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   1                            .file   "fc.c"
   2                            .arch atmega1284p
   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 GasIsZeroCnt
  11                    .global GasIsZeroCnt
  12                            .section .bss
  15                    GasIsZeroCnt:
  16 0000 0000                  .skip 2,0
  17                    .global HooverGasEmergencyPercent
  18                    .global HooverGasEmergencyPercent
  21                    HooverGasEmergencyPercent:
  22 0002 0000                  .skip 2,0
  23                    .global VarioCharacter
  24                            .data
  27                    VarioCharacter:
  28 0000 20                    .byte   32
  29                    .global GIER_GRAD_FAKTOR
  32                    GIER_GRAD_FAKTOR:
  33 0001 0B05 0000             .long   1291
  34                    .global FC_StatusFlags2
  35                    .global FC_StatusFlags2
  36                            .section .bss
  39                    FC_StatusFlags2:
  40 0004 00                    .skip 1,0
  41                    .global FC_StatusFlags
  42                    .global FC_StatusFlags
  45                    FC_StatusFlags:
  46 0005 00                    .skip 1,0
  47                    .global modell_fliegt
  48                    .global modell_fliegt
  51                    modell_fliegt:
  52 0006 0000                  .skip 2,0
  53                    .global MaxStickRoll
  54                    .global MaxStickRoll
  57                    MaxStickRoll:
  58 0008 0000                  .skip 2,0
  59                    .global MaxStickNick
  60                    .global MaxStickNick
  63                    MaxStickNick:
  64 000a 0000                  .skip 2,0
  65                    .global ExternHoehenValue
  66                            .data
  69                    ExternHoehenValue:
  70 0005 ECFF                  .word   -20
  71                    .global ExternStickGier
  72                    .global ExternStickGier
  73                            .section .bss
  76                    ExternStickGier:
  77 000c 0000                  .skip 2,0
  78                    .global ExternStickRoll
  79                    .global ExternStickRoll
  82                    ExternStickRoll:
  83 000e 0000                  .skip 2,0
  84                    .global ExternStickNick
  85                    .global ExternStickNick
  88                    ExternStickNick:
  89 0010 0000                  .skip 2,0
  90                    .global sintab
  91                            .data
  94                    sintab:
  95 0007 00                    .byte   0
  96 0008 02                    .byte   2
  97 0009 04                    .byte   4
  98 000a 06                    .byte   6
  99 000b 07                    .byte   7
 100 000c 08                    .byte   8
 101 000d 08                    .byte   8
 102 000e 08                    .byte   8
 103 000f 07                    .byte   7
 104 0010 06                    .byte   6
 105 0011 04                    .byte   4
 106 0012 02                    .byte   2
 107 0013 00                    .byte   0
 108 0014 FE                    .byte   -2
 109 0015 FC                    .byte   -4
 110 0016 FA                    .byte   -6
 111 0017 F9                    .byte   -7
 112 0018 F8                    .byte   -8
 113 0019 F8                    .byte   -8
 114 001a F8                    .byte   -8
 115 001b F9                    .byte   -7
 116 001c FA                    .byte   -6
 117 001d FC                    .byte   -4
 118 001e FE                    .byte   -2
 119 001f 00                    .byte   0
 120 0020 02                    .byte   2
 121 0021 04                    .byte   4
 122 0022 06                    .byte   6
 123 0023 07                    .byte   7
 124 0024 08                    .byte   8
 125 0025 08                    .byte   8
 126                    .global CareFree
 127                    .global CareFree
 128                            .section .bss
 131                    CareFree:
 132 0012 00                    .skip 1,0
 133                    .global Parameter_DynamicStability
 134                            .data
 137                    Parameter_DynamicStability:
 138 0026 64                    .byte   100
 139                    .global Parameter_CouplingYawCorrection
 142                    Parameter_CouplingYawCorrection:
 143 0027 40                    .byte   64
 144                    .global Parameter_AchsKopplung2
 147                    Parameter_AchsKopplung2:
 148 0028 41                    .byte   65
 149                    .global Parameter_AchsKopplung1
 152                    Parameter_AchsKopplung1:
 153 0029 5A                    .byte   90
 154                    .global Parameter_LoopGasLimit
 157                    Parameter_LoopGasLimit:
 158 002a 46                    .byte   70
 159                    .global Parameter_ServoRollControl
 162                    Parameter_ServoRollControl:
 163 002b 64                    .byte   100
 164                    .global Parameter_ServoNickControl
 167                    Parameter_ServoNickControl:
 168 002c 64                    .byte   100
 169                    .global Parameter_UserParam8
 170                    .global Parameter_UserParam8
 171                            .section .bss
 174                    Parameter_UserParam8:
 175 0013 00                    .skip 1,0
 176                    .global Parameter_UserParam7
 177                    .global Parameter_UserParam7
 180                    Parameter_UserParam7:
 181 0014 00                    .skip 1,0
 182                    .global Parameter_UserParam6
 183                    .global Parameter_UserParam6
 186                    Parameter_UserParam6:
 187 0015 00                    .skip 1,0
 188                    .global Parameter_UserParam5
 189                    .global Parameter_UserParam5
 192                    Parameter_UserParam5:
 193 0016 00                    .skip 1,0
 194                    .global Parameter_UserParam4
 195                    .global Parameter_UserParam4
 198                    Parameter_UserParam4:
 199 0017 00                    .skip 1,0
 200                    .global Parameter_UserParam3
 201                    .global Parameter_UserParam3
 204                    Parameter_UserParam3:
 205 0018 00                    .skip 1,0
 206                    .global Parameter_UserParam2
 207                    .global Parameter_UserParam2
 210                    Parameter_UserParam2:
 211 0019 00                    .skip 1,0
 212                    .global Parameter_UserParam1
 213                    .global Parameter_UserParam1
 216                    Parameter_UserParam1:
 217 001a 00                    .skip 1,0
 218                    .global Parameter_I_Faktor
 219                            .data
 222                    Parameter_I_Faktor:
 223 002d 0A                    .byte   10
 224                    .global Parameter_Gier_P
 227                    Parameter_Gier_P:
 228 002e 02                    .byte   2
 229                    .global Parameter_Gyro_Gier_I
 232                    Parameter_Gyro_Gier_I:
 233 002f 96                    .byte   -106
 234                    .global Parameter_Gyro_Gier_P
 237                    Parameter_Gyro_Gier_P:
 238 0030 96                    .byte   -106
 239                    .global Parameter_Gyro_I
 242                    Parameter_Gyro_I:
 243 0031 96                    .byte   -106
 244                    .global Parameter_Gyro_P
 247                    Parameter_Gyro_P:
 248 0032 96                    .byte   -106
 249                    .global Parameter_Gyro_D
 252                    Parameter_Gyro_D:
 253 0033 08                    .byte   8
 254                    .global Parameter_Hoehe_GPS_Z
 257                    Parameter_Hoehe_GPS_Z:
 258 0034 40                    .byte   64
 259                    .global Parameter_KompassWirkung
 262                    Parameter_KompassWirkung:
 263 0035 40                    .byte   64
 264                    .global Parameter_Hoehe_ACC_Wirkung
 267                    Parameter_Hoehe_ACC_Wirkung:
 268 0036 3A                    .byte   58
 269                    .global Parameter_Hoehe_P
 272                    Parameter_Hoehe_P:
 273 0037 10                    .byte   16
 274                    .global Parameter_HoehenSchalter
 277                    Parameter_HoehenSchalter:
 278 0038 FB                    .byte   -5
 279                    .global Parameter_Luftdruck_D
 282                    Parameter_Luftdruck_D:
 283 0039 30                    .byte   48
 284                    .global Looping_Oben
 285                    .global Looping_Oben
 286                            .section .bss
 289                    Looping_Oben:
 290 001b 00                    .skip 1,0
 291                    .global Looping_Unten
 292                    .global Looping_Unten
 295                    Looping_Unten:
 296 001c 00                    .skip 1,0
 297                    .global Looping_Rechts
 298                    .global Looping_Rechts
 301                    Looping_Rechts:
 302 001d 00                    .skip 1,0
 303                    .global Looping_Links
 304                    .global Looping_Links
 307                    Looping_Links:
 308 001e 00                    .skip 1,0
 309                    .global Looping_Roll
 310                    .global Looping_Roll
 313                    Looping_Roll:
 314 001f 00                    .skip 1,0
 315                    .global Looping_Nick
 316                    .global Looping_Nick
 319                    Looping_Nick:
 320 0020 00                    .skip 1,0
 321                    .global Ki
 322                            .data
 325                    Ki:
 326 003a 3801                  .word   312
 327                    .global HoverGas
 328                    .global HoverGas
 329                            .section .bss
 332                    HoverGas:
 333 0021 0000                  .skip 2,0
 334                    .global LageKorrekturNick
 335                    .global LageKorrekturNick
 338                    LageKorrekturNick:
 339 0023 0000                  .skip 2,0
 340                    .global LageKorrekturRoll
 341                    .global LageKorrekturRoll
 344                    LageKorrekturRoll:
 345 0025 0000                  .skip 2,0
 346                    .global NeueKompassRichtungMerken
 347                    .global NeueKompassRichtungMerken
 350                    NeueKompassRichtungMerken:
 351 0027 00                    .skip 1,0
 352                    .global CalibrationDone
 353                    .global CalibrationDone
 356                    CalibrationDone:
 357 0028 00                    .skip 1,0
 358                    .global CompassGierSetpoint
 359                    .global CompassGierSetpoint
 362                    CompassGierSetpoint:
 363 0029 0000                  .skip 2,0
 364                    .global WaypointTrimming
 365                    .global WaypointTrimming
 368                    WaypointTrimming:
 369 002b 00                    .skip 1,0
 370                    .global carefree_old
 371                            .data
 374                    carefree_old:
 375 003c 32                    .byte   50
 376                    .global FromNC_AltitudeSpeed
 377                    .global FromNC_AltitudeSpeed
 378                            .section .bss
 381                    FromNC_AltitudeSpeed:
 382 002c 00                    .skip 1,0
 383                    .global FromNC_AltitudeSetpoint
 384                    .global FromNC_AltitudeSetpoint
 387                    FromNC_AltitudeSetpoint:
 388 002d 0000 0000             .skip 4,0
 389                    .global AltitudeSetpointTrimming
 390                    .global AltitudeSetpointTrimming
 393                    AltitudeSetpointTrimming:
 394 0031 0000                  .skip 2,0
 395                    .global SollHoehe
 396                    .global SollHoehe
 399                    SollHoehe:
 400 0033 0000 0000             .skip 4,0
 401                    .global HoehenWert
 402                    .global HoehenWert
 405                    HoehenWert:
 406 0037 0000 0000             .skip 4,0
 407                    .global StartTrigger
 408                    .global StartTrigger
 411                    StartTrigger:
 412 003b 00                    .skip 1,0
 413                    .global MotorenEin
 414                    .global MotorenEin
 417                    MotorenEin:
 418 003c 00                    .skip 1,0
 419                    .global SenderOkay
 420                    .global SenderOkay
 423                    SenderOkay:
 424 003d 00                    .skip 1,0
 425                    .global Poti
 426                    .global Poti
 429                    Poti:
 430 003e 0000 0000             .skip 9,0
 430      0000 0000 
 430      00
 431                    .global StickGas
 432                    .global StickGas
 435                    StickGas:
 436 0047 0000                  .skip 2,0
 437                    .global StickGier
 438                    .global StickGier
 441                    StickGier:
 442 0049 0000                  .skip 2,0
 443                    .global StickRoll
 444                    .global StickRoll
 447                    StickRoll:
 448 004b 0000                  .skip 2,0
 449                    .global StickNick
 450                    .global StickNick
 453                    StickNick:
 454 004d 0000                  .skip 2,0
 455                    .global HoverGasMax
 456                            .data
 459                    HoverGasMax:
 460 003d FF03                  .word   1023
 461                    .global HoverGasMin
 462                    .global HoverGasMin
 463                            .section .bss
 466                    HoverGasMin:
 467 004f 0000                  .skip 2,0
 468                    .global StickGasHover
 469                            .data
 472                    StickGasHover:
 473 003f 7800                  .word   120
 474                    .global GierGyroFehler
 475                    .global GierGyroFehler
 476                            .section .bss
 479                    GierGyroFehler:
 480 0051 0000                  .skip 2,0
 481                    .global Umschlag180Roll
 482                            .data
 485                    Umschlag180Roll:
 486 0041 90D0 0300             .long   250000
 487                    .global Umschlag180Nick
 490                    Umschlag180Nick:
 491 0045 90D0 0300             .long   250000
 492                    .global TrichterFlug
 493                    .global TrichterFlug
 494                            .section .bss
 497                    TrichterFlug:
 498 0053 00                    .skip 1,0
 499                    .global HoehenReglerAktiv
 500                    .global HoehenReglerAktiv
 503                    HoehenReglerAktiv:
 504 0054 00                    .skip 1,0
 505                    .global KompassSignalSchlecht
 506                            .data
 509                    KompassSignalSchlecht:
 510 0049 3200                  .word   50
 511                    .global KompassFusion
 514                    KompassFusion:
 515 004b 20                    .byte   32
 516                    .global CalculateCompassTimer
 519                    CalculateCompassTimer:
 520 004c 64                    .byte   100
 521                    .global KompassSollWert
 522                    .global KompassSollWert
 523                            .section .bss
 526                    KompassSollWert:
 527 0055 0000                  .skip 2,0
 528                    .global KompassValue
 529                            .data
 532                    KompassValue:
 533 004d FFFF                  .word   -1
 534                    .global Mess_Integral_Hoch
 535                    .global Mess_Integral_Hoch
 536                            .section .bss
 539                    Mess_Integral_Hoch:
 540 0057 0000 0000             .skip 4,0
 541                    .global SummeRoll
 542                    .global SummeRoll
 545                    SummeRoll:
 546 005b 0000 0000             .skip 4,0
 547                    .global SummeNick
 548                    .global SummeNick
 551                    SummeNick:
 552 005f 0000 0000             .skip 4,0
 553                    .global Mess_Integral_Gier2
 554                    .global Mess_Integral_Gier2
 557                    Mess_Integral_Gier2:
 558 0063 0000 0000             .skip 4,0
 559                    .global Mess_Integral_Gier
 560                    .global Mess_Integral_Gier
 563                    Mess_Integral_Gier:
 564 0067 0000 0000             .skip 4,0
 565                    .global Mess_IntegralRoll2
 566                    .global Mess_IntegralRoll2
 569                    Mess_IntegralRoll2:
 570 006b 0000 0000             .skip 4,0
 571                    .global Mess_IntegralRoll
 572                    .global Mess_IntegralRoll
 575                    Mess_IntegralRoll:
 576 006f 0000 0000             .skip 4,0
 577                    .global Mess_IntegralNick2
 578                    .global Mess_IntegralNick2
 581                    Mess_IntegralNick2:
 582 0073 0000 0000             .skip 4,0
 583                    .global Mess_IntegralNick
 584                    .global Mess_IntegralNick
 587                    Mess_IntegralNick:
 588 0077 0000 0000             .skip 4,0
 589                    .global Integral_Gier
 590                    .global Integral_Gier
 593                    Integral_Gier:
 594 007b 0000 0000             .skip 4,0
 595                    .global IntegralAccZ
 596                    .global IntegralAccZ
 599                    IntegralAccZ:
 600 007f 0000 0000             .skip 4,0
 601                    .global IntegralAccRoll
 602                    .global IntegralAccRoll
 605                    IntegralAccRoll:
 606 0083 0000 0000             .skip 4,0
 607                    .global IntegralAccNick
 608                    .global IntegralAccNick
 611                    IntegralAccNick:
 612 0087 0000 0000             .skip 4,0
 613                    .global IntegralRoll2
 614                    .global IntegralRoll2
 617                    IntegralRoll2:
 618 008b 0000 0000             .skip 4,0
 619                    .global IntegralRoll
 620                    .global IntegralRoll
 623                    IntegralRoll:
 624 008f 0000 0000             .skip 4,0
 625                    .global IntegralNick2
 626                    .global IntegralNick2
 629                    IntegralNick2:
 630 0093 0000 0000             .skip 4,0
 631                    .global IntegralNick
 632                    .global IntegralNick
 635                    IntegralNick:
 636 0097 0000 0000             .skip 4,0
 637                    .global ControlHeading
 638                    .global ControlHeading
 641                    ControlHeading:
 642 009b 00                    .skip 1,0
 643                    .global NeutralAccZ
 644                    .global NeutralAccZ
 647                    NeutralAccZ:
 648 009c 0000                  .skip 2,0
 649                    .global NaviCntAcc
 650                    .global NaviCntAcc
 653                    NaviCntAcc:
 654 009e 0000                  .skip 2,0
 655                    .global NeutralAccY
 656                    .global NeutralAccY
 659                    NeutralAccY:
 660 00a0 0000                  .skip 2,0
 661                    .global NeutralAccX
 662                    .global NeutralAccX
 665                    NeutralAccX:
 666 00a2 0000                  .skip 2,0
 667                    .global StartNeutralNick
 668                    .global StartNeutralNick
 671                    StartNeutralNick:
 672 00a4 0000                  .skip 2,0
 673                    .global StartNeutralRoll
 674                    .global StartNeutralRoll
 677                    StartNeutralRoll:
 678 00a6 0000                  .skip 2,0
 679                    .global AdNeutralGier
 680                    .global AdNeutralGier
 683                    AdNeutralGier:
 684 00a8 0000                  .skip 2,0
 685                    .global AdNeutralRoll
 686                    .global AdNeutralRoll
 689                    AdNeutralRoll:
 690 00aa 0000                  .skip 2,0
 691                    .global AdNeutralNick
 692                    .global AdNeutralNick
 695                    AdNeutralNick:
 696 00ac 0000                  .skip 2,0
 697                    .global BaroExpandActive
 698                    .global BaroExpandActive
 701                    BaroExpandActive:
 702 00ae 0000                  .skip 2,0
 703                            .text
 704                    .global CopyDebugValues
 706                    CopyDebugValues:
 707                    /* prologue: frame size=0 */
 708 0000 EF92                  push r14
 709 0002 FF92                  push r15
 710 0004 0F93                  push r16
 711 0006 1F93                  push r17
 712                    /* prologue end (size=4) */
 713 0008 8091 0000             lds r24,EE_Parameter+28
 714 000c 9927                  clr r25
 715 000e 880F                  lsl r24
 716 0010 991F                  rol r25
 717 0012 880F                  lsl r24
 718 0014 991F                  rol r25
 719 0016 7C01                  movw r14,r24
 720 0018 0027                  clr r16
 721 001a F7FC                  sbrc r15,7
 722 001c 0095                  com r16
 723 001e 102F                  mov r17,r16
 724 0020 8091 0000             lds r24,IntegralNick
 725 0024 9091 0000             lds r25,(IntegralNick)+1
 726 0028 A091 0000             lds r26,(IntegralNick)+2
 727 002c B091 0000             lds r27,(IntegralNick)+3
 728 0030 BC01                  movw r22,r24
 729 0032 CD01                  movw r24,r26
 730 0034 A801                  movw r20,r16
 731 0036 9701                  movw r18,r14
 732 0038 0E94 0000             call __divmodsi4
 733 003c 3093 0000             sts (DebugOut+2)+1,r19
 734 0040 2093 0000             sts DebugOut+2,r18
 735 0044 8091 0000             lds r24,IntegralRoll
 736 0048 9091 0000             lds r25,(IntegralRoll)+1
 737 004c A091 0000             lds r26,(IntegralRoll)+2
 738 0050 B091 0000             lds r27,(IntegralRoll)+3
 739 0054 BC01                  movw r22,r24
 740 0056 CD01                  movw r24,r26
 741 0058 A801                  movw r20,r16
 742 005a 9701                  movw r18,r14
 743 005c 0E94 0000             call __divmodsi4
 744 0060 3093 0000             sts (DebugOut+4)+1,r19
 745 0064 2093 0000             sts DebugOut+4,r18
 746 0068 8091 0000             lds r24,Mittelwert_AccNick
 747 006c 9091 0000             lds r25,(Mittelwert_AccNick)+1
 748 0070 97FD                  sbrc r25,7
 749 0072 0396                  adiw r24,3
 750                    .L2:
 751 0074 9595                  asr r25
 752 0076 8795                  ror r24
 753 0078 9595                  asr r25
 754 007a 8795                  ror r24
 755 007c 9093 0000             sts (DebugOut+6)+1,r25
 756 0080 8093 0000             sts DebugOut+6,r24
 757 0084 8091 0000             lds r24,Mittelwert_AccRoll
 758 0088 9091 0000             lds r25,(Mittelwert_AccRoll)+1
 759 008c 97FD                  sbrc r25,7
 760 008e 0396                  adiw r24,3
 761                    .L3:
 762 0090 9595                  asr r25
 763 0092 8795                  ror r24
 764 0094 9595                  asr r25
 765 0096 8795                  ror r24
 766 0098 9093 0000             sts (DebugOut+8)+1,r25
 767 009c 8093 0000             sts DebugOut+8,r24
 768 00a0 8091 0000             lds r24,AdNeutralGier
 769 00a4 9091 0000             lds r25,(AdNeutralGier)+1
 770 00a8 2091 0000             lds r18,AdWertGier
 771 00ac 3091 0000             lds r19,(AdWertGier)+1
 772 00b0 821B                  sub r24,r18
 773 00b2 930B                  sbc r25,r19
 774 00b4 9093 0000             sts (DebugOut+10)+1,r25
 775 00b8 8093 0000             sts DebugOut+10,r24
 776 00bc 8091 0000             lds r24,HoehenWert
 777 00c0 9091 0000             lds r25,(HoehenWert)+1
 778 00c4 A091 0000             lds r26,(HoehenWert)+2
 779 00c8 B091 0000             lds r27,(HoehenWert)+3
 780 00cc BC01                  movw r22,r24
 781 00ce CD01                  movw r24,r26
 782 00d0 25E0                  ldi r18,lo8(5)
 783 00d2 30E0                  ldi r19,hi8(5)
 784 00d4 40E0                  ldi r20,hlo8(5)
 785 00d6 50E0                  ldi r21,hhi8(5)
 786 00d8 0E94 0000             call __divmodsi4
 787 00dc 3093 0000             sts (DebugOut+12)+1,r19
 788 00e0 2093 0000             sts DebugOut+12,r18
 789 00e4 8091 0000             lds r24,AdWertAccHoch
 790 00e8 9091 0000             lds r25,(AdWertAccHoch)+1
 791 00ec 9093 0000             sts (DebugOut+14)+1,r25
 792 00f0 8093 0000             sts DebugOut+14,r24
 793 00f4 8091 0000             lds r24,KompassValue
 794 00f8 9091 0000             lds r25,(KompassValue)+1
 795 00fc 9093 0000             sts (DebugOut+18)+1,r25
 796 0100 8093 0000             sts DebugOut+18,r24
 797 0104 8091 0000             lds r24,UBat
 798 0108 9091 0000             lds r25,(UBat)+1
 799 010c 9093 0000             sts (DebugOut+20)+1,r25
 800 0110 8093 0000             sts DebugOut+20,r24
 801 0114 8091 0000             lds r24,SenderOkay
 802 0118 9927                  clr r25
 803 011a 9093 0000             sts (DebugOut+22)+1,r25
 804 011e 8093 0000             sts DebugOut+22,r24
 805 0122 8091 0000             lds r24,ErsatzKompassInGrad
 806 0126 9091 0000             lds r25,(ErsatzKompassInGrad)+1
 807 012a 9093 0000             sts (DebugOut+24)+1,r25
 808 012e 8093 0000             sts DebugOut+24,r24
 809 0132 8091 0000             lds r24,Motor+1
 810 0136 9927                  clr r25
 811 0138 9093 0000             sts (DebugOut+26)+1,r25
 812 013c 8093 0000             sts DebugOut+26,r24
 813 0140 8091 0000             lds r24,Motor+9
 814 0144 9927                  clr r25
 815 0146 9093 0000             sts (DebugOut+28)+1,r25
 816 014a 8093 0000             sts DebugOut+28,r24
 817 014e 8091 0000             lds r24,Motor+17
 818 0152 9927                  clr r25
 819 0154 9093 0000             sts (DebugOut+30)+1,r25
 820 0158 8093 0000             sts DebugOut+30,r24
 821 015c 8091 0000             lds r24,Motor+25
 822 0160 9927                  clr r25
 823 0162 9093 0000             sts (DebugOut+32)+1,r25
 824 0166 8093 0000             sts DebugOut+32,r24
 825 016a 8091 0000             lds r24,ServoNickValue
 826 016e 9091 0000             lds r25,(ServoNickValue)+1
 827 0172 9093 0000             sts (DebugOut+42)+1,r25
 828 0176 8093 0000             sts DebugOut+42,r24
 829 017a 8091 0000             lds r24,Capacity
 830 017e 9091 0000             lds r25,(Capacity)+1
 831 0182 9093 0000             sts (DebugOut+46)+1,r25
 832 0186 8093 0000             sts DebugOut+46,r24
 833 018a 8091 0000             lds r24,Capacity+4
 834 018e 9091 0000             lds r25,(Capacity+4)+1
 835 0192 9093 0000             sts (DebugOut+48)+1,r25
 836 0196 8093 0000             sts DebugOut+48,r24
 837 019a 8091 0000             lds r24,SollHoehe
 838 019e 9091 0000             lds r25,(SollHoehe)+1
 839 01a2 A091 0000             lds r26,(SollHoehe)+2
 840 01a6 B091 0000             lds r27,(SollHoehe)+3
 841 01aa BC01                  movw r22,r24
 842 01ac CD01                  movw r24,r26
 843 01ae 25E0                  ldi r18,lo8(5)
 844 01b0 30E0                  ldi r19,hi8(5)
 845 01b2 40E0                  ldi r20,hlo8(5)
 846 01b4 50E0                  ldi r21,hhi8(5)
 847 01b6 0E94 0000             call __divmodsi4
 848 01ba 3093 0000             sts (DebugOut+50)+1,r19
 849 01be 2093 0000             sts DebugOut+50,r18
 850 01c2 8091 0000             lds r24,KompassSollWert
 851 01c6 9091 0000             lds r25,(KompassSollWert)+1
 852 01ca 9093 0000             sts (DebugOut+56)+1,r25
 853 01ce 8093 0000             sts DebugOut+56,r24
 854 01d2 8091 0000             lds r24,Capacity+6
 855 01d6 9927                  clr r25
 856 01d8 9093 0000             sts (DebugOut+60)+1,r25
 857 01dc 8093 0000             sts DebugOut+60,r24
 858 01e0 8091 0000             lds r24,GPS_Nick
 859 01e4 9091 0000             lds r25,(GPS_Nick)+1
 860 01e8 9093 0000             sts (DebugOut+62)+1,r25
 861 01ec 8093 0000             sts DebugOut+62,r24
 862 01f0 8091 0000             lds r24,GPS_Roll
 863 01f4 9091 0000             lds r25,(GPS_Roll)+1
 864 01f8 9093 0000             sts (DebugOut+64)+1,r25
 865 01fc 8093 0000             sts DebugOut+64,r24
 866 0200 8091 0000             lds r24,VersionInfo+5
 867 0204 8823                  tst r24
 868 0206 01F4                  brne .L5
 869 0208 8091 0000             lds r24,VersionInfo+6
 870 020c 8823                  tst r24
 871 020e 01F0                  breq .L4
 872                    .L5:
 873 0210 8091 0000             lds r24,DebugOut+1
 874 0214 8160                  ori r24,lo8(1)
 875 0216 00C0                  rjmp .L7
 876                    .L4:
 877 0218 8091 0000             lds r24,DebugOut+1
 878 021c 8E7F                  andi r24,lo8(-2)
 879                    .L7:
 880 021e 8093 0000             sts DebugOut+1,r24
 881                    /* epilogue: frame size=0 */
 882 0222 1F91                  pop r17
 883 0224 0F91                  pop r16
 884 0226 FF90                  pop r15
 885 0228 EF90                  pop r14
 886 022a 0895                  ret
 887                    /* epilogue end (size=5) */
 888                    /* function CopyDebugValues size 280 (271) */
 890                    .global Piep
 892                    Piep:
 893                    /* prologue: frame size=0 */
 894 022c EF92                  push r14
 895 022e FF92                  push r15
 896 0230 1F93                  push r17
 897 0232 CF93                  push r28
 898 0234 DF93                  push r29
 899                    /* prologue end (size=5) */
 900 0236 182F                  mov r17,r24
 901 0238 7B01                  movw r14,r22
 902 023a 8091 0000             lds r24,MotorenEin
 903 023e 8823                  tst r24
 904 0240 01F4                  brne .L8
 905 0242 8091 0000             lds r24,PlatinenVersion
 906 0246 8C30                  cpi r24,lo8(12)
 907 0248 00F0                  brlo .L11
 908 024a 8631                  cpi r24,lo8(22)
 909 024c 01F4                  brne .L10
 910                    .L11:
 911 024e 2998                  cbi 37-0x20,1
 912 0250 00C0                  rjmp .L12
 913                    .L10:
 914 0252 299A                  sbi 37-0x20,1
 915                    .L12:
 916 0254 1150                  subi r17,lo8(-(-1))
 917 0256 1F3F                  cpi r17,lo8(-1)
 918 0258 01F0                  breq .L26
 919 025a F092 0000             sts (beeptime)+1,r15
 920 025e E092 0000             sts beeptime,r14
 921 0262 E701                  movw r28,r14
 922                    .L34:
 923 0264 8091 0000             lds r24,beeptime
 924 0268 9091 0000             lds r25,(beeptime)+1
 925 026c 892B                  or r24,r25
 926 026e 01F4                  brne .L31
 927 0270 2097                  sbiw r28,0
 928 0272 01F0                  breq .L12
 929                    .L31:
 930 0274 8091 0000             lds r24,UpdateMotor
 931 0278 8823                  tst r24
 932 027a 01F0                  breq .L34
 933 027c 1092 0000             sts UpdateMotor,__zero_reg__
 934 0280 8091 0000             lds r24,beeptime
 935 0284 9091 0000             lds r25,(beeptime)+1
 936 0288 892B                  or r24,r25
 937 028a 01F4                  brne .L19
 938 028c 2197                  sbiw r28,1
 939                    .L19:
 940 028e 0E94 0000             call LIBFC_Polling
 941 0292 00C0                  rjmp .L34
 942                    .L26:
 943 0294 8091 0000             lds r24,PlatinenVersion
 944 0298 8C30                  cpi r24,lo8(12)
 945 029a 00F0                  brlo .L23
 946 029c 8631                  cpi r24,lo8(22)
 947 029e 01F4                  brne .L22
 948                    .L23:
 949 02a0 299A                  sbi 37-0x20,1
 950 02a2 00C0                  rjmp .L8
 951                    .L22:
 952 02a4 2998                  cbi 37-0x20,1
 953                    .L8:
 954                    /* epilogue: frame size=0 */
 955 02a6 DF91                  pop r29
 956 02a8 CF91                  pop r28
 957 02aa 1F91                  pop r17
 958 02ac FF90                  pop r15
 959 02ae EF90                  pop r14
 960 02b0 0895                  ret
 961                    /* epilogue end (size=6) */
 962                    /* function Piep size 67 (56) */
 964                    .global CalibrierMittelwert
 966                    CalibrierMittelwert:
 967                    /* prologue: frame size=0 */
 968 02b2 CF93                  push r28
 969 02b4 DF93                  push r29
 970                    /* prologue end (size=2) */
 971 02b6 8091 0000             lds r24,PlatinenVersion
 972 02ba 8D30                  cpi r24,lo8(13)
 973 02bc 01F4                  brne .L36
 974 02be 0E94 0000             call SucheGyroOffset
 975                    .L36:
 976 02c2 1092 7A00             sts 122,__zero_reg__
 977 02c6 8091 0000             lds r24,AdWertNick
 978 02ca 9091 0000             lds r25,(AdWertNick)+1
 979 02ce 9093 0000             sts (MesswertNick)+1,r25
 980 02d2 8093 0000             sts MesswertNick,r24
 981 02d6 8091 0000             lds r24,AdWertRoll
 982 02da 9091 0000             lds r25,(AdWertRoll)+1
 983 02de 9093 0000             sts (MesswertRoll)+1,r25
 984 02e2 8093 0000             sts MesswertRoll,r24
 985 02e6 8091 0000             lds r24,AdWertGier
 986 02ea 9091 0000             lds r25,(AdWertGier)+1
 987 02ee 9093 0000             sts (MesswertGier)+1,r25
 988 02f2 8093 0000             sts MesswertGier,r24
 989 02f6 2091 0000             lds r18,AdWertAccNick
 990 02fa 3091 0000             lds r19,(AdWertAccNick)+1
 991 02fe C901                  movw r24,r18
 992 0300 880F                  lsl r24
 993 0302 991F                  rol r25
 994 0304 880F                  lsl r24
 995 0306 991F                  rol r25
 996 0308 820F                  add r24,r18
 997 030a 931F                  adc r25,r19
 998 030c 820F                  add r24,r18
 999 030e 931F                  adc r25,r19
 1000 0310 9093 0000            sts (Mittelwert_AccNick)+1,r25
 1001 0314 8093 0000            sts Mittelwert_AccNick,r24
 1002 0318 2091 0000            lds r18,AdWertAccRoll
 1003 031c 3091 0000            lds r19,(AdWertAccRoll)+1
 1004 0320 C901                 movw r24,r18
 1005 0322 880F                 lsl r24
 1006 0324 991F                 rol r25
 1007 0326 880F                 lsl r24
 1008 0328 991F                 rol r25
 1009 032a 820F                 add r24,r18
 1010 032c 931F                 adc r25,r19
 1011 032e 820F                 add r24,r18
 1012 0330 931F                 adc r25,r19
 1013 0332 9093 0000            sts (Mittelwert_AccRoll)+1,r25
 1014 0336 8093 0000            sts Mittelwert_AccRoll,r24
 1015 033a 8FEC                 ldi r24,lo8(-49)
 1016 033c 8093 7A00            sts 122,r24
 1017 0340 A0E0                 ldi r26,lo8(Poti)
 1018 0342 B0E0                 ldi r27,hi8(Poti)
 1019 0344 C0E0                 ldi r28,lo8(EE_Parameter+5)
 1020 0346 D0E0                 ldi r29,hi8(EE_Parameter+5)
 1021 0348 97E0                 ldi r25,lo8(7)
 1022                   .L46:
 1023 034a 8991                 ld r24,Y+
 1024 034c E82F                 mov r30,r24
 1025 034e FF27                 clr r31
 1026 0350 EE0F                 add r30,r30
 1027 0352 FF1F                 adc r31,r31
 1028 0354 E050                 subi r30,lo8(-(PPM_in))
 1029 0356 F040                 sbci r31,hi8(-(PPM_in))
 1030 0358 0190                 ld __tmp_reg__,Z+
 1031 035a F081                 ld r31,Z
 1032 035c E02D                 mov r30,__tmp_reg__
 1033 035e E158                 subi r30,lo8(-(127))
 1034 0360 FF4F                 sbci r31,hi8(-(127))
 1035 0362 1E16                 cp __zero_reg__,r30
 1036 0364 1F06                 cpc __zero_reg__,r31
 1037 0366 04F0                 brlt .L40
 1038 0368 E0E0                 ldi r30,lo8(0)
 1039 036a F0E0                 ldi r31,hi8(0)
 1040 036c 00C0                 rjmp .L41
 1041                   .L40:
 1042 036e EF3F                 cpi r30,255
 1043 0370 F105                 cpc r31,__zero_reg__
 1044 0372 04F0                 brlt .L41
 1045 0374 EFEF                 ldi r30,lo8(255)
 1046 0376 F0E0                 ldi r31,hi8(255)
 1047                   .L41:
 1048 0378 8C91                 ld r24,X
 1049 037a 282F                 mov r18,r24
 1050 037c 3327                 clr r19
 1051 037e E217                 cp r30,r18
 1052 0380 F307                 cpc r31,r19
 1053 0382 04F4                 brge .L43
 1054 0384 8150                 subi r24,lo8(-(-1))
 1055 0386 00C0                 rjmp .L49
 1056                   .L43:
 1057 0388 2E17                 cp r18,r30
 1058 038a 3F07                 cpc r19,r31
 1059 038c 04F4                 brge .L39
 1060 038e 8F5F                 subi r24,lo8(-(1))
 1061                   .L49:
 1062 0390 8C93                 st X,r24
 1063                   .L39:
 1064 0392 9150                 subi r25,lo8(-(-1))
 1065 0394 1196                 adiw r26,1
 1066 0396 97FF                 sbrs r25,7
 1067 0398 00C0                 rjmp .L46
 1068 039a 8091 0000            lds r24,EE_Parameter+65
 1069 039e 9927                 clr r25
 1070 03a0 AA27                 clr r26
 1071 03a2 BB27                 clr r27
 1072 03a4 BC01                 movw r22,r24
 1073 03a6 CD01                 movw r24,r26
 1074 03a8 24EC                 ldi r18,lo8(2500)
 1075 03aa 39E0                 ldi r19,hi8(2500)
 1076 03ac 40E0                 ldi r20,hlo8(2500)
 1077 03ae 50E0                 ldi r21,hhi8(2500)
 1078 03b0 0E94 0000            call __mulsi3
 1079 03b4 DC01                 movw r26,r24
 1080 03b6 CB01                 movw r24,r22
 1081 03b8 8093 0000            sts Umschlag180Nick,r24
 1082 03bc 9093 0000            sts (Umschlag180Nick)+1,r25
 1083 03c0 A093 0000            sts (Umschlag180Nick)+2,r26
 1084 03c4 B093 0000            sts (Umschlag180Nick)+3,r27
 1085 03c8 8091 0000            lds r24,EE_Parameter+66
 1086 03cc 9927                 clr r25
 1087 03ce AA27                 clr r26
 1088 03d0 BB27                 clr r27
 1089 03d2 BC01                 movw r22,r24
 1090 03d4 CD01                 movw r24,r26
 1091 03d6 0E94 0000            call __mulsi3
 1092 03da DC01                 movw r26,r24
 1093 03dc CB01                 movw r24,r22
 1094 03de 8093 0000            sts Umschlag180Roll,r24
 1095 03e2 9093 0000            sts (Umschlag180Roll)+1,r25
 1096 03e6 A093 0000            sts (Umschlag180Roll)+2,r26
 1097 03ea B093 0000            sts (Umschlag180Roll)+3,r27
 1098                   /* epilogue: frame size=0 */
 1099 03ee DF91                 pop r29
 1100 03f0 CF91                 pop r28
 1101 03f2 0895                 ret
 1102                   /* epilogue end (size=3) */
 1103                   /* function CalibrierMittelwert size 161 (156) */
 1105                           .section        .progmem.data,"a",@progbits
 1108                   __c.35:
 1109 0000 0A0D 4143            .string "\n\rACC not calibrated!\r\n"
 1109      4320 6E6F 
 1109      7420 6361 
 1109      6C69 6272 
 1109      6174 6564 
 1110                           .text
 1111                   .global SetNeutral
 1113                   SetNeutral:
 1114                   /* prologue: frame size=0 */
 1115 03f4 A0E0                 ldi r26,lo8(0)
 1116 03f6 B0E0                 ldi r27,hi8(0)
 1117 03f8 E0E0                 ldi r30,pm_lo8(1f)
 1118 03fa F0E0                 ldi r31,pm_hi8(1f)
 1119 03fc 0C94 0000            jmp __prologue_saves__+12
 1120                   1:
 1121                   /* prologue end (size=6) */
 1122 0400 882E                 mov r8,r24
 1123 0402 C0E0                 ldi r28,lo8(0)
 1124 0404 D0E0                 ldi r29,hi8(0)
 1125 0406 7E01                 movw r14,r28
 1126 0408 6E01                 movw r12,r28
 1127 040a 1092 0000            sts VersionInfo+5,__zero_reg__
 1128 040e D093 0000            sts (NeutralAccX)+1,r29
 1129 0412 C093 0000            sts NeutralAccX,r28
 1130 0416 D093 0000            sts (NeutralAccY)+1,r29
 1131 041a C093 0000            sts NeutralAccY,r28
 1132 041e D093 0000            sts (NeutralAccZ)+1,r29
 1133 0422 C093 0000            sts NeutralAccZ,r28
 1134 0426 D093 0000            sts (AdNeutralNick)+1,r29
 1135 042a C093 0000            sts AdNeutralNick,r28
 1136 042e D093 0000            sts (AdNeutralRoll)+1,r29
 1137 0432 C093 0000            sts AdNeutralRoll,r28
 1138 0436 D093 0000            sts (AdNeutralGier)+1,r29
 1139 043a C093 0000            sts AdNeutralGier,r28
 1140 043e 1092 0000            sts Parameter_AchsKopplung1,__zero_reg__
 1141 0442 1092 0000            sts Parameter_AchsKopplung2,__zero_reg__
 1142 0446 1092 0000            sts ExpandBaro,__zero_reg__
 1143 044a 0E94 0000            call CalibrierMittelwert
 1144 044e 84E6                 ldi r24,lo8(100)
 1145 0450 90E0                 ldi r25,hi8(100)
 1146 0452 0E94 0000            call Delay_ms_Mess
 1147 0456 0E94 0000            call CalibrierMittelwert
 1148 045a 8091 0000            lds r24,EE_Parameter+13
 1149 045e 80FF                 sbrs r24,0
 1150 0460 00C0                 rjmp .L51
 1151 0462 8091 0000            lds r24,MessLuftdruck
 1152 0466 9091 0000            lds r25,(MessLuftdruck)+1
 1153 046a 875B                 subi r24,lo8(951)
 1154 046c 9340                 sbci r25,hi8(951)
 1155 046e 00F4                 brsh .L53
 1156 0470 8091 0000            lds r24,MessLuftdruck
 1157 0474 9091 0000            lds r25,(MessLuftdruck)+1
 1158 0478 8E5E                 subi r24,lo8(750)
 1159 047a 9240                 sbci r25,hi8(750)
 1160 047c 00F4                 brsh .L51
 1161                   .L53:
 1162 047e 0E94 0000            call SucheLuftruckOffset
 1163                   .L51:
 1164 0482 0FE1                 ldi r16,lo8(31)
 1165                   .L57:
 1166 0484 8AE0                 ldi r24,lo8(10)
 1167 0486 90E0                 ldi r25,hi8(10)
 1168 0488 0E94 0000            call Delay_ms_Mess
 1169 048c 8091 0000            lds r24,AdWertGier
 1170 0490 9091 0000            lds r25,(AdWertGier)+1
 1171 0494 C80F                 add r28,r24
 1172 0496 D91F                 adc r29,r25
 1173 0498 8091 0000            lds r24,AdWertNick
 1174 049c 9091 0000            lds r25,(AdWertNick)+1
 1175 04a0 E80E                 add r14,r24
 1176 04a2 F91E                 adc r15,r25
 1177 04a4 8091 0000            lds r24,AdWertRoll
 1178 04a8 9091 0000            lds r25,(AdWertRoll)+1
 1179 04ac C80E                 add r12,r24
 1180 04ae D91E                 adc r13,r25
 1181 04b0 0150                 subi r16,lo8(-(-1))
 1182 04b2 07FF                 sbrs r16,7
 1183 04b4 00C0                 rjmp .L57
 1184 04b6 9701                 movw r18,r14
 1185 04b8 205F                 subi r18,lo8(-(16))
 1186 04ba 3F4F                 sbci r19,hi8(-(16))
 1187 04bc 3695                 lsr r19
 1188 04be 2795                 ror r18
 1189 04c0 3695                 lsr r19
 1190 04c2 2795                 ror r18
 1191 04c4 3093 0000            sts (AdNeutralNick)+1,r19
 1192 04c8 2093 0000            sts AdNeutralNick,r18
 1193 04cc C601                 movw r24,r12
 1194 04ce 4096                 adiw r24,16
 1195 04d0 9695                 lsr r25
 1196 04d2 8795                 ror r24
 1197 04d4 9695                 lsr r25
 1198 04d6 8795                 ror r24
 1199 04d8 9093 0000            sts (AdNeutralRoll)+1,r25
 1200 04dc 8093 0000            sts AdNeutralRoll,r24
 1201 04e0 6096                 adiw r28,16
 1202 04e2 F5E0                 ldi r31,5
 1203 04e4 D695         1:      lsr r29
 1204 04e6 C795                 ror r28
 1205 04e8 FA95                 dec r31
 1206 04ea 01F4                 brne 1b
 1207 04ec D093 0000            sts (AdNeutralGier)+1,r29
 1208 04f0 C093 0000            sts AdNeutralGier,r28
 1209 04f4 9093 0000            sts (StartNeutralRoll)+1,r25
 1210 04f8 8093 0000            sts StartNeutralRoll,r24
 1211 04fc 3093 0000            sts (StartNeutralNick)+1,r19
 1212 0500 2093 0000            sts StartNeutralNick,r18
 1213 0504 8820                 tst r8
 1214 0506 01F4                 brne .+2
 1215 0508 00C0                 rjmp .L58
 1216 050a 8091 0000            lds r24,Mittelwert_AccNick
 1217 050e 9091 0000            lds r25,(Mittelwert_AccNick)+1
 1218 0512 97FF                 sbrs r25,7
 1219 0514 00C0                 rjmp .L59
 1220 0516 9095                 com r25
 1221 0518 8195                 neg r24
 1222 051a 9F4F                 sbci r25,lo8(-1)
 1223                   .L59:
 1224 051c 6CE0                 ldi r22,lo8(12)
 1225 051e 70E0                 ldi r23,hi8(12)
 1226 0520 0E94 0000            call __divmodhi4
 1227 0524 9B01                 movw r18,r22
 1228 0526 7093 0000            sts (NeutralAccX)+1,r23
 1229 052a 6093 0000            sts NeutralAccX,r22
 1230 052e 8091 0000            lds r24,Mittelwert_AccRoll
 1231 0532 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 1232 0536 97FF                 sbrs r25,7
 1233 0538 00C0                 rjmp .L60
 1234 053a 9095                 com r25
 1235 053c 8195                 neg r24
 1236 053e 9F4F                 sbci r25,lo8(-1)
 1237                   .L60:
 1238 0540 6CE0                 ldi r22,lo8(12)
 1239 0542 70E0                 ldi r23,hi8(12)
 1240 0544 0E94 0000            call __divmodhi4
 1241 0548 7093 0000            sts (NeutralAccY)+1,r23
 1242 054c 6093 0000            sts NeutralAccY,r22
 1243 0550 8091 0000            lds r24,Aktuell_az
 1244 0554 9091 0000            lds r25,(Aktuell_az)+1
 1245 0558 9093 0000            sts (NeutralAccZ)+1,r25
 1246 055c 8093 0000            sts NeutralAccZ,r24
 1247 0560 B901                 movw r22,r18
 1248 0562 84E0                 ldi r24,lo8(4)
 1249 0564 90E0                 ldi r25,hi8(4)
 1250 0566 0E94 0000            call SetParamWord
 1251 056a 6091 0000            lds r22,NeutralAccY
 1252 056e 7091 0000            lds r23,(NeutralAccY)+1
 1253 0572 86E0                 ldi r24,lo8(6)
 1254 0574 90E0                 ldi r25,hi8(6)
 1255 0576 0E94 0000            call SetParamWord
 1256 057a 6091 0000            lds r22,NeutralAccZ
 1257 057e 7091 0000            lds r23,(NeutralAccZ)+1
 1258 0582 88E0                 ldi r24,lo8(8)
 1259 0584 90E0                 ldi r25,hi8(8)
 1260 0586 0E94 0000            call SetParamWord
 1261 058a 00C0                 rjmp .L61
 1262                   .L58:
 1263 058c 84E0                 ldi r24,lo8(4)
 1264 058e 90E0                 ldi r25,hi8(4)
 1265 0590 0E94 0000            call GetParamWord
 1266 0594 9093 0000            sts (NeutralAccX)+1,r25
 1267 0598 8093 0000            sts NeutralAccX,r24
 1268 059c 86E0                 ldi r24,lo8(6)
 1269 059e 90E0                 ldi r25,hi8(6)
 1270 05a0 0E94 0000            call GetParamWord
 1271 05a4 9093 0000            sts (NeutralAccY)+1,r25
 1272 05a8 8093 0000            sts NeutralAccY,r24
 1273 05ac 88E0                 ldi r24,lo8(8)
 1274 05ae 90E0                 ldi r25,hi8(8)
 1275 05b0 0E94 0000            call GetParamWord
 1276 05b4 9C01                 movw r18,r24
 1277 05b6 9093 0000            sts (NeutralAccZ)+1,r25
 1278 05ba 8093 0000            sts NeutralAccZ,r24
 1279 05be 8091 0000            lds r24,NeutralAccX
 1280 05c2 9091 0000            lds r25,(NeutralAccX)+1
 1281 05c6 8150                 subi r24,lo8(2049)
 1282 05c8 9840                 sbci r25,hi8(2049)
 1283 05ca 00F4                 brsh .L63
 1284 05cc 8091 0000            lds r24,NeutralAccY
 1285 05d0 9091 0000            lds r25,(NeutralAccY)+1
 1286 05d4 8150                 subi r24,lo8(2049)
 1287 05d6 9840                 sbci r25,hi8(2049)
 1288 05d8 00F4                 brsh .L63
 1289 05da 2150                 subi r18,lo8(1025)
 1290 05dc 3440                 sbci r19,hi8(1025)
 1291 05de 00F0                 brlo .L61
 1292                   .L63:
 1293 05e0 80E0                 ldi r24,lo8(__c.35)
 1294 05e2 90E0                 ldi r25,hi8(__c.35)
 1295 05e4 9F93                 push r25
 1296 05e6 8F93                 push r24
 1297 05e8 80E0                 ldi r24,lo8(pm(uart_putchar))
 1298 05ea 90E0                 ldi r25,hi8(pm(uart_putchar))
 1299 05ec 9F93                 push r25
 1300 05ee 8F93                 push r24
 1301 05f0 E091 0000            lds r30,_printf_P
 1302 05f4 F091 0000            lds r31,(_printf_P)+1
 1303 05f8 0995                 icall
 1304 05fa 8091 0000            lds r24,Mittelwert_AccNick
 1305 05fe 9091 0000            lds r25,(Mittelwert_AccNick)+1
 1306 0602 97FF                 sbrs r25,7
 1307 0604 00C0                 rjmp .L64
 1308 0606 9095                 com r25
 1309 0608 8195                 neg r24
 1310 060a 9F4F                 sbci r25,lo8(-1)
 1311                   .L64:
 1312 060c 6CE0                 ldi r22,lo8(12)
 1313 060e 70E0                 ldi r23,hi8(12)
 1314 0610 0E94 0000            call __divmodhi4
 1315 0614 7093 0000            sts (NeutralAccX)+1,r23
 1316 0618 6093 0000            sts NeutralAccX,r22
 1317 061c 8091 0000            lds r24,Mittelwert_AccRoll
 1318 0620 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 1319 0624 97FF                 sbrs r25,7
 1320 0626 00C0                 rjmp .L65
 1321 0628 9095                 com r25
 1322 062a 8195                 neg r24
 1323 062c 9F4F                 sbci r25,lo8(-1)
 1324                   .L65:
 1325 062e 6CE0                 ldi r22,lo8(12)
 1326 0630 70E0                 ldi r23,hi8(12)
 1327 0632 0E94 0000            call __divmodhi4
 1328 0636 7093 0000            sts (NeutralAccY)+1,r23
 1329 063a 6093 0000            sts NeutralAccY,r22
 1330 063e 8091 0000            lds r24,Aktuell_az
 1331 0642 9091 0000            lds r25,(Aktuell_az)+1
 1332 0646 9093 0000            sts (NeutralAccZ)+1,r25
 1333 064a 8093 0000            sts NeutralAccZ,r24
 1334 064e 0F90                 pop __tmp_reg__
 1335 0650 0F90                 pop __tmp_reg__
 1336 0652 0F90                 pop __tmp_reg__
 1337 0654 0F90                 pop __tmp_reg__
 1338                   .L61:
 1339 0656 1092 0000            sts (MesswertNick)+1,__zero_reg__
 1340 065a 1092 0000            sts MesswertNick,__zero_reg__
 1341 065e 1092 0000            sts (MesswertRoll)+1,__zero_reg__
 1342 0662 1092 0000            sts MesswertRoll,__zero_reg__
 1343 0666 1092 0000            sts (MesswertGier)+1,__zero_reg__
 1344 066a 1092 0000            sts MesswertGier,__zero_reg__
 1345 066e 84E6                 ldi r24,lo8(100)
 1346 0670 90E0                 ldi r25,hi8(100)
 1347 0672 0E94 0000            call Delay_ms_Mess
 1348 0676 8091 0000            lds r24,AdWertAccNick
 1349 067a 9091 0000            lds r25,(AdWertAccNick)+1
 1350 067e 9C01                 movw r18,r24
 1351 0680 220F                 lsl r18
 1352 0682 331F                 rol r19
 1353 0684 220F                 lsl r18
 1354 0686 331F                 rol r19
 1355 0688 280F                 add r18,r24
 1356 068a 391F                 adc r19,r25
 1357 068c 280F                 add r18,r24
 1358 068e 391F                 adc r19,r25
 1359 0690 3093 0000            sts (Mittelwert_AccNick)+1,r19
 1360 0694 2093 0000            sts Mittelwert_AccNick,r18
 1361 0698 8091 0000            lds r24,AdWertAccRoll
 1362 069c 9091 0000            lds r25,(AdWertAccRoll)+1
 1363 06a0 8C01                 movw r16,r24
 1364 06a2 000F                 lsl r16
 1365 06a4 111F                 rol r17
 1366 06a6 000F                 lsl r16
 1367 06a8 111F                 rol r17
 1368 06aa 080F                 add r16,r24
 1369 06ac 191F                 adc r17,r25
 1370 06ae 080F                 add r16,r24
 1371 06b0 191F                 adc r17,r25
 1372 06b2 1093 0000            sts (Mittelwert_AccRoll)+1,r17
 1373 06b6 0093 0000            sts Mittelwert_AccRoll,r16
 1374 06ba 8091 0000            lds r24,EE_Parameter+28
 1375 06be C82E                 mov r12,r24
 1376 06c0 DD24                 clr r13
 1377 06c2 EE24                 clr r14
 1378 06c4 FF24                 clr r15
 1379 06c6 4427                 clr r20
 1380 06c8 37FD                 sbrc r19,7
 1381 06ca 4095                 com r20
 1382 06cc 542F                 mov r21,r20
 1383 06ce C701                 movw r24,r14
 1384 06d0 B601                 movw r22,r12
 1385 06d2 0E94 0000            call __mulsi3
 1386 06d6 4B01                 movw r8,r22
 1387 06d8 5C01                 movw r10,r24
 1388 06da 6093 0000            sts IntegralNick,r22
 1389 06de 7093 0000            sts (IntegralNick)+1,r23
 1390 06e2 8093 0000            sts (IntegralNick)+2,r24
 1391 06e6 9093 0000            sts (IntegralNick)+3,r25
 1392 06ea 9801                 movw r18,r16
 1393 06ec 4427                 clr r20
 1394 06ee 37FD                 sbrc r19,7
 1395 06f0 4095                 com r20
 1396 06f2 542F                 mov r21,r20
 1397 06f4 C701                 movw r24,r14
 1398 06f6 B601                 movw r22,r12
 1399 06f8 0E94 0000            call __mulsi3
 1400 06fc DC01                 movw r26,r24
 1401 06fe CB01                 movw r24,r22
 1402 0700 8093 0000            sts IntegralRoll,r24
 1403 0704 9093 0000            sts (IntegralRoll)+1,r25
 1404 0708 A093 0000            sts (IntegralRoll)+2,r26
 1405 070c B093 0000            sts (IntegralRoll)+3,r27
 1406 0710 8092 0000            sts Mess_IntegralNick,r8
 1407 0714 9092 0000            sts (Mess_IntegralNick)+1,r9
 1408 0718 A092 0000            sts (Mess_IntegralNick)+2,r10
 1409 071c B092 0000            sts (Mess_IntegralNick)+3,r11
 1410 0720 8093 0000            sts Mess_IntegralRoll,r24
 1411 0724 9093 0000            sts (Mess_IntegralRoll)+1,r25
 1412 0728 A093 0000            sts (Mess_IntegralRoll)+2,r26
 1413 072c B093 0000            sts (Mess_IntegralRoll)+3,r27
 1414 0730 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 1415 0734 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 1416 0738 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 1417 073c 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 1418 0740 8091 0000            lds r24,Luftdruck
 1419 0744 9091 0000            lds r25,(Luftdruck)+1
 1420 0748 A091 0000            lds r26,(Luftdruck)+2
 1421 074c B091 0000            lds r27,(Luftdruck)+3
 1422 0750 9093 0000            sts (StartLuftdruck)+1,r25
 1423 0754 8093 0000            sts StartLuftdruck,r24
 1424 0758 1092 0000            sts (VarioMeter)+1,__zero_reg__
 1425 075c 1092 0000            sts VarioMeter,__zero_reg__
 1426 0760 1092 0000            sts Mess_Integral_Hoch,__zero_reg__
 1427 0764 1092 0000            sts (Mess_Integral_Hoch)+1,__zero_reg__
 1428 0768 1092 0000            sts (Mess_Integral_Hoch)+2,__zero_reg__
 1429 076c 1092 0000            sts (Mess_Integral_Hoch)+3,__zero_reg__
 1430 0770 0091 0000            lds r16,KompassValue
 1431 0774 1091 0000            lds r17,(KompassValue)+1
 1432 0778 1093 0000            sts (KompassSollWert)+1,r17
 1433 077c 0093 0000            sts KompassSollWert,r16
 1434 0780 84E6                 ldi r24,lo8(100)
 1435 0782 90E0                 ldi r25,hi8(100)
 1436 0784 9093 0000            sts (KompassSignalSchlecht)+1,r25
 1437 0788 8093 0000            sts KompassSignalSchlecht,r24
 1438 078c 82E3                 ldi r24,lo8(50)
 1439 078e 90E0                 ldi r25,hi8(50)
 1440 0790 9093 0000            sts (beeptime)+1,r25
 1441 0794 8093 0000            sts beeptime,r24
 1442 0798 8091 0000            lds r24,EE_Parameter+65
 1443 079c 9927                 clr r25
 1444 079e AA27                 clr r26
 1445 07a0 BB27                 clr r27
 1446 07a2 BC01                 movw r22,r24
 1447 07a4 CD01                 movw r24,r26
 1448 07a6 24EC                 ldi r18,lo8(2500)
 1449 07a8 39E0                 ldi r19,hi8(2500)
 1450 07aa 40E0                 ldi r20,hlo8(2500)
 1451 07ac 50E0                 ldi r21,hhi8(2500)
 1452 07ae 0E94 0000            call __mulsi3
 1453 07b2 DC01                 movw r26,r24
 1454 07b4 CB01                 movw r24,r22
 1455 07b6 8856                 subi r24,lo8(-(15000))
 1456 07b8 954C                 sbci r25,hi8(-(15000))
 1457 07ba AF4F                 sbci r26,hlo8(-(15000))
 1458 07bc BF4F                 sbci r27,hhi8(-(15000))
 1459 07be 8093 0000            sts Umschlag180Nick,r24
 1460 07c2 9093 0000            sts (Umschlag180Nick)+1,r25
 1461 07c6 A093 0000            sts (Umschlag180Nick)+2,r26
 1462 07ca B093 0000            sts (Umschlag180Nick)+3,r27
 1463 07ce 8091 0000            lds r24,EE_Parameter+66
 1464 07d2 9927                 clr r25
 1465 07d4 AA27                 clr r26
 1466 07d6 BB27                 clr r27
 1467 07d8 BC01                 movw r22,r24
 1468 07da CD01                 movw r24,r26
 1469 07dc 0E94 0000            call __mulsi3
 1470 07e0 DC01                 movw r26,r24
 1471 07e2 CB01                 movw r24,r22
 1472 07e4 8856                 subi r24,lo8(-(15000))
 1473 07e6 954C                 sbci r25,hi8(-(15000))
 1474 07e8 AF4F                 sbci r26,hlo8(-(15000))
 1475 07ea BF4F                 sbci r27,hhi8(-(15000))
 1476 07ec 8093 0000            sts Umschlag180Roll,r24
 1477 07f0 9093 0000            sts (Umschlag180Roll)+1,r25
 1478 07f4 A093 0000            sts (Umschlag180Roll)+2,r26
 1479 07f8 B093 0000            sts (Umschlag180Roll)+3,r27
 1480 07fc 1092 0000            sts (ExternHoehenValue)+1,__zero_reg__
 1481 0800 1092 0000            sts ExternHoehenValue,__zero_reg__
 1482 0804 C801                 movw r24,r16
 1483 0806 AA27                 clr r26
 1484 0808 97FD                 sbrc r25,7
 1485 080a A095                 com r26
 1486 080c BA2F                 mov r27,r26
 1487 080e 2091 0000            lds r18,GIER_GRAD_FAKTOR
 1488 0812 3091 0000            lds r19,(GIER_GRAD_FAKTOR)+1
 1489 0816 4091 0000            lds r20,(GIER_GRAD_FAKTOR)+2
 1490 081a 5091 0000            lds r21,(GIER_GRAD_FAKTOR)+3
 1491 081e BC01                 movw r22,r24
 1492 0820 CD01                 movw r24,r26
 1493 0822 0E94 0000            call __mulsi3
 1494 0826 DC01                 movw r26,r24
 1495 0828 CB01                 movw r24,r22
 1496 082a 8093 0000            sts ErsatzKompass,r24
 1497 082e 9093 0000            sts (ErsatzKompass)+1,r25
 1498 0832 A093 0000            sts (ErsatzKompass)+2,r26
 1499 0836 B093 0000            sts (ErsatzKompass)+3,r27
 1500 083a 1092 0000            sts (GierGyroFehler)+1,__zero_reg__
 1501 083e 1092 0000            sts GierGyroFehler,__zero_reg__
 1502 0842 0E94 0000            call LED_Init
 1503 0846 8091 0000            lds r24,FC_StatusFlags
 1504 084a 8460                 ori r24,lo8(4)
 1505 084c 8093 0000            sts FC_StatusFlags,r24
 1506 0850 8FEF                 ldi r24,lo8(-1)
 1507 0852 8093 0000            sts FromNaviCtrl_Value,r24
 1508 0856 1092 0000            sts FromNaviCtrl_Value+1,__zero_reg__
 1509 085a 80E2                 ldi r24,lo8(32)
 1510 085c 8093 0000            sts FromNaviCtrl_Value+2,r24
 1511 0860 C0E0                 ldi r28,lo8(Poti)
 1512 0862 D0E0                 ldi r29,hi8(Poti)
 1513 0864 A0E0                 ldi r26,lo8(EE_Parameter+5)
 1514 0866 B0E0                 ldi r27,hi8(EE_Parameter+5)
 1515 0868 07E0                 ldi r16,lo8(7)
 1516                   .L69:
 1517 086a 8D91                 ld r24,X+
 1518 086c E82F                 mov r30,r24
 1519 086e FF27                 clr r31
 1520 0870 EE0F                 add r30,r30
 1521 0872 FF1F                 adc r31,r31
 1522 0874 E050                 subi r30,lo8(-(PPM_in))
 1523 0876 F040                 sbci r31,hi8(-(PPM_in))
 1524 0878 8081                 ld r24,Z
 1525 087a 9181                 ldd r25,Z+1
 1526 087c 8158                 subi r24,lo8(-(127))
 1527 087e 8993                 st Y+,r24
 1528 0880 0150                 subi r16,lo8(-(-1))
 1529 0882 07FF                 sbrs r16,7
 1530 0884 00C0                 rjmp .L69
 1531 0886 84E6                 ldi r24,lo8(100)
 1532 0888 8093 0000            sts SenderOkay,r24
 1533 088c 8091 0000            lds r24,ServoActive
 1534 0890 8823                 tst r24
 1535 0892 01F0                 breq .L70
 1536 0894 579A                 sbi 42-0x20,7
 1537 0896 00C0                 rjmp .L71
 1538                   .L70:
 1539 0898 80E0                 ldi r24,lo8(4352)
 1540 089a 91E1                 ldi r25,hi8(4352)
 1541 089c 9093 0000            sts (NickServoValue)+1,r25
 1542 08a0 8093 0000            sts NickServoValue,r24
 1543                   .L71:
 1544 08a4 8091 0000            lds r24,AdNeutralNick
 1545 08a8 9091 0000            lds r25,(AdNeutralNick)+1
 1546 08ac 8056                 subi r24,lo8(-(-2400))
 1547 08ae 9940                 sbci r25,hi8(-(-2400))
 1548 08b0 815C                 subi r24,lo8(11201)
 1549 08b2 9B42                 sbci r25,hi8(11201)
 1550 08b4 00F0                 brlo .L72
 1551 08b6 8091 0000            lds r24,VersionInfo+5
 1552 08ba 8160                 ori r24,lo8(1)
 1553 08bc 8093 0000            sts VersionInfo+5,r24
 1554                   .L72:
 1555 08c0 8091 0000            lds r24,AdNeutralRoll
 1556 08c4 9091 0000            lds r25,(AdNeutralRoll)+1
 1557 08c8 8056                 subi r24,lo8(-(-2400))
 1558 08ca 9940                 sbci r25,hi8(-(-2400))
 1559 08cc 815C                 subi r24,lo8(11201)
 1560 08ce 9B42                 sbci r25,hi8(11201)
 1561 08d0 00F0                 brlo .L73
 1562 08d2 8091 0000            lds r24,VersionInfo+5
 1563 08d6 8260                 ori r24,lo8(2)
 1564 08d8 8093 0000            sts VersionInfo+5,r24
 1565                   .L73:
 1566 08dc 8091 0000            lds r24,AdNeutralGier
 1567 08e0 9091 0000            lds r25,(AdNeutralGier)+1
 1568 08e4 8C52                 subi r24,lo8(-(-300))
 1569 08e6 9140                 sbci r25,hi8(-(-300))
 1570 08e8 8957                 subi r24,lo8(1401)
 1571 08ea 9540                 sbci r25,hi8(1401)
 1572 08ec 00F0                 brlo .L74
 1573 08ee 8091 0000            lds r24,VersionInfo+5
 1574 08f2 8460                 ori r24,lo8(4)
 1575 08f4 8093 0000            sts VersionInfo+5,r24
 1576                   .L74:
 1577 08f8 8091 0000            lds r24,NeutralAccX
 1578 08fc 9091 0000            lds r25,(NeutralAccX)+1
 1579 0900 8C52                 subi r24,lo8(-(-300))
 1580 0902 9140                 sbci r25,hi8(-(-300))
 1581 0904 835C                 subi r24,lo8(451)
 1582 0906 9140                 sbci r25,hi8(451)
 1583 0908 00F0                 brlo .L75
 1584 090a 8091 0000            lds r24,VersionInfo+5
 1585 090e 8860                 ori r24,lo8(8)
 1586 0910 8093 0000            sts VersionInfo+5,r24
 1587                   .L75:
 1588 0914 8091 0000            lds r24,NeutralAccY
 1589 0918 9091 0000            lds r25,(NeutralAccY)+1
 1590 091c 8C52                 subi r24,lo8(-(-300))
 1591 091e 9140                 sbci r25,hi8(-(-300))
 1592 0920 835C                 subi r24,lo8(451)
 1593 0922 9140                 sbci r25,hi8(451)
 1594 0924 00F0                 brlo .L76
 1595 0926 8091 0000            lds r24,VersionInfo+5
 1596 092a 8061                 ori r24,lo8(16)
 1597 092c 8093 0000            sts VersionInfo+5,r24
 1598                   .L76:
 1599 0930 8091 0000            lds r24,NeutralAccZ
