WebSVN - FlightCtrl - Blame - Rev 2306 - /branches/v0.90d_Ernstl

Rev	Author	Line No.	Line
2287	-	1	1 .file "fc.c"
		2	2 .arch atmega1284p
		3	3 __SREG__ = 0x3f
		4	4 __SP_H__ = 0x3e
		5	5 __SP_L__ = 0x3d
		6	6 __tmp_reg__ = 0
		7	7 __zero_reg__ = 1
		8	8 .global __do_copy_data
		9	9 .global __do_clear_bss
		10	10 .global GasIsZeroCnt
		11	11 .global GasIsZeroCnt
		12	12 .section .bss
		13	15 GasIsZeroCnt:
		14	16 0000 0000 .skip 2,0
		15	17 .global HooverGasEmergencyPercent
		16	18 .global HooverGasEmergencyPercent
		17	21 HooverGasEmergencyPercent:
		18	22 0002 0000 .skip 2,0
		19	23 .global VarioCharacter
		20	24 .data
		21	27 VarioCharacter:
		22	28 0000 20 .byte 32
		23	29 .global GIER_GRAD_FAKTOR
		24	32 GIER_GRAD_FAKTOR:
		25	33 0001 0B05 0000 .long 1291
		26	34 .global FC_StatusFlags2
		27	35 .global FC_StatusFlags2
		28	36 .section .bss
		29	39 FC_StatusFlags2:
		30	40 0004 00 .skip 1,0
		31	41 .global FC_StatusFlags
		32	42 .global FC_StatusFlags
		33	45 FC_StatusFlags:
		34	46 0005 00 .skip 1,0
		35	47 .global modell_fliegt
		36	48 .global modell_fliegt
		37	51 modell_fliegt:
		38	52 0006 0000 .skip 2,0
		39	53 .global MaxStickRoll
		40	54 .global MaxStickRoll
		41	57 MaxStickRoll:
		42	58 0008 0000 .skip 2,0
		43	59 .global MaxStickNick
		44	60 .global MaxStickNick
		45	63 MaxStickNick:
		46	64 000a 0000 .skip 2,0
		47	65 .global ExternHoehenValue
		48	66 .data
		49	69 ExternHoehenValue:
		50	70 0005 ECFF .word -20
		51	71 .global ExternStickGier
		52	72 .global ExternStickGier
		53	73 .section .bss
		54	76 ExternStickGier:
		55	77 000c 0000 .skip 2,0
		56	78 .global ExternStickRoll
		57	79 .global ExternStickRoll
		58	82 ExternStickRoll:
		59	83 000e 0000 .skip 2,0
		60	84 .global ExternStickNick
		61	85 .global ExternStickNick
		62	88 ExternStickNick:
		63	89 0010 0000 .skip 2,0
		64	90 .global sintab
		65	91 .data
		66	94 sintab:
		67	95 0007 00 .byte 0
		68	96 0008 02 .byte 2
		69	97 0009 04 .byte 4
		70	98 000a 06 .byte 6
		71	99 000b 07 .byte 7
		72	100 000c 08 .byte 8
		73	101 000d 08 .byte 8
		74	102 000e 08 .byte 8
		75	103 000f 07 .byte 7
		76	104 0010 06 .byte 6
		77	105 0011 04 .byte 4
		78	106 0012 02 .byte 2
		79	107 0013 00 .byte 0
		80	108 0014 FE .byte -2
		81	109 0015 FC .byte -4
		82	110 0016 FA .byte -6
		83	111 0017 F9 .byte -7
		84	112 0018 F8 .byte -8
		85	113 0019 F8 .byte -8
		86	114 001a F8 .byte -8
		87	115 001b F9 .byte -7
		88	116 001c FA .byte -6
		89	117 001d FC .byte -4
		90	118 001e FE .byte -2
		91	119 001f 00 .byte 0
		92	120 0020 02 .byte 2
		93	121 0021 04 .byte 4
		94	122 0022 06 .byte 6
		95	123 0023 07 .byte 7
		96	124 0024 08 .byte 8
		97	125 0025 08 .byte 8
		98	126 .global CareFree
		99	127 .global CareFree
		100	128 .section .bss
		101	131 CareFree:
		102	132 0012 00 .skip 1,0
		103	133 .global Parameter_DynamicStability
		104	134 .data
		105	137 Parameter_DynamicStability:
		106	138 0026 64 .byte 100
		107	139 .global Parameter_CouplingYawCorrection
		108	142 Parameter_CouplingYawCorrection:
		109	143 0027 40 .byte 64
		110	144 .global Parameter_AchsKopplung2
		111	147 Parameter_AchsKopplung2:
		112	148 0028 41 .byte 65
		113	149 .global Parameter_AchsKopplung1
		114	152 Parameter_AchsKopplung1:
		115	153 0029 5A .byte 90
		116	154 .global Parameter_LoopGasLimit
		117	157 Parameter_LoopGasLimit:
		118	158 002a 46 .byte 70
		119	159 .global Parameter_ServoRollControl
		120	162 Parameter_ServoRollControl:
		121	163 002b 64 .byte 100
		122	164 .global Parameter_ServoNickControl
		123	167 Parameter_ServoNickControl:
		124	168 002c 64 .byte 100
		125	169 .global Parameter_UserParam8
		126	170 .global Parameter_UserParam8
		127	171 .section .bss
		128	174 Parameter_UserParam8:
		129	175 0013 00 .skip 1,0
		130	176 .global Parameter_UserParam7
		131	177 .global Parameter_UserParam7
		132	180 Parameter_UserParam7:
		133	181 0014 00 .skip 1,0
		134	182 .global Parameter_UserParam6
		135	183 .global Parameter_UserParam6
		136	186 Parameter_UserParam6:
		137	187 0015 00 .skip 1,0
		138	188 .global Parameter_UserParam5
		139	189 .global Parameter_UserParam5
		140	192 Parameter_UserParam5:
		141	193 0016 00 .skip 1,0
		142	194 .global Parameter_UserParam4
		143	195 .global Parameter_UserParam4
		144	198 Parameter_UserParam4:
		145	199 0017 00 .skip 1,0
		146	200 .global Parameter_UserParam3
		147	201 .global Parameter_UserParam3
		148	204 Parameter_UserParam3:
		149	205 0018 00 .skip 1,0
		150	206 .global Parameter_UserParam2
		151	207 .global Parameter_UserParam2
		152	210 Parameter_UserParam2:
		153	211 0019 00 .skip 1,0
		154	212 .global Parameter_UserParam1
		155	213 .global Parameter_UserParam1
		156	216 Parameter_UserParam1:
		157	217 001a 00 .skip 1,0
		158	218 .global Parameter_I_Faktor
		159	219 .data
		160	222 Parameter_I_Faktor:
		161	223 002d 0A .byte 10
		162	224 .global Parameter_Gier_P
		163	227 Parameter_Gier_P:
		164	228 002e 02 .byte 2
		165	229 .global Parameter_Gyro_Gier_I
		166	232 Parameter_Gyro_Gier_I:
		167	233 002f 96 .byte -106
		168	234 .global Parameter_Gyro_Gier_P
		169	237 Parameter_Gyro_Gier_P:
		170	238 0030 96 .byte -106
		171	239 .global Parameter_Gyro_I
		172	242 Parameter_Gyro_I:
		173	243 0031 96 .byte -106
		174	244 .global Parameter_Gyro_P
		175	247 Parameter_Gyro_P:
		176	248 0032 96 .byte -106
		177	249 .global Parameter_Gyro_D
		178	252 Parameter_Gyro_D:
		179	253 0033 08 .byte 8
		180	254 .global Parameter_Hoehe_GPS_Z
		181	257 Parameter_Hoehe_GPS_Z:
		182	258 0034 40 .byte 64
		183	259 .global Parameter_KompassWirkung
		184	262 Parameter_KompassWirkung:
		185	263 0035 40 .byte 64
		186	264 .global Parameter_Hoehe_ACC_Wirkung
		187	267 Parameter_Hoehe_ACC_Wirkung:
		188	268 0036 3A .byte 58
		189	269 .global Parameter_Hoehe_P
		190	272 Parameter_Hoehe_P:
		191	273 0037 10 .byte 16
		192	274 .global Parameter_HoehenSchalter
		193	277 Parameter_HoehenSchalter:
		194	278 0038 FB .byte -5
		195	279 .global Parameter_Luftdruck_D
		196	282 Parameter_Luftdruck_D:
		197	283 0039 30 .byte 48
		198	284 .global Looping_Oben
		199	285 .global Looping_Oben
		200	286 .section .bss
		201	289 Looping_Oben:
		202	290 001b 00 .skip 1,0
		203	291 .global Looping_Unten
		204	292 .global Looping_Unten
		205	295 Looping_Unten:
		206	296 001c 00 .skip 1,0
		207	297 .global Looping_Rechts
		208	298 .global Looping_Rechts
		209	301 Looping_Rechts:
		210	302 001d 00 .skip 1,0
		211	303 .global Looping_Links
		212	304 .global Looping_Links
		213	307 Looping_Links:
		214	308 001e 00 .skip 1,0
		215	309 .global Looping_Roll
		216	310 .global Looping_Roll
		217	313 Looping_Roll:
		218	314 001f 00 .skip 1,0
		219	315 .global Looping_Nick
		220	316 .global Looping_Nick
		221	319 Looping_Nick:
		222	320 0020 00 .skip 1,0
		223	321 .global Ki
		224	322 .data
		225	325 Ki:
		226	326 003a 3801 .word 312
		227	327 .global HoverGas
		228	328 .global HoverGas
		229	329 .section .bss
		230	332 HoverGas:
		231	333 0021 0000 .skip 2,0
		232	334 .global LageKorrekturNick
		233	335 .global LageKorrekturNick
		234	338 LageKorrekturNick:
		235	339 0023 0000 .skip 2,0
		236	340 .global LageKorrekturRoll
		237	341 .global LageKorrekturRoll
		238	344 LageKorrekturRoll:
		239	345 0025 0000 .skip 2,0
		240	346 .global NeueKompassRichtungMerken
		241	347 .global NeueKompassRichtungMerken
		242	350 NeueKompassRichtungMerken:
		243	351 0027 00 .skip 1,0
		244	352 .global CalibrationDone
		245	353 .global CalibrationDone
		246	356 CalibrationDone:
		247	357 0028 00 .skip 1,0
		248	358 .global CompassGierSetpoint
		249	359 .global CompassGierSetpoint
		250	362 CompassGierSetpoint:
		251	363 0029 0000 .skip 2,0
		252	364 .global WaypointTrimming
		253	365 .global WaypointTrimming
		254	368 WaypointTrimming:
		255	369 002b 00 .skip 1,0
		256	370 .global carefree_old
		257	371 .data
		258	374 carefree_old:
		259	375 003c 32 .byte 50
		260	376 .global FromNC_AltitudeSpeed
		261	377 .global FromNC_AltitudeSpeed
		262	378 .section .bss
		263	381 FromNC_AltitudeSpeed:
		264	382 002c 00 .skip 1,0
		265	383 .global FromNC_AltitudeSetpoint
		266	384 .global FromNC_AltitudeSetpoint
		267	387 FromNC_AltitudeSetpoint:
		268	388 002d 0000 0000 .skip 4,0
		269	389 .global AltitudeSetpointTrimming
		270	390 .global AltitudeSetpointTrimming
		271	393 AltitudeSetpointTrimming:
		272	394 0031 0000 .skip 2,0
		273	395 .global SollHoehe
		274	396 .global SollHoehe
		275	399 SollHoehe:
		276	400 0033 0000 0000 .skip 4,0
		277	401 .global HoehenWert
		278	402 .global HoehenWert
		279	405 HoehenWert:
		280	406 0037 0000 0000 .skip 4,0
		281	407 .global StartTrigger
		282	408 .global StartTrigger
		283	411 StartTrigger:
		284	412 003b 00 .skip 1,0
		285	413 .global MotorenEin
		286	414 .global MotorenEin
		287	417 MotorenEin:
		288	418 003c 00 .skip 1,0
		289	419 .global SenderOkay
		290	420 .global SenderOkay
		291	423 SenderOkay:
		292	424 003d 00 .skip 1,0
		293	425 .global Poti
		294	426 .global Poti
		295	429 Poti:
		296	430 003e 0000 0000 .skip 9,0
		297	430 0000 0000
		298	430 00
		299	431 .global StickGas
		300	432 .global StickGas
		301	435 StickGas:
		302	436 0047 0000 .skip 2,0
		303	437 .global StickGier
		304	438 .global StickGier
		305	441 StickGier:
		306	442 0049 0000 .skip 2,0
		307	443 .global StickRoll
		308	444 .global StickRoll
		309	447 StickRoll:
		310	448 004b 0000 .skip 2,0
		311	449 .global StickNick
		312	450 .global StickNick
		313	453 StickNick:
		314	454 004d 0000 .skip 2,0
		315	455 .global HoverGasMax
		316	456 .data
		317	459 HoverGasMax:
		318	460 003d FF03 .word 1023
		319	461 .global HoverGasMin
		320	462 .global HoverGasMin
		321	463 .section .bss
		322	466 HoverGasMin:
		323	467 004f 0000 .skip 2,0
		324	468 .global StickGasHover
		325	469 .data
		326	472 StickGasHover:
		327	473 003f 7800 .word 120
		328	474 .global GierGyroFehler
		329	475 .global GierGyroFehler
		330	476 .section .bss
		331	479 GierGyroFehler:
		332	480 0051 0000 .skip 2,0
		333	481 .global Umschlag180Roll
		334	482 .data
		335	485 Umschlag180Roll:
		336	486 0041 90D0 0300 .long 250000
		337	487 .global Umschlag180Nick
		338	490 Umschlag180Nick:
		339	491 0045 90D0 0300 .long 250000
		340	492 .global TrichterFlug
		341	493 .global TrichterFlug
		342	494 .section .bss
		343	497 TrichterFlug:
		344	498 0053 00 .skip 1,0
		345	499 .global HoehenReglerAktiv
		346	500 .global HoehenReglerAktiv
		347	503 HoehenReglerAktiv:
		348	504 0054 00 .skip 1,0
		349	505 .global KompassSignalSchlecht
		350	506 .data
		351	509 KompassSignalSchlecht:
		352	510 0049 3200 .word 50
		353	511 .global KompassFusion
		354	514 KompassFusion:
		355	515 004b 20 .byte 32
		356	516 .global CalculateCompassTimer
		357	519 CalculateCompassTimer:
		358	520 004c 64 .byte 100
		359	521 .global KompassSollWert
		360	522 .global KompassSollWert
		361	523 .section .bss
		362	526 KompassSollWert:
		363	527 0055 0000 .skip 2,0
		364	528 .global KompassValue
		365	529 .data
		366	532 KompassValue:
		367	533 004d FFFF .word -1
		368	534 .global Mess_Integral_Hoch
		369	535 .global Mess_Integral_Hoch
		370	536 .section .bss
		371	539 Mess_Integral_Hoch:
		372	540 0057 0000 0000 .skip 4,0
		373	541 .global SummeRoll
		374	542 .global SummeRoll
		375	545 SummeRoll:
		376	546 005b 0000 0000 .skip 4,0
		377	547 .global SummeNick
		378	548 .global SummeNick
		379	551 SummeNick:
		380	552 005f 0000 0000 .skip 4,0
		381	553 .global Mess_Integral_Gier2
		382	554 .global Mess_Integral_Gier2
		383	557 Mess_Integral_Gier2:
		384	558 0063 0000 0000 .skip 4,0
		385	559 .global Mess_Integral_Gier
		386	560 .global Mess_Integral_Gier
		387	563 Mess_Integral_Gier:
		388	564 0067 0000 0000 .skip 4,0
		389	565 .global Mess_IntegralRoll2
		390	566 .global Mess_IntegralRoll2
		391	569 Mess_IntegralRoll2:
		392	570 006b 0000 0000 .skip 4,0
		393	571 .global Mess_IntegralRoll
		394	572 .global Mess_IntegralRoll
		395	575 Mess_IntegralRoll:
		396	576 006f 0000 0000 .skip 4,0
		397	577 .global Mess_IntegralNick2
		398	578 .global Mess_IntegralNick2
		399	581 Mess_IntegralNick2:
		400	582 0073 0000 0000 .skip 4,0
		401	583 .global Mess_IntegralNick
		402	584 .global Mess_IntegralNick
		403	587 Mess_IntegralNick:
		404	588 0077 0000 0000 .skip 4,0
		405	589 .global Integral_Gier
		406	590 .global Integral_Gier
		407	593 Integral_Gier:
		408	594 007b 0000 0000 .skip 4,0
		409	595 .global IntegralAccZ
		410	596 .global IntegralAccZ
		411	599 IntegralAccZ:
		412	600 007f 0000 0000 .skip 4,0
		413	601 .global IntegralAccRoll
		414	602 .global IntegralAccRoll
		415	605 IntegralAccRoll:
		416	606 0083 0000 0000 .skip 4,0
		417	607 .global IntegralAccNick
		418	608 .global IntegralAccNick
		419	611 IntegralAccNick:
		420	612 0087 0000 0000 .skip 4,0
		421	613 .global IntegralRoll2
		422	614 .global IntegralRoll2
		423	617 IntegralRoll2:
		424	618 008b 0000 0000 .skip 4,0
		425	619 .global IntegralRoll
		426	620 .global IntegralRoll
		427	623 IntegralRoll:
		428	624 008f 0000 0000 .skip 4,0
		429	625 .global IntegralNick2
		430	626 .global IntegralNick2
		431	629 IntegralNick2:
		432	630 0093 0000 0000 .skip 4,0
		433	631 .global IntegralNick
		434	632 .global IntegralNick
		435	635 IntegralNick:
		436	636 0097 0000 0000 .skip 4,0
		437	637 .global ControlHeading
		438	638 .global ControlHeading
		439	641 ControlHeading:
		440	642 009b 00 .skip 1,0
		441	643 .global NeutralAccZ
		442	644 .global NeutralAccZ
		443	647 NeutralAccZ:
		444	648 009c 0000 .skip 2,0
		445	649 .global NaviCntAcc
		446	650 .global NaviCntAcc
		447	653 NaviCntAcc:
		448	654 009e 0000 .skip 2,0
		449	655 .global NeutralAccY
		450	656 .global NeutralAccY
		451	659 NeutralAccY:
		452	660 00a0 0000 .skip 2,0
		453	661 .global NeutralAccX
		454	662 .global NeutralAccX
		455	665 NeutralAccX:
		456	666 00a2 0000 .skip 2,0
		457	667 .global StartNeutralNick
		458	668 .global StartNeutralNick
		459	671 StartNeutralNick:
		460	672 00a4 0000 .skip 2,0
		461	673 .global StartNeutralRoll
		462	674 .global StartNeutralRoll
		463	677 StartNeutralRoll:
		464	678 00a6 0000 .skip 2,0
		465	679 .global AdNeutralGier
		466	680 .global AdNeutralGier
		467	683 AdNeutralGier:
		468	684 00a8 0000 .skip 2,0
		469	685 .global AdNeutralRoll
		470	686 .global AdNeutralRoll
		471	689 AdNeutralRoll:
		472	690 00aa 0000 .skip 2,0
		473	691 .global AdNeutralNick
		474	692 .global AdNeutralNick
		475	695 AdNeutralNick:
		476	696 00ac 0000 .skip 2,0
		477	697 .global BaroExpandActive
		478	698 .global BaroExpandActive
		479	701 BaroExpandActive:
		480	702 00ae 0000 .skip 2,0
		481	703 .text
		482	704 .global CopyDebugValues
		483	706 CopyDebugValues:
		484	707 /* prologue: frame size=0 */
		485	708 0000 EF92 push r14
		486	709 0002 FF92 push r15
		487	710 0004 0F93 push r16
		488	711 0006 1F93 push r17
		489	712 /* prologue end (size=4) */
		490	713 0008 8091 0000 lds r24,EE_Parameter+28
		491	714 000c 9927 clr r25
		492	715 000e 880F lsl r24
		493	716 0010 991F rol r25
		494	717 0012 880F lsl r24
		495	718 0014 991F rol r25
		496	719 0016 7C01 movw r14,r24
		497	720 0018 0027 clr r16
		498	721 001a F7FC sbrc r15,7
		499	722 001c 0095 com r16
		500	723 001e 102F mov r17,r16
		501	724 0020 8091 0000 lds r24,IntegralNick
		502	725 0024 9091 0000 lds r25,(IntegralNick)+1
		503	726 0028 A091 0000 lds r26,(IntegralNick)+2
		504	727 002c B091 0000 lds r27,(IntegralNick)+3
		505	728 0030 BC01 movw r22,r24
		506	729 0032 CD01 movw r24,r26
		507	730 0034 A801 movw r20,r16
		508	731 0036 9701 movw r18,r14
		509	732 0038 0E94 0000 call __divmodsi4
		510	733 003c 3093 0000 sts (DebugOut+2)+1,r19
		511	734 0040 2093 0000 sts DebugOut+2,r18
		512	735 0044 8091 0000 lds r24,IntegralRoll
		513	736 0048 9091 0000 lds r25,(IntegralRoll)+1
		514	737 004c A091 0000 lds r26,(IntegralRoll)+2
		515	738 0050 B091 0000 lds r27,(IntegralRoll)+3
		516	739 0054 BC01 movw r22,r24
		517	740 0056 CD01 movw r24,r26
		518	741 0058 A801 movw r20,r16
		519	742 005a 9701 movw r18,r14
		520	743 005c 0E94 0000 call __divmodsi4
		521	744 0060 3093 0000 sts (DebugOut+4)+1,r19
		522	745 0064 2093 0000 sts DebugOut+4,r18
		523	746 0068 8091 0000 lds r24,Mittelwert_AccNick
		524	747 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1
		525	748 0070 97FD sbrc r25,7
		526	749 0072 0396 adiw r24,3
		527	750 .L2:
		528	751 0074 9595 asr r25
		529	752 0076 8795 ror r24
		530	753 0078 9595 asr r25
		531	754 007a 8795 ror r24
		532	755 007c 9093 0000 sts (DebugOut+6)+1,r25
		533	756 0080 8093 0000 sts DebugOut+6,r24
		534	757 0084 8091 0000 lds r24,Mittelwert_AccRoll
		535	758 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		536	759 008c 97FD sbrc r25,7
		537	760 008e 0396 adiw r24,3
		538	761 .L3:
		539	762 0090 9595 asr r25
		540	763 0092 8795 ror r24
		541	764 0094 9595 asr r25
		542	765 0096 8795 ror r24
		543	766 0098 9093 0000 sts (DebugOut+8)+1,r25
		544	767 009c 8093 0000 sts DebugOut+8,r24
		545	768 00a0 8091 0000 lds r24,AdNeutralGier
		546	769 00a4 9091 0000 lds r25,(AdNeutralGier)+1
		547	770 00a8 2091 0000 lds r18,AdWertGier
		548	771 00ac 3091 0000 lds r19,(AdWertGier)+1
		549	772 00b0 821B sub r24,r18
		550	773 00b2 930B sbc r25,r19
		551	774 00b4 9093 0000 sts (DebugOut+10)+1,r25
		552	775 00b8 8093 0000 sts DebugOut+10,r24
		553	776 00bc 8091 0000 lds r24,HoehenWert
		554	777 00c0 9091 0000 lds r25,(HoehenWert)+1
		555	778 00c4 A091 0000 lds r26,(HoehenWert)+2
		556	779 00c8 B091 0000 lds r27,(HoehenWert)+3
		557	780 00cc BC01 movw r22,r24
		558	781 00ce CD01 movw r24,r26
		559	782 00d0 25E0 ldi r18,lo8(5)
		560	783 00d2 30E0 ldi r19,hi8(5)
		561	784 00d4 40E0 ldi r20,hlo8(5)
		562	785 00d6 50E0 ldi r21,hhi8(5)
		563	786 00d8 0E94 0000 call __divmodsi4
		564	787 00dc 3093 0000 sts (DebugOut+12)+1,r19
		565	788 00e0 2093 0000 sts DebugOut+12,r18
		566	789 00e4 8091 0000 lds r24,AdWertAccHoch
		567	790 00e8 9091 0000 lds r25,(AdWertAccHoch)+1
		568	791 00ec 9093 0000 sts (DebugOut+14)+1,r25
		569	792 00f0 8093 0000 sts DebugOut+14,r24
		570	793 00f4 8091 0000 lds r24,UBat
		571	794 00f8 9091 0000 lds r25,(UBat)+1
		572	795 00fc 9093 0000 sts (DebugOut+16)+1,r25
		573	796 0100 8093 0000 sts DebugOut+16,r24
		574	797 0104 8091 0000 lds r24,Motor+1
		575	798 0108 9927 clr r25
		576	799 010a 9093 0000 sts (DebugOut+18)+1,r25
		577	800 010e 8093 0000 sts DebugOut+18,r24
		578	801 0112 8091 0000 lds r24,Motor+9
		579	802 0116 9927 clr r25
		580	803 0118 9093 0000 sts (DebugOut+20)+1,r25
		581	804 011c 8093 0000 sts DebugOut+20,r24
		582	805 0120 8091 0000 lds r24,Motor+17
		583	806 0124 9927 clr r25
		584	807 0126 9093 0000 sts (DebugOut+22)+1,r25
		585	808 012a 8093 0000 sts DebugOut+22,r24
		586	809 012e 8091 0000 lds r24,Motor+25
		587	810 0132 9927 clr r25
		588	811 0134 9093 0000 sts (DebugOut+24)+1,r25
		589	812 0138 8093 0000 sts DebugOut+24,r24
		590	813 013c 8091 0000 lds r24,Motor+33
		591	814 0140 9927 clr r25
		592	815 0142 9093 0000 sts (DebugOut+26)+1,r25
		593	816 0146 8093 0000 sts DebugOut+26,r24
		594	817 014a 8091 0000 lds r24,Motor+41
		595	818 014e 9927 clr r25
		596	819 0150 9093 0000 sts (DebugOut+28)+1,r25
		597	820 0154 8093 0000 sts DebugOut+28,r24
		598	821 0158 8091 0000 lds r24,Motor+49
		599	822 015c 9927 clr r25
		600	823 015e 9093 0000 sts (DebugOut+30)+1,r25
		601	824 0162 8093 0000 sts DebugOut+30,r24
		602	825 0166 8091 0000 lds r24,Motor+57
		603	826 016a 9927 clr r25
		604	827 016c 9093 0000 sts (DebugOut+32)+1,r25
		605	828 0170 8093 0000 sts DebugOut+32,r24
		606	829 0174 8091 0000 lds r24,SenderOkay
		607	830 0178 9927 clr r25
		608	831 017a 9093 0000 sts (DebugOut+34)+1,r25
		609	832 017e 8093 0000 sts DebugOut+34,r24
		610	833 0182 8091 0000 lds r24,ErsatzKompass
		611	834 0186 9091 0000 lds r25,(ErsatzKompass)+1
		612	835 018a A091 0000 lds r26,(ErsatzKompass)+2
		613	836 018e B091 0000 lds r27,(ErsatzKompass)+3
		614	837 0192 2091 0000 lds r18,GIER_GRAD_FAKTOR
		615	838 0196 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1
		616	839 019a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2
		617	840 019e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3
		618	841 01a2 BC01 movw r22,r24
		619	842 01a4 CD01 movw r24,r26
		620	843 01a6 0E94 0000 call __divmodsi4
		621	844 01aa 3093 0000 sts (DebugOut+36)+1,r19
		622	845 01ae 2093 0000 sts DebugOut+36,r18
		623	846 01b2 8091 0000 lds r24,Capacity
		624	847 01b6 9091 0000 lds r25,(Capacity)+1
		625	848 01ba 9093 0000 sts (DebugOut+38)+1,r25
		626	849 01be 8093 0000 sts DebugOut+38,r24
		627	850 01c2 8091 0000 lds r24,Capacity+4
		628	851 01c6 9091 0000 lds r25,(Capacity+4)+1
		629	852 01ca 9093 0000 sts (DebugOut+40)+1,r25
		630	853 01ce 8093 0000 sts DebugOut+40,r24
		631	854 01d2 8091 0000 lds r24,ServoNickValue
		632	855 01d6 9091 0000 lds r25,(ServoNickValue)+1
		633	856 01da 9093 0000 sts (DebugOut+42)+1,r25
		634	857 01de 8093 0000 sts DebugOut+42,r24
		635	858 01e2 8091 0000 lds r24,KompassValue
		636	859 01e6 9091 0000 lds r25,(KompassValue)+1
		637	860 01ea 9093 0000 sts (DebugOut+44)+1,r25
		638	861 01ee 8093 0000 sts DebugOut+44,r24
		639	862 01f2 1092 0000 sts (DebugOut+46)+1,__zero_reg__
		640	863 01f6 1092 0000 sts DebugOut+46,__zero_reg__
		641	864 01fa 8091 0000 lds r24,Capacity+6
		642	865 01fe 9927 clr r25
		643	866 0200 9093 0000 sts (DebugOut+48)+1,r25
		644	867 0204 8093 0000 sts DebugOut+48,r24
		645	868 0208 8091 0000 lds r24,GPS_Nick
		646	869 020c 9091 0000 lds r25,(GPS_Nick)+1
		647	870 0210 9093 0000 sts (DebugOut+50)+1,r25
		648	871 0214 8093 0000 sts DebugOut+50,r24
		649	872 0218 8091 0000 lds r24,GPS_Roll
		650	873 021c 9091 0000 lds r25,(GPS_Roll)+1
		651	874 0220 9093 0000 sts (DebugOut+52)+1,r25
		652	875 0224 8093 0000 sts DebugOut+52,r24
		653	876 0228 8091 0000 lds r24,VersionInfo+5
		654	877 022c 8823 tst r24
		655	878 022e 01F4 brne .L5
		656	879 0230 8091 0000 lds r24,VersionInfo+6
		657	880 0234 8823 tst r24
		658	881 0236 01F0 breq .L4
		659	882 .L5:
		660	883 0238 8091 0000 lds r24,DebugOut+1
		661	884 023c 8160 ori r24,lo8(1)
		662	885 023e 00C0 rjmp .L7
		663	886 .L4:
		664	887 0240 8091 0000 lds r24,DebugOut+1
		665	888 0244 8E7F andi r24,lo8(-2)
		666	889 .L7:
		667	890 0246 8093 0000 sts DebugOut+1,r24
		668	891 /* epilogue: frame size=0 */
		669	892 024a 1F91 pop r17
		670	893 024c 0F91 pop r16
		671	894 024e FF90 pop r15
		672	895 0250 EF90 pop r14
		673	896 0252 0895 ret
		674	897 /* epilogue end (size=5) */
		675	898 /* function CopyDebugValues size 300 (291) */
		676	900 .global Piep
		677	902 Piep:
		678	903 /* prologue: frame size=0 */
		679	904 0254 EF92 push r14
		680	905 0256 FF92 push r15
		681	906 0258 1F93 push r17
		682	907 025a CF93 push r28
		683	908 025c DF93 push r29
		684	909 /* prologue end (size=5) */
		685	910 025e 182F mov r17,r24
		686	911 0260 7B01 movw r14,r22
		687	912 0262 8091 0000 lds r24,MotorenEin
		688	913 0266 8823 tst r24
		689	914 0268 01F4 brne .L8
		690	915 026a 8091 0000 lds r24,PlatinenVersion
		691	916 026e 8C30 cpi r24,lo8(12)
		692	917 0270 00F0 brlo .L11
		693	918 0272 8631 cpi r24,lo8(22)
		694	919 0274 01F4 brne .L10
		695	920 .L11:
		696	921 0276 2998 cbi 37-0x20,1
		697	922 0278 00C0 rjmp .L12
		698	923 .L10:
		699	924 027a 299A sbi 37-0x20,1
		700	925 .L12:
		701	926 027c 1150 subi r17,lo8(-(-1))
		702	927 027e 1F3F cpi r17,lo8(-1)
		703	928 0280 01F0 breq .L26
		704	929 0282 F092 0000 sts (beeptime)+1,r15
		705	930 0286 E092 0000 sts beeptime,r14
		706	931 028a E701 movw r28,r14
		707	932 .L34:
		708	933 028c 8091 0000 lds r24,beeptime
		709	934 0290 9091 0000 lds r25,(beeptime)+1
		710	935 0294 892B or r24,r25
		711	936 0296 01F4 brne .L31
		712	937 0298 2097 sbiw r28,0
		713	938 029a 01F0 breq .L12
		714	939 .L31:
		715	940 029c 8091 0000 lds r24,UpdateMotor
		716	941 02a0 8823 tst r24
		717	942 02a2 01F0 breq .L34
		718	943 02a4 1092 0000 sts UpdateMotor,__zero_reg__
		719	944 02a8 8091 0000 lds r24,beeptime
		720	945 02ac 9091 0000 lds r25,(beeptime)+1
		721	946 02b0 892B or r24,r25
		722	947 02b2 01F4 brne .L19
		723	948 02b4 2197 sbiw r28,1
		724	949 .L19:
		725	950 02b6 0E94 0000 call LIBFC_Polling
		726	951 02ba 00C0 rjmp .L34
		727	952 .L26:
		728	953 02bc 8091 0000 lds r24,PlatinenVersion
		729	954 02c0 8C30 cpi r24,lo8(12)
		730	955 02c2 00F0 brlo .L23
		731	956 02c4 8631 cpi r24,lo8(22)
		732	957 02c6 01F4 brne .L22
		733	958 .L23:
		734	959 02c8 299A sbi 37-0x20,1
		735	960 02ca 00C0 rjmp .L8
		736	961 .L22:
		737	962 02cc 2998 cbi 37-0x20,1
		738	963 .L8:
		739	964 /* epilogue: frame size=0 */
		740	965 02ce DF91 pop r29
		741	966 02d0 CF91 pop r28
		742	967 02d2 1F91 pop r17
		743	968 02d4 FF90 pop r15
		744	969 02d6 EF90 pop r14
		745	970 02d8 0895 ret
		746	971 /* epilogue end (size=6) */
		747	972 /* function Piep size 67 (56) */
		748	974 .global CalibrierMittelwert
		749	976 CalibrierMittelwert:
		750	977 /* prologue: frame size=0 */
		751	978 02da CF93 push r28
		752	979 02dc DF93 push r29
		753	980 /* prologue end (size=2) */
		754	981 02de 8091 0000 lds r24,PlatinenVersion
		755	982 02e2 8D30 cpi r24,lo8(13)
		756	983 02e4 01F4 brne .L36
		757	984 02e6 0E94 0000 call SucheGyroOffset
		758	985 .L36:
		759	986 02ea 1092 7A00 sts 122,__zero_reg__
		760	987 02ee 8091 0000 lds r24,AdWertNick
		761	988 02f2 9091 0000 lds r25,(AdWertNick)+1
		762	989 02f6 9093 0000 sts (MesswertNick)+1,r25
		763	990 02fa 8093 0000 sts MesswertNick,r24
		764	991 02fe 8091 0000 lds r24,AdWertRoll
		765	992 0302 9091 0000 lds r25,(AdWertRoll)+1
		766	993 0306 9093 0000 sts (MesswertRoll)+1,r25
		767	994 030a 8093 0000 sts MesswertRoll,r24
		768	995 030e 8091 0000 lds r24,AdWertGier
		769	996 0312 9091 0000 lds r25,(AdWertGier)+1
		770	997 0316 9093 0000 sts (MesswertGier)+1,r25
		771	998 031a 8093 0000 sts MesswertGier,r24
		772	999 031e 2091 0000 lds r18,AdWertAccNick
		773	1000 0322 3091 0000 lds r19,(AdWertAccNick)+1
		774	1001 0326 C901 movw r24,r18
		775	1002 0328 880F lsl r24
		776	1003 032a 991F rol r25
		777	1004 032c 880F lsl r24
		778	1005 032e 991F rol r25
		779	1006 0330 820F add r24,r18
		780	1007 0332 931F adc r25,r19
		781	1008 0334 820F add r24,r18
		782	1009 0336 931F adc r25,r19
		783	1010 0338 9093 0000 sts (Mittelwert_AccNick)+1,r25
		784	1011 033c 8093 0000 sts Mittelwert_AccNick,r24
		785	1012 0340 2091 0000 lds r18,AdWertAccRoll
		786	1013 0344 3091 0000 lds r19,(AdWertAccRoll)+1
		787	1014 0348 C901 movw r24,r18
		788	1015 034a 880F lsl r24
		789	1016 034c 991F rol r25
		790	1017 034e 880F lsl r24
		791	1018 0350 991F rol r25
		792	1019 0352 820F add r24,r18
		793	1020 0354 931F adc r25,r19
		794	1021 0356 820F add r24,r18
		795	1022 0358 931F adc r25,r19
		796	1023 035a 9093 0000 sts (Mittelwert_AccRoll)+1,r25
		797	1024 035e 8093 0000 sts Mittelwert_AccRoll,r24
		798	1025 0362 8FEC ldi r24,lo8(-49)
		799	1026 0364 8093 7A00 sts 122,r24
		800	1027 0368 A0E0 ldi r26,lo8(Poti)
		801	1028 036a B0E0 ldi r27,hi8(Poti)
		802	1029 036c C0E0 ldi r28,lo8(EE_Parameter+5)
		803	1030 036e D0E0 ldi r29,hi8(EE_Parameter+5)
		804	1031 0370 97E0 ldi r25,lo8(7)
		805	1032 .L46:
		806	1033 0372 8991 ld r24,Y+
		807	1034 0374 E82F mov r30,r24
		808	1035 0376 FF27 clr r31
		809	1036 0378 EE0F add r30,r30
		810	1037 037a FF1F adc r31,r31
		811	1038 037c E050 subi r30,lo8(-(PPM_in))
		812	1039 037e F040 sbci r31,hi8(-(PPM_in))
		813	1040 0380 0190 ld __tmp_reg__,Z+
		814	1041 0382 F081 ld r31,Z
		815	1042 0384 E02D mov r30,__tmp_reg__
		816	1043 0386 E158 subi r30,lo8(-(127))
		817	1044 0388 FF4F sbci r31,hi8(-(127))
		818	1045 038a 1E16 cp __zero_reg__,r30
		819	1046 038c 1F06 cpc __zero_reg__,r31
		820	1047 038e 04F0 brlt .L40
		821	1048 0390 E0E0 ldi r30,lo8(0)
		822	1049 0392 F0E0 ldi r31,hi8(0)
		823	1050 0394 00C0 rjmp .L41
		824	1051 .L40:
		825	1052 0396 EF3F cpi r30,255
		826	1053 0398 F105 cpc r31,__zero_reg__
		827	1054 039a 04F0 brlt .L41
		828	1055 039c EFEF ldi r30,lo8(255)
		829	1056 039e F0E0 ldi r31,hi8(255)
		830	1057 .L41:
		831	1058 03a0 8C91 ld r24,X
		832	1059 03a2 282F mov r18,r24
		833	1060 03a4 3327 clr r19
		834	1061 03a6 E217 cp r30,r18
		835	1062 03a8 F307 cpc r31,r19
		836	1063 03aa 04F4 brge .L43
		837	1064 03ac 8150 subi r24,lo8(-(-1))
		838	1065 03ae 00C0 rjmp .L49
		839	1066 .L43:
		840	1067 03b0 2E17 cp r18,r30
		841	1068 03b2 3F07 cpc r19,r31
		842	1069 03b4 04F4 brge .L39
		843	1070 03b6 8F5F subi r24,lo8(-(1))
		844	1071 .L49:
		845	1072 03b8 8C93 st X,r24
		846	1073 .L39:
		847	1074 03ba 9150 subi r25,lo8(-(-1))
		848	1075 03bc 1196 adiw r26,1
		849	1076 03be 97FF sbrs r25,7
		850	1077 03c0 00C0 rjmp .L46
		851	1078 03c2 8091 0000 lds r24,EE_Parameter+65
		852	1079 03c6 9927 clr r25
		853	1080 03c8 AA27 clr r26
		854	1081 03ca BB27 clr r27
		855	1082 03cc BC01 movw r22,r24
		856	1083 03ce CD01 movw r24,r26
		857	1084 03d0 24EC ldi r18,lo8(2500)
		858	1085 03d2 39E0 ldi r19,hi8(2500)
		859	1086 03d4 40E0 ldi r20,hlo8(2500)
		860	1087 03d6 50E0 ldi r21,hhi8(2500)
		861	1088 03d8 0E94 0000 call __mulsi3
		862	1089 03dc DC01 movw r26,r24
		863	1090 03de CB01 movw r24,r22
		864	1091 03e0 8093 0000 sts Umschlag180Nick,r24
		865	1092 03e4 9093 0000 sts (Umschlag180Nick)+1,r25
		866	1093 03e8 A093 0000 sts (Umschlag180Nick)+2,r26
		867	1094 03ec B093 0000 sts (Umschlag180Nick)+3,r27
		868	1095 03f0 8091 0000 lds r24,EE_Parameter+66
		869	1096 03f4 9927 clr r25
		870	1097 03f6 AA27 clr r26
		871	1098 03f8 BB27 clr r27
		872	1099 03fa BC01 movw r22,r24
		873	1100 03fc CD01 movw r24,r26
		874	1101 03fe 0E94 0000 call __mulsi3
		875	1102 0402 DC01 movw r26,r24
		876	1103 0404 CB01 movw r24,r22
		877	1104 0406 8093 0000 sts Umschlag180Roll,r24
		878	1105 040a 9093 0000 sts (Umschlag180Roll)+1,r25
		879	1106 040e A093 0000 sts (Umschlag180Roll)+2,r26
		880	1107 0412 B093 0000 sts (Umschlag180Roll)+3,r27
		881	1108 /* epilogue: frame size=0 */
		882	1109 0416 DF91 pop r29
		883	1110 0418 CF91 pop r28
		884	1111 041a 0895 ret
		885	1112 /* epilogue end (size=3) */
		886	1113 /* function CalibrierMittelwert size 161 (156) */
		887	1115 .section .progmem.data,"a",@progbits
		888	1118 __c.35:
		889	1119 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n"
		890	1119 4320 6E6F
		891	1119 7420 6361
		892	1119 6C69 6272
		893	1119 6174 6564
		894	1120 .text
		895	1121 .global SetNeutral
		896	1123 SetNeutral:
		897	1124 /* prologue: frame size=0 */
		898	1125 041c A0E0 ldi r26,lo8(0)
		899	1126 041e B0E0 ldi r27,hi8(0)
		900	1127 0420 E0E0 ldi r30,pm_lo8(1f)
		901	1128 0422 F0E0 ldi r31,pm_hi8(1f)
		902	1129 0424 0C94 0000 jmp __prologue_saves__+12
		903	1130 1:
		904	1131 /* prologue end (size=6) */
		905	1132 0428 882E mov r8,r24
		906	1133 042a C0E0 ldi r28,lo8(0)
		907	1134 042c D0E0 ldi r29,hi8(0)
		908	1135 042e 7E01 movw r14,r28
		909	1136 0430 6E01 movw r12,r28
		910	1137 0432 1092 0000 sts VersionInfo+5,__zero_reg__
		911	1138 0436 D093 0000 sts (NeutralAccX)+1,r29
		912	1139 043a C093 0000 sts NeutralAccX,r28
		913	1140 043e D093 0000 sts (NeutralAccY)+1,r29
		914	1141 0442 C093 0000 sts NeutralAccY,r28
		915	1142 0446 D093 0000 sts (NeutralAccZ)+1,r29
		916	1143 044a C093 0000 sts NeutralAccZ,r28
		917	1144 044e D093 0000 sts (AdNeutralNick)+1,r29
		918	1145 0452 C093 0000 sts AdNeutralNick,r28
		919	1146 0456 D093 0000 sts (AdNeutralRoll)+1,r29
		920	1147 045a C093 0000 sts AdNeutralRoll,r28
		921	1148 045e D093 0000 sts (AdNeutralGier)+1,r29
		922	1149 0462 C093 0000 sts AdNeutralGier,r28
		923	1150 0466 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__
		924	1151 046a 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__
		925	1152 046e 1092 0000 sts ExpandBaro,__zero_reg__
		926	1153 0472 0E94 0000 call CalibrierMittelwert
		927	1154 0476 84E6 ldi r24,lo8(100)
		928	1155 0478 90E0 ldi r25,hi8(100)
		929	1156 047a 0E94 0000 call Delay_ms_Mess
		930	1157 047e 0E94 0000 call CalibrierMittelwert
		931	1158 0482 8091 0000 lds r24,EE_Parameter+13
		932	1159 0486 80FF sbrs r24,0
		933	1160 0488 00C0 rjmp .L51
		934	1161 048a 8091 0000 lds r24,MessLuftdruck
		935	1162 048e 9091 0000 lds r25,(MessLuftdruck)+1
		936	1163 0492 875B subi r24,lo8(951)
		937	1164 0494 9340 sbci r25,hi8(951)
		938	1165 0496 00F4 brsh .L53
		939	1166 0498 8091 0000 lds r24,MessLuftdruck
		940	1167 049c 9091 0000 lds r25,(MessLuftdruck)+1
		941	1168 04a0 8E5E subi r24,lo8(750)
		942	1169 04a2 9240 sbci r25,hi8(750)
		943	1170 04a4 00F4 brsh .L51
		944	1171 .L53:
		945	1172 04a6 0E94 0000 call SucheLuftruckOffset
		946	1173 .L51:
		947	1174 04aa 0FE1 ldi r16,lo8(31)
		948	1175 .L57:
		949	1176 04ac 8AE0 ldi r24,lo8(10)
		950	1177 04ae 90E0 ldi r25,hi8(10)
		951	1178 04b0 0E94 0000 call Delay_ms_Mess
		952	1179 04b4 8091 0000 lds r24,AdWertGier
		953	1180 04b8 9091 0000 lds r25,(AdWertGier)+1
		954	1181 04bc C80F add r28,r24
		955	1182 04be D91F adc r29,r25
		956	1183 04c0 8091 0000 lds r24,AdWertNick
		957	1184 04c4 9091 0000 lds r25,(AdWertNick)+1
		958	1185 04c8 E80E add r14,r24
		959	1186 04ca F91E adc r15,r25
		960	1187 04cc 8091 0000 lds r24,AdWertRoll
		961	1188 04d0 9091 0000 lds r25,(AdWertRoll)+1
		962	1189 04d4 C80E add r12,r24
		963	1190 04d6 D91E adc r13,r25
		964	1191 04d8 0150 subi r16,lo8(-(-1))
		965	1192 04da 07FF sbrs r16,7
		966	1193 04dc 00C0 rjmp .L57
		967	1194 04de 9701 movw r18,r14
		968	1195 04e0 205F subi r18,lo8(-(16))
		969	1196 04e2 3F4F sbci r19,hi8(-(16))
		970	1197 04e4 3695 lsr r19
		971	1198 04e6 2795 ror r18
		972	1199 04e8 3695 lsr r19
		973	1200 04ea 2795 ror r18
		974	1201 04ec 3093 0000 sts (AdNeutralNick)+1,r19
		975	1202 04f0 2093 0000 sts AdNeutralNick,r18
		976	1203 04f4 C601 movw r24,r12
		977	1204 04f6 4096 adiw r24,16
		978	1205 04f8 9695 lsr r25
		979	1206 04fa 8795 ror r24
		980	1207 04fc 9695 lsr r25
		981	1208 04fe 8795 ror r24
		982	1209 0500 9093 0000 sts (AdNeutralRoll)+1,r25
		983	1210 0504 8093 0000 sts AdNeutralRoll,r24
		984	1211 0508 6096 adiw r28,16
		985	1212 050a F5E0 ldi r31,5
		986	1213 050c D695 1: lsr r29
		987	1214 050e C795 ror r28
		988	1215 0510 FA95 dec r31
		989	1216 0512 01F4 brne 1b
		990	1217 0514 D093 0000 sts (AdNeutralGier)+1,r29
		991	1218 0518 C093 0000 sts AdNeutralGier,r28
		992	1219 051c 9093 0000 sts (StartNeutralRoll)+1,r25
		993	1220 0520 8093 0000 sts StartNeutralRoll,r24
		994	1221 0524 3093 0000 sts (StartNeutralNick)+1,r19
		995	1222 0528 2093 0000 sts StartNeutralNick,r18
		996	1223 052c 8820 tst r8
		997	1224 052e 01F4 brne .+2
		998	1225 0530 00C0 rjmp .L58
		999	1226 0532 8091 0000 lds r24,Mittelwert_AccNick
		1000	1227 0536 9091 0000 lds r25,(Mittelwert_AccNick)+1
		1001	1228 053a 97FF sbrs r25,7
		1002	1229 053c 00C0 rjmp .L59
		1003	1230 053e 9095 com r25
		1004	1231 0540 8195 neg r24
		1005	1232 0542 9F4F sbci r25,lo8(-1)
		1006	1233 .L59:
		1007	1234 0544 6CE0 ldi r22,lo8(12)
		1008	1235 0546 70E0 ldi r23,hi8(12)
		1009	1236 0548 0E94 0000 call __divmodhi4
		1010	1237 054c 9B01 movw r18,r22
		1011	1238 054e 7093 0000 sts (NeutralAccX)+1,r23
		1012	1239 0552 6093 0000 sts NeutralAccX,r22
		1013	1240 0556 8091 0000 lds r24,Mittelwert_AccRoll
		1014	1241 055a 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		1015	1242 055e 97FF sbrs r25,7
		1016	1243 0560 00C0 rjmp .L60
		1017	1244 0562 9095 com r25
		1018	1245 0564 8195 neg r24
		1019	1246 0566 9F4F sbci r25,lo8(-1)
		1020	1247 .L60:
		1021	1248 0568 6CE0 ldi r22,lo8(12)
		1022	1249 056a 70E0 ldi r23,hi8(12)
		1023	1250 056c 0E94 0000 call __divmodhi4
		1024	1251 0570 7093 0000 sts (NeutralAccY)+1,r23
		1025	1252 0574 6093 0000 sts NeutralAccY,r22
		1026	1253 0578 8091 0000 lds r24,Aktuell_az
		1027	1254 057c 9091 0000 lds r25,(Aktuell_az)+1
		1028	1255 0580 9093 0000 sts (NeutralAccZ)+1,r25
		1029	1256 0584 8093 0000 sts NeutralAccZ,r24
		1030	1257 0588 B901 movw r22,r18
		1031	1258 058a 84E0 ldi r24,lo8(4)
		1032	1259 058c 90E0 ldi r25,hi8(4)
		1033	1260 058e 0E94 0000 call SetParamWord
		1034	1261 0592 6091 0000 lds r22,NeutralAccY
		1035	1262 0596 7091 0000 lds r23,(NeutralAccY)+1
		1036	1263 059a 86E0 ldi r24,lo8(6)
		1037	1264 059c 90E0 ldi r25,hi8(6)
		1038	1265 059e 0E94 0000 call SetParamWord
		1039	1266 05a2 6091 0000 lds r22,NeutralAccZ
		1040	1267 05a6 7091 0000 lds r23,(NeutralAccZ)+1
		1041	1268 05aa 88E0 ldi r24,lo8(8)
		1042	1269 05ac 90E0 ldi r25,hi8(8)
		1043	1270 05ae 0E94 0000 call SetParamWord
		1044	1271 05b2 00C0 rjmp .L61
		1045	1272 .L58:
		1046	1273 05b4 84E0 ldi r24,lo8(4)
		1047	1274 05b6 90E0 ldi r25,hi8(4)
		1048	1275 05b8 0E94 0000 call GetParamWord
		1049	1276 05bc 9093 0000 sts (NeutralAccX)+1,r25
		1050	1277 05c0 8093 0000 sts NeutralAccX,r24
		1051	1278 05c4 86E0 ldi r24,lo8(6)
		1052	1279 05c6 90E0 ldi r25,hi8(6)
		1053	1280 05c8 0E94 0000 call GetParamWord
		1054	1281 05cc 9093 0000 sts (NeutralAccY)+1,r25
		1055	1282 05d0 8093 0000 sts NeutralAccY,r24
		1056	1283 05d4 88E0 ldi r24,lo8(8)
		1057	1284 05d6 90E0 ldi r25,hi8(8)
		1058	1285 05d8 0E94 0000 call GetParamWord
		1059	1286 05dc 9C01 movw r18,r24
		1060	1287 05de 9093 0000 sts (NeutralAccZ)+1,r25
		1061	1288 05e2 8093 0000 sts NeutralAccZ,r24
		1062	1289 05e6 8091 0000 lds r24,NeutralAccX
		1063	1290 05ea 9091 0000 lds r25,(NeutralAccX)+1
		1064	1291 05ee 8150 subi r24,lo8(2049)
		1065	1292 05f0 9840 sbci r25,hi8(2049)
		1066	1293 05f2 00F4 brsh .L63
		1067	1294 05f4 8091 0000 lds r24,NeutralAccY
		1068	1295 05f8 9091 0000 lds r25,(NeutralAccY)+1
		1069	1296 05fc 8150 subi r24,lo8(2049)
		1070	1297 05fe 9840 sbci r25,hi8(2049)
		1071	1298 0600 00F4 brsh .L63
		1072	1299 0602 2150 subi r18,lo8(1025)
		1073	1300 0604 3440 sbci r19,hi8(1025)
		1074	1301 0606 00F0 brlo .L61
		1075	1302 .L63:
		1076	1303 0608 80E0 ldi r24,lo8(__c.35)
		1077	1304 060a 90E0 ldi r25,hi8(__c.35)
		1078	1305 060c 9F93 push r25
		1079	1306 060e 8F93 push r24
		1080	1307 0610 80E0 ldi r24,lo8(pm(uart_putchar))
		1081	1308 0612 90E0 ldi r25,hi8(pm(uart_putchar))
		1082	1309 0614 9F93 push r25
		1083	1310 0616 8F93 push r24
		1084	1311 0618 E091 0000 lds r30,_printf_P
		1085	1312 061c F091 0000 lds r31,(_printf_P)+1
		1086	1313 0620 0995 icall
		1087	1314 0622 8091 0000 lds r24,Mittelwert_AccNick
		1088	1315 0626 9091 0000 lds r25,(Mittelwert_AccNick)+1
		1089	1316 062a 97FF sbrs r25,7
		1090	1317 062c 00C0 rjmp .L64
		1091	1318 062e 9095 com r25
		1092	1319 0630 8195 neg r24
		1093	1320 0632 9F4F sbci r25,lo8(-1)
		1094	1321 .L64:
		1095	1322 0634 6CE0 ldi r22,lo8(12)
		1096	1323 0636 70E0 ldi r23,hi8(12)
		1097	1324 0638 0E94 0000 call __divmodhi4
		1098	1325 063c 7093 0000 sts (NeutralAccX)+1,r23
		1099	1326 0640 6093 0000 sts NeutralAccX,r22
		1100	1327 0644 8091 0000 lds r24,Mittelwert_AccRoll
		1101	1328 0648 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		1102	1329 064c 97FF sbrs r25,7
		1103	1330 064e 00C0 rjmp .L65
		1104	1331 0650 9095 com r25
		1105	1332 0652 8195 neg r24
		1106	1333 0654 9F4F sbci r25,lo8(-1)
		1107	1334 .L65:
		1108	1335 0656 6CE0 ldi r22,lo8(12)
		1109	1336 0658 70E0 ldi r23,hi8(12)
		1110	1337 065a 0E94 0000 call __divmodhi4
		1111	1338 065e 7093 0000 sts (NeutralAccY)+1,r23
		1112	1339 0662 6093 0000 sts NeutralAccY,r22
		1113	1340 0666 8091 0000 lds r24,Aktuell_az
		1114	1341 066a 9091 0000 lds r25,(Aktuell_az)+1
		1115	1342 066e 9093 0000 sts (NeutralAccZ)+1,r25
		1116	1343 0672 8093 0000 sts NeutralAccZ,r24
		1117	1344 0676 0F90 pop __tmp_reg__
		1118	1345 0678 0F90 pop __tmp_reg__
		1119	1346 067a 0F90 pop __tmp_reg__
		1120	1347 067c 0F90 pop __tmp_reg__
		1121	1348 .L61:
		1122	1349 067e 1092 0000 sts (MesswertNick)+1,__zero_reg__
		1123	1350 0682 1092 0000 sts MesswertNick,__zero_reg__
		1124	1351 0686 1092 0000 sts (MesswertRoll)+1,__zero_reg__
		1125	1352 068a 1092 0000 sts MesswertRoll,__zero_reg__
		1126	1353 068e 1092 0000 sts (MesswertGier)+1,__zero_reg__
		1127	1354 0692 1092 0000 sts MesswertGier,__zero_reg__
		1128	1355 0696 84E6 ldi r24,lo8(100)
		1129	1356 0698 90E0 ldi r25,hi8(100)
		1130	1357 069a 0E94 0000 call Delay_ms_Mess
		1131	1358 069e 8091 0000 lds r24,AdWertAccNick
		1132	1359 06a2 9091 0000 lds r25,(AdWertAccNick)+1
		1133	1360 06a6 9C01 movw r18,r24
		1134	1361 06a8 220F lsl r18
		1135	1362 06aa 331F rol r19
		1136	1363 06ac 220F lsl r18
		1137	1364 06ae 331F rol r19
		1138	1365 06b0 280F add r18,r24
		1139	1366 06b2 391F adc r19,r25
		1140	1367 06b4 280F add r18,r24
		1141	1368 06b6 391F adc r19,r25
		1142	1369 06b8 3093 0000 sts (Mittelwert_AccNick)+1,r19
		1143	1370 06bc 2093 0000 sts Mittelwert_AccNick,r18
		1144	1371 06c0 8091 0000 lds r24,AdWertAccRoll
		1145	1372 06c4 9091 0000 lds r25,(AdWertAccRoll)+1
		1146	1373 06c8 8C01 movw r16,r24
		1147	1374 06ca 000F lsl r16
		1148	1375 06cc 111F rol r17
		1149	1376 06ce 000F lsl r16
		1150	1377 06d0 111F rol r17
		1151	1378 06d2 080F add r16,r24
		1152	1379 06d4 191F adc r17,r25
		1153	1380 06d6 080F add r16,r24
		1154	1381 06d8 191F adc r17,r25
		1155	1382 06da 1093 0000 sts (Mittelwert_AccRoll)+1,r17
		1156	1383 06de 0093 0000 sts Mittelwert_AccRoll,r16
		1157	1384 06e2 8091 0000 lds r24,EE_Parameter+28
		1158	1385 06e6 C82E mov r12,r24
		1159	1386 06e8 DD24 clr r13
		1160	1387 06ea EE24 clr r14
		1161	1388 06ec FF24 clr r15
		1162	1389 06ee 4427 clr r20
		1163	1390 06f0 37FD sbrc r19,7
		1164	1391 06f2 4095 com r20
		1165	1392 06f4 542F mov r21,r20
		1166	1393 06f6 C701 movw r24,r14
		1167	1394 06f8 B601 movw r22,r12
		1168	1395 06fa 0E94 0000 call __mulsi3
		1169	1396 06fe 4B01 movw r8,r22
		1170	1397 0700 5C01 movw r10,r24
		1171	1398 0702 6093 0000 sts IntegralNick,r22
		1172	1399 0706 7093 0000 sts (IntegralNick)+1,r23
		1173	1400 070a 8093 0000 sts (IntegralNick)+2,r24
		1174	1401 070e 9093 0000 sts (IntegralNick)+3,r25
		1175	1402 0712 9801 movw r18,r16
		1176	1403 0714 4427 clr r20
		1177	1404 0716 37FD sbrc r19,7
		1178	1405 0718 4095 com r20
		1179	1406 071a 542F mov r21,r20
		1180	1407 071c C701 movw r24,r14
		1181	1408 071e B601 movw r22,r12
		1182	1409 0720 0E94 0000 call __mulsi3
		1183	1410 0724 DC01 movw r26,r24
		1184	1411 0726 CB01 movw r24,r22
		1185	1412 0728 8093 0000 sts IntegralRoll,r24
		1186	1413 072c 9093 0000 sts (IntegralRoll)+1,r25
		1187	1414 0730 A093 0000 sts (IntegralRoll)+2,r26
		1188	1415 0734 B093 0000 sts (IntegralRoll)+3,r27
		1189	1416 0738 8092 0000 sts Mess_IntegralNick,r8
		1190	1417 073c 9092 0000 sts (Mess_IntegralNick)+1,r9
		1191	1418 0740 A092 0000 sts (Mess_IntegralNick)+2,r10
		1192	1419 0744 B092 0000 sts (Mess_IntegralNick)+3,r11
		1193	1420 0748 8093 0000 sts Mess_IntegralRoll,r24
		1194	1421 074c 9093 0000 sts (Mess_IntegralRoll)+1,r25
		1195	1422 0750 A093 0000 sts (Mess_IntegralRoll)+2,r26
		1196	1423 0754 B093 0000 sts (Mess_IntegralRoll)+3,r27
		1197	1424 0758 1092 0000 sts Mess_Integral_Gier,__zero_reg__
		1198	1425 075c 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
		1199	1426 0760 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
		1200	1427 0764 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__
		1201	1428 0768 8091 0000 lds r24,Luftdruck
		1202	1429 076c 9091 0000 lds r25,(Luftdruck)+1
		1203	1430 0770 A091 0000 lds r26,(Luftdruck)+2
		1204	1431 0774 B091 0000 lds r27,(Luftdruck)+3
		1205	1432 0778 9093 0000 sts (StartLuftdruck)+1,r25
		1206	1433 077c 8093 0000 sts StartLuftdruck,r24
		1207	1434 0780 1092 0000 sts (VarioMeter)+1,__zero_reg__
		1208	1435 0784 1092 0000 sts VarioMeter,__zero_reg__
		1209	1436 0788 1092 0000 sts Mess_Integral_Hoch,__zero_reg__
		1210	1437 078c 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__
		1211	1438 0790 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__
		1212	1439 0794 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__
		1213	1440 0798 0091 0000 lds r16,KompassValue
		1214	1441 079c 1091 0000 lds r17,(KompassValue)+1
		1215	1442 07a0 1093 0000 sts (KompassSollWert)+1,r17
		1216	1443 07a4 0093 0000 sts KompassSollWert,r16
		1217	1444 07a8 84E6 ldi r24,lo8(100)
		1218	1445 07aa 90E0 ldi r25,hi8(100)
		1219	1446 07ac 9093 0000 sts (KompassSignalSchlecht)+1,r25
		1220	1447 07b0 8093 0000 sts KompassSignalSchlecht,r24
		1221	1448 07b4 82E3 ldi r24,lo8(50)
		1222	1449 07b6 90E0 ldi r25,hi8(50)
		1223	1450 07b8 9093 0000 sts (beeptime)+1,r25
		1224	1451 07bc 8093 0000 sts beeptime,r24
		1225	1452 07c0 8091 0000 lds r24,EE_Parameter+65
		1226	1453 07c4 9927 clr r25
		1227	1454 07c6 AA27 clr r26
		1228	1455 07c8 BB27 clr r27
		1229	1456 07ca BC01 movw r22,r24
		1230	1457 07cc CD01 movw r24,r26
		1231	1458 07ce 24EC ldi r18,lo8(2500)
		1232	1459 07d0 39E0 ldi r19,hi8(2500)
		1233	1460 07d2 40E0 ldi r20,hlo8(2500)
		1234	1461 07d4 50E0 ldi r21,hhi8(2500)
		1235	1462 07d6 0E94 0000 call __mulsi3
		1236	1463 07da DC01 movw r26,r24
		1237	1464 07dc CB01 movw r24,r22
		1238	1465 07de 8856 subi r24,lo8(-(15000))
		1239	1466 07e0 954C sbci r25,hi8(-(15000))
		1240	1467 07e2 AF4F sbci r26,hlo8(-(15000))
		1241	1468 07e4 BF4F sbci r27,hhi8(-(15000))
		1242	1469 07e6 8093 0000 sts Umschlag180Nick,r24
		1243	1470 07ea 9093 0000 sts (Umschlag180Nick)+1,r25
		1244	1471 07ee A093 0000 sts (Umschlag180Nick)+2,r26
		1245	1472 07f2 B093 0000 sts (Umschlag180Nick)+3,r27
		1246	1473 07f6 8091 0000 lds r24,EE_Parameter+66
		1247	1474 07fa 9927 clr r25
		1248	1475 07fc AA27 clr r26
		1249	1476 07fe BB27 clr r27
		1250	1477 0800 BC01 movw r22,r24
		1251	1478 0802 CD01 movw r24,r26
		1252	1479 0804 0E94 0000 call __mulsi3
		1253	1480 0808 DC01 movw r26,r24
		1254	1481 080a CB01 movw r24,r22
		1255	1482 080c 8856 subi r24,lo8(-(15000))
		1256	1483 080e 954C sbci r25,hi8(-(15000))
		1257	1484 0810 AF4F sbci r26,hlo8(-(15000))
		1258	1485 0812 BF4F sbci r27,hhi8(-(15000))
		1259	1486 0814 8093 0000 sts Umschlag180Roll,r24
		1260	1487 0818 9093 0000 sts (Umschlag180Roll)+1,r25
		1261	1488 081c A093 0000 sts (Umschlag180Roll)+2,r26
		1262	1489 0820 B093 0000 sts (Umschlag180Roll)+3,r27
		1263	1490 0824 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__
		1264	1491 0828 1092 0000 sts ExternHoehenValue,__zero_reg__
		1265	1492 082c C801 movw r24,r16
		1266	1493 082e AA27 clr r26
		1267	1494 0830 97FD sbrc r25,7
		1268	1495 0832 A095 com r26
		1269	1496 0834 BA2F mov r27,r26
		1270	1497 0836 2091 0000 lds r18,GIER_GRAD_FAKTOR
		1271	1498 083a 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1
		1272	1499 083e 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2
		1273	1500 0842 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3
		1274	1501 0846 BC01 movw r22,r24
		1275	1502 0848 CD01 movw r24,r26
		1276	1503 084a 0E94 0000 call __mulsi3
		1277	1504 084e DC01 movw r26,r24
		1278	1505 0850 CB01 movw r24,r22
		1279	1506 0852 8093 0000 sts ErsatzKompass,r24
		1280	1507 0856 9093 0000 sts (ErsatzKompass)+1,r25
		1281	1508 085a A093 0000 sts (ErsatzKompass)+2,r26
		1282	1509 085e B093 0000 sts (ErsatzKompass)+3,r27
		1283	1510 0862 1092 0000 sts (GierGyroFehler)+1,__zero_reg__
		1284	1511 0866 1092 0000 sts GierGyroFehler,__zero_reg__
		1285	1512 086a 0E94 0000 call LED_Init
		1286	1513 086e 8091 0000 lds r24,FC_StatusFlags
		1287	1514 0872 8460 ori r24,lo8(4)
		1288	1515 0874 8093 0000 sts FC_StatusFlags,r24
		1289	1516 0878 8FEF ldi r24,lo8(-1)
		1290	1517 087a 8093 0000 sts FromNaviCtrl_Value,r24
		1291	1518 087e 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__
		1292	1519 0882 80E2 ldi r24,lo8(32)
		1293	1520 0884 8093 0000 sts FromNaviCtrl_Value+2,r24
		1294	1521 0888 C0E0 ldi r28,lo8(Poti)
		1295	1522 088a D0E0 ldi r29,hi8(Poti)
		1296	1523 088c A0E0 ldi r26,lo8(EE_Parameter+5)
		1297	1524 088e B0E0 ldi r27,hi8(EE_Parameter+5)
		1298	1525 0890 07E0 ldi r16,lo8(7)
		1299	1526 .L69:
		1300	1527 0892 8D91 ld r24,X+
		1301	1528 0894 E82F mov r30,r24
		1302	1529 0896 FF27 clr r31
		1303	1530 0898 EE0F add r30,r30
		1304	1531 089a FF1F adc r31,r31
		1305	1532 089c E050 subi r30,lo8(-(PPM_in))
		1306	1533 089e F040 sbci r31,hi8(-(PPM_in))
		1307	1534 08a0 8081 ld r24,Z
		1308	1535 08a2 9181 ldd r25,Z+1
		1309	1536 08a4 8158 subi r24,lo8(-(127))
		1310	1537 08a6 8993 st Y+,r24
		1311	1538 08a8 0150 subi r16,lo8(-(-1))
		1312	1539 08aa 07FF sbrs r16,7
		1313	1540 08ac 00C0 rjmp .L69
		1314	1541 08ae 84E6 ldi r24,lo8(100)
		1315	1542 08b0 8093 0000 sts SenderOkay,r24
		1316	1543 08b4 8091 0000 lds r24,ServoActive
		1317	1544 08b8 8823 tst r24
		1318	1545 08ba 01F0 breq .L70
		1319	1546 08bc 579A sbi 42-0x20,7
		1320	1547 08be 00C0 rjmp .L71
		1321	1548 .L70:
		1322	1549 08c0 80E0 ldi r24,lo8(4352)
		1323	1550 08c2 91E1 ldi r25,hi8(4352)
		1324	1551 08c4 9093 0000 sts (NickServoValue)+1,r25
		1325	1552 08c8 8093 0000 sts NickServoValue,r24
		1326	1553 .L71:
		1327	1554 08cc 8091 0000 lds r24,AdNeutralNick
		1328	1555 08d0 9091 0000 lds r25,(AdNeutralNick)+1
		1329	1556 08d4 8056 subi r24,lo8(-(-2400))
		1330	1557 08d6 9940 sbci r25,hi8(-(-2400))
		1331	1558 08d8 815C subi r24,lo8(11201)
		1332	1559 08da 9B42 sbci r25,hi8(11201)
		1333	1560 08dc 00F0 brlo .L72
		1334	1561 08de 8091 0000 lds r24,VersionInfo+5
		1335	1562 08e2 8160 ori r24,lo8(1)
		1336	1563 08e4 8093 0000 sts VersionInfo+5,r24
		1337	1564 .L72:
		1338	1565 08e8 8091 0000 lds r24,AdNeutralRoll
		1339	1566 08ec 9091 0000 lds r25,(AdNeutralRoll)+1
		1340	1567 08f0 8056 subi r24,lo8(-(-2400))
		1341	1568 08f2 9940 sbci r25,hi8(-(-2400))
		1342	1569 08f4 815C subi r24,lo8(11201)
		1343	1570 08f6 9B42 sbci r25,hi8(11201)
		1344	1571 08f8 00F0 brlo .L73
		1345	1572 08fa 8091 0000 lds r24,VersionInfo+5
		1346	1573 08fe 8260 ori r24,lo8(2)
		1347	1574 0900 8093 0000 sts VersionInfo+5,r24
		1348	1575 .L73:
		1349	1576 0904 8091 0000 lds r24,AdNeutralGier
		1350	1577 0908 9091 0000 lds r25,(AdNeutralGier)+1
		1351	1578 090c 8C52 subi r24,lo8(-(-300))
		1352	1579 090e 9140 sbci r25,hi8(-(-300))
		1353	1580 0910 8957 subi r24,lo8(1401)
		1354	1581 0912 9540 sbci r25,hi8(1401)
		1355	1582 0914 00F0 brlo .L74
		1356	1583 0916 8091 0000 lds r24,VersionInfo+5
		1357	1584 091a 8460 ori r24,lo8(4)
		1358	1585 091c 8093 0000 sts VersionInfo+5,r24
		1359	1586 .L74:
		1360	1587 0920 8091 0000 lds r24,NeutralAccX
		1361	1588 0924 9091 0000 lds r25,(NeutralAccX)+1
		1362	1589 0928 8C52 subi r24,lo8(-(-300))
		1363	1590 092a 9140 sbci r25,hi8(-(-300))
		1364	1591 092c 835C subi r24,lo8(451)
		1365	1592 092e 9140 sbci r25,hi8(451)
		1366	1593 0930 00F0 brlo .L75
		1367	1594 0932 8091 0000 lds r24,VersionInfo+5
		1368	1595 0936 8860 ori r24,lo8(8)
		1369	1596 0938 8093 0000 sts VersionInfo+5,r24
		1370	1597 .L75:
		1371	1598 093c 8091 0000 lds r24,NeutralAccY
		1372	1599 0940 9091 0000 lds r25,(NeutralAccY)+1
		1373	1600 0944 8C52 subi r24,lo8(-(-300))
		1374	1601 0946 9140 sbci r25,hi8(-(-300))
		1375	1602 0948 835C subi r24,lo8(451)
		1376	1603 094a 9140 sbci r25,hi8(451)
		1377	1604 094c 00F0 brlo .L76
		1378	1605 094e 8091 0000 lds r24,VersionInfo+5
		1379	1606 0952 8061 ori r24,lo8(16)
		1380	1607 0954 8093 0000 sts VersionInfo+5,r24
		1381	1608 .L76:
		1382	1609 0958 8091 0000 lds r24,NeutralAccZ
		1383	1610 095c 9091 0000 lds r25,(NeutralAccZ)+1
		1384	1611 0960 8050 subi r24,lo8(-(-512))
		1385	1612 0962 9240 sbci r25,hi8(-(-512))
		1386	1613 0964 8355 subi r24,lo8(339)
		1387	1614 0966 9140 sbci r25,hi8(339)
		1388	1615 0968 00F0 brlo .L77
		1389	1616 096a 8091 0000 lds r24,VersionInfo+5
		1390	1617 096e 8062 ori r24,lo8(32)
		1391	1618 0970 8093 0000 sts VersionInfo+5,r24
		1392	1619 .L77:
		1393	1620 0974 86E4 ldi r24,lo8(70)
		1394	1621 0976 8093 0000 sts carefree_old,r24
		1395	1622 097a 0E94 0000 call LIBFC_HoTT_Clear
		1396	1623 /* epilogue: frame size=0 */
		1397	1624 097e ECE0 ldi r30,12
		1398	1625 0980 CDB7 in r28,__SP_L__
		1399	1626 0982 DEB7 in r29,__SP_H__
		1400	1627 0984 0C94 0000 jmp __epilogue_restores__+12
		1401	1628 /* epilogue end (size=5) */
		1402	1629 /* function SetNeutral size 705 (694) */
		1403	1631 .lcomm tmpl.27,4
		1404	1632 .lcomm tmpl2.28,4
		1405	1633 .lcomm tmpl3.29,4
		1406	1634 .lcomm tmpl4.30,4
		1407	1635 .lcomm oldNick.31,2
		1408	1636 .lcomm oldRoll.32,2
		1409	1637 .lcomm d2Roll.33,2
		1410	1638 .lcomm d2Nick.34,2
		1411	1639 .global Mittelwert
		1412	1641 Mittelwert:
		1413	1642 /* prologue: frame size=19 */
		1414	1643 0988 A3E1 ldi r26,lo8(19)
		1415	1644 098a B0E0 ldi r27,hi8(19)
		1416	1645 098c E0E0 ldi r30,pm_lo8(1f)
		1417	1646 098e F0E0 ldi r31,pm_hi8(1f)
		1418	1647 0990 0C94 0000 jmp __prologue_saves__+0
		1419	1648 1:
		1420	1649 /* prologue end (size=6) */
		1421	1650 0994 8091 0000 lds r24,AdNeutralGier
		1422	1651 0998 9091 0000 lds r25,(AdNeutralGier)+1
		1423	1652 099c 2091 0000 lds r18,AdWertGier
		1424	1653 09a0 3091 0000 lds r19,(AdWertGier)+1
		1425	1654 09a4 821B sub r24,r18
		1426	1655 09a6 930B sbc r25,r19
		1427	1656 09a8 9093 0000 sts (MesswertGier)+1,r25
		1428	1657 09ac 8093 0000 sts MesswertGier,r24
		1429	1658 09b0 8091 0000 lds r24,AdWertNickFilter
		1430	1659 09b4 9091 0000 lds r25,(AdWertNickFilter)+1
		1431	1660 09b8 97FD sbrc r25,7
		1432	1661 09ba 0796 adiw r24,7
		1433	1662 .L83:
		1434	1663 09bc 9C01 movw r18,r24
		1435	1664 09be 13E0 ldi r17,3
		1436	1665 09c0 3595 1: asr r19
		1437	1666 09c2 2795 ror r18
		1438	1667 09c4 1A95 dec r17
		1439	1668 09c6 01F4 brne 1b
		1440	1669 09c8 3093 0000 sts (MesswertNick)+1,r19
		1441	1670 09cc 2093 0000 sts MesswertNick,r18
		1442	1671 09d0 8091 0000 lds r24,AdWertRollFilter
		1443	1672 09d4 9091 0000 lds r25,(AdWertRollFilter)+1
		1444	1673 09d8 97FD sbrc r25,7
		1445	1674 09da 0796 adiw r24,7
		1446	1675 .L84:
