
2395
 2624 1368 510B      		sbc r21,r17
2396
 2625 136a 8091 0000 		lds r24,Mess_IntegralNick
2397
 2626 136e 9091 0000 		lds r25,(Mess_IntegralNick)+1
2398
 2627 1372 A091 0000 		lds r26,(Mess_IntegralNick)+2
2399
 2628 1376 B091 0000 		lds r27,(Mess_IntegralNick)+3
2400
 2629 137a 8217      		cp r24,r18
2401
 2630 137c 9307      		cpc r25,r19
2402
 2631 137e A407      		cpc r26,r20
2403
 2632 1380 B507      		cpc r27,r21
2404
 2633 1382 04F4      		brge .L118
2405
 2634 1384 D801      		movw r26,r16
2406
 2635 1386 C701      		movw r24,r14
2407
 2636 1388 885A      		subi r24,lo8(-(-25000))
2408
 2637 138a 9146      		sbci r25,hi8(-(-25000))
2409
 2638 138c A040      		sbci r26,hlo8(-(-25000))
2410
 2639 138e B040      		sbci r27,hhi8(-(-25000))
2411
 2640 1390 8093 0000 		sts Mess_IntegralNick,r24
2412
 2641 1394 9093 0000 		sts (Mess_IntegralNick)+1,r25
2413
 2642 1398 A093 0000 		sts (Mess_IntegralNick)+2,r26
2414
 2643 139c B093 0000 		sts (Mess_IntegralNick)+3,r27
2415
 2644 13a0 8093 0000 		sts Mess_IntegralNick2,r24
2416
 2645 13a4 9093 0000 		sts (Mess_IntegralNick2)+1,r25
2417
 2646 13a8 A093 0000 		sts (Mess_IntegralNick2)+2,r26
2418
 2647 13ac B093 0000 		sts (Mess_IntegralNick2)+3,r27
2419
 2648               	.L118:
2420
 2649 13b0 8091 0000 		lds r24,Mess_Integral_Gier
2421
 2650 13b4 9091 0000 		lds r25,(Mess_Integral_Gier)+1
2422
 2651 13b8 A091 0000 		lds r26,(Mess_Integral_Gier)+2
2423
 2652 13bc B091 0000 		lds r27,(Mess_Integral_Gier)+3
2424
 2653 13c0 8093 0000 		sts Integral_Gier,r24
2425
 2654 13c4 9093 0000 		sts (Integral_Gier)+1,r25
2426
 2655 13c8 A093 0000 		sts (Integral_Gier)+2,r26
2427
 2656 13cc B093 0000 		sts (Integral_Gier)+3,r27
2428
 2657 13d0 8091 0000 		lds r24,Mess_IntegralNick
2429
 2658 13d4 9091 0000 		lds r25,(Mess_IntegralNick)+1
2430
 2659 13d8 A091 0000 		lds r26,(Mess_IntegralNick)+2
2431
 2660 13dc B091 0000 		lds r27,(Mess_IntegralNick)+3
2432
 2661 13e0 8093 0000 		sts IntegralNick,r24
2433
 2662 13e4 9093 0000 		sts (IntegralNick)+1,r25
2434
 2663 13e8 A093 0000 		sts (IntegralNick)+2,r26
2435
 2664 13ec B093 0000 		sts (IntegralNick)+3,r27
2436
 2665 13f0 8091 0000 		lds r24,Mess_IntegralRoll
2437
 2666 13f4 9091 0000 		lds r25,(Mess_IntegralRoll)+1
2438
 2667 13f8 A091 0000 		lds r26,(Mess_IntegralRoll)+2
2439
 2668 13fc B091 0000 		lds r27,(Mess_IntegralRoll)+3
2440
 2669 1400 8093 0000 		sts IntegralRoll,r24
2441
 2670 1404 9093 0000 		sts (IntegralRoll)+1,r25
2442
 2671 1408 A093 0000 		sts (IntegralRoll)+2,r26
2443
 2672 140c B093 0000 		sts (IntegralRoll)+3,r27
2444
 2673 1410 8091 0000 		lds r24,Mess_IntegralNick2
2445
 2674 1414 9091 0000 		lds r25,(Mess_IntegralNick2)+1
2446
 2675 1418 A091 0000 		lds r26,(Mess_IntegralNick2)+2
2447
 2676 141c B091 0000 		lds r27,(Mess_IntegralNick2)+3
2448
 2677 1420 8093 0000 		sts IntegralNick2,r24
2449
 2678 1424 9093 0000 		sts (IntegralNick2)+1,r25
2450
 2679 1428 A093 0000 		sts (IntegralNick2)+2,r26
2451
 2680 142c B093 0000 		sts (IntegralNick2)+3,r27
2452
 2681 1430 8091 0000 		lds r24,Mess_IntegralRoll2
2453
 2682 1434 9091 0000 		lds r25,(Mess_IntegralRoll2)+1
2454
 2683 1438 A091 0000 		lds r26,(Mess_IntegralRoll2)+2
2455
 2684 143c B091 0000 		lds r27,(Mess_IntegralRoll2)+3
2456
 2685 1440 8093 0000 		sts IntegralRoll2,r24
2457
 2686 1444 9093 0000 		sts (IntegralRoll2)+1,r25
2458
 2687 1448 A093 0000 		sts (IntegralRoll2)+2,r26
2459
 2688 144c B093 0000 		sts (IntegralRoll2)+3,r27
2460
 2689 1450 8091 0000 		lds r24,HiResNick
2461
 2690 1454 9091 0000 		lds r25,(HiResNick)+1
2462
 2691 1458 97FD      		sbrc r25,7
2463
 2692 145a 0796      		adiw r24,7
2464
 2693               	.L119:
2465
 2694 145c 03E0      		ldi r16,3
2466
 2695 145e 9595      	1:	asr r25
2467
 2696 1460 8795      		ror r24
2468
 2697 1462 0A95      		dec r16
2469
 2698 1464 01F4      		brne 1b
2470
 2699 1466 9093 0000 		sts (MesswertNick)+1,r25
2471
 2700 146a 8093 0000 		sts MesswertNick,r24
2472
 2701 146e 8091 0000 		lds r24,HiResRoll
2473
 2702 1472 9091 0000 		lds r25,(HiResRoll)+1
2474
 2703 1476 97FD      		sbrc r25,7
2475
 2704 1478 0796      		adiw r24,7
2476
 2705               	.L120:
2477
 2706 147a 13E0      		ldi r17,3
2478
 2707 147c 9595      	1:	asr r25
2479
 2708 147e 8795      		ror r24
2480
 2709 1480 1A95      		dec r17
2481
 2710 1482 01F4      		brne 1b
2482
 2711 1484 9093 0000 		sts (MesswertRoll)+1,r25
2483
 2712 1488 8093 0000 		sts MesswertRoll,r24
2484
 2713 148c 8091 0000 		lds r24,AdWertNick
2485
 2714 1490 9091 0000 		lds r25,(AdWertNick)+1
2486
 2715 1494 0F97      		sbiw r24,15
2487
 2716 1496 04F4      		brge .L121
2488
 2717 1498 88E1      		ldi r24,lo8(-1000)
2489
 2718 149a 9CEF      		ldi r25,hi8(-1000)
2490
 2719 149c 9093 0000 		sts (MesswertNick)+1,r25
2491
 2720 14a0 8093 0000 		sts MesswertNick,r24
2492
 2721               	.L121:
2493
 2722 14a4 8091 0000 		lds r24,AdWertNick
2494
 2723 14a8 9091 0000 		lds r25,(AdWertNick)+1
2495
 2724 14ac 0797      		sbiw r24,7
2496
 2725 14ae 04F4      		brge .L122
2497
 2726 14b0 80E3      		ldi r24,lo8(-2000)
2498
 2727 14b2 98EF      		ldi r25,hi8(-2000)
2499
 2728 14b4 9093 0000 		sts (MesswertNick)+1,r25
2500
 2729 14b8 8093 0000 		sts MesswertNick,r24
2501
 2730               	.L122:
2502
 2731 14bc 2091 0000 		lds r18,PlatinenVersion
2503
 2732 14c0 2A30      		cpi r18,lo8(10)
2504
 2733 14c2 01F4      		brne .L123
2505
 2734 14c4 8091 0000 		lds r24,AdWertNick
2506
 2735 14c8 9091 0000 		lds r25,(AdWertNick)+1
2507
 2736 14cc 835F      		subi r24,lo8(1011)
2508
 2737 14ce 9340      		sbci r25,hi8(1011)
2509
 2738 14d0 04F0      		brlt .L124
2510
 2739 14d2 88EE      		ldi r24,lo8(1000)
2511
 2740 14d4 93E0      		ldi r25,hi8(1000)
2512
 2741 14d6 9093 0000 		sts (MesswertNick)+1,r25
2513
 2742 14da 8093 0000 		sts MesswertNick,r24
2514
 2743               	.L124:
2515
 2744 14de 8091 0000 		lds r24,AdWertNick
2516
 2745 14e2 9091 0000 		lds r25,(AdWertNick)+1
2517
 2746 14e6 8A5F      		subi r24,lo8(1018)
2518
 2747 14e8 9340      		sbci r25,hi8(1018)
2519
 2748 14ea 04F0      		brlt .L126
2520
 2749 14ec 00C0      		rjmp .L169
2521
 2750               	.L123:
2522
 2751 14ee 8091 0000 		lds r24,AdWertNick
2523
 2752 14f2 9091 0000 		lds r25,(AdWertNick)+1
2524
 2753 14f6 815D      		subi r24,lo8(2001)
2525
 2754 14f8 9740      		sbci r25,hi8(2001)
2526
 2755 14fa 04F0      		brlt .L127
2527
 2756 14fc 88EE      		ldi r24,lo8(1000)
2528
 2757 14fe 93E0      		ldi r25,hi8(1000)
2529
 2758 1500 9093 0000 		sts (MesswertNick)+1,r25
2530
 2759 1504 8093 0000 		sts MesswertNick,r24
2531
 2760               	.L127:
2532
 2761 1508 8091 0000 		lds r24,AdWertNick
2533
 2762 150c 9091 0000 		lds r25,(AdWertNick)+1
2534
 2763 1510 805E      		subi r24,lo8(2016)
2535
 2764 1512 9740      		sbci r25,hi8(2016)
2536
 2765 1514 04F0      		brlt .L126
2537
 2766               	.L169:
2538
 2767 1516 80ED      		ldi r24,lo8(2000)
2539
 2768 1518 97E0      		ldi r25,hi8(2000)
2540
 2769 151a 9093 0000 		sts (MesswertNick)+1,r25
2541
 2770 151e 8093 0000 		sts MesswertNick,r24
2542
 2771               	.L126:
2543
 2772 1522 8091 0000 		lds r24,AdWertRoll
2544
 2773 1526 9091 0000 		lds r25,(AdWertRoll)+1
2545
 2774 152a 0F97      		sbiw r24,15
2546
 2775 152c 04F4      		brge .L129
2547
 2776 152e 88E1      		ldi r24,lo8(-1000)
2548
 2777 1530 9CEF      		ldi r25,hi8(-1000)
2549
 2778 1532 9093 0000 		sts (MesswertRoll)+1,r25
2550
 2779 1536 8093 0000 		sts MesswertRoll,r24
2551
 2780               	.L129:
2552
 2781 153a 8091 0000 		lds r24,AdWertRoll
2553
 2782 153e 9091 0000 		lds r25,(AdWertRoll)+1
2554
 2783 1542 0797      		sbiw r24,7
2555
 2784 1544 04F4      		brge .L130
2556
 2785 1546 80E3      		ldi r24,lo8(-2000)
2557
 2786 1548 98EF      		ldi r25,hi8(-2000)
2558
 2787 154a 9093 0000 		sts (MesswertRoll)+1,r25
2559
 2788 154e 8093 0000 		sts MesswertRoll,r24
2560
 2789               	.L130:
2561
 2790 1552 2A30      		cpi r18,lo8(10)
2562
 2791 1554 01F4      		brne .L131
2563
 2792 1556 8091 0000 		lds r24,AdWertRoll
2564
 2793 155a 9091 0000 		lds r25,(AdWertRoll)+1
2565
 2794 155e 835F      		subi r24,lo8(1011)
2566
 2795 1560 9340      		sbci r25,hi8(1011)
2567
 2796 1562 04F0      		brlt .L132
2568
 2797 1564 88EE      		ldi r24,lo8(1000)
2569
 2798 1566 93E0      		ldi r25,hi8(1000)
2570
 2799 1568 9093 0000 		sts (MesswertRoll)+1,r25
2571
 2800 156c 8093 0000 		sts MesswertRoll,r24
2572
 2801               	.L132:
2573
 2802 1570 8091 0000 		lds r24,AdWertRoll
2574
 2803 1574 9091 0000 		lds r25,(AdWertRoll)+1
2575
 2804 1578 8A5F      		subi r24,lo8(1018)
2576
 2805 157a 9340      		sbci r25,hi8(1018)
2577
 2806 157c 04F0      		brlt .L134
2578
 2807 157e 00C0      		rjmp .L170
2579
 2808               	.L131:
2580
 2809 1580 8091 0000 		lds r24,AdWertRoll
2581
 2810 1584 9091 0000 		lds r25,(AdWertRoll)+1
2582
 2811 1588 815D      		subi r24,lo8(2001)
2583
 2812 158a 9740      		sbci r25,hi8(2001)
2584
 2813 158c 04F0      		brlt .L135
2585
 2814 158e 88EE      		ldi r24,lo8(1000)
2586
 2815 1590 93E0      		ldi r25,hi8(1000)
2587
 2816 1592 9093 0000 		sts (MesswertRoll)+1,r25
2588
 2817 1596 8093 0000 		sts MesswertRoll,r24
2589
 2818               	.L135:
2590
 2819 159a 8091 0000 		lds r24,AdWertRoll
2591
 2820 159e 9091 0000 		lds r25,(AdWertRoll)+1
2592
 2821 15a2 805E      		subi r24,lo8(2016)
2593
 2822 15a4 9740      		sbci r25,hi8(2016)
2594
 2823 15a6 04F0      		brlt .L134
2595
 2824               	.L170:
2596
 2825 15a8 80ED      		ldi r24,lo8(2000)
2597
 2826 15aa 97E0      		ldi r25,hi8(2000)
2598
 2827 15ac 9093 0000 		sts (MesswertRoll)+1,r25
2599
 2828 15b0 8093 0000 		sts MesswertRoll,r24
2600
 2829               	.L134:
2601
 2830 15b4 6091 0000 		lds r22,Parameter_Gyro_D
2602
 2831 15b8 6623      		tst r22
2603
 2832 15ba 01F4      		brne .+2
2604
 2833 15bc 00C0      		rjmp .L137
2605
 2834 15be 4091 0000 		lds r20,HiResNick
2606
 2835 15c2 5091 0000 		lds r21,(HiResNick)+1
2607
 2836 15c6 8091 0000 		lds r24,oldNick.31
2608
 2837 15ca 9091 0000 		lds r25,(oldNick.31)+1
2609
 2838 15ce 481B      		sub r20,r24
2610
 2839 15d0 590B      		sbc r21,r25
2611
 2840 15d2 5093 0000 		sts (d2Nick.34)+1,r21
2612
 2841 15d6 4093 0000 		sts d2Nick.34,r20
2613
 2842 15da 2091 0000 		lds r18,HiResNick
2614
 2843 15de 3091 0000 		lds r19,(HiResNick)+1
2615
 2844 15e2 280F      		add r18,r24
2616
 2845 15e4 391F      		adc r19,r25
2617
 2846 15e6 37FF      		sbrs r19,7
2618
 2847 15e8 00C0      		rjmp .L138
2619
 2848 15ea 2F5F      		subi r18,lo8(-(1))
2620
 2849 15ec 3F4F      		sbci r19,hi8(-(1))
2621
 2850               	.L138:
2622
 2851 15ee 3595      		asr r19
2623
 2852 15f0 2795      		ror r18
2624
 2853 15f2 3093 0000 		sts (oldNick.31)+1,r19
2625
 2854 15f6 2093 0000 		sts oldNick.31,r18
2626
 2855 15fa 4138      		cpi r20,129
2627
 2856 15fc 5105      		cpc r21,__zero_reg__
2628
 2857 15fe 04F0      		brlt .L139
2629
 2858 1600 80E8      		ldi r24,lo8(128)
2630
 2859 1602 90E0      		ldi r25,hi8(128)
2631
 2860 1604 00C0      		rjmp .L171
2632
 2861               	.L139:
2633
 2862 1606 4058      		subi r20,lo8(-128)
2634
 2863 1608 5F4F      		sbci r21,hi8(-128)
2635
 2864 160a 04F4      		brge .L140
2636
 2865 160c 80E8      		ldi r24,lo8(-128)
2637
 2866 160e 9FEF      		ldi r25,hi8(-128)
2638
 2867               	.L171:
2639
 2868 1610 9093 0000 		sts (d2Nick.34)+1,r25
2640
 2869 1614 8093 0000 		sts d2Nick.34,r24
2641
 2870               	.L140:
2642
 2871 1618 4091 0000 		lds r20,HiResRoll
2643
 2872 161c 5091 0000 		lds r21,(HiResRoll)+1
2644
 2873 1620 8091 0000 		lds r24,oldRoll.32
2645
 2874 1624 9091 0000 		lds r25,(oldRoll.32)+1
2646
 2875 1628 481B      		sub r20,r24
2647
 2876 162a 590B      		sbc r21,r25
2648
 2877 162c 5093 0000 		sts (d2Roll.33)+1,r21
2649
 2878 1630 4093 0000 		sts d2Roll.33,r20
2650
 2879 1634 2091 0000 		lds r18,HiResRoll
2651
 2880 1638 3091 0000 		lds r19,(HiResRoll)+1
2652
 2881 163c 280F      		add r18,r24
2653
 2882 163e 391F      		adc r19,r25
2654
 2883 1640 37FF      		sbrs r19,7
2655
 2884 1642 00C0      		rjmp .L142
2656
 2885 1644 2F5F      		subi r18,lo8(-(1))
2657
 2886 1646 3F4F      		sbci r19,hi8(-(1))
2658
 2887               	.L142:
2659
 2888 1648 3595      		asr r19
2660
 2889 164a 2795      		ror r18
2661
 2890 164c 3093 0000 		sts (oldRoll.32)+1,r19
2662
 2891 1650 2093 0000 		sts oldRoll.32,r18
2663
 2892 1654 4138      		cpi r20,129
2664
 2893 1656 5105      		cpc r21,__zero_reg__
2665
 2894 1658 04F0      		brlt .L143
2666
 2895 165a 80E8      		ldi r24,lo8(128)
2667
 2896 165c 90E0      		ldi r25,hi8(128)
2668
 2897 165e 00C0      		rjmp .L172
2669
 2898               	.L143:
2670
 2899 1660 4058      		subi r20,lo8(-128)
2671
 2900 1662 5F4F      		sbci r21,hi8(-128)
2672
 2901 1664 04F4      		brge .L144
2673
 2902 1666 80E8      		ldi r24,lo8(-128)
2674
 2903 1668 9FEF      		ldi r25,hi8(-128)
2675
 2904               	.L172:
2676
 2905 166a 9093 0000 		sts (d2Roll.33)+1,r25
2677
 2906 166e 8093 0000 		sts d2Roll.33,r24
2678
 2907               	.L144:
2679
 2908 1672 462F      		mov r20,r22
2680
 2909 1674 5527      		clr r21
2681
 2910 1676 8091 0000 		lds r24,d2Nick.34
2682
 2911 167a 9091 0000 		lds r25,(d2Nick.34)+1
2683
 2912 167e 849F      		mul r24,r20
2684
 2913 1680 B001      		movw r22,r0
2685
 2914 1682 859F      		mul r24,r21
2686
 2915 1684 700D      		add r23,r0
2687
 2916 1686 949F      		mul r25,r20
2688
 2917 1688 700D      		add r23,r0
2689
 2918 168a 1124      		clr r1
2690
 2919 168c 9B01      		movw r18,r22
2691
 2920 168e 77FF      		sbrs r23,7
2692
 2921 1690 00C0      		rjmp .L146
2693
 2922 1692 215F      		subi r18,lo8(-(15))
2694
 2923 1694 3F4F      		sbci r19,hi8(-(15))
2695
 2924               	.L146:
2696
 2925 1696 F4E0      		ldi r31,4
2697
 2926 1698 3595      	1:	asr r19
2698
 2927 169a 2795      		ror r18
2699
 2928 169c FA95      		dec r31
2700
 2929 169e 01F4      		brne 1b
2701
 2930 16a0 8091 0000 		lds r24,MesswertNick
2702
 2931 16a4 9091 0000 		lds r25,(MesswertNick)+1
2703
 2932 16a8 820F      		add r24,r18
2704
 2933 16aa 931F      		adc r25,r19
2705
 2934 16ac 9093 0000 		sts (MesswertNick)+1,r25
2706
 2935 16b0 8093 0000 		sts MesswertNick,r24
2707
 2936 16b4 8091 0000 		lds r24,d2Roll.33
2708
 2937 16b8 9091 0000 		lds r25,(d2Roll.33)+1
2709
 2938 16bc 849F      		mul r24,r20
2710
 2939 16be D001      		movw r26,r0
2711
 2940 16c0 859F      		mul r24,r21
2712
 2941 16c2 B00D      		add r27,r0
2713
 2942 16c4 949F      		mul r25,r20
2714
 2943 16c6 B00D      		add r27,r0
2715
 2944 16c8 1124      		clr r1
2716
 2945 16ca AD01      		movw r20,r26
2717
 2946 16cc 9D01      		movw r18,r26
2718
 2947 16ce B7FF      		sbrs r27,7
2719
 2948 16d0 00C0      		rjmp .L147
2720
 2949 16d2 215F      		subi r18,lo8(-(15))
2721
 2950 16d4 3F4F      		sbci r19,hi8(-(15))
2722
 2951               	.L147:
2723
 2952 16d6 E4E0      		ldi r30,4
2724
 2953 16d8 3595      	1:	asr r19
2725
 2954 16da 2795      		ror r18
2726
 2955 16dc EA95      		dec r30
2727
 2956 16de 01F4      		brne 1b
2728
 2957 16e0 8091 0000 		lds r24,MesswertRoll
2729
 2958 16e4 9091 0000 		lds r25,(MesswertRoll)+1
2730
 2959 16e8 820F      		add r24,r18
2731
 2960 16ea 931F      		adc r25,r19
2732
 2961 16ec 9093 0000 		sts (MesswertRoll)+1,r25
2733
 2962 16f0 8093 0000 		sts MesswertRoll,r24
2734
 2963 16f4 8091 0000 		lds r24,HiResNick
2735
 2964 16f8 9091 0000 		lds r25,(HiResNick)+1
2736
 2965 16fc 860F      		add r24,r22
2737
 2966 16fe 971F      		adc r25,r23
2738
 2967 1700 9093 0000 		sts (HiResNick)+1,r25
2739
 2968 1704 8093 0000 		sts HiResNick,r24
2740
 2969 1708 8091 0000 		lds r24,HiResRoll
2741
 2970 170c 9091 0000 		lds r25,(HiResRoll)+1
2742
 2971 1710 840F      		add r24,r20
2743
 2972 1712 951F      		adc r25,r21
2744
 2973 1714 9093 0000 		sts (HiResRoll)+1,r25
2745
 2974 1718 8093 0000 		sts HiResRoll,r24
2746
 2975               	.L137:
2747
 2976 171c 0091 0000 		lds r16,RohMesswertRoll
2748
 2977 1720 1091 0000 		lds r17,(RohMesswertRoll)+1
2749
 2978 1724 8091 0000 		lds r24,KopplungsteilNickRoll
2750
 2979 1728 9091 0000 		lds r25,(KopplungsteilNickRoll)+1
2751
 2980 172c 1016      		cp __zero_reg__,r16
2752
 2981 172e 1106      		cpc __zero_reg__,r17
2753
 2982 1730 04F4      		brge .L148
2754
 2983 1732 9C01      		movw r18,r24
2755
 2984 1734 97FF      		sbrs r25,7
2756
 2985 1736 00C0      		rjmp .L149
2757
 2986 1738 2227      		clr r18
2758
 2987 173a 3327      		clr r19
2759
 2988 173c 281B      		sub r18,r24
2760
 2989 173e 390B      		sbc r19,r25
2761
 2990               	.L149:
2762
 2991 1740 C901      		movw r24,r18
2763
 2992 1742 AA27      		clr r26
2764
 2993 1744 97FD      		sbrc r25,7
2765
 2994 1746 A095      		com r26
2766
 2995 1748 BA2F      		mov r27,r26
2767
 2996 174a 2091 0000 		lds r18,Parameter_CouplingYawCorrection
2768
 2997 174e 3327      		clr r19
2769
 2998 1750 4427      		clr r20
2770
 2999 1752 5527      		clr r21
2771
 3000 1754 BC01      		movw r22,r24
2772
 3001 1756 CD01      		movw r24,r26
2773
 3002 1758 0E94 0000 		call __mulsi3
2774
 3003 175c 9B01      		movw r18,r22
2775
 3004 175e AC01      		movw r20,r24
2776
 3005 1760 97FF      		sbrs r25,7
2777
 3006 1762 00C0      		rjmp .L150
2778
 3007 1764 215C      		subi r18,lo8(-(63))
2779
 3008 1766 3F4F      		sbci r19,hi8(-(63))
2780
 3009 1768 4F4F      		sbci r20,hlo8(-(63))
2781
 3010 176a 5F4F      		sbci r21,hhi8(-(63))
2782
 3011               	.L150:
2783
 3012 176c 76E0      		ldi r23,6
2784
 3013 176e 5595      	1:	asr r21
2785
 3014 1770 4795      		ror r20
2786
 3015 1772 3795      		ror r19
2787
 3016 1774 2795      		ror r18
2788
 3017 1776 7A95      		dec r23
2789
 3018 1778 01F4      		brne 1b
2790
 3019 177a 8091 0000 		lds r24,TrimRoll
2791
 3020 177e 9091 0000 		lds r25,(TrimRoll)+1
2792
 3021 1782 820F      		add r24,r18
2793
 3022 1784 931F      		adc r25,r19
2794
 3023 1786 00C0      		rjmp .L173
2795
 3024               	.L148:
2796
 3025 1788 97FF      		sbrs r25,7
2797
 3026 178a 00C0      		rjmp .L152
2798
 3027 178c 9095      		com r25
2799
 3028 178e 8195      		neg r24
2800
 3029 1790 9F4F      		sbci r25,lo8(-1)
2801
 3030               	.L152:
2802
 3031 1792 AA27      		clr r26
2803
 3032 1794 97FD      		sbrc r25,7
2804
 3033 1796 A095      		com r26
2805
 3034 1798 BA2F      		mov r27,r26
2806
 3035 179a 2091 0000 		lds r18,Parameter_CouplingYawCorrection
2807
 3036 179e 3327      		clr r19
2808
 3037 17a0 4427      		clr r20
2809
 3038 17a2 5527      		clr r21
2810
 3039 17a4 BC01      		movw r22,r24
2811
 3040 17a6 CD01      		movw r24,r26
2812
 3041 17a8 0E94 0000 		call __mulsi3
2813
 3042 17ac 9B01      		movw r18,r22
2814
 3043 17ae AC01      		movw r20,r24
2815
 3044 17b0 97FF      		sbrs r25,7
2816
 3045 17b2 00C0      		rjmp .L153
2817
 3046 17b4 215C      		subi r18,lo8(-(63))
2818
 3047 17b6 3F4F      		sbci r19,hi8(-(63))
2819
 3048 17b8 4F4F      		sbci r20,hlo8(-(63))
2820
 3049 17ba 5F4F      		sbci r21,hhi8(-(63))
2821
 3050               	.L153:
2822
 3051 17bc 66E0      		ldi r22,6
2823
 3052 17be 5595      	1:	asr r21
2824
 3053 17c0 4795      		ror r20
2825
 3054 17c2 3795      		ror r19
2826
 3055 17c4 2795      		ror r18
2827
 3056 17c6 6A95      		dec r22
2828
 3057 17c8 01F4      		brne 1b
2829
 3058 17ca 8091 0000 		lds r24,TrimRoll
2830
 3059 17ce 9091 0000 		lds r25,(TrimRoll)+1
2831
 3060 17d2 821B      		sub r24,r18
2832
 3061 17d4 930B      		sbc r25,r19
2833
 3062               	.L173:
2834
 3063 17d6 9093 0000 		sts (TrimRoll)+1,r25
2835
 3064 17da 8093 0000 		sts TrimRoll,r24
2836
 3065 17de E090 0000 		lds r14,RohMesswertNick
2837
 3066 17e2 F090 0000 		lds r15,(RohMesswertNick)+1
2838
 3067 17e6 8091 0000 		lds r24,KopplungsteilRollNick
2839
 3068 17ea 9091 0000 		lds r25,(KopplungsteilRollNick)+1
2840
 3069 17ee 1E14      		cp __zero_reg__,r14
2841
 3070 17f0 1F04      		cpc __zero_reg__,r15
2842
 3071 17f2 04F4      		brge .L154
2843
 3072 17f4 9C01      		movw r18,r24
2844
 3073 17f6 97FF      		sbrs r25,7
2845
 3074 17f8 00C0      		rjmp .L155
2846
 3075 17fa 2227      		clr r18
2847
 3076 17fc 3327      		clr r19
2848
 3077 17fe 281B      		sub r18,r24
2849
 3078 1800 390B      		sbc r19,r25
2850
 3079               	.L155:
2851
 3080 1802 C901      		movw r24,r18
2852
 3081 1804 AA27      		clr r26
2853
 3082 1806 97FD      		sbrc r25,7
2854
 3083 1808 A095      		com r26
2855
 3084 180a BA2F      		mov r27,r26
2856
 3085 180c 2091 0000 		lds r18,Parameter_CouplingYawCorrection
2857
 3086 1810 3327      		clr r19
2858
 3087 1812 4427      		clr r20
2859
 3088 1814 5527      		clr r21
2860
 3089 1816 BC01      		movw r22,r24
2861
 3090 1818 CD01      		movw r24,r26
2862
 3091 181a 0E94 0000 		call __mulsi3
2863
 3092 181e 9B01      		movw r18,r22
2864
 3093 1820 AC01      		movw r20,r24
2865
 3094 1822 97FF      		sbrs r25,7
2866
 3095 1824 00C0      		rjmp .L156
2867
 3096 1826 215C      		subi r18,lo8(-(63))
2868
 3097 1828 3F4F      		sbci r19,hi8(-(63))
2869
 3098 182a 4F4F      		sbci r20,hlo8(-(63))
2870
 3099 182c 5F4F      		sbci r21,hhi8(-(63))
2871
 3100               	.L156:
2872
 3101 182e 96E0      		ldi r25,6
2873
 3102 1830 5595      	1:	asr r21
2874
 3103 1832 4795      		ror r20
2875
 3104 1834 3795      		ror r19
2876
 3105 1836 2795      		ror r18
2877
 3106 1838 9A95      		dec r25
2878
 3107 183a 01F4      		brne 1b
2879
 3108 183c 8091 0000 		lds r24,TrimNick
2880
 3109 1840 9091 0000 		lds r25,(TrimNick)+1
2881
 3110 1844 820F      		add r24,r18
2882
 3111 1846 931F      		adc r25,r19
2883
 3112 1848 00C0      		rjmp .L174
2884
 3113               	.L154:
2885
 3114 184a 97FF      		sbrs r25,7
2886
 3115 184c 00C0      		rjmp .L158
2887
 3116 184e 9095      		com r25
2888
 3117 1850 8195      		neg r24
2889
 3118 1852 9F4F      		sbci r25,lo8(-1)
2890
 3119               	.L158:
2891
 3120 1854 AA27      		clr r26
2892
 3121 1856 97FD      		sbrc r25,7
2893
 3122 1858 A095      		com r26
2894
 3123 185a BA2F      		mov r27,r26
2895
 3124 185c 2091 0000 		lds r18,Parameter_CouplingYawCorrection
2896
 3125 1860 3327      		clr r19
2897
 3126 1862 4427      		clr r20
2898
 3127 1864 5527      		clr r21
2899
 3128 1866 BC01      		movw r22,r24
2900
 3129 1868 CD01      		movw r24,r26
2901
 3130 186a 0E94 0000 		call __mulsi3
2902
 3131 186e 9B01      		movw r18,r22
2903
 3132 1870 AC01      		movw r20,r24
2904
 3133 1872 97FF      		sbrs r25,7
2905
 3134 1874 00C0      		rjmp .L159
2906
 3135 1876 215C      		subi r18,lo8(-(63))
2907
 3136 1878 3F4F      		sbci r19,hi8(-(63))
2908
 3137 187a 4F4F      		sbci r20,hlo8(-(63))
2909
 3138 187c 5F4F      		sbci r21,hhi8(-(63))
2910
 3139               	.L159:
2911
 3140 187e 86E0      		ldi r24,6
2912
 3141 1880 5595      	1:	asr r21
2913
 3142 1882 4795      		ror r20
2914
 3143 1884 3795      		ror r19
2915
 3144 1886 2795      		ror r18
2916
 3145 1888 8A95      		dec r24
2917
 3146 188a 01F4      		brne 1b
2918
 3147 188c 8091 0000 		lds r24,TrimNick
2919
 3148 1890 9091 0000 		lds r25,(TrimNick)+1
2920
 3149 1894 821B      		sub r24,r18
2921
 3150 1896 930B      		sbc r25,r19
2922
 3151               	.L174:
2923
 3152 1898 9093 0000 		sts (TrimNick)+1,r25
2924
 3153 189c 8093 0000 		sts TrimNick,r24
2925
 3154 18a0 8091 0000 		lds r24,Parameter_GlobalConfig
2926
 3155 18a4 87FF      		sbrs r24,7
2927
 3156 18a6 00C0      		rjmp .L82
2928
 3157 18a8 B989      		ldd r27,Y+17
2929
 3158 18aa BB23      		tst r27
2930
 3159 18ac 01F0      		breq .+2
2931
 3160 18ae 00C0      		rjmp .L82
2932
 3161 18b0 8091 0000 		lds r24,Looping_Roll
2933
 3162 18b4 8823      		tst r24
2934
 3163 18b6 01F4      		brne .L82
2935
 3164 18b8 E1E0      		ldi r30,lo8(257)
2936
 3165 18ba EE16      		cp r14,r30
2937
 3166 18bc E1E0      		ldi r30,hi8(257)
2938
 3167 18be FE06      		cpc r15,r30
2939
 3168 18c0 04F0      		brlt .L161
2940
 3169 18c2 8091 0000 		lds r24,MesswertNick
2941
 3170 18c6 9091 0000 		lds r25,(MesswertNick)+1
2942
 3171 18ca 8E0D      		add r24,r14
2943
 3172 18cc 9F1D      		adc r25,r15
2944
 3173 18ce 8050      		subi r24,lo8(-(-256))
2945
 3174 18d0 9140      		sbci r25,hi8(-(-256))
2946
 3175 18d2 00C0      		rjmp .L175
2947
 3176               	.L161:
2948
 3177 18d4 F0E0      		ldi r31,lo8(-256)
2949
 3178 18d6 EF16      		cp r14,r31
2950
 3179 18d8 FFEF      		ldi r31,hi8(-256)
2951
 3180 18da FF06      		cpc r15,r31
2952
 3181 18dc 04F4      		brge .L162
2953
 3182 18de 8091 0000 		lds r24,MesswertNick
2954
 3183 18e2 9091 0000 		lds r25,(MesswertNick)+1
2955
 3184 18e6 8E0D      		add r24,r14
2956
 3185 18e8 9F1D      		adc r25,r15
2957
 3186 18ea 8050      		subi r24,lo8(-(256))
2958
 3187 18ec 9F4F      		sbci r25,hi8(-(256))
2959
 3188               	.L175:
2960
 3189 18ee 9093 0000 		sts (MesswertNick)+1,r25
2961
 3190 18f2 8093 0000 		sts MesswertNick,r24
2962
 3191               	.L162:
2963
 3192 18f6 21E0      		ldi r18,hi8(257)
2964
 3193 18f8 0130      		cpi r16,lo8(257)
2965
 3194 18fa 1207      		cpc r17,r18
2966
 3195 18fc 04F0      		brlt .L164
2967
 3196 18fe 8091 0000 		lds r24,MesswertRoll
2968
 3197 1902 9091 0000 		lds r25,(MesswertRoll)+1
2969
 3198 1906 800F      		add r24,r16
2970
 3199 1908 911F      		adc r25,r17
2971
 3200 190a 8050      		subi r24,lo8(-(-256))
2972
 3201 190c 9140      		sbci r25,hi8(-(-256))
2973
 3202 190e 00C0      		rjmp .L176
2974
 3203               	.L164:
2975
 3204 1910 3FEF      		ldi r19,hi8(-256)
2976
 3205 1912 0030      		cpi r16,lo8(-256)
2977
 3206 1914 1307      		cpc r17,r19
2978
 3207 1916 04F4      		brge .L82
2979
 3208 1918 8091 0000 		lds r24,MesswertRoll
2980
 3209 191c 9091 0000 		lds r25,(MesswertRoll)+1
2981
 3210 1920 800F      		add r24,r16
2982
 3211 1922 911F      		adc r25,r17
2983
 3212 1924 8050      		subi r24,lo8(-(256))
2984
 3213 1926 9F4F      		sbci r25,hi8(-(256))
2985
 3214               	.L176:
2986
 3215 1928 9093 0000 		sts (MesswertRoll)+1,r25
2987
 3216 192c 8093 0000 		sts MesswertRoll,r24
2988
 3217               	.L82:
2989
 3218               	/* epilogue: frame size=19 */
2990
 3219 1930 E2E1      		ldi r30,18
2991
 3220 1932 CD5E      		subi r28,-19
2992
 3221 1934 0C94 0000 		jmp __epilogue_restores__+0
2993
 3222               	/* epilogue end (size=4) */
2994
 3223               	/* function Mittelwert size 2000 (1990) */
2995
 3225               	.global	SendMotorData
2996
 3227               	SendMotorData:
2997
 3228               	/* prologue: frame size=0 */
2998
 3229               	/* prologue end (size=0) */
2999
 3230 1938 8091 0000 		lds r24,MotorenEin
3000
 3231 193c 8823      		tst r24
3001
 3232 193e 01F4      		brne .L178
3002
 3233 1940 8091 0000 		lds r24,FC_StatusFlags
3003
 3234 1944 8C7F      		andi r24,lo8(-4)
3004
 3235 1946 8093 0000 		sts FC_StatusFlags,r24
3005
 3236 194a A0E0      		ldi r26,lo8(MotorTest)
3006
 3237 194c B0E0      		ldi r27,hi8(MotorTest)
3007
 3238 194e E0E0      		ldi r30,lo8(Motor)
3008
 3239 1950 F0E0      		ldi r31,hi8(Motor)
3009
 3240 1952 9BE0      		ldi r25,lo8(11)
3010
 3241               	.L183:
3011
 3242 1954 8091 0000 		lds r24,PC_MotortestActive
3012
 3243 1958 8823      		tst r24
3013
 3244 195a 01F4      		brne .L182
3014
 3245 195c 8C93      		st X,r24
3015
 3246               	.L182:
3016
 3247 195e 8D91      		ld r24,X+
3017
 3248 1960 8183      		std Z+1,r24
3018
 3249 1962 1282      		std Z+2,__zero_reg__
3019
 3250 1964 9150      		subi r25,lo8(-(-1))
3020
 3251 1966 3896      		adiw r30,8
3021
 3252 1968 97FF      		sbrs r25,7
3022
 3253 196a 00C0      		rjmp .L183
3023
 3254 196c 8091 0000 		lds r24,PC_MotortestActive
3024
 3255 1970 8823      		tst r24
3025
 3256 1972 01F0      		breq .L185
3026
 3257 1974 8091 0000 		lds r24,PC_MotortestActive
3027
 3258 1978 8150      		subi r24,lo8(-(-1))
3028
 3259 197a 8093 0000 		sts PC_MotortestActive,r24
3029
 3260 197e 00C0      		rjmp .L185
3030
 3261               	.L178:
3031
 3262 1980 8091 0000 		lds r24,FC_StatusFlags
3032
 3263 1984 8160      		ori r24,lo8(1)
3033
 3264 1986 8093 0000 		sts FC_StatusFlags,r24
3034
 3265               	.L185:
3035
 3266 198a 8091 0000 		lds r24,I2C_TransferActive
3036
 3267 198e 8823      		tst r24
3037
 3268 1990 01F0      		breq .L186
3038
 3269 1992 1092 0000 		sts I2C_TransferActive,__zero_reg__
3039
 3270 1996 0895      		ret
3040
 3271               	.L186:
3041
 3272 1998 8093 0000 		sts motor_write,r24
3042
 3273 199c 8093 0000 		sts twi_state,r24
3043
 3274 19a0 8091 0000 		lds r24,BLFlags
3044
 3275 19a4 8E7F      		andi r24,lo8(-2)
3045
 3276 19a6 8093 0000 		sts BLFlags,r24
3046
 3277 19aa 85EA      		ldi r24,lo8(-91)
3047
 3278 19ac 8093 BC00 		sts 188,r24
3048
 3279 19b0 0895      		ret
3049
 3280               	/* epilogue: frame size=0 */
3050
 3281               	/* epilogue: noreturn */
3051
 3282               	/* epilogue end (size=0) */
3052
 3283               	/* function SendMotorData size 61 (61) */
3053
 3285               	.global	ParameterZuordnung
3054
 3287               	ParameterZuordnung:
3055
 3288               	/* prologue: frame size=0 */
3056
 3289 19b2 CF93      		push r28
3057
 3290 19b4 DF93      		push r29
3058
 3291               	/* prologue end (size=2) */
3059
 3292 19b6 A0E0      		ldi r26,lo8(Poti)
3060
 3293 19b8 B0E0      		ldi r27,hi8(Poti)
3061
 3294 19ba C0E0      		ldi r28,lo8(EE_Parameter+5)
3062
 3295 19bc D0E0      		ldi r29,hi8(EE_Parameter+5)
3063
 3296 19be 57E0      		ldi r21,lo8(7)
3064
 3297               	.L203:
3065
 3298 19c0 9991      		ld r25,Y+
3066
 3299 19c2 E92F      		mov r30,r25
3067
 3300 19c4 FF27      		clr r31
3068
 3301 19c6 EE0F      		add r30,r30
3069
 3302 19c8 FF1F      		adc r31,r31
3070
 3303 19ca E050      		subi r30,lo8(-(PPM_in))
3071
 3304 19cc F040      		sbci r31,hi8(-(PPM_in))
3072
 3305 19ce 0190      		ld __tmp_reg__,Z+
3073
 3306 19d0 F081      		ld r31,Z
3074
 3307 19d2 E02D      		mov r30,__tmp_reg__
3075
 3308 19d4 E158      		subi r30,lo8(-(127))
3076
 3309 19d6 FF4F      		sbci r31,hi8(-(127))
3077
 3310 19d8 EF3F      		cpi r30,255
3078
 3311 19da F105      		cpc r31,__zero_reg__
3079
 3312 19dc 01F0      		breq .L194
3080
 3313 19de 04F0      		brlt .L194
3081
 3314 19e0 EFEF      		ldi r30,lo8(255)
3082
 3315 19e2 F0E0      		ldi r31,hi8(255)
3083
 3316 19e4 00C0      		rjmp .L195
3084
 3317               	.L194:
3085
 3318 19e6 F7FF      		sbrs r31,7
3086
 3319 19e8 00C0      		rjmp .L195
3087
 3320 19ea E0E0      		ldi r30,lo8(0)
3088
 3321 19ec F0E0      		ldi r31,hi8(0)
3089
 3322               	.L195:
3090
 3323 19ee 9931      		cpi r25,lo8(25)
3091
 3324 19f0 01F4      		brne .L197
3092
 3325 19f2 EC93      		st X,r30
3093
 3326 19f4 00C0      		rjmp .L193
3094
 3327               	.L197:
3095
 3328 19f6 4C91      		ld r20,X
3096
 3329 19f8 242F      		mov r18,r20
3097
 3330 19fa 3327      		clr r19
3098
 3331 19fc E217      		cp r30,r18
3099
 3332 19fe F307      		cpc r31,r19
3100
 3333 1a00 01F0      		breq .L193
3101
 3334 1a02 CF01      		movw r24,r30
3102
 3335 1a04 821B      		sub r24,r18
3103
 3336 1a06 930B      		sbc r25,r19
3104
 3337 1a08 97FD      		sbrc r25,7
3105
 3338 1a0a 0396      		adiw r24,3
3106
 3339               	.L200:
3107
 3340 1a0c 9595      		asr r25
3108
 3341 1a0e 8795      		ror r24
3109
 3342 1a10 9595      		asr r25
3110
 3343 1a12 8795      		ror r24
3111
 3344 1a14 242F      		mov r18,r20
3112
 3345 1a16 280F      		add r18,r24
3113
 3346 1a18 2C93      		st X,r18
3114
 3347 1a1a 822F      		mov r24,r18
3115
 3348 1a1c 9927      		clr r25
3116
 3349 1a1e E817      		cp r30,r24
3117
 3350 1a20 F907      		cpc r31,r25
3118
 3351 1a22 04F4      		brge .L201
3119
 3352 1a24 2150      		subi r18,lo8(-(-1))
3120
 3353 1a26 00C0      		rjmp .L323
3121
 3354               	.L201:
3122
 3355 1a28 2F5F      		subi r18,lo8(-(1))
3123
 3356               	.L323:
3124
 3357 1a2a 2C93      		st X,r18
3125
 3358               	.L193:
3126
 3359 1a2c 5150      		subi r21,lo8(-(-1))
3127
 3360 1a2e 1196      		adiw r26,1
3128
 3361 1a30 57FF      		sbrs r21,7
3129
 3362 1a32 00C0      		rjmp .L203
3130
 3363 1a34 8091 0000 		lds r24,EE_Parameter+15
3131
 3364 1a38 883F      		cpi r24,lo8(-8)
3132
 3365 1a3a 00F0      		brlo .L324
3133
 3366 1a3c EFEF      		ldi r30,lo8(255)
3134
 3367 1a3e F0E0      		ldi r31,hi8(255)
3135
 3368 1a40 E81B      		sub r30,r24
3136
 3369 1a42 F109      		sbc r31,__zero_reg__
3137
 3370 1a44 E050      		subi r30,lo8(-(Poti))
3138
 3371 1a46 F040      		sbci r31,hi8(-(Poti))
3139
 3372 1a48 8081      		ld r24,Z
3140
 3373               	.L324:
3141
 3374 1a4a 8093 0000 		sts Parameter_Luftdruck_D,r24
3142
 3375 1a4e 8091 0000 		lds r24,Parameter_Luftdruck_D
3143
 3376 1a52 8823      		tst r24
3144
 3377 1a54 01F0      		breq .L207
3145
 3378 1a56 8436      		cpi r24,lo8(100)
3146
 3379 1a58 00F0      		brlo .L207
3147
 3380 1a5a 84E6      		ldi r24,lo8(100)
3148
 3381 1a5c 8093 0000 		sts Parameter_Luftdruck_D,r24
3149
 3382               	.L207:
3150
 3383 1a60 8091 0000 		lds r24,EE_Parameter+17
3151
 3384 1a64 883F      		cpi r24,lo8(-8)
3152
 3385 1a66 00F0      		brlo .L325
3153
 3386 1a68 EFEF      		ldi r30,lo8(255)
3154
 3387 1a6a F0E0      		ldi r31,hi8(255)
3155
 3388 1a6c E81B      		sub r30,r24
3156
 3389 1a6e F109      		sbc r31,__zero_reg__
3157
 3390 1a70 E050      		subi r30,lo8(-(Poti))
3158
 3391 1a72 F040      		sbci r31,hi8(-(Poti))
3159
 3392 1a74 8081      		ld r24,Z
3160
 3393               	.L325:
3161
 3394 1a76 8093 0000 		sts Parameter_Hoehe_P,r24
3162
 3395 1a7a 8091 0000 		lds r24,Parameter_Hoehe_P
3163
 3396 1a7e 8823      		tst r24
3164
 3397 1a80 01F0      		breq .L212
3165
 3398 1a82 8436      		cpi r24,lo8(100)
3166
 3399 1a84 00F0      		brlo .L212
3167
 3400 1a86 84E6      		ldi r24,lo8(100)
3168
 3401 1a88 8093 0000 		sts Parameter_Hoehe_P,r24
3169
 3402               	.L212:
3170
 3403 1a8c 8091 0000 		lds r24,EE_Parameter+30
3171
 3404 1a90 883F      		cpi r24,lo8(-8)
3172
 3405 1a92 00F0      		brlo .L326
3173
 3406 1a94 EFEF      		ldi r30,lo8(255)
3174
 3407 1a96 F0E0      		ldi r31,hi8(255)
3175
 3408 1a98 E81B      		sub r30,r24
3176
 3409 1a9a F109      		sbc r31,__zero_reg__
3177
 3410 1a9c E050      		subi r30,lo8(-(Poti))
3178
 3411 1a9e F040      		sbci r31,hi8(-(Poti))
3179
 3412 1aa0 8081      		ld r24,Z
3180
 3413               	.L326:
3181
 3414 1aa2 8093 0000 		sts Parameter_Gyro_P,r24
3182
 3415 1aa6 8091 0000 		lds r24,Parameter_Gyro_P
3183
 3416 1aaa 8B30      		cpi r24,lo8(11)
3184
 3417 1aac 00F4      		brsh .L216
3185
 3418 1aae 8AE0      		ldi r24,lo8(10)
3186
 3419 1ab0 00C0      		rjmp .L327
3187
 3420               	.L216:
3188
 3421 1ab2 8F3F      		cpi r24,lo8(-1)
3189
 3422 1ab4 01F4      		brne .L217
3190
 3423               	.L327:
3191
 3424 1ab6 8093 0000 		sts Parameter_Gyro_P,r24
3192
 3425               	.L217:
3193
 3426 1aba 8091 0000 		lds r24,EE_Parameter+75
3194
 3427 1abe 883F      		cpi r24,lo8(-8)
3195
 3428 1ac0 00F0      		brlo .L328
3196
 3429 1ac2 EFEF      		ldi r30,lo8(255)
3197
 3430 1ac4 F0E0      		ldi r31,hi8(255)
3198
 3431 1ac6 E81B      		sub r30,r24
3199
 3432 1ac8 F109      		sbc r31,__zero_reg__
3200
 3433 1aca E050      		subi r30,lo8(-(Poti))
3201
 3434 1acc F040      		sbci r31,hi8(-(Poti))
3202
 3435 1ace 8081      		ld r24,Z
3203
 3436               	.L328:
3204
 3437 1ad0 8093 0000 		sts Parameter_J16Timing,r24
3205
 3438 1ad4 8091 0000 		lds r24,Parameter_J16Timing
3206
 3439 1ad8 8630      		cpi r24,lo8(6)
3207
 3440 1ada 00F4      		brsh .L221
3208
 3441 1adc 85E0      		ldi r24,lo8(5)
3209
 3442 1ade 00C0      		rjmp .L329
3210
 3443               	.L221:
3211
 3444 1ae0 8F3F      		cpi r24,lo8(-1)
3212
 3445 1ae2 01F4      		brne .L222
3213
 3446               	.L329:
3214
 3447 1ae4 8093 0000 		sts Parameter_J16Timing,r24
3215
 3448               	.L222:
3216
 3449 1ae8 8091 0000 		lds r24,EE_Parameter+77
3217
 3450 1aec 883F      		cpi r24,lo8(-8)
3218
 3451 1aee 00F0      		brlo .L330
3219
 3452 1af0 EFEF      		ldi r30,lo8(255)
3220
 3453 1af2 F0E0      		ldi r31,hi8(255)
3221
 3454 1af4 E81B      		sub r30,r24
3222
 3455 1af6 F109      		sbc r31,__zero_reg__
3223
 3456 1af8 E050      		subi r30,lo8(-(Poti))
3224
 3457 1afa F040      		sbci r31,hi8(-(Poti))
3225
 3458 1afc 8081      		ld r24,Z
3226
 3459               	.L330:
3227
 3460 1afe 8093 0000 		sts Parameter_J17Timing,r24
3228
 3461 1b02 8091 0000 		lds r24,Parameter_J17Timing
3229
 3462 1b06 8630      		cpi r24,lo8(6)
3230
 3463 1b08 00F4      		brsh .L226
3231
 3464 1b0a 85E0      		ldi r24,lo8(5)
3232
 3465 1b0c 00C0      		rjmp .L331
3233
 3466               	.L226:
3234
 3467 1b0e 8F3F      		cpi r24,lo8(-1)
3235
 3468 1b10 01F4      		brne .L227
3236
 3469               	.L331:
3237
 3470 1b12 8093 0000 		sts Parameter_J17Timing,r24
3238
 3471               	.L227:
3239
 3472 1b16 8091 0000 		lds r24,EE_Parameter+56
3240
 3473 1b1a 873F      		cpi r24,lo8(-9)
3241
 3474 1b1c 01F4      		brne .L229
3242
 3475 1b1e 4299      		sbic 40-0x20,2
3243
 3476 1b20 00C0      		rjmp .L362
3244
 3477 1b22 00C0      		rjmp .L234
3245
 3478               	.L229:
3246
 3479 1b24 863F      		cpi r24,lo8(-10)
3247
 3480 1b26 01F4      		brne .L233
3248
 3481 1b28 439B      		sbis 40-0x20,3
3249
 3482 1b2a 00C0      		rjmp .L234
3250
 3483               	.L362:
3251
 3484 1b2c 8CE8      		ldi r24,lo8(-116)
3252
 3485 1b2e 00C0      		rjmp .L332
3253
 3486               	.L234:
3254
 3487 1b30 86E4      		ldi r24,lo8(70)
3255
 3488 1b32 00C0      		rjmp .L332
3256
 3489               	.L233:
3257
 3490 1b34 883F      		cpi r24,lo8(-8)
3258
 3491 1b36 00F0      		brlo .L332
3259
 3492 1b38 EFEF      		ldi r30,lo8(255)
3260
 3493 1b3a F0E0      		ldi r31,hi8(255)
3261
 3494 1b3c E81B      		sub r30,r24
3262
 3495 1b3e F109      		sbc r31,__zero_reg__
3263
 3496 1b40 E050      		subi r30,lo8(-(Poti))
3264
 3497 1b42 F040      		sbci r31,hi8(-(Poti))
3265
 3498 1b44 8081      		ld r24,Z
3266
 3499               	.L332:
3267
 3500 1b46 8093 0000 		sts Parameter_Servo3,r24
3268
 3501 1b4a 8091 0000 		lds r24,EE_Parameter+57
3269
 3502 1b4e 873F      		cpi r24,lo8(-9)
3270
 3503 1b50 01F4      		brne .L239
3271
 3504 1b52 4299      		sbic 40-0x20,2
3272
 3505 1b54 00C0      		rjmp .L363
3273
 3506 1b56 00C0      		rjmp .L244
3274
 3507               	.L239:
3275
 3508 1b58 863F      		cpi r24,lo8(-10)
3276
 3509 1b5a 01F4      		brne .L243
3277
 3510 1b5c 439B      		sbis 40-0x20,3
3278
 3511 1b5e 00C0      		rjmp .L244
3279
 3512               	.L363:
3280
 3513 1b60 8CE8      		ldi r24,lo8(-116)
3281
 3514 1b62 00C0      		rjmp .L333
3282
 3515               	.L244:
3283
 3516 1b64 86E4      		ldi r24,lo8(70)
3284
 3517 1b66 00C0      		rjmp .L333
3285
 3518               	.L243:
3286
 3519 1b68 883F      		cpi r24,lo8(-8)
3287
 3520 1b6a 00F0      		brlo .L333
3288
 3521 1b6c EFEF      		ldi r30,lo8(255)
3289
 3522 1b6e F0E0      		ldi r31,hi8(255)
3290
 3523 1b70 E81B      		sub r30,r24
3291
 3524 1b72 F109      		sbc r31,__zero_reg__
3292
 3525 1b74 E050      		subi r30,lo8(-(Poti))
3293
 3526 1b76 F040      		sbci r31,hi8(-(Poti))
3294
 3527 1b78 8081      		ld r24,Z
3295
 3528               	.L333:
3296
 3529 1b7a 8093 0000 		sts Parameter_Servo4,r24
3297
 3530 1b7e 8091 0000 		lds r24,EE_Parameter+58
3298
 3531 1b82 883F      		cpi r24,lo8(-8)
3299
 3532 1b84 00F0      		brlo .L334
3300
 3533 1b86 EFEF      		ldi r30,lo8(255)
3301
 3534 1b88 F0E0      		ldi r31,hi8(255)
3302
 3535 1b8a E81B      		sub r30,r24
3303
 3536 1b8c F109      		sbc r31,__zero_reg__
3304
 3537 1b8e E050      		subi r30,lo8(-(Poti))
3305
 3538 1b90 F040      		sbci r31,hi8(-(Poti))
3306
 3539 1b92 8081      		ld r24,Z
3307
 3540               	.L334:
3308
 3541 1b94 8093 0000 		sts Parameter_Servo5,r24
3309
 3542 1b98 8091 0000 		lds r24,EE_Parameter+16
3310
 3543 1b9c 883F      		cpi r24,lo8(-8)
3311
 3544 1b9e 00F0      		brlo .L335
3312
 3545 1ba0 EFEF      		ldi r30,lo8(255)
3313
 3546 1ba2 F0E0      		ldi r31,hi8(255)
3314
 3547 1ba4 E81B      		sub r30,r24
3315
 3548 1ba6 F109      		sbc r31,__zero_reg__
3316
 3549 1ba8 E050      		subi r30,lo8(-(Poti))
3317
 3550 1baa F040      		sbci r31,hi8(-(Poti))
3318
 3551 1bac 8081      		ld r24,Z
3319
 3552               	.L335:
3320
 3553 1bae 8093 0000 		sts Parameter_HoehenSchalter,r24
3321
 3554 1bb2 8091 0000 		lds r24,EE_Parameter+19
3322
 3555 1bb6 883F      		cpi r24,lo8(-8)
3323
 3556 1bb8 00F0      		brlo .L336
3324
 3557 1bba EFEF      		ldi r30,lo8(255)
3325
 3558 1bbc F0E0      		ldi r31,hi8(255)
3326
 3559 1bbe E81B      		sub r30,r24
3327
 3560 1bc0 F109      		sbc r31,__zero_reg__
3328
 3561 1bc2 E050      		subi r30,lo8(-(Poti))
3329
 3562 1bc4 F040      		sbci r31,hi8(-(Poti))
3330
 3563 1bc6 8081      		ld r24,Z
3331
 3564               	.L336:
3332
 3565 1bc8 8093 0000 		sts Parameter_Hoehe_ACC_Wirkung,r24
3333
 3566 1bcc 8091 0000 		lds r24,EE_Parameter+21
3334
 3567 1bd0 883F      		cpi r24,lo8(-8)
3335
 3568 1bd2 00F0      		brlo .L337
3336
 3569 1bd4 EFEF      		ldi r30,lo8(255)
3337
 3570 1bd6 F0E0      		ldi r31,hi8(255)
3338
 3571 1bd8 E81B      		sub r30,r24
3339
 3572 1bda F109      		sbc r31,__zero_reg__
3340
 3573 1bdc E050      		subi r30,lo8(-(Poti))
3341
 3574 1bde F040      		sbci r31,hi8(-(Poti))
3342
 3575 1be0 8081      		ld r24,Z
3343
 3576               	.L337:
3344
 3577 1be2 8093 0000 		sts Parameter_Hoehe_GPS_Z,r24
3345
 3578 1be6 8091 0000 		lds r24,EE_Parameter+29
3346
 3579 1bea 883F      		cpi r24,lo8(-8)
3347
 3580 1bec 00F0      		brlo .L338
3348
 3581 1bee EFEF      		ldi r30,lo8(255)
3349
 3582 1bf0 F0E0      		ldi r31,hi8(255)
3350
 3583 1bf2 E81B      		sub r30,r24
3351
 3584 1bf4 F109      		sbc r31,__zero_reg__
3352
 3585 1bf6 E050      		subi r30,lo8(-(Poti))
3353
 3586 1bf8 F040      		sbci r31,hi8(-(Poti))
3354
 3587 1bfa 8081      		ld r24,Z
3355
 3588               	.L338:
3356
 3589 1bfc 8093 0000 		sts Parameter_KompassWirkung,r24
3357
 3590 1c00 8091 0000 		lds r24,EE_Parameter+31
3358
 3591 1c04 883F      		cpi r24,lo8(-8)
3359
 3592 1c06 00F0      		brlo .L339
3360
 3593 1c08 EFEF      		ldi r30,lo8(255)
3361
 3594 1c0a F0E0      		ldi r31,hi8(255)
3362
 3595 1c0c E81B      		sub r30,r24
3363
 3596 1c0e F109      		sbc r31,__zero_reg__
3364
 3597 1c10 E050      		subi r30,lo8(-(Poti))
3365
 3598 1c12 F040      		sbci r31,hi8(-(Poti))
3366
 3599 1c14 8081      		ld r24,Z
3367
 3600               	.L339:
3368
 3601 1c16 8093 0000 		sts Parameter_Gyro_I,r24
3369
 3602 1c1a 8091 0000 		lds r24,EE_Parameter+32
3370
 3603 1c1e 883F      		cpi r24,lo8(-8)
3371
 3604 1c20 00F0      		brlo .L340
3372
 3605 1c22 EFEF      		ldi r30,lo8(255)
3373
 3606 1c24 F0E0      		ldi r31,hi8(255)
3374
 3607 1c26 E81B      		sub r30,r24
3375
 3608 1c28 F109      		sbc r31,__zero_reg__
3376
 3609 1c2a E050      		subi r30,lo8(-(Poti))
3377
 3610 1c2c F040      		sbci r31,hi8(-(Poti))
3378
 3611 1c2e 8081      		ld r24,Z
3379
 3612               	.L340:
3380
 3613 1c30 8093 0000 		sts Parameter_Gyro_D,r24
3381
 3614 1c34 8091 0000 		lds r24,EE_Parameter+33
3382
 3615 1c38 883F      		cpi r24,lo8(-8)
3383
 3616 1c3a 00F0      		brlo .L341
3384
 3617 1c3c EFEF      		ldi r30,lo8(255)
3385
 3618 1c3e F0E0      		ldi r31,hi8(255)
3386
 3619 1c40 E81B      		sub r30,r24
3387
 3620 1c42 F109      		sbc r31,__zero_reg__
3388
 3621 1c44 E050      		subi r30,lo8(-(Poti))
3389
 3622 1c46 F040      		sbci r31,hi8(-(Poti))
3390
 3623 1c48 8081      		ld r24,Z
3391
 3624               	.L341:
3392
 3625 1c4a 8093 0000 		sts Parameter_Gyro_Gier_P,r24
3393
 3626 1c4e 8091 0000 		lds r24,EE_Parameter+34
3394
 3627 1c52 883F      		cpi r24,lo8(-8)
3395
 3628 1c54 00F0      		brlo .L342
3396
 3629 1c56 EFEF      		ldi r30,lo8(255)
3397
 3630 1c58 F0E0      		ldi r31,hi8(255)
3398
 3631 1c5a E81B      		sub r30,r24
3399
 3632 1c5c F109      		sbc r31,__zero_reg__
3400
 3633 1c5e E050      		subi r30,lo8(-(Poti))
3401
 3634 1c60 F040      		sbci r31,hi8(-(Poti))
3402
 3635 1c62 8081      		ld r24,Z
3403
 3636               	.L342:
3404
 3637 1c64 8093 0000 		sts Parameter_Gyro_Gier_I,r24
3405
 3638 1c68 8091 0000 		lds r24,EE_Parameter+40
3406
 3639 1c6c 883F      		cpi r24,lo8(-8)
3407
 3640 1c6e 00F0      		brlo .L343
3408
 3641 1c70 EFEF      		ldi r30,lo8(255)
3409
 3642 1c72 F0E0      		ldi r31,hi8(255)
3410
 3643 1c74 E81B      		sub r30,r24
3411
 3644 1c76 F109      		sbc r31,__zero_reg__
3412
 3645 1c78 E050      		subi r30,lo8(-(Poti))
3413
 3646 1c7a F040      		sbci r31,hi8(-(Poti))
3414
 3647 1c7c 8081      		ld r24,Z
3415
 3648               	.L343:
3416
 3649 1c7e 8093 0000 		sts Parameter_I_Faktor,r24
3417
 3650 1c82 8091 0000 		lds r24,EE_Parameter+41
3418
 3651 1c86 883F      		cpi r24,lo8(-8)
3419
 3652 1c88 00F0      		brlo .L344
3420
 3653 1c8a EFEF      		ldi r30,lo8(255)
3421
 3654 1c8c F0E0      		ldi r31,hi8(255)
3422
 3655 1c8e E81B      		sub r30,r24
3423
 3656 1c90 F109      		sbc r31,__zero_reg__
3424
 3657 1c92 E050      		subi r30,lo8(-(Poti))
3425
 3658 1c94 F040      		sbci r31,hi8(-(Poti))
3426
 3659 1c96 8081      		ld r24,Z
3427
 3660               	.L344:
3428
 3661 1c98 8093 0000 		sts Parameter_UserParam1,r24
3429
 3662 1c9c 8091 0000 		lds r24,EE_Parameter+42
3430
 3663 1ca0 883F      		cpi r24,lo8(-8)
3431
 3664 1ca2 00F0      		brlo .L345
3432
 3665 1ca4 EFEF      		ldi r30,lo8(255)
3433
 3666 1ca6 F0E0      		ldi r31,hi8(255)
3434
 3667 1ca8 E81B      		sub r30,r24
3435
 3668 1caa F109      		sbc r31,__zero_reg__
3436
 3669 1cac E050      		subi r30,lo8(-(Poti))
3437
 3670 1cae F040      		sbci r31,hi8(-(Poti))
3438
 3671 1cb0 8081      		ld r24,Z
3439
 3672               	.L345:
3440
 3673 1cb2 8093 0000 		sts Parameter_UserParam2,r24
3441
 3674 1cb6 8091 0000 		lds r24,EE_Parameter+43
3442
 3675 1cba 883F      		cpi r24,lo8(-8)
3443
 3676 1cbc 00F0      		brlo .L346
3444
 3677 1cbe EFEF      		ldi r30,lo8(255)
3445
 3678 1cc0 F0E0      		ldi r31,hi8(255)
3446
 3679 1cc2 E81B      		sub r30,r24
3447
 3680 1cc4 F109      		sbc r31,__zero_reg__
3448
 3681 1cc6 E050      		subi r30,lo8(-(Poti))
3449
 3682 1cc8 F040      		sbci r31,hi8(-(Poti))
3450
 3683 1cca 8081      		ld r24,Z
3451
 3684               	.L346:
3452
 3685 1ccc 8093 0000 		sts Parameter_UserParam3,r24
3453
 3686 1cd0 8091 0000 		lds r24,EE_Parameter+44
3454
 3687 1cd4 883F      		cpi r24,lo8(-8)
3455
 3688 1cd6 00F0      		brlo .L347
3456
 3689 1cd8 EFEF      		ldi r30,lo8(255)
3457
 3690 1cda F0E0      		ldi r31,hi8(255)
3458
 3691 1cdc E81B      		sub r30,r24
3459
 3692 1cde F109      		sbc r31,__zero_reg__
3460
 3693 1ce0 E050      		subi r30,lo8(-(Poti))
3461
 3694 1ce2 F040      		sbci r31,hi8(-(Poti))
3462
 3695 1ce4 8081      		ld r24,Z
3463
 3696               	.L347:
3464
 3697 1ce6 8093 0000 		sts Parameter_UserParam4,r24
3465
 3698 1cea 8091 0000 		lds r24,EE_Parameter+70
3466
 3699 1cee 883F      		cpi r24,lo8(-8)
3467
 3700 1cf0 00F0      		brlo .L348
3468
 3701 1cf2 EFEF      		ldi r30,lo8(255)
3469
 3702 1cf4 F0E0      		ldi r31,hi8(255)
3470
 3703 1cf6 E81B      		sub r30,r24
3471
 3704 1cf8 F109      		sbc r31,__zero_reg__
3472
 3705 1cfa E050      		subi r30,lo8(-(Poti))
3473
 3706 1cfc F040      		sbci r31,hi8(-(Poti))
3474
 3707 1cfe 8081      		ld r24,Z
3475
 3708               	.L348:
3476
 3709 1d00 8093 0000 		sts Parameter_UserParam5,r24
3477
 3710 1d04 8091 0000 		lds r24,EE_Parameter+71
3478
