Subversion Repositories FlightCtrl

   1                            .file   "fc.c"
   2                            .arch atmega644p
   3                    __SREG__ = 0x3f
   4                    __SP_H__ = 0x3e
   5                    __SP_L__ = 0x3d
   6                    __tmp_reg__ = 0
   7                    __zero_reg__ = 1
   8                            .global __do_copy_data
   9                            .global __do_clear_bss
  10                    .global VarioCharacter
  11                            .data
  14                    VarioCharacter:
  15 0000 20                    .byte   32
  16                    .global GIER_GRAD_FAKTOR
  19                    GIER_GRAD_FAKTOR:
  20 0001 0B05 0000             .long   1291
  21                    .global FCFlags
  22                    .global FCFlags
  23                            .section .bss
  26                    FCFlags:
  27 0000 00                    .skip 1,0
  28                    .global modell_fliegt
  29                    .global modell_fliegt
  32                    modell_fliegt:
  33 0001 0000                  .skip 2,0
  34                    .global MaxStickRoll
  35                    .global MaxStickRoll
  38                    MaxStickRoll:
  39 0003 0000                  .skip 2,0
  40                    .global MaxStickNick
  41                    .global MaxStickNick
  44                    MaxStickNick:
  45 0005 0000                  .skip 2,0
  46                    .global ExternHoehenValue
  47                            .data
  50                    ExternHoehenValue:
  51 0005 ECFF                  .word   -20
  52                    .global ExternStickGier
  53                    .global ExternStickGier
  54                            .section .bss
  57                    ExternStickGier:
  58 0007 0000                  .skip 2,0
  59                    .global ExternStickRoll
  60                    .global ExternStickRoll
  63                    ExternStickRoll:
  64 0009 0000                  .skip 2,0
  65                    .global ExternStickNick
  66                    .global ExternStickNick
  69                    ExternStickNick:
  70 000b 0000                  .skip 2,0
  71                    .global CareFree
  72                    .global CareFree
  75                    CareFree:
  76 000d 00                    .skip 1,0
  77                    .global Parameter_DynamicStability
  78                            .data
  81                    Parameter_DynamicStability:
  82 0007 64                    .byte   100
  83                    .global Parameter_CouplingYawCorrection
  86                    Parameter_CouplingYawCorrection:
  87 0008 40                    .byte   64
  88                    .global Parameter_AchsKopplung2
  91                    Parameter_AchsKopplung2:
  92 0009 41                    .byte   65
  93                    .global Parameter_AchsKopplung1
  96                    Parameter_AchsKopplung1:
  97 000a 5A                    .byte   90
  98                    .global Parameter_LoopGasLimit
 101                    Parameter_LoopGasLimit:
 102 000b 46                    .byte   70
 103                    .global Parameter_ServoRollControl
 106                    Parameter_ServoRollControl:
 107 000c 64                    .byte   100
 108                    .global Parameter_ServoNickControl
 111                    Parameter_ServoNickControl:
 112 000d 64                    .byte   100
 113                    .global Parameter_UserParam8
 114                    .global Parameter_UserParam8
 115                            .section .bss
 118                    Parameter_UserParam8:
 119 000e 00                    .skip 1,0
 120                    .global Parameter_UserParam7
 121                    .global Parameter_UserParam7
 124                    Parameter_UserParam7:
 125 000f 00                    .skip 1,0
 126                    .global Parameter_UserParam6
 127                    .global Parameter_UserParam6
 130                    Parameter_UserParam6:
 131 0010 00                    .skip 1,0
 132                    .global Parameter_UserParam5
 133                    .global Parameter_UserParam5
 136                    Parameter_UserParam5:
 137 0011 00                    .skip 1,0
 138                    .global Parameter_UserParam4
 139                    .global Parameter_UserParam4
 142                    Parameter_UserParam4:
 143 0012 00                    .skip 1,0
 144                    .global Parameter_UserParam3
 145                    .global Parameter_UserParam3
 148                    Parameter_UserParam3:
 149 0013 00                    .skip 1,0
 150                    .global Parameter_UserParam2
 151                    .global Parameter_UserParam2
 154                    Parameter_UserParam2:
 155 0014 00                    .skip 1,0
 156                    .global Parameter_UserParam1
 157                    .global Parameter_UserParam1
 160                    Parameter_UserParam1:
 161 0015 00                    .skip 1,0
 162                    .global Parameter_I_Faktor
 163                            .data
 166                    Parameter_I_Faktor:
 167 000e 0A                    .byte   10
 168                    .global Parameter_Gier_P
 171                    Parameter_Gier_P:
 172 000f 02                    .byte   2
 173                    .global Parameter_Gyro_Gier_I
 176                    Parameter_Gyro_Gier_I:
 177 0010 96                    .byte   -106
 178                    .global Parameter_Gyro_Gier_P
 181                    Parameter_Gyro_Gier_P:
 182 0011 96                    .byte   -106
 183                    .global Parameter_Gyro_I
 186                    Parameter_Gyro_I:
 187 0012 96                    .byte   -106
 188                    .global Parameter_Gyro_P
 191                    Parameter_Gyro_P:
 192 0013 96                    .byte   -106
 193                    .global Parameter_Gyro_D
 196                    Parameter_Gyro_D:
 197 0014 08                    .byte   8
 198                    .global Parameter_Hoehe_GPS_Z
 201                    Parameter_Hoehe_GPS_Z:
 202 0015 40                    .byte   64
 203                    .global Parameter_KompassWirkung
 206                    Parameter_KompassWirkung:
 207 0016 40                    .byte   64
 208                    .global Parameter_Hoehe_ACC_Wirkung
 211                    Parameter_Hoehe_ACC_Wirkung:
 212 0017 3A                    .byte   58
 213                    .global Parameter_Hoehe_P
 216                    Parameter_Hoehe_P:
 217 0018 10                    .byte   16
 218                    .global Parameter_MaxHoehe
 221                    Parameter_MaxHoehe:
 222 0019 FB                    .byte   -5
 223                    .global Parameter_Luftdruck_D
 226                    Parameter_Luftdruck_D:
 227 001a 30                    .byte   48
 228                    .global Looping_Oben
 229                    .global Looping_Oben
 230                            .section .bss
 233                    Looping_Oben:
 234 0016 00                    .skip 1,0
 235                    .global Looping_Unten
 236                    .global Looping_Unten
 239                    Looping_Unten:
 240 0017 00                    .skip 1,0
 241                    .global Looping_Rechts
 242                    .global Looping_Rechts
 245                    Looping_Rechts:
 246 0018 00                    .skip 1,0
 247                    .global Looping_Links
 248                    .global Looping_Links
 251                    Looping_Links:
 252 0019 00                    .skip 1,0
 253                    .global Looping_Roll
 254                    .global Looping_Roll
 257                    Looping_Roll:
 258 001a 00                    .skip 1,0
 259                    .global Looping_Nick
 260                    .global Looping_Nick
 263                    Looping_Nick:
 264 001b 00                    .skip 1,0
 265                    .global Ki
 266                            .data
 269                    Ki:
 270 001b 3801                  .word   312
 271                    .global HoverGas
 272                    .global HoverGas
 273                            .section .bss
 276                    HoverGas:
 277 001c 0000                  .skip 2,0
 278                    .global LageKorrekturNick
 279                    .global LageKorrekturNick
 282                    LageKorrekturNick:
 283 001e 0000                  .skip 2,0
 284                    .global LageKorrekturRoll
 285                    .global LageKorrekturRoll
 288                    LageKorrekturRoll:
 289 0020 0000                  .skip 2,0
 290                    .global SollHoehe
 291                    .global SollHoehe
 294                    SollHoehe:
 295 0022 0000 0000             .skip 4,0
 296                    .global HoehenWert
 297                    .global HoehenWert
 300                    HoehenWert:
 301 0026 0000 0000             .skip 4,0
 302                    .global StartTrigger
 303                    .global StartTrigger
 306                    StartTrigger:
 307 002a 00                    .skip 1,0
 308                    .global MotorenEin
 309                    .global MotorenEin
 312                    MotorenEin:
 313 002b 00                    .skip 1,0
 314                    .global StickGas
 315                    .global StickGas
 318                    StickGas:
 319 002c 0000                  .skip 2,0
 320                    .global StickGier
 321                    .global StickGier
 324                    StickGier:
 325 002e 0000                  .skip 2,0
 326                    .global StickRoll
 327                    .global StickRoll
 330                    StickRoll:
 331 0030 0000                  .skip 2,0
 332                    .global StickNick
 333                    .global StickNick
 336                    StickNick:
 337 0032 0000                  .skip 2,0
 338                    .global SenderOkay
 339                    .global SenderOkay
 342                    SenderOkay:
 343 0034 00                    .skip 1,0
 344                    .global Poti
 345                    .global Poti
 348                    Poti:
 349 0035 0000 0000             .skip 9,0
 349      0000 0000 
 349      00
 350                    .global GierGyroFehler
 351                    .global GierGyroFehler
 354                    GierGyroFehler:
 355 003e 0000                  .skip 2,0
 356                    .global Umschlag180Roll
 357                            .data
 360                    Umschlag180Roll:
 361 001d 90D0 0300             .long   250000
 362                    .global Umschlag180Nick
 365                    Umschlag180Nick:
 366 0021 90D0 0300             .long   250000
 367                    .global TrichterFlug
 368                    .global TrichterFlug
 369                            .section .bss
 372                    TrichterFlug:
 373 0040 00                    .skip 1,0
 374                    .global HoehenReglerAktiv
 375                    .global HoehenReglerAktiv
 378                    HoehenReglerAktiv:
 379 0041 00                    .skip 1,0
 380                    .global KompassSignalSchlecht
 381                            .data
 384                    KompassSignalSchlecht:
 385 0025 F401                  .word   500
 386                    .global KompassRichtung
 387                    .global KompassRichtung
 388                            .section .bss
 391                    KompassRichtung:
 392 0042 0000                  .skip 2,0
 393                    .global KompassStartwert
 394                    .global KompassStartwert
 397                    KompassStartwert:
 398 0044 0000                  .skip 2,0
 399                    .global KompassValue
 400                    .global KompassValue
 403                    KompassValue:
 404 0046 0000                  .skip 2,0
 405                    .global Mess_Integral_Hoch
 406                    .global Mess_Integral_Hoch
 409                    Mess_Integral_Hoch:
 410 0048 0000 0000             .skip 4,0
 411                    .global SummeRoll
 412                    .global SummeRoll
 415                    SummeRoll:
 416 004c 0000 0000             .skip 4,0
 417                    .global SummeNick
 418                    .global SummeNick
 421                    SummeNick:
 422 0050 0000 0000             .skip 4,0
 423                    .global Mess_Integral_Gier2
 424                    .global Mess_Integral_Gier2
 427                    Mess_Integral_Gier2:
 428 0054 0000 0000             .skip 4,0
 429                    .global Mess_Integral_Gier
 430                    .global Mess_Integral_Gier
 433                    Mess_Integral_Gier:
 434 0058 0000 0000             .skip 4,0
 435                    .global Mess_IntegralRoll2
 436                    .global Mess_IntegralRoll2
 439                    Mess_IntegralRoll2:
 440 005c 0000 0000             .skip 4,0
 441                    .global Mess_IntegralRoll
 442                    .global Mess_IntegralRoll
 445                    Mess_IntegralRoll:
 446 0060 0000 0000             .skip 4,0
 447                    .global Mess_IntegralNick2
 448                    .global Mess_IntegralNick2
 451                    Mess_IntegralNick2:
 452 0064 0000 0000             .skip 4,0
 453                    .global Mess_IntegralNick
 454                    .global Mess_IntegralNick
 457                    Mess_IntegralNick:
 458 0068 0000 0000             .skip 4,0
 459                    .global Integral_Gier
 460                    .global Integral_Gier
 463                    Integral_Gier:
 464 006c 0000 0000             .skip 4,0
 465                    .global IntegralAccZ
 466                    .global IntegralAccZ
 469                    IntegralAccZ:
 470 0070 0000 0000             .skip 4,0
 471                    .global IntegralAccRoll
 472                    .global IntegralAccRoll
 475                    IntegralAccRoll:
 476 0074 0000 0000             .skip 4,0
 477                    .global IntegralAccNick
 478                    .global IntegralAccNick
 481                    IntegralAccNick:
 482 0078 0000 0000             .skip 4,0
 483                    .global IntegralRoll2
 484                    .global IntegralRoll2
 487                    IntegralRoll2:
 488 007c 0000 0000             .skip 4,0
 489                    .global IntegralRoll
 490                    .global IntegralRoll
 493                    IntegralRoll:
 494 0080 0000 0000             .skip 4,0
 495                    .global IntegralNick2
 496                    .global IntegralNick2
 499                    IntegralNick2:
 500 0084 0000 0000             .skip 4,0
 501                    .global IntegralNick
 502                    .global IntegralNick
 505                    IntegralNick:
 506 0088 0000 0000             .skip 4,0
 507                    .global ControlHeading
 508                    .global ControlHeading
 511                    ControlHeading:
 512 008c 00                    .skip 1,0
 513                    .global NeutralAccZ
 514                    .global NeutralAccZ
 517                    NeutralAccZ:
 518 008d 0000                  .skip 2,0
 519                    .global NaviCntAcc
 520                    .global NaviCntAcc
 523                    NaviCntAcc:
 524 008f 0000                  .skip 2,0
 525                    .global NeutralAccY
 526                    .global NeutralAccY
 529                    NeutralAccY:
 530 0091 0000                  .skip 2,0
 531                    .global NeutralAccX
 532                    .global NeutralAccX
 535                    NeutralAccX:
 536 0093 0000                  .skip 2,0
 537                    .global StartNeutralNick
 538                    .global StartNeutralNick
 541                    StartNeutralNick:
 542 0095 0000                  .skip 2,0
 543                    .global StartNeutralRoll
 544                    .global StartNeutralRoll
 547                    StartNeutralRoll:
 548 0097 0000                  .skip 2,0
 549                    .global AdNeutralGier
 550                    .global AdNeutralGier
 553                    AdNeutralGier:
 554 0099 0000                  .skip 2,0
 555                    .global AdNeutralRoll
 556                    .global AdNeutralRoll
 559                    AdNeutralRoll:
 560 009b 0000                  .skip 2,0
 561                    .global AdNeutralNick
 562                    .global AdNeutralNick
 565                    AdNeutralNick:
 566 009d 0000                  .skip 2,0
 567                    .global BaroExpandActive
 568                    .global BaroExpandActive
 571                    BaroExpandActive:
 572 009f 0000                  .skip 2,0
 573                            .text
 574                    .global CopyDebugValues
 576                    CopyDebugValues:
 577                    /* prologue: frame size=0 */
 578 0000 EF92                  push r14
 579 0002 FF92                  push r15
 580 0004 0F93                  push r16
 581 0006 1F93                  push r17
 582                    /* prologue end (size=4) */
 583 0008 8091 0000             lds r24,EE_Parameter+28
 584 000c 9927                  clr r25
 585 000e 880F                  lsl r24
 586 0010 991F                  rol r25
 587 0012 880F                  lsl r24
 588 0014 991F                  rol r25
 589 0016 7C01                  movw r14,r24
 590 0018 0027                  clr r16
 591 001a F7FC                  sbrc r15,7
 592 001c 0095                  com r16
 593 001e 102F                  mov r17,r16
 594 0020 8091 0000             lds r24,IntegralNick
 595 0024 9091 0000             lds r25,(IntegralNick)+1
 596 0028 A091 0000             lds r26,(IntegralNick)+2
 597 002c B091 0000             lds r27,(IntegralNick)+3
 598 0030 BC01                  movw r22,r24
 599 0032 CD01                  movw r24,r26
 600 0034 A801                  movw r20,r16
 601 0036 9701                  movw r18,r14
 602 0038 0E94 0000             call __divmodsi4
 603 003c 3093 0000             sts (DebugOut+2)+1,r19
 604 0040 2093 0000             sts DebugOut+2,r18
 605 0044 8091 0000             lds r24,IntegralRoll
 606 0048 9091 0000             lds r25,(IntegralRoll)+1
 607 004c A091 0000             lds r26,(IntegralRoll)+2
 608 0050 B091 0000             lds r27,(IntegralRoll)+3
 609 0054 BC01                  movw r22,r24
 610 0056 CD01                  movw r24,r26
 611 0058 A801                  movw r20,r16
 612 005a 9701                  movw r18,r14
 613 005c 0E94 0000             call __divmodsi4
 614 0060 3093 0000             sts (DebugOut+4)+1,r19
 615 0064 2093 0000             sts DebugOut+4,r18
 616 0068 8091 0000             lds r24,Mittelwert_AccNick
 617 006c 9091 0000             lds r25,(Mittelwert_AccNick)+1
 618 0070 97FD                  sbrc r25,7
 619 0072 0396                  adiw r24,3
 620                    .L2:
 621 0074 9595                  asr r25
 622 0076 8795                  ror r24
 623 0078 9595                  asr r25
 624 007a 8795                  ror r24
 625 007c 9093 0000             sts (DebugOut+6)+1,r25
 626 0080 8093 0000             sts DebugOut+6,r24
 627 0084 8091 0000             lds r24,Mittelwert_AccRoll
 628 0088 9091 0000             lds r25,(Mittelwert_AccRoll)+1
 629 008c 97FD                  sbrc r25,7
 630 008e 0396                  adiw r24,3
 631                    .L3:
 632 0090 9595                  asr r25
 633 0092 8795                  ror r24
 634 0094 9595                  asr r25
 635 0096 8795                  ror r24
 636 0098 9093 0000             sts (DebugOut+8)+1,r25
 637 009c 8093 0000             sts DebugOut+8,r24
 638 00a0 8091 0000             lds r24,AdNeutralGier
 639 00a4 9091 0000             lds r25,(AdNeutralGier)+1
 640 00a8 2091 0000             lds r18,AdWertGier
 641 00ac 3091 0000             lds r19,(AdWertGier)+1
 642 00b0 821B                  sub r24,r18
 643 00b2 930B                  sbc r25,r19
 644 00b4 9093 0000             sts (DebugOut+10)+1,r25
 645 00b8 8093 0000             sts DebugOut+10,r24
 646 00bc 8091 0000             lds r24,HoehenWert
 647 00c0 9091 0000             lds r25,(HoehenWert)+1
 648 00c4 A091 0000             lds r26,(HoehenWert)+2
 649 00c8 B091 0000             lds r27,(HoehenWert)+3
 650 00cc BC01                  movw r22,r24
 651 00ce CD01                  movw r24,r26
 652 00d0 25E0                  ldi r18,lo8(5)
 653 00d2 30E0                  ldi r19,hi8(5)
 654 00d4 40E0                  ldi r20,hlo8(5)
 655 00d6 50E0                  ldi r21,hhi8(5)
 656 00d8 0E94 0000             call __divmodsi4
 657 00dc 3093 0000             sts (DebugOut+12)+1,r19
 658 00e0 2093 0000             sts DebugOut+12,r18
 659 00e4 8091 0000             lds r24,AdWertAccHoch
 660 00e8 9091 0000             lds r25,(AdWertAccHoch)+1
 661 00ec 9093 0000             sts (DebugOut+14)+1,r25
 662 00f0 8093 0000             sts DebugOut+14,r24
 663 00f4 8091 0000             lds r24,KompassValue
 664 00f8 9091 0000             lds r25,(KompassValue)+1
 665 00fc 9093 0000             sts (DebugOut+18)+1,r25
 666 0100 8093 0000             sts DebugOut+18,r24
 667 0104 8091 0000             lds r24,UBat
 668 0108 9091 0000             lds r25,(UBat)+1
 669 010c 9093 0000             sts (DebugOut+20)+1,r25
 670 0110 8093 0000             sts DebugOut+20,r24
 671 0114 8091 0000             lds r24,SenderOkay
 672 0118 9927                  clr r25
 673 011a 9093 0000             sts (DebugOut+22)+1,r25
 674 011e 8093 0000             sts DebugOut+22,r24
 675 0122 8091 0000             lds r24,ErsatzKompass
 676 0126 9091 0000             lds r25,(ErsatzKompass)+1
 677 012a A091 0000             lds r26,(ErsatzKompass)+2
 678 012e B091 0000             lds r27,(ErsatzKompass)+3
 679 0132 2091 0000             lds r18,GIER_GRAD_FAKTOR
 680 0136 3091 0000             lds r19,(GIER_GRAD_FAKTOR)+1
 681 013a 4091 0000             lds r20,(GIER_GRAD_FAKTOR)+2
 682 013e 5091 0000             lds r21,(GIER_GRAD_FAKTOR)+3
 683 0142 BC01                  movw r22,r24
 684 0144 CD01                  movw r24,r26
 685 0146 0E94 0000             call __divmodsi4
 686 014a 3093 0000             sts (DebugOut+24)+1,r19
 687 014e 2093 0000             sts DebugOut+24,r18
 688 0152 8091 0000             lds r24,Motor+1
 689 0156 9927                  clr r25
 690 0158 9093 0000             sts (DebugOut+26)+1,r25
 691 015c 8093 0000             sts DebugOut+26,r24
 692 0160 8091 0000             lds r24,Motor+9
 693 0164 9927                  clr r25
 694 0166 9093 0000             sts (DebugOut+28)+1,r25
 695 016a 8093 0000             sts DebugOut+28,r24
 696 016e 8091 0000             lds r24,Motor+17
 697 0172 9927                  clr r25
 698 0174 9093 0000             sts (DebugOut+30)+1,r25
 699 0178 8093 0000             sts DebugOut+30,r24
 700 017c 8091 0000             lds r24,Motor+25
 701 0180 9927                  clr r25
 702 0182 9093 0000             sts (DebugOut+32)+1,r25
 703 0186 8093 0000             sts DebugOut+32,r24
 704 018a 8091 0000             lds r24,ServoNickValue
 705 018e 9091 0000             lds r25,(ServoNickValue)+1
 706 0192 9093 0000             sts (DebugOut+42)+1,r25
 707 0196 8093 0000             sts DebugOut+42,r24
 708 019a 8091 0000             lds r24,Capacity
 709 019e 9091 0000             lds r25,(Capacity)+1
 710 01a2 9093 0000             sts (DebugOut+46)+1,r25
 711 01a6 8093 0000             sts DebugOut+46,r24
 712 01aa 8091 0000             lds r24,Capacity+4
 713 01ae 9091 0000             lds r25,(Capacity+4)+1
 714 01b2 9093 0000             sts (DebugOut+48)+1,r25
 715 01b6 8093 0000             sts DebugOut+48,r24
 716 01ba 8091 0000             lds r24,Capacity+6
 717 01be 9927                  clr r25
 718 01c0 9093 0000             sts (DebugOut+60)+1,r25
 719 01c4 8093 0000             sts DebugOut+60,r24
 720 01c8 8091 0000             lds r24,GPS_Nick
 721 01cc 9091 0000             lds r25,(GPS_Nick)+1
 722 01d0 9093 0000             sts (DebugOut+62)+1,r25
 723 01d4 8093 0000             sts DebugOut+62,r24
 724 01d8 8091 0000             lds r24,GPS_Roll
 725 01dc 9091 0000             lds r25,(GPS_Roll)+1
 726 01e0 9093 0000             sts (DebugOut+64)+1,r25
 727 01e4 8093 0000             sts DebugOut+64,r24
 728 01e8 8091 0000             lds r24,VersionInfo+5
 729 01ec 8823                  tst r24
 730 01ee 21F4                  brne .L5
 731 01f0 8091 0000             lds r24,VersionInfo+6
 732 01f4 8823                  tst r24
 733 01f6 21F0                  breq .L4
 734                    .L5:
 735 01f8 8091 0000             lds r24,DebugOut+1
 736 01fc 8160                  ori r24,lo8(1)
 737 01fe 03C0                  rjmp .L7
 738                    .L4:
 739 0200 8091 0000             lds r24,DebugOut+1
 740 0204 8E7F                  andi r24,lo8(-2)
 741                    .L7:
 742 0206 8093 0000             sts DebugOut+1,r24
 743                    /* epilogue: frame size=0 */
 744 020a 1F91                  pop r17
 745 020c 0F91                  pop r16
 746 020e FF90                  pop r15
 747 0210 EF90                  pop r14
 748 0212 0895                  ret
 749                    /* epilogue end (size=5) */
 750                    /* function CopyDebugValues size 268 (259) */
 752                    .global Piep
 754                    Piep:
 755                    /* prologue: frame size=0 */
 756 0214 1F93                  push r17
 757 0216 CF93                  push r28
 758 0218 DF93                  push r29
 759                    /* prologue end (size=3) */
 760 021a 182F                  mov r17,r24
 761 021c EB01                  movw r28,r22
 762 021e 8091 0000             lds r24,MotorenEin
 763 0222 8823                  tst r24
 764 0224 A1F4                  brne .L8
 765 0226 1150                  subi r17,lo8(-(-1))
 766 0228 1F3F                  cpi r17,lo8(-1)
 767 022a 89F0                  breq .L8
 768                    .L15:
 769 022c D093 0000             sts (beeptime)+1,r29
 770 0230 C093 0000             sts beeptime,r28
 771                    .L12:
 772 0234 8091 0000             lds r24,beeptime
 773 0238 9091 0000             lds r25,(beeptime)+1
 774 023c 892B                  or r24,r25
 775 023e D1F7                  brne .L12
 776 0240 CE01                  movw r24,r28
 777 0242 8C0F                  add r24,r28
 778 0244 9D1F                  adc r25,r29
 779 0246 0E94 0000             call Delay_ms
 780 024a 1150                  subi r17,1
 781 024c 78F7                  brcc .L15
 782                    .L8:
 783                    /* epilogue: frame size=0 */
 784 024e DF91                  pop r29
 785 0250 CF91                  pop r28
 786 0252 1F91                  pop r17
 787 0254 0895                  ret
 788                    /* epilogue end (size=4) */
 789                    /* function Piep size 34 (27) */
 791                    .global CalibrierMittelwert
 793                    CalibrierMittelwert:
 794                    /* prologue: frame size=0 */
 795 0256 CF93                  push r28
 796 0258 DF93                  push r29
 797                    /* prologue end (size=2) */
 798 025a 8091 0000             lds r24,PlatinenVersion
 799 025e 8D30                  cpi r24,lo8(13)
 800 0260 11F4                  brne .L18
 801 0262 0E94 0000             call SucheGyroOffset
 802                    .L18:
 803 0266 1092 7A00             sts 122,__zero_reg__
 804 026a 8091 0000             lds r24,AdWertNick
 805 026e 9091 0000             lds r25,(AdWertNick)+1
 806 0272 9093 0000             sts (MesswertNick)+1,r25
 807 0276 8093 0000             sts MesswertNick,r24
 808 027a 8091 0000             lds r24,AdWertRoll
 809 027e 9091 0000             lds r25,(AdWertRoll)+1
 810 0282 9093 0000             sts (MesswertRoll)+1,r25
 811 0286 8093 0000             sts MesswertRoll,r24
 812 028a 8091 0000             lds r24,AdWertGier
 813 028e 9091 0000             lds r25,(AdWertGier)+1
 814 0292 9093 0000             sts (MesswertGier)+1,r25
 815 0296 8093 0000             sts MesswertGier,r24
 816 029a 2091 0000             lds r18,AdWertAccNick
 817 029e 3091 0000             lds r19,(AdWertAccNick)+1
 818 02a2 C901                  movw r24,r18
 819 02a4 880F                  lsl r24
 820 02a6 991F                  rol r25
 821 02a8 880F                  lsl r24
 822 02aa 991F                  rol r25
 823 02ac 820F                  add r24,r18
 824 02ae 931F                  adc r25,r19
 825 02b0 820F                  add r24,r18
 826 02b2 931F                  adc r25,r19
 827 02b4 9093 0000             sts (Mittelwert_AccNick)+1,r25
 828 02b8 8093 0000             sts Mittelwert_AccNick,r24
 829 02bc 2091 0000             lds r18,AdWertAccRoll
 830 02c0 3091 0000             lds r19,(AdWertAccRoll)+1
 831 02c4 C901                  movw r24,r18
 832 02c6 880F                  lsl r24
 833 02c8 991F                  rol r25
 834 02ca 880F                  lsl r24
 835 02cc 991F                  rol r25
 836 02ce 820F                  add r24,r18
 837 02d0 931F                  adc r25,r19
 838 02d2 820F                  add r24,r18
 839 02d4 931F                  adc r25,r19
 840 02d6 9093 0000             sts (Mittelwert_AccRoll)+1,r25
 841 02da 8093 0000             sts Mittelwert_AccRoll,r24
 842 02de 8FEC                  ldi r24,lo8(-49)
 843 02e0 8093 7A00             sts 122,r24
 844 02e4 A0E0                  ldi r26,lo8(Poti)
 845 02e6 B0E0                  ldi r27,hi8(Poti)
 846 02e8 C0E0                  ldi r28,lo8(EE_Parameter+5)
 847 02ea D0E0                  ldi r29,hi8(EE_Parameter+5)
 848 02ec 97E0                  ldi r25,lo8(7)
 849                    .L28:
 850 02ee 8991                  ld r24,Y+
 851 02f0 E82F                  mov r30,r24
 852 02f2 FF27                  clr r31
 853 02f4 EE0F                  add r30,r30
 854 02f6 FF1F                  adc r31,r31
 855 02f8 E050                  subi r30,lo8(-(PPM_in))
 856 02fa F040                  sbci r31,hi8(-(PPM_in))
 857 02fc 0190                  ld __tmp_reg__,Z+
 858 02fe F081                  ld r31,Z
 859 0300 E02D                  mov r30,__tmp_reg__
 860 0302 E259                  subi r30,lo8(-(110))
 861 0304 FF4F                  sbci r31,hi8(-(110))
 862 0306 1E16                  cp __zero_reg__,r30
 863 0308 1F06                  cpc __zero_reg__,r31
 864 030a 1CF0                  brlt .L22
 865 030c E0E0                  ldi r30,lo8(0)
 866 030e F0E0                  ldi r31,hi8(0)
 867 0310 05C0                  rjmp .L23
 868                    .L22:
 869 0312 EF3F                  cpi r30,255
 870 0314 F105                  cpc r31,__zero_reg__
 871 0316 14F0                  brlt .L23
 872 0318 EFEF                  ldi r30,lo8(255)
 873 031a F0E0                  ldi r31,hi8(255)
 874                    .L23:
 875 031c 8C91                  ld r24,X
 876 031e 282F                  mov r18,r24
 877 0320 3327                  clr r19
 878 0322 E217                  cp r30,r18
 879 0324 F307                  cpc r31,r19
 880 0326 14F4                  brge .L25
 881 0328 8150                  subi r24,lo8(-(-1))
 882 032a 04C0                  rjmp .L31
 883                    .L25:
 884 032c 2E17                  cp r18,r30
 885 032e 3F07                  cpc r19,r31
 886 0330 14F4                  brge .L21
 887 0332 8F5F                  subi r24,lo8(-(1))
 888                    .L31:
 889 0334 8C93                  st X,r24
 890                    .L21:
 891 0336 9150                  subi r25,lo8(-(-1))
 892 0338 1196                  adiw r26,1
 893 033a 97FF                  sbrs r25,7
 894 033c D8CF                  rjmp .L28
 895 033e 8091 0000             lds r24,EE_Parameter+63
 896 0342 9927                  clr r25
 897 0344 AA27                  clr r26
 898 0346 BB27                  clr r27
 899 0348 BC01                  movw r22,r24
 900 034a CD01                  movw r24,r26
 901 034c 24EC                  ldi r18,lo8(2500)
 902 034e 39E0                  ldi r19,hi8(2500)
 903 0350 40E0                  ldi r20,hlo8(2500)
 904 0352 50E0                  ldi r21,hhi8(2500)
 905 0354 0E94 0000             call __mulsi3
 906 0358 DC01                  movw r26,r24
 907 035a CB01                  movw r24,r22
 908 035c 8093 0000             sts Umschlag180Nick,r24
 909 0360 9093 0000             sts (Umschlag180Nick)+1,r25
 910 0364 A093 0000             sts (Umschlag180Nick)+2,r26
 911 0368 B093 0000             sts (Umschlag180Nick)+3,r27
 912 036c 8091 0000             lds r24,EE_Parameter+64
 913 0370 9927                  clr r25
 914 0372 AA27                  clr r26
 915 0374 BB27                  clr r27
 916 0376 BC01                  movw r22,r24
 917 0378 CD01                  movw r24,r26
 918 037a 0E94 0000             call __mulsi3
 919 037e DC01                  movw r26,r24
 920 0380 CB01                  movw r24,r22
 921 0382 8093 0000             sts Umschlag180Roll,r24
 922 0386 9093 0000             sts (Umschlag180Roll)+1,r25
 923 038a A093 0000             sts (Umschlag180Roll)+2,r26
 924 038e B093 0000             sts (Umschlag180Roll)+3,r27
 925                    /* epilogue: frame size=0 */
 926 0392 DF91                  pop r29
 927 0394 CF91                  pop r28
 928 0396 0895                  ret
 929                    /* epilogue end (size=3) */
 930                    /* function CalibrierMittelwert size 161 (156) */
 932                            .section        .progmem.data,"a",@progbits
 935                    __c.40:
 936 0000 0A0D 4143             .string "\n\rACC not calibrated!\r\n"
 936      4320 6E6F 
 936      7420 6361 
 936      6C69 6272 
 936      6174 6564 
 937                            .text
 938                    .global SetNeutral
 940                    SetNeutral:
 941                    /* prologue: frame size=0 */
 942 0398 A0E0                  ldi r26,lo8(0)
 943 039a B0E0                  ldi r27,hi8(0)
 944 039c E0E0                  ldi r30,pm_lo8(1f)
 945 039e F0E0                  ldi r31,pm_hi8(1f)
 946 03a0 0C94 0000             jmp __prologue_saves__+12
 947                    1:
 948                    /* prologue end (size=6) */
 949 03a4 882E                  mov r8,r24
 950 03a6 C0E0                  ldi r28,lo8(0)
 951 03a8 D0E0                  ldi r29,hi8(0)
 952 03aa 7E01                  movw r14,r28
 953 03ac 6E01                  movw r12,r28
 954 03ae 1092 0000             sts VersionInfo+5,__zero_reg__
 955 03b2 469A                  sbi 40-0x20,6
 956 03b4 D093 0000             sts (NeutralAccX)+1,r29
 957 03b8 C093 0000             sts NeutralAccX,r28
 958 03bc D093 0000             sts (NeutralAccY)+1,r29
 959 03c0 C093 0000             sts NeutralAccY,r28
 960 03c4 D093 0000             sts (NeutralAccZ)+1,r29
 961 03c8 C093 0000             sts NeutralAccZ,r28
 962 03cc D093 0000             sts (AdNeutralNick)+1,r29
 963 03d0 C093 0000             sts AdNeutralNick,r28
 964 03d4 D093 0000             sts (AdNeutralRoll)+1,r29
 965 03d8 C093 0000             sts AdNeutralRoll,r28
 966 03dc D093 0000             sts (AdNeutralGier)+1,r29
 967 03e0 C093 0000             sts AdNeutralGier,r28
 968 03e4 1092 0000             sts Parameter_AchsKopplung1,__zero_reg__
 969 03e8 1092 0000             sts Parameter_AchsKopplung2,__zero_reg__
 970 03ec 1092 0000             sts ExpandBaro,__zero_reg__
 971 03f0 0E94 0000             call CalibrierMittelwert
 972 03f4 84E6                  ldi r24,lo8(100)
 973 03f6 90E0                  ldi r25,hi8(100)
 974 03f8 0E94 0000             call Delay_ms_Mess
 975 03fc 0E94 0000             call CalibrierMittelwert
 976 0400 8091 0000             lds r24,EE_Parameter+13
 977 0404 80FF                  sbrs r24,0
 978 0406 10C0                  rjmp .L33
 979 0408 8091 0000             lds r24,MessLuftdruck
 980 040c 9091 0000             lds r25,(MessLuftdruck)+1
 981 0410 875B                  subi r24,lo8(951)
 982 0412 9340                  sbci r25,hi8(951)
 983 0414 38F4                  brsh .L35
 984 0416 8091 0000             lds r24,MessLuftdruck
 985 041a 9091 0000             lds r25,(MessLuftdruck)+1
 986 041e 8E5E                  subi r24,lo8(750)
 987 0420 9240                  sbci r25,hi8(750)
 988 0422 10F4                  brsh .L33
 989                    .L35:
 990 0424 0E94 0000             call SucheLuftruckOffset
 991                    .L33:
 992 0428 0FE1                  ldi r16,lo8(31)
 993                    .L39:
 994 042a 8AE0                  ldi r24,lo8(10)
 995 042c 90E0                  ldi r25,hi8(10)
 996 042e 0E94 0000             call Delay_ms_Mess
 997 0432 8091 0000             lds r24,AdWertGier
 998 0436 9091 0000             lds r25,(AdWertGier)+1
 999 043a C80F                  add r28,r24
 1000 043c D91F                 adc r29,r25
 1001 043e 8091 0000            lds r24,AdWertNick
 1002 0442 9091 0000            lds r25,(AdWertNick)+1
 1003 0446 E80E                 add r14,r24
 1004 0448 F91E                 adc r15,r25
 1005 044a 8091 0000            lds r24,AdWertRoll
 1006 044e 9091 0000            lds r25,(AdWertRoll)+1
 1007 0452 C80E                 add r12,r24
 1008 0454 D91E                 adc r13,r25
 1009 0456 0150                 subi r16,lo8(-(-1))
 1010 0458 07FF                 sbrs r16,7
 1011 045a E7CF                 rjmp .L39
 1012 045c 9701                 movw r18,r14
 1013 045e 205F                 subi r18,lo8(-(16))
 1014 0460 3F4F                 sbci r19,hi8(-(16))
 1015 0462 3695                 lsr r19
 1016 0464 2795                 ror r18
 1017 0466 3695                 lsr r19
 1018 0468 2795                 ror r18
 1019 046a 3093 0000            sts (AdNeutralNick)+1,r19
 1020 046e 2093 0000            sts AdNeutralNick,r18
 1021 0472 C601                 movw r24,r12
 1022 0474 4096                 adiw r24,16
 1023 0476 9695                 lsr r25
 1024 0478 8795                 ror r24
 1025 047a 9695                 lsr r25
 1026 047c 8795                 ror r24
 1027 047e 9093 0000            sts (AdNeutralRoll)+1,r25
 1028 0482 8093 0000            sts AdNeutralRoll,r24
 1029 0486 6096                 adiw r28,16
 1030 0488 F5E0                 ldi r31,5
 1031 048a D695         1:      lsr r29
 1032 048c C795                 ror r28
 1033 048e FA95                 dec r31
 1034 0490 E1F7                 brne 1b
 1035 0492 D093 0000            sts (AdNeutralGier)+1,r29
 1036 0496 C093 0000            sts AdNeutralGier,r28
 1037 049a 9093 0000            sts (StartNeutralRoll)+1,r25
 1038 049e 8093 0000            sts StartNeutralRoll,r24
 1039 04a2 3093 0000            sts (StartNeutralNick)+1,r19
 1040 04a6 2093 0000            sts StartNeutralNick,r18
 1041 04aa 8820                 tst r8
 1042 04ac 09F4                 brne .+2
 1043 04ae 41C0                 rjmp .L40
 1044 04b0 8091 0000            lds r24,Mittelwert_AccNick
 1045 04b4 9091 0000            lds r25,(Mittelwert_AccNick)+1
 1046 04b8 97FF                 sbrs r25,7
 1047 04ba 03C0                 rjmp .L41
 1048 04bc 9095                 com r25
 1049 04be 8195                 neg r24
 1050 04c0 9F4F                 sbci r25,lo8(-1)
 1051                   .L41:
 1052 04c2 6CE0                 ldi r22,lo8(12)
 1053 04c4 70E0                 ldi r23,hi8(12)
 1054 04c6 0E94 0000            call __divmodhi4
 1055 04ca 9B01                 movw r18,r22
 1056 04cc 7093 0000            sts (NeutralAccX)+1,r23
 1057 04d0 6093 0000            sts NeutralAccX,r22
 1058 04d4 8091 0000            lds r24,Mittelwert_AccRoll
 1059 04d8 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 1060 04dc 97FF                 sbrs r25,7
 1061 04de 03C0                 rjmp .L42
 1062 04e0 9095                 com r25
 1063 04e2 8195                 neg r24
 1064 04e4 9F4F                 sbci r25,lo8(-1)
 1065                   .L42:
 1066 04e6 6CE0                 ldi r22,lo8(12)
 1067 04e8 70E0                 ldi r23,hi8(12)
 1068 04ea 0E94 0000            call __divmodhi4
 1069 04ee 7093 0000            sts (NeutralAccY)+1,r23
 1070 04f2 6093 0000            sts NeutralAccY,r22
 1071 04f6 8091 0000            lds r24,Aktuell_az
 1072 04fa 9091 0000            lds r25,(Aktuell_az)+1
 1073 04fe 9093 0000            sts (NeutralAccZ)+1,r25
 1074 0502 8093 0000            sts NeutralAccZ,r24
 1075 0506 B901                 movw r22,r18
 1076 0508 84E0                 ldi r24,lo8(4)
 1077 050a 90E0                 ldi r25,hi8(4)
 1078 050c 0E94 0000            call SetParamWord
 1079 0510 6091 0000            lds r22,NeutralAccY
 1080 0514 7091 0000            lds r23,(NeutralAccY)+1
 1081 0518 86E0                 ldi r24,lo8(6)
 1082 051a 90E0                 ldi r25,hi8(6)
 1083 051c 0E94 0000            call SetParamWord
 1084 0520 6091 0000            lds r22,NeutralAccZ
 1085 0524 7091 0000            lds r23,(NeutralAccZ)+1
 1086 0528 88E0                 ldi r24,lo8(8)
 1087 052a 90E0                 ldi r25,hi8(8)
 1088 052c 0E94 0000            call SetParamWord
 1089 0530 65C0                 rjmp .L43
 1090                   .L40:
 1091 0532 84E0                 ldi r24,lo8(4)
 1092 0534 90E0                 ldi r25,hi8(4)
 1093 0536 0E94 0000            call GetParamWord
 1094 053a 9093 0000            sts (NeutralAccX)+1,r25
 1095 053e 8093 0000            sts NeutralAccX,r24
 1096 0542 86E0                 ldi r24,lo8(6)
 1097 0544 90E0                 ldi r25,hi8(6)
 1098 0546 0E94 0000            call GetParamWord
 1099 054a 9093 0000            sts (NeutralAccY)+1,r25
 1100 054e 8093 0000            sts NeutralAccY,r24
 1101 0552 88E0                 ldi r24,lo8(8)
 1102 0554 90E0                 ldi r25,hi8(8)
 1103 0556 0E94 0000            call GetParamWord
 1104 055a 9C01                 movw r18,r24
 1105 055c 9093 0000            sts (NeutralAccZ)+1,r25
 1106 0560 8093 0000            sts NeutralAccZ,r24
 1107 0564 8091 0000            lds r24,NeutralAccX
 1108 0568 9091 0000            lds r25,(NeutralAccX)+1
 1109 056c 8150                 subi r24,lo8(2049)
 1110 056e 9840                 sbci r25,hi8(2049)
 1111 0570 50F4                 brsh .L45
 1112 0572 8091 0000            lds r24,NeutralAccY
 1113 0576 9091 0000            lds r25,(NeutralAccY)+1
 1114 057a 8150                 subi r24,lo8(2049)
 1115 057c 9840                 sbci r25,hi8(2049)
 1116 057e 18F4                 brsh .L45
 1117 0580 2150                 subi r18,lo8(1025)
 1118 0582 3440                 sbci r19,hi8(1025)
 1119 0584 D8F1                 brlo .L43
 1120                   .L45:
 1121 0586 80E0                 ldi r24,lo8(__c.40)
 1122 0588 90E0                 ldi r25,hi8(__c.40)
 1123 058a 9F93                 push r25
 1124 058c 8F93                 push r24
 1125 058e 80E0                 ldi r24,lo8(pm(uart_putchar))
 1126 0590 90E0                 ldi r25,hi8(pm(uart_putchar))
 1127 0592 9F93                 push r25
 1128 0594 8F93                 push r24
 1129 0596 E091 0000            lds r30,_printf_P
 1130 059a F091 0000            lds r31,(_printf_P)+1
 1131 059e 0995                 icall
 1132 05a0 8091 0000            lds r24,Mittelwert_AccNick
 1133 05a4 9091 0000            lds r25,(Mittelwert_AccNick)+1
 1134 05a8 97FF                 sbrs r25,7
 1135 05aa 03C0                 rjmp .L46
 1136 05ac 9095                 com r25
 1137 05ae 8195                 neg r24
 1138 05b0 9F4F                 sbci r25,lo8(-1)
 1139                   .L46:
 1140 05b2 6CE0                 ldi r22,lo8(12)
 1141 05b4 70E0                 ldi r23,hi8(12)
 1142 05b6 0E94 0000            call __divmodhi4
 1143 05ba 7093 0000            sts (NeutralAccX)+1,r23
 1144 05be 6093 0000            sts NeutralAccX,r22
 1145 05c2 8091 0000            lds r24,Mittelwert_AccRoll
 1146 05c6 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 1147 05ca 97FF                 sbrs r25,7
 1148 05cc 03C0                 rjmp .L47
 1149 05ce 9095                 com r25
 1150 05d0 8195                 neg r24
 1151 05d2 9F4F                 sbci r25,lo8(-1)
 1152                   .L47:
 1153 05d4 6CE0                 ldi r22,lo8(12)
 1154 05d6 70E0                 ldi r23,hi8(12)
 1155 05d8 0E94 0000            call __divmodhi4
 1156 05dc 7093 0000            sts (NeutralAccY)+1,r23
 1157 05e0 6093 0000            sts NeutralAccY,r22
 1158 05e4 8091 0000            lds r24,Aktuell_az
 1159 05e8 9091 0000            lds r25,(Aktuell_az)+1
 1160 05ec 9093 0000            sts (NeutralAccZ)+1,r25
 1161 05f0 8093 0000            sts NeutralAccZ,r24
 1162 05f4 0F90                 pop __tmp_reg__
 1163 05f6 0F90                 pop __tmp_reg__
 1164 05f8 0F90                 pop __tmp_reg__
 1165 05fa 0F90                 pop __tmp_reg__
 1166                   .L43:
 1167 05fc 1092 0000            sts (MesswertNick)+1,__zero_reg__
 1168 0600 1092 0000            sts MesswertNick,__zero_reg__
 1169 0604 1092 0000            sts (MesswertRoll)+1,__zero_reg__
 1170 0608 1092 0000            sts MesswertRoll,__zero_reg__
 1171 060c 1092 0000            sts (MesswertGier)+1,__zero_reg__
 1172 0610 1092 0000            sts MesswertGier,__zero_reg__
 1173 0614 84E6                 ldi r24,lo8(100)
 1174 0616 90E0                 ldi r25,hi8(100)
 1175 0618 0E94 0000            call Delay_ms_Mess
 1176 061c 8091 0000            lds r24,AdWertAccNick
 1177 0620 9091 0000            lds r25,(AdWertAccNick)+1
 1178 0624 9C01                 movw r18,r24
 1179 0626 220F                 lsl r18
 1180 0628 331F                 rol r19
 1181 062a 220F                 lsl r18
 1182 062c 331F                 rol r19
 1183 062e 280F                 add r18,r24
 1184 0630 391F                 adc r19,r25
 1185 0632 280F                 add r18,r24
 1186 0634 391F                 adc r19,r25
 1187 0636 3093 0000            sts (Mittelwert_AccNick)+1,r19
 1188 063a 2093 0000            sts Mittelwert_AccNick,r18
 1189 063e 8091 0000            lds r24,AdWertAccRoll
 1190 0642 9091 0000            lds r25,(AdWertAccRoll)+1
 1191 0646 8C01                 movw r16,r24
 1192 0648 000F                 lsl r16
 1193 064a 111F                 rol r17
 1194 064c 000F                 lsl r16
 1195 064e 111F                 rol r17
 1196 0650 080F                 add r16,r24
 1197 0652 191F                 adc r17,r25
 1198 0654 080F                 add r16,r24
 1199 0656 191F                 adc r17,r25
 1200 0658 1093 0000            sts (Mittelwert_AccRoll)+1,r17
 1201 065c 0093 0000            sts Mittelwert_AccRoll,r16
 1202 0660 8091 0000            lds r24,EE_Parameter+28
 1203 0664 C82E                 mov r12,r24
 1204 0666 DD24                 clr r13
 1205 0668 EE24                 clr r14
 1206 066a FF24                 clr r15
 1207 066c 4427                 clr r20
 1208 066e 37FD                 sbrc r19,7
 1209 0670 4095                 com r20
 1210 0672 542F                 mov r21,r20
 1211 0674 C701                 movw r24,r14
 1212 0676 B601                 movw r22,r12
 1213 0678 0E94 0000            call __mulsi3
 1214 067c 4B01                 movw r8,r22
 1215 067e 5C01                 movw r10,r24
 1216 0680 6093 0000            sts IntegralNick,r22
 1217 0684 7093 0000            sts (IntegralNick)+1,r23
 1218 0688 8093 0000            sts (IntegralNick)+2,r24
 1219 068c 9093 0000            sts (IntegralNick)+3,r25
 1220 0690 9801                 movw r18,r16
 1221 0692 4427                 clr r20
 1222 0694 37FD                 sbrc r19,7
 1223 0696 4095                 com r20
 1224 0698 542F                 mov r21,r20
 1225 069a C701                 movw r24,r14
 1226 069c B601                 movw r22,r12
 1227 069e 0E94 0000            call __mulsi3
 1228 06a2 DC01                 movw r26,r24
 1229 06a4 CB01                 movw r24,r22
 1230 06a6 8093 0000            sts IntegralRoll,r24
 1231 06aa 9093 0000            sts (IntegralRoll)+1,r25
 1232 06ae A093 0000            sts (IntegralRoll)+2,r26
 1233 06b2 B093 0000            sts (IntegralRoll)+3,r27
 1234 06b6 8092 0000            sts Mess_IntegralNick2,r8
 1235 06ba 9092 0000            sts (Mess_IntegralNick2)+1,r9
 1236 06be A092 0000            sts (Mess_IntegralNick2)+2,r10
 1237 06c2 B092 0000            sts (Mess_IntegralNick2)+3,r11
 1238 06c6 8093 0000            sts Mess_IntegralRoll2,r24
 1239 06ca 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 1240 06ce A093 0000            sts (Mess_IntegralRoll2)+2,r26
 1241 06d2 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 1242 06d6 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 1243 06da 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 1244 06de 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 1245 06e2 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 1246 06e6 8091 0000            lds r24,Luftdruck
 1247 06ea 9091 0000            lds r25,(Luftdruck)+1
 1248 06ee A091 0000            lds r26,(Luftdruck)+2
 1249 06f2 B091 0000            lds r27,(Luftdruck)+3
 1250 06f6 9093 0000            sts (StartLuftdruck)+1,r25
 1251 06fa 8093 0000            sts StartLuftdruck,r24
 1252 06fe 1092 0000            sts (VarioMeter)+1,__zero_reg__
 1253 0702 1092 0000            sts VarioMeter,__zero_reg__
 1254 0706 1092 0000            sts Mess_Integral_Hoch,__zero_reg__
 1255 070a 1092 0000            sts (Mess_Integral_Hoch)+1,__zero_reg__
 1256 070e 1092 0000            sts (Mess_Integral_Hoch)+2,__zero_reg__
 1257 0712 1092 0000            sts (Mess_Integral_Hoch)+3,__zero_reg__
 1258 0716 8091 0000            lds r24,KompassValue
 1259 071a 9091 0000            lds r25,(KompassValue)+1
 1260 071e 9093 0000            sts (KompassStartwert)+1,r25
 1261 0722 8093 0000            sts KompassStartwert,r24
 1262 0726 0E94 0000            call GPS_Neutral
 1263 072a 82E3                 ldi r24,lo8(50)
 1264 072c 90E0                 ldi r25,hi8(50)
 1265 072e 9093 0000            sts (beeptime)+1,r25
 1266 0732 8093 0000            sts beeptime,r24
 1267 0736 8091 0000            lds r24,EE_Parameter+63
 1268 073a 9927                 clr r25
 1269 073c AA27                 clr r26
 1270 073e BB27                 clr r27
 1271 0740 BC01                 movw r22,r24
 1272 0742 CD01                 movw r24,r26
 1273 0744 24EC                 ldi r18,lo8(2500)
 1274 0746 39E0                 ldi r19,hi8(2500)
 1275 0748 40E0                 ldi r20,hlo8(2500)
 1276 074a 50E0                 ldi r21,hhi8(2500)
 1277 074c 0E94 0000            call __mulsi3
 1278 0750 DC01                 movw r26,r24
 1279 0752 CB01                 movw r24,r22
 1280 0754 8856                 subi r24,lo8(-(15000))
 1281 0756 954C                 sbci r25,hi8(-(15000))
 1282 0758 AF4F                 sbci r26,hlo8(-(15000))
 1283 075a BF4F                 sbci r27,hhi8(-(15000))
 1284 075c 8093 0000            sts Umschlag180Nick,r24
 1285 0760 9093 0000            sts (Umschlag180Nick)+1,r25
 1286 0764 A093 0000            sts (Umschlag180Nick)+2,r26
 1287 0768 B093 0000            sts (Umschlag180Nick)+3,r27
 1288 076c 8091 0000            lds r24,EE_Parameter+64
 1289 0770 9927                 clr r25
 1290 0772 AA27                 clr r26
 1291 0774 BB27                 clr r27
 1292 0776 BC01                 movw r22,r24
 1293 0778 CD01                 movw r24,r26
 1294 077a 0E94 0000            call __mulsi3
 1295 077e DC01                 movw r26,r24
 1296 0780 CB01                 movw r24,r22
 1297 0782 8856                 subi r24,lo8(-(15000))
 1298 0784 954C                 sbci r25,hi8(-(15000))
 1299 0786 AF4F                 sbci r26,hlo8(-(15000))
 1300 0788 BF4F                 sbci r27,hhi8(-(15000))
 1301 078a 8093 0000            sts Umschlag180Roll,r24
 1302 078e 9093 0000            sts (Umschlag180Roll)+1,r25
 1303 0792 A093 0000            sts (Umschlag180Roll)+2,r26
 1304 0796 B093 0000            sts (Umschlag180Roll)+3,r27
 1305 079a 1092 0000            sts (ExternHoehenValue)+1,__zero_reg__
 1306 079e 1092 0000            sts ExternHoehenValue,__zero_reg__
 1307 07a2 8091 0000            lds r24,KompassValue
 1308 07a6 9091 0000            lds r25,(KompassValue)+1
 1309 07aa AA27                 clr r26
 1310 07ac 97FD                 sbrc r25,7
 1311 07ae A095                 com r26
 1312 07b0 BA2F                 mov r27,r26
 1313 07b2 2091 0000            lds r18,GIER_GRAD_FAKTOR
 1314 07b6 3091 0000            lds r19,(GIER_GRAD_FAKTOR)+1
 1315 07ba 4091 0000            lds r20,(GIER_GRAD_FAKTOR)+2
 1316 07be 5091 0000            lds r21,(GIER_GRAD_FAKTOR)+3
 1317 07c2 BC01                 movw r22,r24
 1318 07c4 CD01                 movw r24,r26
 1319 07c6 0E94 0000            call __mulsi3
 1320 07ca DC01                 movw r26,r24
 1321 07cc CB01                 movw r24,r22
 1322 07ce 8093 0000            sts ErsatzKompass,r24
 1323 07d2 9093 0000            sts (ErsatzKompass)+1,r25
 1324 07d6 A093 0000            sts (ErsatzKompass)+2,r26
 1325 07da B093 0000            sts (ErsatzKompass)+3,r27
 1326 07de 1092 0000            sts (GierGyroFehler)+1,__zero_reg__
 1327 07e2 1092 0000            sts GierGyroFehler,__zero_reg__
 1328 07e6 81E0                 ldi r24,lo8(1)
 1329 07e8 8093 0000            sts SendVersionToNavi,r24
 1330 07ec 0E94 0000            call LED_Init
 1331 07f0 8091 0000            lds r24,FCFlags
 1332 07f4 8460                 ori r24,lo8(4)
 1333 07f6 8093 0000            sts FCFlags,r24
 1334 07fa 8FEF                 ldi r24,lo8(-1)
 1335 07fc 8093 0000            sts FromNaviCtrl_Value,r24
 1336 0800 1092 0000            sts FromNaviCtrl_Value+1,__zero_reg__
 1337 0804 80E2                 ldi r24,lo8(32)
 1338 0806 8093 0000            sts FromNaviCtrl_Value+2,r24
 1339 080a C0E0                 ldi r28,lo8(Poti)
 1340 080c D0E0                 ldi r29,hi8(Poti)
 1341 080e A0E0                 ldi r26,lo8(EE_Parameter+5)
 1342 0810 B0E0                 ldi r27,hi8(EE_Parameter+5)
 1343 0812 07E0                 ldi r16,lo8(7)
 1344                   .L51:
 1345 0814 8D91                 ld r24,X+
 1346 0816 E82F                 mov r30,r24
 1347 0818 FF27                 clr r31
 1348 081a EE0F                 add r30,r30
 1349 081c FF1F                 adc r31,r31
 1350 081e E050                 subi r30,lo8(-(PPM_in))
 1351 0820 F040                 sbci r31,hi8(-(PPM_in))
 1352 0822 8081                 ld r24,Z
 1353 0824 9181                 ldd r25,Z+1
 1354 0826 8259                 subi r24,lo8(-(110))
 1355 0828 8993                 st Y+,r24
 1356 082a 0150                 subi r16,lo8(-(-1))
 1357 082c 07FF                 sbrs r16,7
 1358 082e F2CF                 rjmp .L51
 1359 0830 84E6                 ldi r24,lo8(100)
 1360 0832 8093 0000            sts SenderOkay,r24
 1361 0836 8091 0000            lds r24,ServoActive
 1362 083a 8823                 tst r24
 1363 083c 11F0                 breq .L52
 1364 083e 469A                 sbi 40-0x20,6
 1365 0840 579A                 sbi 42-0x20,7
 1366                   .L52:
 1367 0842 8091 0000            lds r24,AdNeutralNick
 1368 0846 9091 0000            lds r25,(AdNeutralNick)+1
 1369 084a 8056                 subi r24,lo8(-(-2400))
 1370 084c 9940                 sbci r25,hi8(-(-2400))
 1371 084e 815C                 subi r24,lo8(11201)
 1372 0850 9B42                 sbci r25,hi8(11201)
 1373 0852 28F0                 brlo .L53
 1374 0854 8091 0000            lds r24,VersionInfo+5
 1375 0858 8160                 ori r24,lo8(1)
 1376 085a 8093 0000            sts VersionInfo+5,r24
 1377                   .L53:
 1378 085e 8091 0000            lds r24,AdNeutralRoll
 1379 0862 9091 0000            lds r25,(AdNeutralRoll)+1
 1380 0866 8056                 subi r24,lo8(-(-2400))
 1381 0868 9940                 sbci r25,hi8(-(-2400))
 1382 086a 815C                 subi r24,lo8(11201)
 1383 086c 9B42                 sbci r25,hi8(11201)
 1384 086e 28F0                 brlo .L54
 1385 0870 8091 0000            lds r24,VersionInfo+5
 1386 0874 8260                 ori r24,lo8(2)
 1387 0876 8093 0000            sts VersionInfo+5,r24
 1388                   .L54:
 1389 087a 8091 0000            lds r24,AdNeutralGier
 1390 087e 9091 0000            lds r25,(AdNeutralGier)+1
 1391 0882 8C52                 subi r24,lo8(-(-300))
 1392 0884 9140                 sbci r25,hi8(-(-300))
 1393 0886 8957                 subi r24,lo8(1401)
 1394 0888 9540                 sbci r25,hi8(1401)
 1395 088a 28F0                 brlo .L55
 1396 088c 8091 0000            lds r24,VersionInfo+5
 1397 0890 8460                 ori r24,lo8(4)
 1398 0892 8093 0000            sts VersionInfo+5,r24
 1399                   .L55:
 1400 0896 8091 0000            lds r24,NeutralAccX
 1401 089a 9091 0000            lds r25,(NeutralAccX)+1
 1402 089e 8C52                 subi r24,lo8(-(-300))
 1403 08a0 9140                 sbci r25,hi8(-(-300))
 1404 08a2 835C                 subi r24,lo8(451)
 1405 08a4 9140                 sbci r25,hi8(451)
 1406 08a6 28F0                 brlo .L56
 1407 08a8 8091 0000            lds r24,VersionInfo+5
 1408 08ac 8860                 ori r24,lo8(8)
 1409 08ae 8093 0000            sts VersionInfo+5,r24
 1410                   .L56:
 1411 08b2 8091 0000            lds r24,NeutralAccY
 1412 08b6 9091 0000            lds r25,(NeutralAccY)+1
 1413 08ba 8C52                 subi r24,lo8(-(-300))
 1414 08bc 9140                 sbci r25,hi8(-(-300))
 1415 08be 835C                 subi r24,lo8(451)
 1416 08c0 9140                 sbci r25,hi8(451)
 1417 08c2 28F0                 brlo .L57
 1418 08c4 8091 0000            lds r24,VersionInfo+5
 1419 08c8 8061                 ori r24,lo8(16)
 1420 08ca 8093 0000            sts VersionInfo+5,r24
 1421                   .L57:
 1422 08ce 8091 0000            lds r24,NeutralAccZ
 1423 08d2 9091 0000            lds r25,(NeutralAccZ)+1
 1424 08d6 8050                 subi r24,lo8(-(-512))
 1425 08d8 9240                 sbci r25,hi8(-(-512))
 1426 08da 8355                 subi r24,lo8(339)
 1427 08dc 9140                 sbci r25,hi8(339)
 1428 08de 28F0                 brlo .L32
 1429 08e0 8091 0000            lds r24,VersionInfo+5
 1430 08e4 8062                 ori r24,lo8(32)
 1431 08e6 8093 0000            sts VersionInfo+5,r24
 1432                   .L32:
 1433                   /* epilogue: frame size=0 */
 1434 08ea ECE0                 ldi r30,12
 1435 08ec CDB7                 in r28,__SP_L__
 1436 08ee DEB7                 in r29,__SP_H__
 1437 08f0 0C94 0000            jmp __epilogue_restores__+12
 1438                   /* epilogue end (size=5) */
 1439                   /* function SetNeutral size 697 (686) */
 1441                           .lcomm tmpl.32,4
 1442                           .lcomm tmpl2.33,4
 1443                           .lcomm tmpl3.34,4
 1444                           .lcomm tmpl4.35,4
 1445                           .lcomm oldNick.36,2
 1446                           .lcomm oldRoll.37,2
 1447                           .lcomm d2Roll.38,2
 1448                           .lcomm d2Nick.39,2
 1449                   .global Mittelwert
 1451                   Mittelwert:
 1452                   /* prologue: frame size=19 */
 1453 08f4 A3E1                 ldi r26,lo8(19)
 1454 08f6 B0E0                 ldi r27,hi8(19)
 1455 08f8 E0E0                 ldi r30,pm_lo8(1f)
 1456 08fa F0E0                 ldi r31,pm_hi8(1f)
 1457 08fc 0C94 0000            jmp __prologue_saves__+0
 1458                   1:
 1459                   /* prologue end (size=6) */
 1460 0900 8091 0000            lds r24,AdNeutralGier
 1461 0904 9091 0000            lds r25,(AdNeutralGier)+1
 1462 0908 2091 0000            lds r18,AdWertGier
 1463 090c 3091 0000            lds r19,(AdWertGier)+1
 1464 0910 821B                 sub r24,r18
 1465 0912 930B                 sbc r25,r19
 1466 0914 9093 0000            sts (MesswertGier)+1,r25
 1467 0918 8093 0000            sts MesswertGier,r24
 1468 091c 8091 0000            lds r24,AdWertNickFilter
 1469 0920 9091 0000            lds r25,(AdWertNickFilter)+1
 1470 0924 97FD                 sbrc r25,7
 1471 0926 0796                 adiw r24,7
 1472                   .L64:
 1473 0928 9C01                 movw r18,r24
 1474 092a 53E0                 ldi r21,3
