WebSVN - FlightCtrl - Blame - Rev 2303 - /branches/v0.90e_Ernstl

Rev	Author	Line No.	Line
2303	-	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_ServoRollComp
		120	162 Parameter_ServoRollComp:
		121	163 002b 55 .byte 85
		122	164 .global Parameter_ServoNickComp
		123	167 Parameter_ServoNickComp:
		124	168 002c 32 .byte 50
		125	169 .global Parameter_ServoRollControl
		126	172 Parameter_ServoRollControl:
		127	173 002d 64 .byte 100
		128	174 .global Parameter_ServoNickControl
		129	177 Parameter_ServoNickControl:
		130	178 002e 64 .byte 100
		131	179 .global Parameter_UserParam8
		132	180 .global Parameter_UserParam8
		133	181 .section .bss
		134	184 Parameter_UserParam8:
		135	185 0013 00 .skip 1,0
		136	186 .global Parameter_UserParam7
		137	187 .global Parameter_UserParam7
		138	190 Parameter_UserParam7:
		139	191 0014 00 .skip 1,0
		140	192 .global Parameter_UserParam6
		141	193 .global Parameter_UserParam6
		142	196 Parameter_UserParam6:
		143	197 0015 00 .skip 1,0
		144	198 .global Parameter_UserParam5
		145	199 .global Parameter_UserParam5
		146	202 Parameter_UserParam5:
		147	203 0016 00 .skip 1,0
		148	204 .global Parameter_UserParam4
		149	205 .global Parameter_UserParam4
		150	208 Parameter_UserParam4:
		151	209 0017 00 .skip 1,0
		152	210 .global Parameter_UserParam3
		153	211 .global Parameter_UserParam3
		154	214 Parameter_UserParam3:
		155	215 0018 00 .skip 1,0
		156	216 .global Parameter_UserParam2
		157	217 .global Parameter_UserParam2
		158	220 Parameter_UserParam2:
		159	221 0019 00 .skip 1,0
		160	222 .global Parameter_UserParam1
		161	223 .global Parameter_UserParam1
		162	226 Parameter_UserParam1:
		163	227 001a 00 .skip 1,0
		164	228 .global Parameter_I_Faktor
		165	229 .data
		166	232 Parameter_I_Faktor:
		167	233 002f 0A .byte 10
		168	234 .global Parameter_Gier_P
		169	237 Parameter_Gier_P:
		170	238 0030 02 .byte 2
		171	239 .global Parameter_Gyro_Gier_I
		172	242 Parameter_Gyro_Gier_I:
		173	243 0031 96 .byte -106
		174	244 .global Parameter_Gyro_Gier_P
		175	247 Parameter_Gyro_Gier_P:
		176	248 0032 96 .byte -106
		177	249 .global Parameter_Gyro_I
		178	252 Parameter_Gyro_I:
		179	253 0033 96 .byte -106
		180	254 .global Parameter_Gyro_P
		181	257 Parameter_Gyro_P:
		182	258 0034 96 .byte -106
		183	259 .global Parameter_Gyro_D
		184	262 Parameter_Gyro_D:
		185	263 0035 08 .byte 8
		186	264 .global Parameter_Hoehe_GPS_Z
		187	267 Parameter_Hoehe_GPS_Z:
		188	268 0036 40 .byte 64
		189	269 .global Parameter_KompassWirkung
		190	272 Parameter_KompassWirkung:
		191	273 0037 40 .byte 64
		192	274 .global Parameter_Hoehe_ACC_Wirkung
		193	277 Parameter_Hoehe_ACC_Wirkung:
		194	278 0038 3A .byte 58
		195	279 .global Parameter_Hoehe_P
		196	282 Parameter_Hoehe_P:
		197	283 0039 10 .byte 16
		198	284 .global Parameter_HoehenSchalter
		199	287 Parameter_HoehenSchalter:
		200	288 003a FB .byte -5
		201	289 .global Parameter_Luftdruck_D
		202	292 Parameter_Luftdruck_D:
		203	293 003b 30 .byte 48
		204	294 .global Looping_Oben
		205	295 .global Looping_Oben
		206	296 .section .bss
		207	299 Looping_Oben:
		208	300 001b 00 .skip 1,0
		209	301 .global Looping_Unten
		210	302 .global Looping_Unten
		211	305 Looping_Unten:
		212	306 001c 00 .skip 1,0
		213	307 .global Looping_Rechts
		214	308 .global Looping_Rechts
		215	311 Looping_Rechts:
		216	312 001d 00 .skip 1,0
		217	313 .global Looping_Links
		218	314 .global Looping_Links
		219	317 Looping_Links:
		220	318 001e 00 .skip 1,0
		221	319 .global Looping_Roll
		222	320 .global Looping_Roll
		223	323 Looping_Roll:
		224	324 001f 00 .skip 1,0
		225	325 .global Looping_Nick
		226	326 .global Looping_Nick
		227	329 Looping_Nick:
		228	330 0020 00 .skip 1,0
		229	331 .global Ki
		230	332 .data
		231	335 Ki:
		232	336 003c 3801 .word 312
		233	337 .global HoverGas
		234	338 .global HoverGas
		235	339 .section .bss
		236	342 HoverGas:
		237	343 0021 0000 .skip 2,0
		238	344 .global LageKorrekturNick
		239	345 .global LageKorrekturNick
		240	348 LageKorrekturNick:
		241	349 0023 0000 .skip 2,0
		242	350 .global LageKorrekturRoll
		243	351 .global LageKorrekturRoll
		244	354 LageKorrekturRoll:
		245	355 0025 0000 .skip 2,0
		246	356 .global NeueKompassRichtungMerken
		247	357 .global NeueKompassRichtungMerken
		248	360 NeueKompassRichtungMerken:
		249	361 0027 00 .skip 1,0
		250	362 .global CalibrationDone
		251	363 .global CalibrationDone
		252	366 CalibrationDone:
		253	367 0028 00 .skip 1,0
		254	368 .global CompassGierSetpoint
		255	369 .global CompassGierSetpoint
		256	372 CompassGierSetpoint:
		257	373 0029 0000 .skip 2,0
		258	374 .global WaypointTrimming
		259	375 .global WaypointTrimming
		260	378 WaypointTrimming:
		261	379 002b 00 .skip 1,0
		262	380 .global carefree_old
		263	381 .data
		264	384 carefree_old:
		265	385 003e 32 .byte 50
		266	386 .global FromNC_AltitudeSpeed
		267	387 .global FromNC_AltitudeSpeed
		268	388 .section .bss
		269	391 FromNC_AltitudeSpeed:
		270	392 002c 00 .skip 1,0
		271	393 .global FromNC_AltitudeSetpoint
		272	394 .global FromNC_AltitudeSetpoint
		273	397 FromNC_AltitudeSetpoint:
		274	398 002d 0000 0000 .skip 4,0
		275	399 .global AltitudeSetpointTrimming
		276	400 .global AltitudeSetpointTrimming
		277	403 AltitudeSetpointTrimming:
		278	404 0031 0000 .skip 2,0
		279	405 .global SollHoehe
		280	406 .global SollHoehe
		281	409 SollHoehe:
		282	410 0033 0000 0000 .skip 4,0
		283	411 .global HoehenWert
		284	412 .global HoehenWert
		285	415 HoehenWert:
		286	416 0037 0000 0000 .skip 4,0
		287	417 .global StartTrigger
		288	418 .global StartTrigger
		289	421 StartTrigger:
		290	422 003b 00 .skip 1,0
		291	423 .global MotorenEin
		292	424 .global MotorenEin
		293	427 MotorenEin:
		294	428 003c 00 .skip 1,0
		295	429 .global SenderOkay
		296	430 .global SenderOkay
		297	433 SenderOkay:
		298	434 003d 00 .skip 1,0
		299	435 .global Poti
		300	436 .global Poti
		301	439 Poti:
		302	440 003e 0000 0000 .skip 9,0
		303	440 0000 0000
		304	440 00
		305	441 .global StickGas
		306	442 .global StickGas
		307	445 StickGas:
		308	446 0047 0000 .skip 2,0
		309	447 .global StickGier
		310	448 .global StickGier
		311	451 StickGier:
		312	452 0049 0000 .skip 2,0
		313	453 .global StickRoll
		314	454 .global StickRoll
		315	457 StickRoll:
		316	458 004b 0000 .skip 2,0
		317	459 .global StickNick
		318	460 .global StickNick
		319	463 StickNick:
		320	464 004d 0000 .skip 2,0
		321	465 .global HoverGasMax
		322	466 .data
		323	469 HoverGasMax:
		324	470 003f FF03 .word 1023
		325	471 .global HoverGasMin
		326	472 .global HoverGasMin
		327	473 .section .bss
		328	476 HoverGasMin:
		329	477 004f 0000 .skip 2,0
		330	478 .global StickGasHover
		331	479 .data
		332	482 StickGasHover:
		333	483 0041 7800 .word 120
		334	484 .global GierGyroFehler
		335	485 .global GierGyroFehler
		336	486 .section .bss
		337	489 GierGyroFehler:
		338	490 0051 0000 .skip 2,0
		339	491 .global Umschlag180Roll
		340	492 .data
		341	495 Umschlag180Roll:
		342	496 0043 90D0 0300 .long 250000
		343	497 .global Umschlag180Nick
		344	500 Umschlag180Nick:
		345	501 0047 90D0 0300 .long 250000
		346	502 .global TrichterFlug
		347	503 .global TrichterFlug
		348	504 .section .bss
		349	507 TrichterFlug:
		350	508 0053 00 .skip 1,0
		351	509 .global HoehenReglerAktiv
		352	510 .global HoehenReglerAktiv
		353	513 HoehenReglerAktiv:
		354	514 0054 00 .skip 1,0
		355	515 .global KompassSignalSchlecht
		356	516 .data
		357	519 KompassSignalSchlecht:
		358	520 004b 3200 .word 50
		359	521 .global KompassFusion
		360	524 KompassFusion:
		361	525 004d 20 .byte 32
		362	526 .global CalculateCompassTimer
		363	529 CalculateCompassTimer:
		364	530 004e 64 .byte 100
		365	531 .global KompassSollWert
		366	532 .global KompassSollWert
		367	533 .section .bss
		368	536 KompassSollWert:
		369	537 0055 0000 .skip 2,0
		370	538 .global KompassValue
		371	539 .data
		372	542 KompassValue:
		373	543 004f FFFF .word -1
		374	544 .global Mess_Integral_Hoch
		375	545 .global Mess_Integral_Hoch
		376	546 .section .bss
		377	549 Mess_Integral_Hoch:
		378	550 0057 0000 0000 .skip 4,0
		379	551 .global SummeRoll
		380	552 .global SummeRoll
		381	555 SummeRoll:
		382	556 005b 0000 0000 .skip 4,0
		383	557 .global SummeNick
		384	558 .global SummeNick
		385	561 SummeNick:
		386	562 005f 0000 0000 .skip 4,0
		387	563 .global Mess_Integral_Gier2
		388	564 .global Mess_Integral_Gier2
		389	567 Mess_Integral_Gier2:
		390	568 0063 0000 0000 .skip 4,0
		391	569 .global Mess_Integral_Gier
		392	570 .global Mess_Integral_Gier
		393	573 Mess_Integral_Gier:
		394	574 0067 0000 0000 .skip 4,0
		395	575 .global Mess_IntegralRoll2
		396	576 .global Mess_IntegralRoll2
		397	579 Mess_IntegralRoll2:
		398	580 006b 0000 0000 .skip 4,0
		399	581 .global Mess_IntegralRoll
		400	582 .global Mess_IntegralRoll
		401	585 Mess_IntegralRoll:
		402	586 006f 0000 0000 .skip 4,0
		403	587 .global Mess_IntegralNick2
		404	588 .global Mess_IntegralNick2
		405	591 Mess_IntegralNick2:
		406	592 0073 0000 0000 .skip 4,0
		407	593 .global Mess_IntegralNick
		408	594 .global Mess_IntegralNick
		409	597 Mess_IntegralNick:
		410	598 0077 0000 0000 .skip 4,0
		411	599 .global Integral_Gier
		412	600 .global Integral_Gier
		413	603 Integral_Gier:
		414	604 007b 0000 0000 .skip 4,0
		415	605 .global IntegralAccZ
		416	606 .global IntegralAccZ
		417	609 IntegralAccZ:
		418	610 007f 0000 0000 .skip 4,0
		419	611 .global IntegralAccRoll
		420	612 .global IntegralAccRoll
		421	615 IntegralAccRoll:
		422	616 0083 0000 0000 .skip 4,0
		423	617 .global IntegralAccNick
		424	618 .global IntegralAccNick
		425	621 IntegralAccNick:
		426	622 0087 0000 0000 .skip 4,0
		427	623 .global IntegralRoll2
		428	624 .global IntegralRoll2
		429	627 IntegralRoll2:
		430	628 008b 0000 0000 .skip 4,0
		431	629 .global IntegralRoll
		432	630 .global IntegralRoll
		433	633 IntegralRoll:
		434	634 008f 0000 0000 .skip 4,0
		435	635 .global IntegralNick2
		436	636 .global IntegralNick2
		437	639 IntegralNick2:
		438	640 0093 0000 0000 .skip 4,0
		439	641 .global IntegralNick
		440	642 .global IntegralNick
		441	645 IntegralNick:
		442	646 0097 0000 0000 .skip 4,0
		443	647 .global ControlHeading
		444	648 .global ControlHeading
		445	651 ControlHeading:
		446	652 009b 00 .skip 1,0
		447	653 .global NeutralAccZ
		448	654 .global NeutralAccZ
		449	657 NeutralAccZ:
		450	658 009c 0000 .skip 2,0
		451	659 .global NaviCntAcc
		452	660 .global NaviCntAcc
		453	663 NaviCntAcc:
		454	664 009e 0000 .skip 2,0
		455	665 .global NeutralAccY
		456	666 .global NeutralAccY
		457	669 NeutralAccY:
		458	670 00a0 0000 .skip 2,0
		459	671 .global NeutralAccX
		460	672 .global NeutralAccX
		461	675 NeutralAccX:
		462	676 00a2 0000 .skip 2,0
		463	677 .global StartNeutralNick
		464	678 .global StartNeutralNick
		465	681 StartNeutralNick:
		466	682 00a4 0000 .skip 2,0
		467	683 .global StartNeutralRoll
		468	684 .global StartNeutralRoll
		469	687 StartNeutralRoll:
		470	688 00a6 0000 .skip 2,0
		471	689 .global AdNeutralGier
		472	690 .global AdNeutralGier
		473	693 AdNeutralGier:
		474	694 00a8 0000 .skip 2,0
		475	695 .global AdNeutralRoll
		476	696 .global AdNeutralRoll
		477	699 AdNeutralRoll:
		478	700 00aa 0000 .skip 2,0
		479	701 .global AdNeutralNick
		480	702 .global AdNeutralNick
		481	705 AdNeutralNick:
		482	706 00ac 0000 .skip 2,0
		483	707 .global BaroExpandActive
		484	708 .global BaroExpandActive
		485	711 BaroExpandActive:
		486	712 00ae 0000 .skip 2,0
		487	713 .text
		488	714 .global CopyDebugValues
		489	716 CopyDebugValues:
		490	717 /* prologue: frame size=0 */
		491	718 0000 EF92 push r14
		492	719 0002 FF92 push r15
		493	720 0004 0F93 push r16
		494	721 0006 1F93 push r17
		495	722 /* prologue end (size=4) */
		496	723 0008 8091 0000 lds r24,EE_Parameter+28
		497	724 000c 9927 clr r25
		498	725 000e 880F lsl r24
		499	726 0010 991F rol r25
		500	727 0012 880F lsl r24
		501	728 0014 991F rol r25
		502	729 0016 7C01 movw r14,r24
		503	730 0018 0027 clr r16
		504	731 001a F7FC sbrc r15,7
		505	732 001c 0095 com r16
		506	733 001e 102F mov r17,r16
		507	734 0020 8091 0000 lds r24,IntegralNick
		508	735 0024 9091 0000 lds r25,(IntegralNick)+1
		509	736 0028 A091 0000 lds r26,(IntegralNick)+2
		510	737 002c B091 0000 lds r27,(IntegralNick)+3
		511	738 0030 BC01 movw r22,r24
		512	739 0032 CD01 movw r24,r26
		513	740 0034 A801 movw r20,r16
		514	741 0036 9701 movw r18,r14
		515	742 0038 0E94 0000 call __divmodsi4
		516	743 003c 3093 0000 sts (DebugOut+2)+1,r19
		517	744 0040 2093 0000 sts DebugOut+2,r18
		518	745 0044 8091 0000 lds r24,IntegralRoll
		519	746 0048 9091 0000 lds r25,(IntegralRoll)+1
		520	747 004c A091 0000 lds r26,(IntegralRoll)+2
		521	748 0050 B091 0000 lds r27,(IntegralRoll)+3
		522	749 0054 BC01 movw r22,r24
		523	750 0056 CD01 movw r24,r26
		524	751 0058 A801 movw r20,r16
		525	752 005a 9701 movw r18,r14
		526	753 005c 0E94 0000 call __divmodsi4
		527	754 0060 3093 0000 sts (DebugOut+4)+1,r19
		528	755 0064 2093 0000 sts DebugOut+4,r18
		529	756 0068 8091 0000 lds r24,Mittelwert_AccNick
		530	757 006c 9091 0000 lds r25,(Mittelwert_AccNick)+1
		531	758 0070 97FD sbrc r25,7
		532	759 0072 0396 adiw r24,3
		533	760 .L2:
		534	761 0074 9595 asr r25
		535	762 0076 8795 ror r24
		536	763 0078 9595 asr r25
		537	764 007a 8795 ror r24
		538	765 007c 9093 0000 sts (DebugOut+6)+1,r25
		539	766 0080 8093 0000 sts DebugOut+6,r24
		540	767 0084 8091 0000 lds r24,Mittelwert_AccRoll
		541	768 0088 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		542	769 008c 97FD sbrc r25,7
		543	770 008e 0396 adiw r24,3
		544	771 .L3:
		545	772 0090 9595 asr r25
		546	773 0092 8795 ror r24
		547	774 0094 9595 asr r25
		548	775 0096 8795 ror r24
		549	776 0098 9093 0000 sts (DebugOut+8)+1,r25
		550	777 009c 8093 0000 sts DebugOut+8,r24
		551	778 00a0 8091 0000 lds r24,SollHoehe
		552	779 00a4 9091 0000 lds r25,(SollHoehe)+1
		553	780 00a8 A091 0000 lds r26,(SollHoehe)+2
		554	781 00ac B091 0000 lds r27,(SollHoehe)+3
		555	782 00b0 BC01 movw r22,r24
		556	783 00b2 CD01 movw r24,r26
		557	784 00b4 25E0 ldi r18,lo8(5)
		558	785 00b6 30E0 ldi r19,hi8(5)
		559	786 00b8 40E0 ldi r20,hlo8(5)
		560	787 00ba 50E0 ldi r21,hhi8(5)
		561	788 00bc 0E94 0000 call __divmodsi4
		562	789 00c0 3093 0000 sts (DebugOut+10)+1,r19
		563	790 00c4 2093 0000 sts DebugOut+10,r18
		564	791 00c8 8091 0000 lds r24,HoehenWert
		565	792 00cc 9091 0000 lds r25,(HoehenWert)+1
		566	793 00d0 A091 0000 lds r26,(HoehenWert)+2
		567	794 00d4 B091 0000 lds r27,(HoehenWert)+3
		568	795 00d8 BC01 movw r22,r24
		569	796 00da CD01 movw r24,r26
		570	797 00dc 25E0 ldi r18,lo8(5)
		571	798 00de 30E0 ldi r19,hi8(5)
		572	799 00e0 40E0 ldi r20,hlo8(5)
		573	800 00e2 50E0 ldi r21,hhi8(5)
		574	801 00e4 0E94 0000 call __divmodsi4
		575	802 00e8 3093 0000 sts (DebugOut+12)+1,r19
		576	803 00ec 2093 0000 sts DebugOut+12,r18
		577	804 00f0 8091 0000 lds r24,KompassValue
		578	805 00f4 9091 0000 lds r25,(KompassValue)+1
		579	806 00f8 9093 0000 sts (DebugOut+14)+1,r25
		580	807 00fc 8093 0000 sts DebugOut+14,r24
		581	808 0100 8091 0000 lds r24,KompassSollWert
		582	809 0104 9091 0000 lds r25,(KompassSollWert)+1
		583	810 0108 9093 0000 sts (DebugOut+16)+1,r25
		584	811 010c 8093 0000 sts DebugOut+16,r24
		585	812 0110 8091 0000 lds r24,Capacity
		586	813 0114 9091 0000 lds r25,(Capacity)+1
		587	814 0118 9093 0000 sts (DebugOut+18)+1,r25
		588	815 011c 8093 0000 sts DebugOut+18,r24
		589	816 0120 8091 0000 lds r24,UBat
		590	817 0124 9091 0000 lds r25,(UBat)+1
		591	818 0128 9093 0000 sts (DebugOut+20)+1,r25
		592	819 012c 8093 0000 sts DebugOut+20,r24
		593	820 0130 8091 0000 lds r24,Motor+1
		594	821 0134 9927 clr r25
		595	822 0136 9093 0000 sts (DebugOut+22)+1,r25
		596	823 013a 8093 0000 sts DebugOut+22,r24
		597	824 013e 8091 0000 lds r24,Motor+9
		598	825 0142 9927 clr r25
		599	826 0144 9093 0000 sts (DebugOut+24)+1,r25
		600	827 0148 8093 0000 sts DebugOut+24,r24
		601	828 014c 8091 0000 lds r24,Motor+17
		602	829 0150 9927 clr r25
		603	830 0152 9093 0000 sts (DebugOut+26)+1,r25
		604	831 0156 8093 0000 sts DebugOut+26,r24
		605	832 015a 8091 0000 lds r24,Motor+25
		606	833 015e 9927 clr r25
		607	834 0160 9093 0000 sts (DebugOut+28)+1,r25
		608	835 0164 8093 0000 sts DebugOut+28,r24
		609	836 0168 8091 0000 lds r24,Motor+33
		610	837 016c 9927 clr r25
		611	838 016e 9093 0000 sts (DebugOut+30)+1,r25
		612	839 0172 8093 0000 sts DebugOut+30,r24
		613	840 0176 8091 0000 lds r24,Motor+41
		614	841 017a 9927 clr r25
		615	842 017c 9093 0000 sts (DebugOut+32)+1,r25
		616	843 0180 8093 0000 sts DebugOut+32,r24
		617	844 0184 8091 0000 lds r24,SenderOkay
		618	845 0188 9927 clr r25
		619	846 018a 9093 0000 sts (DebugOut+34)+1,r25
		620	847 018e 8093 0000 sts DebugOut+34,r24
		621	848 0192 8091 0000 lds r24,ErsatzKompass
		622	849 0196 9091 0000 lds r25,(ErsatzKompass)+1
		623	850 019a A091 0000 lds r26,(ErsatzKompass)+2
		624	851 019e B091 0000 lds r27,(ErsatzKompass)+3
		625	852 01a2 2091 0000 lds r18,GIER_GRAD_FAKTOR
		626	853 01a6 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1
		627	854 01aa 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2
		628	855 01ae 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3
		629	856 01b2 BC01 movw r22,r24
		630	857 01b4 CD01 movw r24,r26
		631	858 01b6 0E94 0000 call __divmodsi4
		632	859 01ba 3093 0000 sts (DebugOut+36)+1,r19
		633	860 01be 2093 0000 sts DebugOut+36,r18
		634	861 01c2 8091 0000 lds r24,AdNeutralGier
		635	862 01c6 9091 0000 lds r25,(AdNeutralGier)+1
		636	863 01ca 2091 0000 lds r18,AdWertGier
		637	864 01ce 3091 0000 lds r19,(AdWertGier)+1
		638	865 01d2 821B sub r24,r18
		639	866 01d4 930B sbc r25,r19
		640	867 01d6 9093 0000 sts (DebugOut+38)+1,r25
		641	868 01da 8093 0000 sts DebugOut+38,r24
		642	869 01de 1092 0000 sts (DebugOut+40)+1,__zero_reg__
		643	870 01e2 1092 0000 sts DebugOut+40,__zero_reg__
		644	871 01e6 8091 0000 lds r24,ServoNickValue
		645	872 01ea 9091 0000 lds r25,(ServoNickValue)+1
		646	873 01ee 9093 0000 sts (DebugOut+42)+1,r25
		647	874 01f2 8093 0000 sts DebugOut+42,r24
		648	875 01f6 1092 0000 sts (DebugOut+44)+1,__zero_reg__
		649	876 01fa 1092 0000 sts DebugOut+44,__zero_reg__
		650	877 01fe 1092 0000 sts (DebugOut+46)+1,__zero_reg__
		651	878 0202 1092 0000 sts DebugOut+46,__zero_reg__
		652	879 0206 8091 0000 lds r24,Capacity+4
		653	880 020a 9091 0000 lds r25,(Capacity+4)+1
		654	881 020e 9093 0000 sts (DebugOut+48)+1,r25
		655	882 0212 8093 0000 sts DebugOut+48,r24
		656	883 0216 8091 0000 lds r24,Capacity+6
		657	884 021a 9927 clr r25
		658	885 021c 9093 0000 sts (DebugOut+50)+1,r25
		659	886 0220 8093 0000 sts DebugOut+50,r24
		660	887 0224 1092 0000 sts (DebugOut+52)+1,__zero_reg__
		661	888 0228 1092 0000 sts DebugOut+52,__zero_reg__
		662	889 022c 1092 0000 sts (DebugOut+54)+1,__zero_reg__
		663	890 0230 1092 0000 sts DebugOut+54,__zero_reg__
		664	891 0234 1092 0000 sts (DebugOut+56)+1,__zero_reg__
		665	892 0238 1092 0000 sts DebugOut+56,__zero_reg__
		666	893 023c 8091 0000 lds r24,AdWertAccHoch
		667	894 0240 9091 0000 lds r25,(AdWertAccHoch)+1
		668	895 0244 9093 0000 sts (DebugOut+58)+1,r25
		669	896 0248 8093 0000 sts DebugOut+58,r24
		670	897 024c 1092 0000 sts (DebugOut+60)+1,__zero_reg__
		671	898 0250 1092 0000 sts DebugOut+60,__zero_reg__
		672	899 0254 8091 0000 lds r24,GPS_Nick
		673	900 0258 9091 0000 lds r25,(GPS_Nick)+1
		674	901 025c 9093 0000 sts (DebugOut+62)+1,r25
		675	902 0260 8093 0000 sts DebugOut+62,r24
		676	903 0264 8091 0000 lds r24,GPS_Roll
		677	904 0268 9091 0000 lds r25,(GPS_Roll)+1
		678	905 026c 9093 0000 sts (DebugOut+64)+1,r25
		679	906 0270 8093 0000 sts DebugOut+64,r24
		680	907 0274 8091 0000 lds r24,VersionInfo+5
		681	908 0278 8823 tst r24
		682	909 027a 01F4 brne .L5
		683	910 027c 8091 0000 lds r24,VersionInfo+6
		684	911 0280 8823 tst r24
		685	912 0282 01F0 breq .L4
		686	913 .L5:
		687	914 0284 8091 0000 lds r24,DebugOut+1
		688	915 0288 8160 ori r24,lo8(1)
		689	916 028a 00C0 rjmp .L7
		690	917 .L4:
		691	918 028c 8091 0000 lds r24,DebugOut+1
		692	919 0290 8E7F andi r24,lo8(-2)
		693	920 .L7:
		694	921 0292 8093 0000 sts DebugOut+1,r24
		695	922 /* epilogue: frame size=0 */
		696	923 0296 1F91 pop r17
		697	924 0298 0F91 pop r16
		698	925 029a FF90 pop r15
		699	926 029c EF90 pop r14
		700	927 029e 0895 ret
		701	928 /* epilogue end (size=5) */
		702	929 /* function CopyDebugValues size 338 (329) */
		703	931 .global Piep
		704	933 Piep:
		705	934 /* prologue: frame size=0 */
		706	935 02a0 EF92 push r14
		707	936 02a2 FF92 push r15
		708	937 02a4 1F93 push r17
		709	938 02a6 CF93 push r28
		710	939 02a8 DF93 push r29
		711	940 /* prologue end (size=5) */
		712	941 02aa 182F mov r17,r24
		713	942 02ac 7B01 movw r14,r22
		714	943 02ae 8091 0000 lds r24,MotorenEin
		715	944 02b2 8823 tst r24
		716	945 02b4 01F4 brne .L8
		717	946 02b6 8091 0000 lds r24,PlatinenVersion
		718	947 02ba 8C30 cpi r24,lo8(12)
		719	948 02bc 00F0 brlo .L11
		720	949 02be 8631 cpi r24,lo8(22)
		721	950 02c0 01F4 brne .L10
		722	951 .L11:
		723	952 02c2 2998 cbi 37-0x20,1
		724	953 02c4 00C0 rjmp .L12
		725	954 .L10:
		726	955 02c6 299A sbi 37-0x20,1
		727	956 .L12:
		728	957 02c8 1150 subi r17,lo8(-(-1))
		729	958 02ca 1F3F cpi r17,lo8(-1)
		730	959 02cc 01F0 breq .L26
		731	960 02ce F092 0000 sts (beeptime)+1,r15
		732	961 02d2 E092 0000 sts beeptime,r14
		733	962 02d6 E701 movw r28,r14
		734	963 .L34:
		735	964 02d8 8091 0000 lds r24,beeptime
		736	965 02dc 9091 0000 lds r25,(beeptime)+1
		737	966 02e0 892B or r24,r25
		738	967 02e2 01F4 brne .L31
		739	968 02e4 2097 sbiw r28,0
		740	969 02e6 01F0 breq .L12
		741	970 .L31:
		742	971 02e8 8091 0000 lds r24,UpdateMotor
		743	972 02ec 8823 tst r24
		744	973 02ee 01F0 breq .L34
		745	974 02f0 1092 0000 sts UpdateMotor,__zero_reg__
		746	975 02f4 8091 0000 lds r24,beeptime
		747	976 02f8 9091 0000 lds r25,(beeptime)+1
		748	977 02fc 892B or r24,r25
		749	978 02fe 01F4 brne .L19
		750	979 0300 2197 sbiw r28,1
		751	980 .L19:
		752	981 0302 0E94 0000 call LIBFC_Polling
		753	982 0306 00C0 rjmp .L34
		754	983 .L26:
		755	984 0308 8091 0000 lds r24,PlatinenVersion
		756	985 030c 8C30 cpi r24,lo8(12)
		757	986 030e 00F0 brlo .L23
		758	987 0310 8631 cpi r24,lo8(22)
		759	988 0312 01F4 brne .L22
		760	989 .L23:
		761	990 0314 299A sbi 37-0x20,1
		762	991 0316 00C0 rjmp .L8
		763	992 .L22:
		764	993 0318 2998 cbi 37-0x20,1
		765	994 .L8:
		766	995 /* epilogue: frame size=0 */
		767	996 031a DF91 pop r29
		768	997 031c CF91 pop r28
		769	998 031e 1F91 pop r17
		770	999 0320 FF90 pop r15
		771	1000 0322 EF90 pop r14
		772	1001 0324 0895 ret
		773	1002 /* epilogue end (size=6) */
		774	1003 /* function Piep size 67 (56) */
		775	1005 .global CalibrierMittelwert
		776	1007 CalibrierMittelwert:
		777	1008 /* prologue: frame size=0 */
		778	1009 0326 CF93 push r28
		779	1010 0328 DF93 push r29
		780	1011 /* prologue end (size=2) */
		781	1012 032a 8091 0000 lds r24,PlatinenVersion
		782	1013 032e 8D30 cpi r24,lo8(13)
		783	1014 0330 01F4 brne .L36
		784	1015 0332 0E94 0000 call SucheGyroOffset
		785	1016 .L36:
		786	1017 0336 1092 7A00 sts 122,__zero_reg__
		787	1018 033a 8091 0000 lds r24,AdWertNick
		788	1019 033e 9091 0000 lds r25,(AdWertNick)+1
		789	1020 0342 9093 0000 sts (MesswertNick)+1,r25
		790	1021 0346 8093 0000 sts MesswertNick,r24
		791	1022 034a 8091 0000 lds r24,AdWertRoll
		792	1023 034e 9091 0000 lds r25,(AdWertRoll)+1
		793	1024 0352 9093 0000 sts (MesswertRoll)+1,r25
		794	1025 0356 8093 0000 sts MesswertRoll,r24
		795	1026 035a 8091 0000 lds r24,AdWertGier
		796	1027 035e 9091 0000 lds r25,(AdWertGier)+1
		797	1028 0362 9093 0000 sts (MesswertGier)+1,r25
		798	1029 0366 8093 0000 sts MesswertGier,r24
		799	1030 036a 2091 0000 lds r18,AdWertAccNick
		800	1031 036e 3091 0000 lds r19,(AdWertAccNick)+1
		801	1032 0372 C901 movw r24,r18
		802	1033 0374 880F lsl r24
		803	1034 0376 991F rol r25
		804	1035 0378 880F lsl r24
		805	1036 037a 991F rol r25
		806	1037 037c 820F add r24,r18
		807	1038 037e 931F adc r25,r19
		808	1039 0380 820F add r24,r18
		809	1040 0382 931F adc r25,r19
		810	1041 0384 9093 0000 sts (Mittelwert_AccNick)+1,r25
		811	1042 0388 8093 0000 sts Mittelwert_AccNick,r24
		812	1043 038c 2091 0000 lds r18,AdWertAccRoll
		813	1044 0390 3091 0000 lds r19,(AdWertAccRoll)+1
		814	1045 0394 C901 movw r24,r18
		815	1046 0396 880F lsl r24
		816	1047 0398 991F rol r25
		817	1048 039a 880F lsl r24
		818	1049 039c 991F rol r25
		819	1050 039e 820F add r24,r18
		820	1051 03a0 931F adc r25,r19
		821	1052 03a2 820F add r24,r18
		822	1053 03a4 931F adc r25,r19
		823	1054 03a6 9093 0000 sts (Mittelwert_AccRoll)+1,r25
		824	1055 03aa 8093 0000 sts Mittelwert_AccRoll,r24
		825	1056 03ae 8FEC ldi r24,lo8(-49)
		826	1057 03b0 8093 7A00 sts 122,r24
		827	1058 03b4 A0E0 ldi r26,lo8(Poti)
		828	1059 03b6 B0E0 ldi r27,hi8(Poti)
		829	1060 03b8 C0E0 ldi r28,lo8(EE_Parameter+5)
		830	1061 03ba D0E0 ldi r29,hi8(EE_Parameter+5)
		831	1062 03bc 97E0 ldi r25,lo8(7)
		832	1063 .L46:
		833	1064 03be 8991 ld r24,Y+
		834	1065 03c0 E82F mov r30,r24
		835	1066 03c2 FF27 clr r31
		836	1067 03c4 EE0F add r30,r30
		837	1068 03c6 FF1F adc r31,r31
		838	1069 03c8 E050 subi r30,lo8(-(PPM_in))
		839	1070 03ca F040 sbci r31,hi8(-(PPM_in))
		840	1071 03cc 0190 ld __tmp_reg__,Z+
		841	1072 03ce F081 ld r31,Z
		842	1073 03d0 E02D mov r30,__tmp_reg__
		843	1074 03d2 E158 subi r30,lo8(-(127))
		844	1075 03d4 FF4F sbci r31,hi8(-(127))
		845	1076 03d6 1E16 cp __zero_reg__,r30
		846	1077 03d8 1F06 cpc __zero_reg__,r31
		847	1078 03da 04F0 brlt .L40
		848	1079 03dc E0E0 ldi r30,lo8(0)
		849	1080 03de F0E0 ldi r31,hi8(0)
		850	1081 03e0 00C0 rjmp .L41
		851	1082 .L40:
		852	1083 03e2 EF3F cpi r30,255
		853	1084 03e4 F105 cpc r31,__zero_reg__
		854	1085 03e6 04F0 brlt .L41
		855	1086 03e8 EFEF ldi r30,lo8(255)
		856	1087 03ea F0E0 ldi r31,hi8(255)
		857	1088 .L41:
		858	1089 03ec 8C91 ld r24,X
		859	1090 03ee 282F mov r18,r24
		860	1091 03f0 3327 clr r19
		861	1092 03f2 E217 cp r30,r18
		862	1093 03f4 F307 cpc r31,r19
		863	1094 03f6 04F4 brge .L43
		864	1095 03f8 8150 subi r24,lo8(-(-1))
		865	1096 03fa 00C0 rjmp .L49
		866	1097 .L43:
		867	1098 03fc 2E17 cp r18,r30
		868	1099 03fe 3F07 cpc r19,r31
		869	1100 0400 04F4 brge .L39
		870	1101 0402 8F5F subi r24,lo8(-(1))
		871	1102 .L49:
		872	1103 0404 8C93 st X,r24
		873	1104 .L39:
		874	1105 0406 9150 subi r25,lo8(-(-1))
		875	1106 0408 1196 adiw r26,1
		876	1107 040a 97FF sbrs r25,7
		877	1108 040c 00C0 rjmp .L46
		878	1109 040e 8091 0000 lds r24,EE_Parameter+65
		879	1110 0412 9927 clr r25
		880	1111 0414 AA27 clr r26
		881	1112 0416 BB27 clr r27
		882	1113 0418 BC01 movw r22,r24
		883	1114 041a CD01 movw r24,r26
		884	1115 041c 24EC ldi r18,lo8(2500)
		885	1116 041e 39E0 ldi r19,hi8(2500)
		886	1117 0420 40E0 ldi r20,hlo8(2500)
		887	1118 0422 50E0 ldi r21,hhi8(2500)
		888	1119 0424 0E94 0000 call __mulsi3
		889	1120 0428 DC01 movw r26,r24
		890	1121 042a CB01 movw r24,r22
		891	1122 042c 8093 0000 sts Umschlag180Nick,r24
		892	1123 0430 9093 0000 sts (Umschlag180Nick)+1,r25
		893	1124 0434 A093 0000 sts (Umschlag180Nick)+2,r26
		894	1125 0438 B093 0000 sts (Umschlag180Nick)+3,r27
		895	1126 043c 8091 0000 lds r24,EE_Parameter+66
		896	1127 0440 9927 clr r25
		897	1128 0442 AA27 clr r26
		898	1129 0444 BB27 clr r27
		899	1130 0446 BC01 movw r22,r24
		900	1131 0448 CD01 movw r24,r26
		901	1132 044a 0E94 0000 call __mulsi3
		902	1133 044e DC01 movw r26,r24
		903	1134 0450 CB01 movw r24,r22
		904	1135 0452 8093 0000 sts Umschlag180Roll,r24
		905	1136 0456 9093 0000 sts (Umschlag180Roll)+1,r25
		906	1137 045a A093 0000 sts (Umschlag180Roll)+2,r26
		907	1138 045e B093 0000 sts (Umschlag180Roll)+3,r27
		908	1139 /* epilogue: frame size=0 */
		909	1140 0462 DF91 pop r29
		910	1141 0464 CF91 pop r28
		911	1142 0466 0895 ret
		912	1143 /* epilogue end (size=3) */
		913	1144 /* function CalibrierMittelwert size 161 (156) */
		914	1146 .section .progmem.data,"a",@progbits
		915	1149 __c.35:
		916	1150 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n"
		917	1150 4320 6E6F
		918	1150 7420 6361
		919	1150 6C69 6272
		920	1150 6174 6564
		921	1151 .text
		922	1152 .global SetNeutral
		923	1154 SetNeutral:
		924	1155 /* prologue: frame size=0 */
		925	1156 0468 A0E0 ldi r26,lo8(0)
		926	1157 046a B0E0 ldi r27,hi8(0)
		927	1158 046c E0E0 ldi r30,pm_lo8(1f)
		928	1159 046e F0E0 ldi r31,pm_hi8(1f)
		929	1160 0470 0C94 0000 jmp __prologue_saves__+12
		930	1161 1:
		931	1162 /* prologue end (size=6) */
		932	1163 0474 882E mov r8,r24
		933	1164 0476 C0E0 ldi r28,lo8(0)
		934	1165 0478 D0E0 ldi r29,hi8(0)
		935	1166 047a 7E01 movw r14,r28
		936	1167 047c 6E01 movw r12,r28
		937	1168 047e 1092 0000 sts VersionInfo+5,__zero_reg__
		938	1169 0482 D093 0000 sts (NeutralAccX)+1,r29
		939	1170 0486 C093 0000 sts NeutralAccX,r28
		940	1171 048a D093 0000 sts (NeutralAccY)+1,r29
		941	1172 048e C093 0000 sts NeutralAccY,r28
		942	1173 0492 D093 0000 sts (NeutralAccZ)+1,r29
		943	1174 0496 C093 0000 sts NeutralAccZ,r28
		944	1175 049a D093 0000 sts (AdNeutralNick)+1,r29
		945	1176 049e C093 0000 sts AdNeutralNick,r28
		946	1177 04a2 D093 0000 sts (AdNeutralRoll)+1,r29
		947	1178 04a6 C093 0000 sts AdNeutralRoll,r28
		948	1179 04aa D093 0000 sts (AdNeutralGier)+1,r29
		949	1180 04ae C093 0000 sts AdNeutralGier,r28
		950	1181 04b2 1092 0000 sts Parameter_AchsKopplung1,__zero_reg__
		951	1182 04b6 1092 0000 sts Parameter_AchsKopplung2,__zero_reg__
		952	1183 04ba 1092 0000 sts ExpandBaro,__zero_reg__
		953	1184 04be 0E94 0000 call CalibrierMittelwert
		954	1185 04c2 84E6 ldi r24,lo8(100)
		955	1186 04c4 90E0 ldi r25,hi8(100)
		956	1187 04c6 0E94 0000 call Delay_ms_Mess
		957	1188 04ca 0E94 0000 call CalibrierMittelwert
		958	1189 04ce 8091 0000 lds r24,EE_Parameter+13
		959	1190 04d2 80FF sbrs r24,0
		960	1191 04d4 00C0 rjmp .L51
		961	1192 04d6 8091 0000 lds r24,MessLuftdruck
		962	1193 04da 9091 0000 lds r25,(MessLuftdruck)+1
		963	1194 04de 875B subi r24,lo8(951)
		964	1195 04e0 9340 sbci r25,hi8(951)
		965	1196 04e2 00F4 brsh .L53
		966	1197 04e4 8091 0000 lds r24,MessLuftdruck
		967	1198 04e8 9091 0000 lds r25,(MessLuftdruck)+1
		968	1199 04ec 8E5E subi r24,lo8(750)
		969	1200 04ee 9240 sbci r25,hi8(750)
		970	1201 04f0 00F4 brsh .L51
		971	1202 .L53:
		972	1203 04f2 0E94 0000 call SucheLuftruckOffset
		973	1204 .L51:
		974	1205 04f6 0FE1 ldi r16,lo8(31)
		975	1206 .L57:
		976	1207 04f8 8AE0 ldi r24,lo8(10)
		977	1208 04fa 90E0 ldi r25,hi8(10)
		978	1209 04fc 0E94 0000 call Delay_ms_Mess
		979	1210 0500 8091 0000 lds r24,AdWertGier
		980	1211 0504 9091 0000 lds r25,(AdWertGier)+1
		981	1212 0508 C80F add r28,r24
		982	1213 050a D91F adc r29,r25
		983	1214 050c 8091 0000 lds r24,AdWertNick
		984	1215 0510 9091 0000 lds r25,(AdWertNick)+1
		985	1216 0514 E80E add r14,r24
		986	1217 0516 F91E adc r15,r25
		987	1218 0518 8091 0000 lds r24,AdWertRoll
		988	1219 051c 9091 0000 lds r25,(AdWertRoll)+1
		989	1220 0520 C80E add r12,r24
		990	1221 0522 D91E adc r13,r25
		991	1222 0524 0150 subi r16,lo8(-(-1))
		992	1223 0526 07FF sbrs r16,7
		993	1224 0528 00C0 rjmp .L57
		994	1225 052a 9701 movw r18,r14
		995	1226 052c 205F subi r18,lo8(-(16))
		996	1227 052e 3F4F sbci r19,hi8(-(16))
		997	1228 0530 3695 lsr r19
		998	1229 0532 2795 ror r18
		999	1230 0534 3695 lsr r19
		1000	1231 0536 2795 ror r18
		1001	1232 0538 3093 0000 sts (AdNeutralNick)+1,r19
		1002	1233 053c 2093 0000 sts AdNeutralNick,r18
		1003	1234 0540 C601 movw r24,r12
		1004	1235 0542 4096 adiw r24,16
		1005	1236 0544 9695 lsr r25
		1006	1237 0546 8795 ror r24
		1007	1238 0548 9695 lsr r25
		1008	1239 054a 8795 ror r24
		1009	1240 054c 9093 0000 sts (AdNeutralRoll)+1,r25
		1010	1241 0550 8093 0000 sts AdNeutralRoll,r24
		1011	1242 0554 6096 adiw r28,16
		1012	1243 0556 F5E0 ldi r31,5
		1013	1244 0558 D695 1: lsr r29
		1014	1245 055a C795 ror r28
		1015	1246 055c FA95 dec r31
		1016	1247 055e 01F4 brne 1b
		1017	1248 0560 D093 0000 sts (AdNeutralGier)+1,r29
		1018	1249 0564 C093 0000 sts AdNeutralGier,r28
		1019	1250 0568 9093 0000 sts (StartNeutralRoll)+1,r25
		1020	1251 056c 8093 0000 sts StartNeutralRoll,r24
		1021	1252 0570 3093 0000 sts (StartNeutralNick)+1,r19
		1022	1253 0574 2093 0000 sts StartNeutralNick,r18
		1023	1254 0578 8820 tst r8
		1024	1255 057a 01F4 brne .+2
		1025	1256 057c 00C0 rjmp .L58
		1026	1257 057e 8091 0000 lds r24,Mittelwert_AccNick
		1027	1258 0582 9091 0000 lds r25,(Mittelwert_AccNick)+1
		1028	1259 0586 97FF sbrs r25,7
		1029	1260 0588 00C0 rjmp .L59
		1030	1261 058a 9095 com r25
		1031	1262 058c 8195 neg r24
		1032	1263 058e 9F4F sbci r25,lo8(-1)
		1033	1264 .L59:
		1034	1265 0590 6CE0 ldi r22,lo8(12)
		1035	1266 0592 70E0 ldi r23,hi8(12)
		1036	1267 0594 0E94 0000 call __divmodhi4
		1037	1268 0598 9B01 movw r18,r22
		1038	1269 059a 7093 0000 sts (NeutralAccX)+1,r23
		1039	1270 059e 6093 0000 sts NeutralAccX,r22
		1040	1271 05a2 8091 0000 lds r24,Mittelwert_AccRoll
		1041	1272 05a6 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		1042	1273 05aa 97FF sbrs r25,7
		1043	1274 05ac 00C0 rjmp .L60
		1044	1275 05ae 9095 com r25
		1045	1276 05b0 8195 neg r24
		1046	1277 05b2 9F4F sbci r25,lo8(-1)
		1047	1278 .L60:
		1048	1279 05b4 6CE0 ldi r22,lo8(12)
		1049	1280 05b6 70E0 ldi r23,hi8(12)
		1050	1281 05b8 0E94 0000 call __divmodhi4
		1051	1282 05bc 7093 0000 sts (NeutralAccY)+1,r23
		1052	1283 05c0 6093 0000 sts NeutralAccY,r22
		1053	1284 05c4 8091 0000 lds r24,Aktuell_az
		1054	1285 05c8 9091 0000 lds r25,(Aktuell_az)+1
		1055	1286 05cc 9093 0000 sts (NeutralAccZ)+1,r25
		1056	1287 05d0 8093 0000 sts NeutralAccZ,r24
		1057	1288 05d4 B901 movw r22,r18
		1058	1289 05d6 84E0 ldi r24,lo8(4)
		1059	1290 05d8 90E0 ldi r25,hi8(4)
		1060	1291 05da 0E94 0000 call SetParamWord
		1061	1292 05de 6091 0000 lds r22,NeutralAccY
		1062	1293 05e2 7091 0000 lds r23,(NeutralAccY)+1
		1063	1294 05e6 86E0 ldi r24,lo8(6)
		1064	1295 05e8 90E0 ldi r25,hi8(6)
		1065	1296 05ea 0E94 0000 call SetParamWord
		1066	1297 05ee 6091 0000 lds r22,NeutralAccZ
		1067	1298 05f2 7091 0000 lds r23,(NeutralAccZ)+1
		1068	1299 05f6 88E0 ldi r24,lo8(8)
		1069	1300 05f8 90E0 ldi r25,hi8(8)
		1070	1301 05fa 0E94 0000 call SetParamWord
		1071	1302 05fe 00C0 rjmp .L61
		1072	1303 .L58:
		1073	1304 0600 84E0 ldi r24,lo8(4)
		1074	1305 0602 90E0 ldi r25,hi8(4)
		1075	1306 0604 0E94 0000 call GetParamWord
		1076	1307 0608 9093 0000 sts (NeutralAccX)+1,r25
		1077	1308 060c 8093 0000 sts NeutralAccX,r24
		1078	1309 0610 86E0 ldi r24,lo8(6)
		1079	1310 0612 90E0 ldi r25,hi8(6)
		1080	1311 0614 0E94 0000 call GetParamWord
		1081	1312 0618 9093 0000 sts (NeutralAccY)+1,r25
		1082	1313 061c 8093 0000 sts NeutralAccY,r24
		1083	1314 0620 88E0 ldi r24,lo8(8)
		1084	1315 0622 90E0 ldi r25,hi8(8)
		1085	1316 0624 0E94 0000 call GetParamWord
		1086	1317 0628 9C01 movw r18,r24
		1087	1318 062a 9093 0000 sts (NeutralAccZ)+1,r25
		1088	1319 062e 8093 0000 sts NeutralAccZ,r24
		1089	1320 0632 8091 0000 lds r24,NeutralAccX
		1090	1321 0636 9091 0000 lds r25,(NeutralAccX)+1
		1091	1322 063a 8150 subi r24,lo8(2049)
		1092	1323 063c 9840 sbci r25,hi8(2049)
		1093	1324 063e 00F4 brsh .L63
		1094	1325 0640 8091 0000 lds r24,NeutralAccY
		1095	1326 0644 9091 0000 lds r25,(NeutralAccY)+1
		1096	1327 0648 8150 subi r24,lo8(2049)
		1097	1328 064a 9840 sbci r25,hi8(2049)
		1098	1329 064c 00F4 brsh .L63
		1099	1330 064e 2150 subi r18,lo8(1025)
		1100	1331 0650 3440 sbci r19,hi8(1025)
		1101	1332 0652 00F0 brlo .L61
		1102	1333 .L63:
		1103	1334 0654 80E0 ldi r24,lo8(__c.35)
		1104	1335 0656 90E0 ldi r25,hi8(__c.35)
		1105	1336 0658 9F93 push r25
		1106	1337 065a 8F93 push r24
		1107	1338 065c 80E0 ldi r24,lo8(pm(uart_putchar))
		1108	1339 065e 90E0 ldi r25,hi8(pm(uart_putchar))
		1109	1340 0660 9F93 push r25
		1110	1341 0662 8F93 push r24
		1111	1342 0664 E091 0000 lds r30,_printf_P
		1112	1343 0668 F091 0000 lds r31,(_printf_P)+1
		1113	1344 066c 0995 icall
		1114	1345 066e 8091 0000 lds r24,Mittelwert_AccNick
		1115	1346 0672 9091 0000 lds r25,(Mittelwert_AccNick)+1
		1116	1347 0676 97FF sbrs r25,7
		1117	1348 0678 00C0 rjmp .L64
		1118	1349 067a 9095 com r25
		1119	1350 067c 8195 neg r24
		1120	1351 067e 9F4F sbci r25,lo8(-1)
		1121	1352 .L64:
		1122	1353 0680 6CE0 ldi r22,lo8(12)
		1123	1354 0682 70E0 ldi r23,hi8(12)
		1124	1355 0684 0E94 0000 call __divmodhi4
		1125	1356 0688 7093 0000 sts (NeutralAccX)+1,r23
		1126	1357 068c 6093 0000 sts NeutralAccX,r22
		1127	1358 0690 8091 0000 lds r24,Mittelwert_AccRoll
		1128	1359 0694 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		1129	1360 0698 97FF sbrs r25,7
		1130	1361 069a 00C0 rjmp .L65
		1131	1362 069c 9095 com r25
		1132	1363 069e 8195 neg r24
		1133	1364 06a0 9F4F sbci r25,lo8(-1)
		1134	1365 .L65:
		1135	1366 06a2 6CE0 ldi r22,lo8(12)
		1136	1367 06a4 70E0 ldi r23,hi8(12)
		1137	1368 06a6 0E94 0000 call __divmodhi4
		1138	1369 06aa 7093 0000 sts (NeutralAccY)+1,r23
		1139	1370 06ae 6093 0000 sts NeutralAccY,r22
		1140	1371 06b2 8091 0000 lds r24,Aktuell_az
		1141	1372 06b6 9091 0000 lds r25,(Aktuell_az)+1
		1142	1373 06ba 9093 0000 sts (NeutralAccZ)+1,r25
		1143	1374 06be 8093 0000 sts NeutralAccZ,r24
		1144	1375 06c2 0F90 pop __tmp_reg__
		1145	1376 06c4 0F90 pop __tmp_reg__
		1146	1377 06c6 0F90 pop __tmp_reg__
		1147	1378 06c8 0F90 pop __tmp_reg__
		1148	1379 .L61:
		1149	1380 06ca 1092 0000 sts (MesswertNick)+1,__zero_reg__
		1150	1381 06ce 1092 0000 sts MesswertNick,__zero_reg__
		1151	1382 06d2 1092 0000 sts (MesswertRoll)+1,__zero_reg__
		1152	1383 06d6 1092 0000 sts MesswertRoll,__zero_reg__
		1153	1384 06da 1092 0000 sts (MesswertGier)+1,__zero_reg__
		1154	1385 06de 1092 0000 sts MesswertGier,__zero_reg__
		1155	1386 06e2 84E6 ldi r24,lo8(100)
		1156	1387 06e4 90E0 ldi r25,hi8(100)
		1157	1388 06e6 0E94 0000 call Delay_ms_Mess
		1158	1389 06ea 8091 0000 lds r24,AdWertAccNick
		1159	1390 06ee 9091 0000 lds r25,(AdWertAccNick)+1
		1160	1391 06f2 9C01 movw r18,r24
		1161	1392 06f4 220F lsl r18
		1162	1393 06f6 331F rol r19
		1163	1394 06f8 220F lsl r18
		1164	1395 06fa 331F rol r19
		1165	1396 06fc 280F add r18,r24
		1166	1397 06fe 391F adc r19,r25
		1167	1398 0700 280F add r18,r24
		1168	1399 0702 391F adc r19,r25
		1169	1400 0704 3093 0000 sts (Mittelwert_AccNick)+1,r19
		1170	1401 0708 2093 0000 sts Mittelwert_AccNick,r18
		1171	1402 070c 8091 0000 lds r24,AdWertAccRoll
		1172	1403 0710 9091 0000 lds r25,(AdWertAccRoll)+1
		1173	1404 0714 8C01 movw r16,r24
		1174	1405 0716 000F lsl r16
		1175	1406 0718 111F rol r17
		1176	1407 071a 000F lsl r16
		1177	1408 071c 111F rol r17
		1178	1409 071e 080F add r16,r24
		1179	1410 0720 191F adc r17,r25
		1180	1411 0722 080F add r16,r24
		1181	1412 0724 191F adc r17,r25
		1182	1413 0726 1093 0000 sts (Mittelwert_AccRoll)+1,r17
		1183	1414 072a 0093 0000 sts Mittelwert_AccRoll,r16
		1184	1415 072e 8091 0000 lds r24,EE_Parameter+28
		1185	1416 0732 C82E mov r12,r24
		1186	1417 0734 DD24 clr r13
		1187	1418 0736 EE24 clr r14
		1188	1419 0738 FF24 clr r15
		1189	1420 073a 4427 clr r20
		1190	1421 073c 37FD sbrc r19,7
		1191	1422 073e 4095 com r20
		1192	1423 0740 542F mov r21,r20
		1193	1424 0742 C701 movw r24,r14
		1194	1425 0744 B601 movw r22,r12
		1195	1426 0746 0E94 0000 call __mulsi3
		1196	1427 074a 4B01 movw r8,r22
		1197	1428 074c 5C01 movw r10,r24
		1198	1429 074e 6093 0000 sts IntegralNick,r22
		1199	1430 0752 7093 0000 sts (IntegralNick)+1,r23
		1200	1431 0756 8093 0000 sts (IntegralNick)+2,r24
		1201	1432 075a 9093 0000 sts (IntegralNick)+3,r25
		1202	1433 075e 9801 movw r18,r16
		1203	1434 0760 4427 clr r20
		1204	1435 0762 37FD sbrc r19,7
		1205	1436 0764 4095 com r20
		1206	1437 0766 542F mov r21,r20
		1207	1438 0768 C701 movw r24,r14
		1208	1439 076a B601 movw r22,r12
		1209	1440 076c 0E94 0000 call __mulsi3
		1210	1441 0770 DC01 movw r26,r24
		1211	1442 0772 CB01 movw r24,r22
		1212	1443 0774 8093 0000 sts IntegralRoll,r24
		1213	1444 0778 9093 0000 sts (IntegralRoll)+1,r25
		1214	1445 077c A093 0000 sts (IntegralRoll)+2,r26
		1215	1446 0780 B093 0000 sts (IntegralRoll)+3,r27
		1216	1447 0784 8092 0000 sts Mess_IntegralNick,r8
		1217	1448 0788 9092 0000 sts (Mess_IntegralNick)+1,r9
		1218	1449 078c A092 0000 sts (Mess_IntegralNick)+2,r10
		1219	1450 0790 B092 0000 sts (Mess_IntegralNick)+3,r11
		1220	1451 0794 8093 0000 sts Mess_IntegralRoll,r24
		1221	1452 0798 9093 0000 sts (Mess_IntegralRoll)+1,r25
		1222	1453 079c A093 0000 sts (Mess_IntegralRoll)+2,r26
		1223	1454 07a0 B093 0000 sts (Mess_IntegralRoll)+3,r27
		1224	1455 07a4 1092 0000 sts Mess_Integral_Gier,__zero_reg__
		1225	1456 07a8 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
		1226	1457 07ac 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
		1227	1458 07b0 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__
		1228	1459 07b4 8091 0000 lds r24,Luftdruck
		1229	1460 07b8 9091 0000 lds r25,(Luftdruck)+1
		1230	1461 07bc A091 0000 lds r26,(Luftdruck)+2
		1231	1462 07c0 B091 0000 lds r27,(Luftdruck)+3
		1232	1463 07c4 9093 0000 sts (StartLuftdruck)+1,r25
		1233	1464 07c8 8093 0000 sts StartLuftdruck,r24
		1234	1465 07cc 1092 0000 sts (VarioMeter)+1,__zero_reg__
		1235	1466 07d0 1092 0000 sts VarioMeter,__zero_reg__
		1236	1467 07d4 1092 0000 sts Mess_Integral_Hoch,__zero_reg__
		1237	1468 07d8 1092 0000 sts (Mess_Integral_Hoch)+1,__zero_reg__
		1238	1469 07dc 1092 0000 sts (Mess_Integral_Hoch)+2,__zero_reg__
		1239	1470 07e0 1092 0000 sts (Mess_Integral_Hoch)+3,__zero_reg__
		1240	1471 07e4 0091 0000 lds r16,KompassValue
		1241	1472 07e8 1091 0000 lds r17,(KompassValue)+1
		1242	1473 07ec 1093 0000 sts (KompassSollWert)+1,r17
		1243	1474 07f0 0093 0000 sts KompassSollWert,r16
		1244	1475 07f4 84E6 ldi r24,lo8(100)
		1245	1476 07f6 90E0 ldi r25,hi8(100)
		1246	1477 07f8 9093 0000 sts (KompassSignalSchlecht)+1,r25
		1247	1478 07fc 8093 0000 sts KompassSignalSchlecht,r24
		1248	1479 0800 82E3 ldi r24,lo8(50)
		1249	1480 0802 90E0 ldi r25,hi8(50)
		1250	1481 0804 9093 0000 sts (beeptime)+1,r25
		1251	1482 0808 8093 0000 sts beeptime,r24
		1252	1483 080c 8091 0000 lds r24,EE_Parameter+65
		1253	1484 0810 9927 clr r25
		1254	1485 0812 AA27 clr r26
		1255	1486 0814 BB27 clr r27
		1256	1487 0816 BC01 movw r22,r24
		1257	1488 0818 CD01 movw r24,r26
		1258	1489 081a 24EC ldi r18,lo8(2500)
		1259	1490 081c 39E0 ldi r19,hi8(2500)
		1260	1491 081e 40E0 ldi r20,hlo8(2500)
		1261	1492 0820 50E0 ldi r21,hhi8(2500)
		1262	1493 0822 0E94 0000 call __mulsi3
		1263	1494 0826 DC01 movw r26,r24
		1264	1495 0828 CB01 movw r24,r22
		1265	1496 082a 8856 subi r24,lo8(-(15000))
		1266	1497 082c 954C sbci r25,hi8(-(15000))
		1267	1498 082e AF4F sbci r26,hlo8(-(15000))
		1268	1499 0830 BF4F sbci r27,hhi8(-(15000))
		1269	1500 0832 8093 0000 sts Umschlag180Nick,r24
		1270	1501 0836 9093 0000 sts (Umschlag180Nick)+1,r25
		1271	1502 083a A093 0000 sts (Umschlag180Nick)+2,r26
		1272	1503 083e B093 0000 sts (Umschlag180Nick)+3,r27
		1273	1504 0842 8091 0000 lds r24,EE_Parameter+66
		1274	1505 0846 9927 clr r25
		1275	1506 0848 AA27 clr r26
		1276	1507 084a BB27 clr r27
		1277	1508 084c BC01 movw r22,r24
		1278	1509 084e CD01 movw r24,r26
		1279	1510 0850 0E94 0000 call __mulsi3
		1280	1511 0854 DC01 movw r26,r24
		1281	1512 0856 CB01 movw r24,r22
		1282	1513 0858 8856 subi r24,lo8(-(15000))
		1283	1514 085a 954C sbci r25,hi8(-(15000))
		1284	1515 085c AF4F sbci r26,hlo8(-(15000))
		1285	1516 085e BF4F sbci r27,hhi8(-(15000))
		1286	1517 0860 8093 0000 sts Umschlag180Roll,r24
		1287	1518 0864 9093 0000 sts (Umschlag180Roll)+1,r25
		1288	1519 0868 A093 0000 sts (Umschlag180Roll)+2,r26
		1289	1520 086c B093 0000 sts (Umschlag180Roll)+3,r27
		1290	1521 0870 1092 0000 sts (ExternHoehenValue)+1,__zero_reg__
		1291	1522 0874 1092 0000 sts ExternHoehenValue,__zero_reg__
		1292	1523 0878 C801 movw r24,r16
		1293	1524 087a AA27 clr r26
		1294	1525 087c 97FD sbrc r25,7
		1295	1526 087e A095 com r26
		1296	1527 0880 BA2F mov r27,r26
		1297	1528 0882 2091 0000 lds r18,GIER_GRAD_FAKTOR
		1298	1529 0886 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1
		1299	1530 088a 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2
		1300	1531 088e 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3
		1301	1532 0892 BC01 movw r22,r24
		1302	1533 0894 CD01 movw r24,r26
		1303	1534 0896 0E94 0000 call __mulsi3
		1304	1535 089a DC01 movw r26,r24
		1305	1536 089c CB01 movw r24,r22
		1306	1537 089e 8093 0000 sts ErsatzKompass,r24
		1307	1538 08a2 9093 0000 sts (ErsatzKompass)+1,r25
		1308	1539 08a6 A093 0000 sts (ErsatzKompass)+2,r26
		1309	1540 08aa B093 0000 sts (ErsatzKompass)+3,r27
		1310	1541 08ae 1092 0000 sts (GierGyroFehler)+1,__zero_reg__
		1311	1542 08b2 1092 0000 sts GierGyroFehler,__zero_reg__
		1312	1543 08b6 0E94 0000 call LED_Init
		1313	1544 08ba 8091 0000 lds r24,FC_StatusFlags
		1314	1545 08be 8460 ori r24,lo8(4)
		1315	1546 08c0 8093 0000 sts FC_StatusFlags,r24
		1316	1547 08c4 8FEF ldi r24,lo8(-1)
		1317	1548 08c6 8093 0000 sts FromNaviCtrl_Value,r24
		1318	1549 08ca 1092 0000 sts FromNaviCtrl_Value+1,__zero_reg__
		1319	1550 08ce 80E2 ldi r24,lo8(32)
		1320	1551 08d0 8093 0000 sts FromNaviCtrl_Value+2,r24
		1321	1552 08d4 C0E0 ldi r28,lo8(Poti)
		1322	1553 08d6 D0E0 ldi r29,hi8(Poti)
		1323	1554 08d8 A0E0 ldi r26,lo8(EE_Parameter+5)
		1324	1555 08da B0E0 ldi r27,hi8(EE_Parameter+5)
		1325	1556 08dc 07E0 ldi r16,lo8(7)
		1326	1557 .L69:
		1327	1558 08de 8D91 ld r24,X+
		1328	1559 08e0 E82F mov r30,r24
		1329	1560 08e2 FF27 clr r31
		1330	1561 08e4 EE0F add r30,r30
		1331	1562 08e6 FF1F adc r31,r31
		1332	1563 08e8 E050 subi r30,lo8(-(PPM_in))
		1333	1564 08ea F040 sbci r31,hi8(-(PPM_in))
		1334	1565 08ec 8081 ld r24,Z
		1335	1566 08ee 9181 ldd r25,Z+1
		1336	1567 08f0 8158 subi r24,lo8(-(127))
		1337	1568 08f2 8993 st Y+,r24
		1338	1569 08f4 0150 subi r16,lo8(-(-1))
		1339	1570 08f6 07FF sbrs r16,7
		1340	1571 08f8 00C0 rjmp .L69
		1341	1572 08fa 84E6 ldi r24,lo8(100)
		1342	1573 08fc 8093 0000 sts SenderOkay,r24
		1343	1574 0900 8091 0000 lds r24,ServoActive
		1344	1575 0904 8823 tst r24
		1345	1576 0906 01F0 breq .L70
		1346	1577 0908 579A sbi 42-0x20,7
		1347	1578 090a 00C0 rjmp .L71
		1348	1579 .L70:
		1349	1580 090c 80E0 ldi r24,lo8(4352)
		1350	1581 090e 91E1 ldi r25,hi8(4352)
		1351	1582 0910 9093 0000 sts (NickServoValue)+1,r25
		1352	1583 0914 8093 0000 sts NickServoValue,r24
		1353	1584 .L71:
		1354	1585 0918 8091 0000 lds r24,AdNeutralNick
		1355	1586 091c 9091 0000 lds r25,(AdNeutralNick)+1
		1356	1587 0920 8056 subi r24,lo8(-(-2400))
		1357	1588 0922 9940 sbci r25,hi8(-(-2400))
		1358	1589 0924 815C subi r24,lo8(11201)
		1359	1590 0926 9B42 sbci r25,hi8(11201)
		1360	1591 0928 00F0 brlo .L72
		1361	1592 092a 8091 0000 lds r24,VersionInfo+5
		1362	1593 092e 8160 ori r24,lo8(1)
		1363	1594 0930 8093 0000 sts VersionInfo+5,r24
		1364	1595 .L72:
		1365	1596 0934 8091 0000 lds r24,AdNeutralRoll
		1366	1597 0938 9091 0000 lds r25,(AdNeutralRoll)+1
		1367	1598 093c 8056 subi r24,lo8(-(-2400))
		1368	1599 093e 9940 sbci r25,hi8(-(-2400))
		1369	1600 0940 815C subi r24,lo8(11201)
		1370	1601 0942 9B42 sbci r25,hi8(11201)
		1371	1602 0944 00F0 brlo .L73
		1372	1603 0946 8091 0000 lds r24,VersionInfo+5
		1373	1604 094a 8260 ori r24,lo8(2)
		1374	1605 094c 8093 0000 sts VersionInfo+5,r24
		1375	1606 .L73:
		1376	1607 0950 8091 0000 lds r24,AdNeutralGier
		1377	1608 0954 9091 0000 lds r25,(AdNeutralGier)+1
		1378	1609 0958 8C52 subi r24,lo8(-(-300))
		1379	1610 095a 9140 sbci r25,hi8(-(-300))
		1380	1611 095c 8957 subi r24,lo8(1401)
		1381	1612 095e 9540 sbci r25,hi8(1401)
		1382	1613 0960 00F0 brlo .L74
		1383	1614 0962 8091 0000 lds r24,VersionInfo+5
		1384	1615 0966 8460 ori r24,lo8(4)
		1385	1616 0968 8093 0000 sts VersionInfo+5,r24
		1386	1617 .L74:
		1387	1618 096c 8091 0000 lds r24,NeutralAccX
		1388	1619 0970 9091 0000 lds r25,(NeutralAccX)+1
		1389	1620 0974 8C52 subi r24,lo8(-(-300))
		1390	1621 0976 9140 sbci r25,hi8(-(-300))
		1391	1622 0978 835C subi r24,lo8(451)
		1392	1623 097a 9140 sbci r25,hi8(451)
		1393	1624 097c 00F0 brlo .L75
		1394	1625 097e 8091 0000 lds r24,VersionInfo+5
		1395	1626 0982 8860 ori r24,lo8(8)
		1396	1627 0984 8093 0000 sts VersionInfo+5,r24
		1397	1628 .L75:
		1398	1629 0988 8091 0000 lds r24,NeutralAccY
		1399	1630 098c 9091 0000 lds r25,(NeutralAccY)+1
		1400	1631 0990 8C52 subi r24,lo8(-(-300))
		1401	1632 0992 9140 sbci r25,hi8(-(-300))
		1402	1633 0994 835C subi r24,lo8(451)
		1403	1634 0996 9140 sbci r25,hi8(451)
		1404	1635 0998 00F0 brlo .L76
		1405	1636 099a 8091 0000 lds r24,VersionInfo+5
		1406	1637 099e 8061 ori r24,lo8(16)
		1407	1638 09a0 8093 0000 sts VersionInfo+5,r24
		1408	1639 .L76:
		1409	1640 09a4 8091 0000 lds r24,NeutralAccZ
		1410	1641 09a8 9091 0000 lds r25,(NeutralAccZ)+1
		1411	1642 09ac 8050 subi r24,lo8(-(-512))
		1412	1643 09ae 9240 sbci r25,hi8(-(-512))
		1413	1644 09b0 8355 subi r24,lo8(339)
		1414	1645 09b2 9140 sbci r25,hi8(339)
		1415	1646 09b4 00F0 brlo .L77
		1416	1647 09b6 8091 0000 lds r24,VersionInfo+5
		1417	1648 09ba 8062 ori r24,lo8(32)
		1418	1649 09bc 8093 0000 sts VersionInfo+5,r24
		1419	1650 .L77:
		1420	1651 09c0 86E4 ldi r24,lo8(70)
		1421	1652 09c2 8093 0000 sts carefree_old,r24
		1422	1653 09c6 0E94 0000 call LIBFC_HoTT_Clear
		1423	1654 /* epilogue: frame size=0 */
		1424	1655 09ca ECE0 ldi r30,12
		1425	1656 09cc CDB7 in r28,__SP_L__
		1426	1657 09ce DEB7 in r29,__SP_H__
		1427	1658 09d0 0C94 0000 jmp __epilogue_restores__+12
		1428	1659 /* epilogue end (size=5) */
		1429	1660 /* function SetNeutral size 705 (694) */
		1430	1662 .lcomm tmpl.27,4
		1431	1663 .lcomm tmpl2.28,4
		1432	1664 .lcomm tmpl3.29,4
		1433	1665 .lcomm tmpl4.30,4
		1434	1666 .lcomm oldNick.31,2
		1435	1667 .lcomm oldRoll.32,2
		1436	1668 .lcomm d2Roll.33,2
		1437	1669 .lcomm d2Nick.34,2
		1438	1670 .global Mittelwert
		1439	1672 Mittelwert:
		1440	1673 /* prologue: frame size=19 */
		1441	1674 09d4 A3E1 ldi r26,lo8(19)
		1442	1675 09d6 B0E0 ldi r27,hi8(19)
		1443	1676 09d8 E0E0 ldi r30,pm_lo8(1f)
		1444	1677 09da F0E0 ldi r31,pm_hi8(1f)
		1445	1678 09dc 0C94 0000 jmp __prologue_saves__+0
		1446	1679 1:
		1447	1680 /* prologue end (size=6) */
		1448	1681 09e0 8091 0000 lds r24,AdNeutralGier
		1449	1682 09e4 9091 0000 lds r25,(AdNeutralGier)+1
		1450	1683 09e8 2091 0000 lds r18,AdWertGier
		1451	1684 09ec 3091 0000 lds r19,(AdWertGier)+1
		1452	1685 09f0 821B sub r24,r18
		1453	1686 09f2 930B sbc r25,r19
		1454	1687 09f4 9093 0000 sts (MesswertGier)+1,r25
		1455	1688 09f8 8093 0000 sts MesswertGier,r24
		1456	1689 09fc 8091 0000 lds r24,AdWertNickFilter
		1457	1690 0a00 9091 0000 lds r25,(AdWertNickFilter)+1
		1458	1691 0a04 97FD sbrc r25,7
		1459	1692 0a06 0796 adiw r24,7
		1460	1693 .L83:
		1461	1694 0a08 9C01 movw r18,r24
		1462	1695 0a0a 13E0 ldi r17,3
		1463	1696 0a0c 3595 1: asr r19
		1464	1697 0a0e 2795 ror r18
		1465	1698 0a10 1A95 dec r17
		1466	1699 0a12 01F4 brne 1b
		1467	1700 0a14 3093 0000 sts (MesswertNick)+1,r19
		1468	1701 0a18 2093 0000 sts MesswertNick,r18
		1469	1702 0a1c 8091 0000 lds r24,AdWertRollFilter
		1470	1703 0a20 9091 0000 lds r25,(AdWertRollFilter)+1
		1471	1704 0a24 97FD sbrc r25,7
		1472	1705 0a26 0796 adiw r24,7
		1473	1706 .L84:
		1474	1707 0a28 B3E0 ldi r27,3
		1475	1708 0a2a 9595 1: asr r25
		1476	1709 0a2c 8795 ror r24
		1477	1710 0a2e BA95 dec r27
		1478	1711 0a30 01F4 brne 1b
		1479	1712 0a32 9093 0000 sts (MesswertRoll)+1,r25
		1480	1713 0a36 8093 0000 sts MesswertRoll,r24
		1481	1714 0a3a 3093 0000 sts (RohMesswertNick)+1,r19
		1482	1715 0a3e 2093 0000 sts RohMesswertNick,r18
		1483	1716 0a42 9093 0000 sts (RohMesswertRoll)+1,r25
		1484	1717 0a46 8093 0000 sts RohMesswertRoll,r24
		1485	1718 0a4a 8091 0000 lds r24,Mittelwert_AccNick
		1486	1719 0a4e 9091 0000 lds r25,(Mittelwert_AccNick)+1
		1487	1720 0a52 AC01 movw r20,r24
		1488	1721 0a54 440F lsl r20
		1489	1722 0a56 551F rol r21
		1490	1723 0a58 480F add r20,r24
		1491	1724 0a5a 591F adc r21,r25
		1492	1725 0a5c 2091 0000 lds r18,AdWertAccNick
		1493	1726 0a60 3091 0000 lds r19,(AdWertAccNick)+1
		1494	1727 0a64 C901 movw r24,r18
		1495	1728 0a66 880F lsl r24
		1496	1729 0a68 991F rol r25
		1497	1730 0a6a 880F lsl r24
		1498	1731 0a6c 991F rol r25
		1499	1732 0a6e 820F add r24,r18
		1500	1733 0a70 931F adc r25,r19
		1501	1734 0a72 820F add r24,r18
		1502	1735 0a74 931F adc r25,r19
		1503	1736 0a76 480F add r20,r24
		1504	1737 0a78 591F adc r21,r25
		1505	1738 0a7a 57FF sbrs r21,7
		1506	1739 0a7c 00C0 rjmp .L85
		1507	1740 0a7e 4D5F subi r20,lo8(-(3))
		1508	1741 0a80 5F4F sbci r21,hi8(-(3))
		1509	1742 .L85:
		1510	1743 0a82 5595 asr r21
		1511	1744 0a84 4795 ror r20
		1512	1745 0a86 5595 asr r21
		1513	1746 0a88 4795 ror r20
		1514	1747 0a8a 5093 0000 sts (Mittelwert_AccNick)+1,r21
		1515	1748 0a8e 4093 0000 sts Mittelwert_AccNick,r20
		1516	1749 0a92 8091 0000 lds r24,Mittelwert_AccRoll
		1517	1750 0a96 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		1518	1751 0a9a AC01 movw r20,r24
		1519	1752 0a9c 440F lsl r20