 3711 1d08 883F      		cpi r24,lo8(-8)
3479
 3712 1d0a 00F0      		brlo .L349
3480
 3713 1d0c EFEF      		ldi r30,lo8(255)
3481
 3714 1d0e F0E0      		ldi r31,hi8(255)
3482
 3715 1d10 E81B      		sub r30,r24
3483
 3716 1d12 F109      		sbc r31,__zero_reg__
3484
 3717 1d14 E050      		subi r30,lo8(-(Poti))
3485
 3718 1d16 F040      		sbci r31,hi8(-(Poti))
3486
 3719 1d18 8081      		ld r24,Z
3487
 3720               	.L349:
3488
 3721 1d1a 8093 0000 		sts Parameter_UserParam6,r24
3489
 3722 1d1e 8091 0000 		lds r24,EE_Parameter+72
3490
 3723 1d22 883F      		cpi r24,lo8(-8)
3491
 3724 1d24 00F0      		brlo .L350
3492
 3725 1d26 EFEF      		ldi r30,lo8(255)
3493
 3726 1d28 F0E0      		ldi r31,hi8(255)
3494
 3727 1d2a E81B      		sub r30,r24
3495
 3728 1d2c F109      		sbc r31,__zero_reg__
3496
 3729 1d2e E050      		subi r30,lo8(-(Poti))
3497
 3730 1d30 F040      		sbci r31,hi8(-(Poti))
3498
 3731 1d32 8081      		ld r24,Z
3499
 3732               	.L350:
3500
 3733 1d34 8093 0000 		sts Parameter_UserParam7,r24
3501
 3734 1d38 8091 0000 		lds r24,EE_Parameter+73
3502
 3735 1d3c 883F      		cpi r24,lo8(-8)
3503
 3736 1d3e 00F0      		brlo .L351
3504
 3737 1d40 EFEF      		ldi r30,lo8(255)
3505
 3738 1d42 F0E0      		ldi r31,hi8(255)
3506
 3739 1d44 E81B      		sub r30,r24
3507
 3740 1d46 F109      		sbc r31,__zero_reg__
3508
 3741 1d48 E050      		subi r30,lo8(-(Poti))
3509
 3742 1d4a F040      		sbci r31,hi8(-(Poti))
3510
 3743 1d4c 8081      		ld r24,Z
3511
 3744               	.L351:
3512
 3745 1d4e 8093 0000 		sts Parameter_UserParam8,r24
3513
 3746 1d52 8091 0000 		lds r24,EE_Parameter+45
3514
 3747 1d56 883F      		cpi r24,lo8(-8)
3515
 3748 1d58 00F0      		brlo .L352
3516
 3749 1d5a EFEF      		ldi r30,lo8(255)
3517
 3750 1d5c F0E0      		ldi r31,hi8(255)
3518
 3751 1d5e E81B      		sub r30,r24
3519
 3752 1d60 F109      		sbc r31,__zero_reg__
3520
 3753 1d62 E050      		subi r30,lo8(-(Poti))
3521
 3754 1d64 F040      		sbci r31,hi8(-(Poti))
3522
 3755 1d66 8081      		ld r24,Z
3523
 3756               	.L352:
3524
 3757 1d68 8093 0000 		sts Parameter_ServoNickControl,r24
3525
 3758 1d6c 8091 0000 		lds r24,EE_Parameter+49
3526
 3759 1d70 883F      		cpi r24,lo8(-8)
3527
 3760 1d72 00F0      		brlo .L353
3528
 3761 1d74 EFEF      		ldi r30,lo8(255)
3529
 3762 1d76 F0E0      		ldi r31,hi8(255)
3530
 3763 1d78 E81B      		sub r30,r24
3531
 3764 1d7a F109      		sbc r31,__zero_reg__
3532
 3765 1d7c E050      		subi r30,lo8(-(Poti))
3533
 3766 1d7e F040      		sbci r31,hi8(-(Poti))
3534
 3767 1d80 8081      		ld r24,Z
3535
 3768               	.L353:
3536
 3769 1d82 8093 0000 		sts Parameter_ServoRollControl,r24
3537
 3770 1d86 8091 0000 		lds r24,EE_Parameter+59
3538
 3771 1d8a 883F      		cpi r24,lo8(-8)
3539
 3772 1d8c 00F0      		brlo .L354
3540
 3773 1d8e EFEF      		ldi r30,lo8(255)
3541
 3774 1d90 F0E0      		ldi r31,hi8(255)
3542
 3775 1d92 E81B      		sub r30,r24
3543
 3776 1d94 F109      		sbc r31,__zero_reg__
3544
 3777 1d96 E050      		subi r30,lo8(-(Poti))
3545
 3778 1d98 F040      		sbci r31,hi8(-(Poti))
3546
 3779 1d9a 8081      		ld r24,Z
3547
 3780               	.L354:
3548
 3781 1d9c 8093 0000 		sts Parameter_LoopGasLimit,r24
3549
 3782 1da0 8091 0000 		lds r24,EE_Parameter+62
3550
 3783 1da4 883F      		cpi r24,lo8(-8)
3551
 3784 1da6 00F0      		brlo .L355
3552
 3785 1da8 EFEF      		ldi r30,lo8(255)
3553
 3786 1daa F0E0      		ldi r31,hi8(255)
3554
 3787 1dac E81B      		sub r30,r24
3555
 3788 1dae F109      		sbc r31,__zero_reg__
3556
 3789 1db0 E050      		subi r30,lo8(-(Poti))
3557
 3790 1db2 F040      		sbci r31,hi8(-(Poti))
3558
 3791 1db4 8081      		ld r24,Z
3559
 3792               	.L355:
3560
 3793 1db6 8093 0000 		sts Parameter_AchsKopplung1,r24
3561
 3794 1dba 8091 0000 		lds r24,EE_Parameter+63
3562
 3795 1dbe 883F      		cpi r24,lo8(-8)
3563
 3796 1dc0 00F0      		brlo .L356
3564
 3797 1dc2 EFEF      		ldi r30,lo8(255)
3565
 3798 1dc4 F0E0      		ldi r31,hi8(255)
3566
 3799 1dc6 E81B      		sub r30,r24
3567
 3800 1dc8 F109      		sbc r31,__zero_reg__
3568
 3801 1dca E050      		subi r30,lo8(-(Poti))
3569
 3802 1dcc F040      		sbci r31,hi8(-(Poti))
3570
 3803 1dce 8081      		ld r24,Z
3571
 3804               	.L356:
3572
 3805 1dd0 8093 0000 		sts Parameter_AchsKopplung2,r24
3573
 3806 1dd4 8091 0000 		lds r24,EE_Parameter+64
3574
 3807 1dd8 883F      		cpi r24,lo8(-8)
3575
 3808 1dda 00F0      		brlo .L357
3576
 3809 1ddc EFEF      		ldi r30,lo8(255)
3577
 3810 1dde F0E0      		ldi r31,hi8(255)
3578
 3811 1de0 E81B      		sub r30,r24
3579
 3812 1de2 F109      		sbc r31,__zero_reg__
3580
 3813 1de4 E050      		subi r30,lo8(-(Poti))
3581
 3814 1de6 F040      		sbci r31,hi8(-(Poti))
3582
 3815 1de8 8081      		ld r24,Z
3583
 3816               	.L357:
3584
 3817 1dea 8093 0000 		sts Parameter_CouplingYawCorrection,r24
3585
 3818 1dee 8091 0000 		lds r24,EE_Parameter+104
3586
 3819 1df2 883F      		cpi r24,lo8(-8)
3587
 3820 1df4 00F0      		brlo .L358
3588
 3821 1df6 EFEF      		ldi r30,lo8(255)
3589
 3822 1df8 F0E0      		ldi r31,hi8(255)
3590
 3823 1dfa E81B      		sub r30,r24
3591
 3824 1dfc F109      		sbc r31,__zero_reg__
3592
 3825 1dfe E050      		subi r30,lo8(-(Poti))
3593
 3826 1e00 F040      		sbci r31,hi8(-(Poti))
3594
 3827 1e02 8081      		ld r24,Z
3595
 3828               	.L358:
3596
 3829 1e04 8093 0000 		sts Parameter_MaximumAltitude,r24
3597
 3830 1e08 9091 0000 		lds r25,NC_To_FC_MaxAltitude
3598
 3831 1e0c 9923      		tst r25
3599
 3832 1e0e 01F0      		breq .L301
3600
 3833 1e10 8091 0000 		lds r24,Parameter_MaximumAltitude
3601
 3834 1e14 9817      		cp r25,r24
3602
 3835 1e16 00F0      		brlo .L300
3603
 3836               	.L301:
3604
 3837 1e18 8091 0000 		lds r24,Parameter_MaximumAltitude
3605
 3838 1e1c 8823      		tst r24
3606
 3839 1e1e 01F4      		brne .L299
3607
 3840               	.L300:
3608
 3841 1e20 9093 0000 		sts Parameter_MaximumAltitude,r25
3609
 3842               	.L299:
3610
 3843 1e24 8091 0000 		lds r24,EE_Parameter+13
3611
 3844 1e28 8093 0000 		sts Parameter_GlobalConfig,r24
3612
 3845 1e2c 8091 0000 		lds r24,EE_Parameter+110
3613
 3846 1e30 8093 0000 		sts Parameter_ExtraConfig,r24
3614
 3847 1e34 8091 0000 		lds r24,EE_Parameter+69
3615
 3848 1e38 883F      		cpi r24,lo8(-8)
3616
 3849 1e3a 00F0      		brlo .L359
3617
 3850 1e3c EFEF      		ldi r30,lo8(255)
3618
 3851 1e3e F0E0      		ldi r31,hi8(255)
3619
 3852 1e40 E81B      		sub r30,r24
3620
 3853 1e42 F109      		sbc r31,__zero_reg__
3621
 3854 1e44 E050      		subi r30,lo8(-(Poti))
3622
 3855 1e46 F040      		sbci r31,hi8(-(Poti))
3623
 3856 1e48 8081      		ld r24,Z
3624
 3857               	.L359:
3625
 3858 1e4a 8093 0000 		sts Parameter_DynamicStability,r24
3626
 3859 1e4e 8091 0000 		lds r24,EE_Parameter+97
3627
 3860 1e52 883F      		cpi r24,lo8(-8)
3628
 3861 1e54 00F0      		brlo .L360
3629
 3862 1e56 EFEF      		ldi r30,lo8(255)
3630
 3863 1e58 F0E0      		ldi r31,hi8(255)
3631
 3864 1e5a E81B      		sub r30,r24
3632
 3865 1e5c F109      		sbc r31,__zero_reg__
3633
 3866 1e5e E050      		subi r30,lo8(-(Poti))
3634
 3867 1e60 F040      		sbci r31,hi8(-(Poti))
3635
 3868 1e62 8081      		ld r24,Z
3636
 3869               	.L360:
3637
 3870 1e64 8093 0000 		sts Parameter_ExternalControl,r24
3638
 3871 1e68 8091 0000 		lds r24,Parameter_I_Faktor
3639
 3872 1e6c 282F      		mov r18,r24
3640
 3873 1e6e 3327      		clr r19
3641
 3874 1e70 2F5F      		subi r18,lo8(-(1))
3642
 3875 1e72 3F4F      		sbci r19,hi8(-(1))
3643
 3876 1e74 8CE3      		ldi r24,lo8(10300)
3644
 3877 1e76 98E2      		ldi r25,hi8(10300)
3645
 3878 1e78 B901      		movw r22,r18
3646
 3879 1e7a 0E94 0000 		call __divmodhi4
3647
 3880 1e7e 7093 0000 		sts (Ki)+1,r23
3648
 3881 1e82 6093 0000 		sts Ki,r22
3649
 3882 1e86 8091 0000 		lds r24,EE_Parameter+27
3650
 3883 1e8a 8093 0000 		sts MAX_GAS,r24
3651
 3884 1e8e 8091 0000 		lds r24,EE_Parameter+26
3652
 3885 1e92 8093 0000 		sts MIN_GAS,r24
3653
 3886 1e96 9091 0000 		lds r25,EE_Parameter+99
3654
 3887 1e9a 9333      		cpi r25,lo8(51)
3655
 3888 1e9c 00F4      		brsh .+2
3656
 3889 1e9e 00C0      		rjmp .L306
3657
 3890 1ea0 81E0      		ldi r24,lo8(1)
3658
 3891 1ea2 8093 0000 		sts CareFree,r24
3659
 3892 1ea6 983F      		cpi r25,lo8(-8)
3660
 3893 1ea8 00F0      		brlo .L307
3661
 3894 1eaa EFEF      		ldi r30,lo8(255)
3662
 3895 1eac F0E0      		ldi r31,hi8(255)
3663
 3896 1eae E91B      		sub r30,r25
3664
 3897 1eb0 F109      		sbc r31,__zero_reg__
3665
 3898 1eb2 E050      		subi r30,lo8(-(Poti))
3666
 3899 1eb4 F040      		sbci r31,hi8(-(Poti))
3667
 3900 1eb6 8081      		ld r24,Z
3668
 3901 1eb8 8233      		cpi r24,lo8(50)
3669
 3902 1eba 00F4      		brsh .L307
3670
 3903 1ebc 1092 0000 		sts CareFree,__zero_reg__
3671
 3904               	.L307:
3672
 3905 1ec0 8091 0000 		lds r24,carefree_old
3673
 3906 1ec4 2091 0000 		lds r18,CareFree
3674
 3907 1ec8 8217      		cp r24,r18
3675
 3908 1eca 01F0      		breq .L308
3676
 3909 1ecc 8330      		cpi r24,lo8(3)
3677
 3910 1ece 00F4      		brsh .L309
3678
 3911 1ed0 3091 0000 		lds r19,SpeakHoTT
3679
 3912 1ed4 2223      		tst r18
3680
 3913 1ed6 01F0      		breq .L310
3681
 3914 1ed8 8CED      		ldi r24,lo8(1500)
3682
 3915 1eda 95E0      		ldi r25,hi8(1500)
3683
 3916 1edc 9093 0000 		sts (beeptime)+1,r25
3684
 3917 1ee0 8093 0000 		sts beeptime,r24
3685
 3918 1ee4 3323      		tst r19
3686
 3919 1ee6 01F4      		brne .L312
3687
 3920 1ee8 8EE2      		ldi r24,lo8(46)
3688
 3921 1eea 00C0      		rjmp .L361
3689
 3922               	.L310:
3690
 3923 1eec 88EC      		ldi r24,lo8(200)
3691
 3924 1eee 90E0      		ldi r25,hi8(200)
3692
 3925 1ef0 9093 0000 		sts (beeptime)+1,r25
3693
 3926 1ef4 8093 0000 		sts beeptime,r24
3694
 3927 1ef8 3323      		tst r19
3695
 3928 1efa 01F4      		brne .L312
3696
 3929 1efc 87E1      		ldi r24,lo8(23)
3697
 3930               	.L361:
3698
 3931 1efe 8093 0000 		sts SpeakHoTT,r24
3699
 3932               	.L312:
3700
 3933 1f02 85E0      		ldi r24,lo8(5)
3701
 3934 1f04 8093 0000 		sts NeueKompassRichtungMerken,r24
3702
 3935 1f08 2093 0000 		sts carefree_old,r18
3703
 3936 1f0c 00C0      		rjmp .L308
3704
 3937               	.L309:
3705
 3938 1f0e 8150      		subi r24,lo8(-(-1))
3706
 3939 1f10 8093 0000 		sts carefree_old,r24
3707
 3940               	.L308:
3708
 3941 1f14 8091 0000 		lds r24,FromNaviCtrl+7
3709
 3942 1f18 9091 0000 		lds r25,(FromNaviCtrl+7)+1
3710
 3943 1f1c 97FF      		sbrs r25,7
3711
 3944 1f1e 00C0      		rjmp .L316
3712
 3945 1f20 8091 0000 		lds r24,CareFree
3713
 3946 1f24 8823      		tst r24
3714
 3947 1f26 01F0      		breq .L316
3715
 3948 1f28 8091 0000 		lds r24,VersionInfo+5
3716
 3949 1f2c 8068      		ori r24,lo8(-128)
3717
 3950 1f2e 8093 0000 		sts VersionInfo+5,r24
3718
 3951 1f32 00C0      		rjmp .L316
3719
 3952               	.L306:
3720
 3953 1f34 1092 0000 		sts CareFree,__zero_reg__
3721
 3954 1f38 8AE0      		ldi r24,lo8(10)
3722
 3955 1f3a 8093 0000 		sts carefree_old,r24
3723
 3956               	.L316:
3724
 3957 1f3e 8091 0000 		lds r24,FromNaviCtrl+7
3725
 3958 1f42 9091 0000 		lds r25,(FromNaviCtrl+7)+1
3726
 3959 1f46 97FF      		sbrs r25,7
3727
 3960 1f48 00C0      		rjmp .L317
3728
 3961 1f4a 8091 0000 		lds r24,MotorenEin
3729
 3962 1f4e 8823      		tst r24
3730
 3963 1f50 01F0      		breq .L317
3731
 3964 1f52 8091 0000 		lds r24,CareFree
3732
 3965 1f56 8823      		tst r24
3733
 3966 1f58 01F0      		breq .L317
3734
 3967 1f5a 8091 0000 		lds r24,BeepMuster
3735
 3968 1f5e 9091 0000 		lds r25,(BeepMuster)+1
3736
 3969 1f62 8F5F      		subi r24,lo8(-1)
3737
 3970 1f64 9F4F      		sbci r25,hi8(-1)
3738
 3971 1f66 01F4      		brne .L317
3739
 3972 1f68 88E9      		ldi r24,lo8(15000)
3740
 3973 1f6a 9AE3      		ldi r25,hi8(15000)
3741
 3974 1f6c 9093 0000 		sts (beeptime)+1,r25
3742
 3975 1f70 8093 0000 		sts beeptime,r24
3743
 3976 1f74 80E0      		ldi r24,lo8(-23552)
3744
 3977 1f76 94EA      		ldi r25,hi8(-23552)
3745
 3978 1f78 9093 0000 		sts (BeepMuster)+1,r25
3746
 3979 1f7c 8093 0000 		sts BeepMuster,r24
3747
 3980 1f80 1092 0000 		sts CareFree,__zero_reg__
3748
 3981               	.L317:
3749
 3982 1f84 8091 0000 		lds r24,CareFree
3750
 3983 1f88 8823      		tst r24
3751
 3984 1f8a 01F0      		breq .L318
3752
 3985 1f8c 8091 0000 		lds r24,FC_StatusFlags2
3753
 3986 1f90 8160      		ori r24,lo8(1)
3754
 3987 1f92 8093 0000 		sts FC_StatusFlags2,r24
3755
 3988 1f96 8091 0000 		lds r24,Parameter_AchsKopplung1
3756
 3989 1f9a 823D      		cpi r24,lo8(-46)
3757
 3990 1f9c 00F4      		brsh .L190
3758
 3991 1f9e 825E      		subi r24,lo8(-(30))
3759
 3992 1fa0 8093 0000 		sts Parameter_AchsKopplung1,r24
3760
 3993 1fa4 00C0      		rjmp .L190
3761
 3994               	.L318:
3762
 3995 1fa6 8091 0000 		lds r24,FC_StatusFlags2
3763
 3996 1faa 8E7F      		andi r24,lo8(-2)
3764
 3997 1fac 8093 0000 		sts FC_StatusFlags2,r24
3765
 3998               	.L190:
3766
 3999               	/* epilogue: frame size=0 */
3767
 4000 1fb0 DF91      		pop r29
3768
 4001 1fb2 CF91      		pop r28
3769
 4002 1fb4 0895      		ret
3770
 4003               	/* epilogue end (size=3) */
3771
 4004               	/* function ParameterZuordnung size 772 (767) */
3772
 4006               		.lcomm sollGier.0,4
3773
 4007               		.lcomm tmp_long.1,4
3774
 4008               		.lcomm tmp_long2.2,4
3775
 4009               		.lcomm IntegralFehlerNick.3,4
3776
 4010               		.lcomm IntegralFehlerRoll.4,4
3777
 4011               		.lcomm RcLostTimer.5,2
3778
 4012               		.lcomm delay_neutral.6,1
3779
 4013               		.lcomm delay_einschalten.7,1
3780
 4014               		.lcomm delay_ausschalten.8,1
3781
 4015               		.lcomm move_safety_switch.9,1
3782
 4016               		.lcomm ausgleichNick.10,4
3783
 4017               		.lcomm ausgleichRoll.11,4
3784
 4018               		.lcomm stick_nick.12,2
3785
 4019               		.lcomm stick_roll.13,2
3786
 4020               		.lcomm cnt.14,2
3787
 4021               		.lcomm last_n_p.15,1
3788
 4022               		.lcomm last_n_n.16,1
3789
 4023               		.lcomm last_r_p.17,1
3790
 4024               		.lcomm last_r_n.18,1
3791
 4025               		.lcomm MittelIntegralNick_Alt.19,4
3792
 4026               		.lcomm MittelIntegralRoll_Alt.20,4
3793
 4027               		.lcomm HeightTrimming.21,2
3794
 4028               		.lcomm FilterHCGas.22,2
3795
 4029               		.lcomm HoverGasFilter.23,4
3796
 4030               		.data
3797
 4033               	delay.24:
3798
 4034 004f 64        		.byte	100
3799
 4035               		.lcomm BaroAtUpperLimit.25,1
3800
 4036               		.lcomm BaroAtLowerLimit.26,1
3801
 4037               		.text
3802
 4038               	.global	MotorRegler
3803
 4040               	MotorRegler:
3804
 4041               	/* prologue: frame size=23 */
3805
 4042 1fb6 A7E1      		ldi r26,lo8(23)
3806
 4043 1fb8 B0E0      		ldi r27,hi8(23)
3807
 4044 1fba E0E0      		ldi r30,pm_lo8(1f)
3808
 4045 1fbc F0E0      		ldi r31,pm_hi8(1f)
3809
 4046 1fbe 0C94 0000 		jmp __prologue_saves__+0
3810
 4047               	1:
3811
 4048               	/* prologue end (size=6) */
3812
 4049 1fc2 0E94 0000 		call Mittelwert
3813
 4050 1fc6 8091 0000 		lds r24,FC_StatusFlags
3814
 4051 1fca 9927      		clr r25
3815
 4052 1fcc 8471      		andi r24,lo8(20)
3816
 4053 1fce 9070      		andi r25,hi8(20)
3817
 4054 1fd0 892B      		or r24,r25
3818
 4055 1fd2 01F4      		brne .L365
3819
 4056 1fd4 8091 0000 		lds r24,EE_Parameter+111
3820
 4057 1fd8 82FF      		sbrs r24,2
3821
 4058 1fda 00C0      		rjmp .L366
3822
 4059 1fdc 8091 0000 		lds r24,HoverGas
3823
 4060 1fe0 9091 0000 		lds r25,(HoverGas)+1
3824
 4061 1fe4 0097      		sbiw r24,0
3825
 4062 1fe6 01F0      		breq .L367
3826
 4063 1fe8 02E0      		ldi r16,hi8(600)
3827
 4064 1fea 8835      		cpi r24,lo8(600)
3828
 4065 1fec 9007      		cpc r25,r16
3829
 4066 1fee 04F4      		brge .L367
3830
 4067 1ff0 9C01      		movw r18,r24
3831
 4068 1ff2 97FF      		sbrs r25,7
3832
 4069 1ff4 00C0      		rjmp .L368
3833
 4070 1ff6 2D5F      		subi r18,lo8(-(3))
3834
 4071 1ff8 3F4F      		sbci r19,hi8(-(3))
3835
 4072               	.L368:
3836
 4073 1ffa 3595      		asr r19
3837
 4074 1ffc 2795      		ror r18
3838
 4075 1ffe 3595      		asr r19
3839
 4076 2000 2795      		ror r18
3840
 4077 2002 8091 0000 		lds r24,EE_Parameter+37
3841
 4078 2006 9927      		clr r25
3842
 4079 2008 289F      		mul r18,r24
3843
 4080 200a A001      		movw r20,r0
3844
 4081 200c 299F      		mul r18,r25
3845
 4082 200e 500D      		add r21,r0
3846
 4083 2010 389F      		mul r19,r24
3847
 4084 2012 500D      		add r21,r0
3848
 4085 2014 1124      		clr r1
3849
 4086 2016 CA01      		movw r24,r20
3850
 4087 2018 64E6      		ldi r22,lo8(100)
3851
 4088 201a 70E0      		ldi r23,hi8(100)
3852
 4089 201c 0E94 0000 		call __divmodhi4
3853
 4090 2020 CB01      		movw r24,r22
3854
 4091 2022 00C0      		rjmp .L887
3855
 4092               	.L367:
3856
 4093 2024 8DE2      		ldi r24,lo8(45)
3857
 4094 2026 90E0      		ldi r25,hi8(45)
3858
 4095 2028 00C0      		rjmp .L887
3859
 4096               	.L366:
3860
 4097 202a 8091 0000 		lds r24,EE_Parameter+37
3861
 4098 202e 9927      		clr r25
3862
 4099               	.L887:
3863
 4100 2030 9093 0000 		sts (HooverGasEmergencyPercent)+1,r25
3864
 4101 2034 8093 0000 		sts HooverGasEmergencyPercent,r24
3865
 4102               	.L365:
3866
 4103 2038 2091 0000 		lds r18,GasIsZeroCnt
3867
 4104 203c 3091 0000 		lds r19,(GasIsZeroCnt)+1
3868
 4105 2040 55E7      		ldi r21,hi8(30000)
3869
 4106 2042 2033      		cpi r18,lo8(30000)
3870
 4107 2044 3507      		cpc r19,r21
3871
 4108 2046 01F4      		brne .L371
3872
 4109 2048 1092 0000 		sts (StickGas)+1,__zero_reg__
3873
 4110 204c 1092 0000 		sts StickGas,__zero_reg__
3874
 4111 2050 8091 0000 		lds r24,MIN_GAS
3875
 4112 2054 9927      		clr r25
3876
 4113 2056 9093 0000 		sts (HooverGasEmergencyPercent)+1,r25
3877
 4114 205a 8093 0000 		sts HooverGasEmergencyPercent,r24
3878
 4115               	.L371:
3879
 4116 205e 6091 0000 		lds r22,StickGas
3880
 4117 2062 7091 0000 		lds r23,(StickGas)+1
3881
 4118 2066 7A83      		std Y+2,r23
3882
 4119 2068 6983      		std Y+1,r22
3883
 4120 206a 8091 0000 		lds r24,MIN_GAS
3884
 4121 206e 9927      		clr r25
3885
 4122 2070 0A96      		adiw r24,10
3886
 4123 2072 6817      		cp r22,r24
3887
 4124 2074 7907      		cpc r23,r25
3888
 4125 2076 04F4      		brge .L372
3889
 4126 2078 9A83      		std Y+2,r25
3890
 4127 207a 8983      		std Y+1,r24
3891
 4128               	.L372:
3892
 4129 207c 8091 0000 		lds r24,SenderOkay
3893
 4130 2080 8436      		cpi r24,lo8(100)
3894
 4131 2082 00F0      		brlo .+2
3895
 4132 2084 00C0      		rjmp .L373
3896
 4133 2086 8091 0000 		lds r24,FC_StatusFlags2
3897
 4134 208a 82FD      		sbrc r24,2
3898
 4135 208c 00C0      		rjmp .L373
3899
 4136 208e 8091 0000 		lds r24,RcLostTimer.5
3900
 4137 2092 9091 0000 		lds r25,(RcLostTimer.5)+1
3901
 4138 2096 0097      		sbiw r24,0
3902
 4139 2098 01F0      		breq .L374
3903
 4140 209a 0197      		sbiw r24,1
3904
 4141 209c 9093 0000 		sts (RcLostTimer.5)+1,r25
3905
 4142 20a0 8093 0000 		sts RcLostTimer.5,r24
3906
 4143 20a4 00C0      		rjmp .L375
3907
 4144               	.L374:
3908
 4145 20a6 1092 0000 		sts MotorenEin,__zero_reg__
3909
 4146 20aa 9093 0000 		sts (modell_fliegt)+1,r25
3910
 4147 20ae 8093 0000 		sts modell_fliegt,r24
3911
 4148 20b2 8091 0000 		lds r24,FC_StatusFlags
3912
 4149 20b6 8D7E      		andi r24,lo8(-19)
3913
 4150 20b8 8093 0000 		sts FC_StatusFlags,r24
3914
 4151               	.L375:
3915
 4152 20bc 8091 0000 		lds r24,PlatinenVersion
3916
 4153 20c0 8A30      		cpi r24,lo8(10)
3917
 4154 20c2 01F0      		breq .L377
3918
 4155 20c4 8431      		cpi r24,lo8(20)
3919
 4156 20c6 00F0      		brlo .L376
3920
 4157               	.L377:
3921
 4158 20c8 289A      		sbi 37-0x20,0
3922
 4159 20ca 00C0      		rjmp .L378
3923
 4160               	.L376:
3924
 4161 20cc 2898      		cbi 37-0x20,0
3925
 4162               	.L378:
3926
 4163 20ce 8091 0000 		lds r24,modell_fliegt
3927
 4164 20d2 9091 0000 		lds r25,(modell_fliegt)+1
3928
 4165 20d6 895E      		subi r24,lo8(1001)
3929
 4166 20d8 9340      		sbci r25,hi8(1001)
3930
 4167 20da 00F0      		brlo .L379
3931
 4168 20dc 8091 0000 		lds r24,Capacity+6
3932
 4169 20e0 8536      		cpi r24,lo8(101)
3933
 4170 20e2 00F0      		brlo .L379
3934
 4171 20e4 8091 0000 		lds r24,HooverGasEmergencyPercent
3935
 4172 20e8 9091 0000 		lds r25,(HooverGasEmergencyPercent)+1
3936
 4173 20ec 9A83      		std Y+2,r25
3937
 4174 20ee 8983      		std Y+1,r24
3938
 4175 20f0 8091 0000 		lds r24,FC_StatusFlags
3939
 4176 20f4 8061      		ori r24,lo8(16)
3940
 4177 20f6 8093 0000 		sts FC_StatusFlags,r24
3941
 4178 20fa 8091 0000 		lds r24,EE_Parameter+1
3942
 4179 20fe A82F      		mov r26,r24
3943
 4180 2100 BB27      		clr r27
3944
 4181 2102 AA0F      		add r26,r26
3945
 4182 2104 BB1F      		adc r27,r27
3946
 4183 2106 FD01      		movw r30,r26
3947
 4184 2108 E050      		subi r30,lo8(-(PPM_diff))
3948
 4185 210a F040      		sbci r31,hi8(-(PPM_diff))
3949
 4186 210c 1182      		std Z+1,__zero_reg__
3950
 4187 210e 1082      		st Z,__zero_reg__
3951
 4188 2110 8091 0000 		lds r24,EE_Parameter+2
3952
 4189 2114 282F      		mov r18,r24
3953
 4190 2116 3327      		clr r19
3954
 4191 2118 220F      		add r18,r18
3955
 4192 211a 331F      		adc r19,r19
3956
 4193 211c C901      		movw r24,r18
3957
 4194 211e 8050      		subi r24,lo8(-(PPM_diff))
3958
 4195 2120 9040      		sbci r25,hi8(-(PPM_diff))
3959
 4196 2122 FC01      		movw r30,r24
3960
 4197 2124 1182      		std Z+1,__zero_reg__
3961
 4198 2126 1082      		st Z,__zero_reg__
3962
 4199 2128 A050      		subi r26,lo8(-(PPM_in))
3963
 4200 212a B040      		sbci r27,hi8(-(PPM_in))
3964
 4201 212c 1196      		adiw r26,1
3965
 4202 212e 1C92      		st X,__zero_reg__
3966
 4203 2130 1E92      		st -X,__zero_reg__
3967
 4204 2132 2050      		subi r18,lo8(-(PPM_in))
3968
 4205 2134 3040      		sbci r19,hi8(-(PPM_in))
3969
 4206 2136 D901      		movw r26,r18
3970
 4207 2138 1196      		adiw r26,1
3971
 4208 213a 1C92      		st X,__zero_reg__
3972
 4209 213c 1E92      		st -X,__zero_reg__
3973
 4210 213e 8091 0000 		lds r24,EE_Parameter+4
3974
 4211 2142 E82F      		mov r30,r24
3975
 4212 2144 FF27      		clr r31
3976
 4213 2146 EE0F      		add r30,r30
3977
 4214 2148 FF1F      		adc r31,r31
3978
 4215 214a E050      		subi r30,lo8(-(PPM_in))
3979
 4216 214c F040      		sbci r31,hi8(-(PPM_in))
3980
 4217 214e 1182      		std Z+1,__zero_reg__
3981
 4218 2150 1082      		st Z,__zero_reg__
3982
 4219 2152 00C0      		rjmp .L381
3983
 4220               	.L379:
3984
 4221 2154 1092 0000 		sts MotorenEin,__zero_reg__
3985
 4222 2158 00C0      		rjmp .L381
3986
 4223               	.L373:
3987
 4224 215a 8091 0000 		lds r24,SenderOkay
3988
 4225 215e 8D38      		cpi r24,lo8(-115)
3989
 4226 2160 00F4      		brsh .+2
3990
 4227 2162 00C0      		rjmp .L382
3991
 4228 2164 8091 0000 		lds r24,FC_StatusFlags
3992
 4229 2168 8F7E      		andi r24,lo8(-17)
3993
 4230 216a 8093 0000 		sts FC_StatusFlags,r24
3994
 4231 216e 9091 0000 		lds r25,EE_Parameter+38
3995
 4232 2172 82E3      		ldi r24,lo8(50)
3996
 4233 2174 989F      		mul r25,r24
3997
 4234 2176 C001      		movw r24,r0
3998
 4235 2178 1124      		clr r1
3999
 4236 217a 9093 0000 		sts (RcLostTimer.5)+1,r25
4000
 4237 217e 8093 0000 		sts RcLostTimer.5,r24
4001
 4238 2182 E981      		ldd r30,Y+1
4002
 4239 2184 FA81      		ldd r31,Y+2
4003
 4240 2186 B997      		sbiw r30,41
4004
 4241 2188 04F0      		brlt .L383
4005
 4242 218a 8091 0000 		lds r24,MotorenEin
4006
 4243 218e 8823      		tst r24
4007
 4244 2190 01F0      		breq .L383
4008
 4245 2192 8091 0000 		lds r24,modell_fliegt
4009
 4246 2196 9091 0000 		lds r25,(modell_fliegt)+1
4010
 4247 219a FFEF      		ldi r31,hi8(-1)
4011
 4248 219c 8F3F      		cpi r24,lo8(-1)
4012
 4249 219e 9F07      		cpc r25,r31
4013
 4250 21a0 01F0      		breq .L383
4014
 4251 21a2 0196      		adiw r24,1
4015
 4252 21a4 9093 0000 		sts (modell_fliegt)+1,r25
4016
 4253 21a8 8093 0000 		sts modell_fliegt,r24
4017
 4254               	.L383:
4018
 4255 21ac 8091 0000 		lds r24,modell_fliegt
4019
 4256 21b0 9091 0000 		lds r25,(modell_fliegt)+1
4020
 4257 21b4 8F3F      		cpi r24,255
4021
 4258 21b6 9105      		cpc r25,__zero_reg__
4022
 4259 21b8 01F0      		breq .+2
4023
 4260 21ba 00F4      		brsh .L385
4024
 4261 21bc 1092 0000 		sts SummeNick,__zero_reg__
4025
 4262 21c0 1092 0000 		sts (SummeNick)+1,__zero_reg__
4026
 4263 21c4 1092 0000 		sts (SummeNick)+2,__zero_reg__
4027
 4264 21c8 1092 0000 		sts (SummeNick)+3,__zero_reg__
4028
 4265 21cc 1092 0000 		sts SummeRoll,__zero_reg__
4029
 4266 21d0 1092 0000 		sts (SummeRoll)+1,__zero_reg__
4030
 4267 21d4 1092 0000 		sts (SummeRoll)+2,__zero_reg__
4031
 4268 21d8 1092 0000 		sts (SummeRoll)+3,__zero_reg__
4032
 4269 21dc 1092 0000 		sts sollGier.0,__zero_reg__
4033
 4270 21e0 1092 0000 		sts (sollGier.0)+1,__zero_reg__
4034
 4271 21e4 1092 0000 		sts (sollGier.0)+2,__zero_reg__
4035
 4272 21e8 1092 0000 		sts (sollGier.0)+3,__zero_reg__
4036
 4273 21ec 1092 0000 		sts Mess_Integral_Gier,__zero_reg__
4037
 4274 21f0 1092 0000 		sts (Mess_Integral_Gier)+1,__zero_reg__
4038
 4275 21f4 1092 0000 		sts (Mess_Integral_Gier)+2,__zero_reg__
4039
 4276 21f8 1092 0000 		sts (Mess_Integral_Gier)+3,__zero_reg__
4040
 4277 21fc 00C0      		rjmp .L386
4041
 4278               	.L385:
4042
 4279 21fe 8091 0000 		lds r24,FC_StatusFlags
4043
 4280 2202 8260      		ori r24,lo8(2)
4044
 4281 2204 8093 0000 		sts FC_StatusFlags,r24
4045
 4282               	.L386:
4046
 4283 2208 8091 0000 		lds r24,EE_Parameter+3
4047
 4284 220c E82F      		mov r30,r24
4048
 4285 220e FF27      		clr r31
4049
 4286 2210 EE0F      		add r30,r30
4050
 4287 2212 FF1F      		adc r31,r31
4051
 4288 2214 E050      		subi r30,lo8(-(PPM_in))
4052
 4289 2216 F040      		sbci r31,hi8(-(PPM_in))
4053
 4290 2218 8081      		ld r24,Z
4054
 4291 221a 9181      		ldd r25,Z+1
4055
 4292 221c 8135      		cpi r24,81
4056
 4293 221e 9105      		cpc r25,__zero_reg__
4057
 4294 2220 04F4      		brge .+2
4058
 4295 2222 00C0      		rjmp .L387
4059
 4296 2224 2091 0000 		lds r18,MotorenEin
4060
 4297 2228 2223      		tst r18
4061
 4298 222a 01F0      		breq .+2
4062
 4299 222c 00C0      		rjmp .L387
4063
 4300 222e 8091 0000 		lds r24,EE_Parameter+4
4064
 4301 2232 E82F      		mov r30,r24
4065
 4302 2234 FF27      		clr r31
4066
 4303 2236 EE0F      		add r30,r30
4067
 4304 2238 FF1F      		adc r31,r31
4068
 4305 223a E050      		subi r30,lo8(-(PPM_in))
4069
 4306 223c F040      		sbci r31,hi8(-(PPM_in))
4070
 4307 223e 8081      		ld r24,Z
4071
 4308 2240 9181      		ldd r25,Z+1
4072
 4309 2242 8C34      		cpi r24,76
4073
 4310 2244 9105      		cpc r25,__zero_reg__
4074
 4311 2246 04F4      		brge .+2
4075
 4312 2248 00C0      		rjmp .L388
4076
 4313 224a 8091 0000 		lds r24,delay_neutral.6
4077
 4314 224e 8F5F      		subi r24,lo8(-(1))
4078
 4315 2250 8093 0000 		sts delay_neutral.6,r24
4079
 4316 2254 893C      		cpi r24,lo8(-55)
4080
 4317 2256 00F4      		brsh .+2
4081
 4318 2258 00C0      		rjmp .L387
4082
 4319 225a 2093 0000 		sts delay_neutral.6,r18
4083
 4320 225e 1092 0000 		sts (modell_fliegt)+1,__zero_reg__
4084
 4321 2262 1092 0000 		sts modell_fliegt,__zero_reg__
4085
 4322 2266 3091 0000 		lds r19,EE_Parameter+1
4086
 4323 226a E32F      		mov r30,r19
4087
 4324 226c FF27      		clr r31
4088
 4325 226e EE0F      		add r30,r30
4089
 4326 2270 FF1F      		adc r31,r31
4090
 4327 2272 E050      		subi r30,lo8(-(PPM_in))
4091
 4328 2274 F040      		sbci r31,hi8(-(PPM_in))
4092
 4329 2276 8081      		ld r24,Z
4093
 4330 2278 9181      		ldd r25,Z+1
4094
 4331 227a 8734      		cpi r24,71
4095
 4332 227c 9105      		cpc r25,__zero_reg__
4096
 4333 227e 04F4      		brge .L391
4097
 4334 2280 8091 0000 		lds r24,EE_Parameter+2
4098
 4335 2284 E82F      		mov r30,r24
4099
 4336 2286 FF27      		clr r31
4100
 4337 2288 EE0F      		add r30,r30
4101
 4338 228a FF1F      		adc r31,r31
4102
 4339 228c E050      		subi r30,lo8(-(PPM_in))
4103
 4340 228e F040      		sbci r31,hi8(-(PPM_in))
4104
 4341 2290 8081      		ld r24,Z
4105
 4342 2292 9181      		ldd r25,Z+1
4106
 4343 2294 0190      		ld __tmp_reg__,Z+
4107
 4344 2296 F081      		ld r31,Z
4108
 4345 2298 E02D      		mov r30,__tmp_reg__
4109
 4346 229a F7FF      		sbrs r31,7
4110
 4347 229c 00C0      		rjmp .L392
4111
 4348 229e F095      		com r31
4112
 4349 22a0 E195      		neg r30
4113
 4350 22a2 FF4F      		sbci r31,lo8(-1)
4114
 4351               	.L392:
4115
 4352 22a4 E734      		cpi r30,71
4116
 4353 22a6 F105      		cpc r31,__zero_reg__
4117
 4354 22a8 04F4      		brge .+2
4118
 4355 22aa 00C0      		rjmp .L390
4119
 4356               	.L391:
4120
 4357 22ac 41E0      		ldi r20,lo8(1)
4121
 4358 22ae 2091 0000 		lds r18,EE_Parameter+2
4122
 4359 22b2 A22F      		mov r26,r18
4123
 4360 22b4 BB27      		clr r27
4124
 4361 22b6 AA0F      		add r26,r26
4125
 4362 22b8 BB1F      		adc r27,r27
4126
 4363 22ba A050      		subi r26,lo8(-(PPM_in))
4127
 4364 22bc B040      		sbci r27,hi8(-(PPM_in))
4128
 4365 22be 8D91      		ld r24,X+
4129
 4366 22c0 9C91      		ld r25,X
4130
 4367 22c2 1197      		sbiw r26,1
4131
 4368 22c4 8734      		cpi r24,71
4132
 4369 22c6 9105      		cpc r25,__zero_reg__
4133
 4370 22c8 04F0      		brlt .L393
4134
 4371 22ca E32F      		mov r30,r19
4135
 4372 22cc FF27      		clr r31
4136
 4373 22ce EE0F      		add r30,r30
4137
 4374 22d0 FF1F      		adc r31,r31
4138
 4375 22d2 E050      		subi r30,lo8(-(PPM_in))
4139
 4376 22d4 F040      		sbci r31,hi8(-(PPM_in))
4140
 4377 22d6 8081      		ld r24,Z
4141
 4378 22d8 9181      		ldd r25,Z+1
4142
 4379               	.L393:
4143
 4380 22da 8D91      		ld r24,X+
4144
 4381 22dc 9C91      		ld r25,X
4145
 4382 22de 8734      		cpi r24,71
4146
 4383 22e0 9105      		cpc r25,__zero_reg__
4147
 4384 22e2 04F0      		brlt .L394
4148
 4385 22e4 8091 0000 		lds r24,EE_Parameter+1
4149
 4386 22e8 E82F      		mov r30,r24
4150
 4387 22ea FF27      		clr r31
4151
 4388 22ec EE0F      		add r30,r30
4152
 4389 22ee FF1F      		adc r31,r31
4153
 4390 22f0 E050      		subi r30,lo8(-(PPM_in))
4154
 4391 22f2 F040      		sbci r31,hi8(-(PPM_in))
4155
 4392 22f4 8081      		ld r24,Z
4156
 4393 22f6 9181      		ldd r25,Z+1
4157
 4394 22f8 8734      		cpi r24,71
4158
 4395 22fa 9105      		cpc r25,__zero_reg__
4159
 4396 22fc 04F0      		brlt .L394
4160
 4397 22fe 42E0      		ldi r20,lo8(2)
4161
 4398               	.L394:
4162
 4399 2300 E22F      		mov r30,r18
4163
 4400 2302 FF27      		clr r31
4164
 4401 2304 EE0F      		add r30,r30
4165
 4402 2306 FF1F      		adc r31,r31
4166
 4403 2308 E050      		subi r30,lo8(-(PPM_in))
4167
 4404 230a F040      		sbci r31,hi8(-(PPM_in))
4168
 4405 230c 8081      		ld r24,Z
4169
 4406 230e 9181      		ldd r25,Z+1
4170
 4407 2310 8634      		cpi r24,70
4171
 4408 2312 9105      		cpc r25,__zero_reg__
4172
 4409 2314 04F4      		brge .L395
4173
 4410 2316 8091 0000 		lds r24,EE_Parameter+1
4174
 4411 231a E82F      		mov r30,r24
4175
 4412 231c FF27      		clr r31
4176
 4413 231e EE0F      		add r30,r30
4177
 4414 2320 FF1F      		adc r31,r31
4178
 4415 2322 E050      		subi r30,lo8(-(PPM_in))
4179
 4416 2324 F040      		sbci r31,hi8(-(PPM_in))
4180
 4417 2326 8081      		ld r24,Z
4181
 4418 2328 9181      		ldd r25,Z+1
4182
 4419 232a 8734      		cpi r24,71
4183
 4420 232c 9105      		cpc r25,__zero_reg__
4184
 4421 232e 04F0      		brlt .L395
4185
 4422 2330 43E0      		ldi r20,lo8(3)
4186
 4423               	.L395:
4187
 4424 2332 E22F      		mov r30,r18
4188
 4425 2334 FF27      		clr r31
4189
 4426 2336 EE0F      		add r30,r30
4190
 4427 2338 FF1F      		adc r31,r31
4191
 4428 233a E050      		subi r30,lo8(-(PPM_in))
4192
 4429 233c F040      		sbci r31,hi8(-(PPM_in))
4193
 4430 233e 8081      		ld r24,Z
4194
 4431 2340 9181      		ldd r25,Z+1
4195
 4432 2342 8A5B      		subi r24,lo8(-70)
4196
 4433 2344 9F4F      		sbci r25,hi8(-70)
4197
 4434 2346 04F4      		brge .L396
4198
 4435 2348 8091 0000 		lds r24,EE_Parameter+1
4199
 4436 234c E82F      		mov r30,r24
4200
 4437 234e FF27      		clr r31
4201
 4438 2350 EE0F      		add r30,r30
4202
 4439 2352 FF1F      		adc r31,r31
4203
 4440 2354 E050      		subi r30,lo8(-(PPM_in))
4204
 4441 2356 F040      		sbci r31,hi8(-(PPM_in))
4205
 4442 2358 8081      		ld r24,Z
4206
 4443 235a 9181      		ldd r25,Z+1
4207
 4444 235c 8734      		cpi r24,71
4208
 4445 235e 9105      		cpc r25,__zero_reg__
4209
 4446 2360 04F0      		brlt .L396
4210
 4447 2362 44E0      		ldi r20,lo8(4)
4211
 4448               	.L396:
4212
 4449 2364 E22F      		mov r30,r18
4213
 4450 2366 FF27      		clr r31
4214
 4451 2368 EE0F      		add r30,r30
4215
 4452 236a FF1F      		adc r31,r31
4216
 4453 236c E050      		subi r30,lo8(-(PPM_in))
4217
 4454 236e F040      		sbci r31,hi8(-(PPM_in))
4218
 4455 2370 8081      		ld r24,Z
4219
 4456 2372 9181      		ldd r25,Z+1
4220
 4457 2374 8A5B      		subi r24,lo8(-70)
4221
 4458 2376 9F4F      		sbci r25,hi8(-70)
4222
 4459 2378 04F4      		brge .L397
4223
 4460 237a 8091 0000 		lds r24,EE_Parameter+1
4224
 4461 237e E82F      		mov r30,r24
4225
 4462 2380 FF27      		clr r31
4226
 4463 2382 EE0F      		add r30,r30
4227
 4464 2384 FF1F      		adc r31,r31
4228
 4465 2386 E050      		subi r30,lo8(-(PPM_in))
4229
 4466 2388 F040      		sbci r31,hi8(-(PPM_in))
4230
 4467 238a 8081      		ld r24,Z
4231
 4468 238c 9181      		ldd r25,Z+1
4232
 4469 238e 8634      		cpi r24,70
4233
 4470 2390 9105      		cpc r25,__zero_reg__
4234
 4471 2392 04F4      		brge .L397
4235
 4472 2394 45E0      		ldi r20,lo8(5)
4236
 4473               	.L397:
4237
 4474 2396 842F      		mov r24,r20
4238
 4475 2398 0E94 0000 		call SetActiveParamSet
4239
 4476               	.L390:
4240
 4477 239c 8091 0000 		lds r24,EE_Parameter+2
4241
 4478 23a0 E82F      		mov r30,r24
4242
 4479 23a2 FF27      		clr r31
4243
 4480 23a4 EE0F      		add r30,r30
4244
 4481 23a6 FF1F      		adc r31,r31
4245
 4482 23a8 E050      		subi r30,lo8(-(PPM_in))
4246
 4483 23aa F040      		sbci r31,hi8(-(PPM_in))
4247
 4484 23ac 8081      		ld r24,Z
4248
 4485 23ae 9181      		ldd r25,Z+1
4249
 4486 23b0 0190      		ld __tmp_reg__,Z+
4250
 4487 23b2 F081      		ld r31,Z
4251
 4488 23b4 E02D      		mov r30,__tmp_reg__
4252
 4489 23b6 F7FF      		sbrs r31,7
4253
 4490 23b8 00C0      		rjmp .L399
4254
 4491 23ba F095      		com r31
4255
 4492 23bc E195      		neg r30
4256
 4493 23be FF4F      		sbci r31,lo8(-1)
4257
 4494               	.L399:
4258
 4495 23c0 7E97      		sbiw r30,30
4259
 4496 23c2 04F4      		brge .L398
4260
 4497 23c4 8091 0000 		lds r24,EE_Parameter+1
4261
 4498 23c8 E82F      		mov r30,r24
4262
 4499 23ca FF27      		clr r31
4263
 4500 23cc EE0F      		add r30,r30
4264
 4501 23ce FF1F      		adc r31,r31
4265
 4502 23d0 E050      		subi r30,lo8(-(PPM_in))
4266
 4503 23d2 F040      		sbci r31,hi8(-(PPM_in))
4267
 4504 23d4 8081      		ld r24,Z
4268
 4505 23d6 9181      		ldd r25,Z+1
4269
 4506 23d8 8A5B      		subi r24,lo8(-70)
4270
 4507 23da 9F4F      		sbci r25,hi8(-70)
4271
 4508 23dc 04F4      		brge .L398
4272
 4509 23de 81E0      		ldi r24,lo8(1)
4273
 4510 23e0 8093 0000 		sts WinkelOut+6,r24
4274
 4511 23e4 1092 0000 		sts CalibrationDone,__zero_reg__
4275
 4512 23e8 88EE      		ldi r24,lo8(1000)
4276
 4513 23ea 93E0      		ldi r25,hi8(1000)
4277
 4514 23ec 9093 0000 		sts (beeptime)+1,r25
4278
 4515 23f0 8093 0000 		sts beeptime,r24
4279
 4516 23f4 00C0      		rjmp .L387
4280
 4517               	.L398:
4281
 4518 23f6 0E94 0000 		call GetActiveParamSet
4282
 4519 23fa 0E94 0000 		call ParamSet_ReadFromEEProm
4283
 4520 23fe 80E0      		ldi r24,lo8(0)
4284
 4521 2400 0E94 0000 		call LipoDetection
4285
 4522 2404 8091 0000 		lds r24,EE_Parameter+39
4286
 4523 2408 0E94 0000 		call LIBFC_ReceiverInit
4287
 4524 240c 8091 0000 		lds r24,Parameter_GlobalConfig
4288
 4525 2410 80FF      		sbrs r24,0
4289
 4526 2412 00C0      		rjmp .L401
4290
 4527 2414 8091 0000 		lds r24,MessLuftdruck
4291
 4528 2418 9091 0000 		lds r25,(MessLuftdruck)+1
4292
 4529 241c 875B      		subi r24,lo8(951)
4293
 4530 241e 9340      		sbci r25,hi8(951)
4294
 4531 2420 00F4      		brsh .L403
4295
 4532 2422 8091 0000 		lds r24,MessLuftdruck
4296
 4533 2426 9091 0000 		lds r25,(MessLuftdruck)+1
4297
 4534 242a 8E5E      		subi r24,lo8(750)
4298
 4535 242c 9240      		sbci r25,hi8(750)
4299
 4536 242e 00F4      		brsh .L401
4300
 4537               	.L403:
4301
 4538 2430 0E94 0000 		call SucheLuftruckOffset
4302
 4539               	.L401:
4303
 4540 2434 80E0      		ldi r24,lo8(0)
4304
 4541 2436 0E94 0000 		call SetNeutral
4305
 4542 243a 81E0      		ldi r24,lo8(1)
4306
 4543 243c 8093 0000 		sts CalibrationDone,r24
4307
 4544 2440 8093 0000 		sts ServoActive,r24
4308
 4545 2444 579A      		sbi 42-0x20,7
4309
 4546 2446 00C0      		rjmp .L888
4310
 4547               	.L388:
4311
 4548 2448 8081      		ld r24,Z
4312
 4549 244a 9181      		ldd r25,Z+1
4313
 4550 244c 855B      		subi r24,lo8(-75)
4314
 4551 244e 9F4F      		sbci r25,hi8(-75)
4315
 4552 2450 04F4      		brge .L405
4316
 4553 2452 8091 0000 		lds r24,delay_neutral.6
4317
 4554 2456 8F5F      		subi r24,lo8(-(1))
4318
 4555 2458 8093 0000 		sts delay_neutral.6,r24
4319
 4556 245c 893C      		cpi r24,lo8(-55)
4320
 4557 245e 00F0      		brlo .L387
4321
 4558 2460 2093 0000 		sts MotorenEin,r18
4322
 4559 2464 2093 0000 		sts delay_neutral.6,r18
4323
 4560 2468 1092 0000 		sts (modell_fliegt)+1,__zero_reg__
4324
 4561 246c 1092 0000 		sts modell_fliegt,__zero_reg__
4325
 4562 2470 81E0      		ldi r24,lo8(1)
4326
 4563 2472 0E94 0000 		call SetNeutral
4327
 4564 2476 81E0      		ldi r24,lo8(1)
4328
 4565 2478 8093 0000 		sts CalibrationDone,r24
4329
 4566               	.L888:
4330
 4567 247c 88E1      		ldi r24,lo8(24)
4331
 4568 247e 8093 0000 		sts SpeakHoTT,r24
4332
 4569 2482 0E94 0000 		call GetActiveParamSet
4333
 4570 2486 68E7      		ldi r22,lo8(120)
4334
 4571 2488 70E0      		ldi r23,hi8(120)
4335
 4572 248a 0E94 0000 		call Piep
4336
 4573 248e 00C0      		rjmp .L387
4337
 4574               	.L405:
4338
 4575 2490 2093 0000 		sts delay_neutral.6,r18
4339
 4576               	.L387:
4340
 4577 2494 8091 0000 		lds r24,EE_Parameter+3
4341
 4578 2498 E82F      		mov r30,r24
4342
 4579 249a FF27      		clr r31
4343
 4580 249c EE0F      		add r30,r30
4344
 4581 249e FF1F      		adc r31,r31
4345
 4582 24a0 E050      		subi r30,lo8(-(PPM_in))
4346
 4583 24a2 F040      		sbci r31,hi8(-(PPM_in))
4347
 4584 24a4 8081      		ld r24,Z
4348
 4585 24a6 9181      		ldd r25,Z+1
4349
 4586 24a8 8B5A      		subi r24,lo8(-85)
4350
 4587 24aa 9F4F      		sbci r25,hi8(-85)
4351
 4588 24ac 04F0      		brlt .+2
4352
 4589 24ae 00C0      		rjmp .L408
4353
 4590 24b0 2091 0000 		lds r18,EE_Parameter+100
4354
 4591 24b4 E22F      		mov r30,r18
4355
 4592 24b6 FF27      		clr r31
4356
 4593 24b8 EF77      		andi r30,lo8(127)
4357
 4594 24ba F070      		andi r31,hi8(127)
4358
 4595 24bc EE0F      		add r30,r30
4359
 4596 24be FF1F      		adc r31,r31
4360
 4597 24c0 E050      		subi r30,lo8(-(PPM_diff))
4361
 4598 24c2 F040      		sbci r31,hi8(-(PPM_diff))
4362
 4599 24c4 8081      		ld r24,Z
4363
 4600 24c6 9181      		ldd r25,Z+1
4364
 4601 24c8 0697      		sbiw r24,6
4365
 4602 24ca 04F0      		brlt .L409
4366
 4603 24cc 84E6      		ldi r24,lo8(100)
4367
 4604 24ce 00C0      		rjmp .L889
4368
 4605               	.L409:
4369
 4606 24d0 8081      		ld r24,Z
4370
 4607 24d2 9181      		ldd r25,Z+1
4371
 4608 24d4 8B5F      		subi r24,lo8(-5)
4372
 4609 24d6 9F4F      		sbci r25,hi8(-5)
4373
 4610 24d8 04F4      		brge .L410
4374
 4611 24da 8CE9      		ldi r24,lo8(-100)
4375
 4612               	.L889:
4376
 4613 24dc 8093 0000 		sts move_safety_switch.9,r24
4377
 4614               	.L410:
4378
 4615 24e0 8091 0000 		lds r24,MotorenEin
4379
 4616 24e4 E091 0000 		lds r30,EE_Parameter+4
4380
 4617 24e8 8823      		tst r24
4381
 4618 24ea 01F0      		breq .+2
4382
 4619 24ec 00C0      		rjmp .L412
4383
 4620 24ee FF27      		clr r31
4384
 4621 24f0 EE0F      		add r30,r30
4385
 4622 24f2 FF1F      		adc r31,r31
4386
 4623 24f4 E050      		subi r30,lo8(-(PPM_in))
4387
 4624 24f6 F040      		sbci r31,hi8(-(PPM_in))
4388
 4625 24f8 8081      		ld r24,Z
4389
 4626 24fa 9181      		ldd r25,Z+1
4390
 4627 24fc 855B      		subi r24,lo8(-75)
4391
 4628 24fe 9F4F      		sbci r25,hi8(-75)
4392
 4629 2500 04F4      		brge .L415
4393
 4630 2502 8091 0000 		lds r24,EE_Parameter+111
4394
 4631 2506 83FD      		sbrc r24,3
4395
 4632 2508 00C0      		rjmp .L416
4396
 4633 250a E22F      		mov r30,r18
4397
 4634 250c FF27      		clr r31
4398
 4635 250e EE0F      		add r30,r30
4399
 4636 2510 FF1F      		adc r31,r31
4400
 4637 2512 E050      		subi r30,lo8(-(PPM_in))
4401
 4638 2514 F040      		sbci r31,hi8(-(PPM_in))
4402
 4639 2516 8081      		ld r24,Z
4403
 4640 2518 9181      		ldd r25,Z+1
4404
 4641 251a 855B      		subi r24,lo8(-75)
4405
 4642 251c 9F4F      		sbci r25,hi8(-75)
4406
 4643 251e 04F0      		brlt .L414
4407
 4644               	.L416:
4408
 4645 2520 8091 0000 		lds r24,EE_Parameter+100
4409
 4646 2524 8823      		tst r24
4410
 4647 2526 01F0      		breq .L414
4411
 4648               	.L415:
4412
 4649 2528 8091 0000 		lds r24,EE_Parameter+111
4413
 4650 252c 83FF      		sbrs r24,3
4414
 4651 252e 00C0      		rjmp .L413
4415
 4652 2530 8091 0000 		lds r24,EE_Parameter+100
4416
 4653 2534 E82F      		mov r30,r24
4417
 4654 2536 FF27      		clr r31
4418
 4655 2538 EE0F      		add r30,r30
4419
 4656 253a FF1F      		adc r31,r31
4420
 4657 253c E050      		subi r30,lo8(-(PPM_in))
4421
 4658 253e F040      		sbci r31,hi8(-(PPM_in))
4422
 4659 2540 8081      		ld r24,Z
4423
 4660 2542 9181      		ldd r25,Z+1
4424
 4661 2544 875F      		subi r24,lo8(-9)
4425
 4662 2546 9F4F      		sbci r25,hi8(-9)
4426
 4663 2548 04F4      		brge .+2
4427
 4664 254a 00C0      		rjmp .L413
4428
 4665 254c 8091 0000 		lds r24,move_safety_switch.9
4429
 4666 2550 8436      		cpi r24,lo8(100)
4430
 4667 2552 01F0      		breq .+2
4431
 4668 2554 00C0      		rjmp .L413
4432
 4669               	.L414:
4433
 4670 2556 2091 0000 		lds r18,CalibrationDone
4434
 4671 255a 2223      		tst r18
4435
 4672 255c 01F0      		breq .L417
4436
 4673 255e 8091 0000 		lds r24,FC_StatusFlags
4437
 4674 2562 8860      		ori r24,lo8(8)
4438
 4675 2564 8093 0000 		sts FC_StatusFlags,r24
4439
 4676               	.L417:
4440
 4677 2568 8091 0000 		lds r24,delay_einschalten.7
4441
 4678 256c 8F5F      		subi r24,lo8(-(1))
4442
 4679 256e 8093 0000 		sts delay_einschalten.7,r24
4443
 4680 2572 8E3F      		cpi r24,lo8(-2)
4444
 4681 2574 00F4      		brsh .+2
4445
 4682 2576 00C0      		rjmp .L423
4446
 4683 2578 1092 0000 		sts delay_einschalten.7,__zero_reg__
4447
 4684 257c 8091 0000 		lds r24,VersionInfo+5
4448
 4685 2580 8823      		tst r24
4449
 4686 2582 01F0      		breq .+2
4450
 4687 2584 00C0      		rjmp .L419
4451
 4688 2586 2223      		tst r18
4452
 4689 2588 01F4      		brne .+2
4453
 4690 258a 00C0      		rjmp .L419
4454
 4691 258c 8091 0000 		lds r24,NC_ErrorCode
4455
 4692 2590 8823      		tst r24
4456
 4693 2592 01F0      		breq .+2
4457
 4694 2594 00C0      		rjmp .L419
4458
 4695 2596 81E0      		ldi r24,lo8(1)
4459
 4696 2598 90E0      		ldi r25,hi8(1)
4460
 4697 259a 9093 0000 		sts (modell_fliegt)+1,r25
4461
 4698 259e 8093 0000 		sts modell_fliegt,r24
4462
 4699 25a2 81E0      		ldi r24,lo8(1)
4463
 4700 25a4 8093 0000 		sts MotorenEin,r24
4464
 4701 25a8 1092 0000 		sts sollGier.0,__zero_reg__
4465
 4702 25ac 1092 0000 		sts (sollGier.0)+1,__zero_reg__
4466
 4703 25b0 1092 0000 		sts (sollGier.0)+2,__zero_reg__
4467
 4704 25b4 1092 0000 		sts (sollGier.0)+3,__zero_reg__
4468
 4705 25b8 1092 0000 		sts Mess_Integral_Gier,__zero_reg__
4469
 4706 25bc 1092 0000 		sts (Mess_Integral_Gier)+1,__zero_reg__
4470
 4707 25c0 1092 0000 		sts (Mess_Integral_Gier)+2,__zero_reg__
4471
 4708 25c4 1092 0000 		sts (Mess_Integral_Gier)+3,__zero_reg__
4472
 4709 25c8 1092 0000 		sts Mess_Integral_Gier2,__zero_reg__
4473
 4710 25cc 1092 0000 		sts (Mess_Integral_Gier2)+1,__zero_reg__
4474
 4711 25d0 1092 0000 		sts (Mess_Integral_Gier2)+2,__zero_reg__
4475
 4712 25d4 1092 0000 		sts (Mess_Integral_Gier2)+3,__zero_reg__
4476
 4713 25d8 8091 0000 		lds r24,EE_Parameter+28
4477
 4714 25dc E82E      		mov r14,r24
4478
 4715 25de FF24      		clr r15
4479
 4716 25e0 0027      		clr r16
4480
 4717 25e2 1127      		clr r17
4481
 4718 25e4 8091 0000 		lds r24,Mittelwert_AccNick
4482
 4719 25e8 9091 0000 		lds r25,(Mittelwert_AccNick)+1
4483
 4720 25ec 9C01      		movw r18,r24
4484
 4721 25ee 4427      		clr r20
4485
 4722 25f0 37FD      		sbrc r19,7
4486
 4723 25f2 4095      		com r20
4487
 4724 25f4 542F      		mov r21,r20
4488
 4725 25f6 C801      		movw r24,r16
4489
 4726 25f8 B701      		movw r22,r14
4490
 4727 25fa 0E94 0000 		call __mulsi3
4491
 4728 25fe DC01      		movw r26,r24
4492
 4729 2600 CB01      		movw r24,r22
4493
 4730 2602 8093 0000 		sts Mess_IntegralNick,r24
4494
 4731 2606 9093 0000 		sts (Mess_IntegralNick)+1,r25
4495
 4732 260a A093 0000 		sts (Mess_IntegralNick)+2,r26
4496
 4733 260e B093 0000 		sts (Mess_IntegralNick)+3,r27
4497
 4734 2612 8091 0000 		lds r24,Mittelwert_AccRoll
4498
 4735 2616 9091 0000 		lds r25,(Mittelwert_AccRoll)+1
4499
 4736 261a 9C01      		movw r18,r24
4500
 4737 261c 4427      		clr r20
4501
 4738 261e 37FD      		sbrc r19,7
4502
 4739 2620 4095      		com r20
4503
 4740 2622 542F      		mov r21,r20
4504
 4741 2624 C801      		movw r24,r16
4505
 4742 2626 B701      		movw r22,r14
4506
 4743 2628 0E94 0000 		call __mulsi3
4507
 4744 262c DC01      		movw r26,r24
4508
 4745 262e CB01      		movw r24,r22
4509
 4746 2630 8093 0000 		sts Mess_IntegralRoll,r24
4510
 4747 2634 9093 0000 		sts (Mess_IntegralRoll)+1,r25
4511
 4748 2638 A093 0000 		sts (Mess_IntegralRoll)+2,r26
4512
 4749 263c B093 0000 		sts (Mess_IntegralRoll)+3,r27
4513
 4750 2640 8091 0000 		lds r24,IntegralNick
4514
 4751 2644 9091 0000 		lds r25,(IntegralNick)+1
4515
 4752 2648 A091 0000 		lds r26,(IntegralNick)+2
4516
 4753 264c B091 0000 		lds r27,(IntegralNick)+3
4517
 4754 2650 8093 0000 		sts Mess_IntegralNick2,r24
4518
 4755 2654 9093 0000 		sts (Mess_IntegralNick2)+1,r25
4519
 4756 2658 A093 0000 		sts (Mess_IntegralNick2)+2,r26
4520
 4757 265c B093 0000 		sts (Mess_IntegralNick2)+3,r27
4521
 4758 2660 8091 0000 		lds r24,IntegralRoll
4522
 4759 2664 9091 0000 		lds r25,(IntegralRoll)+1
4523
 4760 2668 A091 0000 		lds r26,(IntegralRoll)+2
4524
 4761 266c B091 0000 		lds r27,(IntegralRoll)+3
4525
 4762 2670 8093 0000 		sts Mess_IntegralRoll2,r24
4526
 4763 2674 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
4527
 4764 2678 A093 0000 		sts (Mess_IntegralRoll2)+2,r26
4528
 4765 267c B093 0000 		sts (Mess_IntegralRoll2)+3,r27
4529
 4766 2680 1092 0000 		sts SummeNick,__zero_reg__
4530
 4767 2684 1092 0000 		sts (SummeNick)+1,__zero_reg__
4531
 4768 2688 1092 0000 		sts (SummeNick)+2,__zero_reg__
4532
 4769 268c 1092 0000 		sts (SummeNick)+3,__zero_reg__
4533
 4770 2690 1092 0000 		sts SummeRoll,__zero_reg__
4534
 4771 2694 1092 0000 		sts (SummeRoll)+1,__zero_reg__
4535
 4772 2698 1092 0000 		sts (SummeRoll)+2,__zero_reg__
4536
 4773 269c 1092 0000 		sts (SummeRoll)+3,__zero_reg__
4537
 4774 26a0 84E6      		ldi r24,lo8(100)
4538