 1600 0934 9091 0000            lds r25,(NeutralAccZ)+1
 1601 0938 8050                 subi r24,lo8(-(-512))
 1602 093a 9240                 sbci r25,hi8(-(-512))
 1603 093c 8355                 subi r24,lo8(339)
 1604 093e 9140                 sbci r25,hi8(339)
 1605 0940 00F0                 brlo .L77
 1606 0942 8091 0000            lds r24,VersionInfo+5
 1607 0946 8062                 ori r24,lo8(32)
 1608 0948 8093 0000            sts VersionInfo+5,r24
 1609                   .L77:
 1610 094c 86E4                 ldi r24,lo8(70)
 1611 094e 8093 0000            sts carefree_old,r24
 1612 0952 0E94 0000            call LIBFC_HoTT_Clear
 1613                   /* epilogue: frame size=0 */
 1614 0956 ECE0                 ldi r30,12
 1615 0958 CDB7                 in r28,__SP_L__
 1616 095a DEB7                 in r29,__SP_H__
 1617 095c 0C94 0000            jmp __epilogue_restores__+12
 1618                   /* epilogue end (size=5) */
 1619                   /* function SetNeutral size 705 (694) */
 1621                           .lcomm tmpl.27,4
 1622                           .lcomm tmpl2.28,4
 1623                           .lcomm tmpl3.29,4
 1624                           .lcomm tmpl4.30,4
 1625                           .lcomm oldNick.31,2
 1626                           .lcomm oldRoll.32,2
 1627                           .lcomm d2Roll.33,2
 1628                           .lcomm d2Nick.34,2
 1629                   .global Mittelwert
 1631                   Mittelwert:
 1632                   /* prologue: frame size=19 */
 1633 0960 A3E1                 ldi r26,lo8(19)
 1634 0962 B0E0                 ldi r27,hi8(19)
 1635 0964 E0E0                 ldi r30,pm_lo8(1f)
 1636 0966 F0E0                 ldi r31,pm_hi8(1f)
 1637 0968 0C94 0000            jmp __prologue_saves__+0
 1638                   1:
 1639                   /* prologue end (size=6) */
 1640 096c 8091 0000            lds r24,AdNeutralGier
 1641 0970 9091 0000            lds r25,(AdNeutralGier)+1
 1642 0974 2091 0000            lds r18,AdWertGier
 1643 0978 3091 0000            lds r19,(AdWertGier)+1
 1644 097c 821B                 sub r24,r18
 1645 097e 930B                 sbc r25,r19
 1646 0980 9093 0000            sts (MesswertGier)+1,r25
 1647 0984 8093 0000            sts MesswertGier,r24
 1648 0988 8091 0000            lds r24,AdWertNickFilter
 1649 098c 9091 0000            lds r25,(AdWertNickFilter)+1
 1650 0990 97FD                 sbrc r25,7
 1651 0992 0796                 adiw r24,7
 1652                   .L83:
 1653 0994 9C01                 movw r18,r24
 1654 0996 13E0                 ldi r17,3
 1655 0998 3595         1:      asr r19
 1656 099a 2795                 ror r18
 1657 099c 1A95                 dec r17
 1658 099e 01F4                 brne 1b
 1659 09a0 3093 0000            sts (MesswertNick)+1,r19
 1660 09a4 2093 0000            sts MesswertNick,r18
 1661 09a8 8091 0000            lds r24,AdWertRollFilter
 1662 09ac 9091 0000            lds r25,(AdWertRollFilter)+1
 1663 09b0 97FD                 sbrc r25,7
 1664 09b2 0796                 adiw r24,7
 1665                   .L84:
 1666 09b4 B3E0                 ldi r27,3
 1667 09b6 9595         1:      asr r25
 1668 09b8 8795                 ror r24
 1669 09ba BA95                 dec r27
 1670 09bc 01F4                 brne 1b
 1671 09be 9093 0000            sts (MesswertRoll)+1,r25
 1672 09c2 8093 0000            sts MesswertRoll,r24
 1673 09c6 3093 0000            sts (RohMesswertNick)+1,r19
 1674 09ca 2093 0000            sts RohMesswertNick,r18
 1675 09ce 9093 0000            sts (RohMesswertRoll)+1,r25
 1676 09d2 8093 0000            sts RohMesswertRoll,r24
 1677 09d6 8091 0000            lds r24,Mittelwert_AccNick
 1678 09da 9091 0000            lds r25,(Mittelwert_AccNick)+1
 1679 09de AC01                 movw r20,r24
 1680 09e0 440F                 lsl r20
 1681 09e2 551F                 rol r21
 1682 09e4 480F                 add r20,r24
 1683 09e6 591F                 adc r21,r25
 1684 09e8 2091 0000            lds r18,AdWertAccNick
 1685 09ec 3091 0000            lds r19,(AdWertAccNick)+1
 1686 09f0 C901                 movw r24,r18
 1687 09f2 880F                 lsl r24
 1688 09f4 991F                 rol r25
 1689 09f6 880F                 lsl r24
 1690 09f8 991F                 rol r25
 1691 09fa 820F                 add r24,r18
 1692 09fc 931F                 adc r25,r19
 1693 09fe 820F                 add r24,r18
 1694 0a00 931F                 adc r25,r19
 1695 0a02 480F                 add r20,r24
 1696 0a04 591F                 adc r21,r25
 1697 0a06 57FF                 sbrs r21,7
 1698 0a08 00C0                 rjmp .L85
 1699 0a0a 4D5F                 subi r20,lo8(-(3))
 1700 0a0c 5F4F                 sbci r21,hi8(-(3))
 1701                   .L85:
 1702 0a0e 5595                 asr r21
 1703 0a10 4795                 ror r20
 1704 0a12 5595                 asr r21
 1705 0a14 4795                 ror r20
 1706 0a16 5093 0000            sts (Mittelwert_AccNick)+1,r21
 1707 0a1a 4093 0000            sts Mittelwert_AccNick,r20
 1708 0a1e 8091 0000            lds r24,Mittelwert_AccRoll
 1709 0a22 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 1710 0a26 AC01                 movw r20,r24
 1711 0a28 440F                 lsl r20
 1712 0a2a 551F                 rol r21
 1713 0a2c 480F                 add r20,r24
 1714 0a2e 591F                 adc r21,r25
 1715 0a30 2091 0000            lds r18,AdWertAccRoll
 1716 0a34 3091 0000            lds r19,(AdWertAccRoll)+1
 1717 0a38 C901                 movw r24,r18
 1718 0a3a 880F                 lsl r24
 1719 0a3c 991F                 rol r25
 1720 0a3e 880F                 lsl r24
 1721 0a40 991F                 rol r25
 1722 0a42 820F                 add r24,r18
 1723 0a44 931F                 adc r25,r19
 1724 0a46 820F                 add r24,r18
 1725 0a48 931F                 adc r25,r19
 1726 0a4a 480F                 add r20,r24
 1727 0a4c 591F                 adc r21,r25
 1728 0a4e 57FF                 sbrs r21,7
 1729 0a50 00C0                 rjmp .L86
 1730 0a52 4D5F                 subi r20,lo8(-(3))
 1731 0a54 5F4F                 sbci r21,hi8(-(3))
 1732                   .L86:
 1733 0a56 5595                 asr r21
 1734 0a58 4795                 ror r20
 1735 0a5a 5595                 asr r21
 1736 0a5c 4795                 ror r20
 1737 0a5e 5093 0000            sts (Mittelwert_AccRoll)+1,r21
 1738 0a62 4093 0000            sts Mittelwert_AccRoll,r20
 1739 0a66 2091 0000            lds r18,AdWertAccNick
 1740 0a6a 3091 0000            lds r19,(AdWertAccNick)+1
 1741 0a6e C901                 movw r24,r18
 1742 0a70 880F                 lsl r24
 1743 0a72 991F                 rol r25
 1744 0a74 880F                 lsl r24
 1745 0a76 991F                 rol r25
 1746 0a78 820F                 add r24,r18
 1747 0a7a 931F                 adc r25,r19
 1748 0a7c 820F                 add r24,r18
 1749 0a7e 931F                 adc r25,r19
 1750 0a80 9C01                 movw r18,r24
 1751 0a82 4427                 clr r20
 1752 0a84 37FD                 sbrc r19,7
 1753 0a86 4095                 com r20
 1754 0a88 542F                 mov r21,r20
 1755 0a8a 8091 0000            lds r24,IntegralAccNick
 1756 0a8e 9091 0000            lds r25,(IntegralAccNick)+1
 1757 0a92 A091 0000            lds r26,(IntegralAccNick)+2
 1758 0a96 B091 0000            lds r27,(IntegralAccNick)+3
 1759 0a9a 820F                 add r24,r18
 1760 0a9c 931F                 adc r25,r19
 1761 0a9e A41F                 adc r26,r20
 1762 0aa0 B51F                 adc r27,r21
 1763 0aa2 8093 0000            sts IntegralAccNick,r24
 1764 0aa6 9093 0000            sts (IntegralAccNick)+1,r25
 1765 0aaa A093 0000            sts (IntegralAccNick)+2,r26
 1766 0aae B093 0000            sts (IntegralAccNick)+3,r27
 1767 0ab2 2091 0000            lds r18,AdWertAccRoll
 1768 0ab6 3091 0000            lds r19,(AdWertAccRoll)+1
 1769 0aba C901                 movw r24,r18
 1770 0abc 880F                 lsl r24
 1771 0abe 991F                 rol r25
 1772 0ac0 880F                 lsl r24
 1773 0ac2 991F                 rol r25
 1774 0ac4 820F                 add r24,r18
 1775 0ac6 931F                 adc r25,r19
 1776 0ac8 820F                 add r24,r18
 1777 0aca 931F                 adc r25,r19
 1778 0acc 9C01                 movw r18,r24
 1779 0ace 4427                 clr r20
 1780 0ad0 37FD                 sbrc r19,7
 1781 0ad2 4095                 com r20
 1782 0ad4 542F                 mov r21,r20
 1783 0ad6 8091 0000            lds r24,IntegralAccRoll
 1784 0ada 9091 0000            lds r25,(IntegralAccRoll)+1
 1785 0ade A091 0000            lds r26,(IntegralAccRoll)+2
 1786 0ae2 B091 0000            lds r27,(IntegralAccRoll)+3
 1787 0ae6 820F                 add r24,r18
 1788 0ae8 931F                 adc r25,r19
 1789 0aea A41F                 adc r26,r20
 1790 0aec B51F                 adc r27,r21
 1791 0aee 8093 0000            sts IntegralAccRoll,r24
 1792 0af2 9093 0000            sts (IntegralAccRoll)+1,r25
 1793 0af6 A093 0000            sts (IntegralAccRoll)+2,r26
 1794 0afa B093 0000            sts (IntegralAccRoll)+3,r27
 1795 0afe 8091 0000            lds r24,NaviAccNick
 1796 0b02 9091 0000            lds r25,(NaviAccNick)+1
 1797 0b06 2091 0000            lds r18,AdWertAccNick
 1798 0b0a 3091 0000            lds r19,(AdWertAccNick)+1
 1799 0b0e 820F                 add r24,r18
 1800 0b10 931F                 adc r25,r19
 1801 0b12 9093 0000            sts (NaviAccNick)+1,r25
 1802 0b16 8093 0000            sts NaviAccNick,r24
 1803 0b1a 8091 0000            lds r24,NaviAccRoll
 1804 0b1e 9091 0000            lds r25,(NaviAccRoll)+1
 1805 0b22 2091 0000            lds r18,AdWertAccRoll
 1806 0b26 3091 0000            lds r19,(AdWertAccRoll)+1
 1807 0b2a 820F                 add r24,r18
 1808 0b2c 931F                 adc r25,r19
 1809 0b2e 9093 0000            sts (NaviAccRoll)+1,r25
 1810 0b32 8093 0000            sts NaviAccRoll,r24
 1811 0b36 8091 0000            lds r24,NaviCntAcc
 1812 0b3a 9091 0000            lds r25,(NaviCntAcc)+1
 1813 0b3e 0196                 adiw r24,1
 1814 0b40 9093 0000            sts (NaviCntAcc)+1,r25
 1815 0b44 8093 0000            sts NaviCntAcc,r24
 1816 0b48 8091 0000            lds r24,Aktuell_az
 1817 0b4c 9091 0000            lds r25,(Aktuell_az)+1
 1818 0b50 2091 0000            lds r18,NeutralAccZ
 1819 0b54 3091 0000            lds r19,(NeutralAccZ)+1
 1820 0b58 821B                 sub r24,r18
 1821 0b5a 930B                 sbc r25,r19
 1822 0b5c 9C01                 movw r18,r24
 1823 0b5e 4427                 clr r20
 1824 0b60 37FD                 sbrc r19,7
 1825 0b62 4095                 com r20
 1826 0b64 542F                 mov r21,r20
 1827 0b66 8091 0000            lds r24,IntegralAccZ
 1828 0b6a 9091 0000            lds r25,(IntegralAccZ)+1
 1829 0b6e A091 0000            lds r26,(IntegralAccZ)+2
 1830 0b72 B091 0000            lds r27,(IntegralAccZ)+3
 1831 0b76 820F                 add r24,r18
 1832 0b78 931F                 adc r25,r19
 1833 0b7a A41F                 adc r26,r20
 1834 0b7c B51F                 adc r27,r21
 1835 0b7e 8093 0000            sts IntegralAccZ,r24
 1836 0b82 9093 0000            sts (IntegralAccZ)+1,r25
 1837 0b86 A093 0000            sts (IntegralAccZ)+2,r26
 1838 0b8a B093 0000            sts (IntegralAccZ)+3,r27
 1839 0b8e 8FEC                 ldi r24,lo8(-49)
 1840 0b90 8093 7A00            sts 122,r24
 1841 0b94 1092 0000            sts AdReady,__zero_reg__
 1842 0b98 2091 0000            lds r18,Mess_IntegralRoll
 1843 0b9c 3091 0000            lds r19,(Mess_IntegralRoll)+1
 1844 0ba0 4091 0000            lds r20,(Mess_IntegralRoll)+2
 1845 0ba4 5091 0000            lds r21,(Mess_IntegralRoll)+3
 1846 0ba8 2987                 std Y+9,r18
 1847 0baa 3A87                 std Y+10,r19
 1848 0bac 4B87                 std Y+11,r20
 1849 0bae 5C87                 std Y+12,r21
 1850 0bb0 2954                 subi r18,lo8(93001)
 1851 0bb2 3B46                 sbci r19,hi8(93001)
 1852 0bb4 4140                 sbci r20,hlo8(93001)
 1853 0bb6 5040                 sbci r21,hhi8(93001)
 1854 0bb8 04F0                 brlt .L87
 1855 0bba 28E4                 ldi r18,lo8(93000)
 1856 0bbc 3BE6                 ldi r19,hi8(93000)
 1857 0bbe 41E0                 ldi r20,hlo8(93000)
 1858 0bc0 50E0                 ldi r21,hhi8(93000)
 1859 0bc2 00C0                 rjmp .L167
 1860                   .L87:
 1861 0bc4 8985                 ldd r24,Y+9
 1862 0bc6 9A85                 ldd r25,Y+10
 1863 0bc8 AB85                 ldd r26,Y+11
 1864 0bca BC85                 ldd r27,Y+12
 1865 0bcc 885B                 subi r24,lo8(-93000)
 1866 0bce 9449                 sbci r25,hi8(-93000)
 1867 0bd0 AE4F                 sbci r26,hlo8(-93000)
 1868 0bd2 BF4F                 sbci r27,hhi8(-93000)
 1869 0bd4 04F4                 brge .L89
 1870 0bd6 28EB                 ldi r18,lo8(-93000)
 1871 0bd8 34E9                 ldi r19,hi8(-93000)
 1872 0bda 4EEF                 ldi r20,hlo8(-93000)
 1873 0bdc 5FEF                 ldi r21,hhi8(-93000)
 1874                   .L167:
 1875 0bde 2D83                 std Y+5,r18
 1876 0be0 3E83                 std Y+6,r19
 1877 0be2 4F83                 std Y+7,r20
 1878 0be4 5887                 std Y+8,r21
 1879 0be6 00C0                 rjmp .L88
 1880                   .L89:
 1881 0be8 8985                 ldd r24,Y+9
 1882 0bea 9A85                 ldd r25,Y+10
 1883 0bec AB85                 ldd r26,Y+11
 1884 0bee BC85                 ldd r27,Y+12
 1885 0bf0 8D83                 std Y+5,r24
 1886 0bf2 9E83                 std Y+6,r25
 1887 0bf4 AF83                 std Y+7,r26
 1888 0bf6 B887                 std Y+8,r27
 1889                   .L88:
 1890 0bf8 2091 0000            lds r18,Mess_IntegralNick
 1891 0bfc 3091 0000            lds r19,(Mess_IntegralNick)+1
 1892 0c00 4091 0000            lds r20,(Mess_IntegralNick)+2
 1893 0c04 5091 0000            lds r21,(Mess_IntegralNick)+3
 1894 0c08 2D87                 std Y+13,r18
 1895 0c0a 3E87                 std Y+14,r19
 1896 0c0c 4F87                 std Y+15,r20
 1897 0c0e 588B                 std Y+16,r21
 1898 0c10 2954                 subi r18,lo8(93001)
 1899 0c12 3B46                 sbci r19,hi8(93001)
 1900 0c14 4140                 sbci r20,hlo8(93001)
 1901 0c16 5040                 sbci r21,hhi8(93001)
 1902 0c18 04F0                 brlt .L91
 1903 0c1a 28E4                 ldi r18,lo8(93000)
 1904 0c1c 3BE6                 ldi r19,hi8(93000)
 1905 0c1e 41E0                 ldi r20,hlo8(93000)
 1906 0c20 50E0                 ldi r21,hhi8(93000)
 1907 0c22 00C0                 rjmp .L168
 1908                   .L91:
 1909 0c24 8D85                 ldd r24,Y+13
 1910 0c26 9E85                 ldd r25,Y+14
 1911 0c28 AF85                 ldd r26,Y+15
 1912 0c2a B889                 ldd r27,Y+16
 1913 0c2c 885B                 subi r24,lo8(-93000)
 1914 0c2e 9449                 sbci r25,hi8(-93000)
 1915 0c30 AE4F                 sbci r26,hlo8(-93000)
 1916 0c32 BF4F                 sbci r27,hhi8(-93000)
 1917 0c34 04F4                 brge .L93
 1918 0c36 28EB                 ldi r18,lo8(-93000)
 1919 0c38 34E9                 ldi r19,hi8(-93000)
 1920 0c3a 4EEF                 ldi r20,hlo8(-93000)
 1921 0c3c 5FEF                 ldi r21,hhi8(-93000)
 1922                   .L168:
 1923 0c3e 2983                 std Y+1,r18
 1924 0c40 3A83                 std Y+2,r19
 1925 0c42 4B83                 std Y+3,r20
 1926 0c44 5C83                 std Y+4,r21
 1927 0c46 00C0                 rjmp .L92
 1928                   .L93:
 1929 0c48 8D85                 ldd r24,Y+13
 1930 0c4a 9E85                 ldd r25,Y+14
 1931 0c4c AF85                 ldd r26,Y+15
 1932 0c4e B889                 ldd r27,Y+16
 1933 0c50 8983                 std Y+1,r24
 1934 0c52 9A83                 std Y+2,r25
 1935 0c54 AB83                 std Y+3,r26
 1936 0c56 BC83                 std Y+4,r27
 1937                   .L92:
 1938 0c58 A091 0000            lds r26,MesswertGier
 1939 0c5c B091 0000            lds r27,(MesswertGier)+1
 1940 0c60 BB8B                 std Y+19,r27
 1941 0c62 AA8B                 std Y+18,r26
 1942 0c64 FD01                 movw r30,r26
 1943 0c66 CF01                 movw r24,r30
 1944 0c68 AA27                 clr r26
 1945 0c6a 97FD                 sbrc r25,7
 1946 0c6c A095                 com r26
 1947 0c6e BA2F                 mov r27,r26
 1948 0c70 A090 0000            lds r10,Mess_Integral_Gier
 1949 0c74 B090 0000            lds r11,(Mess_Integral_Gier)+1
 1950 0c78 C090 0000            lds r12,(Mess_Integral_Gier)+2
 1951 0c7c D090 0000            lds r13,(Mess_Integral_Gier)+3
 1952 0c80 A80E                 add r10,r24
 1953 0c82 B91E                 adc r11,r25
 1954 0c84 CA1E                 adc r12,r26
 1955 0c86 DB1E                 adc r13,r27
 1956 0c88 A092 0000            sts Mess_Integral_Gier,r10
 1957 0c8c B092 0000            sts (Mess_Integral_Gier)+1,r11
 1958 0c90 C092 0000            sts (Mess_Integral_Gier)+2,r12
 1959 0c94 D092 0000            sts (Mess_Integral_Gier)+3,r13
 1960 0c98 E090 0000            lds r14,ErsatzKompass
 1961 0c9c F090 0000            lds r15,(ErsatzKompass)+1
 1962 0ca0 0091 0000            lds r16,(ErsatzKompass)+2
 1963 0ca4 1091 0000            lds r17,(ErsatzKompass)+3
 1964 0ca8 E80E                 add r14,r24
 1965 0caa F91E                 adc r15,r25
 1966 0cac 0A1F                 adc r16,r26
 1967 0cae 1B1F                 adc r17,r27
 1968 0cb0 E092 0000            sts ErsatzKompass,r14
 1969 0cb4 F092 0000            sts (ErsatzKompass)+1,r15
 1970 0cb8 0093 0000            sts (ErsatzKompass)+2,r16
 1971 0cbc 1093 0000            sts (ErsatzKompass)+3,r17
 1972 0cc0 F091 0000            lds r31,Looping_Nick
 1973 0cc4 F98B                 std Y+17,r31
 1974 0cc6 FF23                 tst r31
 1975 0cc8 01F0                 breq .+2
 1976 0cca 00C0                 rjmp .L95
 1977 0ccc 8091 0000            lds r24,Looping_Roll
 1978 0cd0 8823                 tst r24
 1979 0cd2 01F0                 breq .+2
 1980 0cd4 00C0                 rjmp .L95
 1981 0cd6 8091 0000            lds r24,Parameter_GlobalConfig
 1982 0cda 86FF                 sbrs r24,6
 1983 0cdc 00C0                 rjmp .L95
 1984 0cde 8091 0000            lds r24,MesswertRoll
 1985 0ce2 9091 0000            lds r25,(MesswertRoll)+1
 1986 0ce6 AA27                 clr r26
 1987 0ce8 97FD                 sbrc r25,7
 1988 0cea A095                 com r26
 1989 0cec BA2F                 mov r27,r26
 1990 0cee BC01                 movw r22,r24
 1991 0cf0 CD01                 movw r24,r26
 1992 0cf2 2981                 ldd r18,Y+1
 1993 0cf4 3A81                 ldd r19,Y+2
 1994 0cf6 4B81                 ldd r20,Y+3
 1995 0cf8 5C81                 ldd r21,Y+4
 1996 0cfa 0E94 0000            call __mulsi3
 1997 0cfe 9B01                 movw r18,r22
 1998 0d00 AC01                 movw r20,r24
 1999 0d02 97FF                 sbrs r25,7
 2000 0d04 00C0                 rjmp .L96
 2001 0d06 2150                 subi r18,lo8(-(2047))
 2002 0d08 384F                 sbci r19,hi8(-(2047))
 2003 0d0a 4F4F                 sbci r20,hlo8(-(2047))
 2004 0d0c 5F4F                 sbci r21,hhi8(-(2047))
 2005                   .L96:
 2006 0d0e BBE0                 ldi r27,11
 2007 0d10 5595         1:      asr r21
 2008 0d12 4795                 ror r20
 2009 0d14 3795                 ror r19
 2010 0d16 2795                 ror r18
 2011 0d18 BA95                 dec r27
 2012 0d1a 01F4                 brne 1b
 2013 0d1c 8091 0000            lds r24,Parameter_AchsKopplung2
 2014 0d20 682E                 mov r6,r24
 2015 0d22 7724                 clr r7
 2016 0d24 8824                 clr r8
 2017 0d26 9924                 clr r9
 2018 0d28 CA01                 movw r24,r20
 2019 0d2a B901                 movw r22,r18
 2020 0d2c A401                 movw r20,r8
 2021 0d2e 9301                 movw r18,r6
 2022 0d30 0E94 0000            call __mulsi3
 2023 0d34 DC01                 movw r26,r24
 2024 0d36 CB01                 movw r24,r22
 2025 0d38 8093 0000            sts tmpl3.29,r24
 2026 0d3c 9093 0000            sts (tmpl3.29)+1,r25
 2027 0d40 A093 0000            sts (tmpl3.29)+2,r26
 2028 0d44 B093 0000            sts (tmpl3.29)+3,r27
 2029 0d48 B7FF                 sbrs r27,7
 2030 0d4a 00C0                 rjmp .L97
 2031 0d4c 8150                 subi r24,lo8(-(4095))
 2032 0d4e 904F                 sbci r25,hi8(-(4095))
 2033 0d50 AF4F                 sbci r26,hlo8(-(4095))
 2034 0d52 BF4F                 sbci r27,hhi8(-(4095))
 2035                   .L97:
 2036 0d54 1C01                 movw r2,r24
 2037 0d56 2D01                 movw r4,r26
 2038 0d58 ACE0                 ldi r26,12
 2039 0d5a 5594         1:      asr r5
 2040 0d5c 4794                 ror r4
 2041 0d5e 3794                 ror r3
 2042 0d60 2794                 ror r2
 2043 0d62 AA95                 dec r26
 2044 0d64 01F4                 brne 1b
 2045 0d66 2092 0000            sts tmpl3.29,r2
 2046 0d6a 3092 0000            sts (tmpl3.29)+1,r3
 2047 0d6e 4092 0000            sts (tmpl3.29)+2,r4
 2048 0d72 5092 0000            sts (tmpl3.29)+3,r5
 2049 0d76 8091 0000            lds r24,MesswertNick
 2050 0d7a 9091 0000            lds r25,(MesswertNick)+1
 2051 0d7e AA27                 clr r26
 2052 0d80 97FD                 sbrc r25,7
 2053 0d82 A095                 com r26
 2054 0d84 BA2F                 mov r27,r26
 2055 0d86 BC01                 movw r22,r24
 2056 0d88 CD01                 movw r24,r26
 2057 0d8a 2D81                 ldd r18,Y+5
 2058 0d8c 3E81                 ldd r19,Y+6
 2059 0d8e 4F81                 ldd r20,Y+7
 2060 0d90 5885                 ldd r21,Y+8
 2061 0d92 0E94 0000            call __mulsi3
 2062 0d96 97FF                 sbrs r25,7
 2063 0d98 00C0                 rjmp .L98
 2064 0d9a 6150                 subi r22,lo8(-(2047))
 2065 0d9c 784F                 sbci r23,hi8(-(2047))
 2066 0d9e 8F4F                 sbci r24,hlo8(-(2047))
 2067 0da0 9F4F                 sbci r25,hhi8(-(2047))
 2068                   .L98:
 2069 0da2 FBE0                 ldi r31,11
 2070 0da4 9595         1:      asr r25
 2071 0da6 8795                 ror r24
 2072 0da8 7795                 ror r23
 2073 0daa 6795                 ror r22
 2074 0dac FA95                 dec r31
 2075 0dae 01F4                 brne 1b
 2076 0db0 A401                 movw r20,r8
 2077 0db2 9301                 movw r18,r6
 2078 0db4 0E94 0000            call __mulsi3
 2079 0db8 DC01                 movw r26,r24
 2080 0dba CB01                 movw r24,r22
 2081 0dbc 8093 0000            sts tmpl4.30,r24
 2082 0dc0 9093 0000            sts (tmpl4.30)+1,r25
 2083 0dc4 A093 0000            sts (tmpl4.30)+2,r26
 2084 0dc8 B093 0000            sts (tmpl4.30)+3,r27
 2085 0dcc B7FF                 sbrs r27,7
 2086 0dce 00C0                 rjmp .L99
 2087 0dd0 8150                 subi r24,lo8(-(4095))
 2088 0dd2 904F                 sbci r25,hi8(-(4095))
 2089 0dd4 AF4F                 sbci r26,hlo8(-(4095))
 2090 0dd6 BF4F                 sbci r27,hhi8(-(4095))
 2091                   .L99:
 2092 0dd8 9C01                 movw r18,r24
 2093 0dda AD01                 movw r20,r26
 2094 0ddc ECE0                 ldi r30,12
 2095 0dde 5595         1:      asr r21
 2096 0de0 4795                 ror r20
 2097 0de2 3795                 ror r19
 2098 0de4 2795                 ror r18
 2099 0de6 EA95                 dec r30
 2100 0de8 01F4                 brne 1b
 2101 0dea 2093 0000            sts tmpl4.30,r18
 2102 0dee 3093 0000            sts (tmpl4.30)+1,r19
 2103 0df2 4093 0000            sts (tmpl4.30)+2,r20
 2104 0df6 5093 0000            sts (tmpl4.30)+3,r21
 2105 0dfa 8091 0000            lds r24,tmpl3.29
 2106 0dfe 9091 0000            lds r25,(tmpl3.29)+1
 2107 0e02 9093 0000            sts (KopplungsteilNickRoll)+1,r25
 2108 0e06 8093 0000            sts KopplungsteilNickRoll,r24
 2109 0e0a 8091 0000            lds r24,tmpl4.30
 2110 0e0e 9091 0000            lds r25,(tmpl4.30)+1
 2111 0e12 9093 0000            sts (KopplungsteilRollNick)+1,r25
 2112 0e16 8093 0000            sts KopplungsteilRollNick,r24
 2113 0e1a 2219                 sub r18,r2
 2114 0e1c 3309                 sbc r19,r3
 2115 0e1e 4409                 sbc r20,r4
 2116 0e20 5509                 sbc r21,r5
 2117 0e22 2093 0000            sts tmpl4.30,r18
 2118 0e26 3093 0000            sts (tmpl4.30)+1,r19
 2119 0e2a 4093 0000            sts (tmpl4.30)+2,r20
 2120 0e2e 5093 0000            sts (tmpl4.30)+3,r21
 2121 0e32 E20E                 add r14,r18
 2122 0e34 F31E                 adc r15,r19
 2123 0e36 041F                 adc r16,r20
 2124 0e38 151F                 adc r17,r21
 2125 0e3a E092 0000            sts ErsatzKompass,r14
 2126 0e3e F092 0000            sts (ErsatzKompass)+1,r15
 2127 0e42 0093 0000            sts (ErsatzKompass)+2,r16
 2128 0e46 1093 0000            sts (ErsatzKompass)+3,r17
 2129 0e4a 8091 0000            lds r24,Parameter_CouplingYawCorrection
 2130 0e4e 8823                 tst r24
 2131 0e50 01F4                 brne .L100
 2132 0e52 57FF                 sbrs r21,7
 2133 0e54 00C0                 rjmp .L101
 2134 0e56 2F5F                 subi r18,lo8(-(1))
 2135 0e58 3F4F                 sbci r19,hi8(-(1))
 2136 0e5a 4F4F                 sbci r20,hlo8(-(1))
 2137 0e5c 5F4F                 sbci r21,hhi8(-(1))
 2138                   .L101:
 2139 0e5e 5595                 asr r21
 2140 0e60 4795                 ror r20
 2141 0e62 3795                 ror r19
 2142 0e64 2795                 ror r18
 2143 0e66 A21A                 sub r10,r18
 2144 0e68 B30A                 sbc r11,r19
 2145 0e6a C40A                 sbc r12,r20
 2146 0e6c D50A                 sbc r13,r21
 2147 0e6e A092 0000            sts Mess_Integral_Gier,r10
 2148 0e72 B092 0000            sts (Mess_Integral_Gier)+1,r11
 2149 0e76 C092 0000            sts (Mess_Integral_Gier)+2,r12
 2150 0e7a D092 0000            sts (Mess_Integral_Gier)+3,r13
 2151                   .L100:
 2152 0e7e 2A89                 ldd r18,Y+18
 2153 0e80 3B89                 ldd r19,Y+19
 2154 0e82 7901                 movw r14,r18
 2155 0e84 0027                 clr r16
 2156 0e86 F7FC                 sbrc r15,7
 2157 0e88 0095                 com r16
 2158 0e8a 102F                 mov r17,r16
 2159 0e8c 8091 0000            lds r24,tmpl4.30
 2160 0e90 9091 0000            lds r25,(tmpl4.30)+1
 2161 0e94 A091 0000            lds r26,(tmpl4.30)+2
 2162 0e98 B091 0000            lds r27,(tmpl4.30)+3
 2163 0e9c E80E                 add r14,r24
 2164 0e9e F91E                 adc r15,r25
 2165 0ea0 0A1F                 adc r16,r26
 2166 0ea2 1B1F                 adc r17,r27
 2167 0ea4 C801                 movw r24,r16
 2168 0ea6 B701                 movw r22,r14
 2169 0ea8 2981                 ldd r18,Y+1
 2170 0eaa 3A81                 ldd r19,Y+2
 2171 0eac 4B81                 ldd r20,Y+3
 2172 0eae 5C81                 ldd r21,Y+4
 2173 0eb0 0E94 0000            call __mulsi3
 2174 0eb4 9B01                 movw r18,r22
 2175 0eb6 AC01                 movw r20,r24
 2176 0eb8 97FF                 sbrs r25,7
 2177 0eba 00C0                 rjmp .L102
 2178 0ebc 2150                 subi r18,lo8(-(2047))
 2179 0ebe 384F                 sbci r19,hi8(-(2047))
 2180 0ec0 4F4F                 sbci r20,hlo8(-(2047))
 2181 0ec2 5F4F                 sbci r21,hhi8(-(2047))
 2182                   .L102:
 2183 0ec4 6BE0                 ldi r22,11
 2184 0ec6 5595         1:      asr r21
 2185 0ec8 4795                 ror r20
 2186 0eca 3795                 ror r19
 2187 0ecc 2795                 ror r18
 2188 0ece 6A95                 dec r22
 2189 0ed0 01F4                 brne 1b
 2190 0ed2 8091 0000            lds r24,Parameter_AchsKopplung1
 2191 0ed6 A82E                 mov r10,r24
 2192 0ed8 BB24                 clr r11
 2193 0eda CC24                 clr r12
 2194 0edc DD24                 clr r13
 2195 0ede CA01                 movw r24,r20
 2196 0ee0 B901                 movw r22,r18
 2197 0ee2 A601                 movw r20,r12
 2198 0ee4 9501                 movw r18,r10
 2199 0ee6 0E94 0000            call __mulsi3
 2200 0eea DC01                 movw r26,r24
 2201 0eec CB01                 movw r24,r22
 2202 0eee 8093 0000            sts tmpl.27,r24
 2203 0ef2 9093 0000            sts (tmpl.27)+1,r25
 2204 0ef6 A093 0000            sts (tmpl.27)+2,r26
 2205 0efa B093 0000            sts (tmpl.27)+3,r27
 2206 0efe B7FF                 sbrs r27,7
 2207 0f00 00C0                 rjmp .L103
 2208 0f02 8150                 subi r24,lo8(-(4095))
 2209 0f04 904F                 sbci r25,hi8(-(4095))
 2210 0f06 AF4F                 sbci r26,hlo8(-(4095))
 2211 0f08 BF4F                 sbci r27,hhi8(-(4095))
 2212                   .L103:
 2213 0f0a 3C01                 movw r6,r24
 2214 0f0c 4D01                 movw r8,r26
 2215 0f0e 3CE0                 ldi r19,12
 2216 0f10 9594         1:      asr r9
 2217 0f12 8794                 ror r8
 2218 0f14 7794                 ror r7
 2219 0f16 6794                 ror r6
 2220 0f18 3A95                 dec r19
 2221 0f1a 01F4                 brne 1b
 2222 0f1c 6092 0000            sts tmpl.27,r6
 2223 0f20 7092 0000            sts (tmpl.27)+1,r7
 2224 0f24 8092 0000            sts (tmpl.27)+2,r8
 2225 0f28 9092 0000            sts (tmpl.27)+3,r9
 2226 0f2c C801                 movw r24,r16
 2227 0f2e B701                 movw r22,r14
 2228 0f30 2D81                 ldd r18,Y+5
 2229 0f32 3E81                 ldd r19,Y+6
 2230 0f34 4F81                 ldd r20,Y+7
 2231 0f36 5885                 ldd r21,Y+8
 2232 0f38 0E94 0000            call __mulsi3
 2233 0f3c 97FF                 sbrs r25,7
 2234 0f3e 00C0                 rjmp .L104
 2235 0f40 6150                 subi r22,lo8(-(2047))
 2236 0f42 784F                 sbci r23,hi8(-(2047))
 2237 0f44 8F4F                 sbci r24,hlo8(-(2047))
 2238 0f46 9F4F                 sbci r25,hhi8(-(2047))
 2239                   .L104:
 2240 0f48 2BE0                 ldi r18,11
 2241 0f4a 9595         1:      asr r25
 2242 0f4c 8795                 ror r24
 2243 0f4e 7795                 ror r23
 2244 0f50 6795                 ror r22
 2245 0f52 2A95                 dec r18
 2246 0f54 01F4                 brne 1b
 2247 0f56 A601                 movw r20,r12
 2248 0f58 9501                 movw r18,r10
 2249 0f5a 0E94 0000            call __mulsi3
 2250 0f5e DC01                 movw r26,r24
 2251 0f60 CB01                 movw r24,r22
 2252 0f62 8093 0000            sts tmpl2.28,r24
 2253 0f66 9093 0000            sts (tmpl2.28)+1,r25
 2254 0f6a A093 0000            sts (tmpl2.28)+2,r26
 2255 0f6e B093 0000            sts (tmpl2.28)+3,r27
 2256 0f72 B7FF                 sbrs r27,7
 2257 0f74 00C0                 rjmp .L105
 2258 0f76 8150                 subi r24,lo8(-(4095))
 2259 0f78 904F                 sbci r25,hi8(-(4095))
 2260 0f7a AF4F                 sbci r26,hlo8(-(4095))
 2261 0f7c BF4F                 sbci r27,hhi8(-(4095))
 2262                   .L105:
 2263 0f7e AC01                 movw r20,r24
 2264 0f80 BD01                 movw r22,r26
 2265 0f82 8CE0                 ldi r24,12
 2266 0f84 7595         1:      asr r23
 2267 0f86 6795                 ror r22
 2268 0f88 5795                 ror r21
 2269 0f8a 4795                 ror r20
 2270 0f8c 8A95                 dec r24
 2271 0f8e 01F4                 brne 1b
 2272 0f90 4093 0000            sts tmpl2.28,r20
 2273 0f94 5093 0000            sts (tmpl2.28)+1,r21
 2274 0f98 6093 0000            sts (tmpl2.28)+2,r22
 2275 0f9c 7093 0000            sts (tmpl2.28)+3,r23
 2276 0fa0 2A89                 ldd r18,Y+18
 2277 0fa2 3B89                 ldd r19,Y+19
 2278 0fa4 37FF                 sbrs r19,7
 2279 0fa6 00C0                 rjmp .L107
 2280 0fa8 3095                 com r19
 2281 0faa 2195                 neg r18
 2282 0fac 3F4F                 sbci r19,lo8(-1)
 2283                   .L107:
 2284 0fae 2134                 cpi r18,65
 2285 0fb0 3105                 cpc r19,__zero_reg__
 2286 0fb2 04F0                 brlt .L112
 2287 0fb4 D401                 movw r26,r8
 2288 0fb6 C301                 movw r24,r6
 2289 0fb8 97FE                 sbrs r9,7
 2290 0fba 00C0                 rjmp .L110
 2291 0fbc B095                 com r27
 2292 0fbe A095                 com r26
 2293 0fc0 9095                 com r25
 2294 0fc2 8195                 neg r24
 2295 0fc4 9F4F                 sbci r25,lo8(-1)
 2296 0fc6 AF4F                 sbci r26,lo8(-1)
 2297 0fc8 BF4F                 sbci r27,lo8(-1)
 2298                   .L110:
 2299 0fca 8138                 cpi r24,lo8(129)
 2300 0fcc 9105                 cpc r25,__zero_reg__
 2301 0fce A105                 cpc r26,__zero_reg__
 2302 0fd0 B105                 cpc r27,__zero_reg__
 2303 0fd2 04F4                 brge .L109
 2304 0fd4 DB01                 movw r26,r22
 2305 0fd6 CA01                 movw r24,r20
 2306 0fd8 77FF                 sbrs r23,7
 2307 0fda 00C0                 rjmp .L111
 2308 0fdc B095                 com r27
 2309 0fde A095                 com r26
 2310 0fe0 9095                 com r25
 2311 0fe2 8195                 neg r24
 2312 0fe4 9F4F                 sbci r25,lo8(-1)
 2313 0fe6 AF4F                 sbci r26,lo8(-1)
 2314 0fe8 BF4F                 sbci r27,lo8(-1)
 2315                   .L111:
 2316 0fea 8138                 cpi r24,lo8(129)
 2317 0fec 9105                 cpc r25,__zero_reg__
 2318 0fee A105                 cpc r26,__zero_reg__
 2319 0ff0 B105                 cpc r27,__zero_reg__
 2320 0ff2 04F0                 brlt .L112
 2321                   .L109:
 2322 0ff4 81E0                 ldi r24,lo8(1)
 2323 0ff6 8093 0000            sts TrichterFlug,r24
 2324 0ffa 00C0                 rjmp .L112
 2325                   .L95:
 2326 0ffc 1092 0000            sts (KopplungsteilRollNick)+1,__zero_reg__
 2327 1000 1092 0000            sts KopplungsteilRollNick,__zero_reg__
 2328 1004 1092 0000            sts (KopplungsteilNickRoll)+1,__zero_reg__
 2329 1008 1092 0000            sts KopplungsteilNickRoll,__zero_reg__
 2330 100c 1092 0000            sts tmpl2.28,__zero_reg__
 2331 1010 1092 0000            sts (tmpl2.28)+1,__zero_reg__
 2332 1014 1092 0000            sts (tmpl2.28)+2,__zero_reg__
 2333 1018 1092 0000            sts (tmpl2.28)+3,__zero_reg__
 2334 101c 1092 0000            sts tmpl.27,__zero_reg__
 2335 1020 1092 0000            sts (tmpl.27)+1,__zero_reg__
 2336 1024 1092 0000            sts (tmpl.27)+2,__zero_reg__
 2337 1028 1092 0000            sts (tmpl.27)+3,__zero_reg__
 2338                   .L112:
 2339 102c 8091 0000            lds r24,tmpl2.28
 2340 1030 9091 0000            lds r25,(tmpl2.28)+1
 2341 1034 A091 0000            lds r26,(tmpl2.28)+2
 2342 1038 B091 0000            lds r27,(tmpl2.28)+3
 2343 103c BC01                 movw r22,r24
 2344 103e CD01                 movw r24,r26
 2345 1040 24E6                 ldi r18,lo8(100)
 2346 1042 30E0                 ldi r19,hi8(100)
 2347 1044 40E0                 ldi r20,hlo8(100)
 2348 1046 50E0                 ldi r21,hhi8(100)
 2349 1048 0E94 0000            call __divmodsi4
 2350 104c E090 0000            lds r14,tmpl.27
 2351 1050 F090 0000            lds r15,(tmpl.27)+1
 2352 1054 E21A                 sub r14,r18
 2353 1056 F30A                 sbc r15,r19
 2354 1058 F092 0000            sts (TrimRoll)+1,r15
 2355 105c E092 0000            sts TrimRoll,r14
 2356 1060 8091 0000            lds r24,tmpl.27
 2357 1064 9091 0000            lds r25,(tmpl.27)+1
 2358 1068 A091 0000            lds r26,(tmpl.27)+2
 2359 106c B091 0000            lds r27,(tmpl.27)+3
 2360 1070 BC01                 movw r22,r24
 2361 1072 CD01                 movw r24,r26
 2362 1074 24E6                 ldi r18,lo8(100)
 2363 1076 30E0                 ldi r19,hi8(100)
 2364 1078 40E0                 ldi r20,hlo8(100)
 2365 107a 50E0                 ldi r21,hhi8(100)
 2366 107c 0E94 0000            call __divmodsi4
 2367 1080 DA01                 movw r26,r20
 2368 1082 C901                 movw r24,r18
 2369 1084 2091 0000            lds r18,tmpl2.28
 2370 1088 3091 0000            lds r19,(tmpl2.28)+1
 2371 108c 8C01                 movw r16,r24
 2372 108e 021B                 sub r16,r18
 2373 1090 130B                 sbc r17,r19
 2374 1092 1093 0000            sts (TrimNick)+1,r17
 2375 1096 0093 0000            sts TrimNick,r16
 2376 109a 8091 0000            lds r24,GIER_GRAD_FAKTOR
 2377 109e 9091 0000            lds r25,(GIER_GRAD_FAKTOR)+1
 2378 10a2 A091 0000            lds r26,(GIER_GRAD_FAKTOR)+2
 2379 10a6 B091 0000            lds r27,(GIER_GRAD_FAKTOR)+3
 2380 10aa BC01                 movw r22,r24
 2381 10ac CD01                 movw r24,r26
 2382 10ae 28E6                 ldi r18,lo8(360)
 2383 10b0 31E0                 ldi r19,hi8(360)
 2384 10b2 40E0                 ldi r20,hlo8(360)
 2385 10b4 50E0                 ldi r21,hhi8(360)
 2386 10b6 0E94 0000            call __mulsi3
 2387 10ba 2091 0000            lds r18,ErsatzKompass
 2388 10be 3091 0000            lds r19,(ErsatzKompass)+1
 2389 10c2 4091 0000            lds r20,(ErsatzKompass)+2
 2390 10c6 5091 0000            lds r21,(ErsatzKompass)+3
 2391 10ca 2617                 cp r18,r22
 2392 10cc 3707                 cpc r19,r23
 2393 10ce 4807                 cpc r20,r24
 2394 10d0 5907                 cpc r21,r25
 2395 10d2 04F0                 brlt .L113
 2396 10d4 261B                 sub r18,r22
 2397 10d6 370B                 sbc r19,r23
 2398 10d8 480B                 sbc r20,r24
 2399 10da 590B                 sbc r21,r25
 2400 10dc 2093 0000            sts ErsatzKompass,r18
 2401 10e0 3093 0000            sts (ErsatzKompass)+1,r19
 2402 10e4 4093 0000            sts (ErsatzKompass)+2,r20
 2403 10e8 5093 0000            sts (ErsatzKompass)+3,r21
 2404                   .L113:
 2405 10ec 2091 0000            lds r18,ErsatzKompass
 2406 10f0 3091 0000            lds r19,(ErsatzKompass)+1
 2407 10f4 4091 0000            lds r20,(ErsatzKompass)+2
 2408 10f8 5091 0000            lds r21,(ErsatzKompass)+3
 2409 10fc 57FF                 sbrs r21,7
 2410 10fe 00C0                 rjmp .L114
 2411 1100 260F                 add r18,r22
 2412 1102 371F                 adc r19,r23
 2413 1104 481F                 adc r20,r24
 2414 1106 591F                 adc r21,r25
 2415 1108 2093 0000            sts ErsatzKompass,r18
 2416 110c 3093 0000            sts (ErsatzKompass)+1,r19
 2417 1110 4093 0000            sts (ErsatzKompass)+2,r20
 2418 1114 5093 0000            sts (ErsatzKompass)+3,r21
 2419                   .L114:
 2420 1118 6091 0000            lds r22,MesswertRoll
 2421 111c 7091 0000            lds r23,(MesswertRoll)+1
 2422 1120 6E0D                 add r22,r14
 2423 1122 7F1D                 adc r23,r15
 2424 1124 9B01                 movw r18,r22
 2425 1126 4427                 clr r20
 2426 1128 37FD                 sbrc r19,7
 2427 112a 4095                 com r20
 2428 112c 542F                 mov r21,r20
 2429 112e 8091 0000            lds r24,Mess_IntegralRoll2
 2430 1132 9091 0000            lds r25,(Mess_IntegralRoll2)+1
 2431 1136 A091 0000            lds r26,(Mess_IntegralRoll2)+2
 2432 113a B091 0000            lds r27,(Mess_IntegralRoll2)+3
 2433 113e 820F                 add r24,r18
 2434 1140 931F                 adc r25,r19
 2435 1142 A41F                 adc r26,r20
 2436 1144 B51F                 adc r27,r21
 2437 1146 8093 0000            sts Mess_IntegralRoll2,r24
 2438 114a 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 2439 114e A093 0000            sts (Mess_IntegralRoll2)+2,r26
 2440 1152 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 2441 1156 8091 0000            lds r24,LageKorrekturRoll
 2442 115a 9091 0000            lds r25,(LageKorrekturRoll)+1
 2443 115e 681B                 sub r22,r24
 2444 1160 790B                 sbc r23,r25
 2445 1162 CB01                 movw r24,r22
 2446 1164 AA27                 clr r26
 2447 1166 97FD                 sbrc r25,7
 2448 1168 A095                 com r26
 2449 116a BA2F                 mov r27,r26
 2450 116c 2985                 ldd r18,Y+9
 2451 116e 3A85                 ldd r19,Y+10
 2452 1170 4B85                 ldd r20,Y+11
 2453 1172 5C85                 ldd r21,Y+12
 2454 1174 820F                 add r24,r18
 2455 1176 931F                 adc r25,r19
 2456 1178 A41F                 adc r26,r20
 2457 117a B51F                 adc r27,r21
 2458 117c 8093 0000            sts Mess_IntegralRoll,r24
 2459 1180 9093 0000            sts (Mess_IntegralRoll)+1,r25
 2460 1184 A093 0000            sts (Mess_IntegralRoll)+2,r26
 2461 1188 B093 0000            sts (Mess_IntegralRoll)+3,r27
 2462 118c C090 0000            lds r12,Umschlag180Roll
 2463 1190 D090 0000            lds r13,(Umschlag180Roll)+1
 2464 1194 E090 0000            lds r14,(Umschlag180Roll)+2
 2465 1198 F090 0000            lds r15,(Umschlag180Roll)+3
 2466 119c C816                 cp r12,r24
 2467 119e D906                 cpc r13,r25
 2468 11a0 EA06                 cpc r14,r26
 2469 11a2 FB06                 cpc r15,r27
 2470 11a4 04F4                 brge .L115
 2471 11a6 88EA                 ldi r24,lo8(25000)
 2472 11a8 91E6                 ldi r25,hi8(25000)
 2473 11aa A0E0                 ldi r26,hlo8(25000)
 2474 11ac B0E0                 ldi r27,hhi8(25000)
 2475 11ae 8C19                 sub r24,r12
 2476 11b0 9D09                 sbc r25,r13
 2477 11b2 AE09                 sbc r26,r14
 2478 11b4 BF09                 sbc r27,r15
 2479 11b6 8093 0000            sts Mess_IntegralRoll,r24
 2480 11ba 9093 0000            sts (Mess_IntegralRoll)+1,r25
 2481 11be A093 0000            sts (Mess_IntegralRoll)+2,r26
 2482 11c2 B093 0000            sts (Mess_IntegralRoll)+3,r27
 2483 11c6 8093 0000            sts Mess_IntegralRoll2,r24
 2484 11ca 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 2485 11ce A093 0000            sts (Mess_IntegralRoll2)+2,r26
 2486 11d2 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 2487                   .L115:
 2488 11d6 2227                 clr r18
 2489 11d8 3327                 clr r19
 2490 11da A901                 movw r20,r18
 2491 11dc 2C19                 sub r18,r12
 2492 11de 3D09                 sbc r19,r13
 2493 11e0 4E09                 sbc r20,r14
 2494 11e2 5F09                 sbc r21,r15
 2495 11e4 8091 0000            lds r24,Mess_IntegralRoll
 2496 11e8 9091 0000            lds r25,(Mess_IntegralRoll)+1
 2497 11ec A091 0000            lds r26,(Mess_IntegralRoll)+2
 2498 11f0 B091 0000            lds r27,(Mess_IntegralRoll)+3
 2499 11f4 8217                 cp r24,r18
 2500 11f6 9307                 cpc r25,r19
 2501 11f8 A407                 cpc r26,r20
 2502 11fa B507                 cpc r27,r21
 2503 11fc 04F4                 brge .L116
 2504 11fe D701                 movw r26,r14
 2505 1200 C601                 movw r24,r12
 2506 1202 885A                 subi r24,lo8(-(-25000))
 2507 1204 9146                 sbci r25,hi8(-(-25000))
 2508 1206 A040                 sbci r26,hlo8(-(-25000))
 2509 1208 B040                 sbci r27,hhi8(-(-25000))
 2510 120a 8093 0000            sts Mess_IntegralRoll,r24
 2511 120e 9093 0000            sts (Mess_IntegralRoll)+1,r25
 2512 1212 A093 0000            sts (Mess_IntegralRoll)+2,r26
 2513 1216 B093 0000            sts (Mess_IntegralRoll)+3,r27
 2514 121a 8093 0000            sts Mess_IntegralRoll2,r24
 2515 121e 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 2516 1222 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 2517 1226 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 2518                   .L116:
 2519 122a 6091 0000            lds r22,MesswertNick
 2520 122e 7091 0000            lds r23,(MesswertNick)+1
 2521 1232 600F                 add r22,r16
 2522 1234 711F                 adc r23,r17
 2523 1236 9B01                 movw r18,r22
 2524 1238 4427                 clr r20
 2525 123a 37FD                 sbrc r19,7
 2526 123c 4095                 com r20
 2527 123e 542F                 mov r21,r20
 2528 1240 8091 0000            lds r24,Mess_IntegralNick2
 2529 1244 9091 0000            lds r25,(Mess_IntegralNick2)+1
 2530 1248 A091 0000            lds r26,(Mess_IntegralNick2)+2
 2531 124c B091 0000            lds r27,(Mess_IntegralNick2)+3
 2532 1250 820F                 add r24,r18
 2533 1252 931F                 adc r25,r19
 2534 1254 A41F                 adc r26,r20
 2535 1256 B51F                 adc r27,r21
 2536 1258 8093 0000            sts Mess_IntegralNick2,r24
 2537 125c 9093 0000            sts (Mess_IntegralNick2)+1,r25
 2538 1260 A093 0000            sts (Mess_IntegralNick2)+2,r26
 2539 1264 B093 0000            sts (Mess_IntegralNick2)+3,r27
 2540 1268 8091 0000            lds r24,LageKorrekturNick
 2541 126c 9091 0000            lds r25,(LageKorrekturNick)+1
 2542 1270 681B                 sub r22,r24
 2543 1272 790B                 sbc r23,r25
 2544 1274 CB01                 movw r24,r22
 2545 1276 AA27                 clr r26
 2546 1278 97FD                 sbrc r25,7
 2547 127a A095                 com r26
 2548 127c BA2F                 mov r27,r26
 2549 127e 2D85                 ldd r18,Y+13
 2550 1280 3E85                 ldd r19,Y+14
 2551 1282 4F85                 ldd r20,Y+15
 2552 1284 5889                 ldd r21,Y+16
 2553 1286 820F                 add r24,r18
 2554 1288 931F                 adc r25,r19
 2555 128a A41F                 adc r26,r20
 2556 128c B51F                 adc r27,r21
 2557 128e 8093 0000            sts Mess_IntegralNick,r24
 2558 1292 9093 0000            sts (Mess_IntegralNick)+1,r25
 2559 1296 A093 0000            sts (Mess_IntegralNick)+2,r26
 2560 129a B093 0000            sts (Mess_IntegralNick)+3,r27
 2561 129e E090 0000            lds r14,Umschlag180Nick
 2562 12a2 F090 0000            lds r15,(Umschlag180Nick)+1
 2563 12a6 0091 0000            lds r16,(Umschlag180Nick)+2
 2564 12aa 1091 0000            lds r17,(Umschlag180Nick)+3
 2565 12ae E816                 cp r14,r24
 2566 12b0 F906                 cpc r15,r25
 2567 12b2 0A07                 cpc r16,r26
 2568 12b4 1B07                 cpc r17,r27
 2569 12b6 04F4                 brge .L117
 2570 12b8 88EA                 ldi r24,lo8(25000)
 2571 12ba 91E6                 ldi r25,hi8(25000)
 2572 12bc A0E0                 ldi r26,hlo8(25000)
 2573 12be B0E0                 ldi r27,hhi8(25000)
 2574 12c0 8E19                 sub r24,r14
 2575 12c2 9F09                 sbc r25,r15
 2576 12c4 A00B                 sbc r26,r16
 2577 12c6 B10B                 sbc r27,r17
 2578 12c8 8093 0000            sts Mess_IntegralNick,r24
 2579 12cc 9093 0000            sts (Mess_IntegralNick)+1,r25
 2580 12d0 A093 0000            sts (Mess_IntegralNick)+2,r26
 2581 12d4 B093 0000            sts (Mess_IntegralNick)+3,r27
 2582 12d8 8093 0000            sts Mess_IntegralNick2,r24
 2583 12dc 9093 0000            sts (Mess_IntegralNick2)+1,r25
 2584 12e0 A093 0000            sts (Mess_IntegralNick2)+2,r26
 2585 12e4 B093 0000            sts (Mess_IntegralNick2)+3,r27
 2586                   .L117:
 2587 12e8 2227                 clr r18
 2588 12ea 3327                 clr r19
 2589 12ec A901                 movw r20,r18
 2590 12ee 2E19                 sub r18,r14
 2591 12f0 3F09                 sbc r19,r15
 2592 12f2 400B                 sbc r20,r16
 2593 12f4 510B                 sbc r21,r17
 2594 12f6 8091 0000            lds r24,Mess_IntegralNick
 2595 12fa 9091 0000            lds r25,(Mess_IntegralNick)+1
 2596 12fe A091 0000            lds r26,(Mess_IntegralNick)+2
 2597 1302 B091 0000            lds r27,(Mess_IntegralNick)+3
 2598 1306 8217                 cp r24,r18
 2599 1308 9307                 cpc r25,r19
 2600 130a A407                 cpc r26,r20
 2601 130c B507                 cpc r27,r21
 2602 130e 04F4                 brge .L118
 2603 1310 D801                 movw r26,r16
 2604 1312 C701                 movw r24,r14
 2605 1314 885A                 subi r24,lo8(-(-25000))
 2606 1316 9146                 sbci r25,hi8(-(-25000))
 2607 1318 A040                 sbci r26,hlo8(-(-25000))
 2608 131a B040                 sbci r27,hhi8(-(-25000))
 2609 131c 8093 0000            sts Mess_IntegralNick,r24
 2610 1320 9093 0000            sts (Mess_IntegralNick)+1,r25
 2611 1324 A093 0000            sts (Mess_IntegralNick)+2,r26
 2612 1328 B093 0000            sts (Mess_IntegralNick)+3,r27
 2613 132c 8093 0000            sts Mess_IntegralNick2,r24
 2614 1330 9093 0000            sts (Mess_IntegralNick2)+1,r25
 2615 1334 A093 0000            sts (Mess_IntegralNick2)+2,r26
 2616 1338 B093 0000            sts (Mess_IntegralNick2)+3,r27
 2617                   .L118:
 2618 133c 8091 0000            lds r24,Mess_Integral_Gier
 2619 1340 9091 0000            lds r25,(Mess_Integral_Gier)+1
 2620 1344 A091 0000            lds r26,(Mess_Integral_Gier)+2
 2621 1348 B091 0000            lds r27,(Mess_Integral_Gier)+3
 2622 134c 8093 0000            sts Integral_Gier,r24
 2623 1350 9093 0000            sts (Integral_Gier)+1,r25
 2624 1354 A093 0000            sts (Integral_Gier)+2,r26
 2625 1358 B093 0000            sts (Integral_Gier)+3,r27
 2626 135c 8091 0000            lds r24,Mess_IntegralNick
 2627 1360 9091 0000            lds r25,(Mess_IntegralNick)+1
 2628 1364 A091 0000            lds r26,(Mess_IntegralNick)+2
 2629 1368 B091 0000            lds r27,(Mess_IntegralNick)+3
 2630 136c 8093 0000            sts IntegralNick,r24
 2631 1370 9093 0000            sts (IntegralNick)+1,r25
 2632 1374 A093 0000            sts (IntegralNick)+2,r26
 2633 1378 B093 0000            sts (IntegralNick)+3,r27
 2634 137c 8091 0000            lds r24,Mess_IntegralRoll
 2635 1380 9091 0000            lds r25,(Mess_IntegralRoll)+1
 2636 1384 A091 0000            lds r26,(Mess_IntegralRoll)+2
 2637 1388 B091 0000            lds r27,(Mess_IntegralRoll)+3
 2638 138c 8093 0000            sts IntegralRoll,r24
 2639 1390 9093 0000            sts (IntegralRoll)+1,r25
 2640 1394 A093 0000            sts (IntegralRoll)+2,r26
 2641 1398 B093 0000            sts (IntegralRoll)+3,r27
 2642 139c 8091 0000            lds r24,Mess_IntegralNick2
 2643 13a0 9091 0000            lds r25,(Mess_IntegralNick2)+1
 2644 13a4 A091 0000            lds r26,(Mess_IntegralNick2)+2
 2645 13a8 B091 0000            lds r27,(Mess_IntegralNick2)+3
 2646 13ac 8093 0000            sts IntegralNick2,r24
 2647 13b0 9093 0000            sts (IntegralNick2)+1,r25
 2648 13b4 A093 0000            sts (IntegralNick2)+2,r26
 2649 13b8 B093 0000            sts (IntegralNick2)+3,r27
 2650 13bc 8091 0000            lds r24,Mess_IntegralRoll2
 2651 13c0 9091 0000            lds r25,(Mess_IntegralRoll2)+1
 2652 13c4 A091 0000            lds r26,(Mess_IntegralRoll2)+2
 2653 13c8 B091 0000            lds r27,(Mess_IntegralRoll2)+3
 2654 13cc 8093 0000            sts IntegralRoll2,r24
 2655 13d0 9093 0000            sts (IntegralRoll2)+1,r25
 2656 13d4 A093 0000            sts (IntegralRoll2)+2,r26
 2657 13d8 B093 0000            sts (IntegralRoll2)+3,r27
 2658 13dc 8091 0000            lds r24,HiResNick
 2659 13e0 9091 0000            lds r25,(HiResNick)+1
 2660 13e4 97FD                 sbrc r25,7
 2661 13e6 0796                 adiw r24,7
 2662                   .L119:
 2663 13e8 03E0                 ldi r16,3
 2664 13ea 9595         1:      asr r25
 2665 13ec 8795                 ror r24
 2666 13ee 0A95                 dec r16
 2667 13f0 01F4                 brne 1b
 2668 13f2 9093 0000            sts (MesswertNick)+1,r25
 2669 13f6 8093 0000            sts MesswertNick,r24
 2670 13fa 8091 0000            lds r24,HiResRoll
 2671 13fe 9091 0000            lds r25,(HiResRoll)+1
 2672 1402 97FD                 sbrc r25,7
 2673 1404 0796                 adiw r24,7
 2674                   .L120:
 2675 1406 13E0                 ldi r17,3
 2676 1408 9595         1:      asr r25
 2677 140a 8795                 ror r24
 2678 140c 1A95                 dec r17
 2679 140e 01F4                 brne 1b
 2680 1410 9093 0000            sts (MesswertRoll)+1,r25
 2681 1414 8093 0000            sts MesswertRoll,r24
 2682 1418 8091 0000            lds r24,AdWertNick
 2683 141c 9091 0000            lds r25,(AdWertNick)+1
 2684 1420 0F97                 sbiw r24,15
 2685 1422 04F4                 brge .L121
 2686 1424 88E1                 ldi r24,lo8(-1000)
 2687 1426 9CEF                 ldi r25,hi8(-1000)
 2688 1428 9093 0000            sts (MesswertNick)+1,r25
 2689 142c 8093 0000            sts MesswertNick,r24
 2690                   .L121:
 2691 1430 8091 0000            lds r24,AdWertNick
 2692 1434 9091 0000            lds r25,(AdWertNick)+1
 2693 1438 0797                 sbiw r24,7
 2694 143a 04F4                 brge .L122
 2695 143c 80E3                 ldi r24,lo8(-2000)
 2696 143e 98EF                 ldi r25,hi8(-2000)
 2697 1440 9093 0000            sts (MesswertNick)+1,r25
 2698 1444 8093 0000            sts MesswertNick,r24
 2699                   .L122:
 2700 1448 2091 0000            lds r18,PlatinenVersion
 2701 144c 2A30                 cpi r18,lo8(10)
 2702 144e 01F4                 brne .L123
 2703 1450 8091 0000            lds r24,AdWertNick
 2704 1454 9091 0000            lds r25,(AdWertNick)+1
 2705 1458 835F                 subi r24,lo8(1011)
 2706 145a 9340                 sbci r25,hi8(1011)
 2707 145c 04F0                 brlt .L124
 2708 145e 88EE                 ldi r24,lo8(1000)
 2709 1460 93E0                 ldi r25,hi8(1000)
 2710 1462 9093 0000            sts (MesswertNick)+1,r25
 2711 1466 8093 0000            sts MesswertNick,r24
 2712                   .L124:
 2713 146a 8091 0000            lds r24,AdWertNick
 2714 146e 9091 0000            lds r25,(AdWertNick)+1
 2715 1472 8A5F                 subi r24,lo8(1018)
 2716 1474 9340                 sbci r25,hi8(1018)
 2717 1476 04F0                 brlt .L126
 2718 1478 00C0                 rjmp .L169
 2719                   .L123:
 2720 147a 8091 0000            lds r24,AdWertNick
 2721 147e 9091 0000            lds r25,(AdWertNick)+1
 2722 1482 815D                 subi r24,lo8(2001)
 2723 1484 9740                 sbci r25,hi8(2001)
 2724 1486 04F0                 brlt .L127
 2725 1488 88EE                 ldi r24,lo8(1000)
 2726 148a 93E0                 ldi r25,hi8(1000)
 2727 148c 9093 0000            sts (MesswertNick)+1,r25
 2728 1490 8093 0000            sts MesswertNick,r24
 2729                   .L127:
 2730 1494 8091 0000            lds r24,AdWertNick
 2731 1498 9091 0000            lds r25,(AdWertNick)+1
 2732 149c 805E                 subi r24,lo8(2016)
 2733 149e 9740                 sbci r25,hi8(2016)
 2734 14a0 04F0                 brlt .L126
 2735                   .L169:
 2736 14a2 80ED                 ldi r24,lo8(2000)
 2737 14a4 97E0                 ldi r25,hi8(2000)
 2738 14a6 9093 0000            sts (MesswertNick)+1,r25
 2739 14aa 8093 0000            sts MesswertNick,r24
 2740                   .L126:
 2741 14ae 8091 0000            lds r24,AdWertRoll
 2742 14b2 9091 0000            lds r25,(AdWertRoll)+1
 2743 14b6 0F97                 sbiw r24,15
 2744 14b8 04F4                 brge .L129
 2745 14ba 88E1                 ldi r24,lo8(-1000)
 2746 14bc 9CEF                 ldi r25,hi8(-1000)
 2747 14be 9093 0000            sts (MesswertRoll)+1,r25
 2748 14c2 8093 0000            sts MesswertRoll,r24
 2749                   .L129:
 2750 14c6 8091 0000            lds r24,AdWertRoll
 2751 14ca 9091 0000            lds r25,(AdWertRoll)+1
 2752 14ce 0797                 sbiw r24,7
 2753 14d0 04F4                 brge .L130
 2754 14d2 80E3                 ldi r24,lo8(-2000)
 2755 14d4 98EF                 ldi r25,hi8(-2000)
 2756 14d6 9093 0000            sts (MesswertRoll)+1,r25
 2757 14da 8093 0000            sts MesswertRoll,r24
 2758                   .L130:
 2759 14de 2A30                 cpi r18,lo8(10)
 2760 14e0 01F4                 brne .L131
 2761 14e2 8091 0000            lds r24,AdWertRoll
 2762 14e6 9091 0000            lds r25,(AdWertRoll)+1
 2763 14ea 835F                 subi r24,lo8(1011)
 2764 14ec 9340                 sbci r25,hi8(1011)
 2765 14ee 04F0                 brlt .L132
 2766 14f0 88EE                 ldi r24,lo8(1000)
 2767 14f2 93E0                 ldi r25,hi8(1000)
 2768 14f4 9093 0000            sts (MesswertRoll)+1,r25
 2769 14f8 8093 0000            sts MesswertRoll,r24
 2770                   .L132:
 2771 14fc 8091 0000            lds r24,AdWertRoll
 2772 1500 9091 0000            lds r25,(AdWertRoll)+1
 2773 1504 8A5F                 subi r24,lo8(1018)
 2774 1506 9340                 sbci r25,hi8(1018)
 2775 1508 04F0                 brlt .L134
 2776 150a 00C0                 rjmp .L170
 2777                   .L131:
 2778 150c 8091 0000            lds r24,AdWertRoll
 2779 1510 9091 0000            lds r25,(AdWertRoll)+1
 2780 1514 815D                 subi r24,lo8(2001)
 2781 1516 9740                 sbci r25,hi8(2001)
 2782 1518 04F0                 brlt .L135
 2783 151a 88EE                 ldi r24,lo8(1000)
 2784 151c 93E0                 ldi r25,hi8(1000)
 2785 151e 9093 0000            sts (MesswertRoll)+1,r25
 2786 1522 8093 0000            sts MesswertRoll,r24
 2787                   .L135:
 2788 1526 8091 0000            lds r24,AdWertRoll
 2789 152a 9091 0000            lds r25,(AdWertRoll)+1
 2790 152e 805E                 subi r24,lo8(2016)
 2791 1530 9740                 sbci r25,hi8(2016)
 2792 1532 04F0                 brlt .L134
 2793                   .L170:
 2794 1534 80ED                 ldi r24,lo8(2000)
 2795 1536 97E0                 ldi r25,hi8(2000)
 2796 1538 9093 0000            sts (MesswertRoll)+1,r25
 2797 153c 8093 0000            sts MesswertRoll,r24
 2798                   .L134:
 2799 1540 6091 0000            lds r22,Parameter_Gyro_D
 2800 1544 6623                 tst r22
 2801 1546 01F4                 brne .+2
 2802 1548 00C0                 rjmp .L137
 2803 154a 4091 0000            lds r20,HiResNick
 2804 154e 5091 0000            lds r21,(HiResNick)+1
 2805 1552 8091 0000            lds r24,oldNick.31
 2806 1556 9091 0000            lds r25,(oldNick.31)+1
 2807 155a 481B                 sub r20,r24
 2808 155c 590B                 sbc r21,r25
 2809 155e 5093 0000            sts (d2Nick.34)+1,r21
 2810 1562 4093 0000            sts d2Nick.34,r20
 2811 1566 2091 0000            lds r18,HiResNick
 2812 156a 3091 0000            lds r19,(HiResNick)+1
 2813 156e 280F                 add r18,r24
 2814 1570 391F                 adc r19,r25
 2815 1572 37FF                 sbrs r19,7
 2816 1574 00C0                 rjmp .L138
 2817 1576 2F5F                 subi r18,lo8(-(1))
 2818 1578 3F4F                 sbci r19,hi8(-(1))
 2819                   .L138:
 2820 157a 3595                 asr r19
 2821 157c 2795                 ror r18
 2822 157e 3093 0000            sts (oldNick.31)+1,r19
 2823 1582 2093 0000            sts oldNick.31,r18
 2824 1586 4138                 cpi r20,129
 2825 1588 5105                 cpc r21,__zero_reg__
 2826 158a 04F0                 brlt .L139
 2827 158c 80E8                 ldi r24,lo8(128)
 2828 158e 90E0                 ldi r25,hi8(128)
 2829 1590 00C0                 rjmp .L171
 2830                   .L139:
 2831 1592 4058                 subi r20,lo8(-128)
 2832 1594 5F4F                 sbci r21,hi8(-128)
 2833 1596 04F4                 brge .L140
 2834 1598 80E8                 ldi r24,lo8(-128)
 2835 159a 9FEF                 ldi r25,hi8(-128)
 2836                   .L171:
 2837 159c 9093 0000            sts (d2Nick.34)+1,r25
 2838 15a0 8093 0000            sts d2Nick.34,r24
 2839                   .L140:
 2840 15a4 4091 0000            lds r20,HiResRoll
 2841 15a8 5091 0000            lds r21,(HiResRoll)+1
 2842 15ac 8091 0000            lds r24,oldRoll.32
 2843 15b0 9091 0000            lds r25,(oldRoll.32)+1
 2844 15b4 481B                 sub r20,r24
 2845 15b6 590B                 sbc r21,r25
 2846 15b8 5093 0000            sts (d2Roll.33)+1,r21
 2847 15bc 4093 0000            sts d2Roll.33,r20
 2848 15c0 2091 0000            lds r18,HiResRoll
 2849 15c4 3091 0000            lds r19,(HiResRoll)+1
 2850 15c8 280F                 add r18,r24
 2851 15ca 391F                 adc r19,r25
 2852 15cc 37FF                 sbrs r19,7
 2853 15ce 00C0                 rjmp .L142
 2854 15d0 2F5F                 subi r18,lo8(-(1))
 2855 15d2 3F4F                 sbci r19,hi8(-(1))
 2856                   .L142:
 2857 15d4 3595                 asr r19
 2858 15d6 2795                 ror r18
 2859 15d8 3093 0000            sts (oldRoll.32)+1,r19
 2860 15dc 2093 0000            sts oldRoll.32,r18
 2861 15e0 4138                 cpi r20,129
 2862 15e2 5105                 cpc r21,__zero_reg__
 2863 15e4 04F0                 brlt .L143
 2864 15e6 80E8                 ldi r24,lo8(128)
 2865 15e8 90E0                 ldi r25,hi8(128)
 2866 15ea 00C0                 rjmp .L172
 2867                   .L143:
 2868 15ec 4058                 subi r20,lo8(-128)
 2869 15ee 5F4F                 sbci r21,hi8(-128)
 2870 15f0 04F4                 brge .L144
 2871 15f2 80E8                 ldi r24,lo8(-128)
 2872 15f4 9FEF                 ldi r25,hi8(-128)
 2873                   .L172:
 2874 15f6 9093 0000            sts (d2Roll.33)+1,r25
 2875 15fa 8093 0000            sts d2Roll.33,r24
 2876                   .L144:
 2877 15fe 462F                 mov r20,r22
 2878 1600 5527                 clr r21
 2879 1602 8091 0000            lds r24,d2Nick.34
 2880 1606 9091 0000            lds r25,(d2Nick.34)+1
 2881 160a 849F                 mul r24,r20
 2882 160c B001                 movw r22,r0
 2883 160e 859F                 mul r24,r21
 2884 1610 700D                 add r23,r0
 2885 1612 949F                 mul r25,r20
 2886 1614 700D                 add r23,r0
 2887 1616 1124                 clr r1
 2888 1618 9B01                 movw r18,r22
 2889 161a 77FF                 sbrs r23,7
 2890 161c 00C0                 rjmp .L146
 2891 161e 215F                 subi r18,lo8(-(15))
 2892 1620 3F4F                 sbci r19,hi8(-(15))
 2893                   .L146:
 2894 1622 F4E0                 ldi r31,4
 2895 1624 3595         1:      asr r19
 2896 1626 2795                 ror r18
 2897 1628 FA95                 dec r31
 2898 162a 01F4                 brne 1b
 2899 162c 8091 0000            lds r24,MesswertNick
 2900 1630 9091 0000            lds r25,(MesswertNick)+1
 2901 1634 820F                 add r24,r18
 2902 1636 931F                 adc r25,r19
 2903 1638 9093 0000            sts (MesswertNick)+1,r25
 2904 163c 8093 0000            sts MesswertNick,r24
 2905 1640 8091 0000            lds r24,d2Roll.33
 2906 1644 9091 0000            lds r25,(d2Roll.33)+1
 2907 1648 849F                 mul r24,r20
 2908 164a D001                 movw r26,r0
 2909 164c 859F                 mul r24,r21
 2910 164e B00D                 add r27,r0
 2911 1650 949F                 mul r25,r20
 2912 1652 B00D                 add r27,r0
 2913 1654 1124                 clr r1
 2914 1656 AD01                 movw r20,r26
 2915 1658 9D01                 movw r18,r26
 2916 165a B7FF                 sbrs r27,7
 2917 165c 00C0                 rjmp .L147
 2918 165e 215F                 subi r18,lo8(-(15))
 2919 1660 3F4F                 sbci r19,hi8(-(15))
 2920                   .L147:
 2921 1662 E4E0                 ldi r30,4
 2922 1664 3595         1:      asr r19
 2923 1666 2795                 ror r18
 2924 1668 EA95                 dec r30
 2925 166a 01F4                 brne 1b
 2926 166c 8091 0000            lds r24,MesswertRoll
 2927 1670 9091 0000            lds r25,(MesswertRoll)+1
 2928 1674 820F                 add r24,r18
 2929 1676 931F                 adc r25,r19
 2930 1678 9093 0000            sts (MesswertRoll)+1,r25
 2931 167c 8093 0000            sts MesswertRoll,r24
 2932 1680 8091 0000            lds r24,HiResNick
 2933 1684 9091 0000            lds r25,(HiResNick)+1
 2934 1688 860F                 add r24,r22
 2935 168a 971F                 adc r25,r23
 2936 168c 9093 0000            sts (HiResNick)+1,r25
 2937 1690 8093 0000            sts HiResNick,r24
 2938 1694 8091 0000            lds r24,HiResRoll