 1475 092c 3595         1:      asr r19
 1476 092e 2795                 ror r18
 1477 0930 5A95                 dec r21
 1478 0932 E1F7                 brne 1b
 1479 0934 3093 0000            sts (MesswertNick)+1,r19
 1480 0938 2093 0000            sts MesswertNick,r18
 1481 093c 8091 0000            lds r24,AdWertRollFilter
 1482 0940 9091 0000            lds r25,(AdWertRollFilter)+1
 1483 0944 97FD                 sbrc r25,7
 1484 0946 0796                 adiw r24,7
 1485                   .L65:
 1486 0948 43E0                 ldi r20,3
 1487 094a 9595         1:      asr r25
 1488 094c 8795                 ror r24
 1489 094e 4A95                 dec r20
 1490 0950 E1F7                 brne 1b
 1491 0952 9093 0000            sts (MesswertRoll)+1,r25
 1492 0956 8093 0000            sts MesswertRoll,r24
 1493 095a 3093 0000            sts (RohMesswertNick)+1,r19
 1494 095e 2093 0000            sts RohMesswertNick,r18
 1495 0962 9093 0000            sts (RohMesswertRoll)+1,r25
 1496 0966 8093 0000            sts RohMesswertRoll,r24
 1497 096a 8091 0000            lds r24,Mittelwert_AccNick
 1498 096e 9091 0000            lds r25,(Mittelwert_AccNick)+1
 1499 0972 AC01                 movw r20,r24
 1500 0974 440F                 lsl r20
 1501 0976 551F                 rol r21
 1502 0978 480F                 add r20,r24
 1503 097a 591F                 adc r21,r25
 1504 097c 2091 0000            lds r18,AdWertAccNick
 1505 0980 3091 0000            lds r19,(AdWertAccNick)+1
 1506 0984 C901                 movw r24,r18
 1507 0986 880F                 lsl r24
 1508 0988 991F                 rol r25
 1509 098a 880F                 lsl r24
 1510 098c 991F                 rol r25
 1511 098e 820F                 add r24,r18
 1512 0990 931F                 adc r25,r19
 1513 0992 820F                 add r24,r18
 1514 0994 931F                 adc r25,r19
 1515 0996 480F                 add r20,r24
 1516 0998 591F                 adc r21,r25
 1517 099a 57FF                 sbrs r21,7
 1518 099c 02C0                 rjmp .L66
 1519 099e 4D5F                 subi r20,lo8(-(3))
 1520 09a0 5F4F                 sbci r21,hi8(-(3))
 1521                   .L66:
 1522 09a2 5595                 asr r21
 1523 09a4 4795                 ror r20
 1524 09a6 5595                 asr r21
 1525 09a8 4795                 ror r20
 1526 09aa 5093 0000            sts (Mittelwert_AccNick)+1,r21
 1527 09ae 4093 0000            sts Mittelwert_AccNick,r20
 1528 09b2 8091 0000            lds r24,Mittelwert_AccRoll
 1529 09b6 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 1530 09ba AC01                 movw r20,r24
 1531 09bc 440F                 lsl r20
 1532 09be 551F                 rol r21
 1533 09c0 480F                 add r20,r24
 1534 09c2 591F                 adc r21,r25
 1535 09c4 2091 0000            lds r18,AdWertAccRoll
 1536 09c8 3091 0000            lds r19,(AdWertAccRoll)+1
 1537 09cc C901                 movw r24,r18
 1538 09ce 880F                 lsl r24
 1539 09d0 991F                 rol r25
 1540 09d2 880F                 lsl r24
 1541 09d4 991F                 rol r25
 1542 09d6 820F                 add r24,r18
 1543 09d8 931F                 adc r25,r19
 1544 09da 820F                 add r24,r18
 1545 09dc 931F                 adc r25,r19
 1546 09de 480F                 add r20,r24
 1547 09e0 591F                 adc r21,r25
 1548 09e2 57FF                 sbrs r21,7
 1549 09e4 02C0                 rjmp .L67
 1550 09e6 4D5F                 subi r20,lo8(-(3))
 1551 09e8 5F4F                 sbci r21,hi8(-(3))
 1552                   .L67:
 1553 09ea 5595                 asr r21
 1554 09ec 4795                 ror r20
 1555 09ee 5595                 asr r21
 1556 09f0 4795                 ror r20
 1557 09f2 5093 0000            sts (Mittelwert_AccRoll)+1,r21
 1558 09f6 4093 0000            sts Mittelwert_AccRoll,r20
 1559 09fa 2091 0000            lds r18,AdWertAccNick
 1560 09fe 3091 0000            lds r19,(AdWertAccNick)+1
 1561 0a02 C901                 movw r24,r18
 1562 0a04 880F                 lsl r24
 1563 0a06 991F                 rol r25
 1564 0a08 880F                 lsl r24
 1565 0a0a 991F                 rol r25
 1566 0a0c 820F                 add r24,r18
 1567 0a0e 931F                 adc r25,r19
 1568 0a10 820F                 add r24,r18
 1569 0a12 931F                 adc r25,r19
 1570 0a14 9C01                 movw r18,r24
 1571 0a16 4427                 clr r20
 1572 0a18 37FD                 sbrc r19,7
 1573 0a1a 4095                 com r20
 1574 0a1c 542F                 mov r21,r20
 1575 0a1e 8091 0000            lds r24,IntegralAccNick
 1576 0a22 9091 0000            lds r25,(IntegralAccNick)+1
 1577 0a26 A091 0000            lds r26,(IntegralAccNick)+2
 1578 0a2a B091 0000            lds r27,(IntegralAccNick)+3
 1579 0a2e 820F                 add r24,r18
 1580 0a30 931F                 adc r25,r19
 1581 0a32 A41F                 adc r26,r20
 1582 0a34 B51F                 adc r27,r21
 1583 0a36 8093 0000            sts IntegralAccNick,r24
 1584 0a3a 9093 0000            sts (IntegralAccNick)+1,r25
 1585 0a3e A093 0000            sts (IntegralAccNick)+2,r26
 1586 0a42 B093 0000            sts (IntegralAccNick)+3,r27
 1587 0a46 2091 0000            lds r18,AdWertAccRoll
 1588 0a4a 3091 0000            lds r19,(AdWertAccRoll)+1
 1589 0a4e C901                 movw r24,r18
 1590 0a50 880F                 lsl r24
 1591 0a52 991F                 rol r25
 1592 0a54 880F                 lsl r24
 1593 0a56 991F                 rol r25
 1594 0a58 820F                 add r24,r18
 1595 0a5a 931F                 adc r25,r19
 1596 0a5c 820F                 add r24,r18
 1597 0a5e 931F                 adc r25,r19
 1598 0a60 9C01                 movw r18,r24
 1599 0a62 4427                 clr r20
 1600 0a64 37FD                 sbrc r19,7
 1601 0a66 4095                 com r20
 1602 0a68 542F                 mov r21,r20
 1603 0a6a 8091 0000            lds r24,IntegralAccRoll
 1604 0a6e 9091 0000            lds r25,(IntegralAccRoll)+1
 1605 0a72 A091 0000            lds r26,(IntegralAccRoll)+2
 1606 0a76 B091 0000            lds r27,(IntegralAccRoll)+3
 1607 0a7a 820F                 add r24,r18
 1608 0a7c 931F                 adc r25,r19
 1609 0a7e A41F                 adc r26,r20
 1610 0a80 B51F                 adc r27,r21
 1611 0a82 8093 0000            sts IntegralAccRoll,r24
 1612 0a86 9093 0000            sts (IntegralAccRoll)+1,r25
 1613 0a8a A093 0000            sts (IntegralAccRoll)+2,r26
 1614 0a8e B093 0000            sts (IntegralAccRoll)+3,r27
 1615 0a92 8091 0000            lds r24,NaviAccNick
 1616 0a96 9091 0000            lds r25,(NaviAccNick)+1
 1617 0a9a 2091 0000            lds r18,AdWertAccNick
 1618 0a9e 3091 0000            lds r19,(AdWertAccNick)+1
 1619 0aa2 820F                 add r24,r18
 1620 0aa4 931F                 adc r25,r19
 1621 0aa6 9093 0000            sts (NaviAccNick)+1,r25
 1622 0aaa 8093 0000            sts NaviAccNick,r24
 1623 0aae 8091 0000            lds r24,NaviAccRoll
 1624 0ab2 9091 0000            lds r25,(NaviAccRoll)+1
 1625 0ab6 2091 0000            lds r18,AdWertAccRoll
 1626 0aba 3091 0000            lds r19,(AdWertAccRoll)+1
 1627 0abe 820F                 add r24,r18
 1628 0ac0 931F                 adc r25,r19
 1629 0ac2 9093 0000            sts (NaviAccRoll)+1,r25
 1630 0ac6 8093 0000            sts NaviAccRoll,r24
 1631 0aca 8091 0000            lds r24,NaviCntAcc
 1632 0ace 9091 0000            lds r25,(NaviCntAcc)+1
 1633 0ad2 0196                 adiw r24,1
 1634 0ad4 9093 0000            sts (NaviCntAcc)+1,r25
 1635 0ad8 8093 0000            sts NaviCntAcc,r24
 1636 0adc 8091 0000            lds r24,Aktuell_az
 1637 0ae0 9091 0000            lds r25,(Aktuell_az)+1
 1638 0ae4 2091 0000            lds r18,NeutralAccZ
 1639 0ae8 3091 0000            lds r19,(NeutralAccZ)+1
 1640 0aec 821B                 sub r24,r18
 1641 0aee 930B                 sbc r25,r19
 1642 0af0 9C01                 movw r18,r24
 1643 0af2 4427                 clr r20
 1644 0af4 37FD                 sbrc r19,7
 1645 0af6 4095                 com r20
 1646 0af8 542F                 mov r21,r20
 1647 0afa 8091 0000            lds r24,IntegralAccZ
 1648 0afe 9091 0000            lds r25,(IntegralAccZ)+1
 1649 0b02 A091 0000            lds r26,(IntegralAccZ)+2
 1650 0b06 B091 0000            lds r27,(IntegralAccZ)+3
 1651 0b0a 820F                 add r24,r18
 1652 0b0c 931F                 adc r25,r19
 1653 0b0e A41F                 adc r26,r20
 1654 0b10 B51F                 adc r27,r21
 1655 0b12 8093 0000            sts IntegralAccZ,r24
 1656 0b16 9093 0000            sts (IntegralAccZ)+1,r25
 1657 0b1a A093 0000            sts (IntegralAccZ)+2,r26
 1658 0b1e B093 0000            sts (IntegralAccZ)+3,r27
 1659 0b22 8FEC                 ldi r24,lo8(-49)
 1660 0b24 8093 7A00            sts 122,r24
 1661 0b28 1092 0000            sts AdReady,__zero_reg__
 1662 0b2c 2091 0000            lds r18,Mess_IntegralRoll
 1663 0b30 3091 0000            lds r19,(Mess_IntegralRoll)+1
 1664 0b34 4091 0000            lds r20,(Mess_IntegralRoll)+2
 1665 0b38 5091 0000            lds r21,(Mess_IntegralRoll)+3
 1666 0b3c 2987                 std Y+9,r18
 1667 0b3e 3A87                 std Y+10,r19
 1668 0b40 4B87                 std Y+11,r20
 1669 0b42 5C87                 std Y+12,r21
 1670 0b44 2954                 subi r18,lo8(93001)
 1671 0b46 3B46                 sbci r19,hi8(93001)
 1672 0b48 4140                 sbci r20,hlo8(93001)
 1673 0b4a 5040                 sbci r21,hhi8(93001)
 1674 0b4c 2CF0                 brlt .L68
 1675 0b4e 28E4                 ldi r18,lo8(93000)
 1676 0b50 3BE6                 ldi r19,hi8(93000)
 1677 0b52 41E0                 ldi r20,hlo8(93000)
 1678 0b54 50E0                 ldi r21,hhi8(93000)
 1679 0b56 0DC0                 rjmp .L161
 1680                   .L68:
 1681 0b58 8985                 ldd r24,Y+9
 1682 0b5a 9A85                 ldd r25,Y+10
 1683 0b5c AB85                 ldd r26,Y+11
 1684 0b5e BC85                 ldd r27,Y+12
 1685 0b60 885B                 subi r24,lo8(-93000)
 1686 0b62 9449                 sbci r25,hi8(-93000)
 1687 0b64 AE4F                 sbci r26,hlo8(-93000)
 1688 0b66 BF4F                 sbci r27,hhi8(-93000)
 1689 0b68 4CF4                 brge .L70
 1690 0b6a 28EB                 ldi r18,lo8(-93000)
 1691 0b6c 34E9                 ldi r19,hi8(-93000)
 1692 0b6e 4EEF                 ldi r20,hlo8(-93000)
 1693 0b70 5FEF                 ldi r21,hhi8(-93000)
 1694                   .L161:
 1695 0b72 2D83                 std Y+5,r18
 1696 0b74 3E83                 std Y+6,r19
 1697 0b76 4F83                 std Y+7,r20
 1698 0b78 5887                 std Y+8,r21
 1699 0b7a 08C0                 rjmp .L69
 1700                   .L70:
 1701 0b7c 8985                 ldd r24,Y+9
 1702 0b7e 9A85                 ldd r25,Y+10
 1703 0b80 AB85                 ldd r26,Y+11
 1704 0b82 BC85                 ldd r27,Y+12
 1705 0b84 8D83                 std Y+5,r24
 1706 0b86 9E83                 std Y+6,r25
 1707 0b88 AF83                 std Y+7,r26
 1708 0b8a B887                 std Y+8,r27
 1709                   .L69:
 1710 0b8c 2091 0000            lds r18,Mess_IntegralNick
 1711 0b90 3091 0000            lds r19,(Mess_IntegralNick)+1
 1712 0b94 4091 0000            lds r20,(Mess_IntegralNick)+2
 1713 0b98 5091 0000            lds r21,(Mess_IntegralNick)+3
 1714 0b9c 2D87                 std Y+13,r18
 1715 0b9e 3E87                 std Y+14,r19
 1716 0ba0 4F87                 std Y+15,r20
 1717 0ba2 588B                 std Y+16,r21
 1718 0ba4 2954                 subi r18,lo8(93001)
 1719 0ba6 3B46                 sbci r19,hi8(93001)
 1720 0ba8 4140                 sbci r20,hlo8(93001)
 1721 0baa 5040                 sbci r21,hhi8(93001)
 1722 0bac 2CF0                 brlt .L72
 1723 0bae 28E4                 ldi r18,lo8(93000)
 1724 0bb0 3BE6                 ldi r19,hi8(93000)
 1725 0bb2 41E0                 ldi r20,hlo8(93000)
 1726 0bb4 50E0                 ldi r21,hhi8(93000)
 1727 0bb6 0DC0                 rjmp .L162
 1728                   .L72:
 1729 0bb8 8D85                 ldd r24,Y+13
 1730 0bba 9E85                 ldd r25,Y+14
 1731 0bbc AF85                 ldd r26,Y+15
 1732 0bbe B889                 ldd r27,Y+16
 1733 0bc0 885B                 subi r24,lo8(-93000)
 1734 0bc2 9449                 sbci r25,hi8(-93000)
 1735 0bc4 AE4F                 sbci r26,hlo8(-93000)
 1736 0bc6 BF4F                 sbci r27,hhi8(-93000)
 1737 0bc8 4CF4                 brge .L74
 1738 0bca 28EB                 ldi r18,lo8(-93000)
 1739 0bcc 34E9                 ldi r19,hi8(-93000)
 1740 0bce 4EEF                 ldi r20,hlo8(-93000)
 1741 0bd0 5FEF                 ldi r21,hhi8(-93000)
 1742                   .L162:
 1743 0bd2 2983                 std Y+1,r18
 1744 0bd4 3A83                 std Y+2,r19
 1745 0bd6 4B83                 std Y+3,r20
 1746 0bd8 5C83                 std Y+4,r21
 1747 0bda 08C0                 rjmp .L73
 1748                   .L74:
 1749 0bdc 8D85                 ldd r24,Y+13
 1750 0bde 9E85                 ldd r25,Y+14
 1751 0be0 AF85                 ldd r26,Y+15
 1752 0be2 B889                 ldd r27,Y+16
 1753 0be4 8983                 std Y+1,r24
 1754 0be6 9A83                 std Y+2,r25
 1755 0be8 AB83                 std Y+3,r26
 1756 0bea BC83                 std Y+4,r27
 1757                   .L73:
 1758 0bec A091 0000            lds r26,MesswertGier
 1759 0bf0 B091 0000            lds r27,(MesswertGier)+1
 1760 0bf4 BB8B                 std Y+19,r27
 1761 0bf6 AA8B                 std Y+18,r26
 1762 0bf8 FD01                 movw r30,r26
 1763 0bfa CF01                 movw r24,r30
 1764 0bfc AA27                 clr r26
 1765 0bfe 97FD                 sbrc r25,7
 1766 0c00 A095                 com r26
 1767 0c02 BA2F                 mov r27,r26
 1768 0c04 A090 0000            lds r10,Mess_Integral_Gier
 1769 0c08 B090 0000            lds r11,(Mess_Integral_Gier)+1
 1770 0c0c C090 0000            lds r12,(Mess_Integral_Gier)+2
 1771 0c10 D090 0000            lds r13,(Mess_Integral_Gier)+3
 1772 0c14 A80E                 add r10,r24
 1773 0c16 B91E                 adc r11,r25
 1774 0c18 CA1E                 adc r12,r26
 1775 0c1a DB1E                 adc r13,r27
 1776 0c1c A092 0000            sts Mess_Integral_Gier,r10
 1777 0c20 B092 0000            sts (Mess_Integral_Gier)+1,r11
 1778 0c24 C092 0000            sts (Mess_Integral_Gier)+2,r12
 1779 0c28 D092 0000            sts (Mess_Integral_Gier)+3,r13
 1780 0c2c E090 0000            lds r14,ErsatzKompass
 1781 0c30 F090 0000            lds r15,(ErsatzKompass)+1
 1782 0c34 0091 0000            lds r16,(ErsatzKompass)+2
 1783 0c38 1091 0000            lds r17,(ErsatzKompass)+3
 1784 0c3c E80E                 add r14,r24
 1785 0c3e F91E                 adc r15,r25
 1786 0c40 0A1F                 adc r16,r26
 1787 0c42 1B1F                 adc r17,r27
 1788 0c44 E092 0000            sts ErsatzKompass,r14
 1789 0c48 F092 0000            sts (ErsatzKompass)+1,r15
 1790 0c4c 0093 0000            sts (ErsatzKompass)+2,r16
 1791 0c50 1093 0000            sts (ErsatzKompass)+3,r17
 1792 0c54 F091 0000            lds r31,Looping_Nick
 1793 0c58 F98B                 std Y+17,r31
 1794 0c5a FF23                 tst r31
 1795 0c5c 09F0                 breq .+2
 1796 0c5e 98C1                 rjmp .L76
 1797 0c60 8091 0000            lds r24,Looping_Roll
 1798 0c64 8823                 tst r24
 1799 0c66 09F0                 breq .+2
 1800 0c68 93C1                 rjmp .L76
 1801 0c6a 8091 0000            lds r24,EE_Parameter+13
 1802 0c6e 86FF                 sbrs r24,6
 1803 0c70 8FC1                 rjmp .L76
 1804 0c72 8091 0000            lds r24,MesswertRoll
 1805 0c76 9091 0000            lds r25,(MesswertRoll)+1
 1806 0c7a AA27                 clr r26
 1807 0c7c 97FD                 sbrc r25,7
 1808 0c7e A095                 com r26
 1809 0c80 BA2F                 mov r27,r26
 1810 0c82 BC01                 movw r22,r24
 1811 0c84 CD01                 movw r24,r26
 1812 0c86 2981                 ldd r18,Y+1
 1813 0c88 3A81                 ldd r19,Y+2
 1814 0c8a 4B81                 ldd r20,Y+3
 1815 0c8c 5C81                 ldd r21,Y+4
 1816 0c8e 0E94 0000            call __mulsi3
 1817 0c92 9B01                 movw r18,r22
 1818 0c94 AC01                 movw r20,r24
 1819 0c96 97FF                 sbrs r25,7
 1820 0c98 04C0                 rjmp .L77
 1821 0c9a 2150                 subi r18,lo8(-(2047))
 1822 0c9c 384F                 sbci r19,hi8(-(2047))
 1823 0c9e 4F4F                 sbci r20,hlo8(-(2047))
 1824 0ca0 5F4F                 sbci r21,hhi8(-(2047))
 1825                   .L77:
 1826 0ca2 6BE0                 ldi r22,11
 1827 0ca4 5595         1:      asr r21
 1828 0ca6 4795                 ror r20
 1829 0ca8 3795                 ror r19
 1830 0caa 2795                 ror r18
 1831 0cac 6A95                 dec r22
 1832 0cae D1F7                 brne 1b
 1833 0cb0 8091 0000            lds r24,Parameter_AchsKopplung2
 1834 0cb4 682E                 mov r6,r24
 1835 0cb6 7724                 clr r7
 1836 0cb8 8824                 clr r8
 1837 0cba 9924                 clr r9
 1838 0cbc CA01                 movw r24,r20
 1839 0cbe B901                 movw r22,r18
 1840 0cc0 A401                 movw r20,r8
 1841 0cc2 9301                 movw r18,r6
 1842 0cc4 0E94 0000            call __mulsi3
 1843 0cc8 DC01                 movw r26,r24
 1844 0cca CB01                 movw r24,r22
 1845 0ccc 8093 0000            sts tmpl3.34,r24
 1846 0cd0 9093 0000            sts (tmpl3.34)+1,r25
 1847 0cd4 A093 0000            sts (tmpl3.34)+2,r26
 1848 0cd8 B093 0000            sts (tmpl3.34)+3,r27
 1849 0cdc B7FF                 sbrs r27,7
 1850 0cde 04C0                 rjmp .L78
 1851 0ce0 8150                 subi r24,lo8(-(4095))
 1852 0ce2 904F                 sbci r25,hi8(-(4095))
 1853 0ce4 AF4F                 sbci r26,hlo8(-(4095))
 1854 0ce6 BF4F                 sbci r27,hhi8(-(4095))
 1855                   .L78:
 1856 0ce8 1C01                 movw r2,r24
 1857 0cea 2D01                 movw r4,r26
 1858 0cec 3CE0                 ldi r19,12
 1859 0cee 5594         1:      asr r5
 1860 0cf0 4794                 ror r4
 1861 0cf2 3794                 ror r3
 1862 0cf4 2794                 ror r2
 1863 0cf6 3A95                 dec r19
 1864 0cf8 D1F7                 brne 1b
 1865 0cfa 2092 0000            sts tmpl3.34,r2
 1866 0cfe 3092 0000            sts (tmpl3.34)+1,r3
 1867 0d02 4092 0000            sts (tmpl3.34)+2,r4
 1868 0d06 5092 0000            sts (tmpl3.34)+3,r5
 1869 0d0a 8091 0000            lds r24,MesswertNick
 1870 0d0e 9091 0000            lds r25,(MesswertNick)+1
 1871 0d12 AA27                 clr r26
 1872 0d14 97FD                 sbrc r25,7
 1873 0d16 A095                 com r26
 1874 0d18 BA2F                 mov r27,r26
 1875 0d1a BC01                 movw r22,r24
 1876 0d1c CD01                 movw r24,r26
 1877 0d1e 2D81                 ldd r18,Y+5
 1878 0d20 3E81                 ldd r19,Y+6
 1879 0d22 4F81                 ldd r20,Y+7
 1880 0d24 5885                 ldd r21,Y+8
 1881 0d26 0E94 0000            call __mulsi3
 1882 0d2a 97FF                 sbrs r25,7
 1883 0d2c 04C0                 rjmp .L79
 1884 0d2e 6150                 subi r22,lo8(-(2047))
 1885 0d30 784F                 sbci r23,hi8(-(2047))
 1886 0d32 8F4F                 sbci r24,hlo8(-(2047))
 1887 0d34 9F4F                 sbci r25,hhi8(-(2047))
 1888                   .L79:
 1889 0d36 2BE0                 ldi r18,11
 1890 0d38 9595         1:      asr r25
 1891 0d3a 8795                 ror r24
 1892 0d3c 7795                 ror r23
 1893 0d3e 6795                 ror r22
 1894 0d40 2A95                 dec r18
 1895 0d42 D1F7                 brne 1b
 1896 0d44 A401                 movw r20,r8
 1897 0d46 9301                 movw r18,r6
 1898 0d48 0E94 0000            call __mulsi3
 1899 0d4c DC01                 movw r26,r24
 1900 0d4e CB01                 movw r24,r22
 1901 0d50 8093 0000            sts tmpl4.35,r24
 1902 0d54 9093 0000            sts (tmpl4.35)+1,r25
 1903 0d58 A093 0000            sts (tmpl4.35)+2,r26
 1904 0d5c B093 0000            sts (tmpl4.35)+3,r27
 1905 0d60 B7FF                 sbrs r27,7
 1906 0d62 04C0                 rjmp .L80
 1907 0d64 8150                 subi r24,lo8(-(4095))
 1908 0d66 904F                 sbci r25,hi8(-(4095))
 1909 0d68 AF4F                 sbci r26,hlo8(-(4095))
 1910 0d6a BF4F                 sbci r27,hhi8(-(4095))
 1911                   .L80:
 1912 0d6c 9C01                 movw r18,r24
 1913 0d6e AD01                 movw r20,r26
 1914 0d70 8CE0                 ldi r24,12
 1915 0d72 5595         1:      asr r21
 1916 0d74 4795                 ror r20
 1917 0d76 3795                 ror r19
 1918 0d78 2795                 ror r18
 1919 0d7a 8A95                 dec r24
 1920 0d7c D1F7                 brne 1b
 1921 0d7e 2093 0000            sts tmpl4.35,r18
 1922 0d82 3093 0000            sts (tmpl4.35)+1,r19
 1923 0d86 4093 0000            sts (tmpl4.35)+2,r20
 1924 0d8a 5093 0000            sts (tmpl4.35)+3,r21
 1925 0d8e 8091 0000            lds r24,tmpl3.34
 1926 0d92 9091 0000            lds r25,(tmpl3.34)+1
 1927 0d96 9093 0000            sts (KopplungsteilNickRoll)+1,r25
 1928 0d9a 8093 0000            sts KopplungsteilNickRoll,r24
 1929 0d9e 8091 0000            lds r24,tmpl4.35
 1930 0da2 9091 0000            lds r25,(tmpl4.35)+1
 1931 0da6 9093 0000            sts (KopplungsteilRollNick)+1,r25
 1932 0daa 8093 0000            sts KopplungsteilRollNick,r24
 1933 0dae 2219                 sub r18,r2
 1934 0db0 3309                 sbc r19,r3
 1935 0db2 4409                 sbc r20,r4
 1936 0db4 5509                 sbc r21,r5
 1937 0db6 2093 0000            sts tmpl4.35,r18
 1938 0dba 3093 0000            sts (tmpl4.35)+1,r19
 1939 0dbe 4093 0000            sts (tmpl4.35)+2,r20
 1940 0dc2 5093 0000            sts (tmpl4.35)+3,r21
 1941 0dc6 E20E                 add r14,r18
 1942 0dc8 F31E                 adc r15,r19
 1943 0dca 041F                 adc r16,r20
 1944 0dcc 151F                 adc r17,r21
 1945 0dce E092 0000            sts ErsatzKompass,r14
 1946 0dd2 F092 0000            sts (ErsatzKompass)+1,r15
 1947 0dd6 0093 0000            sts (ErsatzKompass)+2,r16
 1948 0dda 1093 0000            sts (ErsatzKompass)+3,r17
 1949 0dde 8091 0000            lds r24,Parameter_CouplingYawCorrection
 1950 0de2 8823                 tst r24
 1951 0de4 B1F4                 brne .L81
 1952 0de6 57FF                 sbrs r21,7
 1953 0de8 04C0                 rjmp .L82
 1954 0dea 2F5F                 subi r18,lo8(-(1))
 1955 0dec 3F4F                 sbci r19,hi8(-(1))
 1956 0dee 4F4F                 sbci r20,hlo8(-(1))
 1957 0df0 5F4F                 sbci r21,hhi8(-(1))
 1958                   .L82:
 1959 0df2 5595                 asr r21
 1960 0df4 4795                 ror r20
 1961 0df6 3795                 ror r19
 1962 0df8 2795                 ror r18
 1963 0dfa A21A                 sub r10,r18
 1964 0dfc B30A                 sbc r11,r19
 1965 0dfe C40A                 sbc r12,r20
 1966 0e00 D50A                 sbc r13,r21
 1967 0e02 A092 0000            sts Mess_Integral_Gier,r10
 1968 0e06 B092 0000            sts (Mess_Integral_Gier)+1,r11
 1969 0e0a C092 0000            sts (Mess_Integral_Gier)+2,r12
 1970 0e0e D092 0000            sts (Mess_Integral_Gier)+3,r13
 1971                   .L81:
 1972 0e12 2A89                 ldd r18,Y+18
 1973 0e14 3B89                 ldd r19,Y+19
 1974 0e16 7901                 movw r14,r18
 1975 0e18 0027                 clr r16
 1976 0e1a F7FC                 sbrc r15,7
 1977 0e1c 0095                 com r16
 1978 0e1e 102F                 mov r17,r16
 1979 0e20 8091 0000            lds r24,tmpl4.35
 1980 0e24 9091 0000            lds r25,(tmpl4.35)+1
 1981 0e28 A091 0000            lds r26,(tmpl4.35)+2
 1982 0e2c B091 0000            lds r27,(tmpl4.35)+3
 1983 0e30 E80E                 add r14,r24
 1984 0e32 F91E                 adc r15,r25
 1985 0e34 0A1F                 adc r16,r26
 1986 0e36 1B1F                 adc r17,r27
 1987 0e38 C801                 movw r24,r16
 1988 0e3a B701                 movw r22,r14
 1989 0e3c 2981                 ldd r18,Y+1
 1990 0e3e 3A81                 ldd r19,Y+2
 1991 0e40 4B81                 ldd r20,Y+3
 1992 0e42 5C81                 ldd r21,Y+4
 1993 0e44 0E94 0000            call __mulsi3
 1994 0e48 9B01                 movw r18,r22
 1995 0e4a AC01                 movw r20,r24
 1996 0e4c 97FF                 sbrs r25,7
 1997 0e4e 04C0                 rjmp .L83
 1998 0e50 2150                 subi r18,lo8(-(2047))
 1999 0e52 384F                 sbci r19,hi8(-(2047))
 2000 0e54 4F4F                 sbci r20,hlo8(-(2047))
 2001 0e56 5F4F                 sbci r21,hhi8(-(2047))
 2002                   .L83:
 2003 0e58 BBE0                 ldi r27,11
 2004 0e5a 5595         1:      asr r21
 2005 0e5c 4795                 ror r20
 2006 0e5e 3795                 ror r19
 2007 0e60 2795                 ror r18
 2008 0e62 BA95                 dec r27
 2009 0e64 D1F7                 brne 1b
 2010 0e66 8091 0000            lds r24,Parameter_AchsKopplung1
 2011 0e6a A82E                 mov r10,r24
 2012 0e6c BB24                 clr r11
 2013 0e6e CC24                 clr r12
 2014 0e70 DD24                 clr r13
 2015 0e72 CA01                 movw r24,r20
 2016 0e74 B901                 movw r22,r18
 2017 0e76 A601                 movw r20,r12
 2018 0e78 9501                 movw r18,r10
 2019 0e7a 0E94 0000            call __mulsi3
 2020 0e7e DC01                 movw r26,r24
 2021 0e80 CB01                 movw r24,r22
 2022 0e82 8093 0000            sts tmpl.32,r24
 2023 0e86 9093 0000            sts (tmpl.32)+1,r25
 2024 0e8a A093 0000            sts (tmpl.32)+2,r26
 2025 0e8e B093 0000            sts (tmpl.32)+3,r27
 2026 0e92 B7FF                 sbrs r27,7
 2027 0e94 04C0                 rjmp .L84
 2028 0e96 8150                 subi r24,lo8(-(4095))
 2029 0e98 904F                 sbci r25,hi8(-(4095))
 2030 0e9a AF4F                 sbci r26,hlo8(-(4095))
 2031 0e9c BF4F                 sbci r27,hhi8(-(4095))
 2032                   .L84:
 2033 0e9e 3C01                 movw r6,r24
 2034 0ea0 4D01                 movw r8,r26
 2035 0ea2 ACE0                 ldi r26,12
 2036 0ea4 9594         1:      asr r9
 2037 0ea6 8794                 ror r8
 2038 0ea8 7794                 ror r7
 2039 0eaa 6794                 ror r6
 2040 0eac AA95                 dec r26
 2041 0eae D1F7                 brne 1b
 2042 0eb0 6092 0000            sts tmpl.32,r6
 2043 0eb4 7092 0000            sts (tmpl.32)+1,r7
 2044 0eb8 8092 0000            sts (tmpl.32)+2,r8
 2045 0ebc 9092 0000            sts (tmpl.32)+3,r9
 2046 0ec0 C801                 movw r24,r16
 2047 0ec2 B701                 movw r22,r14
 2048 0ec4 2D81                 ldd r18,Y+5
 2049 0ec6 3E81                 ldd r19,Y+6
 2050 0ec8 4F81                 ldd r20,Y+7
 2051 0eca 5885                 ldd r21,Y+8
 2052 0ecc 0E94 0000            call __mulsi3
 2053 0ed0 97FF                 sbrs r25,7
 2054 0ed2 04C0                 rjmp .L85
 2055 0ed4 6150                 subi r22,lo8(-(2047))
 2056 0ed6 784F                 sbci r23,hi8(-(2047))
 2057 0ed8 8F4F                 sbci r24,hlo8(-(2047))
 2058 0eda 9F4F                 sbci r25,hhi8(-(2047))
 2059                   .L85:
 2060 0edc FBE0                 ldi r31,11
 2061 0ede 9595         1:      asr r25
 2062 0ee0 8795                 ror r24
 2063 0ee2 7795                 ror r23
 2064 0ee4 6795                 ror r22
 2065 0ee6 FA95                 dec r31
 2066 0ee8 D1F7                 brne 1b
 2067 0eea A601                 movw r20,r12
 2068 0eec 9501                 movw r18,r10
 2069 0eee 0E94 0000            call __mulsi3
 2070 0ef2 DC01                 movw r26,r24
 2071 0ef4 CB01                 movw r24,r22
 2072 0ef6 8093 0000            sts tmpl2.33,r24
 2073 0efa 9093 0000            sts (tmpl2.33)+1,r25
 2074 0efe A093 0000            sts (tmpl2.33)+2,r26
 2075 0f02 B093 0000            sts (tmpl2.33)+3,r27
 2076 0f06 B7FF                 sbrs r27,7
 2077 0f08 04C0                 rjmp .L86
 2078 0f0a 8150                 subi r24,lo8(-(4095))
 2079 0f0c 904F                 sbci r25,hi8(-(4095))
 2080 0f0e AF4F                 sbci r26,hlo8(-(4095))
 2081 0f10 BF4F                 sbci r27,hhi8(-(4095))
 2082                   .L86:
 2083 0f12 AC01                 movw r20,r24
 2084 0f14 BD01                 movw r22,r26
 2085 0f16 ECE0                 ldi r30,12
 2086 0f18 7595         1:      asr r23
 2087 0f1a 6795                 ror r22
 2088 0f1c 5795                 ror r21
 2089 0f1e 4795                 ror r20
 2090 0f20 EA95                 dec r30
 2091 0f22 D1F7                 brne 1b
 2092 0f24 4093 0000            sts tmpl2.33,r20
 2093 0f28 5093 0000            sts (tmpl2.33)+1,r21
 2094 0f2c 6093 0000            sts (tmpl2.33)+2,r22
 2095 0f30 7093 0000            sts (tmpl2.33)+3,r23
 2096 0f34 2A89                 ldd r18,Y+18
 2097 0f36 3B89                 ldd r19,Y+19
 2098 0f38 37FF                 sbrs r19,7
 2099 0f3a 03C0                 rjmp .L88
 2100 0f3c 3095                 com r19
 2101 0f3e 2195                 neg r18
 2102 0f40 3F4F                 sbci r19,lo8(-1)
 2103                   .L88:
 2104 0f42 2134                 cpi r18,65
 2105 0f44 3105                 cpc r19,__zero_reg__
 2106 0f46 E4F1                 brlt .L93
 2107 0f48 D401                 movw r26,r8
 2108 0f4a C301                 movw r24,r6
 2109 0f4c 97FE                 sbrs r9,7
 2110 0f4e 07C0                 rjmp .L91
 2111 0f50 B095                 com r27
 2112 0f52 A095                 com r26
 2113 0f54 9095                 com r25
 2114 0f56 8195                 neg r24
 2115 0f58 9F4F                 sbci r25,lo8(-1)
 2116 0f5a AF4F                 sbci r26,lo8(-1)
 2117 0f5c BF4F                 sbci r27,lo8(-1)
 2118                   .L91:
 2119 0f5e 8138                 cpi r24,lo8(129)
 2120 0f60 9105                 cpc r25,__zero_reg__
 2121 0f62 A105                 cpc r26,__zero_reg__
 2122 0f64 B105                 cpc r27,__zero_reg__
 2123 0f66 84F4                 brge .L90
 2124 0f68 DB01                 movw r26,r22
 2125 0f6a CA01                 movw r24,r20
 2126 0f6c 77FF                 sbrs r23,7
 2127 0f6e 07C0                 rjmp .L92
 2128 0f70 B095                 com r27
 2129 0f72 A095                 com r26
 2130 0f74 9095                 com r25
 2131 0f76 8195                 neg r24
 2132 0f78 9F4F                 sbci r25,lo8(-1)
 2133 0f7a AF4F                 sbci r26,lo8(-1)
 2134 0f7c BF4F                 sbci r27,lo8(-1)
 2135                   .L92:
 2136 0f7e 8138                 cpi r24,lo8(129)
 2137 0f80 9105                 cpc r25,__zero_reg__
 2138 0f82 A105                 cpc r26,__zero_reg__
 2139 0f84 B105                 cpc r27,__zero_reg__
 2140 0f86 E4F0                 brlt .L93
 2141                   .L90:
 2142 0f88 81E0                 ldi r24,lo8(1)
 2143 0f8a 8093 0000            sts TrichterFlug,r24
 2144 0f8e 18C0                 rjmp .L93
 2145                   .L76:
 2146 0f90 1092 0000            sts (KopplungsteilRollNick)+1,__zero_reg__
 2147 0f94 1092 0000            sts KopplungsteilRollNick,__zero_reg__
 2148 0f98 1092 0000            sts (KopplungsteilNickRoll)+1,__zero_reg__
 2149 0f9c 1092 0000            sts KopplungsteilNickRoll,__zero_reg__
 2150 0fa0 1092 0000            sts tmpl2.33,__zero_reg__
 2151 0fa4 1092 0000            sts (tmpl2.33)+1,__zero_reg__
 2152 0fa8 1092 0000            sts (tmpl2.33)+2,__zero_reg__
 2153 0fac 1092 0000            sts (tmpl2.33)+3,__zero_reg__
 2154 0fb0 1092 0000            sts tmpl.32,__zero_reg__
 2155 0fb4 1092 0000            sts (tmpl.32)+1,__zero_reg__
 2156 0fb8 1092 0000            sts (tmpl.32)+2,__zero_reg__
 2157 0fbc 1092 0000            sts (tmpl.32)+3,__zero_reg__
 2158                   .L93:
 2159 0fc0 8091 0000            lds r24,tmpl2.33
 2160 0fc4 9091 0000            lds r25,(tmpl2.33)+1
 2161 0fc8 A091 0000            lds r26,(tmpl2.33)+2
 2162 0fcc B091 0000            lds r27,(tmpl2.33)+3
 2163 0fd0 BC01                 movw r22,r24
 2164 0fd2 CD01                 movw r24,r26
 2165 0fd4 24E6                 ldi r18,lo8(100)
 2166 0fd6 30E0                 ldi r19,hi8(100)
 2167 0fd8 40E0                 ldi r20,hlo8(100)
 2168 0fda 50E0                 ldi r21,hhi8(100)
 2169 0fdc 0E94 0000            call __divmodsi4
 2170 0fe0 E090 0000            lds r14,tmpl.32
 2171 0fe4 F090 0000            lds r15,(tmpl.32)+1
 2172 0fe8 E21A                 sub r14,r18
 2173 0fea F30A                 sbc r15,r19
 2174 0fec F092 0000            sts (TrimRoll)+1,r15
 2175 0ff0 E092 0000            sts TrimRoll,r14
 2176 0ff4 8091 0000            lds r24,tmpl.32
 2177 0ff8 9091 0000            lds r25,(tmpl.32)+1
 2178 0ffc A091 0000            lds r26,(tmpl.32)+2
 2179 1000 B091 0000            lds r27,(tmpl.32)+3
 2180 1004 BC01                 movw r22,r24
 2181 1006 CD01                 movw r24,r26
 2182 1008 24E6                 ldi r18,lo8(100)
 2183 100a 30E0                 ldi r19,hi8(100)
 2184 100c 40E0                 ldi r20,hlo8(100)
 2185 100e 50E0                 ldi r21,hhi8(100)
 2186 1010 0E94 0000            call __divmodsi4
 2187 1014 DA01                 movw r26,r20
 2188 1016 C901                 movw r24,r18
 2189 1018 2091 0000            lds r18,tmpl2.33
 2190 101c 3091 0000            lds r19,(tmpl2.33)+1
 2191 1020 8C01                 movw r16,r24
 2192 1022 021B                 sub r16,r18
 2193 1024 130B                 sbc r17,r19
 2194 1026 1093 0000            sts (TrimNick)+1,r17
 2195 102a 0093 0000            sts TrimNick,r16
 2196 102e 8091 0000            lds r24,GIER_GRAD_FAKTOR
 2197 1032 9091 0000            lds r25,(GIER_GRAD_FAKTOR)+1
 2198 1036 A091 0000            lds r26,(GIER_GRAD_FAKTOR)+2
 2199 103a B091 0000            lds r27,(GIER_GRAD_FAKTOR)+3
 2200 103e BC01                 movw r22,r24
 2201 1040 CD01                 movw r24,r26
 2202 1042 28E6                 ldi r18,lo8(360)
 2203 1044 31E0                 ldi r19,hi8(360)
 2204 1046 40E0                 ldi r20,hlo8(360)
 2205 1048 50E0                 ldi r21,hhi8(360)
 2206 104a 0E94 0000            call __mulsi3
 2207 104e 2091 0000            lds r18,ErsatzKompass
 2208 1052 3091 0000            lds r19,(ErsatzKompass)+1
 2209 1056 4091 0000            lds r20,(ErsatzKompass)+2
 2210 105a 5091 0000            lds r21,(ErsatzKompass)+3
 2211 105e 2617                 cp r18,r22
 2212 1060 3707                 cpc r19,r23
 2213 1062 4807                 cpc r20,r24
 2214 1064 5907                 cpc r21,r25
 2215 1066 64F0                 brlt .L94
 2216 1068 261B                 sub r18,r22
 2217 106a 370B                 sbc r19,r23
 2218 106c 480B                 sbc r20,r24
 2219 106e 590B                 sbc r21,r25
 2220 1070 2093 0000            sts ErsatzKompass,r18
 2221 1074 3093 0000            sts (ErsatzKompass)+1,r19
 2222 1078 4093 0000            sts (ErsatzKompass)+2,r20
 2223 107c 5093 0000            sts (ErsatzKompass)+3,r21
 2224                   .L94:
 2225 1080 2091 0000            lds r18,ErsatzKompass
 2226 1084 3091 0000            lds r19,(ErsatzKompass)+1
 2227 1088 4091 0000            lds r20,(ErsatzKompass)+2
 2228 108c 5091 0000            lds r21,(ErsatzKompass)+3
 2229 1090 57FF                 sbrs r21,7
 2230 1092 0CC0                 rjmp .L95
 2231 1094 260F                 add r18,r22
 2232 1096 371F                 adc r19,r23
 2233 1098 481F                 adc r20,r24
 2234 109a 591F                 adc r21,r25
 2235 109c 2093 0000            sts ErsatzKompass,r18
 2236 10a0 3093 0000            sts (ErsatzKompass)+1,r19
 2237 10a4 4093 0000            sts (ErsatzKompass)+2,r20
 2238 10a8 5093 0000            sts (ErsatzKompass)+3,r21
 2239                   .L95:
 2240 10ac 6091 0000            lds r22,MesswertRoll
 2241 10b0 7091 0000            lds r23,(MesswertRoll)+1
 2242 10b4 6E0D                 add r22,r14
 2243 10b6 7F1D                 adc r23,r15
 2244 10b8 9B01                 movw r18,r22
 2245 10ba 4427                 clr r20
 2246 10bc 37FD                 sbrc r19,7
 2247 10be 4095                 com r20
 2248 10c0 542F                 mov r21,r20
 2249 10c2 8091 0000            lds r24,Mess_IntegralRoll2
 2250 10c6 9091 0000            lds r25,(Mess_IntegralRoll2)+1
 2251 10ca A091 0000            lds r26,(Mess_IntegralRoll2)+2
 2252 10ce B091 0000            lds r27,(Mess_IntegralRoll2)+3
 2253 10d2 820F                 add r24,r18
 2254 10d4 931F                 adc r25,r19
 2255 10d6 A41F                 adc r26,r20
 2256 10d8 B51F                 adc r27,r21
 2257 10da 8093 0000            sts Mess_IntegralRoll2,r24
 2258 10de 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 2259 10e2 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 2260 10e6 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 2261 10ea 8091 0000            lds r24,LageKorrekturRoll
 2262 10ee 9091 0000            lds r25,(LageKorrekturRoll)+1
 2263 10f2 681B                 sub r22,r24
 2264 10f4 790B                 sbc r23,r25
 2265 10f6 CB01                 movw r24,r22
 2266 10f8 AA27                 clr r26
 2267 10fa 97FD                 sbrc r25,7
 2268 10fc A095                 com r26
 2269 10fe BA2F                 mov r27,r26
 2270 1100 2985                 ldd r18,Y+9
 2271 1102 3A85                 ldd r19,Y+10
 2272 1104 4B85                 ldd r20,Y+11
 2273 1106 5C85                 ldd r21,Y+12
 2274 1108 820F                 add r24,r18
 2275 110a 931F                 adc r25,r19
 2276 110c A41F                 adc r26,r20
 2277 110e B51F                 adc r27,r21
 2278 1110 8093 0000            sts Mess_IntegralRoll,r24
 2279 1114 9093 0000            sts (Mess_IntegralRoll)+1,r25
 2280 1118 A093 0000            sts (Mess_IntegralRoll)+2,r26
 2281 111c B093 0000            sts (Mess_IntegralRoll)+3,r27
 2282 1120 C090 0000            lds r12,Umschlag180Roll
 2283 1124 D090 0000            lds r13,(Umschlag180Roll)+1
 2284 1128 E090 0000            lds r14,(Umschlag180Roll)+2
 2285 112c F090 0000            lds r15,(Umschlag180Roll)+3
 2286 1130 C816                 cp r12,r24
 2287 1132 D906                 cpc r13,r25
 2288 1134 EA06                 cpc r14,r26
 2289 1136 FB06                 cpc r15,r27
 2290 1138 C4F4                 brge .L96
 2291 113a 88EA                 ldi r24,lo8(25000)
 2292 113c 91E6                 ldi r25,hi8(25000)
 2293 113e A0E0                 ldi r26,hlo8(25000)
 2294 1140 B0E0                 ldi r27,hhi8(25000)
 2295 1142 8C19                 sub r24,r12
 2296 1144 9D09                 sbc r25,r13
 2297 1146 AE09                 sbc r26,r14
 2298 1148 BF09                 sbc r27,r15
 2299 114a 8093 0000            sts Mess_IntegralRoll,r24
 2300 114e 9093 0000            sts (Mess_IntegralRoll)+1,r25
 2301 1152 A093 0000            sts (Mess_IntegralRoll)+2,r26
 2302 1156 B093 0000            sts (Mess_IntegralRoll)+3,r27
 2303 115a 8093 0000            sts Mess_IntegralRoll2,r24
 2304 115e 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 2305 1162 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 2306 1166 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 2307                   .L96:
 2308 116a 2227                 clr r18
 2309 116c 3327                 clr r19
 2310 116e A901                 movw r20,r18
 2311 1170 2C19                 sub r18,r12
 2312 1172 3D09                 sbc r19,r13
 2313 1174 4E09                 sbc r20,r14
 2314 1176 5F09                 sbc r21,r15
 2315 1178 8091 0000            lds r24,Mess_IntegralRoll
 2316 117c 9091 0000            lds r25,(Mess_IntegralRoll)+1
 2317 1180 A091 0000            lds r26,(Mess_IntegralRoll)+2
 2318 1184 B091 0000            lds r27,(Mess_IntegralRoll)+3
 2319 1188 8217                 cp r24,r18
 2320 118a 9307                 cpc r25,r19
 2321 118c A407                 cpc r26,r20
 2322 118e B507                 cpc r27,r21
 2323 1190 B4F4                 brge .L97
 2324 1192 D701                 movw r26,r14
 2325 1194 C601                 movw r24,r12
 2326 1196 885A                 subi r24,lo8(-(-25000))
 2327 1198 9146                 sbci r25,hi8(-(-25000))
 2328 119a A040                 sbci r26,hlo8(-(-25000))
 2329 119c B040                 sbci r27,hhi8(-(-25000))
 2330 119e 8093 0000            sts Mess_IntegralRoll,r24
 2331 11a2 9093 0000            sts (Mess_IntegralRoll)+1,r25
 2332 11a6 A093 0000            sts (Mess_IntegralRoll)+2,r26
 2333 11aa B093 0000            sts (Mess_IntegralRoll)+3,r27
 2334 11ae 8093 0000            sts Mess_IntegralRoll2,r24
 2335 11b2 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 2336 11b6 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 2337 11ba B093 0000            sts (Mess_IntegralRoll2)+3,r27
 2338                   .L97:
 2339 11be 6091 0000            lds r22,MesswertNick
 2340 11c2 7091 0000            lds r23,(MesswertNick)+1
 2341 11c6 600F                 add r22,r16
 2342 11c8 711F                 adc r23,r17
 2343 11ca 9B01                 movw r18,r22
 2344 11cc 4427                 clr r20
 2345 11ce 37FD                 sbrc r19,7
 2346 11d0 4095                 com r20
 2347 11d2 542F                 mov r21,r20
 2348 11d4 8091 0000            lds r24,Mess_IntegralNick2
 2349 11d8 9091 0000            lds r25,(Mess_IntegralNick2)+1
 2350 11dc A091 0000            lds r26,(Mess_IntegralNick2)+2
 2351 11e0 B091 0000            lds r27,(Mess_IntegralNick2)+3
 2352 11e4 820F                 add r24,r18
 2353 11e6 931F                 adc r25,r19
 2354 11e8 A41F                 adc r26,r20
 2355 11ea B51F                 adc r27,r21
 2356 11ec 8093 0000            sts Mess_IntegralNick2,r24
 2357 11f0 9093 0000            sts (Mess_IntegralNick2)+1,r25
 2358 11f4 A093 0000            sts (Mess_IntegralNick2)+2,r26
 2359 11f8 B093 0000            sts (Mess_IntegralNick2)+3,r27
 2360 11fc 8091 0000            lds r24,LageKorrekturNick
 2361 1200 9091 0000            lds r25,(LageKorrekturNick)+1
 2362 1204 681B                 sub r22,r24
 2363 1206 790B                 sbc r23,r25
 2364 1208 CB01                 movw r24,r22
 2365 120a AA27                 clr r26
 2366 120c 97FD                 sbrc r25,7
 2367 120e A095                 com r26
 2368 1210 BA2F                 mov r27,r26
 2369 1212 2D85                 ldd r18,Y+13
 2370 1214 3E85                 ldd r19,Y+14
 2371 1216 4F85                 ldd r20,Y+15
 2372 1218 5889                 ldd r21,Y+16
 2373 121a 820F                 add r24,r18
 2374 121c 931F                 adc r25,r19
 2375 121e A41F                 adc r26,r20
 2376 1220 B51F                 adc r27,r21
 2377 1222 8093 0000            sts Mess_IntegralNick,r24
 2378 1226 9093 0000            sts (Mess_IntegralNick)+1,r25
 2379 122a A093 0000            sts (Mess_IntegralNick)+2,r26
 2380 122e B093 0000            sts (Mess_IntegralNick)+3,r27
 2381 1232 E090 0000            lds r14,Umschlag180Nick
 2382 1236 F090 0000            lds r15,(Umschlag180Nick)+1
 2383 123a 0091 0000            lds r16,(Umschlag180Nick)+2
 2384 123e 1091 0000            lds r17,(Umschlag180Nick)+3
 2385 1242 E816                 cp r14,r24
 2386 1244 F906                 cpc r15,r25
 2387 1246 0A07                 cpc r16,r26
 2388 1248 1B07                 cpc r17,r27
 2389 124a C4F4                 brge .L98
 2390 124c 88EA                 ldi r24,lo8(25000)
 2391 124e 91E6                 ldi r25,hi8(25000)
 2392 1250 A0E0                 ldi r26,hlo8(25000)
 2393 1252 B0E0                 ldi r27,hhi8(25000)
 2394 1254 8E19                 sub r24,r14
 2395 1256 9F09                 sbc r25,r15
 2396 1258 A00B                 sbc r26,r16
 2397 125a B10B                 sbc r27,r17
 2398 125c 8093 0000            sts Mess_IntegralNick,r24
 2399 1260 9093 0000            sts (Mess_IntegralNick)+1,r25
 2400 1264 A093 0000            sts (Mess_IntegralNick)+2,r26
 2401 1268 B093 0000            sts (Mess_IntegralNick)+3,r27
 2402 126c 8093 0000            sts Mess_IntegralNick2,r24
 2403 1270 9093 0000            sts (Mess_IntegralNick2)+1,r25
 2404 1274 A093 0000            sts (Mess_IntegralNick2)+2,r26
 2405 1278 B093 0000            sts (Mess_IntegralNick2)+3,r27
 2406                   .L98:
 2407 127c 2227                 clr r18
 2408 127e 3327                 clr r19
 2409 1280 A901                 movw r20,r18
 2410 1282 2E19                 sub r18,r14
 2411 1284 3F09                 sbc r19,r15
 2412 1286 400B                 sbc r20,r16
 2413 1288 510B                 sbc r21,r17
 2414 128a 8091 0000            lds r24,Mess_IntegralNick
 2415 128e 9091 0000            lds r25,(Mess_IntegralNick)+1
 2416 1292 A091 0000            lds r26,(Mess_IntegralNick)+2
 2417 1296 B091 0000            lds r27,(Mess_IntegralNick)+3
 2418 129a 8217                 cp r24,r18
 2419 129c 9307                 cpc r25,r19
 2420 129e A407                 cpc r26,r20
 2421 12a0 B507                 cpc r27,r21
 2422 12a2 B4F4                 brge .L99
 2423 12a4 D801                 movw r26,r16
 2424 12a6 C701                 movw r24,r14
 2425 12a8 885A                 subi r24,lo8(-(-25000))
 2426 12aa 9146                 sbci r25,hi8(-(-25000))
 2427 12ac A040                 sbci r26,hlo8(-(-25000))
 2428 12ae B040                 sbci r27,hhi8(-(-25000))
 2429 12b0 8093 0000            sts Mess_IntegralNick,r24
 2430 12b4 9093 0000            sts (Mess_IntegralNick)+1,r25
 2431 12b8 A093 0000            sts (Mess_IntegralNick)+2,r26
 2432 12bc B093 0000            sts (Mess_IntegralNick)+3,r27
 2433 12c0 8093 0000            sts Mess_IntegralNick2,r24
 2434 12c4 9093 0000            sts (Mess_IntegralNick2)+1,r25
 2435 12c8 A093 0000            sts (Mess_IntegralNick2)+2,r26
 2436 12cc B093 0000            sts (Mess_IntegralNick2)+3,r27
 2437                   .L99:
 2438 12d0 8091 0000            lds r24,Mess_Integral_Gier
 2439 12d4 9091 0000            lds r25,(Mess_Integral_Gier)+1
 2440 12d8 A091 0000            lds r26,(Mess_Integral_Gier)+2
 2441 12dc B091 0000            lds r27,(Mess_Integral_Gier)+3
 2442 12e0 8093 0000            sts Integral_Gier,r24
 2443 12e4 9093 0000            sts (Integral_Gier)+1,r25
 2444 12e8 A093 0000            sts (Integral_Gier)+2,r26
 2445 12ec B093 0000            sts (Integral_Gier)+3,r27
 2446 12f0 8091 0000            lds r24,Mess_IntegralNick
 2447 12f4 9091 0000            lds r25,(Mess_IntegralNick)+1
 2448 12f8 A091 0000            lds r26,(Mess_IntegralNick)+2
 2449 12fc B091 0000            lds r27,(Mess_IntegralNick)+3
 2450 1300 8093 0000            sts IntegralNick,r24
 2451 1304 9093 0000            sts (IntegralNick)+1,r25
 2452 1308 A093 0000            sts (IntegralNick)+2,r26
 2453 130c B093 0000            sts (IntegralNick)+3,r27
 2454 1310 8091 0000            lds r24,Mess_IntegralRoll
 2455 1314 9091 0000            lds r25,(Mess_IntegralRoll)+1
 2456 1318 A091 0000            lds r26,(Mess_IntegralRoll)+2
 2457 131c B091 0000            lds r27,(Mess_IntegralRoll)+3
 2458 1320 8093 0000            sts IntegralRoll,r24
 2459 1324 9093 0000            sts (IntegralRoll)+1,r25
 2460 1328 A093 0000            sts (IntegralRoll)+2,r26
 2461 132c B093 0000            sts (IntegralRoll)+3,r27
 2462 1330 8091 0000            lds r24,Mess_IntegralNick2
 2463 1334 9091 0000            lds r25,(Mess_IntegralNick2)+1
 2464 1338 A091 0000            lds r26,(Mess_IntegralNick2)+2
 2465 133c B091 0000            lds r27,(Mess_IntegralNick2)+3
 2466 1340 8093 0000            sts IntegralNick2,r24
 2467 1344 9093 0000            sts (IntegralNick2)+1,r25
 2468 1348 A093 0000            sts (IntegralNick2)+2,r26
 2469 134c B093 0000            sts (IntegralNick2)+3,r27
 2470 1350 8091 0000            lds r24,Mess_IntegralRoll2
 2471 1354 9091 0000            lds r25,(Mess_IntegralRoll2)+1
 2472 1358 A091 0000            lds r26,(Mess_IntegralRoll2)+2
 2473 135c B091 0000            lds r27,(Mess_IntegralRoll2)+3
 2474 1360 8093 0000            sts IntegralRoll2,r24
 2475 1364 9093 0000            sts (IntegralRoll2)+1,r25
 2476 1368 A093 0000            sts (IntegralRoll2)+2,r26
 2477 136c B093 0000            sts (IntegralRoll2)+3,r27
 2478 1370 8091 0000            lds r24,HiResNick
 2479 1374 9091 0000            lds r25,(HiResNick)+1
 2480 1378 97FD                 sbrc r25,7
 2481 137a 0796                 adiw r24,7
 2482                   .L100:
 2483 137c 33E0                 ldi r19,3
 2484 137e 9595         1:      asr r25
 2485 1380 8795                 ror r24
 2486 1382 3A95                 dec r19
 2487 1384 E1F7                 brne 1b
 2488 1386 9093 0000            sts (MesswertNick)+1,r25
 2489 138a 8093 0000            sts MesswertNick,r24
 2490 138e 8091 0000            lds r24,HiResRoll
 2491 1392 9091 0000            lds r25,(HiResRoll)+1
 2492 1396 97FD                 sbrc r25,7
 2493 1398 0796                 adiw r24,7
 2494                   .L101:
 2495 139a 23E0                 ldi r18,3
 2496 139c 9595         1:      asr r25
 2497 139e 8795                 ror r24
 2498 13a0 2A95                 dec r18
 2499 13a2 E1F7                 brne 1b
 2500 13a4 9093 0000            sts (MesswertRoll)+1,r25
 2501 13a8 8093 0000            sts MesswertRoll,r24
 2502 13ac 8091 0000            lds r24,AdWertNick
 2503 13b0 9091 0000            lds r25,(AdWertNick)+1
 2504 13b4 0F97                 sbiw r24,15
 2505 13b6 34F4                 brge .L102
 2506 13b8 88E1                 ldi r24,lo8(-1000)
 2507 13ba 9CEF                 ldi r25,hi8(-1000)
 2508 13bc 9093 0000            sts (MesswertNick)+1,r25
 2509 13c0 8093 0000            sts MesswertNick,r24
 2510                   .L102:
 2511 13c4 8091 0000            lds r24,AdWertNick
 2512 13c8 9091 0000            lds r25,(AdWertNick)+1
 2513 13cc 0797                 sbiw r24,7
 2514 13ce 34F4                 brge .L103
 2515 13d0 80E3                 ldi r24,lo8(-2000)
 2516 13d2 98EF                 ldi r25,hi8(-2000)
 2517 13d4 9093 0000            sts (MesswertNick)+1,r25
 2518 13d8 8093 0000            sts MesswertNick,r24
 2519                   .L103:
 2520 13dc 2091 0000            lds r18,PlatinenVersion
 2521 13e0 2A30                 cpi r18,lo8(10)
 2522 13e2 A9F4                 brne .L104
 2523 13e4 8091 0000            lds r24,AdWertNick
 2524 13e8 9091 0000            lds r25,(AdWertNick)+1
 2525 13ec 835F                 subi r24,lo8(1011)
 2526 13ee 9340                 sbci r25,hi8(1011)
 2527 13f0 34F0                 brlt .L105
 2528 13f2 88EE                 ldi r24,lo8(1000)
 2529 13f4 93E0                 ldi r25,hi8(1000)
 2530 13f6 9093 0000            sts (MesswertNick)+1,r25
 2531 13fa 8093 0000            sts MesswertNick,r24
 2532                   .L105:
 2533 13fe 8091 0000            lds r24,AdWertNick
 2534 1402 9091 0000            lds r25,(AdWertNick)+1
 2535 1406 8A5F                 subi r24,lo8(1018)
 2536 1408 9340                 sbci r25,hi8(1018)
 2537 140a DCF0                 brlt .L107
 2538 140c 14C0                 rjmp .L163
 2539                   .L104:
 2540 140e 8091 0000            lds r24,AdWertNick
 2541 1412 9091 0000            lds r25,(AdWertNick)+1
 2542 1416 815D                 subi r24,lo8(2001)
 2543 1418 9740                 sbci r25,hi8(2001)
 2544 141a 34F0                 brlt .L108
 2545 141c 88EE                 ldi r24,lo8(1000)
 2546 141e 93E0                 ldi r25,hi8(1000)
 2547 1420 9093 0000            sts (MesswertNick)+1,r25
 2548 1424 8093 0000            sts MesswertNick,r24
 2549                   .L108:
 2550 1428 8091 0000            lds r24,AdWertNick
 2551 142c 9091 0000            lds r25,(AdWertNick)+1
 2552 1430 805E                 subi r24,lo8(2016)
 2553 1432 9740                 sbci r25,hi8(2016)
 2554 1434 34F0                 brlt .L107
 2555                   .L163:
 2556 1436 80ED                 ldi r24,lo8(2000)
 2557 1438 97E0                 ldi r25,hi8(2000)
 2558 143a 9093 0000            sts (MesswertNick)+1,r25
 2559 143e 8093 0000            sts MesswertNick,r24
 2560                   .L107:
 2561 1442 8091 0000            lds r24,AdWertRoll
 2562 1446 9091 0000            lds r25,(AdWertRoll)+1
 2563 144a 0F97                 sbiw r24,15
 2564 144c 34F4                 brge .L110
 2565 144e 88E1                 ldi r24,lo8(-1000)
 2566 1450 9CEF                 ldi r25,hi8(-1000)
 2567 1452 9093 0000            sts (MesswertRoll)+1,r25
 2568 1456 8093 0000            sts MesswertRoll,r24
 2569                   .L110:
 2570 145a 8091 0000            lds r24,AdWertRoll
 2571 145e 9091 0000            lds r25,(AdWertRoll)+1
 2572 1462 0797                 sbiw r24,7
 2573 1464 34F4                 brge .L111
 2574 1466 80E3                 ldi r24,lo8(-2000)
 2575 1468 98EF                 ldi r25,hi8(-2000)
 2576 146a 9093 0000            sts (MesswertRoll)+1,r25
 2577 146e 8093 0000            sts MesswertRoll,r24
 2578                   .L111:
 2579 1472 2A30                 cpi r18,lo8(10)
 2580 1474 A9F4                 brne .L112
 2581 1476 8091 0000            lds r24,AdWertRoll
 2582 147a 9091 0000            lds r25,(AdWertRoll)+1
 2583 147e 835F                 subi r24,lo8(1011)
 2584 1480 9340                 sbci r25,hi8(1011)
 2585 1482 34F0                 brlt .L113
 2586 1484 88EE                 ldi r24,lo8(1000)
 2587 1486 93E0                 ldi r25,hi8(1000)
 2588 1488 9093 0000            sts (MesswertRoll)+1,r25
 2589 148c 8093 0000            sts MesswertRoll,r24
 2590                   .L113:
 2591 1490 8091 0000            lds r24,AdWertRoll
 2592 1494 9091 0000            lds r25,(AdWertRoll)+1
 2593 1498 8A5F                 subi r24,lo8(1018)
 2594 149a 9340                 sbci r25,hi8(1018)
 2595 149c DCF0                 brlt .L115
 2596 149e 14C0                 rjmp .L164
 2597                   .L112:
 2598 14a0 8091 0000            lds r24,AdWertRoll
 2599 14a4 9091 0000            lds r25,(AdWertRoll)+1
 2600 14a8 815D                 subi r24,lo8(2001)
 2601 14aa 9740                 sbci r25,hi8(2001)
 2602 14ac 34F0                 brlt .L116
 2603 14ae 88EE                 ldi r24,lo8(1000)
 2604 14b0 93E0                 ldi r25,hi8(1000)
 2605 14b2 9093 0000            sts (MesswertRoll)+1,r25
 2606 14b6 8093 0000            sts MesswertRoll,r24
 2607                   .L116:
 2608 14ba 8091 0000            lds r24,AdWertRoll
 2609 14be 9091 0000            lds r25,(AdWertRoll)+1
 2610 14c2 805E                 subi r24,lo8(2016)
 2611 14c4 9740                 sbci r25,hi8(2016)
 2612 14c6 34F0                 brlt .L115
 2613                   .L164:
 2614 14c8 80ED                 ldi r24,lo8(2000)
 2615 14ca 97E0                 ldi r25,hi8(2000)
 2616 14cc 9093 0000            sts (MesswertRoll)+1,r25
 2617 14d0 8093 0000            sts MesswertRoll,r24
 2618                   .L115:
 2619 14d4 E091 0000            lds r30,Parameter_Gyro_D
 2620 14d8 EE23                 tst r30
 2621 14da 09F4                 brne .+2
 2622 14dc B7C0                 rjmp .L118
 2623 14de 4091 0000            lds r20,HiResNick
 2624 14e2 5091 0000            lds r21,(HiResNick)+1
 2625 14e6 8091 0000            lds r24,oldNick.36
 2626 14ea 9091 0000            lds r25,(oldNick.36)+1
 2627 14ee 481B                 sub r20,r24
 2628 14f0 590B                 sbc r21,r25
 2629 14f2 5093 0000            sts (d2Nick.39)+1,r21
 2630 14f6 4093 0000            sts d2Nick.39,r20
 2631 14fa 2091 0000            lds r18,HiResNick
 2632 14fe 3091 0000            lds r19,(HiResNick)+1
 2633 1502 280F                 add r18,r24
 2634 1504 391F                 adc r19,r25
 2635 1506 37FF                 sbrs r19,7
 2636 1508 02C0                 rjmp .L119
 2637 150a 2F5F                 subi r18,lo8(-(1))
 2638 150c 3F4F                 sbci r19,hi8(-(1))
 2639                   .L119:
 2640 150e 3595                 asr r19
 2641 1510 2795                 ror r18
 2642 1512 3093 0000            sts (oldNick.36)+1,r19
 2643 1516 2093 0000            sts oldNick.36,r18
 2644 151a 4138                 cpi r20,129
 2645 151c 5105                 cpc r21,__zero_reg__
 2646 151e 1CF0                 brlt .L120
 2647 1520 80E8                 ldi r24,lo8(128)
 2648 1522 90E0                 ldi r25,hi8(128)
 2649 1524 05C0                 rjmp .L165
 2650                   .L120:
 2651 1526 4058                 subi r20,lo8(-128)
 2652 1528 5F4F                 sbci r21,hi8(-128)
 2653 152a 34F4                 brge .L121
 2654 152c 80E8                 ldi r24,lo8(-128)
 2655 152e 9FEF                 ldi r25,hi8(-128)
 2656                   .L165:
 2657 1530 9093 0000            sts (d2Nick.39)+1,r25
 2658 1534 8093 0000            sts d2Nick.39,r24
 2659                   .L121:
 2660 1538 8E2F                 mov r24,r30
 2661 153a 9927                 clr r25
 2662 153c A091 0000            lds r26,d2Nick.39
 2663 1540 B091 0000            lds r27,(d2Nick.39)+1
 2664 1544 A89F                 mul r26,r24
 2665 1546 A001                 movw r20,r0
 2666 1548 A99F                 mul r26,r25
 2667 154a 500D                 add r21,r0
 2668 154c B89F                 mul r27,r24
 2669 154e 500D                 add r21,r0
 2670 1550 1124                 clr r1
 2671 1552 57FF                 sbrs r21,7
 2672 1554 02C0                 rjmp .L123
 2673 1556 415F                 subi r20,lo8(-(15))
 2674 1558 5F4F                 sbci r21,hi8(-(15))
 2675                   .L123:
 2676 155a 14E0                 ldi r17,4
 2677 155c 5595         1:      asr r21
 2678 155e 4795                 ror r20
 2679 1560 1A95                 dec r17
 2680 1562 E1F7                 brne 1b
 2681 1564 8091 0000            lds r24,MesswertNick
 2682 1568 9091 0000            lds r25,(MesswertNick)+1
 2683 156c 840F                 add r24,r20
 2684 156e 951F                 adc r25,r21
 2685 1570 9093 0000            sts (MesswertNick)+1,r25
 2686 1574 8093 0000            sts MesswertNick,r24
 2687 1578 6091 0000            lds r22,HiResRoll
 2688 157c 7091 0000            lds r23,(HiResRoll)+1
 2689 1580 8091 0000            lds r24,oldRoll.37
 2690 1584 9091 0000            lds r25,(oldRoll.37)+1
 2691 1588 681B                 sub r22,r24
 2692 158a 790B                 sbc r23,r25
 2693 158c 7093 0000            sts (d2Roll.38)+1,r23
 2694 1590 6093 0000            sts d2Roll.38,r22
 2695 1594 4091 0000            lds r20,HiResRoll
 2696 1598 5091 0000            lds r21,(HiResRoll)+1
 2697 159c 480F                 add r20,r24
 2698 159e 591F                 adc r21,r25
 2699 15a0 57FF                 sbrs r21,7
 2700 15a2 02C0                 rjmp .L124
 2701 15a4 4F5F                 subi r20,lo8(-(1))
 2702 15a6 5F4F                 sbci r21,hi8(-(1))
 2703                   .L124:
 2704 15a8 5595                 asr r21
 2705 15aa 4795                 ror r20
 2706 15ac 5093 0000            sts (oldRoll.37)+1,r21
 2707 15b0 4093 0000            sts oldRoll.37,r20
 2708 15b4 6138                 cpi r22,129
 2709 15b6 7105                 cpc r23,__zero_reg__
 2710 15b8 1CF0                 brlt .L125
 2711 15ba 80E8                 ldi r24,lo8(128)
 2712 15bc 90E0                 ldi r25,hi8(128)
 2713 15be 05C0                 rjmp .L166
 2714                   .L125:
 2715 15c0 6058                 subi r22,lo8(-128)
 2716 15c2 7F4F                 sbci r23,hi8(-128)
 2717 15c4 34F4                 brge .L126
 2718 15c6 80E8                 ldi r24,lo8(-128)
 2719 15c8 9FEF                 ldi r25,hi8(-128)
 2720                   .L166:
 2721 15ca 9093 0000            sts (d2Roll.38)+1,r25
 2722 15ce 8093 0000            sts d2Roll.38,r24
 2723                   .L126:
 2724 15d2 2E2F                 mov r18,r30
 2725 15d4 3327                 clr r19
 2726 15d6 8091 0000            lds r24,d2Roll.38
 2727 15da 9091 0000            lds r25,(d2Roll.38)+1
 2728 15de 829F                 mul r24,r18
 2729 15e0 B001                 movw r22,r0
 2730 15e2 839F                 mul r24,r19
 2731 15e4 700D                 add r23,r0
 2732 15e6 929F                 mul r25,r18
 2733 15e8 700D                 add r23,r0
 2734 15ea 1124                 clr r1
