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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,SollHoehe
 769 00a4 9091 0000             lds r25,(SollHoehe)+1
 770 00a8 A091 0000             lds r26,(SollHoehe)+2
 771 00ac B091 0000             lds r27,(SollHoehe)+3
 772 00b0 BC01                  movw r22,r24
 773 00b2 CD01                  movw r24,r26
 774 00b4 25E0                  ldi r18,lo8(5)
 775 00b6 30E0                  ldi r19,hi8(5)
 776 00b8 40E0                  ldi r20,hlo8(5)
 777 00ba 50E0                  ldi r21,hhi8(5)
 778 00bc 0E94 0000             call __divmodsi4
 779 00c0 3093 0000             sts (DebugOut+10)+1,r19
 780 00c4 2093 0000             sts DebugOut+10,r18
 781 00c8 8091 0000             lds r24,HoehenWert
 782 00cc 9091 0000             lds r25,(HoehenWert)+1
 783 00d0 A091 0000             lds r26,(HoehenWert)+2
 784 00d4 B091 0000             lds r27,(HoehenWert)+3
 785 00d8 BC01                  movw r22,r24
 786 00da CD01                  movw r24,r26
 787 00dc 25E0                  ldi r18,lo8(5)
 788 00de 30E0                  ldi r19,hi8(5)
 789 00e0 40E0                  ldi r20,hlo8(5)
 790 00e2 50E0                  ldi r21,hhi8(5)
 791 00e4 0E94 0000             call __divmodsi4
 792 00e8 3093 0000             sts (DebugOut+12)+1,r19
 793 00ec 2093 0000             sts DebugOut+12,r18
 794 00f0 8091 0000             lds r24,KompassValue
 795 00f4 9091 0000             lds r25,(KompassValue)+1
 796 00f8 9093 0000             sts (DebugOut+14)+1,r25
 797 00fc 8093 0000             sts DebugOut+14,r24
 798 0100 8091 0000             lds r24,KompassSollWert
 799 0104 9091 0000             lds r25,(KompassSollWert)+1
 800 0108 9093 0000             sts (DebugOut+16)+1,r25
 801 010c 8093 0000             sts DebugOut+16,r24
 802 0110 8091 0000             lds r24,Capacity
 803 0114 9091 0000             lds r25,(Capacity)+1
 804 0118 9093 0000             sts (DebugOut+18)+1,r25
 805 011c 8093 0000             sts DebugOut+18,r24
 806 0120 8091 0000             lds r24,UBat
 807 0124 9091 0000             lds r25,(UBat)+1
 808 0128 9093 0000             sts (DebugOut+20)+1,r25
 809 012c 8093 0000             sts DebugOut+20,r24
 810 0130 8091 0000             lds r24,Motor+1
 811 0134 9927                  clr r25
 812 0136 9093 0000             sts (DebugOut+22)+1,r25
 813 013a 8093 0000             sts DebugOut+22,r24
 814 013e 8091 0000             lds r24,Motor+9
 815 0142 9927                  clr r25
 816 0144 9093 0000             sts (DebugOut+24)+1,r25
 817 0148 8093 0000             sts DebugOut+24,r24
 818 014c 8091 0000             lds r24,Motor+17
 819 0150 9927                  clr r25
 820 0152 9093 0000             sts (DebugOut+26)+1,r25
 821 0156 8093 0000             sts DebugOut+26,r24
 822 015a 8091 0000             lds r24,Motor+25
 823 015e 9927                  clr r25
 824 0160 9093 0000             sts (DebugOut+28)+1,r25
 825 0164 8093 0000             sts DebugOut+28,r24
 826 0168 8091 0000             lds r24,Motor+33
 827 016c 9927                  clr r25
 828 016e 9093 0000             sts (DebugOut+30)+1,r25
 829 0172 8093 0000             sts DebugOut+30,r24
 830 0176 8091 0000             lds r24,Motor+41
 831 017a 9927                  clr r25
 832 017c 9093 0000             sts (DebugOut+32)+1,r25
 833 0180 8093 0000             sts DebugOut+32,r24
 834 0184 8091 0000             lds r24,SenderOkay
 835 0188 9927                  clr r25
 836 018a 9093 0000             sts (DebugOut+34)+1,r25
 837 018e 8093 0000             sts DebugOut+34,r24
 838 0192 8091 0000             lds r24,ErsatzKompass
 839 0196 9091 0000             lds r25,(ErsatzKompass)+1
 840 019a A091 0000             lds r26,(ErsatzKompass)+2
 841 019e B091 0000             lds r27,(ErsatzKompass)+3
 842 01a2 2091 0000             lds r18,GIER_GRAD_FAKTOR
 843 01a6 3091 0000             lds r19,(GIER_GRAD_FAKTOR)+1
 844 01aa 4091 0000             lds r20,(GIER_GRAD_FAKTOR)+2
 845 01ae 5091 0000             lds r21,(GIER_GRAD_FAKTOR)+3
 846 01b2 BC01                  movw r22,r24
 847 01b4 CD01                  movw r24,r26
 848 01b6 0E94 0000             call __divmodsi4
 849 01ba 3093 0000             sts (DebugOut+36)+1,r19
 850 01be 2093 0000             sts DebugOut+36,r18
 851 01c2 8091 0000             lds r24,AdNeutralGier
 852 01c6 9091 0000             lds r25,(AdNeutralGier)+1
 853 01ca 2091 0000             lds r18,AdWertGier
 854 01ce 3091 0000             lds r19,(AdWertGier)+1
 855 01d2 821B                  sub r24,r18
 856 01d4 930B                  sbc r25,r19
 857 01d6 9093 0000             sts (DebugOut+38)+1,r25
 858 01da 8093 0000             sts DebugOut+38,r24
 859 01de 1092 0000             sts (DebugOut+40)+1,__zero_reg__
 860 01e2 1092 0000             sts DebugOut+40,__zero_reg__
 861 01e6 8091 0000             lds r24,ServoNickValue
 862 01ea 9091 0000             lds r25,(ServoNickValue)+1
 863 01ee 9093 0000             sts (DebugOut+42)+1,r25
 864 01f2 8093 0000             sts DebugOut+42,r24
 865 01f6 1092 0000             sts (DebugOut+44)+1,__zero_reg__
 866 01fa 1092 0000             sts DebugOut+44,__zero_reg__
 867 01fe 1092 0000             sts (DebugOut+46)+1,__zero_reg__
 868 0202 1092 0000             sts DebugOut+46,__zero_reg__
 869 0206 8091 0000             lds r24,Capacity+4
 870 020a 9091 0000             lds r25,(Capacity+4)+1
 871 020e 9093 0000             sts (DebugOut+48)+1,r25
 872 0212 8093 0000             sts DebugOut+48,r24
 873 0216 8091 0000             lds r24,Capacity+6
 874 021a 9927                  clr r25
 875 021c 9093 0000             sts (DebugOut+50)+1,r25
 876 0220 8093 0000             sts DebugOut+50,r24
 877 0224 1092 0000             sts (DebugOut+52)+1,__zero_reg__
 878 0228 1092 0000             sts DebugOut+52,__zero_reg__
 879 022c 1092 0000             sts (DebugOut+54)+1,__zero_reg__
 880 0230 1092 0000             sts DebugOut+54,__zero_reg__
 881 0234 1092 0000             sts (DebugOut+56)+1,__zero_reg__
 882 0238 1092 0000             sts DebugOut+56,__zero_reg__
 883 023c 8091 0000             lds r24,AdWertAccHoch
 884 0240 9091 0000             lds r25,(AdWertAccHoch)+1
 885 0244 9093 0000             sts (DebugOut+58)+1,r25
 886 0248 8093 0000             sts DebugOut+58,r24
 887 024c 1092 0000             sts (DebugOut+60)+1,__zero_reg__
 888 0250 1092 0000             sts DebugOut+60,__zero_reg__
 889 0254 8091 0000             lds r24,GPS_Nick
 890 0258 9091 0000             lds r25,(GPS_Nick)+1
 891 025c 9093 0000             sts (DebugOut+62)+1,r25
 892 0260 8093 0000             sts DebugOut+62,r24
 893 0264 8091 0000             lds r24,GPS_Roll
 894 0268 9091 0000             lds r25,(GPS_Roll)+1
 895 026c 9093 0000             sts (DebugOut+64)+1,r25
 896 0270 8093 0000             sts DebugOut+64,r24
 897 0274 8091 0000             lds r24,VersionInfo+5
 898 0278 8823                  tst r24
 899 027a 01F4                  brne .L5
 900 027c 8091 0000             lds r24,VersionInfo+6
 901 0280 8823                  tst r24
 902 0282 01F0                  breq .L4
 903                    .L5:
 904 0284 8091 0000             lds r24,DebugOut+1
 905 0288 8160                  ori r24,lo8(1)
 906 028a 00C0                  rjmp .L7
 907                    .L4:
 908 028c 8091 0000             lds r24,DebugOut+1
 909 0290 8E7F                  andi r24,lo8(-2)
 910                    .L7:
 911 0292 8093 0000             sts DebugOut+1,r24
 912                    /* epilogue: frame size=0 */
 913 0296 1F91                  pop r17
 914 0298 0F91                  pop r16
 915 029a FF90                  pop r15
 916 029c EF90                  pop r14
 917 029e 0895                  ret
 918                    /* epilogue end (size=5) */
 919                    /* function CopyDebugValues size 338 (329) */
 921                    .global Piep
 923                    Piep:
 924                    /* prologue: frame size=0 */
 925 02a0 EF92                  push r14
 926 02a2 FF92                  push r15
 927 02a4 1F93                  push r17
 928 02a6 CF93                  push r28
 929 02a8 DF93                  push r29
 930                    /* prologue end (size=5) */
 931 02aa 182F                  mov r17,r24
 932 02ac 7B01                  movw r14,r22
 933 02ae 8091 0000             lds r24,MotorenEin
 934 02b2 8823                  tst r24
 935 02b4 01F4                  brne .L8
 936 02b6 8091 0000             lds r24,PlatinenVersion
 937 02ba 8C30                  cpi r24,lo8(12)
 938 02bc 00F0                  brlo .L11
 939 02be 8631                  cpi r24,lo8(22)
 940 02c0 01F4                  brne .L10
 941                    .L11:
 942 02c2 2998                  cbi 37-0x20,1
 943 02c4 00C0                  rjmp .L12
 944                    .L10:
 945 02c6 299A                  sbi 37-0x20,1
 946                    .L12:
 947 02c8 1150                  subi r17,lo8(-(-1))
 948 02ca 1F3F                  cpi r17,lo8(-1)
 949 02cc 01F0                  breq .L26
 950 02ce F092 0000             sts (beeptime)+1,r15
 951 02d2 E092 0000             sts beeptime,r14
 952 02d6 E701                  movw r28,r14
 953                    .L34:
 954 02d8 8091 0000             lds r24,beeptime
 955 02dc 9091 0000             lds r25,(beeptime)+1
 956 02e0 892B                  or r24,r25
 957 02e2 01F4                  brne .L31
 958 02e4 2097                  sbiw r28,0
 959 02e6 01F0                  breq .L12
 960                    .L31:
 961 02e8 8091 0000             lds r24,UpdateMotor
 962 02ec 8823                  tst r24
 963 02ee 01F0                  breq .L34
 964 02f0 1092 0000             sts UpdateMotor,__zero_reg__
 965 02f4 8091 0000             lds r24,beeptime
 966 02f8 9091 0000             lds r25,(beeptime)+1
 967 02fc 892B                  or r24,r25
 968 02fe 01F4                  brne .L19
 969 0300 2197                  sbiw r28,1
 970                    .L19:
 971 0302 0E94 0000             call LIBFC_Polling
 972 0306 00C0                  rjmp .L34
 973                    .L26:
 974 0308 8091 0000             lds r24,PlatinenVersion
 975 030c 8C30                  cpi r24,lo8(12)
 976 030e 00F0                  brlo .L23
 977 0310 8631                  cpi r24,lo8(22)
 978 0312 01F4                  brne .L22
 979                    .L23:
 980 0314 299A                  sbi 37-0x20,1
 981 0316 00C0                  rjmp .L8
 982                    .L22:
 983 0318 2998                  cbi 37-0x20,1
 984                    .L8:
 985                    /* epilogue: frame size=0 */
 986 031a DF91                  pop r29
 987 031c CF91                  pop r28
 988 031e 1F91                  pop r17
 989 0320 FF90                  pop r15
 990 0322 EF90                  pop r14
 991 0324 0895                  ret
 992                    /* epilogue end (size=6) */
 993                    /* function Piep size 67 (56) */
 995                    .global CalibrierMittelwert
 997                    CalibrierMittelwert:
 998                    /* prologue: frame size=0 */
 999 0326 CF93                  push r28
 1000 0328 DF93                 push r29
 1001                   /* prologue end (size=2) */
 1002 032a 8091 0000            lds r24,PlatinenVersion
 1003 032e 8D30                 cpi r24,lo8(13)
 1004 0330 01F4                 brne .L36
 1005 0332 0E94 0000            call SucheGyroOffset
 1006                   .L36:
 1007 0336 1092 7A00            sts 122,__zero_reg__
 1008 033a 8091 0000            lds r24,AdWertNick
 1009 033e 9091 0000            lds r25,(AdWertNick)+1
 1010 0342 9093 0000            sts (MesswertNick)+1,r25
 1011 0346 8093 0000            sts MesswertNick,r24
 1012 034a 8091 0000            lds r24,AdWertRoll
 1013 034e 9091 0000            lds r25,(AdWertRoll)+1
 1014 0352 9093 0000            sts (MesswertRoll)+1,r25
 1015 0356 8093 0000            sts MesswertRoll,r24
 1016 035a 8091 0000            lds r24,AdWertGier
 1017 035e 9091 0000            lds r25,(AdWertGier)+1
 1018 0362 9093 0000            sts (MesswertGier)+1,r25
 1019 0366 8093 0000            sts MesswertGier,r24
 1020 036a 2091 0000            lds r18,AdWertAccNick
 1021 036e 3091 0000            lds r19,(AdWertAccNick)+1
 1022 0372 C901                 movw r24,r18
 1023 0374 880F                 lsl r24
 1024 0376 991F                 rol r25
 1025 0378 880F                 lsl r24
 1026 037a 991F                 rol r25
 1027 037c 820F                 add r24,r18
 1028 037e 931F                 adc r25,r19
 1029 0380 820F                 add r24,r18
 1030 0382 931F                 adc r25,r19
 1031 0384 9093 0000            sts (Mittelwert_AccNick)+1,r25
 1032 0388 8093 0000            sts Mittelwert_AccNick,r24
 1033 038c 2091 0000            lds r18,AdWertAccRoll
 1034 0390 3091 0000            lds r19,(AdWertAccRoll)+1
 1035 0394 C901                 movw r24,r18
 1036 0396 880F                 lsl r24
 1037 0398 991F                 rol r25
 1038 039a 880F                 lsl r24
 1039 039c 991F                 rol r25
 1040 039e 820F                 add r24,r18
 1041 03a0 931F                 adc r25,r19
 1042 03a2 820F                 add r24,r18
 1043 03a4 931F                 adc r25,r19
 1044 03a6 9093 0000            sts (Mittelwert_AccRoll)+1,r25
 1045 03aa 8093 0000            sts Mittelwert_AccRoll,r24
 1046 03ae 8FEC                 ldi r24,lo8(-49)
 1047 03b0 8093 7A00            sts 122,r24
 1048 03b4 A0E0                 ldi r26,lo8(Poti)
 1049 03b6 B0E0                 ldi r27,hi8(Poti)
 1050 03b8 C0E0                 ldi r28,lo8(EE_Parameter+5)
 1051 03ba D0E0                 ldi r29,hi8(EE_Parameter+5)
 1052 03bc 97E0                 ldi r25,lo8(7)
 1053                   .L46:
 1054 03be 8991                 ld r24,Y+
 1055 03c0 E82F                 mov r30,r24
 1056 03c2 FF27                 clr r31
 1057 03c4 EE0F                 add r30,r30
 1058 03c6 FF1F                 adc r31,r31
 1059 03c8 E050                 subi r30,lo8(-(PPM_in))
 1060 03ca F040                 sbci r31,hi8(-(PPM_in))
 1061 03cc 0190                 ld __tmp_reg__,Z+
 1062 03ce F081                 ld r31,Z
 1063 03d0 E02D                 mov r30,__tmp_reg__
 1064 03d2 E158                 subi r30,lo8(-(127))
 1065 03d4 FF4F                 sbci r31,hi8(-(127))
 1066 03d6 1E16                 cp __zero_reg__,r30
 1067 03d8 1F06                 cpc __zero_reg__,r31
 1068 03da 04F0                 brlt .L40
 1069 03dc E0E0                 ldi r30,lo8(0)
 1070 03de F0E0                 ldi r31,hi8(0)
 1071 03e0 00C0                 rjmp .L41
 1072                   .L40:
 1073 03e2 EF3F                 cpi r30,255
 1074 03e4 F105                 cpc r31,__zero_reg__
 1075 03e6 04F0                 brlt .L41
 1076 03e8 EFEF                 ldi r30,lo8(255)
 1077 03ea F0E0                 ldi r31,hi8(255)
 1078                   .L41:
 1079 03ec 8C91                 ld r24,X
 1080 03ee 282F                 mov r18,r24
 1081 03f0 3327                 clr r19
 1082 03f2 E217                 cp r30,r18
 1083 03f4 F307                 cpc r31,r19
 1084 03f6 04F4                 brge .L43
 1085 03f8 8150                 subi r24,lo8(-(-1))
 1086 03fa 00C0                 rjmp .L49
 1087                   .L43:
 1088 03fc 2E17                 cp r18,r30
 1089 03fe 3F07                 cpc r19,r31
 1090 0400 04F4                 brge .L39
 1091 0402 8F5F                 subi r24,lo8(-(1))
 1092                   .L49:
 1093 0404 8C93                 st X,r24
 1094                   .L39:
 1095 0406 9150                 subi r25,lo8(-(-1))
 1096 0408 1196                 adiw r26,1
 1097 040a 97FF                 sbrs r25,7
 1098 040c 00C0                 rjmp .L46
 1099 040e 8091 0000            lds r24,EE_Parameter+65
 1100 0412 9927                 clr r25
 1101 0414 AA27                 clr r26
 1102 0416 BB27                 clr r27
 1103 0418 BC01                 movw r22,r24
 1104 041a CD01                 movw r24,r26
 1105 041c 24EC                 ldi r18,lo8(2500)
 1106 041e 39E0                 ldi r19,hi8(2500)
 1107 0420 40E0                 ldi r20,hlo8(2500)
 1108 0422 50E0                 ldi r21,hhi8(2500)
 1109 0424 0E94 0000            call __mulsi3
 1110 0428 DC01                 movw r26,r24
 1111 042a CB01                 movw r24,r22
 1112 042c 8093 0000            sts Umschlag180Nick,r24
 1113 0430 9093 0000            sts (Umschlag180Nick)+1,r25
 1114 0434 A093 0000            sts (Umschlag180Nick)+2,r26
 1115 0438 B093 0000            sts (Umschlag180Nick)+3,r27
 1116 043c 8091 0000            lds r24,EE_Parameter+66
 1117 0440 9927                 clr r25
 1118 0442 AA27                 clr r26
 1119 0444 BB27                 clr r27
 1120 0446 BC01                 movw r22,r24
 1121 0448 CD01                 movw r24,r26
 1122 044a 0E94 0000            call __mulsi3
 1123 044e DC01                 movw r26,r24
 1124 0450 CB01                 movw r24,r22
 1125 0452 8093 0000            sts Umschlag180Roll,r24
 1126 0456 9093 0000            sts (Umschlag180Roll)+1,r25
 1127 045a A093 0000            sts (Umschlag180Roll)+2,r26
 1128 045e B093 0000            sts (Umschlag180Roll)+3,r27
 1129                   /* epilogue: frame size=0 */
 1130 0462 DF91                 pop r29
 1131 0464 CF91                 pop r28
 1132 0466 0895                 ret
 1133                   /* epilogue end (size=3) */
 1134                   /* function CalibrierMittelwert size 161 (156) */
 1136                           .section        .progmem.data,"a",@progbits
 1139                   __c.35:
 1140 0000 0A0D 4143            .string "\n\rACC not calibrated!\r\n"
 1140      4320 6E6F 
 1140      7420 6361 
 1140      6C69 6272 
 1140      6174 6564 
 1141                           .text
 1142                   .global SetNeutral
 1144                   SetNeutral:
 1145                   /* prologue: frame size=0 */
 1146 0468 A0E0                 ldi r26,lo8(0)
 1147 046a B0E0                 ldi r27,hi8(0)
 1148 046c E0E0                 ldi r30,pm_lo8(1f)
 1149 046e F0E0                 ldi r31,pm_hi8(1f)
 1150 0470 0C94 0000            jmp __prologue_saves__+12
 1151                   1:
 1152                   /* prologue end (size=6) */
 1153 0474 882E                 mov r8,r24
 1154 0476 C0E0                 ldi r28,lo8(0)
 1155 0478 D0E0                 ldi r29,hi8(0)
 1156 047a 7E01                 movw r14,r28
 1157 047c 6E01                 movw r12,r28
 1158 047e 1092 0000            sts VersionInfo+5,__zero_reg__
 1159 0482 D093 0000            sts (NeutralAccX)+1,r29
 1160 0486 C093 0000            sts NeutralAccX,r28
 1161 048a D093 0000            sts (NeutralAccY)+1,r29
 1162 048e C093 0000            sts NeutralAccY,r28
 1163 0492 D093 0000            sts (NeutralAccZ)+1,r29
 1164 0496 C093 0000            sts NeutralAccZ,r28
 1165 049a D093 0000            sts (AdNeutralNick)+1,r29
 1166 049e C093 0000            sts AdNeutralNick,r28
 1167 04a2 D093 0000            sts (AdNeutralRoll)+1,r29
 1168 04a6 C093 0000            sts AdNeutralRoll,r28
 1169 04aa D093 0000            sts (AdNeutralGier)+1,r29
 1170 04ae C093 0000            sts AdNeutralGier,r28
 1171 04b2 1092 0000            sts Parameter_AchsKopplung1,__zero_reg__
 1172 04b6 1092 0000            sts Parameter_AchsKopplung2,__zero_reg__
 1173 04ba 1092 0000            sts ExpandBaro,__zero_reg__
 1174 04be 0E94 0000            call CalibrierMittelwert
 1175 04c2 84E6                 ldi r24,lo8(100)
 1176 04c4 90E0                 ldi r25,hi8(100)
 1177 04c6 0E94 0000            call Delay_ms_Mess
 1178 04ca 0E94 0000            call CalibrierMittelwert
 1179 04ce 8091 0000            lds r24,EE_Parameter+13
 1180 04d2 80FF                 sbrs r24,0
 1181 04d4 00C0                 rjmp .L51
 1182 04d6 8091 0000            lds r24,MessLuftdruck
 1183 04da 9091 0000            lds r25,(MessLuftdruck)+1
 1184 04de 875B                 subi r24,lo8(951)
 1185 04e0 9340                 sbci r25,hi8(951)
 1186 04e2 00F4                 brsh .L53
 1187 04e4 8091 0000            lds r24,MessLuftdruck
 1188 04e8 9091 0000            lds r25,(MessLuftdruck)+1
 1189 04ec 8E5E                 subi r24,lo8(750)
 1190 04ee 9240                 sbci r25,hi8(750)
 1191 04f0 00F4                 brsh .L51
 1192                   .L53:
 1193 04f2 0E94 0000            call SucheLuftruckOffset
 1194                   .L51:
 1195 04f6 0FE1                 ldi r16,lo8(31)
 1196                   .L57:
 1197 04f8 8AE0                 ldi r24,lo8(10)
 1198 04fa 90E0                 ldi r25,hi8(10)
 1199 04fc 0E94 0000            call Delay_ms_Mess
 1200 0500 8091 0000            lds r24,AdWertGier
 1201 0504 9091 0000            lds r25,(AdWertGier)+1
 1202 0508 C80F                 add r28,r24
 1203 050a D91F                 adc r29,r25
 1204 050c 8091 0000            lds r24,AdWertNick
 1205 0510 9091 0000            lds r25,(AdWertNick)+1
 1206 0514 E80E                 add r14,r24
 1207 0516 F91E                 adc r15,r25
 1208 0518 8091 0000            lds r24,AdWertRoll
 1209 051c 9091 0000            lds r25,(AdWertRoll)+1
 1210 0520 C80E                 add r12,r24
 1211 0522 D91E                 adc r13,r25
 1212 0524 0150                 subi r16,lo8(-(-1))
 1213 0526 07FF                 sbrs r16,7
 1214 0528 00C0                 rjmp .L57
 1215 052a 9701                 movw r18,r14
 1216 052c 205F                 subi r18,lo8(-(16))
 1217 052e 3F4F                 sbci r19,hi8(-(16))
 1218 0530 3695                 lsr r19
 1219 0532 2795                 ror r18
 1220 0534 3695                 lsr r19
 1221 0536 2795                 ror r18
 1222 0538 3093 0000            sts (AdNeutralNick)+1,r19
 1223 053c 2093 0000            sts AdNeutralNick,r18
 1224 0540 C601                 movw r24,r12
 1225 0542 4096                 adiw r24,16
 1226 0544 9695                 lsr r25
 1227 0546 8795                 ror r24
 1228 0548 9695                 lsr r25
 1229 054a 8795                 ror r24
 1230 054c 9093 0000            sts (AdNeutralRoll)+1,r25
 1231 0550 8093 0000            sts AdNeutralRoll,r24
 1232 0554 6096                 adiw r28,16
 1233 0556 F5E0                 ldi r31,5
 1234 0558 D695         1:      lsr r29
 1235 055a C795                 ror r28
 1236 055c FA95                 dec r31
 1237 055e 01F4                 brne 1b
 1238 0560 D093 0000            sts (AdNeutralGier)+1,r29
 1239 0564 C093 0000            sts AdNeutralGier,r28
 1240 0568 9093 0000            sts (StartNeutralRoll)+1,r25
 1241 056c 8093 0000            sts StartNeutralRoll,r24
 1242 0570 3093 0000            sts (StartNeutralNick)+1,r19
 1243 0574 2093 0000            sts StartNeutralNick,r18
 1244 0578 8820                 tst r8
 1245 057a 01F4                 brne .+2
 1246 057c 00C0                 rjmp .L58
 1247 057e 8091 0000            lds r24,Mittelwert_AccNick
 1248 0582 9091 0000            lds r25,(Mittelwert_AccNick)+1
 1249 0586 97FF                 sbrs r25,7
 1250 0588 00C0                 rjmp .L59
 1251 058a 9095                 com r25
 1252 058c 8195                 neg r24
 1253 058e 9F4F                 sbci r25,lo8(-1)
 1254                   .L59:
 1255 0590 6CE0                 ldi r22,lo8(12)
 1256 0592 70E0                 ldi r23,hi8(12)
 1257 0594 0E94 0000            call __divmodhi4
 1258 0598 9B01                 movw r18,r22
 1259 059a 7093 0000            sts (NeutralAccX)+1,r23
 1260 059e 6093 0000            sts NeutralAccX,r22
 1261 05a2 8091 0000            lds r24,Mittelwert_AccRoll
 1262 05a6 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 1263 05aa 97FF                 sbrs r25,7
 1264 05ac 00C0                 rjmp .L60
 1265 05ae 9095                 com r25
 1266 05b0 8195                 neg r24
 1267 05b2 9F4F                 sbci r25,lo8(-1)
 1268                   .L60:
 1269 05b4 6CE0                 ldi r22,lo8(12)
 1270 05b6 70E0                 ldi r23,hi8(12)
 1271 05b8 0E94 0000            call __divmodhi4
 1272 05bc 7093 0000            sts (NeutralAccY)+1,r23
 1273 05c0 6093 0000            sts NeutralAccY,r22
 1274 05c4 8091 0000            lds r24,Aktuell_az
 1275 05c8 9091 0000            lds r25,(Aktuell_az)+1
 1276 05cc 9093 0000            sts (NeutralAccZ)+1,r25
 1277 05d0 8093 0000            sts NeutralAccZ,r24
 1278 05d4 B901                 movw r22,r18
 1279 05d6 84E0                 ldi r24,lo8(4)
 1280 05d8 90E0                 ldi r25,hi8(4)
 1281 05da 0E94 0000            call SetParamWord
 1282 05de 6091 0000            lds r22,NeutralAccY
 1283 05e2 7091 0000            lds r23,(NeutralAccY)+1
 1284 05e6 86E0                 ldi r24,lo8(6)
 1285 05e8 90E0                 ldi r25,hi8(6)
 1286 05ea 0E94 0000            call SetParamWord
 1287 05ee 6091 0000            lds r22,NeutralAccZ
 1288 05f2 7091 0000            lds r23,(NeutralAccZ)+1
 1289 05f6 88E0                 ldi r24,lo8(8)
 1290 05f8 90E0                 ldi r25,hi8(8)
 1291 05fa 0E94 0000            call SetParamWord
 1292 05fe 00C0                 rjmp .L61
 1293                   .L58:
 1294 0600 84E0                 ldi r24,lo8(4)
 1295 0602 90E0                 ldi r25,hi8(4)
 1296 0604 0E94 0000            call GetParamWord
 1297 0608 9093 0000            sts (NeutralAccX)+1,r25
 1298 060c 8093 0000            sts NeutralAccX,r24
 1299 0610 86E0                 ldi r24,lo8(6)
 1300 0612 90E0                 ldi r25,hi8(6)
 1301 0614 0E94 0000            call GetParamWord
 1302 0618 9093 0000            sts (NeutralAccY)+1,r25
 1303 061c 8093 0000            sts NeutralAccY,r24
 1304 0620 88E0                 ldi r24,lo8(8)
 1305 0622 90E0                 ldi r25,hi8(8)
 1306 0624 0E94 0000            call GetParamWord
 1307 0628 9C01                 movw r18,r24
 1308 062a 9093 0000            sts (NeutralAccZ)+1,r25
 1309 062e 8093 0000            sts NeutralAccZ,r24
 1310 0632 8091 0000            lds r24,NeutralAccX
 1311 0636 9091 0000            lds r25,(NeutralAccX)+1
 1312 063a 8150                 subi r24,lo8(2049)
 1313 063c 9840                 sbci r25,hi8(2049)
 1314 063e 00F4                 brsh .L63
 1315 0640 8091 0000            lds r24,NeutralAccY
 1316 0644 9091 0000            lds r25,(NeutralAccY)+1
 1317 0648 8150                 subi r24,lo8(2049)
 1318 064a 9840                 sbci r25,hi8(2049)
 1319 064c 00F4                 brsh .L63
 1320 064e 2150                 subi r18,lo8(1025)
 1321 0650 3440                 sbci r19,hi8(1025)
 1322 0652 00F0                 brlo .L61
 1323                   .L63:
 1324 0654 80E0                 ldi r24,lo8(__c.35)
 1325 0656 90E0                 ldi r25,hi8(__c.35)
 1326 0658 9F93                 push r25
 1327 065a 8F93                 push r24
 1328 065c 80E0                 ldi r24,lo8(pm(uart_putchar))
 1329 065e 90E0                 ldi r25,hi8(pm(uart_putchar))
 1330 0660 9F93                 push r25
 1331 0662 8F93                 push r24
 1332 0664 E091 0000            lds r30,_printf_P
 1333 0668 F091 0000            lds r31,(_printf_P)+1
 1334 066c 0995                 icall
 1335 066e 8091 0000            lds r24,Mittelwert_AccNick
 1336 0672 9091 0000            lds r25,(Mittelwert_AccNick)+1
 1337 0676 97FF                 sbrs r25,7
 1338 0678 00C0                 rjmp .L64
 1339 067a 9095                 com r25
 1340 067c 8195                 neg r24
 1341 067e 9F4F                 sbci r25,lo8(-1)
 1342                   .L64:
 1343 0680 6CE0                 ldi r22,lo8(12)
 1344 0682 70E0                 ldi r23,hi8(12)
 1345 0684 0E94 0000            call __divmodhi4
 1346 0688 7093 0000            sts (NeutralAccX)+1,r23
 1347 068c 6093 0000            sts NeutralAccX,r22
 1348 0690 8091 0000            lds r24,Mittelwert_AccRoll
 1349 0694 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 1350 0698 97FF                 sbrs r25,7
 1351 069a 00C0                 rjmp .L65
 1352 069c 9095                 com r25
 1353 069e 8195                 neg r24
 1354 06a0 9F4F                 sbci r25,lo8(-1)
 1355                   .L65:
 1356 06a2 6CE0                 ldi r22,lo8(12)
 1357 06a4 70E0                 ldi r23,hi8(12)
 1358 06a6 0E94 0000            call __divmodhi4
 1359 06aa 7093 0000            sts (NeutralAccY)+1,r23
 1360 06ae 6093 0000            sts NeutralAccY,r22
 1361 06b2 8091 0000            lds r24,Aktuell_az
 1362 06b6 9091 0000            lds r25,(Aktuell_az)+1
 1363 06ba 9093 0000            sts (NeutralAccZ)+1,r25
 1364 06be 8093 0000            sts NeutralAccZ,r24
 1365 06c2 0F90                 pop __tmp_reg__
 1366 06c4 0F90                 pop __tmp_reg__
 1367 06c6 0F90                 pop __tmp_reg__
 1368 06c8 0F90                 pop __tmp_reg__
 1369                   .L61:
 1370 06ca 1092 0000            sts (MesswertNick)+1,__zero_reg__
 1371 06ce 1092 0000            sts MesswertNick,__zero_reg__
 1372 06d2 1092 0000            sts (MesswertRoll)+1,__zero_reg__
 1373 06d6 1092 0000            sts MesswertRoll,__zero_reg__
 1374 06da 1092 0000            sts (MesswertGier)+1,__zero_reg__
 1375 06de 1092 0000            sts MesswertGier,__zero_reg__
 1376 06e2 84E6                 ldi r24,lo8(100)
 1377 06e4 90E0                 ldi r25,hi8(100)
 1378 06e6 0E94 0000            call Delay_ms_Mess
 1379 06ea 8091 0000            lds r24,AdWertAccNick
 1380 06ee 9091 0000            lds r25,(AdWertAccNick)+1
 1381 06f2 9C01                 movw r18,r24
 1382 06f4 220F                 lsl r18
 1383 06f6 331F                 rol r19
 1384 06f8 220F                 lsl r18
 1385 06fa 331F                 rol r19
 1386 06fc 280F                 add r18,r24
 1387 06fe 391F                 adc r19,r25
 1388 0700 280F                 add r18,r24
 1389 0702 391F                 adc r19,r25
 1390 0704 3093 0000            sts (Mittelwert_AccNick)+1,r19
 1391 0708 2093 0000            sts Mittelwert_AccNick,r18
 1392 070c 8091 0000            lds r24,AdWertAccRoll
 1393 0710 9091 0000            lds r25,(AdWertAccRoll)+1
 1394 0714 8C01                 movw r16,r24
 1395 0716 000F                 lsl r16
 1396 0718 111F                 rol r17
 1397 071a 000F                 lsl r16
 1398 071c 111F                 rol r17
 1399 071e 080F                 add r16,r24
 1400 0720 191F                 adc r17,r25
 1401 0722 080F                 add r16,r24
 1402 0724 191F                 adc r17,r25
 1403 0726 1093 0000            sts (Mittelwert_AccRoll)+1,r17
 1404 072a 0093 0000            sts Mittelwert_AccRoll,r16
 1405 072e 8091 0000            lds r24,EE_Parameter+28
 1406 0732 C82E                 mov r12,r24
 1407 0734 DD24                 clr r13
 1408 0736 EE24                 clr r14
 1409 0738 FF24                 clr r15
 1410 073a 4427                 clr r20
 1411 073c 37FD                 sbrc r19,7
 1412 073e 4095                 com r20
 1413 0740 542F                 mov r21,r20
 1414 0742 C701                 movw r24,r14
 1415 0744 B601                 movw r22,r12
 1416 0746 0E94 0000            call __mulsi3
 1417 074a 4B01                 movw r8,r22
 1418 074c 5C01                 movw r10,r24
 1419 074e 6093 0000            sts IntegralNick,r22
 1420 0752 7093 0000            sts (IntegralNick)+1,r23
 1421 0756 8093 0000            sts (IntegralNick)+2,r24
 1422 075a 9093 0000            sts (IntegralNick)+3,r25
 1423 075e 9801                 movw r18,r16
 1424 0760 4427                 clr r20
 1425 0762 37FD                 sbrc r19,7
 1426 0764 4095                 com r20
 1427 0766 542F                 mov r21,r20
 1428 0768 C701                 movw r24,r14
 1429 076a B601                 movw r22,r12
 1430 076c 0E94 0000            call __mulsi3
 1431 0770 DC01                 movw r26,r24
 1432 0772 CB01                 movw r24,r22
 1433 0774 8093 0000            sts IntegralRoll,r24
 1434 0778 9093 0000            sts (IntegralRoll)+1,r25
 1435 077c A093 0000            sts (IntegralRoll)+2,r26
 1436 0780 B093 0000            sts (IntegralRoll)+3,r27
 1437 0784 8092 0000            sts Mess_IntegralNick,r8
 1438 0788 9092 0000            sts (Mess_IntegralNick)+1,r9
 1439 078c A092 0000            sts (Mess_IntegralNick)+2,r10
 1440 0790 B092 0000            sts (Mess_IntegralNick)+3,r11
 1441 0794 8093 0000            sts Mess_IntegralRoll,r24
 1442 0798 9093 0000            sts (Mess_IntegralRoll)+1,r25
 1443 079c A093 0000            sts (Mess_IntegralRoll)+2,r26
 1444 07a0 B093 0000            sts (Mess_IntegralRoll)+3,r27
 1445 07a4 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 1446 07a8 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 1447 07ac 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 1448 07b0 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 1449 07b4 8091 0000            lds r24,Luftdruck
 1450 07b8 9091 0000            lds r25,(Luftdruck)+1
 1451 07bc A091 0000            lds r26,(Luftdruck)+2
 1452 07c0 B091 0000            lds r27,(Luftdruck)+3
 1453 07c4 9093 0000            sts (StartLuftdruck)+1,r25
 1454 07c8 8093 0000            sts StartLuftdruck,r24
 1455 07cc 1092 0000            sts (VarioMeter)+1,__zero_reg__
 1456 07d0 1092 0000            sts VarioMeter,__zero_reg__
 1457 07d4 1092 0000            sts Mess_Integral_Hoch,__zero_reg__
 1458 07d8 1092 0000            sts (Mess_Integral_Hoch)+1,__zero_reg__
 1459 07dc 1092 0000            sts (Mess_Integral_Hoch)+2,__zero_reg__
 1460 07e0 1092 0000            sts (Mess_Integral_Hoch)+3,__zero_reg__
 1461 07e4 0091 0000            lds r16,KompassValue
 1462 07e8 1091 0000            lds r17,(KompassValue)+1
 1463 07ec 1093 0000            sts (KompassSollWert)+1,r17
 1464 07f0 0093 0000            sts KompassSollWert,r16
 1465 07f4 84E6                 ldi r24,lo8(100)
 1466 07f6 90E0                 ldi r25,hi8(100)
 1467 07f8 9093 0000            sts (KompassSignalSchlecht)+1,r25
 1468 07fc 8093 0000            sts KompassSignalSchlecht,r24
 1469 0800 82E3                 ldi r24,lo8(50)
 1470 0802 90E0                 ldi r25,hi8(50)
 1471 0804 9093 0000            sts (beeptime)+1,r25
 1472 0808 8093 0000            sts beeptime,r24
 1473 080c 8091 0000            lds r24,EE_Parameter+65
 1474 0810 9927                 clr r25
 1475 0812 AA27                 clr r26
 1476 0814 BB27                 clr r27
 1477 0816 BC01                 movw r22,r24
 1478 0818 CD01                 movw r24,r26
 1479 081a 24EC                 ldi r18,lo8(2500)
 1480 081c 39E0                 ldi r19,hi8(2500)
 1481 081e 40E0                 ldi r20,hlo8(2500)
 1482 0820 50E0                 ldi r21,hhi8(2500)
 1483 0822 0E94 0000            call __mulsi3
 1484 0826 DC01                 movw r26,r24
 1485 0828 CB01                 movw r24,r22
 1486 082a 8856                 subi r24,lo8(-(15000))
 1487 082c 954C                 sbci r25,hi8(-(15000))
 1488 082e AF4F                 sbci r26,hlo8(-(15000))
 1489 0830 BF4F                 sbci r27,hhi8(-(15000))
 1490 0832 8093 0000            sts Umschlag180Nick,r24
 1491 0836 9093 0000            sts (Umschlag180Nick)+1,r25
 1492 083a A093 0000            sts (Umschlag180Nick)+2,r26
 1493 083e B093 0000            sts (Umschlag180Nick)+3,r27
 1494 0842 8091 0000            lds r24,EE_Parameter+66
 1495 0846 9927                 clr r25
 1496 0848 AA27                 clr r26
 1497 084a BB27                 clr r27
 1498 084c BC01                 movw r22,r24
 1499 084e CD01                 movw r24,r26
 1500 0850 0E94 0000            call __mulsi3
 1501 0854 DC01                 movw r26,r24
 1502 0856 CB01                 movw r24,r22
 1503 0858 8856                 subi r24,lo8(-(15000))
 1504 085a 954C                 sbci r25,hi8(-(15000))
 1505 085c AF4F                 sbci r26,hlo8(-(15000))
 1506 085e BF4F                 sbci r27,hhi8(-(15000))
 1507 0860 8093 0000            sts Umschlag180Roll,r24
 1508 0864 9093 0000            sts (Umschlag180Roll)+1,r25
 1509 0868 A093 0000            sts (Umschlag180Roll)+2,r26
 1510 086c B093 0000            sts (Umschlag180Roll)+3,r27
 1511 0870 1092 0000            sts (ExternHoehenValue)+1,__zero_reg__
 1512 0874 1092 0000            sts ExternHoehenValue,__zero_reg__
 1513 0878 C801                 movw r24,r16
 1514 087a AA27                 clr r26
 1515 087c 97FD                 sbrc r25,7
 1516 087e A095                 com r26
 1517 0880 BA2F                 mov r27,r26
 1518 0882 2091 0000            lds r18,GIER_GRAD_FAKTOR
 1519 0886 3091 0000            lds r19,(GIER_GRAD_FAKTOR)+1
 1520 088a 4091 0000            lds r20,(GIER_GRAD_FAKTOR)+2
 1521 088e 5091 0000            lds r21,(GIER_GRAD_FAKTOR)+3
 1522 0892 BC01                 movw r22,r24
 1523 0894 CD01                 movw r24,r26
 1524 0896 0E94 0000            call __mulsi3
 1525 089a DC01                 movw r26,r24
 1526 089c CB01                 movw r24,r22
 1527 089e 8093 0000            sts ErsatzKompass,r24
 1528 08a2 9093 0000            sts (ErsatzKompass)+1,r25
 1529 08a6 A093 0000            sts (ErsatzKompass)+2,r26
 1530 08aa B093 0000            sts (ErsatzKompass)+3,r27
 1531 08ae 1092 0000            sts (GierGyroFehler)+1,__zero_reg__
 1532 08b2 1092 0000            sts GierGyroFehler,__zero_reg__
 1533 08b6 0E94 0000            call LED_Init
 1534 08ba 8091 0000            lds r24,FC_StatusFlags
 1535 08be 8460                 ori r24,lo8(4)
 1536 08c0 8093 0000            sts FC_StatusFlags,r24
 1537 08c4 8FEF                 ldi r24,lo8(-1)
 1538 08c6 8093 0000            sts FromNaviCtrl_Value,r24
 1539 08ca 1092 0000            sts FromNaviCtrl_Value+1,__zero_reg__
 1540 08ce 80E2                 ldi r24,lo8(32)
 1541 08d0 8093 0000            sts FromNaviCtrl_Value+2,r24
 1542 08d4 C0E0                 ldi r28,lo8(Poti)
 1543 08d6 D0E0                 ldi r29,hi8(Poti)
 1544 08d8 A0E0                 ldi r26,lo8(EE_Parameter+5)
 1545 08da B0E0                 ldi r27,hi8(EE_Parameter+5)
 1546 08dc 07E0                 ldi r16,lo8(7)
 1547                   .L69:
 1548 08de 8D91                 ld r24,X+
 1549 08e0 E82F                 mov r30,r24
 1550 08e2 FF27                 clr r31
 1551 08e4 EE0F                 add r30,r30
 1552 08e6 FF1F                 adc r31,r31
 1553 08e8 E050                 subi r30,lo8(-(PPM_in))
 1554 08ea F040                 sbci r31,hi8(-(PPM_in))
 1555 08ec 8081                 ld r24,Z
 1556 08ee 9181                 ldd r25,Z+1
 1557 08f0 8158                 subi r24,lo8(-(127))
 1558 08f2 8993                 st Y+,r24
 1559 08f4 0150                 subi r16,lo8(-(-1))
 1560 08f6 07FF                 sbrs r16,7
 1561 08f8 00C0                 rjmp .L69
 1562 08fa 84E6                 ldi r24,lo8(100)
 1563 08fc 8093 0000            sts SenderOkay,r24
 1564 0900 8091 0000            lds r24,ServoActive
 1565 0904 8823                 tst r24
 1566 0906 01F0                 breq .L70
 1567 0908 579A                 sbi 42-0x20,7
 1568 090a 00C0                 rjmp .L71
 1569                   .L70:
 1570 090c 80E0                 ldi r24,lo8(4352)
 1571 090e 91E1                 ldi r25,hi8(4352)
 1572 0910 9093 0000            sts (NickServoValue)+1,r25
 1573 0914 8093 0000            sts NickServoValue,r24
 1574                   .L71:
 1575 0918 8091 0000            lds r24,AdNeutralNick
 1576 091c 9091 0000            lds r25,(AdNeutralNick)+1
 1577 0920 8056                 subi r24,lo8(-(-2400))
 1578 0922 9940                 sbci r25,hi8(-(-2400))
 1579 0924 815C                 subi r24,lo8(11201)
 1580 0926 9B42                 sbci r25,hi8(11201)
 1581 0928 00F0                 brlo .L72
 1582 092a 8091 0000            lds r24,VersionInfo+5
 1583 092e 8160                 ori r24,lo8(1)
 1584 0930 8093 0000            sts VersionInfo+5,r24
 1585                   .L72:
 1586 0934 8091 0000            lds r24,AdNeutralRoll
 1587 0938 9091 0000            lds r25,(AdNeutralRoll)+1
 1588 093c 8056                 subi r24,lo8(-(-2400))
 1589 093e 9940                 sbci r25,hi8(-(-2400))
 1590 0940 815C                 subi r24,lo8(11201)
 1591 0942 9B42                 sbci r25,hi8(11201)
 1592 0944 00F0                 brlo .L73
 1593 0946 8091 0000            lds r24,VersionInfo+5
 1594 094a 8260                 ori r24,lo8(2)
 1595 094c 8093 0000            sts VersionInfo+5,r24
 1596                   .L73:
 1597 0950 8091 0000            lds r24,AdNeutralGier
 1598 0954 9091 0000            lds r25,(AdNeutralGier)+1
 1599 0958 8C52                 subi r24,lo8(-(-300))
 1600 095a 9140                 sbci r25,hi8(-(-300))
 1601 095c 8957                 subi r24,lo8(1401)
 1602 095e 9540                 sbci r25,hi8(1401)
 1603 0960 00F0                 brlo .L74
 1604 0962 8091 0000            lds r24,VersionInfo+5
 1605 0966 8460                 ori r24,lo8(4)
 1606 0968 8093 0000            sts VersionInfo+5,r24
 1607                   .L74:
 1608 096c 8091 0000            lds r24,NeutralAccX
 1609 0970 9091 0000            lds r25,(NeutralAccX)+1
 1610 0974 8C52                 subi r24,lo8(-(-300))
 1611 0976 9140                 sbci r25,hi8(-(-300))
 1612 0978 835C                 subi r24,lo8(451)
 1613 097a 9140                 sbci r25,hi8(451)
 1614 097c 00F0                 brlo .L75
 1615 097e 8091 0000            lds r24,VersionInfo+5
 1616 0982 8860                 ori r24,lo8(8)
 1617 0984 8093 0000            sts VersionInfo+5,r24
 1618                   .L75:
 1619 0988 8091 0000            lds r24,NeutralAccY
 1620 098c 9091 0000            lds r25,(NeutralAccY)+1
 1621 0990 8C52                 subi r24,lo8(-(-300))
 1622 0992 9140                 sbci r25,hi8(-(-300))
 1623 0994 835C                 subi r24,lo8(451)
 1624 0996 9140                 sbci r25,hi8(451)
 1625 0998 00F0                 brlo .L76
 1626 099a 8091 0000            lds r24,VersionInfo+5
 1627 099e 8061                 ori r24,lo8(16)
 1628 09a0 8093 0000            sts VersionInfo+5,r24
 1629                   .L76:
 1630 09a4 8091 0000            lds r24,NeutralAccZ
 1631 09a8 9091 0000            lds r25,(NeutralAccZ)+1
 1632 09ac 8050                 subi r24,lo8(-(-512))
 1633 09ae 9240                 sbci r25,hi8(-(-512))
 1634 09b0 8355                 subi r24,lo8(339)
 1635 09b2 9140                 sbci r25,hi8(339)
 1636 09b4 00F0                 brlo .L77
 1637 09b6 8091 0000            lds r24,VersionInfo+5
 1638 09ba 8062                 ori r24,lo8(32)
 1639 09bc 8093 0000            sts VersionInfo+5,r24
 1640                   .L77:
 1641 09c0 86E4                 ldi r24,lo8(70)
 1642 09c2 8093 0000            sts carefree_old,r24
 1643 09c6 0E94 0000            call LIBFC_HoTT_Clear
 1644                   /* epilogue: frame size=0 */
 1645 09ca ECE0                 ldi r30,12
 1646 09cc CDB7                 in r28,__SP_L__
 1647 09ce DEB7                 in r29,__SP_H__
 1648 09d0 0C94 0000            jmp __epilogue_restores__+12
 1649                   /* epilogue end (size=5) */
 1650                   /* function SetNeutral size 705 (694) */
 1652                           .lcomm tmpl.27,4
 1653                           .lcomm tmpl2.28,4
 1654                           .lcomm tmpl3.29,4
 1655                           .lcomm tmpl4.30,4
 1656                           .lcomm oldNick.31,2
 1657                           .lcomm oldRoll.32,2
 1658                           .lcomm d2Roll.33,2
 1659                           .lcomm d2Nick.34,2
 1660                   .global Mittelwert
 1662                   Mittelwert:
 1663                   /* prologue: frame size=19 */
 1664 09d4 A3E1                 ldi r26,lo8(19)
 1665 09d6 B0E0                 ldi r27,hi8(19)
 1666 09d8 E0E0                 ldi r30,pm_lo8(1f)
 1667 09da F0E0                 ldi r31,pm_hi8(1f)
 1668 09dc 0C94 0000            jmp __prologue_saves__+0
 1669                   1:
 1670                   /* prologue end (size=6) */
 1671 09e0 8091 0000            lds r24,AdNeutralGier
 1672 09e4 9091 0000            lds r25,(AdNeutralGier)+1
 1673 09e8 2091 0000            lds r18,AdWertGier
 1674 09ec 3091 0000            lds r19,(AdWertGier)+1
 1675 09f0 821B                 sub r24,r18
 1676 09f2 930B                 sbc r25,r19
 1677 09f4 9093 0000            sts (MesswertGier)+1,r25
 1678 09f8 8093 0000            sts MesswertGier,r24
 1679 09fc 8091 0000            lds r24,AdWertNickFilter
 1680 0a00 9091 0000            lds r25,(AdWertNickFilter)+1
 1681 0a04 97FD                 sbrc r25,7
 1682 0a06 0796                 adiw r24,7
 1683                   .L83:
 1684 0a08 9C01                 movw r18,r24
 1685 0a0a 13E0                 ldi r17,3
 1686 0a0c 3595         1:      asr r19
 1687 0a0e 2795                 ror r18
 1688 0a10 1A95                 dec r17
 1689 0a12 01F4                 brne 1b
 1690 0a14 3093 0000            sts (MesswertNick)+1,r19
 1691 0a18 2093 0000            sts MesswertNick,r18
 1692 0a1c 8091 0000            lds r24,AdWertRollFilter
 1693 0a20 9091 0000            lds r25,(AdWertRollFilter)+1
 1694 0a24 97FD                 sbrc r25,7
 1695 0a26 0796                 adiw r24,7
 1696                   .L84:
 1697 0a28 B3E0                 ldi r27,3
 1698 0a2a 9595         1:      asr r25
 1699 0a2c 8795                 ror r24
 1700 0a2e BA95                 dec r27
 1701 0a30 01F4                 brne 1b
 1702 0a32 9093 0000            sts (MesswertRoll)+1,r25
 1703 0a36 8093 0000            sts MesswertRoll,r24
 1704 0a3a 3093 0000            sts (RohMesswertNick)+1,r19
 1705 0a3e 2093 0000            sts RohMesswertNick,r18
 1706 0a42 9093 0000            sts (RohMesswertRoll)+1,r25
 1707 0a46 8093 0000            sts RohMesswertRoll,r24
 1708 0a4a 8091 0000            lds r24,Mittelwert_AccNick
 1709 0a4e 9091 0000            lds r25,(Mittelwert_AccNick)+1
 1710 0a52 AC01                 movw r20,r24
 1711 0a54 440F                 lsl r20
 1712 0a56 551F                 rol r21
 1713 0a58 480F                 add r20,r24
 1714 0a5a 591F                 adc r21,r25
 1715 0a5c 2091 0000            lds r18,AdWertAccNick
 1716 0a60 3091 0000            lds r19,(AdWertAccNick)+1
 1717 0a64 C901                 movw r24,r18
 1718 0a66 880F                 lsl r24
 1719 0a68 991F                 rol r25
 1720 0a6a 880F                 lsl r24
 1721 0a6c 991F                 rol r25
 1722 0a6e 820F                 add r24,r18
 1723 0a70 931F                 adc r25,r19
 1724 0a72 820F                 add r24,r18
 1725 0a74 931F                 adc r25,r19
 1726 0a76 480F                 add r20,r24
 1727 0a78 591F                 adc r21,r25
 1728 0a7a 57FF                 sbrs r21,7
 1729 0a7c 00C0                 rjmp .L85
 1730 0a7e 4D5F                 subi r20,lo8(-(3))
 1731 0a80 5F4F                 sbci r21,hi8(-(3))
 1732                   .L85:
 1733 0a82 5595                 asr r21
 1734 0a84 4795                 ror r20
 1735 0a86 5595                 asr r21
 1736 0a88 4795                 ror r20
 1737 0a8a 5093 0000            sts (Mittelwert_AccNick)+1,r21
 1738 0a8e 4093 0000            sts Mittelwert_AccNick,r20
 1739 0a92 8091 0000            lds r24,Mittelwert_AccRoll
 1740 0a96 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 1741 0a9a AC01                 movw r20,r24
 1742 0a9c 440F                 lsl r20
 1743 0a9e 551F                 rol r21
 1744 0aa0 480F                 add r20,r24
 1745 0aa2 591F                 adc r21,r25
 1746 0aa4 2091 0000            lds r18,AdWertAccRoll
 1747 0aa8 3091 0000            lds r19,(AdWertAccRoll)+1
 1748 0aac C901                 movw r24,r18
 1749 0aae 880F                 lsl r24
 1750 0ab0 991F                 rol r25
 1751 0ab2 880F                 lsl r24
 1752 0ab4 991F                 rol r25
 1753 0ab6 820F                 add r24,r18
 1754 0ab8 931F                 adc r25,r19
 1755 0aba 820F                 add r24,r18
 1756 0abc 931F                 adc r25,r19
 1757 0abe 480F                 add r20,r24
 1758 0ac0 591F                 adc r21,r25
 1759 0ac2 57FF                 sbrs r21,7
 1760 0ac4 00C0                 rjmp .L86
 1761 0ac6 4D5F                 subi r20,lo8(-(3))
 1762 0ac8 5F4F                 sbci r21,hi8(-(3))
 1763                   .L86:
 1764 0aca 5595                 asr r21
 1765 0acc 4795                 ror r20
 1766 0ace 5595                 asr r21
 1767 0ad0 4795                 ror r20
 1768 0ad2 5093 0000            sts (Mittelwert_AccRoll)+1,r21
 1769 0ad6 4093 0000            sts Mittelwert_AccRoll,r20
 1770 0ada 2091 0000            lds r18,AdWertAccNick
 1771 0ade 3091 0000            lds r19,(AdWertAccNick)+1
 1772 0ae2 C901                 movw r24,r18
 1773 0ae4 880F                 lsl r24
 1774 0ae6 991F                 rol r25
 1775 0ae8 880F                 lsl r24
 1776 0aea 991F                 rol r25
 1777 0aec 820F                 add r24,r18
 1778 0aee 931F                 adc r25,r19
 1779 0af0 820F                 add r24,r18
 1780 0af2 931F                 adc r25,r19
 1781 0af4 9C01                 movw r18,r24
 1782 0af6 4427                 clr r20
 1783 0af8 37FD                 sbrc r19,7
 1784 0afa 4095                 com r20
 1785 0afc 542F                 mov r21,r20
 1786 0afe 8091 0000            lds r24,IntegralAccNick
 1787 0b02 9091 0000            lds r25,(IntegralAccNick)+1
 1788 0b06 A091 0000            lds r26,(IntegralAccNick)+2
 1789 0b0a B091 0000            lds r27,(IntegralAccNick)+3
 1790 0b0e 820F                 add r24,r18
 1791 0b10 931F                 adc r25,r19
 1792 0b12 A41F                 adc r26,r20
 1793 0b14 B51F                 adc r27,r21
 1794 0b16 8093 0000            sts IntegralAccNick,r24
 1795 0b1a 9093 0000            sts (IntegralAccNick)+1,r25
 1796 0b1e A093 0000            sts (IntegralAccNick)+2,r26
 1797 0b22 B093 0000            sts (IntegralAccNick)+3,r27
 1798 0b26 2091 0000            lds r18,AdWertAccRoll
 1799 0b2a 3091 0000            lds r19,(AdWertAccRoll)+1
 1800 0b2e C901                 movw r24,r18
 1801 0b30 880F                 lsl r24
 1802 0b32 991F                 rol r25
 1803 0b34 880F                 lsl r24
 1804 0b36 991F                 rol r25
 1805 0b38 820F                 add r24,r18
 1806 0b3a 931F                 adc r25,r19
 1807 0b3c 820F                 add r24,r18
 1808 0b3e 931F                 adc r25,r19
 1809 0b40 9C01                 movw r18,r24
 1810 0b42 4427                 clr r20
 1811 0b44 37FD                 sbrc r19,7
 1812 0b46 4095                 com r20
 1813 0b48 542F                 mov r21,r20
 1814 0b4a 8091 0000            lds r24,IntegralAccRoll
 1815 0b4e 9091 0000            lds r25,(IntegralAccRoll)+1
 1816 0b52 A091 0000            lds r26,(IntegralAccRoll)+2
 1817 0b56 B091 0000            lds r27,(IntegralAccRoll)+3
 1818 0b5a 820F                 add r24,r18
 1819 0b5c 931F                 adc r25,r19
 1820 0b5e A41F                 adc r26,r20
 1821 0b60 B51F                 adc r27,r21
 1822 0b62 8093 0000            sts IntegralAccRoll,r24
 1823 0b66 9093 0000            sts (IntegralAccRoll)+1,r25
 1824 0b6a A093 0000            sts (IntegralAccRoll)+2,r26
 1825 0b6e B093 0000            sts (IntegralAccRoll)+3,r27
 1826 0b72 8091 0000            lds r24,NaviAccNick
 1827 0b76 9091 0000            lds r25,(NaviAccNick)+1
 1828 0b7a 2091 0000            lds r18,AdWertAccNick
 1829 0b7e 3091 0000            lds r19,(AdWertAccNick)+1
 1830 0b82 820F                 add r24,r18
 1831 0b84 931F                 adc r25,r19
 1832 0b86 9093 0000            sts (NaviAccNick)+1,r25
 1833 0b8a 8093 0000            sts NaviAccNick,r24
 1834 0b8e 8091 0000            lds r24,NaviAccRoll
 1835 0b92 9091 0000            lds r25,(NaviAccRoll)+1
 1836 0b96 2091 0000            lds r18,AdWertAccRoll
 1837 0b9a 3091 0000            lds r19,(AdWertAccRoll)+1
 1838 0b9e 820F                 add r24,r18
 1839 0ba0 931F                 adc r25,r19
 1840 0ba2 9093 0000            sts (NaviAccRoll)+1,r25
 1841 0ba6 8093 0000            sts NaviAccRoll,r24
 1842 0baa 8091 0000            lds r24,NaviCntAcc
 1843 0bae 9091 0000            lds r25,(NaviCntAcc)+1
 1844 0bb2 0196                 adiw r24,1
 1845 0bb4 9093 0000            sts (NaviCntAcc)+1,r25
 1846 0bb8 8093 0000            sts NaviCntAcc,r24
 1847 0bbc 8091 0000            lds r24,Aktuell_az
 1848 0bc0 9091 0000            lds r25,(Aktuell_az)+1
 1849 0bc4 2091 0000            lds r18,NeutralAccZ
 1850 0bc8 3091 0000            lds r19,(NeutralAccZ)+1
 1851 0bcc 821B                 sub r24,r18
 1852 0bce 930B                 sbc r25,r19
 1853 0bd0 9C01                 movw r18,r24
 1854 0bd2 4427                 clr r20
 1855 0bd4 37FD                 sbrc r19,7
 1856 0bd6 4095                 com r20
 1857 0bd8 542F                 mov r21,r20
 1858 0bda 8091 0000            lds r24,IntegralAccZ
 1859 0bde 9091 0000            lds r25,(IntegralAccZ)+1
 1860 0be2 A091 0000            lds r26,(IntegralAccZ)+2
 1861 0be6 B091 0000            lds r27,(IntegralAccZ)+3
 1862 0bea 820F                 add r24,r18
 1863 0bec 931F                 adc r25,r19
 1864 0bee A41F                 adc r26,r20
 1865 0bf0 B51F                 adc r27,r21
 1866 0bf2 8093 0000            sts IntegralAccZ,r24
 1867 0bf6 9093 0000            sts (IntegralAccZ)+1,r25
 1868 0bfa A093 0000            sts (IntegralAccZ)+2,r26
 1869 0bfe B093 0000            sts (IntegralAccZ)+3,r27
 1870 0c02 8FEC                 ldi r24,lo8(-49)
 1871 0c04 8093 7A00            sts 122,r24
 1872 0c08 1092 0000            sts AdReady,__zero_reg__
 1873 0c0c 2091 0000            lds r18,Mess_IntegralRoll
 1874 0c10 3091 0000            lds r19,(Mess_IntegralRoll)+1
 1875 0c14 4091 0000            lds r20,(Mess_IntegralRoll)+2
 1876 0c18 5091 0000            lds r21,(Mess_IntegralRoll)+3
 1877 0c1c 2987                 std Y+9,r18
 1878 0c1e 3A87                 std Y+10,r19
 1879 0c20 4B87                 std Y+11,r20
 1880 0c22 5C87                 std Y+12,r21
 1881 0c24 2954                 subi r18,lo8(93001)
 1882 0c26 3B46                 sbci r19,hi8(93001)
 1883 0c28 4140                 sbci r20,hlo8(93001)
 1884 0c2a 5040                 sbci r21,hhi8(93001)
 1885 0c2c 04F0                 brlt .L87
 1886 0c2e 28E4                 ldi r18,lo8(93000)
 1887 0c30 3BE6                 ldi r19,hi8(93000)
 1888 0c32 41E0                 ldi r20,hlo8(93000)
 1889 0c34 50E0                 ldi r21,hhi8(93000)
 1890 0c36 00C0                 rjmp .L167
 1891                   .L87:
 1892 0c38 8985                 ldd r24,Y+9
 1893 0c3a 9A85                 ldd r25,Y+10
 1894 0c3c AB85                 ldd r26,Y+11
 1895 0c3e BC85                 ldd r27,Y+12
 1896 0c40 885B                 subi r24,lo8(-93000)
 1897 0c42 9449                 sbci r25,hi8(-93000)
 1898 0c44 AE4F                 sbci r26,hlo8(-93000)
 1899 0c46 BF4F                 sbci r27,hhi8(-93000)
 1900 0c48 04F4                 brge .L89
 1901 0c4a 28EB                 ldi r18,lo8(-93000)
 1902 0c4c 34E9                 ldi r19,hi8(-93000)
 1903 0c4e 4EEF                 ldi r20,hlo8(-93000)
 1904 0c50 5FEF                 ldi r21,hhi8(-93000)
 1905                   .L167:
 1906 0c52 2D83                 std Y+5,r18
 1907 0c54 3E83                 std Y+6,r19
 1908 0c56 4F83                 std Y+7,r20
 1909 0c58 5887                 std Y+8,r21
 1910 0c5a 00C0                 rjmp .L88
 1911                   .L89:
 1912 0c5c 8985                 ldd r24,Y+9
 1913 0c5e 9A85                 ldd r25,Y+10
 1914 0c60 AB85                 ldd r26,Y+11
 1915 0c62 BC85                 ldd r27,Y+12
 1916 0c64 8D83                 std Y+5,r24
 1917 0c66 9E83                 std Y+6,r25
 1918 0c68 AF83                 std Y+7,r26
 1919 0c6a B887                 std Y+8,r27
 1920                   .L88:
 1921 0c6c 2091 0000            lds r18,Mess_IntegralNick
 1922 0c70 3091 0000            lds r19,(Mess_IntegralNick)+1
 1923 0c74 4091 0000            lds r20,(Mess_IntegralNick)+2
 1924 0c78 5091 0000            lds r21,(Mess_IntegralNick)+3
 1925 0c7c 2D87                 std Y+13,r18
 1926 0c7e 3E87                 std Y+14,r19
 1927 0c80 4F87                 std Y+15,r20
 1928 0c82 588B                 std Y+16,r21
 1929 0c84 2954                 subi r18,lo8(93001)
 1930 0c86 3B46                 sbci r19,hi8(93001)
 1931 0c88 4140                 sbci r20,hlo8(93001)
 1932 0c8a 5040                 sbci r21,hhi8(93001)
 1933 0c8c 04F0                 brlt .L91
 1934 0c8e 28E4                 ldi r18,lo8(93000)
 1935 0c90 3BE6                 ldi r19,hi8(93000)
 1936 0c92 41E0                 ldi r20,hlo8(93000)
 1937 0c94 50E0                 ldi r21,hhi8(93000)
 1938 0c96 00C0                 rjmp .L168
 1939                   .L91:
 1940 0c98 8D85                 ldd r24,Y+13
 1941 0c9a 9E85                 ldd r25,Y+14
 1942 0c9c AF85                 ldd r26,Y+15
 1943 0c9e B889                 ldd r27,Y+16
 1944 0ca0 885B                 subi r24,lo8(-93000)
 1945 0ca2 9449                 sbci r25,hi8(-93000)
 1946 0ca4 AE4F                 sbci r26,hlo8(-93000)
 1947 0ca6 BF4F                 sbci r27,hhi8(-93000)
 1948 0ca8 04F4                 brge .L93
 1949 0caa 28EB                 ldi r18,lo8(-93000)
 1950 0cac 34E9                 ldi r19,hi8(-93000)
 1951 0cae 4EEF                 ldi r20,hlo8(-93000)
 1952 0cb0 5FEF                 ldi r21,hhi8(-93000)
 1953                   .L168:
 1954 0cb2 2983                 std Y+1,r18
 1955 0cb4 3A83                 std Y+2,r19
 1956 0cb6 4B83                 std Y+3,r20
 1957 0cb8 5C83                 std Y+4,r21
 1958 0cba 00C0                 rjmp .L92
 1959                   .L93:
 1960 0cbc 8D85                 ldd r24,Y+13
 1961 0cbe 9E85                 ldd r25,Y+14
 1962 0cc0 AF85                 ldd r26,Y+15
 1963 0cc2 B889                 ldd r27,Y+16
 1964 0cc4 8983                 std Y+1,r24
 1965 0cc6 9A83                 std Y+2,r25
 1966 0cc8 AB83                 std Y+3,r26
 1967 0cca BC83                 std Y+4,r27
 1968                   .L92:
 1969 0ccc A091 0000            lds r26,MesswertGier
 1970 0cd0 B091 0000            lds r27,(MesswertGier)+1
 1971 0cd4 BB8B                 std Y+19,r27
 1972 0cd6 AA8B                 std Y+18,r26
 1973 0cd8 FD01                 movw r30,r26
 1974 0cda CF01                 movw r24,r30
 1975 0cdc AA27                 clr r26
 1976 0cde 97FD                 sbrc r25,7
 1977 0ce0 A095                 com r26
 1978 0ce2 BA2F                 mov r27,r26
 1979 0ce4 A090 0000            lds r10,Mess_Integral_Gier
 1980 0ce8 B090 0000            lds r11,(Mess_Integral_Gier)+1
 1981 0cec C090 0000            lds r12,(Mess_Integral_Gier)+2
 1982 0cf0 D090 0000            lds r13,(Mess_Integral_Gier)+3
 1983 0cf4 A80E                 add r10,r24
 1984 0cf6 B91E                 adc r11,r25
 1985 0cf8 CA1E                 adc r12,r26
 1986 0cfa DB1E                 adc r13,r27
 1987 0cfc A092 0000            sts Mess_Integral_Gier,r10
 1988 0d00 B092 0000            sts (Mess_Integral_Gier)+1,r11
 1989 0d04 C092 0000            sts (Mess_Integral_Gier)+2,r12
 1990 0d08 D092 0000            sts (Mess_Integral_Gier)+3,r13
 1991 0d0c E090 0000            lds r14,ErsatzKompass
 1992 0d10 F090 0000            lds r15,(ErsatzKompass)+1
 1993 0d14 0091 0000            lds r16,(ErsatzKompass)+2
 1994 0d18 1091 0000            lds r17,(ErsatzKompass)+3
 1995 0d1c E80E                 add r14,r24
 1996 0d1e F91E                 adc r15,r25
 1997 0d20 0A1F                 adc r16,r26
 1998 0d22 1B1F                 adc r17,r27
 1999 0d24 E092 0000            sts ErsatzKompass,r14
 2000 0d28 F092 0000            sts (ErsatzKompass)+1,r15
 2001 0d2c 0093 0000            sts (ErsatzKompass)+2,r16
 2002 0d30 1093 0000            sts (ErsatzKompass)+3,r17
 2003 0d34 F091 0000            lds r31,Looping_Nick
 2004 0d38 F98B                 std Y+17,r31
 2005 0d3a FF23                 tst r31
 2006 0d3c 01F0                 breq .+2
 2007 0d3e 00C0                 rjmp .L95
 2008 0d40 8091 0000            lds r24,Looping_Roll
 2009 0d44 8823                 tst r24
 2010 0d46 01F0                 breq .+2
 2011 0d48 00C0                 rjmp .L95
 2012 0d4a 8091 0000            lds r24,Parameter_GlobalConfig
 2013 0d4e 86FF                 sbrs r24,6
 2014 0d50 00C0                 rjmp .L95
 2015 0d52 8091 0000            lds r24,MesswertRoll
 2016 0d56 9091 0000            lds r25,(MesswertRoll)+1
 2017 0d5a AA27                 clr r26
 2018 0d5c 97FD                 sbrc r25,7
 2019 0d5e A095                 com r26
 2020 0d60 BA2F                 mov r27,r26
 2021 0d62 BC01                 movw r22,r24
 2022 0d64 CD01                 movw r24,r26
 2023 0d66 2981                 ldd r18,Y+1
 2024 0d68 3A81                 ldd r19,Y+2
 2025 0d6a 4B81                 ldd r20,Y+3
 2026 0d6c 5C81                 ldd r21,Y+4
 2027 0d6e 0E94 0000            call __mulsi3
 2028 0d72 9B01                 movw r18,r22
 2029 0d74 AC01                 movw r20,r24
 2030 0d76 97FF                 sbrs r25,7
 2031 0d78 00C0                 rjmp .L96
 2032 0d7a 2150                 subi r18,lo8(-(2047))
 2033 0d7c 384F                 sbci r19,hi8(-(2047))