 2939 1698 9091 0000            lds r25,(HiResRoll)+1
 2940 169c 840F                 add r24,r20
 2941 169e 951F                 adc r25,r21
 2942 16a0 9093 0000            sts (HiResRoll)+1,r25
 2943 16a4 8093 0000            sts HiResRoll,r24
 2944                   .L137:
 2945 16a8 0091 0000            lds r16,RohMesswertRoll
 2946 16ac 1091 0000            lds r17,(RohMesswertRoll)+1
 2947 16b0 8091 0000            lds r24,KopplungsteilNickRoll
 2948 16b4 9091 0000            lds r25,(KopplungsteilNickRoll)+1
 2949 16b8 1016                 cp __zero_reg__,r16
 2950 16ba 1106                 cpc __zero_reg__,r17
 2951 16bc 04F4                 brge .L148
 2952 16be 9C01                 movw r18,r24
 2953 16c0 97FF                 sbrs r25,7
 2954 16c2 00C0                 rjmp .L149
 2955 16c4 2227                 clr r18
 2956 16c6 3327                 clr r19
 2957 16c8 281B                 sub r18,r24
 2958 16ca 390B                 sbc r19,r25
 2959                   .L149:
 2960 16cc C901                 movw r24,r18
 2961 16ce AA27                 clr r26
 2962 16d0 97FD                 sbrc r25,7
 2963 16d2 A095                 com r26
 2964 16d4 BA2F                 mov r27,r26
 2965 16d6 2091 0000            lds r18,Parameter_CouplingYawCorrection
 2966 16da 3327                 clr r19
 2967 16dc 4427                 clr r20
 2968 16de 5527                 clr r21
 2969 16e0 BC01                 movw r22,r24
 2970 16e2 CD01                 movw r24,r26
 2971 16e4 0E94 0000            call __mulsi3
 2972 16e8 9B01                 movw r18,r22
 2973 16ea AC01                 movw r20,r24
 2974 16ec 97FF                 sbrs r25,7
 2975 16ee 00C0                 rjmp .L150
 2976 16f0 215C                 subi r18,lo8(-(63))
 2977 16f2 3F4F                 sbci r19,hi8(-(63))
 2978 16f4 4F4F                 sbci r20,hlo8(-(63))
 2979 16f6 5F4F                 sbci r21,hhi8(-(63))
 2980                   .L150:
 2981 16f8 76E0                 ldi r23,6
 2982 16fa 5595         1:      asr r21
 2983 16fc 4795                 ror r20
 2984 16fe 3795                 ror r19
 2985 1700 2795                 ror r18
 2986 1702 7A95                 dec r23
 2987 1704 01F4                 brne 1b
 2988 1706 8091 0000            lds r24,TrimRoll
 2989 170a 9091 0000            lds r25,(TrimRoll)+1
 2990 170e 820F                 add r24,r18
 2991 1710 931F                 adc r25,r19
 2992 1712 00C0                 rjmp .L173
 2993                   .L148:
 2994 1714 97FF                 sbrs r25,7
 2995 1716 00C0                 rjmp .L152
 2996 1718 9095                 com r25
 2997 171a 8195                 neg r24
 2998 171c 9F4F                 sbci r25,lo8(-1)
 2999                   .L152:
 3000 171e AA27                 clr r26
 3001 1720 97FD                 sbrc r25,7
 3002 1722 A095                 com r26
 3003 1724 BA2F                 mov r27,r26
 3004 1726 2091 0000            lds r18,Parameter_CouplingYawCorrection
 3005 172a 3327                 clr r19
 3006 172c 4427                 clr r20
 3007 172e 5527                 clr r21
 3008 1730 BC01                 movw r22,r24
 3009 1732 CD01                 movw r24,r26
 3010 1734 0E94 0000            call __mulsi3
 3011 1738 9B01                 movw r18,r22
 3012 173a AC01                 movw r20,r24
 3013 173c 97FF                 sbrs r25,7
 3014 173e 00C0                 rjmp .L153
 3015 1740 215C                 subi r18,lo8(-(63))
 3016 1742 3F4F                 sbci r19,hi8(-(63))
 3017 1744 4F4F                 sbci r20,hlo8(-(63))
 3018 1746 5F4F                 sbci r21,hhi8(-(63))
 3019                   .L153:
 3020 1748 66E0                 ldi r22,6
 3021 174a 5595         1:      asr r21
 3022 174c 4795                 ror r20
 3023 174e 3795                 ror r19
 3024 1750 2795                 ror r18
 3025 1752 6A95                 dec r22
 3026 1754 01F4                 brne 1b
 3027 1756 8091 0000            lds r24,TrimRoll
 3028 175a 9091 0000            lds r25,(TrimRoll)+1
 3029 175e 821B                 sub r24,r18
 3030 1760 930B                 sbc r25,r19
 3031                   .L173:
 3032 1762 9093 0000            sts (TrimRoll)+1,r25
 3033 1766 8093 0000            sts TrimRoll,r24
 3034 176a E090 0000            lds r14,RohMesswertNick
 3035 176e F090 0000            lds r15,(RohMesswertNick)+1
 3036 1772 8091 0000            lds r24,KopplungsteilRollNick
 3037 1776 9091 0000            lds r25,(KopplungsteilRollNick)+1
 3038 177a 1E14                 cp __zero_reg__,r14
 3039 177c 1F04                 cpc __zero_reg__,r15
 3040 177e 04F4                 brge .L154
 3041 1780 9C01                 movw r18,r24
 3042 1782 97FF                 sbrs r25,7
 3043 1784 00C0                 rjmp .L155
 3044 1786 2227                 clr r18
 3045 1788 3327                 clr r19
 3046 178a 281B                 sub r18,r24
 3047 178c 390B                 sbc r19,r25
 3048                   .L155:
 3049 178e C901                 movw r24,r18
 3050 1790 AA27                 clr r26
 3051 1792 97FD                 sbrc r25,7
 3052 1794 A095                 com r26
 3053 1796 BA2F                 mov r27,r26
 3054 1798 2091 0000            lds r18,Parameter_CouplingYawCorrection
 3055 179c 3327                 clr r19
 3056 179e 4427                 clr r20
 3057 17a0 5527                 clr r21
 3058 17a2 BC01                 movw r22,r24
 3059 17a4 CD01                 movw r24,r26
 3060 17a6 0E94 0000            call __mulsi3
 3061 17aa 9B01                 movw r18,r22
 3062 17ac AC01                 movw r20,r24
 3063 17ae 97FF                 sbrs r25,7
 3064 17b0 00C0                 rjmp .L156
 3065 17b2 215C                 subi r18,lo8(-(63))
 3066 17b4 3F4F                 sbci r19,hi8(-(63))
 3067 17b6 4F4F                 sbci r20,hlo8(-(63))
 3068 17b8 5F4F                 sbci r21,hhi8(-(63))
 3069                   .L156:
 3070 17ba 96E0                 ldi r25,6
 3071 17bc 5595         1:      asr r21
 3072 17be 4795                 ror r20
 3073 17c0 3795                 ror r19
 3074 17c2 2795                 ror r18
 3075 17c4 9A95                 dec r25
 3076 17c6 01F4                 brne 1b
 3077 17c8 8091 0000            lds r24,TrimNick
 3078 17cc 9091 0000            lds r25,(TrimNick)+1
 3079 17d0 820F                 add r24,r18
 3080 17d2 931F                 adc r25,r19
 3081 17d4 00C0                 rjmp .L174
 3082                   .L154:
 3083 17d6 97FF                 sbrs r25,7
 3084 17d8 00C0                 rjmp .L158
 3085 17da 9095                 com r25
 3086 17dc 8195                 neg r24
 3087 17de 9F4F                 sbci r25,lo8(-1)
 3088                   .L158:
 3089 17e0 AA27                 clr r26
 3090 17e2 97FD                 sbrc r25,7
 3091 17e4 A095                 com r26
 3092 17e6 BA2F                 mov r27,r26
 3093 17e8 2091 0000            lds r18,Parameter_CouplingYawCorrection
 3094 17ec 3327                 clr r19
 3095 17ee 4427                 clr r20
 3096 17f0 5527                 clr r21
 3097 17f2 BC01                 movw r22,r24
 3098 17f4 CD01                 movw r24,r26
 3099 17f6 0E94 0000            call __mulsi3
 3100 17fa 9B01                 movw r18,r22
 3101 17fc AC01                 movw r20,r24
 3102 17fe 97FF                 sbrs r25,7
 3103 1800 00C0                 rjmp .L159
 3104 1802 215C                 subi r18,lo8(-(63))
 3105 1804 3F4F                 sbci r19,hi8(-(63))
 3106 1806 4F4F                 sbci r20,hlo8(-(63))
 3107 1808 5F4F                 sbci r21,hhi8(-(63))
 3108                   .L159:
 3109 180a 86E0                 ldi r24,6
 3110 180c 5595         1:      asr r21
 3111 180e 4795                 ror r20
 3112 1810 3795                 ror r19
 3113 1812 2795                 ror r18
 3114 1814 8A95                 dec r24
 3115 1816 01F4                 brne 1b
 3116 1818 8091 0000            lds r24,TrimNick
 3117 181c 9091 0000            lds r25,(TrimNick)+1
 3118 1820 821B                 sub r24,r18
 3119 1822 930B                 sbc r25,r19
 3120                   .L174:
 3121 1824 9093 0000            sts (TrimNick)+1,r25
 3122 1828 8093 0000            sts TrimNick,r24
 3123 182c 8091 0000            lds r24,Parameter_GlobalConfig
 3124 1830 87FF                 sbrs r24,7
 3125 1832 00C0                 rjmp .L82
 3126 1834 B989                 ldd r27,Y+17
 3127 1836 BB23                 tst r27
 3128 1838 01F0                 breq .+2
 3129 183a 00C0                 rjmp .L82
 3130 183c 8091 0000            lds r24,Looping_Roll
 3131 1840 8823                 tst r24
 3132 1842 01F4                 brne .L82
 3133 1844 E1E0                 ldi r30,lo8(257)
 3134 1846 EE16                 cp r14,r30
 3135 1848 E1E0                 ldi r30,hi8(257)
 3136 184a FE06                 cpc r15,r30
 3137 184c 04F0                 brlt .L161
 3138 184e 8091 0000            lds r24,MesswertNick
 3139 1852 9091 0000            lds r25,(MesswertNick)+1
 3140 1856 8E0D                 add r24,r14
 3141 1858 9F1D                 adc r25,r15
 3142 185a 8050                 subi r24,lo8(-(-256))
 3143 185c 9140                 sbci r25,hi8(-(-256))
 3144 185e 00C0                 rjmp .L175
 3145                   .L161:
 3146 1860 F0E0                 ldi r31,lo8(-256)
 3147 1862 EF16                 cp r14,r31
 3148 1864 FFEF                 ldi r31,hi8(-256)
 3149 1866 FF06                 cpc r15,r31
 3150 1868 04F4                 brge .L162
 3151 186a 8091 0000            lds r24,MesswertNick
 3152 186e 9091 0000            lds r25,(MesswertNick)+1
 3153 1872 8E0D                 add r24,r14
 3154 1874 9F1D                 adc r25,r15
 3155 1876 8050                 subi r24,lo8(-(256))
 3156 1878 9F4F                 sbci r25,hi8(-(256))
 3157                   .L175:
 3158 187a 9093 0000            sts (MesswertNick)+1,r25
 3159 187e 8093 0000            sts MesswertNick,r24
 3160                   .L162:
 3161 1882 21E0                 ldi r18,hi8(257)
 3162 1884 0130                 cpi r16,lo8(257)
 3163 1886 1207                 cpc r17,r18
 3164 1888 04F0                 brlt .L164
 3165 188a 8091 0000            lds r24,MesswertRoll
 3166 188e 9091 0000            lds r25,(MesswertRoll)+1
 3167 1892 800F                 add r24,r16
 3168 1894 911F                 adc r25,r17
 3169 1896 8050                 subi r24,lo8(-(-256))
 3170 1898 9140                 sbci r25,hi8(-(-256))
 3171 189a 00C0                 rjmp .L176
 3172                   .L164:
 3173 189c 3FEF                 ldi r19,hi8(-256)
 3174 189e 0030                 cpi r16,lo8(-256)
 3175 18a0 1307                 cpc r17,r19
 3176 18a2 04F4                 brge .L82
 3177 18a4 8091 0000            lds r24,MesswertRoll
 3178 18a8 9091 0000            lds r25,(MesswertRoll)+1
 3179 18ac 800F                 add r24,r16
 3180 18ae 911F                 adc r25,r17
 3181 18b0 8050                 subi r24,lo8(-(256))
 3182 18b2 9F4F                 sbci r25,hi8(-(256))
 3183                   .L176:
 3184 18b4 9093 0000            sts (MesswertRoll)+1,r25
 3185 18b8 8093 0000            sts MesswertRoll,r24
 3186                   .L82:
 3187                   /* epilogue: frame size=19 */
 3188 18bc E2E1                 ldi r30,18
 3189 18be CD5E                 subi r28,-19
 3190 18c0 0C94 0000            jmp __epilogue_restores__+0
 3191                   /* epilogue end (size=4) */
 3192                   /* function Mittelwert size 2000 (1990) */
 3194                   .global SendMotorData
 3196                   SendMotorData:
 3197                   /* prologue: frame size=0 */
 3198                   /* prologue end (size=0) */
 3199 18c4 8091 0000            lds r24,MotorenEin
 3200 18c8 8823                 tst r24
 3201 18ca 01F4                 brne .L178
 3202 18cc 8091 0000            lds r24,FC_StatusFlags
 3203 18d0 8C7F                 andi r24,lo8(-4)
 3204 18d2 8093 0000            sts FC_StatusFlags,r24
 3205 18d6 A0E0                 ldi r26,lo8(MotorTest)
 3206 18d8 B0E0                 ldi r27,hi8(MotorTest)
 3207 18da E0E0                 ldi r30,lo8(Motor)
 3208 18dc F0E0                 ldi r31,hi8(Motor)
 3209 18de 9BE0                 ldi r25,lo8(11)
 3210                   .L183:
 3211 18e0 8091 0000            lds r24,PC_MotortestActive
 3212 18e4 8823                 tst r24
 3213 18e6 01F4                 brne .L182
 3214 18e8 8C93                 st X,r24
 3215                   .L182:
 3216 18ea 8D91                 ld r24,X+
 3217 18ec 8183                 std Z+1,r24
 3218 18ee 1282                 std Z+2,__zero_reg__
 3219 18f0 9150                 subi r25,lo8(-(-1))
 3220 18f2 3896                 adiw r30,8
 3221 18f4 97FF                 sbrs r25,7
 3222 18f6 00C0                 rjmp .L183
 3223 18f8 8091 0000            lds r24,PC_MotortestActive
 3224 18fc 8823                 tst r24
 3225 18fe 01F0                 breq .L185
 3226 1900 8091 0000            lds r24,PC_MotortestActive
 3227 1904 8150                 subi r24,lo8(-(-1))
 3228 1906 8093 0000            sts PC_MotortestActive,r24
 3229 190a 00C0                 rjmp .L185
 3230                   .L178:
 3231 190c 8091 0000            lds r24,FC_StatusFlags
 3232 1910 8160                 ori r24,lo8(1)
 3233 1912 8093 0000            sts FC_StatusFlags,r24
 3234                   .L185:
 3235 1916 8091 0000            lds r24,I2C_TransferActive
 3236 191a 8823                 tst r24
 3237 191c 01F0                 breq .L186
 3238 191e 1092 0000            sts I2C_TransferActive,__zero_reg__
 3239 1922 0895                 ret
 3240                   .L186:
 3241 1924 8093 0000            sts motor_write,r24
 3242 1928 8093 0000            sts twi_state,r24
 3243 192c 8091 0000            lds r24,BLFlags
 3244 1930 8E7F                 andi r24,lo8(-2)
 3245 1932 8093 0000            sts BLFlags,r24
 3246 1936 85EA                 ldi r24,lo8(-91)
 3247 1938 8093 BC00            sts 188,r24
 3248 193c 0895                 ret
 3249                   /* epilogue: frame size=0 */
 3250                   /* epilogue: noreturn */
 3251                   /* epilogue end (size=0) */
 3252                   /* function SendMotorData size 61 (61) */
 3254                   .global ParameterZuordnung
 3256                   ParameterZuordnung:
 3257                   /* prologue: frame size=0 */
 3258 193e CF93                 push r28
 3259 1940 DF93                 push r29
 3260                   /* prologue end (size=2) */
 3261 1942 A0E0                 ldi r26,lo8(Poti)
 3262 1944 B0E0                 ldi r27,hi8(Poti)
 3263 1946 C0E0                 ldi r28,lo8(EE_Parameter+5)
 3264 1948 D0E0                 ldi r29,hi8(EE_Parameter+5)
 3265 194a 57E0                 ldi r21,lo8(7)
 3266                   .L203:
 3267 194c 9991                 ld r25,Y+
 3268 194e E92F                 mov r30,r25
 3269 1950 FF27                 clr r31
 3270 1952 EE0F                 add r30,r30
 3271 1954 FF1F                 adc r31,r31
 3272 1956 E050                 subi r30,lo8(-(PPM_in))
 3273 1958 F040                 sbci r31,hi8(-(PPM_in))
 3274 195a 0190                 ld __tmp_reg__,Z+
 3275 195c F081                 ld r31,Z
 3276 195e E02D                 mov r30,__tmp_reg__
 3277 1960 E158                 subi r30,lo8(-(127))
 3278 1962 FF4F                 sbci r31,hi8(-(127))
 3279 1964 EF3F                 cpi r30,255
 3280 1966 F105                 cpc r31,__zero_reg__
 3281 1968 01F0                 breq .L194
 3282 196a 04F0                 brlt .L194
 3283 196c EFEF                 ldi r30,lo8(255)
 3284 196e F0E0                 ldi r31,hi8(255)
 3285 1970 00C0                 rjmp .L195
 3286                   .L194:
 3287 1972 F7FF                 sbrs r31,7
 3288 1974 00C0                 rjmp .L195
 3289 1976 E0E0                 ldi r30,lo8(0)
 3290 1978 F0E0                 ldi r31,hi8(0)
 3291                   .L195:
 3292 197a 9931                 cpi r25,lo8(25)
 3293 197c 01F4                 brne .L197
 3294 197e EC93                 st X,r30
 3295 1980 00C0                 rjmp .L193
 3296                   .L197:
 3297 1982 4C91                 ld r20,X
 3298 1984 242F                 mov r18,r20
 3299 1986 3327                 clr r19
 3300 1988 E217                 cp r30,r18
 3301 198a F307                 cpc r31,r19
 3302 198c 01F0                 breq .L193
 3303 198e CF01                 movw r24,r30
 3304 1990 821B                 sub r24,r18
 3305 1992 930B                 sbc r25,r19
 3306 1994 97FD                 sbrc r25,7
 3307 1996 0396                 adiw r24,3
 3308                   .L200:
 3309 1998 9595                 asr r25
 3310 199a 8795                 ror r24
 3311 199c 9595                 asr r25
 3312 199e 8795                 ror r24
 3313 19a0 242F                 mov r18,r20
 3314 19a2 280F                 add r18,r24
 3315 19a4 2C93                 st X,r18
 3316 19a6 822F                 mov r24,r18
 3317 19a8 9927                 clr r25
 3318 19aa E817                 cp r30,r24
 3319 19ac F907                 cpc r31,r25
 3320 19ae 04F4                 brge .L201
 3321 19b0 2150                 subi r18,lo8(-(-1))
 3322 19b2 00C0                 rjmp .L323
 3323                   .L201:
 3324 19b4 2F5F                 subi r18,lo8(-(1))
 3325                   .L323:
 3326 19b6 2C93                 st X,r18
 3327                   .L193:
 3328 19b8 5150                 subi r21,lo8(-(-1))
 3329 19ba 1196                 adiw r26,1
 3330 19bc 57FF                 sbrs r21,7
 3331 19be 00C0                 rjmp .L203
 3332 19c0 8091 0000            lds r24,EE_Parameter+15
 3333 19c4 883F                 cpi r24,lo8(-8)
 3334 19c6 00F0                 brlo .L324
 3335 19c8 EFEF                 ldi r30,lo8(255)
 3336 19ca F0E0                 ldi r31,hi8(255)
 3337 19cc E81B                 sub r30,r24
 3338 19ce F109                 sbc r31,__zero_reg__
 3339 19d0 E050                 subi r30,lo8(-(Poti))
 3340 19d2 F040                 sbci r31,hi8(-(Poti))
 3341 19d4 8081                 ld r24,Z
 3342                   .L324:
 3343 19d6 8093 0000            sts Parameter_Luftdruck_D,r24
 3344 19da 8091 0000            lds r24,Parameter_Luftdruck_D
 3345 19de 8823                 tst r24
 3346 19e0 01F0                 breq .L207
 3347 19e2 8436                 cpi r24,lo8(100)
 3348 19e4 00F0                 brlo .L207
 3349 19e6 84E6                 ldi r24,lo8(100)
 3350 19e8 8093 0000            sts Parameter_Luftdruck_D,r24
 3351                   .L207:
 3352 19ec 8091 0000            lds r24,EE_Parameter+17
 3353 19f0 883F                 cpi r24,lo8(-8)
 3354 19f2 00F0                 brlo .L325
 3355 19f4 EFEF                 ldi r30,lo8(255)
 3356 19f6 F0E0                 ldi r31,hi8(255)
 3357 19f8 E81B                 sub r30,r24
 3358 19fa F109                 sbc r31,__zero_reg__
 3359 19fc E050                 subi r30,lo8(-(Poti))
 3360 19fe F040                 sbci r31,hi8(-(Poti))
 3361 1a00 8081                 ld r24,Z
 3362                   .L325:
 3363 1a02 8093 0000            sts Parameter_Hoehe_P,r24
 3364 1a06 8091 0000            lds r24,Parameter_Hoehe_P
 3365 1a0a 8823                 tst r24
 3366 1a0c 01F0                 breq .L212
 3367 1a0e 8436                 cpi r24,lo8(100)
 3368 1a10 00F0                 brlo .L212
 3369 1a12 84E6                 ldi r24,lo8(100)
 3370 1a14 8093 0000            sts Parameter_Hoehe_P,r24
 3371                   .L212:
 3372 1a18 8091 0000            lds r24,EE_Parameter+30
 3373 1a1c 883F                 cpi r24,lo8(-8)
 3374 1a1e 00F0                 brlo .L326
 3375 1a20 EFEF                 ldi r30,lo8(255)
 3376 1a22 F0E0                 ldi r31,hi8(255)
 3377 1a24 E81B                 sub r30,r24
 3378 1a26 F109                 sbc r31,__zero_reg__
 3379 1a28 E050                 subi r30,lo8(-(Poti))
 3380 1a2a F040                 sbci r31,hi8(-(Poti))
 3381 1a2c 8081                 ld r24,Z
 3382                   .L326:
 3383 1a2e 8093 0000            sts Parameter_Gyro_P,r24
 3384 1a32 8091 0000            lds r24,Parameter_Gyro_P
 3385 1a36 8B30                 cpi r24,lo8(11)
 3386 1a38 00F4                 brsh .L216
 3387 1a3a 8AE0                 ldi r24,lo8(10)
 3388 1a3c 00C0                 rjmp .L327
 3389                   .L216:
 3390 1a3e 8F3F                 cpi r24,lo8(-1)
 3391 1a40 01F4                 brne .L217
 3392                   .L327:
 3393 1a42 8093 0000            sts Parameter_Gyro_P,r24
 3394                   .L217:
 3395 1a46 8091 0000            lds r24,EE_Parameter+75
 3396 1a4a 883F                 cpi r24,lo8(-8)
 3397 1a4c 00F0                 brlo .L328
 3398 1a4e EFEF                 ldi r30,lo8(255)
 3399 1a50 F0E0                 ldi r31,hi8(255)
 3400 1a52 E81B                 sub r30,r24
 3401 1a54 F109                 sbc r31,__zero_reg__
 3402 1a56 E050                 subi r30,lo8(-(Poti))
 3403 1a58 F040                 sbci r31,hi8(-(Poti))
 3404 1a5a 8081                 ld r24,Z
 3405                   .L328:
 3406 1a5c 8093 0000            sts Parameter_J16Timing,r24
 3407 1a60 8091 0000            lds r24,Parameter_J16Timing
 3408 1a64 8630                 cpi r24,lo8(6)
 3409 1a66 00F4                 brsh .L221
 3410 1a68 85E0                 ldi r24,lo8(5)
 3411 1a6a 00C0                 rjmp .L329
 3412                   .L221:
 3413 1a6c 8F3F                 cpi r24,lo8(-1)
 3414 1a6e 01F4                 brne .L222
 3415                   .L329:
 3416 1a70 8093 0000            sts Parameter_J16Timing,r24
 3417                   .L222:
 3418 1a74 8091 0000            lds r24,EE_Parameter+77
 3419 1a78 883F                 cpi r24,lo8(-8)
 3420 1a7a 00F0                 brlo .L330
 3421 1a7c EFEF                 ldi r30,lo8(255)
 3422 1a7e F0E0                 ldi r31,hi8(255)
 3423 1a80 E81B                 sub r30,r24
 3424 1a82 F109                 sbc r31,__zero_reg__
 3425 1a84 E050                 subi r30,lo8(-(Poti))
 3426 1a86 F040                 sbci r31,hi8(-(Poti))
 3427 1a88 8081                 ld r24,Z
 3428                   .L330:
 3429 1a8a 8093 0000            sts Parameter_J17Timing,r24
 3430 1a8e 8091 0000            lds r24,Parameter_J17Timing
 3431 1a92 8630                 cpi r24,lo8(6)
 3432 1a94 00F4                 brsh .L226
 3433 1a96 85E0                 ldi r24,lo8(5)
 3434 1a98 00C0                 rjmp .L331
 3435                   .L226:
 3436 1a9a 8F3F                 cpi r24,lo8(-1)
 3437 1a9c 01F4                 brne .L227
 3438                   .L331:
 3439 1a9e 8093 0000            sts Parameter_J17Timing,r24
 3440                   .L227:
 3441 1aa2 8091 0000            lds r24,EE_Parameter+56
 3442 1aa6 873F                 cpi r24,lo8(-9)
 3443 1aa8 01F4                 brne .L229
 3444 1aaa 4299                 sbic 40-0x20,2
 3445 1aac 00C0                 rjmp .L362
 3446 1aae 00C0                 rjmp .L234
 3447                   .L229:
 3448 1ab0 863F                 cpi r24,lo8(-10)
 3449 1ab2 01F4                 brne .L233
 3450 1ab4 439B                 sbis 40-0x20,3
 3451 1ab6 00C0                 rjmp .L234
 3452                   .L362:
 3453 1ab8 8CE8                 ldi r24,lo8(-116)
 3454 1aba 00C0                 rjmp .L332
 3455                   .L234:
 3456 1abc 86E4                 ldi r24,lo8(70)
 3457 1abe 00C0                 rjmp .L332
 3458                   .L233:
 3459 1ac0 883F                 cpi r24,lo8(-8)
 3460 1ac2 00F0                 brlo .L332
 3461 1ac4 EFEF                 ldi r30,lo8(255)
 3462 1ac6 F0E0                 ldi r31,hi8(255)
 3463 1ac8 E81B                 sub r30,r24
 3464 1aca F109                 sbc r31,__zero_reg__
 3465 1acc E050                 subi r30,lo8(-(Poti))
 3466 1ace F040                 sbci r31,hi8(-(Poti))
 3467 1ad0 8081                 ld r24,Z
 3468                   .L332:
 3469 1ad2 8093 0000            sts Parameter_Servo3,r24
 3470 1ad6 8091 0000            lds r24,EE_Parameter+57
 3471 1ada 873F                 cpi r24,lo8(-9)
 3472 1adc 01F4                 brne .L239
 3473 1ade 4299                 sbic 40-0x20,2
 3474 1ae0 00C0                 rjmp .L363
 3475 1ae2 00C0                 rjmp .L244
 3476                   .L239:
 3477 1ae4 863F                 cpi r24,lo8(-10)
 3478 1ae6 01F4                 brne .L243
 3479 1ae8 439B                 sbis 40-0x20,3
 3480 1aea 00C0                 rjmp .L244
 3481                   .L363:
 3482 1aec 8CE8                 ldi r24,lo8(-116)
 3483 1aee 00C0                 rjmp .L333
 3484                   .L244:
 3485 1af0 86E4                 ldi r24,lo8(70)
 3486 1af2 00C0                 rjmp .L333
 3487                   .L243:
 3488 1af4 883F                 cpi r24,lo8(-8)
 3489 1af6 00F0                 brlo .L333
 3490 1af8 EFEF                 ldi r30,lo8(255)
 3491 1afa F0E0                 ldi r31,hi8(255)
 3492 1afc E81B                 sub r30,r24
 3493 1afe F109                 sbc r31,__zero_reg__
 3494 1b00 E050                 subi r30,lo8(-(Poti))
 3495 1b02 F040                 sbci r31,hi8(-(Poti))
 3496 1b04 8081                 ld r24,Z
 3497                   .L333:
 3498 1b06 8093 0000            sts Parameter_Servo4,r24
 3499 1b0a 8091 0000            lds r24,EE_Parameter+58
 3500 1b0e 883F                 cpi r24,lo8(-8)
 3501 1b10 00F0                 brlo .L334
 3502 1b12 EFEF                 ldi r30,lo8(255)
 3503 1b14 F0E0                 ldi r31,hi8(255)
 3504 1b16 E81B                 sub r30,r24
 3505 1b18 F109                 sbc r31,__zero_reg__
 3506 1b1a E050                 subi r30,lo8(-(Poti))
 3507 1b1c F040                 sbci r31,hi8(-(Poti))
 3508 1b1e 8081                 ld r24,Z
 3509                   .L334:
 3510 1b20 8093 0000            sts Parameter_Servo5,r24
 3511 1b24 8091 0000            lds r24,EE_Parameter+16
 3512 1b28 883F                 cpi r24,lo8(-8)
 3513 1b2a 00F0                 brlo .L335
 3514 1b2c EFEF                 ldi r30,lo8(255)
 3515 1b2e F0E0                 ldi r31,hi8(255)
 3516 1b30 E81B                 sub r30,r24
 3517 1b32 F109                 sbc r31,__zero_reg__
 3518 1b34 E050                 subi r30,lo8(-(Poti))
 3519 1b36 F040                 sbci r31,hi8(-(Poti))
 3520 1b38 8081                 ld r24,Z
 3521                   .L335:
 3522 1b3a 8093 0000            sts Parameter_HoehenSchalter,r24
 3523 1b3e 8091 0000            lds r24,EE_Parameter+19
 3524 1b42 883F                 cpi r24,lo8(-8)
 3525 1b44 00F0                 brlo .L336
 3526 1b46 EFEF                 ldi r30,lo8(255)
 3527 1b48 F0E0                 ldi r31,hi8(255)
 3528 1b4a E81B                 sub r30,r24
 3529 1b4c F109                 sbc r31,__zero_reg__
 3530 1b4e E050                 subi r30,lo8(-(Poti))
 3531 1b50 F040                 sbci r31,hi8(-(Poti))
 3532 1b52 8081                 ld r24,Z
 3533                   .L336:
 3534 1b54 8093 0000            sts Parameter_Hoehe_ACC_Wirkung,r24
 3535 1b58 8091 0000            lds r24,EE_Parameter+21
 3536 1b5c 883F                 cpi r24,lo8(-8)
 3537 1b5e 00F0                 brlo .L337
 3538 1b60 EFEF                 ldi r30,lo8(255)
 3539 1b62 F0E0                 ldi r31,hi8(255)
 3540 1b64 E81B                 sub r30,r24
 3541 1b66 F109                 sbc r31,__zero_reg__
 3542 1b68 E050                 subi r30,lo8(-(Poti))
 3543 1b6a F040                 sbci r31,hi8(-(Poti))
 3544 1b6c 8081                 ld r24,Z
 3545                   .L337:
 3546 1b6e 8093 0000            sts Parameter_Hoehe_GPS_Z,r24
 3547 1b72 8091 0000            lds r24,EE_Parameter+29
 3548 1b76 883F                 cpi r24,lo8(-8)
 3549 1b78 00F0                 brlo .L338
 3550 1b7a EFEF                 ldi r30,lo8(255)
 3551 1b7c F0E0                 ldi r31,hi8(255)
 3552 1b7e E81B                 sub r30,r24
 3553 1b80 F109                 sbc r31,__zero_reg__
 3554 1b82 E050                 subi r30,lo8(-(Poti))
 3555 1b84 F040                 sbci r31,hi8(-(Poti))
 3556 1b86 8081                 ld r24,Z
 3557                   .L338:
 3558 1b88 8093 0000            sts Parameter_KompassWirkung,r24
 3559 1b8c 8091 0000            lds r24,EE_Parameter+31
 3560 1b90 883F                 cpi r24,lo8(-8)
 3561 1b92 00F0                 brlo .L339
 3562 1b94 EFEF                 ldi r30,lo8(255)
 3563 1b96 F0E0                 ldi r31,hi8(255)
 3564 1b98 E81B                 sub r30,r24
 3565 1b9a F109                 sbc r31,__zero_reg__
 3566 1b9c E050                 subi r30,lo8(-(Poti))
 3567 1b9e F040                 sbci r31,hi8(-(Poti))
 3568 1ba0 8081                 ld r24,Z
 3569                   .L339:
 3570 1ba2 8093 0000            sts Parameter_Gyro_I,r24
 3571 1ba6 8091 0000            lds r24,EE_Parameter+32
 3572 1baa 883F                 cpi r24,lo8(-8)
 3573 1bac 00F0                 brlo .L340
 3574 1bae EFEF                 ldi r30,lo8(255)
 3575 1bb0 F0E0                 ldi r31,hi8(255)
 3576 1bb2 E81B                 sub r30,r24
 3577 1bb4 F109                 sbc r31,__zero_reg__
 3578 1bb6 E050                 subi r30,lo8(-(Poti))
 3579 1bb8 F040                 sbci r31,hi8(-(Poti))
 3580 1bba 8081                 ld r24,Z
 3581                   .L340:
 3582 1bbc 8093 0000            sts Parameter_Gyro_D,r24
 3583 1bc0 8091 0000            lds r24,EE_Parameter+33
 3584 1bc4 883F                 cpi r24,lo8(-8)
 3585 1bc6 00F0                 brlo .L341
 3586 1bc8 EFEF                 ldi r30,lo8(255)
 3587 1bca F0E0                 ldi r31,hi8(255)
 3588 1bcc E81B                 sub r30,r24
 3589 1bce F109                 sbc r31,__zero_reg__
 3590 1bd0 E050                 subi r30,lo8(-(Poti))
 3591 1bd2 F040                 sbci r31,hi8(-(Poti))
 3592 1bd4 8081                 ld r24,Z
 3593                   .L341:
 3594 1bd6 8093 0000            sts Parameter_Gyro_Gier_P,r24
 3595 1bda 8091 0000            lds r24,EE_Parameter+34
 3596 1bde 883F                 cpi r24,lo8(-8)
 3597 1be0 00F0                 brlo .L342
 3598 1be2 EFEF                 ldi r30,lo8(255)
 3599 1be4 F0E0                 ldi r31,hi8(255)
 3600 1be6 E81B                 sub r30,r24
 3601 1be8 F109                 sbc r31,__zero_reg__
 3602 1bea E050                 subi r30,lo8(-(Poti))
 3603 1bec F040                 sbci r31,hi8(-(Poti))
 3604 1bee 8081                 ld r24,Z
 3605                   .L342:
 3606 1bf0 8093 0000            sts Parameter_Gyro_Gier_I,r24
 3607 1bf4 8091 0000            lds r24,EE_Parameter+40
 3608 1bf8 883F                 cpi r24,lo8(-8)
 3609 1bfa 00F0                 brlo .L343
 3610 1bfc EFEF                 ldi r30,lo8(255)
 3611 1bfe F0E0                 ldi r31,hi8(255)
 3612 1c00 E81B                 sub r30,r24
 3613 1c02 F109                 sbc r31,__zero_reg__
 3614 1c04 E050                 subi r30,lo8(-(Poti))
 3615 1c06 F040                 sbci r31,hi8(-(Poti))
 3616 1c08 8081                 ld r24,Z
 3617                   .L343:
 3618 1c0a 8093 0000            sts Parameter_I_Faktor,r24
 3619 1c0e 8091 0000            lds r24,EE_Parameter+41
 3620 1c12 883F                 cpi r24,lo8(-8)
 3621 1c14 00F0                 brlo .L344
 3622 1c16 EFEF                 ldi r30,lo8(255)
 3623 1c18 F0E0                 ldi r31,hi8(255)
 3624 1c1a E81B                 sub r30,r24
 3625 1c1c F109                 sbc r31,__zero_reg__
 3626 1c1e E050                 subi r30,lo8(-(Poti))
 3627 1c20 F040                 sbci r31,hi8(-(Poti))
 3628 1c22 8081                 ld r24,Z
 3629                   .L344:
 3630 1c24 8093 0000            sts Parameter_UserParam1,r24
 3631 1c28 8091 0000            lds r24,EE_Parameter+42
 3632 1c2c 883F                 cpi r24,lo8(-8)
 3633 1c2e 00F0                 brlo .L345
 3634 1c30 EFEF                 ldi r30,lo8(255)
 3635 1c32 F0E0                 ldi r31,hi8(255)
 3636 1c34 E81B                 sub r30,r24
 3637 1c36 F109                 sbc r31,__zero_reg__
 3638 1c38 E050                 subi r30,lo8(-(Poti))
 3639 1c3a F040                 sbci r31,hi8(-(Poti))
 3640 1c3c 8081                 ld r24,Z
 3641                   .L345:
 3642 1c3e 8093 0000            sts Parameter_UserParam2,r24
 3643 1c42 8091 0000            lds r24,EE_Parameter+43
 3644 1c46 883F                 cpi r24,lo8(-8)
 3645 1c48 00F0                 brlo .L346
 3646 1c4a EFEF                 ldi r30,lo8(255)
 3647 1c4c F0E0                 ldi r31,hi8(255)
 3648 1c4e E81B                 sub r30,r24
 3649 1c50 F109                 sbc r31,__zero_reg__
 3650 1c52 E050                 subi r30,lo8(-(Poti))
 3651 1c54 F040                 sbci r31,hi8(-(Poti))
 3652 1c56 8081                 ld r24,Z
 3653                   .L346:
 3654 1c58 8093 0000            sts Parameter_UserParam3,r24
 3655 1c5c 8091 0000            lds r24,EE_Parameter+44
 3656 1c60 883F                 cpi r24,lo8(-8)
 3657 1c62 00F0                 brlo .L347
 3658 1c64 EFEF                 ldi r30,lo8(255)
 3659 1c66 F0E0                 ldi r31,hi8(255)
 3660 1c68 E81B                 sub r30,r24
 3661 1c6a F109                 sbc r31,__zero_reg__
 3662 1c6c E050                 subi r30,lo8(-(Poti))
 3663 1c6e F040                 sbci r31,hi8(-(Poti))
 3664 1c70 8081                 ld r24,Z
 3665                   .L347:
 3666 1c72 8093 0000            sts Parameter_UserParam4,r24
 3667 1c76 8091 0000            lds r24,EE_Parameter+70
 3668 1c7a 883F                 cpi r24,lo8(-8)
 3669 1c7c 00F0                 brlo .L348
 3670 1c7e EFEF                 ldi r30,lo8(255)
 3671 1c80 F0E0                 ldi r31,hi8(255)
 3672 1c82 E81B                 sub r30,r24
 3673 1c84 F109                 sbc r31,__zero_reg__
 3674 1c86 E050                 subi r30,lo8(-(Poti))
 3675 1c88 F040                 sbci r31,hi8(-(Poti))
 3676 1c8a 8081                 ld r24,Z
 3677                   .L348:
 3678 1c8c 8093 0000            sts Parameter_UserParam5,r24
 3679 1c90 8091 0000            lds r24,EE_Parameter+71
 3680 1c94 883F                 cpi r24,lo8(-8)
 3681 1c96 00F0                 brlo .L349
 3682 1c98 EFEF                 ldi r30,lo8(255)
 3683 1c9a F0E0                 ldi r31,hi8(255)
 3684 1c9c E81B                 sub r30,r24
 3685 1c9e F109                 sbc r31,__zero_reg__
 3686 1ca0 E050                 subi r30,lo8(-(Poti))
 3687 1ca2 F040                 sbci r31,hi8(-(Poti))
 3688 1ca4 8081                 ld r24,Z
 3689                   .L349:
 3690 1ca6 8093 0000            sts Parameter_UserParam6,r24
 3691 1caa 8091 0000            lds r24,EE_Parameter+72
 3692 1cae 883F                 cpi r24,lo8(-8)
 3693 1cb0 00F0                 brlo .L350
 3694 1cb2 EFEF                 ldi r30,lo8(255)
 3695 1cb4 F0E0                 ldi r31,hi8(255)
 3696 1cb6 E81B                 sub r30,r24
 3697 1cb8 F109                 sbc r31,__zero_reg__
 3698 1cba E050                 subi r30,lo8(-(Poti))
 3699 1cbc F040                 sbci r31,hi8(-(Poti))
 3700 1cbe 8081                 ld r24,Z
 3701                   .L350:
 3702 1cc0 8093 0000            sts Parameter_UserParam7,r24
 3703 1cc4 8091 0000            lds r24,EE_Parameter+73
 3704 1cc8 883F                 cpi r24,lo8(-8)
 3705 1cca 00F0                 brlo .L351
 3706 1ccc EFEF                 ldi r30,lo8(255)
 3707 1cce F0E0                 ldi r31,hi8(255)
 3708 1cd0 E81B                 sub r30,r24
 3709 1cd2 F109                 sbc r31,__zero_reg__
 3710 1cd4 E050                 subi r30,lo8(-(Poti))
 3711 1cd6 F040                 sbci r31,hi8(-(Poti))
 3712 1cd8 8081                 ld r24,Z
 3713                   .L351:
 3714 1cda 8093 0000            sts Parameter_UserParam8,r24
 3715 1cde 8091 0000            lds r24,EE_Parameter+45
 3716 1ce2 883F                 cpi r24,lo8(-8)
 3717 1ce4 00F0                 brlo .L352
 3718 1ce6 EFEF                 ldi r30,lo8(255)
 3719 1ce8 F0E0                 ldi r31,hi8(255)
 3720 1cea E81B                 sub r30,r24
 3721 1cec F109                 sbc r31,__zero_reg__
 3722 1cee E050                 subi r30,lo8(-(Poti))
 3723 1cf0 F040                 sbci r31,hi8(-(Poti))
 3724 1cf2 8081                 ld r24,Z
 3725                   .L352:
 3726 1cf4 8093 0000            sts Parameter_ServoNickControl,r24
 3727 1cf8 8091 0000            lds r24,EE_Parameter+49
 3728 1cfc 883F                 cpi r24,lo8(-8)
 3729 1cfe 00F0                 brlo .L353
 3730 1d00 EFEF                 ldi r30,lo8(255)
 3731 1d02 F0E0                 ldi r31,hi8(255)
 3732 1d04 E81B                 sub r30,r24
 3733 1d06 F109                 sbc r31,__zero_reg__
 3734 1d08 E050                 subi r30,lo8(-(Poti))
 3735 1d0a F040                 sbci r31,hi8(-(Poti))
 3736 1d0c 8081                 ld r24,Z
 3737                   .L353:
 3738 1d0e 8093 0000            sts Parameter_ServoRollControl,r24
 3739 1d12 8091 0000            lds r24,EE_Parameter+59
 3740 1d16 883F                 cpi r24,lo8(-8)
 3741 1d18 00F0                 brlo .L354
 3742 1d1a EFEF                 ldi r30,lo8(255)
 3743 1d1c F0E0                 ldi r31,hi8(255)
 3744 1d1e E81B                 sub r30,r24
 3745 1d20 F109                 sbc r31,__zero_reg__
 3746 1d22 E050                 subi r30,lo8(-(Poti))
 3747 1d24 F040                 sbci r31,hi8(-(Poti))
 3748 1d26 8081                 ld r24,Z
 3749                   .L354:
 3750 1d28 8093 0000            sts Parameter_LoopGasLimit,r24
 3751 1d2c 8091 0000            lds r24,EE_Parameter+62
 3752 1d30 883F                 cpi r24,lo8(-8)
 3753 1d32 00F0                 brlo .L355
 3754 1d34 EFEF                 ldi r30,lo8(255)
 3755 1d36 F0E0                 ldi r31,hi8(255)
 3756 1d38 E81B                 sub r30,r24
 3757 1d3a F109                 sbc r31,__zero_reg__
 3758 1d3c E050                 subi r30,lo8(-(Poti))
 3759 1d3e F040                 sbci r31,hi8(-(Poti))
 3760 1d40 8081                 ld r24,Z
 3761                   .L355:
 3762 1d42 8093 0000            sts Parameter_AchsKopplung1,r24
 3763 1d46 8091 0000            lds r24,EE_Parameter+63
 3764 1d4a 883F                 cpi r24,lo8(-8)
 3765 1d4c 00F0                 brlo .L356
 3766 1d4e EFEF                 ldi r30,lo8(255)
 3767 1d50 F0E0                 ldi r31,hi8(255)
 3768 1d52 E81B                 sub r30,r24
 3769 1d54 F109                 sbc r31,__zero_reg__
 3770 1d56 E050                 subi r30,lo8(-(Poti))
 3771 1d58 F040                 sbci r31,hi8(-(Poti))
 3772 1d5a 8081                 ld r24,Z
 3773                   .L356:
 3774 1d5c 8093 0000            sts Parameter_AchsKopplung2,r24
 3775 1d60 8091 0000            lds r24,EE_Parameter+64
 3776 1d64 883F                 cpi r24,lo8(-8)
 3777 1d66 00F0                 brlo .L357
 3778 1d68 EFEF                 ldi r30,lo8(255)
 3779 1d6a F0E0                 ldi r31,hi8(255)
 3780 1d6c E81B                 sub r30,r24
 3781 1d6e F109                 sbc r31,__zero_reg__
 3782 1d70 E050                 subi r30,lo8(-(Poti))
 3783 1d72 F040                 sbci r31,hi8(-(Poti))
 3784 1d74 8081                 ld r24,Z
 3785                   .L357:
 3786 1d76 8093 0000            sts Parameter_CouplingYawCorrection,r24
 3787 1d7a 8091 0000            lds r24,EE_Parameter+104
 3788 1d7e 883F                 cpi r24,lo8(-8)
 3789 1d80 00F0                 brlo .L358
 3790 1d82 EFEF                 ldi r30,lo8(255)
 3791 1d84 F0E0                 ldi r31,hi8(255)
 3792 1d86 E81B                 sub r30,r24
 3793 1d88 F109                 sbc r31,__zero_reg__
 3794 1d8a E050                 subi r30,lo8(-(Poti))
 3795 1d8c F040                 sbci r31,hi8(-(Poti))
 3796 1d8e 8081                 ld r24,Z
 3797                   .L358:
 3798 1d90 8093 0000            sts Parameter_MaximumAltitude,r24
 3799 1d94 9091 0000            lds r25,NC_To_FC_MaxAltitude
 3800 1d98 9923                 tst r25
 3801 1d9a 01F0                 breq .L301
 3802 1d9c 8091 0000            lds r24,Parameter_MaximumAltitude
 3803 1da0 9817                 cp r25,r24
 3804 1da2 00F0                 brlo .L300
 3805                   .L301:
 3806 1da4 8091 0000            lds r24,Parameter_MaximumAltitude
 3807 1da8 8823                 tst r24
 3808 1daa 01F4                 brne .L299
 3809                   .L300:
 3810 1dac 9093 0000            sts Parameter_MaximumAltitude,r25
 3811                   .L299:
 3812 1db0 8091 0000            lds r24,EE_Parameter+13
 3813 1db4 8093 0000            sts Parameter_GlobalConfig,r24
 3814 1db8 8091 0000            lds r24,EE_Parameter+110
 3815 1dbc 8093 0000            sts Parameter_ExtraConfig,r24
 3816 1dc0 8091 0000            lds r24,EE_Parameter+69
 3817 1dc4 883F                 cpi r24,lo8(-8)
 3818 1dc6 00F0                 brlo .L359
 3819 1dc8 EFEF                 ldi r30,lo8(255)
 3820 1dca F0E0                 ldi r31,hi8(255)
 3821 1dcc E81B                 sub r30,r24
 3822 1dce F109                 sbc r31,__zero_reg__
 3823 1dd0 E050                 subi r30,lo8(-(Poti))
 3824 1dd2 F040                 sbci r31,hi8(-(Poti))
 3825 1dd4 8081                 ld r24,Z
 3826                   .L359:
 3827 1dd6 8093 0000            sts Parameter_DynamicStability,r24
 3828 1dda 8091 0000            lds r24,EE_Parameter+97
 3829 1dde 883F                 cpi r24,lo8(-8)
 3830 1de0 00F0                 brlo .L360
 3831 1de2 EFEF                 ldi r30,lo8(255)
 3832 1de4 F0E0                 ldi r31,hi8(255)
 3833 1de6 E81B                 sub r30,r24
 3834 1de8 F109                 sbc r31,__zero_reg__
 3835 1dea E050                 subi r30,lo8(-(Poti))
 3836 1dec F040                 sbci r31,hi8(-(Poti))
 3837 1dee 8081                 ld r24,Z
 3838                   .L360:
 3839 1df0 8093 0000            sts Parameter_ExternalControl,r24
 3840 1df4 8091 0000            lds r24,Parameter_I_Faktor
 3841 1df8 282F                 mov r18,r24
 3842 1dfa 3327                 clr r19
 3843 1dfc 2F5F                 subi r18,lo8(-(1))
 3844 1dfe 3F4F                 sbci r19,hi8(-(1))
 3845 1e00 8CE3                 ldi r24,lo8(10300)
 3846 1e02 98E2                 ldi r25,hi8(10300)
 3847 1e04 B901                 movw r22,r18
 3848 1e06 0E94 0000            call __divmodhi4
 3849 1e0a 7093 0000            sts (Ki)+1,r23
 3850 1e0e 6093 0000            sts Ki,r22
 3851 1e12 8091 0000            lds r24,EE_Parameter+27
 3852 1e16 8093 0000            sts MAX_GAS,r24
 3853 1e1a 8091 0000            lds r24,EE_Parameter+26
 3854 1e1e 8093 0000            sts MIN_GAS,r24
 3855 1e22 9091 0000            lds r25,EE_Parameter+99
 3856 1e26 9333                 cpi r25,lo8(51)
 3857 1e28 00F4                 brsh .+2
 3858 1e2a 00C0                 rjmp .L306
 3859 1e2c 81E0                 ldi r24,lo8(1)
 3860 1e2e 8093 0000            sts CareFree,r24
 3861 1e32 983F                 cpi r25,lo8(-8)
 3862 1e34 00F0                 brlo .L307
 3863 1e36 EFEF                 ldi r30,lo8(255)
 3864 1e38 F0E0                 ldi r31,hi8(255)
 3865 1e3a E91B                 sub r30,r25
 3866 1e3c F109                 sbc r31,__zero_reg__
 3867 1e3e E050                 subi r30,lo8(-(Poti))
 3868 1e40 F040                 sbci r31,hi8(-(Poti))
 3869 1e42 8081                 ld r24,Z
 3870 1e44 8233                 cpi r24,lo8(50)
 3871 1e46 00F4                 brsh .L307
 3872 1e48 1092 0000            sts CareFree,__zero_reg__
 3873                   .L307:
 3874 1e4c 8091 0000            lds r24,carefree_old
 3875 1e50 2091 0000            lds r18,CareFree
 3876 1e54 8217                 cp r24,r18
 3877 1e56 01F0                 breq .L308
 3878 1e58 8330                 cpi r24,lo8(3)
 3879 1e5a 00F4                 brsh .L309
 3880 1e5c 3091 0000            lds r19,SpeakHoTT
 3881 1e60 2223                 tst r18
 3882 1e62 01F0                 breq .L310
 3883 1e64 8CED                 ldi r24,lo8(1500)
 3884 1e66 95E0                 ldi r25,hi8(1500)
 3885 1e68 9093 0000            sts (beeptime)+1,r25
 3886 1e6c 8093 0000            sts beeptime,r24
 3887 1e70 3323                 tst r19
 3888 1e72 01F4                 brne .L312
 3889 1e74 8EE2                 ldi r24,lo8(46)
 3890 1e76 00C0                 rjmp .L361
 3891                   .L310:
 3892 1e78 88EC                 ldi r24,lo8(200)
 3893 1e7a 90E0                 ldi r25,hi8(200)
 3894 1e7c 9093 0000            sts (beeptime)+1,r25
 3895 1e80 8093 0000            sts beeptime,r24
 3896 1e84 3323                 tst r19
 3897 1e86 01F4                 brne .L312
 3898 1e88 87E1                 ldi r24,lo8(23)
 3899                   .L361:
 3900 1e8a 8093 0000            sts SpeakHoTT,r24
 3901                   .L312:
 3902 1e8e 85E0                 ldi r24,lo8(5)
 3903 1e90 8093 0000            sts NeueKompassRichtungMerken,r24
 3904 1e94 2093 0000            sts carefree_old,r18
 3905 1e98 00C0                 rjmp .L308
 3906                   .L309:
 3907 1e9a 8150                 subi r24,lo8(-(-1))
 3908 1e9c 8093 0000            sts carefree_old,r24
 3909                   .L308:
 3910 1ea0 8091 0000            lds r24,FromNaviCtrl+7
 3911 1ea4 9091 0000            lds r25,(FromNaviCtrl+7)+1
 3912 1ea8 97FF                 sbrs r25,7
 3913 1eaa 00C0                 rjmp .L316
 3914 1eac 8091 0000            lds r24,CareFree
 3915 1eb0 8823                 tst r24
 3916 1eb2 01F0                 breq .L316
 3917 1eb4 8091 0000            lds r24,VersionInfo+5
 3918 1eb8 8068                 ori r24,lo8(-128)
 3919 1eba 8093 0000            sts VersionInfo+5,r24
 3920 1ebe 00C0                 rjmp .L316
 3921                   .L306:
 3922 1ec0 1092 0000            sts CareFree,__zero_reg__
 3923 1ec4 8AE0                 ldi r24,lo8(10)
 3924 1ec6 8093 0000            sts carefree_old,r24
 3925                   .L316:
 3926 1eca 8091 0000            lds r24,FromNaviCtrl+7
 3927 1ece 9091 0000            lds r25,(FromNaviCtrl+7)+1
 3928 1ed2 97FF                 sbrs r25,7
 3929 1ed4 00C0                 rjmp .L317
 3930 1ed6 8091 0000            lds r24,MotorenEin
 3931 1eda 8823                 tst r24
 3932 1edc 01F0                 breq .L317
 3933 1ede 8091 0000            lds r24,CareFree
 3934 1ee2 8823                 tst r24
 3935 1ee4 01F0                 breq .L317
 3936 1ee6 8091 0000            lds r24,BeepMuster
 3937 1eea 9091 0000            lds r25,(BeepMuster)+1
 3938 1eee 8F5F                 subi r24,lo8(-1)
 3939 1ef0 9F4F                 sbci r25,hi8(-1)
 3940 1ef2 01F4                 brne .L317
 3941 1ef4 88E9                 ldi r24,lo8(15000)
 3942 1ef6 9AE3                 ldi r25,hi8(15000)
 3943 1ef8 9093 0000            sts (beeptime)+1,r25
 3944 1efc 8093 0000            sts beeptime,r24
 3945 1f00 80E0                 ldi r24,lo8(-23552)
 3946 1f02 94EA                 ldi r25,hi8(-23552)
 3947 1f04 9093 0000            sts (BeepMuster)+1,r25
 3948 1f08 8093 0000            sts BeepMuster,r24
 3949 1f0c 1092 0000            sts CareFree,__zero_reg__
 3950                   .L317:
 3951 1f10 8091 0000            lds r24,CareFree
 3952 1f14 8823                 tst r24
 3953 1f16 01F0                 breq .L318
 3954 1f18 8091 0000            lds r24,FC_StatusFlags2
 3955 1f1c 8160                 ori r24,lo8(1)
 3956 1f1e 8093 0000            sts FC_StatusFlags2,r24
 3957 1f22 8091 0000            lds r24,Parameter_AchsKopplung1
 3958 1f26 823D                 cpi r24,lo8(-46)
 3959 1f28 00F4                 brsh .L190
 3960 1f2a 825E                 subi r24,lo8(-(30))
 3961 1f2c 8093 0000            sts Parameter_AchsKopplung1,r24
 3962 1f30 00C0                 rjmp .L190
 3963                   .L318:
 3964 1f32 8091 0000            lds r24,FC_StatusFlags2
 3965 1f36 8E7F                 andi r24,lo8(-2)
 3966 1f38 8093 0000            sts FC_StatusFlags2,r24
 3967                   .L190:
 3968                   /* epilogue: frame size=0 */
 3969 1f3c DF91                 pop r29
 3970 1f3e CF91                 pop r28
 3971 1f40 0895                 ret
 3972                   /* epilogue end (size=3) */
 3973                   /* function ParameterZuordnung size 772 (767) */
 3975                           .lcomm sollGier.0,4
 3976                           .lcomm tmp_long.1,4
 3977                           .lcomm tmp_long2.2,4
 3978                           .lcomm IntegralFehlerNick.3,4
 3979                           .lcomm IntegralFehlerRoll.4,4
 3980                           .lcomm RcLostTimer.5,2
 3981                           .lcomm delay_neutral.6,1
 3982                           .lcomm delay_einschalten.7,1
 3983                           .lcomm delay_ausschalten.8,1
 3984                           .lcomm move_safety_switch.9,1
 3985                           .lcomm ausgleichNick.10,4
 3986                           .lcomm ausgleichRoll.11,4
 3987                           .lcomm stick_nick.12,2
 3988                           .lcomm stick_roll.13,2
 3989                           .lcomm cnt.14,2
 3990                           .lcomm last_n_p.15,1
 3991                           .lcomm last_n_n.16,1
 3992                           .lcomm last_r_p.17,1
 3993                           .lcomm last_r_n.18,1
 3994                           .lcomm MittelIntegralNick_Alt.19,4
 3995                           .lcomm MittelIntegralRoll_Alt.20,4
 3996                           .lcomm HeightTrimming.21,2
 3997                           .lcomm FilterHCGas.22,2
 3998                           .lcomm HoverGasFilter.23,4
 3999                           .data
 4002                   delay.24:
 4003 004f 64                   .byte   100
 4004                           .lcomm BaroAtUpperLimit.25,1
 4005                           .lcomm BaroAtLowerLimit.26,1
 4006                           .text
 4007                   .global MotorRegler
 4009                   MotorRegler:
 4010                   /* prologue: frame size=23 */
 4011 1f42 A7E1                 ldi r26,lo8(23)
 4012 1f44 B0E0                 ldi r27,hi8(23)
 4013 1f46 E0E0                 ldi r30,pm_lo8(1f)
 4014 1f48 F0E0                 ldi r31,pm_hi8(1f)
 4015 1f4a 0C94 0000            jmp __prologue_saves__+0
 4016                   1:
 4017                   /* prologue end (size=6) */
 4018 1f4e 0E94 0000            call Mittelwert
 4019 1f52 8091 0000            lds r24,FC_StatusFlags
 4020 1f56 9927                 clr r25
 4021 1f58 8471                 andi r24,lo8(20)
 4022 1f5a 9070                 andi r25,hi8(20)
 4023 1f5c 892B                 or r24,r25
 4024 1f5e 01F4                 brne .L365
 4025 1f60 8091 0000            lds r24,EE_Parameter+111
 4026 1f64 82FF                 sbrs r24,2
 4027 1f66 00C0                 rjmp .L366
 4028 1f68 8091 0000            lds r24,HoverGas
 4029 1f6c 9091 0000            lds r25,(HoverGas)+1
 4030 1f70 0097                 sbiw r24,0
 4031 1f72 01F0                 breq .L367
 4032 1f74 02E0                 ldi r16,hi8(600)
 4033 1f76 8835                 cpi r24,lo8(600)
 4034 1f78 9007                 cpc r25,r16
 4035 1f7a 04F4                 brge .L367
 4036 1f7c 9C01                 movw r18,r24
 4037 1f7e 97FF                 sbrs r25,7
 4038 1f80 00C0                 rjmp .L368
 4039 1f82 2D5F                 subi r18,lo8(-(3))
 4040 1f84 3F4F                 sbci r19,hi8(-(3))
 4041                   .L368:
 4042 1f86 3595                 asr r19
 4043 1f88 2795                 ror r18
 4044 1f8a 3595                 asr r19
 4045 1f8c 2795                 ror r18
 4046 1f8e 8091 0000            lds r24,EE_Parameter+37
 4047 1f92 9927                 clr r25
 4048 1f94 289F                 mul r18,r24
 4049 1f96 A001                 movw r20,r0
 4050 1f98 299F                 mul r18,r25
 4051 1f9a 500D                 add r21,r0
 4052 1f9c 389F                 mul r19,r24
 4053 1f9e 500D                 add r21,r0
 4054 1fa0 1124                 clr r1
 4055 1fa2 CA01                 movw r24,r20
 4056 1fa4 64E6                 ldi r22,lo8(100)
 4057 1fa6 70E0                 ldi r23,hi8(100)
 4058 1fa8 0E94 0000            call __divmodhi4
 4059 1fac CB01                 movw r24,r22
 4060 1fae 00C0                 rjmp .L887
 4061                   .L367:
 4062 1fb0 8DE2                 ldi r24,lo8(45)
 4063 1fb2 90E0                 ldi r25,hi8(45)
 4064 1fb4 00C0                 rjmp .L887
 4065                   .L366:
 4066 1fb6 8091 0000            lds r24,EE_Parameter+37
 4067 1fba 9927                 clr r25
 4068                   .L887:
 4069 1fbc 9093 0000            sts (HooverGasEmergencyPercent)+1,r25
 4070 1fc0 8093 0000            sts HooverGasEmergencyPercent,r24
 4071                   .L365:
 4072 1fc4 2091 0000            lds r18,GasIsZeroCnt
 4073 1fc8 3091 0000            lds r19,(GasIsZeroCnt)+1
 4074 1fcc 55E7                 ldi r21,hi8(30000)
 4075 1fce 2033                 cpi r18,lo8(30000)
 4076 1fd0 3507                 cpc r19,r21
 4077 1fd2 01F4                 brne .L371
 4078 1fd4 1092 0000            sts (StickGas)+1,__zero_reg__
 4079 1fd8 1092 0000            sts StickGas,__zero_reg__
 4080 1fdc 8091 0000            lds r24,MIN_GAS
 4081 1fe0 9927                 clr r25
 4082 1fe2 9093 0000            sts (HooverGasEmergencyPercent)+1,r25
 4083 1fe6 8093 0000            sts HooverGasEmergencyPercent,r24
 4084                   .L371:
 4085 1fea 6091 0000            lds r22,StickGas
 4086 1fee 7091 0000            lds r23,(StickGas)+1
 4087 1ff2 7A83                 std Y+2,r23
 4088 1ff4 6983                 std Y+1,r22
 4089 1ff6 8091 0000            lds r24,MIN_GAS
 4090 1ffa 9927                 clr r25
 4091 1ffc 0A96                 adiw r24,10
 4092 1ffe 6817                 cp r22,r24
 4093 2000 7907                 cpc r23,r25
 4094 2002 04F4                 brge .L372
 4095 2004 9A83                 std Y+2,r25
 4096 2006 8983                 std Y+1,r24
 4097                   .L372:
 4098 2008 8091 0000            lds r24,SenderOkay
 4099 200c 8436                 cpi r24,lo8(100)
 4100 200e 00F0                 brlo .+2
 4101 2010 00C0                 rjmp .L373
 4102 2012 8091 0000            lds r24,FC_StatusFlags2
 4103 2016 82FD                 sbrc r24,2
 4104 2018 00C0                 rjmp .L373
 4105 201a 8091 0000            lds r24,RcLostTimer.5
 4106 201e 9091 0000            lds r25,(RcLostTimer.5)+1
 4107 2022 0097                 sbiw r24,0
 4108 2024 01F0                 breq .L374
 4109 2026 0197                 sbiw r24,1
 4110 2028 9093 0000            sts (RcLostTimer.5)+1,r25
 4111 202c 8093 0000            sts RcLostTimer.5,r24
 4112 2030 00C0                 rjmp .L375
 4113                   .L374:
 4114 2032 1092 0000            sts MotorenEin,__zero_reg__
 4115 2036 9093 0000            sts (modell_fliegt)+1,r25
 4116 203a 8093 0000            sts modell_fliegt,r24
 4117 203e 8091 0000            lds r24,FC_StatusFlags
 4118 2042 8D7E                 andi r24,lo8(-19)
 4119 2044 8093 0000            sts FC_StatusFlags,r24
 4120                   .L375:
 4121 2048 8091 0000            lds r24,PlatinenVersion
 4122 204c 8A30                 cpi r24,lo8(10)
 4123 204e 01F0                 breq .L377
 4124 2050 8431                 cpi r24,lo8(20)
 4125 2052 00F0                 brlo .L376
 4126                   .L377:
 4127 2054 289A                 sbi 37-0x20,0
 4128 2056 00C0                 rjmp .L378
 4129                   .L376:
 4130 2058 2898                 cbi 37-0x20,0
 4131                   .L378:
 4132 205a 8091 0000            lds r24,modell_fliegt
 4133 205e 9091 0000            lds r25,(modell_fliegt)+1
 4134 2062 895E                 subi r24,lo8(1001)
 4135 2064 9340                 sbci r25,hi8(1001)
 4136 2066 00F0                 brlo .L379
 4137 2068 8091 0000            lds r24,Capacity+6
 4138 206c 8536                 cpi r24,lo8(101)
 4139 206e 00F0                 brlo .L379
 4140 2070 8091 0000            lds r24,HooverGasEmergencyPercent
 4141 2074 9091 0000            lds r25,(HooverGasEmergencyPercent)+1
 4142 2078 9A83                 std Y+2,r25
 4143 207a 8983                 std Y+1,r24
 4144 207c 8091 0000            lds r24,FC_StatusFlags
 4145 2080 8061                 ori r24,lo8(16)
 4146 2082 8093 0000            sts FC_StatusFlags,r24
 4147 2086 8091 0000            lds r24,EE_Parameter+1
 4148 208a A82F                 mov r26,r24
 4149 208c BB27                 clr r27
 4150 208e AA0F                 add r26,r26
 4151 2090 BB1F                 adc r27,r27
 4152 2092 FD01                 movw r30,r26
 4153 2094 E050                 subi r30,lo8(-(PPM_diff))
 4154 2096 F040                 sbci r31,hi8(-(PPM_diff))
 4155 2098 1182                 std Z+1,__zero_reg__
 4156 209a 1082                 st Z,__zero_reg__
 4157 209c 8091 0000            lds r24,EE_Parameter+2
 4158 20a0 282F                 mov r18,r24
 4159 20a2 3327                 clr r19
 4160 20a4 220F                 add r18,r18
 4161 20a6 331F                 adc r19,r19
 4162 20a8 C901                 movw r24,r18
 4163 20aa 8050                 subi r24,lo8(-(PPM_diff))
 4164 20ac 9040                 sbci r25,hi8(-(PPM_diff))
 4165 20ae FC01                 movw r30,r24
 4166 20b0 1182                 std Z+1,__zero_reg__
 4167 20b2 1082                 st Z,__zero_reg__
 4168 20b4 A050                 subi r26,lo8(-(PPM_in))
 4169 20b6 B040                 sbci r27,hi8(-(PPM_in))
 4170 20b8 1196                 adiw r26,1
 4171 20ba 1C92                 st X,__zero_reg__
 4172 20bc 1E92                 st -X,__zero_reg__
 4173 20be 2050                 subi r18,lo8(-(PPM_in))
 4174 20c0 3040                 sbci r19,hi8(-(PPM_in))
 4175 20c2 D901                 movw r26,r18
 4176 20c4 1196                 adiw r26,1
 4177 20c6 1C92                 st X,__zero_reg__
 4178 20c8 1E92                 st -X,__zero_reg__
 4179 20ca 8091 0000            lds r24,EE_Parameter+4
 4180 20ce E82F                 mov r30,r24
 4181 20d0 FF27                 clr r31
 4182 20d2 EE0F                 add r30,r30
 4183 20d4 FF1F                 adc r31,r31
 4184 20d6 E050                 subi r30,lo8(-(PPM_in))
 4185 20d8 F040                 sbci r31,hi8(-(PPM_in))
 4186 20da 1182                 std Z+1,__zero_reg__
 4187 20dc 1082                 st Z,__zero_reg__
 4188 20de 00C0                 rjmp .L381
 4189                   .L379:
 4190 20e0 1092 0000            sts MotorenEin,__zero_reg__
 4191 20e4 00C0                 rjmp .L381
 4192                   .L373:
 4193 20e6 8091 0000            lds r24,SenderOkay
 4194 20ea 8D38                 cpi r24,lo8(-115)
 4195 20ec 00F4                 brsh .+2
 4196 20ee 00C0                 rjmp .L382
 4197 20f0 8091 0000            lds r24,FC_StatusFlags
 4198 20f4 8F7E                 andi r24,lo8(-17)
 4199 20f6 8093 0000            sts FC_StatusFlags,r24
 4200 20fa 9091 0000            lds r25,EE_Parameter+38
 4201 20fe 82E3                 ldi r24,lo8(50)
 4202 2100 989F                 mul r25,r24
 4203 2102 C001                 movw r24,r0
 4204 2104 1124                 clr r1
 4205 2106 9093 0000            sts (RcLostTimer.5)+1,r25
 4206 210a 8093 0000            sts RcLostTimer.5,r24
 4207 210e E981                 ldd r30,Y+1
 4208 2110 FA81                 ldd r31,Y+2
 4209 2112 B997                 sbiw r30,41
 4210 2114 04F0                 brlt .L383
 4211 2116 8091 0000            lds r24,MotorenEin
 4212 211a 8823                 tst r24
 4213 211c 01F0                 breq .L383
 4214 211e 8091 0000            lds r24,modell_fliegt
 4215 2122 9091 0000            lds r25,(modell_fliegt)+1
 4216 2126 FFEF                 ldi r31,hi8(-1)
 4217 2128 8F3F                 cpi r24,lo8(-1)
 4218 212a 9F07                 cpc r25,r31
 4219 212c 01F0                 breq .L383
 4220 212e 0196                 adiw r24,1
 4221 2130 9093 0000            sts (modell_fliegt)+1,r25
 4222 2134 8093 0000            sts modell_fliegt,r24
 4223                   .L383:
 4224 2138 8091 0000            lds r24,modell_fliegt
 4225 213c 9091 0000            lds r25,(modell_fliegt)+1
 4226 2140 8F3F                 cpi r24,255
 4227 2142 9105                 cpc r25,__zero_reg__
 4228 2144 01F0                 breq .+2
 4229 2146 00F4                 brsh .L385
 4230 2148 1092 0000            sts SummeNick,__zero_reg__
 4231 214c 1092 0000            sts (SummeNick)+1,__zero_reg__
 4232 2150 1092 0000            sts (SummeNick)+2,__zero_reg__
 4233 2154 1092 0000            sts (SummeNick)+3,__zero_reg__
 4234 2158 1092 0000            sts SummeRoll,__zero_reg__
 4235 215c 1092 0000            sts (SummeRoll)+1,__zero_reg__
 4236 2160 1092 0000            sts (SummeRoll)+2,__zero_reg__
 4237 2164 1092 0000            sts (SummeRoll)+3,__zero_reg__
 4238 2168 1092 0000            sts sollGier.0,__zero_reg__
 4239 216c 1092 0000            sts (sollGier.0)+1,__zero_reg__
 4240 2170 1092 0000            sts (sollGier.0)+2,__zero_reg__
 4241 2174 1092 0000            sts (sollGier.0)+3,__zero_reg__
 4242 2178 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 4243 217c 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 4244 2180 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 4245 2184 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 4246 2188 00C0                 rjmp .L386
 4247                   .L385:
 4248 218a 8091 0000            lds r24,FC_StatusFlags
 4249 218e 8260                 ori r24,lo8(2)
 4250 2190 8093 0000            sts FC_StatusFlags,r24
 4251                   .L386:
 4252 2194 8091 0000            lds r24,EE_Parameter+3
 4253 2198 E82F                 mov r30,r24
 4254 219a FF27                 clr r31
 4255 219c EE0F                 add r30,r30
 4256 219e FF1F                 adc r31,r31
 4257 21a0 E050                 subi r30,lo8(-(PPM_in))
 4258 21a2 F040                 sbci r31,hi8(-(PPM_in))
 4259 21a4 8081                 ld r24,Z
 4260 21a6 9181                 ldd r25,Z+1
 4261 21a8 8135                 cpi r24,81
 4262 21aa 9105                 cpc r25,__zero_reg__
 4263 21ac 04F4                 brge .+2
 4264 21ae 00C0                 rjmp .L387
 4265 21b0 2091 0000            lds r18,MotorenEin
 4266 21b4 2223                 tst r18
 4267 21b6 01F0                 breq .+2
 4268 21b8 00C0                 rjmp .L387
 4269 21ba 8091 0000            lds r24,EE_Parameter+4
 4270 21be E82F                 mov r30,r24
 4271 21c0 FF27                 clr r31
 4272 21c2 EE0F                 add r30,r30
 4273 21c4 FF1F                 adc r31,r31
 4274 21c6 E050                 subi r30,lo8(-(PPM_in))
 4275 21c8 F040                 sbci r31,hi8(-(PPM_in))
 4276 21ca 8081                 ld r24,Z
 4277 21cc 9181                 ldd r25,Z+1
 4278 21ce 8C34                 cpi r24,76
 4279 21d0 9105                 cpc r25,__zero_reg__
 4280 21d2 04F4                 brge .+2
 4281 21d4 00C0                 rjmp .L388
 4282 21d6 8091 0000            lds r24,delay_neutral.6
 4283 21da 8F5F                 subi r24,lo8(-(1))
 4284 21dc 8093 0000            sts delay_neutral.6,r24
 4285 21e0 893C                 cpi r24,lo8(-55)
 4286 21e2 00F4                 brsh .+2
 4287 21e4 00C0                 rjmp .L387
 4288 21e6 2093 0000            sts delay_neutral.6,r18
 4289 21ea 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 4290 21ee 1092 0000            sts modell_fliegt,__zero_reg__
 4291 21f2 3091 0000            lds r19,EE_Parameter+1
 4292 21f6 E32F                 mov r30,r19
 4293 21f8 FF27                 clr r31
 4294 21fa EE0F                 add r30,r30
 4295 21fc FF1F                 adc r31,r31
 4296 21fe E050                 subi r30,lo8(-(PPM_in))
 4297 2200 F040                 sbci r31,hi8(-(PPM_in))
 4298 2202 8081                 ld r24,Z
 4299 2204 9181                 ldd r25,Z+1
 4300 2206 8734                 cpi r24,71
 4301 2208 9105                 cpc r25,__zero_reg__
 4302 220a 04F4                 brge .L391
 4303 220c 8091 0000            lds r24,EE_Parameter+2
 4304 2210 E82F                 mov r30,r24
 4305 2212 FF27                 clr r31
 4306 2214 EE0F                 add r30,r30
 4307 2216 FF1F                 adc r31,r31
 4308 2218 E050                 subi r30,lo8(-(PPM_in))