		1520	1753 0a9e 551F rol r21
		1521	1754 0aa0 480F add r20,r24
		1522	1755 0aa2 591F adc r21,r25
		1523	1756 0aa4 2091 0000 lds r18,AdWertAccRoll
		1524	1757 0aa8 3091 0000 lds r19,(AdWertAccRoll)+1
		1525	1758 0aac C901 movw r24,r18
		1526	1759 0aae 880F lsl r24
		1527	1760 0ab0 991F rol r25
		1528	1761 0ab2 880F lsl r24
		1529	1762 0ab4 991F rol r25
		1530	1763 0ab6 820F add r24,r18
		1531	1764 0ab8 931F adc r25,r19
		1532	1765 0aba 820F add r24,r18
		1533	1766 0abc 931F adc r25,r19
		1534	1767 0abe 480F add r20,r24
		1535	1768 0ac0 591F adc r21,r25
		1536	1769 0ac2 57FF sbrs r21,7
		1537	1770 0ac4 00C0 rjmp .L86
		1538	1771 0ac6 4D5F subi r20,lo8(-(3))
		1539	1772 0ac8 5F4F sbci r21,hi8(-(3))
		1540	1773 .L86:
		1541	1774 0aca 5595 asr r21
		1542	1775 0acc 4795 ror r20
		1543	1776 0ace 5595 asr r21
		1544	1777 0ad0 4795 ror r20
		1545	1778 0ad2 5093 0000 sts (Mittelwert_AccRoll)+1,r21
		1546	1779 0ad6 4093 0000 sts Mittelwert_AccRoll,r20
		1547	1780 0ada 2091 0000 lds r18,AdWertAccNick
		1548	1781 0ade 3091 0000 lds r19,(AdWertAccNick)+1
		1549	1782 0ae2 C901 movw r24,r18
		1550	1783 0ae4 880F lsl r24
		1551	1784 0ae6 991F rol r25
		1552	1785 0ae8 880F lsl r24
		1553	1786 0aea 991F rol r25
		1554	1787 0aec 820F add r24,r18
		1555	1788 0aee 931F adc r25,r19
		1556	1789 0af0 820F add r24,r18
		1557	1790 0af2 931F adc r25,r19
		1558	1791 0af4 9C01 movw r18,r24
		1559	1792 0af6 4427 clr r20
		1560	1793 0af8 37FD sbrc r19,7
		1561	1794 0afa 4095 com r20
		1562	1795 0afc 542F mov r21,r20
		1563	1796 0afe 8091 0000 lds r24,IntegralAccNick
		1564	1797 0b02 9091 0000 lds r25,(IntegralAccNick)+1
		1565	1798 0b06 A091 0000 lds r26,(IntegralAccNick)+2
		1566	1799 0b0a B091 0000 lds r27,(IntegralAccNick)+3
		1567	1800 0b0e 820F add r24,r18
		1568	1801 0b10 931F adc r25,r19
		1569	1802 0b12 A41F adc r26,r20
		1570	1803 0b14 B51F adc r27,r21
		1571	1804 0b16 8093 0000 sts IntegralAccNick,r24
		1572	1805 0b1a 9093 0000 sts (IntegralAccNick)+1,r25
		1573	1806 0b1e A093 0000 sts (IntegralAccNick)+2,r26
		1574	1807 0b22 B093 0000 sts (IntegralAccNick)+3,r27
		1575	1808 0b26 2091 0000 lds r18,AdWertAccRoll
		1576	1809 0b2a 3091 0000 lds r19,(AdWertAccRoll)+1
		1577	1810 0b2e C901 movw r24,r18
		1578	1811 0b30 880F lsl r24
		1579	1812 0b32 991F rol r25
		1580	1813 0b34 880F lsl r24
		1581	1814 0b36 991F rol r25
		1582	1815 0b38 820F add r24,r18
		1583	1816 0b3a 931F adc r25,r19
		1584	1817 0b3c 820F add r24,r18
		1585	1818 0b3e 931F adc r25,r19
		1586	1819 0b40 9C01 movw r18,r24
		1587	1820 0b42 4427 clr r20
		1588	1821 0b44 37FD sbrc r19,7
		1589	1822 0b46 4095 com r20
		1590	1823 0b48 542F mov r21,r20
		1591	1824 0b4a 8091 0000 lds r24,IntegralAccRoll
		1592	1825 0b4e 9091 0000 lds r25,(IntegralAccRoll)+1
		1593	1826 0b52 A091 0000 lds r26,(IntegralAccRoll)+2
		1594	1827 0b56 B091 0000 lds r27,(IntegralAccRoll)+3
		1595	1828 0b5a 820F add r24,r18
		1596	1829 0b5c 931F adc r25,r19
		1597	1830 0b5e A41F adc r26,r20
		1598	1831 0b60 B51F adc r27,r21
		1599	1832 0b62 8093 0000 sts IntegralAccRoll,r24
		1600	1833 0b66 9093 0000 sts (IntegralAccRoll)+1,r25
		1601	1834 0b6a A093 0000 sts (IntegralAccRoll)+2,r26
		1602	1835 0b6e B093 0000 sts (IntegralAccRoll)+3,r27
		1603	1836 0b72 8091 0000 lds r24,NaviAccNick
		1604	1837 0b76 9091 0000 lds r25,(NaviAccNick)+1
		1605	1838 0b7a 2091 0000 lds r18,AdWertAccNick
		1606	1839 0b7e 3091 0000 lds r19,(AdWertAccNick)+1
		1607	1840 0b82 820F add r24,r18
		1608	1841 0b84 931F adc r25,r19
		1609	1842 0b86 9093 0000 sts (NaviAccNick)+1,r25
		1610	1843 0b8a 8093 0000 sts NaviAccNick,r24
		1611	1844 0b8e 8091 0000 lds r24,NaviAccRoll
		1612	1845 0b92 9091 0000 lds r25,(NaviAccRoll)+1
		1613	1846 0b96 2091 0000 lds r18,AdWertAccRoll
		1614	1847 0b9a 3091 0000 lds r19,(AdWertAccRoll)+1
		1615	1848 0b9e 820F add r24,r18
		1616	1849 0ba0 931F adc r25,r19
		1617	1850 0ba2 9093 0000 sts (NaviAccRoll)+1,r25
		1618	1851 0ba6 8093 0000 sts NaviAccRoll,r24
		1619	1852 0baa 8091 0000 lds r24,NaviCntAcc
		1620	1853 0bae 9091 0000 lds r25,(NaviCntAcc)+1
		1621	1854 0bb2 0196 adiw r24,1
		1622	1855 0bb4 9093 0000 sts (NaviCntAcc)+1,r25
		1623	1856 0bb8 8093 0000 sts NaviCntAcc,r24
		1624	1857 0bbc 8091 0000 lds r24,Aktuell_az
		1625	1858 0bc0 9091 0000 lds r25,(Aktuell_az)+1
		1626	1859 0bc4 2091 0000 lds r18,NeutralAccZ
		1627	1860 0bc8 3091 0000 lds r19,(NeutralAccZ)+1
		1628	1861 0bcc 821B sub r24,r18
		1629	1862 0bce 930B sbc r25,r19
		1630	1863 0bd0 9C01 movw r18,r24
		1631	1864 0bd2 4427 clr r20
		1632	1865 0bd4 37FD sbrc r19,7
		1633	1866 0bd6 4095 com r20
		1634	1867 0bd8 542F mov r21,r20
		1635	1868 0bda 8091 0000 lds r24,IntegralAccZ
		1636	1869 0bde 9091 0000 lds r25,(IntegralAccZ)+1
		1637	1870 0be2 A091 0000 lds r26,(IntegralAccZ)+2
		1638	1871 0be6 B091 0000 lds r27,(IntegralAccZ)+3
		1639	1872 0bea 820F add r24,r18
		1640	1873 0bec 931F adc r25,r19
		1641	1874 0bee A41F adc r26,r20
		1642	1875 0bf0 B51F adc r27,r21
		1643	1876 0bf2 8093 0000 sts IntegralAccZ,r24
		1644	1877 0bf6 9093 0000 sts (IntegralAccZ)+1,r25
		1645	1878 0bfa A093 0000 sts (IntegralAccZ)+2,r26
		1646	1879 0bfe B093 0000 sts (IntegralAccZ)+3,r27
		1647	1880 0c02 8FEC ldi r24,lo8(-49)
		1648	1881 0c04 8093 7A00 sts 122,r24
		1649	1882 0c08 1092 0000 sts AdReady,__zero_reg__
		1650	1883 0c0c 2091 0000 lds r18,Mess_IntegralRoll
		1651	1884 0c10 3091 0000 lds r19,(Mess_IntegralRoll)+1
		1652	1885 0c14 4091 0000 lds r20,(Mess_IntegralRoll)+2
		1653	1886 0c18 5091 0000 lds r21,(Mess_IntegralRoll)+3
		1654	1887 0c1c 2987 std Y+9,r18
		1655	1888 0c1e 3A87 std Y+10,r19
		1656	1889 0c20 4B87 std Y+11,r20
		1657	1890 0c22 5C87 std Y+12,r21
		1658	1891 0c24 2954 subi r18,lo8(93001)
		1659	1892 0c26 3B46 sbci r19,hi8(93001)
		1660	1893 0c28 4140 sbci r20,hlo8(93001)
		1661	1894 0c2a 5040 sbci r21,hhi8(93001)
		1662	1895 0c2c 04F0 brlt .L87
		1663	1896 0c2e 28E4 ldi r18,lo8(93000)
		1664	1897 0c30 3BE6 ldi r19,hi8(93000)
		1665	1898 0c32 41E0 ldi r20,hlo8(93000)
		1666	1899 0c34 50E0 ldi r21,hhi8(93000)
		1667	1900 0c36 00C0 rjmp .L167
		1668	1901 .L87:
		1669	1902 0c38 8985 ldd r24,Y+9
		1670	1903 0c3a 9A85 ldd r25,Y+10
		1671	1904 0c3c AB85 ldd r26,Y+11
		1672	1905 0c3e BC85 ldd r27,Y+12
		1673	1906 0c40 885B subi r24,lo8(-93000)
		1674	1907 0c42 9449 sbci r25,hi8(-93000)
		1675	1908 0c44 AE4F sbci r26,hlo8(-93000)
		1676	1909 0c46 BF4F sbci r27,hhi8(-93000)
		1677	1910 0c48 04F4 brge .L89
		1678	1911 0c4a 28EB ldi r18,lo8(-93000)
		1679	1912 0c4c 34E9 ldi r19,hi8(-93000)
		1680	1913 0c4e 4EEF ldi r20,hlo8(-93000)
		1681	1914 0c50 5FEF ldi r21,hhi8(-93000)
		1682	1915 .L167:
		1683	1916 0c52 2D83 std Y+5,r18
		1684	1917 0c54 3E83 std Y+6,r19
		1685	1918 0c56 4F83 std Y+7,r20
		1686	1919 0c58 5887 std Y+8,r21
		1687	1920 0c5a 00C0 rjmp .L88
		1688	1921 .L89:
		1689	1922 0c5c 8985 ldd r24,Y+9
		1690	1923 0c5e 9A85 ldd r25,Y+10
		1691	1924 0c60 AB85 ldd r26,Y+11
		1692	1925 0c62 BC85 ldd r27,Y+12
		1693	1926 0c64 8D83 std Y+5,r24
		1694	1927 0c66 9E83 std Y+6,r25
		1695	1928 0c68 AF83 std Y+7,r26
		1696	1929 0c6a B887 std Y+8,r27
		1697	1930 .L88:
		1698	1931 0c6c 2091 0000 lds r18,Mess_IntegralNick
		1699	1932 0c70 3091 0000 lds r19,(Mess_IntegralNick)+1
		1700	1933 0c74 4091 0000 lds r20,(Mess_IntegralNick)+2
		1701	1934 0c78 5091 0000 lds r21,(Mess_IntegralNick)+3
		1702	1935 0c7c 2D87 std Y+13,r18
		1703	1936 0c7e 3E87 std Y+14,r19
		1704	1937 0c80 4F87 std Y+15,r20
		1705	1938 0c82 588B std Y+16,r21
		1706	1939 0c84 2954 subi r18,lo8(93001)
		1707	1940 0c86 3B46 sbci r19,hi8(93001)
		1708	1941 0c88 4140 sbci r20,hlo8(93001)
		1709	1942 0c8a 5040 sbci r21,hhi8(93001)
		1710	1943 0c8c 04F0 brlt .L91
		1711	1944 0c8e 28E4 ldi r18,lo8(93000)
		1712	1945 0c90 3BE6 ldi r19,hi8(93000)
		1713	1946 0c92 41E0 ldi r20,hlo8(93000)
		1714	1947 0c94 50E0 ldi r21,hhi8(93000)
		1715	1948 0c96 00C0 rjmp .L168
		1716	1949 .L91:
		1717	1950 0c98 8D85 ldd r24,Y+13
		1718	1951 0c9a 9E85 ldd r25,Y+14
		1719	1952 0c9c AF85 ldd r26,Y+15
		1720	1953 0c9e B889 ldd r27,Y+16
		1721	1954 0ca0 885B subi r24,lo8(-93000)
		1722	1955 0ca2 9449 sbci r25,hi8(-93000)
		1723	1956 0ca4 AE4F sbci r26,hlo8(-93000)
		1724	1957 0ca6 BF4F sbci r27,hhi8(-93000)
		1725	1958 0ca8 04F4 brge .L93
		1726	1959 0caa 28EB ldi r18,lo8(-93000)
		1727	1960 0cac 34E9 ldi r19,hi8(-93000)
		1728	1961 0cae 4EEF ldi r20,hlo8(-93000)
		1729	1962 0cb0 5FEF ldi r21,hhi8(-93000)
		1730	1963 .L168:
		1731	1964 0cb2 2983 std Y+1,r18
		1732	1965 0cb4 3A83 std Y+2,r19
		1733	1966 0cb6 4B83 std Y+3,r20
		1734	1967 0cb8 5C83 std Y+4,r21
		1735	1968 0cba 00C0 rjmp .L92
		1736	1969 .L93:
		1737	1970 0cbc 8D85 ldd r24,Y+13
		1738	1971 0cbe 9E85 ldd r25,Y+14
		1739	1972 0cc0 AF85 ldd r26,Y+15
		1740	1973 0cc2 B889 ldd r27,Y+16
		1741	1974 0cc4 8983 std Y+1,r24
		1742	1975 0cc6 9A83 std Y+2,r25
		1743	1976 0cc8 AB83 std Y+3,r26
		1744	1977 0cca BC83 std Y+4,r27
		1745	1978 .L92:
		1746	1979 0ccc A091 0000 lds r26,MesswertGier
		1747	1980 0cd0 B091 0000 lds r27,(MesswertGier)+1
		1748	1981 0cd4 BB8B std Y+19,r27
		1749	1982 0cd6 AA8B std Y+18,r26
		1750	1983 0cd8 FD01 movw r30,r26
		1751	1984 0cda CF01 movw r24,r30
		1752	1985 0cdc AA27 clr r26
		1753	1986 0cde 97FD sbrc r25,7
		1754	1987 0ce0 A095 com r26
		1755	1988 0ce2 BA2F mov r27,r26
		1756	1989 0ce4 A090 0000 lds r10,Mess_Integral_Gier
		1757	1990 0ce8 B090 0000 lds r11,(Mess_Integral_Gier)+1
		1758	1991 0cec C090 0000 lds r12,(Mess_Integral_Gier)+2
		1759	1992 0cf0 D090 0000 lds r13,(Mess_Integral_Gier)+3
		1760	1993 0cf4 A80E add r10,r24
		1761	1994 0cf6 B91E adc r11,r25
		1762	1995 0cf8 CA1E adc r12,r26
		1763	1996 0cfa DB1E adc r13,r27
		1764	1997 0cfc A092 0000 sts Mess_Integral_Gier,r10
		1765	1998 0d00 B092 0000 sts (Mess_Integral_Gier)+1,r11
		1766	1999 0d04 C092 0000 sts (Mess_Integral_Gier)+2,r12
		1767	2000 0d08 D092 0000 sts (Mess_Integral_Gier)+3,r13
		1768	2001 0d0c E090 0000 lds r14,ErsatzKompass
		1769	2002 0d10 F090 0000 lds r15,(ErsatzKompass)+1
		1770	2003 0d14 0091 0000 lds r16,(ErsatzKompass)+2
		1771	2004 0d18 1091 0000 lds r17,(ErsatzKompass)+3
		1772	2005 0d1c E80E add r14,r24
		1773	2006 0d1e F91E adc r15,r25
		1774	2007 0d20 0A1F adc r16,r26
		1775	2008 0d22 1B1F adc r17,r27
		1776	2009 0d24 E092 0000 sts ErsatzKompass,r14
		1777	2010 0d28 F092 0000 sts (ErsatzKompass)+1,r15
		1778	2011 0d2c 0093 0000 sts (ErsatzKompass)+2,r16
		1779	2012 0d30 1093 0000 sts (ErsatzKompass)+3,r17
		1780	2013 0d34 F091 0000 lds r31,Looping_Nick
		1781	2014 0d38 F98B std Y+17,r31
		1782	2015 0d3a FF23 tst r31
		1783	2016 0d3c 01F0 breq .+2
		1784	2017 0d3e 00C0 rjmp .L95
		1785	2018 0d40 8091 0000 lds r24,Looping_Roll
		1786	2019 0d44 8823 tst r24
		1787	2020 0d46 01F0 breq .+2
		1788	2021 0d48 00C0 rjmp .L95
		1789	2022 0d4a 8091 0000 lds r24,Parameter_GlobalConfig
		1790	2023 0d4e 86FF sbrs r24,6
		1791	2024 0d50 00C0 rjmp .L95
		1792	2025 0d52 8091 0000 lds r24,MesswertRoll
		1793	2026 0d56 9091 0000 lds r25,(MesswertRoll)+1
		1794	2027 0d5a AA27 clr r26
		1795	2028 0d5c 97FD sbrc r25,7
		1796	2029 0d5e A095 com r26
		1797	2030 0d60 BA2F mov r27,r26
		1798	2031 0d62 BC01 movw r22,r24
		1799	2032 0d64 CD01 movw r24,r26
		1800	2033 0d66 2981 ldd r18,Y+1
		1801	2034 0d68 3A81 ldd r19,Y+2
		1802	2035 0d6a 4B81 ldd r20,Y+3
		1803	2036 0d6c 5C81 ldd r21,Y+4
		1804	2037 0d6e 0E94 0000 call __mulsi3
		1805	2038 0d72 9B01 movw r18,r22
		1806	2039 0d74 AC01 movw r20,r24
		1807	2040 0d76 97FF sbrs r25,7
		1808	2041 0d78 00C0 rjmp .L96
		1809	2042 0d7a 2150 subi r18,lo8(-(2047))
		1810	2043 0d7c 384F sbci r19,hi8(-(2047))
		1811	2044 0d7e 4F4F sbci r20,hlo8(-(2047))
		1812	2045 0d80 5F4F sbci r21,hhi8(-(2047))
		1813	2046 .L96:
		1814	2047 0d82 BBE0 ldi r27,11
		1815	2048 0d84 5595 1: asr r21
		1816	2049 0d86 4795 ror r20
		1817	2050 0d88 3795 ror r19
		1818	2051 0d8a 2795 ror r18
		1819	2052 0d8c BA95 dec r27
		1820	2053 0d8e 01F4 brne 1b
		1821	2054 0d90 8091 0000 lds r24,Parameter_AchsKopplung2
		1822	2055 0d94 682E mov r6,r24
		1823	2056 0d96 7724 clr r7
		1824	2057 0d98 8824 clr r8
		1825	2058 0d9a 9924 clr r9
		1826	2059 0d9c CA01 movw r24,r20
		1827	2060 0d9e B901 movw r22,r18
		1828	2061 0da0 A401 movw r20,r8
		1829	2062 0da2 9301 movw r18,r6
		1830	2063 0da4 0E94 0000 call __mulsi3
		1831	2064 0da8 DC01 movw r26,r24
		1832	2065 0daa CB01 movw r24,r22
		1833	2066 0dac 8093 0000 sts tmpl3.29,r24
		1834	2067 0db0 9093 0000 sts (tmpl3.29)+1,r25
		1835	2068 0db4 A093 0000 sts (tmpl3.29)+2,r26
		1836	2069 0db8 B093 0000 sts (tmpl3.29)+3,r27
		1837	2070 0dbc B7FF sbrs r27,7
		1838	2071 0dbe 00C0 rjmp .L97
		1839	2072 0dc0 8150 subi r24,lo8(-(4095))
		1840	2073 0dc2 904F sbci r25,hi8(-(4095))
		1841	2074 0dc4 AF4F sbci r26,hlo8(-(4095))
		1842	2075 0dc6 BF4F sbci r27,hhi8(-(4095))
		1843	2076 .L97:
		1844	2077 0dc8 1C01 movw r2,r24
		1845	2078 0dca 2D01 movw r4,r26
		1846	2079 0dcc ACE0 ldi r26,12
		1847	2080 0dce 5594 1: asr r5
		1848	2081 0dd0 4794 ror r4
		1849	2082 0dd2 3794 ror r3
		1850	2083 0dd4 2794 ror r2
		1851	2084 0dd6 AA95 dec r26
		1852	2085 0dd8 01F4 brne 1b
		1853	2086 0dda 2092 0000 sts tmpl3.29,r2
		1854	2087 0dde 3092 0000 sts (tmpl3.29)+1,r3
		1855	2088 0de2 4092 0000 sts (tmpl3.29)+2,r4
		1856	2089 0de6 5092 0000 sts (tmpl3.29)+3,r5
		1857	2090 0dea 8091 0000 lds r24,MesswertNick
		1858	2091 0dee 9091 0000 lds r25,(MesswertNick)+1
		1859	2092 0df2 AA27 clr r26
		1860	2093 0df4 97FD sbrc r25,7
		1861	2094 0df6 A095 com r26
		1862	2095 0df8 BA2F mov r27,r26
		1863	2096 0dfa BC01 movw r22,r24
		1864	2097 0dfc CD01 movw r24,r26
		1865	2098 0dfe 2D81 ldd r18,Y+5
		1866	2099 0e00 3E81 ldd r19,Y+6
		1867	2100 0e02 4F81 ldd r20,Y+7
		1868	2101 0e04 5885 ldd r21,Y+8
		1869	2102 0e06 0E94 0000 call __mulsi3
		1870	2103 0e0a 97FF sbrs r25,7
		1871	2104 0e0c 00C0 rjmp .L98
		1872	2105 0e0e 6150 subi r22,lo8(-(2047))
		1873	2106 0e10 784F sbci r23,hi8(-(2047))
		1874	2107 0e12 8F4F sbci r24,hlo8(-(2047))
		1875	2108 0e14 9F4F sbci r25,hhi8(-(2047))
		1876	2109 .L98:
		1877	2110 0e16 FBE0 ldi r31,11
		1878	2111 0e18 9595 1: asr r25
		1879	2112 0e1a 8795 ror r24
		1880	2113 0e1c 7795 ror r23
		1881	2114 0e1e 6795 ror r22
		1882	2115 0e20 FA95 dec r31
		1883	2116 0e22 01F4 brne 1b
		1884	2117 0e24 A401 movw r20,r8
		1885	2118 0e26 9301 movw r18,r6
		1886	2119 0e28 0E94 0000 call __mulsi3
		1887	2120 0e2c DC01 movw r26,r24
		1888	2121 0e2e CB01 movw r24,r22
		1889	2122 0e30 8093 0000 sts tmpl4.30,r24
		1890	2123 0e34 9093 0000 sts (tmpl4.30)+1,r25
		1891	2124 0e38 A093 0000 sts (tmpl4.30)+2,r26
		1892	2125 0e3c B093 0000 sts (tmpl4.30)+3,r27
		1893	2126 0e40 B7FF sbrs r27,7
		1894	2127 0e42 00C0 rjmp .L99
		1895	2128 0e44 8150 subi r24,lo8(-(4095))
		1896	2129 0e46 904F sbci r25,hi8(-(4095))
		1897	2130 0e48 AF4F sbci r26,hlo8(-(4095))
		1898	2131 0e4a BF4F sbci r27,hhi8(-(4095))
		1899	2132 .L99:
		1900	2133 0e4c 9C01 movw r18,r24
		1901	2134 0e4e AD01 movw r20,r26
		1902	2135 0e50 ECE0 ldi r30,12
		1903	2136 0e52 5595 1: asr r21
		1904	2137 0e54 4795 ror r20
		1905	2138 0e56 3795 ror r19
		1906	2139 0e58 2795 ror r18
		1907	2140 0e5a EA95 dec r30
		1908	2141 0e5c 01F4 brne 1b
		1909	2142 0e5e 2093 0000 sts tmpl4.30,r18
		1910	2143 0e62 3093 0000 sts (tmpl4.30)+1,r19
		1911	2144 0e66 4093 0000 sts (tmpl4.30)+2,r20
		1912	2145 0e6a 5093 0000 sts (tmpl4.30)+3,r21
		1913	2146 0e6e 8091 0000 lds r24,tmpl3.29
		1914	2147 0e72 9091 0000 lds r25,(tmpl3.29)+1
		1915	2148 0e76 9093 0000 sts (KopplungsteilNickRoll)+1,r25
		1916	2149 0e7a 8093 0000 sts KopplungsteilNickRoll,r24
		1917	2150 0e7e 8091 0000 lds r24,tmpl4.30
		1918	2151 0e82 9091 0000 lds r25,(tmpl4.30)+1
		1919	2152 0e86 9093 0000 sts (KopplungsteilRollNick)+1,r25
		1920	2153 0e8a 8093 0000 sts KopplungsteilRollNick,r24
		1921	2154 0e8e 2219 sub r18,r2
		1922	2155 0e90 3309 sbc r19,r3
		1923	2156 0e92 4409 sbc r20,r4
		1924	2157 0e94 5509 sbc r21,r5
		1925	2158 0e96 2093 0000 sts tmpl4.30,r18
		1926	2159 0e9a 3093 0000 sts (tmpl4.30)+1,r19
		1927	2160 0e9e 4093 0000 sts (tmpl4.30)+2,r20
		1928	2161 0ea2 5093 0000 sts (tmpl4.30)+3,r21
		1929	2162 0ea6 E20E add r14,r18
		1930	2163 0ea8 F31E adc r15,r19
		1931	2164 0eaa 041F adc r16,r20
		1932	2165 0eac 151F adc r17,r21
		1933	2166 0eae E092 0000 sts ErsatzKompass,r14
		1934	2167 0eb2 F092 0000 sts (ErsatzKompass)+1,r15
		1935	2168 0eb6 0093 0000 sts (ErsatzKompass)+2,r16
		1936	2169 0eba 1093 0000 sts (ErsatzKompass)+3,r17
		1937	2170 0ebe 8091 0000 lds r24,Parameter_CouplingYawCorrection
		1938	2171 0ec2 8823 tst r24
		1939	2172 0ec4 01F4 brne .L100
		1940	2173 0ec6 57FF sbrs r21,7
		1941	2174 0ec8 00C0 rjmp .L101
		1942	2175 0eca 2F5F subi r18,lo8(-(1))
		1943	2176 0ecc 3F4F sbci r19,hi8(-(1))
		1944	2177 0ece 4F4F sbci r20,hlo8(-(1))
		1945	2178 0ed0 5F4F sbci r21,hhi8(-(1))
		1946	2179 .L101:
		1947	2180 0ed2 5595 asr r21
		1948	2181 0ed4 4795 ror r20
		1949	2182 0ed6 3795 ror r19
		1950	2183 0ed8 2795 ror r18
		1951	2184 0eda A21A sub r10,r18
		1952	2185 0edc B30A sbc r11,r19
		1953	2186 0ede C40A sbc r12,r20
		1954	2187 0ee0 D50A sbc r13,r21
		1955	2188 0ee2 A092 0000 sts Mess_Integral_Gier,r10
		1956	2189 0ee6 B092 0000 sts (Mess_Integral_Gier)+1,r11
		1957	2190 0eea C092 0000 sts (Mess_Integral_Gier)+2,r12
		1958	2191 0eee D092 0000 sts (Mess_Integral_Gier)+3,r13
		1959	2192 .L100:
		1960	2193 0ef2 2A89 ldd r18,Y+18
		1961	2194 0ef4 3B89 ldd r19,Y+19
		1962	2195 0ef6 7901 movw r14,r18
		1963	2196 0ef8 0027 clr r16
		1964	2197 0efa F7FC sbrc r15,7
		1965	2198 0efc 0095 com r16
		1966	2199 0efe 102F mov r17,r16
		1967	2200 0f00 8091 0000 lds r24,tmpl4.30
		1968	2201 0f04 9091 0000 lds r25,(tmpl4.30)+1
		1969	2202 0f08 A091 0000 lds r26,(tmpl4.30)+2
		1970	2203 0f0c B091 0000 lds r27,(tmpl4.30)+3
		1971	2204 0f10 E80E add r14,r24
		1972	2205 0f12 F91E adc r15,r25
		1973	2206 0f14 0A1F adc r16,r26
		1974	2207 0f16 1B1F adc r17,r27
		1975	2208 0f18 C801 movw r24,r16
		1976	2209 0f1a B701 movw r22,r14
		1977	2210 0f1c 2981 ldd r18,Y+1
		1978	2211 0f1e 3A81 ldd r19,Y+2
		1979	2212 0f20 4B81 ldd r20,Y+3
		1980	2213 0f22 5C81 ldd r21,Y+4
		1981	2214 0f24 0E94 0000 call __mulsi3
		1982	2215 0f28 9B01 movw r18,r22
		1983	2216 0f2a AC01 movw r20,r24
		1984	2217 0f2c 97FF sbrs r25,7
		1985	2218 0f2e 00C0 rjmp .L102
		1986	2219 0f30 2150 subi r18,lo8(-(2047))
		1987	2220 0f32 384F sbci r19,hi8(-(2047))
		1988	2221 0f34 4F4F sbci r20,hlo8(-(2047))
		1989	2222 0f36 5F4F sbci r21,hhi8(-(2047))
		1990	2223 .L102:
		1991	2224 0f38 6BE0 ldi r22,11
		1992	2225 0f3a 5595 1: asr r21
		1993	2226 0f3c 4795 ror r20
		1994	2227 0f3e 3795 ror r19
		1995	2228 0f40 2795 ror r18
		1996	2229 0f42 6A95 dec r22
		1997	2230 0f44 01F4 brne 1b
		1998	2231 0f46 8091 0000 lds r24,Parameter_AchsKopplung1
		1999	2232 0f4a A82E mov r10,r24
		2000	2233 0f4c BB24 clr r11
		2001	2234 0f4e CC24 clr r12
		2002	2235 0f50 DD24 clr r13
		2003	2236 0f52 CA01 movw r24,r20
		2004	2237 0f54 B901 movw r22,r18
		2005	2238 0f56 A601 movw r20,r12
		2006	2239 0f58 9501 movw r18,r10
		2007	2240 0f5a 0E94 0000 call __mulsi3
		2008	2241 0f5e DC01 movw r26,r24
		2009	2242 0f60 CB01 movw r24,r22
		2010	2243 0f62 8093 0000 sts tmpl.27,r24
		2011	2244 0f66 9093 0000 sts (tmpl.27)+1,r25
		2012	2245 0f6a A093 0000 sts (tmpl.27)+2,r26
		2013	2246 0f6e B093 0000 sts (tmpl.27)+3,r27
		2014	2247 0f72 B7FF sbrs r27,7
		2015	2248 0f74 00C0 rjmp .L103
		2016	2249 0f76 8150 subi r24,lo8(-(4095))
		2017	2250 0f78 904F sbci r25,hi8(-(4095))
		2018	2251 0f7a AF4F sbci r26,hlo8(-(4095))
		2019	2252 0f7c BF4F sbci r27,hhi8(-(4095))
		2020	2253 .L103:
		2021	2254 0f7e 3C01 movw r6,r24
		2022	2255 0f80 4D01 movw r8,r26
		2023	2256 0f82 3CE0 ldi r19,12
		2024	2257 0f84 9594 1: asr r9
		2025	2258 0f86 8794 ror r8
		2026	2259 0f88 7794 ror r7
		2027	2260 0f8a 6794 ror r6
		2028	2261 0f8c 3A95 dec r19
		2029	2262 0f8e 01F4 brne 1b
		2030	2263 0f90 6092 0000 sts tmpl.27,r6
		2031	2264 0f94 7092 0000 sts (tmpl.27)+1,r7
		2032	2265 0f98 8092 0000 sts (tmpl.27)+2,r8
		2033	2266 0f9c 9092 0000 sts (tmpl.27)+3,r9
		2034	2267 0fa0 C801 movw r24,r16
		2035	2268 0fa2 B701 movw r22,r14
		2036	2269 0fa4 2D81 ldd r18,Y+5
		2037	2270 0fa6 3E81 ldd r19,Y+6
		2038	2271 0fa8 4F81 ldd r20,Y+7
		2039	2272 0faa 5885 ldd r21,Y+8
		2040	2273 0fac 0E94 0000 call __mulsi3
		2041	2274 0fb0 97FF sbrs r25,7
		2042	2275 0fb2 00C0 rjmp .L104
		2043	2276 0fb4 6150 subi r22,lo8(-(2047))
		2044	2277 0fb6 784F sbci r23,hi8(-(2047))
		2045	2278 0fb8 8F4F sbci r24,hlo8(-(2047))
		2046	2279 0fba 9F4F sbci r25,hhi8(-(2047))
		2047	2280 .L104:
		2048	2281 0fbc 2BE0 ldi r18,11
		2049	2282 0fbe 9595 1: asr r25
		2050	2283 0fc0 8795 ror r24
		2051	2284 0fc2 7795 ror r23
		2052	2285 0fc4 6795 ror r22
		2053	2286 0fc6 2A95 dec r18
		2054	2287 0fc8 01F4 brne 1b
		2055	2288 0fca A601 movw r20,r12
		2056	2289 0fcc 9501 movw r18,r10
		2057	2290 0fce 0E94 0000 call __mulsi3
		2058	2291 0fd2 DC01 movw r26,r24
		2059	2292 0fd4 CB01 movw r24,r22
		2060	2293 0fd6 8093 0000 sts tmpl2.28,r24
		2061	2294 0fda 9093 0000 sts (tmpl2.28)+1,r25
		2062	2295 0fde A093 0000 sts (tmpl2.28)+2,r26
		2063	2296 0fe2 B093 0000 sts (tmpl2.28)+3,r27
		2064	2297 0fe6 B7FF sbrs r27,7
		2065	2298 0fe8 00C0 rjmp .L105
		2066	2299 0fea 8150 subi r24,lo8(-(4095))
		2067	2300 0fec 904F sbci r25,hi8(-(4095))
		2068	2301 0fee AF4F sbci r26,hlo8(-(4095))
		2069	2302 0ff0 BF4F sbci r27,hhi8(-(4095))
		2070	2303 .L105:
		2071	2304 0ff2 AC01 movw r20,r24
		2072	2305 0ff4 BD01 movw r22,r26
		2073	2306 0ff6 8CE0 ldi r24,12
		2074	2307 0ff8 7595 1: asr r23
		2075	2308 0ffa 6795 ror r22
		2076	2309 0ffc 5795 ror r21
		2077	2310 0ffe 4795 ror r20
		2078	2311 1000 8A95 dec r24
		2079	2312 1002 01F4 brne 1b
		2080	2313 1004 4093 0000 sts tmpl2.28,r20
		2081	2314 1008 5093 0000 sts (tmpl2.28)+1,r21
		2082	2315 100c 6093 0000 sts (tmpl2.28)+2,r22
		2083	2316 1010 7093 0000 sts (tmpl2.28)+3,r23
		2084	2317 1014 2A89 ldd r18,Y+18
		2085	2318 1016 3B89 ldd r19,Y+19
		2086	2319 1018 37FF sbrs r19,7
		2087	2320 101a 00C0 rjmp .L107
		2088	2321 101c 3095 com r19
		2089	2322 101e 2195 neg r18
		2090	2323 1020 3F4F sbci r19,lo8(-1)
		2091	2324 .L107:
		2092	2325 1022 2134 cpi r18,65
		2093	2326 1024 3105 cpc r19,__zero_reg__
		2094	2327 1026 04F0 brlt .L112
		2095	2328 1028 D401 movw r26,r8
		2096	2329 102a C301 movw r24,r6
		2097	2330 102c 97FE sbrs r9,7
		2098	2331 102e 00C0 rjmp .L110
		2099	2332 1030 B095 com r27
		2100	2333 1032 A095 com r26
		2101	2334 1034 9095 com r25
		2102	2335 1036 8195 neg r24
		2103	2336 1038 9F4F sbci r25,lo8(-1)
		2104	2337 103a AF4F sbci r26,lo8(-1)
		2105	2338 103c BF4F sbci r27,lo8(-1)
		2106	2339 .L110:
		2107	2340 103e 8138 cpi r24,lo8(129)
		2108	2341 1040 9105 cpc r25,__zero_reg__
		2109	2342 1042 A105 cpc r26,__zero_reg__
		2110	2343 1044 B105 cpc r27,__zero_reg__
		2111	2344 1046 04F4 brge .L109
		2112	2345 1048 DB01 movw r26,r22
		2113	2346 104a CA01 movw r24,r20
		2114	2347 104c 77FF sbrs r23,7
		2115	2348 104e 00C0 rjmp .L111
		2116	2349 1050 B095 com r27
		2117	2350 1052 A095 com r26
		2118	2351 1054 9095 com r25
		2119	2352 1056 8195 neg r24
		2120	2353 1058 9F4F sbci r25,lo8(-1)
		2121	2354 105a AF4F sbci r26,lo8(-1)
		2122	2355 105c BF4F sbci r27,lo8(-1)
		2123	2356 .L111:
		2124	2357 105e 8138 cpi r24,lo8(129)
		2125	2358 1060 9105 cpc r25,__zero_reg__
		2126	2359 1062 A105 cpc r26,__zero_reg__
		2127	2360 1064 B105 cpc r27,__zero_reg__
		2128	2361 1066 04F0 brlt .L112
		2129	2362 .L109:
		2130	2363 1068 81E0 ldi r24,lo8(1)
		2131	2364 106a 8093 0000 sts TrichterFlug,r24
		2132	2365 106e 00C0 rjmp .L112
		2133	2366 .L95:
		2134	2367 1070 1092 0000 sts (KopplungsteilRollNick)+1,__zero_reg__
		2135	2368 1074 1092 0000 sts KopplungsteilRollNick,__zero_reg__
		2136	2369 1078 1092 0000 sts (KopplungsteilNickRoll)+1,__zero_reg__
		2137	2370 107c 1092 0000 sts KopplungsteilNickRoll,__zero_reg__
		2138	2371 1080 1092 0000 sts tmpl2.28,__zero_reg__
		2139	2372 1084 1092 0000 sts (tmpl2.28)+1,__zero_reg__
		2140	2373 1088 1092 0000 sts (tmpl2.28)+2,__zero_reg__
		2141	2374 108c 1092 0000 sts (tmpl2.28)+3,__zero_reg__
		2142	2375 1090 1092 0000 sts tmpl.27,__zero_reg__
		2143	2376 1094 1092 0000 sts (tmpl.27)+1,__zero_reg__
		2144	2377 1098 1092 0000 sts (tmpl.27)+2,__zero_reg__
		2145	2378 109c 1092 0000 sts (tmpl.27)+3,__zero_reg__
		2146	2379 .L112:
		2147	2380 10a0 8091 0000 lds r24,tmpl2.28
		2148	2381 10a4 9091 0000 lds r25,(tmpl2.28)+1
		2149	2382 10a8 A091 0000 lds r26,(tmpl2.28)+2
		2150	2383 10ac B091 0000 lds r27,(tmpl2.28)+3
		2151	2384 10b0 BC01 movw r22,r24
		2152	2385 10b2 CD01 movw r24,r26
		2153	2386 10b4 24E6 ldi r18,lo8(100)
		2154	2387 10b6 30E0 ldi r19,hi8(100)
		2155	2388 10b8 40E0 ldi r20,hlo8(100)
		2156	2389 10ba 50E0 ldi r21,hhi8(100)
		2157	2390 10bc 0E94 0000 call __divmodsi4
		2158	2391 10c0 E090 0000 lds r14,tmpl.27
		2159	2392 10c4 F090 0000 lds r15,(tmpl.27)+1
		2160	2393 10c8 E21A sub r14,r18
		2161	2394 10ca F30A sbc r15,r19
		2162	2395 10cc F092 0000 sts (TrimRoll)+1,r15
		2163	2396 10d0 E092 0000 sts TrimRoll,r14
		2164	2397 10d4 8091 0000 lds r24,tmpl.27
		2165	2398 10d8 9091 0000 lds r25,(tmpl.27)+1
		2166	2399 10dc A091 0000 lds r26,(tmpl.27)+2
		2167	2400 10e0 B091 0000 lds r27,(tmpl.27)+3
		2168	2401 10e4 BC01 movw r22,r24
		2169	2402 10e6 CD01 movw r24,r26
		2170	2403 10e8 24E6 ldi r18,lo8(100)
		2171	2404 10ea 30E0 ldi r19,hi8(100)
		2172	2405 10ec 40E0 ldi r20,hlo8(100)
		2173	2406 10ee 50E0 ldi r21,hhi8(100)
		2174	2407 10f0 0E94 0000 call __divmodsi4
		2175	2408 10f4 DA01 movw r26,r20
		2176	2409 10f6 C901 movw r24,r18
		2177	2410 10f8 2091 0000 lds r18,tmpl2.28
		2178	2411 10fc 3091 0000 lds r19,(tmpl2.28)+1
		2179	2412 1100 8C01 movw r16,r24
		2180	2413 1102 021B sub r16,r18
		2181	2414 1104 130B sbc r17,r19
		2182	2415 1106 1093 0000 sts (TrimNick)+1,r17
		2183	2416 110a 0093 0000 sts TrimNick,r16
		2184	2417 110e 8091 0000 lds r24,GIER_GRAD_FAKTOR
		2185	2418 1112 9091 0000 lds r25,(GIER_GRAD_FAKTOR)+1
		2186	2419 1116 A091 0000 lds r26,(GIER_GRAD_FAKTOR)+2
		2187	2420 111a B091 0000 lds r27,(GIER_GRAD_FAKTOR)+3
		2188	2421 111e BC01 movw r22,r24
		2189	2422 1120 CD01 movw r24,r26
		2190	2423 1122 28E6 ldi r18,lo8(360)
		2191	2424 1124 31E0 ldi r19,hi8(360)
		2192	2425 1126 40E0 ldi r20,hlo8(360)
		2193	2426 1128 50E0 ldi r21,hhi8(360)
		2194	2427 112a 0E94 0000 call __mulsi3
		2195	2428 112e 2091 0000 lds r18,ErsatzKompass
		2196	2429 1132 3091 0000 lds r19,(ErsatzKompass)+1
		2197	2430 1136 4091 0000 lds r20,(ErsatzKompass)+2
		2198	2431 113a 5091 0000 lds r21,(ErsatzKompass)+3
		2199	2432 113e 2617 cp r18,r22
		2200	2433 1140 3707 cpc r19,r23
		2201	2434 1142 4807 cpc r20,r24
		2202	2435 1144 5907 cpc r21,r25
		2203	2436 1146 04F0 brlt .L113
		2204	2437 1148 261B sub r18,r22
		2205	2438 114a 370B sbc r19,r23
		2206	2439 114c 480B sbc r20,r24
		2207	2440 114e 590B sbc r21,r25
		2208	2441 1150 2093 0000 sts ErsatzKompass,r18
		2209	2442 1154 3093 0000 sts (ErsatzKompass)+1,r19
		2210	2443 1158 4093 0000 sts (ErsatzKompass)+2,r20
		2211	2444 115c 5093 0000 sts (ErsatzKompass)+3,r21
		2212	2445 .L113:
		2213	2446 1160 2091 0000 lds r18,ErsatzKompass
		2214	2447 1164 3091 0000 lds r19,(ErsatzKompass)+1
		2215	2448 1168 4091 0000 lds r20,(ErsatzKompass)+2
		2216	2449 116c 5091 0000 lds r21,(ErsatzKompass)+3
		2217	2450 1170 57FF sbrs r21,7
		2218	2451 1172 00C0 rjmp .L114
		2219	2452 1174 260F add r18,r22
		2220	2453 1176 371F adc r19,r23
		2221	2454 1178 481F adc r20,r24
		2222	2455 117a 591F adc r21,r25
		2223	2456 117c 2093 0000 sts ErsatzKompass,r18
		2224	2457 1180 3093 0000 sts (ErsatzKompass)+1,r19
		2225	2458 1184 4093 0000 sts (ErsatzKompass)+2,r20
		2226	2459 1188 5093 0000 sts (ErsatzKompass)+3,r21
		2227	2460 .L114:
		2228	2461 118c 6091 0000 lds r22,MesswertRoll
		2229	2462 1190 7091 0000 lds r23,(MesswertRoll)+1
		2230	2463 1194 6E0D add r22,r14
		2231	2464 1196 7F1D adc r23,r15
		2232	2465 1198 9B01 movw r18,r22
		2233	2466 119a 4427 clr r20
		2234	2467 119c 37FD sbrc r19,7
		2235	2468 119e 4095 com r20
		2236	2469 11a0 542F mov r21,r20
		2237	2470 11a2 8091 0000 lds r24,Mess_IntegralRoll2
		2238	2471 11a6 9091 0000 lds r25,(Mess_IntegralRoll2)+1
		2239	2472 11aa A091 0000 lds r26,(Mess_IntegralRoll2)+2
		2240	2473 11ae B091 0000 lds r27,(Mess_IntegralRoll2)+3
		2241	2474 11b2 820F add r24,r18
		2242	2475 11b4 931F adc r25,r19
		2243	2476 11b6 A41F adc r26,r20
		2244	2477 11b8 B51F adc r27,r21
		2245	2478 11ba 8093 0000 sts Mess_IntegralRoll2,r24
		2246	2479 11be 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		2247	2480 11c2 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		2248	2481 11c6 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		2249	2482 11ca 8091 0000 lds r24,LageKorrekturRoll
		2250	2483 11ce 9091 0000 lds r25,(LageKorrekturRoll)+1
		2251	2484 11d2 681B sub r22,r24
		2252	2485 11d4 790B sbc r23,r25
		2253	2486 11d6 CB01 movw r24,r22
		2254	2487 11d8 AA27 clr r26
		2255	2488 11da 97FD sbrc r25,7
		2256	2489 11dc A095 com r26
		2257	2490 11de BA2F mov r27,r26
		2258	2491 11e0 2985 ldd r18,Y+9
		2259	2492 11e2 3A85 ldd r19,Y+10
		2260	2493 11e4 4B85 ldd r20,Y+11
		2261	2494 11e6 5C85 ldd r21,Y+12
		2262	2495 11e8 820F add r24,r18
		2263	2496 11ea 931F adc r25,r19
		2264	2497 11ec A41F adc r26,r20
		2265	2498 11ee B51F adc r27,r21
		2266	2499 11f0 8093 0000 sts Mess_IntegralRoll,r24
		2267	2500 11f4 9093 0000 sts (Mess_IntegralRoll)+1,r25
		2268	2501 11f8 A093 0000 sts (Mess_IntegralRoll)+2,r26
		2269	2502 11fc B093 0000 sts (Mess_IntegralRoll)+3,r27
		2270	2503 1200 C090 0000 lds r12,Umschlag180Roll
		2271	2504 1204 D090 0000 lds r13,(Umschlag180Roll)+1
		2272	2505 1208 E090 0000 lds r14,(Umschlag180Roll)+2
		2273	2506 120c F090 0000 lds r15,(Umschlag180Roll)+3
		2274	2507 1210 C816 cp r12,r24
		2275	2508 1212 D906 cpc r13,r25
		2276	2509 1214 EA06 cpc r14,r26
		2277	2510 1216 FB06 cpc r15,r27
		2278	2511 1218 04F4 brge .L115
		2279	2512 121a 88EA ldi r24,lo8(25000)
		2280	2513 121c 91E6 ldi r25,hi8(25000)
		2281	2514 121e A0E0 ldi r26,hlo8(25000)
		2282	2515 1220 B0E0 ldi r27,hhi8(25000)
		2283	2516 1222 8C19 sub r24,r12
		2284	2517 1224 9D09 sbc r25,r13
		2285	2518 1226 AE09 sbc r26,r14
		2286	2519 1228 BF09 sbc r27,r15
		2287	2520 122a 8093 0000 sts Mess_IntegralRoll,r24
		2288	2521 122e 9093 0000 sts (Mess_IntegralRoll)+1,r25
		2289	2522 1232 A093 0000 sts (Mess_IntegralRoll)+2,r26
		2290	2523 1236 B093 0000 sts (Mess_IntegralRoll)+3,r27
		2291	2524 123a 8093 0000 sts Mess_IntegralRoll2,r24
		2292	2525 123e 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		2293	2526 1242 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		2294	2527 1246 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		2295	2528 .L115:
		2296	2529 124a 2227 clr r18
		2297	2530 124c 3327 clr r19
		2298	2531 124e A901 movw r20,r18
		2299	2532 1250 2C19 sub r18,r12
		2300	2533 1252 3D09 sbc r19,r13
		2301	2534 1254 4E09 sbc r20,r14
		2302	2535 1256 5F09 sbc r21,r15
		2303	2536 1258 8091 0000 lds r24,Mess_IntegralRoll
		2304	2537 125c 9091 0000 lds r25,(Mess_IntegralRoll)+1
		2305	2538 1260 A091 0000 lds r26,(Mess_IntegralRoll)+2
		2306	2539 1264 B091 0000 lds r27,(Mess_IntegralRoll)+3
		2307	2540 1268 8217 cp r24,r18
		2308	2541 126a 9307 cpc r25,r19
		2309	2542 126c A407 cpc r26,r20
		2310	2543 126e B507 cpc r27,r21
		2311	2544 1270 04F4 brge .L116
		2312	2545 1272 D701 movw r26,r14
		2313	2546 1274 C601 movw r24,r12
		2314	2547 1276 885A subi r24,lo8(-(-25000))
		2315	2548 1278 9146 sbci r25,hi8(-(-25000))
		2316	2549 127a A040 sbci r26,hlo8(-(-25000))
		2317	2550 127c B040 sbci r27,hhi8(-(-25000))
		2318	2551 127e 8093 0000 sts Mess_IntegralRoll,r24
		2319	2552 1282 9093 0000 sts (Mess_IntegralRoll)+1,r25
		2320	2553 1286 A093 0000 sts (Mess_IntegralRoll)+2,r26
		2321	2554 128a B093 0000 sts (Mess_IntegralRoll)+3,r27
		2322	2555 128e 8093 0000 sts Mess_IntegralRoll2,r24
		2323	2556 1292 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		2324	2557 1296 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		2325	2558 129a B093 0000 sts (Mess_IntegralRoll2)+3,r27
		2326	2559 .L116:
		2327	2560 129e 6091 0000 lds r22,MesswertNick
		2328	2561 12a2 7091 0000 lds r23,(MesswertNick)+1
		2329	2562 12a6 600F add r22,r16
		2330	2563 12a8 711F adc r23,r17
		2331	2564 12aa 9B01 movw r18,r22
		2332	2565 12ac 4427 clr r20
		2333	2566 12ae 37FD sbrc r19,7
		2334	2567 12b0 4095 com r20
		2335	2568 12b2 542F mov r21,r20
		2336	2569 12b4 8091 0000 lds r24,Mess_IntegralNick2
		2337	2570 12b8 9091 0000 lds r25,(Mess_IntegralNick2)+1
		2338	2571 12bc A091 0000 lds r26,(Mess_IntegralNick2)+2
		2339	2572 12c0 B091 0000 lds r27,(Mess_IntegralNick2)+3
		2340	2573 12c4 820F add r24,r18
		2341	2574 12c6 931F adc r25,r19
		2342	2575 12c8 A41F adc r26,r20
		2343	2576 12ca B51F adc r27,r21
		2344	2577 12cc 8093 0000 sts Mess_IntegralNick2,r24
		2345	2578 12d0 9093 0000 sts (Mess_IntegralNick2)+1,r25
		2346	2579 12d4 A093 0000 sts (Mess_IntegralNick2)+2,r26
		2347	2580 12d8 B093 0000 sts (Mess_IntegralNick2)+3,r27
		2348	2581 12dc 8091 0000 lds r24,LageKorrekturNick
		2349	2582 12e0 9091 0000 lds r25,(LageKorrekturNick)+1
		2350	2583 12e4 681B sub r22,r24
		2351	2584 12e6 790B sbc r23,r25
		2352	2585 12e8 CB01 movw r24,r22
		2353	2586 12ea AA27 clr r26
		2354	2587 12ec 97FD sbrc r25,7
		2355	2588 12ee A095 com r26
		2356	2589 12f0 BA2F mov r27,r26
		2357	2590 12f2 2D85 ldd r18,Y+13
		2358	2591 12f4 3E85 ldd r19,Y+14
		2359	2592 12f6 4F85 ldd r20,Y+15
		2360	2593 12f8 5889 ldd r21,Y+16
		2361	2594 12fa 820F add r24,r18
		2362	2595 12fc 931F adc r25,r19
		2363	2596 12fe A41F adc r26,r20
		2364	2597 1300 B51F adc r27,r21
		2365	2598 1302 8093 0000 sts Mess_IntegralNick,r24
		2366	2599 1306 9093 0000 sts (Mess_IntegralNick)+1,r25
		2367	2600 130a A093 0000 sts (Mess_IntegralNick)+2,r26
		2368	2601 130e B093 0000 sts (Mess_IntegralNick)+3,r27
		2369	2602 1312 E090 0000 lds r14,Umschlag180Nick
		2370	2603 1316 F090 0000 lds r15,(Umschlag180Nick)+1
		2371	2604 131a 0091 0000 lds r16,(Umschlag180Nick)+2
		2372	2605 131e 1091 0000 lds r17,(Umschlag180Nick)+3
		2373	2606 1322 E816 cp r14,r24
		2374	2607 1324 F906 cpc r15,r25
		2375	2608 1326 0A07 cpc r16,r26
		2376	2609 1328 1B07 cpc r17,r27
		2377	2610 132a 04F4 brge .L117
		2378	2611 132c 88EA ldi r24,lo8(25000)
		2379	2612 132e 91E6 ldi r25,hi8(25000)
		2380	2613 1330 A0E0 ldi r26,hlo8(25000)
		2381	2614 1332 B0E0 ldi r27,hhi8(25000)
		2382	2615 1334 8E19 sub r24,r14
		2383	2616 1336 9F09 sbc r25,r15
		2384	2617 1338 A00B sbc r26,r16
		2385	2618 133a B10B sbc r27,r17
		2386	2619 133c 8093 0000 sts Mess_IntegralNick,r24
		2387	2620 1340 9093 0000 sts (Mess_IntegralNick)+1,r25
		2388	2621 1344 A093 0000 sts (Mess_IntegralNick)+2,r26
		2389	2622 1348 B093 0000 sts (Mess_IntegralNick)+3,r27
		2390	2623 134c 8093 0000 sts Mess_IntegralNick2,r24
		2391	2624 1350 9093 0000 sts (Mess_IntegralNick2)+1,r25
		2392	2625 1354 A093 0000 sts (Mess_IntegralNick2)+2,r26
		2393	2626 1358 B093 0000 sts (Mess_IntegralNick2)+3,r27
		2394	2627 .L117:
		2395	2628 135c 2227 clr r18
		2396	2629 135e 3327 clr r19
		2397	2630 1360 A901 movw r20,r18
		2398	2631 1362 2E19 sub r18,r14
		2399	2632 1364 3F09 sbc r19,r15
		2400	2633 1366 400B sbc r20,r16
		2401	2634 1368 510B sbc r21,r17
		2402	2635 136a 8091 0000 lds r24,Mess_IntegralNick
		2403	2636 136e 9091 0000 lds r25,(Mess_IntegralNick)+1
		2404	2637 1372 A091 0000 lds r26,(Mess_IntegralNick)+2
		2405	2638 1376 B091 0000 lds r27,(Mess_IntegralNick)+3
		2406	2639 137a 8217 cp r24,r18
		2407	2640 137c 9307 cpc r25,r19
		2408	2641 137e A407 cpc r26,r20
		2409	2642 1380 B507 cpc r27,r21
		2410	2643 1382 04F4 brge .L118
		2411	2644 1384 D801 movw r26,r16
		2412	2645 1386 C701 movw r24,r14
		2413	2646 1388 885A subi r24,lo8(-(-25000))
		2414	2647 138a 9146 sbci r25,hi8(-(-25000))
		2415	2648 138c A040 sbci r26,hlo8(-(-25000))
		2416	2649 138e B040 sbci r27,hhi8(-(-25000))
		2417	2650 1390 8093 0000 sts Mess_IntegralNick,r24
		2418	2651 1394 9093 0000 sts (Mess_IntegralNick)+1,r25
		2419	2652 1398 A093 0000 sts (Mess_IntegralNick)+2,r26
		2420	2653 139c B093 0000 sts (Mess_IntegralNick)+3,r27
		2421	2654 13a0 8093 0000 sts Mess_IntegralNick2,r24
		2422	2655 13a4 9093 0000 sts (Mess_IntegralNick2)+1,r25
		2423	2656 13a8 A093 0000 sts (Mess_IntegralNick2)+2,r26
		2424	2657 13ac B093 0000 sts (Mess_IntegralNick2)+3,r27
		2425	2658 .L118:
		2426	2659 13b0 8091 0000 lds r24,Mess_Integral_Gier
		2427	2660 13b4 9091 0000 lds r25,(Mess_Integral_Gier)+1
		2428	2661 13b8 A091 0000 lds r26,(Mess_Integral_Gier)+2
		2429	2662 13bc B091 0000 lds r27,(Mess_Integral_Gier)+3
		2430	2663 13c0 8093 0000 sts Integral_Gier,r24
		2431	2664 13c4 9093 0000 sts (Integral_Gier)+1,r25
		2432	2665 13c8 A093 0000 sts (Integral_Gier)+2,r26
		2433	2666 13cc B093 0000 sts (Integral_Gier)+3,r27
		2434	2667 13d0 8091 0000 lds r24,Mess_IntegralNick
		2435	2668 13d4 9091 0000 lds r25,(Mess_IntegralNick)+1
		2436	2669 13d8 A091 0000 lds r26,(Mess_IntegralNick)+2
		2437	2670 13dc B091 0000 lds r27,(Mess_IntegralNick)+3
		2438	2671 13e0 8093 0000 sts IntegralNick,r24
		2439	2672 13e4 9093 0000 sts (IntegralNick)+1,r25
		2440	2673 13e8 A093 0000 sts (IntegralNick)+2,r26
		2441	2674 13ec B093 0000 sts (IntegralNick)+3,r27
		2442	2675 13f0 8091 0000 lds r24,Mess_IntegralRoll
		2443	2676 13f4 9091 0000 lds r25,(Mess_IntegralRoll)+1
		2444	2677 13f8 A091 0000 lds r26,(Mess_IntegralRoll)+2
		2445	2678 13fc B091 0000 lds r27,(Mess_IntegralRoll)+3
		2446	2679 1400 8093 0000 sts IntegralRoll,r24
		2447	2680 1404 9093 0000 sts (IntegralRoll)+1,r25
		2448	2681 1408 A093 0000 sts (IntegralRoll)+2,r26
		2449	2682 140c B093 0000 sts (IntegralRoll)+3,r27
		2450	2683 1410 8091 0000 lds r24,Mess_IntegralNick2
		2451	2684 1414 9091 0000 lds r25,(Mess_IntegralNick2)+1
		2452	2685 1418 A091 0000 lds r26,(Mess_IntegralNick2)+2
		2453	2686 141c B091 0000 lds r27,(Mess_IntegralNick2)+3
		2454	2687 1420 8093 0000 sts IntegralNick2,r24
		2455	2688 1424 9093 0000 sts (IntegralNick2)+1,r25
		2456	2689 1428 A093 0000 sts (IntegralNick2)+2,r26
		2457	2690 142c B093 0000 sts (IntegralNick2)+3,r27
		2458	2691 1430 8091 0000 lds r24,Mess_IntegralRoll2
		2459	2692 1434 9091 0000 lds r25,(Mess_IntegralRoll2)+1
		2460	2693 1438 A091 0000 lds r26,(Mess_IntegralRoll2)+2
		2461	2694 143c B091 0000 lds r27,(Mess_IntegralRoll2)+3
		2462	2695 1440 8093 0000 sts IntegralRoll2,r24
		2463	2696 1444 9093 0000 sts (IntegralRoll2)+1,r25
		2464	2697 1448 A093 0000 sts (IntegralRoll2)+2,r26
		2465	2698 144c B093 0000 sts (IntegralRoll2)+3,r27
		2466	2699 1450 8091 0000 lds r24,HiResNick
		2467	2700 1454 9091 0000 lds r25,(HiResNick)+1
		2468	2701 1458 97FD sbrc r25,7
		2469	2702 145a 0796 adiw r24,7
		2470	2703 .L119:
		2471	2704 145c 03E0 ldi r16,3
		2472	2705 145e 9595 1: asr r25
		2473	2706 1460 8795 ror r24
		2474	2707 1462 0A95 dec r16
		2475	2708 1464 01F4 brne 1b
		2476	2709 1466 9093 0000 sts (MesswertNick)+1,r25
		2477	2710 146a 8093 0000 sts MesswertNick,r24
		2478	2711 146e 8091 0000 lds r24,HiResRoll
		2479	2712 1472 9091 0000 lds r25,(HiResRoll)+1
		2480	2713 1476 97FD sbrc r25,7
		2481	2714 1478 0796 adiw r24,7
		2482	2715 .L120:
		2483	2716 147a 13E0 ldi r17,3
		2484	2717 147c 9595 1: asr r25
		2485	2718 147e 8795 ror r24
		2486	2719 1480 1A95 dec r17
		2487	2720 1482 01F4 brne 1b
		2488	2721 1484 9093 0000 sts (MesswertRoll)+1,r25
		2489	2722 1488 8093 0000 sts MesswertRoll,r24
		2490	2723 148c 8091 0000 lds r24,AdWertNick
		2491	2724 1490 9091 0000 lds r25,(AdWertNick)+1
		2492	2725 1494 0F97 sbiw r24,15
		2493	2726 1496 04F4 brge .L121
		2494	2727 1498 88E1 ldi r24,lo8(-1000)
		2495	2728 149a 9CEF ldi r25,hi8(-1000)
		2496	2729 149c 9093 0000 sts (MesswertNick)+1,r25
		2497	2730 14a0 8093 0000 sts MesswertNick,r24
		2498	2731 .L121:
		2499	2732 14a4 8091 0000 lds r24,AdWertNick
		2500	2733 14a8 9091 0000 lds r25,(AdWertNick)+1
		2501	2734 14ac 0797 sbiw r24,7
		2502	2735 14ae 04F4 brge .L122
		2503	2736 14b0 80E3 ldi r24,lo8(-2000)
		2504	2737 14b2 98EF ldi r25,hi8(-2000)
		2505	2738 14b4 9093 0000 sts (MesswertNick)+1,r25
		2506	2739 14b8 8093 0000 sts MesswertNick,r24
		2507	2740 .L122:
		2508	2741 14bc 2091 0000 lds r18,PlatinenVersion
		2509	2742 14c0 2A30 cpi r18,lo8(10)
		2510	2743 14c2 01F4 brne .L123
		2511	2744 14c4 8091 0000 lds r24,AdWertNick
		2512	2745 14c8 9091 0000 lds r25,(AdWertNick)+1
		2513	2746 14cc 835F subi r24,lo8(1011)
		2514	2747 14ce 9340 sbci r25,hi8(1011)
		2515	2748 14d0 04F0 brlt .L124
		2516	2749 14d2 88EE ldi r24,lo8(1000)
		2517	2750 14d4 93E0 ldi r25,hi8(1000)
		2518	2751 14d6 9093 0000 sts (MesswertNick)+1,r25
		2519	2752 14da 8093 0000 sts MesswertNick,r24
		2520	2753 .L124:
		2521	2754 14de 8091 0000 lds r24,AdWertNick
		2522	2755 14e2 9091 0000 lds r25,(AdWertNick)+1
		2523	2756 14e6 8A5F subi r24,lo8(1018)
		2524	2757 14e8 9340 sbci r25,hi8(1018)
		2525	2758 14ea 04F0 brlt .L126
		2526	2759 14ec 00C0 rjmp .L169
		2527	2760 .L123:
		2528	2761 14ee 8091 0000 lds r24,AdWertNick
		2529	2762 14f2 9091 0000 lds r25,(AdWertNick)+1
		2530	2763 14f6 815D subi r24,lo8(2001)
		2531	2764 14f8 9740 sbci r25,hi8(2001)
		2532	2765 14fa 04F0 brlt .L127
		2533	2766 14fc 88EE ldi r24,lo8(1000)
		2534	2767 14fe 93E0 ldi r25,hi8(1000)
		2535	2768 1500 9093 0000 sts (MesswertNick)+1,r25
		2536	2769 1504 8093 0000 sts MesswertNick,r24
		2537	2770 .L127:
		2538	2771 1508 8091 0000 lds r24,AdWertNick
		2539	2772 150c 9091 0000 lds r25,(AdWertNick)+1
		2540	2773 1510 805E subi r24,lo8(2016)
		2541	2774 1512 9740 sbci r25,hi8(2016)
		2542	2775 1514 04F0 brlt .L126
		2543	2776 .L169:
		2544	2777 1516 80ED ldi r24,lo8(2000)
		2545	2778 1518 97E0 ldi r25,hi8(2000)
		2546	2779 151a 9093 0000 sts (MesswertNick)+1,r25
		2547	2780 151e 8093 0000 sts MesswertNick,r24
		2548	2781 .L126:
		2549	2782 1522 8091 0000 lds r24,AdWertRoll
		2550	2783 1526 9091 0000 lds r25,(AdWertRoll)+1
		2551	2784 152a 0F97 sbiw r24,15
		2552	2785 152c 04F4 brge .L129
		2553	2786 152e 88E1 ldi r24,lo8(-1000)
		2554	2787 1530 9CEF ldi r25,hi8(-1000)
		2555	2788 1532 9093 0000 sts (MesswertRoll)+1,r25
		2556	2789 1536 8093 0000 sts MesswertRoll,r24
		2557	2790 .L129:
		2558	2791 153a 8091 0000 lds r24,AdWertRoll
		2559	2792 153e 9091 0000 lds r25,(AdWertRoll)+1
		2560	2793 1542 0797 sbiw r24,7
		2561	2794 1544 04F4 brge .L130
		2562	2795 1546 80E3 ldi r24,lo8(-2000)
		2563	2796 1548 98EF ldi r25,hi8(-2000)
		2564	2797 154a 9093 0000 sts (MesswertRoll)+1,r25
		2565	2798 154e 8093 0000 sts MesswertRoll,r24
		2566	2799 .L130:
		2567	2800 1552 2A30 cpi r18,lo8(10)
		2568	2801 1554 01F4 brne .L131
		2569	2802 1556 8091 0000 lds r24,AdWertRoll
		2570	2803 155a 9091 0000 lds r25,(AdWertRoll)+1
		2571	2804 155e 835F subi r24,lo8(1011)
		2572	2805 1560 9340 sbci r25,hi8(1011)
		2573	2806 1562 04F0 brlt .L132
		2574	2807 1564 88EE ldi r24,lo8(1000)
		2575	2808 1566 93E0 ldi r25,hi8(1000)
		2576	2809 1568 9093 0000 sts (MesswertRoll)+1,r25
		2577	2810 156c 8093 0000 sts MesswertRoll,r24
		2578	2811 .L132:
		2579	2812 1570 8091 0000 lds r24,AdWertRoll
		2580	2813 1574 9091 0000 lds r25,(AdWertRoll)+1
		2581	2814 1578 8A5F subi r24,lo8(1018)
		2582	2815 157a 9340 sbci r25,hi8(1018)
		2583	2816 157c 04F0 brlt .L134
		2584	2817 157e 00C0 rjmp .L170
		2585	2818 .L131:
		2586	2819 1580 8091 0000 lds r24,AdWertRoll
		2587	2820 1584 9091 0000 lds r25,(AdWertRoll)+1
		2588	2821 1588 815D subi r24,lo8(2001)
		2589	2822 158a 9740 sbci r25,hi8(2001)
		2590	2823 158c 04F0 brlt .L135
		2591	2824 158e 88EE ldi r24,lo8(1000)
		2592	2825 1590 93E0 ldi r25,hi8(1000)
		2593	2826 1592 9093 0000 sts (MesswertRoll)+1,r25
		2594	2827 1596 8093 0000 sts MesswertRoll,r24
		2595	2828 .L135:
		2596	2829 159a 8091 0000 lds r24,AdWertRoll
		2597	2830 159e 9091 0000 lds r25,(AdWertRoll)+1
		2598	2831 15a2 805E subi r24,lo8(2016)
		2599	2832 15a4 9740 sbci r25,hi8(2016)
		2600	2833 15a6 04F0 brlt .L134
		2601	2834 .L170:
		2602	2835 15a8 80ED ldi r24,lo8(2000)
		2603	2836 15aa 97E0 ldi r25,hi8(2000)
		2604	2837 15ac 9093 0000 sts (MesswertRoll)+1,r25
		2605	2838 15b0 8093 0000 sts MesswertRoll,r24
		2606	2839 .L134:
		2607	2840 15b4 6091 0000 lds r22,Parameter_Gyro_D
		2608	2841 15b8 6623 tst r22
		2609	2842 15ba 01F4 brne .+2
		2610	2843 15bc 00C0 rjmp .L137
		2611	2844 15be 4091 0000 lds r20,HiResNick
		2612	2845 15c2 5091 0000 lds r21,(HiResNick)+1
		2613	2846 15c6 8091 0000 lds r24,oldNick.31
		2614	2847 15ca 9091 0000 lds r25,(oldNick.31)+1
		2615	2848 15ce 481B sub r20,r24
		2616	2849 15d0 590B sbc r21,r25
		2617	2850 15d2 5093 0000 sts (d2Nick.34)+1,r21
		2618	2851 15d6 4093 0000 sts d2Nick.34,r20
		2619	2852 15da 2091 0000 lds r18,HiResNick
		2620	2853 15de 3091 0000 lds r19,(HiResNick)+1
		2621	2854 15e2 280F add r18,r24
		2622	2855 15e4 391F adc r19,r25
		2623	2856 15e6 37FF sbrs r19,7
		2624	2857 15e8 00C0 rjmp .L138
		2625	2858 15ea 2F5F subi r18,lo8(-(1))
		2626	2859 15ec 3F4F sbci r19,hi8(-(1))
		2627	2860 .L138:
		2628	2861 15ee 3595 asr r19
		2629	2862 15f0 2795 ror r18
		2630	2863 15f2 3093 0000 sts (oldNick.31)+1,r19
		2631	2864 15f6 2093 0000 sts oldNick.31,r18
		2632	2865 15fa 4138 cpi r20,129
		2633	2866 15fc 5105 cpc r21,__zero_reg__
		2634	2867 15fe 04F0 brlt .L139
		2635	2868 1600 80E8 ldi r24,lo8(128)
		2636	2869 1602 90E0 ldi r25,hi8(128)
		2637	2870 1604 00C0 rjmp .L171
		2638	2871 .L139:
		2639	2872 1606 4058 subi r20,lo8(-128)
		2640	2873 1608 5F4F sbci r21,hi8(-128)
		2641	2874 160a 04F4 brge .L140
		2642	2875 160c 80E8 ldi r24,lo8(-128)
		2643	2876 160e 9FEF ldi r25,hi8(-128)
		2644	2877 .L171:
		2645	2878 1610 9093 0000 sts (d2Nick.34)+1,r25
		2646	2879 1614 8093 0000 sts d2Nick.34,r24
		2647	2880 .L140:
		2648	2881 1618 4091 0000 lds r20,HiResRoll
		2649	2882 161c 5091 0000 lds r21,(HiResRoll)+1
		2650	2883 1620 8091 0000 lds r24,oldRoll.32
		2651	2884 1624 9091 0000 lds r25,(oldRoll.32)+1
		2652	2885 1628 481B sub r20,r24
		2653	2886 162a 590B sbc r21,r25
		2654	2887 162c 5093 0000 sts (d2Roll.33)+1,r21
		2655	2888 1630 4093 0000 sts d2Roll.33,r20
		2656	2889 1634 2091 0000 lds r18,HiResRoll
		2657	2890 1638 3091 0000 lds r19,(HiResRoll)+1
		2658	2891 163c 280F add r18,r24
		2659	2892 163e 391F adc r19,r25
		2660	2893 1640 37FF sbrs r19,7
		2661	2894 1642 00C0 rjmp .L142
		2662	2895 1644 2F5F subi r18,lo8(-(1))
		2663	2896 1646 3F4F sbci r19,hi8(-(1))
		2664	2897 .L142:
		2665	2898 1648 3595 asr r19
		2666	2899 164a 2795 ror r18
		2667	2900 164c 3093 0000 sts (oldRoll.32)+1,r19
		2668	2901 1650 2093 0000 sts oldRoll.32,r18
		2669	2902 1654 4138 cpi r20,129
		2670	2903 1656 5105 cpc r21,__zero_reg__
		2671	2904 1658 04F0 brlt .L143
		2672	2905 165a 80E8 ldi r24,lo8(128)
		2673	2906 165c 90E0 ldi r25,hi8(128)
		2674	2907 165e 00C0 rjmp .L172
		2675	2908 .L143:
		2676	2909 1660 4058 subi r20,lo8(-128)
		2677	2910 1662 5F4F sbci r21,hi8(-128)
		2678	2911 1664 04F4 brge .L144
		2679	2912 1666 80E8 ldi r24,lo8(-128)
		2680	2913 1668 9FEF ldi r25,hi8(-128)
		2681	2914 .L172:
		2682	2915 166a 9093 0000 sts (d2Roll.33)+1,r25
		2683	2916 166e 8093 0000 sts d2Roll.33,r24
		2684	2917 .L144:
		2685	2918 1672 462F mov r20,r22
		2686	2919 1674 5527 clr r21
		2687	2920 1676 8091 0000 lds r24,d2Nick.34
		2688	2921 167a 9091 0000 lds r25,(d2Nick.34)+1
		2689	2922 167e 849F mul r24,r20
		2690	2923 1680 B001 movw r22,r0
		2691	2924 1682 859F mul r24,r21
		2692	2925 1684 700D add r23,r0
		2693	2926 1686 949F mul r25,r20
		2694	2927 1688 700D add r23,r0
		2695	2928 168a 1124 clr r1
		2696	2929 168c 9B01 movw r18,r22
		2697	2930 168e 77FF sbrs r23,7
		2698	2931 1690 00C0 rjmp .L146
		2699	2932 1692 215F subi r18,lo8(-(15))
		2700	2933 1694 3F4F sbci r19,hi8(-(15))
		2701	2934 .L146:
		2702	2935 1696 F4E0 ldi r31,4
		2703	2936 1698 3595 1: asr r19
		2704	2937 169a 2795 ror r18
		2705	2938 169c FA95 dec r31
		2706	2939 169e 01F4 brne 1b
		2707	2940 16a0 8091 0000 lds r24,MesswertNick
		2708	2941 16a4 9091 0000 lds r25,(MesswertNick)+1
		2709	2942 16a8 820F add r24,r18
		2710	2943 16aa 931F adc r25,r19
		2711	2944 16ac 9093 0000 sts (MesswertNick)+1,r25
		2712	2945 16b0 8093 0000 sts MesswertNick,r24
		2713	2946 16b4 8091 0000 lds r24,d2Roll.33
		2714	2947 16b8 9091 0000 lds r25,(d2Roll.33)+1
		2715	2948 16bc 849F mul r24,r20
		2716	2949 16be D001 movw r26,r0
		2717	2950 16c0 859F mul r24,r21
		2718	2951 16c2 B00D add r27,r0
		2719	2952 16c4 949F mul r25,r20
		2720	2953 16c6 B00D add r27,r0
		2721	2954 16c8 1124 clr r1
		2722	2955 16ca AD01 movw r20,r26
		2723	2956 16cc 9D01 movw r18,r26
		2724	2957 16ce B7FF sbrs r27,7
		2725	2958 16d0 00C0 rjmp .L147
		2726	2959 16d2 215F subi r18,lo8(-(15))
		2727	2960 16d4 3F4F sbci r19,hi8(-(15))
		2728	2961 .L147:
		2729	2962 16d6 E4E0 ldi r30,4
		2730	2963 16d8 3595 1: asr r19
		2731	2964 16da 2795 ror r18
		2732	2965 16dc EA95 dec r30
		2733	2966 16de 01F4 brne 1b
		2734	2967 16e0 8091 0000 lds r24,MesswertRoll
		2735	2968 16e4 9091 0000 lds r25,(MesswertRoll)+1
		2736	2969 16e8 820F add r24,r18
		2737	2970 16ea 931F adc r25,r19
		2738	2971 16ec 9093 0000 sts (MesswertRoll)+1,r25
		2739	2972 16f0 8093 0000 sts MesswertRoll,r24
		2740	2973 16f4 8091 0000 lds r24,HiResNick
		2741	2974 16f8 9091 0000 lds r25,(HiResNick)+1
		2742	2975 16fc 860F add r24,r22
		2743	2976 16fe 971F adc r25,r23
		2744	2977 1700 9093 0000 sts (HiResNick)+1,r25
		2745	2978 1704 8093 0000 sts HiResNick,r24
		2746	2979 1708 8091 0000 lds r24,HiResRoll
		2747	2980 170c 9091 0000 lds r25,(HiResRoll)+1
		2748	2981 1710 840F add r24,r20
		2749	2982 1712 951F adc r25,r21
		2750	2983 1714 9093 0000 sts (HiResRoll)+1,r25
		2751	2984 1718 8093 0000 sts HiResRoll,r24
		2752	2985 .L137:
		2753	2986 171c 0091 0000 lds r16,RohMesswertRoll
		2754	2987 1720 1091 0000 lds r17,(RohMesswertRoll)+1
		2755	2988 1724 8091 0000 lds r24,KopplungsteilNickRoll
		2756	2989 1728 9091 0000 lds r25,(KopplungsteilNickRoll)+1
		2757	2990 172c 1016 cp __zero_reg__,r16
		2758	2991 172e 1106 cpc __zero_reg__,r17
		2759	2992 1730 04F4 brge .L148
		2760	2993 1732 9C01 movw r18,r24
		2761	2994 1734 97FF sbrs r25,7
		2762	2995 1736 00C0 rjmp .L149
		2763	2996 1738 2227 clr r18
		2764	2997 173a 3327 clr r19
		2765	2998 173c 281B sub r18,r24
		2766	2999 173e 390B sbc r19,r25
		2767	3000 .L149:
		2768	3001 1740 C901 movw r24,r18
		2769	3002 1742 AA27 clr r26
		2770	3003 1744 97FD sbrc r25,7
		2771	3004 1746 A095 com r26
		2772	3005 1748 BA2F mov r27,r26
		2773	3006 174a 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2774	3007 174e 3327 clr r19
		2775	3008 1750 4427 clr r20
		2776	3009 1752 5527 clr r21
		2777	3010 1754 BC01 movw r22,r24
		2778	3011 1756 CD01 movw r24,r26
		2779	3012 1758 0E94 0000 call __mulsi3
		2780	3013 175c 9B01 movw r18,r22
		2781	3014 175e AC01 movw r20,r24
		2782	3015 1760 97FF sbrs r25,7
		2783	3016 1762 00C0 rjmp .L150
		2784	3017 1764 215C subi r18,lo8(-(63))
		2785	3018 1766 3F4F sbci r19,hi8(-(63))
		2786	3019 1768 4F4F sbci r20,hlo8(-(63))
		2787	3020 176a 5F4F sbci r21,hhi8(-(63))
		2788	3021 .L150:
		2789	3022 176c 76E0 ldi r23,6
		2790	3023 176e 5595 1: asr r21
		2791	3024 1770 4795 ror r20
		2792	3025 1772 3795 ror r19
		2793	3026 1774 2795 ror r18
		2794	3027 1776 7A95 dec r23
		2795	3028 1778 01F4 brne 1b
		2796	3029 177a 8091 0000 lds r24,TrimRoll
		2797	3030 177e 9091 0000 lds r25,(TrimRoll)+1
		2798	3031 1782 820F add r24,r18
		2799	3032 1784 931F adc r25,r19
		2800	3033 1786 00C0 rjmp .L173
		2801	3034 .L148:
		2802	3035 1788 97FF sbrs r25,7
		2803	3036 178a 00C0 rjmp .L152
		2804	3037 178c 9095 com r25
		2805	3038 178e 8195 neg r24
		2806	3039 1790 9F4F sbci r25,lo8(-1)
		2807	3040 .L152:
		2808	3041 1792 AA27 clr r26
		2809	3042 1794 97FD sbrc r25,7
		2810	3043 1796 A095 com r26
		2811	3044 1798 BA2F mov r27,r26
		2812	3045 179a 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2813	3046 179e 3327 clr r19
		2814	3047 17a0 4427 clr r20
		2815	3048 17a2 5527 clr r21
		2816	3049 17a4 BC01 movw r22,r24
		2817	3050 17a6 CD01 movw r24,r26
		2818	3051 17a8 0E94 0000 call __mulsi3
		2819	3052 17ac 9B01 movw r18,r22
		2820	3053 17ae AC01 movw r20,r24
		2821	3054 17b0 97FF sbrs r25,7
		2822	3055 17b2 00C0 rjmp .L153
		2823	3056 17b4 215C subi r18,lo8(-(63))
		2824	3057 17b6 3F4F sbci r19,hi8(-(63))
		2825	3058 17b8 4F4F sbci r20,hlo8(-(63))
		2826	3059 17ba 5F4F sbci r21,hhi8(-(63))
		2827	3060 .L153:
		2828	3061 17bc 66E0 ldi r22,6
		2829	3062 17be 5595 1: asr r21
		2830	3063 17c0 4795 ror r20
		2831	3064 17c2 3795 ror r19
		2832	3065 17c4 2795 ror r18
		2833	3066 17c6 6A95 dec r22
		2834	3067 17c8 01F4 brne 1b
		2835	3068 17ca 8091 0000 lds r24,TrimRoll
		2836	3069 17ce 9091 0000 lds r25,(TrimRoll)+1
		2837	3070 17d2 821B sub r24,r18
		2838	3071 17d4 930B sbc r25,r19
		2839	3072 .L173:
		2840	3073 17d6 9093 0000 sts (TrimRoll)+1,r25
		2841	3074 17da 8093 0000 sts TrimRoll,r24
		2842	3075 17de E090 0000 lds r14,RohMesswertNick
		2843	3076 17e2 F090 0000 lds r15,(RohMesswertNick)+1
		2844	3077 17e6 8091 0000 lds r24,KopplungsteilRollNick
		2845	3078 17ea 9091 0000 lds r25,(KopplungsteilRollNick)+1
		2846	3079 17ee 1E14 cp __zero_reg__,r14
		2847	3080 17f0 1F04 cpc __zero_reg__,r15
		2848	3081 17f2 04F4 brge .L154