 2735 15ec AB01                 movw r20,r22
 2736 15ee 77FF                 sbrs r23,7
 2737 15f0 02C0                 rjmp .L128
 2738 15f2 415F                 subi r20,lo8(-(15))
 2739 15f4 5F4F                 sbci r21,hi8(-(15))
 2740                   .L128:
 2741 15f6 E4E0                 ldi r30,4
 2742 15f8 5595         1:      asr r21
 2743 15fa 4795                 ror r20
 2744 15fc EA95                 dec r30
 2745 15fe E1F7                 brne 1b
 2746 1600 8091 0000            lds r24,MesswertRoll
 2747 1604 9091 0000            lds r25,(MesswertRoll)+1
 2748 1608 840F                 add r24,r20
 2749 160a 951F                 adc r25,r21
 2750 160c 9093 0000            sts (MesswertRoll)+1,r25
 2751 1610 8093 0000            sts MesswertRoll,r24
 2752 1614 A29F                 mul r26,r18
 2753 1616 C001                 movw r24,r0
 2754 1618 A39F                 mul r26,r19
 2755 161a 900D                 add r25,r0
 2756 161c B29F                 mul r27,r18
 2757 161e 900D                 add r25,r0
 2758 1620 1124                 clr r1
 2759 1622 9C01                 movw r18,r24
 2760 1624 8091 0000            lds r24,HiResNick
 2761 1628 9091 0000            lds r25,(HiResNick)+1
 2762 162c 820F                 add r24,r18
 2763 162e 931F                 adc r25,r19
 2764 1630 9093 0000            sts (HiResNick)+1,r25
 2765 1634 8093 0000            sts HiResNick,r24
 2766 1638 8091 0000            lds r24,HiResRoll
 2767 163c 9091 0000            lds r25,(HiResRoll)+1
 2768 1640 860F                 add r24,r22
 2769 1642 971F                 adc r25,r23
 2770 1644 9093 0000            sts (HiResRoll)+1,r25
 2771 1648 8093 0000            sts HiResRoll,r24
 2772                   .L118:
 2773 164c 0091 0000            lds r16,RohMesswertRoll
 2774 1650 1091 0000            lds r17,(RohMesswertRoll)+1
 2775 1654 8091 0000            lds r24,KopplungsteilNickRoll
 2776 1658 9091 0000            lds r25,(KopplungsteilNickRoll)+1
 2777 165c 1016                 cp __zero_reg__,r16
 2778 165e 1106                 cpc __zero_reg__,r17
 2779 1660 5CF5                 brge .L129
 2780 1662 9C01                 movw r18,r24
 2781 1664 97FF                 sbrs r25,7
 2782 1666 04C0                 rjmp .L130
 2783 1668 2227                 clr r18
 2784 166a 3327                 clr r19
 2785 166c 281B                 sub r18,r24
 2786 166e 390B                 sbc r19,r25
 2787                   .L130:
 2788 1670 C901                 movw r24,r18
 2789 1672 AA27                 clr r26
 2790 1674 97FD                 sbrc r25,7
 2791 1676 A095                 com r26
 2792 1678 BA2F                 mov r27,r26
 2793 167a 2091 0000            lds r18,Parameter_CouplingYawCorrection
 2794 167e 3327                 clr r19
 2795 1680 4427                 clr r20
 2796 1682 5527                 clr r21
 2797 1684 BC01                 movw r22,r24
 2798 1686 CD01                 movw r24,r26
 2799 1688 0E94 0000            call __mulsi3
 2800 168c 9B01                 movw r18,r22
 2801 168e AC01                 movw r20,r24
 2802 1690 97FF                 sbrs r25,7
 2803 1692 04C0                 rjmp .L131
 2804 1694 215C                 subi r18,lo8(-(63))
 2805 1696 3F4F                 sbci r19,hi8(-(63))
 2806 1698 4F4F                 sbci r20,hlo8(-(63))
 2807 169a 5F4F                 sbci r21,hhi8(-(63))
 2808                   .L131:
 2809 169c 76E0                 ldi r23,6
 2810 169e 5595         1:      asr r21
 2811 16a0 4795                 ror r20
 2812 16a2 3795                 ror r19
 2813 16a4 2795                 ror r18
 2814 16a6 7A95                 dec r23
 2815 16a8 D1F7                 brne 1b
 2816 16aa 8091 0000            lds r24,TrimRoll
 2817 16ae 9091 0000            lds r25,(TrimRoll)+1
 2818 16b2 820F                 add r24,r18
 2819 16b4 931F                 adc r25,r19
 2820 16b6 27C0                 rjmp .L167
 2821                   .L129:
 2822 16b8 97FF                 sbrs r25,7
 2823 16ba 03C0                 rjmp .L133
 2824 16bc 9095                 com r25
 2825 16be 8195                 neg r24
 2826 16c0 9F4F                 sbci r25,lo8(-1)
 2827                   .L133:
 2828 16c2 AA27                 clr r26
 2829 16c4 97FD                 sbrc r25,7
 2830 16c6 A095                 com r26
 2831 16c8 BA2F                 mov r27,r26
 2832 16ca 2091 0000            lds r18,Parameter_CouplingYawCorrection
 2833 16ce 3327                 clr r19
 2834 16d0 4427                 clr r20
 2835 16d2 5527                 clr r21
 2836 16d4 BC01                 movw r22,r24
 2837 16d6 CD01                 movw r24,r26
 2838 16d8 0E94 0000            call __mulsi3
 2839 16dc 9B01                 movw r18,r22
 2840 16de AC01                 movw r20,r24
 2841 16e0 97FF                 sbrs r25,7
 2842 16e2 04C0                 rjmp .L134
 2843 16e4 215C                 subi r18,lo8(-(63))
 2844 16e6 3F4F                 sbci r19,hi8(-(63))
 2845 16e8 4F4F                 sbci r20,hlo8(-(63))
 2846 16ea 5F4F                 sbci r21,hhi8(-(63))
 2847                   .L134:
 2848 16ec 66E0                 ldi r22,6
 2849 16ee 5595         1:      asr r21
 2850 16f0 4795                 ror r20
 2851 16f2 3795                 ror r19
 2852 16f4 2795                 ror r18
 2853 16f6 6A95                 dec r22
 2854 16f8 D1F7                 brne 1b
 2855 16fa 8091 0000            lds r24,TrimRoll
 2856 16fe 9091 0000            lds r25,(TrimRoll)+1
 2857 1702 821B                 sub r24,r18
 2858 1704 930B                 sbc r25,r19
 2859                   .L167:
 2860 1706 9093 0000            sts (TrimRoll)+1,r25
 2861 170a 8093 0000            sts TrimRoll,r24
 2862 170e E090 0000            lds r14,RohMesswertNick
 2863 1712 F090 0000            lds r15,(RohMesswertNick)+1
 2864 1716 8091 0000            lds r24,KopplungsteilRollNick
 2865 171a 9091 0000            lds r25,(KopplungsteilRollNick)+1
 2866 171e 1E14                 cp __zero_reg__,r14
 2867 1720 1F04                 cpc __zero_reg__,r15
 2868 1722 5CF5                 brge .L135
 2869 1724 9C01                 movw r18,r24
 2870 1726 97FF                 sbrs r25,7
 2871 1728 04C0                 rjmp .L136
 2872 172a 2227                 clr r18
 2873 172c 3327                 clr r19
 2874 172e 281B                 sub r18,r24
 2875 1730 390B                 sbc r19,r25
 2876                   .L136:
 2877 1732 C901                 movw r24,r18
 2878 1734 AA27                 clr r26
 2879 1736 97FD                 sbrc r25,7
 2880 1738 A095                 com r26
 2881 173a BA2F                 mov r27,r26
 2882 173c 2091 0000            lds r18,Parameter_CouplingYawCorrection
 2883 1740 3327                 clr r19
 2884 1742 4427                 clr r20
 2885 1744 5527                 clr r21
 2886 1746 BC01                 movw r22,r24
 2887 1748 CD01                 movw r24,r26
 2888 174a 0E94 0000            call __mulsi3
 2889 174e 9B01                 movw r18,r22
 2890 1750 AC01                 movw r20,r24
 2891 1752 97FF                 sbrs r25,7
 2892 1754 04C0                 rjmp .L137
 2893 1756 215C                 subi r18,lo8(-(63))
 2894 1758 3F4F                 sbci r19,hi8(-(63))
 2895 175a 4F4F                 sbci r20,hlo8(-(63))
 2896 175c 5F4F                 sbci r21,hhi8(-(63))
 2897                   .L137:
 2898 175e 96E0                 ldi r25,6
 2899 1760 5595         1:      asr r21
 2900 1762 4795                 ror r20
 2901 1764 3795                 ror r19
 2902 1766 2795                 ror r18
 2903 1768 9A95                 dec r25
 2904 176a D1F7                 brne 1b
 2905 176c 8091 0000            lds r24,TrimNick
 2906 1770 9091 0000            lds r25,(TrimNick)+1
 2907 1774 820F                 add r24,r18
 2908 1776 931F                 adc r25,r19
 2909 1778 27C0                 rjmp .L168
 2910                   .L135:
 2911 177a 97FF                 sbrs r25,7
 2912 177c 03C0                 rjmp .L139
 2913 177e 9095                 com r25
 2914 1780 8195                 neg r24
 2915 1782 9F4F                 sbci r25,lo8(-1)
 2916                   .L139:
 2917 1784 AA27                 clr r26
 2918 1786 97FD                 sbrc r25,7
 2919 1788 A095                 com r26
 2920 178a BA2F                 mov r27,r26
 2921 178c 2091 0000            lds r18,Parameter_CouplingYawCorrection
 2922 1790 3327                 clr r19
 2923 1792 4427                 clr r20
 2924 1794 5527                 clr r21
 2925 1796 BC01                 movw r22,r24
 2926 1798 CD01                 movw r24,r26
 2927 179a 0E94 0000            call __mulsi3
 2928 179e 9B01                 movw r18,r22
 2929 17a0 AC01                 movw r20,r24
 2930 17a2 97FF                 sbrs r25,7
 2931 17a4 04C0                 rjmp .L140
 2932 17a6 215C                 subi r18,lo8(-(63))
 2933 17a8 3F4F                 sbci r19,hi8(-(63))
 2934 17aa 4F4F                 sbci r20,hlo8(-(63))
 2935 17ac 5F4F                 sbci r21,hhi8(-(63))
 2936                   .L140:
 2937 17ae 86E0                 ldi r24,6
 2938 17b0 5595         1:      asr r21
 2939 17b2 4795                 ror r20
 2940 17b4 3795                 ror r19
 2941 17b6 2795                 ror r18
 2942 17b8 8A95                 dec r24
 2943 17ba D1F7                 brne 1b
 2944 17bc 8091 0000            lds r24,TrimNick
 2945 17c0 9091 0000            lds r25,(TrimNick)+1
 2946 17c4 821B                 sub r24,r18
 2947 17c6 930B                 sbc r25,r19
 2948                   .L168:
 2949 17c8 9093 0000            sts (TrimNick)+1,r25
 2950 17cc 8093 0000            sts TrimNick,r24
 2951 17d0 8091 0000            lds r24,EE_Parameter+13
 2952 17d4 87FF                 sbrs r24,7
 2953 17d6 44C0                 rjmp .L141
 2954 17d8 9989                 ldd r25,Y+17
 2955 17da 9923                 tst r25
 2956 17dc 09F0                 breq .+2
 2957 17de 40C0                 rjmp .L141
 2958 17e0 8091 0000            lds r24,Looping_Roll
 2959 17e4 8823                 tst r24
 2960 17e6 E1F5                 brne .L141
 2961 17e8 A1E0                 ldi r26,lo8(257)
 2962 17ea EA16                 cp r14,r26
 2963 17ec A1E0                 ldi r26,hi8(257)
 2964 17ee FA06                 cpc r15,r26
 2965 17f0 4CF0                 brlt .L142
 2966 17f2 8091 0000            lds r24,MesswertNick
 2967 17f6 9091 0000            lds r25,(MesswertNick)+1
 2968 17fa 8E0D                 add r24,r14
 2969 17fc 9F1D                 adc r25,r15
 2970 17fe 8050                 subi r24,lo8(-(-256))
 2971 1800 9140                 sbci r25,hi8(-(-256))
 2972 1802 0DC0                 rjmp .L169
 2973                   .L142:
 2974 1804 B0E0                 ldi r27,lo8(-256)
 2975 1806 EB16                 cp r14,r27
 2976 1808 BFEF                 ldi r27,hi8(-256)
 2977 180a FB06                 cpc r15,r27
 2978 180c 64F4                 brge .L143
 2979 180e 8091 0000            lds r24,MesswertNick
 2980 1812 9091 0000            lds r25,(MesswertNick)+1
 2981 1816 8E0D                 add r24,r14
 2982 1818 9F1D                 adc r25,r15
 2983 181a 8050                 subi r24,lo8(-(256))
 2984 181c 9F4F                 sbci r25,hi8(-(256))
 2985                   .L169:
 2986 181e 9093 0000            sts (MesswertNick)+1,r25
 2987 1822 8093 0000            sts MesswertNick,r24
 2988                   .L143:
 2989 1826 E1E0                 ldi r30,hi8(257)
 2990 1828 0130                 cpi r16,lo8(257)
 2991 182a 1E07                 cpc r17,r30
 2992 182c 4CF0                 brlt .L145
 2993 182e 8091 0000            lds r24,MesswertRoll
 2994 1832 9091 0000            lds r25,(MesswertRoll)+1
 2995 1836 800F                 add r24,r16
 2996 1838 911F                 adc r25,r17
 2997 183a 8050                 subi r24,lo8(-(-256))
 2998 183c 9140                 sbci r25,hi8(-(-256))
 2999 183e 0CC0                 rjmp .L170
 3000                   .L145:
 3001 1840 FFEF                 ldi r31,hi8(-256)
 3002 1842 0030                 cpi r16,lo8(-256)
 3003 1844 1F07                 cpc r17,r31
 3004 1846 64F4                 brge .L141
 3005 1848 8091 0000            lds r24,MesswertRoll
 3006 184c 9091 0000            lds r25,(MesswertRoll)+1
 3007 1850 800F                 add r24,r16
 3008 1852 911F                 adc r25,r17
 3009 1854 8050                 subi r24,lo8(-(256))
 3010 1856 9F4F                 sbci r25,hi8(-(256))
 3011                   .L170:
 3012 1858 9093 0000            sts (MesswertRoll)+1,r25
 3013 185c 8093 0000            sts MesswertRoll,r24
 3014                   .L141:
 3015 1860 A0E0                 ldi r26,lo8(Poti)
 3016 1862 B0E0                 ldi r27,hi8(Poti)
 3017 1864 60E0                 ldi r22,lo8(EE_Parameter+5)
 3018 1866 70E0                 ldi r23,hi8(EE_Parameter+5)
 3019 1868 57E0                 ldi r21,lo8(7)
 3020                   .L158:
 3021 186a FB01                 movw r30,r22
 3022 186c 8191                 ld r24,Z+
 3023 186e BF01                 movw r22,r30
 3024 1870 E82F                 mov r30,r24
 3025 1872 FF27                 clr r31
 3026 1874 EE0F                 add r30,r30
 3027 1876 FF1F                 adc r31,r31
 3028 1878 E050                 subi r30,lo8(-(PPM_in))
 3029 187a F040                 sbci r31,hi8(-(PPM_in))
 3030 187c 0190                 ld __tmp_reg__,Z+
 3031 187e F081                 ld r31,Z
 3032 1880 E02D                 mov r30,__tmp_reg__
 3033 1882 E259                 subi r30,lo8(-(110))
 3034 1884 FF4F                 sbci r31,hi8(-(110))
 3035 1886 EF3F                 cpi r30,255
 3036 1888 F105                 cpc r31,__zero_reg__
 3037 188a 21F0                 breq .L151
 3038 188c 1CF0                 brlt .L151
 3039 188e EFEF                 ldi r30,lo8(255)
 3040 1890 F0E0                 ldi r31,hi8(255)
 3041 1892 04C0                 rjmp .L152
 3042                   .L151:
 3043 1894 F7FF                 sbrs r31,7
 3044 1896 02C0                 rjmp .L152
 3045 1898 E0E0                 ldi r30,lo8(0)
 3046 189a F0E0                 ldi r31,hi8(0)
 3047                   .L152:
 3048 189c 4C91                 ld r20,X
 3049 189e 242F                 mov r18,r20
 3050 18a0 3327                 clr r19
 3051 18a2 E217                 cp r30,r18
 3052 18a4 F307                 cpc r31,r19
 3053 18a6 B1F0                 breq .L150
 3054 18a8 CF01                 movw r24,r30
 3055 18aa 821B                 sub r24,r18
 3056 18ac 930B                 sbc r25,r19
 3057 18ae 97FD                 sbrc r25,7
 3058 18b0 0796                 adiw r24,7
 3059                   .L155:
 3060 18b2 13E0                 ldi r17,3
 3061 18b4 9595         1:      asr r25
 3062 18b6 8795                 ror r24
 3063 18b8 1A95                 dec r17
 3064 18ba E1F7                 brne 1b
 3065 18bc 242F                 mov r18,r20
 3066 18be 280F                 add r18,r24
 3067 18c0 2C93                 st X,r18
 3068 18c2 822F                 mov r24,r18
 3069 18c4 9927                 clr r25
 3070 18c6 E817                 cp r30,r24
 3071 18c8 F907                 cpc r31,r25
 3072 18ca 14F4                 brge .L156
 3073 18cc 2150                 subi r18,lo8(-(-1))
 3074 18ce 01C0                 rjmp .L171
 3075                   .L156:
 3076 18d0 2F5F                 subi r18,lo8(-(1))
 3077                   .L171:
 3078 18d2 2C93                 st X,r18
 3079                   .L150:
 3080 18d4 5150                 subi r21,lo8(-(-1))
 3081 18d6 1196                 adiw r26,1
 3082 18d8 57FF                 sbrs r21,7
 3083 18da C7CF                 rjmp .L158
 3084                   /* epilogue: frame size=19 */
 3085 18dc E2E1                 ldi r30,18
 3086 18de CD5E                 subi r28,-19
 3087 18e0 0C94 0000            jmp __epilogue_restores__+0
 3088                   /* epilogue end (size=4) */
 3089                   /* function Mittelwert size 2071 (2061) */
 3091                   .global SendMotorData
 3093                   SendMotorData:
 3094                   /* prologue: frame size=0 */
 3095                   /* prologue end (size=0) */
 3096 18e4 8091 0000            lds r24,MotorenEin
 3097 18e8 8823                 tst r24
 3098 18ea 01F5                 brne .L173
 3099 18ec 8091 0000            lds r24,FCFlags
 3100 18f0 8C7F                 andi r24,lo8(-4)
 3101 18f2 8093 0000            sts FCFlags,r24
 3102 18f6 A0E0                 ldi r26,lo8(MotorTest)
 3103 18f8 B0E0                 ldi r27,hi8(MotorTest)
 3104 18fa E0E0                 ldi r30,lo8(Motor)
 3105 18fc F0E0                 ldi r31,hi8(Motor)
 3106 18fe 9BE0                 ldi r25,lo8(11)
 3107                   .L178:
 3108 1900 8091 0000            lds r24,PC_MotortestActive
 3109 1904 8823                 tst r24
 3110 1906 09F4                 brne .L177
 3111 1908 8C93                 st X,r24
 3112                   .L177:
 3113 190a 8D91                 ld r24,X+
 3114 190c 8183                 std Z+1,r24
 3115 190e 1282                 std Z+2,__zero_reg__
 3116 1910 9150                 subi r25,lo8(-(-1))
 3117 1912 3896                 adiw r30,8
 3118 1914 97FF                 sbrs r25,7
 3119 1916 F4CF                 rjmp .L178
 3120 1918 8091 0000            lds r24,PC_MotortestActive
 3121 191c 8823                 tst r24
 3122 191e 59F0                 breq .L180
 3123 1920 8091 0000            lds r24,PC_MotortestActive
 3124 1924 8150                 subi r24,lo8(-(-1))
 3125 1926 8093 0000            sts PC_MotortestActive,r24
 3126 192a 05C0                 rjmp .L180
 3127                   .L173:
 3128 192c 8091 0000            lds r24,FCFlags
 3129 1930 8160                 ori r24,lo8(1)
 3130 1932 8093 0000            sts FCFlags,r24
 3131                   .L180:
 3132 1936 1092 0000            sts motor_write,__zero_reg__
 3133 193a 1092 0000            sts twi_state,__zero_reg__
 3134 193e 8091 0000            lds r24,BLFlags
 3135 1942 8E7F                 andi r24,lo8(-2)
 3136 1944 8093 0000            sts BLFlags,r24
 3137 1948 85EA                 ldi r24,lo8(-91)
 3138 194a 8093 BC00            sts 188,r24
 3139                   /* epilogue: frame size=0 */
 3140 194e 0895                 ret
 3141                   /* epilogue end (size=1) */
 3142                   /* function SendMotorData size 54 (53) */
 3144                   .global ParameterZuordnung
 3146                   ParameterZuordnung:
 3147                   /* prologue: frame size=0 */
 3148                   /* prologue end (size=0) */
 3149 1950 8091 0000            lds r24,EE_Parameter+15
 3150 1954 883F                 cpi r24,lo8(-8)
 3151 1956 38F0                 brlo .L275
 3152 1958 EFEF                 ldi r30,lo8(255)
 3153 195a F0E0                 ldi r31,hi8(255)
 3154 195c E81B                 sub r30,r24
 3155 195e F109                 sbc r31,__zero_reg__
 3156 1960 E050                 subi r30,lo8(-(Poti))
 3157 1962 F040                 sbci r31,hi8(-(Poti))
 3158 1964 8081                 ld r24,Z
 3159                   .L275:
 3160 1966 8093 0000            sts Parameter_Luftdruck_D,r24
 3161 196a 8091 0000            lds r24,Parameter_Luftdruck_D
 3162 196e 8823                 tst r24
 3163 1970 29F0                 breq .L187
 3164 1972 8436                 cpi r24,lo8(100)
 3165 1974 18F0                 brlo .L187
 3166 1976 84E6                 ldi r24,lo8(100)
 3167 1978 8093 0000            sts Parameter_Luftdruck_D,r24
 3168                   .L187:
 3169 197c 8091 0000            lds r24,EE_Parameter+17
 3170 1980 883F                 cpi r24,lo8(-8)
 3171 1982 38F0                 brlo .L276
 3172 1984 EFEF                 ldi r30,lo8(255)
 3173 1986 F0E0                 ldi r31,hi8(255)
 3174 1988 E81B                 sub r30,r24
 3175 198a F109                 sbc r31,__zero_reg__
 3176 198c E050                 subi r30,lo8(-(Poti))
 3177 198e F040                 sbci r31,hi8(-(Poti))
 3178 1990 8081                 ld r24,Z
 3179                   .L276:
 3180 1992 8093 0000            sts Parameter_Hoehe_P,r24
 3181 1996 8091 0000            lds r24,Parameter_Hoehe_P
 3182 199a 8823                 tst r24
 3183 199c 29F0                 breq .L192
 3184 199e 8436                 cpi r24,lo8(100)
 3185 19a0 18F0                 brlo .L192
 3186 19a2 84E6                 ldi r24,lo8(100)
 3187 19a4 8093 0000            sts Parameter_Hoehe_P,r24
 3188                   .L192:
 3189 19a8 8091 0000            lds r24,EE_Parameter+30
 3190 19ac 883F                 cpi r24,lo8(-8)
 3191 19ae 38F0                 brlo .L277
 3192 19b0 EFEF                 ldi r30,lo8(255)
 3193 19b2 F0E0                 ldi r31,hi8(255)
 3194 19b4 E81B                 sub r30,r24
 3195 19b6 F109                 sbc r31,__zero_reg__
 3196 19b8 E050                 subi r30,lo8(-(Poti))
 3197 19ba F040                 sbci r31,hi8(-(Poti))
 3198 19bc 8081                 ld r24,Z
 3199                   .L277:
 3200 19be 8093 0000            sts Parameter_Gyro_P,r24
 3201 19c2 8091 0000            lds r24,Parameter_Gyro_P
 3202 19c6 8B30                 cpi r24,lo8(11)
 3203 19c8 10F4                 brsh .L196
 3204 19ca 8AE0                 ldi r24,lo8(10)
 3205 19cc 02C0                 rjmp .L278
 3206                   .L196:
 3207 19ce 8F3F                 cpi r24,lo8(-1)
 3208 19d0 11F4                 brne .L197
 3209                   .L278:
 3210 19d2 8093 0000            sts Parameter_Gyro_P,r24
 3211                   .L197:
 3212 19d6 8091 0000            lds r24,EE_Parameter+73
 3213 19da 883F                 cpi r24,lo8(-8)
 3214 19dc 38F0                 brlo .L279
 3215 19de EFEF                 ldi r30,lo8(255)
 3216 19e0 F0E0                 ldi r31,hi8(255)
 3217 19e2 E81B                 sub r30,r24
 3218 19e4 F109                 sbc r31,__zero_reg__
 3219 19e6 E050                 subi r30,lo8(-(Poti))
 3220 19e8 F040                 sbci r31,hi8(-(Poti))
 3221 19ea 8081                 ld r24,Z
 3222                   .L279:
 3223 19ec 8093 0000            sts Parameter_J16Timing,r24
 3224 19f0 8091 0000            lds r24,Parameter_J16Timing
 3225 19f4 8230                 cpi r24,lo8(2)
 3226 19f6 10F4                 brsh .L201
 3227 19f8 81E0                 ldi r24,lo8(1)
 3228 19fa 02C0                 rjmp .L280
 3229                   .L201:
 3230 19fc 8F3F                 cpi r24,lo8(-1)
 3231 19fe 11F4                 brne .L202
 3232                   .L280:
 3233 1a00 8093 0000            sts Parameter_J16Timing,r24
 3234                   .L202:
 3235 1a04 8091 0000            lds r24,EE_Parameter+75
 3236 1a08 883F                 cpi r24,lo8(-8)
 3237 1a0a 38F0                 brlo .L281
 3238 1a0c EFEF                 ldi r30,lo8(255)
 3239 1a0e F0E0                 ldi r31,hi8(255)
 3240 1a10 E81B                 sub r30,r24
 3241 1a12 F109                 sbc r31,__zero_reg__
 3242 1a14 E050                 subi r30,lo8(-(Poti))
 3243 1a16 F040                 sbci r31,hi8(-(Poti))
 3244 1a18 8081                 ld r24,Z
 3245                   .L281:
 3246 1a1a 8093 0000            sts Parameter_J17Timing,r24
 3247 1a1e 8091 0000            lds r24,Parameter_J17Timing
 3248 1a22 8230                 cpi r24,lo8(2)
 3249 1a24 10F4                 brsh .L206
 3250 1a26 81E0                 ldi r24,lo8(1)
 3251 1a28 02C0                 rjmp .L282
 3252                   .L206:
 3253 1a2a 8F3F                 cpi r24,lo8(-1)
 3254 1a2c 11F4                 brne .L207
 3255                   .L282:
 3256 1a2e 8093 0000            sts Parameter_J17Timing,r24
 3257                   .L207:
 3258 1a32 8091 0000            lds r24,EE_Parameter+54
 3259 1a36 883F                 cpi r24,lo8(-8)
 3260 1a38 38F0                 brlo .L283
 3261 1a3a EFEF                 ldi r30,lo8(255)
 3262 1a3c F0E0                 ldi r31,hi8(255)
 3263 1a3e E81B                 sub r30,r24
 3264 1a40 F109                 sbc r31,__zero_reg__
 3265 1a42 E050                 subi r30,lo8(-(Poti))
 3266 1a44 F040                 sbci r31,hi8(-(Poti))
 3267 1a46 8081                 ld r24,Z
 3268                   .L283:
 3269 1a48 8093 0000            sts Parameter_Servo3,r24
 3270 1a4c 8091 0000            lds r24,EE_Parameter+55
 3271 1a50 883F                 cpi r24,lo8(-8)
 3272 1a52 38F0                 brlo .L284
 3273 1a54 EFEF                 ldi r30,lo8(255)
 3274 1a56 F0E0                 ldi r31,hi8(255)
 3275 1a58 E81B                 sub r30,r24
 3276 1a5a F109                 sbc r31,__zero_reg__
 3277 1a5c E050                 subi r30,lo8(-(Poti))
 3278 1a5e F040                 sbci r31,hi8(-(Poti))
 3279 1a60 8081                 ld r24,Z
 3280                   .L284:
 3281 1a62 8093 0000            sts Parameter_Servo4,r24
 3282 1a66 8091 0000            lds r24,EE_Parameter+56
 3283 1a6a 883F                 cpi r24,lo8(-8)
 3284 1a6c 38F0                 brlo .L285
 3285 1a6e EFEF                 ldi r30,lo8(255)
 3286 1a70 F0E0                 ldi r31,hi8(255)
 3287 1a72 E81B                 sub r30,r24
 3288 1a74 F109                 sbc r31,__zero_reg__
 3289 1a76 E050                 subi r30,lo8(-(Poti))
 3290 1a78 F040                 sbci r31,hi8(-(Poti))
 3291 1a7a 8081                 ld r24,Z
 3292                   .L285:
 3293 1a7c 8093 0000            sts Parameter_Servo5,r24
 3294 1a80 9091 0000            lds r25,EE_Parameter+16
 3295 1a84 983F                 cpi r25,lo8(-8)
 3296 1a86 18F4                 brsh .L215
 3297 1a88 9093 0000            sts Parameter_MaxHoehe,r25
 3298 1a8c 09C0                 rjmp .L216
 3299                   .L215:
 3300 1a8e EFEF                 ldi r30,lo8(255)
 3301 1a90 F0E0                 ldi r31,hi8(255)
 3302 1a92 E91B                 sub r30,r25
 3303 1a94 F109                 sbc r31,__zero_reg__
 3304 1a96 E050                 subi r30,lo8(-(Poti))
 3305 1a98 F040                 sbci r31,hi8(-(Poti))
 3306 1a9a 8081                 ld r24,Z
 3307 1a9c 8093 0000            sts Parameter_MaxHoehe,r24
 3308                   .L216:
 3309 1aa0 983F                 cpi r25,lo8(-8)
 3310 1aa2 18F4                 brsh .L217
 3311 1aa4 9093 0000            sts Parameter_MaxHoehe,r25
 3312 1aa8 09C0                 rjmp .L218
 3313                   .L217:
 3314 1aaa EFEF                 ldi r30,lo8(255)
 3315 1aac F0E0                 ldi r31,hi8(255)
 3316 1aae E91B                 sub r30,r25
 3317 1ab0 F109                 sbc r31,__zero_reg__
 3318 1ab2 E050                 subi r30,lo8(-(Poti))
 3319 1ab4 F040                 sbci r31,hi8(-(Poti))
 3320 1ab6 8081                 ld r24,Z
 3321 1ab8 8093 0000            sts Parameter_MaxHoehe,r24
 3322                   .L218:
 3323 1abc 8091 0000            lds r24,EE_Parameter+19
 3324 1ac0 883F                 cpi r24,lo8(-8)
 3325 1ac2 38F0                 brlo .L286
 3326 1ac4 EFEF                 ldi r30,lo8(255)
 3327 1ac6 F0E0                 ldi r31,hi8(255)
 3328 1ac8 E81B                 sub r30,r24
 3329 1aca F109                 sbc r31,__zero_reg__
 3330 1acc E050                 subi r30,lo8(-(Poti))
 3331 1ace F040                 sbci r31,hi8(-(Poti))
 3332 1ad0 8081                 ld r24,Z
 3333                   .L286:
 3334 1ad2 8093 0000            sts Parameter_Hoehe_ACC_Wirkung,r24
 3335 1ad6 8091 0000            lds r24,EE_Parameter+21
 3336 1ada 883F                 cpi r24,lo8(-8)
 3337 1adc 38F0                 brlo .L287
 3338 1ade EFEF                 ldi r30,lo8(255)
 3339 1ae0 F0E0                 ldi r31,hi8(255)
 3340 1ae2 E81B                 sub r30,r24
 3341 1ae4 F109                 sbc r31,__zero_reg__
 3342 1ae6 E050                 subi r30,lo8(-(Poti))
 3343 1ae8 F040                 sbci r31,hi8(-(Poti))
 3344 1aea 8081                 ld r24,Z
 3345                   .L287:
 3346 1aec 8093 0000            sts Parameter_Hoehe_GPS_Z,r24
 3347 1af0 8091 0000            lds r24,EE_Parameter+29
 3348 1af4 883F                 cpi r24,lo8(-8)
 3349 1af6 38F0                 brlo .L288
 3350 1af8 EFEF                 ldi r30,lo8(255)
 3351 1afa F0E0                 ldi r31,hi8(255)
 3352 1afc E81B                 sub r30,r24
 3353 1afe F109                 sbc r31,__zero_reg__
 3354 1b00 E050                 subi r30,lo8(-(Poti))
 3355 1b02 F040                 sbci r31,hi8(-(Poti))
 3356 1b04 8081                 ld r24,Z
 3357                   .L288:
 3358 1b06 8093 0000            sts Parameter_KompassWirkung,r24
 3359 1b0a 8091 0000            lds r24,EE_Parameter+31
 3360 1b0e 883F                 cpi r24,lo8(-8)
 3361 1b10 38F0                 brlo .L289
 3362 1b12 EFEF                 ldi r30,lo8(255)
 3363 1b14 F0E0                 ldi r31,hi8(255)
 3364 1b16 E81B                 sub r30,r24
 3365 1b18 F109                 sbc r31,__zero_reg__
 3366 1b1a E050                 subi r30,lo8(-(Poti))
 3367 1b1c F040                 sbci r31,hi8(-(Poti))
 3368 1b1e 8081                 ld r24,Z
 3369                   .L289:
 3370 1b20 8093 0000            sts Parameter_Gyro_I,r24
 3371 1b24 8091 0000            lds r24,EE_Parameter+32
 3372 1b28 883F                 cpi r24,lo8(-8)
 3373 1b2a 38F0                 brlo .L290
 3374 1b2c EFEF                 ldi r30,lo8(255)
 3375 1b2e F0E0                 ldi r31,hi8(255)
 3376 1b30 E81B                 sub r30,r24
 3377 1b32 F109                 sbc r31,__zero_reg__
 3378 1b34 E050                 subi r30,lo8(-(Poti))
 3379 1b36 F040                 sbci r31,hi8(-(Poti))
 3380 1b38 8081                 ld r24,Z
 3381                   .L290:
 3382 1b3a 8093 0000            sts Parameter_Gyro_D,r24
 3383 1b3e 8091 0000            lds r24,EE_Parameter+33
 3384 1b42 883F                 cpi r24,lo8(-8)
 3385 1b44 38F0                 brlo .L291
 3386 1b46 EFEF                 ldi r30,lo8(255)
 3387 1b48 F0E0                 ldi r31,hi8(255)
 3388 1b4a E81B                 sub r30,r24
 3389 1b4c F109                 sbc r31,__zero_reg__
 3390 1b4e E050                 subi r30,lo8(-(Poti))
 3391 1b50 F040                 sbci r31,hi8(-(Poti))
 3392 1b52 8081                 ld r24,Z
 3393                   .L291:
 3394 1b54 8093 0000            sts Parameter_Gyro_Gier_P,r24
 3395 1b58 8091 0000            lds r24,EE_Parameter+34
 3396 1b5c 883F                 cpi r24,lo8(-8)
 3397 1b5e 38F0                 brlo .L292
 3398 1b60 EFEF                 ldi r30,lo8(255)
 3399 1b62 F0E0                 ldi r31,hi8(255)
 3400 1b64 E81B                 sub r30,r24
 3401 1b66 F109                 sbc r31,__zero_reg__
 3402 1b68 E050                 subi r30,lo8(-(Poti))
 3403 1b6a F040                 sbci r31,hi8(-(Poti))
 3404 1b6c 8081                 ld r24,Z
 3405                   .L292:
 3406 1b6e 8093 0000            sts Parameter_Gyro_Gier_I,r24
 3407 1b72 8091 0000            lds r24,EE_Parameter+40
 3408 1b76 883F                 cpi r24,lo8(-8)
 3409 1b78 38F0                 brlo .L293
 3410 1b7a EFEF                 ldi r30,lo8(255)
 3411 1b7c F0E0                 ldi r31,hi8(255)
 3412 1b7e E81B                 sub r30,r24
 3413 1b80 F109                 sbc r31,__zero_reg__
 3414 1b82 E050                 subi r30,lo8(-(Poti))
 3415 1b84 F040                 sbci r31,hi8(-(Poti))
 3416 1b86 8081                 ld r24,Z
 3417                   .L293:
 3418 1b88 8093 0000            sts Parameter_I_Faktor,r24
 3419 1b8c 8091 0000            lds r24,EE_Parameter+41
 3420 1b90 883F                 cpi r24,lo8(-8)
 3421 1b92 38F0                 brlo .L294
 3422 1b94 EFEF                 ldi r30,lo8(255)
 3423 1b96 F0E0                 ldi r31,hi8(255)
 3424 1b98 E81B                 sub r30,r24
 3425 1b9a F109                 sbc r31,__zero_reg__
 3426 1b9c E050                 subi r30,lo8(-(Poti))
 3427 1b9e F040                 sbci r31,hi8(-(Poti))
 3428 1ba0 8081                 ld r24,Z
 3429                   .L294:
 3430 1ba2 8093 0000            sts Parameter_UserParam1,r24
 3431 1ba6 8091 0000            lds r24,EE_Parameter+42
 3432 1baa 883F                 cpi r24,lo8(-8)
 3433 1bac 38F0                 brlo .L295
 3434 1bae EFEF                 ldi r30,lo8(255)
 3435 1bb0 F0E0                 ldi r31,hi8(255)
 3436 1bb2 E81B                 sub r30,r24
 3437 1bb4 F109                 sbc r31,__zero_reg__
 3438 1bb6 E050                 subi r30,lo8(-(Poti))
 3439 1bb8 F040                 sbci r31,hi8(-(Poti))
 3440 1bba 8081                 ld r24,Z
 3441                   .L295:
 3442 1bbc 8093 0000            sts Parameter_UserParam2,r24
 3443 1bc0 8091 0000            lds r24,EE_Parameter+43
 3444 1bc4 883F                 cpi r24,lo8(-8)
 3445 1bc6 38F0                 brlo .L296
 3446 1bc8 EFEF                 ldi r30,lo8(255)
 3447 1bca F0E0                 ldi r31,hi8(255)
 3448 1bcc E81B                 sub r30,r24
 3449 1bce F109                 sbc r31,__zero_reg__
 3450 1bd0 E050                 subi r30,lo8(-(Poti))
 3451 1bd2 F040                 sbci r31,hi8(-(Poti))
 3452 1bd4 8081                 ld r24,Z
 3453                   .L296:
 3454 1bd6 8093 0000            sts Parameter_UserParam3,r24
 3455 1bda 8091 0000            lds r24,EE_Parameter+44
 3456 1bde 883F                 cpi r24,lo8(-8)
 3457 1be0 38F0                 brlo .L297
 3458 1be2 EFEF                 ldi r30,lo8(255)
 3459 1be4 F0E0                 ldi r31,hi8(255)
 3460 1be6 E81B                 sub r30,r24
 3461 1be8 F109                 sbc r31,__zero_reg__
 3462 1bea E050                 subi r30,lo8(-(Poti))
 3463 1bec F040                 sbci r31,hi8(-(Poti))
 3464 1bee 8081                 ld r24,Z
 3465                   .L297:
 3466 1bf0 8093 0000            sts Parameter_UserParam4,r24
 3467 1bf4 8091 0000            lds r24,EE_Parameter+68
 3468 1bf8 883F                 cpi r24,lo8(-8)
 3469 1bfa 38F0                 brlo .L298
 3470 1bfc EFEF                 ldi r30,lo8(255)
 3471 1bfe F0E0                 ldi r31,hi8(255)
 3472 1c00 E81B                 sub r30,r24
 3473 1c02 F109                 sbc r31,__zero_reg__
 3474 1c04 E050                 subi r30,lo8(-(Poti))
 3475 1c06 F040                 sbci r31,hi8(-(Poti))
 3476 1c08 8081                 ld r24,Z
 3477                   .L298:
 3478 1c0a 8093 0000            sts Parameter_UserParam5,r24
 3479 1c0e 8091 0000            lds r24,EE_Parameter+69
 3480 1c12 883F                 cpi r24,lo8(-8)
 3481 1c14 38F0                 brlo .L299
 3482 1c16 EFEF                 ldi r30,lo8(255)
 3483 1c18 F0E0                 ldi r31,hi8(255)
 3484 1c1a E81B                 sub r30,r24
 3485 1c1c F109                 sbc r31,__zero_reg__
 3486 1c1e E050                 subi r30,lo8(-(Poti))
 3487 1c20 F040                 sbci r31,hi8(-(Poti))
 3488 1c22 8081                 ld r24,Z
 3489                   .L299:
 3490 1c24 8093 0000            sts Parameter_UserParam6,r24
 3491 1c28 8091 0000            lds r24,EE_Parameter+70
 3492 1c2c 883F                 cpi r24,lo8(-8)
 3493 1c2e 38F0                 brlo .L300
 3494 1c30 EFEF                 ldi r30,lo8(255)
 3495 1c32 F0E0                 ldi r31,hi8(255)
 3496 1c34 E81B                 sub r30,r24
 3497 1c36 F109                 sbc r31,__zero_reg__
 3498 1c38 E050                 subi r30,lo8(-(Poti))
 3499 1c3a F040                 sbci r31,hi8(-(Poti))
 3500 1c3c 8081                 ld r24,Z
 3501                   .L300:
 3502 1c3e 8093 0000            sts Parameter_UserParam7,r24
 3503 1c42 8091 0000            lds r24,EE_Parameter+71
 3504 1c46 883F                 cpi r24,lo8(-8)
 3505 1c48 38F0                 brlo .L301
 3506 1c4a EFEF                 ldi r30,lo8(255)
 3507 1c4c F0E0                 ldi r31,hi8(255)
 3508 1c4e E81B                 sub r30,r24
 3509 1c50 F109                 sbc r31,__zero_reg__
 3510 1c52 E050                 subi r30,lo8(-(Poti))
 3511 1c54 F040                 sbci r31,hi8(-(Poti))
 3512 1c56 8081                 ld r24,Z
 3513                   .L301:
 3514 1c58 8093 0000            sts Parameter_UserParam8,r24
 3515 1c5c 8091 0000            lds r24,EE_Parameter+45
 3516 1c60 883F                 cpi r24,lo8(-8)
 3517 1c62 38F0                 brlo .L302
 3518 1c64 EFEF                 ldi r30,lo8(255)
 3519 1c66 F0E0                 ldi r31,hi8(255)
 3520 1c68 E81B                 sub r30,r24
 3521 1c6a F109                 sbc r31,__zero_reg__
 3522 1c6c E050                 subi r30,lo8(-(Poti))
 3523 1c6e F040                 sbci r31,hi8(-(Poti))
 3524 1c70 8081                 ld r24,Z
 3525                   .L302:
 3526 1c72 8093 0000            sts Parameter_ServoNickControl,r24
 3527 1c76 8091 0000            lds r24,EE_Parameter+49
 3528 1c7a 883F                 cpi r24,lo8(-8)
 3529 1c7c 38F0                 brlo .L303
 3530 1c7e EFEF                 ldi r30,lo8(255)
 3531 1c80 F0E0                 ldi r31,hi8(255)
 3532 1c82 E81B                 sub r30,r24
 3533 1c84 F109                 sbc r31,__zero_reg__
 3534 1c86 E050                 subi r30,lo8(-(Poti))
 3535 1c88 F040                 sbci r31,hi8(-(Poti))
 3536 1c8a 8081                 ld r24,Z
 3537                   .L303:
 3538 1c8c 8093 0000            sts Parameter_ServoRollControl,r24
 3539 1c90 8091 0000            lds r24,EE_Parameter+57
 3540 1c94 883F                 cpi r24,lo8(-8)
 3541 1c96 38F0                 brlo .L304
 3542 1c98 EFEF                 ldi r30,lo8(255)
 3543 1c9a F0E0                 ldi r31,hi8(255)
 3544 1c9c E81B                 sub r30,r24
 3545 1c9e F109                 sbc r31,__zero_reg__
 3546 1ca0 E050                 subi r30,lo8(-(Poti))
 3547 1ca2 F040                 sbci r31,hi8(-(Poti))
 3548 1ca4 8081                 ld r24,Z
 3549                   .L304:
 3550 1ca6 8093 0000            sts Parameter_LoopGasLimit,r24
 3551 1caa 8091 0000            lds r24,EE_Parameter+60
 3552 1cae 883F                 cpi r24,lo8(-8)
 3553 1cb0 38F0                 brlo .L305
 3554 1cb2 EFEF                 ldi r30,lo8(255)
 3555 1cb4 F0E0                 ldi r31,hi8(255)
 3556 1cb6 E81B                 sub r30,r24
 3557 1cb8 F109                 sbc r31,__zero_reg__
 3558 1cba E050                 subi r30,lo8(-(Poti))
 3559 1cbc F040                 sbci r31,hi8(-(Poti))
 3560 1cbe 8081                 ld r24,Z
 3561                   .L305:
 3562 1cc0 8093 0000            sts Parameter_AchsKopplung1,r24
 3563 1cc4 8091 0000            lds r24,EE_Parameter+61
 3564 1cc8 883F                 cpi r24,lo8(-8)
 3565 1cca 38F0                 brlo .L306
 3566 1ccc EFEF                 ldi r30,lo8(255)
 3567 1cce F0E0                 ldi r31,hi8(255)
 3568 1cd0 E81B                 sub r30,r24
 3569 1cd2 F109                 sbc r31,__zero_reg__
 3570 1cd4 E050                 subi r30,lo8(-(Poti))
 3571 1cd6 F040                 sbci r31,hi8(-(Poti))
 3572 1cd8 8081                 ld r24,Z
 3573                   .L306:
 3574 1cda 8093 0000            sts Parameter_AchsKopplung2,r24
 3575 1cde 8091 0000            lds r24,EE_Parameter+62
 3576 1ce2 883F                 cpi r24,lo8(-8)
 3577 1ce4 38F0                 brlo .L307
 3578 1ce6 EFEF                 ldi r30,lo8(255)
 3579 1ce8 F0E0                 ldi r31,hi8(255)
 3580 1cea E81B                 sub r30,r24
 3581 1cec F109                 sbc r31,__zero_reg__
 3582 1cee E050                 subi r30,lo8(-(Poti))
 3583 1cf0 F040                 sbci r31,hi8(-(Poti))
 3584 1cf2 8081                 ld r24,Z
 3585                   .L307:
 3586 1cf4 8093 0000            sts Parameter_CouplingYawCorrection,r24
 3587 1cf8 8091 0000            lds r24,EE_Parameter+67
 3588 1cfc 883F                 cpi r24,lo8(-8)
 3589 1cfe 38F0                 brlo .L308
 3590 1d00 EFEF                 ldi r30,lo8(255)
 3591 1d02 F0E0                 ldi r31,hi8(255)
 3592 1d04 E81B                 sub r30,r24
 3593 1d06 F109                 sbc r31,__zero_reg__
 3594 1d08 E050                 subi r30,lo8(-(Poti))
 3595 1d0a F040                 sbci r31,hi8(-(Poti))
 3596 1d0c 8081                 ld r24,Z
 3597                   .L308:
 3598 1d0e 8093 0000            sts Parameter_DynamicStability,r24
 3599 1d12 8091 0000            lds r24,EE_Parameter+94
 3600 1d16 883F                 cpi r24,lo8(-8)
 3601 1d18 38F0                 brlo .L309
 3602 1d1a EFEF                 ldi r30,lo8(255)
 3603 1d1c F0E0                 ldi r31,hi8(255)
 3604 1d1e E81B                 sub r30,r24
 3605 1d20 F109                 sbc r31,__zero_reg__
 3606 1d22 E050                 subi r30,lo8(-(Poti))
 3607 1d24 F040                 sbci r31,hi8(-(Poti))
 3608 1d26 8081                 ld r24,Z
 3609                   .L309:
 3610 1d28 8093 0000            sts Parameter_ExternalControl,r24
 3611 1d2c 8091 0000            lds r24,Parameter_I_Faktor
 3612 1d30 282F                 mov r18,r24
 3613 1d32 3327                 clr r19
 3614 1d34 2F5F                 subi r18,lo8(-(1))
 3615 1d36 3F4F                 sbci r19,hi8(-(1))
 3616 1d38 8CE3                 ldi r24,lo8(10300)
 3617 1d3a 98E2                 ldi r25,hi8(10300)
 3618 1d3c B901                 movw r22,r18
 3619 1d3e 0E94 0000            call __divmodhi4
 3620 1d42 7093 0000            sts (Ki)+1,r23
 3621 1d46 6093 0000            sts Ki,r22
 3622 1d4a 8091 0000            lds r24,EE_Parameter+27
 3623 1d4e 8093 0000            sts MAX_GAS,r24
 3624 1d52 8091 0000            lds r24,EE_Parameter+26
 3625 1d56 8093 0000            sts MIN_GAS,r24
 3626 1d5a 9091 0000            lds r25,EE_Parameter+96
 3627 1d5e 9333                 cpi r25,lo8(51)
 3628 1d60 20F1                 brlo .L267
 3629 1d62 81E0                 ldi r24,lo8(1)
 3630 1d64 8093 0000            sts CareFree,r24
 3631 1d68 983F                 cpi r25,lo8(-8)
 3632 1d6a 58F0                 brlo .L268
 3633 1d6c EFEF                 ldi r30,lo8(255)
 3634 1d6e F0E0                 ldi r31,hi8(255)
 3635 1d70 E91B                 sub r30,r25
 3636 1d72 F109                 sbc r31,__zero_reg__
 3637 1d74 E050                 subi r30,lo8(-(Poti))
 3638 1d76 F040                 sbci r31,hi8(-(Poti))
 3639 1d78 8081                 ld r24,Z
 3640 1d7a 8233                 cpi r24,lo8(50)
 3641 1d7c 10F4                 brsh .L268
 3642 1d7e 1092 0000            sts CareFree,__zero_reg__
 3643                   .L268:
 3644 1d82 8091 0000            lds r24,FromNaviCtrl+7
 3645 1d86 9091 0000            lds r25,(FromNaviCtrl+7)+1
 3646 1d8a 97FF                 sbrs r25,7
 3647 1d8c 08C0                 rjmp .L269
 3648 1d8e 8091 0000            lds r24,CareFree
 3649 1d92 8823                 tst r24
 3650 1d94 21F0                 breq .L269
 3651 1d96 8091 0000            lds r24,VersionInfo+5
 3652 1d9a 8068                 ori r24,lo8(-128)
 3653 1d9c 03C0                 rjmp .L310
 3654                   .L269:
 3655 1d9e 8091 0000            lds r24,VersionInfo+5
 3656 1da2 8F77                 andi r24,lo8(127)
 3657                   .L310:
 3658 1da4 8093 0000            sts VersionInfo+5,r24
 3659 1da8 02C0                 rjmp .L271
 3660                   .L267:
 3661 1daa 1092 0000            sts CareFree,__zero_reg__
 3662                   .L271:
 3663 1dae 8091 0000            lds r24,FromNaviCtrl+7
 3664 1db2 9091 0000            lds r25,(FromNaviCtrl+7)+1
 3665 1db6 97FF                 sbrs r25,7
 3666 1db8 1DC0                 rjmp .L272
 3667 1dba 8091 0000            lds r24,MotorenEin
 3668 1dbe 8823                 tst r24
 3669 1dc0 C9F0                 breq .L272
 3670 1dc2 8091 0000            lds r24,CareFree
 3671 1dc6 8823                 tst r24
 3672 1dc8 A9F0                 breq .L272
 3673 1dca 8091 0000            lds r24,BeepMuster
 3674 1dce 9091 0000            lds r25,(BeepMuster)+1
 3675 1dd2 8F5F                 subi r24,lo8(-1)
 3676 1dd4 9F4F                 sbci r25,hi8(-1)
 3677 1dd6 71F4                 brne .L272
 3678 1dd8 88E9                 ldi r24,lo8(15000)
 3679 1dda 9AE3                 ldi r25,hi8(15000)
 3680 1ddc 9093 0000            sts (beeptime)+1,r25
 3681 1de0 8093 0000            sts beeptime,r24
 3682 1de4 80E0                 ldi r24,lo8(-23552)
 3683 1de6 94EA                 ldi r25,hi8(-23552)
 3684 1de8 9093 0000            sts (BeepMuster)+1,r25
 3685 1dec 8093 0000            sts BeepMuster,r24
 3686 1df0 1092 0000            sts CareFree,__zero_reg__
 3687                   .L272:
 3688 1df4 8091 0000            lds r24,CareFree
 3689 1df8 8823                 tst r24
 3690 1dfa 39F0                 breq .L183
 3691 1dfc 8091 0000            lds r24,Parameter_AchsKopplung1
 3692 1e00 823D                 cpi r24,lo8(-46)
 3693 1e02 18F4                 brsh .L183
 3694 1e04 825E                 subi r24,lo8(-(30))
 3695 1e06 8093 0000            sts Parameter_AchsKopplung1,r24
 3696                   .L183:
 3697 1e0a 0895                 ret
 3698                   /* epilogue: frame size=0 */
 3699                   /* epilogue: noreturn */
 3700                   /* epilogue end (size=0) */
 3701                   /* function ParameterZuordnung size 607 (607) */
 3703                           .lcomm sollGier.0,4
 3704                           .lcomm tmp_long.1,4
 3705                           .lcomm tmp_long2.2,4
 3706                           .lcomm IntegralFehlerNick.3,4
 3707                           .lcomm IntegralFehlerRoll.4,4
 3708                           .lcomm RcLostTimer.5,2
 3709                           .lcomm delay_neutral.6,1
 3710                           .lcomm delay_einschalten.7,1
 3711                           .lcomm delay_ausschalten.8,1
 3712                           .lcomm calibration_done.9,1
 3713                           .lcomm NeueKompassRichtungMerken.10,1
 3714                           .lcomm ausgleichNick.11,4
 3715                           .lcomm ausgleichRoll.12,4
 3716                           .lcomm stick_nick.13,2
 3717                           .lcomm stick_roll.14,2
 3718                           .lcomm cnt.15,2
 3719                           .lcomm last_n_p.16,1
 3720                           .lcomm last_n_n.17,1
 3721                           .lcomm last_r_p.18,1
 3722                           .lcomm last_r_n.19,1
 3723                           .lcomm MittelIntegralNick_Alt.20,4
 3724                           .lcomm MittelIntegralRoll_Alt.21,4
 3725                           .lcomm HeightTrimming.22,2
 3726                           .lcomm FilterHCGas.23,2
 3727                           .data
 3730                   StickGasHover.24:
 3731 0027 7800                 .word   120
 3732                           .lcomm HoverGasMin.25,2
 3735                   HoverGasMax.26:
 3736 0029 FF03                 .word   1023
 3737                           .lcomm HoverGasFilter.27,4
 3740                   delay.28:
 3741 002b 64                   .byte   100
 3742                           .lcomm BaroAtUpperLimit.29,1
 3743                           .lcomm BaroAtLowerLimit.30,1
 3744                           .lcomm HeightTrimmingFlag.31,1
 3745                   .LC0:
 3746 002c 00                   .byte   0
 3747 002d 02                   .byte   2
 3748 002e 04                   .byte   4
 3749 002f 06                   .byte   6
 3750 0030 07                   .byte   7
 3751 0031 08                   .byte   8
 3752 0032 08                   .byte   8
 3753 0033 08                   .byte   8
 3754 0034 07                   .byte   7
 3755 0035 06                   .byte   6
 3756 0036 04                   .byte   4
 3757 0037 02                   .byte   2
 3758 0038 00                   .byte   0
 3759 0039 FE                   .byte   -2
 3760 003a FC                   .byte   -4
 3761 003b FA                   .byte   -6
 3762 003c F9                   .byte   -7
 3763 003d F8                   .byte   -8
 3764 003e F8                   .byte   -8
 3765 003f F8                   .byte   -8
 3766 0040 F9                   .byte   -7
 3767 0041 FA                   .byte   -6
 3768 0042 FC                   .byte   -4
 3769 0043 FE                   .byte   -2
 3770 0044 00                   .byte   0
 3771 0045 02                   .byte   2
 3772 0046 04                   .byte   4
 3773 0047 06                   .byte   6
 3774 0048 07                   .byte   7
 3775 0049 08                   .byte   8
 3776 004a 08                   .byte   8
 3777                           .text
 3778                   .global MotorRegler
 3780                   MotorRegler:
 3781                   /* prologue: frame size=53 */
 3782 1e0c A5E3                 ldi r26,lo8(53)
 3783 1e0e B0E0                 ldi r27,hi8(53)
 3784 1e10 E0E0                 ldi r30,pm_lo8(1f)
 3785 1e12 F0E0                 ldi r31,pm_hi8(1f)
 3786 1e14 0C94 0000            jmp __prologue_saves__+0
 3787                   1:
 3788                   /* prologue end (size=6) */
 3789 1e18 0E94 0000            call Mittelwert
 3790 1e1c 3091 0000            lds r19,PlatinenVersion
 3791 1e20 3C30                 cpi r19,lo8(12)
 3792 1e22 10F4                 brsh .L312
 3793 1e24 299A                 sbi 37-0x20,1
 3794 1e26 01C0                 rjmp .L313
 3795                   .L312:
 3796 1e28 2998                 cbi 37-0x20,1
 3797                   .L313:
 3798 1e2a E090 0000            lds r14,StickGas
 3799 1e2e F090 0000            lds r15,(StickGas)+1
 3800 1e32 F9A2                 std Y+33,r15
 3801 1e34 E8A2                 std Y+32,r14
 3802 1e36 8091 0000            lds r24,MIN_GAS
 3803 1e3a 9927                 clr r25
 3804 1e3c 0A96                 adiw r24,10
 3805 1e3e E816                 cp r14,r24
 3806 1e40 F906                 cpc r15,r25
 3807 1e42 14F4                 brge .L314
 3808 1e44 99A3                 std Y+33,r25
 3809 1e46 88A3                 std Y+32,r24
 3810                   .L314:
 3811 1e48 8091 0000            lds r24,SenderOkay
 3812 1e4c 8436                 cpi r24,lo8(100)
 3813 1e4e 08F0                 brlo .+2
 3814 1e50 5CC0                 rjmp .L315
 3815 1e52 8091 0000            lds r24,RcLostTimer.5
 3816 1e56 9091 0000            lds r25,(RcLostTimer.5)+1
 3817 1e5a 0097                 sbiw r24,0
 3818 1e5c 31F0                 breq .L316
 3819 1e5e 0197                 sbiw r24,1
 3820 1e60 9093 0000            sts (RcLostTimer.5)+1,r25
 3821 1e64 8093 0000            sts RcLostTimer.5,r24
 3822 1e68 07C0                 rjmp .L317
 3823                   .L316:
 3824 1e6a 1092 0000            sts MotorenEin,__zero_reg__
 3825 1e6e 8091 0000            lds r24,FCFlags
 3826 1e72 8F7E                 andi r24,lo8(-17)
 3827 1e74 8093 0000            sts FCFlags,r24
 3828                   .L317:
 3829 1e78 3A30                 cpi r19,lo8(10)
 3830 1e7a 11F0                 breq .L319
 3831 1e7c 3431                 cpi r19,lo8(20)
 3832 1e7e 10F0                 brlo .L318
 3833                   .L319:
 3834 1e80 289A                 sbi 37-0x20,0
 3835 1e82 01C0                 rjmp .L320
 3836                   .L318:
 3837 1e84 2898                 cbi 37-0x20,0
 3838                   .L320:
 3839 1e86 8091 0000            lds r24,modell_fliegt
 3840 1e8a 9091 0000            lds r25,(modell_fliegt)+1
 3841 1e8e 895E                 subi r24,lo8(1001)
 3842 1e90 9340                 sbci r25,hi8(1001)
 3843 1e92 C0F1                 brlo .L321
 3844 1e94 8091 0000            lds r24,EE_Parameter+37
 3845 1e98 282F                 mov r18,r24
 3846 1e9a 3327                 clr r19
 3847 1e9c 39A3                 std Y+33,r19
 3848 1e9e 28A3                 std Y+32,r18
 3849 1ea0 8091 0000            lds r24,FCFlags
 3850 1ea4 8061                 ori r24,lo8(16)
 3851 1ea6 8093 0000            sts FCFlags,r24
 3852 1eaa 8091 0000            lds r24,EE_Parameter+1
 3853 1eae A82F                 mov r26,r24
 3854 1eb0 BB27                 clr r27
 3855 1eb2 AA0F                 add r26,r26
 3856 1eb4 BB1F                 adc r27,r27
 3857 1eb6 FD01                 movw r30,r26
 3858 1eb8 E050                 subi r30,lo8(-(PPM_diff))
 3859 1eba F040                 sbci r31,hi8(-(PPM_diff))
 3860 1ebc 1182                 std Z+1,__zero_reg__
 3861 1ebe 1082                 st Z,__zero_reg__
 3862 1ec0 8091 0000            lds r24,EE_Parameter+2
 3863 1ec4 282F                 mov r18,r24
 3864 1ec6 3327                 clr r19
 3865 1ec8 220F                 add r18,r18
 3866 1eca 331F                 adc r19,r19
 3867 1ecc C901                 movw r24,r18
 3868 1ece 8050                 subi r24,lo8(-(PPM_diff))
 3869 1ed0 9040                 sbci r25,hi8(-(PPM_diff))
 3870 1ed2 FC01                 movw r30,r24
 3871 1ed4 1182                 std Z+1,__zero_reg__
 3872 1ed6 1082                 st Z,__zero_reg__
 3873 1ed8 A050                 subi r26,lo8(-(PPM_in))
 3874 1eda B040                 sbci r27,hi8(-(PPM_in))
 3875 1edc 1196                 adiw r26,1
 3876 1ede 1C92                 st X,__zero_reg__
 3877 1ee0 1E92                 st -X,__zero_reg__
 3878 1ee2 2050                 subi r18,lo8(-(PPM_in))
 3879 1ee4 3040                 sbci r19,hi8(-(PPM_in))
 3880 1ee6 D901                 movw r26,r18
 3881 1ee8 1196                 adiw r26,1
 3882 1eea 1C92                 st X,__zero_reg__
 3883 1eec 1E92                 st -X,__zero_reg__
 3884 1eee 8091 0000            lds r24,EE_Parameter+4
 3885 1ef2 E82F                 mov r30,r24
 3886 1ef4 FF27                 clr r31
 3887 1ef6 EE0F                 add r30,r30
 3888 1ef8 FF1F                 adc r31,r31
 3889 1efa E050                 subi r30,lo8(-(PPM_in))
 3890 1efc F040                 sbci r31,hi8(-(PPM_in))
 3891 1efe 1182                 std Z+1,__zero_reg__
 3892 1f00 1082                 st Z,__zero_reg__
 3893 1f02 AAC2                 rjmp .L323
 3894                   .L321:
 3895 1f04 1092 0000            sts MotorenEin,__zero_reg__
 3896 1f08 A7C2                 rjmp .L323
 3897                   .L315:
 3898 1f0a 8091 0000            lds r24,SenderOkay
 3899 1f0e 8D38                 cpi r24,lo8(-115)
 3900 1f10 08F4                 brsh .+2
 3901 1f12 A2C2                 rjmp .L323
 3902 1f14 8091 0000            lds r24,FCFlags
 3903 1f18 8F7E                 andi r24,lo8(-17)
 3904 1f1a 8093 0000            sts FCFlags,r24
 3905 1f1e 9091 0000            lds r25,EE_Parameter+38
 3906 1f22 82E3                 ldi r24,lo8(50)
 3907 1f24 989F                 mul r25,r24
 3908 1f26 C001                 movw r24,r0
 3909 1f28 1124                 clr r1
 3910 1f2a 9093 0000            sts (RcLostTimer.5)+1,r25
 3911 1f2e 8093 0000            sts RcLostTimer.5,r24
 3912 1f32 E8A1                 ldd r30,Y+32
 3913 1f34 F9A1                 ldd r31,Y+33
 3914 1f36 B997                 sbiw r30,41
 3915 1f38 8CF0                 brlt .L325
 3916 1f3a 8091 0000            lds r24,MotorenEin
 3917 1f3e 8823                 tst r24
 3918 1f40 69F0                 breq .L325
 3919 1f42 8091 0000            lds r24,modell_fliegt
 3920 1f46 9091 0000            lds r25,(modell_fliegt)+1
 3921 1f4a FFEF                 ldi r31,hi8(-1)
 3922 1f4c 8F3F                 cpi r24,lo8(-1)
 3923 1f4e 9F07                 cpc r25,r31
 3924 1f50 29F0                 breq .L325
 3925 1f52 0196                 adiw r24,1
 3926 1f54 9093 0000            sts (modell_fliegt)+1,r25
 3927 1f58 8093 0000            sts modell_fliegt,r24
 3928                   .L325:
 3929 1f5c 8091 0000            lds r24,modell_fliegt
 3930 1f60 9091 0000            lds r25,(modell_fliegt)+1
 3931 1f64 8F3F                 cpi r24,255
 3932 1f66 9105                 cpc r25,__zero_reg__
 3933 1f68 09F0                 breq .+2
 3934 1f6a 38F5                 brsh .L327
 3935 1f6c 1092 0000            sts SummeNick,__zero_reg__
 3936 1f70 1092 0000            sts (SummeNick)+1,__zero_reg__
 3937 1f74 1092 0000            sts (SummeNick)+2,__zero_reg__
 3938 1f78 1092 0000            sts (SummeNick)+3,__zero_reg__
 3939 1f7c 1092 0000            sts SummeRoll,__zero_reg__
 3940 1f80 1092 0000            sts (SummeRoll)+1,__zero_reg__
 3941 1f84 1092 0000            sts (SummeRoll)+2,__zero_reg__
 3942 1f88 1092 0000            sts (SummeRoll)+3,__zero_reg__
 3943 1f8c 1092 0000            sts sollGier.0,__zero_reg__
 3944 1f90 1092 0000            sts (sollGier.0)+1,__zero_reg__
 3945 1f94 1092 0000            sts (sollGier.0)+2,__zero_reg__
 3946 1f98 1092 0000            sts (sollGier.0)+3,__zero_reg__
 3947 1f9c 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 3948 1fa0 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 3949 1fa4 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 3950 1fa8 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 3951 1fac 8A3F                 cpi r24,250
 3952 1fae 9105                 cpc r25,__zero_reg__
 3953 1fb0 49F4                 brne .L329
 3954 1fb2 81E0                 ldi r24,lo8(1)
 3955 1fb4 8093 0000            sts NeueKompassRichtungMerken.10,r24
 3956 1fb8 05C0                 rjmp .L329
 3957                   .L327:
 3958 1fba 8091 0000            lds r24,FCFlags
 3959 1fbe 8260                 ori r24,lo8(2)
 3960 1fc0 8093 0000            sts FCFlags,r24
 3961                   .L329:
 3962 1fc4 8091 0000            lds r24,EE_Parameter+3
 3963 1fc8 E82F                 mov r30,r24
 3964 1fca FF27                 clr r31
 3965 1fcc EE0F                 add r30,r30
 3966 1fce FF1F                 adc r31,r31
 3967 1fd0 E050                 subi r30,lo8(-(PPM_in))
 3968 1fd2 F040                 sbci r31,hi8(-(PPM_in))
 3969 1fd4 8081                 ld r24,Z
 3970 1fd6 9181                 ldd r25,Z+1
 3971 1fd8 8135                 cpi r24,81
 3972 1fda 9105                 cpc r25,__zero_reg__
 3973 1fdc 0CF4                 brge .+2
 3974 1fde 41C1                 rjmp .L330
 3975 1fe0 2091 0000            lds r18,MotorenEin
 3976 1fe4 2223                 tst r18
 3977 1fe6 09F0                 breq .+2
 3978 1fe8 3CC1                 rjmp .L330
 3979 1fea 8091 0000            lds r24,EE_Parameter+4
 3980 1fee E82F                 mov r30,r24
 3981 1ff0 FF27                 clr r31
 3982 1ff2 EE0F                 add r30,r30
 3983 1ff4 FF1F                 adc r31,r31
 3984 1ff6 E050                 subi r30,lo8(-(PPM_in))
 3985 1ff8 F040                 sbci r31,hi8(-(PPM_in))
 3986 1ffa 8081                 ld r24,Z
 3987 1ffc 9181                 ldd r25,Z+1
 3988 1ffe 8C34                 cpi r24,76
 3989 2000 9105                 cpc r25,__zero_reg__
 3990 2002 0CF4                 brge .+2
 3991 2004 06C1                 rjmp .L331
 3992 2006 8091 0000            lds r24,delay_neutral.6
 3993 200a 8F5F                 subi r24,lo8(-(1))
 3994 200c 8093 0000            sts delay_neutral.6,r24
 3995 2010 893C                 cpi r24,lo8(-55)
 3996 2012 08F4                 brsh .+2
 3997 2014 26C1                 rjmp .L330
 3998 2016 3C30                 cpi r19,lo8(12)
 3999 2018 10F4                 brsh .L333
 4000 201a 2998                 cbi 37-0x20,1
 4001 201c 01C0                 rjmp .L334
 4002                   .L333:
 4003 201e 299A                 sbi 37-0x20,1
 4004                   .L334:
 4005 2020 1092 0000            sts MotorenEin,__zero_reg__
 4006 2024 1092 0000            sts delay_neutral.6,__zero_reg__
 4007 2028 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 4008 202c 1092 0000            sts modell_fliegt,__zero_reg__
 4009 2030 3091 0000            lds r19,EE_Parameter+1
 4010 2034 E32F                 mov r30,r19
 4011 2036 FF27                 clr r31
 4012 2038 EE0F                 add r30,r30
 4013 203a FF1F                 adc r31,r31
 4014 203c E050                 subi r30,lo8(-(PPM_in))
 4015 203e F040                 sbci r31,hi8(-(PPM_in))
 4016 2040 8081                 ld r24,Z
 4017 2042 9181                 ldd r25,Z+1
 4018 2044 8734                 cpi r24,71
 4019 2046 9105                 cpc r25,__zero_reg__
 4020 2048 B4F4                 brge .L336
 4021 204a 8091 0000            lds r24,EE_Parameter+2
 4022 204e E82F                 mov r30,r24
 4023 2050 FF27                 clr r31
 4024 2052 EE0F                 add r30,r30
 4025 2054 FF1F                 adc r31,r31
 4026 2056 E050                 subi r30,lo8(-(PPM_in))
 4027 2058 F040                 sbci r31,hi8(-(PPM_in))
 4028 205a 8081                 ld r24,Z
 4029 205c 9181                 ldd r25,Z+1
 4030 205e 0190                 ld __tmp_reg__,Z+
 4031 2060 F081                 ld r31,Z