 4309 221a F040                 sbci r31,hi8(-(PPM_in))
 4310 221c 8081                 ld r24,Z
 4311 221e 9181                 ldd r25,Z+1
 4312 2220 0190                 ld __tmp_reg__,Z+
 4313 2222 F081                 ld r31,Z
 4314 2224 E02D                 mov r30,__tmp_reg__
 4315 2226 F7FF                 sbrs r31,7
 4316 2228 00C0                 rjmp .L392
 4317 222a F095                 com r31
 4318 222c E195                 neg r30
 4319 222e FF4F                 sbci r31,lo8(-1)
 4320                   .L392:
 4321 2230 E734                 cpi r30,71
 4322 2232 F105                 cpc r31,__zero_reg__
 4323 2234 04F4                 brge .+2
 4324 2236 00C0                 rjmp .L390
 4325                   .L391:
 4326 2238 41E0                 ldi r20,lo8(1)
 4327 223a 2091 0000            lds r18,EE_Parameter+2
 4328 223e A22F                 mov r26,r18
 4329 2240 BB27                 clr r27
 4330 2242 AA0F                 add r26,r26
 4331 2244 BB1F                 adc r27,r27
 4332 2246 A050                 subi r26,lo8(-(PPM_in))
 4333 2248 B040                 sbci r27,hi8(-(PPM_in))
 4334 224a 8D91                 ld r24,X+
 4335 224c 9C91                 ld r25,X
 4336 224e 1197                 sbiw r26,1
 4337 2250 8734                 cpi r24,71
 4338 2252 9105                 cpc r25,__zero_reg__
 4339 2254 04F0                 brlt .L393
 4340 2256 E32F                 mov r30,r19
 4341 2258 FF27                 clr r31
 4342 225a EE0F                 add r30,r30
 4343 225c FF1F                 adc r31,r31
 4344 225e E050                 subi r30,lo8(-(PPM_in))
 4345 2260 F040                 sbci r31,hi8(-(PPM_in))
 4346 2262 8081                 ld r24,Z
 4347 2264 9181                 ldd r25,Z+1
 4348                   .L393:
 4349 2266 8D91                 ld r24,X+
 4350 2268 9C91                 ld r25,X
 4351 226a 8734                 cpi r24,71
 4352 226c 9105                 cpc r25,__zero_reg__
 4353 226e 04F0                 brlt .L394
 4354 2270 8091 0000            lds r24,EE_Parameter+1
 4355 2274 E82F                 mov r30,r24
 4356 2276 FF27                 clr r31
 4357 2278 EE0F                 add r30,r30
 4358 227a FF1F                 adc r31,r31
 4359 227c E050                 subi r30,lo8(-(PPM_in))
 4360 227e F040                 sbci r31,hi8(-(PPM_in))
 4361 2280 8081                 ld r24,Z
 4362 2282 9181                 ldd r25,Z+1
 4363 2284 8734                 cpi r24,71
 4364 2286 9105                 cpc r25,__zero_reg__
 4365 2288 04F0                 brlt .L394
 4366 228a 42E0                 ldi r20,lo8(2)
 4367                   .L394:
 4368 228c E22F                 mov r30,r18
 4369 228e FF27                 clr r31
 4370 2290 EE0F                 add r30,r30
 4371 2292 FF1F                 adc r31,r31
 4372 2294 E050                 subi r30,lo8(-(PPM_in))
 4373 2296 F040                 sbci r31,hi8(-(PPM_in))
 4374 2298 8081                 ld r24,Z
 4375 229a 9181                 ldd r25,Z+1
 4376 229c 8634                 cpi r24,70
 4377 229e 9105                 cpc r25,__zero_reg__
 4378 22a0 04F4                 brge .L395
 4379 22a2 8091 0000            lds r24,EE_Parameter+1
 4380 22a6 E82F                 mov r30,r24
 4381 22a8 FF27                 clr r31
 4382 22aa EE0F                 add r30,r30
 4383 22ac FF1F                 adc r31,r31
 4384 22ae E050                 subi r30,lo8(-(PPM_in))
 4385 22b0 F040                 sbci r31,hi8(-(PPM_in))
 4386 22b2 8081                 ld r24,Z
 4387 22b4 9181                 ldd r25,Z+1
 4388 22b6 8734                 cpi r24,71
 4389 22b8 9105                 cpc r25,__zero_reg__
 4390 22ba 04F0                 brlt .L395
 4391 22bc 43E0                 ldi r20,lo8(3)
 4392                   .L395:
 4393 22be E22F                 mov r30,r18
 4394 22c0 FF27                 clr r31
 4395 22c2 EE0F                 add r30,r30
 4396 22c4 FF1F                 adc r31,r31
 4397 22c6 E050                 subi r30,lo8(-(PPM_in))
 4398 22c8 F040                 sbci r31,hi8(-(PPM_in))
 4399 22ca 8081                 ld r24,Z
 4400 22cc 9181                 ldd r25,Z+1
 4401 22ce 8A5B                 subi r24,lo8(-70)
 4402 22d0 9F4F                 sbci r25,hi8(-70)
 4403 22d2 04F4                 brge .L396
 4404 22d4 8091 0000            lds r24,EE_Parameter+1
 4405 22d8 E82F                 mov r30,r24
 4406 22da FF27                 clr r31
 4407 22dc EE0F                 add r30,r30
 4408 22de FF1F                 adc r31,r31
 4409 22e0 E050                 subi r30,lo8(-(PPM_in))
 4410 22e2 F040                 sbci r31,hi8(-(PPM_in))
 4411 22e4 8081                 ld r24,Z
 4412 22e6 9181                 ldd r25,Z+1
 4413 22e8 8734                 cpi r24,71
 4414 22ea 9105                 cpc r25,__zero_reg__
 4415 22ec 04F0                 brlt .L396
 4416 22ee 44E0                 ldi r20,lo8(4)
 4417                   .L396:
 4418 22f0 E22F                 mov r30,r18
 4419 22f2 FF27                 clr r31
 4420 22f4 EE0F                 add r30,r30
 4421 22f6 FF1F                 adc r31,r31
 4422 22f8 E050                 subi r30,lo8(-(PPM_in))
 4423 22fa F040                 sbci r31,hi8(-(PPM_in))
 4424 22fc 8081                 ld r24,Z
 4425 22fe 9181                 ldd r25,Z+1
 4426 2300 8A5B                 subi r24,lo8(-70)
 4427 2302 9F4F                 sbci r25,hi8(-70)
 4428 2304 04F4                 brge .L397
 4429 2306 8091 0000            lds r24,EE_Parameter+1
 4430 230a E82F                 mov r30,r24
 4431 230c FF27                 clr r31
 4432 230e EE0F                 add r30,r30
 4433 2310 FF1F                 adc r31,r31
 4434 2312 E050                 subi r30,lo8(-(PPM_in))
 4435 2314 F040                 sbci r31,hi8(-(PPM_in))
 4436 2316 8081                 ld r24,Z
 4437 2318 9181                 ldd r25,Z+1
 4438 231a 8634                 cpi r24,70
 4439 231c 9105                 cpc r25,__zero_reg__
 4440 231e 04F4                 brge .L397
 4441 2320 45E0                 ldi r20,lo8(5)
 4442                   .L397:
 4443 2322 842F                 mov r24,r20
 4444 2324 0E94 0000            call SetActiveParamSet
 4445                   .L390:
 4446 2328 8091 0000            lds r24,EE_Parameter+2
 4447 232c E82F                 mov r30,r24
 4448 232e FF27                 clr r31
 4449 2330 EE0F                 add r30,r30
 4450 2332 FF1F                 adc r31,r31
 4451 2334 E050                 subi r30,lo8(-(PPM_in))
 4452 2336 F040                 sbci r31,hi8(-(PPM_in))
 4453 2338 8081                 ld r24,Z
 4454 233a 9181                 ldd r25,Z+1
 4455 233c 0190                 ld __tmp_reg__,Z+
 4456 233e F081                 ld r31,Z
 4457 2340 E02D                 mov r30,__tmp_reg__
 4458 2342 F7FF                 sbrs r31,7
 4459 2344 00C0                 rjmp .L399
 4460 2346 F095                 com r31
 4461 2348 E195                 neg r30
 4462 234a FF4F                 sbci r31,lo8(-1)
 4463                   .L399:
 4464 234c 7E97                 sbiw r30,30
 4465 234e 04F4                 brge .L398
 4466 2350 8091 0000            lds r24,EE_Parameter+1
 4467 2354 E82F                 mov r30,r24
 4468 2356 FF27                 clr r31
 4469 2358 EE0F                 add r30,r30
 4470 235a FF1F                 adc r31,r31
 4471 235c E050                 subi r30,lo8(-(PPM_in))
 4472 235e F040                 sbci r31,hi8(-(PPM_in))
 4473 2360 8081                 ld r24,Z
 4474 2362 9181                 ldd r25,Z+1
 4475 2364 8A5B                 subi r24,lo8(-70)
 4476 2366 9F4F                 sbci r25,hi8(-70)
 4477 2368 04F4                 brge .L398
 4478 236a 81E0                 ldi r24,lo8(1)
 4479 236c 8093 0000            sts WinkelOut+6,r24
 4480 2370 1092 0000            sts CalibrationDone,__zero_reg__
 4481 2374 88EE                 ldi r24,lo8(1000)
 4482 2376 93E0                 ldi r25,hi8(1000)
 4483 2378 9093 0000            sts (beeptime)+1,r25
 4484 237c 8093 0000            sts beeptime,r24
 4485 2380 00C0                 rjmp .L387
 4486                   .L398:
 4487 2382 0E94 0000            call GetActiveParamSet
 4488 2386 0E94 0000            call ParamSet_ReadFromEEProm
 4489 238a 80E0                 ldi r24,lo8(0)
 4490 238c 0E94 0000            call LipoDetection
 4491 2390 8091 0000            lds r24,EE_Parameter+39
 4492 2394 0E94 0000            call LIBFC_ReceiverInit
 4493 2398 8091 0000            lds r24,Parameter_GlobalConfig
 4494 239c 80FF                 sbrs r24,0
 4495 239e 00C0                 rjmp .L401
 4496 23a0 8091 0000            lds r24,MessLuftdruck
 4497 23a4 9091 0000            lds r25,(MessLuftdruck)+1
 4498 23a8 875B                 subi r24,lo8(951)
 4499 23aa 9340                 sbci r25,hi8(951)
 4500 23ac 00F4                 brsh .L403
 4501 23ae 8091 0000            lds r24,MessLuftdruck
 4502 23b2 9091 0000            lds r25,(MessLuftdruck)+1
 4503 23b6 8E5E                 subi r24,lo8(750)
 4504 23b8 9240                 sbci r25,hi8(750)
 4505 23ba 00F4                 brsh .L401
 4506                   .L403:
 4507 23bc 0E94 0000            call SucheLuftruckOffset
 4508                   .L401:
 4509 23c0 80E0                 ldi r24,lo8(0)
 4510 23c2 0E94 0000            call SetNeutral
 4511 23c6 81E0                 ldi r24,lo8(1)
 4512 23c8 8093 0000            sts CalibrationDone,r24
 4513 23cc 8093 0000            sts ServoActive,r24
 4514 23d0 579A                 sbi 42-0x20,7
 4515 23d2 00C0                 rjmp .L888
 4516                   .L388:
 4517 23d4 8081                 ld r24,Z
 4518 23d6 9181                 ldd r25,Z+1
 4519 23d8 855B                 subi r24,lo8(-75)
 4520 23da 9F4F                 sbci r25,hi8(-75)
 4521 23dc 04F4                 brge .L405
 4522 23de 8091 0000            lds r24,delay_neutral.6
 4523 23e2 8F5F                 subi r24,lo8(-(1))
 4524 23e4 8093 0000            sts delay_neutral.6,r24
 4525 23e8 893C                 cpi r24,lo8(-55)
 4526 23ea 00F0                 brlo .L387
 4527 23ec 2093 0000            sts MotorenEin,r18
 4528 23f0 2093 0000            sts delay_neutral.6,r18
 4529 23f4 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 4530 23f8 1092 0000            sts modell_fliegt,__zero_reg__
 4531 23fc 81E0                 ldi r24,lo8(1)
 4532 23fe 0E94 0000            call SetNeutral
 4533 2402 81E0                 ldi r24,lo8(1)
 4534 2404 8093 0000            sts CalibrationDone,r24
 4535                   .L888:
 4536 2408 88E1                 ldi r24,lo8(24)
 4537 240a 8093 0000            sts SpeakHoTT,r24
 4538 240e 0E94 0000            call GetActiveParamSet
 4539 2412 68E7                 ldi r22,lo8(120)
 4540 2414 70E0                 ldi r23,hi8(120)
 4541 2416 0E94 0000            call Piep
 4542 241a 00C0                 rjmp .L387
 4543                   .L405:
 4544 241c 2093 0000            sts delay_neutral.6,r18
 4545                   .L387:
 4546 2420 8091 0000            lds r24,EE_Parameter+3
 4547 2424 E82F                 mov r30,r24
 4548 2426 FF27                 clr r31
 4549 2428 EE0F                 add r30,r30
 4550 242a FF1F                 adc r31,r31
 4551 242c E050                 subi r30,lo8(-(PPM_in))
 4552 242e F040                 sbci r31,hi8(-(PPM_in))
 4553 2430 8081                 ld r24,Z
 4554 2432 9181                 ldd r25,Z+1
 4555 2434 8B5A                 subi r24,lo8(-85)
 4556 2436 9F4F                 sbci r25,hi8(-85)
 4557 2438 04F0                 brlt .+2
 4558 243a 00C0                 rjmp .L408
 4559 243c 2091 0000            lds r18,EE_Parameter+100
 4560 2440 E22F                 mov r30,r18
 4561 2442 FF27                 clr r31
 4562 2444 EF77                 andi r30,lo8(127)
 4563 2446 F070                 andi r31,hi8(127)
 4564 2448 EE0F                 add r30,r30
 4565 244a FF1F                 adc r31,r31
 4566 244c E050                 subi r30,lo8(-(PPM_diff))
 4567 244e F040                 sbci r31,hi8(-(PPM_diff))
 4568 2450 8081                 ld r24,Z
 4569 2452 9181                 ldd r25,Z+1
 4570 2454 0697                 sbiw r24,6
 4571 2456 04F0                 brlt .L409
 4572 2458 84E6                 ldi r24,lo8(100)
 4573 245a 00C0                 rjmp .L889
 4574                   .L409:
 4575 245c 8081                 ld r24,Z
 4576 245e 9181                 ldd r25,Z+1
 4577 2460 8B5F                 subi r24,lo8(-5)
 4578 2462 9F4F                 sbci r25,hi8(-5)
 4579 2464 04F4                 brge .L410
 4580 2466 8CE9                 ldi r24,lo8(-100)
 4581                   .L889:
 4582 2468 8093 0000            sts move_safety_switch.9,r24
 4583                   .L410:
 4584 246c 8091 0000            lds r24,MotorenEin
 4585 2470 E091 0000            lds r30,EE_Parameter+4
 4586 2474 8823                 tst r24
 4587 2476 01F0                 breq .+2
 4588 2478 00C0                 rjmp .L412
 4589 247a FF27                 clr r31
 4590 247c EE0F                 add r30,r30
 4591 247e FF1F                 adc r31,r31
 4592 2480 E050                 subi r30,lo8(-(PPM_in))
 4593 2482 F040                 sbci r31,hi8(-(PPM_in))
 4594 2484 8081                 ld r24,Z
 4595 2486 9181                 ldd r25,Z+1
 4596 2488 855B                 subi r24,lo8(-75)
 4597 248a 9F4F                 sbci r25,hi8(-75)
 4598 248c 04F4                 brge .L415
 4599 248e 8091 0000            lds r24,EE_Parameter+111
 4600 2492 83FD                 sbrc r24,3
 4601 2494 00C0                 rjmp .L416
 4602 2496 E22F                 mov r30,r18
 4603 2498 FF27                 clr r31
 4604 249a EE0F                 add r30,r30
 4605 249c FF1F                 adc r31,r31
 4606 249e E050                 subi r30,lo8(-(PPM_in))
 4607 24a0 F040                 sbci r31,hi8(-(PPM_in))
 4608 24a2 8081                 ld r24,Z
 4609 24a4 9181                 ldd r25,Z+1
 4610 24a6 855B                 subi r24,lo8(-75)
 4611 24a8 9F4F                 sbci r25,hi8(-75)
 4612 24aa 04F0                 brlt .L414
 4613                   .L416:
 4614 24ac 8091 0000            lds r24,EE_Parameter+100
 4615 24b0 8823                 tst r24
 4616 24b2 01F0                 breq .L414
 4617                   .L415:
 4618 24b4 8091 0000            lds r24,EE_Parameter+111
 4619 24b8 83FF                 sbrs r24,3
 4620 24ba 00C0                 rjmp .L413
 4621 24bc 8091 0000            lds r24,EE_Parameter+100
 4622 24c0 E82F                 mov r30,r24
 4623 24c2 FF27                 clr r31
 4624 24c4 EE0F                 add r30,r30
 4625 24c6 FF1F                 adc r31,r31
 4626 24c8 E050                 subi r30,lo8(-(PPM_in))
 4627 24ca F040                 sbci r31,hi8(-(PPM_in))
 4628 24cc 8081                 ld r24,Z
 4629 24ce 9181                 ldd r25,Z+1
 4630 24d0 875F                 subi r24,lo8(-9)
 4631 24d2 9F4F                 sbci r25,hi8(-9)
 4632 24d4 04F4                 brge .+2
 4633 24d6 00C0                 rjmp .L413
 4634 24d8 8091 0000            lds r24,move_safety_switch.9
 4635 24dc 8436                 cpi r24,lo8(100)
 4636 24de 01F0                 breq .+2
 4637 24e0 00C0                 rjmp .L413
 4638                   .L414:
 4639 24e2 2091 0000            lds r18,CalibrationDone
 4640 24e6 2223                 tst r18
 4641 24e8 01F0                 breq .L417
 4642 24ea 8091 0000            lds r24,FC_StatusFlags
 4643 24ee 8860                 ori r24,lo8(8)
 4644 24f0 8093 0000            sts FC_StatusFlags,r24
 4645                   .L417:
 4646 24f4 8091 0000            lds r24,delay_einschalten.7
 4647 24f8 8F5F                 subi r24,lo8(-(1))
 4648 24fa 8093 0000            sts delay_einschalten.7,r24
 4649 24fe 8E3F                 cpi r24,lo8(-2)
 4650 2500 00F4                 brsh .+2
 4651 2502 00C0                 rjmp .L423
 4652 2504 1092 0000            sts delay_einschalten.7,__zero_reg__
 4653 2508 8091 0000            lds r24,VersionInfo+5
 4654 250c 8823                 tst r24
 4655 250e 01F0                 breq .+2
 4656 2510 00C0                 rjmp .L419
 4657 2512 2223                 tst r18
 4658 2514 01F4                 brne .+2
 4659 2516 00C0                 rjmp .L419
 4660 2518 8091 0000            lds r24,NC_ErrorCode
 4661 251c 8823                 tst r24
 4662 251e 01F0                 breq .+2
 4663 2520 00C0                 rjmp .L419
 4664 2522 81E0                 ldi r24,lo8(1)
 4665 2524 90E0                 ldi r25,hi8(1)
 4666 2526 9093 0000            sts (modell_fliegt)+1,r25
 4667 252a 8093 0000            sts modell_fliegt,r24
 4668 252e 81E0                 ldi r24,lo8(1)
 4669 2530 8093 0000            sts MotorenEin,r24
 4670 2534 1092 0000            sts sollGier.0,__zero_reg__
 4671 2538 1092 0000            sts (sollGier.0)+1,__zero_reg__
 4672 253c 1092 0000            sts (sollGier.0)+2,__zero_reg__
 4673 2540 1092 0000            sts (sollGier.0)+3,__zero_reg__
 4674 2544 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 4675 2548 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 4676 254c 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 4677 2550 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 4678 2554 1092 0000            sts Mess_Integral_Gier2,__zero_reg__
 4679 2558 1092 0000            sts (Mess_Integral_Gier2)+1,__zero_reg__
 4680 255c 1092 0000            sts (Mess_Integral_Gier2)+2,__zero_reg__
 4681 2560 1092 0000            sts (Mess_Integral_Gier2)+3,__zero_reg__
 4682 2564 8091 0000            lds r24,EE_Parameter+28
 4683 2568 E82E                 mov r14,r24
 4684 256a FF24                 clr r15
 4685 256c 0027                 clr r16
 4686 256e 1127                 clr r17
 4687 2570 8091 0000            lds r24,Mittelwert_AccNick
 4688 2574 9091 0000            lds r25,(Mittelwert_AccNick)+1
 4689 2578 9C01                 movw r18,r24
 4690 257a 4427                 clr r20
 4691 257c 37FD                 sbrc r19,7
 4692 257e 4095                 com r20
 4693 2580 542F                 mov r21,r20
 4694 2582 C801                 movw r24,r16
 4695 2584 B701                 movw r22,r14
 4696 2586 0E94 0000            call __mulsi3
 4697 258a DC01                 movw r26,r24
 4698 258c CB01                 movw r24,r22
 4699 258e 8093 0000            sts Mess_IntegralNick,r24
 4700 2592 9093 0000            sts (Mess_IntegralNick)+1,r25
 4701 2596 A093 0000            sts (Mess_IntegralNick)+2,r26
 4702 259a B093 0000            sts (Mess_IntegralNick)+3,r27
 4703 259e 8091 0000            lds r24,Mittelwert_AccRoll
 4704 25a2 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 4705 25a6 9C01                 movw r18,r24
 4706 25a8 4427                 clr r20
 4707 25aa 37FD                 sbrc r19,7
 4708 25ac 4095                 com r20
 4709 25ae 542F                 mov r21,r20
 4710 25b0 C801                 movw r24,r16
 4711 25b2 B701                 movw r22,r14
 4712 25b4 0E94 0000            call __mulsi3
 4713 25b8 DC01                 movw r26,r24
 4714 25ba CB01                 movw r24,r22
 4715 25bc 8093 0000            sts Mess_IntegralRoll,r24
 4716 25c0 9093 0000            sts (Mess_IntegralRoll)+1,r25
 4717 25c4 A093 0000            sts (Mess_IntegralRoll)+2,r26
 4718 25c8 B093 0000            sts (Mess_IntegralRoll)+3,r27
 4719 25cc 8091 0000            lds r24,IntegralNick
 4720 25d0 9091 0000            lds r25,(IntegralNick)+1
 4721 25d4 A091 0000            lds r26,(IntegralNick)+2
 4722 25d8 B091 0000            lds r27,(IntegralNick)+3
 4723 25dc 8093 0000            sts Mess_IntegralNick2,r24
 4724 25e0 9093 0000            sts (Mess_IntegralNick2)+1,r25
 4725 25e4 A093 0000            sts (Mess_IntegralNick2)+2,r26
 4726 25e8 B093 0000            sts (Mess_IntegralNick2)+3,r27
 4727 25ec 8091 0000            lds r24,IntegralRoll
 4728 25f0 9091 0000            lds r25,(IntegralRoll)+1
 4729 25f4 A091 0000            lds r26,(IntegralRoll)+2
 4730 25f8 B091 0000            lds r27,(IntegralRoll)+3
 4731 25fc 8093 0000            sts Mess_IntegralRoll2,r24
 4732 2600 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 4733 2604 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 4734 2608 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 4735 260c 1092 0000            sts SummeNick,__zero_reg__
 4736 2610 1092 0000            sts (SummeNick)+1,__zero_reg__
 4737 2614 1092 0000            sts (SummeNick)+2,__zero_reg__
 4738 2618 1092 0000            sts (SummeNick)+3,__zero_reg__
 4739 261c 1092 0000            sts SummeRoll,__zero_reg__
 4740 2620 1092 0000            sts (SummeRoll)+1,__zero_reg__
 4741 2624 1092 0000            sts (SummeRoll)+2,__zero_reg__
 4742 2628 1092 0000            sts (SummeRoll)+3,__zero_reg__
 4743 262c 84E6                 ldi r24,lo8(100)
 4744 262e 8093 0000            sts NeueKompassRichtungMerken,r24
 4745 2632 84E3                 ldi r24,lo8(52)
 4746 2634 00C0                 rjmp .L890
 4747                   .L419:
 4748 2636 8CED                 ldi r24,lo8(1500)
 4749 2638 95E0                 ldi r25,hi8(1500)
 4750 263a 9093 0000            sts (beeptime)+1,r25
 4751 263e 8093 0000            sts beeptime,r24
 4752 2642 2223                 tst r18
 4753 2644 01F0                 breq .+2
 4754 2646 00C0                 rjmp .L423
 4755 2648 81E0                 ldi r24,lo8(1)
 4756 264a 00C0                 rjmp .L890
 4757                   .L413:
 4758 264c 1092 0000            sts delay_einschalten.7,__zero_reg__
 4759 2650 00C0                 rjmp .L423
 4760                   .L412:
 4761 2652 FF27                 clr r31
 4762 2654 EE0F                 add r30,r30
 4763 2656 FF1F                 adc r31,r31
 4764 2658 E050                 subi r30,lo8(-(PPM_in))
 4765 265a F040                 sbci r31,hi8(-(PPM_in))
 4766 265c 8081                 ld r24,Z
 4767 265e 9181                 ldd r25,Z+1
 4768 2660 8C34                 cpi r24,76
 4769 2662 9105                 cpc r25,__zero_reg__
 4770 2664 04F0                 brlt .L426
 4771 2666 8091 0000            lds r24,EE_Parameter+111
 4772 266a 83FD                 sbrc r24,3
 4773 266c 00C0                 rjmp .L427
 4774 266e E22F                 mov r30,r18
 4775 2670 FF27                 clr r31
 4776 2672 EE0F                 add r30,r30
 4777 2674 FF1F                 adc r31,r31
 4778 2676 E050                 subi r30,lo8(-(PPM_in))
 4779 2678 F040                 sbci r31,hi8(-(PPM_in))
 4780 267a 8081                 ld r24,Z
 4781 267c 9181                 ldd r25,Z+1
 4782 267e 855B                 subi r24,lo8(-75)
 4783 2680 9F4F                 sbci r25,hi8(-75)
 4784 2682 04F0                 brlt .L425
 4785                   .L427:
 4786 2684 8091 0000            lds r24,EE_Parameter+100
 4787 2688 8823                 tst r24
 4788 268a 01F0                 breq .L425
 4789                   .L426:
 4790 268c 8091 0000            lds r24,EE_Parameter+111
 4791 2690 83FF                 sbrs r24,3
 4792 2692 00C0                 rjmp .L424
 4793 2694 8091 0000            lds r24,EE_Parameter+100
 4794 2698 E82F                 mov r30,r24
 4795 269a FF27                 clr r31
 4796 269c EE0F                 add r30,r30
 4797 269e FF1F                 adc r31,r31
 4798 26a0 E050                 subi r30,lo8(-(PPM_in))
 4799 26a2 F040                 sbci r31,hi8(-(PPM_in))
 4800 26a4 8081                 ld r24,Z
 4801 26a6 9181                 ldd r25,Z+1
 4802 26a8 8E5C                 subi r24,lo8(-50)
 4803 26aa 9F4F                 sbci r25,hi8(-50)
 4804 26ac 04F4                 brge .L424
 4805 26ae 8091 0000            lds r24,move_safety_switch.9
 4806 26b2 8C39                 cpi r24,lo8(-100)
 4807 26b4 01F4                 brne .L424
 4808                   .L425:
 4809 26b6 8091 0000            lds r24,delay_ausschalten.8
 4810 26ba 8F5F                 subi r24,lo8(-(1))
 4811 26bc 8093 0000            sts delay_ausschalten.8,r24
 4812 26c0 8B3F                 cpi r24,lo8(-5)
 4813 26c2 00F0                 brlo .L423
 4814 26c4 1092 0000            sts MotorenEin,__zero_reg__
 4815 26c8 1092 0000            sts delay_ausschalten.8,__zero_reg__
 4816 26cc 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 4817 26d0 1092 0000            sts modell_fliegt,__zero_reg__
 4818 26d4 86E2                 ldi r24,lo8(38)
 4819                   .L890:
 4820 26d6 8093 0000            sts SpeakHoTT,r24
 4821 26da 00C0                 rjmp .L423
 4822                   .L424:
 4823 26dc 1092 0000            sts delay_ausschalten.8,__zero_reg__
 4824                   .L423:
 4825 26e0 8091 0000            lds r24,GasIsZeroCnt
 4826 26e4 9091 0000            lds r25,(GasIsZeroCnt)+1
 4827 26e8 13E0                 ldi r17,hi8(1000)
 4828 26ea 883E                 cpi r24,lo8(1000)
 4829 26ec 9107                 cpc r25,r17
 4830 26ee 00F4                 brsh .L381
 4831 26f0 0196                 adiw r24,1
 4832 26f2 9093 0000            sts (GasIsZeroCnt)+1,r25
 4833 26f6 8093 0000            sts GasIsZeroCnt,r24
 4834 26fa 00C0                 rjmp .L381
 4835                   .L408:
 4836 26fc 1092 0000            sts move_safety_switch.9,__zero_reg__
 4837 2700 1092 0000            sts (GasIsZeroCnt)+1,__zero_reg__
 4838 2704 1092 0000            sts GasIsZeroCnt,__zero_reg__
 4839 2708 00C0                 rjmp .L381
 4840                   .L382:
 4841 270a 2E5E                 subi r18,lo8(750)
 4842 270c 3240                 sbci r19,hi8(750)
 4843 270e 00F0                 brlo .L381
 4844 2710 8091 0000            lds r24,GPSInfo+4
 4845 2714 9091 0000            lds r25,(GPSInfo+4)+1
 4846 2718 8059                 subi r24,lo8(400)
 4847 271a 9140                 sbci r25,hi8(400)
 4848 271c 00F4                 brsh .L381
 4849 271e 8091 0000            lds r24,HoehenWert
 4850 2722 9091 0000            lds r25,(HoehenWert)+1
 4851 2726 A091 0000            lds r26,(HoehenWert)+2
 4852 272a B091 0000            lds r27,(HoehenWert)+3
 4853 272e 8C5D                 subi r24,lo8(1500)
 4854 2730 9540                 sbci r25,hi8(1500)
 4855 2732 A040                 sbci r26,hlo8(1500)
 4856 2734 B040                 sbci r27,hhi8(1500)
 4857 2736 04F4                 brge .L381
 4858 2738 80E3                 ldi r24,lo8(30000)
 4859 273a 95E7                 ldi r25,hi8(30000)
 4860 273c 9093 0000            sts (GasIsZeroCnt)+1,r25
 4861 2740 8093 0000            sts GasIsZeroCnt,r24
 4862 2744 8091 0000            lds r24,modell_fliegt
 4863 2748 9091 0000            lds r25,(modell_fliegt)+1
 4864 274c 8A5E                 subi r24,lo8(1002)
 4865 274e 9340                 sbci r25,hi8(1002)
 4866 2750 00F0                 brlo .L381
 4867 2752 89EE                 ldi r24,lo8(1001)
 4868 2754 93E0                 ldi r25,hi8(1001)
 4869 2756 9093 0000            sts (modell_fliegt)+1,r25
 4870 275a 8093 0000            sts modell_fliegt,r24
 4871                   .L381:
 4872 275e 8091 0000            lds r24,NewPpmData
 4873 2762 8150                 subi r24,lo8(-(-1))
 4874 2764 8093 0000            sts NewPpmData,r24
 4875 2768 8091 0000            lds r24,NewPpmData
 4876 276c 8F3F                 cpi r24,lo8(-1)
 4877 276e 01F0                 breq .L437
 4878 2770 8091 0000            lds r24,FC_StatusFlags
 4879 2774 84FF                 sbrs r24,4
 4880 2776 00C0                 rjmp .L436
 4881                   .L437:
 4882 2778 0E94 0000            call ParameterZuordnung
 4883 277c B090 0000            lds r11,EE_Parameter+23
 4884 2780 8091 0000            lds r24,stick_nick.12
 4885 2784 9091 0000            lds r25,(stick_nick.12)+1
 4886 2788 9C01                 movw r18,r24
 4887 278a 220F                 lsl r18
 4888 278c 331F                 rol r19
 4889 278e 280F                 add r18,r24
 4890 2790 391F                 adc r19,r25
 4891 2792 C090 0000            lds r12,EE_Parameter+1
 4892 2796 AC2D                 mov r26,r12
 4893 2798 BB27                 clr r27
 4894 279a AA0F                 add r26,r26
 4895 279c BB1F                 adc r27,r27
 4896 279e FD01                 movw r30,r26
 4897 27a0 E050                 subi r30,lo8(-(PPM_in))
 4898 27a2 F040                 sbci r31,hi8(-(PPM_in))
 4899 27a4 4B2D                 mov r20,r11
 4900 27a6 5527                 clr r21
 4901 27a8 8081                 ld r24,Z
 4902 27aa 9181                 ldd r25,Z+1
 4903 27ac 849F                 mul r24,r20
 4904 27ae F001                 movw r30,r0
 4905 27b0 859F                 mul r24,r21
 4906 27b2 F00D                 add r31,r0
 4907 27b4 949F                 mul r25,r20
 4908 27b6 F00D                 add r31,r0
 4909 27b8 1124                 clr r1
 4910 27ba 2E0F                 add r18,r30
 4911 27bc 3F1F                 adc r19,r31
 4912 27be 37FF                 sbrs r19,7
 4913 27c0 00C0                 rjmp .L438
 4914 27c2 2D5F                 subi r18,lo8(-(3))
 4915 27c4 3F4F                 sbci r19,hi8(-(3))
 4916                   .L438:
 4917 27c6 B901                 movw r22,r18
 4918 27c8 7595                 asr r23
 4919 27ca 6795                 ror r22
 4920 27cc 7595                 asr r23
 4921 27ce 6795                 ror r22
 4922 27d0 A050                 subi r26,lo8(-(PPM_diff))
 4923 27d2 B040                 sbci r27,hi8(-(PPM_diff))
 4924 27d4 8091 0000            lds r24,EE_Parameter+24
 4925 27d8 082F                 mov r16,r24
 4926 27da 1127                 clr r17
 4927 27dc 8D91                 ld r24,X+
 4928 27de 9C91                 ld r25,X
 4929 27e0 809F                 mul r24,r16
 4930 27e2 7001                 movw r14,r0
 4931 27e4 819F                 mul r24,r17
 4932 27e6 F00C                 add r15,r0
 4933 27e8 909F                 mul r25,r16
 4934 27ea F00C                 add r15,r0
 4935 27ec 1124                 clr r1
 4936 27ee 6E0D                 add r22,r14
 4937 27f0 7F1D                 adc r23,r15
 4938 27f2 7093 0000            sts (stick_nick.12)+1,r23
 4939 27f6 6093 0000            sts stick_nick.12,r22
 4940 27fa 8091 0000            lds r24,stick_roll.13
 4941 27fe 9091 0000            lds r25,(stick_roll.13)+1
 4942 2802 9C01                 movw r18,r24
 4943 2804 220F                 lsl r18
 4944 2806 331F                 rol r19
 4945 2808 280F                 add r18,r24
 4946 280a 391F                 adc r19,r25
 4947 280c D090 0000            lds r13,EE_Parameter+2
 4948 2810 AD2D                 mov r26,r13
 4949 2812 BB27                 clr r27
 4950 2814 AA0F                 add r26,r26
 4951 2816 BB1F                 adc r27,r27
 4952 2818 FD01                 movw r30,r26
 4953 281a E050                 subi r30,lo8(-(PPM_in))
 4954 281c F040                 sbci r31,hi8(-(PPM_in))
 4955 281e 8081                 ld r24,Z
 4956 2820 9181                 ldd r25,Z+1
 4957 2822 849F                 mul r24,r20
 4958 2824 F001                 movw r30,r0
 4959 2826 859F                 mul r24,r21
 4960 2828 F00D                 add r31,r0
 4961 282a 949F                 mul r25,r20
 4962 282c F00D                 add r31,r0
 4963 282e 1124                 clr r1
 4964 2830 2E0F                 add r18,r30
 4965 2832 3F1F                 adc r19,r31
 4966 2834 37FF                 sbrs r19,7
 4967 2836 00C0                 rjmp .L439
 4968 2838 2D5F                 subi r18,lo8(-(3))
 4969 283a 3F4F                 sbci r19,hi8(-(3))
 4970                   .L439:
 4971 283c A901                 movw r20,r18
 4972 283e 5595                 asr r21
 4973 2840 4795                 ror r20
 4974 2842 5595                 asr r21
 4975 2844 4795                 ror r20
 4976 2846 A050                 subi r26,lo8(-(PPM_diff))
 4977 2848 B040                 sbci r27,hi8(-(PPM_diff))
 4978 284a 8D91                 ld r24,X+
 4979 284c 9C91                 ld r25,X
 4980 284e 809F                 mul r24,r16
 4981 2850 7001                 movw r14,r0
 4982 2852 819F                 mul r24,r17
 4983 2854 F00C                 add r15,r0
 4984 2856 909F                 mul r25,r16
 4985 2858 F00C                 add r15,r0
 4986 285a 1124                 clr r1
 4987 285c 4E0D                 add r20,r14
 4988 285e 5F1D                 adc r21,r15
 4989 2860 5093 0000            sts (stick_roll.13)+1,r21
 4990 2864 4093 0000            sts stick_roll.13,r20
 4991 2868 8091 0000            lds r24,CareFree
 4992 286c 8823                 tst r24
 4993 286e 01F4                 brne .+2
 4994 2870 00C0                 rjmp .L440
 4995 2872 CB01                 movw r24,r22
 4996 2874 77FD                 sbrc r23,7
 4997 2876 0396                 adiw r24,3
 4998                   .L441:
 4999 2878 DC01                 movw r26,r24
 5000 287a B595                 asr r27
 5001 287c A795                 ror r26
 5002 287e B595                 asr r27
 5003 2880 A795                 ror r26
 5004 2882 CA01                 movw r24,r20
 5005 2884 57FD                 sbrc r21,7
 5006 2886 0396                 adiw r24,3
 5007                   .L442:
 5008 2888 FC01                 movw r30,r24
 5009 288a F595                 asr r31
 5010 288c E795                 ror r30
 5011 288e F595                 asr r31
 5012 2890 E795                 ror r30
 5013 2892 8091 0000            lds r24,FromNC_Rotate_C
 5014 2896 682F                 mov r22,r24
 5015 2898 7727                 clr r23
 5016 289a 67FD                 sbrc r22,7
 5017 289c 7095                 com r23
 5018 289e 6A9F                 mul r22,r26
 5019 28a0 9001                 movw r18,r0
 5020 28a2 6B9F                 mul r22,r27
 5021 28a4 300D                 add r19,r0
 5022 28a6 7A9F                 mul r23,r26
 5023 28a8 300D                 add r19,r0
 5024 28aa 1124                 clr r1
 5025 28ac 8091 0000            lds r24,FromNC_Rotate_S
 5026 28b0 482F                 mov r20,r24
 5027 28b2 5527                 clr r21
 5028 28b4 47FD                 sbrc r20,7
 5029 28b6 5095                 com r21
 5030 28b8 4E9F                 mul r20,r30
 5031 28ba C001                 movw r24,r0
 5032 28bc 4F9F                 mul r20,r31
 5033 28be 900D                 add r25,r0
 5034 28c0 5E9F                 mul r21,r30
 5035 28c2 900D                 add r25,r0
 5036 28c4 1124                 clr r1
 5037 28c6 280F                 add r18,r24
 5038 28c8 391F                 adc r19,r25
 5039 28ca 37FF                 sbrs r19,7
 5040 28cc 00C0                 rjmp .L443
 5041 28ce 295F                 subi r18,lo8(-(7))
 5042 28d0 3F4F                 sbci r19,hi8(-(7))
 5043                   .L443:
 5044 28d2 93E0                 ldi r25,3
 5045 28d4 3595         1:      asr r19
 5046 28d6 2795                 ror r18
 5047 28d8 9A95                 dec r25
 5048 28da 01F4                 brne 1b
 5049 28dc 3093 0000            sts (StickNick)+1,r19
 5050 28e0 2093 0000            sts StickNick,r18
 5051 28e4 6E9F                 mul r22,r30
 5052 28e6 9001                 movw r18,r0
 5053 28e8 6F9F                 mul r22,r31
 5054 28ea 300D                 add r19,r0
 5055 28ec 7E9F                 mul r23,r30
 5056 28ee 300D                 add r19,r0
 5057 28f0 1124                 clr r1
 5058 28f2 4A9F                 mul r20,r26
 5059 28f4 C001                 movw r24,r0
 5060 28f6 4B9F                 mul r20,r27
 5061 28f8 900D                 add r25,r0
 5062 28fa 5A9F                 mul r21,r26
 5063 28fc 900D                 add r25,r0
 5064 28fe 1124                 clr r1
 5065 2900 00C0                 rjmp .L919
 5066                   .L440:
 5067 2902 8091 0000            lds r24,EE_Parameter+98
 5068 2906 E82F                 mov r30,r24
 5069 2908 FF27                 clr r31
 5070 290a E050                 subi r30,lo8(-(sintab))
 5071 290c F040                 sbci r31,hi8(-(sintab))
 5072 290e 8681                 ldd r24,Z+6
 5073 2910 8093 0000            sts FromNC_Rotate_C,r24
 5074 2914 9081                 ld r25,Z
 5075 2916 9093 0000            sts FromNC_Rotate_S,r25
 5076 291a A82F                 mov r26,r24
 5077 291c BB27                 clr r27
 5078 291e A7FD                 sbrc r26,7
 5079 2920 B095                 com r27
 5080 2922 A69F                 mul r26,r22
 5081 2924 9001                 movw r18,r0
 5082 2926 A79F                 mul r26,r23
 5083 2928 300D                 add r19,r0
 5084 292a B69F                 mul r27,r22
 5085 292c 300D                 add r19,r0
 5086 292e 1124                 clr r1
 5087 2930 E92F                 mov r30,r25
 5088 2932 FF27                 clr r31
 5089 2934 E7FD                 sbrc r30,7
 5090 2936 F095                 com r31
 5091 2938 E49F                 mul r30,r20
 5092 293a C001                 movw r24,r0
 5093 293c E59F                 mul r30,r21
 5094 293e 900D                 add r25,r0
 5095 2940 F49F                 mul r31,r20
 5096 2942 900D                 add r25,r0
 5097 2944 1124                 clr r1
 5098 2946 280F                 add r18,r24
 5099 2948 391F                 adc r19,r25
 5100 294a 37FF                 sbrs r19,7
 5101 294c 00C0                 rjmp .L446
 5102 294e 295F                 subi r18,lo8(-(7))
 5103 2950 3F4F                 sbci r19,hi8(-(7))
 5104                   .L446:
 5105 2952 83E0                 ldi r24,3
 5106 2954 3595         1:      asr r19
 5107 2956 2795                 ror r18
 5108 2958 8A95                 dec r24
 5109 295a 01F4                 brne 1b
 5110 295c 3093 0000            sts (StickNick)+1,r19
 5111 2960 2093 0000            sts StickNick,r18
 5112 2964 A49F                 mul r26,r20
 5113 2966 9001                 movw r18,r0
 5114 2968 A59F                 mul r26,r21
 5115 296a 300D                 add r19,r0
 5116 296c B49F                 mul r27,r20
 5117 296e 300D                 add r19,r0
 5118 2970 1124                 clr r1
 5119 2972 E69F                 mul r30,r22
 5120 2974 C001                 movw r24,r0
 5121 2976 E79F                 mul r30,r23
 5122 2978 900D                 add r25,r0
 5123 297a F69F                 mul r31,r22
 5124 297c 900D                 add r25,r0
 5125 297e 1124                 clr r1
 5126                   .L919:
 5127 2980 281B                 sub r18,r24
 5128 2982 390B                 sbc r19,r25
 5129 2984 37FF                 sbrs r19,7
 5130 2986 00C0                 rjmp .L447
 5131 2988 295F                 subi r18,lo8(-(7))
 5132 298a 3F4F                 sbci r19,hi8(-(7))
 5133                   .L447:
 5134 298c 03E0                 ldi r16,3
 5135 298e 3595         1:      asr r19
 5136 2990 2795                 ror r18
 5137 2992 0A95                 dec r16
 5138 2994 01F4                 brne 1b
 5139 2996 3093 0000            sts (StickRoll)+1,r19
 5140 299a 2093 0000            sts StickRoll,r18
 5141 299e 8091 0000            lds r24,EE_Parameter+4
 5142 29a2 E82F                 mov r30,r24
 5143 29a4 FF27                 clr r31
 5144 29a6 EE0F                 add r30,r30
 5145 29a8 FF1F                 adc r31,r31
 5146 29aa E050                 subi r30,lo8(-(PPM_in))
 5147 29ac F040                 sbci r31,hi8(-(PPM_in))
 5148 29ae 8081                 ld r24,Z
 5149 29b0 9181                 ldd r25,Z+1
 5150 29b2 9095                 com r25
 5151 29b4 8195                 neg r24
 5152 29b6 9F4F                 sbci r25,lo8(-1)
 5153 29b8 9093 0000            sts (StickGier)+1,r25
 5154 29bc 8093 0000            sts StickGier,r24
 5155 29c0 8530                 cpi r24,5
 5156 29c2 9105                 cpc r25,__zero_reg__
 5157 29c4 04F0                 brlt .L448
 5158 29c6 0497                 sbiw r24,4
 5159 29c8 00C0                 rjmp .L891
 5160                   .L448:
 5161 29ca 0FEF                 ldi r16,hi8(-4)
 5162 29cc 8C3F                 cpi r24,lo8(-4)
 5163 29ce 9007                 cpc r25,r16
 5164 29d0 04F4                 brge .L450
 5165 29d2 0496                 adiw r24,4
 5166                   .L891:
 5167 29d4 9093 0000            sts (StickGier)+1,r25
 5168 29d8 8093 0000            sts StickGier,r24
 5169 29dc 00C0                 rjmp .L449
 5170                   .L450:
 5171 29de 1092 0000            sts (StickGier)+1,__zero_reg__
 5172 29e2 1092 0000            sts StickGier,__zero_reg__
 5173                   .L449:
 5174 29e6 8091 0000            lds r24,GPS_Aid_StickMultiplikator
 5175 29ea 8823                 tst r24
 5176 29ec 01F4                 brne .+2
 5177 29ee 00C0                 rjmp .L452
 5178 29f0 282F                 mov r18,r24
 5179 29f2 3327                 clr r19
 5180 29f4 8091 0000            lds r24,StickNick
 5181 29f8 9091 0000            lds r25,(StickNick)+1
 5182 29fc 97FD                 sbrc r25,7
 5183 29fe 0796                 adiw r24,7
 5184                   .L453:
 5185 2a00 13E0                 ldi r17,3
 5186 2a02 9595         1:      asr r25
 5187 2a04 8795                 ror r24
 5188 2a06 1A95                 dec r17
 5189 2a08 01F4                 brne 1b
 5190 2a0a 289F                 mul r18,r24
 5191 2a0c A001                 movw r20,r0
 5192 2a0e 299F                 mul r18,r25
 5193 2a10 500D                 add r21,r0
 5194 2a12 389F                 mul r19,r24
 5195 2a14 500D                 add r21,r0
 5196 2a16 1124                 clr r1
 5197 2a18 CA01                 movw r24,r20
 5198 2a1a 57FD                 sbrc r21,7
 5199 2a1c 0F96                 adiw r24,15
 5200                   .L454:
 5201 2a1e B4E0                 ldi r27,4
 5202 2a20 9595         1:      asr r25
 5203 2a22 8795                 ror r24
 5204 2a24 BA95                 dec r27
 5205 2a26 01F4                 brne 1b
 5206 2a28 9093 0000            sts (StickNick)+1,r25
 5207 2a2c 8093 0000            sts StickNick,r24
 5208 2a30 8091 0000            lds r24,StickRoll
 5209 2a34 9091 0000            lds r25,(StickRoll)+1
 5210 2a38 97FD                 sbrc r25,7
 5211 2a3a 0796                 adiw r24,7
 5212                   .L455:
 5213 2a3c A3E0                 ldi r26,3
 5214 2a3e 9595         1:      asr r25
 5215 2a40 8795                 ror r24
 5216 2a42 AA95                 dec r26
 5217 2a44 01F4                 brne 1b
 5218 2a46 289F                 mul r18,r24
 5219 2a48 B001                 movw r22,r0
 5220 2a4a 299F                 mul r18,r25
 5221 2a4c 700D                 add r23,r0
 5222 2a4e 389F                 mul r19,r24
 5223 2a50 700D                 add r23,r0
 5224 2a52 1124                 clr r1
 5225 2a54 CB01                 movw r24,r22
 5226 2a56 77FD                 sbrc r23,7
 5227 2a58 0F96                 adiw r24,15
 5228                   .L456:
 5229 2a5a F4E0                 ldi r31,4
 5230 2a5c 9595         1:      asr r25
 5231 2a5e 8795                 ror r24
 5232 2a60 FA95                 dec r31
 5233 2a62 01F4                 brne 1b
 5234 2a64 9093 0000            sts (StickRoll)+1,r25
 5235 2a68 8093 0000            sts StickRoll,r24
 5236                   .L452:
 5237 2a6c 8090 0000            lds r8,StickNick
 5238 2a70 9090 0000            lds r9,(StickNick)+1
 5239 2a74 8091 0000            lds r24,GPS_Nick
 5240 2a78 9091 0000            lds r25,(GPS_Nick)+1
 5241 2a7c 881A                 sub r8,r24
 5242 2a7e 990A                 sbc r9,r25
 5243 2a80 9092 0000            sts (StickNick)+1,r9
 5244 2a84 8092 0000            sts StickNick,r8
 5245 2a88 0091 0000            lds r16,StickRoll
 5246 2a8c 1091 0000            lds r17,(StickRoll)+1
 5247 2a90 8091 0000            lds r24,GPS_Roll
 5248 2a94 9091 0000            lds r25,(GPS_Roll)+1
 5249 2a98 081B                 sub r16,r24
 5250 2a9a 190B                 sbc r17,r25
 5251 2a9c 1093 0000            sts (StickRoll)+1,r17
 5252 2aa0 0093 0000            sts StickRoll,r16
 5253 2aa4 8091 0000            lds r24,EE_Parameter+3
 5254 2aa8 E82F                 mov r30,r24
 5255 2aaa FF27                 clr r31
 5256 2aac EE0F                 add r30,r30
 5257 2aae FF1F                 adc r31,r31
 5258 2ab0 E050                 subi r30,lo8(-(PPM_in))
 5259 2ab2 F040                 sbci r31,hi8(-(PPM_in))
 5260 2ab4 E080                 ld r14,Z
 5261 2ab6 F180                 ldd r15,Z+1
 5262 2ab8 8FE7                 ldi r24,lo8(127)
 5263 2aba 90E0                 ldi r25,hi8(127)
 5264 2abc E80E                 add r14,r24
 5265 2abe F91E                 adc r15,r25
 5266 2ac0 F092 0000            sts (StickGas)+1,r15
 5267 2ac4 E092 0000            sts StickGas,r14
 5268 2ac8 8091 0000            lds r24,Parameter_Gyro_P
 5269 2acc 9927                 clr r25
 5270 2ace AA27                 clr r26
 5271 2ad0 97FD                 sbrc r25,7
 5272 2ad2 A095                 com r26
 5273 2ad4 BA2F                 mov r27,r26
 5274 2ad6 BC01                 movw r22,r24
 5275 2ad8 CD01                 movw r24,r26
 5276 2ada 0E94 0000            call __floatsisf
 5277 2ade DC01                 movw r26,r24
 5278 2ae0 CB01                 movw r24,r22
 5279 2ae2 20E0                 ldi r18,lo8(0x41200000)
 5280 2ae4 30E0                 ldi r19,hi8(0x41200000)
 5281 2ae6 40E2                 ldi r20,hlo8(0x41200000)
 5282 2ae8 51E4                 ldi r21,hhi8(0x41200000)
 5283 2aea BC01                 movw r22,r24
 5284 2aec CD01                 movw r24,r26
 5285 2aee 0E94 0000            call __addsf3
 5286 2af2 DC01                 movw r26,r24
 5287 2af4 CB01                 movw r24,r22
 5288 2af6 BC01                 movw r22,r24
 5289 2af8 CD01                 movw r24,r26
 5290 2afa 0E94 0000            call __fixunssfsi
 5291 2afe DC01                 movw r26,r24
 5292 2b00 CB01                 movw r24,r22
 5293 2b02 8093 0000            sts GyroFaktor,r24
 5294 2b06 8091 0000            lds r24,Parameter_Gyro_I
 5295 2b0a 8093 0000            sts IntegralFaktor,r24
 5296 2b0e 8091 0000            lds r24,Parameter_Gyro_Gier_P
 5297 2b12 9927                 clr r25
 5298 2b14 AA27                 clr r26
 5299 2b16 97FD                 sbrc r25,7
 5300 2b18 A095                 com r26
 5301 2b1a BA2F                 mov r27,r26
 5302 2b1c BC01                 movw r22,r24
 5303 2b1e CD01                 movw r24,r26
 5304 2b20 0E94 0000            call __floatsisf
 5305 2b24 DC01                 movw r26,r24
 5306 2b26 CB01                 movw r24,r22
 5307 2b28 20E0                 ldi r18,lo8(0x41200000)
 5308 2b2a 30E0                 ldi r19,hi8(0x41200000)
 5309 2b2c 40E2                 ldi r20,hlo8(0x41200000)
 5310 2b2e 51E4                 ldi r21,hhi8(0x41200000)
 5311 2b30 BC01                 movw r22,r24
 5312 2b32 CD01                 movw r24,r26
 5313 2b34 0E94 0000            call __addsf3
 5314 2b38 DC01                 movw r26,r24
 5315 2b3a CB01                 movw r24,r22
 5316 2b3c BC01                 movw r22,r24
 5317 2b3e CD01                 movw r24,r26
 5318 2b40 0E94 0000            call __fixunssfsi
 5319 2b44 DC01                 movw r26,r24
 5320 2b46 CB01                 movw r24,r22
 5321 2b48 8093 0000            sts GyroFaktorGier,r24
 5322 2b4c 8091 0000            lds r24,Parameter_Gyro_Gier_I
 5323 2b50 8093 0000            sts IntegralFaktorGier,r24
 5324 2b54 8091 0000            lds r24,ExternControl+10
 5325 2b58 80FF                 sbrs r24,0
 5326 2b5a 00C0                 rjmp .L457
 5327 2b5c 8091 0000            lds r24,Parameter_ExternalControl
 5328 2b60 8138                 cpi r24,lo8(-127)
 5329 2b62 00F4                 brsh .+2
 5330 2b64 00C0                 rjmp .L457
 5331 2b66 8091 0000            lds r24,ExternControl+3
 5332 2b6a 9927                 clr r25
 5333 2b6c 87FD                 sbrc r24,7
 5334 2b6e 9095                 com r25
 5335 2b70 2B2D                 mov r18,r11
 5336 2b72 3327                 clr r19
 5337 2b74 829F                 mul r24,r18
 5338 2b76 D001                 movw r26,r0
 5339 2b78 839F                 mul r24,r19
 5340 2b7a B00D                 add r27,r0
 5341 2b7c 929F                 mul r25,r18
 5342 2b7e B00D                 add r27,r0
 5343 2b80 1124                 clr r1
 5344 2b82 8A0E                 add r8,r26
 5345 2b84 9B1E                 adc r9,r27
 5346 2b86 9092 0000            sts (StickNick)+1,r9
 5347 2b8a 8092 0000            sts StickNick,r8
 5348 2b8e 8091 0000            lds r24,ExternControl+4
 5349 2b92 9927                 clr r25
 5350 2b94 87FD                 sbrc r24,7
 5351 2b96 9095                 com r25
 5352 2b98 829F                 mul r24,r18
 5353 2b9a F001                 movw r30,r0
 5354 2b9c 839F                 mul r24,r19
 5355 2b9e F00D                 add r31,r0
 5356 2ba0 929F                 mul r25,r18
 5357 2ba2 F00D                 add r31,r0
 5358 2ba4 1124                 clr r1
 5359 2ba6 0E0F                 add r16,r30
 5360 2ba8 1F1F                 adc r17,r31
 5361 2baa 1093 0000            sts (StickRoll)+1,r17
 5362 2bae 0093 0000            sts StickRoll,r16
 5363 2bb2 8091 0000            lds r24,ExternControl+5
 5364 2bb6 282F                 mov r18,r24
 5365 2bb8 3327                 clr r19
 5366 2bba 27FD                 sbrc r18,7
 5367 2bbc 3095                 com r19
 5368 2bbe 8091 0000            lds r24,StickGier
 5369 2bc2 9091 0000            lds r25,(StickGier)+1
 5370 2bc6 820F                 add r24,r18
 5371 2bc8 931F                 adc r25,r19
 5372 2bca 9093 0000            sts (StickGier)+1,r25
 5373 2bce 8093 0000            sts StickGier,r24
 5374 2bd2 8091 0000            lds r24,ExternControl+7
 5375 2bd6 282F                 mov r18,r24
 5376 2bd8 3327                 clr r19
 5377 2bda 27FD                 sbrc r18,7
 5378 2bdc 3095                 com r19
 5379 2bde 8091 0000            lds r24,EE_Parameter+18
 5380 2be2 9927                 clr r25
 5381 2be4 289F                 mul r18,r24
 5382 2be6 8001                 movw r16,r0
 5383 2be8 299F                 mul r18,r25
 5384 2bea 100D                 add r17,r0
 5385 2bec 389F                 mul r19,r24
 5386 2bee 100D                 add r17,r0
 5387 2bf0 1124                 clr r1
 5388 2bf2 1093 0000            sts (ExternHoehenValue)+1,r17
 5389 2bf6 0093 0000            sts ExternHoehenValue,r16
 5390 2bfa 8091 0000            lds r24,ExternControl+6
 5391 2bfe 9927                 clr r25
 5392 2c00 8E15                 cp r24,r14
 5393 2c02 9F05                 cpc r25,r15
 5394 2c04 04F4                 brge .L457
 5395 2c06 9093 0000            sts (StickGas)+1,r25
 5396 2c0a 8093 0000            sts StickGas,r24
 5397                   .L457:
 5398 2c0e 8091 0000            lds r24,StickGas
 5399 2c12 9091 0000            lds r25,(StickGas)+1
 5400 2c16 97FF                 sbrs r25,7
 5401 2c18 00C0                 rjmp .L459
 5402 2c1a 1092 0000            sts (StickGas)+1,__zero_reg__
 5403 2c1e 1092 0000            sts StickGas,__zero_reg__
 5404                   .L459:
 5405 2c22 8091 0000            lds r24,Parameter_GlobalConfig
 5406 2c26 82FF                 sbrs r24,2
 5407 2c28 00C0                 rjmp .L460
 5408 2c2a 1092 0000            sts IntegralFaktor,__zero_reg__
 5409                   .L460:
 5410 2c2e 4091 0000            lds r20,StickNick
 5411 2c32 5091 0000            lds r21,(StickNick)+1
 5412 2c36 CA01                 movw r24,r20
 5413 2c38 57FD                 sbrc r21,7
 5414 2c3a 0396                 adiw r24,3
 5415                   .L462:
 5416 2c3c 9C01                 movw r18,r24
 5417 2c3e 3595                 asr r19
 5418 2c40 2795                 ror r18
 5419 2c42 3595                 asr r19
 5420 2c44 2795                 ror r18
 5421 2c46 37FF                 sbrs r19,7
 5422 2c48 00C0                 rjmp .L463
 5423 2c4a 3095                 com r19
 5424 2c4c 2195                 neg r18
 5425 2c4e 3F4F                 sbci r19,lo8(-1)
 5426                   .L463:
 5427 2c50 8091 0000            lds r24,MaxStickNick
 5428 2c54 9091 0000            lds r25,(MaxStickNick)+1
 5429 2c58 8217                 cp r24,r18
 5430 2c5a 9307                 cpc r25,r19
 5431 2c5c 04F4                 brge .L461
 5432 2c5e CA01                 movw r24,r20
 5433 2c60 57FF                 sbrs r21,7
 5434 2c62 00C0                 rjmp .L464
 5435 2c64 9095                 com r25
 5436 2c66 8195                 neg r24
 5437 2c68 9F4F                 sbci r25,lo8(-1)
 5438                   .L464:
 5439 2c6a 97FD                 sbrc r25,7
 5440 2c6c 0396                 adiw r24,3
 5441                   .L465:
 5442 2c6e 9595                 asr r25
 5443 2c70 8795                 ror r24
 5444 2c72 9595                 asr r25
 5445 2c74 8795                 ror r24
 5446 2c76 9093 0000            sts (MaxStickNick)+1,r25
 5447 2c7a 8093 0000            sts MaxStickNick,r24
 5448 2c7e 8536                 cpi r24,101
 5449 2c80 9105                 cpc r25,__zero_reg__
 5450 2c82 04F0                 brlt .L467
 5451 2c84 84E6                 ldi r24,lo8(100)
 5452 2c86 90E0                 ldi r25,hi8(100)
 5453 2c88 00C0                 rjmp .L892
 5454                   .L461:
 5455 2c8a 0197                 sbiw r24,1
 5456                   .L892:
 5457 2c8c 9093 0000            sts (MaxStickNick)+1,r25
 5458 2c90 8093 0000            sts MaxStickNick,r24
 5459                   .L467:
 5460 2c94 4091 0000            lds r20,StickRoll
 5461 2c98 5091 0000            lds r21,(StickRoll)+1
 5462 2c9c CA01                 movw r24,r20
 5463 2c9e 57FD                 sbrc r21,7
 5464 2ca0 0396                 adiw r24,3
 5465                   .L469:
 5466 2ca2 9C01                 movw r18,r24
 5467 2ca4 3595                 asr r19
 5468 2ca6 2795                 ror r18
 5469 2ca8 3595                 asr r19
 5470 2caa 2795                 ror r18
 5471 2cac 37FF                 sbrs r19,7
 5472 2cae 00C0                 rjmp .L470
 5473 2cb0 3095                 com r19
 5474 2cb2 2195                 neg r18
 5475 2cb4 3F4F                 sbci r19,lo8(-1)
 5476                   .L470:
 5477 2cb6 8091 0000            lds r24,MaxStickRoll
 5478 2cba 9091 0000            lds r25,(MaxStickRoll)+1
 5479 2cbe 8217                 cp r24,r18
 5480 2cc0 9307                 cpc r25,r19
 5481 2cc2 04F4                 brge .L468
 5482 2cc4 CA01                 movw r24,r20
 5483 2cc6 57FF                 sbrs r21,7
 5484 2cc8 00C0                 rjmp .L471
 5485 2cca 9095                 com r25
 5486 2ccc 8195                 neg r24
 5487 2cce 9F4F                 sbci r25,lo8(-1)
 5488                   .L471:
 5489 2cd0 97FD                 sbrc r25,7
 5490 2cd2 0396                 adiw r24,3
 5491                   .L472:
 5492 2cd4 9595                 asr r25
 5493 2cd6 8795                 ror r24
 5494 2cd8 9595                 asr r25
 5495 2cda 8795                 ror r24
 5496 2cdc 9093 0000            sts (MaxStickRoll)+1,r25
 5497 2ce0 8093 0000            sts MaxStickRoll,r24
 5498 2ce4 8536                 cpi r24,101
 5499 2ce6 9105                 cpc r25,__zero_reg__
 5500 2ce8 04F0                 brlt .L474
 5501 2cea 84E6                 ldi r24,lo8(100)
 5502 2cec 90E0                 ldi r25,hi8(100)
 5503 2cee 00C0                 rjmp .L893
 5504                   .L468:
 5505 2cf0 0197                 sbiw r24,1
 5506                   .L893:
 5507 2cf2 9093 0000            sts (MaxStickRoll)+1,r25
 5508 2cf6 8093 0000            sts MaxStickRoll,r24
 5509                   .L474:
 5510 2cfa 8091 0000            lds r24,FC_StatusFlags
 5511 2cfe 84FF                 sbrs r24,4
 5512 2d00 00C0                 rjmp .L475
 5513 2d02 1092 0000            sts (MaxStickNick)+1,__zero_reg__
 5514 2d06 1092 0000            sts MaxStickNick,__zero_reg__
 5515 2d0a 1092 0000            sts (MaxStickRoll)+1,__zero_reg__
 5516 2d0e 1092 0000            sts MaxStickRoll,__zero_reg__
 5517                   .L475:
 5518 2d12 ED2D                 mov r30,r13
 5519 2d14 FF27                 clr r31
 5520 2d16 EE0F                 add r30,r30
 5521 2d18 FF1F                 adc r31,r31
 5522 2d1a E050                 subi r30,lo8(-(PPM_in))
 5523 2d1c F040                 sbci r31,hi8(-(PPM_in))
 5524 2d1e 4091 0000            lds r20,EE_Parameter+60
 5525 2d22 242F                 mov r18,r20
 5526 2d24 3327                 clr r19
 5527 2d26 8081                 ld r24,Z
 5528 2d28 9181                 ldd r25,Z+1
 5529 2d2a 2817                 cp r18,r24
 5530 2d2c 3907                 cpc r19,r25
 5531 2d2e 04F4                 brge .L476
 5532 2d30 8091 0000            lds r24,EE_Parameter+108
 5533 2d34 82FF                 sbrs r24,2
 5534 2d36 00C0                 rjmp .L476
 5535 2d38 81E0                 ldi r24,lo8(1)
 5536 2d3a 8093 0000            sts Looping_Links,r24
 5537 2d3e 00C0                 rjmp .L477
 5538                   .L476:
 5539 2d40 ED2D                 mov r30,r13
 5540 2d42 FF27                 clr r31
 5541 2d44 EE0F                 add r30,r30
 5542 2d46 FF1F                 adc r31,r31
 5543 2d48 E050                 subi r30,lo8(-(PPM_in))
 5544 2d4a F040                 sbci r31,hi8(-(PPM_in))
 5545 2d4c 842F                 mov r24,r20
 5546 2d4e 9927                 clr r25
 5547 2d50 2091 0000            lds r18,EE_Parameter+61
 5548 2d54 821B                 sub r24,r18
 5549 2d56 9109                 sbc r25,__zero_reg__
 5550 2d58 2081                 ld r18,Z
 5551 2d5a 3181                 ldd r19,Z+1
 5552 2d5c 2817                 cp r18,r24
 5553 2d5e 3907                 cpc r19,r25
 5554 2d60 04F4                 brge .L477
 5555 2d62 1092 0000            sts Looping_Links,__zero_reg__
 5556                   .L477:
 5557 2d66 4091 0000            lds r20,EE_Parameter+2
 5558 2d6a E42F                 mov r30,r20
 5559 2d6c FF27                 clr r31
 5560 2d6e EE0F                 add r30,r30
 5561 2d70 FF1F                 adc r31,r31
 5562 2d72 E050                 subi r30,lo8(-(PPM_in))
 5563 2d74 F040                 sbci r31,hi8(-(PPM_in))
 5564 2d76 5091 0000            lds r21,EE_Parameter+60
 5565 2d7a 852F                 mov r24,r21
 5566 2d7c 9927                 clr r25
 5567 2d7e 2227                 clr r18
 5568 2d80 3327                 clr r19
 5569 2d82 281B                 sub r18,r24
 5570 2d84 390B                 sbc r19,r25
 5571 2d86 8081                 ld r24,Z
 5572 2d88 9181                 ldd r25,Z+1
 5573 2d8a 8217                 cp r24,r18
 5574 2d8c 9307                 cpc r25,r19
 5575 2d8e 04F4                 brge .L479
 5576 2d90 8091 0000            lds r24,EE_Parameter+108
 5577 2d94 83FF                 sbrs r24,3
 5578 2d96 00C0                 rjmp .L479
 5579 2d98 81E0                 ldi r24,lo8(1)
 5580 2d9a 8093 0000            sts Looping_Rechts,r24
 5581 2d9e 00C0                 rjmp .L480
 5582                   .L479:
 5583 2da0 8091 0000            lds r24,Looping_Rechts
 5584 2da4 8823                 tst r24
 5585 2da6 01F0                 breq .L480
 5586 2da8 E42F                 mov r30,r20
 5587 2daa FF27                 clr r31
 5588 2dac EE0F                 add r30,r30
 5589 2dae FF1F                 adc r31,r31
 5590 2db0 E050                 subi r30,lo8(-(PPM_in))
 5591 2db2 F040                 sbci r31,hi8(-(PPM_in))
 5592 2db4 8091 0000            lds r24,EE_Parameter+61
 5593 2db8 9927                 clr r25
 5594 2dba 851B                 sub r24,r21
 5595 2dbc 9109                 sbc r25,__zero_reg__
 5596 2dbe 2081                 ld r18,Z
 5597 2dc0 3181                 ldd r19,Z+1
 5598 2dc2 8217                 cp r24,r18
 5599 2dc4 9307                 cpc r25,r19
 5600 2dc6 04F4                 brge .L480
 5601 2dc8 1092 0000            sts Looping_Rechts,__zero_reg__
 5602                   .L480:
 5603 2dcc EC2D                 mov r30,r12
 5604 2dce FF27                 clr r31
 5605 2dd0 EE0F                 add r30,r30
 5606 2dd2 FF1F                 adc r31,r31
 5607 2dd4 E050                 subi r30,lo8(-(PPM_in))
 5608 2dd6 F040                 sbci r31,hi8(-(PPM_in))
 5609 2dd8 4091 0000            lds r20,EE_Parameter+60
 5610 2ddc 242F                 mov r18,r20
 5611 2dde 3327                 clr r19
 5612 2de0 8081                 ld r24,Z
 5613 2de2 9181                 ldd r25,Z+1
 5614 2de4 2817                 cp r18,r24
 5615 2de6 3907                 cpc r19,r25
 5616 2de8 04F4                 brge .L483
 5617 2dea 8091 0000            lds r24,EE_Parameter+108
 5618 2dee 80FF                 sbrs r24,0
 5619 2df0 00C0                 rjmp .L483
 5620 2df2 81E0                 ldi r24,lo8(1)
 5621 2df4 8093 0000            sts Looping_Oben,r24
 5622 2df8 00C0                 rjmp .L484
 5623                   .L483:
 5624 2dfa 8091 0000            lds r24,Looping_Oben
 5625 2dfe 8823                 tst r24
 5626 2e00 01F0                 breq .L484
 5627 2e02 EC2D                 mov r30,r12
 5628 2e04 FF27                 clr r31
 5629 2e06 EE0F                 add r30,r30
 5630 2e08 FF1F                 adc r31,r31
 5631 2e0a E050                 subi r30,lo8(-(PPM_in))
 5632 2e0c F040                 sbci r31,hi8(-(PPM_in))
 5633 2e0e 842F                 mov r24,r20
 5634 2e10 9927                 clr r25
 5635 2e12 2091 0000            lds r18,EE_Parameter+61
 5636 2e16 821B                 sub r24,r18
 5637 2e18 9109                 sbc r25,__zero_reg__
 5638 2e1a 2081                 ld r18,Z
 5639 2e1c 3181                 ldd r19,Z+1
 5640 2e1e 2817                 cp r18,r24
 5641 2e20 3907                 cpc r19,r25
 5642 2e22 04F4                 brge .L484
 5643 2e24 1092 0000            sts Looping_Oben,__zero_reg__
 5644                   .L484:
 5645 2e28 4091 0000            lds r20,EE_Parameter+1
 5646 2e2c E42F                 mov r30,r20
 5647 2e2e FF27                 clr r31
 5648 2e30 EE0F                 add r30,r30
 5649 2e32 FF1F                 adc r31,r31
 5650 2e34 E050                 subi r30,lo8(-(PPM_in))
 5651 2e36 F040                 sbci r31,hi8(-(PPM_in))
 5652 2e38 5091 0000            lds r21,EE_Parameter+60
 5653 2e3c 852F                 mov r24,r21
 5654 2e3e 9927                 clr r25
 5655 2e40 2227                 clr r18
 5656 2e42 3327                 clr r19
 5657 2e44 281B                 sub r18,r24
 5658 2e46 390B                 sbc r19,r25
 5659 2e48 8081                 ld r24,Z
 5660 2e4a 9181                 ldd r25,Z+1
 5661 2e4c 8217                 cp r24,r18
 5662 2e4e 9307                 cpc r25,r19
 5663 2e50 04F4                 brge .L487
 5664 2e52 8091 0000            lds r24,EE_Parameter+108
 5665 2e56 81FF                 sbrs r24,1
 5666 2e58 00C0                 rjmp .L487
 5667 2e5a 81E0                 ldi r24,lo8(1)
 5668 2e5c 8093 0000            sts Looping_Unten,r24
 5669 2e60 00C0                 rjmp .L488
 5670                   .L487:
 5671 2e62 8091 0000            lds r24,Looping_Unten
 5672 2e66 8823                 tst r24
 5673 2e68 01F0                 breq .L488
 5674 2e6a E42F                 mov r30,r20
 5675 2e6c FF27                 clr r31
 5676 2e6e EE0F                 add r30,r30
 5677 2e70 FF1F                 adc r31,r31
 5678 2e72 E050                 subi r30,lo8(-(PPM_in))
 5679 2e74 F040                 sbci r31,hi8(-(PPM_in))
 5680 2e76 8091 0000            lds r24,EE_Parameter+61
 5681 2e7a 9927                 clr r25
 5682 2e7c 851B                 sub r24,r21
 5683 2e7e 9109                 sbc r25,__zero_reg__
 5684 2e80 2081                 ld r18,Z
 5685 2e82 3181                 ldd r19,Z+1
 5686 2e84 8217                 cp r24,r18
 5687 2e86 9307                 cpc r25,r19
 5688 2e88 04F4                 brge .L488
 5689 2e8a 1092 0000            sts Looping_Unten,__zero_reg__
 5690                   .L488:
 5691 2e8e 8091 0000            lds r24,Looping_Links
 5692 2e92 8823                 tst r24
 5693 2e94 01F4                 brne .L492
 5694 2e96 8091 0000            lds r24,Looping_Rechts
 5695 2e9a 8111                 cpse r24,__zero_reg__
 5696                   .L492:
 5697 2e9c 81E0                 ldi r24,lo8(1)
 5698                   .L491:
 5699 2e9e 8093 0000            sts Looping_Roll,r24
 5700 2ea2 8091 0000            lds r24,Looping_Oben
 5701 2ea6 8823                 tst r24
 5702 2ea8 01F4                 brne .L495
