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1 .file "fc.c"2 __SREG__ = 0x3f3 __SP_H__ = 0x3e4 __SP_L__ = 0x3d5 __CCP__ = 0x346 __tmp_reg__ = 07 __zero_reg__ = 18 .text9 .global MotorSmoothing11 MotorSmoothing:12 /* prologue: function */13 /* frame size = 0 */14 0000 9B01 movw r18,r2215 0002 6817 cp r22,r2416 0004 7907 cpc r23,r2517 0006 04F0 brlt .L718 0008 BC01 movw r22,r2419 000a 660F lsl r2220 000c 771F rol r2321 000e 621B sub r22,r1822 0010 730B sbc r23,r1923 0012 CB01 movw r24,r2224 /* epilogue start */25 0014 0895 ret26 .L7:27 0016 680F add r22,r2428 0018 791F adc r23,r2529 001a 77FD sbrc r23,730 001c 00C0 rjmp .L831 .L3:32 001e 7595 asr r2333 0020 6795 ror r2234 0022 CB01 movw r24,r2235 0024 0895 ret36 .L8:37 0026 6F5F subi r22,lo8(-(1))38 0028 7F4F sbci r23,hi8(-(1))39 002a 00C0 rjmp .L341 .global Mean43 Mean:44 002c 2F92 push r245 002e 3F92 push r346 0030 4F92 push r447 0032 5F92 push r548 0034 6F92 push r649 0036 7F92 push r750 0038 8F92 push r851 003a 9F92 push r952 003c AF92 push r1053 003e BF92 push r1154 0040 CF92 push r1255 0042 DF92 push r1356 0044 EF92 push r1457 0046 FF92 push r1558 0048 0F93 push r1659 004a 1F93 push r1760 004c DF93 push r2961 004e CF93 push r2862 0050 CDB7 in r28,__SP_L__63 0052 DEB7 in r29,__SP_H__64 0054 AD97 sbiw r28,4565 0056 0FB6 in __tmp_reg__,__SREG__66 0058 F894 cli67 005a DEBF out __SP_H__,r2968 005c 0FBE out __SREG__,__tmp_reg__69 005e CDBF out __SP_L__,r2870 /* prologue: function */71 /* frame size = 45 */72 0060 8091 0000 lds r24,HiResGyroNick73 0064 9091 0000 lds r25,(HiResGyroNick)+174 0068 97FD sbrc r25,775 006a 00C0 rjmp .L6776 .L10:77 006c 9595 asr r2578 006e 8795 ror r2479 0070 9595 asr r2580 0072 8795 ror r2481 0074 9595 asr r2582 0076 8795 ror r2483 0078 9093 0000 sts (GyroNick)+1,r2584 007c 8093 0000 sts GyroNick,r2485 0080 2091 0000 lds r18,FilterHiResGyroNick86 0084 3091 0000 lds r19,(FilterHiResGyroNick)+187 0088 37FD sbrc r19,788 008a 00C0 rjmp .L6889 .L11:90 008c C901 movw r24,r1891 008e 9595 asr r2592 0090 8795 ror r2493 0092 9595 asr r2594 0094 8795 ror r2495 0096 9595 asr r2596 0098 8795 ror r2497 009a 9D8F std Y+29,r2598 009c 8C8F std Y+28,r2499 009e 8091 0000 lds r24,AdValueGyroNick100 00a2 9091 0000 lds r25,(AdValueGyroNick)+1101 00a6 0F97 sbiw r24,15102 00a8 04F4 brge .L12103 00aa 88E1 ldi r24,lo8(-1000)104 00ac 9CEF ldi r25,hi8(-1000)105 00ae 9093 0000 sts (GyroNick)+1,r25106 00b2 8093 0000 sts GyroNick,r24107 .L12:108 00b6 8091 0000 lds r24,AdValueGyroNick109 00ba 9091 0000 lds r25,(AdValueGyroNick)+1110 00be 0797 sbiw r24,7111 00c0 04F4 brge .L13112 00c2 80E3 ldi r24,lo8(-2000)113 00c4 98EF ldi r25,hi8(-2000)114 00c6 9093 0000 sts (GyroNick)+1,r25115 00ca 8093 0000 sts GyroNick,r24116 .L13:117 00ce 4091 0000 lds r20,BoardRelease118 00d2 4A30 cpi r20,lo8(10)119 00d4 01F4 brne .+2120 00d6 00C0 rjmp .L69121 00d8 8091 0000 lds r24,AdValueGyroNick122 00dc 9091 0000 lds r25,(AdValueGyroNick)+1123 00e0 815D subi r24,lo8(2001)124 00e2 9740 sbci r25,hi8(2001)125 00e4 04F0 brlt .L17126 00e6 88EE ldi r24,lo8(1000)127 00e8 93E0 ldi r25,hi8(1000)128 00ea 9093 0000 sts (GyroNick)+1,r25129 00ee 8093 0000 sts GyroNick,r24130 .L17:131 00f2 8091 0000 lds r24,AdValueGyroNick132 00f6 9091 0000 lds r25,(AdValueGyroNick)+1133 00fa 805E subi r24,lo8(2016)134 00fc 9740 sbci r25,hi8(2016)135 00fe 04F0 brlt .+2136 0100 00C0 rjmp .L65137 .L16:138 0102 8091 0000 lds r24,HiResGyroRoll139 0106 9091 0000 lds r25,(HiResGyroRoll)+1140 010a 97FD sbrc r25,7141 010c 00C0 rjmp .L70142 .L18:143 010e 9595 asr r25144 0110 8795 ror r24145 0112 9595 asr r25146 0114 8795 ror r24147 0116 9595 asr r25148 0118 8795 ror r24149 011a 9093 0000 sts (GyroRoll)+1,r25150 011e 8093 0000 sts GyroRoll,r24151 0122 2091 0000 lds r18,FilterHiResGyroRoll152 0126 3091 0000 lds r19,(FilterHiResGyroRoll)+1153 012a 37FD sbrc r19,7154 012c 00C0 rjmp .L71155 .L19:156 012e C901 movw r24,r18157 0130 9595 asr r25158 0132 8795 ror r24159 0134 9595 asr r25160 0136 8795 ror r24161 0138 9595 asr r25162 013a 8795 ror r24163 013c 9B8F std Y+27,r25164 013e 8A8F std Y+26,r24165 0140 8091 0000 lds r24,AdValueGyroRoll166 0144 9091 0000 lds r25,(AdValueGyroRoll)+1167 0148 0F97 sbiw r24,15168 014a 04F4 brge .L20169 014c 88E1 ldi r24,lo8(-1000)170 014e 9CEF ldi r25,hi8(-1000)171 0150 9093 0000 sts (GyroRoll)+1,r25172 0154 8093 0000 sts GyroRoll,r24173 .L20:174 0158 8091 0000 lds r24,AdValueGyroRoll175 015c 9091 0000 lds r25,(AdValueGyroRoll)+1176 0160 0797 sbiw r24,7177 0162 04F4 brge .L21178 0164 80E3 ldi r24,lo8(-2000)179 0166 98EF ldi r25,hi8(-2000)180 0168 9093 0000 sts (GyroRoll)+1,r25181 016c 8093 0000 sts GyroRoll,r24182 .L21:183 0170 4A30 cpi r20,lo8(10)184 0172 01F4 brne .+2185 0174 00C0 rjmp .L72186 0176 8091 0000 lds r24,AdValueGyroRoll187 017a 9091 0000 lds r25,(AdValueGyroRoll)+1188 017e 815D subi r24,lo8(2001)189 0180 9740 sbci r25,hi8(2001)190 0182 04F0 brlt .L25191 0184 88EE ldi r24,lo8(1000)192 0186 93E0 ldi r25,hi8(1000)193 0188 9093 0000 sts (GyroRoll)+1,r25194 018c 8093 0000 sts GyroRoll,r24195 .L25:196 0190 8091 0000 lds r24,AdValueGyroRoll197 0194 9091 0000 lds r25,(AdValueGyroRoll)+1198 0198 805E subi r24,lo8(2016)199 019a 9740 sbci r25,hi8(2016)200 019c 04F0 brlt .+2201 019e 00C0 rjmp .L66202 .L24:203 01a0 8091 0000 lds r24,AdValueGyroYaw204 01a4 9091 0000 lds r25,(AdValueGyroYaw)+1205 01a8 2091 0000 lds r18,AdBiasGyroYaw206 01ac 3091 0000 lds r19,(AdBiasGyroYaw)+1207 01b0 281B sub r18,r24208 01b2 390B sbc r19,r25209 01b4 3DA7 std Y+45,r19210 01b6 2CA7 std Y+44,r18211 01b8 3093 0000 sts (GyroYaw)+1,r19212 01bc 2093 0000 sts GyroYaw,r18213 01c0 6091 0000 lds r22,AdValueAccNick214 01c4 7091 0000 lds r23,(AdValueAccNick)+1215 01c8 8827 clr r24216 01ca 77FD sbrc r23,7217 01cc 8095 com r24218 01ce 982F mov r25,r24219 01d0 26E0 ldi r18,lo8(6)220 01d2 30E0 ldi r19,hi8(6)221 01d4 40E0 ldi r20,hlo8(6)222 01d6 50E0 ldi r21,hhi8(6)223 01d8 0E94 0000 call __mulsi3224 01dc 7B01 movw r14,r22225 01de 8C01 movw r16,r24226 01e0 2091 0000 lds r18,AccNick227 01e4 3091 0000 lds r19,(AccNick)+1228 01e8 4427 clr r20229 01ea 37FD sbrc r19,7230 01ec 4095 com r20231 01ee 542F mov r21,r20232 01f0 CA01 movw r24,r20233 01f2 B901 movw r22,r18234 01f4 660F lsl r22235 01f6 771F rol r23236 01f8 881F rol r24237 01fa 991F rol r25238 01fc 620F add r22,r18239 01fe 731F adc r23,r19240 0200 841F adc r24,r20241 0202 951F adc r25,r21242 0204 6E0D add r22,r14243 0206 7F1D adc r23,r15244 0208 801F adc r24,r16245 020a 911F adc r25,r17246 020c 24E0 ldi r18,lo8(4)247 020e 30E0 ldi r19,hi8(4)248 0210 40E0 ldi r20,hlo8(4)249 0212 50E0 ldi r21,hhi8(4)250 0214 0E94 0000 call __divmodsi4251 0218 3093 0000 sts (AccNick)+1,r19252 021c 2093 0000 sts AccNick,r18253 0220 6091 0000 lds r22,AdValueAccRoll254 0224 7091 0000 lds r23,(AdValueAccRoll)+1255 0228 8827 clr r24256 022a 77FD sbrc r23,7257 022c 8095 com r24258 022e 982F mov r25,r24259 0230 26E0 ldi r18,lo8(6)260 0232 30E0 ldi r19,hi8(6)261 0234 40E0 ldi r20,hlo8(6)262 0236 50E0 ldi r21,hhi8(6)263 0238 0E94 0000 call __mulsi3264 023c 7B01 movw r14,r22265 023e 8C01 movw r16,r24266 0240 2091 0000 lds r18,AccRoll267 0244 3091 0000 lds r19,(AccRoll)+1268 0248 4427 clr r20269 024a 37FD sbrc r19,7270 024c 4095 com r20271 024e 542F mov r21,r20272 0250 CA01 movw r24,r20273 0252 B901 movw r22,r18274 0254 660F lsl r22275 0256 771F rol r23276 0258 881F rol r24277 025a 991F rol r25278 025c 620F add r22,r18279 025e 731F adc r23,r19280 0260 841F adc r24,r20281 0262 951F adc r25,r21282 0264 6E0D add r22,r14283 0266 7F1D adc r23,r15284 0268 801F adc r24,r16285 026a 911F adc r25,r17286 026c 24E0 ldi r18,lo8(4)287 026e 30E0 ldi r19,hi8(4)288 0270 40E0 ldi r20,hlo8(4)289 0272 50E0 ldi r21,hhi8(4)290 0274 0E94 0000 call __divmodsi4291 0278 3093 0000 sts (AccRoll)+1,r19292 027c 2093 0000 sts AccRoll,r18293 0280 E090 0000 lds r14,AdValueAccTop294 0284 F090 0000 lds r15,(AdValueAccTop)+1295 0288 2091 0000 lds r18,AccTop296 028c 3091 0000 lds r19,(AccTop)+1297 0290 4427 clr r20298 0292 37FD sbrc r19,7299 0294 4095 com r20300 0296 542F mov r21,r20301 0298 CA01 movw r24,r20302 029a B901 movw r22,r18303 029c 660F lsl r22304 029e 771F rol r23305 02a0 881F rol r24306 02a2 991F rol r25307 02a4 620F add r22,r18308 02a6 731F adc r23,r19309 02a8 841F adc r24,r20310 02aa 951F adc r25,r21311 02ac 0027 clr r16312 02ae F7FC sbrc r15,7313 02b0 0095 com r16314 02b2 102F mov r17,r16315 02b4 6E0D add r22,r14316 02b6 7F1D adc r23,r15317 02b8 801F adc r24,r16318 02ba 911F adc r25,r17319 02bc 24E0 ldi r18,lo8(4)320 02be 30E0 ldi r19,hi8(4)321 02c0 40E0 ldi r20,hlo8(4)322 02c2 50E0 ldi r21,hhi8(4)323 02c4 0E94 0000 call __divmodsi4324 02c8 3093 0000 sts (AccTop)+1,r19325 02cc 2093 0000 sts AccTop,r18326 02d0 2091 0000 lds r18,AdValueAccNick327 02d4 3091 0000 lds r19,(AdValueAccNick)+1328 02d8 C901 movw r24,r18329 02da 880F lsl r24330 02dc 991F rol r25331 02de 820F add r24,r18332 02e0 931F adc r25,r19333 02e2 880F lsl r24334 02e4 991F rol r25335 02e6 AA27 clr r26336 02e8 97FD sbrc r25,7337 02ea A095 com r26338 02ec BA2F mov r27,r26339 02ee 2091 0000 lds r18,MeanAccNick340 02f2 3091 0000 lds r19,(MeanAccNick)+1341 02f6 4091 0000 lds r20,(MeanAccNick)+2342 02fa 5091 0000 lds r21,(MeanAccNick)+3343 02fe 280F add r18,r24344 0300 391F adc r19,r25345 0302 4A1F adc r20,r26346 0304 5B1F adc r21,r27347 0306 2093 0000 sts MeanAccNick,r18348 030a 3093 0000 sts (MeanAccNick)+1,r19349 030e 4093 0000 sts (MeanAccNick)+2,r20350 0312 5093 0000 sts (MeanAccNick)+3,r21351 0316 2091 0000 lds r18,AdValueAccRoll352 031a 3091 0000 lds r19,(AdValueAccRoll)+1353 031e C901 movw r24,r18354 0320 880F lsl r24355 0322 991F rol r25356 0324 820F add r24,r18357 0326 931F adc r25,r19358 0328 880F lsl r24359 032a 991F rol r25360 032c AA27 clr r26361 032e 97FD sbrc r25,7362 0330 A095 com r26363 0332 BA2F mov r27,r26364 0334 2091 0000 lds r18,MeanAccRoll365 0338 3091 0000 lds r19,(MeanAccRoll)+1366 033c 4091 0000 lds r20,(MeanAccRoll)+2367 0340 5091 0000 lds r21,(MeanAccRoll)+3368 0344 280F add r18,r24369 0346 391F adc r19,r25370 0348 4A1F adc r20,r26371 034a 5B1F adc r21,r27372 034c 2093 0000 sts MeanAccRoll,r18373 0350 3093 0000 sts (MeanAccRoll)+1,r19374 0354 4093 0000 sts (MeanAccRoll)+2,r20375 0358 5093 0000 sts (MeanAccRoll)+3,r21376 035c 2091 0000 lds r18,AdValueAccNick377 0360 3091 0000 lds r19,(AdValueAccNick)+1378 0364 8091 0000 lds r24,NaviAccNick379 0368 9091 0000 lds r25,(NaviAccNick)+1380 036c 820F add r24,r18381 036e 931F adc r25,r19382 0370 9093 0000 sts (NaviAccNick)+1,r25383 0374 8093 0000 sts NaviAccNick,r24384 0378 2091 0000 lds r18,AdValueAccRoll385 037c 3091 0000 lds r19,(AdValueAccRoll)+1386 0380 8091 0000 lds r24,NaviAccRoll387 0384 9091 0000 lds r25,(NaviAccRoll)+1388 0388 820F add r24,r18389 038a 931F adc r25,r19390 038c 9093 0000 sts (NaviAccRoll)+1,r25391 0390 8093 0000 sts NaviAccRoll,r24392 0394 8091 0000 lds r24,NaviCntAcc393 0398 9091 0000 lds r25,(NaviCntAcc)+1394 039c 0196 adiw r24,1395 039e 9093 0000 sts (NaviCntAcc)+1,r25396 03a2 8093 0000 sts NaviCntAcc,r24397 03a6 8091 7A00 lds r24,122398 03aa 886C ori r24,lo8(-56)399 03ac 8093 7A00 sts 122,r24400 03b0 1092 0000 sts ADReady,__zero_reg__401 03b4 8091 0000 lds r24,ReadingIntegralGyroNick402 03b8 9091 0000 lds r25,(ReadingIntegralGyroNick)+1403 03bc A091 0000 lds r26,(ReadingIntegralGyroNick)+2404 03c0 B091 0000 lds r27,(ReadingIntegralGyroNick)+3405 03c4 8E8B std Y+22,r24406 03c6 9F8B std Y+23,r25407 03c8 A88F std Y+24,r26408 03ca B98F std Y+25,r27409 03cc 8091 0000 lds r24,ReadingIntegralGyroRoll410 03d0 9091 0000 lds r25,(ReadingIntegralGyroRoll)+1411 03d4 A091 0000 lds r26,(ReadingIntegralGyroRoll)+2412 03d8 B091 0000 lds r27,(ReadingIntegralGyroRoll)+3413 03dc 8A8B std Y+18,r24414 03de 9B8B std Y+19,r25415 03e0 AC8B std Y+20,r26416 03e2 BD8B std Y+21,r27417 03e4 ACA5 ldd r26,Y+44418 03e6 BDA5 ldd r27,Y+45419 03e8 3D01 movw r6,r26420 03ea 8824 clr r8421 03ec 77FC sbrc r7,7422 03ee 8094 com r8423 03f0 982C mov r9,r8424 03f2 E090 0000 lds r14,YawGyroHeading425 03f6 F090 0000 lds r15,(YawGyroHeading)+1426 03fa 0091 0000 lds r16,(YawGyroHeading)+2427 03fe 1091 0000 lds r17,(YawGyroHeading)+3428 0402 E60C add r14,r6429 0404 F71C adc r15,r7430 0406 081D adc r16,r8431 0408 191D adc r17,r9432 040a ECA2 std Y+36,r14433 040c FDA2 std Y+37,r15434 040e 0EA3 std Y+38,r16435 0410 1FA3 std Y+39,r17436 0412 E092 0000 sts YawGyroHeading,r14437 0416 F092 0000 sts (YawGyroHeading)+1,r15438 041a 0093 0000 sts (YawGyroHeading)+2,r16439 041e 1093 0000 sts (YawGyroHeading)+3,r17440 0422 2090 0000 lds r2,ReadingIntegralGyroYaw441 0426 3090 0000 lds r3,(ReadingIntegralGyroYaw)+1442 042a 4090 0000 lds r4,(ReadingIntegralGyroYaw)+2443 042e 5090 0000 lds r5,(ReadingIntegralGyroYaw)+3444 0432 260C add r2,r6445 0434 371C adc r3,r7446 0436 481C adc r4,r8447 0438 591C adc r5,r9448 043a 28A2 std Y+32,r2449 043c 39A2 std Y+33,r3450 043e 4AA2 std Y+34,r4451 0440 5BA2 std Y+35,r5452 0442 2092 0000 sts ReadingIntegralGyroYaw,r2453 0446 3092 0000 sts (ReadingIntegralGyroYaw)+1,r3454 044a 4092 0000 sts (ReadingIntegralGyroYaw)+2,r4455 044e 5092 0000 sts (ReadingIntegralGyroYaw)+3,r5456 0452 B091 0000 lds r27,LoopingNick457 0456 BF8F std Y+31,r27458 0458 BB23 tst r27459 045a 01F4 brne .L26460 045c 8091 0000 lds r24,LoopingRoll461 0460 8823 tst r24462 0462 01F4 brne .+2463 0464 00C0 rjmp .L27464 .L26:465 0466 E091 0000 lds r30,ParamSet+8466 046a E98B std Y+17,r30467 .L28:468 046c 1092 0000 sts (TrimNick)+1,__zero_reg__469 0470 1092 0000 sts TrimNick,__zero_reg__470 0474 1092 0000 sts (TrimRoll)+1,__zero_reg__471 0478 1092 0000 sts TrimRoll,__zero_reg__472 047c 1D86 std Y+13,__zero_reg__473 047e 1E86 std Y+14,__zero_reg__474 0480 1F86 std Y+15,__zero_reg__475 0482 188A std Y+16,__zero_reg__476 0484 1986 std Y+9,__zero_reg__477 0486 1A86 std Y+10,__zero_reg__478 0488 1B86 std Y+11,__zero_reg__479 048a 1C86 std Y+12,__zero_reg__480 .L40:481 048c 8091 0000 lds r24,ParamSet+23482 0490 A82E mov r10,r24483 0492 BB24 clr r11484 0494 CC24 clr r12485 0496 DD24 clr r13486 0498 C601 movw r24,r12487 049a B501 movw r22,r10488 049c 20E1 ldi r18,lo8(15120)489 049e 3BE3 ldi r19,hi8(15120)490 04a0 40E0 ldi r20,hlo8(15120)491 04a2 50E0 ldi r21,hhi8(15120)492 04a4 0E94 0000 call __mulsi3493 04a8 3B01 movw r6,r22494 04aa 4C01 movw r8,r24495 04ac E616 cp r14,r22496 04ae F706 cpc r15,r23497 04b0 0807 cpc r16,r24498 04b2 1907 cpc r17,r25499 04b4 04F0 brlt .L41500 04b6 C601 movw r24,r12501 04b8 B501 movw r22,r10502 04ba 20EF ldi r18,lo8(-15120)503 04bc 34EC ldi r19,hi8(-15120)504 04be 4FEF ldi r20,hlo8(-15120)505 04c0 5FEF ldi r21,hhi8(-15120)506 04c2 0E94 0000 call __mulsi3507 04c6 6E0D add r22,r14508 04c8 7F1D adc r23,r15509 04ca 801F adc r24,r16510 04cc 911F adc r25,r17511 04ce 6093 0000 sts YawGyroHeading,r22512 04d2 7093 0000 sts (YawGyroHeading)+1,r23513 04d6 8093 0000 sts (YawGyroHeading)+2,r24514 04da 9093 0000 sts (YawGyroHeading)+3,r25515 04de 7B01 movw r14,r22516 04e0 8C01 movw r16,r24517 .L41:518 04e2 17FD sbrc r17,7519 04e4 00C0 rjmp .L73520 .L42:521 04e6 6090 0000 lds r6,TrimRoll522 04ea 7090 0000 lds r7,(TrimRoll)+1523 04ee 2A8D ldd r18,Y+26524 04f0 3B8D ldd r19,Y+27525 04f2 260D add r18,r6526 04f4 371D adc r19,r7527 04f6 7901 movw r14,r18528 04f8 0027 clr r16529 04fa F7FC sbrc r15,7530 04fc 0095 com r16531 04fe 102F mov r17,r16532 0500 8091 0000 lds r24,ReadingIntegralGyroRoll2533 0504 9091 0000 lds r25,(ReadingIntegralGyroRoll2)+1534 0508 A091 0000 lds r26,(ReadingIntegralGyroRoll2)+2535 050c B091 0000 lds r27,(ReadingIntegralGyroRoll2)+3536 0510 8E0D add r24,r14537 0512 9F1D adc r25,r15538 0514 A01F adc r26,r16539 0516 B11F adc r27,r17540 0518 8093 0000 sts ReadingIntegralGyroRoll2,r24541 051c 9093 0000 sts (ReadingIntegralGyroRoll2)+1,r25542 0520 A093 0000 sts (ReadingIntegralGyroRoll2)+2,r26543 0524 B093 0000 sts (ReadingIntegralGyroRoll2)+3,r27544 0528 8091 0000 lds r24,AttitudeCorrectionRoll545 052c 9091 0000 lds r25,(AttitudeCorrectionRoll)+1546 0530 281B sub r18,r24547 0532 390B sbc r19,r25548 0534 4427 clr r20549 0536 37FD sbrc r19,7550 0538 4095 com r20551 053a 542F mov r21,r20552 053c 8A89 ldd r24,Y+18553 053e 9B89 ldd r25,Y+19554 0540 AC89 ldd r26,Y+20555 0542 BD89 ldd r27,Y+21556 0544 280F add r18,r24557 0546 391F adc r19,r25558 0548 4A1F adc r20,r26559 054a 5B1F adc r21,r27560 054c 2093 0000 sts ReadingIntegralGyroRoll,r18561 0550 3093 0000 sts (ReadingIntegralGyroRoll)+1,r19562 0554 4093 0000 sts (ReadingIntegralGyroRoll)+2,r20563 0558 5093 0000 sts (ReadingIntegralGyroRoll)+3,r21564 055c E090 0000 lds r14,TurnOver180Roll565 0560 F090 0000 lds r15,(TurnOver180Roll)+1566 0564 0091 0000 lds r16,(TurnOver180Roll)+2567 0568 1091 0000 lds r17,(TurnOver180Roll)+3568 056c E216 cp r14,r18569 056e F306 cpc r15,r19570 0570 0407 cpc r16,r20571 0572 1507 cpc r17,r21572 0574 04F4 brge .L43573 0576 80E1 ldi r24,lo8(10000)574 0578 97E2 ldi r25,hi8(10000)575 057a A0E0 ldi r26,hlo8(10000)576 057c B0E0 ldi r27,hhi8(10000)577 057e 8E19 sub r24,r14578 0580 9F09 sbc r25,r15579 0582 A00B sbc r26,r16580 0584 B10B sbc r27,r17581 0586 8093 0000 sts ReadingIntegralGyroRoll,r24582 058a 9093 0000 sts (ReadingIntegralGyroRoll)+1,r25583 058e A093 0000 sts (ReadingIntegralGyroRoll)+2,r26584 0592 B093 0000 sts (ReadingIntegralGyroRoll)+3,r27585 0596 8093 0000 sts ReadingIntegralGyroRoll2,r24586 059a 9093 0000 sts (ReadingIntegralGyroRoll2)+1,r25587 059e A093 0000 sts (ReadingIntegralGyroRoll2)+2,r26588 05a2 B093 0000 sts (ReadingIntegralGyroRoll2)+3,r27589 .L43:590 05a6 8827 clr r24591 05a8 9927 clr r25592 05aa DC01 movw r26,r24593 05ac 8E19 sub r24,r14594 05ae 9F09 sbc r25,r15595 05b0 A00B sbc r26,r16596 05b2 B10B sbc r27,r17597 05b4 A090 0000 lds r10,ReadingIntegralGyroRoll598 05b8 B090 0000 lds r11,(ReadingIntegralGyroRoll)+1599 05bc C090 0000 lds r12,(ReadingIntegralGyroRoll)+2600 05c0 D090 0000 lds r13,(ReadingIntegralGyroRoll)+3601 05c4 A816 cp r10,r24602 05c6 B906 cpc r11,r25603 05c8 CA06 cpc r12,r26604 05ca DB06 cpc r13,r27605 05cc 04F4 brge .L44606 05ce D801 movw r26,r16607 05d0 C701 movw r24,r14608 05d2 8051 subi r24,lo8(-(-10000))609 05d4 9742 sbci r25,hi8(-(-10000))610 05d6 A040 sbci r26,hlo8(-(-10000))611 05d8 B040 sbci r27,hhi8(-(-10000))612 05da 8093 0000 sts ReadingIntegralGyroRoll,r24613 05de 9093 0000 sts (ReadingIntegralGyroRoll)+1,r25614 05e2 A093 0000 sts (ReadingIntegralGyroRoll)+2,r26615 05e6 B093 0000 sts (ReadingIntegralGyroRoll)+3,r27616 05ea 8093 0000 sts ReadingIntegralGyroRoll2,r24617 05ee 9093 0000 sts (ReadingIntegralGyroRoll2)+1,r25618 05f2 A093 0000 sts (ReadingIntegralGyroRoll2)+2,r26619 05f6 B093 0000 sts (ReadingIntegralGyroRoll2)+3,r27620 05fa 5C01 movw r10,r24621 05fc 6D01 movw r12,r26622 .L44:623 05fe 8090 0000 lds r8,TrimNick624 0602 9090 0000 lds r9,(TrimNick)+1625 0606 2C8D ldd r18,Y+28626 0608 3D8D ldd r19,Y+29627 060a 280D add r18,r8628 060c 391D adc r19,r9629 060e 7901 movw r14,r18630 0610 0027 clr r16631 0612 F7FC sbrc r15,7632 0614 0095 com r16633 0616 102F mov r17,r16634 0618 8091 0000 lds r24,ReadingIntegralGyroNick2635 061c 9091 0000 lds r25,(ReadingIntegralGyroNick2)+1636 0620 A091 0000 lds r26,(ReadingIntegralGyroNick2)+2637 0624 B091 0000 lds r27,(ReadingIntegralGyroNick2)+3638 0628 8E0D add r24,r14639 062a 9F1D adc r25,r15640 062c A01F adc r26,r16641 062e B11F adc r27,r17642 0630 8093 0000 sts ReadingIntegralGyroNick2,r24643 0634 9093 0000 sts (ReadingIntegralGyroNick2)+1,r25644 0638 A093 0000 sts (ReadingIntegralGyroNick2)+2,r26645 063c B093 0000 sts (ReadingIntegralGyroNick2)+3,r27646 0640 8091 0000 lds r24,AttitudeCorrectionNick647 0644 9091 0000 lds r25,(AttitudeCorrectionNick)+1648 0648 281B sub r18,r24649 064a 390B sbc r19,r25650 064c 4427 clr r20651 064e 37FD sbrc r19,7652 0650 4095 com r20653 0652 542F mov r21,r20654 0654 8E89 ldd r24,Y+22655 0656 9F89 ldd r25,Y+23656 0658 A88D ldd r26,Y+24657 065a B98D ldd r27,Y+25658 065c 280F add r18,r24659 065e 391F adc r19,r25660 0660 4A1F adc r20,r26661 0662 5B1F adc r21,r27662 0664 2093 0000 sts ReadingIntegralGyroNick,r18663 0668 3093 0000 sts (ReadingIntegralGyroNick)+1,r19664 066c 4093 0000 sts (ReadingIntegralGyroNick)+2,r20665 0670 5093 0000 sts (ReadingIntegralGyroNick)+3,r21666 0674 E090 0000 lds r14,TurnOver180Nick667 0678 F090 0000 lds r15,(TurnOver180Nick)+1668 067c 0091 0000 lds r16,(TurnOver180Nick)+2669 0680 1091 0000 lds r17,(TurnOver180Nick)+3670 0684 E216 cp r14,r18671 0686 F306 cpc r15,r19672 0688 0407 cpc r16,r20673 068a 1507 cpc r17,r21674 068c 04F4 brge .L45675 068e 88EA ldi r24,lo8(25000)676 0690 91E6 ldi r25,hi8(25000)677 0692 A0E0 ldi r26,hlo8(25000)678 0694 B0E0 ldi r27,hhi8(25000)679 0696 8E19 sub r24,r14680 0698 9F09 sbc r25,r15681 069a A00B sbc r26,r16682 069c B10B sbc r27,r17683 069e 8093 0000 sts ReadingIntegralGyroNick,r24684 06a2 9093 0000 sts (ReadingIntegralGyroNick)+1,r25685 06a6 A093 0000 sts (ReadingIntegralGyroNick)+2,r26686 06aa B093 0000 sts (ReadingIntegralGyroNick)+3,r27687 06ae 8093 0000 sts ReadingIntegralGyroNick2,r24688 06b2 9093 0000 sts (ReadingIntegralGyroNick2)+1,r25689 06b6 A093 0000 sts (ReadingIntegralGyroNick2)+2,r26690 06ba B093 0000 sts (ReadingIntegralGyroNick2)+3,r27691 .L45:692 06be 8827 clr r24693 06c0 9927 clr r25694 06c2 DC01 movw r26,r24695 06c4 8E19 sub r24,r14696 06c6 9F09 sbc r25,r15697 06c8 A00B sbc r26,r16698 06ca B10B sbc r27,r17699 06cc 2091 0000 lds r18,ReadingIntegralGyroNick700 06d0 3091 0000 lds r19,(ReadingIntegralGyroNick)+1701 06d4 4091 0000 lds r20,(ReadingIntegralGyroNick)+2702 06d8 5091 0000 lds r21,(ReadingIntegralGyroNick)+3703 06dc 2817 cp r18,r24704 06de 3907 cpc r19,r25705 06e0 4A07 cpc r20,r26706 06e2 5B07 cpc r21,r27707 06e4 04F4 brge .L46708 06e6 D801 movw r26,r16709 06e8 C701 movw r24,r14710 06ea 885A subi r24,lo8(-(-25000))711 06ec 9146 sbci r25,hi8(-(-25000))712 06ee A040 sbci r26,hlo8(-(-25000))713 06f0 B040 sbci r27,hhi8(-(-25000))714 06f2 8093 0000 sts ReadingIntegralGyroNick,r24715 06f6 9093 0000 sts (ReadingIntegralGyroNick)+1,r25716 06fa A093 0000 sts (ReadingIntegralGyroNick)+2,r26717 06fe B093 0000 sts (ReadingIntegralGyroNick)+3,r27718 0702 8093 0000 sts ReadingIntegralGyroNick2,r24719 0706 9093 0000 sts (ReadingIntegralGyroNick2)+1,r25720 070a A093 0000 sts (ReadingIntegralGyroNick2)+2,r26721 070e B093 0000 sts (ReadingIntegralGyroNick2)+3,r27722 0712 9C01 movw r18,r24723 0714 AD01 movw r20,r26724 .L46:725 0716 2092 0000 sts IntegralGyroYaw,r2726 071a 3092 0000 sts (IntegralGyroYaw)+1,r3727 071e 4092 0000 sts (IntegralGyroYaw)+2,r4728 0722 5092 0000 sts (IntegralGyroYaw)+3,r5729 0726 2093 0000 sts IntegralGyroNick,r18730 072a 3093 0000 sts (IntegralGyroNick)+1,r19731 072e 4093 0000 sts (IntegralGyroNick)+2,r20732 0732 5093 0000 sts (IntegralGyroNick)+3,r21733 0736 A092 0000 sts IntegralGyroRoll,r10734 073a B092 0000 sts (IntegralGyroRoll)+1,r11735 073e C092 0000 sts (IntegralGyroRoll)+2,r12736 0742 D092 0000 sts (IntegralGyroRoll)+3,r13737 0746 8091 0000 lds r24,ReadingIntegralGyroNick2738 074a 9091 0000 lds r25,(ReadingIntegralGyroNick2)+1739 074e A091 0000 lds r26,(ReadingIntegralGyroNick2)+2740 0752 B091 0000 lds r27,(ReadingIntegralGyroNick2)+3741 0756 8093 0000 sts IntegralGyroNick2,r24742 075a 9093 0000 sts (IntegralGyroNick2)+1,r25743 075e A093 0000 sts (IntegralGyroNick2)+2,r26744 0762 B093 0000 sts (IntegralGyroNick2)+3,r27745 0766 8091 0000 lds r24,ReadingIntegralGyroRoll2746 076a 9091 0000 lds r25,(ReadingIntegralGyroRoll2)+1747 076e A091 0000 lds r26,(ReadingIntegralGyroRoll2)+2748 0772 B091 0000 lds r27,(ReadingIntegralGyroRoll2)+3749 0776 8093 0000 sts IntegralGyroRoll2,r24750 077a 9093 0000 sts (IntegralGyroRoll2)+1,r25751 077e A093 0000 sts (IntegralGyroRoll2)+2,r26752 0782 B093 0000 sts (IntegralGyroRoll2)+3,r27753 0786 6091 0000 lds r22,FCParam+6754 078a 6623 tst r22755 078c 01F4 brne .+2756 078e 00C0 rjmp .L47757 0790 4091 0000 lds r20,HiResGyroNick758 0794 5091 0000 lds r21,(HiResGyroNick)+1759 0798 8091 0000 lds r24,Last_GyroNick.2093760 079c 9091 0000 lds r25,(Last_GyroNick.2093)+1761 07a0 481B sub r20,r24762 07a2 590B sbc r21,r25763 07a4 2091 0000 lds r18,HiResGyroNick764 07a8 3091 0000 lds r19,(HiResGyroNick)+1765 07ac 280F add r18,r24766 07ae 391F adc r19,r25767 07b0 37FD sbrc r19,7768 07b2 00C0 rjmp .L74769 .L48:770 07b4 3595 asr r19771 07b6 2795 ror r18772 07b8 3093 0000 sts (Last_GyroNick.2093)+1,r19773 07bc 2093 0000 sts Last_GyroNick.2093,r18774 07c0 CA01 movw r24,r20775 07c2 4138 cpi r20,129776 07c4 5105 cpc r21,__zero_reg__777 07c6 04F0 brlt .+2778 07c8 00C0 rjmp .L75779 07ca E62F mov r30,r22780 07cc F0E0 ldi r31,lo8(0)781 07ce AFEF ldi r26,hi8(-128)782 07d0 8038 cpi r24,lo8(-128)783 07d2 9A07 cpc r25,r26784 07d4 04F4 brge .+2785 07d6 00C0 rjmp .L76786 .L50:787 07d8 8E9F mul r24,r30788 07da B001 movw r22,r0789 07dc 8F9F mul r24,r31790 07de 700D add r23,r0791 07e0 9E9F mul r25,r30792 07e2 700D add r23,r0793 07e4 1124 clr r1794 07e6 9B01 movw r18,r22795 07e8 77FD sbrc r23,7796 07ea 00C0 rjmp .L77797 .L51:798 07ec 3595 asr r19799 07ee 2795 ror r18800 07f0 3595 asr r19801 07f2 2795 ror r18802 07f4 3595 asr r19803 07f6 2795 ror r18804 07f8 3595 asr r19805 07fa 2795 ror r18806 07fc 8091 0000 lds r24,GyroNick807 0800 9091 0000 lds r25,(GyroNick)+1808 0804 820F add r24,r18809 0806 931F adc r25,r19810 0808 9093 0000 sts (GyroNick)+1,r25811 080c 8093 0000 sts GyroNick,r24812 0810 4091 0000 lds r20,HiResGyroRoll813 0814 5091 0000 lds r21,(HiResGyroRoll)+1814 0818 8091 0000 lds r24,Last_GyroRoll.2092815 081c 9091 0000 lds r25,(Last_GyroRoll.2092)+1816 0820 481B sub r20,r24817 0822 590B sbc r21,r25818 0824 2091 0000 lds r18,HiResGyroRoll819 0828 3091 0000 lds r19,(HiResGyroRoll)+1820 082c 280F add r18,r24821 082e 391F adc r19,r25822 0830 37FD sbrc r19,7823 0832 00C0 rjmp .L78824 .L52:825 0834 3595 asr r19826 0836 2795 ror r18827 0838 3093 0000 sts (Last_GyroRoll.2092)+1,r19828 083c 2093 0000 sts Last_GyroRoll.2092,r18829 0840 CA01 movw r24,r20830 0842 4138 cpi r20,129831 0844 5105 cpc r21,__zero_reg__832 0846 04F0 brlt .+2833 0848 00C0 rjmp .L79834 084a BFEF ldi r27,hi8(-128)835 084c 8038 cpi r24,lo8(-128)836 084e 9B07 cpc r25,r27837 0850 04F4 brge .+2838 0852 00C0 rjmp .L80839 .L54:840 0854 8E9F mul r24,r30841 0856 A001 movw r20,r0842 0858 8F9F mul r24,r31843 085a 500D add r21,r0844 085c 9E9F mul r25,r30845 085e 500D add r21,r0846 0860 1124 clr r1847 0862 9A01 movw r18,r20848 0864 57FD sbrc r21,7849 0866 00C0 rjmp .L81850 .L55:851 0868 3595 asr r19852 086a 2795 ror r18853 086c 3595 asr r19854 086e 2795 ror r18855 0870 3595 asr r19856 0872 2795 ror r18857 0874 3595 asr r19858 0876 2795 ror r18859 0878 8091 0000 lds r24,GyroRoll860 087c 9091 0000 lds r25,(GyroRoll)+1861 0880 820F add r24,r18862 0882 931F adc r25,r19863 0884 9093 0000 sts (GyroRoll)+1,r25864 0888 8093 0000 sts GyroRoll,r24865 088c 8091 0000 lds r24,HiResGyroNick866 0890 9091 0000 lds r25,(HiResGyroNick)+1867 0894 680F add r22,r24868 0896 791F adc r23,r25869 0898 7093 0000 sts (HiResGyroNick)+1,r23870 089c 6093 0000 sts HiResGyroNick,r22871 08a0 8091 0000 lds r24,HiResGyroRoll872 08a4 9091 0000 lds r25,(HiResGyroRoll)+1873 08a8 480F add r20,r24874 08aa 591F adc r21,r25875 08ac 5093 0000 sts (HiResGyroRoll)+1,r21876 08b0 4093 0000 sts HiResGyroRoll,r20877 .L47:878 08b4 EC8D ldd r30,Y+28879 08b6 FD8D ldd r31,Y+29880 08b8 1E16 cp __zero_reg__,r30881 08ba 1F06 cpc __zero_reg__,r31882 08bc 04F0 brlt .+2883 08be 00C0 rjmp .L56884 08c0 6D85 ldd r22,Y+13885 08c2 7E85 ldd r23,Y+14886 08c4 8F85 ldd r24,Y+15887 08c6 9889 ldd r25,Y+16888 08c8 20E4 ldi r18,lo8(64)889 08ca 30E0 ldi r19,hi8(64)890 08cc 40E0 ldi r20,hlo8(64)891 08ce 50E0 ldi r21,hhi8(64)892 08d0 0E94 0000 call __divmodsi4893 08d4 820E add r8,r18894 08d6 931E adc r9,r19895 08d8 9092 0000 sts (TrimNick)+1,r9896 08dc 8092 0000 sts TrimNick,r8897 .L57:898 08e0 2A8D ldd r18,Y+26899 08e2 3B8D ldd r19,Y+27900 08e4 1216 cp __zero_reg__,r18901 08e6 1306 cpc __zero_reg__,r19902 08e8 04F0 brlt .+2903 08ea 00C0 rjmp .L58904 08ec 6985 ldd r22,Y+9905 08ee 7A85 ldd r23,Y+10906 08f0 8B85 ldd r24,Y+11907 08f2 9C85 ldd r25,Y+12908 08f4 20E4 ldi r18,lo8(64)909 08f6 30E0 ldi r19,hi8(64)910 08f8 40E0 ldi r20,hlo8(64)911 08fa 50E0 ldi r21,hhi8(64)912 08fc 0E94 0000 call __divmodsi4913 0900 620E add r6,r18914 0902 731E adc r7,r19915 0904 7092 0000 sts (TrimRoll)+1,r7916 0908 6092 0000 sts TrimRoll,r6917 .L59:918 090c 3989 ldd r19,Y+17919 090e 37FD sbrc r19,7920 0910 00C0 rjmp .L82921 .L64:922 /* epilogue start */923 0912 AD96 adiw r28,45924 0914 0FB6 in __tmp_reg__,__SREG__925 0916 F894 cli926 0918 DEBF out __SP_H__,r29927 091a 0FBE out __SREG__,__tmp_reg__928 091c CDBF out __SP_L__,r28929 091e CF91 pop r28930 0920 DF91 pop r29931 0922 1F91 pop r17932 0924 0F91 pop r16933 0926 FF90 pop r15934 0928 EF90 pop r14935 092a DF90 pop r13936 092c CF90 pop r12937 092e BF90 pop r11938 0930 AF90 pop r10939 0932 9F90 pop r9940 0934 8F90 pop r8941 0936 7F90 pop r7942 0938 6F90 pop r6943 093a 5F90 pop r5944 093c 4F90 pop r4945 093e 3F90 pop r3946 0940 2F90 pop r2947 0942 0895 ret948 .L72:949 0944 8091 0000 lds r24,AdValueGyroRoll950 0948 9091 0000 lds r25,(AdValueGyroRoll)+1951 094c 835F subi r24,lo8(1011)952 094e 9340 sbci r25,hi8(1011)953 0950 04F0 brlt .L23954 0952 88EE ldi r24,lo8(1000)955 0954 93E0 ldi r25,hi8(1000)956 0956 9093 0000 sts (GyroRoll)+1,r25957 095a 8093 0000 sts GyroRoll,r24958 .L23:959 095e 8091 0000 lds r24,AdValueGyroRoll960 0962 9091 0000 lds r25,(AdValueGyroRoll)+1961 0966 8A5F subi r24,lo8(1018)962 0968 9340 sbci r25,hi8(1018)963 096a 04F4 brge .+2964 096c 00C0 rjmp .L24965 .L66:966 096e 80ED ldi r24,lo8(2000)967 0970 97E0 ldi r25,hi8(2000)968 0972 9093 0000 sts (GyroRoll)+1,r25969 0976 8093 0000 sts GyroRoll,r24970 097a 00C0 rjmp .L24971 .L69:972 097c 8091 0000 lds r24,AdValueGyroNick973 0980 9091 0000 lds r25,(AdValueGyroNick)+1974 0984 835F subi r24,lo8(1011)975 0986 9340 sbci r25,hi8(1011)976 0988 04F0 brlt .L15977 098a 88EE ldi r24,lo8(1000)978 098c 93E0 ldi r25,hi8(1000)979 098e 9093 0000 sts (GyroNick)+1,r25980 0992 8093 0000 sts GyroNick,r24981 .L15:982 0996 8091 0000 lds r24,AdValueGyroNick983 099a 9091 0000 lds r25,(AdValueGyroNick)+1984 099e 8A5F subi r24,lo8(1018)985 09a0 9340 sbci r25,hi8(1018)986 09a2 04F4 brge .+2987 09a4 00C0 rjmp .L16988 .L65:989 09a6 80ED ldi r24,lo8(2000)990 09a8 97E0 ldi r25,hi8(2000)991 09aa 9093 0000 sts (GyroNick)+1,r25992 09ae 8093 0000 sts GyroNick,r24993 09b2 8091 0000 lds r24,HiResGyroRoll994 09b6 9091 0000 lds r25,(HiResGyroRoll)+1995 09ba 97FF sbrs r25,7996 09bc 00C0 rjmp .L18997 .L70:998 09be 0796 adiw r24,7999 09c0 00C0 rjmp .L181000 .L80:1001 09c2 80E8 ldi r24,lo8(-128)1002 09c4 9FEF ldi r25,hi8(-128)1003 09c6 00C0 rjmp .L541004 .L79:1005 09c8 80E8 ldi r24,lo8(128)1006 09ca 90E0 ldi r25,hi8(128)1007 09cc BFEF ldi r27,hi8(-128)1008 09ce 8038 cpi r24,lo8(-128)1009 09d0 9B07 cpc r25,r271010 09d2 04F0 brlt .+21011 09d4 00C0 rjmp .L541012 09d6 00C0 rjmp .L801013 .L76:1014 09d8 80E8 ldi r24,lo8(-128)1015 09da 9FEF ldi r25,hi8(-128)1016 09dc 00C0 rjmp .L501017 .L75:1018 09de 80E8 ldi r24,lo8(128)1019 09e0 90E0 ldi r25,hi8(128)1020 09e2 E62F mov r30,r221021 09e4 F0E0 ldi r31,lo8(0)1022 09e6 AFEF ldi r26,hi8(-128)1023 09e8 8038 cpi r24,lo8(-128)1024 09ea 9A07 cpc r25,r261025 09ec 04F0 brlt .+21026 09ee 00C0 rjmp .L501027 09f0 00C0 rjmp .L761028 .L27:1029 09f2 F091 0000 lds r31,ParamSet+81030 09f6 F98B std Y+17,r311031 09f8 F6FF sbrs r31,61032 09fa 00C0 rjmp .L281033 09fc 2E89 ldd r18,Y+221034 09fe 3F89 ldd r19,Y+231035 0a00 488D ldd r20,Y+241036 0a02 598D ldd r21,Y+251037 0a04 2934 cpi r18,lo8(93001)1038 0a06 6BE6 ldi r22,hi8(93001)1039 0a08 3607 cpc r19,r221040 0a0a 61E0 ldi r22,hlo8(93001)1041 0a0c 4607 cpc r20,r221042 0a0e 60E0 ldi r22,hhi8(93001)1043 0a10 5607 cpc r21,r221044 0a12 04F0 brlt .L291045 0a14 28E4 ldi r18,lo8(93000)1046 0a16 3BE6 ldi r19,hi8(93000)1047 0a18 41E0 ldi r20,hlo8(93000)1048 0a1a 50E0 ldi r21,hhi8(93000)1049 .L29:1050 0a1c 2D83 std Y+5,r181051 0a1e 3E83 std Y+6,r191052 0a20 4F83 std Y+7,r201053 0a22 5887 std Y+8,r211054 0a24 285B subi r18,lo8(-93000)1055 0a26 3449 sbci r19,hi8(-93000)1056 0a28 4E4F sbci r20,hlo8(-93000)1057 0a2a 5F4F sbci r21,hhi8(-93000)1058 0a2c 04F4 brge .L301059 0a2e 88EB ldi r24,lo8(-93000)1060 0a30 94E9 ldi r25,hi8(-93000)1061 0a32 AEEF ldi r26,hlo8(-93000)1062 0a34 BFEF ldi r27,hhi8(-93000)1063 0a36 8D83 std Y+5,r241064 0a38 9E83 std Y+6,r251065 0a3a AF83 std Y+7,r261066 0a3c B887 std Y+8,r271067 .L30:1068 0a3e 2A89 ldd r18,Y+181069 0a40 3B89 ldd r19,Y+191070 0a42 4C89 ldd r20,Y+201071 0a44 5D89 ldd r21,Y+211072 0a46 2934 cpi r18,lo8(93001)1073 0a48 9BE6 ldi r25,hi8(93001)1074 0a4a 3907 cpc r19,r251075 0a4c 91E0 ldi r25,hlo8(93001)1076 0a4e 4907 cpc r20,r251077 0a50 90E0 ldi r25,hhi8(93001)1078 0a52 5907 cpc r21,r251079 0a54 04F0 brlt .L311080 0a56 28E4 ldi r18,lo8(93000)1081 0a58 3BE6 ldi r19,hi8(93000)1082 0a5a 41E0 ldi r20,hlo8(93000)1083 0a5c 50E0 ldi r21,hhi8(93000)1084 .L31:1085 0a5e 2983 std Y+1,r181086 0a60 3A83 std Y+2,r191087 0a62 4B83 std Y+3,r201088 0a64 5C83 std Y+4,r211089 0a66 285B subi r18,lo8(-93000)1090 0a68 3449 sbci r19,hi8(-93000)1091 0a6a 4E4F sbci r20,hlo8(-93000)1092 0a6c 5F4F sbci r21,hhi8(-93000)1093 0a6e 04F4 brge .L321094 0a70 88EB ldi r24,lo8(-93000)1095 0a72 94E9 ldi r25,hi8(-93000)1096 0a74 AEEF ldi r26,hlo8(-93000)1097 0a76 BFEF ldi r27,hhi8(-93000)1098 0a78 8983 std Y+1,r241099 0a7a 9A83 std Y+2,r251100 0a7c AB83 std Y+3,r261101 0a7e BC83 std Y+4,r271102 .L32:1103 0a80 AA8D ldd r26,Y+261104 0a82 BB8D ldd r27,Y+271105 0a84 9D01 movw r18,r261106 0a86 4427 clr r201107 0a88 37FD sbrc r19,71108 0a8a 4095 com r201109 0a8c 542F mov r21,r201110 0a8e 6D81 ldd r22,Y+51111 0a90 7E81 ldd r23,Y+61112 0a92 8F81 ldd r24,Y+71113 0a94 9885 ldd r25,Y+81114 0a96 0E94 0000 call __mulsi31115 0a9a 20E0 ldi r18,lo8(2048)1116 0a9c 38E0 ldi r19,hi8(2048)1117 0a9e 40E0 ldi r20,hlo8(2048)1118 0aa0 50E0 ldi r21,hhi8(2048)1119 0aa2 0E94 0000 call __divmodsi41120 0aa6 CA01 movw r24,r201121 0aa8 A090 0000 lds r10,FCParam+251122 0aac BB24 clr r111123 0aae CC24 clr r121124 0ab0 DD24 clr r131125 0ab2 B901 movw r22,r181126 0ab4 A601 movw r20,r121127 0ab6 9501 movw r18,r101128 0ab8 0E94 0000 call __mulsi31129 0abc 20E0 ldi r18,lo8(4096)1130 0abe 30E1 ldi r19,hi8(4096)1131 0ac0 40E0 ldi r20,hlo8(4096)1132 0ac2 50E0 ldi r21,hhi8(4096)1133 0ac4 0E94 0000 call __divmodsi41134 0ac8 7901 movw r14,r181135 0aca 8A01 movw r16,r201136 0acc 2AA7 std Y+42,r181137 0ace FBA6 std Y+43,r151138 0ad0 EC8D ldd r30,Y+281139 0ad2 FD8D ldd r31,Y+291140 0ad4 9F01 movw r18,r301141 0ad6 4427 clr r201142 0ad8 37FD sbrc r19,71143 0ada 4095 com r201144 0adc 542F mov r21,r201145 0ade 6981 ldd r22,Y+11146 0ae0 7A81 ldd r23,Y+21147 0ae2 8B81 ldd r24,Y+31148 0ae4 9C81 ldd r25,Y+41149 0ae6 0E94 0000 call __mulsi31150 0aea 20E0 ldi r18,lo8(2048)1151 0aec 38E0 ldi r19,hi8(2048)1152 0aee 40E0 ldi r20,hlo8(2048)1153 0af0 50E0 ldi r21,hhi8(2048)1154 0af2 0E94 0000 call __divmodsi41155 0af6 CA01 movw r24,r201156 0af8 B901 movw r22,r181157 0afa A601 movw r20,r121158 0afc 9501 movw r18,r101159 0afe 0E94 0000 call __mulsi31160 0b02 20E0 ldi r18,lo8(4096)1161 0b04 30E1 ldi r19,hi8(4096)1162 0b06 40E0 ldi r20,hlo8(4096)1163 0b08 50E0 ldi r21,hhi8(4096)1164 0b0a 0E94 0000 call __divmodsi41165 0b0e C901 movw r24,r181166 0b10 DA01 movw r26,r201167 0b12 28A7 std Y+40,r181168 0b14 99A7 std Y+41,r251169 0b16 5C01 movw r10,r241170 0b18 6D01 movw r12,r261171 0b1a AE18 sub r10,r141172 0b1c BF08 sbc r11,r151173 0b1e C00A sbc r12,r161174 0b20 D10A sbc r13,r171175 0b22 8CA1 ldd r24,Y+361176 0b24 9DA1 ldd r25,Y+371177 0b26 AEA1 ldd r26,Y+381178 0b28 BFA1 ldd r27,Y+391179 0b2a 8A0D add r24,r101180 0b2c 9B1D adc r25,r111181 0b2e AC1D adc r26,r121182 0b30 BD1D adc r27,r131183 0b32 8093 0000 sts YawGyroHeading,r241184 0b36 9093 0000 sts (YawGyroHeading)+1,r251185 0b3a A093 0000 sts (YawGyroHeading)+2,r261186 0b3e B093 0000 sts (YawGyroHeading)+3,r271187 0b42 9091 0000 lds r25,FCParam+261188 0b46 9E8F std Y+30,r251189 0b48 9923 tst r251190 0b4a 01F4 brne .L331191 0b4c C601 movw r24,r121192 0b4e B501 movw r22,r101193 0b50 22E0 ldi r18,lo8(2)1194 0b52 30E0 ldi r19,hi8(2)1195 0b54 40E0 ldi r20,hlo8(2)1196 0b56 50E0 ldi r21,hhi8(2)1197 0b58 0E94 0000 call __divmodsi41198 0b5c 88A1 ldd r24,Y+321199 0b5e 99A1 ldd r25,Y+331200 0b60 AAA1 ldd r26,Y+341201 0b62 BBA1 ldd r27,Y+351202 0b64 821B sub r24,r181203 0b66 930B sbc r25,r191204 0b68 A40B sbc r26,r201205 0b6a B50B sbc r27,r211206 0b6c 8093 0000 sts ReadingIntegralGyroYaw,r241207 0b70 9093 0000 sts (ReadingIntegralGyroYaw)+1,r251208 0b74 A093 0000 sts (ReadingIntegralGyroYaw)+2,r261209 0b78 B093 0000 sts (ReadingIntegralGyroYaw)+3,r271210 0b7c 1C01 movw r2,r241211 0b7e 2D01 movw r4,r261212 .L33:1213 0b80 A60C add r10,r61214 0b82 B71C adc r11,r71215 0b84 C81C adc r12,r81216 0b86 D91C adc r13,r91217 0b88 C601 movw r24,r121218 0b8a B501 movw r22,r101219 0b8c 2D81 ldd r18,Y+51220 0b8e 3E81 ldd r19,Y+61221 0b90 4F81 ldd r20,Y+71222 0b92 5885 ldd r21,Y+81223 0b94 0E94 0000 call __mulsi31224 0b98 20E0 ldi r18,lo8(2048)1225 0b9a 38E0 ldi r19,hi8(2048)1226 0b9c 40E0 ldi r20,hlo8(2048)1227 0b9e 50E0 ldi r21,hhi8(2048)1228 0ba0 0E94 0000 call __divmodsi41229 0ba4 CA01 movw r24,r201230 0ba6 E090 0000 lds r14,FCParam+241231 0baa FF24 clr r151232 0bac 00E0 ldi r16,lo8(0)1233 0bae 10E0 ldi r17,hi8(0)1234 0bb0 B901 movw r22,r181235 0bb2 A801 movw r20,r161236 0bb4 9701 movw r18,r141237 0bb6 0E94 0000 call __mulsi31238 0bba 20E0 ldi r18,lo8(4096)1239 0bbc 30E1 ldi r19,hi8(4096)1240 0bbe 40E0 ldi r20,hlo8(4096)1241 0bc0 50E0 ldi r21,hhi8(4096)1242 0bc2 0E94 0000 call __divmodsi41243 0bc6 3901 movw r6,r181244 0bc8 4A01 movw r8,r201245 0bca C601 movw r24,r121246 0bcc B501 movw r22,r101247 0bce 2981 ldd r18,Y+11248 0bd0 3A81 ldd r19,Y+21249 0bd2 4B81 ldd r20,Y+31250 0bd4 5C81 ldd r21,Y+41251 0bd6 0E94 0000 call __mulsi31252 0bda 20E0 ldi r18,lo8(2048)1253 0bdc 38E0 ldi r19,hi8(2048)1254 0bde 40E0 ldi r20,hlo8(2048)1255 0be0 50E0 ldi r21,hhi8(2048)1256 0be2 0E94 0000 call __divmodsi41257 0be6 CA01 movw r24,r201258 0be8 B901 movw r22,r181259 0bea A801 movw r20,r161260 0bec 9701 movw r18,r141261 0bee 0E94 0000 call __mulsi31262 0bf2 20E0 ldi r18,lo8(4096)1263 0bf4 30E1 ldi r19,hi8(4096)1264 0bf6 40E0 ldi r20,hlo8(4096)1265 0bf8 50E0 ldi r21,hhi8(4096)1266 0bfa 0E94 0000 call __divmodsi41267 0bfe 7901 movw r14,r181268 0c00 8A01 movw r16,r201269 0c02 ACA5 ldd r26,Y+441270 0c04 BDA5 ldd r27,Y+451271 0c06 A134 cpi r26,651272 0c08 B105 cpc r27,__zero_reg__1273 0c0a 04F0 brlt .L341274 0c0c D401 movw r26,r81275 0c0e C301 movw r24,r61276 0c10 97FC sbrc r9,71277 0c12 00C0 rjmp .L831278 .L36:1279 0c14 8138 cpi r24,lo8(129)1280 0c16 9105 cpc r25,__zero_reg__1281 0c18 A105 cpc r26,__zero_reg__1282 0c1a B105 cpc r27,__zero_reg__1283 0c1c 04F0 brlt .