WebSVN - FlightCtrl - Blame - Rev 2286 - /branches/v0.90d_Ernstl

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

Subversion Repositories FlightCtrl

(root)/branches/v0.90d_Ernstl_6-Motoren+Sexpander/fc.lst - Rev 2286