 5703 2eaa 8091 0000            lds r24,Looping_Unten
 5704 2eae 8823                 tst r24
 5705 2eb0 01F0                 breq .L494
 5706                   .L495:
 5707 2eb2 81E0                 ldi r24,lo8(1)
 5708 2eb4 8093 0000            sts Looping_Nick,r24
 5709 2eb8 1092 0000            sts Looping_Roll,__zero_reg__
 5710 2ebc 1092 0000            sts Looping_Links,__zero_reg__
 5711 2ec0 1092 0000            sts Looping_Rechts,__zero_reg__
 5712 2ec4 00C0                 rjmp .L436
 5713                   .L494:
 5714 2ec6 8093 0000            sts Looping_Nick,r24
 5715                   .L436:
 5716 2eca 8091 0000            lds r24,Looping_Roll
 5717 2ece 8823                 tst r24
 5718 2ed0 01F4                 brne .L498
 5719 2ed2 8091 0000            lds r24,Looping_Nick
 5720 2ed6 8823                 tst r24
 5721 2ed8 01F0                 breq .L497
 5722                   .L498:
 5723 2eda 8091 0000            lds r24,EE_Parameter+59
 5724 2ede 9927                 clr r25
 5725 2ee0 2981                 ldd r18,Y+1
 5726 2ee2 3A81                 ldd r19,Y+2
 5727 2ee4 8217                 cp r24,r18
 5728 2ee6 9307                 cpc r25,r19
 5729 2ee8 04F4                 brge .L499
 5730 2eea 9A83                 std Y+2,r25
 5731 2eec 8983                 std Y+1,r24
 5732                   .L499:
 5733 2eee 81E0                 ldi r24,lo8(1)
 5734 2ef0 8093 0000            sts TrichterFlug,r24
 5735                   .L497:
 5736 2ef4 8091 0000            lds r24,FC_StatusFlags2
 5737 2ef8 9927                 clr r25
 5738 2efa 9C01                 movw r18,r24
 5739 2efc 2470                 andi r18,lo8(4)
 5740 2efe 3070                 andi r19,hi8(4)
 5741 2f00 82FF                 sbrs r24,2
 5742 2f02 00C0                 rjmp .L500
 5743 2f04 8091 0000            lds r24,GPS_Nick
 5744 2f08 9091 0000            lds r25,(GPS_Nick)+1
 5745 2f0c 9095                 com r25
 5746 2f0e 8195                 neg r24
 5747 2f10 9F4F                 sbci r25,lo8(-1)
 5748 2f12 9093 0000            sts (StickNick)+1,r25
 5749 2f16 8093 0000            sts StickNick,r24
 5750 2f1a 8091 0000            lds r24,GPS_Roll
 5751 2f1e 9091 0000            lds r25,(GPS_Roll)+1
 5752 2f22 9095                 com r25
 5753 2f24 8195                 neg r24
 5754 2f26 9F4F                 sbci r25,lo8(-1)
 5755 2f28 9093 0000            sts (StickRoll)+1,r25
 5756 2f2c 8093 0000            sts StickRoll,r24
 5757 2f30 8091 0000            lds r24,StickGasHover
 5758 2f34 9091 0000            lds r25,(StickGasHover)+1
 5759 2f38 9093 0000            sts (StickGas)+1,r25
 5760 2f3c 8093 0000            sts StickGas,r24
 5761 2f40 8091 0000            lds r24,Parameter_GlobalConfig
 5762 2f44 8B77                 andi r24,lo8(123)
 5763 2f46 8B66                 ori r24,lo8(107)
 5764 2f48 8093 0000            sts Parameter_GlobalConfig,r24
 5765 2f4c 8091 0000            lds r24,Parameter_ExtraConfig
 5766 2f50 8C7B                 andi r24,lo8(-68)
 5767 2f52 8093 0000            sts Parameter_ExtraConfig,r24
 5768 2f56 88EC                 ldi r24,lo8(-56)
 5769 2f58 8093 0000            sts Parameter_HoehenSchalter,r24
 5770 2f5c 00C0                 rjmp .L501
 5771                   .L500:
 5772 2f5e 8091 0000            lds r24,FC_StatusFlags
 5773 2f62 84FF                 sbrs r24,4
 5774 2f64 00C0                 rjmp .L501
 5775 2f66 3093 0000            sts (StickGier)+1,r19
 5776 2f6a 2093 0000            sts StickGier,r18
 5777 2f6e 3093 0000            sts (StickNick)+1,r19
 5778 2f72 2093 0000            sts StickNick,r18
 5779 2f76 3093 0000            sts (StickRoll)+1,r19
 5780 2f7a 2093 0000            sts StickRoll,r18
 5781 2f7e 9AE5                 ldi r25,lo8(90)
 5782 2f80 9093 0000            sts GyroFaktor,r25
 5783 2f84 88E7                 ldi r24,lo8(120)
 5784 2f86 8093 0000            sts IntegralFaktor,r24
 5785 2f8a 9093 0000            sts GyroFaktorGier,r25
 5786 2f8e 8093 0000            sts IntegralFaktorGier,r24
 5787 2f92 1092 0000            sts Looping_Roll,__zero_reg__
 5788 2f96 1092 0000            sts Looping_Nick,__zero_reg__
 5789                   .L501:
 5790 2f9a 8091 0000            lds r24,MittelIntegralNick
 5791 2f9e 9091 0000            lds r25,(MittelIntegralNick)+1
 5792 2fa2 A091 0000            lds r26,(MittelIntegralNick)+2
 5793 2fa6 B091 0000            lds r27,(MittelIntegralNick)+3
 5794 2faa 2091 0000            lds r18,IntegralNick
 5795 2fae 3091 0000            lds r19,(IntegralNick)+1
 5796 2fb2 4091 0000            lds r20,(IntegralNick)+2
 5797 2fb6 5091 0000            lds r21,(IntegralNick)+3
 5798 2fba 820F                 add r24,r18
 5799 2fbc 931F                 adc r25,r19
 5800 2fbe A41F                 adc r26,r20
 5801 2fc0 B51F                 adc r27,r21
 5802 2fc2 8093 0000            sts MittelIntegralNick,r24
 5803 2fc6 9093 0000            sts (MittelIntegralNick)+1,r25
 5804 2fca A093 0000            sts (MittelIntegralNick)+2,r26
 5805 2fce B093 0000            sts (MittelIntegralNick)+3,r27
 5806 2fd2 8091 0000            lds r24,MittelIntegralRoll
 5807 2fd6 9091 0000            lds r25,(MittelIntegralRoll)+1
 5808 2fda A091 0000            lds r26,(MittelIntegralRoll)+2
 5809 2fde B091 0000            lds r27,(MittelIntegralRoll)+3
 5810 2fe2 E090 0000            lds r14,IntegralRoll
 5811 2fe6 F090 0000            lds r15,(IntegralRoll)+1
 5812 2fea 0091 0000            lds r16,(IntegralRoll)+2
 5813 2fee 1091 0000            lds r17,(IntegralRoll)+3
 5814 2ff2 EB82                 std Y+3,r14
 5815 2ff4 FC82                 std Y+4,r15
 5816 2ff6 0D83                 std Y+5,r16
 5817 2ff8 1E83                 std Y+6,r17
 5818 2ffa 8E0D                 add r24,r14
 5819 2ffc 9F1D                 adc r25,r15
 5820 2ffe A01F                 adc r26,r16
 5821 3000 B11F                 adc r27,r17
 5822 3002 8093 0000            sts MittelIntegralRoll,r24
 5823 3006 9093 0000            sts (MittelIntegralRoll)+1,r25
 5824 300a A093 0000            sts (MittelIntegralRoll)+2,r26
 5825 300e B093 0000            sts (MittelIntegralRoll)+3,r27
 5826 3012 8091 0000            lds r24,MittelIntegralNick2
 5827 3016 9091 0000            lds r25,(MittelIntegralNick2)+1
 5828 301a A091 0000            lds r26,(MittelIntegralNick2)+2
 5829 301e B091 0000            lds r27,(MittelIntegralNick2)+3
 5830 3022 E090 0000            lds r14,IntegralNick2
 5831 3026 F090 0000            lds r15,(IntegralNick2)+1
 5832 302a 0091 0000            lds r16,(IntegralNick2)+2
 5833 302e 1091 0000            lds r17,(IntegralNick2)+3
 5834 3032 EF82                 std Y+7,r14
 5835 3034 F886                 std Y+8,r15
 5836 3036 0987                 std Y+9,r16
 5837 3038 1A87                 std Y+10,r17
 5838 303a 8E0D                 add r24,r14
 5839 303c 9F1D                 adc r25,r15
 5840 303e A01F                 adc r26,r16
 5841 3040 B11F                 adc r27,r17
 5842 3042 8093 0000            sts MittelIntegralNick2,r24
 5843 3046 9093 0000            sts (MittelIntegralNick2)+1,r25
 5844 304a A093 0000            sts (MittelIntegralNick2)+2,r26
 5845 304e B093 0000            sts (MittelIntegralNick2)+3,r27
 5846 3052 8091 0000            lds r24,MittelIntegralRoll2
 5847 3056 9091 0000            lds r25,(MittelIntegralRoll2)+1
 5848 305a A091 0000            lds r26,(MittelIntegralRoll2)+2
 5849 305e B091 0000            lds r27,(MittelIntegralRoll2)+3
 5850 3062 E090 0000            lds r14,IntegralRoll2
 5851 3066 F090 0000            lds r15,(IntegralRoll2)+1
 5852 306a 0091 0000            lds r16,(IntegralRoll2)+2
 5853 306e 1091 0000            lds r17,(IntegralRoll2)+3
 5854 3072 EB86                 std Y+11,r14
 5855 3074 FC86                 std Y+12,r15
 5856 3076 0D87                 std Y+13,r16
 5857 3078 1E87                 std Y+14,r17
 5858 307a 8E0D                 add r24,r14
 5859 307c 9F1D                 adc r25,r15
 5860 307e A01F                 adc r26,r16
 5861 3080 B11F                 adc r27,r17
 5862 3082 8093 0000            sts MittelIntegralRoll2,r24
 5863 3086 9093 0000            sts (MittelIntegralRoll2)+1,r25
 5864 308a A093 0000            sts (MittelIntegralRoll2)+2,r26
 5865 308e B093 0000            sts (MittelIntegralRoll2)+3,r27
 5866 3092 F090 0000            lds r15,Looping_Nick
 5867 3096 FF86                 std Y+15,r15
 5868 3098 FF20                 tst r15
 5869 309a 01F4                 brne .L504
 5870 309c 8091 0000            lds r24,Looping_Roll
 5871 30a0 8823                 tst r24
 5872 30a2 01F4                 brne .+2
 5873 30a4 00C0                 rjmp .L886
 5874                   .L504:
 5875 30a6 1092 0000            sts IntegralAccNick,__zero_reg__
 5876 30aa 1092 0000            sts (IntegralAccNick)+1,__zero_reg__
 5877 30ae 1092 0000            sts (IntegralAccNick)+2,__zero_reg__
 5878 30b2 1092 0000            sts (IntegralAccNick)+3,__zero_reg__
 5879 30b6 1092 0000            sts IntegralAccRoll,__zero_reg__
 5880 30ba 1092 0000            sts (IntegralAccRoll)+1,__zero_reg__
 5881 30be 1092 0000            sts (IntegralAccRoll)+2,__zero_reg__
 5882 30c2 1092 0000            sts (IntegralAccRoll)+3,__zero_reg__
 5883 30c6 1092 0000            sts MittelIntegralNick,__zero_reg__
 5884 30ca 1092 0000            sts (MittelIntegralNick)+1,__zero_reg__
 5885 30ce 1092 0000            sts (MittelIntegralNick)+2,__zero_reg__
 5886 30d2 1092 0000            sts (MittelIntegralNick)+3,__zero_reg__
 5887 30d6 1092 0000            sts MittelIntegralRoll,__zero_reg__
 5888 30da 1092 0000            sts (MittelIntegralRoll)+1,__zero_reg__
 5889 30de 1092 0000            sts (MittelIntegralRoll)+2,__zero_reg__
 5890 30e2 1092 0000            sts (MittelIntegralRoll)+3,__zero_reg__
 5891 30e6 1092 0000            sts MittelIntegralNick2,__zero_reg__
 5892 30ea 1092 0000            sts (MittelIntegralNick2)+1,__zero_reg__
 5893 30ee 1092 0000            sts (MittelIntegralNick2)+2,__zero_reg__
 5894 30f2 1092 0000            sts (MittelIntegralNick2)+3,__zero_reg__
 5895 30f6 1092 0000            sts MittelIntegralRoll2,__zero_reg__
 5896 30fa 1092 0000            sts (MittelIntegralRoll2)+1,__zero_reg__
 5897 30fe 1092 0000            sts (MittelIntegralRoll2)+2,__zero_reg__
 5898 3102 1092 0000            sts (MittelIntegralRoll2)+3,__zero_reg__
 5899 3106 8091 0000            lds r24,Mess_IntegralNick
 5900 310a 9091 0000            lds r25,(Mess_IntegralNick)+1
 5901 310e A091 0000            lds r26,(Mess_IntegralNick)+2
 5902 3112 B091 0000            lds r27,(Mess_IntegralNick)+3
 5903 3116 8093 0000            sts Mess_IntegralNick2,r24
 5904 311a 9093 0000            sts (Mess_IntegralNick2)+1,r25
 5905 311e A093 0000            sts (Mess_IntegralNick2)+2,r26
 5906 3122 B093 0000            sts (Mess_IntegralNick2)+3,r27
 5907 3126 8091 0000            lds r24,Mess_IntegralRoll
 5908 312a 9091 0000            lds r25,(Mess_IntegralRoll)+1
 5909 312e A091 0000            lds r26,(Mess_IntegralRoll)+2
 5910 3132 B091 0000            lds r27,(Mess_IntegralRoll)+3
 5911 3136 8093 0000            sts Mess_IntegralRoll2,r24
 5912 313a 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 5913 313e A093 0000            sts (Mess_IntegralRoll2)+2,r26
 5914 3142 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 5915 3146 1092 0000            sts (ZaehlMessungen)+1,__zero_reg__
 5916 314a 1092 0000            sts ZaehlMessungen,__zero_reg__
 5917 314e 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 5918 3152 1092 0000            sts LageKorrekturNick,__zero_reg__
 5919 3156 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 5920 315a 1092 0000            sts LageKorrekturRoll,__zero_reg__
 5921 315e 0F85                 ldd r16,Y+15
 5922 3160 0023                 tst r16
 5923 3162 01F0                 breq .+2
 5924 3164 00C0                 rjmp .L505
 5925                   .L886:
 5926 3166 8091 0000            lds r24,Looping_Roll
 5927 316a 8823                 tst r24
 5928 316c 01F0                 breq .+2
 5929 316e 00C0                 rjmp .L505
 5930 3170 8091 0000            lds r24,Aktuell_az
 5931 3174 9091 0000            lds r25,(Aktuell_az)+1
 5932 3178 8150                 subi r24,lo8(513)
 5933 317a 9240                 sbci r25,hi8(513)
 5934 317c 04F4                 brge .L506
 5935 317e 8091 0000            lds r24,MotorenEin
 5936 3182 8823                 tst r24
 5937 3184 01F4                 brne .+2
 5938 3186 00C0                 rjmp .L505
 5939                   .L506:
 5940 3188 9090 0000            lds r9,FromNaviCtrl_Value
 5941 318c A090 0000            lds r10,EE_Parameter+28
 5942 3190 2090 0000            lds r2,Mittelwert_AccNick
 5943 3194 3090 0000            lds r3,(Mittelwert_AccNick)+1
 5944 3198 4090 0000            lds r4,Mittelwert_AccRoll
 5945 319c 5090 0000            lds r5,(Mittelwert_AccRoll)+1
 5946 31a0 1914                 cp __zero_reg__,r9
 5947 31a2 04F0                 brlt .+2
 5948 31a4 00C0                 rjmp .L507
 5949 31a6 BB24                 clr r11
 5950 31a8 CC24                 clr r12
 5951 31aa DD24                 clr r13
 5952 31ac CA01                 movw r24,r20
 5953 31ae B901                 movw r22,r18
 5954 31b0 A601                 movw r20,r12
 5955 31b2 9501                 movw r18,r10
 5956 31b4 0E94 0000            call __divmodsi4
 5957 31b8 7901                 movw r14,r18
 5958 31ba 8A01                 movw r16,r20
 5959 31bc 8091 0000            lds r24,FromNaviCtrl+9
 5960 31c0 9091 0000            lds r25,(FromNaviCtrl+9)+1
 5961 31c4 281A                 sub r2,r24
 5962 31c6 390A                 sbc r3,r25
 5963 31c8 C101                 movw r24,r2
 5964 31ca AA27                 clr r26
 5965 31cc 97FD                 sbrc r25,7
 5966 31ce A095                 com r26
 5967 31d0 BA2F                 mov r27,r26
 5968 31d2 E81A                 sub r14,r24
 5969 31d4 F90A                 sbc r15,r25
 5970 31d6 0A0B                 sbc r16,r26
 5971 31d8 1B0B                 sbc r17,r27
 5972 31da 6B81                 ldd r22,Y+3
 5973 31dc 7C81                 ldd r23,Y+4
 5974 31de 8D81                 ldd r24,Y+5
 5975 31e0 9E81                 ldd r25,Y+6
 5976 31e2 A601                 movw r20,r12
 5977 31e4 9501                 movw r18,r10
 5978 31e6 0E94 0000            call __divmodsi4
 5979 31ea 5901                 movw r10,r18
 5980 31ec 6A01                 movw r12,r20
 5981 31ee 8091 0000            lds r24,FromNaviCtrl+11
 5982 31f2 9091 0000            lds r25,(FromNaviCtrl+11)+1
 5983 31f6 481A                 sub r4,r24
 5984 31f8 590A                 sbc r5,r25
 5985 31fa C201                 movw r24,r4
 5986 31fc AA27                 clr r26
 5987 31fe 97FD                 sbrc r25,7
 5988 3200 A095                 com r26
 5989 3202 BA2F                 mov r27,r26
 5990 3204 A81A                 sub r10,r24
 5991 3206 B90A                 sbc r11,r25
 5992 3208 CA0A                 sbc r12,r26
 5993 320a DB0A                 sbc r13,r27
 5994 320c 292C                 mov r2,r9
 5995 320e 3324                 clr r3
 5996 3210 27FC                 sbrc r2,7
 5997 3212 3094                 com r3
 5998 3214 432C                 mov r4,r3
 5999 3216 532C                 mov r5,r3
 6000 3218 C801                 movw r24,r16
 6001 321a B701                 movw r22,r14
 6002 321c A201                 movw r20,r4
 6003 321e 9101                 movw r18,r2
 6004 3220 0E94 0000            call __mulsi3
 6005 3224 97FF                 sbrs r25,7
 6006 3226 00C0                 rjmp .L508
 6007 3228 6150                 subi r22,lo8(-(511))
 6008 322a 7E4F                 sbci r23,hi8(-(511))
 6009 322c 8F4F                 sbci r24,hlo8(-(511))
 6010 322e 9F4F                 sbci r25,hhi8(-(511))
 6011                   .L508:
 6012 3230 3B01                 movw r6,r22
 6013 3232 4C01                 movw r8,r24
 6014 3234 09E0                 ldi r16,9
 6015 3236 9594         1:      asr r9
 6016 3238 8794                 ror r8
 6017 323a 7794                 ror r7
 6018 323c 6794                 ror r6
 6019 323e 0A95                 dec r16
 6020 3240 01F4                 brne 1b
 6021 3242 C601                 movw r24,r12
 6022 3244 B501                 movw r22,r10
 6023 3246 A201                 movw r20,r4
 6024 3248 9101                 movw r18,r2
 6025 324a 0E94 0000            call __mulsi3
 6026 324e 97FF                 sbrs r25,7
 6027 3250 00C0                 rjmp .L509
 6028 3252 6150                 subi r22,lo8(-(511))
 6029 3254 7E4F                 sbci r23,hi8(-(511))
 6030 3256 8F4F                 sbci r24,hlo8(-(511))
 6031 3258 9F4F                 sbci r25,hhi8(-(511))
 6032                   .L509:
 6033 325a 5B01                 movw r10,r22
 6034 325c 6C01                 movw r12,r24
 6035 325e 19E0                 ldi r17,9
 6036 3260 D594         1:      asr r13
 6037 3262 C794                 ror r12
 6038 3264 B794                 ror r11
 6039 3266 A794                 ror r10
 6040 3268 1A95                 dec r17
 6041 326a 01F4                 brne 1b
 6042 326c 8091 0000            lds r24,MaxStickNick
 6043 3270 9091 0000            lds r25,(MaxStickNick)+1
 6044 3274 8134                 cpi r24,65
 6045 3276 9105                 cpc r25,__zero_reg__
 6046 3278 04F4                 brge .L511
 6047 327a 8091 0000            lds r24,MaxStickRoll
 6048 327e 9091 0000            lds r25,(MaxStickRoll)+1
 6049 3282 8134                 cpi r24,65
 6050 3284 9105                 cpc r25,__zero_reg__
 6051 3286 04F0                 brlt .L510
 6052                   .L511:
 6053 3288 D401                 movw r26,r8
 6054 328a C301                 movw r24,r6
 6055 328c 97FE                 sbrs r9,7
 6056 328e 00C0                 rjmp .L512
 6057 3290 0196                 adiw r24,1
 6058 3292 A11D                 adc r26,__zero_reg__
 6059 3294 B11D                 adc r27,__zero_reg__
 6060                   .L512:
 6061 3296 3C01                 movw r6,r24
 6062 3298 4D01                 movw r8,r26
 6063 329a 9594                 asr r9
 6064 329c 8794                 ror r8
 6065 329e 7794                 ror r7
 6066 32a0 6794                 ror r6
 6067 32a2 D601                 movw r26,r12
 6068 32a4 C501                 movw r24,r10
 6069 32a6 D7FE                 sbrs r13,7
 6070 32a8 00C0                 rjmp .L513
 6071 32aa 0196                 adiw r24,1
 6072 32ac A11D                 adc r26,__zero_reg__
 6073 32ae B11D                 adc r27,__zero_reg__
 6074                   .L513:
 6075 32b0 5C01                 movw r10,r24
 6076 32b2 6D01                 movw r12,r26
 6077 32b4 D594                 asr r13
 6078 32b6 C794                 ror r12
 6079 32b8 B794                 ror r11
 6080 32ba A794                 ror r10
 6081                   .L510:
 6082 32bc 8091 0000            lds r24,FromNaviCtrl_Value+2
 6083 32c0 282F                 mov r18,r24
 6084 32c2 3327                 clr r19
 6085 32c4 27FD                 sbrc r18,7
 6086 32c6 3095                 com r19
 6087 32c8 432F                 mov r20,r19
 6088 32ca 532F                 mov r21,r19
 6089 32cc 2615                 cp r18,r6
 6090 32ce 3705                 cpc r19,r7
 6091 32d0 4805                 cpc r20,r8
 6092 32d2 5905                 cpc r21,r9
 6093 32d4 04F4                 brge .L514
 6094 32d6 3901                 movw r6,r18
 6095 32d8 4A01                 movw r8,r20
 6096                   .L514:
 6097 32da 9927                 clr r25
 6098 32dc 87FD                 sbrc r24,7
 6099 32de 9095                 com r25
 6100 32e0 9095                 com r25
 6101 32e2 8195                 neg r24
 6102 32e4 9F4F                 sbci r25,lo8(-1)
 6103 32e6 AA27                 clr r26
 6104 32e8 97FD                 sbrc r25,7
 6105 32ea A095                 com r26
 6106 32ec BA2F                 mov r27,r26
 6107 32ee 6816                 cp r6,r24
 6108 32f0 7906                 cpc r7,r25
 6109 32f2 8A06                 cpc r8,r26
 6110 32f4 9B06                 cpc r9,r27
 6111 32f6 04F4                 brge .L515
 6112 32f8 3C01                 movw r6,r24
 6113 32fa 4D01                 movw r8,r26
 6114                   .L515:
 6115 32fc 2A15                 cp r18,r10
 6116 32fe 3B05                 cpc r19,r11
 6117 3300 4C05                 cpc r20,r12
 6118 3302 5D05                 cpc r21,r13
 6119 3304 04F4                 brge .L516
 6120 3306 5901                 movw r10,r18
 6121 3308 6A01                 movw r12,r20
 6122                   .L516:
 6123 330a A816                 cp r10,r24
 6124 330c B906                 cpc r11,r25
 6125 330e CA06                 cpc r12,r26
 6126 3310 DB06                 cpc r13,r27
 6127 3312 04F0                 brlt .+2
 6128 3314 00C0                 rjmp .L518
 6129 3316 5C01                 movw r10,r24
 6130 3318 6D01                 movw r12,r26
 6131 331a 00C0                 rjmp .L518
 6132                   .L507:
 6133 331c EA2C                 mov r14,r10
 6134 331e FF24                 clr r15
 6135 3320 0027                 clr r16
 6136 3322 1127                 clr r17
 6137 3324 CA01                 movw r24,r20
 6138 3326 B901                 movw r22,r18
 6139 3328 A801                 movw r20,r16
 6140 332a 9701                 movw r18,r14
 6141 332c 0E94 0000            call __divmodsi4
 6142 3330 3901                 movw r6,r18
 6143 3332 4A01                 movw r8,r20
 6144 3334 C101                 movw r24,r2
 6145 3336 AA27                 clr r26
 6146 3338 97FD                 sbrc r25,7
 6147 333a A095                 com r26
 6148 333c BA2F                 mov r27,r26
 6149 333e 681A                 sub r6,r24
 6150 3340 790A                 sbc r7,r25
 6151 3342 8A0A                 sbc r8,r26
 6152 3344 9B0A                 sbc r9,r27
 6153 3346 6B81                 ldd r22,Y+3
 6154 3348 7C81                 ldd r23,Y+4
 6155 334a 8D81                 ldd r24,Y+5
 6156 334c 9E81                 ldd r25,Y+6
 6157 334e A801                 movw r20,r16
 6158 3350 9701                 movw r18,r14
 6159 3352 0E94 0000            call __divmodsi4
 6160 3356 5901                 movw r10,r18
 6161 3358 6A01                 movw r12,r20
 6162 335a C201                 movw r24,r4
 6163 335c AA27                 clr r26
 6164 335e 97FD                 sbrc r25,7
 6165 3360 A095                 com r26
 6166 3362 BA2F                 mov r27,r26
 6167 3364 A81A                 sub r10,r24
 6168 3366 B90A                 sbc r11,r25
 6169 3368 CA0A                 sbc r12,r26
 6170 336a DB0A                 sbc r13,r27
 6171 336c D401                 movw r26,r8
 6172 336e C301                 movw r24,r6
 6173 3370 97FE                 sbrs r9,7
 6174 3372 00C0                 rjmp .L519
 6175 3374 0F96                 adiw r24,15
 6176 3376 A11D                 adc r26,__zero_reg__
 6177 3378 B11D                 adc r27,__zero_reg__
 6178                   .L519:
 6179 337a 3C01                 movw r6,r24
 6180 337c 4D01                 movw r8,r26
 6181 337e F4E0                 ldi r31,4
 6182 3380 9594         1:      asr r9
 6183 3382 8794                 ror r8
 6184 3384 7794                 ror r7
 6185 3386 6794                 ror r6
 6186 3388 FA95                 dec r31
 6187 338a 01F4                 brne 1b
 6188 338c D601                 movw r26,r12
 6189 338e C501                 movw r24,r10
 6190 3390 D7FE                 sbrs r13,7
 6191 3392 00C0                 rjmp .L520
 6192 3394 0F96                 adiw r24,15
 6193 3396 A11D                 adc r26,__zero_reg__
 6194 3398 B11D                 adc r27,__zero_reg__
 6195                   .L520:
 6196 339a 5C01                 movw r10,r24
 6197 339c 6D01                 movw r12,r26
 6198 339e E4E0                 ldi r30,4
 6199 33a0 D594         1:      asr r13
 6200 33a2 C794                 ror r12
 6201 33a4 B794                 ror r11
 6202 33a6 A794                 ror r10
 6203 33a8 EA95                 dec r30
 6204 33aa 01F4                 brne 1b
 6205 33ac 8091 0000            lds r24,MaxStickNick
 6206 33b0 9091 0000            lds r25,(MaxStickNick)+1
 6207 33b4 8134                 cpi r24,65
 6208 33b6 9105                 cpc r25,__zero_reg__
 6209 33b8 04F4                 brge .L522
 6210 33ba 8091 0000            lds r24,MaxStickRoll
 6211 33be 9091 0000            lds r25,(MaxStickRoll)+1
 6212 33c2 8134                 cpi r24,65
 6213 33c4 9105                 cpc r25,__zero_reg__
 6214 33c6 04F0                 brlt .L521
 6215                   .L522:
 6216 33c8 C401                 movw r24,r8
 6217 33ca B301                 movw r22,r6
 6218 33cc 23E0                 ldi r18,lo8(3)
 6219 33ce 30E0                 ldi r19,hi8(3)
 6220 33d0 40E0                 ldi r20,hlo8(3)
 6221 33d2 50E0                 ldi r21,hhi8(3)
 6222 33d4 0E94 0000            call __divmodsi4
 6223 33d8 3901                 movw r6,r18
 6224 33da 4A01                 movw r8,r20
 6225 33dc C601                 movw r24,r12
 6226 33de B501                 movw r22,r10
 6227 33e0 23E0                 ldi r18,lo8(3)
 6228 33e2 30E0                 ldi r19,hi8(3)
 6229 33e4 40E0                 ldi r20,hlo8(3)
 6230 33e6 50E0                 ldi r21,hhi8(3)
 6231 33e8 0E94 0000            call __divmodsi4
 6232 33ec 5901                 movw r10,r18
 6233 33ee 6A01                 movw r12,r20
 6234                   .L521:
 6235 33f0 8091 0000            lds r24,EE_Parameter+4
 6236 33f4 E82F                 mov r30,r24
 6237 33f6 FF27                 clr r31
 6238 33f8 EE0F                 add r30,r30
 6239 33fa FF1F                 adc r31,r31
 6240 33fc E050                 subi r30,lo8(-(PPM_in))
 6241 33fe F040                 sbci r31,hi8(-(PPM_in))
 6242 3400 8081                 ld r24,Z
 6243 3402 9181                 ldd r25,Z+1
 6244 3404 0190                 ld __tmp_reg__,Z+
 6245 3406 F081                 ld r31,Z
 6246 3408 E02D                 mov r30,__tmp_reg__
 6247 340a F7FF                 sbrs r31,7
 6248 340c 00C0                 rjmp .L524
 6249 340e F095                 com r31
 6250 3410 E195                 neg r30
 6251 3412 FF4F                 sbci r31,lo8(-1)
 6252                   .L524:
 6253 3414 7A97                 sbiw r30,26
 6254 3416 04F0                 brlt .L523
 6255 3418 C401                 movw r24,r8
 6256 341a B301                 movw r22,r6
 6257 341c 23E0                 ldi r18,lo8(3)
 6258 341e 30E0                 ldi r19,hi8(3)
 6259 3420 40E0                 ldi r20,hlo8(3)
 6260 3422 50E0                 ldi r21,hhi8(3)
 6261 3424 0E94 0000            call __divmodsi4
 6262 3428 3901                 movw r6,r18
 6263 342a 4A01                 movw r8,r20
 6264 342c C601                 movw r24,r12
 6265 342e B501                 movw r22,r10
 6266 3430 23E0                 ldi r18,lo8(3)
 6267 3432 30E0                 ldi r19,hi8(3)
 6268 3434 40E0                 ldi r20,hlo8(3)
 6269 3436 50E0                 ldi r21,hhi8(3)
 6270 3438 0E94 0000            call __divmodsi4
 6271 343c 5901                 movw r10,r18
 6272 343e 6A01                 movw r12,r20
 6273                   .L523:
 6274 3440 89E1                 ldi r24,lo8(25)
 6275 3442 8093 0000            sts KompassFusion,r24
 6276 3446 21E2                 ldi r18,lo8(33)
 6277 3448 6216                 cp r6,r18
 6278 344a 7104                 cpc r7,__zero_reg__
 6279 344c 8104                 cpc r8,__zero_reg__
 6280 344e 9104                 cpc r9,__zero_reg__
 6281 3450 04F0                 brlt .L525
 6282 3452 70E2                 ldi r23,lo8(32)
 6283 3454 672E                 mov r6,r23
 6284 3456 712C                 mov r7,__zero_reg__
 6285 3458 812C                 mov r8,__zero_reg__
 6286 345a 912C                 mov r9,__zero_reg__
 6287                   .L525:
 6288 345c 30EE                 ldi r19,lo8(-32)
 6289 345e 6316                 cp r6,r19
 6290 3460 3FEF                 ldi r19,hi8(-32)
 6291 3462 7306                 cpc r7,r19
 6292 3464 3FEF                 ldi r19,hlo8(-32)
 6293 3466 8306                 cpc r8,r19
 6294 3468 3FEF                 ldi r19,hhi8(-32)
 6295 346a 9306                 cpc r9,r19
 6296 346c 04F4                 brge .L526
 6297 346e 60EE                 ldi r22,lo8(-32)
 6298 3470 662E                 mov r6,r22
 6299 3472 6FEF                 ldi r22,hi8(-32)
 6300 3474 762E                 mov r7,r22
 6301 3476 6FEF                 ldi r22,hlo8(-32)
 6302 3478 862E                 mov r8,r22
 6303 347a 6FEF                 ldi r22,hhi8(-32)
 6304 347c 962E                 mov r9,r22
 6305                   .L526:
 6306 347e 41E2                 ldi r20,lo8(33)
 6307 3480 A416                 cp r10,r20
 6308 3482 B104                 cpc r11,__zero_reg__
 6309 3484 C104                 cpc r12,__zero_reg__
 6310 3486 D104                 cpc r13,__zero_reg__
 6311 3488 04F0                 brlt .L527
 6312 348a 50E2                 ldi r21,lo8(32)
 6313 348c A52E                 mov r10,r21
 6314 348e B12C                 mov r11,__zero_reg__
 6315 3490 C12C                 mov r12,__zero_reg__
 6316 3492 D12C                 mov r13,__zero_reg__
 6317                   .L527:
 6318 3494 50EE                 ldi r21,lo8(-32)
 6319 3496 A516                 cp r10,r21
 6320 3498 5FEF                 ldi r21,hi8(-32)
 6321 349a B506                 cpc r11,r21
 6322 349c 5FEF                 ldi r21,hlo8(-32)
 6323 349e C506                 cpc r12,r21
 6324 34a0 5FEF                 ldi r21,hhi8(-32)
 6325 34a2 D506                 cpc r13,r21
 6326 34a4 04F4                 brge .L518
 6327 34a6 40EE                 ldi r20,lo8(-32)
 6328 34a8 A42E                 mov r10,r20
 6329 34aa 4FEF                 ldi r20,hi8(-32)
 6330 34ac B42E                 mov r11,r20
 6331 34ae 4FEF                 ldi r20,hlo8(-32)
 6332 34b0 C42E                 mov r12,r20
 6333 34b2 4FEF                 ldi r20,hhi8(-32)
 6334 34b4 D42E                 mov r13,r20
 6335                   .L518:
 6336 34b6 8091 0000            lds r24,Mess_IntegralNick
 6337 34ba 9091 0000            lds r25,(Mess_IntegralNick)+1
 6338 34be A091 0000            lds r26,(Mess_IntegralNick)+2
 6339 34c2 B091 0000            lds r27,(Mess_IntegralNick)+3
 6340 34c6 8619                 sub r24,r6
 6341 34c8 9709                 sbc r25,r7
 6342 34ca A809                 sbc r26,r8
 6343 34cc B909                 sbc r27,r9
 6344 34ce 8093 0000            sts Mess_IntegralNick,r24
 6345 34d2 9093 0000            sts (Mess_IntegralNick)+1,r25
 6346 34d6 A093 0000            sts (Mess_IntegralNick)+2,r26
 6347 34da B093 0000            sts (Mess_IntegralNick)+3,r27
 6348 34de 8091 0000            lds r24,Mess_IntegralRoll
 6349 34e2 9091 0000            lds r25,(Mess_IntegralRoll)+1
 6350 34e6 A091 0000            lds r26,(Mess_IntegralRoll)+2
 6351 34ea B091 0000            lds r27,(Mess_IntegralRoll)+3
 6352 34ee 8A19                 sub r24,r10
 6353 34f0 9B09                 sbc r25,r11
 6354 34f2 AC09                 sbc r26,r12
 6355 34f4 BD09                 sbc r27,r13
 6356 34f6 8093 0000            sts Mess_IntegralRoll,r24
 6357 34fa 9093 0000            sts (Mess_IntegralRoll)+1,r25
 6358 34fe A093 0000            sts (Mess_IntegralRoll)+2,r26
 6359 3502 B093 0000            sts (Mess_IntegralRoll)+3,r27
 6360                   .L505:
 6361 3506 8091 0000            lds r24,ZaehlMessungen
 6362 350a 9091 0000            lds r25,(ZaehlMessungen)+1
 6363 350e 8F3F                 cpi r24,255
 6364 3510 9105                 cpc r25,__zero_reg__
 6365 3512 01F0                 breq .+2
 6366 3514 00F4                 brsh .+2
 6367 3516 00C0                 rjmp .L529
 6368 3518 6F85                 ldd r22,Y+15
 6369 351a 6623                 tst r22
 6370 351c 01F0                 breq .+2
 6371 351e 00C0                 rjmp .L530
 6372 3520 8091 0000            lds r24,Looping_Roll
 6373 3524 8823                 tst r24
 6374 3526 01F0                 breq .+2
 6375 3528 00C0                 rjmp .L530
 6376 352a 8091 0000            lds r24,TrichterFlug
 6377 352e 8823                 tst r24
 6378 3530 01F0                 breq .+2
 6379 3532 00C0                 rjmp .L530
 6380 3534 7091 0000            lds r23,EE_Parameter+68
 6381 3538 788B                 std Y+16,r23
 6382 353a 7723                 tst r23
 6383 353c 01F4                 brne .+2
 6384 353e 00C0                 rjmp .L530
 6385 3540 8091 0000            lds r24,MittelIntegralNick
 6386 3544 9091 0000            lds r25,(MittelIntegralNick)+1
 6387 3548 A091 0000            lds r26,(MittelIntegralNick)+2
 6388 354c B091 0000            lds r27,(MittelIntegralNick)+3
 6389 3550 B7FF                 sbrs r27,7
 6390 3552 00C0                 rjmp .L531
 6391 3554 8150                 subi r24,lo8(-(255))
 6392 3556 9F4F                 sbci r25,hi8(-(255))
 6393 3558 AF4F                 sbci r26,hlo8(-(255))
 6394 355a BF4F                 sbci r27,hhi8(-(255))
 6395                   .L531:
 6396 355c E92E                 mov r14,r25
 6397 355e FA2E                 mov r15,r26
 6398 3560 0B2F                 mov r16,r27
 6399 3562 1127                 clr r17
 6400 3564 07FD                 sbrc r16,7
 6401 3566 1A95                 dec r17
 6402 3568 E092 0000            sts MittelIntegralNick,r14
 6403 356c F092 0000            sts (MittelIntegralNick)+1,r15
 6404 3570 0093 0000            sts (MittelIntegralNick)+2,r16
 6405 3574 1093 0000            sts (MittelIntegralNick)+3,r17
 6406 3578 8091 0000            lds r24,MittelIntegralRoll
 6407 357c 9091 0000            lds r25,(MittelIntegralRoll)+1
 6408 3580 A091 0000            lds r26,(MittelIntegralRoll)+2
 6409 3584 B091 0000            lds r27,(MittelIntegralRoll)+3
 6410 3588 B7FF                 sbrs r27,7
 6411 358a 00C0                 rjmp .L532
 6412 358c 8150                 subi r24,lo8(-(255))
 6413 358e 9F4F                 sbci r25,hi8(-(255))
 6414 3590 AF4F                 sbci r26,hlo8(-(255))
 6415 3592 BF4F                 sbci r27,hhi8(-(255))
 6416                   .L532:
 6417 3594 892F                 mov r24,r25
 6418 3596 9A2F                 mov r25,r26
 6419 3598 AB2F                 mov r26,r27
 6420 359a BB27                 clr r27
 6421 359c A7FD                 sbrc r26,7
 6422 359e BA95                 dec r27
 6423 35a0 898B                 std Y+17,r24
 6424 35a2 9A8B                 std Y+18,r25
 6425 35a4 AB8B                 std Y+19,r26
 6426 35a6 BC8B                 std Y+20,r27
 6427 35a8 8093 0000            sts MittelIntegralRoll,r24
 6428 35ac 9093 0000            sts (MittelIntegralRoll)+1,r25
 6429 35b0 A093 0000            sts (MittelIntegralRoll)+2,r26
 6430 35b4 B093 0000            sts (MittelIntegralRoll)+3,r27
 6431 35b8 8091 0000            lds r24,EE_Parameter+28
 6432 35bc A82E                 mov r10,r24
 6433 35be BB24                 clr r11
 6434 35c0 CC24                 clr r12
 6435 35c2 DD24                 clr r13
 6436 35c4 2091 0000            lds r18,IntegralAccNick
 6437 35c8 3091 0000            lds r19,(IntegralAccNick)+1
 6438 35cc 4091 0000            lds r20,(IntegralAccNick)+2
 6439 35d0 5091 0000            lds r21,(IntegralAccNick)+3
 6440 35d4 C601                 movw r24,r12
 6441 35d6 B501                 movw r22,r10
 6442 35d8 0E94 0000            call __mulsi3
 6443 35dc 97FF                 sbrs r25,7
 6444 35de 00C0                 rjmp .L533
 6445 35e0 6150                 subi r22,lo8(-(255))
 6446 35e2 7F4F                 sbci r23,hi8(-(255))
 6447 35e4 8F4F                 sbci r24,hlo8(-(255))
 6448 35e6 9F4F                 sbci r25,hhi8(-(255))
 6449                   .L533:
 6450 35e8 672E                 mov r6,r23
 6451 35ea 782E                 mov r7,r24
 6452 35ec 892E                 mov r8,r25
 6453 35ee 9924                 clr r9
 6454 35f0 87FC                 sbrc r8,7
 6455 35f2 9A94                 dec r9
 6456 35f4 6092 0000            sts IntegralAccNick,r6
 6457 35f8 7092 0000            sts (IntegralAccNick)+1,r7
 6458 35fc 8092 0000            sts (IntegralAccNick)+2,r8
 6459 3600 9092 0000            sts (IntegralAccNick)+3,r9
 6460 3604 2091 0000            lds r18,IntegralAccRoll
 6461 3608 3091 0000            lds r19,(IntegralAccRoll)+1
 6462 360c 4091 0000            lds r20,(IntegralAccRoll)+2
 6463 3610 5091 0000            lds r21,(IntegralAccRoll)+3
 6464 3614 C601                 movw r24,r12
 6465 3616 B501                 movw r22,r10
 6466 3618 0E94 0000            call __mulsi3
 6467 361c 97FF                 sbrs r25,7
 6468 361e 00C0                 rjmp .L534
 6469 3620 6150                 subi r22,lo8(-(255))
 6470 3622 7F4F                 sbci r23,hi8(-(255))
 6471 3624 8F4F                 sbci r24,hlo8(-(255))
 6472 3626 9F4F                 sbci r25,hhi8(-(255))
 6473                   .L534:
 6474 3628 272E                 mov r2,r23
 6475 362a 382E                 mov r3,r24
 6476 362c 492E                 mov r4,r25
 6477 362e 5524                 clr r5
 6478 3630 47FC                 sbrc r4,7
 6479 3632 5A94                 dec r5
 6480 3634 2092 0000            sts IntegralAccRoll,r2
 6481 3638 3092 0000            sts (IntegralAccRoll)+1,r3
 6482 363c 4092 0000            sts (IntegralAccRoll)+2,r4
 6483 3640 5092 0000            sts (IntegralAccRoll)+3,r5
 6484 3644 8091 0000            lds r24,IntegralAccZ
 6485 3648 9091 0000            lds r25,(IntegralAccZ)+1
 6486 364c A091 0000            lds r26,(IntegralAccZ)+2
 6487 3650 B091 0000            lds r27,(IntegralAccZ)+3
 6488 3654 B7FF                 sbrs r27,7
 6489 3656 00C0                 rjmp .L535
 6490 3658 8150                 subi r24,lo8(-(255))
 6491 365a 9F4F                 sbci r25,hi8(-(255))
 6492 365c AF4F                 sbci r26,hlo8(-(255))
 6493 365e BF4F                 sbci r27,hhi8(-(255))
 6494                   .L535:
 6495 3660 892F                 mov r24,r25
 6496 3662 9A2F                 mov r25,r26
 6497 3664 AB2F                 mov r26,r27
 6498 3666 BB27                 clr r27
 6499 3668 A7FD                 sbrc r26,7
 6500 366a BA95                 dec r27
 6501 366c 8093 0000            sts IntegralAccZ,r24
 6502 3670 9093 0000            sts (IntegralAccZ)+1,r25
 6503 3674 A093 0000            sts (IntegralAccZ)+2,r26
 6504 3678 B093 0000            sts (IntegralAccZ)+3,r27
 6505 367c D801                 movw r26,r16
 6506 367e C701                 movw r24,r14
 6507 3680 8619                 sub r24,r6
 6508 3682 9709                 sbc r25,r7
 6509 3684 A809                 sbc r26,r8
 6510 3686 B909                 sbc r27,r9
 6511 3688 8093 0000            sts IntegralFehlerNick.3,r24
 6512 368c 9093 0000            sts (IntegralFehlerNick.3)+1,r25
 6513 3690 A093 0000            sts (IntegralFehlerNick.3)+2,r26
 6514 3694 B093 0000            sts (IntegralFehlerNick.3)+3,r27
 6515 3698 2091 0000            lds r18,EE_Parameter+67
 6516 369c E22E                 mov r14,r18
 6517 369e FF24                 clr r15
 6518 36a0 0027                 clr r16
 6519 36a2 1127                 clr r17
 6520 36a4 BC01                 movw r22,r24
 6521 36a6 CD01                 movw r24,r26
 6522 36a8 A801                 movw r20,r16
 6523 36aa 9701                 movw r18,r14
 6524 36ac 0E94 0000            call __divmodsi4
 6525 36b0 5901                 movw r10,r18
 6526 36b2 6A01                 movw r12,r20
 6527 36b4 2093 0000            sts ausgleichNick.10,r18
 6528 36b8 3093 0000            sts (ausgleichNick.10)+1,r19
 6529 36bc 4093 0000            sts (ausgleichNick.10)+2,r20
 6530 36c0 5093 0000            sts (ausgleichNick.10)+3,r21
 6531 36c4 8989                 ldd r24,Y+17
 6532 36c6 9A89                 ldd r25,Y+18
 6533 36c8 AB89                 ldd r26,Y+19
 6534 36ca BC89                 ldd r27,Y+20
 6535 36cc 8219                 sub r24,r2
 6536 36ce 9309                 sbc r25,r3
 6537 36d0 A409                 sbc r26,r4
 6538 36d2 B509                 sbc r27,r5
 6539 36d4 8093 0000            sts IntegralFehlerRoll.4,r24
 6540 36d8 9093 0000            sts (IntegralFehlerRoll.4)+1,r25
 6541 36dc A093 0000            sts (IntegralFehlerRoll.4)+2,r26
 6542 36e0 B093 0000            sts (IntegralFehlerRoll.4)+3,r27
 6543 36e4 BC01                 movw r22,r24
 6544 36e6 CD01                 movw r24,r26
 6545 36e8 A801                 movw r20,r16
 6546 36ea 9701                 movw r18,r14
 6547 36ec 0E94 0000            call __divmodsi4
 6548 36f0 2093 0000            sts ausgleichRoll.11,r18
 6549 36f4 3093 0000            sts (ausgleichRoll.11)+1,r19
 6550 36f8 4093 0000            sts (ausgleichRoll.11)+2,r20
 6551 36fc 5093 0000            sts (ausgleichRoll.11)+3,r21
 6552 3700 D601                 movw r26,r12
 6553 3702 C501                 movw r24,r10
 6554 3704 D7FE                 sbrs r13,7
 6555 3706 00C0                 rjmp .L536
 6556 3708 8150                 subi r24,lo8(-(255))
 6557 370a 9F4F                 sbci r25,hi8(-(255))
 6558 370c AF4F                 sbci r26,hlo8(-(255))
 6559 370e BF4F                 sbci r27,hhi8(-(255))
 6560                   .L536:
 6561 3710 892F                 mov r24,r25
 6562 3712 9A2F                 mov r25,r26
 6563 3714 AB2F                 mov r26,r27
 6564 3716 BB27                 clr r27
 6565 3718 A7FD                 sbrc r26,7
 6566 371a BA95                 dec r27
 6567 371c 9093 0000            sts (LageKorrekturNick)+1,r25
 6568 3720 8093 0000            sts LageKorrekturNick,r24
 6569 3724 57FF                 sbrs r21,7
 6570 3726 00C0                 rjmp .L537
 6571 3728 2150                 subi r18,lo8(-(255))
 6572 372a 3F4F                 sbci r19,hi8(-(255))
 6573 372c 4F4F                 sbci r20,hlo8(-(255))
 6574 372e 5F4F                 sbci r21,hhi8(-(255))
 6575                   .L537:
 6576 3730 BB27                 clr r27
 6577 3732 57FD                 sbrc r21,7
 6578 3734 BA95                 dec r27
 6579 3736 A52F                 mov r26,r21
 6580 3738 942F                 mov r25,r20
 6581 373a 832F                 mov r24,r19
 6582 373c 9093 0000            sts (LageKorrekturRoll)+1,r25
 6583 3740 8093 0000            sts LageKorrekturRoll,r24
 6584 3744 8091 0000            lds r24,MaxStickNick
 6585 3748 9091 0000            lds r25,(MaxStickNick)+1
 6586 374c 8134                 cpi r24,65
 6587 374e 9105                 cpc r25,__zero_reg__
 6588 3750 04F4                 brge .L539
 6589 3752 8091 0000            lds r24,MaxStickRoll
 6590 3756 9091 0000            lds r25,(MaxStickRoll)+1
 6591 375a 8134                 cpi r24,65
 6592 375c 9105                 cpc r25,__zero_reg__
 6593 375e 04F4                 brge .L539
 6594 3760 8091 0000            lds r24,EE_Parameter+4
 6595 3764 E82F                 mov r30,r24
 6596 3766 FF27                 clr r31
 6597 3768 EE0F                 add r30,r30
 6598 376a FF1F                 adc r31,r31
 6599 376c E050                 subi r30,lo8(-(PPM_in))
 6600 376e F040                 sbci r31,hi8(-(PPM_in))
 6601 3770 8081                 ld r24,Z
 6602 3772 9181                 ldd r25,Z+1
 6603 3774 0190                 ld __tmp_reg__,Z+
 6604 3776 F081                 ld r31,Z
 6605 3778 E02D                 mov r30,__tmp_reg__
 6606 377a F7FF                 sbrs r31,7
 6607 377c 00C0                 rjmp .L540
 6608 377e F095                 com r31
 6609 3780 E195                 neg r30
 6610 3782 FF4F                 sbci r31,lo8(-1)
 6611                   .L540:
 6612 3784 7A97                 sbiw r30,26
 6613 3786 04F0                 brlt .L538
 6614                   .L539:
 6615 3788 8091 0000            lds r24,FromNaviCtrl_Value
 6616 378c 8F3F                 cpi r24,lo8(-1)
 6617 378e 01F4                 brne .L538
 6618 3790 8091 0000            lds r24,LageKorrekturNick
 6619 3794 9091 0000            lds r25,(LageKorrekturNick)+1
 6620 3798 97FD                 sbrc r25,7
 6621 379a 0196                 adiw r24,1
 6622                   .L541:
 6623 379c 9595                 asr r25
 6624 379e 8795                 ror r24
 6625 37a0 9093 0000            sts (LageKorrekturNick)+1,r25
 6626 37a4 8093 0000            sts LageKorrekturNick,r24
 6627 37a8 8091 0000            lds r24,LageKorrekturRoll
 6628 37ac 9091 0000            lds r25,(LageKorrekturRoll)+1
 6629 37b0 97FD                 sbrc r25,7
 6630 37b2 0196                 adiw r24,1
 6631                   .L542:
 6632 37b4 9595                 asr r25
 6633 37b6 8795                 ror r24
 6634 37b8 9093 0000            sts (LageKorrekturRoll)+1,r25
 6635 37bc 8093 0000            sts LageKorrekturRoll,r24
 6636                   .L538:
 6637 37c0 8091 0000            lds r24,MittelIntegralNick2
 6638 37c4 9091 0000            lds r25,(MittelIntegralNick2)+1
 6639 37c8 A091 0000            lds r26,(MittelIntegralNick2)+2
 6640 37cc B091 0000            lds r27,(MittelIntegralNick2)+3
 6641 37d0 B7FF                 sbrs r27,7
 6642 37d2 00C0                 rjmp .L543
 6643 37d4 8150                 subi r24,lo8(-(255))
 6644 37d6 9F4F                 sbci r25,hi8(-(255))
 6645 37d8 AF4F                 sbci r26,hlo8(-(255))
 6646 37da BF4F                 sbci r27,hhi8(-(255))
 6647                   .L543:
 6648 37dc 892F                 mov r24,r25
 6649 37de 9A2F                 mov r25,r26
 6650 37e0 AB2F                 mov r26,r27
 6651 37e2 BB27                 clr r27
 6652 37e4 A7FD                 sbrc r26,7
 6653 37e6 BA95                 dec r27
 6654 37e8 8093 0000            sts MittelIntegralNick2,r24
 6655 37ec 9093 0000            sts (MittelIntegralNick2)+1,r25
 6656 37f0 A093 0000            sts (MittelIntegralNick2)+2,r26
 6657 37f4 B093 0000            sts (MittelIntegralNick2)+3,r27
 6658 37f8 8091 0000            lds r24,MittelIntegralRoll2
 6659 37fc 9091 0000            lds r25,(MittelIntegralRoll2)+1
 6660 3800 A091 0000            lds r26,(MittelIntegralRoll2)+2
 6661 3804 B091 0000            lds r27,(MittelIntegralRoll2)+3
 6662 3808 B7FF                 sbrs r27,7
 6663 380a 00C0                 rjmp .L544
 6664 380c 8150                 subi r24,lo8(-(255))
 6665 380e 9F4F                 sbci r25,hi8(-(255))
 6666 3810 AF4F                 sbci r26,hlo8(-(255))
 6667 3812 BF4F                 sbci r27,hhi8(-(255))
 6668                   .L544:
 6669 3814 892F                 mov r24,r25
 6670 3816 9A2F                 mov r25,r26
 6671 3818 AB2F                 mov r26,r27
 6672 381a BB27                 clr r27
 6673 381c A7FD                 sbrc r26,7
 6674 381e BA95                 dec r27
 6675 3820 8093 0000            sts MittelIntegralRoll2,r24
 6676 3824 9093 0000            sts (MittelIntegralRoll2)+1,r25
 6677 3828 A093 0000            sts (MittelIntegralRoll2)+2,r26
 6678 382c B093 0000            sts (MittelIntegralRoll2)+3,r27
 6679 3830 8091 0000            lds r24,IntegralNick
 6680 3834 9091 0000            lds r25,(IntegralNick)+1
 6681 3838 A091 0000            lds r26,(IntegralNick)+2
 6682 383c B091 0000            lds r27,(IntegralNick)+3
 6683 3840 2F81                 ldd r18,Y+7
 6684 3842 3885                 ldd r19,Y+8
 6685 3844 4985                 ldd r20,Y+9
 6686 3846 5A85                 ldd r21,Y+10
 6687 3848 281B                 sub r18,r24
 6688 384a 390B                 sbc r19,r25
 6689 384c 4A0B                 sbc r20,r26
 6690 384e 5B0B                 sbc r21,r27
 6691 3850 2093 0000            sts tmp_long.1,r18
 6692 3854 3093 0000            sts (tmp_long.1)+1,r19
 6693 3858 4093 0000            sts (tmp_long.1)+2,r20
 6694 385c 5093 0000            sts (tmp_long.1)+3,r21
 6695 3860 8091 0000            lds r24,IntegralRoll
 6696 3864 9091 0000            lds r25,(IntegralRoll)+1
 6697 3868 A091 0000            lds r26,(IntegralRoll)+2
 6698 386c B091 0000            lds r27,(IntegralRoll)+3
 6699 3870 EB84                 ldd r14,Y+11
 6700 3872 FC84                 ldd r15,Y+12
 6701 3874 0D85                 ldd r16,Y+13
 6702 3876 1E85                 ldd r17,Y+14
 6703 3878 E81A                 sub r14,r24
 6704 387a F90A                 sbc r15,r25
 6705 387c 0A0B                 sbc r16,r26
 6706 387e 1B0B                 sbc r17,r27
 6707 3880 E092 0000            sts tmp_long2.2,r14
 6708 3884 F092 0000            sts (tmp_long2.2)+1,r15
 6709 3888 0093 0000            sts (tmp_long2.2)+2,r16
 6710 388c 1093 0000            sts (tmp_long2.2)+3,r17
 6711 3890 2093 0000            sts IntegralFehlerNick.3,r18
 6712 3894 3093 0000            sts (IntegralFehlerNick.3)+1,r19
 6713 3898 4093 0000            sts (IntegralFehlerNick.3)+2,r20
 6714 389c 5093 0000            sts (IntegralFehlerNick.3)+3,r21
 6715 38a0 E092 0000            sts IntegralFehlerRoll.4,r14
 6716 38a4 F092 0000            sts (IntegralFehlerRoll.4)+1,r15
 6717 38a8 0093 0000            sts (IntegralFehlerRoll.4)+2,r16
 6718 38ac 1093 0000            sts (IntegralFehlerRoll.4)+3,r17
 6719 38b0 8091 0000            lds r24,Mess_IntegralNick2
 6720 38b4 9091 0000            lds r25,(Mess_IntegralNick2)+1
 6721 38b8 A091 0000            lds r26,(Mess_IntegralNick2)+2
 6722 38bc B091 0000            lds r27,(Mess_IntegralNick2)+3
 6723 38c0 821B                 sub r24,r18
 6724 38c2 930B                 sbc r25,r19
 6725 38c4 A40B                 sbc r26,r20
 6726 38c6 B50B                 sbc r27,r21
 6727 38c8 8093 0000            sts Mess_IntegralNick2,r24
 6728 38cc 9093 0000            sts (Mess_IntegralNick2)+1,r25
 6729 38d0 A093 0000            sts (Mess_IntegralNick2)+2,r26
 6730 38d4 B093 0000            sts (Mess_IntegralNick2)+3,r27
 6731 38d8 8091 0000            lds r24,Mess_IntegralRoll2
 6732 38dc 9091 0000            lds r25,(Mess_IntegralRoll2)+1
 6733 38e0 A091 0000            lds r26,(Mess_IntegralRoll2)+2
 6734 38e4 B091 0000            lds r27,(Mess_IntegralRoll2)+3
 6735 38e8 8E19                 sub r24,r14
 6736 38ea 9F09                 sbc r25,r15
 6737 38ec A00B                 sbc r26,r16
 6738 38ee B10B                 sbc r27,r17
 6739 38f0 8093 0000            sts Mess_IntegralRoll2,r24
 6740 38f4 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 6741 38f8 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 6742 38fc B093 0000            sts (Mess_IntegralRoll2)+3,r27
 6743 3900 8889                 ldd r24,Y+16
 6744 3902 8823                 tst r24
 6745 3904 01F0                 breq .L545
 6746 3906 2091 0000            lds r18,GierGyroFehler
 6747 390a 3091 0000            lds r19,(GierGyroFehler)+1
 6748 390e 2138                 cpi r18,129
 6749 3910 3105                 cpc r19,__zero_reg__
 6750 3912 04F0                 brlt .L546
 6751 3914 8091 0000            lds r24,AdNeutralGier
 6752 3918 9091 0000            lds r25,(AdNeutralGier)+1
 6753 391c 0196                 adiw r24,1
 6754 391e 9093 0000            sts (AdNeutralGier)+1,r25
 6755 3922 8093 0000            sts AdNeutralGier,r24
 6756                   .L546:
 6757 3926 2058                 subi r18,lo8(-128)
 6758 3928 3F4F                 sbci r19,hi8(-128)
 6759 392a 04F4                 brge .L545
 6760 392c 8091 0000            lds r24,AdNeutralGier
 6761 3930 9091 0000            lds r25,(AdNeutralGier)+1
 6762 3934 0197                 sbiw r24,1
 6763 3936 9093 0000            sts (AdNeutralGier)+1,r25
 6764 393a 8093 0000            sts AdNeutralGier,r24
 6765                   .L545:
 6766 393e 1092 0000            sts (GierGyroFehler)+1,__zero_reg__
 6767 3942 1092 0000            sts GierGyroFehler,__zero_reg__
 6768 3946 81E0                 ldi r24,lo8(1)
 6769 3948 90E0                 ldi r25,hi8(1)
 6770 394a 9093 0000            sts (cnt.14)+1,r25
 6771 394e 8093 0000            sts cnt.14,r24
 6772 3952 E090 0000            lds r14,IntegralFehlerNick.3
 6773 3956 F090 0000            lds r15,(IntegralFehlerNick.3)+1
 6774 395a 0091 0000            lds r16,(IntegralFehlerNick.3)+2
 6775 395e 1091 0000            lds r17,(IntegralFehlerNick.3)+3
 6776 3962 D801                 movw r26,r16
 6777 3964 C701                 movw r24,r14
 6778 3966 17FF                 sbrs r17,7
 6779 3968 00C0                 rjmp .L549
 6780 396a 8827                 clr r24
 6781 396c 9927                 clr r25
 6782 396e DC01                 movw r26,r24
 6783 3970 8E19                 sub r24,r14
 6784 3972 9F09                 sbc r25,r15
 6785 3974 A00B                 sbc r26,r16
 6786 3976 B10B                 sbc r27,r17
 6787                   .L549:
 6788 3978 8150                 subi r24,lo8(513)
 6789 397a 9240                 sbci r25,hi8(513)
 6790 397c A040                 sbci r26,hlo8(513)
 6791 397e B040                 sbci r27,hhi8(513)
 6792 3980 04F0                 brlt .L548
 6793 3982 84E0                 ldi r24,lo8(4)
 6794 3984 90E0                 ldi r25,hi8(4)
 6795 3986 9093 0000            sts (cnt.14)+1,r25
 6796 398a 8093 0000            sts cnt.14,r24
 6797                   .L548:
 6798 398e 8091 0000            lds r24,MittelIntegralNick_Alt.19
 6799 3992 9091 0000            lds r25,(MittelIntegralNick_Alt.19)+1
 6800 3996 A091 0000            lds r26,(MittelIntegralNick_Alt.19)+2
 6801 399a B091 0000            lds r27,(MittelIntegralNick_Alt.19)+3
 6802 399e 2091 0000            lds r18,MittelIntegralNick
 6803 39a2 3091 0000            lds r19,(MittelIntegralNick)+1
 6804 39a6 4091 0000            lds r20,(MittelIntegralNick)+2
 6805 39aa 5091 0000            lds r21,(MittelIntegralNick)+3
 6806 39ae 821B                 sub r24,r18
 6807 39b0 930B                 sbc r25,r19
 6808 39b2 A40B                 sbc r26,r20
 6809 39b4 B50B                 sbc r27,r21
 6810 39b6 815E                 subi r24,lo8(-(19999))
 6811 39b8 914B                 sbci r25,hi8(-(19999))
 6812 39ba AF4F                 sbci r26,hlo8(-(19999))
 6813 39bc BF4F                 sbci r27,hhi8(-(19999))
 6814 39be 8F53                 subi r24,lo8(39999)
 6815 39c0 9C49                 sbci r25,hi8(39999)
 6816 39c2 A040                 sbci r26,hlo8(39999)
 6817 39c4 B040                 sbci r27,hhi8(39999)
 6818 39c6 00F0                 brlo .L551
 6819 39c8 8091 0000            lds r24,FromNaviCtrl_Value+1
 6820 39cc 8931                 cpi r24,lo8(25)
 6821 39ce 04F4                 brge .+2
 6822 39d0 00C0                 rjmp .L550
 6823                   .L551:
 6824 39d2 21E0                 ldi r18,lo8(4097)
 6825 39d4 E216                 cp r14,r18
 6826 39d6 20E1                 ldi r18,hi8(4097)
 6827 39d8 F206                 cpc r15,r18
 6828 39da 20E0                 ldi r18,hlo8(4097)
 6829 39dc 0207                 cpc r16,r18
 6830 39de 20E0                 ldi r18,hhi8(4097)
 6831 39e0 1207                 cpc r17,r18
 6832 39e2 04F4                 brge .+2
 6833 39e4 00C0                 rjmp .L552
 6834 39e6 8091 0000            lds r24,last_n_p.15
 6835 39ea 8823                 tst r24
 6836 39ec 01F4                 brne .+2
 6837 39ee 00C0                 rjmp .L553
 6838 39f0 D801                 movw r26,r16
 6839 39f2 C701                 movw r24,r14
 6840 39f4 17FF                 sbrs r17,7
 6841 39f6 00C0                 rjmp .L554
 6842 39f8 8827                 clr r24
 6843 39fa 9927                 clr r25
 6844 39fc DC01                 movw r26,r24
 6845 39fe 8E19                 sub r24,r14
 6846 3a00 9F09                 sbc r25,r15
 6847 3a02 A00B                 sbc r26,r16
 6848 3a04 B10B                 sbc r27,r17
 6849                   .L554:
 6850 3a06 9C01                 movw r18,r24
 6851 3a08 AD01                 movw r20,r26
 6852 3a0a B7FF                 sbrs r27,7
 6853 3a0c 00C0                 rjmp .L555
 6854 3a0e 2150                 subi r18,lo8(-(511))
 6855 3a10 3E4F                 sbci r19,hi8(-(511))
 6856 3a12 4F4F                 sbci r20,hlo8(-(511))
 6857 3a14 5F4F                 sbci r21,hhi8(-(511))
 6858                   .L555:
 6859 3a16 F9E0                 ldi r31,9
 6860 3a18 5595         1:      asr r21
 6861 3a1a 4795                 ror r20
 6862 3a1c 3795                 ror r19
 6863 3a1e 2795                 ror r18
 6864 3a20 FA95                 dec r31
 6865 3a22 01F4                 brne 1b
 6866 3a24 8091 0000            lds r24,cnt.14
 6867 3a28 9091 0000            lds r25,(cnt.14)+1
 6868 3a2c 820F                 add r24,r18
 6869 3a2e 931F                 adc r25,r19
 6870 3a30 9093 0000            sts (cnt.14)+1,r25
 6871 3a34 8093 0000            sts cnt.14,r24
 6872 3a38 D801                 movw r26,r16
 6873 3a3a C701                 movw r24,r14
 6874 3a3c 17FF                 sbrs r17,7
 6875 3a3e 00C0                 rjmp .L556
 6876 3a40 0796                 adiw r24,7
 6877 3a42 A11D                 adc r26,__zero_reg__
 6878 3a44 B11D                 adc r27,__zero_reg__
 6879                   .L556:
 6880 3a46 E3E0                 ldi r30,3
 6881 3a48 B595         1:      asr r27
 6882 3a4a A795                 ror r26
 6883 3a4c 9795                 ror r25
 6884 3a4e 8795                 ror r24
 6885 3a50 EA95                 dec r30
 6886 3a52 01F4                 brne 1b
 6887 3a54 8093 0000            sts ausgleichNick.10,r24
 6888 3a58 9093 0000            sts (ausgleichNick.10)+1,r25
 6889 3a5c A093 0000            sts (ausgleichNick.10)+2,r26
 6890 3a60 B093 0000            sts (ausgleichNick.10)+3,r27
 6891 3a64 8958                 subi r24,lo8(5001)
 6892 3a66 9341                 sbci r25,hi8(5001)
 6893 3a68 A040                 sbci r26,hlo8(5001)
 6894 3a6a B040                 sbci r27,hhi8(5001)
 6895 3a6c 04F0                 brlt .L557
 6896 3a6e 88E8                 ldi r24,lo8(5000)
 6897 3a70 93E1                 ldi r25,hi8(5000)
 6898 3a72 A0E0                 ldi r26,hlo8(5000)
 6899 3a74 B0E0                 ldi r27,hhi8(5000)
 6900 3a76 8093 0000            sts ausgleichNick.10,r24
 6901 3a7a 9093 0000            sts (ausgleichNick.10)+1,r25
 6902 3a7e A093 0000            sts (ausgleichNick.10)+2,r26
 6903 3a82 B093 0000            sts (ausgleichNick.10)+3,r27
 6904                   .L557:
 6905 3a86 2091 0000            lds r18,ausgleichNick.10
 6906 3a8a 3091 0000            lds r19,(ausgleichNick.10)+1
 6907 3a8e 4091 0000            lds r20,(ausgleichNick.10)+2
 6908 3a92 5091 0000            lds r21,(ausgleichNick.10)+3
 6909 3a96 57FF                 sbrs r21,7
 6910 3a98 00C0                 rjmp .L558
 6911 3a9a 2150                 subi r18,lo8(-(255))
 6912 3a9c 3F4F                 sbci r19,hi8(-(255))
 6913 3a9e 4F4F                 sbci r20,hlo8(-(255))
 6914 3aa0 5F4F                 sbci r21,hhi8(-(255))
 6915                   .L558:
 6916 3aa2 232F                 mov r18,r19
 6917 3aa4 342F                 mov r19,r20
 6918 3aa6 452F                 mov r20,r21
 6919 3aa8 5527                 clr r21
 6920 3aaa 47FD                 sbrc r20,7
 6921 3aac 5A95                 dec r21
 6922 3aae 8091 0000            lds r24,LageKorrekturNick
 6923 3ab2 9091 0000            lds r25,(LageKorrekturNick)+1
 6924 3ab6 820F                 add r24,r18
 6925 3ab8 931F                 adc r25,r19
 6926 3aba 9093 0000            sts (LageKorrekturNick)+1,r25
 6927 3abe 8093 0000            sts LageKorrekturNick,r24
 6928 3ac2 00C0                 rjmp .L560
 6929                   .L553:
 6930 3ac4 81E0                 ldi r24,lo8(1)
 6931 3ac6 8093 0000            sts last_n_p.15,r24
 6932 3aca 00C0                 rjmp .L560
 6933                   .L552:
 6934 3acc 1092 0000            sts last_n_p.15,__zero_reg__
 6935                   .L560:
 6936 3ad0 40E0                 ldi r20,lo8(-4096)
 6937 3ad2 E416                 cp r14,r20
 6938 3ad4 40EF                 ldi r20,hi8(-4096)
 6939 3ad6 F406                 cpc r15,r20
 6940 3ad8 4FEF                 ldi r20,hlo8(-4096)
 6941 3ada 0407                 cpc r16,r20
 6942 3adc 4FEF                 ldi r20,hhi8(-4096)
 6943 3ade 1407                 cpc r17,r20
 6944 3ae0 04F0                 brlt .+2
 6945 3ae2 00C0                 rjmp .L561
 6946 3ae4 8091 0000            lds r24,last_n_n.16
 6947 3ae8 8823                 tst r24
 6948 3aea 01F4                 brne .+2
 6949 3aec 00C0                 rjmp .L562
 6950 3aee D801                 movw r26,r16
 6951 3af0 C701                 movw r24,r14
 6952 3af2 17FF                 sbrs r17,7
 6953 3af4 00C0                 rjmp .L563
 6954 3af6 8827                 clr r24
 6955 3af8 9927                 clr r25
 6956 3afa DC01                 movw r26,r24
 6957 3afc 8E19                 sub r24,r14
 6958 3afe 9F09                 sbc r25,r15
 6959 3b00 A00B                 sbc r26,r16
 6960 3b02 B10B                 sbc r27,r17
 6961                   .L563:
 6962 3b04 9C01                 movw r18,r24
 6963 3b06 AD01                 movw r20,r26
 6964 3b08 B7FF                 sbrs r27,7
 6965 3b0a 00C0                 rjmp .L564
 6966 3b0c 2150                 subi r18,lo8(-(511))
 6967 3b0e 3E4F                 sbci r19,hi8(-(511))
 6968 3b10 4F4F                 sbci r20,hlo8(-(511))
 6969 3b12 5F4F                 sbci r21,hhi8(-(511))
 6970                   .L564:
 6971 3b14 69E0                 ldi r22,9
 6972 3b16 5595         1:      asr r21
 6973 3b18 4795                 ror r20
 6974 3b1a 3795                 ror r19
 6975 3b1c 2795                 ror r18
 6976 3b1e 6A95                 dec r22
 6977 3b20 01F4                 brne 1b
 6978 3b22 8091 0000            lds r24,cnt.14
 6979 3b26 9091 0000            lds r25,(cnt.14)+1
 6980 3b2a 820F                 add r24,r18
 6981 3b2c 931F                 adc r25,r19
 6982 3b2e 9093 0000            sts (cnt.14)+1,r25
 6983 3b32 8093 0000            sts cnt.14,r24
 6984 3b36 D801                 movw r26,r16
 6985 3b38 C701                 movw r24,r14
 6986 3b3a 17FF                 sbrs r17,7
 6987 3b3c 00C0                 rjmp .L565
 6988 3b3e 0796                 adiw r24,7
 6989 3b40 A11D                 adc r26,__zero_reg__
 6990 3b42 B11D                 adc r27,__zero_reg__
 6991                   .L565:
 6992 3b44 23E0                 ldi r18,3
 6993 3b46 B595         1:      asr r27
 6994 3b48 A795                 ror r26
 6995 3b4a 9795                 ror r25
 6996 3b4c 8795                 ror r24
 6997 3b4e 2A95                 dec r18
 6998 3b50 01F4                 brne 1b
 6999 3b52 8093 0000            sts ausgleichNick.10,r24
 7000 3b56 9093 0000            sts (ausgleichNick.10)+1,r25
 7001 3b5a A093 0000            sts (ausgleichNick.10)+2,r26
 7002 3b5e B093 0000            sts (ausgleichNick.10)+3,r27
 7003 3b62 8857                 subi r24,lo8(-5000)
 7004 3b64 9C4E                 sbci r25,hi8(-5000)
 7005 3b66 AF4F                 sbci r26,hlo8(-5000)
 7006 3b68 BF4F                 sbci r27,hhi8(-5000)
 7007 3b6a 04F4                 brge .L566
 7008 3b6c 88E7                 ldi r24,lo8(-5000)
 7009 3b6e 9CEE                 ldi r25,hi8(-5000)
 7010 3b70 AFEF                 ldi r26,hlo8(-5000)
 7011 3b72 BFEF                 ldi r27,hhi8(-5000)
 7012 3b74 8093 0000            sts ausgleichNick.10,r24
 7013 3b78 9093 0000            sts (ausgleichNick.10)+1,r25
 7014 3b7c A093 0000            sts (ausgleichNick.10)+2,r26
 7015 3b80 B093 0000            sts (ausgleichNick.10)+3,r27
 7016                   .L566:
 7017 3b84 2091 0000            lds r18,ausgleichNick.10
 7018 3b88 3091 0000            lds r19,(ausgleichNick.10)+1
 7019 3b8c 4091 0000            lds r20,(ausgleichNick.10)+2
 7020 3b90 5091 0000            lds r21,(ausgleichNick.10)+3
 7021 3b94 57FF                 sbrs r21,7
 7022 3b96 00C0                 rjmp .L567
 7023 3b98 2150                 subi r18,lo8(-(255))
 7024 3b9a 3F4F                 sbci r19,hi8(-(255))
 7025 3b9c 4F4F                 sbci r20,hlo8(-(255))
 7026 3b9e 5F4F                 sbci r21,hhi8(-(255))
 7027                   .L567:
 7028 3ba0 232F                 mov r18,r19
 7029 3ba2 342F                 mov r19,r20
 7030 3ba4 452F                 mov r20,r21
 7031 3ba6 5527                 clr r21
 7032 3ba8 47FD                 sbrc r20,7
 7033 3baa 5A95                 dec r21