+21284 0c1e 00C0 rjmp .L351285 0c20 D801 movw r26,r161286 0c22 C701 movw r24,r141287 0c24 17FD sbrc r17,71288 0c26 00C0 rjmp .L841289 .L37:1290 0c28 8138 cpi r24,lo8(129)1291 0c2a 9105 cpc r25,__zero_reg__1292 0c2c A105 cpc r26,__zero_reg__1293 0c2e B105 cpc r27,__zero_reg__1294 0c30 04F0 brlt .+21295 0c32 00C0 rjmp .L351296 .L34:1297 0c34 C401 movw r24,r81298 0c36 B301 movw r22,r61299 0c38 24E6 ldi r18,lo8(100)1300 0c3a 30E0 ldi r19,hi8(100)1301 0c3c 40E0 ldi r20,hlo8(100)1302 0c3e 50E0 ldi r21,hhi8(100)1303 0c40 0E94 0000 call __divmodsi41304 0c44 2E19 sub r18,r141305 0c46 3F09 sbc r19,r151306 0c48 3093 0000 sts (TrimNick)+1,r191307 0c4c 2093 0000 sts TrimNick,r181308 0c50 C801 movw r24,r161309 0c52 B701 movw r22,r141310 0c54 2CE9 ldi r18,lo8(-100)1311 0c56 3FEF ldi r19,hi8(-100)1312 0c58 4FEF ldi r20,hlo8(-100)1313 0c5a 5FEF ldi r21,hhi8(-100)1314 0c5c 0E94 0000 call __divmodsi41315 0c60 260D add r18,r61316 0c62 371D adc r19,r71317 0c64 3093 0000 sts (TrimRoll)+1,r191318 0c68 2093 0000 sts TrimRoll,r181319 0c6c BE8D ldd r27,Y+301320 0c6e EB2E mov r14,r271321 0c70 FF24 clr r151322 0c72 00E0 ldi r16,lo8(0)1323 0c74 10E0 ldi r17,hi8(0)1324 0c76 28A5 ldd r18,Y+401325 0c78 39A5 ldd r19,Y+411326 0c7a C901 movw r24,r181327 0c7c 9C01 movw r18,r241328 0c7e 97FD sbrc r25,71329 0c80 00C0 rjmp .L851330 .L38:1331 0c82 B901 movw r22,r181332 0c84 8827 clr r241333 0c86 77FD sbrc r23,71334 0c88 8095 com r241335 0c8a 982F mov r25,r241336 0c8c A801 movw r20,r161337 0c8e 9701 movw r18,r141338 0c90 0E94 0000 call __mulsi31339 0c94 6D87 std Y+13,r221340 0c96 7E87 std Y+14,r231341 0c98 8F87 std Y+15,r241342 0c9a 988B std Y+16,r251343 0c9c 2AA5 ldd r18,Y+421344 0c9e 3BA5 ldd r19,Y+431345 0ca0 C901 movw r24,r181346 0ca2 9C01 movw r18,r241347 0ca4 97FD sbrc r25,71348 0ca6 00C0 rjmp .L861349 .L39:1350 0ca8 B901 movw r22,r181351 0caa 8827 clr r241352 0cac 77FD sbrc r23,71353 0cae 8095 com r241354 0cb0 982F mov r25,r241355 0cb2 A801 movw r20,r161356 0cb4 9701 movw r18,r141357 0cb6 0E94 0000 call __mulsi31358 0cba 6987 std Y+9,r221359 0cbc 7A87 std Y+10,r231360 0cbe 8B87 std Y+11,r241361 0cc0 9C87 std Y+12,r251362 0cc2 E090 0000 lds r14,YawGyroHeading1363 0cc6 F090 0000 lds r15,(YawGyroHeading)+11364 0cca 0091 0000 lds r16,(YawGyroHeading)+21365 0cce 1091 0000 lds r17,(YawGyroHeading)+31366 0cd2 00C0 rjmp .L401367 .L82:1368 0cd4 6F8D ldd r22,Y+311369 0cd6 6623 tst r221370 0cd8 01F0 breq .+21371 0cda 00C0 rjmp .L641372 0cdc 8091 0000 lds r24,LoopingRoll1373 0ce0 8823 tst r241374 0ce2 01F0 breq .+21375 0ce4 00C0 rjmp .L641376 0ce6 8C8D ldd r24,Y+281377 0ce8 9D8D ldd r25,Y+291378 0cea 8150 subi r24,lo8(257)1379 0cec 9140 sbci r25,hi8(257)1380 0cee 04F0 brlt .+21381 0cf0 00C0 rjmp .L871382 0cf2 2C8D ldd r18,Y+281383 0cf4 3D8D ldd r19,Y+291384 0cf6 6FEF ldi r22,hi8(-256)1385 0cf8 2030 cpi r18,lo8(-256)1386 0cfa 3607 cpc r19,r221387 0cfc 04F4 brge .L621388 0cfe 8091 0000 lds r24,GyroNick1389 0d02 9091 0000 lds r25,(GyroNick)+11390 0d06 8050 subi r24,lo8(-(256))1391 0d08 9F4F sbci r25,hi8(-(256))1392 0d0a 820F add r24,r181393 0d0c 931F adc r25,r191394 0d0e 9093 0000 sts (GyroNick)+1,r251395 0d12 8093 0000 sts GyroNick,r241396 .L62:1397 0d16 8A8D ldd r24,Y+261398 0d18 9B8D ldd r25,Y+271399 0d1a 8150 subi r24,lo8(257)1400 0d1c 9140 sbci r25,hi8(257)1401 0d1e 04F0 brlt .+21402 0d20 00C0 rjmp .L881403 0d22 2A8D ldd r18,Y+261404 0d24 3B8D ldd r19,Y+271405 0d26 6FEF ldi r22,hi8(-256)1406 0d28 2030 cpi r18,lo8(-256)1407 0d2a 3607 cpc r19,r221408 0d2c 04F0 brlt .+21409 0d2e 00C0 rjmp .L641410 0d30 8091 0000 lds r24,GyroRoll1411 0d34 9091 0000 lds r25,(GyroRoll)+11412 0d38 8050 subi r24,lo8(-(256))1413 0d3a 9F4F sbci r25,hi8(-(256))1414 0d3c 820F add r24,r181415 0d3e 931F adc r25,r191416 0d40 9093 0000 sts (GyroRoll)+1,r251417 0d44 8093 0000 sts GyroRoll,r241418 0d48 00C0 rjmp .L641419 .L73:1420 0d4a E60C add r14,r61421 0d4c F71C adc r15,r71422 0d4e 081D adc r16,r81423 0d50 191D adc r17,r91424 0d52 E092 0000 sts YawGyroHeading,r141425 0d56 F092 0000 sts (YawGyroHeading)+1,r151426 0d5a 0093 0000 sts (YawGyroHeading)+2,r161427 0d5e 1093 0000 sts (YawGyroHeading)+3,r171428 0d62 00C0 rjmp .L421429 .L58:1430 0d64 6985 ldd r22,Y+91431 0d66 7A85 ldd r23,Y+101432 0d68 8B85 ldd r24,Y+111433 0d6a 9C85 ldd r25,Y+121434 0d6c 20E4 ldi r18,lo8(64)1435 0d6e 30E0 ldi r19,hi8(64)1436 0d70 40E0 ldi r20,hlo8(64)1437 0d72 50E0 ldi r21,hhi8(64)1438 0d74 0E94 0000 call __divmodsi41439 0d78 5095 com r211440 0d7a 4095 com r201441 0d7c 3095 com r191442 0d7e 2195 neg r181443 0d80 3F4F sbci r19,lo8(-1)1444 0d82 4F4F sbci r20,lo8(-1)1445 0d84 5F4F sbci r21,lo8(-1)1446 0d86 620E add r6,r181447 0d88 731E adc r7,r191448 0d8a 7092 0000 sts (TrimRoll)+1,r71449 0d8e 6092 0000 sts TrimRoll,r61450 0d92 00C0 rjmp .L591451 .L56:1452 0d94 6D85 ldd r22,Y+131453 0d96 7E85 ldd r23,Y+141454 0d98 8F85 ldd r24,Y+151455 0d9a 9889 ldd r25,Y+161456 0d9c 20E4 ldi r18,lo8(64)1457 0d9e 30E0 ldi r19,hi8(64)1458 0da0 40E0 ldi r20,hlo8(64)1459 0da2 50E0 ldi r21,hhi8(64)1460 0da4 0E94 0000 call __divmodsi41461 0da8 5095 com r211462 0daa 4095 com r201463 0dac 3095 com r191464 0dae 2195 neg r181465 0db0 3F4F sbci r19,lo8(-1)1466 0db2 4F4F sbci r20,lo8(-1)1467 0db4 5F4F sbci r21,lo8(-1)1468 0db6 820E add r8,r181469 0db8 931E adc r9,r191470 0dba 9092 0000 sts (TrimNick)+1,r91471 0dbe 8092 0000 sts TrimNick,r81472 0dc2 00C0 rjmp .L571473 .L67:1474 0dc4 0796 adiw r24,71475 0dc6 00C0 rjmp .L101476 .L71:1477 0dc8 295F subi r18,lo8(-(7))1478 0dca 3F4F sbci r19,hi8(-(7))1479 0dcc 00C0 rjmp .L191480 .L68:1481 0dce 295F subi r18,lo8(-(7))1482 0dd0 3F4F sbci r19,hi8(-(7))1483 0dd2 00C0 rjmp .L111484 .L81:1485 0dd4 215F subi r18,lo8(-(15))1486 0dd6 3F4F sbci r19,hi8(-(15))1487 0dd8 00C0 rjmp .L551488 .L74:1489 0dda 2F5F subi r18,lo8(-(1))1490 0ddc 3F4F sbci r19,hi8(-(1))1491 0dde 00C0 rjmp .L481492 .L77:1493 0de0 215F subi r18,lo8(-(15))1494 0de2 3F4F sbci r19,hi8(-(15))1495 0de4 00C0 rjmp .L511496 .L78:1497 0de6 2F5F subi r18,lo8(-(1))1498 0de8 3F4F sbci r19,hi8(-(1))1499 0dea 00C0 rjmp .L521500 .L87:1501 0dec 8091 0000 lds r24,GyroNick1502 0df0 9091 0000 lds r25,(GyroNick)+11503 0df4 8050 subi r24,lo8(-(-256))1504 0df6 9140 sbci r25,hi8(-(-256))1505 0df8 EC8D ldd r30,Y+281506 0dfa FD8D ldd r31,Y+291507 0dfc 8E0F add r24,r301508 0dfe 9F1F adc r25,r311509 0e00 9093 0000 sts (GyroNick)+1,r251510 0e04 8093 0000 sts GyroNick,r241511 0e08 00C0 rjmp .L621512 .L35:1513 0e0a 81E0 ldi r24,lo8(1)1514 0e0c 8093 0000 sts FunnelCourse,r241515 0e10 00C0 rjmp .L341516 .L83:1517 0e12 8827 clr r241518 0e14 9927 clr r251519 0e16 DC01 movw r26,r241520 0e18 8619 sub r24,r61521 0e1a 9709 sbc r25,r71522 0e1c A809 sbc r26,r81523 0e1e B909 sbc r27,r91524 0e20 00C0 rjmp .L361525 .L88:1526 0e22 8091 0000 lds r24,GyroRoll1527 0e26 9091 0000 lds r25,(GyroRoll)+11528 0e2a 8050 subi r24,lo8(-(-256))1529 0e2c 9140 sbci r25,hi8(-(-256))1530 0e2e EA8D ldd r30,Y+261531 0e30 FB8D ldd r31,Y+271532 0e32 8E0F add r24,r301533 0e34 9F1F adc r25,r311534 0e36 9093 0000 sts (GyroRoll)+1,r251535 0e3a 8093 0000 sts GyroRoll,r241536 0e3e 00C0 rjmp .L641537 .L86:1538 0e40 3095 com r191539 0e42 2195 neg r181540 0e44 3F4F sbci r19,lo8(-1)1541 0e46 00C0 rjmp .L391542 .L85:1543 0e48 3095 com r191544 0e4a 2195 neg r181545 0e4c 3F4F sbci r19,lo8(-1)1546 0e4e 00C0 rjmp .L381547 .L84:1548 0e50 8827 clr r241549 0e52 9927 clr r251550 0e54 DC01 movw r26,r241551 0e56 8E19 sub r24,r141552 0e58 9F09 sbc r25,r151553 0e5a A00B sbc r26,r161554 0e5c B10B sbc r27,r171555 0e5e 00C0 rjmp .L371557 .global ParameterMapping1559 ParameterMapping:1560 /* prologue: function */1561 /* frame size = 0 */1562 0e60 8091 0000 lds r24,RC_Quality1563 0e64 813A cpi r24,lo8(-95)1564 0e66 00F0 brlo .L2531565 0e68 8091 0000 lds r24,ParamSet+111566 0e6c 8B3F cpi r24,lo8(-5)1567 0e6e 00F4 brsh .L2611568 0e70 8093 0000 sts FCParam+1,r241569 .L93:1570 0e74 8091 0000 lds r24,ParamSet+101571 0e78 8B3F cpi r24,lo8(-5)1572 0e7a 00F0 brlo .L961573 0e7c 8B3F cpi r24,lo8(-5)1574 0e7e 01F4 brne .+21575 0e80 00C0 rjmp .L2621576 0e82 8C3F cpi r24,lo8(-4)1577 0e84 01F4 brne .+21578 0e86 00C0 rjmp .L2631579 0e88 8D3F cpi r24,lo8(-3)1580 0e8a 01F4 brne .+21581 0e8c 00C0 rjmp .L2641582 0e8e 8E3F cpi r24,lo8(-2)1583 0e90 01F4 brne .L981584 0e92 8091 0000 lds r24,Poti41585 0e96 8093 0000 sts FCParam,r241586 0e9a 00C0 rjmp .L981587 .L248:1588 0e9c 8093 0000 sts FCParam+28,r241589 .L250:1590 0ea0 6091 0000 lds r22,FCParam+121591 0ea4 70E0 ldi r23,lo8(0)1592 0ea6 6F5F subi r22,lo8(-(1))1593 0ea8 7F4F sbci r23,hi8(-(1))1594 0eaa 8CE3 ldi r24,lo8(10300)1595 0eac 98E2 ldi r25,hi8(10300)1596 0eae 0E94 0000 call __divmodhi41597 0eb2 7093 0000 sts (Ki)+1,r231598 0eb6 6093 0000 sts Ki,r221599 .L253:1600 0eba 0895 ret1601 .L261:1602 0ebc 8B3F cpi r24,lo8(-5)1603 0ebe 01F4 brne .+21604 0ec0 00C0 rjmp .L2651605 0ec2 8C3F cpi r24,lo8(-4)1606 0ec4 01F4 brne .+21607 0ec6 00C0 rjmp .L2661608 0ec8 8D3F cpi r24,lo8(-3)1609 0eca 01F4 brne .+21610 0ecc 00C0 rjmp .L2671611 0ece 8E3F cpi r24,lo8(-2)1612 0ed0 01F4 brne .L931613 0ed2 8091 0000 lds r24,Poti41614 0ed6 8093 0000 sts FCParam+1,r241615 0eda 00C0 rjmp .L931616 .L96:1617 0edc 8093 0000 sts FCParam,r241618 .L98:1619 0ee0 8091 0000 lds r24,FCParam1620 0ee4 8823 tst r241621 0ee6 01F4 brne .L1011622 0ee8 1092 0000 sts FCParam,__zero_reg__1623 .L102:1624 0eec 8091 0000 lds r24,ParamSet+121625 0ef0 8B3F cpi r24,lo8(-5)1626 0ef2 00F0 brlo .L1031627 .L271:1628 0ef4 8B3F cpi r24,lo8(-5)1629 0ef6 01F4 brne .+21630 0ef8 00C0 rjmp .L2681631 0efa 8C3F cpi r24,lo8(-4)1632 0efc 01F4 brne .+21633 0efe 00C0 rjmp .L2691634 0f00 8D3F cpi r24,lo8(-3)1635 0f02 01F4 brne .+21636 0f04 00C0 rjmp .L2701637 0f06 8E3F cpi r24,lo8(-2)1638 0f08 01F4 brne .L1051639 0f0a 8091 0000 lds r24,Poti41640 0f0e 8093 0000 sts FCParam+2,r241641 0f12 00C0 rjmp .L1051642 .L101:1643 0f14 8436 cpi r24,lo8(100)1644 0f16 00F0 brlo .L1021645 0f18 84E6 ldi r24,lo8(100)1646 0f1a 8093 0000 sts FCParam,r241647 0f1e 8091 0000 lds r24,ParamSet+121648 0f22 8B3F cpi r24,lo8(-5)1649 0f24 00F4 brsh .L2711650 .L103:1651 0f26 8093 0000 sts FCParam+2,r241652 .L105:1653 0f2a 8091 0000 lds r24,FCParam+21654 0f2e 8823 tst r241655 0f30 01F4 brne .L1081656 0f32 1092 0000 sts FCParam+2,__zero_reg__1657 .L109:1658 0f36 8091 0000 lds r24,ParamSet+141659 0f3a 8B3F cpi r24,lo8(-5)1660 0f3c 00F0 brlo .L1101661 .L275:1662 0f3e 8B3F cpi r24,lo8(-5)1663 0f40 01F4 brne .+21664 0f42 00C0 rjmp .L2721665 0f44 8C3F cpi r24,lo8(-4)1666 0f46 01F4 brne .+21667 0f48 00C0 rjmp .L2731668 0f4a 8D3F cpi r24,lo8(-3)1669 0f4c 01F4 brne .+21670 0f4e 00C0 rjmp .L2741671 0f50 8E3F cpi r24,lo8(-2)1672 0f52 01F4 brne .L1121673 0f54 8091 0000 lds r24,Poti41674 0f58 8093 0000 sts FCParam+3,r241675 0f5c 00C0 rjmp .L1121676 .L108:1677 0f5e 8436 cpi r24,lo8(100)1678 0f60 00F0 brlo .L1091679 0f62 84E6 ldi r24,lo8(100)1680 0f64 8093 0000 sts FCParam+2,r241681 0f68 8091 0000 lds r24,ParamSet+141682 0f6c 8B3F cpi r24,lo8(-5)1683 0f6e 00F4 brsh .L2751684 .L110:1685 0f70 8093 0000 sts FCParam+3,r241686 .L112:1687 0f74 8091 0000 lds r24,ParamSet+161688 0f78 8B3F cpi r24,lo8(-5)1689 0f7a 00F0 brlo .L1151690 0f7c 8B3F cpi r24,lo8(-5)1691 0f7e 01F4 brne .+21692 0f80 00C0 rjmp .L2761693 0f82 8C3F cpi r24,lo8(-4)1694 0f84 01F4 brne .+21695 0f86 00C0 rjmp .L2771696 0f88 8D3F cpi r24,lo8(-3)1697 0f8a 01F4 brne .+21698 0f8c 00C0 rjmp .L2781699 0f8e 8E3F cpi r24,lo8(-2)1700 0f90 01F4 brne .L1171701 0f92 8091 0000 lds r24,Poti41702 0f96 8093 0000 sts FCParam+4,r241703 0f9a 00C0 rjmp .L1171704 .L115:1705 0f9c 8093 0000 sts FCParam+4,r241706 .L117:1707 0fa0 8091 0000 lds r24,ParamSet+241708 0fa4 8B3F cpi r24,lo8(-5)1709 0fa6 00F0 brlo .L1201710 0fa8 8B3F cpi r24,lo8(-5)1711 0faa 01F4 brne .+21712 0fac 00C0 rjmp .L2791713 0fae 8C3F cpi r24,lo8(-4)1714 0fb0 01F4 brne .+21715 0fb2 00C0 rjmp .L2801716 0fb4 8D3F cpi r24,lo8(-3)1717 0fb6 01F4 brne .+21718 0fb8 00C0 rjmp .L2811719 0fba 8E3F cpi r24,lo8(-2)1720 0fbc 01F4 brne .L1221721 0fbe 8091 0000 lds r24,Poti41722 0fc2 8093 0000 sts FCParam+5,r241723 0fc6 00C0 rjmp .L1221724 .L120:1725 0fc8 8093 0000 sts FCParam+5,r241726 .L122:1727 0fcc 8091 0000 lds r24,ParamSet+251728 0fd0 8B3F cpi r24,lo8(-5)1729 0fd2 00F0 brlo .L1251730 0fd4 8B3F cpi r24,lo8(-5)1731 0fd6 01F4 brne .+21732 0fd8 00C0 rjmp .L2821733 0fda 8C3F cpi r24,lo8(-4)1734 0fdc 01F4 brne .+21735 0fde 00C0 rjmp .L2831736 0fe0 8D3F cpi r24,lo8(-3)1737 0fe2 01F4 brne .+21738 0fe4 00C0 rjmp .L2841739 0fe6 8E3F cpi r24,lo8(-2)1740 0fe8 01F4 brne .L1271741 0fea 8091 0000 lds r24,Poti41742 0fee 8093 0000 sts FCParam+7,r241743 0ff2 00C0 rjmp .L1271744 .L125:1745 0ff4 8093 0000 sts FCParam+7,r241746 .L127:1747 0ff8 8091 0000 lds r24,FCParam+71748 0ffc 8B30 cpi r24,lo8(11)1749 0ffe 00F4 brsh .L1301750 1000 8AE0 ldi r24,lo8(10)1751 1002 8093 0000 sts FCParam+7,r241752 .L131:1753 1006 8091 0000 lds r24,ParamSet+261754 100a 8B3F cpi r24,lo8(-5)1755 100c 00F0 brlo .L1321756 100e 8B3F cpi r24,lo8(-5)1757 1010 01F4 brne .+21758 1012 00C0 rjmp .L2851759 1014 8C3F cpi r24,lo8(-4)1760 1016 01F4 brne .+21761 1018 00C0 rjmp .L2861762 101a 8D3F cpi r24,lo8(-3)1763 101c 01F4 brne .+21764 101e 00C0 rjmp .L2871765 1020 8E3F cpi r24,lo8(-2)1766 1022 01F4 brne .L1341767 1024 8091 0000 lds r24,Poti41768 1028 8093 0000 sts FCParam+8,r241769 102c 00C0 rjmp .L1341770 .L130:1771 102e 8F3F cpi r24,lo8(-1)1772 1030 01F4 brne .L1311773 1032 8093 0000 sts FCParam+7,r241774 1036 00C0 rjmp .L1311775 .L132:1776 1038 8093 0000 sts FCParam+8,r241777 .L134:1778 103c 8091 0000 lds r24,ParamSet+271779 1040 8B3F cpi r24,lo8(-5)1780 1042 00F0 brlo .L1371781 1044 8B3F cpi r24,lo8(-5)1782 1046 01F4 brne .+21783 1048 00C0 rjmp .L2881784 104a 8C3F cpi r24,lo8(-4)1785 104c 01F4 brne .+21786 104e 00C0 rjmp .L2891787 1050 8D3F cpi r24,lo8(-3)1788 1052 01F4 brne .+21789 1054 00C0 rjmp .L2901790 1056 8E3F cpi r24,lo8(-2)1791 1058 01F4 brne .L1391792 105a 8091 0000 lds r24,Poti41793 105e 8093 0000 sts FCParam+6,r241794 1062 00C0 rjmp .L1391795 .L137:1796 1064 8093 0000 sts FCParam+6,r241797 .L139:1798 1068 8091 0000 lds r24,ParamSet+281799 106c 8B3F cpi r24,lo8(-5)1800 106e 00F0 brlo .L1421801 1070 8B3F cpi r24,lo8(-5)1802 1072 01F4 brne .+21803 1074 00C0 rjmp .L2911804 1076 8C3F cpi r24,lo8(-4)1805 1078 01F4 brne .+21806 107a 00C0 rjmp .L2921807 107c 8D3F cpi r24,lo8(-3)1808 107e 01F4 brne .+21809 1080 00C0 rjmp .L2931810 1082 8E3F cpi r24,lo8(-2)1811 1084 01F4 brne .L1441812 1086 8091 0000 lds r24,Poti41813 108a 8093 0000 sts FCParam+9,r241814 108e 00C0 rjmp .L1441815 .L142:1816 1090 8093 0000 sts FCParam+9,r241817 .L144:1818 1094 8091 0000 lds r24,FCParam+91819 1098 8B30 cpi r24,lo8(11)1820 109a 00F4 brsh .L1471821 109c 8AE0 ldi r24,lo8(10)1822 109e 8093 0000 sts FCParam+9,r241823 .L148:1824 10a2 8091 0000 lds r24,ParamSet+291825 10a6 8B3F cpi r24,lo8(-5)1826 10a8 00F0 brlo .L1491827 10aa 8B3F cpi r24,lo8(-5)1828 10ac 01F4 brne .+21829 10ae 00C0 rjmp .L2941830 10b0 8C3F cpi r24,lo8(-4)1831 10b2 01F4 brne .+21832 10b4 00C0 rjmp .L2951833 10b6 8D3F cpi r24,lo8(-3)1834 10b8 01F4 brne .+21835 10ba 00C0 rjmp .L2961836 10bc 8E3F cpi r24,lo8(-2)1837 10be 01F4 brne .L1511838 10c0 8091 0000 lds r24,Poti41839 10c4 8093 0000 sts FCParam+10,r241840 10c8 00C0 rjmp .L1511841 .L147:1842 10ca 8F3F cpi r24,lo8(-1)1843 10cc 01F4 brne .L1481844 10ce 8093 0000 sts FCParam+9,r241845 10d2 00C0 rjmp .L1481846 .L149:1847 10d4 8093 0000 sts FCParam+10,r241848 .L151:1849 10d8 8091 0000 lds r24,ParamSet+341850 10dc 8B3F cpi r24,lo8(-5)1851 10de 00F0 brlo .L1541852 10e0 8B3F cpi r24,lo8(-5)1853 10e2 01F4 brne .+21854 10e4 00C0 rjmp .L2971855 10e6 8C3F cpi r24,lo8(-4)1856 10e8 01F4 brne .+21857 10ea 00C0 rjmp .L2981858 10ec 8D3F cpi r24,lo8(-3)1859 10ee 01F4 brne .+21860 10f0 00C0 rjmp .L2991861 10f2 8E3F cpi r24,lo8(-2)1862 10f4 01F4 brne .L1561863 10f6 8091 0000 lds r24,Poti41864 10fa 8093 0000 sts FCParam+12,r241865 10fe 00C0 rjmp .L1561866 .L154:1867 1100 8093 0000 sts FCParam+12,r241868 .L156:1869 1104 8091 0000 lds r24,ParamSet+351870 1108 8B3F cpi r24,lo8(-5)1871 110a 00F0 brlo .L1591872 110c 8B3F cpi r24,lo8(-5)1873 110e 01F4 brne .+21874 1110 00C0 rjmp .L3001875 1112 8C3F cpi r24,lo8(-4)1876 1114 01F4 brne .+21877 1116 00C0 rjmp .L3011878 1118 8D3F cpi r24,lo8(-3)1879 111a 01F4 brne .+21880 111c 00C0 rjmp .L3021881 111e 8E3F cpi r24,lo8(-2)1882 1120 01F4 brne .L1611883 1122 8091 0000 lds r24,Poti41884 1126 8093 0000 sts FCParam+13,r241885 112a 00C0 rjmp .L1611886 .L159:1887 112c 8093 0000 sts FCParam+13,r241888 .L161:1889 1130 8091 0000 lds r24,ParamSet+361890 1134 8B3F cpi r24,lo8(-5)1891 1136 00F0 brlo .L1641892 1138 8B3F cpi r24,lo8(-5)1893 113a 01F4 brne .+21894 113c 00C0 rjmp .L3031895 113e 8C3F cpi r24,lo8(-4)1896 1140 01F4 brne .+21897 1142 00C0 rjmp .L3041898 1144 8D3F cpi r24,lo8(-3)1899 1146 01F4 brne .+21900 1148 00C0 rjmp .L3051901 114a 8E3F cpi r24,lo8(-2)1902 114c 01F4 brne .L1661903 114e 8091 0000 lds r24,Poti41904 1152 8093 0000 sts FCParam+14,r241905 1156 00C0 rjmp .L1661906 .L164:1907 1158 8093 0000 sts FCParam+14,r241908 .L166:1909 115c 8091 0000 lds r24,ParamSet+371910 1160 8B3F cpi r24,lo8(-5)1911 1162 00F0 brlo .L1691912 1164 8B3F cpi r24,lo8(-5)1913 1166 01F4 brne .+21914 1168 00C0 rjmp .L3061915 116a 8C3F cpi r24,lo8(-4)1916 116c 01F4 brne .+21917 116e 00C0 rjmp .L3071918 1170 8D3F cpi r24,lo8(-3)1919 1172 01F4 brne .+21920 1174 00C0 rjmp .L3081921 1176 8E3F cpi r24,lo8(-2)1922 1178 01F4 brne .L1711923 117a 8091 0000 lds r24,Poti41924 117e 8093 0000 sts FCParam+15,r241925 1182 00C0 rjmp .L1711926 .L169:1927 1184 8093 0000 sts FCParam+15,r241928 .L171:1929 1188 8091 0000 lds r24,ParamSet+381930 118c 8B3F cpi r24,lo8(-5)1931 118e 00F0 brlo .L1741932 1190 8B3F cpi r24,lo8(-5)1933 1192 01F4 brne .+21934 1194 00C0 rjmp .L3091935 1196 8C3F cpi r24,lo8(-4)1936 1198 01F4 brne .+21937 119a 00C0 rjmp .L3101938 119c 8D3F cpi r24,lo8(-3)1939 119e 01F4 brne .+21940 11a0 00C0 rjmp .L3111941 11a2 8E3F cpi r24,lo8(-2)1942 11a4 01F4 brne .L1761943 11a6 8091 0000 lds r24,Poti41944 11aa 8093 0000 sts FCParam+16,r241945 11ae 00C0 rjmp .L1761946 .L174:1947 11b0 8093 0000 sts FCParam+16,r241948 .L176:1949 11b4 8091 0000 lds r24,ParamSet+591950 11b8 8B3F cpi r24,lo8(-5)1951 11ba 00F0 brlo .L1791952 11bc 8B3F cpi r24,lo8(-5)1953 11be 01F4 brne .+21954 11c0 00C0 rjmp .L3121955 11c2 8C3F cpi r24,lo8(-4)1956 11c4 01F4 brne .+21957 11c6 00C0 rjmp .L3131958 11c8 8D3F cpi r24,lo8(-3)1959 11ca 01F4 brne .+21960 11cc 00C0 rjmp .L3141961 11ce 8E3F cpi r24,lo8(-2)1962 11d0 01F4 brne .L1811963 11d2 8091 0000 lds r24,Poti41964 11d6 8093 0000 sts FCParam+17,r241965 11da 00C0 rjmp .L1811966 .L179:1967 11dc 8093 0000 sts FCParam+17,r241968 .L181:1969 11e0 8091 0000 lds r24,ParamSet+601970 11e4 8B3F cpi r24,lo8(-5)1971 11e6 00F0 brlo .L1841972 11e8 8B3F cpi r24,lo8(-5)1973 11ea 01F4 brne .+21974 11ec 00C0 rjmp .L3151975 11ee 8C3F cpi r24,lo8(-4)1976 11f0 01F4 brne .+21977 11f2 00C0 rjmp .L3161978 11f4 8D3F cpi r24,lo8(-3)1979 11f6 01F4 brne .+21980 11f8 00C0 rjmp .L3171981 11fa 8E3F cpi r24,lo8(-2)1982 11fc 01F4 brne .L1861983 11fe 8091 0000 lds r24,Poti41984 1202 8093 0000 sts FCParam+18,r241985 1206 00C0 rjmp .L1861986 .L184:1987 1208 8093 0000 sts FCParam+18,r241988 .L186:1989 120c 8091 0000 lds r24,ParamSet+611990 1210 8B3F cpi r24,lo8(-5)1991 1212 00F0 brlo .L1891992 1214 8B3F cpi r24,lo8(-5)1993 1216 01F4 brne .+21994 1218 00C0 rjmp .L3181995 121a 8C3F cpi r24,lo8(-4)1996 121c 01F4 brne .+21997 121e 00C0 rjmp .L3191998 1220 8D3F cpi r24,lo8(-3)1999 1222 01F4 brne .+22000 1224 00C0 rjmp .L3202001 1226 8E3F cpi r24,lo8(-2)2002 1228 01F4 brne .L1912003 122a 8091 0000 lds r24,Poti42004 122e 8093 0000 sts FCParam+19,r242005 1232 00C0 rjmp .L1912006 .L189:2007 1234 8093 0000 sts FCParam+19,r242008 .L191:2009 1238 8091 0000 lds r24,ParamSet+622010 123c 8B3F cpi r24,lo8(-5)2011 123e 00F0 brlo .L1942012 1240 8B3F cpi r24,lo8(-5)2013 1242 01F4 brne .+22014 1244 00C0 rjmp .L3212015 1246 8C3F cpi r24,lo8(-4)2016 1248 01F4 brne .+22017 124a 00C0 rjmp .L3222018 124c 8D3F cpi r24,lo8(-3)2019 124e 01F4 brne .+22020 1250 00C0 rjmp .L3232021 1252 8E3F cpi r24,lo8(-2)2022 1254 01F4 brne .L1962023 1256 8091 0000 lds r24,Poti42024 125a 8093 0000 sts FCParam+20,r242025 125e 00C0 rjmp .L1962026 .L194:2027 1260 8093 0000 sts FCParam+20,r242028 .L196:2029 1264 8091 0000 lds r24,ParamSet+392030 1268 8B3F cpi r24,lo8(-5)2031 126a 00F0 brlo .L1992032 126c 8B3F cpi r24,lo8(-5)2033 126e 01F4 brne .+22034 1270 00C0 rjmp .L3242035 1272 8C3F cpi r24,lo8(-4)2036 1274 01F4 brne .+22037 1276 00C0 rjmp .L3252038 1278 8D3F cpi r24,lo8(-3)2039 127a 01F4 brne .+22040 127c 00C0 rjmp .L3262041 127e 8E3F cpi r24,lo8(-2)2042 1280 01F4 brne .L2012043 1282 8091 0000 lds r24,Poti42044 1286 8093 0000 sts FCParam+21,r242045 128a 00C0 rjmp .L2012046 .L199:2047 128c 8093 0000 sts FCParam+21,r242048 .L201:2049 1290 8091 0000 lds r24,ParamSet+432050 1294 8B3F cpi r24,lo8(-5)2051 1296 00F0 brlo .L2042052 1298 8B3F cpi r24,lo8(-5)2053 129a 01F4 brne .+22054 129c 00C0 rjmp .L3272055 129e 8C3F cpi r24,lo8(-4)2056 12a0 01F4 brne .+22057 12a2 00C0 rjmp .L3282058 12a4 8D3F cpi r24,lo8(-3)2059 12a6 01F4 brne .+22060 12a8 00C0 rjmp .L3292061 12aa 8E3F cpi r24,lo8(-2)2062 12ac 01F4 brne .L2062063 12ae 8091 0000 lds r24,Poti42064 12b2 8093 0000 sts FCParam+22,r242065 12b6 00C0 rjmp .L2062066 .L204:2067 12b8 8093 0000 sts FCParam+22,r242068 .L206:2069 12bc 8091 0000 lds r24,ParamSet+482070 12c0 8B3F cpi r24,lo8(-5)2071 12c2 00F0 brlo .L2092072 12c4 8B3F cpi r24,lo8(-5)2073 12c6 01F4 brne .+22074 12c8 00C0 rjmp .L3302075 12ca 8C3F cpi r24,lo8(-4)2076 12cc 01F4 brne .+22077 12ce 00C0 rjmp .L3312078 12d0 8D3F cpi r24,lo8(-3)2079 12d2 01F4 brne .+22080 12d4 00C0 rjmp .L3322081 12d6 8E3F cpi r24,lo8(-2)2082 12d8 01F4 brne .L2112083 12da 8091 0000 lds r24,Poti42084 12de 8093 0000 sts FCParam+23,r242085 12e2 00C0 rjmp .L2112086 .L209:2087 12e4 8093 0000 sts FCParam+23,r242088 .L211:2089 12e8 8091 0000 lds r24,ParamSet+512090 12ec 8B3F cpi r24,lo8(-5)2091 12ee 00F0 brlo .L2142092 12f0 8B3F cpi r24,lo8(-5)2093 12f2 01F4 brne .+22094 12f4 00C0 rjmp .L3332095 12f6 8C3F cpi r24,lo8(-4)2096 12f8 01F4 brne .+22097 12fa 00C0 rjmp .L3342098 12fc 8D3F cpi r24,lo8(-3)2099 12fe 01F4 brne .+22100 1300 00C0 rjmp .L3352101 1302 8E3F cpi r24,lo8(-2)2102 1304 01F4 brne .L2162103 1306 8091 0000 lds r24,Poti42104 130a 8093 0000 sts FCParam+24,r242105 130e 00C0 rjmp .L2162106 .L214:2107 1310 8093 0000 sts FCParam+24,r242108 .L216:2109 1314 8091 0000 lds r24,ParamSet+522110 1318 8B3F cpi r24,lo8(-5)2111 131a 00F0 brlo .L2192112 131c 8B3F cpi r24,lo8(-5)2113 131e 01F4 brne .+22114 1320 00C0 rjmp .L3362115 1322 8C3F cpi r24,lo8(-4)2116 1324 01F4 brne .+22117 1326 00C0 rjmp .L3372118 1328 8D3F cpi r24,lo8(-3)2119 132a 01F4 brne .+22120 132c 00C0 rjmp .L3382121 132e 8E3F cpi r24,lo8(-2)2122 1330 01F4 brne .L2212123 1332 8091 0000 lds r24,Poti42124 1336 8093 0000 sts FCParam+25,r242125 133a 00C0 rjmp .L2212126 .L219:2127 133c 8093 0000 sts FCParam+25,r242128 .L221:2129 1340 8091 0000 lds r24,ParamSet+532130 1344 8B3F cpi r24,lo8(-5)2131 1346 00F0 brlo .L2242132 1348 8B3F cpi r24,lo8(-5)2133 134a 01F4 brne .+22134 134c 00C0 rjmp .L3392135 134e 8C3F cpi r24,lo8(-4)2136 1350 01F4 brne .+22137 1352 00C0 rjmp .L3402138 1354 8D3F cpi r24,lo8(-3)2139 1356 01F4 brne .+22140 1358 00C0 rjmp .L3412141 135a 8E3F cpi r24,lo8(-2)2142 135c 01F4 brne .L2262143 135e 8091 0000 lds r24,Poti42144 1362 8093 0000 sts FCParam+26,r242145 1366 00C0 rjmp .L2262146 .L224:2147 1368 8093 0000 sts FCParam+26,r242148 .L226:2149 136c 8091 0000 lds r24,ParamSet+582150 1370 8B3F cpi r24,lo8(-5)2151 1372 00F0 brlo .L2292152 1374 8B3F cpi r24,lo8(-5)2153 1376 01F4 brne .+22154 1378 00C0 rjmp .L3422155 137a 8C3F cpi r24,lo8(-4)2156 137c 01F4 brne .+22157 137e 00C0 rjmp .L3432158 1380 8D3F cpi r24,lo8(-3)2159 1382 01F4 brne .+22160 1384 00C0 rjmp .L3442161 1386 8E3F cpi r24,lo8(-2)2162 1388 01F4 brne .L2312163 138a 8091 0000 lds r24,Poti42164 138e 8093 0000 sts FCParam+27,r242165 1392 00C0 rjmp .L2312166 .L229:2167 1394 8093 0000 sts FCParam+27,r242168 .L231:2169 1398 8091 0000 lds r24,ParamSet+642170 139c 8B3F cpi r24,lo8(-5)2171 139e 00F0 brlo .L2342172 13a0 8B3F cpi r24,lo8(-5)2173 13a2 01F4 brne .+22174 13a4 00C0 rjmp .L3452175 13a6 8C3F cpi r24,lo8(-4)2176 13a8 01F4 brne .+22177 13aa 00C0 rjmp .L3462178 13ac 8D3F cpi r24,lo8(-3)2179 13ae 01F4 brne .+22180 13b0 00C0 rjmp .L3472181 13b2 8E3F cpi r24,lo8(-2)2182 13b4 01F4 brne .L2362183 13b6 8091 0000 lds r24,Poti42184 13ba 8093 0000 sts FCParam+29,r242185 13be 00C0 rjmp .L2362186 .L234:2187 13c0 8093 0000 sts FCParam+29,r242188 .L236:2189 13c4 8091 0000 lds r24,FCParam+292190 13c8 8230 cpi r24,lo8(2)2191 13ca 00F4 brsh .+22192 13cc 00C0 rjmp .L3482193 13ce 8F3F cpi r24,lo8(-1)2194 13d0 01F4 brne .+22195 13d2 00C0 rjmp .L3492196 .L240:2197 13d4 8091 0000 lds r24,ParamSet+662198 13d8 8B3F cpi r24,lo8(-5)2199 13da 00F0 brlo .L2412200 13dc 8B3F cpi r24,lo8(-5)2201 13de 01F4 brne .+22202 13e0 00C0 rjmp .L3502203 13e2 8C3F cpi r24,lo8(-4)2204 13e4 01F4 brne .+22205 13e6 00C0 rjmp .L3512206 13e8 8D3F cpi r24,lo8(-3)2207 13ea 01F4 brne .+22208 13ec 00C0 rjmp .L3522209 13ee 8E3F cpi r24,lo8(-2)2210 13f0 01F4 brne .L2432211 13f2 8091 0000 lds r24,Poti42212 13f6 8093 0000 sts FCParam+30,r242213 13fa 00C0 rjmp .L2432214 .L241:2215 13fc 8093 0000 sts FCParam+30,r242216 .L243:2217 1400 8091 0000 lds r24,FCParam+302218 1404 8230 cpi r24,lo8(2)2219 1406 00F4 brsh .+22220 1408 00C0 rjmp .L3532221 140a 8F3F cpi r24,lo8(-1)2222 140c 01F4 brne .+22223 140e 00C0 rjmp .L3542224 .L247:2225 1410 8091 0000 lds r24,ParamSet+852226 1414 8B3F cpi r24,lo8(-5)2227 1416 00F4 brsh .+22228 1418 00C0 rjmp .L2482229 141a 8B3F cpi r24,lo8(-5)2230 141c 01F0 breq .L3552231 141e 8C3F cpi r24,lo8(-4)2232 1420 01F4 brne .+22233 1422 00C0 rjmp .L3562234 1424 8D3F cpi r24,lo8(-3)2235 1426 01F4 brne .+22236 1428 00C0 rjmp .L3572237 142a 8E3F cpi r24,lo8(-2)2238 142c 01F0 breq .+22239 142e 00C0 rjmp .L2502240 1430 8091 0000 lds r24,Poti42241 1434 8093 0000 sts FCParam+28,r242242 1438 00C0 rjmp .L2502243 .L355:2244 143a 8091 0000 lds r24,Poti12245 143e 8093 0000 sts FCParam+28,r242246 1442 00C0 rjmp .L2502247 .L276:2248 1444 8091 0000 lds r24,Poti12249 1448 8093 0000 sts FCParam+4,r242250 144c 00C0 rjmp .L1172251 .L282:2252 144e 8091 0000 lds r24,Poti12253 1452 8093 0000 sts FCParam+7,r242254 1456 00C0 rjmp .L1272255 .L279:2256 1458 8091 0000 lds r24,Poti12257 145c 8093 0000 sts FCParam+5,r242258 1460 00C0 rjmp .L1222259 .L265:2260 1462 8091 0000 lds r24,Poti12261 1466 8093 0000 sts FCParam+1,r242262 146a 00C0 rjmp .L932263 .L262:2264 146c 8091 0000 lds r24,Poti12265 1470 8093 0000 sts FCParam,r242266 1474 00C0 rjmp .L982267 .L268:2268 1476 8091 0000 lds r24,Poti12269 147a 8093 0000 sts FCParam+2,r242270 147e 00C0 rjmp .L1052271 .L272:2272 1480 8091 0000 lds r24,Poti12273 1484 8093 0000 sts FCParam+3,r242274 1488 00C0 rjmp .L1122275 .L288:2276 148a 8091 0000 lds r24,Poti12277 148e 8093 0000 sts FCParam+6,r242278 1492 00C0 rjmp .L1392279 .L285:2280 1494 8091 0000 lds r24,Poti12281 1498 8093 0000 sts FCParam+8,r242282 149c 00C0 rjmp .L1342283 .L294:2284 149e 8091 0000 lds r24,Poti12285 14a2 8093 0000 sts FCParam+10,r242286 14a6 00C0 rjmp .L1512287 .L291:2288 14a8 8091 0000 lds r24,Poti12289 14ac 8093 0000 sts FCParam+9,r242290 14b0 00C0 rjmp .L1442291 .L303:2292 14b2 8091 0000 lds r24,Poti12293 14b6 8093 0000 sts FCParam+14,r242294 14ba 00C0 rjmp .L1662295 .L300:2296 14bc 8091 0000 lds r24,Poti12297 14c0 8093 0000 sts FCParam+13,r242298 14c4 00C0 rjmp .L1612299 .L297:2300 14c6 8091 0000 lds r24,Poti12301 14ca 8093 0000 sts FCParam+12,r242302 14ce 00C0 rjmp .L1562303 .L350:2304 14d0 8091 0000 lds r24,Poti12305 14d4 8093 0000 sts FCParam+30,r242306 14d8 00C0 rjmp .L2432307 .L345:2308 14da 8091 0000 lds r24,Poti12309 14de 8093 0000 sts FCParam+29,r242310 14e2 00C0 rjmp .L2362311 .L342:2312 14e4 8091 0000 lds r24,Poti12313 14e8 8093 0000 sts FCParam+27,r242314 14ec 00C0 rjmp .L2312315 .L339:2316 14ee 8091 0000 lds r24,Poti12317 14f2 8093 0000 sts FCParam+26,r242318 14f6 00C0 rjmp .L2262319 .L336:2320 14f8 8091 0000 lds r24,Poti12321 14fc 8093 0000 sts FCParam+25,r242322 1500 00C0 rjmp .L2212323 .L333:2324 1502 8091 0000 lds r24,Poti12325 1506 8093 0000 sts FCParam+24,r242326 150a 00C0 rjmp .L2162327 .L330:2328 150c 8091 0000 lds r24,Poti12329 1510 8093 0000 sts FCParam+23,r242330 1514 00C0 rjmp .L2112331 .L327:2332 1516 8091 0000 lds r24,Poti12333 151a 8093 0000 sts FCParam+22,r242334 151e 00C0 rjmp .L2062335 .L324:2336 1520 8091 0000 lds r24,Poti12337 1524 8093 0000 sts FCParam+21,r242338 1528 00C0 rjmp .L2012339 .L321:2340 152a 8091 0000 lds r24,Poti12341 152e 8093 0000 sts FCParam+20,r242342 1532 00C0 rjmp .L1962343 .L318:2344 1534 8091 0000 lds r24,Poti12345 1538 8093 0000 sts FCParam+19,r242346 153c 00C0 rjmp .L1912347 .L315:2348 153e 8091 0000 lds r24,Poti12349 1542 8093 0000 sts FCParam+18,r242350 1546 00C0 rjmp .L1862351 .L312:2352 1548 8091 0000 lds r24,Poti12353 154c 8093 0000 sts FCParam+17,r242354 1550 00C0 rjmp .L1812355 .L309:2356 1552 8091 0000 lds r24,Poti12357 1556 8093 0000 sts FCParam+16,r242358 155a 00C0 rjmp .L1762359 .L306:2360 155c 8091 0000 lds r24,Poti12361 1560 8093 0000 sts FCParam+15,r242362 1564 00C0 rjmp .L1712363 .L348:2364 1566 81E0 ldi r24,lo8(1)2365 1568 8093 0000 sts FCParam+29,r242366 156c 00C0 rjmp .L2402367 .L353:2368 156e 81E0 ldi r24,lo8(1)2369 1570 8093 0000 sts FCParam+30,r242370 1574 00C0 rjmp .L2472371 .L349:2372 1576 8093 0000 sts FCParam+29,r242373 157a 00C0 rjmp .L2402374 .L354:2375 157c 8093 0000 sts FCParam+30,r242376 1580 00C0 rjmp .L2472377 .L319:2378 1582 8091 0000 lds r24,Poti22379 1586 8093 0000 sts FCParam+19,r242380 158a 00C0 rjmp .L1912381 .L322:2382 158c 8091 0000 lds r24,Poti22383 1590 8093 0000 sts FCParam+20,r242384 1594 00C0 rjmp .L1962385 .L310:2386 1596 8091 0000 lds r24,Poti22387 159a 8093 0000 sts FCParam+16,r242388 159e 00C0 rjmp .L1762389 .L313:2390 15a0 8091 0000 lds r24,Poti22391 15a4 8093 0000 sts FCParam+17,r242392 15a8 00C0 rjmp .L1812393 .L328:2394 15aa 8091 0000 lds r24,Poti22395 15ae 8093 0000 sts FCParam+22,r242396 15b2 00C0 rjmp .L2062397 .L325:2398 15b4 8091 0000 lds r24,Poti22399 15b8 8093 0000 sts FCParam+21,r242400 15bc 00C0 rjmp .L2012401 .L337:2402 15be 8091 0000 lds r24,Poti22403 15c2 8093 0000 sts FCParam+25,r242404 15c6 00C0 rjmp .L2212405 .L351:2406 15c8 8091 0000 lds r24,Poti22407 15cc 8093 0000 sts FCParam+30,r242408 15d0 00C0 rjmp .L2432409 .L343:2410 15d2 8091 0000 lds r24,Poti22411 15d6 8093 0000 sts FCParam+27,r242412 15da 00C0 rjmp .L2312413 .L346:2414 15dc 8091 0000 lds r24,Poti22415 15e0 8093 0000 sts FCParam+29,r242416 15e4 00C0 rjmp .L2362417 .L316:2418 15e6 8091 0000 lds r24,Poti22419 15ea 8093 0000 sts FCParam+18,r242420 15ee 00C0 rjmp .L1862421 .L307:2422 15f0 8091 0000 lds r24,Poti22423 15f4 8093 0000 sts FCParam+15,r242424 15f8 00C0 rjmp .L1712425 .L334:2426 15fa 8091 0000 lds r24,Poti22427 15fe 8093 0000 sts FCParam+24,r242428 1602 00C0 rjmp .L2162429 .L340:2430 1604 8091 0000 lds r24,Poti22431 1608 8093 0000 sts FCParam+26,r242432 160c 00C0 rjmp .L2262433 .L286:2434 160e 8091 0000 lds r24,Poti22435 1612 8093 0000 sts FCParam+8,r242436 1616 00C0 rjmp .L1342437 .L273:2438 1618 8091 0000 lds r24,Poti22439 161c 8093 0000 sts FCParam+3,r242440 1620 00C0 rjmp .L1122441 .L331:2442 1622 8091 0000 lds r24,Poti22443 1626 8093 0000 sts FCParam+23,r242444 162a 00C0 rjmp .L2112445 .L356:2446 162c 8091 0000 lds r24,Poti22447 1630 8093 0000 sts FCParam+28,r242448 1634 00C0 rjmp .L2502449 .L283:2450 1636 8091 0000 lds r24,Poti22451 163a 8093 0000 sts FCParam+7,r242452 163e 00C0 rjmp .L1272453 .L280:2454 1640 8091 0000 lds r24,Poti22455 1644 8093 0000 sts FCParam+5,r242456 1648 00C0 rjmp .L1222457 .L269:2458 164a 8091 0000 lds r24,Poti22459 164e 8093 0000 sts FCParam+2,r242460 1652 00C0 rjmp .L1052461 .L266:2462 1654 8091 0000 lds r24,Poti22463 1658 8093 0000 sts FCParam+1,r242464 165c 00C0 rjmp .L932465 .L304:2466 165e 8091 0000 lds r24,Poti22467 1662 8093 0000 sts FCParam+14,r242468 1666 00C0 rjmp .L1662469 .L301:2470 1668 8091 0000 lds r24,Poti22471 166c 8093 0000 sts FCParam+13,r242472 1670 00C0 rjmp .L1612473 .L277:2474 1672 8091 0000 lds r24,Poti22475 1676 8093 0000 sts FCParam+4,r242476 167a 00C0 rjmp .L1172477 .L263:2478 167c 8091 0000 lds r24,Poti22479 1680 8093 0000 sts FCParam,r242480 1684 00C0 rjmp .L982481 .L292:2482 1686 8091 0000 lds r24,Poti22483 168a 8093 0000 sts FCParam+9,r242484 168e 00C0 rjmp .L1442485 .L289:2486 1690 8091 0000 lds r24,Poti22487 1694 8093 0000 sts FCParam+6,r242488 1698 00C0 rjmp .L1392489 .L298:2490 169a 8091 0000 lds r24,Poti22491 169e 8093 0000 sts FCParam+12,r242492 16a2 00C0 rjmp .L1562493 .L295:2494 16a4 8091 0000 lds r24,Poti22495 16a8 8093 0000 sts FCParam+10,r242496 16ac 00C0 rjmp .L1512497 .L352:2498 16ae 8091 0000 lds r24,Poti32499 16b2 8093 0000 sts FCParam+30,r242500 16b6 00C0 rjmp .L2432501 .L357:2502 16b8 8091 0000 lds r24,Poti32503 16bc 8093 0000 sts FCParam+28,r242504 16c0 00C0 rjmp .L2502505 .L329:2506 16c2 8091 0000 lds r24,Poti32507 16c6 8093 0000 sts FCParam+22,r242508 16ca 00C0 rjmp .L2062509 .L305:2510 16cc 8091 0000 lds r24,Poti32511 16d0 8093 0000 sts FCParam+14,r242512 16d4 00C0 rjmp .L1662513 .L341:2514 16d6 8091 0000 lds r24,Poti32515 16da 8093 0000 sts FCParam+26,r242516 16de 00C0 rjmp .L2262517 .L284:2518 16e0 8091 0000 lds r24,Poti32519 16e4 8093 0000 sts FCParam+7,r242520 16e8 00C0 rjmp .L1272521 .L323:2522 16ea 8091 0000 lds r24,Poti32523 16ee 8093 0000 sts FCParam+20,r242524 16f2 00C0 rjmp .L1962525 .L299:2526 16f4 8091 0000 lds r24,Poti32527 16f8 8093 0000 sts FCParam+12,r242528 16fc 00C0 rjmp .L1562529 .L335:2530 16fe 8091 0000 lds r24,Poti32531 1702 8093 0000 sts FCParam+24,r242532 1706 00C0 rjmp .L2162533 .L278:2534 1708 8091 0000 lds r24,Poti32535 170c 8093 0000 sts FCParam+4,r242536 1710 00C0 rjmp .L1172537 .L317:2538 1712 8091 0000 lds r24,Poti32539 1716 8093 0000 sts FCParam+18,r242540 171a 00C0 rjmp .L1862541 .L293:2542 171c 8091 0000 lds r24,Poti32543 1720 8093 0000 sts FCParam+9,r242544 1724 00C0 rjmp .L1442545 .L347:2546 1726 8091 0000 lds r24,Poti32547 172a 8093 0000 sts FCParam+29,r242548 172e 00C0 rjmp .L2362549 .L270:2550 1730 8091 0000 lds r24,Poti32551 1734 8093 0000 sts FCParam+2,r242552 1738 00C0 rjmp .L1052553 .L320:2554 173a 8091 0000 lds r24,Poti32555 173e 8093 0000 sts FCParam+19,r242556 1742 00C0 rjmp .L1912557 .L296:2558 1744 8091 0000 lds r24,Poti32559 1748 8093 0000 sts FCParam+10,r242560 174c 00C0 rjmp .L1512561 .L308:2562 174e 8091 0000 lds r24,Poti32563 1752 8093 0000 sts FCParam+15,r242564 1756 00C0 rjmp .L1712565 .L274:2566 1758 8091 0000 lds r24,Poti32567 175c 8093 0000 sts FCParam+3,r242568 1760 00C0 rjmp .L1122569 .L314:2570 1762 8091 0000 lds r24,Poti32571 1766 8093 0000 sts FCParam+17,r242572 176a 00C0 rjmp .L1812573 .L290:2574 176c 8091 0000 lds r24,Poti32575 1770 8093 0000 sts FCParam+6,r242576 1774 00C0 rjmp .L1392577 .L332:2578 1776 8091 0000 lds r24,Poti32579 177a 8093 0000 sts FCParam+23,r242580 177e 00C0 rjmp .L2112581 .L264:2582 1780 8091 0000 lds r24,Poti32583 1784 8093 0000 sts FCParam,r242584 1788 00C0 rjmp .L982585 .L326:2586 178a 8091 0000 lds r24,Poti32587 178e 8093 0000 sts FCParam+21,r242588 1792 00C0 rjmp .L2012589 .L302:2590 1794 8091 0000 lds r24,Poti32591 1798 8093 0000 sts FCParam+13,r242592 179c 00C0 rjmp .L1612593 .L338:2594 179e 8091 0000 lds r24,Poti32595 17a2 8093 0000 sts FCParam+25,r242596 17a6 00C0 rjmp .L2212597 .L281:2598 17a8 8091 0000 lds r24,Poti32599 17ac 8093 0000 sts FCParam+5,r242600 17b0 00C0 rjmp .L1222601 .L311:2602 17b2 8091 0000 lds r24,Poti32603 17b6 8093 0000 sts FCParam+16,r242604 17ba 00C0 rjmp .L1762605 .L287:2606 17bc 8091 0000 lds r24,Poti32607 17c0 8093 0000 sts FCParam+8,r242608 17c4 00C0 rjmp .L1342609 .L344:2610 17c6 8091 0000 lds r24,Poti32611 17ca 8093 0000 sts FCParam+27,r242612 17ce 00C0 rjmp .L2312613 .L267:2614 17d0 8091 0000 lds r24,Poti32615 17d4 8093 0000 sts FCParam+1,r242616 17d8 00C0 rjmp .L932618 .global SendMotorData2620 SendMotorData:2621 /* prologue: function */2622 /* frame size = 0 */2623 17da 8091 0000 lds r24,MKFlags2624 17de 80FD sbrc r24,02625 17e0 00C0 rjmp .L3592626 17e2 8091 0000 lds r24,MKFlags2627 17e6 857F andi r24,lo8(-11)2628 17e8 8093 0000 sts MKFlags,r242629 17ec 9091 0000 lds r25,MotorTest_Active2630 17f0 E0E0 ldi r30,lo8(Motor)2631 17f2 F0E0 ldi r31,hi8(Motor)2632 17f4 A0E0 ldi r26,lo8(MotorTest)2633 17f6 B0E0 ldi r27,hi8(MotorTest)2634 17f8 00C0 rjmp .L3622635 .L367:2636 17fa 1082 st Z,__zero_reg__2637 17fc 3596 adiw r30,52638 17fe 1196 adiw r26,12639 1800 80E0 ldi r24,hi8(Motor+60)2640 1802 E030 cpi r30,lo8(Motor+60)2641 1804 F807 cpc r31,r242642 1806 01F0 breq .L3662643 .L362:2644 1808 9923 tst r252645 180a 01F0 breq .L3672646 180c 8C91 ld r24,X2647 180e 8083 st Z,r242648 1810 3596 adiw r30,52649 1812 1196 adiw r26,12650 1814 80E0 ldi r24,hi8(Motor+60)2651 1816 E030 cpi r30,lo8(Motor+60)2652 1818 F807 cpc r31,r242653 181a 01F4 brne .L3622654 .L366:2655 181c 9923 tst r252656 181e 01F0 breq .L3592657 1820 9150 subi r25,lo8(-(-1))2658 1822 9093 0000 sts MotorTest_Active,r252659 .L359:2660 1826 E0E0 ldi r30,lo8(DebugOut+26)2661 1828 F0E0 ldi r31,hi8(DebugOut+26)2662 182a 8091 0000 lds r24,Motor2663 182e 8093 0000 sts DebugOut+26,r242664 1832 1092 0000 sts DebugOut+27,__zero_reg__2665 1836 8091 0000 lds r24,Motor+52666 183a 8093 0000 sts DebugOut+28,r242667 183e 1382 std Z+3,__zero_reg__2668 1840 8091 0000 lds r24,Motor+152669 1844 8093 0000 sts DebugOut+30,r242670 1848 1582 std Z+5,__zero_reg__2671 184a 8091 0000 lds r24,Motor+102672 184e 8093 0000 sts DebugOut+32,r242673 1852 1782 std Z+7,__zero_reg__2674 1854 80E0 ldi r24,lo8(0)2675 1856 0E94 0000 call I2C_Start2676 /* epilogue start */2677 185a 0895 ret2679 .global SetNeutral2681 SetNeutral:2682 185c 2F92 push r22683 185e 3F92 push r32684 1860 4F92 push r42685 1862 5F92 push r52686 1864 6F92 push r62687 1866 7F92 push r72688 1868 8F92 push r82689 186a 9F92 push r92690 186c AF92 push r102691 186e BF92 push r112692 1870 CF92 push r122693 1872 DF92 push r132694 1874 EF92 push r142695 1876 FF92 push r152696 1878 0F93 push r162697 187a 1F93 push r172698 /* prologue: function */2699 /* frame size = 0 */2700 187c 582E mov r5,r242701 187e 1092 0000 sts (AdBiasAccNick)+1,__zero_reg__2702 1882 1092 0000 sts AdBiasAccNick,__zero_reg__2703 1886 1092 0000 sts (AdBiasAccRoll)+1,__zero_reg__2704 188a 1092 0000 sts AdBiasAccRoll,__zero_reg__2705 188e 80E0 ldi r24,lo8(0x0)2706 1890 90E0 ldi r25,hi8(0x0)2707 1892 A0E0 ldi r26,hlo8(0x0)2708 1894 B0E0 ldi r27,hhi8(0x0)2709 1896 8093 0000 sts AdBiasAccTop,r242710 189a 9093 0000 sts (AdBiasAccTop)+1,r252711 189e A093 0000 sts (AdBiasAccTop)+2,r262712 18a2 B093 0000 sts (AdBiasAccTop)+3,r272713 18a6 1092 0000 sts (BiasHiResGyroNick)+1,__zero_reg__2714 18aa 1092 0000 sts BiasHiResGyroNick,__zero_reg__2715 18ae 1092 0000 sts (BiasHiResGyroRoll)+1,__zero_reg__2716 18b2 1092 0000 sts BiasHiResGyroRoll,__zero_reg__2717 18b6 1092 0000 sts (AdBiasGyroYaw)+1,__zero_reg__2718 18ba 1092 0000 sts AdBiasGyroYaw,__zero_reg__2719 18be 1092 0000 sts FCParam+24,__zero_reg__2720 18c2 1092 0000 sts FCParam+25,__zero_reg__2721 18c6 1092 0000 sts ExpandBaro,__zero_reg__2722 18ca 84E6 ldi r24,lo8(100)2723 18cc 90E0 ldi r25,hi8(100)2724 18ce 0E94 0000 call Delay_ms_Mess2725 18d2 8091 0000 lds r24,BoardRelease2726 18d6 8D30 cpi r24,lo8(13)2727 18d8 01F4 brne .