		1447	1676 09dc B3E0 ldi r27,3
		1448	1677 09de 9595 1: asr r25
		1449	1678 09e0 8795 ror r24
		1450	1679 09e2 BA95 dec r27
		1451	1680 09e4 01F4 brne 1b
		1452	1681 09e6 9093 0000 sts (MesswertRoll)+1,r25
		1453	1682 09ea 8093 0000 sts MesswertRoll,r24
		1454	1683 09ee 3093 0000 sts (RohMesswertNick)+1,r19
		1455	1684 09f2 2093 0000 sts RohMesswertNick,r18
		1456	1685 09f6 9093 0000 sts (RohMesswertRoll)+1,r25
		1457	1686 09fa 8093 0000 sts RohMesswertRoll,r24
		1458	1687 09fe 8091 0000 lds r24,Mittelwert_AccNick
		1459	1688 0a02 9091 0000 lds r25,(Mittelwert_AccNick)+1
		1460	1689 0a06 AC01 movw r20,r24
		1461	1690 0a08 440F lsl r20
		1462	1691 0a0a 551F rol r21
		1463	1692 0a0c 480F add r20,r24
		1464	1693 0a0e 591F adc r21,r25
		1465	1694 0a10 2091 0000 lds r18,AdWertAccNick
		1466	1695 0a14 3091 0000 lds r19,(AdWertAccNick)+1
		1467	1696 0a18 C901 movw r24,r18
		1468	1697 0a1a 880F lsl r24
		1469	1698 0a1c 991F rol r25
		1470	1699 0a1e 880F lsl r24
		1471	1700 0a20 991F rol r25
		1472	1701 0a22 820F add r24,r18
		1473	1702 0a24 931F adc r25,r19
		1474	1703 0a26 820F add r24,r18
		1475	1704 0a28 931F adc r25,r19
		1476	1705 0a2a 480F add r20,r24
		1477	1706 0a2c 591F adc r21,r25
		1478	1707 0a2e 57FF sbrs r21,7
		1479	1708 0a30 00C0 rjmp .L85
		1480	1709 0a32 4D5F subi r20,lo8(-(3))
		1481	1710 0a34 5F4F sbci r21,hi8(-(3))
		1482	1711 .L85:
		1483	1712 0a36 5595 asr r21
		1484	1713 0a38 4795 ror r20
		1485	1714 0a3a 5595 asr r21
		1486	1715 0a3c 4795 ror r20
		1487	1716 0a3e 5093 0000 sts (Mittelwert_AccNick)+1,r21
		1488	1717 0a42 4093 0000 sts Mittelwert_AccNick,r20
		1489	1718 0a46 8091 0000 lds r24,Mittelwert_AccRoll
		1490	1719 0a4a 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		1491	1720 0a4e AC01 movw r20,r24
		1492	1721 0a50 440F lsl r20
		1493	1722 0a52 551F rol r21
		1494	1723 0a54 480F add r20,r24
		1495	1724 0a56 591F adc r21,r25
		1496	1725 0a58 2091 0000 lds r18,AdWertAccRoll
		1497	1726 0a5c 3091 0000 lds r19,(AdWertAccRoll)+1
		1498	1727 0a60 C901 movw r24,r18
		1499	1728 0a62 880F lsl r24
		1500	1729 0a64 991F rol r25
		1501	1730 0a66 880F lsl r24
		1502	1731 0a68 991F rol r25
		1503	1732 0a6a 820F add r24,r18
		1504	1733 0a6c 931F adc r25,r19
		1505	1734 0a6e 820F add r24,r18
		1506	1735 0a70 931F adc r25,r19
		1507	1736 0a72 480F add r20,r24
		1508	1737 0a74 591F adc r21,r25
		1509	1738 0a76 57FF sbrs r21,7
		1510	1739 0a78 00C0 rjmp .L86
		1511	1740 0a7a 4D5F subi r20,lo8(-(3))
		1512	1741 0a7c 5F4F sbci r21,hi8(-(3))
		1513	1742 .L86:
		1514	1743 0a7e 5595 asr r21
		1515	1744 0a80 4795 ror r20
		1516	1745 0a82 5595 asr r21
		1517	1746 0a84 4795 ror r20
		1518	1747 0a86 5093 0000 sts (Mittelwert_AccRoll)+1,r21
		1519	1748 0a8a 4093 0000 sts Mittelwert_AccRoll,r20
		1520	1749 0a8e 2091 0000 lds r18,AdWertAccNick
		1521	1750 0a92 3091 0000 lds r19,(AdWertAccNick)+1
		1522	1751 0a96 C901 movw r24,r18
		1523	1752 0a98 880F lsl r24
		1524	1753 0a9a 991F rol r25
		1525	1754 0a9c 880F lsl r24
		1526	1755 0a9e 991F rol r25
		1527	1756 0aa0 820F add r24,r18
		1528	1757 0aa2 931F adc r25,r19
		1529	1758 0aa4 820F add r24,r18
		1530	1759 0aa6 931F adc r25,r19
		1531	1760 0aa8 9C01 movw r18,r24
		1532	1761 0aaa 4427 clr r20
		1533	1762 0aac 37FD sbrc r19,7
		1534	1763 0aae 4095 com r20
		1535	1764 0ab0 542F mov r21,r20
		1536	1765 0ab2 8091 0000 lds r24,IntegralAccNick
		1537	1766 0ab6 9091 0000 lds r25,(IntegralAccNick)+1
		1538	1767 0aba A091 0000 lds r26,(IntegralAccNick)+2
		1539	1768 0abe B091 0000 lds r27,(IntegralAccNick)+3
		1540	1769 0ac2 820F add r24,r18
		1541	1770 0ac4 931F adc r25,r19
		1542	1771 0ac6 A41F adc r26,r20
		1543	1772 0ac8 B51F adc r27,r21
		1544	1773 0aca 8093 0000 sts IntegralAccNick,r24
		1545	1774 0ace 9093 0000 sts (IntegralAccNick)+1,r25
		1546	1775 0ad2 A093 0000 sts (IntegralAccNick)+2,r26
		1547	1776 0ad6 B093 0000 sts (IntegralAccNick)+3,r27
		1548	1777 0ada 2091 0000 lds r18,AdWertAccRoll
		1549	1778 0ade 3091 0000 lds r19,(AdWertAccRoll)+1
		1550	1779 0ae2 C901 movw r24,r18
		1551	1780 0ae4 880F lsl r24
		1552	1781 0ae6 991F rol r25
		1553	1782 0ae8 880F lsl r24
		1554	1783 0aea 991F rol r25
		1555	1784 0aec 820F add r24,r18
		1556	1785 0aee 931F adc r25,r19
		1557	1786 0af0 820F add r24,r18
		1558	1787 0af2 931F adc r25,r19
		1559	1788 0af4 9C01 movw r18,r24
		1560	1789 0af6 4427 clr r20
		1561	1790 0af8 37FD sbrc r19,7
		1562	1791 0afa 4095 com r20
		1563	1792 0afc 542F mov r21,r20
		1564	1793 0afe 8091 0000 lds r24,IntegralAccRoll
		1565	1794 0b02 9091 0000 lds r25,(IntegralAccRoll)+1
		1566	1795 0b06 A091 0000 lds r26,(IntegralAccRoll)+2
		1567	1796 0b0a B091 0000 lds r27,(IntegralAccRoll)+3
		1568	1797 0b0e 820F add r24,r18
		1569	1798 0b10 931F adc r25,r19
		1570	1799 0b12 A41F adc r26,r20
		1571	1800 0b14 B51F adc r27,r21
		1572	1801 0b16 8093 0000 sts IntegralAccRoll,r24
		1573	1802 0b1a 9093 0000 sts (IntegralAccRoll)+1,r25
		1574	1803 0b1e A093 0000 sts (IntegralAccRoll)+2,r26
		1575	1804 0b22 B093 0000 sts (IntegralAccRoll)+3,r27
		1576	1805 0b26 8091 0000 lds r24,NaviAccNick
		1577	1806 0b2a 9091 0000 lds r25,(NaviAccNick)+1
		1578	1807 0b2e 2091 0000 lds r18,AdWertAccNick
		1579	1808 0b32 3091 0000 lds r19,(AdWertAccNick)+1
		1580	1809 0b36 820F add r24,r18
		1581	1810 0b38 931F adc r25,r19
		1582	1811 0b3a 9093 0000 sts (NaviAccNick)+1,r25
		1583	1812 0b3e 8093 0000 sts NaviAccNick,r24
		1584	1813 0b42 8091 0000 lds r24,NaviAccRoll
		1585	1814 0b46 9091 0000 lds r25,(NaviAccRoll)+1
		1586	1815 0b4a 2091 0000 lds r18,AdWertAccRoll
		1587	1816 0b4e 3091 0000 lds r19,(AdWertAccRoll)+1
		1588	1817 0b52 820F add r24,r18
		1589	1818 0b54 931F adc r25,r19
		1590	1819 0b56 9093 0000 sts (NaviAccRoll)+1,r25
		1591	1820 0b5a 8093 0000 sts NaviAccRoll,r24
		1592	1821 0b5e 8091 0000 lds r24,NaviCntAcc
		1593	1822 0b62 9091 0000 lds r25,(NaviCntAcc)+1
		1594	1823 0b66 0196 adiw r24,1
		1595	1824 0b68 9093 0000 sts (NaviCntAcc)+1,r25
		1596	1825 0b6c 8093 0000 sts NaviCntAcc,r24
		1597	1826 0b70 8091 0000 lds r24,Aktuell_az
		1598	1827 0b74 9091 0000 lds r25,(Aktuell_az)+1
		1599	1828 0b78 2091 0000 lds r18,NeutralAccZ
		1600	1829 0b7c 3091 0000 lds r19,(NeutralAccZ)+1
		1601	1830 0b80 821B sub r24,r18
		1602	1831 0b82 930B sbc r25,r19
		1603	1832 0b84 9C01 movw r18,r24
		1604	1833 0b86 4427 clr r20
		1605	1834 0b88 37FD sbrc r19,7
		1606	1835 0b8a 4095 com r20
		1607	1836 0b8c 542F mov r21,r20
		1608	1837 0b8e 8091 0000 lds r24,IntegralAccZ
		1609	1838 0b92 9091 0000 lds r25,(IntegralAccZ)+1
		1610	1839 0b96 A091 0000 lds r26,(IntegralAccZ)+2
		1611	1840 0b9a B091 0000 lds r27,(IntegralAccZ)+3
		1612	1841 0b9e 820F add r24,r18
		1613	1842 0ba0 931F adc r25,r19
		1614	1843 0ba2 A41F adc r26,r20
		1615	1844 0ba4 B51F adc r27,r21
		1616	1845 0ba6 8093 0000 sts IntegralAccZ,r24
		1617	1846 0baa 9093 0000 sts (IntegralAccZ)+1,r25
		1618	1847 0bae A093 0000 sts (IntegralAccZ)+2,r26
		1619	1848 0bb2 B093 0000 sts (IntegralAccZ)+3,r27
		1620	1849 0bb6 8FEC ldi r24,lo8(-49)
		1621	1850 0bb8 8093 7A00 sts 122,r24
		1622	1851 0bbc 1092 0000 sts AdReady,__zero_reg__
		1623	1852 0bc0 2091 0000 lds r18,Mess_IntegralRoll
		1624	1853 0bc4 3091 0000 lds r19,(Mess_IntegralRoll)+1
		1625	1854 0bc8 4091 0000 lds r20,(Mess_IntegralRoll)+2
		1626	1855 0bcc 5091 0000 lds r21,(Mess_IntegralRoll)+3
		1627	1856 0bd0 2987 std Y+9,r18
		1628	1857 0bd2 3A87 std Y+10,r19
		1629	1858 0bd4 4B87 std Y+11,r20
		1630	1859 0bd6 5C87 std Y+12,r21
		1631	1860 0bd8 2954 subi r18,lo8(93001)
		1632	1861 0bda 3B46 sbci r19,hi8(93001)
		1633	1862 0bdc 4140 sbci r20,hlo8(93001)
		1634	1863 0bde 5040 sbci r21,hhi8(93001)
		1635	1864 0be0 04F0 brlt .L87
		1636	1865 0be2 28E4 ldi r18,lo8(93000)
		1637	1866 0be4 3BE6 ldi r19,hi8(93000)
		1638	1867 0be6 41E0 ldi r20,hlo8(93000)
		1639	1868 0be8 50E0 ldi r21,hhi8(93000)
		1640	1869 0bea 00C0 rjmp .L167
		1641	1870 .L87:
		1642	1871 0bec 8985 ldd r24,Y+9
		1643	1872 0bee 9A85 ldd r25,Y+10
		1644	1873 0bf0 AB85 ldd r26,Y+11
		1645	1874 0bf2 BC85 ldd r27,Y+12
		1646	1875 0bf4 885B subi r24,lo8(-93000)
		1647	1876 0bf6 9449 sbci r25,hi8(-93000)
		1648	1877 0bf8 AE4F sbci r26,hlo8(-93000)
		1649	1878 0bfa BF4F sbci r27,hhi8(-93000)
		1650	1879 0bfc 04F4 brge .L89
		1651	1880 0bfe 28EB ldi r18,lo8(-93000)
		1652	1881 0c00 34E9 ldi r19,hi8(-93000)
		1653	1882 0c02 4EEF ldi r20,hlo8(-93000)
		1654	1883 0c04 5FEF ldi r21,hhi8(-93000)
		1655	1884 .L167:
		1656	1885 0c06 2D83 std Y+5,r18
		1657	1886 0c08 3E83 std Y+6,r19
		1658	1887 0c0a 4F83 std Y+7,r20
		1659	1888 0c0c 5887 std Y+8,r21
		1660	1889 0c0e 00C0 rjmp .L88
		1661	1890 .L89:
		1662	1891 0c10 8985 ldd r24,Y+9
		1663	1892 0c12 9A85 ldd r25,Y+10
		1664	1893 0c14 AB85 ldd r26,Y+11
		1665	1894 0c16 BC85 ldd r27,Y+12
		1666	1895 0c18 8D83 std Y+5,r24
		1667	1896 0c1a 9E83 std Y+6,r25
		1668	1897 0c1c AF83 std Y+7,r26
		1669	1898 0c1e B887 std Y+8,r27
		1670	1899 .L88:
		1671	1900 0c20 2091 0000 lds r18,Mess_IntegralNick
		1672	1901 0c24 3091 0000 lds r19,(Mess_IntegralNick)+1
		1673	1902 0c28 4091 0000 lds r20,(Mess_IntegralNick)+2
		1674	1903 0c2c 5091 0000 lds r21,(Mess_IntegralNick)+3
		1675	1904 0c30 2D87 std Y+13,r18
		1676	1905 0c32 3E87 std Y+14,r19
		1677	1906 0c34 4F87 std Y+15,r20
		1678	1907 0c36 588B std Y+16,r21
		1679	1908 0c38 2954 subi r18,lo8(93001)
		1680	1909 0c3a 3B46 sbci r19,hi8(93001)
		1681	1910 0c3c 4140 sbci r20,hlo8(93001)
		1682	1911 0c3e 5040 sbci r21,hhi8(93001)
		1683	1912 0c40 04F0 brlt .L91
		1684	1913 0c42 28E4 ldi r18,lo8(93000)
		1685	1914 0c44 3BE6 ldi r19,hi8(93000)
		1686	1915 0c46 41E0 ldi r20,hlo8(93000)
		1687	1916 0c48 50E0 ldi r21,hhi8(93000)
		1688	1917 0c4a 00C0 rjmp .L168
		1689	1918 .L91:
		1690	1919 0c4c 8D85 ldd r24,Y+13
		1691	1920 0c4e 9E85 ldd r25,Y+14
		1692	1921 0c50 AF85 ldd r26,Y+15
		1693	1922 0c52 B889 ldd r27,Y+16
		1694	1923 0c54 885B subi r24,lo8(-93000)
		1695	1924 0c56 9449 sbci r25,hi8(-93000)
		1696	1925 0c58 AE4F sbci r26,hlo8(-93000)
		1697	1926 0c5a BF4F sbci r27,hhi8(-93000)
		1698	1927 0c5c 04F4 brge .L93
		1699	1928 0c5e 28EB ldi r18,lo8(-93000)
		1700	1929 0c60 34E9 ldi r19,hi8(-93000)
		1701	1930 0c62 4EEF ldi r20,hlo8(-93000)
		1702	1931 0c64 5FEF ldi r21,hhi8(-93000)
		1703	1932 .L168:
		1704	1933 0c66 2983 std Y+1,r18
		1705	1934 0c68 3A83 std Y+2,r19
		1706	1935 0c6a 4B83 std Y+3,r20
		1707	1936 0c6c 5C83 std Y+4,r21
		1708	1937 0c6e 00C0 rjmp .L92
		1709	1938 .L93:
		1710	1939 0c70 8D85 ldd r24,Y+13
		1711	1940 0c72 9E85 ldd r25,Y+14
		1712	1941 0c74 AF85 ldd r26,Y+15
		1713	1942 0c76 B889 ldd r27,Y+16
		1714	1943 0c78 8983 std Y+1,r24
		1715	1944 0c7a 9A83 std Y+2,r25
		1716	1945 0c7c AB83 std Y+3,r26
		1717	1946 0c7e BC83 std Y+4,r27
		1718	1947 .L92:
		1719	1948 0c80 A091 0000 lds r26,MesswertGier
		1720	1949 0c84 B091 0000 lds r27,(MesswertGier)+1
		1721	1950 0c88 BB8B std Y+19,r27
		1722	1951 0c8a AA8B std Y+18,r26
		1723	1952 0c8c FD01 movw r30,r26
		1724	1953 0c8e CF01 movw r24,r30
		1725	1954 0c90 AA27 clr r26
		1726	1955 0c92 97FD sbrc r25,7
		1727	1956 0c94 A095 com r26
		1728	1957 0c96 BA2F mov r27,r26
		1729	1958 0c98 A090 0000 lds r10,Mess_Integral_Gier
		1730	1959 0c9c B090 0000 lds r11,(Mess_Integral_Gier)+1
		1731	1960 0ca0 C090 0000 lds r12,(Mess_Integral_Gier)+2
		1732	1961 0ca4 D090 0000 lds r13,(Mess_Integral_Gier)+3
		1733	1962 0ca8 A80E add r10,r24
		1734	1963 0caa B91E adc r11,r25
		1735	1964 0cac CA1E adc r12,r26
		1736	1965 0cae DB1E adc r13,r27
		1737	1966 0cb0 A092 0000 sts Mess_Integral_Gier,r10
		1738	1967 0cb4 B092 0000 sts (Mess_Integral_Gier)+1,r11
		1739	1968 0cb8 C092 0000 sts (Mess_Integral_Gier)+2,r12
		1740	1969 0cbc D092 0000 sts (Mess_Integral_Gier)+3,r13
		1741	1970 0cc0 E090 0000 lds r14,ErsatzKompass
		1742	1971 0cc4 F090 0000 lds r15,(ErsatzKompass)+1
		1743	1972 0cc8 0091 0000 lds r16,(ErsatzKompass)+2
		1744	1973 0ccc 1091 0000 lds r17,(ErsatzKompass)+3
		1745	1974 0cd0 E80E add r14,r24
		1746	1975 0cd2 F91E adc r15,r25
		1747	1976 0cd4 0A1F adc r16,r26
		1748	1977 0cd6 1B1F adc r17,r27
		1749	1978 0cd8 E092 0000 sts ErsatzKompass,r14
		1750	1979 0cdc F092 0000 sts (ErsatzKompass)+1,r15
		1751	1980 0ce0 0093 0000 sts (ErsatzKompass)+2,r16
		1752	1981 0ce4 1093 0000 sts (ErsatzKompass)+3,r17
		1753	1982 0ce8 F091 0000 lds r31,Looping_Nick
		1754	1983 0cec F98B std Y+17,r31
		1755	1984 0cee FF23 tst r31
		1756	1985 0cf0 01F0 breq .+2
		1757	1986 0cf2 00C0 rjmp .L95
		1758	1987 0cf4 8091 0000 lds r24,Looping_Roll
		1759	1988 0cf8 8823 tst r24
		1760	1989 0cfa 01F0 breq .+2
		1761	1990 0cfc 00C0 rjmp .L95
		1762	1991 0cfe 8091 0000 lds r24,Parameter_GlobalConfig
		1763	1992 0d02 86FF sbrs r24,6
		1764	1993 0d04 00C0 rjmp .L95
		1765	1994 0d06 8091 0000 lds r24,MesswertRoll
		1766	1995 0d0a 9091 0000 lds r25,(MesswertRoll)+1
		1767	1996 0d0e AA27 clr r26
		1768	1997 0d10 97FD sbrc r25,7
		1769	1998 0d12 A095 com r26
		1770	1999 0d14 BA2F mov r27,r26
		1771	2000 0d16 BC01 movw r22,r24
		1772	2001 0d18 CD01 movw r24,r26
		1773	2002 0d1a 2981 ldd r18,Y+1
		1774	2003 0d1c 3A81 ldd r19,Y+2
		1775	2004 0d1e 4B81 ldd r20,Y+3
		1776	2005 0d20 5C81 ldd r21,Y+4
		1777	2006 0d22 0E94 0000 call __mulsi3
		1778	2007 0d26 9B01 movw r18,r22
		1779	2008 0d28 AC01 movw r20,r24
		1780	2009 0d2a 97FF sbrs r25,7
		1781	2010 0d2c 00C0 rjmp .L96
		1782	2011 0d2e 2150 subi r18,lo8(-(2047))
		1783	2012 0d30 384F sbci r19,hi8(-(2047))
		1784	2013 0d32 4F4F sbci r20,hlo8(-(2047))
		1785	2014 0d34 5F4F sbci r21,hhi8(-(2047))
		1786	2015 .L96:
		1787	2016 0d36 BBE0 ldi r27,11
		1788	2017 0d38 5595 1: asr r21
		1789	2018 0d3a 4795 ror r20
		1790	2019 0d3c 3795 ror r19
		1791	2020 0d3e 2795 ror r18
		1792	2021 0d40 BA95 dec r27
		1793	2022 0d42 01F4 brne 1b
		1794	2023 0d44 8091 0000 lds r24,Parameter_AchsKopplung2
		1795	2024 0d48 682E mov r6,r24
		1796	2025 0d4a 7724 clr r7
		1797	2026 0d4c 8824 clr r8
		1798	2027 0d4e 9924 clr r9
		1799	2028 0d50 CA01 movw r24,r20
		1800	2029 0d52 B901 movw r22,r18
		1801	2030 0d54 A401 movw r20,r8
		1802	2031 0d56 9301 movw r18,r6
		1803	2032 0d58 0E94 0000 call __mulsi3
		1804	2033 0d5c DC01 movw r26,r24
		1805	2034 0d5e CB01 movw r24,r22
		1806	2035 0d60 8093 0000 sts tmpl3.29,r24
		1807	2036 0d64 9093 0000 sts (tmpl3.29)+1,r25
		1808	2037 0d68 A093 0000 sts (tmpl3.29)+2,r26
		1809	2038 0d6c B093 0000 sts (tmpl3.29)+3,r27
		1810	2039 0d70 B7FF sbrs r27,7
		1811	2040 0d72 00C0 rjmp .L97
		1812	2041 0d74 8150 subi r24,lo8(-(4095))
		1813	2042 0d76 904F sbci r25,hi8(-(4095))
		1814	2043 0d78 AF4F sbci r26,hlo8(-(4095))
		1815	2044 0d7a BF4F sbci r27,hhi8(-(4095))
		1816	2045 .L97:
		1817	2046 0d7c 1C01 movw r2,r24
		1818	2047 0d7e 2D01 movw r4,r26
		1819	2048 0d80 ACE0 ldi r26,12
		1820	2049 0d82 5594 1: asr r5
		1821	2050 0d84 4794 ror r4
		1822	2051 0d86 3794 ror r3
		1823	2052 0d88 2794 ror r2
		1824	2053 0d8a AA95 dec r26
		1825	2054 0d8c 01F4 brne 1b
		1826	2055 0d8e 2092 0000 sts tmpl3.29,r2
		1827	2056 0d92 3092 0000 sts (tmpl3.29)+1,r3
		1828	2057 0d96 4092 0000 sts (tmpl3.29)+2,r4
		1829	2058 0d9a 5092 0000 sts (tmpl3.29)+3,r5
		1830	2059 0d9e 8091 0000 lds r24,MesswertNick
		1831	2060 0da2 9091 0000 lds r25,(MesswertNick)+1
		1832	2061 0da6 AA27 clr r26
		1833	2062 0da8 97FD sbrc r25,7
		1834	2063 0daa A095 com r26
		1835	2064 0dac BA2F mov r27,r26
		1836	2065 0dae BC01 movw r22,r24
		1837	2066 0db0 CD01 movw r24,r26
		1838	2067 0db2 2D81 ldd r18,Y+5
		1839	2068 0db4 3E81 ldd r19,Y+6
		1840	2069 0db6 4F81 ldd r20,Y+7
		1841	2070 0db8 5885 ldd r21,Y+8
		1842	2071 0dba 0E94 0000 call __mulsi3
		1843	2072 0dbe 97FF sbrs r25,7
		1844	2073 0dc0 00C0 rjmp .L98
		1845	2074 0dc2 6150 subi r22,lo8(-(2047))
		1846	2075 0dc4 784F sbci r23,hi8(-(2047))
		1847	2076 0dc6 8F4F sbci r24,hlo8(-(2047))
		1848	2077 0dc8 9F4F sbci r25,hhi8(-(2047))
		1849	2078 .L98:
		1850	2079 0dca FBE0 ldi r31,11
		1851	2080 0dcc 9595 1: asr r25
		1852	2081 0dce 8795 ror r24
		1853	2082 0dd0 7795 ror r23
		1854	2083 0dd2 6795 ror r22
		1855	2084 0dd4 FA95 dec r31
		1856	2085 0dd6 01F4 brne 1b
		1857	2086 0dd8 A401 movw r20,r8
		1858	2087 0dda 9301 movw r18,r6
		1859	2088 0ddc 0E94 0000 call __mulsi3
		1860	2089 0de0 DC01 movw r26,r24
		1861	2090 0de2 CB01 movw r24,r22
		1862	2091 0de4 8093 0000 sts tmpl4.30,r24
		1863	2092 0de8 9093 0000 sts (tmpl4.30)+1,r25
		1864	2093 0dec A093 0000 sts (tmpl4.30)+2,r26
		1865	2094 0df0 B093 0000 sts (tmpl4.30)+3,r27
		1866	2095 0df4 B7FF sbrs r27,7
		1867	2096 0df6 00C0 rjmp .L99
		1868	2097 0df8 8150 subi r24,lo8(-(4095))
		1869	2098 0dfa 904F sbci r25,hi8(-(4095))
		1870	2099 0dfc AF4F sbci r26,hlo8(-(4095))
		1871	2100 0dfe BF4F sbci r27,hhi8(-(4095))
		1872	2101 .L99:
		1873	2102 0e00 9C01 movw r18,r24
		1874	2103 0e02 AD01 movw r20,r26
		1875	2104 0e04 ECE0 ldi r30,12
		1876	2105 0e06 5595 1: asr r21
		1877	2106 0e08 4795 ror r20
		1878	2107 0e0a 3795 ror r19
		1879	2108 0e0c 2795 ror r18
		1880	2109 0e0e EA95 dec r30
		1881	2110 0e10 01F4 brne 1b
		1882	2111 0e12 2093 0000 sts tmpl4.30,r18
		1883	2112 0e16 3093 0000 sts (tmpl4.30)+1,r19
		1884	2113 0e1a 4093 0000 sts (tmpl4.30)+2,r20
		1885	2114 0e1e 5093 0000 sts (tmpl4.30)+3,r21
		1886	2115 0e22 8091 0000 lds r24,tmpl3.29
		1887	2116 0e26 9091 0000 lds r25,(tmpl3.29)+1
		1888	2117 0e2a 9093 0000 sts (KopplungsteilNickRoll)+1,r25
		1889	2118 0e2e 8093 0000 sts KopplungsteilNickRoll,r24
		1890	2119 0e32 8091 0000 lds r24,tmpl4.30
		1891	2120 0e36 9091 0000 lds r25,(tmpl4.30)+1
		1892	2121 0e3a 9093 0000 sts (KopplungsteilRollNick)+1,r25
		1893	2122 0e3e 8093 0000 sts KopplungsteilRollNick,r24
		1894	2123 0e42 2219 sub r18,r2
		1895	2124 0e44 3309 sbc r19,r3
		1896	2125 0e46 4409 sbc r20,r4
		1897	2126 0e48 5509 sbc r21,r5
		1898	2127 0e4a 2093 0000 sts tmpl4.30,r18
		1899	2128 0e4e 3093 0000 sts (tmpl4.30)+1,r19
		1900	2129 0e52 4093 0000 sts (tmpl4.30)+2,r20
		1901	2130 0e56 5093 0000 sts (tmpl4.30)+3,r21
		1902	2131 0e5a E20E add r14,r18
		1903	2132 0e5c F31E adc r15,r19
		1904	2133 0e5e 041F adc r16,r20
		1905	2134 0e60 151F adc r17,r21
		1906	2135 0e62 E092 0000 sts ErsatzKompass,r14
		1907	2136 0e66 F092 0000 sts (ErsatzKompass)+1,r15
		1908	2137 0e6a 0093 0000 sts (ErsatzKompass)+2,r16
		1909	2138 0e6e 1093 0000 sts (ErsatzKompass)+3,r17
		1910	2139 0e72 8091 0000 lds r24,Parameter_CouplingYawCorrection
		1911	2140 0e76 8823 tst r24
		1912	2141 0e78 01F4 brne .L100
		1913	2142 0e7a 57FF sbrs r21,7
		1914	2143 0e7c 00C0 rjmp .L101
		1915	2144 0e7e 2F5F subi r18,lo8(-(1))
		1916	2145 0e80 3F4F sbci r19,hi8(-(1))
		1917	2146 0e82 4F4F sbci r20,hlo8(-(1))
		1918	2147 0e84 5F4F sbci r21,hhi8(-(1))
		1919	2148 .L101:
		1920	2149 0e86 5595 asr r21
		1921	2150 0e88 4795 ror r20
		1922	2151 0e8a 3795 ror r19
		1923	2152 0e8c 2795 ror r18
		1924	2153 0e8e A21A sub r10,r18
		1925	2154 0e90 B30A sbc r11,r19
		1926	2155 0e92 C40A sbc r12,r20
		1927	2156 0e94 D50A sbc r13,r21
		1928	2157 0e96 A092 0000 sts Mess_Integral_Gier,r10
		1929	2158 0e9a B092 0000 sts (Mess_Integral_Gier)+1,r11
		1930	2159 0e9e C092 0000 sts (Mess_Integral_Gier)+2,r12
		1931	2160 0ea2 D092 0000 sts (Mess_Integral_Gier)+3,r13
		1932	2161 .L100:
		1933	2162 0ea6 2A89 ldd r18,Y+18
		1934	2163 0ea8 3B89 ldd r19,Y+19
		1935	2164 0eaa 7901 movw r14,r18
		1936	2165 0eac 0027 clr r16
		1937	2166 0eae F7FC sbrc r15,7
		1938	2167 0eb0 0095 com r16
		1939	2168 0eb2 102F mov r17,r16
		1940	2169 0eb4 8091 0000 lds r24,tmpl4.30
		1941	2170 0eb8 9091 0000 lds r25,(tmpl4.30)+1
		1942	2171 0ebc A091 0000 lds r26,(tmpl4.30)+2
		1943	2172 0ec0 B091 0000 lds r27,(tmpl4.30)+3
		1944	2173 0ec4 E80E add r14,r24
		1945	2174 0ec6 F91E adc r15,r25
		1946	2175 0ec8 0A1F adc r16,r26
		1947	2176 0eca 1B1F adc r17,r27
		1948	2177 0ecc C801 movw r24,r16
		1949	2178 0ece B701 movw r22,r14
		1950	2179 0ed0 2981 ldd r18,Y+1
		1951	2180 0ed2 3A81 ldd r19,Y+2
		1952	2181 0ed4 4B81 ldd r20,Y+3
		1953	2182 0ed6 5C81 ldd r21,Y+4
		1954	2183 0ed8 0E94 0000 call __mulsi3
		1955	2184 0edc 9B01 movw r18,r22
		1956	2185 0ede AC01 movw r20,r24
		1957	2186 0ee0 97FF sbrs r25,7
		1958	2187 0ee2 00C0 rjmp .L102
		1959	2188 0ee4 2150 subi r18,lo8(-(2047))
		1960	2189 0ee6 384F sbci r19,hi8(-(2047))
		1961	2190 0ee8 4F4F sbci r20,hlo8(-(2047))
		1962	2191 0eea 5F4F sbci r21,hhi8(-(2047))
		1963	2192 .L102:
		1964	2193 0eec 6BE0 ldi r22,11
		1965	2194 0eee 5595 1: asr r21
		1966	2195 0ef0 4795 ror r20
		1967	2196 0ef2 3795 ror r19
		1968	2197 0ef4 2795 ror r18
		1969	2198 0ef6 6A95 dec r22
		1970	2199 0ef8 01F4 brne 1b
		1971	2200 0efa 8091 0000 lds r24,Parameter_AchsKopplung1
		1972	2201 0efe A82E mov r10,r24
		1973	2202 0f00 BB24 clr r11
		1974	2203 0f02 CC24 clr r12
		1975	2204 0f04 DD24 clr r13
		1976	2205 0f06 CA01 movw r24,r20
		1977	2206 0f08 B901 movw r22,r18
		1978	2207 0f0a A601 movw r20,r12
		1979	2208 0f0c 9501 movw r18,r10
		1980	2209 0f0e 0E94 0000 call __mulsi3
		1981	2210 0f12 DC01 movw r26,r24
		1982	2211 0f14 CB01 movw r24,r22
		1983	2212 0f16 8093 0000 sts tmpl.27,r24
		1984	2213 0f1a 9093 0000 sts (tmpl.27)+1,r25
		1985	2214 0f1e A093 0000 sts (tmpl.27)+2,r26
		1986	2215 0f22 B093 0000 sts (tmpl.27)+3,r27
		1987	2216 0f26 B7FF sbrs r27,7
		1988	2217 0f28 00C0 rjmp .L103
		1989	2218 0f2a 8150 subi r24,lo8(-(4095))
		1990	2219 0f2c 904F sbci r25,hi8(-(4095))
		1991	2220 0f2e AF4F sbci r26,hlo8(-(4095))
		1992	2221 0f30 BF4F sbci r27,hhi8(-(4095))
		1993	2222 .L103:
		1994	2223 0f32 3C01 movw r6,r24
		1995	2224 0f34 4D01 movw r8,r26
		1996	2225 0f36 3CE0 ldi r19,12
		1997	2226 0f38 9594 1: asr r9
		1998	2227 0f3a 8794 ror r8
		1999	2228 0f3c 7794 ror r7
		2000	2229 0f3e 6794 ror r6
		2001	2230 0f40 3A95 dec r19
		2002	2231 0f42 01F4 brne 1b
		2003	2232 0f44 6092 0000 sts tmpl.27,r6
		2004	2233 0f48 7092 0000 sts (tmpl.27)+1,r7
		2005	2234 0f4c 8092 0000 sts (tmpl.27)+2,r8
		2006	2235 0f50 9092 0000 sts (tmpl.27)+3,r9
		2007	2236 0f54 C801 movw r24,r16
		2008	2237 0f56 B701 movw r22,r14
		2009	2238 0f58 2D81 ldd r18,Y+5
		2010	2239 0f5a 3E81 ldd r19,Y+6
		2011	2240 0f5c 4F81 ldd r20,Y+7
		2012	2241 0f5e 5885 ldd r21,Y+8
		2013	2242 0f60 0E94 0000 call __mulsi3
		2014	2243 0f64 97FF sbrs r25,7
		2015	2244 0f66 00C0 rjmp .L104
		2016	2245 0f68 6150 subi r22,lo8(-(2047))
		2017	2246 0f6a 784F sbci r23,hi8(-(2047))
		2018	2247 0f6c 8F4F sbci r24,hlo8(-(2047))
		2019	2248 0f6e 9F4F sbci r25,hhi8(-(2047))
		2020	2249 .L104:
		2021	2250 0f70 2BE0 ldi r18,11
		2022	2251 0f72 9595 1: asr r25
		2023	2252 0f74 8795 ror r24
		2024	2253 0f76 7795 ror r23
		2025	2254 0f78 6795 ror r22
		2026	2255 0f7a 2A95 dec r18
		2027	2256 0f7c 01F4 brne 1b
		2028	2257 0f7e A601 movw r20,r12
		2029	2258 0f80 9501 movw r18,r10
		2030	2259 0f82 0E94 0000 call __mulsi3
		2031	2260 0f86 DC01 movw r26,r24
		2032	2261 0f88 CB01 movw r24,r22
		2033	2262 0f8a 8093 0000 sts tmpl2.28,r24
		2034	2263 0f8e 9093 0000 sts (tmpl2.28)+1,r25
		2035	2264 0f92 A093 0000 sts (tmpl2.28)+2,r26
		2036	2265 0f96 B093 0000 sts (tmpl2.28)+3,r27
		2037	2266 0f9a B7FF sbrs r27,7
		2038	2267 0f9c 00C0 rjmp .L105
		2039	2268 0f9e 8150 subi r24,lo8(-(4095))
		2040	2269 0fa0 904F sbci r25,hi8(-(4095))
		2041	2270 0fa2 AF4F sbci r26,hlo8(-(4095))
		2042	2271 0fa4 BF4F sbci r27,hhi8(-(4095))
		2043	2272 .L105:
		2044	2273 0fa6 AC01 movw r20,r24
		2045	2274 0fa8 BD01 movw r22,r26
		2046	2275 0faa 8CE0 ldi r24,12
		2047	2276 0fac 7595 1: asr r23
		2048	2277 0fae 6795 ror r22
		2049	2278 0fb0 5795 ror r21
		2050	2279 0fb2 4795 ror r20
		2051	2280 0fb4 8A95 dec r24
		2052	2281 0fb6 01F4 brne 1b
		2053	2282 0fb8 4093 0000 sts tmpl2.28,r20
		2054	2283 0fbc 5093 0000 sts (tmpl2.28)+1,r21
		2055	2284 0fc0 6093 0000 sts (tmpl2.28)+2,r22
		2056	2285 0fc4 7093 0000 sts (tmpl2.28)+3,r23
		2057	2286 0fc8 2A89 ldd r18,Y+18
		2058	2287 0fca 3B89 ldd r19,Y+19
		2059	2288 0fcc 37FF sbrs r19,7
		2060	2289 0fce 00C0 rjmp .L107
		2061	2290 0fd0 3095 com r19
		2062	2291 0fd2 2195 neg r18
		2063	2292 0fd4 3F4F sbci r19,lo8(-1)
		2064	2293 .L107:
		2065	2294 0fd6 2134 cpi r18,65
		2066	2295 0fd8 3105 cpc r19,__zero_reg__
		2067	2296 0fda 04F0 brlt .L112
		2068	2297 0fdc D401 movw r26,r8
		2069	2298 0fde C301 movw r24,r6
		2070	2299 0fe0 97FE sbrs r9,7
		2071	2300 0fe2 00C0 rjmp .L110
		2072	2301 0fe4 B095 com r27
		2073	2302 0fe6 A095 com r26
		2074	2303 0fe8 9095 com r25
		2075	2304 0fea 8195 neg r24
		2076	2305 0fec 9F4F sbci r25,lo8(-1)
		2077	2306 0fee AF4F sbci r26,lo8(-1)
		2078	2307 0ff0 BF4F sbci r27,lo8(-1)
		2079	2308 .L110:
		2080	2309 0ff2 8138 cpi r24,lo8(129)
		2081	2310 0ff4 9105 cpc r25,__zero_reg__
		2082	2311 0ff6 A105 cpc r26,__zero_reg__
		2083	2312 0ff8 B105 cpc r27,__zero_reg__
		2084	2313 0ffa 04F4 brge .L109
		2085	2314 0ffc DB01 movw r26,r22
		2086	2315 0ffe CA01 movw r24,r20
		2087	2316 1000 77FF sbrs r23,7
		2088	2317 1002 00C0 rjmp .L111
		2089	2318 1004 B095 com r27
		2090	2319 1006 A095 com r26
		2091	2320 1008 9095 com r25
		2092	2321 100a 8195 neg r24
		2093	2322 100c 9F4F sbci r25,lo8(-1)
		2094	2323 100e AF4F sbci r26,lo8(-1)
		2095	2324 1010 BF4F sbci r27,lo8(-1)
		2096	2325 .L111:
		2097	2326 1012 8138 cpi r24,lo8(129)
		2098	2327 1014 9105 cpc r25,__zero_reg__
		2099	2328 1016 A105 cpc r26,__zero_reg__
		2100	2329 1018 B105 cpc r27,__zero_reg__
		2101	2330 101a 04F0 brlt .L112
		2102	2331 .L109:
		2103	2332 101c 81E0 ldi r24,lo8(1)
		2104	2333 101e 8093 0000 sts TrichterFlug,r24
		2105	2334 1022 00C0 rjmp .L112
		2106	2335 .L95:
		2107	2336 1024 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__
		2108	2337 1028 1092 0000 sts KopplungsteilRollNick,__zero_reg__
		2109	2338 102c 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__
		2110	2339 1030 1092 0000 sts KopplungsteilNickRoll,__zero_reg__
		2111	2340 1034 1092 0000 sts tmpl2.28,__zero_reg__
		2112	2341 1038 1092 0000 sts (tmpl2.28)+1,__zero_reg__
		2113	2342 103c 1092 0000 sts (tmpl2.28)+2,__zero_reg__
		2114	2343 1040 1092 0000 sts (tmpl2.28)+3,__zero_reg__
		2115	2344 1044 1092 0000 sts tmpl.27,__zero_reg__
		2116	2345 1048 1092 0000 sts (tmpl.27)+1,__zero_reg__
		2117	2346 104c 1092 0000 sts (tmpl.27)+2,__zero_reg__
		2118	2347 1050 1092 0000 sts (tmpl.27)+3,__zero_reg__
		2119	2348 .L112:
		2120	2349 1054 8091 0000 lds r24,tmpl2.28
		2121	2350 1058 9091 0000 lds r25,(tmpl2.28)+1
		2122	2351 105c A091 0000 lds r26,(tmpl2.28)+2
		2123	2352 1060 B091 0000 lds r27,(tmpl2.28)+3
		2124	2353 1064 BC01 movw r22,r24
		2125	2354 1066 CD01 movw r24,r26
		2126	2355 1068 24E6 ldi r18,lo8(100)
		2127	2356 106a 30E0 ldi r19,hi8(100)
		2128	2357 106c 40E0 ldi r20,hlo8(100)
		2129	2358 106e 50E0 ldi r21,hhi8(100)
		2130	2359 1070 0E94 0000 call __divmodsi4
		2131	2360 1074 E090 0000 lds r14,tmpl.27
		2132	2361 1078 F090 0000 lds r15,(tmpl.27)+1
		2133	2362 107c E21A sub r14,r18
		2134	2363 107e F30A sbc r15,r19
		2135	2364 1080 F092 0000 sts (TrimRoll)+1,r15
		2136	2365 1084 E092 0000 sts TrimRoll,r14
		2137	2366 1088 8091 0000 lds r24,tmpl.27
		2138	2367 108c 9091 0000 lds r25,(tmpl.27)+1
		2139	2368 1090 A091 0000 lds r26,(tmpl.27)+2
		2140	2369 1094 B091 0000 lds r27,(tmpl.27)+3
		2141	2370 1098 BC01 movw r22,r24
		2142	2371 109a CD01 movw r24,r26
		2143	2372 109c 24E6 ldi r18,lo8(100)
		2144	2373 109e 30E0 ldi r19,hi8(100)
		2145	2374 10a0 40E0 ldi r20,hlo8(100)
		2146	2375 10a2 50E0 ldi r21,hhi8(100)
		2147	2376 10a4 0E94 0000 call __divmodsi4
		2148	2377 10a8 DA01 movw r26,r20
		2149	2378 10aa C901 movw r24,r18
		2150	2379 10ac 2091 0000 lds r18,tmpl2.28
		2151	2380 10b0 3091 0000 lds r19,(tmpl2.28)+1
		2152	2381 10b4 8C01 movw r16,r24
		2153	2382 10b6 021B sub r16,r18
		2154	2383 10b8 130B sbc r17,r19
		2155	2384 10ba 1093 0000 sts (TrimNick)+1,r17
		2156	2385 10be 0093 0000 sts TrimNick,r16
		2157	2386 10c2 8091 0000 lds r24,GIER_GRAD_FAKTOR
		2158	2387 10c6 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1
		2159	2388 10ca A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2
		2160	2389 10ce B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3
		2161	2390 10d2 BC01 movw r22,r24
		2162	2391 10d4 CD01 movw r24,r26
		2163	2392 10d6 28E6 ldi r18,lo8(360)
		2164	2393 10d8 31E0 ldi r19,hi8(360)
		2165	2394 10da 40E0 ldi r20,hlo8(360)
		2166	2395 10dc 50E0 ldi r21,hhi8(360)
		2167	2396 10de 0E94 0000 call __mulsi3
		2168	2397 10e2 2091 0000 lds r18,ErsatzKompass
		2169	2398 10e6 3091 0000 lds r19,(ErsatzKompass)+1
		2170	2399 10ea 4091 0000 lds r20,(ErsatzKompass)+2
		2171	2400 10ee 5091 0000 lds r21,(ErsatzKompass)+3
		2172	2401 10f2 2617 cp r18,r22
		2173	2402 10f4 3707 cpc r19,r23
		2174	2403 10f6 4807 cpc r20,r24
		2175	2404 10f8 5907 cpc r21,r25
		2176	2405 10fa 04F0 brlt .L113
		2177	2406 10fc 261B sub r18,r22
		2178	2407 10fe 370B sbc r19,r23
		2179	2408 1100 480B sbc r20,r24
		2180	2409 1102 590B sbc r21,r25
		2181	2410 1104 2093 0000 sts ErsatzKompass,r18
		2182	2411 1108 3093 0000 sts (ErsatzKompass)+1,r19
		2183	2412 110c 4093 0000 sts (ErsatzKompass)+2,r20
		2184	2413 1110 5093 0000 sts (ErsatzKompass)+3,r21
		2185	2414 .L113:
		2186	2415 1114 2091 0000 lds r18,ErsatzKompass
		2187	2416 1118 3091 0000 lds r19,(ErsatzKompass)+1
		2188	2417 111c 4091 0000 lds r20,(ErsatzKompass)+2
		2189	2418 1120 5091 0000 lds r21,(ErsatzKompass)+3
		2190	2419 1124 57FF sbrs r21,7
		2191	2420 1126 00C0 rjmp .L114
		2192	2421 1128 260F add r18,r22
		2193	2422 112a 371F adc r19,r23
		2194	2423 112c 481F adc r20,r24
		2195	2424 112e 591F adc r21,r25
		2196	2425 1130 2093 0000 sts ErsatzKompass,r18
		2197	2426 1134 3093 0000 sts (ErsatzKompass)+1,r19
		2198	2427 1138 4093 0000 sts (ErsatzKompass)+2,r20
		2199	2428 113c 5093 0000 sts (ErsatzKompass)+3,r21
		2200	2429 .L114:
		2201	2430 1140 6091 0000 lds r22,MesswertRoll
		2202	2431 1144 7091 0000 lds r23,(MesswertRoll)+1
		2203	2432 1148 6E0D add r22,r14
		2204	2433 114a 7F1D adc r23,r15
		2205	2434 114c 9B01 movw r18,r22
		2206	2435 114e 4427 clr r20
		2207	2436 1150 37FD sbrc r19,7
		2208	2437 1152 4095 com r20
		2209	2438 1154 542F mov r21,r20
		2210	2439 1156 8091 0000 lds r24,Mess_IntegralRoll2
		2211	2440 115a 9091 0000 lds r25,(Mess_IntegralRoll2)+1
		2212	2441 115e A091 0000 lds r26,(Mess_IntegralRoll2)+2
		2213	2442 1162 B091 0000 lds r27,(Mess_IntegralRoll2)+3
		2214	2443 1166 820F add r24,r18
		2215	2444 1168 931F adc r25,r19
		2216	2445 116a A41F adc r26,r20
		2217	2446 116c B51F adc r27,r21
		2218	2447 116e 8093 0000 sts Mess_IntegralRoll2,r24
		2219	2448 1172 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		2220	2449 1176 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		2221	2450 117a B093 0000 sts (Mess_IntegralRoll2)+3,r27
		2222	2451 117e 8091 0000 lds r24,LageKorrekturRoll
		2223	2452 1182 9091 0000 lds r25,(LageKorrekturRoll)+1
		2224	2453 1186 681B sub r22,r24
		2225	2454 1188 790B sbc r23,r25
		2226	2455 118a CB01 movw r24,r22
		2227	2456 118c AA27 clr r26
		2228	2457 118e 97FD sbrc r25,7
		2229	2458 1190 A095 com r26
		2230	2459 1192 BA2F mov r27,r26
		2231	2460 1194 2985 ldd r18,Y+9
		2232	2461 1196 3A85 ldd r19,Y+10
		2233	2462 1198 4B85 ldd r20,Y+11
		2234	2463 119a 5C85 ldd r21,Y+12
		2235	2464 119c 820F add r24,r18
		2236	2465 119e 931F adc r25,r19
		2237	2466 11a0 A41F adc r26,r20
		2238	2467 11a2 B51F adc r27,r21
		2239	2468 11a4 8093 0000 sts Mess_IntegralRoll,r24
		2240	2469 11a8 9093 0000 sts (Mess_IntegralRoll)+1,r25
		2241	2470 11ac A093 0000 sts (Mess_IntegralRoll)+2,r26
		2242	2471 11b0 B093 0000 sts (Mess_IntegralRoll)+3,r27
		2243	2472 11b4 C090 0000 lds r12,Umschlag180Roll
		2244	2473 11b8 D090 0000 lds r13,(Umschlag180Roll)+1
		2245	2474 11bc E090 0000 lds r14,(Umschlag180Roll)+2
		2246	2475 11c0 F090 0000 lds r15,(Umschlag180Roll)+3
		2247	2476 11c4 C816 cp r12,r24
		2248	2477 11c6 D906 cpc r13,r25
		2249	2478 11c8 EA06 cpc r14,r26
		2250	2479 11ca FB06 cpc r15,r27
		2251	2480 11cc 04F4 brge .L115
		2252	2481 11ce 88EA ldi r24,lo8(25000)
		2253	2482 11d0 91E6 ldi r25,hi8(25000)
		2254	2483 11d2 A0E0 ldi r26,hlo8(25000)
		2255	2484 11d4 B0E0 ldi r27,hhi8(25000)
		2256	2485 11d6 8C19 sub r24,r12
		2257	2486 11d8 9D09 sbc r25,r13
		2258	2487 11da AE09 sbc r26,r14
		2259	2488 11dc BF09 sbc r27,r15
		2260	2489 11de 8093 0000 sts Mess_IntegralRoll,r24
		2261	2490 11e2 9093 0000 sts (Mess_IntegralRoll)+1,r25
		2262	2491 11e6 A093 0000 sts (Mess_IntegralRoll)+2,r26
		2263	2492 11ea B093 0000 sts (Mess_IntegralRoll)+3,r27
		2264	2493 11ee 8093 0000 sts Mess_IntegralRoll2,r24
		2265	2494 11f2 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		2266	2495 11f6 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		2267	2496 11fa B093 0000 sts (Mess_IntegralRoll2)+3,r27
		2268	2497 .L115:
		2269	2498 11fe 2227 clr r18
		2270	2499 1200 3327 clr r19
		2271	2500 1202 A901 movw r20,r18
		2272	2501 1204 2C19 sub r18,r12
		2273	2502 1206 3D09 sbc r19,r13
		2274	2503 1208 4E09 sbc r20,r14
		2275	2504 120a 5F09 sbc r21,r15
		2276	2505 120c 8091 0000 lds r24,Mess_IntegralRoll
		2277	2506 1210 9091 0000 lds r25,(Mess_IntegralRoll)+1
		2278	2507 1214 A091 0000 lds r26,(Mess_IntegralRoll)+2
		2279	2508 1218 B091 0000 lds r27,(Mess_IntegralRoll)+3
		2280	2509 121c 8217 cp r24,r18
		2281	2510 121e 9307 cpc r25,r19
		2282	2511 1220 A407 cpc r26,r20
		2283	2512 1222 B507 cpc r27,r21
		2284	2513 1224 04F4 brge .L116
		2285	2514 1226 D701 movw r26,r14
		2286	2515 1228 C601 movw r24,r12
		2287	2516 122a 885A subi r24,lo8(-(-25000))
		2288	2517 122c 9146 sbci r25,hi8(-(-25000))
		2289	2518 122e A040 sbci r26,hlo8(-(-25000))
		2290	2519 1230 B040 sbci r27,hhi8(-(-25000))
		2291	2520 1232 8093 0000 sts Mess_IntegralRoll,r24
		2292	2521 1236 9093 0000 sts (Mess_IntegralRoll)+1,r25
		2293	2522 123a A093 0000 sts (Mess_IntegralRoll)+2,r26
		2294	2523 123e B093 0000 sts (Mess_IntegralRoll)+3,r27
		2295	2524 1242 8093 0000 sts Mess_IntegralRoll2,r24
		2296	2525 1246 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		2297	2526 124a A093 0000 sts (Mess_IntegralRoll2)+2,r26
		2298	2527 124e B093 0000 sts (Mess_IntegralRoll2)+3,r27
		2299	2528 .L116:
		2300	2529 1252 6091 0000 lds r22,MesswertNick
		2301	2530 1256 7091 0000 lds r23,(MesswertNick)+1
		2302	2531 125a 600F add r22,r16
		2303	2532 125c 711F adc r23,r17
		2304	2533 125e 9B01 movw r18,r22
		2305	2534 1260 4427 clr r20
		2306	2535 1262 37FD sbrc r19,7
		2307	2536 1264 4095 com r20
		2308	2537 1266 542F mov r21,r20
		2309	2538 1268 8091 0000 lds r24,Mess_IntegralNick2
		2310	2539 126c 9091 0000 lds r25,(Mess_IntegralNick2)+1
		2311	2540 1270 A091 0000 lds r26,(Mess_IntegralNick2)+2
		2312	2541 1274 B091 0000 lds r27,(Mess_IntegralNick2)+3
		2313	2542 1278 820F add r24,r18
		2314	2543 127a 931F adc r25,r19
		2315	2544 127c A41F adc r26,r20
		2316	2545 127e B51F adc r27,r21
		2317	2546 1280 8093 0000 sts Mess_IntegralNick2,r24
		2318	2547 1284 9093 0000 sts (Mess_IntegralNick2)+1,r25
		2319	2548 1288 A093 0000 sts (Mess_IntegralNick2)+2,r26
		2320	2549 128c B093 0000 sts (Mess_IntegralNick2)+3,r27
		2321	2550 1290 8091 0000 lds r24,LageKorrekturNick
		2322	2551 1294 9091 0000 lds r25,(LageKorrekturNick)+1
		2323	2552 1298 681B sub r22,r24
		2324	2553 129a 790B sbc r23,r25
		2325	2554 129c CB01 movw r24,r22
		2326	2555 129e AA27 clr r26
		2327	2556 12a0 97FD sbrc r25,7
		2328	2557 12a2 A095 com r26
		2329	2558 12a4 BA2F mov r27,r26
		2330	2559 12a6 2D85 ldd r18,Y+13
		2331	2560 12a8 3E85 ldd r19,Y+14
		2332	2561 12aa 4F85 ldd r20,Y+15
		2333	2562 12ac 5889 ldd r21,Y+16
		2334	2563 12ae 820F add r24,r18
		2335	2564 12b0 931F adc r25,r19
		2336	2565 12b2 A41F adc r26,r20
		2337	2566 12b4 B51F adc r27,r21
		2338	2567 12b6 8093 0000 sts Mess_IntegralNick,r24
		2339	2568 12ba 9093 0000 sts (Mess_IntegralNick)+1,r25
		2340	2569 12be A093 0000 sts (Mess_IntegralNick)+2,r26
		2341	2570 12c2 B093 0000 sts (Mess_IntegralNick)+3,r27
		2342	2571 12c6 E090 0000 lds r14,Umschlag180Nick
		2343	2572 12ca F090 0000 lds r15,(Umschlag180Nick)+1
		2344	2573 12ce 0091 0000 lds r16,(Umschlag180Nick)+2
		2345	2574 12d2 1091 0000 lds r17,(Umschlag180Nick)+3
		2346	2575 12d6 E816 cp r14,r24
		2347	2576 12d8 F906 cpc r15,r25
		2348	2577 12da 0A07 cpc r16,r26
		2349	2578 12dc 1B07 cpc r17,r27
		2350	2579 12de 04F4 brge .L117
		2351	2580 12e0 88EA ldi r24,lo8(25000)
		2352	2581 12e2 91E6 ldi r25,hi8(25000)
		2353	2582 12e4 A0E0 ldi r26,hlo8(25000)
		2354	2583 12e6 B0E0 ldi r27,hhi8(25000)
		2355	2584 12e8 8E19 sub r24,r14
		2356	2585 12ea 9F09 sbc r25,r15
		2357	2586 12ec A00B sbc r26,r16
		2358	2587 12ee B10B sbc r27,r17
		2359	2588 12f0 8093 0000 sts Mess_IntegralNick,r24
		2360	2589 12f4 9093 0000 sts (Mess_IntegralNick)+1,r25
		2361	2590 12f8 A093 0000 sts (Mess_IntegralNick)+2,r26
		2362	2591 12fc B093 0000 sts (Mess_IntegralNick)+3,r27
		2363	2592 1300 8093 0000 sts Mess_IntegralNick2,r24
		2364	2593 1304 9093 0000 sts (Mess_IntegralNick2)+1,r25
		2365	2594 1308 A093 0000 sts (Mess_IntegralNick2)+2,r26
		2366	2595 130c B093 0000 sts (Mess_IntegralNick2)+3,r27
		2367	2596 .L117:
		2368	2597 1310 2227 clr r18
		2369	2598 1312 3327 clr r19
		2370	2599 1314 A901 movw r20,r18
		2371	2600 1316 2E19 sub r18,r14
		2372	2601 1318 3F09 sbc r19,r15
		2373	2602 131a 400B sbc r20,r16
		2374	2603 131c 510B sbc r21,r17
		2375	2604 131e 8091 0000 lds r24,Mess_IntegralNick
		2376	2605 1322 9091 0000 lds r25,(Mess_IntegralNick)+1
		2377	2606 1326 A091 0000 lds r26,(Mess_IntegralNick)+2
		2378	2607 132a B091 0000 lds r27,(Mess_IntegralNick)+3
		2379	2608 132e 8217 cp r24,r18
		2380	2609 1330 9307 cpc r25,r19
		2381	2610 1332 A407 cpc r26,r20
		2382	2611 1334 B507 cpc r27,r21
		2383	2612 1336 04F4 brge .L118
		2384	2613 1338 D801 movw r26,r16
		2385	2614 133a C701 movw r24,r14
		2386	2615 133c 885A subi r24,lo8(-(-25000))
		2387	2616 133e 9146 sbci r25,hi8(-(-25000))
		2388	2617 1340 A040 sbci r26,hlo8(-(-25000))
		2389	2618 1342 B040 sbci r27,hhi8(-(-25000))
		2390	2619 1344 8093 0000 sts Mess_IntegralNick,r24
		2391	2620 1348 9093 0000 sts (Mess_IntegralNick)+1,r25
		2392	2621 134c A093 0000 sts (Mess_IntegralNick)+2,r26
		2393	2622 1350 B093 0000 sts (Mess_IntegralNick)+3,r27
		2394	2623 1354 8093 0000 sts Mess_IntegralNick2,r24
		2395	2624 1358 9093 0000 sts (Mess_IntegralNick2)+1,r25
		2396	2625 135c A093 0000 sts (Mess_IntegralNick2)+2,r26
		2397	2626 1360 B093 0000 sts (Mess_IntegralNick2)+3,r27
		2398	2627 .L118:
		2399	2628 1364 8091 0000 lds r24,Mess_Integral_Gier
		2400	2629 1368 9091 0000 lds r25,(Mess_Integral_Gier)+1
		2401	2630 136c A091 0000 lds r26,(Mess_Integral_Gier)+2
		2402	2631 1370 B091 0000 lds r27,(Mess_Integral_Gier)+3
		2403	2632 1374 8093 0000 sts Integral_Gier,r24
		2404	2633 1378 9093 0000 sts (Integral_Gier)+1,r25
		2405	2634 137c A093 0000 sts (Integral_Gier)+2,r26
		2406	2635 1380 B093 0000 sts (Integral_Gier)+3,r27
		2407	2636 1384 8091 0000 lds r24,Mess_IntegralNick
		2408	2637 1388 9091 0000 lds r25,(Mess_IntegralNick)+1
		2409	2638 138c A091 0000 lds r26,(Mess_IntegralNick)+2
		2410	2639 1390 B091 0000 lds r27,(Mess_IntegralNick)+3
		2411	2640 1394 8093 0000 sts IntegralNick,r24
		2412	2641 1398 9093 0000 sts (IntegralNick)+1,r25
		2413	2642 139c A093 0000 sts (IntegralNick)+2,r26
		2414	2643 13a0 B093 0000 sts (IntegralNick)+3,r27
		2415	2644 13a4 8091 0000 lds r24,Mess_IntegralRoll
		2416	2645 13a8 9091 0000 lds r25,(Mess_IntegralRoll)+1
		2417	2646 13ac A091 0000 lds r26,(Mess_IntegralRoll)+2
		2418	2647 13b0 B091 0000 lds r27,(Mess_IntegralRoll)+3
		2419	2648 13b4 8093 0000 sts IntegralRoll,r24
		2420	2649 13b8 9093 0000 sts (IntegralRoll)+1,r25
		2421	2650 13bc A093 0000 sts (IntegralRoll)+2,r26
		2422	2651 13c0 B093 0000 sts (IntegralRoll)+3,r27
		2423	2652 13c4 8091 0000 lds r24,Mess_IntegralNick2
		2424	2653 13c8 9091 0000 lds r25,(Mess_IntegralNick2)+1
		2425	2654 13cc A091 0000 lds r26,(Mess_IntegralNick2)+2
		2426	2655 13d0 B091 0000 lds r27,(Mess_IntegralNick2)+3
		2427	2656 13d4 8093 0000 sts IntegralNick2,r24
		2428	2657 13d8 9093 0000 sts (IntegralNick2)+1,r25
		2429	2658 13dc A093 0000 sts (IntegralNick2)+2,r26
		2430	2659 13e0 B093 0000 sts (IntegralNick2)+3,r27
		2431	2660 13e4 8091 0000 lds r24,Mess_IntegralRoll2
		2432	2661 13e8 9091 0000 lds r25,(Mess_IntegralRoll2)+1
		2433	2662 13ec A091 0000 lds r26,(Mess_IntegralRoll2)+2
		2434	2663 13f0 B091 0000 lds r27,(Mess_IntegralRoll2)+3
		2435	2664 13f4 8093 0000 sts IntegralRoll2,r24
		2436	2665 13f8 9093 0000 sts (IntegralRoll2)+1,r25
		2437	2666 13fc A093 0000 sts (IntegralRoll2)+2,r26
		2438	2667 1400 B093 0000 sts (IntegralRoll2)+3,r27
		2439	2668 1404 8091 0000 lds r24,HiResNick
		2440	2669 1408 9091 0000 lds r25,(HiResNick)+1
		2441	2670 140c 97FD sbrc r25,7
		2442	2671 140e 0796 adiw r24,7
		2443	2672 .L119:
		2444	2673 1410 03E0 ldi r16,3
		2445	2674 1412 9595 1: asr r25
		2446	2675 1414 8795 ror r24
		2447	2676 1416 0A95 dec r16
		2448	2677 1418 01F4 brne 1b
		2449	2678 141a 9093 0000 sts (MesswertNick)+1,r25
		2450	2679 141e 8093 0000 sts MesswertNick,r24
		2451	2680 1422 8091 0000 lds r24,HiResRoll
		2452	2681 1426 9091 0000 lds r25,(HiResRoll)+1
		2453	2682 142a 97FD sbrc r25,7
		2454	2683 142c 0796 adiw r24,7
		2455	2684 .L120:
		2456	2685 142e 13E0 ldi r17,3
		2457	2686 1430 9595 1: asr r25
		2458	2687 1432 8795 ror r24
		2459	2688 1434 1A95 dec r17
		2460	2689 1436 01F4 brne 1b
		2461	2690 1438 9093 0000 sts (MesswertRoll)+1,r25
		2462	2691 143c 8093 0000 sts MesswertRoll,r24
		2463	2692 1440 8091 0000 lds r24,AdWertNick
		2464	2693 1444 9091 0000 lds r25,(AdWertNick)+1
		2465	2694 1448 0F97 sbiw r24,15
		2466	2695 144a 04F4 brge .L121
		2467	2696 144c 88E1 ldi r24,lo8(-1000)
		2468	2697 144e 9CEF ldi r25,hi8(-1000)
		2469	2698 1450 9093 0000 sts (MesswertNick)+1,r25
		2470	2699 1454 8093 0000 sts MesswertNick,r24
		2471	2700 .L121:
		2472	2701 1458 8091 0000 lds r24,AdWertNick
		2473	2702 145c 9091 0000 lds r25,(AdWertNick)+1
		2474	2703 1460 0797 sbiw r24,7
		2475	2704 1462 04F4 brge .L122
		2476	2705 1464 80E3 ldi r24,lo8(-2000)
		2477	2706 1466 98EF ldi r25,hi8(-2000)
		2478	2707 1468 9093 0000 sts (MesswertNick)+1,r25
		2479	2708 146c 8093 0000 sts MesswertNick,r24
		2480	2709 .L122:
		2481	2710 1470 2091 0000 lds r18,PlatinenVersion
		2482	2711 1474 2A30 cpi r18,lo8(10)
		2483	2712 1476 01F4 brne .L123
		2484	2713 1478 8091 0000 lds r24,AdWertNick
		2485	2714 147c 9091 0000 lds r25,(AdWertNick)+1
		2486	2715 1480 835F subi r24,lo8(1011)
		2487	2716 1482 9340 sbci r25,hi8(1011)
		2488	2717 1484 04F0 brlt .L124
		2489	2718 1486 88EE ldi r24,lo8(1000)
		2490	2719 1488 93E0 ldi r25,hi8(1000)
		2491	2720 148a 9093 0000 sts (MesswertNick)+1,r25
		2492	2721 148e 8093 0000 sts MesswertNick,r24
		2493	2722 .L124:
		2494	2723 1492 8091 0000 lds r24,AdWertNick
		2495	2724 1496 9091 0000 lds r25,(AdWertNick)+1
		2496	2725 149a 8A5F subi r24,lo8(1018)
		2497	2726 149c 9340 sbci r25,hi8(1018)
		2498	2727 149e 04F0 brlt .L126
		2499	2728 14a0 00C0 rjmp .L169
		2500	2729 .L123:
		2501	2730 14a2 8091 0000 lds r24,AdWertNick
		2502	2731 14a6 9091 0000 lds r25,(AdWertNick)+1
		2503	2732 14aa 815D subi r24,lo8(2001)
		2504	2733 14ac 9740 sbci r25,hi8(2001)
		2505	2734 14ae 04F0 brlt .L127
		2506	2735 14b0 88EE ldi r24,lo8(1000)
		2507	2736 14b2 93E0 ldi r25,hi8(1000)
		2508	2737 14b4 9093 0000 sts (MesswertNick)+1,r25
		2509	2738 14b8 8093 0000 sts MesswertNick,r24
		2510	2739 .L127:
		2511	2740 14bc 8091 0000 lds r24,AdWertNick
		2512	2741 14c0 9091 0000 lds r25,(AdWertNick)+1
		2513	2742 14c4 805E subi r24,lo8(2016)
		2514	2743 14c6 9740 sbci r25,hi8(2016)
		2515	2744 14c8 04F0 brlt .L126
		2516	2745 .L169:
		2517	2746 14ca 80ED ldi r24,lo8(2000)
		2518	2747 14cc 97E0 ldi r25,hi8(2000)
		2519	2748 14ce 9093 0000 sts (MesswertNick)+1,r25
		2520	2749 14d2 8093 0000 sts MesswertNick,r24
		2521	2750 .L126:
		2522	2751 14d6 8091 0000 lds r24,AdWertRoll
		2523	2752 14da 9091 0000 lds r25,(AdWertRoll)+1
		2524	2753 14de 0F97 sbiw r24,15
		2525	2754 14e0 04F4 brge .L129
		2526	2755 14e2 88E1 ldi r24,lo8(-1000)
		2527	2756 14e4 9CEF ldi r25,hi8(-1000)
		2528	2757 14e6 9093 0000 sts (MesswertRoll)+1,r25
		2529	2758 14ea 8093 0000 sts MesswertRoll,r24
		2530	2759 .L129:
		2531	2760 14ee 8091 0000 lds r24,AdWertRoll
		2532	2761 14f2 9091 0000 lds r25,(AdWertRoll)+1
		2533	2762 14f6 0797 sbiw r24,7
		2534	2763 14f8 04F4 brge .L130
		2535	2764 14fa 80E3 ldi r24,lo8(-2000)
		2536	2765 14fc 98EF ldi r25,hi8(-2000)
		2537	2766 14fe 9093 0000 sts (MesswertRoll)+1,r25
		2538	2767 1502 8093 0000 sts MesswertRoll,r24
		2539	2768 .L130:
		2540	2769 1506 2A30 cpi r18,lo8(10)
		2541	2770 1508 01F4 brne .L131
		2542	2771 150a 8091 0000 lds r24,AdWertRoll
		2543	2772 150e 9091 0000 lds r25,(AdWertRoll)+1
		2544	2773 1512 835F subi r24,lo8(1011)
		2545	2774 1514 9340 sbci r25,hi8(1011)
		2546	2775 1516 04F0 brlt .L132
		2547	2776 1518 88EE ldi r24,lo8(1000)
		2548	2777 151a 93E0 ldi r25,hi8(1000)
		2549	2778 151c 9093 0000 sts (MesswertRoll)+1,r25
		2550	2779 1520 8093 0000 sts MesswertRoll,r24
		2551	2780 .L132:
		2552	2781 1524 8091 0000 lds r24,AdWertRoll
		2553	2782 1528 9091 0000 lds r25,(AdWertRoll)+1
		2554	2783 152c 8A5F subi r24,lo8(1018)
		2555	2784 152e 9340 sbci r25,hi8(1018)
		2556	2785 1530 04F0 brlt .L134
		2557	2786 1532 00C0 rjmp .L170
		2558	2787 .L131:
		2559	2788 1534 8091 0000 lds r24,AdWertRoll
		2560	2789 1538 9091 0000 lds r25,(AdWertRoll)+1
		2561	2790 153c 815D subi r24,lo8(2001)
		2562	2791 153e 9740 sbci r25,hi8(2001)
		2563	2792 1540 04F0 brlt .L135
		2564	2793 1542 88EE ldi r24,lo8(1000)
		2565	2794 1544 93E0 ldi r25,hi8(1000)
		2566	2795 1546 9093 0000 sts (MesswertRoll)+1,r25
		2567	2796 154a 8093 0000 sts MesswertRoll,r24
		2568	2797 .L135:
		2569	2798 154e 8091 0000 lds r24,AdWertRoll
		2570	2799 1552 9091 0000 lds r25,(AdWertRoll)+1
		2571	2800 1556 805E subi r24,lo8(2016)
		2572	2801 1558 9740 sbci r25,hi8(2016)
		2573	2802 155a 04F0 brlt .L134
		2574	2803 .L170:
		2575	2804 155c 80ED ldi r24,lo8(2000)
		2576	2805 155e 97E0 ldi r25,hi8(2000)
		2577	2806 1560 9093 0000 sts (MesswertRoll)+1,r25
		2578	2807 1564 8093 0000 sts MesswertRoll,r24
		2579	2808 .L134:
		2580	2809 1568 6091 0000 lds r22,Parameter_Gyro_D
		2581	2810 156c 6623 tst r22
		2582	2811 156e 01F4 brne .+2
		2583	2812 1570 00C0 rjmp .L137
		2584	2813 1572 4091 0000 lds r20,HiResNick
		2585	2814 1576 5091 0000 lds r21,(HiResNick)+1
		2586	2815 157a 8091 0000 lds r24,oldNick.31
		2587	2816 157e 9091 0000 lds r25,(oldNick.31)+1
		2588	2817 1582 481B sub r20,r24
		2589	2818 1584 590B sbc r21,r25
		2590	2819 1586 5093 0000 sts (d2Nick.34)+1,r21
		2591	2820 158a 4093 0000 sts d2Nick.34,r20
		2592	2821 158e 2091 0000 lds r18,HiResNick
		2593	2822 1592 3091 0000 lds r19,(HiResNick)+1
		2594	2823 1596 280F add r18,r24
		2595	2824 1598 391F adc r19,r25
		2596	2825 159a 37FF sbrs r19,7
		2597	2826 159c 00C0 rjmp .L138
		2598	2827 159e 2F5F subi r18,lo8(-(1))
		2599	2828 15a0 3F4F sbci r19,hi8(-(1))
		2600	2829 .L138:
		2601	2830 15a2 3595 asr r19
		2602	2831 15a4 2795 ror r18
		2603	2832 15a6 3093 0000 sts (oldNick.31)+1,r19
		2604	2833 15aa 2093 0000 sts oldNick.31,r18
		2605	2834 15ae 4138 cpi r20,129
		2606	2835 15b0 5105 cpc r21,__zero_reg__
		2607	2836 15b2 04F0 brlt .L139
		2608	2837 15b4 80E8 ldi r24,lo8(128)
		2609	2838 15b6 90E0 ldi r25,hi8(128)
		2610	2839 15b8 00C0 rjmp .L171
		2611	2840 .L139:
		2612	2841 15ba 4058 subi r20,lo8(-128)
		2613	2842 15bc 5F4F sbci r21,hi8(-128)
		2614	2843 15be 04F4 brge .L140
		2615	2844 15c0 80E8 ldi r24,lo8(-128)
		2616	2845 15c2 9FEF ldi r25,hi8(-128)
		2617	2846 .L171:
		2618	2847 15c4 9093 0000 sts (d2Nick.34)+1,r25
		2619	2848 15c8 8093 0000 sts d2Nick.34,r24
		2620	2849 .L140:
		2621	2850 15cc 4091 0000 lds r20,HiResRoll
		2622	2851 15d0 5091 0000 lds r21,(HiResRoll)+1
		2623	2852 15d4 8091 0000 lds r24,oldRoll.32
		2624	2853 15d8 9091 0000 lds r25,(oldRoll.32)+1
		2625	2854 15dc 481B sub r20,r24
		2626	2855 15de 590B sbc r21,r25
		2627	2856 15e0 5093 0000 sts (d2Roll.33)+1,r21
		2628	2857 15e4 4093 0000 sts d2Roll.33,r20
		2629	2858 15e8 2091 0000 lds r18,HiResRoll
		2630	2859 15ec 3091 0000 lds r19,(HiResRoll)+1
		2631	2860 15f0 280F add r18,r24
		2632	2861 15f2 391F adc r19,r25
		2633	2862 15f4 37FF sbrs r19,7
		2634	2863 15f6 00C0 rjmp .L142
		2635	2864 15f8 2F5F subi r18,lo8(-(1))
		2636	2865 15fa 3F4F sbci r19,hi8(-(1))
		2637	2866 .L142:
		2638	2867 15fc 3595 asr r19
		2639	2868 15fe 2795 ror r18
		2640	2869 1600 3093 0000 sts (oldRoll.32)+1,r19
		2641	2870 1604 2093 0000 sts oldRoll.32,r18
		2642	2871 1608 4138 cpi r20,129
		2643	2872 160a 5105 cpc r21,__zero_reg__
		2644	2873 160c 04F0 brlt .L143
		2645	2874 160e 80E8 ldi r24,lo8(128)
		2646	2875 1610 90E0 ldi r25,hi8(128)
		2647	2876 1612 00C0 rjmp .L172
		2648	2877 .L143:
		2649	2878 1614 4058 subi r20,lo8(-128)
		2650	2879 1616 5F4F sbci r21,hi8(-128)
		2651	2880 1618 04F4 brge .L144
		2652	2881 161a 80E8 ldi r24,lo8(-128)
		2653	2882 161c 9FEF ldi r25,hi8(-128)
		2654	2883 .L172:
		2655	2884 161e 9093 0000 sts (d2Roll.33)+1,r25
		2656	2885 1622 8093 0000 sts d2Roll.33,r24
		2657	2886 .L144:
		2658	2887 1626 462F mov r20,r22
		2659	2888 1628 5527 clr r21
		2660	2889 162a 8091 0000 lds r24,d2Nick.34
		2661	2890 162e 9091 0000 lds r25,(d2Nick.34)+1
		2662	2891 1632 849F mul r24,r20
		2663	2892 1634 B001 movw r22,r0
		2664	2893 1636 859F mul r24,r21
		2665	2894 1638 700D add r23,r0
		2666	2895 163a 949F mul r25,r20
		2667	2896 163c 700D add r23,r0
		2668	2897 163e 1124 clr r1
		2669	2898 1640 9B01 movw r18,r22
		2670	2899 1642 77FF sbrs r23,7
		2671	2900 1644 00C0 rjmp .L146
		2672	2901 1646 215F subi r18,lo8(-(15))
		2673	2902 1648 3F4F sbci r19,hi8(-(15))
		2674	2903 .L146:
		2675	2904 164a F4E0 ldi r31,4
		2676	2905 164c 3595 1: asr r19
		2677	2906 164e 2795 ror r18
		2678	2907 1650 FA95 dec r31
		2679	2908 1652 01F4 brne 1b
		2680	2909 1654 8091 0000 lds r24,MesswertNick
		2681	2910 1658 9091 0000 lds r25,(MesswertNick)+1
		2682	2911 165c 820F add r24,r18
		2683	2912 165e 931F adc r25,r19
		2684	2913 1660 9093 0000 sts (MesswertNick)+1,r25
		2685	2914 1664 8093 0000 sts MesswertNick,r24
		2686	2915 1668 8091 0000 lds r24,d2Roll.33
		2687	2916 166c 9091 0000 lds r25,(d2Roll.33)+1
		2688	2917 1670 849F mul r24,r20
		2689	2918 1672 D001 movw r26,r0
		2690	2919 1674 859F mul r24,r21
		2691	2920 1676 B00D add r27,r0
		2692	2921 1678 949F mul r25,r20
		2693	2922 167a B00D add r27,r0
		2694	2923 167c 1124 clr r1
		2695	2924 167e AD01 movw r20,r26
		2696	2925 1680 9D01 movw r18,r26
		2697	2926 1682 B7FF sbrs r27,7
		2698	2927 1684 00C0 rjmp .L147
		2699	2928 1686 215F subi r18,lo8(-(15))
		2700	2929 1688 3F4F sbci r19,hi8(-(15))
		2701	2930 .L147:
		2702	2931 168a E4E0 ldi r30,4
		2703	2932 168c 3595 1: asr r19
		2704	2933 168e 2795 ror r18
		2705	2934 1690 EA95 dec r30
		2706	2935 1692 01F4 brne 1b
		2707	2936 1694 8091 0000 lds r24,MesswertRoll
		2708	2937 1698 9091 0000 lds r25,(MesswertRoll)+1
		2709	2938 169c 820F add r24,r18
		2710	2939 169e 931F adc r25,r19
		2711	2940 16a0 9093 0000 sts (MesswertRoll)+1,r25
		2712	2941 16a4 8093 0000 sts MesswertRoll,r24
		2713	2942 16a8 8091 0000 lds r24,HiResNick
		2714	2943 16ac 9091 0000 lds r25,(HiResNick)+1
		2715	2944 16b0 860F add r24,r22
		2716	2945 16b2 971F adc r25,r23
		2717	2946 16b4 9093 0000 sts (HiResNick)+1,r25
		2718	2947 16b8 8093 0000 sts HiResNick,r24
		2719	2948 16bc 8091 0000 lds r24,HiResRoll
		2720	2949 16c0 9091 0000 lds r25,(HiResRoll)+1
		2721	2950 16c4 840F add r24,r20
		2722	2951 16c6 951F adc r25,r21
		2723	2952 16c8 9093 0000 sts (HiResRoll)+1,r25
		2724	2953 16cc 8093 0000 sts HiResRoll,r24
		2725	2954 .L137:
		2726	2955 16d0 0091 0000 lds r16,RohMesswertRoll
		2727	2956 16d4 1091 0000 lds r17,(RohMesswertRoll)+1
		2728	2957 16d8 8091 0000 lds r24,KopplungsteilNickRoll
		2729	2958 16dc 9091 0000 lds r25,(KopplungsteilNickRoll)+1
		2730	2959 16e0 1016 cp __zero_reg__,r16
		2731	2960 16e2 1106 cpc __zero_reg__,r17
		2732	2961 16e4 04F4 brge .L148
		2733	2962 16e6 9C01 movw r18,r24
		2734	2963 16e8 97FF sbrs r25,7
		2735	2964 16ea 00C0 rjmp .L149
		2736	2965 16ec 2227 clr r18
		2737	2966 16ee 3327 clr r19
		2738	2967 16f0 281B sub r18,r24
		2739	2968 16f2 390B sbc r19,r25
		2740	2969 .L149:
		2741	2970 16f4 C901 movw r24,r18
		2742	2971 16f6 AA27 clr r26
		2743	2972 16f8 97FD sbrc r25,7
		2744	2973 16fa A095 com r26
		2745	2974 16fc BA2F mov r27,r26
		2746	2975 16fe 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2747	2976 1702 3327 clr r19
		2748	2977 1704 4427 clr r20
		2749	2978 1706 5527 clr r21
		2750	2979 1708 BC01 movw r22,r24
		2751	2980 170a CD01 movw r24,r26
		2752	2981 170c 0E94 0000 call __mulsi3
		2753	2982 1710 9B01 movw r18,r22
		2754	2983 1712 AC01 movw r20,r24
		2755	2984 1714 97FF sbrs r25,7
		2756	2985 1716 00C0 rjmp .L150
		2757	2986 1718 215C subi r18,lo8(-(63))
		2758	2987 171a 3F4F sbci r19,hi8(-(63))
		2759	2988 171c 4F4F sbci r20,hlo8(-(63))
		2760	2989 171e 5F4F sbci r21,hhi8(-(63))
		2761	2990 .L150:
		2762	2991 1720 76E0 ldi r23,6
		2763	2992 1722 5595 1: asr r21
		2764	2993 1724 4795 ror r20
		2765	2994 1726 3795 ror r19
		2766	2995 1728 2795 ror r18
		2767	2996 172a 7A95 dec r23
		2768	2997 172c 01F4 brne 1b
		2769	2998 172e 8091 0000 lds r24,TrimRoll
		2770	2999 1732 9091 0000 lds r25,(TrimRoll)+1
		2771	3000 1736 820F add r24,r18
		2772	3001 1738 931F adc r25,r19
		2773	3002 173a 00C0 rjmp .L173
		2774	3003 .L148:
		2775	3004 173c 97FF sbrs r25,7
		2776	3005 173e 00C0 rjmp .L152
		2777	3006 1740 9095 com r25