 4032 2062 E02D                 mov r30,__tmp_reg__
 4033 2064 F7FF                 sbrs r31,7
 4034 2066 03C0                 rjmp .L337
 4035 2068 F095                 com r31
 4036 206a E195                 neg r30
 4037 206c FF4F                 sbci r31,lo8(-1)
 4038                   .L337:
 4039 206e E734                 cpi r30,71
 4040 2070 F105                 cpc r31,__zero_reg__
 4041 2072 0CF4                 brge .+2
 4042 2074 78C0                 rjmp .L335
 4043                   .L336:
 4044 2076 41E0                 ldi r20,lo8(1)
 4045 2078 2091 0000            lds r18,EE_Parameter+2
 4046 207c A22F                 mov r26,r18
 4047 207e BB27                 clr r27
 4048 2080 AA0F                 add r26,r26
 4049 2082 BB1F                 adc r27,r27
 4050 2084 A050                 subi r26,lo8(-(PPM_in))
 4051 2086 B040                 sbci r27,hi8(-(PPM_in))
 4052 2088 8D91                 ld r24,X+
 4053 208a 9C91                 ld r25,X
 4054 208c 1197                 sbiw r26,1
 4055 208e 8734                 cpi r24,71
 4056 2090 9105                 cpc r25,__zero_reg__
 4057 2092 44F0                 brlt .L338
 4058 2094 E32F                 mov r30,r19
 4059 2096 FF27                 clr r31
 4060 2098 EE0F                 add r30,r30
 4061 209a FF1F                 adc r31,r31
 4062 209c E050                 subi r30,lo8(-(PPM_in))
 4063 209e F040                 sbci r31,hi8(-(PPM_in))
 4064 20a0 8081                 ld r24,Z
 4065 20a2 9181                 ldd r25,Z+1
 4066                   .L338:
 4067 20a4 8D91                 ld r24,X+
 4068 20a6 9C91                 ld r25,X
 4069 20a8 8734                 cpi r24,71
 4070 20aa 9105                 cpc r25,__zero_reg__
 4071 20ac 74F0                 brlt .L339
 4072 20ae 8091 0000            lds r24,EE_Parameter+1
 4073 20b2 E82F                 mov r30,r24
 4074 20b4 FF27                 clr r31
 4075 20b6 EE0F                 add r30,r30
 4076 20b8 FF1F                 adc r31,r31
 4077 20ba E050                 subi r30,lo8(-(PPM_in))
 4078 20bc F040                 sbci r31,hi8(-(PPM_in))
 4079 20be 8081                 ld r24,Z
 4080 20c0 9181                 ldd r25,Z+1
 4081 20c2 8734                 cpi r24,71
 4082 20c4 9105                 cpc r25,__zero_reg__
 4083 20c6 0CF0                 brlt .L339
 4084 20c8 42E0                 ldi r20,lo8(2)
 4085                   .L339:
 4086 20ca E22F                 mov r30,r18
 4087 20cc FF27                 clr r31
 4088 20ce EE0F                 add r30,r30
 4089 20d0 FF1F                 adc r31,r31
 4090 20d2 E050                 subi r30,lo8(-(PPM_in))
 4091 20d4 F040                 sbci r31,hi8(-(PPM_in))
 4092 20d6 8081                 ld r24,Z
 4093 20d8 9181                 ldd r25,Z+1
 4094 20da 8634                 cpi r24,70
 4095 20dc 9105                 cpc r25,__zero_reg__
 4096 20de 74F4                 brge .L340
 4097 20e0 8091 0000            lds r24,EE_Parameter+1
 4098 20e4 E82F                 mov r30,r24
 4099 20e6 FF27                 clr r31
 4100 20e8 EE0F                 add r30,r30
 4101 20ea FF1F                 adc r31,r31
 4102 20ec E050                 subi r30,lo8(-(PPM_in))
 4103 20ee F040                 sbci r31,hi8(-(PPM_in))
 4104 20f0 8081                 ld r24,Z
 4105 20f2 9181                 ldd r25,Z+1
 4106 20f4 8734                 cpi r24,71
 4107 20f6 9105                 cpc r25,__zero_reg__
 4108 20f8 0CF0                 brlt .L340
 4109 20fa 43E0                 ldi r20,lo8(3)
 4110                   .L340:
 4111 20fc E22F                 mov r30,r18
 4112 20fe FF27                 clr r31
 4113 2100 EE0F                 add r30,r30
 4114 2102 FF1F                 adc r31,r31
 4115 2104 E050                 subi r30,lo8(-(PPM_in))
 4116 2106 F040                 sbci r31,hi8(-(PPM_in))
 4117 2108 8081                 ld r24,Z
 4118 210a 9181                 ldd r25,Z+1
 4119 210c 8A5B                 subi r24,lo8(-70)
 4120 210e 9F4F                 sbci r25,hi8(-70)
 4121 2110 74F4                 brge .L341
 4122 2112 8091 0000            lds r24,EE_Parameter+1
 4123 2116 E82F                 mov r30,r24
 4124 2118 FF27                 clr r31
 4125 211a EE0F                 add r30,r30
 4126 211c FF1F                 adc r31,r31
 4127 211e E050                 subi r30,lo8(-(PPM_in))
 4128 2120 F040                 sbci r31,hi8(-(PPM_in))
 4129 2122 8081                 ld r24,Z
 4130 2124 9181                 ldd r25,Z+1
 4131 2126 8734                 cpi r24,71
 4132 2128 9105                 cpc r25,__zero_reg__
 4133 212a 0CF0                 brlt .L341
 4134 212c 44E0                 ldi r20,lo8(4)
 4135                   .L341:
 4136 212e E22F                 mov r30,r18
 4137 2130 FF27                 clr r31
 4138 2132 EE0F                 add r30,r30
 4139 2134 FF1F                 adc r31,r31
 4140 2136 E050                 subi r30,lo8(-(PPM_in))
 4141 2138 F040                 sbci r31,hi8(-(PPM_in))
 4142 213a 8081                 ld r24,Z
 4143 213c 9181                 ldd r25,Z+1
 4144 213e 8A5B                 subi r24,lo8(-70)
 4145 2140 9F4F                 sbci r25,hi8(-70)
 4146 2142 74F4                 brge .L342
 4147 2144 8091 0000            lds r24,EE_Parameter+1
 4148 2148 E82F                 mov r30,r24
 4149 214a FF27                 clr r31
 4150 214c EE0F                 add r30,r30
 4151 214e FF1F                 adc r31,r31
 4152 2150 E050                 subi r30,lo8(-(PPM_in))
 4153 2152 F040                 sbci r31,hi8(-(PPM_in))
 4154 2154 8081                 ld r24,Z
 4155 2156 9181                 ldd r25,Z+1
 4156 2158 8634                 cpi r24,70
 4157 215a 9105                 cpc r25,__zero_reg__
 4158 215c 0CF4                 brge .L342
 4159 215e 45E0                 ldi r20,lo8(5)
 4160                   .L342:
 4161 2160 842F                 mov r24,r20
 4162 2162 0E94 0000            call SetActiveParamSet
 4163                   .L335:
 4164 2166 8091 0000            lds r24,EE_Parameter+2
 4165 216a E82F                 mov r30,r24
 4166 216c FF27                 clr r31
 4167 216e EE0F                 add r30,r30
 4168 2170 FF1F                 adc r31,r31
 4169 2172 E050                 subi r30,lo8(-(PPM_in))
 4170 2174 F040                 sbci r31,hi8(-(PPM_in))
 4171 2176 8081                 ld r24,Z
 4172 2178 9181                 ldd r25,Z+1
 4173 217a 0190                 ld __tmp_reg__,Z+
 4174 217c F081                 ld r31,Z
 4175 217e E02D                 mov r30,__tmp_reg__
 4176 2180 F7FF                 sbrs r31,7
 4177 2182 03C0                 rjmp .L344
 4178 2184 F095                 com r31
 4179 2186 E195                 neg r30
 4180 2188 FF4F                 sbci r31,lo8(-1)
 4181                   .L344:
 4182 218a 7E97                 sbiw r30,30
 4183 218c BCF4                 brge .L343
 4184 218e 8091 0000            lds r24,EE_Parameter+1
 4185 2192 E82F                 mov r30,r24
 4186 2194 FF27                 clr r31
 4187 2196 EE0F                 add r30,r30
 4188 2198 FF1F                 adc r31,r31
 4189 219a E050                 subi r30,lo8(-(PPM_in))
 4190 219c F040                 sbci r31,hi8(-(PPM_in))
 4191 219e 8081                 ld r24,Z
 4192 21a0 9181                 ldd r25,Z+1
 4193 21a2 8A5B                 subi r24,lo8(-70)
 4194 21a4 9F4F                 sbci r25,hi8(-70)
 4195 21a6 54F4                 brge .L343
 4196 21a8 81E0                 ldi r24,lo8(1)
 4197 21aa 8093 0000            sts WinkelOut+6,r24
 4198 21ae 88EE                 ldi r24,lo8(1000)
 4199 21b0 93E0                 ldi r25,hi8(1000)
 4200 21b2 9093 0000            sts (beeptime)+1,r25
 4201 21b6 8093 0000            sts beeptime,r24
 4202 21ba 53C0                 rjmp .L330
 4203                   .L343:
 4204 21bc 0E94 0000            call GetActiveParamSet
 4205 21c0 0E94 0000            call ParamSet_ReadFromEEProm
 4206 21c4 80E0                 ldi r24,lo8(0)
 4207 21c6 0E94 0000            call LipoDetection
 4208 21ca 8091 0000            lds r24,EE_Parameter+39
 4209 21ce 0E94 0000            call LIBFC_ReceiverInit
 4210 21d2 8091 0000            lds r24,EE_Parameter+13
 4211 21d6 80FF                 sbrs r24,0
 4212 21d8 10C0                 rjmp .L346
 4213 21da 8091 0000            lds r24,MessLuftdruck
 4214 21de 9091 0000            lds r25,(MessLuftdruck)+1
 4215 21e2 875B                 subi r24,lo8(951)
 4216 21e4 9340                 sbci r25,hi8(951)
 4217 21e6 38F4                 brsh .L348
 4218 21e8 8091 0000            lds r24,MessLuftdruck
 4219 21ec 9091 0000            lds r25,(MessLuftdruck)+1
 4220 21f0 8E5E                 subi r24,lo8(750)
 4221 21f2 9240                 sbci r25,hi8(750)
 4222 21f4 10F4                 brsh .L346
 4223                   .L348:
 4224 21f6 0E94 0000            call SucheLuftruckOffset
 4225                   .L346:
 4226 21fa 1092 0000            sts ServoActive,__zero_reg__
 4227 21fe 80E0                 ldi r24,lo8(0)
 4228 2200 0E94 0000            call SetNeutral
 4229 2204 81E0                 ldi r24,lo8(1)
 4230 2206 8093 0000            sts calibration_done.9,r24
 4231 220a 8093 0000            sts ServoActive,r24
 4232 220e 579A                 sbi 42-0x20,7
 4233 2210 1FC0                 rjmp .L777
 4234                   .L331:
 4235 2212 8081                 ld r24,Z
 4236 2214 9181                 ldd r25,Z+1
 4237 2216 855B                 subi r24,lo8(-75)
 4238 2218 9F4F                 sbci r25,hi8(-75)
 4239 221a 0CF5                 brge .L350
 4240 221c 8091 0000            lds r24,delay_neutral.6
 4241 2220 8F5F                 subi r24,lo8(-(1))
 4242 2222 8093 0000            sts delay_neutral.6,r24
 4243 2226 893C                 cpi r24,lo8(-55)
 4244 2228 E0F0                 brlo .L330
 4245 222a 3C30                 cpi r19,lo8(12)
 4246 222c 10F4                 brsh .L352
 4247 222e 2998                 cbi 37-0x20,1
 4248 2230 01C0                 rjmp .L353
 4249                   .L352:
 4250 2232 299A                 sbi 37-0x20,1
 4251                   .L353:
 4252 2234 1092 0000            sts MotorenEin,__zero_reg__
 4253 2238 1092 0000            sts delay_neutral.6,__zero_reg__
 4254 223c 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 4255 2240 1092 0000            sts modell_fliegt,__zero_reg__
 4256 2244 81E0                 ldi r24,lo8(1)
 4257 2246 0E94 0000            call SetNeutral
 4258 224a 81E0                 ldi r24,lo8(1)
 4259 224c 8093 0000            sts calibration_done.9,r24
 4260                   .L777:
 4261 2250 0E94 0000            call GetActiveParamSet
 4262 2254 68E7                 ldi r22,lo8(120)
 4263 2256 70E0                 ldi r23,hi8(120)
 4264 2258 0E94 0000            call Piep
 4265 225c 02C0                 rjmp .L330
 4266                   .L350:
 4267 225e 2093 0000            sts delay_neutral.6,r18
 4268                   .L330:
 4269 2262 8091 0000            lds r24,EE_Parameter+3
 4270 2266 E82F                 mov r30,r24
 4271 2268 FF27                 clr r31
 4272 226a EE0F                 add r30,r30
 4273 226c FF1F                 adc r31,r31
 4274 226e E050                 subi r30,lo8(-(PPM_in))
 4275 2270 F040                 sbci r31,hi8(-(PPM_in))
 4276 2272 8081                 ld r24,Z
 4277 2274 9181                 ldd r25,Z+1
 4278 2276 8B5A                 subi r24,lo8(-85)
 4279 2278 9F4F                 sbci r25,hi8(-85)
 4280 227a 0CF0                 brlt .+2
 4281 227c EDC0                 rjmp .L323
 4282 227e 2091 0000            lds r18,MotorenEin
 4283 2282 E091 0000            lds r30,EE_Parameter+4
 4284 2286 2223                 tst r18
 4285 2288 09F0                 breq .+2
 4286 228a CAC0                 rjmp .L356
 4287 228c FF27                 clr r31
 4288 228e EE0F                 add r30,r30
 4289 2290 FF1F                 adc r31,r31
 4290 2292 E050                 subi r30,lo8(-(PPM_in))
 4291 2294 F040                 sbci r31,hi8(-(PPM_in))
 4292 2296 8081                 ld r24,Z
 4293 2298 9181                 ldd r25,Z+1
 4294 229a 855B                 subi r24,lo8(-75)
 4295 229c 9F4F                 sbci r25,hi8(-75)
 4296 229e 0CF0                 brlt .+2
 4297 22a0 BCC0                 rjmp .L357
 4298 22a2 8091 0000            lds r24,delay_einschalten.7
 4299 22a6 8F5F                 subi r24,lo8(-(1))
 4300 22a8 8093 0000            sts delay_einschalten.7,r24
 4301 22ac 893C                 cpi r24,lo8(-55)
 4302 22ae 08F4                 brsh .+2
 4303 22b0 D3C0                 rjmp .L323
 4304 22b2 2093 0000            sts delay_einschalten.7,r18
 4305 22b6 8091 0000            lds r24,VersionInfo+5
 4306 22ba 8823                 tst r24
 4307 22bc 09F0                 breq .+2
 4308 22be A6C0                 rjmp .L359
 4309 22c0 8091 0000            lds r24,calibration_done.9
 4310 22c4 8823                 tst r24
 4311 22c6 09F4                 brne .+2
 4312 22c8 A1C0                 rjmp .L359
 4313 22ca 81E0                 ldi r24,lo8(1)
 4314 22cc 90E0                 ldi r25,hi8(1)
 4315 22ce 9093 0000            sts (modell_fliegt)+1,r25
 4316 22d2 8093 0000            sts modell_fliegt,r24
 4317 22d6 81E0                 ldi r24,lo8(1)
 4318 22d8 8093 0000            sts MotorenEin,r24
 4319 22dc 1092 0000            sts sollGier.0,__zero_reg__
 4320 22e0 1092 0000            sts (sollGier.0)+1,__zero_reg__
 4321 22e4 1092 0000            sts (sollGier.0)+2,__zero_reg__
 4322 22e8 1092 0000            sts (sollGier.0)+3,__zero_reg__
 4323 22ec 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 4324 22f0 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 4325 22f4 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 4326 22f8 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 4327 22fc 1092 0000            sts Mess_Integral_Gier2,__zero_reg__
 4328 2300 1092 0000            sts (Mess_Integral_Gier2)+1,__zero_reg__
 4329 2304 1092 0000            sts (Mess_Integral_Gier2)+2,__zero_reg__
 4330 2308 1092 0000            sts (Mess_Integral_Gier2)+3,__zero_reg__
 4331 230c 8091 0000            lds r24,EE_Parameter+28
 4332 2310 E82E                 mov r14,r24
 4333 2312 FF24                 clr r15
 4334 2314 0027                 clr r16
 4335 2316 1127                 clr r17
 4336 2318 8091 0000            lds r24,Mittelwert_AccNick
 4337 231c 9091 0000            lds r25,(Mittelwert_AccNick)+1
 4338 2320 9C01                 movw r18,r24
 4339 2322 4427                 clr r20
 4340 2324 37FD                 sbrc r19,7
 4341 2326 4095                 com r20
 4342 2328 542F                 mov r21,r20
 4343 232a C801                 movw r24,r16
 4344 232c B701                 movw r22,r14
 4345 232e 0E94 0000            call __mulsi3
 4346 2332 DC01                 movw r26,r24
 4347 2334 CB01                 movw r24,r22
 4348 2336 8093 0000            sts Mess_IntegralNick,r24
 4349 233a 9093 0000            sts (Mess_IntegralNick)+1,r25
 4350 233e A093 0000            sts (Mess_IntegralNick)+2,r26
 4351 2342 B093 0000            sts (Mess_IntegralNick)+3,r27
 4352 2346 8091 0000            lds r24,Mittelwert_AccRoll
 4353 234a 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 4354 234e 9C01                 movw r18,r24
 4355 2350 4427                 clr r20
 4356 2352 37FD                 sbrc r19,7
 4357 2354 4095                 com r20
 4358 2356 542F                 mov r21,r20
 4359 2358 C801                 movw r24,r16
 4360 235a B701                 movw r22,r14
 4361 235c 0E94 0000            call __mulsi3
 4362 2360 DC01                 movw r26,r24
 4363 2362 CB01                 movw r24,r22
 4364 2364 8093 0000            sts Mess_IntegralRoll,r24
 4365 2368 9093 0000            sts (Mess_IntegralRoll)+1,r25
 4366 236c A093 0000            sts (Mess_IntegralRoll)+2,r26
 4367 2370 B093 0000            sts (Mess_IntegralRoll)+3,r27
 4368 2374 8091 0000            lds r24,IntegralNick
 4369 2378 9091 0000            lds r25,(IntegralNick)+1
 4370 237c A091 0000            lds r26,(IntegralNick)+2
 4371 2380 B091 0000            lds r27,(IntegralNick)+3
 4372 2384 8093 0000            sts Mess_IntegralNick2,r24
 4373 2388 9093 0000            sts (Mess_IntegralNick2)+1,r25
 4374 238c A093 0000            sts (Mess_IntegralNick2)+2,r26
 4375 2390 B093 0000            sts (Mess_IntegralNick2)+3,r27
 4376 2394 8091 0000            lds r24,IntegralRoll
 4377 2398 9091 0000            lds r25,(IntegralRoll)+1
 4378 239c A091 0000            lds r26,(IntegralRoll)+2
 4379 23a0 B091 0000            lds r27,(IntegralRoll)+3
 4380 23a4 8093 0000            sts Mess_IntegralRoll2,r24
 4381 23a8 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 4382 23ac A093 0000            sts (Mess_IntegralRoll2)+2,r26
 4383 23b0 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 4384 23b4 1092 0000            sts SummeNick,__zero_reg__
 4385 23b8 1092 0000            sts (SummeNick)+1,__zero_reg__
 4386 23bc 1092 0000            sts (SummeNick)+2,__zero_reg__
 4387 23c0 1092 0000            sts (SummeNick)+3,__zero_reg__
 4388 23c4 1092 0000            sts SummeRoll,__zero_reg__
 4389 23c8 1092 0000            sts (SummeRoll)+1,__zero_reg__
 4390 23cc 1092 0000            sts (SummeRoll)+2,__zero_reg__
 4391 23d0 1092 0000            sts (SummeRoll)+3,__zero_reg__
 4392 23d4 8091 0000            lds r24,FCFlags
 4393 23d8 8860                 ori r24,lo8(8)
 4394 23da 8093 0000            sts FCFlags,r24
 4395 23de 9091 0000            lds r25,EE_Parameter+95
 4396 23e2 8FE0                 ldi r24,lo8(15)
 4397 23e4 989F                 mul r25,r24
 4398 23e6 9001                 movw r18,r0
 4399 23e8 1124                 clr r1
 4400 23ea 8091 0000            lds r24,KompassValue
 4401 23ee 9091 0000            lds r25,(KompassValue)+1
 4402 23f2 820F                 add r24,r18
 4403 23f4 931F                 adc r25,r19
 4404 23f6 68E6                 ldi r22,lo8(360)
 4405 23f8 71E0                 ldi r23,hi8(360)
 4406 23fa 0E94 0000            call __divmodhi4
 4407 23fe 97FD                 sbrc r25,7
 4408 2400 0196                 adiw r24,1
 4409                   .L360:
 4410 2402 9595                 asr r25
 4411 2404 8795                 ror r24
 4412 2406 8093 0000            sts ControlHeading,r24
 4413 240a 26C0                 rjmp .L323
 4414                   .L359:
 4415 240c 8CED                 ldi r24,lo8(1500)
 4416 240e 95E0                 ldi r25,hi8(1500)
 4417 2410 9093 0000            sts (beeptime)+1,r25
 4418 2414 8093 0000            sts beeptime,r24
 4419 2418 1FC0                 rjmp .L323
 4420                   .L357:
 4421 241a 2093 0000            sts delay_einschalten.7,r18
 4422 241e 1CC0                 rjmp .L323
 4423                   .L356:
 4424 2420 FF27                 clr r31
 4425 2422 EE0F                 add r30,r30
 4426 2424 FF1F                 adc r31,r31
 4427 2426 E050                 subi r30,lo8(-(PPM_in))
 4428 2428 F040                 sbci r31,hi8(-(PPM_in))
 4429 242a 8081                 ld r24,Z
 4430 242c 9181                 ldd r25,Z+1
 4431 242e 8C34                 cpi r24,76
 4432 2430 9105                 cpc r25,__zero_reg__
 4433 2432 84F0                 brlt .L364
 4434 2434 8091 0000            lds r24,delay_ausschalten.8
 4435 2438 8F5F                 subi r24,lo8(-(1))
 4436 243a 8093 0000            sts delay_ausschalten.8,r24
 4437 243e 893C                 cpi r24,lo8(-55)
 4438 2440 58F0                 brlo .L323
 4439 2442 1092 0000            sts MotorenEin,__zero_reg__
 4440 2446 1092 0000            sts delay_ausschalten.8,__zero_reg__
 4441 244a 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 4442 244e 1092 0000            sts modell_fliegt,__zero_reg__
 4443 2452 02C0                 rjmp .L323
 4444                   .L364:
 4445 2454 1092 0000            sts delay_ausschalten.8,__zero_reg__
 4446                   .L323:
 4447 2458 8091 0000            lds r24,NewPpmData
 4448 245c 8150                 subi r24,lo8(-(-1))
 4449 245e 8093 0000            sts NewPpmData,r24
 4450 2462 8091 0000            lds r24,NewPpmData
 4451 2466 8F3F                 cpi r24,lo8(-1)
 4452 2468 21F0                 breq .L368
 4453 246a 8091 0000            lds r24,FCFlags
 4454 246e 84FF                 sbrs r24,4
 4455 2470 82C3                 rjmp .L367
 4456                   .L368:
 4457 2472 0E94 0000            call ParameterZuordnung
 4458 2476 8091 0000            lds r24,stick_nick.13
 4459 247a 9091 0000            lds r25,(stick_nick.13)+1
 4460 247e 9C01                 movw r18,r24
 4461 2480 220F                 lsl r18
 4462 2482 331F                 rol r19
 4463 2484 280F                 add r18,r24
 4464 2486 391F                 adc r19,r25
 4465 2488 A090 0000            lds r10,EE_Parameter+1
 4466 248c AA2D                 mov r26,r10
 4467 248e BB27                 clr r27
 4468 2490 AA0F                 add r26,r26
 4469 2492 BB1F                 adc r27,r27
 4470 2494 FD01                 movw r30,r26
 4471 2496 E050                 subi r30,lo8(-(PPM_in))
 4472 2498 F040                 sbci r31,hi8(-(PPM_in))
 4473 249a 9090 0000            lds r9,EE_Parameter+23
 4474 249e 492D                 mov r20,r9
 4475 24a0 5527                 clr r21
 4476 24a2 8081                 ld r24,Z
 4477 24a4 9181                 ldd r25,Z+1
 4478 24a6 849F                 mul r24,r20
 4479 24a8 F001                 movw r30,r0
 4480 24aa 859F                 mul r24,r21
 4481 24ac F00D                 add r31,r0
 4482 24ae 949F                 mul r25,r20
 4483 24b0 F00D                 add r31,r0
 4484 24b2 1124                 clr r1
 4485 24b4 2E0F                 add r18,r30
 4486 24b6 3F1F                 adc r19,r31
 4487 24b8 37FF                 sbrs r19,7
 4488 24ba 02C0                 rjmp .L369
 4489 24bc 2D5F                 subi r18,lo8(-(3))
 4490 24be 3F4F                 sbci r19,hi8(-(3))
 4491                   .L369:
 4492 24c0 B901                 movw r22,r18
 4493 24c2 7595                 asr r23
 4494 24c4 6795                 ror r22
 4495 24c6 7595                 asr r23
 4496 24c8 6795                 ror r22
 4497 24ca A050                 subi r26,lo8(-(PPM_diff))
 4498 24cc B040                 sbci r27,hi8(-(PPM_diff))
 4499 24ce 8091 0000            lds r24,EE_Parameter+24
 4500 24d2 082F                 mov r16,r24
 4501 24d4 1127                 clr r17
 4502 24d6 8D91                 ld r24,X+
 4503 24d8 9C91                 ld r25,X
 4504 24da 809F                 mul r24,r16
 4505 24dc 7001                 movw r14,r0
 4506 24de 819F                 mul r24,r17
 4507 24e0 F00C                 add r15,r0
 4508 24e2 909F                 mul r25,r16
 4509 24e4 F00C                 add r15,r0
 4510 24e6 1124                 clr r1
 4511 24e8 6E0D                 add r22,r14
 4512 24ea 7F1D                 adc r23,r15
 4513 24ec 7093 0000            sts (stick_nick.13)+1,r23
 4514 24f0 6093 0000            sts stick_nick.13,r22
 4515 24f4 8091 0000            lds r24,stick_roll.14
 4516 24f8 9091 0000            lds r25,(stick_roll.14)+1
 4517 24fc 9C01                 movw r18,r24
 4518 24fe 220F                 lsl r18
 4519 2500 331F                 rol r19
 4520 2502 280F                 add r18,r24
 4521 2504 391F                 adc r19,r25
 4522 2506 B090 0000            lds r11,EE_Parameter+2
 4523 250a AB2D                 mov r26,r11
 4524 250c BB27                 clr r27
 4525 250e AA0F                 add r26,r26
 4526 2510 BB1F                 adc r27,r27
 4527 2512 FD01                 movw r30,r26
 4528 2514 E050                 subi r30,lo8(-(PPM_in))
 4529 2516 F040                 sbci r31,hi8(-(PPM_in))
 4530 2518 8081                 ld r24,Z
 4531 251a 9181                 ldd r25,Z+1
 4532 251c 849F                 mul r24,r20
 4533 251e F001                 movw r30,r0
 4534 2520 859F                 mul r24,r21
 4535 2522 F00D                 add r31,r0
 4536 2524 949F                 mul r25,r20
 4537 2526 F00D                 add r31,r0
 4538 2528 1124                 clr r1
 4539 252a 2E0F                 add r18,r30
 4540 252c 3F1F                 adc r19,r31
 4541 252e 37FF                 sbrs r19,7
 4542 2530 02C0                 rjmp .L370
 4543 2532 2D5F                 subi r18,lo8(-(3))
 4544 2534 3F4F                 sbci r19,hi8(-(3))
 4545                   .L370:
 4546 2536 A901                 movw r20,r18
 4547 2538 5595                 asr r21
 4548 253a 4795                 ror r20
 4549 253c 5595                 asr r21
 4550 253e 4795                 ror r20
 4551 2540 A050                 subi r26,lo8(-(PPM_diff))
 4552 2542 B040                 sbci r27,hi8(-(PPM_diff))
 4553 2544 8D91                 ld r24,X+
 4554 2546 9C91                 ld r25,X
 4555 2548 809F                 mul r24,r16
 4556 254a 7001                 movw r14,r0
 4557 254c 819F                 mul r24,r17
 4558 254e F00C                 add r15,r0
 4559 2550 909F                 mul r25,r16
 4560 2552 F00C                 add r15,r0
 4561 2554 1124                 clr r1
 4562 2556 4E0D                 add r20,r14
 4563 2558 5F1D                 adc r21,r15
 4564 255a 5093 0000            sts (stick_roll.14)+1,r21
 4565 255e 4093 0000            sts stick_roll.14,r20
 4566 2562 9E01                 movw r18,r28
 4567 2564 2F5F                 subi r18,lo8(-(1))
 4568 2566 3F4F                 sbci r19,hi8(-(1))
 4569 2568 8FE1                 ldi r24,lo8(31)
 4570 256a E0E0                 ldi r30,lo8(.LC0)
 4571 256c F0E0                 ldi r31,hi8(.LC0)
 4572 256e D901                 movw r26,r18
 4573 2570 0190                 ld __tmp_reg__,Z+
 4574 2572 0D92                 st X+,__tmp_reg__
 4575 2574 8A95                 dec r24
 4576 2576 E1F7                 brne .-8
 4577 2578 8091 0000            lds r24,CareFree
 4578 257c 8823                 tst r24
 4579 257e 09F4                 brne .+2
 4580 2580 48C0                 rjmp .L371
 4581 2582 CB01                 movw r24,r22
 4582 2584 77FD                 sbrc r23,7
 4583 2586 0396                 adiw r24,3
 4584                   .L372:
 4585 2588 DC01                 movw r26,r24
 4586 258a B595                 asr r27
 4587 258c A795                 ror r26
 4588 258e B595                 asr r27
 4589 2590 A795                 ror r26
 4590 2592 CA01                 movw r24,r20
 4591 2594 57FD                 sbrc r21,7
 4592 2596 0396                 adiw r24,3
 4593                   .L373:
 4594 2598 FC01                 movw r30,r24
 4595 259a F595                 asr r31
 4596 259c E795                 ror r30
 4597 259e F595                 asr r31
 4598 25a0 E795                 ror r30
 4599 25a2 8091 0000            lds r24,FromNC_Rotate_C
 4600 25a6 682F                 mov r22,r24
 4601 25a8 7727                 clr r23
 4602 25aa 67FD                 sbrc r22,7
 4603 25ac 7095                 com r23
 4604 25ae 6A9F                 mul r22,r26
 4605 25b0 9001                 movw r18,r0
 4606 25b2 6B9F                 mul r22,r27
 4607 25b4 300D                 add r19,r0
 4608 25b6 7A9F                 mul r23,r26
 4609 25b8 300D                 add r19,r0
 4610 25ba 1124                 clr r1
 4611 25bc 8091 0000            lds r24,FromNC_Rotate_S
 4612 25c0 482F                 mov r20,r24
 4613 25c2 5527                 clr r21
 4614 25c4 47FD                 sbrc r20,7
 4615 25c6 5095                 com r21
 4616 25c8 4E9F                 mul r20,r30
 4617 25ca C001                 movw r24,r0
 4618 25cc 4F9F                 mul r20,r31
 4619 25ce 900D                 add r25,r0
 4620 25d0 5E9F                 mul r21,r30
 4621 25d2 900D                 add r25,r0
 4622 25d4 1124                 clr r1
 4623 25d6 280F                 add r18,r24
 4624 25d8 391F                 adc r19,r25
 4625 25da 37FF                 sbrs r19,7
 4626 25dc 02C0                 rjmp .L374
 4627 25de 295F                 subi r18,lo8(-(7))
 4628 25e0 3F4F                 sbci r19,hi8(-(7))
 4629                   .L374:
 4630 25e2 03E0                 ldi r16,3
 4631 25e4 3595         1:      asr r19
 4632 25e6 2795                 ror r18
 4633 25e8 0A95                 dec r16
 4634 25ea E1F7                 brne 1b
 4635 25ec 3093 0000            sts (StickNick)+1,r19
 4636 25f0 2093 0000            sts StickNick,r18
 4637 25f4 6E9F                 mul r22,r30
 4638 25f6 9001                 movw r18,r0
 4639 25f8 6F9F                 mul r22,r31
 4640 25fa 300D                 add r19,r0
 4641 25fc 7E9F                 mul r23,r30
 4642 25fe 300D                 add r19,r0
 4643 2600 1124                 clr r1
 4644 2602 4A9F                 mul r20,r26
 4645 2604 C001                 movw r24,r0
 4646 2606 4B9F                 mul r20,r27
 4647 2608 900D                 add r25,r0
 4648 260a 5A9F                 mul r21,r26
 4649 260c 900D                 add r25,r0
 4650 260e 1124                 clr r1
 4651 2610 44C0                 rjmp .L803
 4652                   .L371:
 4653 2612 8091 0000            lds r24,EE_Parameter+95
 4654 2616 082F                 mov r16,r24
 4655 2618 1127                 clr r17
 4656 261a DE01                 movw r26,r28
 4657 261c A00F                 add r26,r16
 4658 261e B11F                 adc r27,r17
 4659 2620 FD01                 movw r30,r26
 4660 2622 9781                 ldd r25,Z+7
 4661 2624 9093 0000            sts FromNC_Rotate_C,r25
 4662 2628 020F                 add r16,r18
 4663 262a 131F                 adc r17,r19
 4664 262c D801                 movw r26,r16
 4665 262e 8C91                 ld r24,X
 4666 2630 8093 0000            sts FromNC_Rotate_S,r24
 4667 2634 A92F                 mov r26,r25
 4668 2636 BB27                 clr r27
 4669 2638 A7FD                 sbrc r26,7
 4670 263a B095                 com r27
 4671 263c A69F                 mul r26,r22
 4672 263e 9001                 movw r18,r0
 4673 2640 A79F                 mul r26,r23
 4674 2642 300D                 add r19,r0
 4675 2644 B69F                 mul r27,r22
 4676 2646 300D                 add r19,r0
 4677 2648 1124                 clr r1
 4678 264a E82F                 mov r30,r24
 4679 264c FF27                 clr r31
 4680 264e E7FD                 sbrc r30,7
 4681 2650 F095                 com r31
 4682 2652 E49F                 mul r30,r20
 4683 2654 C001                 movw r24,r0
 4684 2656 E59F                 mul r30,r21
 4685 2658 900D                 add r25,r0
 4686 265a F49F                 mul r31,r20
 4687 265c 900D                 add r25,r0
 4688 265e 1124                 clr r1
 4689 2660 280F                 add r18,r24
 4690 2662 391F                 adc r19,r25
 4691 2664 37FF                 sbrs r19,7
 4692 2666 02C0                 rjmp .L377
 4693 2668 295F                 subi r18,lo8(-(7))
 4694 266a 3F4F                 sbci r19,hi8(-(7))
 4695                   .L377:
 4696 266c 13E0                 ldi r17,3
 4697 266e 3595         1:      asr r19
 4698 2670 2795                 ror r18
 4699 2672 1A95                 dec r17
 4700 2674 E1F7                 brne 1b
 4701 2676 3093 0000            sts (StickNick)+1,r19
 4702 267a 2093 0000            sts StickNick,r18
 4703 267e A49F                 mul r26,r20
 4704 2680 9001                 movw r18,r0
 4705 2682 A59F                 mul r26,r21
 4706 2684 300D                 add r19,r0
 4707 2686 B49F                 mul r27,r20
 4708 2688 300D                 add r19,r0
 4709 268a 1124                 clr r1
 4710 268c E69F                 mul r30,r22
 4711 268e C001                 movw r24,r0
 4712 2690 E79F                 mul r30,r23
 4713 2692 900D                 add r25,r0
 4714 2694 F69F                 mul r31,r22
 4715 2696 900D                 add r25,r0
 4716 2698 1124                 clr r1
 4717                   .L803:
 4718 269a 281B                 sub r18,r24
 4719 269c 390B                 sbc r19,r25
 4720 269e 37FF                 sbrs r19,7
 4721 26a0 02C0                 rjmp .L378
 4722 26a2 295F                 subi r18,lo8(-(7))
 4723 26a4 3F4F                 sbci r19,hi8(-(7))
 4724                   .L378:
 4725 26a6 F3E0                 ldi r31,3
 4726 26a8 3595         1:      asr r19
 4727 26aa 2795                 ror r18
 4728 26ac FA95                 dec r31
 4729 26ae E1F7                 brne 1b
 4730 26b0 3093 0000            sts (StickRoll)+1,r19
 4731 26b4 2093 0000            sts StickRoll,r18
 4732 26b8 8091 0000            lds r24,EE_Parameter+4
 4733 26bc E82F                 mov r30,r24
 4734 26be FF27                 clr r31
 4735 26c0 EE0F                 add r30,r30
 4736 26c2 FF1F                 adc r31,r31
 4737 26c4 E050                 subi r30,lo8(-(PPM_in))
 4738 26c6 F040                 sbci r31,hi8(-(PPM_in))
 4739 26c8 8081                 ld r24,Z
 4740 26ca 9181                 ldd r25,Z+1
 4741 26cc 9095                 com r25
 4742 26ce 8195                 neg r24
 4743 26d0 9F4F                 sbci r25,lo8(-1)
 4744 26d2 9093 0000            sts (StickGier)+1,r25
 4745 26d6 8093 0000            sts StickGier,r24
 4746 26da 8330                 cpi r24,3
 4747 26dc 9105                 cpc r25,__zero_reg__
 4748 26de 14F0                 brlt .L379
 4749 26e0 0297                 sbiw r24,2
 4750 26e2 05C0                 rjmp .L778
 4751                   .L379:
 4752 26e4 BFEF                 ldi r27,hi8(-2)
 4753 26e6 8E3F                 cpi r24,lo8(-2)
 4754 26e8 9B07                 cpc r25,r27
 4755 26ea 34F4                 brge .L381
 4756 26ec 0296                 adiw r24,2
 4757                   .L778:
 4758 26ee 9093 0000            sts (StickGier)+1,r25
 4759 26f2 8093 0000            sts StickGier,r24
 4760 26f6 04C0                 rjmp .L380
 4761                   .L381:
 4762 26f8 1092 0000            sts (StickGier)+1,__zero_reg__
 4763 26fc 1092 0000            sts StickGier,__zero_reg__
 4764                   .L380:
 4765 2700 8091 0000            lds r24,GPS_Nick
 4766 2704 9091 0000            lds r25,(GPS_Nick)+1
 4767 2708 2091 0000            lds r18,GPS_Nick2
 4768 270c 3091 0000            lds r19,(GPS_Nick2)+1
 4769 2710 820F                 add r24,r18
 4770 2712 931F                 adc r25,r19
 4771 2714 C090 0000            lds r12,StickNick
 4772 2718 D090 0000            lds r13,(StickNick)+1
 4773 271c C81A                 sub r12,r24
 4774 271e D90A                 sbc r13,r25
 4775 2720 D092 0000            sts (StickNick)+1,r13
 4776 2724 C092 0000            sts StickNick,r12
 4777 2728 8091 0000            lds r24,GPS_Roll
 4778 272c 9091 0000            lds r25,(GPS_Roll)+1
 4779 2730 2091 0000            lds r18,GPS_Roll2
 4780 2734 3091 0000            lds r19,(GPS_Roll2)+1
 4781 2738 820F                 add r24,r18
 4782 273a 931F                 adc r25,r19
 4783 273c 0091 0000            lds r16,StickRoll
 4784 2740 1091 0000            lds r17,(StickRoll)+1
 4785 2744 081B                 sub r16,r24
 4786 2746 190B                 sbc r17,r25
 4787 2748 1093 0000            sts (StickRoll)+1,r17
 4788 274c 0093 0000            sts StickRoll,r16
 4789 2750 8091 0000            lds r24,EE_Parameter+3
 4790 2754 E82F                 mov r30,r24
 4791 2756 FF27                 clr r31
 4792 2758 EE0F                 add r30,r30
 4793 275a FF1F                 adc r31,r31
 4794 275c E050                 subi r30,lo8(-(PPM_in))
 4795 275e F040                 sbci r31,hi8(-(PPM_in))
 4796 2760 E080                 ld r14,Z
 4797 2762 F180                 ldd r15,Z+1
 4798 2764 E8E7                 ldi r30,lo8(120)
 4799 2766 F0E0                 ldi r31,hi8(120)
 4800 2768 EE0E                 add r14,r30
 4801 276a FF1E                 adc r15,r31
 4802 276c F092 0000            sts (StickGas)+1,r15
 4803 2770 E092 0000            sts StickGas,r14
 4804 2774 8091 0000            lds r24,Parameter_Gyro_P
 4805 2778 9927                 clr r25
 4806 277a AA27                 clr r26
 4807 277c 97FD                 sbrc r25,7
 4808 277e A095                 com r26
 4809 2780 BA2F                 mov r27,r26
 4810 2782 BC01                 movw r22,r24
 4811 2784 CD01                 movw r24,r26
 4812 2786 0E94 0000            call __floatsisf
 4813 278a DC01                 movw r26,r24
 4814 278c CB01                 movw r24,r22
 4815 278e 20E0                 ldi r18,lo8(0x41200000)
 4816 2790 30E0                 ldi r19,hi8(0x41200000)
 4817 2792 40E2                 ldi r20,hlo8(0x41200000)
 4818 2794 51E4                 ldi r21,hhi8(0x41200000)
 4819 2796 BC01                 movw r22,r24
 4820 2798 CD01                 movw r24,r26
 4821 279a 0E94 0000            call __addsf3
 4822 279e DC01                 movw r26,r24
 4823 27a0 CB01                 movw r24,r22
 4824 27a2 BC01                 movw r22,r24
 4825 27a4 CD01                 movw r24,r26
 4826 27a6 0E94 0000            call __fixunssfsi
 4827 27aa DC01                 movw r26,r24
 4828 27ac CB01                 movw r24,r22
 4829 27ae 8093 0000            sts GyroFaktor,r24
 4830 27b2 8091 0000            lds r24,Parameter_Gyro_I
 4831 27b6 8093 0000            sts IntegralFaktor,r24
 4832 27ba 8091 0000            lds r24,Parameter_Gyro_Gier_P
 4833 27be 9927                 clr r25
 4834 27c0 AA27                 clr r26
 4835 27c2 97FD                 sbrc r25,7
 4836 27c4 A095                 com r26
 4837 27c6 BA2F                 mov r27,r26
 4838 27c8 BC01                 movw r22,r24
 4839 27ca CD01                 movw r24,r26
 4840 27cc 0E94 0000            call __floatsisf
 4841 27d0 DC01                 movw r26,r24
 4842 27d2 CB01                 movw r24,r22
 4843 27d4 20E0                 ldi r18,lo8(0x41200000)
 4844 27d6 30E0                 ldi r19,hi8(0x41200000)
 4845 27d8 40E2                 ldi r20,hlo8(0x41200000)
 4846 27da 51E4                 ldi r21,hhi8(0x41200000)
 4847 27dc BC01                 movw r22,r24
 4848 27de CD01                 movw r24,r26
 4849 27e0 0E94 0000            call __addsf3
 4850 27e4 DC01                 movw r26,r24
 4851 27e6 CB01                 movw r24,r22
 4852 27e8 BC01                 movw r22,r24
 4853 27ea CD01                 movw r24,r26
 4854 27ec 0E94 0000            call __fixunssfsi
 4855 27f0 DC01                 movw r26,r24
 4856 27f2 CB01                 movw r24,r22
 4857 27f4 8093 0000            sts GyroFaktorGier,r24
 4858 27f8 8091 0000            lds r24,Parameter_Gyro_Gier_I
 4859 27fc 8093 0000            sts IntegralFaktorGier,r24
 4860 2800 8091 0000            lds r24,ExternControl+10
 4861 2804 80FF                 sbrs r24,0
 4862 2806 59C0                 rjmp .L383
 4863 2808 8091 0000            lds r24,Parameter_ExternalControl
 4864 280c 8138                 cpi r24,lo8(-127)
 4865 280e 08F4                 brsh .+2
 4866 2810 54C0                 rjmp .L383
 4867 2812 8091 0000            lds r24,ExternControl+3
 4868 2816 9927                 clr r25
 4869 2818 87FD                 sbrc r24,7
 4870 281a 9095                 com r25
 4871 281c 292D                 mov r18,r9
 4872 281e 3327                 clr r19
 4873 2820 829F                 mul r24,r18
 4874 2822 A001                 movw r20,r0
 4875 2824 839F                 mul r24,r19
 4876 2826 500D                 add r21,r0
 4877 2828 929F                 mul r25,r18
 4878 282a 500D                 add r21,r0
 4879 282c 1124                 clr r1
 4880 282e C40E                 add r12,r20
 4881 2830 D51E                 adc r13,r21
 4882 2832 D092 0000            sts (StickNick)+1,r13
 4883 2836 C092 0000            sts StickNick,r12
 4884 283a 8091 0000            lds r24,ExternControl+4
 4885 283e 9927                 clr r25
 4886 2840 87FD                 sbrc r24,7
 4887 2842 9095                 com r25
 4888 2844 829F                 mul r24,r18
 4889 2846 B001                 movw r22,r0
 4890 2848 839F                 mul r24,r19
 4891 284a 700D                 add r23,r0
 4892 284c 929F                 mul r25,r18
 4893 284e 700D                 add r23,r0
 4894 2850 1124                 clr r1
 4895 2852 060F                 add r16,r22
 4896 2854 171F                 adc r17,r23
 4897 2856 1093 0000            sts (StickRoll)+1,r17
 4898 285a 0093 0000            sts StickRoll,r16
 4899 285e 8091 0000            lds r24,ExternControl+5
 4900 2862 282F                 mov r18,r24
 4901 2864 3327                 clr r19
 4902 2866 27FD                 sbrc r18,7
 4903 2868 3095                 com r19
 4904 286a 8091 0000            lds r24,StickGier
 4905 286e 9091 0000            lds r25,(StickGier)+1
 4906 2872 820F                 add r24,r18
 4907 2874 931F                 adc r25,r19
 4908 2876 9093 0000            sts (StickGier)+1,r25
 4909 287a 8093 0000            sts StickGier,r24
 4910 287e 8091 0000            lds r24,ExternControl+7
 4911 2882 282F                 mov r18,r24
 4912 2884 3327                 clr r19
 4913 2886 27FD                 sbrc r18,7
 4914 2888 3095                 com r19
 4915 288a 8091 0000            lds r24,EE_Parameter+18
 4916 288e 9927                 clr r25
 4917 2890 289F                 mul r18,r24
 4918 2892 D001                 movw r26,r0
 4919 2894 299F                 mul r18,r25
 4920 2896 B00D                 add r27,r0
 4921 2898 389F                 mul r19,r24
 4922 289a B00D                 add r27,r0
 4923 289c 1124                 clr r1
 4924 289e B093 0000            sts (ExternHoehenValue)+1,r27
 4925 28a2 A093 0000            sts ExternHoehenValue,r26
 4926 28a6 8091 0000            lds r24,ExternControl+6
 4927 28aa 9927                 clr r25
 4928 28ac 8E15                 cp r24,r14
 4929 28ae 9F05                 cpc r25,r15
 4930 28b0 24F4                 brge .L383
 4931 28b2 9093 0000            sts (StickGas)+1,r25
 4932 28b6 8093 0000            sts StickGas,r24
 4933                   .L383:
 4934 28ba 8091 0000            lds r24,StickGas
 4935 28be 9091 0000            lds r25,(StickGas)+1
 4936 28c2 97FF                 sbrs r25,7
 4937 28c4 04C0                 rjmp .L385
 4938 28c6 1092 0000            sts (StickGas)+1,__zero_reg__
 4939 28ca 1092 0000            sts StickGas,__zero_reg__
 4940                   .L385:
 4941 28ce 8091 0000            lds r24,EE_Parameter+13
 4942 28d2 82FF                 sbrs r24,2
 4943 28d4 02C0                 rjmp .L386
 4944 28d6 1092 0000            sts IntegralFaktor,__zero_reg__
 4945                   .L386:
 4946 28da 4091 0000            lds r20,StickNick
 4947 28de 5091 0000            lds r21,(StickNick)+1
 4948 28e2 CA01                 movw r24,r20
 4949 28e4 57FD                 sbrc r21,7
 4950 28e6 0396                 adiw r24,3
 4951                   .L388:
 4952 28e8 9C01                 movw r18,r24
 4953 28ea 3595                 asr r19
 4954 28ec 2795                 ror r18
 4955 28ee 3595                 asr r19
 4956 28f0 2795                 ror r18
 4957 28f2 37FF                 sbrs r19,7
 4958 28f4 03C0                 rjmp .L389
 4959 28f6 3095                 com r19
 4960 28f8 2195                 neg r18
 4961 28fa 3F4F                 sbci r19,lo8(-1)
 4962                   .L389:
 4963 28fc 8091 0000            lds r24,MaxStickNick
 4964 2900 9091 0000            lds r25,(MaxStickNick)+1
 4965 2904 8217                 cp r24,r18
 4966 2906 9307                 cpc r25,r19
 4967 2908 B4F4                 brge .L387
 4968 290a CA01                 movw r24,r20
 4969 290c 57FF                 sbrs r21,7
 4970 290e 03C0                 rjmp .L390
 4971 2910 9095                 com r25
 4972 2912 8195                 neg r24
 4973 2914 9F4F                 sbci r25,lo8(-1)
 4974                   .L390:
 4975 2916 97FD                 sbrc r25,7
 4976 2918 0396                 adiw r24,3
 4977                   .L391:
 4978 291a 9595                 asr r25
 4979 291c 8795                 ror r24
 4980 291e 9595                 asr r25
 4981 2920 8795                 ror r24
 4982 2922 9093 0000            sts (MaxStickNick)+1,r25
 4983 2926 8093 0000            sts MaxStickNick,r24
 4984 292a 8536                 cpi r24,101
 4985 292c 9105                 cpc r25,__zero_reg__
 4986 292e 44F0                 brlt .L393
 4987 2930 84E6                 ldi r24,lo8(100)
 4988 2932 90E0                 ldi r25,hi8(100)
 4989 2934 01C0                 rjmp .L779
 4990                   .L387:
 4991 2936 0197                 sbiw r24,1
 4992                   .L779:
 4993 2938 9093 0000            sts (MaxStickNick)+1,r25
 4994 293c 8093 0000            sts MaxStickNick,r24
 4995                   .L393:
 4996 2940 4091 0000            lds r20,StickRoll
 4997 2944 5091 0000            lds r21,(StickRoll)+1
 4998 2948 CA01                 movw r24,r20
 4999 294a 57FD                 sbrc r21,7
 5000 294c 0396                 adiw r24,3
 5001                   .L395:
 5002 294e 9C01                 movw r18,r24
 5003 2950 3595                 asr r19
 5004 2952 2795                 ror r18
 5005 2954 3595                 asr r19
 5006 2956 2795                 ror r18
 5007 2958 37FF                 sbrs r19,7
 5008 295a 03C0                 rjmp .L396
 5009 295c 3095                 com r19
 5010 295e 2195                 neg r18
 5011 2960 3F4F                 sbci r19,lo8(-1)
 5012                   .L396:
 5013 2962 8091 0000            lds r24,MaxStickRoll
 5014 2966 9091 0000            lds r25,(MaxStickRoll)+1
 5015 296a 8217                 cp r24,r18
 5016 296c 9307                 cpc r25,r19
 5017 296e B4F4                 brge .L394
 5018 2970 CA01                 movw r24,r20
 5019 2972 57FF                 sbrs r21,7
 5020 2974 03C0                 rjmp .L397
 5021 2976 9095                 com r25
 5022 2978 8195                 neg r24
 5023 297a 9F4F                 sbci r25,lo8(-1)
 5024                   .L397:
 5025 297c 97FD                 sbrc r25,7
 5026 297e 0396                 adiw r24,3
 5027                   .L398:
 5028 2980 9595                 asr r25
 5029 2982 8795                 ror r24
 5030 2984 9595                 asr r25
 5031 2986 8795                 ror r24
 5032 2988 9093 0000            sts (MaxStickRoll)+1,r25
 5033 298c 8093 0000            sts MaxStickRoll,r24
 5034 2990 8536                 cpi r24,101
 5035 2992 9105                 cpc r25,__zero_reg__
 5036 2994 44F0                 brlt .L400
 5037 2996 84E6                 ldi r24,lo8(100)
 5038 2998 90E0                 ldi r25,hi8(100)
 5039 299a 01C0                 rjmp .L780
 5040                   .L394:
 5041 299c 0197                 sbiw r24,1
 5042                   .L780:
 5043 299e 9093 0000            sts (MaxStickRoll)+1,r25
 5044 29a2 8093 0000            sts MaxStickRoll,r24
 5045                   .L400:
 5046 29a6 8091 0000            lds r24,FCFlags
 5047 29aa 84FF                 sbrs r24,4
 5048 29ac 08C0                 rjmp .L401
 5049 29ae 1092 0000            sts (MaxStickNick)+1,__zero_reg__
 5050 29b2 1092 0000            sts MaxStickNick,__zero_reg__
 5051 29b6 1092 0000            sts (MaxStickRoll)+1,__zero_reg__
 5052 29ba 1092 0000            sts MaxStickRoll,__zero_reg__
 5053                   .L401:
 5054 29be EB2D                 mov r30,r11
 5055 29c0 FF27                 clr r31
 5056 29c2 EE0F                 add r30,r30
 5057 29c4 FF1F                 adc r31,r31
 5058 29c6 E050                 subi r30,lo8(-(PPM_in))
 5059 29c8 F040                 sbci r31,hi8(-(PPM_in))
 5060 29ca 4091 0000            lds r20,EE_Parameter+58
 5061 29ce 242F                 mov r18,r20
 5062 29d0 3327                 clr r19
 5063 29d2 8081                 ld r24,Z
 5064 29d4 9181                 ldd r25,Z+1
 5065 29d6 2817                 cp r18,r24
 5066 29d8 3907                 cpc r19,r25
 5067 29da 44F4                 brge .L402
 5068 29dc 8091 0000            lds r24,EE_Parameter+97
 5069 29e0 82FF                 sbrs r24,2
 5070 29e2 04C0                 rjmp .L402
 5071 29e4 81E0                 ldi r24,lo8(1)
 5072 29e6 8093 0000            sts Looping_Links,r24
 5073 29ea 13C0                 rjmp .L403
 5074                   .L402:
 5075 29ec EB2D                 mov r30,r11
 5076 29ee FF27                 clr r31
 5077 29f0 EE0F                 add r30,r30
 5078 29f2 FF1F                 adc r31,r31
 5079 29f4 E050                 subi r30,lo8(-(PPM_in))
 5080 29f6 F040                 sbci r31,hi8(-(PPM_in))
 5081 29f8 842F                 mov r24,r20
 5082 29fa 9927                 clr r25
 5083 29fc 2091 0000            lds r18,EE_Parameter+59
 5084 2a00 821B                 sub r24,r18
 5085 2a02 9109                 sbc r25,__zero_reg__
 5086 2a04 2081                 ld r18,Z
 5087 2a06 3181                 ldd r19,Z+1
 5088 2a08 2817                 cp r18,r24
 5089 2a0a 3907                 cpc r19,r25
 5090 2a0c 14F4                 brge .L403
 5091 2a0e 1092 0000            sts Looping_Links,__zero_reg__
 5092                   .L403:
 5093 2a12 4091 0000            lds r20,EE_Parameter+2
 5094 2a16 E42F                 mov r30,r20
 5095 2a18 FF27                 clr r31
 5096 2a1a EE0F                 add r30,r30
 5097 2a1c FF1F                 adc r31,r31
 5098 2a1e E050                 subi r30,lo8(-(PPM_in))
 5099 2a20 F040                 sbci r31,hi8(-(PPM_in))
 5100 2a22 5091 0000            lds r21,EE_Parameter+58
 5101 2a26 852F                 mov r24,r21
 5102 2a28 9927                 clr r25
 5103 2a2a 2227                 clr r18
 5104 2a2c 3327                 clr r19
 5105 2a2e 281B                 sub r18,r24
 5106 2a30 390B                 sbc r19,r25
 5107 2a32 8081                 ld r24,Z
 5108 2a34 9181                 ldd r25,Z+1
 5109 2a36 8217                 cp r24,r18
 5110 2a38 9307                 cpc r25,r19
 5111 2a3a 44F4                 brge .L405
 5112 2a3c 8091 0000            lds r24,EE_Parameter+97
 5113 2a40 83FF                 sbrs r24,3
 5114 2a42 04C0                 rjmp .L405
 5115 2a44 81E0                 ldi r24,lo8(1)
 5116 2a46 8093 0000            sts Looping_Rechts,r24
 5117 2a4a 16C0                 rjmp .L406
 5118                   .L405:
 5119 2a4c 8091 0000            lds r24,Looping_Rechts
 5120 2a50 8823                 tst r24
 5121 2a52 91F0                 breq .L406
 5122 2a54 E42F                 mov r30,r20
 5123 2a56 FF27                 clr r31
 5124 2a58 EE0F                 add r30,r30
 5125 2a5a FF1F                 adc r31,r31
 5126 2a5c E050                 subi r30,lo8(-(PPM_in))
 5127 2a5e F040                 sbci r31,hi8(-(PPM_in))
 5128 2a60 8091 0000            lds r24,EE_Parameter+59
 5129 2a64 9927                 clr r25
 5130 2a66 851B                 sub r24,r21
 5131 2a68 9109                 sbc r25,__zero_reg__
 5132 2a6a 2081                 ld r18,Z
 5133 2a6c 3181                 ldd r19,Z+1
 5134 2a6e 8217                 cp r24,r18
 5135 2a70 9307                 cpc r25,r19
 5136 2a72 14F4                 brge .L406
 5137 2a74 1092 0000            sts Looping_Rechts,__zero_reg__
 5138                   .L406:
 5139 2a78 EA2D                 mov r30,r10
 5140 2a7a FF27                 clr r31
 5141 2a7c EE0F                 add r30,r30
 5142 2a7e FF1F                 adc r31,r31
 5143 2a80 E050                 subi r30,lo8(-(PPM_in))
 5144 2a82 F040                 sbci r31,hi8(-(PPM_in))
 5145 2a84 4091 0000            lds r20,EE_Parameter+58
 5146 2a88 242F                 mov r18,r20
 5147 2a8a 3327                 clr r19
 5148 2a8c 8081                 ld r24,Z
 5149 2a8e 9181                 ldd r25,Z+1
 5150 2a90 2817                 cp r18,r24
 5151 2a92 3907                 cpc r19,r25
 5152 2a94 44F4                 brge .L409
 5153 2a96 8091 0000            lds r24,EE_Parameter+97
 5154 2a9a 80FF                 sbrs r24,0
 5155 2a9c 04C0                 rjmp .L409
 5156 2a9e 81E0                 ldi r24,lo8(1)
 5157 2aa0 8093 0000            sts Looping_Oben,r24
 5158 2aa4 17C0                 rjmp .L410
 5159                   .L409:
 5160 2aa6 8091 0000            lds r24,Looping_Oben
 5161 2aaa 8823                 tst r24
 5162 2aac 99F0                 breq .L410
 5163 2aae EA2D                 mov r30,r10
 5164 2ab0 FF27                 clr r31
 5165 2ab2 EE0F                 add r30,r30
 5166 2ab4 FF1F                 adc r31,r31
 5167 2ab6 E050                 subi r30,lo8(-(PPM_in))
 5168 2ab8 F040                 sbci r31,hi8(-(PPM_in))
 5169 2aba 842F                 mov r24,r20
 5170 2abc 9927                 clr r25
 5171 2abe 2091 0000            lds r18,EE_Parameter+59
 5172 2ac2 821B                 sub r24,r18
 5173 2ac4 9109                 sbc r25,__zero_reg__
 5174 2ac6 2081                 ld r18,Z
 5175 2ac8 3181                 ldd r19,Z+1
 5176 2aca 2817                 cp r18,r24
 5177 2acc 3907                 cpc r19,r25
 5178 2ace 14F4                 brge .L410
 5179 2ad0 1092 0000            sts Looping_Oben,__zero_reg__
 5180                   .L410:
 5181 2ad4 4091 0000            lds r20,EE_Parameter+1
 5182 2ad8 E42F                 mov r30,r20
 5183 2ada FF27                 clr r31
 5184 2adc EE0F                 add r30,r30
 5185 2ade FF1F                 adc r31,r31
 5186 2ae0 E050                 subi r30,lo8(-(PPM_in))
 5187 2ae2 F040                 sbci r31,hi8(-(PPM_in))
 5188 2ae4 5091 0000            lds r21,EE_Parameter+58
 5189 2ae8 852F                 mov r24,r21
 5190 2aea 9927                 clr r25
 5191 2aec 2227                 clr r18
 5192 2aee 3327                 clr r19
 5193 2af0 281B                 sub r18,r24
 5194 2af2 390B                 sbc r19,r25
 5195 2af4 8081                 ld r24,Z
 5196 2af6 9181                 ldd r25,Z+1
 5197 2af8 8217                 cp r24,r18
 5198 2afa 9307                 cpc r25,r19
 5199 2afc 44F4                 brge .L413
 5200 2afe 8091 0000            lds r24,EE_Parameter+97
 5201 2b02 81FF                 sbrs r24,1
 5202 2b04 04C0                 rjmp .L413
 5203 2b06 81E0                 ldi r24,lo8(1)
 5204 2b08 8093 0000            sts Looping_Unten,r24
 5205 2b0c 16C0                 rjmp .L414
 5206                   .L413:
 5207 2b0e 8091 0000            lds r24,Looping_Unten
 5208 2b12 8823                 tst r24
 5209 2b14 91F0                 breq .L414
 5210 2b16 E42F                 mov r30,r20
 5211 2b18 FF27                 clr r31
 5212 2b1a EE0F                 add r30,r30
 5213 2b1c FF1F                 adc r31,r31
 5214 2b1e E050                 subi r30,lo8(-(PPM_in))
 5215 2b20 F040                 sbci r31,hi8(-(PPM_in))
 5216 2b22 8091 0000            lds r24,EE_Parameter+59
 5217 2b26 9927                 clr r25
 5218 2b28 851B                 sub r24,r21
 5219 2b2a 9109                 sbc r25,__zero_reg__
 5220 2b2c 2081                 ld r18,Z
 5221 2b2e 3181                 ldd r19,Z+1
 5222 2b30 8217                 cp r24,r18
 5223 2b32 9307                 cpc r25,r19
 5224 2b34 14F4                 brge .L414
 5225 2b36 1092 0000            sts Looping_Unten,__zero_reg__
 5226                   .L414:
 5227 2b3a 8091 0000            lds r24,Looping_Links
 5228 2b3e 8823                 tst r24
 5229 2b40 19F4                 brne .L418
 5230 2b42 8091 0000            lds r24,Looping_Rechts
 5231 2b46 8111                 cpse r24,__zero_reg__
 5232                   .L418:
 5233 2b48 81E0                 ldi r24,lo8(1)
 5234                   .L417:
 5235 2b4a 8093 0000            sts Looping_Roll,r24
 5236 2b4e 8091 0000            lds r24,Looping_Oben
 5237 2b52 8823                 tst r24
 5238 2b54 21F4                 brne .L421
 5239 2b56 8091 0000            lds r24,Looping_Unten
 5240 2b5a 8823                 tst r24
 5241 2b5c 51F0                 breq .L420
 5242                   .L421:
 5243 2b5e 81E0                 ldi r24,lo8(1)
 5244 2b60 8093 0000            sts Looping_Nick,r24
 5245 2b64 1092 0000            sts Looping_Roll,__zero_reg__
 5246 2b68 1092 0000            sts Looping_Links,__zero_reg__
 5247 2b6c 1092 0000            sts Looping_Rechts,__zero_reg__
 5248 2b70 02C0                 rjmp .L367
 5249                   .L420:
 5250 2b72 8093 0000            sts Looping_Nick,r24
 5251                   .L367:
 5252 2b76 8091 0000            lds r24,Looping_Roll
 5253 2b7a 8823                 tst r24
 5254 2b7c 21F4                 brne .L424
 5255 2b7e 8091 0000            lds r24,Looping_Nick
 5256 2b82 8823                 tst r24
 5257 2b84 69F0                 breq .L423
 5258                   .L424:
 5259 2b86 8091 0000            lds r24,EE_Parameter+57
 5260 2b8a 9927                 clr r25
 5261 2b8c E8A1                 ldd r30,Y+32
 5262 2b8e F9A1                 ldd r31,Y+33
 5263 2b90 8E17                 cp r24,r30
 5264 2b92 9F07                 cpc r25,r31
 5265 2b94 14F4                 brge .L425
 5266 2b96 99A3                 std Y+33,r25
 5267 2b98 88A3                 std Y+32,r24
 5268                   .L425:
 5269 2b9a 81E0                 ldi r24,lo8(1)
 5270 2b9c 8093 0000            sts TrichterFlug,r24
 5271                   .L423:
 5272 2ba0 8091 0000            lds r24,FCFlags
 5273 2ba4 84FF                 sbrs r24,4
 5274 2ba6 1AC0                 rjmp .L426
 5275 2ba8 1092 0000            sts (StickGier)+1,__zero_reg__
 5276 2bac 1092 0000            sts StickGier,__zero_reg__
 5277 2bb0 1092 0000            sts (StickNick)+1,__zero_reg__
 5278 2bb4 1092 0000            sts StickNick,__zero_reg__
 5279 2bb8 1092 0000            sts (StickRoll)+1,__zero_reg__
 5280 2bbc 1092 0000            sts StickRoll,__zero_reg__
 5281 2bc0 9AE5                 ldi r25,lo8(90)
 5282 2bc2 9093 0000            sts GyroFaktor,r25
 5283 2bc6 88E7                 ldi r24,lo8(120)
 5284 2bc8 8093 0000            sts IntegralFaktor,r24
 5285 2bcc 9093 0000            sts GyroFaktorGier,r25
 5286 2bd0 8093 0000            sts IntegralFaktorGier,r24
 5287 2bd4 1092 0000            sts Looping_Roll,__zero_reg__
 5288 2bd8 1092 0000            sts Looping_Nick,__zero_reg__
 5289                   .L426:
 5290 2bdc 8091 0000            lds r24,MittelIntegralNick
 5291 2be0 9091 0000            lds r25,(MittelIntegralNick)+1
 5292 2be4 A091 0000            lds r26,(MittelIntegralNick)+2
 5293 2be8 B091 0000            lds r27,(MittelIntegralNick)+3
 5294 2bec 2091 0000            lds r18,IntegralNick
 5295 2bf0 3091 0000            lds r19,(IntegralNick)+1
 5296 2bf4 4091 0000            lds r20,(IntegralNick)+2
 5297 2bf8 5091 0000            lds r21,(IntegralNick)+3
 5298 2bfc 820F                 add r24,r18
 5299 2bfe 931F                 adc r25,r19
 5300 2c00 A41F                 adc r26,r20
 5301 2c02 B51F                 adc r27,r21
 5302 2c04 8093 0000            sts MittelIntegralNick,r24
 5303 2c08 9093 0000            sts (MittelIntegralNick)+1,r25
 5304 2c0c A093 0000            sts (MittelIntegralNick)+2,r26
 5305 2c10 B093 0000            sts (MittelIntegralNick)+3,r27
 5306 2c14 8091 0000            lds r24,MittelIntegralRoll
 5307 2c18 9091 0000            lds r25,(MittelIntegralRoll)+1
 5308 2c1c A091 0000            lds r26,(MittelIntegralRoll)+2
 5309 2c20 B091 0000            lds r27,(MittelIntegralRoll)+3
 5310 2c24 2090 0000            lds r2,IntegralRoll
 5311 2c28 3090 0000            lds r3,(IntegralRoll)+1
 5312 2c2c 4090 0000            lds r4,(IntegralRoll)+2
 5313 2c30 5090 0000            lds r5,(IntegralRoll)+3
 5314 2c34 820D                 add r24,r2
 5315 2c36 931D                 adc r25,r3
 5316 2c38 A41D                 adc r26,r4
 5317 2c3a B51D                 adc r27,r5
 5318 2c3c 8093 0000            sts MittelIntegralRoll,r24
 5319 2c40 9093 0000            sts (MittelIntegralRoll)+1,r25
 5320 2c44 A093 0000            sts (MittelIntegralRoll)+2,r26
 5321 2c48 B093 0000            sts (MittelIntegralRoll)+3,r27
 5322 2c4c 8091 0000            lds r24,MittelIntegralNick2
 5323 2c50 9091 0000            lds r25,(MittelIntegralNick2)+1
 5324 2c54 A091 0000            lds r26,(MittelIntegralNick2)+2
 5325 2c58 B091 0000            lds r27,(MittelIntegralNick2)+3
 5326 2c5c E090 0000            lds r14,IntegralNick2
 5327 2c60 F090 0000            lds r15,(IntegralNick2)+1
 5328 2c64 0091 0000            lds r16,(IntegralNick2)+2
 5329 2c68 1091 0000            lds r17,(IntegralNick2)+3
 5330 2c6c EAA2                 std Y+34,r14
 5331 2c6e FBA2                 std Y+35,r15
 5332 2c70 0CA3                 std Y+36,r16