+22728 18da 00C0 rjmp .L3842729 .L369:2730 18dc 8091 0000 lds r24,ParamSet+82731 18e0 80FF sbrs r24,02732 18e2 00C0 rjmp .L3702733 18e4 8091 0000 lds r24,AdAirPressure2734 18e8 9091 0000 lds r25,(AdAirPressure)+12735 18ec 875B subi r24,lo8(951)2736 18ee 9340 sbci r25,hi8(951)2737 18f0 04F0 brlt .+22738 18f2 00C0 rjmp .L3712739 18f4 8091 0000 lds r24,AdAirPressure2740 18f8 9091 0000 lds r25,(AdAirPressure)+12741 18fc 8E5E subi r24,lo8(750)2742 18fe 9240 sbci r25,hi8(750)2743 1900 04F4 brge .+22744 1902 00C0 rjmp .L3712745 .L370:2746 1904 2224 clr r22747 1906 EE24 clr r142748 1908 FF24 clr r152749 190a 8701 movw r16,r142750 190c AA24 clr r102751 190e BB24 clr r112752 1910 6501 movw r12,r102753 1912 6624 clr r62754 1914 7724 clr r72755 1916 4301 movw r8,r62756 .L372:2757 1918 8AE0 ldi r24,lo8(10)2758 191a 90E0 ldi r25,hi8(10)2759 191c 0E94 0000 call Delay_ms_Mess2760 1920 8091 0000 lds r24,AdValueGyroNick2761 1924 9091 0000 lds r25,(AdValueGyroNick)+12762 1928 880F lsl r242763 192a 991F rol r252764 192c 880F lsl r242765 192e 991F rol r252766 1930 880F lsl r242767 1932 991F rol r252768 1934 AA27 clr r262769 1936 97FD sbrc r25,72770 1938 A095 com r262771 193a BA2F mov r27,r262772 193c E80E add r14,r242773 193e F91E adc r15,r252774 1940 0A1F adc r16,r262775 1942 1B1F adc r17,r272776 1944 8091 0000 lds r24,AdValueGyroRoll2777 1948 9091 0000 lds r25,(AdValueGyroRoll)+12778 194c 880F lsl r242779 194e 991F rol r252780 1950 880F lsl r242781 1952 991F rol r252782 1954 880F lsl r242783 1956 991F rol r252784 1958 AA27 clr r262785 195a 97FD sbrc r25,72786 195c A095 com r262787 195e BA2F mov r27,r262788 1960 A80E add r10,r242789 1962 B91E adc r11,r252790 1964 CA1E adc r12,r262791 1966 DB1E adc r13,r272792 1968 8091 0000 lds r24,AdValueGyroYaw2793 196c 9091 0000 lds r25,(AdValueGyroYaw)+12794 1970 AA27 clr r262795 1972 97FD sbrc r25,72796 1974 A095 com r262797 1976 BA2F mov r27,r262798 1978 680E add r6,r242799 197a 791E adc r7,r252800 197c 8A1E adc r8,r262801 197e 9B1E adc r9,r272802 1980 2394 inc r22803 1982 B0E2 ldi r27,lo8(32)2804 1984 2B16 cp r2,r272805 1986 01F4 brne .L3722806 1988 80E1 ldi r24,lo8(16)2807 198a 90E0 ldi r25,hi8(16)2808 198c A0E0 ldi r26,hlo8(16)2809 198e B0E0 ldi r27,hhi8(16)2810 1990 E80E add r14,r242811 1992 F91E adc r15,r252812 1994 0A1F adc r16,r262813 1996 1B1F adc r17,r272814 1998 C801 movw r24,r162815 199a B701 movw r22,r142816 199c 20E2 ldi r18,lo8(32)2817 199e 30E0 ldi r19,hi8(32)2818 19a0 40E0 ldi r20,hlo8(32)2819 19a2 50E0 ldi r21,hhi8(32)2820 19a4 0E94 0000 call __divmodsi42821 19a8 3093 0000 sts (BiasHiResGyroNick)+1,r192822 19ac 2093 0000 sts BiasHiResGyroNick,r182823 19b0 80E1 ldi r24,lo8(16)2824 19b2 90E0 ldi r25,hi8(16)2825 19b4 A0E0 ldi r26,hlo8(16)2826 19b6 B0E0 ldi r27,hhi8(16)2827 19b8 A80E add r10,r242828 19ba B91E adc r11,r252829 19bc CA1E adc r12,r262830 19be DB1E adc r13,r272831 19c0 C601 movw r24,r122832 19c2 B501 movw r22,r102833 19c4 20E2 ldi r18,lo8(32)2834 19c6 30E0 ldi r19,hi8(32)2835 19c8 40E0 ldi r20,hlo8(32)2836 19ca 50E0 ldi r21,hhi8(32)2837 19cc 0E94 0000 call __divmodsi42838 19d0 3093 0000 sts (BiasHiResGyroRoll)+1,r192839 19d4 2093 0000 sts BiasHiResGyroRoll,r182840 19d8 80E1 ldi r24,lo8(16)2841 19da 90E0 ldi r25,hi8(16)2842 19dc A0E0 ldi r26,hlo8(16)2843 19de B0E0 ldi r27,hhi8(16)2844 19e0 680E add r6,r242845 19e2 791E adc r7,r252846 19e4 8A1E adc r8,r262847 19e6 9B1E adc r9,r272848 19e8 C401 movw r24,r82849 19ea B301 movw r22,r62850 19ec 20E2 ldi r18,lo8(32)2851 19ee 30E0 ldi r19,hi8(32)2852 19f0 40E0 ldi r20,hlo8(32)2853 19f2 50E0 ldi r21,hhi8(32)2854 19f4 0E94 0000 call __divmodsi42855 19f8 3093 0000 sts (AdBiasGyroYaw)+1,r192856 19fc 2093 0000 sts AdBiasGyroYaw,r182857 1a00 5520 tst r52858 1a02 01F4 brne .+22859 1a04 00C0 rjmp .L3732860 1a06 2224 clr r22861 1a08 EE24 clr r142862 1a0a FF24 clr r152863 1a0c 8701 movw r16,r142864 1a0e AA24 clr r102865 1a10 BB24 clr r112866 1a12 6501 movw r12,r102867 1a14 6624 clr r62868 1a16 7724 clr r72869 1a18 4301 movw r8,r62870 .L374:2871 1a1a 8AE0 ldi r24,lo8(10)2872 1a1c 90E0 ldi r25,hi8(10)2873 1a1e 0E94 0000 call Delay_ms_Mess2874 1a22 8091 0000 lds r24,AdValueAccNick2875 1a26 9091 0000 lds r25,(AdValueAccNick)+12876 1a2a AA27 clr r262877 1a2c 97FD sbrc r25,72878 1a2e A095 com r262879 1a30 BA2F mov r27,r262880 1a32 E80E add r14,r242881 1a34 F91E adc r15,r252882 1a36 0A1F adc r16,r262883 1a38 1B1F adc r17,r272884 1a3a 8091 0000 lds r24,AdValueAccRoll2885 1a3e 9091 0000 lds r25,(AdValueAccRoll)+12886 1a42 AA27 clr r262887 1a44 97FD sbrc r25,72888 1a46 A095 com r262889 1a48 BA2F mov r27,r262890 1a4a A80E add r10,r242891 1a4c B91E adc r11,r252892 1a4e CA1E adc r12,r262893 1a50 DB1E adc r13,r272894 1a52 8091 0000 lds r24,AdValueAccZ2895 1a56 9091 0000 lds r25,(AdValueAccZ)+12896 1a5a AA27 clr r262897 1a5c 97FD sbrc r25,72898 1a5e A095 com r262899 1a60 BA2F mov r27,r262900 1a62 680E add r6,r242901 1a64 791E adc r7,r252902 1a66 8A1E adc r8,r262903 1a68 9B1E adc r9,r272904 1a6a 2394 inc r22905 1a6c 9AE0 ldi r25,lo8(10)2906 1a6e 2916 cp r2,r252907 1a70 01F4 brne .L3742908 1a72 C701 movw r24,r142909 1a74 F7FC sbrc r15,72910 1a76 00C0 rjmp .L3852911 .L375:2912 1a78 0596 adiw r24,52913 1a7a 6AE0 ldi r22,lo8(10)2914 1a7c 70E0 ldi r23,hi8(10)2915 1a7e 0E94 0000 call __divmodhi42916 1a82 162F mov r17,r222917 1a84 072F mov r16,r232918 1a86 6093 0000 sts AdBiasAccNick,r222919 1a8a 7093 0000 sts AdBiasAccNick+1,r232920 1a8e C501 movw r24,r102921 1a90 B7FC sbrc r11,72922 1a92 00C0 rjmp .L3862923 .L376:2924 1a94 0596 adiw r24,52925 1a96 6AE0 ldi r22,lo8(10)2926 1a98 70E0 ldi r23,hi8(10)2927 1a9a 0E94 0000 call __divmodhi42928 1a9e 7093 0000 sts (AdBiasAccRoll)+1,r232929 1aa2 6093 0000 sts AdBiasAccRoll,r222930 1aa6 C301 movw r24,r62931 1aa8 77FC sbrc r7,72932 1aaa 00C0 rjmp .L3872933 .L377:2934 1aac 0596 adiw r24,52935 1aae 6AE0 ldi r22,lo8(10)2936 1ab0 70E0 ldi r23,hi8(10)2937 1ab2 0E94 0000 call __divmodhi42938 1ab6 8827 clr r242939 1ab8 77FD sbrc r23,72940 1aba 8095 com r242941 1abc 982F mov r25,r242942 1abe 0E94 0000 call __floatsisf2943 1ac2 6093 0000 sts AdBiasAccTop,r222944 1ac6 7093 0000 sts (AdBiasAccTop)+1,r232945 1aca 8093 0000 sts (AdBiasAccTop)+2,r242946 1ace 9093 0000 sts (AdBiasAccTop)+3,r252947 1ad2 84E0 ldi r24,lo8(4)2948 1ad4 90E0 ldi r25,hi8(4)2949 1ad6 612F mov r22,r172950 1ad8 702F mov r23,r162951 1ada 0E94 0000 call SetParamWord2952 1ade 6091 0000 lds r22,AdBiasAccRoll2953 1ae2 7091 0000 lds r23,(AdBiasAccRoll)+12954 1ae6 86E0 ldi r24,lo8(6)2955 1ae8 90E0 ldi r25,hi8(6)2956 1aea 0E94 0000 call SetParamWord2957 1aee 6091 0000 lds r22,AdBiasAccTop2958 1af2 7091 0000 lds r23,(AdBiasAccTop)+12959 1af6 8091 0000 lds r24,(AdBiasAccTop)+22960 1afa 9091 0000 lds r25,(AdBiasAccTop)+32961 1afe 0E94 0000 call __fixunssfsi2962 1b02 9B01 movw r18,r222963 1b04 AC01 movw r20,r242964 1b06 88E0 ldi r24,lo8(8)2965 1b08 90E0 ldi r25,hi8(8)2966 1b0a B901 movw r22,r182967 1b0c 0E94 0000 call SetParamWord2968 .L378:2969 1b10 8091 0000 lds r24,AirPressure2970 1b14 9091 0000 lds r25,(AirPressure)+12971 1b18 A091 0000 lds r26,(AirPressure)+22972 1b1c B091 0000 lds r27,(AirPressure)+32973 1b20 8093 0000 sts StartAirPressure,r242974 1b24 9093 0000 sts (StartAirPressure)+1,r252975 1b28 A093 0000 sts (StartAirPressure)+2,r262976 1b2c B093 0000 sts (StartAirPressure)+3,r272977 1b30 84E6 ldi r24,lo8(100)2978 1b32 90E0 ldi r25,hi8(100)2979 1b34 0E94 0000 call Delay_ms_Mess2980 1b38 1092 0000 sts (ReadingVario)+1,__zero_reg__2981 1b3c 1092 0000 sts ReadingVario,__zero_reg__2982 1b40 6091 0000 lds r22,AdValueAccNick2983 1b44 7091 0000 lds r23,(AdValueAccNick)+12984 1b48 8827 clr r242985 1b4a 77FD sbrc r23,72986 1b4c 8095 com r242987 1b4e 982F mov r25,r242988 1b50 26E0 ldi r18,lo8(6)2989 1b52 30E0 ldi r19,hi8(6)2990 1b54 40E0 ldi r20,hlo8(6)2991 1b56 50E0 ldi r21,hhi8(6)2992 1b58 0E94 0000 call __mulsi32993 1b5c 3B01 movw r6,r222994 1b5e 4C01 movw r8,r242995 1b60 7093 0000 sts (AccNick)+1,r232996 1b64 6093 0000 sts AccNick,r222997 1b68 6091 0000 lds r22,AdValueAccRoll2998 1b6c 7091 0000 lds r23,(AdValueAccRoll)+12999 1b70 8827 clr r243000 1b72 77FD sbrc r23,73001 1b74 8095 com r243002 1b76 982F mov r25,r243003 1b78 0E94 0000 call __mulsi33004 1b7c 5B01 movw r10,r223005 1b7e 6C01 movw r12,r243006 1b80 7093 0000 sts (AccRoll)+1,r233007 1b84 6093 0000 sts AccRoll,r223008 1b88 8091 0000 lds r24,AdValueAccTop3009 1b8c 9091 0000 lds r25,(AdValueAccTop)+13010 1b90 9093 0000 sts (AccTop)+1,r253011 1b94 8093 0000 sts AccTop,r243012 1b98 8091 0000 lds r24,AdValueAccTop3013 1b9c 9091 0000 lds r25,(AdValueAccTop)+13014 1ba0 982F mov r25,r243015 1ba2 8827 clr r243016 1ba4 990F lsl r253017 1ba6 990F lsl r253018 1ba8 AA27 clr r263019 1baa 97FD sbrc r25,73020 1bac A095 com r263021 1bae BA2F mov r27,r263022 1bb0 8093 0000 sts ReadingIntegralTop,r243023 1bb4 9093 0000 sts (ReadingIntegralTop)+1,r253024 1bb8 A093 0000 sts (ReadingIntegralTop)+2,r263025 1bbc B093 0000 sts (ReadingIntegralTop)+3,r273026 1bc0 1092 0000 sts (GyroNick)+1,__zero_reg__3027 1bc4 1092 0000 sts GyroNick,__zero_reg__3028 1bc8 1092 0000 sts (GyroRoll)+1,__zero_reg__3029 1bcc 1092 0000 sts GyroRoll,__zero_reg__3030 1bd0 1092 0000 sts (GyroYaw)+1,__zero_reg__3031 1bd4 1092 0000 sts GyroYaw,__zero_reg__3032 1bd8 E090 0000 lds r14,ParamSet+233033 1bdc 2E2C mov r2,r143034 1bde 3324 clr r33035 1be0 4424 clr r43036 1be2 5524 clr r53037 1be4 8824 clr r83038 1be6 77FC sbrc r7,73039 1be8 8094 com r83040 1bea 982C mov r9,r83041 1bec C401 movw r24,r83042 1bee B301 movw r22,r63043 1bf0 A201 movw r20,r43044 1bf2 9101 movw r18,r23045 1bf4 0E94 0000 call __mulsi33046 1bf8 3B01 movw r6,r223047 1bfa 4C01 movw r8,r243048 1bfc 6093 0000 sts IntegralGyroNick,r223049 1c00 7093 0000 sts (IntegralGyroNick)+1,r233050 1c04 8093 0000 sts (IntegralGyroNick)+2,r243051 1c08 9093 0000 sts (IntegralGyroNick)+3,r253052 1c0c CC24 clr r123053 1c0e B7FC sbrc r11,73054 1c10 C094 com r123055 1c12 DC2C mov r13,r123056 1c14 C601 movw r24,r123057 1c16 B501 movw r22,r103058 1c18 0E94 0000 call __mulsi33059 1c1c 6093 0000 sts IntegralGyroRoll,r223060 1c20 7093 0000 sts (IntegralGyroRoll)+1,r233061 1c24 8093 0000 sts (IntegralGyroRoll)+2,r243062 1c28 9093 0000 sts (IntegralGyroRoll)+3,r253063 1c2c 6092 0000 sts ReadingIntegralGyroNick2,r63064 1c30 7092 0000 sts (ReadingIntegralGyroNick2)+1,r73065 1c34 8092 0000 sts (ReadingIntegralGyroNick2)+2,r83066 1c38 9092 0000 sts (ReadingIntegralGyroNick2)+3,r93067 1c3c 6093 0000 sts ReadingIntegralGyroRoll2,r223068 1c40 7093 0000 sts (ReadingIntegralGyroRoll2)+1,r233069 1c44 8093 0000 sts (ReadingIntegralGyroRoll2)+2,r243070 1c48 9093 0000 sts (ReadingIntegralGyroRoll2)+3,r253071 1c4c 1092 0000 sts ReadingIntegralGyroYaw,__zero_reg__3072 1c50 1092 0000 sts (ReadingIntegralGyroYaw)+1,__zero_reg__3073 1c54 1092 0000 sts (ReadingIntegralGyroYaw)+2,__zero_reg__3074 1c58 1092 0000 sts (ReadingIntegralGyroYaw)+3,__zero_reg__3075 1c5c 2091 0000 lds r18,CompassHeading3076 1c60 3091 0000 lds r19,(CompassHeading)+13077 1c64 3093 0000 sts (CompassCourse)+1,r193078 1c68 2093 0000 sts CompassCourse,r183079 1c6c 8AE2 ldi r24,lo8(42)3080 1c6e E89E mul r14,r243081 1c70 7001 movw r14,r03082 1c72 1124 clr r13083 1c74 0027 clr r163084 1c76 F7FC sbrc r15,73085 1c78 0095 com r163086 1c7a 102F mov r17,r163087 1c7c 4427 clr r203088 1c7e 37FD sbrc r19,73089 1c80 4095 com r203090 1c82 542F mov r21,r203091 1c84 C801 movw r24,r163092 1c86 B701 movw r22,r143093 1c88 0E94 0000 call __mulsi33094 1c8c 6093 0000 sts YawGyroHeading,r223095 1c90 7093 0000 sts (YawGyroHeading)+1,r233096 1c94 8093 0000 sts (YawGyroHeading)+2,r243097 1c98 9093 0000 sts (YawGyroHeading)+3,r253098 1c9c 1092 0000 sts (YawGyroDrift)+1,__zero_reg__3099 1ca0 1092 0000 sts YawGyroDrift,__zero_reg__3100 1ca4 82E3 ldi r24,lo8(50)3101 1ca6 90E0 ldi r25,hi8(50)3102 1ca8 9093 0000 sts (BeepTime)+1,r253103 1cac 8093 0000 sts BeepTime,r243104 1cb0 6091 0000 lds r22,ParamSet+543105 1cb4 70E0 ldi r23,lo8(0)3106 1cb6 80E0 ldi r24,lo8(0)3107 1cb8 90E0 ldi r25,hi8(0)3108 1cba 24EC ldi r18,lo8(2500)3109 1cbc 39E0 ldi r19,hi8(2500)3110 1cbe 40E0 ldi r20,hlo8(2500)3111 1cc0 50E0 ldi r21,hhi8(2500)3112 1cc2 0E94 0000 call __mulsi33113 1cc6 6856 subi r22,lo8(-(15000))3114 1cc8 754C sbci r23,hi8(-(15000))3115 1cca 8F4F sbci r24,hlo8(-(15000))3116 1ccc 9F4F sbci r25,hhi8(-(15000))3117 1cce 6093 0000 sts TurnOver180Nick,r223118 1cd2 7093 0000 sts (TurnOver180Nick)+1,r233119 1cd6 8093 0000 sts (TurnOver180Nick)+2,r243120 1cda 9093 0000 sts (TurnOver180Nick)+3,r253121 1cde 6091 0000 lds r22,ParamSet+553122 1ce2 70E0 ldi r23,lo8(0)3123 1ce4 80E0 ldi r24,lo8(0)3124 1ce6 90E0 ldi r25,hi8(0)3125 1ce8 0E94 0000 call __mulsi33126 1cec 6856 subi r22,lo8(-(15000))3127 1cee 754C sbci r23,hi8(-(15000))3128 1cf0 8F4F sbci r24,hlo8(-(15000))3129 1cf2 9F4F sbci r25,hhi8(-(15000))3130 1cf4 6093 0000 sts TurnOver180Roll,r223131 1cf8 7093 0000 sts (TurnOver180Roll)+1,r233132 1cfc 8093 0000 sts (TurnOver180Roll)+2,r243133 1d00 9093 0000 sts (TurnOver180Roll)+3,r253134 1d04 1092 0000 sts (ExternHeightValue)+1,__zero_reg__3135 1d08 1092 0000 sts ExternHeightValue,__zero_reg__3136 1d0c 1092 0000 sts (GPSStickNick)+1,__zero_reg__3137 1d10 1092 0000 sts GPSStickNick,__zero_reg__3138 1d14 1092 0000 sts (GPSStickRoll)+1,__zero_reg__3139 1d18 1092 0000 sts GPSStickRoll,__zero_reg__3140 1d1c 8091 0000 lds r24,MKFlags3141 1d20 8460 ori r24,lo8(4)3142 1d22 8093 0000 sts MKFlags,r243143 1d26 8FEF ldi r24,lo8(-1)3144 1d28 8093 0000 sts FCParam+31,r243145 1d2c 1092 0000 sts FCParam+32,__zero_reg__3146 1d30 80E2 ldi r24,lo8(32)3147 1d32 8093 0000 sts FCParam+33,r243148 1d36 E091 0000 lds r30,ParamSet+43149 1d3a F0E0 ldi r31,lo8(0)3150 1d3c EE0F lsl r303151 1d3e FF1F rol r313152 1d40 E050 subi r30,lo8(-(PPM_in))3153 1d42 F040 sbci r31,hi8(-(PPM_in))3154 1d44 8081 ld r24,Z3155 1d46 9181 ldd r25,Z+13156 1d48 8259 subi r24,lo8(-(110))3157 1d4a 9F4F sbci r25,hi8(-(110))3158 1d4c 9093 0000 sts (Poti1)+1,r253159 1d50 8093 0000 sts Poti1,r243160 1d54 E091 0000 lds r30,ParamSet+53161 1d58 F0E0 ldi r31,lo8(0)3162 1d5a EE0F lsl r303163 1d5c FF1F rol r313164 1d5e E050 subi r30,lo8(-(PPM_in))3165 1d60 F040 sbci r31,hi8(-(PPM_in))3166 1d62 8081 ld r24,Z3167 1d64 9181 ldd r25,Z+13168 1d66 8259 subi r24,lo8(-(110))3169 1d68 9F4F sbci r25,hi8(-(110))3170 1d6a 9093 0000 sts (Poti2)+1,r253171 1d6e 8093 0000 sts Poti2,r243172 1d72 E091 0000 lds r30,ParamSet+63173 1d76 F0E0 ldi r31,lo8(0)3174 1d78 EE0F lsl r303175 1d7a FF1F rol r313176 1d7c E050 subi r30,lo8(-(PPM_in))3177 1d7e F040 sbci r31,hi8(-(PPM_in))3178 1d80 8081 ld r24,Z3179 1d82 9181 ldd r25,Z+13180 1d84 8259 subi r24,lo8(-(110))3181 1d86 9F4F sbci r25,hi8(-(110))3182 1d88 9093 0000 sts (Poti3)+1,r253183 1d8c 8093 0000 sts Poti3,r243184 1d90 E091 0000 lds r30,ParamSet+73185 1d94 F0E0 ldi r31,lo8(0)3186 1d96 EE0F lsl r303187 1d98 FF1F rol r313188 1d9a E050 subi r30,lo8(-(PPM_in))3189 1d9c F040 sbci r31,hi8(-(PPM_in))3190 1d9e 8081 ld r24,Z3191 1da0 9181 ldd r25,Z+13192 1da2 8259 subi r24,lo8(-(110))3193 1da4 9F4F sbci r25,hi8(-(110))3194 1da6 9093 0000 sts (Poti4)+1,r253195 1daa 8093 0000 sts Poti4,r243196 1dae 84E6 ldi r24,lo8(100)3197 1db0 8093 0000 sts RC_Quality,r243198 /* epilogue start */3199 1db4 1F91 pop r173200 1db6 0F91 pop r163201 1db8 FF90 pop r153202 1dba EF90 pop r143203 1dbc DF90 pop r133204 1dbe CF90 pop r123205 1dc0 BF90 pop r113206 1dc2 AF90 pop r103207 1dc4 9F90 pop r93208 1dc6 8F90 pop r83209 1dc8 7F90 pop r73210 1dca 6F90 pop r63211 1dcc 5F90 pop r53212 1dce 4F90 pop r43213 1dd0 3F90 pop r33214 1dd2 2F90 pop r23215 1dd4 0895 ret3216 .L371:3217 1dd6 0E94 0000 call SearchAirPressureOffset3218 1dda 00C0 rjmp .L3703219 .L373:3220 1ddc 84E0 ldi r24,lo8(4)3221 1dde 90E0 ldi r25,hi8(4)3222 1de0 0E94 0000 call GetParamWord3223 1de4 9093 0000 sts (AdBiasAccNick)+1,r253224 1de8 8093 0000 sts AdBiasAccNick,r243225 1dec 86E0 ldi r24,lo8(6)3226 1dee 90E0 ldi r25,hi8(6)3227 1df0 0E94 0000 call GetParamWord3228 1df4 9093 0000 sts (AdBiasAccRoll)+1,r253229 1df8 8093 0000 sts AdBiasAccRoll,r243230 1dfc 88E0 ldi r24,lo8(8)3231 1dfe 90E0 ldi r25,hi8(8)3232 1e00 0E94 0000 call GetParamWord3233 1e04 AA27 clr r263234 1e06 97FD sbrc r25,73235 1e08 A095 com r263236 1e0a BA2F mov r27,r263237 1e0c BC01 movw r22,r243238 1e0e CD01 movw r24,r263239 1e10 0E94 0000 call __floatsisf3240 1e14 6093 0000 sts AdBiasAccTop,r223241 1e18 7093 0000 sts (AdBiasAccTop)+1,r233242 1e1c 8093 0000 sts (AdBiasAccTop)+2,r243243 1e20 9093 0000 sts (AdBiasAccTop)+3,r253244 1e24 8091 0000 lds r24,AdBiasAccNick3245 1e28 9091 0000 lds r25,(AdBiasAccNick)+13246 1e2c 8150 subi r24,lo8(2049)3247 1e2e 9840 sbci r25,hi8(2049)3248 1e30 04F4 brge .L3793249 1e32 8091 0000 lds r24,AdBiasAccRoll3250 1e36 9091 0000 lds r25,(AdBiasAccRoll)+13251 1e3a 8150 subi r24,lo8(2049)3252 1e3c 9840 sbci r25,hi8(2049)3253 1e3e 04F0 brlt .L3883254 .L379:3255 1e40 00D0 rcall .3256 1e42 0F92 push __tmp_reg__3257 1e44 EDB7 in r30,__SP_L__3258 1e46 FEB7 in r31,__SP_H__3259 1e48 1182 std Z+1,__zero_reg__3260 1e4a 80E0 ldi r24,lo8(__c.1965)3261 1e4c 90E0 ldi r25,hi8(__c.1965)3262 1e4e 9383 std Z+3,r253263 1e50 8283 std Z+2,r243264 1e52 0E94 0000 call _printf_P3265 1e56 80E0 ldi r24,lo8(1024)3266 1e58 94E0 ldi r25,hi8(1024)3267 1e5a 9093 0000 sts (AdBiasAccNick)+1,r253268 1e5e 8093 0000 sts AdBiasAccNick,r243269 1e62 9093 0000 sts (AdBiasAccRoll)+1,r253270 1e66 8093 0000 sts AdBiasAccRoll,r243271 1e6a 80E0 ldi r24,lo8(0x44354000)3272 1e6c 90E4 ldi r25,hi8(0x44354000)3273 1e6e A5E3 ldi r26,hlo8(0x44354000)3274 1e70 B4E4 ldi r27,hhi8(0x44354000)3275 1e72 8093 0000 sts AdBiasAccTop,r243276 1e76 9093 0000 sts (AdBiasAccTop)+1,r253277 1e7a A093 0000 sts (AdBiasAccTop)+2,r263278 1e7e B093 0000 sts (AdBiasAccTop)+3,r273279 1e82 0F90 pop __tmp_reg__3280 1e84 0F90 pop __tmp_reg__3281 1e86 0F90 pop __tmp_reg__3282 1e88 00C0 rjmp .L3783283 .L388:3284 1e8a 6091 0000 lds r22,AdBiasAccTop3285 1e8e 7091 0000 lds r23,(AdBiasAccTop)+13286 1e92 8091 0000 lds r24,(AdBiasAccTop)+23287 1e96 9091 0000 lds r25,(AdBiasAccTop)+33288 1e9a 20E0 ldi r18,lo8(0x44800000)3289 1e9c 30E0 ldi r19,hi8(0x44800000)3290 1e9e 40E8 ldi r20,hlo8(0x44800000)3291 1ea0 54E4 ldi r21,hhi8(0x44800000)3292 1ea2 0E94 0000 call __gtsf23293 1ea6 1816 cp __zero_reg__,r243294 1ea8 04F0 brlt .L3793295 1eaa 00C0 rjmp .L3783296 .L384:3297 1eac 0E94 0000 call SearchDacGyroOffset3298 1eb0 00C0 rjmp .L3693299 .L385:3300 1eb2 9095 com r253301 1eb4 8195 neg r243302 1eb6 9F4F sbci r25,lo8(-1)3303 1eb8 00C0 rjmp .L3753304 .L386:3305 1eba 9095 com r253306 1ebc 8195 neg r243307 1ebe 9F4F sbci r25,lo8(-1)3308 1ec0 00C0 rjmp .L3763309 .L387:3310 1ec2 9095 com r253311 1ec4 8195 neg r243312 1ec6 9F4F sbci r25,lo8(-1)3313 1ec8 00C0 rjmp .L3773315 .global Beep3317 Beep:3318 1eca EF92 push r143319 1ecc FF92 push r153320 1ece 1F93 push r173321 1ed0 CF93 push r283322 1ed2 DF93 push r293323 /* prologue: function */3324 /* frame size = 0 */3325 1ed4 182F mov r17,r243326 1ed6 7B01 movw r14,r223327 1ed8 8091 0000 lds r24,MKFlags3328 1edc 80FD sbrc r24,03329 1ede 00C0 rjmp .L3923330 1ee0 1123 tst r173331 1ee2 01F0 breq .L3923332 1ee4 EB01 movw r28,r223333 1ee6 CC0F lsl r283334 1ee8 DD1F rol r293335 .L391:3336 1eea F092 0000 sts (BeepTime)+1,r153337 1eee E092 0000 sts BeepTime,r143338 1ef2 CE01 movw r24,r283339 1ef4 0E94 0000 call Delay_ms3340 1ef8 1150 subi r17,lo8(-(-1))3341 1efa 01F4 brne .L3913342 .L392:3343 /* epilogue start */3344 1efc DF91 pop r293345 1efe CF91 pop r283346 1f00 1F91 pop r173347 1f02 FF90 pop r153348 1f04 EF90 pop r143349 1f06 0895 ret3351 .global SetCompassCalState3353 SetCompassCalState:3354 /* prologue: function */3355 /* frame size = 0 */3356 1f08 8091 0000 lds r24,ParamSet3357 1f0c A82F mov r26,r243358 1f0e B0E0 ldi r27,lo8(0)3359 1f10 AA0F lsl r263360 1f12 BB1F rol r273361 1f14 FD01 movw r30,r263362 1f16 E050 subi r30,lo8(-(PPM_in))3363 1f18 F040 sbci r31,hi8(-(PPM_in))3364 1f1a 8081 ld r24,Z3365 1f1c 9181 ldd r25,Z+13366 1f1e 8D5E subi r24,lo8(-19)3367 1f20 9F4F sbci r25,hi8(-19)3368 1f22 04F0 brlt .L3953369 1f24 1092 0000 sts stick.2382,__zero_reg__3370 .L395:3371 1f28 A050 subi r26,lo8(-(PPM_in))3372 1f2a B040 sbci r27,hi8(-(PPM_in))3373 1f2c 8D91 ld r24,X+3374 1f2e 9C91 ld r25,X3375 1f30 8A5B subi r24,lo8(-70)3376 1f32 9F4F sbci r25,hi8(-70)3377 1f34 04F4 brge .L3983378 1f36 8091 0000 lds r24,stick.23823379 1f3a 8823 tst r243380 1f3c 01F4 brne .L3983381 1f3e 81E0 ldi r24,lo8(1)3382 1f40 8093 0000 sts stick.2382,r243383 1f44 8091 0000 lds r24,CompassCalState3384 1f48 8F5F subi r24,lo8(-(1))3385 1f4a 8093 0000 sts CompassCalState,r243386 1f4e 8530 cpi r24,lo8(5)3387 1f50 00F0 brlo .L3993388 1f52 88EE ldi r24,lo8(1000)3389 1f54 93E0 ldi r25,hi8(1000)3390 1f56 9093 0000 sts (BeepTime)+1,r253391 1f5a 8093 0000 sts BeepTime,r243392 .L398:3393 1f5e 0895 ret3394 .L399:3395 1f60 66E9 ldi r22,lo8(150)3396 1f62 70E0 ldi r23,hi8(150)3397 1f64 0E94 0000 call Beep3398 1f68 0895 ret3400 .global MotorControl3402 MotorControl:3403 1f6a 2F92 push r23404 1f6c 3F92 push r33405 1f6e 4F92 push r43406 1f70 5F92 push r53407 1f72 6F92 push r63408 1f74 7F92 push r73409 1f76 8F92 push r83410 1f78 9F92 push r93411 1f7a AF92 push r103412 1f7c BF92 push r113413 1f7e CF92 push r123414 1f80 DF92 push r133415 1f82 EF92 push r143416 1f84 FF92 push r153417 1f86 0F93 push r163418 1f88 1F93 push r173419 1f8a DF93 push r293420 1f8c CF93 push r283421 1f8e CDB7 in r28,__SP_L__3422 1f90 DEB7 in r29,__SP_H__3423 1f92 E997 sbiw r28,573424 1f94 0FB6 in __tmp_reg__,__SREG__3425 1f96 F894 cli3426 1f98 DEBF out __SP_H__,r293427 1f9a 0FBE out __SREG__,__tmp_reg__3428 1f9c CDBF out __SP_L__,r283429 /* prologue: function */3430 /* frame size = 57 */3431 1f9e 0E94 0000 call Mean3432 1fa2 D090 0000 lds r13,BoardRelease3433 1fa6 BBE0 ldi r27,lo8(11)3434 1fa8 AB2E mov r10,r273435 1faa AD14 cp r10,r133436 1fac 00F4 brsh .+23437 1fae 00C0 rjmp .L4013438 1fb0 299A sbi 37-32,13439 1fb2 8091 0000 lds r24,RC_Quality3440 1fb6 8436 cpi r24,lo8(100)3441 1fb8 00F0 brlo .+23442 1fba 00C0 rjmp .L4033443 .L767:3444 1fbc 8091 0000 lds r24,RcLostTimer.24153445 1fc0 9091 0000 lds r25,(RcLostTimer.2415)+13446 1fc4 0097 sbiw r24,03447 1fc6 01F0 breq .+43448 1fc8 0C94 0000 jmp .L7323449 1fcc 8091 0000 lds r24,MKFlags3450 1fd0 8E7E andi r24,lo8(-18)3451 1fd2 8093 0000 sts MKFlags,r243452 1fd6 AAE0 ldi r26,lo8(10)3453 1fd8 BA2E mov r11,r263454 1fda DB14 cp r13,r113455 1fdc 01F4 brne .+43456 1fde 0C94 0000 jmp .L4063457 .L791:3458 1fe2 F4E1 ldi r31,lo8(20)3459 1fe4 CF2E mov r12,r313460 1fe6 DC14 cp r13,r123461 1fe8 01F4 brne .+43462 1fea 0C94 0000 jmp .L4063463 1fee 2898 cbi 37-32,03464 .L408:3465 1ff0 8091 0000 lds r24,ModelIsFlying3466 1ff4 9091 0000 lds r25,(ModelIsFlying)+13467 1ff8 895E subi r24,lo8(1001)3468 1ffa 9340 sbci r25,hi8(1001)3469 1ffc 00F4 brsh .+43470 1ffe 0C94 0000 jmp .L7273471 2002 8091 0000 lds r24,MKFlags3472 2006 8061 ori r24,lo8(16)3473 2008 8093 0000 sts MKFlags,r243474 200c E091 0000 lds r30,ParamSet3475 2010 2E2F mov r18,r303476 2012 30E0 ldi r19,lo8(0)3477 2014 220F lsl r183478 2016 331F rol r193479 2018 F901 movw r30,r183480 201a E050 subi r30,lo8(-(PPM_diff))3481 201c F040 sbci r31,hi8(-(PPM_diff))3482 201e 1182 std Z+1,__zero_reg__3483 2020 1082 st Z,__zero_reg__3484 2022 A091 0000 lds r26,ParamSet+13485 2026 B0E0 ldi r27,lo8(0)3486 2028 AA0F lsl r263487 202a BB1F rol r273488 202c FD01 movw r30,r263489 202e E050 subi r30,lo8(-(PPM_diff))3490 2030 F040 sbci r31,hi8(-(PPM_diff))3491 2032 1182 std Z+1,__zero_reg__3492 2034 1082 st Z,__zero_reg__3493 2036 E091 0000 lds r30,ParamSet+33494 203a 4E2F mov r20,r303495 203c 50E0 ldi r21,lo8(0)3496 203e 440F lsl r203497 2040 551F rol r213498 2042 CA01 movw r24,r203499 2044 8050 subi r24,lo8(-(PPM_diff))3500 2046 9040 sbci r25,hi8(-(PPM_diff))3501 2048 FC01 movw r30,r243502 204a 1182 std Z+1,__zero_reg__3503 204c 1082 st Z,__zero_reg__3504 204e 2050 subi r18,lo8(-(PPM_in))3505 2050 3040 sbci r19,hi8(-(PPM_in))3506 2052 F901 movw r30,r183507 2054 1182 std Z+1,__zero_reg__3508 2056 1082 st Z,__zero_reg__3509 2058 A050 subi r26,lo8(-(PPM_in))3510 205a B040 sbci r27,hi8(-(PPM_in))3511 205c 1196 adiw r26,13512 205e 1C92 st X,__zero_reg__3513 2060 1E92 st -X,__zero_reg__3514 2062 4050 subi r20,lo8(-(PPM_in))3515 2064 5040 sbci r21,hi8(-(PPM_in))3516 2066 DA01 movw r26,r203517 2068 1196 adiw r26,13518 206a 1C92 st X,__zero_reg__3519 206c 1E92 st -X,__zero_reg__3520 .L410:3521 206e 8091 0000 lds r24,NewPpmData3522 2072 8150 subi r24,lo8(-(-1))3523 2074 8093 0000 sts NewPpmData,r243524 2078 8F5F subi r24,lo8(-(1))3525 207a 01F0 breq .L4713526 207c 8091 0000 lds r24,MKFlags3527 2080 84FF sbrs r24,43528 2082 00C0 rjmp .L4723529 .L471:3530 2084 0E94 0000 call ParameterMapping3531 2088 E091 0000 lds r30,ParamSet3532 208c F0E0 ldi r31,lo8(0)3533 208e EE0F lsl r303534 2090 FF1F rol r313535 2092 E050 subi r30,lo8(-(PPM_in))3536 2094 F040 sbci r31,hi8(-(PPM_in))3537 2096 2081 ld r18,Z3538 2098 3181 ldd r19,Z+13539 209a 8091 0000 lds r24,ParamSet+183540 209e 90E0 ldi r25,lo8(0)3541 20a0 289F mul r18,r243542 20a2 A001 movw r20,r03543 20a4 299F mul r18,r253544 20a6 500D add r21,r03545 20a8 389F mul r19,r243546 20aa 500D add r21,r03547 20ac 1124 clr r13548 20ae 2091 0000 lds r18,stick_nick.24243549 20b2 3091 0000 lds r19,(stick_nick.2424)+13550 20b6 C901 movw r24,r183551 20b8 880F lsl r243552 20ba 991F rol r253553 20bc 820F add r24,r183554 20be 931F adc r25,r193555 20c0 480F add r20,r243556 20c2 591F adc r21,r253557 20c4 57FF sbrs r21,73558 20c6 00C0 rjmp .+43559 20c8 0C94 0000 jmp .L7333560 .L473:3561 20cc 5595 asr r213562 20ce 4795 ror r203563 20d0 5595 asr r213564 20d2 4795 ror r203565 20d4 5093 0000 sts (stick_nick.2424)+1,r213566 20d8 4093 0000 sts stick_nick.2424,r203567 20dc E091 0000 lds r30,ParamSet3568 20e0 F0E0 ldi r31,lo8(0)3569 20e2 EE0F lsl r303570 20e4 FF1F rol r313571 20e6 E050 subi r30,lo8(-(PPM_diff))3572 20e8 F040 sbci r31,hi8(-(PPM_diff))3573 20ea 2081 ld r18,Z3574 20ec 3181 ldd r19,Z+13575 20ee 8091 0000 lds r24,ParamSet+193576 20f2 90E0 ldi r25,lo8(0)3577 20f4 BC01 movw r22,r243578 20f6 269F mul r18,r223579 20f8 C001 movw r24,r03580 20fa 279F mul r18,r233581 20fc 900D add r25,r03582 20fe 369F mul r19,r223583 2100 900D add r25,r03584 2102 1124 clr r13585 2104 840F add r24,r203586 2106 951F adc r25,r213587 2108 9093 0000 sts (stick_nick.2424)+1,r253588 210c 8093 0000 sts stick_nick.2424,r243589 2110 2091 0000 lds r18,GPSStickNick3590 2114 3091 0000 lds r19,(GPSStickNick)+13591 2118 821B sub r24,r183592 211a 930B sbc r25,r193593 211c 9093 0000 sts (StickNick)+1,r253594 2120 8093 0000 sts StickNick,r243595 2124 E091 0000 lds r30,ParamSet+13596 2128 F0E0 ldi r31,lo8(0)3597 212a EE0F lsl r303598 212c FF1F rol r313599 212e E050 subi r30,lo8(-(PPM_in))3600 2130 F040 sbci r31,hi8(-(PPM_in))3601 2132 2081 ld r18,Z3602 2134 3181 ldd r19,Z+13603 2136 8091 0000 lds r24,ParamSet+183604 213a 90E0 ldi r25,lo8(0)3605 213c 289F mul r18,r243606 213e A001 movw r20,r03607 2140 299F mul r18,r253608 2142 500D add r21,r03609 2144 389F mul r19,r243610 2146 500D add r21,r03611 2148 1124 clr r13612 214a 2091 0000 lds r18,stick_roll.24253613 214e 3091 0000 lds r19,(stick_roll.2425)+13614 2152 C901 movw r24,r183615 2154 880F lsl r243616 2156 991F rol r253617 2158 820F add r24,r183618 215a 931F adc r25,r193619 215c 480F add r20,r243620 215e 591F adc r21,r253621 2160 57FF sbrs r21,73622 2162 00C0 rjmp .+43623 2164 0C94 0000 jmp .L7343624 .L474:3625 2168 5595 asr r213626 216a 4795 ror r203627 216c 5595 asr r213628 216e 4795 ror r203629 2170 5093 0000 sts (stick_roll.2425)+1,r213630 2174 4093 0000 sts stick_roll.2425,r203631 2178 E091 0000 lds r30,ParamSet+13632 217c F0E0 ldi r31,lo8(0)3633 217e EE0F lsl r303634 2180 FF1F rol r313635 2182 E050 subi r30,lo8(-(PPM_diff))3636 2184 F040 sbci r31,hi8(-(PPM_diff))3637 2186 2081 ld r18,Z3638 2188 3181 ldd r19,Z+13639 218a 8091 0000 lds r24,ParamSet+193640 218e 90E0 ldi r25,lo8(0)3641 2190 DC01 movw r26,r243642 2192 2A9F mul r18,r263643 2194 C001 movw r24,r03644 2196 2B9F mul r18,r273645 2198 900D add r25,r03646 219a 3A9F mul r19,r263647 219c 900D add r25,r03648 219e 1124 clr r13649 21a0 840F add r24,r203650 21a2 951F adc r25,r213651 21a4 9093 0000 sts (stick_roll.2425)+1,r253652 21a8 8093 0000 sts stick_roll.2425,r243653 21ac 2091 0000 lds r18,GPSStickRoll3654 21b0 3091 0000 lds r19,(GPSStickRoll)+13655 21b4 821B sub r24,r183656 21b6 930B sbc r25,r193657 21b8 9093 0000 sts (StickRoll)+1,r253658 21bc 8093 0000 sts StickRoll,r243659 21c0 E091 0000 lds r30,ParamSet+33660 21c4 F0E0 ldi r31,lo8(0)3661 21c6 EE0F lsl r303662 21c8 FF1F rol r313663 21ca E050 subi r30,lo8(-(PPM_in))3664 21cc F040 sbci r31,hi8(-(PPM_in))3665 21ce 8081 ld r24,Z3666 21d0 9181 ldd r25,Z+13667 21d2 2227 clr r183668 21d4 3327 clr r193669 21d6 281B sub r18,r243670 21d8 390B sbc r19,r253671 21da 3093 0000 sts (StickYaw)+1,r193672 21de 2093 0000 sts StickYaw,r183673 21e2 8091 0000 lds r24,ParamSet+83674 21e6 8872 andi r24,lo8(40)3675 21e8 01F0 breq .L4753676 21ea 2330 cpi r18,33677 21ec 3105 cpc r19,__zero_reg__3678 21ee 04F0 brlt .+43679 21f0 0C94 0000 jmp .L7353680 21f4 BFEF ldi r27,hi8(-2)3681 21f6 2E3F cpi r18,lo8(-2)3682 21f8 3B07 cpc r19,r273683 21fa 04F0 brlt .+43684 21fc 0C94 0000 jmp .L4773685 2200 2E5F subi r18,lo8(-(2))3686 2202 3F4F sbci r19,hi8(-(2))3687 2204 3093 0000 sts (StickYaw)+1,r193688 2208 2093 0000 sts StickYaw,r183689 .L475:3690 220c E091 0000 lds r30,ParamSet+23691 2210 F0E0 ldi r31,lo8(0)3692 2212 EE0F lsl r303693 2214 FF1F rol r313694 2216 E050 subi r30,lo8(-(PPM_in))3695 2218 F040 sbci r31,hi8(-(PPM_in))3696 221a 0190 ld __tmp_reg__,Z+3697 221c F081 ld r31,Z3698 221e E02D mov r30,__tmp_reg__3699 2220 E858 subi r30,lo8(-(120))3700 2222 FF4F sbci r31,hi8(-(120))3701 2224 F093 0000 sts (StickGas)+1,r313702 2228 E093 0000 sts StickGas,r303703 222c 8091 0000 lds r24,FCParam+73704 2230 865F subi r24,lo8(-(10))3705 2232 8093 0000 sts GyroPFactor,r243706 2236 8091 0000 lds r24,FCParam+83707 223a 8093 0000 sts GyroIFactor,r243708 223e 8091 0000 lds r24,FCParam+93709 2242 865F subi r24,lo8(-(10))3710 2244 8093 0000 sts GyroYawPFactor,r243711 2248 8091 0000 lds r24,FCParam+103712 224c 8093 0000 sts GyroYawIFactor,r243713 2250 8091 0000 lds r24,ExternControl+103714 2254 80FF sbrs r24,03715 2256 00C0 rjmp .L4783716 2258 8091 0000 lds r24,FCParam+283717 225c 8138 cpi r24,lo8(-127)3718 225e 00F4 brsh .+23719 2260 00C0 rjmp .L4783720 2262 2091 0000 lds r18,ParamSet+183721 2266 30E0 ldi r19,lo8(0)3722 2268 8091 0000 lds r24,ExternControl+33723 226c 9927 clr r253724 226e 87FD sbrc r24,73725 2270 9095 com r253726 2272 289F mul r18,r243727 2274 A001 movw r20,r03728 2276 299F mul r18,r253729 2278 500D add r21,r03730 227a 389F mul r19,r243731 227c 500D add r21,r03732 227e 1124 clr r13733 2280 8091 0000 lds r24,StickNick3734 2284 9091 0000 lds r25,(StickNick)+13735 2288 840F add r24,r203736 228a 951F adc r25,r213737 228c 9093 0000 sts (StickNick)+1,r253738 2290 8093 0000 sts StickNick,r243739 2294 8091 0000 lds r24,ExternControl+43740 2298 9927 clr r253741 229a 87FD sbrc r24,73742 229c 9095 com r253743 229e 5901 movw r10,r183744 22a0 A89E mul r10,r243745 22a2 9001 movw r18,r03746 22a4 A99E mul r10,r253747 22a6 300D add r19,r03748 22a8 B89E mul r11,r243749 22aa 300D add r19,r03750 22ac 1124 clr r13751 22ae 8091 0000 lds r24,StickRoll3752 22b2 9091 0000 lds r25,(StickRoll)+13753 22b6 820F add r24,r183754 22b8 931F adc r25,r193755 22ba 9093 0000 sts (StickRoll)+1,r253756 22be 8093 0000 sts StickRoll,r243757 22c2 2091 0000 lds r18,ExternControl+53758 22c6 3327 clr r193759 22c8 27FD sbrc r18,73760 22ca 3095 com r193761 22cc 8091 0000 lds r24,StickYaw3762 22d0 9091 0000 lds r25,(StickYaw)+13763 22d4 820F add r24,r183764 22d6 931F adc r25,r193765 22d8 9093 0000 sts (StickYaw)+1,r253766 22dc 8093 0000 sts StickYaw,r243767 22e0 2091 0000 lds r18,ParamSet+133768 22e4 30E0 ldi r19,lo8(0)3769 22e6 8091 0000 lds r24,ExternControl+73770 22ea 9927 clr r253771 22ec 87FD sbrc r24,73772 22ee 9095 com r253773 22f0 6C01 movw r12,r243774 22f2 2C9D mul r18,r123775 22f4 C001 movw r24,r03776 22f6 2D9D mul r18,r133777 22f8 900D add r25,r03778 22fa 3C9D mul r19,r123779 22fc 900D add r25,r03780 22fe 1124 clr r13781 2300 9093 0000 sts (ExternHeightValue)+1,r253782 2304 8093 0000 sts ExternHeightValue,r243783 2308 8091 0000 lds r24,ExternControl+63784 230c 90E0 ldi r25,lo8(0)3785 230e 8E17 cp r24,r303786 2310 9F07 cpc r25,r313787 2312 04F4 brge .L4783788 2314 9093 0000 sts (StickGas)+1,r253789 2318 8093 0000 sts StickGas,r243790 .L478:3791 231c 8091 0000 lds r24,StickGas3792 2320 9091 0000 lds r25,(StickGas)+13793 2324 97FF sbrs r25,73794 2326 00C0 rjmp .+43795 2328 0C94 0000 jmp .L7363796 232c 8091 0000 lds r24,ParamSet+83797 2330 82FF sbrs r24,23798 2332 00C0 rjmp .+43799 2334 0C94 0000 jmp .L7373800 .L480:3801 2338 6091 0000 lds r22,StickNick3802 233c 7091 0000 lds r23,StickNick+13803 2340 4091 0000 lds r20,MaxStickNick3804 2344 5091 0000 lds r21,(MaxStickNick)+13805 2348 CB01 movw r24,r223806 234a 9C01 movw r18,r243807 234c 97FF sbrs r25,73808 234e 00C0 rjmp .+43809 2350 0C94 0000 jmp .L7383810 .L482:3811 2354 3595 asr r193812 2356 2795 ror r183813 2358 3595 asr r193814 235a 2795 ror r183815 235c 37FF sbrs r19,73816 235e 00C0 rjmp .+43817 2360 0C94 0000 jmp .L7393818 .L483:3819 2364 4217 cp r20,r183820 2366 5307 cpc r21,r193821 2368 04F4 brge .+43822 236a 0C94 0000 jmp .L7403823 236e 4150 subi r20,lo8(-(-1))3824 2370 5040 sbci r21,hi8(-(-1))3825 2372 5093 0000 sts (MaxStickNick)+1,r213826 2376 4093 0000 sts MaxStickNick,r203827 .L485:3828 237a 6091 0000 lds r22,StickRoll3829 237e 7091 0000 lds r23,StickRoll+13830 2382 4091 0000 lds r20,MaxStickRoll3831 2386 5091 0000 lds r21,(MaxStickRoll)+13832 238a CB01 movw r24,r223833 238c 9C01 movw r18,r243834 238e 97FF sbrs r25,73835 2390 00C0 rjmp .+43836 2392 0C94 0000 jmp .L7413837 .L487:3838 2396 3595 asr r193839 2398 2795 ror r183840 239a 3595 asr r193841 239c 2795 ror r183842 239e 37FF sbrs r19,73843 23a0 00C0 rjmp .+43844 23a2 0C94 0000 jmp .L7423845 .L488:3846 23a6 4217 cp r20,r183847 23a8 5307 cpc r21,r193848 23aa 04F0 brlt .+43849 23ac 0C94 0000 jmp .L4863850 23b0 9B01 movw r18,r223851 23b2 77FF sbrs r23,73852 23b4 00C0 rjmp .+43853 23b6 0C94 0000 jmp .L7433854 .L489:3855 23ba C901 movw r24,r183856 23bc 9595 asr r253857 23be 8795 ror r243858 23c0 9595 asr r253859 23c2 8795 ror r243860 23c4 9093 0000 sts (MaxStickRoll)+1,r253861 23c8 8093 0000 sts MaxStickRoll,r243862 23cc 8536 cpi r24,1013863 23ce 9105 cpc r25,__zero_reg__3864 23d0 04F0 brlt .+43865 23d2 0C94 0000 jmp .L7443866 .L490:3867 23d6 8091 0000 lds r24,ParamSet+13868 23da A82F mov r26,r243869 23dc B0E0 ldi r27,lo8(0)3870 23de AA0F lsl r263871 23e0 BB1F rol r273872 23e2 FD01 movw r30,r263873 23e4 E050 subi r30,lo8(-(PPM_in))3874 23e6 F040 sbci r31,hi8(-(PPM_in))3875 23e8 2081 ld r18,Z3876 23ea 3181 ldd r19,Z+13877 23ec 8091 0000 lds r24,ParamSet+493878 23f0 482F mov r20,r243879 23f2 50E0 ldi r21,lo8(0)3880 23f4 4217 cp r20,r183881 23f6 5307 cpc r21,r193882 23f8 04F4 brge .L4913883 23fa 8091 0000 lds r24,ParamSet+863884 23fe 82FF sbrs r24,23885 2400 00C0 rjmp .+43886 2402 0C94 0000 jmp .L7453887 .L491:3888 2406 7091 0000 lds r23,LoopingLeft3889 240a 7723 tst r233890 240c 01F0 breq .L4923891 240e FD01 movw r30,r263892 2410 E050 subi r30,lo8(-(PPM_in))3893 2412 F040 sbci r31,hi8(-(PPM_in))3894 2414 2081 ld r18,Z3895 2416 3181 ldd r19,Z+13896 2418 8091 0000 lds r24,ParamSet+503897 241c FA01 movw r30,r203898 241e E81B sub r30,r243899 2420 F109 sbc r31,__zero_reg__3900 2422 2E17 cp r18,r303901 2424 3F07 cpc r19,r313902 2426 04F4 brge .+43903 2428 0C94 0000 jmp .L7463904 .L492:3905 242c FD01 movw r30,r263906 242e E050 subi r30,lo8(-(PPM_in))3907 2430 F040 sbci r31,hi8(-(PPM_in))3908 2432 2081 ld r18,Z3909 2434 3181 ldd r19,Z+13910 2436 8827 clr r243911 2438 9927 clr r253912 243a 841B sub r24,r203913 243c 950B sbc r25,r213914 243e 2817 cp r18,r243915 2440 3907 cpc r19,r253916 2442 04F4 brge .L4933917 2444 8091 0000 lds r24,ParamSet+863918 2448 83FF sbrs r24,33919 244a 00C0 rjmp .+43920 244c 0C94 0000 jmp .L7473921 .L493:3922 2450 8091 0000 lds r24,LoopingRight3923 2454 8823 tst r243924 2456 01F0 breq .L4943925 2458 A050 subi r26,lo8(-(PPM_in))3926 245a B040 sbci r27,hi8(-(PPM_in))3927 245c 2D91 ld r18,X+3928 245e 3C91 ld r19,X3929 2460 8091 0000 lds r24,ParamSet+503930 2464 90E0 ldi r25,lo8(0)3931 2466 841B sub r24,r203932 2468 950B sbc r25,r213933 246a 8217 cp r24,r183934 246c 9307 cpc r25,r193935 246e 04F4 brge .+43936 2470 0C94 0000 jmp .L7483937 .L494:3938 2474 8091 0000 lds r24,ParamSet3939 2478 A82F mov r26,r243940 247a B0E0 ldi r27,lo8(0)3941 247c AA0F lsl r263942 247e BB1F rol r273943 2480 FD01 movw r30,r263944 2482 E050 subi r30,lo8(-(PPM_in))3945 2484 F040 sbci r31,hi8(-(PPM_in))3946 2486 8081 ld r24,Z3947 2488 9181 ldd r25,Z+13948 248a 4817 cp r20,r243949 248c 5907 cpc r21,r253950 248e 04F4 brge .L4953951 2490 8091 0000 lds r24,ParamSet+863952 2494 80FF sbrs r24,03953 2496 00C0 rjmp .+43954 2498 0C94 0000 jmp .L7493955 .L495:3956 249c 6091 0000 lds r22,LoopingTop3957 24a0 6623 tst r223958 24a2 01F0 breq .L4963959 24a4 FD01 movw r30,r263960 24a6 E050 subi r30,lo8(-(PPM_in))3961 24a8 F040 sbci r31,hi8(-(PPM_in))3962 24aa 2081 ld r18,Z3963 24ac 3181 ldd r19,Z+13964 24ae 8091 0000 lds r24,ParamSet+503965 24b2 5A01 movw r10,r203966 24b4 A81A sub r10,r243967 24b6 B108 sbc r11,__zero_reg__3968 24b8 2A15 cp r18,r103969 24ba 3B05 cpc r19,r113970 24bc 04F4 brge .+43971 24be 0C94 0000 jmp .L7503972 .L496:3973 24c2 FD01 movw r30,r263974 24c4 E050 subi r30,lo8(-(PPM_in))3975 24c6 F040 sbci r31,hi8(-(PPM_in))3976 24c8 2081 ld r18,Z3977 24ca 3181 ldd r19,Z+13978 24cc 8827 clr r243979 24ce 9927 clr r253980 24d0 841B sub r24,r203981 24d2 950B sbc r25,r213982 24d4 2817 cp r18,r243983 24d6 3907 cpc r19,r253984 24d8 04F4 brge .L4973985 24da 8091 0000 lds r24,ParamSet+863986 24de 81FF sbrs r24,13987 24e0 00C0 rjmp .+43988 24e2 0C94 0000 jmp .L7513989 .L497:3990 24e6 8091 0000 lds r24,LoopingDown3991 24ea 8823 tst r243992 24ec 01F0 breq .L4983993 24ee A050 subi r26,lo8(-(PPM_in))3994 24f0 B040 sbci r27,hi8(-(PPM_in))3995 24f2 2D91 ld r18,X+3996 24f4 3C91 ld r19,X3997 24f6 8091 0000 lds r24,ParamSet+503998 24fa 90E0 ldi r25,lo8(0)3999 24fc 841B sub r24,r204000 24fe 950B sbc r25,r214001 2500 8217 cp r24,r184002 2502 9307 cpc r25,r194003 2504 04F4 brge .