		2849	3082 17f4 9C01 movw r18,r24
		2850	3083 17f6 97FF sbrs r25,7
		2851	3084 17f8 00C0 rjmp .L155
		2852	3085 17fa 2227 clr r18
		2853	3086 17fc 3327 clr r19
		2854	3087 17fe 281B sub r18,r24
		2855	3088 1800 390B sbc r19,r25
		2856	3089 .L155:
		2857	3090 1802 C901 movw r24,r18
		2858	3091 1804 AA27 clr r26
		2859	3092 1806 97FD sbrc r25,7
		2860	3093 1808 A095 com r26
		2861	3094 180a BA2F mov r27,r26
		2862	3095 180c 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2863	3096 1810 3327 clr r19
		2864	3097 1812 4427 clr r20
		2865	3098 1814 5527 clr r21
		2866	3099 1816 BC01 movw r22,r24
		2867	3100 1818 CD01 movw r24,r26
		2868	3101 181a 0E94 0000 call __mulsi3
		2869	3102 181e 9B01 movw r18,r22
		2870	3103 1820 AC01 movw r20,r24
		2871	3104 1822 97FF sbrs r25,7
		2872	3105 1824 00C0 rjmp .L156
		2873	3106 1826 215C subi r18,lo8(-(63))
		2874	3107 1828 3F4F sbci r19,hi8(-(63))
		2875	3108 182a 4F4F sbci r20,hlo8(-(63))
		2876	3109 182c 5F4F sbci r21,hhi8(-(63))
		2877	3110 .L156:
		2878	3111 182e 96E0 ldi r25,6
		2879	3112 1830 5595 1: asr r21
		2880	3113 1832 4795 ror r20
		2881	3114 1834 3795 ror r19
		2882	3115 1836 2795 ror r18
		2883	3116 1838 9A95 dec r25
		2884	3117 183a 01F4 brne 1b
		2885	3118 183c 8091 0000 lds r24,TrimNick
		2886	3119 1840 9091 0000 lds r25,(TrimNick)+1
		2887	3120 1844 820F add r24,r18
		2888	3121 1846 931F adc r25,r19
		2889	3122 1848 00C0 rjmp .L174
		2890	3123 .L154:
		2891	3124 184a 97FF sbrs r25,7
		2892	3125 184c 00C0 rjmp .L158
		2893	3126 184e 9095 com r25
		2894	3127 1850 8195 neg r24
		2895	3128 1852 9F4F sbci r25,lo8(-1)
		2896	3129 .L158:
		2897	3130 1854 AA27 clr r26
		2898	3131 1856 97FD sbrc r25,7
		2899	3132 1858 A095 com r26
		2900	3133 185a BA2F mov r27,r26
		2901	3134 185c 2091 0000 lds r18,Parameter_CouplingYawCorrection
		2902	3135 1860 3327 clr r19
		2903	3136 1862 4427 clr r20
		2904	3137 1864 5527 clr r21
		2905	3138 1866 BC01 movw r22,r24
		2906	3139 1868 CD01 movw r24,r26
		2907	3140 186a 0E94 0000 call __mulsi3
		2908	3141 186e 9B01 movw r18,r22
		2909	3142 1870 AC01 movw r20,r24
		2910	3143 1872 97FF sbrs r25,7
		2911	3144 1874 00C0 rjmp .L159
		2912	3145 1876 215C subi r18,lo8(-(63))
		2913	3146 1878 3F4F sbci r19,hi8(-(63))
		2914	3147 187a 4F4F sbci r20,hlo8(-(63))
		2915	3148 187c 5F4F sbci r21,hhi8(-(63))
		2916	3149 .L159:
		2917	3150 187e 86E0 ldi r24,6
		2918	3151 1880 5595 1: asr r21
		2919	3152 1882 4795 ror r20
		2920	3153 1884 3795 ror r19
		2921	3154 1886 2795 ror r18
		2922	3155 1888 8A95 dec r24
		2923	3156 188a 01F4 brne 1b
		2924	3157 188c 8091 0000 lds r24,TrimNick
		2925	3158 1890 9091 0000 lds r25,(TrimNick)+1
		2926	3159 1894 821B sub r24,r18
		2927	3160 1896 930B sbc r25,r19
		2928	3161 .L174:
		2929	3162 1898 9093 0000 sts (TrimNick)+1,r25
		2930	3163 189c 8093 0000 sts TrimNick,r24
		2931	3164 18a0 8091 0000 lds r24,Parameter_GlobalConfig
		2932	3165 18a4 87FF sbrs r24,7
		2933	3166 18a6 00C0 rjmp .L82
		2934	3167 18a8 B989 ldd r27,Y+17
		2935	3168 18aa BB23 tst r27
		2936	3169 18ac 01F0 breq .+2
		2937	3170 18ae 00C0 rjmp .L82
		2938	3171 18b0 8091 0000 lds r24,Looping_Roll
		2939	3172 18b4 8823 tst r24
		2940	3173 18b6 01F4 brne .L82
		2941	3174 18b8 E1E0 ldi r30,lo8(257)
		2942	3175 18ba EE16 cp r14,r30
		2943	3176 18bc E1E0 ldi r30,hi8(257)
		2944	3177 18be FE06 cpc r15,r30
		2945	3178 18c0 04F0 brlt .L161
		2946	3179 18c2 8091 0000 lds r24,MesswertNick
		2947	3180 18c6 9091 0000 lds r25,(MesswertNick)+1
		2948	3181 18ca 8E0D add r24,r14
		2949	3182 18cc 9F1D adc r25,r15
		2950	3183 18ce 8050 subi r24,lo8(-(-256))
		2951	3184 18d0 9140 sbci r25,hi8(-(-256))
		2952	3185 18d2 00C0 rjmp .L175
		2953	3186 .L161:
		2954	3187 18d4 F0E0 ldi r31,lo8(-256)
		2955	3188 18d6 EF16 cp r14,r31
		2956	3189 18d8 FFEF ldi r31,hi8(-256)
		2957	3190 18da FF06 cpc r15,r31
		2958	3191 18dc 04F4 brge .L162
		2959	3192 18de 8091 0000 lds r24,MesswertNick
		2960	3193 18e2 9091 0000 lds r25,(MesswertNick)+1
		2961	3194 18e6 8E0D add r24,r14
		2962	3195 18e8 9F1D adc r25,r15
		2963	3196 18ea 8050 subi r24,lo8(-(256))
		2964	3197 18ec 9F4F sbci r25,hi8(-(256))
		2965	3198 .L175:
		2966	3199 18ee 9093 0000 sts (MesswertNick)+1,r25
		2967	3200 18f2 8093 0000 sts MesswertNick,r24
		2968	3201 .L162:
		2969	3202 18f6 21E0 ldi r18,hi8(257)
		2970	3203 18f8 0130 cpi r16,lo8(257)
		2971	3204 18fa 1207 cpc r17,r18
		2972	3205 18fc 04F0 brlt .L164
		2973	3206 18fe 8091 0000 lds r24,MesswertRoll
		2974	3207 1902 9091 0000 lds r25,(MesswertRoll)+1
		2975	3208 1906 800F add r24,r16
		2976	3209 1908 911F adc r25,r17
		2977	3210 190a 8050 subi r24,lo8(-(-256))
		2978	3211 190c 9140 sbci r25,hi8(-(-256))
		2979	3212 190e 00C0 rjmp .L176
		2980	3213 .L164:
		2981	3214 1910 3FEF ldi r19,hi8(-256)
		2982	3215 1912 0030 cpi r16,lo8(-256)
		2983	3216 1914 1307 cpc r17,r19
		2984	3217 1916 04F4 brge .L82
		2985	3218 1918 8091 0000 lds r24,MesswertRoll
		2986	3219 191c 9091 0000 lds r25,(MesswertRoll)+1
		2987	3220 1920 800F add r24,r16
		2988	3221 1922 911F adc r25,r17
		2989	3222 1924 8050 subi r24,lo8(-(256))
		2990	3223 1926 9F4F sbci r25,hi8(-(256))
		2991	3224 .L176:
		2992	3225 1928 9093 0000 sts (MesswertRoll)+1,r25
		2993	3226 192c 8093 0000 sts MesswertRoll,r24
		2994	3227 .L82:
		2995	3228 /* epilogue: frame size=19 */
		2996	3229 1930 E2E1 ldi r30,18
		2997	3230 1932 CD5E subi r28,-19
		2998	3231 1934 0C94 0000 jmp __epilogue_restores__+0
		2999	3232 /* epilogue end (size=4) */
		3000	3233 /* function Mittelwert size 2000 (1990) */
		3001	3235 .global SendMotorData
		3002	3237 SendMotorData:
		3003	3238 /* prologue: frame size=0 */
		3004	3239 /* prologue end (size=0) */
		3005	3240 1938 8091 0000 lds r24,MotorenEin
		3006	3241 193c 8823 tst r24
		3007	3242 193e 01F4 brne .L178
		3008	3243 1940 8091 0000 lds r24,FC_StatusFlags
		3009	3244 1944 8C7F andi r24,lo8(-4)
		3010	3245 1946 8093 0000 sts FC_StatusFlags,r24
		3011	3246 194a A0E0 ldi r26,lo8(MotorTest)
		3012	3247 194c B0E0 ldi r27,hi8(MotorTest)
		3013	3248 194e E0E0 ldi r30,lo8(Motor)
		3014	3249 1950 F0E0 ldi r31,hi8(Motor)
		3015	3250 1952 9BE0 ldi r25,lo8(11)
		3016	3251 .L183:
		3017	3252 1954 8091 0000 lds r24,PC_MotortestActive
		3018	3253 1958 8823 tst r24
		3019	3254 195a 01F4 brne .L182
		3020	3255 195c 8C93 st X,r24
		3021	3256 .L182:
		3022	3257 195e 8D91 ld r24,X+
		3023	3258 1960 8183 std Z+1,r24
		3024	3259 1962 1282 std Z+2,__zero_reg__
		3025	3260 1964 9150 subi r25,lo8(-(-1))
		3026	3261 1966 3896 adiw r30,8
		3027	3262 1968 97FF sbrs r25,7
		3028	3263 196a 00C0 rjmp .L183
		3029	3264 196c 8091 0000 lds r24,PC_MotortestActive
		3030	3265 1970 8823 tst r24
		3031	3266 1972 01F0 breq .L185
		3032	3267 1974 8091 0000 lds r24,PC_MotortestActive
		3033	3268 1978 8150 subi r24,lo8(-(-1))
		3034	3269 197a 8093 0000 sts PC_MotortestActive,r24
		3035	3270 197e 00C0 rjmp .L185
		3036	3271 .L178:
		3037	3272 1980 8091 0000 lds r24,FC_StatusFlags
		3038	3273 1984 8160 ori r24,lo8(1)
		3039	3274 1986 8093 0000 sts FC_StatusFlags,r24
		3040	3275 .L185:
		3041	3276 198a 8091 0000 lds r24,I2C_TransferActive
		3042	3277 198e 8823 tst r24
		3043	3278 1990 01F0 breq .L186
		3044	3279 1992 1092 0000 sts I2C_TransferActive,__zero_reg__
		3045	3280 1996 0895 ret
		3046	3281 .L186:
		3047	3282 1998 8093 0000 sts motor_write,r24
		3048	3283 199c 8093 0000 sts twi_state,r24
		3049	3284 19a0 8091 0000 lds r24,BLFlags
		3050	3285 19a4 8E7F andi r24,lo8(-2)
		3051	3286 19a6 8093 0000 sts BLFlags,r24
		3052	3287 19aa 85EA ldi r24,lo8(-91)
		3053	3288 19ac 8093 BC00 sts 188,r24
		3054	3289 19b0 0895 ret
		3055	3290 /* epilogue: frame size=0 */
		3056	3291 /* epilogue: noreturn */
		3057	3292 /* epilogue end (size=0) */
		3058	3293 /* function SendMotorData size 61 (61) */
		3059	3295 .global ParameterZuordnung
		3060	3297 ParameterZuordnung:
		3061	3298 /* prologue: frame size=0 */
		3062	3299 19b2 CF93 push r28
		3063	3300 19b4 DF93 push r29
		3064	3301 /* prologue end (size=2) */
		3065	3302 19b6 A0E0 ldi r26,lo8(Poti)
		3066	3303 19b8 B0E0 ldi r27,hi8(Poti)
		3067	3304 19ba C0E0 ldi r28,lo8(EE_Parameter+5)
		3068	3305 19bc D0E0 ldi r29,hi8(EE_Parameter+5)
		3069	3306 19be 57E0 ldi r21,lo8(7)
		3070	3307 .L203:
		3071	3308 19c0 9991 ld r25,Y+
		3072	3309 19c2 E92F mov r30,r25
		3073	3310 19c4 FF27 clr r31
		3074	3311 19c6 EE0F add r30,r30
		3075	3312 19c8 FF1F adc r31,r31
		3076	3313 19ca E050 subi r30,lo8(-(PPM_in))
		3077	3314 19cc F040 sbci r31,hi8(-(PPM_in))
		3078	3315 19ce 0190 ld __tmp_reg__,Z+
		3079	3316 19d0 F081 ld r31,Z
		3080	3317 19d2 E02D mov r30,__tmp_reg__
		3081	3318 19d4 E158 subi r30,lo8(-(127))
		3082	3319 19d6 FF4F sbci r31,hi8(-(127))
		3083	3320 19d8 EF3F cpi r30,255
		3084	3321 19da F105 cpc r31,__zero_reg__
		3085	3322 19dc 01F0 breq .L194
		3086	3323 19de 04F0 brlt .L194
		3087	3324 19e0 EFEF ldi r30,lo8(255)
		3088	3325 19e2 F0E0 ldi r31,hi8(255)
		3089	3326 19e4 00C0 rjmp .L195
		3090	3327 .L194:
		3091	3328 19e6 F7FF sbrs r31,7
		3092	3329 19e8 00C0 rjmp .L195
		3093	3330 19ea E0E0 ldi r30,lo8(0)
		3094	3331 19ec F0E0 ldi r31,hi8(0)
		3095	3332 .L195:
		3096	3333 19ee 9931 cpi r25,lo8(25)
		3097	3334 19f0 01F4 brne .L197
		3098	3335 19f2 EC93 st X,r30
		3099	3336 19f4 00C0 rjmp .L193
		3100	3337 .L197:
		3101	3338 19f6 4C91 ld r20,X
		3102	3339 19f8 242F mov r18,r20
		3103	3340 19fa 3327 clr r19
		3104	3341 19fc E217 cp r30,r18
		3105	3342 19fe F307 cpc r31,r19
		3106	3343 1a00 01F0 breq .L193
		3107	3344 1a02 CF01 movw r24,r30
		3108	3345 1a04 821B sub r24,r18
		3109	3346 1a06 930B sbc r25,r19
		3110	3347 1a08 97FD sbrc r25,7
		3111	3348 1a0a 0396 adiw r24,3
		3112	3349 .L200:
		3113	3350 1a0c 9595 asr r25
		3114	3351 1a0e 8795 ror r24
		3115	3352 1a10 9595 asr r25
		3116	3353 1a12 8795 ror r24
		3117	3354 1a14 242F mov r18,r20
		3118	3355 1a16 280F add r18,r24
		3119	3356 1a18 2C93 st X,r18
		3120	3357 1a1a 822F mov r24,r18
		3121	3358 1a1c 9927 clr r25
		3122	3359 1a1e E817 cp r30,r24
		3123	3360 1a20 F907 cpc r31,r25
		3124	3361 1a22 04F4 brge .L201
		3125	3362 1a24 2150 subi r18,lo8(-(-1))
		3126	3363 1a26 00C0 rjmp .L327
		3127	3364 .L201:
		3128	3365 1a28 2F5F subi r18,lo8(-(1))
		3129	3366 .L327:
		3130	3367 1a2a 2C93 st X,r18
		3131	3368 .L193:
		3132	3369 1a2c 5150 subi r21,lo8(-(-1))
		3133	3370 1a2e 1196 adiw r26,1
		3134	3371 1a30 57FF sbrs r21,7
		3135	3372 1a32 00C0 rjmp .L203
		3136	3373 1a34 8091 0000 lds r24,EE_Parameter+15
		3137	3374 1a38 883F cpi r24,lo8(-8)
		3138	3375 1a3a 00F0 brlo .L328
		3139	3376 1a3c EFEF ldi r30,lo8(255)
		3140	3377 1a3e F0E0 ldi r31,hi8(255)
		3141	3378 1a40 E81B sub r30,r24
		3142	3379 1a42 F109 sbc r31,__zero_reg__
		3143	3380 1a44 E050 subi r30,lo8(-(Poti))
		3144	3381 1a46 F040 sbci r31,hi8(-(Poti))
		3145	3382 1a48 8081 ld r24,Z
		3146	3383 .L328:
		3147	3384 1a4a 8093 0000 sts Parameter_Luftdruck_D,r24
		3148	3385 1a4e 8091 0000 lds r24,Parameter_Luftdruck_D
		3149	3386 1a52 8823 tst r24
		3150	3387 1a54 01F0 breq .L207
		3151	3388 1a56 8436 cpi r24,lo8(100)
		3152	3389 1a58 00F0 brlo .L207
		3153	3390 1a5a 84E6 ldi r24,lo8(100)
		3154	3391 1a5c 8093 0000 sts Parameter_Luftdruck_D,r24
		3155	3392 .L207:
		3156	3393 1a60 8091 0000 lds r24,EE_Parameter+17
		3157	3394 1a64 883F cpi r24,lo8(-8)
		3158	3395 1a66 00F0 brlo .L329
		3159	3396 1a68 EFEF ldi r30,lo8(255)
		3160	3397 1a6a F0E0 ldi r31,hi8(255)
		3161	3398 1a6c E81B sub r30,r24
		3162	3399 1a6e F109 sbc r31,__zero_reg__
		3163	3400 1a70 E050 subi r30,lo8(-(Poti))
		3164	3401 1a72 F040 sbci r31,hi8(-(Poti))
		3165	3402 1a74 8081 ld r24,Z
		3166	3403 .L329:
		3167	3404 1a76 8093 0000 sts Parameter_Hoehe_P,r24
		3168	3405 1a7a 8091 0000 lds r24,Parameter_Hoehe_P
		3169	3406 1a7e 8823 tst r24
		3170	3407 1a80 01F0 breq .L212
		3171	3408 1a82 8436 cpi r24,lo8(100)
		3172	3409 1a84 00F0 brlo .L212
		3173	3410 1a86 84E6 ldi r24,lo8(100)
		3174	3411 1a88 8093 0000 sts Parameter_Hoehe_P,r24
		3175	3412 .L212:
		3176	3413 1a8c 8091 0000 lds r24,EE_Parameter+30
		3177	3414 1a90 883F cpi r24,lo8(-8)
		3178	3415 1a92 00F0 brlo .L330
		3179	3416 1a94 EFEF ldi r30,lo8(255)
		3180	3417 1a96 F0E0 ldi r31,hi8(255)
		3181	3418 1a98 E81B sub r30,r24
		3182	3419 1a9a F109 sbc r31,__zero_reg__
		3183	3420 1a9c E050 subi r30,lo8(-(Poti))
		3184	3421 1a9e F040 sbci r31,hi8(-(Poti))
		3185	3422 1aa0 8081 ld r24,Z
		3186	3423 .L330:
		3187	3424 1aa2 8093 0000 sts Parameter_Gyro_P,r24
		3188	3425 1aa6 8091 0000 lds r24,Parameter_Gyro_P
		3189	3426 1aaa 8B30 cpi r24,lo8(11)
		3190	3427 1aac 00F4 brsh .L216
		3191	3428 1aae 8AE0 ldi r24,lo8(10)
		3192	3429 1ab0 00C0 rjmp .L331
		3193	3430 .L216:
		3194	3431 1ab2 8F3F cpi r24,lo8(-1)
		3195	3432 1ab4 01F4 brne .L217
		3196	3433 .L331:
		3197	3434 1ab6 8093 0000 sts Parameter_Gyro_P,r24
		3198	3435 .L217:
		3199	3436 1aba 8091 0000 lds r24,EE_Parameter+75
		3200	3437 1abe 883F cpi r24,lo8(-8)
		3201	3438 1ac0 00F0 brlo .L332
		3202	3439 1ac2 EFEF ldi r30,lo8(255)
		3203	3440 1ac4 F0E0 ldi r31,hi8(255)
		3204	3441 1ac6 E81B sub r30,r24
		3205	3442 1ac8 F109 sbc r31,__zero_reg__
		3206	3443 1aca E050 subi r30,lo8(-(Poti))
		3207	3444 1acc F040 sbci r31,hi8(-(Poti))
		3208	3445 1ace 8081 ld r24,Z
		3209	3446 .L332:
		3210	3447 1ad0 8093 0000 sts Parameter_J16Timing,r24
		3211	3448 1ad4 8091 0000 lds r24,Parameter_J16Timing
		3212	3449 1ad8 8630 cpi r24,lo8(6)
		3213	3450 1ada 00F4 brsh .L221
		3214	3451 1adc 85E0 ldi r24,lo8(5)
		3215	3452 1ade 00C0 rjmp .L333
		3216	3453 .L221:
		3217	3454 1ae0 8F3F cpi r24,lo8(-1)
		3218	3455 1ae2 01F4 brne .L222
		3219	3456 .L333:
		3220	3457 1ae4 8093 0000 sts Parameter_J16Timing,r24
		3221	3458 .L222:
		3222	3459 1ae8 8091 0000 lds r24,EE_Parameter+77
		3223	3460 1aec 883F cpi r24,lo8(-8)
		3224	3461 1aee 00F0 brlo .L334
		3225	3462 1af0 EFEF ldi r30,lo8(255)
		3226	3463 1af2 F0E0 ldi r31,hi8(255)
		3227	3464 1af4 E81B sub r30,r24
		3228	3465 1af6 F109 sbc r31,__zero_reg__
		3229	3466 1af8 E050 subi r30,lo8(-(Poti))
		3230	3467 1afa F040 sbci r31,hi8(-(Poti))
		3231	3468 1afc 8081 ld r24,Z
		3232	3469 .L334:
		3233	3470 1afe 8093 0000 sts Parameter_J17Timing,r24
		3234	3471 1b02 8091 0000 lds r24,Parameter_J17Timing
		3235	3472 1b06 8630 cpi r24,lo8(6)
		3236	3473 1b08 00F4 brsh .L226
		3237	3474 1b0a 85E0 ldi r24,lo8(5)
		3238	3475 1b0c 00C0 rjmp .L335
		3239	3476 .L226:
		3240	3477 1b0e 8F3F cpi r24,lo8(-1)
		3241	3478 1b10 01F4 brne .L227
		3242	3479 .L335:
		3243	3480 1b12 8093 0000 sts Parameter_J17Timing,r24
		3244	3481 .L227:
		3245	3482 1b16 8091 0000 lds r24,EE_Parameter+56
		3246	3483 1b1a 873F cpi r24,lo8(-9)
		3247	3484 1b1c 01F4 brne .L229
		3248	3485 1b1e 4299 sbic 40-0x20,2
		3249	3486 1b20 00C0 rjmp .L368
		3250	3487 1b22 00C0 rjmp .L234
		3251	3488 .L229:
		3252	3489 1b24 863F cpi r24,lo8(-10)
		3253	3490 1b26 01F4 brne .L233
		3254	3491 1b28 439B sbis 40-0x20,3
		3255	3492 1b2a 00C0 rjmp .L234
		3256	3493 .L368:
		3257	3494 1b2c 8CE8 ldi r24,lo8(-116)
		3258	3495 1b2e 00C0 rjmp .L336
		3259	3496 .L234:
		3260	3497 1b30 86E4 ldi r24,lo8(70)
		3261	3498 1b32 00C0 rjmp .L336
		3262	3499 .L233:
		3263	3500 1b34 883F cpi r24,lo8(-8)
		3264	3501 1b36 00F0 brlo .L336
		3265	3502 1b38 EFEF ldi r30,lo8(255)
		3266	3503 1b3a F0E0 ldi r31,hi8(255)
		3267	3504 1b3c E81B sub r30,r24
		3268	3505 1b3e F109 sbc r31,__zero_reg__
		3269	3506 1b40 E050 subi r30,lo8(-(Poti))
		3270	3507 1b42 F040 sbci r31,hi8(-(Poti))
		3271	3508 1b44 8081 ld r24,Z
		3272	3509 .L336:
		3273	3510 1b46 8093 0000 sts Parameter_Servo3,r24
		3274	3511 1b4a 8091 0000 lds r24,EE_Parameter+57
		3275	3512 1b4e 873F cpi r24,lo8(-9)
		3276	3513 1b50 01F4 brne .L239
		3277	3514 1b52 4299 sbic 40-0x20,2
		3278	3515 1b54 00C0 rjmp .L369
		3279	3516 1b56 00C0 rjmp .L244
		3280	3517 .L239:
		3281	3518 1b58 863F cpi r24,lo8(-10)
		3282	3519 1b5a 01F4 brne .L243
		3283	3520 1b5c 439B sbis 40-0x20,3
		3284	3521 1b5e 00C0 rjmp .L244
		3285	3522 .L369:
		3286	3523 1b60 8CE8 ldi r24,lo8(-116)
		3287	3524 1b62 00C0 rjmp .L337
		3288	3525 .L244:
		3289	3526 1b64 86E4 ldi r24,lo8(70)
		3290	3527 1b66 00C0 rjmp .L337
		3291	3528 .L243:
		3292	3529 1b68 883F cpi r24,lo8(-8)
		3293	3530 1b6a 00F0 brlo .L337
		3294	3531 1b6c EFEF ldi r30,lo8(255)
		3295	3532 1b6e F0E0 ldi r31,hi8(255)
		3296	3533 1b70 E81B sub r30,r24
		3297	3534 1b72 F109 sbc r31,__zero_reg__
		3298	3535 1b74 E050 subi r30,lo8(-(Poti))
		3299	3536 1b76 F040 sbci r31,hi8(-(Poti))
		3300	3537 1b78 8081 ld r24,Z
		3301	3538 .L337:
		3302	3539 1b7a 8093 0000 sts Parameter_Servo4,r24
		3303	3540 1b7e 8091 0000 lds r24,EE_Parameter+58
		3304	3541 1b82 883F cpi r24,lo8(-8)
		3305	3542 1b84 00F0 brlo .L338
		3306	3543 1b86 EFEF ldi r30,lo8(255)
		3307	3544 1b88 F0E0 ldi r31,hi8(255)
		3308	3545 1b8a E81B sub r30,r24
		3309	3546 1b8c F109 sbc r31,__zero_reg__
		3310	3547 1b8e E050 subi r30,lo8(-(Poti))
		3311	3548 1b90 F040 sbci r31,hi8(-(Poti))
		3312	3549 1b92 8081 ld r24,Z
		3313	3550 .L338:
		3314	3551 1b94 8093 0000 sts Parameter_Servo5,r24
		3315	3552 1b98 8091 0000 lds r24,EE_Parameter+16
		3316	3553 1b9c 883F cpi r24,lo8(-8)
		3317	3554 1b9e 00F0 brlo .L339
		3318	3555 1ba0 EFEF ldi r30,lo8(255)
		3319	3556 1ba2 F0E0 ldi r31,hi8(255)
		3320	3557 1ba4 E81B sub r30,r24
		3321	3558 1ba6 F109 sbc r31,__zero_reg__
		3322	3559 1ba8 E050 subi r30,lo8(-(Poti))
		3323	3560 1baa F040 sbci r31,hi8(-(Poti))
		3324	3561 1bac 8081 ld r24,Z
		3325	3562 .L339:
		3326	3563 1bae 8093 0000 sts Parameter_HoehenSchalter,r24
		3327	3564 1bb2 8091 0000 lds r24,EE_Parameter+19
		3328	3565 1bb6 883F cpi r24,lo8(-8)
		3329	3566 1bb8 00F0 brlo .L340
		3330	3567 1bba EFEF ldi r30,lo8(255)
		3331	3568 1bbc F0E0 ldi r31,hi8(255)
		3332	3569 1bbe E81B sub r30,r24
		3333	3570 1bc0 F109 sbc r31,__zero_reg__
		3334	3571 1bc2 E050 subi r30,lo8(-(Poti))
		3335	3572 1bc4 F040 sbci r31,hi8(-(Poti))
		3336	3573 1bc6 8081 ld r24,Z
		3337	3574 .L340:
		3338	3575 1bc8 8093 0000 sts Parameter_Hoehe_ACC_Wirkung,r24
		3339	3576 1bcc 8091 0000 lds r24,EE_Parameter+21
		3340	3577 1bd0 883F cpi r24,lo8(-8)
		3341	3578 1bd2 00F0 brlo .L341
		3342	3579 1bd4 EFEF ldi r30,lo8(255)
		3343	3580 1bd6 F0E0 ldi r31,hi8(255)
		3344	3581 1bd8 E81B sub r30,r24
		3345	3582 1bda F109 sbc r31,__zero_reg__
		3346	3583 1bdc E050 subi r30,lo8(-(Poti))
		3347	3584 1bde F040 sbci r31,hi8(-(Poti))
		3348	3585 1be0 8081 ld r24,Z
		3349	3586 .L341:
		3350	3587 1be2 8093 0000 sts Parameter_Hoehe_GPS_Z,r24
		3351	3588 1be6 8091 0000 lds r24,EE_Parameter+29
		3352	3589 1bea 883F cpi r24,lo8(-8)
		3353	3590 1bec 00F0 brlo .L342
		3354	3591 1bee EFEF ldi r30,lo8(255)
		3355	3592 1bf0 F0E0 ldi r31,hi8(255)
		3356	3593 1bf2 E81B sub r30,r24
		3357	3594 1bf4 F109 sbc r31,__zero_reg__
		3358	3595 1bf6 E050 subi r30,lo8(-(Poti))
		3359	3596 1bf8 F040 sbci r31,hi8(-(Poti))
		3360	3597 1bfa 8081 ld r24,Z
		3361	3598 .L342:
		3362	3599 1bfc 8093 0000 sts Parameter_KompassWirkung,r24
		3363	3600 1c00 8091 0000 lds r24,EE_Parameter+31
		3364	3601 1c04 883F cpi r24,lo8(-8)
		3365	3602 1c06 00F0 brlo .L343
		3366	3603 1c08 EFEF ldi r30,lo8(255)
		3367	3604 1c0a F0E0 ldi r31,hi8(255)
		3368	3605 1c0c E81B sub r30,r24
		3369	3606 1c0e F109 sbc r31,__zero_reg__
		3370	3607 1c10 E050 subi r30,lo8(-(Poti))
		3371	3608 1c12 F040 sbci r31,hi8(-(Poti))
		3372	3609 1c14 8081 ld r24,Z
		3373	3610 .L343:
		3374	3611 1c16 8093 0000 sts Parameter_Gyro_I,r24
		3375	3612 1c1a 8091 0000 lds r24,EE_Parameter+32
		3376	3613 1c1e 883F cpi r24,lo8(-8)
		3377	3614 1c20 00F0 brlo .L344
		3378	3615 1c22 EFEF ldi r30,lo8(255)
		3379	3616 1c24 F0E0 ldi r31,hi8(255)
		3380	3617 1c26 E81B sub r30,r24
		3381	3618 1c28 F109 sbc r31,__zero_reg__
		3382	3619 1c2a E050 subi r30,lo8(-(Poti))
		3383	3620 1c2c F040 sbci r31,hi8(-(Poti))
		3384	3621 1c2e 8081 ld r24,Z
		3385	3622 .L344:
		3386	3623 1c30 8093 0000 sts Parameter_Gyro_D,r24
		3387	3624 1c34 8091 0000 lds r24,EE_Parameter+33
		3388	3625 1c38 883F cpi r24,lo8(-8)
		3389	3626 1c3a 00F0 brlo .L345
		3390	3627 1c3c EFEF ldi r30,lo8(255)
		3391	3628 1c3e F0E0 ldi r31,hi8(255)
		3392	3629 1c40 E81B sub r30,r24
		3393	3630 1c42 F109 sbc r31,__zero_reg__
		3394	3631 1c44 E050 subi r30,lo8(-(Poti))
		3395	3632 1c46 F040 sbci r31,hi8(-(Poti))
		3396	3633 1c48 8081 ld r24,Z
		3397	3634 .L345:
		3398	3635 1c4a 8093 0000 sts Parameter_Gyro_Gier_P,r24
		3399	3636 1c4e 8091 0000 lds r24,EE_Parameter+34
		3400	3637 1c52 883F cpi r24,lo8(-8)
		3401	3638 1c54 00F0 brlo .L346
		3402	3639 1c56 EFEF ldi r30,lo8(255)
		3403	3640 1c58 F0E0 ldi r31,hi8(255)
		3404	3641 1c5a E81B sub r30,r24
		3405	3642 1c5c F109 sbc r31,__zero_reg__
		3406	3643 1c5e E050 subi r30,lo8(-(Poti))
		3407	3644 1c60 F040 sbci r31,hi8(-(Poti))
		3408	3645 1c62 8081 ld r24,Z
		3409	3646 .L346:
		3410	3647 1c64 8093 0000 sts Parameter_Gyro_Gier_I,r24
		3411	3648 1c68 8091 0000 lds r24,EE_Parameter+40
		3412	3649 1c6c 883F cpi r24,lo8(-8)
		3413	3650 1c6e 00F0 brlo .L347
		3414	3651 1c70 EFEF ldi r30,lo8(255)
		3415	3652 1c72 F0E0 ldi r31,hi8(255)
		3416	3653 1c74 E81B sub r30,r24
		3417	3654 1c76 F109 sbc r31,__zero_reg__
		3418	3655 1c78 E050 subi r30,lo8(-(Poti))
		3419	3656 1c7a F040 sbci r31,hi8(-(Poti))
		3420	3657 1c7c 8081 ld r24,Z
		3421	3658 .L347:
		3422	3659 1c7e 8093 0000 sts Parameter_I_Faktor,r24
		3423	3660 1c82 8091 0000 lds r24,EE_Parameter+41
		3424	3661 1c86 883F cpi r24,lo8(-8)
		3425	3662 1c88 00F0 brlo .L348
		3426	3663 1c8a EFEF ldi r30,lo8(255)
		3427	3664 1c8c F0E0 ldi r31,hi8(255)
		3428	3665 1c8e E81B sub r30,r24
		3429	3666 1c90 F109 sbc r31,__zero_reg__
		3430	3667 1c92 E050 subi r30,lo8(-(Poti))
		3431	3668 1c94 F040 sbci r31,hi8(-(Poti))
		3432	3669 1c96 8081 ld r24,Z
		3433	3670 .L348:
		3434	3671 1c98 8093 0000 sts Parameter_UserParam1,r24
		3435	3672 1c9c 8091 0000 lds r24,EE_Parameter+42
		3436	3673 1ca0 883F cpi r24,lo8(-8)
		3437	3674 1ca2 00F0 brlo .L349
		3438	3675 1ca4 EFEF ldi r30,lo8(255)
		3439	3676 1ca6 F0E0 ldi r31,hi8(255)
		3440	3677 1ca8 E81B sub r30,r24
		3441	3678 1caa F109 sbc r31,__zero_reg__
		3442	3679 1cac E050 subi r30,lo8(-(Poti))
		3443	3680 1cae F040 sbci r31,hi8(-(Poti))
		3444	3681 1cb0 8081 ld r24,Z
		3445	3682 .L349:
		3446	3683 1cb2 8093 0000 sts Parameter_UserParam2,r24
		3447	3684 1cb6 8091 0000 lds r24,EE_Parameter+43
		3448	3685 1cba 883F cpi r24,lo8(-8)
		3449	3686 1cbc 00F0 brlo .L350
		3450	3687 1cbe EFEF ldi r30,lo8(255)
		3451	3688 1cc0 F0E0 ldi r31,hi8(255)
		3452	3689 1cc2 E81B sub r30,r24
		3453	3690 1cc4 F109 sbc r31,__zero_reg__
		3454	3691 1cc6 E050 subi r30,lo8(-(Poti))
		3455	3692 1cc8 F040 sbci r31,hi8(-(Poti))
		3456	3693 1cca 8081 ld r24,Z
		3457	3694 .L350:
		3458	3695 1ccc 8093 0000 sts Parameter_UserParam3,r24
		3459	3696 1cd0 8091 0000 lds r24,EE_Parameter+44
		3460	3697 1cd4 883F cpi r24,lo8(-8)
		3461	3698 1cd6 00F0 brlo .L351
		3462	3699 1cd8 EFEF ldi r30,lo8(255)
		3463	3700 1cda F0E0 ldi r31,hi8(255)
		3464	3701 1cdc E81B sub r30,r24
		3465	3702 1cde F109 sbc r31,__zero_reg__
		3466	3703 1ce0 E050 subi r30,lo8(-(Poti))
		3467	3704 1ce2 F040 sbci r31,hi8(-(Poti))
		3468	3705 1ce4 8081 ld r24,Z
		3469	3706 .L351:
		3470	3707 1ce6 8093 0000 sts Parameter_UserParam4,r24
		3471	3708 1cea 8091 0000 lds r24,EE_Parameter+70
		3472	3709 1cee 883F cpi r24,lo8(-8)
		3473	3710 1cf0 00F0 brlo .L352
		3474	3711 1cf2 EFEF ldi r30,lo8(255)
		3475	3712 1cf4 F0E0 ldi r31,hi8(255)
		3476	3713 1cf6 E81B sub r30,r24
		3477	3714 1cf8 F109 sbc r31,__zero_reg__
		3478	3715 1cfa E050 subi r30,lo8(-(Poti))
		3479	3716 1cfc F040 sbci r31,hi8(-(Poti))
		3480	3717 1cfe 8081 ld r24,Z
		3481	3718 .L352:
		3482	3719 1d00 8093 0000 sts Parameter_UserParam5,r24
		3483	3720 1d04 8091 0000 lds r24,EE_Parameter+71
		3484	3721 1d08 883F cpi r24,lo8(-8)
		3485	3722 1d0a 00F0 brlo .L353
		3486	3723 1d0c EFEF ldi r30,lo8(255)
		3487	3724 1d0e F0E0 ldi r31,hi8(255)
		3488	3725 1d10 E81B sub r30,r24
		3489	3726 1d12 F109 sbc r31,__zero_reg__
		3490	3727 1d14 E050 subi r30,lo8(-(Poti))
		3491	3728 1d16 F040 sbci r31,hi8(-(Poti))
		3492	3729 1d18 8081 ld r24,Z
		3493	3730 .L353:
		3494	3731 1d1a 8093 0000 sts Parameter_UserParam6,r24
		3495	3732 1d1e 8091 0000 lds r24,EE_Parameter+72
		3496	3733 1d22 883F cpi r24,lo8(-8)
		3497	3734 1d24 00F0 brlo .L354
		3498	3735 1d26 EFEF ldi r30,lo8(255)
		3499	3736 1d28 F0E0 ldi r31,hi8(255)
		3500	3737 1d2a E81B sub r30,r24
		3501	3738 1d2c F109 sbc r31,__zero_reg__
		3502	3739 1d2e E050 subi r30,lo8(-(Poti))
		3503	3740 1d30 F040 sbci r31,hi8(-(Poti))
		3504	3741 1d32 8081 ld r24,Z
		3505	3742 .L354:
		3506	3743 1d34 8093 0000 sts Parameter_UserParam7,r24
		3507	3744 1d38 8091 0000 lds r24,EE_Parameter+73
		3508	3745 1d3c 883F cpi r24,lo8(-8)
		3509	3746 1d3e 00F0 brlo .L355
		3510	3747 1d40 EFEF ldi r30,lo8(255)
		3511	3748 1d42 F0E0 ldi r31,hi8(255)
		3512	3749 1d44 E81B sub r30,r24
		3513	3750 1d46 F109 sbc r31,__zero_reg__
		3514	3751 1d48 E050 subi r30,lo8(-(Poti))
		3515	3752 1d4a F040 sbci r31,hi8(-(Poti))
		3516	3753 1d4c 8081 ld r24,Z
		3517	3754 .L355:
		3518	3755 1d4e 8093 0000 sts Parameter_UserParam8,r24
		3519	3756 1d52 8091 0000 lds r24,EE_Parameter+45
		3520	3757 1d56 883F cpi r24,lo8(-8)
		3521	3758 1d58 00F0 brlo .L356
		3522	3759 1d5a EFEF ldi r30,lo8(255)
		3523	3760 1d5c F0E0 ldi r31,hi8(255)
		3524	3761 1d5e E81B sub r30,r24
		3525	3762 1d60 F109 sbc r31,__zero_reg__
		3526	3763 1d62 E050 subi r30,lo8(-(Poti))
		3527	3764 1d64 F040 sbci r31,hi8(-(Poti))
		3528	3765 1d66 8081 ld r24,Z
		3529	3766 .L356:
		3530	3767 1d68 8093 0000 sts Parameter_ServoNickControl,r24
		3531	3768 1d6c 8091 0000 lds r24,EE_Parameter+49
		3532	3769 1d70 883F cpi r24,lo8(-8)
		3533	3770 1d72 00F0 brlo .L357
		3534	3771 1d74 EFEF ldi r30,lo8(255)
		3535	3772 1d76 F0E0 ldi r31,hi8(255)
		3536	3773 1d78 E81B sub r30,r24
		3537	3774 1d7a F109 sbc r31,__zero_reg__
		3538	3775 1d7c E050 subi r30,lo8(-(Poti))
		3539	3776 1d7e F040 sbci r31,hi8(-(Poti))
		3540	3777 1d80 8081 ld r24,Z
		3541	3778 .L357:
		3542	3779 1d82 8093 0000 sts Parameter_ServoRollControl,r24
		3543	3780 1d86 8091 0000 lds r24,EE_Parameter+46
		3544	3781 1d8a 883F cpi r24,lo8(-8)
		3545	3782 1d8c 00F0 brlo .L358
		3546	3783 1d8e EFEF ldi r30,lo8(255)
		3547	3784 1d90 F0E0 ldi r31,hi8(255)
		3548	3785 1d92 E81B sub r30,r24
		3549	3786 1d94 F109 sbc r31,__zero_reg__
		3550	3787 1d96 E050 subi r30,lo8(-(Poti))
		3551	3788 1d98 F040 sbci r31,hi8(-(Poti))
		3552	3789 1d9a 8081 ld r24,Z
		3553	3790 .L358:
		3554	3791 1d9c 8093 0000 sts Parameter_ServoNickComp,r24
		3555	3792 1da0 8091 0000 lds r24,EE_Parameter+50
		3556	3793 1da4 883F cpi r24,lo8(-8)
		3557	3794 1da6 00F0 brlo .L359
		3558	3795 1da8 EFEF ldi r30,lo8(255)
		3559	3796 1daa F0E0 ldi r31,hi8(255)
		3560	3797 1dac E81B sub r30,r24
		3561	3798 1dae F109 sbc r31,__zero_reg__
		3562	3799 1db0 E050 subi r30,lo8(-(Poti))
		3563	3800 1db2 F040 sbci r31,hi8(-(Poti))
		3564	3801 1db4 8081 ld r24,Z
		3565	3802 .L359:
		3566	3803 1db6 8093 0000 sts Parameter_ServoRollComp,r24
		3567	3804 1dba 8091 0000 lds r24,EE_Parameter+59
		3568	3805 1dbe 883F cpi r24,lo8(-8)
		3569	3806 1dc0 00F0 brlo .L360
		3570	3807 1dc2 EFEF ldi r30,lo8(255)
		3571	3808 1dc4 F0E0 ldi r31,hi8(255)
		3572	3809 1dc6 E81B sub r30,r24
		3573	3810 1dc8 F109 sbc r31,__zero_reg__
		3574	3811 1dca E050 subi r30,lo8(-(Poti))
		3575	3812 1dcc F040 sbci r31,hi8(-(Poti))
		3576	3813 1dce 8081 ld r24,Z
		3577	3814 .L360:
		3578	3815 1dd0 8093 0000 sts Parameter_LoopGasLimit,r24
		3579	3816 1dd4 8091 0000 lds r24,EE_Parameter+62
		3580	3817 1dd8 883F cpi r24,lo8(-8)
		3581	3818 1dda 00F0 brlo .L361
		3582	3819 1ddc EFEF ldi r30,lo8(255)
		3583	3820 1dde F0E0 ldi r31,hi8(255)
		3584	3821 1de0 E81B sub r30,r24
		3585	3822 1de2 F109 sbc r31,__zero_reg__
		3586	3823 1de4 E050 subi r30,lo8(-(Poti))
		3587	3824 1de6 F040 sbci r31,hi8(-(Poti))
		3588	3825 1de8 8081 ld r24,Z
		3589	3826 .L361:
		3590	3827 1dea 8093 0000 sts Parameter_AchsKopplung1,r24
		3591	3828 1dee 8091 0000 lds r24,EE_Parameter+63
		3592	3829 1df2 883F cpi r24,lo8(-8)
		3593	3830 1df4 00F0 brlo .L362
		3594	3831 1df6 EFEF ldi r30,lo8(255)
		3595	3832 1df8 F0E0 ldi r31,hi8(255)
		3596	3833 1dfa E81B sub r30,r24
		3597	3834 1dfc F109 sbc r31,__zero_reg__
		3598	3835 1dfe E050 subi r30,lo8(-(Poti))
		3599	3836 1e00 F040 sbci r31,hi8(-(Poti))
		3600	3837 1e02 8081 ld r24,Z
		3601	3838 .L362:
		3602	3839 1e04 8093 0000 sts Parameter_AchsKopplung2,r24
		3603	3840 1e08 8091 0000 lds r24,EE_Parameter+64
		3604	3841 1e0c 883F cpi r24,lo8(-8)
		3605	3842 1e0e 00F0 brlo .L363
		3606	3843 1e10 EFEF ldi r30,lo8(255)
		3607	3844 1e12 F0E0 ldi r31,hi8(255)
		3608	3845 1e14 E81B sub r30,r24
		3609	3846 1e16 F109 sbc r31,__zero_reg__
		3610	3847 1e18 E050 subi r30,lo8(-(Poti))
		3611	3848 1e1a F040 sbci r31,hi8(-(Poti))
		3612	3849 1e1c 8081 ld r24,Z
		3613	3850 .L363:
		3614	3851 1e1e 8093 0000 sts Parameter_CouplingYawCorrection,r24
		3615	3852 1e22 8091 0000 lds r24,EE_Parameter+104
		3616	3853 1e26 883F cpi r24,lo8(-8)
		3617	3854 1e28 00F0 brlo .L364
		3618	3855 1e2a EFEF ldi r30,lo8(255)
		3619	3856 1e2c F0E0 ldi r31,hi8(255)
		3620	3857 1e2e E81B sub r30,r24
		3621	3858 1e30 F109 sbc r31,__zero_reg__
		3622	3859 1e32 E050 subi r30,lo8(-(Poti))
		3623	3860 1e34 F040 sbci r31,hi8(-(Poti))
		3624	3861 1e36 8081 ld r24,Z
		3625	3862 .L364:
		3626	3863 1e38 8093 0000 sts Parameter_MaximumAltitude,r24
		3627	3864 1e3c 9091 0000 lds r25,NC_To_FC_MaxAltitude
		3628	3865 1e40 9923 tst r25
		3629	3866 1e42 01F0 breq .L305
		3630	3867 1e44 8091 0000 lds r24,Parameter_MaximumAltitude
		3631	3868 1e48 9817 cp r25,r24
		3632	3869 1e4a 00F0 brlo .L304
		3633	3870 .L305:
		3634	3871 1e4c 8091 0000 lds r24,Parameter_MaximumAltitude
		3635	3872 1e50 8823 tst r24
		3636	3873 1e52 01F4 brne .L303
		3637	3874 .L304:
		3638	3875 1e54 9093 0000 sts Parameter_MaximumAltitude,r25
		3639	3876 .L303:
		3640	3877 1e58 8091 0000 lds r24,EE_Parameter+13
		3641	3878 1e5c 8093 0000 sts Parameter_GlobalConfig,r24
		3642	3879 1e60 8091 0000 lds r24,EE_Parameter+110
		3643	3880 1e64 8093 0000 sts Parameter_ExtraConfig,r24
		3644	3881 1e68 8091 0000 lds r24,EE_Parameter+69
		3645	3882 1e6c 883F cpi r24,lo8(-8)
		3646	3883 1e6e 00F0 brlo .L365
		3647	3884 1e70 EFEF ldi r30,lo8(255)
		3648	3885 1e72 F0E0 ldi r31,hi8(255)
		3649	3886 1e74 E81B sub r30,r24
		3650	3887 1e76 F109 sbc r31,__zero_reg__
		3651	3888 1e78 E050 subi r30,lo8(-(Poti))
		3652	3889 1e7a F040 sbci r31,hi8(-(Poti))
		3653	3890 1e7c 8081 ld r24,Z
		3654	3891 .L365:
		3655	3892 1e7e 8093 0000 sts Parameter_DynamicStability,r24
		3656	3893 1e82 8091 0000 lds r24,EE_Parameter+97
		3657	3894 1e86 883F cpi r24,lo8(-8)
		3658	3895 1e88 00F0 brlo .L366
		3659	3896 1e8a EFEF ldi r30,lo8(255)
		3660	3897 1e8c F0E0 ldi r31,hi8(255)
		3661	3898 1e8e E81B sub r30,r24
		3662	3899 1e90 F109 sbc r31,__zero_reg__
		3663	3900 1e92 E050 subi r30,lo8(-(Poti))
		3664	3901 1e94 F040 sbci r31,hi8(-(Poti))
		3665	3902 1e96 8081 ld r24,Z
		3666	3903 .L366:
		3667	3904 1e98 8093 0000 sts Parameter_ExternalControl,r24
		3668	3905 1e9c 8091 0000 lds r24,Parameter_I_Faktor
		3669	3906 1ea0 282F mov r18,r24
		3670	3907 1ea2 3327 clr r19
		3671	3908 1ea4 2F5F subi r18,lo8(-(1))
		3672	3909 1ea6 3F4F sbci r19,hi8(-(1))
		3673	3910 1ea8 8CE3 ldi r24,lo8(10300)
		3674	3911 1eaa 98E2 ldi r25,hi8(10300)
		3675	3912 1eac B901 movw r22,r18
		3676	3913 1eae 0E94 0000 call __divmodhi4
		3677	3914 1eb2 7093 0000 sts (Ki)+1,r23
		3678	3915 1eb6 6093 0000 sts Ki,r22
		3679	3916 1eba 8091 0000 lds r24,EE_Parameter+27
		3680	3917 1ebe 8093 0000 sts MAX_GAS,r24
		3681	3918 1ec2 8091 0000 lds r24,EE_Parameter+26
		3682	3919 1ec6 8093 0000 sts MIN_GAS,r24
		3683	3920 1eca 9091 0000 lds r25,EE_Parameter+99
		3684	3921 1ece 9333 cpi r25,lo8(51)
		3685	3922 1ed0 00F4 brsh .+2
		3686	3923 1ed2 00C0 rjmp .L310
		3687	3924 1ed4 81E0 ldi r24,lo8(1)
		3688	3925 1ed6 8093 0000 sts CareFree,r24
		3689	3926 1eda 983F cpi r25,lo8(-8)
		3690	3927 1edc 00F0 brlo .L311
		3691	3928 1ede EFEF ldi r30,lo8(255)
		3692	3929 1ee0 F0E0 ldi r31,hi8(255)
		3693	3930 1ee2 E91B sub r30,r25
		3694	3931 1ee4 F109 sbc r31,__zero_reg__
		3695	3932 1ee6 E050 subi r30,lo8(-(Poti))
		3696	3933 1ee8 F040 sbci r31,hi8(-(Poti))
		3697	3934 1eea 8081 ld r24,Z
		3698	3935 1eec 8233 cpi r24,lo8(50)
		3699	3936 1eee 00F4 brsh .L311
		3700	3937 1ef0 1092 0000 sts CareFree,__zero_reg__
		3701	3938 .L311:
		3702	3939 1ef4 8091 0000 lds r24,carefree_old
		3703	3940 1ef8 2091 0000 lds r18,CareFree
		3704	3941 1efc 8217 cp r24,r18
		3705	3942 1efe 01F0 breq .L312
		3706	3943 1f00 8330 cpi r24,lo8(3)
		3707	3944 1f02 00F4 brsh .L313
		3708	3945 1f04 3091 0000 lds r19,SpeakHoTT
		3709	3946 1f08 2223 tst r18
		3710	3947 1f0a 01F0 breq .L314
		3711	3948 1f0c 8CED ldi r24,lo8(1500)
		3712	3949 1f0e 95E0 ldi r25,hi8(1500)
		3713	3950 1f10 9093 0000 sts (beeptime)+1,r25
		3714	3951 1f14 8093 0000 sts beeptime,r24
		3715	3952 1f18 3323 tst r19
		3716	3953 1f1a 01F4 brne .L316
		3717	3954 1f1c 8EE2 ldi r24,lo8(46)
		3718	3955 1f1e 00C0 rjmp .L367
		3719	3956 .L314:
		3720	3957 1f20 88EC ldi r24,lo8(200)
		3721	3958 1f22 90E0 ldi r25,hi8(200)
		3722	3959 1f24 9093 0000 sts (beeptime)+1,r25
		3723	3960 1f28 8093 0000 sts beeptime,r24
		3724	3961 1f2c 3323 tst r19
		3725	3962 1f2e 01F4 brne .L316
		3726	3963 1f30 87E1 ldi r24,lo8(23)
		3727	3964 .L367:
		3728	3965 1f32 8093 0000 sts SpeakHoTT,r24
		3729	3966 .L316:
		3730	3967 1f36 85E0 ldi r24,lo8(5)
		3731	3968 1f38 8093 0000 sts NeueKompassRichtungMerken,r24
		3732	3969 1f3c 2093 0000 sts carefree_old,r18
		3733	3970 1f40 00C0 rjmp .L312
		3734	3971 .L313:
		3735	3972 1f42 8150 subi r24,lo8(-(-1))
		3736	3973 1f44 8093 0000 sts carefree_old,r24
		3737	3974 .L312:
		3738	3975 1f48 8091 0000 lds r24,FromNaviCtrl+7
		3739	3976 1f4c 9091 0000 lds r25,(FromNaviCtrl+7)+1
		3740	3977 1f50 97FF sbrs r25,7
		3741	3978 1f52 00C0 rjmp .L320
		3742	3979 1f54 8091 0000 lds r24,CareFree
		3743	3980 1f58 8823 tst r24
		3744	3981 1f5a 01F0 breq .L320
		3745	3982 1f5c 8091 0000 lds r24,VersionInfo+5
		3746	3983 1f60 8068 ori r24,lo8(-128)
		3747	3984 1f62 8093 0000 sts VersionInfo+5,r24
		3748	3985 1f66 00C0 rjmp .L320
		3749	3986 .L310:
		3750	3987 1f68 1092 0000 sts CareFree,__zero_reg__
		3751	3988 1f6c 8AE0 ldi r24,lo8(10)
		3752	3989 1f6e 8093 0000 sts carefree_old,r24
		3753	3990 .L320:
		3754	3991 1f72 8091 0000 lds r24,FromNaviCtrl+7
		3755	3992 1f76 9091 0000 lds r25,(FromNaviCtrl+7)+1
		3756	3993 1f7a 97FF sbrs r25,7
		3757	3994 1f7c 00C0 rjmp .L321
		3758	3995 1f7e 8091 0000 lds r24,MotorenEin
		3759	3996 1f82 8823 tst r24
		3760	3997 1f84 01F0 breq .L321
		3761	3998 1f86 8091 0000 lds r24,CareFree
		3762	3999 1f8a 8823 tst r24
		3763	4000 1f8c 01F0 breq .L321
		3764	4001 1f8e 8091 0000 lds r24,BeepMuster
		3765	4002 1f92 9091 0000 lds r25,(BeepMuster)+1
		3766	4003 1f96 8F5F subi r24,lo8(-1)
		3767	4004 1f98 9F4F sbci r25,hi8(-1)
		3768	4005 1f9a 01F4 brne .L321
		3769	4006 1f9c 88E9 ldi r24,lo8(15000)
		3770	4007 1f9e 9AE3 ldi r25,hi8(15000)
		3771	4008 1fa0 9093 0000 sts (beeptime)+1,r25
		3772	4009 1fa4 8093 0000 sts beeptime,r24
		3773	4010 1fa8 80E0 ldi r24,lo8(-23552)
		3774	4011 1faa 94EA ldi r25,hi8(-23552)
		3775	4012 1fac 9093 0000 sts (BeepMuster)+1,r25
		3776	4013 1fb0 8093 0000 sts BeepMuster,r24
		3777	4014 1fb4 1092 0000 sts CareFree,__zero_reg__
		3778	4015 .L321:
		3779	4016 1fb8 8091 0000 lds r24,CareFree
		3780	4017 1fbc 8823 tst r24
		3781	4018 1fbe 01F0 breq .L322
		3782	4019 1fc0 8091 0000 lds r24,FC_StatusFlags2
		3783	4020 1fc4 8160 ori r24,lo8(1)
		3784	4021 1fc6 8093 0000 sts FC_StatusFlags2,r24
		3785	4022 1fca 8091 0000 lds r24,Parameter_AchsKopplung1
		3786	4023 1fce 823D cpi r24,lo8(-46)
		3787	4024 1fd0 00F4 brsh .L190
		3788	4025 1fd2 825E subi r24,lo8(-(30))
		3789	4026 1fd4 8093 0000 sts Parameter_AchsKopplung1,r24
		3790	4027 1fd8 00C0 rjmp .L190
		3791	4028 .L322:
		3792	4029 1fda 8091 0000 lds r24,FC_StatusFlags2
		3793	4030 1fde 8E7F andi r24,lo8(-2)
		3794	4031 1fe0 8093 0000 sts FC_StatusFlags2,r24
		3795	4032 .L190:
		3796	4033 /* epilogue: frame size=0 */
		3797	4034 1fe4 DF91 pop r29
		3798	4035 1fe6 CF91 pop r28
		3799	4036 1fe8 0895 ret
		3800	4037 /* epilogue end (size=3) */
		3801	4038 /* function ParameterZuordnung size 798 (793) */
		3802	4040 .lcomm sollGier.0,4
		3803	4041 .lcomm tmp_long.1,4
		3804	4042 .lcomm tmp_long2.2,4
		3805	4043 .lcomm IntegralFehlerNick.3,4
		3806	4044 .lcomm IntegralFehlerRoll.4,4
		3807	4045 .lcomm RcLostTimer.5,2
		3808	4046 .lcomm delay_neutral.6,1
		3809	4047 .lcomm delay_einschalten.7,1
		3810	4048 .lcomm delay_ausschalten.8,1
		3811	4049 .lcomm move_safety_switch.9,1
		3812	4050 .lcomm ausgleichNick.10,4
		3813	4051 .lcomm ausgleichRoll.11,4
		3814	4052 .lcomm stick_nick.12,2
		3815	4053 .lcomm stick_roll.13,2
		3816	4054 .lcomm cnt.14,2
		3817	4055 .lcomm last_n_p.15,1
		3818	4056 .lcomm last_n_n.16,1
		3819	4057 .lcomm last_r_p.17,1
		3820	4058 .lcomm last_r_n.18,1
		3821	4059 .lcomm MittelIntegralNick_Alt.19,4
		3822	4060 .lcomm MittelIntegralRoll_Alt.20,4
		3823	4061 .lcomm HeightTrimming.21,2
		3824	4062 .lcomm FilterHCGas.22,2
		3825	4063 .lcomm HoverGasFilter.23,4
		3826	4064 .data
		3827	4067 delay.24:
		3828	4068 0051 64 .byte 100
		3829	4069 .lcomm BaroAtUpperLimit.25,1
		3830	4070 .lcomm BaroAtLowerLimit.26,1
		3831	4071 .text
		3832	4072 .global MotorRegler
		3833	4074 MotorRegler:
		3834	4075 /* prologue: frame size=23 */
		3835	4076 1fea A7E1 ldi r26,lo8(23)
		3836	4077 1fec B0E0 ldi r27,hi8(23)
		3837	4078 1fee E0E0 ldi r30,pm_lo8(1f)
		3838	4079 1ff0 F0E0 ldi r31,pm_hi8(1f)
		3839	4080 1ff2 0C94 0000 jmp __prologue_saves__+0
		3840	4081 1:
		3841	4082 /* prologue end (size=6) */
		3842	4083 1ff6 0E94 0000 call Mittelwert
		3843	4084 1ffa 8091 0000 lds r24,FC_StatusFlags
		3844	4085 1ffe 9927 clr r25
		3845	4086 2000 8471 andi r24,lo8(20)
		3846	4087 2002 9070 andi r25,hi8(20)
		3847	4088 2004 892B or r24,r25
		3848	4089 2006 01F4 brne .L371
		3849	4090 2008 8091 0000 lds r24,EE_Parameter+111
		3850	4091 200c 82FF sbrs r24,2
		3851	4092 200e 00C0 rjmp .L372
		3852	4093 2010 8091 0000 lds r24,HoverGas
		3853	4094 2014 9091 0000 lds r25,(HoverGas)+1
		3854	4095 2018 0097 sbiw r24,0
		3855	4096 201a 01F0 breq .L373
		3856	4097 201c 02E0 ldi r16,hi8(600)
		3857	4098 201e 8835 cpi r24,lo8(600)
		3858	4099 2020 9007 cpc r25,r16
		3859	4100 2022 04F4 brge .L373
		3860	4101 2024 9C01 movw r18,r24
		3861	4102 2026 97FF sbrs r25,7
		3862	4103 2028 00C0 rjmp .L374
		3863	4104 202a 2D5F subi r18,lo8(-(3))
		3864	4105 202c 3F4F sbci r19,hi8(-(3))
		3865	4106 .L374:
		3866	4107 202e 3595 asr r19
		3867	4108 2030 2795 ror r18
		3868	4109 2032 3595 asr r19
		3869	4110 2034 2795 ror r18
		3870	4111 2036 8091 0000 lds r24,EE_Parameter+37
		3871	4112 203a 9927 clr r25
		3872	4113 203c 289F mul r18,r24
		3873	4114 203e A001 movw r20,r0
		3874	4115 2040 299F mul r18,r25
		3875	4116 2042 500D add r21,r0
		3876	4117 2044 389F mul r19,r24
		3877	4118 2046 500D add r21,r0
		3878	4119 2048 1124 clr r1
		3879	4120 204a CA01 movw r24,r20
		3880	4121 204c 64E6 ldi r22,lo8(100)
		3881	4122 204e 70E0 ldi r23,hi8(100)
		3882	4123 2050 0E94 0000 call __divmodhi4
		3883	4124 2054 CB01 movw r24,r22
		3884	4125 2056 00C0 rjmp .L893
		3885	4126 .L373:
		3886	4127 2058 8DE2 ldi r24,lo8(45)
		3887	4128 205a 90E0 ldi r25,hi8(45)
		3888	4129 205c 00C0 rjmp .L893
		3889	4130 .L372:
		3890	4131 205e 8091 0000 lds r24,EE_Parameter+37
		3891	4132 2062 9927 clr r25
		3892	4133 .L893:
		3893	4134 2064 9093 0000 sts (HooverGasEmergencyPercent)+1,r25
		3894	4135 2068 8093 0000 sts HooverGasEmergencyPercent,r24
		3895	4136 .L371:
		3896	4137 206c 2091 0000 lds r18,GasIsZeroCnt
		3897	4138 2070 3091 0000 lds r19,(GasIsZeroCnt)+1
		3898	4139 2074 55E7 ldi r21,hi8(30000)
		3899	4140 2076 2033 cpi r18,lo8(30000)
		3900	4141 2078 3507 cpc r19,r21
		3901	4142 207a 01F4 brne .L377
		3902	4143 207c 1092 0000 sts (StickGas)+1,__zero_reg__
		3903	4144 2080 1092 0000 sts StickGas,__zero_reg__
		3904	4145 2084 8091 0000 lds r24,MIN_GAS
		3905	4146 2088 9927 clr r25
		3906	4147 208a 9093 0000 sts (HooverGasEmergencyPercent)+1,r25
		3907	4148 208e 8093 0000 sts HooverGasEmergencyPercent,r24
		3908	4149 .L377:
		3909	4150 2092 6091 0000 lds r22,StickGas
		3910	4151 2096 7091 0000 lds r23,(StickGas)+1
		3911	4152 209a 7A83 std Y+2,r23
		3912	4153 209c 6983 std Y+1,r22
		3913	4154 209e 8091 0000 lds r24,MIN_GAS
		3914	4155 20a2 9927 clr r25
		3915	4156 20a4 0A96 adiw r24,10
		3916	4157 20a6 6817 cp r22,r24
		3917	4158 20a8 7907 cpc r23,r25
		3918	4159 20aa 04F4 brge .L378
		3919	4160 20ac 9A83 std Y+2,r25
		3920	4161 20ae 8983 std Y+1,r24
		3921	4162 .L378:
		3922	4163 20b0 8091 0000 lds r24,SenderOkay
		3923	4164 20b4 8436 cpi r24,lo8(100)
		3924	4165 20b6 00F0 brlo .+2
		3925	4166 20b8 00C0 rjmp .L379
		3926	4167 20ba 8091 0000 lds r24,FC_StatusFlags2
		3927	4168 20be 82FD sbrc r24,2
		3928	4169 20c0 00C0 rjmp .L379
		3929	4170 20c2 8091 0000 lds r24,RcLostTimer.5
		3930	4171 20c6 9091 0000 lds r25,(RcLostTimer.5)+1
		3931	4172 20ca 0097 sbiw r24,0
		3932	4173 20cc 01F0 breq .L380
		3933	4174 20ce 0197 sbiw r24,1
		3934	4175 20d0 9093 0000 sts (RcLostTimer.5)+1,r25
		3935	4176 20d4 8093 0000 sts RcLostTimer.5,r24
		3936	4177 20d8 00C0 rjmp .L381
		3937	4178 .L380:
		3938	4179 20da 1092 0000 sts MotorenEin,__zero_reg__
		3939	4180 20de 9093 0000 sts (modell_fliegt)+1,r25
		3940	4181 20e2 8093 0000 sts modell_fliegt,r24
		3941	4182 20e6 8091 0000 lds r24,FC_StatusFlags
		3942	4183 20ea 8D7E andi r24,lo8(-19)
		3943	4184 20ec 8093 0000 sts FC_StatusFlags,r24
		3944	4185 .L381:
		3945	4186 20f0 8091 0000 lds r24,PlatinenVersion
		3946	4187 20f4 8A30 cpi r24,lo8(10)
		3947	4188 20f6 01F0 breq .L383
		3948	4189 20f8 8431 cpi r24,lo8(20)
		3949	4190 20fa 00F0 brlo .L382
		3950	4191 .L383:
		3951	4192 20fc 289A sbi 37-0x20,0
		3952	4193 20fe 00C0 rjmp .L384
		3953	4194 .L382:
		3954	4195 2100 2898 cbi 37-0x20,0
		3955	4196 .L384:
		3956	4197 2102 8091 0000 lds r24,modell_fliegt
		3957	4198 2106 9091 0000 lds r25,(modell_fliegt)+1
		3958	4199 210a 895E subi r24,lo8(1001)
		3959	4200 210c 9340 sbci r25,hi8(1001)
		3960	4201 210e 00F0 brlo .L385
		3961	4202 2110 8091 0000 lds r24,Capacity+6
		3962	4203 2114 8536 cpi r24,lo8(101)
		3963	4204 2116 00F0 brlo .L385
		3964	4205 2118 8091 0000 lds r24,HooverGasEmergencyPercent
		3965	4206 211c 9091 0000 lds r25,(HooverGasEmergencyPercent)+1
		3966	4207 2120 9A83 std Y+2,r25
		3967	4208 2122 8983 std Y+1,r24
		3968	4209 2124 8091 0000 lds r24,FC_StatusFlags
		3969	4210 2128 8061 ori r24,lo8(16)
		3970	4211 212a 8093 0000 sts FC_StatusFlags,r24
		3971	4212 212e 8091 0000 lds r24,EE_Parameter+1
		3972	4213 2132 A82F mov r26,r24
		3973	4214 2134 BB27 clr r27
		3974	4215 2136 AA0F add r26,r26
		3975	4216 2138 BB1F adc r27,r27
		3976	4217 213a FD01 movw r30,r26
		3977	4218 213c E050 subi r30,lo8(-(PPM_diff))
		3978	4219 213e F040 sbci r31,hi8(-(PPM_diff))
		3979	4220 2140 1182 std Z+1,__zero_reg__
		3980	4221 2142 1082 st Z,__zero_reg__
		3981	4222 2144 8091 0000 lds r24,EE_Parameter+2
		3982	4223 2148 282F mov r18,r24
		3983	4224 214a 3327 clr r19
		3984	4225 214c 220F add r18,r18
		3985	4226 214e 331F adc r19,r19
		3986	4227 2150 C901 movw r24,r18
		3987	4228 2152 8050 subi r24,lo8(-(PPM_diff))
		3988	4229 2154 9040 sbci r25,hi8(-(PPM_diff))
		3989	4230 2156 FC01 movw r30,r24
		3990	4231 2158 1182 std Z+1,__zero_reg__
		3991	4232 215a 1082 st Z,__zero_reg__
		3992	4233 215c A050 subi r26,lo8(-(PPM_in))
		3993	4234 215e B040 sbci r27,hi8(-(PPM_in))
		3994	4235 2160 1196 adiw r26,1
		3995	4236 2162 1C92 st X,__zero_reg__
		3996	4237 2164 1E92 st -X,__zero_reg__
		3997	4238 2166 2050 subi r18,lo8(-(PPM_in))
		3998	4239 2168 3040 sbci r19,hi8(-(PPM_in))
		3999	4240 216a D901 movw r26,r18
		4000	4241 216c 1196 adiw r26,1
		4001	4242 216e 1C92 st X,__zero_reg__
		4002	4243 2170 1E92 st -X,__zero_reg__
		4003	4244 2172 8091 0000 lds r24,EE_Parameter+4
		4004	4245 2176 E82F mov r30,r24
		4005	4246 2178 FF27 clr r31
		4006	4247 217a EE0F add r30,r30
		4007	4248 217c FF1F adc r31,r31
		4008	4249 217e E050 subi r30,lo8(-(PPM_in))
		4009	4250 2180 F040 sbci r31,hi8(-(PPM_in))
		4010	4251 2182 1182 std Z+1,__zero_reg__
		4011	4252 2184 1082 st Z,__zero_reg__
		4012	4253 2186 00C0 rjmp .L387
		4013	4254 .L385:
		4014	4255 2188 1092 0000 sts MotorenEin,__zero_reg__
		4015	4256 218c 00C0 rjmp .L387
		4016	4257 .L379:
		4017	4258 218e 8091 0000 lds r24,SenderOkay
		4018	4259 2192 8D38 cpi r24,lo8(-115)
		4019	4260 2194 00F4 brsh .+2
		4020	4261 2196 00C0 rjmp .L388
		4021	4262 2198 8091 0000 lds r24,FC_StatusFlags
		4022	4263 219c 8F7E andi r24,lo8(-17)
		4023	4264 219e 8093 0000 sts FC_StatusFlags,r24
		4024	4265 21a2 9091 0000 lds r25,EE_Parameter+38
		4025	4266 21a6 82E3 ldi r24,lo8(50)
		4026	4267 21a8 989F mul r25,r24
		4027	4268 21aa C001 movw r24,r0
		4028	4269 21ac 1124 clr r1
		4029	4270 21ae 9093 0000 sts (RcLostTimer.5)+1,r25
		4030	4271 21b2 8093 0000 sts RcLostTimer.5,r24
		4031	4272 21b6 E981 ldd r30,Y+1
		4032	4273 21b8 FA81 ldd r31,Y+2
		4033	4274 21ba B997 sbiw r30,41
		4034	4275 21bc 04F0 brlt .L389
		4035	4276 21be 8091 0000 lds r24,MotorenEin
		4036	4277 21c2 8823 tst r24
		4037	4278 21c4 01F0 breq .L389
		4038	4279 21c6 8091 0000 lds r24,modell_fliegt
		4039	4280 21ca 9091 0000 lds r25,(modell_fliegt)+1
		4040	4281 21ce FFEF ldi r31,hi8(-1)
		4041	4282 21d0 8F3F cpi r24,lo8(-1)
		4042	4283 21d2 9F07 cpc r25,r31
		4043	4284 21d4 01F0 breq .L389
		4044	4285 21d6 0196 adiw r24,1
		4045	4286 21d8 9093 0000 sts (modell_fliegt)+1,r25
		4046	4287 21dc 8093 0000 sts modell_fliegt,r24
		4047	4288 .L389:
		4048	4289 21e0 8091 0000 lds r24,modell_fliegt
		4049	4290 21e4 9091 0000 lds r25,(modell_fliegt)+1
		4050	4291 21e8 8F3F cpi r24,255
		4051	4292 21ea 9105 cpc r25,__zero_reg__
		4052	4293 21ec 01F0 breq .+2
		4053	4294 21ee 00F4 brsh .L391
		4054	4295 21f0 1092 0000 sts SummeNick,__zero_reg__
		4055	4296 21f4 1092 0000 sts (SummeNick)+1,__zero_reg__
		4056	4297 21f8 1092 0000 sts (SummeNick)+2,__zero_reg__
		4057	4298 21fc 1092 0000 sts (SummeNick)+3,__zero_reg__
		4058	4299 2200 1092 0000 sts SummeRoll,__zero_reg__
		4059	4300 2204 1092 0000 sts (SummeRoll)+1,__zero_reg__
		4060	4301 2208 1092 0000 sts (SummeRoll)+2,__zero_reg__
		4061	4302 220c 1092 0000 sts (SummeRoll)+3,__zero_reg__
		4062	4303 2210 1092 0000 sts sollGier.0,__zero_reg__
		4063	4304 2214 1092 0000 sts (sollGier.0)+1,__zero_reg__
		4064	4305 2218 1092 0000 sts (sollGier.0)+2,__zero_reg__
		4065	4306 221c 1092 0000 sts (sollGier.0)+3,__zero_reg__
		4066	4307 2220 1092 0000 sts Mess_Integral_Gier,__zero_reg__
		4067	4308 2224 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
		4068	4309 2228 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
		4069	4310 222c 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__
		4070	4311 2230 00C0 rjmp .L392
		4071	4312 .L391:
		4072	4313 2232 8091 0000 lds r24,FC_StatusFlags
		4073	4314 2236 8260 ori r24,lo8(2)
		4074	4315 2238 8093 0000 sts FC_StatusFlags,r24
		4075	4316 .L392:
		4076	4317 223c 8091 0000 lds r24,EE_Parameter+3
		4077	4318 2240 E82F mov r30,r24
		4078	4319 2242 FF27 clr r31
		4079	4320 2244 EE0F add r30,r30
		4080	4321 2246 FF1F adc r31,r31
		4081	4322 2248 E050 subi r30,lo8(-(PPM_in))
		4082	4323 224a F040 sbci r31,hi8(-(PPM_in))
		4083	4324 224c 8081 ld r24,Z
		4084	4325 224e 9181 ldd r25,Z+1
		4085	4326 2250 8135 cpi r24,81
		4086	4327 2252 9105 cpc r25,__zero_reg__
		4087	4328 2254 04F4 brge .+2
		4088	4329 2256 00C0 rjmp .L393
		4089	4330 2258 2091 0000 lds r18,MotorenEin
		4090	4331 225c 2223 tst r18
		4091	4332 225e 01F0 breq .+2
		4092	4333 2260 00C0 rjmp .L393
		4093	4334 2262 8091 0000 lds r24,EE_Parameter+4
		4094	4335 2266 E82F mov r30,r24
		4095	4336 2268 FF27 clr r31
		4096	4337 226a EE0F add r30,r30
		4097	4338 226c FF1F adc r31,r31
		4098	4339 226e E050 subi r30,lo8(-(PPM_in))
		4099	4340 2270 F040 sbci r31,hi8(-(PPM_in))
		4100	4341 2272 8081 ld r24,Z
		4101	4342 2274 9181 ldd r25,Z+1
		4102	4343 2276 8C34 cpi r24,76
		4103	4344 2278 9105 cpc r25,__zero_reg__
		4104	4345 227a 04F4 brge .+2
		4105	4346 227c 00C0 rjmp .L394
		4106	4347 227e 8091 0000 lds r24,delay_neutral.6
		4107	4348 2282 8F5F subi r24,lo8(-(1))
		4108	4349 2284 8093 0000 sts delay_neutral.6,r24
		4109	4350 2288 893C cpi r24,lo8(-55)
		4110	4351 228a 00F4 brsh .+2
		4111	4352 228c 00C0 rjmp .L393
		4112	4353 228e 2093 0000 sts delay_neutral.6,r18
		4113	4354 2292 1092 0000 sts (modell_fliegt)+1,__zero_reg__
		4114	4355 2296 1092 0000 sts modell_fliegt,__zero_reg__
		4115	4356 229a 3091 0000 lds r19,EE_Parameter+1
		4116	4357 229e E32F mov r30,r19
		4117	4358 22a0 FF27 clr r31
		4118	4359 22a2 EE0F add r30,r30
		4119	4360 22a4 FF1F adc r31,r31
		4120	4361 22a6 E050 subi r30,lo8(-(PPM_in))
		4121	4362 22a8 F040 sbci r31,hi8(-(PPM_in))
		4122	4363 22aa 8081 ld r24,Z
		4123	4364 22ac 9181 ldd r25,Z+1
		4124	4365 22ae 8734 cpi r24,71
		4125	4366 22b0 9105 cpc r25,__zero_reg__
		4126	4367 22b2 04F4 brge .L397
		4127	4368 22b4 8091 0000 lds r24,EE_Parameter+2
		4128	4369 22b8 E82F mov r30,r24
		4129	4370 22ba FF27 clr r31
		4130	4371 22bc EE0F add r30,r30
		4131	4372 22be FF1F adc r31,r31
		4132	4373 22c0 E050 subi r30,lo8(-(PPM_in))
		4133	4374 22c2 F040 sbci r31,hi8(-(PPM_in))
		4134	4375 22c4 8081 ld r24,Z
		4135	4376 22c6 9181 ldd r25,Z+1
		4136	4377 22c8 0190 ld __tmp_reg__,Z+
		4137	4378 22ca F081 ld r31,Z
		4138	4379 22cc E02D mov r30,__tmp_reg__
		4139	4380 22ce F7FF sbrs r31,7
		4140	4381 22d0 00C0 rjmp .L398
		4141	4382 22d2 F095 com r31
		4142	4383 22d4 E195 neg r30
		4143	4384 22d6 FF4F sbci r31,lo8(-1)
		4144	4385 .L398:
		4145	4386 22d8 E734 cpi r30,71
		4146	4387 22da F105 cpc r31,__zero_reg__
		4147	4388 22dc 04F4 brge .+2
		4148	4389 22de 00C0 rjmp .L396
		4149	4390 .L397:
		4150	4391 22e0 41E0 ldi r20,lo8(1)
		4151	4392 22e2 2091 0000 lds r18,EE_Parameter+2
		4152	4393 22e6 A22F mov r26,r18
		4153	4394 22e8 BB27 clr r27
		4154	4395 22ea AA0F add r26,r26
		4155	4396 22ec BB1F adc r27,r27
		4156	4397 22ee A050 subi r26,lo8(-(PPM_in))
		4157	4398 22f0 B040 sbci r27,hi8(-(PPM_in))
		4158	4399 22f2 8D91 ld r24,X+
		4159	4400 22f4 9C91 ld r25,X
		4160	4401 22f6 1197 sbiw r26,1
		4161	4402 22f8 8734 cpi r24,71
		4162	4403 22fa 9105 cpc r25,__zero_reg__
		4163	4404 22fc 04F0 brlt .L399
		4164	4405 22fe E32F mov r30,r19
		4165	4406 2300 FF27 clr r31
		4166	4407 2302 EE0F add r30,r30
		4167	4408 2304 FF1F adc r31,r31
		4168	4409 2306 E050 subi r30,lo8(-(PPM_in))
		4169	4410 2308 F040 sbci r31,hi8(-(PPM_in))
		4170	4411 230a 8081 ld r24,Z
		4171	4412 230c 9181 ldd r25,Z+1
		4172	4413 .L399:
		4173	4414 230e 8D91 ld r24,X+
		4174	4415 2310 9C91 ld r25,X
		4175	4416 2312 8734 cpi r24,71
		4176	4417 2314 9105 cpc r25,__zero_reg__
		4177	4418 2316 04F0 brlt .L400
		4178	4419 2318 8091 0000 lds r24,EE_Parameter+1
		4179	4420 231c E82F mov r30,r24
		4180	4421 231e FF27 clr r31
		4181	4422 2320 EE0F add r30,r30
		4182	4423 2322 FF1F adc r31,r31
		4183	4424 2324 E050 subi r30,lo8(-(PPM_in))
		4184	4425 2326 F040 sbci r31,hi8(-(PPM_in))
		4185	4426 2328 8081 ld r24,Z
		4186	4427 232a 9181 ldd r25,Z+1
		4187	4428 232c 8734 cpi r24,71
		4188	4429 232e 9105 cpc r25,__zero_reg__
		4189	4430 2330 04F0 brlt .L400
		4190	4431 2332 42E0 ldi r20,lo8(2)
		4191	4432 .L400:
		4192	4433 2334 E22F mov r30,r18
		4193	4434 2336 FF27 clr r31
		4194	4435 2338 EE0F add r30,r30
		4195	4436 233a FF1F adc r31,r31
		4196	4437 233c E050 subi r30,lo8(-(PPM_in))
		4197	4438 233e F040 sbci r31,hi8(-(PPM_in))
		4198	4439 2340 8081 ld r24,Z
		4199	4440 2342 9181 ldd r25,Z+1
		4200	4441 2344 8634 cpi r24,70
		4201	4442 2346 9105 cpc r25,__zero_reg__
		4202	4443 2348 04F4 brge .L401
		4203	4444 234a 8091 0000 lds r24,EE_Parameter+1
		4204	4445 234e E82F mov r30,r24
		4205	4446 2350 FF27 clr r31
		4206	4447 2352 EE0F add r30,r30
		4207	4448 2354 FF1F adc r31,r31
		4208	4449 2356 E050 subi r30,lo8(-(PPM_in))
		4209	4450 2358 F040 sbci r31,hi8(-(PPM_in))
		4210	4451 235a 8081 ld r24,Z
		4211	4452 235c 9181 ldd r25,Z+1
		4212	4453 235e 8734 cpi r24,71
		4213	4454 2360 9105 cpc r25,__zero_reg__
		4214	4455 2362 04F0 brlt .L401
		4215	4456 2364 43E0 ldi r20,lo8(3)
		4216	4457 .L401:
		4217	4458 2366 E22F mov r30,r18
		4218	4459 2368 FF27 clr r31
		4219	4460 236a EE0F add r30,r30
		4220	4461 236c FF1F adc r31,r31
		4221	4462 236e E050 subi r30,lo8(-(PPM_in))
		4222	4463 2370 F040 sbci r31,hi8(-(PPM_in))
		4223	4464 2372 8081 ld r24,Z
		4224	4465 2374 9181 ldd r25,Z+1
		4225	4466 2376 8A5B subi r24,lo8(-70)
		4226	4467 2378 9F4F sbci r25,hi8(-70)
		4227	4468 237a 04F4 brge .L402
		4228	4469 237c 8091 0000 lds r24,EE_Parameter+1
		4229	4470 2380 E82F mov r30,r24
		4230	4471 2382 FF27 clr r31
		4231	4472 2384 EE0F add r30,r30
		4232	4473 2386 FF1F adc r31,r31
		4233	4474 2388 E050 subi r30,lo8(-(PPM_in))
		4234	4475 238a F040 sbci r31,hi8(-(PPM_in))
		4235	4476 238c 8081 ld r24,Z
		4236	4477 238e 9181 ldd r25,Z+1
		4237	4478 2390 8734 cpi r24,71
		4238	4479 2392 9105 cpc r25,__zero_reg__
		4239	4480 2394 04F0 brlt .L402