		2778	3007 1742 8195 neg r24
		2779	3008 1744 9F4F sbci r25,lo8(-1)
		2780	3009 .L152:
		2781	3010 1746 AA27 clr r26
		2782	3011 1748 97FD sbrc r25,7
		2783	3012 174a A095 com r26
		2784	3013 174c BA2F mov r27,r26
		2785	3014 174e 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2786	3015 1752 3327 clr r19
		2787	3016 1754 4427 clr r20
		2788	3017 1756 5527 clr r21
		2789	3018 1758 BC01 movw r22,r24
		2790	3019 175a CD01 movw r24,r26
		2791	3020 175c 0E94 0000 call __mulsi3
		2792	3021 1760 9B01 movw r18,r22
		2793	3022 1762 AC01 movw r20,r24
		2794	3023 1764 97FF sbrs r25,7
		2795	3024 1766 00C0 rjmp .L153
		2796	3025 1768 215C subi r18,lo8(-(63))
		2797	3026 176a 3F4F sbci r19,hi8(-(63))
		2798	3027 176c 4F4F sbci r20,hlo8(-(63))
		2799	3028 176e 5F4F sbci r21,hhi8(-(63))
		2800	3029 .L153:
		2801	3030 1770 66E0 ldi r22,6
		2802	3031 1772 5595 1: asr r21
		2803	3032 1774 4795 ror r20
		2804	3033 1776 3795 ror r19
		2805	3034 1778 2795 ror r18
		2806	3035 177a 6A95 dec r22
		2807	3036 177c 01F4 brne 1b
		2808	3037 177e 8091 0000 lds r24,TrimRoll
		2809	3038 1782 9091 0000 lds r25,(TrimRoll)+1
		2810	3039 1786 821B sub r24,r18
		2811	3040 1788 930B sbc r25,r19
		2812	3041 .L173:
		2813	3042 178a 9093 0000 sts (TrimRoll)+1,r25
		2814	3043 178e 8093 0000 sts TrimRoll,r24
		2815	3044 1792 E090 0000 lds r14,RohMesswertNick
		2816	3045 1796 F090 0000 lds r15,(RohMesswertNick)+1
		2817	3046 179a 8091 0000 lds r24,KopplungsteilRollNick
		2818	3047 179e 9091 0000 lds r25,(KopplungsteilRollNick)+1
		2819	3048 17a2 1E14 cp __zero_reg__,r14
		2820	3049 17a4 1F04 cpc __zero_reg__,r15
		2821	3050 17a6 04F4 brge .L154
		2822	3051 17a8 9C01 movw r18,r24
		2823	3052 17aa 97FF sbrs r25,7
		2824	3053 17ac 00C0 rjmp .L155
		2825	3054 17ae 2227 clr r18
		2826	3055 17b0 3327 clr r19
		2827	3056 17b2 281B sub r18,r24
		2828	3057 17b4 390B sbc r19,r25
		2829	3058 .L155:
		2830	3059 17b6 C901 movw r24,r18
		2831	3060 17b8 AA27 clr r26
		2832	3061 17ba 97FD sbrc r25,7
		2833	3062 17bc A095 com r26
		2834	3063 17be BA2F mov r27,r26
		2835	3064 17c0 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2836	3065 17c4 3327 clr r19
		2837	3066 17c6 4427 clr r20
		2838	3067 17c8 5527 clr r21
		2839	3068 17ca BC01 movw r22,r24
		2840	3069 17cc CD01 movw r24,r26
		2841	3070 17ce 0E94 0000 call __mulsi3
		2842	3071 17d2 9B01 movw r18,r22
		2843	3072 17d4 AC01 movw r20,r24
		2844	3073 17d6 97FF sbrs r25,7
		2845	3074 17d8 00C0 rjmp .L156
		2846	3075 17da 215C subi r18,lo8(-(63))
		2847	3076 17dc 3F4F sbci r19,hi8(-(63))
		2848	3077 17de 4F4F sbci r20,hlo8(-(63))
		2849	3078 17e0 5F4F sbci r21,hhi8(-(63))
		2850	3079 .L156:
		2851	3080 17e2 96E0 ldi r25,6
		2852	3081 17e4 5595 1: asr r21
		2853	3082 17e6 4795 ror r20
		2854	3083 17e8 3795 ror r19
		2855	3084 17ea 2795 ror r18
		2856	3085 17ec 9A95 dec r25
		2857	3086 17ee 01F4 brne 1b
		2858	3087 17f0 8091 0000 lds r24,TrimNick
		2859	3088 17f4 9091 0000 lds r25,(TrimNick)+1
		2860	3089 17f8 820F add r24,r18
		2861	3090 17fa 931F adc r25,r19
		2862	3091 17fc 00C0 rjmp .L174
		2863	3092 .L154:
		2864	3093 17fe 97FF sbrs r25,7
		2865	3094 1800 00C0 rjmp .L158
		2866	3095 1802 9095 com r25
		2867	3096 1804 8195 neg r24
		2868	3097 1806 9F4F sbci r25,lo8(-1)
		2869	3098 .L158:
		2870	3099 1808 AA27 clr r26
		2871	3100 180a 97FD sbrc r25,7
		2872	3101 180c A095 com r26
		2873	3102 180e BA2F mov r27,r26
		2874	3103 1810 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2875	3104 1814 3327 clr r19
		2876	3105 1816 4427 clr r20
		2877	3106 1818 5527 clr r21
		2878	3107 181a BC01 movw r22,r24
		2879	3108 181c CD01 movw r24,r26
		2880	3109 181e 0E94 0000 call __mulsi3
		2881	3110 1822 9B01 movw r18,r22
		2882	3111 1824 AC01 movw r20,r24
		2883	3112 1826 97FF sbrs r25,7
		2884	3113 1828 00C0 rjmp .L159
		2885	3114 182a 215C subi r18,lo8(-(63))
		2886	3115 182c 3F4F sbci r19,hi8(-(63))
		2887	3116 182e 4F4F sbci r20,hlo8(-(63))
		2888	3117 1830 5F4F sbci r21,hhi8(-(63))
		2889	3118 .L159:
		2890	3119 1832 86E0 ldi r24,6
		2891	3120 1834 5595 1: asr r21
		2892	3121 1836 4795 ror r20
		2893	3122 1838 3795 ror r19
		2894	3123 183a 2795 ror r18
		2895	3124 183c 8A95 dec r24
		2896	3125 183e 01F4 brne 1b
		2897	3126 1840 8091 0000 lds r24,TrimNick
		2898	3127 1844 9091 0000 lds r25,(TrimNick)+1
		2899	3128 1848 821B sub r24,r18
		2900	3129 184a 930B sbc r25,r19
		2901	3130 .L174:
		2902	3131 184c 9093 0000 sts (TrimNick)+1,r25
		2903	3132 1850 8093 0000 sts TrimNick,r24
		2904	3133 1854 8091 0000 lds r24,Parameter_GlobalConfig
		2905	3134 1858 87FF sbrs r24,7
		2906	3135 185a 00C0 rjmp .L82
		2907	3136 185c B989 ldd r27,Y+17
		2908	3137 185e BB23 tst r27
		2909	3138 1860 01F0 breq .+2
		2910	3139 1862 00C0 rjmp .L82
		2911	3140 1864 8091 0000 lds r24,Looping_Roll
		2912	3141 1868 8823 tst r24
		2913	3142 186a 01F4 brne .L82
		2914	3143 186c E1E0 ldi r30,lo8(257)
		2915	3144 186e EE16 cp r14,r30
		2916	3145 1870 E1E0 ldi r30,hi8(257)
		2917	3146 1872 FE06 cpc r15,r30
		2918	3147 1874 04F0 brlt .L161
		2919	3148 1876 8091 0000 lds r24,MesswertNick
		2920	3149 187a 9091 0000 lds r25,(MesswertNick)+1
		2921	3150 187e 8E0D add r24,r14
		2922	3151 1880 9F1D adc r25,r15
		2923	3152 1882 8050 subi r24,lo8(-(-256))
		2924	3153 1884 9140 sbci r25,hi8(-(-256))
		2925	3154 1886 00C0 rjmp .L175
		2926	3155 .L161:
		2927	3156 1888 F0E0 ldi r31,lo8(-256)
		2928	3157 188a EF16 cp r14,r31
		2929	3158 188c FFEF ldi r31,hi8(-256)
		2930	3159 188e FF06 cpc r15,r31
		2931	3160 1890 04F4 brge .L162
		2932	3161 1892 8091 0000 lds r24,MesswertNick
		2933	3162 1896 9091 0000 lds r25,(MesswertNick)+1
		2934	3163 189a 8E0D add r24,r14
		2935	3164 189c 9F1D adc r25,r15
		2936	3165 189e 8050 subi r24,lo8(-(256))
		2937	3166 18a0 9F4F sbci r25,hi8(-(256))
		2938	3167 .L175:
		2939	3168 18a2 9093 0000 sts (MesswertNick)+1,r25
		2940	3169 18a6 8093 0000 sts MesswertNick,r24
		2941	3170 .L162:
		2942	3171 18aa 21E0 ldi r18,hi8(257)
		2943	3172 18ac 0130 cpi r16,lo8(257)
		2944	3173 18ae 1207 cpc r17,r18
		2945	3174 18b0 04F0 brlt .L164
		2946	3175 18b2 8091 0000 lds r24,MesswertRoll
		2947	3176 18b6 9091 0000 lds r25,(MesswertRoll)+1
		2948	3177 18ba 800F add r24,r16
		2949	3178 18bc 911F adc r25,r17
		2950	3179 18be 8050 subi r24,lo8(-(-256))
		2951	3180 18c0 9140 sbci r25,hi8(-(-256))
		2952	3181 18c2 00C0 rjmp .L176
		2953	3182 .L164:
		2954	3183 18c4 3FEF ldi r19,hi8(-256)
		2955	3184 18c6 0030 cpi r16,lo8(-256)
		2956	3185 18c8 1307 cpc r17,r19
		2957	3186 18ca 04F4 brge .L82
		2958	3187 18cc 8091 0000 lds r24,MesswertRoll
		2959	3188 18d0 9091 0000 lds r25,(MesswertRoll)+1
		2960	3189 18d4 800F add r24,r16
		2961	3190 18d6 911F adc r25,r17
		2962	3191 18d8 8050 subi r24,lo8(-(256))
		2963	3192 18da 9F4F sbci r25,hi8(-(256))
		2964	3193 .L176:
		2965	3194 18dc 9093 0000 sts (MesswertRoll)+1,r25
		2966	3195 18e0 8093 0000 sts MesswertRoll,r24
		2967	3196 .L82:
		2968	3197 /* epilogue: frame size=19 */
		2969	3198 18e4 E2E1 ldi r30,18
		2970	3199 18e6 CD5E subi r28,-19
		2971	3200 18e8 0C94 0000 jmp __epilogue_restores__+0
		2972	3201 /* epilogue end (size=4) */
		2973	3202 /* function Mittelwert size 2000 (1990) */
		2974	3204 .global SendMotorData
		2975	3206 SendMotorData:
		2976	3207 /* prologue: frame size=0 */
		2977	3208 /* prologue end (size=0) */
		2978	3209 18ec 8091 0000 lds r24,MotorenEin
		2979	3210 18f0 8823 tst r24
		2980	3211 18f2 01F4 brne .L178
		2981	3212 18f4 8091 0000 lds r24,FC_StatusFlags
		2982	3213 18f8 8C7F andi r24,lo8(-4)
		2983	3214 18fa 8093 0000 sts FC_StatusFlags,r24
		2984	3215 18fe A0E0 ldi r26,lo8(MotorTest)
		2985	3216 1900 B0E0 ldi r27,hi8(MotorTest)
		2986	3217 1902 E0E0 ldi r30,lo8(Motor)
		2987	3218 1904 F0E0 ldi r31,hi8(Motor)
		2988	3219 1906 9BE0 ldi r25,lo8(11)
		2989	3220 .L183:
		2990	3221 1908 8091 0000 lds r24,PC_MotortestActive
		2991	3222 190c 8823 tst r24
		2992	3223 190e 01F4 brne .L182
		2993	3224 1910 8C93 st X,r24
		2994	3225 .L182:
		2995	3226 1912 8D91 ld r24,X+
		2996	3227 1914 8183 std Z+1,r24
		2997	3228 1916 1282 std Z+2,__zero_reg__
		2998	3229 1918 9150 subi r25,lo8(-(-1))
		2999	3230 191a 3896 adiw r30,8
		3000	3231 191c 97FF sbrs r25,7
		3001	3232 191e 00C0 rjmp .L183
		3002	3233 1920 8091 0000 lds r24,PC_MotortestActive
		3003	3234 1924 8823 tst r24
		3004	3235 1926 01F0 breq .L185
		3005	3236 1928 8091 0000 lds r24,PC_MotortestActive
		3006	3237 192c 8150 subi r24,lo8(-(-1))
		3007	3238 192e 8093 0000 sts PC_MotortestActive,r24
		3008	3239 1932 00C0 rjmp .L185
		3009	3240 .L178:
		3010	3241 1934 8091 0000 lds r24,FC_StatusFlags
		3011	3242 1938 8160 ori r24,lo8(1)
		3012	3243 193a 8093 0000 sts FC_StatusFlags,r24
		3013	3244 .L185:
		3014	3245 193e 8091 0000 lds r24,I2C_TransferActive
		3015	3246 1942 8823 tst r24
		3016	3247 1944 01F0 breq .L186
		3017	3248 1946 1092 0000 sts I2C_TransferActive,__zero_reg__
		3018	3249 194a 0895 ret
		3019	3250 .L186:
		3020	3251 194c 8093 0000 sts motor_write,r24
		3021	3252 1950 8093 0000 sts twi_state,r24
		3022	3253 1954 8091 0000 lds r24,BLFlags
		3023	3254 1958 8E7F andi r24,lo8(-2)
		3024	3255 195a 8093 0000 sts BLFlags,r24
		3025	3256 195e 85EA ldi r24,lo8(-91)
		3026	3257 1960 8093 BC00 sts 188,r24
		3027	3258 1964 0895 ret
		3028	3259 /* epilogue: frame size=0 */
		3029	3260 /* epilogue: noreturn */
		3030	3261 /* epilogue end (size=0) */
		3031	3262 /* function SendMotorData size 61 (61) */
		3032	3264 .global ParameterZuordnung
		3033	3266 ParameterZuordnung:
		3034	3267 /* prologue: frame size=0 */
		3035	3268 1966 CF93 push r28
		3036	3269 1968 DF93 push r29
		3037	3270 /* prologue end (size=2) */
		3038	3271 196a A0E0 ldi r26,lo8(Poti)
		3039	3272 196c B0E0 ldi r27,hi8(Poti)
		3040	3273 196e C0E0 ldi r28,lo8(EE_Parameter+5)
		3041	3274 1970 D0E0 ldi r29,hi8(EE_Parameter+5)
		3042	3275 1972 57E0 ldi r21,lo8(7)
		3043	3276 .L203:
		3044	3277 1974 9991 ld r25,Y+
		3045	3278 1976 E92F mov r30,r25
		3046	3279 1978 FF27 clr r31
		3047	3280 197a EE0F add r30,r30
		3048	3281 197c FF1F adc r31,r31
		3049	3282 197e E050 subi r30,lo8(-(PPM_in))
		3050	3283 1980 F040 sbci r31,hi8(-(PPM_in))
		3051	3284 1982 0190 ld __tmp_reg__,Z+
		3052	3285 1984 F081 ld r31,Z
		3053	3286 1986 E02D mov r30,__tmp_reg__
		3054	3287 1988 E158 subi r30,lo8(-(127))
		3055	3288 198a FF4F sbci r31,hi8(-(127))
		3056	3289 198c EF3F cpi r30,255
		3057	3290 198e F105 cpc r31,__zero_reg__
		3058	3291 1990 01F0 breq .L194
		3059	3292 1992 04F0 brlt .L194
		3060	3293 1994 EFEF ldi r30,lo8(255)
		3061	3294 1996 F0E0 ldi r31,hi8(255)
		3062	3295 1998 00C0 rjmp .L195
		3063	3296 .L194:
		3064	3297 199a F7FF sbrs r31,7
		3065	3298 199c 00C0 rjmp .L195
		3066	3299 199e E0E0 ldi r30,lo8(0)
		3067	3300 19a0 F0E0 ldi r31,hi8(0)
		3068	3301 .L195:
		3069	3302 19a2 9931 cpi r25,lo8(25)
		3070	3303 19a4 01F4 brne .L197
		3071	3304 19a6 EC93 st X,r30
		3072	3305 19a8 00C0 rjmp .L193
		3073	3306 .L197:
		3074	3307 19aa 4C91 ld r20,X
		3075	3308 19ac 242F mov r18,r20
		3076	3309 19ae 3327 clr r19
		3077	3310 19b0 E217 cp r30,r18
		3078	3311 19b2 F307 cpc r31,r19
		3079	3312 19b4 01F0 breq .L193
		3080	3313 19b6 CF01 movw r24,r30
		3081	3314 19b8 821B sub r24,r18
		3082	3315 19ba 930B sbc r25,r19
		3083	3316 19bc 97FD sbrc r25,7
		3084	3317 19be 0396 adiw r24,3
		3085	3318 .L200:
		3086	3319 19c0 9595 asr r25
		3087	3320 19c2 8795 ror r24
		3088	3321 19c4 9595 asr r25
		3089	3322 19c6 8795 ror r24
		3090	3323 19c8 242F mov r18,r20
		3091	3324 19ca 280F add r18,r24
		3092	3325 19cc 2C93 st X,r18
		3093	3326 19ce 822F mov r24,r18
		3094	3327 19d0 9927 clr r25
		3095	3328 19d2 E817 cp r30,r24
		3096	3329 19d4 F907 cpc r31,r25
		3097	3330 19d6 04F4 brge .L201
		3098	3331 19d8 2150 subi r18,lo8(-(-1))
		3099	3332 19da 00C0 rjmp .L323
		3100	3333 .L201:
		3101	3334 19dc 2F5F subi r18,lo8(-(1))
		3102	3335 .L323:
		3103	3336 19de 2C93 st X,r18
		3104	3337 .L193:
		3105	3338 19e0 5150 subi r21,lo8(-(-1))
		3106	3339 19e2 1196 adiw r26,1
		3107	3340 19e4 57FF sbrs r21,7
		3108	3341 19e6 00C0 rjmp .L203
		3109	3342 19e8 8091 0000 lds r24,EE_Parameter+15
		3110	3343 19ec 883F cpi r24,lo8(-8)
		3111	3344 19ee 00F0 brlo .L324
		3112	3345 19f0 EFEF ldi r30,lo8(255)
		3113	3346 19f2 F0E0 ldi r31,hi8(255)
		3114	3347 19f4 E81B sub r30,r24
		3115	3348 19f6 F109 sbc r31,__zero_reg__
		3116	3349 19f8 E050 subi r30,lo8(-(Poti))
		3117	3350 19fa F040 sbci r31,hi8(-(Poti))
		3118	3351 19fc 8081 ld r24,Z
		3119	3352 .L324:
		3120	3353 19fe 8093 0000 sts Parameter_Luftdruck_D,r24
		3121	3354 1a02 8091 0000 lds r24,Parameter_Luftdruck_D
		3122	3355 1a06 8823 tst r24
		3123	3356 1a08 01F0 breq .L207
		3124	3357 1a0a 8436 cpi r24,lo8(100)
		3125	3358 1a0c 00F0 brlo .L207
		3126	3359 1a0e 84E6 ldi r24,lo8(100)
		3127	3360 1a10 8093 0000 sts Parameter_Luftdruck_D,r24
		3128	3361 .L207:
		3129	3362 1a14 8091 0000 lds r24,EE_Parameter+17
		3130	3363 1a18 883F cpi r24,lo8(-8)
		3131	3364 1a1a 00F0 brlo .L325
		3132	3365 1a1c EFEF ldi r30,lo8(255)
		3133	3366 1a1e F0E0 ldi r31,hi8(255)
		3134	3367 1a20 E81B sub r30,r24
		3135	3368 1a22 F109 sbc r31,__zero_reg__
		3136	3369 1a24 E050 subi r30,lo8(-(Poti))
		3137	3370 1a26 F040 sbci r31,hi8(-(Poti))
		3138	3371 1a28 8081 ld r24,Z
		3139	3372 .L325:
		3140	3373 1a2a 8093 0000 sts Parameter_Hoehe_P,r24
		3141	3374 1a2e 8091 0000 lds r24,Parameter_Hoehe_P
		3142	3375 1a32 8823 tst r24
		3143	3376 1a34 01F0 breq .L212
		3144	3377 1a36 8436 cpi r24,lo8(100)
		3145	3378 1a38 00F0 brlo .L212
		3146	3379 1a3a 84E6 ldi r24,lo8(100)
		3147	3380 1a3c 8093 0000 sts Parameter_Hoehe_P,r24
		3148	3381 .L212:
		3149	3382 1a40 8091 0000 lds r24,EE_Parameter+30
		3150	3383 1a44 883F cpi r24,lo8(-8)
		3151	3384 1a46 00F0 brlo .L326
		3152	3385 1a48 EFEF ldi r30,lo8(255)
		3153	3386 1a4a F0E0 ldi r31,hi8(255)
		3154	3387 1a4c E81B sub r30,r24
		3155	3388 1a4e F109 sbc r31,__zero_reg__
		3156	3389 1a50 E050 subi r30,lo8(-(Poti))
		3157	3390 1a52 F040 sbci r31,hi8(-(Poti))
		3158	3391 1a54 8081 ld r24,Z
		3159	3392 .L326:
		3160	3393 1a56 8093 0000 sts Parameter_Gyro_P,r24
		3161	3394 1a5a 8091 0000 lds r24,Parameter_Gyro_P
		3162	3395 1a5e 8B30 cpi r24,lo8(11)
		3163	3396 1a60 00F4 brsh .L216
		3164	3397 1a62 8AE0 ldi r24,lo8(10)
		3165	3398 1a64 00C0 rjmp .L327
		3166	3399 .L216:
		3167	3400 1a66 8F3F cpi r24,lo8(-1)
		3168	3401 1a68 01F4 brne .L217
		3169	3402 .L327:
		3170	3403 1a6a 8093 0000 sts Parameter_Gyro_P,r24
		3171	3404 .L217:
		3172	3405 1a6e 8091 0000 lds r24,EE_Parameter+75
		3173	3406 1a72 883F cpi r24,lo8(-8)
		3174	3407 1a74 00F0 brlo .L328
		3175	3408 1a76 EFEF ldi r30,lo8(255)
		3176	3409 1a78 F0E0 ldi r31,hi8(255)
		3177	3410 1a7a E81B sub r30,r24
		3178	3411 1a7c F109 sbc r31,__zero_reg__
		3179	3412 1a7e E050 subi r30,lo8(-(Poti))
		3180	3413 1a80 F040 sbci r31,hi8(-(Poti))
		3181	3414 1a82 8081 ld r24,Z
		3182	3415 .L328:
		3183	3416 1a84 8093 0000 sts Parameter_J16Timing,r24
		3184	3417 1a88 8091 0000 lds r24,Parameter_J16Timing
		3185	3418 1a8c 8630 cpi r24,lo8(6)
		3186	3419 1a8e 00F4 brsh .L221
		3187	3420 1a90 85E0 ldi r24,lo8(5)
		3188	3421 1a92 00C0 rjmp .L329
		3189	3422 .L221:
		3190	3423 1a94 8F3F cpi r24,lo8(-1)
		3191	3424 1a96 01F4 brne .L222
		3192	3425 .L329:
		3193	3426 1a98 8093 0000 sts Parameter_J16Timing,r24
		3194	3427 .L222:
		3195	3428 1a9c 8091 0000 lds r24,EE_Parameter+77
		3196	3429 1aa0 883F cpi r24,lo8(-8)
		3197	3430 1aa2 00F0 brlo .L330
		3198	3431 1aa4 EFEF ldi r30,lo8(255)
		3199	3432 1aa6 F0E0 ldi r31,hi8(255)
		3200	3433 1aa8 E81B sub r30,r24
		3201	3434 1aaa F109 sbc r31,__zero_reg__
		3202	3435 1aac E050 subi r30,lo8(-(Poti))
		3203	3436 1aae F040 sbci r31,hi8(-(Poti))
		3204	3437 1ab0 8081 ld r24,Z
		3205	3438 .L330:
		3206	3439 1ab2 8093 0000 sts Parameter_J17Timing,r24
		3207	3440 1ab6 8091 0000 lds r24,Parameter_J17Timing
		3208	3441 1aba 8630 cpi r24,lo8(6)
		3209	3442 1abc 00F4 brsh .L226
		3210	3443 1abe 85E0 ldi r24,lo8(5)
		3211	3444 1ac0 00C0 rjmp .L331
		3212	3445 .L226:
		3213	3446 1ac2 8F3F cpi r24,lo8(-1)
		3214	3447 1ac4 01F4 brne .L227
		3215	3448 .L331:
		3216	3449 1ac6 8093 0000 sts Parameter_J17Timing,r24
		3217	3450 .L227:
		3218	3451 1aca 8091 0000 lds r24,EE_Parameter+56
		3219	3452 1ace 873F cpi r24,lo8(-9)
		3220	3453 1ad0 01F4 brne .L229
		3221	3454 1ad2 4299 sbic 40-0x20,2
		3222	3455 1ad4 00C0 rjmp .L362
		3223	3456 1ad6 00C0 rjmp .L234
		3224	3457 .L229:
		3225	3458 1ad8 863F cpi r24,lo8(-10)
		3226	3459 1ada 01F4 brne .L233
		3227	3460 1adc 439B sbis 40-0x20,3
		3228	3461 1ade 00C0 rjmp .L234
		3229	3462 .L362:
		3230	3463 1ae0 8CE8 ldi r24,lo8(-116)
		3231	3464 1ae2 00C0 rjmp .L332
		3232	3465 .L234:
		3233	3466 1ae4 86E4 ldi r24,lo8(70)
		3234	3467 1ae6 00C0 rjmp .L332
		3235	3468 .L233:
		3236	3469 1ae8 883F cpi r24,lo8(-8)
		3237	3470 1aea 00F0 brlo .L332
		3238	3471 1aec EFEF ldi r30,lo8(255)
		3239	3472 1aee F0E0 ldi r31,hi8(255)
		3240	3473 1af0 E81B sub r30,r24
		3241	3474 1af2 F109 sbc r31,__zero_reg__
		3242	3475 1af4 E050 subi r30,lo8(-(Poti))
		3243	3476 1af6 F040 sbci r31,hi8(-(Poti))
		3244	3477 1af8 8081 ld r24,Z
		3245	3478 .L332:
		3246	3479 1afa 8093 0000 sts Parameter_Servo3,r24
		3247	3480 1afe 8091 0000 lds r24,EE_Parameter+57
		3248	3481 1b02 873F cpi r24,lo8(-9)
		3249	3482 1b04 01F4 brne .L239
		3250	3483 1b06 4299 sbic 40-0x20,2
		3251	3484 1b08 00C0 rjmp .L363
		3252	3485 1b0a 00C0 rjmp .L244
		3253	3486 .L239:
		3254	3487 1b0c 863F cpi r24,lo8(-10)
		3255	3488 1b0e 01F4 brne .L243
		3256	3489 1b10 439B sbis 40-0x20,3
		3257	3490 1b12 00C0 rjmp .L244
		3258	3491 .L363:
		3259	3492 1b14 8CE8 ldi r24,lo8(-116)
		3260	3493 1b16 00C0 rjmp .L333
		3261	3494 .L244:
		3262	3495 1b18 86E4 ldi r24,lo8(70)
		3263	3496 1b1a 00C0 rjmp .L333
		3264	3497 .L243:
		3265	3498 1b1c 883F cpi r24,lo8(-8)
		3266	3499 1b1e 00F0 brlo .L333
		3267	3500 1b20 EFEF ldi r30,lo8(255)
		3268	3501 1b22 F0E0 ldi r31,hi8(255)
		3269	3502 1b24 E81B sub r30,r24
		3270	3503 1b26 F109 sbc r31,__zero_reg__
		3271	3504 1b28 E050 subi r30,lo8(-(Poti))
		3272	3505 1b2a F040 sbci r31,hi8(-(Poti))
		3273	3506 1b2c 8081 ld r24,Z
		3274	3507 .L333:
		3275	3508 1b2e 8093 0000 sts Parameter_Servo4,r24
		3276	3509 1b32 8091 0000 lds r24,EE_Parameter+58
		3277	3510 1b36 883F cpi r24,lo8(-8)
		3278	3511 1b38 00F0 brlo .L334
		3279	3512 1b3a EFEF ldi r30,lo8(255)
		3280	3513 1b3c F0E0 ldi r31,hi8(255)
		3281	3514 1b3e E81B sub r30,r24
		3282	3515 1b40 F109 sbc r31,__zero_reg__
		3283	3516 1b42 E050 subi r30,lo8(-(Poti))
		3284	3517 1b44 F040 sbci r31,hi8(-(Poti))
		3285	3518 1b46 8081 ld r24,Z
		3286	3519 .L334:
		3287	3520 1b48 8093 0000 sts Parameter_Servo5,r24
		3288	3521 1b4c 8091 0000 lds r24,EE_Parameter+16
		3289	3522 1b50 883F cpi r24,lo8(-8)
		3290	3523 1b52 00F0 brlo .L335
		3291	3524 1b54 EFEF ldi r30,lo8(255)
		3292	3525 1b56 F0E0 ldi r31,hi8(255)
		3293	3526 1b58 E81B sub r30,r24
		3294	3527 1b5a F109 sbc r31,__zero_reg__
		3295	3528 1b5c E050 subi r30,lo8(-(Poti))
		3296	3529 1b5e F040 sbci r31,hi8(-(Poti))
		3297	3530 1b60 8081 ld r24,Z
		3298	3531 .L335:
		3299	3532 1b62 8093 0000 sts Parameter_HoehenSchalter,r24
		3300	3533 1b66 8091 0000 lds r24,EE_Parameter+19
		3301	3534 1b6a 883F cpi r24,lo8(-8)
		3302	3535 1b6c 00F0 brlo .L336
		3303	3536 1b6e EFEF ldi r30,lo8(255)
		3304	3537 1b70 F0E0 ldi r31,hi8(255)
		3305	3538 1b72 E81B sub r30,r24
		3306	3539 1b74 F109 sbc r31,__zero_reg__
		3307	3540 1b76 E050 subi r30,lo8(-(Poti))
		3308	3541 1b78 F040 sbci r31,hi8(-(Poti))
		3309	3542 1b7a 8081 ld r24,Z
		3310	3543 .L336:
		3311	3544 1b7c 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24
		3312	3545 1b80 8091 0000 lds r24,EE_Parameter+21
		3313	3546 1b84 883F cpi r24,lo8(-8)
		3314	3547 1b86 00F0 brlo .L337
		3315	3548 1b88 EFEF ldi r30,lo8(255)
		3316	3549 1b8a F0E0 ldi r31,hi8(255)
		3317	3550 1b8c E81B sub r30,r24
		3318	3551 1b8e F109 sbc r31,__zero_reg__
		3319	3552 1b90 E050 subi r30,lo8(-(Poti))
		3320	3553 1b92 F040 sbci r31,hi8(-(Poti))
		3321	3554 1b94 8081 ld r24,Z
		3322	3555 .L337:
		3323	3556 1b96 8093 0000 sts Parameter_Hoehe_GPS_Z,r24
		3324	3557 1b9a 8091 0000 lds r24,EE_Parameter+29
		3325	3558 1b9e 883F cpi r24,lo8(-8)
		3326	3559 1ba0 00F0 brlo .L338
		3327	3560 1ba2 EFEF ldi r30,lo8(255)
		3328	3561 1ba4 F0E0 ldi r31,hi8(255)
		3329	3562 1ba6 E81B sub r30,r24
		3330	3563 1ba8 F109 sbc r31,__zero_reg__
		3331	3564 1baa E050 subi r30,lo8(-(Poti))
		3332	3565 1bac F040 sbci r31,hi8(-(Poti))
		3333	3566 1bae 8081 ld r24,Z
		3334	3567 .L338:
		3335	3568 1bb0 8093 0000 sts Parameter_KompassWirkung,r24
		3336	3569 1bb4 8091 0000 lds r24,EE_Parameter+31
		3337	3570 1bb8 883F cpi r24,lo8(-8)
		3338	3571 1bba 00F0 brlo .L339
		3339	3572 1bbc EFEF ldi r30,lo8(255)
		3340	3573 1bbe F0E0 ldi r31,hi8(255)
		3341	3574 1bc0 E81B sub r30,r24
		3342	3575 1bc2 F109 sbc r31,__zero_reg__
		3343	3576 1bc4 E050 subi r30,lo8(-(Poti))
		3344	3577 1bc6 F040 sbci r31,hi8(-(Poti))
		3345	3578 1bc8 8081 ld r24,Z
		3346	3579 .L339:
		3347	3580 1bca 8093 0000 sts Parameter_Gyro_I,r24
		3348	3581 1bce 8091 0000 lds r24,EE_Parameter+32
		3349	3582 1bd2 883F cpi r24,lo8(-8)
		3350	3583 1bd4 00F0 brlo .L340
		3351	3584 1bd6 EFEF ldi r30,lo8(255)
		3352	3585 1bd8 F0E0 ldi r31,hi8(255)
		3353	3586 1bda E81B sub r30,r24
		3354	3587 1bdc F109 sbc r31,__zero_reg__
		3355	3588 1bde E050 subi r30,lo8(-(Poti))
		3356	3589 1be0 F040 sbci r31,hi8(-(Poti))
		3357	3590 1be2 8081 ld r24,Z
		3358	3591 .L340:
		3359	3592 1be4 8093 0000 sts Parameter_Gyro_D,r24
		3360	3593 1be8 8091 0000 lds r24,EE_Parameter+33
		3361	3594 1bec 883F cpi r24,lo8(-8)
		3362	3595 1bee 00F0 brlo .L341
		3363	3596 1bf0 EFEF ldi r30,lo8(255)
		3364	3597 1bf2 F0E0 ldi r31,hi8(255)
		3365	3598 1bf4 E81B sub r30,r24
		3366	3599 1bf6 F109 sbc r31,__zero_reg__
		3367	3600 1bf8 E050 subi r30,lo8(-(Poti))
		3368	3601 1bfa F040 sbci r31,hi8(-(Poti))
		3369	3602 1bfc 8081 ld r24,Z
		3370	3603 .L341:
		3371	3604 1bfe 8093 0000 sts Parameter_Gyro_Gier_P,r24
		3372	3605 1c02 8091 0000 lds r24,EE_Parameter+34
		3373	3606 1c06 883F cpi r24,lo8(-8)
		3374	3607 1c08 00F0 brlo .L342
		3375	3608 1c0a EFEF ldi r30,lo8(255)
		3376	3609 1c0c F0E0 ldi r31,hi8(255)
		3377	3610 1c0e E81B sub r30,r24
		3378	3611 1c10 F109 sbc r31,__zero_reg__
		3379	3612 1c12 E050 subi r30,lo8(-(Poti))
		3380	3613 1c14 F040 sbci r31,hi8(-(Poti))
		3381	3614 1c16 8081 ld r24,Z
		3382	3615 .L342:
		3383	3616 1c18 8093 0000 sts Parameter_Gyro_Gier_I,r24
		3384	3617 1c1c 8091 0000 lds r24,EE_Parameter+40
		3385	3618 1c20 883F cpi r24,lo8(-8)
		3386	3619 1c22 00F0 brlo .L343
		3387	3620 1c24 EFEF ldi r30,lo8(255)
		3388	3621 1c26 F0E0 ldi r31,hi8(255)
		3389	3622 1c28 E81B sub r30,r24
		3390	3623 1c2a F109 sbc r31,__zero_reg__
		3391	3624 1c2c E050 subi r30,lo8(-(Poti))
		3392	3625 1c2e F040 sbci r31,hi8(-(Poti))
		3393	3626 1c30 8081 ld r24,Z
		3394	3627 .L343:
		3395	3628 1c32 8093 0000 sts Parameter_I_Faktor,r24
		3396	3629 1c36 8091 0000 lds r24,EE_Parameter+41
		3397	3630 1c3a 883F cpi r24,lo8(-8)
		3398	3631 1c3c 00F0 brlo .L344
		3399	3632 1c3e EFEF ldi r30,lo8(255)
		3400	3633 1c40 F0E0 ldi r31,hi8(255)
		3401	3634 1c42 E81B sub r30,r24
		3402	3635 1c44 F109 sbc r31,__zero_reg__
		3403	3636 1c46 E050 subi r30,lo8(-(Poti))
		3404	3637 1c48 F040 sbci r31,hi8(-(Poti))
		3405	3638 1c4a 8081 ld r24,Z
		3406	3639 .L344:
		3407	3640 1c4c 8093 0000 sts Parameter_UserParam1,r24
		3408	3641 1c50 8091 0000 lds r24,EE_Parameter+42
		3409	3642 1c54 883F cpi r24,lo8(-8)
		3410	3643 1c56 00F0 brlo .L345
		3411	3644 1c58 EFEF ldi r30,lo8(255)
		3412	3645 1c5a F0E0 ldi r31,hi8(255)
		3413	3646 1c5c E81B sub r30,r24
		3414	3647 1c5e F109 sbc r31,__zero_reg__
		3415	3648 1c60 E050 subi r30,lo8(-(Poti))
		3416	3649 1c62 F040 sbci r31,hi8(-(Poti))
		3417	3650 1c64 8081 ld r24,Z
		3418	3651 .L345:
		3419	3652 1c66 8093 0000 sts Parameter_UserParam2,r24
		3420	3653 1c6a 8091 0000 lds r24,EE_Parameter+43
		3421	3654 1c6e 883F cpi r24,lo8(-8)
		3422	3655 1c70 00F0 brlo .L346
		3423	3656 1c72 EFEF ldi r30,lo8(255)
		3424	3657 1c74 F0E0 ldi r31,hi8(255)
		3425	3658 1c76 E81B sub r30,r24
		3426	3659 1c78 F109 sbc r31,__zero_reg__
		3427	3660 1c7a E050 subi r30,lo8(-(Poti))
		3428	3661 1c7c F040 sbci r31,hi8(-(Poti))
		3429	3662 1c7e 8081 ld r24,Z
		3430	3663 .L346:
		3431	3664 1c80 8093 0000 sts Parameter_UserParam3,r24
		3432	3665 1c84 8091 0000 lds r24,EE_Parameter+44
		3433	3666 1c88 883F cpi r24,lo8(-8)
		3434	3667 1c8a 00F0 brlo .L347
		3435	3668 1c8c EFEF ldi r30,lo8(255)
		3436	3669 1c8e F0E0 ldi r31,hi8(255)
		3437	3670 1c90 E81B sub r30,r24
		3438	3671 1c92 F109 sbc r31,__zero_reg__
		3439	3672 1c94 E050 subi r30,lo8(-(Poti))
		3440	3673 1c96 F040 sbci r31,hi8(-(Poti))
		3441	3674 1c98 8081 ld r24,Z
		3442	3675 .L347:
		3443	3676 1c9a 8093 0000 sts Parameter_UserParam4,r24
		3444	3677 1c9e 8091 0000 lds r24,EE_Parameter+70
		3445	3678 1ca2 883F cpi r24,lo8(-8)
		3446	3679 1ca4 00F0 brlo .L348
		3447	3680 1ca6 EFEF ldi r30,lo8(255)
		3448	3681 1ca8 F0E0 ldi r31,hi8(255)
		3449	3682 1caa E81B sub r30,r24
		3450	3683 1cac F109 sbc r31,__zero_reg__
		3451	3684 1cae E050 subi r30,lo8(-(Poti))
		3452	3685 1cb0 F040 sbci r31,hi8(-(Poti))
		3453	3686 1cb2 8081 ld r24,Z
		3454	3687 .L348:
		3455	3688 1cb4 8093 0000 sts Parameter_UserParam5,r24
		3456	3689 1cb8 8091 0000 lds r24,EE_Parameter+71
		3457	3690 1cbc 883F cpi r24,lo8(-8)
		3458	3691 1cbe 00F0 brlo .L349
		3459	3692 1cc0 EFEF ldi r30,lo8(255)
		3460	3693 1cc2 F0E0 ldi r31,hi8(255)
		3461	3694 1cc4 E81B sub r30,r24
		3462	3695 1cc6 F109 sbc r31,__zero_reg__
		3463	3696 1cc8 E050 subi r30,lo8(-(Poti))
		3464	3697 1cca F040 sbci r31,hi8(-(Poti))
		3465	3698 1ccc 8081 ld r24,Z
		3466	3699 .L349:
		3467	3700 1cce 8093 0000 sts Parameter_UserParam6,r24
		3468	3701 1cd2 8091 0000 lds r24,EE_Parameter+72
		3469	3702 1cd6 883F cpi r24,lo8(-8)
		3470	3703 1cd8 00F0 brlo .L350
		3471	3704 1cda EFEF ldi r30,lo8(255)
		3472	3705 1cdc F0E0 ldi r31,hi8(255)
		3473	3706 1cde E81B sub r30,r24
		3474	3707 1ce0 F109 sbc r31,__zero_reg__
		3475	3708 1ce2 E050 subi r30,lo8(-(Poti))
		3476	3709 1ce4 F040 sbci r31,hi8(-(Poti))
		3477	3710 1ce6 8081 ld r24,Z
		3478	3711 .L350:
		3479	3712 1ce8 8093 0000 sts Parameter_UserParam7,r24
		3480	3713 1cec 8091 0000 lds r24,EE_Parameter+73
		3481	3714 1cf0 883F cpi r24,lo8(-8)
		3482	3715 1cf2 00F0 brlo .L351
		3483	3716 1cf4 EFEF ldi r30,lo8(255)
		3484	3717 1cf6 F0E0 ldi r31,hi8(255)
		3485	3718 1cf8 E81B sub r30,r24
		3486	3719 1cfa F109 sbc r31,__zero_reg__
		3487	3720 1cfc E050 subi r30,lo8(-(Poti))
		3488	3721 1cfe F040 sbci r31,hi8(-(Poti))
		3489	3722 1d00 8081 ld r24,Z
		3490	3723 .L351:
		3491	3724 1d02 8093 0000 sts Parameter_UserParam8,r24
		3492	3725 1d06 8091 0000 lds r24,EE_Parameter+45
		3493	3726 1d0a 883F cpi r24,lo8(-8)
		3494	3727 1d0c 00F0 brlo .L352
		3495	3728 1d0e EFEF ldi r30,lo8(255)
		3496	3729 1d10 F0E0 ldi r31,hi8(255)
		3497	3730 1d12 E81B sub r30,r24
		3498	3731 1d14 F109 sbc r31,__zero_reg__
		3499	3732 1d16 E050 subi r30,lo8(-(Poti))
		3500	3733 1d18 F040 sbci r31,hi8(-(Poti))
		3501	3734 1d1a 8081 ld r24,Z
		3502	3735 .L352:
		3503	3736 1d1c 8093 0000 sts Parameter_ServoNickControl,r24
		3504	3737 1d20 8091 0000 lds r24,EE_Parameter+49
		3505	3738 1d24 883F cpi r24,lo8(-8)
		3506	3739 1d26 00F0 brlo .L353
		3507	3740 1d28 EFEF ldi r30,lo8(255)
		3508	3741 1d2a F0E0 ldi r31,hi8(255)
		3509	3742 1d2c E81B sub r30,r24
		3510	3743 1d2e F109 sbc r31,__zero_reg__
		3511	3744 1d30 E050 subi r30,lo8(-(Poti))
		3512	3745 1d32 F040 sbci r31,hi8(-(Poti))
		3513	3746 1d34 8081 ld r24,Z
		3514	3747 .L353:
		3515	3748 1d36 8093 0000 sts Parameter_ServoRollControl,r24
		3516	3749 1d3a 8091 0000 lds r24,EE_Parameter+59
		3517	3750 1d3e 883F cpi r24,lo8(-8)
		3518	3751 1d40 00F0 brlo .L354
		3519	3752 1d42 EFEF ldi r30,lo8(255)
		3520	3753 1d44 F0E0 ldi r31,hi8(255)
		3521	3754 1d46 E81B sub r30,r24
		3522	3755 1d48 F109 sbc r31,__zero_reg__
		3523	3756 1d4a E050 subi r30,lo8(-(Poti))
		3524	3757 1d4c F040 sbci r31,hi8(-(Poti))
		3525	3758 1d4e 8081 ld r24,Z
		3526	3759 .L354:
		3527	3760 1d50 8093 0000 sts Parameter_LoopGasLimit,r24
		3528	3761 1d54 8091 0000 lds r24,EE_Parameter+62
		3529	3762 1d58 883F cpi r24,lo8(-8)
		3530	3763 1d5a 00F0 brlo .L355
		3531	3764 1d5c EFEF ldi r30,lo8(255)
		3532	3765 1d5e F0E0 ldi r31,hi8(255)
		3533	3766 1d60 E81B sub r30,r24
		3534	3767 1d62 F109 sbc r31,__zero_reg__
		3535	3768 1d64 E050 subi r30,lo8(-(Poti))
		3536	3769 1d66 F040 sbci r31,hi8(-(Poti))
		3537	3770 1d68 8081 ld r24,Z
		3538	3771 .L355:
		3539	3772 1d6a 8093 0000 sts Parameter_AchsKopplung1,r24
		3540	3773 1d6e 8091 0000 lds r24,EE_Parameter+63
		3541	3774 1d72 883F cpi r24,lo8(-8)
		3542	3775 1d74 00F0 brlo .L356
		3543	3776 1d76 EFEF ldi r30,lo8(255)
		3544	3777 1d78 F0E0 ldi r31,hi8(255)
		3545	3778 1d7a E81B sub r30,r24
		3546	3779 1d7c F109 sbc r31,__zero_reg__
		3547	3780 1d7e E050 subi r30,lo8(-(Poti))
		3548	3781 1d80 F040 sbci r31,hi8(-(Poti))
		3549	3782 1d82 8081 ld r24,Z
		3550	3783 .L356:
		3551	3784 1d84 8093 0000 sts Parameter_AchsKopplung2,r24
		3552	3785 1d88 8091 0000 lds r24,EE_Parameter+64
		3553	3786 1d8c 883F cpi r24,lo8(-8)
		3554	3787 1d8e 00F0 brlo .L357
		3555	3788 1d90 EFEF ldi r30,lo8(255)
		3556	3789 1d92 F0E0 ldi r31,hi8(255)
		3557	3790 1d94 E81B sub r30,r24
		3558	3791 1d96 F109 sbc r31,__zero_reg__
		3559	3792 1d98 E050 subi r30,lo8(-(Poti))
		3560	3793 1d9a F040 sbci r31,hi8(-(Poti))
		3561	3794 1d9c 8081 ld r24,Z
		3562	3795 .L357:
		3563	3796 1d9e 8093 0000 sts Parameter_CouplingYawCorrection,r24
		3564	3797 1da2 8091 0000 lds r24,EE_Parameter+104
		3565	3798 1da6 883F cpi r24,lo8(-8)
		3566	3799 1da8 00F0 brlo .L358
		3567	3800 1daa EFEF ldi r30,lo8(255)
		3568	3801 1dac F0E0 ldi r31,hi8(255)
		3569	3802 1dae E81B sub r30,r24
		3570	3803 1db0 F109 sbc r31,__zero_reg__
		3571	3804 1db2 E050 subi r30,lo8(-(Poti))
		3572	3805 1db4 F040 sbci r31,hi8(-(Poti))
		3573	3806 1db6 8081 ld r24,Z
		3574	3807 .L358:
		3575	3808 1db8 8093 0000 sts Parameter_MaximumAltitude,r24
		3576	3809 1dbc 9091 0000 lds r25,NC_To_FC_MaxAltitude
		3577	3810 1dc0 9923 tst r25
		3578	3811 1dc2 01F0 breq .L301
		3579	3812 1dc4 8091 0000 lds r24,Parameter_MaximumAltitude
		3580	3813 1dc8 9817 cp r25,r24
		3581	3814 1dca 00F0 brlo .L300
		3582	3815 .L301:
		3583	3816 1dcc 8091 0000 lds r24,Parameter_MaximumAltitude
		3584	3817 1dd0 8823 tst r24
		3585	3818 1dd2 01F4 brne .L299
		3586	3819 .L300:
		3587	3820 1dd4 9093 0000 sts Parameter_MaximumAltitude,r25
		3588	3821 .L299:
		3589	3822 1dd8 8091 0000 lds r24,EE_Parameter+13
		3590	3823 1ddc 8093 0000 sts Parameter_GlobalConfig,r24
		3591	3824 1de0 8091 0000 lds r24,EE_Parameter+110
		3592	3825 1de4 8093 0000 sts Parameter_ExtraConfig,r24
		3593	3826 1de8 8091 0000 lds r24,EE_Parameter+69
		3594	3827 1dec 883F cpi r24,lo8(-8)
		3595	3828 1dee 00F0 brlo .L359
		3596	3829 1df0 EFEF ldi r30,lo8(255)
		3597	3830 1df2 F0E0 ldi r31,hi8(255)
		3598	3831 1df4 E81B sub r30,r24
		3599	3832 1df6 F109 sbc r31,__zero_reg__
		3600	3833 1df8 E050 subi r30,lo8(-(Poti))
		3601	3834 1dfa F040 sbci r31,hi8(-(Poti))
		3602	3835 1dfc 8081 ld r24,Z
		3603	3836 .L359:
		3604	3837 1dfe 8093 0000 sts Parameter_DynamicStability,r24
		3605	3838 1e02 8091 0000 lds r24,EE_Parameter+97
		3606	3839 1e06 883F cpi r24,lo8(-8)
		3607	3840 1e08 00F0 brlo .L360
		3608	3841 1e0a EFEF ldi r30,lo8(255)
		3609	3842 1e0c F0E0 ldi r31,hi8(255)
		3610	3843 1e0e E81B sub r30,r24
		3611	3844 1e10 F109 sbc r31,__zero_reg__
		3612	3845 1e12 E050 subi r30,lo8(-(Poti))
		3613	3846 1e14 F040 sbci r31,hi8(-(Poti))
		3614	3847 1e16 8081 ld r24,Z
		3615	3848 .L360:
		3616	3849 1e18 8093 0000 sts Parameter_ExternalControl,r24
		3617	3850 1e1c 8091 0000 lds r24,Parameter_I_Faktor
		3618	3851 1e20 282F mov r18,r24
		3619	3852 1e22 3327 clr r19
		3620	3853 1e24 2F5F subi r18,lo8(-(1))
		3621	3854 1e26 3F4F sbci r19,hi8(-(1))
		3622	3855 1e28 8CE3 ldi r24,lo8(10300)
		3623	3856 1e2a 98E2 ldi r25,hi8(10300)
		3624	3857 1e2c B901 movw r22,r18
		3625	3858 1e2e 0E94 0000 call __divmodhi4
		3626	3859 1e32 7093 0000 sts (Ki)+1,r23
		3627	3860 1e36 6093 0000 sts Ki,r22
		3628	3861 1e3a 8091 0000 lds r24,EE_Parameter+27
		3629	3862 1e3e 8093 0000 sts MAX_GAS,r24
		3630	3863 1e42 8091 0000 lds r24,EE_Parameter+26
		3631	3864 1e46 8093 0000 sts MIN_GAS,r24
		3632	3865 1e4a 9091 0000 lds r25,EE_Parameter+99
		3633	3866 1e4e 9333 cpi r25,lo8(51)
		3634	3867 1e50 00F4 brsh .+2
		3635	3868 1e52 00C0 rjmp .L306
		3636	3869 1e54 81E0 ldi r24,lo8(1)
		3637	3870 1e56 8093 0000 sts CareFree,r24
		3638	3871 1e5a 983F cpi r25,lo8(-8)
		3639	3872 1e5c 00F0 brlo .L307
		3640	3873 1e5e EFEF ldi r30,lo8(255)
		3641	3874 1e60 F0E0 ldi r31,hi8(255)
		3642	3875 1e62 E91B sub r30,r25
		3643	3876 1e64 F109 sbc r31,__zero_reg__
		3644	3877 1e66 E050 subi r30,lo8(-(Poti))
		3645	3878 1e68 F040 sbci r31,hi8(-(Poti))
		3646	3879 1e6a 8081 ld r24,Z
		3647	3880 1e6c 8233 cpi r24,lo8(50)
		3648	3881 1e6e 00F4 brsh .L307
		3649	3882 1e70 1092 0000 sts CareFree,__zero_reg__
		3650	3883 .L307:
		3651	3884 1e74 8091 0000 lds r24,carefree_old
		3652	3885 1e78 2091 0000 lds r18,CareFree
		3653	3886 1e7c 8217 cp r24,r18
		3654	3887 1e7e 01F0 breq .L308
		3655	3888 1e80 8330 cpi r24,lo8(3)
		3656	3889 1e82 00F4 brsh .L309
		3657	3890 1e84 3091 0000 lds r19,SpeakHoTT
		3658	3891 1e88 2223 tst r18
		3659	3892 1e8a 01F0 breq .L310
		3660	3893 1e8c 8CED ldi r24,lo8(1500)
		3661	3894 1e8e 95E0 ldi r25,hi8(1500)
		3662	3895 1e90 9093 0000 sts (beeptime)+1,r25
		3663	3896 1e94 8093 0000 sts beeptime,r24
		3664	3897 1e98 3323 tst r19
		3665	3898 1e9a 01F4 brne .L312
		3666	3899 1e9c 8EE2 ldi r24,lo8(46)
		3667	3900 1e9e 00C0 rjmp .L361
		3668	3901 .L310:
		3669	3902 1ea0 88EC ldi r24,lo8(200)
		3670	3903 1ea2 90E0 ldi r25,hi8(200)
		3671	3904 1ea4 9093 0000 sts (beeptime)+1,r25
		3672	3905 1ea8 8093 0000 sts beeptime,r24
		3673	3906 1eac 3323 tst r19
		3674	3907 1eae 01F4 brne .L312
		3675	3908 1eb0 87E1 ldi r24,lo8(23)
		3676	3909 .L361:
		3677	3910 1eb2 8093 0000 sts SpeakHoTT,r24
		3678	3911 .L312:
		3679	3912 1eb6 85E0 ldi r24,lo8(5)
		3680	3913 1eb8 8093 0000 sts NeueKompassRichtungMerken,r24
		3681	3914 1ebc 2093 0000 sts carefree_old,r18
		3682	3915 1ec0 00C0 rjmp .L308
		3683	3916 .L309:
		3684	3917 1ec2 8150 subi r24,lo8(-(-1))
		3685	3918 1ec4 8093 0000 sts carefree_old,r24
		3686	3919 .L308:
		3687	3920 1ec8 8091 0000 lds r24,FromNaviCtrl+7
		3688	3921 1ecc 9091 0000 lds r25,(FromNaviCtrl+7)+1
		3689	3922 1ed0 97FF sbrs r25,7
		3690	3923 1ed2 00C0 rjmp .L316
		3691	3924 1ed4 8091 0000 lds r24,CareFree
		3692	3925 1ed8 8823 tst r24
		3693	3926 1eda 01F0 breq .L316
		3694	3927 1edc 8091 0000 lds r24,VersionInfo+5
		3695	3928 1ee0 8068 ori r24,lo8(-128)
		3696	3929 1ee2 8093 0000 sts VersionInfo+5,r24
		3697	3930 1ee6 00C0 rjmp .L316
		3698	3931 .L306:
		3699	3932 1ee8 1092 0000 sts CareFree,__zero_reg__
		3700	3933 1eec 8AE0 ldi r24,lo8(10)
		3701	3934 1eee 8093 0000 sts carefree_old,r24
		3702	3935 .L316:
		3703	3936 1ef2 8091 0000 lds r24,FromNaviCtrl+7
		3704	3937 1ef6 9091 0000 lds r25,(FromNaviCtrl+7)+1
		3705	3938 1efa 97FF sbrs r25,7
		3706	3939 1efc 00C0 rjmp .L317
		3707	3940 1efe 8091 0000 lds r24,MotorenEin
		3708	3941 1f02 8823 tst r24
		3709	3942 1f04 01F0 breq .L317
		3710	3943 1f06 8091 0000 lds r24,CareFree
		3711	3944 1f0a 8823 tst r24
		3712	3945 1f0c 01F0 breq .L317
		3713	3946 1f0e 8091 0000 lds r24,BeepMuster
		3714	3947 1f12 9091 0000 lds r25,(BeepMuster)+1
		3715	3948 1f16 8F5F subi r24,lo8(-1)
		3716	3949 1f18 9F4F sbci r25,hi8(-1)
		3717	3950 1f1a 01F4 brne .L317
		3718	3951 1f1c 88E9 ldi r24,lo8(15000)
		3719	3952 1f1e 9AE3 ldi r25,hi8(15000)
		3720	3953 1f20 9093 0000 sts (beeptime)+1,r25
		3721	3954 1f24 8093 0000 sts beeptime,r24
		3722	3955 1f28 80E0 ldi r24,lo8(-23552)
		3723	3956 1f2a 94EA ldi r25,hi8(-23552)
		3724	3957 1f2c 9093 0000 sts (BeepMuster)+1,r25
		3725	3958 1f30 8093 0000 sts BeepMuster,r24
		3726	3959 1f34 1092 0000 sts CareFree,__zero_reg__
		3727	3960 .L317:
		3728	3961 1f38 8091 0000 lds r24,CareFree
		3729	3962 1f3c 8823 tst r24
		3730	3963 1f3e 01F0 breq .L318
		3731	3964 1f40 8091 0000 lds r24,FC_StatusFlags2
		3732	3965 1f44 8160 ori r24,lo8(1)
		3733	3966 1f46 8093 0000 sts FC_StatusFlags2,r24
		3734	3967 1f4a 8091 0000 lds r24,Parameter_AchsKopplung1
		3735	3968 1f4e 823D cpi r24,lo8(-46)
		3736	3969 1f50 00F4 brsh .L190
		3737	3970 1f52 825E subi r24,lo8(-(30))
		3738	3971 1f54 8093 0000 sts Parameter_AchsKopplung1,r24
		3739	3972 1f58 00C0 rjmp .L190
		3740	3973 .L318:
		3741	3974 1f5a 8091 0000 lds r24,FC_StatusFlags2
		3742	3975 1f5e 8E7F andi r24,lo8(-2)
		3743	3976 1f60 8093 0000 sts FC_StatusFlags2,r24
		3744	3977 .L190:
		3745	3978 /* epilogue: frame size=0 */
		3746	3979 1f64 DF91 pop r29
		3747	3980 1f66 CF91 pop r28
		3748	3981 1f68 0895 ret
		3749	3982 /* epilogue end (size=3) */
		3750	3983 /* function ParameterZuordnung size 772 (767) */
		3751	3985 .lcomm sollGier.0,4
		3752	3986 .lcomm tmp_long.1,4
		3753	3987 .lcomm tmp_long2.2,4
		3754	3988 .lcomm IntegralFehlerNick.3,4
		3755	3989 .lcomm IntegralFehlerRoll.4,4
		3756	3990 .lcomm RcLostTimer.5,2
		3757	3991 .lcomm delay_neutral.6,1
		3758	3992 .lcomm delay_einschalten.7,1
		3759	3993 .lcomm delay_ausschalten.8,1
		3760	3994 .lcomm move_safety_switch.9,1
		3761	3995 .lcomm ausgleichNick.10,4
		3762	3996 .lcomm ausgleichRoll.11,4
		3763	3997 .lcomm stick_nick.12,2
		3764	3998 .lcomm stick_roll.13,2
		3765	3999 .lcomm cnt.14,2
		3766	4000 .lcomm last_n_p.15,1
		3767	4001 .lcomm last_n_n.16,1
		3768	4002 .lcomm last_r_p.17,1
		3769	4003 .lcomm last_r_n.18,1
		3770	4004 .lcomm MittelIntegralNick_Alt.19,4
		3771	4005 .lcomm MittelIntegralRoll_Alt.20,4
		3772	4006 .lcomm HeightTrimming.21,2
		3773	4007 .lcomm FilterHCGas.22,2
		3774	4008 .lcomm HoverGasFilter.23,4
		3775	4009 .data
		3776	4012 delay.24:
		3777	4013 004f 64 .byte 100
		3778	4014 .lcomm BaroAtUpperLimit.25,1
		3779	4015 .lcomm BaroAtLowerLimit.26,1
		3780	4016 .text
		3781	4017 .global MotorRegler
		3782	4019 MotorRegler:
		3783	4020 /* prologue: frame size=23 */
		3784	4021 1f6a A7E1 ldi r26,lo8(23)
		3785	4022 1f6c B0E0 ldi r27,hi8(23)
		3786	4023 1f6e E0E0 ldi r30,pm_lo8(1f)
		3787	4024 1f70 F0E0 ldi r31,pm_hi8(1f)
		3788	4025 1f72 0C94 0000 jmp __prologue_saves__+0
		3789	4026 1:
		3790	4027 /* prologue end (size=6) */
		3791	4028 1f76 0E94 0000 call Mittelwert
		3792	4029 1f7a 8091 0000 lds r24,FC_StatusFlags
		3793	4030 1f7e 9927 clr r25
		3794	4031 1f80 8471 andi r24,lo8(20)
		3795	4032 1f82 9070 andi r25,hi8(20)
		3796	4033 1f84 892B or r24,r25
		3797	4034 1f86 01F4 brne .L365
		3798	4035 1f88 8091 0000 lds r24,EE_Parameter+111
		3799	4036 1f8c 82FF sbrs r24,2
		3800	4037 1f8e 00C0 rjmp .L366
		3801	4038 1f90 8091 0000 lds r24,HoverGas
		3802	4039 1f94 9091 0000 lds r25,(HoverGas)+1
		3803	4040 1f98 0097 sbiw r24,0
		3804	4041 1f9a 01F0 breq .L367
		3805	4042 1f9c 02E0 ldi r16,hi8(600)
		3806	4043 1f9e 8835 cpi r24,lo8(600)
		3807	4044 1fa0 9007 cpc r25,r16
		3808	4045 1fa2 04F4 brge .L367
		3809	4046 1fa4 9C01 movw r18,r24
		3810	4047 1fa6 97FF sbrs r25,7
		3811	4048 1fa8 00C0 rjmp .L368
		3812	4049 1faa 2D5F subi r18,lo8(-(3))
		3813	4050 1fac 3F4F sbci r19,hi8(-(3))
		3814	4051 .L368:
		3815	4052 1fae 3595 asr r19
		3816	4053 1fb0 2795 ror r18
		3817	4054 1fb2 3595 asr r19
		3818	4055 1fb4 2795 ror r18
		3819	4056 1fb6 8091 0000 lds r24,EE_Parameter+37
		3820	4057 1fba 9927 clr r25
		3821	4058 1fbc 289F mul r18,r24
		3822	4059 1fbe A001 movw r20,r0
		3823	4060 1fc0 299F mul r18,r25
		3824	4061 1fc2 500D add r21,r0
		3825	4062 1fc4 389F mul r19,r24
		3826	4063 1fc6 500D add r21,r0
		3827	4064 1fc8 1124 clr r1
		3828	4065 1fca CA01 movw r24,r20
		3829	4066 1fcc 64E6 ldi r22,lo8(100)
		3830	4067 1fce 70E0 ldi r23,hi8(100)
		3831	4068 1fd0 0E94 0000 call __divmodhi4
		3832	4069 1fd4 CB01 movw r24,r22
		3833	4070 1fd6 00C0 rjmp .L887
		3834	4071 .L367:
		3835	4072 1fd8 8DE2 ldi r24,lo8(45)
		3836	4073 1fda 90E0 ldi r25,hi8(45)
		3837	4074 1fdc 00C0 rjmp .L887
		3838	4075 .L366:
		3839	4076 1fde 8091 0000 lds r24,EE_Parameter+37
		3840	4077 1fe2 9927 clr r25
		3841	4078 .L887:
		3842	4079 1fe4 9093 0000 sts (HooverGasEmergencyPercent)+1,r25
		3843	4080 1fe8 8093 0000 sts HooverGasEmergencyPercent,r24
		3844	4081 .L365:
		3845	4082 1fec 2091 0000 lds r18,GasIsZeroCnt
		3846	4083 1ff0 3091 0000 lds r19,(GasIsZeroCnt)+1
		3847	4084 1ff4 55E7 ldi r21,hi8(30000)
		3848	4085 1ff6 2033 cpi r18,lo8(30000)
		3849	4086 1ff8 3507 cpc r19,r21
		3850	4087 1ffa 01F4 brne .L371
		3851	4088 1ffc 1092 0000 sts (StickGas)+1,__zero_reg__
		3852	4089 2000 1092 0000 sts StickGas,__zero_reg__
		3853	4090 2004 8091 0000 lds r24,MIN_GAS
		3854	4091 2008 9927 clr r25
		3855	4092 200a 9093 0000 sts (HooverGasEmergencyPercent)+1,r25
		3856	4093 200e 8093 0000 sts HooverGasEmergencyPercent,r24
		3857	4094 .L371:
		3858	4095 2012 6091 0000 lds r22,StickGas
		3859	4096 2016 7091 0000 lds r23,(StickGas)+1
		3860	4097 201a 7A83 std Y+2,r23
		3861	4098 201c 6983 std Y+1,r22
		3862	4099 201e 8091 0000 lds r24,MIN_GAS
		3863	4100 2022 9927 clr r25
		3864	4101 2024 0A96 adiw r24,10
		3865	4102 2026 6817 cp r22,r24
		3866	4103 2028 7907 cpc r23,r25
		3867	4104 202a 04F4 brge .L372
		3868	4105 202c 9A83 std Y+2,r25
		3869	4106 202e 8983 std Y+1,r24
		3870	4107 .L372:
		3871	4108 2030 8091 0000 lds r24,SenderOkay
		3872	4109 2034 8436 cpi r24,lo8(100)
		3873	4110 2036 00F0 brlo .+2
		3874	4111 2038 00C0 rjmp .L373
		3875	4112 203a 8091 0000 lds r24,FC_StatusFlags2
		3876	4113 203e 82FD sbrc r24,2
		3877	4114 2040 00C0 rjmp .L373
		3878	4115 2042 8091 0000 lds r24,RcLostTimer.5
		3879	4116 2046 9091 0000 lds r25,(RcLostTimer.5)+1
		3880	4117 204a 0097 sbiw r24,0
		3881	4118 204c 01F0 breq .L374
		3882	4119 204e 0197 sbiw r24,1
		3883	4120 2050 9093 0000 sts (RcLostTimer.5)+1,r25
		3884	4121 2054 8093 0000 sts RcLostTimer.5,r24
		3885	4122 2058 00C0 rjmp .L375
		3886	4123 .L374:
		3887	4124 205a 1092 0000 sts MotorenEin,__zero_reg__
		3888	4125 205e 9093 0000 sts (modell_fliegt)+1,r25
		3889	4126 2062 8093 0000 sts modell_fliegt,r24
		3890	4127 2066 8091 0000 lds r24,FC_StatusFlags
		3891	4128 206a 8D7E andi r24,lo8(-19)
		3892	4129 206c 8093 0000 sts FC_StatusFlags,r24
		3893	4130 .L375:
		3894	4131 2070 8091 0000 lds r24,PlatinenVersion
		3895	4132 2074 8A30 cpi r24,lo8(10)
		3896	4133 2076 01F0 breq .L377
		3897	4134 2078 8431 cpi r24,lo8(20)
		3898	4135 207a 00F0 brlo .L376
		3899	4136 .L377:
		3900	4137 207c 289A sbi 37-0x20,0
		3901	4138 207e 00C0 rjmp .L378
		3902	4139 .L376:
		3903	4140 2080 2898 cbi 37-0x20,0
		3904	4141 .L378:
		3905	4142 2082 8091 0000 lds r24,modell_fliegt
		3906	4143 2086 9091 0000 lds r25,(modell_fliegt)+1
		3907	4144 208a 895E subi r24,lo8(1001)
		3908	4145 208c 9340 sbci r25,hi8(1001)
		3909	4146 208e 00F0 brlo .L379
		3910	4147 2090 8091 0000 lds r24,Capacity+6
		3911	4148 2094 8536 cpi r24,lo8(101)
		3912	4149 2096 00F0 brlo .L379
		3913	4150 2098 8091 0000 lds r24,HooverGasEmergencyPercent
		3914	4151 209c 9091 0000 lds r25,(HooverGasEmergencyPercent)+1
		3915	4152 20a0 9A83 std Y+2,r25
		3916	4153 20a2 8983 std Y+1,r24
		3917	4154 20a4 8091 0000 lds r24,FC_StatusFlags
		3918	4155 20a8 8061 ori r24,lo8(16)
		3919	4156 20aa 8093 0000 sts FC_StatusFlags,r24
		3920	4157 20ae 8091 0000 lds r24,EE_Parameter+1
		3921	4158 20b2 A82F mov r26,r24
		3922	4159 20b4 BB27 clr r27
		3923	4160 20b6 AA0F add r26,r26
		3924	4161 20b8 BB1F adc r27,r27
		3925	4162 20ba FD01 movw r30,r26
		3926	4163 20bc E050 subi r30,lo8(-(PPM_diff))
		3927	4164 20be F040 sbci r31,hi8(-(PPM_diff))
		3928	4165 20c0 1182 std Z+1,__zero_reg__
		3929	4166 20c2 1082 st Z,__zero_reg__
		3930	4167 20c4 8091 0000 lds r24,EE_Parameter+2
		3931	4168 20c8 282F mov r18,r24
		3932	4169 20ca 3327 clr r19
		3933	4170 20cc 220F add r18,r18
		3934	4171 20ce 331F adc r19,r19
		3935	4172 20d0 C901 movw r24,r18
		3936	4173 20d2 8050 subi r24,lo8(-(PPM_diff))
		3937	4174 20d4 9040 sbci r25,hi8(-(PPM_diff))
		3938	4175 20d6 FC01 movw r30,r24
		3939	4176 20d8 1182 std Z+1,__zero_reg__
		3940	4177 20da 1082 st Z,__zero_reg__
		3941	4178 20dc A050 subi r26,lo8(-(PPM_in))
		3942	4179 20de B040 sbci r27,hi8(-(PPM_in))
		3943	4180 20e0 1196 adiw r26,1
		3944	4181 20e2 1C92 st X,__zero_reg__
		3945	4182 20e4 1E92 st -X,__zero_reg__
		3946	4183 20e6 2050 subi r18,lo8(-(PPM_in))
		3947	4184 20e8 3040 sbci r19,hi8(-(PPM_in))
		3948	4185 20ea D901 movw r26,r18
		3949	4186 20ec 1196 adiw r26,1
		3950	4187 20ee 1C92 st X,__zero_reg__
		3951	4188 20f0 1E92 st -X,__zero_reg__
		3952	4189 20f2 8091 0000 lds r24,EE_Parameter+4
		3953	4190 20f6 E82F mov r30,r24
		3954	4191 20f8 FF27 clr r31
		3955	4192 20fa EE0F add r30,r30
		3956	4193 20fc FF1F adc r31,r31
		3957	4194 20fe E050 subi r30,lo8(-(PPM_in))
		3958	4195 2100 F040 sbci r31,hi8(-(PPM_in))
		3959	4196 2102 1182 std Z+1,__zero_reg__
		3960	4197 2104 1082 st Z,__zero_reg__
		3961	4198 2106 00C0 rjmp .L381
		3962	4199 .L379:
		3963	4200 2108 1092 0000 sts MotorenEin,__zero_reg__
		3964	4201 210c 00C0 rjmp .L381
		3965	4202 .L373:
		3966	4203 210e 8091 0000 lds r24,SenderOkay
		3967	4204 2112 8D38 cpi r24,lo8(-115)
		3968	4205 2114 00F4 brsh .+2
		3969	4206 2116 00C0 rjmp .L382
		3970	4207 2118 8091 0000 lds r24,FC_StatusFlags
		3971	4208 211c 8F7E andi r24,lo8(-17)
		3972	4209 211e 8093 0000 sts FC_StatusFlags,r24
		3973	4210 2122 9091 0000 lds r25,EE_Parameter+38
		3974	4211 2126 82E3 ldi r24,lo8(50)
		3975	4212 2128 989F mul r25,r24
		3976	4213 212a C001 movw r24,r0
		3977	4214 212c 1124 clr r1
		3978	4215 212e 9093 0000 sts (RcLostTimer.5)+1,r25
		3979	4216 2132 8093 0000 sts RcLostTimer.5,r24
		3980	4217 2136 E981 ldd r30,Y+1
		3981	4218 2138 FA81 ldd r31,Y+2
		3982	4219 213a B997 sbiw r30,41
		3983	4220 213c 04F0 brlt .L383
		3984	4221 213e 8091 0000 lds r24,MotorenEin
		3985	4222 2142 8823 tst r24
		3986	4223 2144 01F0 breq .L383
		3987	4224 2146 8091 0000 lds r24,modell_fliegt
		3988	4225 214a 9091 0000 lds r25,(modell_fliegt)+1
		3989	4226 214e FFEF ldi r31,hi8(-1)
		3990	4227 2150 8F3F cpi r24,lo8(-1)
		3991	4228 2152 9F07 cpc r25,r31
		3992	4229 2154 01F0 breq .L383
		3993	4230 2156 0196 adiw r24,1
		3994	4231 2158 9093 0000 sts (modell_fliegt)+1,r25
		3995	4232 215c 8093 0000 sts modell_fliegt,r24
		3996	4233 .L383:
		3997	4234 2160 8091 0000 lds r24,modell_fliegt
		3998	4235 2164 9091 0000 lds r25,(modell_fliegt)+1
		3999	4236 2168 8F3F cpi r24,255
		4000	4237 216a 9105 cpc r25,__zero_reg__
		4001	4238 216c 01F0 breq .+2
		4002	4239 216e 00F4 brsh .L385
		4003	4240 2170 1092 0000 sts SummeNick,__zero_reg__
		4004	4241 2174 1092 0000 sts (SummeNick)+1,__zero_reg__
		4005	4242 2178 1092 0000 sts (SummeNick)+2,__zero_reg__
		4006	4243 217c 1092 0000 sts (SummeNick)+3,__zero_reg__
		4007	4244 2180 1092 0000 sts SummeRoll,__zero_reg__
		4008	4245 2184 1092 0000 sts (SummeRoll)+1,__zero_reg__
		4009	4246 2188 1092 0000 sts (SummeRoll)+2,__zero_reg__
		4010	4247 218c 1092 0000 sts (SummeRoll)+3,__zero_reg__
		4011	4248 2190 1092 0000 sts sollGier.0,__zero_reg__
		4012	4249 2194 1092 0000 sts (sollGier.0)+1,__zero_reg__
		4013	4250 2198 1092 0000 sts (sollGier.0)+2,__zero_reg__
		4014	4251 219c 1092 0000 sts (sollGier.0)+3,__zero_reg__
		4015	4252 21a0 1092 0000 sts Mess_Integral_Gier,__zero_reg__
		4016	4253 21a4 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
		4017	4254 21a8 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
		4018	4255 21ac 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__
		4019	4256 21b0 00C0 rjmp .L386
		4020	4257 .L385:
		4021	4258 21b2 8091 0000 lds r24,FC_StatusFlags
		4022	4259 21b6 8260 ori r24,lo8(2)
		4023	4260 21b8 8093 0000 sts FC_StatusFlags,r24
		4024	4261 .L386:
		4025	4262 21bc 8091 0000 lds r24,EE_Parameter+3
		4026	4263 21c0 E82F mov r30,r24
		4027	4264 21c2 FF27 clr r31
		4028	4265 21c4 EE0F add r30,r30
		4029	4266 21c6 FF1F adc r31,r31
		4030	4267 21c8 E050 subi r30,lo8(-(PPM_in))
		4031	4268 21ca F040 sbci r31,hi8(-(PPM_in))
		4032	4269 21cc 8081 ld r24,Z
		4033	4270 21ce 9181 ldd r25,Z+1
		4034	4271 21d0 8135 cpi r24,81
		4035	4272 21d2 9105 cpc r25,__zero_reg__
		4036	4273 21d4 04F4 brge .+2
		4037	4274 21d6 00C0 rjmp .L387
		4038	4275 21d8 2091 0000 lds r18,MotorenEin
		4039	4276 21dc 2223 tst r18
		4040	4277 21de 01F0 breq .+2
		4041	4278 21e0 00C0 rjmp .L387
		4042	4279 21e2 8091 0000 lds r24,EE_Parameter+4
		4043	4280 21e6 E82F mov r30,r24
		4044	4281 21e8 FF27 clr r31
		4045	4282 21ea EE0F add r30,r30
		4046	4283 21ec FF1F adc r31,r31
		4047	4284 21ee E050 subi r30,lo8(-(PPM_in))
		4048	4285 21f0 F040 sbci r31,hi8(-(PPM_in))
		4049	4286 21f2 8081 ld r24,Z
		4050	4287 21f4 9181 ldd r25,Z+1
		4051	4288 21f6 8C34 cpi r24,76
		4052	4289 21f8 9105 cpc r25,__zero_reg__
		4053	4290 21fa 04F4 brge .+2
		4054	4291 21fc 00C0 rjmp .L388
		4055	4292 21fe 8091 0000 lds r24,delay_neutral.6
		4056	4293 2202 8F5F subi r24,lo8(-(1))
		4057	4294 2204 8093 0000 sts delay_neutral.6,r24
		4058	4295 2208 893C cpi r24,lo8(-55)
		4059	4296 220a 00F4 brsh .+2
		4060	4297 220c 00C0 rjmp .L387
		4061	4298 220e 2093 0000 sts delay_neutral.6,r18
		4062	4299 2212 1092 0000 sts (modell_fliegt)+1,__zero_reg__
		4063	4300 2216 1092 0000 sts modell_fliegt,__zero_reg__
		4064	4301 221a 3091 0000 lds r19,EE_Parameter+1
		4065	4302 221e E32F mov r30,r19
		4066	4303 2220 FF27 clr r31
		4067	4304 2222 EE0F add r30,r30
		4068	4305 2224 FF1F adc r31,r31
		4069	4306 2226 E050 subi r30,lo8(-(PPM_in))
		4070	4307 2228 F040 sbci r31,hi8(-(PPM_in))
		4071	4308 222a 8081 ld r24,Z
		4072	4309 222c 9181 ldd r25,Z+1
		4073	4310 222e 8734 cpi r24,71
		4074	4311 2230 9105 cpc r25,__zero_reg__
		4075	4312 2232 04F4 brge .L391
		4076	4313 2234 8091 0000 lds r24,EE_Parameter+2
		4077	4314 2238 E82F mov r30,r24
		4078	4315 223a FF27 clr r31
		4079	4316 223c EE0F add r30,r30
		4080	4317 223e FF1F adc r31,r31
		4081	4318 2240 E050 subi r30,lo8(-(PPM_in))
		4082	4319 2242 F040 sbci r31,hi8(-(PPM_in))
		4083	4320 2244 8081 ld r24,Z
		4084	4321 2246 9181 ldd r25,Z+1
		4085	4322 2248 0190 ld __tmp_reg__,Z+
		4086	4323 224a F081 ld r31,Z
		4087	4324 224c E02D mov r30,__tmp_reg__
		4088	4325 224e F7FF sbrs r31,7
		4089	4326 2250 00C0 rjmp .L392
		4090	4327 2252 F095 com r31
		4091	4328 2254 E195 neg r30
		4092	4329 2256 FF4F sbci r31,lo8(-1)
		4093	4330 .L392:
		4094	4331 2258 E734 cpi r30,71
		4095	4332 225a F105 cpc r31,__zero_reg__
		4096	4333 225c 04F4 brge .+2
		4097	4334 225e 00C0 rjmp .L390
		4098	4335 .L391:
		4099	4336 2260 41E0 ldi r20,lo8(1)
		4100	4337 2262 2091 0000 lds r18,EE_Parameter+2
		4101	4338 2266 A22F mov r26,r18
		4102	4339 2268 BB27 clr r27
		4103	4340 226a AA0F add r26,r26
		4104	4341 226c BB1F adc r27,r27
		4105	4342 226e A050 subi r26,lo8(-(PPM_in))
		4106	4343 2270 B040 sbci r27,hi8(-(PPM_in))
		4107	4344 2272 8D91 ld r24,X+
		4108	4345 2274 9C91 ld r25,X
		4109	4346 2276 1197 sbiw r26,1
		4110	4347 2278 8734 cpi r24,71
		4111	4348 227a 9105 cpc r25,__zero_reg__
		4112	4349 227c 04F0 brlt .L393
		4113	4350 227e E32F mov r30,r19
		4114	4351 2280 FF27 clr r31
		4115	4352 2282 EE0F add r30,r30
		4116	4353 2284 FF1F adc r31,r31
		4117	4354 2286 E050 subi r30,lo8(-(PPM_in))
		4118	4355 2288 F040 sbci r31,hi8(-(PPM_in))
		4119	4356 228a 8081 ld r24,Z
		4120	4357 228c 9181 ldd r25,Z+1
		4121	4358 .L393:
		4122	4359 228e 8D91 ld r24,X+
		4123	4360 2290 9C91 ld r25,X
		4124	4361 2292 8734 cpi r24,71
		4125	4362 2294 9105 cpc r25,__zero_reg__
		4126	4363 2296 04F0 brlt .L394
		4127	4364 2298 8091 0000 lds r24,EE_Parameter+1
		4128	4365 229c E82F mov r30,r24
		4129	4366 229e FF27 clr r31
		4130	4367 22a0 EE0F add r30,r30
		4131	4368 22a2 FF1F adc r31,r31
		4132	4369 22a4 E050 subi r30,lo8(-(PPM_in))
		4133	4370 22a6 F040 sbci r31,hi8(-(PPM_in))
		4134	4371 22a8 8081 ld r24,Z
		4135	4372 22aa 9181 ldd r25,Z+1
		4136	4373 22ac 8734 cpi r24,71
		4137	4374 22ae 9105 cpc r25,__zero_reg__
		4138	4375 22b0 04F0 brlt .L394
		4139	4376 22b2 42E0 ldi r20,lo8(2)
		4140	4377 .L394:
		4141	4378 22b4 E22F mov r30,r18
		4142	4379 22b6 FF27 clr r31
		4143	4380 22b8 EE0F add r30,r30
		4144	4381 22ba FF1F adc r31,r31
		4145	4382 22bc E050 subi r30,lo8(-(PPM_in))
		4146	4383 22be F040 sbci r31,hi8(-(PPM_in))
		4147	4384 22c0 8081 ld r24,Z
		4148	4385 22c2 9181 ldd r25,Z+1
		4149	4386 22c4 8634 cpi r24,70
		4150	4387 22c6 9105 cpc r25,__zero_reg__
		4151	4388 22c8 04F4 brge .L395
		4152	4389 22ca 8091 0000 lds r24,EE_Parameter+1
		4153	4390 22ce E82F mov r30,r24
		4154	4391 22d0 FF27 clr r31
		4155	4392 22d2 EE0F add r30,r30
		4156	4393 22d4 FF1F adc r31,r31
		4157	4394 22d6 E050 subi r30,lo8(-(PPM_in))
		4158	4395 22d8 F040 sbci r31,hi8(-(PPM_in))
		4159	4396 22da 8081 ld r24,Z
		4160	4397 22dc 9181 ldd r25,Z+1
		4161	4398 22de 8734 cpi r24,71
		4162	4399 22e0 9105 cpc r25,__zero_reg__
		4163	4400 22e2 04F0 brlt .L395
		4164	4401 22e4 43E0 ldi r20,lo8(3)
		4165	4402 .L395:
		4166	4403 22e6 E22F mov r30,r18
		4167	4404 22e8 FF27 clr r31
		4168	4405 22ea EE0F add r30,r30
		4169	4406 22ec FF1F adc r31,r31
		4170	4407 22ee E050 subi r30,lo8(-(PPM_in))
		4171	4408 22f0 F040 sbci r31,hi8(-(PPM_in))
		4172	4409 22f2 8081 ld r24,Z
		4173	4410 22f4 9181 ldd r25,Z+1