 5333 2c72 1DA3                 std Y+37,r17
 5334 2c74 8E0D                 add r24,r14
 5335 2c76 9F1D                 adc r25,r15
 5336 2c78 A01F                 adc r26,r16
 5337 2c7a B11F                 adc r27,r17
 5338 2c7c 8093 0000            sts MittelIntegralNick2,r24
 5339 2c80 9093 0000            sts (MittelIntegralNick2)+1,r25
 5340 2c84 A093 0000            sts (MittelIntegralNick2)+2,r26
 5341 2c88 B093 0000            sts (MittelIntegralNick2)+3,r27
 5342 2c8c 8091 0000            lds r24,MittelIntegralRoll2
 5343 2c90 9091 0000            lds r25,(MittelIntegralRoll2)+1
 5344 2c94 A091 0000            lds r26,(MittelIntegralRoll2)+2
 5345 2c98 B091 0000            lds r27,(MittelIntegralRoll2)+3
 5346 2c9c E090 0000            lds r14,IntegralRoll2
 5347 2ca0 F090 0000            lds r15,(IntegralRoll2)+1
 5348 2ca4 0091 0000            lds r16,(IntegralRoll2)+2
 5349 2ca8 1091 0000            lds r17,(IntegralRoll2)+3
 5350 2cac EEA2                 std Y+38,r14
 5351 2cae FFA2                 std Y+39,r15
 5352 2cb0 08A7                 std Y+40,r16
 5353 2cb2 19A7                 std Y+41,r17
 5354 2cb4 8E0D                 add r24,r14
 5355 2cb6 9F1D                 adc r25,r15
 5356 2cb8 A01F                 adc r26,r16
 5357 2cba B11F                 adc r27,r17
 5358 2cbc 8093 0000            sts MittelIntegralRoll2,r24
 5359 2cc0 9093 0000            sts (MittelIntegralRoll2)+1,r25
 5360 2cc4 A093 0000            sts (MittelIntegralRoll2)+2,r26
 5361 2cc8 B093 0000            sts (MittelIntegralRoll2)+3,r27
 5362 2ccc F090 0000            lds r15,Looping_Nick
 5363 2cd0 FAA6                 std Y+42,r15
 5364 2cd2 FF20                 tst r15
 5365 2cd4 29F4                 brne .L428
 5366 2cd6 8091 0000            lds r24,Looping_Roll
 5367 2cda 8823                 tst r24
 5368 2cdc 09F4                 brne .+2
 5369 2cde 60C0                 rjmp .L775
 5370                   .L428:
 5371 2ce0 1092 0000            sts IntegralAccNick,__zero_reg__
 5372 2ce4 1092 0000            sts (IntegralAccNick)+1,__zero_reg__
 5373 2ce8 1092 0000            sts (IntegralAccNick)+2,__zero_reg__
 5374 2cec 1092 0000            sts (IntegralAccNick)+3,__zero_reg__
 5375 2cf0 1092 0000            sts IntegralAccRoll,__zero_reg__
 5376 2cf4 1092 0000            sts (IntegralAccRoll)+1,__zero_reg__
 5377 2cf8 1092 0000            sts (IntegralAccRoll)+2,__zero_reg__
 5378 2cfc 1092 0000            sts (IntegralAccRoll)+3,__zero_reg__
 5379 2d00 1092 0000            sts MittelIntegralNick,__zero_reg__
 5380 2d04 1092 0000            sts (MittelIntegralNick)+1,__zero_reg__
 5381 2d08 1092 0000            sts (MittelIntegralNick)+2,__zero_reg__
 5382 2d0c 1092 0000            sts (MittelIntegralNick)+3,__zero_reg__
 5383 2d10 1092 0000            sts MittelIntegralRoll,__zero_reg__
 5384 2d14 1092 0000            sts (MittelIntegralRoll)+1,__zero_reg__
 5385 2d18 1092 0000            sts (MittelIntegralRoll)+2,__zero_reg__
 5386 2d1c 1092 0000            sts (MittelIntegralRoll)+3,__zero_reg__
 5387 2d20 1092 0000            sts MittelIntegralNick2,__zero_reg__
 5388 2d24 1092 0000            sts (MittelIntegralNick2)+1,__zero_reg__
 5389 2d28 1092 0000            sts (MittelIntegralNick2)+2,__zero_reg__
 5390 2d2c 1092 0000            sts (MittelIntegralNick2)+3,__zero_reg__
 5391 2d30 1092 0000            sts MittelIntegralRoll2,__zero_reg__
 5392 2d34 1092 0000            sts (MittelIntegralRoll2)+1,__zero_reg__
 5393 2d38 1092 0000            sts (MittelIntegralRoll2)+2,__zero_reg__
 5394 2d3c 1092 0000            sts (MittelIntegralRoll2)+3,__zero_reg__
 5395 2d40 8091 0000            lds r24,Mess_IntegralNick
 5396 2d44 9091 0000            lds r25,(Mess_IntegralNick)+1
 5397 2d48 A091 0000            lds r26,(Mess_IntegralNick)+2
 5398 2d4c B091 0000            lds r27,(Mess_IntegralNick)+3
 5399 2d50 8093 0000            sts Mess_IntegralNick2,r24
 5400 2d54 9093 0000            sts (Mess_IntegralNick2)+1,r25
 5401 2d58 A093 0000            sts (Mess_IntegralNick2)+2,r26
 5402 2d5c B093 0000            sts (Mess_IntegralNick2)+3,r27
 5403 2d60 8091 0000            lds r24,Mess_IntegralRoll
 5404 2d64 9091 0000            lds r25,(Mess_IntegralRoll)+1
 5405 2d68 A091 0000            lds r26,(Mess_IntegralRoll)+2
 5406 2d6c B091 0000            lds r27,(Mess_IntegralRoll)+3
 5407 2d70 8093 0000            sts Mess_IntegralRoll2,r24
 5408 2d74 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 5409 2d78 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 5410 2d7c B093 0000            sts (Mess_IntegralRoll2)+3,r27
 5411 2d80 1092 0000            sts (ZaehlMessungen)+1,__zero_reg__
 5412 2d84 1092 0000            sts ZaehlMessungen,__zero_reg__
 5413 2d88 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 5414 2d8c 1092 0000            sts LageKorrekturNick,__zero_reg__
 5415 2d90 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 5416 2d94 1092 0000            sts LageKorrekturRoll,__zero_reg__
 5417 2d98 0AA5                 ldd r16,Y+42
 5418 2d9a 0023                 tst r16
 5419 2d9c 09F0                 breq .+2
 5420 2d9e F2C1                 rjmp .L429
 5421                   .L775:
 5422 2da0 8091 0000            lds r24,Looping_Roll
 5423 2da4 8823                 tst r24
 5424 2da6 09F0                 breq .+2
 5425 2da8 EDC1                 rjmp .L429
 5426 2daa 8091 0000            lds r24,Aktuell_az
 5427 2dae 9091 0000            lds r25,(Aktuell_az)+1
 5428 2db2 8150                 subi r24,lo8(513)
 5429 2db4 9240                 sbci r25,hi8(513)
 5430 2db6 2CF4                 brge .L430
 5431 2db8 8091 0000            lds r24,MotorenEin
 5432 2dbc 8823                 tst r24
 5433 2dbe 09F4                 brne .+2
 5434 2dc0 E1C1                 rjmp .L429
 5435                   .L430:
 5436 2dc2 9090 0000            lds r9,FromNaviCtrl_Value
 5437 2dc6 A090 0000            lds r10,EE_Parameter+28
 5438 2dca 6091 0000            lds r22,Mittelwert_AccNick
 5439 2dce 7091 0000            lds r23,(Mittelwert_AccNick)+1
 5440 2dd2 7BAB                 std Y+51,r23
 5441 2dd4 6AAB                 std Y+50,r22
 5442 2dd6 8091 0000            lds r24,Mittelwert_AccRoll
 5443 2dda 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 5444 2dde 9DAB                 std Y+53,r25
 5445 2de0 8CAB                 std Y+52,r24
 5446 2de2 9FEF                 ldi r25,lo8(-1)
 5447 2de4 9916                 cp r9,r25
 5448 2de6 09F4                 brne .+2
 5449 2de8 D9C0                 rjmp .L431
 5450 2dea BB24                 clr r11
 5451 2dec CC24                 clr r12
 5452 2dee DD24                 clr r13
 5453 2df0 CA01                 movw r24,r20
 5454 2df2 B901                 movw r22,r18
 5455 2df4 A601                 movw r20,r12
 5456 2df6 9501                 movw r18,r10
 5457 2df8 0E94 0000            call __divmodsi4
 5458 2dfc 7901                 movw r14,r18
 5459 2dfe 8A01                 movw r16,r20
 5460 2e00 EAA9                 ldd r30,Y+50
 5461 2e02 FBA9                 ldd r31,Y+51
 5462 2e04 CF01                 movw r24,r30
 5463 2e06 AA27                 clr r26
 5464 2e08 97FD                 sbrc r25,7
 5465 2e0a A095                 com r26
 5466 2e0c BA2F                 mov r27,r26
 5467 2e0e E81A                 sub r14,r24
 5468 2e10 F90A                 sbc r15,r25
 5469 2e12 0A0B                 sbc r16,r26
 5470 2e14 1B0B                 sbc r17,r27
 5471 2e16 C201                 movw r24,r4
 5472 2e18 B101                 movw r22,r2
 5473 2e1a A601                 movw r20,r12
 5474 2e1c 9501                 movw r18,r10
 5475 2e1e 0E94 0000            call __divmodsi4
 5476 2e22 5901                 movw r10,r18
 5477 2e24 6A01                 movw r12,r20
 5478 2e26 2CA9                 ldd r18,Y+52
 5479 2e28 3DA9                 ldd r19,Y+53
 5480 2e2a C901                 movw r24,r18
 5481 2e2c AA27                 clr r26
 5482 2e2e 97FD                 sbrc r25,7
 5483 2e30 A095                 com r26
 5484 2e32 BA2F                 mov r27,r26
 5485 2e34 A81A                 sub r10,r24
 5486 2e36 B90A                 sbc r11,r25
 5487 2e38 CA0A                 sbc r12,r26
 5488 2e3a DB0A                 sbc r13,r27
 5489 2e3c 292C                 mov r2,r9
 5490 2e3e 3324                 clr r3
 5491 2e40 27FC                 sbrc r2,7
 5492 2e42 3094                 com r3
 5493 2e44 432C                 mov r4,r3
 5494 2e46 532C                 mov r5,r3
 5495 2e48 C801                 movw r24,r16
 5496 2e4a B701                 movw r22,r14
 5497 2e4c A201                 movw r20,r4
 5498 2e4e 9101                 movw r18,r2
 5499 2e50 0E94 0000            call __mulsi3
 5500 2e54 97FF                 sbrs r25,7
 5501 2e56 04C0                 rjmp .L432
 5502 2e58 6150                 subi r22,lo8(-(511))
 5503 2e5a 7E4F                 sbci r23,hi8(-(511))
 5504 2e5c 8F4F                 sbci r24,hlo8(-(511))
 5505 2e5e 9F4F                 sbci r25,hhi8(-(511))
 5506                   .L432:
 5507 2e60 3B01                 movw r6,r22
 5508 2e62 4C01                 movw r8,r24
 5509 2e64 09E0                 ldi r16,9
 5510 2e66 9594         1:      asr r9
 5511 2e68 8794                 ror r8
 5512 2e6a 7794                 ror r7
 5513 2e6c 6794                 ror r6
 5514 2e6e 0A95                 dec r16
 5515 2e70 D1F7                 brne 1b
 5516 2e72 C601                 movw r24,r12
 5517 2e74 B501                 movw r22,r10
 5518 2e76 A201                 movw r20,r4
 5519 2e78 9101                 movw r18,r2
 5520 2e7a 0E94 0000            call __mulsi3
 5521 2e7e 97FF                 sbrs r25,7
 5522 2e80 04C0                 rjmp .L433
 5523 2e82 6150                 subi r22,lo8(-(511))
 5524 2e84 7E4F                 sbci r23,hi8(-(511))
 5525 2e86 8F4F                 sbci r24,hlo8(-(511))
 5526 2e88 9F4F                 sbci r25,hhi8(-(511))
 5527                   .L433:
 5528 2e8a 5B01                 movw r10,r22
 5529 2e8c 6C01                 movw r12,r24
 5530 2e8e 19E0                 ldi r17,9
 5531 2e90 D594         1:      asr r13
 5532 2e92 C794                 ror r12
 5533 2e94 B794                 ror r11
 5534 2e96 A794                 ror r10
 5535 2e98 1A95                 dec r17
 5536 2e9a D1F7                 brne 1b
 5537 2e9c 8091 0000            lds r24,MaxStickNick
 5538 2ea0 9091 0000            lds r25,(MaxStickNick)+1
 5539 2ea4 8134                 cpi r24,65
 5540 2ea6 9105                 cpc r25,__zero_reg__
 5541 2ea8 3CF4                 brge .L435
 5542 2eaa 8091 0000            lds r24,MaxStickRoll
 5543 2eae 9091 0000            lds r25,(MaxStickRoll)+1
 5544 2eb2 8134                 cpi r24,65
 5545 2eb4 9105                 cpc r25,__zero_reg__
 5546 2eb6 D4F0                 brlt .L434
 5547                   .L435:
 5548 2eb8 D401                 movw r26,r8
 5549 2eba C301                 movw r24,r6
 5550 2ebc 97FE                 sbrs r9,7
 5551 2ebe 03C0                 rjmp .L436
 5552 2ec0 0196                 adiw r24,1
 5553 2ec2 A11D                 adc r26,__zero_reg__
 5554 2ec4 B11D                 adc r27,__zero_reg__
 5555                   .L436:
 5556 2ec6 3C01                 movw r6,r24
 5557 2ec8 4D01                 movw r8,r26
 5558 2eca 9594                 asr r9
 5559 2ecc 8794                 ror r8
 5560 2ece 7794                 ror r7
 5561 2ed0 6794                 ror r6
 5562 2ed2 D601                 movw r26,r12
 5563 2ed4 C501                 movw r24,r10
 5564 2ed6 D7FE                 sbrs r13,7
 5565 2ed8 03C0                 rjmp .L437
 5566 2eda 0196                 adiw r24,1
 5567 2edc A11D                 adc r26,__zero_reg__
 5568 2ede B11D                 adc r27,__zero_reg__
 5569                   .L437:
 5570 2ee0 5C01                 movw r10,r24
 5571 2ee2 6D01                 movw r12,r26
 5572 2ee4 D594                 asr r13
 5573 2ee6 C794                 ror r12
 5574 2ee8 B794                 ror r11
 5575 2eea A794                 ror r10
 5576                   .L434:
 5577 2eec 8091 0000            lds r24,EE_Parameter+4
 5578 2ef0 E82F                 mov r30,r24
 5579 2ef2 FF27                 clr r31
 5580 2ef4 EE0F                 add r30,r30
 5581 2ef6 FF1F                 adc r31,r31
 5582 2ef8 E050                 subi r30,lo8(-(PPM_in))
 5583 2efa F040                 sbci r31,hi8(-(PPM_in))
 5584 2efc 8081                 ld r24,Z
 5585 2efe 9181                 ldd r25,Z+1
 5586 2f00 0190                 ld __tmp_reg__,Z+
 5587 2f02 F081                 ld r31,Z
 5588 2f04 E02D                 mov r30,__tmp_reg__
 5589 2f06 F7FF                 sbrs r31,7
 5590 2f08 03C0                 rjmp .L439
 5591 2f0a F095                 com r31
 5592 2f0c E195                 neg r30
 5593 2f0e FF4F                 sbci r31,lo8(-1)
 5594                   .L439:
 5595 2f10 7A97                 sbiw r30,26
 5596 2f12 A4F0                 brlt .L438
 5597 2f14 C401                 movw r24,r8
 5598 2f16 B301                 movw r22,r6
 5599 2f18 23E0                 ldi r18,lo8(3)
 5600 2f1a 30E0                 ldi r19,hi8(3)
 5601 2f1c 40E0                 ldi r20,hlo8(3)
 5602 2f1e 50E0                 ldi r21,hhi8(3)
 5603 2f20 0E94 0000            call __divmodsi4
 5604 2f24 3901                 movw r6,r18
 5605 2f26 4A01                 movw r8,r20
 5606 2f28 C601                 movw r24,r12
 5607 2f2a B501                 movw r22,r10
 5608 2f2c 23E0                 ldi r18,lo8(3)
 5609 2f2e 30E0                 ldi r19,hi8(3)
 5610 2f30 40E0                 ldi r20,hlo8(3)
 5611 2f32 50E0                 ldi r21,hhi8(3)
 5612 2f34 0E94 0000            call __divmodsi4
 5613 2f38 5901                 movw r10,r18
 5614 2f3a 6A01                 movw r12,r20
 5615                   .L438:
 5616 2f3c 8091 0000            lds r24,FromNaviCtrl_Value+2
 5617 2f40 282F                 mov r18,r24
 5618 2f42 3327                 clr r19
 5619 2f44 27FD                 sbrc r18,7
 5620 2f46 3095                 com r19
 5621 2f48 432F                 mov r20,r19
 5622 2f4a 532F                 mov r21,r19
 5623 2f4c 2615                 cp r18,r6
 5624 2f4e 3705                 cpc r19,r7
 5625 2f50 4805                 cpc r20,r8
 5626 2f52 5905                 cpc r21,r9
 5627 2f54 14F4                 brge .L440
 5628 2f56 3901                 movw r6,r18
 5629 2f58 4A01                 movw r8,r20
 5630                   .L440:
 5631 2f5a 9927                 clr r25
 5632 2f5c 87FD                 sbrc r24,7
 5633 2f5e 9095                 com r25
 5634 2f60 9095                 com r25
 5635 2f62 8195                 neg r24
 5636 2f64 9F4F                 sbci r25,lo8(-1)
 5637 2f66 AA27                 clr r26
 5638 2f68 97FD                 sbrc r25,7
 5639 2f6a A095                 com r26
 5640 2f6c BA2F                 mov r27,r26
 5641 2f6e 6816                 cp r6,r24
 5642 2f70 7906                 cpc r7,r25
 5643 2f72 8A06                 cpc r8,r26
 5644 2f74 9B06                 cpc r9,r27
 5645 2f76 14F4                 brge .L441
 5646 2f78 3C01                 movw r6,r24
 5647 2f7a 4D01                 movw r8,r26
 5648                   .L441:
 5649 2f7c 2A15                 cp r18,r10
 5650 2f7e 3B05                 cpc r19,r11
 5651 2f80 4C05                 cpc r20,r12
 5652 2f82 5D05                 cpc r21,r13
 5653 2f84 14F4                 brge .L442
 5654 2f86 5901                 movw r10,r18
 5655 2f88 6A01                 movw r12,r20
 5656                   .L442:
 5657 2f8a A816                 cp r10,r24
 5658 2f8c B906                 cpc r11,r25
 5659 2f8e CA06                 cpc r12,r26
 5660 2f90 DB06                 cpc r13,r27
 5661 2f92 0CF0                 brlt .+2
 5662 2f94 CFC0                 rjmp .L444
 5663 2f96 5C01                 movw r10,r24
 5664 2f98 6D01                 movw r12,r26
 5665 2f9a CCC0                 rjmp .L444
 5666                   .L431:
 5667 2f9c EA2C                 mov r14,r10
 5668 2f9e FF24                 clr r15
 5669 2fa0 0027                 clr r16
 5670 2fa2 1127                 clr r17
 5671 2fa4 CA01                 movw r24,r20
 5672 2fa6 B901                 movw r22,r18
 5673 2fa8 A801                 movw r20,r16
 5674 2faa 9701                 movw r18,r14
 5675 2fac 0E94 0000            call __divmodsi4
 5676 2fb0 3901                 movw r6,r18
 5677 2fb2 4A01                 movw r8,r20
 5678 2fb4 4AA9                 ldd r20,Y+50
 5679 2fb6 5BA9                 ldd r21,Y+51
 5680 2fb8 CA01                 movw r24,r20
 5681 2fba AA27                 clr r26
 5682 2fbc 97FD                 sbrc r25,7
 5683 2fbe A095                 com r26
 5684 2fc0 BA2F                 mov r27,r26
 5685 2fc2 681A                 sub r6,r24
 5686 2fc4 790A                 sbc r7,r25
 5687 2fc6 8A0A                 sbc r8,r26
 5688 2fc8 9B0A                 sbc r9,r27
 5689 2fca C201                 movw r24,r4
 5690 2fcc B101                 movw r22,r2
 5691 2fce A801                 movw r20,r16
 5692 2fd0 9701                 movw r18,r14
 5693 2fd2 0E94 0000            call __divmodsi4
 5694 2fd6 5901                 movw r10,r18
 5695 2fd8 6A01                 movw r12,r20
 5696 2fda 6CA9                 ldd r22,Y+52
 5697 2fdc 7DA9                 ldd r23,Y+53
 5698 2fde CB01                 movw r24,r22
 5699 2fe0 AA27                 clr r26
 5700 2fe2 97FD                 sbrc r25,7
 5701 2fe4 A095                 com r26
 5702 2fe6 BA2F                 mov r27,r26
 5703 2fe8 A81A                 sub r10,r24
 5704 2fea B90A                 sbc r11,r25
 5705 2fec CA0A                 sbc r12,r26
 5706 2fee DB0A                 sbc r13,r27
 5707 2ff0 D401                 movw r26,r8
 5708 2ff2 C301                 movw r24,r6
 5709 2ff4 97FE                 sbrs r9,7
 5710 2ff6 03C0                 rjmp .L445
 5711 2ff8 0F96                 adiw r24,15
 5712 2ffa A11D                 adc r26,__zero_reg__
 5713 2ffc B11D                 adc r27,__zero_reg__
 5714                   .L445:
 5715 2ffe 3C01                 movw r6,r24
 5716 3000 4D01                 movw r8,r26
 5717 3002 F4E0                 ldi r31,4
 5718 3004 9594         1:      asr r9
 5719 3006 8794                 ror r8
 5720 3008 7794                 ror r7
 5721 300a 6794                 ror r6
 5722 300c FA95                 dec r31
 5723 300e D1F7                 brne 1b
 5724 3010 D601                 movw r26,r12
 5725 3012 C501                 movw r24,r10
 5726 3014 D7FE                 sbrs r13,7
 5727 3016 03C0                 rjmp .L446
 5728 3018 0F96                 adiw r24,15
 5729 301a A11D                 adc r26,__zero_reg__
 5730 301c B11D                 adc r27,__zero_reg__
 5731                   .L446:
 5732 301e 5C01                 movw r10,r24
 5733 3020 6D01                 movw r12,r26
 5734 3022 E4E0                 ldi r30,4
 5735 3024 D594         1:      asr r13
 5736 3026 C794                 ror r12
 5737 3028 B794                 ror r11
 5738 302a A794                 ror r10
 5739 302c EA95                 dec r30
 5740 302e D1F7                 brne 1b
 5741 3030 8091 0000            lds r24,MaxStickNick
 5742 3034 9091 0000            lds r25,(MaxStickNick)+1
 5743 3038 8134                 cpi r24,65
 5744 303a 9105                 cpc r25,__zero_reg__
 5745 303c 3CF4                 brge .L448
 5746 303e 8091 0000            lds r24,MaxStickRoll
 5747 3042 9091 0000            lds r25,(MaxStickRoll)+1
 5748 3046 8134                 cpi r24,65
 5749 3048 9105                 cpc r25,__zero_reg__
 5750 304a A4F0                 brlt .L447
 5751                   .L448:
 5752 304c C401                 movw r24,r8
 5753 304e B301                 movw r22,r6
 5754 3050 23E0                 ldi r18,lo8(3)
 5755 3052 30E0                 ldi r19,hi8(3)
 5756 3054 40E0                 ldi r20,hlo8(3)
 5757 3056 50E0                 ldi r21,hhi8(3)
 5758 3058 0E94 0000            call __divmodsi4
 5759 305c 3901                 movw r6,r18
 5760 305e 4A01                 movw r8,r20
 5761 3060 C601                 movw r24,r12
 5762 3062 B501                 movw r22,r10
 5763 3064 23E0                 ldi r18,lo8(3)
 5764 3066 30E0                 ldi r19,hi8(3)
 5765 3068 40E0                 ldi r20,hlo8(3)
 5766 306a 50E0                 ldi r21,hhi8(3)
 5767 306c 0E94 0000            call __divmodsi4
 5768 3070 5901                 movw r10,r18
 5769 3072 6A01                 movw r12,r20
 5770                   .L447:
 5771 3074 8091 0000            lds r24,EE_Parameter+4
 5772 3078 E82F                 mov r30,r24
 5773 307a FF27                 clr r31
 5774 307c EE0F                 add r30,r30
 5775 307e FF1F                 adc r31,r31
 5776 3080 E050                 subi r30,lo8(-(PPM_in))
 5777 3082 F040                 sbci r31,hi8(-(PPM_in))
 5778 3084 8081                 ld r24,Z
 5779 3086 9181                 ldd r25,Z+1
 5780 3088 0190                 ld __tmp_reg__,Z+
 5781 308a F081                 ld r31,Z
 5782 308c E02D                 mov r30,__tmp_reg__
 5783 308e F7FF                 sbrs r31,7
 5784 3090 03C0                 rjmp .L450
 5785 3092 F095                 com r31
 5786 3094 E195                 neg r30
 5787 3096 FF4F                 sbci r31,lo8(-1)
 5788                   .L450:
 5789 3098 7A97                 sbiw r30,26
 5790 309a A4F0                 brlt .L449
 5791 309c C401                 movw r24,r8
 5792 309e B301                 movw r22,r6
 5793 30a0 23E0                 ldi r18,lo8(3)
 5794 30a2 30E0                 ldi r19,hi8(3)
 5795 30a4 40E0                 ldi r20,hlo8(3)
 5796 30a6 50E0                 ldi r21,hhi8(3)
 5797 30a8 0E94 0000            call __divmodsi4
 5798 30ac 3901                 movw r6,r18
 5799 30ae 4A01                 movw r8,r20
 5800 30b0 C601                 movw r24,r12
 5801 30b2 B501                 movw r22,r10
 5802 30b4 23E0                 ldi r18,lo8(3)
 5803 30b6 30E0                 ldi r19,hi8(3)
 5804 30b8 40E0                 ldi r20,hlo8(3)
 5805 30ba 50E0                 ldi r21,hhi8(3)
 5806 30bc 0E94 0000            call __divmodsi4
 5807 30c0 5901                 movw r10,r18
 5808 30c2 6A01                 movw r12,r20
 5809                   .L449:
 5810 30c4 71E2                 ldi r23,lo8(33)
 5811 30c6 6716                 cp r6,r23
 5812 30c8 7104                 cpc r7,__zero_reg__
 5813 30ca 8104                 cpc r8,__zero_reg__
 5814 30cc 9104                 cpc r9,__zero_reg__
 5815 30ce 2CF0                 brlt .L451
 5816 30d0 70E2                 ldi r23,lo8(32)
 5817 30d2 672E                 mov r6,r23
 5818 30d4 712C                 mov r7,__zero_reg__
 5819 30d6 812C                 mov r8,__zero_reg__
 5820 30d8 912C                 mov r9,__zero_reg__
 5821                   .L451:
 5822 30da 80EE                 ldi r24,lo8(-32)
 5823 30dc 6816                 cp r6,r24
 5824 30de 8FEF                 ldi r24,hi8(-32)
 5825 30e0 7806                 cpc r7,r24
 5826 30e2 8FEF                 ldi r24,hlo8(-32)
 5827 30e4 8806                 cpc r8,r24
 5828 30e6 8FEF                 ldi r24,hhi8(-32)
 5829 30e8 9806                 cpc r9,r24
 5830 30ea 44F4                 brge .L452
 5831 30ec 60EE                 ldi r22,lo8(-32)
 5832 30ee 662E                 mov r6,r22
 5833 30f0 6FEF                 ldi r22,hi8(-32)
 5834 30f2 762E                 mov r7,r22
 5835 30f4 6FEF                 ldi r22,hlo8(-32)
 5836 30f6 862E                 mov r8,r22
 5837 30f8 6FEF                 ldi r22,hhi8(-32)
 5838 30fa 962E                 mov r9,r22
 5839                   .L452:
 5840 30fc 91E2                 ldi r25,lo8(33)
 5841 30fe A916                 cp r10,r25
 5842 3100 B104                 cpc r11,__zero_reg__
 5843 3102 C104                 cpc r12,__zero_reg__
 5844 3104 D104                 cpc r13,__zero_reg__
 5845 3106 2CF0                 brlt .L453
 5846 3108 50E2                 ldi r21,lo8(32)
 5847 310a A52E                 mov r10,r21
 5848 310c B12C                 mov r11,__zero_reg__
 5849 310e C12C                 mov r12,__zero_reg__
 5850 3110 D12C                 mov r13,__zero_reg__
 5851                   .L453:
 5852 3112 A0EE                 ldi r26,lo8(-32)
 5853 3114 AA16                 cp r10,r26
 5854 3116 AFEF                 ldi r26,hi8(-32)
 5855 3118 BA06                 cpc r11,r26
 5856 311a AFEF                 ldi r26,hlo8(-32)
 5857 311c CA06                 cpc r12,r26
 5858 311e AFEF                 ldi r26,hhi8(-32)
 5859 3120 DA06                 cpc r13,r26
 5860 3122 44F4                 brge .L444
 5861 3124 40EE                 ldi r20,lo8(-32)
 5862 3126 A42E                 mov r10,r20
 5863 3128 4FEF                 ldi r20,hi8(-32)
 5864 312a B42E                 mov r11,r20
 5865 312c 4FEF                 ldi r20,hlo8(-32)
 5866 312e C42E                 mov r12,r20
 5867 3130 4FEF                 ldi r20,hhi8(-32)
 5868 3132 D42E                 mov r13,r20
 5869                   .L444:
 5870 3134 8091 0000            lds r24,Mess_IntegralNick
 5871 3138 9091 0000            lds r25,(Mess_IntegralNick)+1
 5872 313c A091 0000            lds r26,(Mess_IntegralNick)+2
 5873 3140 B091 0000            lds r27,(Mess_IntegralNick)+3
 5874 3144 8619                 sub r24,r6
 5875 3146 9709                 sbc r25,r7
 5876 3148 A809                 sbc r26,r8
 5877 314a B909                 sbc r27,r9
 5878 314c 8093 0000            sts Mess_IntegralNick,r24
 5879 3150 9093 0000            sts (Mess_IntegralNick)+1,r25
 5880 3154 A093 0000            sts (Mess_IntegralNick)+2,r26
 5881 3158 B093 0000            sts (Mess_IntegralNick)+3,r27
 5882 315c 8091 0000            lds r24,Mess_IntegralRoll
 5883 3160 9091 0000            lds r25,(Mess_IntegralRoll)+1
 5884 3164 A091 0000            lds r26,(Mess_IntegralRoll)+2
 5885 3168 B091 0000            lds r27,(Mess_IntegralRoll)+3
 5886 316c 8A19                 sub r24,r10
 5887 316e 9B09                 sbc r25,r11
 5888 3170 AC09                 sbc r26,r12
 5889 3172 BD09                 sbc r27,r13
 5890 3174 8093 0000            sts Mess_IntegralRoll,r24
 5891 3178 9093 0000            sts (Mess_IntegralRoll)+1,r25
 5892 317c A093 0000            sts (Mess_IntegralRoll)+2,r26
 5893 3180 B093 0000            sts (Mess_IntegralRoll)+3,r27
 5894                   .L429:
 5895 3184 8091 0000            lds r24,ZaehlMessungen
 5896 3188 9091 0000            lds r25,(ZaehlMessungen)+1
 5897 318c 8F3F                 cpi r24,255
 5898 318e 9105                 cpc r25,__zero_reg__
 5899 3190 09F0                 breq .+2
 5900 3192 08F4                 brsh .+2
 5901 3194 C4C5                 rjmp .L455
 5902 3196 BAA5                 ldd r27,Y+42
 5903 3198 BB23                 tst r27
 5904 319a 09F0                 breq .+2
 5905 319c 4EC5                 rjmp .L456
 5906 319e 8091 0000            lds r24,Looping_Roll
 5907 31a2 8823                 tst r24
 5908 31a4 09F0                 breq .+2
 5909 31a6 49C5                 rjmp .L456
 5910 31a8 8091 0000            lds r24,TrichterFlug
 5911 31ac 8823                 tst r24
 5912 31ae 09F0                 breq .+2
 5913 31b0 44C5                 rjmp .L456
 5914 31b2 E091 0000            lds r30,EE_Parameter+66
 5915 31b6 EBA7                 std Y+43,r30
 5916 31b8 EE23                 tst r30
 5917 31ba 09F4                 brne .+2
 5918 31bc 3EC5                 rjmp .L456
 5919 31be 8091 0000            lds r24,MittelIntegralNick
 5920 31c2 9091 0000            lds r25,(MittelIntegralNick)+1
 5921 31c6 A091 0000            lds r26,(MittelIntegralNick)+2
 5922 31ca B091 0000            lds r27,(MittelIntegralNick)+3
 5923 31ce B7FF                 sbrs r27,7
 5924 31d0 04C0                 rjmp .L457
 5925 31d2 8150                 subi r24,lo8(-(255))
 5926 31d4 9F4F                 sbci r25,hi8(-(255))
 5927 31d6 AF4F                 sbci r26,hlo8(-(255))
 5928 31d8 BF4F                 sbci r27,hhi8(-(255))
 5929                   .L457:
 5930 31da E92E                 mov r14,r25
 5931 31dc FA2E                 mov r15,r26
 5932 31de 0B2F                 mov r16,r27
 5933 31e0 1127                 clr r17
 5934 31e2 07FD                 sbrc r16,7
 5935 31e4 1A95                 dec r17
 5936 31e6 E092 0000            sts MittelIntegralNick,r14
 5937 31ea F092 0000            sts (MittelIntegralNick)+1,r15
 5938 31ee 0093 0000            sts (MittelIntegralNick)+2,r16
 5939 31f2 1093 0000            sts (MittelIntegralNick)+3,r17
 5940 31f6 8091 0000            lds r24,MittelIntegralRoll
 5941 31fa 9091 0000            lds r25,(MittelIntegralRoll)+1
 5942 31fe A091 0000            lds r26,(MittelIntegralRoll)+2
 5943 3202 B091 0000            lds r27,(MittelIntegralRoll)+3
 5944 3206 B7FF                 sbrs r27,7
 5945 3208 04C0                 rjmp .L458
 5946 320a 8150                 subi r24,lo8(-(255))
 5947 320c 9F4F                 sbci r25,hi8(-(255))
 5948 320e AF4F                 sbci r26,hlo8(-(255))
 5949 3210 BF4F                 sbci r27,hhi8(-(255))
 5950                   .L458:
 5951 3212 892F                 mov r24,r25
 5952 3214 9A2F                 mov r25,r26
 5953 3216 AB2F                 mov r26,r27
 5954 3218 BB27                 clr r27
 5955 321a A7FD                 sbrc r26,7
 5956 321c BA95                 dec r27
 5957 321e 8CA7                 std Y+44,r24
 5958 3220 9DA7                 std Y+45,r25
 5959 3222 AEA7                 std Y+46,r26
 5960 3224 BFA7                 std Y+47,r27
 5961 3226 8093 0000            sts MittelIntegralRoll,r24
 5962 322a 9093 0000            sts (MittelIntegralRoll)+1,r25
 5963 322e A093 0000            sts (MittelIntegralRoll)+2,r26
 5964 3232 B093 0000            sts (MittelIntegralRoll)+3,r27
 5965 3236 8091 0000            lds r24,EE_Parameter+28
 5966 323a A82E                 mov r10,r24
 5967 323c BB24                 clr r11
 5968 323e CC24                 clr r12
 5969 3240 DD24                 clr r13
 5970 3242 2091 0000            lds r18,IntegralAccNick
 5971 3246 3091 0000            lds r19,(IntegralAccNick)+1
 5972 324a 4091 0000            lds r20,(IntegralAccNick)+2
 5973 324e 5091 0000            lds r21,(IntegralAccNick)+3
 5974 3252 C601                 movw r24,r12
 5975 3254 B501                 movw r22,r10
 5976 3256 0E94 0000            call __mulsi3
 5977 325a 97FF                 sbrs r25,7
 5978 325c 04C0                 rjmp .L459
 5979 325e 6150                 subi r22,lo8(-(255))
 5980 3260 7F4F                 sbci r23,hi8(-(255))
 5981 3262 8F4F                 sbci r24,hlo8(-(255))
 5982 3264 9F4F                 sbci r25,hhi8(-(255))
 5983                   .L459:
 5984 3266 672E                 mov r6,r23
 5985 3268 782E                 mov r7,r24
 5986 326a 892E                 mov r8,r25
 5987 326c 9924                 clr r9
 5988 326e 87FC                 sbrc r8,7
 5989 3270 9A94                 dec r9
 5990 3272 6092 0000            sts IntegralAccNick,r6
 5991 3276 7092 0000            sts (IntegralAccNick)+1,r7
 5992 327a 8092 0000            sts (IntegralAccNick)+2,r8
 5993 327e 9092 0000            sts (IntegralAccNick)+3,r9
 5994 3282 2091 0000            lds r18,IntegralAccRoll
 5995 3286 3091 0000            lds r19,(IntegralAccRoll)+1
 5996 328a 4091 0000            lds r20,(IntegralAccRoll)+2
 5997 328e 5091 0000            lds r21,(IntegralAccRoll)+3
 5998 3292 C601                 movw r24,r12
 5999 3294 B501                 movw r22,r10
 6000 3296 0E94 0000            call __mulsi3
 6001 329a 97FF                 sbrs r25,7
 6002 329c 04C0                 rjmp .L460
 6003 329e 6150                 subi r22,lo8(-(255))
 6004 32a0 7F4F                 sbci r23,hi8(-(255))
 6005 32a2 8F4F                 sbci r24,hlo8(-(255))
 6006 32a4 9F4F                 sbci r25,hhi8(-(255))
 6007                   .L460:
 6008 32a6 272E                 mov r2,r23
 6009 32a8 382E                 mov r3,r24
 6010 32aa 492E                 mov r4,r25
 6011 32ac 5524                 clr r5
 6012 32ae 47FC                 sbrc r4,7
 6013 32b0 5A94                 dec r5
 6014 32b2 2092 0000            sts IntegralAccRoll,r2
 6015 32b6 3092 0000            sts (IntegralAccRoll)+1,r3
 6016 32ba 4092 0000            sts (IntegralAccRoll)+2,r4
 6017 32be 5092 0000            sts (IntegralAccRoll)+3,r5
 6018 32c2 8091 0000            lds r24,IntegralAccZ
 6019 32c6 9091 0000            lds r25,(IntegralAccZ)+1
 6020 32ca A091 0000            lds r26,(IntegralAccZ)+2
 6021 32ce B091 0000            lds r27,(IntegralAccZ)+3
 6022 32d2 B7FF                 sbrs r27,7
 6023 32d4 04C0                 rjmp .L461
 6024 32d6 8150                 subi r24,lo8(-(255))
 6025 32d8 9F4F                 sbci r25,hi8(-(255))
 6026 32da AF4F                 sbci r26,hlo8(-(255))
 6027 32dc BF4F                 sbci r27,hhi8(-(255))
 6028                   .L461:
 6029 32de 892F                 mov r24,r25
 6030 32e0 9A2F                 mov r25,r26
 6031 32e2 AB2F                 mov r26,r27
 6032 32e4 BB27                 clr r27
 6033 32e6 A7FD                 sbrc r26,7
 6034 32e8 BA95                 dec r27
 6035 32ea 8093 0000            sts IntegralAccZ,r24
 6036 32ee 9093 0000            sts (IntegralAccZ)+1,r25
 6037 32f2 A093 0000            sts (IntegralAccZ)+2,r26
 6038 32f6 B093 0000            sts (IntegralAccZ)+3,r27
 6039 32fa D801                 movw r26,r16
 6040 32fc C701                 movw r24,r14
 6041 32fe 8619                 sub r24,r6
 6042 3300 9709                 sbc r25,r7
 6043 3302 A809                 sbc r26,r8
 6044 3304 B909                 sbc r27,r9
 6045 3306 8093 0000            sts IntegralFehlerNick.3,r24
 6046 330a 9093 0000            sts (IntegralFehlerNick.3)+1,r25
 6047 330e A093 0000            sts (IntegralFehlerNick.3)+2,r26
 6048 3312 B093 0000            sts (IntegralFehlerNick.3)+3,r27
 6049 3316 2091 0000            lds r18,EE_Parameter+65
 6050 331a E22E                 mov r14,r18
 6051 331c FF24                 clr r15
 6052 331e 0027                 clr r16
 6053 3320 1127                 clr r17
 6054 3322 BC01                 movw r22,r24
 6055 3324 CD01                 movw r24,r26
 6056 3326 A801                 movw r20,r16
 6057 3328 9701                 movw r18,r14
 6058 332a 0E94 0000            call __divmodsi4
 6059 332e 5901                 movw r10,r18
 6060 3330 6A01                 movw r12,r20
 6061 3332 2093 0000            sts ausgleichNick.11,r18
 6062 3336 3093 0000            sts (ausgleichNick.11)+1,r19
 6063 333a 4093 0000            sts (ausgleichNick.11)+2,r20
 6064 333e 5093 0000            sts (ausgleichNick.11)+3,r21
 6065 3342 8CA5                 ldd r24,Y+44
 6066 3344 9DA5                 ldd r25,Y+45
 6067 3346 AEA5                 ldd r26,Y+46
 6068 3348 BFA5                 ldd r27,Y+47
 6069 334a 8219                 sub r24,r2
 6070 334c 9309                 sbc r25,r3
 6071 334e A409                 sbc r26,r4
 6072 3350 B509                 sbc r27,r5
 6073 3352 8093 0000            sts IntegralFehlerRoll.4,r24
 6074 3356 9093 0000            sts (IntegralFehlerRoll.4)+1,r25
 6075 335a A093 0000            sts (IntegralFehlerRoll.4)+2,r26
 6076 335e B093 0000            sts (IntegralFehlerRoll.4)+3,r27
 6077 3362 BC01                 movw r22,r24
 6078 3364 CD01                 movw r24,r26
 6079 3366 A801                 movw r20,r16
 6080 3368 9701                 movw r18,r14
 6081 336a 0E94 0000            call __divmodsi4
 6082 336e 2093 0000            sts ausgleichRoll.12,r18
 6083 3372 3093 0000            sts (ausgleichRoll.12)+1,r19
 6084 3376 4093 0000            sts (ausgleichRoll.12)+2,r20
 6085 337a 5093 0000            sts (ausgleichRoll.12)+3,r21
 6086 337e D601                 movw r26,r12
 6087 3380 C501                 movw r24,r10
 6088 3382 D7FE                 sbrs r13,7
 6089 3384 04C0                 rjmp .L462
 6090 3386 8150                 subi r24,lo8(-(255))
 6091 3388 9F4F                 sbci r25,hi8(-(255))
 6092 338a AF4F                 sbci r26,hlo8(-(255))
 6093 338c BF4F                 sbci r27,hhi8(-(255))
 6094                   .L462:
 6095 338e 892F                 mov r24,r25
 6096 3390 9A2F                 mov r25,r26
 6097 3392 AB2F                 mov r26,r27
 6098 3394 BB27                 clr r27
 6099 3396 A7FD                 sbrc r26,7
 6100 3398 BA95                 dec r27
 6101 339a 9093 0000            sts (LageKorrekturNick)+1,r25
 6102 339e 8093 0000            sts LageKorrekturNick,r24
 6103 33a2 57FF                 sbrs r21,7
 6104 33a4 04C0                 rjmp .L463
 6105 33a6 2150                 subi r18,lo8(-(255))
 6106 33a8 3F4F                 sbci r19,hi8(-(255))
 6107 33aa 4F4F                 sbci r20,hlo8(-(255))
 6108 33ac 5F4F                 sbci r21,hhi8(-(255))
 6109                   .L463:
 6110 33ae BB27                 clr r27
 6111 33b0 57FD                 sbrc r21,7
 6112 33b2 BA95                 dec r27
 6113 33b4 A52F                 mov r26,r21
 6114 33b6 942F                 mov r25,r20
 6115 33b8 832F                 mov r24,r19
 6116 33ba 9093 0000            sts (LageKorrekturRoll)+1,r25
 6117 33be 8093 0000            sts LageKorrekturRoll,r24
 6118 33c2 8091 0000            lds r24,MaxStickNick
 6119 33c6 9091 0000            lds r25,(MaxStickNick)+1
 6120 33ca 8134                 cpi r24,65
 6121 33cc 9105                 cpc r25,__zero_reg__
 6122 33ce DCF4                 brge .L465
 6123 33d0 8091 0000            lds r24,MaxStickRoll
 6124 33d4 9091 0000            lds r25,(MaxStickRoll)+1
 6125 33d8 8134                 cpi r24,65
 6126 33da 9105                 cpc r25,__zero_reg__
 6127 33dc A4F4                 brge .L465
 6128 33de 8091 0000            lds r24,EE_Parameter+4
 6129 33e2 E82F                 mov r30,r24
 6130 33e4 FF27                 clr r31
 6131 33e6 EE0F                 add r30,r30
 6132 33e8 FF1F                 adc r31,r31
 6133 33ea E050                 subi r30,lo8(-(PPM_in))
 6134 33ec F040                 sbci r31,hi8(-(PPM_in))
 6135 33ee 8081                 ld r24,Z
 6136 33f0 9181                 ldd r25,Z+1
 6137 33f2 0190                 ld __tmp_reg__,Z+
 6138 33f4 F081                 ld r31,Z
 6139 33f6 E02D                 mov r30,__tmp_reg__
 6140 33f8 F7FF                 sbrs r31,7
 6141 33fa 03C0                 rjmp .L466
 6142 33fc F095                 com r31
 6143 33fe E195                 neg r30
 6144 3400 FF4F                 sbci r31,lo8(-1)
 6145                   .L466:
 6146 3402 7A97                 sbiw r30,26
 6147 3404 E4F0                 brlt .L464
 6148                   .L465:
 6149 3406 8091 0000            lds r24,FromNaviCtrl_Value
 6150 340a 8F3F                 cpi r24,lo8(-1)
 6151 340c C1F4                 brne .L464
 6152 340e 8091 0000            lds r24,LageKorrekturNick
 6153 3412 9091 0000            lds r25,(LageKorrekturNick)+1
 6154 3416 97FD                 sbrc r25,7
 6155 3418 0196                 adiw r24,1
 6156                   .L467:
 6157 341a 9595                 asr r25
 6158 341c 8795                 ror r24
 6159 341e 9093 0000            sts (LageKorrekturNick)+1,r25
 6160 3422 8093 0000            sts LageKorrekturNick,r24
 6161 3426 8091 0000            lds r24,LageKorrekturRoll
 6162 342a 9091 0000            lds r25,(LageKorrekturRoll)+1
 6163 342e 97FD                 sbrc r25,7
 6164 3430 0196                 adiw r24,1
 6165                   .L468:
 6166 3432 9595                 asr r25
 6167 3434 8795                 ror r24
 6168 3436 9093 0000            sts (LageKorrekturRoll)+1,r25
 6169 343a 8093 0000            sts LageKorrekturRoll,r24
 6170                   .L464:
 6171 343e 8091 0000            lds r24,MittelIntegralNick2
 6172 3442 9091 0000            lds r25,(MittelIntegralNick2)+1
 6173 3446 A091 0000            lds r26,(MittelIntegralNick2)+2
 6174 344a B091 0000            lds r27,(MittelIntegralNick2)+3
 6175 344e B7FF                 sbrs r27,7
 6176 3450 04C0                 rjmp .L469
 6177 3452 8150                 subi r24,lo8(-(255))
 6178 3454 9F4F                 sbci r25,hi8(-(255))
 6179 3456 AF4F                 sbci r26,hlo8(-(255))
 6180 3458 BF4F                 sbci r27,hhi8(-(255))
 6181                   .L469:
 6182 345a 892F                 mov r24,r25
 6183 345c 9A2F                 mov r25,r26
 6184 345e AB2F                 mov r26,r27
 6185 3460 BB27                 clr r27
 6186 3462 A7FD                 sbrc r26,7
 6187 3464 BA95                 dec r27
 6188 3466 8093 0000            sts MittelIntegralNick2,r24
 6189 346a 9093 0000            sts (MittelIntegralNick2)+1,r25
 6190 346e A093 0000            sts (MittelIntegralNick2)+2,r26
 6191 3472 B093 0000            sts (MittelIntegralNick2)+3,r27
 6192 3476 8091 0000            lds r24,MittelIntegralRoll2
 6193 347a 9091 0000            lds r25,(MittelIntegralRoll2)+1
 6194 347e A091 0000            lds r26,(MittelIntegralRoll2)+2
 6195 3482 B091 0000            lds r27,(MittelIntegralRoll2)+3
 6196 3486 B7FF                 sbrs r27,7
 6197 3488 04C0                 rjmp .L470
 6198 348a 8150                 subi r24,lo8(-(255))
 6199 348c 9F4F                 sbci r25,hi8(-(255))
 6200 348e AF4F                 sbci r26,hlo8(-(255))
 6201 3490 BF4F                 sbci r27,hhi8(-(255))
 6202                   .L470:
 6203 3492 892F                 mov r24,r25
 6204 3494 9A2F                 mov r25,r26
 6205 3496 AB2F                 mov r26,r27
 6206 3498 BB27                 clr r27
 6207 349a A7FD                 sbrc r26,7
 6208 349c BA95                 dec r27
 6209 349e 8093 0000            sts MittelIntegralRoll2,r24
 6210 34a2 9093 0000            sts (MittelIntegralRoll2)+1,r25
 6211 34a6 A093 0000            sts (MittelIntegralRoll2)+2,r26
 6212 34aa B093 0000            sts (MittelIntegralRoll2)+3,r27
 6213 34ae 8091 0000            lds r24,IntegralNick
 6214 34b2 9091 0000            lds r25,(IntegralNick)+1
 6215 34b6 A091 0000            lds r26,(IntegralNick)+2
 6216 34ba B091 0000            lds r27,(IntegralNick)+3
 6217 34be 2AA1                 ldd r18,Y+34
 6218 34c0 3BA1                 ldd r19,Y+35
 6219 34c2 4CA1                 ldd r20,Y+36
 6220 34c4 5DA1                 ldd r21,Y+37
 6221 34c6 281B                 sub r18,r24
 6222 34c8 390B                 sbc r19,r25
 6223 34ca 4A0B                 sbc r20,r26
 6224 34cc 5B0B                 sbc r21,r27
 6225 34ce 2093 0000            sts tmp_long.1,r18
 6226 34d2 3093 0000            sts (tmp_long.1)+1,r19
 6227 34d6 4093 0000            sts (tmp_long.1)+2,r20
 6228 34da 5093 0000            sts (tmp_long.1)+3,r21
 6229 34de 8091 0000            lds r24,IntegralRoll
 6230 34e2 9091 0000            lds r25,(IntegralRoll)+1
 6231 34e6 A091 0000            lds r26,(IntegralRoll)+2
 6232 34ea B091 0000            lds r27,(IntegralRoll)+3
 6233 34ee EEA0                 ldd r14,Y+38
 6234 34f0 FFA0                 ldd r15,Y+39
 6235 34f2 08A5                 ldd r16,Y+40
 6236 34f4 19A5                 ldd r17,Y+41
 6237 34f6 E81A                 sub r14,r24
 6238 34f8 F90A                 sbc r15,r25
 6239 34fa 0A0B                 sbc r16,r26
 6240 34fc 1B0B                 sbc r17,r27
 6241 34fe E092 0000            sts tmp_long2.2,r14
 6242 3502 F092 0000            sts (tmp_long2.2)+1,r15
 6243 3506 0093 0000            sts (tmp_long2.2)+2,r16
 6244 350a 1093 0000            sts (tmp_long2.2)+3,r17
 6245 350e 2093 0000            sts IntegralFehlerNick.3,r18
 6246 3512 3093 0000            sts (IntegralFehlerNick.3)+1,r19
 6247 3516 4093 0000            sts (IntegralFehlerNick.3)+2,r20
 6248 351a 5093 0000            sts (IntegralFehlerNick.3)+3,r21
 6249 351e E092 0000            sts IntegralFehlerRoll.4,r14
 6250 3522 F092 0000            sts (IntegralFehlerRoll.4)+1,r15
 6251 3526 0093 0000            sts (IntegralFehlerRoll.4)+2,r16
 6252 352a 1093 0000            sts (IntegralFehlerRoll.4)+3,r17
 6253 352e 8091 0000            lds r24,Mess_IntegralNick2
 6254 3532 9091 0000            lds r25,(Mess_IntegralNick2)+1
 6255 3536 A091 0000            lds r26,(Mess_IntegralNick2)+2
 6256 353a B091 0000            lds r27,(Mess_IntegralNick2)+3
 6257 353e 821B                 sub r24,r18
 6258 3540 930B                 sbc r25,r19
 6259 3542 A40B                 sbc r26,r20
 6260 3544 B50B                 sbc r27,r21
 6261 3546 8093 0000            sts Mess_IntegralNick2,r24
 6262 354a 9093 0000            sts (Mess_IntegralNick2)+1,r25
 6263 354e A093 0000            sts (Mess_IntegralNick2)+2,r26
 6264 3552 B093 0000            sts (Mess_IntegralNick2)+3,r27
 6265 3556 8091 0000            lds r24,Mess_IntegralRoll2
 6266 355a 9091 0000            lds r25,(Mess_IntegralRoll2)+1
 6267 355e A091 0000            lds r26,(Mess_IntegralRoll2)+2
 6268 3562 B091 0000            lds r27,(Mess_IntegralRoll2)+3
 6269 3566 8E19                 sub r24,r14
 6270 3568 9F09                 sbc r25,r15
 6271 356a A00B                 sbc r26,r16
 6272 356c B10B                 sbc r27,r17
 6273 356e 8093 0000            sts Mess_IntegralRoll2,r24
 6274 3572 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 6275 3576 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 6276 357a B093 0000            sts (Mess_IntegralRoll2)+3,r27
 6277 357e FBA5                 ldd r31,Y+43
 6278 3580 FF23                 tst r31
 6279 3582 E1F0                 breq .L471
 6280 3584 2091 0000            lds r18,GierGyroFehler
 6281 3588 3091 0000            lds r19,(GierGyroFehler)+1
 6282 358c 2138                 cpi r18,129
 6283 358e 3105                 cpc r19,__zero_reg__
 6284 3590 4CF0                 brlt .L472
 6285 3592 8091 0000            lds r24,AdNeutralGier
 6286 3596 9091 0000            lds r25,(AdNeutralGier)+1
 6287 359a 0196                 adiw r24,1
 6288 359c 9093 0000            sts (AdNeutralGier)+1,r25
 6289 35a0 8093 0000            sts AdNeutralGier,r24
 6290                   .L472:
 6291 35a4 2058                 subi r18,lo8(-128)
 6292 35a6 3F4F                 sbci r19,hi8(-128)
 6293 35a8 4CF4                 brge .L471
 6294 35aa 8091 0000            lds r24,AdNeutralGier
 6295 35ae 9091 0000            lds r25,(AdNeutralGier)+1
 6296 35b2 0197                 sbiw r24,1
 6297 35b4 9093 0000            sts (AdNeutralGier)+1,r25
 6298 35b8 8093 0000            sts AdNeutralGier,r24
 6299                   .L471:
 6300 35bc 1092 0000            sts (GierGyroFehler)+1,__zero_reg__
 6301 35c0 1092 0000            sts GierGyroFehler,__zero_reg__
 6302 35c4 81E0                 ldi r24,lo8(1)
 6303 35c6 90E0                 ldi r25,hi8(1)
 6304 35c8 9093 0000            sts (cnt.15)+1,r25
 6305 35cc 8093 0000            sts cnt.15,r24
 6306 35d0 A090 0000            lds r10,IntegralFehlerNick.3
 6307 35d4 B090 0000            lds r11,(IntegralFehlerNick.3)+1
 6308 35d8 C090 0000            lds r12,(IntegralFehlerNick.3)+2
 6309 35dc D090 0000            lds r13,(IntegralFehlerNick.3)+3
 6310 35e0 D601                 movw r26,r12
 6311 35e2 C501                 movw r24,r10
 6312 35e4 D7FE                 sbrs r13,7
 6313 35e6 07C0                 rjmp .L475
 6314 35e8 8827                 clr r24
 6315 35ea 9927                 clr r25
 6316 35ec DC01                 movw r26,r24
 6317 35ee 8A19                 sub r24,r10
 6318 35f0 9B09                 sbc r25,r11
 6319 35f2 AC09                 sbc r26,r12
 6320 35f4 BD09                 sbc r27,r13
 6321                   .L475:
 6322 35f6 8150                 subi r24,lo8(513)
 6323 35f8 9240                 sbci r25,hi8(513)
 6324 35fa A040                 sbci r26,hlo8(513)
 6325 35fc B040                 sbci r27,hhi8(513)
 6326 35fe 34F0                 brlt .L474
 6327 3600 84E0                 ldi r24,lo8(4)
 6328 3602 90E0                 ldi r25,hi8(4)
 6329 3604 9093 0000            sts (cnt.15)+1,r25
 6330 3608 8093 0000            sts cnt.15,r24
 6331                   .L474:
 6332 360c 8091 0000            lds r24,MittelIntegralNick_Alt.20
 6333 3610 9091 0000            lds r25,(MittelIntegralNick_Alt.20)+1
 6334 3614 A091 0000            lds r26,(MittelIntegralNick_Alt.20)+2
 6335 3618 B091 0000            lds r27,(MittelIntegralNick_Alt.20)+3
 6336 361c 2091 0000            lds r18,MittelIntegralNick
 6337 3620 3091 0000            lds r19,(MittelIntegralNick)+1
 6338 3624 4091 0000            lds r20,(MittelIntegralNick)+2
 6339 3628 5091 0000            lds r21,(MittelIntegralNick)+3
 6340 362c 821B                 sub r24,r18
 6341 362e 930B                 sbc r25,r19
 6342 3630 A40B                 sbc r26,r20
 6343 3632 B50B                 sbc r27,r21
 6344 3634 815E                 subi r24,lo8(-(19999))
 6345 3636 914B                 sbci r25,hi8(-(19999))
 6346 3638 AF4F                 sbci r26,hlo8(-(19999))
 6347 363a BF4F                 sbci r27,hhi8(-(19999))
 6348 363c 8F53                 subi r24,lo8(39999)
 6349 363e 9C49                 sbci r25,hi8(39999)
 6350 3640 A040                 sbci r26,hlo8(39999)
 6351 3642 B040                 sbci r27,hhi8(39999)
 6352 3644 28F0                 brlo .L477
 6353 3646 8091 0000            lds r24,FromNaviCtrl_Value+1
 6354 364a 8931                 cpi r24,lo8(25)
 6355 364c 0CF4                 brge .+2
 6356 364e FFC0                 rjmp .L476
 6357                   .L477:
 6358 3650 31E0                 ldi r19,lo8(4097)
 6359 3652 A316                 cp r10,r19
 6360 3654 30E1                 ldi r19,hi8(4097)
 6361 3656 B306                 cpc r11,r19
 6362 3658 30E0                 ldi r19,hlo8(4097)
 6363 365a C306                 cpc r12,r19
 6364 365c 30E0                 ldi r19,hhi8(4097)
 6365 365e D306                 cpc r13,r19
 6366 3660 0CF4                 brge .+2
 6367 3662 73C0                 rjmp .L478
 6368 3664 8091 0000            lds r24,last_n_p.16
 6369 3668 8823                 tst r24
 6370 366a 09F4                 brne .+2
 6371 366c 6AC0                 rjmp .L479
 6372 366e D601                 movw r26,r12
 6373 3670 C501                 movw r24,r10
 6374 3672 D7FE                 sbrs r13,7
 6375 3674 07C0                 rjmp .L480
 6376 3676 8827                 clr r24
 6377 3678 9927                 clr r25
 6378 367a DC01                 movw r26,r24
 6379 367c 8A19                 sub r24,r10
 6380 367e 9B09                 sbc r25,r11
 6381 3680 AC09                 sbc r26,r12
 6382 3682 BD09                 sbc r27,r13
 6383                   .L480:
 6384 3684 9C01                 movw r18,r24
 6385 3686 AD01                 movw r20,r26
 6386 3688 B7FF                 sbrs r27,7
 6387 368a 04C0                 rjmp .L481
 6388 368c 2150                 subi r18,lo8(-(511))
 6389 368e 3E4F                 sbci r19,hi8(-(511))
 6390 3690 4F4F                 sbci r20,hlo8(-(511))
 6391 3692 5F4F                 sbci r21,hhi8(-(511))
 6392                   .L481:
 6393 3694 09E0                 ldi r16,9
 6394 3696 5595         1:      asr r21
 6395 3698 4795                 ror r20
 6396 369a 3795                 ror r19
 6397 369c 2795                 ror r18
 6398 369e 0A95                 dec r16
 6399 36a0 D1F7                 brne 1b
 6400 36a2 8091 0000            lds r24,cnt.15
 6401 36a6 9091 0000            lds r25,(cnt.15)+1
 6402 36aa 820F                 add r24,r18
 6403 36ac 931F                 adc r25,r19
 6404 36ae 9093 0000            sts (cnt.15)+1,r25
 6405 36b2 8093 0000            sts cnt.15,r24
 6406 36b6 D601                 movw r26,r12
 6407 36b8 C501                 movw r24,r10
 6408 36ba D7FE                 sbrs r13,7
 6409 36bc 03C0                 rjmp .L482
 6410 36be 0796                 adiw r24,7
 6411 36c0 A11D                 adc r26,__zero_reg__
 6412 36c2 B11D                 adc r27,__zero_reg__
 6413                   .L482:
 6414 36c4 13E0                 ldi r17,3
 6415 36c6 B595         1:      asr r27
 6416 36c8 A795                 ror r26
 6417 36ca 9795                 ror r25
 6418 36cc 8795                 ror r24
 6419 36ce 1A95                 dec r17
 6420 36d0 D1F7                 brne 1b
 6421 36d2 8093 0000            sts ausgleichNick.11,r24
 6422 36d6 9093 0000            sts (ausgleichNick.11)+1,r25
 6423 36da A093 0000            sts (ausgleichNick.11)+2,r26
 6424 36de B093 0000            sts (ausgleichNick.11)+3,r27
 6425 36e2 8958                 subi r24,lo8(5001)
 6426 36e4 9341                 sbci r25,hi8(5001)
 6427 36e6 A040                 sbci r26,hlo8(5001)
 6428 36e8 B040                 sbci r27,hhi8(5001)
 6429 36ea 64F0                 brlt .L483
 6430 36ec 88E8                 ldi r24,lo8(5000)
 6431 36ee 93E1                 ldi r25,hi8(5000)
 6432 36f0 A0E0                 ldi r26,hlo8(5000)
 6433 36f2 B0E0                 ldi r27,hhi8(5000)
 6434 36f4 8093 0000            sts ausgleichNick.11,r24
 6435 36f8 9093 0000            sts (ausgleichNick.11)+1,r25
 6436 36fc A093 0000            sts (ausgleichNick.11)+2,r26
 6437 3700 B093 0000            sts (ausgleichNick.11)+3,r27
 6438                   .L483:
 6439 3704 2091 0000            lds r18,ausgleichNick.11
 6440 3708 3091 0000            lds r19,(ausgleichNick.11)+1
 6441 370c 4091 0000            lds r20,(ausgleichNick.11)+2
 6442 3710 5091 0000            lds r21,(ausgleichNick.11)+3
 6443 3714 57FF                 sbrs r21,7
 6444 3716 04C0                 rjmp .L484
 6445 3718 2150                 subi r18,lo8(-(255))
 6446 371a 3F4F                 sbci r19,hi8(-(255))
 6447 371c 4F4F                 sbci r20,hlo8(-(255))
 6448 371e 5F4F                 sbci r21,hhi8(-(255))
 6449                   .L484:
 6450 3720 232F                 mov r18,r19
 6451 3722 342F                 mov r19,r20
 6452 3724 452F                 mov r20,r21
 6453 3726 5527                 clr r21
 6454 3728 47FD                 sbrc r20,7
 6455 372a 5A95                 dec r21
 6456 372c 8091 0000            lds r24,LageKorrekturNick
 6457 3730 9091 0000            lds r25,(LageKorrekturNick)+1
 6458 3734 820F                 add r24,r18
 6459 3736 931F                 adc r25,r19
 6460 3738 9093 0000            sts (LageKorrekturNick)+1,r25
 6461 373c 8093 0000            sts LageKorrekturNick,r24
 6462 3740 06C0                 rjmp .L486
 6463                   .L479:
 6464 3742 81E0                 ldi r24,lo8(1)
 6465 3744 8093 0000            sts last_n_p.16,r24
 6466 3748 02C0                 rjmp .L486
 6467                   .L478:
 6468 374a 1092 0000            sts last_n_p.16,__zero_reg__
 6469                   .L486:
 6470 374e 50E0                 ldi r21,lo8(-4096)
 6471 3750 A516                 cp r10,r21
 6472 3752 50EF                 ldi r21,hi8(-4096)
 6473 3754 B506                 cpc r11,r21
 6474 3756 5FEF                 ldi r21,hlo8(-4096)
 6475 3758 C506                 cpc r12,r21
 6476 375a 5FEF                 ldi r21,hhi8(-4096)
 6477 375c D506                 cpc r13,r21
 6478 375e 0CF0                 brlt .+2
 6479 3760 73C0                 rjmp .L487
 6480 3762 8091 0000            lds r24,last_n_n.17
 6481 3766 8823                 tst r24
 6482 3768 09F4                 brne .+2
 6483 376a 6AC0                 rjmp .L488
 6484 376c D601                 movw r26,r12
 6485 376e C501                 movw r24,r10
 6486 3770 D7FE                 sbrs r13,7
 6487 3772 07C0                 rjmp .L489
 6488 3774 8827                 clr r24
 6489 3776 9927                 clr r25
 6490 3778 DC01                 movw r26,r24
 6491 377a 8A19                 sub r24,r10
 6492 377c 9B09                 sbc r25,r11
 6493 377e AC09                 sbc r26,r12
 6494 3780 BD09                 sbc r27,r13
 6495                   .L489:
 6496 3782 9C01                 movw r18,r24
 6497 3784 AD01                 movw r20,r26
 6498 3786 B7FF                 sbrs r27,7
 6499 3788 04C0                 rjmp .L490
 6500 378a 2150                 subi r18,lo8(-(511))
 6501 378c 3E4F                 sbci r19,hi8(-(511))
 6502 378e 4F4F                 sbci r20,hlo8(-(511))
 6503 3790 5F4F                 sbci r21,hhi8(-(511))
 6504                   .L490:
 6505 3792 F9E0                 ldi r31,9
 6506 3794 5595         1:      asr r21
 6507 3796 4795                 ror r20
 6508 3798 3795                 ror r19
 6509 379a 2795                 ror r18
 6510 379c FA95                 dec r31
 6511 379e D1F7                 brne 1b
 6512 37a0 8091 0000            lds r24,cnt.15
 6513 37a4 9091 0000            lds r25,(cnt.15)+1
 6514 37a8 820F                 add r24,r18
 6515 37aa 931F                 adc r25,r19
 6516 37ac 9093 0000            sts (cnt.15)+1,r25
 6517 37b0 8093 0000            sts cnt.15,r24
 6518 37b4 D601                 movw r26,r12
 6519 37b6 C501                 movw r24,r10
 6520 37b8 D7FE                 sbrs r13,7
 6521 37ba 03C0                 rjmp .L491
 6522 37bc 0796                 adiw r24,7
 6523 37be A11D                 adc r26,__zero_reg__
 6524 37c0 B11D                 adc r27,__zero_reg__
 6525                   .L491:
 6526 37c2 E3E0                 ldi r30,3
 6527 37c4 B595         1:      asr r27
 6528 37c6 A795                 ror r26
 6529 37c8 9795                 ror r25
 6530 37ca 8795                 ror r24
 6531 37cc EA95                 dec r30
 6532 37ce D1F7                 brne 1b
 6533 37d0 8093 0000            sts ausgleichNick.11,r24
 6534 37d4 9093 0000            sts (ausgleichNick.11)+1,r25
 6535 37d8 A093 0000            sts (ausgleichNick.11)+2,r26
 6536 37dc B093 0000            sts (ausgleichNick.11)+3,r27
 6537 37e0 8857                 subi r24,lo8(-5000)
 6538 37e2 9C4E                 sbci r25,hi8(-5000)
 6539 37e4 AF4F                 sbci r26,hlo8(-5000)
 6540 37e6 BF4F                 sbci r27,hhi8(-5000)
 6541 37e8 64F4                 brge .L492
 6542 37ea 88E7                 ldi r24,lo8(-5000)
 6543 37ec 9CEE                 ldi r25,hi8(-5000)
 6544 37ee AFEF                 ldi r26,hlo8(-5000)
 6545 37f0 BFEF                 ldi r27,hhi8(-5000)
 6546 37f2 8093 0000            sts ausgleichNick.11,r24
 6547 37f6 9093 0000            sts (ausgleichNick.11)+1,r25
 6548 37fa A093 0000            sts (ausgleichNick.11)+2,r26
 6549 37fe B093 0000            sts (ausgleichNick.11)+3,r27
 6550                   .L492:
 6551 3802 2091 0000            lds r18,ausgleichNick.11
 6552 3806 3091 0000            lds r19,(ausgleichNick.11)+1
 6553 380a 4091 0000            lds r20,(ausgleichNick.11)+2
 6554 380e 5091 0000            lds r21,(ausgleichNick.11)+3
 6555 3812 57FF                 sbrs r21,7
 6556 3814 04C0                 rjmp .L493
 6557 3816 2150                 subi r18,lo8(-(255))
 6558 3818 3F4F                 sbci r19,hi8(-(255))
 6559 381a 4F4F                 sbci r20,hlo8(-(255))
 6560 381c 5F4F                 sbci r21,hhi8(-(255))
 6561                   .L493:
 6562 381e 232F                 mov r18,r19
 6563 3820 342F                 mov r19,r20
 6564 3822 452F                 mov r20,r21
 6565 3824 5527                 clr r21
 6566 3826 47FD                 sbrc r20,7
 6567 3828 5A95                 dec r21
 6568 382a 8091 0000            lds r24,LageKorrekturNick
 6569 382e 9091 0000            lds r25,(LageKorrekturNick)+1
 6570 3832 820F                 add r24,r18
 6571 3834 931F                 adc r25,r19
 6572 3836 9093 0000            sts (LageKorrekturNick)+1,r25
 6573 383a 8093 0000            sts LageKorrekturNick,r24
 6574 383e 11C0                 rjmp .L496
 6575                   .L488:
 6576 3840 81E0                 ldi r24,lo8(1)
 6577 3842 8093 0000            sts last_n_n.17,r24
 6578 3846 0DC0                 rjmp .L496
 6579                   .L487:
 6580 3848 1092 0000            sts last_n_n.17,__zero_reg__
 6581 384c 0AC0                 rjmp .L496
 6582                   .L476:
 6583 384e 1092 0000            sts (cnt.15)+1,__zero_reg__
 6584 3852 1092 0000            sts cnt.15,__zero_reg__
 6585 3856 88EE                 ldi r24,lo8(1000)
 6586 3858 93E0                 ldi r25,hi8(1000)
 6587 385a 9093 0000            sts (KompassSignalSchlecht)+1,r25
 6588 385e 8093 0000            sts KompassSignalSchlecht,r24
 6589                   .L496:
 6590 3862 7BA5                 ldd r23,Y+43
 6591 3864 272F                 mov r18,r23
 6592 3866 3327                 clr r19
 6593 3868 8091 0000            lds r24,cnt.15
 6594 386c 9091 0000            lds r25,(cnt.15)+1