		4240	4481 2396 44E0 ldi r20,lo8(4)
		4241	4482 .L402:
		4242	4483 2398 E22F mov r30,r18
		4243	4484 239a FF27 clr r31
		4244	4485 239c EE0F add r30,r30
		4245	4486 239e FF1F adc r31,r31
		4246	4487 23a0 E050 subi r30,lo8(-(PPM_in))
		4247	4488 23a2 F040 sbci r31,hi8(-(PPM_in))
		4248	4489 23a4 8081 ld r24,Z
		4249	4490 23a6 9181 ldd r25,Z+1
		4250	4491 23a8 8A5B subi r24,lo8(-70)
		4251	4492 23aa 9F4F sbci r25,hi8(-70)
		4252	4493 23ac 04F4 brge .L403
		4253	4494 23ae 8091 0000 lds r24,EE_Parameter+1
		4254	4495 23b2 E82F mov r30,r24
		4255	4496 23b4 FF27 clr r31
		4256	4497 23b6 EE0F add r30,r30
		4257	4498 23b8 FF1F adc r31,r31
		4258	4499 23ba E050 subi r30,lo8(-(PPM_in))
		4259	4500 23bc F040 sbci r31,hi8(-(PPM_in))
		4260	4501 23be 8081 ld r24,Z
		4261	4502 23c0 9181 ldd r25,Z+1
		4262	4503 23c2 8634 cpi r24,70
		4263	4504 23c4 9105 cpc r25,__zero_reg__
		4264	4505 23c6 04F4 brge .L403
		4265	4506 23c8 45E0 ldi r20,lo8(5)
		4266	4507 .L403:
		4267	4508 23ca 842F mov r24,r20
		4268	4509 23cc 0E94 0000 call SetActiveParamSet
		4269	4510 .L396:
		4270	4511 23d0 8091 0000 lds r24,EE_Parameter+2
		4271	4512 23d4 E82F mov r30,r24
		4272	4513 23d6 FF27 clr r31
		4273	4514 23d8 EE0F add r30,r30
		4274	4515 23da FF1F adc r31,r31
		4275	4516 23dc E050 subi r30,lo8(-(PPM_in))
		4276	4517 23de F040 sbci r31,hi8(-(PPM_in))
		4277	4518 23e0 8081 ld r24,Z
		4278	4519 23e2 9181 ldd r25,Z+1
		4279	4520 23e4 0190 ld __tmp_reg__,Z+
		4280	4521 23e6 F081 ld r31,Z
		4281	4522 23e8 E02D mov r30,__tmp_reg__
		4282	4523 23ea F7FF sbrs r31,7
		4283	4524 23ec 00C0 rjmp .L405
		4284	4525 23ee F095 com r31
		4285	4526 23f0 E195 neg r30
		4286	4527 23f2 FF4F sbci r31,lo8(-1)
		4287	4528 .L405:
		4288	4529 23f4 7E97 sbiw r30,30
		4289	4530 23f6 04F4 brge .L404
		4290	4531 23f8 8091 0000 lds r24,EE_Parameter+1
		4291	4532 23fc E82F mov r30,r24
		4292	4533 23fe FF27 clr r31
		4293	4534 2400 EE0F add r30,r30
		4294	4535 2402 FF1F adc r31,r31
		4295	4536 2404 E050 subi r30,lo8(-(PPM_in))
		4296	4537 2406 F040 sbci r31,hi8(-(PPM_in))
		4297	4538 2408 8081 ld r24,Z
		4298	4539 240a 9181 ldd r25,Z+1
		4299	4540 240c 8A5B subi r24,lo8(-70)
		4300	4541 240e 9F4F sbci r25,hi8(-70)
		4301	4542 2410 04F4 brge .L404
		4302	4543 2412 81E0 ldi r24,lo8(1)
		4303	4544 2414 8093 0000 sts WinkelOut+6,r24
		4304	4545 2418 1092 0000 sts CalibrationDone,__zero_reg__
		4305	4546 241c 88EE ldi r24,lo8(1000)
		4306	4547 241e 93E0 ldi r25,hi8(1000)
		4307	4548 2420 9093 0000 sts (beeptime)+1,r25
		4308	4549 2424 8093 0000 sts beeptime,r24
		4309	4550 2428 00C0 rjmp .L393
		4310	4551 .L404:
		4311	4552 242a 0E94 0000 call GetActiveParamSet
		4312	4553 242e 0E94 0000 call ParamSet_ReadFromEEProm
		4313	4554 2432 80E0 ldi r24,lo8(0)
		4314	4555 2434 0E94 0000 call LipoDetection
		4315	4556 2438 8091 0000 lds r24,EE_Parameter+39
		4316	4557 243c 0E94 0000 call LIBFC_ReceiverInit
		4317	4558 2440 8091 0000 lds r24,Parameter_GlobalConfig
		4318	4559 2444 80FF sbrs r24,0
		4319	4560 2446 00C0 rjmp .L407
		4320	4561 2448 8091 0000 lds r24,MessLuftdruck
		4321	4562 244c 9091 0000 lds r25,(MessLuftdruck)+1
		4322	4563 2450 875B subi r24,lo8(951)
		4323	4564 2452 9340 sbci r25,hi8(951)
		4324	4565 2454 00F4 brsh .L409
		4325	4566 2456 8091 0000 lds r24,MessLuftdruck
		4326	4567 245a 9091 0000 lds r25,(MessLuftdruck)+1
		4327	4568 245e 8E5E subi r24,lo8(750)
		4328	4569 2460 9240 sbci r25,hi8(750)
		4329	4570 2462 00F4 brsh .L407
		4330	4571 .L409:
		4331	4572 2464 0E94 0000 call SucheLuftruckOffset
		4332	4573 .L407:
		4333	4574 2468 80E0 ldi r24,lo8(0)
		4334	4575 246a 0E94 0000 call SetNeutral
		4335	4576 246e 81E0 ldi r24,lo8(1)
		4336	4577 2470 8093 0000 sts CalibrationDone,r24
		4337	4578 2474 8093 0000 sts ServoActive,r24
		4338	4579 2478 579A sbi 42-0x20,7
		4339	4580 247a 00C0 rjmp .L894
		4340	4581 .L394:
		4341	4582 247c 8081 ld r24,Z
		4342	4583 247e 9181 ldd r25,Z+1
		4343	4584 2480 855B subi r24,lo8(-75)
		4344	4585 2482 9F4F sbci r25,hi8(-75)
		4345	4586 2484 04F4 brge .L411
		4346	4587 2486 8091 0000 lds r24,delay_neutral.6
		4347	4588 248a 8F5F subi r24,lo8(-(1))
		4348	4589 248c 8093 0000 sts delay_neutral.6,r24
		4349	4590 2490 893C cpi r24,lo8(-55)
		4350	4591 2492 00F0 brlo .L393
		4351	4592 2494 2093 0000 sts MotorenEin,r18
		4352	4593 2498 2093 0000 sts delay_neutral.6,r18
		4353	4594 249c 1092 0000 sts (modell_fliegt)+1,__zero_reg__
		4354	4595 24a0 1092 0000 sts modell_fliegt,__zero_reg__
		4355	4596 24a4 81E0 ldi r24,lo8(1)
		4356	4597 24a6 0E94 0000 call SetNeutral
		4357	4598 24aa 81E0 ldi r24,lo8(1)
		4358	4599 24ac 8093 0000 sts CalibrationDone,r24
		4359	4600 .L894:
		4360	4601 24b0 88E1 ldi r24,lo8(24)
		4361	4602 24b2 8093 0000 sts SpeakHoTT,r24
		4362	4603 24b6 0E94 0000 call GetActiveParamSet
		4363	4604 24ba 68E7 ldi r22,lo8(120)
		4364	4605 24bc 70E0 ldi r23,hi8(120)
		4365	4606 24be 0E94 0000 call Piep
		4366	4607 24c2 00C0 rjmp .L393
		4367	4608 .L411:
		4368	4609 24c4 2093 0000 sts delay_neutral.6,r18
		4369	4610 .L393:
		4370	4611 24c8 8091 0000 lds r24,EE_Parameter+3
		4371	4612 24cc E82F mov r30,r24
		4372	4613 24ce FF27 clr r31
		4373	4614 24d0 EE0F add r30,r30
		4374	4615 24d2 FF1F adc r31,r31
		4375	4616 24d4 E050 subi r30,lo8(-(PPM_in))
		4376	4617 24d6 F040 sbci r31,hi8(-(PPM_in))
		4377	4618 24d8 8081 ld r24,Z
		4378	4619 24da 9181 ldd r25,Z+1
		4379	4620 24dc 8B5A subi r24,lo8(-85)
		4380	4621 24de 9F4F sbci r25,hi8(-85)
		4381	4622 24e0 04F0 brlt .+2
		4382	4623 24e2 00C0 rjmp .L414
		4383	4624 24e4 2091 0000 lds r18,EE_Parameter+100
		4384	4625 24e8 E22F mov r30,r18
		4385	4626 24ea FF27 clr r31
		4386	4627 24ec EF77 andi r30,lo8(127)
		4387	4628 24ee F070 andi r31,hi8(127)
		4388	4629 24f0 EE0F add r30,r30
		4389	4630 24f2 FF1F adc r31,r31
		4390	4631 24f4 E050 subi r30,lo8(-(PPM_diff))
		4391	4632 24f6 F040 sbci r31,hi8(-(PPM_diff))
		4392	4633 24f8 8081 ld r24,Z
		4393	4634 24fa 9181 ldd r25,Z+1
		4394	4635 24fc 0697 sbiw r24,6
		4395	4636 24fe 04F0 brlt .L415
		4396	4637 2500 84E6 ldi r24,lo8(100)
		4397	4638 2502 00C0 rjmp .L895
		4398	4639 .L415:
		4399	4640 2504 8081 ld r24,Z
		4400	4641 2506 9181 ldd r25,Z+1
		4401	4642 2508 8B5F subi r24,lo8(-5)
		4402	4643 250a 9F4F sbci r25,hi8(-5)
		4403	4644 250c 04F4 brge .L416
		4404	4645 250e 8CE9 ldi r24,lo8(-100)
		4405	4646 .L895:
		4406	4647 2510 8093 0000 sts move_safety_switch.9,r24
		4407	4648 .L416:
		4408	4649 2514 8091 0000 lds r24,MotorenEin
		4409	4650 2518 E091 0000 lds r30,EE_Parameter+4
		4410	4651 251c 8823 tst r24
		4411	4652 251e 01F0 breq .+2
		4412	4653 2520 00C0 rjmp .L418
		4413	4654 2522 FF27 clr r31
		4414	4655 2524 EE0F add r30,r30
		4415	4656 2526 FF1F adc r31,r31
		4416	4657 2528 E050 subi r30,lo8(-(PPM_in))
		4417	4658 252a F040 sbci r31,hi8(-(PPM_in))
		4418	4659 252c 8081 ld r24,Z
		4419	4660 252e 9181 ldd r25,Z+1
		4420	4661 2530 855B subi r24,lo8(-75)
		4421	4662 2532 9F4F sbci r25,hi8(-75)
		4422	4663 2534 04F4 brge .L421
		4423	4664 2536 8091 0000 lds r24,EE_Parameter+111
		4424	4665 253a 83FD sbrc r24,3
		4425	4666 253c 00C0 rjmp .L422
		4426	4667 253e E22F mov r30,r18
		4427	4668 2540 FF27 clr r31
		4428	4669 2542 EE0F add r30,r30
		4429	4670 2544 FF1F adc r31,r31
		4430	4671 2546 E050 subi r30,lo8(-(PPM_in))
		4431	4672 2548 F040 sbci r31,hi8(-(PPM_in))
		4432	4673 254a 8081 ld r24,Z
		4433	4674 254c 9181 ldd r25,Z+1
		4434	4675 254e 855B subi r24,lo8(-75)
		4435	4676 2550 9F4F sbci r25,hi8(-75)
		4436	4677 2552 04F0 brlt .L420
		4437	4678 .L422:
		4438	4679 2554 8091 0000 lds r24,EE_Parameter+100
		4439	4680 2558 8823 tst r24
		4440	4681 255a 01F0 breq .L420
		4441	4682 .L421:
		4442	4683 255c 8091 0000 lds r24,EE_Parameter+111
		4443	4684 2560 83FF sbrs r24,3
		4444	4685 2562 00C0 rjmp .L419
		4445	4686 2564 8091 0000 lds r24,EE_Parameter+100
		4446	4687 2568 E82F mov r30,r24
		4447	4688 256a FF27 clr r31
		4448	4689 256c EE0F add r30,r30
		4449	4690 256e FF1F adc r31,r31
		4450	4691 2570 E050 subi r30,lo8(-(PPM_in))
		4451	4692 2572 F040 sbci r31,hi8(-(PPM_in))
		4452	4693 2574 8081 ld r24,Z
		4453	4694 2576 9181 ldd r25,Z+1
		4454	4695 2578 875F subi r24,lo8(-9)
		4455	4696 257a 9F4F sbci r25,hi8(-9)
		4456	4697 257c 04F4 brge .+2
		4457	4698 257e 00C0 rjmp .L419
		4458	4699 2580 8091 0000 lds r24,move_safety_switch.9
		4459	4700 2584 8436 cpi r24,lo8(100)
		4460	4701 2586 01F0 breq .+2
		4461	4702 2588 00C0 rjmp .L419
		4462	4703 .L420:
		4463	4704 258a 2091 0000 lds r18,CalibrationDone
		4464	4705 258e 2223 tst r18
		4465	4706 2590 01F0 breq .L423
		4466	4707 2592 8091 0000 lds r24,FC_StatusFlags
		4467	4708 2596 8860 ori r24,lo8(8)
		4468	4709 2598 8093 0000 sts FC_StatusFlags,r24
		4469	4710 .L423:
		4470	4711 259c 8091 0000 lds r24,delay_einschalten.7
		4471	4712 25a0 8F5F subi r24,lo8(-(1))
		4472	4713 25a2 8093 0000 sts delay_einschalten.7,r24
		4473	4714 25a6 8E3F cpi r24,lo8(-2)
		4474	4715 25a8 00F4 brsh .+2
		4475	4716 25aa 00C0 rjmp .L429
		4476	4717 25ac 1092 0000 sts delay_einschalten.7,__zero_reg__
		4477	4718 25b0 8091 0000 lds r24,VersionInfo+5
		4478	4719 25b4 8823 tst r24
		4479	4720 25b6 01F0 breq .+2
		4480	4721 25b8 00C0 rjmp .L425
		4481	4722 25ba 2223 tst r18
		4482	4723 25bc 01F4 brne .+2
		4483	4724 25be 00C0 rjmp .L425
		4484	4725 25c0 8091 0000 lds r24,NC_ErrorCode
		4485	4726 25c4 8823 tst r24
		4486	4727 25c6 01F0 breq .+2
		4487	4728 25c8 00C0 rjmp .L425
		4488	4729 25ca 81E0 ldi r24,lo8(1)
		4489	4730 25cc 90E0 ldi r25,hi8(1)
		4490	4731 25ce 9093 0000 sts (modell_fliegt)+1,r25
		4491	4732 25d2 8093 0000 sts modell_fliegt,r24
		4492	4733 25d6 81E0 ldi r24,lo8(1)
		4493	4734 25d8 8093 0000 sts MotorenEin,r24
		4494	4735 25dc 1092 0000 sts sollGier.0,__zero_reg__
		4495	4736 25e0 1092 0000 sts (sollGier.0)+1,__zero_reg__
		4496	4737 25e4 1092 0000 sts (sollGier.0)+2,__zero_reg__
		4497	4738 25e8 1092 0000 sts (sollGier.0)+3,__zero_reg__
		4498	4739 25ec 1092 0000 sts Mess_Integral_Gier,__zero_reg__
		4499	4740 25f0 1092 0000 sts (Mess_Integral_Gier)+1,__zero_reg__
		4500	4741 25f4 1092 0000 sts (Mess_Integral_Gier)+2,__zero_reg__
		4501	4742 25f8 1092 0000 sts (Mess_Integral_Gier)+3,__zero_reg__
		4502	4743 25fc 1092 0000 sts Mess_Integral_Gier2,__zero_reg__
		4503	4744 2600 1092 0000 sts (Mess_Integral_Gier2)+1,__zero_reg__
		4504	4745 2604 1092 0000 sts (Mess_Integral_Gier2)+2,__zero_reg__
		4505	4746 2608 1092 0000 sts (Mess_Integral_Gier2)+3,__zero_reg__
		4506	4747 260c 8091 0000 lds r24,EE_Parameter+28
		4507	4748 2610 E82E mov r14,r24
		4508	4749 2612 FF24 clr r15
		4509	4750 2614 0027 clr r16
		4510	4751 2616 1127 clr r17
		4511	4752 2618 8091 0000 lds r24,Mittelwert_AccNick
		4512	4753 261c 9091 0000 lds r25,(Mittelwert_AccNick)+1
		4513	4754 2620 9C01 movw r18,r24
		4514	4755 2622 4427 clr r20
		4515	4756 2624 37FD sbrc r19,7
		4516	4757 2626 4095 com r20
		4517	4758 2628 542F mov r21,r20
		4518	4759 262a C801 movw r24,r16
		4519	4760 262c B701 movw r22,r14
		4520	4761 262e 0E94 0000 call __mulsi3
		4521	4762 2632 DC01 movw r26,r24
		4522	4763 2634 CB01 movw r24,r22
		4523	4764 2636 8093 0000 sts Mess_IntegralNick,r24
		4524	4765 263a 9093 0000 sts (Mess_IntegralNick)+1,r25
		4525	4766 263e A093 0000 sts (Mess_IntegralNick)+2,r26
		4526	4767 2642 B093 0000 sts (Mess_IntegralNick)+3,r27
		4527	4768 2646 8091 0000 lds r24,Mittelwert_AccRoll
		4528	4769 264a 9091 0000 lds r25,(Mittelwert_AccRoll)+1
		4529	4770 264e 9C01 movw r18,r24
		4530	4771 2650 4427 clr r20
		4531	4772 2652 37FD sbrc r19,7
		4532	4773 2654 4095 com r20
		4533	4774 2656 542F mov r21,r20
		4534	4775 2658 C801 movw r24,r16
		4535	4776 265a B701 movw r22,r14
		4536	4777 265c 0E94 0000 call __mulsi3
		4537	4778 2660 DC01 movw r26,r24
		4538	4779 2662 CB01 movw r24,r22
		4539	4780 2664 8093 0000 sts Mess_IntegralRoll,r24
		4540	4781 2668 9093 0000 sts (Mess_IntegralRoll)+1,r25
		4541	4782 266c A093 0000 sts (Mess_IntegralRoll)+2,r26
		4542	4783 2670 B093 0000 sts (Mess_IntegralRoll)+3,r27
		4543	4784 2674 8091 0000 lds r24,IntegralNick
		4544	4785 2678 9091 0000 lds r25,(IntegralNick)+1
		4545	4786 267c A091 0000 lds r26,(IntegralNick)+2
		4546	4787 2680 B091 0000 lds r27,(IntegralNick)+3
		4547	4788 2684 8093 0000 sts Mess_IntegralNick2,r24
		4548	4789 2688 9093 0000 sts (Mess_IntegralNick2)+1,r25
		4549	4790 268c A093 0000 sts (Mess_IntegralNick2)+2,r26
		4550	4791 2690 B093 0000 sts (Mess_IntegralNick2)+3,r27
		4551	4792 2694 8091 0000 lds r24,IntegralRoll
		4552	4793 2698 9091 0000 lds r25,(IntegralRoll)+1
		4553	4794 269c A091 0000 lds r26,(IntegralRoll)+2
		4554	4795 26a0 B091 0000 lds r27,(IntegralRoll)+3
		4555	4796 26a4 8093 0000 sts Mess_IntegralRoll2,r24
		4556	4797 26a8 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		4557	4798 26ac A093 0000 sts (Mess_IntegralRoll2)+2,r26
		4558	4799 26b0 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		4559	4800 26b4 1092 0000 sts SummeNick,__zero_reg__
		4560	4801 26b8 1092 0000 sts (SummeNick)+1,__zero_reg__
		4561	4802 26bc 1092 0000 sts (SummeNick)+2,__zero_reg__
		4562	4803 26c0 1092 0000 sts (SummeNick)+3,__zero_reg__
		4563	4804 26c4 1092 0000 sts SummeRoll,__zero_reg__
		4564	4805 26c8 1092 0000 sts (SummeRoll)+1,__zero_reg__
		4565	4806 26cc 1092 0000 sts (SummeRoll)+2,__zero_reg__
		4566	4807 26d0 1092 0000 sts (SummeRoll)+3,__zero_reg__
		4567	4808 26d4 84E6 ldi r24,lo8(100)
		4568	4809 26d6 8093 0000 sts NeueKompassRichtungMerken,r24
		4569	4810 26da 84E3 ldi r24,lo8(52)
		4570	4811 26dc 00C0 rjmp .L896
		4571	4812 .L425:
		4572	4813 26de 8CED ldi r24,lo8(1500)
		4573	4814 26e0 95E0 ldi r25,hi8(1500)
		4574	4815 26e2 9093 0000 sts (beeptime)+1,r25
		4575	4816 26e6 8093 0000 sts beeptime,r24
		4576	4817 26ea 2223 tst r18
		4577	4818 26ec 01F0 breq .+2
		4578	4819 26ee 00C0 rjmp .L429
		4579	4820 26f0 81E0 ldi r24,lo8(1)
		4580	4821 26f2 00C0 rjmp .L896
		4581	4822 .L419:
		4582	4823 26f4 1092 0000 sts delay_einschalten.7,__zero_reg__
		4583	4824 26f8 00C0 rjmp .L429
		4584	4825 .L418:
		4585	4826 26fa FF27 clr r31
		4586	4827 26fc EE0F add r30,r30
		4587	4828 26fe FF1F adc r31,r31
		4588	4829 2700 E050 subi r30,lo8(-(PPM_in))
		4589	4830 2702 F040 sbci r31,hi8(-(PPM_in))
		4590	4831 2704 8081 ld r24,Z
		4591	4832 2706 9181 ldd r25,Z+1
		4592	4833 2708 8C34 cpi r24,76
		4593	4834 270a 9105 cpc r25,__zero_reg__
		4594	4835 270c 04F0 brlt .L432
		4595	4836 270e 8091 0000 lds r24,EE_Parameter+111
		4596	4837 2712 83FD sbrc r24,3
		4597	4838 2714 00C0 rjmp .L433
		4598	4839 2716 E22F mov r30,r18
		4599	4840 2718 FF27 clr r31
		4600	4841 271a EE0F add r30,r30
		4601	4842 271c FF1F adc r31,r31
		4602	4843 271e E050 subi r30,lo8(-(PPM_in))
		4603	4844 2720 F040 sbci r31,hi8(-(PPM_in))
		4604	4845 2722 8081 ld r24,Z
		4605	4846 2724 9181 ldd r25,Z+1
		4606	4847 2726 855B subi r24,lo8(-75)
		4607	4848 2728 9F4F sbci r25,hi8(-75)
		4608	4849 272a 04F0 brlt .L431
		4609	4850 .L433:
		4610	4851 272c 8091 0000 lds r24,EE_Parameter+100
		4611	4852 2730 8823 tst r24
		4612	4853 2732 01F0 breq .L431
		4613	4854 .L432:
		4614	4855 2734 8091 0000 lds r24,EE_Parameter+111
		4615	4856 2738 83FF sbrs r24,3
		4616	4857 273a 00C0 rjmp .L430
		4617	4858 273c 8091 0000 lds r24,EE_Parameter+100
		4618	4859 2740 E82F mov r30,r24
		4619	4860 2742 FF27 clr r31
		4620	4861 2744 EE0F add r30,r30
		4621	4862 2746 FF1F adc r31,r31
		4622	4863 2748 E050 subi r30,lo8(-(PPM_in))
		4623	4864 274a F040 sbci r31,hi8(-(PPM_in))
		4624	4865 274c 8081 ld r24,Z
		4625	4866 274e 9181 ldd r25,Z+1
		4626	4867 2750 8E5C subi r24,lo8(-50)
		4627	4868 2752 9F4F sbci r25,hi8(-50)
		4628	4869 2754 04F4 brge .L430
		4629	4870 2756 8091 0000 lds r24,move_safety_switch.9
		4630	4871 275a 8C39 cpi r24,lo8(-100)
		4631	4872 275c 01F4 brne .L430
		4632	4873 .L431:
		4633	4874 275e 8091 0000 lds r24,delay_ausschalten.8
		4634	4875 2762 8F5F subi r24,lo8(-(1))
		4635	4876 2764 8093 0000 sts delay_ausschalten.8,r24
		4636	4877 2768 8B3F cpi r24,lo8(-5)
		4637	4878 276a 00F0 brlo .L429
		4638	4879 276c 1092 0000 sts MotorenEin,__zero_reg__
		4639	4880 2770 1092 0000 sts delay_ausschalten.8,__zero_reg__
		4640	4881 2774 1092 0000 sts (modell_fliegt)+1,__zero_reg__
		4641	4882 2778 1092 0000 sts modell_fliegt,__zero_reg__
		4642	4883 277c 86E2 ldi r24,lo8(38)
		4643	4884 .L896:
		4644	4885 277e 8093 0000 sts SpeakHoTT,r24
		4645	4886 2782 00C0 rjmp .L429
		4646	4887 .L430:
		4647	4888 2784 1092 0000 sts delay_ausschalten.8,__zero_reg__
		4648	4889 .L429:
		4649	4890 2788 8091 0000 lds r24,GasIsZeroCnt
		4650	4891 278c 9091 0000 lds r25,(GasIsZeroCnt)+1
		4651	4892 2790 13E0 ldi r17,hi8(1000)
		4652	4893 2792 883E cpi r24,lo8(1000)
		4653	4894 2794 9107 cpc r25,r17
		4654	4895 2796 00F4 brsh .L387
		4655	4896 2798 0196 adiw r24,1
		4656	4897 279a 9093 0000 sts (GasIsZeroCnt)+1,r25
		4657	4898 279e 8093 0000 sts GasIsZeroCnt,r24
		4658	4899 27a2 00C0 rjmp .L387
		4659	4900 .L414:
		4660	4901 27a4 1092 0000 sts move_safety_switch.9,__zero_reg__
		4661	4902 27a8 1092 0000 sts (GasIsZeroCnt)+1,__zero_reg__
		4662	4903 27ac 1092 0000 sts GasIsZeroCnt,__zero_reg__
		4663	4904 27b0 00C0 rjmp .L387
		4664	4905 .L388:
		4665	4906 27b2 2E5E subi r18,lo8(750)
		4666	4907 27b4 3240 sbci r19,hi8(750)
		4667	4908 27b6 00F0 brlo .L387
		4668	4909 27b8 8091 0000 lds r24,GPSInfo+4
		4669	4910 27bc 9091 0000 lds r25,(GPSInfo+4)+1
		4670	4911 27c0 8059 subi r24,lo8(400)
		4671	4912 27c2 9140 sbci r25,hi8(400)
		4672	4913 27c4 00F4 brsh .L387
		4673	4914 27c6 8091 0000 lds r24,HoehenWert
		4674	4915 27ca 9091 0000 lds r25,(HoehenWert)+1
		4675	4916 27ce A091 0000 lds r26,(HoehenWert)+2
		4676	4917 27d2 B091 0000 lds r27,(HoehenWert)+3
		4677	4918 27d6 8C5D subi r24,lo8(1500)
		4678	4919 27d8 9540 sbci r25,hi8(1500)
		4679	4920 27da A040 sbci r26,hlo8(1500)
		4680	4921 27dc B040 sbci r27,hhi8(1500)
		4681	4922 27de 04F4 brge .L387
		4682	4923 27e0 80E3 ldi r24,lo8(30000)
		4683	4924 27e2 95E7 ldi r25,hi8(30000)
		4684	4925 27e4 9093 0000 sts (GasIsZeroCnt)+1,r25
		4685	4926 27e8 8093 0000 sts GasIsZeroCnt,r24
		4686	4927 27ec 8091 0000 lds r24,modell_fliegt
		4687	4928 27f0 9091 0000 lds r25,(modell_fliegt)+1
		4688	4929 27f4 8A5E subi r24,lo8(1002)
		4689	4930 27f6 9340 sbci r25,hi8(1002)
		4690	4931 27f8 00F0 brlo .L387
		4691	4932 27fa 89EE ldi r24,lo8(1001)
		4692	4933 27fc 93E0 ldi r25,hi8(1001)
		4693	4934 27fe 9093 0000 sts (modell_fliegt)+1,r25
		4694	4935 2802 8093 0000 sts modell_fliegt,r24
		4695	4936 .L387:
		4696	4937 2806 8091 0000 lds r24,NewPpmData
		4697	4938 280a 8150 subi r24,lo8(-(-1))
		4698	4939 280c 8093 0000 sts NewPpmData,r24
		4699	4940 2810 8091 0000 lds r24,NewPpmData
		4700	4941 2814 8F3F cpi r24,lo8(-1)
		4701	4942 2816 01F0 breq .L443
		4702	4943 2818 8091 0000 lds r24,FC_StatusFlags
		4703	4944 281c 84FF sbrs r24,4
		4704	4945 281e 00C0 rjmp .L442
		4705	4946 .L443:
		4706	4947 2820 0E94 0000 call ParameterZuordnung
		4707	4948 2824 B090 0000 lds r11,EE_Parameter+23
		4708	4949 2828 8091 0000 lds r24,stick_nick.12
		4709	4950 282c 9091 0000 lds r25,(stick_nick.12)+1
		4710	4951 2830 9C01 movw r18,r24
		4711	4952 2832 220F lsl r18
		4712	4953 2834 331F rol r19
		4713	4954 2836 280F add r18,r24
		4714	4955 2838 391F adc r19,r25
		4715	4956 283a C090 0000 lds r12,EE_Parameter+1
		4716	4957 283e AC2D mov r26,r12
		4717	4958 2840 BB27 clr r27
		4718	4959 2842 AA0F add r26,r26
		4719	4960 2844 BB1F adc r27,r27
		4720	4961 2846 FD01 movw r30,r26
		4721	4962 2848 E050 subi r30,lo8(-(PPM_in))
		4722	4963 284a F040 sbci r31,hi8(-(PPM_in))
		4723	4964 284c 4B2D mov r20,r11
		4724	4965 284e 5527 clr r21
		4725	4966 2850 8081 ld r24,Z
		4726	4967 2852 9181 ldd r25,Z+1
		4727	4968 2854 849F mul r24,r20
		4728	4969 2856 F001 movw r30,r0
		4729	4970 2858 859F mul r24,r21
		4730	4971 285a F00D add r31,r0
		4731	4972 285c 949F mul r25,r20
		4732	4973 285e F00D add r31,r0
		4733	4974 2860 1124 clr r1
		4734	4975 2862 2E0F add r18,r30
		4735	4976 2864 3F1F adc r19,r31
		4736	4977 2866 37FF sbrs r19,7
		4737	4978 2868 00C0 rjmp .L444
		4738	4979 286a 2D5F subi r18,lo8(-(3))
		4739	4980 286c 3F4F sbci r19,hi8(-(3))
		4740	4981 .L444:
		4741	4982 286e B901 movw r22,r18
		4742	4983 2870 7595 asr r23
		4743	4984 2872 6795 ror r22
		4744	4985 2874 7595 asr r23
		4745	4986 2876 6795 ror r22
		4746	4987 2878 A050 subi r26,lo8(-(PPM_diff))
		4747	4988 287a B040 sbci r27,hi8(-(PPM_diff))
		4748	4989 287c 8091 0000 lds r24,EE_Parameter+24
		4749	4990 2880 082F mov r16,r24
		4750	4991 2882 1127 clr r17
		4751	4992 2884 8D91 ld r24,X+
		4752	4993 2886 9C91 ld r25,X
		4753	4994 2888 809F mul r24,r16
		4754	4995 288a 7001 movw r14,r0
		4755	4996 288c 819F mul r24,r17
		4756	4997 288e F00C add r15,r0
		4757	4998 2890 909F mul r25,r16
		4758	4999 2892 F00C add r15,r0
		4759	5000 2894 1124 clr r1
		4760	5001 2896 6E0D add r22,r14
		4761	5002 2898 7F1D adc r23,r15
		4762	5003 289a 7093 0000 sts (stick_nick.12)+1,r23
		4763	5004 289e 6093 0000 sts stick_nick.12,r22
		4764	5005 28a2 8091 0000 lds r24,stick_roll.13
		4765	5006 28a6 9091 0000 lds r25,(stick_roll.13)+1
		4766	5007 28aa 9C01 movw r18,r24
		4767	5008 28ac 220F lsl r18
		4768	5009 28ae 331F rol r19
		4769	5010 28b0 280F add r18,r24
		4770	5011 28b2 391F adc r19,r25
		4771	5012 28b4 D090 0000 lds r13,EE_Parameter+2
		4772	5013 28b8 AD2D mov r26,r13
		4773	5014 28ba BB27 clr r27
		4774	5015 28bc AA0F add r26,r26
		4775	5016 28be BB1F adc r27,r27
		4776	5017 28c0 FD01 movw r30,r26
		4777	5018 28c2 E050 subi r30,lo8(-(PPM_in))
		4778	5019 28c4 F040 sbci r31,hi8(-(PPM_in))
		4779	5020 28c6 8081 ld r24,Z
		4780	5021 28c8 9181 ldd r25,Z+1
		4781	5022 28ca 849F mul r24,r20
		4782	5023 28cc F001 movw r30,r0
		4783	5024 28ce 859F mul r24,r21
		4784	5025 28d0 F00D add r31,r0
		4785	5026 28d2 949F mul r25,r20
		4786	5027 28d4 F00D add r31,r0
		4787	5028 28d6 1124 clr r1
		4788	5029 28d8 2E0F add r18,r30
		4789	5030 28da 3F1F adc r19,r31
		4790	5031 28dc 37FF sbrs r19,7
		4791	5032 28de 00C0 rjmp .L445
		4792	5033 28e0 2D5F subi r18,lo8(-(3))
		4793	5034 28e2 3F4F sbci r19,hi8(-(3))
		4794	5035 .L445:
		4795	5036 28e4 A901 movw r20,r18
		4796	5037 28e6 5595 asr r21
		4797	5038 28e8 4795 ror r20
		4798	5039 28ea 5595 asr r21
		4799	5040 28ec 4795 ror r20
		4800	5041 28ee A050 subi r26,lo8(-(PPM_diff))
		4801	5042 28f0 B040 sbci r27,hi8(-(PPM_diff))
		4802	5043 28f2 8D91 ld r24,X+
		4803	5044 28f4 9C91 ld r25,X
		4804	5045 28f6 809F mul r24,r16
		4805	5046 28f8 7001 movw r14,r0
		4806	5047 28fa 819F mul r24,r17
		4807	5048 28fc F00C add r15,r0
		4808	5049 28fe 909F mul r25,r16
		4809	5050 2900 F00C add r15,r0
		4810	5051 2902 1124 clr r1
		4811	5052 2904 4E0D add r20,r14
		4812	5053 2906 5F1D adc r21,r15
		4813	5054 2908 5093 0000 sts (stick_roll.13)+1,r21
		4814	5055 290c 4093 0000 sts stick_roll.13,r20
		4815	5056 2910 8091 0000 lds r24,CareFree
		4816	5057 2914 8823 tst r24
		4817	5058 2916 01F4 brne .+2
		4818	5059 2918 00C0 rjmp .L446
		4819	5060 291a CB01 movw r24,r22
		4820	5061 291c 77FD sbrc r23,7
		4821	5062 291e 0396 adiw r24,3
		4822	5063 .L447:
		4823	5064 2920 DC01 movw r26,r24
		4824	5065 2922 B595 asr r27
		4825	5066 2924 A795 ror r26
		4826	5067 2926 B595 asr r27
		4827	5068 2928 A795 ror r26
		4828	5069 292a CA01 movw r24,r20
		4829	5070 292c 57FD sbrc r21,7
		4830	5071 292e 0396 adiw r24,3
		4831	5072 .L448:
		4832	5073 2930 FC01 movw r30,r24
		4833	5074 2932 F595 asr r31
		4834	5075 2934 E795 ror r30
		4835	5076 2936 F595 asr r31
		4836	5077 2938 E795 ror r30
		4837	5078 293a 8091 0000 lds r24,FromNC_Rotate_C
		4838	5079 293e 682F mov r22,r24
		4839	5080 2940 7727 clr r23
		4840	5081 2942 67FD sbrc r22,7
		4841	5082 2944 7095 com r23
		4842	5083 2946 6A9F mul r22,r26
		4843	5084 2948 9001 movw r18,r0
		4844	5085 294a 6B9F mul r22,r27
		4845	5086 294c 300D add r19,r0
		4846	5087 294e 7A9F mul r23,r26
		4847	5088 2950 300D add r19,r0
		4848	5089 2952 1124 clr r1
		4849	5090 2954 8091 0000 lds r24,FromNC_Rotate_S
		4850	5091 2958 482F mov r20,r24
		4851	5092 295a 5527 clr r21
		4852	5093 295c 47FD sbrc r20,7
		4853	5094 295e 5095 com r21
		4854	5095 2960 4E9F mul r20,r30
		4855	5096 2962 C001 movw r24,r0
		4856	5097 2964 4F9F mul r20,r31
		4857	5098 2966 900D add r25,r0
		4858	5099 2968 5E9F mul r21,r30
		4859	5100 296a 900D add r25,r0
		4860	5101 296c 1124 clr r1
		4861	5102 296e 280F add r18,r24
		4862	5103 2970 391F adc r19,r25
		4863	5104 2972 37FF sbrs r19,7
		4864	5105 2974 00C0 rjmp .L449
		4865	5106 2976 295F subi r18,lo8(-(7))
		4866	5107 2978 3F4F sbci r19,hi8(-(7))
		4867	5108 .L449:
		4868	5109 297a 93E0 ldi r25,3
		4869	5110 297c 3595 1: asr r19
		4870	5111 297e 2795 ror r18
		4871	5112 2980 9A95 dec r25
		4872	5113 2982 01F4 brne 1b
		4873	5114 2984 3093 0000 sts (StickNick)+1,r19
		4874	5115 2988 2093 0000 sts StickNick,r18
		4875	5116 298c 6E9F mul r22,r30
		4876	5117 298e 9001 movw r18,r0
		4877	5118 2990 6F9F mul r22,r31
		4878	5119 2992 300D add r19,r0
		4879	5120 2994 7E9F mul r23,r30
		4880	5121 2996 300D add r19,r0
		4881	5122 2998 1124 clr r1
		4882	5123 299a 4A9F mul r20,r26
		4883	5124 299c C001 movw r24,r0
		4884	5125 299e 4B9F mul r20,r27
		4885	5126 29a0 900D add r25,r0
		4886	5127 29a2 5A9F mul r21,r26
		4887	5128 29a4 900D add r25,r0
		4888	5129 29a6 1124 clr r1
		4889	5130 29a8 00C0 rjmp .L925
		4890	5131 .L446:
		4891	5132 29aa 8091 0000 lds r24,EE_Parameter+98
		4892	5133 29ae E82F mov r30,r24
		4893	5134 29b0 FF27 clr r31
		4894	5135 29b2 E050 subi r30,lo8(-(sintab))
		4895	5136 29b4 F040 sbci r31,hi8(-(sintab))
		4896	5137 29b6 8681 ldd r24,Z+6
		4897	5138 29b8 8093 0000 sts FromNC_Rotate_C,r24
		4898	5139 29bc 9081 ld r25,Z
		4899	5140 29be 9093 0000 sts FromNC_Rotate_S,r25
		4900	5141 29c2 A82F mov r26,r24
		4901	5142 29c4 BB27 clr r27
		4902	5143 29c6 A7FD sbrc r26,7
		4903	5144 29c8 B095 com r27
		4904	5145 29ca A69F mul r26,r22
		4905	5146 29cc 9001 movw r18,r0
		4906	5147 29ce A79F mul r26,r23
		4907	5148 29d0 300D add r19,r0
		4908	5149 29d2 B69F mul r27,r22
		4909	5150 29d4 300D add r19,r0
		4910	5151 29d6 1124 clr r1
		4911	5152 29d8 E92F mov r30,r25
		4912	5153 29da FF27 clr r31
		4913	5154 29dc E7FD sbrc r30,7
		4914	5155 29de F095 com r31
		4915	5156 29e0 E49F mul r30,r20
		4916	5157 29e2 C001 movw r24,r0
		4917	5158 29e4 E59F mul r30,r21
		4918	5159 29e6 900D add r25,r0
		4919	5160 29e8 F49F mul r31,r20
		4920	5161 29ea 900D add r25,r0
		4921	5162 29ec 1124 clr r1
		4922	5163 29ee 280F add r18,r24
		4923	5164 29f0 391F adc r19,r25
		4924	5165 29f2 37FF sbrs r19,7
		4925	5166 29f4 00C0 rjmp .L452
		4926	5167 29f6 295F subi r18,lo8(-(7))
		4927	5168 29f8 3F4F sbci r19,hi8(-(7))
		4928	5169 .L452:
		4929	5170 29fa 83E0 ldi r24,3
		4930	5171 29fc 3595 1: asr r19
		4931	5172 29fe 2795 ror r18
		4932	5173 2a00 8A95 dec r24
		4933	5174 2a02 01F4 brne 1b
		4934	5175 2a04 3093 0000 sts (StickNick)+1,r19
		4935	5176 2a08 2093 0000 sts StickNick,r18
		4936	5177 2a0c A49F mul r26,r20
		4937	5178 2a0e 9001 movw r18,r0
		4938	5179 2a10 A59F mul r26,r21
		4939	5180 2a12 300D add r19,r0
		4940	5181 2a14 B49F mul r27,r20
		4941	5182 2a16 300D add r19,r0
		4942	5183 2a18 1124 clr r1
		4943	5184 2a1a E69F mul r30,r22
		4944	5185 2a1c C001 movw r24,r0
		4945	5186 2a1e E79F mul r30,r23
		4946	5187 2a20 900D add r25,r0
		4947	5188 2a22 F69F mul r31,r22
		4948	5189 2a24 900D add r25,r0
		4949	5190 2a26 1124 clr r1
		4950	5191 .L925:
		4951	5192 2a28 281B sub r18,r24
		4952	5193 2a2a 390B sbc r19,r25
		4953	5194 2a2c 37FF sbrs r19,7
		4954	5195 2a2e 00C0 rjmp .L453
		4955	5196 2a30 295F subi r18,lo8(-(7))
		4956	5197 2a32 3F4F sbci r19,hi8(-(7))
		4957	5198 .L453:
		4958	5199 2a34 03E0 ldi r16,3
		4959	5200 2a36 3595 1: asr r19
		4960	5201 2a38 2795 ror r18
		4961	5202 2a3a 0A95 dec r16
		4962	5203 2a3c 01F4 brne 1b
		4963	5204 2a3e 3093 0000 sts (StickRoll)+1,r19
		4964	5205 2a42 2093 0000 sts StickRoll,r18
		4965	5206 2a46 8091 0000 lds r24,EE_Parameter+4
		4966	5207 2a4a E82F mov r30,r24
		4967	5208 2a4c FF27 clr r31
		4968	5209 2a4e EE0F add r30,r30
		4969	5210 2a50 FF1F adc r31,r31
		4970	5211 2a52 E050 subi r30,lo8(-(PPM_in))
		4971	5212 2a54 F040 sbci r31,hi8(-(PPM_in))
		4972	5213 2a56 8081 ld r24,Z
		4973	5214 2a58 9181 ldd r25,Z+1
		4974	5215 2a5a 9095 com r25
		4975	5216 2a5c 8195 neg r24
		4976	5217 2a5e 9F4F sbci r25,lo8(-1)
		4977	5218 2a60 9093 0000 sts (StickGier)+1,r25
		4978	5219 2a64 8093 0000 sts StickGier,r24
		4979	5220 2a68 8530 cpi r24,5
		4980	5221 2a6a 9105 cpc r25,__zero_reg__
		4981	5222 2a6c 04F0 brlt .L454
		4982	5223 2a6e 0497 sbiw r24,4
		4983	5224 2a70 00C0 rjmp .L897
		4984	5225 .L454:
		4985	5226 2a72 0FEF ldi r16,hi8(-4)
		4986	5227 2a74 8C3F cpi r24,lo8(-4)
		4987	5228 2a76 9007 cpc r25,r16
		4988	5229 2a78 04F4 brge .L456
		4989	5230 2a7a 0496 adiw r24,4
		4990	5231 .L897:
		4991	5232 2a7c 9093 0000 sts (StickGier)+1,r25
		4992	5233 2a80 8093 0000 sts StickGier,r24
		4993	5234 2a84 00C0 rjmp .L455
		4994	5235 .L456:
		4995	5236 2a86 1092 0000 sts (StickGier)+1,__zero_reg__
		4996	5237 2a8a 1092 0000 sts StickGier,__zero_reg__
		4997	5238 .L455:
		4998	5239 2a8e 8091 0000 lds r24,GPS_Aid_StickMultiplikator
		4999	5240 2a92 8823 tst r24
		5000	5241 2a94 01F4 brne .+2
		5001	5242 2a96 00C0 rjmp .L458
		5002	5243 2a98 282F mov r18,r24
		5003	5244 2a9a 3327 clr r19
		5004	5245 2a9c 8091 0000 lds r24,StickNick
		5005	5246 2aa0 9091 0000 lds r25,(StickNick)+1
		5006	5247 2aa4 97FD sbrc r25,7
		5007	5248 2aa6 0796 adiw r24,7
		5008	5249 .L459:
		5009	5250 2aa8 13E0 ldi r17,3
		5010	5251 2aaa 9595 1: asr r25
		5011	5252 2aac 8795 ror r24
		5012	5253 2aae 1A95 dec r17
		5013	5254 2ab0 01F4 brne 1b
		5014	5255 2ab2 289F mul r18,r24
		5015	5256 2ab4 A001 movw r20,r0
		5016	5257 2ab6 299F mul r18,r25
		5017	5258 2ab8 500D add r21,r0
		5018	5259 2aba 389F mul r19,r24
		5019	5260 2abc 500D add r21,r0
		5020	5261 2abe 1124 clr r1
		5021	5262 2ac0 CA01 movw r24,r20
		5022	5263 2ac2 57FD sbrc r21,7
		5023	5264 2ac4 0F96 adiw r24,15
		5024	5265 .L460:
		5025	5266 2ac6 B4E0 ldi r27,4
		5026	5267 2ac8 9595 1: asr r25
		5027	5268 2aca 8795 ror r24
		5028	5269 2acc BA95 dec r27
		5029	5270 2ace 01F4 brne 1b
		5030	5271 2ad0 9093 0000 sts (StickNick)+1,r25
		5031	5272 2ad4 8093 0000 sts StickNick,r24
		5032	5273 2ad8 8091 0000 lds r24,StickRoll
		5033	5274 2adc 9091 0000 lds r25,(StickRoll)+1
		5034	5275 2ae0 97FD sbrc r25,7
		5035	5276 2ae2 0796 adiw r24,7
		5036	5277 .L461:
		5037	5278 2ae4 A3E0 ldi r26,3
		5038	5279 2ae6 9595 1: asr r25
		5039	5280 2ae8 8795 ror r24
		5040	5281 2aea AA95 dec r26
		5041	5282 2aec 01F4 brne 1b
		5042	5283 2aee 289F mul r18,r24
		5043	5284 2af0 B001 movw r22,r0
		5044	5285 2af2 299F mul r18,r25
		5045	5286 2af4 700D add r23,r0
		5046	5287 2af6 389F mul r19,r24
		5047	5288 2af8 700D add r23,r0
		5048	5289 2afa 1124 clr r1
		5049	5290 2afc CB01 movw r24,r22
		5050	5291 2afe 77FD sbrc r23,7
		5051	5292 2b00 0F96 adiw r24,15
		5052	5293 .L462:
		5053	5294 2b02 F4E0 ldi r31,4
		5054	5295 2b04 9595 1: asr r25
		5055	5296 2b06 8795 ror r24
		5056	5297 2b08 FA95 dec r31
		5057	5298 2b0a 01F4 brne 1b
		5058	5299 2b0c 9093 0000 sts (StickRoll)+1,r25
		5059	5300 2b10 8093 0000 sts StickRoll,r24
		5060	5301 .L458:
		5061	5302 2b14 8090 0000 lds r8,StickNick
		5062	5303 2b18 9090 0000 lds r9,(StickNick)+1
		5063	5304 2b1c 8091 0000 lds r24,GPS_Nick
		5064	5305 2b20 9091 0000 lds r25,(GPS_Nick)+1
		5065	5306 2b24 881A sub r8,r24
		5066	5307 2b26 990A sbc r9,r25
		5067	5308 2b28 9092 0000 sts (StickNick)+1,r9
		5068	5309 2b2c 8092 0000 sts StickNick,r8
		5069	5310 2b30 0091 0000 lds r16,StickRoll
		5070	5311 2b34 1091 0000 lds r17,(StickRoll)+1
		5071	5312 2b38 8091 0000 lds r24,GPS_Roll
		5072	5313 2b3c 9091 0000 lds r25,(GPS_Roll)+1
		5073	5314 2b40 081B sub r16,r24
		5074	5315 2b42 190B sbc r17,r25
		5075	5316 2b44 1093 0000 sts (StickRoll)+1,r17
		5076	5317 2b48 0093 0000 sts StickRoll,r16
		5077	5318 2b4c 8091 0000 lds r24,EE_Parameter+3
		5078	5319 2b50 E82F mov r30,r24
		5079	5320 2b52 FF27 clr r31
		5080	5321 2b54 EE0F add r30,r30
		5081	5322 2b56 FF1F adc r31,r31
		5082	5323 2b58 E050 subi r30,lo8(-(PPM_in))
		5083	5324 2b5a F040 sbci r31,hi8(-(PPM_in))
		5084	5325 2b5c E080 ld r14,Z
		5085	5326 2b5e F180 ldd r15,Z+1
		5086	5327 2b60 8FE7 ldi r24,lo8(127)
		5087	5328 2b62 90E0 ldi r25,hi8(127)
		5088	5329 2b64 E80E add r14,r24
		5089	5330 2b66 F91E adc r15,r25
		5090	5331 2b68 F092 0000 sts (StickGas)+1,r15
		5091	5332 2b6c E092 0000 sts StickGas,r14
		5092	5333 2b70 8091 0000 lds r24,Parameter_Gyro_P
		5093	5334 2b74 9927 clr r25
		5094	5335 2b76 AA27 clr r26
		5095	5336 2b78 97FD sbrc r25,7
		5096	5337 2b7a A095 com r26
		5097	5338 2b7c BA2F mov r27,r26
		5098	5339 2b7e BC01 movw r22,r24
		5099	5340 2b80 CD01 movw r24,r26
		5100	5341 2b82 0E94 0000 call __floatsisf
		5101	5342 2b86 DC01 movw r26,r24
		5102	5343 2b88 CB01 movw r24,r22
		5103	5344 2b8a 20E0 ldi r18,lo8(0x41200000)
		5104	5345 2b8c 30E0 ldi r19,hi8(0x41200000)
		5105	5346 2b8e 40E2 ldi r20,hlo8(0x41200000)
		5106	5347 2b90 51E4 ldi r21,hhi8(0x41200000)
		5107	5348 2b92 BC01 movw r22,r24
		5108	5349 2b94 CD01 movw r24,r26
		5109	5350 2b96 0E94 0000 call __addsf3
		5110	5351 2b9a DC01 movw r26,r24
		5111	5352 2b9c CB01 movw r24,r22
		5112	5353 2b9e BC01 movw r22,r24
		5113	5354 2ba0 CD01 movw r24,r26
		5114	5355 2ba2 0E94 0000 call __fixunssfsi
		5115	5356 2ba6 DC01 movw r26,r24
		5116	5357 2ba8 CB01 movw r24,r22
		5117	5358 2baa 8093 0000 sts GyroFaktor,r24
		5118	5359 2bae 8091 0000 lds r24,Parameter_Gyro_I
		5119	5360 2bb2 8093 0000 sts IntegralFaktor,r24
		5120	5361 2bb6 8091 0000 lds r24,Parameter_Gyro_Gier_P
		5121	5362 2bba 9927 clr r25
		5122	5363 2bbc AA27 clr r26
		5123	5364 2bbe 97FD sbrc r25,7
		5124	5365 2bc0 A095 com r26
		5125	5366 2bc2 BA2F mov r27,r26
		5126	5367 2bc4 BC01 movw r22,r24
		5127	5368 2bc6 CD01 movw r24,r26
		5128	5369 2bc8 0E94 0000 call __floatsisf
		5129	5370 2bcc DC01 movw r26,r24
		5130	5371 2bce CB01 movw r24,r22
		5131	5372 2bd0 20E0 ldi r18,lo8(0x41200000)
		5132	5373 2bd2 30E0 ldi r19,hi8(0x41200000)
		5133	5374 2bd4 40E2 ldi r20,hlo8(0x41200000)
		5134	5375 2bd6 51E4 ldi r21,hhi8(0x41200000)
		5135	5376 2bd8 BC01 movw r22,r24
		5136	5377 2bda CD01 movw r24,r26
		5137	5378 2bdc 0E94 0000 call __addsf3
		5138	5379 2be0 DC01 movw r26,r24
		5139	5380 2be2 CB01 movw r24,r22
		5140	5381 2be4 BC01 movw r22,r24
		5141	5382 2be6 CD01 movw r24,r26
		5142	5383 2be8 0E94 0000 call __fixunssfsi
		5143	5384 2bec DC01 movw r26,r24
		5144	5385 2bee CB01 movw r24,r22
		5145	5386 2bf0 8093 0000 sts GyroFaktorGier,r24
		5146	5387 2bf4 8091 0000 lds r24,Parameter_Gyro_Gier_I
		5147	5388 2bf8 8093 0000 sts IntegralFaktorGier,r24
		5148	5389 2bfc 8091 0000 lds r24,ExternControl+10
		5149	5390 2c00 80FF sbrs r24,0
		5150	5391 2c02 00C0 rjmp .L463
		5151	5392 2c04 8091 0000 lds r24,Parameter_ExternalControl
		5152	5393 2c08 8138 cpi r24,lo8(-127)
		5153	5394 2c0a 00F4 brsh .+2
		5154	5395 2c0c 00C0 rjmp .L463
		5155	5396 2c0e 8091 0000 lds r24,ExternControl+3
		5156	5397 2c12 9927 clr r25
		5157	5398 2c14 87FD sbrc r24,7
		5158	5399 2c16 9095 com r25
		5159	5400 2c18 2B2D mov r18,r11
		5160	5401 2c1a 3327 clr r19
		5161	5402 2c1c 829F mul r24,r18
		5162	5403 2c1e D001 movw r26,r0
		5163	5404 2c20 839F mul r24,r19
		5164	5405 2c22 B00D add r27,r0
		5165	5406 2c24 929F mul r25,r18
		5166	5407 2c26 B00D add r27,r0
		5167	5408 2c28 1124 clr r1
		5168	5409 2c2a 8A0E add r8,r26
		5169	5410 2c2c 9B1E adc r9,r27
		5170	5411 2c2e 9092 0000 sts (StickNick)+1,r9
		5171	5412 2c32 8092 0000 sts StickNick,r8
		5172	5413 2c36 8091 0000 lds r24,ExternControl+4
		5173	5414 2c3a 9927 clr r25
		5174	5415 2c3c 87FD sbrc r24,7
		5175	5416 2c3e 9095 com r25
		5176	5417 2c40 829F mul r24,r18
		5177	5418 2c42 F001 movw r30,r0
		5178	5419 2c44 839F mul r24,r19
		5179	5420 2c46 F00D add r31,r0
		5180	5421 2c48 929F mul r25,r18
		5181	5422 2c4a F00D add r31,r0
		5182	5423 2c4c 1124 clr r1
		5183	5424 2c4e 0E0F add r16,r30
		5184	5425 2c50 1F1F adc r17,r31
		5185	5426 2c52 1093 0000 sts (StickRoll)+1,r17
		5186	5427 2c56 0093 0000 sts StickRoll,r16
		5187	5428 2c5a 8091 0000 lds r24,ExternControl+5
		5188	5429 2c5e 282F mov r18,r24
		5189	5430 2c60 3327 clr r19
		5190	5431 2c62 27FD sbrc r18,7
		5191	5432 2c64 3095 com r19
		5192	5433 2c66 8091 0000 lds r24,StickGier
		5193	5434 2c6a 9091 0000 lds r25,(StickGier)+1
		5194	5435 2c6e 820F add r24,r18
		5195	5436 2c70 931F adc r25,r19
		5196	5437 2c72 9093 0000 sts (StickGier)+1,r25
		5197	5438 2c76 8093 0000 sts StickGier,r24
		5198	5439 2c7a 8091 0000 lds r24,ExternControl+7
		5199	5440 2c7e 282F mov r18,r24
		5200	5441 2c80 3327 clr r19
		5201	5442 2c82 27FD sbrc r18,7
		5202	5443 2c84 3095 com r19
		5203	5444 2c86 8091 0000 lds r24,EE_Parameter+18
		5204	5445 2c8a 9927 clr r25
		5205	5446 2c8c 289F mul r18,r24
		5206	5447 2c8e 8001 movw r16,r0
		5207	5448 2c90 299F mul r18,r25
		5208	5449 2c92 100D add r17,r0
		5209	5450 2c94 389F mul r19,r24
		5210	5451 2c96 100D add r17,r0
		5211	5452 2c98 1124 clr r1
		5212	5453 2c9a 1093 0000 sts (ExternHoehenValue)+1,r17
		5213	5454 2c9e 0093 0000 sts ExternHoehenValue,r16
		5214	5455 2ca2 8091 0000 lds r24,ExternControl+6
		5215	5456 2ca6 9927 clr r25
		5216	5457 2ca8 8E15 cp r24,r14
		5217	5458 2caa 9F05 cpc r25,r15
		5218	5459 2cac 04F4 brge .L463
		5219	5460 2cae 9093 0000 sts (StickGas)+1,r25
		5220	5461 2cb2 8093 0000 sts StickGas,r24
		5221	5462 .L463:
		5222	5463 2cb6 8091 0000 lds r24,StickGas
		5223	5464 2cba 9091 0000 lds r25,(StickGas)+1
		5224	5465 2cbe 97FF sbrs r25,7
		5225	5466 2cc0 00C0 rjmp .L465
		5226	5467 2cc2 1092 0000 sts (StickGas)+1,__zero_reg__
		5227	5468 2cc6 1092 0000 sts StickGas,__zero_reg__
		5228	5469 .L465:
		5229	5470 2cca 8091 0000 lds r24,Parameter_GlobalConfig
		5230	5471 2cce 82FF sbrs r24,2
		5231	5472 2cd0 00C0 rjmp .L466
		5232	5473 2cd2 1092 0000 sts IntegralFaktor,__zero_reg__
		5233	5474 .L466:
		5234	5475 2cd6 4091 0000 lds r20,StickNick
		5235	5476 2cda 5091 0000 lds r21,(StickNick)+1
		5236	5477 2cde CA01 movw r24,r20
		5237	5478 2ce0 57FD sbrc r21,7
		5238	5479 2ce2 0396 adiw r24,3
		5239	5480 .L468:
		5240	5481 2ce4 9C01 movw r18,r24
		5241	5482 2ce6 3595 asr r19
		5242	5483 2ce8 2795 ror r18
		5243	5484 2cea 3595 asr r19
		5244	5485 2cec 2795 ror r18
		5245	5486 2cee 37FF sbrs r19,7
		5246	5487 2cf0 00C0 rjmp .L469
		5247	5488 2cf2 3095 com r19
		5248	5489 2cf4 2195 neg r18
		5249	5490 2cf6 3F4F sbci r19,lo8(-1)
		5250	5491 .L469:
		5251	5492 2cf8 8091 0000 lds r24,MaxStickNick
		5252	5493 2cfc 9091 0000 lds r25,(MaxStickNick)+1
		5253	5494 2d00 8217 cp r24,r18
		5254	5495 2d02 9307 cpc r25,r19
		5255	5496 2d04 04F4 brge .L467
		5256	5497 2d06 CA01 movw r24,r20
		5257	5498 2d08 57FF sbrs r21,7
		5258	5499 2d0a 00C0 rjmp .L470
		5259	5500 2d0c 9095 com r25
		5260	5501 2d0e 8195 neg r24
		5261	5502 2d10 9F4F sbci r25,lo8(-1)
		5262	5503 .L470:
		5263	5504 2d12 97FD sbrc r25,7
		5264	5505 2d14 0396 adiw r24,3
		5265	5506 .L471:
		5266	5507 2d16 9595 asr r25
		5267	5508 2d18 8795 ror r24
		5268	5509 2d1a 9595 asr r25
		5269	5510 2d1c 8795 ror r24
		5270	5511 2d1e 9093 0000 sts (MaxStickNick)+1,r25
		5271	5512 2d22 8093 0000 sts MaxStickNick,r24
		5272	5513 2d26 8536 cpi r24,101
		5273	5514 2d28 9105 cpc r25,__zero_reg__
		5274	5515 2d2a 04F0 brlt .L473
		5275	5516 2d2c 84E6 ldi r24,lo8(100)
		5276	5517 2d2e 90E0 ldi r25,hi8(100)
		5277	5518 2d30 00C0 rjmp .L898
		5278	5519 .L467:
		5279	5520 2d32 0197 sbiw r24,1
		5280	5521 .L898:
		5281	5522 2d34 9093 0000 sts (MaxStickNick)+1,r25
		5282	5523 2d38 8093 0000 sts MaxStickNick,r24
		5283	5524 .L473:
		5284	5525 2d3c 4091 0000 lds r20,StickRoll
		5285	5526 2d40 5091 0000 lds r21,(StickRoll)+1
		5286	5527 2d44 CA01 movw r24,r20
		5287	5528 2d46 57FD sbrc r21,7
		5288	5529 2d48 0396 adiw r24,3
		5289	5530 .L475:
		5290	5531 2d4a 9C01 movw r18,r24
		5291	5532 2d4c 3595 asr r19
		5292	5533 2d4e 2795 ror r18
		5293	5534 2d50 3595 asr r19
		5294	5535 2d52 2795 ror r18
		5295	5536 2d54 37FF sbrs r19,7
		5296	5537 2d56 00C0 rjmp .L476
		5297	5538 2d58 3095 com r19
		5298	5539 2d5a 2195 neg r18
		5299	5540 2d5c 3F4F sbci r19,lo8(-1)
		5300	5541 .L476:
		5301	5542 2d5e 8091 0000 lds r24,MaxStickRoll
		5302	5543 2d62 9091 0000 lds r25,(MaxStickRoll)+1
		5303	5544 2d66 8217 cp r24,r18
		5304	5545 2d68 9307 cpc r25,r19
		5305	5546 2d6a 04F4 brge .L474
		5306	5547 2d6c CA01 movw r24,r20
		5307	5548 2d6e 57FF sbrs r21,7
		5308	5549 2d70 00C0 rjmp .L477
		5309	5550 2d72 9095 com r25
		5310	5551 2d74 8195 neg r24
		5311	5552 2d76 9F4F sbci r25,lo8(-1)
		5312	5553 .L477:
		5313	5554 2d78 97FD sbrc r25,7
		5314	5555 2d7a 0396 adiw r24,3
		5315	5556 .L478:
		5316	5557 2d7c 9595 asr r25
		5317	5558 2d7e 8795 ror r24
		5318	5559 2d80 9595 asr r25
		5319	5560 2d82 8795 ror r24
		5320	5561 2d84 9093 0000 sts (MaxStickRoll)+1,r25
		5321	5562 2d88 8093 0000 sts MaxStickRoll,r24
		5322	5563 2d8c 8536 cpi r24,101
		5323	5564 2d8e 9105 cpc r25,__zero_reg__
		5324	5565 2d90 04F0 brlt .L480
		5325	5566 2d92 84E6 ldi r24,lo8(100)
		5326	5567 2d94 90E0 ldi r25,hi8(100)
		5327	5568 2d96 00C0 rjmp .L899
		5328	5569 .L474:
		5329	5570 2d98 0197 sbiw r24,1
		5330	5571 .L899:
		5331	5572 2d9a 9093 0000 sts (MaxStickRoll)+1,r25
		5332	5573 2d9e 8093 0000 sts MaxStickRoll,r24
		5333	5574 .L480:
		5334	5575 2da2 8091 0000 lds r24,FC_StatusFlags
		5335	5576 2da6 84FF sbrs r24,4
		5336	5577 2da8 00C0 rjmp .L481
		5337	5578 2daa 1092 0000 sts (MaxStickNick)+1,__zero_reg__
		5338	5579 2dae 1092 0000 sts MaxStickNick,__zero_reg__
		5339	5580 2db2 1092 0000 sts (MaxStickRoll)+1,__zero_reg__
		5340	5581 2db6 1092 0000 sts MaxStickRoll,__zero_reg__
		5341	5582 .L481:
		5342	5583 2dba ED2D mov r30,r13
		5343	5584 2dbc FF27 clr r31
		5344	5585 2dbe EE0F add r30,r30
		5345	5586 2dc0 FF1F adc r31,r31
		5346	5587 2dc2 E050 subi r30,lo8(-(PPM_in))
		5347	5588 2dc4 F040 sbci r31,hi8(-(PPM_in))
		5348	5589 2dc6 4091 0000 lds r20,EE_Parameter+60
		5349	5590 2dca 242F mov r18,r20
		5350	5591 2dcc 3327 clr r19
		5351	5592 2dce 8081 ld r24,Z
		5352	5593 2dd0 9181 ldd r25,Z+1
		5353	5594 2dd2 2817 cp r18,r24
		5354	5595 2dd4 3907 cpc r19,r25
		5355	5596 2dd6 04F4 brge .L482
		5356	5597 2dd8 8091 0000 lds r24,EE_Parameter+108
		5357	5598 2ddc 82FF sbrs r24,2
		5358	5599 2dde 00C0 rjmp .L482
		5359	5600 2de0 81E0 ldi r24,lo8(1)
		5360	5601 2de2 8093 0000 sts Looping_Links,r24
		5361	5602 2de6 00C0 rjmp .L483
		5362	5603 .L482:
		5363	5604 2de8 ED2D mov r30,r13
		5364	5605 2dea FF27 clr r31
		5365	5606 2dec EE0F add r30,r30
		5366	5607 2dee FF1F adc r31,r31
		5367	5608 2df0 E050 subi r30,lo8(-(PPM_in))
		5368	5609 2df2 F040 sbci r31,hi8(-(PPM_in))
		5369	5610 2df4 842F mov r24,r20
		5370	5611 2df6 9927 clr r25
		5371	5612 2df8 2091 0000 lds r18,EE_Parameter+61
		5372	5613 2dfc 821B sub r24,r18
		5373	5614 2dfe 9109 sbc r25,__zero_reg__
		5374	5615 2e00 2081 ld r18,Z
		5375	5616 2e02 3181 ldd r19,Z+1
		5376	5617 2e04 2817 cp r18,r24
		5377	5618 2e06 3907 cpc r19,r25
		5378	5619 2e08 04F4 brge .L483
		5379	5620 2e0a 1092 0000 sts Looping_Links,__zero_reg__
		5380	5621 .L483:
		5381	5622 2e0e 4091 0000 lds r20,EE_Parameter+2
		5382	5623 2e12 E42F mov r30,r20
		5383	5624 2e14 FF27 clr r31
		5384	5625 2e16 EE0F add r30,r30
		5385	5626 2e18 FF1F adc r31,r31
		5386	5627 2e1a E050 subi r30,lo8(-(PPM_in))
		5387	5628 2e1c F040 sbci r31,hi8(-(PPM_in))
		5388	5629 2e1e 5091 0000 lds r21,EE_Parameter+60
		5389	5630 2e22 852F mov r24,r21
		5390	5631 2e24 9927 clr r25
		5391	5632 2e26 2227 clr r18
		5392	5633 2e28 3327 clr r19
		5393	5634 2e2a 281B sub r18,r24
		5394	5635 2e2c 390B sbc r19,r25
		5395	5636 2e2e 8081 ld r24,Z
		5396	5637 2e30 9181 ldd r25,Z+1
		5397	5638 2e32 8217 cp r24,r18
		5398	5639 2e34 9307 cpc r25,r19
		5399	5640 2e36 04F4 brge .L485
		5400	5641 2e38 8091 0000 lds r24,EE_Parameter+108
		5401	5642 2e3c 83FF sbrs r24,3
		5402	5643 2e3e 00C0 rjmp .L485
		5403	5644 2e40 81E0 ldi r24,lo8(1)
		5404	5645 2e42 8093 0000 sts Looping_Rechts,r24
		5405	5646 2e46 00C0 rjmp .L486
		5406	5647 .L485:
		5407	5648 2e48 8091 0000 lds r24,Looping_Rechts
		5408	5649 2e4c 8823 tst r24
		5409	5650 2e4e 01F0 breq .L486
		5410	5651 2e50 E42F mov r30,r20
		5411	5652 2e52 FF27 clr r31
		5412	5653 2e54 EE0F add r30,r30
		5413	5654 2e56 FF1F adc r31,r31
		5414	5655 2e58 E050 subi r30,lo8(-(PPM_in))
		5415	5656 2e5a F040 sbci r31,hi8(-(PPM_in))
		5416	5657 2e5c 8091 0000 lds r24,EE_Parameter+61
		5417	5658 2e60 9927 clr r25
		5418	5659 2e62 851B sub r24,r21
		5419	5660 2e64 9109 sbc r25,__zero_reg__
		5420	5661 2e66 2081 ld r18,Z
		5421	5662 2e68 3181 ldd r19,Z+1
		5422	5663 2e6a 8217 cp r24,r18
		5423	5664 2e6c 9307 cpc r25,r19
		5424	5665 2e6e 04F4 brge .L486
		5425	5666 2e70 1092 0000 sts Looping_Rechts,__zero_reg__
		5426	5667 .L486:
		5427	5668 2e74 EC2D mov r30,r12
		5428	5669 2e76 FF27 clr r31
		5429	5670 2e78 EE0F add r30,r30
		5430	5671 2e7a FF1F adc r31,r31
		5431	5672 2e7c E050 subi r30,lo8(-(PPM_in))
		5432	5673 2e7e F040 sbci r31,hi8(-(PPM_in))
		5433	5674 2e80 4091 0000 lds r20,EE_Parameter+60
		5434	5675 2e84 242F mov r18,r20
		5435	5676 2e86 3327 clr r19
		5436	5677 2e88 8081 ld r24,Z
		5437	5678 2e8a 9181 ldd r25,Z+1
		5438	5679 2e8c 2817 cp r18,r24
		5439	5680 2e8e 3907 cpc r19,r25
		5440	5681 2e90 04F4 brge .L489
		5441	5682 2e92 8091 0000 lds r24,EE_Parameter+108
		5442	5683 2e96 80FF sbrs r24,0
		5443	5684 2e98 00C0 rjmp .L489
		5444	5685 2e9a 81E0 ldi r24,lo8(1)
		5445	5686 2e9c 8093 0000 sts Looping_Oben,r24
		5446	5687 2ea0 00C0 rjmp .L490
		5447	5688 .L489:
		5448	5689 2ea2 8091 0000 lds r24,Looping_Oben
		5449	5690 2ea6 8823 tst r24
		5450	5691 2ea8 01F0 breq .L490
		5451	5692 2eaa EC2D mov r30,r12
		5452	5693 2eac FF27 clr r31
		5453	5694 2eae EE0F add r30,r30
		5454	5695 2eb0 FF1F adc r31,r31
		5455	5696 2eb2 E050 subi r30,lo8(-(PPM_in))
		5456	5697 2eb4 F040 sbci r31,hi8(-(PPM_in))
		5457	5698 2eb6 842F mov r24,r20
		5458	5699 2eb8 9927 clr r25
		5459	5700 2eba 2091 0000 lds r18,EE_Parameter+61
		5460	5701 2ebe 821B sub r24,r18
		5461	5702 2ec0 9109 sbc r25,__zero_reg__
		5462	5703 2ec2 2081 ld r18,Z
		5463	5704 2ec4 3181 ldd r19,Z+1
		5464	5705 2ec6 2817 cp r18,r24
		5465	5706 2ec8 3907 cpc r19,r25
		5466	5707 2eca 04F4 brge .L490
		5467	5708 2ecc 1092 0000 sts Looping_Oben,__zero_reg__
		5468	5709 .L490:
		5469	5710 2ed0 4091 0000 lds r20,EE_Parameter+1
		5470	5711 2ed4 E42F mov r30,r20
		5471	5712 2ed6 FF27 clr r31
		5472	5713 2ed8 EE0F add r30,r30
		5473	5714 2eda FF1F adc r31,r31
		5474	5715 2edc E050 subi r30,lo8(-(PPM_in))
		5475	5716 2ede F040 sbci r31,hi8(-(PPM_in))
		5476	5717 2ee0 5091 0000 lds r21,EE_Parameter+60
		5477	5718 2ee4 852F mov r24,r21
		5478	5719 2ee6 9927 clr r25
		5479	5720 2ee8 2227 clr r18
		5480	5721 2eea 3327 clr r19
		5481	5722 2eec 281B sub r18,r24
		5482	5723 2eee 390B sbc r19,r25
		5483	5724 2ef0 8081 ld r24,Z
		5484	5725 2ef2 9181 ldd r25,Z+1
		5485	5726 2ef4 8217 cp r24,r18
		5486	5727 2ef6 9307 cpc r25,r19
		5487	5728 2ef8 04F4 brge .L493
		5488	5729 2efa 8091 0000 lds r24,EE_Parameter+108
		5489	5730 2efe 81FF sbrs r24,1
		5490	5731 2f00 00C0 rjmp .L493
		5491	5732 2f02 81E0 ldi r24,lo8(1)
		5492	5733 2f04 8093 0000 sts Looping_Unten,r24
		5493	5734 2f08 00C0 rjmp .L494
		5494	5735 .L493:
		5495	5736 2f0a 8091 0000 lds r24,Looping_Unten
		5496	5737 2f0e 8823 tst r24
		5497	5738 2f10 01F0 breq .L494
		5498	5739 2f12 E42F mov r30,r20
		5499	5740 2f14 FF27 clr r31
		5500	5741 2f16 EE0F add r30,r30
		5501	5742 2f18 FF1F adc r31,r31
		5502	5743 2f1a E050 subi r30,lo8(-(PPM_in))
		5503	5744 2f1c F040 sbci r31,hi8(-(PPM_in))
		5504	5745 2f1e 8091 0000 lds r24,EE_Parameter+61
		5505	5746 2f22 9927 clr r25
		5506	5747 2f24 851B sub r24,r21
		5507	5748 2f26 9109 sbc r25,__zero_reg__
		5508	5749 2f28 2081 ld r18,Z
		5509	5750 2f2a 3181 ldd r19,Z+1
		5510	5751 2f2c 8217 cp r24,r18
		5511	5752 2f2e 9307 cpc r25,r19
		5512	5753 2f30 04F4 brge .L494
		5513	5754 2f32 1092 0000 sts Looping_Unten,__zero_reg__
		5514	5755 .L494:
		5515	5756 2f36 8091 0000 lds r24,Looping_Links
		5516	5757 2f3a 8823 tst r24
		5517	5758 2f3c 01F4 brne .L498
		5518	5759 2f3e 8091 0000 lds r24,Looping_Rechts
		5519	5760 2f42 8111 cpse r24,__zero_reg__
		5520	5761 .L498:
		5521	5762 2f44 81E0 ldi r24,lo8(1)
		5522	5763 .L497:
		5523	5764 2f46 8093 0000 sts Looping_Roll,r24
		5524	5765 2f4a 8091 0000 lds r24,Looping_Oben
		5525	5766 2f4e 8823 tst r24
		5526	5767 2f50 01F4 brne .L501
		5527	5768 2f52 8091 0000 lds r24,Looping_Unten
		5528	5769 2f56 8823 tst r24
		5529	5770 2f58 01F0 breq .L500
		5530	5771 .L501:
		5531	5772 2f5a 81E0 ldi r24,lo8(1)
		5532	5773 2f5c 8093 0000 sts Looping_Nick,r24
		5533	5774 2f60 1092 0000 sts Looping_Roll,__zero_reg__
		5534	5775 2f64 1092 0000 sts Looping_Links,__zero_reg__
		5535	5776 2f68 1092 0000 sts Looping_Rechts,__zero_reg__
		5536	5777 2f6c 00C0 rjmp .L442
		5537	5778 .L500:
		5538	5779 2f6e 8093 0000 sts Looping_Nick,r24
		5539	5780 .L442:
		5540	5781 2f72 8091 0000 lds r24,Looping_Roll
		5541	5782 2f76 8823 tst r24
		5542	5783 2f78 01F4 brne .L504
		5543	5784 2f7a 8091 0000 lds r24,Looping_Nick
		5544	5785 2f7e 8823 tst r24
		5545	5786 2f80 01F0 breq .L503
		5546	5787 .L504:
		5547	5788 2f82 8091 0000 lds r24,EE_Parameter+59
		5548	5789 2f86 9927 clr r25
		5549	5790 2f88 2981 ldd r18,Y+1
		5550	5791 2f8a 3A81 ldd r19,Y+2
		5551	5792 2f8c 8217 cp r24,r18
		5552	5793 2f8e 9307 cpc r25,r19
		5553	5794 2f90 04F4 brge .L505
		5554	5795 2f92 9A83 std Y+2,r25
		5555	5796 2f94 8983 std Y+1,r24
		5556	5797 .L505:
		5557	5798 2f96 81E0 ldi r24,lo8(1)
		5558	5799 2f98 8093 0000 sts TrichterFlug,r24
		5559	5800 .L503:
		5560	5801 2f9c 8091 0000 lds r24,FC_StatusFlags2
		5561	5802 2fa0 9927 clr r25
		5562	5803 2fa2 9C01 movw r18,r24
		5563	5804 2fa4 2470 andi r18,lo8(4)
		5564	5805 2fa6 3070 andi r19,hi8(4)
		5565	5806 2fa8 82FF sbrs r24,2
		5566	5807 2faa 00C0 rjmp .L506
		5567	5808 2fac 8091 0000 lds r24,GPS_Nick
		5568	5809 2fb0 9091 0000 lds r25,(GPS_Nick)+1
		5569	5810 2fb4 9095 com r25
		5570	5811 2fb6 8195 neg r24
		5571	5812 2fb8 9F4F sbci r25,lo8(-1)
		5572	5813 2fba 9093 0000 sts (StickNick)+1,r25
		5573	5814 2fbe 8093 0000 sts StickNick,r24
		5574	5815 2fc2 8091 0000 lds r24,GPS_Roll
		5575	5816 2fc6 9091 0000 lds r25,(GPS_Roll)+1
		5576	5817 2fca 9095 com r25
		5577	5818 2fcc 8195 neg r24
		5578	5819 2fce 9F4F sbci r25,lo8(-1)
		5579	5820 2fd0 9093 0000 sts (StickRoll)+1,r25
		5580	5821 2fd4 8093 0000 sts StickRoll,r24
		5581	5822 2fd8 8091 0000 lds r24,StickGasHover
		5582	5823 2fdc 9091 0000 lds r25,(StickGasHover)+1
		5583	5824 2fe0 9093 0000 sts (StickGas)+1,r25
		5584	5825 2fe4 8093 0000 sts StickGas,r24
		5585	5826 2fe8 8091 0000 lds r24,Parameter_GlobalConfig
		5586	5827 2fec 8B77 andi r24,lo8(123)
		5587	5828 2fee 8B66 ori r24,lo8(107)
		5588	5829 2ff0 8093 0000 sts Parameter_GlobalConfig,r24
		5589	5830 2ff4 8091 0000 lds r24,Parameter_ExtraConfig
		5590	5831 2ff8 8C7B andi r24,lo8(-68)
		5591	5832 2ffa 8093 0000 sts Parameter_ExtraConfig,r24
		5592	5833 2ffe 88EC ldi r24,lo8(-56)
		5593	5834 3000 8093 0000 sts Parameter_HoehenSchalter,r24
		5594	5835 3004 00C0 rjmp .L507
		5595	5836 .L506:
		5596	5837 3006 8091 0000 lds r24,FC_StatusFlags
		5597	5838 300a 84FF sbrs r24,4
		5598	5839 300c 00C0 rjmp .L507
		5599	5840 300e 3093 0000 sts (StickGier)+1,r19
		5600	5841 3012 2093 0000 sts StickGier,r18
		5601	5842 3016 3093 0000 sts (StickNick)+1,r19
		5602	5843 301a 2093 0000 sts StickNick,r18
		5603	5844 301e 3093 0000 sts (StickRoll)+1,r19
		5604	5845 3022 2093 0000 sts StickRoll,r18
		5605	5846 3026 9AE5 ldi r25,lo8(90)
		5606	5847 3028 9093 0000 sts GyroFaktor,r25
		5607	5848 302c 88E7 ldi r24,lo8(120)
		5608	5849 302e 8093 0000 sts IntegralFaktor,r24
		5609	5850 3032 9093 0000 sts GyroFaktorGier,r25
		5610	5851 3036 8093 0000 sts IntegralFaktorGier,r24
		5611	5852 303a 1092 0000 sts Looping_Roll,__zero_reg__
		5612	5853 303e 1092 0000 sts Looping_Nick,__zero_reg__
		5613	5854 .L507:
		5614	5855 3042 8091 0000 lds r24,MittelIntegralNick
		5615	5856 3046 9091 0000 lds r25,(MittelIntegralNick)+1
		5616	5857 304a A091 0000 lds r26,(MittelIntegralNick)+2
		5617	5858 304e B091 0000 lds r27,(MittelIntegralNick)+3
		5618	5859 3052 2091 0000 lds r18,IntegralNick
		5619	5860 3056 3091 0000 lds r19,(IntegralNick)+1
		5620	5861 305a 4091 0000 lds r20,(IntegralNick)+2
		5621	5862 305e 5091 0000 lds r21,(IntegralNick)+3
		5622	5863 3062 820F add r24,r18
		5623	5864 3064 931F adc r25,r19
		5624	5865 3066 A41F adc r26,r20
		5625	5866 3068 B51F adc r27,r21
		5626	5867 306a 8093 0000 sts MittelIntegralNick,r24
		5627	5868 306e 9093 0000 sts (MittelIntegralNick)+1,r25
		5628	5869 3072 A093 0000 sts (MittelIntegralNick)+2,r26
		5629	5870 3076 B093 0000 sts (MittelIntegralNick)+3,r27
		5630	5871 307a 8091 0000 lds r24,MittelIntegralRoll
		5631	5872 307e 9091 0000 lds r25,(MittelIntegralRoll)+1
		5632	5873 3082 A091 0000 lds r26,(MittelIntegralRoll)+2
		5633	5874 3086 B091 0000 lds r27,(MittelIntegralRoll)+3
		5634	5875 308a E090 0000 lds r14,IntegralRoll
		5635	5876 308e F090 0000 lds r15,(IntegralRoll)+1