 2034 0d7e 4F4F                 sbci r20,hlo8(-(2047))
 2035 0d80 5F4F                 sbci r21,hhi8(-(2047))
 2036                   .L96:
 2037 0d82 BBE0                 ldi r27,11
 2038 0d84 5595         1:      asr r21
 2039 0d86 4795                 ror r20
 2040 0d88 3795                 ror r19
 2041 0d8a 2795                 ror r18
 2042 0d8c BA95                 dec r27
 2043 0d8e 01F4                 brne 1b
 2044 0d90 8091 0000            lds r24,Parameter_AchsKopplung2
 2045 0d94 682E                 mov r6,r24
 2046 0d96 7724                 clr r7
 2047 0d98 8824                 clr r8
 2048 0d9a 9924                 clr r9
 2049 0d9c CA01                 movw r24,r20
 2050 0d9e B901                 movw r22,r18
 2051 0da0 A401                 movw r20,r8
 2052 0da2 9301                 movw r18,r6
 2053 0da4 0E94 0000            call __mulsi3
 2054 0da8 DC01                 movw r26,r24
 2055 0daa CB01                 movw r24,r22
 2056 0dac 8093 0000            sts tmpl3.29,r24
 2057 0db0 9093 0000            sts (tmpl3.29)+1,r25
 2058 0db4 A093 0000            sts (tmpl3.29)+2,r26
 2059 0db8 B093 0000            sts (tmpl3.29)+3,r27
 2060 0dbc B7FF                 sbrs r27,7
 2061 0dbe 00C0                 rjmp .L97
 2062 0dc0 8150                 subi r24,lo8(-(4095))
 2063 0dc2 904F                 sbci r25,hi8(-(4095))
 2064 0dc4 AF4F                 sbci r26,hlo8(-(4095))
 2065 0dc6 BF4F                 sbci r27,hhi8(-(4095))
 2066                   .L97:
 2067 0dc8 1C01                 movw r2,r24
 2068 0dca 2D01                 movw r4,r26
 2069 0dcc ACE0                 ldi r26,12
 2070 0dce 5594         1:      asr r5
 2071 0dd0 4794                 ror r4
 2072 0dd2 3794                 ror r3
 2073 0dd4 2794                 ror r2
 2074 0dd6 AA95                 dec r26
 2075 0dd8 01F4                 brne 1b
 2076 0dda 2092 0000            sts tmpl3.29,r2
 2077 0dde 3092 0000            sts (tmpl3.29)+1,r3
 2078 0de2 4092 0000            sts (tmpl3.29)+2,r4
 2079 0de6 5092 0000            sts (tmpl3.29)+3,r5
 2080 0dea 8091 0000            lds r24,MesswertNick
 2081 0dee 9091 0000            lds r25,(MesswertNick)+1
 2082 0df2 AA27                 clr r26
 2083 0df4 97FD                 sbrc r25,7
 2084 0df6 A095                 com r26
 2085 0df8 BA2F                 mov r27,r26
 2086 0dfa BC01                 movw r22,r24
 2087 0dfc CD01                 movw r24,r26
 2088 0dfe 2D81                 ldd r18,Y+5
 2089 0e00 3E81                 ldd r19,Y+6
 2090 0e02 4F81                 ldd r20,Y+7
 2091 0e04 5885                 ldd r21,Y+8
 2092 0e06 0E94 0000            call __mulsi3
 2093 0e0a 97FF                 sbrs r25,7
 2094 0e0c 00C0                 rjmp .L98
 2095 0e0e 6150                 subi r22,lo8(-(2047))
 2096 0e10 784F                 sbci r23,hi8(-(2047))
 2097 0e12 8F4F                 sbci r24,hlo8(-(2047))
 2098 0e14 9F4F                 sbci r25,hhi8(-(2047))
 2099                   .L98:
 2100 0e16 FBE0                 ldi r31,11
 2101 0e18 9595         1:      asr r25
 2102 0e1a 8795                 ror r24
 2103 0e1c 7795                 ror r23
 2104 0e1e 6795                 ror r22
 2105 0e20 FA95                 dec r31
 2106 0e22 01F4                 brne 1b
 2107 0e24 A401                 movw r20,r8
 2108 0e26 9301                 movw r18,r6
 2109 0e28 0E94 0000            call __mulsi3
 2110 0e2c DC01                 movw r26,r24
 2111 0e2e CB01                 movw r24,r22
 2112 0e30 8093 0000            sts tmpl4.30,r24
 2113 0e34 9093 0000            sts (tmpl4.30)+1,r25
 2114 0e38 A093 0000            sts (tmpl4.30)+2,r26
 2115 0e3c B093 0000            sts (tmpl4.30)+3,r27
 2116 0e40 B7FF                 sbrs r27,7
 2117 0e42 00C0                 rjmp .L99
 2118 0e44 8150                 subi r24,lo8(-(4095))
 2119 0e46 904F                 sbci r25,hi8(-(4095))
 2120 0e48 AF4F                 sbci r26,hlo8(-(4095))
 2121 0e4a BF4F                 sbci r27,hhi8(-(4095))
 2122                   .L99:
 2123 0e4c 9C01                 movw r18,r24
 2124 0e4e AD01                 movw r20,r26
 2125 0e50 ECE0                 ldi r30,12
 2126 0e52 5595         1:      asr r21
 2127 0e54 4795                 ror r20
 2128 0e56 3795                 ror r19
 2129 0e58 2795                 ror r18
 2130 0e5a EA95                 dec r30
 2131 0e5c 01F4                 brne 1b
 2132 0e5e 2093 0000            sts tmpl4.30,r18
 2133 0e62 3093 0000            sts (tmpl4.30)+1,r19
 2134 0e66 4093 0000            sts (tmpl4.30)+2,r20
 2135 0e6a 5093 0000            sts (tmpl4.30)+3,r21
 2136 0e6e 8091 0000            lds r24,tmpl3.29
 2137 0e72 9091 0000            lds r25,(tmpl3.29)+1
 2138 0e76 9093 0000            sts (KopplungsteilNickRoll)+1,r25
 2139 0e7a 8093 0000            sts KopplungsteilNickRoll,r24
 2140 0e7e 8091 0000            lds r24,tmpl4.30
 2141 0e82 9091 0000            lds r25,(tmpl4.30)+1
 2142 0e86 9093 0000            sts (KopplungsteilRollNick)+1,r25
 2143 0e8a 8093 0000            sts KopplungsteilRollNick,r24
 2144 0e8e 2219                 sub r18,r2
 2145 0e90 3309                 sbc r19,r3
 2146 0e92 4409                 sbc r20,r4
 2147 0e94 5509                 sbc r21,r5
 2148 0e96 2093 0000            sts tmpl4.30,r18
 2149 0e9a 3093 0000            sts (tmpl4.30)+1,r19
 2150 0e9e 4093 0000            sts (tmpl4.30)+2,r20
 2151 0ea2 5093 0000            sts (tmpl4.30)+3,r21
 2152 0ea6 E20E                 add r14,r18
 2153 0ea8 F31E                 adc r15,r19
 2154 0eaa 041F                 adc r16,r20
 2155 0eac 151F                 adc r17,r21
 2156 0eae E092 0000            sts ErsatzKompass,r14
 2157 0eb2 F092 0000            sts (ErsatzKompass)+1,r15
 2158 0eb6 0093 0000            sts (ErsatzKompass)+2,r16
 2159 0eba 1093 0000            sts (ErsatzKompass)+3,r17
 2160 0ebe 8091 0000            lds r24,Parameter_CouplingYawCorrection
 2161 0ec2 8823                 tst r24
 2162 0ec4 01F4                 brne .L100
 2163 0ec6 57FF                 sbrs r21,7
 2164 0ec8 00C0                 rjmp .L101
 2165 0eca 2F5F                 subi r18,lo8(-(1))
 2166 0ecc 3F4F                 sbci r19,hi8(-(1))
 2167 0ece 4F4F                 sbci r20,hlo8(-(1))
 2168 0ed0 5F4F                 sbci r21,hhi8(-(1))
 2169                   .L101:
 2170 0ed2 5595                 asr r21
 2171 0ed4 4795                 ror r20
 2172 0ed6 3795                 ror r19
 2173 0ed8 2795                 ror r18
 2174 0eda A21A                 sub r10,r18
 2175 0edc B30A                 sbc r11,r19
 2176 0ede C40A                 sbc r12,r20
 2177 0ee0 D50A                 sbc r13,r21
 2178 0ee2 A092 0000            sts Mess_Integral_Gier,r10
 2179 0ee6 B092 0000            sts (Mess_Integral_Gier)+1,r11
 2180 0eea C092 0000            sts (Mess_Integral_Gier)+2,r12
 2181 0eee D092 0000            sts (Mess_Integral_Gier)+3,r13
 2182                   .L100:
 2183 0ef2 2A89                 ldd r18,Y+18
 2184 0ef4 3B89                 ldd r19,Y+19
 2185 0ef6 7901                 movw r14,r18
 2186 0ef8 0027                 clr r16
 2187 0efa F7FC                 sbrc r15,7
 2188 0efc 0095                 com r16
 2189 0efe 102F                 mov r17,r16
 2190 0f00 8091 0000            lds r24,tmpl4.30
 2191 0f04 9091 0000            lds r25,(tmpl4.30)+1
 2192 0f08 A091 0000            lds r26,(tmpl4.30)+2
 2193 0f0c B091 0000            lds r27,(tmpl4.30)+3
 2194 0f10 E80E                 add r14,r24
 2195 0f12 F91E                 adc r15,r25
 2196 0f14 0A1F                 adc r16,r26
 2197 0f16 1B1F                 adc r17,r27
 2198 0f18 C801                 movw r24,r16
 2199 0f1a B701                 movw r22,r14
 2200 0f1c 2981                 ldd r18,Y+1
 2201 0f1e 3A81                 ldd r19,Y+2
 2202 0f20 4B81                 ldd r20,Y+3
 2203 0f22 5C81                 ldd r21,Y+4
 2204 0f24 0E94 0000            call __mulsi3
 2205 0f28 9B01                 movw r18,r22
 2206 0f2a AC01                 movw r20,r24
 2207 0f2c 97FF                 sbrs r25,7
 2208 0f2e 00C0                 rjmp .L102
 2209 0f30 2150                 subi r18,lo8(-(2047))
 2210 0f32 384F                 sbci r19,hi8(-(2047))
 2211 0f34 4F4F                 sbci r20,hlo8(-(2047))
 2212 0f36 5F4F                 sbci r21,hhi8(-(2047))
 2213                   .L102:
 2214 0f38 6BE0                 ldi r22,11
 2215 0f3a 5595         1:      asr r21
 2216 0f3c 4795                 ror r20
 2217 0f3e 3795                 ror r19
 2218 0f40 2795                 ror r18
 2219 0f42 6A95                 dec r22
 2220 0f44 01F4                 brne 1b
 2221 0f46 8091 0000            lds r24,Parameter_AchsKopplung1
 2222 0f4a A82E                 mov r10,r24
 2223 0f4c BB24                 clr r11
 2224 0f4e CC24                 clr r12
 2225 0f50 DD24                 clr r13
 2226 0f52 CA01                 movw r24,r20
 2227 0f54 B901                 movw r22,r18
 2228 0f56 A601                 movw r20,r12
 2229 0f58 9501                 movw r18,r10
 2230 0f5a 0E94 0000            call __mulsi3
 2231 0f5e DC01                 movw r26,r24
 2232 0f60 CB01                 movw r24,r22
 2233 0f62 8093 0000            sts tmpl.27,r24
 2234 0f66 9093 0000            sts (tmpl.27)+1,r25
 2235 0f6a A093 0000            sts (tmpl.27)+2,r26
 2236 0f6e B093 0000            sts (tmpl.27)+3,r27
 2237 0f72 B7FF                 sbrs r27,7
 2238 0f74 00C0                 rjmp .L103
 2239 0f76 8150                 subi r24,lo8(-(4095))
 2240 0f78 904F                 sbci r25,hi8(-(4095))
 2241 0f7a AF4F                 sbci r26,hlo8(-(4095))
 2242 0f7c BF4F                 sbci r27,hhi8(-(4095))
 2243                   .L103:
 2244 0f7e 3C01                 movw r6,r24
 2245 0f80 4D01                 movw r8,r26
 2246 0f82 3CE0                 ldi r19,12
 2247 0f84 9594         1:      asr r9
 2248 0f86 8794                 ror r8
 2249 0f88 7794                 ror r7
 2250 0f8a 6794                 ror r6
 2251 0f8c 3A95                 dec r19
 2252 0f8e 01F4                 brne 1b
 2253 0f90 6092 0000            sts tmpl.27,r6
 2254 0f94 7092 0000            sts (tmpl.27)+1,r7
 2255 0f98 8092 0000            sts (tmpl.27)+2,r8
 2256 0f9c 9092 0000            sts (tmpl.27)+3,r9
 2257 0fa0 C801                 movw r24,r16
 2258 0fa2 B701                 movw r22,r14
 2259 0fa4 2D81                 ldd r18,Y+5
 2260 0fa6 3E81                 ldd r19,Y+6
 2261 0fa8 4F81                 ldd r20,Y+7
 2262 0faa 5885                 ldd r21,Y+8
 2263 0fac 0E94 0000            call __mulsi3
 2264 0fb0 97FF                 sbrs r25,7
 2265 0fb2 00C0                 rjmp .L104
 2266 0fb4 6150                 subi r22,lo8(-(2047))
 2267 0fb6 784F                 sbci r23,hi8(-(2047))
 2268 0fb8 8F4F                 sbci r24,hlo8(-(2047))
 2269 0fba 9F4F                 sbci r25,hhi8(-(2047))
 2270                   .L104:
 2271 0fbc 2BE0                 ldi r18,11
 2272 0fbe 9595         1:      asr r25
 2273 0fc0 8795                 ror r24
 2274 0fc2 7795                 ror r23
 2275 0fc4 6795                 ror r22
 2276 0fc6 2A95                 dec r18
 2277 0fc8 01F4                 brne 1b
 2278 0fca A601                 movw r20,r12
 2279 0fcc 9501                 movw r18,r10
 2280 0fce 0E94 0000            call __mulsi3
 2281 0fd2 DC01                 movw r26,r24
 2282 0fd4 CB01                 movw r24,r22
 2283 0fd6 8093 0000            sts tmpl2.28,r24
 2284 0fda 9093 0000            sts (tmpl2.28)+1,r25
 2285 0fde A093 0000            sts (tmpl2.28)+2,r26
 2286 0fe2 B093 0000            sts (tmpl2.28)+3,r27
 2287 0fe6 B7FF                 sbrs r27,7
 2288 0fe8 00C0                 rjmp .L105
 2289 0fea 8150                 subi r24,lo8(-(4095))
 2290 0fec 904F                 sbci r25,hi8(-(4095))
 2291 0fee AF4F                 sbci r26,hlo8(-(4095))
 2292 0ff0 BF4F                 sbci r27,hhi8(-(4095))
 2293                   .L105:
 2294 0ff2 AC01                 movw r20,r24
 2295 0ff4 BD01                 movw r22,r26
 2296 0ff6 8CE0                 ldi r24,12
 2297 0ff8 7595         1:      asr r23
 2298 0ffa 6795                 ror r22
 2299 0ffc 5795                 ror r21
 2300 0ffe 4795                 ror r20
 2301 1000 8A95                 dec r24
 2302 1002 01F4                 brne 1b
 2303 1004 4093 0000            sts tmpl2.28,r20
 2304 1008 5093 0000            sts (tmpl2.28)+1,r21
 2305 100c 6093 0000            sts (tmpl2.28)+2,r22
 2306 1010 7093 0000            sts (tmpl2.28)+3,r23
 2307 1014 2A89                 ldd r18,Y+18
 2308 1016 3B89                 ldd r19,Y+19
 2309 1018 37FF                 sbrs r19,7
 2310 101a 00C0                 rjmp .L107
 2311 101c 3095                 com r19
 2312 101e 2195                 neg r18
 2313 1020 3F4F                 sbci r19,lo8(-1)
 2314                   .L107:
 2315 1022 2134                 cpi r18,65
 2316 1024 3105                 cpc r19,__zero_reg__
 2317 1026 04F0                 brlt .L112
 2318 1028 D401                 movw r26,r8
 2319 102a C301                 movw r24,r6
 2320 102c 97FE                 sbrs r9,7
 2321 102e 00C0                 rjmp .L110
 2322 1030 B095                 com r27
 2323 1032 A095                 com r26
 2324 1034 9095                 com r25
 2325 1036 8195                 neg r24
 2326 1038 9F4F                 sbci r25,lo8(-1)
 2327 103a AF4F                 sbci r26,lo8(-1)
 2328 103c BF4F                 sbci r27,lo8(-1)
 2329                   .L110:
 2330 103e 8138                 cpi r24,lo8(129)
 2331 1040 9105                 cpc r25,__zero_reg__
 2332 1042 A105                 cpc r26,__zero_reg__
 2333 1044 B105                 cpc r27,__zero_reg__
 2334 1046 04F4                 brge .L109
 2335 1048 DB01                 movw r26,r22
 2336 104a CA01                 movw r24,r20
 2337 104c 77FF                 sbrs r23,7
 2338 104e 00C0                 rjmp .L111
 2339 1050 B095                 com r27
 2340 1052 A095                 com r26
 2341 1054 9095                 com r25
 2342 1056 8195                 neg r24
 2343 1058 9F4F                 sbci r25,lo8(-1)
 2344 105a AF4F                 sbci r26,lo8(-1)
 2345 105c BF4F                 sbci r27,lo8(-1)
 2346                   .L111:
 2347 105e 8138                 cpi r24,lo8(129)
 2348 1060 9105                 cpc r25,__zero_reg__
 2349 1062 A105                 cpc r26,__zero_reg__
 2350 1064 B105                 cpc r27,__zero_reg__
 2351 1066 04F0                 brlt .L112
 2352                   .L109:
 2353 1068 81E0                 ldi r24,lo8(1)
 2354 106a 8093 0000            sts TrichterFlug,r24
 2355 106e 00C0                 rjmp .L112
 2356                   .L95:
 2357 1070 1092 0000            sts (KopplungsteilRollNick)+1,__zero_reg__
 2358 1074 1092 0000            sts KopplungsteilRollNick,__zero_reg__
 2359 1078 1092 0000            sts (KopplungsteilNickRoll)+1,__zero_reg__
 2360 107c 1092 0000            sts KopplungsteilNickRoll,__zero_reg__
 2361 1080 1092 0000            sts tmpl2.28,__zero_reg__
 2362 1084 1092 0000            sts (tmpl2.28)+1,__zero_reg__
 2363 1088 1092 0000            sts (tmpl2.28)+2,__zero_reg__
 2364 108c 1092 0000            sts (tmpl2.28)+3,__zero_reg__
 2365 1090 1092 0000            sts tmpl.27,__zero_reg__
 2366 1094 1092 0000            sts (tmpl.27)+1,__zero_reg__
 2367 1098 1092 0000            sts (tmpl.27)+2,__zero_reg__
 2368 109c 1092 0000            sts (tmpl.27)+3,__zero_reg__
 2369                   .L112:
 2370 10a0 8091 0000            lds r24,tmpl2.28
 2371 10a4 9091 0000            lds r25,(tmpl2.28)+1
 2372 10a8 A091 0000            lds r26,(tmpl2.28)+2
 2373 10ac B091 0000            lds r27,(tmpl2.28)+3
 2374 10b0 BC01                 movw r22,r24
 2375 10b2 CD01                 movw r24,r26
 2376 10b4 24E6                 ldi r18,lo8(100)
 2377 10b6 30E0                 ldi r19,hi8(100)
 2378 10b8 40E0                 ldi r20,hlo8(100)
 2379 10ba 50E0                 ldi r21,hhi8(100)
 2380 10bc 0E94 0000            call __divmodsi4
 2381 10c0 E090 0000            lds r14,tmpl.27
 2382 10c4 F090 0000            lds r15,(tmpl.27)+1
 2383 10c8 E21A                 sub r14,r18
 2384 10ca F30A                 sbc r15,r19
 2385 10cc F092 0000            sts (TrimRoll)+1,r15
 2386 10d0 E092 0000            sts TrimRoll,r14
 2387 10d4 8091 0000            lds r24,tmpl.27
 2388 10d8 9091 0000            lds r25,(tmpl.27)+1
 2389 10dc A091 0000            lds r26,(tmpl.27)+2
 2390 10e0 B091 0000            lds r27,(tmpl.27)+3
 2391 10e4 BC01                 movw r22,r24
 2392 10e6 CD01                 movw r24,r26
 2393 10e8 24E6                 ldi r18,lo8(100)
 2394 10ea 30E0                 ldi r19,hi8(100)
 2395 10ec 40E0                 ldi r20,hlo8(100)
 2396 10ee 50E0                 ldi r21,hhi8(100)
 2397 10f0 0E94 0000            call __divmodsi4
 2398 10f4 DA01                 movw r26,r20
 2399 10f6 C901                 movw r24,r18
 2400 10f8 2091 0000            lds r18,tmpl2.28
 2401 10fc 3091 0000            lds r19,(tmpl2.28)+1
 2402 1100 8C01                 movw r16,r24
 2403 1102 021B                 sub r16,r18
 2404 1104 130B                 sbc r17,r19
 2405 1106 1093 0000            sts (TrimNick)+1,r17
 2406 110a 0093 0000            sts TrimNick,r16
 2407 110e 8091 0000            lds r24,GIER_GRAD_FAKTOR
 2408 1112 9091 0000            lds r25,(GIER_GRAD_FAKTOR)+1
 2409 1116 A091 0000            lds r26,(GIER_GRAD_FAKTOR)+2
 2410 111a B091 0000            lds r27,(GIER_GRAD_FAKTOR)+3
 2411 111e BC01                 movw r22,r24
 2412 1120 CD01                 movw r24,r26
 2413 1122 28E6                 ldi r18,lo8(360)
 2414 1124 31E0                 ldi r19,hi8(360)
 2415 1126 40E0                 ldi r20,hlo8(360)
 2416 1128 50E0                 ldi r21,hhi8(360)
 2417 112a 0E94 0000            call __mulsi3
 2418 112e 2091 0000            lds r18,ErsatzKompass
 2419 1132 3091 0000            lds r19,(ErsatzKompass)+1
 2420 1136 4091 0000            lds r20,(ErsatzKompass)+2
 2421 113a 5091 0000            lds r21,(ErsatzKompass)+3
 2422 113e 2617                 cp r18,r22
 2423 1140 3707                 cpc r19,r23
 2424 1142 4807                 cpc r20,r24
 2425 1144 5907                 cpc r21,r25
 2426 1146 04F0                 brlt .L113
 2427 1148 261B                 sub r18,r22
 2428 114a 370B                 sbc r19,r23
 2429 114c 480B                 sbc r20,r24
 2430 114e 590B                 sbc r21,r25
 2431 1150 2093 0000            sts ErsatzKompass,r18
 2432 1154 3093 0000            sts (ErsatzKompass)+1,r19
 2433 1158 4093 0000            sts (ErsatzKompass)+2,r20
 2434 115c 5093 0000            sts (ErsatzKompass)+3,r21
 2435                   .L113:
 2436 1160 2091 0000            lds r18,ErsatzKompass
 2437 1164 3091 0000            lds r19,(ErsatzKompass)+1
 2438 1168 4091 0000            lds r20,(ErsatzKompass)+2
 2439 116c 5091 0000            lds r21,(ErsatzKompass)+3
 2440 1170 57FF                 sbrs r21,7
 2441 1172 00C0                 rjmp .L114
 2442 1174 260F                 add r18,r22
 2443 1176 371F                 adc r19,r23
 2444 1178 481F                 adc r20,r24
 2445 117a 591F                 adc r21,r25
 2446 117c 2093 0000            sts ErsatzKompass,r18
 2447 1180 3093 0000            sts (ErsatzKompass)+1,r19
 2448 1184 4093 0000            sts (ErsatzKompass)+2,r20
 2449 1188 5093 0000            sts (ErsatzKompass)+3,r21
 2450                   .L114:
 2451 118c 6091 0000            lds r22,MesswertRoll
 2452 1190 7091 0000            lds r23,(MesswertRoll)+1
 2453 1194 6E0D                 add r22,r14
 2454 1196 7F1D                 adc r23,r15
 2455 1198 9B01                 movw r18,r22
 2456 119a 4427                 clr r20
 2457 119c 37FD                 sbrc r19,7
 2458 119e 4095                 com r20
 2459 11a0 542F                 mov r21,r20
 2460 11a2 8091 0000            lds r24,Mess_IntegralRoll2
 2461 11a6 9091 0000            lds r25,(Mess_IntegralRoll2)+1
 2462 11aa A091 0000            lds r26,(Mess_IntegralRoll2)+2
 2463 11ae B091 0000            lds r27,(Mess_IntegralRoll2)+3
 2464 11b2 820F                 add r24,r18
 2465 11b4 931F                 adc r25,r19
 2466 11b6 A41F                 adc r26,r20
 2467 11b8 B51F                 adc r27,r21
 2468 11ba 8093 0000            sts Mess_IntegralRoll2,r24
 2469 11be 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 2470 11c2 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 2471 11c6 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 2472 11ca 8091 0000            lds r24,LageKorrekturRoll
 2473 11ce 9091 0000            lds r25,(LageKorrekturRoll)+1
 2474 11d2 681B                 sub r22,r24
 2475 11d4 790B                 sbc r23,r25
 2476 11d6 CB01                 movw r24,r22
 2477 11d8 AA27                 clr r26
 2478 11da 97FD                 sbrc r25,7
 2479 11dc A095                 com r26
 2480 11de BA2F                 mov r27,r26
 2481 11e0 2985                 ldd r18,Y+9
 2482 11e2 3A85                 ldd r19,Y+10
 2483 11e4 4B85                 ldd r20,Y+11
 2484 11e6 5C85                 ldd r21,Y+12
 2485 11e8 820F                 add r24,r18
 2486 11ea 931F                 adc r25,r19
 2487 11ec A41F                 adc r26,r20
 2488 11ee B51F                 adc r27,r21
 2489 11f0 8093 0000            sts Mess_IntegralRoll,r24
 2490 11f4 9093 0000            sts (Mess_IntegralRoll)+1,r25
 2491 11f8 A093 0000            sts (Mess_IntegralRoll)+2,r26
 2492 11fc B093 0000            sts (Mess_IntegralRoll)+3,r27
 2493 1200 C090 0000            lds r12,Umschlag180Roll
 2494 1204 D090 0000            lds r13,(Umschlag180Roll)+1
 2495 1208 E090 0000            lds r14,(Umschlag180Roll)+2
 2496 120c F090 0000            lds r15,(Umschlag180Roll)+3
 2497 1210 C816                 cp r12,r24
 2498 1212 D906                 cpc r13,r25
 2499 1214 EA06                 cpc r14,r26
 2500 1216 FB06                 cpc r15,r27
 2501 1218 04F4                 brge .L115
 2502 121a 88EA                 ldi r24,lo8(25000)
 2503 121c 91E6                 ldi r25,hi8(25000)
 2504 121e A0E0                 ldi r26,hlo8(25000)
 2505 1220 B0E0                 ldi r27,hhi8(25000)
 2506 1222 8C19                 sub r24,r12
 2507 1224 9D09                 sbc r25,r13
 2508 1226 AE09                 sbc r26,r14
 2509 1228 BF09                 sbc r27,r15
 2510 122a 8093 0000            sts Mess_IntegralRoll,r24
 2511 122e 9093 0000            sts (Mess_IntegralRoll)+1,r25
 2512 1232 A093 0000            sts (Mess_IntegralRoll)+2,r26
 2513 1236 B093 0000            sts (Mess_IntegralRoll)+3,r27
 2514 123a 8093 0000            sts Mess_IntegralRoll2,r24
 2515 123e 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 2516 1242 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 2517 1246 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 2518                   .L115:
 2519 124a 2227                 clr r18
 2520 124c 3327                 clr r19
 2521 124e A901                 movw r20,r18
 2522 1250 2C19                 sub r18,r12
 2523 1252 3D09                 sbc r19,r13
 2524 1254 4E09                 sbc r20,r14
 2525 1256 5F09                 sbc r21,r15
 2526 1258 8091 0000            lds r24,Mess_IntegralRoll
 2527 125c 9091 0000            lds r25,(Mess_IntegralRoll)+1
 2528 1260 A091 0000            lds r26,(Mess_IntegralRoll)+2
 2529 1264 B091 0000            lds r27,(Mess_IntegralRoll)+3
 2530 1268 8217                 cp r24,r18
 2531 126a 9307                 cpc r25,r19
 2532 126c A407                 cpc r26,r20
 2533 126e B507                 cpc r27,r21
 2534 1270 04F4                 brge .L116
 2535 1272 D701                 movw r26,r14
 2536 1274 C601                 movw r24,r12
 2537 1276 885A                 subi r24,lo8(-(-25000))
 2538 1278 9146                 sbci r25,hi8(-(-25000))
 2539 127a A040                 sbci r26,hlo8(-(-25000))
 2540 127c B040                 sbci r27,hhi8(-(-25000))
 2541 127e 8093 0000            sts Mess_IntegralRoll,r24
 2542 1282 9093 0000            sts (Mess_IntegralRoll)+1,r25
 2543 1286 A093 0000            sts (Mess_IntegralRoll)+2,r26
 2544 128a B093 0000            sts (Mess_IntegralRoll)+3,r27
 2545 128e 8093 0000            sts Mess_IntegralRoll2,r24
 2546 1292 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 2547 1296 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 2548 129a B093 0000            sts (Mess_IntegralRoll2)+3,r27
 2549                   .L116:
 2550 129e 6091 0000            lds r22,MesswertNick
 2551 12a2 7091 0000            lds r23,(MesswertNick)+1
 2552 12a6 600F                 add r22,r16
 2553 12a8 711F                 adc r23,r17
 2554 12aa 9B01                 movw r18,r22
 2555 12ac 4427                 clr r20
 2556 12ae 37FD                 sbrc r19,7
 2557 12b0 4095                 com r20
 2558 12b2 542F                 mov r21,r20
 2559 12b4 8091 0000            lds r24,Mess_IntegralNick2
 2560 12b8 9091 0000            lds r25,(Mess_IntegralNick2)+1
 2561 12bc A091 0000            lds r26,(Mess_IntegralNick2)+2
 2562 12c0 B091 0000            lds r27,(Mess_IntegralNick2)+3
 2563 12c4 820F                 add r24,r18
 2564 12c6 931F                 adc r25,r19
 2565 12c8 A41F                 adc r26,r20
 2566 12ca B51F                 adc r27,r21
 2567 12cc 8093 0000            sts Mess_IntegralNick2,r24
 2568 12d0 9093 0000            sts (Mess_IntegralNick2)+1,r25
 2569 12d4 A093 0000            sts (Mess_IntegralNick2)+2,r26
 2570 12d8 B093 0000            sts (Mess_IntegralNick2)+3,r27
 2571 12dc 8091 0000            lds r24,LageKorrekturNick
 2572 12e0 9091 0000            lds r25,(LageKorrekturNick)+1
 2573 12e4 681B                 sub r22,r24
 2574 12e6 790B                 sbc r23,r25
 2575 12e8 CB01                 movw r24,r22
 2576 12ea AA27                 clr r26
 2577 12ec 97FD                 sbrc r25,7
 2578 12ee A095                 com r26
 2579 12f0 BA2F                 mov r27,r26
 2580 12f2 2D85                 ldd r18,Y+13
 2581 12f4 3E85                 ldd r19,Y+14
 2582 12f6 4F85                 ldd r20,Y+15
 2583 12f8 5889                 ldd r21,Y+16
 2584 12fa 820F                 add r24,r18
 2585 12fc 931F                 adc r25,r19
 2586 12fe A41F                 adc r26,r20
 2587 1300 B51F                 adc r27,r21
 2588 1302 8093 0000            sts Mess_IntegralNick,r24
 2589 1306 9093 0000            sts (Mess_IntegralNick)+1,r25
 2590 130a A093 0000            sts (Mess_IntegralNick)+2,r26
 2591 130e B093 0000            sts (Mess_IntegralNick)+3,r27
 2592 1312 E090 0000            lds r14,Umschlag180Nick
 2593 1316 F090 0000            lds r15,(Umschlag180Nick)+1
 2594 131a 0091 0000            lds r16,(Umschlag180Nick)+2
 2595 131e 1091 0000            lds r17,(Umschlag180Nick)+3
 2596 1322 E816                 cp r14,r24
 2597 1324 F906                 cpc r15,r25
 2598 1326 0A07                 cpc r16,r26
 2599 1328 1B07                 cpc r17,r27
 2600 132a 04F4                 brge .L117
 2601 132c 88EA                 ldi r24,lo8(25000)
 2602 132e 91E6                 ldi r25,hi8(25000)
 2603 1330 A0E0                 ldi r26,hlo8(25000)
 2604 1332 B0E0                 ldi r27,hhi8(25000)
 2605 1334 8E19                 sub r24,r14
 2606 1336 9F09                 sbc r25,r15
 2607 1338 A00B                 sbc r26,r16
 2608 133a B10B                 sbc r27,r17
 2609 133c 8093 0000            sts Mess_IntegralNick,r24
 2610 1340 9093 0000            sts (Mess_IntegralNick)+1,r25
 2611 1344 A093 0000            sts (Mess_IntegralNick)+2,r26
 2612 1348 B093 0000            sts (Mess_IntegralNick)+3,r27
 2613 134c 8093 0000            sts Mess_IntegralNick2,r24
 2614 1350 9093 0000            sts (Mess_IntegralNick2)+1,r25
 2615 1354 A093 0000            sts (Mess_IntegralNick2)+2,r26
 2616 1358 B093 0000            sts (Mess_IntegralNick2)+3,r27
 2617                   .L117:
 2618 135c 2227                 clr r18
 2619 135e 3327                 clr r19
 2620 1360 A901                 movw r20,r18
 2621 1362 2E19                 sub r18,r14
 2622 1364 3F09                 sbc r19,r15
 2623 1366 400B                 sbc r20,r16
 2624 1368 510B                 sbc r21,r17
 2625 136a 8091 0000            lds r24,Mess_IntegralNick
 2626 136e 9091 0000            lds r25,(Mess_IntegralNick)+1
 2627 1372 A091 0000            lds r26,(Mess_IntegralNick)+2
 2628 1376 B091 0000            lds r27,(Mess_IntegralNick)+3
 2629 137a 8217                 cp r24,r18
 2630 137c 9307                 cpc r25,r19
 2631 137e A407                 cpc r26,r20
 2632 1380 B507                 cpc r27,r21
 2633 1382 04F4                 brge .L118
 2634 1384 D801                 movw r26,r16
 2635 1386 C701                 movw r24,r14
 2636 1388 885A                 subi r24,lo8(-(-25000))
 2637 138a 9146                 sbci r25,hi8(-(-25000))
 2638 138c A040                 sbci r26,hlo8(-(-25000))
 2639 138e B040                 sbci r27,hhi8(-(-25000))
 2640 1390 8093 0000            sts Mess_IntegralNick,r24
 2641 1394 9093 0000            sts (Mess_IntegralNick)+1,r25
 2642 1398 A093 0000            sts (Mess_IntegralNick)+2,r26
 2643 139c B093 0000            sts (Mess_IntegralNick)+3,r27
 2644 13a0 8093 0000            sts Mess_IntegralNick2,r24
 2645 13a4 9093 0000            sts (Mess_IntegralNick2)+1,r25
 2646 13a8 A093 0000            sts (Mess_IntegralNick2)+2,r26
 2647 13ac B093 0000            sts (Mess_IntegralNick2)+3,r27
 2648                   .L118:
 2649 13b0 8091 0000            lds r24,Mess_Integral_Gier
 2650 13b4 9091 0000            lds r25,(Mess_Integral_Gier)+1
 2651 13b8 A091 0000            lds r26,(Mess_Integral_Gier)+2
 2652 13bc B091 0000            lds r27,(Mess_Integral_Gier)+3
 2653 13c0 8093 0000            sts Integral_Gier,r24
 2654 13c4 9093 0000            sts (Integral_Gier)+1,r25
 2655 13c8 A093 0000            sts (Integral_Gier)+2,r26
 2656 13cc B093 0000            sts (Integral_Gier)+3,r27
 2657 13d0 8091 0000            lds r24,Mess_IntegralNick
 2658 13d4 9091 0000            lds r25,(Mess_IntegralNick)+1
 2659 13d8 A091 0000            lds r26,(Mess_IntegralNick)+2
 2660 13dc B091 0000            lds r27,(Mess_IntegralNick)+3
 2661 13e0 8093 0000            sts IntegralNick,r24
 2662 13e4 9093 0000            sts (IntegralNick)+1,r25
 2663 13e8 A093 0000            sts (IntegralNick)+2,r26
 2664 13ec B093 0000            sts (IntegralNick)+3,r27
 2665 13f0 8091 0000            lds r24,Mess_IntegralRoll
 2666 13f4 9091 0000            lds r25,(Mess_IntegralRoll)+1
 2667 13f8 A091 0000            lds r26,(Mess_IntegralRoll)+2
 2668 13fc B091 0000            lds r27,(Mess_IntegralRoll)+3
 2669 1400 8093 0000            sts IntegralRoll,r24
 2670 1404 9093 0000            sts (IntegralRoll)+1,r25
 2671 1408 A093 0000            sts (IntegralRoll)+2,r26
 2672 140c B093 0000            sts (IntegralRoll)+3,r27
 2673 1410 8091 0000            lds r24,Mess_IntegralNick2
 2674 1414 9091 0000            lds r25,(Mess_IntegralNick2)+1
 2675 1418 A091 0000            lds r26,(Mess_IntegralNick2)+2
 2676 141c B091 0000            lds r27,(Mess_IntegralNick2)+3
 2677 1420 8093 0000            sts IntegralNick2,r24
 2678 1424 9093 0000            sts (IntegralNick2)+1,r25
 2679 1428 A093 0000            sts (IntegralNick2)+2,r26
 2680 142c B093 0000            sts (IntegralNick2)+3,r27
 2681 1430 8091 0000            lds r24,Mess_IntegralRoll2
 2682 1434 9091 0000            lds r25,(Mess_IntegralRoll2)+1
 2683 1438 A091 0000            lds r26,(Mess_IntegralRoll2)+2
 2684 143c B091 0000            lds r27,(Mess_IntegralRoll2)+3
 2685 1440 8093 0000            sts IntegralRoll2,r24
 2686 1444 9093 0000            sts (IntegralRoll2)+1,r25
 2687 1448 A093 0000            sts (IntegralRoll2)+2,r26
 2688 144c B093 0000            sts (IntegralRoll2)+3,r27
 2689 1450 8091 0000            lds r24,HiResNick
 2690 1454 9091 0000            lds r25,(HiResNick)+1
 2691 1458 97FD                 sbrc r25,7
 2692 145a 0796                 adiw r24,7
 2693                   .L119:
 2694 145c 03E0                 ldi r16,3
 2695 145e 9595         1:      asr r25
 2696 1460 8795                 ror r24
 2697 1462 0A95                 dec r16
 2698 1464 01F4                 brne 1b
 2699 1466 9093 0000            sts (MesswertNick)+1,r25
 2700 146a 8093 0000            sts MesswertNick,r24
 2701 146e 8091 0000            lds r24,HiResRoll
 2702 1472 9091 0000            lds r25,(HiResRoll)+1
 2703 1476 97FD                 sbrc r25,7
 2704 1478 0796                 adiw r24,7
 2705                   .L120:
 2706 147a 13E0                 ldi r17,3
 2707 147c 9595         1:      asr r25
 2708 147e 8795                 ror r24
 2709 1480 1A95                 dec r17
 2710 1482 01F4                 brne 1b
 2711 1484 9093 0000            sts (MesswertRoll)+1,r25
 2712 1488 8093 0000            sts MesswertRoll,r24
 2713 148c 8091 0000            lds r24,AdWertNick
 2714 1490 9091 0000            lds r25,(AdWertNick)+1
 2715 1494 0F97                 sbiw r24,15
 2716 1496 04F4                 brge .L121
 2717 1498 88E1                 ldi r24,lo8(-1000)
 2718 149a 9CEF                 ldi r25,hi8(-1000)
 2719 149c 9093 0000            sts (MesswertNick)+1,r25
 2720 14a0 8093 0000            sts MesswertNick,r24
 2721                   .L121:
 2722 14a4 8091 0000            lds r24,AdWertNick
 2723 14a8 9091 0000            lds r25,(AdWertNick)+1
 2724 14ac 0797                 sbiw r24,7
 2725 14ae 04F4                 brge .L122
 2726 14b0 80E3                 ldi r24,lo8(-2000)
 2727 14b2 98EF                 ldi r25,hi8(-2000)
 2728 14b4 9093 0000            sts (MesswertNick)+1,r25
 2729 14b8 8093 0000            sts MesswertNick,r24
 2730                   .L122:
 2731 14bc 2091 0000            lds r18,PlatinenVersion
 2732 14c0 2A30                 cpi r18,lo8(10)
 2733 14c2 01F4                 brne .L123
 2734 14c4 8091 0000            lds r24,AdWertNick
 2735 14c8 9091 0000            lds r25,(AdWertNick)+1
 2736 14cc 835F                 subi r24,lo8(1011)
 2737 14ce 9340                 sbci r25,hi8(1011)
 2738 14d0 04F0                 brlt .L124
 2739 14d2 88EE                 ldi r24,lo8(1000)
 2740 14d4 93E0                 ldi r25,hi8(1000)
 2741 14d6 9093 0000            sts (MesswertNick)+1,r25
 2742 14da 8093 0000            sts MesswertNick,r24
 2743                   .L124:
 2744 14de 8091 0000            lds r24,AdWertNick
 2745 14e2 9091 0000            lds r25,(AdWertNick)+1
 2746 14e6 8A5F                 subi r24,lo8(1018)
 2747 14e8 9340                 sbci r25,hi8(1018)
 2748 14ea 04F0                 brlt .L126
 2749 14ec 00C0                 rjmp .L169
 2750                   .L123:
 2751 14ee 8091 0000            lds r24,AdWertNick
 2752 14f2 9091 0000            lds r25,(AdWertNick)+1
 2753 14f6 815D                 subi r24,lo8(2001)
 2754 14f8 9740                 sbci r25,hi8(2001)
 2755 14fa 04F0                 brlt .L127
 2756 14fc 88EE                 ldi r24,lo8(1000)
 2757 14fe 93E0                 ldi r25,hi8(1000)
 2758 1500 9093 0000            sts (MesswertNick)+1,r25
 2759 1504 8093 0000            sts MesswertNick,r24
 2760                   .L127:
 2761 1508 8091 0000            lds r24,AdWertNick
 2762 150c 9091 0000            lds r25,(AdWertNick)+1
 2763 1510 805E                 subi r24,lo8(2016)
 2764 1512 9740                 sbci r25,hi8(2016)
 2765 1514 04F0                 brlt .L126
 2766                   .L169:
 2767 1516 80ED                 ldi r24,lo8(2000)
 2768 1518 97E0                 ldi r25,hi8(2000)
 2769 151a 9093 0000            sts (MesswertNick)+1,r25
 2770 151e 8093 0000            sts MesswertNick,r24
 2771                   .L126:
 2772 1522 8091 0000            lds r24,AdWertRoll
 2773 1526 9091 0000            lds r25,(AdWertRoll)+1
 2774 152a 0F97                 sbiw r24,15
 2775 152c 04F4                 brge .L129
 2776 152e 88E1                 ldi r24,lo8(-1000)
 2777 1530 9CEF                 ldi r25,hi8(-1000)
 2778 1532 9093 0000            sts (MesswertRoll)+1,r25
 2779 1536 8093 0000            sts MesswertRoll,r24
 2780                   .L129:
 2781 153a 8091 0000            lds r24,AdWertRoll
 2782 153e 9091 0000            lds r25,(AdWertRoll)+1
 2783 1542 0797                 sbiw r24,7
 2784 1544 04F4                 brge .L130
 2785 1546 80E3                 ldi r24,lo8(-2000)
 2786 1548 98EF                 ldi r25,hi8(-2000)
 2787 154a 9093 0000            sts (MesswertRoll)+1,r25
 2788 154e 8093 0000            sts MesswertRoll,r24
 2789                   .L130:
 2790 1552 2A30                 cpi r18,lo8(10)
 2791 1554 01F4                 brne .L131
 2792 1556 8091 0000            lds r24,AdWertRoll
 2793 155a 9091 0000            lds r25,(AdWertRoll)+1
 2794 155e 835F                 subi r24,lo8(1011)
 2795 1560 9340                 sbci r25,hi8(1011)
 2796 1562 04F0                 brlt .L132
 2797 1564 88EE                 ldi r24,lo8(1000)
 2798 1566 93E0                 ldi r25,hi8(1000)
 2799 1568 9093 0000            sts (MesswertRoll)+1,r25
 2800 156c 8093 0000            sts MesswertRoll,r24
 2801                   .L132:
 2802 1570 8091 0000            lds r24,AdWertRoll
 2803 1574 9091 0000            lds r25,(AdWertRoll)+1
 2804 1578 8A5F                 subi r24,lo8(1018)
 2805 157a 9340                 sbci r25,hi8(1018)
 2806 157c 04F0                 brlt .L134
 2807 157e 00C0                 rjmp .L170
 2808                   .L131:
 2809 1580 8091 0000            lds r24,AdWertRoll
 2810 1584 9091 0000            lds r25,(AdWertRoll)+1
 2811 1588 815D                 subi r24,lo8(2001)
 2812 158a 9740                 sbci r25,hi8(2001)
 2813 158c 04F0                 brlt .L135
 2814 158e 88EE                 ldi r24,lo8(1000)
 2815 1590 93E0                 ldi r25,hi8(1000)
 2816 1592 9093 0000            sts (MesswertRoll)+1,r25
 2817 1596 8093 0000            sts MesswertRoll,r24
 2818                   .L135:
 2819 159a 8091 0000            lds r24,AdWertRoll
 2820 159e 9091 0000            lds r25,(AdWertRoll)+1
 2821 15a2 805E                 subi r24,lo8(2016)
 2822 15a4 9740                 sbci r25,hi8(2016)
 2823 15a6 04F0                 brlt .L134
 2824                   .L170:
 2825 15a8 80ED                 ldi r24,lo8(2000)
 2826 15aa 97E0                 ldi r25,hi8(2000)
 2827 15ac 9093 0000            sts (MesswertRoll)+1,r25
 2828 15b0 8093 0000            sts MesswertRoll,r24
 2829                   .L134:
 2830 15b4 6091 0000            lds r22,Parameter_Gyro_D
 2831 15b8 6623                 tst r22
 2832 15ba 01F4                 brne .+2
 2833 15bc 00C0                 rjmp .L137
 2834 15be 4091 0000            lds r20,HiResNick
 2835 15c2 5091 0000            lds r21,(HiResNick)+1
 2836 15c6 8091 0000            lds r24,oldNick.31
 2837 15ca 9091 0000            lds r25,(oldNick.31)+1
 2838 15ce 481B                 sub r20,r24
 2839 15d0 590B                 sbc r21,r25
 2840 15d2 5093 0000            sts (d2Nick.34)+1,r21
 2841 15d6 4093 0000            sts d2Nick.34,r20
 2842 15da 2091 0000            lds r18,HiResNick
 2843 15de 3091 0000            lds r19,(HiResNick)+1
 2844 15e2 280F                 add r18,r24
 2845 15e4 391F                 adc r19,r25
 2846 15e6 37FF                 sbrs r19,7
 2847 15e8 00C0                 rjmp .L138
 2848 15ea 2F5F                 subi r18,lo8(-(1))
 2849 15ec 3F4F                 sbci r19,hi8(-(1))
 2850                   .L138:
 2851 15ee 3595                 asr r19
 2852 15f0 2795                 ror r18
 2853 15f2 3093 0000            sts (oldNick.31)+1,r19
 2854 15f6 2093 0000            sts oldNick.31,r18
 2855 15fa 4138                 cpi r20,129
 2856 15fc 5105                 cpc r21,__zero_reg__
 2857 15fe 04F0                 brlt .L139
 2858 1600 80E8                 ldi r24,lo8(128)
 2859 1602 90E0                 ldi r25,hi8(128)
 2860 1604 00C0                 rjmp .L171
 2861                   .L139:
 2862 1606 4058                 subi r20,lo8(-128)
 2863 1608 5F4F                 sbci r21,hi8(-128)
 2864 160a 04F4                 brge .L140
 2865 160c 80E8                 ldi r24,lo8(-128)
 2866 160e 9FEF                 ldi r25,hi8(-128)
 2867                   .L171:
 2868 1610 9093 0000            sts (d2Nick.34)+1,r25
 2869 1614 8093 0000            sts d2Nick.34,r24
 2870                   .L140:
 2871 1618 4091 0000            lds r20,HiResRoll
 2872 161c 5091 0000            lds r21,(HiResRoll)+1
 2873 1620 8091 0000            lds r24,oldRoll.32
 2874 1624 9091 0000            lds r25,(oldRoll.32)+1
 2875 1628 481B                 sub r20,r24
 2876 162a 590B                 sbc r21,r25
 2877 162c 5093 0000            sts (d2Roll.33)+1,r21
 2878 1630 4093 0000            sts d2Roll.33,r20
 2879 1634 2091 0000            lds r18,HiResRoll
 2880 1638 3091 0000            lds r19,(HiResRoll)+1
 2881 163c 280F                 add r18,r24
 2882 163e 391F                 adc r19,r25
 2883 1640 37FF                 sbrs r19,7
 2884 1642 00C0                 rjmp .L142
 2885 1644 2F5F                 subi r18,lo8(-(1))
 2886 1646 3F4F                 sbci r19,hi8(-(1))
 2887                   .L142:
 2888 1648 3595                 asr r19
 2889 164a 2795                 ror r18
 2890 164c 3093 0000            sts (oldRoll.32)+1,r19
 2891 1650 2093 0000            sts oldRoll.32,r18
 2892 1654 4138                 cpi r20,129
 2893 1656 5105                 cpc r21,__zero_reg__
 2894 1658 04F0                 brlt .L143
 2895 165a 80E8                 ldi r24,lo8(128)
 2896 165c 90E0                 ldi r25,hi8(128)
 2897 165e 00C0                 rjmp .L172
 2898                   .L143:
 2899 1660 4058                 subi r20,lo8(-128)
 2900 1662 5F4F                 sbci r21,hi8(-128)
 2901 1664 04F4                 brge .L144
 2902 1666 80E8                 ldi r24,lo8(-128)
 2903 1668 9FEF                 ldi r25,hi8(-128)
 2904                   .L172:
 2905 166a 9093 0000            sts (d2Roll.33)+1,r25
 2906 166e 8093 0000            sts d2Roll.33,r24
 2907                   .L144:
 2908 1672 462F                 mov r20,r22
 2909 1674 5527                 clr r21
 2910 1676 8091 0000            lds r24,d2Nick.34
 2911 167a 9091 0000            lds r25,(d2Nick.34)+1
 2912 167e 849F                 mul r24,r20
 2913 1680 B001                 movw r22,r0
 2914 1682 859F                 mul r24,r21
 2915 1684 700D                 add r23,r0
 2916 1686 949F                 mul r25,r20
 2917 1688 700D                 add r23,r0
 2918 168a 1124                 clr r1
 2919 168c 9B01                 movw r18,r22
 2920 168e 77FF                 sbrs r23,7
 2921 1690 00C0                 rjmp .L146
 2922 1692 215F                 subi r18,lo8(-(15))
 2923 1694 3F4F                 sbci r19,hi8(-(15))
 2924                   .L146:
 2925 1696 F4E0                 ldi r31,4
 2926 1698 3595         1:      asr r19
 2927 169a 2795                 ror r18
 2928 169c FA95                 dec r31
 2929 169e 01F4                 brne 1b
 2930 16a0 8091 0000            lds r24,MesswertNick
 2931 16a4 9091 0000            lds r25,(MesswertNick)+1
 2932 16a8 820F                 add r24,r18
 2933 16aa 931F                 adc r25,r19
 2934 16ac 9093 0000            sts (MesswertNick)+1,r25
 2935 16b0 8093 0000            sts MesswertNick,r24
 2936 16b4 8091 0000            lds r24,d2Roll.33
 2937 16b8 9091 0000            lds r25,(d2Roll.33)+1
 2938 16bc 849F                 mul r24,r20
 2939 16be D001                 movw r26,r0
 2940 16c0 859F                 mul r24,r21
 2941 16c2 B00D                 add r27,r0
 2942 16c4 949F                 mul r25,r20
 2943 16c6 B00D                 add r27,r0
 2944 16c8 1124                 clr r1
 2945 16ca AD01                 movw r20,r26
 2946 16cc 9D01                 movw r18,r26
 2947 16ce B7FF                 sbrs r27,7
 2948 16d0 00C0                 rjmp .L147
 2949 16d2 215F                 subi r18,lo8(-(15))
 2950 16d4 3F4F                 sbci r19,hi8(-(15))
 2951                   .L147:
 2952 16d6 E4E0                 ldi r30,4
 2953 16d8 3595         1:      asr r19
 2954 16da 2795                 ror r18
 2955 16dc EA95                 dec r30
 2956 16de 01F4                 brne 1b
 2957 16e0 8091 0000            lds r24,MesswertRoll
 2958 16e4 9091 0000            lds r25,(MesswertRoll)+1
 2959 16e8 820F                 add r24,r18
 2960 16ea 931F                 adc r25,r19
 2961 16ec 9093 0000            sts (MesswertRoll)+1,r25
 2962 16f0 8093 0000            sts MesswertRoll,r24
 2963 16f4 8091 0000            lds r24,HiResNick
 2964 16f8 9091 0000            lds r25,(HiResNick)+1
 2965 16fc 860F                 add r24,r22
 2966 16fe 971F                 adc r25,r23
 2967 1700 9093 0000            sts (HiResNick)+1,r25
 2968 1704 8093 0000            sts HiResNick,r24
 2969 1708 8091 0000            lds r24,HiResRoll
 2970 170c 9091 0000            lds r25,(HiResRoll)+1
 2971 1710 840F                 add r24,r20
 2972 1712 951F                 adc r25,r21
 2973 1714 9093 0000            sts (HiResRoll)+1,r25
 2974 1718 8093 0000            sts HiResRoll,r24
 2975                   .L137:
 2976 171c 0091 0000            lds r16,RohMesswertRoll
 2977 1720 1091 0000            lds r17,(RohMesswertRoll)+1
 2978 1724 8091 0000            lds r24,KopplungsteilNickRoll
 2979 1728 9091 0000            lds r25,(KopplungsteilNickRoll)+1
 2980 172c 1016                 cp __zero_reg__,r16
 2981 172e 1106                 cpc __zero_reg__,r17
 2982 1730 04F4                 brge .L148
 2983 1732 9C01                 movw r18,r24
 2984 1734 97FF                 sbrs r25,7
 2985 1736 00C0                 rjmp .L149
 2986 1738 2227                 clr r18
 2987 173a 3327                 clr r19
 2988 173c 281B                 sub r18,r24
 2989 173e 390B                 sbc r19,r25
 2990                   .L149:
 2991 1740 C901                 movw r24,r18
 2992 1742 AA27                 clr r26
 2993 1744 97FD                 sbrc r25,7
 2994 1746 A095                 com r26
 2995 1748 BA2F                 mov r27,r26
 2996 174a 2091 0000            lds r18,Parameter_CouplingYawCorrection
 2997 174e 3327                 clr r19
 2998 1750 4427                 clr r20
 2999 1752 5527                 clr r21
 3000 1754 BC01                 movw r22,r24
 3001 1756 CD01                 movw r24,r26
 3002 1758 0E94 0000            call __mulsi3
 3003 175c 9B01                 movw r18,r22
 3004 175e AC01                 movw r20,r24
 3005 1760 97FF                 sbrs r25,7
 3006 1762 00C0                 rjmp .L150
 3007 1764 215C                 subi r18,lo8(-(63))
 3008 1766 3F4F                 sbci r19,hi8(-(63))
 3009 1768 4F4F                 sbci r20,hlo8(-(63))
 3010 176a 5F4F                 sbci r21,hhi8(-(63))
 3011                   .L150:
 3012 176c 76E0                 ldi r23,6
 3013 176e 5595         1:      asr r21
 3014 1770 4795                 ror r20
 3015 1772 3795                 ror r19
 3016 1774 2795                 ror r18
 3017 1776 7A95                 dec r23
 3018 1778 01F4                 brne 1b
 3019 177a 8091 0000            lds r24,TrimRoll
 3020 177e 9091 0000            lds r25,(TrimRoll)+1
 3021 1782 820F                 add r24,r18
 3022 1784 931F                 adc r25,r19
 3023 1786 00C0                 rjmp .L173
 3024                   .L148:
 3025 1788 97FF                 sbrs r25,7
 3026 178a 00C0                 rjmp .L152
 3027 178c 9095                 com r25
 3028 178e 8195                 neg r24
 3029 1790 9F4F                 sbci r25,lo8(-1)
 3030                   .L152:
 3031 1792 AA27                 clr r26
 3032 1794 97FD                 sbrc r25,7
 3033 1796 A095                 com r26
 3034 1798 BA2F                 mov r27,r26
 3035 179a 2091 0000            lds r18,Parameter_CouplingYawCorrection
 3036 179e 3327                 clr r19
 3037 17a0 4427                 clr r20
 3038 17a2 5527                 clr r21
 3039 17a4 BC01                 movw r22,r24
 3040 17a6 CD01                 movw r24,r26
 3041 17a8 0E94 0000            call __mulsi3
 3042 17ac 9B01                 movw r18,r22
 3043 17ae AC01                 movw r20,r24
 3044 17b0 97FF                 sbrs r25,7
 3045 17b2 00C0                 rjmp .L153
 3046 17b4 215C                 subi r18,lo8(-(63))
 3047 17b6 3F4F                 sbci r19,hi8(-(63))
 3048 17b8 4F4F                 sbci r20,hlo8(-(63))
 3049 17ba 5F4F                 sbci r21,hhi8(-(63))
 3050                   .L153:
 3051 17bc 66E0                 ldi r22,6
 3052 17be 5595         1:      asr r21
 3053 17c0 4795                 ror r20
 3054 17c2 3795                 ror r19
 3055 17c4 2795                 ror r18
 3056 17c6 6A95                 dec r22
 3057 17c8 01F4                 brne 1b
 3058 17ca 8091 0000            lds r24,TrimRoll
 3059 17ce 9091 0000            lds r25,(TrimRoll)+1
 3060 17d2 821B                 sub r24,r18
 3061 17d4 930B                 sbc r25,r19
 3062                   .L173:
 3063 17d6 9093 0000            sts (TrimRoll)+1,r25
 3064 17da 8093 0000            sts TrimRoll,r24
 3065 17de E090 0000            lds r14,RohMesswertNick
 3066 17e2 F090 0000            lds r15,(RohMesswertNick)+1
 3067 17e6 8091 0000            lds r24,KopplungsteilRollNick
 3068 17ea 9091 0000            lds r25,(KopplungsteilRollNick)+1
 3069 17ee 1E14                 cp __zero_reg__,r14
 3070 17f0 1F04                 cpc __zero_reg__,r15
 3071 17f2 04F4                 brge .L154
 3072 17f4 9C01                 movw r18,r24
 3073 17f6 97FF                 sbrs r25,7
 3074 17f8 00C0                 rjmp .L155
 3075 17fa 2227                 clr r18
 3076 17fc 3327                 clr r19
 3077 17fe 281B                 sub r18,r24
 3078 1800 390B                 sbc r19,r25
 3079                   .L155:
 3080 1802 C901                 movw r24,r18
 3081 1804 AA27                 clr r26
 3082 1806 97FD                 sbrc r25,7
 3083 1808 A095                 com r26
 3084 180a BA2F                 mov r27,r26
 3085 180c 2091 0000            lds r18,Parameter_CouplingYawCorrection
 3086 1810 3327                 clr r19
 3087 1812 4427                 clr r20
 3088 1814 5527                 clr r21
 3089 1816 BC01                 movw r22,r24
 3090 1818 CD01                 movw r24,r26
 3091 181a 0E94 0000            call __mulsi3
 3092 181e 9B01                 movw r18,r22
 3093 1820 AC01                 movw r20,r24
 3094 1822 97FF                 sbrs r25,7
 3095 1824 00C0                 rjmp .L156
 3096 1826 215C                 subi r18,lo8(-(63))
 3097 1828 3F4F                 sbci r19,hi8(-(63))
 3098 182a 4F4F                 sbci r20,hlo8(-(63))
 3099 182c 5F4F                 sbci r21,hhi8(-(63))
 3100                   .L156:
 3101 182e 96E0                 ldi r25,6
 3102 1830 5595         1:      asr r21
 3103 1832 4795                 ror r20
 3104 1834 3795                 ror r19
 3105 1836 2795                 ror r18
 3106 1838 9A95                 dec r25
 3107 183a 01F4                 brne 1b
 3108 183c 8091 0000            lds r24,TrimNick
 3109 1840 9091 0000            lds r25,(TrimNick)+1
 3110 1844 820F                 add r24,r18
 3111 1846 931F                 adc r25,r19
 3112 1848 00C0                 rjmp .L174
 3113                   .L154:
 3114 184a 97FF                 sbrs r25,7
 3115 184c 00C0                 rjmp .L158
 3116 184e 9095                 com r25
 3117 1850 8195                 neg r24
 3118 1852 9F4F                 sbci r25,lo8(-1)
 3119                   .L158:
 3120 1854 AA27                 clr r26
 3121 1856 97FD                 sbrc r25,7
 3122 1858 A095                 com r26
 3123 185a BA2F                 mov r27,r26
 3124 185c 2091 0000            lds r18,Parameter_CouplingYawCorrection
 3125 1860 3327                 clr r19
 3126 1862 4427                 clr r20
 3127 1864 5527                 clr r21
 3128 1866 BC01                 movw r22,r24
 3129 1868 CD01                 movw r24,r26
 3130 186a 0E94 0000            call __mulsi3
 3131 186e 9B01                 movw r18,r22
 3132 1870 AC01                 movw r20,r24
 3133 1872 97FF                 sbrs r25,7
 3134 1874 00C0                 rjmp .L159
 3135 1876 215C                 subi r18,lo8(-(63))
 3136 1878 3F4F                 sbci r19,hi8(-(63))
 3137 187a 4F4F                 sbci r20,hlo8(-(63))
 3138 187c 5F4F                 sbci r21,hhi8(-(63))
 3139                   .L159:
 3140 187e 86E0                 ldi r24,6
 3141 1880 5595         1:      asr r21
 3142 1882 4795                 ror r20
 3143 1884 3795                 ror r19
 3144 1886 2795                 ror r18
 3145 1888 8A95                 dec r24
 3146 188a 01F4                 brne 1b
 3147 188c 8091 0000            lds r24,TrimNick
 3148 1890 9091 0000            lds r25,(TrimNick)+1
 3149 1894 821B                 sub r24,r18
 3150 1896 930B                 sbc r25,r19
 3151                   .L174:
 3152 1898 9093 0000            sts (TrimNick)+1,r25
 3153 189c 8093 0000            sts TrimNick,r24
 3154 18a0 8091 0000            lds r24,Parameter_GlobalConfig
 3155 18a4 87FF                 sbrs r24,7
 3156 18a6 00C0                 rjmp .L82
 3157 18a8 B989                 ldd r27,Y+17
 3158 18aa BB23                 tst r27
 3159 18ac 01F0                 breq .+2
 3160 18ae 00C0                 rjmp .L82
 3161 18b0 8091 0000            lds r24,Looping_Roll
 3162 18b4 8823                 tst r24
 3163 18b6 01F4                 brne .L82
 3164 18b8 E1E0                 ldi r30,lo8(257)
 3165 18ba EE16                 cp r14,r30
 3166 18bc E1E0                 ldi r30,hi8(257)
 3167 18be FE06                 cpc r15,r30
 3168 18c0 04F0                 brlt .L161
 3169 18c2 8091 0000            lds r24,MesswertNick
 3170 18c6 9091 0000            lds r25,(MesswertNick)+1
 3171 18ca 8E0D                 add r24,r14
 3172 18cc 9F1D                 adc r25,r15
 3173 18ce 8050                 subi r24,lo8(-(-256))
 3174 18d0 9140                 sbci r25,hi8(-(-256))
 3175 18d2 00C0                 rjmp .L175
 3176                   .L161:
 3177 18d4 F0E0                 ldi r31,lo8(-256)
 3178 18d6 EF16                 cp r14,r31
 3179 18d8 FFEF                 ldi r31,hi8(-256)
 3180 18da FF06                 cpc r15,r31
 3181 18dc 04F4                 brge .L162
 3182 18de 8091 0000            lds r24,MesswertNick
 3183 18e2 9091 0000            lds r25,(MesswertNick)+1
 3184 18e6 8E0D                 add r24,r14
 3185 18e8 9F1D                 adc r25,r15
 3186 18ea 8050                 subi r24,lo8(-(256))
 3187 18ec 9F4F                 sbci r25,hi8(-(256))
 3188                   .L175:
 3189 18ee 9093 0000            sts (MesswertNick)+1,r25
 3190 18f2 8093 0000            sts MesswertNick,r24
 3191                   .L162:
 3192 18f6 21E0                 ldi r18,hi8(257)
 3193 18f8 0130                 cpi r16,lo8(257)
 3194 18fa 1207                 cpc r17,r18
 3195 18fc 04F0                 brlt .L164
 3196 18fe 8091 0000            lds r24,MesswertRoll
 3197 1902 9091 0000            lds r25,(MesswertRoll)+1
 3198 1906 800F                 add r24,r16
 3199 1908 911F                 adc r25,r17
 3200 190a 8050                 subi r24,lo8(-(-256))
 3201 190c 9140                 sbci r25,hi8(-(-256))
 3202 190e 00C0                 rjmp .L176
 3203                   .L164:
 3204 1910 3FEF                 ldi r19,hi8(-256)
 3205 1912 0030                 cpi r16,lo8(-256)
 3206 1914 1307                 cpc r17,r19
 3207 1916 04F4                 brge .L82
 3208 1918 8091 0000            lds r24,MesswertRoll
 3209 191c 9091 0000            lds r25,(MesswertRoll)+1
 3210 1920 800F                 add r24,r16
 3211 1922 911F                 adc r25,r17
 3212 1924 8050                 subi r24,lo8(-(256))
 3213 1926 9F4F                 sbci r25,hi8(-(256))
 3214                   .L176:
 3215 1928 9093 0000            sts (MesswertRoll)+1,r25
 3216 192c 8093 0000            sts MesswertRoll,r24
 3217                   .L82:
 3218                   /* epilogue: frame size=19 */
 3219 1930 E2E1                 ldi r30,18
 3220 1932 CD5E                 subi r28,-19
 3221 1934 0C94 0000            jmp __epilogue_restores__+0
 3222                   /* epilogue end (size=4) */
 3223                   /* function Mittelwert size 2000 (1990) */
 3225                   .global SendMotorData
 3227                   SendMotorData:
 3228                   /* prologue: frame size=0 */
 3229                   /* prologue end (size=0) */
 3230 1938 8091 0000            lds r24,MotorenEin
 3231 193c 8823                 tst r24
 3232 193e 01F4                 brne .L178
 3233 1940 8091 0000            lds r24,FC_StatusFlags
 3234 1944 8C7F                 andi r24,lo8(-4)
 3235 1946 8093 0000            sts FC_StatusFlags,r24
 3236 194a A0E0                 ldi r26,lo8(MotorTest)
 3237 194c B0E0                 ldi r27,hi8(MotorTest)
 3238 194e E0E0                 ldi r30,lo8(Motor)
 3239 1950 F0E0                 ldi r31,hi8(Motor)
 3240 1952 9BE0                 ldi r25,lo8(11)
 3241                   .L183:
 3242 1954 8091 0000            lds r24,PC_MotortestActive
 3243 1958 8823                 tst r24
 3244 195a 01F4                 brne .L182
 3245 195c 8C93                 st X,r24
 3246                   .L182:
 3247 195e 8D91                 ld r24,X+
 3248 1960 8183                 std Z+1,r24
 3249 1962 1282                 std Z+2,__zero_reg__
 3250 1964 9150                 subi r25,lo8(-(-1))
 3251 1966 3896                 adiw r30,8
 3252 1968 97FF                 sbrs r25,7
 3253 196a 00C0                 rjmp .L183
 3254 196c 8091 0000            lds r24,PC_MotortestActive
 3255 1970 8823                 tst r24
 3256 1972 01F0                 breq .L185
 3257 1974 8091 0000            lds r24,PC_MotortestActive
 3258 1978 8150                 subi r24,lo8(-(-1))
 3259 197a 8093 0000            sts PC_MotortestActive,r24
 3260 197e 00C0                 rjmp .L185
 3261                   .L178:
 3262 1980 8091 0000            lds r24,FC_StatusFlags
 3263 1984 8160                 ori r24,lo8(1)
 3264 1986 8093 0000            sts FC_StatusFlags,r24
 3265                   .L185:
 3266 198a 8091 0000            lds r24,I2C_TransferActive
 3267 198e 8823                 tst r24
 3268 1990 01F0                 breq .L186
 3269 1992 1092 0000            sts I2C_TransferActive,__zero_reg__
 3270 1996 0895                 ret
 3271                   .L186:
 3272 1998 8093 0000            sts motor_write,r24
 3273 199c 8093 0000            sts twi_state,r24
 3274 19a0 8091 0000            lds r24,BLFlags
 3275 19a4 8E7F                 andi r24,lo8(-2)
 3276 19a6 8093 0000            sts BLFlags,r24
 3277 19aa 85EA                 ldi r24,lo8(-91)
 3278 19ac 8093 BC00            sts 188,r24
 3279 19b0 0895                 ret
 3280                   /* epilogue: frame size=0 */
 3281                   /* epilogue: noreturn */
 3282                   /* epilogue end (size=0) */
 3283                   /* function SendMotorData size 61 (61) */
 3285                   .global ParameterZuordnung
 3287                   ParameterZuordnung:
 3288                   /* prologue: frame size=0 */
 3289 19b2 CF93                 push r28
 3290 19b4 DF93                 push r29
 3291                   /* prologue end (size=2) */
 3292 19b6 A0E0                 ldi r26,lo8(Poti)
 3293 19b8 B0E0                 ldi r27,hi8(Poti)
 3294 19ba C0E0                 ldi r28,lo8(EE_Parameter+5)
 3295 19bc D0E0                 ldi r29,hi8(EE_Parameter+5)
 3296 19be 57E0                 ldi r21,lo8(7)
 3297                   .L203:
 3298 19c0 9991                 ld r25,Y+
 3299 19c2 E92F                 mov r30,r25
 3300 19c4 FF27                 clr r31
 3301 19c6 EE0F                 add r30,r30
 3302 19c8 FF1F                 adc r31,r31
 3303 19ca E050                 subi r30,lo8(-(PPM_in))
 3304 19cc F040                 sbci r31,hi8(-(PPM_in))
 3305 19ce 0190                 ld __tmp_reg__,Z+
 3306 19d0 F081                 ld r31,Z
 3307 19d2 E02D                 mov r30,__tmp_reg__
 3308 19d4 E158                 subi r30,lo8(-(127))
 3309 19d6 FF4F                 sbci r31,hi8(-(127))
 3310 19d8 EF3F                 cpi r30,255
 3311 19da F105                 cpc r31,__zero_reg__
 3312 19dc 01F0                 breq .L194
 3313 19de 04F0                 brlt .L194
 3314 19e0 EFEF                 ldi r30,lo8(255)
 3315 19e2 F0E0                 ldi r31,hi8(255)
 3316 19e4 00C0                 rjmp .L195
 3317                   .L194:
 3318 19e6 F7FF                 sbrs r31,7
 3319 19e8 00C0                 rjmp .L195
 3320 19ea E0E0                 ldi r30,lo8(0)
 3321 19ec F0E0                 ldi r31,hi8(0)
 3322                   .L195:
 3323 19ee 9931                 cpi r25,lo8(25)
 3324 19f0 01F4                 brne .L197
 3325 19f2 EC93                 st X,r30
 3326 19f4 00C0                 rjmp .L193
 3327                   .L197:
 3328 19f6 4C91                 ld r20,X
 3329 19f8 242F                 mov r18,r20
 3330 19fa 3327                 clr r19
 3331 19fc E217                 cp r30,r18
 3332 19fe F307                 cpc r31,r19
 3333 1a00 01F0                 breq .L193
 3334 1a02 CF01                 movw r24,r30
 3335 1a04 821B                 sub r24,r18
 3336 1a06 930B                 sbc r25,r19
 3337 1a08 97FD                 sbrc r25,7
 3338 1a0a 0396                 adiw r24,3
 3339                   .L200:
 3340 1a0c 9595                 asr r25
 3341 1a0e 8795                 ror r24
 3342 1a10 9595                 asr r25
 3343 1a12 8795                 ror r24
 3344 1a14 242F                 mov r18,r20
 3345 1a16 280F                 add r18,r24
 3346 1a18 2C93                 st X,r18
 3347 1a1a 822F                 mov r24,r18
 3348 1a1c 9927                 clr r25
 3349 1a1e E817                 cp r30,r24
 3350 1a20 F907                 cpc r31,r25
 3351 1a22 04F4                 brge .L201
 3352 1a24 2150                 subi r18,lo8(-(-1))
 3353 1a26 00C0                 rjmp .L323
 3354                   .L201:
 3355 1a28 2F5F                 subi r18,lo8(-(1))
 3356                   .L323:
 3357 1a2a 2C93                 st X,r18
 3358                   .L193:
 3359 1a2c 5150                 subi r21,lo8(-(-1))
 3360 1a2e 1196                 adiw r26,1
 3361 1a30 57FF                 sbrs r21,7
 3362 1a32 00C0                 rjmp .L203
 3363 1a34 8091 0000            lds r24,EE_Parameter+15
 3364 1a38 883F                 cpi r24,lo8(-8)
 3365 1a3a 00F0                 brlo .L324
 3366 1a3c EFEF                 ldi r30,lo8(255)
 3367 1a3e F0E0                 ldi r31,hi8(255)
 3368 1a40 E81B                 sub r30,r24
 3369 1a42 F109                 sbc r31,__zero_reg__
 3370 1a44 E050                 subi r30,lo8(-(Poti))
 3371 1a46 F040                 sbci r31,hi8(-(Poti))
 3372 1a48 8081                 ld r24,Z
 3373                   .L324:
 3374 1a4a 8093 0000            sts Parameter_Luftdruck_D,r24
 3375 1a4e 8091 0000            lds r24,Parameter_Luftdruck_D
 3376 1a52 8823                 tst r24
 3377 1a54 01F0                 breq .L207
 3378 1a56 8436                 cpi r24,lo8(100)
 3379 1a58 00F0                 brlo .L207
 3380 1a5a 84E6                 ldi r24,lo8(100)
 3381 1a5c 8093 0000            sts Parameter_Luftdruck_D,r24
 3382                   .L207:
 3383 1a60 8091 0000            lds r24,EE_Parameter+17
 3384 1a64 883F                 cpi r24,lo8(-8)
 3385 1a66 00F0                 brlo .L325
 3386 1a68 EFEF                 ldi r30,lo8(255)
 3387 1a6a F0E0                 ldi r31,hi8(255)
 3388 1a6c E81B                 sub r30,r24
 3389 1a6e F109                 sbc r31,__zero_reg__
 3390 1a70 E050                 subi r30,lo8(-(Poti))
 3391 1a72 F040                 sbci r31,hi8(-(Poti))
 3392 1a74 8081                 ld r24,Z
 3393                   .L325:
 3394 1a76 8093 0000            sts Parameter_Hoehe_P,r24
 3395 1a7a 8091 0000            lds r24,Parameter_Hoehe_P
 3396 1a7e 8823                 tst r24
 3397 1a80 01F0                 breq .L212
 3398 1a82 8436                 cpi r24,lo8(100)
 3399 1a84 00F0                 brlo .L212
 3400 1a86 84E6                 ldi r24,lo8(100)
 3401 1a88 8093 0000            sts Parameter_Hoehe_P,r24
 3402                   .L212:
 3403 1a8c 8091 0000            lds r24,EE_Parameter+30
 3404 1a90 883F                 cpi r24,lo8(-8)
 3405 1a92 00F0                 brlo .L326
 3406 1a94 EFEF                 ldi r30,lo8(255)
 3407 1a96 F0E0                 ldi r31,hi8(255)
 3408 1a98 E81B                 sub r30,r24
 3409 1a9a F109                 sbc r31,__zero_reg__
 3410 1a9c E050                 subi r30,lo8(-(Poti))
 3411 1a9e F040                 sbci r31,hi8(-(Poti))
 3412 1aa0 8081                 ld r24,Z
 3413                   .L326:
 3414 1aa2 8093 0000            sts Parameter_Gyro_P,r24
 3415 1aa6 8091 0000            lds r24,Parameter_Gyro_P
 3416 1aaa 8B30                 cpi r24,lo8(11)
 3417 1aac 00F4                 brsh .L216
 3418 1aae 8AE0                 ldi r24,lo8(10)
 3419 1ab0 00C0                 rjmp .L327
 3420                   .L216:
 3421 1ab2 8F3F                 cpi r24,lo8(-1)
 3422 1ab4 01F4                 brne .L217
 3423                   .L327:
 3424 1ab6 8093 0000            sts Parameter_Gyro_P,r24
 3425                   .L217:
 3426 1aba 8091 0000            lds r24,EE_Parameter+75
 3427 1abe 883F                 cpi r24,lo8(-8)
 3428 1ac0 00F0                 brlo .L328
 3429 1ac2 EFEF                 ldi r30,lo8(255)
 3430 1ac4 F0E0                 ldi r31,hi8(255)
 3431 1ac6 E81B                 sub r30,r24
 3432 1ac8 F109                 sbc r31,__zero_reg__
 3433 1aca E050                 subi r30,lo8(-(Poti))
 3434 1acc F040                 sbci r31,hi8(-(Poti))
 3435 1ace 8081                 ld r24,Z
 3436                   .L328:
 3437 1ad0 8093 0000            sts Parameter_J16Timing,r24
 3438 1ad4 8091 0000            lds r24,Parameter_J16Timing
 3439 1ad8 8630                 cpi r24,lo8(6)
 3440 1ada 00F4                 brsh .L221
 3441 1adc 85E0                 ldi r24,lo8(5)
 3442 1ade 00C0                 rjmp .L329
 3443                   .L221:
 3444 1ae0 8F3F                 cpi r24,lo8(-1)
 3445 1ae2 01F4                 brne .L222
 3446                   .L329:
 3447 1ae4 8093 0000            sts Parameter_J16Timing,r24
 3448                   .L222:
 3449 1ae8 8091 0000            lds r24,EE_Parameter+77
 3450 1aec 883F                 cpi r24,lo8(-8)
 3451 1aee 00F0                 brlo .L330
 3452 1af0 EFEF                 ldi r30,lo8(255)
 3453 1af2 F0E0                 ldi r31,hi8(255)
 3454 1af4 E81B                 sub r30,r24
 3455 1af6 F109                 sbc r31,__zero_reg__
 3456 1af8 E050                 subi r30,lo8(-(Poti))
 3457 1afa F040                 sbci r31,hi8(-(Poti))
 3458 1afc 8081                 ld r24,Z
 3459                   .L330:
 3460 1afe 8093 0000            sts Parameter_J17Timing,r24
 3461 1b02 8091 0000            lds r24,Parameter_J17Timing
 3462 1b06 8630                 cpi r24,lo8(6)
 3463 1b08 00F4                 brsh .L226
 3464 1b0a 85E0                 ldi r24,lo8(5)
 3465 1b0c 00C0                 rjmp .L331
 3466                   .L226:
 3467 1b0e 8F3F                 cpi r24,lo8(-1)
 3468 1b10 01F4                 brne .L227
 3469                   .L331:
 3470 1b12 8093 0000            sts Parameter_J17Timing,r24
 3471                   .L227:
 3472 1b16 8091 0000            lds r24,EE_Parameter+56
 3473 1b1a 873F                 cpi r24,lo8(-9)
 3474 1b1c 01F4                 brne .L229
 3475 1b1e 4299                 sbic 40-0x20,2
 3476 1b20 00C0                 rjmp .L362
 3477 1b22 00C0                 rjmp .L234
 3478                   .L229:
 3479 1b24 863F                 cpi r24,lo8(-10)
 3480 1b26 01F4                 brne .L233
 3481 1b28 439B                 sbis 40-0x20,3
 3482 1b2a 00C0                 rjmp .L234
 3483                   .L362:
 3484 1b2c 8CE8                 ldi r24,lo8(-116)
 3485 1b2e 00C0                 rjmp .L332
 3486                   .L234:
 3487 1b30 86E4                 ldi r24,lo8(70)
 3488 1b32 00C0                 rjmp .L332
 3489                   .L233:
 3490 1b34 883F                 cpi r24,lo8(-8)
 3491 1b36 00F0                 brlo .L332
 3492 1b38 EFEF                 ldi r30,lo8(255)
 3493 1b3a F0E0                 ldi r31,hi8(255)
 3494 1b3c E81B                 sub r30,r24
 3495 1b3e F109                 sbc r31,__zero_reg__
 3496 1b40 E050                 subi r30,lo8(-(Poti))
 3497 1b42 F040                 sbci r31,hi8(-(Poti))
 3498 1b44 8081                 ld r24,Z
 3499                   .L332:
 3500 1b46 8093 0000            sts Parameter_Servo3,r24
 3501 1b4a 8091 0000            lds r24,EE_Parameter+57
 3502 1b4e 873F                 cpi r24,lo8(-9)
 3503 1b50 01F4                 brne .L239
 3504 1b52 4299                 sbic 40-0x20,2
 3505 1b54 00C0                 rjmp .L363
 3506 1b56 00C0                 rjmp .L244
 3507                   .L239:
 3508 1b58 863F                 cpi r24,lo8(-10)
 3509 1b5a 01F4                 brne .L243
 3510 1b5c 439B                 sbis 40-0x20,3
 3511 1b5e 00C0                 rjmp .L244
 3512                   .L363:
 3513 1b60 8CE8                 ldi r24,lo8(-116)
 3514 1b62 00C0                 rjmp .L333
 3515                   .L244:
 3516 1b64 86E4                 ldi r24,lo8(70)
 3517 1b66 00C0                 rjmp .L333
 3518                   .L243:
 3519 1b68 883F                 cpi r24,lo8(-8)
 3520 1b6a 00F0                 brlo .L333
 3521 1b6c EFEF                 ldi r30,lo8(255)
 3522 1b6e F0E0                 ldi r31,hi8(255)
 3523 1b70 E81B                 sub r30,r24
 3524 1b72 F109                 sbc r31,__zero_reg__
 3525 1b74 E050                 subi r30,lo8(-(Poti))
 3526 1b76 F040                 sbci r31,hi8(-(Poti))
 3527 1b78 8081                 ld r24,Z
 3528                   .L333:
 3529 1b7a 8093 0000            sts Parameter_Servo4,r24
 3530 1b7e 8091 0000            lds r24,EE_Parameter+58
 3531 1b82 883F                 cpi r24,lo8(-8)
 3532 1b84 00F0                 brlo .L334
 3533 1b86 EFEF                 ldi r30,lo8(255)
 3534 1b88 F0E0                 ldi r31,hi8(255)
 3535 1b8a E81B                 sub r30,r24
 3536 1b8c F109                 sbc r31,__zero_reg__
 3537 1b8e E050                 subi r30,lo8(-(Poti))
 3538 1b90 F040                 sbci r31,hi8(-(Poti))
 3539 1b92 8081                 ld r24,Z
 3540                   .L334:
 3541 1b94 8093 0000            sts Parameter_Servo5,r24
 3542 1b98 8091 0000            lds r24,EE_Parameter+16
 3543 1b9c 883F                 cpi r24,lo8(-8)
 3544 1b9e 00F0                 brlo .L335
 3545 1ba0 EFEF                 ldi r30,lo8(255)
 3546 1ba2 F0E0                 ldi r31,hi8(255)
 3547 1ba4 E81B                 sub r30,r24
 3548 1ba6 F109                 sbc r31,__zero_reg__
 3549 1ba8 E050                 subi r30,lo8(-(Poti))
 3550 1baa F040                 sbci r31,hi8(-(Poti))
 3551 1bac 8081                 ld r24,Z
 3552                   .L335:
 3553 1bae 8093 0000            sts Parameter_HoehenSchalter,r24
 3554 1bb2 8091 0000            lds r24,EE_Parameter+19
 3555 1bb6 883F                 cpi r24,lo8(-8)
 3556 1bb8 00F0                 brlo .L336
 3557 1bba EFEF                 ldi r30,lo8(255)
 3558 1bbc F0E0                 ldi r31,hi8(255)
 3559 1bbe E81B                 sub r30,r24
 3560 1bc0 F109                 sbc r31,__zero_reg__
 3561 1bc2 E050                 subi r30,lo8(-(Poti))
 3562 1bc4 F040                 sbci r31,hi8(-(Poti))
 3563 1bc6 8081                 ld r24,Z
 3564                   .L336:
 3565 1bc8 8093 0000            sts Parameter_Hoehe_ACC_Wirkung,r24
 3566 1bcc 8091 0000            lds r24,EE_Parameter+21
 3567 1bd0 883F                 cpi r24,lo8(-8)
 3568 1bd2 00F0                 brlo .L337
 3569 1bd4 EFEF                 ldi r30,lo8(255)
 3570 1bd6 F0E0                 ldi r31,hi8(255)
 3571 1bd8 E81B                 sub r30,r24
 3572 1bda F109                 sbc r31,__zero_reg__
 3573 1bdc E050                 subi r30,lo8(-(Poti))
 3574 1bde F040                 sbci r31,hi8(-(Poti))
 3575 1be0 8081                 ld r24,Z
 3576                   .L337:
 3577 1be2 8093 0000            sts Parameter_Hoehe_GPS_Z,r24
 3578 1be6 8091 0000            lds r24,EE_Parameter+29
 3579 1bea 883F                 cpi r24,lo8(-8)
 3580 1bec 00F0                 brlo .L338
 3581 1bee EFEF                 ldi r30,lo8(255)
 3582 1bf0 F0E0                 ldi r31,hi8(255)
 3583 1bf2 E81B                 sub r30,r24
 3584 1bf4 F109                 sbc r31,__zero_reg__
 3585 1bf6 E050                 subi r30,lo8(-(Poti))
 3586 1bf8 F040                 sbci r31,hi8(-(Poti))
 3587 1bfa 8081                 ld r24,Z
 3588                   .L338:
 3589 1bfc 8093 0000            sts Parameter_KompassWirkung,r24
 3590 1c00 8091 0000            lds r24,EE_Parameter+31
 3591 1c04 883F                 cpi r24,lo8(-8)
 3592 1c06 00F0                 brlo .L339
 3593 1c08 EFEF                 ldi r30,lo8(255)
 3594 1c0a F0E0                 ldi r31,hi8(255)
 3595 1c0c E81B                 sub r30,r24
 3596 1c0e F109                 sbc r31,__zero_reg__
 3597 1c10 E050                 subi r30,lo8(-(Poti))
 3598 1c12 F040                 sbci r31,hi8(-(Poti))
 3599 1c14 8081                 ld r24,Z
 3600                   .L339:
 3601 1c16 8093 0000            sts Parameter_Gyro_I,r24
 3602 1c1a 8091 0000            lds r24,EE_Parameter+32
 3603 1c1e 883F                 cpi r24,lo8(-8)
 3604 1c20 00F0                 brlo .L340
 3605 1c22 EFEF                 ldi r30,lo8(255)
 3606 1c24 F0E0                 ldi r31,hi8(255)
 3607 1c26 E81B                 sub r30,r24
 3608 1c28 F109                 sbc r31,__zero_reg__
 3609 1c2a E050                 subi r30,lo8(-(Poti))
 3610 1c2c F040                 sbci r31,hi8(-(Poti))
 3611 1c2e 8081                 ld r24,Z
 3612                   .L340:
 3613 1c30 8093 0000            sts Parameter_Gyro_D,r24
 3614 1c34 8091 0000            lds r24,EE_Parameter+33
 3615 1c38 883F                 cpi r24,lo8(-8)
 3616 1c3a 00F0                 brlo .L341
 3617 1c3c EFEF                 ldi r30,lo8(255)
 3618 1c3e F0E0                 ldi r31,hi8(255)
 3619 1c40 E81B                 sub r30,r24
 3620 1c42 F109                 sbc r31,__zero_reg__
 3621 1c44 E050                 subi r30,lo8(-(Poti))
 3622 1c46 F040                 sbci r31,hi8(-(Poti))
 3623 1c48 8081                 ld r24,Z
 3624                   .L341:
 3625 1c4a 8093 0000            sts Parameter_Gyro_Gier_P,r24
 3626 1c4e 8091 0000            lds r24,EE_Parameter+34
 3627 1c52 883F                 cpi r24,lo8(-8)
 3628 1c54 00F0                 brlo .L342
 3629 1c56 EFEF                 ldi r30,lo8(255)
 3630 1c58 F0E0                 ldi r31,hi8(255)
 3631 1c5a E81B                 sub r30,r24
 3632 1c5c F109                 sbc r31,__zero_reg__
 3633 1c5e E050                 subi r30,lo8(-(Poti))
 3634 1c60 F040                 sbci r31,hi8(-(Poti))
 3635 1c62 8081                 ld r24,Z
 3636                   .L342:
 3637 1c64 8093 0000            sts Parameter_Gyro_Gier_I,r24
 3638 1c68 8091 0000            lds r24,EE_Parameter+40
 3639 1c6c 883F                 cpi r24,lo8(-8)
 3640 1c6e 00F0                 brlo .L343
 3641 1c70 EFEF                 ldi r30,lo8(255)
 3642 1c72 F0E0                 ldi r31,hi8(255)
 3643 1c74 E81B                 sub r30,r24
 3644 1c76 F109                 sbc r31,__zero_reg__
 3645 1c78 E050                 subi r30,lo8(-(Poti))
 3646 1c7a F040                 sbci r31,hi8(-(Poti))
 3647 1c7c 8081                 ld r24,Z
 3648                   .L343:
 3649 1c7e 8093 0000            sts Parameter_I_Faktor,r24
 3650 1c82 8091 0000            lds r24,EE_Parameter+41
 3651 1c86 883F                 cpi r24,lo8(-8)
 3652 1c88 00F0                 brlo .L344
 3653 1c8a EFEF                 ldi r30,lo8(255)
 3654 1c8c F0E0                 ldi r31,hi8(255)
 3655 1c8e E81B                 sub r30,r24
 3656 1c90 F109                 sbc r31,__zero_reg__
 3657 1c92 E050                 subi r30,lo8(-(Poti))
 3658 1c94 F040                 sbci r31,hi8(-(Poti))
 3659 1c96 8081                 ld r24,Z
 3660                   .L344:
 3661 1c98 8093 0000            sts Parameter_UserParam1,r24
 3662 1c9c 8091 0000            lds r24,EE_Parameter+42
 3663 1ca0 883F                 cpi r24,lo8(-8)
 3664 1ca2 00F0                 brlo .L345
 3665 1ca4 EFEF                 ldi r30,lo8(255)
 3666 1ca6 F0E0                 ldi r31,hi8(255)
 3667 1ca8 E81B                 sub r30,r24
 3668 1caa F109                 sbc r31,__zero_reg__
 3669 1cac E050                 subi r30,lo8(-(Poti))
 3670 1cae F040                 sbci r31,hi8(-(Poti))
 3671 1cb0 8081                 ld r24,Z
 3672                   .L345:
 3673 1cb2 8093 0000            sts Parameter_UserParam2,r24
 3674 1cb6 8091 0000            lds r24,EE_Parameter+43
 3675 1cba 883F                 cpi r24,lo8(-8)
 3676 1cbc 00F0                 brlo .L346
 3677 1cbe EFEF                 ldi r30,lo8(255)
 3678 1cc0 F0E0                 ldi r31,hi8(255)
 3679 1cc2 E81B                 sub r30,r24
 3680 1cc4 F109                 sbc r31,__zero_reg__
 3681 1cc6 E050                 subi r30,lo8(-(Poti))
 3682 1cc8 F040                 sbci r31,hi8(-(Poti))
 3683 1cca 8081                 ld r24,Z
 3684                   .L346:
 3685 1ccc 8093 0000            sts Parameter_UserParam3,r24
 3686 1cd0 8091 0000            lds r24,EE_Parameter+44
 3687 1cd4 883F                 cpi r24,lo8(-8)
 3688 1cd6 00F0                 brlo .L347
 3689 1cd8 EFEF                 ldi r30,lo8(255)
 3690 1cda F0E0                 ldi r31,hi8(255)
 3691 1cdc E81B                 sub r30,r24
 3692 1cde F109                 sbc r31,__zero_reg__
 3693 1ce0 E050                 subi r30,lo8(-(Poti))
 3694 1ce2 F040                 sbci r31,hi8(-(Poti))
 3695 1ce4 8081                 ld r24,Z
 3696                   .L347:
 3697 1ce6 8093 0000            sts Parameter_UserParam4,r24
 3698 1cea 8091 0000            lds r24,EE_Parameter+70
 3699 1cee 883F                 cpi r24,lo8(-8)
 3700 1cf0 00F0                 brlo .L348
 3701 1cf2 EFEF                 ldi r30,lo8(255)
 3702 1cf4 F0E0                 ldi r31,hi8(255)
 3703 1cf6 E81B                 sub r30,r24
 3704 1cf8 F109                 sbc r31,__zero_reg__
 3705 1cfa E050                 subi r30,lo8(-(Poti))
 3706 1cfc F040                 sbci r31,hi8(-(Poti))
 3707 1cfe 8081                 ld r24,Z
 3708                   .L348:
 3709 1d00 8093 0000            sts Parameter_UserParam5,r24
 3710 1d04 8091 0000            lds r24,EE_Parameter+71
 3711 1d08 883F                 cpi r24,lo8(-8)
 3712 1d0a 00F0                 brlo .L349
 3713 1d0c EFEF                 ldi r30,lo8(255)
 3714 1d0e F0E0                 ldi r31,hi8(255)
 3715 1d10 E81B                 sub r30,r24
 3716 1d12 F109                 sbc r31,__zero_reg__
 3717 1d14 E050                 subi r30,lo8(-(Poti))
 3718 1d16 F040                 sbci r31,hi8(-(Poti))
 3719 1d18 8081                 ld r24,Z
 3720                   .L349:
 3721 1d1a 8093 0000            sts Parameter_UserParam6,r24
 3722 1d1e 8091 0000            lds r24,EE_Parameter+72
 3723 1d22 883F                 cpi r24,lo8(-8)
 3724 1d24 00F0                 brlo .L350
 3725 1d26 EFEF                 ldi r30,lo8(255)
 3726 1d28 F0E0                 ldi r31,hi8(255)
 3727 1d2a E81B                 sub r30,r24
 3728 1d2c F109                 sbc r31,__zero_reg__
 3729 1d2e E050                 subi r30,lo8(-(Poti))
 3730 1d30 F040                 sbci r31,hi8(-(Poti))
 3731 1d32 8081                 ld r24,Z
 3732                   .L350:
 3733 1d34 8093 0000            sts Parameter_UserParam7,r24
 3734 1d38 8091 0000            lds r24,EE_Parameter+73
 3735 1d3c 883F                 cpi r24,lo8(-8)
 3736 1d3e 00F0                 brlo .L351
 3737 1d40 EFEF                 ldi r30,lo8(255)
 3738 1d42 F0E0                 ldi r31,hi8(255)
 3739 1d44 E81B                 sub r30,r24
 3740 1d46 F109                 sbc r31,__zero_reg__
 3741 1d48 E050                 subi r30,lo8(-(Poti))
 3742 1d4a F040                 sbci r31,hi8(-(Poti))
 3743 1d4c 8081                 ld r24,Z
 3744                   .L351:
 3745 1d4e 8093 0000            sts Parameter_UserParam8,r24
 3746 1d52 8091 0000            lds r24,EE_Parameter+45
 3747 1d56 883F                 cpi r24,lo8(-8)
 3748 1d58 00F0                 brlo .L352
 3749 1d5a EFEF                 ldi r30,lo8(255)
 3750 1d5c F0E0                 ldi r31,hi8(255)
 3751 1d5e E81B                 sub r30,r24
 3752 1d60 F109                 sbc r31,__zero_reg__
 3753 1d62 E050                 subi r30,lo8(-(Poti))
 3754 1d64 F040                 sbci r31,hi8(-(Poti))
 3755 1d66 8081                 ld r24,Z
 3756                   .L352:
 3757 1d68 8093 0000            sts Parameter_ServoNickControl,r24
 3758 1d6c 8091 0000            lds r24,EE_Parameter+49
 3759 1d70 883F                 cpi r24,lo8(-8)
 3760 1d72 00F0                 brlo .L353
 3761 1d74 EFEF                 ldi r30,lo8(255)
 3762 1d76 F0E0                 ldi r31,hi8(255)
 3763 1d78 E81B                 sub r30,r24
 3764 1d7a F109                 sbc r31,__zero_reg__
 3765 1d7c E050                 subi r30,lo8(-(Poti))
 3766 1d7e F040                 sbci r31,hi8(-(Poti))
 3767 1d80 8081                 ld r24,Z
 3768                   .L353:
 3769 1d82 8093 0000            sts Parameter_ServoRollControl,r24
 3770 1d86 8091 0000            lds r24,EE_Parameter+59
 3771 1d8a 883F                 cpi r24,lo8(-8)
 3772 1d8c 00F0                 brlo .L354
 3773 1d8e EFEF                 ldi r30,lo8(255)
 3774 1d90 F0E0                 ldi r31,hi8(255)
 3775 1d92 E81B                 sub r30,r24
 3776 1d94 F109                 sbc r31,__zero_reg__
 3777 1d96 E050                 subi r30,lo8(-(Poti))
 3778 1d98 F040                 sbci r31,hi8(-(Poti))
 3779 1d9a 8081                 ld r24,Z
 3780                   .L354:
 3781 1d9c 8093 0000            sts Parameter_LoopGasLimit,r24
 3782 1da0 8091 0000            lds r24,EE_Parameter+62
 3783 1da4 883F                 cpi r24,lo8(-8)
 3784 1da6 00F0                 brlo .L355
 3785 1da8 EFEF                 ldi r30,lo8(255)
 3786 1daa F0E0                 ldi r31,hi8(255)
 3787 1dac E81B                 sub r30,r24
 3788 1dae F109                 sbc r31,__zero_reg__
 3789 1db0 E050                 subi r30,lo8(-(Poti))
 3790 1db2 F040                 sbci r31,hi8(-(Poti))
 3791 1db4 8081                 ld r24,Z
 3792                   .L355:
 3793 1db6 8093 0000            sts Parameter_AchsKopplung1,r24
 3794 1dba 8091 0000            lds r24,EE_Parameter+63
 3795 1dbe 883F                 cpi r24,lo8(-8)
 3796 1dc0 00F0                 brlo .L356
 3797 1dc2 EFEF                 ldi r30,lo8(255)
 3798 1dc4 F0E0                 ldi r31,hi8(255)
 3799 1dc6 E81B                 sub r30,r24
 3800 1dc8 F109                 sbc r31,__zero_reg__
 3801 1dca E050                 subi r30,lo8(-(Poti))
 3802 1dcc F040                 sbci r31,hi8(-(Poti))
 3803 1dce 8081                 ld r24,Z
 3804                   .L356:
 3805 1dd0 8093 0000            sts Parameter_AchsKopplung2,r24
 3806 1dd4 8091 0000            lds r24,EE_Parameter+64
 3807 1dd8 883F                 cpi r24,lo8(-8)
 3808 1dda 00F0                 brlo .L357
 3809 1ddc EFEF                 ldi r30,lo8(255)
 3810 1dde F0E0                 ldi r31,hi8(255)
 3811 1de0 E81B                 sub r30,r24
 3812 1de2 F109                 sbc r31,__zero_reg__
 3813 1de4 E050                 subi r30,lo8(-(Poti))
 3814 1de6 F040                 sbci r31,hi8(-(Poti))
 3815 1de8 8081                 ld r24,Z
 3816                   .L357:
 3817 1dea 8093 0000            sts Parameter_CouplingYawCorrection,r24
 3818 1dee 8091 0000            lds r24,EE_Parameter+104
 3819 1df2 883F                 cpi r24,lo8(-8)
 3820 1df4 00F0                 brlo .L358
 3821 1df6 EFEF                 ldi r30,lo8(255)
 3822 1df8 F0E0                 ldi r31,hi8(255)
 3823 1dfa E81B                 sub r30,r24
 3824 1dfc F109                 sbc r31,__zero_reg__
 3825 1dfe E050                 subi r30,lo8(-(Poti))
 3826 1e00 F040                 sbci r31,hi8(-(Poti))
 3827 1e02 8081                 ld r24,Z
 3828                   .L358:
 3829 1e04 8093 0000            sts Parameter_MaximumAltitude,r24
 3830 1e08 9091 0000            lds r25,NC_To_FC_MaxAltitude
 3831 1e0c 9923                 tst r25
 3832 1e0e 01F0                 breq .L301
 3833 1e10 8091 0000            lds r24,Parameter_MaximumAltitude
 3834 1e14 9817                 cp r25,r24
 3835 1e16 00F0                 brlo .L300
 3836                   .L301:
 3837 1e18 8091 0000            lds r24,Parameter_MaximumAltitude
 3838 1e1c 8823                 tst r24
 3839 1e1e 01F4                 brne .L299
 3840                   .L300:
 3841 1e20 9093 0000            sts Parameter_MaximumAltitude,r25
 3842                   .L299:
 3843 1e24 8091 0000            lds r24,EE_Parameter+13
 3844 1e28 8093 0000            sts Parameter_GlobalConfig,r24
 3845 1e2c 8091 0000            lds r24,EE_Parameter+110
 3846 1e30 8093 0000            sts Parameter_ExtraConfig,r24
 3847 1e34 8091 0000            lds r24,EE_Parameter+69
 3848 1e38 883F                 cpi r24,lo8(-8)
 3849 1e3a 00F0                 brlo .L359
 3850 1e3c EFEF                 ldi r30,lo8(255)
 3851 1e3e F0E0                 ldi r31,hi8(255)
 3852 1e40 E81B                 sub r30,r24
 3853 1e42 F109                 sbc r31,__zero_reg__
 3854 1e44 E050                 subi r30,lo8(-(Poti))
 3855 1e46 F040                 sbci r31,hi8(-(Poti))
 3856 1e48 8081                 ld r24,Z
 3857                   .L359:
 3858 1e4a 8093 0000            sts Parameter_DynamicStability,r24
 3859 1e4e 8091 0000            lds r24,EE_Parameter+97
 3860 1e52 883F                 cpi r24,lo8(-8)
 3861 1e54 00F0                 brlo .L360
 3862 1e56 EFEF                 ldi r30,lo8(255)
 3863 1e58 F0E0                 ldi r31,hi8(255)
 3864 1e5a E81B                 sub r30,r24
 3865 1e5c F109                 sbc r31,__zero_reg__
 3866 1e5e E050                 subi r30,lo8(-(Poti))
 3867 1e60 F040                 sbci r31,hi8(-(Poti))
 3868 1e62 8081                 ld r24,Z
 3869                   .L360:
 3870 1e64 8093 0000            sts Parameter_ExternalControl,r24
 3871 1e68 8091 0000            lds r24,Parameter_I_Faktor
 3872 1e6c 282F                 mov r18,r24
 3873 1e6e 3327                 clr r19
 3874 1e70 2F5F                 subi r18,lo8(-(1))
 3875 1e72 3F4F                 sbci r19,hi8(-(1))
 3876 1e74 8CE3                 ldi r24,lo8(10300)
 3877 1e76 98E2                 ldi r25,hi8(10300)
 3878 1e78 B901                 movw r22,r18
 3879 1e7a 0E94 0000            call __divmodhi4
 3880 1e7e 7093 0000            sts (Ki)+1,r23
 3881 1e82 6093 0000            sts Ki,r22
 3882 1e86 8091 0000            lds r24,EE_Parameter+27
 3883 1e8a 8093 0000            sts MAX_GAS,r24
 3884 1e8e 8091 0000            lds r24,EE_Parameter+26
 3885 1e92 8093 0000            sts MIN_GAS,r24
 3886 1e96 9091 0000            lds r25,EE_Parameter+99
 3887 1e9a 9333                 cpi r25,lo8(51)
 3888 1e9c 00F4                 brsh .+2
 3889 1e9e 00C0                 rjmp .L306
 3890 1ea0 81E0                 ldi r24,lo8(1)
 3891 1ea2 8093 0000            sts CareFree,r24
 3892 1ea6 983F                 cpi r25,lo8(-8)
 3893 1ea8 00F0                 brlo .L307
 3894 1eaa EFEF                 ldi r30,lo8(255)
 3895 1eac F0E0                 ldi r31,hi8(255)
 3896 1eae E91B                 sub r30,r25
 3897 1eb0 F109                 sbc r31,__zero_reg__
 3898 1eb2 E050                 subi r30,lo8(-(Poti))
 3899 1eb4 F040                 sbci r31,hi8(-(Poti))
 3900 1eb6 8081                 ld r24,Z
 3901 1eb8 8233                 cpi r24,lo8(50)
 3902 1eba 00F4                 brsh .L307
 3903 1ebc 1092 0000            sts CareFree,__zero_reg__
 3904                   .L307:
 3905 1ec0 8091 0000            lds r24,carefree_old
 3906 1ec4 2091 0000            lds r18,CareFree
 3907 1ec8 8217                 cp r24,r18
 3908 1eca 01F0                 breq .L308
 3909 1ecc 8330                 cpi r24,lo8(3)
 3910 1ece 00F4                 brsh .L309
 3911 1ed0 3091 0000            lds r19,SpeakHoTT
 3912 1ed4 2223                 tst r18
 3913 1ed6 01F0                 breq .L310
 3914 1ed8 8CED                 ldi r24,lo8(1500)
 3915 1eda 95E0                 ldi r25,hi8(1500)
 3916 1edc 9093 0000            sts (beeptime)+1,r25
 3917 1ee0 8093 0000            sts beeptime,r24
 3918 1ee4 3323                 tst r19
 3919 1ee6 01F4                 brne .L312
 3920 1ee8 8EE2                 ldi r24,lo8(46)
 3921 1eea 00C0                 rjmp .L361
 3922                   .L310:
 3923 1eec 88EC                 ldi r24,lo8(200)
 3924 1eee 90E0                 ldi r25,hi8(200)
 3925 1ef0 9093 0000            sts (beeptime)+1,r25
 3926 1ef4 8093 0000            sts beeptime,r24
 3927 1ef8 3323                 tst r19
 3928 1efa 01F4                 brne .L312
 3929 1efc 87E1                 ldi r24,lo8(23)
 3930                   .L361:
 3931 1efe 8093 0000            sts SpeakHoTT,r24
 3932                   .L312:
 3933 1f02 85E0                 ldi r24,lo8(5)
 3934 1f04 8093 0000            sts NeueKompassRichtungMerken,r24
 3935 1f08 2093 0000            sts carefree_old,r18
 3936 1f0c 00C0                 rjmp .L308
 3937                   .L309:
 3938 1f0e 8150                 subi r24,lo8(-(-1))
 3939 1f10 8093 0000            sts carefree_old,r24
 3940                   .L308:
 3941 1f14 8091 0000            lds r24,FromNaviCtrl+7
 3942 1f18 9091 0000            lds r25,(FromNaviCtrl+7)+1
 3943 1f1c 97FF                 sbrs r25,7
 3944 1f1e 00C0                 rjmp .L316
 3945 1f20 8091 0000            lds r24,CareFree
 3946 1f24 8823                 tst r24
 3947 1f26 01F0                 breq .L316
 3948 1f28 8091 0000            lds r24,VersionInfo+5
 3949 1f2c 8068                 ori r24,lo8(-128)
 3950 1f2e 8093 0000            sts VersionInfo+5,r24
 3951 1f32 00C0                 rjmp .L316
 3952                   .L306:
 3953 1f34 1092 0000            sts CareFree,__zero_reg__
 3954 1f38 8AE0                 ldi r24,lo8(10)
 3955 1f3a 8093 0000            sts carefree_old,r24
 3956                   .L316:
 3957 1f3e 8091 0000            lds r24,FromNaviCtrl+7
 3958 1f42 9091 0000            lds r25,(FromNaviCtrl+7)+1
 3959 1f46 97FF                 sbrs r25,7
 3960 1f48 00C0                 rjmp .L317
 3961 1f4a 8091 0000            lds r24,MotorenEin
 3962 1f4e 8823                 tst r24
 3963 1f50 01F0                 breq .L317
 3964 1f52 8091 0000            lds r24,CareFree
 3965 1f56 8823                 tst r24
 3966 1f58 01F0                 breq .L317
 3967 1f5a 8091 0000            lds r24,BeepMuster
 3968 1f5e 9091 0000            lds r25,(BeepMuster)+1
 3969 1f62 8F5F                 subi r24,lo8(-1)
 3970 1f64 9F4F                 sbci r25,hi8(-1)
 3971 1f66 01F4                 brne .L317
 3972 1f68 88E9                 ldi r24,lo8(15000)
 3973 1f6a 9AE3                 ldi r25,hi8(15000)
 3974 1f6c 9093 0000            sts (beeptime)+1,r25
 3975 1f70 8093 0000            sts beeptime,r24
 3976 1f74 80E0                 ldi r24,lo8(-23552)
 3977 1f76 94EA                 ldi r25,hi8(-23552)
 3978 1f78 9093 0000            sts (BeepMuster)+1,r25
 3979 1f7c 8093 0000            sts BeepMuster,r24
 3980 1f80 1092 0000            sts CareFree,__zero_reg__
 3981                   .L317:
 3982 1f84 8091 0000            lds r24,CareFree
 3983 1f88 8823                 tst r24
 3984 1f8a 01F0                 breq .L318
 3985 1f8c 8091 0000            lds r24,FC_StatusFlags2
 3986 1f90 8160                 ori r24,lo8(1)
 3987 1f92 8093 0000            sts FC_StatusFlags2,r24
 3988 1f96 8091 0000            lds r24,Parameter_AchsKopplung1
 3989 1f9a 823D                 cpi r24,lo8(-46)
 3990 1f9c 00F4                 brsh .L190
 3991 1f9e 825E                 subi r24,lo8(-(30))
 3992 1fa0 8093 0000            sts Parameter_AchsKopplung1,r24
 3993 1fa4 00C0                 rjmp .L190
 3994                   .L318:
 3995 1fa6 8091 0000            lds r24,FC_StatusFlags2
 3996 1faa 8E7F                 andi r24,lo8(-2)
 3997 1fac 8093 0000            sts FC_StatusFlags2,r24
 3998                   .L190:
 3999                   /* epilogue: frame size=0 */
 4000 1fb0 DF91                 pop r29
 4001 1fb2 CF91                 pop r28
 4002 1fb4 0895                 ret
 4003                   /* epilogue end (size=3) */
 4004                   /* function ParameterZuordnung size 772 (767) */
 4006                           .lcomm sollGier.0,4
 4007                           .lcomm tmp_long.1,4
 4008                           .lcomm tmp_long2.2,4
 4009                           .lcomm IntegralFehlerNick.3,4
 4010                           .lcomm IntegralFehlerRoll.4,4
 4011                           .lcomm RcLostTimer.5,2
 4012                           .lcomm delay_neutral.6,1
 4013                           .lcomm delay_einschalten.7,1
 4014                           .lcomm delay_ausschalten.8,1
 4015                           .lcomm move_safety_switch.9,1
 4016                           .lcomm ausgleichNick.10,4
 4017                           .lcomm ausgleichRoll.11,4
 4018                           .lcomm stick_nick.12,2
 4019                           .lcomm stick_roll.13,2
 4020                           .lcomm cnt.14,2
 4021                           .lcomm last_n_p.15,1
 4022                           .lcomm last_n_n.16,1
 4023                           .lcomm last_r_p.17,1
 4024                           .lcomm last_r_n.18,1
 4025                           .lcomm MittelIntegralNick_Alt.19,4
 4026                           .lcomm MittelIntegralRoll_Alt.20,4
 4027                           .lcomm HeightTrimming.21,2
 4028                           .lcomm FilterHCGas.22,2
 4029                           .lcomm HoverGasFilter.23,4
 4030                           .data
 4033                   delay.24:
 4034 004f 64                   .byte   100
 4035                           .lcomm BaroAtUpperLimit.25,1
 4036                           .lcomm BaroAtLowerLimit.26,1
 4037                           .text
 4038                   .global MotorRegler
 4040                   MotorRegler:
 4041                   /* prologue: frame size=23 */
 4042 1fb6 A7E1                 ldi r26,lo8(23)
 4043 1fb8 B0E0                 ldi r27,hi8(23)
 4044 1fba E0E0                 ldi r30,pm_lo8(1f)
 4045 1fbc F0E0                 ldi r31,pm_hi8(1f)
 4046 1fbe 0C94 0000            jmp __prologue_saves__+0
 4047                   1:
 4048                   /* prologue end (size=6) */
 4049 1fc2 0E94 0000            call Mittelwert
 4050 1fc6 8091 0000            lds r24,FC_StatusFlags
 4051 1fca 9927                 clr r25
 4052 1fcc 8471                 andi r24,lo8(20)
 4053 1fce 9070                 andi r25,hi8(20)
 4054 1fd0 892B                 or r24,r25
 4055 1fd2 01F4                 brne .L365
 4056 1fd4 8091 0000            lds r24,EE_Parameter+111
 4057 1fd8 82FF                 sbrs r24,2
 4058 1fda 00C0                 rjmp .L366
 4059 1fdc 8091 0000            lds r24,HoverGas
 4060 1fe0 9091 0000            lds r25,(HoverGas)+1
 4061 1fe4 0097                 sbiw r24,0
 4062 1fe6 01F0                 breq .L367
 4063 1fe8 02E0                 ldi r16,hi8(600)
 4064 1fea 8835                 cpi r24,lo8(600)
 4065 1fec 9007                 cpc r25,r16
 4066 1fee 04F4                 brge .L367
 4067 1ff0 9C01                 movw r18,r24
 4068 1ff2 97FF                 sbrs r25,7
 4069 1ff4 00C0                 rjmp .L368
 4070 1ff6 2D5F                 subi r18,lo8(-(3))
 4071 1ff8 3F4F                 sbci r19,hi8(-(3))
 4072                   .L368:
 4073 1ffa 3595                 asr r19
 4074 1ffc 2795                 ror r18
 4075 1ffe 3595                 asr r19
 4076 2000 2795                 ror r18
 4077 2002 8091 0000            lds r24,EE_Parameter+37
 4078 2006 9927                 clr r25
 4079 2008 289F                 mul r18,r24
 4080 200a A001                 movw r20,r0
 4081 200c 299F                 mul r18,r25
 4082 200e 500D                 add r21,r0
 4083 2010 389F                 mul r19,r24
 4084 2012 500D                 add r21,r0
 4085 2014 1124                 clr r1
 4086 2016 CA01                 movw r24,r20
 4087 2018 64E6                 ldi r22,lo8(100)
 4088 201a 70E0                 ldi r23,hi8(100)
 4089 201c 0E94 0000            call __divmodhi4
 4090 2020 CB01                 movw r24,r22
 4091 2022 00C0                 rjmp .L887
 4092                   .L367:
 4093 2024 8DE2                 ldi r24,lo8(45)
 4094 2026 90E0                 ldi r25,hi8(45)
 4095 2028 00C0                 rjmp .L887
 4096                   .L366:
 4097 202a 8091 0000            lds r24,EE_Parameter+37
 4098 202e 9927                 clr r25
 4099                   .L887:
 4100 2030 9093 0000            sts (HooverGasEmergencyPercent)+1,r25
 4101 2034 8093 0000            sts HooverGasEmergencyPercent,r24
 4102                   .L365:
 4103 2038 2091 0000            lds r18,GasIsZeroCnt
 4104 203c 3091 0000            lds r19,(GasIsZeroCnt)+1
 4105 2040 55E7                 ldi r21,hi8(30000)
 4106 2042 2033                 cpi r18,lo8(30000)
 4107 2044 3507                 cpc r19,r21
 4108 2046 01F4                 brne .L371
 4109 2048 1092 0000            sts (StickGas)+1,__zero_reg__
 4110 204c 1092 0000            sts StickGas,__zero_reg__
 4111 2050 8091 0000            lds r24,MIN_GAS
 4112 2054 9927                 clr r25
 4113 2056 9093 0000            sts (HooverGasEmergencyPercent)+1,r25
 4114 205a 8093 0000            sts HooverGasEmergencyPercent,r24
 4115                   .L371:
 4116 205e 6091 0000            lds r22,StickGas
 4117 2062 7091 0000            lds r23,(StickGas)+1
 4118 2066 7A83                 std Y+2,r23
 4119 2068 6983                 std Y+1,r22
 4120 206a 8091 0000            lds r24,MIN_GAS
 4121 206e 9927                 clr r25
 4122 2070 0A96                 adiw r24,10
 4123 2072 6817                 cp r22,r24
 4124 2074 7907                 cpc r23,r25
 4125 2076 04F4                 brge .L372
 4126 2078 9A83                 std Y+2,r25
 4127 207a 8983                 std Y+1,r24
 4128                   .L372:
 4129 207c 8091 0000            lds r24,SenderOkay
 4130 2080 8436                 cpi r24,lo8(100)
 4131 2082 00F0                 brlo .+2
 4132 2084 00C0                 rjmp .L373
 4133 2086 8091 0000            lds r24,FC_StatusFlags2
 4134 208a 82FD                 sbrc r24,2
 4135 208c 00C0                 rjmp .L373
 4136 208e 8091 0000            lds r24,RcLostTimer.5
 4137 2092 9091 0000            lds r25,(RcLostTimer.5)+1
 4138 2096 0097                 sbiw r24,0
 4139 2098 01F0                 breq .L374
 4140 209a 0197                 sbiw r24,1
 4141 209c 9093 0000            sts (RcLostTimer.5)+1,r25
 4142 20a0 8093 0000            sts RcLostTimer.5,r24
 4143 20a4 00C0                 rjmp .L375
 4144                   .L374:
 4145 20a6 1092 0000            sts MotorenEin,__zero_reg__
 4146 20aa 9093 0000            sts (modell_fliegt)+1,r25
 4147 20ae 8093 0000            sts modell_fliegt,r24
 4148 20b2 8091 0000            lds r24,FC_StatusFlags
 4149 20b6 8D7E                 andi r24,lo8(-19)
 4150 20b8 8093 0000            sts FC_StatusFlags,r24
 4151                   .L375:
 4152 20bc 8091 0000            lds r24,PlatinenVersion
 4153 20c0 8A30                 cpi r24,lo8(10)
 4154 20c2 01F0                 breq .L377
 4155 20c4 8431                 cpi r24,lo8(20)
 4156 20c6 00F0                 brlo .L376
 4157                   .L377:
 4158 20c8 289A                 sbi 37-0x20,0
 4159 20ca 00C0                 rjmp .L378
 4160                   .L376:
 4161 20cc 2898                 cbi 37-0x20,0
 4162                   .L378:
 4163 20ce 8091 0000            lds r24,modell_fliegt
 4164 20d2 9091 0000            lds r25,(modell_fliegt)+1
 4165 20d6 895E                 subi r24,lo8(1001)
 4166 20d8 9340                 sbci r25,hi8(1001)
 4167 20da 00F0                 brlo .L379
 4168 20dc 8091 0000            lds r24,Capacity+6
 4169 20e0 8536                 cpi r24,lo8(101)
 4170 20e2 00F0                 brlo .L379
 4171 20e4 8091 0000            lds r24,HooverGasEmergencyPercent
 4172 20e8 9091 0000            lds r25,(HooverGasEmergencyPercent)+1
 4173 20ec 9A83                 std Y+2,r25
 4174 20ee 8983                 std Y+1,r24
 4175 20f0 8091 0000            lds r24,FC_StatusFlags
 4176 20f4 8061                 ori r24,lo8(16)
 4177 20f6 8093 0000            sts FC_StatusFlags,r24
 4178 20fa 8091 0000            lds r24,EE_Parameter+1
 4179 20fe A82F                 mov r26,r24
 4180 2100 BB27                 clr r27
 4181 2102 AA0F                 add r26,r26
 4182 2104 BB1F                 adc r27,r27
 4183 2106 FD01                 movw r30,r26
 4184 2108 E050                 subi r30,lo8(-(PPM_diff))
 4185 210a F040                 sbci r31,hi8(-(PPM_diff))
 4186 210c 1182                 std Z+1,__zero_reg__
 4187 210e 1082                 st Z,__zero_reg__
 4188 2110 8091 0000            lds r24,EE_Parameter+2
 4189 2114 282F                 mov r18,r24
 4190 2116 3327                 clr r19
 4191 2118 220F                 add r18,r18
 4192 211a 331F                 adc r19,r19
 4193 211c C901                 movw r24,r18
 4194 211e 8050                 subi r24,lo8(-(PPM_diff))
 4195 2120 9040                 sbci r25,hi8(-(PPM_diff))
 4196 2122 FC01                 movw r30,r24
 4197 2124 1182                 std Z+1,__zero_reg__
 4198 2126 1082                 st Z,__zero_reg__
 4199 2128 A050                 subi r26,lo8(-(PPM_in))
 4200 212a B040                 sbci r27,hi8(-(PPM_in))
 4201 212c 1196                 adiw r26,1
 4202 212e 1C92                 st X,__zero_reg__
 4203 2130 1E92                 st -X,__zero_reg__
 4204 2132 2050                 subi r18,lo8(-(PPM_in))
 4205 2134 3040                 sbci r19,hi8(-(PPM_in))
 4206 2136 D901                 movw r26,r18
 4207 2138 1196                 adiw r26,1
 4208 213a 1C92                 st X,__zero_reg__
 4209 213c 1E92                 st -X,__zero_reg__
 4210 213e 8091 0000            lds r24,EE_Parameter+4
 4211 2142 E82F                 mov r30,r24
 4212 2144 FF27                 clr r31
 4213 2146 EE0F                 add r30,r30
 4214 2148 FF1F                 adc r31,r31
 4215 214a E050                 subi r30,lo8(-(PPM_in))
 4216 214c F040                 sbci r31,hi8(-(PPM_in))
 4217 214e 1182                 std Z+1,__zero_reg__
 4218 2150 1082                 st Z,__zero_reg__
 4219 2152 00C0                 rjmp .L381
 4220                   .L379:
 4221 2154 1092 0000            sts MotorenEin,__zero_reg__
 4222 2158 00C0                 rjmp .L381
 4223                   .L373:
 4224 215a 8091 0000            lds r24,SenderOkay
 4225 215e 8D38                 cpi r24,lo8(-115)
 4226 2160 00F4                 brsh .+2
 4227 2162 00C0                 rjmp .L382
 4228 2164 8091 0000            lds r24,FC_StatusFlags
 4229 2168 8F7E                 andi r24,lo8(-17)
 4230 216a 8093 0000            sts FC_StatusFlags,r24
 4231 216e 9091 0000            lds r25,EE_Parameter+38
 4232 2172 82E3                 ldi r24,lo8(50)
 4233 2174 989F                 mul r25,r24
 4234 2176 C001                 movw r24,r0
 4235 2178 1124                 clr r1
 4236 217a 9093 0000            sts (RcLostTimer.5)+1,r25
 4237 217e 8093 0000            sts RcLostTimer.5,r24
 4238 2182 E981                 ldd r30,Y+1
 4239 2184 FA81                 ldd r31,Y+2
 4240 2186 B997                 sbiw r30,41
 4241 2188 04F0                 brlt .L383
 4242 218a 8091 0000            lds r24,MotorenEin
 4243 218e 8823                 tst r24
 4244 2190 01F0                 breq .L383
 4245 2192 8091 0000            lds r24,modell_fliegt
 4246 2196 9091 0000            lds r25,(modell_fliegt)+1
 4247 219a FFEF                 ldi r31,hi8(-1)
 4248 219c 8F3F                 cpi r24,lo8(-1)
 4249 219e 9F07                 cpc r25,r31
 4250 21a0 01F0                 breq .L383
 4251 21a2 0196                 adiw r24,1
 4252 21a4 9093 0000            sts (modell_fliegt)+1,r25
 4253 21a8 8093 0000            sts modell_fliegt,r24
 4254                   .L383:
 4255 21ac 8091 0000            lds r24,modell_fliegt
 4256 21b0 9091 0000            lds r25,(modell_fliegt)+1
 4257 21b4 8F3F                 cpi r24,255
 4258 21b6 9105                 cpc r25,__zero_reg__
 4259 21b8 01F0                 breq .+2
 4260 21ba 00F4                 brsh .L385
 4261 21bc 1092 0000            sts SummeNick,__zero_reg__
 4262 21c0 1092 0000            sts (SummeNick)+1,__zero_reg__
 4263 21c4 1092 0000            sts (SummeNick)+2,__zero_reg__
 4264 21c8 1092 0000            sts (SummeNick)+3,__zero_reg__
 4265 21cc 1092 0000            sts SummeRoll,__zero_reg__
 4266 21d0 1092 0000            sts (SummeRoll)+1,__zero_reg__
 4267 21d4 1092 0000            sts (SummeRoll)+2,__zero_reg__
 4268 21d8 1092 0000            sts (SummeRoll)+3,__zero_reg__
 4269 21dc 1092 0000            sts sollGier.0,__zero_reg__
 4270 21e0 1092 0000            sts (sollGier.0)+1,__zero_reg__
 4271 21e4 1092 0000            sts (sollGier.0)+2,__zero_reg__
 4272 21e8 1092 0000            sts (sollGier.0)+3,__zero_reg__
 4273 21ec 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 4274 21f0 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 4275 21f4 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 4276 21f8 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 4277 21fc 00C0                 rjmp .L386
 4278                   .L385:
 4279 21fe 8091 0000            lds r24,FC_StatusFlags
 4280 2202 8260                 ori r24,lo8(2)
 4281 2204 8093 0000            sts FC_StatusFlags,r24
 4282                   .L386:
 4283 2208 8091 0000            lds r24,EE_Parameter+3
 4284 220c E82F                 mov r30,r24
 4285 220e FF27                 clr r31
 4286 2210 EE0F                 add r30,r30
 4287 2212 FF1F                 adc r31,r31
 4288 2214 E050                 subi r30,lo8(-(PPM_in))
 4289 2216 F040                 sbci r31,hi8(-(PPM_in))
 4290 2218 8081                 ld r24,Z
 4291 221a 9181                 ldd r25,Z+1
 4292 221c 8135                 cpi r24,81
 4293 221e 9105                 cpc r25,__zero_reg__
 4294 2220 04F4                 brge .+2
 4295 2222 00C0                 rjmp .L387
 4296 2224 2091 0000            lds r18,MotorenEin
 4297 2228 2223                 tst r18
 4298 222a 01F0                 breq .+2
 4299 222c 00C0                 rjmp .L387
 4300 222e 8091 0000            lds r24,EE_Parameter+4
 4301 2232 E82F                 mov r30,r24
 4302 2234 FF27                 clr r31
 4303 2236 EE0F                 add r30,r30
 4304 2238 FF1F                 adc r31,r31
 4305 223a E050                 subi r30,lo8(-(PPM_in))
 4306 223c F040                 sbci r31,hi8(-(PPM_in))
 4307 223e 8081                 ld r24,Z
 4308 2240 9181                 ldd r25,Z+1
 4309 2242 8C34                 cpi r24,76
 4310 2244 9105                 cpc r25,__zero_reg__
 4311 2246 04F4                 brge .+2
 4312 2248 00C0                 rjmp .L388
 4313 224a 8091 0000            lds r24,delay_neutral.6
 4314 224e 8F5F                 subi r24,lo8(-(1))
 4315 2250 8093 0000            sts delay_neutral.6,r24
 4316 2254 893C                 cpi r24,lo8(-55)
 4317 2256 00F4                 brsh .+2
 4318 2258 00C0                 rjmp .L387
 4319 225a 2093 0000            sts delay_neutral.6,r18
 4320 225e 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 4321 2262 1092 0000            sts modell_fliegt,__zero_reg__
 4322 2266 3091 0000            lds r19,EE_Parameter+1
 4323 226a E32F                 mov r30,r19
 4324 226c FF27                 clr r31
 4325 226e EE0F                 add r30,r30
 4326 2270 FF1F                 adc r31,r31
 4327 2272 E050                 subi r30,lo8(-(PPM_in))
 4328 2274 F040                 sbci r31,hi8(-(PPM_in))
 4329 2276 8081                 ld r24,Z
 4330 2278 9181                 ldd r25,Z+1
 4331 227a 8734                 cpi r24,71
 4332 227c 9105                 cpc r25,__zero_reg__
 4333 227e 04F4                 brge .L391
 4334 2280 8091 0000            lds r24,EE_Parameter+2
 4335 2284 E82F                 mov r30,r24
 4336 2286 FF27                 clr r31
 4337 2288 EE0F                 add r30,r30
 4338 228a FF1F                 adc r31,r31
 4339 228c E050                 subi r30,lo8(-(PPM_in))
 4340 228e F040                 sbci r31,hi8(-(PPM_in))
 4341 2290 8081                 ld r24,Z
 4342 2292 9181                 ldd r25,Z+1
 4343 2294 0190                 ld __tmp_reg__,Z+
 4344 2296 F081                 ld r31,Z
 4345 2298 E02D                 mov r30,__tmp_reg__
 4346 229a F7FF                 sbrs r31,7
 4347 229c 00C0                 rjmp .L392
 4348 229e F095                 com r31
 4349 22a0 E195                 neg r30
 4350 22a2 FF4F                 sbci r31,lo8(-1)
 4351                   .L392:
 4352 22a4 E734                 cpi r30,71
 4353 22a6 F105                 cpc r31,__zero_reg__
 4354 22a8 04F4                 brge .+2
 4355 22aa 00C0                 rjmp .L390
 4356                   .L391:
 4357 22ac 41E0                 ldi r20,lo8(1)
 4358 22ae 2091 0000            lds r18,EE_Parameter+2
 4359 22b2 A22F                 mov r26,r18
 4360 22b4 BB27                 clr r27
 4361 22b6 AA0F                 add r26,r26
 4362 22b8 BB1F                 adc r27,r27
 4363 22ba A050                 subi r26,lo8(-(PPM_in))
 4364 22bc B040                 sbci r27,hi8(-(PPM_in))
 4365 22be 8D91                 ld r24,X+
 4366 22c0 9C91                 ld r25,X
 4367 22c2 1197                 sbiw r26,1
 4368 22c4 8734                 cpi r24,71
 4369 22c6 9105                 cpc r25,__zero_reg__
 4370 22c8 04F0                 brlt .L393
 4371 22ca E32F                 mov r30,r19
 4372 22cc FF27                 clr r31
 4373 22ce EE0F                 add r30,r30
 4374 22d0 FF1F                 adc r31,r31
 4375 22d2 E050                 subi r30,lo8(-(PPM_in))
 4376 22d4 F040                 sbci r31,hi8(-(PPM_in))
 4377 22d6 8081                 ld r24,Z
 4378 22d8 9181                 ldd r25,Z+1
 4379                   .L393:
 4380 22da 8D91                 ld r24,X+
 4381 22dc 9C91                 ld r25,X
 4382 22de 8734                 cpi r24,71
 4383 22e0 9105                 cpc r25,__zero_reg__
 4384 22e2 04F0                 brlt .L394
 4385 22e4 8091 0000            lds r24,EE_Parameter+1
 4386 22e8 E82F                 mov r30,r24
 4387 22ea FF27                 clr r31
 4388 22ec EE0F                 add r30,r30
 4389 22ee FF1F                 adc r31,r31
 4390 22f0 E050                 subi r30,lo8(-(PPM_in))
 4391 22f2 F040                 sbci r31,hi8(-(PPM_in))
 4392 22f4 8081                 ld r24,Z
 4393 22f6 9181                 ldd r25,Z+1
 4394 22f8 8734                 cpi r24,71
 4395 22fa 9105                 cpc r25,__zero_reg__
 4396 22fc 04F0                 brlt .L394
 4397 22fe 42E0                 ldi r20,lo8(2)
 4398                   .L394:
 4399 2300 E22F                 mov r30,r18
 4400 2302 FF27                 clr r31
 4401 2304 EE0F                 add r30,r30
 4402 2306 FF1F                 adc r31,r31
 4403 2308 E050                 subi r30,lo8(-(PPM_in))
 4404 230a F040                 sbci r31,hi8(-(PPM_in))
 4405 230c 8081                 ld r24,Z
 4406 230e 9181                 ldd r25,Z+1
 4407 2310 8634                 cpi r24,70
 4408 2312 9105                 cpc r25,__zero_reg__
 4409 2314 04F4                 brge .L395
 4410 2316 8091 0000            lds r24,EE_Parameter+1
 4411 231a E82F                 mov r30,r24
 4412 231c FF27                 clr r31
 4413 231e EE0F                 add r30,r30
 4414 2320 FF1F                 adc r31,r31
 4415 2322 E050                 subi r30,lo8(-(PPM_in))
 4416 2324 F040                 sbci r31,hi8(-(PPM_in))
 4417 2326 8081                 ld r24,Z
 4418 2328 9181                 ldd r25,Z+1
 4419 232a 8734                 cpi r24,71
 4420 232c 9105                 cpc r25,__zero_reg__
 4421 232e 04F0                 brlt .L395
 4422 2330 43E0                 ldi r20,lo8(3)
 4423                   .L395:
 4424 2332 E22F                 mov r30,r18
 4425 2334 FF27                 clr r31
 4426 2336 EE0F                 add r30,r30
 4427 2338 FF1F                 adc r31,r31
 4428 233a E050                 subi r30,lo8(-(PPM_in))
 4429 233c F040                 sbci r31,hi8(-(PPM_in))
 4430 233e 8081                 ld r24,Z
 4431 2340 9181                 ldd r25,Z+1
 4432 2342 8A5B                 subi r24,lo8(-70)
 4433 2344 9F4F                 sbci r25,hi8(-70)
 4434 2346 04F4                 brge .L396
 4435 2348 8091 0000            lds r24,EE_Parameter+1
 4436 234c E82F                 mov r30,r24
 4437 234e FF27                 clr r31
 4438 2350 EE0F                 add r30,r30
 4439 2352 FF1F                 adc r31,r31
 4440 2354 E050                 subi r30,lo8(-(PPM_in))
 4441 2356 F040                 sbci r31,hi8(-(PPM_in))
 4442 2358 8081                 ld r24,Z
 4443 235a 9181                 ldd r25,Z+1
 4444 235c 8734                 cpi r24,71
 4445 235e 9105                 cpc r25,__zero_reg__
 4446 2360 04F0                 brlt .L396
 4447 2362 44E0                 ldi r20,lo8(4)
 4448                   .L396:
 4449 2364 E22F                 mov r30,r18
 4450 2366 FF27                 clr r31
 4451 2368 EE0F                 add r30,r30
 4452 236a FF1F                 adc r31,r31
 4453 236c E050                 subi r30,lo8(-(PPM_in))
 4454 236e F040                 sbci r31,hi8(-(PPM_in))
 4455 2370 8081                 ld r24,Z
 4456 2372 9181                 ldd r25,Z+1
 4457 2374 8A5B                 subi r24,lo8(-70)
 4458 2376 9F4F                 sbci r25,hi8(-70)
 4459 2378 04F4                 brge .L397
 4460 237a 8091 0000            lds r24,EE_Parameter+1
 4461 237e E82F                 mov r30,r24
 4462 2380 FF27                 clr r31
 4463 2382 EE0F                 add r30,r30
 4464 2384 FF1F                 adc r31,r31
 4465 2386 E050                 subi r30,lo8(-(PPM_in))
 4466 2388 F040                 sbci r31,hi8(-(PPM_in))
 4467 238a 8081                 ld r24,Z
 4468 238c 9181                 ldd r25,Z+1
 4469 238e 8634                 cpi r24,70
 4470 2390 9105                 cpc r25,__zero_reg__
 4471 2392 04F4                 brge .L397
 4472 2394 45E0                 ldi r20,lo8(5)
 4473                   .L397:
 4474 2396 842F                 mov r24,r20
 4475 2398 0E94 0000            call SetActiveParamSet
 4476                   .L390:
 4477 239c 8091 0000            lds r24,EE_Parameter+2
 4478 23a0 E82F                 mov r30,r24
 4479 23a2 FF27                 clr r31
 4480 23a4 EE0F                 add r30,r30
 4481 23a6 FF1F                 adc r31,r31
 4482 23a8 E050                 subi r30,lo8(-(PPM_in))
 4483 23aa F040                 sbci r31,hi8(-(PPM_in))
 4484 23ac 8081                 ld r24,Z
 4485 23ae 9181                 ldd r25,Z+1
 4486 23b0 0190                 ld __tmp_reg__,Z+
 4487 23b2 F081                 ld r31,Z
 4488 23b4 E02D                 mov r30,__tmp_reg__
 4489 23b6 F7FF                 sbrs r31,7
 4490 23b8 00C0                 rjmp .L399
 4491 23ba F095                 com r31
 4492 23bc E195                 neg r30
 4493 23be FF4F                 sbci r31,lo8(-1)
 4494                   .L399:
 4495 23c0 7E97                 sbiw r30,30
 4496 23c2 04F4                 brge .L398
 4497 23c4 8091 0000            lds r24,EE_Parameter+1
 4498 23c8 E82F                 mov r30,r24
 4499 23ca FF27                 clr r31
 4500 23cc EE0F                 add r30,r30
 4501 23ce FF1F                 adc r31,r31
 4502 23d0 E050                 subi r30,lo8(-(PPM_in))
 4503 23d2 F040                 sbci r31,hi8(-(PPM_in))
 4504 23d4 8081                 ld r24,Z
 4505 23d6 9181                 ldd r25,Z+1
 4506 23d8 8A5B                 subi r24,lo8(-70)
 4507 23da 9F4F                 sbci r25,hi8(-70)
 4508 23dc 04F4                 brge .L398
 4509 23de 81E0                 ldi r24,lo8(1)
 4510 23e0 8093 0000            sts WinkelOut+6,r24
 4511 23e4 1092 0000            sts CalibrationDone,__zero_reg__
 4512 23e8 88EE                 ldi r24,lo8(1000)
 4513 23ea 93E0                 ldi r25,hi8(1000)
 4514 23ec 9093 0000            sts (beeptime)+1,r25
 4515 23f0 8093 0000            sts beeptime,r24
 4516 23f4 00C0                 rjmp .L387
 4517                   .L398:
 4518 23f6 0E94 0000            call GetActiveParamSet
 4519 23fa 0E94 0000            call ParamSet_ReadFromEEProm
 4520 23fe 80E0                 ldi r24,lo8(0)
 4521 2400 0E94 0000            call LipoDetection
 4522 2404 8091 0000            lds r24,EE_Parameter+39
 4523 2408 0E94 0000            call LIBFC_ReceiverInit
 4524 240c 8091 0000            lds r24,Parameter_GlobalConfig
 4525 2410 80FF                 sbrs r24,0
 4526 2412 00C0                 rjmp .L401
 4527 2414 8091 0000            lds r24,MessLuftdruck
 4528 2418 9091 0000            lds r25,(MessLuftdruck)+1
 4529 241c 875B                 subi r24,lo8(951)
 4530 241e 9340                 sbci r25,hi8(951)
 4531 2420 00F4                 brsh .L403
 4532 2422 8091 0000            lds r24,MessLuftdruck
 4533 2426 9091 0000            lds r25,(MessLuftdruck)+1
 4534 242a 8E5E                 subi r24,lo8(750)
 4535 242c 9240                 sbci r25,hi8(750)
 4536 242e 00F4                 brsh .L401
 4537                   .L403:
 4538 2430 0E94 0000            call SucheLuftruckOffset
 4539                   .L401:
 4540 2434 80E0                 ldi r24,lo8(0)
 4541 2436 0E94 0000            call SetNeutral
 4542 243a 81E0                 ldi r24,lo8(1)
 4543 243c 8093 0000            sts CalibrationDone,r24
 4544 2440 8093 0000            sts ServoActive,r24
 4545 2444 579A                 sbi 42-0x20,7
 4546 2446 00C0                 rjmp .L888
 4547                   .L388:
 4548 2448 8081                 ld r24,Z
 4549 244a 9181                 ldd r25,Z+1
 4550 244c 855B                 subi r24,lo8(-75)
 4551 244e 9F4F                 sbci r25,hi8(-75)
 4552 2450 04F4                 brge .L405
 4553 2452 8091 0000            lds r24,delay_neutral.6
 4554 2456 8F5F                 subi r24,lo8(-(1))
 4555 2458 8093 0000            sts delay_neutral.6,r24
 4556 245c 893C                 cpi r24,lo8(-55)
 4557 245e 00F0                 brlo .L387
 4558 2460 2093 0000            sts MotorenEin,r18
 4559 2464 2093 0000            sts delay_neutral.6,r18
 4560 2468 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 4561 246c 1092 0000            sts modell_fliegt,__zero_reg__
 4562 2470 81E0                 ldi r24,lo8(1)
 4563 2472 0E94 0000            call SetNeutral
 4564 2476 81E0                 ldi r24,lo8(1)
 4565 2478 8093 0000            sts CalibrationDone,r24
 4566                   .L888:
 4567 247c 88E1                 ldi r24,lo8(24)
 4568 247e 8093 0000            sts SpeakHoTT,r24
 4569 2482 0E94 0000            call GetActiveParamSet
 4570 2486 68E7                 ldi r22,lo8(120)
 4571 2488 70E0                 ldi r23,hi8(120)
 4572 248a 0E94 0000            call Piep
 4573 248e 00C0                 rjmp .L387
 4574                   .L405:
 4575 2490 2093 0000            sts delay_neutral.6,r18
 4576                   .L387:
 4577 2494 8091 0000            lds r24,EE_Parameter+3
 4578 2498 E82F                 mov r30,r24
 4579 249a FF27                 clr r31
 4580 249c EE0F                 add r30,r30
 4581 249e FF1F                 adc r31,r31
 4582 24a0 E050                 subi r30,lo8(-(PPM_in))
 4583 24a2 F040                 sbci r31,hi8(-(PPM_in))
 4584 24a4 8081                 ld r24,Z
 4585 24a6 9181                 ldd r25,Z+1
 4586 24a8 8B5A                 subi r24,lo8(-85)
 4587 24aa 9F4F                 sbci r25,hi8(-85)
 4588 24ac 04F0                 brlt .+2
 4589 24ae 00C0                 rjmp .L408
 4590 24b0 2091 0000            lds r18,EE_Parameter+100
 4591 24b4 E22F                 mov r30,r18
 4592 24b6 FF27                 clr r31
 4593 24b8 EF77                 andi r30,lo8(127)
 4594 24ba F070                 andi r31,hi8(127)
 4595 24bc EE0F                 add r30,r30
 4596 24be FF1F                 adc r31,r31
 4597 24c0 E050                 subi r30,lo8(-(PPM_diff))
 4598 24c2 F040                 sbci r31,hi8(-(PPM_diff))
 4599 24c4 8081                 ld r24,Z
 4600 24c6 9181                 ldd r25,Z+1
 4601 24c8 0697                 sbiw r24,6
 4602 24ca 04F0                 brlt .L409
 4603 24cc 84E6                 ldi r24,lo8(100)
 4604 24ce 00C0                 rjmp .L889
 4605                   .L409:
 4606 24d0 8081                 ld r24,Z
 4607 24d2 9181                 ldd r25,Z+1
 4608 24d4 8B5F                 subi r24,lo8(-5)
 4609 24d6 9F4F                 sbci r25,hi8(-5)
 4610 24d8 04F4                 brge .L410
 4611 24da 8CE9                 ldi r24,lo8(-100)
 4612                   .L889:
 4613 24dc 8093 0000            sts move_safety_switch.9,r24
 4614                   .L410:
 4615 24e0 8091 0000            lds r24,MotorenEin
 4616 24e4 E091 0000            lds r30,EE_Parameter+4
 4617 24e8 8823                 tst r24
 4618 24ea 01F0                 breq .+2
 4619 24ec 00C0                 rjmp .L412
 4620 24ee FF27                 clr r31
 4621 24f0 EE0F                 add r30,r30
 4622 24f2 FF1F                 adc r31,r31
 4623 24f4 E050                 subi r30,lo8(-(PPM_in))
 4624 24f6 F040                 sbci r31,hi8(-(PPM_in))