		4174	4411 22f6 8A5B subi r24,lo8(-70)
		4175	4412 22f8 9F4F sbci r25,hi8(-70)
		4176	4413 22fa 04F4 brge .L396
		4177	4414 22fc 8091 0000 lds r24,EE_Parameter+1
		4178	4415 2300 E82F mov r30,r24
		4179	4416 2302 FF27 clr r31
		4180	4417 2304 EE0F add r30,r30
		4181	4418 2306 FF1F adc r31,r31
		4182	4419 2308 E050 subi r30,lo8(-(PPM_in))
		4183	4420 230a F040 sbci r31,hi8(-(PPM_in))
		4184	4421 230c 8081 ld r24,Z
		4185	4422 230e 9181 ldd r25,Z+1
		4186	4423 2310 8734 cpi r24,71
		4187	4424 2312 9105 cpc r25,__zero_reg__
		4188	4425 2314 04F0 brlt .L396
		4189	4426 2316 44E0 ldi r20,lo8(4)
		4190	4427 .L396:
		4191	4428 2318 E22F mov r30,r18
		4192	4429 231a FF27 clr r31
		4193	4430 231c EE0F add r30,r30
		4194	4431 231e FF1F adc r31,r31
		4195	4432 2320 E050 subi r30,lo8(-(PPM_in))
		4196	4433 2322 F040 sbci r31,hi8(-(PPM_in))
		4197	4434 2324 8081 ld r24,Z
		4198	4435 2326 9181 ldd r25,Z+1
		4199	4436 2328 8A5B subi r24,lo8(-70)
		4200	4437 232a 9F4F sbci r25,hi8(-70)
		4201	4438 232c 04F4 brge .L397
		4202	4439 232e 8091 0000 lds r24,EE_Parameter+1
		4203	4440 2332 E82F mov r30,r24
		4204	4441 2334 FF27 clr r31
		4205	4442 2336 EE0F add r30,r30
		4206	4443 2338 FF1F adc r31,r31
		4207	4444 233a E050 subi r30,lo8(-(PPM_in))
		4208	4445 233c F040 sbci r31,hi8(-(PPM_in))
		4209	4446 233e 8081 ld r24,Z
		4210	4447 2340 9181 ldd r25,Z+1
		4211	4448 2342 8634 cpi r24,70
		4212	4449 2344 9105 cpc r25,__zero_reg__
		4213	4450 2346 04F4 brge .L397
		4214	4451 2348 45E0 ldi r20,lo8(5)
		4215	4452 .L397:
		4216	4453 234a 842F mov r24,r20
		4217	4454 234c 0E94 0000 call SetActiveParamSet
		4218	4455 .L390:
		4219	4456 2350 8091 0000 lds r24,EE_Parameter+2
		4220	4457 2354 E82F mov r30,r24
		4221	4458 2356 FF27 clr r31
		4222	4459 2358 EE0F add r30,r30
		4223	4460 235a FF1F adc r31,r31
		4224	4461 235c E050 subi r30,lo8(-(PPM_in))
		4225	4462 235e F040 sbci r31,hi8(-(PPM_in))
		4226	4463 2360 8081 ld r24,Z
		4227	4464 2362 9181 ldd r25,Z+1
		4228	4465 2364 0190 ld __tmp_reg__,Z+
		4229	4466 2366 F081 ld r31,Z
		4230	4467 2368 E02D mov r30,__tmp_reg__
		4231	4468 236a F7FF sbrs r31,7
		4232	4469 236c 00C0 rjmp .L399
		4233	4470 236e F095 com r31
		4234	4471 2370 E195 neg r30
		4235	4472 2372 FF4F sbci r31,lo8(-1)
		4236	4473 .L399:
		4237	4474 2374 7E97 sbiw r30,30
		4238	4475 2376 04F4 brge .L398
		4239	4476 2378 8091 0000 lds r24,EE_Parameter+1
		4240	4477 237c E82F mov r30,r24
		4241	4478 237e FF27 clr r31
		4242	4479 2380 EE0F add r30,r30
		4243	4480 2382 FF1F adc r31,r31
		4244	4481 2384 E050 subi r30,lo8(-(PPM_in))
		4245	4482 2386 F040 sbci r31,hi8(-(PPM_in))
		4246	4483 2388 8081 ld r24,Z
		4247	4484 238a 9181 ldd r25,Z+1
		4248	4485 238c 8A5B subi r24,lo8(-70)
		4249	4486 238e 9F4F sbci r25,hi8(-70)
		4250	4487 2390 04F4 brge .L398
		4251	4488 2392 81E0 ldi r24,lo8(1)
		4252	4489 2394 8093 0000 sts WinkelOut+6,r24
		4253	4490 2398 1092 0000 sts CalibrationDone,__zero_reg__
		4254	4491 239c 88EE ldi r24,lo8(1000)
		4255	4492 239e 93E0 ldi r25,hi8(1000)
		4256	4493 23a0 9093 0000 sts (beeptime)+1,r25
		4257	4494 23a4 8093 0000 sts beeptime,r24
		4258	4495 23a8 00C0 rjmp .L387
		4259	4496 .L398:
		4260	4497 23aa 0E94 0000 call GetActiveParamSet
		4261	4498 23ae 0E94 0000 call ParamSet_ReadFromEEProm
		4262	4499 23b2 80E0 ldi r24,lo8(0)
		4263	4500 23b4 0E94 0000 call LipoDetection
		4264	4501 23b8 8091 0000 lds r24,EE_Parameter+39
		4265	4502 23bc 0E94 0000 call LIBFC_ReceiverInit
		4266	4503 23c0 8091 0000 lds r24,Parameter_GlobalConfig
		4267	4504 23c4 80FF sbrs r24,0
		4268	4505 23c6 00C0 rjmp .L401
		4269	4506 23c8 8091 0000 lds r24,MessLuftdruck
		4270	4507 23cc 9091 0000 lds r25,(MessLuftdruck)+1
		4271	4508 23d0 875B subi r24,lo8(951)
		4272	4509 23d2 9340 sbci r25,hi8(951)
		4273	4510 23d4 00F4 brsh .L403
		4274	4511 23d6 8091 0000 lds r24,MessLuftdruck
		4275	4512 23da 9091 0000 lds r25,(MessLuftdruck)+1
		4276	4513 23de 8E5E subi r24,lo8(750)
		4277	4514 23e0 9240 sbci r25,hi8(750)
		4278	4515 23e2 00F4 brsh .L401
		4279	4516 .L403:
		4280	4517 23e4 0E94 0000 call SucheLuftruckOffset
		4281	4518 .L401:
		4282	4519 23e8 80E0 ldi r24,lo8(0)
		4283	4520 23ea 0E94 0000 call SetNeutral
		4284	4521 23ee 81E0 ldi r24,lo8(1)
		4285	4522 23f0 8093 0000 sts CalibrationDone,r24
		4286	4523 23f4 8093 0000 sts ServoActive,r24
		4287	4524 23f8 579A sbi 42-0x20,7
		4288	4525 23fa 00C0 rjmp .L888
		4289	4526 .L388:
		4290	4527 23fc 8081 ld r24,Z
		4291	4528 23fe 9181 ldd r25,Z+1
		4292	4529 2400 855B subi r24,lo8(-75)
		4293	4530 2402 9F4F sbci r25,hi8(-75)
		4294	4531 2404 04F4 brge .L405
		4295	4532 2406 8091 0000 lds r24,delay_neutral.6
		4296	4533 240a 8F5F subi r24,lo8(-(1))
		4297	4534 240c 8093 0000 sts delay_neutral.6,r24
		4298	4535 2410 893C cpi r24,lo8(-55)
		4299	4536 2412 00F0 brlo .L387
		4300	4537 2414 2093 0000 sts MotorenEin,r18
		4301	4538 2418 2093 0000 sts delay_neutral.6,r18
		4302	4539 241c 1092 0000 sts (modell_fliegt)+1,__zero_reg__
		4303	4540 2420 1092 0000 sts modell_fliegt,__zero_reg__
		4304	4541 2424 81E0 ldi r24,lo8(1)
		4305	4542 2426 0E94 0000 call SetNeutral
		4306	4543 242a 81E0 ldi r24,lo8(1)
		4307	4544 242c 8093 0000 sts CalibrationDone,r24
		4308	4545 .L888:
		4309	4546 2430 88E1 ldi r24,lo8(24)
		4310	4547 2432 8093 0000 sts SpeakHoTT,r24
		4311	4548 2436 0E94 0000 call GetActiveParamSet
		4312	4549 243a 68E7 ldi r22,lo8(120)
		4313	4550 243c 70E0 ldi r23,hi8(120)
		4314	4551 243e 0E94 0000 call Piep
		4315	4552 2442 00C0 rjmp .L387
		4316	4553 .L405:
		4317	4554 2444 2093 0000 sts delay_neutral.6,r18
		4318	4555 .L387:
		4319	4556 2448 8091 0000 lds r24,EE_Parameter+3
		4320	4557 244c E82F mov r30,r24
		4321	4558 244e FF27 clr r31
		4322	4559 2450 EE0F add r30,r30
		4323	4560 2452 FF1F adc r31,r31
		4324	4561 2454 E050 subi r30,lo8(-(PPM_in))
		4325	4562 2456 F040 sbci r31,hi8(-(PPM_in))
		4326	4563 2458 8081 ld r24,Z
		4327	4564 245a 9181 ldd r25,Z+1
		4328	4565 245c 8B5A subi r24,lo8(-85)
		4329	4566 245e 9F4F sbci r25,hi8(-85)
		4330	4567 2460 04F0 brlt .+2
		4331	4568 2462 00C0 rjmp .L408
		4332	4569 2464 2091 0000 lds r18,EE_Parameter+100
		4333	4570 2468 E22F mov r30,r18
		4334	4571 246a FF27 clr r31
		4335	4572 246c EF77 andi r30,lo8(127)
		4336	4573 246e F070 andi r31,hi8(127)
		4337	4574 2470 EE0F add r30,r30
		4338	4575 2472 FF1F adc r31,r31
		4339	4576 2474 E050 subi r30,lo8(-(PPM_diff))
		4340	4577 2476 F040 sbci r31,hi8(-(PPM_diff))
		4341	4578 2478 8081 ld r24,Z
		4342	4579 247a 9181 ldd r25,Z+1
		4343	4580 247c 0697 sbiw r24,6
		4344	4581 247e 04F0 brlt .L409
		4345	4582 2480 84E6 ldi r24,lo8(100)
		4346	4583 2482 00C0 rjmp .L889
		4347	4584 .L409:
		4348	4585 2484 8081 ld r24,Z
		4349	4586 2486 9181 ldd r25,Z+1
		4350	4587 2488 8B5F subi r24,lo8(-5)
		4351	4588 248a 9F4F sbci r25,hi8(-5)
		4352	4589 248c 04F4 brge .L410
		4353	4590 248e 8CE9 ldi r24,lo8(-100)
		4354	4591 .L889:
		4355	4592 2490 8093 0000 sts move_safety_switch.9,r24
		4356	4593 .L410:
		4357	4594 2494 8091 0000 lds r24,MotorenEin
		4358	4595 2498 E091 0000 lds r30,EE_Parameter+4
		4359	4596 249c 8823 tst r24
		4360	4597 249e 01F0 breq .+2
		4361	4598 24a0 00C0 rjmp .L412
		4362	4599 24a2 FF27 clr r31
		4363	4600 24a4 EE0F add r30,r30
		4364	4601 24a6 FF1F adc r31,r31
		4365	4602 24a8 E050 subi r30,lo8(-(PPM_in))
		4366	4603 24aa F040 sbci r31,hi8(-(PPM_in))
		4367	4604 24ac 8081 ld r24,Z
		4368	4605 24ae 9181 ldd r25,Z+1
		4369	4606 24b0 855B subi r24,lo8(-75)
		4370	4607 24b2 9F4F sbci r25,hi8(-75)
		4371	4608 24b4 04F4 brge .L415
		4372	4609 24b6 8091 0000 lds r24,EE_Parameter+111
		4373	4610 24ba 83FD sbrc r24,3
		4374	4611 24bc 00C0 rjmp .L416
		4375	4612 24be E22F mov r30,r18
		4376	4613 24c0 FF27 clr r31
		4377	4614 24c2 EE0F add r30,r30
		4378	4615 24c4 FF1F adc r31,r31
		4379	4616 24c6 E050 subi r30,lo8(-(PPM_in))
		4380	4617 24c8 F040 sbci r31,hi8(-(PPM_in))
		4381	4618 24ca 8081 ld r24,Z
		4382	4619 24cc 9181 ldd r25,Z+1
		4383	4620 24ce 855B subi r24,lo8(-75)
		4384	4621 24d0 9F4F sbci r25,hi8(-75)
		4385	4622 24d2 04F0 brlt .L414
		4386	4623 .L416:
		4387	4624 24d4 8091 0000 lds r24,EE_Parameter+100
		4388	4625 24d8 8823 tst r24
		4389	4626 24da 01F0 breq .L414
		4390	4627 .L415:
		4391	4628 24dc 8091 0000 lds r24,EE_Parameter+111
		4392	4629 24e0 83FF sbrs r24,3
		4393	4630 24e2 00C0 rjmp .L413
		4394	4631 24e4 8091 0000 lds r24,EE_Parameter+100
		4395	4632 24e8 E82F mov r30,r24
		4396	4633 24ea FF27 clr r31
		4397	4634 24ec EE0F add r30,r30
		4398	4635 24ee FF1F adc r31,r31
		4399	4636 24f0 E050 subi r30,lo8(-(PPM_in))
		4400	4637 24f2 F040 sbci r31,hi8(-(PPM_in))
		4401	4638 24f4 8081 ld r24,Z
		4402	4639 24f6 9181 ldd r25,Z+1
		4403	4640 24f8 875F subi r24,lo8(-9)
		4404	4641 24fa 9F4F sbci r25,hi8(-9)
		4405	4642 24fc 04F4 brge .+2
		4406	4643 24fe 00C0 rjmp .L413
		4407	4644 2500 8091 0000 lds r24,move_safety_switch.9
		4408	4645 2504 8436 cpi r24,lo8(100)
		4409	4646 2506 01F0 breq .+2
		4410	4647 2508 00C0 rjmp .L413
		4411	4648 .L414:
		4412	4649 250a 2091 0000 lds r18,CalibrationDone
		4413	4650 250e 2223 tst r18
		4414	4651 2510 01F0 breq .L417
		4415	4652 2512 8091 0000 lds r24,FC_StatusFlags
		4416	4653 2516 8860 ori r24,lo8(8)
		4417	4654 2518 8093 0000 sts FC_StatusFlags,r24
		4418	4655 .L417:
		4419	4656 251c 8091 0000 lds r24,delay_einschalten.7
		4420	4657 2520 8F5F subi r24,lo8(-(1))
		4421	4658 2522 8093 0000 sts delay_einschalten.7,r24
		4422	4659 2526 8E3F cpi r24,lo8(-2)
		4423	4660 2528 00F4 brsh .+2
		4424	4661 252a 00C0 rjmp .L423
		4425	4662 252c 1092 0000 sts delay_einschalten.7,__zero_reg__
		4426	4663 2530 8091 0000 lds r24,VersionInfo+5
		4427	4664 2534 8823 tst r24
		4428	4665 2536 01F0 breq .+2
		4429	4666 2538 00C0 rjmp .L419
		4430	4667 253a 2223 tst r18
		4431	4668 253c 01F4 brne .+2
		4432	4669 253e 00C0 rjmp .L419
		4433	4670 2540 8091 0000 lds r24,NC_ErrorCode
		4434	4671 2544 8823 tst r24
		4435	4672 2546 01F0 breq .+2
		4436	4673 2548 00C0 rjmp .L419
		4437	4674 254a 81E0 ldi r24,lo8(1)
		4438	4675 254c 90E0 ldi r25,hi8(1)
		4439	4676 254e 9093 0000 sts (modell_fliegt)+1,r25
		4440	4677 2552 8093 0000 sts modell_fliegt,r24
		4441	4678 2556 81E0 ldi r24,lo8(1)
		4442	4679 2558 8093 0000 sts MotorenEin,r24
		4443	4680 255c 1092 0000 sts sollGier.0,__zero_reg__
		4444	4681 2560 1092 0000 sts (sollGier.0)+1,__zero_reg__
		4445	4682 2564 1092 0000 sts (sollGier.0)+2,__zero_reg__
		4446	4683 2568 1092 0000 sts (sollGier.0)+3,__zero_reg__
		4447	4684 256c 1092 0000 sts Mess_Integral_Gier,__zero_reg__
		4448	4685 2570 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
		4449	4686 2574 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
		4450	4687 2578 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__
		4451	4688 257c 1092 0000 sts Mess_Integral_Gier2,__zero_reg__
		4452	4689 2580 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__
		4453	4690 2584 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__
		4454	4691 2588 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__
		4455	4692 258c 8091 0000 lds r24,EE_Parameter+28
		4456	4693 2590 E82E mov r14,r24
		4457	4694 2592 FF24 clr r15
		4458	4695 2594 0027 clr r16
		4459	4696 2596 1127 clr r17
		4460	4697 2598 8091 0000 lds r24,Mittelwert_AccNick
		4461	4698 259c 9091 0000 lds r25,(Mittelwert_AccNick)+1
		4462	4699 25a0 9C01 movw r18,r24
		4463	4700 25a2 4427 clr r20
		4464	4701 25a4 37FD sbrc r19,7
		4465	4702 25a6 4095 com r20
		4466	4703 25a8 542F mov r21,r20
		4467	4704 25aa C801 movw r24,r16
		4468	4705 25ac B701 movw r22,r14
		4469	4706 25ae 0E94 0000 call __mulsi3
		4470	4707 25b2 DC01 movw r26,r24
		4471	4708 25b4 CB01 movw r24,r22
		4472	4709 25b6 8093 0000 sts Mess_IntegralNick,r24
		4473	4710 25ba 9093 0000 sts (Mess_IntegralNick)+1,r25
		4474	4711 25be A093 0000 sts (Mess_IntegralNick)+2,r26
		4475	4712 25c2 B093 0000 sts (Mess_IntegralNick)+3,r27
		4476	4713 25c6 8091 0000 lds r24,Mittelwert_AccRoll
		4477	4714 25ca 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		4478	4715 25ce 9C01 movw r18,r24
		4479	4716 25d0 4427 clr r20
		4480	4717 25d2 37FD sbrc r19,7
		4481	4718 25d4 4095 com r20
		4482	4719 25d6 542F mov r21,r20
		4483	4720 25d8 C801 movw r24,r16
		4484	4721 25da B701 movw r22,r14
		4485	4722 25dc 0E94 0000 call __mulsi3
		4486	4723 25e0 DC01 movw r26,r24
		4487	4724 25e2 CB01 movw r24,r22
		4488	4725 25e4 8093 0000 sts Mess_IntegralRoll,r24
		4489	4726 25e8 9093 0000 sts (Mess_IntegralRoll)+1,r25
		4490	4727 25ec A093 0000 sts (Mess_IntegralRoll)+2,r26
		4491	4728 25f0 B093 0000 sts (Mess_IntegralRoll)+3,r27
		4492	4729 25f4 8091 0000 lds r24,IntegralNick
		4493	4730 25f8 9091 0000 lds r25,(IntegralNick)+1
		4494	4731 25fc A091 0000 lds r26,(IntegralNick)+2
		4495	4732 2600 B091 0000 lds r27,(IntegralNick)+3
		4496	4733 2604 8093 0000 sts Mess_IntegralNick2,r24
		4497	4734 2608 9093 0000 sts (Mess_IntegralNick2)+1,r25
		4498	4735 260c A093 0000 sts (Mess_IntegralNick2)+2,r26
		4499	4736 2610 B093 0000 sts (Mess_IntegralNick2)+3,r27
		4500	4737 2614 8091 0000 lds r24,IntegralRoll
		4501	4738 2618 9091 0000 lds r25,(IntegralRoll)+1
		4502	4739 261c A091 0000 lds r26,(IntegralRoll)+2
		4503	4740 2620 B091 0000 lds r27,(IntegralRoll)+3
		4504	4741 2624 8093 0000 sts Mess_IntegralRoll2,r24
		4505	4742 2628 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		4506	4743 262c A093 0000 sts (Mess_IntegralRoll2)+2,r26
		4507	4744 2630 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		4508	4745 2634 1092 0000 sts SummeNick,__zero_reg__
		4509	4746 2638 1092 0000 sts (SummeNick)+1,__zero_reg__
		4510	4747 263c 1092 0000 sts (SummeNick)+2,__zero_reg__
		4511	4748 2640 1092 0000 sts (SummeNick)+3,__zero_reg__
		4512	4749 2644 1092 0000 sts SummeRoll,__zero_reg__
		4513	4750 2648 1092 0000 sts (SummeRoll)+1,__zero_reg__
		4514	4751 264c 1092 0000 sts (SummeRoll)+2,__zero_reg__
		4515	4752 2650 1092 0000 sts (SummeRoll)+3,__zero_reg__
		4516	4753 2654 84E6 ldi r24,lo8(100)
		4517	4754 2656 8093 0000 sts NeueKompassRichtungMerken,r24
		4518	4755 265a 84E3 ldi r24,lo8(52)
		4519	4756 265c 00C0 rjmp .L890
		4520	4757 .L419:
		4521	4758 265e 8CED ldi r24,lo8(1500)
		4522	4759 2660 95E0 ldi r25,hi8(1500)
		4523	4760 2662 9093 0000 sts (beeptime)+1,r25
		4524	4761 2666 8093 0000 sts beeptime,r24
		4525	4762 266a 2223 tst r18
		4526	4763 266c 01F0 breq .+2
		4527	4764 266e 00C0 rjmp .L423
		4528	4765 2670 81E0 ldi r24,lo8(1)
		4529	4766 2672 00C0 rjmp .L890
		4530	4767 .L413:
		4531	4768 2674 1092 0000 sts delay_einschalten.7,__zero_reg__
		4532	4769 2678 00C0 rjmp .L423
		4533	4770 .L412:
		4534	4771 267a FF27 clr r31
		4535	4772 267c EE0F add r30,r30
		4536	4773 267e FF1F adc r31,r31
		4537	4774 2680 E050 subi r30,lo8(-(PPM_in))
		4538	4775 2682 F040 sbci r31,hi8(-(PPM_in))
		4539	4776 2684 8081 ld r24,Z
		4540	4777 2686 9181 ldd r25,Z+1
		4541	4778 2688 8C34 cpi r24,76
		4542	4779 268a 9105 cpc r25,__zero_reg__
		4543	4780 268c 04F0 brlt .L426
		4544	4781 268e 8091 0000 lds r24,EE_Parameter+111
		4545	4782 2692 83FD sbrc r24,3
		4546	4783 2694 00C0 rjmp .L427
		4547	4784 2696 E22F mov r30,r18
		4548	4785 2698 FF27 clr r31
		4549	4786 269a EE0F add r30,r30
		4550	4787 269c FF1F adc r31,r31
		4551	4788 269e E050 subi r30,lo8(-(PPM_in))
		4552	4789 26a0 F040 sbci r31,hi8(-(PPM_in))
		4553	4790 26a2 8081 ld r24,Z
		4554	4791 26a4 9181 ldd r25,Z+1
		4555	4792 26a6 855B subi r24,lo8(-75)
		4556	4793 26a8 9F4F sbci r25,hi8(-75)
		4557	4794 26aa 04F0 brlt .L425
		4558	4795 .L427:
		4559	4796 26ac 8091 0000 lds r24,EE_Parameter+100
		4560	4797 26b0 8823 tst r24
		4561	4798 26b2 01F0 breq .L425
		4562	4799 .L426:
		4563	4800 26b4 8091 0000 lds r24,EE_Parameter+111
		4564	4801 26b8 83FF sbrs r24,3
		4565	4802 26ba 00C0 rjmp .L424
		4566	4803 26bc 8091 0000 lds r24,EE_Parameter+100
		4567	4804 26c0 E82F mov r30,r24
		4568	4805 26c2 FF27 clr r31
		4569	4806 26c4 EE0F add r30,r30
		4570	4807 26c6 FF1F adc r31,r31
		4571	4808 26c8 E050 subi r30,lo8(-(PPM_in))
		4572	4809 26ca F040 sbci r31,hi8(-(PPM_in))
		4573	4810 26cc 8081 ld r24,Z
		4574	4811 26ce 9181 ldd r25,Z+1
		4575	4812 26d0 8E5C subi r24,lo8(-50)
		4576	4813 26d2 9F4F sbci r25,hi8(-50)
		4577	4814 26d4 04F4 brge .L424
		4578	4815 26d6 8091 0000 lds r24,move_safety_switch.9
		4579	4816 26da 8C39 cpi r24,lo8(-100)
		4580	4817 26dc 01F4 brne .L424
		4581	4818 .L425:
		4582	4819 26de 8091 0000 lds r24,delay_ausschalten.8
		4583	4820 26e2 8F5F subi r24,lo8(-(1))
		4584	4821 26e4 8093 0000 sts delay_ausschalten.8,r24
		4585	4822 26e8 8B3F cpi r24,lo8(-5)
		4586	4823 26ea 00F0 brlo .L423
		4587	4824 26ec 1092 0000 sts MotorenEin,__zero_reg__
		4588	4825 26f0 1092 0000 sts delay_ausschalten.8,__zero_reg__
		4589	4826 26f4 1092 0000 sts (modell_fliegt)+1,__zero_reg__
		4590	4827 26f8 1092 0000 sts modell_fliegt,__zero_reg__
		4591	4828 26fc 86E2 ldi r24,lo8(38)
		4592	4829 .L890:
		4593	4830 26fe 8093 0000 sts SpeakHoTT,r24
		4594	4831 2702 00C0 rjmp .L423
		4595	4832 .L424:
		4596	4833 2704 1092 0000 sts delay_ausschalten.8,__zero_reg__
		4597	4834 .L423:
		4598	4835 2708 8091 0000 lds r24,GasIsZeroCnt
		4599	4836 270c 9091 0000 lds r25,(GasIsZeroCnt)+1
		4600	4837 2710 13E0 ldi r17,hi8(1000)
		4601	4838 2712 883E cpi r24,lo8(1000)
		4602	4839 2714 9107 cpc r25,r17
		4603	4840 2716 00F4 brsh .L381
		4604	4841 2718 0196 adiw r24,1
		4605	4842 271a 9093 0000 sts (GasIsZeroCnt)+1,r25
		4606	4843 271e 8093 0000 sts GasIsZeroCnt,r24
		4607	4844 2722 00C0 rjmp .L381
		4608	4845 .L408:
		4609	4846 2724 1092 0000 sts move_safety_switch.9,__zero_reg__
		4610	4847 2728 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__
		4611	4848 272c 1092 0000 sts GasIsZeroCnt,__zero_reg__
		4612	4849 2730 00C0 rjmp .L381
		4613	4850 .L382:
		4614	4851 2732 2E5E subi r18,lo8(750)
		4615	4852 2734 3240 sbci r19,hi8(750)
		4616	4853 2736 00F0 brlo .L381
		4617	4854 2738 8091 0000 lds r24,GPSInfo+4
		4618	4855 273c 9091 0000 lds r25,(GPSInfo+4)+1
		4619	4856 2740 8059 subi r24,lo8(400)
		4620	4857 2742 9140 sbci r25,hi8(400)
		4621	4858 2744 00F4 brsh .L381
		4622	4859 2746 8091 0000 lds r24,HoehenWert
		4623	4860 274a 9091 0000 lds r25,(HoehenWert)+1
		4624	4861 274e A091 0000 lds r26,(HoehenWert)+2
		4625	4862 2752 B091 0000 lds r27,(HoehenWert)+3
		4626	4863 2756 8C5D subi r24,lo8(1500)
		4627	4864 2758 9540 sbci r25,hi8(1500)
		4628	4865 275a A040 sbci r26,hlo8(1500)
		4629	4866 275c B040 sbci r27,hhi8(1500)
		4630	4867 275e 04F4 brge .L381
		4631	4868 2760 80E3 ldi r24,lo8(30000)
		4632	4869 2762 95E7 ldi r25,hi8(30000)
		4633	4870 2764 9093 0000 sts (GasIsZeroCnt)+1,r25
		4634	4871 2768 8093 0000 sts GasIsZeroCnt,r24
		4635	4872 276c 8091 0000 lds r24,modell_fliegt
		4636	4873 2770 9091 0000 lds r25,(modell_fliegt)+1
		4637	4874 2774 8A5E subi r24,lo8(1002)
		4638	4875 2776 9340 sbci r25,hi8(1002)
		4639	4876 2778 00F0 brlo .L381
		4640	4877 277a 89EE ldi r24,lo8(1001)
		4641	4878 277c 93E0 ldi r25,hi8(1001)
		4642	4879 277e 9093 0000 sts (modell_fliegt)+1,r25
		4643	4880 2782 8093 0000 sts modell_fliegt,r24
		4644	4881 .L381:
		4645	4882 2786 8091 0000 lds r24,NewPpmData
		4646	4883 278a 8150 subi r24,lo8(-(-1))
		4647	4884 278c 8093 0000 sts NewPpmData,r24
		4648	4885 2790 8091 0000 lds r24,NewPpmData
		4649	4886 2794 8F3F cpi r24,lo8(-1)
		4650	4887 2796 01F0 breq .L437
		4651	4888 2798 8091 0000 lds r24,FC_StatusFlags
		4652	4889 279c 84FF sbrs r24,4
		4653	4890 279e 00C0 rjmp .L436
		4654	4891 .L437:
		4655	4892 27a0 0E94 0000 call ParameterZuordnung
		4656	4893 27a4 B090 0000 lds r11,EE_Parameter+23
		4657	4894 27a8 8091 0000 lds r24,stick_nick.12
		4658	4895 27ac 9091 0000 lds r25,(stick_nick.12)+1
		4659	4896 27b0 9C01 movw r18,r24
		4660	4897 27b2 220F lsl r18
		4661	4898 27b4 331F rol r19
		4662	4899 27b6 280F add r18,r24
		4663	4900 27b8 391F adc r19,r25
		4664	4901 27ba C090 0000 lds r12,EE_Parameter+1
		4665	4902 27be AC2D mov r26,r12
		4666	4903 27c0 BB27 clr r27
		4667	4904 27c2 AA0F add r26,r26
		4668	4905 27c4 BB1F adc r27,r27
		4669	4906 27c6 FD01 movw r30,r26
		4670	4907 27c8 E050 subi r30,lo8(-(PPM_in))
		4671	4908 27ca F040 sbci r31,hi8(-(PPM_in))
		4672	4909 27cc 4B2D mov r20,r11
		4673	4910 27ce 5527 clr r21
		4674	4911 27d0 8081 ld r24,Z
		4675	4912 27d2 9181 ldd r25,Z+1
		4676	4913 27d4 849F mul r24,r20
		4677	4914 27d6 F001 movw r30,r0
		4678	4915 27d8 859F mul r24,r21
		4679	4916 27da F00D add r31,r0
		4680	4917 27dc 949F mul r25,r20
		4681	4918 27de F00D add r31,r0
		4682	4919 27e0 1124 clr r1
		4683	4920 27e2 2E0F add r18,r30
		4684	4921 27e4 3F1F adc r19,r31
		4685	4922 27e6 37FF sbrs r19,7
		4686	4923 27e8 00C0 rjmp .L438
		4687	4924 27ea 2D5F subi r18,lo8(-(3))
		4688	4925 27ec 3F4F sbci r19,hi8(-(3))
		4689	4926 .L438:
		4690	4927 27ee B901 movw r22,r18
		4691	4928 27f0 7595 asr r23
		4692	4929 27f2 6795 ror r22
		4693	4930 27f4 7595 asr r23
		4694	4931 27f6 6795 ror r22
		4695	4932 27f8 A050 subi r26,lo8(-(PPM_diff))
		4696	4933 27fa B040 sbci r27,hi8(-(PPM_diff))
		4697	4934 27fc 8091 0000 lds r24,EE_Parameter+24
		4698	4935 2800 082F mov r16,r24
		4699	4936 2802 1127 clr r17
		4700	4937 2804 8D91 ld r24,X+
		4701	4938 2806 9C91 ld r25,X
		4702	4939 2808 809F mul r24,r16
		4703	4940 280a 7001 movw r14,r0
		4704	4941 280c 819F mul r24,r17
		4705	4942 280e F00C add r15,r0
		4706	4943 2810 909F mul r25,r16
		4707	4944 2812 F00C add r15,r0
		4708	4945 2814 1124 clr r1
		4709	4946 2816 6E0D add r22,r14
		4710	4947 2818 7F1D adc r23,r15
		4711	4948 281a 7093 0000 sts (stick_nick.12)+1,r23
		4712	4949 281e 6093 0000 sts stick_nick.12,r22
		4713	4950 2822 8091 0000 lds r24,stick_roll.13
		4714	4951 2826 9091 0000 lds r25,(stick_roll.13)+1
		4715	4952 282a 9C01 movw r18,r24
		4716	4953 282c 220F lsl r18
		4717	4954 282e 331F rol r19
		4718	4955 2830 280F add r18,r24
		4719	4956 2832 391F adc r19,r25
		4720	4957 2834 D090 0000 lds r13,EE_Parameter+2
		4721	4958 2838 AD2D mov r26,r13
		4722	4959 283a BB27 clr r27
		4723	4960 283c AA0F add r26,r26
		4724	4961 283e BB1F adc r27,r27
		4725	4962 2840 FD01 movw r30,r26
		4726	4963 2842 E050 subi r30,lo8(-(PPM_in))
		4727	4964 2844 F040 sbci r31,hi8(-(PPM_in))
		4728	4965 2846 8081 ld r24,Z
		4729	4966 2848 9181 ldd r25,Z+1
		4730	4967 284a 849F mul r24,r20
		4731	4968 284c F001 movw r30,r0
		4732	4969 284e 859F mul r24,r21
		4733	4970 2850 F00D add r31,r0
		4734	4971 2852 949F mul r25,r20
		4735	4972 2854 F00D add r31,r0
		4736	4973 2856 1124 clr r1
		4737	4974 2858 2E0F add r18,r30
		4738	4975 285a 3F1F adc r19,r31
		4739	4976 285c 37FF sbrs r19,7
		4740	4977 285e 00C0 rjmp .L439
		4741	4978 2860 2D5F subi r18,lo8(-(3))
		4742	4979 2862 3F4F sbci r19,hi8(-(3))
		4743	4980 .L439:
		4744	4981 2864 A901 movw r20,r18
		4745	4982 2866 5595 asr r21
		4746	4983 2868 4795 ror r20
		4747	4984 286a 5595 asr r21
		4748	4985 286c 4795 ror r20
		4749	4986 286e A050 subi r26,lo8(-(PPM_diff))
		4750	4987 2870 B040 sbci r27,hi8(-(PPM_diff))
		4751	4988 2872 8D91 ld r24,X+
		4752	4989 2874 9C91 ld r25,X
		4753	4990 2876 809F mul r24,r16
		4754	4991 2878 7001 movw r14,r0
		4755	4992 287a 819F mul r24,r17
		4756	4993 287c F00C add r15,r0
		4757	4994 287e 909F mul r25,r16
		4758	4995 2880 F00C add r15,r0
		4759	4996 2882 1124 clr r1
		4760	4997 2884 4E0D add r20,r14
		4761	4998 2886 5F1D adc r21,r15
		4762	4999 2888 5093 0000 sts (stick_roll.13)+1,r21
		4763	5000 288c 4093 0000 sts stick_roll.13,r20
		4764	5001 2890 8091 0000 lds r24,CareFree
		4765	5002 2894 8823 tst r24
		4766	5003 2896 01F4 brne .+2
		4767	5004 2898 00C0 rjmp .L440
		4768	5005 289a CB01 movw r24,r22
		4769	5006 289c 77FD sbrc r23,7
		4770	5007 289e 0396 adiw r24,3
		4771	5008 .L441:
		4772	5009 28a0 DC01 movw r26,r24
		4773	5010 28a2 B595 asr r27
		4774	5011 28a4 A795 ror r26
		4775	5012 28a6 B595 asr r27
		4776	5013 28a8 A795 ror r26
		4777	5014 28aa CA01 movw r24,r20
		4778	5015 28ac 57FD sbrc r21,7
		4779	5016 28ae 0396 adiw r24,3
		4780	5017 .L442:
		4781	5018 28b0 FC01 movw r30,r24
		4782	5019 28b2 F595 asr r31
		4783	5020 28b4 E795 ror r30
		4784	5021 28b6 F595 asr r31
		4785	5022 28b8 E795 ror r30
		4786	5023 28ba 8091 0000 lds r24,FromNC_Rotate_C
		4787	5024 28be 682F mov r22,r24
		4788	5025 28c0 7727 clr r23
		4789	5026 28c2 67FD sbrc r22,7
		4790	5027 28c4 7095 com r23
		4791	5028 28c6 6A9F mul r22,r26
		4792	5029 28c8 9001 movw r18,r0
		4793	5030 28ca 6B9F mul r22,r27
		4794	5031 28cc 300D add r19,r0
		4795	5032 28ce 7A9F mul r23,r26
		4796	5033 28d0 300D add r19,r0
		4797	5034 28d2 1124 clr r1
		4798	5035 28d4 8091 0000 lds r24,FromNC_Rotate_S
		4799	5036 28d8 482F mov r20,r24
		4800	5037 28da 5527 clr r21
		4801	5038 28dc 47FD sbrc r20,7
		4802	5039 28de 5095 com r21
		4803	5040 28e0 4E9F mul r20,r30
		4804	5041 28e2 C001 movw r24,r0
		4805	5042 28e4 4F9F mul r20,r31
		4806	5043 28e6 900D add r25,r0
		4807	5044 28e8 5E9F mul r21,r30
		4808	5045 28ea 900D add r25,r0
		4809	5046 28ec 1124 clr r1
		4810	5047 28ee 280F add r18,r24
		4811	5048 28f0 391F adc r19,r25
		4812	5049 28f2 37FF sbrs r19,7
		4813	5050 28f4 00C0 rjmp .L443
		4814	5051 28f6 295F subi r18,lo8(-(7))
		4815	5052 28f8 3F4F sbci r19,hi8(-(7))
		4816	5053 .L443:
		4817	5054 28fa 93E0 ldi r25,3
		4818	5055 28fc 3595 1: asr r19
		4819	5056 28fe 2795 ror r18
		4820	5057 2900 9A95 dec r25
		4821	5058 2902 01F4 brne 1b
		4822	5059 2904 3093 0000 sts (StickNick)+1,r19
		4823	5060 2908 2093 0000 sts StickNick,r18
		4824	5061 290c 6E9F mul r22,r30
		4825	5062 290e 9001 movw r18,r0
		4826	5063 2910 6F9F mul r22,r31
		4827	5064 2912 300D add r19,r0
		4828	5065 2914 7E9F mul r23,r30
		4829	5066 2916 300D add r19,r0
		4830	5067 2918 1124 clr r1
		4831	5068 291a 4A9F mul r20,r26
		4832	5069 291c C001 movw r24,r0
		4833	5070 291e 4B9F mul r20,r27
		4834	5071 2920 900D add r25,r0
		4835	5072 2922 5A9F mul r21,r26
		4836	5073 2924 900D add r25,r0
		4837	5074 2926 1124 clr r1
		4838	5075 2928 00C0 rjmp .L919
		4839	5076 .L440:
		4840	5077 292a 8091 0000 lds r24,EE_Parameter+98
		4841	5078 292e E82F mov r30,r24
		4842	5079 2930 FF27 clr r31
		4843	5080 2932 E050 subi r30,lo8(-(sintab))
		4844	5081 2934 F040 sbci r31,hi8(-(sintab))
		4845	5082 2936 8681 ldd r24,Z+6
		4846	5083 2938 8093 0000 sts FromNC_Rotate_C,r24
		4847	5084 293c 9081 ld r25,Z
		4848	5085 293e 9093 0000 sts FromNC_Rotate_S,r25
		4849	5086 2942 A82F mov r26,r24
		4850	5087 2944 BB27 clr r27
		4851	5088 2946 A7FD sbrc r26,7
		4852	5089 2948 B095 com r27
		4853	5090 294a A69F mul r26,r22
		4854	5091 294c 9001 movw r18,r0
		4855	5092 294e A79F mul r26,r23
		4856	5093 2950 300D add r19,r0
		4857	5094 2952 B69F mul r27,r22
		4858	5095 2954 300D add r19,r0
		4859	5096 2956 1124 clr r1
		4860	5097 2958 E92F mov r30,r25
		4861	5098 295a FF27 clr r31
		4862	5099 295c E7FD sbrc r30,7
		4863	5100 295e F095 com r31
		4864	5101 2960 E49F mul r30,r20
		4865	5102 2962 C001 movw r24,r0
		4866	5103 2964 E59F mul r30,r21
		4867	5104 2966 900D add r25,r0
		4868	5105 2968 F49F mul r31,r20
		4869	5106 296a 900D add r25,r0
		4870	5107 296c 1124 clr r1
		4871	5108 296e 280F add r18,r24
		4872	5109 2970 391F adc r19,r25
		4873	5110 2972 37FF sbrs r19,7
		4874	5111 2974 00C0 rjmp .L446
		4875	5112 2976 295F subi r18,lo8(-(7))
		4876	5113 2978 3F4F sbci r19,hi8(-(7))
		4877	5114 .L446:
		4878	5115 297a 83E0 ldi r24,3
		4879	5116 297c 3595 1: asr r19
		4880	5117 297e 2795 ror r18
		4881	5118 2980 8A95 dec r24
		4882	5119 2982 01F4 brne 1b
		4883	5120 2984 3093 0000 sts (StickNick)+1,r19
		4884	5121 2988 2093 0000 sts StickNick,r18
		4885	5122 298c A49F mul r26,r20
		4886	5123 298e 9001 movw r18,r0
		4887	5124 2990 A59F mul r26,r21
		4888	5125 2992 300D add r19,r0
		4889	5126 2994 B49F mul r27,r20
		4890	5127 2996 300D add r19,r0
		4891	5128 2998 1124 clr r1
		4892	5129 299a E69F mul r30,r22
		4893	5130 299c C001 movw r24,r0
		4894	5131 299e E79F mul r30,r23
		4895	5132 29a0 900D add r25,r0
		4896	5133 29a2 F69F mul r31,r22
		4897	5134 29a4 900D add r25,r0
		4898	5135 29a6 1124 clr r1
		4899	5136 .L919:
		4900	5137 29a8 281B sub r18,r24
		4901	5138 29aa 390B sbc r19,r25
		4902	5139 29ac 37FF sbrs r19,7
		4903	5140 29ae 00C0 rjmp .L447
		4904	5141 29b0 295F subi r18,lo8(-(7))
		4905	5142 29b2 3F4F sbci r19,hi8(-(7))
		4906	5143 .L447:
		4907	5144 29b4 03E0 ldi r16,3
		4908	5145 29b6 3595 1: asr r19
		4909	5146 29b8 2795 ror r18
		4910	5147 29ba 0A95 dec r16
		4911	5148 29bc 01F4 brne 1b
		4912	5149 29be 3093 0000 sts (StickRoll)+1,r19
		4913	5150 29c2 2093 0000 sts StickRoll,r18
		4914	5151 29c6 8091 0000 lds r24,EE_Parameter+4
		4915	5152 29ca E82F mov r30,r24
		4916	5153 29cc FF27 clr r31
		4917	5154 29ce EE0F add r30,r30
		4918	5155 29d0 FF1F adc r31,r31
		4919	5156 29d2 E050 subi r30,lo8(-(PPM_in))
		4920	5157 29d4 F040 sbci r31,hi8(-(PPM_in))
		4921	5158 29d6 8081 ld r24,Z
		4922	5159 29d8 9181 ldd r25,Z+1
		4923	5160 29da 9095 com r25
		4924	5161 29dc 8195 neg r24
		4925	5162 29de 9F4F sbci r25,lo8(-1)
		4926	5163 29e0 9093 0000 sts (StickGier)+1,r25
		4927	5164 29e4 8093 0000 sts StickGier,r24
		4928	5165 29e8 8530 cpi r24,5
		4929	5166 29ea 9105 cpc r25,__zero_reg__
		4930	5167 29ec 04F0 brlt .L448
		4931	5168 29ee 0497 sbiw r24,4
		4932	5169 29f0 00C0 rjmp .L891
		4933	5170 .L448:
		4934	5171 29f2 0FEF ldi r16,hi8(-4)
		4935	5172 29f4 8C3F cpi r24,lo8(-4)
		4936	5173 29f6 9007 cpc r25,r16
		4937	5174 29f8 04F4 brge .L450
		4938	5175 29fa 0496 adiw r24,4
		4939	5176 .L891:
		4940	5177 29fc 9093 0000 sts (StickGier)+1,r25
		4941	5178 2a00 8093 0000 sts StickGier,r24
		4942	5179 2a04 00C0 rjmp .L449
		4943	5180 .L450:
		4944	5181 2a06 1092 0000 sts (StickGier)+1,__zero_reg__
		4945	5182 2a0a 1092 0000 sts StickGier,__zero_reg__
		4946	5183 .L449:
		4947	5184 2a0e 8091 0000 lds r24,GPS_Aid_StickMultiplikator
		4948	5185 2a12 8823 tst r24
		4949	5186 2a14 01F4 brne .+2
		4950	5187 2a16 00C0 rjmp .L452
		4951	5188 2a18 282F mov r18,r24
		4952	5189 2a1a 3327 clr r19
		4953	5190 2a1c 8091 0000 lds r24,StickNick
		4954	5191 2a20 9091 0000 lds r25,(StickNick)+1
		4955	5192 2a24 97FD sbrc r25,7
		4956	5193 2a26 0796 adiw r24,7
		4957	5194 .L453:
		4958	5195 2a28 13E0 ldi r17,3
		4959	5196 2a2a 9595 1: asr r25
		4960	5197 2a2c 8795 ror r24
		4961	5198 2a2e 1A95 dec r17
		4962	5199 2a30 01F4 brne 1b
		4963	5200 2a32 289F mul r18,r24
		4964	5201 2a34 A001 movw r20,r0
		4965	5202 2a36 299F mul r18,r25
		4966	5203 2a38 500D add r21,r0
		4967	5204 2a3a 389F mul r19,r24
		4968	5205 2a3c 500D add r21,r0
		4969	5206 2a3e 1124 clr r1
		4970	5207 2a40 CA01 movw r24,r20
		4971	5208 2a42 57FD sbrc r21,7
		4972	5209 2a44 0F96 adiw r24,15
		4973	5210 .L454:
		4974	5211 2a46 B4E0 ldi r27,4
		4975	5212 2a48 9595 1: asr r25
		4976	5213 2a4a 8795 ror r24
		4977	5214 2a4c BA95 dec r27
		4978	5215 2a4e 01F4 brne 1b
		4979	5216 2a50 9093 0000 sts (StickNick)+1,r25
		4980	5217 2a54 8093 0000 sts StickNick,r24
		4981	5218 2a58 8091 0000 lds r24,StickRoll
		4982	5219 2a5c 9091 0000 lds r25,(StickRoll)+1
		4983	5220 2a60 97FD sbrc r25,7
		4984	5221 2a62 0796 adiw r24,7
		4985	5222 .L455:
		4986	5223 2a64 A3E0 ldi r26,3
		4987	5224 2a66 9595 1: asr r25
		4988	5225 2a68 8795 ror r24
		4989	5226 2a6a AA95 dec r26
		4990	5227 2a6c 01F4 brne 1b
		4991	5228 2a6e 289F mul r18,r24
		4992	5229 2a70 B001 movw r22,r0
		4993	5230 2a72 299F mul r18,r25
		4994	5231 2a74 700D add r23,r0
		4995	5232 2a76 389F mul r19,r24
		4996	5233 2a78 700D add r23,r0
		4997	5234 2a7a 1124 clr r1
		4998	5235 2a7c CB01 movw r24,r22
		4999	5236 2a7e 77FD sbrc r23,7
		5000	5237 2a80 0F96 adiw r24,15
		5001	5238 .L456:
		5002	5239 2a82 F4E0 ldi r31,4
		5003	5240 2a84 9595 1: asr r25
		5004	5241 2a86 8795 ror r24
		5005	5242 2a88 FA95 dec r31
		5006	5243 2a8a 01F4 brne 1b
		5007	5244 2a8c 9093 0000 sts (StickRoll)+1,r25
		5008	5245 2a90 8093 0000 sts StickRoll,r24
		5009	5246 .L452:
		5010	5247 2a94 8090 0000 lds r8,StickNick
		5011	5248 2a98 9090 0000 lds r9,(StickNick)+1
		5012	5249 2a9c 8091 0000 lds r24,GPS_Nick
		5013	5250 2aa0 9091 0000 lds r25,(GPS_Nick)+1
		5014	5251 2aa4 881A sub r8,r24
		5015	5252 2aa6 990A sbc r9,r25
		5016	5253 2aa8 9092 0000 sts (StickNick)+1,r9
		5017	5254 2aac 8092 0000 sts StickNick,r8
		5018	5255 2ab0 0091 0000 lds r16,StickRoll
		5019	5256 2ab4 1091 0000 lds r17,(StickRoll)+1
		5020	5257 2ab8 8091 0000 lds r24,GPS_Roll
		5021	5258 2abc 9091 0000 lds r25,(GPS_Roll)+1
		5022	5259 2ac0 081B sub r16,r24
		5023	5260 2ac2 190B sbc r17,r25
		5024	5261 2ac4 1093 0000 sts (StickRoll)+1,r17
		5025	5262 2ac8 0093 0000 sts StickRoll,r16
		5026	5263 2acc 8091 0000 lds r24,EE_Parameter+3
		5027	5264 2ad0 E82F mov r30,r24
		5028	5265 2ad2 FF27 clr r31
		5029	5266 2ad4 EE0F add r30,r30
		5030	5267 2ad6 FF1F adc r31,r31
		5031	5268 2ad8 E050 subi r30,lo8(-(PPM_in))
		5032	5269 2ada F040 sbci r31,hi8(-(PPM_in))
		5033	5270 2adc E080 ld r14,Z
		5034	5271 2ade F180 ldd r15,Z+1
		5035	5272 2ae0 8FE7 ldi r24,lo8(127)
		5036	5273 2ae2 90E0 ldi r25,hi8(127)
		5037	5274 2ae4 E80E add r14,r24
		5038	5275 2ae6 F91E adc r15,r25
		5039	5276 2ae8 F092 0000 sts (StickGas)+1,r15
		5040	5277 2aec E092 0000 sts StickGas,r14
		5041	5278 2af0 8091 0000 lds r24,Parameter_Gyro_P
		5042	5279 2af4 9927 clr r25
		5043	5280 2af6 AA27 clr r26
		5044	5281 2af8 97FD sbrc r25,7
		5045	5282 2afa A095 com r26
		5046	5283 2afc BA2F mov r27,r26
		5047	5284 2afe BC01 movw r22,r24
		5048	5285 2b00 CD01 movw r24,r26
		5049	5286 2b02 0E94 0000 call __floatsisf
		5050	5287 2b06 DC01 movw r26,r24
		5051	5288 2b08 CB01 movw r24,r22
		5052	5289 2b0a 20E0 ldi r18,lo8(0x41200000)
		5053	5290 2b0c 30E0 ldi r19,hi8(0x41200000)
		5054	5291 2b0e 40E2 ldi r20,hlo8(0x41200000)
		5055	5292 2b10 51E4 ldi r21,hhi8(0x41200000)
		5056	5293 2b12 BC01 movw r22,r24
		5057	5294 2b14 CD01 movw r24,r26
		5058	5295 2b16 0E94 0000 call __addsf3
		5059	5296 2b1a DC01 movw r26,r24
		5060	5297 2b1c CB01 movw r24,r22
		5061	5298 2b1e BC01 movw r22,r24
		5062	5299 2b20 CD01 movw r24,r26
		5063	5300 2b22 0E94 0000 call __fixunssfsi
		5064	5301 2b26 DC01 movw r26,r24
		5065	5302 2b28 CB01 movw r24,r22
		5066	5303 2b2a 8093 0000 sts GyroFaktor,r24
		5067	5304 2b2e 8091 0000 lds r24,Parameter_Gyro_I
		5068	5305 2b32 8093 0000 sts IntegralFaktor,r24
		5069	5306 2b36 8091 0000 lds r24,Parameter_Gyro_Gier_P
		5070	5307 2b3a 9927 clr r25
		5071	5308 2b3c AA27 clr r26
		5072	5309 2b3e 97FD sbrc r25,7
		5073	5310 2b40 A095 com r26
		5074	5311 2b42 BA2F mov r27,r26
		5075	5312 2b44 BC01 movw r22,r24
		5076	5313 2b46 CD01 movw r24,r26
		5077	5314 2b48 0E94 0000 call __floatsisf
		5078	5315 2b4c DC01 movw r26,r24
		5079	5316 2b4e CB01 movw r24,r22
		5080	5317 2b50 20E0 ldi r18,lo8(0x41200000)
		5081	5318 2b52 30E0 ldi r19,hi8(0x41200000)
		5082	5319 2b54 40E2 ldi r20,hlo8(0x41200000)
		5083	5320 2b56 51E4 ldi r21,hhi8(0x41200000)
		5084	5321 2b58 BC01 movw r22,r24
		5085	5322 2b5a CD01 movw r24,r26
		5086	5323 2b5c 0E94 0000 call __addsf3
		5087	5324 2b60 DC01 movw r26,r24
		5088	5325 2b62 CB01 movw r24,r22
		5089	5326 2b64 BC01 movw r22,r24
		5090	5327 2b66 CD01 movw r24,r26
		5091	5328 2b68 0E94 0000 call __fixunssfsi
		5092	5329 2b6c DC01 movw r26,r24
		5093	5330 2b6e CB01 movw r24,r22
		5094	5331 2b70 8093 0000 sts GyroFaktorGier,r24
		5095	5332 2b74 8091 0000 lds r24,Parameter_Gyro_Gier_I
		5096	5333 2b78 8093 0000 sts IntegralFaktorGier,r24
		5097	5334 2b7c 8091 0000 lds r24,ExternControl+10
		5098	5335 2b80 80FF sbrs r24,0
		5099	5336 2b82 00C0 rjmp .L457
		5100	5337 2b84 8091 0000 lds r24,Parameter_ExternalControl
		5101	5338 2b88 8138 cpi r24,lo8(-127)
		5102	5339 2b8a 00F4 brsh .+2
		5103	5340 2b8c 00C0 rjmp .L457
		5104	5341 2b8e 8091 0000 lds r24,ExternControl+3
		5105	5342 2b92 9927 clr r25
		5106	5343 2b94 87FD sbrc r24,7
		5107	5344 2b96 9095 com r25
		5108	5345 2b98 2B2D mov r18,r11
		5109	5346 2b9a 3327 clr r19
		5110	5347 2b9c 829F mul r24,r18
		5111	5348 2b9e D001 movw r26,r0
		5112	5349 2ba0 839F mul r24,r19
		5113	5350 2ba2 B00D add r27,r0
		5114	5351 2ba4 929F mul r25,r18
		5115	5352 2ba6 B00D add r27,r0
		5116	5353 2ba8 1124 clr r1
		5117	5354 2baa 8A0E add r8,r26
		5118	5355 2bac 9B1E adc r9,r27
		5119	5356 2bae 9092 0000 sts (StickNick)+1,r9
		5120	5357 2bb2 8092 0000 sts StickNick,r8
		5121	5358 2bb6 8091 0000 lds r24,ExternControl+4
		5122	5359 2bba 9927 clr r25
		5123	5360 2bbc 87FD sbrc r24,7
		5124	5361 2bbe 9095 com r25
		5125	5362 2bc0 829F mul r24,r18
		5126	5363 2bc2 F001 movw r30,r0
		5127	5364 2bc4 839F mul r24,r19
		5128	5365 2bc6 F00D add r31,r0
		5129	5366 2bc8 929F mul r25,r18
		5130	5367 2bca F00D add r31,r0
		5131	5368 2bcc 1124 clr r1
		5132	5369 2bce 0E0F add r16,r30
		5133	5370 2bd0 1F1F adc r17,r31
		5134	5371 2bd2 1093 0000 sts (StickRoll)+1,r17
		5135	5372 2bd6 0093 0000 sts StickRoll,r16
		5136	5373 2bda 8091 0000 lds r24,ExternControl+5
		5137	5374 2bde 282F mov r18,r24
		5138	5375 2be0 3327 clr r19
		5139	5376 2be2 27FD sbrc r18,7
		5140	5377 2be4 3095 com r19
		5141	5378 2be6 8091 0000 lds r24,StickGier
		5142	5379 2bea 9091 0000 lds r25,(StickGier)+1
		5143	5380 2bee 820F add r24,r18
		5144	5381 2bf0 931F adc r25,r19
		5145	5382 2bf2 9093 0000 sts (StickGier)+1,r25
		5146	5383 2bf6 8093 0000 sts StickGier,r24
		5147	5384 2bfa 8091 0000 lds r24,ExternControl+7
		5148	5385 2bfe 282F mov r18,r24
		5149	5386 2c00 3327 clr r19
		5150	5387 2c02 27FD sbrc r18,7
		5151	5388 2c04 3095 com r19
		5152	5389 2c06 8091 0000 lds r24,EE_Parameter+18
		5153	5390 2c0a 9927 clr r25
		5154	5391 2c0c 289F mul r18,r24
		5155	5392 2c0e 8001 movw r16,r0
		5156	5393 2c10 299F mul r18,r25
		5157	5394 2c12 100D add r17,r0
		5158	5395 2c14 389F mul r19,r24
		5159	5396 2c16 100D add r17,r0
		5160	5397 2c18 1124 clr r1
		5161	5398 2c1a 1093 0000 sts (ExternHoehenValue)+1,r17
		5162	5399 2c1e 0093 0000 sts ExternHoehenValue,r16
		5163	5400 2c22 8091 0000 lds r24,ExternControl+6
		5164	5401 2c26 9927 clr r25
		5165	5402 2c28 8E15 cp r24,r14
		5166	5403 2c2a 9F05 cpc r25,r15
		5167	5404 2c2c 04F4 brge .L457
		5168	5405 2c2e 9093 0000 sts (StickGas)+1,r25
		5169	5406 2c32 8093 0000 sts StickGas,r24
		5170	5407 .L457:
		5171	5408 2c36 8091 0000 lds r24,StickGas
		5172	5409 2c3a 9091 0000 lds r25,(StickGas)+1
		5173	5410 2c3e 97FF sbrs r25,7
		5174	5411 2c40 00C0 rjmp .L459
		5175	5412 2c42 1092 0000 sts (StickGas)+1,__zero_reg__
		5176	5413 2c46 1092 0000 sts StickGas,__zero_reg__
		5177	5414 .L459:
		5178	5415 2c4a 8091 0000 lds r24,Parameter_GlobalConfig
		5179	5416 2c4e 82FF sbrs r24,2
		5180	5417 2c50 00C0 rjmp .L460
		5181	5418 2c52 1092 0000 sts IntegralFaktor,__zero_reg__
		5182	5419 .L460:
		5183	5420 2c56 4091 0000 lds r20,StickNick
		5184	5421 2c5a 5091 0000 lds r21,(StickNick)+1
		5185	5422 2c5e CA01 movw r24,r20
		5186	5423 2c60 57FD sbrc r21,7
		5187	5424 2c62 0396 adiw r24,3
		5188	5425 .L462:
		5189	5426 2c64 9C01 movw r18,r24
		5190	5427 2c66 3595 asr r19
		5191	5428 2c68 2795 ror r18
		5192	5429 2c6a 3595 asr r19
		5193	5430 2c6c 2795 ror r18
		5194	5431 2c6e 37FF sbrs r19,7
		5195	5432 2c70 00C0 rjmp .L463
		5196	5433 2c72 3095 com r19
		5197	5434 2c74 2195 neg r18
		5198	5435 2c76 3F4F sbci r19,lo8(-1)
		5199	5436 .L463:
		5200	5437 2c78 8091 0000 lds r24,MaxStickNick
		5201	5438 2c7c 9091 0000 lds r25,(MaxStickNick)+1
		5202	5439 2c80 8217 cp r24,r18
		5203	5440 2c82 9307 cpc r25,r19
		5204	5441 2c84 04F4 brge .L461
		5205	5442 2c86 CA01 movw r24,r20
		5206	5443 2c88 57FF sbrs r21,7
		5207	5444 2c8a 00C0 rjmp .L464
		5208	5445 2c8c 9095 com r25
		5209	5446 2c8e 8195 neg r24
		5210	5447 2c90 9F4F sbci r25,lo8(-1)
		5211	5448 .L464:
		5212	5449 2c92 97FD sbrc r25,7
		5213	5450 2c94 0396 adiw r24,3
		5214	5451 .L465:
		5215	5452 2c96 9595 asr r25
		5216	5453 2c98 8795 ror r24
		5217	5454 2c9a 9595 asr r25
		5218	5455 2c9c 8795 ror r24
		5219	5456 2c9e 9093 0000 sts (MaxStickNick)+1,r25
		5220	5457 2ca2 8093 0000 sts MaxStickNick,r24
		5221	5458 2ca6 8536 cpi r24,101
		5222	5459 2ca8 9105 cpc r25,__zero_reg__
		5223	5460 2caa 04F0 brlt .L467
		5224	5461 2cac 84E6 ldi r24,lo8(100)
		5225	5462 2cae 90E0 ldi r25,hi8(100)
		5226	5463 2cb0 00C0 rjmp .L892
		5227	5464 .L461:
		5228	5465 2cb2 0197 sbiw r24,1
		5229	5466 .L892:
		5230	5467 2cb4 9093 0000 sts (MaxStickNick)+1,r25
		5231	5468 2cb8 8093 0000 sts MaxStickNick,r24
		5232	5469 .L467:
		5233	5470 2cbc 4091 0000 lds r20,StickRoll
		5234	5471 2cc0 5091 0000 lds r21,(StickRoll)+1
		5235	5472 2cc4 CA01 movw r24,r20
		5236	5473 2cc6 57FD sbrc r21,7
		5237	5474 2cc8 0396 adiw r24,3
		5238	5475 .L469:
		5239	5476 2cca 9C01 movw r18,r24
		5240	5477 2ccc 3595 asr r19
		5241	5478 2cce 2795 ror r18
		5242	5479 2cd0 3595 asr r19
		5243	5480 2cd2 2795 ror r18
		5244	5481 2cd4 37FF sbrs r19,7
		5245	5482 2cd6 00C0 rjmp .L470
		5246	5483 2cd8 3095 com r19
		5247	5484 2cda 2195 neg r18
		5248	5485 2cdc 3F4F sbci r19,lo8(-1)
		5249	5486 .L470:
		5250	5487 2cde 8091 0000 lds r24,MaxStickRoll
		5251	5488 2ce2 9091 0000 lds r25,(MaxStickRoll)+1
		5252	5489 2ce6 8217 cp r24,r18
		5253	5490 2ce8 9307 cpc r25,r19
		5254	5491 2cea 04F4 brge .L468
		5255	5492 2cec CA01 movw r24,r20
		5256	5493 2cee 57FF sbrs r21,7
		5257	5494 2cf0 00C0 rjmp .L471
		5258	5495 2cf2 9095 com r25
		5259	5496 2cf4 8195 neg r24
		5260	5497 2cf6 9F4F sbci r25,lo8(-1)
		5261	5498 .L471:
		5262	5499 2cf8 97FD sbrc r25,7
		5263	5500 2cfa 0396 adiw r24,3
		5264	5501 .L472:
		5265	5502 2cfc 9595 asr r25
		5266	5503 2cfe 8795 ror r24
		5267	5504 2d00 9595 asr r25
		5268	5505 2d02 8795 ror r24
		5269	5506 2d04 9093 0000 sts (MaxStickRoll)+1,r25
		5270	5507 2d08 8093 0000 sts MaxStickRoll,r24
		5271	5508 2d0c 8536 cpi r24,101
		5272	5509 2d0e 9105 cpc r25,__zero_reg__
		5273	5510 2d10 04F0 brlt .L474
		5274	5511 2d12 84E6 ldi r24,lo8(100)
		5275	5512 2d14 90E0 ldi r25,hi8(100)
		5276	5513 2d16 00C0 rjmp .L893
		5277	5514 .L468:
		5278	5515 2d18 0197 sbiw r24,1
		5279	5516 .L893:
		5280	5517 2d1a 9093 0000 sts (MaxStickRoll)+1,r25
		5281	5518 2d1e 8093 0000 sts MaxStickRoll,r24
		5282	5519 .L474:
		5283	5520 2d22 8091 0000 lds r24,FC_StatusFlags
		5284	5521 2d26 84FF sbrs r24,4
		5285	5522 2d28 00C0 rjmp .L475
		5286	5523 2d2a 1092 0000 sts (MaxStickNick)+1,__zero_reg__
		5287	5524 2d2e 1092 0000 sts MaxStickNick,__zero_reg__
		5288	5525 2d32 1092 0000 sts (MaxStickRoll)+1,__zero_reg__
		5289	5526 2d36 1092 0000 sts MaxStickRoll,__zero_reg__
		5290	5527 .L475:
		5291	5528 2d3a ED2D mov r30,r13
		5292	5529 2d3c FF27 clr r31
		5293	5530 2d3e EE0F add r30,r30
		5294	5531 2d40 FF1F adc r31,r31
		5295	5532 2d42 E050 subi r30,lo8(-(PPM_in))
		5296	5533 2d44 F040 sbci r31,hi8(-(PPM_in))
		5297	5534 2d46 4091 0000 lds r20,EE_Parameter+60
		5298	5535 2d4a 242F mov r18,r20
		5299	5536 2d4c 3327 clr r19
		5300	5537 2d4e 8081 ld r24,Z
		5301	5538 2d50 9181 ldd r25,Z+1
		5302	5539 2d52 2817 cp r18,r24
		5303	5540 2d54 3907 cpc r19,r25
		5304	5541 2d56 04F4 brge .L476
		5305	5542 2d58 8091 0000 lds r24,EE_Parameter+108
		5306	5543 2d5c 82FF sbrs r24,2
		5307	5544 2d5e 00C0 rjmp .L476
		5308	5545 2d60 81E0 ldi r24,lo8(1)
		5309	5546 2d62 8093 0000 sts Looping_Links,r24
		5310	5547 2d66 00C0 rjmp .L477
		5311	5548 .L476:
		5312	5549 2d68 ED2D mov r30,r13
		5313	5550 2d6a FF27 clr r31
		5314	5551 2d6c EE0F add r30,r30
		5315	5552 2d6e FF1F adc r31,r31
		5316	5553 2d70 E050 subi r30,lo8(-(PPM_in))
		5317	5554 2d72 F040 sbci r31,hi8(-(PPM_in))
		5318	5555 2d74 842F mov r24,r20
		5319	5556 2d76 9927 clr r25
		5320	5557 2d78 2091 0000 lds r18,EE_Parameter+61
		5321	5558 2d7c 821B sub r24,r18
		5322	5559 2d7e 9109 sbc r25,__zero_reg__
		5323	5560 2d80 2081 ld r18,Z
		5324	5561 2d82 3181 ldd r19,Z+1
		5325	5562 2d84 2817 cp r18,r24
		5326	5563 2d86 3907 cpc r19,r25
		5327	5564 2d88 04F4 brge .L477
		5328	5565 2d8a 1092 0000 sts Looping_Links,__zero_reg__
		5329	5566 .L477:
		5330	5567 2d8e 4091 0000 lds r20,EE_Parameter+2
		5331	5568 2d92 E42F mov r30,r20
		5332	5569 2d94 FF27 clr r31
		5333	5570 2d96 EE0F add r30,r30
		5334	5571 2d98 FF1F adc r31,r31
		5335	5572 2d9a E050 subi r30,lo8(-(PPM_in))
		5336	5573 2d9c F040 sbci r31,hi8(-(PPM_in))
		5337	5574 2d9e 5091 0000 lds r21,EE_Parameter+60
		5338	5575 2da2 852F mov r24,r21
		5339	5576 2da4 9927 clr r25
		5340	5577 2da6 2227 clr r18
		5341	5578 2da8 3327 clr r19
		5342	5579 2daa 281B sub r18,r24
		5343	5580 2dac 390B sbc r19,r25
		5344	5581 2dae 8081 ld r24,Z
		5345	5582 2db0 9181 ldd r25,Z+1
		5346	5583 2db2 8217 cp r24,r18
		5347	5584 2db4 9307 cpc r25,r19
		5348	5585 2db6 04F4 brge .L479
		5349	5586 2db8 8091 0000 lds r24,EE_Parameter+108
		5350	5587 2dbc 83FF sbrs r24,3
		5351	5588 2dbe 00C0 rjmp .L479
		5352	5589 2dc0 81E0 ldi r24,lo8(1)
		5353	5590 2dc2 8093 0000 sts Looping_Rechts,r24
		5354	5591 2dc6 00C0 rjmp .L480
		5355	5592 .L479:
		5356	5593 2dc8 8091 0000 lds r24,Looping_Rechts
		5357	5594 2dcc 8823 tst r24
		5358	5595 2dce 01F0 breq .L480
		5359	5596 2dd0 E42F mov r30,r20
		5360	5597 2dd2 FF27 clr r31
		5361	5598 2dd4 EE0F add r30,r30
		5362	5599 2dd6 FF1F adc r31,r31
		5363	5600 2dd8 E050 subi r30,lo8(-(PPM_in))
		5364	5601 2dda F040 sbci r31,hi8(-(PPM_in))
		5365	5602 2ddc 8091 0000 lds r24,EE_Parameter+61
		5366	5603 2de0 9927 clr r25
		5367	5604 2de2 851B sub r24,r21
		5368	5605 2de4 9109 sbc r25,__zero_reg__
		5369	5606 2de6 2081 ld r18,Z
		5370	5607 2de8 3181 ldd r19,Z+1
		5371	5608 2dea 8217 cp r24,r18
		5372	5609 2dec 9307 cpc r25,r19
		5373	5610 2dee 04F4 brge .L480
		5374	5611 2df0 1092 0000 sts Looping_Rechts,__zero_reg__
		5375	5612 .L480:
		5376	5613 2df4 EC2D mov r30,r12
		5377	5614 2df6 FF27 clr r31
		5378	5615 2df8 EE0F add r30,r30
		5379	5616 2dfa FF1F adc r31,r31
		5380	5617 2dfc E050 subi r30,lo8(-(PPM_in))
		5381	5618 2dfe F040 sbci r31,hi8(-(PPM_in))
		5382	5619 2e00 4091 0000 lds r20,EE_Parameter+60
		5383	5620 2e04 242F mov r18,r20
		5384	5621 2e06 3327 clr r19
		5385	5622 2e08 8081 ld r24,Z
		5386	5623 2e0a 9181 ldd r25,Z+1
		5387	5624 2e0c 2817 cp r18,r24
		5388	5625 2e0e 3907 cpc r19,r25
		5389	5626 2e10 04F4 brge .L483
		5390	5627 2e12 8091 0000 lds r24,EE_Parameter+108
		5391	5628 2e16 80FF sbrs r24,0
		5392	5629 2e18 00C0 rjmp .L483
		5393	5630 2e1a 81E0 ldi r24,lo8(1)
		5394	5631 2e1c 8093 0000 sts Looping_Oben,r24
		5395	5632 2e20 00C0 rjmp .L484
		5396	5633 .L483:
		5397	5634 2e22 8091 0000 lds r24,Looping_Oben
		5398	5635 2e26 8823 tst r24
		5399	5636 2e28 01F0 breq .L484
		5400	5637 2e2a EC2D mov r30,r12
		5401	5638 2e2c FF27 clr r31
		5402	5639 2e2e EE0F add r30,r30
		5403	5640 2e30 FF1F adc r31,r31
		5404	5641 2e32 E050 subi r30,lo8(-(PPM_in))
		5405	5642 2e34 F040 sbci r31,hi8(-(PPM_in))
		5406	5643 2e36 842F mov r24,r20
		5407	5644 2e38 9927 clr r25
		5408	5645 2e3a 2091 0000 lds r18,EE_Parameter+61
		5409	5646 2e3e 821B sub r24,r18
		5410	5647 2e40 9109 sbc r25,__zero_reg__
		5411	5648 2e42 2081 ld r18,Z
		5412	5649 2e44 3181 ldd r19,Z+1
		5413	5650 2e46 2817 cp r18,r24
		5414	5651 2e48 3907 cpc r19,r25
		5415	5652 2e4a 04F4 brge .L484
		5416	5653 2e4c 1092 0000 sts Looping_Oben,__zero_reg__
		5417	5654 .L484:
		5418	5655 2e50 4091 0000 lds r20,EE_Parameter+1
		5419	5656 2e54 E42F mov r30,r20
		5420	5657 2e56 FF27 clr r31
		5421	5658 2e58 EE0F add r30,r30
		5422	5659 2e5a FF1F adc r31,r31
		5423	5660 2e5c E050 subi r30,lo8(-(PPM_in))
		5424	5661 2e5e F040 sbci r31,hi8(-(PPM_in))
		5425	5662 2e60 5091 0000 lds r21,EE_Parameter+60
		5426	5663 2e64 852F mov r24,r21
		5427	5664 2e66 9927 clr r25
		5428	5665 2e68 2227 clr r18
		5429	5666 2e6a 3327 clr r19
		5430	5667 2e6c 281B sub r18,r24
		5431	5668 2e6e 390B sbc r19,r25
		5432	5669 2e70 8081 ld r24,Z
		5433	5670 2e72 9181 ldd r25,Z+1
		5434	5671 2e74 8217 cp r24,r18
		5435	5672 2e76 9307 cpc r25,r19
		5436	5673 2e78 04F4 brge .L487
		5437	5674 2e7a 8091 0000 lds r24,EE_Parameter+108
		5438	5675 2e7e 81FF sbrs r24,1
		5439	5676 2e80 00C0 rjmp .L487
		5440	5677 2e82 81E0 ldi r24,lo8(1)
		5441	5678 2e84 8093 0000 sts Looping_Unten,r24
		5442	5679 2e88 00C0 rjmp .L488
		5443	5680 .L487:
		5444	5681 2e8a 8091 0000 lds r24,Looping_Unten
		5445	5682 2e8e 8823 tst r24
		5446	5683 2e90 01F0 breq .L488
		5447	5684 2e92 E42F mov r30,r20
		5448	5685 2e94 FF27 clr r31
		5449	5686 2e96 EE0F add r30,r30
		5450	5687 2e98 FF1F adc r31,r31
		5451	5688 2e9a E050 subi r30,lo8(-(PPM_in))
		5452	5689 2e9c F040 sbci r31,hi8(-(PPM_in))
		5453	5690 2e9e 8091 0000 lds r24,EE_Parameter+61
		5454	5691 2ea2 9927 clr r25
		5455	5692 2ea4 851B sub r24,r21
		5456	5693 2ea6 9109 sbc r25,__zero_reg__
		5457	5694 2ea8 2081 ld r18,Z
		5458	5695 2eaa 3181 ldd r19,Z+1
		5459	5696 2eac 8217 cp r24,r18
		5460	5697 2eae 9307 cpc r25,r19
		5461	5698 2eb0 04F4 brge .L488
		5462	5699 2eb2 1092 0000 sts Looping_Unten,__zero_reg__
		5463	5700 .L488:
		5464	5701 2eb6 8091 0000 lds r24,Looping_Links
		5465	5702 2eba 8823 tst r24
		5466	5703 2ebc 01F4 brne .L492
		5467	5704 2ebe 8091 0000 lds r24,Looping_Rechts
		5468	5705 2ec2 8111 cpse r24,__zero_reg__
		5469	5706 .L492:
		5470	5707 2ec4 81E0 ldi r24,lo8(1)
		5471	5708 .L491:
		5472	5709 2ec6 8093 0000 sts Looping_Roll,r24
		5473	5710 2eca 8091 0000 lds r24,Looping_Oben
		5474	5711 2ece 8823 tst r24
		5475	5712 2ed0 01F4 brne .L495
		5476	5713 2ed2 8091 0000 lds r24,Looping_Unten
		5477	5714 2ed6 8823 tst r24
		5478	5715 2ed8 01F0 breq .L494
		5479	5716 .L495:
		5480	5717 2eda 81E0 ldi r24,lo8(1)
		5481	5718 2edc 8093 0000 sts Looping_Nick,r24
		5482	5719 2ee0 1092 0000 sts Looping_Roll,__zero_reg__
		5483	5720 2ee4 1092 0000 sts Looping_Links,__zero_reg__
		5484	5721 2ee8 1092 0000 sts Looping_Rechts,__zero_reg__
		5485	5722 2eec 00C0 rjmp .L436
		5486	5723 .L494:
		5487	5724 2eee 8093 0000 sts Looping_Nick,r24
		5488	5725 .L436:
		5489	5726 2ef2 8091 0000 lds r24,Looping_Roll
		5490	5727 2ef6 8823 tst r24
		5491	5728 2ef8 01F4 brne .L498
		5492	5729 2efa 8091 0000 lds r24,Looping_Nick
		5493	5730 2efe 8823 tst r24
		5494	5731 2f00 01F0 breq .L497
		5495	5732 .L498:
		5496	5733 2f02 8091 0000 lds r24,EE_Parameter+59
		5497	5734 2f06 9927 clr r25
		5498	5735 2f08 2981 ldd r18,Y+1
		5499	5736 2f0a 3A81 ldd r19,Y+2
		5500	5737 2f0c 8217 cp r24,r18
		5501	5738 2f0e 9307 cpc r25,r19
		5502	5739 2f10 04F4 brge .L499
		5503	5740 2f12 9A83 std Y+2,r25
		5504	5741 2f14 8983 std Y+1,r24
		5505	5742 .L499:
		5506	5743 2f16 81E0 ldi r24,lo8(1)
		5507	5744 2f18 8093 0000 sts TrichterFlug,r24
		5508	5745 .L497:
		5509	5746 2f1c 8091 0000 lds r24,FC_StatusFlags2
		5510	5747 2f20 9927 clr r25
		5511	5748 2f22 9C01 movw r18,r24
		5512	5749 2f24 2470 andi r18,lo8(4)
		5513	5750 2f26 3070 andi r19,hi8(4)
		5514	5751 2f28 82FF sbrs r24,2
		5515	5752 2f2a 00C0 rjmp .L500
		5516	5753 2f2c 8091 0000 lds r24,GPS_Nick
		5517	5754 2f30 9091 0000 lds r25,(GPS_Nick)+1
		5518	5755 2f34 9095 com r25
		5519	5756 2f36 8195 neg r24
		5520	5757 2f38 9F4F sbci r25,lo8(-1)
		5521	5758 2f3a 9093 0000 sts (StickNick)+1,r25
		5522	5759 2f3e 8093 0000 sts StickNick,r24
		5523	5760 2f42 8091 0000 lds r24,GPS_Roll
		5524	5761 2f46 9091 0000 lds r25,(GPS_Roll)+1
		5525	5762 2f4a 9095 com r25
		5526	5763 2f4c 8195 neg r24
		5527	5764 2f4e 9F4F sbci r25,lo8(-1)
		5528	5765 2f50 9093 0000 sts (StickRoll)+1,r25
		5529	5766 2f54 8093 0000 sts StickRoll,r24
		5530	5767 2f58 8091 0000 lds r24,StickGasHover
		5531	5768 2f5c 9091 0000 lds r25,(StickGasHover)+1
		5532	5769 2f60 9093 0000 sts (StickGas)+1,r25
		5533	5770 2f64 8093 0000 sts StickGas,r24
		5534	5771 2f68 8091 0000 lds r24,Parameter_GlobalConfig
		5535	5772 2f6c 8B77 andi r24,lo8(123)
		5536	5773 2f6e 8B66 ori r24,lo8(107)
		5537	5774 2f70 8093 0000 sts Parameter_GlobalConfig,r24
		5538	5775 2f74 8091 0000 lds r24,Parameter_ExtraConfig
		5539	5776 2f78 8C7B andi r24,lo8(-68)
		5540	5777 2f7a 8093 0000 sts Parameter_ExtraConfig,r24
		5541	5778 2f7e 88EC ldi r24,lo8(-56)
		5542	5779 2f80 8093 0000 sts Parameter_HoehenSchalter,r24
		5543	5780 2f84 00C0 rjmp .L501
		5544	5781 .L500:
		5545	5782 2f86 8091 0000 lds r24,FC_StatusFlags
		5546	5783 2f8a 84FF sbrs r24,4
		5547	5784 2f8c 00C0 rjmp .L501
		5548	5785 2f8e 3093 0000 sts (StickGier)+1,r19
		5549	5786 2f92 2093 0000 sts StickGier,r18
		5550	5787 2f96 3093 0000 sts (StickNick)+1,r19
		5551	5788 2f9a 2093 0000 sts StickNick,r18
		5552	5789 2f9e 3093 0000 sts (StickRoll)+1,r19
		5553	5790 2fa2 2093 0000 sts StickRoll,r18
		5554	5791 2fa6 9AE5 ldi r25,lo8(90)
		5555	5792 2fa8 9093 0000 sts GyroFaktor,r25
		5556	5793 2fac 88E7 ldi r24,lo8(120)
		5557	5794 2fae 8093 0000 sts IntegralFaktor,r24
		5558	5795 2fb2 9093 0000 sts GyroFaktorGier,r25
		5559	5796 2fb6 8093 0000 sts IntegralFaktorGier,r24
		5560	5797 2fba 1092 0000 sts Looping_Roll,__zero_reg__
		5561	5798 2fbe 1092 0000 sts Looping_Nick,__zero_reg__
		5562	5799 .L501:
		5563	5800 2fc2 8091 0000 lds r24,MittelIntegralNick
		5564	5801 2fc6 9091 0000 lds r25,(MittelIntegralNick)+1
		5565	5802 2fca A091 0000 lds r26,(MittelIntegralNick)+2
		5566	5803 2fce B091 0000 lds r27,(MittelIntegralNick)+3
		5567	5804 2fd2 2091 0000 lds r18,IntegralNick
		5568	5805 2fd6 3091 0000 lds r19,(IntegralNick)+1
		5569	5806 2fda 4091 0000 lds r20,(IntegralNick)+2
		5570	5807 2fde 5091 0000 lds r21,(IntegralNick)+3
		5571	5808 2fe2 820F add r24,r18
		5572	5809 2fe4 931F adc r25,r19
		5573	5810 2fe6 A41F adc r26,r20
		5574	5811 2fe8 B51F adc r27,r21
		5575	5812 2fea 8093 0000 sts MittelIntegralNick,r24
		5576	5813 2fee 9093 0000 sts (MittelIntegralNick)+1,r25