 4775 26a2 8093 0000 		sts NeueKompassRichtungMerken,r24
4539
 4776 26a6 84E3      		ldi r24,lo8(52)
4540
 4777 26a8 00C0      		rjmp .L890
4541
 4778               	.L419:
4542
 4779 26aa 8CED      		ldi r24,lo8(1500)
4543
 4780 26ac 95E0      		ldi r25,hi8(1500)
4544
 4781 26ae 9093 0000 		sts (beeptime)+1,r25
4545
 4782 26b2 8093 0000 		sts beeptime,r24
4546
 4783 26b6 2223      		tst r18
4547
 4784 26b8 01F0      		breq .+2
4548
 4785 26ba 00C0      		rjmp .L423
4549
 4786 26bc 81E0      		ldi r24,lo8(1)
4550
 4787 26be 00C0      		rjmp .L890
4551
 4788               	.L413:
4552
 4789 26c0 1092 0000 		sts delay_einschalten.7,__zero_reg__
4553
 4790 26c4 00C0      		rjmp .L423
4554
 4791               	.L412:
4555
 4792 26c6 FF27      		clr r31
4556
 4793 26c8 EE0F      		add r30,r30
4557
 4794 26ca FF1F      		adc r31,r31
4558
 4795 26cc E050      		subi r30,lo8(-(PPM_in))
4559
 4796 26ce F040      		sbci r31,hi8(-(PPM_in))
4560
 4797 26d0 8081      		ld r24,Z
4561
 4798 26d2 9181      		ldd r25,Z+1
4562
 4799 26d4 8C34      		cpi r24,76
4563
 4800 26d6 9105      		cpc r25,__zero_reg__
4564
 4801 26d8 04F0      		brlt .L426
4565
 4802 26da 8091 0000 		lds r24,EE_Parameter+111
4566
 4803 26de 83FD      		sbrc r24,3
4567
 4804 26e0 00C0      		rjmp .L427
4568
 4805 26e2 E22F      		mov r30,r18
4569
 4806 26e4 FF27      		clr r31
4570
 4807 26e6 EE0F      		add r30,r30
4571
 4808 26e8 FF1F      		adc r31,r31
4572
 4809 26ea E050      		subi r30,lo8(-(PPM_in))
4573
 4810 26ec F040      		sbci r31,hi8(-(PPM_in))
4574
 4811 26ee 8081      		ld r24,Z
4575
 4812 26f0 9181      		ldd r25,Z+1
4576
 4813 26f2 855B      		subi r24,lo8(-75)
4577
 4814 26f4 9F4F      		sbci r25,hi8(-75)
4578
 4815 26f6 04F0      		brlt .L425
4579
 4816               	.L427:
4580
 4817 26f8 8091 0000 		lds r24,EE_Parameter+100
4581
 4818 26fc 8823      		tst r24
4582
 4819 26fe 01F0      		breq .L425
4583
 4820               	.L426:
4584
 4821 2700 8091 0000 		lds r24,EE_Parameter+111
4585
 4822 2704 83FF      		sbrs r24,3
4586
 4823 2706 00C0      		rjmp .L424
4587
 4824 2708 8091 0000 		lds r24,EE_Parameter+100
4588
 4825 270c E82F      		mov r30,r24
4589
 4826 270e FF27      		clr r31
4590
 4827 2710 EE0F      		add r30,r30
4591
 4828 2712 FF1F      		adc r31,r31
4592
 4829 2714 E050      		subi r30,lo8(-(PPM_in))
4593
 4830 2716 F040      		sbci r31,hi8(-(PPM_in))
4594
 4831 2718 8081      		ld r24,Z
4595
 4832 271a 9181      		ldd r25,Z+1
4596
 4833 271c 8E5C      		subi r24,lo8(-50)
4597
 4834 271e 9F4F      		sbci r25,hi8(-50)
4598
 4835 2720 04F4      		brge .L424
4599
 4836 2722 8091 0000 		lds r24,move_safety_switch.9
4600
 4837 2726 8C39      		cpi r24,lo8(-100)
4601
 4838 2728 01F4      		brne .L424
4602
 4839               	.L425:
4603
 4840 272a 8091 0000 		lds r24,delay_ausschalten.8
4604
 4841 272e 8F5F      		subi r24,lo8(-(1))
4605
 4842 2730 8093 0000 		sts delay_ausschalten.8,r24
4606
 4843 2734 8B3F      		cpi r24,lo8(-5)
4607
 4844 2736 00F0      		brlo .L423
4608
 4845 2738 1092 0000 		sts MotorenEin,__zero_reg__
4609
 4846 273c 1092 0000 		sts delay_ausschalten.8,__zero_reg__
4610
 4847 2740 1092 0000 		sts (modell_fliegt)+1,__zero_reg__
4611
 4848 2744 1092 0000 		sts modell_fliegt,__zero_reg__
4612
 4849 2748 86E2      		ldi r24,lo8(38)
4613
 4850               	.L890:
4614
 4851 274a 8093 0000 		sts SpeakHoTT,r24
4615
 4852 274e 00C0      		rjmp .L423
4616
 4853               	.L424:
4617
 4854 2750 1092 0000 		sts delay_ausschalten.8,__zero_reg__
4618
 4855               	.L423:
4619
 4856 2754 8091 0000 		lds r24,GasIsZeroCnt
4620
 4857 2758 9091 0000 		lds r25,(GasIsZeroCnt)+1
4621
 4858 275c 13E0      		ldi r17,hi8(1000)
4622
 4859 275e 883E      		cpi r24,lo8(1000)
4623
 4860 2760 9107      		cpc r25,r17
4624
 4861 2762 00F4      		brsh .L381
4625
 4862 2764 0196      		adiw r24,1
4626
 4863 2766 9093 0000 		sts (GasIsZeroCnt)+1,r25
4627
 4864 276a 8093 0000 		sts GasIsZeroCnt,r24
4628
 4865 276e 00C0      		rjmp .L381
4629
 4866               	.L408:
4630
 4867 2770 1092 0000 		sts move_safety_switch.9,__zero_reg__
4631
 4868 2774 1092 0000 		sts (GasIsZeroCnt)+1,__zero_reg__
4632
 4869 2778 1092 0000 		sts GasIsZeroCnt,__zero_reg__
4633
 4870 277c 00C0      		rjmp .L381
4634
 4871               	.L382:
4635
 4872 277e 2E5E      		subi r18,lo8(750)
4636
 4873 2780 3240      		sbci r19,hi8(750)
4637
 4874 2782 00F0      		brlo .L381
4638
 4875 2784 8091 0000 		lds r24,GPSInfo+4
4639
 4876 2788 9091 0000 		lds r25,(GPSInfo+4)+1
4640
 4877 278c 8059      		subi r24,lo8(400)
4641
 4878 278e 9140      		sbci r25,hi8(400)
4642
 4879 2790 00F4      		brsh .L381
4643
 4880 2792 8091 0000 		lds r24,HoehenWert
4644
 4881 2796 9091 0000 		lds r25,(HoehenWert)+1
4645
 4882 279a A091 0000 		lds r26,(HoehenWert)+2
4646
 4883 279e B091 0000 		lds r27,(HoehenWert)+3
4647
 4884 27a2 8C5D      		subi r24,lo8(1500)
4648
 4885 27a4 9540      		sbci r25,hi8(1500)
4649
 4886 27a6 A040      		sbci r26,hlo8(1500)
4650
 4887 27a8 B040      		sbci r27,hhi8(1500)
4651
 4888 27aa 04F4      		brge .L381
4652
 4889 27ac 80E3      		ldi r24,lo8(30000)
4653
 4890 27ae 95E7      		ldi r25,hi8(30000)
4654
 4891 27b0 9093 0000 		sts (GasIsZeroCnt)+1,r25
4655
 4892 27b4 8093 0000 		sts GasIsZeroCnt,r24
4656
 4893 27b8 8091 0000 		lds r24,modell_fliegt
4657
 4894 27bc 9091 0000 		lds r25,(modell_fliegt)+1
4658
 4895 27c0 8A5E      		subi r24,lo8(1002)
4659
 4896 27c2 9340      		sbci r25,hi8(1002)
4660
 4897 27c4 00F0      		brlo .L381
4661
 4898 27c6 89EE      		ldi r24,lo8(1001)
4662
 4899 27c8 93E0      		ldi r25,hi8(1001)
4663
 4900 27ca 9093 0000 		sts (modell_fliegt)+1,r25
4664
 4901 27ce 8093 0000 		sts modell_fliegt,r24
4665
 4902               	.L381:
4666
 4903 27d2 8091 0000 		lds r24,NewPpmData
4667
 4904 27d6 8150      		subi r24,lo8(-(-1))
4668
 4905 27d8 8093 0000 		sts NewPpmData,r24
4669
 4906 27dc 8091 0000 		lds r24,NewPpmData
4670
 4907 27e0 8F3F      		cpi r24,lo8(-1)
4671
 4908 27e2 01F0      		breq .L437
4672
 4909 27e4 8091 0000 		lds r24,FC_StatusFlags
4673
 4910 27e8 84FF      		sbrs r24,4
4674
 4911 27ea 00C0      		rjmp .L436
4675
 4912               	.L437:
4676
 4913 27ec 0E94 0000 		call ParameterZuordnung
4677
 4914 27f0 B090 0000 		lds r11,EE_Parameter+23
4678
 4915 27f4 8091 0000 		lds r24,stick_nick.12
4679
 4916 27f8 9091 0000 		lds r25,(stick_nick.12)+1
4680
 4917 27fc 9C01      		movw r18,r24
4681
 4918 27fe 220F      		lsl r18
4682
 4919 2800 331F      		rol r19
4683
 4920 2802 280F      		add r18,r24
4684
 4921 2804 391F      		adc r19,r25
4685
 4922 2806 C090 0000 		lds r12,EE_Parameter+1
4686
 4923 280a AC2D      		mov r26,r12
4687
 4924 280c BB27      		clr r27
4688
 4925 280e AA0F      		add r26,r26
4689
 4926 2810 BB1F      		adc r27,r27
4690
 4927 2812 FD01      		movw r30,r26
4691
 4928 2814 E050      		subi r30,lo8(-(PPM_in))
4692
 4929 2816 F040      		sbci r31,hi8(-(PPM_in))
4693
 4930 2818 4B2D      		mov r20,r11
4694
 4931 281a 5527      		clr r21
4695
 4932 281c 8081      		ld r24,Z
4696
 4933 281e 9181      		ldd r25,Z+1
4697
 4934 2820 849F      		mul r24,r20
4698
 4935 2822 F001      		movw r30,r0
4699
 4936 2824 859F      		mul r24,r21
4700
 4937 2826 F00D      		add r31,r0
4701
 4938 2828 949F      		mul r25,r20
4702
 4939 282a F00D      		add r31,r0
4703
 4940 282c 1124      		clr r1
4704
 4941 282e 2E0F      		add r18,r30
4705
 4942 2830 3F1F      		adc r19,r31
4706
 4943 2832 37FF      		sbrs r19,7
4707
 4944 2834 00C0      		rjmp .L438
4708
 4945 2836 2D5F      		subi r18,lo8(-(3))
4709
 4946 2838 3F4F      		sbci r19,hi8(-(3))
4710
 4947               	.L438:
4711
 4948 283a B901      		movw r22,r18
4712
 4949 283c 7595      		asr r23
4713
 4950 283e 6795      		ror r22
4714
 4951 2840 7595      		asr r23
4715
 4952 2842 6795      		ror r22
4716
 4953 2844 A050      		subi r26,lo8(-(PPM_diff))
4717
 4954 2846 B040      		sbci r27,hi8(-(PPM_diff))
4718
 4955 2848 8091 0000 		lds r24,EE_Parameter+24
4719
 4956 284c 082F      		mov r16,r24
4720
 4957 284e 1127      		clr r17
4721
 4958 2850 8D91      		ld r24,X+
4722
 4959 2852 9C91      		ld r25,X
4723
 4960 2854 809F      		mul r24,r16
4724
 4961 2856 7001      		movw r14,r0
4725
 4962 2858 819F      		mul r24,r17
4726
 4963 285a F00C      		add r15,r0
4727
 4964 285c 909F      		mul r25,r16
4728
 4965 285e F00C      		add r15,r0
4729
 4966 2860 1124      		clr r1
4730
 4967 2862 6E0D      		add r22,r14
4731
 4968 2864 7F1D      		adc r23,r15
4732
 4969 2866 7093 0000 		sts (stick_nick.12)+1,r23
4733
 4970 286a 6093 0000 		sts stick_nick.12,r22
4734
 4971 286e 8091 0000 		lds r24,stick_roll.13
4735
 4972 2872 9091 0000 		lds r25,(stick_roll.13)+1
4736
 4973 2876 9C01      		movw r18,r24
4737
 4974 2878 220F      		lsl r18
4738
 4975 287a 331F      		rol r19
4739
 4976 287c 280F      		add r18,r24
4740
 4977 287e 391F      		adc r19,r25
4741
 4978 2880 D090 0000 		lds r13,EE_Parameter+2
4742
 4979 2884 AD2D      		mov r26,r13
4743
 4980 2886 BB27      		clr r27
4744
 4981 2888 AA0F      		add r26,r26
4745
 4982 288a BB1F      		adc r27,r27
4746
 4983 288c FD01      		movw r30,r26
4747
 4984 288e E050      		subi r30,lo8(-(PPM_in))
4748
 4985 2890 F040      		sbci r31,hi8(-(PPM_in))
4749
 4986 2892 8081      		ld r24,Z
4750
 4987 2894 9181      		ldd r25,Z+1
4751
 4988 2896 849F      		mul r24,r20
4752
 4989 2898 F001      		movw r30,r0
4753
 4990 289a 859F      		mul r24,r21
4754
 4991 289c F00D      		add r31,r0
4755
 4992 289e 949F      		mul r25,r20
4756
 4993 28a0 F00D      		add r31,r0
4757
 4994 28a2 1124      		clr r1
4758
 4995 28a4 2E0F      		add r18,r30
4759
 4996 28a6 3F1F      		adc r19,r31
4760
 4997 28a8 37FF      		sbrs r19,7
4761
 4998 28aa 00C0      		rjmp .L439
4762
 4999 28ac 2D5F      		subi r18,lo8(-(3))
4763
 5000 28ae 3F4F      		sbci r19,hi8(-(3))
4764
 5001               	.L439:
4765
 5002 28b0 A901      		movw r20,r18
4766
 5003 28b2 5595      		asr r21
4767
 5004 28b4 4795      		ror r20
4768
 5005 28b6 5595      		asr r21
4769
 5006 28b8 4795      		ror r20
4770
 5007 28ba A050      		subi r26,lo8(-(PPM_diff))
4771
 5008 28bc B040      		sbci r27,hi8(-(PPM_diff))
4772
 5009 28be 8D91      		ld r24,X+
4773
 5010 28c0 9C91      		ld r25,X
4774
 5011 28c2 809F      		mul r24,r16
4775
 5012 28c4 7001      		movw r14,r0
4776
 5013 28c6 819F      		mul r24,r17
4777
 5014 28c8 F00C      		add r15,r0
4778
 5015 28ca 909F      		mul r25,r16
4779
 5016 28cc F00C      		add r15,r0
4780
 5017 28ce 1124      		clr r1
4781
 5018 28d0 4E0D      		add r20,r14
4782
 5019 28d2 5F1D      		adc r21,r15
4783
 5020 28d4 5093 0000 		sts (stick_roll.13)+1,r21
4784
 5021 28d8 4093 0000 		sts stick_roll.13,r20
4785
 5022 28dc 8091 0000 		lds r24,CareFree
4786
 5023 28e0 8823      		tst r24
4787
 5024 28e2 01F4      		brne .+2
4788
 5025 28e4 00C0      		rjmp .L440
4789
 5026 28e6 CB01      		movw r24,r22
4790
 5027 28e8 77FD      		sbrc r23,7
4791
 5028 28ea 0396      		adiw r24,3
4792
 5029               	.L441:
4793
 5030 28ec DC01      		movw r26,r24
4794
 5031 28ee B595      		asr r27
4795
 5032 28f0 A795      		ror r26
4796
 5033 28f2 B595      		asr r27
4797
 5034 28f4 A795      		ror r26
4798
 5035 28f6 CA01      		movw r24,r20
4799
 5036 28f8 57FD      		sbrc r21,7
4800
 5037 28fa 0396      		adiw r24,3
4801
 5038               	.L442:
4802
 5039 28fc FC01      		movw r30,r24
4803
 5040 28fe F595      		asr r31
4804
 5041 2900 E795      		ror r30
4805
 5042 2902 F595      		asr r31
4806
 5043 2904 E795      		ror r30
4807
 5044 2906 8091 0000 		lds r24,FromNC_Rotate_C
4808
 5045 290a 682F      		mov r22,r24
4809
 5046 290c 7727      		clr r23
4810
 5047 290e 67FD      		sbrc r22,7
4811
 5048 2910 7095      		com r23
4812
 5049 2912 6A9F      		mul r22,r26
4813
 5050 2914 9001      		movw r18,r0
4814
 5051 2916 6B9F      		mul r22,r27
4815
 5052 2918 300D      		add r19,r0
4816
 5053 291a 7A9F      		mul r23,r26
4817
 5054 291c 300D      		add r19,r0
4818
 5055 291e 1124      		clr r1
4819
 5056 2920 8091 0000 		lds r24,FromNC_Rotate_S
4820
 5057 2924 482F      		mov r20,r24
4821
 5058 2926 5527      		clr r21
4822
 5059 2928 47FD      		sbrc r20,7
4823
 5060 292a 5095      		com r21
4824
 5061 292c 4E9F      		mul r20,r30
4825
 5062 292e C001      		movw r24,r0
4826
 5063 2930 4F9F      		mul r20,r31
4827
 5064 2932 900D      		add r25,r0
4828
 5065 2934 5E9F      		mul r21,r30
4829
 5066 2936 900D      		add r25,r0
4830
 5067 2938 1124      		clr r1
4831
 5068 293a 280F      		add r18,r24
4832
 5069 293c 391F      		adc r19,r25
4833
 5070 293e 37FF      		sbrs r19,7
4834
 5071 2940 00C0      		rjmp .L443
4835
 5072 2942 295F      		subi r18,lo8(-(7))
4836
 5073 2944 3F4F      		sbci r19,hi8(-(7))
4837
 5074               	.L443:
4838
 5075 2946 93E0      		ldi r25,3
4839
 5076 2948 3595      	1:	asr r19
4840
 5077 294a 2795      		ror r18
4841
 5078 294c 9A95      		dec r25
4842
 5079 294e 01F4      		brne 1b
4843
 5080 2950 3093 0000 		sts (StickNick)+1,r19
4844
 5081 2954 2093 0000 		sts StickNick,r18
4845
 5082 2958 6E9F      		mul r22,r30
4846
 5083 295a 9001      		movw r18,r0
4847
 5084 295c 6F9F      		mul r22,r31
4848
 5085 295e 300D      		add r19,r0
4849
 5086 2960 7E9F      		mul r23,r30
4850
 5087 2962 300D      		add r19,r0
4851
 5088 2964 1124      		clr r1
4852
 5089 2966 4A9F      		mul r20,r26
4853
 5090 2968 C001      		movw r24,r0
4854
 5091 296a 4B9F      		mul r20,r27
4855
 5092 296c 900D      		add r25,r0
4856
 5093 296e 5A9F      		mul r21,r26
4857
 5094 2970 900D      		add r25,r0
4858
 5095 2972 1124      		clr r1
4859
 5096 2974 00C0      		rjmp .L919
4860
 5097               	.L440:
4861
 5098 2976 8091 0000 		lds r24,EE_Parameter+98
4862
 5099 297a E82F      		mov r30,r24
4863
 5100 297c FF27      		clr r31
4864
 5101 297e E050      		subi r30,lo8(-(sintab))
4865
 5102 2980 F040      		sbci r31,hi8(-(sintab))
4866
 5103 2982 8681      		ldd r24,Z+6
4867
 5104 2984 8093 0000 		sts FromNC_Rotate_C,r24
4868
 5105 2988 9081      		ld r25,Z
4869
 5106 298a 9093 0000 		sts FromNC_Rotate_S,r25
4870
 5107 298e A82F      		mov r26,r24
4871
 5108 2990 BB27      		clr r27
4872
 5109 2992 A7FD      		sbrc r26,7
4873
 5110 2994 B095      		com r27
4874
 5111 2996 A69F      		mul r26,r22
4875
 5112 2998 9001      		movw r18,r0
4876
 5113 299a A79F      		mul r26,r23
4877
 5114 299c 300D      		add r19,r0
4878
 5115 299e B69F      		mul r27,r22
4879
 5116 29a0 300D      		add r19,r0
4880
 5117 29a2 1124      		clr r1
4881
 5118 29a4 E92F      		mov r30,r25
4882
 5119 29a6 FF27      		clr r31
4883
 5120 29a8 E7FD      		sbrc r30,7
4884
 5121 29aa F095      		com r31
4885
 5122 29ac E49F      		mul r30,r20
4886
 5123 29ae C001      		movw r24,r0
4887
 5124 29b0 E59F      		mul r30,r21
4888
 5125 29b2 900D      		add r25,r0
4889
 5126 29b4 F49F      		mul r31,r20
4890
 5127 29b6 900D      		add r25,r0
4891
 5128 29b8 1124      		clr r1
4892
 5129 29ba 280F      		add r18,r24
4893
 5130 29bc 391F      		adc r19,r25
4894
 5131 29be 37FF      		sbrs r19,7
4895
 5132 29c0 00C0      		rjmp .L446
4896
 5133 29c2 295F      		subi r18,lo8(-(7))
4897
 5134 29c4 3F4F      		sbci r19,hi8(-(7))
4898
 5135               	.L446:
4899
 5136 29c6 83E0      		ldi r24,3
4900
 5137 29c8 3595      	1:	asr r19
4901
 5138 29ca 2795      		ror r18
4902
 5139 29cc 8A95      		dec r24
4903
 5140 29ce 01F4      		brne 1b
4904
 5141 29d0 3093 0000 		sts (StickNick)+1,r19
4905
 5142 29d4 2093 0000 		sts StickNick,r18
4906
 5143 29d8 A49F      		mul r26,r20
4907
 5144 29da 9001      		movw r18,r0
4908
 5145 29dc A59F      		mul r26,r21
4909
 5146 29de 300D      		add r19,r0
4910
 5147 29e0 B49F      		mul r27,r20
4911
 5148 29e2 300D      		add r19,r0
4912
 5149 29e4 1124      		clr r1
4913
 5150 29e6 E69F      		mul r30,r22
4914
 5151 29e8 C001      		movw r24,r0
4915
 5152 29ea E79F      		mul r30,r23
4916
 5153 29ec 900D      		add r25,r0
4917
 5154 29ee F69F      		mul r31,r22
4918
 5155 29f0 900D      		add r25,r0
4919
 5156 29f2 1124      		clr r1
4920
 5157               	.L919:
4921
 5158 29f4 281B      		sub r18,r24
4922
 5159 29f6 390B      		sbc r19,r25
4923
 5160 29f8 37FF      		sbrs r19,7
4924
 5161 29fa 00C0      		rjmp .L447
4925
 5162 29fc 295F      		subi r18,lo8(-(7))
4926
 5163 29fe 3F4F      		sbci r19,hi8(-(7))
4927
 5164               	.L447:
4928
 5165 2a00 03E0      		ldi r16,3
4929
 5166 2a02 3595      	1:	asr r19
4930
 5167 2a04 2795      		ror r18
4931
 5168 2a06 0A95      		dec r16
4932
 5169 2a08 01F4      		brne 1b
4933
 5170 2a0a 3093 0000 		sts (StickRoll)+1,r19
4934
 5171 2a0e 2093 0000 		sts StickRoll,r18
4935
 5172 2a12 8091 0000 		lds r24,EE_Parameter+4
4936
 5173 2a16 E82F      		mov r30,r24
4937
 5174 2a18 FF27      		clr r31
4938
 5175 2a1a EE0F      		add r30,r30
4939
 5176 2a1c FF1F      		adc r31,r31
4940
 5177 2a1e E050      		subi r30,lo8(-(PPM_in))
4941
 5178 2a20 F040      		sbci r31,hi8(-(PPM_in))
4942
 5179 2a22 8081      		ld r24,Z
4943
 5180 2a24 9181      		ldd r25,Z+1
4944
 5181 2a26 9095      		com r25
4945
 5182 2a28 8195      		neg r24
4946
 5183 2a2a 9F4F      		sbci r25,lo8(-1)
4947
 5184 2a2c 9093 0000 		sts (StickGier)+1,r25
4948
 5185 2a30 8093 0000 		sts StickGier,r24
4949
 5186 2a34 8530      		cpi r24,5
4950
 5187 2a36 9105      		cpc r25,__zero_reg__
4951
 5188 2a38 04F0      		brlt .L448
4952
 5189 2a3a 0497      		sbiw r24,4
4953
 5190 2a3c 00C0      		rjmp .L891
4954
 5191               	.L448:
4955
 5192 2a3e 0FEF      		ldi r16,hi8(-4)
4956
 5193 2a40 8C3F      		cpi r24,lo8(-4)
4957
 5194 2a42 9007      		cpc r25,r16
4958
 5195 2a44 04F4      		brge .L450
4959
 5196 2a46 0496      		adiw r24,4
4960
 5197               	.L891:
4961
 5198 2a48 9093 0000 		sts (StickGier)+1,r25
4962
 5199 2a4c 8093 0000 		sts StickGier,r24
4963
 5200 2a50 00C0      		rjmp .L449
4964
 5201               	.L450:
4965
 5202 2a52 1092 0000 		sts (StickGier)+1,__zero_reg__
4966
 5203 2a56 1092 0000 		sts StickGier,__zero_reg__
4967
 5204               	.L449:
4968
 5205 2a5a 8091 0000 		lds r24,GPS_Aid_StickMultiplikator
4969
 5206 2a5e 8823      		tst r24
4970
 5207 2a60 01F4      		brne .+2
4971
 5208 2a62 00C0      		rjmp .L452
4972
 5209 2a64 282F      		mov r18,r24
4973
 5210 2a66 3327      		clr r19
4974
 5211 2a68 8091 0000 		lds r24,StickNick
4975
 5212 2a6c 9091 0000 		lds r25,(StickNick)+1
4976
 5213 2a70 97FD      		sbrc r25,7
4977
 5214 2a72 0796      		adiw r24,7
4978
 5215               	.L453:
4979
 5216 2a74 13E0      		ldi r17,3
4980
 5217 2a76 9595      	1:	asr r25
4981
 5218 2a78 8795      		ror r24
4982
 5219 2a7a 1A95      		dec r17
4983
 5220 2a7c 01F4      		brne 1b
4984
 5221 2a7e 289F      		mul r18,r24
4985
 5222 2a80 A001      		movw r20,r0
4986
 5223 2a82 299F      		mul r18,r25
4987
 5224 2a84 500D      		add r21,r0
4988
 5225 2a86 389F      		mul r19,r24
4989
 5226 2a88 500D      		add r21,r0
4990
 5227 2a8a 1124      		clr r1
4991
 5228 2a8c CA01      		movw r24,r20
4992
 5229 2a8e 57FD      		sbrc r21,7
4993
 5230 2a90 0F96      		adiw r24,15
4994
 5231               	.L454:
4995
 5232 2a92 B4E0      		ldi r27,4
4996
 5233 2a94 9595      	1:	asr r25
4997
 5234 2a96 8795      		ror r24
4998
 5235 2a98 BA95      		dec r27
4999
 5236 2a9a 01F4      		brne 1b
5000
 5237 2a9c 9093 0000 		sts (StickNick)+1,r25
5001
 5238 2aa0 8093 0000 		sts StickNick,r24
5002
 5239 2aa4 8091 0000 		lds r24,StickRoll
5003
 5240 2aa8 9091 0000 		lds r25,(StickRoll)+1
5004
 5241 2aac 97FD      		sbrc r25,7
5005
 5242 2aae 0796      		adiw r24,7
5006
 5243               	.L455:
5007
 5244 2ab0 A3E0      		ldi r26,3
5008
 5245 2ab2 9595      	1:	asr r25
5009
 5246 2ab4 8795      		ror r24
5010
 5247 2ab6 AA95      		dec r26
5011
 5248 2ab8 01F4      		brne 1b
5012
 5249 2aba 289F      		mul r18,r24
5013
 5250 2abc B001      		movw r22,r0
5014
 5251 2abe 299F      		mul r18,r25
5015
 5252 2ac0 700D      		add r23,r0
5016
 5253 2ac2 389F      		mul r19,r24
5017
 5254 2ac4 700D      		add r23,r0
5018
 5255 2ac6 1124      		clr r1
5019
 5256 2ac8 CB01      		movw r24,r22
5020
 5257 2aca 77FD      		sbrc r23,7
5021
 5258 2acc 0F96      		adiw r24,15
5022
 5259               	.L456:
5023
 5260 2ace F4E0      		ldi r31,4
5024
 5261 2ad0 9595      	1:	asr r25
5025
 5262 2ad2 8795      		ror r24
5026
 5263 2ad4 FA95      		dec r31
5027
 5264 2ad6 01F4      		brne 1b
5028
 5265 2ad8 9093 0000 		sts (StickRoll)+1,r25
5029
 5266 2adc 8093 0000 		sts StickRoll,r24
5030
 5267               	.L452:
5031
 5268 2ae0 8090 0000 		lds r8,StickNick
5032
 5269 2ae4 9090 0000 		lds r9,(StickNick)+1
5033
 5270 2ae8 8091 0000 		lds r24,GPS_Nick
5034
 5271 2aec 9091 0000 		lds r25,(GPS_Nick)+1
5035
 5272 2af0 881A      		sub r8,r24
5036
 5273 2af2 990A      		sbc r9,r25
5037
 5274 2af4 9092 0000 		sts (StickNick)+1,r9
5038
 5275 2af8 8092 0000 		sts StickNick,r8
5039
 5276 2afc 0091 0000 		lds r16,StickRoll
5040
 5277 2b00 1091 0000 		lds r17,(StickRoll)+1
5041
 5278 2b04 8091 0000 		lds r24,GPS_Roll
5042
 5279 2b08 9091 0000 		lds r25,(GPS_Roll)+1
5043
 5280 2b0c 081B      		sub r16,r24
5044
 5281 2b0e 190B      		sbc r17,r25
5045
 5282 2b10 1093 0000 		sts (StickRoll)+1,r17
5046
 5283 2b14 0093 0000 		sts StickRoll,r16
5047
 5284 2b18 8091 0000 		lds r24,EE_Parameter+3
5048
 5285 2b1c E82F      		mov r30,r24
5049
 5286 2b1e FF27      		clr r31
5050
 5287 2b20 EE0F      		add r30,r30
5051
 5288 2b22 FF1F      		adc r31,r31
5052
 5289 2b24 E050      		subi r30,lo8(-(PPM_in))
5053
 5290 2b26 F040      		sbci r31,hi8(-(PPM_in))
5054
 5291 2b28 E080      		ld r14,Z
5055
 5292 2b2a F180      		ldd r15,Z+1
5056
 5293 2b2c 8FE7      		ldi r24,lo8(127)
5057
 5294 2b2e 90E0      		ldi r25,hi8(127)
5058
 5295 2b30 E80E      		add r14,r24
5059
 5296 2b32 F91E      		adc r15,r25
5060
 5297 2b34 F092 0000 		sts (StickGas)+1,r15
5061
 5298 2b38 E092 0000 		sts StickGas,r14
5062
 5299 2b3c 8091 0000 		lds r24,Parameter_Gyro_P
5063
 5300 2b40 9927      		clr r25
5064
 5301 2b42 AA27      		clr r26
5065
 5302 2b44 97FD      		sbrc r25,7
5066
 5303 2b46 A095      		com r26
5067
 5304 2b48 BA2F      		mov r27,r26
5068
 5305 2b4a BC01      		movw r22,r24
5069
 5306 2b4c CD01      		movw r24,r26
5070
 5307 2b4e 0E94 0000 		call __floatsisf
5071
 5308 2b52 DC01      		movw r26,r24
5072
 5309 2b54 CB01      		movw r24,r22
5073
 5310 2b56 20E0      		ldi r18,lo8(0x41200000)
5074
 5311 2b58 30E0      		ldi r19,hi8(0x41200000)
5075
 5312 2b5a 40E2      		ldi r20,hlo8(0x41200000)
5076
 5313 2b5c 51E4      		ldi r21,hhi8(0x41200000)
5077
 5314 2b5e BC01      		movw r22,r24
5078
 5315 2b60 CD01      		movw r24,r26
5079
 5316 2b62 0E94 0000 		call __addsf3
5080
 5317 2b66 DC01      		movw r26,r24
5081
 5318 2b68 CB01      		movw r24,r22
5082
 5319 2b6a BC01      		movw r22,r24
5083
 5320 2b6c CD01      		movw r24,r26
5084
 5321 2b6e 0E94 0000 		call __fixunssfsi
5085
 5322 2b72 DC01      		movw r26,r24
5086
 5323 2b74 CB01      		movw r24,r22
5087
 5324 2b76 8093 0000 		sts GyroFaktor,r24
5088
 5325 2b7a 8091 0000 		lds r24,Parameter_Gyro_I
5089
 5326 2b7e 8093 0000 		sts IntegralFaktor,r24
5090
 5327 2b82 8091 0000 		lds r24,Parameter_Gyro_Gier_P
5091
 5328 2b86 9927      		clr r25
5092
 5329 2b88 AA27      		clr r26
5093
 5330 2b8a 97FD      		sbrc r25,7
5094
 5331 2b8c A095      		com r26
5095
 5332 2b8e BA2F      		mov r27,r26
5096
 5333 2b90 BC01      		movw r22,r24
5097
 5334 2b92 CD01      		movw r24,r26
5098
 5335 2b94 0E94 0000 		call __floatsisf
5099
 5336 2b98 DC01      		movw r26,r24
5100
 5337 2b9a CB01      		movw r24,r22
5101
 5338 2b9c 20E0      		ldi r18,lo8(0x41200000)
5102
 5339 2b9e 30E0      		ldi r19,hi8(0x41200000)
5103
 5340 2ba0 40E2      		ldi r20,hlo8(0x41200000)
5104
 5341 2ba2 51E4      		ldi r21,hhi8(0x41200000)
5105
 5342 2ba4 BC01      		movw r22,r24
5106
 5343 2ba6 CD01      		movw r24,r26
5107
 5344 2ba8 0E94 0000 		call __addsf3
5108
 5345 2bac DC01      		movw r26,r24
5109
 5346 2bae CB01      		movw r24,r22
5110
 5347 2bb0 BC01      		movw r22,r24
5111
 5348 2bb2 CD01      		movw r24,r26
5112
 5349 2bb4 0E94 0000 		call __fixunssfsi
5113
 5350 2bb8 DC01      		movw r26,r24
5114
 5351 2bba CB01      		movw r24,r22
5115
 5352 2bbc 8093 0000 		sts GyroFaktorGier,r24
5116
 5353 2bc0 8091 0000 		lds r24,Parameter_Gyro_Gier_I
5117
 5354 2bc4 8093 0000 		sts IntegralFaktorGier,r24
5118
 5355 2bc8 8091 0000 		lds r24,ExternControl+10
5119
 5356 2bcc 80FF      		sbrs r24,0
5120
 5357 2bce 00C0      		rjmp .L457
5121
 5358 2bd0 8091 0000 		lds r24,Parameter_ExternalControl
5122
 5359 2bd4 8138      		cpi r24,lo8(-127)
5123
 5360 2bd6 00F4      		brsh .+2
5124
 5361 2bd8 00C0      		rjmp .L457
5125
 5362 2bda 8091 0000 		lds r24,ExternControl+3
5126
 5363 2bde 9927      		clr r25
5127
 5364 2be0 87FD      		sbrc r24,7
5128
 5365 2be2 9095      		com r25
5129
 5366 2be4 2B2D      		mov r18,r11
5130
 5367 2be6 3327      		clr r19
5131
 5368 2be8 829F      		mul r24,r18
5132
 5369 2bea D001      		movw r26,r0
5133
 5370 2bec 839F      		mul r24,r19
5134
 5371 2bee B00D      		add r27,r0
5135
 5372 2bf0 929F      		mul r25,r18
5136
 5373 2bf2 B00D      		add r27,r0
5137
 5374 2bf4 1124      		clr r1
5138
 5375 2bf6 8A0E      		add r8,r26
5139
 5376 2bf8 9B1E      		adc r9,r27
5140
 5377 2bfa 9092 0000 		sts (StickNick)+1,r9
5141
 5378 2bfe 8092 0000 		sts StickNick,r8
5142
 5379 2c02 8091 0000 		lds r24,ExternControl+4
5143
 5380 2c06 9927      		clr r25
5144
 5381 2c08 87FD      		sbrc r24,7
5145
 5382 2c0a 9095      		com r25
5146
 5383 2c0c 829F      		mul r24,r18
5147
 5384 2c0e F001      		movw r30,r0
5148
 5385 2c10 839F      		mul r24,r19
5149
 5386 2c12 F00D      		add r31,r0
5150
 5387 2c14 929F      		mul r25,r18
5151
 5388 2c16 F00D      		add r31,r0
5152
 5389 2c18 1124      		clr r1
5153
 5390 2c1a 0E0F      		add r16,r30
5154
 5391 2c1c 1F1F      		adc r17,r31
5155
 5392 2c1e 1093 0000 		sts (StickRoll)+1,r17
5156
 5393 2c22 0093 0000 		sts StickRoll,r16
5157
 5394 2c26 8091 0000 		lds r24,ExternControl+5
5158
 5395 2c2a 282F      		mov r18,r24
5159
 5396 2c2c 3327      		clr r19
5160
 5397 2c2e 27FD      		sbrc r18,7
5161
 5398 2c30 3095      		com r19
5162
 5399 2c32 8091 0000 		lds r24,StickGier
5163
 5400 2c36 9091 0000 		lds r25,(StickGier)+1
5164
 5401 2c3a 820F      		add r24,r18
5165
 5402 2c3c 931F      		adc r25,r19
5166
 5403 2c3e 9093 0000 		sts (StickGier)+1,r25
5167
 5404 2c42 8093 0000 		sts StickGier,r24
5168
 5405 2c46 8091 0000 		lds r24,ExternControl+7
5169
 5406 2c4a 282F      		mov r18,r24
5170
 5407 2c4c 3327      		clr r19
5171
 5408 2c4e 27FD      		sbrc r18,7
5172
 5409 2c50 3095      		com r19
5173
 5410 2c52 8091 0000 		lds r24,EE_Parameter+18
5174
 5411 2c56 9927      		clr r25
5175
 5412 2c58 289F      		mul r18,r24
5176
 5413 2c5a 8001      		movw r16,r0
5177
 5414 2c5c 299F      		mul r18,r25
5178
 5415 2c5e 100D      		add r17,r0
5179
 5416 2c60 389F      		mul r19,r24
5180
 5417 2c62 100D      		add r17,r0
5181
 5418 2c64 1124      		clr r1
5182
 5419 2c66 1093 0000 		sts (ExternHoehenValue)+1,r17
5183
 5420 2c6a 0093 0000 		sts ExternHoehenValue,r16
5184
 5421 2c6e 8091 0000 		lds r24,ExternControl+6
5185
 5422 2c72 9927      		clr r25
5186
 5423 2c74 8E15      		cp r24,r14
5187
 5424 2c76 9F05      		cpc r25,r15
5188
 5425 2c78 04F4      		brge .L457
5189
 5426 2c7a 9093 0000 		sts (StickGas)+1,r25
5190
 5427 2c7e 8093 0000 		sts StickGas,r24
5191
 5428               	.L457:
5192
 5429 2c82 8091 0000 		lds r24,StickGas
5193
 5430 2c86 9091 0000 		lds r25,(StickGas)+1
5194
 5431 2c8a 97FF      		sbrs r25,7
5195
 5432 2c8c 00C0      		rjmp .L459
5196
 5433 2c8e 1092 0000 		sts (StickGas)+1,__zero_reg__
5197
 5434 2c92 1092 0000 		sts StickGas,__zero_reg__
5198
 5435               	.L459:
5199
 5436 2c96 8091 0000 		lds r24,Parameter_GlobalConfig
5200
 5437 2c9a 82FF      		sbrs r24,2
5201
 5438 2c9c 00C0      		rjmp .L460
5202
 5439 2c9e 1092 0000 		sts IntegralFaktor,__zero_reg__
5203
 5440               	.L460:
5204
 5441 2ca2 4091 0000 		lds r20,StickNick
5205
 5442 2ca6 5091 0000 		lds r21,(StickNick)+1
5206
 5443 2caa CA01      		movw r24,r20
5207
 5444 2cac 57FD      		sbrc r21,7
5208
 5445 2cae 0396      		adiw r24,3
5209
 5446               	.L462:
5210
 5447 2cb0 9C01      		movw r18,r24
5211
 5448 2cb2 3595      		asr r19
5212
 5449 2cb4 2795      		ror r18
5213
 5450 2cb6 3595      		asr r19
5214
 5451 2cb8 2795      		ror r18
5215
 5452 2cba 37FF      		sbrs r19,7
5216
 5453 2cbc 00C0      		rjmp .L463
5217
 5454 2cbe 3095      		com r19
5218
 5455 2cc0 2195      		neg r18
5219
 5456 2cc2 3F4F      		sbci r19,lo8(-1)
5220
 5457               	.L463:
5221
 5458 2cc4 8091 0000 		lds r24,MaxStickNick
5222
 5459 2cc8 9091 0000 		lds r25,(MaxStickNick)+1
5223
 5460 2ccc 8217      		cp r24,r18
5224
 5461 2cce 9307      		cpc r25,r19
5225
 5462 2cd0 04F4      		brge .L461
5226
 5463 2cd2 CA01      		movw r24,r20
5227
 5464 2cd4 57FF      		sbrs r21,7
5228
 5465 2cd6 00C0      		rjmp .L464
5229
 5466 2cd8 9095      		com r25
5230
 5467 2cda 8195      		neg r24
5231
 5468 2cdc 9F4F      		sbci r25,lo8(-1)
5232
 5469               	.L464:
5233
 5470 2cde 97FD      		sbrc r25,7
5234
 5471 2ce0 0396      		adiw r24,3
5235
 5472               	.L465:
5236
 5473 2ce2 9595      		asr r25
5237
 5474 2ce4 8795      		ror r24
5238
 5475 2ce6 9595      		asr r25
5239
 5476 2ce8 8795      		ror r24
5240
 5477 2cea 9093 0000 		sts (MaxStickNick)+1,r25
5241
 5478 2cee 8093 0000 		sts MaxStickNick,r24
5242
 5479 2cf2 8536      		cpi r24,101
5243
 5480 2cf4 9105      		cpc r25,__zero_reg__
5244
 5481 2cf6 04F0      		brlt .L467
5245
 5482 2cf8 84E6      		ldi r24,lo8(100)
5246
 5483 2cfa 90E0      		ldi r25,hi8(100)
5247
 5484 2cfc 00C0      		rjmp .L892
5248
 5485               	.L461:
5249
 5486 2cfe 0197      		sbiw r24,1
5250
 5487               	.L892:
5251
 5488 2d00 9093 0000 		sts (MaxStickNick)+1,r25
5252
 5489 2d04 8093 0000 		sts MaxStickNick,r24
5253
 5490               	.L467:
5254
 5491 2d08 4091 0000 		lds r20,StickRoll
5255
 5492 2d0c 5091 0000 		lds r21,(StickRoll)+1
5256
 5493 2d10 CA01      		movw r24,r20
5257
 5494 2d12 57FD      		sbrc r21,7
5258
 5495 2d14 0396      		adiw r24,3
5259
 5496               	.L469:
5260
 5497 2d16 9C01      		movw r18,r24
5261
 5498 2d18 3595      		asr r19
5262
 5499 2d1a 2795      		ror r18
5263
 5500 2d1c 3595      		asr r19
5264
 5501 2d1e 2795      		ror r18
5265
 5502 2d20 37FF      		sbrs r19,7
5266
 5503 2d22 00C0      		rjmp .L470
5267
 5504 2d24 3095      		com r19
5268
 5505 2d26 2195      		neg r18
5269
 5506 2d28 3F4F      		sbci r19,lo8(-1)
5270
 5507               	.L470:
5271
 5508 2d2a 8091 0000 		lds r24,MaxStickRoll
5272
 5509 2d2e 9091 0000 		lds r25,(MaxStickRoll)+1
5273
 5510 2d32 8217      		cp r24,r18
5274
 5511 2d34 9307      		cpc r25,r19
5275
 5512 2d36 04F4      		brge .L468
5276
 5513 2d38 CA01      		movw r24,r20
5277
 5514 2d3a 57FF      		sbrs r21,7
5278
 5515 2d3c 00C0      		rjmp .L471
5279
 5516 2d3e 9095      		com r25
5280
 5517 2d40 8195      		neg r24
5281
 5518 2d42 9F4F      		sbci r25,lo8(-1)
5282
 5519               	.L471:
5283
 5520 2d44 97FD      		sbrc r25,7
5284
 5521 2d46 0396      		adiw r24,3
5285
 5522               	.L472:
5286
 5523 2d48 9595      		asr r25
5287
 5524 2d4a 8795      		ror r24
5288
 5525 2d4c 9595      		asr r25
5289
 5526 2d4e 8795      		ror r24
5290
 5527 2d50 9093 0000 		sts (MaxStickRoll)+1,r25
5291
 5528 2d54 8093 0000 		sts MaxStickRoll,r24
5292
 5529 2d58 8536      		cpi r24,101
5293
 5530 2d5a 9105      		cpc r25,__zero_reg__
5294
 5531 2d5c 04F0      		brlt .L474
5295
 5532 2d5e 84E6      		ldi r24,lo8(100)
5296
 5533 2d60 90E0      		ldi r25,hi8(100)
5297
 5534 2d62 00C0      		rjmp .L893
5298
 5535               	.L468:
5299
 5536 2d64 0197      		sbiw r24,1
5300
 5537               	.L893:
5301
 5538 2d66 9093 0000 		sts (MaxStickRoll)+1,r25
5302
 5539 2d6a 8093 0000 		sts MaxStickRoll,r24
5303
 5540               	.L474:
5304
 5541 2d6e 8091 0000 		lds r24,FC_StatusFlags
5305
 5542 2d72 84FF      		sbrs r24,4
5306
 5543 2d74 00C0      		rjmp .L475
5307
 5544 2d76 1092 0000 		sts (MaxStickNick)+1,__zero_reg__
5308
 5545 2d7a 1092 0000 		sts MaxStickNick,__zero_reg__
5309
 5546 2d7e 1092 0000 		sts (MaxStickRoll)+1,__zero_reg__
5310
 5547 2d82 1092 0000 		sts MaxStickRoll,__zero_reg__
5311
 5548               	.L475:
5312
 5549 2d86 ED2D      		mov r30,r13
5313
 5550 2d88 FF27      		clr r31
5314
 5551 2d8a EE0F      		add r30,r30
5315
 5552 2d8c FF1F      		adc r31,r31
5316
 5553 2d8e E050      		subi r30,lo8(-(PPM_in))
5317
 5554 2d90 F040      		sbci r31,hi8(-(PPM_in))
5318
 5555 2d92 4091 0000 		lds r20,EE_Parameter+60
5319
 5556 2d96 242F      		mov r18,r20
5320
 5557 2d98 3327      		clr r19
5321
 5558 2d9a 8081      		ld r24,Z
5322
 5559 2d9c 9181      		ldd r25,Z+1
5323
 5560 2d9e 2817      		cp r18,r24
5324
 5561 2da0 3907      		cpc r19,r25
5325
 5562 2da2 04F4      		brge .L476
5326
 5563 2da4 8091 0000 		lds r24,EE_Parameter+108
5327
 5564 2da8 82FF      		sbrs r24,2
5328
 5565 2daa 00C0      		rjmp .L476
5329
 5566 2dac 81E0      		ldi r24,lo8(1)
5330
 5567 2dae 8093 0000 		sts Looping_Links,r24
5331
 5568 2db2 00C0      		rjmp .L477
5332
 5569               	.L476:
5333
 5570 2db4 ED2D      		mov r30,r13
5334
 5571 2db6 FF27      		clr r31
5335
 5572 2db8 EE0F      		add r30,r30
5336
 5573 2dba FF1F      		adc r31,r31
5337
 5574 2dbc E050      		subi r30,lo8(-(PPM_in))
5338
 5575 2dbe F040      		sbci r31,hi8(-(PPM_in))
5339
 5576 2dc0 842F      		mov r24,r20
5340
 5577 2dc2 9927      		clr r25
5341
 5578 2dc4 2091 0000 		lds r18,EE_Parameter+61
5342
 5579 2dc8 821B      		sub r24,r18
5343
 5580 2dca 9109      		sbc r25,__zero_reg__
5344
 5581 2dcc 2081      		ld r18,Z
5345
 5582 2dce 3181      		ldd r19,Z+1
5346
 5583 2dd0 2817      		cp r18,r24
5347
 5584 2dd2 3907      		cpc r19,r25
5348
 5585 2dd4 04F4      		brge .L477
5349
 5586 2dd6 1092 0000 		sts Looping_Links,__zero_reg__
5350
 5587               	.L477:
5351
 5588 2dda 4091 0000 		lds r20,EE_Parameter+2
5352
 5589 2dde E42F      		mov r30,r20
5353
 5590 2de0 FF27      		clr r31
5354
 5591 2de2 EE0F      		add r30,r30
5355
 5592 2de4 FF1F      		adc r31,r31
5356
 5593 2de6 E050      		subi r30,lo8(-(PPM_in))
5357
 5594 2de8 F040      		sbci r31,hi8(-(PPM_in))
5358
 5595 2dea 5091 0000 		lds r21,EE_Parameter+60
5359
 5596 2dee 852F      		mov r24,r21
5360
 5597 2df0 9927      		clr r25
5361
 5598 2df2 2227      		clr r18
5362
 5599 2df4 3327      		clr r19
5363
 5600 2df6 281B      		sub r18,r24
5364
 5601 2df8 390B      		sbc r19,r25
5365
 5602 2dfa 8081      		ld r24,Z
5366
 5603 2dfc 9181      		ldd r25,Z+1
5367
 5604 2dfe 8217      		cp r24,r18
5368
 5605 2e00 9307      		cpc r25,r19
5369
 5606 2e02 04F4      		brge .L479
5370
 5607 2e04 8091 0000 		lds r24,EE_Parameter+108
5371
 5608 2e08 83FF      		sbrs r24,3
5372
 5609 2e0a 00C0      		rjmp .L479
5373
 5610 2e0c 81E0      		ldi r24,lo8(1)
5374
 5611 2e0e 8093 0000 		sts Looping_Rechts,r24
5375
 5612 2e12 00C0      		rjmp .L480
5376
 5613               	.L479:
5377
 5614 2e14 8091 0000 		lds r24,Looping_Rechts
5378
 5615 2e18 8823      		tst r24
5379
 5616 2e1a 01F0      		breq .L480
5380
 5617 2e1c E42F      		mov r30,r20
5381
 5618 2e1e FF27      		clr r31
5382
 5619 2e20 EE0F      		add r30,r30
5383
 5620 2e22 FF1F      		adc r31,r31
5384
 5621 2e24 E050      		subi r30,lo8(-(PPM_in))
5385
 5622 2e26 F040      		sbci r31,hi8(-(PPM_in))
5386
 5623 2e28 8091 0000 		lds r24,EE_Parameter+61
5387
 5624 2e2c 9927      		clr r25
5388
 5625 2e2e 851B      		sub r24,r21
5389
 5626 2e30 9109      		sbc r25,__zero_reg__
5390
 5627 2e32 2081      		ld r18,Z
5391
 5628 2e34 3181      		ldd r19,Z+1
5392
 5629 2e36 8217      		cp r24,r18
5393
 5630 2e38 9307      		cpc r25,r19
5394
 5631 2e3a 04F4      		brge .L480
5395
 5632 2e3c 1092 0000 		sts Looping_Rechts,__zero_reg__
5396
 5633               	.L480:
5397
 5634 2e40 EC2D      		mov r30,r12
5398
 5635 2e42 FF27      		clr r31
5399
 5636 2e44 EE0F      		add r30,r30
5400
 5637 2e46 FF1F      		adc r31,r31
5401
 5638 2e48 E050      		subi r30,lo8(-(PPM_in))
5402
 5639 2e4a F040      		sbci r31,hi8(-(PPM_in))
5403
 5640 2e4c 4091 0000 		lds r20,EE_Parameter+60
5404
 5641 2e50 242F      		mov r18,r20
5405
 5642 2e52 3327      		clr r19
5406
 5643 2e54 8081      		ld r24,Z
5407
 5644 2e56 9181      		ldd r25,Z+1
5408
 5645 2e58 2817      		cp r18,r24
5409
 5646 2e5a 3907      		cpc r19,r25
5410
 5647 2e5c 04F4      		brge .L483
5411
 5648 2e5e 8091 0000 		lds r24,EE_Parameter+108
5412
 5649 2e62 80FF      		sbrs r24,0
5413
 5650 2e64 00C0      		rjmp .L483
5414
 5651 2e66 81E0      		ldi r24,lo8(1)
5415
 5652 2e68 8093 0000 		sts Looping_Oben,r24
5416
 5653 2e6c 00C0      		rjmp .L484
5417
 5654               	.L483:
5418
 5655 2e6e 8091 0000 		lds r24,Looping_Oben
5419
 5656 2e72 8823      		tst r24
5420
 5657 2e74 01F0      		breq .L484
5421
 5658 2e76 EC2D      		mov r30,r12
5422
 5659 2e78 FF27      		clr r31
5423
 5660 2e7a EE0F      		add r30,r30
5424
 5661 2e7c FF1F      		adc r31,r31
5425
 5662 2e7e E050      		subi r30,lo8(-(PPM_in))
5426
 5663 2e80 F040      		sbci r31,hi8(-(PPM_in))
5427
 5664 2e82 842F      		mov r24,r20
5428
 5665 2e84 9927      		clr r25
5429
 5666 2e86 2091 0000 		lds r18,EE_Parameter+61
5430
 5667 2e8a 821B      		sub r24,r18
5431
 5668 2e8c 9109      		sbc r25,__zero_reg__
5432
 5669 2e8e 2081      		ld r18,Z
5433
 5670 2e90 3181      		ldd r19,Z+1
5434
 5671 2e92 2817      		cp r18,r24
5435
 5672 2e94 3907      		cpc r19,r25
5436
 5673 2e96 04F4      		brge .L484
5437
 5674 2e98 1092 0000 		sts Looping_Oben,__zero_reg__
5438
 5675               	.L484:
5439
 5676 2e9c 4091 0000 		lds r20,EE_Parameter+1
5440
 5677 2ea0 E42F      		mov r30,r20
5441
 5678 2ea2 FF27      		clr r31
5442
 5679 2ea4 EE0F      		add r30,r30
5443
 5680 2ea6 FF1F      		adc r31,r31
5444
 5681 2ea8 E050      		subi r30,lo8(-(PPM_in))
5445
 5682 2eaa F040      		sbci r31,hi8(-(PPM_in))
5446
 5683 2eac 5091 0000 		lds r21,EE_Parameter+60
5447
 5684 2eb0 852F      		mov r24,r21
5448
 5685 2eb2 9927      		clr r25
5449
 5686 2eb4 2227      		clr r18
5450
 5687 2eb6 3327      		clr r19
5451
 5688 2eb8 281B      		sub r18,r24
5452
 5689 2eba 390B      		sbc r19,r25
5453
 5690 2ebc 8081      		ld r24,Z
5454
 5691 2ebe 9181      		ldd r25,Z+1
5455
 5692 2ec0 8217      		cp r24,r18
5456
 5693 2ec2 9307      		cpc r25,r19
5457
 5694 2ec4 04F4      		brge .L487
5458
 5695 2ec6 8091 0000 		lds r24,EE_Parameter+108
5459
 5696 2eca 81FF      		sbrs r24,1
5460
 5697 2ecc 00C0      		rjmp .L487
5461
 5698 2ece 81E0      		ldi r24,lo8(1)
5462
 5699 2ed0 8093 0000 		sts Looping_Unten,r24
5463
 5700 2ed4 00C0      		rjmp .L488
5464
 5701               	.L487:
5465
 5702 2ed6 8091 0000 		lds r24,Looping_Unten
5466
 5703 2eda 8823      		tst r24
5467
 5704 2edc 01F0      		breq .L488
5468
 5705 2ede E42F      		mov r30,r20
5469
 5706 2ee0 FF27      		clr r31
5470
 5707 2ee2 EE0F      		add r30,r30
5471
 5708 2ee4 FF1F      		adc r31,r31
5472
 5709 2ee6 E050      		subi r30,lo8(-(PPM_in))
5473
 5710 2ee8 F040      		sbci r31,hi8(-(PPM_in))
5474
 5711 2eea 8091 0000 		lds r24,EE_Parameter+61
5475
 5712 2eee 9927      		clr r25
5476
 5713 2ef0 851B      		sub r24,r21
5477
 5714 2ef2 9109      		sbc r25,__zero_reg__
5478
 5715 2ef4 2081      		ld r18,Z
5479
 5716 2ef6 3181      		ldd r19,Z+1
5480
 5717 2ef8 8217      		cp r24,r18
5481
 5718 2efa 9307      		cpc r25,r19
5482
 5719 2efc 04F4      		brge .L488
5483
 5720 2efe 1092 0000 		sts Looping_Unten,__zero_reg__
5484
 5721               	.L488:
5485
 5722 2f02 8091 0000 		lds r24,Looping_Links
5486
 5723 2f06 8823      		tst r24
5487
 5724 2f08 01F4      		brne .L492
5488
 5725 2f0a 8091 0000 		lds r24,Looping_Rechts
5489
 5726 2f0e 8111      		cpse r24,__zero_reg__
5490
 5727               	.L492:
5491
 5728 2f10 81E0      		ldi r24,lo8(1)
5492
 5729               	.L491:
5493
 5730 2f12 8093 0000 		sts Looping_Roll,r24
5494
 5731 2f16 8091 0000 		lds r24,Looping_Oben
5495
 5732 2f1a 8823      		tst r24
5496
 5733 2f1c 01F4      		brne .L495
5497
 5734 2f1e 8091 0000 		lds r24,Looping_Unten
5498
 5735 2f22 8823      		tst r24
5499
 5736 2f24 01F0      		breq .L494
5500
 5737               	.L495:
5501
 5738 2f26 81E0      		ldi r24,lo8(1)
5502
 5739 2f28 8093 0000 		sts Looping_Nick,r24
5503
 5740 2f2c 1092 0000 		sts Looping_Roll,__zero_reg__
5504
 5741 2f30 1092 0000 		sts Looping_Links,__zero_reg__
5505
 5742 2f34 1092 0000 		sts Looping_Rechts,__zero_reg__
5506
 5743 2f38 00C0      		rjmp .L436
5507
 5744               	.L494:
5508
 5745 2f3a 8093 0000 		sts Looping_Nick,r24
5509
 5746               	.L436:
5510
 5747 2f3e 8091 0000 		lds r24,Looping_Roll
5511
 5748 2f42 8823      		tst r24
5512
 5749 2f44 01F4      		brne .L498
5513
 5750 2f46 8091 0000 		lds r24,Looping_Nick
5514
 5751 2f4a 8823      		tst r24
5515
 5752 2f4c 01F0      		breq .L497
5516
 5753               	.L498:
5517
 5754 2f4e 8091 0000 		lds r24,EE_Parameter+59
5518
 5755 2f52 9927      		clr r25
5519
 5756 2f54 2981      		ldd r18,Y+1
5520
 5757 2f56 3A81      		ldd r19,Y+2
5521
 5758 2f58 8217      		cp r24,r18
5522
 5759 2f5a 9307      		cpc r25,r19
5523
 5760 2f5c 04F4      		brge .L499
5524
 5761 2f5e 9A83      		std Y+2,r25
5525
 5762 2f60 8983      		std Y+1,r24
5526
 5763               	.L499:
5527
 5764 2f62 81E0      		ldi r24,lo8(1)
5528
 5765 2f64 8093 0000 		sts TrichterFlug,r24
5529
 5766               	.L497:
5530
 5767 2f68 8091 0000 		lds r24,FC_StatusFlags2
5531
 5768 2f6c 9927      		clr r25
5532
 5769 2f6e 9C01      		movw r18,r24
5533
 5770 2f70 2470      		andi r18,lo8(4)
5534
 5771 2f72 3070      		andi r19,hi8(4)
5535
 5772 2f74 82FF      		sbrs r24,2
5536
 5773 2f76 00C0      		rjmp .L500
5537
 5774 2f78 8091 0000 		lds r24,GPS_Nick
5538
 5775 2f7c 9091 0000 		lds r25,(GPS_Nick)+1
5539
 5776 2f80 9095      		com r25
5540
 5777 2f82 8195      		neg r24
5541
 5778 2f84 9F4F      		sbci r25,lo8(-1)
5542
 5779 2f86 9093 0000 		sts (StickNick)+1,r25
5543
 5780 2f8a 8093 0000 		sts StickNick,r24
5544
 5781 2f8e 8091 0000 		lds r24,GPS_Roll
5545
 5782 2f92 9091 0000 		lds r25,(GPS_Roll)+1
5546
 5783 2f96 9095      		com r25
5547
 5784 2f98 8195      		neg r24
5548
 5785 2f9a 9F4F      		sbci r25,lo8(-1)
5549
 5786 2f9c 9093 0000 		sts (StickRoll)+1,r25
5550
 5787 2fa0 8093 0000 		sts StickRoll,r24
5551
 5788 2fa4 8091 0000 		lds r24,StickGasHover
5552
 5789 2fa8 9091 0000 		lds r25,(StickGasHover)+1
5553
 5790 2fac 9093 0000 		sts (StickGas)+1,r25
5554
 5791 2fb0 8093 0000 		sts StickGas,r24
5555
 5792 2fb4 8091 0000 		lds r24,Parameter_GlobalConfig
5556
 5793 2fb8 8B77      		andi r24,lo8(123)
5557
 5794 2fba 8B66      		ori r24,lo8(107)
5558
 5795 2fbc 8093 0000 		sts Parameter_GlobalConfig,r24
5559
 5796 2fc0 8091 0000 		lds r24,Parameter_ExtraConfig
5560
 5797 2fc4 8C7B      		andi r24,lo8(-68)
5561
 5798 2fc6 8093 0000 		sts Parameter_ExtraConfig,r24
5562
 5799 2fca 88EC      		ldi r24,lo8(-56)
5563
 5800 2fcc 8093 0000 		sts Parameter_HoehenSchalter,r24
5564
 5801 2fd0 00C0      		rjmp .L501
5565
 5802               	.L500:
5566
 5803 2fd2 8091 0000 		lds r24,FC_StatusFlags
5567
 5804 2fd6 84FF      		sbrs r24,4
5568
 5805 2fd8 00C0      		rjmp .L501
5569
 5806 2fda 3093 0000 		sts (StickGier)+1,r19
5570
 5807 2fde 2093 0000 		sts StickGier,r18
5571
 5808 2fe2 3093 0000 		sts (StickNick)+1,r19
5572
 5809 2fe6 2093 0000 		sts StickNick,r18
5573
 5810 2fea 3093 0000 		sts (StickRoll)+1,r19
5574
 5811 2fee 2093 0000 		sts StickRoll,r18
5575
 5812 2ff2 9AE5      		ldi r25,lo8(90)
5576
 5813 2ff4 9093 0000 		sts GyroFaktor,r25
5577
 5814 2ff8 88E7      		ldi r24,lo8(120)
5578
 5815 2ffa 8093 0000 		sts IntegralFaktor,r24
5579
 5816 2ffe 9093 0000 		sts GyroFaktorGier,r25
5580
 5817 3002 8093 0000 		sts IntegralFaktorGier,r24
5581
 5818 3006 1092 0000 		sts Looping_Roll,__zero_reg__
5582
 5819 300a 1092 0000 		sts Looping_Nick,__zero_reg__
5583
 5820               	.L501:
5584
 5821 300e 8091 0000 		lds r24,MittelIntegralNick
5585
 5822 3012 9091 0000 		lds r25,(MittelIntegralNick)+1
5586
 5823 3016 A091 0000 		lds r26,(MittelIntegralNick)+2
5587
 5824 301a B091 0000 		lds r27,(MittelIntegralNick)+3
5588
 5825 301e 2091 0000 		lds r18,IntegralNick
5589
 5826 3022 3091 0000 		lds r19,(IntegralNick)+1
5590
 5827 3026 4091 0000 		lds r20,(IntegralNick)+2
5591
 5828 302a 5091 0000 		lds r21,(IntegralNick)+3
5592
 5829 302e 820F      		add r24,r18
5593
 5830 3030 931F      		adc r25,r19
5594
 5831 3032 A41F      		adc r26,r20
5595
 5832 3034 B51F      		adc r27,r21
5596
 5833 3036 8093 0000 		sts MittelIntegralNick,r24
5597
 5834 303a 9093 0000 		sts (MittelIntegralNick)+1,r25
5598
 5835 303e A093 0000 		sts (MittelIntegralNick)+2,r26
5599
 5836 3042 B093 0000 		sts (MittelIntegralNick)+3,r27
5600
 5837 3046 8091 0000 		lds r24,MittelIntegralRoll
5601
 5838 304a 9091 0000 		lds r25,(MittelIntegralRoll)+1
5602
 5839 304e A091 0000 		lds r26,(MittelIntegralRoll)+2
5603
 5840 3052 B091 0000 		lds r27,(MittelIntegralRoll)+3
5604
 5841 3056 E090 0000 		lds r14,IntegralRoll
5605
 5842 305a F090 0000 		lds r15,(IntegralRoll)+1
5606
 5843 305e 0091 0000 		lds r16,(IntegralRoll)+2
5607
 5844 3062 1091 0000 		lds r17,(IntegralRoll)+3
5608
 5845 3066 EB82      		std Y+3,r14
5609
 5846 3068 FC82      		std Y+4,r15
5610
 5847 306a 0D83      		std Y+5,r16
5611
 5848 306c 1E83      		std Y+6,r17
5612
 5849 306e 8E0D      		add r24,r14
5613
 5850 3070 9F1D      		adc r25,r15
5614
 5851 3072 A01F      		adc r26,r16
5615
 5852 3074 B11F      		adc r27,r17
5616
 5853 3076 8093 0000 		sts MittelIntegralRoll,r24
5617
 5854 307a 9093 0000 		sts (MittelIntegralRoll)+1,r25
5618
 5855 307e A093 0000 		sts (MittelIntegralRoll)+2,r26
5619
 5856 3082 B093 0000 		sts (MittelIntegralRoll)+3,r27
5620
 5857 3086 8091 0000 		lds r24,MittelIntegralNick2
5621
 5858 308a 9091 0000 		lds r25,(MittelIntegralNick2)+1
5622
 5859 308e A091 0000 		lds r26,(MittelIntegralNick2)+2
5623
 5860 3092 B091 0000 		lds r27,(MittelIntegralNick2)+3
5624
 5861 3096 E090 0000 		lds r14,IntegralNick2
5625
 5862 309a F090 0000 		lds r15,(IntegralNick2)+1
5626
 5863 309e 0091 0000 		lds r16,(IntegralNick2)+2
5627
 5864 30a2 1091 0000 		lds r17,(IntegralNick2)+3
5628
 5865 30a6 EF82      		std Y+7,r14
5629
 5866 30a8 F886      		std Y+8,r15
5630
 5867 30aa 0987      		std Y+9,r16
5631
 5868 30ac 1A87      		std Y+10,r17
5632
 5869 30ae 8E0D      		add r24,r14
5633
 5870 30b0 9F1D      		adc r25,r15
5634
 5871 30b2 A01F      		adc r26,r16
5635
 5872 30b4 B11F      		adc r27,r17
5636
 5873 30b6 8093 0000 		sts MittelIntegralNick2,r24
5637
 5874 30ba 9093 0000 		sts (MittelIntegralNick2)+1,r25
5638
 5875 30be A093 0000 		sts (MittelIntegralNick2)+2,r26
5639
 5876 30c2 B093 0000 		sts (MittelIntegralNick2)+3,r27
5640
 5877 30c6 8091 0000 		lds r24,MittelIntegralRoll2
5641
 5878 30ca 9091 0000 		lds r25,(MittelIntegralRoll2)+1
5642
 5879 30ce A091 0000 		lds r26,(MittelIntegralRoll2)+2
5643
 5880 30d2 B091 0000 		lds r27,(MittelIntegralRoll2)+3
5644
 5881 30d6 E090 0000 		lds r14,IntegralRoll2
5645
 5882 30da F090 0000 		lds r15,(IntegralRoll2)+1
5646
 5883 30de 0091 0000 		lds r16,(IntegralRoll2)+2
5647
 5884 30e2 1091 0000 		lds r17,(IntegralRoll2)+3
5648
 5885 30e6 EB86      		std Y+11,r14
5649
 5886 30e8 FC86      		std Y+12,r15
5650
 5887 30ea 0D87      		std Y+13,r16
5651
 5888 30ec 1E87      		std Y+14,r17