 4625 24f8 8081                 ld r24,Z
 4626 24fa 9181                 ldd r25,Z+1
 4627 24fc 855B                 subi r24,lo8(-75)
 4628 24fe 9F4F                 sbci r25,hi8(-75)
 4629 2500 04F4                 brge .L415
 4630 2502 8091 0000            lds r24,EE_Parameter+111
 4631 2506 83FD                 sbrc r24,3
 4632 2508 00C0                 rjmp .L416
 4633 250a E22F                 mov r30,r18
 4634 250c FF27                 clr r31
 4635 250e EE0F                 add r30,r30
 4636 2510 FF1F                 adc r31,r31
 4637 2512 E050                 subi r30,lo8(-(PPM_in))
 4638 2514 F040                 sbci r31,hi8(-(PPM_in))
 4639 2516 8081                 ld r24,Z
 4640 2518 9181                 ldd r25,Z+1
 4641 251a 855B                 subi r24,lo8(-75)
 4642 251c 9F4F                 sbci r25,hi8(-75)
 4643 251e 04F0                 brlt .L414
 4644                   .L416:
 4645 2520 8091 0000            lds r24,EE_Parameter+100
 4646 2524 8823                 tst r24
 4647 2526 01F0                 breq .L414
 4648                   .L415:
 4649 2528 8091 0000            lds r24,EE_Parameter+111
 4650 252c 83FF                 sbrs r24,3
 4651 252e 00C0                 rjmp .L413
 4652 2530 8091 0000            lds r24,EE_Parameter+100
 4653 2534 E82F                 mov r30,r24
 4654 2536 FF27                 clr r31
 4655 2538 EE0F                 add r30,r30
 4656 253a FF1F                 adc r31,r31
 4657 253c E050                 subi r30,lo8(-(PPM_in))
 4658 253e F040                 sbci r31,hi8(-(PPM_in))
 4659 2540 8081                 ld r24,Z
 4660 2542 9181                 ldd r25,Z+1
 4661 2544 875F                 subi r24,lo8(-9)
 4662 2546 9F4F                 sbci r25,hi8(-9)
 4663 2548 04F4                 brge .+2
 4664 254a 00C0                 rjmp .L413
 4665 254c 8091 0000            lds r24,move_safety_switch.9
 4666 2550 8436                 cpi r24,lo8(100)
 4667 2552 01F0                 breq .+2
 4668 2554 00C0                 rjmp .L413
 4669                   .L414:
 4670 2556 2091 0000            lds r18,CalibrationDone
 4671 255a 2223                 tst r18
 4672 255c 01F0                 breq .L417
 4673 255e 8091 0000            lds r24,FC_StatusFlags
 4674 2562 8860                 ori r24,lo8(8)
 4675 2564 8093 0000            sts FC_StatusFlags,r24
 4676                   .L417:
 4677 2568 8091 0000            lds r24,delay_einschalten.7
 4678 256c 8F5F                 subi r24,lo8(-(1))
 4679 256e 8093 0000            sts delay_einschalten.7,r24
 4680 2572 8E3F                 cpi r24,lo8(-2)
 4681 2574 00F4                 brsh .+2
 4682 2576 00C0                 rjmp .L423
 4683 2578 1092 0000            sts delay_einschalten.7,__zero_reg__
 4684 257c 8091 0000            lds r24,VersionInfo+5
 4685 2580 8823                 tst r24
 4686 2582 01F0                 breq .+2
 4687 2584 00C0                 rjmp .L419
 4688 2586 2223                 tst r18
 4689 2588 01F4                 brne .+2
 4690 258a 00C0                 rjmp .L419
 4691 258c 8091 0000            lds r24,NC_ErrorCode
 4692 2590 8823                 tst r24
 4693 2592 01F0                 breq .+2
 4694 2594 00C0                 rjmp .L419
 4695 2596 81E0                 ldi r24,lo8(1)
 4696 2598 90E0                 ldi r25,hi8(1)
 4697 259a 9093 0000            sts (modell_fliegt)+1,r25
 4698 259e 8093 0000            sts modell_fliegt,r24
 4699 25a2 81E0                 ldi r24,lo8(1)
 4700 25a4 8093 0000            sts MotorenEin,r24
 4701 25a8 1092 0000            sts sollGier.0,__zero_reg__
 4702 25ac 1092 0000            sts (sollGier.0)+1,__zero_reg__
 4703 25b0 1092 0000            sts (sollGier.0)+2,__zero_reg__
 4704 25b4 1092 0000            sts (sollGier.0)+3,__zero_reg__
 4705 25b8 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 4706 25bc 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 4707 25c0 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 4708 25c4 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 4709 25c8 1092 0000            sts Mess_Integral_Gier2,__zero_reg__
 4710 25cc 1092 0000            sts (Mess_Integral_Gier2)+1,__zero_reg__
 4711 25d0 1092 0000            sts (Mess_Integral_Gier2)+2,__zero_reg__
 4712 25d4 1092 0000            sts (Mess_Integral_Gier2)+3,__zero_reg__
 4713 25d8 8091 0000            lds r24,EE_Parameter+28
 4714 25dc E82E                 mov r14,r24
 4715 25de FF24                 clr r15
 4716 25e0 0027                 clr r16
 4717 25e2 1127                 clr r17
 4718 25e4 8091 0000            lds r24,Mittelwert_AccNick
 4719 25e8 9091 0000            lds r25,(Mittelwert_AccNick)+1
 4720 25ec 9C01                 movw r18,r24
 4721 25ee 4427                 clr r20
 4722 25f0 37FD                 sbrc r19,7
 4723 25f2 4095                 com r20
 4724 25f4 542F                 mov r21,r20
 4725 25f6 C801                 movw r24,r16
 4726 25f8 B701                 movw r22,r14
 4727 25fa 0E94 0000            call __mulsi3
 4728 25fe DC01                 movw r26,r24
 4729 2600 CB01                 movw r24,r22
 4730 2602 8093 0000            sts Mess_IntegralNick,r24
 4731 2606 9093 0000            sts (Mess_IntegralNick)+1,r25
 4732 260a A093 0000            sts (Mess_IntegralNick)+2,r26
 4733 260e B093 0000            sts (Mess_IntegralNick)+3,r27
 4734 2612 8091 0000            lds r24,Mittelwert_AccRoll
 4735 2616 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 4736 261a 9C01                 movw r18,r24
 4737 261c 4427                 clr r20
 4738 261e 37FD                 sbrc r19,7
 4739 2620 4095                 com r20
 4740 2622 542F                 mov r21,r20
 4741 2624 C801                 movw r24,r16
 4742 2626 B701                 movw r22,r14
 4743 2628 0E94 0000            call __mulsi3
 4744 262c DC01                 movw r26,r24
 4745 262e CB01                 movw r24,r22
 4746 2630 8093 0000            sts Mess_IntegralRoll,r24
 4747 2634 9093 0000            sts (Mess_IntegralRoll)+1,r25
 4748 2638 A093 0000            sts (Mess_IntegralRoll)+2,r26
 4749 263c B093 0000            sts (Mess_IntegralRoll)+3,r27
 4750 2640 8091 0000            lds r24,IntegralNick
 4751 2644 9091 0000            lds r25,(IntegralNick)+1
 4752 2648 A091 0000            lds r26,(IntegralNick)+2
 4753 264c B091 0000            lds r27,(IntegralNick)+3
 4754 2650 8093 0000            sts Mess_IntegralNick2,r24
 4755 2654 9093 0000            sts (Mess_IntegralNick2)+1,r25
 4756 2658 A093 0000            sts (Mess_IntegralNick2)+2,r26
 4757 265c B093 0000            sts (Mess_IntegralNick2)+3,r27
 4758 2660 8091 0000            lds r24,IntegralRoll
 4759 2664 9091 0000            lds r25,(IntegralRoll)+1
 4760 2668 A091 0000            lds r26,(IntegralRoll)+2
 4761 266c B091 0000            lds r27,(IntegralRoll)+3
 4762 2670 8093 0000            sts Mess_IntegralRoll2,r24
 4763 2674 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 4764 2678 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 4765 267c B093 0000            sts (Mess_IntegralRoll2)+3,r27
 4766 2680 1092 0000            sts SummeNick,__zero_reg__
 4767 2684 1092 0000            sts (SummeNick)+1,__zero_reg__
 4768 2688 1092 0000            sts (SummeNick)+2,__zero_reg__
 4769 268c 1092 0000            sts (SummeNick)+3,__zero_reg__
 4770 2690 1092 0000            sts SummeRoll,__zero_reg__
 4771 2694 1092 0000            sts (SummeRoll)+1,__zero_reg__
 4772 2698 1092 0000            sts (SummeRoll)+2,__zero_reg__
 4773 269c 1092 0000            sts (SummeRoll)+3,__zero_reg__
 4774 26a0 84E6                 ldi r24,lo8(100)
 4775 26a2 8093 0000            sts NeueKompassRichtungMerken,r24
 4776 26a6 84E3                 ldi r24,lo8(52)
 4777 26a8 00C0                 rjmp .L890
 4778                   .L419:
 4779 26aa 8CED                 ldi r24,lo8(1500)
 4780 26ac 95E0                 ldi r25,hi8(1500)
 4781 26ae 9093 0000            sts (beeptime)+1,r25
 4782 26b2 8093 0000            sts beeptime,r24
 4783 26b6 2223                 tst r18
 4784 26b8 01F0                 breq .+2
 4785 26ba 00C0                 rjmp .L423
 4786 26bc 81E0                 ldi r24,lo8(1)
 4787 26be 00C0                 rjmp .L890
 4788                   .L413:
 4789 26c0 1092 0000            sts delay_einschalten.7,__zero_reg__
 4790 26c4 00C0                 rjmp .L423
 4791                   .L412:
 4792 26c6 FF27                 clr r31
 4793 26c8 EE0F                 add r30,r30
 4794 26ca FF1F                 adc r31,r31
 4795 26cc E050                 subi r30,lo8(-(PPM_in))
 4796 26ce F040                 sbci r31,hi8(-(PPM_in))
 4797 26d0 8081                 ld r24,Z
 4798 26d2 9181                 ldd r25,Z+1
 4799 26d4 8C34                 cpi r24,76
 4800 26d6 9105                 cpc r25,__zero_reg__
 4801 26d8 04F0                 brlt .L426
 4802 26da 8091 0000            lds r24,EE_Parameter+111
 4803 26de 83FD                 sbrc r24,3
 4804 26e0 00C0                 rjmp .L427
 4805 26e2 E22F                 mov r30,r18
 4806 26e4 FF27                 clr r31
 4807 26e6 EE0F                 add r30,r30
 4808 26e8 FF1F                 adc r31,r31
 4809 26ea E050                 subi r30,lo8(-(PPM_in))
 4810 26ec F040                 sbci r31,hi8(-(PPM_in))
 4811 26ee 8081                 ld r24,Z
 4812 26f0 9181                 ldd r25,Z+1
 4813 26f2 855B                 subi r24,lo8(-75)
 4814 26f4 9F4F                 sbci r25,hi8(-75)
 4815 26f6 04F0                 brlt .L425
 4816                   .L427:
 4817 26f8 8091 0000            lds r24,EE_Parameter+100
 4818 26fc 8823                 tst r24
 4819 26fe 01F0                 breq .L425
 4820                   .L426:
 4821 2700 8091 0000            lds r24,EE_Parameter+111
 4822 2704 83FF                 sbrs r24,3
 4823 2706 00C0                 rjmp .L424
 4824 2708 8091 0000            lds r24,EE_Parameter+100
 4825 270c E82F                 mov r30,r24
 4826 270e FF27                 clr r31
 4827 2710 EE0F                 add r30,r30
 4828 2712 FF1F                 adc r31,r31
 4829 2714 E050                 subi r30,lo8(-(PPM_in))
 4830 2716 F040                 sbci r31,hi8(-(PPM_in))
 4831 2718 8081                 ld r24,Z
 4832 271a 9181                 ldd r25,Z+1
 4833 271c 8E5C                 subi r24,lo8(-50)
 4834 271e 9F4F                 sbci r25,hi8(-50)
 4835 2720 04F4                 brge .L424
 4836 2722 8091 0000            lds r24,move_safety_switch.9
 4837 2726 8C39                 cpi r24,lo8(-100)
 4838 2728 01F4                 brne .L424
 4839                   .L425:
 4840 272a 8091 0000            lds r24,delay_ausschalten.8
 4841 272e 8F5F                 subi r24,lo8(-(1))
 4842 2730 8093 0000            sts delay_ausschalten.8,r24
 4843 2734 8B3F                 cpi r24,lo8(-5)
 4844 2736 00F0                 brlo .L423
 4845 2738 1092 0000            sts MotorenEin,__zero_reg__
 4846 273c 1092 0000            sts delay_ausschalten.8,__zero_reg__
 4847 2740 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 4848 2744 1092 0000            sts modell_fliegt,__zero_reg__
 4849 2748 86E2                 ldi r24,lo8(38)
 4850                   .L890:
 4851 274a 8093 0000            sts SpeakHoTT,r24
 4852 274e 00C0                 rjmp .L423
 4853                   .L424:
 4854 2750 1092 0000            sts delay_ausschalten.8,__zero_reg__
 4855                   .L423:
 4856 2754 8091 0000            lds r24,GasIsZeroCnt
 4857 2758 9091 0000            lds r25,(GasIsZeroCnt)+1
 4858 275c 13E0                 ldi r17,hi8(1000)
 4859 275e 883E                 cpi r24,lo8(1000)
 4860 2760 9107                 cpc r25,r17
 4861 2762 00F4                 brsh .L381
 4862 2764 0196                 adiw r24,1
 4863 2766 9093 0000            sts (GasIsZeroCnt)+1,r25
 4864 276a 8093 0000            sts GasIsZeroCnt,r24
 4865 276e 00C0                 rjmp .L381
 4866                   .L408:
 4867 2770 1092 0000            sts move_safety_switch.9,__zero_reg__
 4868 2774 1092 0000            sts (GasIsZeroCnt)+1,__zero_reg__
 4869 2778 1092 0000            sts GasIsZeroCnt,__zero_reg__
 4870 277c 00C0                 rjmp .L381
 4871                   .L382:
 4872 277e 2E5E                 subi r18,lo8(750)
 4873 2780 3240                 sbci r19,hi8(750)
 4874 2782 00F0                 brlo .L381
 4875 2784 8091 0000            lds r24,GPSInfo+4
 4876 2788 9091 0000            lds r25,(GPSInfo+4)+1
 4877 278c 8059                 subi r24,lo8(400)
 4878 278e 9140                 sbci r25,hi8(400)
 4879 2790 00F4                 brsh .L381
 4880 2792 8091 0000            lds r24,HoehenWert
 4881 2796 9091 0000            lds r25,(HoehenWert)+1
 4882 279a A091 0000            lds r26,(HoehenWert)+2
 4883 279e B091 0000            lds r27,(HoehenWert)+3
 4884 27a2 8C5D                 subi r24,lo8(1500)
 4885 27a4 9540                 sbci r25,hi8(1500)
 4886 27a6 A040                 sbci r26,hlo8(1500)
 4887 27a8 B040                 sbci r27,hhi8(1500)
 4888 27aa 04F4                 brge .L381
 4889 27ac 80E3                 ldi r24,lo8(30000)
 4890 27ae 95E7                 ldi r25,hi8(30000)
 4891 27b0 9093 0000            sts (GasIsZeroCnt)+1,r25
 4892 27b4 8093 0000            sts GasIsZeroCnt,r24
 4893 27b8 8091 0000            lds r24,modell_fliegt
 4894 27bc 9091 0000            lds r25,(modell_fliegt)+1
 4895 27c0 8A5E                 subi r24,lo8(1002)
 4896 27c2 9340                 sbci r25,hi8(1002)
 4897 27c4 00F0                 brlo .L381
 4898 27c6 89EE                 ldi r24,lo8(1001)
 4899 27c8 93E0                 ldi r25,hi8(1001)
 4900 27ca 9093 0000            sts (modell_fliegt)+1,r25
 4901 27ce 8093 0000            sts modell_fliegt,r24
 4902                   .L381:
 4903 27d2 8091 0000            lds r24,NewPpmData
 4904 27d6 8150                 subi r24,lo8(-(-1))
 4905 27d8 8093 0000            sts NewPpmData,r24
 4906 27dc 8091 0000            lds r24,NewPpmData
 4907 27e0 8F3F                 cpi r24,lo8(-1)
 4908 27e2 01F0                 breq .L437
 4909 27e4 8091 0000            lds r24,FC_StatusFlags
 4910 27e8 84FF                 sbrs r24,4
 4911 27ea 00C0                 rjmp .L436
 4912                   .L437:
 4913 27ec 0E94 0000            call ParameterZuordnung
 4914 27f0 B090 0000            lds r11,EE_Parameter+23
 4915 27f4 8091 0000            lds r24,stick_nick.12
 4916 27f8 9091 0000            lds r25,(stick_nick.12)+1
 4917 27fc 9C01                 movw r18,r24
 4918 27fe 220F                 lsl r18
 4919 2800 331F                 rol r19
 4920 2802 280F                 add r18,r24
 4921 2804 391F                 adc r19,r25
 4922 2806 C090 0000            lds r12,EE_Parameter+1
 4923 280a AC2D                 mov r26,r12
 4924 280c BB27                 clr r27
 4925 280e AA0F                 add r26,r26
 4926 2810 BB1F                 adc r27,r27
 4927 2812 FD01                 movw r30,r26
 4928 2814 E050                 subi r30,lo8(-(PPM_in))
 4929 2816 F040                 sbci r31,hi8(-(PPM_in))
 4930 2818 4B2D                 mov r20,r11
 4931 281a 5527                 clr r21
 4932 281c 8081                 ld r24,Z
 4933 281e 9181                 ldd r25,Z+1
 4934 2820 849F                 mul r24,r20
 4935 2822 F001                 movw r30,r0
 4936 2824 859F                 mul r24,r21
 4937 2826 F00D                 add r31,r0
 4938 2828 949F                 mul r25,r20
 4939 282a F00D                 add r31,r0
 4940 282c 1124                 clr r1
 4941 282e 2E0F                 add r18,r30
 4942 2830 3F1F                 adc r19,r31
 4943 2832 37FF                 sbrs r19,7
 4944 2834 00C0                 rjmp .L438
 4945 2836 2D5F                 subi r18,lo8(-(3))
 4946 2838 3F4F                 sbci r19,hi8(-(3))
 4947                   .L438:
 4948 283a B901                 movw r22,r18
 4949 283c 7595                 asr r23
 4950 283e 6795                 ror r22
 4951 2840 7595                 asr r23
 4952 2842 6795                 ror r22
 4953 2844 A050                 subi r26,lo8(-(PPM_diff))
 4954 2846 B040                 sbci r27,hi8(-(PPM_diff))
 4955 2848 8091 0000            lds r24,EE_Parameter+24
 4956 284c 082F                 mov r16,r24
 4957 284e 1127                 clr r17
 4958 2850 8D91                 ld r24,X+
 4959 2852 9C91                 ld r25,X
 4960 2854 809F                 mul r24,r16
 4961 2856 7001                 movw r14,r0
 4962 2858 819F                 mul r24,r17
 4963 285a F00C                 add r15,r0
 4964 285c 909F                 mul r25,r16
 4965 285e F00C                 add r15,r0
 4966 2860 1124                 clr r1
 4967 2862 6E0D                 add r22,r14
 4968 2864 7F1D                 adc r23,r15
 4969 2866 7093 0000            sts (stick_nick.12)+1,r23
 4970 286a 6093 0000            sts stick_nick.12,r22
 4971 286e 8091 0000            lds r24,stick_roll.13
 4972 2872 9091 0000            lds r25,(stick_roll.13)+1
 4973 2876 9C01                 movw r18,r24
 4974 2878 220F                 lsl r18
 4975 287a 331F                 rol r19
 4976 287c 280F                 add r18,r24
 4977 287e 391F                 adc r19,r25
 4978 2880 D090 0000            lds r13,EE_Parameter+2
 4979 2884 AD2D                 mov r26,r13
 4980 2886 BB27                 clr r27
 4981 2888 AA0F                 add r26,r26
 4982 288a BB1F                 adc r27,r27
 4983 288c FD01                 movw r30,r26
 4984 288e E050                 subi r30,lo8(-(PPM_in))
 4985 2890 F040                 sbci r31,hi8(-(PPM_in))
 4986 2892 8081                 ld r24,Z
 4987 2894 9181                 ldd r25,Z+1
 4988 2896 849F                 mul r24,r20
 4989 2898 F001                 movw r30,r0
 4990 289a 859F                 mul r24,r21
 4991 289c F00D                 add r31,r0
 4992 289e 949F                 mul r25,r20
 4993 28a0 F00D                 add r31,r0
 4994 28a2 1124                 clr r1
 4995 28a4 2E0F                 add r18,r30
 4996 28a6 3F1F                 adc r19,r31
 4997 28a8 37FF                 sbrs r19,7
 4998 28aa 00C0                 rjmp .L439
 4999 28ac 2D5F                 subi r18,lo8(-(3))
 5000 28ae 3F4F                 sbci r19,hi8(-(3))
 5001                   .L439:
 5002 28b0 A901                 movw r20,r18
 5003 28b2 5595                 asr r21
 5004 28b4 4795                 ror r20
 5005 28b6 5595                 asr r21
 5006 28b8 4795                 ror r20
 5007 28ba A050                 subi r26,lo8(-(PPM_diff))
 5008 28bc B040                 sbci r27,hi8(-(PPM_diff))
 5009 28be 8D91                 ld r24,X+
 5010 28c0 9C91                 ld r25,X
 5011 28c2 809F                 mul r24,r16
 5012 28c4 7001                 movw r14,r0
 5013 28c6 819F                 mul r24,r17
 5014 28c8 F00C                 add r15,r0
 5015 28ca 909F                 mul r25,r16
 5016 28cc F00C                 add r15,r0
 5017 28ce 1124                 clr r1
 5018 28d0 4E0D                 add r20,r14
 5019 28d2 5F1D                 adc r21,r15
 5020 28d4 5093 0000            sts (stick_roll.13)+1,r21
 5021 28d8 4093 0000            sts stick_roll.13,r20
 5022 28dc 8091 0000            lds r24,CareFree
 5023 28e0 8823                 tst r24
 5024 28e2 01F4                 brne .+2
 5025 28e4 00C0                 rjmp .L440
 5026 28e6 CB01                 movw r24,r22
 5027 28e8 77FD                 sbrc r23,7
 5028 28ea 0396                 adiw r24,3
 5029                   .L441:
 5030 28ec DC01                 movw r26,r24
 5031 28ee B595                 asr r27
 5032 28f0 A795                 ror r26
 5033 28f2 B595                 asr r27
 5034 28f4 A795                 ror r26
 5035 28f6 CA01                 movw r24,r20
 5036 28f8 57FD                 sbrc r21,7
 5037 28fa 0396                 adiw r24,3
 5038                   .L442:
 5039 28fc FC01                 movw r30,r24
 5040 28fe F595                 asr r31
 5041 2900 E795                 ror r30
 5042 2902 F595                 asr r31
 5043 2904 E795                 ror r30
 5044 2906 8091 0000            lds r24,FromNC_Rotate_C
 5045 290a 682F                 mov r22,r24
 5046 290c 7727                 clr r23
 5047 290e 67FD                 sbrc r22,7
 5048 2910 7095                 com r23
 5049 2912 6A9F                 mul r22,r26
 5050 2914 9001                 movw r18,r0
 5051 2916 6B9F                 mul r22,r27
 5052 2918 300D                 add r19,r0
 5053 291a 7A9F                 mul r23,r26
 5054 291c 300D                 add r19,r0
 5055 291e 1124                 clr r1
 5056 2920 8091 0000            lds r24,FromNC_Rotate_S
 5057 2924 482F                 mov r20,r24
 5058 2926 5527                 clr r21
 5059 2928 47FD                 sbrc r20,7
 5060 292a 5095                 com r21
 5061 292c 4E9F                 mul r20,r30
 5062 292e C001                 movw r24,r0
 5063 2930 4F9F                 mul r20,r31
 5064 2932 900D                 add r25,r0
 5065 2934 5E9F                 mul r21,r30
 5066 2936 900D                 add r25,r0
 5067 2938 1124                 clr r1
 5068 293a 280F                 add r18,r24
 5069 293c 391F                 adc r19,r25
 5070 293e 37FF                 sbrs r19,7
 5071 2940 00C0                 rjmp .L443
 5072 2942 295F                 subi r18,lo8(-(7))
 5073 2944 3F4F                 sbci r19,hi8(-(7))
 5074                   .L443:
 5075 2946 93E0                 ldi r25,3
 5076 2948 3595         1:      asr r19
 5077 294a 2795                 ror r18
 5078 294c 9A95                 dec r25
 5079 294e 01F4                 brne 1b
 5080 2950 3093 0000            sts (StickNick)+1,r19
 5081 2954 2093 0000            sts StickNick,r18
 5082 2958 6E9F                 mul r22,r30
 5083 295a 9001                 movw r18,r0
 5084 295c 6F9F                 mul r22,r31
 5085 295e 300D                 add r19,r0
 5086 2960 7E9F                 mul r23,r30
 5087 2962 300D                 add r19,r0
 5088 2964 1124                 clr r1
 5089 2966 4A9F                 mul r20,r26
 5090 2968 C001                 movw r24,r0
 5091 296a 4B9F                 mul r20,r27
 5092 296c 900D                 add r25,r0
 5093 296e 5A9F                 mul r21,r26
 5094 2970 900D                 add r25,r0
 5095 2972 1124                 clr r1
 5096 2974 00C0                 rjmp .L919
 5097                   .L440:
 5098 2976 8091 0000            lds r24,EE_Parameter+98
 5099 297a E82F                 mov r30,r24
 5100 297c FF27                 clr r31
 5101 297e E050                 subi r30,lo8(-(sintab))
 5102 2980 F040                 sbci r31,hi8(-(sintab))
 5103 2982 8681                 ldd r24,Z+6
 5104 2984 8093 0000            sts FromNC_Rotate_C,r24
 5105 2988 9081                 ld r25,Z
 5106 298a 9093 0000            sts FromNC_Rotate_S,r25
 5107 298e A82F                 mov r26,r24
 5108 2990 BB27                 clr r27
 5109 2992 A7FD                 sbrc r26,7
 5110 2994 B095                 com r27
 5111 2996 A69F                 mul r26,r22
 5112 2998 9001                 movw r18,r0
 5113 299a A79F                 mul r26,r23
 5114 299c 300D                 add r19,r0
 5115 299e B69F                 mul r27,r22
 5116 29a0 300D                 add r19,r0
 5117 29a2 1124                 clr r1
 5118 29a4 E92F                 mov r30,r25
 5119 29a6 FF27                 clr r31
 5120 29a8 E7FD                 sbrc r30,7
 5121 29aa F095                 com r31
 5122 29ac E49F                 mul r30,r20
 5123 29ae C001                 movw r24,r0
 5124 29b0 E59F                 mul r30,r21
 5125 29b2 900D                 add r25,r0
 5126 29b4 F49F                 mul r31,r20
 5127 29b6 900D                 add r25,r0
 5128 29b8 1124                 clr r1
 5129 29ba 280F                 add r18,r24
 5130 29bc 391F                 adc r19,r25
 5131 29be 37FF                 sbrs r19,7
 5132 29c0 00C0                 rjmp .L446
 5133 29c2 295F                 subi r18,lo8(-(7))
 5134 29c4 3F4F                 sbci r19,hi8(-(7))
 5135                   .L446:
 5136 29c6 83E0                 ldi r24,3
 5137 29c8 3595         1:      asr r19
 5138 29ca 2795                 ror r18
 5139 29cc 8A95                 dec r24
 5140 29ce 01F4                 brne 1b
 5141 29d0 3093 0000            sts (StickNick)+1,r19
 5142 29d4 2093 0000            sts StickNick,r18
 5143 29d8 A49F                 mul r26,r20
 5144 29da 9001                 movw r18,r0
 5145 29dc A59F                 mul r26,r21
 5146 29de 300D                 add r19,r0
 5147 29e0 B49F                 mul r27,r20
 5148 29e2 300D                 add r19,r0
 5149 29e4 1124                 clr r1
 5150 29e6 E69F                 mul r30,r22
 5151 29e8 C001                 movw r24,r0
 5152 29ea E79F                 mul r30,r23
 5153 29ec 900D                 add r25,r0
 5154 29ee F69F                 mul r31,r22
 5155 29f0 900D                 add r25,r0
 5156 29f2 1124                 clr r1
 5157                   .L919:
 5158 29f4 281B                 sub r18,r24
 5159 29f6 390B                 sbc r19,r25
 5160 29f8 37FF                 sbrs r19,7
 5161 29fa 00C0                 rjmp .L447
 5162 29fc 295F                 subi r18,lo8(-(7))
 5163 29fe 3F4F                 sbci r19,hi8(-(7))
 5164                   .L447:
 5165 2a00 03E0                 ldi r16,3
 5166 2a02 3595         1:      asr r19
 5167 2a04 2795                 ror r18
 5168 2a06 0A95                 dec r16
 5169 2a08 01F4                 brne 1b
 5170 2a0a 3093 0000            sts (StickRoll)+1,r19
 5171 2a0e 2093 0000            sts StickRoll,r18
 5172 2a12 8091 0000            lds r24,EE_Parameter+4
 5173 2a16 E82F                 mov r30,r24
 5174 2a18 FF27                 clr r31
 5175 2a1a EE0F                 add r30,r30
 5176 2a1c FF1F                 adc r31,r31
 5177 2a1e E050                 subi r30,lo8(-(PPM_in))
 5178 2a20 F040                 sbci r31,hi8(-(PPM_in))
 5179 2a22 8081                 ld r24,Z
 5180 2a24 9181                 ldd r25,Z+1
 5181 2a26 9095                 com r25
 5182 2a28 8195                 neg r24
 5183 2a2a 9F4F                 sbci r25,lo8(-1)
 5184 2a2c 9093 0000            sts (StickGier)+1,r25
 5185 2a30 8093 0000            sts StickGier,r24
 5186 2a34 8530                 cpi r24,5
 5187 2a36 9105                 cpc r25,__zero_reg__
 5188 2a38 04F0                 brlt .L448
 5189 2a3a 0497                 sbiw r24,4
 5190 2a3c 00C0                 rjmp .L891
 5191                   .L448:
 5192 2a3e 0FEF                 ldi r16,hi8(-4)
 5193 2a40 8C3F                 cpi r24,lo8(-4)
 5194 2a42 9007                 cpc r25,r16
 5195 2a44 04F4                 brge .L450
 5196 2a46 0496                 adiw r24,4
 5197                   .L891:
 5198 2a48 9093 0000            sts (StickGier)+1,r25
 5199 2a4c 8093 0000            sts StickGier,r24
 5200 2a50 00C0                 rjmp .L449
 5201                   .L450:
 5202 2a52 1092 0000            sts (StickGier)+1,__zero_reg__
 5203 2a56 1092 0000            sts StickGier,__zero_reg__
 5204                   .L449:
 5205 2a5a 8091 0000            lds r24,GPS_Aid_StickMultiplikator
 5206 2a5e 8823                 tst r24
 5207 2a60 01F4                 brne .+2
 5208 2a62 00C0                 rjmp .L452
 5209 2a64 282F                 mov r18,r24
 5210 2a66 3327                 clr r19
 5211 2a68 8091 0000            lds r24,StickNick
 5212 2a6c 9091 0000            lds r25,(StickNick)+1
 5213 2a70 97FD                 sbrc r25,7
 5214 2a72 0796                 adiw r24,7
 5215                   .L453:
 5216 2a74 13E0                 ldi r17,3
 5217 2a76 9595         1:      asr r25
 5218 2a78 8795                 ror r24
 5219 2a7a 1A95                 dec r17
 5220 2a7c 01F4                 brne 1b
 5221 2a7e 289F                 mul r18,r24
 5222 2a80 A001                 movw r20,r0
 5223 2a82 299F                 mul r18,r25
 5224 2a84 500D                 add r21,r0
 5225 2a86 389F                 mul r19,r24
 5226 2a88 500D                 add r21,r0
 5227 2a8a 1124                 clr r1
 5228 2a8c CA01                 movw r24,r20
 5229 2a8e 57FD                 sbrc r21,7
 5230 2a90 0F96                 adiw r24,15
 5231                   .L454:
 5232 2a92 B4E0                 ldi r27,4
 5233 2a94 9595         1:      asr r25
 5234 2a96 8795                 ror r24
 5235 2a98 BA95                 dec r27
 5236 2a9a 01F4                 brne 1b
 5237 2a9c 9093 0000            sts (StickNick)+1,r25
 5238 2aa0 8093 0000            sts StickNick,r24
 5239 2aa4 8091 0000            lds r24,StickRoll
 5240 2aa8 9091 0000            lds r25,(StickRoll)+1
 5241 2aac 97FD                 sbrc r25,7
 5242 2aae 0796                 adiw r24,7
 5243                   .L455:
 5244 2ab0 A3E0                 ldi r26,3
 5245 2ab2 9595         1:      asr r25
 5246 2ab4 8795                 ror r24
 5247 2ab6 AA95                 dec r26
 5248 2ab8 01F4                 brne 1b
 5249 2aba 289F                 mul r18,r24
 5250 2abc B001                 movw r22,r0
 5251 2abe 299F                 mul r18,r25
 5252 2ac0 700D                 add r23,r0
 5253 2ac2 389F                 mul r19,r24
 5254 2ac4 700D                 add r23,r0
 5255 2ac6 1124                 clr r1
 5256 2ac8 CB01                 movw r24,r22
 5257 2aca 77FD                 sbrc r23,7
 5258 2acc 0F96                 adiw r24,15
 5259                   .L456:
 5260 2ace F4E0                 ldi r31,4
 5261 2ad0 9595         1:      asr r25
 5262 2ad2 8795                 ror r24
 5263 2ad4 FA95                 dec r31
 5264 2ad6 01F4                 brne 1b
 5265 2ad8 9093 0000            sts (StickRoll)+1,r25
 5266 2adc 8093 0000            sts StickRoll,r24
 5267                   .L452:
 5268 2ae0 8090 0000            lds r8,StickNick
 5269 2ae4 9090 0000            lds r9,(StickNick)+1
 5270 2ae8 8091 0000            lds r24,GPS_Nick
 5271 2aec 9091 0000            lds r25,(GPS_Nick)+1
 5272 2af0 881A                 sub r8,r24
 5273 2af2 990A                 sbc r9,r25
 5274 2af4 9092 0000            sts (StickNick)+1,r9
 5275 2af8 8092 0000            sts StickNick,r8
 5276 2afc 0091 0000            lds r16,StickRoll
 5277 2b00 1091 0000            lds r17,(StickRoll)+1
 5278 2b04 8091 0000            lds r24,GPS_Roll
 5279 2b08 9091 0000            lds r25,(GPS_Roll)+1
 5280 2b0c 081B                 sub r16,r24
 5281 2b0e 190B                 sbc r17,r25
 5282 2b10 1093 0000            sts (StickRoll)+1,r17
 5283 2b14 0093 0000            sts StickRoll,r16
 5284 2b18 8091 0000            lds r24,EE_Parameter+3
 5285 2b1c E82F                 mov r30,r24
 5286 2b1e FF27                 clr r31
 5287 2b20 EE0F                 add r30,r30
 5288 2b22 FF1F                 adc r31,r31
 5289 2b24 E050                 subi r30,lo8(-(PPM_in))
 5290 2b26 F040                 sbci r31,hi8(-(PPM_in))
 5291 2b28 E080                 ld r14,Z
 5292 2b2a F180                 ldd r15,Z+1
 5293 2b2c 8FE7                 ldi r24,lo8(127)
 5294 2b2e 90E0                 ldi r25,hi8(127)
 5295 2b30 E80E                 add r14,r24
 5296 2b32 F91E                 adc r15,r25
 5297 2b34 F092 0000            sts (StickGas)+1,r15
 5298 2b38 E092 0000            sts StickGas,r14
 5299 2b3c 8091 0000            lds r24,Parameter_Gyro_P
 5300 2b40 9927                 clr r25
 5301 2b42 AA27                 clr r26
 5302 2b44 97FD                 sbrc r25,7
 5303 2b46 A095                 com r26
 5304 2b48 BA2F                 mov r27,r26
 5305 2b4a BC01                 movw r22,r24
 5306 2b4c CD01                 movw r24,r26
 5307 2b4e 0E94 0000            call __floatsisf
 5308 2b52 DC01                 movw r26,r24
 5309 2b54 CB01                 movw r24,r22
 5310 2b56 20E0                 ldi r18,lo8(0x41200000)
 5311 2b58 30E0                 ldi r19,hi8(0x41200000)
 5312 2b5a 40E2                 ldi r20,hlo8(0x41200000)
 5313 2b5c 51E4                 ldi r21,hhi8(0x41200000)
 5314 2b5e BC01                 movw r22,r24
 5315 2b60 CD01                 movw r24,r26
 5316 2b62 0E94 0000            call __addsf3
 5317 2b66 DC01                 movw r26,r24
 5318 2b68 CB01                 movw r24,r22
 5319 2b6a BC01                 movw r22,r24
 5320 2b6c CD01                 movw r24,r26
 5321 2b6e 0E94 0000            call __fixunssfsi
 5322 2b72 DC01                 movw r26,r24
 5323 2b74 CB01                 movw r24,r22
 5324 2b76 8093 0000            sts GyroFaktor,r24
 5325 2b7a 8091 0000            lds r24,Parameter_Gyro_I
 5326 2b7e 8093 0000            sts IntegralFaktor,r24
 5327 2b82 8091 0000            lds r24,Parameter_Gyro_Gier_P
 5328 2b86 9927                 clr r25
 5329 2b88 AA27                 clr r26
 5330 2b8a 97FD                 sbrc r25,7
 5331 2b8c A095                 com r26
 5332 2b8e BA2F                 mov r27,r26
 5333 2b90 BC01                 movw r22,r24
 5334 2b92 CD01                 movw r24,r26
 5335 2b94 0E94 0000            call __floatsisf
 5336 2b98 DC01                 movw r26,r24
 5337 2b9a CB01                 movw r24,r22
 5338 2b9c 20E0                 ldi r18,lo8(0x41200000)
 5339 2b9e 30E0                 ldi r19,hi8(0x41200000)
 5340 2ba0 40E2                 ldi r20,hlo8(0x41200000)
 5341 2ba2 51E4                 ldi r21,hhi8(0x41200000)
 5342 2ba4 BC01                 movw r22,r24
 5343 2ba6 CD01                 movw r24,r26
 5344 2ba8 0E94 0000            call __addsf3
 5345 2bac DC01                 movw r26,r24
 5346 2bae CB01                 movw r24,r22
 5347 2bb0 BC01                 movw r22,r24
 5348 2bb2 CD01                 movw r24,r26
 5349 2bb4 0E94 0000            call __fixunssfsi
 5350 2bb8 DC01                 movw r26,r24
 5351 2bba CB01                 movw r24,r22
 5352 2bbc 8093 0000            sts GyroFaktorGier,r24
 5353 2bc0 8091 0000            lds r24,Parameter_Gyro_Gier_I
 5354 2bc4 8093 0000            sts IntegralFaktorGier,r24
 5355 2bc8 8091 0000            lds r24,ExternControl+10
 5356 2bcc 80FF                 sbrs r24,0
 5357 2bce 00C0                 rjmp .L457
 5358 2bd0 8091 0000            lds r24,Parameter_ExternalControl
 5359 2bd4 8138                 cpi r24,lo8(-127)
 5360 2bd6 00F4                 brsh .+2
 5361 2bd8 00C0                 rjmp .L457
 5362 2bda 8091 0000            lds r24,ExternControl+3
 5363 2bde 9927                 clr r25
 5364 2be0 87FD                 sbrc r24,7
 5365 2be2 9095                 com r25
 5366 2be4 2B2D                 mov r18,r11
 5367 2be6 3327                 clr r19
 5368 2be8 829F                 mul r24,r18
 5369 2bea D001                 movw r26,r0
 5370 2bec 839F                 mul r24,r19
 5371 2bee B00D                 add r27,r0
 5372 2bf0 929F                 mul r25,r18
 5373 2bf2 B00D                 add r27,r0
 5374 2bf4 1124                 clr r1
 5375 2bf6 8A0E                 add r8,r26
 5376 2bf8 9B1E                 adc r9,r27
 5377 2bfa 9092 0000            sts (StickNick)+1,r9
 5378 2bfe 8092 0000            sts StickNick,r8
 5379 2c02 8091 0000            lds r24,ExternControl+4
 5380 2c06 9927                 clr r25
 5381 2c08 87FD                 sbrc r24,7
 5382 2c0a 9095                 com r25
 5383 2c0c 829F                 mul r24,r18
 5384 2c0e F001                 movw r30,r0
 5385 2c10 839F                 mul r24,r19
 5386 2c12 F00D                 add r31,r0
 5387 2c14 929F                 mul r25,r18
 5388 2c16 F00D                 add r31,r0
 5389 2c18 1124                 clr r1
 5390 2c1a 0E0F                 add r16,r30
 5391 2c1c 1F1F                 adc r17,r31
 5392 2c1e 1093 0000            sts (StickRoll)+1,r17
 5393 2c22 0093 0000            sts StickRoll,r16
 5394 2c26 8091 0000            lds r24,ExternControl+5
 5395 2c2a 282F                 mov r18,r24
 5396 2c2c 3327                 clr r19
 5397 2c2e 27FD                 sbrc r18,7
 5398 2c30 3095                 com r19
 5399 2c32 8091 0000            lds r24,StickGier
 5400 2c36 9091 0000            lds r25,(StickGier)+1
 5401 2c3a 820F                 add r24,r18
 5402 2c3c 931F                 adc r25,r19
 5403 2c3e 9093 0000            sts (StickGier)+1,r25
 5404 2c42 8093 0000            sts StickGier,r24
 5405 2c46 8091 0000            lds r24,ExternControl+7
 5406 2c4a 282F                 mov r18,r24
 5407 2c4c 3327                 clr r19
 5408 2c4e 27FD                 sbrc r18,7
 5409 2c50 3095                 com r19
 5410 2c52 8091 0000            lds r24,EE_Parameter+18
 5411 2c56 9927                 clr r25
 5412 2c58 289F                 mul r18,r24
 5413 2c5a 8001                 movw r16,r0
 5414 2c5c 299F                 mul r18,r25
 5415 2c5e 100D                 add r17,r0
 5416 2c60 389F                 mul r19,r24
 5417 2c62 100D                 add r17,r0
 5418 2c64 1124                 clr r1
 5419 2c66 1093 0000            sts (ExternHoehenValue)+1,r17
 5420 2c6a 0093 0000            sts ExternHoehenValue,r16
 5421 2c6e 8091 0000            lds r24,ExternControl+6
 5422 2c72 9927                 clr r25
 5423 2c74 8E15                 cp r24,r14
 5424 2c76 9F05                 cpc r25,r15
 5425 2c78 04F4                 brge .L457
 5426 2c7a 9093 0000            sts (StickGas)+1,r25
 5427 2c7e 8093 0000            sts StickGas,r24
 5428                   .L457:
 5429 2c82 8091 0000            lds r24,StickGas
 5430 2c86 9091 0000            lds r25,(StickGas)+1
 5431 2c8a 97FF                 sbrs r25,7
 5432 2c8c 00C0                 rjmp .L459
 5433 2c8e 1092 0000            sts (StickGas)+1,__zero_reg__
 5434 2c92 1092 0000            sts StickGas,__zero_reg__
 5435                   .L459:
 5436 2c96 8091 0000            lds r24,Parameter_GlobalConfig
 5437 2c9a 82FF                 sbrs r24,2
 5438 2c9c 00C0                 rjmp .L460
 5439 2c9e 1092 0000            sts IntegralFaktor,__zero_reg__
 5440                   .L460:
 5441 2ca2 4091 0000            lds r20,StickNick
 5442 2ca6 5091 0000            lds r21,(StickNick)+1
 5443 2caa CA01                 movw r24,r20
 5444 2cac 57FD                 sbrc r21,7
 5445 2cae 0396                 adiw r24,3
 5446                   .L462:
 5447 2cb0 9C01                 movw r18,r24
 5448 2cb2 3595                 asr r19
 5449 2cb4 2795                 ror r18
 5450 2cb6 3595                 asr r19
 5451 2cb8 2795                 ror r18
 5452 2cba 37FF                 sbrs r19,7
 5453 2cbc 00C0                 rjmp .L463
 5454 2cbe 3095                 com r19
 5455 2cc0 2195                 neg r18
 5456 2cc2 3F4F                 sbci r19,lo8(-1)
 5457                   .L463:
 5458 2cc4 8091 0000            lds r24,MaxStickNick
 5459 2cc8 9091 0000            lds r25,(MaxStickNick)+1
 5460 2ccc 8217                 cp r24,r18
 5461 2cce 9307                 cpc r25,r19
 5462 2cd0 04F4                 brge .L461
 5463 2cd2 CA01                 movw r24,r20
 5464 2cd4 57FF                 sbrs r21,7
 5465 2cd6 00C0                 rjmp .L464
 5466 2cd8 9095                 com r25
 5467 2cda 8195                 neg r24
 5468 2cdc 9F4F                 sbci r25,lo8(-1)
 5469                   .L464:
 5470 2cde 97FD                 sbrc r25,7
 5471 2ce0 0396                 adiw r24,3
 5472                   .L465:
 5473 2ce2 9595                 asr r25
 5474 2ce4 8795                 ror r24
 5475 2ce6 9595                 asr r25
 5476 2ce8 8795                 ror r24
 5477 2cea 9093 0000            sts (MaxStickNick)+1,r25
 5478 2cee 8093 0000            sts MaxStickNick,r24
 5479 2cf2 8536                 cpi r24,101
 5480 2cf4 9105                 cpc r25,__zero_reg__
 5481 2cf6 04F0                 brlt .L467
 5482 2cf8 84E6                 ldi r24,lo8(100)
 5483 2cfa 90E0                 ldi r25,hi8(100)
 5484 2cfc 00C0                 rjmp .L892
 5485                   .L461:
 5486 2cfe 0197                 sbiw r24,1
 5487                   .L892:
 5488 2d00 9093 0000            sts (MaxStickNick)+1,r25
 5489 2d04 8093 0000            sts MaxStickNick,r24
 5490                   .L467:
 5491 2d08 4091 0000            lds r20,StickRoll
 5492 2d0c 5091 0000            lds r21,(StickRoll)+1
 5493 2d10 CA01                 movw r24,r20
 5494 2d12 57FD                 sbrc r21,7
 5495 2d14 0396                 adiw r24,3
 5496                   .L469:
 5497 2d16 9C01                 movw r18,r24
 5498 2d18 3595                 asr r19
 5499 2d1a 2795                 ror r18
 5500 2d1c 3595                 asr r19
 5501 2d1e 2795                 ror r18
 5502 2d20 37FF                 sbrs r19,7
 5503 2d22 00C0                 rjmp .L470
 5504 2d24 3095                 com r19
 5505 2d26 2195                 neg r18
 5506 2d28 3F4F                 sbci r19,lo8(-1)
 5507                   .L470:
 5508 2d2a 8091 0000            lds r24,MaxStickRoll
 5509 2d2e 9091 0000            lds r25,(MaxStickRoll)+1
 5510 2d32 8217                 cp r24,r18
 5511 2d34 9307                 cpc r25,r19
 5512 2d36 04F4                 brge .L468
 5513 2d38 CA01                 movw r24,r20
 5514 2d3a 57FF                 sbrs r21,7
 5515 2d3c 00C0                 rjmp .L471
 5516 2d3e 9095                 com r25
 5517 2d40 8195                 neg r24
 5518 2d42 9F4F                 sbci r25,lo8(-1)
 5519                   .L471:
 5520 2d44 97FD                 sbrc r25,7
 5521 2d46 0396                 adiw r24,3
 5522                   .L472:
 5523 2d48 9595                 asr r25
 5524 2d4a 8795                 ror r24
 5525 2d4c 9595                 asr r25
 5526 2d4e 8795                 ror r24
 5527 2d50 9093 0000            sts (MaxStickRoll)+1,r25
 5528 2d54 8093 0000            sts MaxStickRoll,r24
 5529 2d58 8536                 cpi r24,101
 5530 2d5a 9105                 cpc r25,__zero_reg__
 5531 2d5c 04F0                 brlt .L474
 5532 2d5e 84E6                 ldi r24,lo8(100)
 5533 2d60 90E0                 ldi r25,hi8(100)
 5534 2d62 00C0                 rjmp .L893
 5535                   .L468:
 5536 2d64 0197                 sbiw r24,1
 5537                   .L893:
 5538 2d66 9093 0000            sts (MaxStickRoll)+1,r25
 5539 2d6a 8093 0000            sts MaxStickRoll,r24
 5540                   .L474:
 5541 2d6e 8091 0000            lds r24,FC_StatusFlags
 5542 2d72 84FF                 sbrs r24,4
 5543 2d74 00C0                 rjmp .L475
 5544 2d76 1092 0000            sts (MaxStickNick)+1,__zero_reg__
 5545 2d7a 1092 0000            sts MaxStickNick,__zero_reg__
 5546 2d7e 1092 0000            sts (MaxStickRoll)+1,__zero_reg__
 5547 2d82 1092 0000            sts MaxStickRoll,__zero_reg__
 5548                   .L475:
 5549 2d86 ED2D                 mov r30,r13
 5550 2d88 FF27                 clr r31
 5551 2d8a EE0F                 add r30,r30
 5552 2d8c FF1F                 adc r31,r31
 5553 2d8e E050                 subi r30,lo8(-(PPM_in))
 5554 2d90 F040                 sbci r31,hi8(-(PPM_in))
 5555 2d92 4091 0000            lds r20,EE_Parameter+60
 5556 2d96 242F                 mov r18,r20
 5557 2d98 3327                 clr r19
 5558 2d9a 8081                 ld r24,Z
 5559 2d9c 9181                 ldd r25,Z+1
 5560 2d9e 2817                 cp r18,r24
 5561 2da0 3907                 cpc r19,r25
 5562 2da2 04F4                 brge .L476
 5563 2da4 8091 0000            lds r24,EE_Parameter+108
 5564 2da8 82FF                 sbrs r24,2
 5565 2daa 00C0                 rjmp .L476
 5566 2dac 81E0                 ldi r24,lo8(1)
 5567 2dae 8093 0000            sts Looping_Links,r24
 5568 2db2 00C0                 rjmp .L477
 5569                   .L476:
 5570 2db4 ED2D                 mov r30,r13
 5571 2db6 FF27                 clr r31
 5572 2db8 EE0F                 add r30,r30
 5573 2dba FF1F                 adc r31,r31
 5574 2dbc E050                 subi r30,lo8(-(PPM_in))
 5575 2dbe F040                 sbci r31,hi8(-(PPM_in))
 5576 2dc0 842F                 mov r24,r20
 5577 2dc2 9927                 clr r25
 5578 2dc4 2091 0000            lds r18,EE_Parameter+61
 5579 2dc8 821B                 sub r24,r18
 5580 2dca 9109                 sbc r25,__zero_reg__
 5581 2dcc 2081                 ld r18,Z
 5582 2dce 3181                 ldd r19,Z+1
 5583 2dd0 2817                 cp r18,r24
 5584 2dd2 3907                 cpc r19,r25
 5585 2dd4 04F4                 brge .L477
 5586 2dd6 1092 0000            sts Looping_Links,__zero_reg__
 5587                   .L477:
 5588 2dda 4091 0000            lds r20,EE_Parameter+2
 5589 2dde E42F                 mov r30,r20
 5590 2de0 FF27                 clr r31
 5591 2de2 EE0F                 add r30,r30
 5592 2de4 FF1F                 adc r31,r31
 5593 2de6 E050                 subi r30,lo8(-(PPM_in))
 5594 2de8 F040                 sbci r31,hi8(-(PPM_in))
 5595 2dea 5091 0000            lds r21,EE_Parameter+60
 5596 2dee 852F                 mov r24,r21
 5597 2df0 9927                 clr r25
 5598 2df2 2227                 clr r18
 5599 2df4 3327                 clr r19
 5600 2df6 281B                 sub r18,r24
 5601 2df8 390B                 sbc r19,r25
 5602 2dfa 8081                 ld r24,Z
 5603 2dfc 9181                 ldd r25,Z+1
 5604 2dfe 8217                 cp r24,r18
 5605 2e00 9307                 cpc r25,r19
 5606 2e02 04F4                 brge .L479
 5607 2e04 8091 0000            lds r24,EE_Parameter+108
 5608 2e08 83FF                 sbrs r24,3
 5609 2e0a 00C0                 rjmp .L479
 5610 2e0c 81E0                 ldi r24,lo8(1)
 5611 2e0e 8093 0000            sts Looping_Rechts,r24
 5612 2e12 00C0                 rjmp .L480
 5613                   .L479:
 5614 2e14 8091 0000            lds r24,Looping_Rechts
 5615 2e18 8823                 tst r24
 5616 2e1a 01F0                 breq .L480
 5617 2e1c E42F                 mov r30,r20
 5618 2e1e FF27                 clr r31
 5619 2e20 EE0F                 add r30,r30
 5620 2e22 FF1F                 adc r31,r31
 5621 2e24 E050                 subi r30,lo8(-(PPM_in))
 5622 2e26 F040                 sbci r31,hi8(-(PPM_in))
 5623 2e28 8091 0000            lds r24,EE_Parameter+61
 5624 2e2c 9927                 clr r25
 5625 2e2e 851B                 sub r24,r21
 5626 2e30 9109                 sbc r25,__zero_reg__
 5627 2e32 2081                 ld r18,Z
 5628 2e34 3181                 ldd r19,Z+1
 5629 2e36 8217                 cp r24,r18
 5630 2e38 9307                 cpc r25,r19
 5631 2e3a 04F4                 brge .L480
 5632 2e3c 1092 0000            sts Looping_Rechts,__zero_reg__
 5633                   .L480:
 5634 2e40 EC2D                 mov r30,r12
 5635 2e42 FF27                 clr r31
 5636 2e44 EE0F                 add r30,r30
 5637 2e46 FF1F                 adc r31,r31
 5638 2e48 E050                 subi r30,lo8(-(PPM_in))
 5639 2e4a F040                 sbci r31,hi8(-(PPM_in))
 5640 2e4c 4091 0000            lds r20,EE_Parameter+60
 5641 2e50 242F                 mov r18,r20
 5642 2e52 3327                 clr r19
 5643 2e54 8081                 ld r24,Z
 5644 2e56 9181                 ldd r25,Z+1
 5645 2e58 2817                 cp r18,r24
 5646 2e5a 3907                 cpc r19,r25
 5647 2e5c 04F4                 brge .L483
 5648 2e5e 8091 0000            lds r24,EE_Parameter+108
 5649 2e62 80FF                 sbrs r24,0
 5650 2e64 00C0                 rjmp .L483
 5651 2e66 81E0                 ldi r24,lo8(1)
 5652 2e68 8093 0000            sts Looping_Oben,r24
 5653 2e6c 00C0                 rjmp .L484
 5654                   .L483:
 5655 2e6e 8091 0000            lds r24,Looping_Oben
 5656 2e72 8823                 tst r24
 5657 2e74 01F0                 breq .L484
 5658 2e76 EC2D                 mov r30,r12
 5659 2e78 FF27                 clr r31
 5660 2e7a EE0F                 add r30,r30
 5661 2e7c FF1F                 adc r31,r31
 5662 2e7e E050                 subi r30,lo8(-(PPM_in))
 5663 2e80 F040                 sbci r31,hi8(-(PPM_in))
 5664 2e82 842F                 mov r24,r20
 5665 2e84 9927                 clr r25
 5666 2e86 2091 0000            lds r18,EE_Parameter+61
 5667 2e8a 821B                 sub r24,r18
 5668 2e8c 9109                 sbc r25,__zero_reg__
 5669 2e8e 2081                 ld r18,Z
 5670 2e90 3181                 ldd r19,Z+1
 5671 2e92 2817                 cp r18,r24
 5672 2e94 3907                 cpc r19,r25
 5673 2e96 04F4                 brge .L484
 5674 2e98 1092 0000            sts Looping_Oben,__zero_reg__
 5675                   .L484:
 5676 2e9c 4091 0000            lds r20,EE_Parameter+1
 5677 2ea0 E42F                 mov r30,r20
 5678 2ea2 FF27                 clr r31
 5679 2ea4 EE0F                 add r30,r30
 5680 2ea6 FF1F                 adc r31,r31
 5681 2ea8 E050                 subi r30,lo8(-(PPM_in))
 5682 2eaa F040                 sbci r31,hi8(-(PPM_in))
 5683 2eac 5091 0000            lds r21,EE_Parameter+60
 5684 2eb0 852F                 mov r24,r21
 5685 2eb2 9927                 clr r25
 5686 2eb4 2227                 clr r18
 5687 2eb6 3327                 clr r19
 5688 2eb8 281B                 sub r18,r24
 5689 2eba 390B                 sbc r19,r25
 5690 2ebc 8081                 ld r24,Z
 5691 2ebe 9181                 ldd r25,Z+1
 5692 2ec0 8217                 cp r24,r18
 5693 2ec2 9307                 cpc r25,r19
 5694 2ec4 04F4                 brge .L487
 5695 2ec6 8091 0000            lds r24,EE_Parameter+108
 5696 2eca 81FF                 sbrs r24,1
 5697 2ecc 00C0                 rjmp .L487
 5698 2ece 81E0                 ldi r24,lo8(1)
 5699 2ed0 8093 0000            sts Looping_Unten,r24
 5700 2ed4 00C0                 rjmp .L488
 5701                   .L487:
 5702 2ed6 8091 0000            lds r24,Looping_Unten
 5703 2eda 8823                 tst r24
 5704 2edc 01F0                 breq .L488
 5705 2ede E42F                 mov r30,r20
 5706 2ee0 FF27                 clr r31
 5707 2ee2 EE0F                 add r30,r30
 5708 2ee4 FF1F                 adc r31,r31
 5709 2ee6 E050                 subi r30,lo8(-(PPM_in))
 5710 2ee8 F040                 sbci r31,hi8(-(PPM_in))
 5711 2eea 8091 0000            lds r24,EE_Parameter+61
 5712 2eee 9927                 clr r25
 5713 2ef0 851B                 sub r24,r21
 5714 2ef2 9109                 sbc r25,__zero_reg__
 5715 2ef4 2081                 ld r18,Z
 5716 2ef6 3181                 ldd r19,Z+1
 5717 2ef8 8217                 cp r24,r18
 5718 2efa 9307                 cpc r25,r19
 5719 2efc 04F4                 brge .L488
 5720 2efe 1092 0000            sts Looping_Unten,__zero_reg__
 5721                   .L488:
 5722 2f02 8091 0000            lds r24,Looping_Links
 5723 2f06 8823                 tst r24
 5724 2f08 01F4                 brne .L492
 5725 2f0a 8091 0000            lds r24,Looping_Rechts
 5726 2f0e 8111                 cpse r24,__zero_reg__
 5727                   .L492:
 5728 2f10 81E0                 ldi r24,lo8(1)
 5729                   .L491:
 5730 2f12 8093 0000            sts Looping_Roll,r24
 5731 2f16 8091 0000            lds r24,Looping_Oben
 5732 2f1a 8823                 tst r24
 5733 2f1c 01F4                 brne .L495
 5734 2f1e 8091 0000            lds r24,Looping_Unten
 5735 2f22 8823                 tst r24
 5736 2f24 01F0                 breq .L494
 5737                   .L495:
 5738 2f26 81E0                 ldi r24,lo8(1)
 5739 2f28 8093 0000            sts Looping_Nick,r24
 5740 2f2c 1092 0000            sts Looping_Roll,__zero_reg__
 5741 2f30 1092 0000            sts Looping_Links,__zero_reg__
 5742 2f34 1092 0000            sts Looping_Rechts,__zero_reg__
 5743 2f38 00C0                 rjmp .L436
 5744                   .L494:
 5745 2f3a 8093 0000            sts Looping_Nick,r24
 5746                   .L436:
 5747 2f3e 8091 0000            lds r24,Looping_Roll
 5748 2f42 8823                 tst r24
 5749 2f44 01F4                 brne .L498
 5750 2f46 8091 0000            lds r24,Looping_Nick
 5751 2f4a 8823                 tst r24
 5752 2f4c 01F0                 breq .L497
 5753                   .L498:
 5754 2f4e 8091 0000            lds r24,EE_Parameter+59
 5755 2f52 9927                 clr r25
 5756 2f54 2981                 ldd r18,Y+1
 5757 2f56 3A81                 ldd r19,Y+2
 5758 2f58 8217                 cp r24,r18
 5759 2f5a 9307                 cpc r25,r19
 5760 2f5c 04F4                 brge .L499
 5761 2f5e 9A83                 std Y+2,r25
 5762 2f60 8983                 std Y+1,r24
 5763                   .L499:
 5764 2f62 81E0                 ldi r24,lo8(1)
 5765 2f64 8093 0000            sts TrichterFlug,r24
 5766                   .L497:
 5767 2f68 8091 0000            lds r24,FC_StatusFlags2
 5768 2f6c 9927                 clr r25
 5769 2f6e 9C01                 movw r18,r24
 5770 2f70 2470                 andi r18,lo8(4)
 5771 2f72 3070                 andi r19,hi8(4)
 5772 2f74 82FF                 sbrs r24,2
 5773 2f76 00C0                 rjmp .L500
 5774 2f78 8091 0000            lds r24,GPS_Nick
 5775 2f7c 9091 0000            lds r25,(GPS_Nick)+1
 5776 2f80 9095                 com r25
 5777 2f82 8195                 neg r24
 5778 2f84 9F4F                 sbci r25,lo8(-1)
 5779 2f86 9093 0000            sts (StickNick)+1,r25
 5780 2f8a 8093 0000            sts StickNick,r24
 5781 2f8e 8091 0000            lds r24,GPS_Roll
 5782 2f92 9091 0000            lds r25,(GPS_Roll)+1
 5783 2f96 9095                 com r25
 5784 2f98 8195                 neg r24
 5785 2f9a 9F4F                 sbci r25,lo8(-1)
 5786 2f9c 9093 0000            sts (StickRoll)+1,r25
 5787 2fa0 8093 0000            sts StickRoll,r24
 5788 2fa4 8091 0000            lds r24,StickGasHover
 5789 2fa8 9091 0000            lds r25,(StickGasHover)+1
 5790 2fac 9093 0000            sts (StickGas)+1,r25
 5791 2fb0 8093 0000            sts StickGas,r24
 5792 2fb4 8091 0000            lds r24,Parameter_GlobalConfig
 5793 2fb8 8B77                 andi r24,lo8(123)
 5794 2fba 8B66                 ori r24,lo8(107)
 5795 2fbc 8093 0000            sts Parameter_GlobalConfig,r24
 5796 2fc0 8091 0000            lds r24,Parameter_ExtraConfig
 5797 2fc4 8C7B                 andi r24,lo8(-68)
 5798 2fc6 8093 0000            sts Parameter_ExtraConfig,r24
 5799 2fca 88EC                 ldi r24,lo8(-56)
 5800 2fcc 8093 0000            sts Parameter_HoehenSchalter,r24
 5801 2fd0 00C0                 rjmp .L501
 5802                   .L500:
 5803 2fd2 8091 0000            lds r24,FC_StatusFlags
 5804 2fd6 84FF                 sbrs r24,4
 5805 2fd8 00C0                 rjmp .L501
 5806 2fda 3093 0000            sts (StickGier)+1,r19
 5807 2fde 2093 0000            sts StickGier,r18
 5808 2fe2 3093 0000            sts (StickNick)+1,r19
 5809 2fe6 2093 0000            sts StickNick,r18
 5810 2fea 3093 0000            sts (StickRoll)+1,r19
 5811 2fee 2093 0000            sts StickRoll,r18
 5812 2ff2 9AE5                 ldi r25,lo8(90)
 5813 2ff4 9093 0000            sts GyroFaktor,r25
 5814 2ff8 88E7                 ldi r24,lo8(120)
 5815 2ffa 8093 0000            sts IntegralFaktor,r24
 5816 2ffe 9093 0000            sts GyroFaktorGier,r25
 5817 3002 8093 0000            sts IntegralFaktorGier,r24
 5818 3006 1092 0000            sts Looping_Roll,__zero_reg__
 5819 300a 1092 0000            sts Looping_Nick,__zero_reg__
 5820                   .L501:
 5821 300e 8091 0000            lds r24,MittelIntegralNick
 5822 3012 9091 0000            lds r25,(MittelIntegralNick)+1
 5823 3016 A091 0000            lds r26,(MittelIntegralNick)+2
 5824 301a B091 0000            lds r27,(MittelIntegralNick)+3
 5825 301e 2091 0000            lds r18,IntegralNick
 5826 3022 3091 0000            lds r19,(IntegralNick)+1
 5827 3026 4091 0000            lds r20,(IntegralNick)+2
 5828 302a 5091 0000            lds r21,(IntegralNick)+3
 5829 302e 820F                 add r24,r18
 5830 3030 931F                 adc r25,r19
 5831 3032 A41F                 adc r26,r20
 5832 3034 B51F                 adc r27,r21
 5833 3036 8093 0000            sts MittelIntegralNick,r24
 5834 303a 9093 0000            sts (MittelIntegralNick)+1,r25
 5835 303e A093 0000            sts (MittelIntegralNick)+2,r26
 5836 3042 B093 0000            sts (MittelIntegralNick)+3,r27
 5837 3046 8091 0000            lds r24,MittelIntegralRoll
 5838 304a 9091 0000            lds r25,(MittelIntegralRoll)+1
 5839 304e A091 0000            lds r26,(MittelIntegralRoll)+2
 5840 3052 B091 0000            lds r27,(MittelIntegralRoll)+3
 5841 3056 E090 0000            lds r14,IntegralRoll
 5842 305a F090 0000            lds r15,(IntegralRoll)+1
 5843 305e 0091 0000            lds r16,(IntegralRoll)+2
 5844 3062 1091 0000            lds r17,(IntegralRoll)+3
 5845 3066 EB82                 std Y+3,r14
 5846 3068 FC82                 std Y+4,r15
 5847 306a 0D83                 std Y+5,r16
 5848 306c 1E83                 std Y+6,r17
 5849 306e 8E0D                 add r24,r14
 5850 3070 9F1D                 adc r25,r15
 5851 3072 A01F                 adc r26,r16
 5852 3074 B11F                 adc r27,r17
 5853 3076 8093 0000            sts MittelIntegralRoll,r24
 5854 307a 9093 0000            sts (MittelIntegralRoll)+1,r25
 5855 307e A093 0000            sts (MittelIntegralRoll)+2,r26
 5856 3082 B093 0000            sts (MittelIntegralRoll)+3,r27
 5857 3086 8091 0000            lds r24,MittelIntegralNick2
 5858 308a 9091 0000            lds r25,(MittelIntegralNick2)+1
 5859 308e A091 0000            lds r26,(MittelIntegralNick2)+2
 5860 3092 B091 0000            lds r27,(MittelIntegralNick2)+3
 5861 3096 E090 0000            lds r14,IntegralNick2
 5862 309a F090 0000            lds r15,(IntegralNick2)+1
 5863 309e 0091 0000            lds r16,(IntegralNick2)+2
 5864 30a2 1091 0000            lds r17,(IntegralNick2)+3
 5865 30a6 EF82                 std Y+7,r14
 5866 30a8 F886                 std Y+8,r15
 5867 30aa 0987                 std Y+9,r16
 5868 30ac 1A87                 std Y+10,r17
 5869 30ae 8E0D                 add r24,r14
 5870 30b0 9F1D                 adc r25,r15
 5871 30b2 A01F                 adc r26,r16
 5872 30b4 B11F                 adc r27,r17
 5873 30b6 8093 0000            sts MittelIntegralNick2,r24
 5874 30ba 9093 0000            sts (MittelIntegralNick2)+1,r25
 5875 30be A093 0000            sts (MittelIntegralNick2)+2,r26
 5876 30c2 B093 0000            sts (MittelIntegralNick2)+3,r27
 5877 30c6 8091 0000            lds r24,MittelIntegralRoll2
 5878 30ca 9091 0000            lds r25,(MittelIntegralRoll2)+1
 5879 30ce A091 0000            lds r26,(MittelIntegralRoll2)+2
 5880 30d2 B091 0000            lds r27,(MittelIntegralRoll2)+3
 5881 30d6 E090 0000            lds r14,IntegralRoll2
 5882 30da F090 0000            lds r15,(IntegralRoll2)+1
 5883 30de 0091 0000            lds r16,(IntegralRoll2)+2
 5884 30e2 1091 0000            lds r17,(IntegralRoll2)+3
 5885 30e6 EB86                 std Y+11,r14
 5886 30e8 FC86                 std Y+12,r15
 5887 30ea 0D87                 std Y+13,r16
 5888 30ec 1E87                 std Y+14,r17
 5889 30ee 8E0D                 add r24,r14
 5890 30f0 9F1D                 adc r25,r15
 5891 30f2 A01F                 adc r26,r16
 5892 30f4 B11F                 adc r27,r17
 5893 30f6 8093 0000            sts MittelIntegralRoll2,r24
 5894 30fa 9093 0000            sts (MittelIntegralRoll2)+1,r25
 5895 30fe A093 0000            sts (MittelIntegralRoll2)+2,r26
 5896 3102 B093 0000            sts (MittelIntegralRoll2)+3,r27
 5897 3106 F090 0000            lds r15,Looping_Nick
 5898 310a FF86                 std Y+15,r15
 5899 310c FF20                 tst r15
 5900 310e 01F4                 brne .L504
 5901 3110 8091 0000            lds r24,Looping_Roll
 5902 3114 8823                 tst r24
 5903 3116 01F4                 brne .+2
 5904 3118 00C0                 rjmp .L886
 5905                   .L504:
 5906 311a 1092 0000            sts IntegralAccNick,__zero_reg__
 5907 311e 1092 0000            sts (IntegralAccNick)+1,__zero_reg__
 5908 3122 1092 0000            sts (IntegralAccNick)+2,__zero_reg__
 5909 3126 1092 0000            sts (IntegralAccNick)+3,__zero_reg__
 5910 312a 1092 0000            sts IntegralAccRoll,__zero_reg__
 5911 312e 1092 0000            sts (IntegralAccRoll)+1,__zero_reg__
 5912 3132 1092 0000            sts (IntegralAccRoll)+2,__zero_reg__
 5913 3136 1092 0000            sts (IntegralAccRoll)+3,__zero_reg__
 5914 313a 1092 0000            sts MittelIntegralNick,__zero_reg__
 5915 313e 1092 0000            sts (MittelIntegralNick)+1,__zero_reg__
 5916 3142 1092 0000            sts (MittelIntegralNick)+2,__zero_reg__
 5917 3146 1092 0000            sts (MittelIntegralNick)+3,__zero_reg__
 5918 314a 1092 0000            sts MittelIntegralRoll,__zero_reg__
 5919 314e 1092 0000            sts (MittelIntegralRoll)+1,__zero_reg__
 5920 3152 1092 0000            sts (MittelIntegralRoll)+2,__zero_reg__
 5921 3156 1092 0000            sts (MittelIntegralRoll)+3,__zero_reg__
 5922 315a 1092 0000            sts MittelIntegralNick2,__zero_reg__
 5923 315e 1092 0000            sts (MittelIntegralNick2)+1,__zero_reg__
 5924 3162 1092 0000            sts (MittelIntegralNick2)+2,__zero_reg__
 5925 3166 1092 0000            sts (MittelIntegralNick2)+3,__zero_reg__
 5926 316a 1092 0000            sts MittelIntegralRoll2,__zero_reg__
 5927 316e 1092 0000            sts (MittelIntegralRoll2)+1,__zero_reg__