		5577	5814 2ff2 A093 0000 sts (MittelIntegralNick)+2,r26
		5578	5815 2ff6 B093 0000 sts (MittelIntegralNick)+3,r27
		5579	5816 2ffa 8091 0000 lds r24,MittelIntegralRoll
		5580	5817 2ffe 9091 0000 lds r25,(MittelIntegralRoll)+1
		5581	5818 3002 A091 0000 lds r26,(MittelIntegralRoll)+2
		5582	5819 3006 B091 0000 lds r27,(MittelIntegralRoll)+3
		5583	5820 300a E090 0000 lds r14,IntegralRoll
		5584	5821 300e F090 0000 lds r15,(IntegralRoll)+1
		5585	5822 3012 0091 0000 lds r16,(IntegralRoll)+2
		5586	5823 3016 1091 0000 lds r17,(IntegralRoll)+3
		5587	5824 301a EB82 std Y+3,r14
		5588	5825 301c FC82 std Y+4,r15
		5589	5826 301e 0D83 std Y+5,r16
		5590	5827 3020 1E83 std Y+6,r17
		5591	5828 3022 8E0D add r24,r14
		5592	5829 3024 9F1D adc r25,r15
		5593	5830 3026 A01F adc r26,r16
		5594	5831 3028 B11F adc r27,r17
		5595	5832 302a 8093 0000 sts MittelIntegralRoll,r24
		5596	5833 302e 9093 0000 sts (MittelIntegralRoll)+1,r25
		5597	5834 3032 A093 0000 sts (MittelIntegralRoll)+2,r26
		5598	5835 3036 B093 0000 sts (MittelIntegralRoll)+3,r27
		5599	5836 303a 8091 0000 lds r24,MittelIntegralNick2
		5600	5837 303e 9091 0000 lds r25,(MittelIntegralNick2)+1
		5601	5838 3042 A091 0000 lds r26,(MittelIntegralNick2)+2
		5602	5839 3046 B091 0000 lds r27,(MittelIntegralNick2)+3
		5603	5840 304a E090 0000 lds r14,IntegralNick2
		5604	5841 304e F090 0000 lds r15,(IntegralNick2)+1
		5605	5842 3052 0091 0000 lds r16,(IntegralNick2)+2
		5606	5843 3056 1091 0000 lds r17,(IntegralNick2)+3
		5607	5844 305a EF82 std Y+7,r14
		5608	5845 305c F886 std Y+8,r15
		5609	5846 305e 0987 std Y+9,r16
		5610	5847 3060 1A87 std Y+10,r17
		5611	5848 3062 8E0D add r24,r14
		5612	5849 3064 9F1D adc r25,r15
		5613	5850 3066 A01F adc r26,r16
		5614	5851 3068 B11F adc r27,r17
		5615	5852 306a 8093 0000 sts MittelIntegralNick2,r24
		5616	5853 306e 9093 0000 sts (MittelIntegralNick2)+1,r25
		5617	5854 3072 A093 0000 sts (MittelIntegralNick2)+2,r26
		5618	5855 3076 B093 0000 sts (MittelIntegralNick2)+3,r27
		5619	5856 307a 8091 0000 lds r24,MittelIntegralRoll2
		5620	5857 307e 9091 0000 lds r25,(MittelIntegralRoll2)+1
		5621	5858 3082 A091 0000 lds r26,(MittelIntegralRoll2)+2
		5622	5859 3086 B091 0000 lds r27,(MittelIntegralRoll2)+3
		5623	5860 308a E090 0000 lds r14,IntegralRoll2
		5624	5861 308e F090 0000 lds r15,(IntegralRoll2)+1
		5625	5862 3092 0091 0000 lds r16,(IntegralRoll2)+2
		5626	5863 3096 1091 0000 lds r17,(IntegralRoll2)+3
		5627	5864 309a EB86 std Y+11,r14
		5628	5865 309c FC86 std Y+12,r15
		5629	5866 309e 0D87 std Y+13,r16
		5630	5867 30a0 1E87 std Y+14,r17
		5631	5868 30a2 8E0D add r24,r14
		5632	5869 30a4 9F1D adc r25,r15
		5633	5870 30a6 A01F adc r26,r16
		5634	5871 30a8 B11F adc r27,r17
		5635	5872 30aa 8093 0000 sts MittelIntegralRoll2,r24
		5636	5873 30ae 9093 0000 sts (MittelIntegralRoll2)+1,r25
		5637	5874 30b2 A093 0000 sts (MittelIntegralRoll2)+2,r26
		5638	5875 30b6 B093 0000 sts (MittelIntegralRoll2)+3,r27
		5639	5876 30ba F090 0000 lds r15,Looping_Nick
		5640	5877 30be FF86 std Y+15,r15
		5641	5878 30c0 FF20 tst r15
		5642	5879 30c2 01F4 brne .L504
		5643	5880 30c4 8091 0000 lds r24,Looping_Roll
		5644	5881 30c8 8823 tst r24
		5645	5882 30ca 01F4 brne .+2
		5646	5883 30cc 00C0 rjmp .L886
		5647	5884 .L504:
		5648	5885 30ce 1092 0000 sts IntegralAccNick,__zero_reg__
		5649	5886 30d2 1092 0000 sts (IntegralAccNick)+1,__zero_reg__
		5650	5887 30d6 1092 0000 sts (IntegralAccNick)+2,__zero_reg__
		5651	5888 30da 1092 0000 sts (IntegralAccNick)+3,__zero_reg__
		5652	5889 30de 1092 0000 sts IntegralAccRoll,__zero_reg__
		5653	5890 30e2 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__
		5654	5891 30e6 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__
		5655	5892 30ea 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__
		5656	5893 30ee 1092 0000 sts MittelIntegralNick,__zero_reg__
		5657	5894 30f2 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__
		5658	5895 30f6 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__
		5659	5896 30fa 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__
		5660	5897 30fe 1092 0000 sts MittelIntegralRoll,__zero_reg__
		5661	5898 3102 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__
		5662	5899 3106 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__
		5663	5900 310a 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__
		5664	5901 310e 1092 0000 sts MittelIntegralNick2,__zero_reg__
		5665	5902 3112 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__
		5666	5903 3116 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__
		5667	5904 311a 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__
		5668	5905 311e 1092 0000 sts MittelIntegralRoll2,__zero_reg__
		5669	5906 3122 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__
		5670	5907 3126 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__
		5671	5908 312a 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__
		5672	5909 312e 8091 0000 lds r24,Mess_IntegralNick
		5673	5910 3132 9091 0000 lds r25,(Mess_IntegralNick)+1
		5674	5911 3136 A091 0000 lds r26,(Mess_IntegralNick)+2
		5675	5912 313a B091 0000 lds r27,(Mess_IntegralNick)+3
		5676	5913 313e 8093 0000 sts Mess_IntegralNick2,r24
		5677	5914 3142 9093 0000 sts (Mess_IntegralNick2)+1,r25
		5678	5915 3146 A093 0000 sts (Mess_IntegralNick2)+2,r26
		5679	5916 314a B093 0000 sts (Mess_IntegralNick2)+3,r27
		5680	5917 314e 8091 0000 lds r24,Mess_IntegralRoll
		5681	5918 3152 9091 0000 lds r25,(Mess_IntegralRoll)+1
		5682	5919 3156 A091 0000 lds r26,(Mess_IntegralRoll)+2
		5683	5920 315a B091 0000 lds r27,(Mess_IntegralRoll)+3
		5684	5921 315e 8093 0000 sts Mess_IntegralRoll2,r24
		5685	5922 3162 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		5686	5923 3166 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		5687	5924 316a B093 0000 sts (Mess_IntegralRoll2)+3,r27
		5688	5925 316e 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__
		5689	5926 3172 1092 0000 sts ZaehlMessungen,__zero_reg__
		5690	5927 3176 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__
		5691	5928 317a 1092 0000 sts LageKorrekturNick,__zero_reg__
		5692	5929 317e 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__
		5693	5930 3182 1092 0000 sts LageKorrekturRoll,__zero_reg__
		5694	5931 3186 0F85 ldd r16,Y+15
		5695	5932 3188 0023 tst r16
		5696	5933 318a 01F0 breq .+2
		5697	5934 318c 00C0 rjmp .L505
		5698	5935 .L886:
		5699	5936 318e 8091 0000 lds r24,Looping_Roll
		5700	5937 3192 8823 tst r24
		5701	5938 3194 01F0 breq .+2
		5702	5939 3196 00C0 rjmp .L505
		5703	5940 3198 8091 0000 lds r24,Aktuell_az
		5704	5941 319c 9091 0000 lds r25,(Aktuell_az)+1
		5705	5942 31a0 8150 subi r24,lo8(513)
		5706	5943 31a2 9240 sbci r25,hi8(513)
		5707	5944 31a4 04F4 brge .L506
		5708	5945 31a6 8091 0000 lds r24,MotorenEin
		5709	5946 31aa 8823 tst r24
		5710	5947 31ac 01F4 brne .+2
		5711	5948 31ae 00C0 rjmp .L505
		5712	5949 .L506:
		5713	5950 31b0 9090 0000 lds r9,FromNaviCtrl_Value
		5714	5951 31b4 A090 0000 lds r10,EE_Parameter+28
		5715	5952 31b8 2090 0000 lds r2,Mittelwert_AccNick
		5716	5953 31bc 3090 0000 lds r3,(Mittelwert_AccNick)+1
		5717	5954 31c0 4090 0000 lds r4,Mittelwert_AccRoll
		5718	5955 31c4 5090 0000 lds r5,(Mittelwert_AccRoll)+1
		5719	5956 31c8 1914 cp __zero_reg__,r9
		5720	5957 31ca 04F0 brlt .+2
		5721	5958 31cc 00C0 rjmp .L507
		5722	5959 31ce BB24 clr r11
		5723	5960 31d0 CC24 clr r12
		5724	5961 31d2 DD24 clr r13
		5725	5962 31d4 CA01 movw r24,r20
		5726	5963 31d6 B901 movw r22,r18
		5727	5964 31d8 A601 movw r20,r12
		5728	5965 31da 9501 movw r18,r10
		5729	5966 31dc 0E94 0000 call __divmodsi4
		5730	5967 31e0 7901 movw r14,r18
		5731	5968 31e2 8A01 movw r16,r20
		5732	5969 31e4 8091 0000 lds r24,FromNaviCtrl+9
		5733	5970 31e8 9091 0000 lds r25,(FromNaviCtrl+9)+1
		5734	5971 31ec 281A sub r2,r24
		5735	5972 31ee 390A sbc r3,r25
		5736	5973 31f0 C101 movw r24,r2
		5737	5974 31f2 AA27 clr r26
		5738	5975 31f4 97FD sbrc r25,7
		5739	5976 31f6 A095 com r26
		5740	5977 31f8 BA2F mov r27,r26
		5741	5978 31fa E81A sub r14,r24
		5742	5979 31fc F90A sbc r15,r25
		5743	5980 31fe 0A0B sbc r16,r26
		5744	5981 3200 1B0B sbc r17,r27
		5745	5982 3202 6B81 ldd r22,Y+3
		5746	5983 3204 7C81 ldd r23,Y+4
		5747	5984 3206 8D81 ldd r24,Y+5
		5748	5985 3208 9E81 ldd r25,Y+6
		5749	5986 320a A601 movw r20,r12
		5750	5987 320c 9501 movw r18,r10
		5751	5988 320e 0E94 0000 call __divmodsi4
		5752	5989 3212 5901 movw r10,r18
		5753	5990 3214 6A01 movw r12,r20
		5754	5991 3216 8091 0000 lds r24,FromNaviCtrl+11
		5755	5992 321a 9091 0000 lds r25,(FromNaviCtrl+11)+1
		5756	5993 321e 481A sub r4,r24
		5757	5994 3220 590A sbc r5,r25
		5758	5995 3222 C201 movw r24,r4
		5759	5996 3224 AA27 clr r26
		5760	5997 3226 97FD sbrc r25,7
		5761	5998 3228 A095 com r26
		5762	5999 322a BA2F mov r27,r26
		5763	6000 322c A81A sub r10,r24
		5764	6001 322e B90A sbc r11,r25
		5765	6002 3230 CA0A sbc r12,r26
		5766	6003 3232 DB0A sbc r13,r27
		5767	6004 3234 292C mov r2,r9
		5768	6005 3236 3324 clr r3
		5769	6006 3238 27FC sbrc r2,7
		5770	6007 323a 3094 com r3
		5771	6008 323c 432C mov r4,r3
		5772	6009 323e 532C mov r5,r3
		5773	6010 3240 C801 movw r24,r16
		5774	6011 3242 B701 movw r22,r14
		5775	6012 3244 A201 movw r20,r4
		5776	6013 3246 9101 movw r18,r2
		5777	6014 3248 0E94 0000 call __mulsi3
		5778	6015 324c 97FF sbrs r25,7
		5779	6016 324e 00C0 rjmp .L508
		5780	6017 3250 6150 subi r22,lo8(-(511))
		5781	6018 3252 7E4F sbci r23,hi8(-(511))
		5782	6019 3254 8F4F sbci r24,hlo8(-(511))
		5783	6020 3256 9F4F sbci r25,hhi8(-(511))
		5784	6021 .L508:
		5785	6022 3258 3B01 movw r6,r22
		5786	6023 325a 4C01 movw r8,r24
		5787	6024 325c 09E0 ldi r16,9
		5788	6025 325e 9594 1: asr r9
		5789	6026 3260 8794 ror r8
		5790	6027 3262 7794 ror r7
		5791	6028 3264 6794 ror r6
		5792	6029 3266 0A95 dec r16
		5793	6030 3268 01F4 brne 1b
		5794	6031 326a C601 movw r24,r12
		5795	6032 326c B501 movw r22,r10
		5796	6033 326e A201 movw r20,r4
		5797	6034 3270 9101 movw r18,r2
		5798	6035 3272 0E94 0000 call __mulsi3
		5799	6036 3276 97FF sbrs r25,7
		5800	6037 3278 00C0 rjmp .L509
		5801	6038 327a 6150 subi r22,lo8(-(511))
		5802	6039 327c 7E4F sbci r23,hi8(-(511))
		5803	6040 327e 8F4F sbci r24,hlo8(-(511))
		5804	6041 3280 9F4F sbci r25,hhi8(-(511))
		5805	6042 .L509:
		5806	6043 3282 5B01 movw r10,r22
		5807	6044 3284 6C01 movw r12,r24
		5808	6045 3286 19E0 ldi r17,9
		5809	6046 3288 D594 1: asr r13
		5810	6047 328a C794 ror r12
		5811	6048 328c B794 ror r11
		5812	6049 328e A794 ror r10
		5813	6050 3290 1A95 dec r17
		5814	6051 3292 01F4 brne 1b
		5815	6052 3294 8091 0000 lds r24,MaxStickNick
		5816	6053 3298 9091 0000 lds r25,(MaxStickNick)+1
		5817	6054 329c 8134 cpi r24,65
		5818	6055 329e 9105 cpc r25,__zero_reg__
		5819	6056 32a0 04F4 brge .L511
		5820	6057 32a2 8091 0000 lds r24,MaxStickRoll
		5821	6058 32a6 9091 0000 lds r25,(MaxStickRoll)+1
		5822	6059 32aa 8134 cpi r24,65
		5823	6060 32ac 9105 cpc r25,__zero_reg__
		5824	6061 32ae 04F0 brlt .L510
		5825	6062 .L511:
		5826	6063 32b0 D401 movw r26,r8
		5827	6064 32b2 C301 movw r24,r6
		5828	6065 32b4 97FE sbrs r9,7
		5829	6066 32b6 00C0 rjmp .L512
		5830	6067 32b8 0196 adiw r24,1
		5831	6068 32ba A11D adc r26,__zero_reg__
		5832	6069 32bc B11D adc r27,__zero_reg__
		5833	6070 .L512:
		5834	6071 32be 3C01 movw r6,r24
		5835	6072 32c0 4D01 movw r8,r26
		5836	6073 32c2 9594 asr r9
		5837	6074 32c4 8794 ror r8
		5838	6075 32c6 7794 ror r7
		5839	6076 32c8 6794 ror r6
		5840	6077 32ca D601 movw r26,r12
		5841	6078 32cc C501 movw r24,r10
		5842	6079 32ce D7FE sbrs r13,7
		5843	6080 32d0 00C0 rjmp .L513
		5844	6081 32d2 0196 adiw r24,1
		5845	6082 32d4 A11D adc r26,__zero_reg__
		5846	6083 32d6 B11D adc r27,__zero_reg__
		5847	6084 .L513:
		5848	6085 32d8 5C01 movw r10,r24
		5849	6086 32da 6D01 movw r12,r26
		5850	6087 32dc D594 asr r13
		5851	6088 32de C794 ror r12
		5852	6089 32e0 B794 ror r11
		5853	6090 32e2 A794 ror r10
		5854	6091 .L510:
		5855	6092 32e4 8091 0000 lds r24,FromNaviCtrl_Value+2
		5856	6093 32e8 282F mov r18,r24
		5857	6094 32ea 3327 clr r19
		5858	6095 32ec 27FD sbrc r18,7
		5859	6096 32ee 3095 com r19
		5860	6097 32f0 432F mov r20,r19
		5861	6098 32f2 532F mov r21,r19
		5862	6099 32f4 2615 cp r18,r6
		5863	6100 32f6 3705 cpc r19,r7
		5864	6101 32f8 4805 cpc r20,r8
		5865	6102 32fa 5905 cpc r21,r9
		5866	6103 32fc 04F4 brge .L514
		5867	6104 32fe 3901 movw r6,r18
		5868	6105 3300 4A01 movw r8,r20
		5869	6106 .L514:
		5870	6107 3302 9927 clr r25
		5871	6108 3304 87FD sbrc r24,7
		5872	6109 3306 9095 com r25
		5873	6110 3308 9095 com r25
		5874	6111 330a 8195 neg r24
		5875	6112 330c 9F4F sbci r25,lo8(-1)
		5876	6113 330e AA27 clr r26
		5877	6114 3310 97FD sbrc r25,7
		5878	6115 3312 A095 com r26
		5879	6116 3314 BA2F mov r27,r26
		5880	6117 3316 6816 cp r6,r24
		5881	6118 3318 7906 cpc r7,r25
		5882	6119 331a 8A06 cpc r8,r26
		5883	6120 331c 9B06 cpc r9,r27
		5884	6121 331e 04F4 brge .L515
		5885	6122 3320 3C01 movw r6,r24
		5886	6123 3322 4D01 movw r8,r26
		5887	6124 .L515:
		5888	6125 3324 2A15 cp r18,r10
		5889	6126 3326 3B05 cpc r19,r11
		5890	6127 3328 4C05 cpc r20,r12
		5891	6128 332a 5D05 cpc r21,r13
		5892	6129 332c 04F4 brge .L516
		5893	6130 332e 5901 movw r10,r18
		5894	6131 3330 6A01 movw r12,r20
		5895	6132 .L516:
		5896	6133 3332 A816 cp r10,r24
		5897	6134 3334 B906 cpc r11,r25
		5898	6135 3336 CA06 cpc r12,r26
		5899	6136 3338 DB06 cpc r13,r27
		5900	6137 333a 04F0 brlt .+2
		5901	6138 333c 00C0 rjmp .L518
		5902	6139 333e 5C01 movw r10,r24
		5903	6140 3340 6D01 movw r12,r26
		5904	6141 3342 00C0 rjmp .L518
		5905	6142 .L507:
		5906	6143 3344 EA2C mov r14,r10
		5907	6144 3346 FF24 clr r15
		5908	6145 3348 0027 clr r16
		5909	6146 334a 1127 clr r17
		5910	6147 334c CA01 movw r24,r20
		5911	6148 334e B901 movw r22,r18
		5912	6149 3350 A801 movw r20,r16
		5913	6150 3352 9701 movw r18,r14
		5914	6151 3354 0E94 0000 call __divmodsi4
		5915	6152 3358 3901 movw r6,r18
		5916	6153 335a 4A01 movw r8,r20
		5917	6154 335c C101 movw r24,r2
		5918	6155 335e AA27 clr r26
		5919	6156 3360 97FD sbrc r25,7
		5920	6157 3362 A095 com r26
		5921	6158 3364 BA2F mov r27,r26
		5922	6159 3366 681A sub r6,r24
		5923	6160 3368 790A sbc r7,r25
		5924	6161 336a 8A0A sbc r8,r26
		5925	6162 336c 9B0A sbc r9,r27
		5926	6163 336e 6B81 ldd r22,Y+3
		5927	6164 3370 7C81 ldd r23,Y+4
		5928	6165 3372 8D81 ldd r24,Y+5
		5929	6166 3374 9E81 ldd r25,Y+6
		5930	6167 3376 A801 movw r20,r16
		5931	6168 3378 9701 movw r18,r14
		5932	6169 337a 0E94 0000 call __divmodsi4
		5933	6170 337e 5901 movw r10,r18
		5934	6171 3380 6A01 movw r12,r20
		5935	6172 3382 C201 movw r24,r4
		5936	6173 3384 AA27 clr r26
		5937	6174 3386 97FD sbrc r25,7
		5938	6175 3388 A095 com r26
		5939	6176 338a BA2F mov r27,r26
		5940	6177 338c A81A sub r10,r24
		5941	6178 338e B90A sbc r11,r25
		5942	6179 3390 CA0A sbc r12,r26
		5943	6180 3392 DB0A sbc r13,r27
		5944	6181 3394 D401 movw r26,r8
		5945	6182 3396 C301 movw r24,r6
		5946	6183 3398 97FE sbrs r9,7
		5947	6184 339a 00C0 rjmp .L519
		5948	6185 339c 0F96 adiw r24,15
		5949	6186 339e A11D adc r26,__zero_reg__
		5950	6187 33a0 B11D adc r27,__zero_reg__
		5951	6188 .L519:
		5952	6189 33a2 3C01 movw r6,r24
		5953	6190 33a4 4D01 movw r8,r26
		5954	6191 33a6 F4E0 ldi r31,4
		5955	6192 33a8 9594 1: asr r9
		5956	6193 33aa 8794 ror r8
		5957	6194 33ac 7794 ror r7
		5958	6195 33ae 6794 ror r6
		5959	6196 33b0 FA95 dec r31
		5960	6197 33b2 01F4 brne 1b
		5961	6198 33b4 D601 movw r26,r12
		5962	6199 33b6 C501 movw r24,r10
		5963	6200 33b8 D7FE sbrs r13,7
		5964	6201 33ba 00C0 rjmp .L520
		5965	6202 33bc 0F96 adiw r24,15
		5966	6203 33be A11D adc r26,__zero_reg__
		5967	6204 33c0 B11D adc r27,__zero_reg__
		5968	6205 .L520:
		5969	6206 33c2 5C01 movw r10,r24
		5970	6207 33c4 6D01 movw r12,r26
		5971	6208 33c6 E4E0 ldi r30,4
		5972	6209 33c8 D594 1: asr r13
		5973	6210 33ca C794 ror r12
		5974	6211 33cc B794 ror r11
		5975	6212 33ce A794 ror r10
		5976	6213 33d0 EA95 dec r30
		5977	6214 33d2 01F4 brne 1b
		5978	6215 33d4 8091 0000 lds r24,MaxStickNick
		5979	6216 33d8 9091 0000 lds r25,(MaxStickNick)+1
		5980	6217 33dc 8134 cpi r24,65
		5981	6218 33de 9105 cpc r25,__zero_reg__
		5982	6219 33e0 04F4 brge .L522
		5983	6220 33e2 8091 0000 lds r24,MaxStickRoll
		5984	6221 33e6 9091 0000 lds r25,(MaxStickRoll)+1
		5985	6222 33ea 8134 cpi r24,65
		5986	6223 33ec 9105 cpc r25,__zero_reg__
		5987	6224 33ee 04F0 brlt .L521
		5988	6225 .L522:
		5989	6226 33f0 C401 movw r24,r8
		5990	6227 33f2 B301 movw r22,r6
		5991	6228 33f4 23E0 ldi r18,lo8(3)
		5992	6229 33f6 30E0 ldi r19,hi8(3)
		5993	6230 33f8 40E0 ldi r20,hlo8(3)
		5994	6231 33fa 50E0 ldi r21,hhi8(3)
		5995	6232 33fc 0E94 0000 call __divmodsi4
		5996	6233 3400 3901 movw r6,r18
		5997	6234 3402 4A01 movw r8,r20
		5998	6235 3404 C601 movw r24,r12
		5999	6236 3406 B501 movw r22,r10
		6000	6237 3408 23E0 ldi r18,lo8(3)
		6001	6238 340a 30E0 ldi r19,hi8(3)
		6002	6239 340c 40E0 ldi r20,hlo8(3)
		6003	6240 340e 50E0 ldi r21,hhi8(3)
		6004	6241 3410 0E94 0000 call __divmodsi4
		6005	6242 3414 5901 movw r10,r18
		6006	6243 3416 6A01 movw r12,r20
		6007	6244 .L521:
		6008	6245 3418 8091 0000 lds r24,EE_Parameter+4
		6009	6246 341c E82F mov r30,r24
		6010	6247 341e FF27 clr r31
		6011	6248 3420 EE0F add r30,r30
		6012	6249 3422 FF1F adc r31,r31
		6013	6250 3424 E050 subi r30,lo8(-(PPM_in))
		6014	6251 3426 F040 sbci r31,hi8(-(PPM_in))
		6015	6252 3428 8081 ld r24,Z
		6016	6253 342a 9181 ldd r25,Z+1
		6017	6254 342c 0190 ld __tmp_reg__,Z+
		6018	6255 342e F081 ld r31,Z
		6019	6256 3430 E02D mov r30,__tmp_reg__
		6020	6257 3432 F7FF sbrs r31,7
		6021	6258 3434 00C0 rjmp .L524
		6022	6259 3436 F095 com r31
		6023	6260 3438 E195 neg r30
		6024	6261 343a FF4F sbci r31,lo8(-1)
		6025	6262 .L524:
		6026	6263 343c 7A97 sbiw r30,26
		6027	6264 343e 04F0 brlt .L523
		6028	6265 3440 C401 movw r24,r8
		6029	6266 3442 B301 movw r22,r6
		6030	6267 3444 23E0 ldi r18,lo8(3)
		6031	6268 3446 30E0 ldi r19,hi8(3)
		6032	6269 3448 40E0 ldi r20,hlo8(3)
		6033	6270 344a 50E0 ldi r21,hhi8(3)
		6034	6271 344c 0E94 0000 call __divmodsi4
		6035	6272 3450 3901 movw r6,r18
		6036	6273 3452 4A01 movw r8,r20
		6037	6274 3454 C601 movw r24,r12
		6038	6275 3456 B501 movw r22,r10
		6039	6276 3458 23E0 ldi r18,lo8(3)
		6040	6277 345a 30E0 ldi r19,hi8(3)
		6041	6278 345c 40E0 ldi r20,hlo8(3)
		6042	6279 345e 50E0 ldi r21,hhi8(3)
		6043	6280 3460 0E94 0000 call __divmodsi4
		6044	6281 3464 5901 movw r10,r18
		6045	6282 3466 6A01 movw r12,r20
		6046	6283 .L523:
		6047	6284 3468 89E1 ldi r24,lo8(25)
		6048	6285 346a 8093 0000 sts KompassFusion,r24
		6049	6286 346e 21E2 ldi r18,lo8(33)
		6050	6287 3470 6216 cp r6,r18
		6051	6288 3472 7104 cpc r7,__zero_reg__
		6052	6289 3474 8104 cpc r8,__zero_reg__
		6053	6290 3476 9104 cpc r9,__zero_reg__
		6054	6291 3478 04F0 brlt .L525
		6055	6292 347a 70E2 ldi r23,lo8(32)
		6056	6293 347c 672E mov r6,r23
		6057	6294 347e 712C mov r7,__zero_reg__
		6058	6295 3480 812C mov r8,__zero_reg__
		6059	6296 3482 912C mov r9,__zero_reg__
		6060	6297 .L525:
		6061	6298 3484 30EE ldi r19,lo8(-32)
		6062	6299 3486 6316 cp r6,r19
		6063	6300 3488 3FEF ldi r19,hi8(-32)
		6064	6301 348a 7306 cpc r7,r19
		6065	6302 348c 3FEF ldi r19,hlo8(-32)
		6066	6303 348e 8306 cpc r8,r19
		6067	6304 3490 3FEF ldi r19,hhi8(-32)
		6068	6305 3492 9306 cpc r9,r19
		6069	6306 3494 04F4 brge .L526
		6070	6307 3496 60EE ldi r22,lo8(-32)
		6071	6308 3498 662E mov r6,r22
		6072	6309 349a 6FEF ldi r22,hi8(-32)
		6073	6310 349c 762E mov r7,r22
		6074	6311 349e 6FEF ldi r22,hlo8(-32)
		6075	6312 34a0 862E mov r8,r22
		6076	6313 34a2 6FEF ldi r22,hhi8(-32)
		6077	6314 34a4 962E mov r9,r22
		6078	6315 .L526:
		6079	6316 34a6 41E2 ldi r20,lo8(33)
		6080	6317 34a8 A416 cp r10,r20
		6081	6318 34aa B104 cpc r11,__zero_reg__
		6082	6319 34ac C104 cpc r12,__zero_reg__
		6083	6320 34ae D104 cpc r13,__zero_reg__
		6084	6321 34b0 04F0 brlt .L527
		6085	6322 34b2 50E2 ldi r21,lo8(32)
		6086	6323 34b4 A52E mov r10,r21
		6087	6324 34b6 B12C mov r11,__zero_reg__
		6088	6325 34b8 C12C mov r12,__zero_reg__
		6089	6326 34ba D12C mov r13,__zero_reg__
		6090	6327 .L527:
		6091	6328 34bc 50EE ldi r21,lo8(-32)
		6092	6329 34be A516 cp r10,r21
		6093	6330 34c0 5FEF ldi r21,hi8(-32)
		6094	6331 34c2 B506 cpc r11,r21
		6095	6332 34c4 5FEF ldi r21,hlo8(-32)
		6096	6333 34c6 C506 cpc r12,r21
		6097	6334 34c8 5FEF ldi r21,hhi8(-32)
		6098	6335 34ca D506 cpc r13,r21
		6099	6336 34cc 04F4 brge .L518
		6100	6337 34ce 40EE ldi r20,lo8(-32)
		6101	6338 34d0 A42E mov r10,r20
		6102	6339 34d2 4FEF ldi r20,hi8(-32)
		6103	6340 34d4 B42E mov r11,r20
		6104	6341 34d6 4FEF ldi r20,hlo8(-32)
		6105	6342 34d8 C42E mov r12,r20
		6106	6343 34da 4FEF ldi r20,hhi8(-32)
		6107	6344 34dc D42E mov r13,r20
		6108	6345 .L518:
		6109	6346 34de 8091 0000 lds r24,Mess_IntegralNick
		6110	6347 34e2 9091 0000 lds r25,(Mess_IntegralNick)+1
		6111	6348 34e6 A091 0000 lds r26,(Mess_IntegralNick)+2
		6112	6349 34ea B091 0000 lds r27,(Mess_IntegralNick)+3
		6113	6350 34ee 8619 sub r24,r6
		6114	6351 34f0 9709 sbc r25,r7
		6115	6352 34f2 A809 sbc r26,r8
		6116	6353 34f4 B909 sbc r27,r9
		6117	6354 34f6 8093 0000 sts Mess_IntegralNick,r24
		6118	6355 34fa 9093 0000 sts (Mess_IntegralNick)+1,r25
		6119	6356 34fe A093 0000 sts (Mess_IntegralNick)+2,r26
		6120	6357 3502 B093 0000 sts (Mess_IntegralNick)+3,r27
		6121	6358 3506 8091 0000 lds r24,Mess_IntegralRoll
		6122	6359 350a 9091 0000 lds r25,(Mess_IntegralRoll)+1
		6123	6360 350e A091 0000 lds r26,(Mess_IntegralRoll)+2
		6124	6361 3512 B091 0000 lds r27,(Mess_IntegralRoll)+3
		6125	6362 3516 8A19 sub r24,r10
		6126	6363 3518 9B09 sbc r25,r11
		6127	6364 351a AC09 sbc r26,r12
		6128	6365 351c BD09 sbc r27,r13
		6129	6366 351e 8093 0000 sts Mess_IntegralRoll,r24
		6130	6367 3522 9093 0000 sts (Mess_IntegralRoll)+1,r25
		6131	6368 3526 A093 0000 sts (Mess_IntegralRoll)+2,r26
		6132	6369 352a B093 0000 sts (Mess_IntegralRoll)+3,r27
		6133	6370 .L505:
		6134	6371 352e 8091 0000 lds r24,ZaehlMessungen
		6135	6372 3532 9091 0000 lds r25,(ZaehlMessungen)+1
		6136	6373 3536 8F3F cpi r24,255
		6137	6374 3538 9105 cpc r25,__zero_reg__
		6138	6375 353a 01F0 breq .+2
		6139	6376 353c 00F4 brsh .+2
		6140	6377 353e 00C0 rjmp .L529
		6141	6378 3540 6F85 ldd r22,Y+15
		6142	6379 3542 6623 tst r22
		6143	6380 3544 01F0 breq .+2
		6144	6381 3546 00C0 rjmp .L530
		6145	6382 3548 8091 0000 lds r24,Looping_Roll
		6146	6383 354c 8823 tst r24
		6147	6384 354e 01F0 breq .+2
		6148	6385 3550 00C0 rjmp .L530
		6149	6386 3552 8091 0000 lds r24,TrichterFlug
		6150	6387 3556 8823 tst r24
		6151	6388 3558 01F0 breq .+2
		6152	6389 355a 00C0 rjmp .L530
		6153	6390 355c 7091 0000 lds r23,EE_Parameter+68
		6154	6391 3560 788B std Y+16,r23
		6155	6392 3562 7723 tst r23
		6156	6393 3564 01F4 brne .+2
		6157	6394 3566 00C0 rjmp .L530
		6158	6395 3568 8091 0000 lds r24,MittelIntegralNick
		6159	6396 356c 9091 0000 lds r25,(MittelIntegralNick)+1
		6160	6397 3570 A091 0000 lds r26,(MittelIntegralNick)+2
		6161	6398 3574 B091 0000 lds r27,(MittelIntegralNick)+3
		6162	6399 3578 B7FF sbrs r27,7
		6163	6400 357a 00C0 rjmp .L531
		6164	6401 357c 8150 subi r24,lo8(-(255))
		6165	6402 357e 9F4F sbci r25,hi8(-(255))
		6166	6403 3580 AF4F sbci r26,hlo8(-(255))
		6167	6404 3582 BF4F sbci r27,hhi8(-(255))
		6168	6405 .L531:
		6169	6406 3584 E92E mov r14,r25
		6170	6407 3586 FA2E mov r15,r26
		6171	6408 3588 0B2F mov r16,r27
		6172	6409 358a 1127 clr r17
		6173	6410 358c 07FD sbrc r16,7
		6174	6411 358e 1A95 dec r17
		6175	6412 3590 E092 0000 sts MittelIntegralNick,r14
		6176	6413 3594 F092 0000 sts (MittelIntegralNick)+1,r15
		6177	6414 3598 0093 0000 sts (MittelIntegralNick)+2,r16
		6178	6415 359c 1093 0000 sts (MittelIntegralNick)+3,r17
		6179	6416 35a0 8091 0000 lds r24,MittelIntegralRoll
		6180	6417 35a4 9091 0000 lds r25,(MittelIntegralRoll)+1
		6181	6418 35a8 A091 0000 lds r26,(MittelIntegralRoll)+2
		6182	6419 35ac B091 0000 lds r27,(MittelIntegralRoll)+3
		6183	6420 35b0 B7FF sbrs r27,7
		6184	6421 35b2 00C0 rjmp .L532
		6185	6422 35b4 8150 subi r24,lo8(-(255))
		6186	6423 35b6 9F4F sbci r25,hi8(-(255))
		6187	6424 35b8 AF4F sbci r26,hlo8(-(255))
		6188	6425 35ba BF4F sbci r27,hhi8(-(255))
		6189	6426 .L532:
		6190	6427 35bc 892F mov r24,r25
		6191	6428 35be 9A2F mov r25,r26
		6192	6429 35c0 AB2F mov r26,r27
		6193	6430 35c2 BB27 clr r27
		6194	6431 35c4 A7FD sbrc r26,7
		6195	6432 35c6 BA95 dec r27
		6196	6433 35c8 898B std Y+17,r24
		6197	6434 35ca 9A8B std Y+18,r25
		6198	6435 35cc AB8B std Y+19,r26
		6199	6436 35ce BC8B std Y+20,r27
		6200	6437 35d0 8093 0000 sts MittelIntegralRoll,r24
		6201	6438 35d4 9093 0000 sts (MittelIntegralRoll)+1,r25
		6202	6439 35d8 A093 0000 sts (MittelIntegralRoll)+2,r26
		6203	6440 35dc B093 0000 sts (MittelIntegralRoll)+3,r27
		6204	6441 35e0 8091 0000 lds r24,EE_Parameter+28
		6205	6442 35e4 A82E mov r10,r24
		6206	6443 35e6 BB24 clr r11
		6207	6444 35e8 CC24 clr r12
		6208	6445 35ea DD24 clr r13
		6209	6446 35ec 2091 0000 lds r18,IntegralAccNick
		6210	6447 35f0 3091 0000 lds r19,(IntegralAccNick)+1
		6211	6448 35f4 4091 0000 lds r20,(IntegralAccNick)+2
		6212	6449 35f8 5091 0000 lds r21,(IntegralAccNick)+3
		6213	6450 35fc C601 movw r24,r12
		6214	6451 35fe B501 movw r22,r10
		6215	6452 3600 0E94 0000 call __mulsi3
		6216	6453 3604 97FF sbrs r25,7
		6217	6454 3606 00C0 rjmp .L533
		6218	6455 3608 6150 subi r22,lo8(-(255))
		6219	6456 360a 7F4F sbci r23,hi8(-(255))
		6220	6457 360c 8F4F sbci r24,hlo8(-(255))
		6221	6458 360e 9F4F sbci r25,hhi8(-(255))
		6222	6459 .L533:
		6223	6460 3610 672E mov r6,r23
		6224	6461 3612 782E mov r7,r24
		6225	6462 3614 892E mov r8,r25
		6226	6463 3616 9924 clr r9
		6227	6464 3618 87FC sbrc r8,7
		6228	6465 361a 9A94 dec r9
		6229	6466 361c 6092 0000 sts IntegralAccNick,r6
		6230	6467 3620 7092 0000 sts (IntegralAccNick)+1,r7
		6231	6468 3624 8092 0000 sts (IntegralAccNick)+2,r8
		6232	6469 3628 9092 0000 sts (IntegralAccNick)+3,r9
		6233	6470 362c 2091 0000 lds r18,IntegralAccRoll
		6234	6471 3630 3091 0000 lds r19,(IntegralAccRoll)+1
		6235	6472 3634 4091 0000 lds r20,(IntegralAccRoll)+2
		6236	6473 3638 5091 0000 lds r21,(IntegralAccRoll)+3
		6237	6474 363c C601 movw r24,r12
		6238	6475 363e B501 movw r22,r10
		6239	6476 3640 0E94 0000 call __mulsi3
		6240	6477 3644 97FF sbrs r25,7
		6241	6478 3646 00C0 rjmp .L534
		6242	6479 3648 6150 subi r22,lo8(-(255))
		6243	6480 364a 7F4F sbci r23,hi8(-(255))
		6244	6481 364c 8F4F sbci r24,hlo8(-(255))
		6245	6482 364e 9F4F sbci r25,hhi8(-(255))
		6246	6483 .L534:
		6247	6484 3650 272E mov r2,r23
		6248	6485 3652 382E mov r3,r24
		6249	6486 3654 492E mov r4,r25
		6250	6487 3656 5524 clr r5
		6251	6488 3658 47FC sbrc r4,7
		6252	6489 365a 5A94 dec r5
		6253	6490 365c 2092 0000 sts IntegralAccRoll,r2
		6254	6491 3660 3092 0000 sts (IntegralAccRoll)+1,r3
		6255	6492 3664 4092 0000 sts (IntegralAccRoll)+2,r4
		6256	6493 3668 5092 0000 sts (IntegralAccRoll)+3,r5
		6257	6494 366c 8091 0000 lds r24,IntegralAccZ
		6258	6495 3670 9091 0000 lds r25,(IntegralAccZ)+1
		6259	6496 3674 A091 0000 lds r26,(IntegralAccZ)+2
		6260	6497 3678 B091 0000 lds r27,(IntegralAccZ)+3
		6261	6498 367c B7FF sbrs r27,7
		6262	6499 367e 00C0 rjmp .L535
		6263	6500 3680 8150 subi r24,lo8(-(255))
		6264	6501 3682 9F4F sbci r25,hi8(-(255))
		6265	6502 3684 AF4F sbci r26,hlo8(-(255))
		6266	6503 3686 BF4F sbci r27,hhi8(-(255))
		6267	6504 .L535:
		6268	6505 3688 892F mov r24,r25
		6269	6506 368a 9A2F mov r25,r26
		6270	6507 368c AB2F mov r26,r27
		6271	6508 368e BB27 clr r27
		6272	6509 3690 A7FD sbrc r26,7
		6273	6510 3692 BA95 dec r27
		6274	6511 3694 8093 0000 sts IntegralAccZ,r24
		6275	6512 3698 9093 0000 sts (IntegralAccZ)+1,r25
		6276	6513 369c A093 0000 sts (IntegralAccZ)+2,r26
		6277	6514 36a0 B093 0000 sts (IntegralAccZ)+3,r27
		6278	6515 36a4 D801 movw r26,r16
		6279	6516 36a6 C701 movw r24,r14
		6280	6517 36a8 8619 sub r24,r6
		6281	6518 36aa 9709 sbc r25,r7
		6282	6519 36ac A809 sbc r26,r8
		6283	6520 36ae B909 sbc r27,r9
		6284	6521 36b0 8093 0000 sts IntegralFehlerNick.3,r24
		6285	6522 36b4 9093 0000 sts (IntegralFehlerNick.3)+1,r25
		6286	6523 36b8 A093 0000 sts (IntegralFehlerNick.3)+2,r26
		6287	6524 36bc B093 0000 sts (IntegralFehlerNick.3)+3,r27
		6288	6525 36c0 2091 0000 lds r18,EE_Parameter+67
		6289	6526 36c4 E22E mov r14,r18
		6290	6527 36c6 FF24 clr r15
		6291	6528 36c8 0027 clr r16
		6292	6529 36ca 1127 clr r17
		6293	6530 36cc BC01 movw r22,r24
		6294	6531 36ce CD01 movw r24,r26
		6295	6532 36d0 A801 movw r20,r16
		6296	6533 36d2 9701 movw r18,r14
		6297	6534 36d4 0E94 0000 call __divmodsi4
		6298	6535 36d8 5901 movw r10,r18
		6299	6536 36da 6A01 movw r12,r20
		6300	6537 36dc 2093 0000 sts ausgleichNick.10,r18
		6301	6538 36e0 3093 0000 sts (ausgleichNick.10)+1,r19
		6302	6539 36e4 4093 0000 sts (ausgleichNick.10)+2,r20
		6303	6540 36e8 5093 0000 sts (ausgleichNick.10)+3,r21
		6304	6541 36ec 8989 ldd r24,Y+17
		6305	6542 36ee 9A89 ldd r25,Y+18
		6306	6543 36f0 AB89 ldd r26,Y+19
		6307	6544 36f2 BC89 ldd r27,Y+20
		6308	6545 36f4 8219 sub r24,r2
		6309	6546 36f6 9309 sbc r25,r3
		6310	6547 36f8 A409 sbc r26,r4
		6311	6548 36fa B509 sbc r27,r5
		6312	6549 36fc 8093 0000 sts IntegralFehlerRoll.4,r24
		6313	6550 3700 9093 0000 sts (IntegralFehlerRoll.4)+1,r25
		6314	6551 3704 A093 0000 sts (IntegralFehlerRoll.4)+2,r26
		6315	6552 3708 B093 0000 sts (IntegralFehlerRoll.4)+3,r27
		6316	6553 370c BC01 movw r22,r24
		6317	6554 370e CD01 movw r24,r26
		6318	6555 3710 A801 movw r20,r16
		6319	6556 3712 9701 movw r18,r14
		6320	6557 3714 0E94 0000 call __divmodsi4
		6321	6558 3718 2093 0000 sts ausgleichRoll.11,r18
		6322	6559 371c 3093 0000 sts (ausgleichRoll.11)+1,r19
		6323	6560 3720 4093 0000 sts (ausgleichRoll.11)+2,r20
		6324	6561 3724 5093 0000 sts (ausgleichRoll.11)+3,r21
		6325	6562 3728 D601 movw r26,r12
		6326	6563 372a C501 movw r24,r10
		6327	6564 372c D7FE sbrs r13,7
		6328	6565 372e 00C0 rjmp .L536
		6329	6566 3730 8150 subi r24,lo8(-(255))
		6330	6567 3732 9F4F sbci r25,hi8(-(255))
		6331	6568 3734 AF4F sbci r26,hlo8(-(255))
		6332	6569 3736 BF4F sbci r27,hhi8(-(255))
		6333	6570 .L536:
		6334	6571 3738 892F mov r24,r25
		6335	6572 373a 9A2F mov r25,r26
		6336	6573 373c AB2F mov r26,r27
		6337	6574 373e BB27 clr r27
		6338	6575 3740 A7FD sbrc r26,7
		6339	6576 3742 BA95 dec r27
		6340	6577 3744 9093 0000 sts (LageKorrekturNick)+1,r25
		6341	6578 3748 8093 0000 sts LageKorrekturNick,r24
		6342	6579 374c 57FF sbrs r21,7
		6343	6580 374e 00C0 rjmp .L537
		6344	6581 3750 2150 subi r18,lo8(-(255))
		6345	6582 3752 3F4F sbci r19,hi8(-(255))
		6346	6583 3754 4F4F sbci r20,hlo8(-(255))
		6347	6584 3756 5F4F sbci r21,hhi8(-(255))
		6348	6585 .L537:
		6349	6586 3758 BB27 clr r27
		6350	6587 375a 57FD sbrc r21,7
		6351	6588 375c BA95 dec r27
		6352	6589 375e A52F mov r26,r21
		6353	6590 3760 942F mov r25,r20
		6354	6591 3762 832F mov r24,r19
		6355	6592 3764 9093 0000 sts (LageKorrekturRoll)+1,r25
		6356	6593 3768 8093 0000 sts LageKorrekturRoll,r24
		6357	6594 376c 8091 0000 lds r24,MaxStickNick
		6358	6595 3770 9091 0000 lds r25,(MaxStickNick)+1
		6359	6596 3774 8134 cpi r24,65
		6360	6597 3776 9105 cpc r25,__zero_reg__
		6361	6598 3778 04F4 brge .L539
		6362	6599 377a 8091 0000 lds r24,MaxStickRoll
		6363	6600 377e 9091 0000 lds r25,(MaxStickRoll)+1
		6364	6601 3782 8134 cpi r24,65
		6365	6602 3784 9105 cpc r25,__zero_reg__
		6366	6603 3786 04F4 brge .L539
		6367	6604 3788 8091 0000 lds r24,EE_Parameter+4
		6368	6605 378c E82F mov r30,r24
		6369	6606 378e FF27 clr r31
		6370	6607 3790 EE0F add r30,r30
		6371	6608 3792 FF1F adc r31,r31
		6372	6609 3794 E050 subi r30,lo8(-(PPM_in))
		6373	6610 3796 F040 sbci r31,hi8(-(PPM_in))
		6374	6611 3798 8081 ld r24,Z
		6375	6612 379a 9181 ldd r25,Z+1
		6376	6613 379c 0190 ld __tmp_reg__,Z+
		6377	6614 379e F081 ld r31,Z
		6378	6615 37a0 E02D mov r30,__tmp_reg__
		6379	6616 37a2 F7FF sbrs r31,7
		6380	6617 37a4 00C0 rjmp .L540
		6381	6618 37a6 F095 com r31
		6382	6619 37a8 E195 neg r30
		6383	6620 37aa FF4F sbci r31,lo8(-1)
		6384	6621 .L540:
		6385	6622 37ac 7A97 sbiw r30,26
		6386	6623 37ae 04F0 brlt .L538
		6387	6624 .L539:
		6388	6625 37b0 8091 0000 lds r24,FromNaviCtrl_Value
		6389	6626 37b4 8F3F cpi r24,lo8(-1)
		6390	6627 37b6 01F4 brne .L538
		6391	6628 37b8 8091 0000 lds r24,LageKorrekturNick
		6392	6629 37bc 9091 0000 lds r25,(LageKorrekturNick)+1
		6393	6630 37c0 97FD sbrc r25,7
		6394	6631 37c2 0196 adiw r24,1
		6395	6632 .L541:
		6396	6633 37c4 9595 asr r25
		6397	6634 37c6 8795 ror r24
		6398	6635 37c8 9093 0000 sts (LageKorrekturNick)+1,r25
		6399	6636 37cc 8093 0000 sts LageKorrekturNick,r24
		6400	6637 37d0 8091 0000 lds r24,LageKorrekturRoll
		6401	6638 37d4 9091 0000 lds r25,(LageKorrekturRoll)+1
		6402	6639 37d8 97FD sbrc r25,7
		6403	6640 37da 0196 adiw r24,1
		6404	6641 .L542:
		6405	6642 37dc 9595 asr r25
		6406	6643 37de 8795 ror r24
		6407	6644 37e0 9093 0000 sts (LageKorrekturRoll)+1,r25
		6408	6645 37e4 8093 0000 sts LageKorrekturRoll,r24
		6409	6646 .L538:
		6410	6647 37e8 8091 0000 lds r24,MittelIntegralNick2
		6411	6648 37ec 9091 0000 lds r25,(MittelIntegralNick2)+1
		6412	6649 37f0 A091 0000 lds r26,(MittelIntegralNick2)+2
		6413	6650 37f4 B091 0000 lds r27,(MittelIntegralNick2)+3
		6414	6651 37f8 B7FF sbrs r27,7
		6415	6652 37fa 00C0 rjmp .L543
		6416	6653 37fc 8150 subi r24,lo8(-(255))
		6417	6654 37fe 9F4F sbci r25,hi8(-(255))
		6418	6655 3800 AF4F sbci r26,hlo8(-(255))
		6419	6656 3802 BF4F sbci r27,hhi8(-(255))
		6420	6657 .L543:
		6421	6658 3804 892F mov r24,r25
		6422	6659 3806 9A2F mov r25,r26
		6423	6660 3808 AB2F mov r26,r27
		6424	6661 380a BB27 clr r27
		6425	6662 380c A7FD sbrc r26,7
		6426	6663 380e BA95 dec r27
		6427	6664 3810 8093 0000 sts MittelIntegralNick2,r24
		6428	6665 3814 9093 0000 sts (MittelIntegralNick2)+1,r25
		6429	6666 3818 A093 0000 sts (MittelIntegralNick2)+2,r26
		6430	6667 381c B093 0000 sts (MittelIntegralNick2)+3,r27
		6431	6668 3820 8091 0000 lds r24,MittelIntegralRoll2
		6432	6669 3824 9091 0000 lds r25,(MittelIntegralRoll2)+1
		6433	6670 3828 A091 0000 lds r26,(MittelIntegralRoll2)+2
		6434	6671 382c B091 0000 lds r27,(MittelIntegralRoll2)+3
		6435	6672 3830 B7FF sbrs r27,7
		6436	6673 3832 00C0 rjmp .L544
		6437	6674 3834 8150 subi r24,lo8(-(255))
		6438	6675 3836 9F4F sbci r25,hi8(-(255))
		6439	6676 3838 AF4F sbci r26,hlo8(-(255))
		6440	6677 383a BF4F sbci r27,hhi8(-(255))
		6441	6678 .L544:
		6442	6679 383c 892F mov r24,r25
		6443	6680 383e 9A2F mov r25,r26
		6444	6681 3840 AB2F mov r26,r27
		6445	6682 3842 BB27 clr r27
		6446	6683 3844 A7FD sbrc r26,7
		6447	6684 3846 BA95 dec r27
		6448	6685 3848 8093 0000 sts MittelIntegralRoll2,r24
		6449	6686 384c 9093 0000 sts (MittelIntegralRoll2)+1,r25
		6450	6687 3850 A093 0000 sts (MittelIntegralRoll2)+2,r26
		6451	6688 3854 B093 0000 sts (MittelIntegralRoll2)+3,r27
		6452	6689 3858 8091 0000 lds r24,IntegralNick
		6453	6690 385c 9091 0000 lds r25,(IntegralNick)+1
		6454	6691 3860 A091 0000 lds r26,(IntegralNick)+2
		6455	6692 3864 B091 0000 lds r27,(IntegralNick)+3
		6456	6693 3868 2F81 ldd r18,Y+7
		6457	6694 386a 3885 ldd r19,Y+8
		6458	6695 386c 4985 ldd r20,Y+9
		6459	6696 386e 5A85 ldd r21,Y+10
		6460	6697 3870 281B sub r18,r24
		6461	6698 3872 390B sbc r19,r25
		6462	6699 3874 4A0B sbc r20,r26
		6463	6700 3876 5B0B sbc r21,r27
		6464	6701 3878 2093 0000 sts tmp_long.1,r18
		6465	6702 387c 3093 0000 sts (tmp_long.1)+1,r19
		6466	6703 3880 4093 0000 sts (tmp_long.1)+2,r20
		6467	6704 3884 5093 0000 sts (tmp_long.1)+3,r21
		6468	6705 3888 8091 0000 lds r24,IntegralRoll
		6469	6706 388c 9091 0000 lds r25,(IntegralRoll)+1
		6470	6707 3890 A091 0000 lds r26,(IntegralRoll)+2
		6471	6708 3894 B091 0000 lds r27,(IntegralRoll)+3
		6472	6709 3898 EB84 ldd r14,Y+11
		6473	6710 389a FC84 ldd r15,Y+12
		6474	6711 389c 0D85 ldd r16,Y+13
		6475	6712 389e 1E85 ldd r17,Y+14
		6476	6713 38a0 E81A sub r14,r24
		6477	6714 38a2 F90A sbc r15,r25
		6478	6715 38a4 0A0B sbc r16,r26
		6479	6716 38a6 1B0B sbc r17,r27
		6480	6717 38a8 E092 0000 sts tmp_long2.2,r14
		6481	6718 38ac F092 0000 sts (tmp_long2.2)+1,r15
		6482	6719 38b0 0093 0000 sts (tmp_long2.2)+2,r16
		6483	6720 38b4 1093 0000 sts (tmp_long2.2)+3,r17
		6484	6721 38b8 2093 0000 sts IntegralFehlerNick.3,r18
		6485	6722 38bc 3093 0000 sts (IntegralFehlerNick.3)+1,r19
		6486	6723 38c0 4093 0000 sts (IntegralFehlerNick.3)+2,r20
		6487	6724 38c4 5093 0000 sts (IntegralFehlerNick.3)+3,r21
		6488	6725 38c8 E092 0000 sts IntegralFehlerRoll.4,r14
		6489	6726 38cc F092 0000 sts (IntegralFehlerRoll.4)+1,r15
		6490	6727 38d0 0093 0000 sts (IntegralFehlerRoll.4)+2,r16
		6491	6728 38d4 1093 0000 sts (IntegralFehlerRoll.4)+3,r17
		6492	6729 38d8 8091 0000 lds r24,Mess_IntegralNick2
		6493	6730 38dc 9091 0000 lds r25,(Mess_IntegralNick2)+1
		6494	6731 38e0 A091 0000 lds r26,(Mess_IntegralNick2)+2
		6495	6732 38e4 B091 0000 lds r27,(Mess_IntegralNick2)+3
		6496	6733 38e8 821B sub r24,r18
		6497	6734 38ea 930B sbc r25,r19
		6498	6735 38ec A40B sbc r26,r20
		6499	6736 38ee B50B sbc r27,r21
		6500	6737 38f0 8093 0000 sts Mess_IntegralNick2,r24
		6501	6738 38f4 9093 0000 sts (Mess_IntegralNick2)+1,r25
		6502	6739 38f8 A093 0000 sts (Mess_IntegralNick2)+2,r26
		6503	6740 38fc B093 0000 sts (Mess_IntegralNick2)+3,r27
		6504	6741 3900 8091 0000 lds r24,Mess_IntegralRoll2
		6505	6742 3904 9091 0000 lds r25,(Mess_IntegralRoll2)+1
		6506	6743 3908 A091 0000 lds r26,(Mess_IntegralRoll2)+2
		6507	6744 390c B091 0000 lds r27,(Mess_IntegralRoll2)+3
		6508	6745 3910 8E19 sub r24,r14
		6509	6746 3912 9F09 sbc r25,r15
		6510	6747 3914 A00B sbc r26,r16
		6511	6748 3916 B10B sbc r27,r17
		6512	6749 3918 8093 0000 sts Mess_IntegralRoll2,r24
		6513	6750 391c 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		6514	6751 3920 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		6515	6752 3924 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		6516	6753 3928 8889 ldd r24,Y+16
		6517	6754 392a 8823 tst r24
		6518	6755 392c 01F0 breq .L545
		6519	6756 392e 2091 0000 lds r18,GierGyroFehler
		6520	6757 3932 3091 0000 lds r19,(GierGyroFehler)+1
		6521	6758 3936 2138 cpi r18,129
		6522	6759 3938 3105 cpc r19,__zero_reg__
		6523	6760 393a 04F0 brlt .L546
		6524	6761 393c 8091 0000 lds r24,AdNeutralGier
		6525	6762 3940 9091 0000 lds r25,(AdNeutralGier)+1
		6526	6763 3944 0196 adiw r24,1
		6527	6764 3946 9093 0000 sts (AdNeutralGier)+1,r25
		6528	6765 394a 8093 0000 sts AdNeutralGier,r24
		6529	6766 .L546:
		6530	6767 394e 2058 subi r18,lo8(-128)
		6531	6768 3950 3F4F sbci r19,hi8(-128)
		6532	6769 3952 04F4 brge .L545
		6533	6770 3954 8091 0000 lds r24,AdNeutralGier
		6534	6771 3958 9091 0000 lds r25,(AdNeutralGier)+1
		6535	6772 395c 0197 sbiw r24,1
		6536	6773 395e 9093 0000 sts (AdNeutralGier)+1,r25
		6537	6774 3962 8093 0000 sts AdNeutralGier,r24
		6538	6775 .L545:
		6539	6776 3966 1092 0000 sts (GierGyroFehler)+1,__zero_reg__
		6540	6777 396a 1092 0000 sts GierGyroFehler,__zero_reg__
		6541	6778 396e 81E0 ldi r24,lo8(1)
		6542	6779 3970 90E0 ldi r25,hi8(1)
		6543	6780 3972 9093 0000 sts (cnt.14)+1,r25
		6544	6781 3976 8093 0000 sts cnt.14,r24
		6545	6782 397a E090 0000 lds r14,IntegralFehlerNick.3
		6546	6783 397e F090 0000 lds r15,(IntegralFehlerNick.3)+1
		6547	6784 3982 0091 0000 lds r16,(IntegralFehlerNick.3)+2
		6548	6785 3986 1091 0000 lds r17,(IntegralFehlerNick.3)+3
		6549	6786 398a D801 movw r26,r16
		6550	6787 398c C701 movw r24,r14
		6551	6788 398e 17FF sbrs r17,7
		6552	6789 3990 00C0 rjmp .L549
		6553	6790 3992 8827 clr r24
		6554	6791 3994 9927 clr r25
		6555	6792 3996 DC01 movw r26,r24
		6556	6793 3998 8E19 sub r24,r14
		6557	6794 399a 9F09 sbc r25,r15
		6558	6795 399c A00B sbc r26,r16
		6559	6796 399e B10B sbc r27,r17
		6560	6797 .L549:
		6561	6798 39a0 8150 subi r24,lo8(513)
		6562	6799 39a2 9240 sbci r25,hi8(513)
		6563	6800 39a4 A040 sbci r26,hlo8(513)
		6564	6801 39a6 B040 sbci r27,hhi8(513)
		6565	6802 39a8 04F0 brlt .L548
		6566	6803 39aa 84E0 ldi r24,lo8(4)
		6567	6804 39ac 90E0 ldi r25,hi8(4)
		6568	6805 39ae 9093 0000 sts (cnt.14)+1,r25
		6569	6806 39b2 8093 0000 sts cnt.14,r24
		6570	6807 .L548:
		6571	6808 39b6 8091 0000 lds r24,MittelIntegralNick_Alt.19
		6572	6809 39ba 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+1
		6573	6810 39be A091 0000 lds r26,(MittelIntegralNick_Alt.19)+2
		6574	6811 39c2 B091 0000 lds r27,(MittelIntegralNick_Alt.19)+3
		6575	6812 39c6 2091 0000 lds r18,MittelIntegralNick
		6576	6813 39ca 3091 0000 lds r19,(MittelIntegralNick)+1
		6577	6814 39ce 4091 0000 lds r20,(MittelIntegralNick)+2
		6578	6815 39d2 5091 0000 lds r21,(MittelIntegralNick)+3
		6579	6816 39d6 821B sub r24,r18
		6580	6817 39d8 930B sbc r25,r19
		6581	6818 39da A40B sbc r26,r20
		6582	6819 39dc B50B sbc r27,r21
		6583	6820 39de 815E subi r24,lo8(-(19999))
		6584	6821 39e0 914B sbci r25,hi8(-(19999))
		6585	6822 39e2 AF4F sbci r26,hlo8(-(19999))
		6586	6823 39e4 BF4F sbci r27,hhi8(-(19999))
		6587	6824 39e6 8F53 subi r24,lo8(39999)
		6588	6825 39e8 9C49 sbci r25,hi8(39999)
		6589	6826 39ea A040 sbci r26,hlo8(39999)
		6590	6827 39ec B040 sbci r27,hhi8(39999)
		6591	6828 39ee 00F0 brlo .L551
		6592	6829 39f0 8091 0000 lds r24,FromNaviCtrl_Value+1
		6593	6830 39f4 8931 cpi r24,lo8(25)
		6594	6831 39f6 04F4 brge .+2
		6595	6832 39f8 00C0 rjmp .L550
		6596	6833 .L551:
		6597	6834 39fa 21E0 ldi r18,lo8(4097)
		6598	6835 39fc E216 cp r14,r18
		6599	6836 39fe 20E1 ldi r18,hi8(4097)
		6600	6837 3a00 F206 cpc r15,r18
		6601	6838 3a02 20E0 ldi r18,hlo8(4097)
		6602	6839 3a04 0207 cpc r16,r18
		6603	6840 3a06 20E0 ldi r18,hhi8(4097)
		6604	6841 3a08 1207 cpc r17,r18
		6605	6842 3a0a 04F4 brge .+2
		6606	6843 3a0c 00C0 rjmp .L552
		6607	6844 3a0e 8091 0000 lds r24,last_n_p.15
		6608	6845 3a12 8823 tst r24
		6609	6846 3a14 01F4 brne .+2
		6610	6847 3a16 00C0 rjmp .L553
		6611	6848 3a18 D801 movw r26,r16
		6612	6849 3a1a C701 movw r24,r14
		6613	6850 3a1c 17FF sbrs r17,7
		6614	6851 3a1e 00C0 rjmp .L554
		6615	6852 3a20 8827 clr r24
		6616	6853 3a22 9927 clr r25
		6617	6854 3a24 DC01 movw r26,r24
		6618	6855 3a26 8E19 sub r24,r14
		6619	6856 3a28 9F09 sbc r25,r15
		6620	6857 3a2a A00B sbc r26,r16
		6621	6858 3a2c B10B sbc r27,r17
		6622	6859 .L554:
		6623	6860 3a2e 9C01 movw r18,r24
		6624	6861 3a30 AD01 movw r20,r26
		6625	6862 3a32 B7FF sbrs r27,7
		6626	6863 3a34 00C0 rjmp .L555
		6627	6864 3a36 2150 subi r18,lo8(-(511))
		6628	6865 3a38 3E4F sbci r19,hi8(-(511))
		6629	6866 3a3a 4F4F sbci r20,hlo8(-(511))
		6630	6867 3a3c 5F4F sbci r21,hhi8(-(511))
		6631	6868 .L555:
		6632	6869 3a3e F9E0 ldi r31,9
		6633	6870 3a40 5595 1: asr r21
		6634	6871 3a42 4795 ror r20
		6635	6872 3a44 3795 ror r19
		6636	6873 3a46 2795 ror r18
		6637	6874 3a48 FA95 dec r31
		6638	6875 3a4a 01F4 brne 1b
		6639	6876 3a4c 8091 0000 lds r24,cnt.14
		6640	6877 3a50 9091 0000 lds r25,(cnt.14)+1
		6641	6878 3a54 820F add r24,r18
		6642	6879 3a56 931F adc r25,r19
		6643	6880 3a58 9093 0000 sts (cnt.14)+1,r25
		6644	6881 3a5c 8093 0000 sts cnt.14,r24
		6645	6882 3a60 D801 movw r26,r16
		6646	6883 3a62 C701 movw r24,r14
		6647	6884 3a64 17FF sbrs r17,7
		6648	6885 3a66 00C0 rjmp .L556
		6649	6886 3a68 0796 adiw r24,7
		6650	6887 3a6a A11D adc r26,__zero_reg__
		6651	6888 3a6c B11D adc r27,__zero_reg__
		6652	6889 .L556:
		6653	6890 3a6e E3E0 ldi r30,3
		6654	6891 3a70 B595 1: asr r27
		6655	6892 3a72 A795 ror r26
		6656	6893 3a74 9795 ror r25
		6657	6894 3a76 8795 ror r24
		6658	6895 3a78 EA95 dec r30
		6659	6896 3a7a 01F4 brne 1b
		6660	6897 3a7c 8093 0000 sts ausgleichNick.10,r24
		6661	6898 3a80 9093 0000 sts (ausgleichNick.10)+1,r25
		6662	6899 3a84 A093 0000 sts (ausgleichNick.10)+2,r26
		6663	6900 3a88 B093 0000 sts (ausgleichNick.10)+3,r27
		6664	6901 3a8c 8958 subi r24,lo8(5001)
		6665	6902 3a8e 9341 sbci r25,hi8(5001)
		6666	6903 3a90 A040 sbci r26,hlo8(5001)
		6667	6904 3a92 B040 sbci r27,hhi8(5001)
		6668	6905 3a94 04F0 brlt .L557
		6669	6906 3a96 88E8 ldi r24,lo8(5000)
		6670	6907 3a98 93E1 ldi r25,hi8(5000)
		6671	6908 3a9a A0E0 ldi r26,hlo8(5000)
		6672	6909 3a9c B0E0 ldi r27,hhi8(5000)
		6673	6910 3a9e 8093 0000 sts ausgleichNick.10,r24
		6674	6911 3aa2 9093 0000 sts (ausgleichNick.10)+1,r25
		6675	6912 3aa6 A093 0000 sts (ausgleichNick.10)+2,r26
		6676	6913 3aaa B093 0000 sts (ausgleichNick.10)+3,r27
		6677	6914 .L557:
		6678	6915 3aae 2091 0000 lds r18,ausgleichNick.10
		6679	6916 3ab2 3091 0000 lds r19,(ausgleichNick.10)+1
		6680	6917 3ab6 4091 0000 lds r20,(ausgleichNick.10)+2
		6681	6918 3aba 5091 0000 lds r21,(ausgleichNick.10)+3
		6682	6919 3abe 57FF sbrs r21,7
		6683	6920 3ac0 00C0 rjmp .L558
		6684	6921 3ac2 2150 subi r18,lo8(-(255))
		6685	6922 3ac4 3F4F sbci r19,hi8(-(255))
		6686	6923 3ac6 4F4F sbci r20,hlo8(-(255))
		6687	6924 3ac8 5F4F sbci r21,hhi8(-(255))
		6688	6925 .L558:
		6689	6926 3aca 232F mov r18,r19
		6690	6927 3acc 342F mov r19,r20
		6691	6928 3ace 452F mov r20,r21
		6692	6929 3ad0 5527 clr r21
		6693	6930 3ad2 47FD sbrc r20,7
		6694	6931 3ad4 5A95 dec r21
		6695	6932 3ad6 8091 0000 lds r24,LageKorrekturNick
		6696	6933 3ada 9091 0000 lds r25,(LageKorrekturNick)+1
		6697	6934 3ade 820F add r24,r18
		6698	6935 3ae0 931F adc r25,r19
		6699	6936 3ae2 9093 0000 sts (LageKorrekturNick)+1,r25
		6700	6937 3ae6 8093 0000 sts LageKorrekturNick,r24
		6701	6938 3aea 00C0 rjmp .L560
		6702	6939 .L553:
		6703	6940 3aec 81E0 ldi r24,lo8(1)
		6704	6941 3aee 8093 0000 sts last_n_p.15,r24
		6705	6942 3af2 00C0 rjmp .L560
		6706	6943 .L552:
		6707	6944 3af4 1092 0000 sts last_n_p.15,__zero_reg__
		6708	6945 .L560:
		6709	6946 3af8 40E0 ldi r20,lo8(-4096)
		6710	6947 3afa E416 cp r14,r20
		6711	6948 3afc 40EF ldi r20,hi8(-4096)
		6712	6949 3afe F406 cpc r15,r20
		6713	6950 3b00 4FEF ldi r20,hlo8(-4096)
		6714	6951 3b02 0407 cpc r16,r20
		6715	6952 3b04 4FEF ldi r20,hhi8(-4096)
		6716	6953 3b06 1407 cpc r17,r20
		6717	6954 3b08 04F0 brlt .+2
		6718	6955 3b0a 00C0 rjmp .L561
		6719	6956 3b0c 8091 0000 lds r24,last_n_n.16
		6720	6957 3b10 8823 tst r24
		6721	6958 3b12 01F4 brne .+2
		6722	6959 3b14 00C0 rjmp .L562
		6723	6960 3b16 D801 movw r26,r16
		6724	6961 3b18 C701 movw r24,r14
		6725	6962 3b1a 17FF sbrs r17,7
		6726	6963 3b1c 00C0 rjmp .L563
		6727	6964 3b1e 8827 clr r24
		6728	6965 3b20 9927 clr r25
		6729	6966 3b22 DC01 movw r26,r24
		6730	6967 3b24 8E19 sub r24,r14
		6731	6968 3b26 9F09 sbc r25,r15
		6732	6969 3b28 A00B sbc r26,r16
		6733	6970 3b2a B10B sbc r27,r17
		6734	6971 .L563:
		6735	6972 3b2c 9C01 movw r18,r24
		6736	6973 3b2e AD01 movw r20,r26
		6737	6974 3b30 B7FF sbrs r27,7
		6738	6975 3b32 00C0 rjmp .L564
		6739	6976 3b34 2150 subi r18,lo8(-(511))
		6740	6977 3b36 3E4F sbci r19,hi8(-(511))
		6741	6978 3b38 4F4F sbci r20,hlo8(-(511))
		6742	6979 3b3a 5F4F sbci r21,hhi8(-(511))
		6743	6980 .L564:
		6744	6981 3b3c 69E0 ldi r22,9
		6745	6982 3b3e 5595 1: asr r21
		6746	6983 3b40 4795 ror r20
		6747	6984 3b42 3795 ror r19
		6748	6985 3b44 2795 ror r18
		6749	6986 3b46 6A95 dec r22
		6750	6987 3b48 01F4 brne 1b
		6751	6988 3b4a 8091 0000 lds r24,cnt.14
		6752	6989 3b4e 9091 0000 lds r25,(cnt.14)+1
		6753	6990 3b52 820F add r24,r18
		6754	6991 3b54 931F adc r25,r19
		6755	6992 3b56 9093 0000 sts (cnt.14)+1,r25
		6756	6993 3b5a 8093 0000 sts cnt.14,r24
		6757	6994 3b5e D801 movw r26,r16
		6758	6995 3b60 C701 movw r24,r14
		6759	6996 3b62 17FF sbrs r17,7
		6760	6997 3b64 00C0 rjmp .L565
		6761	6998 3b66 0796 adiw r24,7
		6762	6999 3b68 A11D adc r26,__zero_reg__
		6763	7000 3b6a B11D adc r27,__zero_reg__
		6764	7001 .L565:
		6765	7002 3b6c 23E0 ldi r18,3
		6766	7003 3b6e B595 1: asr r27
		6767	7004 3b70 A795 ror r26
		6768	7005 3b72 9795 ror r25
		6769	7006 3b74 8795 ror r24
		6770	7007 3b76 2A95 dec r18
		6771	7008 3b78 01F4 brne 1b
		6772	7009 3b7a 8093 0000 sts ausgleichNick.10,r24
		6773	7010 3b7e 9093 0000 sts (ausgleichNick.10)+1,r25
		6774	7011 3b82 A093 0000 sts (ausgleichNick.10)+2,r26
		6775	7012 3b86 B093 0000 sts (ausgleichNick.10)+3,r27
		6776	7013 3b8a 8857 subi r24,lo8(-5000)
		6777	7014 3b8c 9C4E sbci r25,hi8(-5000)
		6778	7015 3b8e AF4F sbci r26,hlo8(-5000)
		6779	7016 3b90 BF4F sbci r27,hhi8(-5000)
		6780	7017 3b92 04F4 brge .L566
		6781	7018 3b94 88E7 ldi r24,lo8(-5000)
		6782	7019 3b96 9CEE ldi r25,hi8(-5000)
		6783	7020 3b98 AFEF ldi r26,hlo8(-5000)
		6784	7021 3b9a BFEF ldi r27,hhi8(-5000)
		6785	7022 3b9c 8093 0000 sts ausgleichNick.10,r24
		6786	7023 3ba0 9093 0000 sts (ausgleichNick.10)+1,r25
		6787	7024 3ba4 A093 0000 sts (ausgleichNick.10)+2,r26
		6788	7025 3ba8 B093 0000 sts (ausgleichNick.10)+3,r27
		6789	7026 .L566:
		6790	7027 3bac 2091 0000 lds r18,ausgleichNick.10
		6791	7028 3bb0 3091 0000 lds r19,(ausgleichNick.10)+1
		6792	7029 3bb4 4091 0000 lds r20,(ausgleichNick.10)+2
		6793	7030 3bb8 5091 0000 lds r21,(ausgleichNick.10)+3
		6794	7031 3bbc 57FF sbrs r21,7
		6795	7032 3bbe 00C0 rjmp .L567
		6796	7033 3bc0 2150 subi r18,lo8(-(255))
		6797	7034 3bc2 3F4F sbci r19,hi8(-(255))
		6798	7035 3bc4 4F4F sbci r20,hlo8(-(255))
		6799	7036 3bc6 5F4F sbci r21,hhi8(-(255))
		6800	7037 .L567:
		6801	7038 3bc8 232F mov r18,r19
		6802	7039 3bca 342F mov r19,r20
		6803	7040 3bcc 452F mov r20,r21
		6804	7041 3bce 5527 clr r21
		6805	7042 3bd0 47FD sbrc r20,7
		6806	7043 3bd2 5A95 dec r21
		6807	7044 3bd4 8091 0000 lds r24,LageKorrekturNick
		6808	7045 3bd8 9091 0000 lds r25,(LageKorrekturNick)+1
		6809	7046 3bdc 820F add r24,r18
		6810	7047 3bde 931F adc r25,r19
		6811	7048 3be0 9093 0000 sts (LageKorrekturNick)+1,r25
		6812	7049 3be4 8093 0000 sts LageKorrekturNick,r24
		6813	7050 3be8 00C0 rjmp .L570
		6814	7051 .L562:
		6815	7052 3bea 81E0 ldi r24,lo8(1)
		6816	7053 3bec 8093 0000 sts last_n_n.16,r24
		6817	7054 3bf0 00C0 rjmp .L570
		6818	7055 .L561:
		6819	7056 3bf2 1092 0000 sts last_n_n.16,__zero_reg__
		6820	7057 3bf6 00C0 rjmp .L570
		6821	7058 .L550:
		6822	7059 3bf8 1092 0000 sts (cnt.14)+1,__zero_reg__
		6823	7060 3bfc 1092 0000 sts cnt.14,__zero_reg__
		6824	7061 3c00 84E6 ldi r24,lo8(100)
		6825	7062 3c02 90E0 ldi r25,hi8(100)
		6826	7063 3c04 9093 0000 sts (KompassSignalSchlecht)+1,r25
		6827	7064 3c08 8093 0000 sts KompassSignalSchlecht,r24
		6828	7065 .L570:
		6829	7066 3c0c 6889 ldd r22,Y+16
		6830	7067 3c0e 262F mov r18,r22
		6831	7068 3c10 3327 clr r19
		6832	7069 3c12 8091 0000 lds r24,cnt.14
		6833	7070 3c16 9091 0000 lds r25,(cnt.14)+1
		6834	7071 3c1a 2817 cp r18,r24
		6835	7072 3c1c 3907 cpc r19,r25
		6836	7073 3c1e 04F4 brge .L571
		6837	7074 3c20 3093 0000 sts (cnt.14)+1,r19
		6838	7075 3c24 2093 0000 sts cnt.14,r18
		6839	7076 .L571:
		6840	7077 3c28 1091 0000 lds r17,FromNaviCtrl_Value+1
		6841	7078 3c2c 1123 tst r17
		6842	7079 3c2e 01F0 breq .L572
		6843	7080 3c30 212F mov r18,r17
		6844	7081 3c32 3327 clr r19
		6845	7082 3c34 27FD sbrc r18,7
		6846	7083 3c36 3095 com r19
		6847	7084 3c38 8091 0000 lds r24,cnt.14
		6848	7085 3c3c 9091 0000 lds r25,(cnt.14)+1
		6849	7086 3c40 2817 cp r18,r24
		6850	7087 3c42 3907 cpc r19,r25
		6851	7088 3c44 04F4 brge .L572
		6852	7089 3c46 3093 0000 sts (cnt.14)+1,r19
		6853	7090 3c4a 2093 0000 sts cnt.14,r18
		6854	7091 .L572:
		6855	7092 3c4e 4091 0000 lds r20,IntegralFehlerNick.3
		6856	7093 3c52 5091 0000 lds r21,(IntegralFehlerNick.3)+1
		6857	7094 3c56 6091 0000 lds r22,(IntegralFehlerNick.3)+2
		6858	7095 3c5a 7091 0000 lds r23,(IntegralFehlerNick.3)+3
		6859	7096 3c5e 4138 cpi r20,lo8(129)
		6860	7097 3c60 5105 cpc r21,__zero_reg__
		6861	7098 3c62 6105 cpc r22,__zero_reg__
		6862	7099 3c64 7105 cpc r23,__zero_reg__
		6863	7100 3c66 04F0 brlt .L574
		6864	7101 3c68 8091 0000 lds r24,AdNeutralNick
		6865	7102 3c6c 9091 0000 lds r25,(AdNeutralNick)+1
		6866	7103 3c70 2091 0000 lds r18,cnt.14
		6867	7104 3c74 3091 0000 lds r19,(cnt.14)+1
		6868	7105 3c78 820F add r24,r18
		6869	7106 3c7a 931F adc r25,r19
		6870	7107 3c7c 9093 0000 sts (AdNeutralNick)+1,r25
		6871	7108 3c80 8093 0000 sts AdNeutralNick,r24
		6872	7109 .L574:
		6873	7110 3c84 4058 subi r20,lo8(-128)
		6874	7111 3c86 5F4F sbci r21,hi8(-128)
		6875	7112 3c88 6F4F sbci r22,hlo8(-128)
		6876	7113 3c8a 7F4F sbci r23,hhi8(-128)
		6877	7114 3c8c 04F4 brge .L575
		6878	7115 3c8e 8091 0000 lds r24,AdNeutralNick
		6879	7116 3c92 9091 0000 lds r25,(AdNeutralNick)+1
		6880	7117 3c96 2091 0000 lds r18,cnt.14
		6881	7118 3c9a 3091 0000 lds r19,(cnt.14)+1
		6882	7119 3c9e 821B sub r24,r18
		6883	7120 3ca0 930B sbc r25,r19
		6884	7121 3ca2 9093 0000 sts (AdNeutralNick)+1,r25
		6885	7122 3ca6 8093 0000 sts AdNeutralNick,r24
		6886	7123 .L575:
		6887	7124 3caa 81E0 ldi r24,lo8(1)
		6888	7125 3cac 90E0 ldi r25,hi8(1)
		6889	7126 3cae 9093 0000 sts (cnt.14)+1,r25
		6890	7127 3cb2 8093 0000 sts cnt.14,r24
		6891	7128 3cb6 C090 0000 lds r12,IntegralFehlerRoll.4
		6892	7129 3cba D090 0000 lds r13,(IntegralFehlerRoll.4)+1
		6893	7130 3cbe E090 0000 lds r14,(IntegralFehlerRoll.4)+2
		6894	7131 3cc2 F090 0000 lds r15,(IntegralFehlerRoll.4)+3
		6895	7132 3cc6 D701 movw r26,r14
		6896	7133 3cc8 C601 movw r24,r12
		6897	7134 3cca F7FE sbrs r15,7
		6898	7135 3ccc 00C0 rjmp .L577
		6899	7136 3cce 8827 clr r24
		6900	7137 3cd0 9927 clr r25
		6901	7138 3cd2 DC01 movw r26,r24
		6902	7139 3cd4 8C19 sub r24,r12