 6595 3870 2817                 cp r18,r24
 6596 3872 3907                 cpc r19,r25
 6597 3874 24F4                 brge .L497
 6598 3876 3093 0000            sts (cnt.15)+1,r19
 6599 387a 2093 0000            sts cnt.15,r18
 6600                   .L497:
 6601 387e E091 0000            lds r30,FromNaviCtrl_Value+1
 6602 3882 EE23                 tst r30
 6603 3884 79F0                 breq .L498
 6604 3886 2E2F                 mov r18,r30
 6605 3888 3327                 clr r19
 6606 388a 27FD                 sbrc r18,7
 6607 388c 3095                 com r19
 6608 388e 8091 0000            lds r24,cnt.15
 6609 3892 9091 0000            lds r25,(cnt.15)+1
 6610 3896 2817                 cp r18,r24
 6611 3898 3907                 cpc r19,r25
 6612 389a 24F4                 brge .L498
 6613 389c 3093 0000            sts (cnt.15)+1,r19
 6614 38a0 2093 0000            sts cnt.15,r18
 6615                   .L498:
 6616 38a4 4091 0000            lds r20,IntegralFehlerNick.3
 6617 38a8 5091 0000            lds r21,(IntegralFehlerNick.3)+1
 6618 38ac 6091 0000            lds r22,(IntegralFehlerNick.3)+2
 6619 38b0 7091 0000            lds r23,(IntegralFehlerNick.3)+3
 6620 38b4 4138                 cpi r20,lo8(129)
 6621 38b6 5105                 cpc r21,__zero_reg__
 6622 38b8 6105                 cpc r22,__zero_reg__
 6623 38ba 7105                 cpc r23,__zero_reg__
 6624 38bc 74F0                 brlt .L500
 6625 38be 8091 0000            lds r24,AdNeutralNick
 6626 38c2 9091 0000            lds r25,(AdNeutralNick)+1
 6627 38c6 2091 0000            lds r18,cnt.15
 6628 38ca 3091 0000            lds r19,(cnt.15)+1
 6629 38ce 820F                 add r24,r18
 6630 38d0 931F                 adc r25,r19
 6631 38d2 9093 0000            sts (AdNeutralNick)+1,r25
 6632 38d6 8093 0000            sts AdNeutralNick,r24
 6633                   .L500:
 6634 38da 4058                 subi r20,lo8(-128)
 6635 38dc 5F4F                 sbci r21,hi8(-128)
 6636 38de 6F4F                 sbci r22,hlo8(-128)
 6637 38e0 7F4F                 sbci r23,hhi8(-128)
 6638 38e2 74F4                 brge .L501
 6639 38e4 8091 0000            lds r24,AdNeutralNick
 6640 38e8 9091 0000            lds r25,(AdNeutralNick)+1
 6641 38ec 2091 0000            lds r18,cnt.15
 6642 38f0 3091 0000            lds r19,(cnt.15)+1
 6643 38f4 821B                 sub r24,r18
 6644 38f6 930B                 sbc r25,r19
 6645 38f8 9093 0000            sts (AdNeutralNick)+1,r25
 6646 38fc 8093 0000            sts AdNeutralNick,r24
 6647                   .L501:
 6648 3900 81E0                 ldi r24,lo8(1)
 6649 3902 90E0                 ldi r25,hi8(1)
 6650 3904 9093 0000            sts (cnt.15)+1,r25
 6651 3908 8093 0000            sts cnt.15,r24
 6652 390c A090 0000            lds r10,IntegralFehlerRoll.4
 6653 3910 B090 0000            lds r11,(IntegralFehlerRoll.4)+1
 6654 3914 C090 0000            lds r12,(IntegralFehlerRoll.4)+2
 6655 3918 D090 0000            lds r13,(IntegralFehlerRoll.4)+3
 6656 391c D601                 movw r26,r12
 6657 391e C501                 movw r24,r10
 6658 3920 D7FE                 sbrs r13,7
 6659 3922 07C0                 rjmp .L503
 6660 3924 8827                 clr r24
 6661 3926 9927                 clr r25
 6662 3928 DC01                 movw r26,r24
 6663 392a 8A19                 sub r24,r10
 6664 392c 9B09                 sbc r25,r11
 6665 392e AC09                 sbc r26,r12
 6666 3930 BD09                 sbc r27,r13
 6667                   .L503:
 6668 3932 8150                 subi r24,lo8(513)
 6669 3934 9240                 sbci r25,hi8(513)
 6670 3936 A040                 sbci r26,hlo8(513)
 6671 3938 B040                 sbci r27,hhi8(513)
 6672 393a 34F0                 brlt .L502
 6673 393c 84E0                 ldi r24,lo8(4)
 6674 393e 90E0                 ldi r25,hi8(4)
 6675 3940 9093 0000            sts (cnt.15)+1,r25
 6676 3944 8093 0000            sts cnt.15,r24
 6677                   .L502:
 6678 3948 8091 0000            lds r24,MittelIntegralRoll_Alt.21
 6679 394c 9091 0000            lds r25,(MittelIntegralRoll_Alt.21)+1
 6680 3950 A091 0000            lds r26,(MittelIntegralRoll_Alt.21)+2
 6681 3954 B091 0000            lds r27,(MittelIntegralRoll_Alt.21)+3
 6682 3958 2091 0000            lds r18,MittelIntegralRoll
 6683 395c 3091 0000            lds r19,(MittelIntegralRoll)+1
 6684 3960 4091 0000            lds r20,(MittelIntegralRoll)+2
 6685 3964 5091 0000            lds r21,(MittelIntegralRoll)+3
 6686 3968 821B                 sub r24,r18
 6687 396a 930B                 sbc r25,r19
 6688 396c A40B                 sbc r26,r20
 6689 396e B50B                 sbc r27,r21
 6690 3970 815E                 subi r24,lo8(-(19999))
 6691 3972 914B                 sbci r25,hi8(-(19999))
 6692 3974 AF4F                 sbci r26,hlo8(-(19999))
 6693 3976 BF4F                 sbci r27,hhi8(-(19999))
 6694 3978 8F53                 subi r24,lo8(39999)
 6695 397a 9C49                 sbci r25,hi8(39999)
 6696 397c A040                 sbci r26,hlo8(39999)
 6697 397e B040                 sbci r27,hhi8(39999)
 6698 3980 18F0                 brlo .L505
 6699 3982 E931                 cpi r30,lo8(25)
 6700 3984 0CF4                 brge .+2
 6701 3986 FFC0                 rjmp .L504
 6702                   .L505:
 6703 3988 11E0                 ldi r17,lo8(4097)
 6704 398a A116                 cp r10,r17
 6705 398c 10E1                 ldi r17,hi8(4097)
 6706 398e B106                 cpc r11,r17
 6707 3990 10E0                 ldi r17,hlo8(4097)
 6708 3992 C106                 cpc r12,r17
 6709 3994 10E0                 ldi r17,hhi8(4097)
 6710 3996 D106                 cpc r13,r17
 6711 3998 0CF4                 brge .+2
 6712 399a 73C0                 rjmp .L506
 6713 399c 8091 0000            lds r24,last_r_p.18
 6714 39a0 8823                 tst r24
 6715 39a2 09F4                 brne .+2
 6716 39a4 6AC0                 rjmp .L507
 6717 39a6 D601                 movw r26,r12
 6718 39a8 C501                 movw r24,r10
 6719 39aa D7FE                 sbrs r13,7
 6720 39ac 07C0                 rjmp .L508
 6721 39ae 8827                 clr r24
 6722 39b0 9927                 clr r25
 6723 39b2 DC01                 movw r26,r24
 6724 39b4 8A19                 sub r24,r10
 6725 39b6 9B09                 sbc r25,r11
 6726 39b8 AC09                 sbc r26,r12
 6727 39ba BD09                 sbc r27,r13
 6728                   .L508:
 6729 39bc 9C01                 movw r18,r24
 6730 39be AD01                 movw r20,r26
 6731 39c0 B7FF                 sbrs r27,7
 6732 39c2 04C0                 rjmp .L509
 6733 39c4 2150                 subi r18,lo8(-(511))
 6734 39c6 3E4F                 sbci r19,hi8(-(511))
 6735 39c8 4F4F                 sbci r20,hlo8(-(511))
 6736 39ca 5F4F                 sbci r21,hhi8(-(511))
 6737                   .L509:
 6738 39cc 69E0                 ldi r22,9
 6739 39ce 5595         1:      asr r21
 6740 39d0 4795                 ror r20
 6741 39d2 3795                 ror r19
 6742 39d4 2795                 ror r18
 6743 39d6 6A95                 dec r22
 6744 39d8 D1F7                 brne 1b
 6745 39da 8091 0000            lds r24,cnt.15
 6746 39de 9091 0000            lds r25,(cnt.15)+1
 6747 39e2 820F                 add r24,r18
 6748 39e4 931F                 adc r25,r19
 6749 39e6 9093 0000            sts (cnt.15)+1,r25
 6750 39ea 8093 0000            sts cnt.15,r24
 6751 39ee D601                 movw r26,r12
 6752 39f0 C501                 movw r24,r10
 6753 39f2 D7FE                 sbrs r13,7
 6754 39f4 03C0                 rjmp .L510
 6755 39f6 0796                 adiw r24,7
 6756 39f8 A11D                 adc r26,__zero_reg__
 6757 39fa B11D                 adc r27,__zero_reg__
 6758                   .L510:
 6759 39fc 23E0                 ldi r18,3
 6760 39fe B595         1:      asr r27
 6761 3a00 A795                 ror r26
 6762 3a02 9795                 ror r25
 6763 3a04 8795                 ror r24
 6764 3a06 2A95                 dec r18
 6765 3a08 D1F7                 brne 1b
 6766 3a0a 8093 0000            sts ausgleichRoll.12,r24
 6767 3a0e 9093 0000            sts (ausgleichRoll.12)+1,r25
 6768 3a12 A093 0000            sts (ausgleichRoll.12)+2,r26
 6769 3a16 B093 0000            sts (ausgleichRoll.12)+3,r27
 6770 3a1a 8958                 subi r24,lo8(5001)
 6771 3a1c 9341                 sbci r25,hi8(5001)
 6772 3a1e A040                 sbci r26,hlo8(5001)
 6773 3a20 B040                 sbci r27,hhi8(5001)
 6774 3a22 64F0                 brlt .L511
 6775 3a24 88E8                 ldi r24,lo8(5000)
 6776 3a26 93E1                 ldi r25,hi8(5000)
 6777 3a28 A0E0                 ldi r26,hlo8(5000)
 6778 3a2a B0E0                 ldi r27,hhi8(5000)
 6779 3a2c 8093 0000            sts ausgleichRoll.12,r24
 6780 3a30 9093 0000            sts (ausgleichRoll.12)+1,r25
 6781 3a34 A093 0000            sts (ausgleichRoll.12)+2,r26
 6782 3a38 B093 0000            sts (ausgleichRoll.12)+3,r27
 6783                   .L511:
 6784 3a3c 2091 0000            lds r18,ausgleichRoll.12
 6785 3a40 3091 0000            lds r19,(ausgleichRoll.12)+1
 6786 3a44 4091 0000            lds r20,(ausgleichRoll.12)+2
 6787 3a48 5091 0000            lds r21,(ausgleichRoll.12)+3
 6788 3a4c 57FF                 sbrs r21,7
 6789 3a4e 04C0                 rjmp .L512
 6790 3a50 2150                 subi r18,lo8(-(255))
 6791 3a52 3F4F                 sbci r19,hi8(-(255))
 6792 3a54 4F4F                 sbci r20,hlo8(-(255))
 6793 3a56 5F4F                 sbci r21,hhi8(-(255))
 6794                   .L512:
 6795 3a58 232F                 mov r18,r19
 6796 3a5a 342F                 mov r19,r20
 6797 3a5c 452F                 mov r20,r21
 6798 3a5e 5527                 clr r21
 6799 3a60 47FD                 sbrc r20,7
 6800 3a62 5A95                 dec r21
 6801 3a64 8091 0000            lds r24,LageKorrekturRoll
 6802 3a68 9091 0000            lds r25,(LageKorrekturRoll)+1
 6803 3a6c 820F                 add r24,r18
 6804 3a6e 931F                 adc r25,r19
 6805 3a70 9093 0000            sts (LageKorrekturRoll)+1,r25
 6806 3a74 8093 0000            sts LageKorrekturRoll,r24
 6807 3a78 06C0                 rjmp .L514
 6808                   .L507:
 6809 3a7a 81E0                 ldi r24,lo8(1)
 6810 3a7c 8093 0000            sts last_r_p.18,r24
 6811 3a80 02C0                 rjmp .L514
 6812                   .L506:
 6813 3a82 1092 0000            sts last_r_p.18,__zero_reg__
 6814                   .L514:
 6815 3a86 30E0                 ldi r19,lo8(-4096)
 6816 3a88 A316                 cp r10,r19
 6817 3a8a 30EF                 ldi r19,hi8(-4096)
 6818 3a8c B306                 cpc r11,r19
 6819 3a8e 3FEF                 ldi r19,hlo8(-4096)
 6820 3a90 C306                 cpc r12,r19
 6821 3a92 3FEF                 ldi r19,hhi8(-4096)
 6822 3a94 D306                 cpc r13,r19
 6823 3a96 0CF0                 brlt .+2
 6824 3a98 73C0                 rjmp .L515
 6825 3a9a 8091 0000            lds r24,last_r_n.19
 6826 3a9e 8823                 tst r24
 6827 3aa0 09F4                 brne .+2
 6828 3aa2 6AC0                 rjmp .L516
 6829 3aa4 D601                 movw r26,r12
 6830 3aa6 C501                 movw r24,r10
 6831 3aa8 D7FE                 sbrs r13,7
 6832 3aaa 07C0                 rjmp .L517
 6833 3aac 8827                 clr r24
 6834 3aae 9927                 clr r25
 6835 3ab0 DC01                 movw r26,r24
 6836 3ab2 8A19                 sub r24,r10
 6837 3ab4 9B09                 sbc r25,r11
 6838 3ab6 AC09                 sbc r26,r12
 6839 3ab8 BD09                 sbc r27,r13
 6840                   .L517:
 6841 3aba 9C01                 movw r18,r24
 6842 3abc AD01                 movw r20,r26
 6843 3abe B7FF                 sbrs r27,7
 6844 3ac0 04C0                 rjmp .L518
 6845 3ac2 2150                 subi r18,lo8(-(511))
 6846 3ac4 3E4F                 sbci r19,hi8(-(511))
 6847 3ac6 4F4F                 sbci r20,hlo8(-(511))
 6848 3ac8 5F4F                 sbci r21,hhi8(-(511))
 6849                   .L518:
 6850 3aca 09E0                 ldi r16,9
 6851 3acc 5595         1:      asr r21
 6852 3ace 4795                 ror r20
 6853 3ad0 3795                 ror r19
 6854 3ad2 2795                 ror r18
 6855 3ad4 0A95                 dec r16
 6856 3ad6 D1F7                 brne 1b
 6857 3ad8 8091 0000            lds r24,cnt.15
 6858 3adc 9091 0000            lds r25,(cnt.15)+1
 6859 3ae0 820F                 add r24,r18
 6860 3ae2 931F                 adc r25,r19
 6861 3ae4 9093 0000            sts (cnt.15)+1,r25
 6862 3ae8 8093 0000            sts cnt.15,r24
 6863 3aec D601                 movw r26,r12
 6864 3aee C501                 movw r24,r10
 6865 3af0 D7FE                 sbrs r13,7
 6866 3af2 03C0                 rjmp .L519
 6867 3af4 0796                 adiw r24,7
 6868 3af6 A11D                 adc r26,__zero_reg__
 6869 3af8 B11D                 adc r27,__zero_reg__
 6870                   .L519:
 6871 3afa 13E0                 ldi r17,3
 6872 3afc B595         1:      asr r27
 6873 3afe A795                 ror r26
 6874 3b00 9795                 ror r25
 6875 3b02 8795                 ror r24
 6876 3b04 1A95                 dec r17
 6877 3b06 D1F7                 brne 1b
 6878 3b08 8093 0000            sts ausgleichRoll.12,r24
 6879 3b0c 9093 0000            sts (ausgleichRoll.12)+1,r25
 6880 3b10 A093 0000            sts (ausgleichRoll.12)+2,r26
 6881 3b14 B093 0000            sts (ausgleichRoll.12)+3,r27
 6882 3b18 8857                 subi r24,lo8(-5000)
 6883 3b1a 9C4E                 sbci r25,hi8(-5000)
 6884 3b1c AF4F                 sbci r26,hlo8(-5000)
 6885 3b1e BF4F                 sbci r27,hhi8(-5000)
 6886 3b20 64F4                 brge .L520
 6887 3b22 88E7                 ldi r24,lo8(-5000)
 6888 3b24 9CEE                 ldi r25,hi8(-5000)
 6889 3b26 AFEF                 ldi r26,hlo8(-5000)
 6890 3b28 BFEF                 ldi r27,hhi8(-5000)
 6891 3b2a 8093 0000            sts ausgleichRoll.12,r24
 6892 3b2e 9093 0000            sts (ausgleichRoll.12)+1,r25
 6893 3b32 A093 0000            sts (ausgleichRoll.12)+2,r26
 6894 3b36 B093 0000            sts (ausgleichRoll.12)+3,r27
 6895                   .L520:
 6896 3b3a 2091 0000            lds r18,ausgleichRoll.12
 6897 3b3e 3091 0000            lds r19,(ausgleichRoll.12)+1
 6898 3b42 4091 0000            lds r20,(ausgleichRoll.12)+2
 6899 3b46 5091 0000            lds r21,(ausgleichRoll.12)+3
 6900 3b4a 57FF                 sbrs r21,7
 6901 3b4c 04C0                 rjmp .L521
 6902 3b4e 2150                 subi r18,lo8(-(255))
 6903 3b50 3F4F                 sbci r19,hi8(-(255))
 6904 3b52 4F4F                 sbci r20,hlo8(-(255))
 6905 3b54 5F4F                 sbci r21,hhi8(-(255))
 6906                   .L521:
 6907 3b56 232F                 mov r18,r19
 6908 3b58 342F                 mov r19,r20
 6909 3b5a 452F                 mov r20,r21
 6910 3b5c 5527                 clr r21
 6911 3b5e 47FD                 sbrc r20,7
 6912 3b60 5A95                 dec r21
 6913 3b62 8091 0000            lds r24,LageKorrekturRoll
 6914 3b66 9091 0000            lds r25,(LageKorrekturRoll)+1
 6915 3b6a 820F                 add r24,r18
 6916 3b6c 931F                 adc r25,r19
 6917 3b6e 9093 0000            sts (LageKorrekturRoll)+1,r25
 6918 3b72 8093 0000            sts LageKorrekturRoll,r24
 6919 3b76 11C0                 rjmp .L524
 6920                   .L516:
 6921 3b78 81E0                 ldi r24,lo8(1)
 6922 3b7a 8093 0000            sts last_r_n.19,r24
 6923 3b7e 0DC0                 rjmp .L524
 6924                   .L515:
 6925 3b80 1092 0000            sts last_r_n.19,__zero_reg__
 6926 3b84 0AC0                 rjmp .L524
 6927                   .L504:
 6928 3b86 1092 0000            sts (cnt.15)+1,__zero_reg__
 6929 3b8a 1092 0000            sts cnt.15,__zero_reg__
 6930 3b8e 88EE                 ldi r24,lo8(1000)
 6931 3b90 93E0                 ldi r25,hi8(1000)
 6932 3b92 9093 0000            sts (KompassSignalSchlecht)+1,r25
 6933 3b96 8093 0000            sts KompassSignalSchlecht,r24
 6934                   .L524:
 6935 3b9a 5BA5                 ldd r21,Y+43
 6936 3b9c 252F                 mov r18,r21
 6937 3b9e 3327                 clr r19
 6938 3ba0 8091 0000            lds r24,cnt.15
 6939 3ba4 9091 0000            lds r25,(cnt.15)+1
 6940 3ba8 2817                 cp r18,r24
 6941 3baa 3907                 cpc r19,r25
 6942 3bac 24F4                 brge .L525
 6943 3bae 3093 0000            sts (cnt.15)+1,r19
 6944 3bb2 2093 0000            sts cnt.15,r18
 6945                   .L525:
 6946 3bb6 8091 0000            lds r24,FromNaviCtrl_Value+1
 6947 3bba 8823                 tst r24
 6948 3bbc 79F0                 breq .L526
 6949 3bbe 282F                 mov r18,r24
 6950 3bc0 3327                 clr r19
 6951 3bc2 27FD                 sbrc r18,7
 6952 3bc4 3095                 com r19
 6953 3bc6 8091 0000            lds r24,cnt.15
 6954 3bca 9091 0000            lds r25,(cnt.15)+1
 6955 3bce 2817                 cp r18,r24
 6956 3bd0 3907                 cpc r19,r25
 6957 3bd2 24F4                 brge .L526
 6958 3bd4 3093 0000            sts (cnt.15)+1,r19
 6959 3bd8 2093 0000            sts cnt.15,r18
 6960                   .L526:
 6961 3bdc 4091 0000            lds r20,IntegralFehlerRoll.4
 6962 3be0 5091 0000            lds r21,(IntegralFehlerRoll.4)+1
 6963 3be4 6091 0000            lds r22,(IntegralFehlerRoll.4)+2
 6964 3be8 7091 0000            lds r23,(IntegralFehlerRoll.4)+3
 6965 3bec 4138                 cpi r20,lo8(129)
 6966 3bee 5105                 cpc r21,__zero_reg__
 6967 3bf0 6105                 cpc r22,__zero_reg__
 6968 3bf2 7105                 cpc r23,__zero_reg__
 6969 3bf4 74F0                 brlt .L528
 6970 3bf6 8091 0000            lds r24,AdNeutralRoll
 6971 3bfa 9091 0000            lds r25,(AdNeutralRoll)+1
 6972 3bfe 2091 0000            lds r18,cnt.15
 6973 3c02 3091 0000            lds r19,(cnt.15)+1
 6974 3c06 820F                 add r24,r18
 6975 3c08 931F                 adc r25,r19
 6976 3c0a 9093 0000            sts (AdNeutralRoll)+1,r25
 6977 3c0e 8093 0000            sts AdNeutralRoll,r24
 6978                   .L528:
 6979 3c12 4058                 subi r20,lo8(-128)
 6980 3c14 5F4F                 sbci r21,hi8(-128)
 6981 3c16 6F4F                 sbci r22,hlo8(-128)
 6982 3c18 7F4F                 sbci r23,hhi8(-128)
 6983 3c1a CCF4                 brge .L530
 6984 3c1c 8091 0000            lds r24,AdNeutralRoll
 6985 3c20 9091 0000            lds r25,(AdNeutralRoll)+1
 6986 3c24 2091 0000            lds r18,cnt.15
 6987 3c28 3091 0000            lds r19,(cnt.15)+1
 6988 3c2c 821B                 sub r24,r18
 6989 3c2e 930B                 sbc r25,r19
 6990 3c30 9093 0000            sts (AdNeutralRoll)+1,r25
 6991 3c34 8093 0000            sts AdNeutralRoll,r24
 6992 3c38 0AC0                 rjmp .L530
 6993                   .L456:
 6994 3c3a 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 6995 3c3e 1092 0000            sts LageKorrekturRoll,__zero_reg__
 6996 3c42 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 6997 3c46 1092 0000            sts LageKorrekturNick,__zero_reg__
 6998 3c4a 1092 0000            sts TrichterFlug,__zero_reg__
 6999                   .L530:
 7000 3c4e 8091 0000            lds r24,IntegralFaktor
 7001 3c52 8823                 tst r24
 7002 3c54 41F4                 brne .L531
 7003 3c56 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 7004 3c5a 1092 0000            sts LageKorrekturRoll,__zero_reg__
 7005 3c5e 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 7006 3c62 1092 0000            sts LageKorrekturNick,__zero_reg__
 7007                   .L531:
 7008 3c66 8091 0000            lds r24,MittelIntegralNick
 7009 3c6a 9091 0000            lds r25,(MittelIntegralNick)+1
 7010 3c6e A091 0000            lds r26,(MittelIntegralNick)+2
 7011 3c72 B091 0000            lds r27,(MittelIntegralNick)+3
 7012 3c76 8093 0000            sts MittelIntegralNick_Alt.20,r24
 7013 3c7a 9093 0000            sts (MittelIntegralNick_Alt.20)+1,r25
 7014 3c7e A093 0000            sts (MittelIntegralNick_Alt.20)+2,r26
 7015 3c82 B093 0000            sts (MittelIntegralNick_Alt.20)+3,r27
 7016 3c86 8091 0000            lds r24,MittelIntegralRoll
 7017 3c8a 9091 0000            lds r25,(MittelIntegralRoll)+1
 7018 3c8e A091 0000            lds r26,(MittelIntegralRoll)+2
 7019 3c92 B091 0000            lds r27,(MittelIntegralRoll)+3
 7020 3c96 8093 0000            sts MittelIntegralRoll_Alt.21,r24
 7021 3c9a 9093 0000            sts (MittelIntegralRoll_Alt.21)+1,r25
 7022 3c9e A093 0000            sts (MittelIntegralRoll_Alt.21)+2,r26
 7023 3ca2 B093 0000            sts (MittelIntegralRoll_Alt.21)+3,r27
 7024 3ca6 1092 0000            sts IntegralAccNick,__zero_reg__
 7025 3caa 1092 0000            sts (IntegralAccNick)+1,__zero_reg__
 7026 3cae 1092 0000            sts (IntegralAccNick)+2,__zero_reg__
 7027 3cb2 1092 0000            sts (IntegralAccNick)+3,__zero_reg__
 7028 3cb6 1092 0000            sts IntegralAccRoll,__zero_reg__
 7029 3cba 1092 0000            sts (IntegralAccRoll)+1,__zero_reg__
 7030 3cbe 1092 0000            sts (IntegralAccRoll)+2,__zero_reg__
 7031 3cc2 1092 0000            sts (IntegralAccRoll)+3,__zero_reg__
 7032 3cc6 1092 0000            sts IntegralAccZ,__zero_reg__
 7033 3cca 1092 0000            sts (IntegralAccZ)+1,__zero_reg__
 7034 3cce 1092 0000            sts (IntegralAccZ)+2,__zero_reg__
 7035 3cd2 1092 0000            sts (IntegralAccZ)+3,__zero_reg__
 7036 3cd6 1092 0000            sts MittelIntegralNick,__zero_reg__
 7037 3cda 1092 0000            sts (MittelIntegralNick)+1,__zero_reg__
 7038 3cde 1092 0000            sts (MittelIntegralNick)+2,__zero_reg__
 7039 3ce2 1092 0000            sts (MittelIntegralNick)+3,__zero_reg__
 7040 3ce6 1092 0000            sts MittelIntegralRoll,__zero_reg__
 7041 3cea 1092 0000            sts (MittelIntegralRoll)+1,__zero_reg__
 7042 3cee 1092 0000            sts (MittelIntegralRoll)+2,__zero_reg__
 7043 3cf2 1092 0000            sts (MittelIntegralRoll)+3,__zero_reg__
 7044 3cf6 1092 0000            sts MittelIntegralNick2,__zero_reg__
 7045 3cfa 1092 0000            sts (MittelIntegralNick2)+1,__zero_reg__
 7046 3cfe 1092 0000            sts (MittelIntegralNick2)+2,__zero_reg__
 7047 3d02 1092 0000            sts (MittelIntegralNick2)+3,__zero_reg__
 7048 3d06 1092 0000            sts MittelIntegralRoll2,__zero_reg__
 7049 3d0a 1092 0000            sts (MittelIntegralRoll2)+1,__zero_reg__
 7050 3d0e 1092 0000            sts (MittelIntegralRoll2)+2,__zero_reg__
 7051 3d12 1092 0000            sts (MittelIntegralRoll2)+3,__zero_reg__
 7052 3d16 1092 0000            sts (ZaehlMessungen)+1,__zero_reg__
 7053 3d1a 1092 0000            sts ZaehlMessungen,__zero_reg__
 7054                   .L455:
 7055 3d1e 0091 0000            lds r16,StickGier
 7056 3d22 1091 0000            lds r17,(StickGier)+1
 7057 3d26 C801                 movw r24,r16
 7058 3d28 17FF                 sbrs r17,7
 7059 3d2a 04C0                 rjmp .L533
 7060 3d2c 8827                 clr r24
 7061 3d2e 9927                 clr r25
 7062 3d30 801B                 sub r24,r16
 7063 3d32 910B                 sbc r25,r17
 7064                   .L533:
 7065 3d34 4097                 sbiw r24,16
 7066 3d36 6CF0                 brlt .L532
 7067 3d38 88EE                 ldi r24,lo8(1000)
 7068 3d3a 93E0                 ldi r25,hi8(1000)
 7069 3d3c 9093 0000            sts (KompassSignalSchlecht)+1,r25
 7070 3d40 8093 0000            sts KompassSignalSchlecht,r24
 7071 3d44 8091 0000            lds r24,EE_Parameter+13
 7072 3d48 84FD                 sbrc r24,4
 7073 3d4a 03C0                 rjmp .L532
 7074 3d4c 81E0                 ldi r24,lo8(1)
 7075 3d4e 8093 0000            sts NeueKompassRichtungMerken.10,r24
 7076                   .L532:
 7077 3d52 F090 0000            lds r15,EE_Parameter+25
 7078 3d56 AF2C                 mov r10,r15
 7079 3d58 BB24                 clr r11
 7080 3d5a CC24                 clr r12
 7081 3d5c DD24                 clr r13
 7082 3d5e B801                 movw r22,r16
 7083 3d60 8827                 clr r24
 7084 3d62 77FD                 sbrc r23,7
 7085 3d64 8095                 com r24
 7086 3d66 982F                 mov r25,r24
 7087 3d68 9801                 movw r18,r16
 7088 3d6a 17FF                 sbrs r17,7
 7089 3d6c 04C0                 rjmp .L535
 7090 3d6e 2227                 clr r18
 7091 3d70 3327                 clr r19
 7092 3d72 201B                 sub r18,r16
 7093 3d74 310B                 sbc r19,r17
 7094                   .L535:
 7095 3d76 4427                 clr r20
 7096 3d78 37FD                 sbrc r19,7
 7097 3d7a 4095                 com r20
 7098 3d7c 542F                 mov r21,r20
 7099 3d7e 0E94 0000            call __mulsi3
 7100 3d82 9B01                 movw r18,r22
 7101 3d84 AC01                 movw r20,r24
 7102 3d86 C601                 movw r24,r12
 7103 3d88 B501                 movw r22,r10
 7104 3d8a 0E94 0000            call __mulsi3
 7105 3d8e 97FF                 sbrs r25,7
 7106 3d90 04C0                 rjmp .L536
 7107 3d92 6150                 subi r22,lo8(-(511))
 7108 3d94 7E4F                 sbci r23,hi8(-(511))
 7109 3d96 8F4F                 sbci r24,hlo8(-(511))
 7110 3d98 9F4F                 sbci r25,hhi8(-(511))
 7111                   .L536:
 7112 3d9a F9E0                 ldi r31,9
 7113 3d9c 9595         1:      asr r25
 7114 3d9e 8795                 ror r24
 7115 3da0 7795                 ror r23
 7116 3da2 6795                 ror r22
 7117 3da4 FA95                 dec r31
 7118 3da6 D1F7                 brne 1b
 7119 3da8 9B01                 movw r18,r22
 7120 3daa 8F2D                 mov r24,r15
 7121 3dac 9927                 clr r25
 7122 3dae 809F                 mul r24,r16
 7123 3db0 D001                 movw r26,r0
 7124 3db2 819F                 mul r24,r17
 7125 3db4 B00D                 add r27,r0
 7126 3db6 909F                 mul r25,r16
 7127 3db8 B00D                 add r27,r0
 7128 3dba 1124                 clr r1
 7129 3dbc CD01                 movw r24,r26
 7130 3dbe B7FD                 sbrc r27,7
 7131 3dc0 0396                 adiw r24,3
 7132                   .L537:
 7133 3dc2 9595                 asr r25
 7134 3dc4 8795                 ror r24
 7135 3dc6 9595                 asr r25
 7136 3dc8 8795                 ror r24
 7137 3dca 280F                 add r18,r24
 7138 3dcc 391F                 adc r19,r25
 7139 3dce 4427                 clr r20
 7140 3dd0 37FD                 sbrc r19,7
 7141 3dd2 4095                 com r20
 7142 3dd4 542F                 mov r21,r20
 7143 3dd6 2093 0000            sts sollGier.0,r18
 7144 3dda 3093 0000            sts (sollGier.0)+1,r19
 7145 3dde 4093 0000            sts (sollGier.0)+2,r20
 7146 3de2 5093 0000            sts (sollGier.0)+3,r21
 7147 3de6 8091 0000            lds r24,Mess_Integral_Gier
 7148 3dea 9091 0000            lds r25,(Mess_Integral_Gier)+1
 7149 3dee A091 0000            lds r26,(Mess_Integral_Gier)+2
 7150 3df2 B091 0000            lds r27,(Mess_Integral_Gier)+3
 7151 3df6 821B                 sub r24,r18
 7152 3df8 930B                 sbc r25,r19
 7153 3dfa A40B                 sbc r26,r20
 7154 3dfc B50B                 sbc r27,r21
 7155 3dfe 8093 0000            sts Mess_Integral_Gier,r24
 7156 3e02 9093 0000            sts (Mess_Integral_Gier)+1,r25
 7157 3e06 A093 0000            sts (Mess_Integral_Gier)+2,r26
 7158 3e0a B093 0000            sts (Mess_Integral_Gier)+3,r27
 7159 3e0e 8155                 subi r24,lo8(50001)
 7160 3e10 934C                 sbci r25,hi8(50001)
 7161 3e12 A040                 sbci r26,hlo8(50001)
 7162 3e14 B040                 sbci r27,hhi8(50001)
 7163 3e16 64F0                 brlt .L538
 7164 3e18 80E5                 ldi r24,lo8(50000)
 7165 3e1a 93EC                 ldi r25,hi8(50000)
 7166 3e1c A0E0                 ldi r26,hlo8(50000)
 7167 3e1e B0E0                 ldi r27,hhi8(50000)
 7168 3e20 8093 0000            sts Mess_Integral_Gier,r24
 7169 3e24 9093 0000            sts (Mess_Integral_Gier)+1,r25
 7170 3e28 A093 0000            sts (Mess_Integral_Gier)+2,r26
 7171 3e2c B093 0000            sts (Mess_Integral_Gier)+3,r27
 7172                   .L538:
 7173 3e30 8091 0000            lds r24,Mess_Integral_Gier
 7174 3e34 9091 0000            lds r25,(Mess_Integral_Gier)+1
 7175 3e38 A091 0000            lds r26,(Mess_Integral_Gier)+2
 7176 3e3c B091 0000            lds r27,(Mess_Integral_Gier)+3
 7177 3e40 805B                 subi r24,lo8(-50000)
 7178 3e42 9C43                 sbci r25,hi8(-50000)
 7179 3e44 AF4F                 sbci r26,hlo8(-50000)
 7180 3e46 BF4F                 sbci r27,hhi8(-50000)
 7181 3e48 64F4                 brge .L539
 7182 3e4a 80EB                 ldi r24,lo8(-50000)
 7183 3e4c 9CE3                 ldi r25,hi8(-50000)
 7184 3e4e AFEF                 ldi r26,hlo8(-50000)
 7185 3e50 BFEF                 ldi r27,hhi8(-50000)
 7186 3e52 8093 0000            sts Mess_Integral_Gier,r24
 7187 3e56 9093 0000            sts (Mess_Integral_Gier)+1,r25
 7188 3e5a A093 0000            sts (Mess_Integral_Gier)+2,r26
 7189 3e5e B093 0000            sts (Mess_Integral_Gier)+3,r27
 7190                   .L539:
 7191 3e62 A090 0000            lds r10,KompassValue
 7192 3e66 B090 0000            lds r11,(KompassValue)+1
 7193 3e6a A114                 cp r10,__zero_reg__
 7194 3e6c B104                 cpc r11,__zero_reg__
 7195 3e6e 09F4                 brne .+2
 7196 3e70 78C1                 rjmp .L540
 7197 3e72 8091 0000            lds r24,EE_Parameter+13
 7198 3e76 83FF                 sbrs r24,3
 7199 3e78 74C1                 rjmp .L540
 7200 3e7a 8091 0000            lds r24,IntegralNick
 7201 3e7e 9091 0000            lds r25,(IntegralNick)+1
 7202 3e82 A091 0000            lds r26,(IntegralNick)+2
 7203 3e86 B091 0000            lds r27,(IntegralNick)+3
 7204 3e8a B7FF                 sbrs r27,7
 7205 3e8c 04C0                 rjmp .L541
 7206 3e8e 8150                 subi r24,lo8(-(511))
 7207 3e90 9E4F                 sbci r25,hi8(-(511))
 7208 3e92 AF4F                 sbci r26,hlo8(-(511))
 7209 3e94 BF4F                 sbci r27,hhi8(-(511))
 7210                   .L541:
 7211 3e96 79E0                 ldi r23,9
 7212 3e98 B595         1:      asr r27
 7213 3e9a A795                 ror r26
 7214 3e9c 9795                 ror r25
 7215 3e9e 8795                 ror r24
 7216 3ea0 7A95                 dec r23
 7217 3ea2 D1F7                 brne 1b
 7218 3ea4 6C01                 movw r12,r24
 7219 3ea6 97FF                 sbrs r25,7
 7220 3ea8 04C0                 rjmp .L542
 7221 3eaa D094                 com r13
 7222 3eac C194                 neg r12
 7223 3eae D108                 sbc r13,__zero_reg__
 7224 3eb0 D394                 inc r13
 7225                   .L542:
 7226 3eb2 8091 0000            lds r24,IntegralRoll
 7227 3eb6 9091 0000            lds r25,(IntegralRoll)+1
 7228 3eba A091 0000            lds r26,(IntegralRoll)+2
 7229 3ebe B091 0000            lds r27,(IntegralRoll)+3
 7230 3ec2 B7FF                 sbrs r27,7
 7231 3ec4 04C0                 rjmp .L543
 7232 3ec6 8150                 subi r24,lo8(-(511))
 7233 3ec8 9E4F                 sbci r25,hi8(-(511))
 7234 3eca AF4F                 sbci r26,hlo8(-(511))
 7235 3ecc BF4F                 sbci r27,hhi8(-(511))
 7236                   .L543:
 7237 3ece 69E0                 ldi r22,9
 7238 3ed0 B595         1:      asr r27
 7239 3ed2 A795                 ror r26
 7240 3ed4 9795                 ror r25
 7241 3ed6 8795                 ror r24
 7242 3ed8 6A95                 dec r22
 7243 3eda D1F7                 brne 1b
 7244 3edc BC01                 movw r22,r24
 7245 3ede 97FF                 sbrs r25,7
 7246 3ee0 03C0                 rjmp .L544
 7247 3ee2 7095                 com r23
 7248 3ee4 6195                 neg r22
 7249 3ee6 7F4F                 sbci r23,lo8(-1)
 7250                   .L544:
 7251 3ee8 C616                 cp r12,r22
 7252 3eea D706                 cpc r13,r23
 7253 3eec 0CF4                 brge .L545
 7254 3eee 6B01                 movw r12,r22
 7255                   .L545:
 7256 3ef0 B601                 movw r22,r12
 7257 3ef2 D7FE                 sbrs r13,7
 7258 3ef4 02C0                 rjmp .L546
 7259 3ef6 695F                 subi r22,lo8(-(7))
 7260 3ef8 7F4F                 sbci r23,hi8(-(7))
 7261                   .L546:
 7262 3efa 2B01                 movw r4,r22
 7263 3efc 53E0                 ldi r21,3
 7264 3efe 5594         1:      asr r5
 7265 3f00 4794                 ror r4
 7266 3f02 5A95                 dec r21
 7267 3f04 E1F7                 brne 1b
 7268 3f06 42E0                 ldi r20,lo8(2)
 7269 3f08 E42E                 mov r14,r20
 7270 3f0a F12C                 mov r15,__zero_reg__
 7271 3f0c 4E0C                 add r4,r14
 7272 3f0e 5F1C                 adc r5,r15
 7273 3f10 0CE1                 ldi r16,lo8(540)
 7274 3f12 12E0                 ldi r17,hi8(540)
 7275 3f14 A00E                 add r10,r16
 7276 3f16 B11E                 adc r11,r17
 7277 3f18 7501                 movw r14,r10
 7278 3f1a 0027                 clr r16
 7279 3f1c F7FC                 sbrc r15,7
 7280 3f1e 0095                 com r16
 7281 3f20 102F                 mov r17,r16
 7282 3f22 24EE                 ldi r18,lo8(-540)
 7283 3f24 3DEF                 ldi r19,hi8(-540)
 7284 3f26 A20E                 add r10,r18
 7285 3f28 B31E                 adc r11,r19
 7286 3f2a 8091 0000            lds r24,ErsatzKompass
 7287 3f2e 9091 0000            lds r25,(ErsatzKompass)+1
 7288 3f32 A091 0000            lds r26,(ErsatzKompass)+2
 7289 3f36 B091 0000            lds r27,(ErsatzKompass)+3
 7290 3f3a 6090 0000            lds r6,GIER_GRAD_FAKTOR
 7291 3f3e 7090 0000            lds r7,(GIER_GRAD_FAKTOR)+1
 7292 3f42 8090 0000            lds r8,(GIER_GRAD_FAKTOR)+2
 7293 3f46 9090 0000            lds r9,(GIER_GRAD_FAKTOR)+3
 7294 3f4a BC01                 movw r22,r24
 7295 3f4c CD01                 movw r24,r26
 7296 3f4e A401                 movw r20,r8
 7297 3f50 9301                 movw r18,r6
 7298 3f52 0E94 0000            call __divmodsi4
 7299 3f56 E21A                 sub r14,r18
 7300 3f58 F30A                 sbc r15,r19
 7301 3f5a 040B                 sbc r16,r20
 7302 3f5c 150B                 sbc r17,r21
 7303 3f5e C801                 movw r24,r16
 7304 3f60 B701                 movw r22,r14
 7305 3f62 28E6                 ldi r18,lo8(360)
 7306 3f64 31E0                 ldi r19,hi8(360)
 7307 3f66 40E0                 ldi r20,hlo8(360)
 7308 3f68 50E0                 ldi r21,hhi8(360)
 7309 3f6a 0E94 0000            call __divmodsi4
 7310 3f6e DC01                 movw r26,r24
 7311 3f70 CB01                 movw r24,r22
 7312 3f72 3CE4                 ldi r19,lo8(-180)
 7313 3f74 E32E                 mov r14,r19
 7314 3f76 3FEF                 ldi r19,hi8(-180)
 7315 3f78 F32E                 mov r15,r19
 7316 3f7a E80E                 add r14,r24
 7317 3f7c F91E                 adc r15,r25
 7318 3f7e 0091 0000            lds r16,KompassSignalSchlecht
 7319 3f82 1091 0000            lds r17,(KompassSignalSchlecht)+1
 7320 3f86 0115                 cp r16,__zero_reg__
 7321 3f88 1105                 cpc r17,__zero_reg__
 7322 3f8a 89F5                 brne .L547
 7323 3f8c 39E1                 ldi r19,lo8(25)
 7324 3f8e C316                 cp r12,r19
 7325 3f90 D104                 cpc r13,__zero_reg__
 7326 3f92 6CF5                 brge .L547
 7327 3f94 8091 0000            lds r24,GierGyroFehler
 7328 3f98 9091 0000            lds r25,(GierGyroFehler)+1
 7329 3f9c 8E0D                 add r24,r14
 7330 3f9e 9F1D                 adc r25,r15
 7331 3fa0 9093 0000            sts (GierGyroFehler)+1,r25
 7332 3fa4 8093 0000            sts GierGyroFehler,r24
 7333 3fa8 8091 0000            lds r24,NeueKompassRichtungMerken.10
 7334 3fac 8823                 tst r24
 7335 3fae F9F0                 breq .L547
 7336 3fb0 C501                 movw r24,r10
 7337 3fb2 AA27                 clr r26
 7338 3fb4 97FD                 sbrc r25,7
 7339 3fb6 A095                 com r26
 7340 3fb8 BA2F                 mov r27,r26
 7341 3fba BC01                 movw r22,r24
 7342 3fbc CD01                 movw r24,r26
 7343 3fbe A401                 movw r20,r8
 7344 3fc0 9301                 movw r18,r6
 7345 3fc2 0E94 0000            call __mulsi3
 7346 3fc6 DC01                 movw r26,r24
 7347 3fc8 CB01                 movw r24,r22
 7348 3fca 8093 0000            sts ErsatzKompass,r24
 7349 3fce 9093 0000            sts (ErsatzKompass)+1,r25
 7350 3fd2 A093 0000            sts (ErsatzKompass)+2,r26
 7351 3fd6 B093 0000            sts (ErsatzKompass)+3,r27
 7352 3fda BC01                 movw r22,r24
 7353 3fdc CD01                 movw r24,r26
 7354 3fde 0E94 0000            call __divmodsi4
 7355 3fe2 3093 0000            sts (KompassStartwert)+1,r19
 7356 3fe6 2093 0000            sts KompassStartwert,r18
 7357 3fea 1092 0000            sts NeueKompassRichtungMerken.10,__zero_reg__
 7358                   .L547:
 7359 3fee C701                 movw r24,r14
 7360 3ff0 24E0                 ldi r18,4
 7361 3ff2 880F         1:      lsl r24
 7362 3ff4 991F                 rol r25
 7363 3ff6 2A95                 dec r18
 7364 3ff8 E1F7                 brne 1b
 7365 3ffa B201                 movw r22,r4
 7366 3ffc 0E94 0000            call __divmodhi4
 7367 4000 CB01                 movw r24,r22
 7368 4002 AA27                 clr r26
 7369 4004 97FD                 sbrc r25,7
 7370 4006 A095                 com r26
 7371 4008 BA2F                 mov r27,r26
 7372 400a 2091 0000            lds r18,ErsatzKompass
 7373 400e 3091 0000            lds r19,(ErsatzKompass)+1
 7374 4012 4091 0000            lds r20,(ErsatzKompass)+2
 7375 4016 5091 0000            lds r21,(ErsatzKompass)+3
 7376 401a 280F                 add r18,r24
 7377 401c 391F                 adc r19,r25
 7378 401e 4A1F                 adc r20,r26
 7379 4020 5B1F                 adc r21,r27
 7380 4022 2093 0000            sts ErsatzKompass,r18
 7381 4026 3093 0000            sts (ErsatzKompass)+1,r19
 7382 402a 4093 0000            sts (ErsatzKompass)+2,r20
 7383 402e 5093 0000            sts (ErsatzKompass)+3,r21
 7384 4032 F090 0000            lds r15,Parameter_KompassWirkung
 7385 4036 6F2D                 mov r22,r15
 7386 4038 7727                 clr r23
 7387 403a C69E                 mul r12,r22
 7388 403c C001                 movw r24,r0
 7389 403e C79E                 mul r12,r23
 7390 4040 900D                 add r25,r0
 7391 4042 D69E                 mul r13,r22
 7392 4044 900D                 add r25,r0
 7393 4046 1124                 clr r1
 7394 4048 97FD                 sbrc r25,7
 7395 404a 4F96                 adiw r24,31
 7396                   .L549:
 7397 404c 6C01                 movw r12,r24
 7398 404e 95E0                 ldi r25,5
 7399 4050 D594         1:      asr r13
 7400 4052 C794                 ror r12
 7401 4054 9A95                 dec r25
 7402 4056 E1F7                 brne 1b
 7403 4058 6C19                 sub r22,r12
 7404 405a 7D09                 sbc r23,r13
 7405 405c 6B01                 movw r12,r22
 7406 405e 77FD                 sbrc r23,7
 7407 4060 7AC0                 rjmp .L550
 7408 4062 0115                 cp r16,__zero_reg__
 7409 4064 1105                 cpc r17,__zero_reg__
 7410 4066 09F0                 breq .+2
 7411 4068 6FC0                 rjmp .L776
 7412 406a 0091 0000            lds r16,MaxStickNick
 7413 406e 1091 0000            lds r17,(MaxStickNick)+1
 7414 4072 8091 0000            lds r24,MaxStickRoll
 7415 4076 9091 0000            lds r25,(MaxStickRoll)+1
 7416 407a 080F                 add r16,r24
 7417 407c 191F                 adc r17,r25
 7418 407e 17FF                 sbrs r17,7
 7419 4080 02C0                 rjmp .L552
 7420 4082 095F                 subi r16,lo8(-(7))
 7421 4084 1F4F                 sbci r17,hi8(-(7))
 7422                   .L552:
 7423 4086 83E0                 ldi r24,3
 7424 4088 1595         1:      asr r17
 7425 408a 0795                 ror r16
 7426 408c 8A95                 dec r24
 7427 408e E1F7                 brne 1b
 7428 4090 005C                 subi r16,lo8(-(64))
 7429 4092 1F4F                 sbci r17,hi8(-(64))
 7430 4094 CA01                 movw r24,r20
 7431 4096 B901                 movw r22,r18
 7432 4098 A401                 movw r20,r8
 7433 409a 9301                 movw r18,r6
 7434 409c 0E94 0000            call __divmodsi4
 7435 40a0 DA01                 movw r26,r20
 7436 40a2 C901                 movw r24,r18
 7437 40a4 2091 0000            lds r18,KompassStartwert
 7438 40a8 3091 0000            lds r19,(KompassStartwert)+1
 7439 40ac 4427                 clr r20
 7440 40ae 37FD                 sbrc r19,7
 7441 40b0 4095                 com r20
 7442 40b2 542F                 mov r21,r20
 7443 40b4 821B                 sub r24,r18
 7444 40b6 930B                 sbc r25,r19
 7445 40b8 A40B                 sbc r26,r20
 7446 40ba B50B                 sbc r27,r21
 7447 40bc 845E                 subi r24,lo8(-(540))
 7448 40be 9D4F                 sbci r25,hi8(-(540))
 7449 40c0 AF4F                 sbci r26,hlo8(-(540))
 7450 40c2 BF4F                 sbci r27,hhi8(-(540))
 7451 40c4 BC01                 movw r22,r24
 7452 40c6 CD01                 movw r24,r26
 7453 40c8 28E6                 ldi r18,lo8(360)
 7454 40ca 31E0                 ldi r19,hi8(360)
 7455 40cc 40E0                 ldi r20,hlo8(360)
 7456 40ce 50E0                 ldi r21,hhi8(360)
 7457 40d0 0E94 0000            call __divmodsi4
 7458 40d4 DC01                 movw r26,r24
 7459 40d6 CB01                 movw r24,r22
 7460 40d8 845B                 subi r24,lo8(-(-180))
 7461 40da 9040                 sbci r25,hi8(-(-180))
 7462 40dc 8C9D                 mul r24,r12
 7463 40de A001                 movw r20,r0
 7464 40e0 8D9D                 mul r24,r13
 7465 40e2 500D                 add r21,r0
 7466 40e4 9C9D                 mul r25,r12
 7467 40e6 500D                 add r21,r0
 7468 40e8 1124                 clr r1
 7469 40ea CA01                 movw r24,r20
 7470 40ec B801                 movw r22,r16
 7471 40ee 0E94 0000            call __divmodhi4
 7472 40f2 83E0                 ldi r24,lo8(3)
 7473 40f4 F89E                 mul r15,r24
 7474 40f6 6001                 movw r12,r0
 7475 40f8 1124                 clr r1
 7476 40fa C616                 cp r12,r22
 7477 40fc D706                 cpc r13,r23
 7478 40fe 14F4                 brge .L553
 7479 4100 B601                 movw r22,r12
 7480 4102 08C0                 rjmp .L554
 7481                   .L553:
 7482 4104 8827                 clr r24
 7483 4106 9927                 clr r25
 7484 4108 8C19                 sub r24,r12
 7485 410a 9D09                 sbc r25,r13
 7486 410c 6817                 cp r22,r24
 7487 410e 7907                 cpc r23,r25
 7488 4110 0CF4                 brge .L554
 7489 4112 BC01                 movw r22,r24
 7490                   .L554:
 7491 4114 9B01                 movw r18,r22
 7492 4116 4427                 clr r20
 7493 4118 37FD                 sbrc r19,7
 7494 411a 4095                 com r20
 7495 411c 542F                 mov r21,r20
 7496 411e 8091 0000            lds r24,Mess_Integral_Gier
 7497 4122 9091 0000            lds r25,(Mess_Integral_Gier)+1
 7498 4126 A091 0000            lds r26,(Mess_Integral_Gier)+2
 7499 412a B091 0000            lds r27,(Mess_Integral_Gier)+3
 7500 412e 820F                 add r24,r18
 7501 4130 931F                 adc r25,r19
 7502 4132 A41F                 adc r26,r20
 7503 4134 B51F                 adc r27,r21
 7504 4136 8093 0000            sts Mess_Integral_Gier,r24
 7505 413a 9093 0000            sts (Mess_Integral_Gier)+1,r25
 7506 413e A093 0000            sts (Mess_Integral_Gier)+2,r26
 7507 4142 B093 0000            sts (Mess_Integral_Gier)+3,r27
 7508 4146 0DC0                 rjmp .L540
 7509                   .L776:
 7510 4148 0150                 subi r16,lo8(-(-1))
 7511 414a 1040                 sbci r17,hi8(-(-1))
 7512 414c 1093 0000            sts (KompassSignalSchlecht)+1,r17
 7513 4150 0093 0000            sts KompassSignalSchlecht,r16
 7514 4154 06C0                 rjmp .L540
 7515                   .L550:
 7516 4156 84EF                 ldi r24,lo8(500)
 7517 4158 91E0                 ldi r25,hi8(500)
 7518 415a 9093 0000            sts (KompassSignalSchlecht)+1,r25
 7519 415e 8093 0000            sts KompassSignalSchlecht,r24
 7520                   .L540:
 7521 4162 8091 0000            lds r24,TrichterFlug
 7522 4166 8823                 tst r24
 7523 4168 81F0                 breq .L558
 7524 416a 1092 0000            sts SummeRoll,__zero_reg__
 7525 416e 1092 0000            sts (SummeRoll)+1,__zero_reg__
 7526 4172 1092 0000            sts (SummeRoll)+2,__zero_reg__
 7527 4176 1092 0000            sts (SummeRoll)+3,__zero_reg__
 7528 417a 1092 0000            sts SummeNick,__zero_reg__
 7529 417e 1092 0000            sts (SummeNick)+1,__zero_reg__
 7530 4182 1092 0000            sts (SummeNick)+2,__zero_reg__
 7531 4186 1092 0000            sts (SummeNick)+3,__zero_reg__
 7532                   .L558:
 7533 418a 7090 0000            lds r7,Looping_Nick
 7534 418e 7720                 tst r7
 7535 4190 F1F4                 brne .L559
 7536 4192 8091 0000            lds r24,IntegralFaktor
 7537 4196 282F                 mov r18,r24
 7538 4198 3327                 clr r19
 7539 419a 4427                 clr r20
 7540 419c 5527                 clr r21
 7541 419e 8091 0000            lds r24,IntegralNick
 7542 41a2 9091 0000            lds r25,(IntegralNick)+1
 7543 41a6 A091 0000            lds r26,(IntegralNick)+2
 7544 41aa B091 0000            lds r27,(IntegralNick)+3
 7545 41ae BC01                 movw r22,r24
 7546 41b0 CD01                 movw r24,r26
 7547 41b2 0E94 0000            call __mulsi3
 7548 41b6 DC01                 movw r26,r24
 7549 41b8 CB01                 movw r24,r22
 7550 41ba BC01                 movw r22,r24
 7551 41bc CD01                 movw r24,r26
 7552 41be 28EF                 ldi r18,lo8(11000)
 7553 41c0 3AE2                 ldi r19,hi8(11000)
 7554 41c2 40E0                 ldi r20,hlo8(11000)
 7555 41c4 50E0                 ldi r21,hhi8(11000)
 7556 41c6 0E94 0000            call __divmodsi4
 7557 41ca 2901                 movw r4,r18
 7558 41cc 02C0                 rjmp .L560
 7559                   .L559:
 7560 41ce 4424                 clr r4
 7561 41d0 5524                 clr r5
 7562                   .L560:
 7563 41d2 9090 0000            lds r9,Looping_Roll
 7564 41d6 9920                 tst r9
 7565 41d8 F1F4                 brne .L561
 7566 41da 8091 0000            lds r24,IntegralFaktor
 7567 41de 282F                 mov r18,r24
 7568 41e0 3327                 clr r19
 7569 41e2 4427                 clr r20
 7570 41e4 5527                 clr r21
 7571 41e6 8091 0000            lds r24,IntegralRoll
 7572 41ea 9091 0000            lds r25,(IntegralRoll)+1
 7573 41ee A091 0000            lds r26,(IntegralRoll)+2
 7574 41f2 B091 0000            lds r27,(IntegralRoll)+3
 7575 41f6 BC01                 movw r22,r24
 7576 41f8 CD01                 movw r24,r26
 7577 41fa 0E94 0000            call __mulsi3
 7578 41fe DC01                 movw r26,r24
 7579 4200 CB01                 movw r24,r22
 7580 4202 BC01                 movw r22,r24
 7581 4204 CD01                 movw r24,r26
 7582 4206 28EF                 ldi r18,lo8(11000)
 7583 4208 3AE2                 ldi r19,hi8(11000)
 7584 420a 40E0                 ldi r20,hlo8(11000)
 7585 420c 50E0                 ldi r21,hhi8(11000)
 7586 420e 0E94 0000            call __divmodsi4
 7587 4212 1901                 movw r2,r18
 7588 4214 02C0                 rjmp .L562
 7589                   .L561:
 7590 4216 2224                 clr r2
 7591 4218 3324                 clr r3
 7592                   .L562:
 7593 421a 8091 0000            lds r24,TrimNick
 7594 421e 9091 0000            lds r25,(TrimNick)+1
 7595 4222 893C                 cpi r24,201
 7596 4224 9105                 cpc r25,__zero_reg__
 7597 4226 1CF0                 brlt .L563
 7598 4228 88EC                 ldi r24,lo8(200)
 7599 422a 90E0                 ldi r25,hi8(200)
 7600 422c 05C0                 rjmp .L781
 7601                   .L563:
 7602 422e 8853                 subi r24,lo8(-200)
 7603 4230 9F4F                 sbci r25,hi8(-200)
 7604 4232 34F4                 brge .L564
 7605 4234 88E3                 ldi r24,lo8(-200)
 7606 4236 9FEF                 ldi r25,hi8(-200)
 7607                   .L781:
 7608 4238 9093 0000            sts (TrimNick)+1,r25
 7609 423c 8093 0000            sts TrimNick,r24
 7610                   .L564:
 7611 4240 8091 0000            lds r24,TrimRoll
 7612 4244 9091 0000            lds r25,(TrimRoll)+1
 7613 4248 893C                 cpi r24,201
 7614 424a 9105                 cpc r25,__zero_reg__
 7615 424c 1CF0                 brlt .L566
 7616 424e 88EC                 ldi r24,lo8(200)
 7617 4250 90E0                 ldi r25,hi8(200)
 7618 4252 05C0                 rjmp .L782
 7619                   .L566:
 7620 4254 8853                 subi r24,lo8(-200)
 7621 4256 9F4F                 sbci r25,hi8(-200)
 7622 4258 34F4                 brge .L567
 7623 425a 88E3                 ldi r24,lo8(-200)
 7624 425c 9FEF                 ldi r25,hi8(-200)
 7625                   .L782:
 7626 425e 9093 0000            sts (TrimRoll)+1,r25
 7627 4262 8093 0000            sts TrimRoll,r24
 7628                   .L567:
 7629 4266 8091 0000            lds r24,MesswertNick
 7630 426a 9091 0000            lds r25,(MesswertNick)+1
 7631 426e AA27                 clr r26
 7632 4270 97FD                 sbrc r25,7
 7633 4272 A095                 com r26
 7634 4274 BA2F                 mov r27,r26
 7635 4276 2091 0000            lds r18,GyroFaktor
 7636 427a A22E                 mov r10,r18
 7637 427c BB24                 clr r11
 7638 427e CC24                 clr r12
 7639 4280 DD24                 clr r13
 7640 4282 BC01                 movw r22,r24
 7641 4284 CD01                 movw r24,r26
 7642 4286 A601                 movw r20,r12
 7643 4288 9501                 movw r18,r10
 7644 428a 0E94 0000            call __mulsi3
 7645 428e 9B01                 movw r18,r22
 7646 4290 AC01                 movw r20,r24
 7647 4292 8091 0000            lds r24,TrimNick
 7648 4296 9091 0000            lds r25,(TrimNick)+1
 7649 429a AA27                 clr r26
 7650 429c 97FD                 sbrc r25,7
 7651 429e A095                 com r26
 7652 42a0 BA2F                 mov r27,r26
 7653 42a2 17E0                 ldi r17,7
 7654 42a4 880F         1:      lsl r24
 7655 42a6 991F                 rol r25
 7656 42a8 AA1F                 rol r26
 7657 42aa BB1F                 rol r27
 7658 42ac 1A95                 dec r17
 7659 42ae D1F7                 brne 1b
 7660 42b0 280F                 add r18,r24
 7661 42b2 391F                 adc r19,r25
 7662 42b4 4A1F                 adc r20,r26
 7663 42b6 5B1F                 adc r21,r27
 7664 42b8 57FF                 sbrs r21,7
 7665 42ba 04C0                 rjmp .L569
 7666 42bc 215C                 subi r18,lo8(-(63))
 7667 42be 3F4F                 sbci r19,hi8(-(63))
 7668 42c0 4F4F                 sbci r20,hlo8(-(63))
 7669 42c2 5F4F                 sbci r21,hhi8(-(63))
 7670                   .L569:
 7671 42c4 A6E0                 ldi r26,6
 7672 42c6 5595         1:      asr r21
 7673 42c8 4795                 ror r20
 7674 42ca 3795                 ror r19
 7675 42cc 2795                 ror r18
 7676 42ce AA95                 dec r26
 7677 42d0 D1F7                 brne 1b
 7678 42d2 7201                 movw r14,r4
 7679 42d4 E20E                 add r14,r18
 7680 42d6 F31E                 adc r15,r19
 7681 42d8 F092 0000            sts (MesswertNick)+1,r15
 7682 42dc E092 0000            sts MesswertNick,r14
 7683 42e0 8091 0000            lds r24,MesswertRoll
 7684 42e4 9091 0000            lds r25,(MesswertRoll)+1
 7685 42e8 AA27                 clr r26
 7686 42ea 97FD                 sbrc r25,7
 7687 42ec A095                 com r26
 7688 42ee BA2F                 mov r27,r26
 7689 42f0 BC01                 movw r22,r24
 7690 42f2 CD01                 movw r24,r26
 7691 42f4 A601                 movw r20,r12
 7692 42f6 9501                 movw r18,r10
 7693 42f8 0E94 0000            call __mulsi3
 7694 42fc 9B01                 movw r18,r22
 7695 42fe AC01                 movw r20,r24
 7696 4300 8091 0000            lds r24,TrimRoll
 7697 4304 9091 0000            lds r25,(TrimRoll)+1
 7698 4308 AA27                 clr r26
 7699 430a 97FD                 sbrc r25,7
 7700 430c A095                 com r26
 7701 430e BA2F                 mov r27,r26
 7702 4310 F7E0                 ldi r31,7
 7703 4312 880F         1:      lsl r24
 7704 4314 991F                 rol r25
 7705 4316 AA1F                 rol r26
 7706 4318 BB1F                 rol r27
 7707 431a FA95                 dec r31
 7708 431c D1F7                 brne 1b
 7709 431e 280F                 add r18,r24
 7710 4320 391F                 adc r19,r25
 7711 4322 4A1F                 adc r20,r26
 7712 4324 5B1F                 adc r21,r27
 7713 4326 57FF                 sbrs r21,7
 7714 4328 04C0                 rjmp .L570
 7715 432a 215C                 subi r18,lo8(-(63))
 7716 432c 3F4F                 sbci r19,hi8(-(63))
 7717 432e 4F4F                 sbci r20,hlo8(-(63))
 7718 4330 5F4F                 sbci r21,hhi8(-(63))
 7719                   .L570:
 7720 4332 E6E0                 ldi r30,6
 7721 4334 5595         1:      asr r21
 7722 4336 4795                 ror r20
 7723 4338 3795                 ror r19
 7724 433a 2795                 ror r18
 7725 433c EA95                 dec r30
 7726 433e D1F7                 brne 1b
 7727 4340 8101                 movw r16,r2
 7728 4342 020F                 add r16,r18
 7729 4344 131F                 adc r17,r19
 7730 4346 1093 0000            sts (MesswertRoll)+1,r17
 7731 434a 0093 0000            sts MesswertRoll,r16
 7732 434e 8091 0000            lds r24,MesswertGier
 7733 4352 9091 0000            lds r25,(MesswertGier)+1
 7734 4356 880F                 add r24,r24
 7735 4358 991F                 adc r25,r25
 7736 435a AA27                 clr r26
 7737 435c 97FD                 sbrc r25,7
 7738 435e A095                 com r26
 7739 4360 BA2F                 mov r27,r26
 7740 4362 2091 0000            lds r18,GyroFaktorGier
 7741 4366 3327                 clr r19
 7742 4368 4427                 clr r20
 7743 436a 5527                 clr r21
 7744 436c BC01                 movw r22,r24
 7745 436e CD01                 movw r24,r26
 7746 4370 0E94 0000            call __mulsi3
 7747 4374 5B01                 movw r10,r22
 7748 4376 6C01                 movw r12,r24
 7749 4378 97FF                 sbrs r25,7
 7750 437a 08C0                 rjmp .L571
 7751 437c 8FE3                 ldi r24,lo8(63)
 7752 437e 90E0                 ldi r25,hi8(63)
 7753 4380 A0E0                 ldi r26,hlo8(63)
 7754 4382 B0E0                 ldi r27,hhi8(63)
 7755 4384 A80E                 add r10,r24
 7756 4386 B91E                 adc r11,r25
 7757 4388 CA1E                 adc r12,r26
 7758 438a DB1E                 adc r13,r27
 7759                   .L571:
 7760 438c 76E0                 ldi r23,6
 7761 438e D594         1:      asr r13
 7762 4390 C794                 ror r12
 7763 4392 B794                 ror r11
 7764 4394 A794                 ror r10
 7765 4396 7A95                 dec r23
 7766 4398 D1F7                 brne 1b
 7767 439a 8091 0000            lds r24,IntegralFaktorGier
 7768 439e 282F                 mov r18,r24
 7769 43a0 3327                 clr r19
 7770 43a2 4427                 clr r20
 7771 43a4 5527                 clr r21
 7772 43a6 8091 0000            lds r24,Integral_Gier
 7773 43aa 9091 0000            lds r25,(Integral_Gier)+1
 7774 43ae A091 0000            lds r26,(Integral_Gier)+2
 7775 43b2 B091 0000            lds r27,(Integral_Gier)+3
 7776 43b6 BC01                 movw r22,r24
 7777 43b8 CD01                 movw r24,r26
 7778 43ba 0E94 0000            call __mulsi3
 7779 43be DC01                 movw r26,r24
 7780 43c0 CB01                 movw r24,r22
 7781 43c2 BC01                 movw r22,r24
 7782 43c4 CD01                 movw r24,r26
 7783 43c6 20EF                 ldi r18,lo8(22000)
 7784 43c8 35E5                 ldi r19,hi8(22000)
 7785 43ca 40E0                 ldi r20,hlo8(22000)
 7786 43cc 50E0                 ldi r21,hhi8(22000)
 7787 43ce 0E94 0000            call __divmodsi4
 7788 43d2 B501                 movw r22,r10
 7789 43d4 620F                 add r22,r18
 7790 43d6 731F                 adc r23,r19
 7791 43d8 7093 0000            sts (MesswertGier)+1,r23
 7792 43dc 6093 0000            sts MesswertGier,r22
 7793 43e0 91E0                 ldi r25,lo8(4097)
 7794 43e2 E916                 cp r14,r25
 7795 43e4 90E1                 ldi r25,hi8(4097)
 7796 43e6 F906                 cpc r15,r25
 7797 43e8 34F0                 brlt .L572
 7798 43ea 80E0                 ldi r24,lo8(4096)
 7799 43ec 90E1                 ldi r25,hi8(4096)
 7800 43ee 9093 0000            sts (MesswertNick)+1,r25
 7801 43f2 8093 0000            sts MesswertNick,r24
 7802                   .L572:
 7803 43f6 8091 0000            lds r24,MesswertNick
 7804 43fa 9091 0000            lds r25,(MesswertNick)+1
 7805 43fe 8050                 subi r24,lo8(-4096)
 7806 4400 904F                 sbci r25,hi8(-4096)
 7807 4402 34F4                 brge .L573
 7808 4404 80E0                 ldi r24,lo8(-4096)
 7809 4406 90EF                 ldi r25,hi8(-4096)
 7810 4408 9093 0000            sts (MesswertNick)+1,r25
 7811 440c 8093 0000            sts MesswertNick,r24
 7812                   .L573:
 7813 4410 0150                 subi r16,lo8(4097)
 7814 4412 1041                 sbci r17,hi8(4097)
 7815 4414 34F0                 brlt .L574
 7816 4416 80E0                 ldi r24,lo8(4096)
 7817 4418 90E1                 ldi r25,hi8(4096)
 7818 441a 9093 0000            sts (MesswertRoll)+1,r25
 7819 441e 8093 0000            sts MesswertRoll,r24
 7820                   .L574:
 7821 4422 8091 0000            lds r24,MesswertRoll
 7822 4426 9091 0000            lds r25,(MesswertRoll)+1
 7823 442a 8050                 subi r24,lo8(-4096)
 7824 442c 904F                 sbci r25,hi8(-4096)
 7825 442e 34F4                 brge .L575
 7826 4430 80E0                 ldi r24,lo8(-4096)
 7827 4432 90EF                 ldi r25,hi8(-4096)
 7828 4434 9093 0000            sts (MesswertRoll)+1,r25
 7829 4438 8093 0000            sts MesswertRoll,r24
 7830                   .L575:
 7831 443c 6150                 subi r22,lo8(4097)
 7832 443e 7041                 sbci r23,hi8(4097)
 7833 4440 34F0                 brlt .L576
 7834 4442 80E0                 ldi r24,lo8(4096)
 7835 4444 90E1                 ldi r25,hi8(4096)
 7836 4446 9093 0000            sts (MesswertGier)+1,r25
 7837 444a 8093 0000            sts MesswertGier,r24
 7838                   .L576:
 7839 444e 8091 0000            lds r24,MesswertGier
 7840 4452 9091 0000            lds r25,(MesswertGier)+1
 7841 4456 8050                 subi r24,lo8(-4096)
 7842 4458 904F                 sbci r25,hi8(-4096)
 7843 445a 34F4                 brge .L577
 7844 445c 80E0                 ldi r24,lo8(-4096)
 7845 445e 90EF                 ldi r25,hi8(-4096)
 7846 4460 9093 0000            sts (MesswertGier)+1,r25
 7847 4464 8093 0000            sts MesswertGier,r24
 7848                   .L577:
 7849 4468 8091 0000            lds r24,BattLowVoltageWarning
 7850 446c 482F                 mov r20,r24
 7851 446e 5527                 clr r21
 7852 4470 8091 0000            lds r24,UBat
 7853 4474 9091 0000            lds r25,(UBat)+1
 7854 4478 4817                 cp r20,r24
 7855 447a 5907                 cpc r21,r25
 7856 447c 94F4                 brge .L578
 7857 447e 2091 0000            lds r18,UBat
 7858 4482 3091 0000            lds r19,(UBat)+1
 7859 4486 68A1                 ldd r22,Y+32
 7860 4488 79A1                 ldd r23,Y+33
 7861 448a 649F                 mul r22,r20
 7862 448c C001                 movw r24,r0
 7863 448e 659F                 mul r22,r21
 7864 4490 900D                 add r25,r0