+44004 2506 0C94 0000 jmp .L7524005 .L498:4006 250a 7723 tst r234007 250c 01F4 brne .L4994008 250e 8091 0000 lds r24,LoopingRight4009 2512 8823 tst r244010 2514 01F4 brne .+44011 2516 0C94 0000 jmp .L5004012 .L499:4013 251a 81E0 ldi r24,lo8(1)4014 251c 8093 0000 sts LoopingRoll,r244015 .L501:4016 2520 6623 tst r224017 2522 01F4 brne .L5024018 2524 8091 0000 lds r24,LoopingDown4019 2528 8823 tst r244020 252a 01F4 brne .+44021 252c 0C94 0000 jmp .L5034022 .L502:4023 2530 81E0 ldi r24,lo8(1)4024 2532 8093 0000 sts LoopingNick,r244025 2536 1092 0000 sts LoopingRoll,__zero_reg__4026 253a 1092 0000 sts LoopingLeft,__zero_reg__4027 253e 1092 0000 sts LoopingRight,__zero_reg__4028 .L472:4029 2542 8091 0000 lds r24,LoopingRoll4030 2546 8823 tst r244031 2548 01F0 breq .+24032 254a 00C0 rjmp .L5044033 254c 8091 0000 lds r24,LoopingNick4034 2550 8823 tst r244035 2552 01F0 breq .+24036 2554 00C0 rjmp .L5044037 .L505:4038 2556 8091 0000 lds r24,MKFlags4039 255a 84FF sbrs r24,44040 255c 00C0 rjmp .L5074041 255e 1092 0000 sts (StickYaw)+1,__zero_reg__4042 2562 1092 0000 sts StickYaw,__zero_reg__4043 2566 1092 0000 sts (StickNick)+1,__zero_reg__4044 256a 1092 0000 sts StickNick,__zero_reg__4045 256e 1092 0000 sts (StickRoll)+1,__zero_reg__4046 2572 1092 0000 sts StickRoll,__zero_reg__4047 2576 8091 0000 lds r24,ParamSet+314048 257a 8093 0000 sts StickGas,r244049 257e 1092 0000 sts StickGas+1,__zero_reg__4050 2582 9AE5 ldi r25,lo8(90)4051 2584 9093 0000 sts GyroPFactor,r254052 2588 88E7 ldi r24,lo8(120)4053 258a 8093 0000 sts GyroIFactor,r244054 258e 9093 0000 sts GyroYawPFactor,r254055 2592 8093 0000 sts GyroYawIFactor,r244056 2596 1092 0000 sts LoopingRoll,__zero_reg__4057 259a 1092 0000 sts LoopingNick,__zero_reg__4058 259e 1092 0000 sts (MaxStickNick)+1,__zero_reg__4059 25a2 1092 0000 sts MaxStickNick,__zero_reg__4060 25a6 1092 0000 sts (MaxStickRoll)+1,__zero_reg__4061 25aa 1092 0000 sts MaxStickRoll,__zero_reg__4062 .L507:4063 25ae 2091 0000 lds r18,MeanIntegralGyroNick4064 25b2 3091 0000 lds r19,(MeanIntegralGyroNick)+14065 25b6 4091 0000 lds r20,(MeanIntegralGyroNick)+24066 25ba 5091 0000 lds r21,(MeanIntegralGyroNick)+34067 25be 28A3 std Y+32,r184068 25c0 39A3 std Y+33,r194069 25c2 4AA3 std Y+34,r204070 25c4 5BA3 std Y+35,r214071 25c6 4091 0000 lds r20,IntegralGyroNick4072 25ca 5091 0000 lds r21,(IntegralGyroNick)+14073 25ce 6091 0000 lds r22,(IntegralGyroNick)+24074 25d2 7091 0000 lds r23,(IntegralGyroNick)+34075 25d6 48A7 std Y+40,r204076 25d8 59A7 std Y+41,r214077 25da 6AA7 std Y+42,r224078 25dc 7BA7 std Y+43,r234079 25de 88A1 ldd r24,Y+324080 25e0 99A1 ldd r25,Y+334081 25e2 AAA1 ldd r26,Y+344082 25e4 BBA1 ldd r27,Y+354083 25e6 840F add r24,r204084 25e8 951F adc r25,r214085 25ea A61F adc r26,r224086 25ec B71F adc r27,r234087 25ee 8093 0000 sts MeanIntegralGyroNick,r244088 25f2 9093 0000 sts (MeanIntegralGyroNick)+1,r254089 25f6 A093 0000 sts (MeanIntegralGyroNick)+2,r264090 25fa B093 0000 sts (MeanIntegralGyroNick)+3,r274091 25fe 2090 0000 lds r2,MeanIntegralGyroRoll4092 2602 3090 0000 lds r3,(MeanIntegralGyroRoll)+14093 2606 4090 0000 lds r4,(MeanIntegralGyroRoll)+24094 260a 5090 0000 lds r5,(MeanIntegralGyroRoll)+34095 260e A090 0000 lds r10,IntegralGyroRoll4096 2612 B090 0000 lds r11,(IntegralGyroRoll)+14097 2616 C090 0000 lds r12,(IntegralGyroRoll)+24098 261a D090 0000 lds r13,(IntegralGyroRoll)+34099 261e ACA2 std Y+36,r104100 2620 BDA2 std Y+37,r114101 2622 CEA2 std Y+38,r124102 2624 DFA2 std Y+39,r134103 2626 2A0C add r2,r104104 2628 3B1C adc r3,r114105 262a 4C1C adc r4,r124106 262c 5D1C adc r5,r134107 262e 2092 0000 sts MeanIntegralGyroRoll,r24108 2632 3092 0000 sts (MeanIntegralGyroRoll)+1,r34109 2636 4092 0000 sts (MeanIntegralGyroRoll)+2,r44110 263a 5092 0000 sts (MeanIntegralGyroRoll)+3,r54111 263e B090 0000 lds r11,LoopingNick4112 2642 BD8E std Y+29,r114113 2644 BB20 tst r114114 2646 01F4 brne .L5084115 2648 8091 0000 lds r24,LoopingRoll4116 264c 8823 tst r244117 264e 01F4 brne .+44118 2650 0C94 0000 jmp .L5094119 .L508:4120 2654 1092 0000 sts (MeasurementCounter)+1,__zero_reg__4121 2658 1092 0000 sts MeasurementCounter,__zero_reg__4122 265c 1092 0000 sts MeanAccNick,__zero_reg__4123 2660 1092 0000 sts (MeanAccNick)+1,__zero_reg__4124 2664 1092 0000 sts (MeanAccNick)+2,__zero_reg__4125 2668 1092 0000 sts (MeanAccNick)+3,__zero_reg__4126 266c 1092 0000 sts MeanAccRoll,__zero_reg__4127 2670 1092 0000 sts (MeanAccRoll)+1,__zero_reg__4128 2674 1092 0000 sts (MeanAccRoll)+2,__zero_reg__4129 2678 1092 0000 sts (MeanAccRoll)+3,__zero_reg__4130 267c 1092 0000 sts MeanIntegralGyroNick,__zero_reg__4131 2680 1092 0000 sts (MeanIntegralGyroNick)+1,__zero_reg__4132 2684 1092 0000 sts (MeanIntegralGyroNick)+2,__zero_reg__4133 2688 1092 0000 sts (MeanIntegralGyroNick)+3,__zero_reg__4134 268c 1092 0000 sts MeanIntegralGyroRoll,__zero_reg__4135 2690 1092 0000 sts (MeanIntegralGyroRoll)+1,__zero_reg__4136 2694 1092 0000 sts (MeanIntegralGyroRoll)+2,__zero_reg__4137 2698 1092 0000 sts (MeanIntegralGyroRoll)+3,__zero_reg__4138 269c 8091 0000 lds r24,ReadingIntegralGyroNick4139 26a0 9091 0000 lds r25,(ReadingIntegralGyroNick)+14140 26a4 A091 0000 lds r26,(ReadingIntegralGyroNick)+24141 26a8 B091 0000 lds r27,(ReadingIntegralGyroNick)+34142 26ac 8093 0000 sts ReadingIntegralGyroNick2,r244143 26b0 9093 0000 sts (ReadingIntegralGyroNick2)+1,r254144 26b4 A093 0000 sts (ReadingIntegralGyroNick2)+2,r264145 26b8 B093 0000 sts (ReadingIntegralGyroNick2)+3,r274146 26bc 8091 0000 lds r24,ReadingIntegralGyroRoll4147 26c0 9091 0000 lds r25,(ReadingIntegralGyroRoll)+14148 26c4 A091 0000 lds r26,(ReadingIntegralGyroRoll)+24149 26c8 B091 0000 lds r27,(ReadingIntegralGyroRoll)+34150 26cc 8093 0000 sts ReadingIntegralGyroRoll2,r244151 26d0 9093 0000 sts (ReadingIntegralGyroRoll2)+1,r254152 26d4 A093 0000 sts (ReadingIntegralGyroRoll2)+2,r264153 26d8 B093 0000 sts (ReadingIntegralGyroRoll2)+3,r274154 26dc 1092 0000 sts (AttitudeCorrectionNick)+1,__zero_reg__4155 26e0 1092 0000 sts AttitudeCorrectionNick,__zero_reg__4156 26e4 1092 0000 sts (AttitudeCorrectionRoll)+1,__zero_reg__4157 26e8 1092 0000 sts AttitudeCorrectionRoll,__zero_reg__4158 26ec CD8C ldd r12,Y+294159 26ee CC20 tst r124160 26f0 01F4 brne .+44161 26f2 0C94 0000 jmp .L7534162 .L510:4163 26f6 8091 0000 lds r24,MeasurementCounter4164 26fa 9091 0000 lds r25,(MeasurementCounter)+14165 26fe 8F3F cpi r24,2554166 2700 9105 cpc r25,__zero_reg__4167 2702 01F0 breq .+24168 2704 00F4 brsh .+24169 2706 00C0 rjmp .L5294170 2708 6D8D ldd r22,Y+294171 270a 6623 tst r224172 270c 01F4 brne .+44173 270e 0C94 0000 jmp .L7544174 .L530:4175 2712 1092 0000 sts (AttitudeCorrectionRoll)+1,__zero_reg__4176 2716 1092 0000 sts AttitudeCorrectionRoll,__zero_reg__4177 271a 1092 0000 sts (AttitudeCorrectionNick)+1,__zero_reg__4178 271e 1092 0000 sts AttitudeCorrectionNick,__zero_reg__4179 2722 1092 0000 sts FunnelCourse,__zero_reg__4180 2726 4091 0000 lds r20,MeanIntegralGyroNick4181 272a 5091 0000 lds r21,(MeanIntegralGyroNick)+14182 272e 6091 0000 lds r22,(MeanIntegralGyroNick)+24183 2732 7091 0000 lds r23,(MeanIntegralGyroNick)+34184 2736 48A3 std Y+32,r204185 2738 59A3 std Y+33,r214186 273a 6AA3 std Y+34,r224187 273c 7BA3 std Y+35,r234188 273e 2090 0000 lds r2,MeanIntegralGyroRoll4189 2742 3090 0000 lds r3,(MeanIntegralGyroRoll)+14190 2746 4090 0000 lds r4,(MeanIntegralGyroRoll)+24191 274a 5090 0000 lds r5,(MeanIntegralGyroRoll)+34192 .L567:4193 274e 8091 0000 lds r24,GyroIFactor4194 2752 8823 tst r244195 2754 01F4 brne .L5684196 2756 1092 0000 sts (AttitudeCorrectionRoll)+1,__zero_reg__4197 275a 1092 0000 sts AttitudeCorrectionRoll,__zero_reg__4198 275e 1092 0000 sts (AttitudeCorrectionNick)+1,__zero_reg__4199 2762 1092 0000 sts AttitudeCorrectionNick,__zero_reg__4200 .L568:4201 2766 68A1 ldd r22,Y+324202 2768 79A1 ldd r23,Y+334203 276a 8AA1 ldd r24,Y+344204 276c 9BA1 ldd r25,Y+354205 276e 6093 0000 sts MeanIntegralGyroNick_old.2431,r224206 2772 7093 0000 sts (MeanIntegralGyroNick_old.2431)+1,r234207 2776 8093 0000 sts (MeanIntegralGyroNick_old.2431)+2,r244208 277a 9093 0000 sts (MeanIntegralGyroNick_old.2431)+3,r254209 277e 2092 0000 sts MeanIntegralGyroRoll_old.2432,r24210 2782 3092 0000 sts (MeanIntegralGyroRoll_old.2432)+1,r34211 2786 4092 0000 sts (MeanIntegralGyroRoll_old.2432)+2,r44212 278a 5092 0000 sts (MeanIntegralGyroRoll_old.2432)+3,r54213 278e 1092 0000 sts MeanAccNick,__zero_reg__4214 2792 1092 0000 sts (MeanAccNick)+1,__zero_reg__4215 2796 1092 0000 sts (MeanAccNick)+2,__zero_reg__4216 279a 1092 0000 sts (MeanAccNick)+3,__zero_reg__4217 279e 1092 0000 sts MeanAccRoll,__zero_reg__4218 27a2 1092 0000 sts (MeanAccRoll)+1,__zero_reg__4219 27a6 1092 0000 sts (MeanAccRoll)+2,__zero_reg__4220 27aa 1092 0000 sts (MeanAccRoll)+3,__zero_reg__4221 27ae 1092 0000 sts MeanIntegralGyroNick,__zero_reg__4222 27b2 1092 0000 sts (MeanIntegralGyroNick)+1,__zero_reg__4223 27b6 1092 0000 sts (MeanIntegralGyroNick)+2,__zero_reg__4224 27ba 1092 0000 sts (MeanIntegralGyroNick)+3,__zero_reg__4225 27be 1092 0000 sts MeanIntegralGyroRoll,__zero_reg__4226 27c2 1092 0000 sts (MeanIntegralGyroRoll)+1,__zero_reg__4227 27c6 1092 0000 sts (MeanIntegralGyroRoll)+2,__zero_reg__4228 27ca 1092 0000 sts (MeanIntegralGyroRoll)+3,__zero_reg__4229 27ce 1092 0000 sts (MeasurementCounter)+1,__zero_reg__4230 27d2 1092 0000 sts MeasurementCounter,__zero_reg__4231 .L529:4232 27d6 E090 0000 lds r14,StickYaw4233 27da F090 0000 lds r15,(StickYaw)+14234 27de C701 movw r24,r144235 27e0 F7FE sbrs r15,74236 27e2 00C0 rjmp .+44237 27e4 0C94 0000 jmp .L7554238 .L570:4239 27e8 4097 sbiw r24,164240 27ea 04F0 brlt .L5694241 27ec 88EE ldi r24,lo8(1000)4242 27ee 93E0 ldi r25,hi8(1000)4243 27f0 9093 0000 sts (BadCompassHeading)+1,r254244 27f4 8093 0000 sts BadCompassHeading,r244245 27f8 8091 0000 lds r24,ParamSet+84246 27fc 84FD sbrc r24,44247 27fe 00C0 rjmp .+44248 2800 0C94 0000 jmp .L7564249 .L569:4250 2804 1091 0000 lds r17,ParamSet+204251 2808 B701 movw r22,r144252 280a 8827 clr r244253 280c 77FD sbrc r23,74254 280e 8095 com r244255 2810 982F mov r25,r244256 2812 212F mov r18,r174257 2814 30E0 ldi r19,lo8(0)4258 2816 40E0 ldi r20,lo8(0)4259 2818 50E0 ldi r21,hi8(0)4260 281a 0E94 0000 call __mulsi34261 281e F701 movw r30,r144262 2820 F7FE sbrs r15,74263 2822 00C0 rjmp .+44264 2824 0C94 0000 jmp .L7574265 .L571:4266 2828 9F01 movw r18,r304267 282a 4427 clr r204268 282c 37FD sbrc r19,74269 282e 4095 com r204270 2830 542F mov r21,r204271 2832 0E94 0000 call __mulsi34272 2836 20E0 ldi r18,lo8(512)4273 2838 32E0 ldi r19,hi8(512)4274 283a 40E0 ldi r20,hlo8(512)4275 283c 50E0 ldi r21,hhi8(512)4276 283e 0E94 0000 call __divmodsi44277 2842 812F mov r24,r174278 2844 90E0 ldi r25,lo8(0)4279 2846 8E9D mul r24,r144280 2848 B001 movw r22,r04281 284a 8F9D mul r24,r154282 284c 700D add r23,r04283 284e 9E9D mul r25,r144284 2850 700D add r23,r04285 2852 1124 clr r14286 2854 77FF sbrs r23,74287 2856 00C0 rjmp .+44288 2858 0C94 0000 jmp .L7584289 .L572:4290 285c 7595 asr r234291 285e 6795 ror r224292 2860 7595 asr r234293 2862 6795 ror r224294 2864 260F add r18,r224295 2866 371F adc r19,r234296 2868 C901 movw r24,r184297 286a AA27 clr r264298 286c 97FD sbrc r25,74299 286e A095 com r264300 2870 BA2F mov r27,r264301 2872 8093 0000 sts SetPointYaw.2410,r244302 2876 9093 0000 sts (SetPointYaw.2410)+1,r254303 287a A093 0000 sts (SetPointYaw.2410)+2,r264304 287e B093 0000 sts (SetPointYaw.2410)+3,r274305 2882 2091 0000 lds r18,ReadingIntegralGyroYaw4306 2886 3091 0000 lds r19,(ReadingIntegralGyroYaw)+14307 288a 4091 0000 lds r20,(ReadingIntegralGyroYaw)+24308 288e 5091 0000 lds r21,(ReadingIntegralGyroYaw)+34309 2892 281B sub r18,r244310 2894 390B sbc r19,r254311 2896 4A0B sbc r20,r264312 2898 5B0B sbc r21,r274313 289a 2093 0000 sts ReadingIntegralGyroYaw,r184314 289e 3093 0000 sts (ReadingIntegralGyroYaw)+1,r194315 28a2 4093 0000 sts (ReadingIntegralGyroYaw)+2,r204316 28a6 5093 0000 sts (ReadingIntegralGyroYaw)+3,r214317 28aa 203B cpi r18,lo8(-50000)4318 28ac 7CE3 ldi r23,hi8(-50000)4319 28ae 3707 cpc r19,r234320 28b0 7FEF ldi r23,hlo8(-50000)4321 28b2 4707 cpc r20,r234322 28b4 7FEF ldi r23,hhi8(-50000)4323 28b6 5707 cpc r21,r234324 28b8 04F0 brlt .+44325 28ba 0C94 0000 jmp .L5734326 28be 80EB ldi r24,lo8(-50000)4327 28c0 9CE3 ldi r25,hi8(-50000)4328 28c2 AFEF ldi r26,hlo8(-50000)4329 28c4 BFEF ldi r27,hhi8(-50000)4330 28c6 8093 0000 sts ReadingIntegralGyroYaw,r244331 28ca 9093 0000 sts (ReadingIntegralGyroYaw)+1,r254332 28ce A093 0000 sts (ReadingIntegralGyroYaw)+2,r264333 28d2 B093 0000 sts (ReadingIntegralGyroYaw)+3,r274334 .L574:4335 28d6 8091 0000 lds r24,ParamSet+84336 28da 8872 andi r24,lo8(40)4337 28dc 01F4 brne .+24338 28de 00C0 rjmp .L7284339 28e0 8091 0000 lds r24,CompassCalState4340 28e4 8823 tst r244341 28e6 01F0 breq .+24342 28e8 00C0 rjmp .L7594343 .L576:4344 28ea 68A5 ldd r22,Y+404345 28ec 79A5 ldd r23,Y+414346 28ee 8AA5 ldd r24,Y+424347 28f0 9BA5 ldd r25,Y+434348 28f2 20E0 ldi r18,lo8(512)4349 28f4 32E0 ldi r19,hi8(512)4350 28f6 40E0 ldi r20,hlo8(512)4351 28f8 50E0 ldi r21,hhi8(512)4352 28fa 0E94 0000 call __divmodsi44353 28fe 8901 movw r16,r184354 2900 37FF sbrs r19,74355 2902 00C0 rjmp .+44356 2904 0C94 0000 jmp .L7604357 .L577:4358 2908 6CA1 ldd r22,Y+364359 290a 7DA1 ldd r23,Y+374360 290c 8EA1 ldd r24,Y+384361 290e 9FA1 ldd r25,Y+394362 2910 20E0 ldi r18,lo8(512)4363 2912 32E0 ldi r19,hi8(512)4364 2914 40E0 ldi r20,hlo8(512)4365 2916 50E0 ldi r21,hhi8(512)4366 2918 0E94 0000 call __divmodsi44367 291c 4901 movw r8,r184368 291e 37FF sbrs r19,74369 2920 00C0 rjmp .+44370 2922 0C94 0000 jmp .L7614371 .L578:4372 2926 8016 cp r8,r164373 2928 9106 cpc r9,r174374 292a 04F4 brge .L5794375 292c 4801 movw r8,r164376 .L579:4377 292e A090 0000 lds r10,CompassHeading4378 2932 B090 0000 lds r11,(CompassHeading)+14379 2936 B7FE sbrs r11,74380 2938 00C0 rjmp .+44381 293a 0C94 0000 jmp .L7624382 293e ACE1 ldi r26,lo8(540)4383 2940 B2E0 ldi r27,hi8(540)4384 2942 AA0E add r10,r264385 2944 BB1E adc r11,r274386 2946 7501 movw r14,r104387 2948 0027 clr r164388 294a F7FC sbrc r15,74389 294c 0095 com r164390 294e 102F mov r17,r164391 2950 E4EE ldi r30,lo8(-540)4392 2952 FDEF ldi r31,hi8(-540)4393 2954 AE0E add r10,r304394 2956 BF1E adc r11,r314395 2958 2091 0000 lds r18,ParamSet+234396 295c 8AE2 ldi r24,lo8(42)4397 295e 289F mul r18,r244398 2960 9001 movw r18,r04399 2962 1124 clr r14400 2964 4427 clr r204401 2966 37FD sbrc r19,74402 2968 4095 com r204403 296a 542F mov r21,r204404 296c 6091 0000 lds r22,YawGyroHeading4405 2970 7091 0000 lds r23,(YawGyroHeading)+14406 2974 8091 0000 lds r24,(YawGyroHeading)+24407 2978 9091 0000 lds r25,(YawGyroHeading)+34408 297c 0E94 0000 call __divmodsi44409 2980 E21A sub r14,r184410 2982 F30A sbc r15,r194411 2984 040B sbc r16,r204412 2986 150B sbc r17,r214413 2988 C801 movw r24,r164414 298a B701 movw r22,r144415 298c 28E6 ldi r18,lo8(360)4416 298e 31E0 ldi r19,hi8(360)4417 2990 40E0 ldi r20,hlo8(360)4418 2992 50E0 ldi r21,hhi8(360)4419 2994 0E94 0000 call __divmodsi44420 2998 645B subi r22,lo8(-(-180))4421 299a 7040 sbci r23,hi8(-(-180))4422 .L581:4423 299c 2090 0000 lds r2,GyroYaw4424 29a0 3090 0000 lds r3,(GyroYaw)+14425 29a4 C101 movw r24,r24426 29a6 37FE sbrs r3,74427 29a8 00C0 rjmp .+44428 29aa 0C94 0000 jmp .L7634429 .L583:4430 29ae 8138 cpi r24,1294431 29b0 9105 cpc r25,__zero_reg__4432 29b2 04F4 brge .+44433 29b4 0C94 0000 jmp .L5824434 29b8 60E0 ldi r22,lo8(0)4435 29ba 70E0 ldi r23,hi8(0)4436 29bc CC24 clr r124437 29be DD24 clr r134438 .L584:4439 29c0 4090 0000 lds r4,BadCompassHeading4440 29c4 5090 0000 lds r5,(BadCompassHeading)+14441 29c8 4114 cp r4,__zero_reg__4442 29ca 5104 cpc r5,__zero_reg__4443 29cc 01F4 brne .L5854444 29ce F9E1 ldi r31,lo8(25)4445 29d0 8F16 cp r8,r314446 29d2 9104 cpc r9,__zero_reg__4447 29d4 04F4 brge .+44448 29d6 0C94 0000 jmp .L7644449 .L585:4450 29da B401 movw r22,r84451 29dc 7595 asr r234452 29de 6795 ror r224453 29e0 7595 asr r234454 29e2 6795 ror r224455 29e4 7595 asr r234456 29e6 6795 ror r224457 29e8 6F5F subi r22,lo8(-(1))4458 29ea 7F4F sbci r23,hi8(-(1))4459 29ec C601 movw r24,r124460 29ee 0E94 0000 call __divmodhi44461 29f2 5B01 movw r10,r224462 29f4 CC24 clr r124463 29f6 B7FC sbrc r11,74464 29f8 C094 com r124465 29fa DC2C mov r13,r124466 29fc 8091 0000 lds r24,YawGyroHeading4467 2a00 9091 0000 lds r25,(YawGyroHeading)+14468 2a04 A091 0000 lds r26,(YawGyroHeading)+24469 2a08 B091 0000 lds r27,(YawGyroHeading)+34470 2a0c A80E add r10,r244471 2a0e B91E adc r11,r254472 2a10 CA1E adc r12,r264473 2a12 DB1E adc r13,r274474 2a14 A092 0000 sts YawGyroHeading,r104475 2a18 B092 0000 sts (YawGyroHeading)+1,r114476 2a1c C092 0000 sts (YawGyroHeading)+2,r124477 2a20 D092 0000 sts (YawGyroHeading)+3,r134478 2a24 8091 0000 lds r24,FCParam+54479 2a28 682E mov r6,r244480 2a2a 7724 clr r74481 2a2c 869C mul r8,r64482 2a2e C001 movw r24,r04483 2a30 879C mul r8,r74484 2a32 900D add r25,r04485 2a34 969C mul r9,r64486 2a36 900D add r25,r04487 2a38 1124 clr r14488 2a3a 97FF sbrs r25,74489 2a3c 00C0 rjmp .+44490 2a3e 0C94 0000 jmp .L7654491 .L586:4492 2a42 9595 asr r254493 2a44 8795 ror r244494 2a46 9595 asr r254495 2a48 8795 ror r244496 2a4a 9595 asr r254497 2a4c 8795 ror r244498 2a4e 9595 asr r254499 2a50 8795 ror r244500 2a52 9595 asr r254501 2a54 8795 ror r244502 2a56 4301 movw r8,r64503 2a58 881A sub r8,r244504 2a5a 990A sbc r9,r254505 2a5c 97FE sbrs r9,74506 2a5e 00C0 rjmp .+44507 2a60 0C94 0000 jmp .L5874508 2a64 4114 cp r4,__zero_reg__4509 2a66 5104 cpc r5,__zero_reg__4510 2a68 01F0 breq .+44511 2a6a 0C94 0000 jmp .L5884512 2a6e 4090 0000 lds r4,MaxStickRoll4513 2a72 5090 0000 lds r5,(MaxStickRoll)+14514 2a76 8091 0000 lds r24,MaxStickNick4515 2a7a 9091 0000 lds r25,(MaxStickNick)+14516 2a7e 480E add r4,r244517 2a80 591E adc r5,r254518 2a82 57FE sbrs r5,74519 2a84 00C0 rjmp .+44520 2a86 0C94 0000 jmp .L7664521 .L589:4522 2a8a 5594 asr r54523 2a8c 4794 ror r44524 2a8e 5594 asr r54525 2a90 4794 ror r44526 2a92 5594 asr r54527 2a94 4794 ror r44528 2a96 40E4 ldi r20,lo8(64)4529 2a98 50E0 ldi r21,hi8(64)4530 2a9a 440E add r4,r204531 2a9c 551E adc r5,r214532 2a9e 8091 0000 lds r24,CompassCourse4533 2aa2 9091 0000 lds r25,(CompassCourse)+14534 2aa6 AA27 clr r264535 2aa8 97FD sbrc r25,74536 2aaa A095 com r264537 2aac BA2F mov r27,r264538 2aae 7CE1 ldi r23,lo8(540)4539 2ab0 E72E mov r14,r234540 2ab2 72E0 ldi r23,hi8(540)4541 2ab4 F72E mov r15,r234542 2ab6 012D mov r16,__zero_reg__4543 2ab8 112D mov r17,__zero_reg__4544 2aba E81A sub r14,r244545 2abc F90A sbc r15,r254546 2abe 0A0B sbc r16,r264547 2ac0 1B0B sbc r17,r274548 2ac2 2091 0000 lds r18,ParamSet+234549 2ac6 8AE2 ldi r24,lo8(42)4550 2ac8 289F mul r18,r244551 2aca 9001 movw r18,r04552 2acc 1124 clr r14553 2ace 4427 clr r204554 2ad0 37FD sbrc r19,74555 2ad2 4095 com r204556 2ad4 542F mov r21,r204557 2ad6 C601 movw r24,r124558 2ad8 B501 movw r22,r104559 2ada 0E94 0000 call __divmodsi44560 2ade E20E add r14,r184561 2ae0 F31E adc r15,r194562 2ae2 041F adc r16,r204563 2ae4 151F adc r17,r214564 2ae6 C801 movw r24,r164565 2ae8 B701 movw r22,r144566 2aea 28E6 ldi r18,lo8(360)4567 2aec 31E0 ldi r19,hi8(360)4568 2aee 40E0 ldi r20,hlo8(360)4569 2af0 50E0 ldi r21,hhi8(360)4570 2af2 0E94 0000 call __divmodsi44571 2af6 645B subi r22,lo8(-(-180))4572 2af8 7040 sbci r23,hi8(-(-180))4573 2afa 689D mul r22,r84574 2afc C001 movw r24,r04575 2afe 699D mul r22,r94576 2b00 900D add r25,r04577 2b02 789D mul r23,r84578 2b04 900D add r25,r04579 2b06 1124 clr r14580 2b08 B201 movw r22,r44581 2b0a 0E94 0000 call __divmodhi44582 2b0e 9B01 movw r18,r224583 2b10 C301 movw r24,r64584 2b12 880F lsl r244585 2b14 991F rol r254586 2b16 860D add r24,r64587 2b18 971D adc r25,r74588 2b1a 8217 cp r24,r184589 2b1c 9307 cpc r25,r194590 2b1e 04F0 brlt .+44591 2b20 0C94 0000 jmp .L5904592 2b24 BC01 movw r22,r244593 .L591:4594 2b26 9B01 movw r18,r224595 2b28 4427 clr r204596 2b2a 37FD sbrc r19,74597 2b2c 4095 com r204598 2b2e 542F mov r21,r204599 2b30 8091 0000 lds r24,ReadingIntegralGyroYaw4600 2b34 9091 0000 lds r25,(ReadingIntegralGyroYaw)+14601 2b38 A091 0000 lds r26,(ReadingIntegralGyroYaw)+24602 2b3c B091 0000 lds r27,(ReadingIntegralGyroYaw)+34603 2b40 820F add r24,r184604 2b42 931F adc r25,r194605 2b44 A41F adc r26,r204606 2b46 B51F adc r27,r214607 2b48 8093 0000 sts ReadingIntegralGyroYaw,r244608 2b4c 9093 0000 sts (ReadingIntegralGyroYaw)+1,r254609 2b50 A093 0000 sts (ReadingIntegralGyroYaw)+2,r264610 2b54 B093 0000 sts (ReadingIntegralGyroYaw)+3,r274611 2b58 00C0 rjmp .L5754612 .L401:4613 2b5a 2998 cbi 37-32,14614 2b5c 8091 0000 lds r24,RC_Quality4615 2b60 8436 cpi r24,lo8(100)4616 2b62 00F4 brsh .+24617 2b64 00C0 rjmp .L7674618 .L403:4619 2b66 8091 0000 lds r24,RC_Quality4620 2b6a 8D38 cpi r24,lo8(-115)4621 2b6c 00F4 brsh .+24622 2b6e 00C0 rjmp .L4104623 2b70 8091 0000 lds r24,MKFlags4624 2b74 8F7E andi r24,lo8(-17)4625 2b76 8093 0000 sts MKFlags,r244626 2b7a 8091 0000 lds r24,ParamSet+324627 2b7e 22E3 ldi r18,lo8(50)4628 2b80 829F mul r24,r184629 2b82 C001 movw r24,r04630 2b84 1124 clr r14631 2b86 9093 0000 sts (RcLostTimer.2415)+1,r254632 2b8a 8093 0000 sts RcLostTimer.2415,r244633 2b8e 8091 0000 lds r24,StickGas4634 2b92 9091 0000 lds r25,(StickGas)+14635 2b96 8997 sbiw r24,414636 2b98 04F0 brlt .L4114637 2b9a 8091 0000 lds r24,MKFlags4638 2b9e 80FF sbrs r24,04639 2ba0 00C0 rjmp .L4114640 2ba2 8091 0000 lds r24,ModelIsFlying4641 2ba6 9091 0000 lds r25,(ModelIsFlying)+14642 2baa BFEF ldi r27,hi8(-1)4643 2bac 8F3F cpi r24,lo8(-1)4644 2bae 9B07 cpc r25,r274645 2bb0 01F4 brne .+44646 2bb2 0C94 0000 jmp .L4124647 2bb6 0196 adiw r24,14648 2bb8 9093 0000 sts (ModelIsFlying)+1,r254649 2bbc 8093 0000 sts ModelIsFlying,r244650 .L411:4651 2bc0 8091 0000 lds r24,ModelIsFlying4652 2bc4 9091 0000 lds r25,(ModelIsFlying)+14653 2bc8 8F3F cpi r24,2554654 2bca 9105 cpc r25,__zero_reg__4655 2bcc 01F0 breq .+64656 2bce 00F0 brlo .+44657 2bd0 0C94 0000 jmp .L4124658 2bd4 1092 0000 sts IPartNick.2408,__zero_reg__4659 2bd8 1092 0000 sts (IPartNick.2408)+1,__zero_reg__4660 2bdc 1092 0000 sts (IPartNick.2408)+2,__zero_reg__4661 2be0 1092 0000 sts (IPartNick.2408)+3,__zero_reg__4662 2be4 1092 0000 sts IPartRoll.2409,__zero_reg__4663 2be8 1092 0000 sts (IPartRoll.2409)+1,__zero_reg__4664 2bec 1092 0000 sts (IPartRoll.2409)+2,__zero_reg__4665 2bf0 1092 0000 sts (IPartRoll.2409)+3,__zero_reg__4666 2bf4 1092 0000 sts (StickYaw)+1,__zero_reg__4667 2bf8 1092 0000 sts StickYaw,__zero_reg__4668 2bfc 8A3F cpi r24,2504669 2bfe 9105 cpc r25,__zero_reg__4670 2c00 01F4 brne .+44671 2c02 0C94 0000 jmp .L7684672 .L413:4673 2c06 8091 0000 lds r24,ParamSet+44674 2c0a E82F mov r30,r244675 2c0c F0E0 ldi r31,lo8(0)4676 2c0e EE0F lsl r304677 2c10 FF1F rol r314678 2c12 E050 subi r30,lo8(-(PPM_in))4679 2c14 F040 sbci r31,hi8(-(PPM_in))4680 2c16 8081 ld r24,Z4681 2c18 9181 ldd r25,Z+14682 2c1a E090 0000 lds r14,Poti14683 2c1e F090 0000 lds r15,(Poti1)+14684 2c22 8359 subi r24,lo8(-(109))4685 2c24 9F4F sbci r25,hi8(-(109))4686 2c26 8E15 cp r24,r144687 2c28 9F05 cpc r25,r154688 2c2a 04F4 brge .+44689 2c2c 0C94 0000 jmp .L4144690 2c30 C701 movw r24,r144691 2c32 0196 adiw r24,14692 2c34 9093 0000 sts (Poti1)+1,r254693 2c38 8093 0000 sts Poti1,r244694 2c3c 7C01 movw r14,r244695 .L415:4696 2c3e 8091 0000 lds r24,ParamSet+54697 2c42 E82F mov r30,r244698 2c44 F0E0 ldi r31,lo8(0)4699 2c46 EE0F lsl r304700 2c48 FF1F rol r314701 2c4a E050 subi r30,lo8(-(PPM_in))4702 2c4c F040 sbci r31,hi8(-(PPM_in))4703 2c4e 8081 ld r24,Z4704 2c50 9181 ldd r25,Z+14705 2c52 0091 0000 lds r16,Poti24706 2c56 1091 0000 lds r17,(Poti2)+14707 2c5a 8359 subi r24,lo8(-(109))4708 2c5c 9F4F sbci r25,hi8(-(109))4709 2c5e 8017 cp r24,r164710 2c60 9107 cpc r25,r174711 2c62 04F4 brge .+44712 2c64 0C94 0000 jmp .L4164713 2c68 C801 movw r24,r164714 2c6a 0196 adiw r24,14715 2c6c 9093 0000 sts (Poti2)+1,r254716 2c70 8093 0000 sts Poti2,r244717 2c74 8C01 movw r16,r244718 .L417:4719 2c76 8091 0000 lds r24,ParamSet+64720 2c7a E82F mov r30,r244721 2c7c F0E0 ldi r31,lo8(0)4722 2c7e EE0F lsl r304723 2c80 FF1F rol r314724 2c82 E050 subi r30,lo8(-(PPM_in))4725 2c84 F040 sbci r31,hi8(-(PPM_in))4726 2c86 8081 ld r24,Z4727 2c88 9181 ldd r25,Z+14728 2c8a A090 0000 lds r10,Poti34729 2c8e B090 0000 lds r11,(Poti3)+14730 2c92 8359 subi r24,lo8(-(109))4731 2c94 9F4F sbci r25,hi8(-(109))4732 2c96 8A15 cp r24,r104733 2c98 9B05 cpc r25,r114734 2c9a 04F4 brge .+44735 2c9c 0C94 0000 jmp .L4184736 2ca0 C501 movw r24,r104737 2ca2 0196 adiw r24,14738 2ca4 9093 0000 sts (Poti3)+1,r254739 2ca8 8093 0000 sts Poti3,r244740 2cac 5C01 movw r10,r244741 .L419:4742 2cae 8091 0000 lds r24,ParamSet+74743 2cb2 E82F mov r30,r244744 2cb4 F0E0 ldi r31,lo8(0)4745 2cb6 EE0F lsl r304746 2cb8 FF1F rol r314747 2cba E050 subi r30,lo8(-(PPM_in))4748 2cbc F040 sbci r31,hi8(-(PPM_in))4749 2cbe 8081 ld r24,Z4750 2cc0 9181 ldd r25,Z+14751 2cc2 A091 0000 lds r26,Poti44752 2cc6 B091 0000 lds r27,(Poti4)+14753 2cca 8359 subi r24,lo8(-(109))4754 2ccc 9F4F sbci r25,hi8(-(109))4755 2cce 8A17 cp r24,r264756 2cd0 9B07 cpc r25,r274757 2cd2 04F4 brge .+44758 2cd4 0C94 0000 jmp .L4204759 2cd8 CD01 movw r24,r264760 2cda 0196 adiw r24,14761 2cdc 9093 0000 sts (Poti4)+1,r254762 2ce0 8093 0000 sts Poti4,r244763 2ce4 DC01 movw r26,r244764 .L421:4765 2ce6 8091 0000 lds r24,PPM_in+184766 2cea 9091 0000 lds r25,(PPM_in+18)+14767 2cee E091 0000 lds r30,Poti54768 2cf2 F091 0000 lds r31,(Poti5)+14769 2cf6 8359 subi r24,lo8(-(109))4770 2cf8 9F4F sbci r25,hi8(-(109))4771 2cfa 8E17 cp r24,r304772 2cfc 9F07 cpc r25,r314773 2cfe 04F4 brge .+44774 2d00 0C94 0000 jmp .L4224775 2d04 CF01 movw r24,r304776 2d06 0196 adiw r24,14777 2d08 9093 0000 sts (Poti5)+1,r254778 2d0c 8093 0000 sts Poti5,r244779 2d10 FC01 movw r30,r244780 .L423:4781 2d12 8091 0000 lds r24,PPM_in+204782 2d16 9091 0000 lds r25,(PPM_in+20)+14783 2d1a 6091 0000 lds r22,Poti64784 2d1e 7091 0000 lds r23,(Poti6)+14785 2d22 8359 subi r24,lo8(-(109))4786 2d24 9F4F sbci r25,hi8(-(109))4787 2d26 8617 cp r24,r224788 2d28 9707 cpc r25,r234789 2d2a 04F4 brge .+44790 2d2c 0C94 0000 jmp .L4244791 2d30 CB01 movw r24,r224792 2d32 0196 adiw r24,14793 2d34 9093 0000 sts (Poti6)+1,r254794 2d38 8093 0000 sts Poti6,r244795 2d3c BC01 movw r22,r244796 .L425:4797 2d3e 8091 0000 lds r24,PPM_in+224798 2d42 9091 0000 lds r25,(PPM_in+22)+14799 2d46 4091 0000 lds r20,Poti74800 2d4a 5091 0000 lds r21,(Poti7)+14801 2d4e 8359 subi r24,lo8(-(109))4802 2d50 9F4F sbci r25,hi8(-(109))4803 2d52 8417 cp r24,r204804 2d54 9507 cpc r25,r214805 2d56 04F4 brge .+44806 2d58 0C94 0000 jmp .L4264807 2d5c CA01 movw r24,r204808 2d5e 0196 adiw r24,14809 2d60 9093 0000 sts (Poti7)+1,r254810 2d64 8093 0000 sts Poti7,r244811 2d68 AC01 movw r20,r244812 .L427:4813 2d6a 8091 0000 lds r24,PPM_in+244814 2d6e 9091 0000 lds r25,(PPM_in+24)+14815 2d72 2091 0000 lds r18,Poti84816 2d76 3091 0000 lds r19,(Poti8)+14817 2d7a 8359 subi r24,lo8(-(109))4818 2d7c 9F4F sbci r25,hi8(-(109))4819 2d7e 8217 cp r24,r184820 2d80 9307 cpc r25,r194821 2d82 04F4 brge .+44822 2d84 0C94 0000 jmp .L4284823 2d88 C901 movw r24,r184824 2d8a 0196 adiw r24,14825 2d8c 9093 0000 sts (Poti8)+1,r254826 2d90 8093 0000 sts Poti8,r244827 2d94 9C01 movw r18,r244828 .L429:4829 2d96 F7FE sbrs r15,74830 2d98 00C0 rjmp .+44831 2d9a 0C94 0000 jmp .L7694832 2d9e 8FEF ldi r24,lo8(255)4833 2da0 E816 cp r14,r244834 2da2 F104 cpc r15,__zero_reg__4835 2da4 01F0 breq .L4314836 2da6 04F0 brlt .L4314837 2da8 8FEF ldi r24,lo8(255)4838 2daa 90E0 ldi r25,hi8(255)4839 2dac 9093 0000 sts (Poti1)+1,r254840 2db0 8093 0000 sts Poti1,r244841 .L431:4842 2db4 17FF sbrs r17,74843 2db6 00C0 rjmp .+44844 2db8 0C94 0000 jmp .L7704845 2dbc 0F3F cpi r16,2554846 2dbe 1105 cpc r17,__zero_reg__4847 2dc0 01F0 breq .L4334848 2dc2 04F0 brlt .L4334849 2dc4 8FEF ldi r24,lo8(255)4850 2dc6 90E0 ldi r25,hi8(255)4851 2dc8 9093 0000 sts (Poti2)+1,r254852 2dcc 8093 0000 sts Poti2,r244853 .L433:4854 2dd0 B7FE sbrs r11,74855 2dd2 00C0 rjmp .+44856 2dd4 0C94 0000 jmp .L7714857 2dd8 9FEF ldi r25,lo8(255)4858 2dda A916 cp r10,r254859 2ddc B104 cpc r11,__zero_reg__4860 2dde 01F0 breq .L4354861 2de0 04F0 brlt .L4354862 2de2 8FEF ldi r24,lo8(255)4863 2de4 90E0 ldi r25,hi8(255)4864 2de6 9093 0000 sts (Poti3)+1,r254865 2dea 8093 0000 sts Poti3,r244866 .L435:4867 2dee B7FF sbrs r27,74868 2df0 00C0 rjmp .+44869 2df2 0C94 0000 jmp .L7724870 2df6 AF3F cpi r26,2554871 2df8 B105 cpc r27,__zero_reg__4872 2dfa 01F0 breq .L4374873 2dfc 04F0 brlt .L4374874 2dfe 8FEF ldi r24,lo8(255)4875 2e00 90E0 ldi r25,hi8(255)4876 2e02 9093 0000 sts (Poti4)+1,r254877 2e06 8093 0000 sts Poti4,r244878 .L437:4879 2e0a F7FF sbrs r31,74880 2e0c 00C0 rjmp .+44881 2e0e 0C94 0000 jmp .L7734882 2e12 EF3F cpi r30,2554883 2e14 F105 cpc r31,__zero_reg__4884 2e16 01F0 breq .L4394885 2e18 04F0 brlt .L4394886 2e1a 8FEF ldi r24,lo8(255)4887 2e1c 90E0 ldi r25,hi8(255)4888 2e1e 9093 0000 sts (Poti5)+1,r254889 2e22 8093 0000 sts Poti5,r244890 .L439:4891 2e26 77FF sbrs r23,74892 2e28 00C0 rjmp .+44893 2e2a 0C94 0000 jmp .L7744894 2e2e 6F3F cpi r22,2554895 2e30 7105 cpc r23,__zero_reg__4896 2e32 01F0 breq .L4414897 2e34 04F0 brlt .L4414898 2e36 8FEF ldi r24,lo8(255)4899 2e38 90E0 ldi r25,hi8(255)4900 2e3a 9093 0000 sts (Poti6)+1,r254901 2e3e 8093 0000 sts Poti6,r244902 .L441:4903 2e42 57FF sbrs r21,74904 2e44 00C0 rjmp .+44905 2e46 0C94 0000 jmp .L7754906 2e4a 4F3F cpi r20,2554907 2e4c 5105 cpc r21,__zero_reg__4908 2e4e 01F0 breq .L4434909 2e50 04F0 brlt .L4434910 2e52 8FEF ldi r24,lo8(255)4911 2e54 90E0 ldi r25,hi8(255)4912 2e56 9093 0000 sts (Poti7)+1,r254913 2e5a 8093 0000 sts Poti7,r244914 .L443:4915 2e5e 37FF sbrs r19,74916 2e60 00C0 rjmp .+44917 2e62 0C94 0000 jmp .L7764918 2e66 2F3F cpi r18,2554919 2e68 3105 cpc r19,__zero_reg__4920 2e6a 01F0 breq .L4454921 2e6c 04F0 brlt .L4454922 2e6e 8FEF ldi r24,lo8(255)4923 2e70 90E0 ldi r25,hi8(255)4924 2e72 9093 0000 sts (Poti8)+1,r254925 2e76 8093 0000 sts Poti8,r244926 .L445:4927 2e7a 8091 0000 lds r24,ParamSet+24928 2e7e A82F mov r26,r244929 2e80 B0E0 ldi r27,lo8(0)4930 2e82 AA0F lsl r264931 2e84 BB1F rol r274932 2e86 FD01 movw r30,r264933 2e88 E050 subi r30,lo8(-(PPM_in))4934 2e8a F040 sbci r31,hi8(-(PPM_in))4935 2e8c 8081 ld r24,Z4936 2e8e 9181 ldd r25,Z+14937 2e90 8135 cpi r24,814938 2e92 9105 cpc r25,__zero_reg__4939 2e94 04F4 brge .+44940 2e96 0C94 0000 jmp .L4464941 2e9a 8091 0000 lds r24,MKFlags4942 2e9e 80FF sbrs r24,04943 2ea0 00C0 rjmp .+44944 2ea2 0C94 0000 jmp .L4464945 2ea6 8091 0000 lds r24,ParamSet+34946 2eaa E82F mov r30,r244947 2eac F0E0 ldi r31,lo8(0)4948 2eae EE0F lsl r304949 2eb0 FF1F rol r314950 2eb2 E050 subi r30,lo8(-(PPM_in))4951 2eb4 F040 sbci r31,hi8(-(PPM_in))4952 2eb6 8081 ld r24,Z4953 2eb8 9181 ldd r25,Z+14954 2eba 8C34 cpi r24,764955 2ebc 9105 cpc r25,__zero_reg__4956 2ebe 04F4 brge .+44957 2ec0 0C94 0000 jmp .L4474958 2ec4 8091 0000 lds r24,delay_neutral.24164959 2ec8 8F5F subi r24,lo8(-(1))4960 2eca 8093 0000 sts delay_neutral.2416,r244961 2ece 893C cpi r24,lo8(-55)4962 2ed0 00F4 brsh .+44963 2ed2 0C94 0000 jmp .L4464964 2ed6 1092 0000 sts delay_neutral.2416,__zero_reg__4965 2eda ABE0 ldi r26,lo8(11)4966 2edc AD15 cp r26,r134967 2ede 00F4 brsh .+44968 2ee0 0C94 0000 jmp .L4494969 2ee4 2998 cbi 37-32,14970 .L450:4971 2ee6 1092 0000 sts (ModelIsFlying)+1,__zero_reg__4972 2eea 1092 0000 sts ModelIsFlying,__zero_reg__4973 2eee 8091 0000 lds r24,ParamSet4974 2ef2 482F mov r20,r244975 2ef4 50E0 ldi r21,lo8(0)4976 2ef6 440F lsl r204977 2ef8 551F rol r214978 2efa FA01 movw r30,r204979 2efc E050 subi r30,lo8(-(PPM_in))4980 2efe F040 sbci r31,hi8(-(PPM_in))4981 2f00 8081 ld r24,Z4982 2f02 9181 ldd r25,Z+14983 2f04 8734 cpi r24,714984 2f06 9105 cpc r25,__zero_reg__4985 2f08 04F4 brge .+44986 2f0a 0C94 0000 jmp .L4514987 2f0e 8091 0000 lds r24,ParamSet+14988 2f12 A82F mov r26,r244989 2f14 B0E0 ldi r27,lo8(0)4990 2f16 AA0F lsl r264991 2f18 BB1F rol r274992 .L452:4993 2f1a FD01 movw r30,r264994 2f1c E050 subi r30,lo8(-(PPM_in))4995 2f1e F040 sbci r31,hi8(-(PPM_in))4996 2f20 8081 ld r24,Z4997 2f22 9181 ldd r25,Z+14998 2f24 8734 cpi r24,714999 2f26 9105 cpc r25,__zero_reg__5000 2f28 04F0 brlt .L4555001 2f2a FA01 movw r30,r205002 2f2c E050 subi r30,lo8(-(PPM_in))5003 2f2e F040 sbci r31,hi8(-(PPM_in))5004 2f30 0190 ld __tmp_reg__,Z+5005 2f32 F081 ld r31,Z5006 2f34 E02D mov r30,__tmp_reg__5007 .L455:5008 2f36 FD01 movw r30,r265009 2f38 E050 subi r30,lo8(-(PPM_in))5010 2f3a F040 sbci r31,hi8(-(PPM_in))5011 2f3c 8081 ld r24,Z5012 2f3e 9181 ldd r25,Z+15013 2f40 8734 cpi r24,715014 2f42 9105 cpc r25,__zero_reg__5015 2f44 04F4 brge .+45016 2f46 0C94 0000 jmp .L4565017 2f4a FA01 movw r30,r205018 2f4c E050 subi r30,lo8(-(PPM_in))5019 2f4e F040 sbci r31,hi8(-(PPM_in))5020 2f50 8081 ld r24,Z5021 2f52 9181 ldd r25,Z+15022 2f54 8734 cpi r24,715023 2f56 9105 cpc r25,__zero_reg__5024 2f58 04F4 brge .+45025 2f5a 0C94 0000 jmp .L4565026 2f5e 22E0 ldi r18,lo8(2)5027 .L457:5028 2f60 FD01 movw r30,r265029 2f62 E050 subi r30,lo8(-(PPM_in))5030 2f64 F040 sbci r31,hi8(-(PPM_in))5031 2f66 8081 ld r24,Z5032 2f68 9181 ldd r25,Z+15033 2f6a 8634 cpi r24,705034 2f6c 9105 cpc r25,__zero_reg__5035 2f6e 04F4 brge .L4585036 2f70 FA01 movw r30,r205037 2f72 E050 subi r30,lo8(-(PPM_in))5038 2f74 F040 sbci r31,hi8(-(PPM_in))5039 2f76 8081 ld r24,Z5040 2f78 9181 ldd r25,Z+15041 2f7a 8734 cpi r24,715042 2f7c 9105 cpc r25,__zero_reg__5043 2f7e 04F0 brlt .L4585044 2f80 23E0 ldi r18,lo8(3)5045 .L458:5046 2f82 FD01 movw r30,r265047 2f84 E050 subi r30,lo8(-(PPM_in))5048 2f86 F040 sbci r31,hi8(-(PPM_in))5049 2f88 8081 ld r24,Z5050 2f8a 9181 ldd r25,Z+15051 2f8c 8A5B subi r24,lo8(-70)5052 2f8e 9F4F sbci r25,hi8(-70)5053 2f90 04F4 brge .L4595054 2f92 FA01 movw r30,r205055 2f94 E050 subi r30,lo8(-(PPM_in))5056 2f96 F040 sbci r31,hi8(-(PPM_in))5057 2f98 8081 ld r24,Z5058 2f9a 9181 ldd r25,Z+15059 2f9c 8734 cpi r24,715060 2f9e 9105 cpc r25,__zero_reg__5061 2fa0 04F0 brlt .L4595062 2fa2 24E0 ldi r18,lo8(4)5063 .L459:5064 2fa4 A050 subi r26,lo8(-(PPM_in))5065 2fa6 B040 sbci r27,hi8(-(PPM_in))5066 2fa8 8D91 ld r24,X+5067 2faa 9C91 ld r25,X5068 2fac 8A5B subi r24,lo8(-70)5069 2fae 9F4F sbci r25,hi8(-70)5070 2fb0 04F4 brge .L4605071 2fb2 4050 subi r20,lo8(-(PPM_in))5072 2fb4 5040 sbci r21,hi8(-(PPM_in))5073 2fb6 DA01 movw r26,r205074 2fb8 8D91 ld r24,X+5075 2fba 9C91 ld r25,X5076 2fbc 8634 cpi r24,705077 2fbe 9105 cpc r25,__zero_reg__5078 2fc0 04F4 brge .L4605079 2fc2 25E0 ldi r18,lo8(5)5080 .L460:5081 2fc4 822F mov r24,r185082 2fc6 0E94 0000 call SetActiveParamSet5083 2fca 0E94 0000 call GetActiveParamSet5084 2fce 0E94 0000 call ParamSet_ReadFromEEProm5085 2fd2 0E94 0000 call Servo_Off5086 2fd6 80E0 ldi r24,lo8(0)5087 2fd8 0C94 0000 jmp .L7265088 .L504:5089 2fdc 8091 0000 lds r24,ParamSet+485090 2fe0 282F mov r18,r245091 2fe2 30E0 ldi r19,lo8(0)5092 2fe4 8091 0000 lds r24,StickGas5093 2fe8 9091 0000 lds r25,(StickGas)+15094 2fec 2817 cp r18,r245095 2fee 3907 cpc r19,r255096 2ff0 04F4 brge .L5065097 2ff2 3093 0000 sts (StickGas)+1,r195098 2ff6 2093 0000 sts StickGas,r185099 .L506:5100 2ffa 81E0 ldi r24,lo8(1)5101 2ffc 8093 0000 sts FunnelCourse,r245102 3000 00C0 rjmp .L5055103 .L759:5104 3002 8091 0000 lds r24,MKFlags5105 3006 80FD sbrc r24,05106 3008 00C0 rjmp .L5765107 300a 0E94 0000 call SetCompassCalState5108 300e 9091 0000 lds r25,LoopingNick5109 3012 9D8F std Y+29,r255110 .L728:5111 3014 2090 0000 lds r2,GyroYaw5112 3018 3090 0000 lds r3,(GyroYaw)+15113 .L575:5114 301c 8091 0000 lds r24,TimerDebugOut.24195115 3020 8150 subi r24,lo8(-(-1))5116 3022 8093 0000 sts TimerDebugOut.2419,r245117 3026 8F5F subi r24,lo8(-(1))5118 3028 01F0 breq .+25119 302a 00C0 rjmp .L5935120 302c 88E1 ldi r24,lo8(24)5121 302e 8093 0000 sts TimerDebugOut.2419,r245122 3032 6091 0000 lds r22,IntegralGyroNick5123 3036 7091 0000 lds r23,(IntegralGyroNick)+15124 303a 8091 0000 lds r24,(IntegralGyroNick)+25125 303e 9091 0000 lds r25,(IntegralGyroNick)+35126 3042 2AE0 ldi r18,lo8(10)5127 3044 30E0 ldi r19,hi8(10)5128 3046 40E0 ldi r20,hlo8(10)5129 3048 50E0 ldi r21,hhi8(10)5130 304a 0E94 0000 call __mulsi35131 304e E090 0000 lds r14,ParamSet+235132 3052 2AE2 ldi r18,lo8(42)5133 3054 E29E mul r14,r185134 3056 7001 movw r14,r05135 3058 1124 clr r15136 305a 0027 clr r165137 305c F7FC sbrc r15,75138 305e 0095 com r165139 3060 102F mov r17,r165140 3062 A801 movw r20,r165141 3064 9701 movw r18,r145142 3066 0E94 0000 call __divmodsi45143 306a 3093 0000 sts (DebugOut+2)+1,r195144 306e 2093 0000 sts DebugOut+2,r185145 3072 6091 0000 lds r22,IntegralGyroRoll5146 3076 7091 0000 lds r23,(IntegralGyroRoll)+15147 307a 8091 0000 lds r24,(IntegralGyroRoll)+25148 307e 9091 0000 lds r25,(IntegralGyroRoll)+35149 3082 2AE0 ldi r18,lo8(10)5150 3084 30E0 ldi r19,hi8(10)5151 3086 40E0 ldi r20,hlo8(10)5152 3088 50E0 ldi r21,hhi8(10)5153 308a 0E94 0000 call __mulsi35154 308e A801 movw r20,r165155 3090 9701 movw r18,r145156 3092 0E94 0000 call __divmodsi45157 3096 3093 0000 sts (DebugOut+4)+1,r195158 309a 2093 0000 sts DebugOut+4,r185159 309e 8091 0000 lds r24,AccNick5160 30a2 9091 0000 lds r25,AccNick+15161 30a6 9C01 movw r18,r245162 30a8 220F lsl r185163 30aa 331F rol r195164 30ac 220F lsl r185165 30ae 331F rol r195166 30b0 220F lsl r185167 30b2 331F rol r195168 30b4 880F lsl r245169 30b6 991F rol r255170 30b8 820F add r24,r185171 30ba 931F adc r25,r195172 30bc 6AE2 ldi r22,lo8(42)5173 30be 70E0 ldi r23,hi8(42)5174 30c0 0E94 0000 call __divmodhi45175 30c4 7093 0000 sts (DebugOut+6)+1,r235176 30c8 6093 0000 sts DebugOut+6,r225177 30cc 8091 0000 lds r24,AccRoll5178 30d0 9091 0000 lds r25,AccRoll+15179 30d4 9C01 movw r18,r245180 30d6 220F lsl r185181 30d8 331F rol r195182 30da 220F lsl r185183 30dc 331F rol r195184 30de 220F lsl r185185 30e0 331F rol r195186 30e2 880F lsl r245187 30e4 991F rol r255188 30e6 820F add r24,r185189 30e8 931F adc r25,r195190 30ea 6AE2 ldi r22,lo8(42)5191 30ec 70E0 ldi r23,hi8(42)5192 30ee 0E94 0000 call __divmodhi45193 30f2 7093 0000 sts (DebugOut+8)+1,r235194 30f6 6093 0000 sts DebugOut+8,r225195 30fa 3092 0000 sts (DebugOut+10)+1,r35196 30fe 2092 0000 sts DebugOut+10,r25197 3102 6091 0000 lds r22,ReadingHeight5198 3106 7091 0000 lds r23,(ReadingHeight)+15199 310a 8091 0000 lds r24,(ReadingHeight)+25200 310e 9091 0000 lds r25,(ReadingHeight)+35201 3112 25E0 ldi r18,lo8(5)5202 3114 30E0 ldi r19,hi8(5)5203 3116 40E0 ldi r20,hlo8(5)5204 3118 50E0 ldi r21,hhi8(5)5205 311a 0E94 0000 call __divmodsi45206 311e 3093 0000 sts (DebugOut+12)+1,r195207 3122 2093 0000 sts DebugOut+12,r185208 3126 6091 0000 lds r22,ReadingIntegralTop5209 312a 7091 0000 lds r23,(ReadingIntegralTop)+15210 312e 8091 0000 lds r24,(ReadingIntegralTop)+25211 3132 9091 0000 lds r25,(ReadingIntegralTop)+35212 3136 20E0 ldi r18,lo8(512)5213 3138 32E0 ldi r19,hi8(512)5214 313a 40E0 ldi r20,hlo8(512)5215 313c 50E0 ldi r21,hhi8(512)5216 313e 0E94 0000 call __divmodsi45217 3142 3093 0000 sts (DebugOut+14)+1,r195218 3146 2093 0000 sts DebugOut+14,r185219 314a 8091 0000 lds r24,CompassHeading5220 314e 9091 0000 lds r25,(CompassHeading)+15221 3152 9093 0000 sts (DebugOut+18)+1,r255222 3156 8093 0000 sts DebugOut+18,r245223 315a 8091 0000 lds r24,UBat5224 315e 9091 0000 lds r25,(UBat)+15225 3162 9093 0000 sts (DebugOut+20)+1,r255226 3166 8093 0000 sts DebugOut+20,r245227 316a 8091 0000 lds r24,RC_Quality5228 316e 8093 0000 sts DebugOut+22,r245229 3172 1092 0000 sts DebugOut+23,__zero_reg__5230 3176 6091 0000 lds r22,YawGyroHeading5231 317a 7091 0000 lds r23,(YawGyroHeading)+15232 317e 8091 0000 lds r24,(YawGyroHeading)+25233 3182 9091 0000 lds r25,(YawGyroHeading)+35234 3186 A801 movw r20,r165235 3188 9701 movw r18,r145236 318a 0E94 0000 call __divmodsi45237 318e 3093 0000 sts (DebugOut+24)+1,r195238 3192 2093 0000 sts DebugOut+24,r185239 3196 8091 0000 lds r24,CompassCalState5240 319a 8093 0000 sts DebugOut+40,r245241 319e 1092 0000 sts DebugOut+41,__zero_reg__5242 31a2 8091 0000 lds r24,ServoNickValue5243 31a6 9091 0000 lds r25,(ServoNickValue)+15244 31aa 9093 0000 sts (DebugOut+42)+1,r255245 31ae 8093 0000 sts DebugOut+42,r245246 31b2 8091 0000 lds r24,GPSStickNick5247 31b6 9091 0000 lds r25,(GPSStickNick)+15248 31ba 9093 0000 sts (DebugOut+62)+1,r255249 31be 8093 0000 sts DebugOut+62,r245250 31c2 8091 0000 lds r24,GPSStickRoll5251 31c6 9091 0000 lds r25,(GPSStickRoll)+15252 31ca 9093 0000 sts (DebugOut+64)+1,r255253 31ce 8093 0000 sts DebugOut+64,r245254 .L593:5255 31d2 8090 0000 lds r8,TrimNick5256 31d6 9090 0000 lds r9,(TrimNick)+15257 31da 58E3 ldi r21,lo8(-200)5258 31dc 8516 cp r8,r215259 31de 5FEF ldi r21,hi8(-200)5260 31e0 9506 cpc r9,r215261 31e2 04F0 brlt .