		6903	7140 3cd6 9D09 sbc r25,r13
		6904	7141 3cd8 AE09 sbc r26,r14
		6905	7142 3cda BF09 sbc r27,r15
		6906	7143 .L577:
		6907	7144 3cdc 8150 subi r24,lo8(513)
		6908	7145 3cde 9240 sbci r25,hi8(513)
		6909	7146 3ce0 A040 sbci r26,hlo8(513)
		6910	7147 3ce2 B040 sbci r27,hhi8(513)
		6911	7148 3ce4 04F0 brlt .L576
		6912	7149 3ce6 84E0 ldi r24,lo8(4)
		6913	7150 3ce8 90E0 ldi r25,hi8(4)
		6914	7151 3cea 9093 0000 sts (cnt.14)+1,r25
		6915	7152 3cee 8093 0000 sts cnt.14,r24
		6916	7153 .L576:
		6917	7154 3cf2 8091 0000 lds r24,MittelIntegralRoll_Alt.20
		6918	7155 3cf6 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+1
		6919	7156 3cfa A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+2
		6920	7157 3cfe B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+3
		6921	7158 3d02 2091 0000 lds r18,MittelIntegralRoll
		6922	7159 3d06 3091 0000 lds r19,(MittelIntegralRoll)+1
		6923	7160 3d0a 4091 0000 lds r20,(MittelIntegralRoll)+2
		6924	7161 3d0e 5091 0000 lds r21,(MittelIntegralRoll)+3
		6925	7162 3d12 821B sub r24,r18
		6926	7163 3d14 930B sbc r25,r19
		6927	7164 3d16 A40B sbc r26,r20
		6928	7165 3d18 B50B sbc r27,r21
		6929	7166 3d1a 815E subi r24,lo8(-(19999))
		6930	7167 3d1c 914B sbci r25,hi8(-(19999))
		6931	7168 3d1e AF4F sbci r26,hlo8(-(19999))
		6932	7169 3d20 BF4F sbci r27,hhi8(-(19999))
		6933	7170 3d22 8F53 subi r24,lo8(39999)
		6934	7171 3d24 9C49 sbci r25,hi8(39999)
		6935	7172 3d26 A040 sbci r26,hlo8(39999)
		6936	7173 3d28 B040 sbci r27,hhi8(39999)
		6937	7174 3d2a 00F0 brlo .L579
		6938	7175 3d2c 1931 cpi r17,lo8(25)
		6939	7176 3d2e 04F4 brge .+2
		6940	7177 3d30 00C0 rjmp .L578
		6941	7178 .L579:
		6942	7179 3d32 01E0 ldi r16,lo8(4097)
		6943	7180 3d34 C016 cp r12,r16
		6944	7181 3d36 00E1 ldi r16,hi8(4097)
		6945	7182 3d38 D006 cpc r13,r16
		6946	7183 3d3a 00E0 ldi r16,hlo8(4097)
		6947	7184 3d3c E006 cpc r14,r16
		6948	7185 3d3e 00E0 ldi r16,hhi8(4097)
		6949	7186 3d40 F006 cpc r15,r16
		6950	7187 3d42 04F4 brge .+2
		6951	7188 3d44 00C0 rjmp .L580
		6952	7189 3d46 8091 0000 lds r24,last_r_p.17
		6953	7190 3d4a 8823 tst r24
		6954	7191 3d4c 01F4 brne .+2
		6955	7192 3d4e 00C0 rjmp .L581
		6956	7193 3d50 D701 movw r26,r14
		6957	7194 3d52 C601 movw r24,r12
		6958	7195 3d54 F7FE sbrs r15,7
		6959	7196 3d56 00C0 rjmp .L582
		6960	7197 3d58 8827 clr r24
		6961	7198 3d5a 9927 clr r25
		6962	7199 3d5c DC01 movw r26,r24
		6963	7200 3d5e 8C19 sub r24,r12
		6964	7201 3d60 9D09 sbc r25,r13
		6965	7202 3d62 AE09 sbc r26,r14
		6966	7203 3d64 BF09 sbc r27,r15
		6967	7204 .L582:
		6968	7205 3d66 9C01 movw r18,r24
		6969	7206 3d68 AD01 movw r20,r26
		6970	7207 3d6a B7FF sbrs r27,7
		6971	7208 3d6c 00C0 rjmp .L583
		6972	7209 3d6e 2150 subi r18,lo8(-(511))
		6973	7210 3d70 3E4F sbci r19,hi8(-(511))
		6974	7211 3d72 4F4F sbci r20,hlo8(-(511))
		6975	7212 3d74 5F4F sbci r21,hhi8(-(511))
		6976	7213 .L583:
		6977	7214 3d76 09E0 ldi r16,9
		6978	7215 3d78 5595 1: asr r21
		6979	7216 3d7a 4795 ror r20
		6980	7217 3d7c 3795 ror r19
		6981	7218 3d7e 2795 ror r18
		6982	7219 3d80 0A95 dec r16
		6983	7220 3d82 01F4 brne 1b
		6984	7221 3d84 8091 0000 lds r24,cnt.14
		6985	7222 3d88 9091 0000 lds r25,(cnt.14)+1
		6986	7223 3d8c 820F add r24,r18
		6987	7224 3d8e 931F adc r25,r19
		6988	7225 3d90 9093 0000 sts (cnt.14)+1,r25
		6989	7226 3d94 8093 0000 sts cnt.14,r24
		6990	7227 3d98 D701 movw r26,r14
		6991	7228 3d9a C601 movw r24,r12
		6992	7229 3d9c F7FE sbrs r15,7
		6993	7230 3d9e 00C0 rjmp .L584
		6994	7231 3da0 0796 adiw r24,7
		6995	7232 3da2 A11D adc r26,__zero_reg__
		6996	7233 3da4 B11D adc r27,__zero_reg__
		6997	7234 .L584:
		6998	7235 3da6 13E0 ldi r17,3
		6999	7236 3da8 B595 1: asr r27
		7000	7237 3daa A795 ror r26
		7001	7238 3dac 9795 ror r25
		7002	7239 3dae 8795 ror r24
		7003	7240 3db0 1A95 dec r17
		7004	7241 3db2 01F4 brne 1b
		7005	7242 3db4 8093 0000 sts ausgleichRoll.11,r24
		7006	7243 3db8 9093 0000 sts (ausgleichRoll.11)+1,r25
		7007	7244 3dbc A093 0000 sts (ausgleichRoll.11)+2,r26
		7008	7245 3dc0 B093 0000 sts (ausgleichRoll.11)+3,r27
		7009	7246 3dc4 8958 subi r24,lo8(5001)
		7010	7247 3dc6 9341 sbci r25,hi8(5001)
		7011	7248 3dc8 A040 sbci r26,hlo8(5001)
		7012	7249 3dca B040 sbci r27,hhi8(5001)
		7013	7250 3dcc 04F0 brlt .L585
		7014	7251 3dce 88E8 ldi r24,lo8(5000)
		7015	7252 3dd0 93E1 ldi r25,hi8(5000)
		7016	7253 3dd2 A0E0 ldi r26,hlo8(5000)
		7017	7254 3dd4 B0E0 ldi r27,hhi8(5000)
		7018	7255 3dd6 8093 0000 sts ausgleichRoll.11,r24
		7019	7256 3dda 9093 0000 sts (ausgleichRoll.11)+1,r25
		7020	7257 3dde A093 0000 sts (ausgleichRoll.11)+2,r26
		7021	7258 3de2 B093 0000 sts (ausgleichRoll.11)+3,r27
		7022	7259 .L585:
		7023	7260 3de6 2091 0000 lds r18,ausgleichRoll.11
		7024	7261 3dea 3091 0000 lds r19,(ausgleichRoll.11)+1
		7025	7262 3dee 4091 0000 lds r20,(ausgleichRoll.11)+2
		7026	7263 3df2 5091 0000 lds r21,(ausgleichRoll.11)+3
		7027	7264 3df6 57FF sbrs r21,7
		7028	7265 3df8 00C0 rjmp .L586
		7029	7266 3dfa 2150 subi r18,lo8(-(255))
		7030	7267 3dfc 3F4F sbci r19,hi8(-(255))
		7031	7268 3dfe 4F4F sbci r20,hlo8(-(255))
		7032	7269 3e00 5F4F sbci r21,hhi8(-(255))
		7033	7270 .L586:
		7034	7271 3e02 232F mov r18,r19
		7035	7272 3e04 342F mov r19,r20
		7036	7273 3e06 452F mov r20,r21
		7037	7274 3e08 5527 clr r21
		7038	7275 3e0a 47FD sbrc r20,7
		7039	7276 3e0c 5A95 dec r21
		7040	7277 3e0e 8091 0000 lds r24,LageKorrekturRoll
		7041	7278 3e12 9091 0000 lds r25,(LageKorrekturRoll)+1
		7042	7279 3e16 820F add r24,r18
		7043	7280 3e18 931F adc r25,r19
		7044	7281 3e1a 9093 0000 sts (LageKorrekturRoll)+1,r25
		7045	7282 3e1e 8093 0000 sts LageKorrekturRoll,r24
		7046	7283 3e22 00C0 rjmp .L588
		7047	7284 .L581:
		7048	7285 3e24 81E0 ldi r24,lo8(1)
		7049	7286 3e26 8093 0000 sts last_r_p.17,r24
		7050	7287 3e2a 00C0 rjmp .L588
		7051	7288 .L580:
		7052	7289 3e2c 1092 0000 sts last_r_p.17,__zero_reg__
		7053	7290 .L588:
		7054	7291 3e30 20E0 ldi r18,lo8(-4096)
		7055	7292 3e32 C216 cp r12,r18
		7056	7293 3e34 20EF ldi r18,hi8(-4096)
		7057	7294 3e36 D206 cpc r13,r18
		7058	7295 3e38 2FEF ldi r18,hlo8(-4096)
		7059	7296 3e3a E206 cpc r14,r18
		7060	7297 3e3c 2FEF ldi r18,hhi8(-4096)
		7061	7298 3e3e F206 cpc r15,r18
		7062	7299 3e40 04F0 brlt .+2
		7063	7300 3e42 00C0 rjmp .L589
		7064	7301 3e44 8091 0000 lds r24,last_r_n.18
		7065	7302 3e48 8823 tst r24
		7066	7303 3e4a 01F4 brne .+2
		7067	7304 3e4c 00C0 rjmp .L590
		7068	7305 3e4e D701 movw r26,r14
		7069	7306 3e50 C601 movw r24,r12
		7070	7307 3e52 F7FE sbrs r15,7
		7071	7308 3e54 00C0 rjmp .L591
		7072	7309 3e56 8827 clr r24
		7073	7310 3e58 9927 clr r25
		7074	7311 3e5a DC01 movw r26,r24
		7075	7312 3e5c 8C19 sub r24,r12
		7076	7313 3e5e 9D09 sbc r25,r13
		7077	7314 3e60 AE09 sbc r26,r14
		7078	7315 3e62 BF09 sbc r27,r15
		7079	7316 .L591:
		7080	7317 3e64 9C01 movw r18,r24
		7081	7318 3e66 AD01 movw r20,r26
		7082	7319 3e68 B7FF sbrs r27,7
		7083	7320 3e6a 00C0 rjmp .L592
		7084	7321 3e6c 2150 subi r18,lo8(-(511))
		7085	7322 3e6e 3E4F sbci r19,hi8(-(511))
		7086	7323 3e70 4F4F sbci r20,hlo8(-(511))
		7087	7324 3e72 5F4F sbci r21,hhi8(-(511))
		7088	7325 .L592:
		7089	7326 3e74 E9E0 ldi r30,9
		7090	7327 3e76 5595 1: asr r21
		7091	7328 3e78 4795 ror r20
		7092	7329 3e7a 3795 ror r19
		7093	7330 3e7c 2795 ror r18
		7094	7331 3e7e EA95 dec r30
		7095	7332 3e80 01F4 brne 1b
		7096	7333 3e82 8091 0000 lds r24,cnt.14
		7097	7334 3e86 9091 0000 lds r25,(cnt.14)+1
		7098	7335 3e8a 820F add r24,r18
		7099	7336 3e8c 931F adc r25,r19
		7100	7337 3e8e 9093 0000 sts (cnt.14)+1,r25
		7101	7338 3e92 8093 0000 sts cnt.14,r24
		7102	7339 3e96 D701 movw r26,r14
		7103	7340 3e98 C601 movw r24,r12
		7104	7341 3e9a F7FE sbrs r15,7
		7105	7342 3e9c 00C0 rjmp .L593
		7106	7343 3e9e 0796 adiw r24,7
		7107	7344 3ea0 A11D adc r26,__zero_reg__
		7108	7345 3ea2 B11D adc r27,__zero_reg__
		7109	7346 .L593:
		7110	7347 3ea4 73E0 ldi r23,3
		7111	7348 3ea6 B595 1: asr r27
		7112	7349 3ea8 A795 ror r26
		7113	7350 3eaa 9795 ror r25
		7114	7351 3eac 8795 ror r24
		7115	7352 3eae 7A95 dec r23
		7116	7353 3eb0 01F4 brne 1b
		7117	7354 3eb2 8093 0000 sts ausgleichRoll.11,r24
		7118	7355 3eb6 9093 0000 sts (ausgleichRoll.11)+1,r25
		7119	7356 3eba A093 0000 sts (ausgleichRoll.11)+2,r26
		7120	7357 3ebe B093 0000 sts (ausgleichRoll.11)+3,r27
		7121	7358 3ec2 8857 subi r24,lo8(-5000)
		7122	7359 3ec4 9C4E sbci r25,hi8(-5000)
		7123	7360 3ec6 AF4F sbci r26,hlo8(-5000)
		7124	7361 3ec8 BF4F sbci r27,hhi8(-5000)
		7125	7362 3eca 04F4 brge .L594
		7126	7363 3ecc 88E7 ldi r24,lo8(-5000)
		7127	7364 3ece 9CEE ldi r25,hi8(-5000)
		7128	7365 3ed0 AFEF ldi r26,hlo8(-5000)
		7129	7366 3ed2 BFEF ldi r27,hhi8(-5000)
		7130	7367 3ed4 8093 0000 sts ausgleichRoll.11,r24
		7131	7368 3ed8 9093 0000 sts (ausgleichRoll.11)+1,r25
		7132	7369 3edc A093 0000 sts (ausgleichRoll.11)+2,r26
		7133	7370 3ee0 B093 0000 sts (ausgleichRoll.11)+3,r27
		7134	7371 .L594:
		7135	7372 3ee4 2091 0000 lds r18,ausgleichRoll.11
		7136	7373 3ee8 3091 0000 lds r19,(ausgleichRoll.11)+1
		7137	7374 3eec 4091 0000 lds r20,(ausgleichRoll.11)+2
		7138	7375 3ef0 5091 0000 lds r21,(ausgleichRoll.11)+3
		7139	7376 3ef4 57FF sbrs r21,7
		7140	7377 3ef6 00C0 rjmp .L595
		7141	7378 3ef8 2150 subi r18,lo8(-(255))
		7142	7379 3efa 3F4F sbci r19,hi8(-(255))
		7143	7380 3efc 4F4F sbci r20,hlo8(-(255))
		7144	7381 3efe 5F4F sbci r21,hhi8(-(255))
		7145	7382 .L595:
		7146	7383 3f00 232F mov r18,r19
		7147	7384 3f02 342F mov r19,r20
		7148	7385 3f04 452F mov r20,r21
		7149	7386 3f06 5527 clr r21
		7150	7387 3f08 47FD sbrc r20,7
		7151	7388 3f0a 5A95 dec r21
		7152	7389 3f0c 8091 0000 lds r24,LageKorrekturRoll
		7153	7390 3f10 9091 0000 lds r25,(LageKorrekturRoll)+1
		7154	7391 3f14 820F add r24,r18
		7155	7392 3f16 931F adc r25,r19
		7156	7393 3f18 9093 0000 sts (LageKorrekturRoll)+1,r25
		7157	7394 3f1c 8093 0000 sts LageKorrekturRoll,r24
		7158	7395 3f20 00C0 rjmp .L598
		7159	7396 .L590:
		7160	7397 3f22 81E0 ldi r24,lo8(1)
		7161	7398 3f24 8093 0000 sts last_r_n.18,r24
		7162	7399 3f28 00C0 rjmp .L598
		7163	7400 .L589:
		7164	7401 3f2a 1092 0000 sts last_r_n.18,__zero_reg__
		7165	7402 3f2e 00C0 rjmp .L598
		7166	7403 .L578:
		7167	7404 3f30 1092 0000 sts (cnt.14)+1,__zero_reg__
		7168	7405 3f34 1092 0000 sts cnt.14,__zero_reg__
		7169	7406 3f38 84E6 ldi r24,lo8(100)
		7170	7407 3f3a 90E0 ldi r25,hi8(100)
		7171	7408 3f3c 9093 0000 sts (KompassSignalSchlecht)+1,r25
		7172	7409 3f40 8093 0000 sts KompassSignalSchlecht,r24
		7173	7410 .L598:
		7174	7411 3f44 4889 ldd r20,Y+16
		7175	7412 3f46 242F mov r18,r20
		7176	7413 3f48 3327 clr r19
		7177	7414 3f4a 8091 0000 lds r24,cnt.14
		7178	7415 3f4e 9091 0000 lds r25,(cnt.14)+1
		7179	7416 3f52 2817 cp r18,r24
		7180	7417 3f54 3907 cpc r19,r25
		7181	7418 3f56 04F4 brge .L599
		7182	7419 3f58 3093 0000 sts (cnt.14)+1,r19
		7183	7420 3f5c 2093 0000 sts cnt.14,r18
		7184	7421 .L599:
		7185	7422 3f60 8091 0000 lds r24,FromNaviCtrl_Value+1
		7186	7423 3f64 8823 tst r24
		7187	7424 3f66 01F0 breq .L600
		7188	7425 3f68 282F mov r18,r24
		7189	7426 3f6a 3327 clr r19
		7190	7427 3f6c 27FD sbrc r18,7
		7191	7428 3f6e 3095 com r19
		7192	7429 3f70 8091 0000 lds r24,cnt.14
		7193	7430 3f74 9091 0000 lds r25,(cnt.14)+1
		7194	7431 3f78 2817 cp r18,r24
		7195	7432 3f7a 3907 cpc r19,r25
		7196	7433 3f7c 04F4 brge .L600
		7197	7434 3f7e 3093 0000 sts (cnt.14)+1,r19
		7198	7435 3f82 2093 0000 sts cnt.14,r18
		7199	7436 .L600:
		7200	7437 3f86 4091 0000 lds r20,IntegralFehlerRoll.4
		7201	7438 3f8a 5091 0000 lds r21,(IntegralFehlerRoll.4)+1
		7202	7439 3f8e 6091 0000 lds r22,(IntegralFehlerRoll.4)+2
		7203	7440 3f92 7091 0000 lds r23,(IntegralFehlerRoll.4)+3
		7204	7441 3f96 4138 cpi r20,lo8(129)
		7205	7442 3f98 5105 cpc r21,__zero_reg__
		7206	7443 3f9a 6105 cpc r22,__zero_reg__
		7207	7444 3f9c 7105 cpc r23,__zero_reg__
		7208	7445 3f9e 04F0 brlt .L602
		7209	7446 3fa0 8091 0000 lds r24,AdNeutralRoll
		7210	7447 3fa4 9091 0000 lds r25,(AdNeutralRoll)+1
		7211	7448 3fa8 2091 0000 lds r18,cnt.14
		7212	7449 3fac 3091 0000 lds r19,(cnt.14)+1
		7213	7450 3fb0 820F add r24,r18
		7214	7451 3fb2 931F adc r25,r19
		7215	7452 3fb4 9093 0000 sts (AdNeutralRoll)+1,r25
		7216	7453 3fb8 8093 0000 sts AdNeutralRoll,r24
		7217	7454 .L602:
		7218	7455 3fbc 4058 subi r20,lo8(-128)
		7219	7456 3fbe 5F4F sbci r21,hi8(-128)
		7220	7457 3fc0 6F4F sbci r22,hlo8(-128)
		7221	7458 3fc2 7F4F sbci r23,hhi8(-128)
		7222	7459 3fc4 04F4 brge .L604
		7223	7460 3fc6 8091 0000 lds r24,AdNeutralRoll
		7224	7461 3fca 9091 0000 lds r25,(AdNeutralRoll)+1
		7225	7462 3fce 2091 0000 lds r18,cnt.14
		7226	7463 3fd2 3091 0000 lds r19,(cnt.14)+1
		7227	7464 3fd6 821B sub r24,r18
		7228	7465 3fd8 930B sbc r25,r19
		7229	7466 3fda 9093 0000 sts (AdNeutralRoll)+1,r25
		7230	7467 3fde 8093 0000 sts AdNeutralRoll,r24
		7231	7468 3fe2 00C0 rjmp .L604
		7232	7469 .L530:
		7233	7470 3fe4 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__
		7234	7471 3fe8 1092 0000 sts LageKorrekturRoll,__zero_reg__
		7235	7472 3fec 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__
		7236	7473 3ff0 1092 0000 sts LageKorrekturNick,__zero_reg__
		7237	7474 3ff4 1092 0000 sts TrichterFlug,__zero_reg__
		7238	7475 .L604:
		7239	7476 3ff8 8091 0000 lds r24,IntegralFaktor
		7240	7477 3ffc 8823 tst r24
		7241	7478 3ffe 01F4 brne .L605
		7242	7479 4000 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__
		7243	7480 4004 1092 0000 sts LageKorrekturRoll,__zero_reg__
		7244	7481 4008 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__
		7245	7482 400c 1092 0000 sts LageKorrekturNick,__zero_reg__
		7246	7483 .L605:
		7247	7484 4010 8091 0000 lds r24,MittelIntegralNick
		7248	7485 4014 9091 0000 lds r25,(MittelIntegralNick)+1
		7249	7486 4018 A091 0000 lds r26,(MittelIntegralNick)+2
		7250	7487 401c B091 0000 lds r27,(MittelIntegralNick)+3
		7251	7488 4020 8093 0000 sts MittelIntegralNick_Alt.19,r24
		7252	7489 4024 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r25
		7253	7490 4028 A093 0000 sts (MittelIntegralNick_Alt.19)+2,r26
		7254	7491 402c B093 0000 sts (MittelIntegralNick_Alt.19)+3,r27
		7255	7492 4030 8091 0000 lds r24,MittelIntegralRoll
		7256	7493 4034 9091 0000 lds r25,(MittelIntegralRoll)+1
		7257	7494 4038 A091 0000 lds r26,(MittelIntegralRoll)+2
		7258	7495 403c B091 0000 lds r27,(MittelIntegralRoll)+3
		7259	7496 4040 8093 0000 sts MittelIntegralRoll_Alt.20,r24
		7260	7497 4044 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r25
		7261	7498 4048 A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r26
		7262	7499 404c B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r27
		7263	7500 4050 1092 0000 sts IntegralAccNick,__zero_reg__
		7264	7501 4054 1092 0000 sts (IntegralAccNick)+1,__zero_reg__
		7265	7502 4058 1092 0000 sts (IntegralAccNick)+2,__zero_reg__
		7266	7503 405c 1092 0000 sts (IntegralAccNick)+3,__zero_reg__
		7267	7504 4060 1092 0000 sts IntegralAccRoll,__zero_reg__
		7268	7505 4064 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__
		7269	7506 4068 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__
		7270	7507 406c 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__
		7271	7508 4070 1092 0000 sts IntegralAccZ,__zero_reg__
		7272	7509 4074 1092 0000 sts (IntegralAccZ)+1,__zero_reg__
		7273	7510 4078 1092 0000 sts (IntegralAccZ)+2,__zero_reg__
		7274	7511 407c 1092 0000 sts (IntegralAccZ)+3,__zero_reg__
		7275	7512 4080 1092 0000 sts MittelIntegralNick,__zero_reg__
		7276	7513 4084 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__
		7277	7514 4088 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__
		7278	7515 408c 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__
		7279	7516 4090 1092 0000 sts MittelIntegralRoll,__zero_reg__
		7280	7517 4094 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__
		7281	7518 4098 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__
		7282	7519 409c 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__
		7283	7520 40a0 1092 0000 sts MittelIntegralNick2,__zero_reg__
		7284	7521 40a4 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__
		7285	7522 40a8 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__
		7286	7523 40ac 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__
		7287	7524 40b0 1092 0000 sts MittelIntegralRoll2,__zero_reg__
		7288	7525 40b4 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__
		7289	7526 40b8 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__
		7290	7527 40bc 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__
		7291	7528 40c0 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__
		7292	7529 40c4 1092 0000 sts ZaehlMessungen,__zero_reg__
		7293	7530 .L529:
		7294	7531 40c8 E090 0000 lds r14,StickGier
		7295	7532 40cc F090 0000 lds r15,(StickGier)+1
		7296	7533 40d0 C701 movw r24,r14
		7297	7534 40d2 F7FE sbrs r15,7
		7298	7535 40d4 00C0 rjmp .L607
		7299	7536 40d6 8827 clr r24
		7300	7537 40d8 9927 clr r25
		7301	7538 40da 8E19 sub r24,r14
		7302	7539 40dc 9F09 sbc r25,r15
		7303	7540 .L607:
		7304	7541 40de 0497 sbiw r24,4
		7305	7542 40e0 04F0 brlt .L606
		7306	7543 40e2 8091 0000 lds r24,Parameter_GlobalConfig
		7307	7544 40e6 84FD sbrc r24,4
		7308	7545 40e8 00C0 rjmp .L606
		7309	7546 40ea 82E3 ldi r24,lo8(50)
		7310	7547 40ec 8093 0000 sts NeueKompassRichtungMerken,r24
		7311	7548 .L606:
		7312	7549 40f0 1091 0000 lds r17,EE_Parameter+25
		7313	7550 40f4 A12E mov r10,r17
		7314	7551 40f6 BB24 clr r11
		7315	7552 40f8 CC24 clr r12
		7316	7553 40fa DD24 clr r13
		7317	7554 40fc B701 movw r22,r14
		7318	7555 40fe 8827 clr r24
		7319	7556 4100 77FD sbrc r23,7
		7320	7557 4102 8095 com r24
		7321	7558 4104 982F mov r25,r24
		7322	7559 4106 9701 movw r18,r14
		7323	7560 4108 F7FE sbrs r15,7
		7324	7561 410a 00C0 rjmp .L609
		7325	7562 410c 2227 clr r18
		7326	7563 410e 3327 clr r19
		7327	7564 4110 2E19 sub r18,r14
		7328	7565 4112 3F09 sbc r19,r15
		7329	7566 .L609:
		7330	7567 4114 4427 clr r20
		7331	7568 4116 37FD sbrc r19,7
		7332	7569 4118 4095 com r20
		7333	7570 411a 542F mov r21,r20
		7334	7571 411c 0E94 0000 call __mulsi3
		7335	7572 4120 9B01 movw r18,r22
		7336	7573 4122 AC01 movw r20,r24
		7337	7574 4124 C601 movw r24,r12
		7338	7575 4126 B501 movw r22,r10
		7339	7576 4128 0E94 0000 call __mulsi3
		7340	7577 412c 97FF sbrs r25,7
		7341	7578 412e 00C0 rjmp .L610
		7342	7579 4130 6150 subi r22,lo8(-(511))
		7343	7580 4132 7E4F sbci r23,hi8(-(511))
		7344	7581 4134 8F4F sbci r24,hlo8(-(511))
		7345	7582 4136 9F4F sbci r25,hhi8(-(511))
		7346	7583 .L610:
		7347	7584 4138 59E0 ldi r21,9
		7348	7585 413a 9595 1: asr r25
		7349	7586 413c 8795 ror r24
		7350	7587 413e 7795 ror r23
		7351	7588 4140 6795 ror r22
		7352	7589 4142 5A95 dec r21
		7353	7590 4144 01F4 brne 1b
		7354	7591 4146 9B01 movw r18,r22
		7355	7592 4148 812F mov r24,r17
		7356	7593 414a 9927 clr r25
		7357	7594 414c 8E9D mul r24,r14
		7358	7595 414e D001 movw r26,r0
		7359	7596 4150 8F9D mul r24,r15
		7360	7597 4152 B00D add r27,r0
		7361	7598 4154 9E9D mul r25,r14
		7362	7599 4156 B00D add r27,r0
		7363	7600 4158 1124 clr r1
		7364	7601 415a CD01 movw r24,r26
		7365	7602 415c B7FD sbrc r27,7
		7366	7603 415e 0396 adiw r24,3
		7367	7604 .L611:
		7368	7605 4160 9595 asr r25
		7369	7606 4162 8795 ror r24
		7370	7607 4164 9595 asr r25
		7371	7608 4166 8795 ror r24
		7372	7609 4168 280F add r18,r24
		7373	7610 416a 391F adc r19,r25
		7374	7611 416c 8091 0000 lds r24,CompassGierSetpoint
		7375	7612 4170 9091 0000 lds r25,(CompassGierSetpoint)+1
		7376	7613 4174 280F add r18,r24
		7377	7614 4176 391F adc r19,r25
		7378	7615 4178 4427 clr r20
		7379	7616 417a 37FD sbrc r19,7
		7380	7617 417c 4095 com r20
		7381	7618 417e 542F mov r21,r20
		7382	7619 4180 2093 0000 sts sollGier.0,r18
		7383	7620 4184 3093 0000 sts (sollGier.0)+1,r19
		7384	7621 4188 4093 0000 sts (sollGier.0)+2,r20
		7385	7622 418c 5093 0000 sts (sollGier.0)+3,r21
		7386	7623 4190 8091 0000 lds r24,Mess_Integral_Gier
		7387	7624 4194 9091 0000 lds r25,(Mess_Integral_Gier)+1
		7388	7625 4198 A091 0000 lds r26,(Mess_Integral_Gier)+2
		7389	7626 419c B091 0000 lds r27,(Mess_Integral_Gier)+3
		7390	7627 41a0 821B sub r24,r18
		7391	7628 41a2 930B sbc r25,r19
		7392	7629 41a4 A40B sbc r26,r20
		7393	7630 41a6 B50B sbc r27,r21
		7394	7631 41a8 8093 0000 sts Mess_Integral_Gier,r24
		7395	7632 41ac 9093 0000 sts (Mess_Integral_Gier)+1,r25
		7396	7633 41b0 A093 0000 sts (Mess_Integral_Gier)+2,r26
		7397	7634 41b4 B093 0000 sts (Mess_Integral_Gier)+3,r27
		7398	7635 41b8 8155 subi r24,lo8(50001)
		7399	7636 41ba 934C sbci r25,hi8(50001)
		7400	7637 41bc A040 sbci r26,hlo8(50001)
		7401	7638 41be B040 sbci r27,hhi8(50001)
		7402	7639 41c0 04F0 brlt .L612
		7403	7640 41c2 80E5 ldi r24,lo8(50000)
		7404	7641 41c4 93EC ldi r25,hi8(50000)
		7405	7642 41c6 A0E0 ldi r26,hlo8(50000)
		7406	7643 41c8 B0E0 ldi r27,hhi8(50000)
		7407	7644 41ca 8093 0000 sts Mess_Integral_Gier,r24
		7408	7645 41ce 9093 0000 sts (Mess_Integral_Gier)+1,r25
		7409	7646 41d2 A093 0000 sts (Mess_Integral_Gier)+2,r26
		7410	7647 41d6 B093 0000 sts (Mess_Integral_Gier)+3,r27
		7411	7648 .L612:
		7412	7649 41da 8091 0000 lds r24,Mess_Integral_Gier
		7413	7650 41de 9091 0000 lds r25,(Mess_Integral_Gier)+1
		7414	7651 41e2 A091 0000 lds r26,(Mess_Integral_Gier)+2
		7415	7652 41e6 B091 0000 lds r27,(Mess_Integral_Gier)+3
		7416	7653 41ea 805B subi r24,lo8(-50000)
		7417	7654 41ec 9C43 sbci r25,hi8(-50000)
		7418	7655 41ee AF4F sbci r26,hlo8(-50000)
		7419	7656 41f0 BF4F sbci r27,hhi8(-50000)
		7420	7657 41f2 04F4 brge .L613
		7421	7658 41f4 80EB ldi r24,lo8(-50000)
		7422	7659 41f6 9CE3 ldi r25,hi8(-50000)
		7423	7660 41f8 AFEF ldi r26,hlo8(-50000)
		7424	7661 41fa BFEF ldi r27,hhi8(-50000)
		7425	7662 41fc 8093 0000 sts Mess_Integral_Gier,r24
		7426	7663 4200 9093 0000 sts (Mess_Integral_Gier)+1,r25
		7427	7664 4204 A093 0000 sts (Mess_Integral_Gier)+2,r26
		7428	7665 4208 B093 0000 sts (Mess_Integral_Gier)+3,r27
		7429	7666 .L613:
		7430	7667 420c 0091 0000 lds r16,KompassValue
		7431	7668 4210 1091 0000 lds r17,(KompassValue)+1
		7432	7669 4214 17FD sbrc r17,7
		7433	7670 4216 00C0 rjmp .L614
		7434	7671 4218 8091 0000 lds r24,Parameter_GlobalConfig
		7435	7672 421c 83FF sbrs r24,3
		7436	7673 421e 00C0 rjmp .L614
		7437	7674 4220 8091 0000 lds r24,CalculateCompassTimer
		7438	7675 4224 8150 subi r24,lo8(-(-1))
		7439	7676 4226 8093 0000 sts CalculateCompassTimer,r24
		7440	7677 422a 8823 tst r24
		7441	7678 422c 01F0 breq .+2
		7442	7679 422e 00C0 rjmp .L631
		7443	7680 4230 8DE0 ldi r24,lo8(13)
		7444	7681 4232 8093 0000 sts CalculateCompassTimer,r24
		7445	7682 4236 8091 0000 lds r24,IntegralNick
		7446	7683 423a 9091 0000 lds r25,(IntegralNick)+1
		7447	7684 423e A091 0000 lds r26,(IntegralNick)+2
		7448	7685 4242 B091 0000 lds r27,(IntegralNick)+3
		7449	7686 4246 B7FF sbrs r27,7
		7450	7687 4248 00C0 rjmp .L616
		7451	7688 424a 8150 subi r24,lo8(-(511))
		7452	7689 424c 9E4F sbci r25,hi8(-(511))
		7453	7690 424e AF4F sbci r26,hlo8(-(511))
		7454	7691 4250 BF4F sbci r27,hhi8(-(511))
		7455	7692 .L616:
		7456	7693 4252 39E0 ldi r19,9
		7457	7694 4254 B595 1: asr r27
		7458	7695 4256 A795 ror r26
		7459	7696 4258 9795 ror r25
		7460	7697 425a 8795 ror r24
		7461	7698 425c 3A95 dec r19
		7462	7699 425e 01F4 brne 1b
		7463	7700 4260 7C01 movw r14,r24
		7464	7701 4262 97FF sbrs r25,7
		7465	7702 4264 00C0 rjmp .L617
		7466	7703 4266 F094 com r15
		7467	7704 4268 E194 neg r14
		7468	7705 426a F108 sbc r15,__zero_reg__
		7469	7706 426c F394 inc r15
		7470	7707 .L617:
		7471	7708 426e 8091 0000 lds r24,IntegralRoll
		7472	7709 4272 9091 0000 lds r25,(IntegralRoll)+1
		7473	7710 4276 A091 0000 lds r26,(IntegralRoll)+2
		7474	7711 427a B091 0000 lds r27,(IntegralRoll)+3
		7475	7712 427e B7FF sbrs r27,7
		7476	7713 4280 00C0 rjmp .L618
		7477	7714 4282 8150 subi r24,lo8(-(511))
		7478	7715 4284 9E4F sbci r25,hi8(-(511))
		7479	7716 4286 AF4F sbci r26,hlo8(-(511))
		7480	7717 4288 BF4F sbci r27,hhi8(-(511))
		7481	7718 .L618:
		7482	7719 428a 29E0 ldi r18,9
		7483	7720 428c B595 1: asr r27
		7484	7721 428e A795 ror r26
		7485	7722 4290 9795 ror r25
		7486	7723 4292 8795 ror r24
		7487	7724 4294 2A95 dec r18
		7488	7725 4296 01F4 brne 1b
		7489	7726 4298 9C01 movw r18,r24
		7490	7727 429a 97FF sbrs r25,7
		7491	7728 429c 00C0 rjmp .L619
		7492	7729 429e 3095 com r19
		7493	7730 42a0 2195 neg r18
		7494	7731 42a2 3F4F sbci r19,lo8(-1)
		7495	7732 .L619:
		7496	7733 42a4 E216 cp r14,r18
		7497	7734 42a6 F306 cpc r15,r19
		7498	7735 42a8 04F4 brge .L620
		7499	7736 42aa 7901 movw r14,r18
		7500	7737 .L620:
		7501	7738 42ac B701 movw r22,r14
		7502	7739 42ae F7FE sbrs r15,7
		7503	7740 42b0 00C0 rjmp .L621
		7504	7741 42b2 695F subi r22,lo8(-(7))
		7505	7742 42b4 7F4F sbci r23,hi8(-(7))
		7506	7743 .L621:
		7507	7744 42b6 2B01 movw r4,r22
		7508	7745 42b8 A3E0 ldi r26,3
		7509	7746 42ba 5594 1: asr r5
		7510	7747 42bc 4794 ror r4
		7511	7748 42be AA95 dec r26
		7512	7749 42c0 01F4 brne 1b
		7513	7750 42c2 22E0 ldi r18,lo8(2)
		7514	7751 42c4 30E0 ldi r19,hi8(2)
		7515	7752 42c6 420E add r4,r18
		7516	7753 42c8 531E adc r5,r19
		7517	7754 42ca 6090 0000 lds r6,ErsatzKompass
		7518	7755 42ce 7090 0000 lds r7,(ErsatzKompass)+1
		7519	7756 42d2 8090 0000 lds r8,(ErsatzKompass)+2
		7520	7757 42d6 9090 0000 lds r9,(ErsatzKompass)+3
		7521	7758 42da 2091 0000 lds r18,GIER_GRAD_FAKTOR
		7522	7759 42de 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1
		7523	7760 42e2 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2
		7524	7761 42e6 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3
		7525	7762 42ea C401 movw r24,r8
		7526	7763 42ec B301 movw r22,r6
		7527	7764 42ee 0E94 0000 call __divmodsi4
		7528	7765 42f2 5901 movw r10,r18
		7529	7766 42f4 6A01 movw r12,r20
		7530	7767 42f6 3093 0000 sts (ErsatzKompassInGrad)+1,r19
		7531	7768 42fa 2093 0000 sts ErsatzKompassInGrad,r18
		7532	7769 42fe 021B sub r16,r18
		7533	7770 4300 130B sbc r17,r19
		7534	7771 4302 C801 movw r24,r16
		7535	7772 4304 845E subi r24,lo8(-(540))
		7536	7773 4306 9D4F sbci r25,hi8(-(540))
		7537	7774 4308 68E6 ldi r22,lo8(360)
		7538	7775 430a 71E0 ldi r23,hi8(360)
		7539	7776 430c 0E94 0000 call __divmodhi4
		7540	7777 4310 9C01 movw r18,r24
		7541	7778 4312 245B subi r18,lo8(-(-180))
		7542	7779 4314 3040 sbci r19,hi8(-(-180))
		7543	7780 4316 8091 0000 lds r24,KompassSignalSchlecht
		7544	7781 431a 9091 0000 lds r25,(KompassSignalSchlecht)+1
		7545	7782 431e 0097 sbiw r24,0
		7546	7783 4320 01F0 breq .L622
		7547	7784 4322 0197 sbiw r24,1
		7548	7785 4324 9093 0000 sts (KompassSignalSchlecht)+1,r25
		7549	7786 4328 8093 0000 sts KompassSignalSchlecht,r24
		7550	7787 432c 00C0 rjmp .L623
		7551	7788 .L622:
		7552	7789 432e 49E1 ldi r20,lo8(25)
		7553	7790 4330 E416 cp r14,r20
		7554	7791 4332 F104 cpc r15,__zero_reg__
		7555	7792 4334 04F4 brge .L623
		7556	7793 4336 8091 0000 lds r24,GierGyroFehler
		7557	7794 433a 9091 0000 lds r25,(GierGyroFehler)+1
		7558	7795 433e 820F add r24,r18
		7559	7796 4340 931F adc r25,r19
		7560	7797 4342 9093 0000 sts (GierGyroFehler)+1,r25
		7561	7798 4346 8093 0000 sts GierGyroFehler,r24
		7562	7799 434a 8091 0000 lds r24,NeueKompassRichtungMerken
		7563	7800 434e 8823 tst r24
		7564	7801 4350 01F0 breq .L623
		7565	7802 4352 8150 subi r24,lo8(-(-1))
		7566	7803 4354 8093 0000 sts NeueKompassRichtungMerken,r24
		7567	7804 4358 8823 tst r24
		7568	7805 435a 01F4 brne .L623
		7569	7806 435c B092 0000 sts (KompassSollWert)+1,r11
		7570	7807 4360 A092 0000 sts KompassSollWert,r10
		7571	7808 .L623:
		7572	7809 4364 8091 0000 lds r24,KompassSignalSchlecht
		7573	7810 4368 9091 0000 lds r25,(KompassSignalSchlecht)+1
		7574	7811 436c 892B or r24,r25
		7575	7812 436e 01F4 brne .L627
		7576	7813 4370 8091 0000 lds r24,KompassFusion
		7577	7814 4374 9927 clr r25
		7578	7815 4376 289F mul r18,r24
		7579	7816 4378 B001 movw r22,r0
		7580	7817 437a 299F mul r18,r25
		7581	7818 437c 700D add r23,r0
		7582	7819 437e 389F mul r19,r24
		7583	7820 4380 700D add r23,r0
		7584	7821 4382 1124 clr r1
		7585	7822 4384 CB01 movw r24,r22
		7586	7823 4386 B201 movw r22,r4
		7587	7824 4388 0E94 0000 call __divmodhi4
		7588	7825 438c CB01 movw r24,r22
		7589	7826 438e AA27 clr r26
		7590	7827 4390 97FD sbrc r25,7
		7591	7828 4392 A095 com r26
		7592	7829 4394 BA2F mov r27,r26
		7593	7830 4396 680E add r6,r24
		7594	7831 4398 791E adc r7,r25
		7595	7832 439a 8A1E adc r8,r26
		7596	7833 439c 9B1E adc r9,r27
		7597	7834 439e 6092 0000 sts ErsatzKompass,r6
		7598	7835 43a2 7092 0000 sts (ErsatzKompass)+1,r7
		7599	7836 43a6 8092 0000 sts (ErsatzKompass)+2,r8
		7600	7837 43aa 9092 0000 sts (ErsatzKompass)+3,r9
		7601	7838 .L627:
		7602	7839 43ae 8091 0000 lds r24,NeueKompassRichtungMerken
		7603	7840 43b2 8823 tst r24
		7604	7841 43b4 01F4 brne .L614
		7605	7842 43b6 8091 0000 lds r24,KompassSollWert
		7606	7843 43ba 9091 0000 lds r25,(KompassSollWert)+1
		7607	7844 43be 2091 0000 lds r18,ErsatzKompassInGrad
		7608	7845 43c2 3091 0000 lds r19,(ErsatzKompassInGrad)+1
		7609	7846 43c6 821B sub r24,r18
		7610	7847 43c8 930B sbc r25,r19
		7611	7848 43ca 845E subi r24,lo8(-(540))
		7612	7849 43cc 9D4F sbci r25,hi8(-(540))
		7613	7850 43ce 68E6 ldi r22,lo8(360)
		7614	7851 43d0 71E0 ldi r23,hi8(360)
		7615	7852 43d2 0E94 0000 call __divmodhi4
		7616	7853 43d6 9C01 movw r18,r24
		7617	7854 43d8 245B subi r18,lo8(-(-180))
		7618	7855 43da 3040 sbci r19,hi8(-(-180))
		7619	7856 43dc 8091 0000 lds r24,Parameter_KompassWirkung
		7620	7857 43e0 8695 lsr r24
		7621	7858 43e2 9927 clr r25
		7622	7859 43e4 289F mul r18,r24
		7623	7860 43e6 D001 movw r26,r0
		7624	7861 43e8 299F mul r18,r25
		7625	7862 43ea B00D add r27,r0
		7626	7863 43ec 389F mul r19,r24
		7627	7864 43ee B00D add r27,r0
		7628	7865 43f0 1124 clr r1
		7629	7866 43f2 9D01 movw r18,r26
		7630	7867 43f4 B7FF sbrs r27,7
		7631	7868 43f6 00C0 rjmp .L629
		7632	7869 43f8 215F subi r18,lo8(-(15))
		7633	7870 43fa 3F4F sbci r19,hi8(-(15))
		7634	7871 .L629:
		7635	7872 43fc F4E0 ldi r31,4
		7636	7873 43fe 3595 1: asr r19
		7637	7874 4400 2795 ror r18
		7638	7875 4402 FA95 dec r31
		7639	7876 4404 01F4 brne 1b
		7640	7877 4406 3093 0000 sts (CompassGierSetpoint)+1,r19
		7641	7878 440a 2093 0000 sts CompassGierSetpoint,r18
		7642	7879 440e 00C0 rjmp .L631
		7643	7880 .L614:
		7644	7881 4410 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__
		7645	7882 4414 1092 0000 sts CompassGierSetpoint,__zero_reg__
		7646	7883 .L631:
		7647	7884 4418 8091 0000 lds r24,TrichterFlug
		7648	7885 441c 8823 tst r24
		7649	7886 441e 01F0 breq .L632
		7650	7887 4420 1092 0000 sts SummeRoll,__zero_reg__
		7651	7888 4424 1092 0000 sts (SummeRoll)+1,__zero_reg__
		7652	7889 4428 1092 0000 sts (SummeRoll)+2,__zero_reg__
		7653	7890 442c 1092 0000 sts (SummeRoll)+3,__zero_reg__
		7654	7891 4430 1092 0000 sts SummeNick,__zero_reg__
		7655	7892 4434 1092 0000 sts (SummeNick)+1,__zero_reg__
		7656	7893 4438 1092 0000 sts (SummeNick)+2,__zero_reg__
		7657	7894 443c 1092 0000 sts (SummeNick)+3,__zero_reg__
		7658	7895 .L632:
		7659	7896 4440 F090 0000 lds r15,Looping_Nick
		7660	7897 4444 FF20 tst r15
		7661	7898 4446 01F4 brne .L633
		7662	7899 4448 8091 0000 lds r24,IntegralFaktor
		7663	7900 444c 282F mov r18,r24
		7664	7901 444e 3327 clr r19
		7665	7902 4450 4427 clr r20
		7666	7903 4452 5527 clr r21
		7667	7904 4454 8091 0000 lds r24,IntegralNick
		7668	7905 4458 9091 0000 lds r25,(IntegralNick)+1
		7669	7906 445c A091 0000 lds r26,(IntegralNick)+2
		7670	7907 4460 B091 0000 lds r27,(IntegralNick)+3
		7671	7908 4464 BC01 movw r22,r24
		7672	7909 4466 CD01 movw r24,r26
		7673	7910 4468 0E94 0000 call __mulsi3
		7674	7911 446c DC01 movw r26,r24
		7675	7912 446e CB01 movw r24,r22
		7676	7913 4470 BC01 movw r22,r24
		7677	7914 4472 CD01 movw r24,r26
		7678	7915 4474 28EF ldi r18,lo8(11000)
		7679	7916 4476 3AE2 ldi r19,hi8(11000)
		7680	7917 4478 40E0 ldi r20,hlo8(11000)
		7681	7918 447a 50E0 ldi r21,hhi8(11000)
		7682	7919 447c 0E94 0000 call __divmodsi4
		7683	7920 4480 3901 movw r6,r18
		7684	7921 4482 00C0 rjmp .L634
		7685	7922 .L633:
		7686	7923 4484 6624 clr r6
		7687	7924 4486 7724 clr r7
		7688	7925 .L634:
		7689	7926 4488 E090 0000 lds r14,Looping_Roll
		7690	7927 448c EE20 tst r14
		7691	7928 448e 01F4 brne .L635
		7692	7929 4490 8091 0000 lds r24,IntegralFaktor
		7693	7930 4494 282F mov r18,r24
		7694	7931 4496 3327 clr r19
		7695	7932 4498 4427 clr r20
		7696	7933 449a 5527 clr r21
		7697	7934 449c 8091 0000 lds r24,IntegralRoll
		7698	7935 44a0 9091 0000 lds r25,(IntegralRoll)+1
		7699	7936 44a4 A091 0000 lds r26,(IntegralRoll)+2
		7700	7937 44a8 B091 0000 lds r27,(IntegralRoll)+3
		7701	7938 44ac BC01 movw r22,r24
		7702	7939 44ae CD01 movw r24,r26
		7703	7940 44b0 0E94 0000 call __mulsi3
		7704	7941 44b4 DC01 movw r26,r24
		7705	7942 44b6 CB01 movw r24,r22
		7706	7943 44b8 BC01 movw r22,r24
		7707	7944 44ba CD01 movw r24,r26
		7708	7945 44bc 28EF ldi r18,lo8(11000)
		7709	7946 44be 3AE2 ldi r19,hi8(11000)
		7710	7947 44c0 40E0 ldi r20,hlo8(11000)
		7711	7948 44c2 50E0 ldi r21,hhi8(11000)
		7712	7949 44c4 0E94 0000 call __divmodsi4
		7713	7950 44c8 2901 movw r4,r18
		7714	7951 44ca 00C0 rjmp .L636
		7715	7952 .L635:
		7716	7953 44cc 4424 clr r4
		7717	7954 44ce 5524 clr r5
		7718	7955 .L636:
		7719	7956 44d0 8091 0000 lds r24,TrimNick
		7720	7957 44d4 9091 0000 lds r25,(TrimNick)+1
		7721	7958 44d8 893C cpi r24,201
		7722	7959 44da 9105 cpc r25,__zero_reg__
		7723	7960 44dc 04F0 brlt .L637
		7724	7961 44de 88EC ldi r24,lo8(200)
		7725	7962 44e0 90E0 ldi r25,hi8(200)
		7726	7963 44e2 00C0 rjmp .L894
		7727	7964 .L637:
		7728	7965 44e4 8853 subi r24,lo8(-200)
		7729	7966 44e6 9F4F sbci r25,hi8(-200)
		7730	7967 44e8 04F4 brge .L638
		7731	7968 44ea 88E3 ldi r24,lo8(-200)
		7732	7969 44ec 9FEF ldi r25,hi8(-200)
		7733	7970 .L894:
		7734	7971 44ee 9093 0000 sts (TrimNick)+1,r25
		7735	7972 44f2 8093 0000 sts TrimNick,r24
		7736	7973 .L638:
		7737	7974 44f6 8091 0000 lds r24,TrimRoll
		7738	7975 44fa 9091 0000 lds r25,(TrimRoll)+1
		7739	7976 44fe 893C cpi r24,201
		7740	7977 4500 9105 cpc r25,__zero_reg__
		7741	7978 4502 04F0 brlt .L640
		7742	7979 4504 88EC ldi r24,lo8(200)
		7743	7980 4506 90E0 ldi r25,hi8(200)
		7744	7981 4508 00C0 rjmp .L895
		7745	7982 .L640:
		7746	7983 450a 8853 subi r24,lo8(-200)
		7747	7984 450c 9F4F sbci r25,hi8(-200)
		7748	7985 450e 04F4 brge .L641
		7749	7986 4510 88E3 ldi r24,lo8(-200)
		7750	7987 4512 9FEF ldi r25,hi8(-200)
		7751	7988 .L895:
		7752	7989 4514 9093 0000 sts (TrimRoll)+1,r25
		7753	7990 4518 8093 0000 sts TrimRoll,r24
		7754	7991 .L641:
		7755	7992 451c 8091 0000 lds r24,MesswertNick
		7756	7993 4520 9091 0000 lds r25,(MesswertNick)+1
		7757	7994 4524 AA27 clr r26
		7758	7995 4526 97FD sbrc r25,7
		7759	7996 4528 A095 com r26
		7760	7997 452a BA2F mov r27,r26
		7761	7998 452c 2091 0000 lds r18,GyroFaktor
		7762	7999 4530 A22E mov r10,r18
		7763	8000 4532 BB24 clr r11
		7764	8001 4534 CC24 clr r12
		7765	8002 4536 DD24 clr r13
		7766	8003 4538 BC01 movw r22,r24
		7767	8004 453a CD01 movw r24,r26
		7768	8005 453c A601 movw r20,r12
		7769	8006 453e 9501 movw r18,r10
		7770	8007 4540 0E94 0000 call __mulsi3
		7771	8008 4544 9B01 movw r18,r22
		7772	8009 4546 AC01 movw r20,r24
		7773	8010 4548 8091 0000 lds r24,TrimNick
		7774	8011 454c 9091 0000 lds r25,(TrimNick)+1
		7775	8012 4550 AA27 clr r26
		7776	8013 4552 97FD sbrc r25,7
		7777	8014 4554 A095 com r26
		7778	8015 4556 BA2F mov r27,r26
		7779	8016 4558 E7E0 ldi r30,7
		7780	8017 455a 880F 1: lsl r24
		7781	8018 455c 991F rol r25
		7782	8019 455e AA1F rol r26
		7783	8020 4560 BB1F rol r27
		7784	8021 4562 EA95 dec r30
		7785	8022 4564 01F4 brne 1b
		7786	8023 4566 280F add r18,r24
		7787	8024 4568 391F adc r19,r25
		7788	8025 456a 4A1F adc r20,r26
		7789	8026 456c 5B1F adc r21,r27
		7790	8027 456e 57FF sbrs r21,7
		7791	8028 4570 00C0 rjmp .L643
		7792	8029 4572 215C subi r18,lo8(-(63))
		7793	8030 4574 3F4F sbci r19,hi8(-(63))
		7794	8031 4576 4F4F sbci r20,hlo8(-(63))
		7795	8032 4578 5F4F sbci r21,hhi8(-(63))
		7796	8033 .L643:
		7797	8034 457a 76E0 ldi r23,6
		7798	8035 457c 5595 1: asr r21
		7799	8036 457e 4795 ror r20
		7800	8037 4580 3795 ror r19
		7801	8038 4582 2795 ror r18
		7802	8039 4584 7A95 dec r23
		7803	8040 4586 01F4 brne 1b
		7804	8041 4588 8301 movw r16,r6
		7805	8042 458a 020F add r16,r18
		7806	8043 458c 131F adc r17,r19
		7807	8044 458e 1093 0000 sts (MesswertNick)+1,r17
		7808	8045 4592 0093 0000 sts MesswertNick,r16
		7809	8046 4596 8091 0000 lds r24,MesswertRoll
		7810	8047 459a 9091 0000 lds r25,(MesswertRoll)+1
		7811	8048 459e AA27 clr r26
		7812	8049 45a0 97FD sbrc r25,7
		7813	8050 45a2 A095 com r26
		7814	8051 45a4 BA2F mov r27,r26
		7815	8052 45a6 BC01 movw r22,r24
		7816	8053 45a8 CD01 movw r24,r26
		7817	8054 45aa A601 movw r20,r12
		7818	8055 45ac 9501 movw r18,r10
		7819	8056 45ae 0E94 0000 call __mulsi3
		7820	8057 45b2 9B01 movw r18,r22
		7821	8058 45b4 AC01 movw r20,r24
		7822	8059 45b6 8091 0000 lds r24,TrimRoll
		7823	8060 45ba 9091 0000 lds r25,(TrimRoll)+1
		7824	8061 45be AA27 clr r26
		7825	8062 45c0 97FD sbrc r25,7
		7826	8063 45c2 A095 com r26
		7827	8064 45c4 BA2F mov r27,r26
		7828	8065 45c6 67E0 ldi r22,7
		7829	8066 45c8 880F 1: lsl r24
		7830	8067 45ca 991F rol r25
		7831	8068 45cc AA1F rol r26
		7832	8069 45ce BB1F rol r27
		7833	8070 45d0 6A95 dec r22
		7834	8071 45d2 01F4 brne 1b
		7835	8072 45d4 280F add r18,r24
		7836	8073 45d6 391F adc r19,r25
		7837	8074 45d8 4A1F adc r20,r26
		7838	8075 45da 5B1F adc r21,r27
		7839	8076 45dc 57FF sbrs r21,7
		7840	8077 45de 00C0 rjmp .L644
		7841	8078 45e0 215C subi r18,lo8(-(63))
		7842	8079 45e2 3F4F sbci r19,hi8(-(63))
		7843	8080 45e4 4F4F sbci r20,hlo8(-(63))
		7844	8081 45e6 5F4F sbci r21,hhi8(-(63))
		7845	8082 .L644:
		7846	8083 45e8 F6E0 ldi r31,6
		7847	8084 45ea 5595 1: asr r21
		7848	8085 45ec 4795 ror r20
		7849	8086 45ee 3795 ror r19
		7850	8087 45f0 2795 ror r18
		7851	8088 45f2 FA95 dec r31
		7852	8089 45f4 01F4 brne 1b
		7853	8090 45f6 4201 movw r8,r4
		7854	8091 45f8 820E add r8,r18
		7855	8092 45fa 931E adc r9,r19
		7856	8093 45fc 9092 0000 sts (MesswertRoll)+1,r9
		7857	8094 4600 8092 0000 sts MesswertRoll,r8
		7858	8095 4604 8091 0000 lds r24,MesswertGier
		7859	8096 4608 9091 0000 lds r25,(MesswertGier)+1
		7860	8097 460c 880F add r24,r24
		7861	8098 460e 991F adc r25,r25
		7862	8099 4610 AA27 clr r26
		7863	8100 4612 97FD sbrc r25,7
		7864	8101 4614 A095 com r26
		7865	8102 4616 BA2F mov r27,r26
		7866	8103 4618 2091 0000 lds r18,GyroFaktorGier
		7867	8104 461c 3327 clr r19
		7868	8105 461e 4427 clr r20
		7869	8106 4620 5527 clr r21
		7870	8107 4622 BC01 movw r22,r24
		7871	8108 4624 CD01 movw r24,r26
		7872	8109 4626 0E94 0000 call __mulsi3
		7873	8110 462a 5B01 movw r10,r22
		7874	8111 462c 6C01 movw r12,r24
		7875	8112 462e 97FF sbrs r25,7
		7876	8113 4630 00C0 rjmp .L645
		7877	8114 4632 2FE3 ldi r18,lo8(63)
		7878	8115 4634 30E0 ldi r19,hi8(63)
		7879	8116 4636 40E0 ldi r20,hlo8(63)
		7880	8117 4638 50E0 ldi r21,hhi8(63)
		7881	8118 463a A20E add r10,r18
		7882	8119 463c B31E adc r11,r19
		7883	8120 463e C41E adc r12,r20
		7884	8121 4640 D51E adc r13,r21
		7885	8122 .L645:
		7886	8123 4642 E6E0 ldi r30,6
		7887	8124 4644 D594 1: asr r13
		7888	8125 4646 C794 ror r12
		7889	8126 4648 B794 ror r11
		7890	8127 464a A794 ror r10
		7891	8128 464c EA95 dec r30
		7892	8129 464e 01F4 brne 1b
		7893	8130 4650 8091 0000 lds r24,IntegralFaktorGier
		7894	8131 4654 282F mov r18,r24
		7895	8132 4656 3327 clr r19
		7896	8133 4658 4427 clr r20
		7897	8134 465a 5527 clr r21
		7898	8135 465c 8091 0000 lds r24,Integral_Gier
		7899	8136 4660 9091 0000 lds r25,(Integral_Gier)+1
		7900	8137 4664 A091 0000 lds r26,(Integral_Gier)+2
		7901	8138 4668 B091 0000 lds r27,(Integral_Gier)+3
		7902	8139 466c BC01 movw r22,r24
		7903	8140 466e CD01 movw r24,r26
		7904	8141 4670 0E94 0000 call __mulsi3
		7905	8142 4674 DC01 movw r26,r24
		7906	8143 4676 CB01 movw r24,r22
		7907	8144 4678 BC01 movw r22,r24
		7908	8145 467a CD01 movw r24,r26
		7909	8146 467c 20EF ldi r18,lo8(22000)
		7910	8147 467e 35E5 ldi r19,hi8(22000)
		7911	8148 4680 40E0 ldi r20,hlo8(22000)
		7912	8149 4682 50E0 ldi r21,hhi8(22000)
		7913	8150 4684 0E94 0000 call __divmodsi4
		7914	8151 4688 B501 movw r22,r10
		7915	8152 468a 620F add r22,r18
		7916	8153 468c 731F adc r23,r19
		7917	8154 468e 7093 0000 sts (MesswertGier)+1,r23
		7918	8155 4692 6093 0000 sts MesswertGier,r22
		7919	8156 4696 0150 subi r16,lo8(4097)
		7920	8157 4698 1041 sbci r17,hi8(4097)
		7921	8158 469a 04F0 brlt .L646
		7922	8159 469c 80E0 ldi r24,lo8(4096)
		7923	8160 469e 90E1 ldi r25,hi8(4096)
		7924	8161 46a0 9093 0000 sts (MesswertNick)+1,r25
		7925	8162 46a4 8093 0000 sts MesswertNick,r24
		7926	8163 .L646:
		7927	8164 46a8 8091 0000 lds r24,MesswertNick
		7928	8165 46ac 9091 0000 lds r25,(MesswertNick)+1
		7929	8166 46b0 8050 subi r24,lo8(-4096)
		7930	8167 46b2 904F sbci r25,hi8(-4096)
		7931	8168 46b4 04F4 brge .L647
		7932	8169 46b6 80E0 ldi r24,lo8(-4096)
		7933	8170 46b8 90EF ldi r25,hi8(-4096)
		7934	8171 46ba 9093 0000 sts (MesswertNick)+1,r25
		7935	8172 46be 8093 0000 sts MesswertNick,r24
		7936	8173 .L647:
		7937	8174 46c2 51E0 ldi r21,lo8(4097)
		7938	8175 46c4 8516 cp r8,r21
		7939	8176 46c6 50E1 ldi r21,hi8(4097)
		7940	8177 46c8 9506 cpc r9,r21
		7941	8178 46ca 04F0 brlt .L648
		7942	8179 46cc 80E0 ldi r24,lo8(4096)
		7943	8180 46ce 90E1 ldi r25,hi8(4096)
		7944	8181 46d0 9093 0000 sts (MesswertRoll)+1,r25
		7945	8182 46d4 8093 0000 sts MesswertRoll,r24
		7946	8183 .L648:
		7947	8184 46d8 8091 0000 lds r24,MesswertRoll
		7948	8185 46dc 9091 0000 lds r25,(MesswertRoll)+1
		7949	8186 46e0 8050 subi r24,lo8(-4096)
		7950	8187 46e2 904F sbci r25,hi8(-4096)
		7951	8188 46e4 04F4 brge .L649
		7952	8189 46e6 80E0 ldi r24,lo8(-4096)
		7953	8190 46e8 90EF ldi r25,hi8(-4096)
		7954	8191 46ea 9093 0000 sts (MesswertRoll)+1,r25
		7955	8192 46ee 8093 0000 sts MesswertRoll,r24
		7956	8193 .L649:
		7957	8194 46f2 6150 subi r22,lo8(4097)
		7958	8195 46f4 7041 sbci r23,hi8(4097)
		7959	8196 46f6 04F0 brlt .L650
		7960	8197 46f8 80E0 ldi r24,lo8(4096)
		7961	8198 46fa 90E1 ldi r25,hi8(4096)
		7962	8199 46fc 9093 0000 sts (MesswertGier)+1,r25
		7963	8200 4700 8093 0000 sts MesswertGier,r24
		7964	8201 .L650:
		7965	8202 4704 8091 0000 lds r24,MesswertGier
		7966	8203 4708 9091 0000 lds r25,(MesswertGier)+1
		7967	8204 470c 8050 subi r24,lo8(-4096)
		7968	8205 470e 904F sbci r25,hi8(-4096)
		7969	8206 4710 04F4 brge .L651
		7970	8207 4712 80E0 ldi r24,lo8(-4096)
		7971	8208 4714 90EF ldi r25,hi8(-4096)
		7972	8209 4716 9093 0000 sts (MesswertGier)+1,r25
		7973	8210 471a 8093 0000 sts MesswertGier,r24
		7974	8211 .L651:
		7975	8212 471e 8091 0000 lds r24,BattLowVoltageWarning
		7976	8213 4722 482F mov r20,r24
		7977	8214 4724 5527 clr r21
		7978	8215 4726 8091 0000 lds r24,UBat
		7979	8216 472a 9091 0000 lds r25,(UBat)+1
		7980	8217 472e 4817 cp r20,r24
		7981	8218 4730 5907 cpc r21,r25
		7982	8219 4732 04F4 brge .L652
		7983	8220 4734 2091 0000 lds r18,UBat
		7984	8221 4738 3091 0000 lds r19,(UBat)+1
		7985	8222 473c 0981 ldd r16,Y+1
		7986	8223 473e 1A81 ldd r17,Y+2
		7987	8224 4740 049F mul r16,r20
		7988	8225 4742 C001 movw r24,r0
		7989	8226 4744 059F mul r16,r21
		7990	8227 4746 900D add r25,r0
		7991	8228 4748 149F mul r17,r20
		7992	8229 474a 900D add r25,r0
		7993	8230 474c 1124 clr r1
		7994	8231 474e B901 movw r22,r18
		7995	8232 4750 0E94 0000 call __udivmodhi4
		7996	8233 4754 7A83 std Y+2,r23
		7997	8234 4756 6983 std Y+1,r22
		7998	8235 .L652:
		7999	8236 4758 2981 ldd r18,Y+1
		8000	8237 475a 3A81 ldd r19,Y+2
		8001	8238 475c 220F lsl r18
		8002	8239 475e 331F rol r19
		8003	8240 4760 220F lsl r18
		8004	8241 4762 331F rol r19
		8005	8242 4764 3A83 std Y+2,r19
		8006	8243 4766 2983 std Y+1,r18
		8007	8244 4768 4091 0000 lds r20,Parameter_GlobalConfig
		8008	8245 476c 40FD sbrc r20,0
		8009	8246 476e 00C0 rjmp .+4
		8010	8247 4770 0C94 0000 jmp .L653
		8011	8248 4774 EE20 tst r14
		8012	8249 4776 01F0 breq .+4
		8013	8250 4778 0C94 0000 jmp .L653
		8014	8251 477c FF20 tst r15
		8015	8252 477e 01F0 breq .+4
		8016	8253 4780 0C94 0000 jmp .L653
		8017	8254 4784 00E0 ldi r16,lo8(0)
		8018	8255 4786 10E0 ldi r17,hi8(0)
		8019	8256 4788 4801 movw r8,r16
		8020	8257 478a 8091 0000 lds r24,HoverGas
		8021	8258 478e 9091 0000 lds r25,(HoverGas)+1
		8022	8259 4792 9093 0000 sts (DebugOut+44)+1,r25
		8023	8260 4796 8093 0000 sts DebugOut+44,r24
		8024	8261 479a 2091 0000 lds r18,BaroExpandActive
		8025	8262 479e 3091 0000 lds r19,(BaroExpandActive)+1
		8026	8263 47a2 2115 cp r18,__zero_reg__
		8027	8264 47a4 3105 cpc r19,__zero_reg__
		8028	8265 47a6 01F0 breq .+2
		8029	8266 47a8 00C0 rjmp .L654
		8030	8267 47aa 8091 0000 lds r24,MessLuftdruck
		8031	8268 47ae 9091 0000 lds r25,(MessLuftdruck)+1
		8032	8269 47b2 8959 subi r24,lo8(921)
		8033	8270 47b4 9340 sbci r25,hi8(921)
		8034	8271 47b6 00F0 brlo .L655
		8035	8272 47b8 87B5 in r24,71-0x20
		8036	8273 47ba 803F cpi r24,lo8(-16)
		8037	8274 47bc 00F4 brsh .L656
		8038	8275 47be 8091 0000 lds r24,ExpandBaro
		8039	8276 47c2 8150 subi r24,lo8(-(-1))
		8040	8277 47c4 00C0 rjmp .L896
		8041	8278 .L656:
		8042	8279 47c6 81E0 ldi r24,lo8(1)
		8043	8280 47c8 8093 0000 sts BaroAtLowerLimit.26,r24
		8044	8281 47cc 00C0 rjmp .L663
		8045	8282 .L655:
		8046	8283 47ce 8091 0000 lds r24,MessLuftdruck
		8047	8284 47d2 9091 0000 lds r25,(MessLuftdruck)+1
		8048	8285 47d6 8436 cpi r24,100
		8049	8286 47d8 9105 cpc r25,__zero_reg__
		8050	8287 47da 00F4 brsh .L659
		8051	8288 47dc 87B5 in r24,71-0x20
		8052	8289 47de 8031 cpi r24,lo8(16)
		8053	8290 47e0 00F0 brlo .L660
		8054	8291 47e2 8091 0000 lds r24,ExpandBaro
		8055	8292 47e6 8F5F subi r24,lo8(-(1))
		8056	8293 .L896:
		8057	8294 47e8 8093 0000 sts ExpandBaro,r24
		8058	8295 47ec 9FE0 ldi r25,lo8(15)
		8059	8296 47ee 8902 muls r24,r25
		8060	8297 47f0 9001 movw r18,r0
		8061	8298 47f2 1124 clr r1
		8062	8299 47f4 8091 0000 lds r24,DruckOffsetSetting
		8063	8300 47f8 821B sub r24,r18
		8064	8301 47fa 87BD out 71-0x20,r24
		8065	8302 47fc 8CE2 ldi r24,lo8(300)
		8066	8303 47fe 91E0 ldi r25,hi8(300)
		8067	8304 4800 9093 0000 sts (beeptime)+1,r25
		8068	8305 4804 8093 0000 sts beeptime,r24
		8069	8306 4808 8EE5 ldi r24,lo8(350)
		8070	8307 480a 91E0 ldi r25,hi8(350)
		8071	8308 480c 9093 0000 sts (BaroExpandActive)+1,r25
		8072	8309 4810 8093 0000 sts BaroExpandActive,r24
		8073	8310 4814 00C0 rjmp .L663
		8074	8311 .L660:
		8075	8312 4816 81E0 ldi r24,lo8(1)
		8076	8313 4818 8093 0000 sts BaroAtUpperLimit.25,r24
		8077	8314 481c 00C0 rjmp .L663
		8078	8315 .L659:
		8079	8316 481e F092 0000 sts BaroAtUpperLimit.25,r15
		8080	8317 4822 F092 0000 sts BaroAtLowerLimit.26,r15
		8081	8318 4826 00C0 rjmp .L663
		8082	8319 .L654:
		8083	8320 4828 8091 0000 lds r24,HoehenWert
		8084	8321 482c 9091 0000 lds r25,(HoehenWert)+1
		8085	8322 4830 A091 0000 lds r26,(HoehenWert)+2
		8086	8323 4834 B091 0000 lds r27,(HoehenWert)+3
		8087	8324 4838 64E0 ldi r22,4
		8088	8325 483a 880F 1: lsl r24
		8089	8326 483c 991F rol r25
		8090	8327 483e AA1F rol r26
		8091	8328 4840 BB1F rol r27
		8092	8329 4842 6A95 dec r22
		8093	8330 4844 01F4 brne 1b
		8094	8331 4846 8093 0000 sts SummenHoehe,r24
		8095	8332 484a 9093 0000 sts (SummenHoehe)+1,r25
		8096	8333 484e A093 0000 sts (SummenHoehe)+2,r26
		8097	8334 4852 B093 0000 sts (SummenHoehe)+3,r27
		8098	8335 4856 1093 0000 sts (VarioMeter)+1,r17
		8099	8336 485a 0093 0000 sts VarioMeter,r16
		8100	8337 485e 2150 subi r18,lo8(-(-1))
		8101	8338 4860 3040 sbci r19,hi8(-(-1))
		8102	8339 4862 3093 0000 sts (BaroExpandActive)+1,r19
		8103	8340 4866 2093 0000 sts BaroExpandActive,r18
		8104	8341 .L663:
		8105	8342 486a 2091 0000 lds r18,Parameter_HoehenSchalter
		8106	8343 486e 41FF sbrs r20,1
		8107	8344 4870 00C0 rjmp .L664
		8108	8345 4872 2233 cpi r18,lo8(50)
		8109	8346 4874 00F4 brsh .L665
		8110	8347 4876 8091 0000 lds r24,delay.24
		8111	8348 487a 8150 subi r24,lo8(-(-1))
		8112	8349 487c 8093 0000 sts delay.24,r24
		8113	8350 4880 8F3F cpi r24,lo8(-1)
		8114	8351 4882 01F0 breq .+2
		8115	8352 4884 00C0 rjmp .L671
		8116	8353 4886 8091 0000 lds r24,SpeakHoTT
		8117	8354 488a 8823 tst r24
		8118	8355 488c 01F4 brne .L667
		8119	8356 488e 8091 0000 lds r24,HoehenReglerAktiv
		8120	8357 4892 8823 tst r24
		8121	8358 4894 01F0 breq .L667
		8122	8359 4896 88E2 ldi r24,lo8(40)
		8123	8360 4898 8093 0000 sts SpeakHoTT,r24
		8124	8361 .L667:
		8125	8362 489c 1092 0000 sts HoehenReglerAktiv,__zero_reg__
		8126	8363 48a0 8091 0000 lds r24,HoehenWert
		8127	8364 48a4 9091 0000 lds r25,(HoehenWert)+1
		8128	8365 48a8 A091 0000 lds r26,(HoehenWert)+2
		8129	8366 48ac B091 0000 lds r27,(HoehenWert)+3
		8130	8367 48b0 8093 0000 sts SollHoehe,r24
		8131	8368 48b4 9093 0000 sts (SollHoehe)+1,r25
		8132	8369 48b8 A093 0000 sts (SollHoehe)+2,r26
		8133	8370 48bc B093 0000 sts (SollHoehe)+3,r27
		8134	8371 48c0 81E0 ldi r24,lo8(1)
		8135	8372 48c2 8093 0000 sts delay.24,r24
		8136	8373 48c6 00C0 rjmp .L671
		8137	8374 .L665:
		8138	8375 48c8 2734 cpi r18,lo8(71)
		8139	8376 48ca 00F0 brlo .L671
		8140	8377 48cc 8091 0000 lds r24,SpeakHoTT
		8141	8378 48d0 8823 tst r24
		8142	8379 48d2 01F4 brne .L670
		8143	8380 48d4 8091 0000 lds r24,HoehenReglerAktiv
		8144	8381 48d8 8823 tst r24
		8145	8382 48da 01F4 brne .L670
		8146	8383 48dc 87E2 ldi r24,lo8(39)
		8147	8384 48de 8093 0000 sts SpeakHoTT,r24
		8148	8385 .L670:
		8149	8386 48e2 88EC ldi r24,lo8(-56)
		8150	8387 48e4 8093 0000 sts delay.24,r24
		8151	8388 48e8 00C0 rjmp .L897
		8152	8389 .L664:
		8153	8390 48ea 8091 0000 lds r24,ExternHoehenValue
		8154	8391 48ee 9091 0000 lds r25,(ExternHoehenValue)+1
		8155	8392 48f2 820F add r24,r18
		8156	8393 48f4 911D adc r25,__zero_reg__
		8157	8394 48f6 2091 0000 lds r18,EE_Parameter+18
		8158	8395 48fa 3327 clr r19
		8159	8396 48fc 829F mul r24,r18
		8160	8397 48fe A001 movw r20,r0
		8161	8398 4900 839F mul r24,r19
		8162	8399 4902 500D add r21,r0
		8163	8400 4904 929F mul r25,r18
		8164	8401 4906 500D add r21,r0
		8165	8402 4908 1124 clr r1
		8166	8403 490a CA01 movw r24,r20
		8167	8404 490c AA27 clr r26
		8168	8405 490e 97FD sbrc r25,7
		8169	8406 4910 A095 com r26
		8170	8407 4912 BA2F mov r27,r26
		8171	8408 4914 8093 0000 sts SollHoehe,r24
		8172	8409 4918 9093 0000 sts (SollHoehe)+1,r25
		8173	8410 491c A093 0000 sts (SollHoehe)+2,r26
		8174	8411 4920 B093 0000 sts (SollHoehe)+3,r27
		8175	8412 .L897:
		8176	8413 4924 81E0 ldi r24,lo8(1)
		8177	8414 4926 8093 0000 sts HoehenReglerAktiv,r24
		8178	8415 .L671:
		8179	8416 492a 8091 0000 lds r24,IntegralNick
		8180	8417 492e 9091 0000 lds r25,(IntegralNick)+1
		8181	8418 4932 A091 0000 lds r26,(IntegralNick)+2
		8182	8419 4936 B091 0000 lds r27,(IntegralNick)+3
		8183	8420 493a E090 0000 lds r14,GIER_GRAD_FAKTOR
		8184	8421 493e F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1
		8185	8422 4942 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2
		8186	8423 4946 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3
		8187	8424 494a BC01 movw r22,r24
		8188	8425 494c CD01 movw r24,r26
		8189	8426 494e A801 movw r20,r16
		8190	8427 4950 9701 movw r18,r14
		8191	8428 4952 0E94 0000 call __divmodsi4
		8192	8429 4956 5901 movw r10,r18
		8193	8430 4958 6A01 movw r12,r20
		8194	8431 495a 8091 0000 lds r24,IntegralRoll
		8195	8432 495e 9091 0000 lds r25,(IntegralRoll)+1
		8196	8433 4962 A091 0000 lds r26,(IntegralRoll)+2
		8197	8434 4966 B091 0000 lds r27,(IntegralRoll)+3
		8198	8435 496a BC01 movw r22,r24
		8199	8436 496c CD01 movw r24,r26
		8200	8437 496e A801 movw r20,r16
		8201	8438 4970 9701 movw r18,r14
		8202	8439 4972 0E94 0000 call __divmodsi4
		8203	8440 4976 B901 movw r22,r18
		8204	8441 4978 C501 movw r24,r10
		8205	8442 497a 0E94 0000 call ihypot
		8206	8443 497e 5C01 movw r10,r24
		8207	8444 4980 CC97 sbiw r24,60
		8208	8445 4982 04F0 brlt .L672
		8209	8446 4984 5CE3 ldi r21,lo8(60)
		8210	8447 4986 A52E mov r10,r21
		8211	8448 4988 B12C mov r11,__zero_reg__
		8212	8449 .L672:
		8213	8450 498a C501 movw r24,r10
		8214	8451 498c 0E94 0000 call c_cos_8192
		8215	8452 4990 5C01 movw r10,r24
		8216	8453 4992 80E2 ldi r24,lo8(32)
		8217	8454 4994 8093 0000 sts VarioCharacter,r24
		8218	8455 4998 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__
		8219	8456 499c 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__
		8220	8457 49a0 8091 0000 lds r24,HoehenReglerAktiv
		8221	8458 49a4 8823 tst r24
		8222	8459 49a6 01F4 brne .+2
		8223	8460 49a8 00C0 rjmp .L673
		8224	8461 49aa 8091 0000 lds r24,FC_StatusFlags
		8225	8462 49ae 9927 clr r25
		8226	8463 49b0 9C01 movw r18,r24
		8227	8464 49b2 2071 andi r18,lo8(16)
		8228	8465 49b4 3070 andi r19,hi8(16)
		8229	8466 49b6 84FD sbrc r24,4
		8230	8467 49b8 00C0 rjmp .L673
		8231	8468 49ba 8091 0000 lds r24,FC_StatusFlags2
		8232	8469 49be 8260 ori r24,lo8(2)
		8233	8470 49c0 8093 0000 sts FC_StatusFlags2,r24
		8234	8471 49c4 7091 0000 lds r23,Parameter_ExtraConfig
		8235	8472 49c8 872F mov r24,r23
		8236	8473 49ca 9927 clr r25
		8237	8474 49cc 41E0 ldi r20,lo8(1)
		8238	8475 49ce C42E mov r12,r20