5652
 5889 30ee 8E0D      		add r24,r14
5653
 5890 30f0 9F1D      		adc r25,r15
5654
 5891 30f2 A01F      		adc r26,r16
5655
 5892 30f4 B11F      		adc r27,r17
5656
 5893 30f6 8093 0000 		sts MittelIntegralRoll2,r24
5657
 5894 30fa 9093 0000 		sts (MittelIntegralRoll2)+1,r25
5658
 5895 30fe A093 0000 		sts (MittelIntegralRoll2)+2,r26
5659
 5896 3102 B093 0000 		sts (MittelIntegralRoll2)+3,r27
5660
 5897 3106 F090 0000 		lds r15,Looping_Nick
5661
 5898 310a FF86      		std Y+15,r15
5662
 5899 310c FF20      		tst r15
5663
 5900 310e 01F4      		brne .L504
5664
 5901 3110 8091 0000 		lds r24,Looping_Roll
5665
 5902 3114 8823      		tst r24
5666
 5903 3116 01F4      		brne .+2
5667
 5904 3118 00C0      		rjmp .L886
5668
 5905               	.L504:
5669
 5906 311a 1092 0000 		sts IntegralAccNick,__zero_reg__
5670
 5907 311e 1092 0000 		sts (IntegralAccNick)+1,__zero_reg__
5671
 5908 3122 1092 0000 		sts (IntegralAccNick)+2,__zero_reg__
5672
 5909 3126 1092 0000 		sts (IntegralAccNick)+3,__zero_reg__
5673
 5910 312a 1092 0000 		sts IntegralAccRoll,__zero_reg__
5674
 5911 312e 1092 0000 		sts (IntegralAccRoll)+1,__zero_reg__
5675
 5912 3132 1092 0000 		sts (IntegralAccRoll)+2,__zero_reg__
5676
 5913 3136 1092 0000 		sts (IntegralAccRoll)+3,__zero_reg__
5677
 5914 313a 1092 0000 		sts MittelIntegralNick,__zero_reg__
5678
 5915 313e 1092 0000 		sts (MittelIntegralNick)+1,__zero_reg__
5679
 5916 3142 1092 0000 		sts (MittelIntegralNick)+2,__zero_reg__
5680
 5917 3146 1092 0000 		sts (MittelIntegralNick)+3,__zero_reg__
5681
 5918 314a 1092 0000 		sts MittelIntegralRoll,__zero_reg__
5682
 5919 314e 1092 0000 		sts (MittelIntegralRoll)+1,__zero_reg__
5683
 5920 3152 1092 0000 		sts (MittelIntegralRoll)+2,__zero_reg__
5684
 5921 3156 1092 0000 		sts (MittelIntegralRoll)+3,__zero_reg__
5685
 5922 315a 1092 0000 		sts MittelIntegralNick2,__zero_reg__
5686
 5923 315e 1092 0000 		sts (MittelIntegralNick2)+1,__zero_reg__
5687
 5924 3162 1092 0000 		sts (MittelIntegralNick2)+2,__zero_reg__
5688
 5925 3166 1092 0000 		sts (MittelIntegralNick2)+3,__zero_reg__
5689
 5926 316a 1092 0000 		sts MittelIntegralRoll2,__zero_reg__
5690
 5927 316e 1092 0000 		sts (MittelIntegralRoll2)+1,__zero_reg__
5691
 5928 3172 1092 0000 		sts (MittelIntegralRoll2)+2,__zero_reg__
5692
 5929 3176 1092 0000 		sts (MittelIntegralRoll2)+3,__zero_reg__
5693
 5930 317a 8091 0000 		lds r24,Mess_IntegralNick
5694
 5931 317e 9091 0000 		lds r25,(Mess_IntegralNick)+1
5695
 5932 3182 A091 0000 		lds r26,(Mess_IntegralNick)+2
5696
 5933 3186 B091 0000 		lds r27,(Mess_IntegralNick)+3
5697
 5934 318a 8093 0000 		sts Mess_IntegralNick2,r24
5698
 5935 318e 9093 0000 		sts (Mess_IntegralNick2)+1,r25
5699
 5936 3192 A093 0000 		sts (Mess_IntegralNick2)+2,r26
5700
 5937 3196 B093 0000 		sts (Mess_IntegralNick2)+3,r27
5701
 5938 319a 8091 0000 		lds r24,Mess_IntegralRoll
5702
 5939 319e 9091 0000 		lds r25,(Mess_IntegralRoll)+1
5703
 5940 31a2 A091 0000 		lds r26,(Mess_IntegralRoll)+2
5704
 5941 31a6 B091 0000 		lds r27,(Mess_IntegralRoll)+3
5705
 5942 31aa 8093 0000 		sts Mess_IntegralRoll2,r24
5706
 5943 31ae 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
5707
 5944 31b2 A093 0000 		sts (Mess_IntegralRoll2)+2,r26
5708
 5945 31b6 B093 0000 		sts (Mess_IntegralRoll2)+3,r27
5709
 5946 31ba 1092 0000 		sts (ZaehlMessungen)+1,__zero_reg__
5710
 5947 31be 1092 0000 		sts ZaehlMessungen,__zero_reg__
5711
 5948 31c2 1092 0000 		sts (LageKorrekturNick)+1,__zero_reg__
5712
 5949 31c6 1092 0000 		sts LageKorrekturNick,__zero_reg__
5713
 5950 31ca 1092 0000 		sts (LageKorrekturRoll)+1,__zero_reg__
5714
 5951 31ce 1092 0000 		sts LageKorrekturRoll,__zero_reg__
5715
 5952 31d2 0F85      		ldd r16,Y+15
5716
 5953 31d4 0023      		tst r16
5717
 5954 31d6 01F0      		breq .+2
5718
 5955 31d8 00C0      		rjmp .L505
5719
 5956               	.L886:
5720
 5957 31da 8091 0000 		lds r24,Looping_Roll
5721
 5958 31de 8823      		tst r24
5722
 5959 31e0 01F0      		breq .+2
5723
 5960 31e2 00C0      		rjmp .L505
5724
 5961 31e4 8091 0000 		lds r24,Aktuell_az
5725
 5962 31e8 9091 0000 		lds r25,(Aktuell_az)+1
5726
 5963 31ec 8150      		subi r24,lo8(513)
5727
 5964 31ee 9240      		sbci r25,hi8(513)
5728
 5965 31f0 04F4      		brge .L506
5729
 5966 31f2 8091 0000 		lds r24,MotorenEin
5730
 5967 31f6 8823      		tst r24
5731
 5968 31f8 01F4      		brne .+2
5732
 5969 31fa 00C0      		rjmp .L505
5733
 5970               	.L506:
5734
 5971 31fc 9090 0000 		lds r9,FromNaviCtrl_Value
5735
 5972 3200 A090 0000 		lds r10,EE_Parameter+28
5736
 5973 3204 2090 0000 		lds r2,Mittelwert_AccNick
5737
 5974 3208 3090 0000 		lds r3,(Mittelwert_AccNick)+1
5738
 5975 320c 4090 0000 		lds r4,Mittelwert_AccRoll
5739
 5976 3210 5090 0000 		lds r5,(Mittelwert_AccRoll)+1
5740
 5977 3214 1914      		cp __zero_reg__,r9
5741
 5978 3216 04F0      		brlt .+2
5742
 5979 3218 00C0      		rjmp .L507
5743
 5980 321a BB24      		clr r11
5744
 5981 321c CC24      		clr r12
5745
 5982 321e DD24      		clr r13
5746
 5983 3220 CA01      		movw r24,r20
5747
 5984 3222 B901      		movw r22,r18
5748
 5985 3224 A601      		movw r20,r12
5749
 5986 3226 9501      		movw r18,r10
5750
 5987 3228 0E94 0000 		call __divmodsi4
5751
 5988 322c 7901      		movw r14,r18
5752
 5989 322e 8A01      		movw r16,r20
5753
 5990 3230 8091 0000 		lds r24,FromNaviCtrl+9
5754
 5991 3234 9091 0000 		lds r25,(FromNaviCtrl+9)+1
5755
 5992 3238 281A      		sub r2,r24
5756
 5993 323a 390A      		sbc r3,r25
5757
 5994 323c C101      		movw r24,r2
5758
 5995 323e AA27      		clr r26
5759
 5996 3240 97FD      		sbrc r25,7
5760
 5997 3242 A095      		com r26
5761
 5998 3244 BA2F      		mov r27,r26
5762
 5999 3246 E81A      		sub r14,r24
5763
 6000 3248 F90A      		sbc r15,r25
5764
 6001 324a 0A0B      		sbc r16,r26
5765
 6002 324c 1B0B      		sbc r17,r27
5766
 6003 324e 6B81      		ldd r22,Y+3
5767
 6004 3250 7C81      		ldd r23,Y+4
5768
 6005 3252 8D81      		ldd r24,Y+5
5769
 6006 3254 9E81      		ldd r25,Y+6
5770
 6007 3256 A601      		movw r20,r12
5771
 6008 3258 9501      		movw r18,r10
5772
 6009 325a 0E94 0000 		call __divmodsi4
5773
 6010 325e 5901      		movw r10,r18
5774
 6011 3260 6A01      		movw r12,r20
5775
 6012 3262 8091 0000 		lds r24,FromNaviCtrl+11
5776
 6013 3266 9091 0000 		lds r25,(FromNaviCtrl+11)+1
5777
 6014 326a 481A      		sub r4,r24
5778
 6015 326c 590A      		sbc r5,r25
5779
 6016 326e C201      		movw r24,r4
5780
 6017 3270 AA27      		clr r26
5781
 6018 3272 97FD      		sbrc r25,7
5782
 6019 3274 A095      		com r26
5783
 6020 3276 BA2F      		mov r27,r26
5784
 6021 3278 A81A      		sub r10,r24
5785
 6022 327a B90A      		sbc r11,r25
5786
 6023 327c CA0A      		sbc r12,r26
5787
 6024 327e DB0A      		sbc r13,r27
5788
 6025 3280 292C      		mov r2,r9
5789
 6026 3282 3324      		clr r3
5790
 6027 3284 27FC      		sbrc r2,7
5791
 6028 3286 3094      		com r3
5792
 6029 3288 432C      		mov r4,r3
5793
 6030 328a 532C      		mov r5,r3
5794
 6031 328c C801      		movw r24,r16
5795
 6032 328e B701      		movw r22,r14
5796
 6033 3290 A201      		movw r20,r4
5797
 6034 3292 9101      		movw r18,r2
5798
 6035 3294 0E94 0000 		call __mulsi3
5799
 6036 3298 97FF      		sbrs r25,7
5800
 6037 329a 00C0      		rjmp .L508
5801
 6038 329c 6150      		subi r22,lo8(-(511))
5802
 6039 329e 7E4F      		sbci r23,hi8(-(511))
5803
 6040 32a0 8F4F      		sbci r24,hlo8(-(511))
5804
 6041 32a2 9F4F      		sbci r25,hhi8(-(511))
5805
 6042               	.L508:
5806
 6043 32a4 3B01      		movw r6,r22
5807
 6044 32a6 4C01      		movw r8,r24
5808
 6045 32a8 09E0      		ldi r16,9
5809
 6046 32aa 9594      	1:	asr r9
5810
 6047 32ac 8794      		ror r8
5811
 6048 32ae 7794      		ror r7
5812
 6049 32b0 6794      		ror r6
5813
 6050 32b2 0A95      		dec r16
5814
 6051 32b4 01F4      		brne 1b
5815
 6052 32b6 C601      		movw r24,r12
5816
 6053 32b8 B501      		movw r22,r10
5817
 6054 32ba A201      		movw r20,r4
5818
 6055 32bc 9101      		movw r18,r2
5819
 6056 32be 0E94 0000 		call __mulsi3
5820
 6057 32c2 97FF      		sbrs r25,7
5821
 6058 32c4 00C0      		rjmp .L509
5822
 6059 32c6 6150      		subi r22,lo8(-(511))
5823
 6060 32c8 7E4F      		sbci r23,hi8(-(511))
5824
 6061 32ca 8F4F      		sbci r24,hlo8(-(511))
5825
 6062 32cc 9F4F      		sbci r25,hhi8(-(511))
5826
 6063               	.L509:
5827
 6064 32ce 5B01      		movw r10,r22
5828
 6065 32d0 6C01      		movw r12,r24
5829
 6066 32d2 19E0      		ldi r17,9
5830
 6067 32d4 D594      	1:	asr r13
5831
 6068 32d6 C794      		ror r12
5832
 6069 32d8 B794      		ror r11
5833
 6070 32da A794      		ror r10
5834
 6071 32dc 1A95      		dec r17
5835
 6072 32de 01F4      		brne 1b
5836
 6073 32e0 8091 0000 		lds r24,MaxStickNick
5837
 6074 32e4 9091 0000 		lds r25,(MaxStickNick)+1
5838
 6075 32e8 8134      		cpi r24,65
5839
 6076 32ea 9105      		cpc r25,__zero_reg__
5840
 6077 32ec 04F4      		brge .L511
5841
 6078 32ee 8091 0000 		lds r24,MaxStickRoll
5842
 6079 32f2 9091 0000 		lds r25,(MaxStickRoll)+1
5843
 6080 32f6 8134      		cpi r24,65
5844
 6081 32f8 9105      		cpc r25,__zero_reg__
5845
 6082 32fa 04F0      		brlt .L510
5846
 6083               	.L511:
5847
 6084 32fc D401      		movw r26,r8
5848
 6085 32fe C301      		movw r24,r6
5849
 6086 3300 97FE      		sbrs r9,7
5850
 6087 3302 00C0      		rjmp .L512
5851
 6088 3304 0196      		adiw r24,1
5852
 6089 3306 A11D      		adc r26,__zero_reg__
5853
 6090 3308 B11D      		adc r27,__zero_reg__
5854
 6091               	.L512:
5855
 6092 330a 3C01      		movw r6,r24
5856
 6093 330c 4D01      		movw r8,r26
5857
 6094 330e 9594      		asr r9
5858
 6095 3310 8794      		ror r8
5859
 6096 3312 7794      		ror r7
5860
 6097 3314 6794      		ror r6
5861
 6098 3316 D601      		movw r26,r12
5862
 6099 3318 C501      		movw r24,r10
5863
 6100 331a D7FE      		sbrs r13,7
5864
 6101 331c 00C0      		rjmp .L513
5865
 6102 331e 0196      		adiw r24,1
5866
 6103 3320 A11D      		adc r26,__zero_reg__
5867
 6104 3322 B11D      		adc r27,__zero_reg__
5868
 6105               	.L513:
5869
 6106 3324 5C01      		movw r10,r24
5870
 6107 3326 6D01      		movw r12,r26
5871
 6108 3328 D594      		asr r13
5872
 6109 332a C794      		ror r12
5873
 6110 332c B794      		ror r11
5874
 6111 332e A794      		ror r10
5875
 6112               	.L510:
5876
 6113 3330 8091 0000 		lds r24,FromNaviCtrl_Value+2
5877
 6114 3334 282F      		mov r18,r24
5878
 6115 3336 3327      		clr r19
5879
 6116 3338 27FD      		sbrc r18,7
5880
 6117 333a 3095      		com r19
5881
 6118 333c 432F      		mov r20,r19
5882
 6119 333e 532F      		mov r21,r19
5883
 6120 3340 2615      		cp r18,r6
5884
 6121 3342 3705      		cpc r19,r7
5885
 6122 3344 4805      		cpc r20,r8
5886
 6123 3346 5905      		cpc r21,r9
5887
 6124 3348 04F4      		brge .L514
5888
 6125 334a 3901      		movw r6,r18
5889
 6126 334c 4A01      		movw r8,r20
5890
 6127               	.L514:
5891
 6128 334e 9927      		clr r25
5892
 6129 3350 87FD      		sbrc r24,7
5893
 6130 3352 9095      		com r25
5894
 6131 3354 9095      		com r25
5895
 6132 3356 8195      		neg r24
5896
 6133 3358 9F4F      		sbci r25,lo8(-1)
5897
 6134 335a AA27      		clr r26
5898
 6135 335c 97FD      		sbrc r25,7
5899
 6136 335e A095      		com r26
5900
 6137 3360 BA2F      		mov r27,r26
5901
 6138 3362 6816      		cp r6,r24
5902
 6139 3364 7906      		cpc r7,r25
5903
 6140 3366 8A06      		cpc r8,r26
5904
 6141 3368 9B06      		cpc r9,r27
5905
 6142 336a 04F4      		brge .L515
5906
 6143 336c 3C01      		movw r6,r24
5907
 6144 336e 4D01      		movw r8,r26
5908
 6145               	.L515:
5909
 6146 3370 2A15      		cp r18,r10
5910
 6147 3372 3B05      		cpc r19,r11
5911
 6148 3374 4C05      		cpc r20,r12
5912
 6149 3376 5D05      		cpc r21,r13
5913
 6150 3378 04F4      		brge .L516
5914
 6151 337a 5901      		movw r10,r18
5915
 6152 337c 6A01      		movw r12,r20
5916
 6153               	.L516:
5917
 6154 337e A816      		cp r10,r24
5918
 6155 3380 B906      		cpc r11,r25
5919
 6156 3382 CA06      		cpc r12,r26
5920
 6157 3384 DB06      		cpc r13,r27
5921
 6158 3386 04F0      		brlt .+2
5922
 6159 3388 00C0      		rjmp .L518
5923
 6160 338a 5C01      		movw r10,r24
5924
 6161 338c 6D01      		movw r12,r26
5925
 6162 338e 00C0      		rjmp .L518
5926
 6163               	.L507:
5927
 6164 3390 EA2C      		mov r14,r10
5928
 6165 3392 FF24      		clr r15
5929
 6166 3394 0027      		clr r16
5930
 6167 3396 1127      		clr r17
5931
 6168 3398 CA01      		movw r24,r20
5932
 6169 339a B901      		movw r22,r18
5933
 6170 339c A801      		movw r20,r16
5934
 6171 339e 9701      		movw r18,r14
5935
 6172 33a0 0E94 0000 		call __divmodsi4
5936
 6173 33a4 3901      		movw r6,r18
5937
 6174 33a6 4A01      		movw r8,r20
5938
 6175 33a8 C101      		movw r24,r2
5939
 6176 33aa AA27      		clr r26
5940
 6177 33ac 97FD      		sbrc r25,7
5941
 6178 33ae A095      		com r26
5942
 6179 33b0 BA2F      		mov r27,r26
5943
 6180 33b2 681A      		sub r6,r24
5944
 6181 33b4 790A      		sbc r7,r25
5945
 6182 33b6 8A0A      		sbc r8,r26
5946
 6183 33b8 9B0A      		sbc r9,r27
5947
 6184 33ba 6B81      		ldd r22,Y+3
5948
 6185 33bc 7C81      		ldd r23,Y+4
5949
 6186 33be 8D81      		ldd r24,Y+5
5950
 6187 33c0 9E81      		ldd r25,Y+6
5951
 6188 33c2 A801      		movw r20,r16
5952
 6189 33c4 9701      		movw r18,r14
5953
 6190 33c6 0E94 0000 		call __divmodsi4
5954
 6191 33ca 5901      		movw r10,r18
5955
 6192 33cc 6A01      		movw r12,r20
5956
 6193 33ce C201      		movw r24,r4
5957
 6194 33d0 AA27      		clr r26
5958
 6195 33d2 97FD      		sbrc r25,7
5959
 6196 33d4 A095      		com r26
5960
 6197 33d6 BA2F      		mov r27,r26
5961
 6198 33d8 A81A      		sub r10,r24
5962
 6199 33da B90A      		sbc r11,r25
5963
 6200 33dc CA0A      		sbc r12,r26
5964
 6201 33de DB0A      		sbc r13,r27
5965
 6202 33e0 D401      		movw r26,r8
5966
 6203 33e2 C301      		movw r24,r6
5967
 6204 33e4 97FE      		sbrs r9,7
5968
 6205 33e6 00C0      		rjmp .L519
5969
 6206 33e8 0F96      		adiw r24,15
5970
 6207 33ea A11D      		adc r26,__zero_reg__
5971
 6208 33ec B11D      		adc r27,__zero_reg__
5972
 6209               	.L519:
5973
 6210 33ee 3C01      		movw r6,r24
5974
 6211 33f0 4D01      		movw r8,r26
5975
 6212 33f2 F4E0      		ldi r31,4
5976
 6213 33f4 9594      	1:	asr r9
5977
 6214 33f6 8794      		ror r8
5978
 6215 33f8 7794      		ror r7
5979
 6216 33fa 6794      		ror r6
5980
 6217 33fc FA95      		dec r31
5981
 6218 33fe 01F4      		brne 1b
5982
 6219 3400 D601      		movw r26,r12
5983
 6220 3402 C501      		movw r24,r10
5984
 6221 3404 D7FE      		sbrs r13,7
5985
 6222 3406 00C0      		rjmp .L520
5986
 6223 3408 0F96      		adiw r24,15
5987
 6224 340a A11D      		adc r26,__zero_reg__
5988
 6225 340c B11D      		adc r27,__zero_reg__
5989
 6226               	.L520:
5990
 6227 340e 5C01      		movw r10,r24
5991
 6228 3410 6D01      		movw r12,r26
5992
 6229 3412 E4E0      		ldi r30,4
5993
 6230 3414 D594      	1:	asr r13
5994
 6231 3416 C794      		ror r12
5995
 6232 3418 B794      		ror r11
5996
 6233 341a A794      		ror r10
5997
 6234 341c EA95      		dec r30
5998
 6235 341e 01F4      		brne 1b
5999
 6236 3420 8091 0000 		lds r24,MaxStickNick
6000
 6237 3424 9091 0000 		lds r25,(MaxStickNick)+1
6001
 6238 3428 8134      		cpi r24,65
6002
 6239 342a 9105      		cpc r25,__zero_reg__
6003
 6240 342c 04F4      		brge .L522
6004
 6241 342e 8091 0000 		lds r24,MaxStickRoll
6005
 6242 3432 9091 0000 		lds r25,(MaxStickRoll)+1
6006
 6243 3436 8134      		cpi r24,65
6007
 6244 3438 9105      		cpc r25,__zero_reg__
6008
 6245 343a 04F0      		brlt .L521
6009
 6246               	.L522:
6010
 6247 343c C401      		movw r24,r8
6011
 6248 343e B301      		movw r22,r6
6012
 6249 3440 23E0      		ldi r18,lo8(3)
6013
 6250 3442 30E0      		ldi r19,hi8(3)
6014
 6251 3444 40E0      		ldi r20,hlo8(3)
6015
 6252 3446 50E0      		ldi r21,hhi8(3)
6016
 6253 3448 0E94 0000 		call __divmodsi4
6017
 6254 344c 3901      		movw r6,r18
6018
 6255 344e 4A01      		movw r8,r20
6019
 6256 3450 C601      		movw r24,r12
6020
 6257 3452 B501      		movw r22,r10
6021
 6258 3454 23E0      		ldi r18,lo8(3)
6022
 6259 3456 30E0      		ldi r19,hi8(3)
6023
 6260 3458 40E0      		ldi r20,hlo8(3)
6024
 6261 345a 50E0      		ldi r21,hhi8(3)
6025
 6262 345c 0E94 0000 		call __divmodsi4
6026
 6263 3460 5901      		movw r10,r18
6027
 6264 3462 6A01      		movw r12,r20
6028
 6265               	.L521:
6029
 6266 3464 8091 0000 		lds r24,EE_Parameter+4
6030
 6267 3468 E82F      		mov r30,r24
6031
 6268 346a FF27      		clr r31
6032
 6269 346c EE0F      		add r30,r30
6033
 6270 346e FF1F      		adc r31,r31
6034
 6271 3470 E050      		subi r30,lo8(-(PPM_in))
6035
 6272 3472 F040      		sbci r31,hi8(-(PPM_in))
6036
 6273 3474 8081      		ld r24,Z
6037
 6274 3476 9181      		ldd r25,Z+1
6038
 6275 3478 0190      		ld __tmp_reg__,Z+
6039
 6276 347a F081      		ld r31,Z
6040
 6277 347c E02D      		mov r30,__tmp_reg__
6041
 6278 347e F7FF      		sbrs r31,7
6042
 6279 3480 00C0      		rjmp .L524
6043
 6280 3482 F095      		com r31
6044
 6281 3484 E195      		neg r30
6045
 6282 3486 FF4F      		sbci r31,lo8(-1)
6046
 6283               	.L524:
6047
 6284 3488 7A97      		sbiw r30,26
6048
 6285 348a 04F0      		brlt .L523
6049
 6286 348c C401      		movw r24,r8
6050
 6287 348e B301      		movw r22,r6
6051
 6288 3490 23E0      		ldi r18,lo8(3)
6052
 6289 3492 30E0      		ldi r19,hi8(3)
6053
 6290 3494 40E0      		ldi r20,hlo8(3)
6054
 6291 3496 50E0      		ldi r21,hhi8(3)
6055
 6292 3498 0E94 0000 		call __divmodsi4
6056
 6293 349c 3901      		movw r6,r18
6057
 6294 349e 4A01      		movw r8,r20
6058
 6295 34a0 C601      		movw r24,r12
6059
 6296 34a2 B501      		movw r22,r10
6060
 6297 34a4 23E0      		ldi r18,lo8(3)
6061
 6298 34a6 30E0      		ldi r19,hi8(3)
6062
 6299 34a8 40E0      		ldi r20,hlo8(3)
6063
 6300 34aa 50E0      		ldi r21,hhi8(3)
6064
 6301 34ac 0E94 0000 		call __divmodsi4
6065
 6302 34b0 5901      		movw r10,r18
6066
 6303 34b2 6A01      		movw r12,r20
6067
 6304               	.L523:
6068
 6305 34b4 89E1      		ldi r24,lo8(25)
6069
 6306 34b6 8093 0000 		sts KompassFusion,r24
6070
 6307 34ba 21E2      		ldi r18,lo8(33)
6071
 6308 34bc 6216      		cp r6,r18
6072
 6309 34be 7104      		cpc r7,__zero_reg__
6073
 6310 34c0 8104      		cpc r8,__zero_reg__
6074
 6311 34c2 9104      		cpc r9,__zero_reg__
6075
 6312 34c4 04F0      		brlt .L525
6076
 6313 34c6 70E2      		ldi r23,lo8(32)
6077
 6314 34c8 672E      		mov r6,r23
6078
 6315 34ca 712C      		mov r7,__zero_reg__
6079
 6316 34cc 812C      		mov r8,__zero_reg__
6080
 6317 34ce 912C      		mov r9,__zero_reg__
6081
 6318               	.L525:
6082
 6319 34d0 30EE      		ldi r19,lo8(-32)
6083
 6320 34d2 6316      		cp r6,r19
6084
 6321 34d4 3FEF      		ldi r19,hi8(-32)
6085
 6322 34d6 7306      		cpc r7,r19
6086
 6323 34d8 3FEF      		ldi r19,hlo8(-32)
6087
 6324 34da 8306      		cpc r8,r19
6088
 6325 34dc 3FEF      		ldi r19,hhi8(-32)
6089
 6326 34de 9306      		cpc r9,r19
6090
 6327 34e0 04F4      		brge .L526
6091
 6328 34e2 60EE      		ldi r22,lo8(-32)
6092
 6329 34e4 662E      		mov r6,r22
6093
 6330 34e6 6FEF      		ldi r22,hi8(-32)
6094
 6331 34e8 762E      		mov r7,r22
6095
 6332 34ea 6FEF      		ldi r22,hlo8(-32)
6096
 6333 34ec 862E      		mov r8,r22
6097
 6334 34ee 6FEF      		ldi r22,hhi8(-32)
6098
 6335 34f0 962E      		mov r9,r22
6099
 6336               	.L526:
6100
 6337 34f2 41E2      		ldi r20,lo8(33)
6101
 6338 34f4 A416      		cp r10,r20
6102
 6339 34f6 B104      		cpc r11,__zero_reg__
6103
 6340 34f8 C104      		cpc r12,__zero_reg__
6104
 6341 34fa D104      		cpc r13,__zero_reg__
6105
 6342 34fc 04F0      		brlt .L527
6106
 6343 34fe 50E2      		ldi r21,lo8(32)
6107
 6344 3500 A52E      		mov r10,r21
6108
 6345 3502 B12C      		mov r11,__zero_reg__
6109
 6346 3504 C12C      		mov r12,__zero_reg__
6110
 6347 3506 D12C      		mov r13,__zero_reg__
6111
 6348               	.L527:
6112
 6349 3508 50EE      		ldi r21,lo8(-32)
6113
 6350 350a A516      		cp r10,r21
6114
 6351 350c 5FEF      		ldi r21,hi8(-32)
6115
 6352 350e B506      		cpc r11,r21
6116
 6353 3510 5FEF      		ldi r21,hlo8(-32)
6117
 6354 3512 C506      		cpc r12,r21
6118
 6355 3514 5FEF      		ldi r21,hhi8(-32)
6119
 6356 3516 D506      		cpc r13,r21
6120
 6357 3518 04F4      		brge .L518
6121
 6358 351a 40EE      		ldi r20,lo8(-32)
6122
 6359 351c A42E      		mov r10,r20
6123
 6360 351e 4FEF      		ldi r20,hi8(-32)
6124
 6361 3520 B42E      		mov r11,r20
6125
 6362 3522 4FEF      		ldi r20,hlo8(-32)
6126
 6363 3524 C42E      		mov r12,r20
6127
 6364 3526 4FEF      		ldi r20,hhi8(-32)
6128
 6365 3528 D42E      		mov r13,r20
6129
 6366               	.L518:
6130
 6367 352a 8091 0000 		lds r24,Mess_IntegralNick
6131
 6368 352e 9091 0000 		lds r25,(Mess_IntegralNick)+1
6132
 6369 3532 A091 0000 		lds r26,(Mess_IntegralNick)+2
6133
 6370 3536 B091 0000 		lds r27,(Mess_IntegralNick)+3
6134
 6371 353a 8619      		sub r24,r6
6135
 6372 353c 9709      		sbc r25,r7
6136
 6373 353e A809      		sbc r26,r8
6137
 6374 3540 B909      		sbc r27,r9
6138
 6375 3542 8093 0000 		sts Mess_IntegralNick,r24
6139
 6376 3546 9093 0000 		sts (Mess_IntegralNick)+1,r25
6140
 6377 354a A093 0000 		sts (Mess_IntegralNick)+2,r26
6141
 6378 354e B093 0000 		sts (Mess_IntegralNick)+3,r27
6142
 6379 3552 8091 0000 		lds r24,Mess_IntegralRoll
6143
 6380 3556 9091 0000 		lds r25,(Mess_IntegralRoll)+1
6144
 6381 355a A091 0000 		lds r26,(Mess_IntegralRoll)+2
6145
 6382 355e B091 0000 		lds r27,(Mess_IntegralRoll)+3
6146
 6383 3562 8A19      		sub r24,r10
6147
 6384 3564 9B09      		sbc r25,r11
6148
 6385 3566 AC09      		sbc r26,r12
6149
 6386 3568 BD09      		sbc r27,r13
6150
 6387 356a 8093 0000 		sts Mess_IntegralRoll,r24
6151
 6388 356e 9093 0000 		sts (Mess_IntegralRoll)+1,r25
6152
 6389 3572 A093 0000 		sts (Mess_IntegralRoll)+2,r26
6153
 6390 3576 B093 0000 		sts (Mess_IntegralRoll)+3,r27
6154
 6391               	.L505:
6155
 6392 357a 8091 0000 		lds r24,ZaehlMessungen
6156
 6393 357e 9091 0000 		lds r25,(ZaehlMessungen)+1
6157
 6394 3582 8F3F      		cpi r24,255
6158
 6395 3584 9105      		cpc r25,__zero_reg__
6159
 6396 3586 01F0      		breq .+2
6160
 6397 3588 00F4      		brsh .+2
6161
 6398 358a 00C0      		rjmp .L529
6162
 6399 358c 6F85      		ldd r22,Y+15
6163
 6400 358e 6623      		tst r22
6164
 6401 3590 01F0      		breq .+2
6165
 6402 3592 00C0      		rjmp .L530
6166
 6403 3594 8091 0000 		lds r24,Looping_Roll
6167
 6404 3598 8823      		tst r24
6168
 6405 359a 01F0      		breq .+2
6169
 6406 359c 00C0      		rjmp .L530
6170
 6407 359e 8091 0000 		lds r24,TrichterFlug
6171
 6408 35a2 8823      		tst r24
6172
 6409 35a4 01F0      		breq .+2
6173
 6410 35a6 00C0      		rjmp .L530
6174
 6411 35a8 7091 0000 		lds r23,EE_Parameter+68
6175
 6412 35ac 788B      		std Y+16,r23
6176
 6413 35ae 7723      		tst r23
6177
 6414 35b0 01F4      		brne .+2
6178
 6415 35b2 00C0      		rjmp .L530
6179
 6416 35b4 8091 0000 		lds r24,MittelIntegralNick
6180
 6417 35b8 9091 0000 		lds r25,(MittelIntegralNick)+1
6181
 6418 35bc A091 0000 		lds r26,(MittelIntegralNick)+2
6182
 6419 35c0 B091 0000 		lds r27,(MittelIntegralNick)+3
6183
 6420 35c4 B7FF      		sbrs r27,7
6184
 6421 35c6 00C0      		rjmp .L531
6185
 6422 35c8 8150      		subi r24,lo8(-(255))
6186
 6423 35ca 9F4F      		sbci r25,hi8(-(255))
6187
 6424 35cc AF4F      		sbci r26,hlo8(-(255))
6188
 6425 35ce BF4F      		sbci r27,hhi8(-(255))
6189
 6426               	.L531:
6190
 6427 35d0 E92E      		mov r14,r25
6191
 6428 35d2 FA2E      		mov r15,r26
6192
 6429 35d4 0B2F      		mov r16,r27
6193
 6430 35d6 1127      		clr r17
6194
 6431 35d8 07FD      		sbrc r16,7
6195
 6432 35da 1A95      		dec r17
6196
 6433 35dc E092 0000 		sts MittelIntegralNick,r14
6197
 6434 35e0 F092 0000 		sts (MittelIntegralNick)+1,r15
6198
 6435 35e4 0093 0000 		sts (MittelIntegralNick)+2,r16
6199
 6436 35e8 1093 0000 		sts (MittelIntegralNick)+3,r17
6200
 6437 35ec 8091 0000 		lds r24,MittelIntegralRoll
6201
 6438 35f0 9091 0000 		lds r25,(MittelIntegralRoll)+1
6202
 6439 35f4 A091 0000 		lds r26,(MittelIntegralRoll)+2
6203
 6440 35f8 B091 0000 		lds r27,(MittelIntegralRoll)+3
6204
 6441 35fc B7FF      		sbrs r27,7
6205
 6442 35fe 00C0      		rjmp .L532
6206
 6443 3600 8150      		subi r24,lo8(-(255))
6207
 6444 3602 9F4F      		sbci r25,hi8(-(255))
6208
 6445 3604 AF4F      		sbci r26,hlo8(-(255))
6209
 6446 3606 BF4F      		sbci r27,hhi8(-(255))
6210
 6447               	.L532:
6211
 6448 3608 892F      		mov r24,r25
6212
 6449 360a 9A2F      		mov r25,r26
6213
 6450 360c AB2F      		mov r26,r27
6214
 6451 360e BB27      		clr r27
6215
 6452 3610 A7FD      		sbrc r26,7
6216
 6453 3612 BA95      		dec r27
6217
 6454 3614 898B      		std Y+17,r24
6218
 6455 3616 9A8B      		std Y+18,r25
6219
 6456 3618 AB8B      		std Y+19,r26
6220
 6457 361a BC8B      		std Y+20,r27
6221
 6458 361c 8093 0000 		sts MittelIntegralRoll,r24
6222
 6459 3620 9093 0000 		sts (MittelIntegralRoll)+1,r25
6223
 6460 3624 A093 0000 		sts (MittelIntegralRoll)+2,r26
6224
 6461 3628 B093 0000 		sts (MittelIntegralRoll)+3,r27
6225
 6462 362c 8091 0000 		lds r24,EE_Parameter+28
6226
 6463 3630 A82E      		mov r10,r24
6227
 6464 3632 BB24      		clr r11
6228
 6465 3634 CC24      		clr r12
6229
 6466 3636 DD24      		clr r13
6230
 6467 3638 2091 0000 		lds r18,IntegralAccNick
6231
 6468 363c 3091 0000 		lds r19,(IntegralAccNick)+1
6232
 6469 3640 4091 0000 		lds r20,(IntegralAccNick)+2
6233
 6470 3644 5091 0000 		lds r21,(IntegralAccNick)+3
6234
 6471 3648 C601      		movw r24,r12
6235
 6472 364a B501      		movw r22,r10
6236
 6473 364c 0E94 0000 		call __mulsi3
6237
 6474 3650 97FF      		sbrs r25,7
6238
 6475 3652 00C0      		rjmp .L533
6239
 6476 3654 6150      		subi r22,lo8(-(255))
6240
 6477 3656 7F4F      		sbci r23,hi8(-(255))
6241
 6478 3658 8F4F      		sbci r24,hlo8(-(255))
6242
 6479 365a 9F4F      		sbci r25,hhi8(-(255))
6243
 6480               	.L533:
6244
 6481 365c 672E      		mov r6,r23
6245
 6482 365e 782E      		mov r7,r24
6246
 6483 3660 892E      		mov r8,r25
6247
 6484 3662 9924      		clr r9
6248
 6485 3664 87FC      		sbrc r8,7
6249
 6486 3666 9A94      		dec r9
6250
 6487 3668 6092 0000 		sts IntegralAccNick,r6
6251
 6488 366c 7092 0000 		sts (IntegralAccNick)+1,r7
6252
 6489 3670 8092 0000 		sts (IntegralAccNick)+2,r8
6253
 6490 3674 9092 0000 		sts (IntegralAccNick)+3,r9
6254
 6491 3678 2091 0000 		lds r18,IntegralAccRoll
6255
 6492 367c 3091 0000 		lds r19,(IntegralAccRoll)+1
6256
 6493 3680 4091 0000 		lds r20,(IntegralAccRoll)+2
6257
 6494 3684 5091 0000 		lds r21,(IntegralAccRoll)+3
6258
 6495 3688 C601      		movw r24,r12
6259
 6496 368a B501      		movw r22,r10
6260
 6497 368c 0E94 0000 		call __mulsi3
6261
 6498 3690 97FF      		sbrs r25,7
6262
 6499 3692 00C0      		rjmp .L534
6263
 6500 3694 6150      		subi r22,lo8(-(255))
6264
 6501 3696 7F4F      		sbci r23,hi8(-(255))
6265
 6502 3698 8F4F      		sbci r24,hlo8(-(255))
6266
 6503 369a 9F4F      		sbci r25,hhi8(-(255))
6267
 6504               	.L534:
6268
 6505 369c 272E      		mov r2,r23
6269
 6506 369e 382E      		mov r3,r24
6270
 6507 36a0 492E      		mov r4,r25
6271
 6508 36a2 5524      		clr r5
6272
 6509 36a4 47FC      		sbrc r4,7
6273
 6510 36a6 5A94      		dec r5
6274
 6511 36a8 2092 0000 		sts IntegralAccRoll,r2
6275
 6512 36ac 3092 0000 		sts (IntegralAccRoll)+1,r3
6276
 6513 36b0 4092 0000 		sts (IntegralAccRoll)+2,r4
6277
 6514 36b4 5092 0000 		sts (IntegralAccRoll)+3,r5
6278
 6515 36b8 8091 0000 		lds r24,IntegralAccZ
6279
 6516 36bc 9091 0000 		lds r25,(IntegralAccZ)+1
6280
 6517 36c0 A091 0000 		lds r26,(IntegralAccZ)+2
6281
 6518 36c4 B091 0000 		lds r27,(IntegralAccZ)+3
6282
 6519 36c8 B7FF      		sbrs r27,7
6283
 6520 36ca 00C0      		rjmp .L535
6284
 6521 36cc 8150      		subi r24,lo8(-(255))
6285
 6522 36ce 9F4F      		sbci r25,hi8(-(255))
6286
 6523 36d0 AF4F      		sbci r26,hlo8(-(255))
6287
 6524 36d2 BF4F      		sbci r27,hhi8(-(255))
6288
 6525               	.L535:
6289
 6526 36d4 892F      		mov r24,r25
6290
 6527 36d6 9A2F      		mov r25,r26
6291
 6528 36d8 AB2F      		mov r26,r27
6292
 6529 36da BB27      		clr r27
6293
 6530 36dc A7FD      		sbrc r26,7
6294
 6531 36de BA95      		dec r27
6295
 6532 36e0 8093 0000 		sts IntegralAccZ,r24
6296
 6533 36e4 9093 0000 		sts (IntegralAccZ)+1,r25
6297
 6534 36e8 A093 0000 		sts (IntegralAccZ)+2,r26
6298
 6535 36ec B093 0000 		sts (IntegralAccZ)+3,r27
6299
 6536 36f0 D801      		movw r26,r16
6300
 6537 36f2 C701      		movw r24,r14
6301
 6538 36f4 8619      		sub r24,r6
6302
 6539 36f6 9709      		sbc r25,r7
6303
 6540 36f8 A809      		sbc r26,r8
6304
 6541 36fa B909      		sbc r27,r9
6305
 6542 36fc 8093 0000 		sts IntegralFehlerNick.3,r24
6306
 6543 3700 9093 0000 		sts (IntegralFehlerNick.3)+1,r25
6307
 6544 3704 A093 0000 		sts (IntegralFehlerNick.3)+2,r26
6308
 6545 3708 B093 0000 		sts (IntegralFehlerNick.3)+3,r27
6309
 6546 370c 2091 0000 		lds r18,EE_Parameter+67
6310
 6547 3710 E22E      		mov r14,r18
6311
 6548 3712 FF24      		clr r15
6312
 6549 3714 0027      		clr r16
6313
 6550 3716 1127      		clr r17
6314
 6551 3718 BC01      		movw r22,r24
6315
 6552 371a CD01      		movw r24,r26
6316
 6553 371c A801      		movw r20,r16
6317
 6554 371e 9701      		movw r18,r14
6318
 6555 3720 0E94 0000 		call __divmodsi4
6319
 6556 3724 5901      		movw r10,r18
6320
 6557 3726 6A01      		movw r12,r20
6321
 6558 3728 2093 0000 		sts ausgleichNick.10,r18
6322
 6559 372c 3093 0000 		sts (ausgleichNick.10)+1,r19
6323
 6560 3730 4093 0000 		sts (ausgleichNick.10)+2,r20
6324
 6561 3734 5093 0000 		sts (ausgleichNick.10)+3,r21
6325
 6562 3738 8989      		ldd r24,Y+17
6326
 6563 373a 9A89      		ldd r25,Y+18
6327
 6564 373c AB89      		ldd r26,Y+19
6328
 6565 373e BC89      		ldd r27,Y+20
6329
 6566 3740 8219      		sub r24,r2
6330
 6567 3742 9309      		sbc r25,r3
6331
 6568 3744 A409      		sbc r26,r4
6332
 6569 3746 B509      		sbc r27,r5
6333
 6570 3748 8093 0000 		sts IntegralFehlerRoll.4,r24
6334
 6571 374c 9093 0000 		sts (IntegralFehlerRoll.4)+1,r25
6335
 6572 3750 A093 0000 		sts (IntegralFehlerRoll.4)+2,r26
6336
 6573 3754 B093 0000 		sts (IntegralFehlerRoll.4)+3,r27
6337
 6574 3758 BC01      		movw r22,r24
6338
 6575 375a CD01      		movw r24,r26
6339
 6576 375c A801      		movw r20,r16
6340
 6577 375e 9701      		movw r18,r14
6341
 6578 3760 0E94 0000 		call __divmodsi4
6342
 6579 3764 2093 0000 		sts ausgleichRoll.11,r18
6343
 6580 3768 3093 0000 		sts (ausgleichRoll.11)+1,r19
6344
 6581 376c 4093 0000 		sts (ausgleichRoll.11)+2,r20
6345
 6582 3770 5093 0000 		sts (ausgleichRoll.11)+3,r21
6346
 6583 3774 D601      		movw r26,r12
6347
 6584 3776 C501      		movw r24,r10
6348
 6585 3778 D7FE      		sbrs r13,7
6349
 6586 377a 00C0      		rjmp .L536
6350
 6587 377c 8150      		subi r24,lo8(-(255))
6351
 6588 377e 9F4F      		sbci r25,hi8(-(255))
6352
 6589 3780 AF4F      		sbci r26,hlo8(-(255))
6353
 6590 3782 BF4F      		sbci r27,hhi8(-(255))
6354
 6591               	.L536:
6355
 6592 3784 892F      		mov r24,r25
6356
 6593 3786 9A2F      		mov r25,r26
6357
 6594 3788 AB2F      		mov r26,r27
6358
 6595 378a BB27      		clr r27
6359
 6596 378c A7FD      		sbrc r26,7
6360
 6597 378e BA95      		dec r27
6361
 6598 3790 9093 0000 		sts (LageKorrekturNick)+1,r25
6362
 6599 3794 8093 0000 		sts LageKorrekturNick,r24
6363
 6600 3798 57FF      		sbrs r21,7
6364
 6601 379a 00C0      		rjmp .L537
6365
 6602 379c 2150      		subi r18,lo8(-(255))
6366
 6603 379e 3F4F      		sbci r19,hi8(-(255))
6367
 6604 37a0 4F4F      		sbci r20,hlo8(-(255))
6368
 6605 37a2 5F4F      		sbci r21,hhi8(-(255))
6369
 6606               	.L537:
6370
 6607 37a4 BB27      		clr r27
6371
 6608 37a6 57FD      		sbrc r21,7
6372
 6609 37a8 BA95      		dec r27
6373
 6610 37aa A52F      		mov r26,r21
6374
 6611 37ac 942F      		mov r25,r20
6375
 6612 37ae 832F      		mov r24,r19
6376
 6613 37b0 9093 0000 		sts (LageKorrekturRoll)+1,r25
6377
 6614 37b4 8093 0000 		sts LageKorrekturRoll,r24
6378
 6615 37b8 8091 0000 		lds r24,MaxStickNick
6379
 6616 37bc 9091 0000 		lds r25,(MaxStickNick)+1
6380
 6617 37c0 8134      		cpi r24,65
6381
 6618 37c2 9105      		cpc r25,__zero_reg__
6382
 6619 37c4 04F4      		brge .L539
6383
 6620 37c6 8091 0000 		lds r24,MaxStickRoll
6384
 6621 37ca 9091 0000 		lds r25,(MaxStickRoll)+1
6385
 6622 37ce 8134      		cpi r24,65
6386
 6623 37d0 9105      		cpc r25,__zero_reg__
6387
 6624 37d2 04F4      		brge .L539
6388
 6625 37d4 8091 0000 		lds r24,EE_Parameter+4
6389
 6626 37d8 E82F      		mov r30,r24
6390
 6627 37da FF27      		clr r31
6391
 6628 37dc EE0F      		add r30,r30
6392
 6629 37de FF1F      		adc r31,r31
6393
 6630 37e0 E050      		subi r30,lo8(-(PPM_in))
6394
 6631 37e2 F040      		sbci r31,hi8(-(PPM_in))
6395
 6632 37e4 8081      		ld r24,Z
6396
 6633 37e6 9181      		ldd r25,Z+1
6397
 6634 37e8 0190      		ld __tmp_reg__,Z+
6398
 6635 37ea F081      		ld r31,Z
6399
 6636 37ec E02D      		mov r30,__tmp_reg__
6400
 6637 37ee F7FF      		sbrs r31,7
6401
 6638 37f0 00C0      		rjmp .L540
6402
 6639 37f2 F095      		com r31
6403
 6640 37f4 E195      		neg r30
6404
 6641 37f6 FF4F      		sbci r31,lo8(-1)
6405
 6642               	.L540:
6406
 6643 37f8 7A97      		sbiw r30,26
6407
 6644 37fa 04F0      		brlt .L538
6408
 6645               	.L539:
6409
 6646 37fc 8091 0000 		lds r24,FromNaviCtrl_Value
6410
 6647 3800 8F3F      		cpi r24,lo8(-1)
6411
 6648 3802 01F4      		brne .L538
6412
 6649 3804 8091 0000 		lds r24,LageKorrekturNick
6413
 6650 3808 9091 0000 		lds r25,(LageKorrekturNick)+1
6414
 6651 380c 97FD      		sbrc r25,7
6415
 6652 380e 0196      		adiw r24,1
6416
 6653               	.L541:
6417
 6654 3810 9595      		asr r25
6418
 6655 3812 8795      		ror r24
6419
 6656 3814 9093 0000 		sts (LageKorrekturNick)+1,r25
6420
 6657 3818 8093 0000 		sts LageKorrekturNick,r24
6421
 6658 381c 8091 0000 		lds r24,LageKorrekturRoll
6422
 6659 3820 9091 0000 		lds r25,(LageKorrekturRoll)+1
6423
 6660 3824 97FD      		sbrc r25,7
6424
 6661 3826 0196      		adiw r24,1
6425
 6662               	.L542:
6426
 6663 3828 9595      		asr r25
6427
 6664 382a 8795      		ror r24
6428
 6665 382c 9093 0000 		sts (LageKorrekturRoll)+1,r25
6429
 6666 3830 8093 0000 		sts LageKorrekturRoll,r24
6430
 6667               	.L538:
6431
 6668 3834 8091 0000 		lds r24,MittelIntegralNick2
6432
 6669 3838 9091 0000 		lds r25,(MittelIntegralNick2)+1
6433
 6670 383c A091 0000 		lds r26,(MittelIntegralNick2)+2
6434
 6671 3840 B091 0000 		lds r27,(MittelIntegralNick2)+3
6435
 6672 3844 B7FF      		sbrs r27,7
6436
 6673 3846 00C0      		rjmp .L543
6437
 6674 3848 8150      		subi r24,lo8(-(255))
6438
 6675 384a 9F4F      		sbci r25,hi8(-(255))
6439
 6676 384c AF4F      		sbci r26,hlo8(-(255))
6440
 6677 384e BF4F      		sbci r27,hhi8(-(255))
6441
 6678               	.L543:
6442
 6679 3850 892F      		mov r24,r25
6443
 6680 3852 9A2F      		mov r25,r26
6444
 6681 3854 AB2F      		mov r26,r27
6445
 6682 3856 BB27      		clr r27
6446
 6683 3858 A7FD      		sbrc r26,7
6447
 6684 385a BA95      		dec r27
6448
 6685 385c 8093 0000 		sts MittelIntegralNick2,r24
6449
 6686 3860 9093 0000 		sts (MittelIntegralNick2)+1,r25
6450
 6687 3864 A093 0000 		sts (MittelIntegralNick2)+2,r26
6451
 6688 3868 B093 0000 		sts (MittelIntegralNick2)+3,r27
6452
 6689 386c 8091 0000 		lds r24,MittelIntegralRoll2
6453
 6690 3870 9091 0000 		lds r25,(MittelIntegralRoll2)+1
6454
 6691 3874 A091 0000 		lds r26,(MittelIntegralRoll2)+2
6455
 6692 3878 B091 0000 		lds r27,(MittelIntegralRoll2)+3
6456
 6693 387c B7FF      		sbrs r27,7
6457
 6694 387e 00C0      		rjmp .L544
6458
 6695 3880 8150      		subi r24,lo8(-(255))
6459
 6696 3882 9F4F      		sbci r25,hi8(-(255))
6460
 6697 3884 AF4F      		sbci r26,hlo8(-(255))
6461
 6698 3886 BF4F      		sbci r27,hhi8(-(255))
6462
 6699               	.L544:
6463
 6700 3888 892F      		mov r24,r25
6464
 6701 388a 9A2F      		mov r25,r26
6465
 6702 388c AB2F      		mov r26,r27
6466
 6703 388e BB27      		clr r27
6467
 6704 3890 A7FD      		sbrc r26,7
6468
 6705 3892 BA95      		dec r27
6469
 6706 3894 8093 0000 		sts MittelIntegralRoll2,r24
6470
 6707 3898 9093 0000 		sts (MittelIntegralRoll2)+1,r25
6471
 6708 389c A093 0000 		sts (MittelIntegralRoll2)+2,r26
6472
 6709 38a0 B093 0000 		sts (MittelIntegralRoll2)+3,r27
6473
 6710 38a4 8091 0000 		lds r24,IntegralNick
6474
 6711 38a8 9091 0000 		lds r25,(IntegralNick)+1
6475
 6712 38ac A091 0000 		lds r26,(IntegralNick)+2
6476
 6713 38b0 B091 0000 		lds r27,(IntegralNick)+3
6477
 6714 38b4 2F81      		ldd r18,Y+7
6478
 6715 38b6 3885      		ldd r19,Y+8
6479
 6716 38b8 4985      		ldd r20,Y+9
6480
 6717 38ba 5A85      		ldd r21,Y+10
6481
 6718 38bc 281B      		sub r18,r24
6482
 6719 38be 390B      		sbc r19,r25
6483
 6720 38c0 4A0B      		sbc r20,r26
6484
 6721 38c2 5B0B      		sbc r21,r27
6485
 6722 38c4 2093 0000 		sts tmp_long.1,r18
6486
 6723 38c8 3093 0000 		sts (tmp_long.1)+1,r19
6487
 6724 38cc 4093 0000 		sts (tmp_long.1)+2,r20
6488
 6725 38d0 5093 0000 		sts (tmp_long.1)+3,r21
6489
 6726 38d4 8091 0000 		lds r24,IntegralRoll
6490
 6727 38d8 9091 0000 		lds r25,(IntegralRoll)+1
6491
 6728 38dc A091 0000 		lds r26,(IntegralRoll)+2
6492
 6729 38e0 B091 0000 		lds r27,(IntegralRoll)+3
6493
 6730 38e4 EB84      		ldd r14,Y+11
6494
 6731 38e6 FC84      		ldd r15,Y+12
6495
 6732 38e8 0D85      		ldd r16,Y+13
6496
 6733 38ea 1E85      		ldd r17,Y+14
6497
 6734 38ec E81A      		sub r14,r24
6498
 6735 38ee F90A      		sbc r15,r25
6499
 6736 38f0 0A0B      		sbc r16,r26
6500
 6737 38f2 1B0B      		sbc r17,r27
6501
 6738 38f4 E092 0000 		sts tmp_long2.2,r14
6502
 6739 38f8 F092 0000 		sts (tmp_long2.2)+1,r15
6503
 6740 38fc 0093 0000 		sts (tmp_long2.2)+2,r16
6504
 6741 3900 1093 0000 		sts (tmp_long2.2)+3,r17
6505
 6742 3904 2093 0000 		sts IntegralFehlerNick.3,r18
6506
 6743 3908 3093 0000 		sts (IntegralFehlerNick.3)+1,r19
6507
 6744 390c 4093 0000 		sts (IntegralFehlerNick.3)+2,r20
6508
 6745 3910 5093 0000 		sts (IntegralFehlerNick.3)+3,r21
6509
 6746 3914 E092 0000 		sts IntegralFehlerRoll.4,r14
6510
 6747 3918 F092 0000 		sts (IntegralFehlerRoll.4)+1,r15
6511
 6748 391c 0093 0000 		sts (IntegralFehlerRoll.4)+2,r16
6512
 6749 3920 1093 0000 		sts (IntegralFehlerRoll.4)+3,r17
6513
 6750 3924 8091 0000 		lds r24,Mess_IntegralNick2
6514
 6751 3928 9091 0000 		lds r25,(Mess_IntegralNick2)+1
6515
 6752 392c A091 0000 		lds r26,(Mess_IntegralNick2)+2
6516
 6753 3930 B091 0000 		lds r27,(Mess_IntegralNick2)+3
6517
 6754 3934 821B      		sub r24,r18
6518
 6755 3936 930B      		sbc r25,r19
6519
 6756 3938 A40B      		sbc r26,r20
6520
 6757 393a B50B      		sbc r27,r21
6521
 6758 393c 8093 0000 		sts Mess_IntegralNick2,r24
6522
 6759 3940 9093 0000 		sts (Mess_IntegralNick2)+1,r25
6523
 6760 3944 A093 0000 		sts (Mess_IntegralNick2)+2,r26
6524
 6761 3948 B093 0000 		sts (Mess_IntegralNick2)+3,r27
6525
 6762 394c 8091 0000 		lds r24,Mess_IntegralRoll2
6526
 6763 3950 9091 0000 		lds r25,(Mess_IntegralRoll2)+1
6527
 6764 3954 A091 0000 		lds r26,(Mess_IntegralRoll2)+2
6528
 6765 3958 B091 0000 		lds r27,(Mess_IntegralRoll2)+3
6529
 6766 395c 8E19      		sub r24,r14
6530
 6767 395e 9F09      		sbc r25,r15
6531
 6768 3960 A00B      		sbc r26,r16
6532
 6769 3962 B10B      		sbc r27,r17
6533
 6770 3964 8093 0000 		sts Mess_IntegralRoll2,r24
6534
 6771 3968 9093 0000 		sts (Mess_IntegralRoll2)+1,r25
6535
 6772 396c A093 0000 		sts (Mess_IntegralRoll2)+2,r26
6536
 6773 3970 B093 0000 		sts (Mess_IntegralRoll2)+3,r27
6537
 6774 3974 8889      		ldd r24,Y+16
6538
 6775 3976 8823      		tst r24
6539
 6776 3978 01F0      		breq .L545
6540
 6777 397a 2091 0000 		lds r18,GierGyroFehler
6541
 6778 397e 3091 0000 		lds r19,(GierGyroFehler)+1
6542
 6779 3982 2138      		cpi r18,129
6543
 6780 3984 3105      		cpc r19,__zero_reg__
6544
 6781 3986 04F0      		brlt .L546
6545
 6782 3988 8091 0000 		lds r24,AdNeutralGier
6546
 6783 398c 9091 0000 		lds r25,(AdNeutralGier)+1
6547
 6784 3990 0196      		adiw r24,1
6548
 6785 3992 9093 0000 		sts (AdNeutralGier)+1,r25
6549
 6786 3996 8093 0000 		sts AdNeutralGier,r24
6550
 6787               	.L546:
6551
 6788 399a 2058      		subi r18,lo8(-128)
6552
 6789 399c 3F4F      		sbci r19,hi8(-128)
6553
 6790 399e 04F4      		brge .L545
6554
 6791 39a0 8091 0000 		lds r24,AdNeutralGier
6555
 6792 39a4 9091 0000 		lds r25,(AdNeutralGier)+1
6556
 6793 39a8 0197      		sbiw r24,1
6557
 6794 39aa 9093 0000 		sts (AdNeutralGier)+1,r25
6558
 6795 39ae 8093 0000 		sts AdNeutralGier,r24
6559
 6796               	.L545:
6560
 6797 39b2 1092 0000 		sts (GierGyroFehler)+1,__zero_reg__
6561
 6798 39b6 1092 0000 		sts GierGyroFehler,__zero_reg__
6562
 6799 39ba 81E0      		ldi r24,lo8(1)
6563
 6800 39bc 90E0      		ldi r25,hi8(1)
6564
 6801 39be 9093 0000 		sts (cnt.14)+1,r25
6565
 6802 39c2 8093 0000 		sts cnt.14,r24
6566
 6803 39c6 E090 0000 		lds r14,IntegralFehlerNick.3
6567
 6804 39ca F090 0000 		lds r15,(IntegralFehlerNick.3)+1
6568
 6805 39ce 0091 0000 		lds r16,(IntegralFehlerNick.3)+2
6569
 6806 39d2 1091 0000 		lds r17,(IntegralFehlerNick.3)+3
6570
 6807 39d6 D801      		movw r26,r16
6571
 6808 39d8 C701      		movw r24,r14
6572
 6809 39da 17FF      		sbrs r17,7
6573
 6810 39dc 00C0      		rjmp .L549
6574
 6811 39de 8827      		clr r24
6575
 6812 39e0 9927      		clr r25
6576
 6813 39e2 DC01      		movw r26,r24
6577
 6814 39e4 8E19      		sub r24,r14
6578
 6815 39e6 9F09      		sbc r25,r15
6579
 6816 39e8 A00B      		sbc r26,r16
6580
 6817 39ea B10B      		sbc r27,r17
6581
 6818               	.L549:
6582
 6819 39ec 8150      		subi r24,lo8(513)
6583
 6820 39ee 9240      		sbci r25,hi8(513)
6584
 6821 39f0 A040      		sbci r26,hlo8(513)
6585
 6822 39f2 B040      		sbci r27,hhi8(513)
6586
 6823 39f4 04F0      		brlt .L548
6587
 6824 39f6 84E0      		ldi r24,lo8(4)
6588
 6825 39f8 90E0      		ldi r25,hi8(4)
6589
 6826 39fa 9093 0000 		sts (cnt.14)+1,r25
6590
 6827 39fe 8093 0000 		sts cnt.14,r24
6591
 6828               	.L548:
6592
 6829 3a02 8091 0000 		lds r24,MittelIntegralNick_Alt.19
6593
 6830 3a06 9091 0000 		lds r25,(MittelIntegralNick_Alt.19)+1
6594
 6831 3a0a A091 0000 		lds r26,(MittelIntegralNick_Alt.19)+2
6595
 6832 3a0e B091 0000 		lds r27,(MittelIntegralNick_Alt.19)+3
6596
 6833 3a12 2091 0000 		lds r18,MittelIntegralNick
6597
 6834 3a16 3091 0000 		lds r19,(MittelIntegralNick)+1
6598
 6835 3a1a 4091 0000 		lds r20,(MittelIntegralNick)+2
6599
 6836 3a1e 5091 0000 		lds r21,(MittelIntegralNick)+3
6600
 6837 3a22 821B      		sub r24,r18
6601
 6838 3a24 930B      		sbc r25,r19
6602
 6839 3a26 A40B      		sbc r26,r20
6603
 6840 3a28 B50B      		sbc r27,r21
6604
 6841 3a2a 815E      		subi r24,lo8(-(19999))
6605
 6842 3a2c 914B      		sbci r25,hi8(-(19999))
6606
 6843 3a2e AF4F      		sbci r26,hlo8(-(19999))
6607
 6844 3a30 BF4F      		sbci r27,hhi8(-(19999))
6608
 6845 3a32 8F53      		subi r24,lo8(39999)
6609
 6846 3a34 9C49      		sbci r25,hi8(39999)
6610
 6847 3a36 A040      		sbci r26,hlo8(39999)
6611
 6848 3a38 B040      		sbci r27,hhi8(39999)
6612
 6849 3a3a 00F0      		brlo .L551
6613
 6850 3a3c 8091 0000 		lds r24,FromNaviCtrl_Value+1
6614
 6851 3a40 8931      		cpi r24,lo8(25)
6615
 6852 3a42 04F4      		brge .+2
6616
 6853 3a44 00C0      		rjmp .L550
6617
 6854               	.L551:
6618
 6855 3a46 21E0      		ldi r18,lo8(4097)
6619
 6856 3a48 E216      		cp r14,r18
6620
 6857 3a4a 20E1      		ldi r18,hi8(4097)
6621
 6858 3a4c F206      		cpc r15,r18
6622
 6859 3a4e 20E0      		ldi r18,hlo8(4097)
6623
 6860 3a50 0207      		cpc r16,r18
6624
 6861 3a52 20E0      		ldi r18,hhi8(4097)
6625
 6862 3a54 1207      		cpc r17,r18
6626
 6863 3a56 04F4      		brge .+2
6627
 6864 3a58 00C0      		rjmp .L552
6628
 6865 3a5a 8091 0000 		lds r24,last_n_p.15
6629
 6866 3a5e 8823      		tst r24
6630
 6867 3a60 01F4      		brne .+2
6631
 6868 3a62 00C0      		rjmp .L553
6632
 6869 3a64 D801      		movw r26,r16
6633
 6870 3a66 C701      		movw r24,r14
6634
 6871 3a68 17FF      		sbrs r17,7
6635
 6872 3a6a 00C0      		rjmp .L554
6636
 6873 3a6c 8827      		clr r24
6637
 6874 3a6e 9927      		clr r25
6638
 6875 3a70 DC01      		movw r26,r24
6639
 6876 3a72 8E19      		sub r24,r14
6640
 6877 3a74 9F09      		sbc r25,r15
6641
 6878 3a76 A00B      		sbc r26,r16
6642
 6879 3a78 B10B      		sbc r27,r17
6643
 6880               	.L554:
6644
 6881 3a7a 9C01      		movw r18,r24
6645
 6882 3a7c AD01      		movw r20,r26
6646
 6883 3a7e B7FF      		sbrs r27,7
6647
 6884 3a80 00C0      		rjmp .L555
6648
 6885 3a82 2150      		subi r18,lo8(-(511))
6649
 6886 3a84 3E4F      		sbci r19,hi8(-(511))
6650
 6887 3a86 4F4F      		sbci r20,hlo8(-(511))
6651
 6888 3a88 5F4F      		sbci r21,hhi8(-(511))
6652
 6889               	.L555:
6653
 6890 3a8a F9E0      		ldi r31,9
6654
 6891 3a8c 5595      	1:	asr r21
6655
 6892 3a8e 4795      		ror r20
6656
 6893 3a90 3795      		ror r19
6657
 6894 3a92 2795      		ror r18
6658
 6895 3a94 FA95      		dec r31
6659
 6896 3a96 01F4      		brne 1b
6660
 6897 3a98 8091 0000 		lds r24,cnt.14
6661
 6898 3a9c 9091 0000 		lds r25,(cnt.14)+1
6662
 6899 3aa0 820F      		add r24,r18
6663
 6900 3aa2 931F      		adc r25,r19
6664
 6901 3aa4 9093 0000 		sts (cnt.14)+1,r25
6665
 6902 3aa8 8093 0000 		sts cnt.14,r24
6666
 6903 3aac D801      		movw r26,r16
6667
 6904 3aae C701      		movw r24,r14
6668
 6905 3ab0 17FF      		sbrs r17,7
6669
 6906 3ab2 00C0      		rjmp .L556
6670
 6907 3ab4 0796      		adiw r24,7
6671
 6908 3ab6 A11D      		adc r26,__zero_reg__
6672
 6909 3ab8 B11D      		adc r27,__zero_reg__
6673
 6910               	.L556:
6674
 6911 3aba E3E0      		ldi r30,3
6675
 6912 3abc B595      	1:	asr r27
6676
 6913 3abe A795      		ror r26
6677
 6914 3ac0 9795      		ror r25
6678
 6915 3ac2 8795      		ror r24
6679
 6916 3ac4 EA95      		dec r30
6680
 6917 3ac6 01F4      		brne 1b
6681
 6918 3ac8 8093 0000 		sts ausgleichNick.10,r24
6682
 6919 3acc 9093 0000 		sts (ausgleichNick.10)+1,r25
6683
 6920 3ad0 A093 0000 		sts (ausgleichNick.10)+2,r26
6684
 6921 3ad4 B093 0000 		sts (ausgleichNick.10)+3,r27
6685
 6922 3ad8 8958      		subi r24,lo8(5001)
6686
 6923 3ada 9341      		sbci r25,hi8(5001)
6687
 6924 3adc A040      		sbci r26,hlo8(5001)
6688
 6925 3ade B040      		sbci r27,hhi8(5001)
6689
 6926 3ae0 04F0      		brlt .L557
6690
 6927 3ae2 88E8      		ldi r24,lo8(5000)
6691
 6928 3ae4 93E1      		ldi r25,hi8(5000)
6692
 6929 3ae6 A0E0      		ldi r26,hlo8(5000)
6693
 6930 3ae8 B0E0      		ldi r27,hhi8(5000)
6694
 6931 3aea 8093 0000 		sts ausgleichNick.10,r24
6695
 6932 3aee 9093 0000 		sts (ausgleichNick.10)+1,r25
6696
 6933 3af2 A093 0000 		sts (ausgleichNick.10)+2,r26
6697
 6934 3af6 B093 0000 		sts (ausgleichNick.10)+3,r27
6698
 6935               	.L557:
6699
 6936 3afa 2091 0000 		lds r18,ausgleichNick.10
6700
 6937 3afe 3091 0000 		lds r19,(ausgleichNick.10)+1
6701
 6938 3b02 4091 0000 		lds r20,(ausgleichNick.10)+2
6702
 6939 3b06 5091 0000 		lds r21,(ausgleichNick.10)+3
6703
 6940 3b0a 57FF      		sbrs r21,7
6704
 6941 3b0c 00C0      		rjmp .L558
6705
 6942 3b0e 2150      		subi r18,lo8(-(255))
6706
 6943 3b10 3F4F      		sbci r19,hi8(-(255))
6707
 6944 3b12 4F4F      		sbci r20,hlo8(-(255))
6708
 6945 3b14 5F4F      		sbci r21,hhi8(-(255))
6709
 6946               	.L558:
6710
 6947 3b16 232F      		mov r18,r19
6711
 6948 3b18 342F      		mov r19,r20
6712
 6949 3b1a 452F      		mov r20,r21
6713
 6950 3b1c 5527      		clr r21
6714
 6951 3b1e 47FD      		sbrc r20,7
6715
 6952 3b20 5A95      		dec r21