 7034 3bac 8091 0000            lds r24,LageKorrekturNick
 7035 3bb0 9091 0000            lds r25,(LageKorrekturNick)+1
 7036 3bb4 820F                 add r24,r18
 7037 3bb6 931F                 adc r25,r19
 7038 3bb8 9093 0000            sts (LageKorrekturNick)+1,r25
 7039 3bbc 8093 0000            sts LageKorrekturNick,r24
 7040 3bc0 00C0                 rjmp .L570
 7041                   .L562:
 7042 3bc2 81E0                 ldi r24,lo8(1)
 7043 3bc4 8093 0000            sts last_n_n.16,r24
 7044 3bc8 00C0                 rjmp .L570
 7045                   .L561:
 7046 3bca 1092 0000            sts last_n_n.16,__zero_reg__
 7047 3bce 00C0                 rjmp .L570
 7048                   .L550:
 7049 3bd0 1092 0000            sts (cnt.14)+1,__zero_reg__
 7050 3bd4 1092 0000            sts cnt.14,__zero_reg__
 7051 3bd8 84E6                 ldi r24,lo8(100)
 7052 3bda 90E0                 ldi r25,hi8(100)
 7053 3bdc 9093 0000            sts (KompassSignalSchlecht)+1,r25
 7054 3be0 8093 0000            sts KompassSignalSchlecht,r24
 7055                   .L570:
 7056 3be4 6889                 ldd r22,Y+16
 7057 3be6 262F                 mov r18,r22
 7058 3be8 3327                 clr r19
 7059 3bea 8091 0000            lds r24,cnt.14
 7060 3bee 9091 0000            lds r25,(cnt.14)+1
 7061 3bf2 2817                 cp r18,r24
 7062 3bf4 3907                 cpc r19,r25
 7063 3bf6 04F4                 brge .L571
 7064 3bf8 3093 0000            sts (cnt.14)+1,r19
 7065 3bfc 2093 0000            sts cnt.14,r18
 7066                   .L571:
 7067 3c00 1091 0000            lds r17,FromNaviCtrl_Value+1
 7068 3c04 1123                 tst r17
 7069 3c06 01F0                 breq .L572
 7070 3c08 212F                 mov r18,r17
 7071 3c0a 3327                 clr r19
 7072 3c0c 27FD                 sbrc r18,7
 7073 3c0e 3095                 com r19
 7074 3c10 8091 0000            lds r24,cnt.14
 7075 3c14 9091 0000            lds r25,(cnt.14)+1
 7076 3c18 2817                 cp r18,r24
 7077 3c1a 3907                 cpc r19,r25
 7078 3c1c 04F4                 brge .L572
 7079 3c1e 3093 0000            sts (cnt.14)+1,r19
 7080 3c22 2093 0000            sts cnt.14,r18
 7081                   .L572:
 7082 3c26 4091 0000            lds r20,IntegralFehlerNick.3
 7083 3c2a 5091 0000            lds r21,(IntegralFehlerNick.3)+1
 7084 3c2e 6091 0000            lds r22,(IntegralFehlerNick.3)+2
 7085 3c32 7091 0000            lds r23,(IntegralFehlerNick.3)+3
 7086 3c36 4138                 cpi r20,lo8(129)
 7087 3c38 5105                 cpc r21,__zero_reg__
 7088 3c3a 6105                 cpc r22,__zero_reg__
 7089 3c3c 7105                 cpc r23,__zero_reg__
 7090 3c3e 04F0                 brlt .L574
 7091 3c40 8091 0000            lds r24,AdNeutralNick
 7092 3c44 9091 0000            lds r25,(AdNeutralNick)+1
 7093 3c48 2091 0000            lds r18,cnt.14
 7094 3c4c 3091 0000            lds r19,(cnt.14)+1
 7095 3c50 820F                 add r24,r18
 7096 3c52 931F                 adc r25,r19
 7097 3c54 9093 0000            sts (AdNeutralNick)+1,r25
 7098 3c58 8093 0000            sts AdNeutralNick,r24
 7099                   .L574:
 7100 3c5c 4058                 subi r20,lo8(-128)
 7101 3c5e 5F4F                 sbci r21,hi8(-128)
 7102 3c60 6F4F                 sbci r22,hlo8(-128)
 7103 3c62 7F4F                 sbci r23,hhi8(-128)
 7104 3c64 04F4                 brge .L575
 7105 3c66 8091 0000            lds r24,AdNeutralNick
 7106 3c6a 9091 0000            lds r25,(AdNeutralNick)+1
 7107 3c6e 2091 0000            lds r18,cnt.14
 7108 3c72 3091 0000            lds r19,(cnt.14)+1
 7109 3c76 821B                 sub r24,r18
 7110 3c78 930B                 sbc r25,r19
 7111 3c7a 9093 0000            sts (AdNeutralNick)+1,r25
 7112 3c7e 8093 0000            sts AdNeutralNick,r24
 7113                   .L575:
 7114 3c82 81E0                 ldi r24,lo8(1)
 7115 3c84 90E0                 ldi r25,hi8(1)
 7116 3c86 9093 0000            sts (cnt.14)+1,r25
 7117 3c8a 8093 0000            sts cnt.14,r24
 7118 3c8e C090 0000            lds r12,IntegralFehlerRoll.4
 7119 3c92 D090 0000            lds r13,(IntegralFehlerRoll.4)+1
 7120 3c96 E090 0000            lds r14,(IntegralFehlerRoll.4)+2
 7121 3c9a F090 0000            lds r15,(IntegralFehlerRoll.4)+3
 7122 3c9e D701                 movw r26,r14
 7123 3ca0 C601                 movw r24,r12
 7124 3ca2 F7FE                 sbrs r15,7
 7125 3ca4 00C0                 rjmp .L577
 7126 3ca6 8827                 clr r24
 7127 3ca8 9927                 clr r25
 7128 3caa DC01                 movw r26,r24
 7129 3cac 8C19                 sub r24,r12
 7130 3cae 9D09                 sbc r25,r13
 7131 3cb0 AE09                 sbc r26,r14
 7132 3cb2 BF09                 sbc r27,r15
 7133                   .L577:
 7134 3cb4 8150                 subi r24,lo8(513)
 7135 3cb6 9240                 sbci r25,hi8(513)
 7136 3cb8 A040                 sbci r26,hlo8(513)
 7137 3cba B040                 sbci r27,hhi8(513)
 7138 3cbc 04F0                 brlt .L576
 7139 3cbe 84E0                 ldi r24,lo8(4)
 7140 3cc0 90E0                 ldi r25,hi8(4)
 7141 3cc2 9093 0000            sts (cnt.14)+1,r25
 7142 3cc6 8093 0000            sts cnt.14,r24
 7143                   .L576:
 7144 3cca 8091 0000            lds r24,MittelIntegralRoll_Alt.20
 7145 3cce 9091 0000            lds r25,(MittelIntegralRoll_Alt.20)+1
 7146 3cd2 A091 0000            lds r26,(MittelIntegralRoll_Alt.20)+2
 7147 3cd6 B091 0000            lds r27,(MittelIntegralRoll_Alt.20)+3
 7148 3cda 2091 0000            lds r18,MittelIntegralRoll
 7149 3cde 3091 0000            lds r19,(MittelIntegralRoll)+1
 7150 3ce2 4091 0000            lds r20,(MittelIntegralRoll)+2
 7151 3ce6 5091 0000            lds r21,(MittelIntegralRoll)+3
 7152 3cea 821B                 sub r24,r18
 7153 3cec 930B                 sbc r25,r19
 7154 3cee A40B                 sbc r26,r20
 7155 3cf0 B50B                 sbc r27,r21
 7156 3cf2 815E                 subi r24,lo8(-(19999))
 7157 3cf4 914B                 sbci r25,hi8(-(19999))
 7158 3cf6 AF4F                 sbci r26,hlo8(-(19999))
 7159 3cf8 BF4F                 sbci r27,hhi8(-(19999))
 7160 3cfa 8F53                 subi r24,lo8(39999)
 7161 3cfc 9C49                 sbci r25,hi8(39999)
 7162 3cfe A040                 sbci r26,hlo8(39999)
 7163 3d00 B040                 sbci r27,hhi8(39999)
 7164 3d02 00F0                 brlo .L579
 7165 3d04 1931                 cpi r17,lo8(25)
 7166 3d06 04F4                 brge .+2
 7167 3d08 00C0                 rjmp .L578
 7168                   .L579:
 7169 3d0a 01E0                 ldi r16,lo8(4097)
 7170 3d0c C016                 cp r12,r16
 7171 3d0e 00E1                 ldi r16,hi8(4097)
 7172 3d10 D006                 cpc r13,r16
 7173 3d12 00E0                 ldi r16,hlo8(4097)
 7174 3d14 E006                 cpc r14,r16
 7175 3d16 00E0                 ldi r16,hhi8(4097)
 7176 3d18 F006                 cpc r15,r16
 7177 3d1a 04F4                 brge .+2
 7178 3d1c 00C0                 rjmp .L580
 7179 3d1e 8091 0000            lds r24,last_r_p.17
 7180 3d22 8823                 tst r24
 7181 3d24 01F4                 brne .+2
 7182 3d26 00C0                 rjmp .L581
 7183 3d28 D701                 movw r26,r14
 7184 3d2a C601                 movw r24,r12
 7185 3d2c F7FE                 sbrs r15,7
 7186 3d2e 00C0                 rjmp .L582
 7187 3d30 8827                 clr r24
 7188 3d32 9927                 clr r25
 7189 3d34 DC01                 movw r26,r24
 7190 3d36 8C19                 sub r24,r12
 7191 3d38 9D09                 sbc r25,r13
 7192 3d3a AE09                 sbc r26,r14
 7193 3d3c BF09                 sbc r27,r15
 7194                   .L582:
 7195 3d3e 9C01                 movw r18,r24
 7196 3d40 AD01                 movw r20,r26
 7197 3d42 B7FF                 sbrs r27,7
 7198 3d44 00C0                 rjmp .L583
 7199 3d46 2150                 subi r18,lo8(-(511))
 7200 3d48 3E4F                 sbci r19,hi8(-(511))
 7201 3d4a 4F4F                 sbci r20,hlo8(-(511))
 7202 3d4c 5F4F                 sbci r21,hhi8(-(511))
 7203                   .L583:
 7204 3d4e 09E0                 ldi r16,9
 7205 3d50 5595         1:      asr r21
 7206 3d52 4795                 ror r20
 7207 3d54 3795                 ror r19
 7208 3d56 2795                 ror r18
 7209 3d58 0A95                 dec r16
 7210 3d5a 01F4                 brne 1b
 7211 3d5c 8091 0000            lds r24,cnt.14
 7212 3d60 9091 0000            lds r25,(cnt.14)+1
 7213 3d64 820F                 add r24,r18
 7214 3d66 931F                 adc r25,r19
 7215 3d68 9093 0000            sts (cnt.14)+1,r25
 7216 3d6c 8093 0000            sts cnt.14,r24
 7217 3d70 D701                 movw r26,r14
 7218 3d72 C601                 movw r24,r12
 7219 3d74 F7FE                 sbrs r15,7
 7220 3d76 00C0                 rjmp .L584
 7221 3d78 0796                 adiw r24,7
 7222 3d7a A11D                 adc r26,__zero_reg__
 7223 3d7c B11D                 adc r27,__zero_reg__
 7224                   .L584:
 7225 3d7e 13E0                 ldi r17,3
 7226 3d80 B595         1:      asr r27
 7227 3d82 A795                 ror r26
 7228 3d84 9795                 ror r25
 7229 3d86 8795                 ror r24
 7230 3d88 1A95                 dec r17
 7231 3d8a 01F4                 brne 1b
 7232 3d8c 8093 0000            sts ausgleichRoll.11,r24
 7233 3d90 9093 0000            sts (ausgleichRoll.11)+1,r25
 7234 3d94 A093 0000            sts (ausgleichRoll.11)+2,r26
 7235 3d98 B093 0000            sts (ausgleichRoll.11)+3,r27
 7236 3d9c 8958                 subi r24,lo8(5001)
 7237 3d9e 9341                 sbci r25,hi8(5001)
 7238 3da0 A040                 sbci r26,hlo8(5001)
 7239 3da2 B040                 sbci r27,hhi8(5001)
 7240 3da4 04F0                 brlt .L585
 7241 3da6 88E8                 ldi r24,lo8(5000)
 7242 3da8 93E1                 ldi r25,hi8(5000)
 7243 3daa A0E0                 ldi r26,hlo8(5000)
 7244 3dac B0E0                 ldi r27,hhi8(5000)
 7245 3dae 8093 0000            sts ausgleichRoll.11,r24
 7246 3db2 9093 0000            sts (ausgleichRoll.11)+1,r25
 7247 3db6 A093 0000            sts (ausgleichRoll.11)+2,r26
 7248 3dba B093 0000            sts (ausgleichRoll.11)+3,r27
 7249                   .L585:
 7250 3dbe 2091 0000            lds r18,ausgleichRoll.11
 7251 3dc2 3091 0000            lds r19,(ausgleichRoll.11)+1
 7252 3dc6 4091 0000            lds r20,(ausgleichRoll.11)+2
 7253 3dca 5091 0000            lds r21,(ausgleichRoll.11)+3
 7254 3dce 57FF                 sbrs r21,7
 7255 3dd0 00C0                 rjmp .L586
 7256 3dd2 2150                 subi r18,lo8(-(255))
 7257 3dd4 3F4F                 sbci r19,hi8(-(255))
 7258 3dd6 4F4F                 sbci r20,hlo8(-(255))
 7259 3dd8 5F4F                 sbci r21,hhi8(-(255))
 7260                   .L586:
 7261 3dda 232F                 mov r18,r19
 7262 3ddc 342F                 mov r19,r20
 7263 3dde 452F                 mov r20,r21
 7264 3de0 5527                 clr r21
 7265 3de2 47FD                 sbrc r20,7
 7266 3de4 5A95                 dec r21
 7267 3de6 8091 0000            lds r24,LageKorrekturRoll
 7268 3dea 9091 0000            lds r25,(LageKorrekturRoll)+1
 7269 3dee 820F                 add r24,r18
 7270 3df0 931F                 adc r25,r19
 7271 3df2 9093 0000            sts (LageKorrekturRoll)+1,r25
 7272 3df6 8093 0000            sts LageKorrekturRoll,r24
 7273 3dfa 00C0                 rjmp .L588
 7274                   .L581:
 7275 3dfc 81E0                 ldi r24,lo8(1)
 7276 3dfe 8093 0000            sts last_r_p.17,r24
 7277 3e02 00C0                 rjmp .L588
 7278                   .L580:
 7279 3e04 1092 0000            sts last_r_p.17,__zero_reg__
 7280                   .L588:
 7281 3e08 20E0                 ldi r18,lo8(-4096)
 7282 3e0a C216                 cp r12,r18
 7283 3e0c 20EF                 ldi r18,hi8(-4096)
 7284 3e0e D206                 cpc r13,r18
 7285 3e10 2FEF                 ldi r18,hlo8(-4096)
 7286 3e12 E206                 cpc r14,r18
 7287 3e14 2FEF                 ldi r18,hhi8(-4096)
 7288 3e16 F206                 cpc r15,r18
 7289 3e18 04F0                 brlt .+2
 7290 3e1a 00C0                 rjmp .L589
 7291 3e1c 8091 0000            lds r24,last_r_n.18
 7292 3e20 8823                 tst r24
 7293 3e22 01F4                 brne .+2
 7294 3e24 00C0                 rjmp .L590
 7295 3e26 D701                 movw r26,r14
 7296 3e28 C601                 movw r24,r12
 7297 3e2a F7FE                 sbrs r15,7
 7298 3e2c 00C0                 rjmp .L591
 7299 3e2e 8827                 clr r24
 7300 3e30 9927                 clr r25
 7301 3e32 DC01                 movw r26,r24
 7302 3e34 8C19                 sub r24,r12
 7303 3e36 9D09                 sbc r25,r13
 7304 3e38 AE09                 sbc r26,r14
 7305 3e3a BF09                 sbc r27,r15
 7306                   .L591:
 7307 3e3c 9C01                 movw r18,r24
 7308 3e3e AD01                 movw r20,r26
 7309 3e40 B7FF                 sbrs r27,7
 7310 3e42 00C0                 rjmp .L592
 7311 3e44 2150                 subi r18,lo8(-(511))
 7312 3e46 3E4F                 sbci r19,hi8(-(511))
 7313 3e48 4F4F                 sbci r20,hlo8(-(511))
 7314 3e4a 5F4F                 sbci r21,hhi8(-(511))
 7315                   .L592:
 7316 3e4c E9E0                 ldi r30,9
 7317 3e4e 5595         1:      asr r21
 7318 3e50 4795                 ror r20
 7319 3e52 3795                 ror r19
 7320 3e54 2795                 ror r18
 7321 3e56 EA95                 dec r30
 7322 3e58 01F4                 brne 1b
 7323 3e5a 8091 0000            lds r24,cnt.14
 7324 3e5e 9091 0000            lds r25,(cnt.14)+1
 7325 3e62 820F                 add r24,r18
 7326 3e64 931F                 adc r25,r19
 7327 3e66 9093 0000            sts (cnt.14)+1,r25
 7328 3e6a 8093 0000            sts cnt.14,r24
 7329 3e6e D701                 movw r26,r14
 7330 3e70 C601                 movw r24,r12
 7331 3e72 F7FE                 sbrs r15,7
 7332 3e74 00C0                 rjmp .L593
 7333 3e76 0796                 adiw r24,7
 7334 3e78 A11D                 adc r26,__zero_reg__
 7335 3e7a B11D                 adc r27,__zero_reg__
 7336                   .L593:
 7337 3e7c 73E0                 ldi r23,3
 7338 3e7e B595         1:      asr r27
 7339 3e80 A795                 ror r26
 7340 3e82 9795                 ror r25
 7341 3e84 8795                 ror r24
 7342 3e86 7A95                 dec r23
 7343 3e88 01F4                 brne 1b
 7344 3e8a 8093 0000            sts ausgleichRoll.11,r24
 7345 3e8e 9093 0000            sts (ausgleichRoll.11)+1,r25
 7346 3e92 A093 0000            sts (ausgleichRoll.11)+2,r26
 7347 3e96 B093 0000            sts (ausgleichRoll.11)+3,r27
 7348 3e9a 8857                 subi r24,lo8(-5000)
 7349 3e9c 9C4E                 sbci r25,hi8(-5000)
 7350 3e9e AF4F                 sbci r26,hlo8(-5000)
 7351 3ea0 BF4F                 sbci r27,hhi8(-5000)
 7352 3ea2 04F4                 brge .L594
 7353 3ea4 88E7                 ldi r24,lo8(-5000)
 7354 3ea6 9CEE                 ldi r25,hi8(-5000)
 7355 3ea8 AFEF                 ldi r26,hlo8(-5000)
 7356 3eaa BFEF                 ldi r27,hhi8(-5000)
 7357 3eac 8093 0000            sts ausgleichRoll.11,r24
 7358 3eb0 9093 0000            sts (ausgleichRoll.11)+1,r25
 7359 3eb4 A093 0000            sts (ausgleichRoll.11)+2,r26
 7360 3eb8 B093 0000            sts (ausgleichRoll.11)+3,r27
 7361                   .L594:
 7362 3ebc 2091 0000            lds r18,ausgleichRoll.11
 7363 3ec0 3091 0000            lds r19,(ausgleichRoll.11)+1
 7364 3ec4 4091 0000            lds r20,(ausgleichRoll.11)+2
 7365 3ec8 5091 0000            lds r21,(ausgleichRoll.11)+3
 7366 3ecc 57FF                 sbrs r21,7
 7367 3ece 00C0                 rjmp .L595
 7368 3ed0 2150                 subi r18,lo8(-(255))
 7369 3ed2 3F4F                 sbci r19,hi8(-(255))
 7370 3ed4 4F4F                 sbci r20,hlo8(-(255))
 7371 3ed6 5F4F                 sbci r21,hhi8(-(255))
 7372                   .L595:
 7373 3ed8 232F                 mov r18,r19
 7374 3eda 342F                 mov r19,r20
 7375 3edc 452F                 mov r20,r21
 7376 3ede 5527                 clr r21
 7377 3ee0 47FD                 sbrc r20,7
 7378 3ee2 5A95                 dec r21
 7379 3ee4 8091 0000            lds r24,LageKorrekturRoll
 7380 3ee8 9091 0000            lds r25,(LageKorrekturRoll)+1
 7381 3eec 820F                 add r24,r18
 7382 3eee 931F                 adc r25,r19
 7383 3ef0 9093 0000            sts (LageKorrekturRoll)+1,r25
 7384 3ef4 8093 0000            sts LageKorrekturRoll,r24
 7385 3ef8 00C0                 rjmp .L598
 7386                   .L590:
 7387 3efa 81E0                 ldi r24,lo8(1)
 7388 3efc 8093 0000            sts last_r_n.18,r24
 7389 3f00 00C0                 rjmp .L598
 7390                   .L589:
 7391 3f02 1092 0000            sts last_r_n.18,__zero_reg__
 7392 3f06 00C0                 rjmp .L598
 7393                   .L578:
 7394 3f08 1092 0000            sts (cnt.14)+1,__zero_reg__
 7395 3f0c 1092 0000            sts cnt.14,__zero_reg__
 7396 3f10 84E6                 ldi r24,lo8(100)
 7397 3f12 90E0                 ldi r25,hi8(100)
 7398 3f14 9093 0000            sts (KompassSignalSchlecht)+1,r25
 7399 3f18 8093 0000            sts KompassSignalSchlecht,r24
 7400                   .L598:
 7401 3f1c 4889                 ldd r20,Y+16
 7402 3f1e 242F                 mov r18,r20
 7403 3f20 3327                 clr r19
 7404 3f22 8091 0000            lds r24,cnt.14
 7405 3f26 9091 0000            lds r25,(cnt.14)+1
 7406 3f2a 2817                 cp r18,r24
 7407 3f2c 3907                 cpc r19,r25
 7408 3f2e 04F4                 brge .L599
 7409 3f30 3093 0000            sts (cnt.14)+1,r19
 7410 3f34 2093 0000            sts cnt.14,r18
 7411                   .L599:
 7412 3f38 8091 0000            lds r24,FromNaviCtrl_Value+1
 7413 3f3c 8823                 tst r24
 7414 3f3e 01F0                 breq .L600
 7415 3f40 282F                 mov r18,r24
 7416 3f42 3327                 clr r19
 7417 3f44 27FD                 sbrc r18,7
 7418 3f46 3095                 com r19
 7419 3f48 8091 0000            lds r24,cnt.14
 7420 3f4c 9091 0000            lds r25,(cnt.14)+1
 7421 3f50 2817                 cp r18,r24
 7422 3f52 3907                 cpc r19,r25
 7423 3f54 04F4                 brge .L600
 7424 3f56 3093 0000            sts (cnt.14)+1,r19
 7425 3f5a 2093 0000            sts cnt.14,r18
 7426                   .L600:
 7427 3f5e 4091 0000            lds r20,IntegralFehlerRoll.4
 7428 3f62 5091 0000            lds r21,(IntegralFehlerRoll.4)+1
 7429 3f66 6091 0000            lds r22,(IntegralFehlerRoll.4)+2
 7430 3f6a 7091 0000            lds r23,(IntegralFehlerRoll.4)+3
 7431 3f6e 4138                 cpi r20,lo8(129)
 7432 3f70 5105                 cpc r21,__zero_reg__
 7433 3f72 6105                 cpc r22,__zero_reg__
 7434 3f74 7105                 cpc r23,__zero_reg__
 7435 3f76 04F0                 brlt .L602
 7436 3f78 8091 0000            lds r24,AdNeutralRoll
 7437 3f7c 9091 0000            lds r25,(AdNeutralRoll)+1
 7438 3f80 2091 0000            lds r18,cnt.14
 7439 3f84 3091 0000            lds r19,(cnt.14)+1
 7440 3f88 820F                 add r24,r18
 7441 3f8a 931F                 adc r25,r19
 7442 3f8c 9093 0000            sts (AdNeutralRoll)+1,r25
 7443 3f90 8093 0000            sts AdNeutralRoll,r24
 7444                   .L602:
 7445 3f94 4058                 subi r20,lo8(-128)
 7446 3f96 5F4F                 sbci r21,hi8(-128)
 7447 3f98 6F4F                 sbci r22,hlo8(-128)
 7448 3f9a 7F4F                 sbci r23,hhi8(-128)
 7449 3f9c 04F4                 brge .L604
 7450 3f9e 8091 0000            lds r24,AdNeutralRoll
 7451 3fa2 9091 0000            lds r25,(AdNeutralRoll)+1
 7452 3fa6 2091 0000            lds r18,cnt.14
 7453 3faa 3091 0000            lds r19,(cnt.14)+1
 7454 3fae 821B                 sub r24,r18
 7455 3fb0 930B                 sbc r25,r19
 7456 3fb2 9093 0000            sts (AdNeutralRoll)+1,r25
 7457 3fb6 8093 0000            sts AdNeutralRoll,r24
 7458 3fba 00C0                 rjmp .L604
 7459                   .L530:
 7460 3fbc 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 7461 3fc0 1092 0000            sts LageKorrekturRoll,__zero_reg__
 7462 3fc4 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 7463 3fc8 1092 0000            sts LageKorrekturNick,__zero_reg__
 7464 3fcc 1092 0000            sts TrichterFlug,__zero_reg__
 7465                   .L604:
 7466 3fd0 8091 0000            lds r24,IntegralFaktor
 7467 3fd4 8823                 tst r24
 7468 3fd6 01F4                 brne .L605
 7469 3fd8 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 7470 3fdc 1092 0000            sts LageKorrekturRoll,__zero_reg__
 7471 3fe0 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 7472 3fe4 1092 0000            sts LageKorrekturNick,__zero_reg__
 7473                   .L605:
 7474 3fe8 8091 0000            lds r24,MittelIntegralNick
 7475 3fec 9091 0000            lds r25,(MittelIntegralNick)+1
 7476 3ff0 A091 0000            lds r26,(MittelIntegralNick)+2
 7477 3ff4 B091 0000            lds r27,(MittelIntegralNick)+3
 7478 3ff8 8093 0000            sts MittelIntegralNick_Alt.19,r24
 7479 3ffc 9093 0000            sts (MittelIntegralNick_Alt.19)+1,r25
 7480 4000 A093 0000            sts (MittelIntegralNick_Alt.19)+2,r26
 7481 4004 B093 0000            sts (MittelIntegralNick_Alt.19)+3,r27
 7482 4008 8091 0000            lds r24,MittelIntegralRoll
 7483 400c 9091 0000            lds r25,(MittelIntegralRoll)+1
 7484 4010 A091 0000            lds r26,(MittelIntegralRoll)+2
 7485 4014 B091 0000            lds r27,(MittelIntegralRoll)+3
 7486 4018 8093 0000            sts MittelIntegralRoll_Alt.20,r24
 7487 401c 9093 0000            sts (MittelIntegralRoll_Alt.20)+1,r25
 7488 4020 A093 0000            sts (MittelIntegralRoll_Alt.20)+2,r26
 7489 4024 B093 0000            sts (MittelIntegralRoll_Alt.20)+3,r27
 7490 4028 1092 0000            sts IntegralAccNick,__zero_reg__
 7491 402c 1092 0000            sts (IntegralAccNick)+1,__zero_reg__
 7492 4030 1092 0000            sts (IntegralAccNick)+2,__zero_reg__
 7493 4034 1092 0000            sts (IntegralAccNick)+3,__zero_reg__
 7494 4038 1092 0000            sts IntegralAccRoll,__zero_reg__
 7495 403c 1092 0000            sts (IntegralAccRoll)+1,__zero_reg__
 7496 4040 1092 0000            sts (IntegralAccRoll)+2,__zero_reg__
 7497 4044 1092 0000            sts (IntegralAccRoll)+3,__zero_reg__
 7498 4048 1092 0000            sts IntegralAccZ,__zero_reg__
 7499 404c 1092 0000            sts (IntegralAccZ)+1,__zero_reg__
 7500 4050 1092 0000            sts (IntegralAccZ)+2,__zero_reg__
 7501 4054 1092 0000            sts (IntegralAccZ)+3,__zero_reg__
 7502 4058 1092 0000            sts MittelIntegralNick,__zero_reg__
 7503 405c 1092 0000            sts (MittelIntegralNick)+1,__zero_reg__
 7504 4060 1092 0000            sts (MittelIntegralNick)+2,__zero_reg__
 7505 4064 1092 0000            sts (MittelIntegralNick)+3,__zero_reg__
 7506 4068 1092 0000            sts MittelIntegralRoll,__zero_reg__
 7507 406c 1092 0000            sts (MittelIntegralRoll)+1,__zero_reg__
 7508 4070 1092 0000            sts (MittelIntegralRoll)+2,__zero_reg__
 7509 4074 1092 0000            sts (MittelIntegralRoll)+3,__zero_reg__
 7510 4078 1092 0000            sts MittelIntegralNick2,__zero_reg__
 7511 407c 1092 0000            sts (MittelIntegralNick2)+1,__zero_reg__
 7512 4080 1092 0000            sts (MittelIntegralNick2)+2,__zero_reg__
 7513 4084 1092 0000            sts (MittelIntegralNick2)+3,__zero_reg__
 7514 4088 1092 0000            sts MittelIntegralRoll2,__zero_reg__
 7515 408c 1092 0000            sts (MittelIntegralRoll2)+1,__zero_reg__
 7516 4090 1092 0000            sts (MittelIntegralRoll2)+2,__zero_reg__
 7517 4094 1092 0000            sts (MittelIntegralRoll2)+3,__zero_reg__
 7518 4098 1092 0000            sts (ZaehlMessungen)+1,__zero_reg__
 7519 409c 1092 0000            sts ZaehlMessungen,__zero_reg__
 7520                   .L529:
 7521 40a0 E090 0000            lds r14,StickGier
 7522 40a4 F090 0000            lds r15,(StickGier)+1
 7523 40a8 C701                 movw r24,r14
 7524 40aa F7FE                 sbrs r15,7
 7525 40ac 00C0                 rjmp .L607
 7526 40ae 8827                 clr r24
 7527 40b0 9927                 clr r25
 7528 40b2 8E19                 sub r24,r14
 7529 40b4 9F09                 sbc r25,r15
 7530                   .L607:
 7531 40b6 0497                 sbiw r24,4
 7532 40b8 04F0                 brlt .L606
 7533 40ba 8091 0000            lds r24,Parameter_GlobalConfig
 7534 40be 84FD                 sbrc r24,4
 7535 40c0 00C0                 rjmp .L606
 7536 40c2 82E3                 ldi r24,lo8(50)
 7537 40c4 8093 0000            sts NeueKompassRichtungMerken,r24
 7538                   .L606:
 7539 40c8 1091 0000            lds r17,EE_Parameter+25
 7540 40cc A12E                 mov r10,r17
 7541 40ce BB24                 clr r11
 7542 40d0 CC24                 clr r12
 7543 40d2 DD24                 clr r13
 7544 40d4 B701                 movw r22,r14
 7545 40d6 8827                 clr r24
 7546 40d8 77FD                 sbrc r23,7
 7547 40da 8095                 com r24
 7548 40dc 982F                 mov r25,r24
 7549 40de 9701                 movw r18,r14
 7550 40e0 F7FE                 sbrs r15,7
 7551 40e2 00C0                 rjmp .L609
 7552 40e4 2227                 clr r18
 7553 40e6 3327                 clr r19
 7554 40e8 2E19                 sub r18,r14
 7555 40ea 3F09                 sbc r19,r15
 7556                   .L609:
 7557 40ec 4427                 clr r20
 7558 40ee 37FD                 sbrc r19,7
 7559 40f0 4095                 com r20
 7560 40f2 542F                 mov r21,r20
 7561 40f4 0E94 0000            call __mulsi3
 7562 40f8 9B01                 movw r18,r22
 7563 40fa AC01                 movw r20,r24
 7564 40fc C601                 movw r24,r12
 7565 40fe B501                 movw r22,r10
 7566 4100 0E94 0000            call __mulsi3
 7567 4104 97FF                 sbrs r25,7
 7568 4106 00C0                 rjmp .L610
 7569 4108 6150                 subi r22,lo8(-(511))
 7570 410a 7E4F                 sbci r23,hi8(-(511))
 7571 410c 8F4F                 sbci r24,hlo8(-(511))
 7572 410e 9F4F                 sbci r25,hhi8(-(511))
 7573                   .L610:
 7574 4110 59E0                 ldi r21,9
 7575 4112 9595         1:      asr r25
 7576 4114 8795                 ror r24
 7577 4116 7795                 ror r23
 7578 4118 6795                 ror r22
 7579 411a 5A95                 dec r21
 7580 411c 01F4                 brne 1b
 7581 411e 9B01                 movw r18,r22
 7582 4120 812F                 mov r24,r17
 7583 4122 9927                 clr r25
 7584 4124 8E9D                 mul r24,r14
 7585 4126 D001                 movw r26,r0
 7586 4128 8F9D                 mul r24,r15
 7587 412a B00D                 add r27,r0
 7588 412c 9E9D                 mul r25,r14
 7589 412e B00D                 add r27,r0
 7590 4130 1124                 clr r1
 7591 4132 CD01                 movw r24,r26
 7592 4134 B7FD                 sbrc r27,7
 7593 4136 0396                 adiw r24,3
 7594                   .L611:
 7595 4138 9595                 asr r25
 7596 413a 8795                 ror r24
 7597 413c 9595                 asr r25
 7598 413e 8795                 ror r24
 7599 4140 280F                 add r18,r24
 7600 4142 391F                 adc r19,r25
 7601 4144 8091 0000            lds r24,CompassGierSetpoint
 7602 4148 9091 0000            lds r25,(CompassGierSetpoint)+1
 7603 414c 280F                 add r18,r24
 7604 414e 391F                 adc r19,r25
 7605 4150 4427                 clr r20
 7606 4152 37FD                 sbrc r19,7
 7607 4154 4095                 com r20
 7608 4156 542F                 mov r21,r20
 7609 4158 2093 0000            sts sollGier.0,r18
 7610 415c 3093 0000            sts (sollGier.0)+1,r19
 7611 4160 4093 0000            sts (sollGier.0)+2,r20
 7612 4164 5093 0000            sts (sollGier.0)+3,r21
 7613 4168 8091 0000            lds r24,Mess_Integral_Gier
 7614 416c 9091 0000            lds r25,(Mess_Integral_Gier)+1
 7615 4170 A091 0000            lds r26,(Mess_Integral_Gier)+2
 7616 4174 B091 0000            lds r27,(Mess_Integral_Gier)+3
 7617 4178 821B                 sub r24,r18
 7618 417a 930B                 sbc r25,r19
 7619 417c A40B                 sbc r26,r20
 7620 417e B50B                 sbc r27,r21
 7621 4180 8093 0000            sts Mess_Integral_Gier,r24
 7622 4184 9093 0000            sts (Mess_Integral_Gier)+1,r25
 7623 4188 A093 0000            sts (Mess_Integral_Gier)+2,r26
 7624 418c B093 0000            sts (Mess_Integral_Gier)+3,r27
 7625 4190 8155                 subi r24,lo8(50001)
 7626 4192 934C                 sbci r25,hi8(50001)
 7627 4194 A040                 sbci r26,hlo8(50001)
 7628 4196 B040                 sbci r27,hhi8(50001)
 7629 4198 04F0                 brlt .L612
 7630 419a 80E5                 ldi r24,lo8(50000)
 7631 419c 93EC                 ldi r25,hi8(50000)
 7632 419e A0E0                 ldi r26,hlo8(50000)
 7633 41a0 B0E0                 ldi r27,hhi8(50000)
 7634 41a2 8093 0000            sts Mess_Integral_Gier,r24
 7635 41a6 9093 0000            sts (Mess_Integral_Gier)+1,r25
 7636 41aa A093 0000            sts (Mess_Integral_Gier)+2,r26
 7637 41ae B093 0000            sts (Mess_Integral_Gier)+3,r27
 7638                   .L612:
 7639 41b2 8091 0000            lds r24,Mess_Integral_Gier
 7640 41b6 9091 0000            lds r25,(Mess_Integral_Gier)+1
 7641 41ba A091 0000            lds r26,(Mess_Integral_Gier)+2
 7642 41be B091 0000            lds r27,(Mess_Integral_Gier)+3
 7643 41c2 805B                 subi r24,lo8(-50000)
 7644 41c4 9C43                 sbci r25,hi8(-50000)
 7645 41c6 AF4F                 sbci r26,hlo8(-50000)
 7646 41c8 BF4F                 sbci r27,hhi8(-50000)
 7647 41ca 04F4                 brge .L613
 7648 41cc 80EB                 ldi r24,lo8(-50000)
 7649 41ce 9CE3                 ldi r25,hi8(-50000)
 7650 41d0 AFEF                 ldi r26,hlo8(-50000)
 7651 41d2 BFEF                 ldi r27,hhi8(-50000)
 7652 41d4 8093 0000            sts Mess_Integral_Gier,r24
 7653 41d8 9093 0000            sts (Mess_Integral_Gier)+1,r25
 7654 41dc A093 0000            sts (Mess_Integral_Gier)+2,r26
 7655 41e0 B093 0000            sts (Mess_Integral_Gier)+3,r27
 7656                   .L613:
 7657 41e4 0091 0000            lds r16,KompassValue
 7658 41e8 1091 0000            lds r17,(KompassValue)+1
 7659 41ec 17FD                 sbrc r17,7
 7660 41ee 00C0                 rjmp .L614
 7661 41f0 8091 0000            lds r24,Parameter_GlobalConfig
 7662 41f4 83FF                 sbrs r24,3
 7663 41f6 00C0                 rjmp .L614
 7664 41f8 8091 0000            lds r24,CalculateCompassTimer
 7665 41fc 8150                 subi r24,lo8(-(-1))
 7666 41fe 8093 0000            sts CalculateCompassTimer,r24
 7667 4202 8823                 tst r24
 7668 4204 01F0                 breq .+2
 7669 4206 00C0                 rjmp .L631
 7670 4208 8DE0                 ldi r24,lo8(13)
 7671 420a 8093 0000            sts CalculateCompassTimer,r24
 7672 420e 8091 0000            lds r24,IntegralNick
 7673 4212 9091 0000            lds r25,(IntegralNick)+1
 7674 4216 A091 0000            lds r26,(IntegralNick)+2
 7675 421a B091 0000            lds r27,(IntegralNick)+3
 7676 421e B7FF                 sbrs r27,7
 7677 4220 00C0                 rjmp .L616
 7678 4222 8150                 subi r24,lo8(-(511))
 7679 4224 9E4F                 sbci r25,hi8(-(511))
 7680 4226 AF4F                 sbci r26,hlo8(-(511))
 7681 4228 BF4F                 sbci r27,hhi8(-(511))
 7682                   .L616:
 7683 422a 39E0                 ldi r19,9
 7684 422c B595         1:      asr r27
 7685 422e A795                 ror r26
 7686 4230 9795                 ror r25
 7687 4232 8795                 ror r24
 7688 4234 3A95                 dec r19
 7689 4236 01F4                 brne 1b
 7690 4238 7C01                 movw r14,r24
 7691 423a 97FF                 sbrs r25,7
 7692 423c 00C0                 rjmp .L617
 7693 423e F094                 com r15
 7694 4240 E194                 neg r14
 7695 4242 F108                 sbc r15,__zero_reg__
 7696 4244 F394                 inc r15
 7697                   .L617:
 7698 4246 8091 0000            lds r24,IntegralRoll
 7699 424a 9091 0000            lds r25,(IntegralRoll)+1
 7700 424e A091 0000            lds r26,(IntegralRoll)+2
 7701 4252 B091 0000            lds r27,(IntegralRoll)+3
 7702 4256 B7FF                 sbrs r27,7
 7703 4258 00C0                 rjmp .L618
 7704 425a 8150                 subi r24,lo8(-(511))
 7705 425c 9E4F                 sbci r25,hi8(-(511))
 7706 425e AF4F                 sbci r26,hlo8(-(511))
 7707 4260 BF4F                 sbci r27,hhi8(-(511))
 7708                   .L618:
 7709 4262 29E0                 ldi r18,9
 7710 4264 B595         1:      asr r27
 7711 4266 A795                 ror r26
 7712 4268 9795                 ror r25
 7713 426a 8795                 ror r24
 7714 426c 2A95                 dec r18
 7715 426e 01F4                 brne 1b
 7716 4270 9C01                 movw r18,r24
 7717 4272 97FF                 sbrs r25,7
 7718 4274 00C0                 rjmp .L619
 7719 4276 3095                 com r19
 7720 4278 2195                 neg r18
 7721 427a 3F4F                 sbci r19,lo8(-1)
 7722                   .L619:
 7723 427c E216                 cp r14,r18
 7724 427e F306                 cpc r15,r19
 7725 4280 04F4                 brge .L620
 7726 4282 7901                 movw r14,r18
 7727                   .L620:
 7728 4284 B701                 movw r22,r14
 7729 4286 F7FE                 sbrs r15,7
 7730 4288 00C0                 rjmp .L621
 7731 428a 695F                 subi r22,lo8(-(7))
 7732 428c 7F4F                 sbci r23,hi8(-(7))
 7733                   .L621:
 7734 428e 2B01                 movw r4,r22
 7735 4290 A3E0                 ldi r26,3
 7736 4292 5594         1:      asr r5
 7737 4294 4794                 ror r4
 7738 4296 AA95                 dec r26
 7739 4298 01F4                 brne 1b
 7740 429a 22E0                 ldi r18,lo8(2)
 7741 429c 30E0                 ldi r19,hi8(2)
 7742 429e 420E                 add r4,r18
 7743 42a0 531E                 adc r5,r19
 7744 42a2 6090 0000            lds r6,ErsatzKompass
 7745 42a6 7090 0000            lds r7,(ErsatzKompass)+1
 7746 42aa 8090 0000            lds r8,(ErsatzKompass)+2
 7747 42ae 9090 0000            lds r9,(ErsatzKompass)+3
 7748 42b2 2091 0000            lds r18,GIER_GRAD_FAKTOR
 7749 42b6 3091 0000            lds r19,(GIER_GRAD_FAKTOR)+1
 7750 42ba 4091 0000            lds r20,(GIER_GRAD_FAKTOR)+2
 7751 42be 5091 0000            lds r21,(GIER_GRAD_FAKTOR)+3
 7752 42c2 C401                 movw r24,r8
 7753 42c4 B301                 movw r22,r6
 7754 42c6 0E94 0000            call __divmodsi4
 7755 42ca 5901                 movw r10,r18
 7756 42cc 6A01                 movw r12,r20
 7757 42ce 3093 0000            sts (ErsatzKompassInGrad)+1,r19
 7758 42d2 2093 0000            sts ErsatzKompassInGrad,r18
 7759 42d6 021B                 sub r16,r18
 7760 42d8 130B                 sbc r17,r19
 7761 42da C801                 movw r24,r16
 7762 42dc 845E                 subi r24,lo8(-(540))
 7763 42de 9D4F                 sbci r25,hi8(-(540))
 7764 42e0 68E6                 ldi r22,lo8(360)
 7765 42e2 71E0                 ldi r23,hi8(360)
 7766 42e4 0E94 0000            call __divmodhi4
 7767 42e8 9C01                 movw r18,r24
 7768 42ea 245B                 subi r18,lo8(-(-180))
 7769 42ec 3040                 sbci r19,hi8(-(-180))
 7770 42ee 8091 0000            lds r24,KompassSignalSchlecht
 7771 42f2 9091 0000            lds r25,(KompassSignalSchlecht)+1
 7772 42f6 0097                 sbiw r24,0
 7773 42f8 01F0                 breq .L622
 7774 42fa 0197                 sbiw r24,1
 7775 42fc 9093 0000            sts (KompassSignalSchlecht)+1,r25
 7776 4300 8093 0000            sts KompassSignalSchlecht,r24
 7777 4304 00C0                 rjmp .L623
 7778                   .L622:
 7779 4306 49E1                 ldi r20,lo8(25)
 7780 4308 E416                 cp r14,r20
 7781 430a F104                 cpc r15,__zero_reg__
 7782 430c 04F4                 brge .L623
 7783 430e 8091 0000            lds r24,GierGyroFehler
 7784 4312 9091 0000            lds r25,(GierGyroFehler)+1
 7785 4316 820F                 add r24,r18
 7786 4318 931F                 adc r25,r19
 7787 431a 9093 0000            sts (GierGyroFehler)+1,r25
 7788 431e 8093 0000            sts GierGyroFehler,r24
 7789 4322 8091 0000            lds r24,NeueKompassRichtungMerken
 7790 4326 8823                 tst r24
 7791 4328 01F0                 breq .L623
 7792 432a 8150                 subi r24,lo8(-(-1))
 7793 432c 8093 0000            sts NeueKompassRichtungMerken,r24
 7794 4330 8823                 tst r24
 7795 4332 01F4                 brne .L623
 7796 4334 B092 0000            sts (KompassSollWert)+1,r11
 7797 4338 A092 0000            sts KompassSollWert,r10
 7798                   .L623:
 7799 433c 8091 0000            lds r24,KompassSignalSchlecht
 7800 4340 9091 0000            lds r25,(KompassSignalSchlecht)+1
 7801 4344 892B                 or r24,r25
 7802 4346 01F4                 brne .L627
 7803 4348 8091 0000            lds r24,KompassFusion
 7804 434c 9927                 clr r25
 7805 434e 289F                 mul r18,r24
 7806 4350 B001                 movw r22,r0
 7807 4352 299F                 mul r18,r25
 7808 4354 700D                 add r23,r0
 7809 4356 389F                 mul r19,r24
 7810 4358 700D                 add r23,r0
 7811 435a 1124                 clr r1
 7812 435c CB01                 movw r24,r22
 7813 435e B201                 movw r22,r4
 7814 4360 0E94 0000            call __divmodhi4
 7815 4364 CB01                 movw r24,r22
 7816 4366 AA27                 clr r26
 7817 4368 97FD                 sbrc r25,7
 7818 436a A095                 com r26
 7819 436c BA2F                 mov r27,r26
 7820 436e 680E                 add r6,r24
 7821 4370 791E                 adc r7,r25
 7822 4372 8A1E                 adc r8,r26
 7823 4374 9B1E                 adc r9,r27
 7824 4376 6092 0000            sts ErsatzKompass,r6
 7825 437a 7092 0000            sts (ErsatzKompass)+1,r7
 7826 437e 8092 0000            sts (ErsatzKompass)+2,r8
 7827 4382 9092 0000            sts (ErsatzKompass)+3,r9
 7828                   .L627:
 7829 4386 8091 0000            lds r24,NeueKompassRichtungMerken
 7830 438a 8823                 tst r24
 7831 438c 01F4                 brne .L614
 7832 438e 8091 0000            lds r24,KompassSollWert
 7833 4392 9091 0000            lds r25,(KompassSollWert)+1
 7834 4396 2091 0000            lds r18,ErsatzKompassInGrad
 7835 439a 3091 0000            lds r19,(ErsatzKompassInGrad)+1
 7836 439e 821B                 sub r24,r18
 7837 43a0 930B                 sbc r25,r19
 7838 43a2 845E                 subi r24,lo8(-(540))
 7839 43a4 9D4F                 sbci r25,hi8(-(540))
 7840 43a6 68E6                 ldi r22,lo8(360)
 7841 43a8 71E0                 ldi r23,hi8(360)
 7842 43aa 0E94 0000            call __divmodhi4
 7843 43ae 9C01                 movw r18,r24
 7844 43b0 245B                 subi r18,lo8(-(-180))
 7845 43b2 3040                 sbci r19,hi8(-(-180))
 7846 43b4 8091 0000            lds r24,Parameter_KompassWirkung
 7847 43b8 8695                 lsr r24
 7848 43ba 9927                 clr r25
 7849 43bc 289F                 mul r18,r24
 7850 43be D001                 movw r26,r0
 7851 43c0 299F                 mul r18,r25
 7852 43c2 B00D                 add r27,r0
 7853 43c4 389F                 mul r19,r24
 7854 43c6 B00D                 add r27,r0
 7855 43c8 1124                 clr r1
 7856 43ca 9D01                 movw r18,r26
 7857 43cc B7FF                 sbrs r27,7
 7858 43ce 00C0                 rjmp .L629
 7859 43d0 215F                 subi r18,lo8(-(15))
 7860 43d2 3F4F                 sbci r19,hi8(-(15))
 7861                   .L629:
 7862 43d4 F4E0                 ldi r31,4
 7863 43d6 3595         1:      asr r19
 7864 43d8 2795                 ror r18
 7865 43da FA95                 dec r31
 7866 43dc 01F4                 brne 1b
 7867 43de 3093 0000            sts (CompassGierSetpoint)+1,r19
 7868 43e2 2093 0000            sts CompassGierSetpoint,r18
 7869 43e6 00C0                 rjmp .L631
 7870                   .L614:
 7871 43e8 1092 0000            sts (CompassGierSetpoint)+1,__zero_reg__
 7872 43ec 1092 0000            sts CompassGierSetpoint,__zero_reg__
 7873                   .L631:
 7874 43f0 8091 0000            lds r24,TrichterFlug
 7875 43f4 8823                 tst r24
 7876 43f6 01F0                 breq .L632
 7877 43f8 1092 0000            sts SummeRoll,__zero_reg__
 7878 43fc 1092 0000            sts (SummeRoll)+1,__zero_reg__
 7879 4400 1092 0000            sts (SummeRoll)+2,__zero_reg__
 7880 4404 1092 0000            sts (SummeRoll)+3,__zero_reg__
 7881 4408 1092 0000            sts SummeNick,__zero_reg__
 7882 440c 1092 0000            sts (SummeNick)+1,__zero_reg__
 7883 4410 1092 0000            sts (SummeNick)+2,__zero_reg__
 7884 4414 1092 0000            sts (SummeNick)+3,__zero_reg__
 7885                   .L632:
 7886 4418 F090 0000            lds r15,Looping_Nick
 7887 441c FF20                 tst r15
 7888 441e 01F4                 brne .L633
 7889 4420 8091 0000            lds r24,IntegralFaktor
 7890 4424 282F                 mov r18,r24
 7891 4426 3327                 clr r19
 7892 4428 4427                 clr r20
 7893 442a 5527                 clr r21
 7894 442c 8091 0000            lds r24,IntegralNick
 7895 4430 9091 0000            lds r25,(IntegralNick)+1
 7896 4434 A091 0000            lds r26,(IntegralNick)+2
 7897 4438 B091 0000            lds r27,(IntegralNick)+3
 7898 443c BC01                 movw r22,r24
 7899 443e CD01                 movw r24,r26
 7900 4440 0E94 0000            call __mulsi3
 7901 4444 DC01                 movw r26,r24
 7902 4446 CB01                 movw r24,r22
 7903 4448 BC01                 movw r22,r24
 7904 444a CD01                 movw r24,r26
 7905 444c 28EF                 ldi r18,lo8(11000)
 7906 444e 3AE2                 ldi r19,hi8(11000)
 7907 4450 40E0                 ldi r20,hlo8(11000)
 7908 4452 50E0                 ldi r21,hhi8(11000)
 7909 4454 0E94 0000            call __divmodsi4
 7910 4458 3901                 movw r6,r18
 7911 445a 00C0                 rjmp .L634
 7912                   .L633:
 7913 445c 6624                 clr r6
 7914 445e 7724                 clr r7
 7915                   .L634:
 7916 4460 E090 0000            lds r14,Looping_Roll
 7917 4464 EE20                 tst r14
 7918 4466 01F4                 brne .L635
 7919 4468 8091 0000            lds r24,IntegralFaktor
 7920 446c 282F                 mov r18,r24
 7921 446e 3327                 clr r19
 7922 4470 4427                 clr r20
 7923 4472 5527                 clr r21
 7924 4474 8091 0000            lds r24,IntegralRoll
 7925 4478 9091 0000            lds r25,(IntegralRoll)+1
 7926 447c A091 0000            lds r26,(IntegralRoll)+2
 7927 4480 B091 0000            lds r27,(IntegralRoll)+3
 7928 4484 BC01                 movw r22,r24
 7929 4486 CD01                 movw r24,r26
 7930 4488 0E94 0000            call __mulsi3
 7931 448c DC01                 movw r26,r24
 7932 448e CB01                 movw r24,r22
 7933 4490 BC01                 movw r22,r24
 7934 4492 CD01                 movw r24,r26
 7935 4494 28EF                 ldi r18,lo8(11000)
 7936 4496 3AE2                 ldi r19,hi8(11000)
 7937 4498 40E0                 ldi r20,hlo8(11000)
 7938 449a 50E0                 ldi r21,hhi8(11000)
 7939 449c 0E94 0000            call __divmodsi4
 7940 44a0 2901                 movw r4,r18
 7941 44a2 00C0                 rjmp .L636
 7942                   .L635:
 7943 44a4 4424                 clr r4
 7944 44a6 5524                 clr r5
 7945                   .L636:
 7946 44a8 8091 0000            lds r24,TrimNick
 7947 44ac 9091 0000            lds r25,(TrimNick)+1
 7948 44b0 893C                 cpi r24,201
 7949 44b2 9105                 cpc r25,__zero_reg__
 7950 44b4 04F0                 brlt .L637
 7951 44b6 88EC                 ldi r24,lo8(200)
 7952 44b8 90E0                 ldi r25,hi8(200)
 7953 44ba 00C0                 rjmp .L894
 7954                   .L637:
 7955 44bc 8853                 subi r24,lo8(-200)
 7956 44be 9F4F                 sbci r25,hi8(-200)
 7957 44c0 04F4                 brge .L638
 7958 44c2 88E3                 ldi r24,lo8(-200)
 7959 44c4 9FEF                 ldi r25,hi8(-200)
 7960                   .L894:
 7961 44c6 9093 0000            sts (TrimNick)+1,r25
 7962 44ca 8093 0000            sts TrimNick,r24
 7963                   .L638:
 7964 44ce 8091 0000            lds r24,TrimRoll
 7965 44d2 9091 0000            lds r25,(TrimRoll)+1
 7966 44d6 893C                 cpi r24,201
 7967 44d8 9105                 cpc r25,__zero_reg__
 7968 44da 04F0                 brlt .L640
 7969 44dc 88EC                 ldi r24,lo8(200)
 7970 44de 90E0                 ldi r25,hi8(200)
 7971 44e0 00C0                 rjmp .L895
 7972                   .L640:
 7973 44e2 8853                 subi r24,lo8(-200)
 7974 44e4 9F4F                 sbci r25,hi8(-200)
 7975 44e6 04F4                 brge .L641
 7976 44e8 88E3                 ldi r24,lo8(-200)
 7977 44ea 9FEF                 ldi r25,hi8(-200)
 7978                   .L895:
 7979 44ec 9093 0000            sts (TrimRoll)+1,r25
 7980 44f0 8093 0000            sts TrimRoll,r24
 7981                   .L641:
 7982 44f4 8091 0000            lds r24,MesswertNick
 7983 44f8 9091 0000            lds r25,(MesswertNick)+1
 7984 44fc AA27                 clr r26
 7985 44fe 97FD                 sbrc r25,7
 7986 4500 A095                 com r26
 7987 4502 BA2F                 mov r27,r26
 7988 4504 2091 0000            lds r18,GyroFaktor
 7989 4508 A22E                 mov r10,r18
 7990 450a BB24                 clr r11
 7991 450c CC24                 clr r12
 7992 450e DD24                 clr r13
 7993 4510 BC01                 movw r22,r24
 7994 4512 CD01                 movw r24,r26
 7995 4514 A601                 movw r20,r12
 7996 4516 9501                 movw r18,r10
 7997 4518 0E94 0000            call __mulsi3
 7998 451c 9B01                 movw r18,r22
 7999 451e AC01                 movw r20,r24
 8000 4520 8091 0000            lds r24,TrimNick
 8001 4524 9091 0000            lds r25,(TrimNick)+1
 8002 4528 AA27                 clr r26
 8003 452a 97FD                 sbrc r25,7
 8004 452c A095                 com r26
 8005 452e BA2F                 mov r27,r26
 8006 4530 E7E0                 ldi r30,7
 8007 4532 880F         1:      lsl r24
 8008 4534 991F                 rol r25
 8009 4536 AA1F                 rol r26
 8010 4538 BB1F                 rol r27
 8011 453a EA95                 dec r30
 8012 453c 01F4                 brne 1b
 8013 453e 280F                 add r18,r24
 8014 4540 391F                 adc r19,r25
 8015 4542 4A1F                 adc r20,r26
 8016 4544 5B1F                 adc r21,r27
 8017 4546 57FF                 sbrs r21,7
 8018 4548 00C0                 rjmp .L643
 8019 454a 215C                 subi r18,lo8(-(63))
 8020 454c 3F4F                 sbci r19,hi8(-(63))
 8021 454e 4F4F                 sbci r20,hlo8(-(63))
 8022 4550 5F4F                 sbci r21,hhi8(-(63))
 8023                   .L643:
 8024 4552 76E0                 ldi r23,6
 8025 4554 5595         1:      asr r21
 8026 4556 4795                 ror r20
 8027 4558 3795                 ror r19
 8028 455a 2795                 ror r18
 8029 455c 7A95                 dec r23
 8030 455e 01F4                 brne 1b
 8031 4560 8301                 movw r16,r6
 8032 4562 020F                 add r16,r18
 8033 4564 131F                 adc r17,r19
 8034 4566 1093 0000            sts (MesswertNick)+1,r17
 8035 456a 0093 0000            sts MesswertNick,r16
 8036 456e 8091 0000            lds r24,MesswertRoll
 8037 4572 9091 0000            lds r25,(MesswertRoll)+1
 8038 4576 AA27                 clr r26
 8039 4578 97FD                 sbrc r25,7
 8040 457a A095                 com r26
 8041 457c BA2F                 mov r27,r26
 8042 457e BC01                 movw r22,r24
 8043 4580 CD01                 movw r24,r26
 8044 4582 A601                 movw r20,r12
 8045 4584 9501                 movw r18,r10
 8046 4586 0E94 0000            call __mulsi3
 8047 458a 9B01                 movw r18,r22
 8048 458c AC01                 movw r20,r24
 8049 458e 8091 0000            lds r24,TrimRoll
 8050 4592 9091 0000            lds r25,(TrimRoll)+1
 8051 4596 AA27                 clr r26
 8052 4598 97FD                 sbrc r25,7
 8053 459a A095                 com r26
 8054 459c BA2F                 mov r27,r26
 8055 459e 67E0                 ldi r22,7
 8056 45a0 880F         1:      lsl r24
 8057 45a2 991F                 rol r25
 8058 45a4 AA1F                 rol r26
 8059 45a6 BB1F                 rol r27
 8060 45a8 6A95                 dec r22
 8061 45aa 01F4                 brne 1b
 8062 45ac 280F                 add r18,r24
 8063 45ae 391F                 adc r19,r25
 8064 45b0 4A1F                 adc r20,r26
 8065 45b2 5B1F                 adc r21,r27
 8066 45b4 57FF                 sbrs r21,7
 8067 45b6 00C0                 rjmp .L644
 8068 45b8 215C                 subi r18,lo8(-(63))
 8069 45ba 3F4F                 sbci r19,hi8(-(63))
 8070 45bc 4F4F                 sbci r20,hlo8(-(63))
 8071 45be 5F4F                 sbci r21,hhi8(-(63))
 8072                   .L644:
 8073 45c0 F6E0                 ldi r31,6
 8074 45c2 5595         1:      asr r21
 8075 45c4 4795                 ror r20
 8076 45c6 3795                 ror r19
 8077 45c8 2795                 ror r18
 8078 45ca FA95                 dec r31
 8079 45cc 01F4                 brne 1b
 8080 45ce 4201                 movw r8,r4
 8081 45d0 820E                 add r8,r18
 8082 45d2 931E                 adc r9,r19
 8083 45d4 9092 0000            sts (MesswertRoll)+1,r9
 8084 45d8 8092 0000            sts MesswertRoll,r8
 8085 45dc 8091 0000            lds r24,MesswertGier
 8086 45e0 9091 0000            lds r25,(MesswertGier)+1
 8087 45e4 880F                 add r24,r24
 8088 45e6 991F                 adc r25,r25
 8089 45e8 AA27                 clr r26
 8090 45ea 97FD                 sbrc r25,7
 8091 45ec A095                 com r26
 8092 45ee BA2F                 mov r27,r26
 8093 45f0 2091 0000            lds r18,GyroFaktorGier
 8094 45f4 3327                 clr r19
 8095 45f6 4427                 clr r20
 8096 45f8 5527                 clr r21
 8097 45fa BC01                 movw r22,r24
 8098 45fc CD01                 movw r24,r26
 8099 45fe 0E94 0000            call __mulsi3
 8100 4602 5B01                 movw r10,r22
 8101 4604 6C01                 movw r12,r24
 8102 4606 97FF                 sbrs r25,7
 8103 4608 00C0                 rjmp .L645
 8104 460a 2FE3                 ldi r18,lo8(63)
 8105 460c 30E0                 ldi r19,hi8(63)
 8106 460e 40E0                 ldi r20,hlo8(63)
 8107 4610 50E0                 ldi r21,hhi8(63)
 8108 4612 A20E                 add r10,r18
 8109 4614 B31E                 adc r11,r19
 8110 4616 C41E                 adc r12,r20
 8111 4618 D51E                 adc r13,r21
 8112                   .L645:
 8113 461a E6E0                 ldi r30,6
 8114 461c D594         1:      asr r13
 8115 461e C794                 ror r12
 8116 4620 B794                 ror r11
 8117 4622 A794                 ror r10
 8118 4624 EA95                 dec r30
 8119 4626 01F4                 brne 1b
 8120 4628 8091 0000            lds r24,IntegralFaktorGier
 8121 462c 282F                 mov r18,r24
 8122 462e 3327                 clr r19
 8123 4630 4427                 clr r20
 8124 4632 5527                 clr r21
 8125 4634 8091 0000            lds r24,Integral_Gier
 8126 4638 9091 0000            lds r25,(Integral_Gier)+1
 8127 463c A091 0000            lds r26,(Integral_Gier)+2
 8128 4640 B091 0000            lds r27,(Integral_Gier)+3
 8129 4644 BC01                 movw r22,r24
 8130 4646 CD01                 movw r24,r26
 8131 4648 0E94 0000            call __mulsi3
 8132 464c DC01                 movw r26,r24
 8133 464e CB01                 movw r24,r22
 8134 4650 BC01                 movw r22,r24
 8135 4652 CD01                 movw r24,r26
 8136 4654 20EF                 ldi r18,lo8(22000)
 8137 4656 35E5                 ldi r19,hi8(22000)
 8138 4658 40E0                 ldi r20,hlo8(22000)
 8139 465a 50E0                 ldi r21,hhi8(22000)
 8140 465c 0E94 0000            call __divmodsi4
 8141 4660 B501                 movw r22,r10
 8142 4662 620F                 add r22,r18
 8143 4664 731F                 adc r23,r19
 8144 4666 7093 0000            sts (MesswertGier)+1,r23
 8145 466a 6093 0000            sts MesswertGier,r22
 8146 466e 0150                 subi r16,lo8(4097)
 8147 4670 1041                 sbci r17,hi8(4097)
 8148 4672 04F0                 brlt .L646
 8149 4674 80E0                 ldi r24,lo8(4096)
 8150 4676 90E1                 ldi r25,hi8(4096)
 8151 4678 9093 0000            sts (MesswertNick)+1,r25
 8152 467c 8093 0000            sts MesswertNick,r24
 8153                   .L646:
 8154 4680 8091 0000            lds r24,MesswertNick
 8155 4684 9091 0000            lds r25,(MesswertNick)+1
 8156 4688 8050                 subi r24,lo8(-4096)
 8157 468a 904F                 sbci r25,hi8(-4096)
 8158 468c 04F4                 brge .L647
 8159 468e 80E0                 ldi r24,lo8(-4096)
 8160 4690 90EF                 ldi r25,hi8(-4096)
 8161 4692 9093 0000            sts (MesswertNick)+1,r25
 8162 4696 8093 0000            sts MesswertNick,r24
 8163                   .L647:
 8164 469a 51E0                 ldi r21,lo8(4097)
 8165 469c 8516                 cp r8,r21
 8166 469e 50E1                 ldi r21,hi8(4097)
 8167 46a0 9506                 cpc r9,r21
 8168 46a2 04F0                 brlt .L648
 8169 46a4 80E0                 ldi r24,lo8(4096)
 8170 46a6 90E1                 ldi r25,hi8(4096)
 8171 46a8 9093 0000            sts (MesswertRoll)+1,r25
 8172 46ac 8093 0000            sts MesswertRoll,r24
 8173                   .L648:
 8174 46b0 8091 0000            lds r24,MesswertRoll
 8175 46b4 9091 0000            lds r25,(MesswertRoll)+1
 8176 46b8 8050                 subi r24,lo8(-4096)
 8177 46ba 904F                 sbci r25,hi8(-4096)
 8178 46bc 04F4                 brge .L649
 8179 46be 80E0                 ldi r24,lo8(-4096)
 8180 46c0 90EF                 ldi r25,hi8(-4096)
 8181 46c2 9093 0000            sts (MesswertRoll)+1,r25
 8182 46c6 8093 0000            sts MesswertRoll,r24
 8183                   .L649:
 8184 46ca 6150                 subi r22,lo8(4097)
 8185 46cc 7041                 sbci r23,hi8(4097)
 8186 46ce 04F0                 brlt .L650
 8187 46d0 80E0                 ldi r24,lo8(4096)
 8188 46d2 90E1                 ldi r25,hi8(4096)
 8189 46d4 9093 0000            sts (MesswertGier)+1,r25
 8190 46d8 8093 0000            sts MesswertGier,r24
 8191                   .L650:
 8192 46dc 8091 0000            lds r24,MesswertGier
 8193 46e0 9091 0000            lds r25,(MesswertGier)+1
 8194 46e4 8050                 subi r24,lo8(-4096)
 8195 46e6 904F                 sbci r25,hi8(-4096)
 8196 46e8 04F4                 brge .L651
 8197 46ea 80E0                 ldi r24,lo8(-4096)
 8198 46ec 90EF                 ldi r25,hi8(-4096)
 8199 46ee 9093 0000            sts (MesswertGier)+1,r25
 8200 46f2 8093 0000            sts MesswertGier,r24
 8201                   .L651:
 8202 46f6 8091 0000            lds r24,BattLowVoltageWarning
 8203 46fa 482F                 mov r20,r24
 8204 46fc 5527                 clr r21
 8205 46fe 8091 0000            lds r24,UBat
 8206 4702 9091 0000            lds r25,(UBat)+1
 8207 4706 4817                 cp r20,r24
 8208 4708 5907                 cpc r21,r25
 8209 470a 04F4                 brge .L652
 8210 470c 2091 0000            lds r18,UBat
 8211 4710 3091 0000            lds r19,(UBat)+1
 8212 4714 0981                 ldd r16,Y+1
 8213 4716 1A81                 ldd r17,Y+2
 8214 4718 049F                 mul r16,r20
 8215 471a C001                 movw r24,r0
 8216 471c 059F                 mul r16,r21
 8217 471e 900D                 add r25,r0
 8218 4720 149F                 mul r17,r20
 8219 4722 900D                 add r25,r0
 8220 4724 1124                 clr r1
 8221 4726 B901                 movw r22,r18
 8222 4728 0E94 0000            call __udivmodhi4
 8223 472c 7A83                 std Y+2,r23
 8224 472e 6983                 std Y+1,r22
 8225                   .L652:
 8226 4730 2981                 ldd r18,Y+1
 8227 4732 3A81                 ldd r19,Y+2
 8228 4734 220F                 lsl r18
 8229 4736 331F                 rol r19
 8230 4738 220F                 lsl r18
 8231 473a 331F                 rol r19
 8232 473c 3A83                 std Y+2,r19
 8233 473e 2983                 std Y+1,r18
 8234 4740 4091 0000            lds r20,Parameter_GlobalConfig
 8235 4744 40FD                 sbrc r20,0
 8236 4746 00C0                 rjmp .+4
 8237 4748 0C94 0000            jmp .L653
 8238 474c EE20                 tst r14
 8239 474e 01F0                 breq .+4
 8240 4750 0C94 0000            jmp .L653
 8241 4754 FF20                 tst r15
 8242 4756 01F0                 breq .+4
 8243 4758 0C94 0000            jmp .L653
 8244 475c 00E0                 ldi r16,lo8(0)
 8245 475e 10E0                 ldi r17,hi8(0)
 8246 4760 4801                 movw r8,r16
 8247 4762 8091 0000            lds r24,HoverGas
 8248 4766 9091 0000            lds r25,(HoverGas)+1
 8249 476a 9093 0000            sts (DebugOut+44)+1,r25
 8250 476e 8093 0000            sts DebugOut+44,r24
 8251 4772 2091 0000            lds r18,BaroExpandActive
 8252 4776 3091 0000            lds r19,(BaroExpandActive)+1
 8253 477a 2115                 cp r18,__zero_reg__
 8254 477c 3105                 cpc r19,__zero_reg__
 8255 477e 01F0                 breq .+2
 8256 4780 00C0                 rjmp .L654
 8257 4782 8091 0000            lds r24,MessLuftdruck
 8258 4786 9091 0000            lds r25,(MessLuftdruck)+1
 8259 478a 8959                 subi r24,lo8(921)
 8260 478c 9340                 sbci r25,hi8(921)
 8261 478e 00F0                 brlo .L655
 8262 4790 87B5                 in r24,71-0x20
 8263 4792 803F                 cpi r24,lo8(-16)
 8264 4794 00F4                 brsh .L656
 8265 4796 8091 0000            lds r24,ExpandBaro
 8266 479a 8150                 subi r24,lo8(-(-1))
 8267 479c 00C0                 rjmp .L896
 8268                   .L656:
 8269 479e 81E0                 ldi r24,lo8(1)
 8270 47a0 8093 0000            sts BaroAtLowerLimit.26,r24
 8271 47a4 00C0                 rjmp .L663
 8272                   .L655:
 8273 47a6 8091 0000            lds r24,MessLuftdruck
 8274 47aa 9091 0000            lds r25,(MessLuftdruck)+1
 8275 47ae 8436                 cpi r24,100
 8276 47b0 9105                 cpc r25,__zero_reg__
 8277 47b2 00F4                 brsh .L659
 8278 47b4 87B5                 in r24,71-0x20
 8279 47b6 8031                 cpi r24,lo8(16)
 8280 47b8 00F0                 brlo .L660
 8281 47ba 8091 0000            lds r24,ExpandBaro
 8282 47be 8F5F                 subi r24,lo8(-(1))
 8283                   .L896:
 8284 47c0 8093 0000            sts ExpandBaro,r24
 8285 47c4 9FE0                 ldi r25,lo8(15)
 8286 47c6 8902                 muls r24,r25
 8287 47c8 9001                 movw r18,r0
 8288 47ca 1124                 clr r1
 8289 47cc 8091 0000            lds r24,DruckOffsetSetting
 8290 47d0 821B                 sub r24,r18
 8291 47d2 87BD                 out 71-0x20,r24
 8292 47d4 8CE2                 ldi r24,lo8(300)
 8293 47d6 91E0                 ldi r25,hi8(300)
 8294 47d8 9093 0000            sts (beeptime)+1,r25
 8295 47dc 8093 0000            sts beeptime,r24
 8296 47e0 8EE5                 ldi r24,lo8(350)
 8297 47e2 91E0                 ldi r25,hi8(350)
 8298 47e4 9093 0000            sts (BaroExpandActive)+1,r25
 8299 47e8 8093 0000            sts BaroExpandActive,r24
 8300 47ec 00C0                 rjmp .L663
 8301                   .L660:
 8302 47ee 81E0                 ldi r24,lo8(1)
 8303 47f0 8093 0000            sts BaroAtUpperLimit.25,r24
 8304 47f4 00C0                 rjmp .L663
 8305                   .L659:
 8306 47f6 F092 0000            sts BaroAtUpperLimit.25,r15
 8307 47fa F092 0000            sts BaroAtLowerLimit.26,r15
 8308 47fe 00C0                 rjmp .L663
 8309                   .L654:
 8310 4800 8091 0000            lds r24,HoehenWert
 8311 4804 9091 0000            lds r25,(HoehenWert)+1
 8312 4808 A091 0000            lds r26,(HoehenWert)+2
 8313 480c B091 0000            lds r27,(HoehenWert)+3
 8314 4810 64E0                 ldi r22,4
 8315 4812 880F         1:      lsl r24
 8316 4814 991F                 rol r25
 8317 4816 AA1F                 rol r26
 8318 4818 BB1F                 rol r27
 8319 481a 6A95                 dec r22
 8320 481c 01F4                 brne 1b
 8321 481e 8093 0000            sts SummenHoehe,r24
 8322 4822 9093 0000            sts (SummenHoehe)+1,r25
 8323 4826 A093 0000            sts (SummenHoehe)+2,r26
 8324 482a B093 0000            sts (SummenHoehe)+3,r27
 8325 482e 1093 0000            sts (VarioMeter)+1,r17
 8326 4832 0093 0000            sts VarioMeter,r16
 8327 4836 2150                 subi r18,lo8(-(-1))
 8328 4838 3040                 sbci r19,hi8(-(-1))
 8329 483a 3093 0000            sts (BaroExpandActive)+1,r19
 8330 483e 2093 0000            sts BaroExpandActive,r18
 8331                   .L663:
 8332 4842 2091 0000            lds r18,Parameter_HoehenSchalter
 8333 4846 41FF                 sbrs r20,1
 8334 4848 00C0                 rjmp .L664
 8335 484a 2233                 cpi r18,lo8(50)
 8336 484c 00F4                 brsh .L665
 8337 484e 8091 0000            lds r24,delay.24
 8338 4852 8150                 subi r24,lo8(-(-1))
 8339 4854 8093 0000            sts delay.24,r24
 8340 4858 8F3F                 cpi r24,lo8(-1)
 8341 485a 01F0                 breq .+2
 8342 485c 00C0                 rjmp .L671
 8343 485e 8091 0000            lds r24,SpeakHoTT
 8344 4862 8823                 tst r24
 8345 4864 01F4                 brne .L667
 8346 4866 8091 0000            lds r24,HoehenReglerAktiv
 8347 486a 8823                 tst r24
 8348 486c 01F0                 breq .L667
 8349 486e 88E2                 ldi r24,lo8(40)
 8350 4870 8093 0000            sts SpeakHoTT,r24
 8351                   .L667:
 8352 4874 1092 0000            sts HoehenReglerAktiv,__zero_reg__
 8353 4878 8091 0000            lds r24,HoehenWert
 8354 487c 9091 0000            lds r25,(HoehenWert)+1
 8355 4880 A091 0000            lds r26,(HoehenWert)+2
 8356 4884 B091 0000            lds r27,(HoehenWert)+3
 8357 4888 8093 0000            sts SollHoehe,r24
 8358 488c 9093 0000            sts (SollHoehe)+1,r25
 8359 4890 A093 0000            sts (SollHoehe)+2,r26
 8360 4894 B093 0000            sts (SollHoehe)+3,r27
 8361 4898 81E0                 ldi r24,lo8(1)
 8362 489a 8093 0000            sts delay.24,r24
 8363 489e 00C0                 rjmp .L671
 8364                   .L665:
 8365 48a0 2734                 cpi r18,lo8(71)
 8366 48a2 00F0                 brlo .L671
 8367 48a4 8091 0000            lds r24,SpeakHoTT
 8368 48a8 8823                 tst r24
 8369 48aa 01F4                 brne .L670
 8370 48ac 8091 0000            lds r24,HoehenReglerAktiv
 8371 48b0 8823                 tst r24
 8372 48b2 01F4                 brne .L670
 8373 48b4 87E2                 ldi r24,lo8(39)
 8374 48b6 8093 0000            sts SpeakHoTT,r24
 8375                   .L670:
 8376 48ba 88EC                 ldi r24,lo8(-56)
 8377 48bc 8093 0000            sts delay.24,r24
 8378 48c0 00C0                 rjmp .L897