+25262 31e4 00C0 rjmp .L5945263 31e6 88E3 ldi r24,lo8(-200)5264 31e8 9FEF ldi r25,hi8(-200)5265 31ea 9093 0000 sts (TrimNick)+1,r255266 31ee 8093 0000 sts TrimNick,r245267 31f2 F8E3 ldi r31,lo8(-200)5268 31f4 8F2E mov r8,r315269 31f6 FFEF ldi r31,hi8(-200)5270 31f8 9F2E mov r9,r315271 .L595:5272 31fa 8091 0000 lds r24,TrimRoll5273 31fe 9091 0000 lds r25,(TrimRoll)+15274 3202 9F8F std Y+31,r255275 3204 8E8F std Y+30,r245276 3206 8853 subi r24,lo8(-200)5277 3208 9F4F sbci r25,hi8(-200)5278 320a 04F0 brlt .+25279 320c 00C0 rjmp .L5965280 320e 88E3 ldi r24,lo8(-200)5281 3210 9FEF ldi r25,hi8(-200)5282 3212 9093 0000 sts (TrimRoll)+1,r255283 3216 8093 0000 sts TrimRoll,r245284 321a 9F8F std Y+31,r255285 321c 8E8F std Y+30,r245286 .L597:5287 321e 8091 0000 lds r24,FunnelCourse5288 3222 8823 tst r245289 3224 01F0 breq .L5985290 3226 1092 0000 sts IPartNick.2408,__zero_reg__5291 322a 1092 0000 sts (IPartNick.2408)+1,__zero_reg__5292 322e 1092 0000 sts (IPartNick.2408)+2,__zero_reg__5293 3232 1092 0000 sts (IPartNick.2408)+3,__zero_reg__5294 3236 1092 0000 sts IPartRoll.2409,__zero_reg__5295 323a 1092 0000 sts (IPartRoll.2409)+1,__zero_reg__5296 323e 1092 0000 sts (IPartRoll.2409)+2,__zero_reg__5297 3242 1092 0000 sts (IPartRoll.2409)+3,__zero_reg__5298 .L598:5299 3246 FD8D ldd r31,Y+295300 3248 FF23 tst r315301 324a 01F4 brne .+25302 324c 00C0 rjmp .L5995303 324e 4424 clr r45304 3250 5524 clr r55305 3252 1C82 std Y+4,__zero_reg__5306 3254 1B82 std Y+3,__zero_reg__5307 .L600:5308 3256 A090 0000 lds r10,GyroNick5309 325a B090 0000 lds r11,(GyroNick)+15310 325e BC8A std Y+20,r115311 3260 AB8A std Y+19,r105312 3262 8091 0000 lds r24,GyroPFactor5313 3266 282F mov r18,r245314 3268 30E0 ldi r19,lo8(0)5315 326a 40E0 ldi r20,lo8(0)5316 326c 50E0 ldi r21,hi8(0)5317 326e 2F87 std Y+15,r185318 3270 388B std Y+16,r195319 3272 498B std Y+17,r205320 3274 5A8B std Y+18,r215321 3276 1091 0000 lds r17,LoopingRoll5322 327a 1123 tst r175323 327c 01F4 brne .+25324 327e 00C0 rjmp .L6015325 3280 1886 std Y+8,__zero_reg__5326 3282 1F82 std Y+7,__zero_reg__5327 3284 1E82 std Y+6,__zero_reg__5328 3286 1D82 std Y+5,__zero_reg__5329 .L602:5330 3288 4091 0000 lds r20,GyroRoll5331 328c 5091 0000 lds r21,(GyroRoll)+15332 3290 5E87 std Y+14,r215333 3292 4D87 std Y+13,r205334 3294 6090 0000 lds r6,GyroYawPFactor5335 3298 7090 0000 lds r7,GyroYawIFactor5336 329c 6091 0000 lds r22,IntegralGyroYaw5337 32a0 7091 0000 lds r23,(IntegralGyroYaw)+15338 32a4 8091 0000 lds r24,(IntegralGyroYaw)+25339 32a8 9091 0000 lds r25,(IntegralGyroYaw)+35340 32ac 6987 std Y+9,r225341 32ae 7A87 std Y+10,r235342 32b0 8B87 std Y+11,r245343 32b2 9C87 std Y+12,r255344 32b4 4091 0000 lds r20,StickGas5345 32b8 5091 0000 lds r21,(StickGas)+15346 32bc 2091 0000 lds r18,LowVoltageWarning5347 32c0 8091 0000 lds r24,UBat5348 32c4 9091 0000 lds r25,(UBat)+15349 32c8 30E0 ldi r19,lo8(0)5350 32ca 2817 cp r18,r245351 32cc 3907 cpc r19,r255352 32ce 04F4 brge .L6035353 32d0 6091 0000 lds r22,UBat5354 32d4 7091 0000 lds r23,(UBat)+15355 32d8 429F mul r20,r185356 32da C001 movw r24,r05357 32dc 439F mul r20,r195358 32de 900D add r25,r05359 32e0 529F mul r21,r185360 32e2 900D add r25,r05361 32e4 1124 clr r15362 32e6 0E94 0000 call __udivmodhi45363 32ea AB01 movw r20,r225364 .L603:5365 32ec CA01 movw r24,r205366 32ee 880F lsl r245367 32f0 991F rol r255368 32f2 880F lsl r245369 32f4 991F rol r255370 32f6 99AF std Y+57,r255371 32f8 88AF std Y+56,r245372 32fa 8091 0000 lds r24,ParamSet+85373 32fe 80FF sbrs r24,05374 3300 00C0 rjmp .L6045375 3302 1123 tst r175376 3304 01F4 brne .+25377 3306 00C0 rjmp .L7775378 .L604:5379 3308 8091 0000 lds r24,ParamSet+215380 330c 282F mov r18,r245381 330e 30E0 ldi r19,lo8(0)5382 3310 265F subi r18,lo8(-(10))5383 3312 3F4F sbci r19,hi8(-(10))5384 3314 5901 movw r10,r185385 3316 AA0C lsl r105386 3318 BB1C rol r115387 331a AA0C lsl r105388 331c BB1C rol r115389 331e 2A50 subi r18,lo8(-(-10))5390 3320 3040 sbci r19,hi8(-(-10))5391 3322 C8AC ldd r12,Y+565392 3324 D9AC ldd r13,Y+575393 3326 CA14 cp r12,r105394 3328 DB04 cpc r13,r115395 332a 04F0 brlt .L6695396 332c 8091 0000 lds r24,ParamSet+225397 3330 90E0 ldi r25,lo8(0)5398 3332 4497 sbiw r24,205399 3334 880F lsl r245400 3336 991F rol r255401 3338 880F lsl r245402 333a 991F rol r255403 333c 5601 movw r10,r125404 333e 8C15 cp r24,r125405 3340 9D05 cpc r25,r135406 3342 04F4 brge .+25407 3344 00C0 rjmp .L7785408 .L669:5409 3346 8091 0000 lds r24,MissingMotor5410 334a 8823 tst r245411 334c 01F0 breq .L6715412 334e 8091 0000 lds r24,ModelIsFlying5413 3352 9091 0000 lds r25,(ModelIsFlying)+15414 3356 0297 sbiw r24,25415 3358 C097 sbiw r24,485416 335a 00F4 brsh .+25417 335c 00C0 rjmp .L7795418 .L672:5419 335e 5901 movw r10,r185420 3360 AA0C lsl r105421 3362 BB1C rol r115422 3364 AA0C lsl r105423 3366 BB1C rol r115424 .L671:5425 3368 B092 0000 sts (DebugOut+16)+1,r115426 336c A092 0000 sts DebugOut+16,r105427 3370 220C lsl r25428 3372 331C rol r35429 3374 B101 movw r22,r25430 3376 8827 clr r245431 3378 77FD sbrc r23,75432 337a 8095 com r245433 337c 982F mov r25,r245434 337e 262D mov r18,r65435 3380 30E0 ldi r19,lo8(0)5436 3382 40E0 ldi r20,lo8(0)5437 3384 50E0 ldi r21,hi8(0)5438 3386 0E94 0000 call __mulsi35439 338a 20E4 ldi r18,lo8(64)5440 338c 30E0 ldi r19,hi8(64)5441 338e 40E0 ldi r20,hlo8(64)5442 3390 50E0 ldi r21,hhi8(64)5443 3392 0E94 0000 call __divmodsi45444 3396 7901 movw r14,r185445 3398 8A01 movw r16,r205446 339a 672D mov r22,r75447 339c 70E0 ldi r23,lo8(0)5448 339e 80E0 ldi r24,lo8(0)5449 33a0 90E0 ldi r25,hi8(0)5450 33a2 2985 ldd r18,Y+95451 33a4 3A85 ldd r19,Y+105452 33a6 4B85 ldd r20,Y+115453 33a8 5C85 ldd r21,Y+125454 33aa 0E94 0000 call __mulsi35455 33ae 20EF ldi r18,lo8(22000)5456 33b0 35E5 ldi r19,hi8(22000)5457 33b2 40E0 ldi r20,hlo8(22000)5458 33b4 50E0 ldi r21,hhi8(22000)5459 33b6 0E94 0000 call __divmodsi45460 33ba C701 movw r24,r145461 33bc 820F add r24,r185462 33be 931F adc r25,r195463 33c0 20E4 ldi r18,hi8(16385)5464 33c2 8130 cpi r24,lo8(16385)5465 33c4 9207 cpc r25,r185466 33c6 04F0 brlt .L6735467 33c8 80E0 ldi r24,lo8(16384)5468 33ca 90E4 ldi r25,hi8(16384)5469 .L673:5470 33cc 8C01 movw r16,r245471 33ce 30EC ldi r19,hi8(-16384)5472 33d0 8030 cpi r24,lo8(-16384)5473 33d2 9307 cpc r25,r195474 33d4 04F4 brge .L6745475 33d6 00E0 ldi r16,lo8(-16384)5476 33d8 10EC ldi r17,hi8(-16384)5477 .L674:5478 33da 6091 0000 lds r22,SetPointYaw.24105479 33de 7091 0000 lds r23,(SetPointYaw.2410)+15480 33e2 8091 0000 lds r24,(SetPointYaw.2410)+25481 33e6 9091 0000 lds r25,(SetPointYaw.2410)+35482 33ea 2CEF ldi r18,lo8(-4)5483 33ec 3FEF ldi r19,hi8(-4)5484 33ee 4FEF ldi r20,hlo8(-4)5485 33f0 5FEF ldi r21,hhi8(-4)5486 33f2 0E94 0000 call __mulsi35487 33f6 7801 movw r14,r165488 33f8 E60E add r14,r225489 33fa F71E adc r15,r235490 33fc 41EA ldi r20,lo8(161)5491 33fe A416 cp r10,r205492 3400 B104 cpc r11,__zero_reg__5493 3402 04F4 brge .+25494 3404 00C0 rjmp .L6755495 3406 C501 movw r24,r105496 3408 B7FE sbrs r11,75497 340a 00C0 rjmp .+45498 340c 0C94 0000 jmp .L7805499 .L676:5500 3410 9595 asr r255501 3412 8795 ror r245502 3414 2227 clr r185503 3416 3327 clr r195504 3418 281B sub r18,r245505 341a 390B sbc r19,r255506 341c E216 cp r14,r185507 341e F306 cpc r15,r195508 3420 04F0 brlt .+25509 3422 00C0 rjmp .L7815510 .L677:5511 3424 8091 0000 lds r24,ParamSet+225512 3428 90E0 ldi r25,lo8(0)5513 342a 880F lsl r245514 342c 991F rol r255515 342e 880F lsl r245516 3430 991F rol r255517 3432 3501 movw r6,r105518 3434 681A sub r6,r245519 3436 790A sbc r7,r255520 3438 2615 cp r18,r65521 343a 3705 cpc r19,r75522 343c 04F0 brlt .L6815523 343e 8A19 sub r24,r105524 3440 9B09 sbc r25,r115525 3442 3901 movw r6,r185526 3444 8217 cp r24,r185527 3446 9307 cpc r25,r195528 3448 04F4 brge .+25529 344a 00C0 rjmp .L7825530 .L681:5531 344c 6091 0000 lds r22,StickNick5532 3450 7091 0000 lds r23,(StickNick)+15533 3454 79AF std Y+57,r235534 3456 68AF std Y+56,r225535 3458 7401 movw r14,r85536 345a 0027 clr r165537 345c F7FC sbrc r15,75538 345e 0095 com r165539 3460 102F mov r17,r165540 3462 EE0C lsl r145541 3464 FF1C rol r155542 3466 001F rol r165543 3468 111F rol r175544 346a EE0C lsl r145545 346c FF1C rol r155546 346e 001F rol r165547 3470 111F rol r175548 3472 EE0C lsl r145549 3474 FF1C rol r155550 3476 001F rol r165551 3478 111F rol r175552 347a EE0C lsl r145553 347c FF1C rol r155554 347e 001F rol r165555 3480 111F rol r175556 3482 EE0C lsl r145557 3484 FF1C rol r155558 3486 001F rol r165559 3488 111F rol r175560 348a EE0C lsl r145561 348c FF1C rol r155562 348e 001F rol r165563 3490 111F rol r175564 3492 EE0C lsl r145565 3494 FF1C rol r155566 3496 001F rol r165567 3498 111F rol r175568 349a 8B89 ldd r24,Y+195569 349c 9C89 ldd r25,Y+205570 349e 9C01 movw r18,r245571 34a0 4427 clr r205572 34a2 37FD sbrc r19,75573 34a4 4095 com r205574 34a6 542F mov r21,r205575 34a8 6F85 ldd r22,Y+155576 34aa 7889 ldd r23,Y+165577 34ac 8989 ldd r24,Y+175578 34ae 9A89 ldd r25,Y+185579 34b0 0E94 0000 call __mulsi35580 34b4 E60E add r14,r225581 34b6 F71E adc r15,r235582 34b8 081F adc r16,r245583 34ba 191F adc r17,r255584 34bc C801 movw r24,r165585 34be B701 movw r22,r145586 34c0 20E4 ldi r18,lo8(64)5587 34c2 30E0 ldi r19,hi8(64)5588 34c4 40E0 ldi r20,hlo8(64)5589 34c6 50E0 ldi r21,hhi8(64)5590 34c8 0E94 0000 call __divmodsi45591 34cc AB81 ldd r26,Y+35592 34ce BC81 ldd r27,Y+45593 34d0 2A0F add r18,r265594 34d2 3B1F adc r19,r275595 34d4 B0E4 ldi r27,hi8(16385)5596 34d6 2130 cpi r18,lo8(16385)5597 34d8 3B07 cpc r19,r275598 34da 04F0 brlt .L6835599 34dc 20E0 ldi r18,lo8(16384)5600 34de 30E4 ldi r19,hi8(16384)5601 .L683:5602 34e0 E0EC ldi r30,hi8(-16384)5603 34e2 2030 cpi r18,lo8(-16384)5604 34e4 3E07 cpc r19,r305605 34e6 04F4 brge .L6845606 34e8 20E0 ldi r18,lo8(-16384)5607 34ea 30EC ldi r19,hi8(-16384)5608 .L684:5609 34ec 6901 movw r12,r185610 34ee 48AD ldd r20,Y+565611 34f0 59AD ldd r21,Y+575612 34f2 C41A sub r12,r205613 34f4 D50A sbc r13,r215614 34f6 3090 0000 lds r3,GyroIFactor5615 34fa 3320 tst r35616 34fc 01F4 brne .+25617 34fe 00C0 rjmp .L6855618 3500 441A sub r4,r205619 3502 550A sbc r5,r215620 3504 C201 movw r24,r45621 3506 AA27 clr r265622 3508 97FD sbrc r25,75623 350a A095 com r265624 350c BA2F mov r27,r265625 350e E090 0000 lds r14,IPartNick.24085626 3512 F090 0000 lds r15,(IPartNick.2408)+15627 3516 0091 0000 lds r16,(IPartNick.2408)+25628 351a 1091 0000 lds r17,(IPartNick.2408)+35629 351e E80E add r14,r245630 3520 F91E adc r15,r255631 3522 0A1F adc r16,r265632 3524 1B1F adc r17,r275633 3526 E092 0000 sts IPartNick.2408,r145634 352a F092 0000 sts (IPartNick.2408)+1,r155635 352e 0093 0000 sts (IPartNick.2408)+2,r165636 3532 1093 0000 sts (IPartNick.2408)+3,r175637 .L686:5638 3536 50E0 ldi r21,lo8(-64000)5639 3538 E516 cp r14,r215640 353a 56E0 ldi r21,hi8(-64000)5641 353c F506 cpc r15,r215642 353e 5FEF ldi r21,hlo8(-64000)5643 3540 0507 cpc r16,r215644 3542 5FEF ldi r21,hhi8(-64000)5645 3544 1507 cpc r17,r215646 3546 04F0 brlt .+25647 3548 00C0 rjmp .L6875648 354a 80E0 ldi r24,lo8(-64000)5649 354c 96E0 ldi r25,hi8(-64000)5650 354e AFEF ldi r26,hlo8(-64000)5651 3550 BFEF ldi r27,hhi8(-64000)5652 3552 8093 0000 sts IPartNick.2408,r245653 3556 9093 0000 sts (IPartNick.2408)+1,r255654 355a A093 0000 sts (IPartNick.2408)+2,r265655 355e B093 0000 sts (IPartNick.2408)+3,r275656 3562 E12C mov r14,__zero_reg__5657 3564 36E0 ldi r19,hi8(-64000)5658 3566 F32E mov r15,r195659 3568 3FEF ldi r19,hlo8(-64000)5660 356a 032F mov r16,r195661 356c 3FEF ldi r19,hhi8(-64000)5662 356e 132F mov r17,r195663 .L688:5664 3570 4090 0000 lds r4,Ki5665 3574 5090 0000 lds r5,(Ki)+15666 3578 9201 movw r18,r45667 357a 4427 clr r205668 357c 37FD sbrc r19,75669 357e 4095 com r205670 3580 542F mov r21,r205671 3582 C801 movw r24,r165672 3584 B701 movw r22,r145673 3586 0E94 0000 call __divmodsi45674 358a 4601 movw r8,r125675 358c 820E add r8,r185676 358e 931E adc r9,r195677 3590 8091 0000 lds r24,StickRoll5678 3594 9091 0000 lds r25,(StickRoll)+15679 3598 99AF std Y+57,r255680 359a 88AF std Y+56,r245681 359c AE8D ldd r26,Y+305682 359e BF8D ldd r27,Y+315683 35a0 7D01 movw r14,r265684 35a2 0027 clr r165685 35a4 F7FC sbrc r15,75686 35a6 0095 com r165687 35a8 102F mov r17,r165688 35aa EE0C lsl r145689 35ac FF1C rol r155690 35ae 001F rol r165691 35b0 111F rol r175692 35b2 EE0C lsl r145693 35b4 FF1C rol r155694 35b6 001F rol r165695 35b8 111F rol r175696 35ba EE0C lsl r145697 35bc FF1C rol r155698 35be 001F rol r165699 35c0 111F rol r175700 35c2 EE0C lsl r145701 35c4 FF1C rol r155702 35c6 001F rol r165703 35c8 111F rol r175704 35ca EE0C lsl r145705 35cc FF1C rol r155706 35ce 001F rol r165707 35d0 111F rol r175708 35d2 EE0C lsl r145709 35d4 FF1C rol r155710 35d6 001F rol r165711 35d8 111F rol r175712 35da EE0C lsl r145713 35dc FF1C rol r155714 35de 001F rol r165715 35e0 111F rol r175716 35e2 ED85 ldd r30,Y+135717 35e4 FE85 ldd r31,Y+145718 35e6 BF01 movw r22,r305719 35e8 8827 clr r245720 35ea 77FD sbrc r23,75721 35ec 8095 com r245722 35ee 982F mov r25,r245723 35f0 2F85 ldd r18,Y+155724 35f2 3889 ldd r19,Y+165725 35f4 4989 ldd r20,Y+175726 35f6 5A89 ldd r21,Y+185727 35f8 0E94 0000 call __mulsi35728 35fc E60E add r14,r225729 35fe F71E adc r15,r235730 3600 081F adc r16,r245731 3602 191F adc r17,r255732 3604 C801 movw r24,r165733 3606 B701 movw r22,r145734 3608 20E4 ldi r18,lo8(64)5735 360a 30E0 ldi r19,hi8(64)5736 360c 40E0 ldi r20,hlo8(64)5737 360e 50E0 ldi r21,hhi8(64)5738 3610 0E94 0000 call __divmodsi45739 3614 CD80 ldd r12,Y+55740 3616 DE80 ldd r13,Y+65741 3618 2C0D add r18,r125742 361a 3D1D adc r19,r135743 361c 40E4 ldi r20,hi8(16385)5744 361e 2130 cpi r18,lo8(16385)5745 3620 3407 cpc r19,r205746 3622 04F0 brlt .L6895747 3624 20E0 ldi r18,lo8(16384)5748 3626 30E4 ldi r19,hi8(16384)5749 .L689:5750 3628 50EC ldi r21,hi8(-16384)5751 362a 2030 cpi r18,lo8(-16384)5752 362c 3507 cpc r19,r215753 362e 04F4 brge .L6905754 3630 20E0 ldi r18,lo8(-16384)5755 3632 30EC ldi r19,hi8(-16384)5756 .L690:5757 3634 6901 movw r12,r185758 3636 68AD ldd r22,Y+565759 3638 79AD ldd r23,Y+575760 363a C61A sub r12,r225761 363c D70A sbc r13,r235762 363e 3320 tst r35763 3640 01F4 brne .+25764 3642 00C0 rjmp .L6915765 3644 8F81 ldd r24,Y+75766 3646 9885 ldd r25,Y+85767 3648 861B sub r24,r225768 364a 970B sbc r25,r235769 364c FC01 movw r30,r245770 364e CF01 movw r24,r305771 3650 AA27 clr r265772 3652 97FD sbrc r25,75773 3654 A095 com r265774 3656 BA2F mov r27,r265775 3658 E090 0000 lds r14,IPartRoll.24095776 365c F090 0000 lds r15,(IPartRoll.2409)+15777 3660 0091 0000 lds r16,(IPartRoll.2409)+25778 3664 1091 0000 lds r17,(IPartRoll.2409)+35779 3668 E80E add r14,r245780 366a F91E adc r15,r255781 366c 0A1F adc r16,r265782 366e 1B1F adc r17,r275783 3670 E092 0000 sts IPartRoll.2409,r145784 3674 F092 0000 sts (IPartRoll.2409)+1,r155785 3678 0093 0000 sts (IPartRoll.2409)+2,r165786 367c 1093 0000 sts (IPartRoll.2409)+3,r175787 .L692:5788 3680 F0E0 ldi r31,lo8(-64000)5789 3682 EF16 cp r14,r315790 3684 F6E0 ldi r31,hi8(-64000)5791 3686 FF06 cpc r15,r315792 3688 FFEF ldi r31,hlo8(-64000)5793 368a 0F07 cpc r16,r315794 368c FFEF ldi r31,hhi8(-64000)5795 368e 1F07 cpc r17,r315796 3690 04F0 brlt .+25797 3692 00C0 rjmp .L6935798 3694 80E0 ldi r24,lo8(-64000)5799 3696 96E0 ldi r25,hi8(-64000)5800 3698 AFEF ldi r26,hlo8(-64000)5801 369a BFEF ldi r27,hhi8(-64000)5802 369c 8093 0000 sts IPartRoll.2409,r245803 36a0 9093 0000 sts (IPartRoll.2409)+1,r255804 36a4 A093 0000 sts (IPartRoll.2409)+2,r265805 36a8 B093 0000 sts (IPartRoll.2409)+3,r275806 36ac E12C mov r14,__zero_reg__5807 36ae F6E0 ldi r31,hi8(-64000)5808 36b0 FF2E mov r15,r315809 36b2 FFEF ldi r31,hlo8(-64000)5810 36b4 0F2F mov r16,r315811 36b6 FFEF ldi r31,hhi8(-64000)5812 36b8 1F2F mov r17,r315813 .L694:5814 36ba 9201 movw r18,r45815 36bc 4427 clr r205816 36be 37FD sbrc r19,75817 36c0 4095 com r205818 36c2 542F mov r21,r205819 36c4 C801 movw r24,r165820 36c6 B701 movw r22,r145821 36c8 0E94 0000 call __divmodsi45822 36cc 8601 movw r16,r125823 36ce 020F add r16,r185824 36d0 131F adc r17,r195825 36d2 9301 movw r18,r65826 36d4 77FC sbrc r7,75827 36d6 00C0 rjmp .L7835828 .L695:5829 36d8 3595 asr r195830 36da 2795 ror r185831 36dc 2A0D add r18,r105832 36de 3B1D adc r19,r115833 36e0 B901 movw r22,r185834 36e2 8827 clr r245835 36e4 77FD sbrc r23,75836 36e6 8095 com r245837 36e8 982F mov r25,r245838 36ea 2091 0000 lds r18,FCParam+275839 36ee 30E0 ldi r19,lo8(0)5840 36f0 40E0 ldi r20,lo8(0)5841 36f2 50E0 ldi r21,hi8(0)5842 36f4 0E94 0000 call __mulsi35843 36f8 20E4 ldi r18,lo8(64)5844 36fa 30E0 ldi r19,hi8(64)5845 36fc 40E0 ldi r20,hlo8(64)5846 36fe 50E0 ldi r21,hhi8(64)5847 3700 0E94 0000 call __divmodsi45848 3704 B901 movw r22,r185849 3706 8827 clr r245850 3708 9927 clr r255851 370a 821B sub r24,r185852 370c 930B sbc r25,r195853 370e 8816 cp r8,r245854 3710 9906 cpc r9,r255855 3712 04F0 brlt .+25856 3714 00C0 rjmp .L6965857 3716 9C01 movw r18,r245858 .L697:5859 3718 0817 cp r16,r245860 371a 1907 cpc r17,r255861 371c 04F0 brlt .L7005862 371e CB01 movw r24,r225863 3720 0617 cp r16,r225864 3722 1707 cpc r17,r235865 3724 04F4 brge .+25866 3726 00C0 rjmp .L7845867 .L700:5868 3728 60E0 ldi r22,lo8(Mixer+13)5869 372a 262E mov r2,r225870 372c 60E0 ldi r22,hi8(Mixer+13)5871 372e 362E mov r3,r225872 3730 50E0 ldi r21,lo8(Motor)5873 3732 852E mov r8,r215874 3734 50E0 ldi r21,hi8(Motor)5875 3736 952E mov r9,r215876 3738 40E0 ldi r20,lo8(MotorValue.2421)5877 373a C42E mov r12,r205878 373c 40E0 ldi r20,hi8(MotorValue.2421)5879 373e D42E mov r13,r205880 3740 A301 movw r20,r65881 3742 6627 clr r225882 3744 57FD sbrc r21,75883 3746 6095 com r225884 3748 762F mov r23,r225885 374a 4CA7 std Y+44,r205886 374c 5DA7 std Y+45,r215887 374e 6EA7 std Y+46,r225888 3750 7FA7 std Y+47,r235889 3752 A501 movw r20,r105890 3754 6627 clr r225891 3756 57FD sbrc r21,75892 3758 6095 com r225893 375a 762F mov r23,r225894 375c 48AB std Y+48,r205895 375e 59AB std Y+49,r215896 3760 6AAB std Y+50,r225897 3762 7BAB std Y+51,r235898 3764 A901 movw r20,r185899 3766 6627 clr r225900 3768 57FD sbrc r21,75901 376a 6095 com r225902 376c 762F mov r23,r225903 376e 4CAB std Y+52,r205904 3770 5DAB std Y+53,r215905 3772 6EAB std Y+54,r225906 3774 7FAB std Y+55,r235907 3776 2C01 movw r4,r245908 3778 6624 clr r65909 377a 57FC sbrc r5,75910 377c 6094 com r65911 377e 762C mov r7,r65912 3780 00C0 rjmp .L7075913 .L787:5914 3782 1396 adiw r26,35915 3784 2C91 ld r18,X5916 3786 3327 clr r195917 3788 27FD sbrc r18,75918 378a 3095 com r195919 378c 432F mov r20,r195920 378e 532F mov r21,r195921 3790 6CA5 ldd r22,Y+445922 3792 7DA5 ldd r23,Y+455923 3794 8EA5 ldd r24,Y+465924 3796 9FA5 ldd r25,Y+475925 3798 0E94 0000 call __mulsi35926 379c 20E4 ldi r18,lo8(64)5927 379e 30E0 ldi r19,hi8(64)5928 37a0 40E0 ldi r20,hlo8(64)5929 37a2 50E0 ldi r21,hhi8(64)5930 37a4 0E94 0000 call __divmodsi45931 37a8 7901 movw r14,r185932 37aa 8A01 movw r16,r205933 37ac 2A2D mov r18,r105934 37ae 3327 clr r195935 37b0 27FD sbrc r18,75936 37b2 3095 com r195937 37b4 432F mov r20,r195938 37b6 532F mov r21,r195939 37b8 68A9 ldd r22,Y+485940 37ba 79A9 ldd r23,Y+495941 37bc 8AA9 ldd r24,Y+505942 37be 9BA9 ldd r25,Y+515943 37c0 0E94 0000 call __mulsi35944 37c4 20E4 ldi r18,lo8(64)5945 37c6 30E0 ldi r19,hi8(64)5946 37c8 40E0 ldi r20,hlo8(64)5947 37ca 50E0 ldi r21,hhi8(64)5948 37cc 0E94 0000 call __divmodsi45949 37d0 E20E add r14,r185950 37d2 F31E adc r15,r195951 37d4 F101 movw r30,r25952 37d6 2181 ldd r18,Z+15953 37d8 3327 clr r195954 37da 27FD sbrc r18,75955 37dc 3095 com r195956 37de 432F mov r20,r195957 37e0 532F mov r21,r195958 37e2 6CA9 ldd r22,Y+525959 37e4 7DA9 ldd r23,Y+535960 37e6 8EA9 ldd r24,Y+545961 37e8 9FA9 ldd r25,Y+555962 37ea 0E94 0000 call __mulsi35963 37ee 20E4 ldi r18,lo8(64)5964 37f0 30E0 ldi r19,hi8(64)5965 37f2 40E0 ldi r20,hlo8(64)5966 37f4 50E0 ldi r21,hhi8(64)5967 37f6 0E94 0000 call __divmodsi45968 37fa E20E add r14,r185969 37fc F31E adc r15,r195970 37fe D101 movw r26,r25971 3800 1296 adiw r26,25972 3802 2C91 ld r18,X5973 3804 3327 clr r195974 3806 27FD sbrc r18,75975 3808 3095 com r195976 380a 432F mov r20,r195977 380c 532F mov r21,r195978 380e C301 movw r24,r65979 3810 B201 movw r22,r45980 3812 0E94 0000 call __mulsi35981 3816 20E4 ldi r18,lo8(64)5982 3818 30E0 ldi r19,hi8(64)5983 381a 40E0 ldi r20,hlo8(64)5984 381c 50E0 ldi r21,hhi8(64)5985 381e 0E94 0000 call __divmodsi45986 3822 E20E add r14,r185987 3824 F31E adc r15,r195988 3826 F601 movw r30,r125989 3828 6081 ld r22,Z5990 382a 7181 ldd r23,Z+15991 382c C701 movw r24,r145992 382e 0E94 0000 call MotorSmoothing5993 3832 D601 movw r26,r125994 3834 8C93 st X,r245995 3836 1196 adiw r26,15996 3838 9C93 st X,r255997 383a 97FD sbrc r25,75998 383c 00C0 rjmp .L7855999 .L703:6000 383e AC01 movw r20,r246001 3840 5595 asr r216002 3842 4795 ror r206003 3844 5595 asr r216004 3846 4795 ror r206005 3848 8091 0000 lds r24,ParamSet+216006 384c 282F mov r18,r246007 384e 30E0 ldi r19,lo8(0)6008 3850 4217 cp r20,r186009 3852 5307 cpc r21,r196010 3854 04F0 brlt .L7046011 3856 8091 0000 lds r24,ParamSet+226012 385a 90E0 ldi r25,lo8(0)6013 385c 9C01 movw r18,r246014 385e 4217 cp r20,r186015 3860 5307 cpc r21,r196016 3862 04F4 brge .L7046017 3864 9A01 movw r18,r206018 .L704:6019 3866 F401 movw r30,r86020 3868 2083 st Z,r186021 .L706:6022 386a E4E0 ldi r30,lo8(4)6023 386c F0E0 ldi r31,hi8(4)6024 386e 2E0E add r2,r306025 3870 3F1E adc r3,r316026 3872 95E0 ldi r25,lo8(5)6027 3874 A92E mov r10,r256028 3876 B12C mov r11,__zero_reg__6029 3878 8A0C add r8,r106030 387a 9B1C adc r9,r116031 387c 22E0 ldi r18,lo8(2)6032 387e 30E0 ldi r19,hi8(2)6033 3880 C20E add r12,r186034 3882 D31E adc r13,r196035 3884 30E0 ldi r19,lo8(Mixer+61)6036 3886 2316 cp r2,r196037 3888 30E0 ldi r19,hi8(Mixer+61)6038 388a 3306 cpc r3,r196039 388c 01F0 breq .L7866040 .L707:6041 388e D101 movw r26,r26042 3890 AC90 ld r10,X6043 3892 1A14 cp __zero_reg__,r106044 3894 04F4 brge .+26045 3896 00C0 rjmp .L7876046 3898 D401 movw r26,r86047 389a 1C92 st X,__zero_reg__6048 389c 00C0 rjmp .L7066049 .L785:6050 389e 0396 adiw r24,36051 38a0 00C0 rjmp .L7036052 .L786:6053 /* epilogue start */6054 38a2 E996 adiw r28,576055 38a4 0FB6 in __tmp_reg__,__SREG__6056 38a6 F894 cli6057 38a8 DEBF out __SP_H__,r296058 38aa 0FBE out __SREG__,__tmp_reg__6059 38ac CDBF out __SP_L__,r286060 38ae CF91 pop r286061 38b0 DF91 pop r296062 38b2 1F91 pop r176063 38b4 0F91 pop r166064 38b6 FF90 pop r156065 38b8 EF90 pop r146066 38ba DF90 pop r136067 38bc CF90 pop r126068 38be BF90 pop r116069 38c0 AF90 pop r106070 38c2 9F90 pop r96071 38c4 8F90 pop r86072 38c6 7F90 pop r76073 38c8 6F90 pop r66074 38ca 5F90 pop r56075 38cc 4F90 pop r46076 38ce 3F90 pop r36077 38d0 2F90 pop r26078 38d2 0895 ret6079 .L696:6080 38d4 8216 cp r8,r186081 38d6 9306 cpc r9,r196082 38d8 04F0 brlt .+26083 38da 00C0 rjmp .L6976084 38dc 9401 movw r18,r86085 38de 00C0 rjmp .L6976086 .L693:6087 38e0 21E0 ldi r18,lo8(64001)6088 38e2 E216 cp r14,r186089 38e4 2AEF ldi r18,hi8(64001)6090 38e6 F206 cpc r15,r186091 38e8 20E0 ldi r18,hlo8(64001)6092 38ea 0207 cpc r16,r186093 38ec 20E0 ldi r18,hhi8(64001)6094 38ee 1207 cpc r17,r186095 38f0 04F4 brge .+26096 38f2 00C0 rjmp .L6946097 38f4 80E0 ldi r24,lo8(64000)6098 38f6 9AEF ldi r25,hi8(64000)6099 38f8 A0E0 ldi r26,hlo8(64000)6100 38fa B0E0 ldi r27,hhi8(64000)6101 38fc 8093 0000 sts IPartRoll.2409,r246102 3900 9093 0000 sts (IPartRoll.2409)+1,r256103 3904 A093 0000 sts (IPartRoll.2409)+2,r266104 3908 B093 0000 sts (IPartRoll.2409)+3,r276105 390c E12C mov r14,__zero_reg__6106 390e EAEF ldi r30,hi8(64000)6107 3910 FE2E mov r15,r306108 3912 012D mov r16,__zero_reg__6109 3914 112D mov r17,__zero_reg__6110 3916 00C0 rjmp .L6946111 .L691:6112 3918 C601 movw r24,r126113 391a AA27 clr r266114 391c 97FD sbrc r25,76115 391e A095 com r266116 3920 BA2F mov r27,r266117 3922 E090 0000 lds r14,IPartRoll.24096118 3926 F090 0000 lds r15,(IPartRoll.2409)+16119 392a 0091 0000 lds r16,(IPartRoll.2409)+26120 392e 1091 0000 lds r17,(IPartRoll.2409)+36121 3932 E80E add r14,r246122 3934 F91E adc r15,r256123 3936 0A1F adc r16,r266124 3938 1B1F adc r17,r276125 393a E092 0000 sts IPartRoll.2409,r146126 393e F092 0000 sts (IPartRoll.2409)+1,r156127 3942 0093 0000 sts (IPartRoll.2409)+2,r166128 3946 1093 0000 sts (IPartRoll.2409)+3,r176129 394a 00C0 rjmp .L6926130 .L687:6131 394c 61E0 ldi r22,lo8(64001)6132 394e E616 cp r14,r226133 3950 6AEF ldi r22,hi8(64001)6134 3952 F606 cpc r15,r226135 3954 60E0 ldi r22,hlo8(64001)6136 3956 0607 cpc r16,r226137 3958 60E0 ldi r22,hhi8(64001)6138 395a 1607 cpc r17,r226139 395c 04F4 brge .+26140 395e 00C0 rjmp .L6886141 3960 80E0 ldi r24,lo8(64000)6142 3962 9AEF ldi r25,hi8(64000)6143 3964 A0E0 ldi r26,hlo8(64000)6144 3966 B0E0 ldi r27,hhi8(64000)6145 3968 8093 0000 sts IPartNick.2408,r246146 396c 9093 0000 sts (IPartNick.2408)+1,r256147 3970 A093 0000 sts (IPartNick.2408)+2,r266148 3974 B093 0000 sts (IPartNick.2408)+3,r276149 3978 E12C mov r14,__zero_reg__6150 397a 2AEF ldi r18,hi8(64000)6151 397c F22E mov r15,r186152 397e 012D mov r16,__zero_reg__6153 3980 112D mov r17,__zero_reg__6154 3982 00C0 rjmp .L6886155 .L685:6156 3984 C601 movw r24,r126157 3986 AA27 clr r266158 3988 97FD sbrc r25,76159 398a A095 com r266160 398c BA2F mov r27,r266161 398e E090 0000 lds r14,IPartNick.24086162 3992 F090 0000 lds r15,(IPartNick.2408)+16163 3996 0091 0000 lds r16,(IPartNick.2408)+26164 399a 1091 0000 lds r17,(IPartNick.2408)+36165 399e E80E add r14,r246166 39a0 F91E adc r15,r256167 39a2 0A1F adc r16,r266168 39a4 1B1F adc r17,r276169 39a6 E092 0000 sts IPartNick.2408,r146170 39aa F092 0000 sts (IPartNick.2408)+1,r156171 39ae 0093 0000 sts (IPartNick.2408)+2,r166172 39b2 1093 0000 sts (IPartNick.2408)+3,r176173 39b6 00C0 rjmp .L6866174 .L675:6175 39b8 C701 movw r24,r146176 39ba 8135 cpi r24,816177 39bc 9105 cpc r25,__zero_reg__6178 39be 04F0 brlt .+26179 39c0 00C0 rjmp .L7886180 39c2 9C01 movw r18,r246181 39c4 5FEF ldi r21,hi8(-80)6182 39c6 803B cpi r24,lo8(-80)6183 39c8 9507 cpc r25,r216184 39ca 04F0 brlt .+26185 39cc 00C0 rjmp .L6776186 .L790:6187 39ce 20EB ldi r18,lo8(-80)6188 39d0 3FEF ldi r19,hi8(-80)6189 39d2 00C0 rjmp .L6776190 .L601:6191 39d4 6091 0000 lds r22,GyroIFactor6192 39d8 70E0 ldi r23,lo8(0)6193 39da 80E0 ldi r24,lo8(0)6194 39dc 90E0 ldi r25,hi8(0)6195 39de 2091 0000 lds r18,IntegralGyroRoll6196 39e2 3091 0000 lds r19,(IntegralGyroRoll)+16197 39e6 4091 0000 lds r20,(IntegralGyroRoll)+26198 39ea 5091 0000 lds r21,(IntegralGyroRoll)+36199 39ee 0E94 0000 call __mulsi36200 39f2 28EF ldi r18,lo8(11000)6201 39f4 3AE2 ldi r19,hi8(11000)6202 39f6 40E0 ldi r20,hlo8(11000)6203 39f8 50E0 ldi r21,hhi8(11000)6204 39fa 0E94 0000 call __divmodsi46205 39fe 3887 std Y+8,r196206 3a00 2F83 std Y+7,r186207 3a02 3E83 std Y+6,r196208 3a04 2D83 std Y+5,r186209 3a06 00C0 rjmp .L6026210 .L599:6211 3a08 6091 0000 lds r22,GyroIFactor6212 3a0c 70E0 ldi r23,lo8(0)6213 3a0e 80E0 ldi r24,lo8(0)6214 3a10 90E0 ldi r25,hi8(0)6215 3a12 2091 0000 lds r18,IntegralGyroNick6216 3a16 3091 0000 lds r19,(IntegralGyroNick)+16217 3a1a 4091 0000 lds r20,(IntegralGyroNick)+26218 3a1e 5091 0000 lds r21,(IntegralGyroNick)+36219 3a22 0E94 0000 call __mulsi36220 3a26 28EF ldi r18,lo8(11000)6221 3a28 3AE2 ldi r19,hi8(11000)6222 3a2a 40E0 ldi r20,hlo8(11000)6223 3a2c 50E0 ldi r21,hhi8(11000)6224 3a2e 0E94 0000 call __divmodsi46225 3a32 2901 movw r4,r186226 3a34 3C83 std Y+4,r196227 3a36 2B83 std Y+3,r186228 3a38 00C0 rjmp .L6006229 .L596:6230 3a3a EE8D ldd r30,Y+306231 3a3c FF8D ldd r31,Y+316232 3a3e E93C cpi r30,2016233 3a40 F105 cpc r31,__zero_reg__6234 3a42 04F4 brge .+26235 3a44 00C0 rjmp .L5976236 3a46 88EC ldi r24,lo8(200)6237 3a48 90E0 ldi r25,hi8(200)6238 3a4a 9093 0000 sts (TrimRoll)+1,r256239 3a4e 8093 0000 sts TrimRoll,r246240 3a52 9F8F std Y+31,r256241 3a54 8E8F std Y+30,r246242 3a56 00C0 rjmp .L5976243 .L594:6244 3a58 69EC ldi r22,lo8(201)6245 3a5a 8616 cp r8,r226246 3a5c 9104 cpc r9,__zero_reg__6247 3a5e 04F4 brge .+26248 3a60 00C0 rjmp .L5956249 3a62 88EC ldi r24,lo8(200)6250 3a64 90E0 ldi r25,hi8(200)6251 3a66 9093 0000 sts (TrimNick)+1,r256252 3a6a 8093 0000 sts TrimNick,r246253 3a6e E8EC ldi r30,lo8(200)6254 3a70 8E2E mov r8,r306255 3a72 912C mov r9,__zero_reg__6256 3a74 00C0 rjmp .L5956257 .L573:6258 3a76 2155 subi r18,lo8(50001)6259 3a78 334C sbci r19,hi8(50001)6260 3a7a 4040 sbci r20,hlo8(50001)6261 3a7c 5040 sbci r21,hhi8(50001)6262 3a7e 04F4 brge .+46263 3a80 0C94 0000 jmp .L5746264 3a84 80E5 ldi r24,lo8(50000)6265 3a86 93EC ldi r25,hi8(50000)6266 3a88 A0E0 ldi r26,hlo8(50000)6267 3a8a B0E0 ldi r27,hhi8(50000)6268 3a8c 8093 0000 sts ReadingIntegralGyroYaw,r246269 3a90 9093 0000 sts (ReadingIntegralGyroYaw)+1,r256270 3a94 A093 0000 sts (ReadingIntegralGyroYaw)+2,r266271 3a98 B093 0000 sts (ReadingIntegralGyroYaw)+3,r276272 3a9c 0C94 0000 jmp .L5746273 .L740:6274 3aa0 9B01 movw r18,r226275 3aa2 77FD sbrc r23,76276 3aa4 00C0 rjmp .L7896277 .L484:6278 3aa6 C901 movw r24,r186279 3aa8 9595 asr r256280 3aaa 8795 ror r246281 3aac 9595 asr r256282 3aae 8795 ror r246283 3ab0 9093 0000 sts (MaxStickNick)+1,r256284 3ab4 8093 0000 sts MaxStickNick,r246285 3ab8 8536 cpi r24,1016286 3aba 9105 cpc r25,__zero_reg__6287 3abc 04F4 brge .+46288 3abe 0C94 0000 jmp .L4856289 3ac2 84E6 ldi r24,lo8(100)6290 3ac4 90E0 ldi r25,hi8(100)6291 3ac6 9093 0000 sts (MaxStickNick)+1,r256292 3aca 8093 0000 sts MaxStickNick,r246293 3ace 0C94 0000 jmp .L4856294 .L737:6295 3ad2 1092 0000 sts GyroIFactor,__zero_reg__6296 3ad6 0C94 0000 jmp .L4806297 .L778:6298 3ada 5C01 movw r10,r246299 3adc 00C0 rjmp .L6696300 .L788:6301 3ade 80E5 ldi r24,lo8(80)6302 3ae0 90E0 ldi r25,hi8(80)6303 3ae2 9C01 movw r18,r246304 3ae4 5FEF ldi r21,hi8(-80)6305 3ae6 803B cpi r24,lo8(-80)6306 3ae8 9507 cpc r25,r216307 3aea 04F0 brlt .+26308 3aec 00C0 rjmp .L6776309 3aee 00C0 rjmp .L7906310 .L784:6311 3af0 C801 movw r24,r166312 3af2 00C0 rjmp .L7006313 .L782:6314 3af4 3C01 movw r6,r246315 3af6 00C0 rjmp .L6816316 .L781:6317 3af8 9501 movw r18,r106318 3afa 3595 asr r196319 3afc 2795 ror r186320 3afe E216 cp r14,r186321 3b00 F306 cpc r15,r196322 3b02 04F0 brlt .+26323 3b04 00C0 rjmp .L6776324 3b06 9701 movw r18,r146325 3b08 00C0 rjmp .L6776326 .L779:6327 3b0a 1A14 cp __zero_reg__,r106328 3b0c 1B04 cpc __zero_reg__,r116329 3b0e 04F0 brlt .+26330 3b10 00C0 rjmp .L6726331 3b12 81E0 ldi r24,lo8(1)6332 3b14 90E0 ldi r25,hi8(1)6333 3b16 9093 0000 sts (ModelIsFlying)+1,r256334 3b1a 8093 0000 sts ModelIsFlying,r246335 3b1e 8091 0000 lds r24,ParamSet+216336 3b22 282F mov r18,r246337 3b24 30E0 ldi r19,lo8(0)6338 3b26 00C0 rjmp .L6726339 .L756:6340 3b28 81E0 ldi r24,lo8(1)6341 3b2a 90E0 ldi r25,hi8(1)6342 3b2c 9093 0000 sts (UpdateCompassCourse.2420)+1,r256343 3b30 8093 0000 sts UpdateCompassCourse.2420,r246344 3b34 0C94 0000 jmp .L5696345 .L777:6346 3b38 9D8D ldd r25,Y+296347 3b3a 9923 tst r256348 3b3c 01F0 breq .+26349 3b3e 00C0 rjmp .L6046350 3b40 8091 0000 lds r24,HoverGas.24456351 3b44 9091 0000 lds r25,(HoverGas.2445)+16352 3b48 9093 0000 sts (DebugOut+44)+1,r256353 3b4c 8093 0000 sts DebugOut+44,r246354 3b50 8091 0000 lds r24,ReadingVario6355 3b54 9091 0000 lds r25,(ReadingVario)+16356 3b58 9093 0000 sts (DebugOut+38)+1,r256357 3b5c 8093 0000 sts DebugOut+38,r246358 3b60 2091 0000 lds r18,BaroExpandActive.24516359 3b64 3091 0000 lds r19,(BaroExpandActive.2451)+16360 3b68 2115 cp r18,__zero_reg__6361 3b6a 3105 cpc r19,__zero_reg__6362 3b6c 01F4 brne .+46363 3b6e 0C94 0000 jmp .L6056364 3b72 8091 0000 lds r24,ReadingHeight6365 3b76 9091 0000 lds r25,(ReadingHeight)+16366 3b7a A091 0000 lds r26,(ReadingHeight)+26367 3b7e B091 0000 lds r27,(ReadingHeight)+36368 3b82 880F lsl r246369 3b84 991F rol r256370 3b86 AA1F rol r266371 3b88 BB1F rol r276372 3b8a 880F lsl r246373 3b8c 991F rol r256374 3b8e AA1F rol r266375 3b90 BB1F rol r276376 3b92 880F lsl r246377 3b94 991F rol r256378 3b96 AA1F rol r266379 3b98 BB1F rol r276380 3b9a 880F lsl r246381 3b9c 991F rol r256382 3b9e AA1F rol r266383 3ba0 BB1F rol r276384 3ba2 8093 0000 sts SumHeight,r246385 3ba6 9093 0000 sts (SumHeight)+1,r256386 3baa A093 0000 sts (SumHeight)+2,r266387 3bae B093 0000 sts (SumHeight)+3,r276388 3bb2 1092 0000 sts (ReadingVario)+1,__zero_reg__6389 3bb6 1092 0000 sts ReadingVario,__zero_reg__6390 3bba 2150 subi r18,lo8(-(-1))6391 3bbc 3040 sbci r19,hi8(-(-1))6392 3bbe 3093 0000 sts (BaroExpandActive.2451)+1,r196393 3bc2 2093 0000 sts BaroExpandActive.2451,r186394 .L606:6395 3bc6 8091 0000 lds r24,ParamSet+86396 3bca 81FF sbrs r24,16397 3bcc 00C0 rjmp .L6116398 3bce 8091 0000 lds r24,FCParam+16399 3bd2 8233 cpi r24,lo8(50)6400 3bd4 00F0 brlo .+46401 3bd6 0C94 0000 jmp .L6126402 3bda 8091 0000 lds r24,delay.24496403 3bde 8150 subi r24,lo8(-(-1))6404 3be0 8093 0000 sts delay.2449,r246405 3be4 8F5F subi r24,lo8(-(1))6406 3be6 01F0 breq .+26407 3be8 00C0 rjmp .L6136408 3bea 8091 0000 lds r24,ReadingHeight6409 3bee 9091 0000 lds r25,(ReadingHeight)+16410 3bf2 A091 0000 lds r26,(ReadingHeight)+26411 3bf6 B091 0000 lds r27,(ReadingHeight)+36412 3bfa 8093 0000 sts SetPointHeight,r246413 3bfe 9093 0000 sts (SetPointHeight)+1,r256414 3c02 A093 0000 sts (SetPointHeight)+2,r266415 3c06 B093 0000 sts (SetPointHeight)+3,r276416 3c0a 1092 0000 sts HCActive.2443,__zero_reg__6417 3c0e 81E0 ldi r24,lo8(1)6418 3c10 8093 0000 sts delay.2449,r246419 3c14 00C0 rjmp .L6136420 .L732:6421 3c16 0197 sbiw r24,16422 3c18 9093 0000 sts (RcLostTimer.2415)+1,r256423 3c1c 8093 0000 sts RcLostTimer.2415,r246424 3c20 AAE0 ldi r26,lo8(10)6425 3c22 BA2E mov r11,r266426 3c24 DB14 cp r13,r116427 3c26 01F0 breq .+46428 3c28 0C94 0000 jmp .L7916429 .L406:6430 3c2c 289A sbi 37-32,06431 3c2e 0C94 0000 jmp .L4086432 .L754:6433 3c32 8091 0000 lds r24,LoopingRoll6434 3c36 8823 tst r246435 3c38 01F0 breq .+46436 3c3a 0C94 0000 jmp .L5306437 3c3e 8091 0000 lds r24,FunnelCourse6438 3c42 8823 tst r246439 3c44 01F0 breq .+46440 3c46 0C94 0000 jmp .L5306441 3c4a 8091 0000 lds r24,ParamSet+576442 3c4e 8823 tst r246443 3c50 01F4 brne .+46444 3c52 0C94 0000 jmp .L5306445 3c56 8091 0000 lds r24,MeanIntegralGyroNick6446 3c5a 9091 0000 lds r25,(MeanIntegralGyroNick)+16447 3c5e A091 0000 lds r26,(MeanIntegralGyroNick)+26448 3c62 B091 0000 lds r27,(MeanIntegralGyroNick)+36449 3c66 BC01 movw r22,r246450 3c68 CD01 movw r24,r266451 3c6a 20E0 ldi r18,lo8(256)6452 3c6c 31E0 ldi r19,hi8(256)6453 3c6e 40E0 ldi r20,hlo8(256)6454 3c70 50E0 ldi r21,hhi8(256)6455 3c72 0E94 0000 call __divmodsi46456 3c76 2D8B std Y+21,r186457 3c78 3E8B std Y+22,r196458 3c7a 4F8B std Y+23,r206459 3c7c 588F std Y+24,r216460 3c7e 28A3 std Y+32,r186461 3c80 39A3 std Y+33,r196462 3c82 4AA3 std Y+34,r206463 3c84 5BA3 std Y+35,r216464 3c86 2093 0000 sts MeanIntegralGyroNick,r186465 3c8a 3093 0000 sts (MeanIntegralGyroNick)+1,r196466 3c8e 4093 0000 sts (MeanIntegralGyroNick)+2,r206467 3c92 5093 0000 sts (MeanIntegralGyroNick)+3,r216468 3c96 2090 0000 lds r2,MeanIntegralGyroRoll6469 3c9a 3090 0000 lds r3,(MeanIntegralGyroRoll)+16470 3c9e 4090 0000 lds r4,(MeanIntegralGyroRoll)+26471 3ca2 5090 0000 lds r5,(MeanIntegralGyroRoll)+36472 3ca6 C201 movw r24,r46473 3ca8 B101 movw r22,r26474 3caa 20E0 ldi r18,lo8(256)6475 3cac 31E0 ldi r19,hi8(256)6476 3cae 40E0 ldi r20,hlo8(256)6477 3cb0 50E0 ldi r21,hhi8(256)6478 3cb2 0E94 0000 call __divmodsi46479 3cb6 298F std Y+25,r186480 3cb8 3A8F std Y+26,r196481 3cba 4B8F std Y+27,r206482 3cbc 5C8F std Y+28,r216483 3cbe 1901 movw r2,r186484 3cc0 2A01 movw r4,r206485 3cc2 2093 0000 sts MeanIntegralGyroRoll,r186486 3cc6 3093 0000 sts (MeanIntegralGyroRoll)+1,r196487 3cca 4093 0000 sts (MeanIntegralGyroRoll)+2,r206488 3cce 5093 0000 sts (MeanIntegralGyroRoll)+3,r216489 3cd2 E090 0000 lds r14,ParamSet+236490 3cd6 FF24 clr r156491 3cd8 00E0 ldi r16,lo8(0)6492 3cda 10E0 ldi r17,hi8(0)6493 3cdc 2091 0000 lds r18,MeanAccNick6494 3ce0 3091 0000 lds r19,(MeanAccNick)+16495 3ce4 4091 0000 lds r20,(MeanAccNick)+26496 3ce8 5091 0000 lds r21,(MeanAccNick)+36497 3cec C801 movw r24,r166498 3cee B701 movw r22,r146499 3cf0 0E94 0000 call __mulsi36500 3cf4 20E0 ldi r18,lo8(256)6501 3cf6 31E0 ldi r19,hi8(256)6502 3cf8 40E0 ldi r20,hlo8(256)6503 3cfa 50E0 ldi r21,hhi8(256)6504 3cfc 0E94 0000 call __divmodsi46505 3d00 5901 movw r10,r186506 3d02 6A01 movw r12,r206507 3d04 2093 0000 sts MeanAccNick,r186508 3d08 3093 0000 sts (MeanAccNick)+1,r196509 3d0c 4093 0000 sts (MeanAccNick)+2,r206510 3d10 5093 0000 sts (MeanAccNick)+3,r216511 3d14 2091 0000 lds r18,MeanAccRoll6512 3d18 3091 0000 lds r19,(MeanAccRoll)+16513 3d1c 4091 0000 lds r20,(MeanAccRoll)+26514 3d20 5091 0000 lds r21,(MeanAccRoll)+36515 3d24 C801 movw r24,r166516 3d26 B701 movw r22,r146517 3d28 0E94 0000 call __mulsi36518 3d2c 20E0 ldi r18,lo8(256)6519 3d2e 31E0 ldi r19,hi8(256)6520 3d30 40E0 ldi r20,hlo8(256)6521 3d32 50E0 ldi r21,hhi8(256)6522 3d34 0E94 0000 call __divmodsi46523 3d38 3901 movw r6,r186524 3d3a 4A01 movw r8,r206525 3d3c 2093 0000 sts MeanAccRoll,r186526 3d40 3093 0000 sts (MeanAccRoll)+1,r196527 3d44 4093 0000 sts (MeanAccRoll)+2,r206528 3d48 5093 0000 sts (MeanAccRoll)+3,r216529 3d4c 6D89 ldd r22,Y+216530 3d4e 7E89 ldd r23,Y+226531 3d50 8F89 ldd r24,Y+236532 3d52 988D ldd r25,Y+246533 3d54 6A19 sub r22,r106534 3d56 7B09 sbc r23,r116535 3d58 8C09 sbc r24,r126536 3d5a 9D09 sbc r25,r136537 3d5c 6093 0000 sts IntegralGyroNickError.2411,r226538 3d60 7093 0000 sts (IntegralGyroNickError.2411)+1,r236539 3d64 8093 0000 sts (IntegralGyroNickError.2411)+2,r246540 3d68 9093 0000 sts (IntegralGyroNickError.2411)+3,r256541 3d6c E090 0000 lds r14,ParamSet+566542 3d70 FF24 clr r156543 3d72 00E0 ldi r16,lo8(0)6544 3d74 10E0 ldi r17,hi8(0)6545 3d76 A801 movw r20,r166546 3d78 9701 movw r18,r146547 3d7a 0E94 0000 call __divmodsi46548 3d7e CA01 movw r24,r206549 3d80 2093 0000 sts CorrectionNick.2413,r186550 3d84 3093 0000 sts CorrectionNick.2413+1,r196551 3d88 4093 0000 sts CorrectionNick.2413+2,r206552 3d8c 9093 0000 sts CorrectionNick.2413+3,r256553 3d90 B901 movw r22,r186554 3d92 20E0 ldi r18,lo8(256)6555 3d94 31E0 ldi r19,hi8(256)6556 3d96 40E0 ldi r20,hlo8(256)6557 3d98 50E0 ldi r21,hhi8(256)6558 3d9a 0E94 0000 call __divmodsi46559 3d9e 3093 0000 sts (AttitudeCorrectionNick)+1,r196560 3da2 2093 0000 sts AttitudeCorrectionNick,r186561 3da6 C201 movw r24,r46562 3da8 B101 movw r22,r26563 3daa 6619 sub r22,r66564 3dac 7709 sbc r23,r76565 3dae 8809 sbc r24,r86566 3db0 9909 sbc r25,r96567 3db2 6093 0000 sts IntegralGyroRollError.2412,r226568 3db6 7093 0000 sts (IntegralGyroRollError.2412)+1,r236569 3dba 8093 0000 sts (IntegralGyroRollError.2412)+2,r246570 3dbe 9093 0000 sts (IntegralGyroRollError.2412)+3,r256571 3dc2 A801 movw r20,r166572 3dc4 9701 movw r18,r146573 3dc6 0E94 0000 call __divmodsi46574 3dca CA01 movw r24,r206575 3dcc 2093 0000 sts CorrectionRoll.2414,r186576 3dd0 3093 0000 sts CorrectionRoll.2414+1,r196577 3dd4 4093 0000 sts CorrectionRoll.2414+2,r206578 3dd8 9093 0000 sts CorrectionRoll.2414+3,r256579 3ddc B901 movw r22,r186580 3dde 20E0 ldi r18,lo8(256)6581 3de0 31E0 ldi r19,hi8(256)6582 3de2 40E0 ldi r20,hlo8(256)6583 3de4 50E0 ldi r21,hhi8(256)6584 3de6 0E94 0000 call __divmodsi46585 3dea 3093 0000 sts (AttitudeCorrectionRoll)+1,r196586 3dee 2093 0000 sts AttitudeCorrectionRoll,r186587 3df2 8091 0000 lds r24,MaxStickNick6588 3df6 9091 0000 lds r25,(MaxStickNick)+16589 3dfa 8134 cpi r24,656590 3dfc 9105 cpc r25,__zero_reg__6591 3dfe 04F4 brge .L5316592 3e00 8091 0000 lds r24,MaxStickRoll6593 3e04 9091 0000 lds r25,(MaxStickRoll)+16594 3e08 8134 cpi r24,656595 3e0a 9105 cpc r25,__zero_reg__6596 3e0c 04F4 brge .L5316597 3e0e E091 0000 lds r30,ParamSet+36598 3e12 F0E0 ldi r31,lo8(0)6599 3e14 EE0F lsl r306600 3e16 FF1F rol r316601 3e18 E050 subi r30,lo8(-(PPM_in))6602 3e1a F040 sbci r31,hi8(-(PPM_in))6603 3e1c 0190 ld __tmp_reg__,Z+6604 3e1e F081 ld r31,Z6605 3e20 E02D mov r30,__tmp_reg__6606 3e22 F7FF sbrs r31,76607 3e24 00C0 rjmp .