6716
 6953 3b22 8091 0000 		lds r24,LageKorrekturNick
6717
 6954 3b26 9091 0000 		lds r25,(LageKorrekturNick)+1
6718
 6955 3b2a 820F      		add r24,r18
6719
 6956 3b2c 931F      		adc r25,r19
6720
 6957 3b2e 9093 0000 		sts (LageKorrekturNick)+1,r25
6721
 6958 3b32 8093 0000 		sts LageKorrekturNick,r24
6722
 6959 3b36 00C0      		rjmp .L560
6723
 6960               	.L553:
6724
 6961 3b38 81E0      		ldi r24,lo8(1)
6725
 6962 3b3a 8093 0000 		sts last_n_p.15,r24
6726
 6963 3b3e 00C0      		rjmp .L560
6727
 6964               	.L552:
6728
 6965 3b40 1092 0000 		sts last_n_p.15,__zero_reg__
6729
 6966               	.L560:
6730
 6967 3b44 40E0      		ldi r20,lo8(-4096)
6731
 6968 3b46 E416      		cp r14,r20
6732
 6969 3b48 40EF      		ldi r20,hi8(-4096)
6733
 6970 3b4a F406      		cpc r15,r20
6734
 6971 3b4c 4FEF      		ldi r20,hlo8(-4096)
6735
 6972 3b4e 0407      		cpc r16,r20
6736
 6973 3b50 4FEF      		ldi r20,hhi8(-4096)
6737
 6974 3b52 1407      		cpc r17,r20
6738
 6975 3b54 04F0      		brlt .+2
6739
 6976 3b56 00C0      		rjmp .L561
6740
 6977 3b58 8091 0000 		lds r24,last_n_n.16
6741
 6978 3b5c 8823      		tst r24
6742
 6979 3b5e 01F4      		brne .+2
6743
 6980 3b60 00C0      		rjmp .L562
6744
 6981 3b62 D801      		movw r26,r16
6745
 6982 3b64 C701      		movw r24,r14
6746
 6983 3b66 17FF      		sbrs r17,7
6747
 6984 3b68 00C0      		rjmp .L563
6748
 6985 3b6a 8827      		clr r24
6749
 6986 3b6c 9927      		clr r25
6750
 6987 3b6e DC01      		movw r26,r24
6751
 6988 3b70 8E19      		sub r24,r14
6752
 6989 3b72 9F09      		sbc r25,r15
6753
 6990 3b74 A00B      		sbc r26,r16
6754
 6991 3b76 B10B      		sbc r27,r17
6755
 6992               	.L563:
6756
 6993 3b78 9C01      		movw r18,r24
6757
 6994 3b7a AD01      		movw r20,r26
6758
 6995 3b7c B7FF      		sbrs r27,7
6759
 6996 3b7e 00C0      		rjmp .L564
6760
 6997 3b80 2150      		subi r18,lo8(-(511))
6761
 6998 3b82 3E4F      		sbci r19,hi8(-(511))
6762
 6999 3b84 4F4F      		sbci r20,hlo8(-(511))
6763
 7000 3b86 5F4F      		sbci r21,hhi8(-(511))
6764
 7001               	.L564:
6765
 7002 3b88 69E0      		ldi r22,9
6766
 7003 3b8a 5595      	1:	asr r21
6767
 7004 3b8c 4795      		ror r20
6768
 7005 3b8e 3795      		ror r19
6769
 7006 3b90 2795      		ror r18
6770
 7007 3b92 6A95      		dec r22
6771
 7008 3b94 01F4      		brne 1b
6772
 7009 3b96 8091 0000 		lds r24,cnt.14
6773
 7010 3b9a 9091 0000 		lds r25,(cnt.14)+1
6774
 7011 3b9e 820F      		add r24,r18
6775
 7012 3ba0 931F      		adc r25,r19
6776
 7013 3ba2 9093 0000 		sts (cnt.14)+1,r25
6777
 7014 3ba6 8093 0000 		sts cnt.14,r24
6778
 7015 3baa D801      		movw r26,r16
6779
 7016 3bac C701      		movw r24,r14
6780
 7017 3bae 17FF      		sbrs r17,7
6781
 7018 3bb0 00C0      		rjmp .L565
6782
 7019 3bb2 0796      		adiw r24,7
6783
 7020 3bb4 A11D      		adc r26,__zero_reg__
6784
 7021 3bb6 B11D      		adc r27,__zero_reg__
6785
 7022               	.L565:
6786
 7023 3bb8 23E0      		ldi r18,3
6787
 7024 3bba B595      	1:	asr r27
6788
 7025 3bbc A795      		ror r26
6789
 7026 3bbe 9795      		ror r25
6790
 7027 3bc0 8795      		ror r24
6791
 7028 3bc2 2A95      		dec r18
6792
 7029 3bc4 01F4      		brne 1b
6793
 7030 3bc6 8093 0000 		sts ausgleichNick.10,r24
6794
 7031 3bca 9093 0000 		sts (ausgleichNick.10)+1,r25
6795
 7032 3bce A093 0000 		sts (ausgleichNick.10)+2,r26
6796
 7033 3bd2 B093 0000 		sts (ausgleichNick.10)+3,r27
6797
 7034 3bd6 8857      		subi r24,lo8(-5000)
6798
 7035 3bd8 9C4E      		sbci r25,hi8(-5000)
6799
 7036 3bda AF4F      		sbci r26,hlo8(-5000)
6800
 7037 3bdc BF4F      		sbci r27,hhi8(-5000)
6801
 7038 3bde 04F4      		brge .L566
6802
 7039 3be0 88E7      		ldi r24,lo8(-5000)
6803
 7040 3be2 9CEE      		ldi r25,hi8(-5000)
6804
 7041 3be4 AFEF      		ldi r26,hlo8(-5000)
6805
 7042 3be6 BFEF      		ldi r27,hhi8(-5000)
6806
 7043 3be8 8093 0000 		sts ausgleichNick.10,r24
6807
 7044 3bec 9093 0000 		sts (ausgleichNick.10)+1,r25
6808
 7045 3bf0 A093 0000 		sts (ausgleichNick.10)+2,r26
6809
 7046 3bf4 B093 0000 		sts (ausgleichNick.10)+3,r27
6810
 7047               	.L566:
6811
 7048 3bf8 2091 0000 		lds r18,ausgleichNick.10
6812
 7049 3bfc 3091 0000 		lds r19,(ausgleichNick.10)+1
6813
 7050 3c00 4091 0000 		lds r20,(ausgleichNick.10)+2
6814
 7051 3c04 5091 0000 		lds r21,(ausgleichNick.10)+3
6815
 7052 3c08 57FF      		sbrs r21,7
6816
 7053 3c0a 00C0      		rjmp .L567
6817
 7054 3c0c 2150      		subi r18,lo8(-(255))
6818
 7055 3c0e 3F4F      		sbci r19,hi8(-(255))
6819
 7056 3c10 4F4F      		sbci r20,hlo8(-(255))
6820
 7057 3c12 5F4F      		sbci r21,hhi8(-(255))
6821
 7058               	.L567:
6822
 7059 3c14 232F      		mov r18,r19
6823
 7060 3c16 342F      		mov r19,r20
6824
 7061 3c18 452F      		mov r20,r21
6825
 7062 3c1a 5527      		clr r21
6826
 7063 3c1c 47FD      		sbrc r20,7
6827
 7064 3c1e 5A95      		dec r21
6828
 7065 3c20 8091 0000 		lds r24,LageKorrekturNick
6829
 7066 3c24 9091 0000 		lds r25,(LageKorrekturNick)+1
6830
 7067 3c28 820F      		add r24,r18
6831
 7068 3c2a 931F      		adc r25,r19
6832
 7069 3c2c 9093 0000 		sts (LageKorrekturNick)+1,r25
6833
 7070 3c30 8093 0000 		sts LageKorrekturNick,r24
6834
 7071 3c34 00C0      		rjmp .L570
6835
 7072               	.L562:
6836
 7073 3c36 81E0      		ldi r24,lo8(1)
6837
 7074 3c38 8093 0000 		sts last_n_n.16,r24
6838
 7075 3c3c 00C0      		rjmp .L570
6839
 7076               	.L561:
6840
 7077 3c3e 1092 0000 		sts last_n_n.16,__zero_reg__
6841
 7078 3c42 00C0      		rjmp .L570
6842
 7079               	.L550:
6843
 7080 3c44 1092 0000 		sts (cnt.14)+1,__zero_reg__
6844
 7081 3c48 1092 0000 		sts cnt.14,__zero_reg__
6845
 7082 3c4c 84E6      		ldi r24,lo8(100)
6846
 7083 3c4e 90E0      		ldi r25,hi8(100)
6847
 7084 3c50 9093 0000 		sts (KompassSignalSchlecht)+1,r25
6848
 7085 3c54 8093 0000 		sts KompassSignalSchlecht,r24
6849
 7086               	.L570:
6850
 7087 3c58 6889      		ldd r22,Y+16
6851
 7088 3c5a 262F      		mov r18,r22
6852
 7089 3c5c 3327      		clr r19
6853
 7090 3c5e 8091 0000 		lds r24,cnt.14
6854
 7091 3c62 9091 0000 		lds r25,(cnt.14)+1
6855
 7092 3c66 2817      		cp r18,r24
6856
 7093 3c68 3907      		cpc r19,r25
6857
 7094 3c6a 04F4      		brge .L571
6858
 7095 3c6c 3093 0000 		sts (cnt.14)+1,r19
6859
 7096 3c70 2093 0000 		sts cnt.14,r18
6860
 7097               	.L571:
6861
 7098 3c74 1091 0000 		lds r17,FromNaviCtrl_Value+1
6862
 7099 3c78 1123      		tst r17
6863
 7100 3c7a 01F0      		breq .L572
6864
 7101 3c7c 212F      		mov r18,r17
6865
 7102 3c7e 3327      		clr r19
6866
 7103 3c80 27FD      		sbrc r18,7
6867
 7104 3c82 3095      		com r19
6868
 7105 3c84 8091 0000 		lds r24,cnt.14
6869
 7106 3c88 9091 0000 		lds r25,(cnt.14)+1
6870
 7107 3c8c 2817      		cp r18,r24
6871
 7108 3c8e 3907      		cpc r19,r25
6872
 7109 3c90 04F4      		brge .L572
6873
 7110 3c92 3093 0000 		sts (cnt.14)+1,r19
6874
 7111 3c96 2093 0000 		sts cnt.14,r18
6875
 7112               	.L572:
6876
 7113 3c9a 4091 0000 		lds r20,IntegralFehlerNick.3
6877
 7114 3c9e 5091 0000 		lds r21,(IntegralFehlerNick.3)+1
6878
 7115 3ca2 6091 0000 		lds r22,(IntegralFehlerNick.3)+2
6879
 7116 3ca6 7091 0000 		lds r23,(IntegralFehlerNick.3)+3
6880
 7117 3caa 4138      		cpi r20,lo8(129)
6881
 7118 3cac 5105      		cpc r21,__zero_reg__
6882
 7119 3cae 6105      		cpc r22,__zero_reg__
6883
 7120 3cb0 7105      		cpc r23,__zero_reg__
6884
 7121 3cb2 04F0      		brlt .L574
6885
 7122 3cb4 8091 0000 		lds r24,AdNeutralNick
6886
 7123 3cb8 9091 0000 		lds r25,(AdNeutralNick)+1
6887
 7124 3cbc 2091 0000 		lds r18,cnt.14
6888
 7125 3cc0 3091 0000 		lds r19,(cnt.14)+1
6889
 7126 3cc4 820F      		add r24,r18
6890
 7127 3cc6 931F      		adc r25,r19
6891
 7128 3cc8 9093 0000 		sts (AdNeutralNick)+1,r25
6892
 7129 3ccc 8093 0000 		sts AdNeutralNick,r24
6893
 7130               	.L574:
6894
 7131 3cd0 4058      		subi r20,lo8(-128)
6895
 7132 3cd2 5F4F      		sbci r21,hi8(-128)
6896
 7133 3cd4 6F4F      		sbci r22,hlo8(-128)
6897
 7134 3cd6 7F4F      		sbci r23,hhi8(-128)
6898
 7135 3cd8 04F4      		brge .L575
6899
 7136 3cda 8091 0000 		lds r24,AdNeutralNick
6900
 7137 3cde 9091 0000 		lds r25,(AdNeutralNick)+1
6901
 7138 3ce2 2091 0000 		lds r18,cnt.14
6902
 7139 3ce6 3091 0000 		lds r19,(cnt.14)+1
6903
 7140 3cea 821B      		sub r24,r18
6904
 7141 3cec 930B      		sbc r25,r19
6905
 7142 3cee 9093 0000 		sts (AdNeutralNick)+1,r25
6906
 7143 3cf2 8093 0000 		sts AdNeutralNick,r24
6907
 7144               	.L575:
6908
 7145 3cf6 81E0      		ldi r24,lo8(1)
6909
 7146 3cf8 90E0      		ldi r25,hi8(1)
6910
 7147 3cfa 9093 0000 		sts (cnt.14)+1,r25
6911
 7148 3cfe 8093 0000 		sts cnt.14,r24
6912
 7149 3d02 C090 0000 		lds r12,IntegralFehlerRoll.4
6913
 7150 3d06 D090 0000 		lds r13,(IntegralFehlerRoll.4)+1
6914
 7151 3d0a E090 0000 		lds r14,(IntegralFehlerRoll.4)+2
6915
 7152 3d0e F090 0000 		lds r15,(IntegralFehlerRoll.4)+3
6916
 7153 3d12 D701      		movw r26,r14
6917
 7154 3d14 C601      		movw r24,r12
6918
 7155 3d16 F7FE      		sbrs r15,7
6919
 7156 3d18 00C0      		rjmp .L577
6920
 7157 3d1a 8827      		clr r24
6921
 7158 3d1c 9927      		clr r25
6922
 7159 3d1e DC01      		movw r26,r24
6923
 7160 3d20 8C19      		sub r24,r12
6924
 7161 3d22 9D09      		sbc r25,r13
6925
 7162 3d24 AE09      		sbc r26,r14
6926
 7163 3d26 BF09      		sbc r27,r15
6927
 7164               	.L577:
6928
 7165 3d28 8150      		subi r24,lo8(513)
6929
 7166 3d2a 9240      		sbci r25,hi8(513)
6930
 7167 3d2c A040      		sbci r26,hlo8(513)
6931
 7168 3d2e B040      		sbci r27,hhi8(513)
6932
 7169 3d30 04F0      		brlt .L576
6933
 7170 3d32 84E0      		ldi r24,lo8(4)
6934
 7171 3d34 90E0      		ldi r25,hi8(4)
6935
 7172 3d36 9093 0000 		sts (cnt.14)+1,r25
6936
 7173 3d3a 8093 0000 		sts cnt.14,r24
6937
 7174               	.L576:
6938
 7175 3d3e 8091 0000 		lds r24,MittelIntegralRoll_Alt.20
6939
 7176 3d42 9091 0000 		lds r25,(MittelIntegralRoll_Alt.20)+1
6940
 7177 3d46 A091 0000 		lds r26,(MittelIntegralRoll_Alt.20)+2
6941
 7178 3d4a B091 0000 		lds r27,(MittelIntegralRoll_Alt.20)+3
6942
 7179 3d4e 2091 0000 		lds r18,MittelIntegralRoll
6943
 7180 3d52 3091 0000 		lds r19,(MittelIntegralRoll)+1
6944
 7181 3d56 4091 0000 		lds r20,(MittelIntegralRoll)+2
6945
 7182 3d5a 5091 0000 		lds r21,(MittelIntegralRoll)+3
6946
 7183 3d5e 821B      		sub r24,r18
6947
 7184 3d60 930B      		sbc r25,r19
6948
 7185 3d62 A40B      		sbc r26,r20
6949
 7186 3d64 B50B      		sbc r27,r21
6950
 7187 3d66 815E      		subi r24,lo8(-(19999))
6951
 7188 3d68 914B      		sbci r25,hi8(-(19999))
6952
 7189 3d6a AF4F      		sbci r26,hlo8(-(19999))
6953
 7190 3d6c BF4F      		sbci r27,hhi8(-(19999))
6954
 7191 3d6e 8F53      		subi r24,lo8(39999)
6955
 7192 3d70 9C49      		sbci r25,hi8(39999)
6956
 7193 3d72 A040      		sbci r26,hlo8(39999)
6957
 7194 3d74 B040      		sbci r27,hhi8(39999)
6958
 7195 3d76 00F0      		brlo .L579
6959
 7196 3d78 1931      		cpi r17,lo8(25)
6960
 7197 3d7a 04F4      		brge .+2
6961
 7198 3d7c 00C0      		rjmp .L578
6962
 7199               	.L579:
6963
 7200 3d7e 01E0      		ldi r16,lo8(4097)
6964
 7201 3d80 C016      		cp r12,r16
6965
 7202 3d82 00E1      		ldi r16,hi8(4097)
6966
 7203 3d84 D006      		cpc r13,r16
6967
 7204 3d86 00E0      		ldi r16,hlo8(4097)
6968
 7205 3d88 E006      		cpc r14,r16
6969
 7206 3d8a 00E0      		ldi r16,hhi8(4097)
6970
 7207 3d8c F006      		cpc r15,r16
6971
 7208 3d8e 04F4      		brge .+2
6972
 7209 3d90 00C0      		rjmp .L580
6973
 7210 3d92 8091 0000 		lds r24,last_r_p.17
6974
 7211 3d96 8823      		tst r24
6975
 7212 3d98 01F4      		brne .+2
6976
 7213 3d9a 00C0      		rjmp .L581
6977
 7214 3d9c D701      		movw r26,r14
6978
 7215 3d9e C601      		movw r24,r12
6979
 7216 3da0 F7FE      		sbrs r15,7
6980
 7217 3da2 00C0      		rjmp .L582
6981
 7218 3da4 8827      		clr r24
6982
 7219 3da6 9927      		clr r25
6983
 7220 3da8 DC01      		movw r26,r24
6984
 7221 3daa 8C19      		sub r24,r12
6985
 7222 3dac 9D09      		sbc r25,r13
6986
 7223 3dae AE09      		sbc r26,r14
6987
 7224 3db0 BF09      		sbc r27,r15
6988
 7225               	.L582:
6989
 7226 3db2 9C01      		movw r18,r24
6990
 7227 3db4 AD01      		movw r20,r26
6991
 7228 3db6 B7FF      		sbrs r27,7
6992
 7229 3db8 00C0      		rjmp .L583
6993
 7230 3dba 2150      		subi r18,lo8(-(511))
6994
 7231 3dbc 3E4F      		sbci r19,hi8(-(511))
6995
 7232 3dbe 4F4F      		sbci r20,hlo8(-(511))
6996
 7233 3dc0 5F4F      		sbci r21,hhi8(-(511))
6997
 7234               	.L583:
6998
 7235 3dc2 09E0      		ldi r16,9
6999
 7236 3dc4 5595      	1:	asr r21
7000
 7237 3dc6 4795      		ror r20
7001
 7238 3dc8 3795      		ror r19
7002
 7239 3dca 2795      		ror r18
7003
 7240 3dcc 0A95      		dec r16
7004
 7241 3dce 01F4      		brne 1b
7005
 7242 3dd0 8091 0000 		lds r24,cnt.14
7006
 7243 3dd4 9091 0000 		lds r25,(cnt.14)+1
7007
 7244 3dd8 820F      		add r24,r18
7008
 7245 3dda 931F      		adc r25,r19
7009
 7246 3ddc 9093 0000 		sts (cnt.14)+1,r25
7010
 7247 3de0 8093 0000 		sts cnt.14,r24
7011
 7248 3de4 D701      		movw r26,r14
7012
 7249 3de6 C601      		movw r24,r12
7013
 7250 3de8 F7FE      		sbrs r15,7
7014
 7251 3dea 00C0      		rjmp .L584
7015
 7252 3dec 0796      		adiw r24,7
7016
 7253 3dee A11D      		adc r26,__zero_reg__
7017
 7254 3df0 B11D      		adc r27,__zero_reg__
7018
 7255               	.L584:
7019
 7256 3df2 13E0      		ldi r17,3
7020
 7257 3df4 B595      	1:	asr r27
7021
 7258 3df6 A795      		ror r26
7022
 7259 3df8 9795      		ror r25
7023
 7260 3dfa 8795      		ror r24
7024
 7261 3dfc 1A95      		dec r17
7025
 7262 3dfe 01F4      		brne 1b
7026
 7263 3e00 8093 0000 		sts ausgleichRoll.11,r24
7027
 7264 3e04 9093 0000 		sts (ausgleichRoll.11)+1,r25
7028
 7265 3e08 A093 0000 		sts (ausgleichRoll.11)+2,r26
7029
 7266 3e0c B093 0000 		sts (ausgleichRoll.11)+3,r27
7030
 7267 3e10 8958      		subi r24,lo8(5001)
7031
 7268 3e12 9341      		sbci r25,hi8(5001)
7032
 7269 3e14 A040      		sbci r26,hlo8(5001)
7033
 7270 3e16 B040      		sbci r27,hhi8(5001)
7034
 7271 3e18 04F0      		brlt .L585
7035
 7272 3e1a 88E8      		ldi r24,lo8(5000)
7036
 7273 3e1c 93E1      		ldi r25,hi8(5000)
7037
 7274 3e1e A0E0      		ldi r26,hlo8(5000)
7038
 7275 3e20 B0E0      		ldi r27,hhi8(5000)
7039
 7276 3e22 8093 0000 		sts ausgleichRoll.11,r24
7040
 7277 3e26 9093 0000 		sts (ausgleichRoll.11)+1,r25
7041
 7278 3e2a A093 0000 		sts (ausgleichRoll.11)+2,r26
7042
 7279 3e2e B093 0000 		sts (ausgleichRoll.11)+3,r27
7043
 7280               	.L585:
7044
 7281 3e32 2091 0000 		lds r18,ausgleichRoll.11
7045
 7282 3e36 3091 0000 		lds r19,(ausgleichRoll.11)+1
7046
 7283 3e3a 4091 0000 		lds r20,(ausgleichRoll.11)+2
7047
 7284 3e3e 5091 0000 		lds r21,(ausgleichRoll.11)+3
7048
 7285 3e42 57FF      		sbrs r21,7
7049
 7286 3e44 00C0      		rjmp .L586
7050
 7287 3e46 2150      		subi r18,lo8(-(255))
7051
 7288 3e48 3F4F      		sbci r19,hi8(-(255))
7052
 7289 3e4a 4F4F      		sbci r20,hlo8(-(255))
7053
 7290 3e4c 5F4F      		sbci r21,hhi8(-(255))
7054
 7291               	.L586:
7055
 7292 3e4e 232F      		mov r18,r19
7056
 7293 3e50 342F      		mov r19,r20
7057
 7294 3e52 452F      		mov r20,r21
7058
 7295 3e54 5527      		clr r21
7059
 7296 3e56 47FD      		sbrc r20,7
7060
 7297 3e58 5A95      		dec r21
7061
 7298 3e5a 8091 0000 		lds r24,LageKorrekturRoll
7062
 7299 3e5e 9091 0000 		lds r25,(LageKorrekturRoll)+1
7063
 7300 3e62 820F      		add r24,r18
7064
 7301 3e64 931F      		adc r25,r19
7065
 7302 3e66 9093 0000 		sts (LageKorrekturRoll)+1,r25
7066
 7303 3e6a 8093 0000 		sts LageKorrekturRoll,r24
7067
 7304 3e6e 00C0      		rjmp .L588
7068
 7305               	.L581:
7069
 7306 3e70 81E0      		ldi r24,lo8(1)
7070
 7307 3e72 8093 0000 		sts last_r_p.17,r24
7071
 7308 3e76 00C0      		rjmp .L588
7072
 7309               	.L580:
7073
 7310 3e78 1092 0000 		sts last_r_p.17,__zero_reg__
7074
 7311               	.L588:
7075
 7312 3e7c 20E0      		ldi r18,lo8(-4096)
7076
 7313 3e7e C216      		cp r12,r18
7077
 7314 3e80 20EF      		ldi r18,hi8(-4096)
7078
 7315 3e82 D206      		cpc r13,r18
7079
 7316 3e84 2FEF      		ldi r18,hlo8(-4096)
7080
 7317 3e86 E206      		cpc r14,r18
7081
 7318 3e88 2FEF      		ldi r18,hhi8(-4096)
7082
 7319 3e8a F206      		cpc r15,r18
7083
 7320 3e8c 04F0      		brlt .+2
7084
 7321 3e8e 00C0      		rjmp .L589
7085
 7322 3e90 8091 0000 		lds r24,last_r_n.18
7086
 7323 3e94 8823      		tst r24
7087
 7324 3e96 01F4      		brne .+2
7088
 7325 3e98 00C0      		rjmp .L590
7089
 7326 3e9a D701      		movw r26,r14
7090
 7327 3e9c C601      		movw r24,r12
7091
 7328 3e9e F7FE      		sbrs r15,7
7092
 7329 3ea0 00C0      		rjmp .L591
7093
 7330 3ea2 8827      		clr r24
7094
 7331 3ea4 9927      		clr r25
7095
 7332 3ea6 DC01      		movw r26,r24
7096
 7333 3ea8 8C19      		sub r24,r12
7097
 7334 3eaa 9D09      		sbc r25,r13
7098
 7335 3eac AE09      		sbc r26,r14
7099
 7336 3eae BF09      		sbc r27,r15
7100
 7337               	.L591:
7101
 7338 3eb0 9C01      		movw r18,r24
7102
 7339 3eb2 AD01      		movw r20,r26
7103
 7340 3eb4 B7FF      		sbrs r27,7
7104
 7341 3eb6 00C0      		rjmp .L592
7105
 7342 3eb8 2150      		subi r18,lo8(-(511))
7106
 7343 3eba 3E4F      		sbci r19,hi8(-(511))
7107
 7344 3ebc 4F4F      		sbci r20,hlo8(-(511))
7108
 7345 3ebe 5F4F      		sbci r21,hhi8(-(511))
7109
 7346               	.L592:
7110
 7347 3ec0 E9E0      		ldi r30,9
7111
 7348 3ec2 5595      	1:	asr r21
7112
 7349 3ec4 4795      		ror r20
7113
 7350 3ec6 3795      		ror r19
7114
 7351 3ec8 2795      		ror r18
7115
 7352 3eca EA95      		dec r30
7116
 7353 3ecc 01F4      		brne 1b
7117
 7354 3ece 8091 0000 		lds r24,cnt.14
7118
 7355 3ed2 9091 0000 		lds r25,(cnt.14)+1
7119
 7356 3ed6 820F      		add r24,r18
7120
 7357 3ed8 931F      		adc r25,r19
7121
 7358 3eda 9093 0000 		sts (cnt.14)+1,r25
7122
 7359 3ede 8093 0000 		sts cnt.14,r24
7123
 7360 3ee2 D701      		movw r26,r14
7124
 7361 3ee4 C601      		movw r24,r12
7125
 7362 3ee6 F7FE      		sbrs r15,7
7126
 7363 3ee8 00C0      		rjmp .L593
7127
 7364 3eea 0796      		adiw r24,7
7128
 7365 3eec A11D      		adc r26,__zero_reg__
7129
 7366 3eee B11D      		adc r27,__zero_reg__
7130
 7367               	.L593:
7131
 7368 3ef0 73E0      		ldi r23,3
7132
 7369 3ef2 B595      	1:	asr r27
7133
 7370 3ef4 A795      		ror r26
7134
 7371 3ef6 9795      		ror r25
7135
 7372 3ef8 8795      		ror r24
7136
 7373 3efa 7A95      		dec r23
7137
 7374 3efc 01F4      		brne 1b
7138
 7375 3efe 8093 0000 		sts ausgleichRoll.11,r24
7139
 7376 3f02 9093 0000 		sts (ausgleichRoll.11)+1,r25
7140
 7377 3f06 A093 0000 		sts (ausgleichRoll.11)+2,r26
7141
 7378 3f0a B093 0000 		sts (ausgleichRoll.11)+3,r27
7142
 7379 3f0e 8857      		subi r24,lo8(-5000)
7143
 7380 3f10 9C4E      		sbci r25,hi8(-5000)
7144
 7381 3f12 AF4F      		sbci r26,hlo8(-5000)
7145
 7382 3f14 BF4F      		sbci r27,hhi8(-5000)
7146
 7383 3f16 04F4      		brge .L594
7147
 7384 3f18 88E7      		ldi r24,lo8(-5000)
7148
 7385 3f1a 9CEE      		ldi r25,hi8(-5000)
7149
 7386 3f1c AFEF      		ldi r26,hlo8(-5000)
7150
 7387 3f1e BFEF      		ldi r27,hhi8(-5000)
7151
 7388 3f20 8093 0000 		sts ausgleichRoll.11,r24
7152
 7389 3f24 9093 0000 		sts (ausgleichRoll.11)+1,r25
7153
 7390 3f28 A093 0000 		sts (ausgleichRoll.11)+2,r26
7154
 7391 3f2c B093 0000 		sts (ausgleichRoll.11)+3,r27
7155
 7392               	.L594:
7156
 7393 3f30 2091 0000 		lds r18,ausgleichRoll.11
7157
 7394 3f34 3091 0000 		lds r19,(ausgleichRoll.11)+1
7158
 7395 3f38 4091 0000 		lds r20,(ausgleichRoll.11)+2
7159
 7396 3f3c 5091 0000 		lds r21,(ausgleichRoll.11)+3
7160
 7397 3f40 57FF      		sbrs r21,7
7161
 7398 3f42 00C0      		rjmp .L595
7162
 7399 3f44 2150      		subi r18,lo8(-(255))
7163
 7400 3f46 3F4F      		sbci r19,hi8(-(255))
7164
 7401 3f48 4F4F      		sbci r20,hlo8(-(255))
7165
 7402 3f4a 5F4F      		sbci r21,hhi8(-(255))
7166
 7403               	.L595:
7167
 7404 3f4c 232F      		mov r18,r19
7168
 7405 3f4e 342F      		mov r19,r20
7169
 7406 3f50 452F      		mov r20,r21
7170
 7407 3f52 5527      		clr r21
7171
 7408 3f54 47FD      		sbrc r20,7
7172
 7409 3f56 5A95      		dec r21
7173
 7410 3f58 8091 0000 		lds r24,LageKorrekturRoll
7174
 7411 3f5c 9091 0000 		lds r25,(LageKorrekturRoll)+1
7175
 7412 3f60 820F      		add r24,r18
7176
 7413 3f62 931F      		adc r25,r19
7177
 7414 3f64 9093 0000 		sts (LageKorrekturRoll)+1,r25
7178
 7415 3f68 8093 0000 		sts LageKorrekturRoll,r24
7179
 7416 3f6c 00C0      		rjmp .L598
7180
 7417               	.L590:
7181
 7418 3f6e 81E0      		ldi r24,lo8(1)
7182
 7419 3f70 8093 0000 		sts last_r_n.18,r24
7183
 7420 3f74 00C0      		rjmp .L598
7184
 7421               	.L589:
7185
 7422 3f76 1092 0000 		sts last_r_n.18,__zero_reg__
7186
 7423 3f7a 00C0      		rjmp .L598
7187
 7424               	.L578:
7188
 7425 3f7c 1092 0000 		sts (cnt.14)+1,__zero_reg__
7189
 7426 3f80 1092 0000 		sts cnt.14,__zero_reg__
7190
 7427 3f84 84E6      		ldi r24,lo8(100)
7191
 7428 3f86 90E0      		ldi r25,hi8(100)
7192
 7429 3f88 9093 0000 		sts (KompassSignalSchlecht)+1,r25
7193
 7430 3f8c 8093 0000 		sts KompassSignalSchlecht,r24
7194
 7431               	.L598:
7195
 7432 3f90 4889      		ldd r20,Y+16
7196
 7433 3f92 242F      		mov r18,r20
7197
 7434 3f94 3327      		clr r19
7198
 7435 3f96 8091 0000 		lds r24,cnt.14
7199
 7436 3f9a 9091 0000 		lds r25,(cnt.14)+1
7200
 7437 3f9e 2817      		cp r18,r24
7201
 7438 3fa0 3907      		cpc r19,r25
7202
 7439 3fa2 04F4      		brge .L599
7203
 7440 3fa4 3093 0000 		sts (cnt.14)+1,r19
7204
 7441 3fa8 2093 0000 		sts cnt.14,r18
7205
 7442               	.L599:
7206
 7443 3fac 8091 0000 		lds r24,FromNaviCtrl_Value+1
7207
 7444 3fb0 8823      		tst r24
7208
 7445 3fb2 01F0      		breq .L600
7209
 7446 3fb4 282F      		mov r18,r24
7210
 7447 3fb6 3327      		clr r19
7211
 7448 3fb8 27FD      		sbrc r18,7
7212
 7449 3fba 3095      		com r19
7213
 7450 3fbc 8091 0000 		lds r24,cnt.14
7214
 7451 3fc0 9091 0000 		lds r25,(cnt.14)+1
7215
 7452 3fc4 2817      		cp r18,r24
7216
 7453 3fc6 3907      		cpc r19,r25
7217
 7454 3fc8 04F4      		brge .L600
7218
 7455 3fca 3093 0000 		sts (cnt.14)+1,r19
7219
 7456 3fce 2093 0000 		sts cnt.14,r18
7220
 7457               	.L600:
7221
 7458 3fd2 4091 0000 		lds r20,IntegralFehlerRoll.4
7222
 7459 3fd6 5091 0000 		lds r21,(IntegralFehlerRoll.4)+1
7223
 7460 3fda 6091 0000 		lds r22,(IntegralFehlerRoll.4)+2
7224
 7461 3fde 7091 0000 		lds r23,(IntegralFehlerRoll.4)+3
7225
 7462 3fe2 4138      		cpi r20,lo8(129)
7226
 7463 3fe4 5105      		cpc r21,__zero_reg__
7227
 7464 3fe6 6105      		cpc r22,__zero_reg__
7228
 7465 3fe8 7105      		cpc r23,__zero_reg__
7229
 7466 3fea 04F0      		brlt .L602
7230
 7467 3fec 8091 0000 		lds r24,AdNeutralRoll
7231
 7468 3ff0 9091 0000 		lds r25,(AdNeutralRoll)+1
7232
 7469 3ff4 2091 0000 		lds r18,cnt.14
7233
 7470 3ff8 3091 0000 		lds r19,(cnt.14)+1
7234
 7471 3ffc 820F      		add r24,r18
7235
 7472 3ffe 931F      		adc r25,r19
7236
 7473 4000 9093 0000 		sts (AdNeutralRoll)+1,r25
7237
 7474 4004 8093 0000 		sts AdNeutralRoll,r24
7238
 7475               	.L602:
7239
 7476 4008 4058      		subi r20,lo8(-128)
7240
 7477 400a 5F4F      		sbci r21,hi8(-128)
7241
 7478 400c 6F4F      		sbci r22,hlo8(-128)
7242
 7479 400e 7F4F      		sbci r23,hhi8(-128)
7243
 7480 4010 04F4      		brge .L604
7244
 7481 4012 8091 0000 		lds r24,AdNeutralRoll
7245
 7482 4016 9091 0000 		lds r25,(AdNeutralRoll)+1
7246
 7483 401a 2091 0000 		lds r18,cnt.14
7247
 7484 401e 3091 0000 		lds r19,(cnt.14)+1
7248
 7485 4022 821B      		sub r24,r18
7249
 7486 4024 930B      		sbc r25,r19
7250
 7487 4026 9093 0000 		sts (AdNeutralRoll)+1,r25
7251
 7488 402a 8093 0000 		sts AdNeutralRoll,r24
7252
 7489 402e 00C0      		rjmp .L604
7253
 7490               	.L530:
7254
 7491 4030 1092 0000 		sts (LageKorrekturRoll)+1,__zero_reg__
7255
 7492 4034 1092 0000 		sts LageKorrekturRoll,__zero_reg__
7256
 7493 4038 1092 0000 		sts (LageKorrekturNick)+1,__zero_reg__
7257
 7494 403c 1092 0000 		sts LageKorrekturNick,__zero_reg__
7258
 7495 4040 1092 0000 		sts TrichterFlug,__zero_reg__
7259
 7496               	.L604:
7260
 7497 4044 8091 0000 		lds r24,IntegralFaktor
7261
 7498 4048 8823      		tst r24
7262
 7499 404a 01F4      		brne .L605
7263
 7500 404c 1092 0000 		sts (LageKorrekturRoll)+1,__zero_reg__
7264
 7501 4050 1092 0000 		sts LageKorrekturRoll,__zero_reg__
7265
 7502 4054 1092 0000 		sts (LageKorrekturNick)+1,__zero_reg__
7266
 7503 4058 1092 0000 		sts LageKorrekturNick,__zero_reg__
7267
 7504               	.L605:
7268
 7505 405c 8091 0000 		lds r24,MittelIntegralNick
7269
 7506 4060 9091 0000 		lds r25,(MittelIntegralNick)+1
7270
 7507 4064 A091 0000 		lds r26,(MittelIntegralNick)+2
7271
 7508 4068 B091 0000 		lds r27,(MittelIntegralNick)+3
7272
 7509 406c 8093 0000 		sts MittelIntegralNick_Alt.19,r24
7273
 7510 4070 9093 0000 		sts (MittelIntegralNick_Alt.19)+1,r25
7274
 7511 4074 A093 0000 		sts (MittelIntegralNick_Alt.19)+2,r26
7275
 7512 4078 B093 0000 		sts (MittelIntegralNick_Alt.19)+3,r27
7276
 7513 407c 8091 0000 		lds r24,MittelIntegralRoll
7277
 7514 4080 9091 0000 		lds r25,(MittelIntegralRoll)+1
7278
 7515 4084 A091 0000 		lds r26,(MittelIntegralRoll)+2
7279
 7516 4088 B091 0000 		lds r27,(MittelIntegralRoll)+3
7280
 7517 408c 8093 0000 		sts MittelIntegralRoll_Alt.20,r24
7281
 7518 4090 9093 0000 		sts (MittelIntegralRoll_Alt.20)+1,r25
7282
 7519 4094 A093 0000 		sts (MittelIntegralRoll_Alt.20)+2,r26
7283
 7520 4098 B093 0000 		sts (MittelIntegralRoll_Alt.20)+3,r27
7284
 7521 409c 1092 0000 		sts IntegralAccNick,__zero_reg__
7285
 7522 40a0 1092 0000 		sts (IntegralAccNick)+1,__zero_reg__
7286
 7523 40a4 1092 0000 		sts (IntegralAccNick)+2,__zero_reg__
7287
 7524 40a8 1092 0000 		sts (IntegralAccNick)+3,__zero_reg__
7288
 7525 40ac 1092 0000 		sts IntegralAccRoll,__zero_reg__
7289
 7526 40b0 1092 0000 		sts (IntegralAccRoll)+1,__zero_reg__
7290
 7527 40b4 1092 0000 		sts (IntegralAccRoll)+2,__zero_reg__
7291
 7528 40b8 1092 0000 		sts (IntegralAccRoll)+3,__zero_reg__
7292
 7529 40bc 1092 0000 		sts IntegralAccZ,__zero_reg__
7293
 7530 40c0 1092 0000 		sts (IntegralAccZ)+1,__zero_reg__
7294
 7531 40c4 1092 0000 		sts (IntegralAccZ)+2,__zero_reg__
7295
 7532 40c8 1092 0000 		sts (IntegralAccZ)+3,__zero_reg__
7296
 7533 40cc 1092 0000 		sts MittelIntegralNick,__zero_reg__
7297
 7534 40d0 1092 0000 		sts (MittelIntegralNick)+1,__zero_reg__
7298
 7535 40d4 1092 0000 		sts (MittelIntegralNick)+2,__zero_reg__
7299
 7536 40d8 1092 0000 		sts (MittelIntegralNick)+3,__zero_reg__
7300
 7537 40dc 1092 0000 		sts MittelIntegralRoll,__zero_reg__
7301
 7538 40e0 1092 0000 		sts (MittelIntegralRoll)+1,__zero_reg__
7302
 7539 40e4 1092 0000 		sts (MittelIntegralRoll)+2,__zero_reg__
7303
 7540 40e8 1092 0000 		sts (MittelIntegralRoll)+3,__zero_reg__
7304
 7541 40ec 1092 0000 		sts MittelIntegralNick2,__zero_reg__
7305
 7542 40f0 1092 0000 		sts (MittelIntegralNick2)+1,__zero_reg__
7306
 7543 40f4 1092 0000 		sts (MittelIntegralNick2)+2,__zero_reg__
7307
 7544 40f8 1092 0000 		sts (MittelIntegralNick2)+3,__zero_reg__
7308
 7545 40fc 1092 0000 		sts MittelIntegralRoll2,__zero_reg__
7309
 7546 4100 1092 0000 		sts (MittelIntegralRoll2)+1,__zero_reg__
7310
 7547 4104 1092 0000 		sts (MittelIntegralRoll2)+2,__zero_reg__
7311
 7548 4108 1092 0000 		sts (MittelIntegralRoll2)+3,__zero_reg__
7312
 7549 410c 1092 0000 		sts (ZaehlMessungen)+1,__zero_reg__
7313
 7550 4110 1092 0000 		sts ZaehlMessungen,__zero_reg__
7314
 7551               	.L529:
7315
 7552 4114 E090 0000 		lds r14,StickGier
7316
 7553 4118 F090 0000 		lds r15,(StickGier)+1
7317
 7554 411c C701      		movw r24,r14
7318
 7555 411e F7FE      		sbrs r15,7
7319
 7556 4120 00C0      		rjmp .L607
7320
 7557 4122 8827      		clr r24
7321
 7558 4124 9927      		clr r25
7322
 7559 4126 8E19      		sub r24,r14
7323
 7560 4128 9F09      		sbc r25,r15
7324
 7561               	.L607:
7325
 7562 412a 0497      		sbiw r24,4
7326
 7563 412c 04F0      		brlt .L606
7327
 7564 412e 8091 0000 		lds r24,Parameter_GlobalConfig
7328
 7565 4132 84FD      		sbrc r24,4
7329
 7566 4134 00C0      		rjmp .L606
7330
 7567 4136 82E3      		ldi r24,lo8(50)
7331
 7568 4138 8093 0000 		sts NeueKompassRichtungMerken,r24
7332
 7569               	.L606:
7333
 7570 413c 1091 0000 		lds r17,EE_Parameter+25
7334
 7571 4140 A12E      		mov r10,r17
7335
 7572 4142 BB24      		clr r11
7336
 7573 4144 CC24      		clr r12
7337
 7574 4146 DD24      		clr r13
7338
 7575 4148 B701      		movw r22,r14
7339
 7576 414a 8827      		clr r24
7340
 7577 414c 77FD      		sbrc r23,7
7341
 7578 414e 8095      		com r24
7342
 7579 4150 982F      		mov r25,r24
7343
 7580 4152 9701      		movw r18,r14
7344
 7581 4154 F7FE      		sbrs r15,7
7345
 7582 4156 00C0      		rjmp .L609
7346
 7583 4158 2227      		clr r18
7347
 7584 415a 3327      		clr r19
7348
 7585 415c 2E19      		sub r18,r14
7349
 7586 415e 3F09      		sbc r19,r15
7350
 7587               	.L609:
7351
 7588 4160 4427      		clr r20
7352
 7589 4162 37FD      		sbrc r19,7
7353
 7590 4164 4095      		com r20
7354
 7591 4166 542F      		mov r21,r20
7355
 7592 4168 0E94 0000 		call __mulsi3
7356
 7593 416c 9B01      		movw r18,r22
7357
 7594 416e AC01      		movw r20,r24
7358
 7595 4170 C601      		movw r24,r12
7359
 7596 4172 B501      		movw r22,r10
7360
 7597 4174 0E94 0000 		call __mulsi3
7361
 7598 4178 97FF      		sbrs r25,7
7362
 7599 417a 00C0      		rjmp .L610
7363
 7600 417c 6150      		subi r22,lo8(-(511))
7364
 7601 417e 7E4F      		sbci r23,hi8(-(511))
7365
 7602 4180 8F4F      		sbci r24,hlo8(-(511))
7366
 7603 4182 9F4F      		sbci r25,hhi8(-(511))
7367
 7604               	.L610:
7368
 7605 4184 59E0      		ldi r21,9
7369
 7606 4186 9595      	1:	asr r25
7370
 7607 4188 8795      		ror r24
7371
 7608 418a 7795      		ror r23
7372
 7609 418c 6795      		ror r22
7373
 7610 418e 5A95      		dec r21
7374
 7611 4190 01F4      		brne 1b
7375
 7612 4192 9B01      		movw r18,r22
7376
 7613 4194 812F      		mov r24,r17
7377
 7614 4196 9927      		clr r25
7378
 7615 4198 8E9D      		mul r24,r14
7379
 7616 419a D001      		movw r26,r0
7380
 7617 419c 8F9D      		mul r24,r15
7381
 7618 419e B00D      		add r27,r0
7382
 7619 41a0 9E9D      		mul r25,r14
7383
 7620 41a2 B00D      		add r27,r0
7384
 7621 41a4 1124      		clr r1
7385
 7622 41a6 CD01      		movw r24,r26
7386
 7623 41a8 B7FD      		sbrc r27,7
7387
 7624 41aa 0396      		adiw r24,3
7388
 7625               	.L611:
7389
 7626 41ac 9595      		asr r25
7390
 7627 41ae 8795      		ror r24
7391
 7628 41b0 9595      		asr r25
7392
 7629 41b2 8795      		ror r24
7393
 7630 41b4 280F      		add r18,r24
7394
 7631 41b6 391F      		adc r19,r25
7395
 7632 41b8 8091 0000 		lds r24,CompassGierSetpoint
7396
 7633 41bc 9091 0000 		lds r25,(CompassGierSetpoint)+1
7397
 7634 41c0 280F      		add r18,r24
7398
 7635 41c2 391F      		adc r19,r25
7399
 7636 41c4 4427      		clr r20
7400
 7637 41c6 37FD      		sbrc r19,7
7401
 7638 41c8 4095      		com r20
7402
 7639 41ca 542F      		mov r21,r20
7403
 7640 41cc 2093 0000 		sts sollGier.0,r18
7404
 7641 41d0 3093 0000 		sts (sollGier.0)+1,r19
7405
 7642 41d4 4093 0000 		sts (sollGier.0)+2,r20
7406
 7643 41d8 5093 0000 		sts (sollGier.0)+3,r21
7407
 7644 41dc 8091 0000 		lds r24,Mess_Integral_Gier
7408
 7645 41e0 9091 0000 		lds r25,(Mess_Integral_Gier)+1
7409
 7646 41e4 A091 0000 		lds r26,(Mess_Integral_Gier)+2
7410
 7647 41e8 B091 0000 		lds r27,(Mess_Integral_Gier)+3
7411
 7648 41ec 821B      		sub r24,r18
7412
 7649 41ee 930B      		sbc r25,r19
7413
 7650 41f0 A40B      		sbc r26,r20
7414
 7651 41f2 B50B      		sbc r27,r21
7415
 7652 41f4 8093 0000 		sts Mess_Integral_Gier,r24
7416
 7653 41f8 9093 0000 		sts (Mess_Integral_Gier)+1,r25
7417
 7654 41fc A093 0000 		sts (Mess_Integral_Gier)+2,r26
7418
 7655 4200 B093 0000 		sts (Mess_Integral_Gier)+3,r27
7419
 7656 4204 8155      		subi r24,lo8(50001)
7420
 7657 4206 934C      		sbci r25,hi8(50001)
7421
 7658 4208 A040      		sbci r26,hlo8(50001)
7422
 7659 420a B040      		sbci r27,hhi8(50001)
7423
 7660 420c 04F0      		brlt .L612
7424
 7661 420e 80E5      		ldi r24,lo8(50000)
7425
 7662 4210 93EC      		ldi r25,hi8(50000)
7426
 7663 4212 A0E0      		ldi r26,hlo8(50000)
7427
 7664 4214 B0E0      		ldi r27,hhi8(50000)
7428
 7665 4216 8093 0000 		sts Mess_Integral_Gier,r24
7429
 7666 421a 9093 0000 		sts (Mess_Integral_Gier)+1,r25
7430
 7667 421e A093 0000 		sts (Mess_Integral_Gier)+2,r26
7431
 7668 4222 B093 0000 		sts (Mess_Integral_Gier)+3,r27
7432
 7669               	.L612:
7433
 7670 4226 8091 0000 		lds r24,Mess_Integral_Gier
7434
 7671 422a 9091 0000 		lds r25,(Mess_Integral_Gier)+1
7435
 7672 422e A091 0000 		lds r26,(Mess_Integral_Gier)+2
7436
 7673 4232 B091 0000 		lds r27,(Mess_Integral_Gier)+3
7437
 7674 4236 805B      		subi r24,lo8(-50000)
7438
 7675 4238 9C43      		sbci r25,hi8(-50000)
7439
 7676 423a AF4F      		sbci r26,hlo8(-50000)
7440
 7677 423c BF4F      		sbci r27,hhi8(-50000)
7441
 7678 423e 04F4      		brge .L613
7442
 7679 4240 80EB      		ldi r24,lo8(-50000)
7443
 7680 4242 9CE3      		ldi r25,hi8(-50000)
7444
 7681 4244 AFEF      		ldi r26,hlo8(-50000)
7445
 7682 4246 BFEF      		ldi r27,hhi8(-50000)
7446
 7683 4248 8093 0000 		sts Mess_Integral_Gier,r24
7447
 7684 424c 9093 0000 		sts (Mess_Integral_Gier)+1,r25
7448
 7685 4250 A093 0000 		sts (Mess_Integral_Gier)+2,r26
7449
 7686 4254 B093 0000 		sts (Mess_Integral_Gier)+3,r27
7450
 7687               	.L613:
7451
 7688 4258 0091 0000 		lds r16,KompassValue
7452
 7689 425c 1091 0000 		lds r17,(KompassValue)+1
7453
 7690 4260 17FD      		sbrc r17,7
7454
 7691 4262 00C0      		rjmp .L614
7455
 7692 4264 8091 0000 		lds r24,Parameter_GlobalConfig
7456
 7693 4268 83FF      		sbrs r24,3
7457
 7694 426a 00C0      		rjmp .L614
7458
 7695 426c 8091 0000 		lds r24,CalculateCompassTimer
7459
 7696 4270 8150      		subi r24,lo8(-(-1))
7460
 7697 4272 8093 0000 		sts CalculateCompassTimer,r24
7461
 7698 4276 8823      		tst r24
7462
 7699 4278 01F0      		breq .+2
7463
 7700 427a 00C0      		rjmp .L631
7464
 7701 427c 8DE0      		ldi r24,lo8(13)
7465
 7702 427e 8093 0000 		sts CalculateCompassTimer,r24
7466
 7703 4282 8091 0000 		lds r24,IntegralNick
7467
 7704 4286 9091 0000 		lds r25,(IntegralNick)+1
7468
 7705 428a A091 0000 		lds r26,(IntegralNick)+2
7469
 7706 428e B091 0000 		lds r27,(IntegralNick)+3
7470
 7707 4292 B7FF      		sbrs r27,7
7471
 7708 4294 00C0      		rjmp .L616
7472
 7709 4296 8150      		subi r24,lo8(-(511))
7473
 7710 4298 9E4F      		sbci r25,hi8(-(511))
7474
 7711 429a AF4F      		sbci r26,hlo8(-(511))
7475
 7712 429c BF4F      		sbci r27,hhi8(-(511))
7476
 7713               	.L616:
7477
 7714 429e 39E0      		ldi r19,9
7478
 7715 42a0 B595      	1:	asr r27
7479
 7716 42a2 A795      		ror r26
7480
 7717 42a4 9795      		ror r25
7481
 7718 42a6 8795      		ror r24
7482
 7719 42a8 3A95      		dec r19
7483
 7720 42aa 01F4      		brne 1b
7484
 7721 42ac 7C01      		movw r14,r24
7485
 7722 42ae 97FF      		sbrs r25,7
7486
 7723 42b0 00C0      		rjmp .L617
7487
 7724 42b2 F094      		com r15
7488
 7725 42b4 E194      		neg r14
7489
 7726 42b6 F108      		sbc r15,__zero_reg__
7490
 7727 42b8 F394      		inc r15
7491
 7728               	.L617:
7492
 7729 42ba 8091 0000 		lds r24,IntegralRoll
7493
 7730 42be 9091 0000 		lds r25,(IntegralRoll)+1
7494
 7731 42c2 A091 0000 		lds r26,(IntegralRoll)+2
7495
 7732 42c6 B091 0000 		lds r27,(IntegralRoll)+3
7496
 7733 42ca B7FF      		sbrs r27,7
7497
 7734 42cc 00C0      		rjmp .L618
7498
 7735 42ce 8150      		subi r24,lo8(-(511))
7499
 7736 42d0 9E4F      		sbci r25,hi8(-(511))
7500
 7737 42d2 AF4F      		sbci r26,hlo8(-(511))
7501
 7738 42d4 BF4F      		sbci r27,hhi8(-(511))
7502
 7739               	.L618:
7503
 7740 42d6 29E0      		ldi r18,9
7504
 7741 42d8 B595      	1:	asr r27
7505
 7742 42da A795      		ror r26
7506
 7743 42dc 9795      		ror r25
7507
 7744 42de 8795      		ror r24
7508
 7745 42e0 2A95      		dec r18
7509
 7746 42e2 01F4      		brne 1b
7510
 7747 42e4 9C01      		movw r18,r24
7511
 7748 42e6 97FF      		sbrs r25,7
7512
 7749 42e8 00C0      		rjmp .L619
7513
 7750 42ea 3095      		com r19
7514
 7751 42ec 2195      		neg r18
7515
 7752 42ee 3F4F      		sbci r19,lo8(-1)
7516
 7753               	.L619:
7517
 7754 42f0 E216      		cp r14,r18
7518
 7755 42f2 F306      		cpc r15,r19
7519
 7756 42f4 04F4      		brge .L620
7520
 7757 42f6 7901      		movw r14,r18
7521
 7758               	.L620:
7522
 7759 42f8 B701      		movw r22,r14
7523
 7760 42fa F7FE      		sbrs r15,7
7524
 7761 42fc 00C0      		rjmp .L621
7525
 7762 42fe 695F      		subi r22,lo8(-(7))
7526
 7763 4300 7F4F      		sbci r23,hi8(-(7))
7527
 7764               	.L621:
7528
 7765 4302 2B01      		movw r4,r22
7529
 7766 4304 A3E0      		ldi r26,3
7530
 7767 4306 5594      	1:	asr r5
7531
 7768 4308 4794      		ror r4
7532
 7769 430a AA95      		dec r26
7533
 7770 430c 01F4      		brne 1b
7534
 7771 430e 22E0      		ldi r18,lo8(2)
7535
 7772 4310 30E0      		ldi r19,hi8(2)
7536
 7773 4312 420E      		add r4,r18
7537
 7774 4314 531E      		adc r5,r19
7538
 7775 4316 6090 0000 		lds r6,ErsatzKompass
7539
 7776 431a 7090 0000 		lds r7,(ErsatzKompass)+1
7540
 7777 431e 8090 0000 		lds r8,(ErsatzKompass)+2
7541
 7778 4322 9090 0000 		lds r9,(ErsatzKompass)+3
7542
 7779 4326 2091 0000 		lds r18,GIER_GRAD_FAKTOR
7543
 7780 432a 3091 0000 		lds r19,(GIER_GRAD_FAKTOR)+1
7544
 7781 432e 4091 0000 		lds r20,(GIER_GRAD_FAKTOR)+2
7545
 7782 4332 5091 0000 		lds r21,(GIER_GRAD_FAKTOR)+3
7546
 7783 4336 C401      		movw r24,r8
7547
 7784 4338 B301      		movw r22,r6
7548
 7785 433a 0E94 0000 		call __divmodsi4
7549
 7786 433e 5901      		movw r10,r18
7550
 7787 4340 6A01      		movw r12,r20
7551
 7788 4342 3093 0000 		sts (ErsatzKompassInGrad)+1,r19
7552
 7789 4346 2093 0000 		sts ErsatzKompassInGrad,r18
7553
 7790 434a 021B      		sub r16,r18
7554
 7791 434c 130B      		sbc r17,r19
7555
 7792 434e C801      		movw r24,r16
7556
 7793 4350 845E      		subi r24,lo8(-(540))
7557
 7794 4352 9D4F      		sbci r25,hi8(-(540))
7558
 7795 4354 68E6      		ldi r22,lo8(360)
7559
 7796 4356 71E0      		ldi r23,hi8(360)
7560
 7797 4358 0E94 0000 		call __divmodhi4
7561
 7798 435c 9C01      		movw r18,r24
7562
 7799 435e 245B      		subi r18,lo8(-(-180))
7563
 7800 4360 3040      		sbci r19,hi8(-(-180))
7564
 7801 4362 8091 0000 		lds r24,KompassSignalSchlecht
7565
 7802 4366 9091 0000 		lds r25,(KompassSignalSchlecht)+1
7566
 7803 436a 0097      		sbiw r24,0
7567
 7804 436c 01F0      		breq .L622
7568
 7805 436e 0197      		sbiw r24,1
7569
 7806 4370 9093 0000 		sts (KompassSignalSchlecht)+1,r25
7570
 7807 4374 8093 0000 		sts KompassSignalSchlecht,r24
7571
 7808 4378 00C0      		rjmp .L623
7572
 7809               	.L622:
7573
 7810 437a 49E1      		ldi r20,lo8(25)
7574
 7811 437c E416      		cp r14,r20
7575
 7812 437e F104      		cpc r15,__zero_reg__
7576
 7813 4380 04F4      		brge .L623
7577
 7814 4382 8091 0000 		lds r24,GierGyroFehler
7578
 7815 4386 9091 0000 		lds r25,(GierGyroFehler)+1
7579
 7816 438a 820F      		add r24,r18
7580
 7817 438c 931F      		adc r25,r19
7581
 7818 438e 9093 0000 		sts (GierGyroFehler)+1,r25
7582
 7819 4392 8093 0000 		sts GierGyroFehler,r24
7583
 7820 4396 8091 0000 		lds r24,NeueKompassRichtungMerken
7584
 7821 439a 8823      		tst r24
7585
 7822 439c 01F0      		breq .L623
7586
 7823 439e 8150      		subi r24,lo8(-(-1))
7587
 7824 43a0 8093 0000 		sts NeueKompassRichtungMerken,r24
7588
 7825 43a4 8823      		tst r24
7589
 7826 43a6 01F4      		brne .L623
7590
 7827 43a8 B092 0000 		sts (KompassSollWert)+1,r11
7591
 7828 43ac A092 0000 		sts KompassSollWert,r10
7592
 7829               	.L623:
7593
 7830 43b0 8091 0000 		lds r24,KompassSignalSchlecht
7594
 7831 43b4 9091 0000 		lds r25,(KompassSignalSchlecht)+1
7595
 7832 43b8 892B      		or r24,r25
7596
 7833 43ba 01F4      		brne .L627
7597
 7834 43bc 8091 0000 		lds r24,KompassFusion
7598
 7835 43c0 9927      		clr r25
7599
 7836 43c2 289F      		mul r18,r24
7600
 7837 43c4 B001      		movw r22,r0
7601
 7838 43c6 299F      		mul r18,r25
7602
 7839 43c8 700D      		add r23,r0
7603
 7840 43ca 389F      		mul r19,r24
7604
 7841 43cc 700D      		add r23,r0
7605
 7842 43ce 1124      		clr r1
7606
 7843 43d0 CB01      		movw r24,r22
7607
 7844 43d2 B201      		movw r22,r4
7608
 7845 43d4 0E94 0000 		call __divmodhi4
7609
 7846 43d8 CB01      		movw r24,r22
7610
 7847 43da AA27      		clr r26
7611
 7848 43dc 97FD      		sbrc r25,7
7612
 7849 43de A095      		com r26
7613
 7850 43e0 BA2F      		mov r27,r26
7614
 7851 43e2 680E      		add r6,r24
7615
 7852 43e4 791E      		adc r7,r25
7616
 7853 43e6 8A1E      		adc r8,r26
7617
 7854 43e8 9B1E      		adc r9,r27
7618
 7855 43ea 6092 0000 		sts ErsatzKompass,r6
7619
 7856 43ee 7092 0000 		sts (ErsatzKompass)+1,r7
7620
 7857 43f2 8092 0000 		sts (ErsatzKompass)+2,r8
7621
 7858 43f6 9092 0000 		sts (ErsatzKompass)+3,r9
7622
 7859               	.L627:
7623
 7860 43fa 8091 0000 		lds r24,NeueKompassRichtungMerken
7624
 7861 43fe 8823      		tst r24
7625
 7862 4400 01F4      		brne .L614
7626
 7863 4402 8091 0000 		lds r24,KompassSollWert
7627
 7864 4406 9091 0000 		lds r25,(KompassSollWert)+1
7628
 7865 440a 2091 0000 		lds r18,ErsatzKompassInGrad
7629
 7866 440e 3091 0000 		lds r19,(ErsatzKompassInGrad)+1
7630
 7867 4412 821B      		sub r24,r18
7631
 7868 4414 930B      		sbc r25,r19
7632
 7869 4416 845E      		subi r24,lo8(-(540))
7633
 7870 4418 9D4F      		sbci r25,hi8(-(540))
7634
 7871 441a 68E6      		ldi r22,lo8(360)
7635
 7872 441c 71E0      		ldi r23,hi8(360)
7636
 7873 441e 0E94 0000 		call __divmodhi4
7637
 7874 4422 9C01      		movw r18,r24
7638
 7875 4424 245B      		subi r18,lo8(-(-180))
7639
 7876 4426 3040      		sbci r19,hi8(-(-180))
7640
 7877 4428 8091 0000 		lds r24,Parameter_KompassWirkung
7641
 7878 442c 8695      		lsr r24
7642
 7879 442e 9927      		clr r25
7643
 7880 4430 289F      		mul r18,r24
7644
 7881 4432 D001      		movw r26,r0
7645
 7882 4434 299F      		mul r18,r25
7646
 7883 4436 B00D      		add r27,r0
7647
 7884 4438 389F      		mul r19,r24
7648
 7885 443a B00D      		add r27,r0
7649
 7886 443c 1124      		clr r1
7650
 7887 443e 9D01      		movw r18,r26
7651
 7888 4440 B7FF      		sbrs r27,7
7652
 7889 4442 00C0      		rjmp .L629
7653
 7890 4444 215F      		subi r18,lo8(-(15))
7654
 7891 4446 3F4F      		sbci r19,hi8(-(15))
7655
 7892               	.L629:
7656
 7893 4448 F4E0      		ldi r31,4
7657
 7894 444a 3595      	1:	asr r19
7658
 7895 444c 2795      		ror r18
7659
 7896 444e FA95      		dec r31
7660
 7897 4450 01F4      		brne 1b
7661
 7898 4452 3093 0000 		sts (CompassGierSetpoint)+1,r19
7662
 7899 4456 2093 0000 		sts CompassGierSetpoint,r18
7663
 7900 445a 00C0      		rjmp .L631
7664
 7901               	.L614:
7665
 7902 445c 1092 0000 		sts (CompassGierSetpoint)+1,__zero_reg__
7666
 7903 4460 1092 0000 		sts CompassGierSetpoint,__zero_reg__
7667
 7904               	.L631:
7668
 7905 4464 8091 0000 		lds r24,TrichterFlug
7669
 7906 4468 8823      		tst r24
7670
 7907 446a 01F0      		breq .L632
7671
 7908 446c 1092 0000 		sts SummeRoll,__zero_reg__
7672
 7909 4470 1092 0000 		sts (SummeRoll)+1,__zero_reg__
7673
 7910 4474 1092 0000 		sts (SummeRoll)+2,__zero_reg__
7674
 7911 4478 1092 0000 		sts (SummeRoll)+3,__zero_reg__
7675
 7912 447c 1092 0000 		sts SummeNick,__zero_reg__
7676
 7913 4480 1092 0000 		sts (SummeNick)+1,__zero_reg__
7677
 7914 4484 1092 0000 		sts (SummeNick)+2,__zero_reg__
7678
 7915 4488 1092 0000 		sts (SummeNick)+3,__zero_reg__
7679
 7916               	.L632:
7680
 7917 448c F090 0000 		lds r15,Looping_Nick
7681
 7918 4490 FF20      		tst r15
7682
 7919 4492 01F4      		brne .L633
7683
 7920 4494 8091 0000 		lds r24,IntegralFaktor
7684
 7921 4498 282F      		mov r18,r24
7685
 7922 449a 3327      		clr r19
7686
 7923 449c 4427      		clr r20
7687
 7924 449e 5527      		clr r21
7688
 7925 44a0 8091 0000 		lds r24,IntegralNick
7689
 7926 44a4 9091 0000 		lds r25,(IntegralNick)+1
7690
 7927 44a8 A091 0000 		lds r26,(IntegralNick)+2
7691
 7928 44ac B091 0000 		lds r27,(IntegralNick)+3
7692
 7929 44b0 BC01      		movw r22,r24
7693
 7930 44b2 CD01      		movw r24,r26
7694
 7931 44b4 0E94 0000 		call __mulsi3
7695
 7932 44b8 DC01      		movw r26,r24
7696
 7933 44ba CB01      		movw r24,r22
7697
 7934 44bc BC01      		movw r22,r24
7698
 7935 44be CD01      		movw r24,r26
7699
 7936 44c0 28EF      		ldi r18,lo8(11000)
7700
 7937 44c2 3AE2      		ldi r19,hi8(11000)
7701
 7938 44c4 40E0      		ldi r20,hlo8(11000)
7702
 7939 44c6 50E0      		ldi r21,hhi8(11000)
7703
 7940 44c8 0E94 0000 		call __divmodsi4
7704
 7941 44cc 3901      		movw r6,r18
7705
 7942 44ce 00C0      		rjmp .L634
7706
 7943               	.L633:
7707
 7944 44d0 6624      		clr r6
7708
 7945 44d2 7724      		clr r7
7709
 7946               	.L634:
7710
 7947 44d4 E090 0000 		lds r14,Looping_Roll
7711
 7948 44d8 EE20      		tst r14
7712
 7949 44da 01F4      		brne .L635
7713
 7950 44dc 8091 0000 		lds r24,IntegralFaktor
7714
 7951 44e0 282F      		mov r18,r24
7715
 7952 44e2 3327      		clr r19
7716
 7953 44e4 4427      		clr r20
7717
 7954 44e6 5527      		clr r21
7718
 7955 44e8 8091 0000 		lds r24,IntegralRoll
7719
 7956 44ec 9091 0000 		lds r25,(IntegralRoll)+1
7720
 7957 44f0 A091 0000 		lds r26,(IntegralRoll)+2
7721
 7958 44f4 B091 0000 		lds r27,(IntegralRoll)+3
7722
 7959 44f8 BC01      		movw r22,r24
7723
 7960 44fa CD01      		movw r24,r26
7724
 7961 44fc 0E94 0000 		call __mulsi3
7725
 7962 4500 DC01      		movw r26,r24
7726
 7963 4502 CB01      		movw r24,r22
7727
 7964 4504 BC01      		movw r22,r24
7728
 7965 4506 CD01      		movw r24,r26
7729
 7966 4508 28EF      		ldi r18,lo8(11000)
7730
 7967 450a 3AE2      		ldi r19,hi8(11000)
7731
 7968 450c 40E0      		ldi r20,hlo8(11000)
7732
 7969 450e 50E0      		ldi r21,hhi8(11000)
7733
 7970 4510 0E94 0000 		call __divmodsi4
7734
 7971 4514 2901      		movw r4,r18
7735
 7972 4516 00C0      		rjmp .L636
7736
 7973               	.L635:
7737
 7974 4518 4424      		clr r4
7738
 7975 451a 5524      		clr r5
7739
 7976               	.L636:
7740
 7977 451c 8091 0000 		lds r24,TrimNick
7741
 7978 4520 9091 0000 		lds r25,(TrimNick)+1
7742
 7979 4524 893C      		cpi r24,201
7743
 7980 4526 9105      		cpc r25,__zero_reg__
7744
 7981 4528 04F0      		brlt .L637
7745
 7982 452a 88EC      		ldi r24,lo8(200)
7746
 7983 452c 90E0      		ldi r25,hi8(200)
7747
 7984 452e 00C0      		rjmp .L894
7748
 7985               	.L637:
7749
 7986 4530 8853      		subi r24,lo8(-200)
7750
 7987 4532 9F4F      		sbci r25,hi8(-200)
7751
 7988 4534 04F4      		brge .L638
7752
 7989 4536 88E3      		ldi r24,lo8(-200)
7753
 7990 4538 9FEF      		ldi r25,hi8(-200)
7754
 7991               	.L894:
7755
 7992 453a 9093 0000 		sts (TrimNick)+1,r25
7756
 7993 453e 8093 0000 		sts TrimNick,r24
7757
 7994               	.L638:
7758
 7995 4542 8091 0000 		lds r24,TrimRoll
7759
 7996 4546 9091 0000 		lds r25,(TrimRoll)+1
7760
 7997 454a 893C      		cpi r24,201
7761
 7998 454c 9105      		cpc r25,__zero_reg__
7762
 7999 454e 04F0      		brlt .L640
7763
 8000 4550 88EC      		ldi r24,lo8(200)
7764
 8001 4552 90E0      		ldi r25,hi8(200)
7765
 8002 4554 00C0      		rjmp .L895
7766
 8003               	.L640:
7767
 8004 4556 8853      		subi r24,lo8(-200)
7768
 8005 4558 9F4F      		sbci r25,hi8(-200)
7769
 8006 455a 04F4      		brge .L641
7770
 8007 455c 88E3      		ldi r24,lo8(-200)
7771
 8008 455e 9FEF      		ldi r25,hi8(-200)
7772