 8379                   .L664:
 8380 48c2 8091 0000            lds r24,ExternHoehenValue
 8381 48c6 9091 0000            lds r25,(ExternHoehenValue)+1
 8382 48ca 820F                 add r24,r18
 8383 48cc 911D                 adc r25,__zero_reg__
 8384 48ce 2091 0000            lds r18,EE_Parameter+18
 8385 48d2 3327                 clr r19
 8386 48d4 829F                 mul r24,r18
 8387 48d6 A001                 movw r20,r0
 8388 48d8 839F                 mul r24,r19
 8389 48da 500D                 add r21,r0
 8390 48dc 929F                 mul r25,r18
 8391 48de 500D                 add r21,r0
 8392 48e0 1124                 clr r1
 8393 48e2 CA01                 movw r24,r20
 8394 48e4 AA27                 clr r26
 8395 48e6 97FD                 sbrc r25,7
 8396 48e8 A095                 com r26
 8397 48ea BA2F                 mov r27,r26
 8398 48ec 8093 0000            sts SollHoehe,r24
 8399 48f0 9093 0000            sts (SollHoehe)+1,r25
 8400 48f4 A093 0000            sts (SollHoehe)+2,r26
 8401 48f8 B093 0000            sts (SollHoehe)+3,r27
 8402                   .L897:
 8403 48fc 81E0                 ldi r24,lo8(1)
 8404 48fe 8093 0000            sts HoehenReglerAktiv,r24
 8405                   .L671:
 8406 4902 8091 0000            lds r24,IntegralNick
 8407 4906 9091 0000            lds r25,(IntegralNick)+1
 8408 490a A091 0000            lds r26,(IntegralNick)+2
 8409 490e B091 0000            lds r27,(IntegralNick)+3
 8410 4912 E090 0000            lds r14,GIER_GRAD_FAKTOR
 8411 4916 F090 0000            lds r15,(GIER_GRAD_FAKTOR)+1
 8412 491a 0091 0000            lds r16,(GIER_GRAD_FAKTOR)+2
 8413 491e 1091 0000            lds r17,(GIER_GRAD_FAKTOR)+3
 8414 4922 BC01                 movw r22,r24
 8415 4924 CD01                 movw r24,r26
 8416 4926 A801                 movw r20,r16
 8417 4928 9701                 movw r18,r14
 8418 492a 0E94 0000            call __divmodsi4
 8419 492e 5901                 movw r10,r18
 8420 4930 6A01                 movw r12,r20
 8421 4932 8091 0000            lds r24,IntegralRoll
 8422 4936 9091 0000            lds r25,(IntegralRoll)+1
 8423 493a A091 0000            lds r26,(IntegralRoll)+2
 8424 493e B091 0000            lds r27,(IntegralRoll)+3
 8425 4942 BC01                 movw r22,r24
 8426 4944 CD01                 movw r24,r26
 8427 4946 A801                 movw r20,r16
 8428 4948 9701                 movw r18,r14
 8429 494a 0E94 0000            call __divmodsi4
 8430 494e B901                 movw r22,r18
 8431 4950 C501                 movw r24,r10
 8432 4952 0E94 0000            call ihypot
 8433 4956 5C01                 movw r10,r24
 8434 4958 CC97                 sbiw r24,60
 8435 495a 04F0                 brlt .L672
 8436 495c 5CE3                 ldi r21,lo8(60)
 8437 495e A52E                 mov r10,r21
 8438 4960 B12C                 mov r11,__zero_reg__
 8439                   .L672:
 8440 4962 C501                 movw r24,r10
 8441 4964 0E94 0000            call c_cos_8192
 8442 4968 5C01                 movw r10,r24
 8443 496a 80E2                 ldi r24,lo8(32)
 8444 496c 8093 0000            sts VarioCharacter,r24
 8445 4970 1092 0000            sts (AltitudeSetpointTrimming)+1,__zero_reg__
 8446 4974 1092 0000            sts AltitudeSetpointTrimming,__zero_reg__
 8447 4978 8091 0000            lds r24,HoehenReglerAktiv
 8448 497c 8823                 tst r24
 8449 497e 01F4                 brne .+2
 8450 4980 00C0                 rjmp .L673
 8451 4982 8091 0000            lds r24,FC_StatusFlags
 8452 4986 9927                 clr r25
 8453 4988 9C01                 movw r18,r24
 8454 498a 2071                 andi r18,lo8(16)
 8455 498c 3070                 andi r19,hi8(16)
 8456 498e 84FD                 sbrc r24,4
 8457 4990 00C0                 rjmp .L673
 8458 4992 8091 0000            lds r24,FC_StatusFlags2
 8459 4996 8260                 ori r24,lo8(2)
 8460 4998 8093 0000            sts FC_StatusFlags2,r24
 8461 499c 7091 0000            lds r23,Parameter_ExtraConfig
 8462 49a0 872F                 mov r24,r23
 8463 49a2 9927                 clr r25
 8464 49a4 41E0                 ldi r20,lo8(1)
 8465 49a6 C42E                 mov r12,r20
 8466 49a8 D12C                 mov r13,__zero_reg__
 8467 49aa C822                 and r12,r24
 8468 49ac D922                 and r13,r25
 8469 49ae 80FD                 sbrc r24,0
 8470 49b0 00C0                 rjmp .L675
 8471 49b2 8091 0000            lds r24,Parameter_GlobalConfig
 8472 49b6 81FD                 sbrc r24,1
 8473 49b8 00C0                 rjmp .L674
 8474                   .L675:
 8475 49ba C980                 ldd r12,Y+1
 8476 49bc DA80                 ldd r13,Y+2
 8477 49be 3093 0000            sts (HeightTrimming.21)+1,r19
 8478 49c2 2093 0000            sts HeightTrimming.21,r18
 8479 49c6 3093 0000            sts (AltitudeSetpointTrimming)+1,r19
 8480 49ca 2093 0000            sts AltitudeSetpointTrimming,r18
 8481 49ce 8091 0000            lds r24,FC_StatusFlags
 8482 49d2 806C                 ori r24,lo8(-64)
 8483 49d4 8093 0000            sts FC_StatusFlags,r24
 8484 49d8 00C0                 rjmp .L676
 8485                   .L674:
 8486 49da 8091 0000            lds r24,FC_StatusFlags
 8487 49de 81FF                 sbrs r24,1
 8488 49e0 00C0                 rjmp .L677
 8489 49e2 0091 0000            lds r16,StickGasHover
 8490 49e6 1091 0000            lds r17,(StickGasHover)+1
 8491 49ea C801                 movw r24,r16
 8492 49ec 0F96                 adiw r24,15
 8493 49ee 2090 0000            lds r2,StickGas
 8494 49f2 3090 0000            lds r3,(StickGas)+1
 8495 49f6 8215                 cp r24,r2
 8496 49f8 9305                 cpc r25,r3
 8497 49fa 04F0                 brlt .+2
 8498 49fc 00C0                 rjmp .L678
 8499 49fe 8091 0000            lds r24,BaroAtUpperLimit.25
 8500 4a02 8823                 tst r24
 8501 4a04 01F0                 breq .+2
 8502 4a06 00C0                 rjmp .L678
 8503 4a08 8091 0000            lds r24,FC_StatusFlags
 8504 4a0c 87FF                 sbrs r24,7
 8505 4a0e 00C0                 rjmp .L679
 8506 4a10 8091 0000            lds r24,FC_StatusFlags
 8507 4a14 8F77                 andi r24,lo8(127)
 8508 4a16 8093 0000            sts FC_StatusFlags,r24
 8509 4a1a 8091 0000            lds r24,HoehenWert
 8510 4a1e 9091 0000            lds r25,(HoehenWert)+1
 8511 4a22 A091 0000            lds r26,(HoehenWert)+2
 8512 4a26 B091 0000            lds r27,(HoehenWert)+3
 8513 4a2a 8093 0000            sts SollHoehe,r24
 8514 4a2e 9093 0000            sts (SollHoehe)+1,r25
 8515 4a32 A093 0000            sts (SollHoehe)+2,r26
 8516 4a36 B093 0000            sts (SollHoehe)+3,r27
 8517                   .L679:
 8518 4a3a 8091 0000            lds r24,FC_StatusFlags
 8519 4a3e 8064                 ori r24,lo8(64)
 8520 4a40 8093 0000            sts FC_StatusFlags,r24
 8521 4a44 E090 0000            lds r14,Parameter_MaximumAltitude
 8522 4a48 EE20                 tst r14
 8523 4a4a 01F0                 breq .L680
 8524 4a4c 8091 0000            lds r24,SollHoehe
 8525 4a50 9091 0000            lds r25,(SollHoehe)+1
 8526 4a54 A091 0000            lds r26,(SollHoehe)+2
 8527 4a58 B091 0000            lds r27,(SollHoehe)+3
 8528 4a5c BC01                 movw r22,r24
 8529 4a5e CD01                 movw r24,r26
 8530 4a60 24E6                 ldi r18,lo8(100)
 8531 4a62 30E0                 ldi r19,hi8(100)
 8532 4a64 40E0                 ldi r20,hlo8(100)
 8533 4a66 50E0                 ldi r21,hhi8(100)
 8534 4a68 0E94 0000            call __divmodsi4
 8535 4a6c 8E2D                 mov r24,r14
 8536 4a6e 9927                 clr r25
 8537 4a70 AA27                 clr r26
 8538 4a72 BB27                 clr r27
 8539 4a74 8217                 cp r24,r18
 8540 4a76 9307                 cpc r25,r19
 8541 4a78 A407                 cpc r26,r20
 8542 4a7a B507                 cpc r27,r21
 8543 4a7c 04F4                 brge .L680
 8544 4a7e D092 0000            sts (AltitudeSetpointTrimming)+1,r13
 8545 4a82 C092 0000            sts AltitudeSetpointTrimming,r12
 8546 4a86 00C0                 rjmp .L681
 8547                   .L680:
 8548 4a88 C101                 movw r24,r2
 8549 4a8a 801B                 sub r24,r16
 8550 4a8c 910B                 sbc r25,r17
 8551 4a8e 0F97                 sbiw r24,15
 8552 4a90 97FF                 sbrs r25,7
 8553 4a92 00C0                 rjmp .L682
 8554 4a94 9095                 com r25
 8555 4a96 8195                 neg r24
 8556 4a98 9F4F                 sbci r25,lo8(-1)
 8557                   .L682:
 8558 4a9a 9093 0000            sts (AltitudeSetpointTrimming)+1,r25
 8559 4a9e 8093 0000            sts AltitudeSetpointTrimming,r24
 8560 4aa2 8BE2                 ldi r24,lo8(43)
 8561 4aa4 8093 0000            sts VarioCharacter,r24
 8562                   .L681:
 8563 4aa8 1092 0000            sts WaypointTrimming,__zero_reg__
 8564 4aac 00C0                 rjmp .L683
 8565                   .L678:
 8566 4aae C801                 movw r24,r16
 8567 4ab0 0F97                 sbiw r24,15
 8568 4ab2 2816                 cp r2,r24
 8569 4ab4 3906                 cpc r3,r25
 8570 4ab6 04F4                 brge .L684
 8571 4ab8 2091 0000            lds r18,BaroAtLowerLimit.26
 8572 4abc 2223                 tst r18
 8573 4abe 01F4                 brne .L684
 8574 4ac0 8091 0000            lds r24,FC_StatusFlags
 8575 4ac4 86FF                 sbrs r24,6
 8576 4ac6 00C0                 rjmp .L685
 8577 4ac8 8091 0000            lds r24,FC_StatusFlags
 8578 4acc 8F7B                 andi r24,lo8(-65)
 8579 4ace 8093 0000            sts FC_StatusFlags,r24
 8580 4ad2 8091 0000            lds r24,HoehenWert
 8581 4ad6 9091 0000            lds r25,(HoehenWert)+1
 8582 4ada A091 0000            lds r26,(HoehenWert)+2
 8583 4ade B091 0000            lds r27,(HoehenWert)+3
 8584 4ae2 8093 0000            sts SollHoehe,r24
 8585 4ae6 9093 0000            sts (SollHoehe)+1,r25
 8586 4aea A093 0000            sts (SollHoehe)+2,r26
 8587 4aee B093 0000            sts (SollHoehe)+3,r27
 8588                   .L685:
 8589 4af2 8091 0000            lds r24,FC_StatusFlags
 8590 4af6 8068                 ori r24,lo8(-128)
 8591 4af8 8093 0000            sts FC_StatusFlags,r24
 8592 4afc C101                 movw r24,r2
 8593 4afe 801B                 sub r24,r16
 8594 4b00 910B                 sbc r25,r17
 8595 4b02 0F96                 adiw r24,15
 8596 4b04 97FF                 sbrs r25,7
 8597 4b06 00C0                 rjmp .L686
 8598 4b08 9095                 com r25
 8599 4b0a 8195                 neg r24
 8600 4b0c 9F4F                 sbci r25,lo8(-1)
 8601                   .L686:
 8602 4b0e 9095                 com r25
 8603 4b10 8195                 neg r24
 8604 4b12 9F4F                 sbci r25,lo8(-1)
 8605 4b14 9093 0000            sts (AltitudeSetpointTrimming)+1,r25
 8606 4b18 8093 0000            sts AltitudeSetpointTrimming,r24
 8607 4b1c 8DE2                 ldi r24,lo8(45)
 8608 4b1e 8093 0000            sts VarioCharacter,r24
 8609 4b22 2093 0000            sts WaypointTrimming,r18
 8610 4b26 00C0                 rjmp .L683
 8611                   .L684:
 8612 4b28 8DE3                 ldi r24,lo8(61)
 8613 4b2a 8093 0000            sts VarioCharacter,r24
 8614 4b2e 6091 0000            lds r22,FromNC_AltitudeSpeed
 8615 4b32 6623                 tst r22
 8616 4b34 01F0                 breq .L688
 8617 4b36 2091 0000            lds r18,FromNC_AltitudeSetpoint
 8618 4b3a 3091 0000            lds r19,(FromNC_AltitudeSetpoint)+1
 8619 4b3e 4091 0000            lds r20,(FromNC_AltitudeSetpoint)+2
 8620 4b42 5091 0000            lds r21,(FromNC_AltitudeSetpoint)+3
 8621 4b46 8091 0000            lds r24,SollHoehe
 8622 4b4a 9091 0000            lds r25,(SollHoehe)+1
 8623 4b4e A091 0000            lds r26,(SollHoehe)+2
 8624 4b52 B091 0000            lds r27,(SollHoehe)+3
 8625 4b56 8217                 cp r24,r18
 8626 4b58 9307                 cpc r25,r19
 8627 4b5a A407                 cpc r26,r20
 8628 4b5c B507                 cpc r27,r21
 8629 4b5e 04F4                 brge .L688
 8630 4b60 8091 0000            lds r24,FC_StatusFlags
 8631 4b64 8064                 ori r24,lo8(64)
 8632 4b66 8093 0000            sts FC_StatusFlags,r24
 8633 4b6a 862F                 mov r24,r22
 8634 4b6c 9927                 clr r25
 8635 4b6e 9093 0000            sts (AltitudeSetpointTrimming)+1,r25
 8636 4b72 8093 0000            sts AltitudeSetpointTrimming,r24
 8637 4b76 8AE0                 ldi r24,lo8(10)
 8638 4b78 8093 0000            sts WaypointTrimming,r24
 8639 4b7c 8EE5                 ldi r24,lo8(94)
 8640 4b7e 8093 0000            sts VarioCharacter,r24
 8641 4b82 8091 0000            lds r24,FC_StatusFlags
 8642 4b86 87FF                 sbrs r24,7
 8643 4b88 00C0                 rjmp .L683
 8644 4b8a 8091 0000            lds r24,FC_StatusFlags
 8645 4b8e 8F77                 andi r24,lo8(127)
 8646 4b90 00C0                 rjmp .L899
 8647                   .L688:
 8648 4b92 6623                 tst r22
 8649 4b94 01F4                 brne .+2
 8650 4b96 00C0                 rjmp .L691
 8651 4b98 2091 0000            lds r18,FromNC_AltitudeSetpoint
 8652 4b9c 3091 0000            lds r19,(FromNC_AltitudeSetpoint)+1
 8653 4ba0 4091 0000            lds r20,(FromNC_AltitudeSetpoint)+2
 8654 4ba4 5091 0000            lds r21,(FromNC_AltitudeSetpoint)+3
 8655 4ba8 8091 0000            lds r24,SollHoehe
 8656 4bac 9091 0000            lds r25,(SollHoehe)+1
 8657 4bb0 A091 0000            lds r26,(SollHoehe)+2
 8658 4bb4 B091 0000            lds r27,(SollHoehe)+3
 8659 4bb8 2817                 cp r18,r24
 8660 4bba 3907                 cpc r19,r25
 8661 4bbc 4A07                 cpc r20,r26
 8662 4bbe 5B07                 cpc r21,r27
 8663 4bc0 04F4                 brge .L691
 8664 4bc2 8091 0000            lds r24,FC_StatusFlags
 8665 4bc6 8068                 ori r24,lo8(-128)
 8666 4bc8 8093 0000            sts FC_StatusFlags,r24
 8667 4bcc 862F                 mov r24,r22
 8668 4bce 9927                 clr r25
 8669 4bd0 9095                 com r25
 8670 4bd2 8195                 neg r24
 8671 4bd4 9F4F                 sbci r25,lo8(-1)
 8672 4bd6 9093 0000            sts (AltitudeSetpointTrimming)+1,r25
 8673 4bda 8093 0000            sts AltitudeSetpointTrimming,r24
 8674 4bde 86EF                 ldi r24,lo8(-10)
 8675 4be0 8093 0000            sts WaypointTrimming,r24
 8676 4be4 86E7                 ldi r24,lo8(118)
 8677 4be6 8093 0000            sts VarioCharacter,r24
 8678 4bea 8091 0000            lds r24,FC_StatusFlags
 8679 4bee 86FF                 sbrs r24,6
 8680 4bf0 00C0                 rjmp .L683
 8681 4bf2 8091 0000            lds r24,FC_StatusFlags
 8682 4bf6 8F7B                 andi r24,lo8(-65)
 8683                   .L899:
 8684 4bf8 8093 0000            sts FC_StatusFlags,r24
 8685 4bfc 8091 0000            lds r24,HoehenWert
 8686 4c00 9091 0000            lds r25,(HoehenWert)+1
 8687 4c04 A091 0000            lds r26,(HoehenWert)+2
 8688 4c08 B091 0000            lds r27,(HoehenWert)+3
 8689 4c0c 8093 0000            sts SollHoehe,r24
 8690 4c10 9093 0000            sts (SollHoehe)+1,r25
 8691 4c14 A093 0000            sts (SollHoehe)+2,r26
 8692 4c18 B093 0000            sts (SollHoehe)+3,r27
 8693 4c1c 00C0                 rjmp .L683
 8694                   .L691:
 8695 4c1e 8091 0000            lds r24,FC_StatusFlags
 8696 4c22 807C                 andi r24,lo8(-64)
 8697 4c24 01F4                 brne .+2
 8698 4c26 00C0                 rjmp .L683
 8699 4c28 8091 0000            lds r24,WaypointTrimming
 8700 4c2c 8823                 tst r24
 8701 4c2e 01F4                 brne .L695
 8702 4c30 E090 0000            lds r14,HoehenWert
 8703 4c34 F090 0000            lds r15,(HoehenWert)+1
 8704 4c38 0091 0000            lds r16,(HoehenWert)+2
 8705 4c3c 1091 0000            lds r17,(HoehenWert)+3
 8706 4c40 D801                 movw r26,r16
 8707 4c42 C701                 movw r24,r14
 8708 4c44 8058                 subi r24,lo8(-(-128))
 8709 4c46 9040                 sbci r25,hi8(-(-128))
 8710 4c48 A040                 sbci r26,hlo8(-(-128))
 8711 4c4a B040                 sbci r27,hhi8(-(-128))
 8712 4c4c 2091 0000            lds r18,SollHoehe
 8713 4c50 3091 0000            lds r19,(SollHoehe)+1
 8714 4c54 4091 0000            lds r20,(SollHoehe)+2
 8715 4c58 5091 0000            lds r21,(SollHoehe)+3
 8716 4c5c 8217                 cp r24,r18
 8717 4c5e 9307                 cpc r25,r19
 8718 4c60 A407                 cpc r26,r20
 8719 4c62 B507                 cpc r27,r21
 8720 4c64 04F4                 brge .L898
 8721 4c66 D801                 movw r26,r16
 8722 4c68 C701                 movw r24,r14
 8723 4c6a 8058                 subi r24,lo8(-(128))
 8724 4c6c 9F4F                 sbci r25,hi8(-(128))
 8725 4c6e AF4F                 sbci r26,hlo8(-(128))
 8726 4c70 BF4F                 sbci r27,hhi8(-(128))
 8727 4c72 2817                 cp r18,r24
 8728 4c74 3907                 cpc r19,r25
 8729 4c76 4A07                 cpc r20,r26
 8730 4c78 5B07                 cpc r21,r27
 8731 4c7a 04F0                 brlt .L699
 8732                   .L898:
 8733 4c7c 8093 0000            sts SollHoehe,r24
 8734 4c80 9093 0000            sts (SollHoehe)+1,r25
 8735 4c84 A093 0000            sts (SollHoehe)+2,r26
 8736 4c88 B093 0000            sts (SollHoehe)+3,r27
 8737 4c8c 00C0                 rjmp .L699
 8738                   .L695:
 8739 4c8e 1092 0000            sts WaypointTrimming,__zero_reg__
 8740                   .L699:
 8741 4c92 8091 0000            lds r24,FC_StatusFlags
 8742 4c96 8F73                 andi r24,lo8(63)
 8743 4c98 8093 0000            sts FC_StatusFlags,r24
 8744 4c9c 1092 0000            sts (HeightTrimming.21)+1,__zero_reg__
 8745 4ca0 1092 0000            sts HeightTrimming.21,__zero_reg__
 8746 4ca4 71FF                 sbrs r23,1
 8747 4ca6 00C0                 rjmp .L700
 8748 4ca8 84EF                 ldi r24,lo8(500)
 8749 4caa 91E0                 ldi r25,hi8(500)
 8750 4cac 9093 0000            sts (beeptime)+1,r25
 8751 4cb0 8093 0000            sts beeptime,r24
 8752                   .L700:
 8753 4cb4 8091 0000            lds r24,StartTrigger
 8754 4cb8 8823                 tst r24
 8755 4cba 01F4                 brne .L683
 8756 4cbc 8091 0000            lds r24,HoehenWert
 8757 4cc0 9091 0000            lds r25,(HoehenWert)+1
 8758 4cc4 A091 0000            lds r26,(HoehenWert)+2
 8759 4cc8 B091 0000            lds r27,(HoehenWert)+3
 8760 4ccc C397                 sbiw r24,51
 8761 4cce A105                 cpc r26,__zero_reg__
 8762 4cd0 B105                 cpc r27,__zero_reg__
 8763 4cd2 04F0                 brlt .L683
 8764 4cd4 81E0                 ldi r24,lo8(1)
 8765 4cd6 8093 0000            sts StartTrigger,r24
 8766                   .L683:
 8767 4cda 6091 0000            lds r22,HeightTrimming.21
 8768 4cde 7091 0000            lds r23,(HeightTrimming.21)+1
 8769 4ce2 8091 0000            lds r24,AltitudeSetpointTrimming
 8770 4ce6 9091 0000            lds r25,(AltitudeSetpointTrimming)+1
 8771 4cea 680F                 add r22,r24
 8772 4cec 791F                 adc r23,r25
 8773 4cee 7093 0000            sts (HeightTrimming.21)+1,r23
 8774 4cf2 6093 0000            sts HeightTrimming.21,r22
 8775 4cf6 CB01                 movw r24,r22
 8776 4cf8 77FF                 sbrs r23,7
 8777 4cfa 00C0                 rjmp .L703
 8778 4cfc 8827                 clr r24
 8779 4cfe 9927                 clr r25
 8780 4d00 861B                 sub r24,r22
 8781 4d02 970B                 sbc r25,r23
 8782                   .L703:
 8783 4d04 855F                 subi r24,lo8(501)
 8784 4d06 9140                 sbci r25,hi8(501)
 8785 4d08 04F4                 brge .+2
 8786 4d0a 00C0                 rjmp .L702
 8787 4d0c 4091 0000            lds r20,WaypointTrimming
 8788 4d10 4423                 tst r20
 8789 4d12 01F0                 breq .L704
 8790 4d14 8091 0000            lds r24,FromNC_AltitudeSetpoint
 8791 4d18 9091 0000            lds r25,(FromNC_AltitudeSetpoint)+1
 8792 4d1c 2091 0000            lds r18,SollHoehe
 8793 4d20 3091 0000            lds r19,(SollHoehe)+1
 8794 4d24 821B                 sub r24,r18
 8795 4d26 930B                 sbc r25,r19
 8796 4d28 0996                 adiw r24,9
 8797 4d2a 4397                 sbiw r24,19
 8798 4d2c 00F4                 brsh .L705
 8799 4d2e 8091 0000            lds r24,FromNC_AltitudeSetpoint
 8800 4d32 9091 0000            lds r25,(FromNC_AltitudeSetpoint)+1
 8801 4d36 A091 0000            lds r26,(FromNC_AltitudeSetpoint)+2
 8802 4d3a B091 0000            lds r27,(FromNC_AltitudeSetpoint)+3
 8803 4d3e 00C0                 rjmp .L901
 8804                   .L705:
 8805 4d40 242F                 mov r18,r20
 8806 4d42 3327                 clr r19
 8807 4d44 27FD                 sbrc r18,7
 8808 4d46 3095                 com r19
 8809 4d48 432F                 mov r20,r19
 8810 4d4a 532F                 mov r21,r19
 8811 4d4c 8091 0000            lds r24,SollHoehe
 8812 4d50 9091 0000            lds r25,(SollHoehe)+1
 8813 4d54 A091 0000            lds r26,(SollHoehe)+2
 8814 4d58 B091 0000            lds r27,(SollHoehe)+3
 8815 4d5c 820F                 add r24,r18
 8816 4d5e 931F                 adc r25,r19
 8817 4d60 A41F                 adc r26,r20
 8818 4d62 B51F                 adc r27,r21
 8819                   .L901:
 8820 4d64 8093 0000            sts SollHoehe,r24
 8821 4d68 9093 0000            sts (SollHoehe)+1,r25
 8822 4d6c A093 0000            sts (SollHoehe)+2,r26
 8823 4d70 B093 0000            sts (SollHoehe)+3,r27
 8824 4d74 00C0                 rjmp .L707
 8825                   .L704:
 8826 4d76 8091 0000            lds r24,EE_Parameter+18
 8827 4d7a 2091 0000            lds r18,SollHoehe
 8828 4d7e 3091 0000            lds r19,(SollHoehe)+1
 8829 4d82 4091 0000            lds r20,(SollHoehe)+2
 8830 4d86 5091 0000            lds r21,(SollHoehe)+3
 8831 4d8a 1616                 cp __zero_reg__,r22
 8832 4d8c 1706                 cpc __zero_reg__,r23
 8833 4d8e 04F4                 brge .L708
 8834 4d90 63E0                 ldi r22,lo8(3)
 8835 4d92 0E94 0000            call __udivmodqi4
 8836 4d96 280F                 add r18,r24
 8837 4d98 311D                 adc r19,__zero_reg__
 8838 4d9a 411D                 adc r20,__zero_reg__
 8839 4d9c 511D                 adc r21,__zero_reg__
 8840 4d9e 00C0                 rjmp .L900
 8841                   .L708:
 8842 4da0 63E0                 ldi r22,lo8(3)
 8843 4da2 0E94 0000            call __udivmodqi4
 8844 4da6 281B                 sub r18,r24
 8845 4da8 3109                 sbc r19,__zero_reg__
 8846 4daa 4109                 sbc r20,__zero_reg__
 8847 4dac 5109                 sbc r21,__zero_reg__
 8848                   .L900:
 8849 4dae 2093 0000            sts SollHoehe,r18
 8850 4db2 3093 0000            sts (SollHoehe)+1,r19
 8851 4db6 4093 0000            sts (SollHoehe)+2,r20
 8852 4dba 5093 0000            sts (SollHoehe)+3,r21
 8853                   .L707:
 8854 4dbe 1092 0000            sts (HeightTrimming.21)+1,__zero_reg__
 8855 4dc2 1092 0000            sts HeightTrimming.21,__zero_reg__
 8856 4dc6 E090 0000            lds r14,HoehenWert
 8857 4dca F090 0000            lds r15,(HoehenWert)+1
 8858 4dce 0091 0000            lds r16,(HoehenWert)+2
 8859 4dd2 1091 0000            lds r17,(HoehenWert)+3
 8860 4dd6 D801                 movw r26,r16
 8861 4dd8 C701                 movw r24,r14
 8862 4dda 8050                 subi r24,lo8(-(-1024))
 8863 4ddc 9440                 sbci r25,hi8(-(-1024))
 8864 4dde A040                 sbci r26,hlo8(-(-1024))
 8865 4de0 B040                 sbci r27,hhi8(-(-1024))
 8866 4de2 2091 0000            lds r18,SollHoehe
 8867 4de6 3091 0000            lds r19,(SollHoehe)+1
 8868 4dea 4091 0000            lds r20,(SollHoehe)+2
 8869 4dee 5091 0000            lds r21,(SollHoehe)+3
 8870 4df2 8217                 cp r24,r18
 8871 4df4 9307                 cpc r25,r19
 8872 4df6 A407                 cpc r26,r20
 8873 4df8 B507                 cpc r27,r21
 8874 4dfa 04F4                 brge .L902
 8875 4dfc D801                 movw r26,r16
 8876 4dfe C701                 movw r24,r14
 8877 4e00 8050                 subi r24,lo8(-(1024))
 8878 4e02 9C4F                 sbci r25,hi8(-(1024))
 8879 4e04 AF4F                 sbci r26,hlo8(-(1024))
 8880 4e06 BF4F                 sbci r27,hhi8(-(1024))
 8881 4e08 2817                 cp r18,r24
 8882 4e0a 3907                 cpc r19,r25
 8883 4e0c 4A07                 cpc r20,r26
 8884 4e0e 5B07                 cpc r21,r27
 8885 4e10 04F0                 brlt .L711
 8886                   .L902:
 8887 4e12 8093 0000            sts SollHoehe,r24
 8888 4e16 9093 0000            sts (SollHoehe)+1,r25
 8889 4e1a A093 0000            sts (SollHoehe)+2,r26
 8890 4e1e B093 0000            sts (SollHoehe)+3,r27
 8891                   .L711:
 8892 4e22 8091 0000            lds r24,Parameter_ExtraConfig
 8893 4e26 81FF                 sbrs r24,1
 8894 4e28 00C0                 rjmp .L713
 8895 4e2a 84E6                 ldi r24,lo8(100)
 8896 4e2c 90E0                 ldi r25,hi8(100)
 8897 4e2e 9093 0000            sts (beeptime)+1,r25
 8898 4e32 8093 0000            sts beeptime,r24
 8899                   .L713:
 8900 4e36 8091 0000            lds r24,EE_Parameter+22
 8901 4e3a 8823                 tst r24
 8902 4e3c 01F4                 brne .L702
 8903 4e3e 8091 0000            lds r24,FromNC_AltitudeSpeed
 8904 4e42 8823                 tst r24
 8905 4e44 01F4                 brne .L702
 8906 4e46 4091 0000            lds r20,HoverGas
 8907 4e4a 5091 0000            lds r21,(HoverGas)+1
 8908 4e4e 57FF                 sbrs r21,7
 8909 4e50 00C0                 rjmp .L715
 8910 4e52 4D5F                 subi r20,lo8(-(3))
 8911 4e54 5F4F                 sbci r21,hi8(-(3))
 8912                   .L715:
 8913 4e56 5595                 asr r21
 8914 4e58 4795                 ror r20
 8915 4e5a 5595                 asr r21
 8916 4e5c 4795                 ror r20
 8917 4e5e 8091 0000            lds r24,UBat
 8918 4e62 9091 0000            lds r25,(UBat)+1
 8919 4e66 2091 0000            lds r18,BattLowVoltageWarning
 8920 4e6a 3327                 clr r19
 8921 4e6c 489F                 mul r20,r24
 8922 4e6e F001                 movw r30,r0
 8923 4e70 499F                 mul r20,r25
 8924 4e72 F00D                 add r31,r0
 8925 4e74 589F                 mul r21,r24
 8926 4e76 F00D                 add r31,r0
 8927 4e78 1124                 clr r1
 8928 4e7a CF01                 movw r24,r30
 8929 4e7c B901                 movw r22,r18
 8930 4e7e 0E94 0000            call __divmodhi4
 8931 4e82 7093 0000            sts (StickGasHover)+1,r23
 8932 4e86 6093 0000            sts StickGasHover,r22
 8933 4e8a 6634                 cpi r22,70
 8934 4e8c 7105                 cpc r23,__zero_reg__
 8935 4e8e 04F4                 brge .L716
 8936 4e90 86E4                 ldi r24,lo8(70)
 8937 4e92 90E0                 ldi r25,hi8(70)
 8938 4e94 00C0                 rjmp .L903
 8939                   .L716:
 8940 4e96 6739                 cpi r22,151
 8941 4e98 7105                 cpc r23,__zero_reg__
 8942 4e9a 04F0                 brlt .L702
 8943 4e9c 86E9                 ldi r24,lo8(150)
 8944 4e9e 90E0                 ldi r25,hi8(150)
 8945                   .L903:
 8946 4ea0 9093 0000            sts (StickGasHover)+1,r25
 8947 4ea4 8093 0000            sts StickGasHover,r24
 8948                   .L702:
 8949 4ea8 8091 0000            lds r24,BaroExpandActive
 8950 4eac 9091 0000            lds r25,(BaroExpandActive)+1
 8951 4eb0 892B                 or r24,r25
 8952 4eb2 01F0                 breq .L720
 8953 4eb4 8091 0000            lds r24,HoehenWert
 8954 4eb8 9091 0000            lds r25,(HoehenWert)+1
 8955 4ebc A091 0000            lds r26,(HoehenWert)+2
 8956 4ec0 B091 0000            lds r27,(HoehenWert)+3
 8957 4ec4 8093 0000            sts SollHoehe,r24
 8958 4ec8 9093 0000            sts (SollHoehe)+1,r25
 8959 4ecc A093 0000            sts (SollHoehe)+2,r26
 8960 4ed0 B093 0000            sts (SollHoehe)+3,r27
 8961 4ed4 00C0                 rjmp .L720
 8962                   .L677:
 8963 4ed6 8091 0000            lds r24,HoehenWert
 8964 4eda 9091 0000            lds r25,(HoehenWert)+1
 8965 4ede A091 0000            lds r26,(HoehenWert)+2
 8966 4ee2 B091 0000            lds r27,(HoehenWert)+3
 8967 4ee6 8059                 subi r24,lo8(-(-400))
 8968 4ee8 9140                 sbci r25,hi8(-(-400))
 8969 4eea A040                 sbci r26,hlo8(-(-400))
 8970 4eec B040                 sbci r27,hhi8(-(-400))
 8971 4eee 8093 0000            sts SollHoehe,r24
 8972 4ef2 9093 0000            sts (SollHoehe)+1,r25
 8973 4ef6 A093 0000            sts (SollHoehe)+2,r26
 8974 4efa B093 0000            sts (SollHoehe)+3,r27
 8975 4efe 8091 0000            lds r24,EE_Parameter+22
 8976 4f02 8823                 tst r24
 8977 4f04 01F0                 breq .L721
 8978 4f06 9927                 clr r25
 8979 4f08 00C0                 rjmp .L904
 8980                   .L721:
 8981 4f0a 88E7                 ldi r24,lo8(120)
 8982 4f0c 90E0                 ldi r25,hi8(120)
 8983                   .L904:
 8984 4f0e 9093 0000            sts (StickGasHover)+1,r25
 8985 4f12 8093 0000            sts StickGasHover,r24
 8986 4f16 E980                 ldd r14,Y+1
 8987 4f18 FA80                 ldd r15,Y+2
 8988 4f1a F092 0000            sts (HoverGas)+1,r15
 8989 4f1e E092 0000            sts HoverGas,r14
 8990 4f22 8EE2                 ldi r24,lo8(46)
 8991 4f24 8093 0000            sts VarioCharacter,r24
 8992                   .L720:
 8993 4f28 C090 0000            lds r12,HoverGas
 8994 4f2c D090 0000            lds r13,(HoverGas)+1
 8995                   .L676:
 8996 4f30 E090 0000            lds r14,HoehenWert
 8997 4f34 F090 0000            lds r15,(HoehenWert)+1
 8998 4f38 0091 0000            lds r16,(HoehenWert)+2
 8999 4f3c 1091 0000            lds r17,(HoehenWert)+3
 9000 4f40 2091 0000            lds r18,SollHoehe
 9001 4f44 3091 0000            lds r19,(SollHoehe)+1
 9002 4f48 4091 0000            lds r20,(SollHoehe)+2
 9003 4f4c 5091 0000            lds r21,(SollHoehe)+3
 9004 4f50 2E15                 cp r18,r14
 9005 4f52 3F05                 cpc r19,r15
 9006 4f54 4007                 cpc r20,r16
 9007 4f56 5107                 cpc r21,r17
 9008 4f58 04F0                 brlt .L724
 9009 4f5a 8091 0000            lds r24,Parameter_ExtraConfig
 9010 4f5e 80FD                 sbrc r24,0
 9011 4f60 00C0                 rjmp .L782
 9012                   .L724:
 9013 4f62 8091 0000            lds r24,BaroExpandActive
 9014 4f66 9091 0000            lds r25,(BaroExpandActive)+1
 9015 4f6a 892B                 or r24,r25
 9016 4f6c 01F0                 breq .L725
 9017 4f6e C090 0000            lds r12,HoverGas
 9018 4f72 D090 0000            lds r13,(HoverGas)+1
 9019 4f76 00E0                 ldi r16,lo8(0)
 9020 4f78 10E0                 ldi r17,hi8(0)
 9021 4f7a 00C0                 rjmp .L726
 9022                   .L725:
 9023 4f7c D801                 movw r26,r16
 9024 4f7e C701                 movw r24,r14
 9025 4f80 821B                 sub r24,r18
 9026 4f82 930B                 sbc r25,r19
 9027 4f84 A40B                 sbc r26,r20
 9028 4f86 B50B                 sbc r27,r21
 9029 4f88 8093 0000            sts tmp_long.1,r24
 9030 4f8c 9093 0000            sts (tmp_long.1)+1,r25
 9031 4f90 A093 0000            sts (tmp_long.1)+2,r26
 9032 4f94 B093 0000            sts (tmp_long.1)+3,r27
 9033 4f98 8230                 cpi r24,lo8(-32766)
 9034 4f9a 00E8                 ldi r16,hi8(-32766)
 9035 4f9c 9007                 cpc r25,r16
 9036 4f9e 0FEF                 ldi r16,hlo8(-32766)
 9037 4fa0 A007                 cpc r26,r16
 9038 4fa2 0FEF                 ldi r16,hhi8(-32766)
 9039 4fa4 B007                 cpc r27,r16
 9040 4fa6 04F4                 brge .L727
 9041 4fa8 81E0                 ldi r24,lo8(-32767)
 9042 4faa 90E8                 ldi r25,hi8(-32767)
 9043 4fac AFEF                 ldi r26,hlo8(-32767)
 9044 4fae BFEF                 ldi r27,hhi8(-32767)
 9045 4fb0 00C0                 rjmp .L905
 9046                   .L727:
 9047 4fb2 8F5F                 subi r24,lo8(32767)
 9048 4fb4 9F47                 sbci r25,hi8(32767)
 9049 4fb6 A040                 sbci r26,hlo8(32767)
 9050 4fb8 B040                 sbci r27,hhi8(32767)
 9051 4fba 04F0                 brlt .L728
 9052 4fbc 8FEF                 ldi r24,lo8(32767)
 9053 4fbe 9FE7                 ldi r25,hi8(32767)
 9054 4fc0 A0E0                 ldi r26,hlo8(32767)
 9055 4fc2 B0E0                 ldi r27,hhi8(32767)
 9056                   .L905:
 9057 4fc4 8093 0000            sts tmp_long.1,r24
 9058 4fc8 9093 0000            sts (tmp_long.1)+1,r25
 9059 4fcc A093 0000            sts (tmp_long.1)+2,r26
 9060 4fd0 B093 0000            sts (tmp_long.1)+3,r27
 9061                   .L728:
 9062 4fd4 0091 0000            lds r16,tmp_long.1
 9063 4fd8 1091 0000            lds r17,(tmp_long.1)+1
 9064 4fdc 8091 0000            lds r24,Parameter_Hoehe_P
 9065 4fe0 282F                 mov r18,r24
 9066 4fe2 3327                 clr r19
 9067 4fe4 4427                 clr r20
 9068 4fe6 5527                 clr r21
 9069 4fe8 8091 0000            lds r24,tmp_long.1
 9070 4fec 9091 0000            lds r25,(tmp_long.1)+1
 9071 4ff0 A091 0000            lds r26,(tmp_long.1)+2
 9072 4ff4 B091 0000            lds r27,(tmp_long.1)+3
 9073 4ff8 BC01                 movw r22,r24
 9074 4ffa CD01                 movw r24,r26
 9075 4ffc 0E94 0000            call __mulsi3
 9076 5000 97FF                 sbrs r25,7
 9077 5002 00C0                 rjmp .L730
 9078 5004 615E                 subi r22,lo8(-(31))
 9079 5006 7F4F                 sbci r23,hi8(-(31))
 9080 5008 8F4F                 sbci r24,hlo8(-(31))
 9081 500a 9F4F                 sbci r25,hhi8(-(31))
 9082                   .L730:
 9083 500c 25E0                 ldi r18,5
 9084 500e 9595         1:      asr r25
 9085 5010 8795                 ror r24
 9086 5012 7795                 ror r23
 9087 5014 6795                 ror r22
 9088 5016 2A95                 dec r18
 9089 5018 01F4                 brne 1b
 9090 501a 6093 0000            sts tmp_long.1,r22
 9091 501e 7093 0000            sts (tmp_long.1)+1,r23
 9092 5022 8093 0000            sts (tmp_long.1)+2,r24
 9093 5026 9093 0000            sts (tmp_long.1)+3,r25
 9094 502a 6530                 cpi r22,lo8(-507)
 9095 502c 2EEF                 ldi r18,hi8(-507)
 9096 502e 7207                 cpc r23,r18
 9097 5030 2FEF                 ldi r18,hlo8(-507)
 9098 5032 8207                 cpc r24,r18
 9099 5034 2FEF                 ldi r18,hhi8(-507)
 9100 5036 9207                 cpc r25,r18
 9101 5038 04F4                 brge .L731
 9102 503a 84E0                 ldi r24,lo8(-508)
 9103 503c 9EEF                 ldi r25,hi8(-508)
 9104 503e AFEF                 ldi r26,hlo8(-508)
 9105 5040 BFEF                 ldi r27,hhi8(-508)
 9106 5042 00C0                 rjmp .L906
 9107                   .L731:
 9108 5044 6050                 subi r22,lo8(1024)
 9109 5046 7440                 sbci r23,hi8(1024)
 9110 5048 8040                 sbci r24,hlo8(1024)
 9111 504a 9040                 sbci r25,hhi8(1024)
 9112 504c 04F0                 brlt .L732
 9113 504e 80E0                 ldi r24,lo8(1024)
 9114 5050 94E0                 ldi r25,hi8(1024)
 9115 5052 A0E0                 ldi r26,hlo8(1024)
 9116 5054 B0E0                 ldi r27,hhi8(1024)
 9117                   .L906:
 9118 5056 8093 0000            sts tmp_long.1,r24
 9119 505a 9093 0000            sts (tmp_long.1)+1,r25
 9120 505e A093 0000            sts (tmp_long.1)+2,r26
 9121 5062 B093 0000            sts (tmp_long.1)+3,r27
 9122                   .L732:
 9123 5066 8090 0000            lds r8,tmp_long.1
 9124 506a 9090 0000            lds r9,(tmp_long.1)+1
 9125 506e 2091 0000            lds r18,VarioMeter
 9126 5072 3091 0000            lds r19,(VarioMeter)+1
 9127 5076 37FF                 sbrs r19,7
 9128 5078 00C0                 rjmp .L734
 9129 507a 295F                 subi r18,lo8(-(7))
 9130 507c 3F4F                 sbci r19,hi8(-(7))
 9131                   .L734:
 9132 507e 83E0                 ldi r24,3
 9133 5080 3595         1:      asr r19
 9134 5082 2795                 ror r18
 9135 5084 8A95                 dec r24
 9136 5086 01F4                 brne 1b
 9137 5088 4FEF                 ldi r20,hi8(-126)
 9138 508a 2238                 cpi r18,lo8(-126)
 9139 508c 3407                 cpc r19,r20
 9140 508e 04F4                 brge .L735
 9141 5090 21E8                 ldi r18,lo8(-127)
 9142 5092 3FEF                 ldi r19,hi8(-127)
 9143 5094 00C0                 rjmp .L736
 9144                   .L735:
 9145 5096 2038                 cpi r18,128
 9146 5098 3105                 cpc r19,__zero_reg__
 9147 509a 04F0                 brlt .L736
 9148 509c 20E8                 ldi r18,lo8(128)
 9149 509e 30E0                 ldi r19,hi8(128)
 9150                   .L736:
 9151 50a0 C901                 movw r24,r18
 9152 50a2 AA27                 clr r26
 9153 50a4 97FD                 sbrc r25,7
 9154 50a6 A095                 com r26
 9155 50a8 BA2F                 mov r27,r26
 9156 50aa 2091 0000            lds r18,Parameter_Luftdruck_D
 9157 50ae 3327                 clr r19
 9158 50b0 4427                 clr r20
 9159 50b2 5527                 clr r21
 9160 50b4 BC01                 movw r22,r24
 9161 50b6 CD01                 movw r24,r26
 9162 50b8 0E94 0000            call __mulsi3
 9163 50bc 97FF                 sbrs r25,7
 9164 50be 00C0                 rjmp .L738
 9165 50c0 6D5F                 subi r22,lo8(-(3))
 9166 50c2 7F4F                 sbci r23,hi8(-(3))
 9167 50c4 8F4F                 sbci r24,hlo8(-(3))
 9168 50c6 9F4F                 sbci r25,hhi8(-(3))
 9169                   .L738:
 9170 50c8 B2E0                 ldi r27,2
 9171 50ca 9595         1:      asr r25
 9172 50cc 8795                 ror r24
 9173 50ce 7795                 ror r23
 9174 50d0 6795                 ror r22
 9175 50d2 BA95                 dec r27
 9176 50d4 01F4                 brne 1b
 9177 50d6 9B01                 movw r18,r22
 9178 50d8 5FEF                 ldi r21,hi8(-255)
 9179 50da 6130                 cpi r22,lo8(-255)
 9180 50dc 7507                 cpc r23,r21
 9181 50de 04F4                 brge .L739
 9182 50e0 20E0                 ldi r18,lo8(-256)
 9183 50e2 3FEF                 ldi r19,hi8(-256)
 9184 50e4 00C0                 rjmp .L740
 9185                   .L739:
 9186 50e6 6F3F                 cpi r22,255
 9187 50e8 7105                 cpc r23,__zero_reg__
 9188 50ea 01F0                 breq .L740
 9189 50ec 04F0                 brlt .L740
 9190 50ee 20E0                 ldi r18,lo8(256)
 9191 50f0 31E0                 ldi r19,hi8(256)
 9192                   .L740:
 9193 50f2 8091 0000            lds r24,FC_StatusFlags
 9194 50f6 807C                 andi r24,lo8(-64)
 9195 50f8 01F0                 breq .L742
 9196 50fa C901                 movw r24,r18
 9197 50fc 37FD                 sbrc r19,7
 9198 50fe 0396                 adiw r24,3
 9199                   .L743:
 9200 5100 9C01                 movw r18,r24
 9201 5102 3595                 asr r19
 9202 5104 2795                 ror r18
 9203 5106 3595                 asr r19
 9204 5108 2795                 ror r18
 9205 510a 00C0                 rjmp .L744
 9206                   .L742:
 9207 510c 8091 0000            lds r24,Parameter_ExtraConfig
 9208 5110 80FF                 sbrs r24,0
 9209 5112 00C0                 rjmp .L744
 9210 5114 C901                 movw r24,r18
 9211 5116 37FD                 sbrc r19,7
 9212 5118 0796                 adiw r24,7
 9213                   .L746:
 9214 511a 9C01                 movw r18,r24
 9215 511c F3E0                 ldi r31,3
 9216 511e 3595         1:      asr r19
 9217 5120 2795                 ror r18
 9218 5122 FA95                 dec r31
 9219 5124 01F4                 brne 1b
 9220                   .L744:
 9221 5126 820E                 add r8,r18
 9222 5128 931E                 adc r9,r19
 9223                   .L726:
 9224 512a 2091 0000            lds r18,Parameter_Hoehe_ACC_Wirkung
 9225 512e 2223                 tst r18
 9226 5130 01F4                 brne .+2
 9227 5132 00C0                 rjmp .L747
 9228 5134 6091 0000            lds r22,Mess_Integral_Hoch
 9229 5138 7091 0000            lds r23,(Mess_Integral_Hoch)+1
 9230 513c 8091 0000            lds r24,(Mess_Integral_Hoch)+2
 9231 5140 9091 0000            lds r25,(Mess_Integral_Hoch)+3
 9232 5144 97FF                 sbrs r25,7
 9233 5146 00C0                 rjmp .L748
 9234 5148 6158                 subi r22,lo8(-(127))
 9235 514a 7F4F                 sbci r23,hi8(-(127))
 9236 514c 8F4F                 sbci r24,hlo8(-(127))
 9237 514e 9F4F                 sbci r25,hhi8(-(127))
 9238                   .L748:
 9239 5150 E7E0                 ldi r30,7
 9240 5152 9595         1:      asr r25
 9241 5154 8795                 ror r24
 9242 5156 7795                 ror r23
 9243 5158 6795                 ror r22
 9244 515a EA95                 dec r30
 9245 515c 01F4                 brne 1b
 9246 515e 3327                 clr r19
 9247 5160 4427                 clr r20
 9248 5162 5527                 clr r21
 9249 5164 0E94 0000            call __mulsi3
 9250 5168 97FF                 sbrs r25,7
 9251 516a 00C0                 rjmp .L749
 9252 516c 615E                 subi r22,lo8(-(31))
 9253 516e 7F4F                 sbci r23,hi8(-(31))
 9254 5170 8F4F                 sbci r24,hlo8(-(31))
 9255 5172 9F4F                 sbci r25,hhi8(-(31))
 9256                   .L749:
 9257 5174 55E0                 ldi r21,5
 9258 5176 9595         1:      asr r25
 9259 5178 8795                 ror r24
 9260 517a 7795                 ror r23
 9261 517c 6795                 ror r22
 9262 517e 5A95                 dec r21
 9263 5180 01F4                 brne 1b
 9264 5182 6093 0000            sts tmp_long.1,r22
 9265 5186 7093 0000            sts (tmp_long.1)+1,r23
 9266 518a 8093 0000            sts (tmp_long.1)+2,r24
 9267 518e 9093 0000            sts (tmp_long.1)+3,r25
 9268 5192 6138                 cpi r22,lo8(-127)
 9269 5194 AFEF                 ldi r26,hi8(-127)
 9270 5196 7A07                 cpc r23,r26
 9271 5198 AFEF                 ldi r26,hlo8(-127)
 9272 519a 8A07                 cpc r24,r26
 9273 519c AFEF                 ldi r26,hhi8(-127)
 9274 519e 9A07                 cpc r25,r26
 9275 51a0 04F4                 brge .L750
 9276 51a2 80E8                 ldi r24,lo8(-128)
 9277 51a4 9FEF                 ldi r25,hi8(-128)
 9278 51a6 AFEF                 ldi r26,hlo8(-128)
 9279 51a8 BFEF                 ldi r27,hhi8(-128)
 9280 51aa 00C0                 rjmp .L907
 9281                   .L750:
 9282 51ac 6F3F                 cpi r22,lo8(255)
 9283 51ae 7105                 cpc r23,__zero_reg__
 9284 51b0 8105                 cpc r24,__zero_reg__
 9285 51b2 9105                 cpc r25,__zero_reg__
 9286 51b4 01F0                 breq .L751
 9287 51b6 04F0                 brlt .L751
 9288 51b8 80E0                 ldi r24,lo8(256)
 9289 51ba 91E0                 ldi r25,hi8(256)
 9290 51bc A0E0                 ldi r26,hlo8(256)
 9291 51be B0E0                 ldi r27,hhi8(256)
 9292                   .L907:
 9293 51c0 8093 0000            sts tmp_long.1,r24
 9294 51c4 9093 0000            sts (tmp_long.1)+1,r25
 9295 51c8 A093 0000            sts (tmp_long.1)+2,r26
 9296 51cc B093 0000            sts (tmp_long.1)+3,r27
 9297                   .L751:
 9298 51d0 8091 0000            lds r24,tmp_long.1
 9299 51d4 9091 0000            lds r25,(tmp_long.1)+1
 9300 51d8 880E                 add r8,r24
 9301 51da 991E                 adc r9,r25
 9302                   .L747:
 9303 51dc 8091 0000            lds r24,Parameter_Hoehe_GPS_Z
 9304 51e0 282F                 mov r18,r24
 9305 51e2 3327                 clr r19
 9306 51e4 8091 0000            lds r24,FromNaviCtrl_Value+4
 9307 51e8 9927                 clr r25
 9308 51ea 87FD                 sbrc r24,7
 9309 51ec 9095                 com r25
 9310 51ee 289F                 mul r18,r24
 9311 51f0 F001                 movw r30,r0
 9312 51f2 299F                 mul r18,r25
 9313 51f4 F00D                 add r31,r0
 9314 51f6 389F                 mul r19,r24
 9315 51f8 F00D                 add r31,r0
 9316 51fa 1124                 clr r1
 9317 51fc 9F01                 movw r18,r30
 9318 51fe F7FF                 sbrs r31,7
 9319 5200 00C0                 rjmp .L753
 9320 5202 2158                 subi r18,lo8(-(127))
 9321 5204 3F4F                 sbci r19,hi8(-(127))
 9322                   .L753:
 9323 5206 220F                 lsl r18
 9324 5208 232F                 mov r18,r19
 9325 520a 221F                 rol r18
 9326 520c 330B                 sbc r19,r19
 9327 520e FFEF                 ldi r31,hi8(-127)
 9328 5210 2138                 cpi r18,lo8(-127)
 9329 5212 3F07                 cpc r19,r31
 9330 5214 04F4                 brge .L754
 9331 5216 20E8                 ldi r18,lo8(-128)
 9332 5218 3FEF                 ldi r19,hi8(-128)
 9333 521a 00C0                 rjmp .L755
 9334                   .L754:
 9335 521c 2F3F                 cpi r18,255
 9336 521e 3105                 cpc r19,__zero_reg__
 9337 5220 01F0                 breq .L755
 9338 5222 04F0                 brlt .L755
 9339 5224 20E0                 ldi r18,lo8(256)
 9340 5226 31E0                 ldi r19,hi8(256)
 9341                   .L755:
 9342 5228 820E                 add r8,r18
 9343 522a 931E                 adc r9,r19
 9344 522c C401                 movw r24,r8
 9345 522e AA27                 clr r26
 9346 5230 97FD                 sbrc r25,7
 9347 5232 A095                 com r26
 9348 5234 BA2F                 mov r27,r26
 9349 5236 E090 0000            lds r14,HoverGas
 9350 523a F090 0000            lds r15,(HoverGas)+1
 9351 523e 9701                 movw r18,r14
 9352 5240 4427                 clr r20
 9353 5242 37FD                 sbrc r19,7
 9354 5244 4095                 com r20
 9355 5246 542F                 mov r21,r20
 9356 5248 BC01                 movw r22,r24
 9357 524a CD01                 movw r24,r26
 9358 524c 0E94 0000            call __mulsi3
 9359 5250 97FF                 sbrs r25,7
 9360 5252 00C0                 rjmp .L757
 9361 5254 6150                 subi r22,lo8(-(511))
 9362 5256 7E4F                 sbci r23,hi8(-(511))
 9363 5258 8F4F                 sbci r24,hlo8(-(511))
 9364 525a 9F4F                 sbci r25,hhi8(-(511))
 9365                   .L757:
 9366 525c 29E0                 ldi r18,9
 9367 525e 9595         1:      asr r25
 9368 5260 8795                 ror r24
 9369 5262 7795                 ror r23
 9370 5264 6795                 ror r22
 9371 5266 2A95                 dec r18
 9372 5268 01F4                 brne 1b
 9373 526a C61A                 sub r12,r22
 9374 526c D70A                 sbc r13,r23
 9375 526e 8091 0000            lds r24,AltitudeSetpointTrimming
 9376 5272 9091 0000            lds r25,(AltitudeSetpointTrimming)+1
 9377 5276 892B                 or r24,r25
 9378 5278 01F0                 breq .+2
 9379 527a 00C0                 rjmp .L758
 9380 527c 1E14                 cp __zero_reg__,r14
 9381 527e 1F04                 cpc __zero_reg__,r15
 9382 5280 04F0                 brlt .+2
 9383 5282 00C0                 rjmp .L758
 9384 5284 9801                 movw r18,r16
 9385 5286 17FF                 sbrs r17,7
 9386 5288 00C0                 rjmp .L759
 9387 528a 3095                 com r19
 9388 528c 2195                 neg r18
 9389 528e 3F4F                 sbci r19,lo8(-1)
 9390                   .L759:
 9391 5290 2D33                 cpi r18,61
 9392 5292 3105                 cpc r19,__zero_reg__
 9393 5294 00F4                 brsh .L760
 9394 5296 8091 0000            lds r24,HoverGasMin
 9395 529a 9091 0000            lds r25,(HoverGasMin)+1
 9396 529e 8C15                 cp r24,r12
 9397 52a0 9D05                 cpc r25,r13
 9398 52a2 04F4                 brge .L909
 9399 52a4 00C0                 rjmp .L918
 9400                   .L760:
 9401 52a6 2C53                 subi r18,lo8(-(-60))
 9402 52a8 3040                 sbci r19,hi8(-(-60))
 9403 52aa 85E0                 ldi r24,5
 9404 52ac 3695         1:      lsr r19
 9405 52ae 2795                 ror r18
 9406 52b0 8A95                 dec r24
 9407 52b2 01F4                 brne 1b
 9408 52b4 2031                 cpi r18,16
 9409 52b6 3105                 cpc r19,__zero_reg__
 9410 52b8 00F0                 brlo .L765
 9411 52ba 2FE0                 ldi r18,lo8(15)
 9412 52bc 30E0                 ldi r19,hi8(15)
 9413                   .L765:
 9414 52be 4091 0000            lds r20,HoverGasMin
 9415 52c2 5091 0000            lds r21,(HoverGasMin)+1
 9416 52c6 1016                 cp __zero_reg__,r16
 9417 52c8 1106                 cpc __zero_reg__,r17
 9418 52ca 04F4                 brge .L766
 9419 52cc 80E1                 ldi r24,lo8(16)
 9420 52ce 90E0                 ldi r25,hi8(16)
 9421 52d0 821B                 sub r24,r18
 9422 52d2 930B                 sbc r25,r19
 9423 52d4 489F                 mul r20,r24
 9424 52d6 9001                 movw r18,r0
 9425 52d8 499F                 mul r20,r25
 9426 52da 300D                 add r19,r0
 9427 52dc 589F                 mul r21,r24
 9428 52de 300D                 add r19,r0
 9429 52e0 1124                 clr r1
 9430 52e2 B4E0                 ldi r27,4
 9431 52e4 3695         1:      lsr r19
 9432 52e6 2795                 ror r18
 9433 52e8 BA95                 dec r27
 9434 52ea 01F4                 brne 1b
 9435 52ec 2C15                 cp r18,r12
 9436 52ee 3D05                 cpc r19,r13
 9437 52f0 00F4                 brsh .L908
 9438                   .L918:
 9439 52f2 8091 0000            lds r24,HoverGasMax
 9440 52f6 9091 0000            lds r25,(HoverGasMax)+1
 9441 52fa C816                 cp r12,r24
 9442 52fc D906                 cpc r13,r25
 9443 52fe 04F0                 brlt .L758
 9444                   .L909:
 9445 5300 6C01                 movw r12,r24
 9446 5302 00C0                 rjmp .L758
 9447                   .L766:
 9448 5304 205F                 subi r18,lo8(-(16))
 9449 5306 3F4F                 sbci r19,hi8(-(16))
 9450 5308 8091 0000            lds r24,HoverGasMax
 9451 530c 9091 0000            lds r25,(HoverGasMax)+1
 9452 5310 829F                 mul r24,r18
 9453 5312 8001                 movw r16,r0
 9454 5314 839F                 mul r24,r19
 9455 5316 100D                 add r17,r0
 9456 5318 929F                 mul r25,r18
 9457 531a 100D                 add r17,r0
 9458 531c 1124                 clr r1
 9459 531e 9801                 movw r18,r16
 9460 5320 A4E0                 ldi r26,4
 9461 5322 3695         1:      lsr r19
 9462 5324 2795                 ror r18
 9463 5326 AA95                 dec r26
 9464 5328 01F4                 brne 1b
 9465 532a 4C15                 cp r20,r12
 9466 532c 5D05                 cpc r21,r13
 9467 532e 04F0                 brlt .L771
 9468 5330 6A01                 movw r12,r20
 9469 5332 00C0                 rjmp .L758
 9470                   .L771:
 9471 5334 C216                 cp r12,r18
 9472 5336 D306                 cpc r13,r19
 9473 5338 00F0                 brlo .L758
 9474                   .L908:
 9475 533a 6901                 movw r12,r18
 9476                   .L758:
 9477 533c C601                 movw r24,r12
 9478 533e AA27                 clr r26
 9479 5340 97FD                 sbrc r25,7
 9480 5342 A095                 com r26
 9481 5344 BA2F                 mov r27,r26
 9482 5346 FDE0                 ldi r31,13
 9483 5348 880F         1:      lsl r24
 9484 534a 991F                 rol r25
 9485 534c AA1F                 rol r26
 9486 534e BB1F                 rol r27
 9487 5350 FA95                 dec r31
 9488 5352 01F4                 brne 1b
 9489 5354 9501                 movw r18,r10
 9490 5356 4427                 clr r20
 9491 5358 37FD                 sbrc r19,7
 9492 535a 4095                 com r20
 9493 535c 542F                 mov r21,r20
 9494 535e BC01                 movw r22,r24
 9495 5360 CD01                 movw r24,r26
 9496 5362 0E94 0000            call __divmodsi4
 9497 5366 2093 0000            sts tmp_long2.2,r18
 9498 536a 3093 0000            sts (tmp_long2.2)+1,r19
 9499 536e 4093 0000            sts (tmp_long2.2)+2,r20
 9500 5372 5093 0000            sts (tmp_long2.2)+3,r21
 9501 5376 C090 0000            lds r12,tmp_long2.2
 9502 537a D090 0000            lds r13,(tmp_long2.2)+1
 9503 537e 8091 0000            lds r24,FilterHCGas.22
 9504 5382 9091 0000            lds r25,(FilterHCGas.22)+1
 9505 5386 9C01                 movw r18,r24
 9506 5388 220F                 lsl r18
 9507 538a 331F                 rol r19
 9508 538c 280F                 add r18,r24
 9509 538e 391F                 adc r19,r25
 9510 5390 2C0D                 add r18,r12
 9511 5392 3D1D                 adc r19,r13
 9512 5394 37FF                 sbrs r19,7
 9513 5396 00C0                 rjmp .L774
 9514 5398 2D5F                 subi r18,lo8(-(3))
 9515 539a 3F4F                 sbci r19,hi8(-(3))
 9516                   .L774:
 9517 539c A901                 movw r20,r18
 9518 539e 5595                 asr r21
 9519 53a0 4795                 ror r20
 9520 53a2 5595                 asr r21
 9521 53a4 4795                 ror r20
 9522 53a6 5093 0000            sts (FilterHCGas.22)+1,r21
 9523 53aa 4093 0000            sts FilterHCGas.22,r20
 9524 53ae 8091 0000            lds r24,EE_Parameter+14
 9525 53b2 282F                 mov r18,r24
 9526 53b4 3327                 clr r19
 9527 53b6 220F                 lsl r18
 9528 53b8 331F                 rol r19
 9529 53ba 220F                 lsl r18
 9530 53bc 331F                 rol r19
 9531 53be 2417                 cp r18,r20
 9532 53c0 3507                 cpc r19,r21
 9533 53c2 04F4                 brge .L910
 9534 53c4 8091 0000            lds r24,MAX_GAS
 9535 53c8 282F                 mov r18,r24
 9536 53ca 3327                 clr r19
 9537 53cc 220F                 lsl r18
 9538 53ce 331F                 rol r19
 9539 53d0 220F                 lsl r18
 9540 53d2 331F                 rol r19
 9541 53d4 2055                 subi r18,lo8(-(-80))
 9542 53d6 3040                 sbci r19,hi8(-(-80))
 9543 53d8 4217                 cp r20,r18
 9544 53da 5307                 cpc r21,r19
 9545 53dc 04F0                 brlt .L776
 9546                   .L910:
 9547 53de 3093 0000            sts (FilterHCGas.22)+1,r19
 9548 53e2 2093 0000            sts FilterHCGas.22,r18
 9549                   .L776:
 9550 53e6 8091 0000            lds r24,Parameter_ExtraConfig
 9551 53ea 80FF                 sbrs r24,0
 9552 53ec 00C0                 rjmp .L778
 9553 53ee 8091 0000            lds r24,FilterHCGas.22
 9554 53f2 9091 0000            lds r25,(FilterHCGas.22)+1
 9555 53f6 2981                 ldd r18,Y+1
 9556 53f8 3A81                 ldd r19,Y+2
 9557 53fa 8217                 cp r24,r18
 9558 53fc 9307                 cpc r25,r19
 9559 53fe 04F0                 brlt .L779
 9560 5400 3093 0000            sts (FilterHCGas.22)+1,r19
 9561 5404 2093 0000            sts FilterHCGas.22,r18
 9562                   .L779:
 9563 5408 4091 0000            lds r20,FilterHCGas.22
 9564 540c 5091 0000            lds r21,(FilterHCGas.22)+1
 9565 5410 5A83                 std Y+2,r21
 9566 5412 4983                 std Y+1,r20
 9567 5414 00C0                 rjmp .L782
 9568                   .L778:
 9569 5416 2981                 ldd r18,Y+1
 9570 5418 3A81                 ldd r19,Y+2
 9571 541a 2E19                 sub r18,r14
 9572 541c 3F09                 sbc r19,r15
 9573 541e 37FF                 sbrs r19,7
 9574 5420 00C0                 rjmp .L781
 9575 5422 2D5F                 subi r18,lo8(-(3))
 9576 5424 3F4F                 sbci r19,hi8(-(3))
 9577                   .L781:
 9578 5426 3595                 asr r19
 9579 5428 2795                 ror r18
 9580 542a 3595                 asr r19
 9581 542c 2795                 ror r18
 9582 542e 6091 0000            lds r22,FilterHCGas.22
 9583 5432 7091 0000            lds r23,(FilterHCGas.22)+1
 9584 5436 620F                 add r22,r18
 9585 5438 731F                 adc r23,r19
 9586 543a 7A83                 std Y+2,r23
 9587 543c 6983                 std Y+1,r22
 9588 543e 00C0                 rjmp .L782
 9589                   .L673:
 9590 5440 8091 0000            lds r24,EE_Parameter+22
 9591 5444 8823                 tst r24
 9592 5446 01F4                 brne .L783
 9593 5448 6091 0000            lds r22,HoverGas
 9594 544c 7091 0000            lds r23,(HoverGas)+1
 9595 5450 77FF                 sbrs r23,7
 9596 5452 00C0                 rjmp .L784
 9597 5454 6D5F                 subi r22,lo8(-(3))
 9598 5456 7F4F                 sbci r23,hi8(-(3))
 9599                   .L784:
 9600 5458 7595                 asr r23
 9601 545a 6795                 ror r22
 9602 545c 7595                 asr r23
 9603 545e 6795                 ror r22
 9604 5460 4091 0000            lds r20,UBat
 9605 5464 5091 0000            lds r21,(UBat)+1
 9606 5468 8091 0000            lds r24,BattLowVoltageWarning
 9607 546c 282F                 mov r18,r24
 9608 546e 3327                 clr r19
 9609 5470 649F                 mul r22,r20
 9610 5472 C001                 movw r24,r0
 9611 5474 659F                 mul r22,r21
 9612 5476 900D                 add r25,r0
 9613 5478 749F                 mul r23,r20
 9614 547a 900D                 add r25,r0
 9615 547c 1124                 clr r1
 9616 547e B901                 movw r22,r18
 9617 5480 0E94 0000            call __divmodhi4
 9618 5484 CB01                 movw r24,r22
 9619 5486 00C0                 rjmp .L911
 9620                   .L783:
 9621 5488 9927                 clr r25
 9622                   .L911:
 9623 548a 9093 0000            sts (StickGasHover)+1,r25
 9624 548e 8093 0000            sts StickGasHover,r24
 9625 5492 8091 0000            lds r24,StickGasHover
 9626 5496 9091 0000            lds r25,(StickGasHover)+1
 9627 549a 8734                 cpi r24,71
 9628 549c 9105                 cpc r25,__zero_reg__
 9629 549e 04F4                 brge .L786
 9630 54a0 86E4                 ldi r24,lo8(70)
 9631 54a2 90E0                 ldi r25,hi8(70)
 9632 54a4 00C0                 rjmp .L912
 9633                   .L786:
 9634 54a6 8639                 cpi r24,150
 9635 54a8 9105                 cpc r25,__zero_reg__
 9636 54aa 04F0                 brlt .L787
 9637 54ac 86E9                 ldi r24,lo8(150)
 9638 54ae 90E0                 ldi r25,hi8(150)
 9639                   .L912:
 9640 54b0 9093 0000            sts (StickGasHover)+1,r25
 9641 54b4 8093 0000            sts StickGasHover,r24
 9642                   .L787:
 9643 54b8 8981                 ldd r24,Y+1
 9644 54ba 9A81                 ldd r25,Y+2
 9645 54bc 9093 0000            sts (FilterHCGas.22)+1,r25
 9646 54c0 8093 0000            sts FilterHCGas.22,r24
 9647 54c4 8091 0000            lds r24,FC_StatusFlags
 9648 54c8 806C                 ori r24,lo8(-64)
 9649 54ca 8093 0000            sts FC_StatusFlags,r24
 9650 54ce 8091 0000            lds r24,FC_StatusFlags2
 9651 54d2 8D7F                 andi r24,lo8(-3)
 9652 54d4 8093 0000            sts FC_StatusFlags2,r24
 9653                   .L782:
 9654 54d8 8091 0000            lds r24,FC_StatusFlags
 9655 54dc 9927                 clr r25
 9656 54de 9C01                 movw r18,r24
 9657 54e0 2270                 andi r18,lo8(2)
 9658 54e2 3070                 andi r19,hi8(2)
 9659 54e4 81FF                 sbrs r24,1
 9660 54e6 00C0                 rjmp .L789
 9661 54e8 8091 0000            lds r24,HoverGasFilter.23
 9662 54ec 9091 0000            lds r25,(HoverGasFilter.23)+1
 9663 54f0 A091 0000            lds r26,(HoverGasFilter.23)+2
 9664 54f4 B091 0000            lds r27,(HoverGasFilter.23)+3
 9665 54f8 0097                 sbiw r24,0
 9666 54fa A105                 cpc r26,__zero_reg__
 9667 54fc B105                 cpc r27,__zero_reg__
 9668 54fe 01F0                 breq .L791
 9669 5500 8091 0000            lds r24,StartTrigger
 9670 5504 8130                 cpi r24,lo8(1)
 9671 5506 01F4                 brne .L790
 9672                   .L791:
 9673 5508 E981                 ldd r30,Y+1
 9674 550a FA81                 ldd r31,Y+2
 9675 550c CF01                 movw r24,r30
 9676 550e AA27                 clr r26
 9677 5510 97FD                 sbrc r25,7
 9678 5512 A095                 com r26
 9679 5514 BA2F                 mov r27,r26
 9680 5516 1EE0                 ldi r17,14
 9681 5518 880F         1:      lsl r24
 9682 551a 991F                 rol r25
 9683 551c AA1F                 rol r26
 9684 551e BB1F                 rol r27
 9685 5520 1A95                 dec r17
 9686 5522 01F4                 brne 1b
 9687 5524 8093 0000            sts HoverGasFilter.23,r24
 9688 5528 9093 0000            sts (HoverGasFilter.23)+1,r25
 9689 552c A093 0000            sts (HoverGasFilter.23)+2,r26
 9690 5530 B093 0000            sts (HoverGasFilter.23)+3,r27
 9691                   .L790:
 9692 5534 8091 0000            lds r24,StartTrigger
 9693 5538 8130                 cpi r24,lo8(1)
 9694 553a 01F4                 brne .L792
 9695 553c 82E0                 ldi r24,lo8(2)
 9696 553e 8093 0000            sts StartTrigger,r24
 9697                   .L792:
 9698 5542 E980                 ldd r14,Y+1
 9699 5544 FA80                 ldd r15,Y+2
 9700 5546 C701                 movw r24,r14
 9701 5548 AA27                 clr r26
 9702 554a 97FD                 sbrc r25,7
 9703 554c A095                 com r26
 9704 554e BA2F                 mov r27,r26
 9705 5550 9501                 movw r18,r10
 9706 5552 4427                 clr r20
 9707 5554 37FD                 sbrc r19,7
 9708 5556 4095                 com r20
 9709 5558 542F                 mov r21,r20
 9710 555a BC01                 movw r22,r24
 9711 555c CD01                 movw r24,r26
 9712 555e 0E94 0000            call __mulsi3
 9713 5562 DC01                 movw r26,r24
 9714 5564 CB01                 movw r24,r22
 9715 5566 8093 0000            sts tmp_long2.2,r24
 9716 556a 9093 0000            sts (tmp_long2.2)+1,r25
 9717 556e A093 0000            sts (tmp_long2.2)+2,r26
 9718 5572 B093 0000            sts (tmp_long2.2)+3,r27
 9719 5576 B7FF                 sbrs r27,7
 9720 5578 00C0                 rjmp .L793
 9721 557a 8150                 subi r24,lo8(-(8191))
 9722 557c 904E                 sbci r25,hi8(-(8191))
 9723 557e AF4F                 sbci r26,hlo8(-(8191))
 9724 5580 BF4F                 sbci r27,hhi8(-(8191))
 9725                   .L793:
 9726 5582 7C01                 movw r14,r24
 9727 5584 8D01                 movw r16,r26
 9728 5586 ADE0                 ldi r26,13
 9729 5588 1595         1:      asr r17
 9730 558a 0795                 ror r16
 9731 558c F794                 ror r15
 9732 558e E794                 ror r14
 9733 5590 AA95                 dec r26
 9734 5592 01F4                 brne 1b
 9735 5594 E092 0000            sts tmp_long2.2,r14
 9736 5598 F092 0000            sts (tmp_long2.2)+1,r15
 9737 559c 0093 0000            sts (tmp_long2.2)+2,r16
 9738 55a0 1093 0000            sts (tmp_long2.2)+3,r17
 9739 55a4 6091 0000            lds r22,modell_fliegt
 9740 55a8 7091 0000            lds r23,(modell_fliegt)+1
 9741 55ac 2FE0                 ldi r18,hi8(4000)
 9742 55ae 603A                 cpi r22,lo8(4000)
 9743 55b0 7207                 cpc r23,r18
 9744 55b2 00F4                 brsh .L794
 9745 55b4 8091 0000            lds r24,HoverGasFilter.23
 9746 55b8 9091 0000            lds r25,(HoverGasFilter.23)+1
 9747 55bc A091 0000            lds r26,(HoverGasFilter.23)+2
 9748 55c0 B091 0000            lds r27,(HoverGasFilter.23)+3
 9749 55c4 9C01                 movw r18,r24
 9750 55c6 AD01                 movw r20,r26
 9751 55c8 FAE0                 ldi r31,10
 9752 55ca 5695         1:      lsr r21