 5928 3172 1092 0000            sts (MittelIntegralRoll2)+2,__zero_reg__
 5929 3176 1092 0000            sts (MittelIntegralRoll2)+3,__zero_reg__
 5930 317a 8091 0000            lds r24,Mess_IntegralNick
 5931 317e 9091 0000            lds r25,(Mess_IntegralNick)+1
 5932 3182 A091 0000            lds r26,(Mess_IntegralNick)+2
 5933 3186 B091 0000            lds r27,(Mess_IntegralNick)+3
 5934 318a 8093 0000            sts Mess_IntegralNick2,r24
 5935 318e 9093 0000            sts (Mess_IntegralNick2)+1,r25
 5936 3192 A093 0000            sts (Mess_IntegralNick2)+2,r26
 5937 3196 B093 0000            sts (Mess_IntegralNick2)+3,r27
 5938 319a 8091 0000            lds r24,Mess_IntegralRoll
 5939 319e 9091 0000            lds r25,(Mess_IntegralRoll)+1
 5940 31a2 A091 0000            lds r26,(Mess_IntegralRoll)+2
 5941 31a6 B091 0000            lds r27,(Mess_IntegralRoll)+3
 5942 31aa 8093 0000            sts Mess_IntegralRoll2,r24
 5943 31ae 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 5944 31b2 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 5945 31b6 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 5946 31ba 1092 0000            sts (ZaehlMessungen)+1,__zero_reg__
 5947 31be 1092 0000            sts ZaehlMessungen,__zero_reg__
 5948 31c2 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 5949 31c6 1092 0000            sts LageKorrekturNick,__zero_reg__
 5950 31ca 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 5951 31ce 1092 0000            sts LageKorrekturRoll,__zero_reg__
 5952 31d2 0F85                 ldd r16,Y+15
 5953 31d4 0023                 tst r16
 5954 31d6 01F0                 breq .+2
 5955 31d8 00C0                 rjmp .L505
 5956                   .L886:
 5957 31da 8091 0000            lds r24,Looping_Roll
 5958 31de 8823                 tst r24
 5959 31e0 01F0                 breq .+2
 5960 31e2 00C0                 rjmp .L505
 5961 31e4 8091 0000            lds r24,Aktuell_az
 5962 31e8 9091 0000            lds r25,(Aktuell_az)+1
 5963 31ec 8150                 subi r24,lo8(513)
 5964 31ee 9240                 sbci r25,hi8(513)
 5965 31f0 04F4                 brge .L506
 5966 31f2 8091 0000            lds r24,MotorenEin
 5967 31f6 8823                 tst r24
 5968 31f8 01F4                 brne .+2
 5969 31fa 00C0                 rjmp .L505
 5970                   .L506:
 5971 31fc 9090 0000            lds r9,FromNaviCtrl_Value
 5972 3200 A090 0000            lds r10,EE_Parameter+28
 5973 3204 2090 0000            lds r2,Mittelwert_AccNick
 5974 3208 3090 0000            lds r3,(Mittelwert_AccNick)+1
 5975 320c 4090 0000            lds r4,Mittelwert_AccRoll
 5976 3210 5090 0000            lds r5,(Mittelwert_AccRoll)+1
 5977 3214 1914                 cp __zero_reg__,r9
 5978 3216 04F0                 brlt .+2
 5979 3218 00C0                 rjmp .L507
 5980 321a BB24                 clr r11
 5981 321c CC24                 clr r12
 5982 321e DD24                 clr r13
 5983 3220 CA01                 movw r24,r20
 5984 3222 B901                 movw r22,r18
 5985 3224 A601                 movw r20,r12
 5986 3226 9501                 movw r18,r10
 5987 3228 0E94 0000            call __divmodsi4
 5988 322c 7901                 movw r14,r18
 5989 322e 8A01                 movw r16,r20
 5990 3230 8091 0000            lds r24,FromNaviCtrl+9
 5991 3234 9091 0000            lds r25,(FromNaviCtrl+9)+1
 5992 3238 281A                 sub r2,r24
 5993 323a 390A                 sbc r3,r25
 5994 323c C101                 movw r24,r2
 5995 323e AA27                 clr r26
 5996 3240 97FD                 sbrc r25,7
 5997 3242 A095                 com r26
 5998 3244 BA2F                 mov r27,r26
 5999 3246 E81A                 sub r14,r24
 6000 3248 F90A                 sbc r15,r25
 6001 324a 0A0B                 sbc r16,r26
 6002 324c 1B0B                 sbc r17,r27
 6003 324e 6B81                 ldd r22,Y+3
 6004 3250 7C81                 ldd r23,Y+4
 6005 3252 8D81                 ldd r24,Y+5
 6006 3254 9E81                 ldd r25,Y+6
 6007 3256 A601                 movw r20,r12
 6008 3258 9501                 movw r18,r10
 6009 325a 0E94 0000            call __divmodsi4
 6010 325e 5901                 movw r10,r18
 6011 3260 6A01                 movw r12,r20
 6012 3262 8091 0000            lds r24,FromNaviCtrl+11
 6013 3266 9091 0000            lds r25,(FromNaviCtrl+11)+1
 6014 326a 481A                 sub r4,r24
 6015 326c 590A                 sbc r5,r25
 6016 326e C201                 movw r24,r4
 6017 3270 AA27                 clr r26
 6018 3272 97FD                 sbrc r25,7
 6019 3274 A095                 com r26
 6020 3276 BA2F                 mov r27,r26
 6021 3278 A81A                 sub r10,r24
 6022 327a B90A                 sbc r11,r25
 6023 327c CA0A                 sbc r12,r26
 6024 327e DB0A                 sbc r13,r27
 6025 3280 292C                 mov r2,r9
 6026 3282 3324                 clr r3
 6027 3284 27FC                 sbrc r2,7
 6028 3286 3094                 com r3
 6029 3288 432C                 mov r4,r3
 6030 328a 532C                 mov r5,r3
 6031 328c C801                 movw r24,r16
 6032 328e B701                 movw r22,r14
 6033 3290 A201                 movw r20,r4
 6034 3292 9101                 movw r18,r2
 6035 3294 0E94 0000            call __mulsi3
 6036 3298 97FF                 sbrs r25,7
 6037 329a 00C0                 rjmp .L508
 6038 329c 6150                 subi r22,lo8(-(511))
 6039 329e 7E4F                 sbci r23,hi8(-(511))
 6040 32a0 8F4F                 sbci r24,hlo8(-(511))
 6041 32a2 9F4F                 sbci r25,hhi8(-(511))
 6042                   .L508:
 6043 32a4 3B01                 movw r6,r22
 6044 32a6 4C01                 movw r8,r24
 6045 32a8 09E0                 ldi r16,9
 6046 32aa 9594         1:      asr r9
 6047 32ac 8794                 ror r8
 6048 32ae 7794                 ror r7
 6049 32b0 6794                 ror r6
 6050 32b2 0A95                 dec r16
 6051 32b4 01F4                 brne 1b
 6052 32b6 C601                 movw r24,r12
 6053 32b8 B501                 movw r22,r10
 6054 32ba A201                 movw r20,r4
 6055 32bc 9101                 movw r18,r2
 6056 32be 0E94 0000            call __mulsi3
 6057 32c2 97FF                 sbrs r25,7
 6058 32c4 00C0                 rjmp .L509
 6059 32c6 6150                 subi r22,lo8(-(511))
 6060 32c8 7E4F                 sbci r23,hi8(-(511))
 6061 32ca 8F4F                 sbci r24,hlo8(-(511))
 6062 32cc 9F4F                 sbci r25,hhi8(-(511))
 6063                   .L509:
 6064 32ce 5B01                 movw r10,r22
 6065 32d0 6C01                 movw r12,r24
 6066 32d2 19E0                 ldi r17,9
 6067 32d4 D594         1:      asr r13
 6068 32d6 C794                 ror r12
 6069 32d8 B794                 ror r11
 6070 32da A794                 ror r10
 6071 32dc 1A95                 dec r17
 6072 32de 01F4                 brne 1b
 6073 32e0 8091 0000            lds r24,MaxStickNick
 6074 32e4 9091 0000            lds r25,(MaxStickNick)+1
 6075 32e8 8134                 cpi r24,65
 6076 32ea 9105                 cpc r25,__zero_reg__
 6077 32ec 04F4                 brge .L511
 6078 32ee 8091 0000            lds r24,MaxStickRoll
 6079 32f2 9091 0000            lds r25,(MaxStickRoll)+1
 6080 32f6 8134                 cpi r24,65
 6081 32f8 9105                 cpc r25,__zero_reg__
 6082 32fa 04F0                 brlt .L510
 6083                   .L511:
 6084 32fc D401                 movw r26,r8
 6085 32fe C301                 movw r24,r6
 6086 3300 97FE                 sbrs r9,7
 6087 3302 00C0                 rjmp .L512
 6088 3304 0196                 adiw r24,1
 6089 3306 A11D                 adc r26,__zero_reg__
 6090 3308 B11D                 adc r27,__zero_reg__
 6091                   .L512:
 6092 330a 3C01                 movw r6,r24
 6093 330c 4D01                 movw r8,r26
 6094 330e 9594                 asr r9
 6095 3310 8794                 ror r8
 6096 3312 7794                 ror r7
 6097 3314 6794                 ror r6
 6098 3316 D601                 movw r26,r12
 6099 3318 C501                 movw r24,r10
 6100 331a D7FE                 sbrs r13,7
 6101 331c 00C0                 rjmp .L513
 6102 331e 0196                 adiw r24,1
 6103 3320 A11D                 adc r26,__zero_reg__
 6104 3322 B11D                 adc r27,__zero_reg__
 6105                   .L513:
 6106 3324 5C01                 movw r10,r24
 6107 3326 6D01                 movw r12,r26
 6108 3328 D594                 asr r13
 6109 332a C794                 ror r12
 6110 332c B794                 ror r11
 6111 332e A794                 ror r10
 6112                   .L510:
 6113 3330 8091 0000            lds r24,FromNaviCtrl_Value+2
 6114 3334 282F                 mov r18,r24
 6115 3336 3327                 clr r19
 6116 3338 27FD                 sbrc r18,7
 6117 333a 3095                 com r19
 6118 333c 432F                 mov r20,r19
 6119 333e 532F                 mov r21,r19
 6120 3340 2615                 cp r18,r6
 6121 3342 3705                 cpc r19,r7
 6122 3344 4805                 cpc r20,r8
 6123 3346 5905                 cpc r21,r9
 6124 3348 04F4                 brge .L514
 6125 334a 3901                 movw r6,r18
 6126 334c 4A01                 movw r8,r20
 6127                   .L514:
 6128 334e 9927                 clr r25
 6129 3350 87FD                 sbrc r24,7
 6130 3352 9095                 com r25
 6131 3354 9095                 com r25
 6132 3356 8195                 neg r24
 6133 3358 9F4F                 sbci r25,lo8(-1)
 6134 335a AA27                 clr r26
 6135 335c 97FD                 sbrc r25,7
 6136 335e A095                 com r26
 6137 3360 BA2F                 mov r27,r26
 6138 3362 6816                 cp r6,r24
 6139 3364 7906                 cpc r7,r25
 6140 3366 8A06                 cpc r8,r26
 6141 3368 9B06                 cpc r9,r27
 6142 336a 04F4                 brge .L515
 6143 336c 3C01                 movw r6,r24
 6144 336e 4D01                 movw r8,r26
 6145                   .L515:
 6146 3370 2A15                 cp r18,r10
 6147 3372 3B05                 cpc r19,r11
 6148 3374 4C05                 cpc r20,r12
 6149 3376 5D05                 cpc r21,r13
 6150 3378 04F4                 brge .L516
 6151 337a 5901                 movw r10,r18
 6152 337c 6A01                 movw r12,r20
 6153                   .L516:
 6154 337e A816                 cp r10,r24
 6155 3380 B906                 cpc r11,r25
 6156 3382 CA06                 cpc r12,r26
 6157 3384 DB06                 cpc r13,r27
 6158 3386 04F0                 brlt .+2
 6159 3388 00C0                 rjmp .L518
 6160 338a 5C01                 movw r10,r24
 6161 338c 6D01                 movw r12,r26
 6162 338e 00C0                 rjmp .L518
 6163                   .L507:
 6164 3390 EA2C                 mov r14,r10
 6165 3392 FF24                 clr r15
 6166 3394 0027                 clr r16
 6167 3396 1127                 clr r17
 6168 3398 CA01                 movw r24,r20
 6169 339a B901                 movw r22,r18
 6170 339c A801                 movw r20,r16
 6171 339e 9701                 movw r18,r14
 6172 33a0 0E94 0000            call __divmodsi4
 6173 33a4 3901                 movw r6,r18
 6174 33a6 4A01                 movw r8,r20
 6175 33a8 C101                 movw r24,r2
 6176 33aa AA27                 clr r26
 6177 33ac 97FD                 sbrc r25,7
 6178 33ae A095                 com r26
 6179 33b0 BA2F                 mov r27,r26
 6180 33b2 681A                 sub r6,r24
 6181 33b4 790A                 sbc r7,r25
 6182 33b6 8A0A                 sbc r8,r26
 6183 33b8 9B0A                 sbc r9,r27
 6184 33ba 6B81                 ldd r22,Y+3
 6185 33bc 7C81                 ldd r23,Y+4
 6186 33be 8D81                 ldd r24,Y+5
 6187 33c0 9E81                 ldd r25,Y+6
 6188 33c2 A801                 movw r20,r16
 6189 33c4 9701                 movw r18,r14
 6190 33c6 0E94 0000            call __divmodsi4
 6191 33ca 5901                 movw r10,r18
 6192 33cc 6A01                 movw r12,r20
 6193 33ce C201                 movw r24,r4
 6194 33d0 AA27                 clr r26
 6195 33d2 97FD                 sbrc r25,7
 6196 33d4 A095                 com r26
 6197 33d6 BA2F                 mov r27,r26
 6198 33d8 A81A                 sub r10,r24
 6199 33da B90A                 sbc r11,r25
 6200 33dc CA0A                 sbc r12,r26
 6201 33de DB0A                 sbc r13,r27
 6202 33e0 D401                 movw r26,r8
 6203 33e2 C301                 movw r24,r6
 6204 33e4 97FE                 sbrs r9,7
 6205 33e6 00C0                 rjmp .L519
 6206 33e8 0F96                 adiw r24,15
 6207 33ea A11D                 adc r26,__zero_reg__
 6208 33ec B11D                 adc r27,__zero_reg__
 6209                   .L519:
 6210 33ee 3C01                 movw r6,r24
 6211 33f0 4D01                 movw r8,r26
 6212 33f2 F4E0                 ldi r31,4
 6213 33f4 9594         1:      asr r9
 6214 33f6 8794                 ror r8
 6215 33f8 7794                 ror r7
 6216 33fa 6794                 ror r6
 6217 33fc FA95                 dec r31
 6218 33fe 01F4                 brne 1b
 6219 3400 D601                 movw r26,r12
 6220 3402 C501                 movw r24,r10
 6221 3404 D7FE                 sbrs r13,7
 6222 3406 00C0                 rjmp .L520
 6223 3408 0F96                 adiw r24,15
 6224 340a A11D                 adc r26,__zero_reg__
 6225 340c B11D                 adc r27,__zero_reg__
 6226                   .L520:
 6227 340e 5C01                 movw r10,r24
 6228 3410 6D01                 movw r12,r26
 6229 3412 E4E0                 ldi r30,4
 6230 3414 D594         1:      asr r13
 6231 3416 C794                 ror r12
 6232 3418 B794                 ror r11
 6233 341a A794                 ror r10
 6234 341c EA95                 dec r30
 6235 341e 01F4                 brne 1b
 6236 3420 8091 0000            lds r24,MaxStickNick
 6237 3424 9091 0000            lds r25,(MaxStickNick)+1
 6238 3428 8134                 cpi r24,65
 6239 342a 9105                 cpc r25,__zero_reg__
 6240 342c 04F4                 brge .L522
 6241 342e 8091 0000            lds r24,MaxStickRoll
 6242 3432 9091 0000            lds r25,(MaxStickRoll)+1
 6243 3436 8134                 cpi r24,65
 6244 3438 9105                 cpc r25,__zero_reg__
 6245 343a 04F0                 brlt .L521
 6246                   .L522:
 6247 343c C401                 movw r24,r8
 6248 343e B301                 movw r22,r6
 6249 3440 23E0                 ldi r18,lo8(3)
 6250 3442 30E0                 ldi r19,hi8(3)
 6251 3444 40E0                 ldi r20,hlo8(3)
 6252 3446 50E0                 ldi r21,hhi8(3)
 6253 3448 0E94 0000            call __divmodsi4
 6254 344c 3901                 movw r6,r18
 6255 344e 4A01                 movw r8,r20
 6256 3450 C601                 movw r24,r12
 6257 3452 B501                 movw r22,r10
 6258 3454 23E0                 ldi r18,lo8(3)
 6259 3456 30E0                 ldi r19,hi8(3)
 6260 3458 40E0                 ldi r20,hlo8(3)
 6261 345a 50E0                 ldi r21,hhi8(3)
 6262 345c 0E94 0000            call __divmodsi4
 6263 3460 5901                 movw r10,r18
 6264 3462 6A01                 movw r12,r20
 6265                   .L521:
 6266 3464 8091 0000            lds r24,EE_Parameter+4
 6267 3468 E82F                 mov r30,r24
 6268 346a FF27                 clr r31
 6269 346c EE0F                 add r30,r30
 6270 346e FF1F                 adc r31,r31
 6271 3470 E050                 subi r30,lo8(-(PPM_in))
 6272 3472 F040                 sbci r31,hi8(-(PPM_in))
 6273 3474 8081                 ld r24,Z
 6274 3476 9181                 ldd r25,Z+1
 6275 3478 0190                 ld __tmp_reg__,Z+
 6276 347a F081                 ld r31,Z
 6277 347c E02D                 mov r30,__tmp_reg__
 6278 347e F7FF                 sbrs r31,7
 6279 3480 00C0                 rjmp .L524
 6280 3482 F095                 com r31
 6281 3484 E195                 neg r30
 6282 3486 FF4F                 sbci r31,lo8(-1)
 6283                   .L524:
 6284 3488 7A97                 sbiw r30,26
 6285 348a 04F0                 brlt .L523
 6286 348c C401                 movw r24,r8
 6287 348e B301                 movw r22,r6
 6288 3490 23E0                 ldi r18,lo8(3)
 6289 3492 30E0                 ldi r19,hi8(3)
 6290 3494 40E0                 ldi r20,hlo8(3)
 6291 3496 50E0                 ldi r21,hhi8(3)
 6292 3498 0E94 0000            call __divmodsi4
 6293 349c 3901                 movw r6,r18
 6294 349e 4A01                 movw r8,r20
 6295 34a0 C601                 movw r24,r12
 6296 34a2 B501                 movw r22,r10
 6297 34a4 23E0                 ldi r18,lo8(3)
 6298 34a6 30E0                 ldi r19,hi8(3)
 6299 34a8 40E0                 ldi r20,hlo8(3)
 6300 34aa 50E0                 ldi r21,hhi8(3)
 6301 34ac 0E94 0000            call __divmodsi4
 6302 34b0 5901                 movw r10,r18
 6303 34b2 6A01                 movw r12,r20
 6304                   .L523:
 6305 34b4 89E1                 ldi r24,lo8(25)
 6306 34b6 8093 0000            sts KompassFusion,r24
 6307 34ba 21E2                 ldi r18,lo8(33)
 6308 34bc 6216                 cp r6,r18
 6309 34be 7104                 cpc r7,__zero_reg__
 6310 34c0 8104                 cpc r8,__zero_reg__
 6311 34c2 9104                 cpc r9,__zero_reg__
 6312 34c4 04F0                 brlt .L525
 6313 34c6 70E2                 ldi r23,lo8(32)
 6314 34c8 672E                 mov r6,r23
 6315 34ca 712C                 mov r7,__zero_reg__
 6316 34cc 812C                 mov r8,__zero_reg__
 6317 34ce 912C                 mov r9,__zero_reg__
 6318                   .L525:
 6319 34d0 30EE                 ldi r19,lo8(-32)
 6320 34d2 6316                 cp r6,r19
 6321 34d4 3FEF                 ldi r19,hi8(-32)
 6322 34d6 7306                 cpc r7,r19
 6323 34d8 3FEF                 ldi r19,hlo8(-32)
 6324 34da 8306                 cpc r8,r19
 6325 34dc 3FEF                 ldi r19,hhi8(-32)
 6326 34de 9306                 cpc r9,r19
 6327 34e0 04F4                 brge .L526
 6328 34e2 60EE                 ldi r22,lo8(-32)
 6329 34e4 662E                 mov r6,r22
 6330 34e6 6FEF                 ldi r22,hi8(-32)
 6331 34e8 762E                 mov r7,r22
 6332 34ea 6FEF                 ldi r22,hlo8(-32)
 6333 34ec 862E                 mov r8,r22
 6334 34ee 6FEF                 ldi r22,hhi8(-32)
 6335 34f0 962E                 mov r9,r22
 6336                   .L526:
 6337 34f2 41E2                 ldi r20,lo8(33)
 6338 34f4 A416                 cp r10,r20
 6339 34f6 B104                 cpc r11,__zero_reg__
 6340 34f8 C104                 cpc r12,__zero_reg__
 6341 34fa D104                 cpc r13,__zero_reg__
 6342 34fc 04F0                 brlt .L527
 6343 34fe 50E2                 ldi r21,lo8(32)
 6344 3500 A52E                 mov r10,r21
 6345 3502 B12C                 mov r11,__zero_reg__
 6346 3504 C12C                 mov r12,__zero_reg__
 6347 3506 D12C                 mov r13,__zero_reg__
 6348                   .L527:
 6349 3508 50EE                 ldi r21,lo8(-32)
 6350 350a A516                 cp r10,r21
 6351 350c 5FEF                 ldi r21,hi8(-32)
 6352 350e B506                 cpc r11,r21
 6353 3510 5FEF                 ldi r21,hlo8(-32)
 6354 3512 C506                 cpc r12,r21
 6355 3514 5FEF                 ldi r21,hhi8(-32)
 6356 3516 D506                 cpc r13,r21
 6357 3518 04F4                 brge .L518
 6358 351a 40EE                 ldi r20,lo8(-32)
 6359 351c A42E                 mov r10,r20
 6360 351e 4FEF                 ldi r20,hi8(-32)
 6361 3520 B42E                 mov r11,r20
 6362 3522 4FEF                 ldi r20,hlo8(-32)
 6363 3524 C42E                 mov r12,r20
 6364 3526 4FEF                 ldi r20,hhi8(-32)
 6365 3528 D42E                 mov r13,r20
 6366                   .L518:
 6367 352a 8091 0000            lds r24,Mess_IntegralNick
 6368 352e 9091 0000            lds r25,(Mess_IntegralNick)+1
 6369 3532 A091 0000            lds r26,(Mess_IntegralNick)+2
 6370 3536 B091 0000            lds r27,(Mess_IntegralNick)+3
 6371 353a 8619                 sub r24,r6
 6372 353c 9709                 sbc r25,r7
 6373 353e A809                 sbc r26,r8
 6374 3540 B909                 sbc r27,r9
 6375 3542 8093 0000            sts Mess_IntegralNick,r24
 6376 3546 9093 0000            sts (Mess_IntegralNick)+1,r25
 6377 354a A093 0000            sts (Mess_IntegralNick)+2,r26
 6378 354e B093 0000            sts (Mess_IntegralNick)+3,r27
 6379 3552 8091 0000            lds r24,Mess_IntegralRoll
 6380 3556 9091 0000            lds r25,(Mess_IntegralRoll)+1
 6381 355a A091 0000            lds r26,(Mess_IntegralRoll)+2
 6382 355e B091 0000            lds r27,(Mess_IntegralRoll)+3
 6383 3562 8A19                 sub r24,r10
 6384 3564 9B09                 sbc r25,r11
 6385 3566 AC09                 sbc r26,r12
 6386 3568 BD09                 sbc r27,r13
 6387 356a 8093 0000            sts Mess_IntegralRoll,r24
 6388 356e 9093 0000            sts (Mess_IntegralRoll)+1,r25
 6389 3572 A093 0000            sts (Mess_IntegralRoll)+2,r26
 6390 3576 B093 0000            sts (Mess_IntegralRoll)+3,r27
 6391                   .L505:
 6392 357a 8091 0000            lds r24,ZaehlMessungen
 6393 357e 9091 0000            lds r25,(ZaehlMessungen)+1
 6394 3582 8F3F                 cpi r24,255
 6395 3584 9105                 cpc r25,__zero_reg__
 6396 3586 01F0                 breq .+2
 6397 3588 00F4                 brsh .+2
 6398 358a 00C0                 rjmp .L529
 6399 358c 6F85                 ldd r22,Y+15
 6400 358e 6623                 tst r22
 6401 3590 01F0                 breq .+2
 6402 3592 00C0                 rjmp .L530
 6403 3594 8091 0000            lds r24,Looping_Roll
 6404 3598 8823                 tst r24
 6405 359a 01F0                 breq .+2
 6406 359c 00C0                 rjmp .L530
 6407 359e 8091 0000            lds r24,TrichterFlug
 6408 35a2 8823                 tst r24
 6409 35a4 01F0                 breq .+2
 6410 35a6 00C0                 rjmp .L530
 6411 35a8 7091 0000            lds r23,EE_Parameter+68
 6412 35ac 788B                 std Y+16,r23
 6413 35ae 7723                 tst r23
 6414 35b0 01F4                 brne .+2
 6415 35b2 00C0                 rjmp .L530
 6416 35b4 8091 0000            lds r24,MittelIntegralNick
 6417 35b8 9091 0000            lds r25,(MittelIntegralNick)+1
 6418 35bc A091 0000            lds r26,(MittelIntegralNick)+2
 6419 35c0 B091 0000            lds r27,(MittelIntegralNick)+3
 6420 35c4 B7FF                 sbrs r27,7
 6421 35c6 00C0                 rjmp .L531
 6422 35c8 8150                 subi r24,lo8(-(255))
 6423 35ca 9F4F                 sbci r25,hi8(-(255))
 6424 35cc AF4F                 sbci r26,hlo8(-(255))
 6425 35ce BF4F                 sbci r27,hhi8(-(255))
 6426                   .L531:
 6427 35d0 E92E                 mov r14,r25
 6428 35d2 FA2E                 mov r15,r26
 6429 35d4 0B2F                 mov r16,r27
 6430 35d6 1127                 clr r17
 6431 35d8 07FD                 sbrc r16,7
 6432 35da 1A95                 dec r17
 6433 35dc E092 0000            sts MittelIntegralNick,r14
 6434 35e0 F092 0000            sts (MittelIntegralNick)+1,r15
 6435 35e4 0093 0000            sts (MittelIntegralNick)+2,r16
 6436 35e8 1093 0000            sts (MittelIntegralNick)+3,r17
 6437 35ec 8091 0000            lds r24,MittelIntegralRoll
 6438 35f0 9091 0000            lds r25,(MittelIntegralRoll)+1
 6439 35f4 A091 0000            lds r26,(MittelIntegralRoll)+2
 6440 35f8 B091 0000            lds r27,(MittelIntegralRoll)+3
 6441 35fc B7FF                 sbrs r27,7
 6442 35fe 00C0                 rjmp .L532
 6443 3600 8150                 subi r24,lo8(-(255))
 6444 3602 9F4F                 sbci r25,hi8(-(255))
 6445 3604 AF4F                 sbci r26,hlo8(-(255))
 6446 3606 BF4F                 sbci r27,hhi8(-(255))
 6447                   .L532:
 6448 3608 892F                 mov r24,r25
 6449 360a 9A2F                 mov r25,r26
 6450 360c AB2F                 mov r26,r27
 6451 360e BB27                 clr r27
 6452 3610 A7FD                 sbrc r26,7
 6453 3612 BA95                 dec r27
 6454 3614 898B                 std Y+17,r24
 6455 3616 9A8B                 std Y+18,r25
 6456 3618 AB8B                 std Y+19,r26
 6457 361a BC8B                 std Y+20,r27
 6458 361c 8093 0000            sts MittelIntegralRoll,r24
 6459 3620 9093 0000            sts (MittelIntegralRoll)+1,r25
 6460 3624 A093 0000            sts (MittelIntegralRoll)+2,r26
 6461 3628 B093 0000            sts (MittelIntegralRoll)+3,r27
 6462 362c 8091 0000            lds r24,EE_Parameter+28
 6463 3630 A82E                 mov r10,r24
 6464 3632 BB24                 clr r11
 6465 3634 CC24                 clr r12
 6466 3636 DD24                 clr r13
 6467 3638 2091 0000            lds r18,IntegralAccNick
 6468 363c 3091 0000            lds r19,(IntegralAccNick)+1
 6469 3640 4091 0000            lds r20,(IntegralAccNick)+2
 6470 3644 5091 0000            lds r21,(IntegralAccNick)+3
 6471 3648 C601                 movw r24,r12
 6472 364a B501                 movw r22,r10
 6473 364c 0E94 0000            call __mulsi3
 6474 3650 97FF                 sbrs r25,7
 6475 3652 00C0                 rjmp .L533
 6476 3654 6150                 subi r22,lo8(-(255))
 6477 3656 7F4F                 sbci r23,hi8(-(255))
 6478 3658 8F4F                 sbci r24,hlo8(-(255))
 6479 365a 9F4F                 sbci r25,hhi8(-(255))
 6480                   .L533:
 6481 365c 672E                 mov r6,r23
 6482 365e 782E                 mov r7,r24
 6483 3660 892E                 mov r8,r25
 6484 3662 9924                 clr r9
 6485 3664 87FC                 sbrc r8,7
 6486 3666 9A94                 dec r9
 6487 3668 6092 0000            sts IntegralAccNick,r6
 6488 366c 7092 0000            sts (IntegralAccNick)+1,r7
 6489 3670 8092 0000            sts (IntegralAccNick)+2,r8
 6490 3674 9092 0000            sts (IntegralAccNick)+3,r9
 6491 3678 2091 0000            lds r18,IntegralAccRoll
 6492 367c 3091 0000            lds r19,(IntegralAccRoll)+1
 6493 3680 4091 0000            lds r20,(IntegralAccRoll)+2
 6494 3684 5091 0000            lds r21,(IntegralAccRoll)+3
 6495 3688 C601                 movw r24,r12
 6496 368a B501                 movw r22,r10
 6497 368c 0E94 0000            call __mulsi3
 6498 3690 97FF                 sbrs r25,7
 6499 3692 00C0                 rjmp .L534
 6500 3694 6150                 subi r22,lo8(-(255))
 6501 3696 7F4F                 sbci r23,hi8(-(255))
 6502 3698 8F4F                 sbci r24,hlo8(-(255))
 6503 369a 9F4F                 sbci r25,hhi8(-(255))
 6504                   .L534:
 6505 369c 272E                 mov r2,r23
 6506 369e 382E                 mov r3,r24
 6507 36a0 492E                 mov r4,r25
 6508 36a2 5524                 clr r5
 6509 36a4 47FC                 sbrc r4,7
 6510 36a6 5A94                 dec r5
 6511 36a8 2092 0000            sts IntegralAccRoll,r2
 6512 36ac 3092 0000            sts (IntegralAccRoll)+1,r3
 6513 36b0 4092 0000            sts (IntegralAccRoll)+2,r4
 6514 36b4 5092 0000            sts (IntegralAccRoll)+3,r5
 6515 36b8 8091 0000            lds r24,IntegralAccZ
 6516 36bc 9091 0000            lds r25,(IntegralAccZ)+1
 6517 36c0 A091 0000            lds r26,(IntegralAccZ)+2
 6518 36c4 B091 0000            lds r27,(IntegralAccZ)+3
 6519 36c8 B7FF                 sbrs r27,7
 6520 36ca 00C0                 rjmp .L535
 6521 36cc 8150                 subi r24,lo8(-(255))
 6522 36ce 9F4F                 sbci r25,hi8(-(255))
 6523 36d0 AF4F                 sbci r26,hlo8(-(255))
 6524 36d2 BF4F                 sbci r27,hhi8(-(255))
 6525                   .L535:
 6526 36d4 892F                 mov r24,r25
 6527 36d6 9A2F                 mov r25,r26
 6528 36d8 AB2F                 mov r26,r27
 6529 36da BB27                 clr r27
 6530 36dc A7FD                 sbrc r26,7
 6531 36de BA95                 dec r27
 6532 36e0 8093 0000            sts IntegralAccZ,r24
 6533 36e4 9093 0000            sts (IntegralAccZ)+1,r25
 6534 36e8 A093 0000            sts (IntegralAccZ)+2,r26
 6535 36ec B093 0000            sts (IntegralAccZ)+3,r27
 6536 36f0 D801                 movw r26,r16
 6537 36f2 C701                 movw r24,r14
 6538 36f4 8619                 sub r24,r6
 6539 36f6 9709                 sbc r25,r7
 6540 36f8 A809                 sbc r26,r8
 6541 36fa B909                 sbc r27,r9
 6542 36fc 8093 0000            sts IntegralFehlerNick.3,r24
 6543 3700 9093 0000            sts (IntegralFehlerNick.3)+1,r25
 6544 3704 A093 0000            sts (IntegralFehlerNick.3)+2,r26
 6545 3708 B093 0000            sts (IntegralFehlerNick.3)+3,r27
 6546 370c 2091 0000            lds r18,EE_Parameter+67
 6547 3710 E22E                 mov r14,r18
 6548 3712 FF24                 clr r15
 6549 3714 0027                 clr r16
 6550 3716 1127                 clr r17
 6551 3718 BC01                 movw r22,r24
 6552 371a CD01                 movw r24,r26
 6553 371c A801                 movw r20,r16
 6554 371e 9701                 movw r18,r14
 6555 3720 0E94 0000            call __divmodsi4
 6556 3724 5901                 movw r10,r18
 6557 3726 6A01                 movw r12,r20
 6558 3728 2093 0000            sts ausgleichNick.10,r18
 6559 372c 3093 0000            sts (ausgleichNick.10)+1,r19
 6560 3730 4093 0000            sts (ausgleichNick.10)+2,r20
 6561 3734 5093 0000            sts (ausgleichNick.10)+3,r21
 6562 3738 8989                 ldd r24,Y+17
 6563 373a 9A89                 ldd r25,Y+18
 6564 373c AB89                 ldd r26,Y+19
 6565 373e BC89                 ldd r27,Y+20
 6566 3740 8219                 sub r24,r2
 6567 3742 9309                 sbc r25,r3
 6568 3744 A409                 sbc r26,r4
 6569 3746 B509                 sbc r27,r5
 6570 3748 8093 0000            sts IntegralFehlerRoll.4,r24
 6571 374c 9093 0000            sts (IntegralFehlerRoll.4)+1,r25
 6572 3750 A093 0000            sts (IntegralFehlerRoll.4)+2,r26
 6573 3754 B093 0000            sts (IntegralFehlerRoll.4)+3,r27
 6574 3758 BC01                 movw r22,r24
 6575 375a CD01                 movw r24,r26
 6576 375c A801                 movw r20,r16
 6577 375e 9701                 movw r18,r14
 6578 3760 0E94 0000            call __divmodsi4
 6579 3764 2093 0000            sts ausgleichRoll.11,r18
 6580 3768 3093 0000            sts (ausgleichRoll.11)+1,r19
 6581 376c 4093 0000            sts (ausgleichRoll.11)+2,r20
 6582 3770 5093 0000            sts (ausgleichRoll.11)+3,r21
 6583 3774 D601                 movw r26,r12
 6584 3776 C501                 movw r24,r10
 6585 3778 D7FE                 sbrs r13,7
 6586 377a 00C0                 rjmp .L536
 6587 377c 8150                 subi r24,lo8(-(255))
 6588 377e 9F4F                 sbci r25,hi8(-(255))
 6589 3780 AF4F                 sbci r26,hlo8(-(255))
 6590 3782 BF4F                 sbci r27,hhi8(-(255))
 6591                   .L536:
 6592 3784 892F                 mov r24,r25
 6593 3786 9A2F                 mov r25,r26
 6594 3788 AB2F                 mov r26,r27
 6595 378a BB27                 clr r27
 6596 378c A7FD                 sbrc r26,7
 6597 378e BA95                 dec r27
 6598 3790 9093 0000            sts (LageKorrekturNick)+1,r25
 6599 3794 8093 0000            sts LageKorrekturNick,r24
 6600 3798 57FF                 sbrs r21,7
 6601 379a 00C0                 rjmp .L537
 6602 379c 2150                 subi r18,lo8(-(255))
 6603 379e 3F4F                 sbci r19,hi8(-(255))
 6604 37a0 4F4F                 sbci r20,hlo8(-(255))
 6605 37a2 5F4F                 sbci r21,hhi8(-(255))
 6606                   .L537:
 6607 37a4 BB27                 clr r27
 6608 37a6 57FD                 sbrc r21,7
 6609 37a8 BA95                 dec r27
 6610 37aa A52F                 mov r26,r21
 6611 37ac 942F                 mov r25,r20
 6612 37ae 832F                 mov r24,r19
 6613 37b0 9093 0000            sts (LageKorrekturRoll)+1,r25
 6614 37b4 8093 0000            sts LageKorrekturRoll,r24
 6615 37b8 8091 0000            lds r24,MaxStickNick
 6616 37bc 9091 0000            lds r25,(MaxStickNick)+1
 6617 37c0 8134                 cpi r24,65
 6618 37c2 9105                 cpc r25,__zero_reg__
 6619 37c4 04F4                 brge .L539
 6620 37c6 8091 0000            lds r24,MaxStickRoll
 6621 37ca 9091 0000            lds r25,(MaxStickRoll)+1
 6622 37ce 8134                 cpi r24,65
 6623 37d0 9105                 cpc r25,__zero_reg__
 6624 37d2 04F4                 brge .L539
 6625 37d4 8091 0000            lds r24,EE_Parameter+4
 6626 37d8 E82F                 mov r30,r24
 6627 37da FF27                 clr r31
 6628 37dc EE0F                 add r30,r30
 6629 37de FF1F                 adc r31,r31
 6630 37e0 E050                 subi r30,lo8(-(PPM_in))
 6631 37e2 F040                 sbci r31,hi8(-(PPM_in))
 6632 37e4 8081                 ld r24,Z
 6633 37e6 9181                 ldd r25,Z+1
 6634 37e8 0190                 ld __tmp_reg__,Z+
 6635 37ea F081                 ld r31,Z
 6636 37ec E02D                 mov r30,__tmp_reg__
 6637 37ee F7FF                 sbrs r31,7
 6638 37f0 00C0                 rjmp .L540
 6639 37f2 F095                 com r31
 6640 37f4 E195                 neg r30
 6641 37f6 FF4F                 sbci r31,lo8(-1)
 6642                   .L540:
 6643 37f8 7A97                 sbiw r30,26
 6644 37fa 04F0                 brlt .L538
 6645                   .L539:
 6646 37fc 8091 0000            lds r24,FromNaviCtrl_Value
 6647 3800 8F3F                 cpi r24,lo8(-1)
 6648 3802 01F4                 brne .L538
 6649 3804 8091 0000            lds r24,LageKorrekturNick
 6650 3808 9091 0000            lds r25,(LageKorrekturNick)+1
 6651 380c 97FD                 sbrc r25,7
 6652 380e 0196                 adiw r24,1
 6653                   .L541:
 6654 3810 9595                 asr r25
 6655 3812 8795                 ror r24
 6656 3814 9093 0000            sts (LageKorrekturNick)+1,r25
 6657 3818 8093 0000            sts LageKorrekturNick,r24
 6658 381c 8091 0000            lds r24,LageKorrekturRoll
 6659 3820 9091 0000            lds r25,(LageKorrekturRoll)+1
 6660 3824 97FD                 sbrc r25,7
 6661 3826 0196                 adiw r24,1
 6662                   .L542:
 6663 3828 9595                 asr r25
 6664 382a 8795                 ror r24
 6665 382c 9093 0000            sts (LageKorrekturRoll)+1,r25
 6666 3830 8093 0000            sts LageKorrekturRoll,r24
 6667                   .L538:
 6668 3834 8091 0000            lds r24,MittelIntegralNick2
 6669 3838 9091 0000            lds r25,(MittelIntegralNick2)+1
 6670 383c A091 0000            lds r26,(MittelIntegralNick2)+2
 6671 3840 B091 0000            lds r27,(MittelIntegralNick2)+3
 6672 3844 B7FF                 sbrs r27,7
 6673 3846 00C0                 rjmp .L543
 6674 3848 8150                 subi r24,lo8(-(255))
 6675 384a 9F4F                 sbci r25,hi8(-(255))
 6676 384c AF4F                 sbci r26,hlo8(-(255))
 6677 384e BF4F                 sbci r27,hhi8(-(255))
 6678                   .L543:
 6679 3850 892F                 mov r24,r25
 6680 3852 9A2F                 mov r25,r26
 6681 3854 AB2F                 mov r26,r27
 6682 3856 BB27                 clr r27
 6683 3858 A7FD                 sbrc r26,7
 6684 385a BA95                 dec r27
 6685 385c 8093 0000            sts MittelIntegralNick2,r24
 6686 3860 9093 0000            sts (MittelIntegralNick2)+1,r25
 6687 3864 A093 0000            sts (MittelIntegralNick2)+2,r26
 6688 3868 B093 0000            sts (MittelIntegralNick2)+3,r27
 6689 386c 8091 0000            lds r24,MittelIntegralRoll2
 6690 3870 9091 0000            lds r25,(MittelIntegralRoll2)+1
 6691 3874 A091 0000            lds r26,(MittelIntegralRoll2)+2
 6692 3878 B091 0000            lds r27,(MittelIntegralRoll2)+3
 6693 387c B7FF                 sbrs r27,7
 6694 387e 00C0                 rjmp .L544
 6695 3880 8150                 subi r24,lo8(-(255))
 6696 3882 9F4F                 sbci r25,hi8(-(255))
 6697 3884 AF4F                 sbci r26,hlo8(-(255))
 6698 3886 BF4F                 sbci r27,hhi8(-(255))
 6699                   .L544:
 6700 3888 892F                 mov r24,r25
 6701 388a 9A2F                 mov r25,r26
 6702 388c AB2F                 mov r26,r27
 6703 388e BB27                 clr r27
 6704 3890 A7FD                 sbrc r26,7
 6705 3892 BA95                 dec r27
 6706 3894 8093 0000            sts MittelIntegralRoll2,r24
 6707 3898 9093 0000            sts (MittelIntegralRoll2)+1,r25
 6708 389c A093 0000            sts (MittelIntegralRoll2)+2,r26
 6709 38a0 B093 0000            sts (MittelIntegralRoll2)+3,r27
 6710 38a4 8091 0000            lds r24,IntegralNick
 6711 38a8 9091 0000            lds r25,(IntegralNick)+1
 6712 38ac A091 0000            lds r26,(IntegralNick)+2
 6713 38b0 B091 0000            lds r27,(IntegralNick)+3
 6714 38b4 2F81                 ldd r18,Y+7
 6715 38b6 3885                 ldd r19,Y+8
 6716 38b8 4985                 ldd r20,Y+9
 6717 38ba 5A85                 ldd r21,Y+10
 6718 38bc 281B                 sub r18,r24
 6719 38be 390B                 sbc r19,r25
 6720 38c0 4A0B                 sbc r20,r26
 6721 38c2 5B0B                 sbc r21,r27
 6722 38c4 2093 0000            sts tmp_long.1,r18
 6723 38c8 3093 0000            sts (tmp_long.1)+1,r19
 6724 38cc 4093 0000            sts (tmp_long.1)+2,r20
 6725 38d0 5093 0000            sts (tmp_long.1)+3,r21
 6726 38d4 8091 0000            lds r24,IntegralRoll
 6727 38d8 9091 0000            lds r25,(IntegralRoll)+1
 6728 38dc A091 0000            lds r26,(IntegralRoll)+2
 6729 38e0 B091 0000            lds r27,(IntegralRoll)+3
 6730 38e4 EB84                 ldd r14,Y+11
 6731 38e6 FC84                 ldd r15,Y+12
 6732 38e8 0D85                 ldd r16,Y+13
 6733 38ea 1E85                 ldd r17,Y+14
 6734 38ec E81A                 sub r14,r24
 6735 38ee F90A                 sbc r15,r25
 6736 38f0 0A0B                 sbc r16,r26
 6737 38f2 1B0B                 sbc r17,r27
 6738 38f4 E092 0000            sts tmp_long2.2,r14
 6739 38f8 F092 0000            sts (tmp_long2.2)+1,r15
 6740 38fc 0093 0000            sts (tmp_long2.2)+2,r16
 6741 3900 1093 0000            sts (tmp_long2.2)+3,r17
 6742 3904 2093 0000            sts IntegralFehlerNick.3,r18
 6743 3908 3093 0000            sts (IntegralFehlerNick.3)+1,r19
 6744 390c 4093 0000            sts (IntegralFehlerNick.3)+2,r20
 6745 3910 5093 0000            sts (IntegralFehlerNick.3)+3,r21
 6746 3914 E092 0000            sts IntegralFehlerRoll.4,r14
 6747 3918 F092 0000            sts (IntegralFehlerRoll.4)+1,r15
 6748 391c 0093 0000            sts (IntegralFehlerRoll.4)+2,r16
 6749 3920 1093 0000            sts (IntegralFehlerRoll.4)+3,r17
 6750 3924 8091 0000            lds r24,Mess_IntegralNick2
 6751 3928 9091 0000            lds r25,(Mess_IntegralNick2)+1
 6752 392c A091 0000            lds r26,(Mess_IntegralNick2)+2
 6753 3930 B091 0000            lds r27,(Mess_IntegralNick2)+3
 6754 3934 821B                 sub r24,r18
 6755 3936 930B                 sbc r25,r19
 6756 3938 A40B                 sbc r26,r20
 6757 393a B50B                 sbc r27,r21
 6758 393c 8093 0000            sts Mess_IntegralNick2,r24
 6759 3940 9093 0000            sts (Mess_IntegralNick2)+1,r25
 6760 3944 A093 0000            sts (Mess_IntegralNick2)+2,r26
 6761 3948 B093 0000            sts (Mess_IntegralNick2)+3,r27
 6762 394c 8091 0000            lds r24,Mess_IntegralRoll2
 6763 3950 9091 0000            lds r25,(Mess_IntegralRoll2)+1
 6764 3954 A091 0000            lds r26,(Mess_IntegralRoll2)+2
 6765 3958 B091 0000            lds r27,(Mess_IntegralRoll2)+3
 6766 395c 8E19                 sub r24,r14
 6767 395e 9F09                 sbc r25,r15
 6768 3960 A00B                 sbc r26,r16
 6769 3962 B10B                 sbc r27,r17
 6770 3964 8093 0000            sts Mess_IntegralRoll2,r24
 6771 3968 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 6772 396c A093 0000            sts (Mess_IntegralRoll2)+2,r26
 6773 3970 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 6774 3974 8889                 ldd r24,Y+16
 6775 3976 8823                 tst r24
 6776 3978 01F0                 breq .L545
 6777 397a 2091 0000            lds r18,GierGyroFehler
 6778 397e 3091 0000            lds r19,(GierGyroFehler)+1
 6779 3982 2138                 cpi r18,129
 6780 3984 3105                 cpc r19,__zero_reg__
 6781 3986 04F0                 brlt .L546
 6782 3988 8091 0000            lds r24,AdNeutralGier
 6783 398c 9091 0000            lds r25,(AdNeutralGier)+1
 6784 3990 0196                 adiw r24,1
 6785 3992 9093 0000            sts (AdNeutralGier)+1,r25
 6786 3996 8093 0000            sts AdNeutralGier,r24
 6787                   .L546:
 6788 399a 2058                 subi r18,lo8(-128)
 6789 399c 3F4F                 sbci r19,hi8(-128)
 6790 399e 04F4                 brge .L545
 6791 39a0 8091 0000            lds r24,AdNeutralGier
 6792 39a4 9091 0000            lds r25,(AdNeutralGier)+1
 6793 39a8 0197                 sbiw r24,1
 6794 39aa 9093 0000            sts (AdNeutralGier)+1,r25
 6795 39ae 8093 0000            sts AdNeutralGier,r24
 6796                   .L545:
 6797 39b2 1092 0000            sts (GierGyroFehler)+1,__zero_reg__
 6798 39b6 1092 0000            sts GierGyroFehler,__zero_reg__
 6799 39ba 81E0                 ldi r24,lo8(1)
 6800 39bc 90E0                 ldi r25,hi8(1)
 6801 39be 9093 0000            sts (cnt.14)+1,r25
 6802 39c2 8093 0000            sts cnt.14,r24
 6803 39c6 E090 0000            lds r14,IntegralFehlerNick.3
 6804 39ca F090 0000            lds r15,(IntegralFehlerNick.3)+1
 6805 39ce 0091 0000            lds r16,(IntegralFehlerNick.3)+2
 6806 39d2 1091 0000            lds r17,(IntegralFehlerNick.3)+3
 6807 39d6 D801                 movw r26,r16
 6808 39d8 C701                 movw r24,r14
 6809 39da 17FF                 sbrs r17,7
 6810 39dc 00C0                 rjmp .L549
 6811 39de 8827                 clr r24
 6812 39e0 9927                 clr r25
 6813 39e2 DC01                 movw r26,r24
 6814 39e4 8E19                 sub r24,r14
 6815 39e6 9F09                 sbc r25,r15
 6816 39e8 A00B                 sbc r26,r16
 6817 39ea B10B                 sbc r27,r17
 6818                   .L549:
 6819 39ec 8150                 subi r24,lo8(513)
 6820 39ee 9240                 sbci r25,hi8(513)
 6821 39f0 A040                 sbci r26,hlo8(513)
 6822 39f2 B040                 sbci r27,hhi8(513)
 6823 39f4 04F0                 brlt .L548
 6824 39f6 84E0                 ldi r24,lo8(4)
 6825 39f8 90E0                 ldi r25,hi8(4)
 6826 39fa 9093 0000            sts (cnt.14)+1,r25
 6827 39fe 8093 0000            sts cnt.14,r24
 6828                   .L548:
 6829 3a02 8091 0000            lds r24,MittelIntegralNick_Alt.19
 6830 3a06 9091 0000            lds r25,(MittelIntegralNick_Alt.19)+1
 6831 3a0a A091 0000            lds r26,(MittelIntegralNick_Alt.19)+2
 6832 3a0e B091 0000            lds r27,(MittelIntegralNick_Alt.19)+3
 6833 3a12 2091 0000            lds r18,MittelIntegralNick
 6834 3a16 3091 0000            lds r19,(MittelIntegralNick)+1
 6835 3a1a 4091 0000            lds r20,(MittelIntegralNick)+2
 6836 3a1e 5091 0000            lds r21,(MittelIntegralNick)+3
 6837 3a22 821B                 sub r24,r18
 6838 3a24 930B                 sbc r25,r19
 6839 3a26 A40B                 sbc r26,r20
 6840 3a28 B50B                 sbc r27,r21
 6841 3a2a 815E                 subi r24,lo8(-(19999))
 6842 3a2c 914B                 sbci r25,hi8(-(19999))
 6843 3a2e AF4F                 sbci r26,hlo8(-(19999))
 6844 3a30 BF4F                 sbci r27,hhi8(-(19999))
 6845 3a32 8F53                 subi r24,lo8(39999)
 6846 3a34 9C49                 sbci r25,hi8(39999)
 6847 3a36 A040                 sbci r26,hlo8(39999)
 6848 3a38 B040                 sbci r27,hhi8(39999)
 6849 3a3a 00F0                 brlo .L551
 6850 3a3c 8091 0000            lds r24,FromNaviCtrl_Value+1
 6851 3a40 8931                 cpi r24,lo8(25)
 6852 3a42 04F4                 brge .+2
 6853 3a44 00C0                 rjmp .L550
 6854                   .L551:
 6855 3a46 21E0                 ldi r18,lo8(4097)
 6856 3a48 E216                 cp r14,r18
 6857 3a4a 20E1                 ldi r18,hi8(4097)
 6858 3a4c F206                 cpc r15,r18
 6859 3a4e 20E0                 ldi r18,hlo8(4097)
 6860 3a50 0207                 cpc r16,r18
 6861 3a52 20E0                 ldi r18,hhi8(4097)
 6862 3a54 1207                 cpc r17,r18
 6863 3a56 04F4                 brge .+2
 6864 3a58 00C0                 rjmp .L552
 6865 3a5a 8091 0000            lds r24,last_n_p.15
 6866 3a5e 8823                 tst r24
 6867 3a60 01F4                 brne .+2
 6868 3a62 00C0                 rjmp .L553
 6869 3a64 D801                 movw r26,r16
 6870 3a66 C701                 movw r24,r14
 6871 3a68 17FF                 sbrs r17,7
 6872 3a6a 00C0                 rjmp .L554
 6873 3a6c 8827                 clr r24
 6874 3a6e 9927                 clr r25
 6875 3a70 DC01                 movw r26,r24
 6876 3a72 8E19                 sub r24,r14
 6877 3a74 9F09                 sbc r25,r15
 6878 3a76 A00B                 sbc r26,r16
 6879 3a78 B10B                 sbc r27,r17
 6880                   .L554:
 6881 3a7a 9C01                 movw r18,r24
 6882 3a7c AD01                 movw r20,r26
 6883 3a7e B7FF                 sbrs r27,7
 6884 3a80 00C0                 rjmp .L555
 6885 3a82 2150                 subi r18,lo8(-(511))
 6886 3a84 3E4F                 sbci r19,hi8(-(511))
 6887 3a86 4F4F                 sbci r20,hlo8(-(511))
 6888 3a88 5F4F                 sbci r21,hhi8(-(511))
 6889                   .L555:
 6890 3a8a F9E0                 ldi r31,9
 6891 3a8c 5595         1:      asr r21
 6892 3a8e 4795                 ror r20
 6893 3a90 3795                 ror r19
 6894 3a92 2795                 ror r18
 6895 3a94 FA95                 dec r31
 6896 3a96 01F4                 brne 1b
 6897 3a98 8091 0000            lds r24,cnt.14
 6898 3a9c 9091 0000            lds r25,(cnt.14)+1
 6899 3aa0 820F                 add r24,r18
 6900 3aa2 931F                 adc r25,r19
 6901 3aa4 9093 0000            sts (cnt.14)+1,r25
 6902 3aa8 8093 0000            sts cnt.14,r24
 6903 3aac D801                 movw r26,r16
 6904 3aae C701                 movw r24,r14
 6905 3ab0 17FF                 sbrs r17,7
 6906 3ab2 00C0                 rjmp .L556
 6907 3ab4 0796                 adiw r24,7
 6908 3ab6 A11D                 adc r26,__zero_reg__
 6909 3ab8 B11D                 adc r27,__zero_reg__
 6910                   .L556:
 6911 3aba E3E0                 ldi r30,3
 6912 3abc B595         1:      asr r27
 6913 3abe A795                 ror r26
 6914 3ac0 9795                 ror r25
 6915 3ac2 8795                 ror r24
 6916 3ac4 EA95                 dec r30
 6917 3ac6 01F4                 brne 1b
 6918 3ac8 8093 0000            sts ausgleichNick.10,r24
 6919 3acc 9093 0000            sts (ausgleichNick.10)+1,r25
 6920 3ad0 A093 0000            sts (ausgleichNick.10)+2,r26
 6921 3ad4 B093 0000            sts (ausgleichNick.10)+3,r27
 6922 3ad8 8958                 subi r24,lo8(5001)
 6923 3ada 9341                 sbci r25,hi8(5001)
 6924 3adc A040                 sbci r26,hlo8(5001)
 6925 3ade B040                 sbci r27,hhi8(5001)
 6926 3ae0 04F0                 brlt .L557
 6927 3ae2 88E8                 ldi r24,lo8(5000)
 6928 3ae4 93E1                 ldi r25,hi8(5000)
 6929 3ae6 A0E0                 ldi r26,hlo8(5000)
 6930 3ae8 B0E0                 ldi r27,hhi8(5000)
 6931 3aea 8093 0000            sts ausgleichNick.10,r24
 6932 3aee 9093 0000            sts (ausgleichNick.10)+1,r25
 6933 3af2 A093 0000            sts (ausgleichNick.10)+2,r26
 6934 3af6 B093 0000            sts (ausgleichNick.10)+3,r27
 6935                   .L557:
 6936 3afa 2091 0000            lds r18,ausgleichNick.10
 6937 3afe 3091 0000            lds r19,(ausgleichNick.10)+1
 6938 3b02 4091 0000            lds r20,(ausgleichNick.10)+2
 6939 3b06 5091 0000            lds r21,(ausgleichNick.10)+3
 6940 3b0a 57FF                 sbrs r21,7
 6941 3b0c 00C0                 rjmp .L558
 6942 3b0e 2150                 subi r18,lo8(-(255))
 6943 3b10 3F4F                 sbci r19,hi8(-(255))
 6944 3b12 4F4F                 sbci r20,hlo8(-(255))
 6945 3b14 5F4F                 sbci r21,hhi8(-(255))
 6946                   .L558:
 6947 3b16 232F                 mov r18,r19
 6948 3b18 342F                 mov r19,r20
 6949 3b1a 452F                 mov r20,r21
 6950 3b1c 5527                 clr r21
 6951 3b1e 47FD                 sbrc r20,7
 6952 3b20 5A95                 dec r21
 6953 3b22 8091 0000            lds r24,LageKorrekturNick
 6954 3b26 9091 0000            lds r25,(LageKorrekturNick)+1
 6955 3b2a 820F                 add r24,r18
 6956 3b2c 931F                 adc r25,r19
 6957 3b2e 9093 0000            sts (LageKorrekturNick)+1,r25
 6958 3b32 8093 0000            sts LageKorrekturNick,r24
 6959 3b36 00C0                 rjmp .L560
 6960                   .L553:
 6961 3b38 81E0                 ldi r24,lo8(1)
 6962 3b3a 8093 0000            sts last_n_p.15,r24
 6963 3b3e 00C0                 rjmp .L560
 6964                   .L552:
 6965 3b40 1092 0000            sts last_n_p.15,__zero_reg__
 6966                   .L560:
 6967 3b44 40E0                 ldi r20,lo8(-4096)
 6968 3b46 E416                 cp r14,r20
 6969 3b48 40EF                 ldi r20,hi8(-4096)
 6970 3b4a F406                 cpc r15,r20
 6971 3b4c 4FEF                 ldi r20,hlo8(-4096)
 6972 3b4e 0407                 cpc r16,r20
 6973 3b50 4FEF                 ldi r20,hhi8(-4096)
 6974 3b52 1407                 cpc r17,r20
 6975 3b54 04F0                 brlt .+2
 6976 3b56 00C0                 rjmp .L561
 6977 3b58 8091 0000            lds r24,last_n_n.16
 6978 3b5c 8823                 tst r24
 6979 3b5e 01F4                 brne .+2
 6980 3b60 00C0                 rjmp .L562
 6981 3b62 D801                 movw r26,r16
 6982 3b64 C701                 movw r24,r14
 6983 3b66 17FF                 sbrs r17,7
 6984 3b68 00C0                 rjmp .L563
 6985 3b6a 8827                 clr r24
 6986 3b6c 9927                 clr r25
 6987 3b6e DC01                 movw r26,r24
 6988 3b70 8E19                 sub r24,r14
 6989 3b72 9F09                 sbc r25,r15
 6990 3b74 A00B                 sbc r26,r16
 6991 3b76 B10B                 sbc r27,r17
 6992                   .L563:
 6993 3b78 9C01                 movw r18,r24
 6994 3b7a AD01                 movw r20,r26
 6995 3b7c B7FF                 sbrs r27,7
 6996 3b7e 00C0                 rjmp .L564
 6997 3b80 2150                 subi r18,lo8(-(511))
 6998 3b82 3E4F                 sbci r19,hi8(-(511))
 6999 3b84 4F4F                 sbci r20,hlo8(-(511))
 7000 3b86 5F4F                 sbci r21,hhi8(-(511))
 7001                   .L564:
 7002 3b88 69E0                 ldi r22,9
 7003 3b8a 5595         1:      asr r21
 7004 3b8c 4795                 ror r20
 7005 3b8e 3795                 ror r19
 7006 3b90 2795                 ror r18
 7007 3b92 6A95                 dec r22
 7008 3b94 01F4                 brne 1b
 7009 3b96 8091 0000            lds r24,cnt.14
 7010 3b9a 9091 0000            lds r25,(cnt.14)+1
 7011 3b9e 820F                 add r24,r18
 7012 3ba0 931F                 adc r25,r19
 7013 3ba2 9093 0000            sts (cnt.14)+1,r25
 7014 3ba6 8093 0000            sts cnt.14,r24
 7015 3baa D801                 movw r26,r16
 7016 3bac C701                 movw r24,r14
 7017 3bae 17FF                 sbrs r17,7
 7018 3bb0 00C0                 rjmp .L565
 7019 3bb2 0796                 adiw r24,7
 7020 3bb4 A11D                 adc r26,__zero_reg__
 7021 3bb6 B11D                 adc r27,__zero_reg__
 7022                   .L565:
 7023 3bb8 23E0                 ldi r18,3
 7024 3bba B595         1:      asr r27
 7025 3bbc A795                 ror r26
 7026 3bbe 9795                 ror r25
 7027 3bc0 8795                 ror r24
 7028 3bc2 2A95                 dec r18
 7029 3bc4 01F4                 brne 1b
 7030 3bc6 8093 0000            sts ausgleichNick.10,r24
 7031 3bca 9093 0000            sts (ausgleichNick.10)+1,r25
 7032 3bce A093 0000            sts (ausgleichNick.10)+2,r26
 7033 3bd2 B093 0000            sts (ausgleichNick.10)+3,r27
 7034 3bd6 8857                 subi r24,lo8(-5000)
 7035 3bd8 9C4E                 sbci r25,hi8(-5000)
 7036 3bda AF4F                 sbci r26,hlo8(-5000)
 7037 3bdc BF4F                 sbci r27,hhi8(-5000)
 7038 3bde 04F4                 brge .L566
 7039 3be0 88E7                 ldi r24,lo8(-5000)
 7040 3be2 9CEE                 ldi r25,hi8(-5000)
 7041 3be4 AFEF                 ldi r26,hlo8(-5000)
 7042 3be6 BFEF                 ldi r27,hhi8(-5000)
 7043 3be8 8093 0000            sts ausgleichNick.10,r24
 7044 3bec 9093 0000            sts (ausgleichNick.10)+1,r25
 7045 3bf0 A093 0000            sts (ausgleichNick.10)+2,r26
 7046 3bf4 B093 0000            sts (ausgleichNick.10)+3,r27
 7047                   .L566:
 7048 3bf8 2091 0000            lds r18,ausgleichNick.10
 7049 3bfc 3091 0000            lds r19,(ausgleichNick.10)+1
 7050 3c00 4091 0000            lds r20,(ausgleichNick.10)+2
 7051 3c04 5091 0000            lds r21,(ausgleichNick.10)+3
 7052 3c08 57FF                 sbrs r21,7
 7053 3c0a 00C0                 rjmp .L567
 7054 3c0c 2150                 subi r18,lo8(-(255))
 7055 3c0e 3F4F                 sbci r19,hi8(-(255))
 7056 3c10 4F4F                 sbci r20,hlo8(-(255))
 7057 3c12 5F4F                 sbci r21,hhi8(-(255))
 7058                   .L567:
 7059 3c14 232F                 mov r18,r19
 7060 3c16 342F                 mov r19,r20
 7061 3c18 452F                 mov r20,r21
 7062 3c1a 5527                 clr r21
 7063 3c1c 47FD                 sbrc r20,7
 7064 3c1e 5A95                 dec r21
 7065 3c20 8091 0000            lds r24,LageKorrekturNick
 7066 3c24 9091 0000            lds r25,(LageKorrekturNick)+1
 7067 3c28 820F                 add r24,r18
 7068 3c2a 931F                 adc r25,r19
 7069 3c2c 9093 0000            sts (LageKorrekturNick)+1,r25
 7070 3c30 8093 0000            sts LageKorrekturNick,r24
 7071 3c34 00C0                 rjmp .L570
 7072                   .L562:
 7073 3c36 81E0                 ldi r24,lo8(1)
 7074 3c38 8093 0000            sts last_n_n.16,r24
 7075 3c3c 00C0                 rjmp .L570
 7076                   .L561:
 7077 3c3e 1092 0000            sts last_n_n.16,__zero_reg__
 7078 3c42 00C0                 rjmp .L570
 7079                   .L550:
 7080 3c44 1092 0000            sts (cnt.14)+1,__zero_reg__
 7081 3c48 1092 0000            sts cnt.14,__zero_reg__
 7082 3c4c 84E6                 ldi r24,lo8(100)
 7083 3c4e 90E0                 ldi r25,hi8(100)
 7084 3c50 9093 0000            sts (KompassSignalSchlecht)+1,r25
 7085 3c54 8093 0000            sts KompassSignalSchlecht,r24
 7086                   .L570:
 7087 3c58 6889                 ldd r22,Y+16
 7088 3c5a 262F                 mov r18,r22
 7089 3c5c 3327                 clr r19
 7090 3c5e 8091 0000            lds r24,cnt.14
 7091 3c62 9091 0000            lds r25,(cnt.14)+1
 7092 3c66 2817                 cp r18,r24
 7093 3c68 3907                 cpc r19,r25
 7094 3c6a 04F4                 brge .L571
 7095 3c6c 3093 0000            sts (cnt.14)+1,r19
 7096 3c70 2093 0000            sts cnt.14,r18
 7097                   .L571:
 7098 3c74 1091 0000            lds r17,FromNaviCtrl_Value+1
 7099 3c78 1123                 tst r17
 7100 3c7a 01F0                 breq .L572
 7101 3c7c 212F                 mov r18,r17
 7102 3c7e 3327                 clr r19
 7103 3c80 27FD                 sbrc r18,7
 7104 3c82 3095                 com r19
 7105 3c84 8091 0000            lds r24,cnt.14
 7106 3c88 9091 0000            lds r25,(cnt.14)+1
 7107 3c8c 2817                 cp r18,r24
 7108 3c8e 3907                 cpc r19,r25
 7109 3c90 04F4                 brge .L572
 7110 3c92 3093 0000            sts (cnt.14)+1,r19
 7111 3c96 2093 0000            sts cnt.14,r18
 7112                   .L572:
 7113 3c9a 4091 0000            lds r20,IntegralFehlerNick.3
 7114 3c9e 5091 0000            lds r21,(IntegralFehlerNick.3)+1
 7115 3ca2 6091 0000            lds r22,(IntegralFehlerNick.3)+2
 7116 3ca6 7091 0000            lds r23,(IntegralFehlerNick.3)+3
 7117 3caa 4138                 cpi r20,lo8(129)
 7118 3cac 5105                 cpc r21,__zero_reg__
 7119 3cae 6105                 cpc r22,__zero_reg__
 7120 3cb0 7105                 cpc r23,__zero_reg__
 7121 3cb2 04F0                 brlt .L574
 7122 3cb4 8091 0000            lds r24,AdNeutralNick
 7123 3cb8 9091 0000            lds r25,(AdNeutralNick)+1
 7124 3cbc 2091 0000            lds r18,cnt.14
 7125 3cc0 3091 0000            lds r19,(cnt.14)+1
 7126 3cc4 820F                 add r24,r18
 7127 3cc6 931F                 adc r25,r19
 7128 3cc8 9093 0000            sts (AdNeutralNick)+1,r25
 7129 3ccc 8093 0000            sts AdNeutralNick,r24
 7130                   .L574:
 7131 3cd0 4058                 subi r20,lo8(-128)
 7132 3cd2 5F4F                 sbci r21,hi8(-128)
 7133 3cd4 6F4F                 sbci r22,hlo8(-128)
 7134 3cd6 7F4F                 sbci r23,hhi8(-128)
 7135 3cd8 04F4                 brge .L575
 7136 3cda 8091 0000            lds r24,AdNeutralNick
 7137 3cde 9091 0000            lds r25,(AdNeutralNick)+1
 7138 3ce2 2091 0000            lds r18,cnt.14
 7139 3ce6 3091 0000            lds r19,(cnt.14)+1
 7140 3cea 821B                 sub r24,r18
 7141 3cec 930B                 sbc r25,r19
 7142 3cee 9093 0000            sts (AdNeutralNick)+1,r25
 7143 3cf2 8093 0000            sts AdNeutralNick,r24
 7144                   .L575:
 7145 3cf6 81E0                 ldi r24,lo8(1)
 7146 3cf8 90E0                 ldi r25,hi8(1)
 7147 3cfa 9093 0000            sts (cnt.14)+1,r25
 7148 3cfe 8093 0000            sts cnt.14,r24
 7149 3d02 C090 0000            lds r12,IntegralFehlerRoll.4
 7150 3d06 D090 0000            lds r13,(IntegralFehlerRoll.4)+1
 7151 3d0a E090 0000            lds r14,(IntegralFehlerRoll.4)+2
 7152 3d0e F090 0000            lds r15,(IntegralFehlerRoll.4)+3
 7153 3d12 D701                 movw r26,r14
 7154 3d14 C601                 movw r24,r12
 7155 3d16 F7FE                 sbrs r15,7
 7156 3d18 00C0                 rjmp .L577
 7157 3d1a 8827                 clr r24
 7158 3d1c 9927                 clr r25
 7159 3d1e DC01                 movw r26,r24
 7160 3d20 8C19                 sub r24,r12
 7161 3d22 9D09                 sbc r25,r13
 7162 3d24 AE09                 sbc r26,r14
 7163 3d26 BF09                 sbc r27,r15
 7164                   .L577:
 7165 3d28 8150                 subi r24,lo8(513)
 7166 3d2a 9240                 sbci r25,hi8(513)
 7167 3d2c A040                 sbci r26,hlo8(513)
 7168 3d2e B040                 sbci r27,hhi8(513)
 7169 3d30 04F0                 brlt .L576
 7170 3d32 84E0                 ldi r24,lo8(4)
 7171 3d34 90E0                 ldi r25,hi8(4)
 7172 3d36 9093 0000            sts (cnt.14)+1,r25
 7173 3d3a 8093 0000            sts cnt.14,r24
 7174                   .L576:
 7175 3d3e 8091 0000            lds r24,MittelIntegralRoll_Alt.20
 7176 3d42 9091 0000            lds r25,(MittelIntegralRoll_Alt.20)+1
 7177 3d46 A091 0000            lds r26,(MittelIntegralRoll_Alt.20)+2
 7178 3d4a B091 0000            lds r27,(MittelIntegralRoll_Alt.20)+3
 7179 3d4e 2091 0000            lds r18,MittelIntegralRoll
 7180 3d52 3091 0000            lds r19,(MittelIntegralRoll)+1
 7181 3d56 4091 0000            lds r20,(MittelIntegralRoll)+2
 7182 3d5a 5091 0000            lds r21,(MittelIntegralRoll)+3
 7183 3d5e 821B                 sub r24,r18
 7184 3d60 930B                 sbc r25,r19
 7185 3d62 A40B                 sbc r26,r20
 7186 3d64 B50B                 sbc r27,r21
 7187 3d66 815E                 subi r24,lo8(-(19999))
 7188 3d68 914B                 sbci r25,hi8(-(19999))
 7189 3d6a AF4F                 sbci r26,hlo8(-(19999))
 7190 3d6c BF4F                 sbci r27,hhi8(-(19999))
 7191 3d6e 8F53                 subi r24,lo8(39999)
 7192 3d70 9C49                 sbci r25,hi8(39999)
 7193 3d72 A040                 sbci r26,hlo8(39999)
 7194 3d74 B040                 sbci r27,hhi8(39999)
 7195 3d76 00F0                 brlo .L579
 7196 3d78 1931                 cpi r17,lo8(25)
 7197 3d7a 04F4                 brge .+2
 7198 3d7c 00C0                 rjmp .L578
 7199                   .L579:
 7200 3d7e 01E0                 ldi r16,lo8(4097)
 7201 3d80 C016                 cp r12,r16
 7202 3d82 00E1                 ldi r16,hi8(4097)
 7203 3d84 D006                 cpc r13,r16
 7204 3d86 00E0                 ldi r16,hlo8(4097)
 7205 3d88 E006                 cpc r14,r16
 7206 3d8a 00E0                 ldi r16,hhi8(4097)
 7207 3d8c F006                 cpc r15,r16
 7208 3d8e 04F4                 brge .+2
 7209 3d90 00C0                 rjmp .L580
 7210 3d92 8091 0000            lds r24,last_r_p.17
 7211 3d96 8823                 tst r24
 7212 3d98 01F4                 brne .+2