 8009               	.L895:
7773
 8010 4560 9093 0000 		sts (TrimRoll)+1,r25
7774
 8011 4564 8093 0000 		sts TrimRoll,r24
7775
 8012               	.L641:
7776
 8013 4568 8091 0000 		lds r24,MesswertNick
7777
 8014 456c 9091 0000 		lds r25,(MesswertNick)+1
7778
 8015 4570 AA27      		clr r26
7779
 8016 4572 97FD      		sbrc r25,7
7780
 8017 4574 A095      		com r26
7781
 8018 4576 BA2F      		mov r27,r26
7782
 8019 4578 2091 0000 		lds r18,GyroFaktor
7783
 8020 457c A22E      		mov r10,r18
7784
 8021 457e BB24      		clr r11
7785
 8022 4580 CC24      		clr r12
7786
 8023 4582 DD24      		clr r13
7787
 8024 4584 BC01      		movw r22,r24
7788
 8025 4586 CD01      		movw r24,r26
7789
 8026 4588 A601      		movw r20,r12
7790
 8027 458a 9501      		movw r18,r10
7791
 8028 458c 0E94 0000 		call __mulsi3
7792
 8029 4590 9B01      		movw r18,r22
7793
 8030 4592 AC01      		movw r20,r24
7794
 8031 4594 8091 0000 		lds r24,TrimNick
7795
 8032 4598 9091 0000 		lds r25,(TrimNick)+1
7796
 8033 459c AA27      		clr r26
7797
 8034 459e 97FD      		sbrc r25,7
7798
 8035 45a0 A095      		com r26
7799
 8036 45a2 BA2F      		mov r27,r26
7800
 8037 45a4 E7E0      		ldi r30,7
7801
 8038 45a6 880F      	1:	lsl r24
7802
 8039 45a8 991F      		rol r25
7803
 8040 45aa AA1F      		rol r26
7804
 8041 45ac BB1F      		rol r27
7805
 8042 45ae EA95      		dec r30
7806
 8043 45b0 01F4      		brne 1b
7807
 8044 45b2 280F      		add r18,r24
7808
 8045 45b4 391F      		adc r19,r25
7809
 8046 45b6 4A1F      		adc r20,r26
7810
 8047 45b8 5B1F      		adc r21,r27
7811
 8048 45ba 57FF      		sbrs r21,7
7812
 8049 45bc 00C0      		rjmp .L643
7813
 8050 45be 215C      		subi r18,lo8(-(63))
7814
 8051 45c0 3F4F      		sbci r19,hi8(-(63))
7815
 8052 45c2 4F4F      		sbci r20,hlo8(-(63))
7816
 8053 45c4 5F4F      		sbci r21,hhi8(-(63))
7817
 8054               	.L643:
7818
 8055 45c6 76E0      		ldi r23,6
7819
 8056 45c8 5595      	1:	asr r21
7820
 8057 45ca 4795      		ror r20
7821
 8058 45cc 3795      		ror r19
7822
 8059 45ce 2795      		ror r18
7823
 8060 45d0 7A95      		dec r23
7824
 8061 45d2 01F4      		brne 1b
7825
 8062 45d4 8301      		movw r16,r6
7826
 8063 45d6 020F      		add r16,r18
7827
 8064 45d8 131F      		adc r17,r19
7828
 8065 45da 1093 0000 		sts (MesswertNick)+1,r17
7829
 8066 45de 0093 0000 		sts MesswertNick,r16
7830
 8067 45e2 8091 0000 		lds r24,MesswertRoll
7831
 8068 45e6 9091 0000 		lds r25,(MesswertRoll)+1
7832
 8069 45ea AA27      		clr r26
7833
 8070 45ec 97FD      		sbrc r25,7
7834
 8071 45ee A095      		com r26
7835
 8072 45f0 BA2F      		mov r27,r26
7836
 8073 45f2 BC01      		movw r22,r24
7837
 8074 45f4 CD01      		movw r24,r26
7838
 8075 45f6 A601      		movw r20,r12
7839
 8076 45f8 9501      		movw r18,r10
7840
 8077 45fa 0E94 0000 		call __mulsi3
7841
 8078 45fe 9B01      		movw r18,r22
7842
 8079 4600 AC01      		movw r20,r24
7843
 8080 4602 8091 0000 		lds r24,TrimRoll
7844
 8081 4606 9091 0000 		lds r25,(TrimRoll)+1
7845
 8082 460a AA27      		clr r26
7846
 8083 460c 97FD      		sbrc r25,7
7847
 8084 460e A095      		com r26
7848
 8085 4610 BA2F      		mov r27,r26
7849
 8086 4612 67E0      		ldi r22,7
7850
 8087 4614 880F      	1:	lsl r24
7851
 8088 4616 991F      		rol r25
7852
 8089 4618 AA1F      		rol r26
7853
 8090 461a BB1F      		rol r27
7854
 8091 461c 6A95      		dec r22
7855
 8092 461e 01F4      		brne 1b
7856
 8093 4620 280F      		add r18,r24
7857
 8094 4622 391F      		adc r19,r25
7858
 8095 4624 4A1F      		adc r20,r26
7859
 8096 4626 5B1F      		adc r21,r27
7860
 8097 4628 57FF      		sbrs r21,7
7861
 8098 462a 00C0      		rjmp .L644
7862
 8099 462c 215C      		subi r18,lo8(-(63))
7863
 8100 462e 3F4F      		sbci r19,hi8(-(63))
7864
 8101 4630 4F4F      		sbci r20,hlo8(-(63))
7865
 8102 4632 5F4F      		sbci r21,hhi8(-(63))
7866
 8103               	.L644:
7867
 8104 4634 F6E0      		ldi r31,6
7868
 8105 4636 5595      	1:	asr r21
7869
 8106 4638 4795      		ror r20
7870
 8107 463a 3795      		ror r19
7871
 8108 463c 2795      		ror r18
7872
 8109 463e FA95      		dec r31
7873
 8110 4640 01F4      		brne 1b
7874
 8111 4642 4201      		movw r8,r4
7875
 8112 4644 820E      		add r8,r18
7876
 8113 4646 931E      		adc r9,r19
7877
 8114 4648 9092 0000 		sts (MesswertRoll)+1,r9
7878
 8115 464c 8092 0000 		sts MesswertRoll,r8
7879
 8116 4650 8091 0000 		lds r24,MesswertGier
7880
 8117 4654 9091 0000 		lds r25,(MesswertGier)+1
7881
 8118 4658 880F      		add r24,r24
7882
 8119 465a 991F      		adc r25,r25
7883
 8120 465c AA27      		clr r26
7884
 8121 465e 97FD      		sbrc r25,7
7885
 8122 4660 A095      		com r26
7886
 8123 4662 BA2F      		mov r27,r26
7887
 8124 4664 2091 0000 		lds r18,GyroFaktorGier
7888
 8125 4668 3327      		clr r19
7889
 8126 466a 4427      		clr r20
7890
 8127 466c 5527      		clr r21
7891
 8128 466e BC01      		movw r22,r24
7892
 8129 4670 CD01      		movw r24,r26
7893
 8130 4672 0E94 0000 		call __mulsi3
7894
 8131 4676 5B01      		movw r10,r22
7895
 8132 4678 6C01      		movw r12,r24
7896
 8133 467a 97FF      		sbrs r25,7
7897
 8134 467c 00C0      		rjmp .L645
7898
 8135 467e 2FE3      		ldi r18,lo8(63)
7899
 8136 4680 30E0      		ldi r19,hi8(63)
7900
 8137 4682 40E0      		ldi r20,hlo8(63)
7901
 8138 4684 50E0      		ldi r21,hhi8(63)
7902
 8139 4686 A20E      		add r10,r18
7903
 8140 4688 B31E      		adc r11,r19
7904
 8141 468a C41E      		adc r12,r20
7905
 8142 468c D51E      		adc r13,r21
7906
 8143               	.L645:
7907
 8144 468e E6E0      		ldi r30,6
7908
 8145 4690 D594      	1:	asr r13
7909
 8146 4692 C794      		ror r12
7910
 8147 4694 B794      		ror r11
7911
 8148 4696 A794      		ror r10
7912
 8149 4698 EA95      		dec r30
7913
 8150 469a 01F4      		brne 1b
7914
 8151 469c 8091 0000 		lds r24,IntegralFaktorGier
7915
 8152 46a0 282F      		mov r18,r24
7916
 8153 46a2 3327      		clr r19
7917
 8154 46a4 4427      		clr r20
7918
 8155 46a6 5527      		clr r21
7919
 8156 46a8 8091 0000 		lds r24,Integral_Gier
7920
 8157 46ac 9091 0000 		lds r25,(Integral_Gier)+1
7921
 8158 46b0 A091 0000 		lds r26,(Integral_Gier)+2
7922
 8159 46b4 B091 0000 		lds r27,(Integral_Gier)+3
7923
 8160 46b8 BC01      		movw r22,r24
7924
 8161 46ba CD01      		movw r24,r26
7925
 8162 46bc 0E94 0000 		call __mulsi3
7926
 8163 46c0 DC01      		movw r26,r24
7927
 8164 46c2 CB01      		movw r24,r22
7928
 8165 46c4 BC01      		movw r22,r24
7929
 8166 46c6 CD01      		movw r24,r26
7930
 8167 46c8 20EF      		ldi r18,lo8(22000)
7931
 8168 46ca 35E5      		ldi r19,hi8(22000)
7932
 8169 46cc 40E0      		ldi r20,hlo8(22000)
7933
 8170 46ce 50E0      		ldi r21,hhi8(22000)
7934
 8171 46d0 0E94 0000 		call __divmodsi4
7935
 8172 46d4 B501      		movw r22,r10
7936
 8173 46d6 620F      		add r22,r18
7937
 8174 46d8 731F      		adc r23,r19
7938
 8175 46da 7093 0000 		sts (MesswertGier)+1,r23
7939
 8176 46de 6093 0000 		sts MesswertGier,r22
7940
 8177 46e2 0150      		subi r16,lo8(4097)
7941
 8178 46e4 1041      		sbci r17,hi8(4097)
7942
 8179 46e6 04F0      		brlt .L646
7943
 8180 46e8 80E0      		ldi r24,lo8(4096)
7944
 8181 46ea 90E1      		ldi r25,hi8(4096)
7945
 8182 46ec 9093 0000 		sts (MesswertNick)+1,r25
7946
 8183 46f0 8093 0000 		sts MesswertNick,r24
7947
 8184               	.L646:
7948
 8185 46f4 8091 0000 		lds r24,MesswertNick
7949
 8186 46f8 9091 0000 		lds r25,(MesswertNick)+1
7950
 8187 46fc 8050      		subi r24,lo8(-4096)
7951
 8188 46fe 904F      		sbci r25,hi8(-4096)
7952
 8189 4700 04F4      		brge .L647
7953
 8190 4702 80E0      		ldi r24,lo8(-4096)
7954
 8191 4704 90EF      		ldi r25,hi8(-4096)
7955
 8192 4706 9093 0000 		sts (MesswertNick)+1,r25
7956
 8193 470a 8093 0000 		sts MesswertNick,r24
7957
 8194               	.L647:
7958
 8195 470e 51E0      		ldi r21,lo8(4097)
7959
 8196 4710 8516      		cp r8,r21
7960
 8197 4712 50E1      		ldi r21,hi8(4097)
7961
 8198 4714 9506      		cpc r9,r21
7962
 8199 4716 04F0      		brlt .L648
7963
 8200 4718 80E0      		ldi r24,lo8(4096)
7964
 8201 471a 90E1      		ldi r25,hi8(4096)
7965
 8202 471c 9093 0000 		sts (MesswertRoll)+1,r25
7966
 8203 4720 8093 0000 		sts MesswertRoll,r24
7967
 8204               	.L648:
7968
 8205 4724 8091 0000 		lds r24,MesswertRoll
7969
 8206 4728 9091 0000 		lds r25,(MesswertRoll)+1
7970
 8207 472c 8050      		subi r24,lo8(-4096)
7971
 8208 472e 904F      		sbci r25,hi8(-4096)
7972
 8209 4730 04F4      		brge .L649
7973
 8210 4732 80E0      		ldi r24,lo8(-4096)
7974
 8211 4734 90EF      		ldi r25,hi8(-4096)
7975
 8212 4736 9093 0000 		sts (MesswertRoll)+1,r25
7976
 8213 473a 8093 0000 		sts MesswertRoll,r24
7977
 8214               	.L649:
7978
 8215 473e 6150      		subi r22,lo8(4097)
7979
 8216 4740 7041      		sbci r23,hi8(4097)
7980
 8217 4742 04F0      		brlt .L650
7981
 8218 4744 80E0      		ldi r24,lo8(4096)
7982
 8219 4746 90E1      		ldi r25,hi8(4096)
7983
 8220 4748 9093 0000 		sts (MesswertGier)+1,r25
7984
 8221 474c 8093 0000 		sts MesswertGier,r24
7985
 8222               	.L650:
7986
 8223 4750 8091 0000 		lds r24,MesswertGier
7987
 8224 4754 9091 0000 		lds r25,(MesswertGier)+1
7988
 8225 4758 8050      		subi r24,lo8(-4096)
7989
 8226 475a 904F      		sbci r25,hi8(-4096)
7990
 8227 475c 04F4      		brge .L651
7991
 8228 475e 80E0      		ldi r24,lo8(-4096)
7992
 8229 4760 90EF      		ldi r25,hi8(-4096)
7993
 8230 4762 9093 0000 		sts (MesswertGier)+1,r25
7994
 8231 4766 8093 0000 		sts MesswertGier,r24
7995
 8232               	.L651:
7996
 8233 476a 8091 0000 		lds r24,BattLowVoltageWarning
7997
 8234 476e 482F      		mov r20,r24
7998
 8235 4770 5527      		clr r21
7999
 8236 4772 8091 0000 		lds r24,UBat
8000
 8237 4776 9091 0000 		lds r25,(UBat)+1
8001
 8238 477a 4817      		cp r20,r24
8002
 8239 477c 5907      		cpc r21,r25
8003
 8240 477e 04F4      		brge .L652
8004
 8241 4780 2091 0000 		lds r18,UBat
8005
 8242 4784 3091 0000 		lds r19,(UBat)+1
8006
 8243 4788 0981      		ldd r16,Y+1
8007
 8244 478a 1A81      		ldd r17,Y+2
8008
 8245 478c 049F      		mul r16,r20
8009
 8246 478e C001      		movw r24,r0
8010
 8247 4790 059F      		mul r16,r21
8011
 8248 4792 900D      		add r25,r0
8012
 8249 4794 149F      		mul r17,r20
8013
 8250 4796 900D      		add r25,r0
8014
 8251 4798 1124      		clr r1
8015
 8252 479a B901      		movw r22,r18
8016
 8253 479c 0E94 0000 		call __udivmodhi4
8017
 8254 47a0 7A83      		std Y+2,r23
8018
 8255 47a2 6983      		std Y+1,r22
8019
 8256               	.L652:
8020
 8257 47a4 2981      		ldd r18,Y+1
8021
 8258 47a6 3A81      		ldd r19,Y+2
8022
 8259 47a8 220F      		lsl r18
8023
 8260 47aa 331F      		rol r19
8024
 8261 47ac 220F      		lsl r18
8025
 8262 47ae 331F      		rol r19
8026
 8263 47b0 3A83      		std Y+2,r19
8027
 8264 47b2 2983      		std Y+1,r18
8028
 8265 47b4 4091 0000 		lds r20,Parameter_GlobalConfig
8029
 8266 47b8 40FD      		sbrc r20,0
8030
 8267 47ba 00C0      		rjmp .+4
8031
 8268 47bc 0C94 0000 		jmp .L653
8032
 8269 47c0 EE20      		tst r14
8033
 8270 47c2 01F0      		breq .+4
8034
 8271 47c4 0C94 0000 		jmp .L653
8035
 8272 47c8 FF20      		tst r15
8036
 8273 47ca 01F0      		breq .+4
8037
 8274 47cc 0C94 0000 		jmp .L653
8038
 8275 47d0 00E0      		ldi r16,lo8(0)
8039
 8276 47d2 10E0      		ldi r17,hi8(0)
8040
 8277 47d4 4801      		movw r8,r16
8041
 8278 47d6 8091 0000 		lds r24,HoverGas
8042
 8279 47da 9091 0000 		lds r25,(HoverGas)+1
8043
 8280 47de 9093 0000 		sts (DebugOut+44)+1,r25
8044
 8281 47e2 8093 0000 		sts DebugOut+44,r24
8045
 8282 47e6 2091 0000 		lds r18,BaroExpandActive
8046
 8283 47ea 3091 0000 		lds r19,(BaroExpandActive)+1
8047
 8284 47ee 2115      		cp r18,__zero_reg__
8048
 8285 47f0 3105      		cpc r19,__zero_reg__
8049
 8286 47f2 01F0      		breq .+2
8050
 8287 47f4 00C0      		rjmp .L654
8051
 8288 47f6 8091 0000 		lds r24,MessLuftdruck
8052
 8289 47fa 9091 0000 		lds r25,(MessLuftdruck)+1
8053
 8290 47fe 8959      		subi r24,lo8(921)
8054
 8291 4800 9340      		sbci r25,hi8(921)
8055
 8292 4802 00F0      		brlo .L655
8056
 8293 4804 87B5      		in r24,71-0x20
8057
 8294 4806 803F      		cpi r24,lo8(-16)
8058
 8295 4808 00F4      		brsh .L656
8059
 8296 480a 8091 0000 		lds r24,ExpandBaro
8060
 8297 480e 8150      		subi r24,lo8(-(-1))
8061
 8298 4810 00C0      		rjmp .L896
8062
 8299               	.L656:
8063
 8300 4812 81E0      		ldi r24,lo8(1)
8064
 8301 4814 8093 0000 		sts BaroAtLowerLimit.26,r24
8065
 8302 4818 00C0      		rjmp .L663
8066
 8303               	.L655:
8067
 8304 481a 8091 0000 		lds r24,MessLuftdruck
8068
 8305 481e 9091 0000 		lds r25,(MessLuftdruck)+1
8069
 8306 4822 8436      		cpi r24,100
8070
 8307 4824 9105      		cpc r25,__zero_reg__
8071
 8308 4826 00F4      		brsh .L659
8072
 8309 4828 87B5      		in r24,71-0x20
8073
 8310 482a 8031      		cpi r24,lo8(16)
8074
 8311 482c 00F0      		brlo .L660
8075
 8312 482e 8091 0000 		lds r24,ExpandBaro
8076
 8313 4832 8F5F      		subi r24,lo8(-(1))
8077
 8314               	.L896:
8078
 8315 4834 8093 0000 		sts ExpandBaro,r24
8079
 8316 4838 9FE0      		ldi r25,lo8(15)
8080
 8317 483a 8902      		muls r24,r25
8081
 8318 483c 9001      		movw r18,r0
8082
 8319 483e 1124      		clr r1
8083
 8320 4840 8091 0000 		lds r24,DruckOffsetSetting
8084
 8321 4844 821B      		sub r24,r18
8085
 8322 4846 87BD      		out 71-0x20,r24
8086
 8323 4848 8CE2      		ldi r24,lo8(300)
8087
 8324 484a 91E0      		ldi r25,hi8(300)
8088
 8325 484c 9093 0000 		sts (beeptime)+1,r25
8089
 8326 4850 8093 0000 		sts beeptime,r24
8090
 8327 4854 8EE5      		ldi r24,lo8(350)
8091
 8328 4856 91E0      		ldi r25,hi8(350)
8092
 8329 4858 9093 0000 		sts (BaroExpandActive)+1,r25
8093
 8330 485c 8093 0000 		sts BaroExpandActive,r24
8094
 8331 4860 00C0      		rjmp .L663
8095
 8332               	.L660:
8096
 8333 4862 81E0      		ldi r24,lo8(1)
8097
 8334 4864 8093 0000 		sts BaroAtUpperLimit.25,r24
8098
 8335 4868 00C0      		rjmp .L663
8099
 8336               	.L659:
8100
 8337 486a F092 0000 		sts BaroAtUpperLimit.25,r15
8101
 8338 486e F092 0000 		sts BaroAtLowerLimit.26,r15
8102
 8339 4872 00C0      		rjmp .L663
8103
 8340               	.L654:
8104
 8341 4874 8091 0000 		lds r24,HoehenWert
8105
 8342 4878 9091 0000 		lds r25,(HoehenWert)+1
8106
 8343 487c A091 0000 		lds r26,(HoehenWert)+2
8107
 8344 4880 B091 0000 		lds r27,(HoehenWert)+3
8108
 8345 4884 64E0      		ldi r22,4
8109
 8346 4886 880F      	1:	lsl r24
8110
 8347 4888 991F      		rol r25
8111
 8348 488a AA1F      		rol r26
8112
 8349 488c BB1F      		rol r27
8113
 8350 488e 6A95      		dec r22
8114
 8351 4890 01F4      		brne 1b
8115
 8352 4892 8093 0000 		sts SummenHoehe,r24
8116
 8353 4896 9093 0000 		sts (SummenHoehe)+1,r25
8117
 8354 489a A093 0000 		sts (SummenHoehe)+2,r26
8118
 8355 489e B093 0000 		sts (SummenHoehe)+3,r27
8119
 8356 48a2 1093 0000 		sts (VarioMeter)+1,r17
8120
 8357 48a6 0093 0000 		sts VarioMeter,r16
8121
 8358 48aa 2150      		subi r18,lo8(-(-1))
8122
 8359 48ac 3040      		sbci r19,hi8(-(-1))
8123
 8360 48ae 3093 0000 		sts (BaroExpandActive)+1,r19
8124
 8361 48b2 2093 0000 		sts BaroExpandActive,r18
8125
 8362               	.L663:
8126
 8363 48b6 2091 0000 		lds r18,Parameter_HoehenSchalter
8127
 8364 48ba 41FF      		sbrs r20,1
8128
 8365 48bc 00C0      		rjmp .L664
8129
 8366 48be 2233      		cpi r18,lo8(50)
8130
 8367 48c0 00F4      		brsh .L665
8131
 8368 48c2 8091 0000 		lds r24,delay.24
8132
 8369 48c6 8150      		subi r24,lo8(-(-1))
8133
 8370 48c8 8093 0000 		sts delay.24,r24
8134
 8371 48cc 8F3F      		cpi r24,lo8(-1)
8135
 8372 48ce 01F0      		breq .+2
8136
 8373 48d0 00C0      		rjmp .L671
8137
 8374 48d2 8091 0000 		lds r24,SpeakHoTT
8138
 8375 48d6 8823      		tst r24
8139
 8376 48d8 01F4      		brne .L667
8140
 8377 48da 8091 0000 		lds r24,HoehenReglerAktiv
8141
 8378 48de 8823      		tst r24
8142
 8379 48e0 01F0      		breq .L667
8143
 8380 48e2 88E2      		ldi r24,lo8(40)
8144
 8381 48e4 8093 0000 		sts SpeakHoTT,r24
8145
 8382               	.L667:
8146
 8383 48e8 1092 0000 		sts HoehenReglerAktiv,__zero_reg__
8147
 8384 48ec 8091 0000 		lds r24,HoehenWert
8148
 8385 48f0 9091 0000 		lds r25,(HoehenWert)+1
8149
 8386 48f4 A091 0000 		lds r26,(HoehenWert)+2
8150
 8387 48f8 B091 0000 		lds r27,(HoehenWert)+3
8151
 8388 48fc 8093 0000 		sts SollHoehe,r24
8152
 8389 4900 9093 0000 		sts (SollHoehe)+1,r25
8153
 8390 4904 A093 0000 		sts (SollHoehe)+2,r26
8154
 8391 4908 B093 0000 		sts (SollHoehe)+3,r27
8155
 8392 490c 81E0      		ldi r24,lo8(1)
8156
 8393 490e 8093 0000 		sts delay.24,r24
8157
 8394 4912 00C0      		rjmp .L671
8158
 8395               	.L665:
8159
 8396 4914 2734      		cpi r18,lo8(71)
8160
 8397 4916 00F0      		brlo .L671
8161
 8398 4918 8091 0000 		lds r24,SpeakHoTT
8162
 8399 491c 8823      		tst r24
8163
 8400 491e 01F4      		brne .L670
8164
 8401 4920 8091 0000 		lds r24,HoehenReglerAktiv
8165
 8402 4924 8823      		tst r24
8166
 8403 4926 01F4      		brne .L670
8167
 8404 4928 87E2      		ldi r24,lo8(39)
8168
 8405 492a 8093 0000 		sts SpeakHoTT,r24
8169
 8406               	.L670:
8170
 8407 492e 88EC      		ldi r24,lo8(-56)
8171
 8408 4930 8093 0000 		sts delay.24,r24
8172
 8409 4934 00C0      		rjmp .L897
8173
 8410               	.L664:
8174
 8411 4936 8091 0000 		lds r24,ExternHoehenValue
8175
 8412 493a 9091 0000 		lds r25,(ExternHoehenValue)+1
8176
 8413 493e 820F      		add r24,r18
8177
 8414 4940 911D      		adc r25,__zero_reg__
8178
 8415 4942 2091 0000 		lds r18,EE_Parameter+18
8179
 8416 4946 3327      		clr r19
8180
 8417 4948 829F      		mul r24,r18
8181
 8418 494a A001      		movw r20,r0
8182
 8419 494c 839F      		mul r24,r19
8183
 8420 494e 500D      		add r21,r0
8184
 8421 4950 929F      		mul r25,r18
8185
 8422 4952 500D      		add r21,r0
8186
 8423 4954 1124      		clr r1
8187
 8424 4956 CA01      		movw r24,r20
8188
 8425 4958 AA27      		clr r26
8189
 8426 495a 97FD      		sbrc r25,7
8190
 8427 495c A095      		com r26
8191
 8428 495e BA2F      		mov r27,r26
8192
 8429 4960 8093 0000 		sts SollHoehe,r24
8193
 8430 4964 9093 0000 		sts (SollHoehe)+1,r25
8194
 8431 4968 A093 0000 		sts (SollHoehe)+2,r26
8195
 8432 496c B093 0000 		sts (SollHoehe)+3,r27
8196
 8433               	.L897:
8197
 8434 4970 81E0      		ldi r24,lo8(1)
8198
 8435 4972 8093 0000 		sts HoehenReglerAktiv,r24
8199
 8436               	.L671:
8200
 8437 4976 8091 0000 		lds r24,IntegralNick
8201
 8438 497a 9091 0000 		lds r25,(IntegralNick)+1
8202
 8439 497e A091 0000 		lds r26,(IntegralNick)+2
8203
 8440 4982 B091 0000 		lds r27,(IntegralNick)+3
8204
 8441 4986 E090 0000 		lds r14,GIER_GRAD_FAKTOR
8205
 8442 498a F090 0000 		lds r15,(GIER_GRAD_FAKTOR)+1
8206
 8443 498e 0091 0000 		lds r16,(GIER_GRAD_FAKTOR)+2
8207
 8444 4992 1091 0000 		lds r17,(GIER_GRAD_FAKTOR)+3
8208
 8445 4996 BC01      		movw r22,r24
8209
 8446 4998 CD01      		movw r24,r26
8210
 8447 499a A801      		movw r20,r16
8211
 8448 499c 9701      		movw r18,r14
8212
 8449 499e 0E94 0000 		call __divmodsi4
8213
 8450 49a2 5901      		movw r10,r18
8214
 8451 49a4 6A01      		movw r12,r20
8215
 8452 49a6 8091 0000 		lds r24,IntegralRoll
8216
 8453 49aa 9091 0000 		lds r25,(IntegralRoll)+1
8217
 8454 49ae A091 0000 		lds r26,(IntegralRoll)+2
8218
 8455 49b2 B091 0000 		lds r27,(IntegralRoll)+3
8219
 8456 49b6 BC01      		movw r22,r24
8220
 8457 49b8 CD01      		movw r24,r26
8221
 8458 49ba A801      		movw r20,r16
8222
 8459 49bc 9701      		movw r18,r14
8223
 8460 49be 0E94 0000 		call __divmodsi4
8224
 8461 49c2 B901      		movw r22,r18
8225
 8462 49c4 C501      		movw r24,r10
8226
 8463 49c6 0E94 0000 		call ihypot
8227
 8464 49ca 5C01      		movw r10,r24
8228
 8465 49cc CC97      		sbiw r24,60
8229
 8466 49ce 04F0      		brlt .L672
8230
 8467 49d0 5CE3      		ldi r21,lo8(60)
8231
 8468 49d2 A52E      		mov r10,r21
8232
 8469 49d4 B12C      		mov r11,__zero_reg__
8233
 8470               	.L672:
8234
 8471 49d6 C501      		movw r24,r10
8235
 8472 49d8 0E94 0000 		call c_cos_8192
8236
 8473 49dc 5C01      		movw r10,r24
8237
 8474 49de 80E2      		ldi r24,lo8(32)
8238
 8475 49e0 8093 0000 		sts VarioCharacter,r24
8239
 8476 49e4 1092 0000 		sts (AltitudeSetpointTrimming)+1,__zero_reg__
8240
 8477 49e8 1092 0000 		sts AltitudeSetpointTrimming,__zero_reg__
8241
 8478 49ec 8091 0000 		lds r24,HoehenReglerAktiv
8242
 8479 49f0 8823      		tst r24
8243
 8480 49f2 01F4      		brne .+2
8244
 8481 49f4 00C0      		rjmp .L673
8245
 8482 49f6 8091 0000 		lds r24,FC_StatusFlags
8246
 8483 49fa 9927      		clr r25
8247
 8484 49fc 9C01      		movw r18,r24
8248
 8485 49fe 2071      		andi r18,lo8(16)
8249
 8486 4a00 3070      		andi r19,hi8(16)
8250
 8487 4a02 84FD      		sbrc r24,4
8251
 8488 4a04 00C0      		rjmp .L673
8252
 8489 4a06 8091 0000 		lds r24,FC_StatusFlags2
8253
 8490 4a0a 8260      		ori r24,lo8(2)
8254
 8491 4a0c 8093 0000 		sts FC_StatusFlags2,r24
8255
 8492 4a10 7091 0000 		lds r23,Parameter_ExtraConfig
8256
 8493 4a14 872F      		mov r24,r23
8257
 8494 4a16 9927      		clr r25
8258
 8495 4a18 41E0      		ldi r20,lo8(1)
8259
 8496 4a1a C42E      		mov r12,r20
8260
 8497 4a1c D12C      		mov r13,__zero_reg__
8261
 8498 4a1e C822      		and r12,r24
8262
 8499 4a20 D922      		and r13,r25
8263
 8500 4a22 80FD      		sbrc r24,0
8264
 8501 4a24 00C0      		rjmp .L675
8265
 8502 4a26 8091 0000 		lds r24,Parameter_GlobalConfig
8266
 8503 4a2a 81FD      		sbrc r24,1
8267
 8504 4a2c 00C0      		rjmp .L674
8268
 8505               	.L675:
8269
 8506 4a2e C980      		ldd r12,Y+1
8270
 8507 4a30 DA80      		ldd r13,Y+2
8271
 8508 4a32 3093 0000 		sts (HeightTrimming.21)+1,r19
8272
 8509 4a36 2093 0000 		sts HeightTrimming.21,r18
8273
 8510 4a3a 3093 0000 		sts (AltitudeSetpointTrimming)+1,r19
8274
 8511 4a3e 2093 0000 		sts AltitudeSetpointTrimming,r18
8275
 8512 4a42 8091 0000 		lds r24,FC_StatusFlags
8276
 8513 4a46 806C      		ori r24,lo8(-64)
8277
 8514 4a48 8093 0000 		sts FC_StatusFlags,r24
8278
 8515 4a4c 00C0      		rjmp .L676
8279
 8516               	.L674:
8280
 8517 4a4e 8091 0000 		lds r24,FC_StatusFlags
8281
 8518 4a52 81FF      		sbrs r24,1
8282
 8519 4a54 00C0      		rjmp .L677
8283
 8520 4a56 0091 0000 		lds r16,StickGasHover
8284
 8521 4a5a 1091 0000 		lds r17,(StickGasHover)+1
8285
 8522 4a5e C801      		movw r24,r16
8286
 8523 4a60 0F96      		adiw r24,15
8287
 8524 4a62 2090 0000 		lds r2,StickGas
8288
 8525 4a66 3090 0000 		lds r3,(StickGas)+1
8289
 8526 4a6a 8215      		cp r24,r2
8290
 8527 4a6c 9305      		cpc r25,r3
8291
 8528 4a6e 04F0      		brlt .+2
8292
 8529 4a70 00C0      		rjmp .L678
8293
 8530 4a72 8091 0000 		lds r24,BaroAtUpperLimit.25
8294
 8531 4a76 8823      		tst r24
8295
 8532 4a78 01F0      		breq .+2
8296
 8533 4a7a 00C0      		rjmp .L678
8297
 8534 4a7c 8091 0000 		lds r24,FC_StatusFlags
8298
 8535 4a80 87FF      		sbrs r24,7
8299
 8536 4a82 00C0      		rjmp .L679
8300
 8537 4a84 8091 0000 		lds r24,FC_StatusFlags
8301
 8538 4a88 8F77      		andi r24,lo8(127)
8302
 8539 4a8a 8093 0000 		sts FC_StatusFlags,r24
8303
 8540 4a8e 8091 0000 		lds r24,HoehenWert
8304
 8541 4a92 9091 0000 		lds r25,(HoehenWert)+1
8305
 8542 4a96 A091 0000 		lds r26,(HoehenWert)+2
8306
 8543 4a9a B091 0000 		lds r27,(HoehenWert)+3
8307
 8544 4a9e 8093 0000 		sts SollHoehe,r24
8308
 8545 4aa2 9093 0000 		sts (SollHoehe)+1,r25
8309
 8546 4aa6 A093 0000 		sts (SollHoehe)+2,r26
8310
 8547 4aaa B093 0000 		sts (SollHoehe)+3,r27
8311
 8548               	.L679:
8312
 8549 4aae 8091 0000 		lds r24,FC_StatusFlags
8313
 8550 4ab2 8064      		ori r24,lo8(64)
8314
 8551 4ab4 8093 0000 		sts FC_StatusFlags,r24
8315
 8552 4ab8 E090 0000 		lds r14,Parameter_MaximumAltitude
8316
 8553 4abc EE20      		tst r14
8317
 8554 4abe 01F0      		breq .L680
8318
 8555 4ac0 8091 0000 		lds r24,SollHoehe
8319
 8556 4ac4 9091 0000 		lds r25,(SollHoehe)+1
8320
 8557 4ac8 A091 0000 		lds r26,(SollHoehe)+2
8321
 8558 4acc B091 0000 		lds r27,(SollHoehe)+3
8322
 8559 4ad0 BC01      		movw r22,r24
8323
 8560 4ad2 CD01      		movw r24,r26
8324
 8561 4ad4 24E6      		ldi r18,lo8(100)
8325
 8562 4ad6 30E0      		ldi r19,hi8(100)
8326
 8563 4ad8 40E0      		ldi r20,hlo8(100)
8327
 8564 4ada 50E0      		ldi r21,hhi8(100)
8328
 8565 4adc 0E94 0000 		call __divmodsi4
8329
 8566 4ae0 8E2D      		mov r24,r14
8330
 8567 4ae2 9927      		clr r25
8331
 8568 4ae4 AA27      		clr r26
8332
 8569 4ae6 BB27      		clr r27
8333
 8570 4ae8 8217      		cp r24,r18
8334
 8571 4aea 9307      		cpc r25,r19
8335
 8572 4aec A407      		cpc r26,r20
8336
 8573 4aee B507      		cpc r27,r21
8337
 8574 4af0 04F4      		brge .L680
8338
 8575 4af2 D092 0000 		sts (AltitudeSetpointTrimming)+1,r13
8339
 8576 4af6 C092 0000 		sts AltitudeSetpointTrimming,r12
8340
 8577 4afa 00C0      		rjmp .L681
8341
 8578               	.L680:
8342
 8579 4afc C101      		movw r24,r2
8343
 8580 4afe 801B      		sub r24,r16
8344
 8581 4b00 910B      		sbc r25,r17
8345
 8582 4b02 0F97      		sbiw r24,15
8346
 8583 4b04 97FF      		sbrs r25,7
8347
 8584 4b06 00C0      		rjmp .L682
8348
 8585 4b08 9095      		com r25
8349
 8586 4b0a 8195      		neg r24
8350
 8587 4b0c 9F4F      		sbci r25,lo8(-1)
8351
 8588               	.L682:
8352
 8589 4b0e 9093 0000 		sts (AltitudeSetpointTrimming)+1,r25
8353
 8590 4b12 8093 0000 		sts AltitudeSetpointTrimming,r24
8354
 8591 4b16 8BE2      		ldi r24,lo8(43)
8355
 8592 4b18 8093 0000 		sts VarioCharacter,r24
8356
 8593               	.L681:
8357
 8594 4b1c 1092 0000 		sts WaypointTrimming,__zero_reg__
8358
 8595 4b20 00C0      		rjmp .L683
8359
 8596               	.L678:
8360
 8597 4b22 C801      		movw r24,r16
8361
 8598 4b24 0F97      		sbiw r24,15
8362
 8599 4b26 2816      		cp r2,r24
8363
 8600 4b28 3906      		cpc r3,r25
8364
 8601 4b2a 04F4      		brge .L684
8365
 8602 4b2c 2091 0000 		lds r18,BaroAtLowerLimit.26
8366
 8603 4b30 2223      		tst r18
8367
 8604 4b32 01F4      		brne .L684
8368
 8605 4b34 8091 0000 		lds r24,FC_StatusFlags
8369
 8606 4b38 86FF      		sbrs r24,6
8370
 8607 4b3a 00C0      		rjmp .L685
8371
 8608 4b3c 8091 0000 		lds r24,FC_StatusFlags
8372
 8609 4b40 8F7B      		andi r24,lo8(-65)
8373
 8610 4b42 8093 0000 		sts FC_StatusFlags,r24
8374
 8611 4b46 8091 0000 		lds r24,HoehenWert
8375
 8612 4b4a 9091 0000 		lds r25,(HoehenWert)+1
8376
 8613 4b4e A091 0000 		lds r26,(HoehenWert)+2
8377
 8614 4b52 B091 0000 		lds r27,(HoehenWert)+3
8378
 8615 4b56 8093 0000 		sts SollHoehe,r24
8379
 8616 4b5a 9093 0000 		sts (SollHoehe)+1,r25
8380
 8617 4b5e A093 0000 		sts (SollHoehe)+2,r26
8381
 8618 4b62 B093 0000 		sts (SollHoehe)+3,r27
8382
 8619               	.L685:
8383
 8620 4b66 8091 0000 		lds r24,FC_StatusFlags
8384
 8621 4b6a 8068      		ori r24,lo8(-128)
8385
 8622 4b6c 8093 0000 		sts FC_StatusFlags,r24
8386
 8623 4b70 C101      		movw r24,r2
8387
 8624 4b72 801B      		sub r24,r16
8388
 8625 4b74 910B      		sbc r25,r17
8389
 8626 4b76 0F96      		adiw r24,15
8390
 8627 4b78 97FF      		sbrs r25,7
8391
 8628 4b7a 00C0      		rjmp .L686
8392
 8629 4b7c 9095      		com r25
8393
 8630 4b7e 8195      		neg r24
8394
 8631 4b80 9F4F      		sbci r25,lo8(-1)
8395
 8632               	.L686:
8396
 8633 4b82 9095      		com r25
8397
 8634 4b84 8195      		neg r24
8398
 8635 4b86 9F4F      		sbci r25,lo8(-1)
8399
 8636 4b88 9093 0000 		sts (AltitudeSetpointTrimming)+1,r25
8400
 8637 4b8c 8093 0000 		sts AltitudeSetpointTrimming,r24
8401
 8638 4b90 8DE2      		ldi r24,lo8(45)
8402
 8639 4b92 8093 0000 		sts VarioCharacter,r24
8403
 8640 4b96 2093 0000 		sts WaypointTrimming,r18
8404
 8641 4b9a 00C0      		rjmp .L683
8405
 8642               	.L684:
8406
 8643 4b9c 8DE3      		ldi r24,lo8(61)
8407
 8644 4b9e 8093 0000 		sts VarioCharacter,r24
8408
 8645 4ba2 6091 0000 		lds r22,FromNC_AltitudeSpeed
8409
 8646 4ba6 6623      		tst r22
8410
 8647 4ba8 01F0      		breq .L688
8411
 8648 4baa 2091 0000 		lds r18,FromNC_AltitudeSetpoint
8412
 8649 4bae 3091 0000 		lds r19,(FromNC_AltitudeSetpoint)+1
8413
 8650 4bb2 4091 0000 		lds r20,(FromNC_AltitudeSetpoint)+2
8414
 8651 4bb6 5091 0000 		lds r21,(FromNC_AltitudeSetpoint)+3
8415
 8652 4bba 8091 0000 		lds r24,SollHoehe
8416
 8653 4bbe 9091 0000 		lds r25,(SollHoehe)+1
8417
 8654 4bc2 A091 0000 		lds r26,(SollHoehe)+2
8418
 8655 4bc6 B091 0000 		lds r27,(SollHoehe)+3
8419
 8656 4bca 8217      		cp r24,r18
8420
 8657 4bcc 9307      		cpc r25,r19
8421
 8658 4bce A407      		cpc r26,r20
8422
 8659 4bd0 B507      		cpc r27,r21
8423
 8660 4bd2 04F4      		brge .L688
8424
 8661 4bd4 8091 0000 		lds r24,FC_StatusFlags
8425
 8662 4bd8 8064      		ori r24,lo8(64)
8426
 8663 4bda 8093 0000 		sts FC_StatusFlags,r24
8427
 8664 4bde 862F      		mov r24,r22
8428
 8665 4be0 9927      		clr r25
8429
 8666 4be2 9093 0000 		sts (AltitudeSetpointTrimming)+1,r25
8430
 8667 4be6 8093 0000 		sts AltitudeSetpointTrimming,r24
8431
 8668 4bea 8AE0      		ldi r24,lo8(10)
8432
 8669 4bec 8093 0000 		sts WaypointTrimming,r24
8433
 8670 4bf0 8EE5      		ldi r24,lo8(94)
8434
 8671 4bf2 8093 0000 		sts VarioCharacter,r24
8435
 8672 4bf6 8091 0000 		lds r24,FC_StatusFlags
8436
 8673 4bfa 87FF      		sbrs r24,7
8437
 8674 4bfc 00C0      		rjmp .L683
8438
 8675 4bfe 8091 0000 		lds r24,FC_StatusFlags
8439
 8676 4c02 8F77      		andi r24,lo8(127)
8440
 8677 4c04 00C0      		rjmp .L899
8441
 8678               	.L688:
8442
 8679 4c06 6623      		tst r22
8443
 8680 4c08 01F4      		brne .+2
8444
 8681 4c0a 00C0      		rjmp .L691
8445
 8682 4c0c 2091 0000 		lds r18,FromNC_AltitudeSetpoint
8446
 8683 4c10 3091 0000 		lds r19,(FromNC_AltitudeSetpoint)+1
8447
 8684 4c14 4091 0000 		lds r20,(FromNC_AltitudeSetpoint)+2
8448
 8685 4c18 5091 0000 		lds r21,(FromNC_AltitudeSetpoint)+3
8449
 8686 4c1c 8091 0000 		lds r24,SollHoehe
8450
 8687 4c20 9091 0000 		lds r25,(SollHoehe)+1
8451
 8688 4c24 A091 0000 		lds r26,(SollHoehe)+2
8452
 8689 4c28 B091 0000 		lds r27,(SollHoehe)+3
8453
 8690 4c2c 2817      		cp r18,r24
8454
 8691 4c2e 3907      		cpc r19,r25
8455
 8692 4c30 4A07      		cpc r20,r26
8456
 8693 4c32 5B07      		cpc r21,r27
8457
 8694 4c34 04F4      		brge .L691
8458
 8695 4c36 8091 0000 		lds r24,FC_StatusFlags
8459
 8696 4c3a 8068      		ori r24,lo8(-128)
8460
 8697 4c3c 8093 0000 		sts FC_StatusFlags,r24
8461
 8698 4c40 862F      		mov r24,r22
8462
 8699 4c42 9927      		clr r25
8463
 8700 4c44 9095      		com r25
8464
 8701 4c46 8195      		neg r24
8465
 8702 4c48 9F4F      		sbci r25,lo8(-1)
8466
 8703 4c4a 9093 0000 		sts (AltitudeSetpointTrimming)+1,r25
8467
 8704 4c4e 8093 0000 		sts AltitudeSetpointTrimming,r24
8468
 8705 4c52 86EF      		ldi r24,lo8(-10)
8469
 8706 4c54 8093 0000 		sts WaypointTrimming,r24
8470
 8707 4c58 86E7      		ldi r24,lo8(118)
8471
 8708 4c5a 8093 0000 		sts VarioCharacter,r24
8472
 8709 4c5e 8091 0000 		lds r24,FC_StatusFlags
8473
 8710 4c62 86FF      		sbrs r24,6
8474
 8711 4c64 00C0      		rjmp .L683
8475
 8712 4c66 8091 0000 		lds r24,FC_StatusFlags
8476
 8713 4c6a 8F7B      		andi r24,lo8(-65)
8477
 8714               	.L899:
8478
 8715 4c6c 8093 0000 		sts FC_StatusFlags,r24
8479
 8716 4c70 8091 0000 		lds r24,HoehenWert
8480
 8717 4c74 9091 0000 		lds r25,(HoehenWert)+1
8481
 8718 4c78 A091 0000 		lds r26,(HoehenWert)+2
8482
 8719 4c7c B091 0000 		lds r27,(HoehenWert)+3
8483
 8720 4c80 8093 0000 		sts SollHoehe,r24
8484
 8721 4c84 9093 0000 		sts (SollHoehe)+1,r25
8485
 8722 4c88 A093 0000 		sts (SollHoehe)+2,r26
8486
 8723 4c8c B093 0000 		sts (SollHoehe)+3,r27
8487
 8724 4c90 00C0      		rjmp .L683
8488
 8725               	.L691:
8489
 8726 4c92 8091 0000 		lds r24,FC_StatusFlags
8490
 8727 4c96 807C      		andi r24,lo8(-64)
8491
 8728 4c98 01F4      		brne .+2
8492
 8729 4c9a 00C0      		rjmp .L683
8493
 8730 4c9c 8091 0000 		lds r24,WaypointTrimming
8494
 8731 4ca0 8823      		tst r24
8495
 8732 4ca2 01F4      		brne .L695
8496
 8733 4ca4 E090 0000 		lds r14,HoehenWert
8497
 8734 4ca8 F090 0000 		lds r15,(HoehenWert)+1
8498
 8735 4cac 0091 0000 		lds r16,(HoehenWert)+2
8499
 8736 4cb0 1091 0000 		lds r17,(HoehenWert)+3
8500
 8737 4cb4 D801      		movw r26,r16
8501
 8738 4cb6 C701      		movw r24,r14
8502
 8739 4cb8 8058      		subi r24,lo8(-(-128))
8503
 8740 4cba 9040      		sbci r25,hi8(-(-128))
8504
 8741 4cbc A040      		sbci r26,hlo8(-(-128))
8505
 8742 4cbe B040      		sbci r27,hhi8(-(-128))
8506
 8743 4cc0 2091 0000 		lds r18,SollHoehe
8507
 8744 4cc4 3091 0000 		lds r19,(SollHoehe)+1
8508
 8745 4cc8 4091 0000 		lds r20,(SollHoehe)+2
8509
 8746 4ccc 5091 0000 		lds r21,(SollHoehe)+3
8510
 8747 4cd0 8217      		cp r24,r18
8511
 8748 4cd2 9307      		cpc r25,r19
8512
 8749 4cd4 A407      		cpc r26,r20
8513
 8750 4cd6 B507      		cpc r27,r21
8514
 8751 4cd8 04F4      		brge .L898
8515
 8752 4cda D801      		movw r26,r16
8516
 8753 4cdc C701      		movw r24,r14
8517
 8754 4cde 8058      		subi r24,lo8(-(128))
8518
 8755 4ce0 9F4F      		sbci r25,hi8(-(128))
8519
 8756 4ce2 AF4F      		sbci r26,hlo8(-(128))
8520
 8757 4ce4 BF4F      		sbci r27,hhi8(-(128))
8521
 8758 4ce6 2817      		cp r18,r24
8522
 8759 4ce8 3907      		cpc r19,r25
8523
 8760 4cea 4A07      		cpc r20,r26
8524
 8761 4cec 5B07      		cpc r21,r27
8525
 8762 4cee 04F0      		brlt .L699
8526
 8763               	.L898:
8527
 8764 4cf0 8093 0000 		sts SollHoehe,r24
8528
 8765 4cf4 9093 0000 		sts (SollHoehe)+1,r25
8529
 8766 4cf8 A093 0000 		sts (SollHoehe)+2,r26
8530
 8767 4cfc B093 0000 		sts (SollHoehe)+3,r27
8531
 8768 4d00 00C0      		rjmp .L699
8532
 8769               	.L695:
8533
 8770 4d02 1092 0000 		sts WaypointTrimming,__zero_reg__
8534
 8771               	.L699:
8535
 8772 4d06 8091 0000 		lds r24,FC_StatusFlags
8536
 8773 4d0a 8F73      		andi r24,lo8(63)
8537
 8774 4d0c 8093 0000 		sts FC_StatusFlags,r24
8538
 8775 4d10 1092 0000 		sts (HeightTrimming.21)+1,__zero_reg__
8539
 8776 4d14 1092 0000 		sts HeightTrimming.21,__zero_reg__
8540
 8777 4d18 71FF      		sbrs r23,1
8541
 8778 4d1a 00C0      		rjmp .L700
8542
 8779 4d1c 84EF      		ldi r24,lo8(500)
8543
 8780 4d1e 91E0      		ldi r25,hi8(500)
8544
 8781 4d20 9093 0000 		sts (beeptime)+1,r25
8545
 8782 4d24 8093 0000 		sts beeptime,r24
8546
 8783               	.L700:
8547
 8784 4d28 8091 0000 		lds r24,StartTrigger
8548
 8785 4d2c 8823      		tst r24
8549
 8786 4d2e 01F4      		brne .L683
8550
 8787 4d30 8091 0000 		lds r24,HoehenWert
8551
 8788 4d34 9091 0000 		lds r25,(HoehenWert)+1
8552
 8789 4d38 A091 0000 		lds r26,(HoehenWert)+2
8553
 8790 4d3c B091 0000 		lds r27,(HoehenWert)+3
8554
 8791 4d40 C397      		sbiw r24,51
8555
 8792 4d42 A105      		cpc r26,__zero_reg__
8556
 8793 4d44 B105      		cpc r27,__zero_reg__
8557
 8794 4d46 04F0      		brlt .L683
8558
 8795 4d48 81E0      		ldi r24,lo8(1)
8559
 8796 4d4a 8093 0000 		sts StartTrigger,r24
8560
 8797               	.L683:
8561
 8798 4d4e 6091 0000 		lds r22,HeightTrimming.21
8562
 8799 4d52 7091 0000 		lds r23,(HeightTrimming.21)+1
8563
 8800 4d56 8091 0000 		lds r24,AltitudeSetpointTrimming
8564
 8801 4d5a 9091 0000 		lds r25,(AltitudeSetpointTrimming)+1
8565
 8802 4d5e 680F      		add r22,r24
8566
 8803 4d60 791F      		adc r23,r25
8567
 8804 4d62 7093 0000 		sts (HeightTrimming.21)+1,r23
8568
 8805 4d66 6093 0000 		sts HeightTrimming.21,r22
8569
 8806 4d6a CB01      		movw r24,r22
8570
 8807 4d6c 77FF      		sbrs r23,7
8571
 8808 4d6e 00C0      		rjmp .L703
8572
 8809 4d70 8827      		clr r24
8573
 8810 4d72 9927      		clr r25
8574
 8811 4d74 861B      		sub r24,r22
8575
 8812 4d76 970B      		sbc r25,r23
8576
 8813               	.L703:
8577
 8814 4d78 855F      		subi r24,lo8(501)
8578
 8815 4d7a 9140      		sbci r25,hi8(501)
8579
 8816 4d7c 04F4      		brge .+2
8580
 8817 4d7e 00C0      		rjmp .L702
8581
 8818 4d80 4091 0000 		lds r20,WaypointTrimming
8582
 8819 4d84 4423      		tst r20
8583
 8820 4d86 01F0      		breq .L704
8584
 8821 4d88 8091 0000 		lds r24,FromNC_AltitudeSetpoint
8585
 8822 4d8c 9091 0000 		lds r25,(FromNC_AltitudeSetpoint)+1
8586
 8823 4d90 2091 0000 		lds r18,SollHoehe
8587
 8824 4d94 3091 0000 		lds r19,(SollHoehe)+1
8588
 8825 4d98 821B      		sub r24,r18
8589
 8826 4d9a 930B      		sbc r25,r19
8590
 8827 4d9c 0996      		adiw r24,9
8591
 8828 4d9e 4397      		sbiw r24,19
8592
 8829 4da0 00F4      		brsh .L705
8593
 8830 4da2 8091 0000 		lds r24,FromNC_AltitudeSetpoint
8594
 8831 4da6 9091 0000 		lds r25,(FromNC_AltitudeSetpoint)+1
8595
 8832 4daa A091 0000 		lds r26,(FromNC_AltitudeSetpoint)+2
8596
 8833 4dae B091 0000 		lds r27,(FromNC_AltitudeSetpoint)+3
8597
 8834 4db2 00C0      		rjmp .L901
8598
 8835               	.L705:
8599
 8836 4db4 242F      		mov r18,r20
8600
 8837 4db6 3327      		clr r19
8601
 8838 4db8 27FD      		sbrc r18,7
8602
 8839 4dba 3095      		com r19
8603
 8840 4dbc 432F      		mov r20,r19
8604
 8841 4dbe 532F      		mov r21,r19
8605
 8842 4dc0 8091 0000 		lds r24,SollHoehe
8606
 8843 4dc4 9091 0000 		lds r25,(SollHoehe)+1
8607
 8844 4dc8 A091 0000 		lds r26,(SollHoehe)+2
8608
 8845 4dcc B091 0000 		lds r27,(SollHoehe)+3
8609
 8846 4dd0 820F      		add r24,r18
8610
 8847 4dd2 931F      		adc r25,r19
8611
 8848 4dd4 A41F      		adc r26,r20
8612
 8849 4dd6 B51F      		adc r27,r21
8613
 8850               	.L901:
8614
 8851 4dd8 8093 0000 		sts SollHoehe,r24
8615
 8852 4ddc 9093 0000 		sts (SollHoehe)+1,r25
8616
 8853 4de0 A093 0000 		sts (SollHoehe)+2,r26
8617
 8854 4de4 B093 0000 		sts (SollHoehe)+3,r27
8618
 8855 4de8 00C0      		rjmp .L707
8619
 8856               	.L704:
8620
 8857 4dea 8091 0000 		lds r24,EE_Parameter+18
8621
 8858 4dee 2091 0000 		lds r18,SollHoehe
8622
 8859 4df2 3091 0000 		lds r19,(SollHoehe)+1
8623
 8860 4df6 4091 0000 		lds r20,(SollHoehe)+2
8624
 8861 4dfa 5091 0000 		lds r21,(SollHoehe)+3
8625
 8862 4dfe 1616      		cp __zero_reg__,r22
8626
 8863 4e00 1706      		cpc __zero_reg__,r23
8627
 8864 4e02 04F4      		brge .L708
8628
 8865 4e04 63E0      		ldi r22,lo8(3)
8629
 8866 4e06 0E94 0000 		call __udivmodqi4
8630
 8867 4e0a 280F      		add r18,r24
8631
 8868 4e0c 311D      		adc r19,__zero_reg__
8632
 8869 4e0e 411D      		adc r20,__zero_reg__
8633
 8870 4e10 511D      		adc r21,__zero_reg__
8634
 8871 4e12 00C0      		rjmp .L900
8635
 8872               	.L708:
8636
 8873 4e14 63E0      		ldi r22,lo8(3)
8637
 8874 4e16 0E94 0000 		call __udivmodqi4
8638
 8875 4e1a 281B      		sub r18,r24
8639
 8876 4e1c 3109      		sbc r19,__zero_reg__
8640
 8877 4e1e 4109      		sbc r20,__zero_reg__
8641
 8878 4e20 5109      		sbc r21,__zero_reg__
8642
 8879               	.L900:
8643
 8880 4e22 2093 0000 		sts SollHoehe,r18
8644
 8881 4e26 3093 0000 		sts (SollHoehe)+1,r19
8645
 8882 4e2a 4093 0000 		sts (SollHoehe)+2,r20
8646
 8883 4e2e 5093 0000 		sts (SollHoehe)+3,r21
8647
 8884               	.L707:
8648
 8885 4e32 1092 0000 		sts (HeightTrimming.21)+1,__zero_reg__
8649
 8886 4e36 1092 0000 		sts HeightTrimming.21,__zero_reg__
8650
 8887 4e3a E090 0000 		lds r14,HoehenWert
8651
 8888 4e3e F090 0000 		lds r15,(HoehenWert)+1
8652
 8889 4e42 0091 0000 		lds r16,(HoehenWert)+2
8653
 8890 4e46 1091 0000 		lds r17,(HoehenWert)+3
8654
 8891 4e4a D801      		movw r26,r16
8655
 8892 4e4c C701      		movw r24,r14
8656
 8893 4e4e 8050      		subi r24,lo8(-(-1024))
8657
 8894 4e50 9440      		sbci r25,hi8(-(-1024))
8658
 8895 4e52 A040      		sbci r26,hlo8(-(-1024))
8659
 8896 4e54 B040      		sbci r27,hhi8(-(-1024))
8660
 8897 4e56 2091 0000 		lds r18,SollHoehe
8661
 8898 4e5a 3091 0000 		lds r19,(SollHoehe)+1
8662
 8899 4e5e 4091 0000 		lds r20,(SollHoehe)+2
8663
 8900 4e62 5091 0000 		lds r21,(SollHoehe)+3
8664
 8901 4e66 8217      		cp r24,r18
8665
 8902 4e68 9307      		cpc r25,r19
8666
 8903 4e6a A407      		cpc r26,r20
8667
 8904 4e6c B507      		cpc r27,r21
8668
 8905 4e6e 04F4      		brge .L902
8669
 8906 4e70 D801      		movw r26,r16
8670
 8907 4e72 C701      		movw r24,r14
8671
 8908 4e74 8050      		subi r24,lo8(-(1024))
8672
 8909 4e76 9C4F      		sbci r25,hi8(-(1024))
8673
 8910 4e78 AF4F      		sbci r26,hlo8(-(1024))
8674
 8911 4e7a BF4F      		sbci r27,hhi8(-(1024))
8675
 8912 4e7c 2817      		cp r18,r24
8676
 8913 4e7e 3907      		cpc r19,r25
8677
 8914 4e80 4A07      		cpc r20,r26
8678
 8915 4e82 5B07      		cpc r21,r27
8679
 8916 4e84 04F0      		brlt .L711
8680
 8917               	.L902:
8681
 8918 4e86 8093 0000 		sts SollHoehe,r24
8682
 8919 4e8a 9093 0000 		sts (SollHoehe)+1,r25
8683
 8920 4e8e A093 0000 		sts (SollHoehe)+2,r26
8684
 8921 4e92 B093 0000 		sts (SollHoehe)+3,r27
8685
 8922               	.L711:
8686
 8923 4e96 8091 0000 		lds r24,Parameter_ExtraConfig
8687
 8924 4e9a 81FF      		sbrs r24,1
8688
 8925 4e9c 00C0      		rjmp .L713
8689
 8926 4e9e 84E6      		ldi r24,lo8(100)
8690
 8927 4ea0 90E0      		ldi r25,hi8(100)
8691
 8928 4ea2 9093 0000 		sts (beeptime)+1,r25
8692
 8929 4ea6 8093 0000 		sts beeptime,r24
8693
 8930               	.L713:
8694
 8931 4eaa 8091 0000 		lds r24,EE_Parameter+22
8695
 8932 4eae 8823      		tst r24
8696
 8933 4eb0 01F4      		brne .L702
8697
 8934 4eb2 8091 0000 		lds r24,FromNC_AltitudeSpeed
8698
 8935 4eb6 8823      		tst r24
8699
 8936 4eb8 01F4      		brne .L702
8700
 8937 4eba 4091 0000 		lds r20,HoverGas
8701
 8938 4ebe 5091 0000 		lds r21,(HoverGas)+1
8702
 8939 4ec2 57FF      		sbrs r21,7
8703
 8940 4ec4 00C0      		rjmp .L715
8704
 8941 4ec6 4D5F      		subi r20,lo8(-(3))
8705
 8942 4ec8 5F4F      		sbci r21,hi8(-(3))
8706
 8943               	.L715:
8707
 8944 4eca 5595      		asr r21
8708
 8945 4ecc 4795      		ror r20
8709
 8946 4ece 5595      		asr r21
8710
 8947 4ed0 4795      		ror r20
8711
 8948 4ed2 8091 0000 		lds r24,UBat
8712
 8949 4ed6 9091 0000 		lds r25,(UBat)+1
8713
 8950 4eda 2091 0000 		lds r18,BattLowVoltageWarning
8714
 8951 4ede 3327      		clr r19
8715
 8952 4ee0 489F      		mul r20,r24
8716
 8953 4ee2 F001      		movw r30,r0
8717
 8954 4ee4 499F      		mul r20,r25
8718
 8955 4ee6 F00D      		add r31,r0
8719
 8956 4ee8 589F      		mul r21,r24
8720
 8957 4eea F00D      		add r31,r0
8721
 8958 4eec 1124      		clr r1
8722
 8959 4eee CF01      		movw r24,r30
8723
 8960 4ef0 B901      		movw r22,r18
8724
 8961 4ef2 0E94 0000 		call __divmodhi4
8725
 8962 4ef6 7093 0000 		sts (StickGasHover)+1,r23
8726
 8963 4efa 6093 0000 		sts StickGasHover,r22
8727
 8964 4efe 6634      		cpi r22,70
8728
 8965 4f00 7105      		cpc r23,__zero_reg__
8729
 8966 4f02 04F4      		brge .L716
8730
 8967 4f04 86E4      		ldi r24,lo8(70)
8731
 8968 4f06 90E0      		ldi r25,hi8(70)
8732
 8969 4f08 00C0      		rjmp .L903
8733
 8970               	.L716:
8734
 8971 4f0a 6739      		cpi r22,151
8735
 8972 4f0c 7105      		cpc r23,__zero_reg__
8736
 8973 4f0e 04F0      		brlt .L702
8737
 8974 4f10 86E9      		ldi r24,lo8(150)
8738
 8975 4f12 90E0      		ldi r25,hi8(150)
8739
 8976               	.L903:
8740
 8977 4f14 9093 0000 		sts (StickGasHover)+1,r25
8741
 8978 4f18 8093 0000 		sts StickGasHover,r24
8742
 8979               	.L702:
8743
 8980 4f1c 8091 0000 		lds r24,BaroExpandActive
8744
 8981 4f20 9091 0000 		lds r25,(BaroExpandActive)+1
8745
 8982 4f24 892B      		or r24,r25
8746
 8983 4f26 01F0      		breq .L720
8747
 8984 4f28 8091 0000 		lds r24,HoehenWert
8748
 8985 4f2c 9091 0000 		lds r25,(HoehenWert)+1
8749
 8986 4f30 A091 0000 		lds r26,(HoehenWert)+2
8750
 8987 4f34 B091 0000 		lds r27,(HoehenWert)+3
8751
 8988 4f38 8093 0000 		sts SollHoehe,r24
8752
 8989 4f3c 9093 0000 		sts (SollHoehe)+1,r25
8753
 8990 4f40 A093 0000 		sts (SollHoehe)+2,r26
8754
 8991 4f44 B093 0000 		sts (SollHoehe)+3,r27
8755
 8992 4f48 00C0      		rjmp .L720
8756
 8993               	.L677:
8757
 8994 4f4a 8091 0000 		lds r24,HoehenWert
8758
 8995 4f4e 9091 0000 		lds r25,(HoehenWert)+1
8759
 8996 4f52 A091 0000 		lds r26,(HoehenWert)+2
8760
 8997 4f56 B091 0000 		lds r27,(HoehenWert)+3
8761
 8998 4f5a 8059      		subi r24,lo8(-(-400))
8762
 8999 4f5c 9140      		sbci r25,hi8(-(-400))
8763
 9000 4f5e A040      		sbci r26,hlo8(-(-400))
8764
 9001 4f60 B040      		sbci r27,hhi8(-(-400))
8765
 9002 4f62 8093 0000 		sts SollHoehe,r24
8766
 9003 4f66 9093 0000 		sts (SollHoehe)+1,r25
8767
 9004 4f6a A093 0000 		sts (SollHoehe)+2,r26
8768
 9005 4f6e B093 0000 		sts (SollHoehe)+3,r27
8769
 9006 4f72 8091 0000 		lds r24,EE_Parameter+22
8770
 9007 4f76 8823      		tst r24
8771
 9008 4f78 01F0      		breq .L721
8772
 9009 4f7a 9927      		clr r25
8773
 9010 4f7c 00C0      		rjmp .L904
8774
 9011               	.L721:
8775
 9012 4f7e 88E7      		ldi r24,lo8(120)
8776
 9013 4f80 90E0      		ldi r25,hi8(120)
8777
 9014               	.L904:
8778
 9015 4f82 9093 0000 		sts (StickGasHover)+1,r25
8779
 9016 4f86 8093 0000 		sts StickGasHover,r24
8780
 9017 4f8a E980      		ldd r14,Y+1
8781
 9018 4f8c FA80      		ldd r15,Y+2
8782
 9019 4f8e F092 0000 		sts (HoverGas)+1,r15
8783
 9020 4f92 E092 0000 		sts HoverGas,r14
8784
 9021 4f96 8EE2      		ldi r24,lo8(46)
8785
 9022 4f98 8093 0000 		sts VarioCharacter,r24
8786
 9023               	.L720:
8787
 9024 4f9c C090 0000 		lds r12,HoverGas
8788
 9025 4fa0 D090 0000 		lds r13,(HoverGas)+1
8789
 9026               	.L676:
8790
 9027 4fa4 E090 0000 		lds r14,HoehenWert
8791
 9028 4fa8 F090 0000 		lds r15,(HoehenWert)+1
8792
 9029 4fac 0091 0000 		lds r16,(HoehenWert)+2
8793
 9030 4fb0 1091 0000 		lds r17,(HoehenWert)+3
8794
 9031 4fb4 2091 0000 		lds r18,SollHoehe
8795
 9032 4fb8 3091 0000 		lds r19,(SollHoehe)+1
8796
 9033 4fbc 4091 0000 		lds r20,(SollHoehe)+2
8797
 9034 4fc0 5091 0000 		lds r21,(SollHoehe)+3
8798
 9035 4fc4 2E15      		cp r18,r14
8799
 9036 4fc6 3F05      		cpc r19,r15
8800
 9037 4fc8 4007      		cpc r20,r16
8801
 9038 4fca 5107      		cpc r21,r17
8802
 9039 4fcc 04F0      		brlt .L724
8803
 9040 4fce 8091 0000 		lds r24,Parameter_ExtraConfig
8804
 9041 4fd2 80FD      		sbrc r24,0
8805
 9042 4fd4 00C0      		rjmp .L782
8806
 9043               	.L724:
8807
 9044 4fd6 8091 0000 		lds r24,BaroExpandActive
8808
 9045 4fda 9091 0000 		lds r25,(BaroExpandActive)+1
8809
 9046 4fde 892B      		or r24,r25
8810
 9047 4fe0 01F0      		breq .L725
8811
 9048 4fe2 C090 0000 		lds r12,HoverGas
8812
 9049 4fe6 D090 0000 		lds r13,(HoverGas)+1
8813
 9050 4fea 00E0      		ldi r16,lo8(0)
8814
 9051 4fec 10E0      		ldi r17,hi8(0)
8815
 9052 4fee 00C0      		rjmp .L726
8816
 9053               	.L725:
8817
 9054 4ff0 D801      		movw r26,r16
8818
 9055 4ff2 C701      		movw r24,r14
8819
 9056 4ff4 821B      		sub r24,r18
8820
 9057 4ff6 930B      		sbc r25,r19
8821
 9058 4ff8 A40B      		sbc r26,r20
8822
 9059 4ffa B50B      		sbc r27,r21
8823
 9060 4ffc 8093 0000 		sts tmp_long.1,r24
8824
 9061 5000 9093 0000 		sts (tmp_long.1)+1,r25
8825
 9062 5004 A093 0000 		sts (tmp_long.1)+2,r26
8826
 9063 5008 B093 0000 		sts (tmp_long.1)+3,r27
8827
 9064 500c 8230      		cpi r24,lo8(-32766)
8828
 9065 500e 00E8      		ldi r16,hi8(-32766)
8829
 9066 5010 9007      		cpc r25,r16
8830
 9067 5012 0FEF      		ldi r16,hlo8(-32766)
8831
 9068 5014 A007      		cpc r26,r16
8832
 9069 5016 0FEF      		ldi r16,hhi8(-32766)
8833
 9070 5018 B007      		cpc r27,r16
8834
 9071 501a 04F4      		brge .L727
8835
 9072 501c 81E0      		ldi r24,lo8(-32767)
8836
 9073 501e 90E8      		ldi r25,hi8(-32767)
8837
 9074 5020 AFEF      		ldi r26,hlo8(-32767)
8838
 9075 5022 BFEF      		ldi r27,hhi8(-32767)
8839
 9076 5024 00C0      		rjmp .L905
8840
 9077               	.L727:
8841
 9078 5026 8F5F      		subi r24,lo8(32767)
8842
 9079 5028 9F47      		sbci r25,hi8(32767)
8843
 9080 502a A040      		sbci r26,hlo8(32767)
8844
 9081 502c B040      		sbci r27,hhi8(32767)
8845
 9082 502e 04F0      		brlt .L728
8846
 9083 5030 8FEF      		ldi r24,lo8(32767)
8847
 9084 5032 9FE7      		ldi r25,hi8(32767)
8848