 9753 55cc 4795                 ror r20
 9754 55ce 3795                 ror r19
 9755 55d0 2795                 ror r18
 9756 55d2 FA95                 dec r31
 9757 55d4 01F4                 brne 1b
 9758 55d6 821B                 sub r24,r18
 9759 55d8 930B                 sbc r25,r19
 9760 55da A40B                 sbc r26,r20
 9761 55dc B50B                 sbc r27,r21
 9762 55de A801                 movw r20,r16
 9763 55e0 9701                 movw r18,r14
 9764 55e2 E4E0                 ldi r30,4
 9765 55e4 220F         1:      lsl r18
 9766 55e6 331F                 rol r19
 9767 55e8 441F                 rol r20
 9768 55ea 551F                 rol r21
 9769 55ec EA95                 dec r30
 9770 55ee 01F4                 brne 1b
 9771 55f0 820F                 add r24,r18
 9772 55f2 931F                 adc r25,r19
 9773 55f4 A41F                 adc r26,r20
 9774 55f6 B51F                 adc r27,r21
 9775 55f8 8093 0000            sts HoverGasFilter.23,r24
 9776 55fc 9093 0000            sts (HoverGasFilter.23)+1,r25
 9777 5600 A093 0000            sts (HoverGasFilter.23)+2,r26
 9778 5604 B093 0000            sts (HoverGasFilter.23)+3,r27
 9779                   .L794:
 9780 5608 6054                 subi r22,lo8(8000)
 9781 560a 7F41                 sbci r23,hi8(8000)
 9782 560c 00F4                 brsh .L795
 9783 560e 8091 0000            lds r24,HoverGasFilter.23
 9784 5612 9091 0000            lds r25,(HoverGasFilter.23)+1
 9785 5616 A091 0000            lds r26,(HoverGasFilter.23)+2
 9786 561a B091 0000            lds r27,(HoverGasFilter.23)+3
 9787 561e 9C01                 movw r18,r24
 9788 5620 AD01                 movw r20,r26
 9789 5622 6CE0                 ldi r22,12
 9790 5624 5695         1:      lsr r21
 9791 5626 4795                 ror r20
 9792 5628 3795                 ror r19
 9793 562a 2795                 ror r18
 9794 562c 6A95                 dec r22
 9795 562e 01F4                 brne 1b
 9796 5630 821B                 sub r24,r18
 9797 5632 930B                 sbc r25,r19
 9798 5634 A40B                 sbc r26,r20
 9799 5636 B50B                 sbc r27,r21
 9800 5638 A801                 movw r20,r16
 9801 563a 9701                 movw r18,r14
 9802 563c F2E0                 ldi r31,2
 9803 563e 220F         1:      lsl r18
 9804 5640 331F                 rol r19
 9805 5642 441F                 rol r20
 9806 5644 551F                 rol r21
 9807 5646 FA95                 dec r31
 9808 5648 01F4                 brne 1b
 9809 564a 820F                 add r24,r18
 9810 564c 931F                 adc r25,r19
 9811 564e A41F                 adc r26,r20
 9812 5650 B51F                 adc r27,r21
 9813 5652 00C0                 rjmp .L913
 9814                   .L795:
 9815 5654 8091 0000            lds r24,VarioMeter
 9816 5658 9091 0000            lds r25,(VarioMeter)+1
 9817 565c 8091 0000            lds r24,VarioMeter
 9818 5660 9091 0000            lds r25,(VarioMeter)+1
 9819 5664 97FF                 sbrs r25,7
 9820 5666 00C0                 rjmp .L798
 9821 5668 9095                 com r25
 9822 566a 8195                 neg r24
 9823 566c 9F4F                 sbci r25,lo8(-1)
 9824                   .L798:
 9825 566e 8436                 cpi r24,100
 9826 5670 9105                 cpc r25,__zero_reg__
 9827 5672 04F4                 brge .L796
 9828 5674 8091 0000            lds r24,HoehenWert
 9829 5678 9091 0000            lds r25,(HoehenWert)+1
 9830 567c 2091 0000            lds r18,SollHoehe
 9831 5680 3091 0000            lds r19,(SollHoehe)+1
 9832 5684 821B                 sub r24,r18
 9833 5686 930B                 sbc r25,r19
 9834 5688 8150                 subi r24,lo8(-(255))
 9835 568a 9F4F                 sbci r25,hi8(-(255))
 9836 568c 8F5F                 subi r24,lo8(511)
 9837 568e 9140                 sbci r25,hi8(511)
 9838 5690 00F4                 brsh .L796
 9839 5692 8091 0000            lds r24,HoverGasFilter.23
 9840 5696 9091 0000            lds r25,(HoverGasFilter.23)+1
 9841 569a A091 0000            lds r26,(HoverGasFilter.23)+2
 9842 569e B091 0000            lds r27,(HoverGasFilter.23)+3
 9843 56a2 9C01                 movw r18,r24
 9844 56a4 AD01                 movw r20,r26
 9845 56a6 EEE0                 ldi r30,14
 9846 56a8 5695         1:      lsr r21
 9847 56aa 4795                 ror r20
 9848 56ac 3795                 ror r19
 9849 56ae 2795                 ror r18
 9850 56b0 EA95                 dec r30
 9851 56b2 01F4                 brne 1b
 9852 56b4 821B                 sub r24,r18
 9853 56b6 930B                 sbc r25,r19
 9854 56b8 A40B                 sbc r26,r20
 9855 56ba B50B                 sbc r27,r21
 9856 56bc 8E0D                 add r24,r14
 9857 56be 9F1D                 adc r25,r15
 9858 56c0 A01F                 adc r26,r16
 9859 56c2 B11F                 adc r27,r17
 9860                   .L913:
 9861 56c4 8093 0000            sts HoverGasFilter.23,r24
 9862 56c8 9093 0000            sts (HoverGasFilter.23)+1,r25
 9863 56cc A093 0000            sts (HoverGasFilter.23)+2,r26
 9864 56d0 B093 0000            sts (HoverGasFilter.23)+3,r27
 9865                   .L796:
 9866 56d4 8091 0000            lds r24,HoverGasFilter.23
 9867 56d8 9091 0000            lds r25,(HoverGasFilter.23)+1
 9868 56dc A091 0000            lds r26,(HoverGasFilter.23)+2
 9869 56e0 B091 0000            lds r27,(HoverGasFilter.23)+3
 9870 56e4 7EE0                 ldi r23,14
 9871 56e6 B695         1:      lsr r27
 9872 56e8 A795                 ror r26
 9873 56ea 9795                 ror r25
 9874 56ec 8795                 ror r24
 9875 56ee 7A95                 dec r23
 9876 56f0 01F4                 brne 1b
 9877 56f2 9093 0000            sts (HoverGas)+1,r25
 9878 56f6 8093 0000            sts HoverGas,r24
 9879 56fa 4091 0000            lds r20,EE_Parameter+20
 9880 56fe 4423                 tst r20
 9881 5700 01F0                 breq .L799
 9882 5702 5527                 clr r21
 9883 5704 9C01                 movw r18,r24
 9884 5706 BA01                 movw r22,r20
 9885 5708 0E94 0000            call __divmodhi4
 9886 570c C901                 movw r24,r18
 9887 570e 861B                 sub r24,r22
 9888 5710 970B                 sbc r25,r23
 9889 5712 9093 0000            sts (HoverGasMin)+1,r25
 9890 5716 8093 0000            sts HoverGasMin,r24
 9891 571a 260F                 add r18,r22
 9892 571c 371F                 adc r19,r23
 9893 571e 3093 0000            sts (HoverGasMax)+1,r19
 9894 5722 2093 0000            sts HoverGasMax,r18
 9895 5726 00C0                 rjmp .L802
 9896                   .L799:
 9897 5728 1092 0000            sts (HoverGasMin)+1,__zero_reg__
 9898 572c 1092 0000            sts HoverGasMin,__zero_reg__
 9899 5730 8FEF                 ldi r24,lo8(1023)
 9900 5732 93E0                 ldi r25,hi8(1023)
 9901 5734 9093 0000            sts (HoverGasMax)+1,r25
 9902 5738 8093 0000            sts HoverGasMax,r24
 9903 573c 00C0                 rjmp .L802
 9904                   .L789:
 9905 573e 1092 0000            sts StartTrigger,__zero_reg__
 9906 5742 1092 0000            sts HoverGasFilter.23,__zero_reg__
 9907 5746 1092 0000            sts (HoverGasFilter.23)+1,__zero_reg__
 9908 574a 1092 0000            sts (HoverGasFilter.23)+2,__zero_reg__
 9909 574e 1092 0000            sts (HoverGasFilter.23)+3,__zero_reg__
 9910 5752 3093 0000            sts (HoverGas)+1,r19
 9911 5756 2093 0000            sts HoverGas,r18
 9912 575a 00C0                 rjmp .L802
 9913                   .L653:
 9914 575c 8091 0000            lds r24,FC_StatusFlags
 9915 5760 806C                 ori r24,lo8(-64)
 9916 5762 8093 0000            sts FC_StatusFlags,r24
 9917                   .L802:
 9918 5766 8091 0000            lds r24,NC_To_FC_Flags
 9919 576a 81FF                 sbrs r24,1
 9920 576c 00C0                 rjmp .L803
 9921 576e 8981                 ldd r24,Y+1
 9922 5770 9A81                 ldd r25,Y+2
 9923 5772 97FD                 sbrc r25,7
 9924 5774 0396                 adiw r24,3
 9925                   .L805:
 9926 5776 9595                 asr r25
 9927 5778 8795                 ror r24
 9928 577a 9595                 asr r25
 9929 577c 8795                 ror r24
 9930 577e 2091 0000            lds r18,HooverGasEmergencyPercent
 9931 5782 3091 0000            lds r19,(HooverGasEmergencyPercent)+1
 9932 5786 2817                 cp r18,r24
 9933 5788 3907                 cpc r19,r25
 9934 578a 00F4                 brsh .L804
 9935 578c 8091 0000            lds r24,HoverGas
 9936 5790 9091 0000            lds r25,(HoverGas)+1
 9937 5794 892B                 or r24,r25
 9938 5796 01F0                 breq .L804
 9939 5798 220F                 lsl r18
 9940 579a 331F                 rol r19
 9941 579c 220F                 lsl r18
 9942 579e 331F                 rol r19
 9943 57a0 3A83                 std Y+2,r19
 9944 57a2 2983                 std Y+1,r18
 9945                   .L804:
 9946 57a4 8091 0000            lds r24,HoehenWert
 9947 57a8 9091 0000            lds r25,(HoehenWert)+1
 9948 57ac A091 0000            lds r26,(HoehenWert)+2
 9949 57b0 B091 0000            lds r27,(HoehenWert)+3
 9950 57b4 8093 0000            sts SollHoehe,r24
 9951 57b8 9093 0000            sts (SollHoehe)+1,r25
 9952 57bc A093 0000            sts (SollHoehe)+2,r26
 9953 57c0 B093 0000            sts (SollHoehe)+3,r27
 9954 57c4 88E9                 ldi r24,lo8(15000)
 9955 57c6 9AE3                 ldi r25,hi8(15000)
 9956 57c8 9093 0000            sts (beeptime)+1,r25
 9957 57cc 8093 0000            sts beeptime,r24
 9958 57d0 80E0                 ldi r24,lo8(3584)
 9959 57d2 9EE0                 ldi r25,hi8(3584)
 9960 57d4 9093 0000            sts (BeepMuster)+1,r25
 9961 57d8 8093 0000            sts BeepMuster,r24
 9962                   .L803:
 9963 57dc 2091 0000            lds r18,MIN_GAS
 9964 57e0 822F                 mov r24,r18
 9965 57e2 9927                 clr r25
 9966 57e4 880F                 lsl r24
 9967 57e6 991F                 rol r25
 9968 57e8 880F                 lsl r24
 9969 57ea 991F                 rol r25
 9970 57ec 8896                 adiw r24,40
 9971 57ee 6981                 ldd r22,Y+1
 9972 57f0 7A81                 ldd r23,Y+2
 9973 57f2 8617                 cp r24,r22
 9974 57f4 9707                 cpc r25,r23
 9975 57f6 04F0                 brlt .L806
 9976 57f8 9A83                 std Y+2,r25
 9977 57fa 8983                 std Y+1,r24
 9978                   .L806:
 9979 57fc 7091 0000            lds r23,MAX_GAS
 9980 5800 7D8B                 std Y+21,r23
 9981 5802 872F                 mov r24,r23
 9982 5804 9927                 clr r25
 9983 5806 880F                 lsl r24
 9984 5808 991F                 rol r25
 9985 580a 880F                 lsl r24
 9986 580c 991F                 rol r25
 9987 580e 8055                 subi r24,lo8(-(-80))
 9988 5810 9040                 sbci r25,hi8(-(-80))
 9989 5812 A981                 ldd r26,Y+1
 9990 5814 BA81                 ldd r27,Y+2
 9991 5816 8A17                 cp r24,r26
 9992 5818 9B07                 cpc r25,r27
 9993 581a 04F4                 brge .L807
 9994 581c 9A83                 std Y+2,r25
 9995 581e 8983                 std Y+1,r24
 9996                   .L807:
 9997 5820 8091 0000            lds r24,MissingMotor
 9998 5824 8823                 tst r24
 9999 5826 01F4                 brne .L809
 10000 5828 8091 0000           lds r24,Capacity+6
 10001 582c 8F3F                cpi r24,lo8(-1)
 10002 582e 01F4                brne .L809
 10003 5830 8091 0000           lds r24,NC_ErrorCode
 10004 5834 8823                tst r24
 10005 5836 01F0                breq .L808
 10006                  .L809:
 10007 5838 8091 0000           lds r24,modell_fliegt
 10008 583c 9091 0000           lds r25,(modell_fliegt)+1
 10009 5840 0297                sbiw r24,2
 10010 5842 C097                sbiw r24,48
 10011 5844 00F4                brsh .L808
 10012 5846 E981                ldd r30,Y+1
 10013 5848 FA81                ldd r31,Y+2
 10014 584a 1E16                cp __zero_reg__,r30
 10015 584c 1F06                cpc __zero_reg__,r31
 10016 584e 04F4                brge .L808
 10017 5850 81E0                ldi r24,lo8(1)
 10018 5852 90E0                ldi r25,hi8(1)
 10019 5854 9093 0000           sts (modell_fliegt)+1,r25
 10020 5858 8093 0000           sts modell_fliegt,r24
 10021 585c E22E                mov r14,r18
 10022 585e FF24                clr r15
 10023 5860 EE0C                lsl r14
 10024 5862 FF1C                rol r15
 10025 5864 EE0C                lsl r14
 10026 5866 FF1C                rol r15
 10027 5868 8701                movw r16,r14
 10028 586a 085D                subi r16,lo8(-(40))
 10029 586c 1F4F                sbci r17,hi8(-(40))
 10030 586e 1A83                std Y+2,r17
 10031 5870 0983                std Y+1,r16
 10032                  .L808:
 10033 5872 2981                ldd r18,Y+1
 10034 5874 3A81                ldd r19,Y+2
 10035 5876 3093 0000           sts (DebugOut+16)+1,r19
 10036 587a 2093 0000           sts DebugOut+16,r18
 10037 587e 8091 0000           lds r24,sollGier.0
 10038 5882 9091 0000           lds r25,(sollGier.0)+1
 10039 5886 A091 0000           lds r26,(sollGier.0)+2
 10040 588a B091 0000           lds r27,(sollGier.0)+3
 10041 588e 12E0                ldi r17,2
 10042 5890 880F        1:      lsl r24
 10043 5892 991F                rol r25
 10044 5894 AA1F                rol r26
 10045 5896 BB1F                rol r27
 10046 5898 1A95                dec r17
 10047 589a 01F4                brne 1b
 10048 589c 0091 0000           lds r16,MesswertGier
 10049 58a0 1091 0000           lds r17,(MesswertGier)+1
 10050 58a4 081B                sub r16,r24
 10051 58a6 190B                sbc r17,r25
 10052 58a8 213A                cpi r18,161
 10053 58aa 3105                cpc r19,__zero_reg__
 10054 58ac 04F0                brlt .L811
 10055 58ae C901                movw r24,r18
 10056 58b0 37FD                sbrc r19,7
 10057 58b2 0196                adiw r24,1
 10058                  .L813:
 10059 58b4 9595                asr r25
 10060 58b6 8795                ror r24
 10061 58b8 8017                cp r24,r16
 10062 58ba 9107                cpc r25,r17
 10063 58bc 04F4                brge .L812
 10064 58be 8C01                movw r16,r24
 10065                  .L812:
 10066 58c0 9095                com r25
 10067 58c2 8195                neg r24
 10068 58c4 9F4F                sbci r25,lo8(-1)
 10069 58c6 0817                cp r16,r24
 10070 58c8 1907                cpc r17,r25
 10071 58ca 04F4                brge .L818
 10072 58cc 8C01                movw r16,r24
 10073 58ce 00C0                rjmp .L818
 10074                  .L811:
 10075 58d0 0135                cpi r16,81
 10076 58d2 1105                cpc r17,__zero_reg__
 10077 58d4 04F0                brlt .L819
 10078 58d6 00E5                ldi r16,lo8(80)
 10079 58d8 10E0                ldi r17,hi8(80)
 10080                  .L819:
 10081 58da 3FEF                ldi r19,hi8(-80)
 10082 58dc 003B                cpi r16,lo8(-80)
 10083 58de 1307                cpc r17,r19
 10084 58e0 04F4                brge .L818
 10085 58e2 00EB                ldi r16,lo8(-80)
 10086 58e4 1FEF                ldi r17,hi8(-80)
 10087                  .L818:
 10088 58e6 4D89                ldd r20,Y+21
 10089 58e8 242F                mov r18,r20
 10090 58ea 3327                clr r19
 10091 58ec 220F                lsl r18
 10092 58ee 331F                rol r19
 10093 58f0 220F                lsl r18
 10094 58f2 331F                rol r19
 10095 58f4 C901                movw r24,r18
 10096 58f6 6981                ldd r22,Y+1
 10097 58f8 7A81                ldd r23,Y+2
 10098 58fa 861B                sub r24,r22
 10099 58fc 970B                sbc r25,r23
 10100 58fe 8017                cp r24,r16
 10101 5900 9107                cpc r25,r17
 10102 5902 04F4                brge .L821
 10103 5904 8C01                movw r16,r24
 10104                  .L821:
 10105 5906 8981                ldd r24,Y+1
 10106 5908 9A81                ldd r25,Y+2
 10107 590a 821B                sub r24,r18
 10108 590c 930B                sbc r25,r19
 10109 590e 0817                cp r16,r24
 10110 5910 1907                cpc r17,r25
 10111 5912 04F4                brge .L822
 10112 5914 8C01                movw r16,r24
 10113                  .L822:
 10114 5916 8091 0000           lds r24,MesswertNick
 10115 591a 9091 0000           lds r25,(MesswertNick)+1
 10116 591e 6091 0000           lds r22,StickNick
 10117 5922 7091 0000           lds r23,(StickNick)+1
 10118 5926 861B                sub r24,r22
 10119 5928 970B                sbc r25,r23
 10120 592a 9093 0000           sts (DiffNick)+1,r25
 10121 592e 8093 0000           sts DiffNick,r24
 10122 5932 D090 0000           lds r13,IntegralFaktor
 10123 5936 2091 0000           lds r18,SummeNick
 10124 593a 3091 0000           lds r19,(SummeNick)+1
 10125 593e 4091 0000           lds r20,(SummeNick)+2
 10126 5942 5091 0000           lds r21,(SummeNick)+3
 10127 5946 DD20                tst r13
 10128 5948 01F0                breq .L823
 10129 594a 661A                sub r6,r22
 10130 594c 770A                sbc r7,r23
 10131 594e C301                movw r24,r6
 10132 5950 AA27                clr r26
 10133 5952 97FD                sbrc r25,7
 10134 5954 A095                com r26
 10135 5956 BA2F                mov r27,r26
 10136 5958 00C0                rjmp .L914
 10137                  .L823:
 10138 595a AA27                clr r26
 10139 595c 97FD                sbrc r25,7
 10140 595e A095                com r26
 10141 5960 BA2F                mov r27,r26
 10142                  .L914:
 10143 5962 280F                add r18,r24
 10144 5964 391F                adc r19,r25
 10145 5966 4A1F                adc r20,r26
 10146 5968 5B1F                adc r21,r27
 10147 596a 2093 0000           sts SummeNick,r18
 10148 596e 3093 0000           sts (SummeNick)+1,r19
 10149 5972 4093 0000           sts (SummeNick)+2,r20
 10150 5976 5093 0000           sts (SummeNick)+3,r21
 10151 597a 8091 0000           lds r24,SummeNick
 10152 597e 9091 0000           lds r25,(SummeNick)+1
 10153 5982 A091 0000           lds r26,(SummeNick)+2
 10154 5986 B091 0000           lds r27,(SummeNick)+3
 10155 598a 8150                subi r24,lo8(64001)
 10156 598c 9A4F                sbci r25,hi8(64001)
 10157 598e A040                sbci r26,hlo8(64001)
 10158 5990 B040                sbci r27,hhi8(64001)
 10159 5992 04F0                brlt .L825
 10160 5994 80E0                ldi r24,lo8(64000)
 10161 5996 9AEF                ldi r25,hi8(64000)
 10162 5998 A0E0                ldi r26,hlo8(64000)
 10163 599a B0E0                ldi r27,hhi8(64000)
 10164 599c 8093 0000           sts SummeNick,r24
 10165 59a0 9093 0000           sts (SummeNick)+1,r25
 10166 59a4 A093 0000           sts (SummeNick)+2,r26
 10167 59a8 B093 0000           sts (SummeNick)+3,r27
 10168                  .L825:
 10169 59ac 8091 0000           lds r24,SummeNick
 10170 59b0 9091 0000           lds r25,(SummeNick)+1
 10171 59b4 A091 0000           lds r26,(SummeNick)+2
 10172 59b8 B091 0000           lds r27,(SummeNick)+3
 10173 59bc 8050                subi r24,lo8(-64000)
 10174 59be 9640                sbci r25,hi8(-64000)
 10175 59c0 AF4F                sbci r26,hlo8(-64000)
 10176 59c2 BF4F                sbci r27,hhi8(-64000)
 10177 59c4 04F4                brge .L826
 10178 59c6 80E0                ldi r24,lo8(-64000)
 10179 59c8 96E0                ldi r25,hi8(-64000)
 10180 59ca AFEF                ldi r26,hlo8(-64000)
 10181 59cc BFEF                ldi r27,hhi8(-64000)
 10182 59ce 8093 0000           sts SummeNick,r24
 10183 59d2 9093 0000           sts (SummeNick)+1,r25
 10184 59d6 A093 0000           sts (SummeNick)+2,r26
 10185 59da B093 0000           sts (SummeNick)+3,r27
 10186                  .L826:
 10187 59de C090 0000           lds r12,EE_Parameter+35
 10188 59e2 2091 0000           lds r18,DiffNick
 10189 59e6 3091 0000           lds r19,(DiffNick)+1
 10190 59ea 78E0                ldi r23,lo8(8)
 10191 59ec E72E                mov r14,r23
 10192 59ee EC14                cp r14,r12
 10193 59f0 00F0                brlo .L827
 10194 59f2 8C2D                mov r24,r12
 10195 59f4 9927                clr r25
 10196 59f6 829F                mul r24,r18
 10197 59f8 A001                movw r20,r0
 10198 59fa 839F                mul r24,r19
 10199 59fc 500D                add r21,r0
 10200 59fe 929F                mul r25,r18
 10201 5a00 500D                add r21,r0
 10202 5a02 1124                clr r1
 10203 5a04 CA01                movw r24,r20
 10204 5a06 57FD                sbrc r21,7
 10205 5a08 0796                adiw r24,7
 10206                  .L828:
 10207 5a0a 7C01                movw r14,r24
 10208 5a0c 63E0                ldi r22,3
 10209 5a0e F594        1:      asr r15
 10210 5a10 E794                ror r14
 10211 5a12 6A95                dec r22
 10212 5a14 01F4                brne 1b
 10213 5a16 00C0                rjmp .L829
 10214                  .L827:
 10215 5a18 8C2D                mov r24,r12
 10216 5a1a 8695                lsr r24
 10217 5a1c 9927                clr r25
 10218 5a1e 829F                mul r24,r18
 10219 5a20 B001                movw r22,r0
 10220 5a22 839F                mul r24,r19
 10221 5a24 700D                add r23,r0
 10222 5a26 929F                mul r25,r18
 10223 5a28 700D                add r23,r0
 10224 5a2a 1124                clr r1
 10225 5a2c CB01                movw r24,r22
 10226 5a2e 77FD                sbrc r23,7
 10227 5a30 0396                adiw r24,3
 10228                  .L830:
 10229 5a32 7C01                movw r14,r24
 10230 5a34 F594                asr r15
 10231 5a36 E794                ror r14
 10232 5a38 F594                asr r15
 10233 5a3a E794                ror r14
 10234                  .L829:
 10235 5a3c A090 0000           lds r10,Ki
 10236 5a40 B090 0000           lds r11,(Ki)+1
 10237 5a44 9501                movw r18,r10
 10238 5a46 4427                clr r20
 10239 5a48 37FD                sbrc r19,7
 10240 5a4a 4095                com r20
 10241 5a4c 542F                mov r21,r20
 10242 5a4e 8091 0000           lds r24,SummeNick
 10243 5a52 9091 0000           lds r25,(SummeNick)+1
 10244 5a56 A091 0000           lds r26,(SummeNick)+2
 10245 5a5a B091 0000           lds r27,(SummeNick)+3
 10246 5a5e BC01                movw r22,r24
 10247 5a60 CD01                movw r24,r26
 10248 5a62 0E94 0000           call __divmodsi4
 10249 5a66 E20E                add r14,r18
 10250 5a68 F31E                adc r15,r19
 10251 5a6a 9090 0000           lds r9,Parameter_DynamicStability
 10252 5a6e 692D                mov r22,r9
 10253 5a70 7727                clr r23
 10254 5a72 8827                clr r24
 10255 5a74 9927                clr r25
 10256 5a76 9801                movw r18,r16
 10257 5a78 17FF                sbrs r17,7
 10258 5a7a 00C0                rjmp .L831
 10259 5a7c 2227                clr r18
 10260 5a7e 3327                clr r19
 10261 5a80 201B                sub r18,r16
 10262 5a82 310B                sbc r19,r17
 10263                  .L831:
 10264 5a84 37FF                sbrs r19,7
 10265 5a86 00C0                rjmp .L832
 10266 5a88 2F5F                subi r18,lo8(-(1))
 10267 5a8a 3F4F                sbci r19,hi8(-(1))
 10268                  .L832:
 10269 5a8c 3595                asr r19
 10270 5a8e 2795                ror r18
 10271 5a90 A981                ldd r26,Y+1
 10272 5a92 BA81                ldd r27,Y+2
 10273 5a94 2A0F                add r18,r26
 10274 5a96 3B1F                adc r19,r27
 10275 5a98 4427                clr r20
 10276 5a9a 37FD                sbrc r19,7
 10277 5a9c 4095                com r20
 10278 5a9e 542F                mov r21,r20
 10279 5aa0 0E94 0000           call __mulsi3
 10280 5aa4 97FF                sbrs r25,7
 10281 5aa6 00C0                rjmp .L833
 10282 5aa8 615C                subi r22,lo8(-(63))
 10283 5aaa 7F4F                sbci r23,hi8(-(63))
 10284 5aac 8F4F                sbci r24,hlo8(-(63))
 10285 5aae 9F4F                sbci r25,hhi8(-(63))
 10286                  .L833:
 10287 5ab0 26E0                ldi r18,6
 10288 5ab2 9595        1:      asr r25
 10289 5ab4 8795                ror r24
 10290 5ab6 7795                ror r23
 10291 5ab8 6795                ror r22
 10292 5aba 2A95                dec r18
 10293 5abc 01F4                brne 1b
 10294 5abe 9B01                movw r18,r22
 10295 5ac0 6E15                cp r22,r14
 10296 5ac2 7F05                cpc r23,r15
 10297 5ac4 04F4                brge .L834
 10298 5ac6 7B01                movw r14,r22
 10299                  .L834:
 10300 5ac8 3095                com r19
 10301 5aca 2195                neg r18
 10302 5acc 3F4F                sbci r19,lo8(-1)
 10303 5ace E216                cp r14,r18
 10304 5ad0 F306                cpc r15,r19
 10305 5ad2 04F4                brge .L835
 10306 5ad4 7901                movw r14,r18
 10307                  .L835:
 10308 5ad6 8091 0000           lds r24,MesswertRoll
 10309 5ada 9091 0000           lds r25,(MesswertRoll)+1
 10310 5ade 6091 0000           lds r22,StickRoll
 10311 5ae2 7091 0000           lds r23,(StickRoll)+1
 10312 5ae6 861B                sub r24,r22
 10313 5ae8 970B                sbc r25,r23
 10314 5aea 9093 0000           sts (DiffRoll)+1,r25
 10315 5aee 8093 0000           sts DiffRoll,r24
 10316 5af2 2091 0000           lds r18,SummeRoll
 10317 5af6 3091 0000           lds r19,(SummeRoll)+1
 10318 5afa 4091 0000           lds r20,(SummeRoll)+2
 10319 5afe 5091 0000           lds r21,(SummeRoll)+3
 10320 5b02 DD20                tst r13
 10321 5b04 01F0                breq .L836
 10322 5b06 461A                sub r4,r22
 10323 5b08 570A                sbc r5,r23
 10324 5b0a C201                movw r24,r4
 10325 5b0c AA27                clr r26
 10326 5b0e 97FD                sbrc r25,7
 10327 5b10 A095                com r26
 10328 5b12 BA2F                mov r27,r26
 10329 5b14 00C0                rjmp .L915
 10330                  .L836:
 10331 5b16 AA27                clr r26
 10332 5b18 97FD                sbrc r25,7
 10333 5b1a A095                com r26
 10334 5b1c BA2F                mov r27,r26
 10335                  .L915:
 10336 5b1e 280F                add r18,r24
 10337 5b20 391F                adc r19,r25
 10338 5b22 4A1F                adc r20,r26
 10339 5b24 5B1F                adc r21,r27
 10340 5b26 2093 0000           sts SummeRoll,r18
 10341 5b2a 3093 0000           sts (SummeRoll)+1,r19
 10342 5b2e 4093 0000           sts (SummeRoll)+2,r20
 10343 5b32 5093 0000           sts (SummeRoll)+3,r21
 10344 5b36 8091 0000           lds r24,SummeRoll
 10345 5b3a 9091 0000           lds r25,(SummeRoll)+1
 10346 5b3e A091 0000           lds r26,(SummeRoll)+2
 10347 5b42 B091 0000           lds r27,(SummeRoll)+3
 10348 5b46 8150                subi r24,lo8(64001)
 10349 5b48 9A4F                sbci r25,hi8(64001)
 10350 5b4a A040                sbci r26,hlo8(64001)
 10351 5b4c B040                sbci r27,hhi8(64001)
 10352 5b4e 04F0                brlt .L838
 10353 5b50 80E0                ldi r24,lo8(64000)
 10354 5b52 9AEF                ldi r25,hi8(64000)
 10355 5b54 A0E0                ldi r26,hlo8(64000)
 10356 5b56 B0E0                ldi r27,hhi8(64000)
 10357 5b58 8093 0000           sts SummeRoll,r24
 10358 5b5c 9093 0000           sts (SummeRoll)+1,r25
 10359 5b60 A093 0000           sts (SummeRoll)+2,r26
 10360 5b64 B093 0000           sts (SummeRoll)+3,r27
 10361                  .L838:
 10362 5b68 8091 0000           lds r24,SummeRoll
 10363 5b6c 9091 0000           lds r25,(SummeRoll)+1
 10364 5b70 A091 0000           lds r26,(SummeRoll)+2
 10365 5b74 B091 0000           lds r27,(SummeRoll)+3
 10366 5b78 8050                subi r24,lo8(-64000)
 10367 5b7a 9640                sbci r25,hi8(-64000)
 10368 5b7c AF4F                sbci r26,hlo8(-64000)
 10369 5b7e BF4F                sbci r27,hhi8(-64000)
 10370 5b80 04F4                brge .L839
 10371 5b82 80E0                ldi r24,lo8(-64000)
 10372 5b84 96E0                ldi r25,hi8(-64000)
 10373 5b86 AFEF                ldi r26,hlo8(-64000)
 10374 5b88 BFEF                ldi r27,hhi8(-64000)
 10375 5b8a 8093 0000           sts SummeRoll,r24
 10376 5b8e 9093 0000           sts (SummeRoll)+1,r25
 10377 5b92 A093 0000           sts (SummeRoll)+2,r26
 10378 5b96 B093 0000           sts (SummeRoll)+3,r27
 10379                  .L839:
 10380 5b9a 2091 0000           lds r18,DiffRoll
 10381 5b9e 3091 0000           lds r19,(DiffRoll)+1
 10382 5ba2 48E0                ldi r20,lo8(8)
 10383 5ba4 4C15                cp r20,r12
 10384 5ba6 00F0                brlo .L840
 10385 5ba8 8C2D                mov r24,r12
 10386 5baa 9927                clr r25
 10387 5bac 829F                mul r24,r18
 10388 5bae B001                movw r22,r0
 10389 5bb0 839F                mul r24,r19
 10390 5bb2 700D                add r23,r0
 10391 5bb4 929F                mul r25,r18
 10392 5bb6 700D                add r23,r0
 10393 5bb8 1124                clr r1
 10394 5bba CB01                movw r24,r22
 10395 5bbc 77FD                sbrc r23,7
 10396 5bbe 0796                adiw r24,7
 10397                  .L841:
 10398 5bc0 6C01                movw r12,r24
 10399 5bc2 B3E0                ldi r27,3
 10400 5bc4 D594        1:      asr r13
 10401 5bc6 C794                ror r12
 10402 5bc8 BA95                dec r27
 10403 5bca 01F4                brne 1b
 10404 5bcc 00C0                rjmp .L842
 10405                  .L840:
 10406 5bce C694                lsr r12
 10407 5bd0 8C2D                mov r24,r12
 10408 5bd2 9927                clr r25
 10409 5bd4 829F                mul r24,r18
 10410 5bd6 D001                movw r26,r0
 10411 5bd8 839F                mul r24,r19
 10412 5bda B00D                add r27,r0
 10413 5bdc 929F                mul r25,r18
 10414 5bde B00D                add r27,r0
 10415 5be0 1124                clr r1
 10416 5be2 CD01                movw r24,r26
 10417 5be4 B7FD                sbrc r27,7
 10418 5be6 0396                adiw r24,3
 10419                  .L843:
 10420 5be8 6C01                movw r12,r24
 10421 5bea D594                asr r13
 10422 5bec C794                ror r12
 10423 5bee D594                asr r13
 10424 5bf0 C794                ror r12
 10425                  .L842:
 10426 5bf2 9501                movw r18,r10
 10427 5bf4 4427                clr r20
 10428 5bf6 37FD                sbrc r19,7
 10429 5bf8 4095                com r20
 10430 5bfa 542F                mov r21,r20
 10431 5bfc 8091 0000           lds r24,SummeRoll
 10432 5c00 9091 0000           lds r25,(SummeRoll)+1
 10433 5c04 A091 0000           lds r26,(SummeRoll)+2
 10434 5c08 B091 0000           lds r27,(SummeRoll)+3
 10435 5c0c BC01                movw r22,r24
 10436 5c0e CD01                movw r24,r26
 10437 5c10 0E94 0000           call __divmodsi4
 10438 5c14 C20E                add r12,r18
 10439 5c16 D31E                adc r13,r19
 10440 5c18 692D                mov r22,r9
 10441 5c1a 7727                clr r23
 10442 5c1c 8827                clr r24
 10443 5c1e 9927                clr r25
 10444 5c20 9801                movw r18,r16
 10445 5c22 17FF                sbrs r17,7
 10446 5c24 00C0                rjmp .L844
 10447 5c26 2227                clr r18
 10448 5c28 3327                clr r19
 10449 5c2a 201B                sub r18,r16
 10450 5c2c 310B                sbc r19,r17
 10451                  .L844:
 10452 5c2e 37FF                sbrs r19,7
 10453 5c30 00C0                rjmp .L845
 10454 5c32 2F5F                subi r18,lo8(-(1))
 10455 5c34 3F4F                sbci r19,hi8(-(1))
 10456                  .L845:
 10457 5c36 3595                asr r19
 10458 5c38 2795                ror r18
 10459 5c3a E981                ldd r30,Y+1
 10460 5c3c FA81                ldd r31,Y+2
 10461 5c3e 2E0F                add r18,r30
 10462 5c40 3F1F                adc r19,r31
 10463 5c42 4427                clr r20
 10464 5c44 37FD                sbrc r19,7
 10465 5c46 4095                com r20
 10466 5c48 542F                mov r21,r20
 10467 5c4a 0E94 0000           call __mulsi3
 10468 5c4e 97FF                sbrs r25,7
 10469 5c50 00C0                rjmp .L846
 10470 5c52 615C                subi r22,lo8(-(63))
 10471 5c54 7F4F                sbci r23,hi8(-(63))
 10472 5c56 8F4F                sbci r24,hlo8(-(63))
 10473 5c58 9F4F                sbci r25,hhi8(-(63))
 10474                  .L846:
 10475 5c5a E6E0                ldi r30,6
 10476 5c5c 9595        1:      asr r25
 10477 5c5e 8795                ror r24
 10478 5c60 7795                ror r23
 10479 5c62 6795                ror r22
 10480 5c64 EA95                dec r30
 10481 5c66 01F4                brne 1b
 10482 5c68 9B01                movw r18,r22
 10483 5c6a 6C15                cp r22,r12
 10484 5c6c 7D05                cpc r23,r13
 10485 5c6e 04F4                brge .L847
 10486 5c70 6B01                movw r12,r22
 10487                  .L847:
 10488 5c72 3095                com r19
 10489 5c74 2195                neg r18
 10490 5c76 3F4F                sbci r19,lo8(-1)
 10491 5c78 C216                cp r12,r18
 10492 5c7a D306                cpc r13,r19
 10493 5c7c 04F4                brge .L848
 10494 5c7e 6901                movw r12,r18
 10495                  .L848:
 10496 5c80 8091 0000           lds r24,MIN_GAS
 10497 5c84 282E                mov r2,r24
 10498 5c86 3324                clr r3
 10499 5c88 5090 0000           lds r5,EE_Parameter+101
 10500 5c8c 60E0                ldi r22,lo8(Motor)
 10501 5c8e 862E                mov r8,r22
 10502 5c90 60E0                ldi r22,hi8(Motor)
 10503 5c92 962E                mov r9,r22
 10504 5c94 50E0                ldi r21,lo8(Mixer+13)
 10505 5c96 A52E                mov r10,r21
 10506 5c98 50E0                ldi r21,hi8(Mixer+13)
 10507 5c9a B52E                mov r11,r21
 10508 5c9c 4BE0                ldi r20,lo8(11)
 10509 5c9e 442E                mov r4,r20
 10510 5ca0 30E0                ldi r19,lo8(tmp_motorwert)
 10511 5ca2 632E                mov r6,r19
 10512 5ca4 30E0                ldi r19,hi8(tmp_motorwert)
 10513 5ca6 732E                mov r7,r19
 10514                  .L883:
 10515 5ca8 D501                movw r26,r10
 10516 5caa 2C91                ld r18,X
 10517 5cac 1216                cp __zero_reg__,r18
 10518 5cae 04F0                brlt .+2
 10519 5cb0 00C0                rjmp .L852
 10520 5cb2 2034                cpi r18,lo8(64)
 10521 5cb4 01F4                brne .L853
 10522 5cb6 E981                ldd r30,Y+1
 10523 5cb8 FA81                ldd r31,Y+2
 10524 5cba FF8B                std Y+23,r31
 10525 5cbc EE8B                std Y+22,r30
 10526 5cbe 00C0                rjmp .L854
 10527                  .L853:
 10528 5cc0 4981                ldd r20,Y+1
 10529 5cc2 5A81                ldd r21,Y+2
 10530 5cc4 CA01                movw r24,r20
 10531 5cc6 AA27                clr r26
 10532 5cc8 97FD                sbrc r25,7
 10533 5cca A095                com r26
 10534 5ccc BA2F                mov r27,r26
 10535 5cce 3327                clr r19
 10536 5cd0 27FD                sbrc r18,7
 10537 5cd2 3095                com r19
 10538 5cd4 432F                mov r20,r19
 10539 5cd6 532F                mov r21,r19
 10540 5cd8 BC01                movw r22,r24
 10541 5cda CD01                movw r24,r26
 10542 5cdc 0E94 0000           call __mulsi3
 10543 5ce0 97FF                sbrs r25,7
 10544 5ce2 00C0                rjmp .L855
 10545 5ce4 615C                subi r22,lo8(-(63))
 10546 5ce6 7F4F                sbci r23,hi8(-(63))
 10547 5ce8 8F4F                sbci r24,hlo8(-(63))
 10548 5cea 9F4F                sbci r25,hhi8(-(63))
 10549                  .L855:
 10550 5cec 26E0                ldi r18,6
 10551 5cee 9595        1:      asr r25
 10552 5cf0 8795                ror r24
 10553 5cf2 7795                ror r23
 10554 5cf4 6795                ror r22
 10555 5cf6 2A95                dec r18
 10556 5cf8 01F4                brne 1b
 10557 5cfa 7F8B                std Y+23,r23
 10558 5cfc 6E8B                std Y+22,r22
 10559                  .L854:
 10560 5cfe F501                movw r30,r10
 10561 5d00 2181                ldd r18,Z+1
 10562 5d02 2034                cpi r18,lo8(64)
 10563 5d04 01F4                brne .L856
 10564 5d06 2E89                ldd r18,Y+22
 10565 5d08 3F89                ldd r19,Y+23
 10566 5d0a 2E0D                add r18,r14
 10567 5d0c 3F1D                adc r19,r15
 10568 5d0e 3F8B                std Y+23,r19
 10569 5d10 2E8B                std Y+22,r18
 10570 5d12 00C0                rjmp .L857
 10571                  .L856:
 10572 5d14 203C                cpi r18,lo8(-64)
 10573 5d16 01F4                brne .L858
 10574 5d18 4E89                ldd r20,Y+22
 10575 5d1a 5F89                ldd r21,Y+23
 10576 5d1c 4E19                sub r20,r14
 10577 5d1e 5F09                sbc r21,r15
 10578 5d20 5F8B                std Y+23,r21
 10579 5d22 4E8B                std Y+22,r20
 10580 5d24 00C0                rjmp .L857
 10581                  .L858:
 10582 5d26 C701                movw r24,r14
 10583 5d28 AA27                clr r26
 10584 5d2a 97FD                sbrc r25,7
 10585 5d2c A095                com r26
 10586 5d2e BA2F                mov r27,r26
 10587 5d30 3327                clr r19
 10588 5d32 27FD                sbrc r18,7
 10589 5d34 3095                com r19
 10590 5d36 432F                mov r20,r19
 10591 5d38 532F                mov r21,r19
 10592 5d3a BC01                movw r22,r24
 10593 5d3c CD01                movw r24,r26
 10594 5d3e 0E94 0000           call __mulsi3
 10595 5d42 97FF                sbrs r25,7
 10596 5d44 00C0                rjmp .L860
 10597 5d46 615C                subi r22,lo8(-(63))
 10598 5d48 7F4F                sbci r23,hi8(-(63))
 10599 5d4a 8F4F                sbci r24,hlo8(-(63))
 10600 5d4c 9F4F                sbci r25,hhi8(-(63))
 10601                  .L860:
 10602 5d4e B6E0                ldi r27,6
 10603 5d50 9595        1:      asr r25
 10604 5d52 8795                ror r24
 10605 5d54 7795                ror r23
 10606 5d56 6795                ror r22
 10607 5d58 BA95                dec r27
 10608 5d5a 01F4                brne 1b
 10609 5d5c AE89                ldd r26,Y+22
 10610 5d5e BF89                ldd r27,Y+23
 10611 5d60 A60F                add r26,r22
 10612 5d62 B71F                adc r27,r23
 10613 5d64 BF8B                std Y+23,r27
 10614 5d66 AE8B                std Y+22,r26
 10615                  .L857:
 10616 5d68 F501                movw r30,r10
 10617 5d6a 2281                ldd r18,Z+2
 10618 5d6c 2034                cpi r18,lo8(64)
 10619 5d6e 01F4                brne .L861
 10620 5d70 2E89                ldd r18,Y+22
 10621 5d72 3F89                ldd r19,Y+23
 10622 5d74 2C0D                add r18,r12
 10623 5d76 3D1D                adc r19,r13
 10624 5d78 3F8B                std Y+23,r19
 10625 5d7a 2E8B                std Y+22,r18
 10626 5d7c 00C0                rjmp .L862
 10627                  .L861:
 10628 5d7e 203C                cpi r18,lo8(-64)
 10629 5d80 01F4                brne .L863
 10630 5d82 4E89                ldd r20,Y+22
 10631 5d84 5F89                ldd r21,Y+23
 10632 5d86 4C19                sub r20,r12
 10633 5d88 5D09                sbc r21,r13
 10634 5d8a 5F8B                std Y+23,r21
 10635 5d8c 4E8B                std Y+22,r20
 10636 5d8e 00C0                rjmp .L862
 10637                  .L863:
 10638 5d90 C601                movw r24,r12
 10639 5d92 AA27                clr r26
 10640 5d94 97FD                sbrc r25,7
 10641 5d96 A095                com r26
 10642 5d98 BA2F                mov r27,r26
 10643 5d9a 3327                clr r19
 10644 5d9c 27FD                sbrc r18,7
 10645 5d9e 3095                com r19
 10646 5da0 432F                mov r20,r19
 10647 5da2 532F                mov r21,r19
 10648 5da4 BC01                movw r22,r24
 10649 5da6 CD01                movw r24,r26
 10650 5da8 0E94 0000           call __mulsi3
 10651 5dac 97FF                sbrs r25,7
 10652 5dae 00C0                rjmp .L865
 10653 5db0 615C                subi r22,lo8(-(63))
 10654 5db2 7F4F                sbci r23,hi8(-(63))
 10655 5db4 8F4F                sbci r24,hlo8(-(63))
 10656 5db6 9F4F                sbci r25,hhi8(-(63))
 10657                  .L865:
 10658 5db8 A6E0                ldi r26,6
 10659 5dba 9595        1:      asr r25
 10660 5dbc 8795                ror r24
 10661 5dbe 7795                ror r23
 10662 5dc0 6795                ror r22
 10663 5dc2 AA95                dec r26
 10664 5dc4 01F4                brne 1b
 10665 5dc6 AE89                ldd r26,Y+22
 10666 5dc8 BF89                ldd r27,Y+23
 10667 5dca A60F                add r26,r22
 10668 5dcc B71F                adc r27,r23
 10669 5dce BF8B                std Y+23,r27
 10670 5dd0 AE8B                std Y+22,r26
 10671                  .L862:
 10672 5dd2 F501                movw r30,r10
 10673 5dd4 2381                ldd r18,Z+3
 10674 5dd6 2034                cpi r18,lo8(64)
 10675 5dd8 01F4                brne .L866
 10676 5dda 2E89                ldd r18,Y+22
 10677 5ddc 3F89                ldd r19,Y+23
 10678 5dde 200F                add r18,r16
 10679 5de0 311F                adc r19,r17
 10680 5de2 3F8B                std Y+23,r19
 10681 5de4 2E8B                std Y+22,r18
 10682 5de6 00C0                rjmp .L867
 10683                  .L866:
 10684 5de8 203C                cpi r18,lo8(-64)
 10685 5dea 01F4                brne .L868
 10686 5dec 4E89                ldd r20,Y+22
 10687 5dee 5F89                ldd r21,Y+23
 10688 5df0 401B                sub r20,r16
 10689 5df2 510B                sbc r21,r17
 10690 5df4 5F8B                std Y+23,r21
 10691 5df6 4E8B                std Y+22,r20
 10692 5df8 00C0                rjmp .L867
 10693                  .L868:
 10694 5dfa C801                movw r24,r16
 10695 5dfc AA27                clr r26
 10696 5dfe 97FD                sbrc r25,7
 10697 5e00 A095                com r26
 10698 5e02 BA2F                mov r27,r26
 10699 5e04 3327                clr r19
 10700 5e06 27FD                sbrc r18,7
 10701 5e08 3095                com r19
 10702 5e0a 432F                mov r20,r19
 10703 5e0c 532F                mov r21,r19
 10704 5e0e BC01                movw r22,r24
 10705 5e10 CD01                movw r24,r26
 10706 5e12 0E94 0000           call __mulsi3
 10707 5e16 97FF                sbrs r25,7
 10708 5e18 00C0                rjmp .L870
 10709 5e1a 615C                subi r22,lo8(-(63))
 10710 5e1c 7F4F                sbci r23,hi8(-(63))
 10711 5e1e 8F4F                sbci r24,hlo8(-(63))
 10712 5e20 9F4F                sbci r25,hhi8(-(63))
 10713                  .L870:
 10714 5e22 F6E0                ldi r31,6
 10715 5e24 9595        1:      asr r25
 10716 5e26 8795                ror r24
 10717 5e28 7795                ror r23
 10718 5e2a 6795                ror r22
 10719 5e2c FA95                dec r31
 10720 5e2e 01F4                brne 1b
 10721 5e30 AE89                ldd r26,Y+22
 10722 5e32 BF89                ldd r27,Y+23
 10723 5e34 A60F                add r26,r22
 10724 5e36 B71F                adc r27,r23
 10725 5e38 BF8B                std Y+23,r27
 10726 5e3a AE8B                std Y+22,r26
 10727                  .L867:
 10728 5e3c F301                movw r30,r6
 10729 5e3e 8081                ld r24,Z
 10730 5e40 9181                ldd r25,Z+1
 10731 5e42 2E89                ldd r18,Y+22
 10732 5e44 3F89                ldd r19,Y+23
 10733 5e46 8217                cp r24,r18
 10734 5e48 9307                cpc r25,r19
 10735 5e4a 04F4                brge .L871
 10736 5e4c B901                movw r22,r18
 10737 5e4e 680F                add r22,r24
 10738 5e50 791F                adc r23,r25
 10739 5e52 77FF                sbrs r23,7
 10740 5e54 00C0                rjmp .L872
 10741 5e56 6F5F                subi r22,lo8(-(1))
 10742 5e58 7F4F                sbci r23,hi8(-(1))
 10743                  .L872:
 10744 5e5a 7595                asr r23
 10745 5e5c 6795                ror r22
 10746 5e5e 7F8B                std Y+23,r23
 10747 5e60 6E8B                std Y+22,r22
 10748 5e62 00C0                rjmp .L873
 10749                  .L871:
 10750 5e64 5520                tst r5
 10751 5e66 01F4                brne .L874
 10752 5e68 4E89                ldd r20,Y+22
 10753 5e6a 5F89                ldd r21,Y+23
 10754 5e6c 440F                add r20,r20
 10755 5e6e 551F                adc r21,r21
 10756 5e70 481B                sub r20,r24
 10757 5e72 590B                sbc r21,r25
 10758 5e74 5F8B                std Y+23,r21
 10759 5e76 4E8B                std Y+22,r20
 10760 5e78 00C0                rjmp .L873
 10761                  .L874:
 10762 5e7a 51E0                ldi r21,lo8(1)
 10763 5e7c 5515                cp r21,r5
 10764 5e7e 00F4                brsh .L873
 10765 5e80 252D                mov r18,r5
 10766 5e82 3327                clr r19
 10767 5e84 6E89                ldd r22,Y+22
 10768 5e86 7F89                ldd r23,Y+23
 10769 5e88 861B                sub r24,r22
 10770 5e8a 970B                sbc r25,r23
 10771 5e8c B901                movw r22,r18
 10772 5e8e 0E94 0000           call __divmodhi4
 10773 5e92 AE89                ldd r26,Y+22
 10774 5e94 BF89                ldd r27,Y+23
 10775 5e96 A60F                add r26,r22
 10776 5e98 B71F                adc r27,r23
 10777 5e9a BF8B                std Y+23,r27
 10778 5e9c AE8B                std Y+22,r26
 10779                  .L873:
 10780 5e9e C101                movw r24,r2
 10781 5ea0 880F                lsl r24
 10782 5ea2 991F                rol r25
 10783 5ea4 880F                lsl r24
 10784 5ea6 991F                rol r25
 10785 5ea8 EE89                ldd r30,Y+22
 10786 5eaa FF89                ldd r31,Y+23
 10787 5eac 8E17                cp r24,r30
 10788 5eae 9F07                cpc r25,r31
 10789 5eb0 04F4                brge .L916
 10790 5eb2 FD89                ldd r31,Y+21
 10791 5eb4 8F2F                mov r24,r31
 10792 5eb6 9927                clr r25
 10793 5eb8 880F                lsl r24
 10794 5eba 991F                rol r25
 10795 5ebc 880F                lsl r24
 10796 5ebe 991F                rol r25
 10797 5ec0 2E89                ldd r18,Y+22
 10798 5ec2 3F89                ldd r19,Y+23
 10799 5ec4 2817                cp r18,r24
 10800 5ec6 3907                cpc r19,r25
 10801 5ec8 04F0                brlt .L878
 10802                  .L916:
 10803 5eca 9F8B                std Y+23,r25
 10804 5ecc 8E8B                std Y+22,r24
 10805                  .L878:
 10806 5ece 8E89                ldd r24,Y+22
 10807 5ed0 9F89                ldd r25,Y+23
 10808 5ed2 97FD                sbrc r25,7
 10809 5ed4 0396                adiw r24,3
 10810                  .L880:
 10811 5ed6 9595                asr r25
 10812 5ed8 8795                ror r24
 10813 5eda 9595                asr r25
 10814 5edc 8795                ror r24
 10815 5ede F401                movw r30,r8
 10816 5ee0 8183                std Z+1,r24
 10817 5ee2 880F                lsl r24
 10818 5ee4 991F                rol r25
 10819 5ee6 880F                lsl r24
 10820 5ee8 991F                rol r25
 10821 5eea 2E89                ldd r18,Y+22
 10822 5eec 3F89                ldd r19,Y+23
 10823 5eee 281B                sub r18,r24
 10824 5ef0 390B                sbc r19,r25
 10825 5ef2 C901                movw r24,r18
 10826 5ef4 880F                lsl r24
 10827 5ef6 8283                std Z+2,r24
 10828 5ef8 EE89                ldd r30,Y+22
 10829 5efa FF89                ldd r31,Y+23
 10830 5efc D301                movw r26,r6
 10831 5efe ED93                st X+,r30
 10832 5f00 FC93                st X,r31
 10833 5f02 00C0                rjmp .L851
 10834                  .L852:
 10835 5f04 F401                movw r30,r8
 10836 5f06 1182                std Z+1,__zero_reg__
 10837 5f08 1282                std Z+2,__zero_reg__
 10838                  .L851:
 10839 5f0a 4A94                dec r4
 10840 5f0c 22E0                ldi r18,lo8(2)
 10841 5f0e 30E0                ldi r19,hi8(2)
 10842 5f10 620E                add r6,r18
 10843 5f12 731E                adc r7,r19
 10844 5f14 44E0                ldi r20,lo8(4)
 10845 5f16 50E0                ldi r21,hi8(4)
 10846 5f18 A40E                add r10,r20
 10847 5f1a B51E                adc r11,r21
 10848 5f1c 68E0                ldi r22,lo8(8)
 10849 5f1e 70E0                ldi r23,hi8(8)
 10850 5f20 860E                add r8,r22
 10851 5f22 971E                adc r9,r23
 10852 5f24 47FE                sbrs r4,7
 10853 5f26 00C0                rjmp .L883
 10854                  /* epilogue: frame size=23 */
 10855 5f28 E2E1                ldi r30,18
 10856 5f2a C95E                subi r28,-23
 10857 5f2c 0C94 0000           jmp __epilogue_restores__+0
 10858                  /* epilogue end (size=4) */
 10859                  /* function MotorRegler size 8305 (8295) */
 10861                          .comm TrimNick,2,1
 10862                          .comm TrimRoll,2,1
 10863                          .comm ErsatzKompass,4,1
 10864                          .comm ErsatzKompassInGrad,2,1
 10865                          .comm MesswertNick,2,1
 10866                          .comm MesswertRoll,2,1
 10867                          .comm MesswertGier,2,1
 10868                          .comm Mittelwert_AccNick,2,1
 10869                          .comm Mittelwert_AccRoll,2,1
 10870                          .comm NaviAccNick,2,1
 10871                          .comm NaviAccRoll,2,1
 10872                          .comm h,1,1
 10873                          .comm m,1,1
 10874                          .comm s,1,1
 10875                          .comm DiffNick,2,1
 10876                          .comm DiffRoll,2,1
 10877                          .comm Parameter_Servo3,1,1
 10878                          .comm Parameter_Servo4,1,1
 10879                          .comm Parameter_Servo5,1,1
 10880                          .comm Parameter_J16Bitmask,1,1
 10881                          .comm Parameter_J16Timing,1,1
 10882                          .comm Parameter_J17Bitmask,1,1
 10883                          .comm Parameter_J17Timing,1,1
 10884                          .comm Parameter_GlobalConfig,1,1
 10885                          .comm Parameter_ExtraConfig,1,1
 10886                          .comm MesswertGierBias,2,1
 10887                          .comm RohMesswertNick,2,1
 10888                          .comm RohMesswertRoll,2,1
 10889                          .comm MittelIntegralNick,4,1
 10890                          .comm MittelIntegralRoll,4,1
 10891                          .comm MittelIntegralNick2,4,1
 10892                          .comm MittelIntegralRoll2,4,1
 10893                          .comm MAX_GAS,1,1
 10894                          .comm MIN_GAS,1,1
 10895                          .comm GyroFaktor,1,1
 10896                          .comm GyroFaktorGier,1,1
 10897                          .comm IntegralFaktor,1,1
 10898                          .comm IntegralFaktorGier,1,1
 10899                          .comm Parameter_NaviGpsModeControl,1,1
 10900                          .comm Parameter_NaviGpsGain,1,1
 10901                          .comm Parameter_NaviGpsP,1,1
 10902                          .comm Parameter_NaviGpsI,1,1
 10903                          .comm Parameter_NaviGpsD,1,1
 10904                          .comm Parameter_NaviGpsACC,1,1
 10905                          .comm Parameter_NaviOperatingRadius,1,1
 10906                          .comm Parameter_NaviWindCorrection,1,1
 10907                          .comm Parameter_NaviSpeedCompensation,1,1
 10908                          .comm Parameter_ExternalControl,1,1
 10909                          .comm Parameter_MaximumAltitude,1,1
 10910                          .comm KopplungsteilNickRoll,2,1
 10911                          .comm KopplungsteilRollNick,2,1
 10912                          .comm tmp_motorwert,24,1
 10913                  /* File "fc.c": code 12351 = 0x303f (12290), prologues  31, epilogues  30 */
DEFINED SYMBOLS
                            *ABS*:00000000 fc.c
  C:\Temp/ccqfRHGa.s:3      *ABS*:0000003f __SREG__
  C:\Temp/ccqfRHGa.s:4      *ABS*:0000003e __SP_H__
  C:\Temp/ccqfRHGa.s:5      *ABS*:0000003d __SP_L__
  C:\Temp/ccqfRHGa.s:6      *ABS*:00000000 __tmp_reg__
  C:\Temp/ccqfRHGa.s:7      *ABS*:00000001 __zero_reg__
  C:\Temp/ccqfRHGa.s:15     .bss:00000000 GasIsZeroCnt
  C:\Temp/ccqfRHGa.s:21     .bss:00000002 HooverGasEmergencyPercent
  C:\Temp/ccqfRHGa.s:27     .data:00000000 VarioCharacter
  C:\Temp/ccqfRHGa.s:32     .data:00000001 GIER_GRAD_FAKTOR
  C:\Temp/ccqfRHGa.s:39     .bss:00000004 FC_StatusFlags2
  C:\Temp/ccqfRHGa.s:45     .bss:00000005 FC_StatusFlags
  C:\Temp/ccqfRHGa.s:51     .bss:00000006 modell_fliegt
  C:\Temp/ccqfRHGa.s:57     .bss:00000008 MaxStickRoll
  C:\Temp/ccqfRHGa.s:63     .bss:0000000a MaxStickNick
  C:\Temp/ccqfRHGa.s:69     .data:00000005 ExternHoehenValue
  C:\Temp/ccqfRHGa.s:76     .bss:0000000c ExternStickGier
  C:\Temp/ccqfRHGa.s:82     .bss:0000000e ExternStickRoll
  C:\Temp/ccqfRHGa.s:88     .bss:00000010 ExternStickNick
  C:\Temp/ccqfRHGa.s:94     .data:00000007 sintab
  C:\Temp/ccqfRHGa.s:131    .bss:00000012 CareFree
  C:\Temp/ccqfRHGa.s:137    .data:00000026 Parameter_DynamicStability
  C:\Temp/ccqfRHGa.s:142    .data:00000027 Parameter_CouplingYawCorrection
  C:\Temp/ccqfRHGa.s:147    .data:00000028 Parameter_AchsKopplung2
  C:\Temp/ccqfRHGa.s:152    .data:00000029 Parameter_AchsKopplung1
  C:\Temp/ccqfRHGa.s:157    .data:0000002a Parameter_LoopGasLimit
  C:\Temp/ccqfRHGa.s:162    .data:0000002b Parameter_ServoRollControl
  C:\Temp/ccqfRHGa.s:167    .data:0000002c Parameter_ServoNickControl
  C:\Temp/ccqfRHGa.s:174    .bss:00000013 Parameter_UserParam8
  C:\Temp/ccqfRHGa.s:180    .bss:00000014 Parameter_UserParam7
  C:\Temp/ccqfRHGa.s:186    .bss:00000015 Parameter_UserParam6
  C:\Temp/ccqfRHGa.s:192    .bss:00000016 Parameter_UserParam5
  C:\Temp/ccqfRHGa.s:198    .bss:00000017 Parameter_UserParam4
  C:\Temp/ccqfRHGa.s:204    .bss:00000018 Parameter_UserParam3
  C:\Temp/ccqfRHGa.s:210    .bss:00000019 Parameter_UserParam2
  C:\Temp/ccqfRHGa.s:216    .bss:0000001a Parameter_UserParam1
  C:\Temp/ccqfRHGa.s:222    .data:0000002d Parameter_I_Faktor
  C:\Temp/ccqfRHGa.s:227    .data:0000002e Parameter_Gier_P
  C:\Temp/ccqfRHGa.s:232    .data:0000002f Parameter_Gyro_Gier_I
  C:\Temp/ccqfRHGa.s:237    .data:00000030 Parameter_Gyro_Gier_P
  C:\Temp/ccqfRHGa.s:242    .data:00000031 Parameter_Gyro_I
  C:\Temp/ccqfRHGa.s:247    .data:00000032 Parameter_Gyro_P
  C:\Temp/ccqfRHGa.s:252    .data:00000033 Parameter_Gyro_D
  C:\Temp/ccqfRHGa.s:257    .data:00000034 Parameter_Hoehe_GPS_Z
  C:\Temp/ccqfRHGa.s:262    .data:00000035 Parameter_KompassWirkung
  C:\Temp/ccqfRHGa.s:267    .data:00000036 Parameter_Hoehe_ACC_Wirkung
  C:\Temp/ccqfRHGa.s:272    .data:00000037 Parameter_Hoehe_P
  C:\Temp/ccqfRHGa.s:277    .data:00000038 Parameter_HoehenSchalter
  C:\Temp/ccqfRHGa.s:282    .data:00000039 Parameter_Luftdruck_D
  C:\Temp/ccqfRHGa.s:289    .bss:0000001b Looping_Oben
  C:\Temp/ccqfRHGa.s:295    .bss:0000001c Looping_Unten
  C:\Temp/ccqfRHGa.s:301    .bss:0000001d Looping_Rechts
  C:\Temp/ccqfRHGa.s:307    .bss:0000001e Looping_Links
  C:\Temp/ccqfRHGa.s:313    .bss:0000001f Looping_Roll
  C:\Temp/ccqfRHGa.s:319    .bss:00000020 Looping_Nick
  C:\Temp/ccqfRHGa.s:325    .data:0000003a Ki
  C:\Temp/ccqfRHGa.s:332    .bss:00000021 HoverGas
  C:\Temp/ccqfRHGa.s:338    .bss:00000023 LageKorrekturNick
  C:\Temp/ccqfRHGa.s:344    .bss:00000025 LageKorrekturRoll
  C:\Temp/ccqfRHGa.s:350    .bss:00000027 NeueKompassRichtungMerken
  C:\Temp/ccqfRHGa.s:356    .bss:00000028 CalibrationDone
  C:\Temp/ccqfRHGa.s:362    .bss:00000029 CompassGierSetpoint
  C:\Temp/ccqfRHGa.s:368    .bss:0000002b WaypointTrimming
  C:\Temp/ccqfRHGa.s:374    .data:0000003c carefree_old
  C:\Temp/ccqfRHGa.s:381    .bss:0000002c FromNC_AltitudeSpeed
  C:\Temp/ccqfRHGa.s:387    .bss:0000002d FromNC_AltitudeSetpoint
  C:\Temp/ccqfRHGa.s:393    .bss:00000031 AltitudeSetpointTrimming
  C:\Temp/ccqfRHGa.s:399    .bss:00000033 SollHoehe
  C:\Temp/ccqfRHGa.s:405    .bss:00000037 HoehenWert
  C:\Temp/ccqfRHGa.s:411    .bss:0000003b StartTrigger
  C:\Temp/ccqfRHGa.s:417    .bss:0000003c MotorenEin
  C:\Temp/ccqfRHGa.s:423    .bss:0000003d SenderOkay
  C:\Temp/ccqfRHGa.s:429    .bss:0000003e Poti
  C:\Temp/ccqfRHGa.s:435    .bss:00000047 StickGas
  C:\Temp/ccqfRHGa.s:441    .bss:00000049 StickGier
  C:\Temp/ccqfRHGa.s:447    .bss:0000004b StickRoll
  C:\Temp/ccqfRHGa.s:453    .bss:0000004d StickNick
  C:\Temp/ccqfRHGa.s:459    .data:0000003d HoverGasMax
  C:\Temp/ccqfRHGa.s:466    .bss:0000004f HoverGasMin
  C:\Temp/ccqfRHGa.s:472    .data:0000003f StickGasHover
  C:\Temp/ccqfRHGa.s:479    .bss:00000051 GierGyroFehler
  C:\Temp/ccqfRHGa.s:485    .data:00000041 Umschlag180Roll
  C:\Temp/ccqfRHGa.s:490    .data:00000045 Umschlag180Nick
  C:\Temp/ccqfRHGa.s:497    .bss:00000053 TrichterFlug
  C:\Temp/ccqfRHGa.s:503    .bss:00000054 HoehenReglerAktiv
  C:\Temp/ccqfRHGa.s:509    .data:00000049 KompassSignalSchlecht
  C:\Temp/ccqfRHGa.s:514    .data:0000004b KompassFusion
  C:\Temp/ccqfRHGa.s:519    .data:0000004c CalculateCompassTimer
  C:\Temp/ccqfRHGa.s:526    .bss:00000055 KompassSollWert
  C:\Temp/ccqfRHGa.s:532    .data:0000004d KompassValue
  C:\Temp/ccqfRHGa.s:539    .bss:00000057 Mess_Integral_Hoch
  C:\Temp/ccqfRHGa.s:545    .bss:0000005b SummeRoll
  C:\Temp/ccqfRHGa.s:551    .bss:0000005f SummeNick
  C:\Temp/ccqfRHGa.s:557    .bss:00000063 Mess_Integral_Gier2
  C:\Temp/ccqfRHGa.s:563    .bss:00000067 Mess_Integral_Gier
  C:\Temp/ccqfRHGa.s:569    .bss:0000006b Mess_IntegralRoll2
  C:\Temp/ccqfRHGa.s:575    .bss:0000006f Mess_IntegralRoll
  C:\Temp/ccqfRHGa.s:581    .bss:00000073 Mess_IntegralNick2
  C:\Temp/ccqfRHGa.s:587    .bss:00000077 Mess_IntegralNick
  C:\Temp/ccqfRHGa.s:593    .bss:0000007b Integral_Gier
  C:\Temp/ccqfRHGa.s:599    .bss:0000007f IntegralAccZ
  C:\Temp/ccqfRHGa.s:605    .bss:00000083 IntegralAccRoll
  C:\Temp/ccqfRHGa.s:611    .bss:00000087 IntegralAccNick
  C:\Temp/ccqfRHGa.s:617    .bss:0000008b IntegralRoll2
  C:\Temp/ccqfRHGa.s:623    .bss:0000008f IntegralRoll
  C:\Temp/ccqfRHGa.s:629    .bss:00000093 IntegralNick2
  C:\Temp/ccqfRHGa.s:635    .bss:00000097 IntegralNick
  C:\Temp/ccqfRHGa.s:641    .bss:0000009b ControlHeading
  C:\Temp/ccqfRHGa.s:647    .bss:0000009c NeutralAccZ
  C:\Temp/ccqfRHGa.s:653    .bss:0000009e NaviCntAcc
  C:\Temp/ccqfRHGa.s:659    .bss:000000a0 NeutralAccY
  C:\Temp/ccqfRHGa.s:665    .bss:000000a2 NeutralAccX
  C:\Temp/ccqfRHGa.s:671    .bss:000000a4 StartNeutralNick
  C:\Temp/ccqfRHGa.s:677    .bss:000000a6 StartNeutralRoll
  C:\Temp/ccqfRHGa.s:683    .bss:000000a8 AdNeutralGier
  C:\Temp/ccqfRHGa.s:689    .bss:000000aa AdNeutralRoll
  C:\Temp/ccqfRHGa.s:695    .bss:000000ac AdNeutralNick
  C:\Temp/ccqfRHGa.s:701    .bss:000000ae BaroExpandActive
  C:\Temp/ccqfRHGa.s:706    .text:00000000 CopyDebugValues
                            *COM*:00000002 Mittelwert_AccNick
                            *COM*:00000002 Mittelwert_AccRoll
                            *COM*:00000002 ErsatzKompassInGrad
  C:\Temp/ccqfRHGa.s:892    .text:0000022c Piep
  C:\Temp/ccqfRHGa.s:966    .text:000002b2 CalibrierMittelwert
                            *COM*:00000002 MesswertNick
                            *COM*:00000002 MesswertRoll
                            *COM*:00000002 MesswertGier
  C:\Temp/ccqfRHGa.s:1108   .progmem.data:00000000 __c.35
  C:\Temp/ccqfRHGa.s:1113   .text:000003f4 SetNeutral
                            *COM*:00000004 ErsatzKompass
                             .bss:000000b0 tmpl.27
  C:\Temp/ccqfRHGa.s:1621   .bss:000000b4 tmpl2.28
  C:\Temp/ccqfRHGa.s:1622   .bss:000000b8 tmpl3.29
  C:\Temp/ccqfRHGa.s:1623   .bss:000000bc tmpl4.30
  C:\Temp/ccqfRHGa.s:1624   .bss:000000c0 oldNick.31
  C:\Temp/ccqfRHGa.s:1625   .bss:000000c2 oldRoll.32
  C:\Temp/ccqfRHGa.s:1626   .bss:000000c4 d2Roll.33
  C:\Temp/ccqfRHGa.s:1627   .bss:000000c6 d2Nick.34
  C:\Temp/ccqfRHGa.s:1631   .text:00000960 Mittelwert
                            *COM*:00000002 RohMesswertNick
                            *COM*:00000002 RohMesswertRoll
                            *COM*:00000002 NaviAccNick
                            *COM*:00000002 NaviAccRoll
                            *COM*:00000001 Parameter_GlobalConfig
                            *COM*:00000002 KopplungsteilNickRoll
                            *COM*:00000002 KopplungsteilRollNick
                            *COM*:00000002 TrimRoll
                            *COM*:00000002 TrimNick
  C:\Temp/ccqfRHGa.s:3196   .text:000018c4 SendMotorData
  C:\Temp/ccqfRHGa.s:3256   .text:0000193e ParameterZuordnung
                            *COM*:00000001 Parameter_J16Timing
                            *COM*:00000001 Parameter_J17Timing
                            *COM*:00000001 Parameter_Servo3
                            *COM*:00000001 Parameter_Servo4
                            *COM*:00000001 Parameter_Servo5
                            *COM*:00000001 Parameter_MaximumAltitude
                            *COM*:00000001 Parameter_ExtraConfig
                            *COM*:00000001 Parameter_ExternalControl
                            *COM*:00000001 MAX_GAS
                            *COM*:00000001 MIN_GAS
  C:\Temp/ccqfRHGa.s:1628   .bss:000000c8 sollGier.0
  C:\Temp/ccqfRHGa.s:3975   .bss:000000cc tmp_long.1
  C:\Temp/ccqfRHGa.s:3976   .bss:000000d0 tmp_long2.2
  C:\Temp/ccqfRHGa.s:3977   .bss:000000d4 IntegralFehlerNick.3
  C:\Temp/ccqfRHGa.s:3978   .bss:000000d8 IntegralFehlerRoll.4
  C:\Temp/ccqfRHGa.s:3979   .bss:000000dc RcLostTimer.5
  C:\Temp/ccqfRHGa.s:3980   .bss:000000de delay_neutral.6
  C:\Temp/ccqfRHGa.s:3981   .bss:000000df delay_einschalten.7
  C:\Temp/ccqfRHGa.s:3982   .bss:000000e0 delay_ausschalten.8
  C:\Temp/ccqfRHGa.s:3983   .bss:000000e1 move_safety_switch.9
  C:\Temp/ccqfRHGa.s:3984   .bss:000000e2 ausgleichNick.10
  C:\Temp/ccqfRHGa.s:3985   .bss:000000e6 ausgleichRoll.11
  C:\Temp/ccqfRHGa.s:3986   .bss:000000ea stick_nick.12
  C:\Temp/ccqfRHGa.s:3987   .bss:000000ec stick_roll.13
  C:\Temp/ccqfRHGa.s:3988   .bss:000000ee cnt.14
  C:\Temp/ccqfRHGa.s:3989   .bss:000000f0 last_n_p.15
  C:\Temp/ccqfRHGa.s:3990   .bss:000000f1 last_n_n.16
  C:\Temp/ccqfRHGa.s:3991   .bss:000000f2 last_r_p.17
  C:\Temp/ccqfRHGa.s:3992   .bss:000000f3 last_r_n.18
  C:\Temp/ccqfRHGa.s:3993   .bss:000000f4 MittelIntegralNick_Alt.19
  C:\Temp/ccqfRHGa.s:3994   .bss:000000f8 MittelIntegralRoll_Alt.20
  C:\Temp/ccqfRHGa.s:3995   .bss:000000fc HeightTrimming.21
  C:\Temp/ccqfRHGa.s:3996   .bss:000000fe FilterHCGas.22
  C:\Temp/ccqfRHGa.s:3997   .bss:00000100 HoverGasFilter.23
  C:\Temp/ccqfRHGa.s:4002   .data:0000004f delay.24
  C:\Temp/ccqfRHGa.s:3998   .bss:00000104 BaroAtUpperLimit.25
  C:\Temp/ccqfRHGa.s:4004   .bss:00000105 BaroAtLowerLimit.26
  C:\Temp/ccqfRHGa.s:4009   .text:00001f42 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*: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
PlatinenVersion
beeptime
UpdateMotor
LIBFC_Polling
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
LED_Init
FromNaviCtrl_Value
ServoActive
NickServoValue
LIBFC_HoTT_Clear
__epilogue_restores__
AdWertNickFilter
AdWertRollFilter
AdReady
HiResNick
HiResRoll
MotorTest
PC_MotortestActive
I2C_TransferActive
motor_write
twi_state
BLFlags
NC_To_FC_MaxAltitude
SpeakHoTT
FromNaviCtrl
BeepMuster
PPM_diff
SetActiveParamSet
WinkelOut
GetActiveParamSet
ParamSet_ReadFromEEProm
LipoDetection
LIBFC_ReceiverInit
NC_ErrorCode
GPSInfo
NewPpmData
FromNC_Rotate_C
FromNC_Rotate_S
GPS_Aid_StickMultiplikator
__floatsisf
__addsf3
__fixunssfsi
ExternControl
ZaehlMessungen
BattLowVoltageWarning
__udivmodhi4
DruckOffsetSetting
SummenHoehe
ihypot
c_cos_8192
__udivmodqi4
NC_To_FC_Flags
MissingMotor
Mixer