+46608 3e26 0C94 0000 jmp .L7926609 .L533:6610 3e2a 7A97 sbiw r30,266611 3e2c 04F0 brlt .L5326612 .L531:6613 3e2e 8091 0000 lds r24,FCParam+316614 3e32 8F3F cpi r24,lo8(-1)6615 3e34 01F4 brne .+46616 3e36 0C94 0000 jmp .L7936617 .L532:6618 3e3a 2091 0000 lds r18,IntegralGyroNick26619 3e3e 3091 0000 lds r19,(IntegralGyroNick2)+16620 3e42 4091 0000 lds r20,(IntegralGyroNick2)+26621 3e46 5091 0000 lds r21,(IntegralGyroNick2)+36622 3e4a A8A4 ldd r10,Y+406623 3e4c B9A4 ldd r11,Y+416624 3e4e CAA4 ldd r12,Y+426625 3e50 DBA4 ldd r13,Y+436626 3e52 2A19 sub r18,r106627 3e54 3B09 sbc r19,r116628 3e56 4C09 sbc r20,r126629 3e58 5D09 sbc r21,r136630 3e5a 2093 0000 sts IntegralGyroNickError.2411,r186631 3e5e 3093 0000 sts (IntegralGyroNickError.2411)+1,r196632 3e62 4093 0000 sts (IntegralGyroNickError.2411)+2,r206633 3e66 5093 0000 sts (IntegralGyroNickError.2411)+3,r216634 3e6a 8091 0000 lds r24,ReadingIntegralGyroNick26635 3e6e 9091 0000 lds r25,(ReadingIntegralGyroNick2)+16636 3e72 A091 0000 lds r26,(ReadingIntegralGyroNick2)+26637 3e76 B091 0000 lds r27,(ReadingIntegralGyroNick2)+36638 3e7a 821B sub r24,r186639 3e7c 930B sbc r25,r196640 3e7e A40B sbc r26,r206641 3e80 B50B sbc r27,r216642 3e82 8093 0000 sts ReadingIntegralGyroNick2,r246643 3e86 9093 0000 sts (ReadingIntegralGyroNick2)+1,r256644 3e8a A093 0000 sts (ReadingIntegralGyroNick2)+2,r266645 3e8e B093 0000 sts (ReadingIntegralGyroNick2)+3,r276646 3e92 2091 0000 lds r18,IntegralGyroRoll26647 3e96 3091 0000 lds r19,(IntegralGyroRoll2)+16648 3e9a 4091 0000 lds r20,(IntegralGyroRoll2)+26649 3e9e 5091 0000 lds r21,(IntegralGyroRoll2)+36650 3ea2 6CA1 ldd r22,Y+366651 3ea4 7DA1 ldd r23,Y+376652 3ea6 8EA1 ldd r24,Y+386653 3ea8 9FA1 ldd r25,Y+396654 3eaa 261B sub r18,r226655 3eac 370B sbc r19,r236656 3eae 480B sbc r20,r246657 3eb0 590B sbc r21,r256658 3eb2 2093 0000 sts IntegralGyroRollError.2412,r186659 3eb6 3093 0000 sts (IntegralGyroRollError.2412)+1,r196660 3eba 4093 0000 sts (IntegralGyroRollError.2412)+2,r206661 3ebe 5093 0000 sts (IntegralGyroRollError.2412)+3,r216662 3ec2 8091 0000 lds r24,ReadingIntegralGyroRoll26663 3ec6 9091 0000 lds r25,(ReadingIntegralGyroRoll2)+16664 3eca A091 0000 lds r26,(ReadingIntegralGyroRoll2)+26665 3ece B091 0000 lds r27,(ReadingIntegralGyroRoll2)+36666 3ed2 821B sub r24,r186667 3ed4 930B sbc r25,r196668 3ed6 A40B sbc r26,r206669 3ed8 B50B sbc r27,r216670 3eda 8093 0000 sts ReadingIntegralGyroRoll2,r246671 3ede 9093 0000 sts (ReadingIntegralGyroRoll2)+1,r256672 3ee2 A093 0000 sts (ReadingIntegralGyroRoll2)+2,r266673 3ee6 B093 0000 sts (ReadingIntegralGyroRoll2)+3,r276674 3eea 8091 0000 lds r24,ParamSet+576675 3eee 8823 tst r246676 3ef0 01F0 breq .L5366677 3ef2 2091 0000 lds r18,YawGyroDrift6678 3ef6 3091 0000 lds r19,(YawGyroDrift)+16679 3efa 2138 cpi r18,1296680 3efc 3105 cpc r19,__zero_reg__6681 3efe 04F0 brlt .L5376682 3f00 8091 0000 lds r24,AdBiasGyroYaw6683 3f04 9091 0000 lds r25,(AdBiasGyroYaw)+16684 3f08 0196 adiw r24,16685 3f0a 9093 0000 sts (AdBiasGyroYaw)+1,r256686 3f0e 8093 0000 sts AdBiasGyroYaw,r246687 .L537:6688 3f12 2058 subi r18,lo8(-128)6689 3f14 3F4F sbci r19,hi8(-128)6690 3f16 04F4 brge .L5366691 3f18 8091 0000 lds r24,AdBiasGyroYaw6692 3f1c 9091 0000 lds r25,(AdBiasGyroYaw)+16693 3f20 0197 sbiw r24,16694 3f22 9093 0000 sts (AdBiasGyroYaw)+1,r256695 3f26 8093 0000 sts AdBiasGyroYaw,r246696 .L536:6697 3f2a 1092 0000 sts (YawGyroDrift)+1,__zero_reg__6698 3f2e 1092 0000 sts YawGyroDrift,__zero_reg__6699 3f32 81E0 ldi r24,lo8(1)6700 3f34 90E0 ldi r25,hi8(1)6701 3f36 9093 0000 sts (cnt.2426)+1,r256702 3f3a 8093 0000 sts cnt.2426,r246703 3f3e E090 0000 lds r14,IntegralGyroNickError.24116704 3f42 F090 0000 lds r15,(IntegralGyroNickError.2411)+16705 3f46 0091 0000 lds r16,(IntegralGyroNickError.2411)+26706 3f4a 1091 0000 lds r17,(IntegralGyroNickError.2411)+36707 3f4e 81E0 ldi r24,lo8(513)6708 3f50 E816 cp r14,r246709 3f52 82E0 ldi r24,hi8(513)6710 3f54 F806 cpc r15,r246711 3f56 80E0 ldi r24,hlo8(513)6712 3f58 0807 cpc r16,r246713 3f5a 80E0 ldi r24,hhi8(513)6714 3f5c 1807 cpc r17,r246715 3f5e 04F0 brlt .L5386716 3f60 84E0 ldi r24,lo8(4)6717 3f62 90E0 ldi r25,hi8(4)6718 3f64 9093 0000 sts (cnt.2426)+1,r256719 3f68 8093 0000 sts cnt.2426,r246720 .L538:6721 3f6c 1092 0000 sts CorrectionNick.2413,__zero_reg__6722 3f70 1092 0000 sts (CorrectionNick.2413)+1,__zero_reg__6723 3f74 1092 0000 sts (CorrectionNick.2413)+2,__zero_reg__6724 3f78 1092 0000 sts (CorrectionNick.2413)+3,__zero_reg__6725 3f7c 8091 0000 lds r24,MeanIntegralGyroNick_old.24316726 3f80 9091 0000 lds r25,(MeanIntegralGyroNick_old.2431)+16727 3f84 A091 0000 lds r26,(MeanIntegralGyroNick_old.2431)+26728 3f88 B091 0000 lds r27,(MeanIntegralGyroNick_old.2431)+36729 3f8c AD88 ldd r10,Y+216730 3f8e BE88 ldd r11,Y+226731 3f90 CF88 ldd r12,Y+236732 3f92 D88C ldd r13,Y+246733 3f94 8A19 sub r24,r106734 3f96 9B09 sbc r25,r116735 3f98 AC09 sbc r26,r126736 3f9a BD09 sbc r27,r136737 3f9c 815E subi r24,lo8(-(19999))6738 3f9e 914B sbci r25,hi8(-(19999))6739 3fa0 AF4F sbci r26,hlo8(-(19999))6740 3fa2 BF4F sbci r27,hhi8(-(19999))6741 3fa4 8F53 subi r24,lo8(39999)6742 3fa6 9C49 sbci r25,hi8(39999)6743 3fa8 A040 sbci r26,hlo8(39999)6744 3faa B040 sbci r27,hhi8(39999)6745 3fac 00F4 brsh .+46746 3fae 0C94 0000 jmp .L5396747 3fb2 8091 0000 lds r24,FCParam+326748 3fb6 8931 cpi r24,lo8(25)6749 3fb8 04F0 brlt .+46750 3fba 0C94 0000 jmp .L5396751 3fbe 1092 0000 sts (cnt.2426)+1,__zero_reg__6752 3fc2 1092 0000 sts cnt.2426,__zero_reg__6753 3fc6 88EE ldi r24,lo8(1000)6754 3fc8 93E0 ldi r25,hi8(1000)6755 3fca 9093 0000 sts (BadCompassHeading)+1,r256756 3fce 8093 0000 sts BadCompassHeading,r246757 3fd2 AA24 clr r106758 3fd4 BB24 clr r116759 .L548:6760 3fd6 8091 0000 lds r24,ParamSet+576761 3fda 90E0 ldi r25,lo8(0)6762 3fdc 8A15 cp r24,r106763 3fde 9B05 cpc r25,r116764 3fe0 04F4 brge .L5496765 3fe2 9093 0000 sts (cnt.2426)+1,r256766 3fe6 8093 0000 sts cnt.2426,r246767 .L549:6768 3fea D090 0000 lds r13,FCParam+326769 3fee DD20 tst r136770 3ff0 01F0 breq .L5506771 3ff2 2D2D mov r18,r136772 3ff4 3327 clr r196773 3ff6 27FD sbrc r18,76774 3ff8 3095 com r196775 3ffa 8091 0000 lds r24,cnt.24266776 3ffe 9091 0000 lds r25,(cnt.2426)+16777 4002 2817 cp r18,r246778 4004 3907 cpc r19,r256779 4006 04F4 brge .L5506780 4008 3093 0000 sts (cnt.2426)+1,r196781 400c 2093 0000 sts cnt.2426,r186782 .L550:6783 4010 71E8 ldi r23,lo8(129)6784 4012 E716 cp r14,r236785 4014 F104 cpc r15,__zero_reg__6786 4016 0105 cpc r16,__zero_reg__6787 4018 1105 cpc r17,__zero_reg__6788 401a 04F0 brlt .L5516789 401c 8091 0000 lds r24,BiasHiResGyroNick6790 4020 9091 0000 lds r25,(BiasHiResGyroNick)+16791 4024 2091 0000 lds r18,cnt.24266792 4028 3091 0000 lds r19,(cnt.2426)+16793 402c 820F add r24,r186794 402e 931F adc r25,r196795 4030 9093 0000 sts (BiasHiResGyroNick)+1,r256796 4034 8093 0000 sts BiasHiResGyroNick,r246797 .L551:6798 4038 80E8 ldi r24,lo8(-128)6799 403a E816 cp r14,r246800 403c 8FEF ldi r24,hi8(-128)6801 403e F806 cpc r15,r246802 4040 8FEF ldi r24,hlo8(-128)6803 4042 0807 cpc r16,r246804 4044 8FEF ldi r24,hhi8(-128)6805 4046 1807 cpc r17,r246806 4048 04F4 brge .L5526807 404a 8091 0000 lds r24,BiasHiResGyroNick6808 404e 9091 0000 lds r25,(BiasHiResGyroNick)+16809 4052 2091 0000 lds r18,cnt.24266810 4056 3091 0000 lds r19,(cnt.2426)+16811 405a 821B sub r24,r186812 405c 930B sbc r25,r196813 405e 9093 0000 sts (BiasHiResGyroNick)+1,r256814 4062 8093 0000 sts BiasHiResGyroNick,r246815 .L552:6816 4066 81E0 ldi r24,lo8(1)6817 4068 90E0 ldi r25,hi8(1)6818 406a 9093 0000 sts (cnt.2426)+1,r256819 406e 8093 0000 sts cnt.2426,r246820 4072 E090 0000 lds r14,IntegralGyroRollError.24126821 4076 F090 0000 lds r15,(IntegralGyroRollError.2412)+16822 407a 0091 0000 lds r16,(IntegralGyroRollError.2412)+26823 407e 1091 0000 lds r17,(IntegralGyroRollError.2412)+36824 4082 91E0 ldi r25,lo8(513)6825 4084 E916 cp r14,r256826 4086 92E0 ldi r25,hi8(513)6827 4088 F906 cpc r15,r256828 408a 90E0 ldi r25,hlo8(513)6829 408c 0907 cpc r16,r256830 408e 90E0 ldi r25,hhi8(513)6831 4090 1907 cpc r17,r256832 4092 04F0 brlt .L5536833 4094 84E0 ldi r24,lo8(4)6834 4096 90E0 ldi r25,hi8(4)6835 4098 9093 0000 sts (cnt.2426)+1,r256836 409c 8093 0000 sts cnt.2426,r246837 .L553:6838 40a0 1092 0000 sts CorrectionRoll.2414,__zero_reg__6839 40a4 1092 0000 sts (CorrectionRoll.2414)+1,__zero_reg__6840 40a8 1092 0000 sts (CorrectionRoll.2414)+2,__zero_reg__6841 40ac 1092 0000 sts (CorrectionRoll.2414)+3,__zero_reg__6842 40b0 8091 0000 lds r24,MeanIntegralGyroRoll_old.24326843 40b4 9091 0000 lds r25,(MeanIntegralGyroRoll_old.2432)+16844 40b8 A091 0000 lds r26,(MeanIntegralGyroRoll_old.2432)+26845 40bc B091 0000 lds r27,(MeanIntegralGyroRoll_old.2432)+36846 40c0 298D ldd r18,Y+256847 40c2 3A8D ldd r19,Y+266848 40c4 4B8D ldd r20,Y+276849 40c6 5C8D ldd r21,Y+286850 40c8 821B sub r24,r186851 40ca 930B sbc r25,r196852 40cc A40B sbc r26,r206853 40ce B50B sbc r27,r216854 40d0 815E subi r24,lo8(-(19999))6855 40d2 914B sbci r25,hi8(-(19999))6856 40d4 AF4F sbci r26,hlo8(-(19999))6857 40d6 BF4F sbci r27,hhi8(-(19999))6858 40d8 8F53 subi r24,lo8(39999)6859 40da 9C49 sbci r25,hi8(39999)6860 40dc A040 sbci r26,hlo8(39999)6861 40de B040 sbci r27,hhi8(39999)6862 40e0 00F4 brsh .+46863 40e2 0C94 0000 jmp .L5546864 40e6 48E1 ldi r20,lo8(24)6865 40e8 4D15 cp r20,r136866 40ea 04F4 brge .+46867 40ec 0C94 0000 jmp .L5546868 40f0 1092 0000 sts (cnt.2426)+1,__zero_reg__6869 40f4 1092 0000 sts cnt.2426,__zero_reg__6870 40f8 88EE ldi r24,lo8(1000)6871 40fa 93E0 ldi r25,hi8(1000)6872 40fc 9093 0000 sts (BadCompassHeading)+1,r256873 4100 8093 0000 sts BadCompassHeading,r246874 4104 AA24 clr r106875 4106 BB24 clr r116876 .L563:6877 4108 8091 0000 lds r24,ParamSet+576878 410c 90E0 ldi r25,lo8(0)6879 410e 8A15 cp r24,r106880 4110 9B05 cpc r25,r116881 4112 04F4 brge .L5646882 4114 9093 0000 sts (cnt.2426)+1,r256883 4118 8093 0000 sts cnt.2426,r246884 .L564:6885 411c DD20 tst r136886 411e 01F0 breq .L5656887 4120 2D2D mov r18,r136888 4122 3327 clr r196889 4124 27FD sbrc r18,76890 4126 3095 com r196891 4128 8091 0000 lds r24,cnt.24266892 412c 9091 0000 lds r25,(cnt.2426)+16893 4130 2817 cp r18,r246894 4132 3907 cpc r19,r256895 4134 04F4 brge .L5656896 4136 3093 0000 sts (cnt.2426)+1,r196897 413a 2093 0000 sts cnt.2426,r186898 .L565:6899 413e F1E8 ldi r31,lo8(129)6900 4140 EF16 cp r14,r316901 4142 F104 cpc r15,__zero_reg__6902 4144 0105 cpc r16,__zero_reg__6903 4146 1105 cpc r17,__zero_reg__6904 4148 04F0 brlt .L5666905 414a 8091 0000 lds r24,BiasHiResGyroRoll6906 414e 9091 0000 lds r25,(BiasHiResGyroRoll)+16907 4152 2091 0000 lds r18,cnt.24266908 4156 3091 0000 lds r19,(cnt.2426)+16909 415a 820F add r24,r186910 415c 931F adc r25,r196911 415e 9093 0000 sts (BiasHiResGyroRoll)+1,r256912 4162 8093 0000 sts BiasHiResGyroRoll,r246913 .L566:6914 4166 20E8 ldi r18,lo8(-128)6915 4168 E216 cp r14,r186916 416a 2FEF ldi r18,hi8(-128)6917 416c F206 cpc r15,r186918 416e 2FEF ldi r18,hlo8(-128)6919 4170 0207 cpc r16,r186920 4172 2FEF ldi r18,hhi8(-128)6921 4174 1207 cpc r17,r186922 4176 04F0 brlt .+46923 4178 0C94 0000 jmp .L5676924 417c 8091 0000 lds r24,BiasHiResGyroRoll6925 4180 9091 0000 lds r25,(BiasHiResGyroRoll)+16926 4184 2091 0000 lds r18,cnt.24266927 4188 3091 0000 lds r19,(cnt.2426)+16928 418c 821B sub r24,r186929 418e 930B sbc r25,r196930 4190 9093 0000 sts (BiasHiResGyroRoll)+1,r256931 4194 8093 0000 sts BiasHiResGyroRoll,r246932 4198 0C94 0000 jmp .L5676933 .L753:6934 419c 8091 0000 lds r24,LoopingRoll6935 41a0 8823 tst r246936 41a2 01F0 breq .+46937 41a4 0C94 0000 jmp .L5106938 .L509:6939 41a8 8091 0000 lds r24,AdValueAccZ6940 41ac 9091 0000 lds r25,(AdValueAccZ)+16941 41b0 8150 subi r24,lo8(513)6942 41b2 9240 sbci r25,hi8(513)6943 41b4 04F4 brge .+26944 41b6 00C0 rjmp .L7946945 .L511:6946 41b8 8091 0000 lds r24,FCParam+316947 41bc 8F3F cpi r24,lo8(-1)6948 41be 01F4 brne .+26949 41c0 00C0 rjmp .L5126950 41c2 E090 0000 lds r14,ParamSet+236951 41c6 FF24 clr r156952 41c8 00E0 ldi r16,lo8(0)6953 41ca 10E0 ldi r17,hi8(0)6954 41cc A82E mov r10,r246955 41ce BB24 clr r116956 41d0 A7FC sbrc r10,76957 41d2 B094 com r116958 41d4 CB2C mov r12,r116959 41d6 DB2C mov r13,r116960 41d8 68A5 ldd r22,Y+406961 41da 79A5 ldd r23,Y+416962 41dc 8AA5 ldd r24,Y+426963 41de 9BA5 ldd r25,Y+436964 41e0 A801 movw r20,r166965 41e2 9701 movw r18,r146966 41e4 0E94 0000 call __divmodsi46967 41e8 8091 0000 lds r24,AccNick6968 41ec 9091 0000 lds r25,(AccNick)+16969 41f0 AA27 clr r266970 41f2 97FD sbrc r25,76971 41f4 A095 com r266972 41f6 BA2F mov r27,r266973 41f8 281B sub r18,r246974 41fa 390B sbc r19,r256975 41fc 4A0B sbc r20,r266976 41fe 5B0B sbc r21,r276977 4200 CA01 movw r24,r206978 4202 B901 movw r22,r186979 4204 A601 movw r20,r126980 4206 9501 movw r18,r106981 4208 0E94 0000 call __mulsi36982 420c 20E0 ldi r18,lo8(512)6983 420e 32E0 ldi r19,hi8(512)6984 4210 40E0 ldi r20,hlo8(512)6985 4212 50E0 ldi r21,hhi8(512)6986 4214 0E94 0000 call __divmodsi46987 4218 522E mov r5,r186988 421a 432E mov r4,r196989 421c 342E mov r3,r206990 421e 252E mov r2,r216991 4220 822F mov r24,r186992 4222 932F mov r25,r196993 4224 A42F mov r26,r206994 4226 B52F mov r27,r216995 4228 3C01 movw r6,r246996 422a 4D01 movw r8,r266997 422c 6CA1 ldd r22,Y+366998 422e 7DA1 ldd r23,Y+376999 4230 8EA1 ldd r24,Y+387000 4232 9FA1 ldd r25,Y+397001 4234 A801 movw r20,r167002 4236 9701 movw r18,r147003 4238 0E94 0000 call __divmodsi47004 423c 8091 0000 lds r24,AccRoll7005 4240 9091 0000 lds r25,(AccRoll)+17006 4244 AA27 clr r267007 4246 97FD sbrc r25,77008 4248 A095 com r267009 424a BA2F mov r27,r267010 424c 281B sub r18,r247011 424e 390B sbc r19,r257012 4250 4A0B sbc r20,r267013 4252 5B0B sbc r21,r277014 4254 CA01 movw r24,r207015 4256 B901 movw r22,r187016 4258 A601 movw r20,r127017 425a 9501 movw r18,r107018 425c 0E94 0000 call __mulsi37019 4260 20E0 ldi r18,lo8(512)7020 4262 32E0 ldi r19,hi8(512)7021 4264 40E0 ldi r20,hlo8(512)7022 4266 50E0 ldi r21,hhi8(512)7023 4268 0E94 0000 call __divmodsi47024 426c 122F mov r17,r187025 426e 032F mov r16,r197026 4270 F42E mov r15,r207027 4272 E52E mov r14,r217028 4274 822F mov r24,r187029 4276 932F mov r25,r197030 4278 A42F mov r26,r207031 427a B52F mov r27,r217032 427c 5C01 movw r10,r247033 427e 6D01 movw r12,r267034 4280 8091 0000 lds r24,MaxStickNick7035 4284 9091 0000 lds r25,(MaxStickNick)+17036 4288 8134 cpi r24,657037 428a 9105 cpc r25,__zero_reg__7038 428c 04F0 brlt .+27039 428e 00C0 rjmp .L5137040 4290 8091 0000 lds r24,MaxStickRoll7041 4294 9091 0000 lds r25,(MaxStickRoll)+17042 4298 8134 cpi r24,657043 429a 9105 cpc r25,__zero_reg__7044 429c 04F0 brlt .+27045 429e 00C0 rjmp .L5137046 .L514:7047 42a0 E091 0000 lds r30,ParamSet+37048 42a4 F0E0 ldi r31,lo8(0)7049 42a6 EE0F lsl r307050 42a8 FF1F rol r317051 42aa E050 subi r30,lo8(-(PPM_in))7052 42ac F040 sbci r31,hi8(-(PPM_in))7053 42ae 0190 ld __tmp_reg__,Z+7054 42b0 F081 ld r31,Z7055 42b2 E02D mov r30,__tmp_reg__7056 42b4 F7FF sbrs r31,77057 42b6 00C0 rjmp .+47058 42b8 0C94 0000 jmp .L7957059 .L516:7060 42bc 7A97 sbiw r30,267061 42be 04F0 brlt .L5157062 42c0 C401 movw r24,r87063 42c2 B301 movw r22,r67064 42c4 23E0 ldi r18,lo8(3)7065 42c6 30E0 ldi r19,hi8(3)7066 42c8 40E0 ldi r20,hlo8(3)7067 42ca 50E0 ldi r21,hhi8(3)7068 42cc 0E94 0000 call __divmodsi47069 42d0 C901 movw r24,r187070 42d2 DA01 movw r26,r207071 42d4 3C01 movw r6,r247072 42d6 4D01 movw r8,r267073 42d8 C601 movw r24,r127074 42da B501 movw r22,r107075 42dc 23E0 ldi r18,lo8(3)7076 42de 30E0 ldi r19,hi8(3)7077 42e0 40E0 ldi r20,hlo8(3)7078 42e2 50E0 ldi r21,hhi8(3)7079 42e4 0E94 0000 call __divmodsi47080 42e8 C901 movw r24,r187081 42ea DA01 movw r26,r207082 42ec 5C01 movw r10,r247083 42ee 6D01 movw r12,r267084 .L515:7085 42f0 8091 0000 lds r24,FCParam+337086 42f4 9927 clr r257087 42f6 87FD sbrc r24,77088 42f8 9095 com r257089 42fa A92F mov r26,r257090 42fc B92F mov r27,r257091 42fe 2227 clr r187092 4300 3327 clr r197093 4302 A901 movw r20,r187094 4304 281B sub r18,r247095 4306 390B sbc r19,r257096 4308 4A0B sbc r20,r267097 430a 5B0B sbc r21,r277098 430c 6216 cp r6,r187099 430e 7306 cpc r7,r197100 4310 8406 cpc r8,r207101 4312 9506 cpc r9,r217102 4314 04F0 brlt .+27103 4316 00C0 rjmp .L5177104 4318 7901 movw r14,r187105 431a 8A01 movw r16,r207106 .L518:7107 431c A216 cp r10,r187108 431e B306 cpc r11,r197109 4320 C406 cpc r12,r207110 4322 D506 cpc r13,r217111 4324 04F0 brlt .+27112 4326 00C0 rjmp .L5207113 4328 5901 movw r10,r187114 432a 6A01 movw r12,r207115 .L521:7116 432c 8091 0000 lds r24,ReadingIntegralGyroNick7117 4330 9091 0000 lds r25,(ReadingIntegralGyroNick)+17118 4334 A091 0000 lds r26,(ReadingIntegralGyroNick)+27119 4338 B091 0000 lds r27,(ReadingIntegralGyroNick)+37120 433c 8E19 sub r24,r147121 433e 9F09 sbc r25,r157122 4340 A00B sbc r26,r167123 4342 B10B sbc r27,r177124 4344 8093 0000 sts ReadingIntegralGyroNick,r247125 4348 9093 0000 sts (ReadingIntegralGyroNick)+1,r257126 434c A093 0000 sts (ReadingIntegralGyroNick)+2,r267127 4350 B093 0000 sts (ReadingIntegralGyroNick)+3,r277128 4354 8091 0000 lds r24,ReadingIntegralGyroRoll7129 4358 9091 0000 lds r25,(ReadingIntegralGyroRoll)+17130 435c A091 0000 lds r26,(ReadingIntegralGyroRoll)+27131 4360 B091 0000 lds r27,(ReadingIntegralGyroRoll)+37132 4364 8A19 sub r24,r107133 4366 9B09 sbc r25,r117134 4368 AC09 sbc r26,r127135 436a BD09 sbc r27,r137136 436c 8093 0000 sts ReadingIntegralGyroRoll,r247137 4370 9093 0000 sts (ReadingIntegralGyroRoll)+1,r257138 4374 A093 0000 sts (ReadingIntegralGyroRoll)+2,r267139 4378 B093 0000 sts (ReadingIntegralGyroRoll)+3,r277140 437c 0C94 0000 jmp .L5107141 .L486:7142 4380 4150 subi r20,lo8(-(-1))7143 4382 5040 sbci r21,hi8(-(-1))7144 4384 5093 0000 sts (MaxStickRoll)+1,r217145 4388 4093 0000 sts MaxStickRoll,r207146 438c 0C94 0000 jmp .L4907147 .L468:7148 4390 1092 0000 sts delay_startmotors.2417,__zero_reg__7149 .L469:7150 4394 E091 0000 lds r30,ParamSet+37151 4398 F0E0 ldi r31,lo8(0)7152 439a EE0F lsl r307153 439c FF1F rol r317154 439e E050 subi r30,lo8(-(PPM_in))7155 43a0 F040 sbci r31,hi8(-(PPM_in))7156 43a2 8081 ld r24,Z7157 43a4 9181 ldd r25,Z+17158 43a6 8C34 cpi r24,767159 43a8 9105 cpc r25,__zero_reg__7160 43aa 04F4 brge .+27161 43ac 00C0 rjmp .L4707162 43ae 8091 0000 lds r24,delay_stopmotors.24187163 43b2 8F5F subi r24,lo8(-(1))7164 43b4 8093 0000 sts delay_stopmotors.2418,r247165 43b8 893C cpi r24,lo8(-55)7166 43ba 00F4 brsh .+47167 43bc 0C94 0000 jmp .L4107168 43c0 88EC ldi r24,lo8(-56)7169 43c2 8093 0000 sts delay_stopmotors.2418,r247170 43c6 1092 0000 sts (ModelIsFlying)+1,__zero_reg__7171 43ca 1092 0000 sts ModelIsFlying,__zero_reg__7172 .L727:7173 43ce 8091 0000 lds r24,MKFlags7174 43d2 8E7F andi r24,lo8(-2)7175 43d4 8093 0000 sts MKFlags,r247176 43d8 0C94 0000 jmp .L4107177 .L582:7178 43dc 6B01 movw r12,r227179 43de CC0C lsl r127180 43e0 DD1C rol r137181 43e2 CC0C lsl r127182 43e4 DD1C rol r137183 43e6 CC0C lsl r127184 43e8 DD1C rol r137185 43ea 0C94 0000 jmp .L5847186 .L755:7187 43ee 8827 clr r247188 43f0 9927 clr r257189 43f2 8E19 sub r24,r147190 43f4 9F09 sbc r25,r157191 43f6 0C94 0000 jmp .L5707192 .L783:7193 43fa 2227 clr r187194 43fc 3327 clr r197195 43fe 2619 sub r18,r67196 4400 3709 sbc r19,r77197 4402 00C0 rjmp .L6957198 .L758:7199 4404 6D5F subi r22,lo8(-(3))7200 4406 7F4F sbci r23,hi8(-(3))7201 4408 0C94 0000 jmp .L5727202 .L757:7203 440c EE27 clr r307204 440e FF27 clr r317205 4410 EE19 sub r30,r147206 4412 FF09 sbc r31,r157207 4414 0C94 0000 jmp .L5717208 .L736:7209 4418 1092 0000 sts (StickGas)+1,__zero_reg__7210 441c 1092 0000 sts StickGas,__zero_reg__7211 4420 8091 0000 lds r24,ParamSet+87212 4424 82FD sbrc r24,27213 4426 00C0 rjmp .+47214 4428 0C94 0000 jmp .L4807215 442c 00C0 rjmp .L7377216 .L735:7217 442e 2250 subi r18,lo8(-(-2))7218 4430 3040 sbci r19,hi8(-(-2))7219 4432 3093 0000 sts (StickYaw)+1,r197220 4436 2093 0000 sts StickYaw,r187221 443a 0C94 0000 jmp .L4757222 .L744:7223 443e 84E6 ldi r24,lo8(100)7224 4440 90E0 ldi r25,hi8(100)7225 4442 9093 0000 sts (MaxStickRoll)+1,r257226 4446 8093 0000 sts MaxStickRoll,r247227 444a 0C94 0000 jmp .L4907228 .L503:7229 444e 1092 0000 sts LoopingNick,__zero_reg__7230 4452 0C94 0000 jmp .L4727231 .L500:7232 4456 1092 0000 sts LoopingRoll,__zero_reg__7233 445a 0C94 0000 jmp .L5017234 .L751:7235 445e 81E0 ldi r24,lo8(1)7236 4460 8093 0000 sts LoopingDown,r247237 4464 0C94 0000 jmp .L4987238 .L749:7239 4468 81E0 ldi r24,lo8(1)7240 446a 8093 0000 sts LoopingTop,r247241 446e 8091 0000 lds r24,ParamSet+497242 4472 482F mov r20,r247243 4474 50E0 ldi r21,lo8(0)7244 4476 61E0 ldi r22,lo8(1)7245 4478 0C94 0000 jmp .L4967246 .L747:7247 447c 81E0 ldi r24,lo8(1)7248 447e 8093 0000 sts LoopingRight,r247249 4482 8091 0000 lds r24,ParamSet+497250 4486 482F mov r20,r247251 4488 50E0 ldi r21,lo8(0)7252 448a 0C94 0000 jmp .L4947253 .L745:7254 448e 81E0 ldi r24,lo8(1)7255 4490 8093 0000 sts LoopingLeft,r247256 4494 71E0 ldi r23,lo8(1)7257 4496 0C94 0000 jmp .L4927258 .L588:7259 449a 0894 sec7260 449c 4108 sbc r4,__zero_reg__7261 449e 5108 sbc r5,__zero_reg__7262 44a0 5092 0000 sts (BadCompassHeading)+1,r57263 44a4 4092 0000 sts BadCompassHeading,r47264 44a8 0C94 0000 jmp .L5757265 .L794:7266 44ac 8091 0000 lds r24,MKFlags7267 44b0 80FD sbrc r24,07268 44b2 00C0 rjmp .+47269 44b4 0C94 0000 jmp .L5107270 44b8 00C0 rjmp .L5117271 .L748:7272 44ba 1092 0000 sts LoopingRight,__zero_reg__7273 44be 8091 0000 lds r24,ParamSet+497274 44c2 482F mov r20,r247275 44c4 50E0 ldi r21,lo8(0)7276 44c6 0C94 0000 jmp .L4947277 .L746:7278 44ca 1092 0000 sts LoopingLeft,__zero_reg__7279 44ce 8091 0000 lds r24,ParamSet+17280 44d2 A82F mov r26,r247281 44d4 B0E0 ldi r27,lo8(0)7282 44d6 8091 0000 lds r24,ParamSet+497283 44da 482F mov r20,r247284 44dc 50E0 ldi r21,lo8(0)7285 44de AA0F lsl r267286 44e0 BB1F rol r277287 44e2 70E0 ldi r23,lo8(0)7288 44e4 0C94 0000 jmp .L4927289 .L752:7290 44e8 1092 0000 sts LoopingDown,__zero_reg__7291 44ec 0C94 0000 jmp .L4987292 .L750:7293 44f0 1092 0000 sts LoopingTop,__zero_reg__7294 44f4 8091 0000 lds r24,ParamSet7295 44f8 A82F mov r26,r247296 44fa B0E0 ldi r27,lo8(0)7297 44fc 8091 0000 lds r24,ParamSet+497298 4500 482F mov r20,r247299 4502 50E0 ldi r21,lo8(0)7300 4504 AA0F lsl r267301 4506 BB1F rol r277302 4508 60E0 ldi r22,lo8(0)7303 450a 0C94 0000 jmp .L4967304 .L412:7305 450e 8091 0000 lds r24,MKFlags7306 4512 8260 ori r24,lo8(2)7307 4514 8093 0000 sts MKFlags,r247308 4518 0C94 0000 jmp .L4137309 .L780:7310 451c 0196 adiw r24,17311 451e 0C94 0000 jmp .L6767312 .L764:7313 4522 8091 0000 lds r24,YawGyroDrift7314 4526 9091 0000 lds r25,(YawGyroDrift)+17315 452a 860F add r24,r227316 452c 971F adc r25,r237317 452e 9093 0000 sts (YawGyroDrift)+1,r257318 4532 8093 0000 sts YawGyroDrift,r247319 4536 8091 0000 lds r24,UpdateCompassCourse.24207320 453a 9091 0000 lds r25,(UpdateCompassCourse.2420)+17321 453e 892B or r24,r257322 4540 01F4 brne .+47323 4542 0C94 0000 jmp .L5857324 4546 E090 0000 lds r14,ParamSet+237325 454a 8AE2 ldi r24,lo8(42)7326 454c E89E mul r14,r247327 454e 7001 movw r14,r07328 4550 1124 clr r17329 4552 0027 clr r167330 4554 F7FC sbrc r15,77331 4556 0095 com r167332 4558 102F mov r17,r167333 455a 9501 movw r18,r107334 455c 4427 clr r207335 455e 37FD sbrc r19,77336 4560 4095 com r207337 4562 542F mov r21,r207338 4564 C801 movw r24,r167339 4566 B701 movw r22,r147340 4568 0E94 0000 call __mulsi37341 456c 6093 0000 sts YawGyroHeading,r227342 4570 7093 0000 sts (YawGyroHeading)+1,r237343 4574 8093 0000 sts (YawGyroHeading)+2,r247344 4578 9093 0000 sts (YawGyroHeading)+3,r257345 457c A801 movw r20,r167346 457e 9701 movw r18,r147347 4580 0E94 0000 call __divmodsi47348 4584 3093 0000 sts (CompassCourse)+1,r197349 4588 2093 0000 sts CompassCourse,r187350 458c 1092 0000 sts (UpdateCompassCourse.2420)+1,__zero_reg__7351 4590 1092 0000 sts UpdateCompassCourse.2420,__zero_reg__7352 4594 0C94 0000 jmp .L5857353 .L513:7354 4598 652D mov r22,r57355 459a 742D mov r23,r47356 459c 832D mov r24,r37357 459e 922D mov r25,r27358 45a0 22E0 ldi r18,lo8(2)7359 45a2 30E0 ldi r19,hi8(2)7360 45a4 40E0 ldi r20,hlo8(2)7361 45a6 50E0 ldi r21,hhi8(2)7362 45a8 0E94 0000 call __divmodsi47363 45ac C901 movw r24,r187364 45ae DA01 movw r26,r207365 45b0 3C01 movw r6,r247366 45b2 4D01 movw r8,r267367 45b4 612F mov r22,r177368 45b6 702F mov r23,r167369 45b8 8F2D mov r24,r157370 45ba 9E2D mov r25,r147371 45bc 22E0 ldi r18,lo8(2)7372 45be 30E0 ldi r19,hi8(2)7373 45c0 40E0 ldi r20,hlo8(2)7374 45c2 50E0 ldi r21,hhi8(2)7375 45c4 0E94 0000 call __divmodsi47376 45c8 C901 movw r24,r187377 45ca DA01 movw r26,r207378 45cc 5C01 movw r10,r247379 45ce 6D01 movw r12,r267380 45d0 00C0 rjmp .L5147381 .L451:7382 45d2 8091 0000 lds r24,ParamSet+17383 45d6 A82F mov r26,r247384 45d8 B0E0 ldi r27,lo8(0)7385 45da AA0F lsl r267386 45dc BB1F rol r277387 45de FD01 movw r30,r267388 45e0 E050 subi r30,lo8(-(PPM_in))7389 45e2 F040 sbci r31,hi8(-(PPM_in))7390 45e4 0190 ld __tmp_reg__,Z+7391 45e6 F081 ld r31,Z7392 45e8 E02D mov r30,__tmp_reg__7393 45ea F7FF sbrs r31,77394 45ec 00C0 rjmp .+47395 45ee 0C94 0000 jmp .L7967396 .L454:7397 45f2 E734 cpi r30,717398 45f4 F105 cpc r31,__zero_reg__7399 45f6 04F0 brlt .+47400 45f8 0C94 0000 jmp .L4527401 45fc 8091 0000 lds r24,ParamSet+87402 4600 8872 andi r24,lo8(40)7403 4602 01F4 brne .+47404 4604 0C94 0000 jmp .L4617405 4608 A050 subi r26,lo8(-(PPM_in))7406 460a B040 sbci r27,hi8(-(PPM_in))7407 460c 8D91 ld r24,X+7408 460e 9C91 ld r25,X7409 4610 97FF sbrs r25,77410 4612 00C0 rjmp .+47411 4614 0C94 0000 jmp .L7977412 .L463:7413 4618 4E97 sbiw r24,307414 461a 04F0 brlt .+47415 461c 0C94 0000 jmp .L4617416 4620 4050 subi r20,lo8(-(PPM_in))7417 4622 5040 sbci r21,hi8(-(PPM_in))7418 4624 FA01 movw r30,r207419 4626 8081 ld r24,Z7420 4628 9181 ldd r25,Z+17421 462a 8A5B subi r24,lo8(-70)7422 462c 9F4F sbci r25,hi8(-70)7423 462e 04F0 brlt .+47424 4630 0C94 0000 jmp .L4617425 4634 81E0 ldi r24,lo8(1)7426 4636 8093 0000 sts CompassCalState,r247427 463a 88EE ldi r24,lo8(1000)7428 463c 93E0 ldi r25,hi8(1000)7429 463e 9093 0000 sts (BeepTime)+1,r257430 4642 8093 0000 sts BeepTime,r247431 4646 8091 0000 lds r24,ParamSet+27432 464a A82F mov r26,r247433 464c B0E0 ldi r27,lo8(0)7434 464e AA0F lsl r267435 4650 BB1F rol r277436 .L446:7437 4652 A050 subi r26,lo8(-(PPM_in))7438 4654 B040 sbci r27,hi8(-(PPM_in))7439 4656 8D91 ld r24,X+7440 4658 9C91 ld r25,X7441 465a 8B5A subi r24,lo8(-85)7442 465c 9F4F sbci r25,hi8(-85)7443 465e 04F0 brlt .+47444 4660 0C94 0000 jmp .L4107445 4664 E091 0000 lds r30,ParamSet+37446 4668 F0E0 ldi r31,lo8(0)7447 466a EE0F lsl r307448 466c FF1F rol r317449 466e E050 subi r30,lo8(-(PPM_in))7450 4670 F040 sbci r31,hi8(-(PPM_in))7451 4672 8081 ld r24,Z7452 4674 9181 ldd r25,Z+17453 4676 855B subi r24,lo8(-75)7454 4678 9F4F sbci r25,hi8(-75)7455 467a 04F0 brlt .+27456 467c 00C0 rjmp .L4687457 467e 8091 0000 lds r24,delay_startmotors.24177458 4682 8F5F subi r24,lo8(-(1))7459 4684 8093 0000 sts delay_startmotors.2417,r247460 4688 893C cpi r24,lo8(-55)7461 468a 00F4 brsh .+27462 468c 00C0 rjmp .L4697463 468e 88EC ldi r24,lo8(-56)7464 4690 8093 0000 sts delay_startmotors.2417,r247465 4694 81E0 ldi r24,lo8(1)7466 4696 90E0 ldi r25,hi8(1)7467 4698 9093 0000 sts (ModelIsFlying)+1,r257468 469c 8093 0000 sts ModelIsFlying,r247469 46a0 8091 0000 lds r24,MKFlags7470 46a4 8960 ori r24,lo8(9)7471 46a6 8093 0000 sts MKFlags,r247472 46aa 1092 0000 sts SetPointYaw.2410,__zero_reg__7473 46ae 1092 0000 sts (SetPointYaw.2410)+1,__zero_reg__7474 46b2 1092 0000 sts (SetPointYaw.2410)+2,__zero_reg__7475 46b6 1092 0000 sts (SetPointYaw.2410)+3,__zero_reg__7476 46ba 1092 0000 sts ReadingIntegralGyroYaw,__zero_reg__7477 46be 1092 0000 sts (ReadingIntegralGyroYaw)+1,__zero_reg__7478 46c2 1092 0000 sts (ReadingIntegralGyroYaw)+2,__zero_reg__7479 46c6 1092 0000 sts (ReadingIntegralGyroYaw)+3,__zero_reg__7480 46ca 6091 0000 lds r22,AccNick7481 46ce 7091 0000 lds r23,(AccNick)+17482 46d2 8827 clr r247483 46d4 77FD sbrc r23,77484 46d6 8095 com r247485 46d8 982F mov r25,r247486 46da E090 0000 lds r14,ParamSet+237487 46de FF24 clr r157488 46e0 00E0 ldi r16,lo8(0)7489 46e2 10E0 ldi r17,hi8(0)7490 46e4 A801 movw r20,r167491 46e6 9701 movw r18,r147492 46e8 0E94 0000 call __mulsi37493 46ec 6093 0000 sts ReadingIntegralGyroNick,r227494 46f0 7093 0000 sts (ReadingIntegralGyroNick)+1,r237495 46f4 8093 0000 sts (ReadingIntegralGyroNick)+2,r247496 46f8 9093 0000 sts (ReadingIntegralGyroNick)+3,r257497 46fc 6091 0000 lds r22,AccRoll7498 4700 7091 0000 lds r23,(AccRoll)+17499 4704 8827 clr r247500 4706 77FD sbrc r23,77501 4708 8095 com r247502 470a 982F mov r25,r247503 470c 0E94 0000 call __mulsi37504 4710 6093 0000 sts ReadingIntegralGyroRoll,r227505 4714 7093 0000 sts (ReadingIntegralGyroRoll)+1,r237506 4718 8093 0000 sts (ReadingIntegralGyroRoll)+2,r247507 471c 9093 0000 sts (ReadingIntegralGyroRoll)+3,r257508 4720 8091 0000 lds r24,IntegralGyroNick7509 4724 9091 0000 lds r25,(IntegralGyroNick)+17510 4728 A091 0000 lds r26,(IntegralGyroNick)+27511 472c B091 0000 lds r27,(IntegralGyroNick)+37512 4730 8093 0000 sts ReadingIntegralGyroNick2,r247513 4734 9093 0000 sts (ReadingIntegralGyroNick2)+1,r257514 4738 A093 0000 sts (ReadingIntegralGyroNick2)+2,r267515 473c B093 0000 sts (ReadingIntegralGyroNick2)+3,r277516 4740 8091 0000 lds r24,IntegralGyroRoll7517 4744 9091 0000 lds r25,(IntegralGyroRoll)+17518 4748 A091 0000 lds r26,(IntegralGyroRoll)+27519 474c B091 0000 lds r27,(IntegralGyroRoll)+37520 4750 8093 0000 sts ReadingIntegralGyroRoll2,r247521 4754 9093 0000 sts (ReadingIntegralGyroRoll2)+1,r257522 4758 A093 0000 sts (ReadingIntegralGyroRoll2)+2,r267523 475c B093 0000 sts (ReadingIntegralGyroRoll2)+3,r277524 4760 1092 0000 sts IPartNick.2408,__zero_reg__7525 4764 1092 0000 sts (IPartNick.2408)+1,__zero_reg__7526 4768 1092 0000 sts (IPartNick.2408)+2,__zero_reg__7527 476c 1092 0000 sts (IPartNick.2408)+3,__zero_reg__7528 4770 1092 0000 sts IPartRoll.2409,__zero_reg__7529 4774 1092 0000 sts (IPartRoll.2409)+1,__zero_reg__7530 4778 1092 0000 sts (IPartRoll.2409)+2,__zero_reg__7531 477c 1092 0000 sts (IPartRoll.2409)+3,__zero_reg__7532 4780 00C0 rjmp .L4697533 .L739:7534 4782 3095 com r197535 4784 2195 neg r187536 4786 3F4F sbci r19,lo8(-1)7537 4788 0C94 0000 jmp .L4837538 .L742:7539 478c 3095 com r197540 478e 2195 neg r187541 4790 3F4F sbci r19,lo8(-1)7542 4792 0C94 0000 jmp .L4887543 .L741:7544 4796 2D5F subi r18,lo8(-(3))7545 4798 3F4F sbci r19,hi8(-(3))7546 479a 0C94 0000 jmp .L4877547 .L733:7548 479e 4D5F subi r20,lo8(-(3))7549 47a0 5F4F sbci r21,hi8(-(3))7550 47a2 0C94 0000 jmp .L4737551 .L734:7552 47a6 4D5F subi r20,lo8(-(3))7553 47a8 5F4F sbci r21,hi8(-(3))7554 47aa 0C94 0000 jmp .L4747555 .L738:7556 47ae 2D5F subi r18,lo8(-(3))7557 47b0 3F4F sbci r19,hi8(-(3))7558 47b2 0C94 0000 jmp .L4827559 .L762:7560 47b6 60E0 ldi r22,lo8(0)7561 47b8 70E0 ldi r23,hi8(0)7562 47ba 0C94 0000 jmp .L5817563 .L587:7564 47be 84EF ldi r24,lo8(500)7565 47c0 91E0 ldi r25,hi8(500)7566 47c2 9093 0000 sts (BadCompassHeading)+1,r257567 47c6 8093 0000 sts BadCompassHeading,r247568 47ca 0C94 0000 jmp .L5757569 .L428:7570 47ce 8091 0000 lds r24,PPM_in+247571 47d2 9091 0000 lds r25,(PPM_in+24)+17572 47d6 8259 subi r24,lo8(-(110))7573 47d8 9F4F sbci r25,hi8(-(110))7574 47da 8217 cp r24,r187575 47dc 9307 cpc r25,r197576 47de 04F0 brlt .+47577 47e0 0C94 0000 jmp .L4297578 47e4 2115 cp r18,__zero_reg__7579 47e6 3105 cpc r19,__zero_reg__7580 47e8 01F4 brne .+47581 47ea 0C94 0000 jmp .L4297582 47ee C901 movw r24,r187583 47f0 0197 sbiw r24,17584 47f2 9093 0000 sts (Poti8)+1,r257585 47f6 8093 0000 sts Poti8,r247586 47fa 9C01 movw r18,r247587 47fc 0C94 0000 jmp .L4297588 .L426:7589 4800 8091 0000 lds r24,PPM_in+227590 4804 9091 0000 lds r25,(PPM_in+22)+17591 4808 8259 subi r24,lo8(-(110))7592 480a 9F4F sbci r25,hi8(-(110))7593 480c 8417 cp r24,r207594 480e 9507 cpc r25,r217595 4810 04F0 brlt .+47596 4812 0C94 0000 jmp .L4277597 4816 4115 cp r20,__zero_reg__7598 4818 5105 cpc r21,__zero_reg__7599 481a 01F4 brne .+47600 481c 0C94 0000 jmp .L4277601 4820 CA01 movw r24,r207602 4822 0197 sbiw r24,17603 4824 9093 0000 sts (Poti7)+1,r257604 4828 8093 0000 sts Poti7,r247605 482c AC01 movw r20,r247606 482e 0C94 0000 jmp .L4277607 .L424:7608 4832 8091 0000 lds r24,PPM_in+207609 4836 9091 0000 lds r25,(PPM_in+20)+17610 483a 8259 subi r24,lo8(-(110))7611 483c 9F4F sbci r25,hi8(-(110))7612 483e 8617 cp r24,r227613 4840 9707 cpc r25,r237614 4842 04F0 brlt .+47615 4844 0C94 0000 jmp .L4257616 4848 6115 cp r22,__zero_reg__7617 484a 7105 cpc r23,__zero_reg__7618 484c 01F4 brne .+47619 484e 0C94 0000 jmp .L4257620 4852 CB01 movw r24,r227621 4854 0197 sbiw r24,17622 4856 9093 0000 sts (Poti6)+1,r257623 485a 8093 0000 sts Poti6,r247624 485e BC01 movw r22,r247625 4860 0C94 0000 jmp .L4257626 .L422:7627 4864 8091 0000 lds r24,PPM_in+187628 4868 9091 0000 lds r25,(PPM_in+18)+17629 486c 8259 subi r24,lo8(-(110))7630 486e 9F4F sbci r25,hi8(-(110))7631 4870 8E17 cp r24,r307632 4872 9F07 cpc r25,r317633 4874 04F0 brlt .+47634 4876 0C94 0000 jmp .L4237635 487a 3097 sbiw r30,07636 487c 01F4 brne .+47637 487e 0C94 0000 jmp .L4237638 4882 CF01 movw r24,r307639 4884 0197 sbiw r24,17640 4886 9093 0000 sts (Poti5)+1,r257641 488a 8093 0000 sts Poti5,r247642 488e FC01 movw r30,r247643 4890 0C94 0000 jmp .L4237644 .L420:7645 4894 8081 ld r24,Z7646 4896 9181 ldd r25,Z+17647 4898 8259 subi r24,lo8(-(110))7648 489a 9F4F sbci r25,hi8(-(110))7649 489c 8A17 cp r24,r267650 489e 9B07 cpc r25,r277651 48a0 04F0 brlt .+47652 48a2 0C94 0000 jmp .L4217653 48a6 1097 sbiw r26,07654 48a8 01F4 brne .+47655 48aa 0C94 0000 jmp .L4217656 48ae CD01 movw r24,r267657 48b0 0197 sbiw r24,17658 48b2 9093 0000 sts (Poti4)+1,r257659 48b6 8093 0000 sts Poti4,r247660 48ba DC01 movw r26,r247661 48bc 0C94 0000 jmp .L4217662 .L418:7663 48c0 8081 ld r24,Z7664 48c2 9181 ldd r25,Z+17665 48c4 8259 subi r24,lo8(-(110))7666 48c6 9F4F sbci r25,hi8(-(110))7667 48c8 8A15 cp r24,r107668 48ca 9B05 cpc r25,r117669 48cc 04F0 brlt .+47670 48ce 0C94 0000 jmp .L4197671 48d2 A114 cp r10,__zero_reg__7672 48d4 B104 cpc r11,__zero_reg__7673 48d6 01F4 brne .+47674 48d8 0C94 0000 jmp .L4197675 48dc C501 movw r24,r107676 48de 0197 sbiw r24,17677 48e0 9093 0000 sts (Poti3)+1,r257678 48e4 8093 0000 sts Poti3,r247679 48e8 5C01 movw r10,r247680 48ea 0C94 0000 jmp .L4197681 .L416:7682 48ee 8081 ld r24,Z7683 48f0 9181 ldd r25,Z+17684 48f2 8259 subi r24,lo8(-(110))7685 48f4 9F4F sbci r25,hi8(-(110))7686 48f6 8017 cp r24,r167687 48f8 9107 cpc r25,r177688 48fa 04F0 brlt .+47689 48fc 0C94 0000 jmp .L4177690 4900 0115 cp r16,__zero_reg__7691 4902 1105 cpc r17,__zero_reg__7692 4904 01F4 brne .+47693 4906 0C94 0000 jmp .L4177694 490a C801 movw r24,r167695 490c 0197 sbiw r24,17696 490e 9093 0000 sts (Poti2)+1,r257697 4912 8093 0000 sts Poti2,r247698 4916 8C01 movw r16,r247699 4918 0C94 0000 jmp .L4177700 .L414:7701 491c 8081 ld r24,Z7702 491e 9181 ldd r25,Z+17703 4920 8259 subi r24,lo8(-(110))7704 4922 9F4F sbci r25,hi8(-(110))7705 4924 8E15 cp r24,r147706 4926 9F05 cpc r25,r157707 4928 04F0 brlt .+47708 492a 0C94 0000 jmp .L4157709 492e E114 cp r14,__zero_reg__7710 4930 F104 cpc r15,__zero_reg__7711 4932 01F4 brne .