 9085 5034 A0E0      		ldi r26,hlo8(32767)
8849
 9086 5036 B0E0      		ldi r27,hhi8(32767)
8850
 9087               	.L905:
8851
 9088 5038 8093 0000 		sts tmp_long.1,r24
8852
 9089 503c 9093 0000 		sts (tmp_long.1)+1,r25
8853
 9090 5040 A093 0000 		sts (tmp_long.1)+2,r26
8854
 9091 5044 B093 0000 		sts (tmp_long.1)+3,r27
8855
 9092               	.L728:
8856
 9093 5048 0091 0000 		lds r16,tmp_long.1
8857
 9094 504c 1091 0000 		lds r17,(tmp_long.1)+1
8858
 9095 5050 8091 0000 		lds r24,Parameter_Hoehe_P
8859
 9096 5054 282F      		mov r18,r24
8860
 9097 5056 3327      		clr r19
8861
 9098 5058 4427      		clr r20
8862
 9099 505a 5527      		clr r21
8863
 9100 505c 8091 0000 		lds r24,tmp_long.1
8864
 9101 5060 9091 0000 		lds r25,(tmp_long.1)+1
8865
 9102 5064 A091 0000 		lds r26,(tmp_long.1)+2
8866
 9103 5068 B091 0000 		lds r27,(tmp_long.1)+3
8867
 9104 506c BC01      		movw r22,r24
8868
 9105 506e CD01      		movw r24,r26
8869
 9106 5070 0E94 0000 		call __mulsi3
8870
 9107 5074 97FF      		sbrs r25,7
8871
 9108 5076 00C0      		rjmp .L730
8872
 9109 5078 615E      		subi r22,lo8(-(31))
8873
 9110 507a 7F4F      		sbci r23,hi8(-(31))
8874
 9111 507c 8F4F      		sbci r24,hlo8(-(31))
8875
 9112 507e 9F4F      		sbci r25,hhi8(-(31))
8876
 9113               	.L730:
8877
 9114 5080 25E0      		ldi r18,5
8878
 9115 5082 9595      	1:	asr r25
8879
 9116 5084 8795      		ror r24
8880
 9117 5086 7795      		ror r23
8881
 9118 5088 6795      		ror r22
8882
 9119 508a 2A95      		dec r18
8883
 9120 508c 01F4      		brne 1b
8884
 9121 508e 6093 0000 		sts tmp_long.1,r22
8885
 9122 5092 7093 0000 		sts (tmp_long.1)+1,r23
8886
 9123 5096 8093 0000 		sts (tmp_long.1)+2,r24
8887
 9124 509a 9093 0000 		sts (tmp_long.1)+3,r25
8888
 9125 509e 6530      		cpi r22,lo8(-507)
8889
 9126 50a0 2EEF      		ldi r18,hi8(-507)
8890
 9127 50a2 7207      		cpc r23,r18
8891
 9128 50a4 2FEF      		ldi r18,hlo8(-507)
8892
 9129 50a6 8207      		cpc r24,r18
8893
 9130 50a8 2FEF      		ldi r18,hhi8(-507)
8894
 9131 50aa 9207      		cpc r25,r18
8895
 9132 50ac 04F4      		brge .L731
8896
 9133 50ae 84E0      		ldi r24,lo8(-508)
8897
 9134 50b0 9EEF      		ldi r25,hi8(-508)
8898
 9135 50b2 AFEF      		ldi r26,hlo8(-508)
8899
 9136 50b4 BFEF      		ldi r27,hhi8(-508)
8900
 9137 50b6 00C0      		rjmp .L906
8901
 9138               	.L731:
8902
 9139 50b8 6050      		subi r22,lo8(1024)
8903
 9140 50ba 7440      		sbci r23,hi8(1024)
8904
 9141 50bc 8040      		sbci r24,hlo8(1024)
8905
 9142 50be 9040      		sbci r25,hhi8(1024)
8906
 9143 50c0 04F0      		brlt .L732
8907
 9144 50c2 80E0      		ldi r24,lo8(1024)
8908
 9145 50c4 94E0      		ldi r25,hi8(1024)
8909
 9146 50c6 A0E0      		ldi r26,hlo8(1024)
8910
 9147 50c8 B0E0      		ldi r27,hhi8(1024)
8911
 9148               	.L906:
8912
 9149 50ca 8093 0000 		sts tmp_long.1,r24
8913
 9150 50ce 9093 0000 		sts (tmp_long.1)+1,r25
8914
 9151 50d2 A093 0000 		sts (tmp_long.1)+2,r26
8915
 9152 50d6 B093 0000 		sts (tmp_long.1)+3,r27
8916
 9153               	.L732:
8917
 9154 50da 8090 0000 		lds r8,tmp_long.1
8918
 9155 50de 9090 0000 		lds r9,(tmp_long.1)+1
8919
 9156 50e2 2091 0000 		lds r18,VarioMeter
8920
 9157 50e6 3091 0000 		lds r19,(VarioMeter)+1
8921
 9158 50ea 37FF      		sbrs r19,7
8922
 9159 50ec 00C0      		rjmp .L734
8923
 9160 50ee 295F      		subi r18,lo8(-(7))
8924
 9161 50f0 3F4F      		sbci r19,hi8(-(7))
8925
 9162               	.L734:
8926
 9163 50f2 83E0      		ldi r24,3
8927
 9164 50f4 3595      	1:	asr r19
8928
 9165 50f6 2795      		ror r18
8929
 9166 50f8 8A95      		dec r24
8930
 9167 50fa 01F4      		brne 1b
8931
 9168 50fc 4FEF      		ldi r20,hi8(-126)
8932
 9169 50fe 2238      		cpi r18,lo8(-126)
8933
 9170 5100 3407      		cpc r19,r20
8934
 9171 5102 04F4      		brge .L735
8935
 9172 5104 21E8      		ldi r18,lo8(-127)
8936
 9173 5106 3FEF      		ldi r19,hi8(-127)
8937
 9174 5108 00C0      		rjmp .L736
8938
 9175               	.L735:
8939
 9176 510a 2038      		cpi r18,128
8940
 9177 510c 3105      		cpc r19,__zero_reg__
8941
 9178 510e 04F0      		brlt .L736
8942
 9179 5110 20E8      		ldi r18,lo8(128)
8943
 9180 5112 30E0      		ldi r19,hi8(128)
8944
 9181               	.L736:
8945
 9182 5114 C901      		movw r24,r18
8946
 9183 5116 AA27      		clr r26
8947
 9184 5118 97FD      		sbrc r25,7
8948
 9185 511a A095      		com r26
8949
 9186 511c BA2F      		mov r27,r26
8950
 9187 511e 2091 0000 		lds r18,Parameter_Luftdruck_D
8951
 9188 5122 3327      		clr r19
8952
 9189 5124 4427      		clr r20
8953
 9190 5126 5527      		clr r21
8954
 9191 5128 BC01      		movw r22,r24
8955
 9192 512a CD01      		movw r24,r26
8956
 9193 512c 0E94 0000 		call __mulsi3
8957
 9194 5130 97FF      		sbrs r25,7
8958
 9195 5132 00C0      		rjmp .L738
8959
 9196 5134 6D5F      		subi r22,lo8(-(3))
8960
 9197 5136 7F4F      		sbci r23,hi8(-(3))
8961
 9198 5138 8F4F      		sbci r24,hlo8(-(3))
8962
 9199 513a 9F4F      		sbci r25,hhi8(-(3))
8963
 9200               	.L738:
8964
 9201 513c B2E0      		ldi r27,2
8965
 9202 513e 9595      	1:	asr r25
8966
 9203 5140 8795      		ror r24
8967
 9204 5142 7795      		ror r23
8968
 9205 5144 6795      		ror r22
8969
 9206 5146 BA95      		dec r27
8970
 9207 5148 01F4      		brne 1b
8971
 9208 514a 9B01      		movw r18,r22
8972
 9209 514c 5FEF      		ldi r21,hi8(-255)
8973
 9210 514e 6130      		cpi r22,lo8(-255)
8974
 9211 5150 7507      		cpc r23,r21
8975
 9212 5152 04F4      		brge .L739
8976
 9213 5154 20E0      		ldi r18,lo8(-256)
8977
 9214 5156 3FEF      		ldi r19,hi8(-256)
8978
 9215 5158 00C0      		rjmp .L740
8979
 9216               	.L739:
8980
 9217 515a 6F3F      		cpi r22,255
8981
 9218 515c 7105      		cpc r23,__zero_reg__
8982
 9219 515e 01F0      		breq .L740
8983
 9220 5160 04F0      		brlt .L740
8984
 9221 5162 20E0      		ldi r18,lo8(256)
8985
 9222 5164 31E0      		ldi r19,hi8(256)
8986
 9223               	.L740:
8987
 9224 5166 8091 0000 		lds r24,FC_StatusFlags
8988
 9225 516a 807C      		andi r24,lo8(-64)
8989
 9226 516c 01F0      		breq .L742
8990
 9227 516e C901      		movw r24,r18
8991
 9228 5170 37FD      		sbrc r19,7
8992
 9229 5172 0396      		adiw r24,3
8993
 9230               	.L743:
8994
 9231 5174 9C01      		movw r18,r24
8995
 9232 5176 3595      		asr r19
8996
 9233 5178 2795      		ror r18
8997
 9234 517a 3595      		asr r19
8998
 9235 517c 2795      		ror r18
8999
 9236 517e 00C0      		rjmp .L744
9000
 9237               	.L742:
9001
 9238 5180 8091 0000 		lds r24,Parameter_ExtraConfig
9002
 9239 5184 80FF      		sbrs r24,0
9003
 9240 5186 00C0      		rjmp .L744
9004
 9241 5188 C901      		movw r24,r18
9005
 9242 518a 37FD      		sbrc r19,7
9006
 9243 518c 0796      		adiw r24,7
9007
 9244               	.L746:
9008
 9245 518e 9C01      		movw r18,r24
9009
 9246 5190 F3E0      		ldi r31,3
9010
 9247 5192 3595      	1:	asr r19
9011
 9248 5194 2795      		ror r18
9012
 9249 5196 FA95      		dec r31
9013
 9250 5198 01F4      		brne 1b
9014
 9251               	.L744:
9015
 9252 519a 820E      		add r8,r18
9016
 9253 519c 931E      		adc r9,r19
9017
 9254               	.L726:
9018
 9255 519e 2091 0000 		lds r18,Parameter_Hoehe_ACC_Wirkung
9019
 9256 51a2 2223      		tst r18
9020
 9257 51a4 01F4      		brne .+2
9021
 9258 51a6 00C0      		rjmp .L747
9022
 9259 51a8 6091 0000 		lds r22,Mess_Integral_Hoch
9023
 9260 51ac 7091 0000 		lds r23,(Mess_Integral_Hoch)+1
9024
 9261 51b0 8091 0000 		lds r24,(Mess_Integral_Hoch)+2
9025
 9262 51b4 9091 0000 		lds r25,(Mess_Integral_Hoch)+3
9026
 9263 51b8 97FF      		sbrs r25,7
9027
 9264 51ba 00C0      		rjmp .L748
9028
 9265 51bc 6158      		subi r22,lo8(-(127))
9029
 9266 51be 7F4F      		sbci r23,hi8(-(127))
9030
 9267 51c0 8F4F      		sbci r24,hlo8(-(127))
9031
 9268 51c2 9F4F      		sbci r25,hhi8(-(127))
9032
 9269               	.L748:
9033
 9270 51c4 E7E0      		ldi r30,7
9034
 9271 51c6 9595      	1:	asr r25
9035
 9272 51c8 8795      		ror r24
9036
 9273 51ca 7795      		ror r23
9037
 9274 51cc 6795      		ror r22
9038
 9275 51ce EA95      		dec r30
9039
 9276 51d0 01F4      		brne 1b
9040
 9277 51d2 3327      		clr r19
9041
 9278 51d4 4427      		clr r20
9042
 9279 51d6 5527      		clr r21
9043
 9280 51d8 0E94 0000 		call __mulsi3
9044
 9281 51dc 97FF      		sbrs r25,7
9045
 9282 51de 00C0      		rjmp .L749
9046
 9283 51e0 615E      		subi r22,lo8(-(31))
9047
 9284 51e2 7F4F      		sbci r23,hi8(-(31))
9048
 9285 51e4 8F4F      		sbci r24,hlo8(-(31))
9049
 9286 51e6 9F4F      		sbci r25,hhi8(-(31))
9050
 9287               	.L749:
9051
 9288 51e8 55E0      		ldi r21,5
9052
 9289 51ea 9595      	1:	asr r25
9053
 9290 51ec 8795      		ror r24
9054
 9291 51ee 7795      		ror r23
9055
 9292 51f0 6795      		ror r22
9056
 9293 51f2 5A95      		dec r21
9057
 9294 51f4 01F4      		brne 1b
9058
 9295 51f6 6093 0000 		sts tmp_long.1,r22
9059
 9296 51fa 7093 0000 		sts (tmp_long.1)+1,r23
9060
 9297 51fe 8093 0000 		sts (tmp_long.1)+2,r24
9061
 9298 5202 9093 0000 		sts (tmp_long.1)+3,r25
9062
 9299 5206 6138      		cpi r22,lo8(-127)
9063
 9300 5208 AFEF      		ldi r26,hi8(-127)
9064
 9301 520a 7A07      		cpc r23,r26
9065
 9302 520c AFEF      		ldi r26,hlo8(-127)
9066
 9303 520e 8A07      		cpc r24,r26
9067
 9304 5210 AFEF      		ldi r26,hhi8(-127)
9068
 9305 5212 9A07      		cpc r25,r26
9069
 9306 5214 04F4      		brge .L750
9070
 9307 5216 80E8      		ldi r24,lo8(-128)
9071
 9308 5218 9FEF      		ldi r25,hi8(-128)
9072
 9309 521a AFEF      		ldi r26,hlo8(-128)
9073
 9310 521c BFEF      		ldi r27,hhi8(-128)
9074
 9311 521e 00C0      		rjmp .L907
9075
 9312               	.L750:
9076
 9313 5220 6F3F      		cpi r22,lo8(255)
9077
 9314 5222 7105      		cpc r23,__zero_reg__
9078
 9315 5224 8105      		cpc r24,__zero_reg__
9079
 9316 5226 9105      		cpc r25,__zero_reg__
9080
 9317 5228 01F0      		breq .L751
9081
 9318 522a 04F0      		brlt .L751
9082
 9319 522c 80E0      		ldi r24,lo8(256)
9083
 9320 522e 91E0      		ldi r25,hi8(256)
9084
 9321 5230 A0E0      		ldi r26,hlo8(256)
9085
 9322 5232 B0E0      		ldi r27,hhi8(256)
9086
 9323               	.L907:
9087
 9324 5234 8093 0000 		sts tmp_long.1,r24
9088
 9325 5238 9093 0000 		sts (tmp_long.1)+1,r25
9089
 9326 523c A093 0000 		sts (tmp_long.1)+2,r26
9090
 9327 5240 B093 0000 		sts (tmp_long.1)+3,r27
9091
 9328               	.L751:
9092
 9329 5244 8091 0000 		lds r24,tmp_long.1
9093
 9330 5248 9091 0000 		lds r25,(tmp_long.1)+1
9094
 9331 524c 880E      		add r8,r24
9095
 9332 524e 991E      		adc r9,r25
9096
 9333               	.L747:
9097
 9334 5250 8091 0000 		lds r24,Parameter_Hoehe_GPS_Z
9098
 9335 5254 282F      		mov r18,r24
9099
 9336 5256 3327      		clr r19
9100
 9337 5258 8091 0000 		lds r24,FromNaviCtrl_Value+4
9101
 9338 525c 9927      		clr r25
9102
 9339 525e 87FD      		sbrc r24,7
9103
 9340 5260 9095      		com r25
9104
 9341 5262 289F      		mul r18,r24
9105
 9342 5264 F001      		movw r30,r0
9106
 9343 5266 299F      		mul r18,r25
9107
 9344 5268 F00D      		add r31,r0
9108
 9345 526a 389F      		mul r19,r24
9109
 9346 526c F00D      		add r31,r0
9110
 9347 526e 1124      		clr r1
9111
 9348 5270 9F01      		movw r18,r30
9112
 9349 5272 F7FF      		sbrs r31,7
9113
 9350 5274 00C0      		rjmp .L753
9114
 9351 5276 2158      		subi r18,lo8(-(127))
9115
 9352 5278 3F4F      		sbci r19,hi8(-(127))
9116
 9353               	.L753:
9117
 9354 527a 220F      		lsl r18
9118
 9355 527c 232F      		mov r18,r19
9119
 9356 527e 221F      		rol r18
9120
 9357 5280 330B      		sbc r19,r19
9121
 9358 5282 FFEF      		ldi r31,hi8(-127)
9122
 9359 5284 2138      		cpi r18,lo8(-127)
9123
 9360 5286 3F07      		cpc r19,r31
9124
 9361 5288 04F4      		brge .L754
9125
 9362 528a 20E8      		ldi r18,lo8(-128)
9126
 9363 528c 3FEF      		ldi r19,hi8(-128)
9127
 9364 528e 00C0      		rjmp .L755
9128
 9365               	.L754:
9129
 9366 5290 2F3F      		cpi r18,255
9130
 9367 5292 3105      		cpc r19,__zero_reg__
9131
 9368 5294 01F0      		breq .L755
9132
 9369 5296 04F0      		brlt .L755
9133
 9370 5298 20E0      		ldi r18,lo8(256)
9134
 9371 529a 31E0      		ldi r19,hi8(256)
9135
 9372               	.L755:
9136
 9373 529c 820E      		add r8,r18
9137
 9374 529e 931E      		adc r9,r19
9138
 9375 52a0 C401      		movw r24,r8
9139
 9376 52a2 AA27      		clr r26
9140
 9377 52a4 97FD      		sbrc r25,7
9141
 9378 52a6 A095      		com r26
9142
 9379 52a8 BA2F      		mov r27,r26
9143
 9380 52aa E090 0000 		lds r14,HoverGas
9144
 9381 52ae F090 0000 		lds r15,(HoverGas)+1
9145
 9382 52b2 9701      		movw r18,r14
9146
 9383 52b4 4427      		clr r20
9147
 9384 52b6 37FD      		sbrc r19,7
9148
 9385 52b8 4095      		com r20
9149
 9386 52ba 542F      		mov r21,r20
9150
 9387 52bc BC01      		movw r22,r24
9151
 9388 52be CD01      		movw r24,r26
9152
 9389 52c0 0E94 0000 		call __mulsi3
9153
 9390 52c4 97FF      		sbrs r25,7
9154
 9391 52c6 00C0      		rjmp .L757
9155
 9392 52c8 6150      		subi r22,lo8(-(511))
9156
 9393 52ca 7E4F      		sbci r23,hi8(-(511))
9157
 9394 52cc 8F4F      		sbci r24,hlo8(-(511))
9158
 9395 52ce 9F4F      		sbci r25,hhi8(-(511))
9159
 9396               	.L757:
9160
 9397 52d0 29E0      		ldi r18,9
9161
 9398 52d2 9595      	1:	asr r25
9162
 9399 52d4 8795      		ror r24
9163
 9400 52d6 7795      		ror r23
9164
 9401 52d8 6795      		ror r22
9165
 9402 52da 2A95      		dec r18
9166
 9403 52dc 01F4      		brne 1b
9167
 9404 52de C61A      		sub r12,r22
9168
 9405 52e0 D70A      		sbc r13,r23
9169
 9406 52e2 8091 0000 		lds r24,AltitudeSetpointTrimming
9170
 9407 52e6 9091 0000 		lds r25,(AltitudeSetpointTrimming)+1
9171
 9408 52ea 892B      		or r24,r25
9172
 9409 52ec 01F0      		breq .+2
9173
 9410 52ee 00C0      		rjmp .L758
9174
 9411 52f0 1E14      		cp __zero_reg__,r14
9175
 9412 52f2 1F04      		cpc __zero_reg__,r15
9176
 9413 52f4 04F0      		brlt .+2
9177
 9414 52f6 00C0      		rjmp .L758
9178
 9415 52f8 9801      		movw r18,r16
9179
 9416 52fa 17FF      		sbrs r17,7
9180
 9417 52fc 00C0      		rjmp .L759
9181
 9418 52fe 3095      		com r19
9182
 9419 5300 2195      		neg r18
9183
 9420 5302 3F4F      		sbci r19,lo8(-1)
9184
 9421               	.L759:
9185
 9422 5304 2D33      		cpi r18,61
9186
 9423 5306 3105      		cpc r19,__zero_reg__
9187
 9424 5308 00F4      		brsh .L760
9188
 9425 530a 8091 0000 		lds r24,HoverGasMin
9189
 9426 530e 9091 0000 		lds r25,(HoverGasMin)+1
9190
 9427 5312 8C15      		cp r24,r12
9191
 9428 5314 9D05      		cpc r25,r13
9192
 9429 5316 04F4      		brge .L909
9193
 9430 5318 00C0      		rjmp .L918
9194
 9431               	.L760:
9195
 9432 531a 2C53      		subi r18,lo8(-(-60))
9196
 9433 531c 3040      		sbci r19,hi8(-(-60))
9197
 9434 531e 85E0      		ldi r24,5
9198
 9435 5320 3695      	1:	lsr r19
9199
 9436 5322 2795      		ror r18
9200
 9437 5324 8A95      		dec r24
9201
 9438 5326 01F4      		brne 1b
9202
 9439 5328 2031      		cpi r18,16
9203
 9440 532a 3105      		cpc r19,__zero_reg__
9204
 9441 532c 00F0      		brlo .L765
9205
 9442 532e 2FE0      		ldi r18,lo8(15)
9206
 9443 5330 30E0      		ldi r19,hi8(15)
9207
 9444               	.L765:
9208
 9445 5332 4091 0000 		lds r20,HoverGasMin
9209
 9446 5336 5091 0000 		lds r21,(HoverGasMin)+1
9210
 9447 533a 1016      		cp __zero_reg__,r16
9211
 9448 533c 1106      		cpc __zero_reg__,r17
9212
 9449 533e 04F4      		brge .L766
9213
 9450 5340 80E1      		ldi r24,lo8(16)
9214
 9451 5342 90E0      		ldi r25,hi8(16)
9215
 9452 5344 821B      		sub r24,r18
9216
 9453 5346 930B      		sbc r25,r19
9217
 9454 5348 489F      		mul r20,r24
9218
 9455 534a 9001      		movw r18,r0
9219
 9456 534c 499F      		mul r20,r25
9220
 9457 534e 300D      		add r19,r0
9221
 9458 5350 589F      		mul r21,r24
9222
 9459 5352 300D      		add r19,r0
9223
 9460 5354 1124      		clr r1
9224
 9461 5356 B4E0      		ldi r27,4
9225
 9462 5358 3695      	1:	lsr r19
9226
 9463 535a 2795      		ror r18
9227
 9464 535c BA95      		dec r27
9228
 9465 535e 01F4      		brne 1b
9229
 9466 5360 2C15      		cp r18,r12
9230
 9467 5362 3D05      		cpc r19,r13
9231
 9468 5364 00F4      		brsh .L908
9232
 9469               	.L918:
9233
 9470 5366 8091 0000 		lds r24,HoverGasMax
9234
 9471 536a 9091 0000 		lds r25,(HoverGasMax)+1
9235
 9472 536e C816      		cp r12,r24
9236
 9473 5370 D906      		cpc r13,r25
9237
 9474 5372 04F0      		brlt .L758
9238
 9475               	.L909:
9239
 9476 5374 6C01      		movw r12,r24
9240
 9477 5376 00C0      		rjmp .L758
9241
 9478               	.L766:
9242
 9479 5378 205F      		subi r18,lo8(-(16))
9243
 9480 537a 3F4F      		sbci r19,hi8(-(16))
9244
 9481 537c 8091 0000 		lds r24,HoverGasMax
9245
 9482 5380 9091 0000 		lds r25,(HoverGasMax)+1
9246
 9483 5384 829F      		mul r24,r18
9247
 9484 5386 8001      		movw r16,r0
9248
 9485 5388 839F      		mul r24,r19
9249
 9486 538a 100D      		add r17,r0
9250
 9487 538c 929F      		mul r25,r18
9251
 9488 538e 100D      		add r17,r0
9252
 9489 5390 1124      		clr r1
9253
 9490 5392 9801      		movw r18,r16
9254
 9491 5394 A4E0      		ldi r26,4
9255
 9492 5396 3695      	1:	lsr r19
9256
 9493 5398 2795      		ror r18
9257
 9494 539a AA95      		dec r26
9258
 9495 539c 01F4      		brne 1b
9259
 9496 539e 4C15      		cp r20,r12
9260
 9497 53a0 5D05      		cpc r21,r13
9261
 9498 53a2 04F0      		brlt .L771
9262
 9499 53a4 6A01      		movw r12,r20
9263
 9500 53a6 00C0      		rjmp .L758
9264
 9501               	.L771:
9265
 9502 53a8 C216      		cp r12,r18
9266
 9503 53aa D306      		cpc r13,r19
9267
 9504 53ac 00F0      		brlo .L758
9268
 9505               	.L908:
9269
 9506 53ae 6901      		movw r12,r18
9270
 9507               	.L758:
9271
 9508 53b0 C601      		movw r24,r12
9272
 9509 53b2 AA27      		clr r26
9273
 9510 53b4 97FD      		sbrc r25,7
9274
 9511 53b6 A095      		com r26
9275
 9512 53b8 BA2F      		mov r27,r26
9276
 9513 53ba FDE0      		ldi r31,13
9277
 9514 53bc 880F      	1:	lsl r24
9278
 9515 53be 991F      		rol r25
9279
 9516 53c0 AA1F      		rol r26
9280
 9517 53c2 BB1F      		rol r27
9281
 9518 53c4 FA95      		dec r31
9282
 9519 53c6 01F4      		brne 1b
9283
 9520 53c8 9501      		movw r18,r10
9284
 9521 53ca 4427      		clr r20
9285
 9522 53cc 37FD      		sbrc r19,7
9286
 9523 53ce 4095      		com r20
9287
 9524 53d0 542F      		mov r21,r20
9288
 9525 53d2 BC01      		movw r22,r24
9289
 9526 53d4 CD01      		movw r24,r26
9290
 9527 53d6 0E94 0000 		call __divmodsi4
9291
 9528 53da 2093 0000 		sts tmp_long2.2,r18
9292
 9529 53de 3093 0000 		sts (tmp_long2.2)+1,r19
9293
 9530 53e2 4093 0000 		sts (tmp_long2.2)+2,r20
9294
 9531 53e6 5093 0000 		sts (tmp_long2.2)+3,r21
9295
 9532 53ea C090 0000 		lds r12,tmp_long2.2
9296
 9533 53ee D090 0000 		lds r13,(tmp_long2.2)+1
9297
 9534 53f2 8091 0000 		lds r24,FilterHCGas.22
9298
 9535 53f6 9091 0000 		lds r25,(FilterHCGas.22)+1
9299
 9536 53fa 9C01      		movw r18,r24
9300
 9537 53fc 220F      		lsl r18
9301
 9538 53fe 331F      		rol r19
9302
 9539 5400 280F      		add r18,r24
9303
 9540 5402 391F      		adc r19,r25
9304
 9541 5404 2C0D      		add r18,r12
9305
 9542 5406 3D1D      		adc r19,r13
9306
 9543 5408 37FF      		sbrs r19,7
9307
 9544 540a 00C0      		rjmp .L774
9308
 9545 540c 2D5F      		subi r18,lo8(-(3))
9309
 9546 540e 3F4F      		sbci r19,hi8(-(3))
9310
 9547               	.L774:
9311
 9548 5410 A901      		movw r20,r18
9312
 9549 5412 5595      		asr r21
9313
 9550 5414 4795      		ror r20
9314
 9551 5416 5595      		asr r21
9315
 9552 5418 4795      		ror r20
9316
 9553 541a 5093 0000 		sts (FilterHCGas.22)+1,r21
9317
 9554 541e 4093 0000 		sts FilterHCGas.22,r20
9318
 9555 5422 8091 0000 		lds r24,EE_Parameter+14
9319
 9556 5426 282F      		mov r18,r24
9320
 9557 5428 3327      		clr r19
9321
 9558 542a 220F      		lsl r18
9322
 9559 542c 331F      		rol r19
9323
 9560 542e 220F      		lsl r18
9324
 9561 5430 331F      		rol r19
9325
 9562 5432 2417      		cp r18,r20
9326
 9563 5434 3507      		cpc r19,r21
9327
 9564 5436 04F4      		brge .L910
9328
 9565 5438 8091 0000 		lds r24,MAX_GAS
9329
 9566 543c 282F      		mov r18,r24
9330
 9567 543e 3327      		clr r19
9331
 9568 5440 220F      		lsl r18
9332
 9569 5442 331F      		rol r19
9333
 9570 5444 220F      		lsl r18
9334
 9571 5446 331F      		rol r19
9335
 9572 5448 2055      		subi r18,lo8(-(-80))
9336
 9573 544a 3040      		sbci r19,hi8(-(-80))
9337
 9574 544c 4217      		cp r20,r18
9338
 9575 544e 5307      		cpc r21,r19
9339
 9576 5450 04F0      		brlt .L776
9340
 9577               	.L910:
9341
 9578 5452 3093 0000 		sts (FilterHCGas.22)+1,r19
9342
 9579 5456 2093 0000 		sts FilterHCGas.22,r18
9343
 9580               	.L776:
9344
 9581 545a 8091 0000 		lds r24,Parameter_ExtraConfig
9345
 9582 545e 80FF      		sbrs r24,0
9346
 9583 5460 00C0      		rjmp .L778
9347
 9584 5462 8091 0000 		lds r24,FilterHCGas.22
9348
 9585 5466 9091 0000 		lds r25,(FilterHCGas.22)+1
9349
 9586 546a 2981      		ldd r18,Y+1
9350
 9587 546c 3A81      		ldd r19,Y+2
9351
 9588 546e 8217      		cp r24,r18
9352
 9589 5470 9307      		cpc r25,r19
9353
 9590 5472 04F0      		brlt .L779
9354
 9591 5474 3093 0000 		sts (FilterHCGas.22)+1,r19
9355
 9592 5478 2093 0000 		sts FilterHCGas.22,r18
9356
 9593               	.L779:
9357
 9594 547c 4091 0000 		lds r20,FilterHCGas.22
9358
 9595 5480 5091 0000 		lds r21,(FilterHCGas.22)+1
9359
 9596 5484 5A83      		std Y+2,r21
9360
 9597 5486 4983      		std Y+1,r20
9361
 9598 5488 00C0      		rjmp .L782
9362
 9599               	.L778:
9363
 9600 548a 2981      		ldd r18,Y+1
9364
 9601 548c 3A81      		ldd r19,Y+2
9365
 9602 548e 2E19      		sub r18,r14
9366
 9603 5490 3F09      		sbc r19,r15
9367
 9604 5492 37FF      		sbrs r19,7
9368
 9605 5494 00C0      		rjmp .L781
9369
 9606 5496 2D5F      		subi r18,lo8(-(3))
9370
 9607 5498 3F4F      		sbci r19,hi8(-(3))
9371
 9608               	.L781:
9372
 9609 549a 3595      		asr r19
9373
 9610 549c 2795      		ror r18
9374
 9611 549e 3595      		asr r19
9375
 9612 54a0 2795      		ror r18
9376
 9613 54a2 6091 0000 		lds r22,FilterHCGas.22
9377
 9614 54a6 7091 0000 		lds r23,(FilterHCGas.22)+1
9378
 9615 54aa 620F      		add r22,r18
9379
 9616 54ac 731F      		adc r23,r19
9380
 9617 54ae 7A83      		std Y+2,r23
9381
 9618 54b0 6983      		std Y+1,r22
9382
 9619 54b2 00C0      		rjmp .L782
9383
 9620               	.L673:
9384
 9621 54b4 8091 0000 		lds r24,EE_Parameter+22
9385
 9622 54b8 8823      		tst r24
9386
 9623 54ba 01F4      		brne .L783
9387
 9624 54bc 6091 0000 		lds r22,HoverGas
9388
 9625 54c0 7091 0000 		lds r23,(HoverGas)+1
9389
 9626 54c4 77FF      		sbrs r23,7
9390
 9627 54c6 00C0      		rjmp .L784
9391
 9628 54c8 6D5F      		subi r22,lo8(-(3))
9392
 9629 54ca 7F4F      		sbci r23,hi8(-(3))
9393
 9630               	.L784:
9394
 9631 54cc 7595      		asr r23
9395
 9632 54ce 6795      		ror r22
9396
 9633 54d0 7595      		asr r23
9397
 9634 54d2 6795      		ror r22
9398
 9635 54d4 4091 0000 		lds r20,UBat
9399
 9636 54d8 5091 0000 		lds r21,(UBat)+1
9400
 9637 54dc 8091 0000 		lds r24,BattLowVoltageWarning
9401
 9638 54e0 282F      		mov r18,r24
9402
 9639 54e2 3327      		clr r19
9403
 9640 54e4 649F      		mul r22,r20
9404
 9641 54e6 C001      		movw r24,r0
9405
 9642 54e8 659F      		mul r22,r21
9406
 9643 54ea 900D      		add r25,r0
9407
 9644 54ec 749F      		mul r23,r20
9408
 9645 54ee 900D      		add r25,r0
9409
 9646 54f0 1124      		clr r1
9410
 9647 54f2 B901      		movw r22,r18
9411
 9648 54f4 0E94 0000 		call __divmodhi4
9412
 9649 54f8 CB01      		movw r24,r22
9413
 9650 54fa 00C0      		rjmp .L911
9414
 9651               	.L783:
9415
 9652 54fc 9927      		clr r25
9416
 9653               	.L911:
9417
 9654 54fe 9093 0000 		sts (StickGasHover)+1,r25
9418
 9655 5502 8093 0000 		sts StickGasHover,r24
9419
 9656 5506 8091 0000 		lds r24,StickGasHover
9420
 9657 550a 9091 0000 		lds r25,(StickGasHover)+1
9421
 9658 550e 8734      		cpi r24,71
9422
 9659 5510 9105      		cpc r25,__zero_reg__
9423
 9660 5512 04F4      		brge .L786
9424
 9661 5514 86E4      		ldi r24,lo8(70)
9425
 9662 5516 90E0      		ldi r25,hi8(70)
9426
 9663 5518 00C0      		rjmp .L912
9427
 9664               	.L786:
9428
 9665 551a 8639      		cpi r24,150
9429
 9666 551c 9105      		cpc r25,__zero_reg__
9430
 9667 551e 04F0      		brlt .L787
9431
 9668 5520 86E9      		ldi r24,lo8(150)
9432
 9669 5522 90E0      		ldi r25,hi8(150)
9433
 9670               	.L912:
9434
 9671 5524 9093 0000 		sts (StickGasHover)+1,r25
9435
 9672 5528 8093 0000 		sts StickGasHover,r24
9436
 9673               	.L787:
9437
 9674 552c 8981      		ldd r24,Y+1
9438
 9675 552e 9A81      		ldd r25,Y+2
9439
 9676 5530 9093 0000 		sts (FilterHCGas.22)+1,r25
9440
 9677 5534 8093 0000 		sts FilterHCGas.22,r24
9441
 9678 5538 8091 0000 		lds r24,FC_StatusFlags
9442
 9679 553c 806C      		ori r24,lo8(-64)
9443
 9680 553e 8093 0000 		sts FC_StatusFlags,r24
9444
 9681 5542 8091 0000 		lds r24,FC_StatusFlags2
9445
 9682 5546 8D7F      		andi r24,lo8(-3)
9446
 9683 5548 8093 0000 		sts FC_StatusFlags2,r24
9447
 9684               	.L782:
9448
 9685 554c 8091 0000 		lds r24,FC_StatusFlags
9449
 9686 5550 9927      		clr r25
9450
 9687 5552 9C01      		movw r18,r24
9451
 9688 5554 2270      		andi r18,lo8(2)
9452
 9689 5556 3070      		andi r19,hi8(2)
9453
 9690 5558 81FF      		sbrs r24,1
9454
 9691 555a 00C0      		rjmp .L789
9455
 9692 555c 8091 0000 		lds r24,HoverGasFilter.23
9456
 9693 5560 9091 0000 		lds r25,(HoverGasFilter.23)+1
9457
 9694 5564 A091 0000 		lds r26,(HoverGasFilter.23)+2
9458
 9695 5568 B091 0000 		lds r27,(HoverGasFilter.23)+3
9459
 9696 556c 0097      		sbiw r24,0
9460
 9697 556e A105      		cpc r26,__zero_reg__
9461
 9698 5570 B105      		cpc r27,__zero_reg__
9462
 9699 5572 01F0      		breq .L791
9463
 9700 5574 8091 0000 		lds r24,StartTrigger
9464
 9701 5578 8130      		cpi r24,lo8(1)
9465
 9702 557a 01F4      		brne .L790
9466
 9703               	.L791:
9467
 9704 557c E981      		ldd r30,Y+1
9468
 9705 557e FA81      		ldd r31,Y+2
9469
 9706 5580 CF01      		movw r24,r30
9470
 9707 5582 AA27      		clr r26
9471
 9708 5584 97FD      		sbrc r25,7
9472
 9709 5586 A095      		com r26
9473
 9710 5588 BA2F      		mov r27,r26
9474
 9711 558a 1EE0      		ldi r17,14
9475
 9712 558c 880F      	1:	lsl r24
9476
 9713 558e 991F      		rol r25
9477
 9714 5590 AA1F      		rol r26
9478
 9715 5592 BB1F      		rol r27
9479
 9716 5594 1A95      		dec r17
9480
 9717 5596 01F4      		brne 1b
9481
 9718 5598 8093 0000 		sts HoverGasFilter.23,r24
9482
 9719 559c 9093 0000 		sts (HoverGasFilter.23)+1,r25
9483
 9720 55a0 A093 0000 		sts (HoverGasFilter.23)+2,r26
9484
 9721 55a4 B093 0000 		sts (HoverGasFilter.23)+3,r27
9485
 9722               	.L790:
9486
 9723 55a8 8091 0000 		lds r24,StartTrigger
9487
 9724 55ac 8130      		cpi r24,lo8(1)
9488
 9725 55ae 01F4      		brne .L792
9489
 9726 55b0 82E0      		ldi r24,lo8(2)
9490
 9727 55b2 8093 0000 		sts StartTrigger,r24
9491
 9728               	.L792:
9492
 9729 55b6 E980      		ldd r14,Y+1
9493
 9730 55b8 FA80      		ldd r15,Y+2
9494
 9731 55ba C701      		movw r24,r14
9495
 9732 55bc AA27      		clr r26
9496
 9733 55be 97FD      		sbrc r25,7
9497
 9734 55c0 A095      		com r26
9498
 9735 55c2 BA2F      		mov r27,r26
9499
 9736 55c4 9501      		movw r18,r10
9500
 9737 55c6 4427      		clr r20
9501
 9738 55c8 37FD      		sbrc r19,7
9502
 9739 55ca 4095      		com r20
9503
 9740 55cc 542F      		mov r21,r20
9504
 9741 55ce BC01      		movw r22,r24
9505
 9742 55d0 CD01      		movw r24,r26
9506
 9743 55d2 0E94 0000 		call __mulsi3
9507
 9744 55d6 DC01      		movw r26,r24
9508
 9745 55d8 CB01      		movw r24,r22
9509
 9746 55da 8093 0000 		sts tmp_long2.2,r24
9510
 9747 55de 9093 0000 		sts (tmp_long2.2)+1,r25
9511
 9748 55e2 A093 0000 		sts (tmp_long2.2)+2,r26
9512
 9749 55e6 B093 0000 		sts (tmp_long2.2)+3,r27
9513
 9750 55ea B7FF      		sbrs r27,7
9514
 9751 55ec 00C0      		rjmp .L793
9515
 9752 55ee 8150      		subi r24,lo8(-(8191))
9516
 9753 55f0 904E      		sbci r25,hi8(-(8191))
9517
 9754 55f2 AF4F      		sbci r26,hlo8(-(8191))
9518
 9755 55f4 BF4F      		sbci r27,hhi8(-(8191))
9519
 9756               	.L793:
9520
 9757 55f6 7C01      		movw r14,r24
9521
 9758 55f8 8D01      		movw r16,r26
9522
 9759 55fa ADE0      		ldi r26,13
9523
 9760 55fc 1595      	1:	asr r17
9524
 9761 55fe 0795      		ror r16
9525
 9762 5600 F794      		ror r15
9526
 9763 5602 E794      		ror r14
9527
 9764 5604 AA95      		dec r26
9528
 9765 5606 01F4      		brne 1b
9529
 9766 5608 E092 0000 		sts tmp_long2.2,r14
9530
 9767 560c F092 0000 		sts (tmp_long2.2)+1,r15
9531
 9768 5610 0093 0000 		sts (tmp_long2.2)+2,r16
9532
 9769 5614 1093 0000 		sts (tmp_long2.2)+3,r17
9533
 9770 5618 6091 0000 		lds r22,modell_fliegt
9534
 9771 561c 7091 0000 		lds r23,(modell_fliegt)+1
9535
 9772 5620 2FE0      		ldi r18,hi8(4000)
9536
 9773 5622 603A      		cpi r22,lo8(4000)
9537
 9774 5624 7207      		cpc r23,r18
9538
 9775 5626 00F4      		brsh .L794
9539
 9776 5628 8091 0000 		lds r24,HoverGasFilter.23
9540
 9777 562c 9091 0000 		lds r25,(HoverGasFilter.23)+1
9541
 9778 5630 A091 0000 		lds r26,(HoverGasFilter.23)+2
9542
 9779 5634 B091 0000 		lds r27,(HoverGasFilter.23)+3
9543
 9780 5638 9C01      		movw r18,r24
9544
 9781 563a AD01      		movw r20,r26
9545
 9782 563c FAE0      		ldi r31,10
9546
 9783 563e 5695      	1:	lsr r21
9547
 9784 5640 4795      		ror r20
9548
 9785 5642 3795      		ror r19
9549
 9786 5644 2795      		ror r18
9550
 9787 5646 FA95      		dec r31
9551
 9788 5648 01F4      		brne 1b
9552
 9789 564a 821B      		sub r24,r18
9553
 9790 564c 930B      		sbc r25,r19
9554
 9791 564e A40B      		sbc r26,r20
9555
 9792 5650 B50B      		sbc r27,r21
9556
 9793 5652 A801      		movw r20,r16
9557
 9794 5654 9701      		movw r18,r14
9558
 9795 5656 E4E0      		ldi r30,4
9559
 9796 5658 220F      	1:	lsl r18
9560
 9797 565a 331F      		rol r19
9561
 9798 565c 441F      		rol r20
9562
 9799 565e 551F      		rol r21
9563
 9800 5660 EA95      		dec r30
9564
 9801 5662 01F4      		brne 1b
9565
 9802 5664 820F      		add r24,r18
9566
 9803 5666 931F      		adc r25,r19
9567
 9804 5668 A41F      		adc r26,r20
9568
 9805 566a B51F      		adc r27,r21
9569
 9806 566c 8093 0000 		sts HoverGasFilter.23,r24
9570
 9807 5670 9093 0000 		sts (HoverGasFilter.23)+1,r25
9571
 9808 5674 A093 0000 		sts (HoverGasFilter.23)+2,r26
9572
 9809 5678 B093 0000 		sts (HoverGasFilter.23)+3,r27
9573
 9810               	.L794:
9574
 9811 567c 6054      		subi r22,lo8(8000)
9575
 9812 567e 7F41      		sbci r23,hi8(8000)
9576
 9813 5680 00F4      		brsh .L795
9577
 9814 5682 8091 0000 		lds r24,HoverGasFilter.23
9578
 9815 5686 9091 0000 		lds r25,(HoverGasFilter.23)+1
9579
 9816 568a A091 0000 		lds r26,(HoverGasFilter.23)+2
9580
 9817 568e B091 0000 		lds r27,(HoverGasFilter.23)+3
9581
 9818 5692 9C01      		movw r18,r24
9582
 9819 5694 AD01      		movw r20,r26
9583
 9820 5696 6CE0      		ldi r22,12
9584
 9821 5698 5695      	1:	lsr r21
9585
 9822 569a 4795      		ror r20
9586
 9823 569c 3795      		ror r19
9587
 9824 569e 2795      		ror r18
9588
 9825 56a0 6A95      		dec r22
9589
 9826 56a2 01F4      		brne 1b
9590
 9827 56a4 821B      		sub r24,r18
9591
 9828 56a6 930B      		sbc r25,r19
9592
 9829 56a8 A40B      		sbc r26,r20
9593
 9830 56aa B50B      		sbc r27,r21
9594
 9831 56ac A801      		movw r20,r16
9595
 9832 56ae 9701      		movw r18,r14
9596
 9833 56b0 F2E0      		ldi r31,2
9597
 9834 56b2 220F      	1:	lsl r18
9598
 9835 56b4 331F      		rol r19
9599
 9836 56b6 441F      		rol r20
9600
 9837 56b8 551F      		rol r21
9601
 9838 56ba FA95      		dec r31
9602
 9839 56bc 01F4      		brne 1b
9603
 9840 56be 820F      		add r24,r18
9604
 9841 56c0 931F      		adc r25,r19
9605
 9842 56c2 A41F      		adc r26,r20
9606
 9843 56c4 B51F      		adc r27,r21
9607
 9844 56c6 00C0      		rjmp .L913
9608
 9845               	.L795:
9609
 9846 56c8 8091 0000 		lds r24,VarioMeter
9610
 9847 56cc 9091 0000 		lds r25,(VarioMeter)+1
9611
 9848 56d0 8091 0000 		lds r24,VarioMeter
9612
 9849 56d4 9091 0000 		lds r25,(VarioMeter)+1
9613
 9850 56d8 97FF      		sbrs r25,7
9614
 9851 56da 00C0      		rjmp .L798
9615
 9852 56dc 9095      		com r25
9616
 9853 56de 8195      		neg r24
9617
 9854 56e0 9F4F      		sbci r25,lo8(-1)
9618
 9855               	.L798:
9619
 9856 56e2 8436      		cpi r24,100
9620
 9857 56e4 9105      		cpc r25,__zero_reg__
9621
 9858 56e6 04F4      		brge .L796
9622
 9859 56e8 8091 0000 		lds r24,HoehenWert
9623
 9860 56ec 9091 0000 		lds r25,(HoehenWert)+1
9624
 9861 56f0 2091 0000 		lds r18,SollHoehe
9625
 9862 56f4 3091 0000 		lds r19,(SollHoehe)+1
9626
 9863 56f8 821B      		sub r24,r18
9627
 9864 56fa 930B      		sbc r25,r19
9628
 9865 56fc 8150      		subi r24,lo8(-(255))
9629
 9866 56fe 9F4F      		sbci r25,hi8(-(255))
9630
 9867 5700 8F5F      		subi r24,lo8(511)
9631
 9868 5702 9140      		sbci r25,hi8(511)
9632
 9869 5704 00F4      		brsh .L796
9633
 9870 5706 8091 0000 		lds r24,HoverGasFilter.23
9634
 9871 570a 9091 0000 		lds r25,(HoverGasFilter.23)+1
9635
 9872 570e A091 0000 		lds r26,(HoverGasFilter.23)+2
9636
 9873 5712 B091 0000 		lds r27,(HoverGasFilter.23)+3
9637
 9874 5716 9C01      		movw r18,r24
9638
 9875 5718 AD01      		movw r20,r26
9639
 9876 571a EEE0      		ldi r30,14
9640
 9877 571c 5695      	1:	lsr r21
9641
 9878 571e 4795      		ror r20
9642
 9879 5720 3795      		ror r19
9643
 9880 5722 2795      		ror r18
9644
 9881 5724 EA95      		dec r30
9645
 9882 5726 01F4      		brne 1b
9646
 9883 5728 821B      		sub r24,r18
9647
 9884 572a 930B      		sbc r25,r19
9648
 9885 572c A40B      		sbc r26,r20
9649
 9886 572e B50B      		sbc r27,r21
9650
 9887 5730 8E0D      		add r24,r14
9651
 9888 5732 9F1D      		adc r25,r15
9652
 9889 5734 A01F      		adc r26,r16
9653
 9890 5736 B11F      		adc r27,r17
9654
 9891               	.L913:
9655
 9892 5738 8093 0000 		sts HoverGasFilter.23,r24
9656
 9893 573c 9093 0000 		sts (HoverGasFilter.23)+1,r25
9657
 9894 5740 A093 0000 		sts (HoverGasFilter.23)+2,r26
9658
 9895 5744 B093 0000 		sts (HoverGasFilter.23)+3,r27
9659
 9896               	.L796:
9660
 9897 5748 8091 0000 		lds r24,HoverGasFilter.23
9661
 9898 574c 9091 0000 		lds r25,(HoverGasFilter.23)+1
9662
 9899 5750 A091 0000 		lds r26,(HoverGasFilter.23)+2
9663
 9900 5754 B091 0000 		lds r27,(HoverGasFilter.23)+3
9664
 9901 5758 7EE0      		ldi r23,14
9665
 9902 575a B695      	1:	lsr r27
9666
 9903 575c A795      		ror r26
9667
 9904 575e 9795      		ror r25
9668
 9905 5760 8795      		ror r24
9669
 9906 5762 7A95      		dec r23
9670
 9907 5764 01F4      		brne 1b
9671
 9908 5766 9093 0000 		sts (HoverGas)+1,r25
9672
 9909 576a 8093 0000 		sts HoverGas,r24
9673
 9910 576e 4091 0000 		lds r20,EE_Parameter+20
9674
 9911 5772 4423      		tst r20
9675
 9912 5774 01F0      		breq .L799
9676
 9913 5776 5527      		clr r21
9677
 9914 5778 9C01      		movw r18,r24
9678
 9915 577a BA01      		movw r22,r20
9679
 9916 577c 0E94 0000 		call __divmodhi4
9680
 9917 5780 C901      		movw r24,r18
9681
 9918 5782 861B      		sub r24,r22
9682
 9919 5784 970B      		sbc r25,r23
9683
 9920 5786 9093 0000 		sts (HoverGasMin)+1,r25
9684
 9921 578a 8093 0000 		sts HoverGasMin,r24
9685
 9922 578e 260F      		add r18,r22
9686
 9923 5790 371F      		adc r19,r23
9687
 9924 5792 3093 0000 		sts (HoverGasMax)+1,r19
9688
 9925 5796 2093 0000 		sts HoverGasMax,r18
9689
 9926 579a 00C0      		rjmp .L802
9690
 9927               	.L799:
9691
 9928 579c 1092 0000 		sts (HoverGasMin)+1,__zero_reg__
9692
 9929 57a0 1092 0000 		sts HoverGasMin,__zero_reg__
9693
 9930 57a4 8FEF      		ldi r24,lo8(1023)
9694
 9931 57a6 93E0      		ldi r25,hi8(1023)
9695
 9932 57a8 9093 0000 		sts (HoverGasMax)+1,r25
9696
 9933 57ac 8093 0000 		sts HoverGasMax,r24
9697
 9934 57b0 00C0      		rjmp .L802
9698
 9935               	.L789:
9699
 9936 57b2 1092 0000 		sts StartTrigger,__zero_reg__
9700
 9937 57b6 1092 0000 		sts HoverGasFilter.23,__zero_reg__
9701
 9938 57ba 1092 0000 		sts (HoverGasFilter.23)+1,__zero_reg__
9702
 9939 57be 1092 0000 		sts (HoverGasFilter.23)+2,__zero_reg__
9703
 9940 57c2 1092 0000 		sts (HoverGasFilter.23)+3,__zero_reg__
9704
 9941 57c6 3093 0000 		sts (HoverGas)+1,r19
9705
 9942 57ca 2093 0000 		sts HoverGas,r18
9706
 9943 57ce 00C0      		rjmp .L802
9707
 9944               	.L653:
9708
 9945 57d0 8091 0000 		lds r24,FC_StatusFlags
9709
 9946 57d4 806C      		ori r24,lo8(-64)
9710
 9947 57d6 8093 0000 		sts FC_StatusFlags,r24
9711
 9948               	.L802:
9712
 9949 57da 8091 0000 		lds r24,NC_To_FC_Flags
9713
 9950 57de 81FF      		sbrs r24,1
9714
 9951 57e0 00C0      		rjmp .L803
9715
 9952 57e2 8981      		ldd r24,Y+1
9716
 9953 57e4 9A81      		ldd r25,Y+2
9717
 9954 57e6 97FD      		sbrc r25,7
9718
 9955 57e8 0396      		adiw r24,3
9719
 9956               	.L805:
9720
 9957 57ea 9595      		asr r25
9721
 9958 57ec 8795      		ror r24
9722
 9959 57ee 9595      		asr r25
9723
 9960 57f0 8795      		ror r24
9724
 9961 57f2 2091 0000 		lds r18,HooverGasEmergencyPercent
9725
 9962 57f6 3091 0000 		lds r19,(HooverGasEmergencyPercent)+1
9726
 9963 57fa 2817      		cp r18,r24
9727
 9964 57fc 3907      		cpc r19,r25
9728
 9965 57fe 00F4      		brsh .L804
9729
 9966 5800 8091 0000 		lds r24,HoverGas
9730
 9967 5804 9091 0000 		lds r25,(HoverGas)+1
9731
 9968 5808 892B      		or r24,r25
9732
 9969 580a 01F0      		breq .L804
9733
 9970 580c 220F      		lsl r18
9734
 9971 580e 331F      		rol r19
9735
 9972 5810 220F      		lsl r18
9736
 9973 5812 331F      		rol r19
9737
 9974 5814 3A83      		std Y+2,r19
9738
 9975 5816 2983      		std Y+1,r18
9739
 9976               	.L804:
9740
 9977 5818 8091 0000 		lds r24,HoehenWert
9741
 9978 581c 9091 0000 		lds r25,(HoehenWert)+1
9742
 9979 5820 A091 0000 		lds r26,(HoehenWert)+2
9743
 9980 5824 B091 0000 		lds r27,(HoehenWert)+3
9744
 9981 5828 8093 0000 		sts SollHoehe,r24
9745
 9982 582c 9093 0000 		sts (SollHoehe)+1,r25
9746
 9983 5830 A093 0000 		sts (SollHoehe)+2,r26
9747
 9984 5834 B093 0000 		sts (SollHoehe)+3,r27
9748
 9985 5838 88E9      		ldi r24,lo8(15000)
9749
 9986 583a 9AE3      		ldi r25,hi8(15000)
9750
 9987 583c 9093 0000 		sts (beeptime)+1,r25
9751
 9988 5840 8093 0000 		sts beeptime,r24
9752
 9989 5844 80E0      		ldi r24,lo8(3584)
9753
 9990 5846 9EE0      		ldi r25,hi8(3584)
9754
 9991 5848 9093 0000 		sts (BeepMuster)+1,r25
9755
 9992 584c 8093 0000 		sts BeepMuster,r24
9756
 9993               	.L803:
9757
 9994 5850 2091 0000 		lds r18,MIN_GAS
9758
 9995 5854 822F      		mov r24,r18
9759
 9996 5856 9927      		clr r25
9760
 9997 5858 880F      		lsl r24
9761
 9998 585a 991F      		rol r25
9762
 9999 585c 880F      		lsl r24
9763
 10000 585e 991F      		rol r25
9764
 10001 5860 8896      		adiw r24,40
9765
 10002 5862 6981      		ldd r22,Y+1
9766
 10003 5864 7A81      		ldd r23,Y+2
9767
 10004 5866 8617      		cp r24,r22
9768
 10005 5868 9707      		cpc r25,r23
9769
 10006 586a 04F0      		brlt .L806
9770
 10007 586c 9A83      		std Y+2,r25
9771
 10008 586e 8983      		std Y+1,r24
9772
 10009               	.L806:
9773
 10010 5870 7091 0000 		lds r23,MAX_GAS
9774
 10011 5874 7D8B      		std Y+21,r23
9775
 10012 5876 872F      		mov r24,r23
9776
 10013 5878 9927      		clr r25
9777
 10014 587a 880F      		lsl r24
9778
 10015 587c 991F      		rol r25
9779
 10016 587e 880F      		lsl r24
9780
 10017 5880 991F      		rol r25
9781
 10018 5882 8055      		subi r24,lo8(-(-80))
9782
 10019 5884 9040      		sbci r25,hi8(-(-80))
9783
 10020 5886 A981      		ldd r26,Y+1
9784
 10021 5888 BA81      		ldd r27,Y+2
9785
 10022 588a 8A17      		cp r24,r26
9786
 10023 588c 9B07      		cpc r25,r27
9787
 10024 588e 04F4      		brge .L807
9788
 10025 5890 9A83      		std Y+2,r25
9789
 10026 5892 8983      		std Y+1,r24
9790
 10027               	.L807:
9791
 10028 5894 8091 0000 		lds r24,MissingMotor
9792
 10029 5898 8823      		tst r24
9793
 10030 589a 01F4      		brne .L809
9794
 10031 589c 8091 0000 		lds r24,Capacity+6
9795
 10032 58a0 8F3F      		cpi r24,lo8(-1)
9796
 10033 58a2 01F4      		brne .L809
9797
 10034 58a4 8091 0000 		lds r24,NC_ErrorCode
9798
 10035 58a8 8823      		tst r24
9799
 10036 58aa 01F0      		breq .L808
9800
 10037               	.L809:
9801
 10038 58ac 8091 0000 		lds r24,modell_fliegt
9802
 10039 58b0 9091 0000 		lds r25,(modell_fliegt)+1
9803
 10040 58b4 0297      		sbiw r24,2
9804
 10041 58b6 C097      		sbiw r24,48
9805
 10042 58b8 00F4      		brsh .L808
9806
 10043 58ba E981      		ldd r30,Y+1
9807
 10044 58bc FA81      		ldd r31,Y+2
9808
 10045 58be 1E16      		cp __zero_reg__,r30
9809
 10046 58c0 1F06      		cpc __zero_reg__,r31
9810
 10047 58c2 04F4      		brge .L808
9811
 10048 58c4 81E0      		ldi r24,lo8(1)
9812
 10049 58c6 90E0      		ldi r25,hi8(1)
9813
 10050 58c8 9093 0000 		sts (modell_fliegt)+1,r25
9814
 10051 58cc 8093 0000 		sts modell_fliegt,r24
9815
 10052 58d0 E22E      		mov r14,r18
9816
 10053 58d2 FF24      		clr r15
9817
 10054 58d4 EE0C      		lsl r14
9818
 10055 58d6 FF1C      		rol r15
9819
 10056 58d8 EE0C      		lsl r14
9820
 10057 58da FF1C      		rol r15
9821
 10058 58dc 8701      		movw r16,r14
9822
 10059 58de 085D      		subi r16,lo8(-(40))
9823
 10060 58e0 1F4F      		sbci r17,hi8(-(40))
9824
 10061 58e2 1A83      		std Y+2,r17
9825
 10062 58e4 0983      		std Y+1,r16
9826
 10063               	.L808:
9827
 10064 58e6 2981      		ldd r18,Y+1
9828
 10065 58e8 3A81      		ldd r19,Y+2
9829
 10066 58ea 3093 0000 		sts (DebugOut+16)+1,r19
9830
 10067 58ee 2093 0000 		sts DebugOut+16,r18
9831
 10068 58f2 8091 0000 		lds r24,sollGier.0
9832
 10069 58f6 9091 0000 		lds r25,(sollGier.0)+1
9833
 10070 58fa A091 0000 		lds r26,(sollGier.0)+2
9834
 10071 58fe B091 0000 		lds r27,(sollGier.0)+3
9835
 10072 5902 12E0      		ldi r17,2
9836
 10073 5904 880F      	1:	lsl r24
9837
 10074 5906 991F      		rol r25
9838
 10075 5908 AA1F      		rol r26
9839
 10076 590a BB1F      		rol r27
9840
 10077 590c 1A95      		dec r17
9841
 10078 590e 01F4      		brne 1b
9842
 10079 5910 0091 0000 		lds r16,MesswertGier
9843
 10080 5914 1091 0000 		lds r17,(MesswertGier)+1
9844
 10081 5918 081B      		sub r16,r24
9845
 10082 591a 190B      		sbc r17,r25
9846
 10083 591c 213A      		cpi r18,161
9847
 10084 591e 3105      		cpc r19,__zero_reg__
9848
 10085 5920 04F0      		brlt .L811
9849
 10086 5922 C901      		movw r24,r18
9850
 10087 5924 37FD      		sbrc r19,7
9851
 10088 5926 0196      		adiw r24,1
9852
 10089               	.L813:
9853
 10090 5928 9595      		asr r25
9854
 10091 592a 8795      		ror r24
9855
 10092 592c 8017      		cp r24,r16
9856
 10093 592e 9107      		cpc r25,r17
9857
 10094 5930 04F4      		brge .L812
9858
 10095 5932 8C01      		movw r16,r24
9859
 10096               	.L812:
9860
 10097 5934 9095      		com r25
9861
 10098 5936 8195      		neg r24
9862
 10099 5938 9F4F      		sbci r25,lo8(-1)
9863
 10100 593a 0817      		cp r16,r24
9864
 10101 593c 1907      		cpc r17,r25
9865
 10102 593e 04F4      		brge .L818
9866
 10103 5940 8C01      		movw r16,r24
9867
 10104 5942 00C0      		rjmp .L818
9868
 10105               	.L811:
9869
 10106 5944 0135      		cpi r16,81
9870
 10107 5946 1105      		cpc r17,__zero_reg__
9871
 10108 5948 04F0      		brlt .L819
9872
 10109 594a 00E5      		ldi r16,lo8(80)
9873
 10110 594c 10E0      		ldi r17,hi8(80)
9874
 10111               	.L819:
9875
 10112 594e 3FEF      		ldi r19,hi8(-80)
9876
 10113 5950 003B      		cpi r16,lo8(-80)
9877
 10114 5952 1307      		cpc r17,r19
9878
 10115 5954 04F4      		brge .L818
9879
 10116 5956 00EB      		ldi r16,lo8(-80)
9880
 10117 5958 1FEF      		ldi r17,hi8(-80)
9881
 10118               	.L818:
9882
 10119 595a 4D89      		ldd r20,Y+21
9883
 10120 595c 242F      		mov r18,r20
9884
 10121 595e 3327      		clr r19
9885
 10122 5960 220F      		lsl r18
9886
 10123 5962 331F      		rol r19
9887
 10124 5964 220F      		lsl r18
9888
 10125 5966 331F      		rol r19
9889
 10126 5968 C901      		movw r24,r18
9890
 10127 596a 6981      		ldd r22,Y+1
9891
 10128 596c 7A81      		ldd r23,Y+2
9892
 10129 596e 861B      		sub r24,r22
9893
 10130 5970 970B      		sbc r25,r23
9894
 10131 5972 8017      		cp r24,r16
9895
 10132 5974 9107      		cpc r25,r17
9896
 10133 5976 04F4      		brge .L821
9897
 10134 5978 8C01      		movw r16,r24
9898
 10135               	.L821:
9899
 10136 597a 8981      		ldd r24,Y+1
9900
 10137 597c 9A81      		ldd r25,Y+2
9901
 10138 597e 821B      		sub r24,r18
9902
 10139 5980 930B      		sbc r25,r19
9903
 10140 5982 0817      		cp r16,r24
9904
 10141 5984 1907      		cpc r17,r25
9905
 10142 5986 04F4      		brge .L822
9906
 10143 5988 8C01      		movw r16,r24
9907
 10144               	.L822:
9908
 10145 598a 8091 0000 		lds r24,MesswertNick
9909
 10146 598e 9091 0000 		lds r25,(MesswertNick)+1
9910
 10147 5992 6091 0000 		lds r22,StickNick
9911
 10148 5996 7091 0000 		lds r23,(StickNick)+1
9912
 10149 599a 861B      		sub r24,r22
9913
 10150 599c 970B      		sbc r25,r23
9914
 10151 599e 9093 0000 		sts (DiffNick)+1,r25
9915
 10152 59a2 8093 0000 		sts DiffNick,r24
9916
 10153 59a6 D090 0000 		lds r13,IntegralFaktor
9917
 10154 59aa 2091 0000 		lds r18,SummeNick
9918
 10155 59ae 3091 0000 		lds r19,(SummeNick)+1
9919
 10156 59b2 4091 0000 		lds r20,(SummeNick)+2
9920
 10157 59b6 5091 0000 		lds r21,(SummeNick)+3
9921
 10158 59ba DD20      		tst r13
9922
 10159 59bc 01F0      		breq .L823
9923
 10160 59be 661A      		sub r6,r22
9924
 10161 59c0 770A      		sbc r7,r23
9925
 10162 59c2 C301      		movw r24,r6
9926
 10163 59c4 AA27      		clr r26
9927
 10164 59c6 97FD      		sbrc r25,7
9928
 10165 59c8 A095      		com r26
9929
 10166 59ca BA2F      		mov r27,r26
9930
 10167 59cc 00C0      		rjmp .L914
9931
 10168               	.L823:
9932
 10169 59ce AA27      		clr r26
9933
 10170 59d0 97FD      		sbrc r25,7
9934
 10171 59d2 A095      		com r26
9935
 10172 59d4 BA2F      		mov r27,r26
9936
 10173               	.L914:
9937
 10174 59d6 280F      		add r18,r24
9938
 10175 59d8 391F      		adc r19,r25
9939
 10176 59da 4A1F      		adc r20,r26
9940
 10177 59dc 5B1F      		adc r21,r27
9941
 10178 59de 2093 0000 		sts SummeNick,r18
9942
 10179 59e2 3093 0000 		sts (SummeNick)+1,r19
9943
 10180 59e6 4093 0000 		sts (SummeNick)+2,r20
9944
 10181 59ea 5093 0000 		sts (SummeNick)+3,r21
9945
 10182 59ee 8091 0000 		lds r24,SummeNick
9946
 10183 59f2 9091 0000 		lds r25,(SummeNick)+1
9947
 10184 59f6 A091 0000 		lds r26,(SummeNick)+2
9948
 10185 59fa B091 0000 		lds r27,(SummeNick)+3
9949
 10186 59fe 8150      		subi r24,lo8(64001)
9950
 10187 5a00 9A4F      		sbci r25,hi8(64001)
9951
 10188 5a02 A040      		sbci r26,hlo8(64001)
9952
 10189 5a04 B040      		sbci r27,hhi8(64001)
9953
 10190 5a06 04F0      		brlt .L825
9954
 10191 5a08 80E0      		ldi r24,lo8(64000)
9955
 10192 5a0a 9AEF      		ldi r25,hi8(64000)
9956
 10193 5a0c A0E0      		ldi r26,hlo8(64000)
9957
 10194 5a0e B0E0      		ldi r27,hhi8(64000)
9958
 10195 5a10 8093 0000 		sts SummeNick,r24
9959
 10196 5a14 9093 0000 		sts (SummeNick)+1,r25
9960
 10197 5a18 A093 0000 		sts (SummeNick)+2,r26
9961
 10198 5a1c B093 0000 		sts (SummeNick)+3,r27
9962
 10199               	.L825:
9963
 10200 5a20 8091 0000 		lds r24,SummeNick
9964
 10201 5a24 9091 0000 		lds r25,(SummeNick)+1
9965
 10202 5a28 A091 0000 		lds r26,(SummeNick)+2
9966
 10203 5a2c B091 0000 		lds r27,(SummeNick)+3
9967
 10204 5a30 8050      		subi r24,lo8(-64000)
9968
 10205 5a32 9640      		sbci r25,hi8(-64000)
9969
 10206 5a34 AF4F      		sbci r26,hlo8(-64000)
9970
 10207 5a36 BF4F      		sbci r27,hhi8(-64000)