		5636	5877 3092 0091 0000 lds r16,(IntegralRoll)+2
		5637	5878 3096 1091 0000 lds r17,(IntegralRoll)+3
		5638	5879 309a EB82 std Y+3,r14
		5639	5880 309c FC82 std Y+4,r15
		5640	5881 309e 0D83 std Y+5,r16
		5641	5882 30a0 1E83 std Y+6,r17
		5642	5883 30a2 8E0D add r24,r14
		5643	5884 30a4 9F1D adc r25,r15
		5644	5885 30a6 A01F adc r26,r16
		5645	5886 30a8 B11F adc r27,r17
		5646	5887 30aa 8093 0000 sts MittelIntegralRoll,r24
		5647	5888 30ae 9093 0000 sts (MittelIntegralRoll)+1,r25
		5648	5889 30b2 A093 0000 sts (MittelIntegralRoll)+2,r26
		5649	5890 30b6 B093 0000 sts (MittelIntegralRoll)+3,r27
		5650	5891 30ba 8091 0000 lds r24,MittelIntegralNick2
		5651	5892 30be 9091 0000 lds r25,(MittelIntegralNick2)+1
		5652	5893 30c2 A091 0000 lds r26,(MittelIntegralNick2)+2
		5653	5894 30c6 B091 0000 lds r27,(MittelIntegralNick2)+3
		5654	5895 30ca E090 0000 lds r14,IntegralNick2
		5655	5896 30ce F090 0000 lds r15,(IntegralNick2)+1
		5656	5897 30d2 0091 0000 lds r16,(IntegralNick2)+2
		5657	5898 30d6 1091 0000 lds r17,(IntegralNick2)+3
		5658	5899 30da EF82 std Y+7,r14
		5659	5900 30dc F886 std Y+8,r15
		5660	5901 30de 0987 std Y+9,r16
		5661	5902 30e0 1A87 std Y+10,r17
		5662	5903 30e2 8E0D add r24,r14
		5663	5904 30e4 9F1D adc r25,r15
		5664	5905 30e6 A01F adc r26,r16
		5665	5906 30e8 B11F adc r27,r17
		5666	5907 30ea 8093 0000 sts MittelIntegralNick2,r24
		5667	5908 30ee 9093 0000 sts (MittelIntegralNick2)+1,r25
		5668	5909 30f2 A093 0000 sts (MittelIntegralNick2)+2,r26
		5669	5910 30f6 B093 0000 sts (MittelIntegralNick2)+3,r27
		5670	5911 30fa 8091 0000 lds r24,MittelIntegralRoll2
		5671	5912 30fe 9091 0000 lds r25,(MittelIntegralRoll2)+1
		5672	5913 3102 A091 0000 lds r26,(MittelIntegralRoll2)+2
		5673	5914 3106 B091 0000 lds r27,(MittelIntegralRoll2)+3
		5674	5915 310a E090 0000 lds r14,IntegralRoll2
		5675	5916 310e F090 0000 lds r15,(IntegralRoll2)+1
		5676	5917 3112 0091 0000 lds r16,(IntegralRoll2)+2
		5677	5918 3116 1091 0000 lds r17,(IntegralRoll2)+3
		5678	5919 311a EB86 std Y+11,r14
		5679	5920 311c FC86 std Y+12,r15
		5680	5921 311e 0D87 std Y+13,r16
		5681	5922 3120 1E87 std Y+14,r17
		5682	5923 3122 8E0D add r24,r14
		5683	5924 3124 9F1D adc r25,r15
		5684	5925 3126 A01F adc r26,r16
		5685	5926 3128 B11F adc r27,r17
		5686	5927 312a 8093 0000 sts MittelIntegralRoll2,r24
		5687	5928 312e 9093 0000 sts (MittelIntegralRoll2)+1,r25
		5688	5929 3132 A093 0000 sts (MittelIntegralRoll2)+2,r26
		5689	5930 3136 B093 0000 sts (MittelIntegralRoll2)+3,r27
		5690	5931 313a F090 0000 lds r15,Looping_Nick
		5691	5932 313e FF86 std Y+15,r15
		5692	5933 3140 FF20 tst r15
		5693	5934 3142 01F4 brne .L510
		5694	5935 3144 8091 0000 lds r24,Looping_Roll
		5695	5936 3148 8823 tst r24
		5696	5937 314a 01F4 brne .+2
		5697	5938 314c 00C0 rjmp .L892
		5698	5939 .L510:
		5699	5940 314e 1092 0000 sts IntegralAccNick,__zero_reg__
		5700	5941 3152 1092 0000 sts (IntegralAccNick)+1,__zero_reg__
		5701	5942 3156 1092 0000 sts (IntegralAccNick)+2,__zero_reg__
		5702	5943 315a 1092 0000 sts (IntegralAccNick)+3,__zero_reg__
		5703	5944 315e 1092 0000 sts IntegralAccRoll,__zero_reg__
		5704	5945 3162 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__
		5705	5946 3166 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__
		5706	5947 316a 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__
		5707	5948 316e 1092 0000 sts MittelIntegralNick,__zero_reg__
		5708	5949 3172 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__
		5709	5950 3176 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__
		5710	5951 317a 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__
		5711	5952 317e 1092 0000 sts MittelIntegralRoll,__zero_reg__
		5712	5953 3182 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__
		5713	5954 3186 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__
		5714	5955 318a 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__
		5715	5956 318e 1092 0000 sts MittelIntegralNick2,__zero_reg__
		5716	5957 3192 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__
		5717	5958 3196 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__
		5718	5959 319a 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__
		5719	5960 319e 1092 0000 sts MittelIntegralRoll2,__zero_reg__
		5720	5961 31a2 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__
		5721	5962 31a6 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__
		5722	5963 31aa 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__
		5723	5964 31ae 8091 0000 lds r24,Mess_IntegralNick
		5724	5965 31b2 9091 0000 lds r25,(Mess_IntegralNick)+1
		5725	5966 31b6 A091 0000 lds r26,(Mess_IntegralNick)+2
		5726	5967 31ba B091 0000 lds r27,(Mess_IntegralNick)+3
		5727	5968 31be 8093 0000 sts Mess_IntegralNick2,r24
		5728	5969 31c2 9093 0000 sts (Mess_IntegralNick2)+1,r25
		5729	5970 31c6 A093 0000 sts (Mess_IntegralNick2)+2,r26
		5730	5971 31ca B093 0000 sts (Mess_IntegralNick2)+3,r27
		5731	5972 31ce 8091 0000 lds r24,Mess_IntegralRoll
		5732	5973 31d2 9091 0000 lds r25,(Mess_IntegralRoll)+1
		5733	5974 31d6 A091 0000 lds r26,(Mess_IntegralRoll)+2
		5734	5975 31da B091 0000 lds r27,(Mess_IntegralRoll)+3
		5735	5976 31de 8093 0000 sts Mess_IntegralRoll2,r24
		5736	5977 31e2 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		5737	5978 31e6 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		5738	5979 31ea B093 0000 sts (Mess_IntegralRoll2)+3,r27
		5739	5980 31ee 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__
		5740	5981 31f2 1092 0000 sts ZaehlMessungen,__zero_reg__
		5741	5982 31f6 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__
		5742	5983 31fa 1092 0000 sts LageKorrekturNick,__zero_reg__
		5743	5984 31fe 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__
		5744	5985 3202 1092 0000 sts LageKorrekturRoll,__zero_reg__
		5745	5986 3206 0F85 ldd r16,Y+15
		5746	5987 3208 0023 tst r16
		5747	5988 320a 01F0 breq .+2
		5748	5989 320c 00C0 rjmp .L511
		5749	5990 .L892:
		5750	5991 320e 8091 0000 lds r24,Looping_Roll
		5751	5992 3212 8823 tst r24
		5752	5993 3214 01F0 breq .+2
		5753	5994 3216 00C0 rjmp .L511
		5754	5995 3218 8091 0000 lds r24,Aktuell_az
		5755	5996 321c 9091 0000 lds r25,(Aktuell_az)+1
		5756	5997 3220 8150 subi r24,lo8(513)
		5757	5998 3222 9240 sbci r25,hi8(513)
		5758	5999 3224 04F4 brge .L512
		5759	6000 3226 8091 0000 lds r24,MotorenEin
		5760	6001 322a 8823 tst r24
		5761	6002 322c 01F4 brne .+2
		5762	6003 322e 00C0 rjmp .L511
		5763	6004 .L512:
		5764	6005 3230 9090 0000 lds r9,FromNaviCtrl_Value
		5765	6006 3234 A090 0000 lds r10,EE_Parameter+28
		5766	6007 3238 2090 0000 lds r2,Mittelwert_AccNick
		5767	6008 323c 3090 0000 lds r3,(Mittelwert_AccNick)+1
		5768	6009 3240 4090 0000 lds r4,Mittelwert_AccRoll
		5769	6010 3244 5090 0000 lds r5,(Mittelwert_AccRoll)+1
		5770	6011 3248 1914 cp __zero_reg__,r9
		5771	6012 324a 04F0 brlt .+2
		5772	6013 324c 00C0 rjmp .L513
		5773	6014 324e BB24 clr r11
		5774	6015 3250 CC24 clr r12
		5775	6016 3252 DD24 clr r13
		5776	6017 3254 CA01 movw r24,r20
		5777	6018 3256 B901 movw r22,r18
		5778	6019 3258 A601 movw r20,r12
		5779	6020 325a 9501 movw r18,r10
		5780	6021 325c 0E94 0000 call __divmodsi4
		5781	6022 3260 7901 movw r14,r18
		5782	6023 3262 8A01 movw r16,r20
		5783	6024 3264 8091 0000 lds r24,FromNaviCtrl+9
		5784	6025 3268 9091 0000 lds r25,(FromNaviCtrl+9)+1
		5785	6026 326c 281A sub r2,r24
		5786	6027 326e 390A sbc r3,r25
		5787	6028 3270 C101 movw r24,r2
		5788	6029 3272 AA27 clr r26
		5789	6030 3274 97FD sbrc r25,7
		5790	6031 3276 A095 com r26
		5791	6032 3278 BA2F mov r27,r26
		5792	6033 327a E81A sub r14,r24
		5793	6034 327c F90A sbc r15,r25
		5794	6035 327e 0A0B sbc r16,r26
		5795	6036 3280 1B0B sbc r17,r27
		5796	6037 3282 6B81 ldd r22,Y+3
		5797	6038 3284 7C81 ldd r23,Y+4
		5798	6039 3286 8D81 ldd r24,Y+5
		5799	6040 3288 9E81 ldd r25,Y+6
		5800	6041 328a A601 movw r20,r12
		5801	6042 328c 9501 movw r18,r10
		5802	6043 328e 0E94 0000 call __divmodsi4
		5803	6044 3292 5901 movw r10,r18
		5804	6045 3294 6A01 movw r12,r20
		5805	6046 3296 8091 0000 lds r24,FromNaviCtrl+11
		5806	6047 329a 9091 0000 lds r25,(FromNaviCtrl+11)+1
		5807	6048 329e 481A sub r4,r24
		5808	6049 32a0 590A sbc r5,r25
		5809	6050 32a2 C201 movw r24,r4
		5810	6051 32a4 AA27 clr r26
		5811	6052 32a6 97FD sbrc r25,7
		5812	6053 32a8 A095 com r26
		5813	6054 32aa BA2F mov r27,r26
		5814	6055 32ac A81A sub r10,r24
		5815	6056 32ae B90A sbc r11,r25
		5816	6057 32b0 CA0A sbc r12,r26
		5817	6058 32b2 DB0A sbc r13,r27
		5818	6059 32b4 292C mov r2,r9
		5819	6060 32b6 3324 clr r3
		5820	6061 32b8 27FC sbrc r2,7
		5821	6062 32ba 3094 com r3
		5822	6063 32bc 432C mov r4,r3
		5823	6064 32be 532C mov r5,r3
		5824	6065 32c0 C801 movw r24,r16
		5825	6066 32c2 B701 movw r22,r14
		5826	6067 32c4 A201 movw r20,r4
		5827	6068 32c6 9101 movw r18,r2
		5828	6069 32c8 0E94 0000 call __mulsi3
		5829	6070 32cc 97FF sbrs r25,7
		5830	6071 32ce 00C0 rjmp .L514
		5831	6072 32d0 6150 subi r22,lo8(-(511))
		5832	6073 32d2 7E4F sbci r23,hi8(-(511))
		5833	6074 32d4 8F4F sbci r24,hlo8(-(511))
		5834	6075 32d6 9F4F sbci r25,hhi8(-(511))
		5835	6076 .L514:
		5836	6077 32d8 3B01 movw r6,r22
		5837	6078 32da 4C01 movw r8,r24
		5838	6079 32dc 09E0 ldi r16,9
		5839	6080 32de 9594 1: asr r9
		5840	6081 32e0 8794 ror r8
		5841	6082 32e2 7794 ror r7
		5842	6083 32e4 6794 ror r6
		5843	6084 32e6 0A95 dec r16
		5844	6085 32e8 01F4 brne 1b
		5845	6086 32ea C601 movw r24,r12
		5846	6087 32ec B501 movw r22,r10
		5847	6088 32ee A201 movw r20,r4
		5848	6089 32f0 9101 movw r18,r2
		5849	6090 32f2 0E94 0000 call __mulsi3
		5850	6091 32f6 97FF sbrs r25,7
		5851	6092 32f8 00C0 rjmp .L515
		5852	6093 32fa 6150 subi r22,lo8(-(511))
		5853	6094 32fc 7E4F sbci r23,hi8(-(511))
		5854	6095 32fe 8F4F sbci r24,hlo8(-(511))
		5855	6096 3300 9F4F sbci r25,hhi8(-(511))
		5856	6097 .L515:
		5857	6098 3302 5B01 movw r10,r22
		5858	6099 3304 6C01 movw r12,r24
		5859	6100 3306 19E0 ldi r17,9
		5860	6101 3308 D594 1: asr r13
		5861	6102 330a C794 ror r12
		5862	6103 330c B794 ror r11
		5863	6104 330e A794 ror r10
		5864	6105 3310 1A95 dec r17
		5865	6106 3312 01F4 brne 1b
		5866	6107 3314 8091 0000 lds r24,MaxStickNick
		5867	6108 3318 9091 0000 lds r25,(MaxStickNick)+1
		5868	6109 331c 8134 cpi r24,65
		5869	6110 331e 9105 cpc r25,__zero_reg__
		5870	6111 3320 04F4 brge .L517
		5871	6112 3322 8091 0000 lds r24,MaxStickRoll
		5872	6113 3326 9091 0000 lds r25,(MaxStickRoll)+1
		5873	6114 332a 8134 cpi r24,65
		5874	6115 332c 9105 cpc r25,__zero_reg__
		5875	6116 332e 04F0 brlt .L516
		5876	6117 .L517:
		5877	6118 3330 D401 movw r26,r8
		5878	6119 3332 C301 movw r24,r6
		5879	6120 3334 97FE sbrs r9,7
		5880	6121 3336 00C0 rjmp .L518
		5881	6122 3338 0196 adiw r24,1
		5882	6123 333a A11D adc r26,__zero_reg__
		5883	6124 333c B11D adc r27,__zero_reg__
		5884	6125 .L518:
		5885	6126 333e 3C01 movw r6,r24
		5886	6127 3340 4D01 movw r8,r26
		5887	6128 3342 9594 asr r9
		5888	6129 3344 8794 ror r8
		5889	6130 3346 7794 ror r7
		5890	6131 3348 6794 ror r6
		5891	6132 334a D601 movw r26,r12
		5892	6133 334c C501 movw r24,r10
		5893	6134 334e D7FE sbrs r13,7
		5894	6135 3350 00C0 rjmp .L519
		5895	6136 3352 0196 adiw r24,1
		5896	6137 3354 A11D adc r26,__zero_reg__
		5897	6138 3356 B11D adc r27,__zero_reg__
		5898	6139 .L519:
		5899	6140 3358 5C01 movw r10,r24
		5900	6141 335a 6D01 movw r12,r26
		5901	6142 335c D594 asr r13
		5902	6143 335e C794 ror r12
		5903	6144 3360 B794 ror r11
		5904	6145 3362 A794 ror r10
		5905	6146 .L516:
		5906	6147 3364 8091 0000 lds r24,FromNaviCtrl_Value+2
		5907	6148 3368 282F mov r18,r24
		5908	6149 336a 3327 clr r19
		5909	6150 336c 27FD sbrc r18,7
		5910	6151 336e 3095 com r19
		5911	6152 3370 432F mov r20,r19
		5912	6153 3372 532F mov r21,r19
		5913	6154 3374 2615 cp r18,r6
		5914	6155 3376 3705 cpc r19,r7
		5915	6156 3378 4805 cpc r20,r8
		5916	6157 337a 5905 cpc r21,r9
		5917	6158 337c 04F4 brge .L520
		5918	6159 337e 3901 movw r6,r18
		5919	6160 3380 4A01 movw r8,r20
		5920	6161 .L520:
		5921	6162 3382 9927 clr r25
		5922	6163 3384 87FD sbrc r24,7
		5923	6164 3386 9095 com r25
		5924	6165 3388 9095 com r25
		5925	6166 338a 8195 neg r24
		5926	6167 338c 9F4F sbci r25,lo8(-1)
		5927	6168 338e AA27 clr r26
		5928	6169 3390 97FD sbrc r25,7
		5929	6170 3392 A095 com r26
		5930	6171 3394 BA2F mov r27,r26
		5931	6172 3396 6816 cp r6,r24
		5932	6173 3398 7906 cpc r7,r25
		5933	6174 339a 8A06 cpc r8,r26
		5934	6175 339c 9B06 cpc r9,r27
		5935	6176 339e 04F4 brge .L521
		5936	6177 33a0 3C01 movw r6,r24
		5937	6178 33a2 4D01 movw r8,r26
		5938	6179 .L521:
		5939	6180 33a4 2A15 cp r18,r10
		5940	6181 33a6 3B05 cpc r19,r11
		5941	6182 33a8 4C05 cpc r20,r12
		5942	6183 33aa 5D05 cpc r21,r13
		5943	6184 33ac 04F4 brge .L522
		5944	6185 33ae 5901 movw r10,r18
		5945	6186 33b0 6A01 movw r12,r20
		5946	6187 .L522:
		5947	6188 33b2 A816 cp r10,r24
		5948	6189 33b4 B906 cpc r11,r25
		5949	6190 33b6 CA06 cpc r12,r26
		5950	6191 33b8 DB06 cpc r13,r27
		5951	6192 33ba 04F0 brlt .+2
		5952	6193 33bc 00C0 rjmp .L524
		5953	6194 33be 5C01 movw r10,r24
		5954	6195 33c0 6D01 movw r12,r26
		5955	6196 33c2 00C0 rjmp .L524
		5956	6197 .L513:
		5957	6198 33c4 EA2C mov r14,r10
		5958	6199 33c6 FF24 clr r15
		5959	6200 33c8 0027 clr r16
		5960	6201 33ca 1127 clr r17
		5961	6202 33cc CA01 movw r24,r20
		5962	6203 33ce B901 movw r22,r18
		5963	6204 33d0 A801 movw r20,r16
		5964	6205 33d2 9701 movw r18,r14
		5965	6206 33d4 0E94 0000 call __divmodsi4
		5966	6207 33d8 3901 movw r6,r18
		5967	6208 33da 4A01 movw r8,r20
		5968	6209 33dc C101 movw r24,r2
		5969	6210 33de AA27 clr r26
		5970	6211 33e0 97FD sbrc r25,7
		5971	6212 33e2 A095 com r26
		5972	6213 33e4 BA2F mov r27,r26
		5973	6214 33e6 681A sub r6,r24
		5974	6215 33e8 790A sbc r7,r25
		5975	6216 33ea 8A0A sbc r8,r26
		5976	6217 33ec 9B0A sbc r9,r27
		5977	6218 33ee 6B81 ldd r22,Y+3
		5978	6219 33f0 7C81 ldd r23,Y+4
		5979	6220 33f2 8D81 ldd r24,Y+5
		5980	6221 33f4 9E81 ldd r25,Y+6
		5981	6222 33f6 A801 movw r20,r16
		5982	6223 33f8 9701 movw r18,r14
		5983	6224 33fa 0E94 0000 call __divmodsi4
		5984	6225 33fe 5901 movw r10,r18
		5985	6226 3400 6A01 movw r12,r20
		5986	6227 3402 C201 movw r24,r4
		5987	6228 3404 AA27 clr r26
		5988	6229 3406 97FD sbrc r25,7
		5989	6230 3408 A095 com r26
		5990	6231 340a BA2F mov r27,r26
		5991	6232 340c A81A sub r10,r24
		5992	6233 340e B90A sbc r11,r25
		5993	6234 3410 CA0A sbc r12,r26
		5994	6235 3412 DB0A sbc r13,r27
		5995	6236 3414 D401 movw r26,r8
		5996	6237 3416 C301 movw r24,r6
		5997	6238 3418 97FE sbrs r9,7
		5998	6239 341a 00C0 rjmp .L525
		5999	6240 341c 0F96 adiw r24,15
		6000	6241 341e A11D adc r26,__zero_reg__
		6001	6242 3420 B11D adc r27,__zero_reg__
		6002	6243 .L525:
		6003	6244 3422 3C01 movw r6,r24
		6004	6245 3424 4D01 movw r8,r26
		6005	6246 3426 F4E0 ldi r31,4
		6006	6247 3428 9594 1: asr r9
		6007	6248 342a 8794 ror r8
		6008	6249 342c 7794 ror r7
		6009	6250 342e 6794 ror r6
		6010	6251 3430 FA95 dec r31
		6011	6252 3432 01F4 brne 1b
		6012	6253 3434 D601 movw r26,r12
		6013	6254 3436 C501 movw r24,r10
		6014	6255 3438 D7FE sbrs r13,7
		6015	6256 343a 00C0 rjmp .L526
		6016	6257 343c 0F96 adiw r24,15
		6017	6258 343e A11D adc r26,__zero_reg__
		6018	6259 3440 B11D adc r27,__zero_reg__
		6019	6260 .L526:
		6020	6261 3442 5C01 movw r10,r24
		6021	6262 3444 6D01 movw r12,r26
		6022	6263 3446 E4E0 ldi r30,4
		6023	6264 3448 D594 1: asr r13
		6024	6265 344a C794 ror r12
		6025	6266 344c B794 ror r11
		6026	6267 344e A794 ror r10
		6027	6268 3450 EA95 dec r30
		6028	6269 3452 01F4 brne 1b
		6029	6270 3454 8091 0000 lds r24,MaxStickNick
		6030	6271 3458 9091 0000 lds r25,(MaxStickNick)+1
		6031	6272 345c 8134 cpi r24,65
		6032	6273 345e 9105 cpc r25,__zero_reg__
		6033	6274 3460 04F4 brge .L528
		6034	6275 3462 8091 0000 lds r24,MaxStickRoll
		6035	6276 3466 9091 0000 lds r25,(MaxStickRoll)+1
		6036	6277 346a 8134 cpi r24,65
		6037	6278 346c 9105 cpc r25,__zero_reg__
		6038	6279 346e 04F0 brlt .L527
		6039	6280 .L528:
		6040	6281 3470 C401 movw r24,r8
		6041	6282 3472 B301 movw r22,r6
		6042	6283 3474 23E0 ldi r18,lo8(3)
		6043	6284 3476 30E0 ldi r19,hi8(3)
		6044	6285 3478 40E0 ldi r20,hlo8(3)
		6045	6286 347a 50E0 ldi r21,hhi8(3)
		6046	6287 347c 0E94 0000 call __divmodsi4
		6047	6288 3480 3901 movw r6,r18
		6048	6289 3482 4A01 movw r8,r20
		6049	6290 3484 C601 movw r24,r12
		6050	6291 3486 B501 movw r22,r10
		6051	6292 3488 23E0 ldi r18,lo8(3)
		6052	6293 348a 30E0 ldi r19,hi8(3)
		6053	6294 348c 40E0 ldi r20,hlo8(3)
		6054	6295 348e 50E0 ldi r21,hhi8(3)
		6055	6296 3490 0E94 0000 call __divmodsi4
		6056	6297 3494 5901 movw r10,r18
		6057	6298 3496 6A01 movw r12,r20
		6058	6299 .L527:
		6059	6300 3498 8091 0000 lds r24,EE_Parameter+4
		6060	6301 349c E82F mov r30,r24
		6061	6302 349e FF27 clr r31
		6062	6303 34a0 EE0F add r30,r30
		6063	6304 34a2 FF1F adc r31,r31
		6064	6305 34a4 E050 subi r30,lo8(-(PPM_in))
		6065	6306 34a6 F040 sbci r31,hi8(-(PPM_in))
		6066	6307 34a8 8081 ld r24,Z
		6067	6308 34aa 9181 ldd r25,Z+1
		6068	6309 34ac 0190 ld __tmp_reg__,Z+
		6069	6310 34ae F081 ld r31,Z
		6070	6311 34b0 E02D mov r30,__tmp_reg__
		6071	6312 34b2 F7FF sbrs r31,7
		6072	6313 34b4 00C0 rjmp .L530
		6073	6314 34b6 F095 com r31
		6074	6315 34b8 E195 neg r30
		6075	6316 34ba FF4F sbci r31,lo8(-1)
		6076	6317 .L530:
		6077	6318 34bc 7A97 sbiw r30,26
		6078	6319 34be 04F0 brlt .L529
		6079	6320 34c0 C401 movw r24,r8
		6080	6321 34c2 B301 movw r22,r6
		6081	6322 34c4 23E0 ldi r18,lo8(3)
		6082	6323 34c6 30E0 ldi r19,hi8(3)
		6083	6324 34c8 40E0 ldi r20,hlo8(3)
		6084	6325 34ca 50E0 ldi r21,hhi8(3)
		6085	6326 34cc 0E94 0000 call __divmodsi4
		6086	6327 34d0 3901 movw r6,r18
		6087	6328 34d2 4A01 movw r8,r20
		6088	6329 34d4 C601 movw r24,r12
		6089	6330 34d6 B501 movw r22,r10
		6090	6331 34d8 23E0 ldi r18,lo8(3)
		6091	6332 34da 30E0 ldi r19,hi8(3)
		6092	6333 34dc 40E0 ldi r20,hlo8(3)
		6093	6334 34de 50E0 ldi r21,hhi8(3)
		6094	6335 34e0 0E94 0000 call __divmodsi4
		6095	6336 34e4 5901 movw r10,r18
		6096	6337 34e6 6A01 movw r12,r20
		6097	6338 .L529:
		6098	6339 34e8 89E1 ldi r24,lo8(25)
		6099	6340 34ea 8093 0000 sts KompassFusion,r24
		6100	6341 34ee 21E2 ldi r18,lo8(33)
		6101	6342 34f0 6216 cp r6,r18
		6102	6343 34f2 7104 cpc r7,__zero_reg__
		6103	6344 34f4 8104 cpc r8,__zero_reg__
		6104	6345 34f6 9104 cpc r9,__zero_reg__
		6105	6346 34f8 04F0 brlt .L531
		6106	6347 34fa 70E2 ldi r23,lo8(32)
		6107	6348 34fc 672E mov r6,r23
		6108	6349 34fe 712C mov r7,__zero_reg__
		6109	6350 3500 812C mov r8,__zero_reg__
		6110	6351 3502 912C mov r9,__zero_reg__
		6111	6352 .L531:
		6112	6353 3504 30EE ldi r19,lo8(-32)
		6113	6354 3506 6316 cp r6,r19
		6114	6355 3508 3FEF ldi r19,hi8(-32)
		6115	6356 350a 7306 cpc r7,r19
		6116	6357 350c 3FEF ldi r19,hlo8(-32)
		6117	6358 350e 8306 cpc r8,r19
		6118	6359 3510 3FEF ldi r19,hhi8(-32)
		6119	6360 3512 9306 cpc r9,r19
		6120	6361 3514 04F4 brge .L532
		6121	6362 3516 60EE ldi r22,lo8(-32)
		6122	6363 3518 662E mov r6,r22
		6123	6364 351a 6FEF ldi r22,hi8(-32)
		6124	6365 351c 762E mov r7,r22
		6125	6366 351e 6FEF ldi r22,hlo8(-32)
		6126	6367 3520 862E mov r8,r22
		6127	6368 3522 6FEF ldi r22,hhi8(-32)
		6128	6369 3524 962E mov r9,r22
		6129	6370 .L532:
		6130	6371 3526 41E2 ldi r20,lo8(33)
		6131	6372 3528 A416 cp r10,r20
		6132	6373 352a B104 cpc r11,__zero_reg__
		6133	6374 352c C104 cpc r12,__zero_reg__
		6134	6375 352e D104 cpc r13,__zero_reg__
		6135	6376 3530 04F0 brlt .L533
		6136	6377 3532 50E2 ldi r21,lo8(32)
		6137	6378 3534 A52E mov r10,r21
		6138	6379 3536 B12C mov r11,__zero_reg__
		6139	6380 3538 C12C mov r12,__zero_reg__
		6140	6381 353a D12C mov r13,__zero_reg__
		6141	6382 .L533:
		6142	6383 353c 50EE ldi r21,lo8(-32)
		6143	6384 353e A516 cp r10,r21
		6144	6385 3540 5FEF ldi r21,hi8(-32)
		6145	6386 3542 B506 cpc r11,r21
		6146	6387 3544 5FEF ldi r21,hlo8(-32)
		6147	6388 3546 C506 cpc r12,r21
		6148	6389 3548 5FEF ldi r21,hhi8(-32)
		6149	6390 354a D506 cpc r13,r21
		6150	6391 354c 04F4 brge .L524
		6151	6392 354e 40EE ldi r20,lo8(-32)
		6152	6393 3550 A42E mov r10,r20
		6153	6394 3552 4FEF ldi r20,hi8(-32)
		6154	6395 3554 B42E mov r11,r20
		6155	6396 3556 4FEF ldi r20,hlo8(-32)
		6156	6397 3558 C42E mov r12,r20
		6157	6398 355a 4FEF ldi r20,hhi8(-32)
		6158	6399 355c D42E mov r13,r20
		6159	6400 .L524:
		6160	6401 355e 8091 0000 lds r24,Mess_IntegralNick
		6161	6402 3562 9091 0000 lds r25,(Mess_IntegralNick)+1
		6162	6403 3566 A091 0000 lds r26,(Mess_IntegralNick)+2
		6163	6404 356a B091 0000 lds r27,(Mess_IntegralNick)+3
		6164	6405 356e 8619 sub r24,r6
		6165	6406 3570 9709 sbc r25,r7
		6166	6407 3572 A809 sbc r26,r8
		6167	6408 3574 B909 sbc r27,r9
		6168	6409 3576 8093 0000 sts Mess_IntegralNick,r24
		6169	6410 357a 9093 0000 sts (Mess_IntegralNick)+1,r25
		6170	6411 357e A093 0000 sts (Mess_IntegralNick)+2,r26
		6171	6412 3582 B093 0000 sts (Mess_IntegralNick)+3,r27
		6172	6413 3586 8091 0000 lds r24,Mess_IntegralRoll
		6173	6414 358a 9091 0000 lds r25,(Mess_IntegralRoll)+1
		6174	6415 358e A091 0000 lds r26,(Mess_IntegralRoll)+2
		6175	6416 3592 B091 0000 lds r27,(Mess_IntegralRoll)+3
		6176	6417 3596 8A19 sub r24,r10
		6177	6418 3598 9B09 sbc r25,r11
		6178	6419 359a AC09 sbc r26,r12
		6179	6420 359c BD09 sbc r27,r13
		6180	6421 359e 8093 0000 sts Mess_IntegralRoll,r24
		6181	6422 35a2 9093 0000 sts (Mess_IntegralRoll)+1,r25
		6182	6423 35a6 A093 0000 sts (Mess_IntegralRoll)+2,r26
		6183	6424 35aa B093 0000 sts (Mess_IntegralRoll)+3,r27
		6184	6425 .L511:
		6185	6426 35ae 8091 0000 lds r24,ZaehlMessungen
		6186	6427 35b2 9091 0000 lds r25,(ZaehlMessungen)+1
		6187	6428 35b6 8F3F cpi r24,255
		6188	6429 35b8 9105 cpc r25,__zero_reg__
		6189	6430 35ba 01F0 breq .+2
		6190	6431 35bc 00F4 brsh .+2
		6191	6432 35be 00C0 rjmp .L535
		6192	6433 35c0 6F85 ldd r22,Y+15
		6193	6434 35c2 6623 tst r22
		6194	6435 35c4 01F0 breq .+2
		6195	6436 35c6 00C0 rjmp .L536
		6196	6437 35c8 8091 0000 lds r24,Looping_Roll
		6197	6438 35cc 8823 tst r24
		6198	6439 35ce 01F0 breq .+2
		6199	6440 35d0 00C0 rjmp .L536
		6200	6441 35d2 8091 0000 lds r24,TrichterFlug
		6201	6442 35d6 8823 tst r24
		6202	6443 35d8 01F0 breq .+2
		6203	6444 35da 00C0 rjmp .L536
		6204	6445 35dc 7091 0000 lds r23,EE_Parameter+68
		6205	6446 35e0 788B std Y+16,r23
		6206	6447 35e2 7723 tst r23
		6207	6448 35e4 01F4 brne .+2
		6208	6449 35e6 00C0 rjmp .L536
		6209	6450 35e8 8091 0000 lds r24,MittelIntegralNick
		6210	6451 35ec 9091 0000 lds r25,(MittelIntegralNick)+1
		6211	6452 35f0 A091 0000 lds r26,(MittelIntegralNick)+2
		6212	6453 35f4 B091 0000 lds r27,(MittelIntegralNick)+3
		6213	6454 35f8 B7FF sbrs r27,7
		6214	6455 35fa 00C0 rjmp .L537
		6215	6456 35fc 8150 subi r24,lo8(-(255))
		6216	6457 35fe 9F4F sbci r25,hi8(-(255))
		6217	6458 3600 AF4F sbci r26,hlo8(-(255))
		6218	6459 3602 BF4F sbci r27,hhi8(-(255))
		6219	6460 .L537:
		6220	6461 3604 E92E mov r14,r25
		6221	6462 3606 FA2E mov r15,r26
		6222	6463 3608 0B2F mov r16,r27
		6223	6464 360a 1127 clr r17
		6224	6465 360c 07FD sbrc r16,7
		6225	6466 360e 1A95 dec r17
		6226	6467 3610 E092 0000 sts MittelIntegralNick,r14
		6227	6468 3614 F092 0000 sts (MittelIntegralNick)+1,r15
		6228	6469 3618 0093 0000 sts (MittelIntegralNick)+2,r16
		6229	6470 361c 1093 0000 sts (MittelIntegralNick)+3,r17
		6230	6471 3620 8091 0000 lds r24,MittelIntegralRoll
		6231	6472 3624 9091 0000 lds r25,(MittelIntegralRoll)+1
		6232	6473 3628 A091 0000 lds r26,(MittelIntegralRoll)+2
		6233	6474 362c B091 0000 lds r27,(MittelIntegralRoll)+3
		6234	6475 3630 B7FF sbrs r27,7
		6235	6476 3632 00C0 rjmp .L538
		6236	6477 3634 8150 subi r24,lo8(-(255))
		6237	6478 3636 9F4F sbci r25,hi8(-(255))
		6238	6479 3638 AF4F sbci r26,hlo8(-(255))
		6239	6480 363a BF4F sbci r27,hhi8(-(255))
		6240	6481 .L538:
		6241	6482 363c 892F mov r24,r25
		6242	6483 363e 9A2F mov r25,r26
		6243	6484 3640 AB2F mov r26,r27
		6244	6485 3642 BB27 clr r27
		6245	6486 3644 A7FD sbrc r26,7
		6246	6487 3646 BA95 dec r27
		6247	6488 3648 898B std Y+17,r24
		6248	6489 364a 9A8B std Y+18,r25
		6249	6490 364c AB8B std Y+19,r26
		6250	6491 364e BC8B std Y+20,r27
		6251	6492 3650 8093 0000 sts MittelIntegralRoll,r24
		6252	6493 3654 9093 0000 sts (MittelIntegralRoll)+1,r25
		6253	6494 3658 A093 0000 sts (MittelIntegralRoll)+2,r26
		6254	6495 365c B093 0000 sts (MittelIntegralRoll)+3,r27
		6255	6496 3660 8091 0000 lds r24,EE_Parameter+28
		6256	6497 3664 A82E mov r10,r24
		6257	6498 3666 BB24 clr r11
		6258	6499 3668 CC24 clr r12
		6259	6500 366a DD24 clr r13
		6260	6501 366c 2091 0000 lds r18,IntegralAccNick
		6261	6502 3670 3091 0000 lds r19,(IntegralAccNick)+1
		6262	6503 3674 4091 0000 lds r20,(IntegralAccNick)+2
		6263	6504 3678 5091 0000 lds r21,(IntegralAccNick)+3
		6264	6505 367c C601 movw r24,r12
		6265	6506 367e B501 movw r22,r10
		6266	6507 3680 0E94 0000 call __mulsi3
		6267	6508 3684 97FF sbrs r25,7
		6268	6509 3686 00C0 rjmp .L539
		6269	6510 3688 6150 subi r22,lo8(-(255))
		6270	6511 368a 7F4F sbci r23,hi8(-(255))
		6271	6512 368c 8F4F sbci r24,hlo8(-(255))
		6272	6513 368e 9F4F sbci r25,hhi8(-(255))
		6273	6514 .L539:
		6274	6515 3690 672E mov r6,r23
		6275	6516 3692 782E mov r7,r24
		6276	6517 3694 892E mov r8,r25
		6277	6518 3696 9924 clr r9
		6278	6519 3698 87FC sbrc r8,7
		6279	6520 369a 9A94 dec r9
		6280	6521 369c 6092 0000 sts IntegralAccNick,r6
		6281	6522 36a0 7092 0000 sts (IntegralAccNick)+1,r7
		6282	6523 36a4 8092 0000 sts (IntegralAccNick)+2,r8
		6283	6524 36a8 9092 0000 sts (IntegralAccNick)+3,r9
		6284	6525 36ac 2091 0000 lds r18,IntegralAccRoll
		6285	6526 36b0 3091 0000 lds r19,(IntegralAccRoll)+1
		6286	6527 36b4 4091 0000 lds r20,(IntegralAccRoll)+2
		6287	6528 36b8 5091 0000 lds r21,(IntegralAccRoll)+3
		6288	6529 36bc C601 movw r24,r12
		6289	6530 36be B501 movw r22,r10
		6290	6531 36c0 0E94 0000 call __mulsi3
		6291	6532 36c4 97FF sbrs r25,7
		6292	6533 36c6 00C0 rjmp .L540
		6293	6534 36c8 6150 subi r22,lo8(-(255))
		6294	6535 36ca 7F4F sbci r23,hi8(-(255))
		6295	6536 36cc 8F4F sbci r24,hlo8(-(255))
		6296	6537 36ce 9F4F sbci r25,hhi8(-(255))
		6297	6538 .L540:
		6298	6539 36d0 272E mov r2,r23
		6299	6540 36d2 382E mov r3,r24
		6300	6541 36d4 492E mov r4,r25
		6301	6542 36d6 5524 clr r5
		6302	6543 36d8 47FC sbrc r4,7
		6303	6544 36da 5A94 dec r5
		6304	6545 36dc 2092 0000 sts IntegralAccRoll,r2
		6305	6546 36e0 3092 0000 sts (IntegralAccRoll)+1,r3
		6306	6547 36e4 4092 0000 sts (IntegralAccRoll)+2,r4
		6307	6548 36e8 5092 0000 sts (IntegralAccRoll)+3,r5
		6308	6549 36ec 8091 0000 lds r24,IntegralAccZ
		6309	6550 36f0 9091 0000 lds r25,(IntegralAccZ)+1
		6310	6551 36f4 A091 0000 lds r26,(IntegralAccZ)+2
		6311	6552 36f8 B091 0000 lds r27,(IntegralAccZ)+3
		6312	6553 36fc B7FF sbrs r27,7
		6313	6554 36fe 00C0 rjmp .L541
		6314	6555 3700 8150 subi r24,lo8(-(255))
		6315	6556 3702 9F4F sbci r25,hi8(-(255))
		6316	6557 3704 AF4F sbci r26,hlo8(-(255))
		6317	6558 3706 BF4F sbci r27,hhi8(-(255))
		6318	6559 .L541:
		6319	6560 3708 892F mov r24,r25
		6320	6561 370a 9A2F mov r25,r26
		6321	6562 370c AB2F mov r26,r27
		6322	6563 370e BB27 clr r27
		6323	6564 3710 A7FD sbrc r26,7
		6324	6565 3712 BA95 dec r27
		6325	6566 3714 8093 0000 sts IntegralAccZ,r24
		6326	6567 3718 9093 0000 sts (IntegralAccZ)+1,r25
		6327	6568 371c A093 0000 sts (IntegralAccZ)+2,r26
		6328	6569 3720 B093 0000 sts (IntegralAccZ)+3,r27
		6329	6570 3724 D801 movw r26,r16
		6330	6571 3726 C701 movw r24,r14
		6331	6572 3728 8619 sub r24,r6
		6332	6573 372a 9709 sbc r25,r7
		6333	6574 372c A809 sbc r26,r8
		6334	6575 372e B909 sbc r27,r9
		6335	6576 3730 8093 0000 sts IntegralFehlerNick.3,r24
		6336	6577 3734 9093 0000 sts (IntegralFehlerNick.3)+1,r25
		6337	6578 3738 A093 0000 sts (IntegralFehlerNick.3)+2,r26
		6338	6579 373c B093 0000 sts (IntegralFehlerNick.3)+3,r27
		6339	6580 3740 2091 0000 lds r18,EE_Parameter+67
		6340	6581 3744 E22E mov r14,r18
		6341	6582 3746 FF24 clr r15
		6342	6583 3748 0027 clr r16
		6343	6584 374a 1127 clr r17
		6344	6585 374c BC01 movw r22,r24
		6345	6586 374e CD01 movw r24,r26
		6346	6587 3750 A801 movw r20,r16
		6347	6588 3752 9701 movw r18,r14
		6348	6589 3754 0E94 0000 call __divmodsi4
		6349	6590 3758 5901 movw r10,r18
		6350	6591 375a 6A01 movw r12,r20
		6351	6592 375c 2093 0000 sts ausgleichNick.10,r18
		6352	6593 3760 3093 0000 sts (ausgleichNick.10)+1,r19
		6353	6594 3764 4093 0000 sts (ausgleichNick.10)+2,r20
		6354	6595 3768 5093 0000 sts (ausgleichNick.10)+3,r21
		6355	6596 376c 8989 ldd r24,Y+17
		6356	6597 376e 9A89 ldd r25,Y+18
		6357	6598 3770 AB89 ldd r26,Y+19
		6358	6599 3772 BC89 ldd r27,Y+20
		6359	6600 3774 8219 sub r24,r2
		6360	6601 3776 9309 sbc r25,r3
		6361	6602 3778 A409 sbc r26,r4
		6362	6603 377a B509 sbc r27,r5
		6363	6604 377c 8093 0000 sts IntegralFehlerRoll.4,r24
		6364	6605 3780 9093 0000 sts (IntegralFehlerRoll.4)+1,r25
		6365	6606 3784 A093 0000 sts (IntegralFehlerRoll.4)+2,r26
		6366	6607 3788 B093 0000 sts (IntegralFehlerRoll.4)+3,r27
		6367	6608 378c BC01 movw r22,r24
		6368	6609 378e CD01 movw r24,r26
		6369	6610 3790 A801 movw r20,r16
		6370	6611 3792 9701 movw r18,r14
		6371	6612 3794 0E94 0000 call __divmodsi4
		6372	6613 3798 2093 0000 sts ausgleichRoll.11,r18
		6373	6614 379c 3093 0000 sts (ausgleichRoll.11)+1,r19
		6374	6615 37a0 4093 0000 sts (ausgleichRoll.11)+2,r20
		6375	6616 37a4 5093 0000 sts (ausgleichRoll.11)+3,r21
		6376	6617 37a8 D601 movw r26,r12
		6377	6618 37aa C501 movw r24,r10
		6378	6619 37ac D7FE sbrs r13,7
		6379	6620 37ae 00C0 rjmp .L542
		6380	6621 37b0 8150 subi r24,lo8(-(255))
		6381	6622 37b2 9F4F sbci r25,hi8(-(255))
		6382	6623 37b4 AF4F sbci r26,hlo8(-(255))
		6383	6624 37b6 BF4F sbci r27,hhi8(-(255))
		6384	6625 .L542:
		6385	6626 37b8 892F mov r24,r25
		6386	6627 37ba 9A2F mov r25,r26
		6387	6628 37bc AB2F mov r26,r27
		6388	6629 37be BB27 clr r27
		6389	6630 37c0 A7FD sbrc r26,7
		6390	6631 37c2 BA95 dec r27
		6391	6632 37c4 9093 0000 sts (LageKorrekturNick)+1,r25
		6392	6633 37c8 8093 0000 sts LageKorrekturNick,r24
		6393	6634 37cc 57FF sbrs r21,7
		6394	6635 37ce 00C0 rjmp .L543
		6395	6636 37d0 2150 subi r18,lo8(-(255))
		6396	6637 37d2 3F4F sbci r19,hi8(-(255))
		6397	6638 37d4 4F4F sbci r20,hlo8(-(255))
		6398	6639 37d6 5F4F sbci r21,hhi8(-(255))
		6399	6640 .L543:
		6400	6641 37d8 BB27 clr r27
		6401	6642 37da 57FD sbrc r21,7
		6402	6643 37dc BA95 dec r27
		6403	6644 37de A52F mov r26,r21
		6404	6645 37e0 942F mov r25,r20
		6405	6646 37e2 832F mov r24,r19
		6406	6647 37e4 9093 0000 sts (LageKorrekturRoll)+1,r25
		6407	6648 37e8 8093 0000 sts LageKorrekturRoll,r24
		6408	6649 37ec 8091 0000 lds r24,MaxStickNick
		6409	6650 37f0 9091 0000 lds r25,(MaxStickNick)+1
		6410	6651 37f4 8134 cpi r24,65
		6411	6652 37f6 9105 cpc r25,__zero_reg__
		6412	6653 37f8 04F4 brge .L545
		6413	6654 37fa 8091 0000 lds r24,MaxStickRoll
		6414	6655 37fe 9091 0000 lds r25,(MaxStickRoll)+1
		6415	6656 3802 8134 cpi r24,65
		6416	6657 3804 9105 cpc r25,__zero_reg__
		6417	6658 3806 04F4 brge .L545
		6418	6659 3808 8091 0000 lds r24,EE_Parameter+4
		6419	6660 380c E82F mov r30,r24
		6420	6661 380e FF27 clr r31
		6421	6662 3810 EE0F add r30,r30
		6422	6663 3812 FF1F adc r31,r31
		6423	6664 3814 E050 subi r30,lo8(-(PPM_in))
		6424	6665 3816 F040 sbci r31,hi8(-(PPM_in))
		6425	6666 3818 8081 ld r24,Z
		6426	6667 381a 9181 ldd r25,Z+1
		6427	6668 381c 0190 ld __tmp_reg__,Z+
		6428	6669 381e F081 ld r31,Z
		6429	6670 3820 E02D mov r30,__tmp_reg__
		6430	6671 3822 F7FF sbrs r31,7
		6431	6672 3824 00C0 rjmp .L546
		6432	6673 3826 F095 com r31
		6433	6674 3828 E195 neg r30
		6434	6675 382a FF4F sbci r31,lo8(-1)
		6435	6676 .L546:
		6436	6677 382c 7A97 sbiw r30,26
		6437	6678 382e 04F0 brlt .L544
		6438	6679 .L545:
		6439	6680 3830 8091 0000 lds r24,FromNaviCtrl_Value
		6440	6681 3834 8F3F cpi r24,lo8(-1)
		6441	6682 3836 01F4 brne .L544
		6442	6683 3838 8091 0000 lds r24,LageKorrekturNick
		6443	6684 383c 9091 0000 lds r25,(LageKorrekturNick)+1
		6444	6685 3840 97FD sbrc r25,7
		6445	6686 3842 0196 adiw r24,1
		6446	6687 .L547:
		6447	6688 3844 9595 asr r25
		6448	6689 3846 8795 ror r24
		6449	6690 3848 9093 0000 sts (LageKorrekturNick)+1,r25
		6450	6691 384c 8093 0000 sts LageKorrekturNick,r24
		6451	6692 3850 8091 0000 lds r24,LageKorrekturRoll
		6452	6693 3854 9091 0000 lds r25,(LageKorrekturRoll)+1
		6453	6694 3858 97FD sbrc r25,7
		6454	6695 385a 0196 adiw r24,1
		6455	6696 .L548:
		6456	6697 385c 9595 asr r25
		6457	6698 385e 8795 ror r24
		6458	6699 3860 9093 0000 sts (LageKorrekturRoll)+1,r25
		6459	6700 3864 8093 0000 sts LageKorrekturRoll,r24
		6460	6701 .L544:
		6461	6702 3868 8091 0000 lds r24,MittelIntegralNick2
		6462	6703 386c 9091 0000 lds r25,(MittelIntegralNick2)+1
		6463	6704 3870 A091 0000 lds r26,(MittelIntegralNick2)+2
		6464	6705 3874 B091 0000 lds r27,(MittelIntegralNick2)+3
		6465	6706 3878 B7FF sbrs r27,7
		6466	6707 387a 00C0 rjmp .L549
		6467	6708 387c 8150 subi r24,lo8(-(255))
		6468	6709 387e 9F4F sbci r25,hi8(-(255))
		6469	6710 3880 AF4F sbci r26,hlo8(-(255))
		6470	6711 3882 BF4F sbci r27,hhi8(-(255))
		6471	6712 .L549:
		6472	6713 3884 892F mov r24,r25
		6473	6714 3886 9A2F mov r25,r26
		6474	6715 3888 AB2F mov r26,r27
		6475	6716 388a BB27 clr r27
		6476	6717 388c A7FD sbrc r26,7
		6477	6718 388e BA95 dec r27
		6478	6719 3890 8093 0000 sts MittelIntegralNick2,r24
		6479	6720 3894 9093 0000 sts (MittelIntegralNick2)+1,r25
		6480	6721 3898 A093 0000 sts (MittelIntegralNick2)+2,r26
		6481	6722 389c B093 0000 sts (MittelIntegralNick2)+3,r27
		6482	6723 38a0 8091 0000 lds r24,MittelIntegralRoll2
		6483	6724 38a4 9091 0000 lds r25,(MittelIntegralRoll2)+1
		6484	6725 38a8 A091 0000 lds r26,(MittelIntegralRoll2)+2
		6485	6726 38ac B091 0000 lds r27,(MittelIntegralRoll2)+3
		6486	6727 38b0 B7FF sbrs r27,7
		6487	6728 38b2 00C0 rjmp .L550
		6488	6729 38b4 8150 subi r24,lo8(-(255))
		6489	6730 38b6 9F4F sbci r25,hi8(-(255))
		6490	6731 38b8 AF4F sbci r26,hlo8(-(255))
		6491	6732 38ba BF4F sbci r27,hhi8(-(255))
		6492	6733 .L550:
		6493	6734 38bc 892F mov r24,r25
		6494	6735 38be 9A2F mov r25,r26
		6495	6736 38c0 AB2F mov r26,r27
		6496	6737 38c2 BB27 clr r27
		6497	6738 38c4 A7FD sbrc r26,7
		6498	6739 38c6 BA95 dec r27
		6499	6740 38c8 8093 0000 sts MittelIntegralRoll2,r24
		6500	6741 38cc 9093 0000 sts (MittelIntegralRoll2)+1,r25
		6501	6742 38d0 A093 0000 sts (MittelIntegralRoll2)+2,r26
		6502	6743 38d4 B093 0000 sts (MittelIntegralRoll2)+3,r27
		6503	6744 38d8 8091 0000 lds r24,IntegralNick
		6504	6745 38dc 9091 0000 lds r25,(IntegralNick)+1
		6505	6746 38e0 A091 0000 lds r26,(IntegralNick)+2
		6506	6747 38e4 B091 0000 lds r27,(IntegralNick)+3
		6507	6748 38e8 2F81 ldd r18,Y+7
		6508	6749 38ea 3885 ldd r19,Y+8
		6509	6750 38ec 4985 ldd r20,Y+9
		6510	6751 38ee 5A85 ldd r21,Y+10
		6511	6752 38f0 281B sub r18,r24
		6512	6753 38f2 390B sbc r19,r25
		6513	6754 38f4 4A0B sbc r20,r26
		6514	6755 38f6 5B0B sbc r21,r27
		6515	6756 38f8 2093 0000 sts tmp_long.1,r18
		6516	6757 38fc 3093 0000 sts (tmp_long.1)+1,r19
		6517	6758 3900 4093 0000 sts (tmp_long.1)+2,r20
		6518	6759 3904 5093 0000 sts (tmp_long.1)+3,r21
		6519	6760 3908 8091 0000 lds r24,IntegralRoll
		6520	6761 390c 9091 0000 lds r25,(IntegralRoll)+1
		6521	6762 3910 A091 0000 lds r26,(IntegralRoll)+2
		6522	6763 3914 B091 0000 lds r27,(IntegralRoll)+3
		6523	6764 3918 EB84 ldd r14,Y+11
		6524	6765 391a FC84 ldd r15,Y+12
		6525	6766 391c 0D85 ldd r16,Y+13
		6526	6767 391e 1E85 ldd r17,Y+14
		6527	6768 3920 E81A sub r14,r24
		6528	6769 3922 F90A sbc r15,r25
		6529	6770 3924 0A0B sbc r16,r26
		6530	6771 3926 1B0B sbc r17,r27
		6531	6772 3928 E092 0000 sts tmp_long2.2,r14
		6532	6773 392c F092 0000 sts (tmp_long2.2)+1,r15
		6533	6774 3930 0093 0000 sts (tmp_long2.2)+2,r16
		6534	6775 3934 1093 0000 sts (tmp_long2.2)+3,r17
		6535	6776 3938 2093 0000 sts IntegralFehlerNick.3,r18
		6536	6777 393c 3093 0000 sts (IntegralFehlerNick.3)+1,r19
		6537	6778 3940 4093 0000 sts (IntegralFehlerNick.3)+2,r20
		6538	6779 3944 5093 0000 sts (IntegralFehlerNick.3)+3,r21
		6539	6780 3948 E092 0000 sts IntegralFehlerRoll.4,r14
		6540	6781 394c F092 0000 sts (IntegralFehlerRoll.4)+1,r15
		6541	6782 3950 0093 0000 sts (IntegralFehlerRoll.4)+2,r16
		6542	6783 3954 1093 0000 sts (IntegralFehlerRoll.4)+3,r17
		6543	6784 3958 8091 0000 lds r24,Mess_IntegralNick2
		6544	6785 395c 9091 0000 lds r25,(Mess_IntegralNick2)+1
		6545	6786 3960 A091 0000 lds r26,(Mess_IntegralNick2)+2
		6546	6787 3964 B091 0000 lds r27,(Mess_IntegralNick2)+3
		6547	6788 3968 821B sub r24,r18
		6548	6789 396a 930B sbc r25,r19
		6549	6790 396c A40B sbc r26,r20
		6550	6791 396e B50B sbc r27,r21
		6551	6792 3970 8093 0000 sts Mess_IntegralNick2,r24
		6552	6793 3974 9093 0000 sts (Mess_IntegralNick2)+1,r25
		6553	6794 3978 A093 0000 sts (Mess_IntegralNick2)+2,r26
		6554	6795 397c B093 0000 sts (Mess_IntegralNick2)+3,r27
		6555	6796 3980 8091 0000 lds r24,Mess_IntegralRoll2
		6556	6797 3984 9091 0000 lds r25,(Mess_IntegralRoll2)+1
		6557	6798 3988 A091 0000 lds r26,(Mess_IntegralRoll2)+2
		6558	6799 398c B091 0000 lds r27,(Mess_IntegralRoll2)+3
		6559	6800 3990 8E19 sub r24,r14
		6560	6801 3992 9F09 sbc r25,r15
		6561	6802 3994 A00B sbc r26,r16
		6562	6803 3996 B10B sbc r27,r17
		6563	6804 3998 8093 0000 sts Mess_IntegralRoll2,r24
		6564	6805 399c 9093 0000 sts (Mess_IntegralRoll2)+1,r25
		6565	6806 39a0 A093 0000 sts (Mess_IntegralRoll2)+2,r26
		6566	6807 39a4 B093 0000 sts (Mess_IntegralRoll2)+3,r27
		6567	6808 39a8 8889 ldd r24,Y+16
		6568	6809 39aa 8823 tst r24
		6569	6810 39ac 01F0 breq .L551
		6570	6811 39ae 2091 0000 lds r18,GierGyroFehler
		6571	6812 39b2 3091 0000 lds r19,(GierGyroFehler)+1
		6572	6813 39b6 2138 cpi r18,129
		6573	6814 39b8 3105 cpc r19,__zero_reg__
		6574	6815 39ba 04F0 brlt .L552
		6575	6816 39bc 8091 0000 lds r24,AdNeutralGier
		6576	6817 39c0 9091 0000 lds r25,(AdNeutralGier)+1
		6577	6818 39c4 0196 adiw r24,1
		6578	6819 39c6 9093 0000 sts (AdNeutralGier)+1,r25
		6579	6820 39ca 8093 0000 sts AdNeutralGier,r24
		6580	6821 .L552:
		6581	6822 39ce 2058 subi r18,lo8(-128)
		6582	6823 39d0 3F4F sbci r19,hi8(-128)
		6583	6824 39d2 04F4 brge .L551
		6584	6825 39d4 8091 0000 lds r24,AdNeutralGier
		6585	6826 39d8 9091 0000 lds r25,(AdNeutralGier)+1
		6586	6827 39dc 0197 sbiw r24,1
		6587	6828 39de 9093 0000 sts (AdNeutralGier)+1,r25
		6588	6829 39e2 8093 0000 sts AdNeutralGier,r24
		6589	6830 .L551:
		6590	6831 39e6 1092 0000 sts (GierGyroFehler)+1,__zero_reg__
		6591	6832 39ea 1092 0000 sts GierGyroFehler,__zero_reg__
		6592	6833 39ee 81E0 ldi r24,lo8(1)
		6593	6834 39f0 90E0 ldi r25,hi8(1)
		6594	6835 39f2 9093 0000 sts (cnt.14)+1,r25
		6595	6836 39f6 8093 0000 sts cnt.14,r24
		6596	6837 39fa E090 0000 lds r14,IntegralFehlerNick.3
		6597	6838 39fe F090 0000 lds r15,(IntegralFehlerNick.3)+1
		6598	6839 3a02 0091 0000 lds r16,(IntegralFehlerNick.3)+2
		6599	6840 3a06 1091 0000 lds r17,(IntegralFehlerNick.3)+3
		6600	6841 3a0a D801 movw r26,r16
		6601	6842 3a0c C701 movw r24,r14
		6602	6843 3a0e 17FF sbrs r17,7
		6603	6844 3a10 00C0 rjmp .L555
		6604	6845 3a12 8827 clr r24
		6605	6846 3a14 9927 clr r25
		6606	6847 3a16 DC01 movw r26,r24
		6607	6848 3a18 8E19 sub r24,r14
		6608	6849 3a1a 9F09 sbc r25,r15
		6609	6850 3a1c A00B sbc r26,r16
		6610	6851 3a1e B10B sbc r27,r17
		6611	6852 .L555:
		6612	6853 3a20 8150 subi r24,lo8(513)
		6613	6854 3a22 9240 sbci r25,hi8(513)
		6614	6855 3a24 A040 sbci r26,hlo8(513)
		6615	6856 3a26 B040 sbci r27,hhi8(513)
		6616	6857 3a28 04F0 brlt .L554
		6617	6858 3a2a 84E0 ldi r24,lo8(4)
		6618	6859 3a2c 90E0 ldi r25,hi8(4)
		6619	6860 3a2e 9093 0000 sts (cnt.14)+1,r25
		6620	6861 3a32 8093 0000 sts cnt.14,r24
		6621	6862 .L554:
		6622	6863 3a36 8091 0000 lds r24,MittelIntegralNick_Alt.19
		6623	6864 3a3a 9091 0000 lds r25,(MittelIntegralNick_Alt.19)+1
		6624	6865 3a3e A091 0000 lds r26,(MittelIntegralNick_Alt.19)+2
		6625	6866 3a42 B091 0000 lds r27,(MittelIntegralNick_Alt.19)+3
		6626	6867 3a46 2091 0000 lds r18,MittelIntegralNick
		6627	6868 3a4a 3091 0000 lds r19,(MittelIntegralNick)+1
		6628	6869 3a4e 4091 0000 lds r20,(MittelIntegralNick)+2
		6629	6870 3a52 5091 0000 lds r21,(MittelIntegralNick)+3
		6630	6871 3a56 821B sub r24,r18
		6631	6872 3a58 930B sbc r25,r19
		6632	6873 3a5a A40B sbc r26,r20
		6633	6874 3a5c B50B sbc r27,r21
		6634	6875 3a5e 815E subi r24,lo8(-(19999))
		6635	6876 3a60 914B sbci r25,hi8(-(19999))
		6636	6877 3a62 AF4F sbci r26,hlo8(-(19999))
		6637	6878 3a64 BF4F sbci r27,hhi8(-(19999))
		6638	6879 3a66 8F53 subi r24,lo8(39999)
		6639	6880 3a68 9C49 sbci r25,hi8(39999)
		6640	6881 3a6a A040 sbci r26,hlo8(39999)
		6641	6882 3a6c B040 sbci r27,hhi8(39999)
		6642	6883 3a6e 00F0 brlo .L557
		6643	6884 3a70 8091 0000 lds r24,FromNaviCtrl_Value+1
		6644	6885 3a74 8931 cpi r24,lo8(25)
		6645	6886 3a76 04F4 brge .+2
		6646	6887 3a78 00C0 rjmp .L556
		6647	6888 .L557:
		6648	6889 3a7a 21E0 ldi r18,lo8(4097)
		6649	6890 3a7c E216 cp r14,r18
		6650	6891 3a7e 20E1 ldi r18,hi8(4097)
		6651	6892 3a80 F206 cpc r15,r18
		6652	6893 3a82 20E0 ldi r18,hlo8(4097)
		6653	6894 3a84 0207 cpc r16,r18
		6654	6895 3a86 20E0 ldi r18,hhi8(4097)
		6655	6896 3a88 1207 cpc r17,r18
		6656	6897 3a8a 04F4 brge .+2
		6657	6898 3a8c 00C0 rjmp .L558
		6658	6899 3a8e 8091 0000 lds r24,last_n_p.15
		6659	6900 3a92 8823 tst r24
		6660	6901 3a94 01F4 brne .+2
		6661	6902 3a96 00C0 rjmp .L559
		6662	6903 3a98 D801 movw r26,r16
		6663	6904 3a9a C701 movw r24,r14
		6664	6905 3a9c 17FF sbrs r17,7
		6665	6906 3a9e 00C0 rjmp .L560
		6666	6907 3aa0 8827 clr r24
		6667	6908 3aa2 9927 clr r25
		6668	6909 3aa4 DC01 movw r26,r24
		6669	6910 3aa6 8E19 sub r24,r14
		6670	6911 3aa8 9F09 sbc r25,r15
		6671	6912 3aaa A00B sbc r26,r16
		6672	6913 3aac B10B sbc r27,r17
		6673	6914 .L560:
		6674	6915 3aae 9C01 movw r18,r24
		6675	6916 3ab0 AD01 movw r20,r26
		6676	6917 3ab2 B7FF sbrs r27,7
		6677	6918 3ab4 00C0 rjmp .L561
		6678	6919 3ab6 2150 subi r18,lo8(-(511))
		6679	6920 3ab8 3E4F sbci r19,hi8(-(511))
		6680	6921 3aba 4F4F sbci r20,hlo8(-(511))
		6681	6922 3abc 5F4F sbci r21,hhi8(-(511))
		6682	6923 .L561:
		6683	6924 3abe F9E0 ldi r31,9
		6684	6925 3ac0 5595 1: asr r21
		6685	6926 3ac2 4795 ror r20
		6686	6927 3ac4 3795 ror r19
		6687	6928 3ac6 2795 ror r18
		6688	6929 3ac8 FA95 dec r31
		6689	6930 3aca 01F4 brne 1b
		6690	6931 3acc 8091 0000 lds r24,cnt.14
		6691	6932 3ad0 9091 0000 lds r25,(cnt.14)+1
		6692	6933 3ad4 820F add r24,r18
		6693	6934 3ad6 931F adc r25,r19
		6694	6935 3ad8 9093 0000 sts (cnt.14)+1,r25
		6695	6936 3adc 8093 0000 sts cnt.14,r24
		6696	6937 3ae0 D801 movw r26,r16
		6697	6938 3ae2 C701 movw r24,r14
		6698	6939 3ae4 17FF sbrs r17,7
		6699	6940 3ae6 00C0 rjmp .L562
		6700	6941 3ae8 0796 adiw r24,7
		6701	6942 3aea A11D adc r26,__zero_reg__
		6702	6943 3aec B11D adc r27,__zero_reg__
		6703	6944 .L562:
		6704	6945 3aee E3E0 ldi r30,3
		6705	6946 3af0 B595 1: asr r27
		6706	6947 3af2 A795 ror r26
		6707	6948 3af4 9795 ror r25
		6708	6949 3af6 8795 ror r24
		6709	6950 3af8 EA95 dec r30
		6710	6951 3afa 01F4 brne 1b
		6711	6952 3afc 8093 0000 sts ausgleichNick.10,r24
		6712	6953 3b00 9093 0000 sts (ausgleichNick.10)+1,r25
		6713	6954 3b04 A093 0000 sts (ausgleichNick.10)+2,r26
		6714	6955 3b08 B093 0000 sts (ausgleichNick.10)+3,r27
		6715	6956 3b0c 8958 subi r24,lo8(5001)
		6716	6957 3b0e 9341 sbci r25,hi8(5001)
		6717	6958 3b10 A040 sbci r26,hlo8(5001)
		6718	6959 3b12 B040 sbci r27,hhi8(5001)
		6719	6960 3b14 04F0 brlt .L563
		6720	6961 3b16 88E8 ldi r24,lo8(5000)
		6721	6962 3b18 93E1 ldi r25,hi8(5000)
		6722	6963 3b1a A0E0 ldi r26,hlo8(5000)
		6723	6964 3b1c B0E0 ldi r27,hhi8(5000)
		6724	6965 3b1e 8093 0000 sts ausgleichNick.10,r24
		6725	6966 3b22 9093 0000 sts (ausgleichNick.10)+1,r25
		6726	6967 3b26 A093 0000 sts (ausgleichNick.10)+2,r26
		6727	6968 3b2a B093 0000 sts (ausgleichNick.10)+3,r27
		6728	6969 .L563:
		6729	6970 3b2e 2091 0000 lds r18,ausgleichNick.10
		6730	6971 3b32 3091 0000 lds r19,(ausgleichNick.10)+1
		6731	6972 3b36 4091 0000 lds r20,(ausgleichNick.10)+2
		6732	6973 3b3a 5091 0000 lds r21,(ausgleichNick.10)+3
		6733	6974 3b3e 57FF sbrs r21,7
		6734	6975 3b40 00C0 rjmp .L564
		6735	6976 3b42 2150 subi r18,lo8(-(255))
		6736	6977 3b44 3F4F sbci r19,hi8(-(255))
		6737	6978 3b46 4F4F sbci r20,hlo8(-(255))
		6738	6979 3b48 5F4F sbci r21,hhi8(-(255))
		6739	6980 .L564:
		6740	6981 3b4a 232F mov r18,r19
		6741	6982 3b4c 342F mov r19,r20
		6742	6983 3b4e 452F mov r20,r21
		6743	6984 3b50 5527 clr r21
		6744	6985 3b52 47FD sbrc r20,7
		6745	6986 3b54 5A95 dec r21
		6746	6987 3b56 8091 0000 lds r24,LageKorrekturNick
		6747	6988 3b5a 9091 0000 lds r25,(LageKorrekturNick)+1
		6748	6989 3b5e 820F add r24,r18
		6749	6990 3b60 931F adc r25,r19
		6750	6991 3b62 9093 0000 sts (LageKorrekturNick)+1,r25
		6751	6992 3b66 8093 0000 sts LageKorrekturNick,r24
		6752	6993 3b6a 00C0 rjmp .L566
		6753	6994 .L559:
		6754	6995 3b6c 81E0 ldi r24,lo8(1)
		6755	6996 3b6e 8093 0000 sts last_n_p.15,r24
		6756	6997 3b72 00C0 rjmp .L566
		6757	6998 .L558:
		6758	6999 3b74 1092 0000 sts last_n_p.15,__zero_reg__
		6759	7000 .L566:
		6760	7001 3b78 40E0 ldi r20,lo8(-4096)
		6761	7002 3b7a E416 cp r14,r20
		6762	7003 3b7c 40EF ldi r20,hi8(-4096)
		6763	7004 3b7e F406 cpc r15,r20
		6764	7005 3b80 4FEF ldi r20,hlo8(-4096)
		6765	7006 3b82 0407 cpc r16,r20
		6766	7007 3b84 4FEF ldi r20,hhi8(-4096)
		6767	7008 3b86 1407 cpc r17,r20
		6768	7009 3b88 04F0 brlt .+2
		6769	7010 3b8a 00C0 rjmp .L567
		6770	7011 3b8c 8091 0000 lds r24,last_n_n.16
		6771	7012 3b90 8823 tst r24
		6772	7013 3b92 01F4 brne .+2
		6773	7014 3b94 00C0 rjmp .L568
		6774	7015 3b96 D801 movw r26,r16
		6775	7016 3b98 C701 movw r24,r14
		6776	7017 3b9a 17FF sbrs r17,7
		6777	7018 3b9c 00C0 rjmp .L569
		6778	7019 3b9e 8827 clr r24
		6779	7020 3ba0 9927 clr r25
		6780	7021 3ba2 DC01 movw r26,r24
		6781	7022 3ba4 8E19 sub r24,r14
		6782	7023 3ba6 9F09 sbc r25,r15
		6783	7024 3ba8 A00B sbc r26,r16
		6784	7025 3baa B10B sbc r27,r17
		6785	7026 .L569:
		6786	7027 3bac 9C01 movw r18,r24
		6787	7028 3bae AD01 movw r20,r26
		6788	7029 3bb0 B7FF sbrs r27,7
		6789	7030 3bb2 00C0 rjmp .L570
		6790	7031 3bb4 2150 subi r18,lo8(-(511))
		6791	7032 3bb6 3E4F sbci r19,hi8(-(511))
		6792	7033 3bb8 4F4F sbci r20,hlo8(-(511))
		6793	7034 3bba 5F4F sbci r21,hhi8(-(511))
		6794	7035 .L570:
		6795	7036 3bbc 69E0 ldi r22,9
		6796	7037 3bbe 5595 1: asr r21
		6797	7038 3bc0 4795 ror r20
		6798	7039 3bc2 3795 ror r19
		6799	7040 3bc4 2795 ror r18
		6800	7041 3bc6 6A95 dec r22
		6801	7042 3bc8 01F4 brne 1b
		6802	7043 3bca 8091 0000 lds r24,cnt.14
		6803	7044 3bce 9091 0000 lds r25,(cnt.14)+1
		6804	7045 3bd2 820F add r24,r18
		6805	7046 3bd4 931F adc r25,r19
		6806	7047 3bd6 9093 0000 sts (cnt.14)+1,r25
		6807	7048 3bda 8093 0000 sts cnt.14,r24
		6808	7049 3bde D801 movw r26,r16
		6809	7050 3be0 C701 movw r24,r14
		6810	7051 3be2 17FF sbrs r17,7
		6811	7052 3be4 00C0 rjmp .L571
		6812	7053 3be6 0796 adiw r24,7
		6813	7054 3be8 A11D adc r26,__zero_reg__
		6814	7055 3bea B11D adc r27,__zero_reg__
		6815	7056 .L571:
		6816	7057 3bec 23E0 ldi r18,3
		6817	7058 3bee B595 1: asr r27
		6818	7059 3bf0 A795 ror r26
		6819	7060 3bf2 9795 ror r25
		6820	7061 3bf4 8795 ror r24
		6821	7062 3bf6 2A95 dec r18
		6822	7063 3bf8 01F4 brne 1b
		6823	7064 3bfa 8093 0000 sts ausgleichNick.10,r24
		6824	7065 3bfe 9093 0000 sts (ausgleichNick.10)+1,r25
		6825	7066 3c02 A093 0000 sts (ausgleichNick.10)+2,r26
		6826	7067 3c06 B093 0000 sts (ausgleichNick.10)+3,r27
		6827	7068 3c0a 8857 subi r24,lo8(-5000)
		6828	7069 3c0c 9C4E sbci r25,hi8(-5000)
		6829	7070 3c0e AF4F sbci r26,hlo8(-5000)
		6830	7071 3c10 BF4F sbci r27,hhi8(-5000)
		6831	7072 3c12 04F4 brge .L572
		6832	7073 3c14 88E7 ldi r24,lo8(-5000)
		6833	7074 3c16 9CEE ldi r25,hi8(-5000)
		6834	7075 3c18 AFEF ldi r26,hlo8(-5000)
		6835	7076 3c1a BFEF ldi r27,hhi8(-5000)
		6836	7077 3c1c 8093 0000 sts ausgleichNick.10,r24
		6837	7078 3c20 9093 0000 sts (ausgleichNick.10)+1,r25
		6838	7079 3c24 A093 0000 sts (ausgleichNick.10)+2,r26
		6839	7080 3c28 B093 0000 sts (ausgleichNick.10)+3,r27
		6840	7081 .L572:
		6841	7082 3c2c 2091 0000 lds r18,ausgleichNick.10
		6842	7083 3c30 3091 0000 lds r19,(ausgleichNick.10)+1
		6843	7084 3c34 4091 0000 lds r20,(ausgleichNick.10)+2
		6844	7085 3c38 5091 0000 lds r21,(ausgleichNick.10)+3
		6845	7086 3c3c 57FF sbrs r21,7
		6846	7087 3c3e 00C0 rjmp .L573
		6847	7088 3c40 2150 subi r18,lo8(-(255))
		6848	7089 3c42 3F4F sbci r19,hi8(-(255))
		6849	7090 3c44 4F4F sbci r20,hlo8(-(255))
		6850	7091 3c46 5F4F sbci r21,hhi8(-(255))
		6851	7092 .L573:
		6852	7093 3c48 232F mov r18,r19
		6853	7094 3c4a 342F mov r19,r20
		6854	7095 3c4c 452F mov r20,r21
		6855	7096 3c4e 5527 clr r21
		6856	7097 3c50 47FD sbrc r20,7
		6857	7098 3c52 5A95 dec r21
		6858	7099 3c54 8091 0000 lds r24,LageKorrekturNick
		6859	7100 3c58 9091 0000 lds r25,(LageKorrekturNick)+1
		6860	7101 3c5c 820F add r24,r18
		6861	7102 3c5e 931F adc r25,r19
		6862	7103 3c60 9093 0000 sts (LageKorrekturNick)+1,r25
		6863	7104 3c64 8093 0000 sts LageKorrekturNick,r24
		6864	7105 3c68 00C0 rjmp .L576
		6865	7106 .L568:
		6866	7107 3c6a 81E0 ldi r24,lo8(1)
		6867	7108 3c6c 8093 0000 sts last_n_n.16,r24
		6868	7109 3c70 00C0 rjmp .L576
		6869	7110 .L567:
		6870	7111 3c72 1092 0000 sts last_n_n.16,__zero_reg__
		6871	7112 3c76 00C0 rjmp .L576
		6872	7113 .L556:
		6873	7114 3c78 1092 0000 sts (cnt.14)+1,__zero_reg__
		6874	7115 3c7c 1092 0000 sts cnt.14,__zero_reg__
		6875	7116 3c80 84E6 ldi r24,lo8(100)
		6876	7117 3c82 90E0 ldi r25,hi8(100)
		6877	7118 3c84 9093 0000 sts (KompassSignalSchlecht)+1,r25
		6878	7119 3c88 8093 0000 sts KompassSignalSchlecht,r24
		6879	7120 .L576:
		6880	7121 3c8c 6889 ldd r22,Y+16
		6881	7122 3c8e 262F mov r18,r22
		6882	7123 3c90 3327 clr r19
		6883	7124 3c92 8091 0000 lds r24,cnt.14
		6884	7125 3c96 9091 0000 lds r25,(cnt.14)+1
		6885	7126 3c9a 2817 cp r18,r24
		6886	7127 3c9c 3907 cpc r19,r25
		6887	7128 3c9e 04F4 brge .L577
		6888	7129 3ca0 3093 0000 sts (cnt.14)+1,r19
		6889	7130 3ca4 2093 0000 sts cnt.14,r18
		6890	7131 .L577:
		6891	7132 3ca8 1091 0000 lds r17,FromNaviCtrl_Value+1
		6892	7133 3cac 1123 tst r17
		6893	7134 3cae 01F0 breq .L578
		6894	7135 3cb0 212F mov r18,r17
		6895	7136 3cb2 3327 clr r19
		6896	7137 3cb4 27FD sbrc r18,7
		6897	7138 3cb6 3095 com r19
		6898	7139 3cb8 8091 0000 lds r24,cnt.14
		6899	7140 3cbc 9091 0000 lds r25,(cnt.14)+1
		6900	7141 3cc0 2817 cp r18,r24
		6901	7142 3cc2 3907 cpc r19,r25
		6902	7143 3cc4 04F4 brge .L578
		6903	7144 3cc6 3093 0000 sts (cnt.14)+1,r19
		6904	7145 3cca 2093 0000 sts cnt.14,r18
		6905	7146 .L578:
		6906	7147 3cce 4091 0000 lds r20,IntegralFehlerNick.3
		6907	7148 3cd2 5091 0000 lds r21,(IntegralFehlerNick.3)+1
		6908	7149 3cd6 6091 0000 lds r22,(IntegralFehlerNick.3)+2
		6909	7150 3cda 7091 0000 lds r23,(IntegralFehlerNick.3)+3
		6910	7151 3cde 4138 cpi r20,lo8(129)
		6911	7152 3ce0 5105 cpc r21,__zero_reg__
		6912	7153 3ce2 6105 cpc r22,__zero_reg__
		6913	7154 3ce4 7105 cpc r23,__zero_reg__
		6914	7155 3ce6 04F0 brlt .L580
		6915	7156 3ce8 8091 0000 lds r24,AdNeutralNick
		6916	7157 3cec 9091 0000 lds r25,(AdNeutralNick)+1
		6917	7158 3cf0 2091 0000 lds r18,cnt.14
		6918	7159 3cf4 3091 0000 lds r19,(cnt.14)+1
		6919	7160 3cf8 820F add r24,r18
		6920	7161 3cfa 931F adc r25,r19
		6921	7162 3cfc 9093 0000 sts (AdNeutralNick)+1,r25
		6922	7163 3d00 8093 0000 sts AdNeutralNick,r24
		6923	7164 .L580:
		6924	7165 3d04 4058 subi r20,lo8(-128)
		6925	7166 3d06 5F4F sbci r21,hi8(-128)
		6926	7167 3d08 6F4F sbci r22,hlo8(-128)
		6927	7168 3d0a 7F4F sbci r23,hhi8(-128)
		6928	7169 3d0c 04F4 brge .L581
		6929	7170 3d0e 8091 0000 lds r24,AdNeutralNick
		6930	7171 3d12 9091 0000 lds r25,(AdNeutralNick)+1
		6931	7172 3d16 2091 0000 lds r18,cnt.14
		6932	7173 3d1a 3091 0000 lds r19,(cnt.14)+1
		6933	7174 3d1e 821B sub r24,r18
		6934	7175 3d20 930B sbc r25,r19
		6935	7176 3d22 9093 0000 sts (AdNeutralNick)+1,r25
		6936	7177 3d26 8093 0000 sts AdNeutralNick,r24
		6937	7178 .L581:
		6938	7179 3d2a 81E0 ldi r24,lo8(1)
		6939	7180 3d2c 90E0 ldi r25,hi8(1)
		6940	7181 3d2e 9093 0000 sts (cnt.14)+1,r25
		6941	7182 3d32 8093 0000 sts cnt.14,r24
		6942	7183 3d36 C090 0000 lds r12,IntegralFehlerRoll.4
		6943	7184 3d3a D090 0000 lds r13,(IntegralFehlerRoll.4)+1
		6944	7185 3d3e E090 0000 lds r14,(IntegralFehlerRoll.4)+2
		6945	7186 3d42 F090 0000 lds r15,(IntegralFehlerRoll.4)+3
		6946	7187 3d46 D701 movw r26,r14
		6947	7188 3d48 C601 movw r24,r12
		6948	7189 3d4a F7FE sbrs r15,7
		6949	7190 3d4c 00C0 rjmp .L583
		6950	7191 3d4e 8827 clr r24
		6951	7192 3d50 9927 clr r25
		6952	7193 3d52 DC01 movw r26,r24
		6953	7194 3d54 8C19 sub r24,r12
		6954	7195 3d56 9D09 sbc r25,r13
		6955	7196 3d58 AE09 sbc r26,r14
		6956	7197 3d5a BF09 sbc r27,r15
		6957	7198 .L583:
		6958	7199 3d5c 8150 subi r24,lo8(513)
		6959	7200 3d5e 9240 sbci r25,hi8(513)
		6960	7201 3d60 A040 sbci r26,hlo8(513)
		6961	7202 3d62 B040 sbci r27,hhi8(513)
		6962	7203 3d64 04F0 brlt .L582