 7213 3d9a 00C0                 rjmp .L581
 7214 3d9c D701                 movw r26,r14
 7215 3d9e C601                 movw r24,r12
 7216 3da0 F7FE                 sbrs r15,7
 7217 3da2 00C0                 rjmp .L582
 7218 3da4 8827                 clr r24
 7219 3da6 9927                 clr r25
 7220 3da8 DC01                 movw r26,r24
 7221 3daa 8C19                 sub r24,r12
 7222 3dac 9D09                 sbc r25,r13
 7223 3dae AE09                 sbc r26,r14
 7224 3db0 BF09                 sbc r27,r15
 7225                   .L582:
 7226 3db2 9C01                 movw r18,r24
 7227 3db4 AD01                 movw r20,r26
 7228 3db6 B7FF                 sbrs r27,7
 7229 3db8 00C0                 rjmp .L583
 7230 3dba 2150                 subi r18,lo8(-(511))
 7231 3dbc 3E4F                 sbci r19,hi8(-(511))
 7232 3dbe 4F4F                 sbci r20,hlo8(-(511))
 7233 3dc0 5F4F                 sbci r21,hhi8(-(511))
 7234                   .L583:
 7235 3dc2 09E0                 ldi r16,9
 7236 3dc4 5595         1:      asr r21
 7237 3dc6 4795                 ror r20
 7238 3dc8 3795                 ror r19
 7239 3dca 2795                 ror r18
 7240 3dcc 0A95                 dec r16
 7241 3dce 01F4                 brne 1b
 7242 3dd0 8091 0000            lds r24,cnt.14
 7243 3dd4 9091 0000            lds r25,(cnt.14)+1
 7244 3dd8 820F                 add r24,r18
 7245 3dda 931F                 adc r25,r19
 7246 3ddc 9093 0000            sts (cnt.14)+1,r25
 7247 3de0 8093 0000            sts cnt.14,r24
 7248 3de4 D701                 movw r26,r14
 7249 3de6 C601                 movw r24,r12
 7250 3de8 F7FE                 sbrs r15,7
 7251 3dea 00C0                 rjmp .L584
 7252 3dec 0796                 adiw r24,7
 7253 3dee A11D                 adc r26,__zero_reg__
 7254 3df0 B11D                 adc r27,__zero_reg__
 7255                   .L584:
 7256 3df2 13E0                 ldi r17,3
 7257 3df4 B595         1:      asr r27
 7258 3df6 A795                 ror r26
 7259 3df8 9795                 ror r25
 7260 3dfa 8795                 ror r24
 7261 3dfc 1A95                 dec r17
 7262 3dfe 01F4                 brne 1b
 7263 3e00 8093 0000            sts ausgleichRoll.11,r24
 7264 3e04 9093 0000            sts (ausgleichRoll.11)+1,r25
 7265 3e08 A093 0000            sts (ausgleichRoll.11)+2,r26
 7266 3e0c B093 0000            sts (ausgleichRoll.11)+3,r27
 7267 3e10 8958                 subi r24,lo8(5001)
 7268 3e12 9341                 sbci r25,hi8(5001)
 7269 3e14 A040                 sbci r26,hlo8(5001)
 7270 3e16 B040                 sbci r27,hhi8(5001)
 7271 3e18 04F0                 brlt .L585
 7272 3e1a 88E8                 ldi r24,lo8(5000)
 7273 3e1c 93E1                 ldi r25,hi8(5000)
 7274 3e1e A0E0                 ldi r26,hlo8(5000)
 7275 3e20 B0E0                 ldi r27,hhi8(5000)
 7276 3e22 8093 0000            sts ausgleichRoll.11,r24
 7277 3e26 9093 0000            sts (ausgleichRoll.11)+1,r25
 7278 3e2a A093 0000            sts (ausgleichRoll.11)+2,r26
 7279 3e2e B093 0000            sts (ausgleichRoll.11)+3,r27
 7280                   .L585:
 7281 3e32 2091 0000            lds r18,ausgleichRoll.11
 7282 3e36 3091 0000            lds r19,(ausgleichRoll.11)+1
 7283 3e3a 4091 0000            lds r20,(ausgleichRoll.11)+2
 7284 3e3e 5091 0000            lds r21,(ausgleichRoll.11)+3
 7285 3e42 57FF                 sbrs r21,7
 7286 3e44 00C0                 rjmp .L586
 7287 3e46 2150                 subi r18,lo8(-(255))
 7288 3e48 3F4F                 sbci r19,hi8(-(255))
 7289 3e4a 4F4F                 sbci r20,hlo8(-(255))
 7290 3e4c 5F4F                 sbci r21,hhi8(-(255))
 7291                   .L586:
 7292 3e4e 232F                 mov r18,r19
 7293 3e50 342F                 mov r19,r20
 7294 3e52 452F                 mov r20,r21
 7295 3e54 5527                 clr r21
 7296 3e56 47FD                 sbrc r20,7
 7297 3e58 5A95                 dec r21
 7298 3e5a 8091 0000            lds r24,LageKorrekturRoll
 7299 3e5e 9091 0000            lds r25,(LageKorrekturRoll)+1
 7300 3e62 820F                 add r24,r18
 7301 3e64 931F                 adc r25,r19
 7302 3e66 9093 0000            sts (LageKorrekturRoll)+1,r25
 7303 3e6a 8093 0000            sts LageKorrekturRoll,r24
 7304 3e6e 00C0                 rjmp .L588
 7305                   .L581:
 7306 3e70 81E0                 ldi r24,lo8(1)
 7307 3e72 8093 0000            sts last_r_p.17,r24
 7308 3e76 00C0                 rjmp .L588
 7309                   .L580:
 7310 3e78 1092 0000            sts last_r_p.17,__zero_reg__
 7311                   .L588:
 7312 3e7c 20E0                 ldi r18,lo8(-4096)
 7313 3e7e C216                 cp r12,r18
 7314 3e80 20EF                 ldi r18,hi8(-4096)
 7315 3e82 D206                 cpc r13,r18
 7316 3e84 2FEF                 ldi r18,hlo8(-4096)
 7317 3e86 E206                 cpc r14,r18
 7318 3e88 2FEF                 ldi r18,hhi8(-4096)
 7319 3e8a F206                 cpc r15,r18
 7320 3e8c 04F0                 brlt .+2
 7321 3e8e 00C0                 rjmp .L589
 7322 3e90 8091 0000            lds r24,last_r_n.18
 7323 3e94 8823                 tst r24
 7324 3e96 01F4                 brne .+2
 7325 3e98 00C0                 rjmp .L590
 7326 3e9a D701                 movw r26,r14
 7327 3e9c C601                 movw r24,r12
 7328 3e9e F7FE                 sbrs r15,7
 7329 3ea0 00C0                 rjmp .L591
 7330 3ea2 8827                 clr r24
 7331 3ea4 9927                 clr r25
 7332 3ea6 DC01                 movw r26,r24
 7333 3ea8 8C19                 sub r24,r12
 7334 3eaa 9D09                 sbc r25,r13
 7335 3eac AE09                 sbc r26,r14
 7336 3eae BF09                 sbc r27,r15
 7337                   .L591:
 7338 3eb0 9C01                 movw r18,r24
 7339 3eb2 AD01                 movw r20,r26
 7340 3eb4 B7FF                 sbrs r27,7
 7341 3eb6 00C0                 rjmp .L592
 7342 3eb8 2150                 subi r18,lo8(-(511))
 7343 3eba 3E4F                 sbci r19,hi8(-(511))
 7344 3ebc 4F4F                 sbci r20,hlo8(-(511))
 7345 3ebe 5F4F                 sbci r21,hhi8(-(511))
 7346                   .L592:
 7347 3ec0 E9E0                 ldi r30,9
 7348 3ec2 5595         1:      asr r21
 7349 3ec4 4795                 ror r20
 7350 3ec6 3795                 ror r19
 7351 3ec8 2795                 ror r18
 7352 3eca EA95                 dec r30
 7353 3ecc 01F4                 brne 1b
 7354 3ece 8091 0000            lds r24,cnt.14
 7355 3ed2 9091 0000            lds r25,(cnt.14)+1
 7356 3ed6 820F                 add r24,r18
 7357 3ed8 931F                 adc r25,r19
 7358 3eda 9093 0000            sts (cnt.14)+1,r25
 7359 3ede 8093 0000            sts cnt.14,r24
 7360 3ee2 D701                 movw r26,r14
 7361 3ee4 C601                 movw r24,r12
 7362 3ee6 F7FE                 sbrs r15,7
 7363 3ee8 00C0                 rjmp .L593
 7364 3eea 0796                 adiw r24,7
 7365 3eec A11D                 adc r26,__zero_reg__
 7366 3eee B11D                 adc r27,__zero_reg__
 7367                   .L593:
 7368 3ef0 73E0                 ldi r23,3
 7369 3ef2 B595         1:      asr r27
 7370 3ef4 A795                 ror r26
 7371 3ef6 9795                 ror r25
 7372 3ef8 8795                 ror r24
 7373 3efa 7A95                 dec r23
 7374 3efc 01F4                 brne 1b
 7375 3efe 8093 0000            sts ausgleichRoll.11,r24
 7376 3f02 9093 0000            sts (ausgleichRoll.11)+1,r25
 7377 3f06 A093 0000            sts (ausgleichRoll.11)+2,r26
 7378 3f0a B093 0000            sts (ausgleichRoll.11)+3,r27
 7379 3f0e 8857                 subi r24,lo8(-5000)
 7380 3f10 9C4E                 sbci r25,hi8(-5000)
 7381 3f12 AF4F                 sbci r26,hlo8(-5000)
 7382 3f14 BF4F                 sbci r27,hhi8(-5000)
 7383 3f16 04F4                 brge .L594
 7384 3f18 88E7                 ldi r24,lo8(-5000)
 7385 3f1a 9CEE                 ldi r25,hi8(-5000)
 7386 3f1c AFEF                 ldi r26,hlo8(-5000)
 7387 3f1e BFEF                 ldi r27,hhi8(-5000)
 7388 3f20 8093 0000            sts ausgleichRoll.11,r24
 7389 3f24 9093 0000            sts (ausgleichRoll.11)+1,r25
 7390 3f28 A093 0000            sts (ausgleichRoll.11)+2,r26
 7391 3f2c B093 0000            sts (ausgleichRoll.11)+3,r27
 7392                   .L594:
 7393 3f30 2091 0000            lds r18,ausgleichRoll.11
 7394 3f34 3091 0000            lds r19,(ausgleichRoll.11)+1
 7395 3f38 4091 0000            lds r20,(ausgleichRoll.11)+2
 7396 3f3c 5091 0000            lds r21,(ausgleichRoll.11)+3
 7397 3f40 57FF                 sbrs r21,7
 7398 3f42 00C0                 rjmp .L595
 7399 3f44 2150                 subi r18,lo8(-(255))
 7400 3f46 3F4F                 sbci r19,hi8(-(255))
 7401 3f48 4F4F                 sbci r20,hlo8(-(255))
 7402 3f4a 5F4F                 sbci r21,hhi8(-(255))
 7403                   .L595:
 7404 3f4c 232F                 mov r18,r19
 7405 3f4e 342F                 mov r19,r20
 7406 3f50 452F                 mov r20,r21
 7407 3f52 5527                 clr r21
 7408 3f54 47FD                 sbrc r20,7
 7409 3f56 5A95                 dec r21
 7410 3f58 8091 0000            lds r24,LageKorrekturRoll
 7411 3f5c 9091 0000            lds r25,(LageKorrekturRoll)+1
 7412 3f60 820F                 add r24,r18
 7413 3f62 931F                 adc r25,r19
 7414 3f64 9093 0000            sts (LageKorrekturRoll)+1,r25
 7415 3f68 8093 0000            sts LageKorrekturRoll,r24
 7416 3f6c 00C0                 rjmp .L598
 7417                   .L590:
 7418 3f6e 81E0                 ldi r24,lo8(1)
 7419 3f70 8093 0000            sts last_r_n.18,r24
 7420 3f74 00C0                 rjmp .L598
 7421                   .L589:
 7422 3f76 1092 0000            sts last_r_n.18,__zero_reg__
 7423 3f7a 00C0                 rjmp .L598
 7424                   .L578:
 7425 3f7c 1092 0000            sts (cnt.14)+1,__zero_reg__
 7426 3f80 1092 0000            sts cnt.14,__zero_reg__
 7427 3f84 84E6                 ldi r24,lo8(100)
 7428 3f86 90E0                 ldi r25,hi8(100)
 7429 3f88 9093 0000            sts (KompassSignalSchlecht)+1,r25
 7430 3f8c 8093 0000            sts KompassSignalSchlecht,r24
 7431                   .L598:
 7432 3f90 4889                 ldd r20,Y+16
 7433 3f92 242F                 mov r18,r20
 7434 3f94 3327                 clr r19
 7435 3f96 8091 0000            lds r24,cnt.14
 7436 3f9a 9091 0000            lds r25,(cnt.14)+1
 7437 3f9e 2817                 cp r18,r24
 7438 3fa0 3907                 cpc r19,r25
 7439 3fa2 04F4                 brge .L599
 7440 3fa4 3093 0000            sts (cnt.14)+1,r19
 7441 3fa8 2093 0000            sts cnt.14,r18
 7442                   .L599:
 7443 3fac 8091 0000            lds r24,FromNaviCtrl_Value+1
 7444 3fb0 8823                 tst r24
 7445 3fb2 01F0                 breq .L600
 7446 3fb4 282F                 mov r18,r24
 7447 3fb6 3327                 clr r19
 7448 3fb8 27FD                 sbrc r18,7
 7449 3fba 3095                 com r19
 7450 3fbc 8091 0000            lds r24,cnt.14
 7451 3fc0 9091 0000            lds r25,(cnt.14)+1
 7452 3fc4 2817                 cp r18,r24
 7453 3fc6 3907                 cpc r19,r25
 7454 3fc8 04F4                 brge .L600
 7455 3fca 3093 0000            sts (cnt.14)+1,r19
 7456 3fce 2093 0000            sts cnt.14,r18
 7457                   .L600:
 7458 3fd2 4091 0000            lds r20,IntegralFehlerRoll.4
 7459 3fd6 5091 0000            lds r21,(IntegralFehlerRoll.4)+1
 7460 3fda 6091 0000            lds r22,(IntegralFehlerRoll.4)+2
 7461 3fde 7091 0000            lds r23,(IntegralFehlerRoll.4)+3
 7462 3fe2 4138                 cpi r20,lo8(129)
 7463 3fe4 5105                 cpc r21,__zero_reg__
 7464 3fe6 6105                 cpc r22,__zero_reg__
 7465 3fe8 7105                 cpc r23,__zero_reg__
 7466 3fea 04F0                 brlt .L602
 7467 3fec 8091 0000            lds r24,AdNeutralRoll
 7468 3ff0 9091 0000            lds r25,(AdNeutralRoll)+1
 7469 3ff4 2091 0000            lds r18,cnt.14
 7470 3ff8 3091 0000            lds r19,(cnt.14)+1
 7471 3ffc 820F                 add r24,r18
 7472 3ffe 931F                 adc r25,r19
 7473 4000 9093 0000            sts (AdNeutralRoll)+1,r25
 7474 4004 8093 0000            sts AdNeutralRoll,r24
 7475                   .L602:
 7476 4008 4058                 subi r20,lo8(-128)
 7477 400a 5F4F                 sbci r21,hi8(-128)
 7478 400c 6F4F                 sbci r22,hlo8(-128)
 7479 400e 7F4F                 sbci r23,hhi8(-128)
 7480 4010 04F4                 brge .L604
 7481 4012 8091 0000            lds r24,AdNeutralRoll
 7482 4016 9091 0000            lds r25,(AdNeutralRoll)+1
 7483 401a 2091 0000            lds r18,cnt.14
 7484 401e 3091 0000            lds r19,(cnt.14)+1
 7485 4022 821B                 sub r24,r18
 7486 4024 930B                 sbc r25,r19
 7487 4026 9093 0000            sts (AdNeutralRoll)+1,r25
 7488 402a 8093 0000            sts AdNeutralRoll,r24
 7489 402e 00C0                 rjmp .L604
 7490                   .L530:
 7491 4030 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 7492 4034 1092 0000            sts LageKorrekturRoll,__zero_reg__
 7493 4038 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 7494 403c 1092 0000            sts LageKorrekturNick,__zero_reg__
 7495 4040 1092 0000            sts TrichterFlug,__zero_reg__
 7496                   .L604:
 7497 4044 8091 0000            lds r24,IntegralFaktor
 7498 4048 8823                 tst r24
 7499 404a 01F4                 brne .L605
 7500 404c 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 7501 4050 1092 0000            sts LageKorrekturRoll,__zero_reg__
 7502 4054 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 7503 4058 1092 0000            sts LageKorrekturNick,__zero_reg__
 7504                   .L605:
 7505 405c 8091 0000            lds r24,MittelIntegralNick
 7506 4060 9091 0000            lds r25,(MittelIntegralNick)+1
 7507 4064 A091 0000            lds r26,(MittelIntegralNick)+2
 7508 4068 B091 0000            lds r27,(MittelIntegralNick)+3
 7509 406c 8093 0000            sts MittelIntegralNick_Alt.19,r24
 7510 4070 9093 0000            sts (MittelIntegralNick_Alt.19)+1,r25
 7511 4074 A093 0000            sts (MittelIntegralNick_Alt.19)+2,r26
 7512 4078 B093 0000            sts (MittelIntegralNick_Alt.19)+3,r27
 7513 407c 8091 0000            lds r24,MittelIntegralRoll
 7514 4080 9091 0000            lds r25,(MittelIntegralRoll)+1
 7515 4084 A091 0000            lds r26,(MittelIntegralRoll)+2
 7516 4088 B091 0000            lds r27,(MittelIntegralRoll)+3
 7517 408c 8093 0000            sts MittelIntegralRoll_Alt.20,r24
 7518 4090 9093 0000            sts (MittelIntegralRoll_Alt.20)+1,r25
 7519 4094 A093 0000            sts (MittelIntegralRoll_Alt.20)+2,r26
 7520 4098 B093 0000            sts (MittelIntegralRoll_Alt.20)+3,r27
 7521 409c 1092 0000            sts IntegralAccNick,__zero_reg__
 7522 40a0 1092 0000            sts (IntegralAccNick)+1,__zero_reg__
 7523 40a4 1092 0000            sts (IntegralAccNick)+2,__zero_reg__
 7524 40a8 1092 0000            sts (IntegralAccNick)+3,__zero_reg__
 7525 40ac 1092 0000            sts IntegralAccRoll,__zero_reg__
 7526 40b0 1092 0000            sts (IntegralAccRoll)+1,__zero_reg__
 7527 40b4 1092 0000            sts (IntegralAccRoll)+2,__zero_reg__
 7528 40b8 1092 0000            sts (IntegralAccRoll)+3,__zero_reg__
 7529 40bc 1092 0000            sts IntegralAccZ,__zero_reg__
 7530 40c0 1092 0000            sts (IntegralAccZ)+1,__zero_reg__
 7531 40c4 1092 0000            sts (IntegralAccZ)+2,__zero_reg__
 7532 40c8 1092 0000            sts (IntegralAccZ)+3,__zero_reg__
 7533 40cc 1092 0000            sts MittelIntegralNick,__zero_reg__
 7534 40d0 1092 0000            sts (MittelIntegralNick)+1,__zero_reg__
 7535 40d4 1092 0000            sts (MittelIntegralNick)+2,__zero_reg__
 7536 40d8 1092 0000            sts (MittelIntegralNick)+3,__zero_reg__
 7537 40dc 1092 0000            sts MittelIntegralRoll,__zero_reg__
 7538 40e0 1092 0000            sts (MittelIntegralRoll)+1,__zero_reg__
 7539 40e4 1092 0000            sts (MittelIntegralRoll)+2,__zero_reg__
 7540 40e8 1092 0000            sts (MittelIntegralRoll)+3,__zero_reg__
 7541 40ec 1092 0000            sts MittelIntegralNick2,__zero_reg__
 7542 40f0 1092 0000            sts (MittelIntegralNick2)+1,__zero_reg__
 7543 40f4 1092 0000            sts (MittelIntegralNick2)+2,__zero_reg__
 7544 40f8 1092 0000            sts (MittelIntegralNick2)+3,__zero_reg__
 7545 40fc 1092 0000            sts MittelIntegralRoll2,__zero_reg__
 7546 4100 1092 0000            sts (MittelIntegralRoll2)+1,__zero_reg__
 7547 4104 1092 0000            sts (MittelIntegralRoll2)+2,__zero_reg__
 7548 4108 1092 0000            sts (MittelIntegralRoll2)+3,__zero_reg__
 7549 410c 1092 0000            sts (ZaehlMessungen)+1,__zero_reg__
 7550 4110 1092 0000            sts ZaehlMessungen,__zero_reg__
 7551                   .L529:
 7552 4114 E090 0000            lds r14,StickGier
 7553 4118 F090 0000            lds r15,(StickGier)+1
 7554 411c C701                 movw r24,r14
 7555 411e F7FE                 sbrs r15,7
 7556 4120 00C0                 rjmp .L607
 7557 4122 8827                 clr r24
 7558 4124 9927                 clr r25
 7559 4126 8E19                 sub r24,r14
 7560 4128 9F09                 sbc r25,r15
 7561                   .L607:
 7562 412a 0497                 sbiw r24,4
 7563 412c 04F0                 brlt .L606
 7564 412e 8091 0000            lds r24,Parameter_GlobalConfig
 7565 4132 84FD                 sbrc r24,4
 7566 4134 00C0                 rjmp .L606
 7567 4136 82E3                 ldi r24,lo8(50)
 7568 4138 8093 0000            sts NeueKompassRichtungMerken,r24
 7569                   .L606:
 7570 413c 1091 0000            lds r17,EE_Parameter+25
 7571 4140 A12E                 mov r10,r17
 7572 4142 BB24                 clr r11
 7573 4144 CC24                 clr r12
 7574 4146 DD24                 clr r13
 7575 4148 B701                 movw r22,r14
 7576 414a 8827                 clr r24
 7577 414c 77FD                 sbrc r23,7
 7578 414e 8095                 com r24
 7579 4150 982F                 mov r25,r24
 7580 4152 9701                 movw r18,r14
 7581 4154 F7FE                 sbrs r15,7
 7582 4156 00C0                 rjmp .L609
 7583 4158 2227                 clr r18
 7584 415a 3327                 clr r19
 7585 415c 2E19                 sub r18,r14
 7586 415e 3F09                 sbc r19,r15
 7587                   .L609:
 7588 4160 4427                 clr r20
 7589 4162 37FD                 sbrc r19,7
 7590 4164 4095                 com r20
 7591 4166 542F                 mov r21,r20
 7592 4168 0E94 0000            call __mulsi3
 7593 416c 9B01                 movw r18,r22
 7594 416e AC01                 movw r20,r24
 7595 4170 C601                 movw r24,r12
 7596 4172 B501                 movw r22,r10
 7597 4174 0E94 0000            call __mulsi3
 7598 4178 97FF                 sbrs r25,7
 7599 417a 00C0                 rjmp .L610
 7600 417c 6150                 subi r22,lo8(-(511))
 7601 417e 7E4F                 sbci r23,hi8(-(511))
 7602 4180 8F4F                 sbci r24,hlo8(-(511))
 7603 4182 9F4F                 sbci r25,hhi8(-(511))
 7604                   .L610:
 7605 4184 59E0                 ldi r21,9
 7606 4186 9595         1:      asr r25
 7607 4188 8795                 ror r24
 7608 418a 7795                 ror r23
 7609 418c 6795                 ror r22
 7610 418e 5A95                 dec r21
 7611 4190 01F4                 brne 1b
 7612 4192 9B01                 movw r18,r22
 7613 4194 812F                 mov r24,r17
 7614 4196 9927                 clr r25
 7615 4198 8E9D                 mul r24,r14
 7616 419a D001                 movw r26,r0
 7617 419c 8F9D                 mul r24,r15
 7618 419e B00D                 add r27,r0
 7619 41a0 9E9D                 mul r25,r14
 7620 41a2 B00D                 add r27,r0
 7621 41a4 1124                 clr r1
 7622 41a6 CD01                 movw r24,r26
 7623 41a8 B7FD                 sbrc r27,7
 7624 41aa 0396                 adiw r24,3
 7625                   .L611:
 7626 41ac 9595                 asr r25
 7627 41ae 8795                 ror r24
 7628 41b0 9595                 asr r25
 7629 41b2 8795                 ror r24
 7630 41b4 280F                 add r18,r24
 7631 41b6 391F                 adc r19,r25
 7632 41b8 8091 0000            lds r24,CompassGierSetpoint
 7633 41bc 9091 0000            lds r25,(CompassGierSetpoint)+1
 7634 41c0 280F                 add r18,r24
 7635 41c2 391F                 adc r19,r25
 7636 41c4 4427                 clr r20
 7637 41c6 37FD                 sbrc r19,7
 7638 41c8 4095                 com r20
 7639 41ca 542F                 mov r21,r20
 7640 41cc 2093 0000            sts sollGier.0,r18
 7641 41d0 3093 0000            sts (sollGier.0)+1,r19
 7642 41d4 4093 0000            sts (sollGier.0)+2,r20
 7643 41d8 5093 0000            sts (sollGier.0)+3,r21
 7644 41dc 8091 0000            lds r24,Mess_Integral_Gier
 7645 41e0 9091 0000            lds r25,(Mess_Integral_Gier)+1
 7646 41e4 A091 0000            lds r26,(Mess_Integral_Gier)+2
 7647 41e8 B091 0000            lds r27,(Mess_Integral_Gier)+3
 7648 41ec 821B                 sub r24,r18
 7649 41ee 930B                 sbc r25,r19
 7650 41f0 A40B                 sbc r26,r20
 7651 41f2 B50B                 sbc r27,r21
 7652 41f4 8093 0000            sts Mess_Integral_Gier,r24
 7653 41f8 9093 0000            sts (Mess_Integral_Gier)+1,r25
 7654 41fc A093 0000            sts (Mess_Integral_Gier)+2,r26
 7655 4200 B093 0000            sts (Mess_Integral_Gier)+3,r27
 7656 4204 8155                 subi r24,lo8(50001)
 7657 4206 934C                 sbci r25,hi8(50001)
 7658 4208 A040                 sbci r26,hlo8(50001)
 7659 420a B040                 sbci r27,hhi8(50001)
 7660 420c 04F0                 brlt .L612
 7661 420e 80E5                 ldi r24,lo8(50000)
 7662 4210 93EC                 ldi r25,hi8(50000)
 7663 4212 A0E0                 ldi r26,hlo8(50000)
 7664 4214 B0E0                 ldi r27,hhi8(50000)
 7665 4216 8093 0000            sts Mess_Integral_Gier,r24
 7666 421a 9093 0000            sts (Mess_Integral_Gier)+1,r25
 7667 421e A093 0000            sts (Mess_Integral_Gier)+2,r26
 7668 4222 B093 0000            sts (Mess_Integral_Gier)+3,r27
 7669                   .L612:
 7670 4226 8091 0000            lds r24,Mess_Integral_Gier
 7671 422a 9091 0000            lds r25,(Mess_Integral_Gier)+1
 7672 422e A091 0000            lds r26,(Mess_Integral_Gier)+2
 7673 4232 B091 0000            lds r27,(Mess_Integral_Gier)+3
 7674 4236 805B                 subi r24,lo8(-50000)
 7675 4238 9C43                 sbci r25,hi8(-50000)
 7676 423a AF4F                 sbci r26,hlo8(-50000)
 7677 423c BF4F                 sbci r27,hhi8(-50000)
 7678 423e 04F4                 brge .L613
 7679 4240 80EB                 ldi r24,lo8(-50000)
 7680 4242 9CE3                 ldi r25,hi8(-50000)
 7681 4244 AFEF                 ldi r26,hlo8(-50000)
 7682 4246 BFEF                 ldi r27,hhi8(-50000)
 7683 4248 8093 0000            sts Mess_Integral_Gier,r24
 7684 424c 9093 0000            sts (Mess_Integral_Gier)+1,r25
 7685 4250 A093 0000            sts (Mess_Integral_Gier)+2,r26
 7686 4254 B093 0000            sts (Mess_Integral_Gier)+3,r27
 7687                   .L613:
 7688 4258 0091 0000            lds r16,KompassValue
 7689 425c 1091 0000            lds r17,(KompassValue)+1
 7690 4260 17FD                 sbrc r17,7
 7691 4262 00C0                 rjmp .L614
 7692 4264 8091 0000            lds r24,Parameter_GlobalConfig
 7693 4268 83FF                 sbrs r24,3
 7694 426a 00C0                 rjmp .L614
 7695 426c 8091 0000            lds r24,CalculateCompassTimer
 7696 4270 8150                 subi r24,lo8(-(-1))
 7697 4272 8093 0000            sts CalculateCompassTimer,r24
 7698 4276 8823                 tst r24
 7699 4278 01F0                 breq .+2
 7700 427a 00C0                 rjmp .L631
 7701 427c 8DE0                 ldi r24,lo8(13)
 7702 427e 8093 0000            sts CalculateCompassTimer,r24
 7703 4282 8091 0000            lds r24,IntegralNick
 7704 4286 9091 0000            lds r25,(IntegralNick)+1
 7705 428a A091 0000            lds r26,(IntegralNick)+2
 7706 428e B091 0000            lds r27,(IntegralNick)+3
 7707 4292 B7FF                 sbrs r27,7
 7708 4294 00C0                 rjmp .L616
 7709 4296 8150                 subi r24,lo8(-(511))
 7710 4298 9E4F                 sbci r25,hi8(-(511))
 7711 429a AF4F                 sbci r26,hlo8(-(511))
 7712 429c BF4F                 sbci r27,hhi8(-(511))
 7713                   .L616:
 7714 429e 39E0                 ldi r19,9
 7715 42a0 B595         1:      asr r27
 7716 42a2 A795                 ror r26
 7717 42a4 9795                 ror r25
 7718 42a6 8795                 ror r24
 7719 42a8 3A95                 dec r19
 7720 42aa 01F4                 brne 1b
 7721 42ac 7C01                 movw r14,r24
 7722 42ae 97FF                 sbrs r25,7
 7723 42b0 00C0                 rjmp .L617
 7724 42b2 F094                 com r15
 7725 42b4 E194                 neg r14
 7726 42b6 F108                 sbc r15,__zero_reg__
 7727 42b8 F394                 inc r15
 7728                   .L617:
 7729 42ba 8091 0000            lds r24,IntegralRoll
 7730 42be 9091 0000            lds r25,(IntegralRoll)+1
 7731 42c2 A091 0000            lds r26,(IntegralRoll)+2
 7732 42c6 B091 0000            lds r27,(IntegralRoll)+3
 7733 42ca B7FF                 sbrs r27,7
 7734 42cc 00C0                 rjmp .L618
 7735 42ce 8150                 subi r24,lo8(-(511))
 7736 42d0 9E4F                 sbci r25,hi8(-(511))
 7737 42d2 AF4F                 sbci r26,hlo8(-(511))
 7738 42d4 BF4F                 sbci r27,hhi8(-(511))
 7739                   .L618:
 7740 42d6 29E0                 ldi r18,9
 7741 42d8 B595         1:      asr r27
 7742 42da A795                 ror r26
 7743 42dc 9795                 ror r25
 7744 42de 8795                 ror r24
 7745 42e0 2A95                 dec r18
 7746 42e2 01F4                 brne 1b
 7747 42e4 9C01                 movw r18,r24
 7748 42e6 97FF                 sbrs r25,7
 7749 42e8 00C0                 rjmp .L619
 7750 42ea 3095                 com r19
 7751 42ec 2195                 neg r18
 7752 42ee 3F4F                 sbci r19,lo8(-1)
 7753                   .L619:
 7754 42f0 E216                 cp r14,r18
 7755 42f2 F306                 cpc r15,r19
 7756 42f4 04F4                 brge .L620
 7757 42f6 7901                 movw r14,r18
 7758                   .L620:
 7759 42f8 B701                 movw r22,r14
 7760 42fa F7FE                 sbrs r15,7
 7761 42fc 00C0                 rjmp .L621
 7762 42fe 695F                 subi r22,lo8(-(7))
 7763 4300 7F4F                 sbci r23,hi8(-(7))
 7764                   .L621:
 7765 4302 2B01                 movw r4,r22
 7766 4304 A3E0                 ldi r26,3
 7767 4306 5594         1:      asr r5
 7768 4308 4794                 ror r4
 7769 430a AA95                 dec r26
 7770 430c 01F4                 brne 1b
 7771 430e 22E0                 ldi r18,lo8(2)
 7772 4310 30E0                 ldi r19,hi8(2)
 7773 4312 420E                 add r4,r18
 7774 4314 531E                 adc r5,r19
 7775 4316 6090 0000            lds r6,ErsatzKompass
 7776 431a 7090 0000            lds r7,(ErsatzKompass)+1
 7777 431e 8090 0000            lds r8,(ErsatzKompass)+2
 7778 4322 9090 0000            lds r9,(ErsatzKompass)+3
 7779 4326 2091 0000            lds r18,GIER_GRAD_FAKTOR
 7780 432a 3091 0000            lds r19,(GIER_GRAD_FAKTOR)+1
 7781 432e 4091 0000            lds r20,(GIER_GRAD_FAKTOR)+2
 7782 4332 5091 0000            lds r21,(GIER_GRAD_FAKTOR)+3
 7783 4336 C401                 movw r24,r8
 7784 4338 B301                 movw r22,r6
 7785 433a 0E94 0000            call __divmodsi4
 7786 433e 5901                 movw r10,r18
 7787 4340 6A01                 movw r12,r20
 7788 4342 3093 0000            sts (ErsatzKompassInGrad)+1,r19
 7789 4346 2093 0000            sts ErsatzKompassInGrad,r18
 7790 434a 021B                 sub r16,r18
 7791 434c 130B                 sbc r17,r19
 7792 434e C801                 movw r24,r16
 7793 4350 845E                 subi r24,lo8(-(540))
 7794 4352 9D4F                 sbci r25,hi8(-(540))
 7795 4354 68E6                 ldi r22,lo8(360)
 7796 4356 71E0                 ldi r23,hi8(360)
 7797 4358 0E94 0000            call __divmodhi4
 7798 435c 9C01                 movw r18,r24
 7799 435e 245B                 subi r18,lo8(-(-180))
 7800 4360 3040                 sbci r19,hi8(-(-180))
 7801 4362 8091 0000            lds r24,KompassSignalSchlecht
 7802 4366 9091 0000            lds r25,(KompassSignalSchlecht)+1
 7803 436a 0097                 sbiw r24,0
 7804 436c 01F0                 breq .L622
 7805 436e 0197                 sbiw r24,1
 7806 4370 9093 0000            sts (KompassSignalSchlecht)+1,r25
 7807 4374 8093 0000            sts KompassSignalSchlecht,r24
 7808 4378 00C0                 rjmp .L623
 7809                   .L622:
 7810 437a 49E1                 ldi r20,lo8(25)
 7811 437c E416                 cp r14,r20
 7812 437e F104                 cpc r15,__zero_reg__
 7813 4380 04F4                 brge .L623
 7814 4382 8091 0000            lds r24,GierGyroFehler
 7815 4386 9091 0000            lds r25,(GierGyroFehler)+1
 7816 438a 820F                 add r24,r18
 7817 438c 931F                 adc r25,r19
 7818 438e 9093 0000            sts (GierGyroFehler)+1,r25
 7819 4392 8093 0000            sts GierGyroFehler,r24
 7820 4396 8091 0000            lds r24,NeueKompassRichtungMerken
 7821 439a 8823                 tst r24
 7822 439c 01F0                 breq .L623
 7823 439e 8150                 subi r24,lo8(-(-1))
 7824 43a0 8093 0000            sts NeueKompassRichtungMerken,r24
 7825 43a4 8823                 tst r24
 7826 43a6 01F4                 brne .L623
 7827 43a8 B092 0000            sts (KompassSollWert)+1,r11
 7828 43ac A092 0000            sts KompassSollWert,r10
 7829                   .L623:
 7830 43b0 8091 0000            lds r24,KompassSignalSchlecht
 7831 43b4 9091 0000            lds r25,(KompassSignalSchlecht)+1
 7832 43b8 892B                 or r24,r25
 7833 43ba 01F4                 brne .L627
 7834 43bc 8091 0000            lds r24,KompassFusion
 7835 43c0 9927                 clr r25
 7836 43c2 289F                 mul r18,r24
 7837 43c4 B001                 movw r22,r0
 7838 43c6 299F                 mul r18,r25
 7839 43c8 700D                 add r23,r0
 7840 43ca 389F                 mul r19,r24
 7841 43cc 700D                 add r23,r0
 7842 43ce 1124                 clr r1
 7843 43d0 CB01                 movw r24,r22
 7844 43d2 B201                 movw r22,r4
 7845 43d4 0E94 0000            call __divmodhi4
 7846 43d8 CB01                 movw r24,r22
 7847 43da AA27                 clr r26
 7848 43dc 97FD                 sbrc r25,7
 7849 43de A095                 com r26
 7850 43e0 BA2F                 mov r27,r26
 7851 43e2 680E                 add r6,r24
 7852 43e4 791E                 adc r7,r25
 7853 43e6 8A1E                 adc r8,r26
 7854 43e8 9B1E                 adc r9,r27
 7855 43ea 6092 0000            sts ErsatzKompass,r6
 7856 43ee 7092 0000            sts (ErsatzKompass)+1,r7
 7857 43f2 8092 0000            sts (ErsatzKompass)+2,r8
 7858 43f6 9092 0000            sts (ErsatzKompass)+3,r9
 7859                   .L627:
 7860 43fa 8091 0000            lds r24,NeueKompassRichtungMerken
 7861 43fe 8823                 tst r24
 7862 4400 01F4                 brne .L614
 7863 4402 8091 0000            lds r24,KompassSollWert
 7864 4406 9091 0000            lds r25,(KompassSollWert)+1
 7865 440a 2091 0000            lds r18,ErsatzKompassInGrad
 7866 440e 3091 0000            lds r19,(ErsatzKompassInGrad)+1
 7867 4412 821B                 sub r24,r18
 7868 4414 930B                 sbc r25,r19
 7869 4416 845E                 subi r24,lo8(-(540))
 7870 4418 9D4F                 sbci r25,hi8(-(540))
 7871 441a 68E6                 ldi r22,lo8(360)
 7872 441c 71E0                 ldi r23,hi8(360)
 7873 441e 0E94 0000            call __divmodhi4
 7874 4422 9C01                 movw r18,r24
 7875 4424 245B                 subi r18,lo8(-(-180))
 7876 4426 3040                 sbci r19,hi8(-(-180))
 7877 4428 8091 0000            lds r24,Parameter_KompassWirkung
 7878 442c 8695                 lsr r24
 7879 442e 9927                 clr r25
 7880 4430 289F                 mul r18,r24
 7881 4432 D001                 movw r26,r0
 7882 4434 299F                 mul r18,r25
 7883 4436 B00D                 add r27,r0
 7884 4438 389F                 mul r19,r24
 7885 443a B00D                 add r27,r0
 7886 443c 1124                 clr r1
 7887 443e 9D01                 movw r18,r26
 7888 4440 B7FF                 sbrs r27,7
 7889 4442 00C0                 rjmp .L629
 7890 4444 215F                 subi r18,lo8(-(15))
 7891 4446 3F4F                 sbci r19,hi8(-(15))
 7892                   .L629:
 7893 4448 F4E0                 ldi r31,4
 7894 444a 3595         1:      asr r19
 7895 444c 2795                 ror r18
 7896 444e FA95                 dec r31
 7897 4450 01F4                 brne 1b
 7898 4452 3093 0000            sts (CompassGierSetpoint)+1,r19
 7899 4456 2093 0000            sts CompassGierSetpoint,r18
 7900 445a 00C0                 rjmp .L631
 7901                   .L614:
 7902 445c 1092 0000            sts (CompassGierSetpoint)+1,__zero_reg__
 7903 4460 1092 0000            sts CompassGierSetpoint,__zero_reg__
 7904                   .L631:
 7905 4464 8091 0000            lds r24,TrichterFlug
 7906 4468 8823                 tst r24
 7907 446a 01F0                 breq .L632
 7908 446c 1092 0000            sts SummeRoll,__zero_reg__
 7909 4470 1092 0000            sts (SummeRoll)+1,__zero_reg__
 7910 4474 1092 0000            sts (SummeRoll)+2,__zero_reg__
 7911 4478 1092 0000            sts (SummeRoll)+3,__zero_reg__
 7912 447c 1092 0000            sts SummeNick,__zero_reg__
 7913 4480 1092 0000            sts (SummeNick)+1,__zero_reg__
 7914 4484 1092 0000            sts (SummeNick)+2,__zero_reg__
 7915 4488 1092 0000            sts (SummeNick)+3,__zero_reg__
 7916                   .L632:
 7917 448c F090 0000            lds r15,Looping_Nick
 7918 4490 FF20                 tst r15
 7919 4492 01F4                 brne .L633
 7920 4494 8091 0000            lds r24,IntegralFaktor
 7921 4498 282F                 mov r18,r24
 7922 449a 3327                 clr r19
 7923 449c 4427                 clr r20
 7924 449e 5527                 clr r21
 7925 44a0 8091 0000            lds r24,IntegralNick
 7926 44a4 9091 0000            lds r25,(IntegralNick)+1
 7927 44a8 A091 0000            lds r26,(IntegralNick)+2
 7928 44ac B091 0000            lds r27,(IntegralNick)+3
 7929 44b0 BC01                 movw r22,r24
 7930 44b2 CD01                 movw r24,r26
 7931 44b4 0E94 0000            call __mulsi3
 7932 44b8 DC01                 movw r26,r24
 7933 44ba CB01                 movw r24,r22
 7934 44bc BC01                 movw r22,r24
 7935 44be CD01                 movw r24,r26
 7936 44c0 28EF                 ldi r18,lo8(11000)
 7937 44c2 3AE2                 ldi r19,hi8(11000)
 7938 44c4 40E0                 ldi r20,hlo8(11000)
 7939 44c6 50E0                 ldi r21,hhi8(11000)
 7940 44c8 0E94 0000            call __divmodsi4
 7941 44cc 3901                 movw r6,r18
 7942 44ce 00C0                 rjmp .L634
 7943                   .L633:
 7944 44d0 6624                 clr r6
 7945 44d2 7724                 clr r7
 7946                   .L634:
 7947 44d4 E090 0000            lds r14,Looping_Roll
 7948 44d8 EE20                 tst r14
 7949 44da 01F4                 brne .L635
 7950 44dc 8091 0000            lds r24,IntegralFaktor
 7951 44e0 282F                 mov r18,r24
 7952 44e2 3327                 clr r19
 7953 44e4 4427                 clr r20
 7954 44e6 5527                 clr r21
 7955 44e8 8091 0000            lds r24,IntegralRoll
 7956 44ec 9091 0000            lds r25,(IntegralRoll)+1
 7957 44f0 A091 0000            lds r26,(IntegralRoll)+2
 7958 44f4 B091 0000            lds r27,(IntegralRoll)+3
 7959 44f8 BC01                 movw r22,r24
 7960 44fa CD01                 movw r24,r26
 7961 44fc 0E94 0000            call __mulsi3
 7962 4500 DC01                 movw r26,r24
 7963 4502 CB01                 movw r24,r22
 7964 4504 BC01                 movw r22,r24
 7965 4506 CD01                 movw r24,r26
 7966 4508 28EF                 ldi r18,lo8(11000)
 7967 450a 3AE2                 ldi r19,hi8(11000)
 7968 450c 40E0                 ldi r20,hlo8(11000)
 7969 450e 50E0                 ldi r21,hhi8(11000)
 7970 4510 0E94 0000            call __divmodsi4
 7971 4514 2901                 movw r4,r18
 7972 4516 00C0                 rjmp .L636
 7973                   .L635:
 7974 4518 4424                 clr r4
 7975 451a 5524                 clr r5
 7976                   .L636:
 7977 451c 8091 0000            lds r24,TrimNick
 7978 4520 9091 0000            lds r25,(TrimNick)+1
 7979 4524 893C                 cpi r24,201
 7980 4526 9105                 cpc r25,__zero_reg__
 7981 4528 04F0                 brlt .L637
 7982 452a 88EC                 ldi r24,lo8(200)
 7983 452c 90E0                 ldi r25,hi8(200)
 7984 452e 00C0                 rjmp .L894
 7985                   .L637:
 7986 4530 8853                 subi r24,lo8(-200)
 7987 4532 9F4F                 sbci r25,hi8(-200)
 7988 4534 04F4                 brge .L638
 7989 4536 88E3                 ldi r24,lo8(-200)
 7990 4538 9FEF                 ldi r25,hi8(-200)
 7991                   .L894:
 7992 453a 9093 0000            sts (TrimNick)+1,r25
 7993 453e 8093 0000            sts TrimNick,r24
 7994                   .L638:
 7995 4542 8091 0000            lds r24,TrimRoll
 7996 4546 9091 0000            lds r25,(TrimRoll)+1
 7997 454a 893C                 cpi r24,201
 7998 454c 9105                 cpc r25,__zero_reg__
 7999 454e 04F0                 brlt .L640
 8000 4550 88EC                 ldi r24,lo8(200)
 8001 4552 90E0                 ldi r25,hi8(200)
 8002 4554 00C0                 rjmp .L895
 8003                   .L640:
 8004 4556 8853                 subi r24,lo8(-200)
 8005 4558 9F4F                 sbci r25,hi8(-200)
 8006 455a 04F4                 brge .L641
 8007 455c 88E3                 ldi r24,lo8(-200)
 8008 455e 9FEF                 ldi r25,hi8(-200)
 8009                   .L895:
 8010 4560 9093 0000            sts (TrimRoll)+1,r25
 8011 4564 8093 0000            sts TrimRoll,r24
 8012                   .L641:
 8013 4568 8091 0000            lds r24,MesswertNick
 8014 456c 9091 0000            lds r25,(MesswertNick)+1
 8015 4570 AA27                 clr r26
 8016 4572 97FD                 sbrc r25,7
 8017 4574 A095                 com r26
 8018 4576 BA2F                 mov r27,r26
 8019 4578 2091 0000            lds r18,GyroFaktor
 8020 457c A22E                 mov r10,r18
 8021 457e BB24                 clr r11
 8022 4580 CC24                 clr r12
 8023 4582 DD24                 clr r13
 8024 4584 BC01                 movw r22,r24
 8025 4586 CD01                 movw r24,r26
 8026 4588 A601                 movw r20,r12
 8027 458a 9501                 movw r18,r10
 8028 458c 0E94 0000            call __mulsi3
 8029 4590 9B01                 movw r18,r22
 8030 4592 AC01                 movw r20,r24
 8031 4594 8091 0000            lds r24,TrimNick
 8032 4598 9091 0000            lds r25,(TrimNick)+1
 8033 459c AA27                 clr r26
 8034 459e 97FD                 sbrc r25,7
 8035 45a0 A095                 com r26
 8036 45a2 BA2F                 mov r27,r26
 8037 45a4 E7E0                 ldi r30,7
 8038 45a6 880F         1:      lsl r24
 8039 45a8 991F                 rol r25
 8040 45aa AA1F                 rol r26
 8041 45ac BB1F                 rol r27
 8042 45ae EA95                 dec r30
 8043 45b0 01F4                 brne 1b
 8044 45b2 280F                 add r18,r24
 8045 45b4 391F                 adc r19,r25
 8046 45b6 4A1F                 adc r20,r26
 8047 45b8 5B1F                 adc r21,r27
 8048 45ba 57FF                 sbrs r21,7
 8049 45bc 00C0                 rjmp .L643
 8050 45be 215C                 subi r18,lo8(-(63))
 8051 45c0 3F4F                 sbci r19,hi8(-(63))
 8052 45c2 4F4F                 sbci r20,hlo8(-(63))
 8053 45c4 5F4F                 sbci r21,hhi8(-(63))
 8054                   .L643:
 8055 45c6 76E0                 ldi r23,6
 8056 45c8 5595         1:      asr r21
 8057 45ca 4795                 ror r20
 8058 45cc 3795                 ror r19
 8059 45ce 2795                 ror r18
 8060 45d0 7A95                 dec r23
 8061 45d2 01F4                 brne 1b
 8062 45d4 8301                 movw r16,r6
 8063 45d6 020F                 add r16,r18
 8064 45d8 131F                 adc r17,r19
 8065 45da 1093 0000            sts (MesswertNick)+1,r17
 8066 45de 0093 0000            sts MesswertNick,r16
 8067 45e2 8091 0000            lds r24,MesswertRoll
 8068 45e6 9091 0000            lds r25,(MesswertRoll)+1
 8069 45ea AA27                 clr r26
 8070 45ec 97FD                 sbrc r25,7
 8071 45ee A095                 com r26
 8072 45f0 BA2F                 mov r27,r26
 8073 45f2 BC01                 movw r22,r24
 8074 45f4 CD01                 movw r24,r26
 8075 45f6 A601                 movw r20,r12
 8076 45f8 9501                 movw r18,r10
 8077 45fa 0E94 0000            call __mulsi3
 8078 45fe 9B01                 movw r18,r22
 8079 4600 AC01                 movw r20,r24
 8080 4602 8091 0000            lds r24,TrimRoll
 8081 4606 9091 0000            lds r25,(TrimRoll)+1
 8082 460a AA27                 clr r26
 8083 460c 97FD                 sbrc r25,7
 8084 460e A095                 com r26
 8085 4610 BA2F                 mov r27,r26
 8086 4612 67E0                 ldi r22,7
 8087 4614 880F         1:      lsl r24
 8088 4616 991F                 rol r25
 8089 4618 AA1F                 rol r26
 8090 461a BB1F                 rol r27
 8091 461c 6A95                 dec r22
 8092 461e 01F4                 brne 1b
 8093 4620 280F                 add r18,r24
 8094 4622 391F                 adc r19,r25
 8095 4624 4A1F                 adc r20,r26
 8096 4626 5B1F                 adc r21,r27
 8097 4628 57FF                 sbrs r21,7
 8098 462a 00C0                 rjmp .L644
 8099 462c 215C                 subi r18,lo8(-(63))
 8100 462e 3F4F                 sbci r19,hi8(-(63))
 8101 4630 4F4F                 sbci r20,hlo8(-(63))
 8102 4632 5F4F                 sbci r21,hhi8(-(63))
 8103                   .L644:
 8104 4634 F6E0                 ldi r31,6
 8105 4636 5595         1:      asr r21
 8106 4638 4795                 ror r20
 8107 463a 3795                 ror r19
 8108 463c 2795                 ror r18
 8109 463e FA95                 dec r31
 8110 4640 01F4                 brne 1b
 8111 4642 4201                 movw r8,r4
 8112 4644 820E                 add r8,r18
 8113 4646 931E                 adc r9,r19
 8114 4648 9092 0000            sts (MesswertRoll)+1,r9
 8115 464c 8092 0000            sts MesswertRoll,r8
 8116 4650 8091 0000            lds r24,MesswertGier
 8117 4654 9091 0000            lds r25,(MesswertGier)+1
 8118 4658 880F                 add r24,r24
 8119 465a 991F                 adc r25,r25
 8120 465c AA27                 clr r26
 8121 465e 97FD                 sbrc r25,7
 8122 4660 A095                 com r26
 8123 4662 BA2F                 mov r27,r26
 8124 4664 2091 0000            lds r18,GyroFaktorGier
 8125 4668 3327                 clr r19
 8126 466a 4427                 clr r20
 8127 466c 5527                 clr r21
 8128 466e BC01                 movw r22,r24
 8129 4670 CD01                 movw r24,r26
 8130 4672 0E94 0000            call __mulsi3
 8131 4676 5B01                 movw r10,r22
 8132 4678 6C01                 movw r12,r24
 8133 467a 97FF                 sbrs r25,7
 8134 467c 00C0                 rjmp .L645
 8135 467e 2FE3                 ldi r18,lo8(63)
 8136 4680 30E0                 ldi r19,hi8(63)
 8137 4682 40E0                 ldi r20,hlo8(63)
 8138 4684 50E0                 ldi r21,hhi8(63)
 8139 4686 A20E                 add r10,r18
 8140 4688 B31E                 adc r11,r19
 8141 468a C41E                 adc r12,r20
 8142 468c D51E                 adc r13,r21
 8143                   .L645:
 8144 468e E6E0                 ldi r30,6
 8145 4690 D594         1:      asr r13
 8146 4692 C794                 ror r12
 8147 4694 B794                 ror r11
 8148 4696 A794                 ror r10
 8149 4698 EA95                 dec r30
 8150 469a 01F4                 brne 1b
 8151 469c 8091 0000            lds r24,IntegralFaktorGier
 8152 46a0 282F                 mov r18,r24
 8153 46a2 3327                 clr r19
 8154 46a4 4427                 clr r20
 8155 46a6 5527                 clr r21
 8156 46a8 8091 0000            lds r24,Integral_Gier
 8157 46ac 9091 0000            lds r25,(Integral_Gier)+1
 8158 46b0 A091 0000            lds r26,(Integral_Gier)+2
 8159 46b4 B091 0000            lds r27,(Integral_Gier)+3
 8160 46b8 BC01                 movw r22,r24
 8161 46ba CD01                 movw r24,r26
 8162 46bc 0E94 0000            call __mulsi3
 8163 46c0 DC01                 movw r26,r24
 8164 46c2 CB01                 movw r24,r22
 8165 46c4 BC01                 movw r22,r24
 8166 46c6 CD01                 movw r24,r26
 8167 46c8 20EF                 ldi r18,lo8(22000)
 8168 46ca 35E5                 ldi r19,hi8(22000)
 8169 46cc 40E0                 ldi r20,hlo8(22000)
 8170 46ce 50E0                 ldi r21,hhi8(22000)
 8171 46d0 0E94 0000            call __divmodsi4
 8172 46d4 B501                 movw r22,r10
 8173 46d6 620F                 add r22,r18
 8174 46d8 731F                 adc r23,r19
 8175 46da 7093 0000            sts (MesswertGier)+1,r23
 8176 46de 6093 0000            sts MesswertGier,r22
 8177 46e2 0150                 subi r16,lo8(4097)
 8178 46e4 1041                 sbci r17,hi8(4097)
 8179 46e6 04F0                 brlt .L646
 8180 46e8 80E0                 ldi r24,lo8(4096)
 8181 46ea 90E1                 ldi r25,hi8(4096)
 8182 46ec 9093 0000            sts (MesswertNick)+1,r25
 8183 46f0 8093 0000            sts MesswertNick,r24
 8184                   .L646:
 8185 46f4 8091 0000            lds r24,MesswertNick
 8186 46f8 9091 0000            lds r25,(MesswertNick)+1
 8187 46fc 8050                 subi r24,lo8(-4096)
 8188 46fe 904F                 sbci r25,hi8(-4096)
 8189 4700 04F4                 brge .L647
 8190 4702 80E0                 ldi r24,lo8(-4096)
 8191 4704 90EF                 ldi r25,hi8(-4096)
 8192 4706 9093 0000            sts (MesswertNick)+1,r25
 8193 470a 8093 0000            sts MesswertNick,r24
 8194                   .L647:
 8195 470e 51E0                 ldi r21,lo8(4097)
 8196 4710 8516                 cp r8,r21
 8197 4712 50E1                 ldi r21,hi8(4097)
 8198 4714 9506                 cpc r9,r21
 8199 4716 04F0                 brlt .L648
 8200 4718 80E0                 ldi r24,lo8(4096)
 8201 471a 90E1                 ldi r25,hi8(4096)
 8202 471c 9093 0000            sts (MesswertRoll)+1,r25
 8203 4720 8093 0000            sts MesswertRoll,r24
 8204                   .L648:
 8205 4724 8091 0000            lds r24,MesswertRoll
 8206 4728 9091 0000            lds r25,(MesswertRoll)+1
 8207 472c 8050                 subi r24,lo8(-4096)
 8208 472e 904F                 sbci r25,hi8(-4096)
 8209 4730 04F4                 brge .L649
 8210 4732 80E0                 ldi r24,lo8(-4096)
 8211 4734 90EF                 ldi r25,hi8(-4096)
 8212 4736 9093 0000            sts (MesswertRoll)+1,r25
 8213 473a 8093 0000            sts MesswertRoll,r24
 8214                   .L649:
 8215 473e 6150                 subi r22,lo8(4097)
 8216 4740 7041                 sbci r23,hi8(4097)
 8217 4742 04F0                 brlt .L650
 8218 4744 80E0                 ldi r24,lo8(4096)
 8219 4746 90E1                 ldi r25,hi8(4096)
 8220 4748 9093 0000            sts (MesswertGier)+1,r25
 8221 474c 8093 0000            sts MesswertGier,r24
 8222                   .L650:
 8223 4750 8091 0000            lds r24,MesswertGier
 8224 4754 9091 0000            lds r25,(MesswertGier)+1
 8225 4758 8050                 subi r24,lo8(-4096)
 8226 475a 904F                 sbci r25,hi8(-4096)
 8227 475c 04F4                 brge .L651
 8228 475e 80E0                 ldi r24,lo8(-4096)
 8229 4760 90EF                 ldi r25,hi8(-4096)
 8230 4762 9093 0000            sts (MesswertGier)+1,r25
 8231 4766 8093 0000            sts MesswertGier,r24
 8232                   .L651:
 8233 476a 8091 0000            lds r24,BattLowVoltageWarning
 8234 476e 482F                 mov r20,r24
 8235 4770 5527                 clr r21
 8236 4772 8091 0000            lds r24,UBat
 8237 4776 9091 0000            lds r25,(UBat)+1
 8238 477a 4817                 cp r20,r24
 8239 477c 5907                 cpc r21,r25
 8240 477e 04F4                 brge .L652
 8241 4780 2091 0000            lds r18,UBat
 8242 4784 3091 0000            lds r19,(UBat)+1
 8243 4788 0981                 ldd r16,Y+1
 8244 478a 1A81                 ldd r17,Y+2
 8245 478c 049F                 mul r16,r20
 8246 478e C001                 movw r24,r0
 8247 4790 059F                 mul r16,r21
 8248 4792 900D                 add r25,r0
 8249 4794 149F                 mul r17,r20
 8250 4796 900D                 add r25,r0
 8251 4798 1124                 clr r1
 8252 479a B901                 movw r22,r18
 8253 479c 0E94 0000            call __udivmodhi4
 8254 47a0 7A83                 std Y+2,r23
 8255 47a2 6983                 std Y+1,r22
 8256                   .L652:
 8257 47a4 2981                 ldd r18,Y+1
 8258 47a6 3A81                 ldd r19,Y+2
 8259 47a8 220F                 lsl r18
 8260 47aa 331F                 rol r19
 8261 47ac 220F                 lsl r18
 8262 47ae 331F                 rol r19
 8263 47b0 3A83                 std Y+2,r19
 8264 47b2 2983                 std Y+1,r18
 8265 47b4 4091 0000            lds r20,Parameter_GlobalConfig
 8266 47b8 40FD                 sbrc r20,0
 8267 47ba 00C0                 rjmp .+4
 8268 47bc 0C94 0000            jmp .L653
 8269 47c0 EE20                 tst r14
 8270 47c2 01F0                 breq .+4
 8271 47c4 0C94 0000            jmp .L653
 8272 47c8 FF20                 tst r15
 8273 47ca 01F0                 breq .+4
 8274 47cc 0C94 0000            jmp .L653
 8275 47d0 00E0                 ldi r16,lo8(0)
 8276 47d2 10E0                 ldi r17,hi8(0)
 8277 47d4 4801                 movw r8,r16
 8278 47d6 8091 0000            lds r24,HoverGas
 8279 47da 9091 0000            lds r25,(HoverGas)+1
 8280 47de 9093 0000            sts (DebugOut+44)+1,r25
 8281 47e2 8093 0000            sts DebugOut+44,r24
 8282 47e6 2091 0000            lds r18,BaroExpandActive
 8283 47ea 3091 0000            lds r19,(BaroExpandActive)+1
 8284 47ee 2115                 cp r18,__zero_reg__
 8285 47f0 3105                 cpc r19,__zero_reg__
 8286 47f2 01F0                 breq .+2
 8287 47f4 00C0                 rjmp .L654
 8288 47f6 8091 0000            lds r24,MessLuftdruck
 8289 47fa 9091 0000            lds r25,(MessLuftdruck)+1
 8290 47fe 8959                 subi r24,lo8(921)
 8291 4800 9340                 sbci r25,hi8(921)
 8292 4802 00F0                 brlo .L655
 8293 4804 87B5                 in r24,71-0x20
 8294 4806 803F                 cpi r24,lo8(-16)
 8295 4808 00F4                 brsh .L656
 8296 480a 8091 0000            lds r24,ExpandBaro
 8297 480e 8150                 subi r24,lo8(-(-1))
 8298 4810 00C0                 rjmp .L896
 8299                   .L656:
 8300 4812 81E0                 ldi r24,lo8(1)
 8301 4814 8093 0000            sts BaroAtLowerLimit.26,r24
 8302 4818 00C0                 rjmp .L663
 8303                   .L655:
 8304 481a 8091 0000            lds r24,MessLuftdruck
 8305 481e 9091 0000            lds r25,(MessLuftdruck)+1
 8306 4822 8436                 cpi r24,100
 8307 4824 9105                 cpc r25,__zero_reg__
 8308 4826 00F4                 brsh .L659
 8309 4828 87B5                 in r24,71-0x20
 8310 482a 8031                 cpi r24,lo8(16)
 8311 482c 00F0                 brlo .L660
 8312 482e 8091 0000            lds r24,ExpandBaro
 8313 4832 8F5F                 subi r24,lo8(-(1))
 8314                   .L896:
 8315 4834 8093 0000            sts ExpandBaro,r24
 8316 4838 9FE0                 ldi r25,lo8(15)
 8317 483a 8902                 muls r24,r25
 8318 483c 9001                 movw r18,r0
 8319 483e 1124                 clr r1
 8320 4840 8091 0000            lds r24,DruckOffsetSetting
 8321 4844 821B                 sub r24,r18
 8322 4846 87BD                 out 71-0x20,r24
 8323 4848 8CE2                 ldi r24,lo8(300)
 8324 484a 91E0                 ldi r25,hi8(300)
 8325 484c 9093 0000            sts (beeptime)+1,r25
 8326 4850 8093 0000            sts beeptime,r24
 8327 4854 8EE5                 ldi r24,lo8(350)
 8328 4856 91E0                 ldi r25,hi8(350)
 8329 4858 9093 0000            sts (BaroExpandActive)+1,r25
 8330 485c 8093 0000            sts BaroExpandActive,r24
 8331 4860 00C0                 rjmp .L663
 8332                   .L660:
 8333 4862 81E0                 ldi r24,lo8(1)
 8334 4864 8093 0000            sts BaroAtUpperLimit.25,r24
 8335 4868 00C0                 rjmp .L663
 8336                   .L659:
 8337 486a F092 0000            sts BaroAtUpperLimit.25,r15
 8338 486e F092 0000            sts BaroAtLowerLimit.26,r15
 8339 4872 00C0                 rjmp .L663
 8340                   .L654:
 8341 4874 8091 0000            lds r24,HoehenWert
 8342 4878 9091 0000            lds r25,(HoehenWert)+1
 8343 487c A091 0000            lds r26,(HoehenWert)+2
 8344 4880 B091 0000            lds r27,(HoehenWert)+3
 8345 4884 64E0                 ldi r22,4
 8346 4886 880F         1:      lsl r24
 8347 4888 991F                 rol r25
 8348 488a AA1F                 rol r26
 8349 488c BB1F                 rol r27
 8350 488e 6A95                 dec r22
 8351 4890 01F4                 brne 1b
 8352 4892 8093 0000            sts SummenHoehe,r24
 8353 4896 9093 0000            sts (SummenHoehe)+1,r25
 8354 489a A093 0000            sts (SummenHoehe)+2,r26
 8355 489e B093 0000            sts (SummenHoehe)+3,r27
 8356 48a2 1093 0000            sts (VarioMeter)+1,r17
 8357 48a6 0093 0000            sts VarioMeter,r16
 8358 48aa 2150                 subi r18,lo8(-(-1))
 8359 48ac 3040                 sbci r19,hi8(-(-1))
 8360 48ae 3093 0000            sts (BaroExpandActive)+1,r19
 8361 48b2 2093 0000            sts BaroExpandActive,r18
 8362                   .L663:
 8363 48b6 2091 0000            lds r18,Parameter_HoehenSchalter
 8364 48ba 41FF                 sbrs r20,1
 8365 48bc 00C0                 rjmp .L664
 8366 48be 2233                 cpi r18,lo8(50)
 8367 48c0 00F4                 brsh .L665
 8368 48c2 8091 0000            lds r24,delay.24
 8369 48c6 8150                 subi r24,lo8(-(-1))
 8370 48c8 8093 0000            sts delay.24,r24
 8371 48cc 8F3F                 cpi r24,lo8(-1)
 8372 48ce 01F0                 breq .+2
 8373 48d0 00C0                 rjmp .L671
 8374 48d2 8091 0000            lds r24,SpeakHoTT
 8375 48d6 8823                 tst r24
 8376 48d8 01F4                 brne .L667
 8377 48da 8091 0000            lds r24,HoehenReglerAktiv
 8378 48de 8823                 tst r24
 8379 48e0 01F0                 breq .L667
 8380 48e2 88E2                 ldi r24,lo8(40)
 8381 48e4 8093 0000            sts SpeakHoTT,r24
 8382                   .L667:
 8383 48e8 1092 0000            sts HoehenReglerAktiv,__zero_reg__
 8384 48ec 8091 0000            lds r24,HoehenWert
 8385 48f0 9091 0000            lds r25,(HoehenWert)+1
 8386 48f4 A091 0000            lds r26,(HoehenWert)+2
 8387 48f8 B091 0000            lds r27,(HoehenWert)+3
 8388 48fc 8093 0000            sts SollHoehe,r24
 8389 4900 9093 0000            sts (SollHoehe)+1,r25
 8390 4904 A093 0000            sts (SollHoehe)+2,r26
 8391 4908 B093 0000            sts (SollHoehe)+3,r27
 8392 490c 81E0                 ldi r24,lo8(1)
 8393 490e 8093 0000            sts delay.24,r24
 8394 4912 00C0                 rjmp .L671
 8395                   .L665:
 8396 4914 2734                 cpi r18,lo8(71)
 8397 4916 00F0                 brlo .L671
 8398 4918 8091 0000            lds r24,SpeakHoTT
 8399 491c 8823                 tst r24
 8400 491e 01F4                 brne .L670
 8401 4920 8091 0000            lds r24,HoehenReglerAktiv
 8402 4924 8823                 tst r24
 8403 4926 01F4                 brne .L670
 8404 4928 87E2                 ldi r24,lo8(39)
 8405 492a 8093 0000            sts SpeakHoTT,r24
 8406                   .L670:
 8407 492e 88EC                 ldi r24,lo8(-56)
 8408 4930 8093 0000            sts delay.24,r24
 8409 4934 00C0                 rjmp .L897
 8410                   .L664:
 8411 4936 8091 0000            lds r24,ExternHoehenValue
 8412 493a 9091 0000            lds r25,(ExternHoehenValue)+1
 8413 493e 820F                 add r24,r18
 8414 4940 911D                 adc r25,__zero_reg__
 8415 4942 2091 0000            lds r18,EE_Parameter+18
 8416 4946 3327                 clr r19
 8417 4948 829F                 mul r24,r18
 8418 494a A001                 movw r20,r0
 8419 494c 839F                 mul r24,r19
 8420 494e 500D                 add r21,r0
 8421 4950 929F                 mul r25,r18
 8422 4952 500D                 add r21,r0
 8423 4954 1124                 clr r1
 8424 4956 CA01                 movw r24,r20
 8425 4958 AA27                 clr r26
 8426 495a 97FD                 sbrc r25,7
 8427 495c A095                 com r26
 8428 495e BA2F                 mov r27,r26
 8429 4960 8093 0000            sts SollHoehe,r24
 8430 4964 9093 0000            sts (SollHoehe)+1,r25
 8431 4968 A093 0000            sts (SollHoehe)+2,r26
 8432 496c B093 0000            sts (SollHoehe)+3,r27
 8433                   .L897:
 8434 4970 81E0                 ldi r24,lo8(1)
 8435 4972 8093 0000            sts HoehenReglerAktiv,r24
 8436                   .L671:
 8437 4976 8091 0000            lds r24,IntegralNick
 8438 497a 9091 0000            lds r25,(IntegralNick)+1
 8439 497e A091 0000            lds r26,(IntegralNick)+2
 8440 4982 B091 0000            lds r27,(IntegralNick)+3
 8441 4986 E090 0000            lds r14,GIER_GRAD_FAKTOR
 8442 498a F090 0000            lds r15,(GIER_GRAD_FAKTOR)+1
 8443 498e 0091 0000            lds r16,(GIER_GRAD_FAKTOR)+2
 8444 4992 1091 0000            lds r17,(GIER_GRAD_FAKTOR)+3
 8445 4996 BC01                 movw r22,r24
 8446 4998 CD01                 movw r24,r26
 8447 499a A801                 movw r20,r16
 8448 499c 9701                 movw r18,r14
 8449 499e 0E94 0000            call __divmodsi4
 8450 49a2 5901                 movw r10,r18
 8451 49a4 6A01                 movw r12,r20
 8452 49a6 8091 0000            lds r24,IntegralRoll
 8453 49aa 9091 0000            lds r25,(IntegralRoll)+1
 8454 49ae A091 0000            lds r26,(IntegralRoll)+2
 8455 49b2 B091 0000            lds r27,(IntegralRoll)+3
 8456 49b6 BC01                 movw r22,r24
 8457 49b8 CD01                 movw r24,r26
 8458 49ba A801                 movw r20,r16
 8459 49bc 9701                 movw r18,r14
 8460 49be 0E94 0000            call __divmodsi4
 8461 49c2 B901                 movw r22,r18
 8462 49c4 C501                 movw r24,r10
 8463 49c6 0E94 0000            call ihypot
 8464 49ca 5C01                 movw r10,r24
 8465 49cc CC97                 sbiw r24,60
 8466 49ce 04F0                 brlt .L672
 8467 49d0 5CE3                 ldi r21,lo8(60)
 8468 49d2 A52E                 mov r10,r21
 8469 49d4 B12C                 mov r11,__zero_reg__
 8470                   .L672:
 8471 49d6 C501                 movw r24,r10
 8472 49d8 0E94 0000            call c_cos_8192
 8473 49dc 5C01                 movw r10,r24
 8474 49de 80E2                 ldi r24,lo8(32)
 8475 49e0 8093 0000            sts VarioCharacter,r24
 8476 49e4 1092 0000            sts (AltitudeSetpointTrimming)+1,__zero_reg__
 8477 49e8 1092 0000            sts AltitudeSetpointTrimming,__zero_reg__
 8478 49ec 8091 0000            lds r24,HoehenReglerAktiv
 8479 49f0 8823                 tst r24
 8480 49f2 01F4                 brne .+2
 8481 49f4 00C0                 rjmp .L673
 8482 49f6 8091 0000            lds r24,FC_StatusFlags
 8483 49fa 9927                 clr r25
 8484 49fc 9C01                 movw r18,r24
 8485 49fe 2071                 andi r18,lo8(16)
 8486 4a00 3070                 andi r19,hi8(16)
 8487 4a02 84FD                 sbrc r24,4
 8488 4a04 00C0                 rjmp .L673
 8489 4a06 8091 0000            lds r24,FC_StatusFlags2
 8490 4a0a 8260                 ori r24,lo8(2)
 8491 4a0c 8093 0000            sts FC_StatusFlags2,r24
 8492 4a10 7091 0000            lds r23,Parameter_ExtraConfig
 8493 4a14 872F                 mov r24,r23
 8494 4a16 9927                 clr r25
 8495 4a18 41E0                 ldi r20,lo8(1)
 8496 4a1a C42E                 mov r12,r20