9971
 10208 5a38 04F4      		brge .L826
9972
 10209 5a3a 80E0      		ldi r24,lo8(-64000)
9973
 10210 5a3c 96E0      		ldi r25,hi8(-64000)
9974
 10211 5a3e AFEF      		ldi r26,hlo8(-64000)
9975
 10212 5a40 BFEF      		ldi r27,hhi8(-64000)
9976
 10213 5a42 8093 0000 		sts SummeNick,r24
9977
 10214 5a46 9093 0000 		sts (SummeNick)+1,r25
9978
 10215 5a4a A093 0000 		sts (SummeNick)+2,r26
9979
 10216 5a4e B093 0000 		sts (SummeNick)+3,r27
9980
 10217               	.L826:
9981
 10218 5a52 C090 0000 		lds r12,EE_Parameter+35
9982
 10219 5a56 2091 0000 		lds r18,DiffNick
9983
 10220 5a5a 3091 0000 		lds r19,(DiffNick)+1
9984
 10221 5a5e 78E0      		ldi r23,lo8(8)
9985
 10222 5a60 E72E      		mov r14,r23
9986
 10223 5a62 EC14      		cp r14,r12
9987
 10224 5a64 00F0      		brlo .L827
9988
 10225 5a66 8C2D      		mov r24,r12
9989
 10226 5a68 9927      		clr r25
9990
 10227 5a6a 829F      		mul r24,r18
9991
 10228 5a6c A001      		movw r20,r0
9992
 10229 5a6e 839F      		mul r24,r19
9993
 10230 5a70 500D      		add r21,r0
9994
 10231 5a72 929F      		mul r25,r18
9995
 10232 5a74 500D      		add r21,r0
9996
 10233 5a76 1124      		clr r1
9997
 10234 5a78 CA01      		movw r24,r20
9998
 10235 5a7a 57FD      		sbrc r21,7
9999
 10236 5a7c 0796      		adiw r24,7
10000
 10237               	.L828:
10001
 10238 5a7e 7C01      		movw r14,r24
10002
 10239 5a80 63E0      		ldi r22,3
10003
 10240 5a82 F594      	1:	asr r15
10004
 10241 5a84 E794      		ror r14
10005
 10242 5a86 6A95      		dec r22
10006
 10243 5a88 01F4      		brne 1b
10007
 10244 5a8a 00C0      		rjmp .L829
10008
 10245               	.L827:
10009
 10246 5a8c 8C2D      		mov r24,r12
10010
 10247 5a8e 8695      		lsr r24
10011
 10248 5a90 9927      		clr r25
10012
 10249 5a92 829F      		mul r24,r18
10013
 10250 5a94 B001      		movw r22,r0
10014
 10251 5a96 839F      		mul r24,r19
10015
 10252 5a98 700D      		add r23,r0
10016
 10253 5a9a 929F      		mul r25,r18
10017
 10254 5a9c 700D      		add r23,r0
10018
 10255 5a9e 1124      		clr r1
10019
 10256 5aa0 CB01      		movw r24,r22
10020
 10257 5aa2 77FD      		sbrc r23,7
10021
 10258 5aa4 0396      		adiw r24,3
10022
 10259               	.L830:
10023
 10260 5aa6 7C01      		movw r14,r24
10024
 10261 5aa8 F594      		asr r15
10025
 10262 5aaa E794      		ror r14
10026
 10263 5aac F594      		asr r15
10027
 10264 5aae E794      		ror r14
10028
 10265               	.L829:
10029
 10266 5ab0 A090 0000 		lds r10,Ki
10030
 10267 5ab4 B090 0000 		lds r11,(Ki)+1
10031
 10268 5ab8 9501      		movw r18,r10
10032
 10269 5aba 4427      		clr r20
10033
 10270 5abc 37FD      		sbrc r19,7
10034
 10271 5abe 4095      		com r20
10035
 10272 5ac0 542F      		mov r21,r20
10036
 10273 5ac2 8091 0000 		lds r24,SummeNick
10037
 10274 5ac6 9091 0000 		lds r25,(SummeNick)+1
10038
 10275 5aca A091 0000 		lds r26,(SummeNick)+2
10039
 10276 5ace B091 0000 		lds r27,(SummeNick)+3
10040
 10277 5ad2 BC01      		movw r22,r24
10041
 10278 5ad4 CD01      		movw r24,r26
10042
 10279 5ad6 0E94 0000 		call __divmodsi4
10043
 10280 5ada E20E      		add r14,r18
10044
 10281 5adc F31E      		adc r15,r19
10045
 10282 5ade 9090 0000 		lds r9,Parameter_DynamicStability
10046
 10283 5ae2 692D      		mov r22,r9
10047
 10284 5ae4 7727      		clr r23
10048
 10285 5ae6 8827      		clr r24
10049
 10286 5ae8 9927      		clr r25
10050
 10287 5aea 9801      		movw r18,r16
10051
 10288 5aec 17FF      		sbrs r17,7
10052
 10289 5aee 00C0      		rjmp .L831
10053
 10290 5af0 2227      		clr r18
10054
 10291 5af2 3327      		clr r19
10055
 10292 5af4 201B      		sub r18,r16
10056
 10293 5af6 310B      		sbc r19,r17
10057
 10294               	.L831:
10058
 10295 5af8 37FF      		sbrs r19,7
10059
 10296 5afa 00C0      		rjmp .L832
10060
 10297 5afc 2F5F      		subi r18,lo8(-(1))
10061
 10298 5afe 3F4F      		sbci r19,hi8(-(1))
10062
 10299               	.L832:
10063
 10300 5b00 3595      		asr r19
10064
 10301 5b02 2795      		ror r18
10065
 10302 5b04 A981      		ldd r26,Y+1
10066
 10303 5b06 BA81      		ldd r27,Y+2
10067
 10304 5b08 2A0F      		add r18,r26
10068
 10305 5b0a 3B1F      		adc r19,r27
10069
 10306 5b0c 4427      		clr r20
10070
 10307 5b0e 37FD      		sbrc r19,7
10071
 10308 5b10 4095      		com r20
10072
 10309 5b12 542F      		mov r21,r20
10073
 10310 5b14 0E94 0000 		call __mulsi3
10074
 10311 5b18 97FF      		sbrs r25,7
10075
 10312 5b1a 00C0      		rjmp .L833
10076
 10313 5b1c 615C      		subi r22,lo8(-(63))
10077
 10314 5b1e 7F4F      		sbci r23,hi8(-(63))
10078
 10315 5b20 8F4F      		sbci r24,hlo8(-(63))
10079
 10316 5b22 9F4F      		sbci r25,hhi8(-(63))
10080
 10317               	.L833:
10081
 10318 5b24 26E0      		ldi r18,6
10082
 10319 5b26 9595      	1:	asr r25
10083
 10320 5b28 8795      		ror r24
10084
 10321 5b2a 7795      		ror r23
10085
 10322 5b2c 6795      		ror r22
10086
 10323 5b2e 2A95      		dec r18
10087
 10324 5b30 01F4      		brne 1b
10088
 10325 5b32 9B01      		movw r18,r22
10089
 10326 5b34 6E15      		cp r22,r14
10090
 10327 5b36 7F05      		cpc r23,r15
10091
 10328 5b38 04F4      		brge .L834
10092
 10329 5b3a 7B01      		movw r14,r22
10093
 10330               	.L834:
10094
 10331 5b3c 3095      		com r19
10095
 10332 5b3e 2195      		neg r18
10096
 10333 5b40 3F4F      		sbci r19,lo8(-1)
10097
 10334 5b42 E216      		cp r14,r18
10098
 10335 5b44 F306      		cpc r15,r19
10099
 10336 5b46 04F4      		brge .L835
10100
 10337 5b48 7901      		movw r14,r18
10101
 10338               	.L835:
10102
 10339 5b4a 8091 0000 		lds r24,MesswertRoll
10103
 10340 5b4e 9091 0000 		lds r25,(MesswertRoll)+1
10104
 10341 5b52 6091 0000 		lds r22,StickRoll
10105
 10342 5b56 7091 0000 		lds r23,(StickRoll)+1
10106
 10343 5b5a 861B      		sub r24,r22
10107
 10344 5b5c 970B      		sbc r25,r23
10108
 10345 5b5e 9093 0000 		sts (DiffRoll)+1,r25
10109
 10346 5b62 8093 0000 		sts DiffRoll,r24
10110
 10347 5b66 2091 0000 		lds r18,SummeRoll
10111
 10348 5b6a 3091 0000 		lds r19,(SummeRoll)+1
10112
 10349 5b6e 4091 0000 		lds r20,(SummeRoll)+2
10113
 10350 5b72 5091 0000 		lds r21,(SummeRoll)+3
10114
 10351 5b76 DD20      		tst r13
10115
 10352 5b78 01F0      		breq .L836
10116
 10353 5b7a 461A      		sub r4,r22
10117
 10354 5b7c 570A      		sbc r5,r23
10118
 10355 5b7e C201      		movw r24,r4
10119
 10356 5b80 AA27      		clr r26
10120
 10357 5b82 97FD      		sbrc r25,7
10121
 10358 5b84 A095      		com r26
10122
 10359 5b86 BA2F      		mov r27,r26
10123
 10360 5b88 00C0      		rjmp .L915
10124
 10361               	.L836:
10125
 10362 5b8a AA27      		clr r26
10126
 10363 5b8c 97FD      		sbrc r25,7
10127
 10364 5b8e A095      		com r26
10128
 10365 5b90 BA2F      		mov r27,r26
10129
 10366               	.L915:
10130
 10367 5b92 280F      		add r18,r24
10131
 10368 5b94 391F      		adc r19,r25
10132
 10369 5b96 4A1F      		adc r20,r26
10133
 10370 5b98 5B1F      		adc r21,r27
10134
 10371 5b9a 2093 0000 		sts SummeRoll,r18
10135
 10372 5b9e 3093 0000 		sts (SummeRoll)+1,r19
10136
 10373 5ba2 4093 0000 		sts (SummeRoll)+2,r20
10137
 10374 5ba6 5093 0000 		sts (SummeRoll)+3,r21
10138
 10375 5baa 8091 0000 		lds r24,SummeRoll
10139
 10376 5bae 9091 0000 		lds r25,(SummeRoll)+1
10140
 10377 5bb2 A091 0000 		lds r26,(SummeRoll)+2
10141
 10378 5bb6 B091 0000 		lds r27,(SummeRoll)+3
10142
 10379 5bba 8150      		subi r24,lo8(64001)
10143
 10380 5bbc 9A4F      		sbci r25,hi8(64001)
10144
 10381 5bbe A040      		sbci r26,hlo8(64001)
10145
 10382 5bc0 B040      		sbci r27,hhi8(64001)
10146
 10383 5bc2 04F0      		brlt .L838
10147
 10384 5bc4 80E0      		ldi r24,lo8(64000)
10148
 10385 5bc6 9AEF      		ldi r25,hi8(64000)
10149
 10386 5bc8 A0E0      		ldi r26,hlo8(64000)
10150
 10387 5bca B0E0      		ldi r27,hhi8(64000)
10151
 10388 5bcc 8093 0000 		sts SummeRoll,r24
10152
 10389 5bd0 9093 0000 		sts (SummeRoll)+1,r25
10153
 10390 5bd4 A093 0000 		sts (SummeRoll)+2,r26
10154
 10391 5bd8 B093 0000 		sts (SummeRoll)+3,r27
10155
 10392               	.L838:
10156
 10393 5bdc 8091 0000 		lds r24,SummeRoll
10157
 10394 5be0 9091 0000 		lds r25,(SummeRoll)+1
10158
 10395 5be4 A091 0000 		lds r26,(SummeRoll)+2
10159
 10396 5be8 B091 0000 		lds r27,(SummeRoll)+3
10160
 10397 5bec 8050      		subi r24,lo8(-64000)
10161
 10398 5bee 9640      		sbci r25,hi8(-64000)
10162
 10399 5bf0 AF4F      		sbci r26,hlo8(-64000)
10163
 10400 5bf2 BF4F      		sbci r27,hhi8(-64000)
10164
 10401 5bf4 04F4      		brge .L839
10165
 10402 5bf6 80E0      		ldi r24,lo8(-64000)
10166
 10403 5bf8 96E0      		ldi r25,hi8(-64000)
10167
 10404 5bfa AFEF      		ldi r26,hlo8(-64000)
10168
 10405 5bfc BFEF      		ldi r27,hhi8(-64000)
10169
 10406 5bfe 8093 0000 		sts SummeRoll,r24
10170
 10407 5c02 9093 0000 		sts (SummeRoll)+1,r25
10171
 10408 5c06 A093 0000 		sts (SummeRoll)+2,r26
10172
 10409 5c0a B093 0000 		sts (SummeRoll)+3,r27
10173
 10410               	.L839:
10174
 10411 5c0e 2091 0000 		lds r18,DiffRoll
10175
 10412 5c12 3091 0000 		lds r19,(DiffRoll)+1
10176
 10413 5c16 48E0      		ldi r20,lo8(8)
10177
 10414 5c18 4C15      		cp r20,r12
10178
 10415 5c1a 00F0      		brlo .L840
10179
 10416 5c1c 8C2D      		mov r24,r12
10180
 10417 5c1e 9927      		clr r25
10181
 10418 5c20 829F      		mul r24,r18
10182
 10419 5c22 B001      		movw r22,r0
10183
 10420 5c24 839F      		mul r24,r19
10184
 10421 5c26 700D      		add r23,r0
10185
 10422 5c28 929F      		mul r25,r18
10186
 10423 5c2a 700D      		add r23,r0
10187
 10424 5c2c 1124      		clr r1
10188
 10425 5c2e CB01      		movw r24,r22
10189
 10426 5c30 77FD      		sbrc r23,7
10190
 10427 5c32 0796      		adiw r24,7
10191
 10428               	.L841:
10192
 10429 5c34 6C01      		movw r12,r24
10193
 10430 5c36 B3E0      		ldi r27,3
10194
 10431 5c38 D594      	1:	asr r13
10195
 10432 5c3a C794      		ror r12
10196
 10433 5c3c BA95      		dec r27
10197
 10434 5c3e 01F4      		brne 1b
10198
 10435 5c40 00C0      		rjmp .L842
10199
 10436               	.L840:
10200
 10437 5c42 C694      		lsr r12
10201
 10438 5c44 8C2D      		mov r24,r12
10202
 10439 5c46 9927      		clr r25
10203
 10440 5c48 829F      		mul r24,r18
10204
 10441 5c4a D001      		movw r26,r0
10205
 10442 5c4c 839F      		mul r24,r19
10206
 10443 5c4e B00D      		add r27,r0
10207
 10444 5c50 929F      		mul r25,r18
10208
 10445 5c52 B00D      		add r27,r0
10209
 10446 5c54 1124      		clr r1
10210
 10447 5c56 CD01      		movw r24,r26
10211
 10448 5c58 B7FD      		sbrc r27,7
10212
 10449 5c5a 0396      		adiw r24,3
10213
 10450               	.L843:
10214
 10451 5c5c 6C01      		movw r12,r24
10215
 10452 5c5e D594      		asr r13
10216
 10453 5c60 C794      		ror r12
10217
 10454 5c62 D594      		asr r13
10218
 10455 5c64 C794      		ror r12
10219
 10456               	.L842:
10220
 10457 5c66 9501      		movw r18,r10
10221
 10458 5c68 4427      		clr r20
10222
 10459 5c6a 37FD      		sbrc r19,7
10223
 10460 5c6c 4095      		com r20
10224
 10461 5c6e 542F      		mov r21,r20
10225
 10462 5c70 8091 0000 		lds r24,SummeRoll
10226
 10463 5c74 9091 0000 		lds r25,(SummeRoll)+1
10227
 10464 5c78 A091 0000 		lds r26,(SummeRoll)+2
10228
 10465 5c7c B091 0000 		lds r27,(SummeRoll)+3
10229
 10466 5c80 BC01      		movw r22,r24
10230
 10467 5c82 CD01      		movw r24,r26
10231
 10468 5c84 0E94 0000 		call __divmodsi4
10232
 10469 5c88 C20E      		add r12,r18
10233
 10470 5c8a D31E      		adc r13,r19
10234
 10471 5c8c 692D      		mov r22,r9
10235
 10472 5c8e 7727      		clr r23
10236
 10473 5c90 8827      		clr r24
10237
 10474 5c92 9927      		clr r25
10238
 10475 5c94 9801      		movw r18,r16
10239
 10476 5c96 17FF      		sbrs r17,7
10240
 10477 5c98 00C0      		rjmp .L844
10241
 10478 5c9a 2227      		clr r18
10242
 10479 5c9c 3327      		clr r19
10243
 10480 5c9e 201B      		sub r18,r16
10244
 10481 5ca0 310B      		sbc r19,r17
10245
 10482               	.L844:
10246
 10483 5ca2 37FF      		sbrs r19,7
10247
 10484 5ca4 00C0      		rjmp .L845
10248
 10485 5ca6 2F5F      		subi r18,lo8(-(1))
10249
 10486 5ca8 3F4F      		sbci r19,hi8(-(1))
10250
 10487               	.L845:
10251
 10488 5caa 3595      		asr r19
10252
 10489 5cac 2795      		ror r18
10253
 10490 5cae E981      		ldd r30,Y+1
10254
 10491 5cb0 FA81      		ldd r31,Y+2
10255
 10492 5cb2 2E0F      		add r18,r30
10256
 10493 5cb4 3F1F      		adc r19,r31
10257
 10494 5cb6 4427      		clr r20
10258
 10495 5cb8 37FD      		sbrc r19,7
10259
 10496 5cba 4095      		com r20
10260
 10497 5cbc 542F      		mov r21,r20
10261
 10498 5cbe 0E94 0000 		call __mulsi3
10262
 10499 5cc2 97FF      		sbrs r25,7
10263
 10500 5cc4 00C0      		rjmp .L846
10264
 10501 5cc6 615C      		subi r22,lo8(-(63))
10265
 10502 5cc8 7F4F      		sbci r23,hi8(-(63))
10266
 10503 5cca 8F4F      		sbci r24,hlo8(-(63))
10267
 10504 5ccc 9F4F      		sbci r25,hhi8(-(63))
10268
 10505               	.L846:
10269
 10506 5cce E6E0      		ldi r30,6
10270
 10507 5cd0 9595      	1:	asr r25
10271
 10508 5cd2 8795      		ror r24
10272
 10509 5cd4 7795      		ror r23
10273
 10510 5cd6 6795      		ror r22
10274
 10511 5cd8 EA95      		dec r30
10275
 10512 5cda 01F4      		brne 1b
10276
 10513 5cdc 9B01      		movw r18,r22
10277
 10514 5cde 6C15      		cp r22,r12
10278
 10515 5ce0 7D05      		cpc r23,r13
10279
 10516 5ce2 04F4      		brge .L847
10280
 10517 5ce4 6B01      		movw r12,r22
10281
 10518               	.L847:
10282
 10519 5ce6 3095      		com r19
10283
 10520 5ce8 2195      		neg r18
10284
 10521 5cea 3F4F      		sbci r19,lo8(-1)
10285
 10522 5cec C216      		cp r12,r18
10286
 10523 5cee D306      		cpc r13,r19
10287
 10524 5cf0 04F4      		brge .L848
10288
 10525 5cf2 6901      		movw r12,r18
10289
 10526               	.L848:
10290
 10527 5cf4 8091 0000 		lds r24,MIN_GAS
10291
 10528 5cf8 282E      		mov r2,r24
10292
 10529 5cfa 3324      		clr r3
10293
 10530 5cfc 5090 0000 		lds r5,EE_Parameter+101
10294
 10531 5d00 60E0      		ldi r22,lo8(Motor)
10295
 10532 5d02 862E      		mov r8,r22
10296
 10533 5d04 60E0      		ldi r22,hi8(Motor)
10297
 10534 5d06 962E      		mov r9,r22
10298
 10535 5d08 50E0      		ldi r21,lo8(Mixer+13)
10299
 10536 5d0a A52E      		mov r10,r21
10300
 10537 5d0c 50E0      		ldi r21,hi8(Mixer+13)
10301
 10538 5d0e B52E      		mov r11,r21
10302
 10539 5d10 4BE0      		ldi r20,lo8(11)
10303
 10540 5d12 442E      		mov r4,r20
10304
 10541 5d14 30E0      		ldi r19,lo8(tmp_motorwert)
10305
 10542 5d16 632E      		mov r6,r19
10306
 10543 5d18 30E0      		ldi r19,hi8(tmp_motorwert)
10307
 10544 5d1a 732E      		mov r7,r19
10308
 10545               	.L883:
10309
 10546 5d1c D501      		movw r26,r10
10310
 10547 5d1e 2C91      		ld r18,X
10311
 10548 5d20 1216      		cp __zero_reg__,r18
10312
 10549 5d22 04F0      		brlt .+2
10313
 10550 5d24 00C0      		rjmp .L852
10314
 10551 5d26 2034      		cpi r18,lo8(64)
10315
 10552 5d28 01F4      		brne .L853
10316
 10553 5d2a E981      		ldd r30,Y+1
10317
 10554 5d2c FA81      		ldd r31,Y+2
10318
 10555 5d2e FF8B      		std Y+23,r31
10319
 10556 5d30 EE8B      		std Y+22,r30
10320
 10557 5d32 00C0      		rjmp .L854
10321
 10558               	.L853:
10322
 10559 5d34 4981      		ldd r20,Y+1
10323
 10560 5d36 5A81      		ldd r21,Y+2
10324
 10561 5d38 CA01      		movw r24,r20
10325
 10562 5d3a AA27      		clr r26
10326
 10563 5d3c 97FD      		sbrc r25,7
10327
 10564 5d3e A095      		com r26
10328
 10565 5d40 BA2F      		mov r27,r26
10329
 10566 5d42 3327      		clr r19
10330
 10567 5d44 27FD      		sbrc r18,7
10331
 10568 5d46 3095      		com r19
10332
 10569 5d48 432F      		mov r20,r19
10333
 10570 5d4a 532F      		mov r21,r19
10334
 10571 5d4c BC01      		movw r22,r24
10335
 10572 5d4e CD01      		movw r24,r26
10336
 10573 5d50 0E94 0000 		call __mulsi3
10337
 10574 5d54 97FF      		sbrs r25,7
10338
 10575 5d56 00C0      		rjmp .L855
10339
 10576 5d58 615C      		subi r22,lo8(-(63))
10340
 10577 5d5a 7F4F      		sbci r23,hi8(-(63))
10341
 10578 5d5c 8F4F      		sbci r24,hlo8(-(63))
10342
 10579 5d5e 9F4F      		sbci r25,hhi8(-(63))
10343
 10580               	.L855:
10344
 10581 5d60 26E0      		ldi r18,6
10345
 10582 5d62 9595      	1:	asr r25
10346
 10583 5d64 8795      		ror r24
10347
 10584 5d66 7795      		ror r23
10348
 10585 5d68 6795      		ror r22
10349
 10586 5d6a 2A95      		dec r18
10350
 10587 5d6c 01F4      		brne 1b
10351
 10588 5d6e 7F8B      		std Y+23,r23
10352
 10589 5d70 6E8B      		std Y+22,r22
10353
 10590               	.L854:
10354
 10591 5d72 F501      		movw r30,r10
10355
 10592 5d74 2181      		ldd r18,Z+1
10356
 10593 5d76 2034      		cpi r18,lo8(64)
10357
 10594 5d78 01F4      		brne .L856
10358
 10595 5d7a 2E89      		ldd r18,Y+22
10359
 10596 5d7c 3F89      		ldd r19,Y+23
10360
 10597 5d7e 2E0D      		add r18,r14
10361
 10598 5d80 3F1D      		adc r19,r15
10362
 10599 5d82 3F8B      		std Y+23,r19
10363
 10600 5d84 2E8B      		std Y+22,r18
10364
 10601 5d86 00C0      		rjmp .L857
10365
 10602               	.L856:
10366
 10603 5d88 203C      		cpi r18,lo8(-64)
10367
 10604 5d8a 01F4      		brne .L858
10368
 10605 5d8c 4E89      		ldd r20,Y+22
10369
 10606 5d8e 5F89      		ldd r21,Y+23
10370
 10607 5d90 4E19      		sub r20,r14
10371
 10608 5d92 5F09      		sbc r21,r15
10372
 10609 5d94 5F8B      		std Y+23,r21
10373
 10610 5d96 4E8B      		std Y+22,r20
10374
 10611 5d98 00C0      		rjmp .L857
10375
 10612               	.L858:
10376
 10613 5d9a C701      		movw r24,r14
10377
 10614 5d9c AA27      		clr r26
10378
 10615 5d9e 97FD      		sbrc r25,7
10379
 10616 5da0 A095      		com r26
10380
 10617 5da2 BA2F      		mov r27,r26
10381
 10618 5da4 3327      		clr r19
10382
 10619 5da6 27FD      		sbrc r18,7
10383
 10620 5da8 3095      		com r19
10384
 10621 5daa 432F      		mov r20,r19
10385
 10622 5dac 532F      		mov r21,r19
10386
 10623 5dae BC01      		movw r22,r24
10387
 10624 5db0 CD01      		movw r24,r26
10388
 10625 5db2 0E94 0000 		call __mulsi3
10389
 10626 5db6 97FF      		sbrs r25,7
10390
 10627 5db8 00C0      		rjmp .L860
10391
 10628 5dba 615C      		subi r22,lo8(-(63))
10392
 10629 5dbc 7F4F      		sbci r23,hi8(-(63))
10393
 10630 5dbe 8F4F      		sbci r24,hlo8(-(63))
10394
 10631 5dc0 9F4F      		sbci r25,hhi8(-(63))
10395
 10632               	.L860:
10396
 10633 5dc2 B6E0      		ldi r27,6
10397
 10634 5dc4 9595      	1:	asr r25
10398
 10635 5dc6 8795      		ror r24
10399
 10636 5dc8 7795      		ror r23
10400
 10637 5dca 6795      		ror r22
10401
 10638 5dcc BA95      		dec r27
10402
 10639 5dce 01F4      		brne 1b
10403
 10640 5dd0 AE89      		ldd r26,Y+22
10404
 10641 5dd2 BF89      		ldd r27,Y+23
10405
 10642 5dd4 A60F      		add r26,r22
10406
 10643 5dd6 B71F      		adc r27,r23
10407
 10644 5dd8 BF8B      		std Y+23,r27
10408
 10645 5dda AE8B      		std Y+22,r26
10409
 10646               	.L857:
10410
 10647 5ddc F501      		movw r30,r10
10411
 10648 5dde 2281      		ldd r18,Z+2
10412
 10649 5de0 2034      		cpi r18,lo8(64)
10413
 10650 5de2 01F4      		brne .L861
10414
 10651 5de4 2E89      		ldd r18,Y+22
10415
 10652 5de6 3F89      		ldd r19,Y+23
10416
 10653 5de8 2C0D      		add r18,r12
10417
 10654 5dea 3D1D      		adc r19,r13
10418
 10655 5dec 3F8B      		std Y+23,r19
10419
 10656 5dee 2E8B      		std Y+22,r18
10420
 10657 5df0 00C0      		rjmp .L862
10421
 10658               	.L861:
10422
 10659 5df2 203C      		cpi r18,lo8(-64)
10423
 10660 5df4 01F4      		brne .L863
10424
 10661 5df6 4E89      		ldd r20,Y+22
10425
 10662 5df8 5F89      		ldd r21,Y+23
10426
 10663 5dfa 4C19      		sub r20,r12
10427
 10664 5dfc 5D09      		sbc r21,r13
10428
 10665 5dfe 5F8B      		std Y+23,r21
10429
 10666 5e00 4E8B      		std Y+22,r20
10430
 10667 5e02 00C0      		rjmp .L862
10431
 10668               	.L863:
10432
 10669 5e04 C601      		movw r24,r12
10433
 10670 5e06 AA27      		clr r26
10434
 10671 5e08 97FD      		sbrc r25,7
10435
 10672 5e0a A095      		com r26
10436
 10673 5e0c BA2F      		mov r27,r26
10437
 10674 5e0e 3327      		clr r19
10438
 10675 5e10 27FD      		sbrc r18,7
10439
 10676 5e12 3095      		com r19
10440
 10677 5e14 432F      		mov r20,r19
10441
 10678 5e16 532F      		mov r21,r19
10442
 10679 5e18 BC01      		movw r22,r24
10443
 10680 5e1a CD01      		movw r24,r26
10444
 10681 5e1c 0E94 0000 		call __mulsi3
10445
 10682 5e20 97FF      		sbrs r25,7
10446
 10683 5e22 00C0      		rjmp .L865
10447
 10684 5e24 615C      		subi r22,lo8(-(63))
10448
 10685 5e26 7F4F      		sbci r23,hi8(-(63))
10449
 10686 5e28 8F4F      		sbci r24,hlo8(-(63))
10450
 10687 5e2a 9F4F      		sbci r25,hhi8(-(63))
10451
 10688               	.L865:
10452
 10689 5e2c A6E0      		ldi r26,6
10453
 10690 5e2e 9595      	1:	asr r25
10454
 10691 5e30 8795      		ror r24
10455
 10692 5e32 7795      		ror r23
10456
 10693 5e34 6795      		ror r22
10457
 10694 5e36 AA95      		dec r26
10458
 10695 5e38 01F4      		brne 1b
10459
 10696 5e3a AE89      		ldd r26,Y+22
10460
 10697 5e3c BF89      		ldd r27,Y+23
10461
 10698 5e3e A60F      		add r26,r22
10462
 10699 5e40 B71F      		adc r27,r23
10463
 10700 5e42 BF8B      		std Y+23,r27
10464
 10701 5e44 AE8B      		std Y+22,r26
10465
 10702               	.L862:
10466
 10703 5e46 F501      		movw r30,r10
10467
 10704 5e48 2381      		ldd r18,Z+3
10468
 10705 5e4a 2034      		cpi r18,lo8(64)
10469
 10706 5e4c 01F4      		brne .L866
10470
 10707 5e4e 2E89      		ldd r18,Y+22
10471
 10708 5e50 3F89      		ldd r19,Y+23
10472
 10709 5e52 200F      		add r18,r16
10473
 10710 5e54 311F      		adc r19,r17
10474
 10711 5e56 3F8B      		std Y+23,r19
10475
 10712 5e58 2E8B      		std Y+22,r18
10476
 10713 5e5a 00C0      		rjmp .L867
10477
 10714               	.L866:
10478
 10715 5e5c 203C      		cpi r18,lo8(-64)
10479
 10716 5e5e 01F4      		brne .L868
10480
 10717 5e60 4E89      		ldd r20,Y+22
10481
 10718 5e62 5F89      		ldd r21,Y+23
10482
 10719 5e64 401B      		sub r20,r16
10483
 10720 5e66 510B      		sbc r21,r17
10484
 10721 5e68 5F8B      		std Y+23,r21
10485
 10722 5e6a 4E8B      		std Y+22,r20
10486
 10723 5e6c 00C0      		rjmp .L867
10487
 10724               	.L868:
10488
 10725 5e6e C801      		movw r24,r16
10489
 10726 5e70 AA27      		clr r26
10490
 10727 5e72 97FD      		sbrc r25,7
10491
 10728 5e74 A095      		com r26
10492
 10729 5e76 BA2F      		mov r27,r26
10493
 10730 5e78 3327      		clr r19
10494
 10731 5e7a 27FD      		sbrc r18,7
10495
 10732 5e7c 3095      		com r19
10496
 10733 5e7e 432F      		mov r20,r19
10497
 10734 5e80 532F      		mov r21,r19
10498
 10735 5e82 BC01      		movw r22,r24
10499
 10736 5e84 CD01      		movw r24,r26
10500
 10737 5e86 0E94 0000 		call __mulsi3
10501
 10738 5e8a 97FF      		sbrs r25,7
10502
 10739 5e8c 00C0      		rjmp .L870
10503
 10740 5e8e 615C      		subi r22,lo8(-(63))
10504
 10741 5e90 7F4F      		sbci r23,hi8(-(63))
10505
 10742 5e92 8F4F      		sbci r24,hlo8(-(63))
10506
 10743 5e94 9F4F      		sbci r25,hhi8(-(63))
10507
 10744               	.L870:
10508
 10745 5e96 F6E0      		ldi r31,6
10509
 10746 5e98 9595      	1:	asr r25
10510
 10747 5e9a 8795      		ror r24
10511
 10748 5e9c 7795      		ror r23
10512
 10749 5e9e 6795      		ror r22
10513
 10750 5ea0 FA95      		dec r31
10514
 10751 5ea2 01F4      		brne 1b
10515
 10752 5ea4 AE89      		ldd r26,Y+22
10516
 10753 5ea6 BF89      		ldd r27,Y+23
10517
 10754 5ea8 A60F      		add r26,r22
10518
 10755 5eaa B71F      		adc r27,r23
10519
 10756 5eac BF8B      		std Y+23,r27
10520
 10757 5eae AE8B      		std Y+22,r26
10521
 10758               	.L867:
10522
 10759 5eb0 F301      		movw r30,r6
10523
 10760 5eb2 8081      		ld r24,Z
10524
 10761 5eb4 9181      		ldd r25,Z+1
10525
 10762 5eb6 2E89      		ldd r18,Y+22
10526
 10763 5eb8 3F89      		ldd r19,Y+23
10527
 10764 5eba 8217      		cp r24,r18
10528
 10765 5ebc 9307      		cpc r25,r19
10529
 10766 5ebe 04F4      		brge .L871
10530
 10767 5ec0 B901      		movw r22,r18
10531
 10768 5ec2 680F      		add r22,r24
10532
 10769 5ec4 791F      		adc r23,r25
10533
 10770 5ec6 77FF      		sbrs r23,7
10534
 10771 5ec8 00C0      		rjmp .L872
10535
 10772 5eca 6F5F      		subi r22,lo8(-(1))
10536
 10773 5ecc 7F4F      		sbci r23,hi8(-(1))
10537
 10774               	.L872:
10538
 10775 5ece 7595      		asr r23
10539
 10776 5ed0 6795      		ror r22
10540
 10777 5ed2 7F8B      		std Y+23,r23
10541
 10778 5ed4 6E8B      		std Y+22,r22
10542
 10779 5ed6 00C0      		rjmp .L873
10543
 10780               	.L871:
10544
 10781 5ed8 5520      		tst r5
10545
 10782 5eda 01F4      		brne .L874
10546
 10783 5edc 4E89      		ldd r20,Y+22
10547
 10784 5ede 5F89      		ldd r21,Y+23
10548
 10785 5ee0 440F      		add r20,r20
10549
 10786 5ee2 551F      		adc r21,r21
10550
 10787 5ee4 481B      		sub r20,r24
10551
 10788 5ee6 590B      		sbc r21,r25
10552
 10789 5ee8 5F8B      		std Y+23,r21
10553
 10790 5eea 4E8B      		std Y+22,r20
10554
 10791 5eec 00C0      		rjmp .L873
10555
 10792               	.L874:
10556
 10793 5eee 51E0      		ldi r21,lo8(1)
10557
 10794 5ef0 5515      		cp r21,r5
10558
 10795 5ef2 00F4      		brsh .L873
10559
 10796 5ef4 252D      		mov r18,r5
10560
 10797 5ef6 3327      		clr r19
10561
 10798 5ef8 6E89      		ldd r22,Y+22
10562
 10799 5efa 7F89      		ldd r23,Y+23
10563
 10800 5efc 861B      		sub r24,r22
10564
 10801 5efe 970B      		sbc r25,r23
10565
 10802 5f00 B901      		movw r22,r18
10566
 10803 5f02 0E94 0000 		call __divmodhi4
10567
 10804 5f06 AE89      		ldd r26,Y+22
10568
 10805 5f08 BF89      		ldd r27,Y+23
10569
 10806 5f0a A60F      		add r26,r22
10570
 10807 5f0c B71F      		adc r27,r23
10571
 10808 5f0e BF8B      		std Y+23,r27
10572
 10809 5f10 AE8B      		std Y+22,r26
10573
 10810               	.L873:
10574
 10811 5f12 C101      		movw r24,r2
10575
 10812 5f14 880F      		lsl r24
10576
 10813 5f16 991F      		rol r25
10577
 10814 5f18 880F      		lsl r24
10578
 10815 5f1a 991F      		rol r25
10579
 10816 5f1c EE89      		ldd r30,Y+22
10580
 10817 5f1e FF89      		ldd r31,Y+23
10581
 10818 5f20 8E17      		cp r24,r30
10582
 10819 5f22 9F07      		cpc r25,r31
10583
 10820 5f24 04F4      		brge .L916
10584
 10821 5f26 FD89      		ldd r31,Y+21
10585
 10822 5f28 8F2F      		mov r24,r31
10586
 10823 5f2a 9927      		clr r25
10587
 10824 5f2c 880F      		lsl r24
10588
 10825 5f2e 991F      		rol r25
10589
 10826 5f30 880F      		lsl r24
10590
 10827 5f32 991F      		rol r25
10591
 10828 5f34 2E89      		ldd r18,Y+22
10592
 10829 5f36 3F89      		ldd r19,Y+23
10593
 10830 5f38 2817      		cp r18,r24
10594
 10831 5f3a 3907      		cpc r19,r25
10595
 10832 5f3c 04F0      		brlt .L878
10596
 10833               	.L916:
10597
 10834 5f3e 9F8B      		std Y+23,r25
10598
 10835 5f40 8E8B      		std Y+22,r24
10599
 10836               	.L878:
10600
 10837 5f42 8E89      		ldd r24,Y+22
10601
 10838 5f44 9F89      		ldd r25,Y+23
10602
 10839 5f46 97FD      		sbrc r25,7
10603
 10840 5f48 0396      		adiw r24,3
10604
 10841               	.L880:
10605
 10842 5f4a 9595      		asr r25
10606
 10843 5f4c 8795      		ror r24
10607
 10844 5f4e 9595      		asr r25
10608
 10845 5f50 8795      		ror r24
10609
 10846 5f52 F401      		movw r30,r8
10610
 10847 5f54 8183      		std Z+1,r24
10611
 10848 5f56 880F      		lsl r24
10612
 10849 5f58 991F      		rol r25
10613
 10850 5f5a 880F      		lsl r24
10614
 10851 5f5c 991F      		rol r25
10615
 10852 5f5e 2E89      		ldd r18,Y+22
10616
 10853 5f60 3F89      		ldd r19,Y+23
10617
 10854 5f62 281B      		sub r18,r24
10618
 10855 5f64 390B      		sbc r19,r25
10619
 10856 5f66 C901      		movw r24,r18
10620
 10857 5f68 880F      		lsl r24
10621
 10858 5f6a 8283      		std Z+2,r24
10622
 10859 5f6c EE89      		ldd r30,Y+22
10623
 10860 5f6e FF89      		ldd r31,Y+23
10624
 10861 5f70 D301      		movw r26,r6
10625
 10862 5f72 ED93      		st X+,r30
10626
 10863 5f74 FC93      		st X,r31
10627
 10864 5f76 00C0      		rjmp .L851
10628
 10865               	.L852:
10629
 10866 5f78 F401      		movw r30,r8
10630
 10867 5f7a 1182      		std Z+1,__zero_reg__
10631
 10868 5f7c 1282      		std Z+2,__zero_reg__
10632
 10869               	.L851:
10633
 10870 5f7e 4A94      		dec r4
10634
 10871 5f80 22E0      		ldi r18,lo8(2)
10635
 10872 5f82 30E0      		ldi r19,hi8(2)
10636
 10873 5f84 620E      		add r6,r18
10637
 10874 5f86 731E      		adc r7,r19
10638
 10875 5f88 44E0      		ldi r20,lo8(4)
10639
 10876 5f8a 50E0      		ldi r21,hi8(4)
10640
 10877 5f8c A40E      		add r10,r20
10641
 10878 5f8e B51E      		adc r11,r21
10642
 10879 5f90 68E0      		ldi r22,lo8(8)
10643
 10880 5f92 70E0      		ldi r23,hi8(8)
10644
 10881 5f94 860E      		add r8,r22
10645
 10882 5f96 971E      		adc r9,r23
10646
 10883 5f98 47FE      		sbrs r4,7
10647
 10884 5f9a 00C0      		rjmp .L883
10648
 10885               	/* epilogue: frame size=23 */
10649
 10886 5f9c E2E1      		ldi r30,18
10650
 10887 5f9e C95E      		subi r28,-23
10651
 10888 5fa0 0C94 0000 		jmp __epilogue_restores__+0
10652
 10889               	/* epilogue end (size=4) */
10653
 10890               	/* function MotorRegler size 8305 (8295) */
10654
 10892               		.comm TrimNick,2,1
10655
 10893               		.comm TrimRoll,2,1
10656
 10894               		.comm ErsatzKompass,4,1
10657
 10895               		.comm ErsatzKompassInGrad,2,1
10658
 10896               		.comm MesswertNick,2,1
10659
 10897               		.comm MesswertRoll,2,1
10660
 10898               		.comm MesswertGier,2,1
10661
 10899               		.comm Mittelwert_AccNick,2,1
10662
 10900               		.comm Mittelwert_AccRoll,2,1
10663
 10901               		.comm NaviAccNick,2,1
10664
 10902               		.comm NaviAccRoll,2,1
10665
 10903               		.comm h,1,1
10666
 10904               		.comm m,1,1
10667
 10905               		.comm s,1,1
10668
 10906               		.comm DiffNick,2,1
10669
 10907               		.comm DiffRoll,2,1
10670
 10908               		.comm Parameter_Servo3,1,1
10671
 10909               		.comm Parameter_Servo4,1,1
10672
 10910               		.comm Parameter_Servo5,1,1
10673
 10911               		.comm Parameter_J16Bitmask,1,1
10674
 10912               		.comm Parameter_J16Timing,1,1
10675
 10913               		.comm Parameter_J17Bitmask,1,1
10676
 10914               		.comm Parameter_J17Timing,1,1
10677
 10915               		.comm Parameter_GlobalConfig,1,1
10678
 10916               		.comm Parameter_ExtraConfig,1,1
10679
 10917               		.comm MesswertGierBias,2,1
10680
 10918               		.comm RohMesswertNick,2,1
10681
 10919               		.comm RohMesswertRoll,2,1
10682
 10920               		.comm MittelIntegralNick,4,1
10683
 10921               		.comm MittelIntegralRoll,4,1
10684
 10922               		.comm MittelIntegralNick2,4,1
10685
 10923               		.comm MittelIntegralRoll2,4,1
10686
 10924               		.comm MAX_GAS,1,1
10687
 10925               		.comm MIN_GAS,1,1
10688
 10926               		.comm GyroFaktor,1,1
10689
 10927               		.comm GyroFaktorGier,1,1
10690
 10928               		.comm IntegralFaktor,1,1
10691
 10929               		.comm IntegralFaktorGier,1,1
10692
 10930               		.comm Parameter_NaviGpsModeControl,1,1
10693
 10931               		.comm Parameter_NaviGpsGain,1,1
10694
 10932               		.comm Parameter_NaviGpsP,1,1
10695
 10933               		.comm Parameter_NaviGpsI,1,1
10696
 10934               		.comm Parameter_NaviGpsD,1,1
10697
 10935               		.comm Parameter_NaviGpsACC,1,1
10698
 10936               		.comm Parameter_NaviOperatingRadius,1,1
10699
 10937               		.comm Parameter_NaviWindCorrection,1,1
10700
 10938               		.comm Parameter_NaviSpeedCompensation,1,1
10701
 10939               		.comm Parameter_ExternalControl,1,1
10702
 10940               		.comm Parameter_MaximumAltitude,1,1
10703
 10941               		.comm KopplungsteilNickRoll,2,1
10704
 10942               		.comm KopplungsteilRollNick,2,1
10705
 10943               		.comm tmp_motorwert,24,1
10706
 10944               	/* File "fc.c": code 12409 = 0x3079 (12348), prologues  31, epilogues  30 */
10707
DEFINED SYMBOLS
10708
                            *ABS*:00000000 fc.c
10709
  C:\Temp/ccjSs5Dt.s:3      *ABS*:0000003f __SREG__
10710
  C:\Temp/ccjSs5Dt.s:4      *ABS*:0000003e __SP_H__
10711
  C:\Temp/ccjSs5Dt.s:5      *ABS*:0000003d __SP_L__
10712
  C:\Temp/ccjSs5Dt.s:6      *ABS*:00000000 __tmp_reg__
10713
  C:\Temp/ccjSs5Dt.s:7      *ABS*:00000001 __zero_reg__
10714
  C:\Temp/ccjSs5Dt.s:15     .bss:00000000 GasIsZeroCnt
10715
  C:\Temp/ccjSs5Dt.s:21     .bss:00000002 HooverGasEmergencyPercent
10716
  C:\Temp/ccjSs5Dt.s:27     .data:00000000 VarioCharacter
10717
  C:\Temp/ccjSs5Dt.s:32     .data:00000001 GIER_GRAD_FAKTOR
10718
  C:\Temp/ccjSs5Dt.s:39     .bss:00000004 FC_StatusFlags2
10719
  C:\Temp/ccjSs5Dt.s:45     .bss:00000005 FC_StatusFlags
10720
  C:\Temp/ccjSs5Dt.s:51     .bss:00000006 modell_fliegt
10721
  C:\Temp/ccjSs5Dt.s:57     .bss:00000008 MaxStickRoll
10722
  C:\Temp/ccjSs5Dt.s:63     .bss:0000000a MaxStickNick
10723
  C:\Temp/ccjSs5Dt.s:69     .data:00000005 ExternHoehenValue
10724
  C:\Temp/ccjSs5Dt.s:76     .bss:0000000c ExternStickGier
10725
  C:\Temp/ccjSs5Dt.s:82     .bss:0000000e ExternStickRoll
10726
  C:\Temp/ccjSs5Dt.s:88     .bss:00000010 ExternStickNick
10727
  C:\Temp/ccjSs5Dt.s:94     .data:00000007 sintab
10728
  C:\Temp/ccjSs5Dt.s:131    .bss:00000012 CareFree
10729
  C:\Temp/ccjSs5Dt.s:137    .data:00000026 Parameter_DynamicStability
10730
  C:\Temp/ccjSs5Dt.s:142    .data:00000027 Parameter_CouplingYawCorrection
10731
  C:\Temp/ccjSs5Dt.s:147    .data:00000028 Parameter_AchsKopplung2
10732
  C:\Temp/ccjSs5Dt.s:152    .data:00000029 Parameter_AchsKopplung1
10733
  C:\Temp/ccjSs5Dt.s:157    .data:0000002a Parameter_LoopGasLimit
10734
  C:\Temp/ccjSs5Dt.s:162    .data:0000002b Parameter_ServoRollControl
10735
  C:\Temp/ccjSs5Dt.s:167    .data:0000002c Parameter_ServoNickControl
10736
  C:\Temp/ccjSs5Dt.s:174    .bss:00000013 Parameter_UserParam8
10737
  C:\Temp/ccjSs5Dt.s:180    .bss:00000014 Parameter_UserParam7
10738
  C:\Temp/ccjSs5Dt.s:186    .bss:00000015 Parameter_UserParam6
10739
  C:\Temp/ccjSs5Dt.s:192    .bss:00000016 Parameter_UserParam5
10740
  C:\Temp/ccjSs5Dt.s:198    .bss:00000017 Parameter_UserParam4
10741
  C:\Temp/ccjSs5Dt.s:204    .bss:00000018 Parameter_UserParam3
10742
  C:\Temp/ccjSs5Dt.s:210    .bss:00000019 Parameter_UserParam2
10743
  C:\Temp/ccjSs5Dt.s:216    .bss:0000001a Parameter_UserParam1
10744
  C:\Temp/ccjSs5Dt.s:222    .data:0000002d Parameter_I_Faktor
10745
  C:\Temp/ccjSs5Dt.s:227    .data:0000002e Parameter_Gier_P
10746
  C:\Temp/ccjSs5Dt.s:232    .data:0000002f Parameter_Gyro_Gier_I
10747
  C:\Temp/ccjSs5Dt.s:237    .data:00000030 Parameter_Gyro_Gier_P
10748
  C:\Temp/ccjSs5Dt.s:242    .data:00000031 Parameter_Gyro_I
10749
  C:\Temp/ccjSs5Dt.s:247    .data:00000032 Parameter_Gyro_P
10750
  C:\Temp/ccjSs5Dt.s:252    .data:00000033 Parameter_Gyro_D
10751
  C:\Temp/ccjSs5Dt.s:257    .data:00000034 Parameter_Hoehe_GPS_Z
10752
  C:\Temp/ccjSs5Dt.s:262    .data:00000035 Parameter_KompassWirkung
10753
  C:\Temp/ccjSs5Dt.s:267    .data:00000036 Parameter_Hoehe_ACC_Wirkung
10754
  C:\Temp/ccjSs5Dt.s:272    .data:00000037 Parameter_Hoehe_P
10755
  C:\Temp/ccjSs5Dt.s:277    .data:00000038 Parameter_HoehenSchalter
10756
  C:\Temp/ccjSs5Dt.s:282    .data:00000039 Parameter_Luftdruck_D
10757
  C:\Temp/ccjSs5Dt.s:289    .bss:0000001b Looping_Oben
10758
  C:\Temp/ccjSs5Dt.s:295    .bss:0000001c Looping_Unten
10759
  C:\Temp/ccjSs5Dt.s:301    .bss:0000001d Looping_Rechts
10760
  C:\Temp/ccjSs5Dt.s:307    .bss:0000001e Looping_Links
10761
  C:\Temp/ccjSs5Dt.s:313    .bss:0000001f Looping_Roll
10762
  C:\Temp/ccjSs5Dt.s:319    .bss:00000020 Looping_Nick
10763
  C:\Temp/ccjSs5Dt.s:325    .data:0000003a Ki
10764
  C:\Temp/ccjSs5Dt.s:332    .bss:00000021 HoverGas
10765
  C:\Temp/ccjSs5Dt.s:338    .bss:00000023 LageKorrekturNick
10766
  C:\Temp/ccjSs5Dt.s:344    .bss:00000025 LageKorrekturRoll
10767
  C:\Temp/ccjSs5Dt.s:350    .bss:00000027 NeueKompassRichtungMerken
10768
  C:\Temp/ccjSs5Dt.s:356    .bss:00000028 CalibrationDone
10769
  C:\Temp/ccjSs5Dt.s:362    .bss:00000029 CompassGierSetpoint
10770
  C:\Temp/ccjSs5Dt.s:368    .bss:0000002b WaypointTrimming
10771
  C:\Temp/ccjSs5Dt.s:374    .data:0000003c carefree_old
10772
  C:\Temp/ccjSs5Dt.s:381    .bss:0000002c FromNC_AltitudeSpeed
10773
  C:\Temp/ccjSs5Dt.s:387    .bss:0000002d FromNC_AltitudeSetpoint
10774
  C:\Temp/ccjSs5Dt.s:393    .bss:00000031 AltitudeSetpointTrimming
10775
  C:\Temp/ccjSs5Dt.s:399    .bss:00000033 SollHoehe
10776
  C:\Temp/ccjSs5Dt.s:405    .bss:00000037 HoehenWert
10777
  C:\Temp/ccjSs5Dt.s:411    .bss:0000003b StartTrigger
10778
  C:\Temp/ccjSs5Dt.s:417    .bss:0000003c MotorenEin
10779
  C:\Temp/ccjSs5Dt.s:423    .bss:0000003d SenderOkay
10780
  C:\Temp/ccjSs5Dt.s:429    .bss:0000003e Poti
10781
  C:\Temp/ccjSs5Dt.s:435    .bss:00000047 StickGas
10782
  C:\Temp/ccjSs5Dt.s:441    .bss:00000049 StickGier
10783
  C:\Temp/ccjSs5Dt.s:447    .bss:0000004b StickRoll
10784
  C:\Temp/ccjSs5Dt.s:453    .bss:0000004d StickNick
10785
  C:\Temp/ccjSs5Dt.s:459    .data:0000003d HoverGasMax
10786
  C:\Temp/ccjSs5Dt.s:466    .bss:0000004f HoverGasMin
10787
  C:\Temp/ccjSs5Dt.s:472    .data:0000003f StickGasHover
10788
  C:\Temp/ccjSs5Dt.s:479    .bss:00000051 GierGyroFehler
10789
  C:\Temp/ccjSs5Dt.s:485    .data:00000041 Umschlag180Roll
10790
  C:\Temp/ccjSs5Dt.s:490    .data:00000045 Umschlag180Nick
10791
  C:\Temp/ccjSs5Dt.s:497    .bss:00000053 TrichterFlug
10792
  C:\Temp/ccjSs5Dt.s:503    .bss:00000054 HoehenReglerAktiv
10793
  C:\Temp/ccjSs5Dt.s:509    .data:00000049 KompassSignalSchlecht
10794
  C:\Temp/ccjSs5Dt.s:514    .data:0000004b KompassFusion
10795
  C:\Temp/ccjSs5Dt.s:519    .data:0000004c CalculateCompassTimer
10796
  C:\Temp/ccjSs5Dt.s:526    .bss:00000055 KompassSollWert
10797
  C:\Temp/ccjSs5Dt.s:532    .data:0000004d KompassValue
10798
  C:\Temp/ccjSs5Dt.s:539    .bss:00000057 Mess_Integral_Hoch
10799
  C:\Temp/ccjSs5Dt.s:545    .bss:0000005b SummeRoll
10800
  C:\Temp/ccjSs5Dt.s:551    .bss:0000005f SummeNick
10801
  C:\Temp/ccjSs5Dt.s:557    .bss:00000063 Mess_Integral_Gier2
10802
  C:\Temp/ccjSs5Dt.s:563    .bss:00000067 Mess_Integral_Gier
10803
  C:\Temp/ccjSs5Dt.s:569    .bss:0000006b Mess_IntegralRoll2
10804
  C:\Temp/ccjSs5Dt.s:575    .bss:0000006f Mess_IntegralRoll
10805
  C:\Temp/ccjSs5Dt.s:581    .bss:00000073 Mess_IntegralNick2
10806
  C:\Temp/ccjSs5Dt.s:587    .bss:00000077 Mess_IntegralNick
10807
  C:\Temp/ccjSs5Dt.s:593    .bss:0000007b Integral_Gier
10808
  C:\Temp/ccjSs5Dt.s:599    .bss:0000007f IntegralAccZ
10809
  C:\Temp/ccjSs5Dt.s:605    .bss:00000083 IntegralAccRoll
10810
  C:\Temp/ccjSs5Dt.s:611    .bss:00000087 IntegralAccNick
10811
  C:\Temp/ccjSs5Dt.s:617    .bss:0000008b IntegralRoll2
10812
  C:\Temp/ccjSs5Dt.s:623    .bss:0000008f IntegralRoll
10813
  C:\Temp/ccjSs5Dt.s:629    .bss:00000093 IntegralNick2
10814
  C:\Temp/ccjSs5Dt.s:635    .bss:00000097 IntegralNick
10815
  C:\Temp/ccjSs5Dt.s:641    .bss:0000009b ControlHeading
10816
  C:\Temp/ccjSs5Dt.s:647    .bss:0000009c NeutralAccZ
10817
  C:\Temp/ccjSs5Dt.s:653    .bss:0000009e NaviCntAcc
10818
  C:\Temp/ccjSs5Dt.s:659    .bss:000000a0 NeutralAccY
10819
  C:\Temp/ccjSs5Dt.s:665    .bss:000000a2 NeutralAccX
10820
  C:\Temp/ccjSs5Dt.s:671    .bss:000000a4 StartNeutralNick
10821
  C:\Temp/ccjSs5Dt.s:677    .bss:000000a6 StartNeutralRoll
10822
  C:\Temp/ccjSs5Dt.s:683    .bss:000000a8 AdNeutralGier
10823
  C:\Temp/ccjSs5Dt.s:689    .bss:000000aa AdNeutralRoll
10824
  C:\Temp/ccjSs5Dt.s:695    .bss:000000ac AdNeutralNick
10825
  C:\Temp/ccjSs5Dt.s:701    .bss:000000ae BaroExpandActive
10826
  C:\Temp/ccjSs5Dt.s:706    .text:00000000 CopyDebugValues
10827
                            *COM*:00000002 Mittelwert_AccNick
10828
                            *COM*:00000002 Mittelwert_AccRoll
10829
                            *COM*:00000004 ErsatzKompass
10830
  C:\Temp/ccjSs5Dt.s:923    .text:000002a0 Piep
10831
  C:\Temp/ccjSs5Dt.s:997    .text:00000326 CalibrierMittelwert
10832
                            *COM*:00000002 MesswertNick
10833
                            *COM*:00000002 MesswertRoll
10834
                            *COM*:00000002 MesswertGier
10835
  C:\Temp/ccjSs5Dt.s:1139   .progmem.data:00000000 __c.35
10836
  C:\Temp/ccjSs5Dt.s:1144   .text:00000468 SetNeutral
10837
                             .bss:000000b0 tmpl.27
10838
  C:\Temp/ccjSs5Dt.s:1652   .bss:000000b4 tmpl2.28
10839
  C:\Temp/ccjSs5Dt.s:1653   .bss:000000b8 tmpl3.29
10840
  C:\Temp/ccjSs5Dt.s:1654   .bss:000000bc tmpl4.30
10841
  C:\Temp/ccjSs5Dt.s:1655   .bss:000000c0 oldNick.31
10842
  C:\Temp/ccjSs5Dt.s:1656   .bss:000000c2 oldRoll.32
10843
  C:\Temp/ccjSs5Dt.s:1657   .bss:000000c4 d2Roll.33
10844
  C:\Temp/ccjSs5Dt.s:1658   .bss:000000c6 d2Nick.34
10845
  C:\Temp/ccjSs5Dt.s:1662   .text:000009d4 Mittelwert
10846
                            *COM*:00000002 RohMesswertNick
10847
                            *COM*:00000002 RohMesswertRoll
10848
                            *COM*:00000002 NaviAccNick
10849
                            *COM*:00000002 NaviAccRoll
10850
                            *COM*:00000001 Parameter_GlobalConfig
10851
                            *COM*:00000002 KopplungsteilNickRoll
10852
                            *COM*:00000002 KopplungsteilRollNick
10853
                            *COM*:00000002 TrimRoll
10854
                            *COM*:00000002 TrimNick
10855
  C:\Temp/ccjSs5Dt.s:3227   .text:00001938 SendMotorData
10856
  C:\Temp/ccjSs5Dt.s:3287   .text:000019b2 ParameterZuordnung
10857
                            *COM*:00000001 Parameter_J16Timing
10858
                            *COM*:00000001 Parameter_J17Timing
10859
                            *COM*:00000001 Parameter_Servo3
10860
                            *COM*:00000001 Parameter_Servo4
10861
                            *COM*:00000001 Parameter_Servo5
10862
                            *COM*:00000001 Parameter_MaximumAltitude
10863
                            *COM*:00000001 Parameter_ExtraConfig
10864
                            *COM*:00000001 Parameter_ExternalControl
10865
                            *COM*:00000001 MAX_GAS
10866
                            *COM*:00000001 MIN_GAS
10867
  C:\Temp/ccjSs5Dt.s:1659   .bss:000000c8 sollGier.0
10868
  C:\Temp/ccjSs5Dt.s:4006   .bss:000000cc tmp_long.1
10869
  C:\Temp/ccjSs5Dt.s:4007   .bss:000000d0 tmp_long2.2
10870
  C:\Temp/ccjSs5Dt.s:4008   .bss:000000d4 IntegralFehlerNick.3
10871
  C:\Temp/ccjSs5Dt.s:4009   .bss:000000d8 IntegralFehlerRoll.4
10872
  C:\Temp/ccjSs5Dt.s:4010   .bss:000000dc RcLostTimer.5
10873
  C:\Temp/ccjSs5Dt.s:4011   .bss:000000de delay_neutral.6
10874
  C:\Temp/ccjSs5Dt.s:4012   .bss:000000df delay_einschalten.7
10875
  C:\Temp/ccjSs5Dt.s:4013   .bss:000000e0 delay_ausschalten.8
10876
  C:\Temp/ccjSs5Dt.s:4014   .bss:000000e1 move_safety_switch.9
10877
  C:\Temp/ccjSs5Dt.s:4015   .bss:000000e2 ausgleichNick.10
10878
  C:\Temp/ccjSs5Dt.s:4016   .bss:000000e6 ausgleichRoll.11
10879
  C:\Temp/ccjSs5Dt.s:4017   .bss:000000ea stick_nick.12
10880
  C:\Temp/ccjSs5Dt.s:4018   .bss:000000ec stick_roll.13
10881
  C:\Temp/ccjSs5Dt.s:4019   .bss:000000ee cnt.14
10882
  C:\Temp/ccjSs5Dt.s:4020   .bss:000000f0 last_n_p.15
10883
  C:\Temp/ccjSs5Dt.s:4021   .bss:000000f1 last_n_n.16
10884
  C:\Temp/ccjSs5Dt.s:4022   .bss:000000f2 last_r_p.17
10885
  C:\Temp/ccjSs5Dt.s:4023   .bss:000000f3 last_r_n.18
10886
  C:\Temp/ccjSs5Dt.s:4024   .bss:000000f4 MittelIntegralNick_Alt.19
10887
  C:\Temp/ccjSs5Dt.s:4025   .bss:000000f8 MittelIntegralRoll_Alt.20
10888
  C:\Temp/ccjSs5Dt.s:4026   .bss:000000fc HeightTrimming.21
10889
  C:\Temp/ccjSs5Dt.s:4027   .bss:000000fe FilterHCGas.22
10890
  C:\Temp/ccjSs5Dt.s:4028   .bss:00000100 HoverGasFilter.23
10891
  C:\Temp/ccjSs5Dt.s:4033   .data:0000004f delay.24
10892
  C:\Temp/ccjSs5Dt.s:4029   .bss:00000104 BaroAtUpperLimit.25
10893
  C:\Temp/ccjSs5Dt.s:4035   .bss:00000105 BaroAtLowerLimit.26
10894
  C:\Temp/ccjSs5Dt.s:4040   .text:00001fb6 MotorRegler
10895
                            *COM*:00000001 GyroFaktor
10896
                            *COM*:00000001 IntegralFaktor
10897
                            *COM*:00000001 GyroFaktorGier
10898
                            *COM*:00000001 IntegralFaktorGier
10899
                            *COM*:00000004 MittelIntegralNick
10900
                            *COM*:00000004 MittelIntegralRoll
10901
                            *COM*:00000004 MittelIntegralNick2
10902
                            *COM*:00000004 MittelIntegralRoll2
10903
                            *COM*:00000002 ErsatzKompassInGrad
10904
                            *COM*:00000002 DiffNick
10905
                            *COM*:00000002 DiffRoll
10906
                            *COM*:00000018 tmp_motorwert
10907
                            *COM*:00000001 h
10908
                            *COM*:00000001 m
10909
                            *COM*:00000001 s
10910
                            *COM*:00000001 Parameter_J16Bitmask
10911
                            *COM*:00000001 Parameter_J17Bitmask
10912
                            *COM*:00000002 MesswertGierBias
10913
                            *COM*:00000001 Parameter_NaviGpsModeControl
10914
                            *COM*:00000001 Parameter_NaviGpsGain
10915
                            *COM*:00000001 Parameter_NaviGpsP
10916
                            *COM*:00000001 Parameter_NaviGpsI
10917
                            *COM*:00000001 Parameter_NaviGpsD
10918
                            *COM*:00000001 Parameter_NaviGpsACC
10919
                            *COM*:00000001 Parameter_NaviOperatingRadius
10920
                            *COM*:00000001 Parameter_NaviWindCorrection
10921
                            *COM*:00000001 Parameter_NaviSpeedCompensation
10922
 
10923
UNDEFINED SYMBOLS
10924
__do_copy_data
10925
__do_clear_bss
10926
EE_Parameter
10927
__divmodsi4
10928
DebugOut
10929
Capacity
10930
UBat
10931
Motor
10932
AdWertGier
10933
ServoNickValue
10934
AdWertAccHoch
10935
GPS_Nick
10936
GPS_Roll
10937
VersionInfo
10938
PlatinenVersion
10939
beeptime
10940
UpdateMotor
10941
LIBFC_Polling
10942
SucheGyroOffset
10943
AdWertNick
10944
AdWertRoll
10945
AdWertAccNick
10946
AdWertAccRoll
10947
PPM_in
10948
__mulsi3
10949
__prologue_saves__
10950
ExpandBaro
10951
Delay_ms_Mess
10952
MessLuftdruck
10953
SucheLuftruckOffset
10954
__divmodhi4
10955
Aktuell_az
10956
SetParamWord
10957
GetParamWord
10958
uart_putchar
10959
_printf_P
10960
Luftdruck
10961
StartLuftdruck
10962
VarioMeter
10963
LED_Init
10964
FromNaviCtrl_Value
10965
ServoActive
10966
NickServoValue
10967
LIBFC_HoTT_Clear
10968
__epilogue_restores__
10969
AdWertNickFilter
10970
AdWertRollFilter
10971
AdReady
10972
HiResNick
10973
HiResRoll
10974
MotorTest
10975
PC_MotortestActive
10976
I2C_TransferActive
10977
motor_write
10978
twi_state
10979
BLFlags
10980
NC_To_FC_MaxAltitude
10981
SpeakHoTT
10982
FromNaviCtrl
10983
BeepMuster
10984
PPM_diff
10985
SetActiveParamSet
10986
WinkelOut
10987
GetActiveParamSet
10988
ParamSet_ReadFromEEProm
10989
LipoDetection
10990
LIBFC_ReceiverInit
10991
NC_ErrorCode
10992
GPSInfo
10993
NewPpmData
10994
FromNC_Rotate_C
10995
FromNC_Rotate_S
10996
GPS_Aid_StickMultiplikator
10997
__floatsisf
10998
__addsf3
10999
__fixunssfsi
11000
ExternControl
11001
ZaehlMessungen
11002
BattLowVoltageWarning
11003
__udivmodhi4
11004
DruckOffsetSetting
11005
SummenHoehe
11006
ihypot
11007
c_cos_8192
11008
__udivmodqi4
11009
NC_To_FC_Flags
11010
MissingMotor
11011
Mixer