		6963	7204 3d66 84E0 ldi r24,lo8(4)
		6964	7205 3d68 90E0 ldi r25,hi8(4)
		6965	7206 3d6a 9093 0000 sts (cnt.14)+1,r25
		6966	7207 3d6e 8093 0000 sts cnt.14,r24
		6967	7208 .L582:
		6968	7209 3d72 8091 0000 lds r24,MittelIntegralRoll_Alt.20
		6969	7210 3d76 9091 0000 lds r25,(MittelIntegralRoll_Alt.20)+1
		6970	7211 3d7a A091 0000 lds r26,(MittelIntegralRoll_Alt.20)+2
		6971	7212 3d7e B091 0000 lds r27,(MittelIntegralRoll_Alt.20)+3
		6972	7213 3d82 2091 0000 lds r18,MittelIntegralRoll
		6973	7214 3d86 3091 0000 lds r19,(MittelIntegralRoll)+1
		6974	7215 3d8a 4091 0000 lds r20,(MittelIntegralRoll)+2
		6975	7216 3d8e 5091 0000 lds r21,(MittelIntegralRoll)+3
		6976	7217 3d92 821B sub r24,r18
		6977	7218 3d94 930B sbc r25,r19
		6978	7219 3d96 A40B sbc r26,r20
		6979	7220 3d98 B50B sbc r27,r21
		6980	7221 3d9a 815E subi r24,lo8(-(19999))
		6981	7222 3d9c 914B sbci r25,hi8(-(19999))
		6982	7223 3d9e AF4F sbci r26,hlo8(-(19999))
		6983	7224 3da0 BF4F sbci r27,hhi8(-(19999))
		6984	7225 3da2 8F53 subi r24,lo8(39999)
		6985	7226 3da4 9C49 sbci r25,hi8(39999)
		6986	7227 3da6 A040 sbci r26,hlo8(39999)
		6987	7228 3da8 B040 sbci r27,hhi8(39999)
		6988	7229 3daa 00F0 brlo .L585
		6989	7230 3dac 1931 cpi r17,lo8(25)
		6990	7231 3dae 04F4 brge .+2
		6991	7232 3db0 00C0 rjmp .L584
		6992	7233 .L585:
		6993	7234 3db2 01E0 ldi r16,lo8(4097)
		6994	7235 3db4 C016 cp r12,r16
		6995	7236 3db6 00E1 ldi r16,hi8(4097)
		6996	7237 3db8 D006 cpc r13,r16
		6997	7238 3dba 00E0 ldi r16,hlo8(4097)
		6998	7239 3dbc E006 cpc r14,r16
		6999	7240 3dbe 00E0 ldi r16,hhi8(4097)
		7000	7241 3dc0 F006 cpc r15,r16
		7001	7242 3dc2 04F4 brge .+2
		7002	7243 3dc4 00C0 rjmp .L586
		7003	7244 3dc6 8091 0000 lds r24,last_r_p.17
		7004	7245 3dca 8823 tst r24
		7005	7246 3dcc 01F4 brne .+2
		7006	7247 3dce 00C0 rjmp .L587
		7007	7248 3dd0 D701 movw r26,r14
		7008	7249 3dd2 C601 movw r24,r12
		7009	7250 3dd4 F7FE sbrs r15,7
		7010	7251 3dd6 00C0 rjmp .L588
		7011	7252 3dd8 8827 clr r24
		7012	7253 3dda 9927 clr r25
		7013	7254 3ddc DC01 movw r26,r24
		7014	7255 3dde 8C19 sub r24,r12
		7015	7256 3de0 9D09 sbc r25,r13
		7016	7257 3de2 AE09 sbc r26,r14
		7017	7258 3de4 BF09 sbc r27,r15
		7018	7259 .L588:
		7019	7260 3de6 9C01 movw r18,r24
		7020	7261 3de8 AD01 movw r20,r26
		7021	7262 3dea B7FF sbrs r27,7
		7022	7263 3dec 00C0 rjmp .L589
		7023	7264 3dee 2150 subi r18,lo8(-(511))
		7024	7265 3df0 3E4F sbci r19,hi8(-(511))
		7025	7266 3df2 4F4F sbci r20,hlo8(-(511))
		7026	7267 3df4 5F4F sbci r21,hhi8(-(511))
		7027	7268 .L589:
		7028	7269 3df6 09E0 ldi r16,9
		7029	7270 3df8 5595 1: asr r21
		7030	7271 3dfa 4795 ror r20
		7031	7272 3dfc 3795 ror r19
		7032	7273 3dfe 2795 ror r18
		7033	7274 3e00 0A95 dec r16
		7034	7275 3e02 01F4 brne 1b
		7035	7276 3e04 8091 0000 lds r24,cnt.14
		7036	7277 3e08 9091 0000 lds r25,(cnt.14)+1
		7037	7278 3e0c 820F add r24,r18
		7038	7279 3e0e 931F adc r25,r19
		7039	7280 3e10 9093 0000 sts (cnt.14)+1,r25
		7040	7281 3e14 8093 0000 sts cnt.14,r24
		7041	7282 3e18 D701 movw r26,r14
		7042	7283 3e1a C601 movw r24,r12
		7043	7284 3e1c F7FE sbrs r15,7
		7044	7285 3e1e 00C0 rjmp .L590
		7045	7286 3e20 0796 adiw r24,7
		7046	7287 3e22 A11D adc r26,__zero_reg__
		7047	7288 3e24 B11D adc r27,__zero_reg__
		7048	7289 .L590:
		7049	7290 3e26 13E0 ldi r17,3
		7050	7291 3e28 B595 1: asr r27
		7051	7292 3e2a A795 ror r26
		7052	7293 3e2c 9795 ror r25
		7053	7294 3e2e 8795 ror r24
		7054	7295 3e30 1A95 dec r17
		7055	7296 3e32 01F4 brne 1b
		7056	7297 3e34 8093 0000 sts ausgleichRoll.11,r24
		7057	7298 3e38 9093 0000 sts (ausgleichRoll.11)+1,r25
		7058	7299 3e3c A093 0000 sts (ausgleichRoll.11)+2,r26
		7059	7300 3e40 B093 0000 sts (ausgleichRoll.11)+3,r27
		7060	7301 3e44 8958 subi r24,lo8(5001)
		7061	7302 3e46 9341 sbci r25,hi8(5001)
		7062	7303 3e48 A040 sbci r26,hlo8(5001)
		7063	7304 3e4a B040 sbci r27,hhi8(5001)
		7064	7305 3e4c 04F0 brlt .L591
		7065	7306 3e4e 88E8 ldi r24,lo8(5000)
		7066	7307 3e50 93E1 ldi r25,hi8(5000)
		7067	7308 3e52 A0E0 ldi r26,hlo8(5000)
		7068	7309 3e54 B0E0 ldi r27,hhi8(5000)
		7069	7310 3e56 8093 0000 sts ausgleichRoll.11,r24
		7070	7311 3e5a 9093 0000 sts (ausgleichRoll.11)+1,r25
		7071	7312 3e5e A093 0000 sts (ausgleichRoll.11)+2,r26
		7072	7313 3e62 B093 0000 sts (ausgleichRoll.11)+3,r27
		7073	7314 .L591:
		7074	7315 3e66 2091 0000 lds r18,ausgleichRoll.11
		7075	7316 3e6a 3091 0000 lds r19,(ausgleichRoll.11)+1
		7076	7317 3e6e 4091 0000 lds r20,(ausgleichRoll.11)+2
		7077	7318 3e72 5091 0000 lds r21,(ausgleichRoll.11)+3
		7078	7319 3e76 57FF sbrs r21,7
		7079	7320 3e78 00C0 rjmp .L592
		7080	7321 3e7a 2150 subi r18,lo8(-(255))
		7081	7322 3e7c 3F4F sbci r19,hi8(-(255))
		7082	7323 3e7e 4F4F sbci r20,hlo8(-(255))
		7083	7324 3e80 5F4F sbci r21,hhi8(-(255))
		7084	7325 .L592:
		7085	7326 3e82 232F mov r18,r19
		7086	7327 3e84 342F mov r19,r20
		7087	7328 3e86 452F mov r20,r21
		7088	7329 3e88 5527 clr r21
		7089	7330 3e8a 47FD sbrc r20,7
		7090	7331 3e8c 5A95 dec r21
		7091	7332 3e8e 8091 0000 lds r24,LageKorrekturRoll
		7092	7333 3e92 9091 0000 lds r25,(LageKorrekturRoll)+1
		7093	7334 3e96 820F add r24,r18
		7094	7335 3e98 931F adc r25,r19
		7095	7336 3e9a 9093 0000 sts (LageKorrekturRoll)+1,r25
		7096	7337 3e9e 8093 0000 sts LageKorrekturRoll,r24
		7097	7338 3ea2 00C0 rjmp .L594
		7098	7339 .L587:
		7099	7340 3ea4 81E0 ldi r24,lo8(1)
		7100	7341 3ea6 8093 0000 sts last_r_p.17,r24
		7101	7342 3eaa 00C0 rjmp .L594
		7102	7343 .L586:
		7103	7344 3eac 1092 0000 sts last_r_p.17,__zero_reg__
		7104	7345 .L594:
		7105	7346 3eb0 20E0 ldi r18,lo8(-4096)
		7106	7347 3eb2 C216 cp r12,r18
		7107	7348 3eb4 20EF ldi r18,hi8(-4096)
		7108	7349 3eb6 D206 cpc r13,r18
		7109	7350 3eb8 2FEF ldi r18,hlo8(-4096)
		7110	7351 3eba E206 cpc r14,r18
		7111	7352 3ebc 2FEF ldi r18,hhi8(-4096)
		7112	7353 3ebe F206 cpc r15,r18
		7113	7354 3ec0 04F0 brlt .+2
		7114	7355 3ec2 00C0 rjmp .L595
		7115	7356 3ec4 8091 0000 lds r24,last_r_n.18
		7116	7357 3ec8 8823 tst r24
		7117	7358 3eca 01F4 brne .+2
		7118	7359 3ecc 00C0 rjmp .L596
		7119	7360 3ece D701 movw r26,r14
		7120	7361 3ed0 C601 movw r24,r12
		7121	7362 3ed2 F7FE sbrs r15,7
		7122	7363 3ed4 00C0 rjmp .L597
		7123	7364 3ed6 8827 clr r24
		7124	7365 3ed8 9927 clr r25
		7125	7366 3eda DC01 movw r26,r24
		7126	7367 3edc 8C19 sub r24,r12
		7127	7368 3ede 9D09 sbc r25,r13
		7128	7369 3ee0 AE09 sbc r26,r14
		7129	7370 3ee2 BF09 sbc r27,r15
		7130	7371 .L597:
		7131	7372 3ee4 9C01 movw r18,r24
		7132	7373 3ee6 AD01 movw r20,r26
		7133	7374 3ee8 B7FF sbrs r27,7
		7134	7375 3eea 00C0 rjmp .L598
		7135	7376 3eec 2150 subi r18,lo8(-(511))
		7136	7377 3eee 3E4F sbci r19,hi8(-(511))
		7137	7378 3ef0 4F4F sbci r20,hlo8(-(511))
		7138	7379 3ef2 5F4F sbci r21,hhi8(-(511))
		7139	7380 .L598:
		7140	7381 3ef4 E9E0 ldi r30,9
		7141	7382 3ef6 5595 1: asr r21
		7142	7383 3ef8 4795 ror r20
		7143	7384 3efa 3795 ror r19
		7144	7385 3efc 2795 ror r18
		7145	7386 3efe EA95 dec r30
		7146	7387 3f00 01F4 brne 1b
		7147	7388 3f02 8091 0000 lds r24,cnt.14
		7148	7389 3f06 9091 0000 lds r25,(cnt.14)+1
		7149	7390 3f0a 820F add r24,r18
		7150	7391 3f0c 931F adc r25,r19
		7151	7392 3f0e 9093 0000 sts (cnt.14)+1,r25
		7152	7393 3f12 8093 0000 sts cnt.14,r24
		7153	7394 3f16 D701 movw r26,r14
		7154	7395 3f18 C601 movw r24,r12
		7155	7396 3f1a F7FE sbrs r15,7
		7156	7397 3f1c 00C0 rjmp .L599
		7157	7398 3f1e 0796 adiw r24,7
		7158	7399 3f20 A11D adc r26,__zero_reg__
		7159	7400 3f22 B11D adc r27,__zero_reg__
		7160	7401 .L599:
		7161	7402 3f24 73E0 ldi r23,3
		7162	7403 3f26 B595 1: asr r27
		7163	7404 3f28 A795 ror r26
		7164	7405 3f2a 9795 ror r25
		7165	7406 3f2c 8795 ror r24
		7166	7407 3f2e 7A95 dec r23
		7167	7408 3f30 01F4 brne 1b
		7168	7409 3f32 8093 0000 sts ausgleichRoll.11,r24
		7169	7410 3f36 9093 0000 sts (ausgleichRoll.11)+1,r25
		7170	7411 3f3a A093 0000 sts (ausgleichRoll.11)+2,r26
		7171	7412 3f3e B093 0000 sts (ausgleichRoll.11)+3,r27
		7172	7413 3f42 8857 subi r24,lo8(-5000)
		7173	7414 3f44 9C4E sbci r25,hi8(-5000)
		7174	7415 3f46 AF4F sbci r26,hlo8(-5000)
		7175	7416 3f48 BF4F sbci r27,hhi8(-5000)
		7176	7417 3f4a 04F4 brge .L600
		7177	7418 3f4c 88E7 ldi r24,lo8(-5000)
		7178	7419 3f4e 9CEE ldi r25,hi8(-5000)
		7179	7420 3f50 AFEF ldi r26,hlo8(-5000)
		7180	7421 3f52 BFEF ldi r27,hhi8(-5000)
		7181	7422 3f54 8093 0000 sts ausgleichRoll.11,r24
		7182	7423 3f58 9093 0000 sts (ausgleichRoll.11)+1,r25
		7183	7424 3f5c A093 0000 sts (ausgleichRoll.11)+2,r26
		7184	7425 3f60 B093 0000 sts (ausgleichRoll.11)+3,r27
		7185	7426 .L600:
		7186	7427 3f64 2091 0000 lds r18,ausgleichRoll.11
		7187	7428 3f68 3091 0000 lds r19,(ausgleichRoll.11)+1
		7188	7429 3f6c 4091 0000 lds r20,(ausgleichRoll.11)+2
		7189	7430 3f70 5091 0000 lds r21,(ausgleichRoll.11)+3
		7190	7431 3f74 57FF sbrs r21,7
		7191	7432 3f76 00C0 rjmp .L601
		7192	7433 3f78 2150 subi r18,lo8(-(255))
		7193	7434 3f7a 3F4F sbci r19,hi8(-(255))
		7194	7435 3f7c 4F4F sbci r20,hlo8(-(255))
		7195	7436 3f7e 5F4F sbci r21,hhi8(-(255))
		7196	7437 .L601:
		7197	7438 3f80 232F mov r18,r19
		7198	7439 3f82 342F mov r19,r20
		7199	7440 3f84 452F mov r20,r21
		7200	7441 3f86 5527 clr r21
		7201	7442 3f88 47FD sbrc r20,7
		7202	7443 3f8a 5A95 dec r21
		7203	7444 3f8c 8091 0000 lds r24,LageKorrekturRoll
		7204	7445 3f90 9091 0000 lds r25,(LageKorrekturRoll)+1
		7205	7446 3f94 820F add r24,r18
		7206	7447 3f96 931F adc r25,r19
		7207	7448 3f98 9093 0000 sts (LageKorrekturRoll)+1,r25
		7208	7449 3f9c 8093 0000 sts LageKorrekturRoll,r24
		7209	7450 3fa0 00C0 rjmp .L604
		7210	7451 .L596:
		7211	7452 3fa2 81E0 ldi r24,lo8(1)
		7212	7453 3fa4 8093 0000 sts last_r_n.18,r24
		7213	7454 3fa8 00C0 rjmp .L604
		7214	7455 .L595:
		7215	7456 3faa 1092 0000 sts last_r_n.18,__zero_reg__
		7216	7457 3fae 00C0 rjmp .L604
		7217	7458 .L584:
		7218	7459 3fb0 1092 0000 sts (cnt.14)+1,__zero_reg__
		7219	7460 3fb4 1092 0000 sts cnt.14,__zero_reg__
		7220	7461 3fb8 84E6 ldi r24,lo8(100)
		7221	7462 3fba 90E0 ldi r25,hi8(100)
		7222	7463 3fbc 9093 0000 sts (KompassSignalSchlecht)+1,r25
		7223	7464 3fc0 8093 0000 sts KompassSignalSchlecht,r24
		7224	7465 .L604:
		7225	7466 3fc4 4889 ldd r20,Y+16
		7226	7467 3fc6 242F mov r18,r20
		7227	7468 3fc8 3327 clr r19
		7228	7469 3fca 8091 0000 lds r24,cnt.14
		7229	7470 3fce 9091 0000 lds r25,(cnt.14)+1
		7230	7471 3fd2 2817 cp r18,r24
		7231	7472 3fd4 3907 cpc r19,r25
		7232	7473 3fd6 04F4 brge .L605
		7233	7474 3fd8 3093 0000 sts (cnt.14)+1,r19
		7234	7475 3fdc 2093 0000 sts cnt.14,r18
		7235	7476 .L605:
		7236	7477 3fe0 8091 0000 lds r24,FromNaviCtrl_Value+1
		7237	7478 3fe4 8823 tst r24
		7238	7479 3fe6 01F0 breq .L606
		7239	7480 3fe8 282F mov r18,r24
		7240	7481 3fea 3327 clr r19
		7241	7482 3fec 27FD sbrc r18,7
		7242	7483 3fee 3095 com r19
		7243	7484 3ff0 8091 0000 lds r24,cnt.14
		7244	7485 3ff4 9091 0000 lds r25,(cnt.14)+1
		7245	7486 3ff8 2817 cp r18,r24
		7246	7487 3ffa 3907 cpc r19,r25
		7247	7488 3ffc 04F4 brge .L606
		7248	7489 3ffe 3093 0000 sts (cnt.14)+1,r19
		7249	7490 4002 2093 0000 sts cnt.14,r18
		7250	7491 .L606:
		7251	7492 4006 4091 0000 lds r20,IntegralFehlerRoll.4
		7252	7493 400a 5091 0000 lds r21,(IntegralFehlerRoll.4)+1
		7253	7494 400e 6091 0000 lds r22,(IntegralFehlerRoll.4)+2
		7254	7495 4012 7091 0000 lds r23,(IntegralFehlerRoll.4)+3
		7255	7496 4016 4138 cpi r20,lo8(129)
		7256	7497 4018 5105 cpc r21,__zero_reg__
		7257	7498 401a 6105 cpc r22,__zero_reg__
		7258	7499 401c 7105 cpc r23,__zero_reg__
		7259	7500 401e 04F0 brlt .L608
		7260	7501 4020 8091 0000 lds r24,AdNeutralRoll
		7261	7502 4024 9091 0000 lds r25,(AdNeutralRoll)+1
		7262	7503 4028 2091 0000 lds r18,cnt.14
		7263	7504 402c 3091 0000 lds r19,(cnt.14)+1
		7264	7505 4030 820F add r24,r18
		7265	7506 4032 931F adc r25,r19
		7266	7507 4034 9093 0000 sts (AdNeutralRoll)+1,r25
		7267	7508 4038 8093 0000 sts AdNeutralRoll,r24
		7268	7509 .L608:
		7269	7510 403c 4058 subi r20,lo8(-128)
		7270	7511 403e 5F4F sbci r21,hi8(-128)
		7271	7512 4040 6F4F sbci r22,hlo8(-128)
		7272	7513 4042 7F4F sbci r23,hhi8(-128)
		7273	7514 4044 04F4 brge .L610
		7274	7515 4046 8091 0000 lds r24,AdNeutralRoll
		7275	7516 404a 9091 0000 lds r25,(AdNeutralRoll)+1
		7276	7517 404e 2091 0000 lds r18,cnt.14
		7277	7518 4052 3091 0000 lds r19,(cnt.14)+1
		7278	7519 4056 821B sub r24,r18
		7279	7520 4058 930B sbc r25,r19
		7280	7521 405a 9093 0000 sts (AdNeutralRoll)+1,r25
		7281	7522 405e 8093 0000 sts AdNeutralRoll,r24
		7282	7523 4062 00C0 rjmp .L610
		7283	7524 .L536:
		7284	7525 4064 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__
		7285	7526 4068 1092 0000 sts LageKorrekturRoll,__zero_reg__
		7286	7527 406c 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__
		7287	7528 4070 1092 0000 sts LageKorrekturNick,__zero_reg__
		7288	7529 4074 1092 0000 sts TrichterFlug,__zero_reg__
		7289	7530 .L610:
		7290	7531 4078 8091 0000 lds r24,IntegralFaktor
		7291	7532 407c 8823 tst r24
		7292	7533 407e 01F4 brne .L611
		7293	7534 4080 1092 0000 sts (LageKorrekturRoll)+1,__zero_reg__
		7294	7535 4084 1092 0000 sts LageKorrekturRoll,__zero_reg__
		7295	7536 4088 1092 0000 sts (LageKorrekturNick)+1,__zero_reg__
		7296	7537 408c 1092 0000 sts LageKorrekturNick,__zero_reg__
		7297	7538 .L611:
		7298	7539 4090 8091 0000 lds r24,MittelIntegralNick
		7299	7540 4094 9091 0000 lds r25,(MittelIntegralNick)+1
		7300	7541 4098 A091 0000 lds r26,(MittelIntegralNick)+2
		7301	7542 409c B091 0000 lds r27,(MittelIntegralNick)+3
		7302	7543 40a0 8093 0000 sts MittelIntegralNick_Alt.19,r24
		7303	7544 40a4 9093 0000 sts (MittelIntegralNick_Alt.19)+1,r25
		7304	7545 40a8 A093 0000 sts (MittelIntegralNick_Alt.19)+2,r26
		7305	7546 40ac B093 0000 sts (MittelIntegralNick_Alt.19)+3,r27
		7306	7547 40b0 8091 0000 lds r24,MittelIntegralRoll
		7307	7548 40b4 9091 0000 lds r25,(MittelIntegralRoll)+1
		7308	7549 40b8 A091 0000 lds r26,(MittelIntegralRoll)+2
		7309	7550 40bc B091 0000 lds r27,(MittelIntegralRoll)+3
		7310	7551 40c0 8093 0000 sts MittelIntegralRoll_Alt.20,r24
		7311	7552 40c4 9093 0000 sts (MittelIntegralRoll_Alt.20)+1,r25
		7312	7553 40c8 A093 0000 sts (MittelIntegralRoll_Alt.20)+2,r26
		7313	7554 40cc B093 0000 sts (MittelIntegralRoll_Alt.20)+3,r27
		7314	7555 40d0 1092 0000 sts IntegralAccNick,__zero_reg__
		7315	7556 40d4 1092 0000 sts (IntegralAccNick)+1,__zero_reg__
		7316	7557 40d8 1092 0000 sts (IntegralAccNick)+2,__zero_reg__
		7317	7558 40dc 1092 0000 sts (IntegralAccNick)+3,__zero_reg__
		7318	7559 40e0 1092 0000 sts IntegralAccRoll,__zero_reg__
		7319	7560 40e4 1092 0000 sts (IntegralAccRoll)+1,__zero_reg__
		7320	7561 40e8 1092 0000 sts (IntegralAccRoll)+2,__zero_reg__
		7321	7562 40ec 1092 0000 sts (IntegralAccRoll)+3,__zero_reg__
		7322	7563 40f0 1092 0000 sts IntegralAccZ,__zero_reg__
		7323	7564 40f4 1092 0000 sts (IntegralAccZ)+1,__zero_reg__
		7324	7565 40f8 1092 0000 sts (IntegralAccZ)+2,__zero_reg__
		7325	7566 40fc 1092 0000 sts (IntegralAccZ)+3,__zero_reg__
		7326	7567 4100 1092 0000 sts MittelIntegralNick,__zero_reg__
		7327	7568 4104 1092 0000 sts (MittelIntegralNick)+1,__zero_reg__
		7328	7569 4108 1092 0000 sts (MittelIntegralNick)+2,__zero_reg__
		7329	7570 410c 1092 0000 sts (MittelIntegralNick)+3,__zero_reg__
		7330	7571 4110 1092 0000 sts MittelIntegralRoll,__zero_reg__
		7331	7572 4114 1092 0000 sts (MittelIntegralRoll)+1,__zero_reg__
		7332	7573 4118 1092 0000 sts (MittelIntegralRoll)+2,__zero_reg__
		7333	7574 411c 1092 0000 sts (MittelIntegralRoll)+3,__zero_reg__
		7334	7575 4120 1092 0000 sts MittelIntegralNick2,__zero_reg__
		7335	7576 4124 1092 0000 sts (MittelIntegralNick2)+1,__zero_reg__
		7336	7577 4128 1092 0000 sts (MittelIntegralNick2)+2,__zero_reg__
		7337	7578 412c 1092 0000 sts (MittelIntegralNick2)+3,__zero_reg__
		7338	7579 4130 1092 0000 sts MittelIntegralRoll2,__zero_reg__
		7339	7580 4134 1092 0000 sts (MittelIntegralRoll2)+1,__zero_reg__
		7340	7581 4138 1092 0000 sts (MittelIntegralRoll2)+2,__zero_reg__
		7341	7582 413c 1092 0000 sts (MittelIntegralRoll2)+3,__zero_reg__
		7342	7583 4140 1092 0000 sts (ZaehlMessungen)+1,__zero_reg__
		7343	7584 4144 1092 0000 sts ZaehlMessungen,__zero_reg__
		7344	7585 .L535:
		7345	7586 4148 E090 0000 lds r14,StickGier
		7346	7587 414c F090 0000 lds r15,(StickGier)+1
		7347	7588 4150 C701 movw r24,r14
		7348	7589 4152 F7FE sbrs r15,7
		7349	7590 4154 00C0 rjmp .L613
		7350	7591 4156 8827 clr r24
		7351	7592 4158 9927 clr r25
		7352	7593 415a 8E19 sub r24,r14
		7353	7594 415c 9F09 sbc r25,r15
		7354	7595 .L613:
		7355	7596 415e 0497 sbiw r24,4
		7356	7597 4160 04F0 brlt .L612
		7357	7598 4162 8091 0000 lds r24,Parameter_GlobalConfig
		7358	7599 4166 84FD sbrc r24,4
		7359	7600 4168 00C0 rjmp .L612
		7360	7601 416a 82E3 ldi r24,lo8(50)
		7361	7602 416c 8093 0000 sts NeueKompassRichtungMerken,r24
		7362	7603 .L612:
		7363	7604 4170 1091 0000 lds r17,EE_Parameter+25
		7364	7605 4174 A12E mov r10,r17
		7365	7606 4176 BB24 clr r11
		7366	7607 4178 CC24 clr r12
		7367	7608 417a DD24 clr r13
		7368	7609 417c B701 movw r22,r14
		7369	7610 417e 8827 clr r24
		7370	7611 4180 77FD sbrc r23,7
		7371	7612 4182 8095 com r24
		7372	7613 4184 982F mov r25,r24
		7373	7614 4186 9701 movw r18,r14
		7374	7615 4188 F7FE sbrs r15,7
		7375	7616 418a 00C0 rjmp .L615
		7376	7617 418c 2227 clr r18
		7377	7618 418e 3327 clr r19
		7378	7619 4190 2E19 sub r18,r14
		7379	7620 4192 3F09 sbc r19,r15
		7380	7621 .L615:
		7381	7622 4194 4427 clr r20
		7382	7623 4196 37FD sbrc r19,7
		7383	7624 4198 4095 com r20
		7384	7625 419a 542F mov r21,r20
		7385	7626 419c 0E94 0000 call __mulsi3
		7386	7627 41a0 9B01 movw r18,r22
		7387	7628 41a2 AC01 movw r20,r24
		7388	7629 41a4 C601 movw r24,r12
		7389	7630 41a6 B501 movw r22,r10
		7390	7631 41a8 0E94 0000 call __mulsi3
		7391	7632 41ac 97FF sbrs r25,7
		7392	7633 41ae 00C0 rjmp .L616
		7393	7634 41b0 6150 subi r22,lo8(-(511))
		7394	7635 41b2 7E4F sbci r23,hi8(-(511))
		7395	7636 41b4 8F4F sbci r24,hlo8(-(511))
		7396	7637 41b6 9F4F sbci r25,hhi8(-(511))
		7397	7638 .L616:
		7398	7639 41b8 59E0 ldi r21,9
		7399	7640 41ba 9595 1: asr r25
		7400	7641 41bc 8795 ror r24
		7401	7642 41be 7795 ror r23
		7402	7643 41c0 6795 ror r22
		7403	7644 41c2 5A95 dec r21
		7404	7645 41c4 01F4 brne 1b
		7405	7646 41c6 9B01 movw r18,r22
		7406	7647 41c8 812F mov r24,r17
		7407	7648 41ca 9927 clr r25
		7408	7649 41cc 8E9D mul r24,r14
		7409	7650 41ce D001 movw r26,r0
		7410	7651 41d0 8F9D mul r24,r15
		7411	7652 41d2 B00D add r27,r0
		7412	7653 41d4 9E9D mul r25,r14
		7413	7654 41d6 B00D add r27,r0
		7414	7655 41d8 1124 clr r1
		7415	7656 41da CD01 movw r24,r26
		7416	7657 41dc B7FD sbrc r27,7
		7417	7658 41de 0396 adiw r24,3
		7418	7659 .L617:
		7419	7660 41e0 9595 asr r25
		7420	7661 41e2 8795 ror r24
		7421	7662 41e4 9595 asr r25
		7422	7663 41e6 8795 ror r24
		7423	7664 41e8 280F add r18,r24
		7424	7665 41ea 391F adc r19,r25
		7425	7666 41ec 8091 0000 lds r24,CompassGierSetpoint
		7426	7667 41f0 9091 0000 lds r25,(CompassGierSetpoint)+1
		7427	7668 41f4 280F add r18,r24
		7428	7669 41f6 391F adc r19,r25
		7429	7670 41f8 4427 clr r20
		7430	7671 41fa 37FD sbrc r19,7
		7431	7672 41fc 4095 com r20
		7432	7673 41fe 542F mov r21,r20
		7433	7674 4200 2093 0000 sts sollGier.0,r18
		7434	7675 4204 3093 0000 sts (sollGier.0)+1,r19
		7435	7676 4208 4093 0000 sts (sollGier.0)+2,r20
		7436	7677 420c 5093 0000 sts (sollGier.0)+3,r21
		7437	7678 4210 8091 0000 lds r24,Mess_Integral_Gier
		7438	7679 4214 9091 0000 lds r25,(Mess_Integral_Gier)+1
		7439	7680 4218 A091 0000 lds r26,(Mess_Integral_Gier)+2
		7440	7681 421c B091 0000 lds r27,(Mess_Integral_Gier)+3
		7441	7682 4220 821B sub r24,r18
		7442	7683 4222 930B sbc r25,r19
		7443	7684 4224 A40B sbc r26,r20
		7444	7685 4226 B50B sbc r27,r21
		7445	7686 4228 8093 0000 sts Mess_Integral_Gier,r24
		7446	7687 422c 9093 0000 sts (Mess_Integral_Gier)+1,r25
		7447	7688 4230 A093 0000 sts (Mess_Integral_Gier)+2,r26
		7448	7689 4234 B093 0000 sts (Mess_Integral_Gier)+3,r27
		7449	7690 4238 8155 subi r24,lo8(50001)
		7450	7691 423a 934C sbci r25,hi8(50001)
		7451	7692 423c A040 sbci r26,hlo8(50001)
		7452	7693 423e B040 sbci r27,hhi8(50001)
		7453	7694 4240 04F0 brlt .L618
		7454	7695 4242 80E5 ldi r24,lo8(50000)
		7455	7696 4244 93EC ldi r25,hi8(50000)
		7456	7697 4246 A0E0 ldi r26,hlo8(50000)
		7457	7698 4248 B0E0 ldi r27,hhi8(50000)
		7458	7699 424a 8093 0000 sts Mess_Integral_Gier,r24
		7459	7700 424e 9093 0000 sts (Mess_Integral_Gier)+1,r25
		7460	7701 4252 A093 0000 sts (Mess_Integral_Gier)+2,r26
		7461	7702 4256 B093 0000 sts (Mess_Integral_Gier)+3,r27
		7462	7703 .L618:
		7463	7704 425a 8091 0000 lds r24,Mess_Integral_Gier
		7464	7705 425e 9091 0000 lds r25,(Mess_Integral_Gier)+1
		7465	7706 4262 A091 0000 lds r26,(Mess_Integral_Gier)+2
		7466	7707 4266 B091 0000 lds r27,(Mess_Integral_Gier)+3
		7467	7708 426a 805B subi r24,lo8(-50000)
		7468	7709 426c 9C43 sbci r25,hi8(-50000)
		7469	7710 426e AF4F sbci r26,hlo8(-50000)
		7470	7711 4270 BF4F sbci r27,hhi8(-50000)
		7471	7712 4272 04F4 brge .L619
		7472	7713 4274 80EB ldi r24,lo8(-50000)
		7473	7714 4276 9CE3 ldi r25,hi8(-50000)
		7474	7715 4278 AFEF ldi r26,hlo8(-50000)
		7475	7716 427a BFEF ldi r27,hhi8(-50000)
		7476	7717 427c 8093 0000 sts Mess_Integral_Gier,r24
		7477	7718 4280 9093 0000 sts (Mess_Integral_Gier)+1,r25
		7478	7719 4284 A093 0000 sts (Mess_Integral_Gier)+2,r26
		7479	7720 4288 B093 0000 sts (Mess_Integral_Gier)+3,r27
		7480	7721 .L619:
		7481	7722 428c 0091 0000 lds r16,KompassValue
		7482	7723 4290 1091 0000 lds r17,(KompassValue)+1
		7483	7724 4294 17FD sbrc r17,7
		7484	7725 4296 00C0 rjmp .L620
		7485	7726 4298 8091 0000 lds r24,Parameter_GlobalConfig
		7486	7727 429c 83FF sbrs r24,3
		7487	7728 429e 00C0 rjmp .L620
		7488	7729 42a0 8091 0000 lds r24,CalculateCompassTimer
		7489	7730 42a4 8150 subi r24,lo8(-(-1))
		7490	7731 42a6 8093 0000 sts CalculateCompassTimer,r24
		7491	7732 42aa 8823 tst r24
		7492	7733 42ac 01F0 breq .+2
		7493	7734 42ae 00C0 rjmp .L637
		7494	7735 42b0 8DE0 ldi r24,lo8(13)
		7495	7736 42b2 8093 0000 sts CalculateCompassTimer,r24
		7496	7737 42b6 8091 0000 lds r24,IntegralNick
		7497	7738 42ba 9091 0000 lds r25,(IntegralNick)+1
		7498	7739 42be A091 0000 lds r26,(IntegralNick)+2
		7499	7740 42c2 B091 0000 lds r27,(IntegralNick)+3
		7500	7741 42c6 B7FF sbrs r27,7
		7501	7742 42c8 00C0 rjmp .L622
		7502	7743 42ca 8150 subi r24,lo8(-(511))
		7503	7744 42cc 9E4F sbci r25,hi8(-(511))
		7504	7745 42ce AF4F sbci r26,hlo8(-(511))
		7505	7746 42d0 BF4F sbci r27,hhi8(-(511))
		7506	7747 .L622:
		7507	7748 42d2 39E0 ldi r19,9
		7508	7749 42d4 B595 1: asr r27
		7509	7750 42d6 A795 ror r26
		7510	7751 42d8 9795 ror r25
		7511	7752 42da 8795 ror r24
		7512	7753 42dc 3A95 dec r19
		7513	7754 42de 01F4 brne 1b
		7514	7755 42e0 7C01 movw r14,r24
		7515	7756 42e2 97FF sbrs r25,7
		7516	7757 42e4 00C0 rjmp .L623
		7517	7758 42e6 F094 com r15
		7518	7759 42e8 E194 neg r14
		7519	7760 42ea F108 sbc r15,__zero_reg__
		7520	7761 42ec F394 inc r15
		7521	7762 .L623:
		7522	7763 42ee 8091 0000 lds r24,IntegralRoll
		7523	7764 42f2 9091 0000 lds r25,(IntegralRoll)+1
		7524	7765 42f6 A091 0000 lds r26,(IntegralRoll)+2
		7525	7766 42fa B091 0000 lds r27,(IntegralRoll)+3
		7526	7767 42fe B7FF sbrs r27,7
		7527	7768 4300 00C0 rjmp .L624
		7528	7769 4302 8150 subi r24,lo8(-(511))
		7529	7770 4304 9E4F sbci r25,hi8(-(511))
		7530	7771 4306 AF4F sbci r26,hlo8(-(511))
		7531	7772 4308 BF4F sbci r27,hhi8(-(511))
		7532	7773 .L624:
		7533	7774 430a 29E0 ldi r18,9
		7534	7775 430c B595 1: asr r27
		7535	7776 430e A795 ror r26
		7536	7777 4310 9795 ror r25
		7537	7778 4312 8795 ror r24
		7538	7779 4314 2A95 dec r18
		7539	7780 4316 01F4 brne 1b
		7540	7781 4318 9C01 movw r18,r24
		7541	7782 431a 97FF sbrs r25,7
		7542	7783 431c 00C0 rjmp .L625
		7543	7784 431e 3095 com r19
		7544	7785 4320 2195 neg r18
		7545	7786 4322 3F4F sbci r19,lo8(-1)
		7546	7787 .L625:
		7547	7788 4324 E216 cp r14,r18
		7548	7789 4326 F306 cpc r15,r19
		7549	7790 4328 04F4 brge .L626
		7550	7791 432a 7901 movw r14,r18
		7551	7792 .L626:
		7552	7793 432c B701 movw r22,r14
		7553	7794 432e F7FE sbrs r15,7
		7554	7795 4330 00C0 rjmp .L627
		7555	7796 4332 695F subi r22,lo8(-(7))
		7556	7797 4334 7F4F sbci r23,hi8(-(7))
		7557	7798 .L627:
		7558	7799 4336 2B01 movw r4,r22
		7559	7800 4338 A3E0 ldi r26,3
		7560	7801 433a 5594 1: asr r5
		7561	7802 433c 4794 ror r4
		7562	7803 433e AA95 dec r26
		7563	7804 4340 01F4 brne 1b
		7564	7805 4342 22E0 ldi r18,lo8(2)
		7565	7806 4344 30E0 ldi r19,hi8(2)
		7566	7807 4346 420E add r4,r18
		7567	7808 4348 531E adc r5,r19
		7568	7809 434a 6090 0000 lds r6,ErsatzKompass
		7569	7810 434e 7090 0000 lds r7,(ErsatzKompass)+1
		7570	7811 4352 8090 0000 lds r8,(ErsatzKompass)+2
		7571	7812 4356 9090 0000 lds r9,(ErsatzKompass)+3
		7572	7813 435a 2091 0000 lds r18,GIER_GRAD_FAKTOR
		7573	7814 435e 3091 0000 lds r19,(GIER_GRAD_FAKTOR)+1
		7574	7815 4362 4091 0000 lds r20,(GIER_GRAD_FAKTOR)+2
		7575	7816 4366 5091 0000 lds r21,(GIER_GRAD_FAKTOR)+3
		7576	7817 436a C401 movw r24,r8
		7577	7818 436c B301 movw r22,r6
		7578	7819 436e 0E94 0000 call __divmodsi4
		7579	7820 4372 5901 movw r10,r18
		7580	7821 4374 6A01 movw r12,r20
		7581	7822 4376 3093 0000 sts (ErsatzKompassInGrad)+1,r19
		7582	7823 437a 2093 0000 sts ErsatzKompassInGrad,r18
		7583	7824 437e 021B sub r16,r18
		7584	7825 4380 130B sbc r17,r19
		7585	7826 4382 C801 movw r24,r16
		7586	7827 4384 845E subi r24,lo8(-(540))
		7587	7828 4386 9D4F sbci r25,hi8(-(540))
		7588	7829 4388 68E6 ldi r22,lo8(360)
		7589	7830 438a 71E0 ldi r23,hi8(360)
		7590	7831 438c 0E94 0000 call __divmodhi4
		7591	7832 4390 9C01 movw r18,r24
		7592	7833 4392 245B subi r18,lo8(-(-180))
		7593	7834 4394 3040 sbci r19,hi8(-(-180))
		7594	7835 4396 8091 0000 lds r24,KompassSignalSchlecht
		7595	7836 439a 9091 0000 lds r25,(KompassSignalSchlecht)+1
		7596	7837 439e 0097 sbiw r24,0
		7597	7838 43a0 01F0 breq .L628
		7598	7839 43a2 0197 sbiw r24,1
		7599	7840 43a4 9093 0000 sts (KompassSignalSchlecht)+1,r25
		7600	7841 43a8 8093 0000 sts KompassSignalSchlecht,r24
		7601	7842 43ac 00C0 rjmp .L629
		7602	7843 .L628:
		7603	7844 43ae 49E1 ldi r20,lo8(25)
		7604	7845 43b0 E416 cp r14,r20
		7605	7846 43b2 F104 cpc r15,__zero_reg__
		7606	7847 43b4 04F4 brge .L629
		7607	7848 43b6 8091 0000 lds r24,GierGyroFehler
		7608	7849 43ba 9091 0000 lds r25,(GierGyroFehler)+1
		7609	7850 43be 820F add r24,r18
		7610	7851 43c0 931F adc r25,r19
		7611	7852 43c2 9093 0000 sts (GierGyroFehler)+1,r25
		7612	7853 43c6 8093 0000 sts GierGyroFehler,r24
		7613	7854 43ca 8091 0000 lds r24,NeueKompassRichtungMerken
		7614	7855 43ce 8823 tst r24
		7615	7856 43d0 01F0 breq .L629
		7616	7857 43d2 8150 subi r24,lo8(-(-1))
		7617	7858 43d4 8093 0000 sts NeueKompassRichtungMerken,r24
		7618	7859 43d8 8823 tst r24
		7619	7860 43da 01F4 brne .L629
		7620	7861 43dc B092 0000 sts (KompassSollWert)+1,r11
		7621	7862 43e0 A092 0000 sts KompassSollWert,r10
		7622	7863 .L629:
		7623	7864 43e4 8091 0000 lds r24,KompassSignalSchlecht
		7624	7865 43e8 9091 0000 lds r25,(KompassSignalSchlecht)+1
		7625	7866 43ec 892B or r24,r25
		7626	7867 43ee 01F4 brne .L633
		7627	7868 43f0 8091 0000 lds r24,KompassFusion
		7628	7869 43f4 9927 clr r25
		7629	7870 43f6 289F mul r18,r24
		7630	7871 43f8 B001 movw r22,r0
		7631	7872 43fa 299F mul r18,r25
		7632	7873 43fc 700D add r23,r0
		7633	7874 43fe 389F mul r19,r24
		7634	7875 4400 700D add r23,r0
		7635	7876 4402 1124 clr r1
		7636	7877 4404 CB01 movw r24,r22
		7637	7878 4406 B201 movw r22,r4
		7638	7879 4408 0E94 0000 call __divmodhi4
		7639	7880 440c CB01 movw r24,r22
		7640	7881 440e AA27 clr r26
		7641	7882 4410 97FD sbrc r25,7
		7642	7883 4412 A095 com r26
		7643	7884 4414 BA2F mov r27,r26
		7644	7885 4416 680E add r6,r24
		7645	7886 4418 791E adc r7,r25
		7646	7887 441a 8A1E adc r8,r26
		7647	7888 441c 9B1E adc r9,r27
		7648	7889 441e 6092 0000 sts ErsatzKompass,r6
		7649	7890 4422 7092 0000 sts (ErsatzKompass)+1,r7
		7650	7891 4426 8092 0000 sts (ErsatzKompass)+2,r8
		7651	7892 442a 9092 0000 sts (ErsatzKompass)+3,r9
		7652	7893 .L633:
		7653	7894 442e 8091 0000 lds r24,NeueKompassRichtungMerken
		7654	7895 4432 8823 tst r24
		7655	7896 4434 01F4 brne .L620
		7656	7897 4436 8091 0000 lds r24,KompassSollWert
		7657	7898 443a 9091 0000 lds r25,(KompassSollWert)+1
		7658	7899 443e 2091 0000 lds r18,ErsatzKompassInGrad
		7659	7900 4442 3091 0000 lds r19,(ErsatzKompassInGrad)+1
		7660	7901 4446 821B sub r24,r18
		7661	7902 4448 930B sbc r25,r19
		7662	7903 444a 845E subi r24,lo8(-(540))
		7663	7904 444c 9D4F sbci r25,hi8(-(540))
		7664	7905 444e 68E6 ldi r22,lo8(360)
		7665	7906 4450 71E0 ldi r23,hi8(360)
		7666	7907 4452 0E94 0000 call __divmodhi4
		7667	7908 4456 9C01 movw r18,r24
		7668	7909 4458 245B subi r18,lo8(-(-180))
		7669	7910 445a 3040 sbci r19,hi8(-(-180))
		7670	7911 445c 8091 0000 lds r24,Parameter_KompassWirkung
		7671	7912 4460 8695 lsr r24
		7672	7913 4462 9927 clr r25
		7673	7914 4464 289F mul r18,r24
		7674	7915 4466 D001 movw r26,r0
		7675	7916 4468 299F mul r18,r25
		7676	7917 446a B00D add r27,r0
		7677	7918 446c 389F mul r19,r24
		7678	7919 446e B00D add r27,r0
		7679	7920 4470 1124 clr r1
		7680	7921 4472 9D01 movw r18,r26
		7681	7922 4474 B7FF sbrs r27,7
		7682	7923 4476 00C0 rjmp .L635
		7683	7924 4478 215F subi r18,lo8(-(15))
		7684	7925 447a 3F4F sbci r19,hi8(-(15))
		7685	7926 .L635:
		7686	7927 447c F4E0 ldi r31,4
		7687	7928 447e 3595 1: asr r19
		7688	7929 4480 2795 ror r18
		7689	7930 4482 FA95 dec r31
		7690	7931 4484 01F4 brne 1b
		7691	7932 4486 3093 0000 sts (CompassGierSetpoint)+1,r19
		7692	7933 448a 2093 0000 sts CompassGierSetpoint,r18
		7693	7934 448e 00C0 rjmp .L637
		7694	7935 .L620:
		7695	7936 4490 1092 0000 sts (CompassGierSetpoint)+1,__zero_reg__
		7696	7937 4494 1092 0000 sts CompassGierSetpoint,__zero_reg__
		7697	7938 .L637:
		7698	7939 4498 8091 0000 lds r24,TrichterFlug
		7699	7940 449c 8823 tst r24
		7700	7941 449e 01F0 breq .L638
		7701	7942 44a0 1092 0000 sts SummeRoll,__zero_reg__
		7702	7943 44a4 1092 0000 sts (SummeRoll)+1,__zero_reg__
		7703	7944 44a8 1092 0000 sts (SummeRoll)+2,__zero_reg__
		7704	7945 44ac 1092 0000 sts (SummeRoll)+3,__zero_reg__
		7705	7946 44b0 1092 0000 sts SummeNick,__zero_reg__
		7706	7947 44b4 1092 0000 sts (SummeNick)+1,__zero_reg__
		7707	7948 44b8 1092 0000 sts (SummeNick)+2,__zero_reg__
		7708	7949 44bc 1092 0000 sts (SummeNick)+3,__zero_reg__
		7709	7950 .L638:
		7710	7951 44c0 F090 0000 lds r15,Looping_Nick
		7711	7952 44c4 FF20 tst r15
		7712	7953 44c6 01F4 brne .L639
		7713	7954 44c8 8091 0000 lds r24,IntegralFaktor
		7714	7955 44cc 282F mov r18,r24
		7715	7956 44ce 3327 clr r19
		7716	7957 44d0 4427 clr r20
		7717	7958 44d2 5527 clr r21
		7718	7959 44d4 8091 0000 lds r24,IntegralNick
		7719	7960 44d8 9091 0000 lds r25,(IntegralNick)+1
		7720	7961 44dc A091 0000 lds r26,(IntegralNick)+2
		7721	7962 44e0 B091 0000 lds r27,(IntegralNick)+3
		7722	7963 44e4 BC01 movw r22,r24
		7723	7964 44e6 CD01 movw r24,r26
		7724	7965 44e8 0E94 0000 call __mulsi3
		7725	7966 44ec DC01 movw r26,r24
		7726	7967 44ee CB01 movw r24,r22
		7727	7968 44f0 BC01 movw r22,r24
		7728	7969 44f2 CD01 movw r24,r26
		7729	7970 44f4 28EF ldi r18,lo8(11000)
		7730	7971 44f6 3AE2 ldi r19,hi8(11000)
		7731	7972 44f8 40E0 ldi r20,hlo8(11000)
		7732	7973 44fa 50E0 ldi r21,hhi8(11000)
		7733	7974 44fc 0E94 0000 call __divmodsi4
		7734	7975 4500 3901 movw r6,r18
		7735	7976 4502 00C0 rjmp .L640
		7736	7977 .L639:
		7737	7978 4504 6624 clr r6
		7738	7979 4506 7724 clr r7
		7739	7980 .L640:
		7740	7981 4508 E090 0000 lds r14,Looping_Roll
		7741	7982 450c EE20 tst r14
		7742	7983 450e 01F4 brne .L641
		7743	7984 4510 8091 0000 lds r24,IntegralFaktor
		7744	7985 4514 282F mov r18,r24
		7745	7986 4516 3327 clr r19
		7746	7987 4518 4427 clr r20
		7747	7988 451a 5527 clr r21
		7748	7989 451c 8091 0000 lds r24,IntegralRoll
		7749	7990 4520 9091 0000 lds r25,(IntegralRoll)+1
		7750	7991 4524 A091 0000 lds r26,(IntegralRoll)+2
		7751	7992 4528 B091 0000 lds r27,(IntegralRoll)+3
		7752	7993 452c BC01 movw r22,r24
		7753	7994 452e CD01 movw r24,r26
		7754	7995 4530 0E94 0000 call __mulsi3
		7755	7996 4534 DC01 movw r26,r24
		7756	7997 4536 CB01 movw r24,r22
		7757	7998 4538 BC01 movw r22,r24
		7758	7999 453a CD01 movw r24,r26
		7759	8000 453c 28EF ldi r18,lo8(11000)
		7760	8001 453e 3AE2 ldi r19,hi8(11000)
		7761	8002 4540 40E0 ldi r20,hlo8(11000)
		7762	8003 4542 50E0 ldi r21,hhi8(11000)
		7763	8004 4544 0E94 0000 call __divmodsi4
		7764	8005 4548 2901 movw r4,r18
		7765	8006 454a 00C0 rjmp .L642
		7766	8007 .L641:
		7767	8008 454c 4424 clr r4
		7768	8009 454e 5524 clr r5
		7769	8010 .L642:
		7770	8011 4550 8091 0000 lds r24,TrimNick
		7771	8012 4554 9091 0000 lds r25,(TrimNick)+1
		7772	8013 4558 893C cpi r24,201
		7773	8014 455a 9105 cpc r25,__zero_reg__
		7774	8015 455c 04F0 brlt .L643
		7775	8016 455e 88EC ldi r24,lo8(200)
		7776	8017 4560 90E0 ldi r25,hi8(200)
		7777	8018 4562 00C0 rjmp .L900
		7778	8019 .L643:
		7779	8020 4564 8853 subi r24,lo8(-200)
		7780	8021 4566 9F4F sbci r25,hi8(-200)
		7781	8022 4568 04F4 brge .L644
		7782	8023 456a 88E3 ldi r24,lo8(-200)
		7783	8024 456c 9FEF ldi r25,hi8(-200)
		7784	8025 .L900:
		7785	8026 456e 9093 0000 sts (TrimNick)+1,r25
		7786	8027 4572 8093 0000 sts TrimNick,r24
		7787	8028 .L644:
		7788	8029 4576 8091 0000 lds r24,TrimRoll
		7789	8030 457a 9091 0000 lds r25,(TrimRoll)+1
		7790	8031 457e 893C cpi r24,201
		7791	8032 4580 9105 cpc r25,__zero_reg__
		7792	8033 4582 04F0 brlt .L646
		7793	8034 4584 88EC ldi r24,lo8(200)
		7794	8035 4586 90E0 ldi r25,hi8(200)
		7795	8036 4588 00C0 rjmp .L901
		7796	8037 .L646:
		7797	8038 458a 8853 subi r24,lo8(-200)
		7798	8039 458c 9F4F sbci r25,hi8(-200)
		7799	8040 458e 04F4 brge .L647
		7800	8041 4590 88E3 ldi r24,lo8(-200)
		7801	8042 4592 9FEF ldi r25,hi8(-200)
		7802	8043 .L901:
		7803	8044 4594 9093 0000 sts (TrimRoll)+1,r25
		7804	8045 4598 8093 0000 sts TrimRoll,r24
		7805	8046 .L647:
		7806	8047 459c 8091 0000 lds r24,MesswertNick
		7807	8048 45a0 9091 0000 lds r25,(MesswertNick)+1
		7808	8049 45a4 AA27 clr r26
		7809	8050 45a6 97FD sbrc r25,7
		7810	8051 45a8 A095 com r26
		7811	8052 45aa BA2F mov r27,r26
		7812	8053 45ac 2091 0000 lds r18,GyroFaktor
		7813	8054 45b0 A22E mov r10,r18
		7814	8055 45b2 BB24 clr r11
		7815	8056 45b4 CC24 clr r12
		7816	8057 45b6 DD24 clr r13
		7817	8058 45b8 BC01 movw r22,r24
		7818	8059 45ba CD01 movw r24,r26
		7819	8060 45bc A601 movw r20,r12
		7820	8061 45be 9501 movw r18,r10
		7821	8062 45c0 0E94 0000 call __mulsi3
		7822	8063 45c4 9B01 movw r18,r22
		7823	8064 45c6 AC01 movw r20,r24
		7824	8065 45c8 8091 0000 lds r24,TrimNick
		7825	8066 45cc 9091 0000 lds r25,(TrimNick)+1
		7826	8067 45d0 AA27 clr r26
		7827	8068 45d2 97FD sbrc r25,7
		7828	8069 45d4 A095 com r26
		7829	8070 45d6 BA2F mov r27,r26
		7830	8071 45d8 E7E0 ldi r30,7
		7831	8072 45da 880F 1: lsl r24
		7832	8073 45dc 991F rol r25
		7833	8074 45de AA1F rol r26
		7834	8075 45e0 BB1F rol r27
		7835	8076 45e2 EA95 dec r30
		7836	8077 45e4 01F4 brne 1b
		7837	8078 45e6 280F add r18,r24
		7838	8079 45e8 391F adc r19,r25
		7839	8080 45ea 4A1F adc r20,r26
		7840	8081 45ec 5B1F adc r21,r27
		7841	8082 45ee 57FF sbrs r21,7
		7842	8083 45f0 00C0 rjmp .L649
		7843	8084 45f2 215C subi r18,lo8(-(63))
		7844	8085 45f4 3F4F sbci r19,hi8(-(63))
		7845	8086 45f6 4F4F sbci r20,hlo8(-(63))
		7846	8087 45f8 5F4F sbci r21,hhi8(-(63))
		7847	8088 .L649:
		7848	8089 45fa 76E0 ldi r23,6
		7849	8090 45fc 5595 1: asr r21
		7850	8091 45fe 4795 ror r20
		7851	8092 4600 3795 ror r19
		7852	8093 4602 2795 ror r18
		7853	8094 4604 7A95 dec r23
		7854	8095 4606 01F4 brne 1b
		7855	8096 4608 8301 movw r16,r6
		7856	8097 460a 020F add r16,r18
		7857	8098 460c 131F adc r17,r19
		7858	8099 460e 1093 0000 sts (MesswertNick)+1,r17
		7859	8100 4612 0093 0000 sts MesswertNick,r16
		7860	8101 4616 8091 0000 lds r24,MesswertRoll
		7861	8102 461a 9091 0000 lds r25,(MesswertRoll)+1
		7862	8103 461e AA27 clr r26
		7863	8104 4620 97FD sbrc r25,7
		7864	8105 4622 A095 com r26
		7865	8106 4624 BA2F mov r27,r26
		7866	8107 4626 BC01 movw r22,r24
		7867	8108 4628 CD01 movw r24,r26
		7868	8109 462a A601 movw r20,r12
		7869	8110 462c 9501 movw r18,r10
		7870	8111 462e 0E94 0000 call __mulsi3
		7871	8112 4632 9B01 movw r18,r22
		7872	8113 4634 AC01 movw r20,r24
		7873	8114 4636 8091 0000 lds r24,TrimRoll
		7874	8115 463a 9091 0000 lds r25,(TrimRoll)+1
		7875	8116 463e AA27 clr r26
		7876	8117 4640 97FD sbrc r25,7
		7877	8118 4642 A095 com r26
		7878	8119 4644 BA2F mov r27,r26
		7879	8120 4646 67E0 ldi r22,7
		7880	8121 4648 880F 1: lsl r24
		7881	8122 464a 991F rol r25
		7882	8123 464c AA1F rol r26
		7883	8124 464e BB1F rol r27
		7884	8125 4650 6A95 dec r22
		7885	8126 4652 01F4 brne 1b
		7886	8127 4654 280F add r18,r24
		7887	8128 4656 391F adc r19,r25
		7888	8129 4658 4A1F adc r20,r26
		7889	8130 465a 5B1F adc r21,r27
		7890	8131 465c 57FF sbrs r21,7
		7891	8132 465e 00C0 rjmp .L650
		7892	8133 4660 215C subi r18,lo8(-(63))
		7893	8134 4662 3F4F sbci r19,hi8(-(63))
		7894	8135 4664 4F4F sbci r20,hlo8(-(63))
		7895	8136 4666 5F4F sbci r21,hhi8(-(63))
		7896	8137 .L650:
		7897	8138 4668 F6E0 ldi r31,6
		7898	8139 466a 5595 1: asr r21
		7899	8140 466c 4795 ror r20
		7900	8141 466e 3795 ror r19
		7901	8142 4670 2795 ror r18
		7902	8143 4672 FA95 dec r31
		7903	8144 4674 01F4 brne 1b
		7904	8145 4676 4201 movw r8,r4
		7905	8146 4678 820E add r8,r18
		7906	8147 467a 931E adc r9,r19
		7907	8148 467c 9092 0000 sts (MesswertRoll)+1,r9
		7908	8149 4680 8092 0000 sts MesswertRoll,r8
		7909	8150 4684 8091 0000 lds r24,MesswertGier
		7910	8151 4688 9091 0000 lds r25,(MesswertGier)+1
		7911	8152 468c 880F add r24,r24
		7912	8153 468e 991F adc r25,r25
		7913	8154 4690 AA27 clr r26
		7914	8155 4692 97FD sbrc r25,7
		7915	8156 4694 A095 com r26
		7916	8157 4696 BA2F mov r27,r26
		7917	8158 4698 2091 0000 lds r18,GyroFaktorGier
		7918	8159 469c 3327 clr r19
		7919	8160 469e 4427 clr r20
		7920	8161 46a0 5527 clr r21
		7921	8162 46a2 BC01 movw r22,r24
		7922	8163 46a4 CD01 movw r24,r26
		7923	8164 46a6 0E94 0000 call __mulsi3
		7924	8165 46aa 5B01 movw r10,r22
		7925	8166 46ac 6C01 movw r12,r24
		7926	8167 46ae 97FF sbrs r25,7
		7927	8168 46b0 00C0 rjmp .L651
		7928	8169 46b2 2FE3 ldi r18,lo8(63)
		7929	8170 46b4 30E0 ldi r19,hi8(63)
		7930	8171 46b6 40E0 ldi r20,hlo8(63)
		7931	8172 46b8 50E0 ldi r21,hhi8(63)
		7932	8173 46ba A20E add r10,r18
		7933	8174 46bc B31E adc r11,r19
		7934	8175 46be C41E adc r12,r20
		7935	8176 46c0 D51E adc r13,r21
		7936	8177 .L651:
		7937	8178 46c2 E6E0 ldi r30,6
		7938	8179 46c4 D594 1: asr r13
		7939	8180 46c6 C794 ror r12
		7940	8181 46c8 B794 ror r11
		7941	8182 46ca A794 ror r10
		7942	8183 46cc EA95 dec r30
		7943	8184 46ce 01F4 brne 1b
		7944	8185 46d0 8091 0000 lds r24,IntegralFaktorGier
		7945	8186 46d4 282F mov r18,r24
		7946	8187 46d6 3327 clr r19
		7947	8188 46d8 4427 clr r20
		7948	8189 46da 5527 clr r21
		7949	8190 46dc 8091 0000 lds r24,Integral_Gier
		7950	8191 46e0 9091 0000 lds r25,(Integral_Gier)+1
		7951	8192 46e4 A091 0000 lds r26,(Integral_Gier)+2
		7952	8193 46e8 B091 0000 lds r27,(Integral_Gier)+3
		7953	8194 46ec BC01 movw r22,r24
		7954	8195 46ee CD01 movw r24,r26
		7955	8196 46f0 0E94 0000 call __mulsi3
		7956	8197 46f4 DC01 movw r26,r24
		7957	8198 46f6 CB01 movw r24,r22
		7958	8199 46f8 BC01 movw r22,r24
		7959	8200 46fa CD01 movw r24,r26
		7960	8201 46fc 20EF ldi r18,lo8(22000)
		7961	8202 46fe 35E5 ldi r19,hi8(22000)
		7962	8203 4700 40E0 ldi r20,hlo8(22000)
		7963	8204 4702 50E0 ldi r21,hhi8(22000)
		7964	8205 4704 0E94 0000 call __divmodsi4
		7965	8206 4708 B501 movw r22,r10
		7966	8207 470a 620F add r22,r18
		7967	8208 470c 731F adc r23,r19
		7968	8209 470e 7093 0000 sts (MesswertGier)+1,r23
		7969	8210 4712 6093 0000 sts MesswertGier,r22
		7970	8211 4716 0150 subi r16,lo8(4097)
		7971	8212 4718 1041 sbci r17,hi8(4097)
		7972	8213 471a 04F0 brlt .L652
		7973	8214 471c 80E0 ldi r24,lo8(4096)
		7974	8215 471e 90E1 ldi r25,hi8(4096)
		7975	8216 4720 9093 0000 sts (MesswertNick)+1,r25
		7976	8217 4724 8093 0000 sts MesswertNick,r24
		7977	8218 .L652:
		7978	8219 4728 8091 0000 lds r24,MesswertNick
		7979	8220 472c 9091 0000 lds r25,(MesswertNick)+1
		7980	8221 4730 8050 subi r24,lo8(-4096)
		7981	8222 4732 904F sbci r25,hi8(-4096)
		7982	8223 4734 04F4 brge .L653
		7983	8224 4736 80E0 ldi r24,lo8(-4096)
		7984	8225 4738 90EF ldi r25,hi8(-4096)
		7985	8226 473a 9093 0000 sts (MesswertNick)+1,r25
		7986	8227 473e 8093 0000 sts MesswertNick,r24
		7987	8228 .L653:
		7988	8229 4742 51E0 ldi r21,lo8(4097)
		7989	8230 4744 8516 cp r8,r21
		7990	8231 4746 50E1 ldi r21,hi8(4097)
		7991	8232 4748 9506 cpc r9,r21
		7992	8233 474a 04F0 brlt .L654
		7993	8234 474c 80E0 ldi r24,lo8(4096)
		7994	8235 474e 90E1 ldi r25,hi8(4096)
		7995	8236 4750 9093 0000 sts (MesswertRoll)+1,r25
		7996	8237 4754 8093 0000 sts MesswertRoll,r24
		7997	8238 .L654:
		7998	8239 4758 8091 0000 lds r24,MesswertRoll
		7999	8240 475c 9091 0000 lds r25,(MesswertRoll)+1
		8000	8241 4760 8050 subi r24,lo8(-4096)
		8001	8242 4762 904F sbci r25,hi8(-4096)
		8002	8243 4764 04F4 brge .L655
		8003	8244 4766 80E0 ldi r24,lo8(-4096)
		8004	8245 4768 90EF ldi r25,hi8(-4096)
		8005	8246 476a 9093 0000 sts (MesswertRoll)+1,r25
		8006	8247 476e 8093 0000 sts MesswertRoll,r24
		8007	8248 .L655:
		8008	8249 4772 6150 subi r22,lo8(4097)
		8009	8250 4774 7041 sbci r23,hi8(4097)
		8010	8251 4776 04F0 brlt .L656
		8011	8252 4778 80E0 ldi r24,lo8(4096)
		8012	8253 477a 90E1 ldi r25,hi8(4096)
		8013	8254 477c 9093 0000 sts (MesswertGier)+1,r25
		8014	8255 4780 8093 0000 sts MesswertGier,r24
		8015	8256 .L656:
		8016	8257 4784 8091 0000 lds r24,MesswertGier
		8017	8258 4788 9091 0000 lds r25,(MesswertGier)+1
		8018	8259 478c 8050 subi r24,lo8(-4096)
		8019	8260 478e 904F sbci r25,hi8(-4096)
		8020	8261 4790 04F4 brge .L657
		8021	8262 4792 80E0 ldi r24,lo8(-4096)
		8022	8263 4794 90EF ldi r25,hi8(-4096)
		8023	8264 4796 9093 0000 sts (MesswertGier)+1,r25
		8024	8265 479a 8093 0000 sts MesswertGier,r24
		8025	8266 .L657:
		8026	8267 479e 8091 0000 lds r24,BattLowVoltageWarning
		8027	8268 47a2 482F mov r20,r24
		8028	8269 47a4 5527 clr r21
		8029	8270 47a6 8091 0000 lds r24,UBat
		8030	8271 47aa 9091 0000 lds r25,(UBat)+1
		8031	8272 47ae 4817 cp r20,r24
		8032	8273 47b0 5907 cpc r21,r25
		8033	8274 47b2 04F4 brge .L658
		8034	8275 47b4 2091 0000 lds r18,UBat
		8035	8276 47b8 3091 0000 lds r19,(UBat)+1
		8036	8277 47bc 0981 ldd r16,Y+1
		8037	8278 47be 1A81 ldd r17,Y+2
		8038	8279 47c0 049F mul r16,r20
		8039	8280 47c2 C001 movw r24,r0
		8040	8281 47c4 059F mul r16,r21
		8041	8282 47c6 900D add r25,r0
		8042	8283 47c8 149F mul r17,r20
		8043	8284 47ca 900D add r25,r0
		8044	8285 47cc 1124 clr r1
		8045	8286 47ce B901 movw r22,r18
		8046	8287 47d0 0E94 0000 call __udivmodhi4
		8047	8288 47d4 7A83 std Y+2,r23
		8048	8289 47d6 6983 std Y+1,r22
		8049	8290 .L658:
		8050	8291 47d8 2981 ldd r18,Y+1
		8051	8292 47da 3A81 ldd r19,Y+2
		8052	8293 47dc 220F lsl r18
		8053	8294 47de 331F rol r19
		8054	8295 47e0 220F lsl r18
		8055	8296 47e2 331F rol r19
		8056	8297 47e4 3A83 std Y+2,r19
		8057	8298 47e6 2983 std Y+1,r18
		8058	8299 47e8 4091 0000 lds r20,Parameter_GlobalConfig
		8059	8300 47ec 40FD sbrc r20,0
		8060	8301 47ee 00C0 rjmp .+4
		8061	8302 47f0 0C94 0000 jmp .L659
		8062	8303 47f4 EE20 tst r14
		8063	8304 47f6 01F0 breq .+4
		8064	8305 47f8 0C94 0000 jmp .L659
		8065	8306 47fc FF20 tst r15
		8066	8307 47fe 01F0 breq .+4
		8067	8308 4800 0C94 0000 jmp .L659
		8068	8309 4804 00E0 ldi r16,lo8(0)
		8069	8310 4806 10E0 ldi r17,hi8(0)
		8070	8311 4808 4801 movw r8,r16
		8071	8312 480a 8091 0000 lds r24,HoverGas
		8072	8313 480e 9091 0000 lds r25,(HoverGas)+1
		8073	8314 4812 9093 0000 sts (DebugOut+44)+1,r25
		8074	8315 4816 8093 0000 sts DebugOut+44,r24
		8075	8316 481a 2091 0000 lds r18,BaroExpandActive
		8076	8317 481e 3091 0000 lds r19,(BaroExpandActive)+1
		8077	8318 4822 2115 cp r18,__zero_reg__
		8078	8319 4824 3105 cpc r19,__zero_reg__
		8079	8320 4826 01F0 breq .+2
		8080	8321 4828 00C0 rjmp .L660
		8081	8322 482a 8091 0000 lds r24,MessLuftdruck
		8082	8323 482e 9091 0000 lds r25,(MessLuftdruck)+1
		8083	8324 4832 8959 subi r24,lo8(921)
		8084	8325 4834 9340 sbci r25,hi8(921)
		8085	8326 4836 00F0 brlo .L661
		8086	8327 4838 87B5 in r24,71-0x20
		8087	8328 483a 803F cpi r24,lo8(-16)
		8088	8329 483c 00F4 brsh .L662
		8089	8330 483e 8091 0000 lds r24,ExpandBaro
		8090	8331 4842 8150 subi r24,lo8(-(-1))
		8091	8332 4844 00C0 rjmp .L902
		8092	8333 .L662:
		8093	8334 4846 81E0 ldi r24,lo8(1)
		8094	8335 4848 8093 0000 sts BaroAtLowerLimit.26,r24
		8095	8336 484c 00C0 rjmp .L669
		8096	8337 .L661:
		8097	8338 484e 8091 0000 lds r24,MessLuftdruck
		8098	8339 4852 9091 0000 lds r25,(MessLuftdruck)+1
		8099	8340 4856 8436 cpi r24,100
		8100	8341 4858 9105 cpc r25,__zero_reg__
		8101	8342 485a 00F4 brsh .L665
		8102	8343 485c 87B5 in r24,71-0x20
		8103	8344 485e 8031 cpi r24,lo8(16)
		8104	8345 4860 00F0 brlo .L666
		8105	8346 4862 8091 0000 lds r24,ExpandBaro
		8106	8347 4866 8F5F subi r24,lo8(-(1))
		8107	8348 .L902:
		8108	8349 4868 8093 0000 sts ExpandBaro,r24
		8109	8350 486c 9FE0 ldi r25,lo8(15)
		8110	8351 486e 8902 muls r24,r25
		8111	8352 4870 9001 movw r18,r0
		8112	8353 4872 1124 clr r1
		8113	8354 4874 8091 0000 lds r24,DruckOffsetSetting
		8114	8355 4878 821B sub r24,r18
		8115	8356 487a 87BD out 71-0x20,r24
		8116	8357 487c 8CE2 ldi r24,lo8(300)
		8117	8358 487e 91E0 ldi r25,hi8(300)
		8118	8359 4880 9093 0000 sts (beeptime)+1,r25
		8119	8360 4884 8093 0000 sts beeptime,r24
		8120	8361 4888 8EE5 ldi r24,lo8(350)
		8121	8362 488a 91E0 ldi r25,hi8(350)
		8122	8363 488c 9093 0000 sts (BaroExpandActive)+1,r25
		8123	8364 4890 8093 0000 sts BaroExpandActive,r24
		8124	8365 4894 00C0 rjmp .L669
		8125	8366 .L666:
		8126	8367 4896 81E0 ldi r24,lo8(1)
		8127	8368 4898 8093 0000 sts BaroAtUpperLimit.25,r24
		8128	8369 489c 00C0 rjmp .L669
		8129	8370 .L665:
		8130	8371 489e F092 0000 sts BaroAtUpperLimit.25,r15
		8131	8372 48a2 F092 0000 sts BaroAtLowerLimit.26,r15
		8132	8373 48a6 00C0 rjmp .L669
		8133	8374 .L660:
		8134	8375 48a8 8091 0000 lds r24,HoehenWert
		8135	8376 48ac 9091 0000 lds r25,(HoehenWert)+1
		8136	8377 48b0 A091 0000 lds r26,(HoehenWert)+2
		8137	8378 48b4 B091 0000 lds r27,(HoehenWert)+3
		8138	8379 48b8 64E0 ldi r22,4
		8139	8380 48ba 880F 1: lsl r24
		8140	8381 48bc 991F rol r25
		8141	8382 48be AA1F rol r26
		8142	8383 48c0 BB1F rol r27
		8143	8384 48c2 6A95 dec r22
		8144	8385 48c4 01F4 brne 1b
		8145	8386 48c6 8093 0000 sts SummenHoehe,r24
		8146	8387 48ca 9093 0000 sts (SummenHoehe)+1,r25
		8147	8388 48ce A093 0000 sts (SummenHoehe)+2,r26
		8148	8389 48d2 B093 0000 sts (SummenHoehe)+3,r27
		8149	8390 48d6 1093 0000 sts (VarioMeter)+1,r17
		8150	8391 48da 0093 0000 sts VarioMeter,r16
		8151	8392 48de 2150 subi r18,lo8(-(-1))
		8152	8393 48e0 3040 sbci r19,hi8(-(-1))
		8153	8394 48e2 3093 0000 sts (BaroExpandActive)+1,r19
		8154	8395 48e6 2093 0000 sts BaroExpandActive,r18
		8155	8396 .L669:
		8156	8397 48ea 2091 0000 lds r18,Parameter_HoehenSchalter
		8157	8398 48ee 41FF sbrs r20,1
		8158	8399 48f0 00C0 rjmp .L670
		8159	8400 48f2 2233 cpi r18,lo8(50)
		8160	8401 48f4 00F4 brsh .L671
		8161	8402 48f6 8091 0000 lds r24,delay.24
		8162	8403 48fa 8150 subi r24,lo8(-(-1))
		8163	8404 48fc 8093 0000 sts delay.24,r24
		8164	8405 4900 8F3F cpi r24,lo8(-1)
		8165	8406 4902 01F0 breq .+2
		8166	8407 4904 00C0 rjmp .L677
		8167	8408 4906 8091 0000 lds r24,SpeakHoTT
		8168	8409 490a 8823 tst r24
		8169	8410 490c 01F4 brne .L673
		8170	8411 490e 8091 0000 lds r24,HoehenReglerAktiv
		8171	8412 4912 8823 tst r24
		8172	8413 4914 01F0 breq .L673
		8173	8414 4916 88E2 ldi r24,lo8(40)
		8174	8415 4918 8093 0000 sts SpeakHoTT,r24
		8175	8416 .L673:
		8176	8417 491c 1092 0000 sts HoehenReglerAktiv,__zero_reg__
		8177	8418 4920 8091 0000 lds r24,HoehenWert
		8178	8419 4924 9091 0000 lds r25,(HoehenWert)+1
		8179	8420 4928 A091 0000 lds r26,(HoehenWert)+2
		8180	8421 492c B091 0000 lds r27,(HoehenWert)+3
		8181	8422 4930 8093 0000 sts SollHoehe,r24
		8182	8423 4934 9093 0000 sts (SollHoehe)+1,r25
		8183	8424 4938 A093 0000 sts (SollHoehe)+2,r26
		8184	8425 493c B093 0000 sts (SollHoehe)+3,r27
		8185	8426 4940 81E0 ldi r24,lo8(1)
		8186	8427 4942 8093 0000 sts delay.24,r24
		8187	8428 4946 00C0 rjmp .L677
		8188	8429 .L671:
		8189	8430 4948 2734 cpi r18,lo8(71)
		8190	8431 494a 00F0 brlo .L677
		8191	8432 494c 8091 0000 lds r24,SpeakHoTT
		8192	8433 4950 8823 tst r24
		8193	8434 4952 01F4 brne .L676
		8194	8435 4954 8091 0000 lds r24,HoehenReglerAktiv
		8195	8436 4958 8823 tst r24
		8196	8437 495a 01F4 brne .L676
		8197	8438 495c 87E2 ldi r24,lo8(39)
		8198	8439 495e 8093 0000 sts SpeakHoTT,r24
		8199	8440 .L676:
		8200	8441 4962 88EC ldi r24,lo8(-56)
		8201	8442 4964 8093 0000 sts delay.24,r24
		8202	8443 4968 00C0 rjmp .L903
		8203	8444 .L670:
		8204	8445 496a 8091 0000 lds r24,ExternHoehenValue
		8205	8446 496e 9091 0000 lds r25,(ExternHoehenValue)+1
		8206	8447 4972 820F add r24,r18
		8207	8448 4974 911D adc r25,__zero_reg__
		8208	8449 4976 2091 0000 lds r18,EE_Parameter+18
		8209	8450 497a 3327 clr r19
		8210	8451 497c 829F mul r24,r18
		8211	8452 497e A001 movw r20,r0
		8212	8453 4980 839F mul r24,r19
		8213	8454 4982 500D add r21,r0
		8214	8455 4984 929F mul r25,r18
		8215	8456 4986 500D add r21,r0
		8216	8457 4988 1124 clr r1
		8217	8458 498a CA01 movw r24,r20
		8218	8459 498c AA27 clr r26
		8219	8460 498e 97FD sbrc r25,7
		8220	8461 4990 A095 com r26
		8221	8462 4992 BA2F mov r27,r26
		8222	8463 4994 8093 0000 sts SollHoehe,r24
		8223	8464 4998 9093 0000 sts (SollHoehe)+1,r25
		8224	8465 499c A093 0000 sts (SollHoehe)+2,r26
		8225	8466 49a0 B093 0000 sts (SollHoehe)+3,r27
		8226	8467 .L903:
		8227	8468 49a4 81E0 ldi r24,lo8(1)
		8228	8469 49a6 8093 0000 sts HoehenReglerAktiv,r24
		8229	8470 .L677:
		8230	8471 49aa 8091 0000 lds r24,IntegralNick
		8231	8472 49ae 9091 0000 lds r25,(IntegralNick)+1
		8232	8473 49b2 A091 0000 lds r26,(IntegralNick)+2
		8233	8474 49b6 B091 0000 lds r27,(IntegralNick)+3
		8234	8475 49ba E090 0000 lds r14,GIER_GRAD_FAKTOR
		8235	8476 49be F090 0000 lds r15,(GIER_GRAD_FAKTOR)+1
		8236	8477 49c2 0091 0000 lds r16,(GIER_GRAD_FAKTOR)+2
		8237	8478 49c6 1091 0000 lds r17,(GIER_GRAD_FAKTOR)+3
		8238	8479 49ca BC01 movw r22,r24
		8239	8480 49cc CD01 movw r24,r26
		8240	8481 49ce A801 movw r20,r16
		8241	8482 49d0 9701 movw r18,r14
		8242	8483 49d2 0E94 0000 call __divmodsi4
		8243	8484 49d6 5901 movw r10,r18
		8244	8485 49d8 6A01 movw r12,r20
		8245	8486 49da 8091 0000 lds r24,IntegralRoll
		8246	8487 49de 9091 0000 lds r25,(IntegralRoll)+1
		8247	8488 49e2 A091 0000 lds r26,(IntegralRoll)+2
		8248	8489 49e6 B091 0000 lds r27,(IntegralRoll)+3
		8249	8490 49ea BC01 movw r22,r24
		8250	8491 49ec CD01 movw r24,r26
		8251	8492 49ee A801 movw r20,r16
		8252	8493 49f0 9701 movw r18,r14
		8253	8494 49f2 0E94 0000 call __divmodsi4
		8254	8495 49f6 B901 movw r22,r18
		8255	8496 49f8 C501 movw r24,r10
		8256	8497 49fa 0E94 0000 call ihypot
		8257	8498 49fe 5C01 movw r10,r24
		8258	8499 4a00 CC97 sbiw r24,60
		8259	8500 4a02 04F0 brlt .L678
		8260	8501 4a04 5CE3 ldi r21,lo8(60)
		8261	8502 4a06 A52E mov r10,r21
		8262	8503 4a08 B12C mov r11,__zero_reg__
		8263	8504 .L678:
		8264	8505 4a0a C501 movw r24,r10
		8265	8506 4a0c 0E94 0000 call c_cos_8192
		8266	8507 4a10 5C01 movw r10,r24
		8267	8508 4a12 80E2 ldi r24,lo8(32)
		8268	8509 4a14 8093 0000 sts VarioCharacter,r24
		8269	8510 4a18 1092 0000 sts (AltitudeSetpointTrimming)+1,__zero_reg__
		8270	8511 4a1c 1092 0000 sts AltitudeSetpointTrimming,__zero_reg__
		8271	8512 4a20 8091 0000 lds r24,HoehenReglerAktiv
		8272	8513 4a24 8823 tst r24
		8273	8514 4a26 01F4 brne .+2
		8274	8515 4a28 00C0 rjmp .L679
		8275	8516 4a2a 8091 0000 lds r24,FC_StatusFlags
		8276	8517 4a2e 9927 clr r25
		8277	8518 4a30 9C01 movw r18,r24
		8278	8519 4a32 2071 andi r18,lo8(16)
		8279	8520 4a34 3070 andi r19,hi8(16)
		8280	8521 4a36 84FD sbrc r24,4
		8281	8522 4a38 00C0 rjmp .L679
		8282	8523 4a3a 8091 0000 lds r24,FC_StatusFlags2
		8283	8524 4a3e 8260 ori r24,lo8(2)
		8284	8525 4a40 8093 0000 sts FC_StatusFlags2,r24
		8285	8526 4a44 7091 0000 lds r23,Parameter_ExtraConfig
		8286	8527 4a48 872F mov r24,r23
		8287	8528 4a4a 9927 clr r25
		8288	8529 4a4c 41E0 ldi r20,lo8(1)
		8289	8530 4a4e C42E mov r12,r20
		8290	8531 4a50 D12C mov r13,__zero_reg__
		8291	8532 4a52 C822 and r12,r24
		8292	8533 4a54 D922 and r13,r25
		8293	8534 4a56 80FD sbrc r24,0
		8294	8535 4a58 00C0 rjmp .L681
		8295	8536 4a5a 8091 0000 lds r24,Parameter_GlobalConfig
		8296	8537 4a5e 81FD sbrc r24,1
		8297	8538 4a60 00C0 rjmp .L680
		8298	8539 .L681:
		8299	8540 4a62 C980 ldd r12,Y+1
		8300	8541 4a64 DA80 ldd r13,Y+2
		8301	8542 4a66 3093 0000 sts (HeightTrimming.21)+1,r19
		8302	8543 4a6a 2093 0000 sts HeightTrimming.21,r18