+47712 4934 0C94 0000 jmp .L4157713 4938 C701 movw r24,r147714 493a 0197 sbiw r24,17715 493c 9093 0000 sts (Poti1)+1,r257716 4940 8093 0000 sts Poti1,r247717 4944 7C01 movw r14,r247718 4946 0C94 0000 jmp .L4157719 .L765:7720 494a 4F96 adiw r24,317721 494c 0C94 0000 jmp .L5867722 .L763:7723 4950 8827 clr r247724 4952 9927 clr r257725 4954 8219 sub r24,r27726 4956 9309 sbc r25,r37727 4958 0C94 0000 jmp .L5837728 .L761:7729 495c 9094 com r97730 495e 8194 neg r87731 4960 9108 sbc r9,__zero_reg__7732 4962 9394 inc r97733 4964 0C94 0000 jmp .L5787734 .L760:7735 4968 1095 com r177736 496a 0195 neg r167737 496c 1F4F sbci r17,lo8(-1)7738 496e 0C94 0000 jmp .L5777739 .L477:7740 4972 1092 0000 sts (StickYaw)+1,__zero_reg__7741 4976 1092 0000 sts StickYaw,__zero_reg__7742 497a 0C94 0000 jmp .L4757743 .L776:7744 497e 1092 0000 sts (Poti8)+1,__zero_reg__7745 4982 1092 0000 sts Poti8,__zero_reg__7746 4986 0C94 0000 jmp .L4457747 .L775:7748 498a 1092 0000 sts (Poti7)+1,__zero_reg__7749 498e 1092 0000 sts Poti7,__zero_reg__7750 4992 0C94 0000 jmp .L4437751 .L774:7752 4996 1092 0000 sts (Poti6)+1,__zero_reg__7753 499a 1092 0000 sts Poti6,__zero_reg__7754 499e 0C94 0000 jmp .L4417755 .L773:7756 49a2 1092 0000 sts (Poti5)+1,__zero_reg__7757 49a6 1092 0000 sts Poti5,__zero_reg__7758 49aa 0C94 0000 jmp .L4397759 .L772:7760 49ae 1092 0000 sts (Poti4)+1,__zero_reg__7761 49b2 1092 0000 sts Poti4,__zero_reg__7762 49b6 0C94 0000 jmp .L4377763 .L771:7764 49ba 1092 0000 sts (Poti3)+1,__zero_reg__7765 49be 1092 0000 sts Poti3,__zero_reg__7766 49c2 0C94 0000 jmp .L4357767 .L770:7768 49c6 1092 0000 sts (Poti2)+1,__zero_reg__7769 49ca 1092 0000 sts Poti2,__zero_reg__7770 49ce 0C94 0000 jmp .L4337771 .L769:7772 49d2 1092 0000 sts (Poti1)+1,__zero_reg__7773 49d6 1092 0000 sts Poti1,__zero_reg__7774 49da 0C94 0000 jmp .L4317775 .L590:7776 49de 4427 clr r207777 49e0 5527 clr r217778 49e2 481B sub r20,r247779 49e4 590B sbc r21,r257780 49e6 B901 movw r22,r187781 49e8 2417 cp r18,r207782 49ea 3507 cpc r19,r217783 49ec 04F0 brlt .+47784 49ee 0C94 0000 jmp .L5917785 49f2 BA01 movw r22,r207786 49f4 0C94 0000 jmp .L5917787 .L743:7788 49f8 3095 com r197789 49fa 2195 neg r187790 49fc 3F4F sbci r19,lo8(-1)7791 49fe 0C94 0000 jmp .L4897792 .L789:7793 4a02 3095 com r197794 4a04 2195 neg r187795 4a06 3F4F sbci r19,lo8(-1)7796 4a08 00C0 rjmp .L4847797 .L520:7798 4a0a 8A15 cp r24,r107799 4a0c 9B05 cpc r25,r117800 4a0e AC05 cpc r26,r127801 4a10 BD05 cpc r27,r137802 4a12 04F0 brlt .+27803 4a14 00C0 rjmp .L5217804 4a16 5C01 movw r10,r247805 4a18 6D01 movw r12,r267806 4a1a 00C0 rjmp .L5217807 .L517:7808 4a1c 8401 movw r16,r87809 4a1e 7301 movw r14,r67810 4a20 8615 cp r24,r67811 4a22 9705 cpc r25,r77812 4a24 A805 cpc r26,r87813 4a26 B905 cpc r27,r97814 4a28 04F0 brlt .+27815 4a2a 00C0 rjmp .L5187816 4a2c 7C01 movw r14,r247817 4a2e 8D01 movw r16,r267818 4a30 00C0 rjmp .L5187819 .L611:7820 4a32 8091 0000 lds r24,BaroFlags.24507821 4a36 90E0 ldi r25,lo8(0)7822 4a38 8370 andi r24,lo8(3)7823 4a3a 9070 andi r25,hi8(3)7824 4a3c 892B or r24,r257825 4a3e 01F4 brne .+27826 4a40 00C0 rjmp .L7987827 .L614:7828 4a42 81E0 ldi r24,lo8(1)7829 4a44 8093 0000 sts HCActive.2443,r247830 .L613:7831 4a48 E090 0000 lds r14,ParamSet+237832 4a4c 8AE2 ldi r24,lo8(42)7833 4a4e E89E mul r14,r247834 4a50 7001 movw r14,r07835 4a52 1124 clr r17836 4a54 0027 clr r167837 4a56 F7FC sbrc r15,77838 4a58 0095 com r167839 4a5a 102F mov r17,r167840 4a5c 6091 0000 lds r22,IntegralGyroNick7841 4a60 7091 0000 lds r23,(IntegralGyroNick)+17842 4a64 8091 0000 lds r24,(IntegralGyroNick)+27843 4a68 9091 0000 lds r25,(IntegralGyroNick)+37844 4a6c A801 movw r20,r167845 4a6e 9701 movw r18,r147846 4a70 0E94 0000 call __divmodsi47847 4a74 5901 movw r10,r187848 4a76 6A01 movw r12,r207849 4a78 6091 0000 lds r22,IntegralGyroRoll7850 4a7c 7091 0000 lds r23,(IntegralGyroRoll)+17851 4a80 8091 0000 lds r24,(IntegralGyroRoll)+27852 4a84 9091 0000 lds r25,(IntegralGyroRoll)+37853 4a88 A801 movw r20,r167854 4a8a 9701 movw r18,r147855 4a8c 0E94 0000 call __divmodsi47856 4a90 C501 movw r24,r107857 4a92 B901 movw r22,r187858 4a94 0E94 0000 call ihypot7859 4a98 8D33 cpi r24,617860 4a9a 9105 cpc r25,__zero_reg__7861 4a9c 04F0 brlt .L6157862 4a9e 8CE3 ldi r24,lo8(60)7863 4aa0 90E0 ldi r25,hi8(60)7864 .L615:7865 4aa2 0E94 0000 call c_cos_81927866 4aa6 9A83 std Y+2,r257867 4aa8 8983 std Y+1,r247868 4aaa 8091 0000 lds r24,HCActive.24437869 4aae 8823 tst r247870 4ab0 01F4 brne .+27871 4ab2 00C0 rjmp .L6167872 4ab4 8091 0000 lds r24,MKFlags7873 4ab8 84FD sbrc r24,47874 4aba 00C0 rjmp .L6167875 4abc 8091 0000 lds r24,ParamSet+887876 4ac0 80FD sbrc r24,07877 4ac2 00C0 rjmp .L6177878 4ac4 8091 0000 lds r24,ParamSet+87879 4ac8 81FF sbrs r24,17880 4aca 00C0 rjmp .L6177881 4acc 8091 0000 lds r24,MKFlags7882 4ad0 81FF sbrs r24,17883 4ad2 00C0 rjmp .L6207884 4ad4 6091 0000 lds r22,StickGasHover.24447885 4ad8 7091 0000 lds r23,(StickGasHover.2444)+17886 4adc 4091 0000 lds r20,StickGas7887 4ae0 5091 0000 lds r21,(StickGas)+17888 4ae4 CB01 movw r24,r227889 4ae6 0F96 adiw r24,157890 4ae8 8417 cp r24,r207891 4aea 9507 cpc r25,r217892 4aec 04F0 brlt .+27893 4aee 00C0 rjmp .L6217894 4af0 8091 0000 lds r24,BaroFlags.24507895 4af4 80FD sbrc r24,07896 4af6 00C0 rjmp .L6217897 4af8 2091 0000 lds r18,HeightTrimmingFlag.24527898 4afc 21FF sbrs r18,17899 4afe 00C0 rjmp .L6227900 4b00 2D7F andi r18,lo8(-3)7901 4b02 2093 0000 sts HeightTrimmingFlag.2452,r187902 4b06 8091 0000 lds r24,ReadingHeight7903 4b0a 9091 0000 lds r25,(ReadingHeight)+17904 4b0e A091 0000 lds r26,(ReadingHeight)+27905 4b12 B091 0000 lds r27,(ReadingHeight)+37906 4b16 8093 0000 sts SetPointHeight,r247907 4b1a 9093 0000 sts (SetPointHeight)+1,r257908 4b1e A093 0000 sts (SetPointHeight)+2,r267909 4b22 B093 0000 sts (SetPointHeight)+3,r277910 .L622:7911 4b26 2160 ori r18,lo8(1)7912 4b28 2093 0000 sts HeightTrimmingFlag.2452,r187913 4b2c CA01 movw r24,r207914 4b2e 0F97 sbiw r24,157915 4b30 861B sub r24,r227916 4b32 970B sbc r25,r237917 4b34 97FD sbrc r25,77918 4b36 00C0 rjmp .L7997919 .L623:7920 4b38 2091 0000 lds r18,HeightTrimming.24427921 4b3c 3091 0000 lds r19,(HeightTrimming.2442)+17922 4b40 280F add r18,r247923 4b42 391F adc r19,r257924 4b44 3093 0000 sts (HeightTrimming.2442)+1,r197925 4b48 2093 0000 sts HeightTrimming.2442,r187926 .L624:7927 4b4c C901 movw r24,r187928 4b4e 37FF sbrs r19,77929 4b50 00C0 rjmp .L6297930 4b52 8827 clr r247931 4b54 9927 clr r257932 4b56 821B sub r24,r187933 4b58 930B sbc r25,r197934 .L629:7935 4b5a 8150 subi r24,lo8(513)7936 4b5c 9240 sbci r25,hi8(513)7937 4b5e 04F4 brge .+27938 4b60 00C0 rjmp .L6287939 4b62 8091 0000 lds r24,ParamSet+137940 4b66 90E0 ldi r25,lo8(0)7941 4b68 5C01 movw r10,r247942 4b6a A29E mul r10,r187943 4b6c C001 movw r24,r07944 4b6e A39E mul r10,r197945 4b70 900D add r25,r07946 4b72 B29E mul r11,r187947 4b74 900D add r25,r07948 4b76 1124 clr r17949 4b78 60E0 ldi r22,lo8(1280)7950 4b7a 75E0 ldi r23,hi8(1280)7951 4b7c 0E94 0000 call __divmodhi47952 4b80 8827 clr r247953 4b82 77FD sbrc r23,77954 4b84 8095 com r247955 4b86 982F mov r25,r247956 4b88 2091 0000 lds r18,SetPointHeight7957 4b8c 3091 0000 lds r19,(SetPointHeight)+17958 4b90 4091 0000 lds r20,(SetPointHeight)+27959 4b94 5091 0000 lds r21,(SetPointHeight)+37960 4b98 260F add r18,r227961 4b9a 371F adc r19,r237962 4b9c 481F adc r20,r247963 4b9e 591F adc r21,r257964 4ba0 2093 0000 sts SetPointHeight,r187965 4ba4 3093 0000 sts (SetPointHeight)+1,r197966 4ba8 4093 0000 sts (SetPointHeight)+2,r207967 4bac 5093 0000 sts (SetPointHeight)+3,r217968 4bb0 1092 0000 sts (HeightTrimming.2442)+1,__zero_reg__7969 4bb4 1092 0000 sts HeightTrimming.2442,__zero_reg__7970 4bb8 8091 0000 lds r24,ParamSet+887971 4bbc 81FF sbrs r24,17972 4bbe 00C0 rjmp .L6307973 4bc0 8BE4 ldi r24,lo8(75)7974 4bc2 90E0 ldi r25,hi8(75)7975 4bc4 9093 0000 sts (BeepTime)+1,r257976 4bc8 8093 0000 sts BeepTime,r247977 .L630:7978 4bcc 8091 0000 lds r24,ParamSet+177979 4bd0 8823 tst r247980 4bd2 01F4 brne .L6287981 4bd4 8091 0000 lds r24,HoverGas.24457982 4bd8 9091 0000 lds r25,HoverGas.2445+17983 4bdc 9C01 movw r18,r247984 4bde 37FD sbrc r19,77985 4be0 00C0 rjmp .L8007986 .L631:7987 4be2 3595 asr r197988 4be4 2795 ror r187989 4be6 3595 asr r197990 4be8 2795 ror r187991 4bea 3093 0000 sts (StickGasHover.2444)+1,r197992 4bee 2093 0000 sts StickGasHover.2444,r187993 4bf2 8091 0000 lds r24,UBat7994 4bf6 9091 0000 lds r25,(UBat)+17995 4bfa 6091 0000 lds r22,LowVoltageWarning7996 4bfe 6C01 movw r12,r247997 4c00 2C9D mul r18,r127998 4c02 C001 movw r24,r07999 4c04 2D9D mul r18,r138000 4c06 900D add r25,r08001 4c08 3C9D mul r19,r128002 4c0a 900D add r25,r08003 4c0c 1124 clr r18004 4c0e 70E0 ldi r23,lo8(0)8005 4c10 0E94 0000 call __divmodhi48006 4c14 7093 0000 sts (StickGasHover.2444)+1,r238007 4c18 6093 0000 sts StickGasHover.2444,r228008 4c1c 6634 cpi r22,708009 4c1e 7105 cpc r23,__zero_reg__8010 4c20 04F0 brlt .+28011 4c22 00C0 rjmp .L6328012 4c24 86E4 ldi r24,lo8(70)8013 4c26 90E0 ldi r25,hi8(70)8014 4c28 9093 0000 sts (StickGasHover.2444)+1,r258015 4c2c 8093 0000 sts StickGasHover.2444,r248016 .L628:8017 4c30 8091 0000 lds r24,BaroExpandActive.24518018 4c34 9091 0000 lds r25,(BaroExpandActive.2451)+18019 4c38 892B or r24,r258020 4c3a 01F0 breq .L6338021 4c3c 8091 0000 lds r24,ReadingHeight8022 4c40 9091 0000 lds r25,(ReadingHeight)+18023 4c44 A091 0000 lds r26,(ReadingHeight)+28024 4c48 B091 0000 lds r27,(ReadingHeight)+38025 4c4c 8093 0000 sts SetPointHeight,r248026 4c50 9093 0000 sts (SetPointHeight)+1,r258027 4c54 A093 0000 sts (SetPointHeight)+2,r268028 4c58 B093 0000 sts (SetPointHeight)+3,r278029 .L633:8030 4c5c 0091 0000 lds r16,HoverGas.24458031 4c60 1091 0000 lds r17,(HoverGas.2445)+18032 .L619:8033 4c64 8091 0000 lds r24,ReadingHeight8034 4c68 9091 0000 lds r25,(ReadingHeight)+18035 4c6c A091 0000 lds r26,(ReadingHeight)+28036 4c70 B091 0000 lds r27,(ReadingHeight)+38037 4c74 2091 0000 lds r18,SetPointHeight8038 4c78 3091 0000 lds r19,(SetPointHeight)+18039 4c7c 4091 0000 lds r20,(SetPointHeight)+28040 4c80 5091 0000 lds r21,(SetPointHeight)+38041 4c84 2817 cp r18,r248042 4c86 3907 cpc r19,r258043 4c88 4A07 cpc r20,r268044 4c8a 5B07 cpc r21,r278045 4c8c 04F0 brlt .L6358046 4c8e 8091 0000 lds r24,ParamSet+888047 4c92 80FD sbrc r24,08048 4c94 00C0 rjmp .L6368049 .L635:8050 4c96 8091 0000 lds r24,BaroExpandActive.24518051 4c9a 9091 0000 lds r25,(BaroExpandActive.2451)+18052 4c9e 892B or r24,r258053 4ca0 01F4 brne .+28054 4ca2 00C0 rjmp .L6378055 4ca4 0091 0000 lds r16,HoverGas.24458056 4ca8 1091 0000 lds r17,(HoverGas.2445)+18057 .L638:8058 4cac 6091 0000 lds r22,NCGpsZ8059 4cb0 7727 clr r238060 4cb2 67FD sbrc r22,78061 4cb4 7095 com r238062 4cb6 872F mov r24,r238063 4cb8 972F mov r25,r238064 4cba 2091 0000 lds r18,ParamSet+168065 4cbe 30E0 ldi r19,lo8(0)8066 4cc0 40E0 ldi r20,lo8(0)8067 4cc2 50E0 ldi r21,hi8(0)8068 4cc4 0E94 0000 call __mulsi38069 4cc8 20E8 ldi r18,lo8(128)8070 4cca 30E0 ldi r19,hi8(128)8071 4ccc 40E0 ldi r20,hlo8(128)8072 4cce 50E0 ldi r21,hhi8(128)8073 4cd0 0E94 0000 call __divmodsi48074 4cd4 A901 movw r20,r188075 4cd6 C901 movw r24,r188076 4cd8 2FEF ldi r18,hi8(-127)8077 4cda 4138 cpi r20,lo8(-127)8078 4cdc 5207 cpc r21,r188079 4cde 04F4 brge .L6528080 4ce0 81E8 ldi r24,lo8(-127)8081 4ce2 9FEF ldi r25,hi8(-127)8082 .L652:8083 4ce4 081B sub r16,r248084 4ce6 190B sbc r17,r258085 4ce8 B801 movw r22,r168086 4cea 8827 clr r248087 4cec 77FD sbrc r23,78088 4cee 8095 com r248089 4cf0 982F mov r25,r248090 4cf2 EDE0 ldi r30,138091 4cf4 660F 1: lsl r228092 4cf6 771F rol r238093 4cf8 881F rol r248094 4cfa 991F rol r258095 4cfc EA95 dec r308096 4cfe 01F4 brne 1b8097 4d00 A981 ldd r26,Y+18098 4d02 BA81 ldd r27,Y+28099 4d04 9D01 movw r18,r268100 4d06 4427 clr r208101 4d08 37FD sbrc r19,78102 4d0a 4095 com r208103 4d0c 542F mov r21,r208104 4d0e 0E94 0000 call __divmodsi48105 4d12 8091 0000 lds r24,FilterHCGas.24418106 4d16 9091 0000 lds r25,(FilterHCGas.2441)+18107 4d1a AC01 movw r20,r248108 4d1c 440F lsl r208109 4d1e 551F rol r218110 4d20 480F add r20,r248111 4d22 591F adc r21,r258112 4d24 420F add r20,r188113 4d26 531F adc r21,r198114 4d28 57FD sbrc r21,78115 4d2a 00C0 rjmp .L8018116 .L653:8117 4d2c 5595 asr r218118 4d2e 4795 ror r208119 4d30 5595 asr r218120 4d32 4795 ror r208121 4d34 5093 0000 sts (FilterHCGas.2441)+1,r218122 4d38 4093 0000 sts FilterHCGas.2441,r208123 4d3c 8091 0000 lds r24,ParamSet+98124 4d40 282F mov r18,r248125 4d42 30E0 ldi r19,lo8(0)8126 4d44 220F lsl r188127 4d46 331F rol r198128 4d48 220F lsl r188129 4d4a 331F rol r198130 4d4c 4217 cp r20,r188131 4d4e 5307 cpc r21,r198132 4d50 04F0 brlt .L7318133 4d52 8091 0000 lds r24,ParamSet+228134 4d56 282F mov r18,r248135 4d58 30E0 ldi r19,lo8(0)8136 4d5a 2451 subi r18,lo8(-(-20))8137 4d5c 3040 sbci r19,hi8(-(-20))8138 4d5e 220F lsl r188139 4d60 331F rol r198140 4d62 220F lsl r188141 4d64 331F rol r198142 4d66 2417 cp r18,r208143 4d68 3507 cpc r19,r218144 4d6a 04F4 brge .L6558145 .L731:8146 4d6c 3093 0000 sts (FilterHCGas.2441)+1,r198147 4d70 2093 0000 sts FilterHCGas.2441,r188148 .L655:8149 4d74 8091 0000 lds r24,ParamSet+888150 4d78 80FD sbrc r24,08151 4d7a 00C0 rjmp .L7258152 4d7c 8091 0000 lds r24,FilterHCGas.24418153 4d80 9091 0000 lds r25,(FilterHCGas.2441)+18154 .L656:8155 4d84 99AF std Y+57,r258156 4d86 88AF std Y+56,r248157 4d88 00C0 rjmp .L6368158 .L616:8159 4d8a 8091 0000 lds r24,ParamSet+178160 4d8e 8823 tst r248161 4d90 01F0 breq .+28162 4d92 00C0 rjmp .L8028163 4d94 8091 0000 lds r24,HoverGas.24458164 4d98 9091 0000 lds r25,HoverGas.2445+18165 4d9c 9C01 movw r18,r248166 4d9e 37FD sbrc r19,78167 4da0 00C0 rjmp .L8038168 .L659:8169 4da2 3595 asr r198170 4da4 2795 ror r188171 4da6 3595 asr r198172 4da8 2795 ror r188173 4daa 3093 0000 sts (StickGasHover.2444)+1,r198174 4dae 2093 0000 sts StickGasHover.2444,r188175 4db2 8091 0000 lds r24,UBat8176 4db6 9091 0000 lds r25,(UBat)+18177 4dba 6091 0000 lds r22,LowVoltageWarning8178 4dbe 5C01 movw r10,r248179 4dc0 2A9D mul r18,r108180 4dc2 C001 movw r24,r08181 4dc4 2B9D mul r18,r118182 4dc6 900D add r25,r08183 4dc8 3A9D mul r19,r108184 4dca 900D add r25,r08185 4dcc 1124 clr r18186 4dce 70E0 ldi r23,lo8(0)8187 4dd0 0E94 0000 call __divmodhi48188 4dd4 7093 0000 sts (StickGasHover.2444)+1,r238189 4dd8 6093 0000 sts StickGasHover.2444,r228190 .L658:8191 4ddc 8091 0000 lds r24,StickGasHover.24448192 4de0 9091 0000 lds r25,(StickGasHover.2444)+18193 4de4 8634 cpi r24,708194 4de6 9105 cpc r25,__zero_reg__8195 4de8 04F0 brlt .+28196 4dea 00C0 rjmp .L6608197 4dec 86E4 ldi r24,lo8(70)8198 4dee 90E0 ldi r25,hi8(70)8199 4df0 9093 0000 sts (StickGasHover.2444)+1,r258200 4df4 8093 0000 sts StickGasHover.2444,r248201 .L661:8202 4df8 C8AC ldd r12,Y+568203 4dfa D9AC ldd r13,Y+578204 4dfc D092 0000 sts (FilterHCGas.2441)+1,r138205 4e00 C092 0000 sts FilterHCGas.2441,r128206 .L636:8207 4e04 8091 0000 lds r24,MKFlags8208 4e08 81FD sbrc r24,18209 4e0a 00C0 rjmp .+48210 4e0c 0C94 0000 jmp .L6048211 4e10 8091 0000 lds r24,MKFlags8212 4e14 84FF sbrs r24,48213 4e16 00C0 rjmp .+48214 4e18 0C94 0000 jmp .L6048215 4e1c 8091 0000 lds r24,HoverGasFilter.24488216 4e20 9091 0000 lds r25,(HoverGasFilter.2448)+18217 4e24 A091 0000 lds r26,(HoverGasFilter.2448)+28218 4e28 B091 0000 lds r27,(HoverGasFilter.2448)+38219 4e2c 0097 sbiw r24,08220 4e2e A105 cpc r26,__zero_reg__8221 4e30 B105 cpc r27,__zero_reg__8222 4e32 01F4 brne .L6628223 4e34 28AD ldd r18,Y+568224 4e36 39AD ldd r19,Y+578225 4e38 C901 movw r24,r188226 4e3a AA27 clr r268227 4e3c 97FD sbrc r25,78228 4e3e A095 com r268229 4e40 BA2F mov r27,r268230 4e42 1CE0 ldi r17,128231 4e44 880F 1: lsl r248232 4e46 991F rol r258233 4e48 AA1F rol r268234 4e4a BB1F rol r278235 4e4c 1A95 dec r178236 4e4e 01F4 brne 1b8237 4e50 8093 0000 sts HoverGasFilter.2448,r248238 4e54 9093 0000 sts (HoverGasFilter.2448)+1,r258239 4e58 A093 0000 sts (HoverGasFilter.2448)+2,r268240 4e5c B093 0000 sts (HoverGasFilter.2448)+3,r278241 .L662:8242 4e60 8091 0000 lds r24,ReadingVario8243 4e64 9091 0000 lds r25,(ReadingVario)+18244 4e68 97FD sbrc r25,78245 4e6a 00C0 rjmp .L8048246 .L663:8247 4e6c 8436 cpi r24,1008248 4e6e 9105 cpc r25,__zero_reg__8249 4e70 04F0 brlt .+48250 4e72 0C94 0000 jmp .L6048251 4e76 48AD ldd r20,Y+568252 4e78 59AD ldd r21,Y+578253 4e7a BA01 movw r22,r208254 4e7c 8827 clr r248255 4e7e 77FD sbrc r23,78256 4e80 8095 com r248257 4e82 982F mov r25,r248258 4e84 A981 ldd r26,Y+18259 4e86 BA81 ldd r27,Y+28260 4e88 9D01 movw r18,r268261 4e8a 4427 clr r208262 4e8c 37FD sbrc r19,78263 4e8e 4095 com r208264 4e90 542F mov r21,r208265 4e92 0E94 0000 call __mulsi38266 4e96 20E0 ldi r18,lo8(8192)8267 4e98 30E2 ldi r19,hi8(8192)8268 4e9a 40E0 ldi r20,hlo8(8192)8269 4e9c 50E0 ldi r21,hhi8(8192)8270 4e9e 0E94 0000 call __divmodsi48271 4ea2 7901 movw r14,r188272 4ea4 8A01 movw r16,r208273 4ea6 8091 0000 lds r24,ModelIsFlying8274 4eaa 9091 0000 lds r25,(ModelIsFlying)+18275 4eae B7E0 ldi r27,hi8(2000)8276 4eb0 803D cpi r24,lo8(2000)8277 4eb2 9B07 cpc r25,r278278 4eb4 00F0 brlo .+28279 4eb6 00C0 rjmp .L6648280 4eb8 2091 0000 lds r18,HoverGasFilter.24488281 4ebc 3091 0000 lds r19,(HoverGasFilter.2448)+18282 4ec0 4091 0000 lds r20,(HoverGasFilter.2448)+28283 4ec4 5091 0000 lds r21,(HoverGasFilter.2448)+38284 4ec8 DA01 movw r26,r208285 4eca C901 movw r24,r188286 4ecc F9E0 ldi r31,98287 4ece B695 1: lsr r278288 4ed0 A795 ror r268289 4ed2 9795 ror r258290 4ed4 8795 ror r248291 4ed6 FA95 dec r318292 4ed8 01F4 brne 1b8293 4eda 5901 movw r10,r188294 4edc 6A01 movw r12,r208295 4ede A81A sub r10,r248296 4ee0 B90A sbc r11,r258297 4ee2 CA0A sbc r12,r268298 4ee4 DB0A sbc r13,r278299 4ee6 A801 movw r20,r168300 4ee8 9701 movw r18,r148301 4eea 220F lsl r188302 4eec 331F rol r198303 4eee 441F rol r208304 4ef0 551F rol r218305 4ef2 220F lsl r188306 4ef4 331F rol r198307 4ef6 441F rol r208308 4ef8 551F rol r218309 4efa 220F lsl r188310 4efc 331F rol r198311 4efe 441F rol r208312 4f00 551F rol r218313 4f02 2A0D add r18,r108314 4f04 3B1D adc r19,r118315 4f06 4C1D adc r20,r128316 4f08 5D1D adc r21,r138317 4f0a 2093 0000 sts HoverGasFilter.2448,r188318 4f0e 3093 0000 sts (HoverGasFilter.2448)+1,r198319 4f12 4093 0000 sts (HoverGasFilter.2448)+2,r208320 4f16 5093 0000 sts (HoverGasFilter.2448)+3,r218321 .L665:8322 4f1a DA01 movw r26,r208323 4f1c C901 movw r24,r188324 4f1e 2CE0 ldi r18,128325 4f20 B695 1: lsr r278326 4f22 A795 ror r268327 4f24 9795 ror r258328 4f26 8795 ror r248329 4f28 2A95 dec r188330 4f2a 01F4 brne 1b8331 4f2c FC01 movw r30,r248332 4f2e 9093 0000 sts (HoverGas.2445)+1,r258333 4f32 8093 0000 sts HoverGas.2445,r248334 4f36 6091 0000 lds r22,ParamSet+158335 4f3a 6623 tst r228336 4f3c 01F4 brne .+28337 4f3e 00C0 rjmp .L6688338 4f40 70E0 ldi r23,lo8(0)8339 4f42 0E94 0000 call __divmodhi48340 4f46 CB01 movw r24,r228341 4f48 9F01 movw r18,r308342 4f4a 261B sub r18,r228343 4f4c 370B sbc r19,r238344 4f4e 3093 0000 sts (HoverGasMin.2446)+1,r198345 4f52 2093 0000 sts HoverGasMin.2446,r188346 4f56 8E0F add r24,r308347 4f58 9F1F adc r25,r318348 4f5a 9093 0000 sts (HoverGasMax.2447)+1,r258349 4f5e 8093 0000 sts HoverGasMax.2447,r248350 4f62 0C94 0000 jmp .L6048351 .L605:8352 4f66 8091 0000 lds r24,AdAirPressure8353 4f6a 9091 0000 lds r25,(AdAirPressure)+18354 4f6e 8C59 subi r24,lo8(924)8355 4f70 9340 sbci r25,hi8(924)8356 4f72 04F0 brlt .+28357 4f74 00C0 rjmp .L8058358 4f76 8091 0000 lds r24,AdAirPressure8359 4f7a 9091 0000 lds r25,(AdAirPressure)+18360 4f7e 8436 cpi r24,1008361 4f80 9105 cpc r25,__zero_reg__8362 4f82 04F0 brlt .+28363 4f84 00C0 rjmp .L6098364 4f86 87B5 in r24,71-328365 4f88 8B30 cpi r24,lo8(11)8366 4f8a 00F4 brsh .+28367 4f8c 00C0 rjmp .L6108368 4f8e 8091 0000 lds r24,ExpandBaro8369 4f92 8F5F subi r24,lo8(-(1))8370 .L729:8371 4f94 8093 0000 sts ExpandBaro,r248372 4f98 26EF ldi r18,lo8(-10)8373 4f9a 8202 muls r24,r188374 4f9c C001 movw r24,r08375 4f9e 1124 clr r18376 4fa0 2091 0000 lds r18,PressureSensorOffset8377 4fa4 280F add r18,r248378 4fa6 27BD out 71-32,r188379 4fa8 8CE2 ldi r24,lo8(300)8380 4faa 91E0 ldi r25,hi8(300)8381 4fac 9093 0000 sts (BeepTime)+1,r258382 4fb0 8093 0000 sts BeepTime,r248383 4fb4 8EE5 ldi r24,lo8(350)8384 4fb6 91E0 ldi r25,hi8(350)8385 4fb8 9093 0000 sts (BaroExpandActive.2451)+1,r258386 4fbc 8093 0000 sts BaroExpandActive.2451,r248387 4fc0 0C94 0000 jmp .L6068388 .L470:8389 4fc4 1092 0000 sts delay_stopmotors.2418,__zero_reg__8390 4fc8 0C94 0000 jmp .L4108391 .L512:8392 4fcc E090 0000 lds r14,ParamSet+238393 4fd0 FF24 clr r158394 4fd2 00E0 ldi r16,lo8(0)8395 4fd4 10E0 ldi r17,hi8(0)8396 4fd6 68A5 ldd r22,Y+408397 4fd8 79A5 ldd r23,Y+418398 4fda 8AA5 ldd r24,Y+428399 4fdc 9BA5 ldd r25,Y+438400 4fde A801 movw r20,r168401 4fe0 9701 movw r18,r148402 4fe2 0E94 0000 call __divmodsi48403 4fe6 8091 0000 lds r24,AccNick8404 4fea 9091 0000 lds r25,(AccNick)+18405 4fee AA27 clr r268406 4ff0 97FD sbrc r25,78407 4ff2 A095 com r268408 4ff4 BA2F mov r27,r268409 4ff6 281B sub r18,r248410 4ff8 390B sbc r19,r258411 4ffa 4A0B sbc r20,r268412 4ffc 5B0B sbc r21,r278413 4ffe CA01 movw r24,r208414 5000 B901 movw r22,r188415 5002 20E1 ldi r18,lo8(16)8416 5004 30E0 ldi r19,hi8(16)8417 5006 40E0 ldi r20,hlo8(16)8418 5008 50E0 ldi r21,hhi8(16)8419 500a 0E94 0000 call __divmodsi48420 500e 522E mov r5,r188421 5010 432E mov r4,r198422 5012 342E mov r3,r208423 5014 252E mov r2,r218424 5016 4201 movw r8,r48425 5018 3101 movw r6,r28426 501a 6CA1 ldd r22,Y+368427 501c 7DA1 ldd r23,Y+378428 501e 8EA1 ldd r24,Y+388429 5020 9FA1 ldd r25,Y+398430 5022 A801 movw r20,r168431 5024 9701 movw r18,r148432 5026 0E94 0000 call __divmodsi48433 502a 8091 0000 lds r24,AccRoll8434 502e 9091 0000 lds r25,(AccRoll)+18435 5032 AA27 clr r268436 5034 97FD sbrc r25,78437 5036 A095 com r268438 5038 BA2F mov r27,r268439 503a 281B sub r18,r248440 503c 390B sbc r19,r258441 503e 4A0B sbc r20,r268442 5040 5B0B sbc r21,r278443 5042 CA01 movw r24,r208444 5044 B901 movw r22,r188445 5046 20E1 ldi r18,lo8(16)8446 5048 30E0 ldi r19,hi8(16)8447 504a 40E0 ldi r20,hlo8(16)8448 504c 50E0 ldi r21,hhi8(16)8449 504e 0E94 0000 call __divmodsi48450 5052 122F mov r17,r188451 5054 032F mov r16,r198452 5056 F42E mov r15,r208453 5058 E52E mov r14,r218454 505a 822F mov r24,r188455 505c 932F mov r25,r198456 505e A42F mov r26,r208457 5060 B52F mov r27,r218458 5062 5C01 movw r10,r248459 5064 6D01 movw r12,r268460 5066 8091 0000 lds r24,MaxStickNick8461 506a 9091 0000 lds r25,(MaxStickNick)+18462 506e 8134 cpi r24,658463 5070 9105 cpc r25,__zero_reg__8464 5072 04F4 brge .+28465 5074 00C0 rjmp .L8068466 .L522:8467 5076 652D mov r22,r58468 5078 742D mov r23,r48469 507a 832D mov r24,r38470 507c 922D mov r25,r28471 507e 23E0 ldi r18,lo8(3)8472 5080 30E0 ldi r19,hi8(3)8473 5082 40E0 ldi r20,hlo8(3)8474 5084 50E0 ldi r21,hhi8(3)8475 5086 0E94 0000 call __divmodsi48476 508a 922E mov r9,r188477 508c 832E mov r8,r198478 508e 742E mov r7,r208479 5090 652E mov r6,r218480 5092 612F mov r22,r178481 5094 702F mov r23,r168482 5096 8F2D mov r24,r158483 5098 9E2D mov r25,r148484 509a 23E0 ldi r18,lo8(3)8485 509c 30E0 ldi r19,hi8(3)8486 509e 40E0 ldi r20,hlo8(3)8487 50a0 50E0 ldi r21,hhi8(3)8488 50a2 0E94 0000 call __divmodsi48489 50a6 C901 movw r24,r188490 50a8 DA01 movw r26,r208491 50aa 5C01 movw r10,r248492 50ac 6D01 movw r12,r268493 .L523:8494 50ae E091 0000 lds r30,ParamSet+38495 50b2 F0E0 ldi r31,lo8(0)8496 50b4 EE0F lsl r308497 50b6 FF1F rol r318498 50b8 E050 subi r30,lo8(-(PPM_in))8499 50ba F040 sbci r31,hi8(-(PPM_in))8500 50bc 0190 ld __tmp_reg__,Z+8501 50be F081 ld r31,Z8502 50c0 E02D mov r30,__tmp_reg__8503 50c2 F7FD sbrc r31,78504 50c4 00C0 rjmp .L8078505 .L525:8506 50c6 7A97 sbiw r30,268507 50c8 04F0 brlt .L5248508 50ca 692D mov r22,r98509 50cc 782D mov r23,r88510 50ce 872D mov r24,r78511 50d0 962D mov r25,r68512 50d2 23E0 ldi r18,lo8(3)8513 50d4 30E0 ldi r19,hi8(3)8514 50d6 40E0 ldi r20,hlo8(3)8515 50d8 50E0 ldi r21,hhi8(3)8516 50da 0E94 0000 call __divmodsi48517 50de 922E mov r9,r188518 50e0 832E mov r8,r198519 50e2 742E mov r7,r208520 50e4 652E mov r6,r218521 50e6 C601 movw r24,r128522 50e8 B501 movw r22,r108523 50ea 23E0 ldi r18,lo8(3)8524 50ec 30E0 ldi r19,hi8(3)8525 50ee 40E0 ldi r20,hlo8(3)8526 50f0 50E0 ldi r21,hhi8(3)8527 50f2 0E94 0000 call __divmodsi48528 50f6 C901 movw r24,r188529 50f8 DA01 movw r26,r208530 50fa 5C01 movw r10,r248531 50fc 6D01 movw r12,r268532 .L524:8533 50fe 292D mov r18,r98534 5100 382D mov r19,r88535 5102 472D mov r20,r78536 5104 562D mov r21,r68537 5106 C901 movw r24,r188538 5108 DA01 movw r26,r208539 510a BC01 movw r22,r248540 510c CD01 movw r24,r268541 510e 6132 cpi r22,lo8(33)8542 5110 7105 cpc r23,__zero_reg__8543 5112 8105 cpc r24,__zero_reg__8544 5114 9105 cpc r25,__zero_reg__8545 5116 04F0 brlt .L5268546 5118 60E2 ldi r22,lo8(32)8547 511a 70E0 ldi r23,hi8(32)8548 511c 80E0 ldi r24,hlo8(32)8549 511e 90E0 ldi r25,hhi8(32)8550 .L526:8551 5120 7B01 movw r14,r228552 5122 8C01 movw r16,r248553 5124 603E cpi r22,lo8(-32)8554 5126 3FEF ldi r19,hi8(-32)8555 5128 7307 cpc r23,r198556 512a 3FEF ldi r19,hlo8(-32)8557 512c 8307 cpc r24,r198558 512e 3FEF ldi r19,hhi8(-32)8559 5130 9307 cpc r25,r198560 5132 04F4 brge .L5278561 5134 90EE ldi r25,lo8(-32)8562 5136 E92E mov r14,r258563 5138 9FEF ldi r25,hi8(-32)8564 513a F92E mov r15,r258565 513c 9FEF ldi r25,hlo8(-32)8566 513e 092F mov r16,r258567 5140 9FEF ldi r25,hhi8(-32)8568 5142 192F mov r17,r258569 .L527:8570 5144 40EE ldi r20,lo8(-32)8571 5146 A416 cp r10,r208572 5148 4FEF ldi r20,hi8(-32)8573 514a B406 cpc r11,r208574 514c 4FEF ldi r20,hlo8(-32)8575 514e C406 cpc r12,r208576 5150 4FEF ldi r20,hhi8(-32)8577 5152 D406 cpc r13,r208578 5154 04F0 brlt .+28579 5156 00C0 rjmp .L5288580 5158 80EE ldi r24,lo8(-32)8581 515a A82E mov r10,r248582 515c 8FEF ldi r24,hi8(-32)8583 515e B82E mov r11,r248584 5160 8FEF ldi r24,hlo8(-32)8585 5162 C82E mov r12,r248586 5164 8FEF ldi r24,hhi8(-32)8587 5166 D82E mov r13,r248588 5168 00C0 rjmp .L5218589 .L802:8590 516a 8093 0000 sts StickGasHover.2444,r248591 516e 1092 0000 sts StickGasHover.2444+1,__zero_reg__8592 5172 00C0 rjmp .L6588593 .L798:8594 5174 8091 0000 lds r24,FCParam+18595 5178 2091 0000 lds r18,ExternHeightValue8596 517c 3091 0000 lds r19,(ExternHeightValue)+18597 5180 280F add r18,r248598 5182 311D adc r19,__zero_reg__8599 5184 8091 0000 lds r24,ParamSet+138600 5188 90E0 ldi r25,lo8(0)8601 518a FC01 movw r30,r248602 518c 2E9F mul r18,r308603 518e C001 movw r24,r08604 5190 2F9F mul r18,r318605 5192 900D add r25,r08606 5194 3E9F mul r19,r308607 5196 900D add r25,r08608 5198 1124 clr r18609 519a AA27 clr r268610 519c 97FD sbrc r25,78611 519e A095 com r268612 51a0 BA2F mov r27,r268613 51a2 8093 0000 sts SetPointHeight,r248614 51a6 9093 0000 sts (SetPointHeight)+1,r258615 51aa A093 0000 sts (SetPointHeight)+2,r268616 51ae B093 0000 sts (SetPointHeight)+3,r278617 51b2 00C0 rjmp .L6148618 .L612:8619 51b4 81E0 ldi r24,lo8(1)8620 51b6 8093 0000 sts HCActive.2443,r248621 51ba 88EC ldi r24,lo8(-56)8622 51bc 8093 0000 sts delay.2449,r248623 51c0 00C0 rjmp .L6138624 .L447:8625 51c2 8081 ld r24,Z8626 51c4 9181 ldd r25,Z+18627 51c6 855B subi r24,lo8(-75)8628 51c8 9F4F sbci r25,hi8(-75)8629 51ca 04F0 brlt .+28630 51cc 00C0 rjmp .L4648631 51ce 8091 0000 lds r24,delay_neutral.24168632 51d2 8F5F subi r24,lo8(-(1))8633 51d4 8093 0000 sts delay_neutral.2416,r248634 51d8 893C cpi r24,lo8(-55)8635 51da 00F4 brsh .+28636 51dc 00C0 rjmp .L4468637 51de 1092 0000 sts delay_neutral.2416,__zero_reg__8638 51e2 3BE0 ldi r19,lo8(11)8639 51e4 3D15 cp r19,r138640 51e6 00F4 brsh .+28641 51e8 00C0 rjmp .L4668642 51ea 2998 cbi 37-32,18643 .L467:8644 51ec 1092 0000 sts (ModelIsFlying)+1,__zero_reg__8645 51f0 1092 0000 sts ModelIsFlying,__zero_reg__8646 51f4 0E94 0000 call Servo_Off8647 51f8 81E0 ldi r24,lo8(1)8648 .L726:8649 51fa 0E94 0000 call SetNeutral8650 51fe 0E94 0000 call Servo_On8651 5202 0E94 0000 call GetActiveParamSet8652 5206 68E7 ldi r22,lo8(120)8653 5208 70E0 ldi r23,hi8(120)8654 520a 0E94 0000 call Beep8655 520e 8091 0000 lds r24,ParamSet+28656 5212 A82F mov r26,r248657 5214 B0E0 ldi r27,lo8(0)8658 5216 AA0F lsl r268659 5218 BB1F rol r278660 521a 00C0 rjmp .L4468661 .L805:8662 521c 87B5 in r24,71-328663 521e 853F cpi r24,lo8(-11)8664 5220 00F0 brlo .+28665 5222 00C0 rjmp .L6088666 5224 8091 0000 lds r24,ExpandBaro8667 5228 8150 subi r24,lo8(-(-1))8668 522a 00C0 rjmp .L7298669 .L806:8670 522c 8091 0000 lds r24,MaxStickRoll8671 5230 9091 0000 lds r25,(MaxStickRoll)+18672 5234 8134 cpi r24,658673 5236 9105 cpc r25,__zero_reg__8674 5238 04F4 brge .+28675 523a 00C0 rjmp .L5238676 523c 00C0 rjmp .L5228677 .L660:8678 523e 8739 cpi r24,1518679 5240 9105 cpc r25,__zero_reg__8680 5242 04F4 brge .+28681 5244 00C0 rjmp .L6618682 5246 86E9 ldi r24,lo8(150)8683 5248 90E0 ldi r25,hi8(150)8684 524a 9093 0000 sts (StickGasHover.2444)+1,r258685 524e 8093 0000 sts StickGasHover.2444,r248686 5252 00C0 rjmp .L6618687 .L768:8688 5254 81E0 ldi r24,lo8(1)8689 5256 90E0 ldi r25,hi8(1)8690 5258 9093 0000 sts (UpdateCompassCourse.2420)+1,r258691 525c 8093 0000 sts UpdateCompassCourse.2420,r248692 5260 1092 0000 sts ReadingIntegralGyroYaw,__zero_reg__8693 5264 1092 0000 sts (ReadingIntegralGyroYaw)+1,__zero_reg__8694 5268 1092 0000 sts (ReadingIntegralGyroYaw)+2,__zero_reg__8695 526c 1092 0000 sts (ReadingIntegralGyroYaw)+3,__zero_reg__8696 5270 1092 0000 sts SetPointYaw.2410,__zero_reg__8697 5274 1092 0000 sts (SetPointYaw.2410)+1,__zero_reg__8698 5278 1092 0000 sts (SetPointYaw.2410)+2,__zero_reg__8699 527c 1092 0000 sts (SetPointYaw.2410)+3,__zero_reg__8700 5280 0C94 0000 jmp .L4138701 .L766:8702 5284 27E0 ldi r18,lo8(7)8703 5286 30E0 ldi r19,hi8(7)8704 5288 420E add r4,r188705 528a 531E adc r5,r198706 528c 0C94 0000 jmp .L5898707 .L528:8708 5290 51E2 ldi r21,lo8(33)8709 5292 A516 cp r10,r218710 5294 B104 cpc r11,__zero_reg__8711 5296 C104 cpc r12,__zero_reg__8712 5298 D104 cpc r13,__zero_reg__8713 529a 04F4 brge .+28714 529c 00C0 rjmp .L5218715 529e B0E2 ldi r27,lo8(32)8716 52a0 AB2E mov r10,r278717 52a2 B12C mov r11,__zero_reg__8718 52a4 C12C mov r12,__zero_reg__8719 52a6 D12C mov r13,__zero_reg__8720 52a8 00C0 rjmp .L5218721 .L795:8722 52aa F095 com r318723 52ac E195 neg r308724 52ae FF4F sbci r31,lo8(-1)8725 52b0 0C94 0000 jmp .L5168726 .L554:8727 52b4 51E0 ldi r21,lo8(4097)8728 52b6 E516 cp r14,r218729 52b8 50E1 ldi r21,hi8(4097)8730 52ba F506 cpc r15,r218731 52bc 50E0 ldi r21,hlo8(4097)8732 52be 0507 cpc r16,r218733 52c0 50E0 ldi r21,hhi8(4097)8734 52c2 1507 cpc r17,r218735 52c4 04F4 brge .+28736 52c6 00C0 rjmp .L5568737 52c8 8091 0000 lds r24,last_r_p.24298738 52cc 8823 tst r248739 52ce 01F4 brne .+28740 52d0 00C0 rjmp .L5578741 52d2 D801 movw r26,r168742 52d4 C701 movw r24,r148743 52d6 39E0 ldi r19,98744 52d8 B595 1: asr r278745 52da A795 ror r268746 52dc 9795 ror r258747 52de 8795 ror r248748 52e0 3A95 dec r198749 52e2 01F4 brne 1b8750 52e4 A090 0000 lds r10,cnt.24268751 52e8 B090 0000 lds r11,(cnt.2426)+18752 52ec A80E add r10,r248753 52ee B91E adc r11,r258754 52f0 B092 0000 sts (cnt.2426)+1,r118755 52f4 A092 0000 sts cnt.2426,r108756 52f8 C801 movw r24,r168757 52fa B701 movw r22,r148758 52fc 28E0 ldi r18,lo8(8)8759 52fe 30E0 ldi r19,hi8(8)8760 5300 40E0 ldi r20,hlo8(8)8761 5302 50E0 ldi r21,hhi8(8)8762 5304 0E94 0000 call __divmodsi48763 5308 C901 movw r24,r188764 530a DA01 movw r26,r208765 530c 8093 0000 sts CorrectionRoll.2414,r248766 5310 9093 0000 sts (CorrectionRoll.2414)+1,r258767 5314 A093 0000 sts (CorrectionRoll.2414)+2,r268768 5318 B093 0000 sts (CorrectionRoll.2414)+3,r278769 531c 8958 subi r24,lo8(5001)8770 531e 9341 sbci r25,hi8(5001)8771 5320 A040 sbci r26,hlo8(5001)8772 5322 B040 sbci r27,hhi8(5001)8773 5324 04F0 brlt .L5588774 5326 88E8 ldi r24,lo8(5000)8775 5328 93E1 ldi r25,hi8(5000)8776 532a A0E0 ldi r26,hlo8(5000)8777 532c B0E0 ldi r27,hhi8(5000)8778 532e 8093 0000 sts CorrectionRoll.2414,r248779 5332 9093 0000 sts (CorrectionRoll.2414)+1,r258780 5336 A093 0000 sts (CorrectionRoll.2414)+2,r268781 533a B093 0000 sts (CorrectionRoll.2414)+3,r278782 .L558:8783 533e 6091 0000 lds r22,CorrectionRoll.24148784 5342 7091 0000 lds r23,(CorrectionRoll.2414)+18785 5346 8091 0000 lds r24,(CorrectionRoll.2414)+28786 534a 9091 0000 lds r25,(CorrectionRoll.2414)+38787 534e 20E0 ldi r18,lo8(256)8788 5350 31E0 ldi r19,hi8(256)8789 5352 40E0 ldi r20,hlo8(256)8790 5354 50E0 ldi r21,hhi8(256)8791 5356 0E94 0000 call __divmodsi48792 535a 8091 0000 lds r24,AttitudeCorrectionRoll8793 535e 9091 0000 lds r25,(AttitudeCorrectionRoll)+18794 5362 820F add r24,r188795 5364 931F adc r25,r198796 5366 9093 0000 sts (AttitudeCorrectionRoll)+1,r258797 536a 8093 0000 sts AttitudeCorrectionRoll,r248798 .L559:8799 536e 70E0 ldi r23,lo8(-4096)8800 5370 E716 cp r14,r238801 5372 70EF ldi r23,hi8(-4096)8802 5374 F706 cpc r15,r238803 5376 7FEF ldi r23,hlo8(-4096)8804 5378 0707 cpc r16,r238805 537a 7FEF ldi r23,hhi8(-4096)8806 537c 1707 cpc r17,r238807 537e 04F0 brlt .+28808 5380 00C0 rjmp .L5608809 5382 8091 0000 lds r24,last_r_n.24308810 5386 8823 tst r248811 5388 01F4 brne .+28812 538a 00C0 rjmp .L5618813 538c 8827 clr r248814 538e 9927 clr r258815 5390 DC01 movw r26,r248816 5392 8E19 sub r24,r148817 5394 9F09 sbc r25,r158818 5396 A00B sbc r26,r168819 5398 B10B sbc r27,r178820 539a 29E0 ldi r18,98821 539c B595 1: asr r278822 539e A795 ror r268823 53a0 9795 ror r258824 53a2 8795 ror r248825 53a4 2A95 dec r188826 53a6 01F4 brne 1b8827 53a8 A80E add r10,r248828 53aa B91E adc r11,r258829 53ac B092 0000 sts (cnt.2426)+1,r118830 53b0 A092 0000 sts cnt.2426,r108831 53b4 C801 movw r24,r168832 53b6 B701 movw r22,r148833 53b8 28E0 ldi r18,lo8(8)8834 53ba 30E0 ldi r19,hi8(8)8835 53bc 40E0 ldi r20,hlo8(8)8836 53be 50E0 ldi r21,hhi8(8)8837 53c0 0E94 0000 call __divmodsi48838 53c4 C901 movw r24,r188839 53c6 DA01 movw r26,r208840 53c8 8093 0000 sts CorrectionRoll.2414,r248841 53cc 9093 0000 sts (CorrectionRoll.2414)+1,r258842 53d0 A093 0000 sts (CorrectionRoll.2414)+2,r268843 53d4 B093 0000 sts (CorrectionRoll.2414)+3,r278844 53d8 8857 subi r24,lo8(-5000)8845 53da 9C4E sbci r25,hi8(-5000)8846 53dc AF4F sbci r26,hlo8(-5000)8847 53de BF4F sbci r27,hhi8(-5000)8848 53e0 04F4 brge .L5628849 53e2 88E7 ldi r24,lo8(-5000)8850 53e4 9CEE ldi r25,hi8(-5000)8851 53e6 AFEF ldi r26,hlo8(-5000)8852 53e8 BFEF ldi r27,hhi8(-5000)8853 53ea 8093 0000 sts CorrectionRoll.2414,r248854 53ee 9093 0000 sts (CorrectionRoll.2414)+1,r258855 53f2 A093 0000 sts (CorrectionRoll.2414)+2,r268856 53f6 B093 0000 sts (CorrectionRoll.2414)+3,r278857 .L562:8858 53fa 6091 0000 lds r22,CorrectionRoll.24148859 53fe 7091 0000 lds r23,(CorrectionRoll.2414)+18860 5402 8091 0000 lds r24,(CorrectionRoll.2414)+28861 5406 9091 0000 lds r25,(CorrectionRoll.2414)+38862 540a 20E0 ldi r18,lo8(256)8863 540c 31E0 ldi r19,hi8(256)8864 540e 40E0 ldi r20,hlo8(256)8865 5410 50E0 ldi r21,hhi8(256)8866 5412 0E94 0000 call __divmodsi48867 5416 8091 0000 lds r24,AttitudeCorrectionRoll8868 541a 9091 0000 lds r25,(AttitudeCorrectionRoll)+18869 541e 820F add r24,r188870 5420 931F adc r25,r198871 5422 9093 0000 sts (AttitudeCorrectionRoll)+1,r258872 5426 8093 0000 sts AttitudeCorrectionRoll,r248873 542a 0C94 0000 jmp .L5638874 .L539:8875 542e 31E0 ldi r19,lo8(4097)8876 5430 E316 cp r14,r198877 5432 30E1 ldi r19,hi8(4097)8878 5434 F306 cpc r15,r198879 5436 30E0 ldi r19,hlo8(4097)8880 5438 0307 cpc r16,r198881 543a 30E0 ldi r19,hhi8(4097)8882 543c 1307 cpc r17,r198883 543e 04F4 brge .+28884 5440 00C0 rjmp .L5418885 5442 8091 0000 lds r24,last_n_p.24278886 5446 8823 tst r248887 5448 01F4 brne .+28888 544a 00C0 rjmp .L5428889 544c D801 movw r26,r168890 544e C701 movw r24,r148891 5450 59E0 ldi r21,98892 5452 B595 1: asr r278893 5454 A795 ror r268894 5456 9795 ror r258895 5458 8795 ror r248896 545a 5A95 dec r218897 545c 01F4 brne 1b8898 545e A090 0000 lds r10,cnt.24268899 5462 B090 0000 lds r11,(cnt.2426)+18900 5466 A80E add r10,r248901 5468 B91E adc r11,r258902 546a B092 0000 sts (cnt.2426)+1,r118903 546e A092 0000 sts cnt.2426,r108904 5472 C801 movw r24,r168905 5474 B701 movw r22,r148906 5476 28E0 ldi r18,lo8(8)8907 5478 30E0 ldi r19,hi8(8)8908 547a 40E0 ldi r20,hlo8(8)8909 547c 50E0 ldi r21,hhi8(8)8910 547e 0E94 0000 call __divmodsi48911 5482 C901 movw r24,r188912 5484 DA01 movw r26,r208913 5486 8093 0000 sts CorrectionNick.2413,r248914 548a 9093 0000 sts (CorrectionNick.2413)+1,r258915 548e A093 0000 sts (CorrectionNick.2413)+2,r268916 5492 B093 0000 sts (CorrectionNick.2413)+3,r278917 5496 8958 subi r24,lo8(5001)8918 5498 9341 sbci r25,hi8(5001)8919 549a A040 sbci r26,hlo8(5001)8920 549c B040 sbci r27,hhi8(5001)8921 549e 04F0 brlt .L5438922 54a0 88E8 ldi r24,lo8(5000)8923 54a2 93E1 ldi r25,hi8(5000)8924 54a4 A0E0 ldi r26,hlo8(5000)8925 54a6 B0E0 ldi r27,hhi8(5000)8926 54a8 8093 0000 sts CorrectionNick.2413,r248927 54ac 9093 0000 sts (CorrectionNick.2413)+1,r258928 54b0 A093 0000 sts (CorrectionNick.2413)+2,r268929 54b4 B093 0000 sts (CorrectionNick.2413)+3,r278930 .L543:8931 54b8 6091 0000 lds r22,CorrectionNick.24138932 54bc 7091 0000 lds r23,(CorrectionNick.2413)+18933 54c0 8091 0000 lds r24,(CorrectionNick.2413)+28934 54c4 9091 0000 lds r25,(CorrectionNick.2413)+38935 54c8 20E0 ldi r18,lo8(256)8936 54ca 31E0 ldi r19,hi8(256)8937 54cc 40E0 ldi r20,hlo8(256)8938 54ce 50E0 ldi r21,hhi8(256)8939 54d0 0E94 0000 call __divmodsi48940 54d4 8091 0000 lds r24,AttitudeCorrectionNick8941 54d8 9091 0000 lds r25,(AttitudeCorrectionNick)+18942 54dc 820F add r24,r188943 54de 931F adc r25,r198944 54e0 9093 0000 sts (AttitudeCorrectionNick)+1,r258945 54e4 8093 0000 sts AttitudeCorrectionNick,r248946 .L544:8947 54e8 50E0 ldi r21,lo8(-4096)8948 54ea E516 cp r14,r218949 54ec 50EF ldi r21,hi8(-4096)8950 54ee F506 cpc r15,r218951 54f0 5FEF ldi r21,hlo8(-4096)8952 54f2 0507 cpc r16,r218953 54f4 5FEF ldi r21,hhi8(-4096)8954 54f6 1507 cpc r17,r218955 54f8 04F0 brlt .+28956 54fa 00C0 rjmp .L5458957 54fc 8091 0000 lds r24,last_n_n.24288958 5500 8823 tst r248959 5502 01F4 brne .+28960 5504 00C0 rjmp .L5468961 5506 8827 clr r248962 5508 9927 clr r258963 550a DC01 movw r26,r248964 550c 8E19 sub r24,r148965 550e 9F09 sbc r25,r158966 5510 A00B sbc r26,r168967 5512 B10B sbc r27,r178968 5514 49E0 ldi r20,98969 5516 B595 1: asr r278970 5518 A795 ror r268971 551a 9795 ror r258972 551c 8795 ror r248973 551e 4A95 dec r208974 5520 01F4 brne 1b8975 5522 A80E add r10,r248976 5524 B91E adc r11,r258977 5526 B092 0000 sts (cnt.2426)+1,r118978 552a A092 0000 sts cnt.2426,r108979 552e C801 movw r24,r168980 5530 B701 movw r22,r148981 5532 28E0 ldi r18,lo8(8)8982 5534 30E0 ldi r19,hi8(8)8983 5536 40E0 ldi r20,hlo8(8)8984 5538 50E0 ldi r21,hhi8(8)8985 553a 0E94 0000 call __divmodsi48986 553e C901 movw r24,r188987 5540 DA01 movw r26,r208988 5542 8093 0000 sts CorrectionNick.2413,r248989 5546 9093 0000 sts (CorrectionNick.2413)+1,r258990 554a A093 0000 sts (CorrectionNick.2413)+2,r268991 554e B093 0000 sts (CorrectionNick.2413)+3,r278992 5552 8857 subi r24,lo8(-5000)8993 5554 9C4E sbci r25,hi8(-5000)8994 5556 AF4F sbci r26,hlo8(-5000)8995 5558 BF4F sbci r27,hhi8(-5000)8996 555a 04F4 brge .L5478997 555c 88E7 ldi r24,lo8(-5000)8998 555e 9CEE ldi r25,hi8(-5000)8999 5560 AFEF ldi r26,hlo8(-5000)9000 5562 BFEF ldi r27,hhi8(-5000)9001 5564 8093 0000 sts CorrectionNick.2413,r249002 5568 9093 0000 sts (CorrectionNick.2413)+1,r259003 556c A093 0000 sts (CorrectionNick.2413)+2,r269004 5570 B093 0000 sts (CorrectionNick.2413)+3,r279005 .L547:9006 5574 6091 0000 lds r22,CorrectionNick.24139007 5578 7091 0000 lds r23,(CorrectionNick.2413)+19008 557c 8091 0000 lds r24,(CorrectionNick.2413)+29009 5580 9091 0000 lds r25,(CorrectionNick.2413)+39010 5584 20E0 ldi r18,lo8(256)9011 5586 31E0 ldi r19,hi8(256)9012 5588 40E0 ldi r20,hlo8(256)9013 558a 50E0 ldi r21,hhi8(256)9014 558c 0E94 0000 call __divmodsi49015 5590 8091 0000 lds r24,AttitudeCorrectionNick9016 5594 9091 0000 lds r25,(AttitudeCorrectionNick)+19017 5598 820F add r24,r189018 559a 931F adc r25,r199019 559c 9093 0000 sts (AttitudeCorrectionNick)+1,r259020 55a0 8093 0000 sts AttitudeCorrectionNick,r249021 55a4 0C94 0000 jmp .L5489022 .L617:9023 55a8 1092 0000 sts (HeightTrimming.2442)+1,__zero_reg__9024 55ac 1092 0000 sts HeightTrimming.2442,__zero_reg__9025 55b0 08AD ldd r16,Y+569026 55b2 19AD ldd r17,Y+579027 55b4 00C0 rjmp .L6199028 .L608:9029 55b6 8091 0000 lds r24,BaroFlags.24509030 55ba 8260 ori r24,lo8(2)9031 55bc 8093 0000 sts BaroFlags.2450,r249032 55c0 0C94 0000 jmp .L6069033 .L609:9034 55c4 8091 0000 lds r24,BaroFlags.24509035 55c8 8C7F andi r24,lo8(-4)9036 55ca 8093 0000 sts BaroFlags.2450,r249037 55ce 0C94 0000 jmp .L6069038 .L464:9039 55d2 1092 0000 sts delay_neutral.2416,__zero_reg__9040 55d6 00C0 rjmp .L4469041 .L637:9042 55d8 8091 0000 lds r24,ReadingHeight9043 55dc 9091 0000 lds r25,(ReadingHeight)+19044 55e0 A091 0000 lds r26,(ReadingHeight)+29045 55e4 B091 0000 lds r27,(ReadingHeight)+39046 55e8 5C01 movw r10,r249047 55ea A21A sub r10,r189048 55ec B30A sbc r11,r199049 55ee F090 0000 lds r15,FCParam+29050 55f2 8091 0000 lds r24,ReadingVario9051 55f6 9091 0000 lds r25,(ReadingVario)+19052 55fa 97FD sbrc r25,79053 55fc 00C0 rjmp .L8089054 .L639:9055 55fe 9595 asr r259056 5600 8795 ror r249057 5602 9595 asr r259058 5604 8795 ror r249059 5606 9595 asr r259060 5608 8795 ror r249061 560a 8930 cpi r24,99062 560c 9105 cpc r25,__zero_reg__9063 560e 04F0 brlt .