 7865 4492 749F                 mul r23,r20
 7866 4494 900D                 add r25,r0
 7867 4496 1124                 clr r1
 7868 4498 B901                 movw r22,r18
 7869 449a 0E94 0000            call __udivmodhi4
 7870 449e 79A3                 std Y+33,r23
 7871 44a0 68A3                 std Y+32,r22
 7872                   .L578:
 7873 44a2 88A1                 ldd r24,Y+32
 7874 44a4 99A1                 ldd r25,Y+33
 7875 44a6 880F                 lsl r24
 7876 44a8 991F                 rol r25
 7877 44aa 880F                 lsl r24
 7878 44ac 991F                 rol r25
 7879 44ae 99A3                 std Y+33,r25
 7880 44b0 88A3                 std Y+32,r24
 7881 44b2 4091 0000            lds r20,EE_Parameter+13
 7882 44b6 40FF                 sbrs r20,0
 7883 44b8 92C6                 rjmp .L579
 7884 44ba 9920                 tst r9
 7885 44bc 09F0                 breq .+2
 7886 44be 8FC6                 rjmp .L579
 7887 44c0 7720                 tst r7
 7888 44c2 09F0                 breq .+2
 7889 44c4 8CC6                 rjmp .L579
 7890 44c6 CC24                 clr r12
 7891 44c8 DD24                 clr r13
 7892 44ca 4601                 movw r8,r12
 7893 44cc 8091 0000            lds r24,HoverGas
 7894 44d0 9091 0000            lds r25,(HoverGas)+1
 7895 44d4 9093 0000            sts (DebugOut+44)+1,r25
 7896 44d8 8093 0000            sts DebugOut+44,r24
 7897 44dc 2091 0000            lds r18,BaroExpandActive
 7898 44e0 3091 0000            lds r19,(BaroExpandActive)+1
 7899 44e4 2115                 cp r18,__zero_reg__
 7900 44e6 3105                 cpc r19,__zero_reg__
 7901 44e8 09F0                 breq .+2
 7902 44ea 3FC0                 rjmp .L580
 7903 44ec 8091 0000            lds r24,MessLuftdruck
 7904 44f0 9091 0000            lds r25,(MessLuftdruck)+1
 7905 44f4 8959                 subi r24,lo8(921)
 7906 44f6 9340                 sbci r25,hi8(921)
 7907 44f8 58F0                 brlo .L581
 7908 44fa 87B5                 in r24,71-0x20
 7909 44fc 853F                 cpi r24,lo8(-11)
 7910 44fe 20F4                 brsh .L582
 7911 4500 8091 0000            lds r24,ExpandBaro
 7912 4504 8150                 subi r24,lo8(-(-1))
 7913 4506 11C0                 rjmp .L783
 7914                   .L582:
 7915 4508 81E0                 ldi r24,lo8(1)
 7916 450a 8093 0000            sts BaroAtLowerLimit.30,r24
 7917 450e 4EC0                 rjmp .L589
 7918                   .L581:
 7919 4510 8091 0000            lds r24,MessLuftdruck
 7920 4514 9091 0000            lds r25,(MessLuftdruck)+1
 7921 4518 8436                 cpi r24,100
 7922 451a 9105                 cpc r25,__zero_reg__
 7923 451c 08F5                 brsh .L585
 7924 451e 87B5                 in r24,71-0x20
 7925 4520 8B30                 cpi r24,lo8(11)
 7926 4522 D0F0                 brlo .L586
 7927 4524 8091 0000            lds r24,ExpandBaro
 7928 4528 8F5F                 subi r24,lo8(-(1))
 7929                   .L783:
 7930 452a 8093 0000            sts ExpandBaro,r24
 7931 452e 9AE0                 ldi r25,lo8(10)
 7932 4530 8902                 muls r24,r25
 7933 4532 9001                 movw r18,r0
 7934 4534 1124                 clr r1
 7935 4536 8091 0000            lds r24,DruckOffsetSetting
 7936 453a 821B                 sub r24,r18
 7937 453c 87BD                 out 71-0x20,r24
 7938 453e 8CE2                 ldi r24,lo8(300)
 7939 4540 91E0                 ldi r25,hi8(300)
 7940 4542 9093 0000            sts (beeptime)+1,r25
 7941 4546 8093 0000            sts beeptime,r24
 7942 454a 8EE5                 ldi r24,lo8(350)
 7943 454c 91E0                 ldi r25,hi8(350)
 7944 454e 9093 0000            sts (BaroExpandActive)+1,r25
 7945 4552 8093 0000            sts BaroExpandActive,r24
 7946 4556 2AC0                 rjmp .L589
 7947                   .L586:
 7948 4558 81E0                 ldi r24,lo8(1)
 7949 455a 8093 0000            sts BaroAtUpperLimit.29,r24
 7950 455e 26C0                 rjmp .L589
 7951                   .L585:
 7952 4560 7092 0000            sts BaroAtUpperLimit.29,r7
 7953 4564 7092 0000            sts BaroAtLowerLimit.30,r7
 7954 4568 21C0                 rjmp .L589
 7955                   .L580:
 7956 456a 8091 0000            lds r24,HoehenWert
 7957 456e 9091 0000            lds r25,(HoehenWert)+1
 7958 4572 A091 0000            lds r26,(HoehenWert)+2
 7959 4576 B091 0000            lds r27,(HoehenWert)+3
 7960 457a 54E0                 ldi r21,4
 7961 457c 880F         1:      lsl r24
 7962 457e 991F                 rol r25
 7963 4580 AA1F                 rol r26
 7964 4582 BB1F                 rol r27
 7965 4584 5A95                 dec r21
 7966 4586 D1F7                 brne 1b
 7967 4588 8093 0000            sts SummenHoehe,r24
 7968 458c 9093 0000            sts (SummenHoehe)+1,r25
 7969 4590 A093 0000            sts (SummenHoehe)+2,r26
 7970 4594 B093 0000            sts (SummenHoehe)+3,r27
 7971 4598 D092 0000            sts (VarioMeter)+1,r13
 7972 459c C092 0000            sts VarioMeter,r12
 7973 45a0 2150                 subi r18,lo8(-(-1))
 7974 45a2 3040                 sbci r19,hi8(-(-1))
 7975 45a4 3093 0000            sts (BaroExpandActive)+1,r19
 7976 45a8 2093 0000            sts BaroExpandActive,r18
 7977                   .L589:
 7978 45ac 2091 0000            lds r18,Parameter_MaxHoehe
 7979 45b0 41FF                 sbrs r20,1
 7980 45b2 24C0                 rjmp .L590
 7981 45b4 2233                 cpi r18,lo8(50)
 7982 45b6 D8F4                 brsh .L591
 7983 45b8 8091 0000            lds r24,delay.28
 7984 45bc 8150                 subi r24,lo8(-(-1))
 7985 45be 8093 0000            sts delay.28,r24
 7986 45c2 8F3F                 cpi r24,lo8(-1)
 7987 45c4 D9F5                 brne .L594
 7988 45c6 1092 0000            sts HoehenReglerAktiv,__zero_reg__
 7989 45ca 8091 0000            lds r24,HoehenWert
 7990 45ce 9091 0000            lds r25,(HoehenWert)+1
 7991 45d2 A091 0000            lds r26,(HoehenWert)+2
 7992 45d6 B091 0000            lds r27,(HoehenWert)+3
 7993 45da 8093 0000            sts SollHoehe,r24
 7994 45de 9093 0000            sts (SollHoehe)+1,r25
 7995 45e2 A093 0000            sts (SollHoehe)+2,r26
 7996 45e6 B093 0000            sts (SollHoehe)+3,r27
 7997 45ea 81E0                 ldi r24,lo8(1)
 7998 45ec 04C0                 rjmp .L784
 7999                   .L591:
 8000 45ee 81E0                 ldi r24,lo8(1)
 8001 45f0 8093 0000            sts HoehenReglerAktiv,r24
 8002 45f4 88EC                 ldi r24,lo8(-56)
 8003                   .L784:
 8004 45f6 8093 0000            sts delay.28,r24
 8005 45fa 20C0                 rjmp .L594
 8006                   .L590:
 8007 45fc 8091 0000            lds r24,ExternHoehenValue
 8008 4600 9091 0000            lds r25,(ExternHoehenValue)+1
 8009 4604 820F                 add r24,r18
 8010 4606 911D                 adc r25,__zero_reg__
 8011 4608 2091 0000            lds r18,EE_Parameter+18
 8012 460c 3327                 clr r19
 8013 460e 829F                 mul r24,r18
 8014 4610 F001                 movw r30,r0
 8015 4612 839F                 mul r24,r19
 8016 4614 F00D                 add r31,r0
 8017 4616 929F                 mul r25,r18
 8018 4618 F00D                 add r31,r0
 8019 461a 1124                 clr r1
 8020 461c CF01                 movw r24,r30
 8021 461e AA27                 clr r26
 8022 4620 97FD                 sbrc r25,7
 8023 4622 A095                 com r26
 8024 4624 BA2F                 mov r27,r26
 8025 4626 8093 0000            sts SollHoehe,r24
 8026 462a 9093 0000            sts (SollHoehe)+1,r25
 8027 462e A093 0000            sts (SollHoehe)+2,r26
 8028 4632 B093 0000            sts (SollHoehe)+3,r27
 8029 4636 81E0                 ldi r24,lo8(1)
 8030 4638 8093 0000            sts HoehenReglerAktiv,r24
 8031                   .L594:
 8032 463c 8091 0000            lds r24,IntegralNick
 8033 4640 9091 0000            lds r25,(IntegralNick)+1
 8034 4644 A091 0000            lds r26,(IntegralNick)+2
 8035 4648 B091 0000            lds r27,(IntegralNick)+3
 8036 464c E090 0000            lds r14,GIER_GRAD_FAKTOR
 8037 4650 F090 0000            lds r15,(GIER_GRAD_FAKTOR)+1
 8038 4654 0091 0000            lds r16,(GIER_GRAD_FAKTOR)+2
 8039 4658 1091 0000            lds r17,(GIER_GRAD_FAKTOR)+3
 8040 465c BC01                 movw r22,r24
 8041 465e CD01                 movw r24,r26
 8042 4660 A801                 movw r20,r16
 8043 4662 9701                 movw r18,r14
 8044 4664 0E94 0000            call __divmodsi4
 8045 4668 5901                 movw r10,r18
 8046 466a 6A01                 movw r12,r20
 8047 466c 8091 0000            lds r24,IntegralRoll
 8048 4670 9091 0000            lds r25,(IntegralRoll)+1
 8049 4674 A091 0000            lds r26,(IntegralRoll)+2
 8050 4678 B091 0000            lds r27,(IntegralRoll)+3
 8051 467c BC01                 movw r22,r24
 8052 467e CD01                 movw r24,r26
 8053 4680 A801                 movw r20,r16
 8054 4682 9701                 movw r18,r14
 8055 4684 0E94 0000            call __divmodsi4
 8056 4688 B901                 movw r22,r18
 8057 468a C501                 movw r24,r10
 8058 468c 0E94 0000            call ihypot
 8059 4690 3C01                 movw r6,r24
 8060 4692 CC97                 sbiw r24,60
 8061 4694 1CF0                 brlt .L595
 8062 4696 4CE3                 ldi r20,lo8(60)
 8063 4698 642E                 mov r6,r20
 8064 469a 712C                 mov r7,__zero_reg__
 8065                   .L595:
 8066 469c C301                 movw r24,r6
 8067 469e 0E94 0000            call c_cos_8192
 8068 46a2 3C01                 movw r6,r24
 8069 46a4 80E2                 ldi r24,lo8(32)
 8070 46a6 8093 0000            sts VarioCharacter,r24
 8071 46aa 8091 0000            lds r24,HoehenReglerAktiv
 8072 46ae 8823                 tst r24
 8073 46b0 09F4                 brne .+2
 8074 46b2 21C4                 rjmp .L596
 8075 46b4 8091 0000            lds r24,FCFlags
 8076 46b8 9927                 clr r25
 8077 46ba 9C01                 movw r18,r24
 8078 46bc 2071                 andi r18,lo8(16)
 8079 46be 3070                 andi r19,hi8(16)
 8080 46c0 84FD                 sbrc r24,4
 8081 46c2 19C4                 rjmp .L596
 8082 46c4 6091 0000            lds r22,EE_Parameter+99
 8083 46c8 60FD                 sbrc r22,0
 8084 46ca 04C0                 rjmp .L598
 8085 46cc 8091 0000            lds r24,EE_Parameter+13
 8086 46d0 81FD                 sbrc r24,1
 8087 46d2 07C0                 rjmp .L597
 8088                   .L598:
 8089 46d4 08A1                 ldd r16,Y+32
 8090 46d6 19A1                 ldd r17,Y+33
 8091 46d8 3093 0000            sts (HeightTrimming.22)+1,r19
 8092 46dc 2093 0000            sts HeightTrimming.22,r18
 8093 46e0 97C1                 rjmp .L599
 8094                   .L597:
 8095 46e2 8091 0000            lds r24,FCFlags
 8096 46e6 81FF                 sbrs r24,1
 8097 46e8 69C1                 rjmp .L600
 8098 46ea 4091 0000            lds r20,StickGasHover.24
 8099 46ee 5091 0000            lds r21,(StickGasHover.24)+1
 8100 46f2 CA01                 movw r24,r20
 8101 46f4 0F96                 adiw r24,15
 8102 46f6 2091 0000            lds r18,StickGas
 8103 46fa 3091 0000            lds r19,(StickGas)+1
 8104 46fe 8217                 cp r24,r18
 8105 4700 9307                 cpc r25,r19
 8106 4702 ACF5                 brge .L601
 8107 4704 8091 0000            lds r24,BaroAtUpperLimit.29
 8108 4708 8823                 tst r24
 8109 470a 89F5                 brne .L601
 8110 470c 8091 0000            lds r24,HeightTrimmingFlag.31
 8111 4710 81FF                 sbrs r24,1
 8112 4712 13C0                 rjmp .L602
 8113 4714 8D7F                 andi r24,lo8(-3)
 8114 4716 8093 0000            sts HeightTrimmingFlag.31,r24
 8115 471a 8091 0000            lds r24,HoehenWert
 8116 471e 9091 0000            lds r25,(HoehenWert)+1
 8117 4722 A091 0000            lds r26,(HoehenWert)+2
 8118 4726 B091 0000            lds r27,(HoehenWert)+3
 8119 472a 8093 0000            sts SollHoehe,r24
 8120 472e 9093 0000            sts (SollHoehe)+1,r25
 8121 4732 A093 0000            sts (SollHoehe)+2,r26
 8122 4736 B093 0000            sts (SollHoehe)+3,r27
 8123                   .L602:
 8124 473a 8091 0000            lds r24,HeightTrimmingFlag.31
 8125 473e 8160                 ori r24,lo8(1)
 8126 4740 8093 0000            sts HeightTrimmingFlag.31,r24
 8127 4744 241B                 sub r18,r20
 8128 4746 350B                 sbc r19,r21
 8129 4748 2F50                 subi r18,lo8(-(-15))
 8130 474a 3040                 sbci r19,hi8(-(-15))
 8131 474c 37FF                 sbrs r19,7
 8132 474e 03C0                 rjmp .L603
 8133 4750 3095                 com r19
 8134 4752 2195                 neg r18
 8135 4754 3F4F                 sbci r19,lo8(-1)
 8136                   .L603:
 8137 4756 8091 0000            lds r24,HeightTrimming.22
 8138 475a 9091 0000            lds r25,(HeightTrimming.22)+1
 8139 475e 820F                 add r24,r18
 8140 4760 931F                 adc r25,r19
 8141 4762 9093 0000            sts (HeightTrimming.22)+1,r25
 8142 4766 8093 0000            sts HeightTrimming.22,r24
 8143 476a 8BE2                 ldi r24,lo8(43)
 8144 476c 6EC0                 rjmp .L785
 8145                   .L601:
 8146 476e CA01                 movw r24,r20
 8147 4770 0F97                 sbiw r24,15
 8148 4772 2817                 cp r18,r24
 8149 4774 3907                 cpc r19,r25
 8150 4776 ACF5                 brge .L605
 8151 4778 8091 0000            lds r24,BaroAtLowerLimit.30
 8152 477c 8823                 tst r24
 8153 477e 89F5                 brne .L605
 8154 4780 8091 0000            lds r24,HeightTrimmingFlag.31
 8155 4784 80FF                 sbrs r24,0
 8156 4786 13C0                 rjmp .L606
 8157 4788 8E7F                 andi r24,lo8(-2)
 8158 478a 8093 0000            sts HeightTrimmingFlag.31,r24
 8159 478e 8091 0000            lds r24,HoehenWert
 8160 4792 9091 0000            lds r25,(HoehenWert)+1
 8161 4796 A091 0000            lds r26,(HoehenWert)+2
 8162 479a B091 0000            lds r27,(HoehenWert)+3
 8163 479e 8093 0000            sts SollHoehe,r24
 8164 47a2 9093 0000            sts (SollHoehe)+1,r25
 8165 47a6 A093 0000            sts (SollHoehe)+2,r26
 8166 47aa B093 0000            sts (SollHoehe)+3,r27
 8167                   .L606:
 8168 47ae 8091 0000            lds r24,HeightTrimmingFlag.31
 8169 47b2 8260                 ori r24,lo8(2)
 8170 47b4 8093 0000            sts HeightTrimmingFlag.31,r24
 8171 47b8 241B                 sub r18,r20
 8172 47ba 350B                 sbc r19,r21
 8173 47bc 215F                 subi r18,lo8(-(15))
 8174 47be 3F4F                 sbci r19,hi8(-(15))
 8175 47c0 37FF                 sbrs r19,7
 8176 47c2 03C0                 rjmp .L607
 8177 47c4 3095                 com r19
 8178 47c6 2195                 neg r18
 8179 47c8 3F4F                 sbci r19,lo8(-1)
 8180                   .L607:
 8181 47ca 8091 0000            lds r24,HeightTrimming.22
 8182 47ce 9091 0000            lds r25,(HeightTrimming.22)+1
 8183 47d2 821B                 sub r24,r18
 8184 47d4 930B                 sbc r25,r19
 8185 47d6 9093 0000            sts (HeightTrimming.22)+1,r25
 8186 47da 8093 0000            sts HeightTrimming.22,r24
 8187 47de 8DE2                 ldi r24,lo8(45)
 8188 47e0 34C0                 rjmp .L785
 8189                   .L605:
 8190 47e2 2091 0000            lds r18,HeightTrimmingFlag.31
 8191 47e6 822F                 mov r24,r18
 8192 47e8 9927                 clr r25
 8193 47ea 8370                 andi r24,lo8(3)
 8194 47ec 9070                 andi r25,hi8(3)
 8195 47ee 892B                 or r24,r25
 8196 47f0 59F1                 breq .L609
 8197 47f2 2C7F                 andi r18,lo8(-4)
 8198 47f4 2093 0000            sts HeightTrimmingFlag.31,r18
 8199 47f8 1092 0000            sts (HeightTrimming.22)+1,__zero_reg__
 8200 47fc 1092 0000            sts HeightTrimming.22,__zero_reg__
 8201 4800 2091 0000            lds r18,HoehenWert
 8202 4804 3091 0000            lds r19,(HoehenWert)+1
 8203 4808 4091 0000            lds r20,(HoehenWert)+2
 8204 480c 5091 0000            lds r21,(HoehenWert)+3
 8205 4810 2093 0000            sts SollHoehe,r18
 8206 4814 3093 0000            sts (SollHoehe)+1,r19
 8207 4818 4093 0000            sts (SollHoehe)+2,r20
 8208 481c 5093 0000            sts (SollHoehe)+3,r21
 8209 4820 61FF                 sbrs r22,1
 8210 4822 06C0                 rjmp .L610
 8211 4824 84EF                 ldi r24,lo8(500)
 8212 4826 91E0                 ldi r25,hi8(500)
 8213 4828 9093 0000            sts (beeptime)+1,r25
 8214 482c 8093 0000            sts beeptime,r24
 8215                   .L610:
 8216 4830 8091 0000            lds r24,StartTrigger
 8217 4834 8823                 tst r24
 8218 4836 41F4                 brne .L609
 8219 4838 2333                 cpi r18,lo8(51)
 8220 483a 3105                 cpc r19,__zero_reg__
 8221 483c 4105                 cpc r20,__zero_reg__
 8222 483e 5105                 cpc r21,__zero_reg__
 8223 4840 1CF0                 brlt .L609
 8224 4842 81E0                 ldi r24,lo8(1)
 8225 4844 8093 0000            sts StartTrigger,r24
 8226                   .L609:
 8227 4848 8DE3                 ldi r24,lo8(61)
 8228                   .L785:
 8229 484a 8093 0000            sts VarioCharacter,r24
 8230 484e 2091 0000            lds r18,HeightTrimming.22
 8231 4852 3091 0000            lds r19,(HeightTrimming.22)+1
 8232 4856 C901                 movw r24,r18
 8233 4858 37FF                 sbrs r19,7
 8234 485a 04C0                 rjmp .L613
 8235 485c 8827                 clr r24
 8236 485e 9927                 clr r25
 8237 4860 821B                 sub r24,r18
 8238 4862 930B                 sbc r25,r19
 8239                   .L613:
 8240 4864 8150                 subi r24,lo8(513)
 8241 4866 9240                 sbci r25,hi8(513)
 8242 4868 0CF4                 brge .+2
 8243 486a 91C0                 rjmp .L612
 8244 486c 8091 0000            lds r24,EE_Parameter+18
 8245 4870 9927                 clr r25
 8246 4872 289F                 mul r18,r24
 8247 4874 A001                 movw r20,r0
 8248 4876 299F                 mul r18,r25
 8249 4878 500D                 add r21,r0
 8250 487a 389F                 mul r19,r24
 8251 487c 500D                 add r21,r0
 8252 487e 1124                 clr r1
 8253 4880 CA01                 movw r24,r20
 8254 4882 60E0                 ldi r22,lo8(1280)
 8255 4884 75E0                 ldi r23,hi8(1280)
 8256 4886 0E94 0000            call __divmodhi4
 8257 488a CB01                 movw r24,r22
 8258 488c AA27                 clr r26
 8259 488e 97FD                 sbrc r25,7
 8260 4890 A095                 com r26
 8261 4892 BA2F                 mov r27,r26
 8262 4894 2091 0000            lds r18,SollHoehe
 8263 4898 3091 0000            lds r19,(SollHoehe)+1
 8264 489c 4091 0000            lds r20,(SollHoehe)+2
 8265 48a0 5091 0000            lds r21,(SollHoehe)+3
 8266 48a4 280F                 add r18,r24
 8267 48a6 391F                 adc r19,r25
 8268 48a8 4A1F                 adc r20,r26
 8269 48aa 5B1F                 adc r21,r27
 8270 48ac 2093 0000            sts SollHoehe,r18
 8271 48b0 3093 0000            sts (SollHoehe)+1,r19
 8272 48b4 4093 0000            sts (SollHoehe)+2,r20
 8273 48b8 5093 0000            sts (SollHoehe)+3,r21
 8274 48bc 1092 0000            sts (HeightTrimming.22)+1,__zero_reg__
 8275 48c0 1092 0000            sts HeightTrimming.22,__zero_reg__
 8276 48c4 A090 0000            lds r10,HoehenWert
 8277 48c8 B090 0000            lds r11,(HoehenWert)+1
 8278 48cc C090 0000            lds r12,(HoehenWert)+2
 8279 48d0 D090 0000            lds r13,(HoehenWert)+3
 8280 48d4 D601                 movw r26,r12
 8281 48d6 C501                 movw r24,r10
 8282 48d8 8050                 subi r24,lo8(-(-1024))
 8283 48da 9440                 sbci r25,hi8(-(-1024))
 8284 48dc A040                 sbci r26,hlo8(-(-1024))
 8285 48de B040                 sbci r27,hhi8(-(-1024))
 8286 48e0 8217                 cp r24,r18
 8287 48e2 9307                 cpc r25,r19
 8288 48e4 A407                 cpc r26,r20
 8289 48e6 B507                 cpc r27,r21
 8290 48e8 5CF4                 brge .L786
 8291 48ea D601                 movw r26,r12
 8292 48ec C501                 movw r24,r10
 8293 48ee 8050                 subi r24,lo8(-(1024))
 8294 48f0 9C4F                 sbci r25,hi8(-(1024))
 8295 48f2 AF4F                 sbci r26,hlo8(-(1024))
 8296 48f4 BF4F                 sbci r27,hhi8(-(1024))
 8297 48f6 2817                 cp r18,r24
 8298 48f8 3907                 cpc r19,r25
 8299 48fa 4A07                 cpc r20,r26
 8300 48fc 5B07                 cpc r21,r27
 8301 48fe 44F0                 brlt .L615
 8302                   .L786:
 8303 4900 8093 0000            sts SollHoehe,r24
 8304 4904 9093 0000            sts (SollHoehe)+1,r25
 8305 4908 A093 0000            sts (SollHoehe)+2,r26
 8306 490c B093 0000            sts (SollHoehe)+3,r27
 8307                   .L615:
 8308 4910 8091 0000            lds r24,EE_Parameter+99
 8309 4914 81FF                 sbrs r24,1
 8310 4916 06C0                 rjmp .L617
 8311 4918 8BE4                 ldi r24,lo8(75)
 8312 491a 90E0                 ldi r25,hi8(75)
 8313 491c 9093 0000            sts (beeptime)+1,r25
 8314 4920 8093 0000            sts beeptime,r24
 8315                   .L617:
 8316 4924 8091 0000            lds r24,EE_Parameter+22
 8317 4928 8823                 tst r24
 8318 492a 89F5                 brne .L612
 8319 492c 4091 0000            lds r20,HoverGas
 8320 4930 5091 0000            lds r21,(HoverGas)+1
 8321 4934 57FF                 sbrs r21,7
 8322 4936 02C0                 rjmp .L619
 8323 4938 4D5F                 subi r20,lo8(-(3))
 8324 493a 5F4F                 sbci r21,hi8(-(3))
 8325                   .L619:
 8326 493c 5595                 asr r21
 8327 493e 4795                 ror r20
 8328 4940 5595                 asr r21
 8329 4942 4795                 ror r20
 8330 4944 8091 0000            lds r24,UBat
 8331 4948 9091 0000            lds r25,(UBat)+1
 8332 494c 2091 0000            lds r18,BattLowVoltageWarning
 8333 4950 3327                 clr r19
 8334 4952 489F                 mul r20,r24
 8335 4954 B001                 movw r22,r0
 8336 4956 499F                 mul r20,r25
 8337 4958 700D                 add r23,r0
 8338 495a 589F                 mul r21,r24
 8339 495c 700D                 add r23,r0
 8340 495e 1124                 clr r1
 8341 4960 CB01                 movw r24,r22
 8342 4962 B901                 movw r22,r18
 8343 4964 0E94 0000            call __divmodhi4
 8344 4968 7093 0000            sts (StickGasHover.24)+1,r23
 8345 496c 6093 0000            sts StickGasHover.24,r22
 8346 4970 6634                 cpi r22,70
 8347 4972 7105                 cpc r23,__zero_reg__
 8348 4974 1CF4                 brge .L620
 8349 4976 86E4                 ldi r24,lo8(70)
 8350 4978 90E0                 ldi r25,hi8(70)
 8351 497a 05C0                 rjmp .L787
 8352                   .L620:
 8353 497c 6739                 cpi r22,151
 8354 497e 7105                 cpc r23,__zero_reg__
 8355 4980 34F0                 brlt .L612
 8356 4982 86E9                 ldi r24,lo8(150)
 8357 4984 90E0                 ldi r25,hi8(150)
 8358                   .L787:
 8359 4986 9093 0000            sts (StickGasHover.24)+1,r25
 8360 498a 8093 0000            sts StickGasHover.24,r24
 8361                   .L612:
 8362 498e 8091 0000            lds r24,BaroExpandActive
 8363 4992 9091 0000            lds r25,(BaroExpandActive)+1
 8364 4996 892B                 or r24,r25
 8365 4998 B9F1                 breq .L624
 8366 499a 8091 0000            lds r24,HoehenWert
 8367 499e 9091 0000            lds r25,(HoehenWert)+1
 8368 49a2 A091 0000            lds r26,(HoehenWert)+2
 8369 49a6 B091 0000            lds r27,(HoehenWert)+3
 8370 49aa 8093 0000            sts SollHoehe,r24
 8371 49ae 9093 0000            sts (SollHoehe)+1,r25
 8372 49b2 A093 0000            sts (SollHoehe)+2,r26
 8373 49b6 B093 0000            sts (SollHoehe)+3,r27
 8374 49ba 26C0                 rjmp .L624
 8375                   .L600:
 8376 49bc 8091 0000            lds r24,HoehenWert
 8377 49c0 9091 0000            lds r25,(HoehenWert)+1
 8378 49c4 A091 0000            lds r26,(HoehenWert)+2
 8379 49c8 B091 0000            lds r27,(HoehenWert)+3
 8380 49cc 8059                 subi r24,lo8(-(-400))
 8381 49ce 9140                 sbci r25,hi8(-(-400))
 8382 49d0 A040                 sbci r26,hlo8(-(-400))
 8383 49d2 B040                 sbci r27,hhi8(-(-400))
 8384 49d4 8093 0000            sts SollHoehe,r24
 8385 49d8 9093 0000            sts (SollHoehe)+1,r25
 8386 49dc A093 0000            sts (SollHoehe)+2,r26
 8387 49e0 B093 0000            sts (SollHoehe)+3,r27
 8388 49e4 8091 0000            lds r24,EE_Parameter+22
 8389 49e8 8823                 tst r24
 8390 49ea 11F0                 breq .L625
 8391 49ec 9927                 clr r25
 8392 49ee 02C0                 rjmp .L788
 8393                   .L625:
 8394 49f0 88E7                 ldi r24,lo8(120)
 8395 49f2 90E0                 ldi r25,hi8(120)
 8396                   .L788:
 8397 49f4 9093 0000            sts (StickGasHover.24)+1,r25
 8398 49f8 8093 0000            sts StickGasHover.24,r24
 8399 49fc 88A1                 ldd r24,Y+32
 8400 49fe 99A1                 ldd r25,Y+33
 8401 4a00 9093 0000            sts (HoverGas)+1,r25
 8402 4a04 8093 0000            sts HoverGas,r24
 8403                   .L624:
 8404 4a08 0091 0000            lds r16,HoverGas
 8405 4a0c 1091 0000            lds r17,(HoverGas)+1
 8406                   .L599:
 8407 4a10 A090 0000            lds r10,HoehenWert
 8408 4a14 B090 0000            lds r11,(HoehenWert)+1
 8409 4a18 C090 0000            lds r12,(HoehenWert)+2
 8410 4a1c D090 0000            lds r13,(HoehenWert)+3
 8411 4a20 2091 0000            lds r18,SollHoehe
 8412 4a24 3091 0000            lds r19,(SollHoehe)+1
 8413 4a28 4091 0000            lds r20,(SollHoehe)+2
 8414 4a2c 5091 0000            lds r21,(SollHoehe)+3
 8415 4a30 2A15                 cp r18,r10
 8416 4a32 3B05                 cpc r19,r11
 8417 4a34 4C05                 cpc r20,r12
 8418 4a36 5D05                 cpc r21,r13
 8419 4a38 24F0                 brlt .L628
 8420 4a3a 8091 0000            lds r24,EE_Parameter+99
 8421 4a3e 80FD                 sbrc r24,0
 8422 4a40 9CC2                 rjmp .L682
 8423                   .L628:
 8424 4a42 8091 0000            lds r24,BaroExpandActive
 8425 4a46 9091 0000            lds r25,(BaroExpandActive)+1
 8426 4a4a 892B                 or r24,r25
 8427 4a4c 39F0                 breq .L629
 8428 4a4e 0091 0000            lds r16,HoverGas
 8429 4a52 1091 0000            lds r17,(HoverGas)+1
 8430 4a56 CC24                 clr r12
 8431 4a58 DD24                 clr r13
 8432 4a5a C9C0                 rjmp .L630
 8433                   .L629:
 8434 4a5c D601                 movw r26,r12
 8435 4a5e C501                 movw r24,r10
 8436 4a60 821B                 sub r24,r18
 8437 4a62 930B                 sbc r25,r19
 8438 4a64 A40B                 sbc r26,r20
 8439 4a66 B50B                 sbc r27,r21
 8440 4a68 8093 0000            sts tmp_long.1,r24
 8441 4a6c 9093 0000            sts (tmp_long.1)+1,r25
 8442 4a70 A093 0000            sts (tmp_long.1)+2,r26
 8443 4a74 B093 0000            sts (tmp_long.1)+3,r27
 8444 4a78 8230                 cpi r24,lo8(-32766)
 8445 4a7a E0E8                 ldi r30,hi8(-32766)
 8446 4a7c 9E07                 cpc r25,r30
 8447 4a7e EFEF                 ldi r30,hlo8(-32766)
 8448 4a80 AE07                 cpc r26,r30
 8449 4a82 EFEF                 ldi r30,hhi8(-32766)
 8450 4a84 BE07                 cpc r27,r30
 8451 4a86 2CF4                 brge .L631
 8452 4a88 81E0                 ldi r24,lo8(-32767)
 8453 4a8a 90E8                 ldi r25,hi8(-32767)
 8454 4a8c AFEF                 ldi r26,hlo8(-32767)
 8455 4a8e BFEF                 ldi r27,hhi8(-32767)
 8456 4a90 09C0                 rjmp .L789
 8457                   .L631:
 8458 4a92 8F5F                 subi r24,lo8(32767)
 8459 4a94 9F47                 sbci r25,hi8(32767)
 8460 4a96 A040                 sbci r26,hlo8(32767)
 8461 4a98 B040                 sbci r27,hhi8(32767)
 8462 4a9a 64F0                 brlt .L632
 8463 4a9c 8FEF                 ldi r24,lo8(32767)
 8464 4a9e 9FE7                 ldi r25,hi8(32767)
 8465 4aa0 A0E0                 ldi r26,hlo8(32767)
 8466 4aa2 B0E0                 ldi r27,hhi8(32767)
 8467                   .L789:
 8468 4aa4 8093 0000            sts tmp_long.1,r24
 8469 4aa8 9093 0000            sts (tmp_long.1)+1,r25
 8470 4aac A093 0000            sts (tmp_long.1)+2,r26
 8471 4ab0 B093 0000            sts (tmp_long.1)+3,r27
 8472                   .L632:
 8473 4ab4 C090 0000            lds r12,tmp_long.1
 8474 4ab8 D090 0000            lds r13,(tmp_long.1)+1
 8475 4abc 8091 0000            lds r24,Parameter_Hoehe_P
 8476 4ac0 282F                 mov r18,r24
 8477 4ac2 3327                 clr r19
 8478 4ac4 4427                 clr r20
 8479 4ac6 5527                 clr r21
 8480 4ac8 8091 0000            lds r24,tmp_long.1
 8481 4acc 9091 0000            lds r25,(tmp_long.1)+1
 8482 4ad0 A091 0000            lds r26,(tmp_long.1)+2
 8483 4ad4 B091 0000            lds r27,(tmp_long.1)+3
 8484 4ad8 BC01                 movw r22,r24
 8485 4ada CD01                 movw r24,r26
 8486 4adc 0E94 0000            call __mulsi3
 8487 4ae0 97FF                 sbrs r25,7
 8488 4ae2 04C0                 rjmp .L634
 8489 4ae4 615E                 subi r22,lo8(-(31))
 8490 4ae6 7F4F                 sbci r23,hi8(-(31))
 8491 4ae8 8F4F                 sbci r24,hlo8(-(31))
 8492 4aea 9F4F                 sbci r25,hhi8(-(31))
 8493                   .L634:
 8494 4aec 25E0                 ldi r18,5
 8495 4aee 9595         1:      asr r25
 8496 4af0 8795                 ror r24
 8497 4af2 7795                 ror r23
 8498 4af4 6795                 ror r22
 8499 4af6 2A95                 dec r18
 8500 4af8 D1F7                 brne 1b
 8501 4afa 6093 0000            sts tmp_long.1,r22
 8502 4afe 7093 0000            sts (tmp_long.1)+1,r23
 8503 4b02 8093 0000            sts (tmp_long.1)+2,r24
 8504 4b06 9093 0000            sts (tmp_long.1)+3,r25
 8505 4b0a 6530                 cpi r22,lo8(-507)
 8506 4b0c 2EEF                 ldi r18,hi8(-507)
 8507 4b0e 7207                 cpc r23,r18
 8508 4b10 2FEF                 ldi r18,hlo8(-507)
 8509 4b12 8207                 cpc r24,r18
 8510 4b14 2FEF                 ldi r18,hhi8(-507)
 8511 4b16 9207                 cpc r25,r18
 8512 4b18 2CF4                 brge .L635
 8513 4b1a 84E0                 ldi r24,lo8(-508)
 8514 4b1c 9EEF                 ldi r25,hi8(-508)
 8515 4b1e AFEF                 ldi r26,hlo8(-508)
 8516 4b20 BFEF                 ldi r27,hhi8(-508)
 8517 4b22 09C0                 rjmp .L790
 8518                   .L635:
 8519 4b24 6050                 subi r22,lo8(1024)
 8520 4b26 7440                 sbci r23,hi8(1024)
 8521 4b28 8040                 sbci r24,hlo8(1024)
 8522 4b2a 9040                 sbci r25,hhi8(1024)
 8523 4b2c 64F0                 brlt .L636
 8524 4b2e 80E0                 ldi r24,lo8(1024)
 8525 4b30 94E0                 ldi r25,hi8(1024)
 8526 4b32 A0E0                 ldi r26,hlo8(1024)
 8527 4b34 B0E0                 ldi r27,hhi8(1024)
 8528                   .L790:
 8529 4b36 8093 0000            sts tmp_long.1,r24
 8530 4b3a 9093 0000            sts (tmp_long.1)+1,r25
 8531 4b3e A093 0000            sts (tmp_long.1)+2,r26
 8532 4b42 B093 0000            sts (tmp_long.1)+3,r27
 8533                   .L636:
 8534 4b46 8090 0000            lds r8,tmp_long.1
 8535 4b4a 9090 0000            lds r9,(tmp_long.1)+1
 8536 4b4e 2091 0000            lds r18,VarioMeter
 8537 4b52 3091 0000            lds r19,(VarioMeter)+1
 8538 4b56 37FF                 sbrs r19,7
 8539 4b58 02C0                 rjmp .L638
 8540 4b5a 295F                 subi r18,lo8(-(7))
 8541 4b5c 3F4F                 sbci r19,hi8(-(7))
 8542                   .L638:
 8543 4b5e 83E0                 ldi r24,3
 8544 4b60 3595         1:      asr r19
 8545 4b62 2795                 ror r18
 8546 4b64 8A95                 dec r24
 8547 4b66 E1F7                 brne 1b
 8548 4b68 4FEF                 ldi r20,hi8(-126)
 8549 4b6a 2238                 cpi r18,lo8(-126)
 8550 4b6c 3407                 cpc r19,r20
 8551 4b6e 1CF4                 brge .L639
 8552 4b70 21E8                 ldi r18,lo8(-127)
 8553 4b72 3FEF                 ldi r19,hi8(-127)
 8554 4b74 05C0                 rjmp .L640
 8555                   .L639:
 8556 4b76 2038                 cpi r18,128
 8557 4b78 3105                 cpc r19,__zero_reg__
 8558 4b7a 14F0                 brlt .L640
 8559 4b7c 20E8                 ldi r18,lo8(128)
 8560 4b7e 30E0                 ldi r19,hi8(128)
 8561                   .L640:
 8562 4b80 C901                 movw r24,r18
 8563 4b82 AA27                 clr r26
 8564 4b84 97FD                 sbrc r25,7
 8565 4b86 A095                 com r26
 8566 4b88 BA2F                 mov r27,r26
 8567 4b8a 2091 0000            lds r18,Parameter_Luftdruck_D
 8568 4b8e 3327                 clr r19
 8569 4b90 4427                 clr r20
 8570 4b92 5527                 clr r21
 8571 4b94 BC01                 movw r22,r24
 8572 4b96 CD01                 movw r24,r26
 8573 4b98 0E94 0000            call __mulsi3
 8574 4b9c 97FF                 sbrs r25,7
 8575 4b9e 04C0                 rjmp .L642
 8576 4ba0 6D5F                 subi r22,lo8(-(3))
 8577 4ba2 7F4F                 sbci r23,hi8(-(3))
 8578 4ba4 8F4F                 sbci r24,hlo8(-(3))
 8579 4ba6 9F4F                 sbci r25,hhi8(-(3))
 8580                   .L642:
 8581 4ba8 B2E0                 ldi r27,2
 8582 4baa 9595         1:      asr r25
 8583 4bac 8795                 ror r24
 8584 4bae 7795                 ror r23
 8585 4bb0 6795                 ror r22
 8586 4bb2 BA95                 dec r27
 8587 4bb4 D1F7                 brne 1b
 8588 4bb6 9B01                 movw r18,r22
 8589 4bb8 5FEF                 ldi r21,hi8(-255)
 8590 4bba 6130                 cpi r22,lo8(-255)
 8591 4bbc 7507                 cpc r23,r21
 8592 4bbe 1CF4                 brge .L643
 8593 4bc0 20E0                 ldi r18,lo8(-256)
 8594 4bc2 3FEF                 ldi r19,hi8(-256)
 8595 4bc4 06C0                 rjmp .L644
 8596                   .L643:
 8597 4bc6 6F3F                 cpi r22,255
 8598 4bc8 7105                 cpc r23,__zero_reg__
 8599 4bca 19F0                 breq .L644
 8600 4bcc 14F0                 brlt .L644
 8601 4bce 20E0                 ldi r18,lo8(256)
 8602 4bd0 31E0                 ldi r19,hi8(256)
 8603                   .L644:
 8604 4bd2 8091 0000            lds r24,HeightTrimmingFlag.31
 8605 4bd6 8823                 tst r24
 8606 4bd8 41F0                 breq .L646
 8607 4bda C901                 movw r24,r18
 8608 4bdc 37FD                 sbrc r19,7
 8609 4bde 0396                 adiw r24,3
 8610                   .L647:
 8611 4be0 9C01                 movw r18,r24
 8612 4be2 3595                 asr r19
 8613 4be4 2795                 ror r18
 8614 4be6 3595                 asr r19
 8615 4be8 2795                 ror r18
 8616                   .L646:
 8617 4bea 820E                 add r8,r18
 8618 4bec 931E                 adc r9,r19
 8619                   .L630:
 8620 4bee 2091 0000            lds r18,Parameter_Hoehe_ACC_Wirkung
 8621 4bf2 2223                 tst r18
 8622 4bf4 09F4                 brne .+2
 8623 4bf6 54C0                 rjmp .L648
 8624 4bf8 6091 0000            lds r22,Mess_Integral_Hoch
 8625 4bfc 7091 0000            lds r23,(Mess_Integral_Hoch)+1
 8626 4c00 8091 0000            lds r24,(Mess_Integral_Hoch)+2
 8627 4c04 9091 0000            lds r25,(Mess_Integral_Hoch)+3
 8628 4c08 97FF                 sbrs r25,7
 8629 4c0a 04C0                 rjmp .L649
 8630 4c0c 6158                 subi r22,lo8(-(127))
 8631 4c0e 7F4F                 sbci r23,hi8(-(127))
 8632 4c10 8F4F                 sbci r24,hlo8(-(127))
 8633 4c12 9F4F                 sbci r25,hhi8(-(127))
 8634                   .L649:
 8635 4c14 F7E0                 ldi r31,7
 8636 4c16 9595         1:      asr r25
 8637 4c18 8795                 ror r24
 8638 4c1a 7795                 ror r23
 8639 4c1c 6795                 ror r22
 8640 4c1e FA95                 dec r31
 8641 4c20 D1F7                 brne 1b
 8642 4c22 3327                 clr r19
 8643 4c24 4427                 clr r20
 8644 4c26 5527                 clr r21
 8645 4c28 0E94 0000            call __mulsi3
 8646 4c2c 97FF                 sbrs r25,7
 8647 4c2e 04C0                 rjmp .L650
 8648 4c30 615E                 subi r22,lo8(-(31))
 8649 4c32 7F4F                 sbci r23,hi8(-(31))
 8650 4c34 8F4F                 sbci r24,hlo8(-(31))
 8651 4c36 9F4F                 sbci r25,hhi8(-(31))
 8652                   .L650:
 8653 4c38 E5E0                 ldi r30,5
 8654 4c3a 9595         1:      asr r25
 8655 4c3c 8795                 ror r24
 8656 4c3e 7795                 ror r23
 8657 4c40 6795                 ror r22
 8658 4c42 EA95                 dec r30
 8659 4c44 D1F7                 brne 1b
 8660 4c46 6093 0000            sts tmp_long.1,r22
 8661 4c4a 7093 0000            sts (tmp_long.1)+1,r23
 8662 4c4e 8093 0000            sts (tmp_long.1)+2,r24
 8663 4c52 9093 0000            sts (tmp_long.1)+3,r25
 8664 4c56 6138                 cpi r22,lo8(-127)
 8665 4c58 AFEF                 ldi r26,hi8(-127)
 8666 4c5a 7A07                 cpc r23,r26
 8667 4c5c AFEF                 ldi r26,hlo8(-127)
 8668 4c5e 8A07                 cpc r24,r26
 8669 4c60 AFEF                 ldi r26,hhi8(-127)
 8670 4c62 9A07                 cpc r25,r26
 8671 4c64 2CF4                 brge .L651
 8672 4c66 80E8                 ldi r24,lo8(-128)
 8673 4c68 9FEF                 ldi r25,hi8(-128)
 8674 4c6a AFEF                 ldi r26,hlo8(-128)
 8675 4c6c BFEF                 ldi r27,hhi8(-128)
 8676 4c6e 0AC0                 rjmp .L791
 8677                   .L651:
 8678 4c70 6F3F                 cpi r22,lo8(255)
 8679 4c72 7105                 cpc r23,__zero_reg__
 8680 4c74 8105                 cpc r24,__zero_reg__
 8681 4c76 9105                 cpc r25,__zero_reg__
 8682 4c78 69F0                 breq .L652
 8683 4c7a 64F0                 brlt .L652
 8684 4c7c 80E0                 ldi r24,lo8(256)
 8685 4c7e 91E0                 ldi r25,hi8(256)
 8686 4c80 A0E0                 ldi r26,hlo8(256)
 8687 4c82 B0E0                 ldi r27,hhi8(256)
 8688                   .L791:
 8689 4c84 8093 0000            sts tmp_long.1,r24
 8690 4c88 9093 0000            sts (tmp_long.1)+1,r25
 8691 4c8c A093 0000            sts (tmp_long.1)+2,r26
 8692 4c90 B093 0000            sts (tmp_long.1)+3,r27
 8693                   .L652:
 8694 4c94 8091 0000            lds r24,tmp_long.1
 8695 4c98 9091 0000            lds r25,(tmp_long.1)+1
 8696 4c9c 880E                 add r8,r24
 8697 4c9e 991E                 adc r9,r25
 8698                   .L648:
 8699 4ca0 8091 0000            lds r24,Parameter_Hoehe_GPS_Z
 8700 4ca4 282F                 mov r18,r24
 8701 4ca6 3327                 clr r19
 8702 4ca8 8091 0000            lds r24,FromNaviCtrl_Value+4
 8703 4cac 9927                 clr r25
 8704 4cae 87FD                 sbrc r24,7
 8705 4cb0 9095                 com r25
 8706 4cb2 289F                 mul r18,r24
 8707 4cb4 F001                 movw r30,r0
 8708 4cb6 299F                 mul r18,r25
 8709 4cb8 F00D                 add r31,r0
 8710 4cba 389F                 mul r19,r24
 8711 4cbc F00D                 add r31,r0
 8712 4cbe 1124                 clr r1
 8713 4cc0 9F01                 movw r18,r30
 8714 4cc2 F7FF                 sbrs r31,7
 8715 4cc4 02C0                 rjmp .L654
 8716 4cc6 2158                 subi r18,lo8(-(127))
 8717 4cc8 3F4F                 sbci r19,hi8(-(127))
 8718                   .L654:
 8719 4cca 220F                 lsl r18
 8720 4ccc 232F                 mov r18,r19
 8721 4cce 221F                 rol r18
 8722 4cd0 330B                 sbc r19,r19
 8723 4cd2 FFEF                 ldi r31,hi8(-127)
 8724 4cd4 2138                 cpi r18,lo8(-127)
 8725 4cd6 3F07                 cpc r19,r31
 8726 4cd8 1CF4                 brge .L655
 8727 4cda 20E8                 ldi r18,lo8(-128)
 8728 4cdc 3FEF                 ldi r19,hi8(-128)
 8729 4cde 06C0                 rjmp .L656
 8730                   .L655:
 8731 4ce0 2F3F                 cpi r18,255
 8732 4ce2 3105                 cpc r19,__zero_reg__
 8733 4ce4 19F0                 breq .L656
 8734 4ce6 14F0                 brlt .L656
 8735 4ce8 20E0                 ldi r18,lo8(256)
 8736 4cea 31E0                 ldi r19,hi8(256)
 8737                   .L656:
 8738 4cec 820E                 add r8,r18
 8739 4cee 931E                 adc r9,r19
 8740 4cf0 C401                 movw r24,r8
 8741 4cf2 AA27                 clr r26
 8742 4cf4 97FD                 sbrc r25,7
 8743 4cf6 A095                 com r26
 8744 4cf8 BA2F                 mov r27,r26
 8745 4cfa E090 0000            lds r14,HoverGas
 8746 4cfe F090 0000            lds r15,(HoverGas)+1
 8747 4d02 9701                 movw r18,r14
 8748 4d04 4427                 clr r20
 8749 4d06 37FD                 sbrc r19,7
 8750 4d08 4095                 com r20
 8751 4d0a 542F                 mov r21,r20
 8752 4d0c BC01                 movw r22,r24
 8753 4d0e CD01                 movw r24,r26
 8754 4d10 0E94 0000            call __mulsi3
 8755 4d14 97FF                 sbrs r25,7
 8756 4d16 04C0                 rjmp .L658
 8757 4d18 6150                 subi r22,lo8(-(511))
 8758 4d1a 7E4F                 sbci r23,hi8(-(511))
 8759 4d1c 8F4F                 sbci r24,hlo8(-(511))
 8760 4d1e 9F4F                 sbci r25,hhi8(-(511))
 8761                   .L658:
 8762 4d20 59E0                 ldi r21,9
 8763 4d22 9595         1:      asr r25
 8764 4d24 8795                 ror r24
 8765 4d26 7795                 ror r23
 8766 4d28 6795                 ror r22
 8767 4d2a 5A95                 dec r21
 8768 4d2c D1F7                 brne 1b
 8769 4d2e 061B                 sub r16,r22
 8770 4d30 170B                 sbc r17,r23
 8771 4d32 8091 0000            lds r24,HeightTrimming.22
 8772 4d36 9091 0000            lds r25,(HeightTrimming.22)+1
 8773 4d3a 892B                 or r24,r25
 8774 4d3c 09F0                 breq .+2
 8775 4d3e 60C0                 rjmp .L659
 8776 4d40 1E14                 cp __zero_reg__,r14
 8777 4d42 1F04                 cpc __zero_reg__,r15
 8778 4d44 0CF0                 brlt .+2
 8779 4d46 5CC0                 rjmp .L659
 8780 4d48 9601                 movw r18,r12
 8781 4d4a D7FE                 sbrs r13,7
 8782 4d4c 03C0                 rjmp .L660
 8783 4d4e 3095                 com r19
 8784 4d50 2195                 neg r18
 8785 4d52 3F4F                 sbci r19,lo8(-1)
 8786                   .L660:
 8787 4d54 2D33                 cpi r18,61
 8788 4d56 3105                 cpc r19,__zero_reg__
 8789 4d58 40F4                 brsh .L661
 8790 4d5a 8091 0000            lds r24,HoverGasMin.25
 8791 4d5e 9091 0000            lds r25,(HoverGasMin.25)+1
 8792 4d62 8017                 cp r24,r16
 8793 4d64 9107                 cpc r25,r17
 8794 4d66 74F5                 brge .L793
 8795 4d68 26C0                 rjmp .L802
 8796                   .L661:
 8797 4d6a 2C53                 subi r18,lo8(-(-60))
 8798 4d6c 3040                 sbci r19,hi8(-(-60))
 8799 4d6e 45E0                 ldi r20,5
 8800 4d70 3695         1:      lsr r19
 8801 4d72 2795                 ror r18
 8802 4d74 4A95                 dec r20
 8803 4d76 E1F7                 brne 1b
 8804 4d78 2031                 cpi r18,16
 8805 4d7a 3105                 cpc r19,__zero_reg__
 8806 4d7c 10F0                 brlo .L666
 8807 4d7e 2FE0                 ldi r18,lo8(15)
 8808 4d80 30E0                 ldi r19,hi8(15)
 8809                   .L666:
 8810 4d82 4091 0000            lds r20,HoverGasMin.25
 8811 4d86 5091 0000            lds r21,(HoverGasMin.25)+1
 8812 4d8a 1C14                 cp __zero_reg__,r12
 8813 4d8c 1D04                 cpc __zero_reg__,r13
 8814 4d8e E4F4                 brge .L667
 8815 4d90 80E1                 ldi r24,lo8(16)
 8816 4d92 90E0                 ldi r25,hi8(16)
 8817 4d94 821B                 sub r24,r18
 8818 4d96 930B                 sbc r25,r19
 8819 4d98 489F                 mul r20,r24
 8820 4d9a 9001                 movw r18,r0
 8821 4d9c 499F                 mul r20,r25
 8822 4d9e 300D                 add r19,r0
 8823 4da0 589F                 mul r21,r24
 8824 4da2 300D                 add r19,r0
 8825 4da4 1124                 clr r1
 8826 4da6 94E0                 ldi r25,4
 8827 4da8 3695         1:      lsr r19
 8828 4daa 2795                 ror r18
 8829 4dac 9A95                 dec r25
 8830 4dae E1F7                 brne 1b
 8831 4db0 2017                 cp r18,r16
 8832 4db2 3107                 cpc r19,r17
 8833 4db4 20F5                 brsh .L792
 8834                   .L802:
 8835 4db6 8091 0000            lds r24,HoverGasMax.26
 8836 4dba 9091 0000            lds r25,(HoverGasMax.26)+1
 8837 4dbe 0817                 cp r16,r24
 8838 4dc0 1907                 cpc r17,r25
 8839 4dc2 F4F0                 brlt .L659
 8840                   .L793:
 8841 4dc4 8C01                 movw r16,r24
 8842 4dc6 1CC0                 rjmp .L659
 8843                   .L667:
 8844 4dc8 205F                 subi r18,lo8(-(16))
 8845 4dca 3F4F                 sbci r19,hi8(-(16))
 8846 4dcc 8091 0000            lds r24,HoverGasMax.26
 8847 4dd0 9091 0000            lds r25,(HoverGasMax.26)+1
 8848 4dd4 829F                 mul r24,r18
 8849 4dd6 B001                 movw r22,r0
 8850 4dd8 839F                 mul r24,r19
 8851 4dda 700D                 add r23,r0
 8852 4ddc 929F                 mul r25,r18
 8853 4dde 700D                 add r23,r0
 8854 4de0 1124                 clr r1
 8855 4de2 9B01                 movw r18,r22
 8856 4de4 84E0                 ldi r24,4
 8857 4de6 3695         1:      lsr r19
 8858 4de8 2795                 ror r18
 8859 4dea 8A95                 dec r24
 8860 4dec E1F7                 brne 1b
 8861 4dee 4017                 cp r20,r16
 8862 4df0 5107                 cpc r21,r17
 8863 4df2 14F0                 brlt .L672
 8864 4df4 8A01                 movw r16,r20
 8865 4df6 04C0                 rjmp .L659
 8866                   .L672:
 8867 4df8 0217                 cp r16,r18
 8868 4dfa 1307                 cpc r17,r19
 8869 4dfc 08F0                 brlo .L659
 8870                   .L792:
 8871 4dfe 8901                 movw r16,r18
 8872                   .L659:
 8873 4e00 C801                 movw r24,r16
 8874 4e02 AA27                 clr r26
 8875 4e04 97FD                 sbrc r25,7
 8876 4e06 A095                 com r26
 8877 4e08 BA2F                 mov r27,r26
 8878 4e0a 1DE0                 ldi r17,13
 8879 4e0c 880F         1:      lsl r24
 8880 4e0e 991F                 rol r25
 8881 4e10 AA1F                 rol r26
 8882 4e12 BB1F                 rol r27
 8883 4e14 1A95                 dec r17
 8884 4e16 D1F7                 brne 1b
 8885 4e18 9301                 movw r18,r6
 8886 4e1a 4427                 clr r20
 8887 4e1c 37FD                 sbrc r19,7
 8888 4e1e 4095                 com r20
 8889 4e20 542F                 mov r21,r20
 8890 4e22 BC01                 movw r22,r24
 8891 4e24 CD01                 movw r24,r26
 8892 4e26 0E94 0000            call __divmodsi4
 8893 4e2a 2093 0000            sts tmp_long2.2,r18
 8894 4e2e 3093 0000            sts (tmp_long2.2)+1,r19
 8895 4e32 4093 0000            sts (tmp_long2.2)+2,r20
 8896 4e36 5093 0000            sts (tmp_long2.2)+3,r21
 8897 4e3a 0091 0000            lds r16,tmp_long2.2
 8898 4e3e 1091 0000            lds r17,(tmp_long2.2)+1
 8899 4e42 8091 0000            lds r24,FilterHCGas.23
 8900 4e46 9091 0000            lds r25,(FilterHCGas.23)+1
 8901 4e4a 9C01                 movw r18,r24
 8902 4e4c 220F                 lsl r18
 8903 4e4e 331F                 rol r19
 8904 4e50 280F                 add r18,r24
 8905 4e52 391F                 adc r19,r25
 8906 4e54 200F                 add r18,r16
 8907 4e56 311F                 adc r19,r17
 8908 4e58 37FF                 sbrs r19,7
 8909 4e5a 02C0                 rjmp .L675
 8910 4e5c 2D5F                 subi r18,lo8(-(3))
 8911 4e5e 3F4F                 sbci r19,hi8(-(3))
 8912                   .L675:
 8913 4e60 A901                 movw r20,r18
 8914 4e62 5595                 asr r21
 8915 4e64 4795                 ror r20
 8916 4e66 5595                 asr r21
 8917 4e68 4795                 ror r20
 8918 4e6a 5093 0000            sts (FilterHCGas.23)+1,r21
 8919 4e6e 4093 0000            sts FilterHCGas.23,r20
 8920 4e72 8091 0000            lds r24,EE_Parameter+14
 8921 4e76 282F                 mov r18,r24
 8922 4e78 3327                 clr r19
 8923 4e7a 220F                 lsl r18
 8924 4e7c 331F                 rol r19
 8925 4e7e 220F                 lsl r18
 8926 4e80 331F                 rol r19
 8927 4e82 2417                 cp r18,r20
 8928 4e84 3507                 cpc r19,r21
 8929 4e86 6CF4                 brge .L794
 8930 4e88 8091 0000            lds r24,MAX_GAS
 8931 4e8c 282F                 mov r18,r24
 8932 4e8e 3327                 clr r19
 8933 4e90 220F                 lsl r18
 8934 4e92 331F                 rol r19
 8935 4e94 220F                 lsl r18
 8936 4e96 331F                 rol r19
 8937 4e98 2055                 subi r18,lo8(-(-80))
 8938 4e9a 3040                 sbci r19,hi8(-(-80))
 8939 4e9c 4217                 cp r20,r18
 8940 4e9e 5307                 cpc r21,r19
 8941 4ea0 24F0                 brlt .L677
 8942                   .L794:
 8943 4ea2 3093 0000            sts (FilterHCGas.23)+1,r19
 8944 4ea6 2093 0000            sts FilterHCGas.23,r18
 8945                   .L677:
 8946 4eaa 8091 0000            lds r24,EE_Parameter+99
 8947 4eae 80FF                 sbrs r24,0
 8948 4eb0 0DC0                 rjmp .L679
 8949 4eb2 8091 0000            lds r24,FilterHCGas.23
 8950 4eb6 9091 0000            lds r25,(FilterHCGas.23)+1
 8951 4eba A8A1                 ldd r26,Y+32
 8952 4ebc B9A1                 ldd r27,Y+33
 8953 4ebe 8A17                 cp r24,r26
 8954 4ec0 9B07                 cpc r25,r27
 8955 4ec2 24F0                 brlt .L679
 8956 4ec4 B093 0000            sts (FilterHCGas.23)+1,r27
 8957 4ec8 A093 0000            sts FilterHCGas.23,r26
 8958                   .L679:
 8959 4ecc 28A1                 ldd r18,Y+32
 8960 4ece 39A1                 ldd r19,Y+33
 8961 4ed0 2E19                 sub r18,r14
 8962 4ed2 3F09                 sbc r19,r15
 8963 4ed4 37FF                 sbrs r19,7
 8964 4ed6 02C0                 rjmp .L681
 8965 4ed8 2D5F                 subi r18,lo8(-(3))
 8966 4eda 3F4F                 sbci r19,hi8(-(3))
 8967                   .L681:
 8968 4edc 3595                 asr r19
 8969 4ede 2795                 ror r18
 8970 4ee0 3595                 asr r19
 8971 4ee2 2795                 ror r18
 8972 4ee4 E091 0000            lds r30,FilterHCGas.23
 8973 4ee8 F091 0000            lds r31,(FilterHCGas.23)+1
 8974 4eec E20F                 add r30,r18
 8975 4eee F31F                 adc r31,r19
 8976 4ef0 F9A3                 std Y+33,r31
 8977 4ef2 E8A3                 std Y+32,r30
 8978 4ef4 42C0                 rjmp .L682
 8979                   .L596:
 8980 4ef6 8091 0000            lds r24,EE_Parameter+22
 8981 4efa 8823                 tst r24
 8982 4efc 01F5                 brne .L683
 8983 4efe 6091 0000            lds r22,HoverGas
 8984 4f02 7091 0000            lds r23,(HoverGas)+1
 8985 4f06 77FF                 sbrs r23,7
 8986 4f08 02C0                 rjmp .L684
 8987 4f0a 6D5F                 subi r22,lo8(-(3))
 8988 4f0c 7F4F                 sbci r23,hi8(-(3))
 8989                   .L684:
 8990 4f0e 7595                 asr r23
 8991 4f10 6795                 ror r22
 8992 4f12 7595                 asr r23
 8993 4f14 6795                 ror r22
 8994 4f16 4091 0000            lds r20,UBat
 8995 4f1a 5091 0000            lds r21,(UBat)+1
 8996 4f1e 8091 0000            lds r24,BattLowVoltageWarning
 8997 4f22 282F                 mov r18,r24
 8998 4f24 3327                 clr r19
 8999 4f26 649F                 mul r22,r20
 9000 4f28 C001                 movw r24,r0
 9001 4f2a 659F                 mul r22,r21
 9002 4f2c 900D                 add r25,r0
 9003 4f2e 749F                 mul r23,r20
 9004 4f30 900D                 add r25,r0
 9005 4f32 1124                 clr r1
 9006 4f34 B901                 movw r22,r18
 9007 4f36 0E94 0000            call __divmodhi4
 9008 4f3a CB01                 movw r24,r22
 9009 4f3c 01C0                 rjmp .L795
 9010                   .L683:
 9011 4f3e 9927                 clr r25
 9012                   .L795:
 9013 4f40 9093 0000            sts (StickGasHover.24)+1,r25
 9014 4f44 8093 0000            sts StickGasHover.24,r24
 9015 4f48 8091 0000            lds r24,StickGasHover.24
 9016 4f4c 9091 0000            lds r25,(StickGasHover.24)+1
 9017 4f50 8734                 cpi r24,71
 9018 4f52 9105                 cpc r25,__zero_reg__
 9019 4f54 1CF4                 brge .L686
 9020 4f56 86E4                 ldi r24,lo8(70)
 9021 4f58 90E0                 ldi r25,hi8(70)
 9022 4f5a 05C0                 rjmp .L796
 9023                   .L686:
 9024 4f5c 8639                 cpi r24,150
 9025 4f5e 9105                 cpc r25,__zero_reg__
 9026 4f60 34F0                 brlt .L687
 9027 4f62 86E9                 ldi r24,lo8(150)
 9028 4f64 90E0                 ldi r25,hi8(150)
 9029                   .L796:
 9030 4f66 9093 0000            sts (StickGasHover.24)+1,r25
 9031 4f6a 8093 0000            sts StickGasHover.24,r24
 9032                   .L687:
 9033 4f6e E8A0                 ldd r14,Y+32
 9034 4f70 F9A0                 ldd r15,Y+33
 9035 4f72 F092 0000            sts (FilterHCGas.23)+1,r15
 9036 4f76 E092 0000            sts FilterHCGas.23,r14
 9037                   .L682:
 9038 4f7a 8091 0000            lds r24,FCFlags
 9039 4f7e 9927                 clr r25
 9040 4f80 9C01                 movw r18,r24
 9041 4f82 2270                 andi r18,lo8(2)
 9042 4f84 3070                 andi r19,hi8(2)
 9043 4f86 81FF                 sbrs r24,1
 9044 4f88 1CC1                 rjmp .L689
 9045 4f8a 8091 0000            lds r24,HoverGasFilter.27
 9046 4f8e 9091 0000            lds r25,(HoverGasFilter.27)+1
 9047 4f92 A091 0000            lds r26,(HoverGasFilter.27)+2
 9048 4f96 B091 0000            lds r27,(HoverGasFilter.27)+3
 9049 4f9a 0097                 sbiw r24,0
 9050 4f9c A105                 cpc r26,__zero_reg__
 9051 4f9e B105                 cpc r27,__zero_reg__
 9052 4fa0 21F0                 breq .L691
 9053 4fa2 8091 0000            lds r24,StartTrigger
 9054 4fa6 8130                 cpi r24,lo8(1)
 9055 4fa8 B1F4                 brne .L690
 9056                   .L691:
 9057 4faa 08A1                 ldd r16,Y+32
 9058 4fac 19A1                 ldd r17,Y+33
 9059 4fae C801                 movw r24,r16
 9060 4fb0 AA27                 clr r26
 9061 4fb2 97FD                 sbrc r25,7
 9062 4fb4 A095                 com r26
 9063 4fb6 BA2F                 mov r27,r26
 9064 4fb8 2EE0                 ldi r18,14
 9065 4fba 880F         1:      lsl r24
 9066 4fbc 991F                 rol r25
 9067 4fbe AA1F                 rol r26
 9068 4fc0 BB1F                 rol r27
 9069 4fc2 2A95                 dec r18
 9070 4fc4 D1F7                 brne 1b
 9071 4fc6 8093 0000            sts HoverGasFilter.27,r24
 9072 4fca 9093 0000            sts (HoverGasFilter.27)+1,r25
 9073 4fce A093 0000            sts (HoverGasFilter.27)+2,r26
 9074 4fd2 B093 0000            sts (HoverGasFilter.27)+3,r27
 9075                   .L690:
 9076 4fd6 8091 0000            lds r24,StartTrigger
 9077 4fda 8130                 cpi r24,lo8(1)
 9078 4fdc 19F4                 brne .L692
 9079 4fde 82E0                 ldi r24,lo8(2)
 9080 4fe0 8093 0000            sts StartTrigger,r24
 9081                   .L692:
 9082 4fe4 28A1                 ldd r18,Y+32
 9083 4fe6 39A1                 ldd r19,Y+33
 9084 4fe8 C901                 movw r24,r18
 9085 4fea AA27                 clr r26
 9086 4fec 97FD                 sbrc r25,7
 9087 4fee A095                 com r26
 9088 4ff0 BA2F                 mov r27,r26
 9089 4ff2 9301                 movw r18,r6
 9090 4ff4 4427                 clr r20
 9091 4ff6 37FD                 sbrc r19,7
 9092 4ff8 4095                 com r20
 9093 4ffa 542F                 mov r21,r20
 9094 4ffc BC01                 movw r22,r24
 9095 4ffe CD01                 movw r24,r26
 9096 5000 0E94 0000            call __mulsi3
 9097 5004 DC01                 movw r26,r24
 9098 5006 CB01                 movw r24,r22
 9099 5008 8093 0000            sts tmp_long2.2,r24
 9100 500c 9093 0000            sts (tmp_long2.2)+1,r25
 9101 5010 A093 0000            sts (tmp_long2.2)+2,r26
 9102 5014 B093 0000            sts (tmp_long2.2)+3,r27
 9103 5018 B7FF                 sbrs r27,7
 9104 501a 04C0                 rjmp .L693
 9105 501c 8150                 subi r24,lo8(-(8191))
 9106 501e 904E                 sbci r25,hi8(-(8191))
 9107 5020 AF4F                 sbci r26,hlo8(-(8191))
 9108 5022 BF4F                 sbci r27,hhi8(-(8191))
 9109                   .L693:
 9110 5024 5C01                 movw r10,r24
 9111 5026 6D01                 movw r12,r26
 9112 5028 0DE0                 ldi r16,13
 9113 502a D594         1:      asr r13
 9114 502c C794                 ror r12
 9115 502e B794                 ror r11
 9116 5030 A794                 ror r10
 9117 5032 0A95                 dec r16
 9118 5034 D1F7                 brne 1b
 9119 5036 A092 0000            sts tmp_long2.2,r10
 9120 503a B092 0000            sts (tmp_long2.2)+1,r11
 9121 503e C092 0000            sts (tmp_long2.2)+2,r12
 9122 5042 D092 0000            sts (tmp_long2.2)+3,r13
 9123 5046 6091 0000            lds r22,modell_fliegt
 9124 504a 7091 0000            lds r23,(modell_fliegt)+1
 9125 504e 3FE0                 ldi r19,hi8(4000)
 9126 5050 603A                 cpi r22,lo8(4000)
 9127 5052 7307                 cpc r23,r19
 9128 5054 50F5                 brsh .L694
 9129 5056 8091 0000            lds r24,HoverGasFilter.27
 9130 505a 9091 0000            lds r25,(HoverGasFilter.27)+1
 9131 505e A091 0000            lds r26,(HoverGasFilter.27)+2
 9132 5062 B091 0000            lds r27,(HoverGasFilter.27)+3
 9133 5066 9C01                 movw r18,r24
 9134 5068 AD01                 movw r20,r26
 9135 506a 1AE0                 ldi r17,10
 9136 506c 5695         1:      lsr r21
 9137 506e 4795                 ror r20
 9138 5070 3795                 ror r19
 9139 5072 2795                 ror r18
 9140 5074 1A95                 dec r17
 9141 5076 D1F7                 brne 1b
 9142 5078 821B                 sub r24,r18
 9143 507a 930B                 sbc r25,r19
 9144 507c A40B                 sbc r26,r20
 9145 507e B50B                 sbc r27,r21
 9146 5080 A601                 movw r20,r12
 9147 5082 9501                 movw r18,r10
 9148 5084 F4E0                 ldi r31,4
 9149 5086 220F         1:      lsl r18
 9150 5088 331F                 rol r19
 9151 508a 441F                 rol r20
 9152 508c 551F                 rol r21
 9153 508e FA95                 dec r31
 9154 5090 D1F7                 brne 1b
 9155 5092 820F                 add r24,r18
 9156 5094 931F                 adc r25,r19
 9157 5096 A41F                 adc r26,r20
 9158 5098 B51F                 adc r27,r21
 9159 509a 8093 0000            sts HoverGasFilter.27,r24
 9160 509e 9093 0000            sts (HoverGasFilter.27)+1,r25
 9161 50a2 A093 0000            sts (HoverGasFilter.27)+2,r26
 9162 50a6 B093 0000            sts (HoverGasFilter.27)+3,r27
 9163                   .L694:
 9164 50aa 6054                 subi r22,lo8(8000)
 9165 50ac 7F41                 sbci r23,hi8(8000)
 9166 50ae 18F5                 brsh .L695
 9167 50b0 8091 0000            lds r24,HoverGasFilter.27
 9168 50b4 9091 0000            lds r25,(HoverGasFilter.27)+1
 9169 50b8 A091 0000            lds r26,(HoverGasFilter.27)+2