 8497 4a1c D12C                 mov r13,__zero_reg__
 8498 4a1e C822                 and r12,r24
 8499 4a20 D922                 and r13,r25
 8500 4a22 80FD                 sbrc r24,0
 8501 4a24 00C0                 rjmp .L675
 8502 4a26 8091 0000            lds r24,Parameter_GlobalConfig
 8503 4a2a 81FD                 sbrc r24,1
 8504 4a2c 00C0                 rjmp .L674
 8505                   .L675:
 8506 4a2e C980                 ldd r12,Y+1
 8507 4a30 DA80                 ldd r13,Y+2
 8508 4a32 3093 0000            sts (HeightTrimming.21)+1,r19
 8509 4a36 2093 0000            sts HeightTrimming.21,r18
 8510 4a3a 3093 0000            sts (AltitudeSetpointTrimming)+1,r19
 8511 4a3e 2093 0000            sts AltitudeSetpointTrimming,r18
 8512 4a42 8091 0000            lds r24,FC_StatusFlags
 8513 4a46 806C                 ori r24,lo8(-64)
 8514 4a48 8093 0000            sts FC_StatusFlags,r24
 8515 4a4c 00C0                 rjmp .L676
 8516                   .L674:
 8517 4a4e 8091 0000            lds r24,FC_StatusFlags
 8518 4a52 81FF                 sbrs r24,1
 8519 4a54 00C0                 rjmp .L677
 8520 4a56 0091 0000            lds r16,StickGasHover
 8521 4a5a 1091 0000            lds r17,(StickGasHover)+1
 8522 4a5e C801                 movw r24,r16
 8523 4a60 0F96                 adiw r24,15
 8524 4a62 2090 0000            lds r2,StickGas
 8525 4a66 3090 0000            lds r3,(StickGas)+1
 8526 4a6a 8215                 cp r24,r2
 8527 4a6c 9305                 cpc r25,r3
 8528 4a6e 04F0                 brlt .+2
 8529 4a70 00C0                 rjmp .L678
 8530 4a72 8091 0000            lds r24,BaroAtUpperLimit.25
 8531 4a76 8823                 tst r24
 8532 4a78 01F0                 breq .+2
 8533 4a7a 00C0                 rjmp .L678
 8534 4a7c 8091 0000            lds r24,FC_StatusFlags
 8535 4a80 87FF                 sbrs r24,7
 8536 4a82 00C0                 rjmp .L679
 8537 4a84 8091 0000            lds r24,FC_StatusFlags
 8538 4a88 8F77                 andi r24,lo8(127)
 8539 4a8a 8093 0000            sts FC_StatusFlags,r24
 8540 4a8e 8091 0000            lds r24,HoehenWert
 8541 4a92 9091 0000            lds r25,(HoehenWert)+1
 8542 4a96 A091 0000            lds r26,(HoehenWert)+2
 8543 4a9a B091 0000            lds r27,(HoehenWert)+3
 8544 4a9e 8093 0000            sts SollHoehe,r24
 8545 4aa2 9093 0000            sts (SollHoehe)+1,r25
 8546 4aa6 A093 0000            sts (SollHoehe)+2,r26
 8547 4aaa B093 0000            sts (SollHoehe)+3,r27
 8548                   .L679:
 8549 4aae 8091 0000            lds r24,FC_StatusFlags
 8550 4ab2 8064                 ori r24,lo8(64)
 8551 4ab4 8093 0000            sts FC_StatusFlags,r24
 8552 4ab8 E090 0000            lds r14,Parameter_MaximumAltitude
 8553 4abc EE20                 tst r14
 8554 4abe 01F0                 breq .L680
 8555 4ac0 8091 0000            lds r24,SollHoehe
 8556 4ac4 9091 0000            lds r25,(SollHoehe)+1
 8557 4ac8 A091 0000            lds r26,(SollHoehe)+2
 8558 4acc B091 0000            lds r27,(SollHoehe)+3
 8559 4ad0 BC01                 movw r22,r24
 8560 4ad2 CD01                 movw r24,r26
 8561 4ad4 24E6                 ldi r18,lo8(100)
 8562 4ad6 30E0                 ldi r19,hi8(100)
 8563 4ad8 40E0                 ldi r20,hlo8(100)
 8564 4ada 50E0                 ldi r21,hhi8(100)
 8565 4adc 0E94 0000            call __divmodsi4
 8566 4ae0 8E2D                 mov r24,r14
 8567 4ae2 9927                 clr r25
 8568 4ae4 AA27                 clr r26
 8569 4ae6 BB27                 clr r27
 8570 4ae8 8217                 cp r24,r18
 8571 4aea 9307                 cpc r25,r19
 8572 4aec A407                 cpc r26,r20
 8573 4aee B507                 cpc r27,r21
 8574 4af0 04F4                 brge .L680
 8575 4af2 D092 0000            sts (AltitudeSetpointTrimming)+1,r13
 8576 4af6 C092 0000            sts AltitudeSetpointTrimming,r12
 8577 4afa 00C0                 rjmp .L681
 8578                   .L680:
 8579 4afc C101                 movw r24,r2
 8580 4afe 801B                 sub r24,r16
 8581 4b00 910B                 sbc r25,r17
 8582 4b02 0F97                 sbiw r24,15
 8583 4b04 97FF                 sbrs r25,7
 8584 4b06 00C0                 rjmp .L682
 8585 4b08 9095                 com r25
 8586 4b0a 8195                 neg r24
 8587 4b0c 9F4F                 sbci r25,lo8(-1)
 8588                   .L682:
 8589 4b0e 9093 0000            sts (AltitudeSetpointTrimming)+1,r25
 8590 4b12 8093 0000            sts AltitudeSetpointTrimming,r24
 8591 4b16 8BE2                 ldi r24,lo8(43)
 8592 4b18 8093 0000            sts VarioCharacter,r24
 8593                   .L681:
 8594 4b1c 1092 0000            sts WaypointTrimming,__zero_reg__
 8595 4b20 00C0                 rjmp .L683
 8596                   .L678:
 8597 4b22 C801                 movw r24,r16
 8598 4b24 0F97                 sbiw r24,15
 8599 4b26 2816                 cp r2,r24
 8600 4b28 3906                 cpc r3,r25
 8601 4b2a 04F4                 brge .L684
 8602 4b2c 2091 0000            lds r18,BaroAtLowerLimit.26
 8603 4b30 2223                 tst r18
 8604 4b32 01F4                 brne .L684
 8605 4b34 8091 0000            lds r24,FC_StatusFlags
 8606 4b38 86FF                 sbrs r24,6
 8607 4b3a 00C0                 rjmp .L685
 8608 4b3c 8091 0000            lds r24,FC_StatusFlags
 8609 4b40 8F7B                 andi r24,lo8(-65)
 8610 4b42 8093 0000            sts FC_StatusFlags,r24
 8611 4b46 8091 0000            lds r24,HoehenWert
 8612 4b4a 9091 0000            lds r25,(HoehenWert)+1
 8613 4b4e A091 0000            lds r26,(HoehenWert)+2
 8614 4b52 B091 0000            lds r27,(HoehenWert)+3
 8615 4b56 8093 0000            sts SollHoehe,r24
 8616 4b5a 9093 0000            sts (SollHoehe)+1,r25
 8617 4b5e A093 0000            sts (SollHoehe)+2,r26
 8618 4b62 B093 0000            sts (SollHoehe)+3,r27
 8619                   .L685:
 8620 4b66 8091 0000            lds r24,FC_StatusFlags
 8621 4b6a 8068                 ori r24,lo8(-128)
 8622 4b6c 8093 0000            sts FC_StatusFlags,r24
 8623 4b70 C101                 movw r24,r2
 8624 4b72 801B                 sub r24,r16
 8625 4b74 910B                 sbc r25,r17
 8626 4b76 0F96                 adiw r24,15
 8627 4b78 97FF                 sbrs r25,7
 8628 4b7a 00C0                 rjmp .L686
 8629 4b7c 9095                 com r25
 8630 4b7e 8195                 neg r24
 8631 4b80 9F4F                 sbci r25,lo8(-1)
 8632                   .L686:
 8633 4b82 9095                 com r25
 8634 4b84 8195                 neg r24
 8635 4b86 9F4F                 sbci r25,lo8(-1)
 8636 4b88 9093 0000            sts (AltitudeSetpointTrimming)+1,r25
 8637 4b8c 8093 0000            sts AltitudeSetpointTrimming,r24
 8638 4b90 8DE2                 ldi r24,lo8(45)
 8639 4b92 8093 0000            sts VarioCharacter,r24
 8640 4b96 2093 0000            sts WaypointTrimming,r18
 8641 4b9a 00C0                 rjmp .L683
 8642                   .L684:
 8643 4b9c 8DE3                 ldi r24,lo8(61)
 8644 4b9e 8093 0000            sts VarioCharacter,r24
 8645 4ba2 6091 0000            lds r22,FromNC_AltitudeSpeed
 8646 4ba6 6623                 tst r22
 8647 4ba8 01F0                 breq .L688
 8648 4baa 2091 0000            lds r18,FromNC_AltitudeSetpoint
 8649 4bae 3091 0000            lds r19,(FromNC_AltitudeSetpoint)+1
 8650 4bb2 4091 0000            lds r20,(FromNC_AltitudeSetpoint)+2
 8651 4bb6 5091 0000            lds r21,(FromNC_AltitudeSetpoint)+3
 8652 4bba 8091 0000            lds r24,SollHoehe
 8653 4bbe 9091 0000            lds r25,(SollHoehe)+1
 8654 4bc2 A091 0000            lds r26,(SollHoehe)+2
 8655 4bc6 B091 0000            lds r27,(SollHoehe)+3
 8656 4bca 8217                 cp r24,r18
 8657 4bcc 9307                 cpc r25,r19
 8658 4bce A407                 cpc r26,r20
 8659 4bd0 B507                 cpc r27,r21
 8660 4bd2 04F4                 brge .L688
 8661 4bd4 8091 0000            lds r24,FC_StatusFlags
 8662 4bd8 8064                 ori r24,lo8(64)
 8663 4bda 8093 0000            sts FC_StatusFlags,r24
 8664 4bde 862F                 mov r24,r22
 8665 4be0 9927                 clr r25
 8666 4be2 9093 0000            sts (AltitudeSetpointTrimming)+1,r25
 8667 4be6 8093 0000            sts AltitudeSetpointTrimming,r24
 8668 4bea 8AE0                 ldi r24,lo8(10)
 8669 4bec 8093 0000            sts WaypointTrimming,r24
 8670 4bf0 8EE5                 ldi r24,lo8(94)
 8671 4bf2 8093 0000            sts VarioCharacter,r24
 8672 4bf6 8091 0000            lds r24,FC_StatusFlags
 8673 4bfa 87FF                 sbrs r24,7
 8674 4bfc 00C0                 rjmp .L683
 8675 4bfe 8091 0000            lds r24,FC_StatusFlags
 8676 4c02 8F77                 andi r24,lo8(127)
 8677 4c04 00C0                 rjmp .L899
 8678                   .L688:
 8679 4c06 6623                 tst r22
 8680 4c08 01F4                 brne .+2
 8681 4c0a 00C0                 rjmp .L691
 8682 4c0c 2091 0000            lds r18,FromNC_AltitudeSetpoint
 8683 4c10 3091 0000            lds r19,(FromNC_AltitudeSetpoint)+1
 8684 4c14 4091 0000            lds r20,(FromNC_AltitudeSetpoint)+2
 8685 4c18 5091 0000            lds r21,(FromNC_AltitudeSetpoint)+3
 8686 4c1c 8091 0000            lds r24,SollHoehe
 8687 4c20 9091 0000            lds r25,(SollHoehe)+1
 8688 4c24 A091 0000            lds r26,(SollHoehe)+2
 8689 4c28 B091 0000            lds r27,(SollHoehe)+3
 8690 4c2c 2817                 cp r18,r24
 8691 4c2e 3907                 cpc r19,r25
 8692 4c30 4A07                 cpc r20,r26
 8693 4c32 5B07                 cpc r21,r27
 8694 4c34 04F4                 brge .L691
 8695 4c36 8091 0000            lds r24,FC_StatusFlags
 8696 4c3a 8068                 ori r24,lo8(-128)
 8697 4c3c 8093 0000            sts FC_StatusFlags,r24
 8698 4c40 862F                 mov r24,r22
 8699 4c42 9927                 clr r25
 8700 4c44 9095                 com r25
 8701 4c46 8195                 neg r24
 8702 4c48 9F4F                 sbci r25,lo8(-1)
 8703 4c4a 9093 0000            sts (AltitudeSetpointTrimming)+1,r25
 8704 4c4e 8093 0000            sts AltitudeSetpointTrimming,r24
 8705 4c52 86EF                 ldi r24,lo8(-10)
 8706 4c54 8093 0000            sts WaypointTrimming,r24
 8707 4c58 86E7                 ldi r24,lo8(118)
 8708 4c5a 8093 0000            sts VarioCharacter,r24
 8709 4c5e 8091 0000            lds r24,FC_StatusFlags
 8710 4c62 86FF                 sbrs r24,6
 8711 4c64 00C0                 rjmp .L683
 8712 4c66 8091 0000            lds r24,FC_StatusFlags
 8713 4c6a 8F7B                 andi r24,lo8(-65)
 8714                   .L899:
 8715 4c6c 8093 0000            sts FC_StatusFlags,r24
 8716 4c70 8091 0000            lds r24,HoehenWert
 8717 4c74 9091 0000            lds r25,(HoehenWert)+1
 8718 4c78 A091 0000            lds r26,(HoehenWert)+2
 8719 4c7c B091 0000            lds r27,(HoehenWert)+3
 8720 4c80 8093 0000            sts SollHoehe,r24
 8721 4c84 9093 0000            sts (SollHoehe)+1,r25
 8722 4c88 A093 0000            sts (SollHoehe)+2,r26
 8723 4c8c B093 0000            sts (SollHoehe)+3,r27
 8724 4c90 00C0                 rjmp .L683
 8725                   .L691:
 8726 4c92 8091 0000            lds r24,FC_StatusFlags
 8727 4c96 807C                 andi r24,lo8(-64)
 8728 4c98 01F4                 brne .+2
 8729 4c9a 00C0                 rjmp .L683
 8730 4c9c 8091 0000            lds r24,WaypointTrimming
 8731 4ca0 8823                 tst r24
 8732 4ca2 01F4                 brne .L695
 8733 4ca4 E090 0000            lds r14,HoehenWert
 8734 4ca8 F090 0000            lds r15,(HoehenWert)+1
 8735 4cac 0091 0000            lds r16,(HoehenWert)+2
 8736 4cb0 1091 0000            lds r17,(HoehenWert)+3
 8737 4cb4 D801                 movw r26,r16
 8738 4cb6 C701                 movw r24,r14
 8739 4cb8 8058                 subi r24,lo8(-(-128))
 8740 4cba 9040                 sbci r25,hi8(-(-128))
 8741 4cbc A040                 sbci r26,hlo8(-(-128))
 8742 4cbe B040                 sbci r27,hhi8(-(-128))
 8743 4cc0 2091 0000            lds r18,SollHoehe
 8744 4cc4 3091 0000            lds r19,(SollHoehe)+1
 8745 4cc8 4091 0000            lds r20,(SollHoehe)+2
 8746 4ccc 5091 0000            lds r21,(SollHoehe)+3
 8747 4cd0 8217                 cp r24,r18
 8748 4cd2 9307                 cpc r25,r19
 8749 4cd4 A407                 cpc r26,r20
 8750 4cd6 B507                 cpc r27,r21
 8751 4cd8 04F4                 brge .L898
 8752 4cda D801                 movw r26,r16
 8753 4cdc C701                 movw r24,r14
 8754 4cde 8058                 subi r24,lo8(-(128))
 8755 4ce0 9F4F                 sbci r25,hi8(-(128))
 8756 4ce2 AF4F                 sbci r26,hlo8(-(128))
 8757 4ce4 BF4F                 sbci r27,hhi8(-(128))
 8758 4ce6 2817                 cp r18,r24
 8759 4ce8 3907                 cpc r19,r25
 8760 4cea 4A07                 cpc r20,r26
 8761 4cec 5B07                 cpc r21,r27
 8762 4cee 04F0                 brlt .L699
 8763                   .L898:
 8764 4cf0 8093 0000            sts SollHoehe,r24
 8765 4cf4 9093 0000            sts (SollHoehe)+1,r25
 8766 4cf8 A093 0000            sts (SollHoehe)+2,r26
 8767 4cfc B093 0000            sts (SollHoehe)+3,r27
 8768 4d00 00C0                 rjmp .L699
 8769                   .L695:
 8770 4d02 1092 0000            sts WaypointTrimming,__zero_reg__
 8771                   .L699:
 8772 4d06 8091 0000            lds r24,FC_StatusFlags
 8773 4d0a 8F73                 andi r24,lo8(63)
 8774 4d0c 8093 0000            sts FC_StatusFlags,r24
 8775 4d10 1092 0000            sts (HeightTrimming.21)+1,__zero_reg__
 8776 4d14 1092 0000            sts HeightTrimming.21,__zero_reg__
 8777 4d18 71FF                 sbrs r23,1
 8778 4d1a 00C0                 rjmp .L700
 8779 4d1c 84EF                 ldi r24,lo8(500)
 8780 4d1e 91E0                 ldi r25,hi8(500)
 8781 4d20 9093 0000            sts (beeptime)+1,r25
 8782 4d24 8093 0000            sts beeptime,r24
 8783                   .L700:
 8784 4d28 8091 0000            lds r24,StartTrigger
 8785 4d2c 8823                 tst r24
 8786 4d2e 01F4                 brne .L683
 8787 4d30 8091 0000            lds r24,HoehenWert
 8788 4d34 9091 0000            lds r25,(HoehenWert)+1
 8789 4d38 A091 0000            lds r26,(HoehenWert)+2
 8790 4d3c B091 0000            lds r27,(HoehenWert)+3
 8791 4d40 C397                 sbiw r24,51
 8792 4d42 A105                 cpc r26,__zero_reg__
 8793 4d44 B105                 cpc r27,__zero_reg__
 8794 4d46 04F0                 brlt .L683
 8795 4d48 81E0                 ldi r24,lo8(1)
 8796 4d4a 8093 0000            sts StartTrigger,r24
 8797                   .L683:
 8798 4d4e 6091 0000            lds r22,HeightTrimming.21
 8799 4d52 7091 0000            lds r23,(HeightTrimming.21)+1
 8800 4d56 8091 0000            lds r24,AltitudeSetpointTrimming
 8801 4d5a 9091 0000            lds r25,(AltitudeSetpointTrimming)+1
 8802 4d5e 680F                 add r22,r24
 8803 4d60 791F                 adc r23,r25
 8804 4d62 7093 0000            sts (HeightTrimming.21)+1,r23
 8805 4d66 6093 0000            sts HeightTrimming.21,r22
 8806 4d6a CB01                 movw r24,r22
 8807 4d6c 77FF                 sbrs r23,7
 8808 4d6e 00C0                 rjmp .L703
 8809 4d70 8827                 clr r24
 8810 4d72 9927                 clr r25
 8811 4d74 861B                 sub r24,r22
 8812 4d76 970B                 sbc r25,r23
 8813                   .L703:
 8814 4d78 855F                 subi r24,lo8(501)
 8815 4d7a 9140                 sbci r25,hi8(501)
 8816 4d7c 04F4                 brge .+2
 8817 4d7e 00C0                 rjmp .L702
 8818 4d80 4091 0000            lds r20,WaypointTrimming
 8819 4d84 4423                 tst r20
 8820 4d86 01F0                 breq .L704
 8821 4d88 8091 0000            lds r24,FromNC_AltitudeSetpoint
 8822 4d8c 9091 0000            lds r25,(FromNC_AltitudeSetpoint)+1
 8823 4d90 2091 0000            lds r18,SollHoehe
 8824 4d94 3091 0000            lds r19,(SollHoehe)+1
 8825 4d98 821B                 sub r24,r18
 8826 4d9a 930B                 sbc r25,r19
 8827 4d9c 0996                 adiw r24,9
 8828 4d9e 4397                 sbiw r24,19
 8829 4da0 00F4                 brsh .L705
 8830 4da2 8091 0000            lds r24,FromNC_AltitudeSetpoint
 8831 4da6 9091 0000            lds r25,(FromNC_AltitudeSetpoint)+1
 8832 4daa A091 0000            lds r26,(FromNC_AltitudeSetpoint)+2
 8833 4dae B091 0000            lds r27,(FromNC_AltitudeSetpoint)+3
 8834 4db2 00C0                 rjmp .L901
 8835                   .L705:
 8836 4db4 242F                 mov r18,r20
 8837 4db6 3327                 clr r19
 8838 4db8 27FD                 sbrc r18,7
 8839 4dba 3095                 com r19
 8840 4dbc 432F                 mov r20,r19
 8841 4dbe 532F                 mov r21,r19
 8842 4dc0 8091 0000            lds r24,SollHoehe
 8843 4dc4 9091 0000            lds r25,(SollHoehe)+1
 8844 4dc8 A091 0000            lds r26,(SollHoehe)+2
 8845 4dcc B091 0000            lds r27,(SollHoehe)+3
 8846 4dd0 820F                 add r24,r18
 8847 4dd2 931F                 adc r25,r19
 8848 4dd4 A41F                 adc r26,r20
 8849 4dd6 B51F                 adc r27,r21
 8850                   .L901:
 8851 4dd8 8093 0000            sts SollHoehe,r24
 8852 4ddc 9093 0000            sts (SollHoehe)+1,r25
 8853 4de0 A093 0000            sts (SollHoehe)+2,r26
 8854 4de4 B093 0000            sts (SollHoehe)+3,r27
 8855 4de8 00C0                 rjmp .L707
 8856                   .L704:
 8857 4dea 8091 0000            lds r24,EE_Parameter+18
 8858 4dee 2091 0000            lds r18,SollHoehe
 8859 4df2 3091 0000            lds r19,(SollHoehe)+1
 8860 4df6 4091 0000            lds r20,(SollHoehe)+2
 8861 4dfa 5091 0000            lds r21,(SollHoehe)+3
 8862 4dfe 1616                 cp __zero_reg__,r22
 8863 4e00 1706                 cpc __zero_reg__,r23
 8864 4e02 04F4                 brge .L708
 8865 4e04 63E0                 ldi r22,lo8(3)
 8866 4e06 0E94 0000            call __udivmodqi4
 8867 4e0a 280F                 add r18,r24
 8868 4e0c 311D                 adc r19,__zero_reg__
 8869 4e0e 411D                 adc r20,__zero_reg__
 8870 4e10 511D                 adc r21,__zero_reg__
 8871 4e12 00C0                 rjmp .L900
 8872                   .L708:
 8873 4e14 63E0                 ldi r22,lo8(3)
 8874 4e16 0E94 0000            call __udivmodqi4
 8875 4e1a 281B                 sub r18,r24
 8876 4e1c 3109                 sbc r19,__zero_reg__
 8877 4e1e 4109                 sbc r20,__zero_reg__
 8878 4e20 5109                 sbc r21,__zero_reg__
 8879                   .L900:
 8880 4e22 2093 0000            sts SollHoehe,r18
 8881 4e26 3093 0000            sts (SollHoehe)+1,r19
 8882 4e2a 4093 0000            sts (SollHoehe)+2,r20
 8883 4e2e 5093 0000            sts (SollHoehe)+3,r21
 8884                   .L707:
 8885 4e32 1092 0000            sts (HeightTrimming.21)+1,__zero_reg__
 8886 4e36 1092 0000            sts HeightTrimming.21,__zero_reg__
 8887 4e3a E090 0000            lds r14,HoehenWert
 8888 4e3e F090 0000            lds r15,(HoehenWert)+1
 8889 4e42 0091 0000            lds r16,(HoehenWert)+2
 8890 4e46 1091 0000            lds r17,(HoehenWert)+3
 8891 4e4a D801                 movw r26,r16
 8892 4e4c C701                 movw r24,r14
 8893 4e4e 8050                 subi r24,lo8(-(-1024))
 8894 4e50 9440                 sbci r25,hi8(-(-1024))
 8895 4e52 A040                 sbci r26,hlo8(-(-1024))
 8896 4e54 B040                 sbci r27,hhi8(-(-1024))
 8897 4e56 2091 0000            lds r18,SollHoehe
 8898 4e5a 3091 0000            lds r19,(SollHoehe)+1
 8899 4e5e 4091 0000            lds r20,(SollHoehe)+2
 8900 4e62 5091 0000            lds r21,(SollHoehe)+3
 8901 4e66 8217                 cp r24,r18
 8902 4e68 9307                 cpc r25,r19
 8903 4e6a A407                 cpc r26,r20
 8904 4e6c B507                 cpc r27,r21
 8905 4e6e 04F4                 brge .L902
 8906 4e70 D801                 movw r26,r16
 8907 4e72 C701                 movw r24,r14
 8908 4e74 8050                 subi r24,lo8(-(1024))
 8909 4e76 9C4F                 sbci r25,hi8(-(1024))
 8910 4e78 AF4F                 sbci r26,hlo8(-(1024))
 8911 4e7a BF4F                 sbci r27,hhi8(-(1024))
 8912 4e7c 2817                 cp r18,r24
 8913 4e7e 3907                 cpc r19,r25
 8914 4e80 4A07                 cpc r20,r26
 8915 4e82 5B07                 cpc r21,r27
 8916 4e84 04F0                 brlt .L711
 8917                   .L902:
 8918 4e86 8093 0000            sts SollHoehe,r24
 8919 4e8a 9093 0000            sts (SollHoehe)+1,r25
 8920 4e8e A093 0000            sts (SollHoehe)+2,r26
 8921 4e92 B093 0000            sts (SollHoehe)+3,r27
 8922                   .L711:
 8923 4e96 8091 0000            lds r24,Parameter_ExtraConfig
 8924 4e9a 81FF                 sbrs r24,1
 8925 4e9c 00C0                 rjmp .L713
 8926 4e9e 84E6                 ldi r24,lo8(100)
 8927 4ea0 90E0                 ldi r25,hi8(100)
 8928 4ea2 9093 0000            sts (beeptime)+1,r25
 8929 4ea6 8093 0000            sts beeptime,r24
 8930                   .L713:
 8931 4eaa 8091 0000            lds r24,EE_Parameter+22
 8932 4eae 8823                 tst r24
 8933 4eb0 01F4                 brne .L702
 8934 4eb2 8091 0000            lds r24,FromNC_AltitudeSpeed
 8935 4eb6 8823                 tst r24
 8936 4eb8 01F4                 brne .L702
 8937 4eba 4091 0000            lds r20,HoverGas
 8938 4ebe 5091 0000            lds r21,(HoverGas)+1
 8939 4ec2 57FF                 sbrs r21,7
 8940 4ec4 00C0                 rjmp .L715
 8941 4ec6 4D5F                 subi r20,lo8(-(3))
 8942 4ec8 5F4F                 sbci r21,hi8(-(3))
 8943                   .L715:
 8944 4eca 5595                 asr r21
 8945 4ecc 4795                 ror r20
 8946 4ece 5595                 asr r21
 8947 4ed0 4795                 ror r20
 8948 4ed2 8091 0000            lds r24,UBat
 8949 4ed6 9091 0000            lds r25,(UBat)+1
 8950 4eda 2091 0000            lds r18,BattLowVoltageWarning
 8951 4ede 3327                 clr r19
 8952 4ee0 489F                 mul r20,r24
 8953 4ee2 F001                 movw r30,r0
 8954 4ee4 499F                 mul r20,r25
 8955 4ee6 F00D                 add r31,r0
 8956 4ee8 589F                 mul r21,r24
 8957 4eea F00D                 add r31,r0
 8958 4eec 1124                 clr r1
 8959 4eee CF01                 movw r24,r30
 8960 4ef0 B901                 movw r22,r18
 8961 4ef2 0E94 0000            call __divmodhi4
 8962 4ef6 7093 0000            sts (StickGasHover)+1,r23
 8963 4efa 6093 0000            sts StickGasHover,r22
 8964 4efe 6634                 cpi r22,70
 8965 4f00 7105                 cpc r23,__zero_reg__
 8966 4f02 04F4                 brge .L716
 8967 4f04 86E4                 ldi r24,lo8(70)
 8968 4f06 90E0                 ldi r25,hi8(70)
 8969 4f08 00C0                 rjmp .L903
 8970                   .L716:
 8971 4f0a 6739                 cpi r22,151
 8972 4f0c 7105                 cpc r23,__zero_reg__
 8973 4f0e 04F0                 brlt .L702
 8974 4f10 86E9                 ldi r24,lo8(150)
 8975 4f12 90E0                 ldi r25,hi8(150)
 8976                   .L903:
 8977 4f14 9093 0000            sts (StickGasHover)+1,r25
 8978 4f18 8093 0000            sts StickGasHover,r24
 8979                   .L702:
 8980 4f1c 8091 0000            lds r24,BaroExpandActive
 8981 4f20 9091 0000            lds r25,(BaroExpandActive)+1
 8982 4f24 892B                 or r24,r25
 8983 4f26 01F0                 breq .L720
 8984 4f28 8091 0000            lds r24,HoehenWert
 8985 4f2c 9091 0000            lds r25,(HoehenWert)+1
 8986 4f30 A091 0000            lds r26,(HoehenWert)+2
 8987 4f34 B091 0000            lds r27,(HoehenWert)+3
 8988 4f38 8093 0000            sts SollHoehe,r24
 8989 4f3c 9093 0000            sts (SollHoehe)+1,r25
 8990 4f40 A093 0000            sts (SollHoehe)+2,r26
 8991 4f44 B093 0000            sts (SollHoehe)+3,r27
 8992 4f48 00C0                 rjmp .L720
 8993                   .L677:
 8994 4f4a 8091 0000            lds r24,HoehenWert
 8995 4f4e 9091 0000            lds r25,(HoehenWert)+1
 8996 4f52 A091 0000            lds r26,(HoehenWert)+2
 8997 4f56 B091 0000            lds r27,(HoehenWert)+3
 8998 4f5a 8059                 subi r24,lo8(-(-400))
 8999 4f5c 9140                 sbci r25,hi8(-(-400))
 9000 4f5e A040                 sbci r26,hlo8(-(-400))
 9001 4f60 B040                 sbci r27,hhi8(-(-400))
 9002 4f62 8093 0000            sts SollHoehe,r24
 9003 4f66 9093 0000            sts (SollHoehe)+1,r25
 9004 4f6a A093 0000            sts (SollHoehe)+2,r26
 9005 4f6e B093 0000            sts (SollHoehe)+3,r27
 9006 4f72 8091 0000            lds r24,EE_Parameter+22
 9007 4f76 8823                 tst r24
 9008 4f78 01F0                 breq .L721
 9009 4f7a 9927                 clr r25
 9010 4f7c 00C0                 rjmp .L904
 9011                   .L721:
 9012 4f7e 88E7                 ldi r24,lo8(120)
 9013 4f80 90E0                 ldi r25,hi8(120)
 9014                   .L904:
 9015 4f82 9093 0000            sts (StickGasHover)+1,r25
 9016 4f86 8093 0000            sts StickGasHover,r24
 9017 4f8a E980                 ldd r14,Y+1
 9018 4f8c FA80                 ldd r15,Y+2
 9019 4f8e F092 0000            sts (HoverGas)+1,r15
 9020 4f92 E092 0000            sts HoverGas,r14
 9021 4f96 8EE2                 ldi r24,lo8(46)
 9022 4f98 8093 0000            sts VarioCharacter,r24
 9023                   .L720:
 9024 4f9c C090 0000            lds r12,HoverGas
 9025 4fa0 D090 0000            lds r13,(HoverGas)+1
 9026                   .L676:
 9027 4fa4 E090 0000            lds r14,HoehenWert
 9028 4fa8 F090 0000            lds r15,(HoehenWert)+1
 9029 4fac 0091 0000            lds r16,(HoehenWert)+2
 9030 4fb0 1091 0000            lds r17,(HoehenWert)+3
 9031 4fb4 2091 0000            lds r18,SollHoehe
 9032 4fb8 3091 0000            lds r19,(SollHoehe)+1
 9033 4fbc 4091 0000            lds r20,(SollHoehe)+2
 9034 4fc0 5091 0000            lds r21,(SollHoehe)+3
 9035 4fc4 2E15                 cp r18,r14
 9036 4fc6 3F05                 cpc r19,r15
 9037 4fc8 4007                 cpc r20,r16
 9038 4fca 5107                 cpc r21,r17
 9039 4fcc 04F0                 brlt .L724
 9040 4fce 8091 0000            lds r24,Parameter_ExtraConfig
 9041 4fd2 80FD                 sbrc r24,0
 9042 4fd4 00C0                 rjmp .L782
 9043                   .L724:
 9044 4fd6 8091 0000            lds r24,BaroExpandActive
 9045 4fda 9091 0000            lds r25,(BaroExpandActive)+1
 9046 4fde 892B                 or r24,r25
 9047 4fe0 01F0                 breq .L725
 9048 4fe2 C090 0000            lds r12,HoverGas
 9049 4fe6 D090 0000            lds r13,(HoverGas)+1
 9050 4fea 00E0                 ldi r16,lo8(0)
 9051 4fec 10E0                 ldi r17,hi8(0)
 9052 4fee 00C0                 rjmp .L726
 9053                   .L725:
 9054 4ff0 D801                 movw r26,r16
 9055 4ff2 C701                 movw r24,r14
 9056 4ff4 821B                 sub r24,r18
 9057 4ff6 930B                 sbc r25,r19
 9058 4ff8 A40B                 sbc r26,r20
 9059 4ffa B50B                 sbc r27,r21
 9060 4ffc 8093 0000            sts tmp_long.1,r24
 9061 5000 9093 0000            sts (tmp_long.1)+1,r25
 9062 5004 A093 0000            sts (tmp_long.1)+2,r26
 9063 5008 B093 0000            sts (tmp_long.1)+3,r27
 9064 500c 8230                 cpi r24,lo8(-32766)
 9065 500e 00E8                 ldi r16,hi8(-32766)
 9066 5010 9007                 cpc r25,r16
 9067 5012 0FEF                 ldi r16,hlo8(-32766)
 9068 5014 A007                 cpc r26,r16
 9069 5016 0FEF                 ldi r16,hhi8(-32766)
 9070 5018 B007                 cpc r27,r16
 9071 501a 04F4                 brge .L727
 9072 501c 81E0                 ldi r24,lo8(-32767)
 9073 501e 90E8                 ldi r25,hi8(-32767)
 9074 5020 AFEF                 ldi r26,hlo8(-32767)
 9075 5022 BFEF                 ldi r27,hhi8(-32767)
 9076 5024 00C0                 rjmp .L905
 9077                   .L727:
 9078 5026 8F5F                 subi r24,lo8(32767)
 9079 5028 9F47                 sbci r25,hi8(32767)
 9080 502a A040                 sbci r26,hlo8(32767)
 9081 502c B040                 sbci r27,hhi8(32767)
 9082 502e 04F0                 brlt .L728
 9083 5030 8FEF                 ldi r24,lo8(32767)
 9084 5032 9FE7                 ldi r25,hi8(32767)
 9085 5034 A0E0                 ldi r26,hlo8(32767)
 9086 5036 B0E0                 ldi r27,hhi8(32767)
 9087                   .L905:
 9088 5038 8093 0000            sts tmp_long.1,r24
 9089 503c 9093 0000            sts (tmp_long.1)+1,r25
 9090 5040 A093 0000            sts (tmp_long.1)+2,r26
 9091 5044 B093 0000            sts (tmp_long.1)+3,r27
 9092                   .L728:
 9093 5048 0091 0000            lds r16,tmp_long.1
 9094 504c 1091 0000            lds r17,(tmp_long.1)+1
 9095 5050 8091 0000            lds r24,Parameter_Hoehe_P
 9096 5054 282F                 mov r18,r24
 9097 5056 3327                 clr r19
 9098 5058 4427                 clr r20
 9099 505a 5527                 clr r21
 9100 505c 8091 0000            lds r24,tmp_long.1
 9101 5060 9091 0000            lds r25,(tmp_long.1)+1
 9102 5064 A091 0000            lds r26,(tmp_long.1)+2
 9103 5068 B091 0000            lds r27,(tmp_long.1)+3
 9104 506c BC01                 movw r22,r24
 9105 506e CD01                 movw r24,r26
 9106 5070 0E94 0000            call __mulsi3
 9107 5074 97FF                 sbrs r25,7
 9108 5076 00C0                 rjmp .L730
 9109 5078 615E                 subi r22,lo8(-(31))
 9110 507a 7F4F                 sbci r23,hi8(-(31))
 9111 507c 8F4F                 sbci r24,hlo8(-(31))
 9112 507e 9F4F                 sbci r25,hhi8(-(31))
 9113                   .L730:
 9114 5080 25E0                 ldi r18,5
 9115 5082 9595         1:      asr r25
 9116 5084 8795                 ror r24
 9117 5086 7795                 ror r23
 9118 5088 6795                 ror r22
 9119 508a 2A95                 dec r18
 9120 508c 01F4                 brne 1b
 9121 508e 6093 0000            sts tmp_long.1,r22
 9122 5092 7093 0000            sts (tmp_long.1)+1,r23
 9123 5096 8093 0000            sts (tmp_long.1)+2,r24
 9124 509a 9093 0000            sts (tmp_long.1)+3,r25
 9125 509e 6530                 cpi r22,lo8(-507)
 9126 50a0 2EEF                 ldi r18,hi8(-507)
 9127 50a2 7207                 cpc r23,r18
 9128 50a4 2FEF                 ldi r18,hlo8(-507)
 9129 50a6 8207                 cpc r24,r18
 9130 50a8 2FEF                 ldi r18,hhi8(-507)
 9131 50aa 9207                 cpc r25,r18
 9132 50ac 04F4                 brge .L731
 9133 50ae 84E0                 ldi r24,lo8(-508)
 9134 50b0 9EEF                 ldi r25,hi8(-508)
 9135 50b2 AFEF                 ldi r26,hlo8(-508)
 9136 50b4 BFEF                 ldi r27,hhi8(-508)
 9137 50b6 00C0                 rjmp .L906
 9138                   .L731:
 9139 50b8 6050                 subi r22,lo8(1024)
 9140 50ba 7440                 sbci r23,hi8(1024)
 9141 50bc 8040                 sbci r24,hlo8(1024)
 9142 50be 9040                 sbci r25,hhi8(1024)
 9143 50c0 04F0                 brlt .L732
 9144 50c2 80E0                 ldi r24,lo8(1024)
 9145 50c4 94E0                 ldi r25,hi8(1024)
 9146 50c6 A0E0                 ldi r26,hlo8(1024)
 9147 50c8 B0E0                 ldi r27,hhi8(1024)
 9148                   .L906:
 9149 50ca 8093 0000            sts tmp_long.1,r24
 9150 50ce 9093 0000            sts (tmp_long.1)+1,r25
 9151 50d2 A093 0000            sts (tmp_long.1)+2,r26
 9152 50d6 B093 0000            sts (tmp_long.1)+3,r27
 9153                   .L732:
 9154 50da 8090 0000            lds r8,tmp_long.1
 9155 50de 9090 0000            lds r9,(tmp_long.1)+1
 9156 50e2 2091 0000            lds r18,VarioMeter
 9157 50e6 3091 0000            lds r19,(VarioMeter)+1
 9158 50ea 37FF                 sbrs r19,7
 9159 50ec 00C0                 rjmp .L734
 9160 50ee 295F                 subi r18,lo8(-(7))
 9161 50f0 3F4F                 sbci r19,hi8(-(7))
 9162                   .L734:
 9163 50f2 83E0                 ldi r24,3
 9164 50f4 3595         1:      asr r19
 9165 50f6 2795                 ror r18
 9166 50f8 8A95                 dec r24
 9167 50fa 01F4                 brne 1b
 9168 50fc 4FEF                 ldi r20,hi8(-126)
 9169 50fe 2238                 cpi r18,lo8(-126)
 9170 5100 3407                 cpc r19,r20
 9171 5102 04F4                 brge .L735
 9172 5104 21E8                 ldi r18,lo8(-127)
 9173 5106 3FEF                 ldi r19,hi8(-127)
 9174 5108 00C0                 rjmp .L736
 9175                   .L735:
 9176 510a 2038                 cpi r18,128
 9177 510c 3105                 cpc r19,__zero_reg__
 9178 510e 04F0                 brlt .L736
 9179 5110 20E8                 ldi r18,lo8(128)
 9180 5112 30E0                 ldi r19,hi8(128)
 9181                   .L736:
 9182 5114 C901                 movw r24,r18
 9183 5116 AA27                 clr r26
 9184 5118 97FD                 sbrc r25,7
 9185 511a A095                 com r26
 9186 511c BA2F                 mov r27,r26
 9187 511e 2091 0000            lds r18,Parameter_Luftdruck_D
 9188 5122 3327                 clr r19
 9189 5124 4427                 clr r20
 9190 5126 5527                 clr r21
 9191 5128 BC01                 movw r22,r24
 9192 512a CD01                 movw r24,r26
 9193 512c 0E94 0000            call __mulsi3
 9194 5130 97FF                 sbrs r25,7
 9195 5132 00C0                 rjmp .L738
 9196 5134 6D5F                 subi r22,lo8(-(3))
 9197 5136 7F4F                 sbci r23,hi8(-(3))
 9198 5138 8F4F                 sbci r24,hlo8(-(3))
 9199 513a 9F4F                 sbci r25,hhi8(-(3))
 9200                   .L738:
 9201 513c B2E0                 ldi r27,2
 9202 513e 9595         1:      asr r25
 9203 5140 8795                 ror r24
 9204 5142 7795                 ror r23
 9205 5144 6795                 ror r22
 9206 5146 BA95                 dec r27
 9207 5148 01F4                 brne 1b
 9208 514a 9B01                 movw r18,r22
 9209 514c 5FEF                 ldi r21,hi8(-255)
 9210 514e 6130                 cpi r22,lo8(-255)
 9211 5150 7507                 cpc r23,r21
 9212 5152 04F4                 brge .L739
 9213 5154 20E0                 ldi r18,lo8(-256)
 9214 5156 3FEF                 ldi r19,hi8(-256)
 9215 5158 00C0                 rjmp .L740
 9216                   .L739:
 9217 515a 6F3F                 cpi r22,255
 9218 515c 7105                 cpc r23,__zero_reg__
 9219 515e 01F0                 breq .L740
 9220 5160 04F0                 brlt .L740
 9221 5162 20E0                 ldi r18,lo8(256)
 9222 5164 31E0                 ldi r19,hi8(256)
 9223                   .L740:
 9224 5166 8091 0000            lds r24,FC_StatusFlags
 9225 516a 807C                 andi r24,lo8(-64)
 9226 516c 01F0                 breq .L742
 9227 516e C901                 movw r24,r18
 9228 5170 37FD                 sbrc r19,7
 9229 5172 0396                 adiw r24,3
 9230                   .L743:
 9231 5174 9C01                 movw r18,r24
 9232 5176 3595                 asr r19
 9233 5178 2795                 ror r18
 9234 517a 3595                 asr r19
 9235 517c 2795                 ror r18
 9236 517e 00C0                 rjmp .L744
 9237                   .L742:
 9238 5180 8091 0000            lds r24,Parameter_ExtraConfig
 9239 5184 80FF                 sbrs r24,0
 9240 5186 00C0                 rjmp .L744
 9241 5188 C901                 movw r24,r18
 9242 518a 37FD                 sbrc r19,7
 9243 518c 0796                 adiw r24,7
 9244                   .L746:
 9245 518e 9C01                 movw r18,r24
 9246 5190 F3E0                 ldi r31,3
 9247 5192 3595         1:      asr r19
 9248 5194 2795                 ror r18
 9249 5196 FA95                 dec r31
 9250 5198 01F4                 brne 1b
 9251                   .L744:
 9252 519a 820E                 add r8,r18
 9253 519c 931E                 adc r9,r19
 9254                   .L726:
 9255 519e 2091 0000            lds r18,Parameter_Hoehe_ACC_Wirkung
 9256 51a2 2223                 tst r18
 9257 51a4 01F4                 brne .+2
 9258 51a6 00C0                 rjmp .L747
 9259 51a8 6091 0000            lds r22,Mess_Integral_Hoch
 9260 51ac 7091 0000            lds r23,(Mess_Integral_Hoch)+1
 9261 51b0 8091 0000            lds r24,(Mess_Integral_Hoch)+2
 9262 51b4 9091 0000            lds r25,(Mess_Integral_Hoch)+3
 9263 51b8 97FF                 sbrs r25,7
 9264 51ba 00C0                 rjmp .L748
 9265 51bc 6158                 subi r22,lo8(-(127))
 9266 51be 7F4F                 sbci r23,hi8(-(127))
 9267 51c0 8F4F                 sbci r24,hlo8(-(127))
 9268 51c2 9F4F                 sbci r25,hhi8(-(127))
 9269                   .L748:
 9270 51c4 E7E0                 ldi r30,7
 9271 51c6 9595         1:      asr r25
 9272 51c8 8795                 ror r24
 9273 51ca 7795                 ror r23
 9274 51cc 6795                 ror r22
 9275 51ce EA95                 dec r30
 9276 51d0 01F4                 brne 1b
 9277 51d2 3327                 clr r19
 9278 51d4 4427                 clr r20
 9279 51d6 5527                 clr r21
 9280 51d8 0E94 0000            call __mulsi3
 9281 51dc 97FF                 sbrs r25,7
 9282 51de 00C0                 rjmp .L749
 9283 51e0 615E                 subi r22,lo8(-(31))
 9284 51e2 7F4F                 sbci r23,hi8(-(31))
 9285 51e4 8F4F                 sbci r24,hlo8(-(31))
 9286 51e6 9F4F                 sbci r25,hhi8(-(31))
 9287                   .L749:
 9288 51e8 55E0                 ldi r21,5
 9289 51ea 9595         1:      asr r25
 9290 51ec 8795                 ror r24
 9291 51ee 7795                 ror r23
 9292 51f0 6795                 ror r22
 9293 51f2 5A95                 dec r21
 9294 51f4 01F4                 brne 1b
 9295 51f6 6093 0000            sts tmp_long.1,r22
 9296 51fa 7093 0000            sts (tmp_long.1)+1,r23
 9297 51fe 8093 0000            sts (tmp_long.1)+2,r24
 9298 5202 9093 0000            sts (tmp_long.1)+3,r25
 9299 5206 6138                 cpi r22,lo8(-127)
 9300 5208 AFEF                 ldi r26,hi8(-127)
 9301 520a 7A07                 cpc r23,r26
 9302 520c AFEF                 ldi r26,hlo8(-127)
 9303 520e 8A07                 cpc r24,r26
 9304 5210 AFEF                 ldi r26,hhi8(-127)
 9305 5212 9A07                 cpc r25,r26
 9306 5214 04F4                 brge .L750
 9307 5216 80E8                 ldi r24,lo8(-128)
 9308 5218 9FEF                 ldi r25,hi8(-128)
 9309 521a AFEF                 ldi r26,hlo8(-128)
 9310 521c BFEF                 ldi r27,hhi8(-128)
 9311 521e 00C0                 rjmp .L907
 9312                   .L750:
 9313 5220 6F3F                 cpi r22,lo8(255)
 9314 5222 7105                 cpc r23,__zero_reg__
 9315 5224 8105                 cpc r24,__zero_reg__
 9316 5226 9105                 cpc r25,__zero_reg__
 9317 5228 01F0                 breq .L751
 9318 522a 04F0                 brlt .L751
 9319 522c 80E0                 ldi r24,lo8(256)
 9320 522e 91E0                 ldi r25,hi8(256)
 9321 5230 A0E0                 ldi r26,hlo8(256)
 9322 5232 B0E0                 ldi r27,hhi8(256)
 9323                   .L907:
 9324 5234 8093 0000            sts tmp_long.1,r24
 9325 5238 9093 0000            sts (tmp_long.1)+1,r25
 9326 523c A093 0000            sts (tmp_long.1)+2,r26
 9327 5240 B093 0000            sts (tmp_long.1)+3,r27
 9328                   .L751:
 9329 5244 8091 0000            lds r24,tmp_long.1
 9330 5248 9091 0000            lds r25,(tmp_long.1)+1
 9331 524c 880E                 add r8,r24
 9332 524e 991E                 adc r9,r25
 9333                   .L747:
 9334 5250 8091 0000            lds r24,Parameter_Hoehe_GPS_Z
 9335 5254 282F                 mov r18,r24
 9336 5256 3327                 clr r19
 9337 5258 8091 0000            lds r24,FromNaviCtrl_Value+4
 9338 525c 9927                 clr r25
 9339 525e 87FD                 sbrc r24,7
 9340 5260 9095                 com r25
 9341 5262 289F                 mul r18,r24
 9342 5264 F001                 movw r30,r0
 9343 5266 299F                 mul r18,r25
 9344 5268 F00D                 add r31,r0
 9345 526a 389F                 mul r19,r24
 9346 526c F00D                 add r31,r0
 9347 526e 1124                 clr r1
 9348 5270 9F01                 movw r18,r30
 9349 5272 F7FF                 sbrs r31,7
 9350 5274 00C0                 rjmp .L753
 9351 5276 2158                 subi r18,lo8(-(127))
 9352 5278 3F4F                 sbci r19,hi8(-(127))
 9353                   .L753:
 9354 527a 220F                 lsl r18
 9355 527c 232F                 mov r18,r19
 9356 527e 221F                 rol r18
 9357 5280 330B                 sbc r19,r19
 9358 5282 FFEF                 ldi r31,hi8(-127)
 9359 5284 2138                 cpi r18,lo8(-127)
 9360 5286 3F07                 cpc r19,r31
 9361 5288 04F4                 brge .L754
 9362 528a 20E8                 ldi r18,lo8(-128)
 9363 528c 3FEF                 ldi r19,hi8(-128)
 9364 528e 00C0                 rjmp .L755
 9365                   .L754:
 9366 5290 2F3F                 cpi r18,255
 9367 5292 3105                 cpc r19,__zero_reg__
 9368 5294 01F0                 breq .L755
 9369 5296 04F0                 brlt .L755
 9370 5298 20E0                 ldi r18,lo8(256)
 9371 529a 31E0                 ldi r19,hi8(256)
 9372                   .L755:
 9373 529c 820E                 add r8,r18
 9374 529e 931E                 adc r9,r19
 9375 52a0 C401                 movw r24,r8
 9376 52a2 AA27                 clr r26
 9377 52a4 97FD                 sbrc r25,7
 9378 52a6 A095                 com r26
 9379 52a8 BA2F                 mov r27,r26
 9380 52aa E090 0000            lds r14,HoverGas
 9381 52ae F090 0000            lds r15,(HoverGas)+1
 9382 52b2 9701                 movw r18,r14
 9383 52b4 4427                 clr r20
 9384 52b6 37FD                 sbrc r19,7
 9385 52b8 4095                 com r20
 9386 52ba 542F                 mov r21,r20
 9387 52bc BC01                 movw r22,r24
 9388 52be CD01                 movw r24,r26
 9389 52c0 0E94 0000            call __mulsi3
 9390 52c4 97FF                 sbrs r25,7
 9391 52c6 00C0                 rjmp .L757
 9392 52c8 6150                 subi r22,lo8(-(511))
 9393 52ca 7E4F                 sbci r23,hi8(-(511))
 9394 52cc 8F4F                 sbci r24,hlo8(-(511))
 9395 52ce 9F4F                 sbci r25,hhi8(-(511))
 9396                   .L757:
 9397 52d0 29E0                 ldi r18,9
 9398 52d2 9595         1:      asr r25
 9399 52d4 8795                 ror r24
 9400 52d6 7795                 ror r23
 9401 52d8 6795                 ror r22
 9402 52da 2A95                 dec r18
 9403 52dc 01F4                 brne 1b
 9404 52de C61A                 sub r12,r22
 9405 52e0 D70A                 sbc r13,r23
 9406 52e2 8091 0000            lds r24,AltitudeSetpointTrimming
 9407 52e6 9091 0000            lds r25,(AltitudeSetpointTrimming)+1
 9408 52ea 892B                 or r24,r25
 9409 52ec 01F0                 breq .+2
 9410 52ee 00C0                 rjmp .L758
 9411 52f0 1E14                 cp __zero_reg__,r14
 9412 52f2 1F04                 cpc __zero_reg__,r15
 9413 52f4 04F0                 brlt .+2
 9414 52f6 00C0                 rjmp .L758
 9415 52f8 9801                 movw r18,r16
 9416 52fa 17FF                 sbrs r17,7
 9417 52fc 00C0                 rjmp .L759
 9418 52fe 3095                 com r19
 9419 5300 2195                 neg r18
 9420 5302 3F4F                 sbci r19,lo8(-1)
 9421                   .L759:
 9422 5304 2D33                 cpi r18,61
 9423 5306 3105                 cpc r19,__zero_reg__
 9424 5308 00F4                 brsh .L760
 9425 530a 8091 0000            lds r24,HoverGasMin
 9426 530e 9091 0000            lds r25,(HoverGasMin)+1
 9427 5312 8C15                 cp r24,r12
 9428 5314 9D05                 cpc r25,r13
 9429 5316 04F4                 brge .L909
 9430 5318 00C0                 rjmp .L918
 9431                   .L760:
 9432 531a 2C53                 subi r18,lo8(-(-60))
 9433 531c 3040                 sbci r19,hi8(-(-60))
 9434 531e 85E0                 ldi r24,5
 9435 5320 3695         1:      lsr r19
 9436 5322 2795                 ror r18
 9437 5324 8A95                 dec r24
 9438 5326 01F4                 brne 1b
 9439 5328 2031                 cpi r18,16
 9440 532a 3105                 cpc r19,__zero_reg__
 9441 532c 00F0                 brlo .L765
 9442 532e 2FE0                 ldi r18,lo8(15)
 9443 5330 30E0                 ldi r19,hi8(15)
 9444                   .L765:
 9445 5332 4091 0000            lds r20,HoverGasMin
 9446 5336 5091 0000            lds r21,(HoverGasMin)+1
 9447 533a 1016                 cp __zero_reg__,r16
 9448 533c 1106                 cpc __zero_reg__,r17
 9449 533e 04F4                 brge .L766
 9450 5340 80E1                 ldi r24,lo8(16)
 9451 5342 90E0                 ldi r25,hi8(16)
 9452 5344 821B                 sub r24,r18
 9453 5346 930B                 sbc r25,r19
 9454 5348 489F                 mul r20,r24
 9455 534a 9001                 movw r18,r0
 9456 534c 499F                 mul r20,r25
 9457 534e 300D                 add r19,r0
 9458 5350 589F                 mul r21,r24
 9459 5352 300D                 add r19,r0
 9460 5354 1124                 clr r1
 9461 5356 B4E0                 ldi r27,4
 9462 5358 3695         1:      lsr r19
 9463 535a 2795                 ror r18
 9464 535c BA95                 dec r27
 9465 535e 01F4                 brne 1b
 9466 5360 2C15                 cp r18,r12
 9467 5362 3D05                 cpc r19,r13
 9468 5364 00F4                 brsh .L908
 9469                   .L918:
 9470 5366 8091 0000            lds r24,HoverGasMax
 9471 536a 9091 0000            lds r25,(HoverGasMax)+1
 9472 536e C816                 cp r12,r24
 9473 5370 D906                 cpc r13,r25
 9474 5372 04F0                 brlt .L758
 9475                   .L909:
 9476 5374 6C01                 movw r12,r24
 9477 5376 00C0                 rjmp .L758
 9478                   .L766:
 9479 5378 205F                 subi r18,lo8(-(16))
 9480 537a 3F4F                 sbci r19,hi8(-(16))
 9481 537c 8091 0000            lds r24,HoverGasMax
 9482 5380 9091 0000            lds r25,(HoverGasMax)+1
 9483 5384 829F                 mul r24,r18
 9484 5386 8001                 movw r16,r0
 9485 5388 839F                 mul r24,r19
 9486 538a 100D                 add r17,r0
 9487 538c 929F                 mul r25,r18
 9488 538e 100D                 add r17,r0
 9489 5390 1124                 clr r1
 9490 5392 9801                 movw r18,r16
 9491 5394 A4E0                 ldi r26,4
 9492 5396 3695         1:      lsr r19
 9493 5398 2795                 ror r18
 9494 539a AA95                 dec r26
 9495 539c 01F4                 brne 1b
 9496 539e 4C15                 cp r20,r12
 9497 53a0 5D05                 cpc r21,r13
 9498 53a2 04F0                 brlt .L771
 9499 53a4 6A01                 movw r12,r20
 9500 53a6 00C0                 rjmp .L758
 9501                   .L771:
 9502 53a8 C216                 cp r12,r18
 9503 53aa D306                 cpc r13,r19
 9504 53ac 00F0                 brlo .L758
 9505                   .L908:
 9506 53ae 6901                 movw r12,r18
 9507                   .L758:
 9508 53b0 C601                 movw r24,r12
 9509 53b2 AA27                 clr r26
 9510 53b4 97FD                 sbrc r25,7
 9511 53b6 A095                 com r26
 9512 53b8 BA2F                 mov r27,r26
 9513 53ba FDE0                 ldi r31,13
 9514 53bc 880F         1:      lsl r24
 9515 53be 991F                 rol r25
 9516 53c0 AA1F                 rol r26
 9517 53c2 BB1F                 rol r27
 9518 53c4 FA95                 dec r31
 9519 53c6 01F4                 brne 1b
 9520 53c8 9501                 movw r18,r10
 9521 53ca 4427                 clr r20
 9522 53cc 37FD                 sbrc r19,7
 9523 53ce 4095                 com r20
 9524 53d0 542F                 mov r21,r20
 9525 53d2 BC01                 movw r22,r24
 9526 53d4 CD01                 movw r24,r26
 9527 53d6 0E94 0000            call __divmodsi4
 9528 53da 2093 0000            sts tmp_long2.2,r18
 9529 53de 3093 0000            sts (tmp_long2.2)+1,r19
 9530 53e2 4093 0000            sts (tmp_long2.2)+2,r20
 9531 53e6 5093 0000            sts (tmp_long2.2)+3,r21
 9532 53ea C090 0000            lds r12,tmp_long2.2
 9533 53ee D090 0000            lds r13,(tmp_long2.2)+1
 9534 53f2 8091 0000            lds r24,FilterHCGas.22
 9535 53f6 9091 0000            lds r25,(FilterHCGas.22)+1
 9536 53fa 9C01                 movw r18,r24
 9537 53fc 220F                 lsl r18
 9538 53fe 331F                 rol r19
 9539 5400 280F                 add r18,r24
 9540 5402 391F                 adc r19,r25
 9541 5404 2C0D                 add r18,r12
 9542 5406 3D1D                 adc r19,r13
 9543 5408 37FF                 sbrs r19,7
 9544 540a 00C0                 rjmp .L774
 9545 540c 2D5F                 subi r18,lo8(-(3))
 9546 540e 3F4F                 sbci r19,hi8(-(3))
 9547                   .L774:
 9548 5410 A901                 movw r20,r18
 9549 5412 5595                 asr r21
 9550 5414 4795                 ror r20
 9551 5416 5595                 asr r21
 9552 5418 4795                 ror r20
 9553 541a 5093 0000            sts (FilterHCGas.22)+1,r21
 9554 541e 4093 0000            sts FilterHCGas.22,r20
 9555 5422 8091 0000            lds r24,EE_Parameter+14
 9556 5426 282F                 mov r18,r24
 9557 5428 3327                 clr r19
 9558 542a 220F                 lsl r18
 9559 542c 331F                 rol r19
 9560 542e 220F                 lsl r18
 9561 5430 331F                 rol r19
 9562 5432 2417                 cp r18,r20
 9563 5434 3507                 cpc r19,r21
 9564 5436 04F4                 brge .L910
 9565 5438 8091 0000            lds r24,MAX_GAS
 9566 543c 282F                 mov r18,r24
 9567 543e 3327                 clr r19
 9568 5440 220F                 lsl r18
 9569 5442 331F                 rol r19
 9570 5444 220F                 lsl r18
 9571 5446 331F                 rol r19
 9572 5448 2055                 subi r18,lo8(-(-80))
 9573 544a 3040                 sbci r19,hi8(-(-80))
 9574 544c 4217                 cp r20,r18
 9575 544e 5307                 cpc r21,r19
 9576 5450 04F0                 brlt .L776
 9577                   .L910:
 9578 5452 3093 0000            sts (FilterHCGas.22)+1,r19
 9579 5456 2093 0000            sts FilterHCGas.22,r18
 9580                   .L776:
 9581 545a 8091 0000            lds r24,Parameter_ExtraConfig
 9582 545e 80FF                 sbrs r24,0
 9583 5460 00C0                 rjmp .L778
 9584 5462 8091 0000            lds r24,FilterHCGas.22
 9585 5466 9091 0000            lds r25,(FilterHCGas.22)+1
 9586 546a 2981                 ldd r18,Y+1
 9587 546c 3A81                 ldd r19,Y+2
 9588 546e 8217                 cp r24,r18
 9589 5470 9307                 cpc r25,r19
 9590 5472 04F0                 brlt .L779
 9591 5474 3093 0000            sts (FilterHCGas.22)+1,r19
 9592 5478 2093 0000            sts FilterHCGas.22,r18
 9593                   .L779:
 9594 547c 4091 0000            lds r20,FilterHCGas.22
 9595 5480 5091 0000            lds r21,(FilterHCGas.22)+1
 9596 5484 5A83                 std Y+2,r21
 9597 5486 4983                 std Y+1,r20
 9598 5488 00C0                 rjmp .L782
 9599                   .L778:
 9600 548a 2981                 ldd r18,Y+1
 9601 548c 3A81                 ldd r19,Y+2
 9602 548e 2E19                 sub r18,r14
 9603 5490 3F09                 sbc r19,r15
 9604 5492 37FF                 sbrs r19,7
 9605 5494 00C0                 rjmp .L781
 9606 5496 2D5F                 subi r18,lo8(-(3))
 9607 5498 3F4F                 sbci r19,hi8(-(3))
 9608                   .L781:
 9609 549a 3595                 asr r19
 9610 549c 2795                 ror r18
 9611 549e 3595                 asr r19
 9612 54a0 2795                 ror r18
 9613 54a2 6091 0000            lds r22,FilterHCGas.22
 9614 54a6 7091 0000            lds r23,(FilterHCGas.22)+1
 9615 54aa 620F                 add r22,r18
 9616 54ac 731F                 adc r23,r19
 9617 54ae 7A83                 std Y+2,r23
 9618 54b0 6983                 std Y+1,r22
 9619 54b2 00C0                 rjmp .L782
 9620                   .L673:
 9621 54b4 8091 0000            lds r24,EE_Parameter+22
 9622 54b8 8823                 tst r24
 9623 54ba 01F4                 brne .L783
 9624 54bc 6091 0000            lds r22,HoverGas
 9625 54c0 7091 0000            lds r23,(HoverGas)+1
 9626 54c4 77FF                 sbrs r23,7
 9627 54c6 00C0                 rjmp .L784
 9628 54c8 6D5F                 subi r22,lo8(-(3))
 9629 54ca 7F4F                 sbci r23,hi8(-(3))
 9630                   .L784:
 9631 54cc 7595                 asr r23
 9632 54ce 6795                 ror r22
 9633 54d0 7595                 asr r23
 9634 54d2 6795                 ror r22
 9635 54d4 4091 0000            lds r20,UBat
 9636 54d8 5091 0000            lds r21,(UBat)+1
 9637 54dc 8091 0000            lds r24,BattLowVoltageWarning
 9638 54e0 282F                 mov r18,r24
 9639 54e2 3327                 clr r19
 9640 54e4 649F                 mul r22,r20
 9641 54e6 C001                 movw r24,r0
 9642 54e8 659F                 mul r22,r21
 9643 54ea 900D                 add r25,r0
 9644 54ec 749F                 mul r23,r20
 9645 54ee 900D                 add r25,r0
 9646 54f0 1124                 clr r1
 9647 54f2 B901                 movw r22,r18
 9648 54f4 0E94 0000            call __divmodhi4
 9649 54f8 CB01                 movw r24,r22
 9650 54fa 00C0                 rjmp .L911
 9651                   .L783:
 9652 54fc 9927                 clr r25
 9653                   .L911:
 9654 54fe 9093 0000            sts (StickGasHover)+1,r25
 9655 5502 8093 0000            sts StickGasHover,r24
 9656 5506 8091 0000            lds r24,StickGasHover
 9657 550a 9091 0000            lds r25,(StickGasHover)+1
 9658 550e 8734                 cpi r24,71
 9659 5510 9105                 cpc r25,__zero_reg__
 9660 5512 04F4                 brge .L786
 9661 5514 86E4                 ldi r24,lo8(70)
 9662 5516 90E0                 ldi r25,hi8(70)
 9663 5518 00C0                 rjmp .L912
 9664                   .L786:
 9665 551a 8639                 cpi r24,150
 9666 551c 9105                 cpc r25,__zero_reg__
 9667 551e 04F0                 brlt .L787
 9668 5520 86E9                 ldi r24,lo8(150)
 9669 5522 90E0                 ldi r25,hi8(150)
 9670                   .L912:
 9671 5524 9093 0000            sts (StickGasHover)+1,r25
 9672 5528 8093 0000            sts StickGasHover,r24
 9673                   .L787:
 9674 552c 8981                 ldd r24,Y+1
 9675 552e 9A81                 ldd r25,Y+2
 9676 5530 9093 0000            sts (FilterHCGas.22)+1,r25
 9677 5534 8093 0000            sts FilterHCGas.22,r24
 9678 5538 8091 0000            lds r24,FC_StatusFlags
 9679 553c 806C                 ori r24,lo8(-64)
 9680 553e 8093 0000            sts FC_StatusFlags,r24
 9681 5542 8091 0000            lds r24,FC_StatusFlags2
 9682 5546 8D7F                 andi r24,lo8(-3)
 9683 5548 8093 0000            sts FC_StatusFlags2,r24
 9684                   .L782:
 9685 554c 8091 0000            lds r24,FC_StatusFlags
 9686 5550 9927                 clr r25
 9687 5552 9C01                 movw r18,r24
 9688 5554 2270                 andi r18,lo8(2)
 9689 5556 3070                 andi r19,hi8(2)
 9690 5558 81FF                 sbrs r24,1
 9691 555a 00C0                 rjmp .L789
 9692 555c 8091 0000            lds r24,HoverGasFilter.23
 9693 5560 9091 0000            lds r25,(HoverGasFilter.23)+1
 9694 5564 A091 0000            lds r26,(HoverGasFilter.23)+2
 9695 5568 B091 0000            lds r27,(HoverGasFilter.23)+3
 9696 556c 0097                 sbiw r24,0
 9697 556e A105                 cpc r26,__zero_reg__
 9698 5570 B105                 cpc r27,__zero_reg__
 9699 5572 01F0                 breq .L791
 9700 5574 8091 0000            lds r24,StartTrigger
 9701 5578 8130                 cpi r24,lo8(1)
 9702 557a 01F4                 brne .L790
 9703                   .L791:
 9704 557c E981                 ldd r30,Y+1
 9705 557e FA81                 ldd r31,Y+2
 9706 5580 CF01                 movw r24,r30
 9707 5582 AA27                 clr r26
 9708 5584 97FD                 sbrc r25,7
 9709 5586 A095                 com r26
 9710 5588 BA2F                 mov r27,r26
 9711 558a 1EE0                 ldi r17,14
 9712 558c 880F         1:      lsl r24
 9713 558e 991F                 rol r25
 9714 5590 AA1F                 rol r26
 9715 5592 BB1F                 rol r27
 9716 5594 1A95                 dec r17
 9717 5596 01F4                 brne 1b
 9718 5598 8093 0000            sts HoverGasFilter.23,r24
 9719 559c 9093 0000            sts (HoverGasFilter.23)+1,r25
 9720 55a0 A093 0000            sts (HoverGasFilter.23)+2,r26
 9721 55a4 B093 0000            sts (HoverGasFilter.23)+3,r27
 9722                   .L790:
 9723 55a8 8091 0000            lds r24,StartTrigger
 9724 55ac 8130                 cpi r24,lo8(1)
 9725 55ae 01F4                 brne .L792
 9726 55b0 82E0                 ldi r24,lo8(2)
 9727 55b2 8093 0000            sts StartTrigger,r24
 9728                   .L792:
 9729 55b6 E980                 ldd r14,Y+1
 9730 55b8 FA80                 ldd r15,Y+2
 9731 55ba C701                 movw r24,r14
 9732 55bc AA27                 clr r26
 9733 55be 97FD                 sbrc r25,7
 9734 55c0 A095                 com r26
 9735 55c2 BA2F                 mov r27,r26
 9736 55c4 9501                 movw r18,r10
 9737 55c6 4427                 clr r20
 9738 55c8 37FD                 sbrc r19,7
 9739 55ca 4095                 com r20
 9740 55cc 542F                 mov r21,r20
 9741 55ce BC01                 movw r22,r24
 9742 55d0 CD01                 movw r24,r26
 9743 55d2 0E94 0000            call __mulsi3
 9744 55d6 DC01                 movw r26,r24
 9745 55d8 CB01                 movw r24,r22
 9746 55da 8093 0000            sts tmp_long2.2,r24
 9747 55de 9093 0000            sts (tmp_long2.2)+1,r25
 9748 55e2 A093 0000            sts (tmp_long2.2)+2,r26
 9749 55e6 B093 0000            sts (tmp_long2.2)+3,r27
 9750 55ea B7FF                 sbrs r27,7
 9751 55ec 00C0                 rjmp .L793
 9752 55ee 8150                 subi r24,lo8(-(8191))
 9753 55f0 904E                 sbci r25,hi8(-(8191))
 9754 55f2 AF4F                 sbci r26,hlo8(-(8191))
 9755 55f4 BF4F                 sbci r27,hhi8(-(8191))
 9756                   .L793:
 9757 55f6 7C01                 movw r14,r24
 9758 55f8 8D01                 movw r16,r26
 9759 55fa ADE0                 ldi r26,13
 9760 55fc 1595         1:      asr r17
 9761 55fe 0795                 ror r16
 9762 5600 F794                 ror r15
 9763 5602 E794                 ror r14
 9764 5604 AA95                 dec r26
 9765 5606 01F4                 brne 1b
 9766 5608 E092 0000            sts tmp_long2.2,r14
 9767 560c F092 0000            sts (tmp_long2.2)+1,r15
 9768 5610 0093 0000            sts (tmp_long2.2)+2,r16
 9769 5614 1093 0000            sts (tmp_long2.2)+3,r17
 9770 5618 6091 0000            lds r22,modell_fliegt
 9771 561c 7091 0000            lds r23,(modell_fliegt)+1
 9772 5620 2FE0                 ldi r18,hi8(4000)
 9773 5622 603A                 cpi r22,lo8(4000)
 9774 5624 7207                 cpc r23,r18
 9775 5626 00F4                 brsh .L794
 9776 5628 8091 0000            lds r24,HoverGasFilter.23
 9777 562c 9091 0000            lds r25,(HoverGasFilter.23)+1
 9778 5630 A091 0000            lds r26,(HoverGasFilter.23)+2
 9779 5634 B091 0000            lds r27,(HoverGasFilter.23)+3
 9780 5638 9C01                 movw r18,r24
 9781 563a AD01                 movw r20,r26
 9782 563c FAE0                 ldi r31,10
 9783 563e 5695         1:      lsr r21
 9784 5640 4795                 ror r20
 9785 5642 3795                 ror r19
 9786 5644 2795                 ror r18
 9787 5646 FA95                 dec r31
 9788 5648 01F4                 brne 1b
 9789 564a 821B                 sub r24,r18
 9790 564c 930B                 sbc r25,r19
 9791 564e A40B                 sbc r26,r20
 9792 5650 B50B                 sbc r27,r21
 9793 5652 A801                 movw r20,r16
 9794 5654 9701                 movw r18,r14
 9795 5656 E4E0                 ldi r30,4
 9796 5658 220F         1:      lsl r18
 9797 565a 331F                 rol r19
 9798 565c 441F                 rol r20
 9799 565e 551F                 rol r21
 9800 5660 EA95                 dec r30
 9801 5662 01F4                 brne 1b
 9802 5664 820F                 add r24,r18
 9803 5666 931F                 adc r25,r19
 9804 5668 A41F                 adc r26,r20
 9805 566a B51F                 adc r27,r21
 9806 566c 8093 0000            sts HoverGasFilter.23,r24
 9807 5670 9093 0000            sts (HoverGasFilter.23)+1,r25
 9808 5674 A093 0000            sts (HoverGasFilter.23)+2,r26
 9809 5678 B093 0000            sts (HoverGasFilter.23)+3,r27
 9810                   .L794:
 9811 567c 6054                 subi r22,lo8(8000)
 9812 567e 7F41                 sbci r23,hi8(8000)
 9813 5680 00F4                 brsh .L795
 9814 5682 8091 0000            lds r24,HoverGasFilter.23
 9815 5686 9091 0000            lds r25,(HoverGasFilter.23)+1
 9816 568a A091 0000            lds r26,(HoverGasFilter.23)+2
 9817 568e B091 0000            lds r27,(HoverGasFilter.23)+3
 9818 5692 9C01                 movw r18,r24
 9819 5694 AD01                 movw r20,r26
 9820 5696 6CE0                 ldi r22,12
 9821 5698 5695         1:      lsr r21
 9822 569a 4795                 ror r20
 9823 569c 3795                 ror r19
 9824 569e 2795                 ror r18
 9825 56a0 6A95                 dec r22
 9826 56a2 01F4                 brne 1b
 9827 56a4 821B                 sub r24,r18
 9828 56a6 930B                 sbc r25,r19
 9829 56a8 A40B                 sbc r26,r20
 9830 56aa B50B                 sbc r27,r21
 9831 56ac A801                 movw r20,r16
 9832 56ae 9701                 movw r18,r14
 9833 56b0 F2E0                 ldi r31,2
 9834 56b2 220F         1:      lsl r18
 9835 56b4 331F                 rol r19
 9836 56b6 441F                 rol r20
 9837 56b8 551F                 rol r21
 9838 56ba FA95                 dec r31
 9839 56bc 01F4                 brne 1b
 9840 56be 820F                 add r24,r18
 9841 56c0 931F                 adc r25,r19
 9842 56c2 A41F                 adc r26,r20
 9843 56c4 B51F                 adc r27,r21
 9844 56c6 00C0                 rjmp .L913
 9845                   .L795:
 9846 56c8 8091 0000            lds r24,VarioMeter
 9847 56cc 9091 0000            lds r25,(VarioMeter)+1
 9848 56d0 8091 0000            lds r24,VarioMeter
 9849 56d4 9091 0000            lds r25,(VarioMeter)+1
 9850 56d8 97FF                 sbrs r25,7
 9851 56da 00C0                 rjmp .L798
 9852 56dc 9095                 com r25
 9853 56de 8195                 neg r24
 9854 56e0 9F4F                 sbci r25,lo8(-1)
 9855                   .L798:
 9856 56e2 8436                 cpi r24,100
 9857 56e4 9105                 cpc r25,__zero_reg__
 9858 56e6 04F4                 brge .L796
 9859 56e8 8091 0000            lds r24,HoehenWert
 9860 56ec 9091 0000            lds r25,(HoehenWert)+1
 9861 56f0 2091 0000            lds r18,SollHoehe
 9862 56f4 3091 0000            lds r19,(SollHoehe)+1
 9863 56f8 821B                 sub r24,r18
 9864 56fa 930B                 sbc r25,r19
 9865 56fc 8150                 subi r24,lo8(-(255))
 9866 56fe 9F4F                 sbci r25,hi8(-(255))
 9867 5700 8F5F                 subi r24,lo8(511)
 9868 5702 9140                 sbci r25,hi8(511)
 9869 5704 00F4                 brsh .L796
 9870 5706 8091 0000            lds r24,HoverGasFilter.23
 9871 570a 9091 0000            lds r25,(HoverGasFilter.23)+1
 9872 570e A091 0000            lds r26,(HoverGasFilter.23)+2
 9873 5712 B091 0000            lds r27,(HoverGasFilter.23)+3
 9874 5716 9C01                 movw r18,r24
 9875 5718 AD01                 movw r20,r26
 9876 571a EEE0                 ldi r30,14
 9877 571c 5695         1:      lsr r21
 9878 571e 4795                 ror r20
 9879 5720 3795                 ror r19
 9880 5722 2795                 ror r18
 9881 5724 EA95                 dec r30
 9882 5726 01F4                 brne 1b
 9883 5728 821B                 sub r24,r18
 9884 572a 930B                 sbc r25,r19
 9885 572c A40B                 sbc r26,r20
 9886 572e B50B                 sbc r27,r21
 9887 5730 8E0D                 add r24,r14
 9888 5732 9F1D                 adc r25,r15
 9889 5734 A01F                 adc r26,r16
 9890 5736 B11F                 adc r27,r17
 9891                   .L913:
 9892 5738 8093 0000            sts HoverGasFilter.23,r24
 9893 573c 9093 0000            sts (HoverGasFilter.23)+1,r25
 9894 5740 A093 0000            sts (HoverGasFilter.23)+2,r26
 9895 5744 B093 0000            sts (HoverGasFilter.23)+3,r27
 9896                   .L796:
 9897 5748 8091 0000            lds r24,HoverGasFilter.23
 9898 574c 9091 0000            lds r25,(HoverGasFilter.23)+1
 9899 5750 A091 0000            lds r26,(HoverGasFilter.23)+2
 9900 5754 B091 0000            lds r27,(HoverGasFilter.23)+3
 9901 5758 7EE0                 ldi r23,14
 9902 575a B695         1:      lsr r27
 9903 575c A795                 ror r26
 9904 575e 9795                 ror r25
 9905 5760 8795                 ror r24
 9906 5762 7A95                 dec r23
 9907 5764 01F4                 brne 1b
 9908 5766 9093 0000            sts (HoverGas)+1,r25
 9909 576a 8093 0000            sts HoverGas,r24
 9910 576e 4091 0000            lds r20,EE_Parameter+20
 9911 5772 4423                 tst r20
 9912 5774 01F0                 breq .L799
 9913 5776 5527                 clr r21
 9914 5778 9C01                 movw r18,r24
 9915 577a BA01                 movw r22,r20
 9916 577c 0E94 0000            call __divmodhi4
 9917 5780 C901                 movw r24,r18
 9918 5782 861B                 sub r24,r22
 9919 5784 970B                 sbc r25,r23
 9920 5786 9093 0000            sts (HoverGasMin)+1,r25
 9921 578a 8093 0000            sts HoverGasMin,r24
 9922 578e 260F                 add r18,r22
 9923 5790 371F                 adc r19,r23
 9924 5792 3093 0000            sts (HoverGasMax)+1,r19
 9925 5796 2093 0000            sts HoverGasMax,r18
 9926 579a 00C0                 rjmp .L802
 9927                   .L799:
 9928 579c 1092 0000            sts (HoverGasMin)+1,__zero_reg__
 9929 57a0 1092 0000            sts HoverGasMin,__zero_reg__
 9930 57a4 8FEF                 ldi r24,lo8(1023)
 9931 57a6 93E0                 ldi r25,hi8(1023)
 9932 57a8 9093 0000            sts (HoverGasMax)+1,r25
 9933 57ac 8093 0000            sts HoverGasMax,r24
 9934 57b0 00C0                 rjmp .L802
 9935                   .L789:
 9936 57b2 1092 0000            sts StartTrigger,__zero_reg__
 9937 57b6 1092 0000            sts HoverGasFilter.23,__zero_reg__
 9938 57ba 1092 0000            sts (HoverGasFilter.23)+1,__zero_reg__
 9939 57be 1092 0000            sts (HoverGasFilter.23)+2,__zero_reg__
 9940 57c2 1092 0000            sts (HoverGasFilter.23)+3,__zero_reg__
 9941 57c6 3093 0000            sts (HoverGas)+1,r19
 9942 57ca 2093 0000            sts HoverGas,r18
 9943 57ce 00C0                 rjmp .L802
 9944                   .L653:
 9945 57d0 8091 0000            lds r24,FC_StatusFlags
 9946 57d4 806C                 ori r24,lo8(-64)
 9947 57d6 8093 0000            sts FC_StatusFlags,r24
 9948                   .L802:
 9949 57da 8091 0000            lds r24,NC_To_FC_Flags
 9950 57de 81FF                 sbrs r24,1
 9951 57e0 00C0                 rjmp .L803
 9952 57e2 8981                 ldd r24,Y+1
 9953 57e4 9A81                 ldd r25,Y+2
 9954 57e6 97FD                 sbrc r25,7
 9955 57e8 0396                 adiw r24,3
 9956                   .L805:
 9957 57ea 9595                 asr r25
 9958 57ec 8795                 ror r24
 9959 57ee 9595                 asr r25
 9960 57f0 8795                 ror r24
 9961 57f2 2091 0000            lds r18,HooverGasEmergencyPercent
 9962 57f6 3091 0000            lds r19,(HooverGasEmergencyPercent)+1
 9963 57fa 2817                 cp r18,r24
 9964 57fc 3907                 cpc r19,r25
 9965 57fe 00F4                 brsh .L804
 9966 5800 8091 0000            lds r24,HoverGas
 9967 5804 9091 0000            lds r25,(HoverGas)+1
 9968 5808 892B                 or r24,r25
 9969 580a 01F0                 breq .L804
 9970 580c 220F                 lsl r18
 9971 580e 331F                 rol r19
 9972 5810 220F                 lsl r18
 9973 5812 331F                 rol r19
 9974 5814 3A83                 std Y+2,r19
 9975 5816 2983                 std Y+1,r18
 9976                   .L804:
 9977 5818 8091 0000            lds r24,HoehenWert
 9978 581c 9091 0000            lds r25,(HoehenWert)+1
 9979 5820 A091 0000            lds r26,(HoehenWert)+2
 9980 5824 B091 0000            lds r27,(HoehenWert)+3
 9981 5828 8093 0000            sts SollHoehe,r24
 9982 582c 9093 0000            sts (SollHoehe)+1,r25
 9983 5830 A093 0000            sts (SollHoehe)+2,r26
 9984 5834 B093 0000            sts (SollHoehe)+3,r27
 9985 5838 88E9                 ldi r24,lo8(15000)
 9986 583a 9AE3                 ldi r25,hi8(15000)
 9987 583c 9093 0000            sts (beeptime)+1,r25
 9988 5840 8093 0000            sts beeptime,r24
 9989 5844 80E0                 ldi r24,lo8(3584)
 9990 5846 9EE0                 ldi r25,hi8(3584)
 9991 5848 9093 0000            sts (BeepMuster)+1,r25
 9992 584c 8093 0000            sts BeepMuster,r24
 9993                   .L803:
 9994 5850 2091 0000            lds r18,MIN_GAS
 9995 5854 822F                 mov r24,r18
 9996 5856 9927                 clr r25
 9997 5858 880F                 lsl r24
 9998 585a 991F                 rol r25
 9999 585c 880F                 lsl r24
 10000 585e 991F                rol r25
 10001 5860 8896                adiw r24,40
 10002 5862 6981                ldd r22,Y+1
 10003 5864 7A81                ldd r23,Y+2
 10004 5866 8617                cp r24,r22
 10005 5868 9707                cpc r25,r23
 10006 586a 04F0                brlt .L806
 10007 586c 9A83                std Y+2,r25
 10008 586e 8983                std Y+1,r24
 10009                  .L806:
 10010 5870 7091 0000           lds r23,MAX_GAS
 10011 5874 7D8B                std Y+21,r23
 10012 5876 872F                mov r24,r23
 10013 5878 9927                clr r25
 10014 587a 880F                lsl r24
 10015 587c 991F                rol r25
 10016 587e 880F                lsl r24
 10017 5880 991F                rol r25
 10018 5882 8055                subi r24,lo8(-(-80))
 10019 5884 9040                sbci r25,hi8(-(-80))
 10020 5886 A981                ldd r26,Y+1
 10021 5888 BA81                ldd r27,Y+2
 10022 588a 8A17                cp r24,r26
 10023 588c 9B07                cpc r25,r27
 10024 588e 04F4                brge .L807
 10025 5890 9A83                std Y+2,r25
 10026 5892 8983                std Y+1,r24
 10027                  .L807:
 10028 5894 8091 0000           lds r24,MissingMotor
 10029 5898 8823                tst r24
 10030 589a 01F4                brne .L809
 10031 589c 8091 0000           lds r24,Capacity+6
 10032 58a0 8F3F                cpi r24,lo8(-1)
 10033 58a2 01F4                brne .L809
 10034 58a4 8091 0000           lds r24,NC_ErrorCode
 10035 58a8 8823                tst r24
 10036 58aa 01F0                breq .L808
 10037                  .L809:
 10038 58ac 8091 0000           lds r24,modell_fliegt
 10039 58b0 9091 0000           lds r25,(modell_fliegt)+1
 10040 58b4 0297                sbiw r24,2
 10041 58b6 C097                sbiw r24,48
 10042 58b8 00F4                brsh .L808
 10043 58ba E981                ldd r30,Y+1
 10044 58bc FA81                ldd r31,Y+2
 10045 58be 1E16                cp __zero_reg__,r30
 10046 58c0 1F06                cpc __zero_reg__,r31
 10047 58c2 04F4                brge .L808
 10048 58c4 81E0                ldi r24,lo8(1)
 10049 58c6 90E0                ldi r25,hi8(1)
 10050 58c8 9093 0000           sts (modell_fliegt)+1,r25
 10051 58cc 8093 0000           sts modell_fliegt,r24
 10052 58d0 E22E                mov r14,r18
 10053 58d2 FF24                clr r15
 10054 58d4 EE0C                lsl r14
 10055 58d6 FF1C                rol r15
 10056 58d8 EE0C                lsl r14
 10057 58da FF1C                rol r15
 10058 58dc 8701                movw r16,r14
 10059 58de 085D                subi r16,lo8(-(40))
 10060 58e0 1F4F                sbci r17,hi8(-(40))
 10061 58e2 1A83                std Y+2,r17
 10062 58e4 0983                std Y+1,r16
 10063                  .L808:
 10064 58e6 2981                ldd r18,Y+1
 10065 58e8 3A81                ldd r19,Y+2
 10066 58ea 3093 0000           sts (DebugOut+16)+1,r19
 10067 58ee 2093 0000           sts DebugOut+16,r18
 10068 58f2 8091 0000           lds r24,sollGier.0
 10069 58f6 9091 0000           lds r25,(sollGier.0)+1
 10070 58fa A091 0000           lds r26,(sollGier.0)+2
 10071 58fe B091 0000           lds r27,(sollGier.0)+3
 10072 5902 12E0                ldi r17,2
 10073 5904 880F        1:      lsl r24
 10074 5906 991F                rol r25
 10075 5908 AA1F                rol r26
 10076 590a BB1F                rol r27
 10077 590c 1A95                dec r17
 10078 590e 01F4                brne 1b
 10079 5910 0091 0000           lds r16,MesswertGier
 10080 5914 1091 0000           lds r17,(MesswertGier)+1
 10081 5918 081B                sub r16,r24
 10082 591a 190B                sbc r17,r25
 10083 591c 213A                cpi r18,161
 10084 591e 3105                cpc r19,__zero_reg__
 10085 5920 04F0                brlt .L811
 10086 5922 C901                movw r24,r18
 10087 5924 37FD                sbrc r19,7
 10088 5926 0196                adiw r24,1
 10089                  .L813:
 10090 5928 9595                asr r25
 10091 592a 8795                ror r24
 10092 592c 8017                cp r24,r16
 10093 592e 9107                cpc r25,r17
 10094 5930 04F4                brge .L812
 10095 5932 8C01                movw r16,r24
 10096                  .L812:
 10097 5934 9095                com r25
 10098 5936 8195                neg r24
 10099 5938 9F4F                sbci r25,lo8(-1)
 10100 593a 0817                cp r16,r24
 10101 593c 1907                cpc r17,r25
 10102 593e 04F4                brge .L818
 10103 5940 8C01                movw r16,r24
 10104 5942 00C0                rjmp .L818
 10105                  .L811:
 10106 5944 0135                cpi r16,81
 10107 5946 1105                cpc r17,__zero_reg__
 10108 5948 04F0                brlt .L819
 10109 594a 00E5                ldi r16,lo8(80)
 10110 594c 10E0                ldi r17,hi8(80)
 10111                  .L819:
 10112 594e 3FEF                ldi r19,hi8(-80)
 10113 5950 003B                cpi r16,lo8(-80)
 10114 5952 1307                cpc r17,r19
 10115 5954 04F4                brge .L818
 10116 5956 00EB                ldi r16,lo8(-80)
 10117 5958 1FEF                ldi r17,hi8(-80)
 10118                  .L818:
 10119 595a 4D89                ldd r20,Y+21
 10120 595c 242F                mov r18,r20
 10121 595e 3327                clr r19
 10122 5960 220F                lsl r18
 10123 5962 331F                rol r19
 10124 5964 220F                lsl r18
 10125 5966 331F                rol r19
 10126 5968 C901                movw r24,r18
 10127 596a 6981                ldd r22,Y+1
 10128 596c 7A81                ldd r23,Y+2
 10129 596e 861B                sub r24,r22
 10130 5970 970B                sbc r25,r23
 10131 5972 8017                cp r24,r16
 10132 5974 9107                cpc r25,r17
 10133 5976 04F4                brge .L821
 10134 5978 8C01                movw r16,r24
 10135                  .L821:
 10136 597a 8981                ldd r24,Y+1
 10137 597c 9A81                ldd r25,Y+2
 10138 597e 821B                sub r24,r18
 10139 5980 930B                sbc r25,r19
 10140 5982 0817                cp r16,r24
 10141 5984 1907                cpc r17,r25
 10142 5986 04F4                brge .L822
 10143 5988 8C01                movw r16,r24
 10144                  .L822:
 10145 598a 8091 0000           lds r24,MesswertNick
 10146 598e 9091 0000           lds r25,(MesswertNick)+1
 10147 5992 6091 0000           lds r22,StickNick
 10148 5996 7091 0000           lds r23,(StickNick)+1
 10149 599a 861B                sub r24,r22
 10150 599c 970B                sbc r25,r23
 10151 599e 9093 0000           sts (DiffNick)+1,r25
 10152 59a2 8093 0000           sts DiffNick,r24
 10153 59a6 D090 0000           lds r13,IntegralFaktor
 10154 59aa 2091 0000           lds r18,SummeNick
 10155 59ae 3091 0000           lds r19,(SummeNick)+1
 10156 59b2 4091 0000           lds r20,(SummeNick)+2
 10157 59b6 5091 0000           lds r21,(SummeNick)+3
 10158 59ba DD20                tst r13
 10159 59bc 01F0                breq .L823
 10160 59be 661A                sub r6,r22
 10161 59c0 770A                sbc r7,r23
 10162 59c2 C301                movw r24,r6
 10163 59c4 AA27                clr r26
 10164 59c6 97FD                sbrc r25,7
 10165 59c8 A095                com r26
 10166 59ca BA2F                mov r27,r26
 10167 59cc 00C0                rjmp .L914
 10168                  .L823:
 10169 59ce AA27                clr r26
 10170 59d0 97FD                sbrc r25,7
 10171 59d2 A095                com r26
 10172 59d4 BA2F                mov r27,r26
 10173                  .L914:
 10174 59d6 280F                add r18,r24
 10175 59d8 391F                adc r19,r25
 10176 59da 4A1F                adc r20,r26
 10177 59dc 5B1F                adc r21,r27
 10178 59de 2093 0000           sts SummeNick,r18
 10179 59e2 3093 0000           sts (SummeNick)+1,r19
 10180 59e6 4093 0000           sts (SummeNick)+2,r20
 10181 59ea 5093 0000           sts (SummeNick)+3,r21
 10182 59ee 8091 0000           lds r24,SummeNick
 10183 59f2 9091 0000           lds r25,(SummeNick)+1
 10184 59f6 A091 0000           lds r26,(SummeNick)+2
 10185 59fa B091 0000           lds r27,(SummeNick)+3
 10186 59fe 8150                subi r24,lo8(64001)
 10187 5a00 9A4F                sbci r25,hi8(64001)
 10188 5a02 A040                sbci r26,hlo8(64001)
 10189 5a04 B040                sbci r27,hhi8(64001)
 10190 5a06 04F0                brlt .L825
 10191 5a08 80E0                ldi r24,lo8(64000)
 10192 5a0a 9AEF                ldi r25,hi8(64000)
 10193 5a0c A0E0                ldi r26,hlo8(64000)
 10194 5a0e B0E0                ldi r27,hhi8(64000)
 10195 5a10 8093 0000           sts SummeNick,r24
 10196 5a14 9093 0000           sts (SummeNick)+1,r25
 10197 5a18 A093 0000           sts (SummeNick)+2,r26
 10198 5a1c B093 0000           sts (SummeNick)+3,r27
 10199                  .L825:
 10200 5a20 8091 0000           lds r24,SummeNick
 10201 5a24 9091 0000           lds r25,(SummeNick)+1
 10202 5a28 A091 0000           lds r26,(SummeNick)+2
 10203 5a2c B091 0000           lds r27,(SummeNick)+3
 10204 5a30 8050                subi r24,lo8(-64000)
 10205 5a32 9640                sbci r25,hi8(-64000)
 10206 5a34 AF4F                sbci r26,hlo8(-64000)
 10207 5a36 BF4F                sbci r27,hhi8(-64000)
 10208 5a38 04F4                brge .L826
 10209 5a3a 80E0                ldi r24,lo8(-64000)
 10210 5a3c 96E0                ldi r25,hi8(-64000)
 10211 5a3e AFEF                ldi r26,hlo8(-64000)
 10212 5a40 BFEF                ldi r27,hhi8(-64000)
 10213 5a42 8093 0000           sts SummeNick,r24
 10214 5a46 9093 0000           sts (SummeNick)+1,r25
 10215 5a4a A093 0000           sts (SummeNick)+2,r26
 10216 5a4e B093 0000           sts (SummeNick)+3,r27
 10217                  .L826:
 10218 5a52 C090 0000           lds r12,EE_Parameter+35
 10219 5a56 2091 0000           lds r18,DiffNick
 10220 5a5a 3091 0000           lds r19,(DiffNick)+1
 10221 5a5e 78E0                ldi r23,lo8(8)
 10222 5a60 E72E                mov r14,r23
 10223 5a62 EC14                cp r14,r12
 10224 5a64 00F0                brlo .L827
 10225 5a66 8C2D                mov r24,r12
 10226 5a68 9927                clr r25
 10227 5a6a 829F                mul r24,r18
 10228 5a6c A001                movw r20,r0
 10229 5a6e 839F                mul r24,r19
 10230 5a70 500D                add r21,r0
 10231 5a72 929F                mul r25,r18
 10232 5a74 500D                add r21,r0
 10233 5a76 1124                clr r1
 10234 5a78 CA01                movw r24,r20
 10235 5a7a 57FD                sbrc r21,7
 10236 5a7c 0796                adiw r24,7
 10237                  .L828:
 10238 5a7e 7C01                movw r14,r24
 10239 5a80 63E0                ldi r22,3
 10240 5a82 F594        1:      asr r15
 10241 5a84 E794                ror r14
 10242 5a86 6A95                dec r22
 10243 5a88 01F4                brne 1b
 10244 5a8a 00C0                rjmp .L829
 10245                  .L827:
 10246 5a8c 8C2D                mov r24,r12
 10247 5a8e 8695                lsr r24
 10248 5a90 9927                clr r25
 10249 5a92 829F                mul r24,r18
 10250 5a94 B001                movw r22,r0
 10251 5a96 839F                mul r24,r19
 10252 5a98 700D                add r23,r0
 10253 5a9a 929F                mul r25,r18
 10254 5a9c 700D                add r23,r0
 10255 5a9e 1124                clr r1
 10256 5aa0 CB01                movw r24,r22
 10257 5aa2 77FD                sbrc r23,7
 10258 5aa4 0396                adiw r24,3
 10259                  .L830:
 10260 5aa6 7C01                movw r14,r24
 10261 5aa8 F594                asr r15
 10262 5aaa E794                ror r14
 10263 5aac F594                asr r15
 10264 5aae E794                ror r14
 10265                  .L829:
 10266 5ab0 A090 0000           lds r10,Ki
 10267 5ab4 B090 0000           lds r11,(Ki)+1
 10268 5ab8 9501                movw r18,r10
 10269 5aba 4427                clr r20
 10270 5abc 37FD                sbrc r19,7
 10271 5abe 4095                com r20
 10272 5ac0 542F                mov r21,r20
 10273 5ac2 8091 0000           lds r24,SummeNick
 10274 5ac6 9091 0000           lds r25,(SummeNick)+1
 10275 5aca A091 0000           lds r26,(SummeNick)+2
 10276 5ace B091 0000           lds r27,(SummeNick)+3
 10277 5ad2 BC01                movw r22,r24
 10278 5ad4 CD01                movw r24,r26
 10279 5ad6 0E94 0000           call __divmodsi4
 10280 5ada E20E                add r14,r18
 10281 5adc F31E                adc r15,r19
 10282 5ade 9090 0000           lds r9,Parameter_DynamicStability
 10283 5ae2 692D                mov r22,r9
 10284 5ae4 7727                clr r23
 10285 5ae6 8827                clr r24
 10286 5ae8 9927                clr r25
 10287 5aea 9801                movw r18,r16
 10288 5aec 17FF                sbrs r17,7
 10289 5aee 00C0                rjmp .L831
 10290 5af0 2227                clr r18
 10291 5af2 3327                clr r19
 10292 5af4 201B                sub r18,r16
 10293 5af6 310B                sbc r19,r17
 10294                  .L831:
 10295 5af8 37FF                sbrs r19,7
 10296 5afa 00C0                rjmp .L832
 10297 5afc 2F5F                subi r18,lo8(-(1))
 10298 5afe 3F4F                sbci r19,hi8(-(1))
 10299                  .L832:
 10300 5b00 3595                asr r19
 10301 5b02 2795                ror r18
 10302 5b04 A981                ldd r26,Y+1
 10303 5b06 BA81                ldd r27,Y+2
 10304 5b08 2A0F                add r18,r26
 10305 5b0a 3B1F                adc r19,r27
 10306 5b0c 4427                clr r20
 10307 5b0e 37FD                sbrc r19,7
 10308 5b10 4095                com r20
 10309 5b12 542F                mov r21,r20
 10310 5b14 0E94 0000           call __mulsi3
 10311 5b18 97FF                sbrs r25,7
 10312 5b1a 00C0                rjmp .L833
 10313 5b1c 615C                subi r22,lo8(-(63))
 10314 5b1e 7F4F                sbci r23,hi8(-(63))
 10315 5b20 8F4F                sbci r24,hlo8(-(63))
 10316 5b22 9F4F                sbci r25,hhi8(-(63))
 10317                  .L833:
 10318 5b24 26E0                ldi r18,6
 10319 5b26 9595        1:      asr r25
 10320 5b28 8795                ror r24
 10321 5b2a 7795                ror r23
 10322 5b2c 6795                ror r22
 10323 5b2e 2A95                dec r18
 10324 5b30 01F4                brne 1b
 10325 5b32 9B01                movw r18,r22
 10326 5b34 6E15                cp r22,r14
 10327 5b36 7F05                cpc r23,r15
 10328 5b38 04F4                brge .L834
 10329 5b3a 7B01                movw r14,r22
 10330                  .L834:
 10331 5b3c 3095                com r19
 10332 5b3e 2195                neg r18
 10333 5b40 3F4F                sbci r19,lo8(-1)
 10334 5b42 E216                cp r14,r18
 10335 5b44 F306                cpc r15,r19
 10336 5b46 04F4                brge .L835
 10337 5b48 7901                movw r14,r18
 10338                  .L835:
 10339 5b4a 8091 0000           lds r24,MesswertRoll
 10340 5b4e 9091 0000           lds r25,(MesswertRoll)+1
 10341 5b52 6091 0000           lds r22,StickRoll
 10342 5b56 7091 0000           lds r23,(StickRoll)+1
 10343 5b5a 861B                sub r24,r22
 10344 5b5c 970B                sbc r25,r23
 10345 5b5e 9093 0000           sts (DiffRoll)+1,r25
 10346 5b62 8093 0000           sts DiffRoll,r24
 10347 5b66 2091 0000           lds r18,SummeRoll
 10348 5b6a 3091 0000           lds r19,(SummeRoll)+1
 10349 5b6e 4091 0000           lds r20,(SummeRoll)+2
 10350 5b72 5091 0000           lds r21,(SummeRoll)+3
 10351 5b76 DD20                tst r13
 10352 5b78 01F0                breq .L836
 10353 5b7a 461A                sub r4,r22
 10354 5b7c 570A                sbc r5,r23
 10355 5b7e C201                movw r24,r4
 10356 5b80 AA27                clr r26
 10357 5b82 97FD                sbrc r25,7
 10358 5b84 A095                com r26
 10359 5b86 BA2F                mov r27,r26
 10360 5b88 00C0                rjmp .L915
 10361                  .L836:
 10362 5b8a AA27                clr r26
 10363 5b8c 97FD                sbrc r25,7
 10364 5b8e A095                com r26
 10365 5b90 BA2F                mov r27,r26
 10366                  .L915:
 10367 5b92 280F                add r18,r24
 10368 5b94 391F                adc r19,r25
 10369 5b96 4A1F                adc r20,r26
 10370 5b98 5B1F                adc r21,r27
 10371 5b9a 2093 0000           sts SummeRoll,r18
 10372 5b9e 3093 0000           sts (SummeRoll)+1,r19
 10373 5ba2 4093 0000           sts (SummeRoll)+2,r20
 10374 5ba6 5093 0000           sts (SummeRoll)+3,r21
 10375 5baa 8091 0000           lds r24,SummeRoll
 10376 5bae 9091 0000           lds r25,(SummeRoll)+1
 10377 5bb2 A091 0000           lds r26,(SummeRoll)+2
 10378 5bb6 B091 0000           lds r27,(SummeRoll)+3
 10379 5bba 8150                subi r24,lo8(64001)
 10380 5bbc 9A4F                sbci r25,hi8(64001)
 10381 5bbe A040                sbci r26,hlo8(64001)
 10382 5bc0 B040                sbci r27,hhi8(64001)
 10383 5bc2 04F0                brlt .L838
 10384 5bc4 80E0                ldi r24,lo8(64000)
 10385 5bc6 9AEF                ldi r25,hi8(64000)
 10386 5bc8 A0E0                ldi r26,hlo8(64000)
 10387 5bca B0E0                ldi r27,hhi8(64000)
 10388 5bcc 8093 0000           sts SummeRoll,r24
 10389 5bd0 9093 0000           sts (SummeRoll)+1,r25
 10390 5bd4 A093 0000           sts (SummeRoll)+2,r26
 10391 5bd8 B093 0000           sts (SummeRoll)+3,r27
 10392                  .L838:
 10393 5bdc 8091 0000           lds r24,SummeRoll
 10394 5be0 9091 0000           lds r25,(SummeRoll)+1
 10395 5be4 A091 0000           lds r26,(SummeRoll)+2
 10396 5be8 B091 0000           lds r27,(SummeRoll)+3
 10397 5bec 8050                subi r24,lo8(-64000)
 10398 5bee 9640                sbci r25,hi8(-64000)
 10399 5bf0 AF4F                sbci r26,hlo8(-64000)
 10400 5bf2 BF4F                sbci r27,hhi8(-64000)
 10401 5bf4 04F4                brge .L839
 10402 5bf6 80E0                ldi r24,lo8(-64000)
 10403 5bf8 96E0                ldi r25,hi8(-64000)
 10404 5bfa AFEF                ldi r26,hlo8(-64000)
 10405 5bfc BFEF                ldi r27,hhi8(-64000)
 10406 5bfe 8093 0000           sts SummeRoll,r24
 10407 5c02 9093 0000           sts (SummeRoll)+1,r25
 10408 5c06 A093 0000           sts (SummeRoll)+2,r26
 10409 5c0a B093 0000           sts (SummeRoll)+3,r27
 10410                  .L839:
 10411 5c0e 2091 0000           lds r18,DiffRoll
 10412 5c12 3091 0000           lds r19,(DiffRoll)+1
 10413 5c16 48E0                ldi r20,lo8(8)
 10414 5c18 4C15                cp r20,r12
 10415 5c1a 00F0                brlo .L840
 10416 5c1c 8C2D                mov r24,r12
 10417 5c1e 9927                clr r25
 10418 5c20 829F                mul r24,r18
 10419 5c22 B001                movw r22,r0
 10420 5c24 839F                mul r24,r19
 10421 5c26 700D                add r23,r0
 10422 5c28 929F                mul r25,r18
 10423 5c2a 700D                add r23,r0
 10424 5c2c 1124                clr r1
 10425 5c2e CB01                movw r24,r22
 10426 5c30 77FD                sbrc r23,7
 10427 5c32 0796                adiw r24,7
 10428                  .L841:
 10429 5c34 6C01                movw r12,r24
 10430 5c36 B3E0                ldi r27,3
 10431 5c38 D594        1:      asr r13
 10432 5c3a C794                ror r12
 10433 5c3c BA95                dec r27
 10434 5c3e 01F4                brne 1b
 10435 5c40 00C0                rjmp .L842
 10436                  .L840:
 10437 5c42 C694                lsr r12
 10438 5c44 8C2D                mov r24,r12
 10439 5c46 9927                clr r25
 10440 5c48 829F                mul r24,r18
 10441 5c4a D001                movw r26,r0
 10442 5c4c 839F                mul r24,r19
 10443 5c4e B00D                add r27,r0
 10444 5c50 929F                mul r25,r18
 10445 5c52 B00D                add r27,r0
 10446 5c54 1124                clr r1
 10447 5c56 CD01                movw r24,r26
 10448 5c58 B7FD                sbrc r27,7
 10449 5c5a 0396                adiw r24,3
 10450                  .L843:
 10451 5c5c 6C01                movw r12,r24
 10452 5c5e D594                asr r13
 10453 5c60 C794                ror r12
 10454 5c62 D594                asr r13
 10455 5c64 C794                ror r12
 10456                  .L842:
 10457 5c66 9501                movw r18,r10
 10458 5c68 4427                clr r20
 10459 5c6a 37FD                sbrc r19,7
 10460 5c6c 4095                com r20
 10461 5c6e 542F                mov r21,r20
 10462 5c70 8091 0000           lds r24,SummeRoll
 10463 5c74 9091 0000           lds r25,(SummeRoll)+1
 10464 5c78 A091 0000           lds r26,(SummeRoll)+2
 10465 5c7c B091 0000           lds r27,(SummeRoll)+3
 10466 5c80 BC01                movw r22,r24
 10467 5c82 CD01                movw r24,r26
 10468 5c84 0E94 0000           call __divmodsi4
 10469 5c88 C20E                add r12,r18
 10470 5c8a D31E                adc r13,r19
 10471 5c8c 692D                mov r22,r9
 10472 5c8e 7727                clr r23
 10473 5c90 8827                clr r24
 10474 5c92 9927                clr r25
 10475 5c94 9801                movw r18,r16
 10476 5c96 17FF                sbrs r17,7
 10477 5c98 00C0                rjmp .L844
 10478 5c9a 2227                clr r18
 10479 5c9c 3327                clr r19
 10480 5c9e 201B                sub r18,r16
 10481 5ca0 310B                sbc r19,r17
 10482                  .L844:
 10483 5ca2 37FF                sbrs r19,7
 10484 5ca4 00C0                rjmp .L845
 10485 5ca6 2F5F                subi r18,lo8(-(1))
 10486 5ca8 3F4F                sbci r19,hi8(-(1))
 10487                  .L845:
 10488 5caa 3595                asr r19
 10489 5cac 2795                ror r18
 10490 5cae E981                ldd r30,Y+1
 10491 5cb0 FA81                ldd r31,Y+2
 10492 5cb2 2E0F                add r18,r30
 10493 5cb4 3F1F                adc r19,r31
 10494 5cb6 4427                clr r20
 10495 5cb8 37FD                sbrc r19,7
 10496 5cba 4095                com r20
 10497 5cbc 542F                mov r21,r20
 10498 5cbe 0E94 0000           call __mulsi3
 10499 5cc2 97FF                sbrs r25,7
 10500 5cc4 00C0                rjmp .L846
 10501 5cc6 615C                subi r22,lo8(-(63))
 10502 5cc8 7F4F                sbci r23,hi8(-(63))
 10503 5cca 8F4F                sbci r24,hlo8(-(63))
 10504 5ccc 9F4F                sbci r25,hhi8(-(63))
 10505                  .L846:
 10506 5cce E6E0                ldi r30,6
 10507 5cd0 9595        1:      asr r25
 10508 5cd2 8795                ror r24
 10509 5cd4 7795                ror r23
 10510 5cd6 6795                ror r22
 10511 5cd8 EA95                dec r30
 10512 5cda 01F4                brne 1b
 10513 5cdc 9B01                movw r18,r22
 10514 5cde 6C15                cp r22,r12
 10515 5ce0 7D05                cpc r23,r13
 10516 5ce2 04F4                brge .L847
 10517 5ce4 6B01                movw r12,r22
 10518                  .L847:
 10519 5ce6 3095                com r19
 10520 5ce8 2195                neg r18
 10521 5cea 3F4F                sbci r19,lo8(-1)
 10522 5cec C216                cp r12,r18
 10523 5cee D306                cpc r13,r19
 10524 5cf0 04F4                brge .L848
 10525 5cf2 6901                movw r12,r18
 10526                  .L848:
 10527 5cf4 8091 0000           lds r24,MIN_GAS
 10528 5cf8 282E                mov r2,r24
 10529 5cfa 3324                clr r3
 10530 5cfc 5090 0000           lds r5,EE_Parameter+101
 10531 5d00 60E0                ldi r22,lo8(Motor)
 10532 5d02 862E                mov r8,r22
 10533 5d04 60E0                ldi r22,hi8(Motor)
 10534 5d06 962E                mov r9,r22
 10535 5d08 50E0                ldi r21,lo8(Mixer+13)
 10536 5d0a A52E                mov r10,r21
 10537 5d0c 50E0                ldi r21,hi8(Mixer+13)
 10538 5d0e B52E                mov r11,r21
 10539 5d10 4BE0                ldi r20,lo8(11)
 10540 5d12 442E                mov r4,r20
 10541 5d14 30E0                ldi r19,lo8(tmp_motorwert)
 10542 5d16 632E                mov r6,r19
 10543 5d18 30E0                ldi r19,hi8(tmp_motorwert)
 10544 5d1a 732E                mov r7,r19
 10545                  .L883:
 10546 5d1c D501                movw r26,r10
 10547 5d1e 2C91                ld r18,X
 10548 5d20 1216                cp __zero_reg__,r18
 10549 5d22 04F0                brlt .+2
 10550 5d24 00C0                rjmp .L852
 10551 5d26 2034                cpi r18,lo8(64)
 10552 5d28 01F4                brne .L853
 10553 5d2a E981                ldd r30,Y+1
 10554 5d2c FA81                ldd r31,Y+2
 10555 5d2e FF8B                std Y+23,r31
 10556 5d30 EE8B                std Y+22,r30
 10557 5d32 00C0                rjmp .L854
 10558                  .L853:
 10559 5d34 4981                ldd r20,Y+1
 10560 5d36 5A81                ldd r21,Y+2
 10561 5d38 CA01                movw r24,r20
 10562 5d3a AA27                clr r26
 10563 5d3c 97FD                sbrc r25,7
 10564 5d3e A095                com r26
 10565 5d40 BA2F                mov r27,r26
 10566 5d42 3327                clr r19
 10567 5d44 27FD                sbrc r18,7
 10568 5d46 3095                com r19
 10569 5d48 432F                mov r20,r19
 10570 5d4a 532F                mov r21,r19
 10571 5d4c BC01                movw r22,r24
 10572 5d4e CD01                movw r24,r26
 10573 5d50 0E94 0000           call __mulsi3
 10574 5d54 97FF                sbrs r25,7
 10575 5d56 00C0                rjmp .L855
 10576 5d58 615C                subi r22,lo8(-(63))
 10577 5d5a 7F4F                sbci r23,hi8(-(63))
 10578 5d5c 8F4F                sbci r24,hlo8(-(63))
 10579 5d5e 9F4F                sbci r25,hhi8(-(63))
 10580                  .L855:
 10581 5d60 26E0                ldi r18,6
 10582 5d62 9595        1:      asr r25
 10583 5d64 8795                ror r24
 10584 5d66 7795                ror r23
 10585 5d68 6795                ror r22
 10586 5d6a 2A95                dec r18
 10587 5d6c 01F4                brne 1b
 10588 5d6e 7F8B                std Y+23,r23
 10589 5d70 6E8B                std Y+22,r22
 10590                  .L854:
 10591 5d72 F501                movw r30,r10
 10592 5d74 2181                ldd r18,Z+1
 10593 5d76 2034                cpi r18,lo8(64)
 10594 5d78 01F4                brne .L856
 10595 5d7a 2E89                ldd r18,Y+22
 10596 5d7c 3F89                ldd r19,Y+23
 10597 5d7e 2E0D                add r18,r14
 10598 5d80 3F1D                adc r19,r15
 10599 5d82 3F8B                std Y+23,r19
 10600 5d84 2E8B                std Y+22,r18
 10601 5d86 00C0                rjmp .L857
 10602                  .L856:
 10603 5d88 203C                cpi r18,lo8(-64)
 10604 5d8a 01F4                brne .L858
 10605 5d8c 4E89                ldd r20,Y+22
 10606 5d8e 5F89                ldd r21,Y+23
 10607 5d90 4E19                sub r20,r14
 10608 5d92 5F09                sbc r21,r15
 10609 5d94 5F8B                std Y+23,r21
 10610 5d96 4E8B                std Y+22,r20
 10611 5d98 00C0                rjmp .L857
 10612                  .L858:
 10613 5d9a C701                movw r24,r14
 10614 5d9c AA27                clr r26
 10615 5d9e 97FD                sbrc r25,7
 10616 5da0 A095                com r26
 10617 5da2 BA2F                mov r27,r26
 10618 5da4 3327                clr r19
 10619 5da6 27FD                sbrc r18,7
 10620 5da8 3095                com r19
 10621 5daa 432F                mov r20,r19
 10622 5dac 532F                mov r21,r19
 10623 5dae BC01                movw r22,r24
 10624 5db0 CD01                movw r24,r26
 10625 5db2 0E94 0000           call __mulsi3
 10626 5db6 97FF                sbrs r25,7
 10627 5db8 00C0                rjmp .L860
 10628 5dba 615C                subi r22,lo8(-(63))
 10629 5dbc 7F4F                sbci r23,hi8(-(63))
 10630 5dbe 8F4F                sbci r24,hlo8(-(63))
 10631 5dc0 9F4F                sbci r25,hhi8(-(63))
 10632                  .L860:
 10633 5dc2 B6E0                ldi r27,6
 10634 5dc4 9595        1:      asr r25
 10635 5dc6 8795                ror r24
 10636 5dc8 7795                ror r23
 10637 5dca 6795                ror r22
 10638 5dcc BA95                dec r27
 10639 5dce 01F4                brne 1b
 10640 5dd0 AE89                ldd r26,Y+22
 10641 5dd2 BF89                ldd r27,Y+23
 10642 5dd4 A60F                add r26,r22
 10643 5dd6 B71F                adc r27,r23
 10644 5dd8 BF8B                std Y+23,r27
 10645 5dda AE8B                std Y+22,r26
 10646                  .L857:
 10647 5ddc F501                movw r30,r10
 10648 5dde 2281                ldd r18,Z+2
 10649 5de0 2034                cpi r18,lo8(64)
 10650 5de2 01F4                brne .L861
 10651 5de4 2E89                ldd r18,Y+22
 10652 5de6 3F89                ldd r19,Y+23
 10653 5de8 2C0D                add r18,r12
 10654 5dea 3D1D                adc r19,r13
 10655 5dec 3F8B                std Y+23,r19
 10656 5dee 2E8B                std Y+22,r18
 10657 5df0 00C0                rjmp .L862
 10658                  .L861:
 10659 5df2 203C                cpi r18,lo8(-64)
 10660 5df4 01F4                brne .L863
 10661 5df6 4E89                ldd r20,Y+22
 10662 5df8 5F89                ldd r21,Y+23
 10663 5dfa 4C19                sub r20,r12
 10664 5dfc 5D09                sbc r21,r13
 10665 5dfe 5F8B                std Y+23,r21
 10666 5e00 4E8B                std Y+22,r20
 10667 5e02 00C0                rjmp .L862
 10668                  .L863:
 10669 5e04 C601                movw r24,r12
 10670 5e06 AA27                clr r26
 10671 5e08 97FD                sbrc r25,7
 10672 5e0a A095                com r26
 10673 5e0c BA2F                mov r27,r26
 10674 5e0e 3327                clr r19
 10675 5e10 27FD                sbrc r18,7
 10676 5e12 3095                com r19
 10677 5e14 432F                mov r20,r19
 10678 5e16 532F                mov r21,r19
 10679 5e18 BC01                movw r22,r24
 10680 5e1a CD01                movw r24,r26
 10681 5e1c 0E94 0000           call __mulsi3
 10682 5e20 97FF                sbrs r25,7
 10683 5e22 00C0                rjmp .L865
 10684 5e24 615C                subi r22,lo8(-(63))
 10685 5e26 7F4F                sbci r23,hi8(-(63))
 10686 5e28 8F4F                sbci r24,hlo8(-(63))
 10687 5e2a 9F4F                sbci r25,hhi8(-(63))
 10688                  .L865:
 10689 5e2c A6E0                ldi r26,6
 10690 5e2e 9595        1:      asr r25
 10691 5e30 8795                ror r24
 10692 5e32 7795                ror r23
 10693 5e34 6795                ror r22
 10694 5e36 AA95                dec r26
 10695 5e38 01F4                brne 1b
 10696 5e3a AE89                ldd r26,Y+22
 10697 5e3c BF89                ldd r27,Y+23
 10698 5e3e A60F                add r26,r22
 10699 5e40 B71F                adc r27,r23
 10700 5e42 BF8B                std Y+23,r27
 10701 5e44 AE8B                std Y+22,r26
 10702                  .L862:
 10703 5e46 F501                movw r30,r10
 10704 5e48 2381                ldd r18,Z+3
 10705 5e4a 2034                cpi r18,lo8(64)
 10706 5e4c 01F4                brne .L866
 10707 5e4e 2E89                ldd r18,Y+22
 10708 5e50 3F89                ldd r19,Y+23
 10709 5e52 200F                add r18,r16
 10710 5e54 311F                adc r19,r17
 10711 5e56 3F8B                std Y+23,r19
 10712 5e58 2E8B                std Y+22,r18
 10713 5e5a 00C0                rjmp .L867
 10714                  .L866:
 10715 5e5c 203C                cpi r18,lo8(-64)
 10716 5e5e 01F4                brne .L868
 10717 5e60 4E89                ldd r20,Y+22
 10718 5e62 5F89                ldd r21,Y+23
 10719 5e64 401B                sub r20,r16
 10720 5e66 510B                sbc r21,r17
 10721 5e68 5F8B                std Y+23,r21
 10722 5e6a 4E8B                std Y+22,r20
 10723 5e6c 00C0                rjmp .L867
 10724                  .L868:
 10725 5e6e C801                movw r24,r16
 10726 5e70 AA27                clr r26
 10727 5e72 97FD                sbrc r25,7
 10728 5e74 A095                com r26
 10729 5e76 BA2F                mov r27,r26
 10730 5e78 3327                clr r19
 10731 5e7a 27FD                sbrc r18,7
 10732 5e7c 3095                com r19
 10733 5e7e 432F                mov r20,r19
 10734 5e80 532F                mov r21,r19
 10735 5e82 BC01                movw r22,r24
 10736 5e84 CD01                movw r24,r26
 10737 5e86 0E94 0000           call __mulsi3
 10738 5e8a 97FF                sbrs r25,7
 10739 5e8c 00C0                rjmp .L870
 10740 5e8e 615C                subi r22,lo8(-(63))
 10741 5e90 7F4F                sbci r23,hi8(-(63))
 10742 5e92 8F4F                sbci r24,hlo8(-(63))
 10743 5e94 9F4F                sbci r25,hhi8(-(63))
 10744                  .L870:
 10745 5e96 F6E0                ldi r31,6
 10746 5e98 9595        1:      asr r25
 10747 5e9a 8795                ror r24
 10748 5e9c 7795                ror r23
 10749 5e9e 6795                ror r22
 10750 5ea0 FA95                dec r31
 10751 5ea2 01F4                brne 1b
 10752 5ea4 AE89                ldd r26,Y+22
 10753 5ea6 BF89                ldd r27,Y+23
 10754 5ea8 A60F                add r26,r22
 10755 5eaa B71F                adc r27,r23
 10756 5eac BF8B                std Y+23,r27
 10757 5eae AE8B                std Y+22,r26
 10758                  .L867:
 10759 5eb0 F301                movw r30,r6
 10760 5eb2 8081                ld r24,Z
 10761 5eb4 9181                ldd r25,Z+1
 10762 5eb6 2E89                ldd r18,Y+22
 10763 5eb8 3F89                ldd r19,Y+23
 10764 5eba 8217                cp r24,r18
 10765 5ebc 9307                cpc r25,r19
 10766 5ebe 04F4                brge .L871
 10767 5ec0 B901                movw r22,r18
 10768 5ec2 680F                add r22,r24
 10769 5ec4 791F                adc r23,r25
 10770 5ec6 77FF                sbrs r23,7
 10771 5ec8 00C0                rjmp .L872
 10772 5eca 6F5F                subi r22,lo8(-(1))
 10773 5ecc 7F4F                sbci r23,hi8(-(1))
 10774                  .L872:
 10775 5ece 7595                asr r23
 10776 5ed0 6795                ror r22
 10777 5ed2 7F8B                std Y+23,r23
 10778 5ed4 6E8B                std Y+22,r22
 10779 5ed6 00C0                rjmp .L873
 10780                  .L871:
 10781 5ed8 5520                tst r5
 10782 5eda 01F4                brne .L874
 10783 5edc 4E89                ldd r20,Y+22
 10784 5ede 5F89                ldd r21,Y+23
 10785 5ee0 440F                add r20,r20
 10786 5ee2 551F                adc r21,r21
 10787 5ee4 481B                sub r20,r24
 10788 5ee6 590B                sbc r21,r25
 10789 5ee8 5F8B                std Y+23,r21
 10790 5eea 4E8B                std Y+22,r20
 10791 5eec 00C0                rjmp .L873
 10792                  .L874:
 10793 5eee 51E0                ldi r21,lo8(1)
 10794 5ef0 5515                cp r21,r5
 10795 5ef2 00F4                brsh .L873
 10796 5ef4 252D                mov r18,r5
 10797 5ef6 3327                clr r19
 10798 5ef8 6E89                ldd r22,Y+22
 10799 5efa 7F89                ldd r23,Y+23
 10800 5efc 861B                sub r24,r22
 10801 5efe 970B                sbc r25,r23
 10802 5f00 B901                movw r22,r18
 10803 5f02 0E94 0000           call __divmodhi4
 10804 5f06 AE89                ldd r26,Y+22
 10805 5f08 BF89                ldd r27,Y+23
 10806 5f0a A60F                add r26,r22
 10807 5f0c B71F                adc r27,r23
 10808 5f0e BF8B                std Y+23,r27
 10809 5f10 AE8B                std Y+22,r26
 10810                  .L873:
 10811 5f12 C101                movw r24,r2
 10812 5f14 880F                lsl r24
 10813 5f16 991F                rol r25
 10814 5f18 880F                lsl r24
 10815 5f1a 991F                rol r25
 10816 5f1c EE89                ldd r30,Y+22
 10817 5f1e FF89                ldd r31,Y+23
 10818 5f20 8E17                cp r24,r30
 10819 5f22 9F07                cpc r25,r31
 10820 5f24 04F4                brge .L916
 10821 5f26 FD89                ldd r31,Y+21
 10822 5f28 8F2F                mov r24,r31
 10823 5f2a 9927                clr r25
 10824 5f2c 880F                lsl r24
 10825 5f2e 991F                rol r25
 10826 5f30 880F                lsl r24
 10827 5f32 991F                rol r25
 10828 5f34 2E89                ldd r18,Y+22
 10829 5f36 3F89                ldd r19,Y+23
 10830 5f38 2817                cp r18,r24
 10831 5f3a 3907                cpc r19,r25
 10832 5f3c 04F0                brlt .L878
 10833                  .L916:
 10834 5f3e 9F8B                std Y+23,r25
 10835 5f40 8E8B                std Y+22,r24
 10836                  .L878:
 10837 5f42 8E89                ldd r24,Y+22
 10838 5f44 9F89                ldd r25,Y+23
 10839 5f46 97FD                sbrc r25,7
 10840 5f48 0396                adiw r24,3
 10841                  .L880:
 10842 5f4a 9595                asr r25
 10843 5f4c 8795                ror r24
 10844 5f4e 9595                asr r25
 10845 5f50 8795                ror r24
 10846 5f52 F401                movw r30,r8
 10847 5f54 8183                std Z+1,r24
 10848 5f56 880F                lsl r24
 10849 5f58 991F                rol r25
 10850 5f5a 880F                lsl r24
 10851 5f5c 991F                rol r25
 10852 5f5e 2E89                ldd r18,Y+22
 10853 5f60 3F89                ldd r19,Y+23
 10854 5f62 281B                sub r18,r24
 10855 5f64 390B                sbc r19,r25
 10856 5f66 C901                movw r24,r18
 10857 5f68 880F                lsl r24
 10858 5f6a 8283                std Z+2,r24
 10859 5f6c EE89                ldd r30,Y+22
 10860 5f6e FF89                ldd r31,Y+23
 10861 5f70 D301                movw r26,r6
 10862 5f72 ED93                st X+,r30
 10863 5f74 FC93                st X,r31
 10864 5f76 00C0                rjmp .L851
 10865                  .L852:
 10866 5f78 F401                movw r30,r8
 10867 5f7a 1182                std Z+1,__zero_reg__
 10868 5f7c 1282                std Z+2,__zero_reg__
 10869                  .L851:
 10870 5f7e 4A94                dec r4
 10871 5f80 22E0                ldi r18,lo8(2)
 10872 5f82 30E0                ldi r19,hi8(2)
 10873 5f84 620E                add r6,r18
 10874 5f86 731E                adc r7,r19
 10875 5f88 44E0                ldi r20,lo8(4)
 10876 5f8a 50E0                ldi r21,hi8(4)
 10877 5f8c A40E                add r10,r20
 10878 5f8e B51E                adc r11,r21
 10879 5f90 68E0                ldi r22,lo8(8)
 10880 5f92 70E0                ldi r23,hi8(8)
 10881 5f94 860E                add r8,r22
 10882 5f96 971E                adc r9,r23
 10883 5f98 47FE                sbrs r4,7
 10884 5f9a 00C0                rjmp .L883
 10885                  /* epilogue: frame size=23 */
 10886 5f9c E2E1                ldi r30,18
 10887 5f9e C95E                subi r28,-23
 10888 5fa0 0C94 0000           jmp __epilogue_restores__+0
 10889                  /* epilogue end (size=4) */
 10890                  /* function MotorRegler size 8305 (8295) */
 10892                          .comm TrimNick,2,1
 10893                          .comm TrimRoll,2,1
 10894                          .comm ErsatzKompass,4,1
 10895                          .comm ErsatzKompassInGrad,2,1
 10896                          .comm MesswertNick,2,1
 10897                          .comm MesswertRoll,2,1
 10898                          .comm MesswertGier,2,1
 10899                          .comm Mittelwert_AccNick,2,1
 10900                          .comm Mittelwert_AccRoll,2,1
 10901                          .comm NaviAccNick,2,1
 10902                          .comm NaviAccRoll,2,1
 10903                          .comm h,1,1
 10904                          .comm m,1,1
 10905                          .comm s,1,1
 10906                          .comm DiffNick,2,1
 10907                          .comm DiffRoll,2,1
 10908                          .comm Parameter_Servo3,1,1
 10909                          .comm Parameter_Servo4,1,1
 10910                          .comm Parameter_Servo5,1,1
 10911                          .comm Parameter_J16Bitmask,1,1
 10912                          .comm Parameter_J16Timing,1,1
 10913                          .comm Parameter_J17Bitmask,1,1
 10914                          .comm Parameter_J17Timing,1,1
 10915                          .comm Parameter_GlobalConfig,1,1
 10916                          .comm Parameter_ExtraConfig,1,1
 10917                          .comm MesswertGierBias,2,1
 10918                          .comm RohMesswertNick,2,1
 10919                          .comm RohMesswertRoll,2,1
 10920                          .comm MittelIntegralNick,4,1
 10921                          .comm MittelIntegralRoll,4,1
 10922                          .comm MittelIntegralNick2,4,1
 10923                          .comm MittelIntegralRoll2,4,1
 10924                          .comm MAX_GAS,1,1
 10925                          .comm MIN_GAS,1,1
 10926                          .comm GyroFaktor,1,1
 10927                          .comm GyroFaktorGier,1,1
 10928                          .comm IntegralFaktor,1,1
 10929                          .comm IntegralFaktorGier,1,1
 10930                          .comm Parameter_NaviGpsModeControl,1,1
 10931                          .comm Parameter_NaviGpsGain,1,1
 10932                          .comm Parameter_NaviGpsP,1,1
 10933                          .comm Parameter_NaviGpsI,1,1
 10934                          .comm Parameter_NaviGpsD,1,1
 10935                          .comm Parameter_NaviGpsACC,1,1
 10936                          .comm Parameter_NaviOperatingRadius,1,1
 10937                          .comm Parameter_NaviWindCorrection,1,1
 10938                          .comm Parameter_NaviSpeedCompensation,1,1
 10939                          .comm Parameter_ExternalControl,1,1
 10940                          .comm Parameter_MaximumAltitude,1,1
 10941                          .comm KopplungsteilNickRoll,2,1
 10942                          .comm KopplungsteilRollNick,2,1
 10943                          .comm tmp_motorwert,24,1
 10944                  /* File "fc.c": code 12409 = 0x3079 (12348), prologues  31, epilogues  30 */
DEFINED SYMBOLS
                            *ABS*:00000000 fc.c
  C:\Temp/ccjSs5Dt.s:3      *ABS*:0000003f __SREG__
  C:\Temp/ccjSs5Dt.s:4      *ABS*:0000003e __SP_H__
  C:\Temp/ccjSs5Dt.s:5      *ABS*:0000003d __SP_L__
  C:\Temp/ccjSs5Dt.s:6      *ABS*:00000000 __tmp_reg__
  C:\Temp/ccjSs5Dt.s:7      *ABS*:00000001 __zero_reg__
  C:\Temp/ccjSs5Dt.s:15     .bss:00000000 GasIsZeroCnt
  C:\Temp/ccjSs5Dt.s:21     .bss:00000002 HooverGasEmergencyPercent
  C:\Temp/ccjSs5Dt.s:27     .data:00000000 VarioCharacter
  C:\Temp/ccjSs5Dt.s:32     .data:00000001 GIER_GRAD_FAKTOR
  C:\Temp/ccjSs5Dt.s:39     .bss:00000004 FC_StatusFlags2
  C:\Temp/ccjSs5Dt.s:45     .bss:00000005 FC_StatusFlags
  C:\Temp/ccjSs5Dt.s:51     .bss:00000006 modell_fliegt
  C:\Temp/ccjSs5Dt.s:57     .bss:00000008 MaxStickRoll
  C:\Temp/ccjSs5Dt.s:63     .bss:0000000a MaxStickNick
  C:\Temp/ccjSs5Dt.s:69     .data:00000005 ExternHoehenValue
  C:\Temp/ccjSs5Dt.s:76     .bss:0000000c ExternStickGier
  C:\Temp/ccjSs5Dt.s:82     .bss:0000000e ExternStickRoll
  C:\Temp/ccjSs5Dt.s:88     .bss:00000010 ExternStickNick
  C:\Temp/ccjSs5Dt.s:94     .data:00000007 sintab
  C:\Temp/ccjSs5Dt.s:131    .bss:00000012 CareFree
  C:\Temp/ccjSs5Dt.s:137    .data:00000026 Parameter_DynamicStability
  C:\Temp/ccjSs5Dt.s:142    .data:00000027 Parameter_CouplingYawCorrection
  C:\Temp/ccjSs5Dt.s:147    .data:00000028 Parameter_AchsKopplung2
  C:\Temp/ccjSs5Dt.s:152    .data:00000029 Parameter_AchsKopplung1
  C:\Temp/ccjSs5Dt.s:157    .data:0000002a Parameter_LoopGasLimit
  C:\Temp/ccjSs5Dt.s:162    .data:0000002b Parameter_ServoRollControl
  C:\Temp/ccjSs5Dt.s:167    .data:0000002c Parameter_ServoNickControl
  C:\Temp/ccjSs5Dt.s:174    .bss:00000013 Parameter_UserParam8
  C:\Temp/ccjSs5Dt.s:180    .bss:00000014 Parameter_UserParam7
  C:\Temp/ccjSs5Dt.s:186    .bss:00000015 Parameter_UserParam6
  C:\Temp/ccjSs5Dt.s:192    .bss:00000016 Parameter_UserParam5
  C:\Temp/ccjSs5Dt.s:198    .bss:00000017 Parameter_UserParam4
  C:\Temp/ccjSs5Dt.s:204    .bss:00000018 Parameter_UserParam3
  C:\Temp/ccjSs5Dt.s:210    .bss:00000019 Parameter_UserParam2
  C:\Temp/ccjSs5Dt.s:216    .bss:0000001a Parameter_UserParam1
  C:\Temp/ccjSs5Dt.s:222    .data:0000002d Parameter_I_Faktor
  C:\Temp/ccjSs5Dt.s:227    .data:0000002e Parameter_Gier_P
  C:\Temp/ccjSs5Dt.s:232    .data:0000002f Parameter_Gyro_Gier_I
  C:\Temp/ccjSs5Dt.s:237    .data:00000030 Parameter_Gyro_Gier_P
  C:\Temp/ccjSs5Dt.s:242    .data:00000031 Parameter_Gyro_I
  C:\Temp/ccjSs5Dt.s:247    .data:00000032 Parameter_Gyro_P
  C:\Temp/ccjSs5Dt.s:252    .data:00000033 Parameter_Gyro_D
  C:\Temp/ccjSs5Dt.s:257    .data:00000034 Parameter_Hoehe_GPS_Z
  C:\Temp/ccjSs5Dt.s:262    .data:00000035 Parameter_KompassWirkung
  C:\Temp/ccjSs5Dt.s:267    .data:00000036 Parameter_Hoehe_ACC_Wirkung
  C:\Temp/ccjSs5Dt.s:272    .data:00000037 Parameter_Hoehe_P
  C:\Temp/ccjSs5Dt.s:277    .data:00000038 Parameter_HoehenSchalter
  C:\Temp/ccjSs5Dt.s:282    .data:00000039 Parameter_Luftdruck_D
  C:\Temp/ccjSs5Dt.s:289    .bss:0000001b Looping_Oben
  C:\Temp/ccjSs5Dt.s:295    .bss:0000001c Looping_Unten
  C:\Temp/ccjSs5Dt.s:301    .bss:0000001d Looping_Rechts
  C:\Temp/ccjSs5Dt.s:307    .bss:0000001e Looping_Links
  C:\Temp/ccjSs5Dt.s:313    .bss:0000001f Looping_Roll
  C:\Temp/ccjSs5Dt.s:319    .bss:00000020 Looping_Nick
  C:\Temp/ccjSs5Dt.s:325    .data:0000003a Ki
  C:\Temp/ccjSs5Dt.s:332    .bss:00000021 HoverGas
  C:\Temp/ccjSs5Dt.s:338    .bss:00000023 LageKorrekturNick
  C:\Temp/ccjSs5Dt.s:344    .bss:00000025 LageKorrekturRoll
  C:\Temp/ccjSs5Dt.s:350    .bss:00000027 NeueKompassRichtungMerken
  C:\Temp/ccjSs5Dt.s:356    .bss:00000028 CalibrationDone
  C:\Temp/ccjSs5Dt.s:362    .bss:00000029 CompassGierSetpoint
  C:\Temp/ccjSs5Dt.s:368    .bss:0000002b WaypointTrimming
  C:\Temp/ccjSs5Dt.s:374    .data:0000003c carefree_old
  C:\Temp/ccjSs5Dt.s:381    .bss:0000002c FromNC_AltitudeSpeed
  C:\Temp/ccjSs5Dt.s:387    .bss:0000002d FromNC_AltitudeSetpoint
  C:\Temp/ccjSs5Dt.s:393    .bss:00000031 AltitudeSetpointTrimming
  C:\Temp/ccjSs5Dt.s:399    .bss:00000033 SollHoehe
  C:\Temp/ccjSs5Dt.s:405    .bss:00000037 HoehenWert
  C:\Temp/ccjSs5Dt.s:411    .bss:0000003b StartTrigger
  C:\Temp/ccjSs5Dt.s:417    .bss:0000003c MotorenEin
  C:\Temp/ccjSs5Dt.s:423    .bss:0000003d SenderOkay
  C:\Temp/ccjSs5Dt.s:429    .bss:0000003e Poti
  C:\Temp/ccjSs5Dt.s:435    .bss:00000047 StickGas
  C:\Temp/ccjSs5Dt.s:441    .bss:00000049 StickGier
  C:\Temp/ccjSs5Dt.s:447    .bss:0000004b StickRoll
  C:\Temp/ccjSs5Dt.s:453    .bss:0000004d StickNick
  C:\Temp/ccjSs5Dt.s:459    .data:0000003d HoverGasMax
  C:\Temp/ccjSs5Dt.s:466    .bss:0000004f HoverGasMin
  C:\Temp/ccjSs5Dt.s:472    .data:0000003f StickGasHover
  C:\Temp/ccjSs5Dt.s:479    .bss:00000051 GierGyroFehler
  C:\Temp/ccjSs5Dt.s:485    .data:00000041 Umschlag180Roll
  C:\Temp/ccjSs5Dt.s:490    .data:00000045 Umschlag180Nick
  C:\Temp/ccjSs5Dt.s:497    .bss:00000053 TrichterFlug
  C:\Temp/ccjSs5Dt.s:503    .bss:00000054 HoehenReglerAktiv
  C:\Temp/ccjSs5Dt.s:509    .data:00000049 KompassSignalSchlecht
  C:\Temp/ccjSs5Dt.s:514    .data:0000004b KompassFusion
  C:\Temp/ccjSs5Dt.s:519    .data:0000004c CalculateCompassTimer
  C:\Temp/ccjSs5Dt.s:526    .bss:00000055 KompassSollWert
  C:\Temp/ccjSs5Dt.s:532    .data:0000004d KompassValue
  C:\Temp/ccjSs5Dt.s:539    .bss:00000057 Mess_Integral_Hoch
  C:\Temp/ccjSs5Dt.s:545    .bss:0000005b SummeRoll
  C:\Temp/ccjSs5Dt.s:551    .bss:0000005f SummeNick
  C:\Temp/ccjSs5Dt.s:557    .bss:00000063 Mess_Integral_Gier2
  C:\Temp/ccjSs5Dt.s:563    .bss:00000067 Mess_Integral_Gier
  C:\Temp/ccjSs5Dt.s:569    .bss:0000006b Mess_IntegralRoll2
  C:\Temp/ccjSs5Dt.s:575    .bss:0000006f Mess_IntegralRoll
  C:\Temp/ccjSs5Dt.s:581    .bss:00000073 Mess_IntegralNick2
  C:\Temp/ccjSs5Dt.s:587    .bss:00000077 Mess_IntegralNick
  C:\Temp/ccjSs5Dt.s:593    .bss:0000007b Integral_Gier
  C:\Temp/ccjSs5Dt.s:599    .bss:0000007f IntegralAccZ
  C:\Temp/ccjSs5Dt.s:605    .bss:00000083 IntegralAccRoll
  C:\Temp/ccjSs5Dt.s:611    .bss:00000087 IntegralAccNick
  C:\Temp/ccjSs5Dt.s:617    .bss:0000008b IntegralRoll2
  C:\Temp/ccjSs5Dt.s:623    .bss:0000008f IntegralRoll
  C:\Temp/ccjSs5Dt.s:629    .bss:00000093 IntegralNick2
  C:\Temp/ccjSs5Dt.s:635    .bss:00000097 IntegralNick
  C:\Temp/ccjSs5Dt.s:641    .bss:0000009b ControlHeading
  C:\Temp/ccjSs5Dt.s:647    .bss:0000009c NeutralAccZ
  C:\Temp/ccjSs5Dt.s:653    .bss:0000009e NaviCntAcc
  C:\Temp/ccjSs5Dt.s:659    .bss:000000a0 NeutralAccY
  C:\Temp/ccjSs5Dt.s:665    .bss:000000a2 NeutralAccX
  C:\Temp/ccjSs5Dt.s:671    .bss:000000a4 StartNeutralNick
  C:\Temp/ccjSs5Dt.s:677    .bss:000000a6 StartNeutralRoll
  C:\Temp/ccjSs5Dt.s:683    .bss:000000a8 AdNeutralGier
  C:\Temp/ccjSs5Dt.s:689    .bss:000000aa AdNeutralRoll
  C:\Temp/ccjSs5Dt.s:695    .bss:000000ac AdNeutralNick
  C:\Temp/ccjSs5Dt.s:701    .bss:000000ae BaroExpandActive
  C:\Temp/ccjSs5Dt.s:706    .text:00000000 CopyDebugValues
                            *COM*:00000002 Mittelwert_AccNick
                            *COM*:00000002 Mittelwert_AccRoll
                            *COM*:00000004 ErsatzKompass
  C:\Temp/ccjSs5Dt.s:923    .text:000002a0 Piep
  C:\Temp/ccjSs5Dt.s:997    .text:00000326 CalibrierMittelwert
                            *COM*:00000002 MesswertNick
                            *COM*:00000002 MesswertRoll
                            *COM*:00000002 MesswertGier
  C:\Temp/ccjSs5Dt.s:1139   .progmem.data:00000000 __c.35
  C:\Temp/ccjSs5Dt.s:1144   .text:00000468 SetNeutral
                             .bss:000000b0 tmpl.27
  C:\Temp/ccjSs5Dt.s:1652   .bss:000000b4 tmpl2.28
  C:\Temp/ccjSs5Dt.s:1653   .bss:000000b8 tmpl3.29
  C:\Temp/ccjSs5Dt.s:1654   .bss:000000bc tmpl4.30
  C:\Temp/ccjSs5Dt.s:1655   .bss:000000c0 oldNick.31
  C:\Temp/ccjSs5Dt.s:1656   .bss:000000c2 oldRoll.32
  C:\Temp/ccjSs5Dt.s:1657   .bss:000000c4 d2Roll.33
  C:\Temp/ccjSs5Dt.s:1658   .bss:000000c6 d2Nick.34
  C:\Temp/ccjSs5Dt.s:1662   .text:000009d4 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/ccjSs5Dt.s:3227   .text:00001938 SendMotorData
  C:\Temp/ccjSs5Dt.s:3287   .text:000019b2 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/ccjSs5Dt.s:1659   .bss:000000c8 sollGier.0
  C:\Temp/ccjSs5Dt.s:4006   .bss:000000cc tmp_long.1
  C:\Temp/ccjSs5Dt.s:4007   .bss:000000d0 tmp_long2.2
  C:\Temp/ccjSs5Dt.s:4008   .bss:000000d4 IntegralFehlerNick.3
  C:\Temp/ccjSs5Dt.s:4009   .bss:000000d8 IntegralFehlerRoll.4
  C:\Temp/ccjSs5Dt.s:4010   .bss:000000dc RcLostTimer.5
  C:\Temp/ccjSs5Dt.s:4011   .bss:000000de delay_neutral.6
  C:\Temp/ccjSs5Dt.s:4012   .bss:000000df delay_einschalten.7
  C:\Temp/ccjSs5Dt.s:4013   .bss:000000e0 delay_ausschalten.8
  C:\Temp/ccjSs5Dt.s:4014   .bss:000000e1 move_safety_switch.9
  C:\Temp/ccjSs5Dt.s:4015   .bss:000000e2 ausgleichNick.10
  C:\Temp/ccjSs5Dt.s:4016   .bss:000000e6 ausgleichRoll.11
  C:\Temp/ccjSs5Dt.s:4017   .bss:000000ea stick_nick.12
  C:\Temp/ccjSs5Dt.s:4018   .bss:000000ec stick_roll.13
  C:\Temp/ccjSs5Dt.s:4019   .bss:000000ee cnt.14
  C:\Temp/ccjSs5Dt.s:4020   .bss:000000f0 last_n_p.15
  C:\Temp/ccjSs5Dt.s:4021   .bss:000000f1 last_n_n.16
  C:\Temp/ccjSs5Dt.s:4022   .bss:000000f2 last_r_p.17
  C:\Temp/ccjSs5Dt.s:4023   .bss:000000f3 last_r_n.18
  C:\Temp/ccjSs5Dt.s:4024   .bss:000000f4 MittelIntegralNick_Alt.19
  C:\Temp/ccjSs5Dt.s:4025   .bss:000000f8 MittelIntegralRoll_Alt.20
  C:\Temp/ccjSs5Dt.s:4026   .bss:000000fc HeightTrimming.21
  C:\Temp/ccjSs5Dt.s:4027   .bss:000000fe FilterHCGas.22
  C:\Temp/ccjSs5Dt.s:4028   .bss:00000100 HoverGasFilter.23
  C:\Temp/ccjSs5Dt.s:4033   .data:0000004f delay.24
  C:\Temp/ccjSs5Dt.s:4029   .bss:00000104 BaroAtUpperLimit.25
  C:\Temp/ccjSs5Dt.s:4035   .bss:00000105 BaroAtLowerLimit.26
  C:\Temp/ccjSs5Dt.s:4040   .text:00001fb6 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 ErsatzKompassInGrad
                            *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
Capacity
UBat
Motor
AdWertGier
ServoNickValue
AdWertAccHoch
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