+29064 5610 00C0 rjmp .L8099065 5612 1816 cp __zero_reg__,r249066 5614 1906 cpc __zero_reg__,r259067 5616 04F4 brge .+29068 5618 00C0 rjmp .L6419069 561a 889F mul r24,r249070 561c A001 movw r20,r09071 561e 899F mul r24,r259072 5620 500D add r21,r09073 5622 989F mul r25,r249074 5624 500D add r21,r09075 5626 1124 clr r19076 5628 57FF sbrs r21,79077 562a 00C0 rjmp .L6449078 562c 4D5F subi r20,lo8(-(3))9079 562e 5F4F sbci r21,hi8(-(3))9080 .L644:9081 5630 5595 asr r219082 5632 4795 ror r209083 5634 5595 asr r219084 5636 4795 ror r209085 5638 2091 0000 lds r18,ReadingVario9086 563c 3091 0000 lds r19,(ReadingVario)+19087 5640 241B sub r18,r209088 5642 350B sbc r19,r219089 .L643:9090 5644 B901 movw r22,r189091 5646 8827 clr r249092 5648 77FD sbrc r23,79093 564a 8095 com r249094 564c 982F mov r25,r249095 564e 2091 0000 lds r18,FCParam9096 5652 30E0 ldi r19,lo8(0)9097 5654 40E0 ldi r20,lo8(0)9098 5656 50E0 ldi r21,hi8(0)9099 5658 0E94 0000 call __mulsi39100 565c 20E8 ldi r18,lo8(128)9101 565e 30E0 ldi r19,hi8(128)9102 5660 40E0 ldi r20,hlo8(128)9103 5662 50E0 ldi r21,hhi8(128)9104 5664 0E94 0000 call __divmodsi49105 5668 A901 movw r20,r189106 566a 2F3F cpi r18,2559107 566c 3105 cpc r19,__zero_reg__9108 566e 01F0 breq .L6459109 5670 04F0 brlt .L6459110 5672 4FEF ldi r20,lo8(255)9111 5674 50E0 ldi r21,hi8(255)9112 .L645:9113 5676 8F2D mov r24,r159114 5678 90E0 ldi r25,lo8(0)9115 567a A89E mul r10,r249116 567c 9001 movw r18,r09117 567e A99E mul r10,r259118 5680 300D add r19,r09119 5682 B89E mul r11,r249120 5684 300D add r19,r09121 5686 1124 clr r19122 5688 37FD sbrc r19,79123 568a 00C0 rjmp .L8109124 .L646:9125 568c 3595 asr r199126 568e 2795 ror r189127 5690 3595 asr r199128 5692 2795 ror r189129 5694 3595 asr r199130 5696 2795 ror r189131 5698 3595 asr r199132 569a 2795 ror r189133 569c B801 movw r22,r169134 569e 621B sub r22,r189135 56a0 730B sbc r23,r199136 56a2 9B01 movw r18,r229137 56a4 CA01 movw r24,r209138 56a6 7FEF ldi r23,hi8(-127)9139 56a8 4138 cpi r20,lo8(-127)9140 56aa 5707 cpc r21,r239141 56ac 04F4 brge .L6479142 56ae 81E8 ldi r24,lo8(-127)9143 56b0 9FEF ldi r25,hi8(-127)9144 .L647:9145 56b2 6901 movw r12,r189146 56b4 C81A sub r12,r249147 56b6 D90A sbc r13,r259148 56b8 6091 0000 lds r22,ReadingIntegralTop9149 56bc 7091 0000 lds r23,(ReadingIntegralTop)+19150 56c0 8091 0000 lds r24,(ReadingIntegralTop)+29151 56c4 9091 0000 lds r25,(ReadingIntegralTop)+39152 56c8 E090 0000 lds r14,FCParam+39153 56cc FF24 clr r159154 56ce 00E0 ldi r16,lo8(0)9155 56d0 10E0 ldi r17,hi8(0)9156 56d2 20E8 ldi r18,lo8(128)9157 56d4 30E0 ldi r19,hi8(128)9158 56d6 40E0 ldi r20,hlo8(128)9159 56d8 50E0 ldi r21,hhi8(128)9160 56da 0E94 0000 call __divmodsi49161 56de C801 movw r24,r169162 56e0 B701 movw r22,r149163 56e2 0E94 0000 call __mulsi39164 56e6 20E2 ldi r18,lo8(32)9165 56e8 30E0 ldi r19,hi8(32)9166 56ea 40E0 ldi r20,hlo8(32)9167 56ec 50E0 ldi r21,hhi8(32)9168 56ee 0E94 0000 call __divmodsi49169 56f2 C901 movw r24,r189170 56f4 2F3F cpi r18,2559171 56f6 3105 cpc r19,__zero_reg__9172 56f8 01F0 breq .L6489173 56fa 04F0 brlt .L6489174 56fc 8FEF ldi r24,lo8(255)9175 56fe 90E0 ldi r25,hi8(255)9176 .L648:9177 5700 AFEF ldi r26,hi8(-127)9178 5702 8138 cpi r24,lo8(-127)9179 5704 9A07 cpc r25,r269180 5706 04F4 brge .L6499181 5708 81E8 ldi r24,lo8(-127)9182 570a 9FEF ldi r25,hi8(-127)9183 .L649:9184 570c 9601 movw r18,r129185 570e 281B sub r18,r249186 5710 390B sbc r19,r259187 5712 E5E9 ldi r30,lo8(149)9188 5714 F0E0 ldi r31,hi8(149)9189 5716 AE0E add r10,r309190 5718 BF1E adc r11,r319191 571a FBE2 ldi r31,lo8(299)9192 571c AF16 cp r10,r319193 571e F1E0 ldi r31,hi8(299)9194 5720 BF06 cpc r11,r319195 5722 00F0 brlo .+29196 5724 00C0 rjmp .L6509197 5726 8091 0000 lds r24,HeightTrimming.24429198 572a 9091 0000 lds r25,(HeightTrimming.2442)+19199 572e 892B or r24,r259200 5730 01F0 breq .+29201 5732 00C0 rjmp .L6509202 5734 8091 0000 lds r24,HoverGas.24459203 5738 9091 0000 lds r25,(HoverGas.2445)+19204 573c 1816 cp __zero_reg__,r249205 573e 1906 cpc __zero_reg__,r259206 5740 04F0 brlt .+29207 5742 00C0 rjmp .L6509208 5744 0091 0000 lds r16,HoverGasMin.24469209 5748 1091 0000 lds r17,(HoverGasMin.2446)+19210 574c 2017 cp r18,r169211 574e 3107 cpc r19,r179212 5750 04F4 brge .+29213 5752 00C0 rjmp .L6389214 5754 8091 0000 lds r24,HoverGasMax.24479215 5758 9091 0000 lds r25,(HoverGasMax.2447)+19216 575c 8901 movw r16,r189217 575e 8217 cp r24,r189218 5760 9307 cpc r25,r199219 5762 04F0 brlt .+29220 5764 00C0 rjmp .L6389221 5766 8C01 movw r16,r249222 5768 00C0 rjmp .L6389223 .L725:9224 576a 8091 0000 lds r24,FilterHCGas.24419225 576e 9091 0000 lds r25,(FilterHCGas.2441)+19226 5772 E8AD ldd r30,Y+569227 5774 F9AD ldd r31,Y+579228 5776 E817 cp r30,r249229 5778 F907 cpc r31,r259230 577a 04F0 brlt .+29231 577c 00C0 rjmp .L6569232 577e F093 0000 sts (FilterHCGas.2441)+1,r319233 5782 E093 0000 sts FilterHCGas.2441,r309234 5786 CF01 movw r24,r309235 5788 00C0 rjmp .L6569236 .L545:9237 578a 1092 0000 sts last_n_n.2428,__zero_reg__9238 578e 0C94 0000 jmp .L5489239 .L541:9240 5792 1092 0000 sts last_n_p.2427,__zero_reg__9241 5796 A090 0000 lds r10,cnt.24269242 579a B090 0000 lds r11,(cnt.2426)+19243 579e 00C0 rjmp .L5449244 .L556:9245 57a0 1092 0000 sts last_r_p.2429,__zero_reg__9246 57a4 A090 0000 lds r10,cnt.24269247 57a8 B090 0000 lds r11,(cnt.2426)+19248 57ac 00C0 rjmp .L5599249 .L560:9250 57ae 1092 0000 sts last_r_n.2430,__zero_reg__9251 57b2 0C94 0000 jmp .L5639252 .L807:9253 57b6 F095 com r319254 57b8 E195 neg r309255 57ba FF4F sbci r31,lo8(-1)9256 57bc 00C0 rjmp .L5259257 .L803:9258 57be 2D5F subi r18,lo8(-(3))9259 57c0 3F4F sbci r19,hi8(-(3))9260 57c2 00C0 rjmp .L6599261 .L793:9262 57c4 8091 0000 lds r24,AttitudeCorrectionNick9263 57c8 9091 0000 lds r25,AttitudeCorrectionNick+19264 57cc 9C01 movw r18,r249265 57ce 37FD sbrc r19,79266 57d0 00C0 rjmp .L8119267 .L534:9268 57d2 3595 asr r199269 57d4 2795 ror r189270 57d6 3093 0000 sts (AttitudeCorrectionNick)+1,r199271 57da 2093 0000 sts AttitudeCorrectionNick,r189272 57de 8091 0000 lds r24,AttitudeCorrectionRoll9273 57e2 9091 0000 lds r25,AttitudeCorrectionRoll+19274 57e6 9C01 movw r18,r249275 57e8 37FD sbrc r19,79276 57ea 00C0 rjmp .L8129277 .L535:9278 57ec 3595 asr r199279 57ee 2795 ror r189280 57f0 3093 0000 sts (AttitudeCorrectionRoll)+1,r199281 57f4 2093 0000 sts AttitudeCorrectionRoll,r189282 57f8 0C94 0000 jmp .L5329283 .L650:9284 57fc 8901 movw r16,r189285 57fe 00C0 rjmp .L6389286 .L449:9287 5800 299A sbi 37-32,19288 5802 0C94 0000 jmp .L4509289 .L668:9290 5806 1092 0000 sts (HoverGasMin.2446)+1,__zero_reg__9291 580a 1092 0000 sts HoverGasMin.2446,__zero_reg__9292 580e 8FEF ldi r24,lo8(1023)9293 5810 93E0 ldi r25,hi8(1023)9294 5812 9093 0000 sts (HoverGasMax.2447)+1,r259295 5816 8093 0000 sts HoverGasMax.2447,r249296 581a 0C94 0000 jmp .L6049297 .L456:9298 581e 21E0 ldi r18,lo8(1)9299 5820 0C94 0000 jmp .L4579300 .L664:9301 5824 2FE0 ldi r18,hi8(4000)9302 5826 803A cpi r24,lo8(4000)9303 5828 9207 cpc r25,r189304 582a 00F0 brlo .+29305 582c 00C0 rjmp .L6669306 582e 2091 0000 lds r18,HoverGasFilter.24489307 5832 3091 0000 lds r19,(HoverGasFilter.2448)+19308 5836 4091 0000 lds r20,(HoverGasFilter.2448)+29309 583a 5091 0000 lds r21,(HoverGasFilter.2448)+39310 583e DA01 movw r26,r209311 5840 C901 movw r24,r189312 5842 6AE0 ldi r22,109313 5844 B695 1: lsr r279314 5846 A795 ror r269315 5848 9795 ror r259316 584a 8795 ror r249317 584c 6A95 dec r229318 584e 01F4 brne 1b9319 5850 5901 movw r10,r189320 5852 6A01 movw r12,r209321 5854 A81A sub r10,r249322 5856 B90A sbc r11,r259323 5858 CA0A sbc r12,r269324 585a DB0A sbc r13,r279325 585c A801 movw r20,r169326 585e 9701 movw r18,r149327 5860 220F lsl r189328 5862 331F rol r199329 5864 441F rol r209330 5866 551F rol r219331 5868 220F lsl r189332 586a 331F rol r199333 586c 441F rol r209334 586e 551F rol r219335 5870 2A0D add r18,r109336 5872 3B1D adc r19,r119337 5874 4C1D adc r20,r129338 5876 5D1D adc r21,r139339 5878 2093 0000 sts HoverGasFilter.2448,r189340 587c 3093 0000 sts (HoverGasFilter.2448)+1,r199341 5880 4093 0000 sts (HoverGasFilter.2448)+2,r209342 5884 5093 0000 sts (HoverGasFilter.2448)+3,r219343 5888 00C0 rjmp .L6659344 .L809:9345 588a 88E0 ldi r24,lo8(8)9346 588c 90E0 ldi r25,hi8(8)9347 .L641:9348 588e 889F mul r24,r249349 5890 9001 movw r18,r09350 5892 899F mul r24,r259351 5894 300D add r19,r09352 5896 989F mul r25,r249353 5898 300D add r19,r09354 589a 1124 clr r19355 589c 3595 asr r199356 589e 2795 ror r189357 58a0 3595 asr r199358 58a2 2795 ror r189359 58a4 8091 0000 lds r24,ReadingVario9360 58a8 9091 0000 lds r25,(ReadingVario)+19361 58ac 280F add r18,r249362 58ae 391F adc r19,r259363 58b0 00C0 rjmp .L6439364 .L610:9365 58b2 8091 0000 lds r24,BaroFlags.24509366 58b6 8160 ori r24,lo8(1)9367 58b8 8093 0000 sts BaroFlags.2450,r249368 58bc 0C94 0000 jmp .L6069369 .L542:9370 58c0 81E0 ldi r24,lo8(1)9371 58c2 8093 0000 sts last_n_p.2427,r249372 58c6 A090 0000 lds r10,cnt.24269373 58ca B090 0000 lds r11,(cnt.2426)+19374 58ce 00C0 rjmp .L5449375 .L561:9376 58d0 81E0 ldi r24,lo8(1)9377 58d2 8093 0000 sts last_r_n.2430,r249378 58d6 0C94 0000 jmp .L5639379 .L804:9380 58da 9095 com r259381 58dc 8195 neg r249382 58de 9F4F sbci r25,lo8(-1)9383 58e0 00C0 rjmp .L6639384 .L557:9385 58e2 81E0 ldi r24,lo8(1)9386 58e4 8093 0000 sts last_r_p.2429,r249387 58e8 A090 0000 lds r10,cnt.24269388 58ec B090 0000 lds r11,(cnt.2426)+19389 58f0 00C0 rjmp .L5599390 .L546:9391 58f2 81E0 ldi r24,lo8(1)9392 58f4 8093 0000 sts last_n_n.2428,r249393 58f8 0C94 0000 jmp .L5489394 .L801:9395 58fc 4D5F subi r20,lo8(-(3))9396 58fe 5F4F sbci r21,hi8(-(3))9397 5900 00C0 rjmp .L6539398 .L466:9399 5902 299A sbi 37-32,19400 5904 00C0 rjmp .L4679401 .L620:9402 5906 8091 0000 lds r24,ReadingHeight9403 590a 9091 0000 lds r25,(ReadingHeight)+19404 590e A091 0000 lds r26,(ReadingHeight)+29405 5912 B091 0000 lds r27,(ReadingHeight)+39406 5916 8059 subi r24,lo8(-(-400))9407 5918 9140 sbci r25,hi8(-(-400))9408 591a A040 sbci r26,hlo8(-(-400))9409 591c B040 sbci r27,hhi8(-(-400))9410 591e 8093 0000 sts SetPointHeight,r249411 5922 9093 0000 sts (SetPointHeight)+1,r259412 5926 A093 0000 sts (SetPointHeight)+2,r269413 592a B093 0000 sts (SetPointHeight)+3,r279414 592e 8091 0000 lds r24,ParamSet+179415 5932 8823 tst r249416 5934 01F4 brne .+29417 5936 00C0 rjmp .L6349418 5938 8093 0000 sts StickGasHover.2444,r249419 593c 1092 0000 sts StickGasHover.2444+1,__zero_reg__9420 5940 00C0 rjmp .L6339421 .L666:9422 5942 8054 subi r24,lo8(8000)9423 5944 9F41 sbci r25,hi8(8000)9424 5946 00F0 brlo .+29425 5948 00C0 rjmp .L6679426 594a 2091 0000 lds r18,HoverGasFilter.24489427 594e 3091 0000 lds r19,(HoverGasFilter.2448)+19428 5952 4091 0000 lds r20,(HoverGasFilter.2448)+29429 5956 5091 0000 lds r21,(HoverGasFilter.2448)+39430 595a DA01 movw r26,r209431 595c C901 movw r24,r189432 595e EBE0 ldi r30,119433 5960 B695 1: lsr r279434 5962 A795 ror r269435 5964 9795 ror r259436 5966 8795 ror r249437 5968 EA95 dec r309438 596a 01F4 brne 1b9439 596c 5901 movw r10,r189440 596e 6A01 movw r12,r209441 5970 A81A sub r10,r249442 5972 B90A sbc r11,r259443 5974 CA0A sbc r12,r269444 5976 DB0A sbc r13,r279445 5978 A801 movw r20,r169446 597a 9701 movw r18,r149447 597c 220F lsl r189448 597e 331F rol r199449 5980 441F rol r209450 5982 551F rol r219451 5984 2A0D add r18,r109452 5986 3B1D adc r19,r119453 5988 4C1D adc r20,r129454 598a 5D1D adc r21,r139455 598c 2093 0000 sts HoverGasFilter.2448,r189456 5990 3093 0000 sts (HoverGasFilter.2448)+1,r199457 5994 4093 0000 sts (HoverGasFilter.2448)+2,r209458 5998 5093 0000 sts (HoverGasFilter.2448)+3,r219459 599c 00C0 rjmp .L6659460 .L621:9461 599e CB01 movw r24,r229462 59a0 0F97 sbiw r24,159463 59a2 4817 cp r20,r249464 59a4 5907 cpc r21,r259465 59a6 04F4 brge .L6259466 59a8 8091 0000 lds r24,BaroFlags.24509467 59ac 81FD sbrc r24,19468 59ae 00C0 rjmp .L6259469 59b0 2091 0000 lds r18,HeightTrimmingFlag.24529470 59b4 20FF sbrs r18,09471 59b6 00C0 rjmp .L6269472 59b8 2E7F andi r18,lo8(-2)9473 59ba 2093 0000 sts HeightTrimmingFlag.2452,r189474 59be 8091 0000 lds r24,ReadingHeight9475 59c2 9091 0000 lds r25,(ReadingHeight)+19476 59c6 A091 0000 lds r26,(ReadingHeight)+29477 59ca B091 0000 lds r27,(ReadingHeight)+39478 59ce 8093 0000 sts SetPointHeight,r249479 59d2 9093 0000 sts (SetPointHeight)+1,r259480 59d6 A093 0000 sts (SetPointHeight)+2,r269481 59da B093 0000 sts (SetPointHeight)+3,r279482 .L626:9483 59de 2260 ori r18,lo8(2)9484 59e0 2093 0000 sts HeightTrimmingFlag.2452,r189485 59e4 CA01 movw r24,r209486 59e6 0F96 adiw r24,159487 59e8 861B sub r24,r229488 59ea 970B sbc r25,r239489 59ec 97FD sbrc r25,79490 59ee 00C0 rjmp .L8139491 .L627:9492 59f0 2091 0000 lds r18,HeightTrimming.24429493 59f4 3091 0000 lds r19,(HeightTrimming.2442)+19494 59f8 281B sub r18,r249495 59fa 390B sbc r19,r259496 59fc 3093 0000 sts (HeightTrimming.2442)+1,r199497 5a00 2093 0000 sts HeightTrimming.2442,r189498 5a04 00C0 rjmp .L6249499 .L625:9500 5a06 2091 0000 lds r18,HeightTrimmingFlag.24529501 5a0a 822F mov r24,r189502 5a0c 90E0 ldi r25,lo8(0)9503 5a0e 8370 andi r24,lo8(3)9504 5a10 9070 andi r25,hi8(3)9505 5a12 892B or r24,r259506 5a14 01F0 breq .+29507 5a16 00C0 rjmp .L7239508 5a18 2091 0000 lds r18,HeightTrimming.24429509 5a1c 3091 0000 lds r19,(HeightTrimming.2442)+19510 5a20 00C0 rjmp .L6249511 .L667:9512 5a22 2091 0000 lds r18,HoverGasFilter.24489513 5a26 3091 0000 lds r19,(HoverGasFilter.2448)+19514 5a2a 4091 0000 lds r20,(HoverGasFilter.2448)+29515 5a2e 5091 0000 lds r21,(HoverGasFilter.2448)+39516 5a32 DA01 movw r26,r209517 5a34 C901 movw r24,r189518 5a36 6CE0 ldi r22,129519 5a38 B695 1: lsr r279520 5a3a A795 ror r269521 5a3c 9795 ror r259522 5a3e 8795 ror r249523 5a40 6A95 dec r229524 5a42 01F4 brne 1b9525 5a44 281B sub r18,r249526 5a46 390B sbc r19,r259527 5a48 4A0B sbc r20,r269528 5a4a 5B0B sbc r21,r279529 5a4c 2E0D add r18,r149530 5a4e 3F1D adc r19,r159531 5a50 401F adc r20,r169532 5a52 511F adc r21,r179533 5a54 2093 0000 sts HoverGasFilter.2448,r189534 5a58 3093 0000 sts (HoverGasFilter.2448)+1,r199535 5a5c 4093 0000 sts (HoverGasFilter.2448)+2,r209536 5a60 5093 0000 sts (HoverGasFilter.2448)+3,r219537 5a64 00C0 rjmp .L6659538 .L808:9539 5a66 0796 adiw r24,79540 5a68 00C0 rjmp .L6399541 .L461:9542 5a6a 0E94 0000 call GetActiveParamSet9543 5a6e 0E94 0000 call ParamSet_ReadFromEEProm9544 5a72 0E94 0000 call Servo_Off9545 5a76 80E0 ldi r24,lo8(0)9546 5a78 00C0 rjmp .L7269547 .L810:9548 5a7a 215F subi r18,lo8(-(15))9549 5a7c 3F4F sbci r19,hi8(-(15))9550 5a7e 00C0 rjmp .L6469551 .L634:9552 5a80 88E7 ldi r24,lo8(120)9553 5a82 90E0 ldi r25,hi8(120)9554 5a84 9093 0000 sts (StickGasHover.2444)+1,r259555 5a88 8093 0000 sts StickGasHover.2444,r249556 5a8c 00C0 rjmp .L6339557 .L796:9558 5a8e F095 com r319559 5a90 E195 neg r309560 5a92 FF4F sbci r31,lo8(-1)9561 5a94 0C94 0000 jmp .L4549562 .L812:9563 5a98 2F5F subi r18,lo8(-(1))9564 5a9a 3F4F sbci r19,hi8(-(1))9565 5a9c 00C0 rjmp .L5359566 .L811:9567 5a9e 2F5F subi r18,lo8(-(1))9568 5aa0 3F4F sbci r19,hi8(-(1))9569 5aa2 00C0 rjmp .L5349570 .L792:9571 5aa4 F095 com r319572 5aa6 E195 neg r309573 5aa8 FF4F sbci r31,lo8(-1)9574 5aaa 0C94 0000 jmp .L5339575 .L723:9576 5aae 2C7F andi r18,lo8(-4)9577 5ab0 2093 0000 sts HeightTrimmingFlag.2452,r189578 5ab4 1092 0000 sts (HeightTrimming.2442)+1,__zero_reg__9579 5ab8 1092 0000 sts HeightTrimming.2442,__zero_reg__9580 5abc 8091 0000 lds r24,ReadingHeight9581 5ac0 9091 0000 lds r25,(ReadingHeight)+19582 5ac4 A091 0000 lds r26,(ReadingHeight)+29583 5ac8 B091 0000 lds r27,(ReadingHeight)+39584 5acc 8093 0000 sts SetPointHeight,r249585 5ad0 9093 0000 sts (SetPointHeight)+1,r259586 5ad4 A093 0000 sts (SetPointHeight)+2,r269587 5ad8 B093 0000 sts (SetPointHeight)+3,r279588 5adc 8091 0000 lds r24,ParamSet+889589 5ae0 81FF sbrs r24,19590 5ae2 00C0 rjmp .L7309591 5ae4 84EF ldi r24,lo8(500)9592 5ae6 91E0 ldi r25,hi8(500)9593 5ae8 9093 0000 sts (BeepTime)+1,r259594 5aec 8093 0000 sts BeepTime,r249595 .L730:9596 5af0 20E0 ldi r18,lo8(0)9597 5af2 30E0 ldi r19,hi8(0)9598 5af4 00C0 rjmp .L6249599 .L813:9600 5af6 9095 com r259601 5af8 8195 neg r249602 5afa 9F4F sbci r25,lo8(-1)9603 5afc 00C0 rjmp .L6279604 .L799:9605 5afe 9095 com r259606 5b00 8195 neg r249607 5b02 9F4F sbci r25,lo8(-1)9608 5b04 00C0 rjmp .L6239609 .L797:9610 5b06 9095 com r259611 5b08 8195 neg r249612 5b0a 9F4F sbci r25,lo8(-1)9613 5b0c 0C94 0000 jmp .L4639614 .L632:9615 5b10 6739 cpi r22,1519616 5b12 7105 cpc r23,__zero_reg__9617 5b14 04F4 brge .+29618 5b16 00C0 rjmp .L6289619 5b18 86E9 ldi r24,lo8(150)9620 5b1a 90E0 ldi r25,hi8(150)9621 5b1c 9093 0000 sts (StickGasHover.2444)+1,r259622 5b20 8093 0000 sts StickGasHover.2444,r249623 5b24 00C0 rjmp .L6289624 .L800:9625 5b26 2D5F subi r18,lo8(-(3))9626 5b28 3F4F sbci r19,hi8(-(3))9627 5b2a 00C0 rjmp .L6319629 .global BiasHiResGyroNick9630 .global BiasHiResGyroNick9631 .section .bss9634 BiasHiResGyroNick:9635 0000 0000 .skip 2,09636 .global BiasHiResGyroRoll9637 .global BiasHiResGyroRoll9640 BiasHiResGyroRoll:9641 0002 0000 .skip 2,09642 .global AdBiasGyroYaw9643 .global AdBiasGyroYaw9646 AdBiasGyroYaw:9647 0004 0000 .skip 2,09648 .global AdBiasAccNick9649 .global AdBiasAccNick9652 AdBiasAccNick:9653 0006 0000 .skip 2,09654 .global AdBiasAccRoll9655 .global AdBiasAccRoll9658 AdBiasAccRoll:9659 0008 0000 .skip 2,09660 .global AdBiasAccTop9661 .global AdBiasAccTop9664 AdBiasAccTop:9665 000a 0000 0000 .skip 4,09666 .global IntegralGyroNick9667 .global IntegralGyroNick9670 IntegralGyroNick:9671 000e 0000 0000 .skip 4,09672 .global IntegralGyroNick29673 .global IntegralGyroNick29676 IntegralGyroNick2:9677 0012 0000 0000 .skip 4,09678 .global IntegralGyroRoll9679 .global IntegralGyroRoll9682 IntegralGyroRoll:9683 0016 0000 0000 .skip 4,09684 .global IntegralGyroRoll29685 .global IntegralGyroRoll29688 IntegralGyroRoll2:9689 001a 0000 0000 .skip 4,09690 .global IntegralGyroYaw9691 .global IntegralGyroYaw9694 IntegralGyroYaw:9695 001e 0000 0000 .skip 4,09696 .global ReadingIntegralGyroNick9697 .global ReadingIntegralGyroNick9700 ReadingIntegralGyroNick:9701 0022 0000 0000 .skip 4,09702 .global ReadingIntegralGyroNick29703 .global ReadingIntegralGyroNick29706 ReadingIntegralGyroNick2:9707 0026 0000 0000 .skip 4,09708 .global ReadingIntegralGyroRoll9709 .global ReadingIntegralGyroRoll9712 ReadingIntegralGyroRoll:9713 002a 0000 0000 .skip 4,09714 .global ReadingIntegralGyroRoll29715 .global ReadingIntegralGyroRoll29718 ReadingIntegralGyroRoll2:9719 002e 0000 0000 .skip 4,09720 .global ReadingIntegralGyroYaw9721 .global ReadingIntegralGyroYaw9724 ReadingIntegralGyroYaw:9725 0032 0000 0000 .skip 4,09726 .global MeanAccNick9727 .global MeanAccNick9730 MeanAccNick:9731 0036 0000 0000 .skip 4,09732 .global MeanAccRoll9733 .global MeanAccRoll9736 MeanAccRoll:9737 003a 0000 0000 .skip 4,09738 .global ReadingIntegralTop9739 .global ReadingIntegralTop9742 ReadingIntegralTop:9743 003e 0000 0000 .skip 4,09744 .global CompassHeading9745 .data9748 CompassHeading:9749 0000 FFFF .word -19750 .global CompassCourse9753 CompassCourse:9754 0002 FFFF .word -19755 .global CompassOffCourse9756 .global CompassOffCourse9757 .section .bss9760 CompassOffCourse:9761 0042 0000 .skip 2,09762 .global CompassCalState9763 .global CompassCalState9766 CompassCalState:9767 0044 00 .skip 1,09768 .global FunnelCourse9769 .global FunnelCourse9772 FunnelCourse:9773 0045 00 .skip 1,09774 .global BadCompassHeading9775 .data9778 BadCompassHeading:9779 0004 F401 .word 5009780 .global NaviAccNick9781 .global NaviAccNick9782 .section .bss9785 NaviAccNick:9786 0046 0000 .skip 2,09787 .global NaviAccRoll9788 .global NaviAccRoll9791 NaviAccRoll:9792 0048 0000 .skip 2,09793 .global NaviCntAcc9794 .global NaviCntAcc9797 NaviCntAcc:9798 004a 0000 .skip 2,09799 .global ModelIsFlying9800 .global ModelIsFlying9803 ModelIsFlying:9804 004c 0000 .skip 2,09805 .global MKFlags9806 .global MKFlags9809 MKFlags:9810 004e 00 .skip 1,09811 .global TurnOver180Nick9812 .data9815 TurnOver180Nick:9816 0006 90 .byte -1129817 0007 D0 .byte -489818 0008 03 .byte 39819 0009 00 .byte 09820 .global TurnOver180Roll9823 TurnOver180Roll:9824 000a 90 .byte -1129825 000b D0 .byte -489826 000c 03 .byte 39827 000d 00 .byte 09828 .global Ki9831 Ki:9832 000e 3801 .word 3129833 .global Poti19834 .global Poti19835 .section .bss9838 Poti1:9839 004f 0000 .skip 2,09840 .global Poti29841 .global Poti29844 Poti2:9845 0051 0000 .skip 2,09846 .global Poti39847 .global Poti39850 Poti3:9851 0053 0000 .skip 2,09852 .global Poti49853 .global Poti49856 Poti4:9857 0055 0000 .skip 2,09858 .global Poti59859 .global Poti59862 Poti5:9863 0057 0000 .skip 2,09864 .global Poti69865 .global Poti69868 Poti6:9869 0059 0000 .skip 2,09870 .global Poti79871 .global Poti79874 Poti7:9875 005b 0000 .skip 2,09876 .global Poti89877 .global Poti89880 Poti8:9881 005d 0000 .skip 2,09882 .global RequiredMotors9883 .global RequiredMotors9886 RequiredMotors:9887 005f 00 .skip 1,09888 .global StickNick9889 .global StickNick9892 StickNick:9893 0060 0000 .skip 2,09894 .global StickRoll9895 .global StickRoll9898 StickRoll:9899 0062 0000 .skip 2,09900 .global StickYaw9901 .global StickYaw9904 StickYaw:9905 0064 0000 .skip 2,09906 .global StickGas9907 .global StickGas9910 StickGas:9911 0066 0000 .skip 2,09912 .global GPSStickNick9913 .global GPSStickNick9916 GPSStickNick:9917 0068 0000 .skip 2,09918 .global GPSStickRoll9919 .global GPSStickRoll9922 GPSStickRoll:9923 006a 0000 .skip 2,09924 .global MaxStickNick9925 .global MaxStickNick9928 MaxStickNick:9929 006c 0000 .skip 2,09930 .global MaxStickRoll9931 .global MaxStickRoll9934 MaxStickRoll:9935 006e 0000 .skip 2,09936 .global ExternStickNick9937 .global ExternStickNick9940 ExternStickNick:9941 0070 0000 .skip 2,09942 .global ExternStickRoll9943 .global ExternStickRoll9946 ExternStickRoll:9947 0072 0000 .skip 2,09948 .global ExternStickYaw9949 .global ExternStickYaw9952 ExternStickYaw:9953 0074 0000 .skip 2,09954 .global ExternHeightValue9955 .data9958 ExternHeightValue:9959 0010 ECFF .word -209960 .global SetPointHeight9961 .global SetPointHeight9962 .section .bss9965 SetPointHeight:9966 0076 0000 0000 .skip 4,09967 .global AttitudeCorrectionRoll9968 .global AttitudeCorrectionRoll9971 AttitudeCorrectionRoll:9972 007a 0000 .skip 2,09973 .global AttitudeCorrectionNick9974 .global AttitudeCorrectionNick9977 AttitudeCorrectionNick:9978 007c 0000 .skip 2,09979 .global LoopingNick9980 .global LoopingNick9983 LoopingNick:9984 007e 00 .skip 1,09985 .global LoopingRoll9986 .global LoopingRoll9989 LoopingRoll:9990 007f 00 .skip 1,09991 .global LoopingLeft9992 .global LoopingLeft9995 LoopingLeft:9996 0080 00 .skip 1,09997 .global LoopingRight9998 .global LoopingRight10001 LoopingRight:10002 0081 00 .skip 1,010003 .global LoopingDown10004 .global LoopingDown10007 LoopingDown:10008 0082 00 .skip 1,010009 .global LoopingTop10010 .global LoopingTop10013 LoopingTop:10014 0083 00 .skip 1,010015 .global FCParam10016 .data10019 FCParam:10020 0012 30 .byte 4810021 0013 FB .byte -510022 0014 10 .byte 1610023 0015 3A .byte 5810024 0016 40 .byte 6410025 0017 40 .byte 6410026 0018 08 .byte 810027 0019 96 .byte -10610028 001a 96 .byte -10610029 001b 96 .byte -10610030 001c 96 .byte -10610031 001d 02 .byte 210032 001e 0A .byte 1010033 001f 00 .byte 010034 0020 00 .byte 010035 0021 00 .byte 010036 0022 00 .byte 010037 0023 00 .byte 010038 0024 00 .byte 010039 0025 00 .byte 010040 0026 00 .byte 010041 0027 64 .byte 10010042 0028 64 .byte 10010043 0029 46 .byte 7010044 002a 5A .byte 9010045 002b 41 .byte 6510046 002c 40 .byte 6410047 002d 64 .byte 10010048 002e 00 .byte 010049 002f 00 .byte 010050 0030 00 .byte 010051 0031 0000 00 .skip 3,010052 .lcomm HeightTrimmingFlag.2452,110053 .lcomm BaroExpandActive.2451,210054 .lcomm BaroFlags.2450,110057 delay.2449:10058 0034 64 .byte 10010059 .lcomm HoverGasFilter.2448,410062 HoverGasMax.2447:10063 0035 FF03 .word 102310064 .lcomm HoverGasMin.2446,210065 .lcomm HoverGas.2445,210068 StickGasHover.2444:10069 0037 7800 .word 12010070 .lcomm HCActive.2443,110071 .lcomm HeightTrimming.2442,210072 .lcomm FilterHCGas.2441,210073 .lcomm MeanIntegralGyroRoll_old.2432,410074 .lcomm MeanIntegralGyroNick_old.2431,410075 .lcomm last_r_n.2430,110076 .lcomm last_r_p.2429,110077 .lcomm last_n_n.2428,110078 .lcomm last_n_p.2427,110079 .lcomm cnt.2426,210080 .lcomm stick_roll.2425,210081 .lcomm stick_nick.2424,210082 .lcomm MotorValue.2421,2410083 .lcomm UpdateCompassCourse.2420,210084 .lcomm TimerDebugOut.2419,110085 .lcomm delay_stopmotors.2418,110086 .lcomm delay_startmotors.2417,110087 .lcomm delay_neutral.2416,110088 .lcomm RcLostTimer.2415,210089 .lcomm CorrectionRoll.2414,410090 .lcomm CorrectionNick.2413,410091 .lcomm IntegralGyroRollError.2412,410092 .lcomm IntegralGyroNickError.2411,410093 .lcomm SetPointYaw.2410,410094 .lcomm IPartRoll.2409,410095 .lcomm IPartNick.2408,410098 stick.2382:10099 0039 01 .byte 110100 .lcomm Last_GyroNick.2093,210101 .lcomm Last_GyroRoll.2092,210102 .section .progmem.data,"a",@progbits10105 __c.1965:10106 0000 0A0D 4143 .string "\n\rACC not calibrated!\r\n"10106 4320 6E6F10106 7420 636110106 6C69 627210106 6174 656410107 .comm GyroNick,2,110108 .comm GyroRoll,2,110109 .comm GyroYaw,2,110110 .comm YawGyroHeading,4,110111 .comm AccNick,2,110112 .comm AccRoll,2,110113 .comm AccTop,2,110114 .comm TrimNick,2,110115 .comm TrimRoll,2,110116 .comm MeanIntegralGyroNick,4,110117 .comm MeanIntegralGyroRoll,4,110118 .comm YawGyroDrift,2,110119 .comm GyroPFactor,1,110120 .comm GyroIFactor,1,110121 .comm GyroYawPFactor,1,110122 .comm GyroYawIFactor,1,110123 .global __do_copy_data10124 .global __do_clear_bssDEFINED SYMBOLS*ABS*:00000000 fc.cC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:2 *ABS*:0000003f __SREG__C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:3 *ABS*:0000003e __SP_H__C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:4 *ABS*:0000003d __SP_L__C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:5 *ABS*:00000034 __CCP__C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:6 *ABS*:00000000 __tmp_reg__C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:7 *ABS*:00000001 __zero_reg__C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:11 .text:00000000 MotorSmoothingC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:43 .text:0000002c Mean*COM*:00000002 GyroNick*COM*:00000002 GyroRollC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9646 .bss:00000004 AdBiasGyroYaw*COM*:00000002 GyroYaw*COM*:00000002 AccNick*COM*:00000002 AccRoll*COM*:00000002 AccTopC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9730 .bss:00000036 MeanAccNickC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9736 .bss:0000003a MeanAccRollC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9785 .bss:00000046 NaviAccNickC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9791 .bss:00000048 NaviAccRollC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9797 .bss:0000004a NaviCntAccC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9700 .bss:00000022 ReadingIntegralGyroNickC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9712 .bss:0000002a ReadingIntegralGyroRoll*COM*:00000004 YawGyroHeadingC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9724 .bss:00000032 ReadingIntegralGyroYawC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9983 .bss:0000007e LoopingNickC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9989 .bss:0000007f LoopingRoll*COM*:00000002 TrimNick*COM*:00000002 TrimRollC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9718 .bss:0000002e ReadingIntegralGyroRoll2C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9971 .bss:0000007a AttitudeCorrectionRollC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9823 .data:0000000a TurnOver180RollC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9706 .bss:00000026 ReadingIntegralGyroNick2C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9977 .bss:0000007c AttitudeCorrectionNickC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9815 .data:00000006 TurnOver180NickC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9694 .bss:0000001e IntegralGyroYawC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9670 .bss:0000000e IntegralGyroNickC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9682 .bss:00000016 IntegralGyroRollC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9676 .bss:00000012 IntegralGyroNick2C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9688 .bss:0000001a IntegralGyroRoll2C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10019 .data:00000012 FCParamC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10095 .bss:000000e3 Last_GyroNick.2093C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10100 .bss:000000e5 Last_GyroRoll.2092C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9772 .bss:00000045 FunnelCourseC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:1559 .text:00000e60 ParameterMappingC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9856 .bss:00000055 Poti4C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9831 .data:0000000e KiC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9838 .bss:0000004f Poti1C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9844 .bss:00000051 Poti2C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9850 .bss:00000053 Poti3C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:2620 .text:000017da SendMotorDataC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9809 .bss:0000004e MKFlagsC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:2681 .text:0000185c SetNeutralC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9652 .bss:00000006 AdBiasAccNickC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9658 .bss:00000008 AdBiasAccRollC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9664 .bss:0000000a AdBiasAccTopC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9634 .bss:00000000 BiasHiResGyroNickC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9640 .bss:00000002 BiasHiResGyroRollC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9742 .bss:0000003e ReadingIntegralTopC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9748 .data:00000000 CompassHeadingC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9753 .data:00000002 CompassCourse*COM*:00000002 YawGyroDriftC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9958 .data:00000010 ExternHeightValueC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9916 .bss:00000068 GPSStickNickC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9922 .bss:0000006a GPSStickRollC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10105 .progmem.data:00000000 __c.1965C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:3317 .text:00001eca BeepC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:3353 .text:00001f08 SetCompassCalStateC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10098 .data:00000039 stick.2382C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9766 .bss:00000044 CompassCalStateC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:3402 .text:00001f6a MotorControlC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10087 .bss:000000c5 RcLostTimer.2415C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9803 .bss:0000004c ModelIsFlyingC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10080 .bss:000000a5 stick_nick.2424C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9892 .bss:00000060 StickNickC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10079 .bss:000000a3 stick_roll.2425C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9898 .bss:00000062 StickRollC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9904 .bss:00000064 StickYawC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9910 .bss:00000066 StickGas*COM*:00000001 GyroPFactor*COM*:00000001 GyroIFactor*COM*:00000001 GyroYawPFactor*COM*:00000001 GyroYawIFactorC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9928 .bss:0000006c MaxStickNickC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9934 .bss:0000006e MaxStickRollC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9995 .bss:00000080 LoopingLeftC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10001 .bss:00000081 LoopingRightC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10013 .bss:00000083 LoopingTopC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10007 .bss:00000082 LoopingDown*COM*:00000004 MeanIntegralGyroNick*COM*:00000004 MeanIntegralGyroRollC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10073 .bss:00000099 MeanIntegralGyroNick_old.2431C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10072 .bss:00000095 MeanIntegralGyroRoll_old.2432C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9778 .data:00000004 BadCompassHeadingC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10092 .bss:000000d7 SetPointYaw.2410C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10094 .bss:000000df IPartNick.2408C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10093 .bss:000000db IPartRoll.2409C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9862 .bss:00000057 Poti5C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9868 .bss:00000059 Poti6C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9874 .bss:0000005b Poti7C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9880 .bss:0000005d Poti8C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10086 .bss:000000c4 delay_neutral.2416C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10083 .bss:000000c1 TimerDebugOut.2419C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10081 .bss:000000a7 MotorValue.2421C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10082 .bss:000000bf UpdateCompassCourse.2420C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10064 .bss:0000008e HoverGas.2445C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10052 .bss:00000085 BaroExpandActive.2451C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10057 .data:00000034 delay.2449C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9965 .bss:00000076 SetPointHeightC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10065 .bss:00000090 HCActive.2443C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10091 .bss:000000d3 IntegralGyroNickError.2411C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10089 .bss:000000cb CorrectionNick.2413C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10090 .bss:000000cf IntegralGyroRollError.2412C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10088 .bss:000000c7 CorrectionRoll.2414C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10078 .bss:000000a1 cnt.2426C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10085 .bss:000000c3 delay_startmotors.2417C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10084 .bss:000000c2 delay_stopmotors.2418C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10053 .bss:00000087 BaroFlags.2450C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10068 .data:00000037 StickGasHover.2444.bss:00000084 HeightTrimmingFlag.2452C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10070 .bss:00000091 HeightTrimming.2442C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10071 .bss:00000093 FilterHCGas.2441C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10054 .bss:00000088 HoverGasFilter.2448C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10059 .bss:0000008c HoverGasMin.2446C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10062 .data:00000035 HoverGasMax.2447C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10075 .bss:0000009e last_r_p.2429C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10074 .bss:0000009d last_r_n.2430C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10077 .bss:000000a0 last_n_p.2427C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:10076 .bss:0000009f last_n_n.2428C:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9760 .bss:00000042 CompassOffCourseC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9886 .bss:0000005f RequiredMotorsC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9940 .bss:00000070 ExternStickNickC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9946 .bss:00000072 ExternStickRollC:\DOKUME~1\LUKEPA~1\LOKALE~1\Temp/ccstO6tO.s:9952 .bss:00000074 ExternStickYawUNDEFINED SYMBOLSHiResGyroNickFilterHiResGyroNickAdValueGyroNickBoardReleaseHiResGyroRollFilterHiResGyroRollAdValueGyroRollAdValueGyroYawAdValueAccNick__mulsi3__divmodsi4AdValueAccRollAdValueAccTopADReadyParamSetRC_Quality__divmodhi4MotorTest_ActiveMotorMotorTestDebugOutI2C_StartExpandBaroDelay_ms_MessAdAirPressureAdValueAccZ__floatsisfSetParamWord__fixunssfsiAirPressureStartAirPressureReadingVarioBeepTimePPM_inSearchAirPressureOffsetGetParamWord_printf_P__gtsf2SearchDacGyroOffsetDelay_msPPM_diffNewPpmDataExternControlMeasurementCounterSetActiveParamSetGetActiveParamSetParamSet_ReadFromEEPromServo_OffReadingHeightUBatServoNickValueLowVoltageWarning__udivmodhi4MissingMotorMixerSumHeightihypotc_cos_8192NCGpsZPressureSensorOffsetServo_On__do_copy_data__do_clear_bss