 9170 50bc B091 0000            lds r27,(HoverGasFilter.27)+3
 9171 50c0 9C01                 movw r18,r24
 9172 50c2 AD01                 movw r20,r26
 9173 50c4 ECE0                 ldi r30,12
 9174 50c6 5695         1:      lsr r21
 9175 50c8 4795                 ror r20
 9176 50ca 3795                 ror r19
 9177 50cc 2795                 ror r18
 9178 50ce EA95                 dec r30
 9179 50d0 D1F7                 brne 1b
 9180 50d2 821B                 sub r24,r18
 9181 50d4 930B                 sbc r25,r19
 9182 50d6 A40B                 sbc r26,r20
 9183 50d8 B50B                 sbc r27,r21
 9184 50da A601                 movw r20,r12
 9185 50dc 9501                 movw r18,r10
 9186 50de 72E0                 ldi r23,2
 9187 50e0 220F         1:      lsl r18
 9188 50e2 331F                 rol r19
 9189 50e4 441F                 rol r20
 9190 50e6 551F                 rol r21
 9191 50e8 7A95                 dec r23
 9192 50ea D1F7                 brne 1b
 9193 50ec 820F                 add r24,r18
 9194 50ee 931F                 adc r25,r19
 9195 50f0 A41F                 adc r26,r20
 9196 50f2 B51F                 adc r27,r21
 9197 50f4 29C0                 rjmp .L797
 9198                   .L695:
 9199 50f6 8091 0000            lds r24,VarioMeter
 9200 50fa 9091 0000            lds r25,(VarioMeter)+1
 9201 50fe 8091 0000            lds r24,VarioMeter
 9202 5102 9091 0000            lds r25,(VarioMeter)+1
 9203 5106 97FF                 sbrs r25,7
 9204 5108 03C0                 rjmp .L698
 9205 510a 9095                 com r25
 9206 510c 8195                 neg r24
 9207 510e 9F4F                 sbci r25,lo8(-1)
 9208                   .L698:
 9209 5110 8436                 cpi r24,100
 9210 5112 9105                 cpc r25,__zero_reg__
 9211 5114 0CF5                 brge .L696
 9212 5116 8091 0000            lds r24,HoverGasFilter.27
 9213 511a 9091 0000            lds r25,(HoverGasFilter.27)+1
 9214 511e A091 0000            lds r26,(HoverGasFilter.27)+2
 9215 5122 B091 0000            lds r27,(HoverGasFilter.27)+3
 9216 5126 9C01                 movw r18,r24
 9217 5128 AD01                 movw r20,r26
 9218 512a 6EE0                 ldi r22,14
 9219 512c 5695         1:      lsr r21
 9220 512e 4795                 ror r20
 9221 5130 3795                 ror r19
 9222 5132 2795                 ror r18
 9223 5134 6A95                 dec r22
 9224 5136 D1F7                 brne 1b
 9225 5138 821B                 sub r24,r18
 9226 513a 930B                 sbc r25,r19
 9227 513c A40B                 sbc r26,r20
 9228 513e B50B                 sbc r27,r21
 9229 5140 8A0D                 add r24,r10
 9230 5142 9B1D                 adc r25,r11
 9231 5144 AC1D                 adc r26,r12
 9232 5146 BD1D                 adc r27,r13
 9233                   .L797:
 9234 5148 8093 0000            sts HoverGasFilter.27,r24
 9235 514c 9093 0000            sts (HoverGasFilter.27)+1,r25
 9236 5150 A093 0000            sts (HoverGasFilter.27)+2,r26
 9237 5154 B093 0000            sts (HoverGasFilter.27)+3,r27
 9238                   .L696:
 9239 5158 8091 0000            lds r24,HoverGasFilter.27
 9240 515c 9091 0000            lds r25,(HoverGasFilter.27)+1
 9241 5160 A091 0000            lds r26,(HoverGasFilter.27)+2
 9242 5164 B091 0000            lds r27,(HoverGasFilter.27)+3
 9243 5168 2EE0                 ldi r18,14
 9244 516a B695         1:      lsr r27
 9245 516c A795                 ror r26
 9246 516e 9795                 ror r25
 9247 5170 8795                 ror r24
 9248 5172 2A95                 dec r18
 9249 5174 D1F7                 brne 1b
 9250 5176 9093 0000            sts (HoverGas)+1,r25
 9251 517a 8093 0000            sts HoverGas,r24
 9252 517e 4091 0000            lds r20,EE_Parameter+20
 9253 5182 4423                 tst r20
 9254 5184 99F0                 breq .L699
 9255 5186 5527                 clr r21
 9256 5188 9C01                 movw r18,r24
 9257 518a BA01                 movw r22,r20
 9258 518c 0E94 0000            call __divmodhi4
 9259 5190 C901                 movw r24,r18
 9260 5192 861B                 sub r24,r22
 9261 5194 970B                 sbc r25,r23
 9262 5196 9093 0000            sts (HoverGasMin.25)+1,r25
 9263 519a 8093 0000            sts HoverGasMin.25,r24
 9264 519e 260F                 add r18,r22
 9265 51a0 371F                 adc r19,r23
 9266 51a2 3093 0000            sts (HoverGasMax.26)+1,r19
 9267 51a6 2093 0000            sts HoverGasMax.26,r18
 9268 51aa 19C0                 rjmp .L579
 9269                   .L699:
 9270 51ac 1092 0000            sts (HoverGasMin.25)+1,__zero_reg__
 9271 51b0 1092 0000            sts HoverGasMin.25,__zero_reg__
 9272 51b4 8FEF                 ldi r24,lo8(1023)
 9273 51b6 93E0                 ldi r25,hi8(1023)
 9274 51b8 9093 0000            sts (HoverGasMax.26)+1,r25
 9275 51bc 8093 0000            sts HoverGasMax.26,r24
 9276 51c0 0EC0                 rjmp .L579
 9277                   .L689:
 9278 51c2 1092 0000            sts StartTrigger,__zero_reg__
 9279 51c6 1092 0000            sts HoverGasFilter.27,__zero_reg__
 9280 51ca 1092 0000            sts (HoverGasFilter.27)+1,__zero_reg__
 9281 51ce 1092 0000            sts (HoverGasFilter.27)+2,__zero_reg__
 9282 51d2 1092 0000            sts (HoverGasFilter.27)+3,__zero_reg__
 9283 51d6 3093 0000            sts (HoverGas)+1,r19
 9284 51da 2093 0000            sts HoverGas,r18
 9285                   .L579:
 9286 51de 5091 0000            lds r21,MIN_GAS
 9287 51e2 58AB                 std Y+48,r21
 9288 51e4 252F                 mov r18,r21
 9289 51e6 3327                 clr r19
 9290 51e8 220F                 lsl r18
 9291 51ea 331F                 rol r19
 9292 51ec 220F                 lsl r18
 9293 51ee 331F                 rol r19
 9294 51f0 285D                 subi r18,lo8(-(40))
 9295 51f2 3F4F                 sbci r19,hi8(-(40))
 9296 51f4 68A1                 ldd r22,Y+32
 9297 51f6 79A1                 ldd r23,Y+33
 9298 51f8 2617                 cp r18,r22
 9299 51fa 3707                 cpc r19,r23
 9300 51fc 14F0                 brlt .L702
 9301 51fe 39A3                 std Y+33,r19
 9302 5200 28A3                 std Y+32,r18
 9303                   .L702:
 9304 5202 7091 0000            lds r23,MAX_GAS
 9305 5206 79AB                 std Y+49,r23
 9306 5208 872F                 mov r24,r23
 9307 520a 9927                 clr r25
 9308 520c 880F                 lsl r24
 9309 520e 991F                 rol r25
 9310 5210 880F                 lsl r24
 9311 5212 991F                 rol r25
 9312 5214 8055                 subi r24,lo8(-(-80))
 9313 5216 9040                 sbci r25,hi8(-(-80))
 9314 5218 A8A1                 ldd r26,Y+32
 9315 521a B9A1                 ldd r27,Y+33
 9316 521c 8A17                 cp r24,r26
 9317 521e 9B07                 cpc r25,r27
 9318 5220 14F4                 brge .L703
 9319 5222 99A3                 std Y+33,r25
 9320 5224 88A3                 std Y+32,r24
 9321                   .L703:
 9322 5226 8091 0000            lds r24,MissingMotor
 9323 522a 8823                 tst r24
 9324 522c 21F4                 brne .L705
 9325 522e 8091 0000            lds r24,Capacity+6
 9326 5232 8F3F                 cpi r24,lo8(-1)
 9327 5234 A1F0                 breq .L704
 9328                   .L705:
 9329 5236 8091 0000            lds r24,modell_fliegt
 9330 523a 9091 0000            lds r25,(modell_fliegt)+1
 9331 523e 0297                 sbiw r24,2
 9332 5240 C097                 sbiw r24,48
 9333 5242 68F4                 brsh .L704
 9334 5244 E8A1                 ldd r30,Y+32
 9335 5246 F9A1                 ldd r31,Y+33
 9336 5248 1E16                 cp __zero_reg__,r30
 9337 524a 1F06                 cpc __zero_reg__,r31
 9338 524c 44F4                 brge .L704
 9339 524e 81E0                 ldi r24,lo8(1)
 9340 5250 90E0                 ldi r25,hi8(1)
 9341 5252 9093 0000            sts (modell_fliegt)+1,r25
 9342 5256 8093 0000            sts modell_fliegt,r24
 9343 525a 39A3                 std Y+33,r19
 9344 525c 28A3                 std Y+32,r18
 9345                   .L704:
 9346 525e E8A0                 ldd r14,Y+32
 9347 5260 F9A0                 ldd r15,Y+33
 9348 5262 F092 0000            sts (DebugOut+16)+1,r15
 9349 5266 E092 0000            sts DebugOut+16,r14
 9350 526a 8091 0000            lds r24,sollGier.0
 9351 526e 9091 0000            lds r25,(sollGier.0)+1
 9352 5272 A091 0000            lds r26,(sollGier.0)+2
 9353 5276 B091 0000            lds r27,(sollGier.0)+3
 9354 527a 12E0                 ldi r17,2
 9355 527c 880F         1:      lsl r24
 9356 527e 991F                 rol r25
 9357 5280 AA1F                 rol r26
 9358 5282 BB1F                 rol r27
 9359 5284 1A95                 dec r17
 9360 5286 D1F7                 brne 1b
 9361 5288 C090 0000            lds r12,MesswertGier
 9362 528c D090 0000            lds r13,(MesswertGier)+1
 9363 5290 C81A                 sub r12,r24
 9364 5292 D90A                 sbc r13,r25
 9365 5294 8701                 movw r16,r14
 9366 5296 013A                 cpi r16,161
 9367 5298 1105                 cpc r17,__zero_reg__
 9368 529a 8CF0                 brlt .L707
 9369 529c C701                 movw r24,r14
 9370 529e F7FC                 sbrc r15,7
 9371 52a0 0196                 adiw r24,1
 9372                   .L709:
 9373 52a2 9595                 asr r25
 9374 52a4 8795                 ror r24
 9375 52a6 8C15                 cp r24,r12
 9376 52a8 9D05                 cpc r25,r13
 9377 52aa 0CF4                 brge .L708
 9378 52ac 6C01                 movw r12,r24
 9379                   .L708:
 9380 52ae 9095                 com r25
 9381 52b0 8195                 neg r24
 9382 52b2 9F4F                 sbci r25,lo8(-1)
 9383 52b4 C816                 cp r12,r24
 9384 52b6 D906                 cpc r13,r25
 9385 52b8 94F4                 brge .L714
 9386 52ba 6C01                 movw r12,r24
 9387 52bc 10C0                 rjmp .L714
 9388                   .L707:
 9389 52be 11E5                 ldi r17,lo8(81)
 9390 52c0 C116                 cp r12,r17
 9391 52c2 D104                 cpc r13,__zero_reg__
 9392 52c4 1CF0                 brlt .L715
 9393 52c6 E0E5                 ldi r30,lo8(80)
 9394 52c8 CE2E                 mov r12,r30
 9395 52ca D12C                 mov r13,__zero_reg__
 9396                   .L715:
 9397 52cc 20EB                 ldi r18,lo8(-80)
 9398 52ce C216                 cp r12,r18
 9399 52d0 2FEF                 ldi r18,hi8(-80)
 9400 52d2 D206                 cpc r13,r18
 9401 52d4 24F4                 brge .L714
 9402 52d6 70EB                 ldi r23,lo8(-80)
 9403 52d8 C72E                 mov r12,r23
 9404 52da 7FEF                 ldi r23,hi8(-80)
 9405 52dc D72E                 mov r13,r23
 9406                   .L714:
 9407 52de 49A9                 ldd r20,Y+49
 9408 52e0 242F                 mov r18,r20
 9409 52e2 3327                 clr r19
 9410 52e4 220F                 lsl r18
 9411 52e6 331F                 rol r19
 9412 52e8 220F                 lsl r18
 9413 52ea 331F                 rol r19
 9414 52ec C901                 movw r24,r18
 9415 52ee 68A1                 ldd r22,Y+32
 9416 52f0 79A1                 ldd r23,Y+33
 9417 52f2 861B                 sub r24,r22
 9418 52f4 970B                 sbc r25,r23
 9419 52f6 8C15                 cp r24,r12
 9420 52f8 9D05                 cpc r25,r13
 9421 52fa 0CF4                 brge .L717
 9422 52fc 6C01                 movw r12,r24
 9423                   .L717:
 9424 52fe 88A1                 ldd r24,Y+32
 9425 5300 99A1                 ldd r25,Y+33
 9426 5302 821B                 sub r24,r18
 9427 5304 930B                 sbc r25,r19
 9428 5306 C816                 cp r12,r24
 9429 5308 D906                 cpc r13,r25
 9430 530a 0CF4                 brge .L718
 9431 530c 6C01                 movw r12,r24
 9432                   .L718:
 9433 530e 8091 0000            lds r24,MesswertNick
 9434 5312 9091 0000            lds r25,(MesswertNick)+1
 9435 5316 6091 0000            lds r22,StickNick
 9436 531a 7091 0000            lds r23,(StickNick)+1
 9437 531e 861B                 sub r24,r22
 9438 5320 970B                 sbc r25,r23
 9439 5322 9093 0000            sts (DiffNick)+1,r25
 9440 5326 8093 0000            sts DiffNick,r24
 9441 532a A090 0000            lds r10,IntegralFaktor
 9442 532e 2091 0000            lds r18,SummeNick
 9443 5332 3091 0000            lds r19,(SummeNick)+1
 9444 5336 4091 0000            lds r20,(SummeNick)+2
 9445 533a 5091 0000            lds r21,(SummeNick)+3
 9446 533e AA20                 tst r10
 9447 5340 41F0                 breq .L719
 9448 5342 461A                 sub r4,r22
 9449 5344 570A                 sbc r5,r23
 9450 5346 C201                 movw r24,r4
 9451 5348 AA27                 clr r26
 9452 534a 97FD                 sbrc r25,7
 9453 534c A095                 com r26
 9454 534e BA2F                 mov r27,r26
 9455 5350 04C0                 rjmp .L798
 9456                   .L719:
 9457 5352 AA27                 clr r26
 9458 5354 97FD                 sbrc r25,7
 9459 5356 A095                 com r26
 9460 5358 BA2F                 mov r27,r26
 9461                   .L798:
 9462 535a 280F                 add r18,r24
 9463 535c 391F                 adc r19,r25
 9464 535e 4A1F                 adc r20,r26
 9465 5360 5B1F                 adc r21,r27
 9466 5362 2093 0000            sts SummeNick,r18
 9467 5366 3093 0000            sts (SummeNick)+1,r19
 9468 536a 4093 0000            sts (SummeNick)+2,r20
 9469 536e 5093 0000            sts (SummeNick)+3,r21
 9470 5372 8091 0000            lds r24,SummeNick
 9471 5376 9091 0000            lds r25,(SummeNick)+1
 9472 537a A091 0000            lds r26,(SummeNick)+2
 9473 537e B091 0000            lds r27,(SummeNick)+3
 9474 5382 8150                 subi r24,lo8(64001)
 9475 5384 9A4F                 sbci r25,hi8(64001)
 9476 5386 A040                 sbci r26,hlo8(64001)
 9477 5388 B040                 sbci r27,hhi8(64001)
 9478 538a 64F0                 brlt .L721
 9479 538c 80E0                 ldi r24,lo8(64000)
 9480 538e 9AEF                 ldi r25,hi8(64000)
 9481 5390 A0E0                 ldi r26,hlo8(64000)
 9482 5392 B0E0                 ldi r27,hhi8(64000)
 9483 5394 8093 0000            sts SummeNick,r24
 9484 5398 9093 0000            sts (SummeNick)+1,r25
 9485 539c A093 0000            sts (SummeNick)+2,r26
 9486 53a0 B093 0000            sts (SummeNick)+3,r27
 9487                   .L721:
 9488 53a4 8091 0000            lds r24,SummeNick
 9489 53a8 9091 0000            lds r25,(SummeNick)+1
 9490 53ac A091 0000            lds r26,(SummeNick)+2
 9491 53b0 B091 0000            lds r27,(SummeNick)+3
 9492 53b4 8050                 subi r24,lo8(-64000)
 9493 53b6 9640                 sbci r25,hi8(-64000)
 9494 53b8 AF4F                 sbci r26,hlo8(-64000)
 9495 53ba BF4F                 sbci r27,hhi8(-64000)
 9496 53bc 64F4                 brge .L722
 9497 53be 80E0                 ldi r24,lo8(-64000)
 9498 53c0 96E0                 ldi r25,hi8(-64000)
 9499 53c2 AFEF                 ldi r26,hlo8(-64000)
 9500 53c4 BFEF                 ldi r27,hhi8(-64000)
 9501 53c6 8093 0000            sts SummeNick,r24
 9502 53ca 9093 0000            sts (SummeNick)+1,r25
 9503 53ce A093 0000            sts (SummeNick)+2,r26
 9504 53d2 B093 0000            sts (SummeNick)+3,r27
 9505                   .L722:
 9506 53d6 B090 0000            lds r11,EE_Parameter+35
 9507 53da 2B2D                 mov r18,r11
 9508 53dc 3327                 clr r19
 9509 53de 8091 0000            lds r24,DiffNick
 9510 53e2 9091 0000            lds r25,(DiffNick)+1
 9511 53e6 289F                 mul r18,r24
 9512 53e8 7001                 movw r14,r0
 9513 53ea 299F                 mul r18,r25
 9514 53ec F00C                 add r15,r0
 9515 53ee 389F                 mul r19,r24
 9516 53f0 F00C                 add r15,r0
 9517 53f2 1124                 clr r1
 9518 53f4 9701                 movw r18,r14
 9519 53f6 F7FE                 sbrs r15,7
 9520 53f8 02C0                 rjmp .L723
 9521 53fa 295F                 subi r18,lo8(-(7))
 9522 53fc 3F4F                 sbci r19,hi8(-(7))
 9523                   .L723:
 9524 53fe 7901                 movw r14,r18
 9525 5400 53E0                 ldi r21,3
 9526 5402 F594         1:      asr r15
 9527 5404 E794                 ror r14
 9528 5406 5A95                 dec r21
 9529 5408 E1F7                 brne 1b
 9530 540a 0091 0000            lds r16,Ki
 9531 540e 1091 0000            lds r17,(Ki)+1
 9532 5412 9801                 movw r18,r16
 9533 5414 4427                 clr r20
 9534 5416 37FD                 sbrc r19,7
 9535 5418 4095                 com r20
 9536 541a 542F                 mov r21,r20
 9537 541c 8091 0000            lds r24,SummeNick
 9538 5420 9091 0000            lds r25,(SummeNick)+1
 9539 5424 A091 0000            lds r26,(SummeNick)+2
 9540 5428 B091 0000            lds r27,(SummeNick)+3
 9541 542c BC01                 movw r22,r24
 9542 542e CD01                 movw r24,r26
 9543 5430 0E94 0000            call __divmodsi4
 9544 5434 E20E                 add r14,r18
 9545 5436 F31E                 adc r15,r19
 9546 5438 9090 0000            lds r9,Parameter_DynamicStability
 9547 543c 692D                 mov r22,r9
 9548 543e 7727                 clr r23
 9549 5440 8827                 clr r24
 9550 5442 9927                 clr r25
 9551 5444 9601                 movw r18,r12
 9552 5446 D7FE                 sbrs r13,7
 9553 5448 04C0                 rjmp .L724
 9554 544a 2227                 clr r18
 9555 544c 3327                 clr r19
 9556 544e 2C19                 sub r18,r12
 9557 5450 3D09                 sbc r19,r13
 9558                   .L724:
 9559 5452 37FF                 sbrs r19,7
 9560 5454 02C0                 rjmp .L725
 9561 5456 2F5F                 subi r18,lo8(-(1))
 9562 5458 3F4F                 sbci r19,hi8(-(1))
 9563                   .L725:
 9564 545a 3595                 asr r19
 9565 545c 2795                 ror r18
 9566 545e 48A1                 ldd r20,Y+32
 9567 5460 59A1                 ldd r21,Y+33
 9568 5462 240F                 add r18,r20
 9569 5464 351F                 adc r19,r21
 9570 5466 4427                 clr r20
 9571 5468 37FD                 sbrc r19,7
 9572 546a 4095                 com r20
 9573 546c 542F                 mov r21,r20
 9574 546e 0E94 0000            call __mulsi3
 9575 5472 97FF                 sbrs r25,7
 9576 5474 04C0                 rjmp .L726
 9577 5476 615C                 subi r22,lo8(-(63))
 9578 5478 7F4F                 sbci r23,hi8(-(63))
 9579 547a 8F4F                 sbci r24,hlo8(-(63))
 9580 547c 9F4F                 sbci r25,hhi8(-(63))
 9581                   .L726:
 9582 547e 26E0                 ldi r18,6
 9583 5480 9595         1:      asr r25
 9584 5482 8795                 ror r24
 9585 5484 7795                 ror r23
 9586 5486 6795                 ror r22
 9587 5488 2A95                 dec r18
 9588 548a D1F7                 brne 1b
 9589 548c 9B01                 movw r18,r22
 9590 548e 6E15                 cp r22,r14
 9591 5490 7F05                 cpc r23,r15
 9592 5492 0CF4                 brge .L727
 9593 5494 7B01                 movw r14,r22
 9594                   .L727:
 9595 5496 3095                 com r19
 9596 5498 2195                 neg r18
 9597 549a 3F4F                 sbci r19,lo8(-1)
 9598 549c E216                 cp r14,r18
 9599 549e F306                 cpc r15,r19
 9600 54a0 0CF4                 brge .L728
 9601 54a2 7901                 movw r14,r18
 9602                   .L728:
 9603 54a4 8091 0000            lds r24,MesswertRoll
 9604 54a8 9091 0000            lds r25,(MesswertRoll)+1
 9605 54ac 6091 0000            lds r22,StickRoll
 9606 54b0 7091 0000            lds r23,(StickRoll)+1
 9607 54b4 861B                 sub r24,r22
 9608 54b6 970B                 sbc r25,r23
 9609 54b8 9093 0000            sts (DiffRoll)+1,r25
 9610 54bc 8093 0000            sts DiffRoll,r24
 9611 54c0 2091 0000            lds r18,SummeRoll
 9612 54c4 3091 0000            lds r19,(SummeRoll)+1
 9613 54c8 4091 0000            lds r20,(SummeRoll)+2
 9614 54cc 5091 0000            lds r21,(SummeRoll)+3
 9615 54d0 AA20                 tst r10
 9616 54d2 41F0                 breq .L729
 9617 54d4 261A                 sub r2,r22
 9618 54d6 370A                 sbc r3,r23
 9619 54d8 C101                 movw r24,r2
 9620 54da AA27                 clr r26
 9621 54dc 97FD                 sbrc r25,7
 9622 54de A095                 com r26
 9623 54e0 BA2F                 mov r27,r26
 9624 54e2 04C0                 rjmp .L799
 9625                   .L729:
 9626 54e4 AA27                 clr r26
 9627 54e6 97FD                 sbrc r25,7
 9628 54e8 A095                 com r26
 9629 54ea BA2F                 mov r27,r26
 9630                   .L799:
 9631 54ec 280F                 add r18,r24
 9632 54ee 391F                 adc r19,r25
 9633 54f0 4A1F                 adc r20,r26
 9634 54f2 5B1F                 adc r21,r27
 9635 54f4 2093 0000            sts SummeRoll,r18
 9636 54f8 3093 0000            sts (SummeRoll)+1,r19
 9637 54fc 4093 0000            sts (SummeRoll)+2,r20
 9638 5500 5093 0000            sts (SummeRoll)+3,r21
 9639 5504 8091 0000            lds r24,SummeRoll
 9640 5508 9091 0000            lds r25,(SummeRoll)+1
 9641 550c A091 0000            lds r26,(SummeRoll)+2
 9642 5510 B091 0000            lds r27,(SummeRoll)+3
 9643 5514 8150                 subi r24,lo8(64001)
 9644 5516 9A4F                 sbci r25,hi8(64001)
 9645 5518 A040                 sbci r26,hlo8(64001)
 9646 551a B040                 sbci r27,hhi8(64001)
 9647 551c 64F0                 brlt .L731
 9648 551e 80E0                 ldi r24,lo8(64000)
 9649 5520 9AEF                 ldi r25,hi8(64000)
 9650 5522 A0E0                 ldi r26,hlo8(64000)
 9651 5524 B0E0                 ldi r27,hhi8(64000)
 9652 5526 8093 0000            sts SummeRoll,r24
 9653 552a 9093 0000            sts (SummeRoll)+1,r25
 9654 552e A093 0000            sts (SummeRoll)+2,r26
 9655 5532 B093 0000            sts (SummeRoll)+3,r27
 9656                   .L731:
 9657 5536 8091 0000            lds r24,SummeRoll
 9658 553a 9091 0000            lds r25,(SummeRoll)+1
 9659 553e A091 0000            lds r26,(SummeRoll)+2
 9660 5542 B091 0000            lds r27,(SummeRoll)+3
 9661 5546 8050                 subi r24,lo8(-64000)
 9662 5548 9640                 sbci r25,hi8(-64000)
 9663 554a AF4F                 sbci r26,hlo8(-64000)
 9664 554c BF4F                 sbci r27,hhi8(-64000)
 9665 554e 64F4                 brge .L732
 9666 5550 80E0                 ldi r24,lo8(-64000)
 9667 5552 96E0                 ldi r25,hi8(-64000)
 9668 5554 AFEF                 ldi r26,hlo8(-64000)
 9669 5556 BFEF                 ldi r27,hhi8(-64000)
 9670 5558 8093 0000            sts SummeRoll,r24
 9671 555c 9093 0000            sts (SummeRoll)+1,r25
 9672 5560 A093 0000            sts (SummeRoll)+2,r26
 9673 5564 B093 0000            sts (SummeRoll)+3,r27
 9674                   .L732:
 9675 5568 2B2D                 mov r18,r11
 9676 556a 3327                 clr r19
 9677 556c 8091 0000            lds r24,DiffRoll
 9678 5570 9091 0000            lds r25,(DiffRoll)+1
 9679 5574 289F                 mul r18,r24
 9680 5576 D001                 movw r26,r0
 9681 5578 299F                 mul r18,r25
 9682 557a B00D                 add r27,r0
 9683 557c 389F                 mul r19,r24
 9684 557e B00D                 add r27,r0
 9685 5580 1124                 clr r1
 9686 5582 9D01                 movw r18,r26
 9687 5584 B7FF                 sbrs r27,7
 9688 5586 02C0                 rjmp .L733
 9689 5588 295F                 subi r18,lo8(-(7))
 9690 558a 3F4F                 sbci r19,hi8(-(7))
 9691                   .L733:
 9692 558c 5901                 movw r10,r18
 9693 558e B3E0                 ldi r27,3
 9694 5590 B594         1:      asr r11
 9695 5592 A794                 ror r10
 9696 5594 BA95                 dec r27
 9697 5596 E1F7                 brne 1b
 9698 5598 9801                 movw r18,r16
 9699 559a 4427                 clr r20
 9700 559c 37FD                 sbrc r19,7
 9701 559e 4095                 com r20
 9702 55a0 542F                 mov r21,r20
 9703 55a2 8091 0000            lds r24,SummeRoll
 9704 55a6 9091 0000            lds r25,(SummeRoll)+1
 9705 55aa A091 0000            lds r26,(SummeRoll)+2
 9706 55ae B091 0000            lds r27,(SummeRoll)+3
 9707 55b2 BC01                 movw r22,r24
 9708 55b4 CD01                 movw r24,r26
 9709 55b6 0E94 0000            call __divmodsi4
 9710 55ba A20E                 add r10,r18
 9711 55bc B31E                 adc r11,r19
 9712 55be 692D                 mov r22,r9
 9713 55c0 7727                 clr r23
 9714 55c2 8827                 clr r24
 9715 55c4 9927                 clr r25
 9716 55c6 9601                 movw r18,r12
 9717 55c8 D7FE                 sbrs r13,7
 9718 55ca 04C0                 rjmp .L734
 9719 55cc 2227                 clr r18
 9720 55ce 3327                 clr r19
 9721 55d0 2C19                 sub r18,r12
 9722 55d2 3D09                 sbc r19,r13
 9723                   .L734:
 9724 55d4 37FF                 sbrs r19,7
 9725 55d6 02C0                 rjmp .L735
 9726 55d8 2F5F                 subi r18,lo8(-(1))
 9727 55da 3F4F                 sbci r19,hi8(-(1))
 9728                   .L735:
 9729 55dc 3595                 asr r19
 9730 55de 2795                 ror r18
 9731 55e0 E8A1                 ldd r30,Y+32
 9732 55e2 F9A1                 ldd r31,Y+33
 9733 55e4 2E0F                 add r18,r30
 9734 55e6 3F1F                 adc r19,r31
 9735 55e8 4427                 clr r20
 9736 55ea 37FD                 sbrc r19,7
 9737 55ec 4095                 com r20
 9738 55ee 542F                 mov r21,r20
 9739 55f0 0E94 0000            call __mulsi3
 9740 55f4 97FF                 sbrs r25,7
 9741 55f6 04C0                 rjmp .L736
 9742 55f8 615C                 subi r22,lo8(-(63))
 9743 55fa 7F4F                 sbci r23,hi8(-(63))
 9744 55fc 8F4F                 sbci r24,hlo8(-(63))
 9745 55fe 9F4F                 sbci r25,hhi8(-(63))
 9746                   .L736:
 9747 5600 F6E0                 ldi r31,6
 9748 5602 9595         1:      asr r25
 9749 5604 8795                 ror r24
 9750 5606 7795                 ror r23
 9751 5608 6795                 ror r22
 9752 560a FA95                 dec r31
 9753 560c D1F7                 brne 1b
 9754 560e 9B01                 movw r18,r22
 9755 5610 6A15                 cp r22,r10
 9756 5612 7B05                 cpc r23,r11
 9757 5614 0CF4                 brge .L737
 9758 5616 5B01                 movw r10,r22
 9759                   .L737:
 9760 5618 3095                 com r19
 9761 561a 2195                 neg r18
 9762 561c 3F4F                 sbci r19,lo8(-1)
 9763 561e A216                 cp r10,r18
 9764 5620 B306                 cpc r11,r19
 9765 5622 0CF4                 brge .L738
 9766 5624 5901                 movw r10,r18
 9767                   .L738:
 9768 5626 2090 0000            lds r2,Parameter_UserParam7
 9769 562a E0E0                 ldi r30,lo8(Motor)
 9770 562c 6E2E                 mov r6,r30
 9771 562e E0E0                 ldi r30,hi8(Motor)
 9772 5630 7E2E                 mov r7,r30
 9773 5632 70E0                 ldi r23,lo8(Mixer+13)
 9774 5634 872E                 mov r8,r23
 9775 5636 70E0                 ldi r23,hi8(Mixer+13)
 9776 5638 972E                 mov r9,r23
 9777 563a 6BE0                 ldi r22,lo8(11)
 9778 563c 362E                 mov r3,r22
 9779 563e 50E0                 ldi r21,lo8(tmp_motorwert)
 9780 5640 452E                 mov r4,r21
 9781 5642 50E0                 ldi r21,hi8(tmp_motorwert)
 9782 5644 552E                 mov r5,r21
 9783                   .L772:
 9784 5646 D401                 movw r26,r8
 9785 5648 2C91                 ld r18,X
 9786 564a 1216                 cp __zero_reg__,r18
 9787 564c 0CF0                 brlt .+2
 9788 564e ECC0                 rjmp .L742
 9789 5650 2034                 cpi r18,lo8(64)
 9790 5652 19F4                 brne .L743
 9791 5654 08A1                 ldd r16,Y+32
 9792 5656 19A1                 ldd r17,Y+33
 9793 5658 1EC0                 rjmp .L744
 9794                   .L743:
 9795 565a E8A1                 ldd r30,Y+32
 9796 565c F9A1                 ldd r31,Y+33
 9797 565e CF01                 movw r24,r30
 9798 5660 AA27                 clr r26
 9799 5662 97FD                 sbrc r25,7
 9800 5664 A095                 com r26
 9801 5666 BA2F                 mov r27,r26
 9802 5668 3327                 clr r19
 9803 566a 27FD                 sbrc r18,7
 9804 566c 3095                 com r19
 9805 566e 432F                 mov r20,r19
 9806 5670 532F                 mov r21,r19
 9807 5672 BC01                 movw r22,r24
 9808 5674 CD01                 movw r24,r26
 9809 5676 0E94 0000            call __mulsi3
 9810 567a 97FF                 sbrs r25,7
 9811 567c 04C0                 rjmp .L745
 9812 567e 615C                 subi r22,lo8(-(63))
 9813 5680 7F4F                 sbci r23,hi8(-(63))
 9814 5682 8F4F                 sbci r24,hlo8(-(63))
 9815 5684 9F4F                 sbci r25,hhi8(-(63))
 9816                   .L745:
 9817 5686 46E0                 ldi r20,6
 9818 5688 9595         1:      asr r25
 9819 568a 8795                 ror r24
 9820 568c 7795                 ror r23
 9821 568e 6795                 ror r22
 9822 5690 4A95                 dec r20
 9823 5692 D1F7                 brne 1b
 9824 5694 8B01                 movw r16,r22
 9825                   .L744:
 9826 5696 F401                 movw r30,r8
 9827 5698 2181                 ldd r18,Z+1
 9828 569a 2034                 cpi r18,lo8(64)
 9829 569c 19F4                 brne .L746
 9830 569e 0E0D                 add r16,r14
 9831 56a0 1F1D                 adc r17,r15
 9832 56a2 22C0                 rjmp .L747
 9833                   .L746:
 9834 56a4 203C                 cpi r18,lo8(-64)
 9835 56a6 19F4                 brne .L748
 9836 56a8 0E19                 sub r16,r14
 9837 56aa 1F09                 sbc r17,r15
 9838 56ac 1DC0                 rjmp .L747
 9839                   .L748:
 9840 56ae C701                 movw r24,r14
 9841 56b0 AA27                 clr r26
 9842 56b2 97FD                 sbrc r25,7
 9843 56b4 A095                 com r26
 9844 56b6 BA2F                 mov r27,r26
 9845 56b8 3327                 clr r19
 9846 56ba 27FD                 sbrc r18,7
 9847 56bc 3095                 com r19
 9848 56be 432F                 mov r20,r19
 9849 56c0 532F                 mov r21,r19
 9850 56c2 BC01                 movw r22,r24
 9851 56c4 CD01                 movw r24,r26
 9852 56c6 0E94 0000            call __mulsi3
 9853 56ca 97FF                 sbrs r25,7
 9854 56cc 04C0                 rjmp .L750
 9855 56ce 615C                 subi r22,lo8(-(63))
 9856 56d0 7F4F                 sbci r23,hi8(-(63))
 9857 56d2 8F4F                 sbci r24,hlo8(-(63))
 9858 56d4 9F4F                 sbci r25,hhi8(-(63))
 9859                   .L750:
 9860 56d6 36E0                 ldi r19,6
 9861 56d8 9595         1:      asr r25
 9862 56da 8795                 ror r24
 9863 56dc 7795                 ror r23
 9864 56de 6795                 ror r22
 9865 56e0 3A95                 dec r19
 9866 56e2 D1F7                 brne 1b
 9867 56e4 060F                 add r16,r22
 9868 56e6 171F                 adc r17,r23
 9869                   .L747:
 9870 56e8 F401                 movw r30,r8
 9871 56ea 2281                 ldd r18,Z+2
 9872 56ec 2034                 cpi r18,lo8(64)
 9873 56ee 19F4                 brne .L751
 9874 56f0 0A0D                 add r16,r10
 9875 56f2 1B1D                 adc r17,r11
 9876 56f4 22C0                 rjmp .L752
 9877                   .L751:
 9878 56f6 203C                 cpi r18,lo8(-64)
 9879 56f8 19F4                 brne .L753
 9880 56fa 0A19                 sub r16,r10
 9881 56fc 1B09                 sbc r17,r11
 9882 56fe 1DC0                 rjmp .L752
 9883                   .L753:
 9884 5700 C501                 movw r24,r10
 9885 5702 AA27                 clr r26
 9886 5704 97FD                 sbrc r25,7
 9887 5706 A095                 com r26
 9888 5708 BA2F                 mov r27,r26
 9889 570a 3327                 clr r19
 9890 570c 27FD                 sbrc r18,7
 9891 570e 3095                 com r19
 9892 5710 432F                 mov r20,r19
 9893 5712 532F                 mov r21,r19
 9894 5714 BC01                 movw r22,r24
 9895 5716 CD01                 movw r24,r26
 9896 5718 0E94 0000            call __mulsi3
 9897 571c 97FF                 sbrs r25,7
 9898 571e 04C0                 rjmp .L755
 9899 5720 615C                 subi r22,lo8(-(63))
 9900 5722 7F4F                 sbci r23,hi8(-(63))
 9901 5724 8F4F                 sbci r24,hlo8(-(63))
 9902 5726 9F4F                 sbci r25,hhi8(-(63))
 9903                   .L755:
 9904 5728 26E0                 ldi r18,6
 9905 572a 9595         1:      asr r25
 9906 572c 8795                 ror r24
 9907 572e 7795                 ror r23
 9908 5730 6795                 ror r22
 9909 5732 2A95                 dec r18
 9910 5734 D1F7                 brne 1b
 9911 5736 060F                 add r16,r22
 9912 5738 171F                 adc r17,r23
 9913                   .L752:
 9914 573a F401                 movw r30,r8
 9915 573c 2381                 ldd r18,Z+3
 9916 573e 2034                 cpi r18,lo8(64)
 9917 5740 19F4                 brne .L756
 9918 5742 0C0D                 add r16,r12
 9919 5744 1D1D                 adc r17,r13
 9920 5746 22C0                 rjmp .L757
 9921                   .L756:
 9922 5748 203C                 cpi r18,lo8(-64)
 9923 574a 19F4                 brne .L758
 9924 574c 0C19                 sub r16,r12
 9925 574e 1D09                 sbc r17,r13
 9926 5750 1DC0                 rjmp .L757
 9927                   .L758:
 9928 5752 C601                 movw r24,r12
 9929 5754 AA27                 clr r26
 9930 5756 97FD                 sbrc r25,7
 9931 5758 A095                 com r26
 9932 575a BA2F                 mov r27,r26
 9933 575c 3327                 clr r19
 9934 575e 27FD                 sbrc r18,7
 9935 5760 3095                 com r19
 9936 5762 432F                 mov r20,r19
 9937 5764 532F                 mov r21,r19
 9938 5766 BC01                 movw r22,r24
 9939 5768 CD01                 movw r24,r26
 9940 576a 0E94 0000            call __mulsi3
 9941 576e 97FF                 sbrs r25,7
 9942 5770 04C0                 rjmp .L760
 9943 5772 615C                 subi r22,lo8(-(63))
 9944 5774 7F4F                 sbci r23,hi8(-(63))
 9945 5776 8F4F                 sbci r24,hlo8(-(63))
 9946 5778 9F4F                 sbci r25,hhi8(-(63))
 9947                   .L760:
 9948 577a B6E0                 ldi r27,6
 9949 577c 9595         1:      asr r25
 9950 577e 8795                 ror r24
 9951 5780 7795                 ror r23
 9952 5782 6795                 ror r22
 9953 5784 BA95                 dec r27
 9954 5786 D1F7                 brne 1b
 9955 5788 060F                 add r16,r22
 9956 578a 171F                 adc r17,r23
 9957                   .L757:
 9958 578c D201                 movw r26,r4
 9959 578e 8D91                 ld r24,X+
 9960 5790 9C91                 ld r25,X
 9961 5792 8017                 cp r24,r16
 9962 5794 9107                 cpc r25,r17
 9963 5796 5CF4                 brge .L761
 9964 5798 BC01                 movw r22,r24
 9965 579a 600F                 add r22,r16
 9966 579c 711F                 adc r23,r17
 9967 579e 77FF                 sbrs r23,7
 9968 57a0 02C0                 rjmp .L762
 9969 57a2 6F5F                 subi r22,lo8(-(1))
 9970 57a4 7F4F                 sbci r23,hi8(-(1))
 9971                   .L762:
 9972 57a6 8B01                 movw r16,r22
 9973 57a8 1595                 asr r17
 9974 57aa 0795                 ror r16
 9975 57ac 11C0                 rjmp .L763
 9976                   .L761:
 9977 57ae B1E0                 ldi r27,lo8(1)
 9978 57b0 B215                 cp r27,r2
 9979 57b2 28F0                 brlo .L764
 9980 57b4 000F                 add r16,r16
 9981 57b6 111F                 adc r17,r17
 9982 57b8 081B                 sub r16,r24
 9983 57ba 190B                 sbc r17,r25
 9984 57bc 09C0                 rjmp .L763
 9985                   .L764:
 9986 57be 222D                 mov r18,r2
 9987 57c0 3327                 clr r19
 9988 57c2 801B                 sub r24,r16
 9989 57c4 910B                 sbc r25,r17
 9990 57c6 B901                 movw r22,r18
 9991 57c8 0E94 0000            call __divmodhi4
 9992 57cc 060F                 add r16,r22
 9993 57ce 171F                 adc r17,r23
 9994                   .L763:
 9995 57d0 E8A9                 ldd r30,Y+48
 9996 57d2 8E2F                 mov r24,r30
 9997 57d4 9927                 clr r25
 9998 57d6 880F                 lsl r24
 9999 57d8 991F                 rol r25
 10000 57da 880F                lsl r24
 10001 57dc 991F                rol r25
 10002 57de 8017                cp r24,r16
 10003 57e0 9107                cpc r25,r17
 10004 57e2 54F4                brge .L800
 10005 57e4 F9A9                ldd r31,Y+49
 10006 57e6 8F2F                mov r24,r31
 10007 57e8 9927                clr r25
 10008 57ea 880F                lsl r24
 10009 57ec 991F                rol r25
 10010 57ee 880F                lsl r24
 10011 57f0 991F                rol r25
 10012 57f2 0817                cp r16,r24
 10013 57f4 1907                cpc r17,r25
 10014 57f6 0CF0                brlt .L767
 10015                  .L800:
 10016 57f8 8C01                movw r16,r24
 10017                  .L767:
 10018 57fa C801                movw r24,r16
 10019 57fc 17FD                sbrc r17,7
 10020 57fe 0396                adiw r24,3
 10021                  .L769:
 10022 5800 9595                asr r25
 10023 5802 8795                ror r24
 10024 5804 9595                asr r25
 10025 5806 8795                ror r24
 10026 5808 F301                movw r30,r6
 10027 580a 8183                std Z+1,r24
 10028 580c 880F                lsl r24
 10029 580e 991F                rol r25
 10030 5810 880F                lsl r24
 10031 5812 991F                rol r25
 10032 5814 9801                movw r18,r16
 10033 5816 281B                sub r18,r24
 10034 5818 390B                sbc r19,r25
 10035 581a C901                movw r24,r18
 10036 581c 880F                lsl r24
 10037 581e 8283                std Z+2,r24
 10038 5820 D201                movw r26,r4
 10039 5822 0D93                st X+,r16
 10040 5824 1C93                st X,r17
 10041 5826 03C0                rjmp .L741
 10042                  .L742:
 10043 5828 F301                movw r30,r6
 10044 582a 1182                std Z+1,__zero_reg__
 10045 582c 1282                std Z+2,__zero_reg__
 10046                  .L741:
 10047 582e 3A94                dec r3
 10048 5830 02E0                ldi r16,lo8(2)
 10049 5832 10E0                ldi r17,hi8(2)
 10050 5834 400E                add r4,r16
 10051 5836 511E                adc r5,r17
 10052 5838 24E0                ldi r18,lo8(4)
 10053 583a 30E0                ldi r19,hi8(4)
 10054 583c 820E                add r8,r18
 10055 583e 931E                adc r9,r19
 10056 5840 48E0                ldi r20,lo8(8)
 10057 5842 50E0                ldi r21,hi8(8)
 10058 5844 640E                add r6,r20
 10059 5846 751E                adc r7,r21
 10060 5848 37FE                sbrs r3,7
 10061 584a FDCE                rjmp .L772
 10062                  /* epilogue: frame size=53 */
 10063 584c E2E1                ldi r30,18
 10064 584e CB5C                subi r28,-53
 10065 5850 0C94 0000           jmp __epilogue_restores__+0
 10066                  /* epilogue end (size=4) */
 10067                  /* function MotorRegler size 7558 (7548) */
 10069                          .comm TrimNick,2,1
 10070                          .comm TrimRoll,2,1
 10071                          .comm ErsatzKompass,4,1
 10072                          .comm ErsatzKompassInGrad,2,1
 10073                          .comm MesswertNick,2,1
 10074                          .comm MesswertRoll,2,1
 10075                          .comm MesswertGier,2,1
 10076                          .comm Mittelwert_AccNick,2,1
 10077                          .comm Mittelwert_AccRoll,2,1
 10078                          .comm NaviAccNick,2,1
 10079                          .comm NaviAccRoll,2,1
 10080                          .comm h,1,1
 10081                          .comm m,1,1
 10082                          .comm s,1,1
 10083                          .comm DiffNick,2,1
 10084                          .comm DiffRoll,2,1
 10085                          .comm Parameter_Servo3,1,1
 10086                          .comm Parameter_Servo4,1,1
 10087                          .comm Parameter_Servo5,1,1
 10088                          .comm Parameter_J16Bitmask,1,1
 10089                          .comm Parameter_J16Timing,1,1
 10090                          .comm Parameter_J17Bitmask,1,1
 10091                          .comm Parameter_J17Timing,1,1
 10092                          .comm MesswertGierBias,2,1
 10093                          .comm RohMesswertNick,2,1
 10094                          .comm RohMesswertRoll,2,1
 10095                          .comm MittelIntegralNick,4,1
 10096                          .comm MittelIntegralRoll,4,1
 10097                          .comm MittelIntegralNick2,4,1
 10098                          .comm MittelIntegralRoll2,4,1
 10099                          .comm MAX_GAS,1,1
 10100                          .comm MIN_GAS,1,1
 10101                          .comm GyroFaktor,1,1
 10102                          .comm GyroFaktorGier,1,1
 10103                          .comm IntegralFaktor,1,1
 10104                          .comm IntegralFaktorGier,1,1
 10105                          .comm Parameter_NaviGpsModeControl,1,1
 10106                          .comm Parameter_NaviGpsGain,1,1
 10107                          .comm Parameter_NaviGpsP,1,1
 10108                          .comm Parameter_NaviGpsI,1,1
 10109                          .comm Parameter_NaviGpsD,1,1
 10110                          .comm Parameter_NaviGpsACC,1,1
 10111                          .comm Parameter_NaviOperatingRadius,1,1
 10112                          .comm Parameter_NaviWindCorrection,1,1
 10113                          .comm Parameter_NaviSpeedCompensation,1,1
 10114                          .comm Parameter_ExternalControl,1,1
 10115                          .comm KopplungsteilNickRoll,2,1
 10116                          .comm KopplungsteilRollNick,2,1
 10117                          .comm tmp_motorwert,24,1
 10118                  /* File "fc.c": code 11450 = 0x2cba (11397), prologues  27, epilogues  26 */
DEFINED SYMBOLS
                            *ABS*:00000000 fc.c
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3      *ABS*:0000003f __SREG__
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:4      *ABS*:0000003e __SP_H__
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:5      *ABS*:0000003d __SP_L__
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:6      *ABS*:00000000 __tmp_reg__
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:7      *ABS*:00000001 __zero_reg__
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:14     .data:00000000 VarioCharacter
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:19     .data:00000001 GIER_GRAD_FAKTOR
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:26     .bss:00000000 FCFlags
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:32     .bss:00000001 modell_fliegt
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:38     .bss:00000003 MaxStickRoll
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:44     .bss:00000005 MaxStickNick
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:50     .data:00000005 ExternHoehenValue
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:57     .bss:00000007 ExternStickGier
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:63     .bss:00000009 ExternStickRoll
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:69     .bss:0000000b ExternStickNick
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:75     .bss:0000000d CareFree
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:81     .data:00000007 Parameter_DynamicStability
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:86     .data:00000008 Parameter_CouplingYawCorrection
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:91     .data:00000009 Parameter_AchsKopplung2
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:96     .data:0000000a Parameter_AchsKopplung1
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:101    .data:0000000b Parameter_LoopGasLimit
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:106    .data:0000000c Parameter_ServoRollControl
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:111    .data:0000000d Parameter_ServoNickControl
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:118    .bss:0000000e Parameter_UserParam8
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:124    .bss:0000000f Parameter_UserParam7
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:130    .bss:00000010 Parameter_UserParam6
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:136    .bss:00000011 Parameter_UserParam5
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:142    .bss:00000012 Parameter_UserParam4
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:148    .bss:00000013 Parameter_UserParam3
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:154    .bss:00000014 Parameter_UserParam2
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:160    .bss:00000015 Parameter_UserParam1
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:166    .data:0000000e Parameter_I_Faktor
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:171    .data:0000000f Parameter_Gier_P
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:176    .data:00000010 Parameter_Gyro_Gier_I
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:181    .data:00000011 Parameter_Gyro_Gier_P
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:186    .data:00000012 Parameter_Gyro_I
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:191    .data:00000013 Parameter_Gyro_P
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:196    .data:00000014 Parameter_Gyro_D
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:201    .data:00000015 Parameter_Hoehe_GPS_Z
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:206    .data:00000016 Parameter_KompassWirkung
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:211    .data:00000017 Parameter_Hoehe_ACC_Wirkung
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:216    .data:00000018 Parameter_Hoehe_P
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:221    .data:00000019 Parameter_MaxHoehe
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:226    .data:0000001a Parameter_Luftdruck_D
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:233    .bss:00000016 Looping_Oben
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:239    .bss:00000017 Looping_Unten
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:245    .bss:00000018 Looping_Rechts
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:251    .bss:00000019 Looping_Links
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:257    .bss:0000001a Looping_Roll
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:263    .bss:0000001b Looping_Nick
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:269    .data:0000001b Ki
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:276    .bss:0000001c HoverGas
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:282    .bss:0000001e LageKorrekturNick
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:288    .bss:00000020 LageKorrekturRoll
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:294    .bss:00000022 SollHoehe
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:300    .bss:00000026 HoehenWert
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:306    .bss:0000002a StartTrigger
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:312    .bss:0000002b MotorenEin
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:318    .bss:0000002c StickGas
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:324    .bss:0000002e StickGier
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:330    .bss:00000030 StickRoll
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:336    .bss:00000032 StickNick
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:342    .bss:00000034 SenderOkay
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:348    .bss:00000035 Poti
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:354    .bss:0000003e GierGyroFehler
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:360    .data:0000001d Umschlag180Roll
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:365    .data:00000021 Umschlag180Nick
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:372    .bss:00000040 TrichterFlug
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:378    .bss:00000041 HoehenReglerAktiv
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:384    .data:00000025 KompassSignalSchlecht
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:391    .bss:00000042 KompassRichtung
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:397    .bss:00000044 KompassStartwert
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:403    .bss:00000046 KompassValue
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:409    .bss:00000048 Mess_Integral_Hoch
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:415    .bss:0000004c SummeRoll
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:421    .bss:00000050 SummeNick
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:427    .bss:00000054 Mess_Integral_Gier2
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:433    .bss:00000058 Mess_Integral_Gier
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:439    .bss:0000005c Mess_IntegralRoll2
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:445    .bss:00000060 Mess_IntegralRoll
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:451    .bss:00000064 Mess_IntegralNick2
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:457    .bss:00000068 Mess_IntegralNick
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:463    .bss:0000006c Integral_Gier
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:469    .bss:00000070 IntegralAccZ
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:475    .bss:00000074 IntegralAccRoll
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:481    .bss:00000078 IntegralAccNick
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:487    .bss:0000007c IntegralRoll2
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:493    .bss:00000080 IntegralRoll
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:499    .bss:00000084 IntegralNick2
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:505    .bss:00000088 IntegralNick
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:511    .bss:0000008c ControlHeading
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:517    .bss:0000008d NeutralAccZ
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:523    .bss:0000008f NaviCntAcc
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:529    .bss:00000091 NeutralAccY
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:535    .bss:00000093 NeutralAccX
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:541    .bss:00000095 StartNeutralNick
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:547    .bss:00000097 StartNeutralRoll
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:553    .bss:00000099 AdNeutralGier
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:559    .bss:0000009b AdNeutralRoll
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:565    .bss:0000009d AdNeutralNick
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:571    .bss:0000009f BaroExpandActive
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:576    .text:00000000 CopyDebugValues
                            *COM*:00000002 Mittelwert_AccNick
                            *COM*:00000002 Mittelwert_AccRoll
                            *COM*:00000004 ErsatzKompass
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:754    .text:00000214 Piep
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:793    .text:00000256 CalibrierMittelwert
                            *COM*:00000002 MesswertNick
                            *COM*:00000002 MesswertRoll
                            *COM*:00000002 MesswertGier
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:935    .progmem.data:00000000 __c.40
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:940    .text:00000398 SetNeutral
                             .bss:000000a1 tmpl.32
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1441   .bss:000000a5 tmpl2.33
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1442   .bss:000000a9 tmpl3.34
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1443   .bss:000000ad tmpl4.35
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1444   .bss:000000b1 oldNick.36
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1445   .bss:000000b3 oldRoll.37
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1446   .bss:000000b5 d2Roll.38
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1447   .bss:000000b7 d2Nick.39
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1451   .text:000008f4 Mittelwert
                            *COM*:00000002 RohMesswertNick
                            *COM*:00000002 RohMesswertRoll
                            *COM*:00000002 NaviAccNick
                            *COM*:00000002 NaviAccRoll
                            *COM*:00000002 KopplungsteilNickRoll
                            *COM*:00000002 KopplungsteilRollNick
                            *COM*:00000002 TrimRoll
                            *COM*:00000002 TrimNick
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3093   .text:000018e4 SendMotorData
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3146   .text:00001950 ParameterZuordnung
                            *COM*:00000001 Parameter_J16Timing
                            *COM*:00000001 Parameter_J17Timing
                            *COM*:00000001 Parameter_Servo3
                            *COM*:00000001 Parameter_Servo4
                            *COM*:00000001 Parameter_Servo5
                            *COM*:00000001 Parameter_ExternalControl
                            *COM*:00000001 MAX_GAS
                            *COM*:00000001 MIN_GAS
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:1448   .bss:000000b9 sollGier.0
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3703   .bss:000000bd tmp_long.1
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3704   .bss:000000c1 tmp_long2.2
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3705   .bss:000000c5 IntegralFehlerNick.3
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3706   .bss:000000c9 IntegralFehlerRoll.4
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3707   .bss:000000cd RcLostTimer.5
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3708   .bss:000000cf delay_neutral.6
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3709   .bss:000000d0 delay_einschalten.7
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3710   .bss:000000d1 delay_ausschalten.8
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3711   .bss:000000d2 calibration_done.9
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3712   .bss:000000d3 NeueKompassRichtungMerken.10
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3713   .bss:000000d4 ausgleichNick.11
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3714   .bss:000000d8 ausgleichRoll.12
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3715   .bss:000000dc stick_nick.13
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3716   .bss:000000de stick_roll.14
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3717   .bss:000000e0 cnt.15
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3718   .bss:000000e2 last_n_p.16
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3719   .bss:000000e3 last_n_n.17
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3720   .bss:000000e4 last_r_p.18
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3721   .bss:000000e5 last_r_n.19
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3722   .bss:000000e6 MittelIntegralNick_Alt.20
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3723   .bss:000000ea MittelIntegralRoll_Alt.21
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3724   .bss:000000ee HeightTrimming.22
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3725   .bss:000000f0 FilterHCGas.23
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3730   .data:00000027 StickGasHover.24
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3726   .bss:000000f2 HoverGasMin.25
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3735   .data:00000029 HoverGasMax.26
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3732   .bss:000000f4 HoverGasFilter.27
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3740   .data:0000002b delay.28
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3737   .bss:000000f8 BaroAtUpperLimit.29
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3742   .bss:000000f9 BaroAtLowerLimit.30
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3743   .bss:000000fa HeightTrimmingFlag.31
C:\Users\Arthur-P\AppData\Local\Temp/cckFaaaa.s:3780   .text:00001e0c MotorRegler
                            *COM*:00000001 GyroFaktor
                            *COM*:00000001 IntegralFaktor
                            *COM*:00000001 GyroFaktorGier
                            *COM*:00000001 IntegralFaktorGier
                            *COM*:00000004 MittelIntegralNick
                            *COM*:00000004 MittelIntegralRoll
                            *COM*:00000004 MittelIntegralNick2
                            *COM*:00000004 MittelIntegralRoll2
                            *COM*:00000002 DiffNick
                            *COM*:00000002 DiffRoll
                            *COM*:00000018 tmp_motorwert
                            *COM*:00000002 ErsatzKompassInGrad
                            *COM*:00000001 h
                            *COM*:00000001 m
                            *COM*:00000001 s
                            *COM*:00000001 Parameter_J16Bitmask
                            *COM*:00000001 Parameter_J17Bitmask
                            *COM*:00000002 MesswertGierBias
                            *COM*:00000001 Parameter_NaviGpsModeControl
                            *COM*:00000001 Parameter_NaviGpsGain
                            *COM*:00000001 Parameter_NaviGpsP
                            *COM*:00000001 Parameter_NaviGpsI
                            *COM*:00000001 Parameter_NaviGpsD
                            *COM*:00000001 Parameter_NaviGpsACC
                            *COM*:00000001 Parameter_NaviOperatingRadius
                            *COM*:00000001 Parameter_NaviWindCorrection
                            *COM*:00000001 Parameter_NaviSpeedCompensation

UNDEFINED SYMBOLS
__do_copy_data
__do_clear_bss
EE_Parameter
__divmodsi4
DebugOut
AdWertGier
AdWertAccHoch
UBat
Motor
ServoNickValue
Capacity
GPS_Nick
GPS_Roll
VersionInfo
beeptime
Delay_ms
PlatinenVersion
SucheGyroOffset
AdWertNick
AdWertRoll
AdWertAccNick
AdWertAccRoll
PPM_in
__mulsi3
__prologue_saves__
ExpandBaro
Delay_ms_Mess
MessLuftdruck
SucheLuftruckOffset
__divmodhi4
Aktuell_az
SetParamWord
GetParamWord
uart_putchar
_printf_P
Luftdruck
StartLuftdruck
VarioMeter
GPS_Neutral
SendVersionToNavi
LED_Init
FromNaviCtrl_Value
ServoActive
__epilogue_restores__
AdWertNickFilter
AdWertRollFilter
AdReady
HiResNick
HiResRoll
MotorTest
PC_MotortestActive
motor_write
twi_state
BLFlags
FromNaviCtrl
BeepMuster
PPM_diff
SetActiveParamSet
WinkelOut
GetActiveParamSet
ParamSet_ReadFromEEProm
LipoDetection
LIBFC_ReceiverInit
NewPpmData
FromNC_Rotate_C
FromNC_Rotate_S
GPS_Nick2
GPS_Roll2
__floatsisf
__addsf3
__fixunssfsi
ExternControl
ZaehlMessungen
BattLowVoltageWarning
__udivmodhi4
DruckOffsetSetting
SummenHoehe
ihypot
c_cos_8192
MissingMotor
Mixer