		8303	8544 4a6e 3093 0000 sts (AltitudeSetpointTrimming)+1,r19
		8304	8545 4a72 2093 0000 sts AltitudeSetpointTrimming,r18
		8305	8546 4a76 8091 0000 lds r24,FC_StatusFlags
		8306	8547 4a7a 806C ori r24,lo8(-64)
		8307	8548 4a7c 8093 0000 sts FC_StatusFlags,r24
		8308	8549 4a80 00C0 rjmp .L682
		8309	8550 .L680:
		8310	8551 4a82 8091 0000 lds r24,FC_StatusFlags
		8311	8552 4a86 81FF sbrs r24,1
		8312	8553 4a88 00C0 rjmp .L683
		8313	8554 4a8a 0091 0000 lds r16,StickGasHover
		8314	8555 4a8e 1091 0000 lds r17,(StickGasHover)+1
		8315	8556 4a92 C801 movw r24,r16
		8316	8557 4a94 0F96 adiw r24,15
		8317	8558 4a96 2090 0000 lds r2,StickGas
		8318	8559 4a9a 3090 0000 lds r3,(StickGas)+1
		8319	8560 4a9e 8215 cp r24,r2
		8320	8561 4aa0 9305 cpc r25,r3
		8321	8562 4aa2 04F0 brlt .+2
		8322	8563 4aa4 00C0 rjmp .L684
		8323	8564 4aa6 8091 0000 lds r24,BaroAtUpperLimit.25
		8324	8565 4aaa 8823 tst r24
		8325	8566 4aac 01F0 breq .+2
		8326	8567 4aae 00C0 rjmp .L684
		8327	8568 4ab0 8091 0000 lds r24,FC_StatusFlags
		8328	8569 4ab4 87FF sbrs r24,7
		8329	8570 4ab6 00C0 rjmp .L685
		8330	8571 4ab8 8091 0000 lds r24,FC_StatusFlags
		8331	8572 4abc 8F77 andi r24,lo8(127)
		8332	8573 4abe 8093 0000 sts FC_StatusFlags,r24
		8333	8574 4ac2 8091 0000 lds r24,HoehenWert
		8334	8575 4ac6 9091 0000 lds r25,(HoehenWert)+1
		8335	8576 4aca A091 0000 lds r26,(HoehenWert)+2
		8336	8577 4ace B091 0000 lds r27,(HoehenWert)+3
		8337	8578 4ad2 8093 0000 sts SollHoehe,r24
		8338	8579 4ad6 9093 0000 sts (SollHoehe)+1,r25
		8339	8580 4ada A093 0000 sts (SollHoehe)+2,r26
		8340	8581 4ade B093 0000 sts (SollHoehe)+3,r27
		8341	8582 .L685:
		8342	8583 4ae2 8091 0000 lds r24,FC_StatusFlags
		8343	8584 4ae6 8064 ori r24,lo8(64)
		8344	8585 4ae8 8093 0000 sts FC_StatusFlags,r24
		8345	8586 4aec E090 0000 lds r14,Parameter_MaximumAltitude
		8346	8587 4af0 EE20 tst r14
		8347	8588 4af2 01F0 breq .L686
		8348	8589 4af4 8091 0000 lds r24,SollHoehe
		8349	8590 4af8 9091 0000 lds r25,(SollHoehe)+1
		8350	8591 4afc A091 0000 lds r26,(SollHoehe)+2
		8351	8592 4b00 B091 0000 lds r27,(SollHoehe)+3
		8352	8593 4b04 BC01 movw r22,r24
		8353	8594 4b06 CD01 movw r24,r26
		8354	8595 4b08 24E6 ldi r18,lo8(100)
		8355	8596 4b0a 30E0 ldi r19,hi8(100)
		8356	8597 4b0c 40E0 ldi r20,hlo8(100)
		8357	8598 4b0e 50E0 ldi r21,hhi8(100)
		8358	8599 4b10 0E94 0000 call __divmodsi4
		8359	8600 4b14 8E2D mov r24,r14
		8360	8601 4b16 9927 clr r25
		8361	8602 4b18 AA27 clr r26
		8362	8603 4b1a BB27 clr r27
		8363	8604 4b1c 8217 cp r24,r18
		8364	8605 4b1e 9307 cpc r25,r19
		8365	8606 4b20 A407 cpc r26,r20
		8366	8607 4b22 B507 cpc r27,r21
		8367	8608 4b24 04F4 brge .L686
		8368	8609 4b26 D092 0000 sts (AltitudeSetpointTrimming)+1,r13
		8369	8610 4b2a C092 0000 sts AltitudeSetpointTrimming,r12
		8370	8611 4b2e 00C0 rjmp .L687
		8371	8612 .L686:
		8372	8613 4b30 C101 movw r24,r2
		8373	8614 4b32 801B sub r24,r16
		8374	8615 4b34 910B sbc r25,r17
		8375	8616 4b36 0F97 sbiw r24,15
		8376	8617 4b38 97FF sbrs r25,7
		8377	8618 4b3a 00C0 rjmp .L688
		8378	8619 4b3c 9095 com r25
		8379	8620 4b3e 8195 neg r24
		8380	8621 4b40 9F4F sbci r25,lo8(-1)
		8381	8622 .L688:
		8382	8623 4b42 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8383	8624 4b46 8093 0000 sts AltitudeSetpointTrimming,r24
		8384	8625 4b4a 8BE2 ldi r24,lo8(43)
		8385	8626 4b4c 8093 0000 sts VarioCharacter,r24
		8386	8627 .L687:
		8387	8628 4b50 1092 0000 sts WaypointTrimming,__zero_reg__
		8388	8629 4b54 00C0 rjmp .L689
		8389	8630 .L684:
		8390	8631 4b56 C801 movw r24,r16
		8391	8632 4b58 0F97 sbiw r24,15
		8392	8633 4b5a 2816 cp r2,r24
		8393	8634 4b5c 3906 cpc r3,r25
		8394	8635 4b5e 04F4 brge .L690
		8395	8636 4b60 2091 0000 lds r18,BaroAtLowerLimit.26
		8396	8637 4b64 2223 tst r18
		8397	8638 4b66 01F4 brne .L690
		8398	8639 4b68 8091 0000 lds r24,FC_StatusFlags
		8399	8640 4b6c 86FF sbrs r24,6
		8400	8641 4b6e 00C0 rjmp .L691
		8401	8642 4b70 8091 0000 lds r24,FC_StatusFlags
		8402	8643 4b74 8F7B andi r24,lo8(-65)
		8403	8644 4b76 8093 0000 sts FC_StatusFlags,r24
		8404	8645 4b7a 8091 0000 lds r24,HoehenWert
		8405	8646 4b7e 9091 0000 lds r25,(HoehenWert)+1
		8406	8647 4b82 A091 0000 lds r26,(HoehenWert)+2
		8407	8648 4b86 B091 0000 lds r27,(HoehenWert)+3
		8408	8649 4b8a 8093 0000 sts SollHoehe,r24
		8409	8650 4b8e 9093 0000 sts (SollHoehe)+1,r25
		8410	8651 4b92 A093 0000 sts (SollHoehe)+2,r26
		8411	8652 4b96 B093 0000 sts (SollHoehe)+3,r27
		8412	8653 .L691:
		8413	8654 4b9a 8091 0000 lds r24,FC_StatusFlags
		8414	8655 4b9e 8068 ori r24,lo8(-128)
		8415	8656 4ba0 8093 0000 sts FC_StatusFlags,r24
		8416	8657 4ba4 C101 movw r24,r2
		8417	8658 4ba6 801B sub r24,r16
		8418	8659 4ba8 910B sbc r25,r17
		8419	8660 4baa 0F96 adiw r24,15
		8420	8661 4bac 97FF sbrs r25,7
		8421	8662 4bae 00C0 rjmp .L692
		8422	8663 4bb0 9095 com r25
		8423	8664 4bb2 8195 neg r24
		8424	8665 4bb4 9F4F sbci r25,lo8(-1)
		8425	8666 .L692:
		8426	8667 4bb6 9095 com r25
		8427	8668 4bb8 8195 neg r24
		8428	8669 4bba 9F4F sbci r25,lo8(-1)
		8429	8670 4bbc 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8430	8671 4bc0 8093 0000 sts AltitudeSetpointTrimming,r24
		8431	8672 4bc4 8DE2 ldi r24,lo8(45)
		8432	8673 4bc6 8093 0000 sts VarioCharacter,r24
		8433	8674 4bca 2093 0000 sts WaypointTrimming,r18
		8434	8675 4bce 00C0 rjmp .L689
		8435	8676 .L690:
		8436	8677 4bd0 8DE3 ldi r24,lo8(61)
		8437	8678 4bd2 8093 0000 sts VarioCharacter,r24
		8438	8679 4bd6 6091 0000 lds r22,FromNC_AltitudeSpeed
		8439	8680 4bda 6623 tst r22
		8440	8681 4bdc 01F0 breq .L694
		8441	8682 4bde 2091 0000 lds r18,FromNC_AltitudeSetpoint
		8442	8683 4be2 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1
		8443	8684 4be6 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2
		8444	8685 4bea 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3
		8445	8686 4bee 8091 0000 lds r24,SollHoehe
		8446	8687 4bf2 9091 0000 lds r25,(SollHoehe)+1
		8447	8688 4bf6 A091 0000 lds r26,(SollHoehe)+2
		8448	8689 4bfa B091 0000 lds r27,(SollHoehe)+3
		8449	8690 4bfe 8217 cp r24,r18
		8450	8691 4c00 9307 cpc r25,r19
		8451	8692 4c02 A407 cpc r26,r20
		8452	8693 4c04 B507 cpc r27,r21
		8453	8694 4c06 04F4 brge .L694
		8454	8695 4c08 8091 0000 lds r24,FC_StatusFlags
		8455	8696 4c0c 8064 ori r24,lo8(64)
		8456	8697 4c0e 8093 0000 sts FC_StatusFlags,r24
		8457	8698 4c12 862F mov r24,r22
		8458	8699 4c14 9927 clr r25
		8459	8700 4c16 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8460	8701 4c1a 8093 0000 sts AltitudeSetpointTrimming,r24
		8461	8702 4c1e 8AE0 ldi r24,lo8(10)
		8462	8703 4c20 8093 0000 sts WaypointTrimming,r24
		8463	8704 4c24 8EE5 ldi r24,lo8(94)
		8464	8705 4c26 8093 0000 sts VarioCharacter,r24
		8465	8706 4c2a 8091 0000 lds r24,FC_StatusFlags
		8466	8707 4c2e 87FF sbrs r24,7
		8467	8708 4c30 00C0 rjmp .L689
		8468	8709 4c32 8091 0000 lds r24,FC_StatusFlags
		8469	8710 4c36 8F77 andi r24,lo8(127)
		8470	8711 4c38 00C0 rjmp .L905
		8471	8712 .L694:
		8472	8713 4c3a 6623 tst r22
		8473	8714 4c3c 01F4 brne .+2
		8474	8715 4c3e 00C0 rjmp .L697
		8475	8716 4c40 2091 0000 lds r18,FromNC_AltitudeSetpoint
		8476	8717 4c44 3091 0000 lds r19,(FromNC_AltitudeSetpoint)+1
		8477	8718 4c48 4091 0000 lds r20,(FromNC_AltitudeSetpoint)+2
		8478	8719 4c4c 5091 0000 lds r21,(FromNC_AltitudeSetpoint)+3
		8479	8720 4c50 8091 0000 lds r24,SollHoehe
		8480	8721 4c54 9091 0000 lds r25,(SollHoehe)+1
		8481	8722 4c58 A091 0000 lds r26,(SollHoehe)+2
		8482	8723 4c5c B091 0000 lds r27,(SollHoehe)+3
		8483	8724 4c60 2817 cp r18,r24
		8484	8725 4c62 3907 cpc r19,r25
		8485	8726 4c64 4A07 cpc r20,r26
		8486	8727 4c66 5B07 cpc r21,r27
		8487	8728 4c68 04F4 brge .L697
		8488	8729 4c6a 8091 0000 lds r24,FC_StatusFlags
		8489	8730 4c6e 8068 ori r24,lo8(-128)
		8490	8731 4c70 8093 0000 sts FC_StatusFlags,r24
		8491	8732 4c74 862F mov r24,r22
		8492	8733 4c76 9927 clr r25
		8493	8734 4c78 9095 com r25
		8494	8735 4c7a 8195 neg r24
		8495	8736 4c7c 9F4F sbci r25,lo8(-1)
		8496	8737 4c7e 9093 0000 sts (AltitudeSetpointTrimming)+1,r25
		8497	8738 4c82 8093 0000 sts AltitudeSetpointTrimming,r24
		8498	8739 4c86 86EF ldi r24,lo8(-10)
		8499	8740 4c88 8093 0000 sts WaypointTrimming,r24
		8500	8741 4c8c 86E7 ldi r24,lo8(118)
		8501	8742 4c8e 8093 0000 sts VarioCharacter,r24
		8502	8743 4c92 8091 0000 lds r24,FC_StatusFlags
		8503	8744 4c96 86FF sbrs r24,6
		8504	8745 4c98 00C0 rjmp .L689
		8505	8746 4c9a 8091 0000 lds r24,FC_StatusFlags
		8506	8747 4c9e 8F7B andi r24,lo8(-65)
		8507	8748 .L905:
		8508	8749 4ca0 8093 0000 sts FC_StatusFlags,r24
		8509	8750 4ca4 8091 0000 lds r24,HoehenWert
		8510	8751 4ca8 9091 0000 lds r25,(HoehenWert)+1
		8511	8752 4cac A091 0000 lds r26,(HoehenWert)+2
		8512	8753 4cb0 B091 0000 lds r27,(HoehenWert)+3
		8513	8754 4cb4 8093 0000 sts SollHoehe,r24
		8514	8755 4cb8 9093 0000 sts (SollHoehe)+1,r25
		8515	8756 4cbc A093 0000 sts (SollHoehe)+2,r26
		8516	8757 4cc0 B093 0000 sts (SollHoehe)+3,r27
		8517	8758 4cc4 00C0 rjmp .L689
		8518	8759 .L697:
		8519	8760 4cc6 8091 0000 lds r24,FC_StatusFlags
		8520	8761 4cca 807C andi r24,lo8(-64)
		8521	8762 4ccc 01F4 brne .+2
		8522	8763 4cce 00C0 rjmp .L689
		8523	8764 4cd0 8091 0000 lds r24,WaypointTrimming
		8524	8765 4cd4 8823 tst r24
		8525	8766 4cd6 01F4 brne .L701
		8526	8767 4cd8 E090 0000 lds r14,HoehenWert
		8527	8768 4cdc F090 0000 lds r15,(HoehenWert)+1
		8528	8769 4ce0 0091 0000 lds r16,(HoehenWert)+2
		8529	8770 4ce4 1091 0000 lds r17,(HoehenWert)+3
		8530	8771 4ce8 D801 movw r26,r16
		8531	8772 4cea C701 movw r24,r14
		8532	8773 4cec 8058 subi r24,lo8(-(-128))
		8533	8774 4cee 9040 sbci r25,hi8(-(-128))
		8534	8775 4cf0 A040 sbci r26,hlo8(-(-128))
		8535	8776 4cf2 B040 sbci r27,hhi8(-(-128))
		8536	8777 4cf4 2091 0000 lds r18,SollHoehe
		8537	8778 4cf8 3091 0000 lds r19,(SollHoehe)+1
		8538	8779 4cfc 4091 0000 lds r20,(SollHoehe)+2
		8539	8780 4d00 5091 0000 lds r21,(SollHoehe)+3
		8540	8781 4d04 8217 cp r24,r18
		8541	8782 4d06 9307 cpc r25,r19
		8542	8783 4d08 A407 cpc r26,r20
		8543	8784 4d0a B507 cpc r27,r21
		8544	8785 4d0c 04F4 brge .L904
		8545	8786 4d0e D801 movw r26,r16
		8546	8787 4d10 C701 movw r24,r14
		8547	8788 4d12 8058 subi r24,lo8(-(128))
		8548	8789 4d14 9F4F sbci r25,hi8(-(128))
		8549	8790 4d16 AF4F sbci r26,hlo8(-(128))
		8550	8791 4d18 BF4F sbci r27,hhi8(-(128))
		8551	8792 4d1a 2817 cp r18,r24
		8552	8793 4d1c 3907 cpc r19,r25
		8553	8794 4d1e 4A07 cpc r20,r26
		8554	8795 4d20 5B07 cpc r21,r27
		8555	8796 4d22 04F0 brlt .L705
		8556	8797 .L904:
		8557	8798 4d24 8093 0000 sts SollHoehe,r24
		8558	8799 4d28 9093 0000 sts (SollHoehe)+1,r25
		8559	8800 4d2c A093 0000 sts (SollHoehe)+2,r26
		8560	8801 4d30 B093 0000 sts (SollHoehe)+3,r27
		8561	8802 4d34 00C0 rjmp .L705
		8562	8803 .L701:
		8563	8804 4d36 1092 0000 sts WaypointTrimming,__zero_reg__
		8564	8805 .L705:
		8565	8806 4d3a 8091 0000 lds r24,FC_StatusFlags
		8566	8807 4d3e 8F73 andi r24,lo8(63)
		8567	8808 4d40 8093 0000 sts FC_StatusFlags,r24
		8568	8809 4d44 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__
		8569	8810 4d48 1092 0000 sts HeightTrimming.21,__zero_reg__
		8570	8811 4d4c 71FF sbrs r23,1
		8571	8812 4d4e 00C0 rjmp .L706
		8572	8813 4d50 84EF ldi r24,lo8(500)
		8573	8814 4d52 91E0 ldi r25,hi8(500)
		8574	8815 4d54 9093 0000 sts (beeptime)+1,r25
		8575	8816 4d58 8093 0000 sts beeptime,r24
		8576	8817 .L706:
		8577	8818 4d5c 8091 0000 lds r24,StartTrigger
		8578	8819 4d60 8823 tst r24
		8579	8820 4d62 01F4 brne .L689
		8580	8821 4d64 8091 0000 lds r24,HoehenWert
		8581	8822 4d68 9091 0000 lds r25,(HoehenWert)+1
		8582	8823 4d6c A091 0000 lds r26,(HoehenWert)+2
		8583	8824 4d70 B091 0000 lds r27,(HoehenWert)+3
		8584	8825 4d74 C397 sbiw r24,51
		8585	8826 4d76 A105 cpc r26,__zero_reg__
		8586	8827 4d78 B105 cpc r27,__zero_reg__
		8587	8828 4d7a 04F0 brlt .L689
		8588	8829 4d7c 81E0 ldi r24,lo8(1)
		8589	8830 4d7e 8093 0000 sts StartTrigger,r24
		8590	8831 .L689:
		8591	8832 4d82 6091 0000 lds r22,HeightTrimming.21
		8592	8833 4d86 7091 0000 lds r23,(HeightTrimming.21)+1
		8593	8834 4d8a 8091 0000 lds r24,AltitudeSetpointTrimming
		8594	8835 4d8e 9091 0000 lds r25,(AltitudeSetpointTrimming)+1
		8595	8836 4d92 680F add r22,r24
		8596	8837 4d94 791F adc r23,r25
		8597	8838 4d96 7093 0000 sts (HeightTrimming.21)+1,r23
		8598	8839 4d9a 6093 0000 sts HeightTrimming.21,r22
		8599	8840 4d9e CB01 movw r24,r22
		8600	8841 4da0 77FF sbrs r23,7
		8601	8842 4da2 00C0 rjmp .L709
		8602	8843 4da4 8827 clr r24
		8603	8844 4da6 9927 clr r25
		8604	8845 4da8 861B sub r24,r22
		8605	8846 4daa 970B sbc r25,r23
		8606	8847 .L709:
		8607	8848 4dac 855F subi r24,lo8(501)
		8608	8849 4dae 9140 sbci r25,hi8(501)
		8609	8850 4db0 04F4 brge .+2
		8610	8851 4db2 00C0 rjmp .L708
		8611	8852 4db4 4091 0000 lds r20,WaypointTrimming
		8612	8853 4db8 4423 tst r20
		8613	8854 4dba 01F0 breq .L710
		8614	8855 4dbc 8091 0000 lds r24,FromNC_AltitudeSetpoint
		8615	8856 4dc0 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1
		8616	8857 4dc4 2091 0000 lds r18,SollHoehe
		8617	8858 4dc8 3091 0000 lds r19,(SollHoehe)+1
		8618	8859 4dcc 821B sub r24,r18
		8619	8860 4dce 930B sbc r25,r19
		8620	8861 4dd0 0996 adiw r24,9
		8621	8862 4dd2 4397 sbiw r24,19
		8622	8863 4dd4 00F4 brsh .L711
		8623	8864 4dd6 8091 0000 lds r24,FromNC_AltitudeSetpoint
		8624	8865 4dda 9091 0000 lds r25,(FromNC_AltitudeSetpoint)+1
		8625	8866 4dde A091 0000 lds r26,(FromNC_AltitudeSetpoint)+2
		8626	8867 4de2 B091 0000 lds r27,(FromNC_AltitudeSetpoint)+3
		8627	8868 4de6 00C0 rjmp .L907
		8628	8869 .L711:
		8629	8870 4de8 242F mov r18,r20
		8630	8871 4dea 3327 clr r19
		8631	8872 4dec 27FD sbrc r18,7
		8632	8873 4dee 3095 com r19
		8633	8874 4df0 432F mov r20,r19
		8634	8875 4df2 532F mov r21,r19
		8635	8876 4df4 8091 0000 lds r24,SollHoehe
		8636	8877 4df8 9091 0000 lds r25,(SollHoehe)+1
		8637	8878 4dfc A091 0000 lds r26,(SollHoehe)+2
		8638	8879 4e00 B091 0000 lds r27,(SollHoehe)+3
		8639	8880 4e04 820F add r24,r18
		8640	8881 4e06 931F adc r25,r19
		8641	8882 4e08 A41F adc r26,r20
		8642	8883 4e0a B51F adc r27,r21
		8643	8884 .L907:
		8644	8885 4e0c 8093 0000 sts SollHoehe,r24
		8645	8886 4e10 9093 0000 sts (SollHoehe)+1,r25
		8646	8887 4e14 A093 0000 sts (SollHoehe)+2,r26
		8647	8888 4e18 B093 0000 sts (SollHoehe)+3,r27
		8648	8889 4e1c 00C0 rjmp .L713
		8649	8890 .L710:
		8650	8891 4e1e 8091 0000 lds r24,EE_Parameter+18
		8651	8892 4e22 2091 0000 lds r18,SollHoehe
		8652	8893 4e26 3091 0000 lds r19,(SollHoehe)+1
		8653	8894 4e2a 4091 0000 lds r20,(SollHoehe)+2
		8654	8895 4e2e 5091 0000 lds r21,(SollHoehe)+3
		8655	8896 4e32 1616 cp __zero_reg__,r22
		8656	8897 4e34 1706 cpc __zero_reg__,r23
		8657	8898 4e36 04F4 brge .L714
		8658	8899 4e38 63E0 ldi r22,lo8(3)
		8659	8900 4e3a 0E94 0000 call __udivmodqi4
		8660	8901 4e3e 280F add r18,r24
		8661	8902 4e40 311D adc r19,__zero_reg__
		8662	8903 4e42 411D adc r20,__zero_reg__
		8663	8904 4e44 511D adc r21,__zero_reg__
		8664	8905 4e46 00C0 rjmp .L906
		8665	8906 .L714:
		8666	8907 4e48 63E0 ldi r22,lo8(3)
		8667	8908 4e4a 0E94 0000 call __udivmodqi4
		8668	8909 4e4e 281B sub r18,r24
		8669	8910 4e50 3109 sbc r19,__zero_reg__
		8670	8911 4e52 4109 sbc r20,__zero_reg__
		8671	8912 4e54 5109 sbc r21,__zero_reg__
		8672	8913 .L906:
		8673	8914 4e56 2093 0000 sts SollHoehe,r18
		8674	8915 4e5a 3093 0000 sts (SollHoehe)+1,r19
		8675	8916 4e5e 4093 0000 sts (SollHoehe)+2,r20
		8676	8917 4e62 5093 0000 sts (SollHoehe)+3,r21
		8677	8918 .L713:
		8678	8919 4e66 1092 0000 sts (HeightTrimming.21)+1,__zero_reg__
		8679	8920 4e6a 1092 0000 sts HeightTrimming.21,__zero_reg__
		8680	8921 4e6e E090 0000 lds r14,HoehenWert
		8681	8922 4e72 F090 0000 lds r15,(HoehenWert)+1
		8682	8923 4e76 0091 0000 lds r16,(HoehenWert)+2
		8683	8924 4e7a 1091 0000 lds r17,(HoehenWert)+3
		8684	8925 4e7e D801 movw r26,r16
		8685	8926 4e80 C701 movw r24,r14
		8686	8927 4e82 8050 subi r24,lo8(-(-1024))
		8687	8928 4e84 9440 sbci r25,hi8(-(-1024))
		8688	8929 4e86 A040 sbci r26,hlo8(-(-1024))
		8689	8930 4e88 B040 sbci r27,hhi8(-(-1024))
		8690	8931 4e8a 2091 0000 lds r18,SollHoehe
		8691	8932 4e8e 3091 0000 lds r19,(SollHoehe)+1
		8692	8933 4e92 4091 0000 lds r20,(SollHoehe)+2
		8693	8934 4e96 5091 0000 lds r21,(SollHoehe)+3
		8694	8935 4e9a 8217 cp r24,r18
		8695	8936 4e9c 9307 cpc r25,r19
		8696	8937 4e9e A407 cpc r26,r20
		8697	8938 4ea0 B507 cpc r27,r21
		8698	8939 4ea2 04F4 brge .L908
		8699	8940 4ea4 D801 movw r26,r16
		8700	8941 4ea6 C701 movw r24,r14
		8701	8942 4ea8 8050 subi r24,lo8(-(1024))
		8702	8943 4eaa 9C4F sbci r25,hi8(-(1024))
		8703	8944 4eac AF4F sbci r26,hlo8(-(1024))
		8704	8945 4eae BF4F sbci r27,hhi8(-(1024))
		8705	8946 4eb0 2817 cp r18,r24
		8706	8947 4eb2 3907 cpc r19,r25
		8707	8948 4eb4 4A07 cpc r20,r26
		8708	8949 4eb6 5B07 cpc r21,r27
		8709	8950 4eb8 04F0 brlt .L717
		8710	8951 .L908:
		8711	8952 4eba 8093 0000 sts SollHoehe,r24
		8712	8953 4ebe 9093 0000 sts (SollHoehe)+1,r25
		8713	8954 4ec2 A093 0000 sts (SollHoehe)+2,r26
		8714	8955 4ec6 B093 0000 sts (SollHoehe)+3,r27
		8715	8956 .L717:
		8716	8957 4eca 8091 0000 lds r24,Parameter_ExtraConfig
		8717	8958 4ece 81FF sbrs r24,1
		8718	8959 4ed0 00C0 rjmp .L719
		8719	8960 4ed2 84E6 ldi r24,lo8(100)
		8720	8961 4ed4 90E0 ldi r25,hi8(100)
		8721	8962 4ed6 9093 0000 sts (beeptime)+1,r25
		8722	8963 4eda 8093 0000 sts beeptime,r24
		8723	8964 .L719:
		8724	8965 4ede 8091 0000 lds r24,EE_Parameter+22
		8725	8966 4ee2 8823 tst r24
		8726	8967 4ee4 01F4 brne .L708
		8727	8968 4ee6 8091 0000 lds r24,FromNC_AltitudeSpeed
		8728	8969 4eea 8823 tst r24
		8729	8970 4eec 01F4 brne .L708
		8730	8971 4eee 4091 0000 lds r20,HoverGas
		8731	8972 4ef2 5091 0000 lds r21,(HoverGas)+1
		8732	8973 4ef6 57FF sbrs r21,7
		8733	8974 4ef8 00C0 rjmp .L721
		8734	8975 4efa 4D5F subi r20,lo8(-(3))
		8735	8976 4efc 5F4F sbci r21,hi8(-(3))
		8736	8977 .L721:
		8737	8978 4efe 5595 asr r21
		8738	8979 4f00 4795 ror r20
		8739	8980 4f02 5595 asr r21
		8740	8981 4f04 4795 ror r20
		8741	8982 4f06 8091 0000 lds r24,UBat
		8742	8983 4f0a 9091 0000 lds r25,(UBat)+1
		8743	8984 4f0e 2091 0000 lds r18,BattLowVoltageWarning
		8744	8985 4f12 3327 clr r19
		8745	8986 4f14 489F mul r20,r24
		8746	8987 4f16 F001 movw r30,r0
		8747	8988 4f18 499F mul r20,r25
		8748	8989 4f1a F00D add r31,r0
		8749	8990 4f1c 589F mul r21,r24
		8750	8991 4f1e F00D add r31,r0
		8751	8992 4f20 1124 clr r1
		8752	8993 4f22 CF01 movw r24,r30
		8753	8994 4f24 B901 movw r22,r18
		8754	8995 4f26 0E94 0000 call __divmodhi4
		8755	8996 4f2a 7093 0000 sts (StickGasHover)+1,r23
		8756	8997 4f2e 6093 0000 sts StickGasHover,r22
		8757	8998 4f32 6634 cpi r22,70
		8758	8999 4f34 7105 cpc r23,__zero_reg__
		8759	9000 4f36 04F4 brge .L722
		8760	9001 4f38 86E4 ldi r24,lo8(70)
		8761	9002 4f3a 90E0 ldi r25,hi8(70)
		8762	9003 4f3c 00C0 rjmp .L909
		8763	9004 .L722:
		8764	9005 4f3e 6739 cpi r22,151
		8765	9006 4f40 7105 cpc r23,__zero_reg__
		8766	9007 4f42 04F0 brlt .L708
		8767	9008 4f44 86E9 ldi r24,lo8(150)
		8768	9009 4f46 90E0 ldi r25,hi8(150)
		8769	9010 .L909:
		8770	9011 4f48 9093 0000 sts (StickGasHover)+1,r25
		8771	9012 4f4c 8093 0000 sts StickGasHover,r24
		8772	9013 .L708:
		8773	9014 4f50 8091 0000 lds r24,BaroExpandActive
		8774	9015 4f54 9091 0000 lds r25,(BaroExpandActive)+1
		8775	9016 4f58 892B or r24,r25
		8776	9017 4f5a 01F0 breq .L726
		8777	9018 4f5c 8091 0000 lds r24,HoehenWert
		8778	9019 4f60 9091 0000 lds r25,(HoehenWert)+1
		8779	9020 4f64 A091 0000 lds r26,(HoehenWert)+2
		8780	9021 4f68 B091 0000 lds r27,(HoehenWert)+3
		8781	9022 4f6c 8093 0000 sts SollHoehe,r24
		8782	9023 4f70 9093 0000 sts (SollHoehe)+1,r25
		8783	9024 4f74 A093 0000 sts (SollHoehe)+2,r26
		8784	9025 4f78 B093 0000 sts (SollHoehe)+3,r27
		8785	9026 4f7c 00C0 rjmp .L726
		8786	9027 .L683:
		8787	9028 4f7e 8091 0000 lds r24,HoehenWert
		8788	9029 4f82 9091 0000 lds r25,(HoehenWert)+1
		8789	9030 4f86 A091 0000 lds r26,(HoehenWert)+2
		8790	9031 4f8a B091 0000 lds r27,(HoehenWert)+3
		8791	9032 4f8e 8059 subi r24,lo8(-(-400))
		8792	9033 4f90 9140 sbci r25,hi8(-(-400))
		8793	9034 4f92 A040 sbci r26,hlo8(-(-400))
		8794	9035 4f94 B040 sbci r27,hhi8(-(-400))
		8795	9036 4f96 8093 0000 sts SollHoehe,r24
		8796	9037 4f9a 9093 0000 sts (SollHoehe)+1,r25
		8797	9038 4f9e A093 0000 sts (SollHoehe)+2,r26
		8798	9039 4fa2 B093 0000 sts (SollHoehe)+3,r27
		8799	9040 4fa6 8091 0000 lds r24,EE_Parameter+22
		8800	9041 4faa 8823 tst r24
		8801	9042 4fac 01F0 breq .L727
		8802	9043 4fae 9927 clr r25
		8803	9044 4fb0 00C0 rjmp .L910
		8804	9045 .L727:
		8805	9046 4fb2 88E7 ldi r24,lo8(120)
		8806	9047 4fb4 90E0 ldi r25,hi8(120)
		8807	9048 .L910:
		8808	9049 4fb6 9093 0000 sts (StickGasHover)+1,r25
		8809	9050 4fba 8093 0000 sts StickGasHover,r24
		8810	9051 4fbe E980 ldd r14,Y+1
		8811	9052 4fc0 FA80 ldd r15,Y+2
		8812	9053 4fc2 F092 0000 sts (HoverGas)+1,r15
		8813	9054 4fc6 E092 0000 sts HoverGas,r14
		8814	9055 4fca 8EE2 ldi r24,lo8(46)
		8815	9056 4fcc 8093 0000 sts VarioCharacter,r24
		8816	9057 .L726:
		8817	9058 4fd0 C090 0000 lds r12,HoverGas
		8818	9059 4fd4 D090 0000 lds r13,(HoverGas)+1
		8819	9060 .L682:
		8820	9061 4fd8 E090 0000 lds r14,HoehenWert
		8821	9062 4fdc F090 0000 lds r15,(HoehenWert)+1
		8822	9063 4fe0 0091 0000 lds r16,(HoehenWert)+2
		8823	9064 4fe4 1091 0000 lds r17,(HoehenWert)+3
		8824	9065 4fe8 2091 0000 lds r18,SollHoehe
		8825	9066 4fec 3091 0000 lds r19,(SollHoehe)+1
		8826	9067 4ff0 4091 0000 lds r20,(SollHoehe)+2
		8827	9068 4ff4 5091 0000 lds r21,(SollHoehe)+3
		8828	9069 4ff8 2E15 cp r18,r14
		8829	9070 4ffa 3F05 cpc r19,r15
		8830	9071 4ffc 4007 cpc r20,r16
		8831	9072 4ffe 5107 cpc r21,r17
		8832	9073 5000 04F0 brlt .L730
		8833	9074 5002 8091 0000 lds r24,Parameter_ExtraConfig
		8834	9075 5006 80FD sbrc r24,0
		8835	9076 5008 00C0 rjmp .L788
		8836	9077 .L730:
		8837	9078 500a 8091 0000 lds r24,BaroExpandActive
		8838	9079 500e 9091 0000 lds r25,(BaroExpandActive)+1
		8839	9080 5012 892B or r24,r25
		8840	9081 5014 01F0 breq .L731
		8841	9082 5016 C090 0000 lds r12,HoverGas
		8842	9083 501a D090 0000 lds r13,(HoverGas)+1
		8843	9084 501e 00E0 ldi r16,lo8(0)
		8844	9085 5020 10E0 ldi r17,hi8(0)
		8845	9086 5022 00C0 rjmp .L732
		8846	9087 .L731:
		8847	9088 5024 D801 movw r26,r16
		8848	9089 5026 C701 movw r24,r14
		8849	9090 5028 821B sub r24,r18
		8850	9091 502a 930B sbc r25,r19
		8851	9092 502c A40B sbc r26,r20
		8852	9093 502e B50B sbc r27,r21
		8853	9094 5030 8093 0000 sts tmp_long.1,r24
		8854	9095 5034 9093 0000 sts (tmp_long.1)+1,r25
		8855	9096 5038 A093 0000 sts (tmp_long.1)+2,r26
		8856	9097 503c B093 0000 sts (tmp_long.1)+3,r27
		8857	9098 5040 8230 cpi r24,lo8(-32766)
		8858	9099 5042 00E8 ldi r16,hi8(-32766)
		8859	9100 5044 9007 cpc r25,r16
		8860	9101 5046 0FEF ldi r16,hlo8(-32766)
		8861	9102 5048 A007 cpc r26,r16
		8862	9103 504a 0FEF ldi r16,hhi8(-32766)
		8863	9104 504c B007 cpc r27,r16
		8864	9105 504e 04F4 brge .L733
		8865	9106 5050 81E0 ldi r24,lo8(-32767)
		8866	9107 5052 90E8 ldi r25,hi8(-32767)
		8867	9108 5054 AFEF ldi r26,hlo8(-32767)
		8868	9109 5056 BFEF ldi r27,hhi8(-32767)
		8869	9110 5058 00C0 rjmp .L911
		8870	9111 .L733:
		8871	9112 505a 8F5F subi r24,lo8(32767)
		8872	9113 505c 9F47 sbci r25,hi8(32767)
		8873	9114 505e A040 sbci r26,hlo8(32767)
		8874	9115 5060 B040 sbci r27,hhi8(32767)
		8875	9116 5062 04F0 brlt .L734
		8876	9117 5064 8FEF ldi r24,lo8(32767)
		8877	9118 5066 9FE7 ldi r25,hi8(32767)
		8878	9119 5068 A0E0 ldi r26,hlo8(32767)
		8879	9120 506a B0E0 ldi r27,hhi8(32767)
		8880	9121 .L911:
		8881	9122 506c 8093 0000 sts tmp_long.1,r24
		8882	9123 5070 9093 0000 sts (tmp_long.1)+1,r25
		8883	9124 5074 A093 0000 sts (tmp_long.1)+2,r26
		8884	9125 5078 B093 0000 sts (tmp_long.1)+3,r27
		8885	9126 .L734:
		8886	9127 507c 0091 0000 lds r16,tmp_long.1
		8887	9128 5080 1091 0000 lds r17,(tmp_long.1)+1
		8888	9129 5084 8091 0000 lds r24,Parameter_Hoehe_P
		8889	9130 5088 282F mov r18,r24
		8890	9131 508a 3327 clr r19
		8891	9132 508c 4427 clr r20
		8892	9133 508e 5527 clr r21
		8893	9134 5090 8091 0000 lds r24,tmp_long.1
		8894	9135 5094 9091 0000 lds r25,(tmp_long.1)+1
		8895	9136 5098 A091 0000 lds r26,(tmp_long.1)+2
		8896	9137 509c B091 0000 lds r27,(tmp_long.1)+3
		8897	9138 50a0 BC01 movw r22,r24
		8898	9139 50a2 CD01 movw r24,r26
		8899	9140 50a4 0E94 0000 call __mulsi3
		8900	9141 50a8 97FF sbrs r25,7
		8901	9142 50aa 00C0 rjmp .L736
		8902	9143 50ac 615E subi r22,lo8(-(31))
		8903	9144 50ae 7F4F sbci r23,hi8(-(31))
		8904	9145 50b0 8F4F sbci r24,hlo8(-(31))
		8905	9146 50b2 9F4F sbci r25,hhi8(-(31))
		8906	9147 .L736:
		8907	9148 50b4 25E0 ldi r18,5
		8908	9149 50b6 9595 1: asr r25
		8909	9150 50b8 8795 ror r24
		8910	9151 50ba 7795 ror r23
		8911	9152 50bc 6795 ror r22
		8912	9153 50be 2A95 dec r18
		8913	9154 50c0 01F4 brne 1b
		8914	9155 50c2 6093 0000 sts tmp_long.1,r22
		8915	9156 50c6 7093 0000 sts (tmp_long.1)+1,r23
		8916	9157 50ca 8093 0000 sts (tmp_long.1)+2,r24
		8917	9158 50ce 9093 0000 sts (tmp_long.1)+3,r25
		8918	9159 50d2 6530 cpi r22,lo8(-507)
		8919	9160 50d4 2EEF ldi r18,hi8(-507)
		8920	9161 50d6 7207 cpc r23,r18
		8921	9162 50d8 2FEF ldi r18,hlo8(-507)
		8922	9163 50da 8207 cpc r24,r18
		8923	9164 50dc 2FEF ldi r18,hhi8(-507)
		8924	9165 50de 9207 cpc r25,r18
		8925	9166 50e0 04F4 brge .L737
		8926	9167 50e2 84E0 ldi r24,lo8(-508)
		8927	9168 50e4 9EEF ldi r25,hi8(-508)
		8928	9169 50e6 AFEF ldi r26,hlo8(-508)
		8929	9170 50e8 BFEF ldi r27,hhi8(-508)
		8930	9171 50ea 00C0 rjmp .L912
		8931	9172 .L737:
		8932	9173 50ec 6050 subi r22,lo8(1024)
		8933	9174 50ee 7440 sbci r23,hi8(1024)
		8934	9175 50f0 8040 sbci r24,hlo8(1024)
		8935	9176 50f2 9040 sbci r25,hhi8(1024)
		8936	9177 50f4 04F0 brlt .L738
		8937	9178 50f6 80E0 ldi r24,lo8(1024)
		8938	9179 50f8 94E0 ldi r25,hi8(1024)
		8939	9180 50fa A0E0 ldi r26,hlo8(1024)
		8940	9181 50fc B0E0 ldi r27,hhi8(1024)
		8941	9182 .L912:
		8942	9183 50fe 8093 0000 sts tmp_long.1,r24
		8943	9184 5102 9093 0000 sts (tmp_long.1)+1,r25
		8944	9185 5106 A093 0000 sts (tmp_long.1)+2,r26
		8945	9186 510a B093 0000 sts (tmp_long.1)+3,r27
		8946	9187 .L738:
		8947	9188 510e 8090 0000 lds r8,tmp_long.1
		8948	9189 5112 9090 0000 lds r9,(tmp_long.1)+1
		8949	9190 5116 2091 0000 lds r18,VarioMeter
		8950	9191 511a 3091 0000 lds r19,(VarioMeter)+1
		8951	9192 511e 37FF sbrs r19,7
		8952	9193 5120 00C0 rjmp .L740
		8953	9194 5122 295F subi r18,lo8(-(7))
		8954	9195 5124 3F4F sbci r19,hi8(-(7))
		8955	9196 .L740:
		8956	9197 5126 83E0 ldi r24,3
		8957	9198 5128 3595 1: asr r19
		8958	9199 512a 2795 ror r18
		8959	9200 512c 8A95 dec r24
		8960	9201 512e 01F4 brne 1b
		8961	9202 5130 4FEF ldi r20,hi8(-126)
		8962	9203 5132 2238 cpi r18,lo8(-126)
		8963	9204 5134 3407 cpc r19,r20
		8964	9205 5136 04F4 brge .L741
		8965	9206 5138 21E8 ldi r18,lo8(-127)
		8966	9207 513a 3FEF ldi r19,hi8(-127)
		8967	9208 513c 00C0 rjmp .L742
		8968	9209 .L741:
		8969	9210 513e 2038 cpi r18,128
		8970	9211 5140 3105 cpc r19,__zero_reg__
		8971	9212 5142 04F0 brlt .L742
		8972	9213 5144 20E8 ldi r18,lo8(128)
		8973	9214 5146 30E0 ldi r19,hi8(128)
		8974	9215 .L742:
		8975	9216 5148 C901 movw r24,r18
		8976	9217 514a AA27 clr r26
		8977	9218 514c 97FD sbrc r25,7
		8978	9219 514e A095 com r26
		8979	9220 5150 BA2F mov r27,r26
		8980	9221 5152 2091 0000 lds r18,Parameter_Luftdruck_D
		8981	9222 5156 3327 clr r19
		8982	9223 5158 4427 clr r20
		8983	9224 515a 5527 clr r21
		8984	9225 515c BC01 movw r22,r24
		8985	9226 515e CD01 movw r24,r26
		8986	9227 5160 0E94 0000 call __mulsi3
		8987	9228 5164 97FF sbrs r25,7
		8988	9229 5166 00C0 rjmp .L744
		8989	9230 5168 6D5F subi r22,lo8(-(3))
		8990	9231 516a 7F4F sbci r23,hi8(-(3))
		8991	9232 516c 8F4F sbci r24,hlo8(-(3))
		8992	9233 516e 9F4F sbci r25,hhi8(-(3))
		8993	9234 .L744:
		8994	9235 5170 B2E0 ldi r27,2
		8995	9236 5172 9595 1: asr r25
		8996	9237 5174 8795 ror r24
		8997	9238 5176 7795 ror r23
		8998	9239 5178 6795 ror r22
		8999	9240 517a BA95 dec r27
		9000	9241 517c 01F4 brne 1b
		9001	9242 517e 9B01 movw r18,r22
		9002	9243 5180 5FEF ldi r21,hi8(-255)
		9003	9244 5182 6130 cpi r22,lo8(-255)
		9004	9245 5184 7507 cpc r23,r21
		9005	9246 5186 04F4 brge .L745
		9006	9247 5188 20E0 ldi r18,lo8(-256)
		9007	9248 518a 3FEF ldi r19,hi8(-256)
		9008	9249 518c 00C0 rjmp .L746
		9009	9250 .L745:
		9010	9251 518e 6F3F cpi r22,255
		9011	9252 5190 7105 cpc r23,__zero_reg__
		9012	9253 5192 01F0 breq .L746
		9013	9254 5194 04F0 brlt .L746
		9014	9255 5196 20E0 ldi r18,lo8(256)
		9015	9256 5198 31E0 ldi r19,hi8(256)
		9016	9257 .L746:
		9017	9258 519a 8091 0000 lds r24,FC_StatusFlags
		9018	9259 519e 807C andi r24,lo8(-64)
		9019	9260 51a0 01F0 breq .L748
		9020	9261 51a2 C901 movw r24,r18
		9021	9262 51a4 37FD sbrc r19,7
		9022	9263 51a6 0396 adiw r24,3
		9023	9264 .L749:
		9024	9265 51a8 9C01 movw r18,r24
		9025	9266 51aa 3595 asr r19
		9026	9267 51ac 2795 ror r18
		9027	9268 51ae 3595 asr r19
		9028	9269 51b0 2795 ror r18
		9029	9270 51b2 00C0 rjmp .L750
		9030	9271 .L748:
		9031	9272 51b4 8091 0000 lds r24,Parameter_ExtraConfig
		9032	9273 51b8 80FF sbrs r24,0
		9033	9274 51ba 00C0 rjmp .L750
		9034	9275 51bc C901 movw r24,r18
		9035	9276 51be 37FD sbrc r19,7
		9036	9277 51c0 0796 adiw r24,7
		9037	9278 .L752:
		9038	9279 51c2 9C01 movw r18,r24
		9039	9280 51c4 F3E0 ldi r31,3
		9040	9281 51c6 3595 1: asr r19
		9041	9282 51c8 2795 ror r18
		9042	9283 51ca FA95 dec r31
		9043	9284 51cc 01F4 brne 1b
		9044	9285 .L750:
		9045	9286 51ce 820E add r8,r18
		9046	9287 51d0 931E adc r9,r19
		9047	9288 .L732:
		9048	9289 51d2 2091 0000 lds r18,Parameter_Hoehe_ACC_Wirkung
		9049	9290 51d6 2223 tst r18
		9050	9291 51d8 01F4 brne .+2
		9051	9292 51da 00C0 rjmp .L753
		9052	9293 51dc 6091 0000 lds r22,Mess_Integral_Hoch
		9053	9294 51e0 7091 0000 lds r23,(Mess_Integral_Hoch)+1
		9054	9295 51e4 8091 0000 lds r24,(Mess_Integral_Hoch)+2
		9055	9296 51e8 9091 0000 lds r25,(Mess_Integral_Hoch)+3
		9056	9297 51ec 97FF sbrs r25,7
		9057	9298 51ee 00C0 rjmp .L754
		9058	9299 51f0 6158 subi r22,lo8(-(127))
		9059	9300 51f2 7F4F sbci r23,hi8(-(127))
		9060	9301 51f4 8F4F sbci r24,hlo8(-(127))
		9061	9302 51f6 9F4F sbci r25,hhi8(-(127))
		9062	9303 .L754:
		9063	9304 51f8 E7E0 ldi r30,7
		9064	9305 51fa 9595 1: asr r25
		9065	9306 51fc 8795 ror r24
		9066	9307 51fe 7795 ror r23
		9067	9308 5200 6795 ror r22
		9068	9309 5202 EA95 dec r30
		9069	9310 5204 01F4 brne 1b
		9070	9311 5206 3327 clr r19
		9071	9312 5208 4427 clr r20
		9072	9313 520a 5527 clr r21
		9073	9314 520c 0E94 0000 call __mulsi3
		9074	9315 5210 97FF sbrs r25,7
		9075	9316 5212 00C0 rjmp .L755
		9076	9317 5214 615E subi r22,lo8(-(31))
		9077	9318 5216 7F4F sbci r23,hi8(-(31))
		9078	9319 5218 8F4F sbci r24,hlo8(-(31))
		9079	9320 521a 9F4F sbci r25,hhi8(-(31))
		9080	9321 .L755:
		9081	9322 521c 55E0 ldi r21,5
		9082	9323 521e 9595 1: asr r25
		9083	9324 5220 8795 ror r24
		9084	9325 5222 7795 ror r23
		9085	9326 5224 6795 ror r22
		9086	9327 5226 5A95 dec r21
		9087	9328 5228 01F4 brne 1b
		9088	9329 522a 6093 0000 sts tmp_long.1,r22
		9089	9330 522e 7093 0000 sts (tmp_long.1)+1,r23
		9090	9331 5232 8093 0000 sts (tmp_long.1)+2,r24
		9091	9332 5236 9093 0000 sts (tmp_long.1)+3,r25
		9092	9333 523a 6138 cpi r22,lo8(-127)
		9093	9334 523c AFEF ldi r26,hi8(-127)
		9094	9335 523e 7A07 cpc r23,r26
		9095	9336 5240 AFEF ldi r26,hlo8(-127)
		9096	9337 5242 8A07 cpc r24,r26
		9097	9338 5244 AFEF ldi r26,hhi8(-127)
		9098	9339 5246 9A07 cpc r25,r26
		9099	9340 5248 04F4 brge .L756
		9100	9341 524a 80E8 ldi r24,lo8(-128)
		9101	9342 524c 9FEF ldi r25,hi8(-128)
		9102	9343 524e AFEF ldi r26,hlo8(-128)
		9103	9344 5250 BFEF ldi r27,hhi8(-128)
		9104	9345 5252 00C0 rjmp .L913
		9105	9346 .L756:
		9106	9347 5254 6F3F cpi r22,lo8(255)
		9107	9348 5256 7105 cpc r23,__zero_reg__
		9108	9349 5258 8105 cpc r24,__zero_reg__
		9109	9350 525a 9105 cpc r25,__zero_reg__
		9110	9351 525c 01F0 breq .L757
		9111	9352 525e 04F0 brlt .L757
		9112	9353 5260 80E0 ldi r24,lo8(256)
		9113	9354 5262 91E0 ldi r25,hi8(256)
		9114	9355 5264 A0E0 ldi r26,hlo8(256)
		9115	9356 5266 B0E0 ldi r27,hhi8(256)
		9116	9357 .L913:
		9117	9358 5268 8093 0000 sts tmp_long.1,r24
		9118	9359 526c 9093 0000 sts (tmp_long.1)+1,r25
		9119	9360 5270 A093 0000 sts (tmp_long.1)+2,r26
		9120	9361 5274 B093 0000 sts (tmp_long.1)+3,r27
		9121	9362 .L757:
		9122	9363 5278 8091 0000 lds r24,tmp_long.1
		9123	9364 527c 9091 0000 lds r25,(tmp_long.1)+1
		9124	9365 5280 880E add r8,r24
		9125	9366 5282 991E adc r9,r25
		9126	9367 .L753:
		9127	9368 5284 8091 0000 lds r24,Parameter_Hoehe_GPS_Z
		9128	9369 5288 282F mov r18,r24
		9129	9370 528a 3327 clr r19
		9130	9371 528c 8091 0000 lds r24,FromNaviCtrl_Value+4
		9131	9372 5290 9927 clr r25
		9132	9373 5292 87FD sbrc r24,7
		9133	9374 5294 9095 com r25
		9134	9375 5296 289F mul r18,r24
		9135	9376 5298 F001 movw r30,r0
		9136	9377 529a 299F mul r18,r25
		9137	9378 529c F00D add r31,r0
		9138	9379 529e 389F mul r19,r24
		9139	9380 52a0 F00D add r31,r0
		9140	9381 52a2 1124 clr r1
		9141	9382 52a4 9F01 movw r18,r30
		9142	9383 52a6 F7FF sbrs r31,7
		9143	9384 52a8 00C0 rjmp .L759
		9144	9385 52aa 2158 subi r18,lo8(-(127))
		9145	9386 52ac 3F4F sbci r19,hi8(-(127))
		9146	9387 .L759:
		9147	9388 52ae 220F lsl r18
		9148	9389 52b0 232F mov r18,r19
		9149	9390 52b2 221F rol r18
		9150	9391 52b4 330B sbc r19,r19
		9151	9392 52b6 FFEF ldi r31,hi8(-127)
		9152	9393 52b8 2138 cpi r18,lo8(-127)
		9153	9394 52ba 3F07 cpc r19,r31
		9154	9395 52bc 04F4 brge .L760
		9155	9396 52be 20E8 ldi r18,lo8(-128)
		9156	9397 52c0 3FEF ldi r19,hi8(-128)
		9157	9398 52c2 00C0 rjmp .L761
		9158	9399 .L760:
		9159	9400 52c4 2F3F cpi r18,255
		9160	9401 52c6 3105 cpc r19,__zero_reg__
		9161	9402 52c8 01F0 breq .L761
		9162	9403 52ca 04F0 brlt .L761
		9163	9404 52cc 20E0 ldi r18,lo8(256)
		9164	9405 52ce 31E0 ldi r19,hi8(256)
		9165	9406 .L761:
		9166	9407 52d0 820E add r8,r18
		9167	9408 52d2 931E adc r9,r19
		9168	9409 52d4 C401 movw r24,r8
		9169	9410 52d6 AA27 clr r26
		9170	9411 52d8 97FD sbrc r25,7
		9171	9412 52da A095 com r26
		9172	9413 52dc BA2F mov r27,r26
		9173	9414 52de E090 0000 lds r14,HoverGas
		9174	9415 52e2 F090 0000 lds r15,(HoverGas)+1
		9175	9416 52e6 9701 movw r18,r14
		9176	9417 52e8 4427 clr r20
		9177	9418 52ea 37FD sbrc r19,7
		9178	9419 52ec 4095 com r20
		9179	9420 52ee 542F mov r21,r20
		9180	9421 52f0 BC01 movw r22,r24
		9181	9422 52f2 CD01 movw r24,r26
		9182	9423 52f4 0E94 0000 call __mulsi3
		9183	9424 52f8 97FF sbrs r25,7
		9184	9425 52fa 00C0 rjmp .L763
		9185	9426 52fc 6150 subi r22,lo8(-(511))
		9186	9427 52fe 7E4F sbci r23,hi8(-(511))
		9187	9428 5300 8F4F sbci r24,hlo8(-(511))
		9188	9429 5302 9F4F sbci r25,hhi8(-(511))
		9189	9430 .L763:
		9190	9431 5304 29E0 ldi r18,9
		9191	9432 5306 9595 1: asr r25
		9192	9433 5308 8795 ror r24
		9193	9434 530a 7795 ror r23
		9194	9435 530c 6795 ror r22
		9195	9436 530e 2A95 dec r18
		9196	9437 5310 01F4 brne 1b
		9197	9438 5312 C61A sub r12,r22
		9198	9439 5314 D70A sbc r13,r23
		9199	9440 5316 8091 0000 lds r24,AltitudeSetpointTrimming
		9200	9441 531a 9091 0000 lds r25,(AltitudeSetpointTrimming)+1
		9201	9442 531e 892B or r24,r25
		9202	9443 5320 01F0 breq .+2
		9203	9444 5322 00C0 rjmp .L764
		9204	9445 5324 1E14 cp __zero_reg__,r14
		9205	9446 5326 1F04 cpc __zero_reg__,r15
		9206	9447 5328 04F0 brlt .+2
		9207	9448 532a 00C0 rjmp .L764
		9208	9449 532c 9801 movw r18,r16
		9209	9450 532e 17FF sbrs r17,7
		9210	9451 5330 00C0 rjmp .L765
		9211	9452 5332 3095 com r19
		9212	9453 5334 2195 neg r18
		9213	9454 5336 3F4F sbci r19,lo8(-1)
		9214	9455 .L765:
		9215	9456 5338 2D33 cpi r18,61
		9216	9457 533a 3105 cpc r19,__zero_reg__
		9217	9458 533c 00F4 brsh .L766
		9218	9459 533e 8091 0000 lds r24,HoverGasMin
		9219	9460 5342 9091 0000 lds r25,(HoverGasMin)+1
		9220	9461 5346 8C15 cp r24,r12
		9221	9462 5348 9D05 cpc r25,r13
		9222	9463 534a 04F4 brge .L915
		9223	9464 534c 00C0 rjmp .L924
		9224	9465 .L766:
		9225	9466 534e 2C53 subi r18,lo8(-(-60))
		9226	9467 5350 3040 sbci r19,hi8(-(-60))
		9227	9468 5352 85E0 ldi r24,5
		9228	9469 5354 3695 1: lsr r19
		9229	9470 5356 2795 ror r18
		9230	9471 5358 8A95 dec r24
		9231	9472 535a 01F4 brne 1b
		9232	9473 535c 2031 cpi r18,16
		9233	9474 535e 3105 cpc r19,__zero_reg__
		9234	9475 5360 00F0 brlo .L771
		9235	9476 5362 2FE0 ldi r18,lo8(15)
		9236	9477 5364 30E0 ldi r19,hi8(15)
		9237	9478 .L771:
		9238	9479 5366 4091 0000 lds r20,HoverGasMin
		9239	9480 536a 5091 0000 lds r21,(HoverGasMin)+1
		9240	9481 536e 1016 cp __zero_reg__,r16
		9241	9482 5370 1106 cpc __zero_reg__,r17
		9242	9483 5372 04F4 brge .L772
		9243	9484 5374 80E1 ldi r24,lo8(16)
		9244	9485 5376 90E0 ldi r25,hi8(16)
		9245	9486 5378 821B sub r24,r18
		9246	9487 537a 930B sbc r25,r19
		9247	9488 537c 489F mul r20,r24
		9248	9489 537e 9001 movw r18,r0
		9249	9490 5380 499F mul r20,r25
		9250	9491 5382 300D add r19,r0
		9251	9492 5384 589F mul r21,r24
		9252	9493 5386 300D add r19,r0
		9253	9494 5388 1124 clr r1
		9254	9495 538a B4E0 ldi r27,4
		9255	9496 538c 3695 1: lsr r19
		9256	9497 538e 2795 ror r18
		9257	9498 5390 BA95 dec r27
		9258	9499 5392 01F4 brne 1b
		9259	9500 5394 2C15 cp r18,r12
		9260	9501 5396 3D05 cpc r19,r13
		9261	9502 5398 00F4 brsh .L914
		9262	9503 .L924:
		9263	9504 539a 8091 0000 lds r24,HoverGasMax
		9264	9505 539e 9091 0000 lds r25,(HoverGasMax)+1
		9265	9506 53a2 C816 cp r12,r24
		9266	9507 53a4 D906 cpc r13,r25
		9267	9508 53a6 04F0 brlt .L764
		9268	9509 .L915:
		9269	9510 53a8 6C01 movw r12,r24
		9270	9511 53aa 00C0 rjmp .L764
		9271	9512 .L772:
		9272	9513 53ac 205F subi r18,lo8(-(16))
		9273	9514 53ae 3F4F sbci r19,hi8(-(16))
		9274	9515 53b0 8091 0000 lds r24,HoverGasMax
		9275	9516 53b4 9091 0000 lds r25,(HoverGasMax)+1
		9276	9517 53b8 829F mul r24,r18
		9277	9518 53ba 8001 movw r16,r0
		9278	9519 53bc 839F mul r24,r19
		9279	9520 53be 100D add r17,r0
		9280	9521 53c0 929F mul r25,r18
		9281	9522 53c2 100D add r17,r0
		9282	9523 53c4 1124 clr r1
		9283	9524 53c6 9801 movw r18,r16
		9284	9525 53c8 A4E0 ldi r26,4
		9285	9526 53ca 3695 1: lsr r19
		9286	9527 53cc 2795 ror r18
		9287	9528 53ce AA95 dec r26
		9288	9529 53d0 01F4 brne 1b
		9289	9530 53d2 4C15 cp r20,r12
		9290	9531 53d4 5D05 cpc r21,r13
		9291	9532 53d6 04F0 brlt .L777
		9292	9533 53d8 6A01 movw r12,r20
		9293	9534 53da 00C0 rjmp .L764
		9294	9535 .L777:
		9295	9536 53dc C216 cp r12,r18
		9296	9537 53de D306 cpc r13,r19
		9297	9538 53e0 00F0 brlo .L764
		9298	9539 .L914:
		9299	9540 53e2 6901 movw r12,r18
		9300	9541 .L764:
		9301	9542 53e4 C601 movw r24,r12
		9302	9543 53e6 AA27 clr r26
		9303	9544 53e8 97FD sbrc r25,7
		9304	9545 53ea A095 com r26
		9305	9546 53ec BA2F mov r27,r26
		9306	9547 53ee FDE0 ldi r31,13
		9307	9548 53f0 880F 1: lsl r24
		9308	9549 53f2 991F rol r25
		9309	9550 53f4 AA1F rol r26
		9310	9551 53f6 BB1F rol r27
		9311	9552 53f8 FA95 dec r31
		9312	9553 53fa 01F4 brne 1b
		9313	9554 53fc 9501 movw r18,r10
		9314	9555 53fe 4427 clr r20
		9315	9556 5400 37FD sbrc r19,7
		9316	9557 5402 4095 com r20
		9317	9558 5404 542F mov r21,r20
		9318	9559 5406 BC01 movw r22,r24
		9319	9560 5408 CD01 movw r24,r26
		9320	9561 540a 0E94 0000 call __divmodsi4
		9321	9562 540e 2093 0000 sts tmp_long2.2,r18
		9322	9563 5412 3093 0000 sts (tmp_long2.2)+1,r19
		9323	9564 5416 4093 0000 sts (tmp_long2.2)+2,r20
		9324	9565 541a 5093 0000 sts (tmp_long2.2)+3,r21
		9325	9566 541e C090 0000 lds r12,tmp_long2.2
		9326	9567 5422 D090 0000 lds r13,(tmp_long2.2)+1
		9327	9568 5426 8091 0000 lds r24,FilterHCGas.22
		9328	9569 542a 9091 0000 lds r25,(FilterHCGas.22)+1
		9329	9570 542e 9C01 movw r18,r24
		9330	9571 5430 220F lsl r18
		9331	9572 5432 331F rol r19
		9332	9573 5434 280F add r18,r24
		9333	9574 5436 391F adc r19,r25
		9334	9575 5438 2C0D add r18,r12
		9335	9576 543a 3D1D adc r19,r13
		9336	9577 543c 37FF sbrs r19,7
		9337	9578 543e 00C0 rjmp .L780
		9338	9579 5440 2D5F subi r18,lo8(-(3))
		9339	9580 5442 3F4F sbci r19,hi8(-(3))
		9340	9581 .L780:
		9341	9582 5444 A901 movw r20,r18
		9342	9583 5446 5595 asr r21
		9343	9584 5448 4795 ror r20
		9344	9585 544a 5595 asr r21
		9345	9586 544c 4795 ror r20
		9346	9587 544e 5093 0000 sts (FilterHCGas.22)+1,r21
		9347	9588 5452 4093 0000 sts FilterHCGas.22,r20
		9348	9589 5456 8091 0000 lds r24,EE_Parameter+14
		9349	9590 545a 282F mov r18,r24
		9350	9591 545c 3327 clr r19
		9351	9592 545e 220F lsl r18
		9352	9593 5460 331F rol r19
		9353	9594 5462 220F lsl r18
		9354	9595 5464 331F rol r19
		9355	9596 5466 2417 cp r18,r20
		9356	9597 5468 3507 cpc r19,r21
		9357	9598 546a 04F4 brge .L916
		9358	9599 546c 8091 0000 lds r24,MAX_GAS
		9359	9600 5470 282F mov r18,r24
		9360	9601 5472 3327 clr r19
		9361	9602 5474 220F lsl r18
		9362	9603 5476 331F rol r19
		9363	9604 5478 220F lsl r18
		9364	9605 547a 331F rol r19
		9365	9606 547c 2055 subi r18,lo8(-(-80))
		9366	9607 547e 3040 sbci r19,hi8(-(-80))
		9367	9608 5480 4217 cp r20,r18
		9368	9609 5482 5307 cpc r21,r19
		9369	9610 5484 04F0 brlt .L782
		9370	9611 .L916:
		9371	9612 5486 3093 0000 sts (FilterHCGas.22)+1,r19
		9372	9613 548a 2093 0000 sts FilterHCGas.22,r18
		9373	9614 .L782:
		9374	9615 548e 8091 0000 lds r24,Parameter_ExtraConfig
		9375	9616 5492 80FF sbrs r24,0
		9376	9617 5494 00C0 rjmp .L784
		9377	9618 5496 8091 0000 lds r24,FilterHCGas.22
		9378	9619 549a 9091 0000 lds r25,(FilterHCGas.22)+1
		9379	9620 549e 2981 ldd r18,Y+1
		9380	9621 54a0 3A81 ldd r19,Y+2
		9381	9622 54a2 8217 cp r24,r18
		9382	9623 54a4 9307 cpc r25,r19
		9383	9624 54a6 04F0 brlt .L785
		9384	9625 54a8 3093 0000 sts (FilterHCGas.22)+1,r19
		9385	9626 54ac 2093 0000 sts FilterHCGas.22,r18
		9386	9627 .L785:
		9387	9628 54b0 4091 0000 lds r20,FilterHCGas.22
		9388	9629 54b4 5091 0000 lds r21,(FilterHCGas.22)+1
		9389	9630 54b8 5A83 std Y+2,r21
		9390	9631 54ba 4983 std Y+1,r20
		9391	9632 54bc 00C0 rjmp .L788
		9392	9633 .L784:
		9393	9634 54be 2981 ldd r18,Y+1
		9394	9635 54c0 3A81 ldd r19,Y+2
		9395	9636 54c2 2E19 sub r18,r14
		9396	9637 54c4 3F09 sbc r19,r15
		9397	9638 54c6 37FF sbrs r19,7
		9398	9639 54c8 00C0 rjmp .L787
		9399	9640 54ca 2D5F subi r18,lo8(-(3))
		9400	9641 54cc 3F4F sbci r19,hi8(-(3))
		9401	9642 .L787:
		9402	9643 54ce 3595 asr r19
		9403	9644 54d0 2795 ror r18
		9404	9645 54d2 3595 asr r19
		9405	9646 54d4 2795 ror r18
		9406	9647 54d6 6091 0000 lds r22,FilterHCGas.22
		9407	9648 54da 7091 0000 lds r23,(FilterHCGas.22)+1
		9408	9649 54de 620F add r22,r18
		9409	9650 54e0 731F adc r23,r19
		9410	9651 54e2 7A83 std Y+2,r23
		9411	9652 54e4 6983 std Y+1,r22
		9412	9653 54e6 00C0 rjmp .L788
		9413	9654 .L679:
		9414	9655 54e8 8091 0000 lds r24,EE_Parameter+22
		9415	9656 54ec 8823 tst r24
		9416	9657 54ee 01F4 brne .L789
		9417	9658 54f0 6091 0000 lds r22,HoverGas
		9418	9659 54f4 7091 0000 lds r23,(HoverGas)+1
		9419	9660 54f8 77FF sbrs r23,7
		9420	9661 54fa 00C0 rjmp .L790
		9421	9662 54fc 6D5F subi r22,lo8(-(3))
		9422	9663 54fe 7F4F sbci r23,hi8(-(3))
		9423	9664 .L790:
		9424	9665 5500 7595 asr r23
		9425	9666 5502 6795 ror r22
		9426	9667 5504 7595 asr r23
		9427	9668 5506 6795 ror r22
		9428	9669 5508 4091 0000 lds r20,UBat
		9429	9670 550c 5091 0000 lds r21,(UBat)+1
		9430	9671 5510 8091 0000 lds r24,BattLowVoltageWarning
		9431	9672 5514 282F mov r18,r24
		9432	9673 5516 3327 clr r19
		9433	9674 5518 649F mul r22,r20
		9434	9675 551a C001 movw r24,r0
		9435	9676 551c 659F mul r22,r21
		9436	9677 551e 900D add r25,r0
		9437	9678 5520 749F mul r23,r20
		9438	9679 5522 900D add r25,r0
		9439	9680 5524 1124 clr r1
		9440	9681 5526 B901 movw r22,r18
		9441	9682 5528 0E94 0000 call __divmodhi4
		9442	9683 552c CB01 movw r24,r22
		9443	9684 552e 00C0 rjmp .L917
		9444	9685 .L789:
		9445	9686 5530 9927 clr r25
		9446	9687 .L917:
		9447	9688 5532 9093 0000 sts (StickGasHover)+1,r25
		9448	9689 5536 8093 0000 sts StickGasHover,r24
		9449	9690 553a 8091 0000 lds r24,StickGasHover
		9450	9691 553e 9091 0000 lds r25,(StickGasHover)+1
		9451	9692 5542 8734 cpi r24,71
		9452	9693 5544 9105 cpc r25,__zero_reg__
		9453	9694 5546 04F4 brge .L792
		9454	9695 5548 86E4 ldi r24,lo8(70)
		9455	9696 554a 90E0 ldi r25,hi8(70)
		9456	9697 554c 00C0 rjmp .L918
		9457	9698 .L792:
		9458	9699 554e 8639 cpi r24,150
		9459	9700 5550 9105 cpc r25,__zero_reg__
		9460	9701 5552 04F0 brlt .L793
		9461	9702 5554 86E9 ldi r24,lo8(150)
		9462	9703 5556 90E0 ldi r25,hi8(150)
		9463	9704 .L918:
		9464	9705 5558 9093 0000 sts (StickGasHover)+1,r25
		9465	9706 555c 8093 0000 sts StickGasHover,r24
		9466	9707 .L793:
		9467	9708 5560 8981 ldd r24,Y+1
		9468	9709 5562 9A81 ldd r25,Y+2
		9469	9710 5564 9093 0000 sts (FilterHCGas.22)+1,r25
		9470	9711 5568 8093 0000 sts FilterHCGas.22,r24
		9471	9712 556c 8091 0000 lds r24,FC_StatusFlags
		9472	9713 5570 806C ori r24,lo8(-64)
		9473	9714 5572 8093 0000 sts FC_StatusFlags,r24
		9474	9715 5576 8091 0000 lds r24,FC_StatusFlags2
		9475	9716 557a 8D7F andi r24,lo8(-3)
		9476	9717 557c 8093 0000 sts FC_StatusFlags2,r24
		9477	9718 .L788:
		9478	9719 5580 8091 0000 lds r24,FC_StatusFlags
		9479	9720 5584 9927 clr r25
		9480	9721 5586 9C01 movw r18,r24
		9481	9722 5588 2270 andi r18,lo8(2)
		9482	9723 558a 3070 andi r19,hi8(2)
		9483	9724 558c 81FF sbrs r24,1
		9484	9725 558e 00C0 rjmp .L795
		9485	9726 5590 8091 0000 lds r24,HoverGasFilter.23
		9486	9727 5594 9091 0000 lds r25,(HoverGasFilter.23)+1
		9487	9728 5598 A091 0000 lds r26,(HoverGasFilter.23)+2
		9488	9729 559c B091 0000 lds r27,(HoverGasFilter.23)+3
		9489	9730 55a0 0097 sbiw r24,0
		9490	9731 55a2 A105 cpc r26,__zero_reg__
		9491	9732 55a4 B105 cpc r27,__zero_reg__
		9492	9733 55a6 01F0 breq .L797
		9493	9734 55a8 8091 0000 lds r24,StartTrigger
		9494	9735 55ac 8130 cpi r24,lo8(1)
		9495	9736 55ae 01F4 brne .L796
		9496	9737 .L797:
		9497	9738 55b0 E981 ldd r30,Y+1
		9498	9739 55b2 FA81 ldd r31,Y+2
		9499	9740 55b4 CF01 movw r24,r30
		9500	9741 55b6 AA27 clr r26
		9501	9742 55b8 97FD sbrc r25,7
		9502	9743 55ba A095 com r26
		9503	9744 55bc BA2F mov r27,r26
		9504	9745 55be 1EE0 ldi r17,14
		9505	9746 55c0 880F 1: lsl r24
		9506	9747 55c2 991F rol r25
		9507	9748 55c4 AA1F rol r26
		9508	9749 55c6 BB1F rol r27
		9509	9750 55c8 1A95 dec r17
		9510	9751 55ca 01F4 brne 1b
		9511	9752 55cc 8093 0000 sts HoverGasFilter.23,r24
		9512	9753 55d0 9093 0000 sts (HoverGasFilter.23)+1,r25
		9513	9754 55d4 A093 0000 sts (HoverGasFilter.23)+2,r26
		9514	9755 55d8 B093 0000 sts (HoverGasFilter.23)+3,r27
		9515	9756 .L796:
		9516	9757 55dc 8091 0000 lds r24,StartTrigger
		9517	9758 55e0 8130 cpi r24,lo8(1)
		9518	9759 55e2 01F4 brne .L798
		9519	9760 55e4 82E0 ldi r24,lo8(2)
		9520	9761 55e6 8093 0000 sts StartTrigger,r24
		9521	9762 .L798:
		9522	9763 55ea E980 ldd r14,Y+1
		9523	9764 55ec FA80 ldd r15,Y+2
		9524	9765 55ee C701 movw r24,r14
		9525	9766 55f0 AA27 clr r26
		9526	9767 55f2 97FD sbrc r25,7
		9527	9768 55f4 A095 com r26
		9528	9769 55f6 BA2F mov r27,r26
		9529	9770 55f8 9501 movw r18,r10
		9530	9771 55fa 4427 clr r20
		9531	9772 55fc 37FD sbrc r19,7
		9532	9773 55fe 4095 com r20
		9533	9774 5600 542F mov r21,r20
		9534	9775 5602 BC01 movw r22,r24
		9535	9776 5604 CD01 movw r24,r26
		9536	9777 5606 0E94 0000 call __mulsi3
		9537	9778 560a DC01 movw r26,r24
		9538	9779 560c CB01 movw r24,r22
		9539	9780 560e 8093 0000 sts tmp_long2.2,r24
		9540	9781 5612 9093 0000 sts (tmp_long2.2)+1,r25
		9541	9782 5616 A093 0000 sts (tmp_long2.2)+2,r26
		9542	9783 561a B093 0000 sts (tmp_long2.2)+3,r27
		9543	9784 561e B7FF sbrs r27,7
		9544	9785 5620 00C0 rjmp .L799
		9545	9786 5622 8150 subi r24,lo8(-(8191))
		9546	9787 5624 904E sbci r25,hi8(-(8191))
		9547	9788 5626 AF4F sbci r26,hlo8(-(8191))
		9548	9789 5628 BF4F sbci r27,hhi8(-(8191))
		9549	9790 .L799:
		9550	9791 562a 7C01 movw r14,r24
		9551	9792 562c 8D01 movw r16,r26
		9552	9793 562e ADE0 ldi r26,13
		9553	9794 5630 1595 1: asr r17
		9554	9795 5632 0795 ror r16
		9555	9796 5634 F794 ror r15
		9556	9797 5636 E794 ror r14
		9557	9798 5638 AA95 dec r26
		9558	9799 563a 01F4 brne 1b
		9559	9800 563c E092 0000 sts tmp_long2.2,r14
		9560	9801 5640 F092 0000 sts (tmp_long2.2)+1,r15
		9561	9802 5644 0093 0000 sts (tmp_long2.2)+2,r16
		9562	9803 5648 1093 0000 sts (tmp_long2.2)+3,r17
		9563	9804 564c 6091 0000 lds r22,modell_fliegt
		9564	9805 5650 7091 0000 lds r23,(modell_fliegt)+1
		9565	9806 5654 2FE0 ldi r18,hi8(4000)
		9566	9807 5656 603A cpi r22,lo8(4000)
		9567	9808 5658 7207 cpc r23,r18
		9568	9809 565a 00F4 brsh .L800
		9569	9810 565c 8091 0000 lds r24,HoverGasFilter.23
		9570	9811 5660 9091 0000 lds r25,(HoverGasFilter.23)+1
		9571	9812 5664 A091 0000 lds r26,(HoverGasFilter.23)+2
		9572	9813 5668 B091 0000 lds r27,(HoverGasFilter.23)+3
		9573	9814 566c 9C01 movw r18,r24
		9574	9815 566e AD01 movw r20,r26
		9575	9816 5670 FAE0 ldi r31,10
		9576	9817 5672 5695 1: lsr r21
		9577	9818 5674 4795 ror r20
		9578	9819 5676 3795 ror r19
		9579	9820 5678 2795 ror r18
		9580	9821 567a FA95 dec r31
		9581	9822 567c 01F4 brne 1b
		9582	9823 567e 821B sub r24,r18
		9583	9824 5680 930B sbc r25,r19
		9584	9825 5682 A40B sbc r26,r20
		9585	9826 5684 B50B sbc r27,r21
		9586	9827 5686 A801 movw r20,r16
		9587	9828 5688 9701 movw r18,r14
		9588	9829 568a E4E0 ldi r30,4
		9589	9830 568c 220F 1: lsl r18
		9590	9831 568e 331F rol r19
		9591	9832 5690 441F rol r20
		9592	9833 5692 551F rol r21
		9593	9834 5694 EA95 dec r30
		9594	9835 5696 01F4 brne 1b
		9595	9836 5698 820F add r24,r18
		9596	9837 569a 931F adc r25,r19
		9597	9838 569c A41F adc r26,r20
		9598	9839 569e B51F adc r27,r21
		9599	9840 56a0 8093 0000 sts HoverGasFilter.23,r24
		9600	9841 56a4 9093 0000 sts (HoverGasFilter.23)+1,r25
		9601	9842 56a8 A093 0000 sts (HoverGasFilter.23)+2,r26
		9602	9843 56ac B093 0000 sts (HoverGasFilter.23)+3,r27
		9603	9844 .L800:
		9604	9845 56b0 6054 subi r22,lo8(8000)
		9605	9846 56b2 7F41 sbci r23,hi8(8000)
		9606	9847 56b4 00F4 brsh .L801
		9607	9848 56b6 8091 0000 lds r24,HoverGasFilter.23
		9608	9849 56ba 9091 0000 lds r25,(HoverGasFilter.23)+1
		9609	9850 56be A091 0000 lds r26,(HoverGasFilter.23)+2
		9610	9851 56c2 B091 0000 lds r27,(HoverGasFilter.23)+3
		9611	9852 56c6 9C01 movw r18,r24
		9612	9853 56c8 AD01 movw r20,r26
		9613	9854 56ca 6CE0 ldi r22,12
		9614	9855 56cc 5695 1: lsr r21
		9615	9856 56ce 4795 ror r20
		9616	9857 56d0 3795 ror r19
		9617	9858 56d2 2795 ror r18
		9618	9859 56d4 6A95 dec r22
		9619	9860 56d6 01F4 brne 1b
		9620	9861 56d8 821B sub r24,r18
		9621	9862 56da 930B sbc r25,r19
		9622	9863 56dc A40B sbc r26,r20
		9623	9864 56de B50B sbc r27,r21
		9624	9865 56e0 A801 movw r20,r16
		9625	9866 56e2 9701 movw r18,r14
		9626	9867 56e4 F2E0 ldi r31,2
		9627	9868 56e6 220F 1: lsl r18
		9628	9869 56e8 331F rol r19
		9629	9870 56ea 441F rol r20
		9630	9871 56ec 551F rol r21
		9631	9872 56ee FA95 dec r31
		9632	9873 56f0 01F4 brne 1b
		9633	9874 56f2 820F add r24,r18
		9634	9875 56f4 931F adc r25,r19
		9635	9876 56f6 A41F adc r26,r20
		9636	9877 56f8 B51F adc r27,r21
		9637	9878 56fa 00C0 rjmp .L919
		9638	9879 .L801:
		9639	9880 56fc 8091 0000 lds r24,VarioMeter
		9640	9881 5700 9091 0000 lds r25,(VarioMeter)+1
		9641	9882 5704 8091 0000 lds r24,VarioMeter
		9642	9883 5708 9091 0000 lds r25,(VarioMeter)+1
		9643	9884 570c 97FF sbrs r25,7
		9644	9885 570e 00C0 rjmp .L804
		9645	9886 5710 9095 com r25
		9646	9887 5712 8195 neg r24
		9647	9888 5714 9F4F sbci r25,lo8(-1)
		9648	9889 .L804:
		9649	9890 5716 8436 cpi r24,100
		9650	9891 5718 9105 cpc r25,__zero_reg__
		9651	9892 571a 04F4 brge .L802
		9652	9893 571c 8091 0000 lds r24,HoehenWert
		9653	9894 5720 9091 0000 lds r25,(HoehenWert)+1
		9654	9895 5724 2091 0000 lds r18,SollHoehe
		9655	9896 5728 3091 0000 lds r19,(SollHoehe)+1
		9656	9897 572c 821B sub r24,r18
		9657	9898 572e 930B sbc r25,r19
		9658	9899 5730 8150 subi r24,lo8(-(255))
		9659	9900 5732 9F4F sbci r25,hi8(-(255))
		9660	9901 5734 8F5F subi r24,lo8(511)
		9661	9902 5736 9140 sbci r25,hi8(511)
		9662	9903 5738 00F4 brsh .L802
		9663	9904 573a 8091 0000 lds r24,HoverGasFilter.23
		9664	9905 573e 9091 0000 lds r25,(HoverGasFilter.23)+1
		9665	9906 5742 A091 0000 lds r26,(HoverGasFilter.23)+2
		9666	9907 5746 B091 0000 lds r27,(HoverGasFilter.23)+3
		9667	9908 574a 9C01 movw r18,r24
		9668	9909 574c AD01 movw r20,r26
		9669	9910 574e EEE0 ldi r30,14
		9670	9911 5750 5695 1: lsr r21
		9671	9912 5752 4795 ror r20
		9672	9913 5754 3795 ror r19
		9673	9914 5756 2795 ror r18
		9674	9915 5758 EA95 dec r30
		9675	9916 575a 01F4 brne 1b
		9676	9917 575c 821B sub r24,r18
		9677	9918 575e 930B sbc r25,r19
		9678	9919 5760 A40B sbc r26,r20
		9679	9920 5762 B50B sbc r27,r21
		9680	9921 5764 8E0D add r24,r14
		9681	9922 5766 9F1D adc r25,r15
		9682	9923 5768 A01F adc r26,r16
		9683	9924 576a B11F adc r27,r17
		9684	9925 .L919:
		9685	9926 576c 8093 0000 sts HoverGasFilter.23,r24
		9686	9927 5770 9093 0000 sts (HoverGasFilter.23)+1,r25
		9687	9928 5774 A093 0000 sts (HoverGasFilter.23)+2,r26
		9688	9929 5778 B093 0000 sts (HoverGasFilter.23)+3,r27
		9689	9930 .L802:
		9690	9931 577c 8091 0000 lds r24,HoverGasFilter.23
		9691	9932 5780 9091 0000 lds r25,(HoverGasFilter.23)+1
		9692	9933 5784 A091 0000 lds r26,(HoverGasFilter.23)+2
		9693	9934 5788 B091 0000 lds r27,(HoverGasFilter.23)+3
		9694	9935 578c 7EE0 ldi r23,14
		9695	9936 578e B695 1: lsr r27
		9696	9937 5790 A795 ror r26
		9697	9938 5792 9795 ror r25
		9698	9939 5794 8795 ror r24
		9699	9940 5796 7A95 dec r23
		9700	9941 5798 01F4 brne 1b
		9701	9942 579a 9093 0000 sts (HoverGas)+1,r25
		9702	9943 579e 8093 0000 sts HoverGas,r24
		9703	9944 57a2 4091 0000 lds r20,EE_Parameter+20
		9704	9945 57a6 4423 tst r20
		9705	9946 57a8 01F0 breq .L805
		9706	9947 57aa 5527 clr r21
		9707	9948 57ac 9C01 movw r18,r24
		9708	9949 57ae BA01 movw r22,r20
		9709	9950 57b0 0E94 0000 call __divmodhi4
		9710	9951 57b4 C901 movw r24,r18
		9711	9952 57b6 861B sub r24,r22
		9712	9953 57b8 970B sbc r25,r23
		9713	9954 57ba 9093 0000 sts (HoverGasMin)+1,r25
		9714	9955 57be 8093 0000 sts HoverGasMin,r24
		9715	9956 57c2 260F add r18,r22
		9716	9957 57c4 371F adc r19,r23
		9717	9958 57c6 3093 0000 sts (HoverGasMax)+1,r19
		9718	9959 57ca 2093 0000 sts HoverGasMax,r18
		9719	9960 57ce 00C0 rjmp .L808
		9720	9961 .L805:
		9721	9962 57d0 1092 0000 sts (HoverGasMin)+1,__zero_reg__
		9722	9963 57d4 1092 0000 sts HoverGasMin,__zero_reg__
		9723	9964 57d8 8FEF ldi r24,lo8(1023)
		9724	9965 57da 93E0 ldi r25,hi8(1023)
		9725	9966 57dc 9093 0000 sts (HoverGasMax)+1,r25
		9726	9967 57e0 8093 0000 sts HoverGasMax,r24
		9727	9968 57e4 00C0 rjmp .L808
		9728	9969 .L795:
		9729	9970 57e6 1092 0000 sts StartTrigger,__zero_reg__
		9730	9971 57ea 1092 0000 sts HoverGasFilter.23,__zero_reg__
		9731	9972 57ee 1092 0000 sts (HoverGasFilter.23)+1,__zero_reg__
		9732	9973 57f2 1092 0000 sts (HoverGasFilter.23)+2,__zero_reg__
		9733	9974 57f6 1092 0000 sts (HoverGasFilter.23)+3,__zero_reg__
		9734	9975 57fa 3093 0000 sts (HoverGas)+1,r19
		9735	9976 57fe 2093 0000 sts HoverGas,r18
		9736	9977 5802 00C0 rjmp .L808
		9737	9978 .L659:
		9738	9979 5804 8091 0000 lds r24,FC_StatusFlags
		9739	9980 5808 806C ori r24,lo8(-64)
		9740	9981 580a 8093 0000 sts FC_StatusFlags,r24
		9741	9982 .L808:
		9742	9983 580e 8091 0000 lds r24,NC_To_FC_Flags
		9743	9984 5812 81FF sbrs r24,1
		9744	9985 5814 00C0 rjmp .L809
		9745	9986 5816 8981 ldd r24,Y+1
		9746	9987 5818 9A81 ldd r25,Y+2
		9747	9988 581a 97FD sbrc r25,7
		9748	9989 581c 0396 adiw r24,3
		9749	9990 .L811:
		9750	9991 581e 9595 asr r25
		9751	9992 5820 8795 ror r24
		9752	9993 5822 9595 asr r25
		9753	9994 5824 8795 ror r24
		9754	9995 5826 2091 0000 lds r18,HooverGasEmergencyPercent
		9755	9996 582a 3091 0000 lds r19,(HooverGasEmergencyPercent)+1
		9756	9997 582e 2817 cp r18,r24
		9757	9998 5830 3907 cpc r19,r25
		9758	9999 5832 00F4 brsh .L810
		9759	10000 5834 8091 0000 lds r24,HoverGas
		9760	10001 5838 9091 0000 lds r25,(HoverGas)+1
		9761	10002 583c 892B or r24,r25
		9762	10003 583e 01F0 breq .L810
		9763	10004 5840 220F lsl r18
		9764	10005 5842 331F rol r19
		9765	10006 5844 220F lsl r18
		9766	10007 5846 331F rol r19
		9767	10008 5848 3A83 std Y+2,r19
		9768	10009 584a 2983 std Y+1,r18
		9769	10010 .L810:
		9770	10011 584c 8091 0000 lds r24,HoehenWert
		9771	10012 5850 9091 0000 lds r25,(HoehenWert)+1
		9772	10013 5854 A091 0000 lds r26,(HoehenWert)+2
		9773	10014 5858 B091 0000 lds r27,(HoehenWert)+3
		9774	10015 585c 8093 0000 sts SollHoehe,r24
		9775	10016 5860 9093 0000 sts (SollHoehe)+1,r25
		9776	10017 5864 A093 0000 sts (SollHoehe)+2,r26
		9777	10018 5868 B093 0000 sts (SollHoehe)+3,r27
		9778	10019 586c 88E9 ldi r24,lo8(15000)
		9779	10020 586e 9AE3 ldi r25,hi8(15000)
		9780	10021 5870 9093 0000 sts (beeptime)+1,r25
		9781	10022 5874 8093 0000 sts beeptime,r24
		9782	10023 5878 80E0 ldi r24,lo8(3584)
		9783	10024 587a 9EE0 ldi r25,hi8(3584)
		9784	10025 587c 9093 0000 sts (BeepMuster)+1,r25
		9785	10026 5880 8093 0000 sts BeepMuster,r24
		9786	10027 .L809:
		9787	10028 5884 2091 0000 lds r18,MIN_GAS
		9788	10029 5888 822F mov r24,r18
		9789	10030 588a 9927 clr r25
		9790	10031 588c 880F lsl r24
		9791	10032 588e 991F rol r25
		9792	10033 5890 880F lsl r24
		9793	10034 5892 991F rol r25
		9794	10035 5894 8896 adiw r24,40
		9795	10036 5896 6981 ldd r22,Y+1
		9796	10037 5898 7A81 ldd r23,Y+2
		9797	10038 589a 8617 cp r24,r22
		9798	10039 589c 9707 cpc r25,r23
		9799	10040 589e 04F0 brlt .L812
		9800	10041 58a0 9A83 std Y+2,r25
		9801	10042 58a2 8983 std Y+1,r24
		9802	10043 .L812:
		9803	10044 58a4 7091 0000 lds r23,MAX_GAS
		9804	10045 58a8 7D8B std Y+21,r23
		9805	10046 58aa 872F mov r24,r23
		9806	10047 58ac 9927 clr r25
		9807	10048 58ae 880F lsl r24
		9808	10049 58b0 991F rol r25
		9809	10050 58b2 880F lsl r24
		9810	10051 58b4 991F rol r25
		9811	10052 58b6 8055 subi r24,lo8(-(-80))
		9812	10053 58b8 9040 sbci r25,hi8(-(-80))
		9813	10054 58ba A981 ldd r26,Y+1
		9814	10055 58bc BA81 ldd r27,Y+2
		9815	10056 58be 8A17 cp r24,r26
		9816	10057 58c0 9B07 cpc r25,r27
		9817	10058 58c2 04F4 brge .L813
		9818	10059 58c4 9A83 std Y+2,r25
		9819	10060 58c6 8983 std Y+1,r24
		9820	10061 .L813:
		9821	10062 58c8 8091 0000 lds r24,MissingMotor
		9822	10063 58cc 8823 tst r24
		9823	10064 58ce 01F4 brne .L815
		9824	10065 58d0 8091 0000 lds r24,Capacity+6
		9825	10066 58d4 8F3F cpi r24,lo8(-1)
		9826	10067 58d6 01F4 brne .L815
		9827	10068 58d8 8091 0000 lds r24,NC_ErrorCode
		9828	10069 58dc 8823 tst r24
		9829	10070 58de 01F0 breq .L814
		9830	10071 .L815:
		9831	10072 58e0 8091 0000 lds r24,modell_fliegt
		9832	10073 58e4 9091 0000 lds r25,(modell_fliegt)+1
		9833	10074 58e8 0297 sbiw r24,2
		9834	10075 58ea C097 sbiw r24,48
		9835	10076 58ec 00F4 brsh .L814
		9836	10077 58ee E981 ldd r30,Y+1
		9837	10078 58f0 FA81 ldd r31,Y+2
		9838	10079 58f2 1E16 cp __zero_reg__,r30
		9839	10080 58f4 1F06 cpc __zero_reg__,r31
		9840	10081 58f6 04F4 brge .L814
		9841	10082 58f8 81E0 ldi r24,lo8(1)
		9842	10083 58fa 90E0 ldi r25,hi8(1)
		9843	10084 58fc 9093 0000 sts (modell_fliegt)+1,r25
		9844	10085 5900 8093 0000 sts modell_fliegt,r24
		9845	10086 5904 E22E mov r14,r18
		9846	10087 5906 FF24 clr r15
		9847	10088 5908 EE0C lsl r14
		9848	10089 590a FF1C rol r15
		9849	10090 590c EE0C lsl r14
		9850	10091 590e FF1C rol r15
		9851	10092 5910 8701 movw r16,r14
		9852	10093 5912 085D subi r16,lo8(-(40))
		9853	10094 5914 1F4F sbci r17,hi8(-(40))
		9854	10095 5916 1A83 std Y+2,r17
		9855	10096 5918 0983 std Y+1,r16
		9856	10097 .L814:
		9857	10098 591a 2981 ldd r18,Y+1
		9858	10099 591c 3A81 ldd r19,Y+2
		9859	10100 591e 3093 0000 sts (DebugOut+16)+1,r19
		9860	10101 5922 2093 0000 sts DebugOut+16,r18
		9861	10102 5926 8091 0000 lds r24,sollGier.0
		9862	10103 592a 9091 0000 lds r25,(sollGier.0)+1
		9863	10104 592e A091 0000 lds r26,(sollGier.0)+2
		9864	10105 5932 B091 0000 lds r27,(sollGier.0)+3
		9865	10106 5936 12E0 ldi r17,2
		9866	10107 5938 880F 1: lsl r24
		9867	10108 593a 991F rol r25
		9868	10109 593c AA1F rol r26
		9869	10110 593e BB1F rol r27
		9870	10111 5940 1A95 dec r17
		9871	10112 5942 01F4 brne 1b
		9872	10113 5944 0091 0000 lds r16,MesswertGier
		9873	10114 5948 1091 0000 lds r17,(MesswertGier)+1
		9874	10115 594c 081B sub r16,r24
		9875	10116 594e 190B sbc r17,r25
		9876	10117 5950 213A cpi r18,161
		9877	10118 5952 3105 cpc r19,__zero_reg__
		9878	10119 5954 04F0 brlt .L817
		9879	10120 5956 C901 movw r24,r18
		9880	10121 5958 37FD sbrc r19,7
		9881	10122 595a 0196 adiw r24,1
		9882	10123 .L819:
		9883	10124 595c 9595 asr r25
		9884	10125 595e 8795 ror r24
		9885	10126 5960 8017 cp r24,r16
		9886	10127 5962 9107 cpc r25,r17
		9887	10128 5964 04F4 brge .L818
		9888	10129 5966 8C01 movw r16,r24
		9889	10130 .L818:
		9890	10131 5968 9095 com r25
		9891	10132 596a 8195 neg r24
		9892	10133 596c 9F4F sbci r25,lo8(-1)
		9893	10134 596e 0817 cp r16,r24
		9894	10135 5970 1907 cpc r17,r25
		9895	10136 5972 04F4 brge .L824
		9896	10137 5974 8C01 movw r16,r24
		9897	10138 5976 00C0 rjmp .L824
		9898	10139 .L817:
		9899	10140 5978 0135 cpi r16,81
		9900	10141 597a 1105 cpc r17,__zero_reg__
		9901	10142 597c 04F0 brlt .L825
		9902	10143 597e 00E5 ldi r16,lo8(80)
		9903	10144 5980 10E0 ldi r17,hi8(80)
		9904	10145 .L825:
		9905	10146 5982 3FEF ldi r19,hi8(-80)
		9906	10147 5984 003B cpi r16,lo8(-80)
		9907	10148 5986 1307 cpc r17,r19
		9908	10149 5988 04F4 brge .L824
		9909	10150 598a 00EB ldi r16,lo8(-80)
		9910	10151 598c 1FEF ldi r17,hi8(-80)
		9911	10152 .L824:
		9912	10153 598e 4D89 ldd r20,Y+21
		9913	10154 5990 242F mov r18,r20
		9914	10155 5992 3327 clr r19
		9915	10156 5994 220F lsl r18
		9916	10157 5996 331F rol r19
		9917	10158 5998 220F lsl r18
		9918	10159 599a 331F rol r19
		9919	10160 599c C901 movw r24,r18
		9920	10161 599e 6981 ldd r22,Y+1
		9921	10162 59a0 7A81 ldd r23,Y+2
		9922	10163 59a2 861B sub r24,r22
		9923	10164 59a4 970B sbc r25,r23
		9924	10165 59a6 8017 cp r24,r16
		9925	10166 59a8 9107 cpc r25,r17
		9926	10167 59aa 04F4 brge .L827
		9927	10168 59ac 8C01 movw r16,r24
		9928	10169 .L827:
		9929	10170 59ae 8981 ldd r24,Y+1
		9930	10171 59b0 9A81 ldd r25,Y+2
		9931	10172 59b2 821B sub r24,r18
		9932	10173 59b4 930B sbc r25,r19
		9933	10174 59b6 0817 cp r16,r24
		9934	10175 59b8 1907 cpc r17,r25
		9935	10176 59ba 04F4 brge .L828
		9936	10177 59bc 8C01 movw r16,r24
		9937	10178 .L828:
		9938	10179 59be 8091 0000 lds r24,MesswertNick
		9939	10180 59c2 9091 0000 lds r25,(MesswertNick)+1
		9940	10181 59c6 6091 0000 lds r22,StickNick
		9941	10182 59ca 7091 0000 lds r23,(StickNick)+1
		9942	10183 59ce 861B sub r24,r22
		9943	10184 59d0 970B sbc r25,r23
		9944	10185 59d2 9093 0000 sts (DiffNick)+1,r25
		9945	10186 59d6 8093 0000 sts DiffNick,r24
		9946	10187 59da D090 0000 lds r13,IntegralFaktor
		9947	10188 59de 2091 0000 lds r18,SummeNick
		9948	10189 59e2 3091 0000 lds r19,(SummeNick)+1
		9949	10190 59e6 4091 0000 lds r20,(SummeNick)+2
		9950	10191 59ea 5091 0000 lds r21,(SummeNick)+3
		9951	10192 59ee DD20 tst r13
		9952	10193 59f0 01F0 breq .L829
		9953	10194 59f2 661A sub r6,r22
		9954	10195 59f4 770A sbc r7,r23
		9955	10196 59f6 C301 movw r24,r6
		9956	10197 59f8 AA27 clr r26
		9957	10198 59fa 97FD sbrc r25,7
		9958	10199 59fc A095 com r26
		9959	10200 59fe BA2F mov r27,r26
		9960	10201 5a00 00C0 rjmp .L920
		9961	10202 .L829:
		9962	10203 5a02 AA27 clr r26
		9963	10204 5a04 97FD sbrc r25,7
		9964	10205 5a06 A095 com r26
		9965	10206 5a08 BA2F mov r27,r26
		9966	10207 .L920:
		9967	10208 5a0a 280F add r18,r24
		9968	10209 5a0c 391F adc r19,r25
		9969	10210 5a0e 4A1F adc r20,r26
		9970	10211 5a10 5B1F adc r21,r27
		9971	10212 5a12 2093 0000 sts SummeNick,r18
		9972	10213 5a16 3093 0000 sts (SummeNick)+1,r19
		9973	10214 5a1a 4093 0000 sts (SummeNick)+2,r20
		9974	10215 5a1e 5093 0000 sts (SummeNick)+3,r21
		9975	10216 5a22 8091 0000 lds r24,SummeNick
		9976	10217 5a26 9091 0000 lds r25,(SummeNick)+1
		9977	10218 5a2a A091 0000 lds r26,(SummeNick)+2
		9978	10219 5a2e B091 0000 lds r27,(SummeNick)+3
		9979	10220 5a32 8150 subi r24,lo8(64001)
		9980	10221 5a34 9A4F sbci r25,hi8(64001)
		9981	10222 5a36 A040 sbci r26,hlo8(64001)
		9982	10223 5a38 B040 sbci r27,hhi8(64001)
		9983	10224 5a3a 04F0 brlt .L831
		9984	10225 5a3c 80E0 ldi r24,lo8(64000)
		9985	10226 5a3e 9AEF ldi r25,hi8(64000)
		9986	10227 5a40 A0E0 ldi r26,hlo8(64000)
		9987	10228 5a42 B0E0 ldi r27,hhi8(64000)
		9988	10229 5a44 8093 0000 sts SummeNick,r24
		9989	10230 5a48 9093 0000 sts (SummeNick)+1,r25
		9990	10231 5a4c A093 0000 sts (SummeNick)+2,r26
		9991	10232 5a50 B093 0000 sts (SummeNick)+3,r27
		9992	10233 .L831:
		9993	10234 5a54 8091 0000 lds r24,SummeNick
		9994	10235 5a58 9091 0000 lds r25,(SummeNick)+1
		9995	10236 5a5c A091 0000 lds r26,(SummeNick)+2
		9996	10237 5a60 B091 0000 lds r27,(SummeNick)+3
		9997	10238 5a64 8050 subi r24,lo8(-64000)
		9998	10239 5a66 9640 sbci r25,hi8(-64000)
		9999	10240 5a68 AF4F sbci r26,hlo8(-64000)
		10000	10241 5a6a BF4F sbci r27,hhi8(-64000)
		10001	10242 5a6c 04F4 brge .L832
		10002	10243 5a6e 80E0 ldi r24,lo8(-64000)
		10003	10244 5a70 96E0 ldi r25,hi8(-64000)
		10004	10245 5a72 AFEF ldi r26,hlo8(-64000)
		10005	10246 5a74 BFEF ldi r27,hhi8(-64000)
		10006	10247 5a76 8093 0000 sts SummeNick,r24
		10007	10248 5a7a 9093 0000 sts (SummeNick)+1,r25
		10008	10249 5a7e A093 0000 sts (SummeNick)+2,r26
		10009	10250 5a82 B093 0000 sts (SummeNick)+3,r27
		10010	10251 .L832:
		10011	10252 5a86 C090 0000 lds r12,EE_Parameter+35
		10012	10253 5a8a 2091 0000 lds r18,DiffNick
		10013	10254 5a8e 3091 0000 lds r19,(DiffNick)+1
		10014	10255 5a92 78E0 ldi r23,lo8(8)
		10015	10256 5a94 E72E mov r14,r23
		10016	10257 5a96 EC14 cp r14,r12
		10017	10258 5a98 00F0 brlo .L833
		10018	10259 5a9a 8C2D mov r24,r12
		10019	10260 5a9c 9927 clr r25
		10020	10261 5a9e 829F mul r24,r18
		10021	10262 5aa0 A001 movw r20,r0
		10022	10263 5aa2 839F mul r24,r19
		10023	10264 5aa4 500D add r21,r0
		10024	10265 5aa6 929F mul r25,r18
		10025	10266 5aa8 500D add r21,r0
		10026	10267 5aaa 1124 clr r1
		10027	10268 5aac CA01 movw r24,r20
		10028	10269 5aae 57FD sbrc r21,7
		10029	10270 5ab0 0796 adiw r24,7
		10030	10271 .L834:
		10031	10272 5ab2 7C01 movw r14,r24
		10032	10273 5ab4 63E0 ldi r22,3
		10033	10274 5ab6 F594 1: asr r15
		10034	10275 5ab8 E794 ror r14
		10035	10276 5aba 6A95 dec r22
		10036	10277 5abc 01F4 brne 1b
		10037	10278 5abe 00C0 rjmp .L835
		10038	10279 .L833:
		10039	10280 5ac0 8C2D mov r24,r12
		10040	10281 5ac2 8695 lsr r24
		10041	10282 5ac4 9927 clr r25
		10042	10283 5ac6 829F mul r24,r18
		10043	10284 5ac8 B001 movw r22,r0
		10044	10285 5aca 839F mul r24,r19
		10045	10286 5acc 700D add r23,r0
		10046	10287 5ace 929F mul r25,r18
		10047	10288 5ad0 700D add r23,r0
		10048	10289 5ad2 1124 clr r1
		10049	10290 5ad4 CB01 movw r24,r22
		10050	10291 5ad6 77FD sbrc r23,7
		10051	10292 5ad8 0396 adiw r24,3
		10052	10293 .L836:
		10053	10294 5ada 7C01 movw r14,r24
		10054	10295 5adc F594 asr r15
		10055	10296 5ade E794 ror r14
		10056	10297 5ae0 F594 asr r15
		10057	10298 5ae2 E794 ror r14
		10058	10299 .L835:
		10059	10300 5ae4 A090 0000 lds r10,Ki
		10060	10301 5ae8 B090 0000 lds r11,(Ki)+1
		10061	10302 5aec 9501 movw r18,r10
		10062	10303 5aee 4427 clr r20
		10063	10304 5af0 37FD sbrc r19,7
		10064	10305 5af2 4095 com r20
		10065	10306 5af4 542F mov r21,r20
		10066	10307 5af6 8091 0000 lds r24,SummeNick
		10067	10308 5afa 9091 0000 lds r25,(SummeNick)+1
		10068	10309 5afe A091 0000 lds r26,(SummeNick)+2
		10069	10310 5b02 B091 0000 lds r27,(SummeNick)+3
		10070	10311 5b06 BC01 movw r22,r24
		10071	10312 5b08 CD01 movw r24,r26
		10072	10313 5b0a 0E94 0000 call __divmodsi4
		10073	10314 5b0e E20E add r14,r18
		10074	10315 5b10 F31E adc r15,r19
		10075	10316 5b12 9090 0000 lds r9,Parameter_DynamicStability
		10076	10317 5b16 692D mov r22,r9
		10077	10318 5b18 7727 clr r23
		10078	10319 5b1a 8827 clr r24
		10079	10320 5b1c 9927 clr r25
		10080	10321 5b1e 9801 movw r18,r16
		10081	10322 5b20 17FF sbrs r17,7
		10082	10323 5b22 00C0 rjmp .L837
		10083	10324 5b24 2227 clr r18
		10084	10325 5b26 3327 clr r19
		10085	10326 5b28 201B sub r18,r16
		10086	10327 5b2a 310B sbc r19,r17
		10087	10328 .L837:
		10088	10329 5b2c 37FF sbrs r19,7
		10089	10330 5b2e 00C0 rjmp .L838
		10090	10331 5b30 2F5F subi r18,lo8(-(1))
		10091	10332 5b32 3F4F sbci r19,hi8(-(1))
		10092	10333 .L838:
		10093	10334 5b34 3595 asr r19
		10094	10335 5b36 2795 ror r18
		10095	10336 5b38 A981 ldd r26,Y+1
		10096	10337 5b3a BA81 ldd r27,Y+2
		10097	10338 5b3c 2A0F add r18,r26
		10098	10339 5b3e 3B1F adc r19,r27
		10099	10340 5b40 4427 clr r20
		10100	10341 5b42 37FD sbrc r19,7
		10101	10342 5b44 4095 com r20
		10102	10343 5b46 542F mov r21,r20
		10103	10344 5b48 0E94 0000 call __mulsi3
		10104	10345 5b4c 97FF sbrs r25,7
		10105	10346 5b4e 00C0 rjmp .L839
		10106	10347 5b50 615C subi r22,lo8(-(63))
		10107	10348 5b52 7F4F sbci r23,hi8(-(63))
		10108	10349 5b54 8F4F sbci r24,hlo8(-(63))
		10109	10350 5b56 9F4F sbci r25,hhi8(-(63))
		10110	10351 .L839:
		10111	10352 5b58 26E0 ldi r18,6
		10112	10353 5b5a 9595 1: asr r25
		10113	10354 5b5c 8795 ror r24
		10114	10355 5b5e 7795 ror r23
		10115	10356 5b60 6795 ror r22
		10116	10357 5b62 2A95 dec r18
		10117	10358 5b64 01F4 brne 1b
		10118	10359 5b66 9B01 movw r18,r22
		10119	10360 5b68 6E15 cp r22,r14
		10120	10361 5b6a 7F05 cpc r23,r15
		10121	10362 5b6c 04F4 brge .L840
		10122	10363 5b6e 7B01 movw r14,r22
		10123	10364 .L840:
		10124	10365 5b70 3095 com r19
		10125	10366 5b72 2195 neg r18
		10126	10367 5b74 3F4F sbci r19,lo8(-1)
		10127	10368 5b76 E216 cp r14,r18
		10128	10369 5b78 F306 cpc r15,r19
		10129	10370 5b7a 04F4 brge .L841
		10130	10371 5b7c 7901 movw r14,r18
		10131	10372 .L841:
		10132	10373 5b7e 8091 0000 lds r24,MesswertRoll
		10133	10374 5b82 9091 0000 lds r25,(MesswertRoll)+1
		10134	10375 5b86 6091 0000 lds r22,StickRoll
		10135	10376 5b8a 7091 0000 lds r23,(StickRoll)+1
		10136	10377 5b8e 861B sub r24,r22
		10137	10378 5b90 970B sbc r25,r23
		10138	10379 5b92 9093 0000 sts (DiffRoll)+1,r25
		10139	10380 5b96 8093 0000 sts DiffRoll,r24
		10140	10381 5b9a 2091 0000 lds r18,SummeRoll
		10141	10382 5b9e 3091 0000 lds r19,(SummeRoll)+1
		10142	10383 5ba2 4091 0000 lds r20,(SummeRoll)+2
		10143	10384 5ba6 5091 0000 lds r21,(SummeRoll)+3
		10144	10385 5baa DD20 tst r13
		10145	10386 5bac 01F0 breq .L842
		10146	10387 5bae 461A sub r4,r22
		10147	10388 5bb0 570A sbc r5,r23
		10148	10389 5bb2 C201 movw r24,r4
		10149	10390 5bb4 AA27 clr r26
		10150	10391 5bb6 97FD sbrc r25,7
		10151	10392 5bb8 A095 com r26
		10152	10393 5bba BA2F mov r27,r26
		10153	10394 5bbc 00C0 rjmp .L921
		10154	10395 .L842:
		10155	10396 5bbe AA27 clr r26
		10156	10397 5bc0 97FD sbrc r25,7
		10157	10398 5bc2 A095 com r26
		10158	10399 5bc4 BA2F mov r27,r26
		10159	10400 .L921:
		10160	10401 5bc6 280F add r18,r24
		10161	10402 5bc8 391F adc r19,r25
		10162	10403 5bca 4A1F adc r20,r26
		10163	10404 5bcc 5B1F adc r21,r27
		10164	10405 5bce 2093 0000 sts SummeRoll,r18
		10165	10406 5bd2 3093 0000 sts (SummeRoll)+1,r19
		10166	10407 5bd6 4093 0000 sts (SummeRoll)+2,r20
		10167	10408 5bda 5093 0000 sts (SummeRoll)+3,r21
		10168	10409 5bde 8091 0000 lds r24,SummeRoll
		10169	10410 5be2 9091 0000 lds r25,(SummeRoll)+1
		10170	10411 5be6 A091 0000 lds r26,(SummeRoll)+2
		10171	10412 5bea B091 0000 lds r27,(SummeRoll)+3
		10172	10413 5bee 8150 subi r24,lo8(64001)
		10173	10414 5bf0 9A4F sbci r25,hi8(64001)
		10174	10415 5bf2 A040 sbci r26,hlo8(64001)
		10175	10416 5bf4 B040 sbci r27,hhi8(64001)
		10176	10417 5bf6 04F0 brlt .L844
		10177	10418 5bf8 80E0 ldi r24,lo8(64000)
		10178	10419 5bfa 9AEF ldi r25,hi8(64000)
		10179	10420 5bfc A0E0 ldi r26,hlo8(64000)
		10180	10421 5bfe B0E0 ldi r27,hhi8(64000)
		10181	10422 5c00 8093 0000 sts SummeRoll,r24
		10182	10423 5c04 9093 0000 sts (SummeRoll)+1,r25
		10183	10424 5c08 A093 0000 sts (SummeRoll)+2,r26
		10184	10425 5c0c B093 0000 sts (SummeRoll)+3,r27
		10185	10426 .L844:
		10186	10427 5c10 8091 0000 lds r24,SummeRoll
		10187	10428 5c14 9091 0000 lds r25,(SummeRoll)+1
		10188	10429 5c18 A091 0000 lds r26,(SummeRoll)+2
		10189	10430 5c1c B091 0000 lds r27,(SummeRoll)+3
		10190	10431 5c20 8050 subi r24,lo8(-64000)
		10191	10432 5c22 9640 sbci r25,hi8(-64000)
		10192	10433 5c24 AF4F sbci r26,hlo8(-64000)
		10193	10434 5c26 BF4F sbci r27,hhi8(-64000)
		10194	10435 5c28 04F4 brge .L845
		10195	10436 5c2a 80E0 ldi r24,lo8(-64000)
		10196	10437 5c2c 96E0 ldi r25,hi8(-64000)
		10197	10438 5c2e AFEF ldi r26,hlo8(-64000)
		10198	10439 5c30 BFEF ldi r27,hhi8(-64000)
		10199	10440 5c32 8093 0000 sts SummeRoll,r24
		10200	10441 5c36 9093 0000 sts (SummeRoll)+1,r25
		10201	10442 5c3a A093 0000 sts (SummeRoll)+2,r26
		10202	10443 5c3e B093 0000 sts (SummeRoll)+3,r27
		10203	10444 .L845:
		10204	10445 5c42 2091 0000 lds r18,DiffRoll
		10205	10446 5c46 3091 0000 lds r19,(DiffRoll)+1
		10206	10447 5c4a 48E0 ldi r20,lo8(8)
		10207	10448 5c4c 4C15 cp r20,r12
		10208	10449 5c4e 00F0 brlo .L846
		10209	10450 5c50 8C2D mov r24,r12
		10210	10451 5c52 9927 clr r25
		10211	10452 5c54 829F mul r24,r18
		10212	10453 5c56 B001 movw r22,r0
		10213	10454 5c58 839F mul r24,r19
		10214	10455 5c5a 700D add r23,r0
		10215	10456 5c5c 929F mul r25,r18
		10216	10457 5c5e 700D add r23,r0
		10217	10458 5c60 1124 clr r1
		10218	10459 5c62 CB01 movw r24,r22
		10219	10460 5c64 77FD sbrc r23,7
		10220	10461 5c66 0796 adiw r24,7
		10221	10462 .L847:
		10222	10463 5c68 6C01 movw r12,r24
		10223	10464 5c6a B3E0 ldi r27,3
		10224	10465 5c6c D594 1: asr r13
		10225	10466 5c6e C794 ror r12
		10226	10467 5c70 BA95 dec r27
		10227	10468 5c72 01F4 brne 1b
		10228	10469 5c74 00C0 rjmp .L848
		10229	10470 .L846:
		10230	10471 5c76 C694 lsr r12
		10231	10472 5c78 8C2D mov r24,r12
		10232	10473 5c7a 9927 clr r25
		10233	10474 5c7c 829F mul r24,r18
		10234	10475 5c7e D001 movw r26,r0
		10235	10476 5c80 839F mul r24,r19
		10236	10477 5c82 B00D add r27,r0
		10237	10478 5c84 929F mul r25,r18
		10238	10479 5c86 B00D add r27,r0
		10239	10480 5c88 1124 clr r1
		10240	10481 5c8a CD01 movw r24,r26
		10241	10482 5c8c B7FD sbrc r27,7
		10242	10483 5c8e 0396 adiw r24,3
		10243	10484 .L849:
		10244	10485 5c90 6C01 movw r12,r24
		10245	10486 5c92 D594 asr r13
		10246	10487 5c94 C794 ror r12
		10247	10488 5c96 D594 asr r13
		10248	10489 5c98 C794 ror r12
		10249	10490 .L848:
		10250	10491 5c9a 9501 movw r18,r10
		10251	10492 5c9c 4427 clr r20
		10252	10493 5c9e 37FD sbrc r19,7
		10253	10494 5ca0 4095 com r20
		10254	10495 5ca2 542F mov r21,r20
		10255	10496 5ca4 8091 0000 lds r24,SummeRoll
		10256	10497 5ca8 9091 0000 lds r25,(SummeRoll)+1
		10257	10498 5cac A091 0000 lds r26,(SummeRoll)+2
		10258	10499 5cb0 B091 0000 lds r27,(SummeRoll)+3
		10259	10500 5cb4 BC01 movw r22,r24
		10260	10501 5cb6 CD01 movw r24,r26
		10261	10502 5cb8 0E94 0000 call __divmodsi4
		10262	10503 5cbc C20E add r12,r18
		10263	10504 5cbe D31E adc r13,r19
		10264	10505 5cc0 692D mov r22,r9
		10265	10506 5cc2 7727 clr r23
		10266	10507 5cc4 8827 clr r24
		10267	10508 5cc6 9927 clr r25
		10268	10509 5cc8 9801 movw r18,r16
		10269	10510 5cca 17FF sbrs r17,7
		10270	10511 5ccc 00C0 rjmp .L850
		10271	10512 5cce 2227 clr r18
		10272	10513 5cd0 3327 clr r19
		10273	10514 5cd2 201B sub r18,r16
		10274	10515 5cd4 310B sbc r19,r17
		10275	10516 .L850:
		10276	10517 5cd6 37FF sbrs r19,7
		10277	10518 5cd8 00C0 rjmp .L851
		10278	10519 5cda 2F5F subi r18,lo8(-(1))
		10279	10520 5cdc 3F4F sbci r19,hi8(-(1))
		10280	10521 .L851:
		10281	10522 5cde 3595 asr r19
		10282	10523 5ce0 2795 ror r18
		10283	10524 5ce2 E981 ldd r30,Y+1
		10284	10525 5ce4 FA81 ldd r31,Y+2
		10285	10526 5ce6 2E0F add r18,r30
		10286	10527 5ce8 3F1F adc r19,r31
		10287	10528 5cea 4427 clr r20
		10288	10529 5cec 37FD sbrc r19,7
		10289	10530 5cee 4095 com r20
		10290	10531 5cf0 542F mov r21,r20
		10291	10532 5cf2 0E94 0000 call __mulsi3
		10292	10533 5cf6 97FF sbrs r25,7
		10293	10534 5cf8 00C0 rjmp .L852
		10294	10535 5cfa 615C subi r22,lo8(-(63))
		10295	10536 5cfc 7F4F sbci r23,hi8(-(63))
		10296	10537 5cfe 8F4F sbci r24,hlo8(-(63))
		10297	10538 5d00 9F4F sbci r25,hhi8(-(63))
		10298	10539 .L852:
		10299	10540 5d02 E6E0 ldi r30,6
		10300	10541 5d04 9595 1: asr r25
		10301	10542 5d06 8795 ror r24
		10302	10543 5d08 7795 ror r23
		10303	10544 5d0a 6795 ror r22
		10304	10545 5d0c EA95 dec r30
		10305	10546 5d0e 01F4 brne 1b
		10306	10547 5d10 9B01 movw r18,r22
		10307	10548 5d12 6C15 cp r22,r12
		10308	10549 5d14 7D05 cpc r23,r13
		10309	10550 5d16 04F4 brge .L853
		10310	10551 5d18 6B01 movw r12,r22
		10311	10552 .L853:
		10312	10553 5d1a 3095 com r19
		10313	10554 5d1c 2195 neg r18
		10314	10555 5d1e 3F4F sbci r19,lo8(-1)
		10315	10556 5d20 C216 cp r12,r18
		10316	10557 5d22 D306 cpc r13,r19
		10317	10558 5d24 04F4 brge .L854
		10318	10559 5d26 6901 movw r12,r18
		10319	10560 .L854:
		10320	10561 5d28 8091 0000 lds r24,MIN_GAS
		10321	10562 5d2c 282E mov r2,r24
		10322	10563 5d2e 3324 clr r3
		10323	10564 5d30 5090 0000 lds r5,EE_Parameter+101
		10324	10565 5d34 60E0 ldi r22,lo8(Motor)
		10325	10566 5d36 862E mov r8,r22
		10326	10567 5d38 60E0 ldi r22,hi8(Motor)
		10327	10568 5d3a 962E mov r9,r22
		10328	10569 5d3c 50E0 ldi r21,lo8(Mixer+13)
		10329	10570 5d3e A52E mov r10,r21
		10330	10571 5d40 50E0 ldi r21,hi8(Mixer+13)
		10331	10572 5d42 B52E mov r11,r21
		10332	10573 5d44 4BE0 ldi r20,lo8(11)
		10333	10574 5d46 442E mov r4,r20
		10334	10575 5d48 30E0 ldi r19,lo8(tmp_motorwert)
		10335	10576 5d4a 632E mov r6,r19
		10336	10577 5d4c 30E0 ldi r19,hi8(tmp_motorwert)
		10337	10578 5d4e 732E mov r7,r19
		10338	10579 .L889:
		10339	10580 5d50 D501 movw r26,r10
		10340	10581 5d52 2C91 ld r18,X
		10341	10582 5d54 1216 cp __zero_reg__,r18
		10342	10583 5d56 04F0 brlt .+2
		10343	10584 5d58 00C0 rjmp .L858
		10344	10585 5d5a 2034 cpi r18,lo8(64)
		10345	10586 5d5c 01F4 brne .L859
		10346	10587 5d5e E981 ldd r30,Y+1
		10347	10588 5d60 FA81 ldd r31,Y+2
		10348	10589 5d62 FF8B std Y+23,r31
		10349	10590 5d64 EE8B std Y+22,r30
		10350	10591 5d66 00C0 rjmp .L860
		10351	10592 .L859:
		10352	10593 5d68 4981 ldd r20,Y+1
		10353	10594 5d6a 5A81 ldd r21,Y+2
		10354	10595 5d6c CA01 movw r24,r20
		10355	10596 5d6e AA27 clr r26
		10356	10597 5d70 97FD sbrc r25,7
		10357	10598 5d72 A095 com r26
		10358	10599 5d74 BA2F mov r27,r26
		10359	10600 5d76 3327 clr r19
		10360	10601 5d78 27FD sbrc r18,7
		10361	10602 5d7a 3095 com r19
		10362	10603 5d7c 432F mov r20,r19
		10363	10604 5d7e 532F mov r21,r19
		10364	10605 5d80 BC01 movw r22,r24
		10365	10606 5d82 CD01 movw r24,r26
		10366	10607 5d84 0E94 0000 call __mulsi3
		10367	10608 5d88 97FF sbrs r25,7
		10368	10609 5d8a 00C0 rjmp .L861
		10369	10610 5d8c 615C subi r22,lo8(-(63))
		10370	10611 5d8e 7F4F sbci r23,hi8(-(63))
		10371	10612 5d90 8F4F sbci r24,hlo8(-(63))
		10372	10613 5d92 9F4F sbci r25,hhi8(-(63))
		10373	10614 .L861:
		10374	10615 5d94 26E0 ldi r18,6
		10375	10616 5d96 9595 1: asr r25
		10376	10617 5d98 8795 ror r24
		10377	10618 5d9a 7795 ror r23
		10378	10619 5d9c 6795 ror r22
		10379	10620 5d9e 2A95 dec r18
		10380	10621 5da0 01F4 brne 1b
		10381	10622 5da2 7F8B std Y+23,r23
		10382	10623 5da4 6E8B std Y+22,r22
		10383	10624 .L860:
		10384	10625 5da6 F501 movw r30,r10
		10385	10626 5da8 2181 ldd r18,Z+1
		10386	10627 5daa 2034 cpi r18,lo8(64)
		10387	10628 5dac 01F4 brne .L862
		10388	10629 5dae 2E89 ldd r18,Y+22
		10389	10630 5db0 3F89 ldd r19,Y+23
		10390	10631 5db2 2E0D add r18,r14
		10391	10632 5db4 3F1D adc r19,r15
		10392	10633 5db6 3F8B std Y+23,r19
		10393	10634 5db8 2E8B std Y+22,r18
		10394	10635 5dba 00C0 rjmp .L863
		10395	10636 .L862:
		10396	10637 5dbc 203C cpi r18,lo8(-64)
		10397	10638 5dbe 01F4 brne .L864
		10398	10639 5dc0 4E89 ldd r20,Y+22
		10399	10640 5dc2 5F89 ldd r21,Y+23
		10400	10641 5dc4 4E19 sub r20,r14
		10401	10642 5dc6 5F09 sbc r21,r15
		10402	10643 5dc8 5F8B std Y+23,r21
		10403	10644 5dca 4E8B std Y+22,r20
		10404	10645 5dcc 00C0 rjmp .L863
		10405	10646 .L864:
		10406	10647 5dce C701 movw r24,r14
		10407	10648 5dd0 AA27 clr r26
		10408	10649 5dd2 97FD sbrc r25,7
		10409	10650 5dd4 A095 com r26
		10410	10651 5dd6 BA2F mov r27,r26
		10411	10652 5dd8 3327 clr r19
		10412	10653 5dda 27FD sbrc r18,7
		10413	10654 5ddc 3095 com r19
		10414	10655 5dde 432F mov r20,r19
		10415	10656 5de0 532F mov r21,r19
		10416	10657 5de2 BC01 movw r22,r24
		10417	10658 5de4 CD01 movw r24,r26
		10418	10659 5de6 0E94 0000 call __mulsi3
		10419	10660 5dea 97FF sbrs r25,7
		10420	10661 5dec 00C0 rjmp .L866
		10421	10662 5dee 615C subi r22,lo8(-(63))
		10422	10663 5df0 7F4F sbci r23,hi8(-(63))
		10423	10664 5df2 8F4F sbci r24,hlo8(-(63))
		10424	10665 5df4 9F4F sbci r25,hhi8(-(63))
		10425	10666 .L866:
		10426	10667 5df6 B6E0 ldi r27,6
		10427	10668 5df8 9595 1: asr r25
		10428	10669 5dfa 8795 ror r24
		10429	10670 5dfc 7795 ror r23
		10430	10671 5dfe 6795 ror r22
		10431	10672 5e00 BA95 dec r27
		10432	10673 5e02 01F4 brne 1b
		10433	10674 5e04 AE89 ldd r26,Y+22
		10434	10675 5e06 BF89 ldd r27,Y+23
		10435	10676 5e08 A60F add r26,r22
		10436	10677 5e0a B71F adc r27,r23
		10437	10678 5e0c BF8B std Y+23,r27
		10438	10679 5e0e AE8B std Y+22,r26
		10439	10680 .L863:
		10440	10681 5e10 F501 movw r30,r10
		10441	10682 5e12 2281 ldd r18,Z+2
		10442	10683 5e14 2034 cpi r18,lo8(64)
		10443	10684 5e16 01F4 brne .L867
		10444	10685 5e18 2E89 ldd r18,Y+22
		10445	10686 5e1a 3F89 ldd r19,Y+23
		10446	10687 5e1c 2C0D add r18,r12
		10447	10688 5e1e 3D1D adc r19,r13
		10448	10689 5e20 3F8B std Y+23,r19
		10449	10690 5e22 2E8B std Y+22,r18
		10450	10691 5e24 00C0 rjmp .L868
		10451	10692 .L867:
		10452	10693 5e26 203C cpi r18,lo8(-64)
		10453	10694 5e28 01F4 brne .L869
		10454	10695 5e2a 4E89 ldd r20,Y+22
		10455	10696 5e2c 5F89 ldd r21,Y+23
		10456	10697 5e2e 4C19 sub r20,r12
		10457	10698 5e30 5D09 sbc r21,r13
		10458	10699 5e32 5F8B std Y+23,r21
		10459	10700 5e34 4E8B std Y+22,r20
		10460	10701 5e36 00C0 rjmp .L868
		10461	10702 .L869:
		10462	10703 5e38 C601 movw r24,r12
		10463	10704 5e3a AA27 clr r26
		10464	10705 5e3c 97FD sbrc r25,7
		10465	10706 5e3e A095 com r26
		10466	10707 5e40 BA2F mov r27,r26
		10467	10708 5e42 3327 clr r19
		10468	10709 5e44 27FD sbrc r18,7
		10469	10710 5e46 3095 com r19
		10470	10711 5e48 432F mov r20,r19
		10471	10712 5e4a 532F mov r21,r19
		10472	10713 5e4c BC01 movw r22,r24
		10473	10714 5e4e CD01 movw r24,r26
		10474	10715 5e50 0E94 0000 call __mulsi3
		10475	10716 5e54 97FF sbrs r25,7
		10476	10717 5e56 00C0 rjmp .L871
		10477	10718 5e58 615C subi r22,lo8(-(63))
		10478	10719 5e5a 7F4F sbci r23,hi8(-(63))
		10479	10720 5e5c 8F4F sbci r24,hlo8(-(63))
		10480	10721 5e5e 9F4F sbci r25,hhi8(-(63))
		10481	10722 .L871:
		10482	10723 5e60 A6E0 ldi r26,6
		10483	10724 5e62 9595 1: asr r25
		10484	10725 5e64 8795 ror r24
		10485	10726 5e66 7795 ror r23
		10486	10727 5e68 6795 ror r22
		10487	10728 5e6a AA95 dec r26
		10488	10729 5e6c 01F4 brne 1b
		10489	10730 5e6e AE89 ldd r26,Y+22
		10490	10731 5e70 BF89 ldd r27,Y+23
		10491	10732 5e72 A60F add r26,r22
		10492	10733 5e74 B71F adc r27,r23
		10493	10734 5e76 BF8B std Y+23,r27
		10494	10735 5e78 AE8B std Y+22,r26
		10495	10736 .L868:
		10496	10737 5e7a F501 movw r30,r10
		10497	10738 5e7c 2381 ldd r18,Z+3
		10498	10739 5e7e 2034 cpi r18,lo8(64)
		10499	10740 5e80 01F4 brne .L872
		10500	10741 5e82 2E89 ldd r18,Y+22
		10501	10742 5e84 3F89 ldd r19,Y+23
		10502	10743 5e86 200F add r18,r16
		10503	10744 5e88 311F adc r19,r17
		10504	10745 5e8a 3F8B std Y+23,r19
		10505	10746 5e8c 2E8B std Y+22,r18
		10506	10747 5e8e 00C0 rjmp .L873
		10507	10748 .L872:
		10508	10749 5e90 203C cpi r18,lo8(-64)
		10509	10750 5e92 01F4 brne .L874
		10510	10751 5e94 4E89 ldd r20,Y+22
		10511	10752 5e96 5F89 ldd r21,Y+23
		10512	10753 5e98 401B sub r20,r16
		10513	10754 5e9a 510B sbc r21,r17
		10514	10755 5e9c 5F8B std Y+23,r21
		10515	10756 5e9e 4E8B std Y+22,r20
		10516	10757 5ea0 00C0 rjmp .L873
		10517	10758 .L874:
		10518	10759 5ea2 C801 movw r24,r16
		10519	10760 5ea4 AA27 clr r26
		10520	10761 5ea6 97FD sbrc r25,7
		10521	10762 5ea8 A095 com r26
		10522	10763 5eaa BA2F mov r27,r26
		10523	10764 5eac 3327 clr r19
		10524	10765 5eae 27FD sbrc r18,7
		10525	10766 5eb0 3095 com r19
		10526	10767 5eb2 432F mov r20,r19
		10527	10768 5eb4 532F mov r21,r19
		10528	10769 5eb6 BC01 movw r22,r24
		10529	10770 5eb8 CD01 movw r24,r26
		10530	10771 5eba 0E94 0000 call __mulsi3
		10531	10772 5ebe 97FF sbrs r25,7
		10532	10773 5ec0 00C0 rjmp .L876
		10533	10774 5ec2 615C subi r22,lo8(-(63))
		10534	10775 5ec4 7F4F sbci r23,hi8(-(63))
		10535	10776 5ec6 8F4F sbci r24,hlo8(-(63))
		10536	10777 5ec8 9F4F sbci r25,hhi8(-(63))
		10537	10778 .L876:
		10538	10779 5eca F6E0 ldi r31,6
		10539	10780 5ecc 9595 1: asr r25
		10540	10781 5ece 8795 ror r24
		10541	10782 5ed0 7795 ror r23
		10542	10783 5ed2 6795 ror r22
		10543	10784 5ed4 FA95 dec r31
		10544	10785 5ed6 01F4 brne 1b
		10545	10786 5ed8 AE89 ldd r26,Y+22
		10546	10787 5eda BF89 ldd r27,Y+23
		10547	10788 5edc A60F add r26,r22
		10548	10789 5ede B71F adc r27,r23
		10549	10790 5ee0 BF8B std Y+23,r27
		10550	10791 5ee2 AE8B std Y+22,r26
		10551	10792 .L873:
		10552	10793 5ee4 F301 movw r30,r6
		10553	10794 5ee6 8081 ld r24,Z
		10554	10795 5ee8 9181 ldd r25,Z+1
		10555	10796 5eea 2E89 ldd r18,Y+22
		10556	10797 5eec 3F89 ldd r19,Y+23
		10557	10798 5eee 8217 cp r24,r18
		10558	10799 5ef0 9307 cpc r25,r19
		10559	10800 5ef2 04F4 brge .L877
		10560	10801 5ef4 B901 movw r22,r18
		10561	10802 5ef6 680F add r22,r24
		10562	10803 5ef8 791F adc r23,r25
		10563	10804 5efa 77FF sbrs r23,7
		10564	10805 5efc 00C0 rjmp .L878
		10565	10806 5efe 6F5F subi r22,lo8(-(1))
		10566	10807 5f00 7F4F sbci r23,hi8(-(1))
		10567	10808 .L878:
		10568	10809 5f02 7595 asr r23
		10569	10810 5f04 6795 ror r22
		10570	10811 5f06 7F8B std Y+23,r23
		10571	10812 5f08 6E8B std Y+22,r22
		10572	10813 5f0a 00C0 rjmp .L879
		10573	10814 .L877:
		10574	10815 5f0c 5520 tst r5
		10575	10816 5f0e 01F4 brne .L880
		10576	10817 5f10 4E89 ldd r20,Y+22
		10577	10818 5f12 5F89 ldd r21,Y+23
		10578	10819 5f14 440F add r20,r20
		10579	10820 5f16 551F adc r21,r21
		10580	10821 5f18 481B sub r20,r24
		10581	10822 5f1a 590B sbc r21,r25
		10582	10823 5f1c 5F8B std Y+23,r21
		10583	10824 5f1e 4E8B std Y+22,r20
		10584	10825 5f20 00C0 rjmp .L879
		10585	10826 .L880:
		10586	10827 5f22 51E0 ldi r21,lo8(1)
		10587	10828 5f24 5515 cp r21,r5
		10588	10829 5f26 00F4 brsh .L879
		10589	10830 5f28 252D mov r18,r5
		10590	10831 5f2a 3327 clr r19
		10591	10832 5f2c 6E89 ldd r22,Y+22
		10592	10833 5f2e 7F89 ldd r23,Y+23
		10593	10834 5f30 861B sub r24,r22
		10594	10835 5f32 970B sbc r25,r23
		10595	10836 5f34 B901 movw r22,r18
		10596	10837 5f36 0E94 0000 call __divmodhi4
		10597	10838 5f3a AE89 ldd r26,Y+22
		10598	10839 5f3c BF89 ldd r27,Y+23
		10599	10840 5f3e A60F add r26,r22
		10600	10841 5f40 B71F adc r27,r23
		10601	10842 5f42 BF8B std Y+23,r27
		10602	10843 5f44 AE8B std Y+22,r26
		10603	10844 .L879:
		10604	10845 5f46 C101 movw r24,r2
		10605	10846 5f48 880F lsl r24
		10606	10847 5f4a 991F rol r25
		10607	10848 5f4c 880F lsl r24
		10608	10849 5f4e 991F rol r25
		10609	10850 5f50 EE89 ldd r30,Y+22
		10610	10851 5f52 FF89 ldd r31,Y+23
		10611	10852 5f54 8E17 cp r24,r30
		10612	10853 5f56 9F07 cpc r25,r31
		10613	10854 5f58 04F4 brge .L922
		10614	10855 5f5a FD89 ldd r31,Y+21
		10615	10856 5f5c 8F2F mov r24,r31
		10616	10857 5f5e 9927 clr r25
		10617	10858 5f60 880F lsl r24
		10618	10859 5f62 991F rol r25
		10619	10860 5f64 880F lsl r24
		10620	10861 5f66 991F rol r25
		10621	10862 5f68 2E89 ldd r18,Y+22
		10622	10863 5f6a 3F89 ldd r19,Y+23
		10623	10864 5f6c 2817 cp r18,r24
		10624	10865 5f6e 3907 cpc r19,r25
		10625	10866 5f70 04F0 brlt .L884
		10626	10867 .L922:
		10627	10868 5f72 9F8B std Y+23,r25
		10628	10869 5f74 8E8B std Y+22,r24
		10629	10870 .L884:
		10630	10871 5f76 8E89 ldd r24,Y+22
		10631	10872 5f78 9F89 ldd r25,Y+23
		10632	10873 5f7a 97FD sbrc r25,7
		10633	10874 5f7c 0396 adiw r24,3
		10634	10875 .L886:
		10635	10876 5f7e 9595 asr r25
		10636	10877 5f80 8795 ror r24
		10637	10878 5f82 9595 asr r25
		10638	10879 5f84 8795 ror r24
		10639	10880 5f86 F401 movw r30,r8
		10640	10881 5f88 8183 std Z+1,r24
		10641	10882 5f8a 880F lsl r24
		10642	10883 5f8c 991F rol r25
		10643	10884 5f8e 880F lsl r24
		10644	10885 5f90 991F rol r25
		10645	10886 5f92 2E89 ldd r18,Y+22
		10646	10887 5f94 3F89 ldd r19,Y+23
		10647	10888 5f96 281B sub r18,r24
		10648	10889 5f98 390B sbc r19,r25
		10649	10890 5f9a C901 movw r24,r18
		10650	10891 5f9c 880F lsl r24
		10651	10892 5f9e 8283 std Z+2,r24
		10652	10893 5fa0 EE89 ldd r30,Y+22
		10653	10894 5fa2 FF89 ldd r31,Y+23
		10654	10895 5fa4 D301 movw r26,r6
		10655	10896 5fa6 ED93 st X+,r30
		10656	10897 5fa8 FC93 st X,r31
		10657	10898 5faa 00C0 rjmp .L857
		10658	10899 .L858:
		10659	10900 5fac F401 movw r30,r8
		10660	10901 5fae 1182 std Z+1,__zero_reg__
		10661	10902 5fb0 1282 std Z+2,__zero_reg__
		10662	10903 .L857:
		10663	10904 5fb2 4A94 dec r4
		10664	10905 5fb4 22E0 ldi r18,lo8(2)
		10665	10906 5fb6 30E0 ldi r19,hi8(2)
		10666	10907 5fb8 620E add r6,r18
		10667	10908 5fba 731E adc r7,r19
		10668	10909 5fbc 44E0 ldi r20,lo8(4)
		10669	10910 5fbe 50E0 ldi r21,hi8(4)
		10670	10911 5fc0 A40E add r10,r20
		10671	10912 5fc2 B51E adc r11,r21
		10672	10913 5fc4 68E0 ldi r22,lo8(8)
		10673	10914 5fc6 70E0 ldi r23,hi8(8)
		10674	10915 5fc8 860E add r8,r22
		10675	10916 5fca 971E adc r9,r23
		10676	10917 5fcc 47FE sbrs r4,7
		10677	10918 5fce 00C0 rjmp .L889
		10678	10919 /* epilogue: frame size=23 */
		10679	10920 5fd0 E2E1 ldi r30,18
		10680	10921 5fd2 C95E subi r28,-23
		10681	10922 5fd4 0C94 0000 jmp __epilogue_restores__+0
		10682	10923 /* epilogue end (size=4) */
		10683	10924 /* function MotorRegler size 8305 (8295) */
		10684	10926 .comm TrimNick,2,1
		10685	10927 .comm TrimRoll,2,1
		10686	10928 .comm ErsatzKompass,4,1
		10687	10929 .comm ErsatzKompassInGrad,2,1
		10688	10930 .comm MesswertNick,2,1
		10689	10931 .comm MesswertRoll,2,1
		10690	10932 .comm MesswertGier,2,1
		10691	10933 .comm Mittelwert_AccNick,2,1
		10692	10934 .comm Mittelwert_AccRoll,2,1
		10693	10935 .comm NaviAccNick,2,1
		10694	10936 .comm NaviAccRoll,2,1
		10695	10937 .comm h,1,1
		10696	10938 .comm m,1,1
		10697	10939 .comm s,1,1
		10698	10940 .comm DiffNick,2,1
		10699	10941 .comm DiffRoll,2,1
		10700	10942 .comm Parameter_Servo3,1,1
		10701	10943 .comm Parameter_Servo4,1,1
		10702	10944 .comm Parameter_Servo5,1,1
		10703	10945 .comm Parameter_J16Bitmask,1,1
		10704	10946 .comm Parameter_J16Timing,1,1
		10705	10947 .comm Parameter_J17Bitmask,1,1
		10706	10948 .comm Parameter_J17Timing,1,1
		10707	10949 .comm Parameter_GlobalConfig,1,1
		10708	10950 .comm Parameter_ExtraConfig,1,1
		10709	10951 .comm MesswertGierBias,2,1
		10710	10952 .comm RohMesswertNick,2,1
		10711	10953 .comm RohMesswertRoll,2,1
		10712	10954 .comm MittelIntegralNick,4,1
		10713	10955 .comm MittelIntegralRoll,4,1
		10714	10956 .comm MittelIntegralNick2,4,1
		10715	10957 .comm MittelIntegralRoll2,4,1
		10716	10958 .comm MAX_GAS,1,1
		10717	10959 .comm MIN_GAS,1,1
		10718	10960 .comm GyroFaktor,1,1
		10719	10961 .comm GyroFaktorGier,1,1
		10720	10962 .comm IntegralFaktor,1,1
		10721	10963 .comm IntegralFaktorGier,1,1
		10722	10964 .comm Parameter_NaviGpsModeControl,1,1
		10723	10965 .comm Parameter_NaviGpsGain,1,1
		10724	10966 .comm Parameter_NaviGpsP,1,1
		10725	10967 .comm Parameter_NaviGpsI,1,1
		10726	10968 .comm Parameter_NaviGpsD,1,1
		10727	10969 .comm Parameter_NaviGpsACC,1,1
		10728	10970 .comm Parameter_NaviOperatingRadius,1,1
		10729	10971 .comm Parameter_NaviWindCorrection,1,1
		10730	10972 .comm Parameter_NaviSpeedCompensation,1,1
		10731	10973 .comm Parameter_ExternalControl,1,1
		10732	10974 .comm Parameter_MaximumAltitude,1,1
		10733	10975 .comm KopplungsteilNickRoll,2,1
		10734	10976 .comm KopplungsteilRollNick,2,1
		10735	10977 .comm tmp_motorwert,24,1
		10736	10978 /* File "fc.c": code 12435 = 0x3093 (12374), prologues 31, epilogues 30 */
		10737	DEFINED SYMBOLS
		10738	ABS:00000000 fc.c
		10739	C:\Temp/ccMKYVI5.s:3 ABS:0000003f __SREG__
		10740	C:\Temp/ccMKYVI5.s:4 ABS:0000003e __SP_H__
		10741	C:\Temp/ccMKYVI5.s:5 ABS:0000003d __SP_L__
		10742	C:\Temp/ccMKYVI5.s:6 ABS:00000000 __tmp_reg__
		10743	C:\Temp/ccMKYVI5.s:7 ABS:00000001 __zero_reg__
		10744	C:\Temp/ccMKYVI5.s:15 .bss:00000000 GasIsZeroCnt
		10745	C:\Temp/ccMKYVI5.s:21 .bss:00000002 HooverGasEmergencyPercent
		10746	C:\Temp/ccMKYVI5.s:27 .data:00000000 VarioCharacter
		10747	C:\Temp/ccMKYVI5.s:32 .data:00000001 GIER_GRAD_FAKTOR
		10748	C:\Temp/ccMKYVI5.s:39 .bss:00000004 FC_StatusFlags2
		10749	C:\Temp/ccMKYVI5.s:45 .bss:00000005 FC_StatusFlags
		10750	C:\Temp/ccMKYVI5.s:51 .bss:00000006 modell_fliegt
		10751	C:\Temp/ccMKYVI5.s:57 .bss:00000008 MaxStickRoll
		10752	C:\Temp/ccMKYVI5.s:63 .bss:0000000a MaxStickNick
		10753	C:\Temp/ccMKYVI5.s:69 .data:00000005 ExternHoehenValue
		10754	C:\Temp/ccMKYVI5.s:76 .bss:0000000c ExternStickGier
		10755	C:\Temp/ccMKYVI5.s:82 .bss:0000000e ExternStickRoll
		10756	C:\Temp/ccMKYVI5.s:88 .bss:00000010 ExternStickNick
		10757	C:\Temp/ccMKYVI5.s:94 .data:00000007 sintab
		10758	C:\Temp/ccMKYVI5.s:131 .bss:00000012 CareFree
		10759	C:\Temp/ccMKYVI5.s:137 .data:00000026 Parameter_DynamicStability
		10760	C:\Temp/ccMKYVI5.s:142 .data:00000027 Parameter_CouplingYawCorrection
		10761	C:\Temp/ccMKYVI5.s:147 .data:00000028 Parameter_AchsKopplung2
		10762	C:\Temp/ccMKYVI5.s:152 .data:00000029 Parameter_AchsKopplung1
		10763	C:\Temp/ccMKYVI5.s:157 .data:0000002a Parameter_LoopGasLimit
		10764	C:\Temp/ccMKYVI5.s:162 .data:0000002b Parameter_ServoRollComp
		10765	C:\Temp/ccMKYVI5.s:167 .data:0000002c Parameter_ServoNickComp
		10766	C:\Temp/ccMKYVI5.s:172 .data:0000002d Parameter_ServoRollControl
		10767	C:\Temp/ccMKYVI5.s:177 .data:0000002e Parameter_ServoNickControl
		10768	C:\Temp/ccMKYVI5.s:184 .bss:00000013 Parameter_UserParam8
		10769	C:\Temp/ccMKYVI5.s:190 .bss:00000014 Parameter_UserParam7
		10770	C:\Temp/ccMKYVI5.s:196 .bss:00000015 Parameter_UserParam6
		10771	C:\Temp/ccMKYVI5.s:202 .bss:00000016 Parameter_UserParam5
		10772	C:\Temp/ccMKYVI5.s:208 .bss:00000017 Parameter_UserParam4
		10773	C:\Temp/ccMKYVI5.s:214 .bss:00000018 Parameter_UserParam3
		10774	C:\Temp/ccMKYVI5.s:220 .bss:00000019 Parameter_UserParam2
		10775	C:\Temp/ccMKYVI5.s:226 .bss:0000001a Parameter_UserParam1
		10776	C:\Temp/ccMKYVI5.s:232 .data:0000002f Parameter_I_Faktor
		10777	C:\Temp/ccMKYVI5.s:237 .data:00000030 Parameter_Gier_P
		10778	C:\Temp/ccMKYVI5.s:242 .data:00000031 Parameter_Gyro_Gier_I
		10779	C:\Temp/ccMKYVI5.s:247 .data:00000032 Parameter_Gyro_Gier_P
		10780	C:\Temp/ccMKYVI5.s:252 .data:00000033 Parameter_Gyro_I
		10781	C:\Temp/ccMKYVI5.s:257 .data:00000034 Parameter_Gyro_P
		10782	C:\Temp/ccMKYVI5.s:262 .data:00000035 Parameter_Gyro_D
		10783	C:\Temp/ccMKYVI5.s:267 .data:00000036 Parameter_Hoehe_GPS_Z
		10784	C:\Temp/ccMKYVI5.s:272 .data:00000037 Parameter_KompassWirkung
		10785	C:\Temp/ccMKYVI5.s:277 .data:00000038 Parameter_Hoehe_ACC_Wirkung
		10786	C:\Temp/ccMKYVI5.s:282 .data:00000039 Parameter_Hoehe_P
		10787	C:\Temp/ccMKYVI5.s:287 .data:0000003a Parameter_HoehenSchalter
		10788	C:\Temp/ccMKYVI5.s:292 .data:0000003b Parameter_Luftdruck_D
		10789	C:\Temp/ccMKYVI5.s:299 .bss:0000001b Looping_Oben
		10790	C:\Temp/ccMKYVI5.s:305 .bss:0000001c Looping_Unten
		10791	C:\Temp/ccMKYVI5.s:311 .bss:0000001d Looping_Rechts
		10792	C:\Temp/ccMKYVI5.s:317 .bss:0000001e Looping_Links
		10793	C:\Temp/ccMKYVI5.s:323 .bss:0000001f Looping_Roll
		10794	C:\Temp/ccMKYVI5.s:329 .bss:00000020 Looping_Nick
		10795	C:\Temp/ccMKYVI5.s:335 .data:0000003c Ki
		10796	C:\Temp/ccMKYVI5.s:342 .bss:00000021 HoverGas
		10797	C:\Temp/ccMKYVI5.s:348 .bss:00000023 LageKorrekturNick
		10798	C:\Temp/ccMKYVI5.s:354 .bss:00000025 LageKorrekturRoll
		10799	C:\Temp/ccMKYVI5.s:360 .bss:00000027 NeueKompassRichtungMerken
		10800	C:\Temp/ccMKYVI5.s:366 .bss:00000028 CalibrationDone
		10801	C:\Temp/ccMKYVI5.s:372 .bss:00000029 CompassGierSetpoint
		10802	C:\Temp/ccMKYVI5.s:378 .bss:0000002b WaypointTrimming
		10803	C:\Temp/ccMKYVI5.s:384 .data:0000003e carefree_old
		10804	C:\Temp/ccMKYVI5.s:391 .bss:0000002c FromNC_AltitudeSpeed
		10805	C:\Temp/ccMKYVI5.s:397 .bss:0000002d FromNC_AltitudeSetpoint
		10806	C:\Temp/ccMKYVI5.s:403 .bss:00000031 AltitudeSetpointTrimming
		10807	C:\Temp/ccMKYVI5.s:409 .bss:00000033 SollHoehe
		10808	C:\Temp/ccMKYVI5.s:415 .bss:00000037 HoehenWert
		10809	C:\Temp/ccMKYVI5.s:421 .bss:0000003b StartTrigger
		10810	C:\Temp/ccMKYVI5.s:427 .bss:0000003c MotorenEin
		10811	C:\Temp/ccMKYVI5.s:433 .bss:0000003d SenderOkay
		10812	C:\Temp/ccMKYVI5.s:439 .bss:0000003e Poti
		10813	C:\Temp/ccMKYVI5.s:445 .bss:00000047 StickGas
		10814	C:\Temp/ccMKYVI5.s:451 .bss:00000049 StickGier
		10815	C:\Temp/ccMKYVI5.s:457 .bss:0000004b StickRoll
		10816	C:\Temp/ccMKYVI5.s:463 .bss:0000004d StickNick
		10817	C:\Temp/ccMKYVI5.s:469 .data:0000003f HoverGasMax
		10818	C:\Temp/ccMKYVI5.s:476 .bss:0000004f HoverGasMin
		10819	C:\Temp/ccMKYVI5.s:482 .data:00000041 StickGasHover
		10820	C:\Temp/ccMKYVI5.s:489 .bss:00000051 GierGyroFehler
		10821	C:\Temp/ccMKYVI5.s:495 .data:00000043 Umschlag180Roll
		10822	C:\Temp/ccMKYVI5.s:500 .data:00000047 Umschlag180Nick
		10823	C:\Temp/ccMKYVI5.s:507 .bss:00000053 TrichterFlug
		10824	C:\Temp/ccMKYVI5.s:513 .bss:00000054 HoehenReglerAktiv
		10825	C:\Temp/ccMKYVI5.s:519 .data:0000004b KompassSignalSchlecht
		10826	C:\Temp/ccMKYVI5.s:524 .data:0000004d KompassFusion
		10827	C:\Temp/ccMKYVI5.s:529 .data:0000004e CalculateCompassTimer
		10828	C:\Temp/ccMKYVI5.s:536 .bss:00000055 KompassSollWert
		10829	C:\Temp/ccMKYVI5.s:542 .data:0000004f KompassValue
		10830	C:\Temp/ccMKYVI5.s:549 .bss:00000057 Mess_Integral_Hoch
		10831	C:\Temp/ccMKYVI5.s:555 .bss:0000005b SummeRoll
		10832	C:\Temp/ccMKYVI5.s:561 .bss:0000005f SummeNick
		10833	C:\Temp/ccMKYVI5.s:567 .bss:00000063 Mess_Integral_Gier2
		10834	C:\Temp/ccMKYVI5.s:573 .bss:00000067 Mess_Integral_Gier
		10835	C:\Temp/ccMKYVI5.s:579 .bss:0000006b Mess_IntegralRoll2
		10836	C:\Temp/ccMKYVI5.s:585 .bss:0000006f Mess_IntegralRoll
		10837	C:\Temp/ccMKYVI5.s:591 .bss:00000073 Mess_IntegralNick2
		10838	C:\Temp/ccMKYVI5.s:597 .bss:00000077 Mess_IntegralNick
		10839	C:\Temp/ccMKYVI5.s:603 .bss:0000007b Integral_Gier
		10840	C:\Temp/ccMKYVI5.s:609 .bss:0000007f IntegralAccZ
		10841	C:\Temp/ccMKYVI5.s:615 .bss:00000083 IntegralAccRoll
		10842	C:\Temp/ccMKYVI5.s:621 .bss:00000087 IntegralAccNick
		10843	C:\Temp/ccMKYVI5.s:627 .bss:0000008b IntegralRoll2
		10844	C:\Temp/ccMKYVI5.s:633 .bss:0000008f IntegralRoll
		10845	C:\Temp/ccMKYVI5.s:639 .bss:00000093 IntegralNick2
		10846	C:\Temp/ccMKYVI5.s:645 .bss:00000097 IntegralNick
		10847	C:\Temp/ccMKYVI5.s:651 .bss:0000009b ControlHeading
		10848	C:\Temp/ccMKYVI5.s:657 .bss:0000009c NeutralAccZ
		10849	C:\Temp/ccMKYVI5.s:663 .bss:0000009e NaviCntAcc
		10850	C:\Temp/ccMKYVI5.s:669 .bss:000000a0 NeutralAccY
		10851	C:\Temp/ccMKYVI5.s:675 .bss:000000a2 NeutralAccX
		10852	C:\Temp/ccMKYVI5.s:681 .bss:000000a4 StartNeutralNick
		10853	C:\Temp/ccMKYVI5.s:687 .bss:000000a6 StartNeutralRoll
		10854	C:\Temp/ccMKYVI5.s:693 .bss:000000a8 AdNeutralGier
		10855	C:\Temp/ccMKYVI5.s:699 .bss:000000aa AdNeutralRoll
		10856	C:\Temp/ccMKYVI5.s:705 .bss:000000ac AdNeutralNick
		10857	C:\Temp/ccMKYVI5.s:711 .bss:000000ae BaroExpandActive
		10858	C:\Temp/ccMKYVI5.s:716 .text:00000000 CopyDebugValues
		10859	COM:00000002 Mittelwert_AccNick
		10860	COM:00000002 Mittelwert_AccRoll
		10861	COM:00000004 ErsatzKompass
		10862	C:\Temp/ccMKYVI5.s:933 .text:000002a0 Piep
		10863	C:\Temp/ccMKYVI5.s:1007 .text:00000326 CalibrierMittelwert
		10864	COM:00000002 MesswertNick
		10865	COM:00000002 MesswertRoll
		10866	COM:00000002 MesswertGier
		10867	C:\Temp/ccMKYVI5.s:1149 .progmem.data:00000000 __c.35
		10868	C:\Temp/ccMKYVI5.s:1154 .text:00000468 SetNeutral
		10869	.bss:000000b0 tmpl.27
		10870	C:\Temp/ccMKYVI5.s:1662 .bss:000000b4 tmpl2.28
		10871	C:\Temp/ccMKYVI5.s:1663 .bss:000000b8 tmpl3.29
		10872	C:\Temp/ccMKYVI5.s:1664 .bss:000000bc tmpl4.30
		10873	C:\Temp/ccMKYVI5.s:1665 .bss:000000c0 oldNick.31
		10874	C:\Temp/ccMKYVI5.s:1666 .bss:000000c2 oldRoll.32
		10875	C:\Temp/ccMKYVI5.s:1667 .bss:000000c4 d2Roll.33
		10876	C:\Temp/ccMKYVI5.s:1668 .bss:000000c6 d2Nick.34
		10877	C:\Temp/ccMKYVI5.s:1672 .text:000009d4 Mittelwert
		10878	COM:00000002 RohMesswertNick
		10879	COM:00000002 RohMesswertRoll
		10880	COM:00000002 NaviAccNick
		10881	COM:00000002 NaviAccRoll
		10882	COM:00000001 Parameter_GlobalConfig
		10883	COM:00000002 KopplungsteilNickRoll
		10884	COM:00000002 KopplungsteilRollNick
		10885	COM:00000002 TrimRoll
		10886	COM:00000002 TrimNick
		10887	C:\Temp/ccMKYVI5.s:3237 .text:00001938 SendMotorData
		10888	C:\Temp/ccMKYVI5.s:3297 .text:000019b2 ParameterZuordnung
		10889	COM:00000001 Parameter_J16Timing
		10890	COM:00000001 Parameter_J17Timing
		10891	COM:00000001 Parameter_Servo3
		10892	COM:00000001 Parameter_Servo4
		10893	COM:00000001 Parameter_Servo5
		10894	COM:00000001 Parameter_MaximumAltitude
		10895	COM:00000001 Parameter_ExtraConfig
		10896	COM:00000001 Parameter_ExternalControl
		10897	COM:00000001 MAX_GAS
		10898	COM:00000001 MIN_GAS
		10899	C:\Temp/ccMKYVI5.s:1669 .bss:000000c8 sollGier.0
		10900	C:\Temp/ccMKYVI5.s:4040 .bss:000000cc tmp_long.1
		10901	C:\Temp/ccMKYVI5.s:4041 .bss:000000d0 tmp_long2.2
		10902	C:\Temp/ccMKYVI5.s:4042 .bss:000000d4 IntegralFehlerNick.3
		10903	C:\Temp/ccMKYVI5.s:4043 .bss:000000d8 IntegralFehlerRoll.4
		10904	C:\Temp/ccMKYVI5.s:4044 .bss:000000dc RcLostTimer.5
		10905	C:\Temp/ccMKYVI5.s:4045 .bss:000000de delay_neutral.6
		10906	C:\Temp/ccMKYVI5.s:4046 .bss:000000df delay_einschalten.7
		10907	C:\Temp/ccMKYVI5.s:4047 .bss:000000e0 delay_ausschalten.8
		10908	C:\Temp/ccMKYVI5.s:4048 .bss:000000e1 move_safety_switch.9
		10909	C:\Temp/ccMKYVI5.s:4049 .bss:000000e2 ausgleichNick.10
		10910	C:\Temp/ccMKYVI5.s:4050 .bss:000000e6 ausgleichRoll.11
		10911	C:\Temp/ccMKYVI5.s:4051 .bss:000000ea stick_nick.12
		10912	C:\Temp/ccMKYVI5.s:4052 .bss:000000ec stick_roll.13
		10913	C:\Temp/ccMKYVI5.s:4053 .bss:000000ee cnt.14
		10914	C:\Temp/ccMKYVI5.s:4054 .bss:000000f0 last_n_p.15
		10915	C:\Temp/ccMKYVI5.s:4055 .bss:000000f1 last_n_n.16
		10916	C:\Temp/ccMKYVI5.s:4056 .bss:000000f2 last_r_p.17
		10917	C:\Temp/ccMKYVI5.s:4057 .bss:000000f3 last_r_n.18
		10918	C:\Temp/ccMKYVI5.s:4058 .bss:000000f4 MittelIntegralNick_Alt.19
		10919	C:\Temp/ccMKYVI5.s:4059 .bss:000000f8 MittelIntegralRoll_Alt.20
		10920	C:\Temp/ccMKYVI5.s:4060 .bss:000000fc HeightTrimming.21
		10921	C:\Temp/ccMKYVI5.s:4061 .bss:000000fe FilterHCGas.22
		10922	C:\Temp/ccMKYVI5.s:4062 .bss:00000100 HoverGasFilter.23
		10923	C:\Temp/ccMKYVI5.s:4067 .data:00000051 delay.24
		10924	C:\Temp/ccMKYVI5.s:4063 .bss:00000104 BaroAtUpperLimit.25
		10925	C:\Temp/ccMKYVI5.s:4069 .bss:00000105 BaroAtLowerLimit.26
		10926	C:\Temp/ccMKYVI5.s:4074 .text:00001fea MotorRegler
		10927	COM:00000001 GyroFaktor
		10928	COM:00000001 IntegralFaktor
		10929	COM:00000001 GyroFaktorGier
		10930	COM:00000001 IntegralFaktorGier
		10931	COM:00000004 MittelIntegralNick
		10932	COM:00000004 MittelIntegralRoll
		10933	COM:00000004 MittelIntegralNick2
		10934	COM:00000004 MittelIntegralRoll2
		10935	COM:00000002 ErsatzKompassInGrad
		10936	COM:00000002 DiffNick
		10937	COM:00000002 DiffRoll
		10938	COM:00000018 tmp_motorwert
		10939	COM:00000001 h
		10940	COM:00000001 m
		10941	COM:00000001 s
		10942	COM:00000001 Parameter_J16Bitmask
		10943	COM:00000001 Parameter_J17Bitmask
		10944	COM:00000002 MesswertGierBias
		10945	COM:00000001 Parameter_NaviGpsModeControl
		10946	COM:00000001 Parameter_NaviGpsGain
		10947	COM:00000001 Parameter_NaviGpsP
		10948	COM:00000001 Parameter_NaviGpsI
		10949	COM:00000001 Parameter_NaviGpsD
		10950	COM:00000001 Parameter_NaviGpsACC
		10951	COM:00000001 Parameter_NaviOperatingRadius
		10952	COM:00000001 Parameter_NaviWindCorrection
		10953	COM:00000001 Parameter_NaviSpeedCompensation
		10954
		10955	UNDEFINED SYMBOLS
		10956	__do_copy_data
		10957	__do_clear_bss
		10958	EE_Parameter
		10959	__divmodsi4
		10960	DebugOut
		10961	Capacity
		10962	UBat
		10963	Motor
		10964	AdWertGier
		10965	ServoNickValue
		10966	AdWertAccHoch
		10967	GPS_Nick
		10968	GPS_Roll
		10969	VersionInfo
		10970	PlatinenVersion
		10971	beeptime
		10972	UpdateMotor
		10973	LIBFC_Polling
		10974	SucheGyroOffset
		10975	AdWertNick
		10976	AdWertRoll
		10977	AdWertAccNick
		10978	AdWertAccRoll
		10979	PPM_in
		10980	__mulsi3
		10981	__prologue_saves__
		10982	ExpandBaro
		10983	Delay_ms_Mess
		10984	MessLuftdruck
		10985	SucheLuftruckOffset
		10986	__divmodhi4
		10987	Aktuell_az
		10988	SetParamWord
		10989	GetParamWord
		10990	uart_putchar
		10991	_printf_P
		10992	Luftdruck
		10993	StartLuftdruck
		10994	VarioMeter
		10995	LED_Init
		10996	FromNaviCtrl_Value
		10997	ServoActive
		10998	NickServoValue
		10999	LIBFC_HoTT_Clear
		11000	__epilogue_restores__
		11001	AdWertNickFilter
		11002	AdWertRollFilter
		11003	AdReady
		11004	HiResNick
		11005	HiResRoll
		11006	MotorTest
		11007	PC_MotortestActive
		11008	I2C_TransferActive
		11009	motor_write
		11010	twi_state
		11011	BLFlags
		11012	NC_To_FC_MaxAltitude
		11013	SpeakHoTT
		11014	FromNaviCtrl
		11015	BeepMuster
		11016	PPM_diff
		11017	SetActiveParamSet
		11018	WinkelOut
		11019	GetActiveParamSet
		11020	ParamSet_ReadFromEEProm
		11021	LipoDetection
		11022	LIBFC_ReceiverInit
		11023	NC_ErrorCode
		11024	GPSInfo
		11025	NewPpmData
		11026	FromNC_Rotate_C
		11027	FromNC_Rotate_S
		11028	GPS_Aid_StickMultiplikator
		11029	__floatsisf
		11030	__addsf3
		11031	__fixunssfsi
		11032	ExternControl
		11033	ZaehlMessungen
		11034	BattLowVoltageWarning
		11035	__udivmodhi4
		11036	DruckOffsetSetting
		11037	SummenHoehe
		11038	ihypot
		11039	c_cos_8192
		11040	__udivmodqi4
		11041	NC_To_FC_Flags
		11042	MissingMotor
		11043	Mixer

Subversion Repositories FlightCtrl

(root)/branches/v0.90e_Ernstl_6-Motoren+Sexpander/fc.lst - Rev 2303