		8239	8476 49d0 D12C mov r13,__zero_reg__
		8240	8477 49d2 C822 and r12,r24
		8241	8478 49d4 D922 and r13,r25
		8242	8479 49d6 80FD sbrc r24,0
		8243	8480 49d8 00C0 rjmp .L675
		8244	8481 49da 8091 0000 lds r24,Parameter_GlobalConfig
		8245	8482 49de 81FD sbrc r24,1
		8246	8483 49e0 00C0 rjmp .L674
		8247	8484 .L675:
		8248	8485 49e2 C980 ldd r12,Y+1
		8249	8486 49e4 DA80 ldd r13,Y+2
		8250	8487 49e6 3093 0000 sts (HeightTrimming.21)+1,r19
		8251	8488 49ea 2093 0000 sts HeightTrimming.21,r18
		8252	8489 49ee 3093 0000 sts (AltitudeSetpointTrimming)+1,r19
		8253	8490 49f2 2093 0000 sts AltitudeSetpointTrimming,r18
		8254	8491 49f6 8091 0000 lds r24,FC_StatusFlags
		8255	8492 49fa 806C ori r24,lo8(-64)
		8256	8493 49fc 8093 0000 sts FC_StatusFlags,r24
		8257	8494 4a00 00C0 rjmp .L676
		8258	8495 .L674:
		8259	8496 4a02 8091 0000 lds r24,FC_StatusFlags
		8260	8497 4a06 81FF sbrs r24,1
		8261	8498 4a08 00C0 rjmp .L677
		8262	8499 4a0a 0091 0000 lds r16,StickGasHover
		8263	8500 4a0e 1091 0000 lds r17,(StickGasHover)+1
		8264	8501 4a12 C801 movw r24,r16
		8265	8502 4a14 0F96 adiw r24,15
		8266	8503 4a16 2090 0000 lds r2,StickGas
		8267	8504 4a1a 3090 0000 lds r3,(StickGas)+1
		8268	8505 4a1e 8215 cp r24,r2
		8269	8506 4a20 9305 cpc r25,r3
		8270	8507 4a22 04F0 brlt .+2
		8271	8508 4a24 00C0 rjmp .L678
		8272	8509 4a26 8091 0000 lds r24,BaroAtUpperLimit.25
		8273	8510 4a2a 8823 tst r24
		8274	8511 4a2c 01F0 breq .+2
		8275	8512 4a2e 00C0 rjmp .L678
		8276	8513 4a30 8091 0000 lds r24,FC_StatusFlags
		8277	8514 4a34 87FF sbrs r24,7
		8278	8515 4a36 00C0 rjmp .L679
		8279	8516 4a38 8091 0000 lds r24,FC_StatusFlags
		8280	8517 4a3c 8F77 andi r24,lo8(127)
		8281	8518 4a3e 8093 0000 sts FC_StatusFlags,r24
		8282	8519 4a42 8091 0000 lds r24,HoehenWert
		8283	8520 4a46 9091 0000 lds r25,(HoehenWert)+1
		8284	8521 4a4a A091 0000 lds r26,(HoehenWert)+2
		8285	8522 4a4e B091 0000 lds r27,(HoehenWert)+3
		8286	8523 4a52 8093 0000 sts SollHoehe,r24
		8287	8524 4a56 9093 0000 sts (SollHoehe)+1,r25
		8288	8525 4a5a A093 0000 sts (SollHoehe)+2,r26
		8289	8526 4a5e B093 0000 sts (SollHoehe)+3,r27
		8290	8527 .L679:
		8291	8528 4a62 8091 0000 lds r24,FC_StatusFlags
		8292	8529 4a66 8064 ori r24,lo8(64)
		8293	8530 4a68 8093 0000 sts FC_StatusFlags,r24
		8294	8531 4a6c E090 0000 lds r14,Parameter_MaximumAltitude
		8295	8532 4a70 EE20 tst r14
		8296	8533 4a72 01F0 breq .L680
		8297	8534 4a74 8091 0000 lds r24,SollHoehe
		8298	8535 4a78 9091 0000 lds r25,(SollHoehe)+1
		8299	8536 4a7c A091 0000 lds r26,(SollHoehe)+2
		8300	8537 4a80 B091 0000 lds r27,(SollHoehe)+3
		8301	8538 4a84 BC01 movw r22,r24
		8302	8539 4a86 CD01 movw r24,r26
		8303	8540 4a88 24E6 ldi r18,lo8(100)
		8304	8541 4a8a 30E0 ldi r19,hi8(100)
		8305	8542 4a8c 40E0 ldi r20,hlo8(100)
		8306	8543 4a8e 50E0 ldi r21,hhi8(100)
		8307	8544 4a90 0E94 0000 call __divmodsi4
		8308	8545 4a94 8E2D mov r24,r14
		8309	8546 4a96 9927 clr r25
		8310	8547 4a98 AA27 clr r26
		8311	8548 4a9a BB27 clr r27
		8312	8549 4a9c 8217 cp r24,r18
		8313	8550 4a9e 9307 cpc r25,r19
		8314	8551 4aa0 A407 cpc r26,r20
		8315	8552 4aa2 B507 cpc r27,r21
		8316	8553 4aa4 04F4 brge .L680
		8317	8554 4aa6 D092 0000 sts (AltitudeSetpointTrimming)+1,r13
		8318	8555 4aaa C092 0000 sts AltitudeSetpointTrimming,r12
		8319	8556 4aae 00C0 rjmp .L681
		8320	8557 .L680:
		8321	8558 4ab0 C101 movw r24,r2
		8322	8559 4ab2 801B sub r24,r16
		8323	8560 4ab4 910B sbc r25,r17
		8324	8561 4ab6 0F97 sbiw r24,15
		8325	8562 4ab8 97FF sbrs r25,7
		8326	8563 4aba 00C0 rjmp .L682
		8327	8564 4abc 9095 com r25
		8328	8565 4abe 8195 neg r24
		8329	8566 4ac0 9F4F sbci r25,lo8(-1)
		8330	8567 .L682:
		8331	8568 4ac2 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8332	8569 4ac6 8093 0000 sts AltitudeSetpointTrimming,r24
		8333	8570 4aca 8BE2 ldi r24,lo8(43)
		8334	8571 4acc 8093 0000 sts VarioCharacter,r24
		8335	8572 .L681:
		8336	8573 4ad0 1092 0000 sts WaypointTrimming,__zero_reg__
		8337	8574 4ad4 00C0 rjmp .L683
		8338	8575 .L678:
		8339	8576 4ad6 C801 movw r24,r16
		8340	8577 4ad8 0F97 sbiw r24,15
		8341	8578 4ada 2816 cp r2,r24
		8342	8579 4adc 3906 cpc r3,r25
		8343	8580 4ade 04F4 brge .L684
		8344	8581 4ae0 2091 0000 lds r18,BaroAtLowerLimit.26
		8345	8582 4ae4 2223 tst r18
		8346	8583 4ae6 01F4 brne .L684
		8347	8584 4ae8 8091 0000 lds r24,FC_StatusFlags
		8348	8585 4aec 86FF sbrs r24,6
		8349	8586 4aee 00C0 rjmp .L685
		8350	8587 4af0 8091 0000 lds r24,FC_StatusFlags
		8351	8588 4af4 8F7B andi r24,lo8(-65)
		8352	8589 4af6 8093 0000 sts FC_StatusFlags,r24
		8353	8590 4afa 8091 0000 lds r24,HoehenWert
		8354	8591 4afe 9091 0000 lds r25,(HoehenWert)+1
		8355	8592 4b02 A091 0000 lds r26,(HoehenWert)+2
		8356	8593 4b06 B091 0000 lds r27,(HoehenWert)+3
		8357	8594 4b0a 8093 0000 sts SollHoehe,r24
		8358	8595 4b0e 9093 0000 sts (SollHoehe)+1,r25
		8359	8596 4b12 A093 0000 sts (SollHoehe)+2,r26
		8360	8597 4b16 B093 0000 sts (SollHoehe)+3,r27
		8361	8598 .L685:
		8362	8599 4b1a 8091 0000 lds r24,FC_StatusFlags
		8363	8600 4b1e 8068 ori r24,lo8(-128)
		8364	8601 4b20 8093 0000 sts FC_StatusFlags,r24
		8365	8602 4b24 C101 movw r24,r2
		8366	8603 4b26 801B sub r24,r16
		8367	8604 4b28 910B sbc r25,r17
		8368	8605 4b2a 0F96 adiw r24,15
		8369	8606 4b2c 97FF sbrs r25,7
		8370	8607 4b2e 00C0 rjmp .L686
		8371	8608 4b30 9095 com r25
		8372	8609 4b32 8195 neg r24
		8373	8610 4b34 9F4F sbci r25,lo8(-1)
		8374	8611 .L686:
		8375	8612 4b36 9095 com r25
		8376	8613 4b38 8195 neg r24
		8377	8614 4b3a 9F4F sbci r25,lo8(-1)
		8378	8615 4b3c 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8379	8616 4b40 8093 0000 sts AltitudeSetpointTrimming,r24
		8380	8617 4b44 8DE2 ldi r24,lo8(45)
		8381	8618 4b46 8093 0000 sts VarioCharacter,r24
		8382	8619 4b4a 2093 0000 sts WaypointTrimming,r18
		8383	8620 4b4e 00C0 rjmp .L683
		8384	8621 .L684:
		8385	8622 4b50 8DE3 ldi r24,lo8(61)
		8386	8623 4b52 8093 0000 sts VarioCharacter,r24
		8387	8624 4b56 6091 0000 lds r22,FromNC_AltitudeSpeed
		8388	8625 4b5a 6623 tst r22
		8389	8626 4b5c 01F0 breq .L688
		8390	8627 4b5e 2091 0000 lds r18,FromNC_AltitudeSetpoint
		8391	8628 4b62 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1
		8392	8629 4b66 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2
		8393	8630 4b6a 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3
		8394	8631 4b6e 8091 0000 lds r24,SollHoehe
		8395	8632 4b72 9091 0000 lds r25,(SollHoehe)+1
		8396	8633 4b76 A091 0000 lds r26,(SollHoehe)+2
		8397	8634 4b7a B091 0000 lds r27,(SollHoehe)+3
		8398	8635 4b7e 8217 cp r24,r18
		8399	8636 4b80 9307 cpc r25,r19
		8400	8637 4b82 A407 cpc r26,r20
		8401	8638 4b84 B507 cpc r27,r21
		8402	8639 4b86 04F4 brge .L688
		8403	8640 4b88 8091 0000 lds r24,FC_StatusFlags
		8404	8641 4b8c 8064 ori r24,lo8(64)
		8405	8642 4b8e 8093 0000 sts FC_StatusFlags,r24
		8406	8643 4b92 862F mov r24,r22
		8407	8644 4b94 9927 clr r25
		8408	8645 4b96 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8409	8646 4b9a 8093 0000 sts AltitudeSetpointTrimming,r24
		8410	8647 4b9e 8AE0 ldi r24,lo8(10)
		8411	8648 4ba0 8093 0000 sts WaypointTrimming,r24
		8412	8649 4ba4 8EE5 ldi r24,lo8(94)
		8413	8650 4ba6 8093 0000 sts VarioCharacter,r24
		8414	8651 4baa 8091 0000 lds r24,FC_StatusFlags
		8415	8652 4bae 87FF sbrs r24,7
		8416	8653 4bb0 00C0 rjmp .L683
		8417	8654 4bb2 8091 0000 lds r24,FC_StatusFlags
		8418	8655 4bb6 8F77 andi r24,lo8(127)
		8419	8656 4bb8 00C0 rjmp .L899
		8420	8657 .L688:
		8421	8658 4bba 6623 tst r22
		8422	8659 4bbc 01F4 brne .+2
		8423	8660 4bbe 00C0 rjmp .L691
		8424	8661 4bc0 2091 0000 lds r18,FromNC_AltitudeSetpoint
		8425	8662 4bc4 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1
		8426	8663 4bc8 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2
		8427	8664 4bcc 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3
		8428	8665 4bd0 8091 0000 lds r24,SollHoehe
		8429	8666 4bd4 9091 0000 lds r25,(SollHoehe)+1
		8430	8667 4bd8 A091 0000 lds r26,(SollHoehe)+2
		8431	8668 4bdc B091 0000 lds r27,(SollHoehe)+3
		8432	8669 4be0 2817 cp r18,r24
		8433	8670 4be2 3907 cpc r19,r25
		8434	8671 4be4 4A07 cpc r20,r26
		8435	8672 4be6 5B07 cpc r21,r27
		8436	8673 4be8 04F4 brge .L691
		8437	8674 4bea 8091 0000 lds r24,FC_StatusFlags
		8438	8675 4bee 8068 ori r24,lo8(-128)
		8439	8676 4bf0 8093 0000 sts FC_StatusFlags,r24
		8440	8677 4bf4 862F mov r24,r22
		8441	8678 4bf6 9927 clr r25
		8442	8679 4bf8 9095 com r25
		8443	8680 4bfa 8195 neg r24
		8444	8681 4bfc 9F4F sbci r25,lo8(-1)
		8445	8682 4bfe 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8446	8683 4c02 8093 0000 sts AltitudeSetpointTrimming,r24
		8447	8684 4c06 86EF ldi r24,lo8(-10)
		8448	8685 4c08 8093 0000 sts WaypointTrimming,r24
		8449	8686 4c0c 86E7 ldi r24,lo8(118)
		8450	8687 4c0e 8093 0000 sts VarioCharacter,r24
		8451	8688 4c12 8091 0000 lds r24,FC_StatusFlags
		8452	8689 4c16 86FF sbrs r24,6
		8453	8690 4c18 00C0 rjmp .L683
		8454	8691 4c1a 8091 0000 lds r24,FC_StatusFlags
		8455	8692 4c1e 8F7B andi r24,lo8(-65)
		8456	8693 .L899:
		8457	8694 4c20 8093 0000 sts FC_StatusFlags,r24
		8458	8695 4c24 8091 0000 lds r24,HoehenWert
		8459	8696 4c28 9091 0000 lds r25,(HoehenWert)+1
		8460	8697 4c2c A091 0000 lds r26,(HoehenWert)+2
		8461	8698 4c30 B091 0000 lds r27,(HoehenWert)+3
		8462	8699 4c34 8093 0000 sts SollHoehe,r24
		8463	8700 4c38 9093 0000 sts (SollHoehe)+1,r25
		8464	8701 4c3c A093 0000 sts (SollHoehe)+2,r26
		8465	8702 4c40 B093 0000 sts (SollHoehe)+3,r27
		8466	8703 4c44 00C0 rjmp .L683
		8467	8704 .L691:
		8468	8705 4c46 8091 0000 lds r24,FC_StatusFlags
		8469	8706 4c4a 807C andi r24,lo8(-64)
		8470	8707 4c4c 01F4 brne .+2
		8471	8708 4c4e 00C0 rjmp .L683
		8472	8709 4c50 8091 0000 lds r24,WaypointTrimming
		8473	8710 4c54 8823 tst r24
		8474	8711 4c56 01F4 brne .L695
		8475	8712 4c58 E090 0000 lds r14,HoehenWert
		8476	8713 4c5c F090 0000 lds r15,(HoehenWert)+1
		8477	8714 4c60 0091 0000 lds r16,(HoehenWert)+2
		8478	8715 4c64 1091 0000 lds r17,(HoehenWert)+3
		8479	8716 4c68 D801 movw r26,r16
		8480	8717 4c6a C701 movw r24,r14
		8481	8718 4c6c 8058 subi r24,lo8(-(-128))
		8482	8719 4c6e 9040 sbci r25,hi8(-(-128))
		8483	8720 4c70 A040 sbci r26,hlo8(-(-128))
		8484	8721 4c72 B040 sbci r27,hhi8(-(-128))
		8485	8722 4c74 2091 0000 lds r18,SollHoehe
		8486	8723 4c78 3091 0000 lds r19,(SollHoehe)+1
		8487	8724 4c7c 4091 0000 lds r20,(SollHoehe)+2
		8488	8725 4c80 5091 0000 lds r21,(SollHoehe)+3
		8489	8726 4c84 8217 cp r24,r18
		8490	8727 4c86 9307 cpc r25,r19
		8491	8728 4c88 A407 cpc r26,r20
		8492	8729 4c8a B507 cpc r27,r21
		8493	8730 4c8c 04F4 brge .L898
		8494	8731 4c8e D801 movw r26,r16
		8495	8732 4c90 C701 movw r24,r14
		8496	8733 4c92 8058 subi r24,lo8(-(128))
		8497	8734 4c94 9F4F sbci r25,hi8(-(128))
		8498	8735 4c96 AF4F sbci r26,hlo8(-(128))
		8499	8736 4c98 BF4F sbci r27,hhi8(-(128))
		8500	8737 4c9a 2817 cp r18,r24
		8501	8738 4c9c 3907 cpc r19,r25
		8502	8739 4c9e 4A07 cpc r20,r26
		8503	8740 4ca0 5B07 cpc r21,r27
		8504	8741 4ca2 04F0 brlt .L699
		8505	8742 .L898:
		8506	8743 4ca4 8093 0000 sts SollHoehe,r24
		8507	8744 4ca8 9093 0000 sts (SollHoehe)+1,r25
		8508	8745 4cac A093 0000 sts (SollHoehe)+2,r26
		8509	8746 4cb0 B093 0000 sts (SollHoehe)+3,r27
		8510	8747 4cb4 00C0 rjmp .L699
		8511	8748 .L695:
		8512	8749 4cb6 1092 0000 sts WaypointTrimming,__zero_reg__
		8513	8750 .L699:
		8514	8751 4cba 8091 0000 lds r24,FC_StatusFlags
		8515	8752 4cbe 8F73 andi r24,lo8(63)
		8516	8753 4cc0 8093 0000 sts FC_StatusFlags,r24
		8517	8754 4cc4 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__
		8518	8755 4cc8 1092 0000 sts HeightTrimming.21,__zero_reg__
		8519	8756 4ccc 71FF sbrs r23,1
		8520	8757 4cce 00C0 rjmp .L700
		8521	8758 4cd0 84EF ldi r24,lo8(500)
		8522	8759 4cd2 91E0 ldi r25,hi8(500)
		8523	8760 4cd4 9093 0000 sts (beeptime)+1,r25
		8524	8761 4cd8 8093 0000 sts beeptime,r24
		8525	8762 .L700:
		8526	8763 4cdc 8091 0000 lds r24,StartTrigger
		8527	8764 4ce0 8823 tst r24
		8528	8765 4ce2 01F4 brne .L683
		8529	8766 4ce4 8091 0000 lds r24,HoehenWert
		8530	8767 4ce8 9091 0000 lds r25,(HoehenWert)+1
		8531	8768 4cec A091 0000 lds r26,(HoehenWert)+2
		8532	8769 4cf0 B091 0000 lds r27,(HoehenWert)+3
		8533	8770 4cf4 C397 sbiw r24,51
		8534	8771 4cf6 A105 cpc r26,__zero_reg__
		8535	8772 4cf8 B105 cpc r27,__zero_reg__
		8536	8773 4cfa 04F0 brlt .L683
		8537	8774 4cfc 81E0 ldi r24,lo8(1)
		8538	8775 4cfe 8093 0000 sts StartTrigger,r24
		8539	8776 .L683:
		8540	8777 4d02 6091 0000 lds r22,HeightTrimming.21
		8541	8778 4d06 7091 0000 lds r23,(HeightTrimming.21)+1
		8542	8779 4d0a 8091 0000 lds r24,AltitudeSetpointTrimming
		8543	8780 4d0e 9091 0000 lds r25,(AltitudeSetpointTrimming)+1
		8544	8781 4d12 680F add r22,r24
		8545	8782 4d14 791F adc r23,r25
		8546	8783 4d16 7093 0000 sts (HeightTrimming.21)+1,r23
		8547	8784 4d1a 6093 0000 sts HeightTrimming.21,r22
		8548	8785 4d1e CB01 movw r24,r22
		8549	8786 4d20 77FF sbrs r23,7
		8550	8787 4d22 00C0 rjmp .L703
		8551	8788 4d24 8827 clr r24
		8552	8789 4d26 9927 clr r25
		8553	8790 4d28 861B sub r24,r22
		8554	8791 4d2a 970B sbc r25,r23
		8555	8792 .L703:
		8556	8793 4d2c 855F subi r24,lo8(501)
		8557	8794 4d2e 9140 sbci r25,hi8(501)
		8558	8795 4d30 04F4 brge .+2
		8559	8796 4d32 00C0 rjmp .L702
		8560	8797 4d34 4091 0000 lds r20,WaypointTrimming
		8561	8798 4d38 4423 tst r20
		8562	8799 4d3a 01F0 breq .L704
		8563	8800 4d3c 8091 0000 lds r24,FromNC_AltitudeSetpoint
		8564	8801 4d40 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1
		8565	8802 4d44 2091 0000 lds r18,SollHoehe
		8566	8803 4d48 3091 0000 lds r19,(SollHoehe)+1
		8567	8804 4d4c 821B sub r24,r18
		8568	8805 4d4e 930B sbc r25,r19
		8569	8806 4d50 0996 adiw r24,9
		8570	8807 4d52 4397 sbiw r24,19
		8571	8808 4d54 00F4 brsh .L705
		8572	8809 4d56 8091 0000 lds r24,FromNC_AltitudeSetpoint
		8573	8810 4d5a 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1
		8574	8811 4d5e A091 0000 lds r26,(FromNC_AltitudeSetpoint)+2
		8575	8812 4d62 B091 0000 lds r27,(FromNC_AltitudeSetpoint)+3
		8576	8813 4d66 00C0 rjmp .L901
		8577	8814 .L705:
		8578	8815 4d68 242F mov r18,r20
		8579	8816 4d6a 3327 clr r19
		8580	8817 4d6c 27FD sbrc r18,7
		8581	8818 4d6e 3095 com r19
		8582	8819 4d70 432F mov r20,r19
		8583	8820 4d72 532F mov r21,r19
		8584	8821 4d74 8091 0000 lds r24,SollHoehe
		8585	8822 4d78 9091 0000 lds r25,(SollHoehe)+1
		8586	8823 4d7c A091 0000 lds r26,(SollHoehe)+2
		8587	8824 4d80 B091 0000 lds r27,(SollHoehe)+3
		8588	8825 4d84 820F add r24,r18
		8589	8826 4d86 931F adc r25,r19
		8590	8827 4d88 A41F adc r26,r20
		8591	8828 4d8a B51F adc r27,r21
		8592	8829 .L901:
		8593	8830 4d8c 8093 0000 sts SollHoehe,r24
		8594	8831 4d90 9093 0000 sts (SollHoehe)+1,r25
		8595	8832 4d94 A093 0000 sts (SollHoehe)+2,r26
		8596	8833 4d98 B093 0000 sts (SollHoehe)+3,r27
		8597	8834 4d9c 00C0 rjmp .L707
		8598	8835 .L704:
		8599	8836 4d9e 8091 0000 lds r24,EE_Parameter+18
		8600	8837 4da2 2091 0000 lds r18,SollHoehe
		8601	8838 4da6 3091 0000 lds r19,(SollHoehe)+1
		8602	8839 4daa 4091 0000 lds r20,(SollHoehe)+2
		8603	8840 4dae 5091 0000 lds r21,(SollHoehe)+3
		8604	8841 4db2 1616 cp __zero_reg__,r22
		8605	8842 4db4 1706 cpc __zero_reg__,r23
		8606	8843 4db6 04F4 brge .L708
		8607	8844 4db8 63E0 ldi r22,lo8(3)
		8608	8845 4dba 0E94 0000 call __udivmodqi4
		8609	8846 4dbe 280F add r18,r24
		8610	8847 4dc0 311D adc r19,__zero_reg__
		8611	8848 4dc2 411D adc r20,__zero_reg__
		8612	8849 4dc4 511D adc r21,__zero_reg__
		8613	8850 4dc6 00C0 rjmp .L900
		8614	8851 .L708:
		8615	8852 4dc8 63E0 ldi r22,lo8(3)
		8616	8853 4dca 0E94 0000 call __udivmodqi4
		8617	8854 4dce 281B sub r18,r24
		8618	8855 4dd0 3109 sbc r19,__zero_reg__
		8619	8856 4dd2 4109 sbc r20,__zero_reg__
		8620	8857 4dd4 5109 sbc r21,__zero_reg__
		8621	8858 .L900:
		8622	8859 4dd6 2093 0000 sts SollHoehe,r18
		8623	8860 4dda 3093 0000 sts (SollHoehe)+1,r19
		8624	8861 4dde 4093 0000 sts (SollHoehe)+2,r20
		8625	8862 4de2 5093 0000 sts (SollHoehe)+3,r21
		8626	8863 .L707:
		8627	8864 4de6 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__
		8628	8865 4dea 1092 0000 sts HeightTrimming.21,__zero_reg__
		8629	8866 4dee E090 0000 lds r14,HoehenWert
		8630	8867 4df2 F090 0000 lds r15,(HoehenWert)+1
		8631	8868 4df6 0091 0000 lds r16,(HoehenWert)+2
		8632	8869 4dfa 1091 0000 lds r17,(HoehenWert)+3
		8633	8870 4dfe D801 movw r26,r16
		8634	8871 4e00 C701 movw r24,r14
		8635	8872 4e02 8050 subi r24,lo8(-(-1024))
		8636	8873 4e04 9440 sbci r25,hi8(-(-1024))
		8637	8874 4e06 A040 sbci r26,hlo8(-(-1024))
		8638	8875 4e08 B040 sbci r27,hhi8(-(-1024))
		8639	8876 4e0a 2091 0000 lds r18,SollHoehe
		8640	8877 4e0e 3091 0000 lds r19,(SollHoehe)+1
		8641	8878 4e12 4091 0000 lds r20,(SollHoehe)+2
		8642	8879 4e16 5091 0000 lds r21,(SollHoehe)+3
		8643	8880 4e1a 8217 cp r24,r18
		8644	8881 4e1c 9307 cpc r25,r19
		8645	8882 4e1e A407 cpc r26,r20
		8646	8883 4e20 B507 cpc r27,r21
		8647	8884 4e22 04F4 brge .L902
		8648	8885 4e24 D801 movw r26,r16
		8649	8886 4e26 C701 movw r24,r14
		8650	8887 4e28 8050 subi r24,lo8(-(1024))
		8651	8888 4e2a 9C4F sbci r25,hi8(-(1024))
		8652	8889 4e2c AF4F sbci r26,hlo8(-(1024))
		8653	8890 4e2e BF4F sbci r27,hhi8(-(1024))
		8654	8891 4e30 2817 cp r18,r24
		8655	8892 4e32 3907 cpc r19,r25
		8656	8893 4e34 4A07 cpc r20,r26
		8657	8894 4e36 5B07 cpc r21,r27
		8658	8895 4e38 04F0 brlt .L711
		8659	8896 .L902:
		8660	8897 4e3a 8093 0000 sts SollHoehe,r24
		8661	8898 4e3e 9093 0000 sts (SollHoehe)+1,r25
		8662	8899 4e42 A093 0000 sts (SollHoehe)+2,r26
		8663	8900 4e46 B093 0000 sts (SollHoehe)+3,r27
		8664	8901 .L711:
		8665	8902 4e4a 8091 0000 lds r24,Parameter_ExtraConfig
		8666	8903 4e4e 81FF sbrs r24,1
		8667	8904 4e50 00C0 rjmp .L713
		8668	8905 4e52 84E6 ldi r24,lo8(100)
		8669	8906 4e54 90E0 ldi r25,hi8(100)
		8670	8907 4e56 9093 0000 sts (beeptime)+1,r25
		8671	8908 4e5a 8093 0000 sts beeptime,r24
		8672	8909 .L713:
		8673	8910 4e5e 8091 0000 lds r24,EE_Parameter+22
		8674	8911 4e62 8823 tst r24
		8675	8912 4e64 01F4 brne .L702
		8676	8913 4e66 8091 0000 lds r24,FromNC_AltitudeSpeed
		8677	8914 4e6a 8823 tst r24
		8678	8915 4e6c 01F4 brne .L702
		8679	8916 4e6e 4091 0000 lds r20,HoverGas
		8680	8917 4e72 5091 0000 lds r21,(HoverGas)+1
		8681	8918 4e76 57FF sbrs r21,7
		8682	8919 4e78 00C0 rjmp .L715
		8683	8920 4e7a 4D5F subi r20,lo8(-(3))
		8684	8921 4e7c 5F4F sbci r21,hi8(-(3))
		8685	8922 .L715:
		8686	8923 4e7e 5595 asr r21
		8687	8924 4e80 4795 ror r20
		8688	8925 4e82 5595 asr r21
		8689	8926 4e84 4795 ror r20
		8690	8927 4e86 8091 0000 lds r24,UBat
		8691	8928 4e8a 9091 0000 lds r25,(UBat)+1
		8692	8929 4e8e 2091 0000 lds r18,BattLowVoltageWarning
		8693	8930 4e92 3327 clr r19
		8694	8931 4e94 489F mul r20,r24
		8695	8932 4e96 F001 movw r30,r0
		8696	8933 4e98 499F mul r20,r25
		8697	8934 4e9a F00D add r31,r0
		8698	8935 4e9c 589F mul r21,r24
		8699	8936 4e9e F00D add r31,r0
		8700	8937 4ea0 1124 clr r1
		8701	8938 4ea2 CF01 movw r24,r30
		8702	8939 4ea4 B901 movw r22,r18
		8703	8940 4ea6 0E94 0000 call __divmodhi4
		8704	8941 4eaa 7093 0000 sts (StickGasHover)+1,r23
		8705	8942 4eae 6093 0000 sts StickGasHover,r22
		8706	8943 4eb2 6634 cpi r22,70
		8707	8944 4eb4 7105 cpc r23,__zero_reg__
		8708	8945 4eb6 04F4 brge .L716
		8709	8946 4eb8 86E4 ldi r24,lo8(70)
		8710	8947 4eba 90E0 ldi r25,hi8(70)
		8711	8948 4ebc 00C0 rjmp .L903
		8712	8949 .L716:
		8713	8950 4ebe 6739 cpi r22,151
		8714	8951 4ec0 7105 cpc r23,__zero_reg__
		8715	8952 4ec2 04F0 brlt .L702
		8716	8953 4ec4 86E9 ldi r24,lo8(150)
		8717	8954 4ec6 90E0 ldi r25,hi8(150)
		8718	8955 .L903:
		8719	8956 4ec8 9093 0000 sts (StickGasHover)+1,r25
		8720	8957 4ecc 8093 0000 sts StickGasHover,r24
		8721	8958 .L702:
		8722	8959 4ed0 8091 0000 lds r24,BaroExpandActive
		8723	8960 4ed4 9091 0000 lds r25,(BaroExpandActive)+1
		8724	8961 4ed8 892B or r24,r25
		8725	8962 4eda 01F0 breq .L720
		8726	8963 4edc 8091 0000 lds r24,HoehenWert
		8727	8964 4ee0 9091 0000 lds r25,(HoehenWert)+1
		8728	8965 4ee4 A091 0000 lds r26,(HoehenWert)+2
		8729	8966 4ee8 B091 0000 lds r27,(HoehenWert)+3
		8730	8967 4eec 8093 0000 sts SollHoehe,r24
		8731	8968 4ef0 9093 0000 sts (SollHoehe)+1,r25
		8732	8969 4ef4 A093 0000 sts (SollHoehe)+2,r26
		8733	8970 4ef8 B093 0000 sts (SollHoehe)+3,r27
		8734	8971 4efc 00C0 rjmp .L720
		8735	8972 .L677:
		8736	8973 4efe 8091 0000 lds r24,HoehenWert
		8737	8974 4f02 9091 0000 lds r25,(HoehenWert)+1
		8738	8975 4f06 A091 0000 lds r26,(HoehenWert)+2
		8739	8976 4f0a B091 0000 lds r27,(HoehenWert)+3
		8740	8977 4f0e 8059 subi r24,lo8(-(-400))
		8741	8978 4f10 9140 sbci r25,hi8(-(-400))
		8742	8979 4f12 A040 sbci r26,hlo8(-(-400))
		8743	8980 4f14 B040 sbci r27,hhi8(-(-400))
		8744	8981 4f16 8093 0000 sts SollHoehe,r24
		8745	8982 4f1a 9093 0000 sts (SollHoehe)+1,r25
		8746	8983 4f1e A093 0000 sts (SollHoehe)+2,r26
		8747	8984 4f22 B093 0000 sts (SollHoehe)+3,r27
		8748	8985 4f26 8091 0000 lds r24,EE_Parameter+22
		8749	8986 4f2a 8823 tst r24
		8750	8987 4f2c 01F0 breq .L721
		8751	8988 4f2e 9927 clr r25
		8752	8989 4f30 00C0 rjmp .L904
		8753	8990 .L721:
		8754	8991 4f32 88E7 ldi r24,lo8(120)
		8755	8992 4f34 90E0 ldi r25,hi8(120)
		8756	8993 .L904:
		8757	8994 4f36 9093 0000 sts (StickGasHover)+1,r25
		8758	8995 4f3a 8093 0000 sts StickGasHover,r24
		8759	8996 4f3e E980 ldd r14,Y+1
		8760	8997 4f40 FA80 ldd r15,Y+2
		8761	8998 4f42 F092 0000 sts (HoverGas)+1,r15
		8762	8999 4f46 E092 0000 sts HoverGas,r14
		8763	9000 4f4a 8EE2 ldi r24,lo8(46)
		8764	9001 4f4c 8093 0000 sts VarioCharacter,r24
		8765	9002 .L720:
		8766	9003 4f50 C090 0000 lds r12,HoverGas
		8767	9004 4f54 D090 0000 lds r13,(HoverGas)+1
		8768	9005 .L676:
		8769	9006 4f58 E090 0000 lds r14,HoehenWert
		8770	9007 4f5c F090 0000 lds r15,(HoehenWert)+1
		8771	9008 4f60 0091 0000 lds r16,(HoehenWert)+2
		8772	9009 4f64 1091 0000 lds r17,(HoehenWert)+3
		8773	9010 4f68 2091 0000 lds r18,SollHoehe
		8774	9011 4f6c 3091 0000 lds r19,(SollHoehe)+1
		8775	9012 4f70 4091 0000 lds r20,(SollHoehe)+2
		8776	9013 4f74 5091 0000 lds r21,(SollHoehe)+3
		8777	9014 4f78 2E15 cp r18,r14
		8778	9015 4f7a 3F05 cpc r19,r15
		8779	9016 4f7c 4007 cpc r20,r16
		8780	9017 4f7e 5107 cpc r21,r17
		8781	9018 4f80 04F0 brlt .L724
		8782	9019 4f82 8091 0000 lds r24,Parameter_ExtraConfig
		8783	9020 4f86 80FD sbrc r24,0
		8784	9021 4f88 00C0 rjmp .L782
		8785	9022 .L724:
		8786	9023 4f8a 8091 0000 lds r24,BaroExpandActive
		8787	9024 4f8e 9091 0000 lds r25,(BaroExpandActive)+1
		8788	9025 4f92 892B or r24,r25
		8789	9026 4f94 01F0 breq .L725
		8790	9027 4f96 C090 0000 lds r12,HoverGas
		8791	9028 4f9a D090 0000 lds r13,(HoverGas)+1
		8792	9029 4f9e 00E0 ldi r16,lo8(0)
		8793	9030 4fa0 10E0 ldi r17,hi8(0)
		8794	9031 4fa2 00C0 rjmp .L726
		8795	9032 .L725:
		8796	9033 4fa4 D801 movw r26,r16
		8797	9034 4fa6 C701 movw r24,r14
		8798	9035 4fa8 821B sub r24,r18
		8799	9036 4faa 930B sbc r25,r19
		8800	9037 4fac A40B sbc r26,r20
		8801	9038 4fae B50B sbc r27,r21
		8802	9039 4fb0 8093 0000 sts tmp_long.1,r24
		8803	9040 4fb4 9093 0000 sts (tmp_long.1)+1,r25
		8804	9041 4fb8 A093 0000 sts (tmp_long.1)+2,r26
		8805	9042 4fbc B093 0000 sts (tmp_long.1)+3,r27
		8806	9043 4fc0 8230 cpi r24,lo8(-32766)
		8807	9044 4fc2 00E8 ldi r16,hi8(-32766)
		8808	9045 4fc4 9007 cpc r25,r16
		8809	9046 4fc6 0FEF ldi r16,hlo8(-32766)
		8810	9047 4fc8 A007 cpc r26,r16
		8811	9048 4fca 0FEF ldi r16,hhi8(-32766)
		8812	9049 4fcc B007 cpc r27,r16
		8813	9050 4fce 04F4 brge .L727
		8814	9051 4fd0 81E0 ldi r24,lo8(-32767)
		8815	9052 4fd2 90E8 ldi r25,hi8(-32767)
		8816	9053 4fd4 AFEF ldi r26,hlo8(-32767)
		8817	9054 4fd6 BFEF ldi r27,hhi8(-32767)
		8818	9055 4fd8 00C0 rjmp .L905
		8819	9056 .L727:
		8820	9057 4fda 8F5F subi r24,lo8(32767)
		8821	9058 4fdc 9F47 sbci r25,hi8(32767)
		8822	9059 4fde A040 sbci r26,hlo8(32767)
		8823	9060 4fe0 B040 sbci r27,hhi8(32767)
		8824	9061 4fe2 04F0 brlt .L728
		8825	9062 4fe4 8FEF ldi r24,lo8(32767)
		8826	9063 4fe6 9FE7 ldi r25,hi8(32767)
		8827	9064 4fe8 A0E0 ldi r26,hlo8(32767)
		8828	9065 4fea B0E0 ldi r27,hhi8(32767)
		8829	9066 .L905:
		8830	9067 4fec 8093 0000 sts tmp_long.1,r24
		8831	9068 4ff0 9093 0000 sts (tmp_long.1)+1,r25
		8832	9069 4ff4 A093 0000 sts (tmp_long.1)+2,r26
		8833	9070 4ff8 B093 0000 sts (tmp_long.1)+3,r27
		8834	9071 .L728:
		8835	9072 4ffc 0091 0000 lds r16,tmp_long.1
		8836	9073 5000 1091 0000 lds r17,(tmp_long.1)+1
		8837	9074 5004 8091 0000 lds r24,Parameter_Hoehe_P
		8838	9075 5008 282F mov r18,r24
		8839	9076 500a 3327 clr r19
		8840	9077 500c 4427 clr r20
		8841	9078 500e 5527 clr r21
		8842	9079 5010 8091 0000 lds r24,tmp_long.1
		8843	9080 5014 9091 0000 lds r25,(tmp_long.1)+1
		8844	9081 5018 A091 0000 lds r26,(tmp_long.1)+2
		8845	9082 501c B091 0000 lds r27,(tmp_long.1)+3
		8846	9083 5020 BC01 movw r22,r24
		8847	9084 5022 CD01 movw r24,r26
		8848	9085 5024 0E94 0000 call __mulsi3
		8849	9086 5028 97FF sbrs r25,7
		8850	9087 502a 00C0 rjmp .L730
		8851	9088 502c 615E subi r22,lo8(-(31))
		8852	9089 502e 7F4F sbci r23,hi8(-(31))
		8853	9090 5030 8F4F sbci r24,hlo8(-(31))
		8854	9091 5032 9F4F sbci r25,hhi8(-(31))
		8855	9092 .L730:
		8856	9093 5034 25E0 ldi r18,5
		8857	9094 5036 9595 1: asr r25
		8858	9095 5038 8795 ror r24
		8859	9096 503a 7795 ror r23
		8860	9097 503c 6795 ror r22
		8861	9098 503e 2A95 dec r18
		8862	9099 5040 01F4 brne 1b
		8863	9100 5042 6093 0000 sts tmp_long.1,r22
		8864	9101 5046 7093 0000 sts (tmp_long.1)+1,r23
		8865	9102 504a 8093 0000 sts (tmp_long.1)+2,r24
		8866	9103 504e 9093 0000 sts (tmp_long.1)+3,r25
		8867	9104 5052 6530 cpi r22,lo8(-507)
		8868	9105 5054 2EEF ldi r18,hi8(-507)
		8869	9106 5056 7207 cpc r23,r18
		8870	9107 5058 2FEF ldi r18,hlo8(-507)
		8871	9108 505a 8207 cpc r24,r18
		8872	9109 505c 2FEF ldi r18,hhi8(-507)
		8873	9110 505e 9207 cpc r25,r18
		8874	9111 5060 04F4 brge .L731
		8875	9112 5062 84E0 ldi r24,lo8(-508)
		8876	9113 5064 9EEF ldi r25,hi8(-508)
		8877	9114 5066 AFEF ldi r26,hlo8(-508)
		8878	9115 5068 BFEF ldi r27,hhi8(-508)
		8879	9116 506a 00C0 rjmp .L906
		8880	9117 .L731:
		8881	9118 506c 6050 subi r22,lo8(1024)
		8882	9119 506e 7440 sbci r23,hi8(1024)
		8883	9120 5070 8040 sbci r24,hlo8(1024)
		8884	9121 5072 9040 sbci r25,hhi8(1024)
		8885	9122 5074 04F0 brlt .L732
		8886	9123 5076 80E0 ldi r24,lo8(1024)
		8887	9124 5078 94E0 ldi r25,hi8(1024)
		8888	9125 507a A0E0 ldi r26,hlo8(1024)
		8889	9126 507c B0E0 ldi r27,hhi8(1024)
		8890	9127 .L906:
		8891	9128 507e 8093 0000 sts tmp_long.1,r24
		8892	9129 5082 9093 0000 sts (tmp_long.1)+1,r25
		8893	9130 5086 A093 0000 sts (tmp_long.1)+2,r26
		8894	9131 508a B093 0000 sts (tmp_long.1)+3,r27
		8895	9132 .L732:
		8896	9133 508e 8090 0000 lds r8,tmp_long.1
		8897	9134 5092 9090 0000 lds r9,(tmp_long.1)+1
		8898	9135 5096 2091 0000 lds r18,VarioMeter
		8899	9136 509a 3091 0000 lds r19,(VarioMeter)+1
		8900	9137 509e 37FF sbrs r19,7
		8901	9138 50a0 00C0 rjmp .L734
		8902	9139 50a2 295F subi r18,lo8(-(7))
		8903	9140 50a4 3F4F sbci r19,hi8(-(7))
		8904	9141 .L734:
		8905	9142 50a6 83E0 ldi r24,3
		8906	9143 50a8 3595 1: asr r19
		8907	9144 50aa 2795 ror r18
		8908	9145 50ac 8A95 dec r24
		8909	9146 50ae 01F4 brne 1b
		8910	9147 50b0 4FEF ldi r20,hi8(-126)
		8911	9148 50b2 2238 cpi r18,lo8(-126)
		8912	9149 50b4 3407 cpc r19,r20
		8913	9150 50b6 04F4 brge .L735
		8914	9151 50b8 21E8 ldi r18,lo8(-127)
		8915	9152 50ba 3FEF ldi r19,hi8(-127)
		8916	9153 50bc 00C0 rjmp .L736
		8917	9154 .L735:
		8918	9155 50be 2038 cpi r18,128
		8919	9156 50c0 3105 cpc r19,__zero_reg__
		8920	9157 50c2 04F0 brlt .L736
		8921	9158 50c4 20E8 ldi r18,lo8(128)
		8922	9159 50c6 30E0 ldi r19,hi8(128)
		8923	9160 .L736:
		8924	9161 50c8 C901 movw r24,r18
		8925	9162 50ca AA27 clr r26
		8926	9163 50cc 97FD sbrc r25,7
		8927	9164 50ce A095 com r26
		8928	9165 50d0 BA2F mov r27,r26
		8929	9166 50d2 2091 0000 lds r18,Parameter_Luftdruck_D
		8930	9167 50d6 3327 clr r19
		8931	9168 50d8 4427 clr r20
		8932	9169 50da 5527 clr r21
		8933	9170 50dc BC01 movw r22,r24
		8934	9171 50de CD01 movw r24,r26
		8935	9172 50e0 0E94 0000 call __mulsi3
		8936	9173 50e4 97FF sbrs r25,7
		8937	9174 50e6 00C0 rjmp .L738
		8938	9175 50e8 6D5F subi r22,lo8(-(3))
		8939	9176 50ea 7F4F sbci r23,hi8(-(3))
		8940	9177 50ec 8F4F sbci r24,hlo8(-(3))
		8941	9178 50ee 9F4F sbci r25,hhi8(-(3))
		8942	9179 .L738:
		8943	9180 50f0 B2E0 ldi r27,2
		8944	9181 50f2 9595 1: asr r25
		8945	9182 50f4 8795 ror r24
		8946	9183 50f6 7795 ror r23
		8947	9184 50f8 6795 ror r22
		8948	9185 50fa BA95 dec r27
		8949	9186 50fc 01F4 brne 1b
		8950	9187 50fe 9B01 movw r18,r22
		8951	9188 5100 5FEF ldi r21,hi8(-255)
		8952	9189 5102 6130 cpi r22,lo8(-255)
		8953	9190 5104 7507 cpc r23,r21
		8954	9191 5106 04F4 brge .L739
		8955	9192 5108 20E0 ldi r18,lo8(-256)
		8956	9193 510a 3FEF ldi r19,hi8(-256)
		8957	9194 510c 00C0 rjmp .L740
		8958	9195 .L739:
		8959	9196 510e 6F3F cpi r22,255
		8960	9197 5110 7105 cpc r23,__zero_reg__
		8961	9198 5112 01F0 breq .L740
		8962	9199 5114 04F0 brlt .L740
		8963	9200 5116 20E0 ldi r18,lo8(256)
		8964	9201 5118 31E0 ldi r19,hi8(256)
		8965	9202 .L740:
		8966	9203 511a 8091 0000 lds r24,FC_StatusFlags
		8967	9204 511e 807C andi r24,lo8(-64)
		8968	9205 5120 01F0 breq .L742
		8969	9206 5122 C901 movw r24,r18
		8970	9207 5124 37FD sbrc r19,7
		8971	9208 5126 0396 adiw r24,3
		8972	9209 .L743:
		8973	9210 5128 9C01 movw r18,r24
		8974	9211 512a 3595 asr r19
		8975	9212 512c 2795 ror r18
		8976	9213 512e 3595 asr r19
		8977	9214 5130 2795 ror r18
		8978	9215 5132 00C0 rjmp .L744
		8979	9216 .L742:
		8980	9217 5134 8091 0000 lds r24,Parameter_ExtraConfig
		8981	9218 5138 80FF sbrs r24,0
		8982	9219 513a 00C0 rjmp .L744
		8983	9220 513c C901 movw r24,r18
		8984	9221 513e 37FD sbrc r19,7
		8985	9222 5140 0796 adiw r24,7
		8986	9223 .L746:
		8987	9224 5142 9C01 movw r18,r24
		8988	9225 5144 F3E0 ldi r31,3
		8989	9226 5146 3595 1: asr r19
		8990	9227 5148 2795 ror r18
		8991	9228 514a FA95 dec r31
		8992	9229 514c 01F4 brne 1b
		8993	9230 .L744:
		8994	9231 514e 820E add r8,r18
		8995	9232 5150 931E adc r9,r19
		8996	9233 .L726:
		8997	9234 5152 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung
		8998	9235 5156 2223 tst r18
		8999	9236 5158 01F4 brne .+2
		9000	9237 515a 00C0 rjmp .L747
		9001	9238 515c 6091 0000 lds r22,Mess_Integral_Hoch
		9002	9239 5160 7091 0000 lds r23,(Mess_Integral_Hoch)+1
		9003	9240 5164 8091 0000 lds r24,(Mess_Integral_Hoch)+2
		9004	9241 5168 9091 0000 lds r25,(Mess_Integral_Hoch)+3
		9005	9242 516c 97FF sbrs r25,7
		9006	9243 516e 00C0 rjmp .L748
		9007	9244 5170 6158 subi r22,lo8(-(127))
		9008	9245 5172 7F4F sbci r23,hi8(-(127))
		9009	9246 5174 8F4F sbci r24,hlo8(-(127))
		9010	9247 5176 9F4F sbci r25,hhi8(-(127))
		9011	9248 .L748:
		9012	9249 5178 E7E0 ldi r30,7
		9013	9250 517a 9595 1: asr r25
		9014	9251 517c 8795 ror r24
		9015	9252 517e 7795 ror r23
		9016	9253 5180 6795 ror r22
		9017	9254 5182 EA95 dec r30
		9018	9255 5184 01F4 brne 1b
		9019	9256 5186 3327 clr r19
		9020	9257 5188 4427 clr r20
		9021	9258 518a 5527 clr r21
		9022	9259 518c 0E94 0000 call __mulsi3
		9023	9260 5190 97FF sbrs r25,7
		9024	9261 5192 00C0 rjmp .L749
		9025	9262 5194 615E subi r22,lo8(-(31))
		9026	9263 5196 7F4F sbci r23,hi8(-(31))
		9027	9264 5198 8F4F sbci r24,hlo8(-(31))
		9028	9265 519a 9F4F sbci r25,hhi8(-(31))
		9029	9266 .L749:
		9030	9267 519c 55E0 ldi r21,5
		9031	9268 519e 9595 1: asr r25
		9032	9269 51a0 8795 ror r24
		9033	9270 51a2 7795 ror r23
		9034	9271 51a4 6795 ror r22
		9035	9272 51a6 5A95 dec r21
		9036	9273 51a8 01F4 brne 1b
		9037	9274 51aa 6093 0000 sts tmp_long.1,r22
		9038	9275 51ae 7093 0000 sts (tmp_long.1)+1,r23
		9039	9276 51b2 8093 0000 sts (tmp_long.1)+2,r24
		9040	9277 51b6 9093 0000 sts (tmp_long.1)+3,r25
		9041	9278 51ba 6138 cpi r22,lo8(-127)
		9042	9279 51bc AFEF ldi r26,hi8(-127)
		9043	9280 51be 7A07 cpc r23,r26
		9044	9281 51c0 AFEF ldi r26,hlo8(-127)
		9045	9282 51c2 8A07 cpc r24,r26
		9046	9283 51c4 AFEF ldi r26,hhi8(-127)
		9047	9284 51c6 9A07 cpc r25,r26
		9048	9285 51c8 04F4 brge .L750
		9049	9286 51ca 80E8 ldi r24,lo8(-128)
		9050	9287 51cc 9FEF ldi r25,hi8(-128)
		9051	9288 51ce AFEF ldi r26,hlo8(-128)
		9052	9289 51d0 BFEF ldi r27,hhi8(-128)
		9053	9290 51d2 00C0 rjmp .L907
		9054	9291 .L750:
		9055	9292 51d4 6F3F cpi r22,lo8(255)
		9056	9293 51d6 7105 cpc r23,__zero_reg__
		9057	9294 51d8 8105 cpc r24,__zero_reg__
		9058	9295 51da 9105 cpc r25,__zero_reg__
		9059	9296 51dc 01F0 breq .L751
		9060	9297 51de 04F0 brlt .L751
		9061	9298 51e0 80E0 ldi r24,lo8(256)
		9062	9299 51e2 91E0 ldi r25,hi8(256)
		9063	9300 51e4 A0E0 ldi r26,hlo8(256)
		9064	9301 51e6 B0E0 ldi r27,hhi8(256)
		9065	9302 .L907:
		9066	9303 51e8 8093 0000 sts tmp_long.1,r24
		9067	9304 51ec 9093 0000 sts (tmp_long.1)+1,r25
		9068	9305 51f0 A093 0000 sts (tmp_long.1)+2,r26
		9069	9306 51f4 B093 0000 sts (tmp_long.1)+3,r27
		9070	9307 .L751:
		9071	9308 51f8 8091 0000 lds r24,tmp_long.1
		9072	9309 51fc 9091 0000 lds r25,(tmp_long.1)+1
		9073	9310 5200 880E add r8,r24
		9074	9311 5202 991E adc r9,r25
		9075	9312 .L747:
		9076	9313 5204 8091 0000 lds r24,Parameter_Hoehe_GPS_Z
		9077	9314 5208 282F mov r18,r24
		9078	9315 520a 3327 clr r19
		9079	9316 520c 8091 0000 lds r24,FromNaviCtrl_Value+4
		9080	9317 5210 9927 clr r25
		9081	9318 5212 87FD sbrc r24,7
		9082	9319 5214 9095 com r25
		9083	9320 5216 289F mul r18,r24
		9084	9321 5218 F001 movw r30,r0
		9085	9322 521a 299F mul r18,r25
		9086	9323 521c F00D add r31,r0
		9087	9324 521e 389F mul r19,r24
		9088	9325 5220 F00D add r31,r0
		9089	9326 5222 1124 clr r1
		9090	9327 5224 9F01 movw r18,r30
		9091	9328 5226 F7FF sbrs r31,7
		9092	9329 5228 00C0 rjmp .L753
		9093	9330 522a 2158 subi r18,lo8(-(127))
		9094	9331 522c 3F4F sbci r19,hi8(-(127))
		9095	9332 .L753:
		9096	9333 522e 220F lsl r18
		9097	9334 5230 232F mov r18,r19
		9098	9335 5232 221F rol r18
		9099	9336 5234 330B sbc r19,r19
		9100	9337 5236 FFEF ldi r31,hi8(-127)
		9101	9338 5238 2138 cpi r18,lo8(-127)
		9102	9339 523a 3F07 cpc r19,r31
		9103	9340 523c 04F4 brge .L754
		9104	9341 523e 20E8 ldi r18,lo8(-128)
		9105	9342 5240 3FEF ldi r19,hi8(-128)
		9106	9343 5242 00C0 rjmp .L755
		9107	9344 .L754:
		9108	9345 5244 2F3F cpi r18,255
		9109	9346 5246 3105 cpc r19,__zero_reg__
		9110	9347 5248 01F0 breq .L755
		9111	9348 524a 04F0 brlt .L755
		9112	9349 524c 20E0 ldi r18,lo8(256)
		9113	9350 524e 31E0 ldi r19,hi8(256)
		9114	9351 .L755:
		9115	9352 5250 820E add r8,r18
		9116	9353 5252 931E adc r9,r19
		9117	9354 5254 C401 movw r24,r8
		9118	9355 5256 AA27 clr r26
		9119	9356 5258 97FD sbrc r25,7
		9120	9357 525a A095 com r26
		9121	9358 525c BA2F mov r27,r26
		9122	9359 525e E090 0000 lds r14,HoverGas
		9123	9360 5262 F090 0000 lds r15,(HoverGas)+1
		9124	9361 5266 9701 movw r18,r14
		9125	9362 5268 4427 clr r20
		9126	9363 526a 37FD sbrc r19,7
		9127	9364 526c 4095 com r20
		9128	9365 526e 542F mov r21,r20
		9129	9366 5270 BC01 movw r22,r24
		9130	9367 5272 CD01 movw r24,r26
		9131	9368 5274 0E94 0000 call __mulsi3
		9132	9369 5278 97FF sbrs r25,7
		9133	9370 527a 00C0 rjmp .L757
		9134	9371 527c 6150 subi r22,lo8(-(511))
		9135	9372 527e 7E4F sbci r23,hi8(-(511))
		9136	9373 5280 8F4F sbci r24,hlo8(-(511))
		9137	9374 5282 9F4F sbci r25,hhi8(-(511))
		9138	9375 .L757:
		9139	9376 5284 29E0 ldi r18,9
		9140	9377 5286 9595 1: asr r25
		9141	9378 5288 8795 ror r24
		9142	9379 528a 7795 ror r23
		9143	9380 528c 6795 ror r22
		9144	9381 528e 2A95 dec r18
		9145	9382 5290 01F4 brne 1b
		9146	9383 5292 C61A sub r12,r22
		9147	9384 5294 D70A sbc r13,r23
		9148	9385 5296 8091 0000 lds r24,AltitudeSetpointTrimming
		9149	9386 529a 9091 0000 lds r25,(AltitudeSetpointTrimming)+1
		9150	9387 529e 892B or r24,r25
		9151	9388 52a0 01F0 breq .+2
		9152	9389 52a2 00C0 rjmp .L758
		9153	9390 52a4 1E14 cp __zero_reg__,r14
		9154	9391 52a6 1F04 cpc __zero_reg__,r15
		9155	9392 52a8 04F0 brlt .+2
		9156	9393 52aa 00C0 rjmp .L758
		9157	9394 52ac 9801 movw r18,r16
		9158	9395 52ae 17FF sbrs r17,7
		9159	9396 52b0 00C0 rjmp .L759
		9160	9397 52b2 3095 com r19
		9161	9398 52b4 2195 neg r18
		9162	9399 52b6 3F4F sbci r19,lo8(-1)
		9163	9400 .L759:
		9164	9401 52b8 2D33 cpi r18,61
		9165	9402 52ba 3105 cpc r19,__zero_reg__
		9166	9403 52bc 00F4 brsh .L760
		9167	9404 52be 8091 0000 lds r24,HoverGasMin
		9168	9405 52c2 9091 0000 lds r25,(HoverGasMin)+1
		9169	9406 52c6 8C15 cp r24,r12
		9170	9407 52c8 9D05 cpc r25,r13
		9171	9408 52ca 04F4 brge .L909
		9172	9409 52cc 00C0 rjmp .L918
		9173	9410 .L760:
		9174	9411 52ce 2C53 subi r18,lo8(-(-60))
		9175	9412 52d0 3040 sbci r19,hi8(-(-60))
		9176	9413 52d2 85E0 ldi r24,5
		9177	9414 52d4 3695 1: lsr r19
		9178	9415 52d6 2795 ror r18
		9179	9416 52d8 8A95 dec r24
		9180	9417 52da 01F4 brne 1b
		9181	9418 52dc 2031 cpi r18,16
		9182	9419 52de 3105 cpc r19,__zero_reg__
		9183	9420 52e0 00F0 brlo .L765
		9184	9421 52e2 2FE0 ldi r18,lo8(15)
		9185	9422 52e4 30E0 ldi r19,hi8(15)
		9186	9423 .L765:
		9187	9424 52e6 4091 0000 lds r20,HoverGasMin
		9188	9425 52ea 5091 0000 lds r21,(HoverGasMin)+1
		9189	9426 52ee 1016 cp __zero_reg__,r16
		9190	9427 52f0 1106 cpc __zero_reg__,r17
		9191	9428 52f2 04F4 brge .L766
		9192	9429 52f4 80E1 ldi r24,lo8(16)
		9193	9430 52f6 90E0 ldi r25,hi8(16)
		9194	9431 52f8 821B sub r24,r18
		9195	9432 52fa 930B sbc r25,r19
		9196	9433 52fc 489F mul r20,r24
		9197	9434 52fe 9001 movw r18,r0
		9198	9435 5300 499F mul r20,r25
		9199	9436 5302 300D add r19,r0
		9200	9437 5304 589F mul r21,r24
		9201	9438 5306 300D add r19,r0
		9202	9439 5308 1124 clr r1
		9203	9440 530a B4E0 ldi r27,4
		9204	9441 530c 3695 1: lsr r19
		9205	9442 530e 2795 ror r18
		9206	9443 5310 BA95 dec r27
		9207	9444 5312 01F4 brne 1b
		9208	9445 5314 2C15 cp r18,r12
		9209	9446 5316 3D05 cpc r19,r13
		9210	9447 5318 00F4 brsh .L908
		9211	9448 .L918:
		9212	9449 531a 8091 0000 lds r24,HoverGasMax
		9213	9450 531e 9091 0000 lds r25,(HoverGasMax)+1
		9214	9451 5322 C816 cp r12,r24
		9215	9452 5324 D906 cpc r13,r25
		9216	9453 5326 04F0 brlt .L758
		9217	9454 .L909:
		9218	9455 5328 6C01 movw r12,r24
		9219	9456 532a 00C0 rjmp .L758
		9220	9457 .L766:
		9221	9458 532c 205F subi r18,lo8(-(16))
		9222	9459 532e 3F4F sbci r19,hi8(-(16))
		9223	9460 5330 8091 0000 lds r24,HoverGasMax
		9224	9461 5334 9091 0000 lds r25,(HoverGasMax)+1
		9225	9462 5338 829F mul r24,r18
		9226	9463 533a 8001 movw r16,r0
		9227	9464 533c 839F mul r24,r19
		9228	9465 533e 100D add r17,r0
		9229	9466 5340 929F mul r25,r18
		9230	9467 5342 100D add r17,r0
		9231	9468 5344 1124 clr r1
		9232	9469 5346 9801 movw r18,r16
		9233	9470 5348 A4E0 ldi r26,4
		9234	9471 534a 3695 1: lsr r19
		9235	9472 534c 2795 ror r18
		9236	9473 534e AA95 dec r26
		9237	9474 5350 01F4 brne 1b
		9238	9475 5352 4C15 cp r20,r12
		9239	9476 5354 5D05 cpc r21,r13
		9240	9477 5356 04F0 brlt .L771
		9241	9478 5358 6A01 movw r12,r20
		9242	9479 535a 00C0 rjmp .L758
		9243	9480 .L771:
		9244	9481 535c C216 cp r12,r18
		9245	9482 535e D306 cpc r13,r19
		9246	9483 5360 00F0 brlo .L758
		9247	9484 .L908:
		9248	9485 5362 6901 movw r12,r18
		9249	9486 .L758:
		9250	9487 5364 C601 movw r24,r12
		9251	9488 5366 AA27 clr r26
		9252	9489 5368 97FD sbrc r25,7
		9253	9490 536a A095 com r26
		9254	9491 536c BA2F mov r27,r26
		9255	9492 536e FDE0 ldi r31,13
		9256	9493 5370 880F 1: lsl r24
		9257	9494 5372 991F rol r25
		9258	9495 5374 AA1F rol r26
		9259	9496 5376 BB1F rol r27
		9260	9497 5378 FA95 dec r31
		9261	9498 537a 01F4 brne 1b
		9262	9499 537c 9501 movw r18,r10
		9263	9500 537e 4427 clr r20
		9264	9501 5380 37FD sbrc r19,7
		9265	9502 5382 4095 com r20
		9266	9503 5384 542F mov r21,r20
		9267	9504 5386 BC01 movw r22,r24
		9268	9505 5388 CD01 movw r24,r26
		9269	9506 538a 0E94 0000 call __divmodsi4
		9270	9507 538e 2093 0000 sts tmp_long2.2,r18
		9271	9508 5392 3093 0000 sts (tmp_long2.2)+1,r19
		9272	9509 5396 4093 0000 sts (tmp_long2.2)+2,r20
		9273	9510 539a 5093 0000 sts (tmp_long2.2)+3,r21
		9274	9511 539e C090 0000 lds r12,tmp_long2.2
		9275	9512 53a2 D090 0000 lds r13,(tmp_long2.2)+1
		9276	9513 53a6 8091 0000 lds r24,FilterHCGas.22
		9277	9514 53aa 9091 0000 lds r25,(FilterHCGas.22)+1
		9278	9515 53ae 9C01 movw r18,r24
		9279	9516 53b0 220F lsl r18
		9280	9517 53b2 331F rol r19
		9281	9518 53b4 280F add r18,r24
		9282	9519 53b6 391F adc r19,r25
		9283	9520 53b8 2C0D add r18,r12
		9284	9521 53ba 3D1D adc r19,r13
		9285	9522 53bc 37FF sbrs r19,7
		9286	9523 53be 00C0 rjmp .L774
		9287	9524 53c0 2D5F subi r18,lo8(-(3))
		9288	9525 53c2 3F4F sbci r19,hi8(-(3))
		9289	9526 .L774:
		9290	9527 53c4 A901 movw r20,r18
		9291	9528 53c6 5595 asr r21
		9292	9529 53c8 4795 ror r20
		9293	9530 53ca 5595 asr r21
		9294	9531 53cc 4795 ror r20
		9295	9532 53ce 5093 0000 sts (FilterHCGas.22)+1,r21
		9296	9533 53d2 4093 0000 sts FilterHCGas.22,r20
		9297	9534 53d6 8091 0000 lds r24,EE_Parameter+14
		9298	9535 53da 282F mov r18,r24
		9299	9536 53dc 3327 clr r19
		9300	9537 53de 220F lsl r18
		9301	9538 53e0 331F rol r19
		9302	9539 53e2 220F lsl r18
		9303	9540 53e4 331F rol r19
		9304	9541 53e6 2417 cp r18,r20
		9305	9542 53e8 3507 cpc r19,r21
		9306	9543 53ea 04F4 brge .L910
		9307	9544 53ec 8091 0000 lds r24,MAX_GAS
		9308	9545 53f0 282F mov r18,r24
		9309	9546 53f2 3327 clr r19
		9310	9547 53f4 220F lsl r18
		9311	9548 53f6 331F rol r19
		9312	9549 53f8 220F lsl r18
		9313	9550 53fa 331F rol r19
		9314	9551 53fc 2055 subi r18,lo8(-(-80))
		9315	9552 53fe 3040 sbci r19,hi8(-(-80))
		9316	9553 5400 4217 cp r20,r18
		9317	9554 5402 5307 cpc r21,r19
		9318	9555 5404 04F0 brlt .L776
		9319	9556 .L910:
		9320	9557 5406 3093 0000 sts (FilterHCGas.22)+1,r19
		9321	9558 540a 2093 0000 sts FilterHCGas.22,r18
		9322	9559 .L776:
		9323	9560 540e 8091 0000 lds r24,Parameter_ExtraConfig
		9324	9561 5412 80FF sbrs r24,0
		9325	9562 5414 00C0 rjmp .L778
		9326	9563 5416 8091 0000 lds r24,FilterHCGas.22
		9327	9564 541a 9091 0000 lds r25,(FilterHCGas.22)+1
		9328	9565 541e 2981 ldd r18,Y+1
		9329	9566 5420 3A81 ldd r19,Y+2
		9330	9567 5422 8217 cp r24,r18
		9331	9568 5424 9307 cpc r25,r19
		9332	9569 5426 04F0 brlt .L779
		9333	9570 5428 3093 0000 sts (FilterHCGas.22)+1,r19
		9334	9571 542c 2093 0000 sts FilterHCGas.22,r18
		9335	9572 .L779:
		9336	9573 5430 4091 0000 lds r20,FilterHCGas.22
		9337	9574 5434 5091 0000 lds r21,(FilterHCGas.22)+1
		9338	9575 5438 5A83 std Y+2,r21
		9339	9576 543a 4983 std Y+1,r20
		9340	9577 543c 00C0 rjmp .L782
		9341	9578 .L778:
		9342	9579 543e 2981 ldd r18,Y+1
		9343	9580 5440 3A81 ldd r19,Y+2
		9344	9581 5442 2E19 sub r18,r14
		9345	9582 5444 3F09 sbc r19,r15
		9346	9583 5446 37FF sbrs r19,7
		9347	9584 5448 00C0 rjmp .L781
		9348	9585 544a 2D5F subi r18,lo8(-(3))
		9349	9586 544c 3F4F sbci r19,hi8(-(3))
		9350	9587 .L781:
		9351	9588 544e 3595 asr r19
		9352	9589 5450 2795 ror r18
		9353	9590 5452 3595 asr r19
		9354	9591 5454 2795 ror r18
		9355	9592 5456 6091 0000 lds r22,FilterHCGas.22
		9356	9593 545a 7091 0000 lds r23,(FilterHCGas.22)+1
		9357	9594 545e 620F add r22,r18
		9358	9595 5460 731F adc r23,r19
		9359	9596 5462 7A83 std Y+2,r23
		9360	9597 5464 6983 std Y+1,r22
		9361	9598 5466 00C0 rjmp .L782
		9362	9599 .L673:
		9363	9600 5468 8091 0000 lds r24,EE_Parameter+22
		9364	9601 546c 8823 tst r24
		9365	9602 546e 01F4 brne .L783
		9366	9603 5470 6091 0000 lds r22,HoverGas
		9367	9604 5474 7091 0000 lds r23,(HoverGas)+1
		9368	9605 5478 77FF sbrs r23,7
		9369	9606 547a 00C0 rjmp .L784
		9370	9607 547c 6D5F subi r22,lo8(-(3))
		9371	9608 547e 7F4F sbci r23,hi8(-(3))
		9372	9609 .L784:
		9373	9610 5480 7595 asr r23
		9374	9611 5482 6795 ror r22
		9375	9612 5484 7595 asr r23
		9376	9613 5486 6795 ror r22
		9377	9614 5488 4091 0000 lds r20,UBat
		9378	9615 548c 5091 0000 lds r21,(UBat)+1
		9379	9616 5490 8091 0000 lds r24,BattLowVoltageWarning
		9380	9617 5494 282F mov r18,r24
		9381	9618 5496 3327 clr r19
		9382	9619 5498 649F mul r22,r20
		9383	9620 549a C001 movw r24,r0
		9384	9621 549c 659F mul r22,r21
		9385	9622 549e 900D add r25,r0
		9386	9623 54a0 749F mul r23,r20
		9387	9624 54a2 900D add r25,r0
		9388	9625 54a4 1124 clr r1
		9389	9626 54a6 B901 movw r22,r18
		9390	9627 54a8 0E94 0000 call __divmodhi4
		9391	9628 54ac CB01 movw r24,r22
		9392	9629 54ae 00C0 rjmp .L911
		9393	9630 .L783:
		9394	9631 54b0 9927 clr r25
		9395	9632 .L911:
		9396	9633 54b2 9093 0000 sts (StickGasHover)+1,r25
		9397	9634 54b6 8093 0000 sts StickGasHover,r24
		9398	9635 54ba 8091 0000 lds r24,StickGasHover
		9399	9636 54be 9091 0000 lds r25,(StickGasHover)+1
		9400	9637 54c2 8734 cpi r24,71
		9401	9638 54c4 9105 cpc r25,__zero_reg__
		9402	9639 54c6 04F4 brge .L786
		9403	9640 54c8 86E4 ldi r24,lo8(70)
		9404	9641 54ca 90E0 ldi r25,hi8(70)
		9405	9642 54cc 00C0 rjmp .L912
		9406	9643 .L786:
		9407	9644 54ce 8639 cpi r24,150
		9408	9645 54d0 9105 cpc r25,__zero_reg__
		9409	9646 54d2 04F0 brlt .L787
		9410	9647 54d4 86E9 ldi r24,lo8(150)
		9411	9648 54d6 90E0 ldi r25,hi8(150)
		9412	9649 .L912:
		9413	9650 54d8 9093 0000 sts (StickGasHover)+1,r25
		9414	9651 54dc 8093 0000 sts StickGasHover,r24
		9415	9652 .L787:
		9416	9653 54e0 8981 ldd r24,Y+1
		9417	9654 54e2 9A81 ldd r25,Y+2
		9418	9655 54e4 9093 0000 sts (FilterHCGas.22)+1,r25
		9419	9656 54e8 8093 0000 sts FilterHCGas.22,r24
		9420	9657 54ec 8091 0000 lds r24,FC_StatusFlags
		9421	9658 54f0 806C ori r24,lo8(-64)
		9422	9659 54f2 8093 0000 sts FC_StatusFlags,r24
		9423	9660 54f6 8091 0000 lds r24,FC_StatusFlags2
		9424	9661 54fa 8D7F andi r24,lo8(-3)
		9425	9662 54fc 8093 0000 sts FC_StatusFlags2,r24
		9426	9663 .L782:
		9427	9664 5500 8091 0000 lds r24,FC_StatusFlags
		9428	9665 5504 9927 clr r25
		9429	9666 5506 9C01 movw r18,r24
		9430	9667 5508 2270 andi r18,lo8(2)
		9431	9668 550a 3070 andi r19,hi8(2)
		9432	9669 550c 81FF sbrs r24,1
		9433	9670 550e 00C0 rjmp .L789
		9434	9671 5510 8091 0000 lds r24,HoverGasFilter.23
		9435	9672 5514 9091 0000 lds r25,(HoverGasFilter.23)+1
		9436	9673 5518 A091 0000 lds r26,(HoverGasFilter.23)+2
		9437	9674 551c B091 0000 lds r27,(HoverGasFilter.23)+3
		9438	9675 5520 0097 sbiw r24,0
		9439	9676 5522 A105 cpc r26,__zero_reg__
		9440	9677 5524 B105 cpc r27,__zero_reg__
		9441	9678 5526 01F0 breq .L791
		9442	9679 5528 8091 0000 lds r24,StartTrigger
		9443	9680 552c 8130 cpi r24,lo8(1)
		9444	9681 552e 01F4 brne .L790
		9445	9682 .L791:
		9446	9683 5530 E981 ldd r30,Y+1
		9447	9684 5532 FA81 ldd r31,Y+2
		9448	9685 5534 CF01 movw r24,r30
		9449	9686 5536 AA27 clr r26
		9450	9687 5538 97FD sbrc r25,7
		9451	9688 553a A095 com r26
		9452	9689 553c BA2F mov r27,r26
		9453	9690 553e 1EE0 ldi r17,14
		9454	9691 5540 880F 1: lsl r24
		9455	9692 5542 991F rol r25
		9456	9693 5544 AA1F rol r26
		9457	9694 5546 BB1F rol r27
		9458	9695 5548 1A95 dec r17
		9459	9696 554a 01F4 brne 1b
		9460	9697 554c 8093 0000 sts HoverGasFilter.23,r24
		9461	9698 5550 9093 0000 sts (HoverGasFilter.23)+1,r25
		9462	9699 5554 A093 0000 sts (HoverGasFilter.23)+2,r26
		9463	9700 5558 B093 0000 sts (HoverGasFilter.23)+3,r27
		9464	9701 .L790:
		9465	9702 555c 8091 0000 lds r24,StartTrigger
		9466	9703 5560 8130 cpi r24,lo8(1)
		9467	9704 5562 01F4 brne .L792
		9468	9705 5564 82E0 ldi r24,lo8(2)
		9469	9706 5566 8093 0000 sts StartTrigger,r24
		9470	9707 .L792:
		9471	9708 556a E980 ldd r14,Y+1
		9472	9709 556c FA80 ldd r15,Y+2
		9473	9710 556e C701 movw r24,r14
		9474	9711 5570 AA27 clr r26
		9475	9712 5572 97FD sbrc r25,7
		9476	9713 5574 A095 com r26
		9477	9714 5576 BA2F mov r27,r26
		9478	9715 5578 9501 movw r18,r10
		9479	9716 557a 4427 clr r20
		9480	9717 557c 37FD sbrc r19,7
		9481	9718 557e 4095 com r20
		9482	9719 5580 542F mov r21,r20
		9483	9720 5582 BC01 movw r22,r24
		9484	9721 5584 CD01 movw r24,r26
		9485	9722 5586 0E94 0000 call __mulsi3
		9486	9723 558a DC01 movw r26,r24
		9487	9724 558c CB01 movw r24,r22
		9488	9725 558e 8093 0000 sts tmp_long2.2,r24
		9489	9726 5592 9093 0000 sts (tmp_long2.2)+1,r25
		9490	9727 5596 A093 0000 sts (tmp_long2.2)+2,r26
		9491	9728 559a B093 0000 sts (tmp_long2.2)+3,r27
		9492	9729 559e B7FF sbrs r27,7
		9493	9730 55a0 00C0 rjmp .L793
		9494	9731 55a2 8150 subi r24,lo8(-(8191))
		9495	9732 55a4 904E sbci r25,hi8(-(8191))
		9496	9733 55a6 AF4F sbci r26,hlo8(-(8191))
		9497	9734 55a8 BF4F sbci r27,hhi8(-(8191))
		9498	9735 .L793:
		9499	9736 55aa 7C01 movw r14,r24
		9500	9737 55ac 8D01 movw r16,r26
		9501	9738 55ae ADE0 ldi r26,13
		9502	9739 55b0 1595 1: asr r17
		9503	9740 55b2 0795 ror r16
		9504	9741 55b4 F794 ror r15
		9505	9742 55b6 E794 ror r14
		9506	9743 55b8 AA95 dec r26
		9507	9744 55ba 01F4 brne 1b
		9508	9745 55bc E092 0000 sts tmp_long2.2,r14
		9509	9746 55c0 F092 0000 sts (tmp_long2.2)+1,r15
		9510	9747 55c4 0093 0000 sts (tmp_long2.2)+2,r16
		9511	9748 55c8 1093 0000 sts (tmp_long2.2)+3,r17
		9512	9749 55cc 6091 0000 lds r22,modell_fliegt
		9513	9750 55d0 7091 0000 lds r23,(modell_fliegt)+1
		9514	9751 55d4 2FE0 ldi r18,hi8(4000)
		9515	9752 55d6 603A cpi r22,lo8(4000)
		9516	9753 55d8 7207 cpc r23,r18
		9517	9754 55da 00F4 brsh .L794
		9518	9755 55dc 8091 0000 lds r24,HoverGasFilter.23
		9519	9756 55e0 9091 0000 lds r25,(HoverGasFilter.23)+1
		9520	9757 55e4 A091 0000 lds r26,(HoverGasFilter.23)+2
		9521	9758 55e8 B091 0000 lds r27,(HoverGasFilter.23)+3
		9522	9759 55ec 9C01 movw r18,r24
		9523	9760 55ee AD01 movw r20,r26
		9524	9761 55f0 FAE0 ldi r31,10
		9525	9762 55f2 5695 1: lsr r21
		9526	9763 55f4 4795 ror r20
		9527	9764 55f6 3795 ror r19
		9528	9765 55f8 2795 ror r18
		9529	9766 55fa FA95 dec r31
		9530	9767 55fc 01F4 brne 1b
		9531	9768 55fe 821B sub r24,r18
		9532	9769 5600 930B sbc r25,r19
		9533	9770 5602 A40B sbc r26,r20
		9534	9771 5604 B50B sbc r27,r21
		9535	9772 5606 A801 movw r20,r16
		9536	9773 5608 9701 movw r18,r14
		9537	9774 560a E4E0 ldi r30,4
		9538	9775 560c 220F 1: lsl r18
		9539	9776 560e 331F rol r19
		9540	9777 5610 441F rol r20
		9541	9778 5612 551F rol r21
		9542	9779 5614 EA95 dec r30
		9543	9780 5616 01F4 brne 1b
		9544	9781 5618 820F add r24,r18
		9545	9782 561a 931F adc r25,r19
		9546	9783 561c A41F adc r26,r20
		9547	9784 561e B51F adc r27,r21
		9548	9785 5620 8093 0000 sts HoverGasFilter.23,r24
		9549	9786 5624 9093 0000 sts (HoverGasFilter.23)+1,r25
		9550	9787 5628 A093 0000 sts (HoverGasFilter.23)+2,r26
		9551	9788 562c B093 0000 sts (HoverGasFilter.23)+3,r27
		9552	9789 .L794:
		9553	9790 5630 6054 subi r22,lo8(8000)
		9554	9791 5632 7F41 sbci r23,hi8(8000)
		9555	9792 5634 00F4 brsh .L795
		9556	9793 5636 8091 0000 lds r24,HoverGasFilter.23
		9557	9794 563a 9091 0000 lds r25,(HoverGasFilter.23)+1
		9558	9795 563e A091 0000 lds r26,(HoverGasFilter.23)+2
		9559	9796 5642 B091 0000 lds r27,(HoverGasFilter.23)+3
		9560	9797 5646 9C01 movw r18,r24
		9561	9798 5648 AD01 movw r20,r26
		9562	9799 564a 6CE0 ldi r22,12
		9563	9800 564c 5695 1: lsr r21
		9564	9801 564e 4795 ror r20
		9565	9802 5650 3795 ror r19
		9566	9803 5652 2795 ror r18
		9567	9804 5654 6A95 dec r22
		9568	9805 5656 01F4 brne 1b
		9569	9806 5658 821B sub r24,r18
		9570	9807 565a 930B sbc r25,r19
		9571	9808 565c A40B sbc r26,r20
		9572	9809 565e B50B sbc r27,r21
		9573	9810 5660 A801 movw r20,r16
		9574	9811 5662 9701 movw r18,r14
		9575	9812 5664 F2E0 ldi r31,2
		9576	9813 5666 220F 1: lsl r18
		9577	9814 5668 331F rol r19
		9578	9815 566a 441F rol r20
		9579	9816 566c 551F rol r21
		9580	9817 566e FA95 dec r31
		9581	9818 5670 01F4 brne 1b
		9582	9819 5672 820F add r24,r18
		9583	9820 5674 931F adc r25,r19
		9584	9821 5676 A41F adc r26,r20
		9585	9822 5678 B51F adc r27,r21
		9586	9823 567a 00C0 rjmp .L913
		9587	9824 .L795:
		9588	9825 567c 8091 0000 lds r24,VarioMeter
		9589	9826 5680 9091 0000 lds r25,(VarioMeter)+1
		9590	9827 5684 8091 0000 lds r24,VarioMeter
		9591	9828 5688 9091 0000 lds r25,(VarioMeter)+1
		9592	9829 568c 97FF sbrs r25,7
		9593	9830 568e 00C0 rjmp .L798
		9594	9831 5690 9095 com r25
		9595	9832 5692 8195 neg r24
		9596	9833 5694 9F4F sbci r25,lo8(-1)
		9597	9834 .L798:
		9598	9835 5696 8436 cpi r24,100
		9599	9836 5698 9105 cpc r25,__zero_reg__
		9600	9837 569a 04F4 brge .L796
		9601	9838 569c 8091 0000 lds r24,HoehenWert
		9602	9839 56a0 9091 0000 lds r25,(HoehenWert)+1
		9603	9840 56a4 2091 0000 lds r18,SollHoehe
		9604	9841 56a8 3091 0000 lds r19,(SollHoehe)+1
		9605	9842 56ac 821B sub r24,r18
		9606	9843 56ae 930B sbc r25,r19
		9607	9844 56b0 8150 subi r24,lo8(-(255))
		9608	9845 56b2 9F4F sbci r25,hi8(-(255))
		9609	9846 56b4 8F5F subi r24,lo8(511)
		9610	9847 56b6 9140 sbci r25,hi8(511)
		9611	9848 56b8 00F4 brsh .L796
		9612	9849 56ba 8091 0000 lds r24,HoverGasFilter.23
		9613	9850 56be 9091 0000 lds r25,(HoverGasFilter.23)+1
		9614	9851 56c2 A091 0000 lds r26,(HoverGasFilter.23)+2
		9615	9852 56c6 B091 0000 lds r27,(HoverGasFilter.23)+3
		9616	9853 56ca 9C01 movw r18,r24
		9617	9854 56cc AD01 movw r20,r26
		9618	9855 56ce EEE0 ldi r30,14
		9619	9856 56d0 5695 1: lsr r21
		9620	9857 56d2 4795 ror r20
		9621	9858 56d4 3795 ror r19
		9622	9859 56d6 2795 ror r18
		9623	9860 56d8 EA95 dec r30
		9624	9861 56da 01F4 brne 1b
		9625	9862 56dc 821B sub r24,r18
		9626	9863 56de 930B sbc r25,r19
		9627	9864 56e0 A40B sbc r26,r20
		9628	9865 56e2 B50B sbc r27,r21
		9629	9866 56e4 8E0D add r24,r14
		9630	9867 56e6 9F1D adc r25,r15
		9631	9868 56e8 A01F adc r26,r16
		9632	9869 56ea B11F adc r27,r17
		9633	9870 .L913:
		9634	9871 56ec 8093 0000 sts HoverGasFilter.23,r24
		9635	9872 56f0 9093 0000 sts (HoverGasFilter.23)+1,r25
		9636	9873 56f4 A093 0000 sts (HoverGasFilter.23)+2,r26
		9637	9874 56f8 B093 0000 sts (HoverGasFilter.23)+3,r27
		9638	9875 .L796:
		9639	9876 56fc 8091 0000 lds r24,HoverGasFilter.23
		9640	9877 5700 9091 0000 lds r25,(HoverGasFilter.23)+1
		9641	9878 5704 A091 0000 lds r26,(HoverGasFilter.23)+2
		9642	9879 5708 B091 0000 lds r27,(HoverGasFilter.23)+3
		9643	9880 570c 7EE0 ldi r23,14
		9644	9881 570e B695 1: lsr r27
		9645	9882 5710 A795 ror r26
		9646	9883 5712 9795 ror r25
		9647	9884 5714 8795 ror r24
		9648	9885 5716 7A95 dec r23
		9649	9886 5718 01F4 brne 1b
		9650	9887 571a 9093 0000 sts (HoverGas)+1,r25
		9651	9888 571e 8093 0000 sts HoverGas,r24
		9652	9889 5722 4091 0000 lds r20,EE_Parameter+20
		9653	9890 5726 4423 tst r20
		9654	9891 5728 01F0 breq .L799
		9655	9892 572a 5527 clr r21
		9656	9893 572c 9C01 movw r18,r24
		9657	9894 572e BA01 movw r22,r20
		9658	9895 5730 0E94 0000 call __divmodhi4
		9659	9896 5734 C901 movw r24,r18
		9660	9897 5736 861B sub r24,r22
		9661	9898 5738 970B sbc r25,r23
		9662	9899 573a 9093 0000 sts (HoverGasMin)+1,r25
		9663	9900 573e 8093 0000 sts HoverGasMin,r24
		9664	9901 5742 260F add r18,r22
		9665	9902 5744 371F adc r19,r23
		9666	9903 5746 3093 0000 sts (HoverGasMax)+1,r19
		9667	9904 574a 2093 0000 sts HoverGasMax,r18
		9668	9905 574e 00C0 rjmp .L802
		9669	9906 .L799:
		9670	9907 5750 1092 0000 sts (HoverGasMin)+1,__zero_reg__
		9671	9908 5754 1092 0000 sts HoverGasMin,__zero_reg__
		9672	9909 5758 8FEF ldi r24,lo8(1023)
		9673	9910 575a 93E0 ldi r25,hi8(1023)
		9674	9911 575c 9093 0000 sts (HoverGasMax)+1,r25
		9675	9912 5760 8093 0000 sts HoverGasMax,r24
		9676	9913 5764 00C0 rjmp .L802
		9677	9914 .L789:
		9678	9915 5766 1092 0000 sts StartTrigger,__zero_reg__
		9679	9916 576a 1092 0000 sts HoverGasFilter.23,__zero_reg__
		9680	9917 576e 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__
		9681	9918 5772 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__
		9682	9919 5776 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__
		9683	9920 577a 3093 0000 sts (HoverGas)+1,r19
		9684	9921 577e 2093 0000 sts HoverGas,r18
		9685	9922 5782 00C0 rjmp .L802
		9686	9923 .L653:
		9687	9924 5784 8091 0000 lds r24,FC_StatusFlags
		9688	9925 5788 806C ori r24,lo8(-64)
		9689	9926 578a 8093 0000 sts FC_StatusFlags,r24
		9690	9927 .L802:
		9691	9928 578e 8091 0000 lds r24,NC_To_FC_Flags
		9692	9929 5792 81FF sbrs r24,1
		9693	9930 5794 00C0 rjmp .L803
		9694	9931 5796 8981 ldd r24,Y+1
		9695	9932 5798 9A81 ldd r25,Y+2
		9696	9933 579a 97FD sbrc r25,7
		9697	9934 579c 0396 adiw r24,3
		9698	9935 .L805:
		9699	9936 579e 9595 asr r25
		9700	9937 57a0 8795 ror r24
		9701	9938 57a2 9595 asr r25
		9702	9939 57a4 8795 ror r24
		9703	9940 57a6 2091 0000 lds r18,HooverGasEmergencyPercent
		9704	9941 57aa 3091 0000 lds r19,(HooverGasEmergencyPercent)+1
		9705	9942 57ae 2817 cp r18,r24
		9706	9943 57b0 3907 cpc r19,r25
		9707	9944 57b2 00F4 brsh .L804
		9708	9945 57b4 8091 0000 lds r24,HoverGas
		9709	9946 57b8 9091 0000 lds r25,(HoverGas)+1
		9710	9947 57bc 892B or r24,r25
		9711	9948 57be 01F0 breq .L804
		9712	9949 57c0 220F lsl r18
		9713	9950 57c2 331F rol r19
		9714	9951 57c4 220F lsl r18
		9715	9952 57c6 331F rol r19
		9716	9953 57c8 3A83 std Y+2,r19
		9717	9954 57ca 2983 std Y+1,r18
		9718	9955 .L804:
		9719	9956 57cc 8091 0000 lds r24,HoehenWert
		9720	9957 57d0 9091 0000 lds r25,(HoehenWert)+1
		9721	9958 57d4 A091 0000 lds r26,(HoehenWert)+2
		9722	9959 57d8 B091 0000 lds r27,(HoehenWert)+3
		9723	9960 57dc 8093 0000 sts SollHoehe,r24
		9724	9961 57e0 9093 0000 sts (SollHoehe)+1,r25
		9725	9962 57e4 A093 0000 sts (SollHoehe)+2,r26
		9726	9963 57e8 B093 0000 sts (SollHoehe)+3,r27
		9727	9964 57ec 88E9 ldi r24,lo8(15000)
		9728	9965 57ee 9AE3 ldi r25,hi8(15000)
		9729	9966 57f0 9093 0000 sts (beeptime)+1,r25
		9730	9967 57f4 8093 0000 sts beeptime,r24
		9731	9968 57f8 80E0 ldi r24,lo8(3584)
		9732	9969 57fa 9EE0 ldi r25,hi8(3584)
		9733	9970 57fc 9093 0000 sts (BeepMuster)+1,r25
		9734	9971 5800 8093 0000 sts BeepMuster,r24
		9735	9972 .L803:
		9736	9973 5804 2091 0000 lds r18,MIN_GAS
		9737	9974 5808 822F mov r24,r18
		9738	9975 580a 9927 clr r25
		9739	9976 580c 880F lsl r24
		9740	9977 580e 991F rol r25
		9741	9978 5810 880F lsl r24
		9742	9979 5812 991F rol r25
		9743	9980 5814 8896 adiw r24,40
		9744	9981 5816 6981 ldd r22,Y+1
		9745	9982 5818 7A81 ldd r23,Y+2
		9746	9983 581a 8617 cp r24,r22
		9747	9984 581c 9707 cpc r25,r23
		9748	9985 581e 04F0 brlt .L806
		9749	9986 5820 9A83 std Y+2,r25
		9750	9987 5822 8983 std Y+1,r24
		9751	9988 .L806:
		9752	9989 5824 7091 0000 lds r23,MAX_GAS
		9753	9990 5828 7D8B std Y+21,r23
		9754	9991 582a 872F mov r24,r23
		9755	9992 582c 9927 clr r25
		9756	9993 582e 880F lsl r24
		9757	9994 5830 991F rol r25
		9758	9995 5832 880F lsl r24
		9759	9996 5834 991F rol r25
		9760	9997 5836 8055 subi r24,lo8(-(-80))
		9761	9998 5838 9040 sbci r25,hi8(-(-80))
		9762	9999 583a A981 ldd r26,Y+1
		9763	10000 583c BA81 ldd r27,Y+2
		9764	10001 583e 8A17 cp r24,r26
		9765	10002 5840 9B07 cpc r25,r27
		9766	10003 5842 04F4 brge .L807
		9767	10004 5844 9A83 std Y+2,r25
		9768	10005 5846 8983 std Y+1,r24
		9769	10006 .L807:
		9770	10007 5848 8091 0000 lds r24,MissingMotor
		9771	10008 584c 8823 tst r24
		9772	10009 584e 01F4 brne .L809
		9773	10010 5850 8091 0000 lds r24,Capacity+6
		9774	10011 5854 8F3F cpi r24,lo8(-1)
		9775	10012 5856 01F4 brne .L809
		9776	10013 5858 8091 0000 lds r24,NC_ErrorCode
		9777	10014 585c 8823 tst r24
		9778	10015 585e 01F0 breq .L808
		9779	10016 .L809:
		9780	10017 5860 8091 0000 lds r24,modell_fliegt
		9781	10018 5864 9091 0000 lds r25,(modell_fliegt)+1
		9782	10019 5868 0297 sbiw r24,2
		9783	10020 586a C097 sbiw r24,48
		9784	10021 586c 00F4 brsh .L808
		9785	10022 586e E981 ldd r30,Y+1
		9786	10023 5870 FA81 ldd r31,Y+2
		9787	10024 5872 1E16 cp __zero_reg__,r30
		9788	10025 5874 1F06 cpc __zero_reg__,r31
		9789	10026 5876 04F4 brge .L808
		9790	10027 5878 81E0 ldi r24,lo8(1)
		9791	10028 587a 90E0 ldi r25,hi8(1)
		9792	10029 587c 9093 0000 sts (modell_fliegt)+1,r25
		9793	10030 5880 8093 0000 sts modell_fliegt,r24
		9794	10031 5884 E22E mov r14,r18
		9795	10032 5886 FF24 clr r15
		9796	10033 5888 EE0C lsl r14
		9797	10034 588a FF1C rol r15
		9798	10035 588c EE0C lsl r14
		9799	10036 588e FF1C rol r15
		9800	10037 5890 8701 movw r16,r14
		9801	10038 5892 085D subi r16,lo8(-(40))
		9802	10039 5894 1F4F sbci r17,hi8(-(40))
		9803	10040 5896 1A83 std Y+2,r17
		9804	10041 5898 0983 std Y+1,r16
		9805	10042 .L808:
		9806	10043 589a 2981 ldd r18,Y+1
		9807	10044 589c 3A81 ldd r19,Y+2
		9808	10045 589e 3093 0000 sts (DebugOut+16)+1,r19
		9809	10046 58a2 2093 0000 sts DebugOut+16,r18
		9810	10047 58a6 8091 0000 lds r24,sollGier.0
		9811	10048 58aa 9091 0000 lds r25,(sollGier.0)+1
		9812	10049 58ae A091 0000 lds r26,(sollGier.0)+2
		9813	10050 58b2 B091 0000 lds r27,(sollGier.0)+3
		9814	10051 58b6 12E0 ldi r17,2
		9815	10052 58b8 880F 1: lsl r24
		9816	10053 58ba 991F rol r25
		9817	10054 58bc AA1F rol r26
		9818	10055 58be BB1F rol r27
		9819	10056 58c0 1A95 dec r17
		9820	10057 58c2 01F4 brne 1b
		9821	10058 58c4 0091 0000 lds r16,MesswertGier
		9822	10059 58c8 1091 0000 lds r17,(MesswertGier)+1
		9823	10060 58cc 081B sub r16,r24
		9824	10061 58ce 190B sbc r17,r25
		9825	10062 58d0 213A cpi r18,161
		9826	10063 58d2 3105 cpc r19,__zero_reg__
		9827	10064 58d4 04F0 brlt .L811
		9828	10065 58d6 C901 movw r24,r18
		9829	10066 58d8 37FD sbrc r19,7
		9830	10067 58da 0196 adiw r24,1
		9831	10068 .L813:
		9832	10069 58dc 9595 asr r25
		9833	10070 58de 8795 ror r24
		9834	10071 58e0 8017 cp r24,r16
		9835	10072 58e2 9107 cpc r25,r17
		9836	10073 58e4 04F4 brge .L812
		9837	10074 58e6 8C01 movw r16,r24
		9838	10075 .L812:
		9839	10076 58e8 9095 com r25
		9840	10077 58ea 8195 neg r24
		9841	10078 58ec 9F4F sbci r25,lo8(-1)
		9842	10079 58ee 0817 cp r16,r24
		9843	10080 58f0 1907 cpc r17,r25
		9844	10081 58f2 04F4 brge .L818
		9845	10082 58f4 8C01 movw r16,r24
		9846	10083 58f6 00C0 rjmp .L818
		9847	10084 .L811:
		9848	10085 58f8 0135 cpi r16,81
		9849	10086 58fa 1105 cpc r17,__zero_reg__
		9850	10087 58fc 04F0 brlt .L819
		9851	10088 58fe 00E5 ldi r16,lo8(80)
		9852	10089 5900 10E0 ldi r17,hi8(80)
		9853	10090 .L819:
		9854	10091 5902 3FEF ldi r19,hi8(-80)
		9855	10092 5904 003B cpi r16,lo8(-80)
		9856	10093 5906 1307 cpc r17,r19
		9857	10094 5908 04F4 brge .L818
		9858	10095 590a 00EB ldi r16,lo8(-80)
		9859	10096 590c 1FEF ldi r17,hi8(-80)
		9860	10097 .L818:
		9861	10098 590e 4D89 ldd r20,Y+21
		9862	10099 5910 242F mov r18,r20
		9863	10100 5912 3327 clr r19
		9864	10101 5914 220F lsl r18
		9865	10102 5916 331F rol r19
		9866	10103 5918 220F lsl r18
		9867	10104 591a 331F rol r19
		9868	10105 591c C901 movw r24,r18
		9869	10106 591e 6981 ldd r22,Y+1
		9870	10107 5920 7A81 ldd r23,Y+2
		9871	10108 5922 861B sub r24,r22
		9872	10109 5924 970B sbc r25,r23
		9873	10110 5926 8017 cp r24,r16
		9874	10111 5928 9107 cpc r25,r17
		9875	10112 592a 04F4 brge .L821
		9876	10113 592c 8C01 movw r16,r24
		9877	10114 .L821:
		9878	10115 592e 8981 ldd r24,Y+1
		9879	10116 5930 9A81 ldd r25,Y+2
		9880	10117 5932 821B sub r24,r18
		9881	10118 5934 930B sbc r25,r19
		9882	10119 5936 0817 cp r16,r24
		9883	10120 5938 1907 cpc r17,r25
		9884	10121 593a 04F4 brge .L822
		9885	10122 593c 8C01 movw r16,r24
		9886	10123 .L822:
		9887	10124 593e 8091 0000 lds r24,MesswertNick
		9888	10125 5942 9091 0000 lds r25,(MesswertNick)+1
		9889	10126 5946 6091 0000 lds r22,StickNick
		9890	10127 594a 7091 0000 lds r23,(StickNick)+1
		9891	10128 594e 861B sub r24,r22
		9892	10129 5950 970B sbc r25,r23
		9893	10130 5952 9093 0000 sts (DiffNick)+1,r25
		9894	10131 5956 8093 0000 sts DiffNick,r24
		9895	10132 595a D090 0000 lds r13,IntegralFaktor
		9896	10133 595e 2091 0000 lds r18,SummeNick
		9897	10134 5962 3091 0000 lds r19,(SummeNick)+1
		9898	10135 5966 4091 0000 lds r20,(SummeNick)+2
		9899	10136 596a 5091 0000 lds r21,(SummeNick)+3
		9900	10137 596e DD20 tst r13
		9901	10138 5970 01F0 breq .L823
		9902	10139 5972 661A sub r6,r22
		9903	10140 5974 770A sbc r7,r23
		9904	10141 5976 C301 movw r24,r6
		9905	10142 5978 AA27 clr r26
		9906	10143 597a 97FD sbrc r25,7
		9907	10144 597c A095 com r26
		9908	10145 597e BA2F mov r27,r26
		9909	10146 5980 00C0 rjmp .L914
		9910	10147 .L823:
		9911	10148 5982 AA27 clr r26
		9912	10149 5984 97FD sbrc r25,7
		9913	10150 5986 A095 com r26
		9914	10151 5988 BA2F mov r27,r26
		9915	10152 .L914:
		9916	10153 598a 280F add r18,r24
		9917	10154 598c 391F adc r19,r25
		9918	10155 598e 4A1F adc r20,r26
		9919	10156 5990 5B1F adc r21,r27
		9920	10157 5992 2093 0000 sts SummeNick,r18
		9921	10158 5996 3093 0000 sts (SummeNick)+1,r19
		9922	10159 599a 4093 0000 sts (SummeNick)+2,r20
		9923	10160 599e 5093 0000 sts (SummeNick)+3,r21
		9924	10161 59a2 8091 0000 lds r24,SummeNick
		9925	10162 59a6 9091 0000 lds r25,(SummeNick)+1
		9926	10163 59aa A091 0000 lds r26,(SummeNick)+2
		9927	10164 59ae B091 0000 lds r27,(SummeNick)+3
		9928	10165 59b2 8150 subi r24,lo8(64001)
		9929	10166 59b4 9A4F sbci r25,hi8(64001)
		9930	10167 59b6 A040 sbci r26,hlo8(64001)
		9931	10168 59b8 B040 sbci r27,hhi8(64001)
		9932	10169 59ba 04F0 brlt .L825
		9933	10170 59bc 80E0 ldi r24,lo8(64000)
		9934	10171 59be 9AEF ldi r25,hi8(64000)
		9935	10172 59c0 A0E0 ldi r26,hlo8(64000)
		9936	10173 59c2 B0E0 ldi r27,hhi8(64000)
		9937	10174 59c4 8093 0000 sts SummeNick,r24
		9938	10175 59c8 9093 0000 sts (SummeNick)+1,r25
		9939	10176 59cc A093 0000 sts (SummeNick)+2,r26
		9940	10177 59d0 B093 0000 sts (SummeNick)+3,r27
		9941	10178 .L825:
		9942	10179 59d4 8091 0000 lds r24,SummeNick
		9943	10180 59d8 9091 0000 lds r25,(SummeNick)+1
		9944	10181 59dc A091 0000 lds r26,(SummeNick)+2
		9945	10182 59e0 B091 0000 lds r27,(SummeNick)+3
		9946	10183 59e4 8050 subi r24,lo8(-64000)
		9947	10184 59e6 9640 sbci r25,hi8(-64000)
		9948	10185 59e8 AF4F sbci r26,hlo8(-64000)
		9949	10186 59ea BF4F sbci r27,hhi8(-64000)
		9950	10187 59ec 04F4 brge .L826
		9951	10188 59ee 80E0 ldi r24,lo8(-64000)
		9952	10189 59f0 96E0 ldi r25,hi8(-64000)
		9953	10190 59f2 AFEF ldi r26,hlo8(-64000)
		9954	10191 59f4 BFEF ldi r27,hhi8(-64000)
		9955	10192 59f6 8093 0000 sts SummeNick,r24
		9956	10193 59fa 9093 0000 sts (SummeNick)+1,r25
		9957	10194 59fe A093 0000 sts (SummeNick)+2,r26
		9958	10195 5a02 B093 0000 sts (SummeNick)+3,r27
		9959	10196 .L826:
		9960	10197 5a06 C090 0000 lds r12,EE_Parameter+35
		9961	10198 5a0a 2091 0000 lds r18,DiffNick
		9962	10199 5a0e 3091 0000 lds r19,(DiffNick)+1
		9963	10200 5a12 78E0 ldi r23,lo8(8)
		9964	10201 5a14 E72E mov r14,r23
		9965	10202 5a16 EC14 cp r14,r12
		9966	10203 5a18 00F0 brlo .L827
		9967	10204 5a1a 8C2D mov r24,r12
		9968	10205 5a1c 9927 clr r25
		9969	10206 5a1e 829F mul r24,r18
		9970	10207 5a20 A001 movw r20,r0
		9971	10208 5a22 839F mul r24,r19
		9972	10209 5a24 500D add r21,r0
		9973	10210 5a26 929F mul r25,r18
		9974	10211 5a28 500D add r21,r0
		9975	10212 5a2a 1124 clr r1
		9976	10213 5a2c CA01 movw r24,r20
		9977	10214 5a2e 57FD sbrc r21,7
		9978	10215 5a30 0796 adiw r24,7
		9979	10216 .L828:
		9980	10217 5a32 7C01 movw r14,r24
		9981	10218 5a34 63E0 ldi r22,3
		9982	10219 5a36 F594 1: asr r15
		9983	10220 5a38 E794 ror r14
		9984	10221 5a3a 6A95 dec r22
		9985	10222 5a3c 01F4 brne 1b
		9986	10223 5a3e 00C0 rjmp .L829
		9987	10224 .L827:
		9988	10225 5a40 8C2D mov r24,r12
		9989	10226 5a42 8695 lsr r24
		9990	10227 5a44 9927 clr r25
		9991	10228 5a46 829F mul r24,r18
		9992	10229 5a48 B001 movw r22,r0
		9993	10230 5a4a 839F mul r24,r19
		9994	10231 5a4c 700D add r23,r0
		9995	10232 5a4e 929F mul r25,r18
		9996	10233 5a50 700D add r23,r0
		9997	10234 5a52 1124 clr r1
		9998	10235 5a54 CB01 movw r24,r22
		9999	10236 5a56 77FD sbrc r23,7
		10000	10237 5a58 0396 adiw r24,3
		10001	10238 .L830:
		10002	10239 5a5a 7C01 movw r14,r24
		10003	10240 5a5c F594 asr r15
		10004	10241 5a5e E794 ror r14
		10005	10242 5a60 F594 asr r15
		10006	10243 5a62 E794 ror r14
		10007	10244 .L829:
		10008	10245 5a64 A090 0000 lds r10,Ki
		10009	10246 5a68 B090 0000 lds r11,(Ki)+1
		10010	10247 5a6c 9501 movw r18,r10
		10011	10248 5a6e 4427 clr r20
		10012	10249 5a70 37FD sbrc r19,7
		10013	10250 5a72 4095 com r20
		10014	10251 5a74 542F mov r21,r20
		10015	10252 5a76 8091 0000 lds r24,SummeNick
		10016	10253 5a7a 9091 0000 lds r25,(SummeNick)+1
		10017	10254 5a7e A091 0000 lds r26,(SummeNick)+2
		10018	10255 5a82 B091 0000 lds r27,(SummeNick)+3
		10019	10256 5a86 BC01 movw r22,r24
		10020	10257 5a88 CD01 movw r24,r26
		10021	10258 5a8a 0E94 0000 call __divmodsi4
		10022	10259 5a8e E20E add r14,r18
		10023	10260 5a90 F31E adc r15,r19
		10024	10261 5a92 9090 0000 lds r9,Parameter_DynamicStability
		10025	10262 5a96 692D mov r22,r9
		10026	10263 5a98 7727 clr r23
		10027	10264 5a9a 8827 clr r24
		10028	10265 5a9c 9927 clr r25
		10029	10266 5a9e 9801 movw r18,r16
		10030	10267 5aa0 17FF sbrs r17,7
		10031	10268 5aa2 00C0 rjmp .L831
		10032	10269 5aa4 2227 clr r18
		10033	10270 5aa6 3327 clr r19
		10034	10271 5aa8 201B sub r18,r16
		10035	10272 5aaa 310B sbc r19,r17
		10036	10273 .L831:
		10037	10274 5aac 37FF sbrs r19,7
		10038	10275 5aae 00C0 rjmp .L832
		10039	10276 5ab0 2F5F subi r18,lo8(-(1))
		10040	10277 5ab2 3F4F sbci r19,hi8(-(1))
		10041	10278 .L832:
		10042	10279 5ab4 3595 asr r19
		10043	10280 5ab6 2795 ror r18
		10044	10281 5ab8 A981 ldd r26,Y+1
		10045	10282 5aba BA81 ldd r27,Y+2
		10046	10283 5abc 2A0F add r18,r26
		10047	10284 5abe 3B1F adc r19,r27
		10048	10285 5ac0 4427 clr r20
		10049	10286 5ac2 37FD sbrc r19,7
		10050	10287 5ac4 4095 com r20
		10051	10288 5ac6 542F mov r21,r20
		10052	10289 5ac8 0E94 0000 call __mulsi3
		10053	10290 5acc 97FF sbrs r25,7
		10054	10291 5ace 00C0 rjmp .L833
		10055	10292 5ad0 615C subi r22,lo8(-(63))
		10056	10293 5ad2 7F4F sbci r23,hi8(-(63))
		10057	10294 5ad4 8F4F sbci r24,hlo8(-(63))
		10058	10295 5ad6 9F4F sbci r25,hhi8(-(63))
		10059	10296 .L833:
		10060	10297 5ad8 26E0 ldi r18,6
		10061	10298 5ada 9595 1: asr r25
		10062	10299 5adc 8795 ror r24
		10063	10300 5ade 7795 ror r23
		10064	10301 5ae0 6795 ror r22
		10065	10302 5ae2 2A95 dec r18
		10066	10303 5ae4 01F4 brne 1b
		10067	10304 5ae6 9B01 movw r18,r22
		10068	10305 5ae8 6E15 cp r22,r14
		10069	10306 5aea 7F05 cpc r23,r15
		10070	10307 5aec 04F4 brge .L834
		10071	10308 5aee 7B01 movw r14,r22
		10072	10309 .L834:
		10073	10310 5af0 3095 com r19
		10074	10311 5af2 2195 neg r18
		10075	10312 5af4 3F4F sbci r19,lo8(-1)
		10076	10313 5af6 E216 cp r14,r18
		10077	10314 5af8 F306 cpc r15,r19
		10078	10315 5afa 04F4 brge .L835
		10079	10316 5afc 7901 movw r14,r18
		10080	10317 .L835:
		10081	10318 5afe 8091 0000 lds r24,MesswertRoll
		10082	10319 5b02 9091 0000 lds r25,(MesswertRoll)+1
		10083	10320 5b06 6091 0000 lds r22,StickRoll
		10084	10321 5b0a 7091 0000 lds r23,(StickRoll)+1
		10085	10322 5b0e 861B sub r24,r22
		10086	10323 5b10 970B sbc r25,r23
		10087	10324 5b12 9093 0000 sts (DiffRoll)+1,r25
		10088	10325 5b16 8093 0000 sts DiffRoll,r24
		10089	10326 5b1a 2091 0000 lds r18,SummeRoll
		10090	10327 5b1e 3091 0000 lds r19,(SummeRoll)+1
		10091	10328 5b22 4091 0000 lds r20,(SummeRoll)+2
		10092	10329 5b26 5091 0000 lds r21,(SummeRoll)+3
		10093	10330 5b2a DD20 tst r13
		10094	10331 5b2c 01F0 breq .L836
		10095	10332 5b2e 461A sub r4,r22
		10096	10333 5b30 570A sbc r5,r23
		10097	10334 5b32 C201 movw r24,r4
		10098	10335 5b34 AA27 clr r26
		10099	10336 5b36 97FD sbrc r25,7
		10100	10337 5b38 A095 com r26
		10101	10338 5b3a BA2F mov r27,r26
		10102	10339 5b3c 00C0 rjmp .L915
		10103	10340 .L836:
		10104	10341 5b3e AA27 clr r26
		10105	10342 5b40 97FD sbrc r25,7
		10106	10343 5b42 A095 com r26
		10107	10344 5b44 BA2F mov r27,r26
		10108	10345 .L915:
		10109	10346 5b46 280F add r18,r24
		10110	10347 5b48 391F adc r19,r25
		10111	10348 5b4a 4A1F adc r20,r26
		10112	10349 5b4c 5B1F adc r21,r27
		10113	10350 5b4e 2093 0000 sts SummeRoll,r18
		10114	10351 5b52 3093 0000 sts (SummeRoll)+1,r19
		10115	10352 5b56 4093 0000 sts (SummeRoll)+2,r20
		10116	10353 5b5a 5093 0000 sts (SummeRoll)+3,r21
		10117	10354 5b5e 8091 0000 lds r24,SummeRoll
		10118	10355 5b62 9091 0000 lds r25,(SummeRoll)+1
		10119	10356 5b66 A091 0000 lds r26,(SummeRoll)+2
		10120	10357 5b6a B091 0000 lds r27,(SummeRoll)+3
		10121	10358 5b6e 8150 subi r24,lo8(64001)
		10122	10359 5b70 9A4F sbci r25,hi8(64001)
		10123	10360 5b72 A040 sbci r26,hlo8(64001)
		10124	10361 5b74 B040 sbci r27,hhi8(64001)
		10125	10362 5b76 04F0 brlt .L838
		10126	10363 5b78 80E0 ldi r24,lo8(64000)
		10127	10364 5b7a 9AEF ldi r25,hi8(64000)
		10128	10365 5b7c A0E0 ldi r26,hlo8(64000)
		10129	10366 5b7e B0E0 ldi r27,hhi8(64000)
		10130	10367 5b80 8093 0000 sts SummeRoll,r24
		10131	10368 5b84 9093 0000 sts (SummeRoll)+1,r25
		10132	10369 5b88 A093 0000 sts (SummeRoll)+2,r26
		10133	10370 5b8c B093 0000 sts (SummeRoll)+3,r27
		10134	10371 .L838:
		10135	10372 5b90 8091 0000 lds r24,SummeRoll
		10136	10373 5b94 9091 0000 lds r25,(SummeRoll)+1
		10137	10374 5b98 A091 0000 lds r26,(SummeRoll)+2
		10138	10375 5b9c B091 0000 lds r27,(SummeRoll)+3
		10139	10376 5ba0 8050 subi r24,lo8(-64000)
		10140	10377 5ba2 9640 sbci r25,hi8(-64000)
		10141	10378 5ba4 AF4F sbci r26,hlo8(-64000)
		10142	10379 5ba6 BF4F sbci r27,hhi8(-64000)
		10143	10380 5ba8 04F4 brge .L839
		10144	10381 5baa 80E0 ldi r24,lo8(-64000)
		10145	10382 5bac 96E0 ldi r25,hi8(-64000)
		10146	10383 5bae AFEF ldi r26,hlo8(-64000)
		10147	10384 5bb0 BFEF ldi r27,hhi8(-64000)
		10148	10385 5bb2 8093 0000 sts SummeRoll,r24
		10149	10386 5bb6 9093 0000 sts (SummeRoll)+1,r25
		10150	10387 5bba A093 0000 sts (SummeRoll)+2,r26
		10151	10388 5bbe B093 0000 sts (SummeRoll)+3,r27
		10152	10389 .L839:
		10153	10390 5bc2 2091 0000 lds r18,DiffRoll
		10154	10391 5bc6 3091 0000 lds r19,(DiffRoll)+1
		10155	10392 5bca 48E0 ldi r20,lo8(8)
		10156	10393 5bcc 4C15 cp r20,r12
		10157	10394 5bce 00F0 brlo .L840
		10158	10395 5bd0 8C2D mov r24,r12
		10159	10396 5bd2 9927 clr r25
		10160	10397 5bd4 829F mul r24,r18
		10161	10398 5bd6 B001 movw r22,r0
		10162	10399 5bd8 839F mul r24,r19
		10163	10400 5bda 700D add r23,r0
		10164	10401 5bdc 929F mul r25,r18
		10165	10402 5bde 700D add r23,r0
		10166	10403 5be0 1124 clr r1
		10167	10404 5be2 CB01 movw r24,r22
		10168	10405 5be4 77FD sbrc r23,7
		10169	10406 5be6 0796 adiw r24,7
		10170	10407 .L841:
		10171	10408 5be8 6C01 movw r12,r24
		10172	10409 5bea B3E0 ldi r27,3
		10173	10410 5bec D594 1: asr r13
		10174	10411 5bee C794 ror r12
		10175	10412 5bf0 BA95 dec r27
		10176	10413 5bf2 01F4 brne 1b
		10177	10414 5bf4 00C0 rjmp .L842
		10178	10415 .L840:
		10179	10416 5bf6 C694 lsr r12
		10180	10417 5bf8 8C2D mov r24,r12
		10181	10418 5bfa 9927 clr r25
		10182	10419 5bfc 829F mul r24,r18
		10183	10420 5bfe D001 movw r26,r0
		10184	10421 5c00 839F mul r24,r19
		10185	10422 5c02 B00D add r27,r0
		10186	10423 5c04 929F mul r25,r18
		10187	10424 5c06 B00D add r27,r0
		10188	10425 5c08 1124 clr r1
		10189	10426 5c0a CD01 movw r24,r26
		10190	10427 5c0c B7FD sbrc r27,7
		10191	10428 5c0e 0396 adiw r24,3
		10192	10429 .L843:
		10193	10430 5c10 6C01 movw r12,r24
		10194	10431 5c12 D594 asr r13
		10195	10432 5c14 C794 ror r12
		10196	10433 5c16 D594 asr r13
		10197	10434 5c18 C794 ror r12
		10198	10435 .L842:
		10199	10436 5c1a 9501 movw r18,r10
		10200	10437 5c1c 4427 clr r20
		10201	10438 5c1e 37FD sbrc r19,7
		10202	10439 5c20 4095 com r20
		10203	10440 5c22 542F mov r21,r20
		10204	10441 5c24 8091 0000 lds r24,SummeRoll
		10205	10442 5c28 9091 0000 lds r25,(SummeRoll)+1
		10206	10443 5c2c A091 0000 lds r26,(SummeRoll)+2
		10207	10444 5c30 B091 0000 lds r27,(SummeRoll)+3
		10208	10445 5c34 BC01 movw r22,r24
		10209	10446 5c36 CD01 movw r24,r26
		10210	10447 5c38 0E94 0000 call __divmodsi4
		10211	10448 5c3c C20E add r12,r18
		10212	10449 5c3e D31E adc r13,r19
		10213	10450 5c40 692D mov r22,r9
		10214	10451 5c42 7727 clr r23
		10215	10452 5c44 8827 clr r24
		10216	10453 5c46 9927 clr r25
		10217	10454 5c48 9801 movw r18,r16
		10218	10455 5c4a 17FF sbrs r17,7
		10219	10456 5c4c 00C0 rjmp .L844
		10220	10457 5c4e 2227 clr r18
		10221	10458 5c50 3327 clr r19
		10222	10459 5c52 201B sub r18,r16
		10223	10460 5c54 310B sbc r19,r17
		10224	10461 .L844:
		10225	10462 5c56 37FF sbrs r19,7
		10226	10463 5c58 00C0 rjmp .L845
		10227	10464 5c5a 2F5F subi r18,lo8(-(1))
		10228	10465 5c5c 3F4F sbci r19,hi8(-(1))
		10229	10466 .L845:
		10230	10467 5c5e 3595 asr r19
		10231	10468 5c60 2795 ror r18
		10232	10469 5c62 E981 ldd r30,Y+1
		10233	10470 5c64 FA81 ldd r31,Y+2
		10234	10471 5c66 2E0F add r18,r30
		10235	10472 5c68 3F1F adc r19,r31
		10236	10473 5c6a 4427 clr r20
		10237	10474 5c6c 37FD sbrc r19,7
		10238	10475 5c6e 4095 com r20
		10239	10476 5c70 542F mov r21,r20
		10240	10477 5c72 0E94 0000 call __mulsi3
		10241	10478 5c76 97FF sbrs r25,7
		10242	10479 5c78 00C0 rjmp .L846
		10243	10480 5c7a 615C subi r22,lo8(-(63))
		10244	10481 5c7c 7F4F sbci r23,hi8(-(63))
		10245	10482 5c7e 8F4F sbci r24,hlo8(-(63))
		10246	10483 5c80 9F4F sbci r25,hhi8(-(63))
		10247	10484 .L846:
		10248	10485 5c82 E6E0 ldi r30,6
		10249	10486 5c84 9595 1: asr r25
		10250	10487 5c86 8795 ror r24
		10251	10488 5c88 7795 ror r23
		10252	10489 5c8a 6795 ror r22
		10253	10490 5c8c EA95 dec r30
		10254	10491 5c8e 01F4 brne 1b
		10255	10492 5c90 9B01 movw r18,r22
		10256	10493 5c92 6C15 cp r22,r12
		10257	10494 5c94 7D05 cpc r23,r13
		10258	10495 5c96 04F4 brge .L847
		10259	10496 5c98 6B01 movw r12,r22
		10260	10497 .L847:
		10261	10498 5c9a 3095 com r19
		10262	10499 5c9c 2195 neg r18
		10263	10500 5c9e 3F4F sbci r19,lo8(-1)
		10264	10501 5ca0 C216 cp r12,r18
		10265	10502 5ca2 D306 cpc r13,r19
		10266	10503 5ca4 04F4 brge .L848
		10267	10504 5ca6 6901 movw r12,r18
		10268	10505 .L848:
		10269	10506 5ca8 8091 0000 lds r24,MIN_GAS
		10270	10507 5cac 282E mov r2,r24
		10271	10508 5cae 3324 clr r3
		10272	10509 5cb0 5090 0000 lds r5,EE_Parameter+101
		10273	10510 5cb4 60E0 ldi r22,lo8(Motor)
		10274	10511 5cb6 862E mov r8,r22
		10275	10512 5cb8 60E0 ldi r22,hi8(Motor)
		10276	10513 5cba 962E mov r9,r22
		10277	10514 5cbc 50E0 ldi r21,lo8(Mixer+13)
		10278	10515 5cbe A52E mov r10,r21
		10279	10516 5cc0 50E0 ldi r21,hi8(Mixer+13)
		10280	10517 5cc2 B52E mov r11,r21
		10281	10518 5cc4 4BE0 ldi r20,lo8(11)
		10282	10519 5cc6 442E mov r4,r20
		10283	10520 5cc8 30E0 ldi r19,lo8(tmp_motorwert)
		10284	10521 5cca 632E mov r6,r19
		10285	10522 5ccc 30E0 ldi r19,hi8(tmp_motorwert)
		10286	10523 5cce 732E mov r7,r19
		10287	10524 .L883:
		10288	10525 5cd0 D501 movw r26,r10
		10289	10526 5cd2 2C91 ld r18,X
		10290	10527 5cd4 1216 cp __zero_reg__,r18
		10291	10528 5cd6 04F0 brlt .+2
		10292	10529 5cd8 00C0 rjmp .L852
		10293	10530 5cda 2034 cpi r18,lo8(64)
		10294	10531 5cdc 01F4 brne .L853
		10295	10532 5cde E981 ldd r30,Y+1
		10296	10533 5ce0 FA81 ldd r31,Y+2
		10297	10534 5ce2 FF8B std Y+23,r31
		10298	10535 5ce4 EE8B std Y+22,r30
		10299	10536 5ce6 00C0 rjmp .L854
		10300	10537 .L853:
		10301	10538 5ce8 4981 ldd r20,Y+1
		10302	10539 5cea 5A81 ldd r21,Y+2
		10303	10540 5cec CA01 movw r24,r20
		10304	10541 5cee AA27 clr r26
		10305	10542 5cf0 97FD sbrc r25,7
		10306	10543 5cf2 A095 com r26
		10307	10544 5cf4 BA2F mov r27,r26
		10308	10545 5cf6 3327 clr r19
		10309	10546 5cf8 27FD sbrc r18,7
		10310	10547 5cfa 3095 com r19
		10311	10548 5cfc 432F mov r20,r19
		10312	10549 5cfe 532F mov r21,r19
		10313	10550 5d00 BC01 movw r22,r24
		10314	10551 5d02 CD01 movw r24,r26
		10315	10552 5d04 0E94 0000 call __mulsi3
		10316	10553 5d08 97FF sbrs r25,7
		10317	10554 5d0a 00C0 rjmp .L855
		10318	10555 5d0c 615C subi r22,lo8(-(63))
		10319	10556 5d0e 7F4F sbci r23,hi8(-(63))
		10320	10557 5d10 8F4F sbci r24,hlo8(-(63))
		10321	10558 5d12 9F4F sbci r25,hhi8(-(63))
		10322	10559 .L855:
		10323	10560 5d14 26E0 ldi r18,6
		10324	10561 5d16 9595 1: asr r25
		10325	10562 5d18 8795 ror r24
		10326	10563 5d1a 7795 ror r23
		10327	10564 5d1c 6795 ror r22
		10328	10565 5d1e 2A95 dec r18
		10329	10566 5d20 01F4 brne 1b
		10330	10567 5d22 7F8B std Y+23,r23
		10331	10568 5d24 6E8B std Y+22,r22
		10332	10569 .L854:
		10333	10570 5d26 F501 movw r30,r10
		10334	10571 5d28 2181 ldd r18,Z+1
		10335	10572 5d2a 2034 cpi r18,lo8(64)
		10336	10573 5d2c 01F4 brne .L856
		10337	10574 5d2e 2E89 ldd r18,Y+22
		10338	10575 5d30 3F89 ldd r19,Y+23
		10339	10576 5d32 2E0D add r18,r14
		10340	10577 5d34 3F1D adc r19,r15
		10341	10578 5d36 3F8B std Y+23,r19
		10342	10579 5d38 2E8B std Y+22,r18
		10343	10580 5d3a 00C0 rjmp .L857
		10344	10581 .L856:
		10345	10582 5d3c 203C cpi r18,lo8(-64)
		10346	10583 5d3e 01F4 brne .L858
		10347	10584 5d40 4E89 ldd r20,Y+22
		10348	10585 5d42 5F89 ldd r21,Y+23
		10349	10586 5d44 4E19 sub r20,r14
		10350	10587 5d46 5F09 sbc r21,r15
		10351	10588 5d48 5F8B std Y+23,r21
		10352	10589 5d4a 4E8B std Y+22,r20
		10353	10590 5d4c 00C0 rjmp .L857
		10354	10591 .L858:
		10355	10592 5d4e C701 movw r24,r14
		10356	10593 5d50 AA27 clr r26
		10357	10594 5d52 97FD sbrc r25,7
		10358	10595 5d54 A095 com r26
		10359	10596 5d56 BA2F mov r27,r26
		10360	10597 5d58 3327 clr r19
		10361	10598 5d5a 27FD sbrc r18,7
		10362	10599 5d5c 3095 com r19
		10363	10600 5d5e 432F mov r20,r19
		10364	10601 5d60 532F mov r21,r19
		10365	10602 5d62 BC01 movw r22,r24
		10366	10603 5d64 CD01 movw r24,r26
		10367	10604 5d66 0E94 0000 call __mulsi3
		10368	10605 5d6a 97FF sbrs r25,7
		10369	10606 5d6c 00C0 rjmp .L860
		10370	10607 5d6e 615C subi r22,lo8(-(63))
		10371	10608 5d70 7F4F sbci r23,hi8(-(63))
		10372	10609 5d72 8F4F sbci r24,hlo8(-(63))
		10373	10610 5d74 9F4F sbci r25,hhi8(-(63))
		10374	10611 .L860:
		10375	10612 5d76 B6E0 ldi r27,6
		10376	10613 5d78 9595 1: asr r25
		10377	10614 5d7a 8795 ror r24
		10378	10615 5d7c 7795 ror r23
		10379	10616 5d7e 6795 ror r22
		10380	10617 5d80 BA95 dec r27
		10381	10618 5d82 01F4 brne 1b
		10382	10619 5d84 AE89 ldd r26,Y+22
		10383	10620 5d86 BF89 ldd r27,Y+23
		10384	10621 5d88 A60F add r26,r22
		10385	10622 5d8a B71F adc r27,r23
		10386	10623 5d8c BF8B std Y+23,r27
		10387	10624 5d8e AE8B std Y+22,r26
		10388	10625 .L857:
		10389	10626 5d90 F501 movw r30,r10
		10390	10627 5d92 2281 ldd r18,Z+2
		10391	10628 5d94 2034 cpi r18,lo8(64)
		10392	10629 5d96 01F4 brne .L861
		10393	10630 5d98 2E89 ldd r18,Y+22
		10394	10631 5d9a 3F89 ldd r19,Y+23
		10395	10632 5d9c 2C0D add r18,r12
		10396	10633 5d9e 3D1D adc r19,r13
		10397	10634 5da0 3F8B std Y+23,r19
		10398	10635 5da2 2E8B std Y+22,r18
		10399	10636 5da4 00C0 rjmp .L862
		10400	10637 .L861:
		10401	10638 5da6 203C cpi r18,lo8(-64)
		10402	10639 5da8 01F4 brne .L863
		10403	10640 5daa 4E89 ldd r20,Y+22
		10404	10641 5dac 5F89 ldd r21,Y+23
		10405	10642 5dae 4C19 sub r20,r12
		10406	10643 5db0 5D09 sbc r21,r13
		10407	10644 5db2 5F8B std Y+23,r21
		10408	10645 5db4 4E8B std Y+22,r20
		10409	10646 5db6 00C0 rjmp .L862
		10410	10647 .L863:
		10411	10648 5db8 C601 movw r24,r12
		10412	10649 5dba AA27 clr r26
		10413	10650 5dbc 97FD sbrc r25,7
		10414	10651 5dbe A095 com r26
		10415	10652 5dc0 BA2F mov r27,r26
		10416	10653 5dc2 3327 clr r19
		10417	10654 5dc4 27FD sbrc r18,7
		10418	10655 5dc6 3095 com r19
		10419	10656 5dc8 432F mov r20,r19
		10420	10657 5dca 532F mov r21,r19
		10421	10658 5dcc BC01 movw r22,r24
		10422	10659 5dce CD01 movw r24,r26
		10423	10660 5dd0 0E94 0000 call __mulsi3
		10424	10661 5dd4 97FF sbrs r25,7
		10425	10662 5dd6 00C0 rjmp .L865
		10426	10663 5dd8 615C subi r22,lo8(-(63))
		10427	10664 5dda 7F4F sbci r23,hi8(-(63))
		10428	10665 5ddc 8F4F sbci r24,hlo8(-(63))
		10429	10666 5dde 9F4F sbci r25,hhi8(-(63))
		10430	10667 .L865:
		10431	10668 5de0 A6E0 ldi r26,6
		10432	10669 5de2 9595 1: asr r25
		10433	10670 5de4 8795 ror r24
		10434	10671 5de6 7795 ror r23
		10435	10672 5de8 6795 ror r22
		10436	10673 5dea AA95 dec r26
		10437	10674 5dec 01F4 brne 1b
		10438	10675 5dee AE89 ldd r26,Y+22
		10439	10676 5df0 BF89 ldd r27,Y+23
		10440	10677 5df2 A60F add r26,r22
		10441	10678 5df4 B71F adc r27,r23
		10442	10679 5df6 BF8B std Y+23,r27
		10443	10680 5df8 AE8B std Y+22,r26
		10444	10681 .L862:
		10445	10682 5dfa F501 movw r30,r10
		10446	10683 5dfc 2381 ldd r18,Z+3
		10447	10684 5dfe 2034 cpi r18,lo8(64)
		10448	10685 5e00 01F4 brne .L866
		10449	10686 5e02 2E89 ldd r18,Y+22
		10450	10687 5e04 3F89 ldd r19,Y+23
		10451	10688 5e06 200F add r18,r16
		10452	10689 5e08 311F adc r19,r17
		10453	10690 5e0a 3F8B std Y+23,r19
		10454	10691 5e0c 2E8B std Y+22,r18
		10455	10692 5e0e 00C0 rjmp .L867
		10456	10693 .L866:
		10457	10694 5e10 203C cpi r18,lo8(-64)
		10458	10695 5e12 01F4 brne .L868
		10459	10696 5e14 4E89 ldd r20,Y+22
		10460	10697 5e16 5F89 ldd r21,Y+23
		10461	10698 5e18 401B sub r20,r16
		10462	10699 5e1a 510B sbc r21,r17
		10463	10700 5e1c 5F8B std Y+23,r21
		10464	10701 5e1e 4E8B std Y+22,r20
		10465	10702 5e20 00C0 rjmp .L867
		10466	10703 .L868:
		10467	10704 5e22 C801 movw r24,r16
		10468	10705 5e24 AA27 clr r26
		10469	10706 5e26 97FD sbrc r25,7
		10470	10707 5e28 A095 com r26
		10471	10708 5e2a BA2F mov r27,r26
		10472	10709 5e2c 3327 clr r19
		10473	10710 5e2e 27FD sbrc r18,7
		10474	10711 5e30 3095 com r19
		10475	10712 5e32 432F mov r20,r19
		10476	10713 5e34 532F mov r21,r19
		10477	10714 5e36 BC01 movw r22,r24
		10478	10715 5e38 CD01 movw r24,r26
		10479	10716 5e3a 0E94 0000 call __mulsi3
		10480	10717 5e3e 97FF sbrs r25,7
		10481	10718 5e40 00C0 rjmp .L870
		10482	10719 5e42 615C subi r22,lo8(-(63))
		10483	10720 5e44 7F4F sbci r23,hi8(-(63))
		10484	10721 5e46 8F4F sbci r24,hlo8(-(63))
		10485	10722 5e48 9F4F sbci r25,hhi8(-(63))
		10486	10723 .L870:
		10487	10724 5e4a F6E0 ldi r31,6
		10488	10725 5e4c 9595 1: asr r25
		10489	10726 5e4e 8795 ror r24
		10490	10727 5e50 7795 ror r23
		10491	10728 5e52 6795 ror r22
		10492	10729 5e54 FA95 dec r31
		10493	10730 5e56 01F4 brne 1b
		10494	10731 5e58 AE89 ldd r26,Y+22
		10495	10732 5e5a BF89 ldd r27,Y+23
		10496	10733 5e5c A60F add r26,r22
		10497	10734 5e5e B71F adc r27,r23
		10498	10735 5e60 BF8B std Y+23,r27
		10499	10736 5e62 AE8B std Y+22,r26
		10500	10737 .L867:
		10501	10738 5e64 F301 movw r30,r6
		10502	10739 5e66 8081 ld r24,Z
		10503	10740 5e68 9181 ldd r25,Z+1
		10504	10741 5e6a 2E89 ldd r18,Y+22
		10505	10742 5e6c 3F89 ldd r19,Y+23
		10506	10743 5e6e 8217 cp r24,r18
		10507	10744 5e70 9307 cpc r25,r19
		10508	10745 5e72 04F4 brge .L871
		10509	10746 5e74 B901 movw r22,r18
		10510	10747 5e76 680F add r22,r24
		10511	10748 5e78 791F adc r23,r25
		10512	10749 5e7a 77FF sbrs r23,7
		10513	10750 5e7c 00C0 rjmp .L872
		10514	10751 5e7e 6F5F subi r22,lo8(-(1))
		10515	10752 5e80 7F4F sbci r23,hi8(-(1))
		10516	10753 .L872:
		10517	10754 5e82 7595 asr r23
		10518	10755 5e84 6795 ror r22
		10519	10756 5e86 7F8B std Y+23,r23
		10520	10757 5e88 6E8B std Y+22,r22
		10521	10758 5e8a 00C0 rjmp .L873
		10522	10759 .L871:
		10523	10760 5e8c 5520 tst r5
		10524	10761 5e8e 01F4 brne .L874
		10525	10762 5e90 4E89 ldd r20,Y+22
		10526	10763 5e92 5F89 ldd r21,Y+23
		10527	10764 5e94 440F add r20,r20
		10528	10765 5e96 551F adc r21,r21
		10529	10766 5e98 481B sub r20,r24
		10530	10767 5e9a 590B sbc r21,r25
		10531	10768 5e9c 5F8B std Y+23,r21
		10532	10769 5e9e 4E8B std Y+22,r20
		10533	10770 5ea0 00C0 rjmp .L873
		10534	10771 .L874:
		10535	10772 5ea2 51E0 ldi r21,lo8(1)
		10536	10773 5ea4 5515 cp r21,r5
		10537	10774 5ea6 00F4 brsh .L873
		10538	10775 5ea8 252D mov r18,r5
		10539	10776 5eaa 3327 clr r19
		10540	10777 5eac 6E89 ldd r22,Y+22
		10541	10778 5eae 7F89 ldd r23,Y+23
		10542	10779 5eb0 861B sub r24,r22
		10543	10780 5eb2 970B sbc r25,r23
		10544	10781 5eb4 B901 movw r22,r18
		10545	10782 5eb6 0E94 0000 call __divmodhi4
		10546	10783 5eba AE89 ldd r26,Y+22
		10547	10784 5ebc BF89 ldd r27,Y+23
		10548	10785 5ebe A60F add r26,r22
		10549	10786 5ec0 B71F adc r27,r23
		10550	10787 5ec2 BF8B std Y+23,r27
		10551	10788 5ec4 AE8B std Y+22,r26
		10552	10789 .L873:
		10553	10790 5ec6 C101 movw r24,r2
		10554	10791 5ec8 880F lsl r24
		10555	10792 5eca 991F rol r25
		10556	10793 5ecc 880F lsl r24
		10557	10794 5ece 991F rol r25
		10558	10795 5ed0 EE89 ldd r30,Y+22
		10559	10796 5ed2 FF89 ldd r31,Y+23
		10560	10797 5ed4 8E17 cp r24,r30
		10561	10798 5ed6 9F07 cpc r25,r31
		10562	10799 5ed8 04F4 brge .L916
		10563	10800 5eda FD89 ldd r31,Y+21
		10564	10801 5edc 8F2F mov r24,r31
		10565	10802 5ede 9927 clr r25
		10566	10803 5ee0 880F lsl r24
		10567	10804 5ee2 991F rol r25
		10568	10805 5ee4 880F lsl r24
		10569	10806 5ee6 991F rol r25
		10570	10807 5ee8 2E89 ldd r18,Y+22
		10571	10808 5eea 3F89 ldd r19,Y+23
		10572	10809 5eec 2817 cp r18,r24
		10573	10810 5eee 3907 cpc r19,r25
		10574	10811 5ef0 04F0 brlt .L878
		10575	10812 .L916:
		10576	10813 5ef2 9F8B std Y+23,r25
		10577	10814 5ef4 8E8B std Y+22,r24
		10578	10815 .L878:
		10579	10816 5ef6 8E89 ldd r24,Y+22
		10580	10817 5ef8 9F89 ldd r25,Y+23
		10581	10818 5efa 97FD sbrc r25,7
		10582	10819 5efc 0396 adiw r24,3
		10583	10820 .L880:
		10584	10821 5efe 9595 asr r25
		10585	10822 5f00 8795 ror r24
		10586	10823 5f02 9595 asr r25
		10587	10824 5f04 8795 ror r24
		10588	10825 5f06 F401 movw r30,r8
		10589	10826 5f08 8183 std Z+1,r24
		10590	10827 5f0a 880F lsl r24
		10591	10828 5f0c 991F rol r25
		10592	10829 5f0e 880F lsl r24
		10593	10830 5f10 991F rol r25
		10594	10831 5f12 2E89 ldd r18,Y+22
		10595	10832 5f14 3F89 ldd r19,Y+23
		10596	10833 5f16 281B sub r18,r24
		10597	10834 5f18 390B sbc r19,r25
		10598	10835 5f1a C901 movw r24,r18
		10599	10836 5f1c 880F lsl r24
		10600	10837 5f1e 8283 std Z+2,r24
		10601	10838 5f20 EE89 ldd r30,Y+22
		10602	10839 5f22 FF89 ldd r31,Y+23
		10603	10840 5f24 D301 movw r26,r6
		10604	10841 5f26 ED93 st X+,r30
		10605	10842 5f28 FC93 st X,r31
		10606	10843 5f2a 00C0 rjmp .L851
		10607	10844 .L852:
		10608	10845 5f2c F401 movw r30,r8
		10609	10846 5f2e 1182 std Z+1,__zero_reg__
		10610	10847 5f30 1282 std Z+2,__zero_reg__
		10611	10848 .L851:
		10612	10849 5f32 4A94 dec r4
		10613	10850 5f34 22E0 ldi r18,lo8(2)
		10614	10851 5f36 30E0 ldi r19,hi8(2)
		10615	10852 5f38 620E add r6,r18
		10616	10853 5f3a 731E adc r7,r19
		10617	10854 5f3c 44E0 ldi r20,lo8(4)
		10618	10855 5f3e 50E0 ldi r21,hi8(4)
		10619	10856 5f40 A40E add r10,r20
		10620	10857 5f42 B51E adc r11,r21
		10621	10858 5f44 68E0 ldi r22,lo8(8)
		10622	10859 5f46 70E0 ldi r23,hi8(8)
		10623	10860 5f48 860E add r8,r22
		10624	10861 5f4a 971E adc r9,r23
		10625	10862 5f4c 47FE sbrs r4,7
		10626	10863 5f4e 00C0 rjmp .L883
		10627	10864 /* epilogue: frame size=23 */
		10628	10865 5f50 E2E1 ldi r30,18
		10629	10866 5f52 C95E subi r28,-23
		10630	10867 5f54 0C94 0000 jmp __epilogue_restores__+0
		10631	10868 /* epilogue end (size=4) */
		10632	10869 /* function MotorRegler size 8305 (8295) */
		10633	10871 .comm TrimNick,2,1
		10634	10872 .comm TrimRoll,2,1
		10635	10873 .comm ErsatzKompass,4,1
		10636	10874 .comm ErsatzKompassInGrad,2,1
		10637	10875 .comm MesswertNick,2,1
		10638	10876 .comm MesswertRoll,2,1
		10639	10877 .comm MesswertGier,2,1
		10640	10878 .comm Mittelwert_AccNick,2,1
		10641	10879 .comm Mittelwert_AccRoll,2,1
		10642	10880 .comm NaviAccNick,2,1
		10643	10881 .comm NaviAccRoll,2,1
		10644	10882 .comm h,1,1
		10645	10883 .comm m,1,1
		10646	10884 .comm s,1,1
		10647	10885 .comm DiffNick,2,1
		10648	10886 .comm DiffRoll,2,1
		10649	10887 .comm Parameter_Servo3,1,1
		10650	10888 .comm Parameter_Servo4,1,1
		10651	10889 .comm Parameter_Servo5,1,1
		10652	10890 .comm Parameter_J16Bitmask,1,1
		10653	10891 .comm Parameter_J16Timing,1,1
		10654	10892 .comm Parameter_J17Bitmask,1,1
		10655	10893 .comm Parameter_J17Timing,1,1
		10656	10894 .comm Parameter_GlobalConfig,1,1
		10657	10895 .comm Parameter_ExtraConfig,1,1
		10658	10896 .comm MesswertGierBias,2,1
		10659	10897 .comm RohMesswertNick,2,1
		10660	10898 .comm RohMesswertRoll,2,1
		10661	10899 .comm MittelIntegralNick,4,1
		10662	10900 .comm MittelIntegralRoll,4,1
		10663	10901 .comm MittelIntegralNick2,4,1
		10664	10902 .comm MittelIntegralRoll2,4,1
		10665	10903 .comm MAX_GAS,1,1
		10666	10904 .comm MIN_GAS,1,1
		10667	10905 .comm GyroFaktor,1,1
		10668	10906 .comm GyroFaktorGier,1,1
		10669	10907 .comm IntegralFaktor,1,1
		10670	10908 .comm IntegralFaktorGier,1,1
		10671	10909 .comm Parameter_NaviGpsModeControl,1,1
		10672	10910 .comm Parameter_NaviGpsGain,1,1
		10673	10911 .comm Parameter_NaviGpsP,1,1
		10674	10912 .comm Parameter_NaviGpsI,1,1
		10675	10913 .comm Parameter_NaviGpsD,1,1
		10676	10914 .comm Parameter_NaviGpsACC,1,1
		10677	10915 .comm Parameter_NaviOperatingRadius,1,1
		10678	10916 .comm Parameter_NaviWindCorrection,1,1
		10679	10917 .comm Parameter_NaviSpeedCompensation,1,1
		10680	10918 .comm Parameter_ExternalControl,1,1
		10681	10919 .comm Parameter_MaximumAltitude,1,1
		10682	10920 .comm KopplungsteilNickRoll,2,1
		10683	10921 .comm KopplungsteilRollNick,2,1
		10684	10922 .comm tmp_motorwert,24,1
		10685	10923 /* File "fc.c": code 12371 = 0x3053 (12310), prologues 31, epilogues 30 */
		10686	DEFINED SYMBOLS
		10687	ABS:00000000 fc.c
		10688	C:\Temp/ccsD8yYp.s:3 ABS:0000003f __SREG__
		10689	C:\Temp/ccsD8yYp.s:4 ABS:0000003e __SP_H__
		10690	C:\Temp/ccsD8yYp.s:5 ABS:0000003d __SP_L__
		10691	C:\Temp/ccsD8yYp.s:6 ABS:00000000 __tmp_reg__
		10692	C:\Temp/ccsD8yYp.s:7 ABS:00000001 __zero_reg__
		10693	C:\Temp/ccsD8yYp.s:15 .bss:00000000 GasIsZeroCnt
		10694	C:\Temp/ccsD8yYp.s:21 .bss:00000002 HooverGasEmergencyPercent
		10695	C:\Temp/ccsD8yYp.s:27 .data:00000000 VarioCharacter
		10696	C:\Temp/ccsD8yYp.s:32 .data:00000001 GIER_GRAD_FAKTOR
		10697	C:\Temp/ccsD8yYp.s:39 .bss:00000004 FC_StatusFlags2
		10698	C:\Temp/ccsD8yYp.s:45 .bss:00000005 FC_StatusFlags
		10699	C:\Temp/ccsD8yYp.s:51 .bss:00000006 modell_fliegt
		10700	C:\Temp/ccsD8yYp.s:57 .bss:00000008 MaxStickRoll
		10701	C:\Temp/ccsD8yYp.s:63 .bss:0000000a MaxStickNick
		10702	C:\Temp/ccsD8yYp.s:69 .data:00000005 ExternHoehenValue
		10703	C:\Temp/ccsD8yYp.s:76 .bss:0000000c ExternStickGier
		10704	C:\Temp/ccsD8yYp.s:82 .bss:0000000e ExternStickRoll
		10705	C:\Temp/ccsD8yYp.s:88 .bss:00000010 ExternStickNick
		10706	C:\Temp/ccsD8yYp.s:94 .data:00000007 sintab
		10707	C:\Temp/ccsD8yYp.s:131 .bss:00000012 CareFree
		10708	C:\Temp/ccsD8yYp.s:137 .data:00000026 Parameter_DynamicStability
		10709	C:\Temp/ccsD8yYp.s:142 .data:00000027 Parameter_CouplingYawCorrection
		10710	C:\Temp/ccsD8yYp.s:147 .data:00000028 Parameter_AchsKopplung2
		10711	C:\Temp/ccsD8yYp.s:152 .data:00000029 Parameter_AchsKopplung1
		10712	C:\Temp/ccsD8yYp.s:157 .data:0000002a Parameter_LoopGasLimit
		10713	C:\Temp/ccsD8yYp.s:162 .data:0000002b Parameter_ServoRollControl
		10714	C:\Temp/ccsD8yYp.s:167 .data:0000002c Parameter_ServoNickControl
		10715	C:\Temp/ccsD8yYp.s:174 .bss:00000013 Parameter_UserParam8
		10716	C:\Temp/ccsD8yYp.s:180 .bss:00000014 Parameter_UserParam7
		10717	C:\Temp/ccsD8yYp.s:186 .bss:00000015 Parameter_UserParam6
		10718	C:\Temp/ccsD8yYp.s:192 .bss:00000016 Parameter_UserParam5
		10719	C:\Temp/ccsD8yYp.s:198 .bss:00000017 Parameter_UserParam4
		10720	C:\Temp/ccsD8yYp.s:204 .bss:00000018 Parameter_UserParam3
		10721	C:\Temp/ccsD8yYp.s:210 .bss:00000019 Parameter_UserParam2
		10722	C:\Temp/ccsD8yYp.s:216 .bss:0000001a Parameter_UserParam1
		10723	C:\Temp/ccsD8yYp.s:222 .data:0000002d Parameter_I_Faktor
		10724	C:\Temp/ccsD8yYp.s:227 .data:0000002e Parameter_Gier_P
		10725	C:\Temp/ccsD8yYp.s:232 .data:0000002f Parameter_Gyro_Gier_I
		10726	C:\Temp/ccsD8yYp.s:237 .data:00000030 Parameter_Gyro_Gier_P
		10727	C:\Temp/ccsD8yYp.s:242 .data:00000031 Parameter_Gyro_I
		10728	C:\Temp/ccsD8yYp.s:247 .data:00000032 Parameter_Gyro_P
		10729	C:\Temp/ccsD8yYp.s:252 .data:00000033 Parameter_Gyro_D
		10730	C:\Temp/ccsD8yYp.s:257 .data:00000034 Parameter_Hoehe_GPS_Z
		10731	C:\Temp/ccsD8yYp.s:262 .data:00000035 Parameter_KompassWirkung
		10732	C:\Temp/ccsD8yYp.s:267 .data:00000036 Parameter_Hoehe_ACC_Wirkung
		10733	C:\Temp/ccsD8yYp.s:272 .data:00000037 Parameter_Hoehe_P
		10734	C:\Temp/ccsD8yYp.s:277 .data:00000038 Parameter_HoehenSchalter
		10735	C:\Temp/ccsD8yYp.s:282 .data:00000039 Parameter_Luftdruck_D
		10736	C:\Temp/ccsD8yYp.s:289 .bss:0000001b Looping_Oben
		10737	C:\Temp/ccsD8yYp.s:295 .bss:0000001c Looping_Unten
		10738	C:\Temp/ccsD8yYp.s:301 .bss:0000001d Looping_Rechts
		10739	C:\Temp/ccsD8yYp.s:307 .bss:0000001e Looping_Links
		10740	C:\Temp/ccsD8yYp.s:313 .bss:0000001f Looping_Roll
		10741	C:\Temp/ccsD8yYp.s:319 .bss:00000020 Looping_Nick
		10742	C:\Temp/ccsD8yYp.s:325 .data:0000003a Ki
		10743	C:\Temp/ccsD8yYp.s:332 .bss:00000021 HoverGas
		10744	C:\Temp/ccsD8yYp.s:338 .bss:00000023 LageKorrekturNick
		10745	C:\Temp/ccsD8yYp.s:344 .bss:00000025 LageKorrekturRoll
		10746	C:\Temp/ccsD8yYp.s:350 .bss:00000027 NeueKompassRichtungMerken
		10747	C:\Temp/ccsD8yYp.s:356 .bss:00000028 CalibrationDone
		10748	C:\Temp/ccsD8yYp.s:362 .bss:00000029 CompassGierSetpoint
		10749	C:\Temp/ccsD8yYp.s:368 .bss:0000002b WaypointTrimming
		10750	C:\Temp/ccsD8yYp.s:374 .data:0000003c carefree_old
		10751	C:\Temp/ccsD8yYp.s:381 .bss:0000002c FromNC_AltitudeSpeed
		10752	C:\Temp/ccsD8yYp.s:387 .bss:0000002d FromNC_AltitudeSetpoint
		10753	C:\Temp/ccsD8yYp.s:393 .bss:00000031 AltitudeSetpointTrimming
		10754	C:\Temp/ccsD8yYp.s:399 .bss:00000033 SollHoehe
		10755	C:\Temp/ccsD8yYp.s:405 .bss:00000037 HoehenWert
		10756	C:\Temp/ccsD8yYp.s:411 .bss:0000003b StartTrigger
		10757	C:\Temp/ccsD8yYp.s:417 .bss:0000003c MotorenEin
		10758	C:\Temp/ccsD8yYp.s:423 .bss:0000003d SenderOkay
		10759	C:\Temp/ccsD8yYp.s:429 .bss:0000003e Poti
		10760	C:\Temp/ccsD8yYp.s:435 .bss:00000047 StickGas
		10761	C:\Temp/ccsD8yYp.s:441 .bss:00000049 StickGier
		10762	C:\Temp/ccsD8yYp.s:447 .bss:0000004b StickRoll
		10763	C:\Temp/ccsD8yYp.s:453 .bss:0000004d StickNick
		10764	C:\Temp/ccsD8yYp.s:459 .data:0000003d HoverGasMax
		10765	C:\Temp/ccsD8yYp.s:466 .bss:0000004f HoverGasMin
		10766	C:\Temp/ccsD8yYp.s:472 .data:0000003f StickGasHover
		10767	C:\Temp/ccsD8yYp.s:479 .bss:00000051 GierGyroFehler
		10768	C:\Temp/ccsD8yYp.s:485 .data:00000041 Umschlag180Roll
		10769	C:\Temp/ccsD8yYp.s:490 .data:00000045 Umschlag180Nick
		10770	C:\Temp/ccsD8yYp.s:497 .bss:00000053 TrichterFlug
		10771	C:\Temp/ccsD8yYp.s:503 .bss:00000054 HoehenReglerAktiv
		10772	C:\Temp/ccsD8yYp.s:509 .data:00000049 KompassSignalSchlecht
		10773	C:\Temp/ccsD8yYp.s:514 .data:0000004b KompassFusion
		10774	C:\Temp/ccsD8yYp.s:519 .data:0000004c CalculateCompassTimer
		10775	C:\Temp/ccsD8yYp.s:526 .bss:00000055 KompassSollWert
		10776	C:\Temp/ccsD8yYp.s:532 .data:0000004d KompassValue
		10777	C:\Temp/ccsD8yYp.s:539 .bss:00000057 Mess_Integral_Hoch
		10778	C:\Temp/ccsD8yYp.s:545 .bss:0000005b SummeRoll
		10779	C:\Temp/ccsD8yYp.s:551 .bss:0000005f SummeNick
		10780	C:\Temp/ccsD8yYp.s:557 .bss:00000063 Mess_Integral_Gier2
		10781	C:\Temp/ccsD8yYp.s:563 .bss:00000067 Mess_Integral_Gier
		10782	C:\Temp/ccsD8yYp.s:569 .bss:0000006b Mess_IntegralRoll2
		10783	C:\Temp/ccsD8yYp.s:575 .bss:0000006f Mess_IntegralRoll
		10784	C:\Temp/ccsD8yYp.s:581 .bss:00000073 Mess_IntegralNick2
		10785	C:\Temp/ccsD8yYp.s:587 .bss:00000077 Mess_IntegralNick
		10786	C:\Temp/ccsD8yYp.s:593 .bss:0000007b Integral_Gier
		10787	C:\Temp/ccsD8yYp.s:599 .bss:0000007f IntegralAccZ
		10788	C:\Temp/ccsD8yYp.s:605 .bss:00000083 IntegralAccRoll
		10789	C:\Temp/ccsD8yYp.s:611 .bss:00000087 IntegralAccNick
		10790	C:\Temp/ccsD8yYp.s:617 .bss:0000008b IntegralRoll2
		10791	C:\Temp/ccsD8yYp.s:623 .bss:0000008f IntegralRoll
		10792	C:\Temp/ccsD8yYp.s:629 .bss:00000093 IntegralNick2
		10793	C:\Temp/ccsD8yYp.s:635 .bss:00000097 IntegralNick
		10794	C:\Temp/ccsD8yYp.s:641 .bss:0000009b ControlHeading
		10795	C:\Temp/ccsD8yYp.s:647 .bss:0000009c NeutralAccZ
		10796	C:\Temp/ccsD8yYp.s:653 .bss:0000009e NaviCntAcc
		10797	C:\Temp/ccsD8yYp.s:659 .bss:000000a0 NeutralAccY
		10798	C:\Temp/ccsD8yYp.s:665 .bss:000000a2 NeutralAccX
		10799	C:\Temp/ccsD8yYp.s:671 .bss:000000a4 StartNeutralNick
		10800	C:\Temp/ccsD8yYp.s:677 .bss:000000a6 StartNeutralRoll
		10801	C:\Temp/ccsD8yYp.s:683 .bss:000000a8 AdNeutralGier
		10802	C:\Temp/ccsD8yYp.s:689 .bss:000000aa AdNeutralRoll
		10803	C:\Temp/ccsD8yYp.s:695 .bss:000000ac AdNeutralNick
		10804	C:\Temp/ccsD8yYp.s:701 .bss:000000ae BaroExpandActive
		10805	C:\Temp/ccsD8yYp.s:706 .text:00000000 CopyDebugValues
		10806	COM:00000002 Mittelwert_AccNick
		10807	COM:00000002 Mittelwert_AccRoll
		10808	COM:00000004 ErsatzKompass
		10809	C:\Temp/ccsD8yYp.s:902 .text:00000254 Piep
		10810	C:\Temp/ccsD8yYp.s:976 .text:000002da CalibrierMittelwert
		10811	COM:00000002 MesswertNick
		10812	COM:00000002 MesswertRoll
		10813	COM:00000002 MesswertGier
		10814	C:\Temp/ccsD8yYp.s:1118 .progmem.data:00000000 __c.35
		10815	C:\Temp/ccsD8yYp.s:1123 .text:0000041c SetNeutral
		10816	.bss:000000b0 tmpl.27
		10817	C:\Temp/ccsD8yYp.s:1631 .bss:000000b4 tmpl2.28
		10818	C:\Temp/ccsD8yYp.s:1632 .bss:000000b8 tmpl3.29
		10819	C:\Temp/ccsD8yYp.s:1633 .bss:000000bc tmpl4.30
		10820	C:\Temp/ccsD8yYp.s:1634 .bss:000000c0 oldNick.31
		10821	C:\Temp/ccsD8yYp.s:1635 .bss:000000c2 oldRoll.32
		10822	C:\Temp/ccsD8yYp.s:1636 .bss:000000c4 d2Roll.33
		10823	C:\Temp/ccsD8yYp.s:1637 .bss:000000c6 d2Nick.34
		10824	C:\Temp/ccsD8yYp.s:1641 .text:00000988 Mittelwert
		10825	COM:00000002 RohMesswertNick
		10826	COM:00000002 RohMesswertRoll
		10827	COM:00000002 NaviAccNick
		10828	COM:00000002 NaviAccRoll
		10829	COM:00000001 Parameter_GlobalConfig
		10830	COM:00000002 KopplungsteilNickRoll
		10831	COM:00000002 KopplungsteilRollNick
		10832	COM:00000002 TrimRoll
		10833	COM:00000002 TrimNick
		10834	C:\Temp/ccsD8yYp.s:3206 .text:000018ec SendMotorData
		10835	C:\Temp/ccsD8yYp.s:3266 .text:00001966 ParameterZuordnung
		10836	COM:00000001 Parameter_J16Timing
		10837	COM:00000001 Parameter_J17Timing
		10838	COM:00000001 Parameter_Servo3
		10839	COM:00000001 Parameter_Servo4
		10840	COM:00000001 Parameter_Servo5
		10841	COM:00000001 Parameter_MaximumAltitude
		10842	COM:00000001 Parameter_ExtraConfig
		10843	COM:00000001 Parameter_ExternalControl
		10844	COM:00000001 MAX_GAS
		10845	COM:00000001 MIN_GAS
		10846	C:\Temp/ccsD8yYp.s:1638 .bss:000000c8 sollGier.0
		10847	C:\Temp/ccsD8yYp.s:3985 .bss:000000cc tmp_long.1
		10848	C:\Temp/ccsD8yYp.s:3986 .bss:000000d0 tmp_long2.2
		10849	C:\Temp/ccsD8yYp.s:3987 .bss:000000d4 IntegralFehlerNick.3
		10850	C:\Temp/ccsD8yYp.s:3988 .bss:000000d8 IntegralFehlerRoll.4
		10851	C:\Temp/ccsD8yYp.s:3989 .bss:000000dc RcLostTimer.5
		10852	C:\Temp/ccsD8yYp.s:3990 .bss:000000de delay_neutral.6
		10853	C:\Temp/ccsD8yYp.s:3991 .bss:000000df delay_einschalten.7
		10854	C:\Temp/ccsD8yYp.s:3992 .bss:000000e0 delay_ausschalten.8
		10855	C:\Temp/ccsD8yYp.s:3993 .bss:000000e1 move_safety_switch.9
		10856	C:\Temp/ccsD8yYp.s:3994 .bss:000000e2 ausgleichNick.10
		10857	C:\Temp/ccsD8yYp.s:3995 .bss:000000e6 ausgleichRoll.11
		10858	C:\Temp/ccsD8yYp.s:3996 .bss:000000ea stick_nick.12
		10859	C:\Temp/ccsD8yYp.s:3997 .bss:000000ec stick_roll.13
		10860	C:\Temp/ccsD8yYp.s:3998 .bss:000000ee cnt.14
		10861	C:\Temp/ccsD8yYp.s:3999 .bss:000000f0 last_n_p.15
		10862	C:\Temp/ccsD8yYp.s:4000 .bss:000000f1 last_n_n.16
		10863	C:\Temp/ccsD8yYp.s:4001 .bss:000000f2 last_r_p.17
		10864	C:\Temp/ccsD8yYp.s:4002 .bss:000000f3 last_r_n.18
		10865	C:\Temp/ccsD8yYp.s:4003 .bss:000000f4 MittelIntegralNick_Alt.19
		10866	C:\Temp/ccsD8yYp.s:4004 .bss:000000f8 MittelIntegralRoll_Alt.20
		10867	C:\Temp/ccsD8yYp.s:4005 .bss:000000fc HeightTrimming.21
		10868	C:\Temp/ccsD8yYp.s:4006 .bss:000000fe FilterHCGas.22
		10869	C:\Temp/ccsD8yYp.s:4007 .bss:00000100 HoverGasFilter.23
		10870	C:\Temp/ccsD8yYp.s:4012 .data:0000004f delay.24
		10871	C:\Temp/ccsD8yYp.s:4008 .bss:00000104 BaroAtUpperLimit.25
		10872	C:\Temp/ccsD8yYp.s:4014 .bss:00000105 BaroAtLowerLimit.26
		10873	C:\Temp/ccsD8yYp.s:4019 .text:00001f6a MotorRegler
		10874	COM:00000001 GyroFaktor
		10875	COM:00000001 IntegralFaktor
		10876	COM:00000001 GyroFaktorGier
		10877	COM:00000001 IntegralFaktorGier
		10878	COM:00000004 MittelIntegralNick
		10879	COM:00000004 MittelIntegralRoll
		10880	COM:00000004 MittelIntegralNick2
		10881	COM:00000004 MittelIntegralRoll2
		10882	COM:00000002 ErsatzKompassInGrad
		10883	COM:00000002 DiffNick
		10884	COM:00000002 DiffRoll
		10885	COM:00000018 tmp_motorwert
		10886	COM:00000001 h
		10887	COM:00000001 m
		10888	COM:00000001 s
		10889	COM:00000001 Parameter_J16Bitmask
		10890	COM:00000001 Parameter_J17Bitmask
		10891	COM:00000002 MesswertGierBias
		10892	COM:00000001 Parameter_NaviGpsModeControl
		10893	COM:00000001 Parameter_NaviGpsGain
		10894	COM:00000001 Parameter_NaviGpsP
		10895	COM:00000001 Parameter_NaviGpsI
		10896	COM:00000001 Parameter_NaviGpsD
		10897	COM:00000001 Parameter_NaviGpsACC
		10898	COM:00000001 Parameter_NaviOperatingRadius
		10899	COM:00000001 Parameter_NaviWindCorrection
		10900	COM:00000001 Parameter_NaviSpeedCompensation
		10901
		10902	UNDEFINED SYMBOLS
		10903	__do_copy_data
		10904	__do_clear_bss
		10905	EE_Parameter
		10906	__divmodsi4
		10907	DebugOut
		10908	AdWertGier
		10909	AdWertAccHoch
		10910	UBat
		10911	Motor
		10912	Capacity
		10913	ServoNickValue
		10914	GPS_Nick
		10915	GPS_Roll
		10916	VersionInfo
		10917	PlatinenVersion
		10918	beeptime
		10919	UpdateMotor
		10920	LIBFC_Polling
		10921	SucheGyroOffset
		10922	AdWertNick
		10923	AdWertRoll
		10924	AdWertAccNick
		10925	AdWertAccRoll
		10926	PPM_in
		10927	__mulsi3
		10928	__prologue_saves__
		10929	ExpandBaro
		10930	Delay_ms_Mess
		10931	MessLuftdruck
		10932	SucheLuftruckOffset
		10933	__divmodhi4
		10934	Aktuell_az
		10935	SetParamWord
		10936	GetParamWord
		10937	uart_putchar
		10938	_printf_P
		10939	Luftdruck
		10940	StartLuftdruck
		10941	VarioMeter
		10942	LED_Init
		10943	FromNaviCtrl_Value
		10944	ServoActive
		10945	NickServoValue
		10946	LIBFC_HoTT_Clear
		10947	__epilogue_restores__
		10948	AdWertNickFilter
		10949	AdWertRollFilter
		10950	AdReady
		10951	HiResNick
		10952	HiResRoll
		10953	MotorTest
		10954	PC_MotortestActive
		10955	I2C_TransferActive
		10956	motor_write
		10957	twi_state
		10958	BLFlags
		10959	NC_To_FC_MaxAltitude
		10960	SpeakHoTT
		10961	FromNaviCtrl
		10962	BeepMuster
		10963	PPM_diff
		10964	SetActiveParamSet
		10965	WinkelOut
		10966	GetActiveParamSet
		10967	ParamSet_ReadFromEEProm
		10968	LipoDetection
		10969	LIBFC_ReceiverInit
		10970	NC_ErrorCode
		10971	GPSInfo
		10972	NewPpmData
		10973	FromNC_Rotate_C
		10974	FromNC_Rotate_S
		10975	GPS_Aid_StickMultiplikator
		10976	__floatsisf
		10977	__addsf3
		10978	__fixunssfsi
		10979	ExternControl
		10980	ZaehlMessungen
		10981	BattLowVoltageWarning
		10982	__udivmodhi4
		10983	DruckOffsetSetting
		10984	SummenHoehe
		10985	ihypot
		10986	c_cos_8192
		10987	__udivmodqi4
		10988	NC_To_FC_Flags
		10989	MissingMotor
		10990	Mixer

Subversion Repositories FlightCtrl

(root)/branches/v0.90d_Ernstl_8-Motoren+Sexpander/fc.lst - Rev 2306