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   1                            .file   "fc.c"
   2                            .arch atmega1284p
   3                    __SREG__ = 0x3f
   4                    __SP_H__ = 0x3e
   5                    __SP_L__ = 0x3d
   6                    __tmp_reg__ = 0
   7                    __zero_reg__ = 1
   8                            .global __do_copy_data
   9                            .global __do_clear_bss
  10                    .global GasIsZeroCnt
  11                    .global GasIsZeroCnt
  12                            .section .bss
  15                    GasIsZeroCnt:
  16 0000 0000                  .skip 2,0
  17                    .global HooverGasEmergencyPercent
  18                    .global HooverGasEmergencyPercent
  21                    HooverGasEmergencyPercent:
  22 0002 0000                  .skip 2,0
  23                    .global VarioCharacter
  24                            .data
  27                    VarioCharacter:
  28 0000 20                    .byte   32
  29                    .global GIER_GRAD_FAKTOR
  32                    GIER_GRAD_FAKTOR:
  33 0001 0B05 0000             .long   1291
  34                    .global FC_StatusFlags2
  35                    .global FC_StatusFlags2
  36                            .section .bss
  39                    FC_StatusFlags2:
  40 0004 00                    .skip 1,0
  41                    .global FC_StatusFlags
  42                    .global FC_StatusFlags
  45                    FC_StatusFlags:
  46 0005 00                    .skip 1,0
  47                    .global modell_fliegt
  48                    .global modell_fliegt
  51                    modell_fliegt:
  52 0006 0000                  .skip 2,0
  53                    .global MaxStickRoll
  54                    .global MaxStickRoll
  57                    MaxStickRoll:
  58 0008 0000                  .skip 2,0
  59                    .global MaxStickNick
  60                    .global MaxStickNick
  63                    MaxStickNick:
  64 000a 0000                  .skip 2,0
  65                    .global ExternHoehenValue
  66                            .data
  69                    ExternHoehenValue:
  70 0005 ECFF                  .word   -20
  71                    .global ExternStickGier
  72                    .global ExternStickGier
  73                            .section .bss
  76                    ExternStickGier:
  77 000c 0000                  .skip 2,0
  78                    .global ExternStickRoll
  79                    .global ExternStickRoll
  82                    ExternStickRoll:
  83 000e 0000                  .skip 2,0
  84                    .global ExternStickNick
  85                    .global ExternStickNick
  88                    ExternStickNick:
  89 0010 0000                  .skip 2,0
  90                    .global sintab
  91                            .data
  94                    sintab:
  95 0007 00                    .byte   0
  96 0008 02                    .byte   2
  97 0009 04                    .byte   4
  98 000a 06                    .byte   6
  99 000b 07                    .byte   7
 100 000c 08                    .byte   8
 101 000d 08                    .byte   8
 102 000e 08                    .byte   8
 103 000f 07                    .byte   7
 104 0010 06                    .byte   6
 105 0011 04                    .byte   4
 106 0012 02                    .byte   2
 107 0013 00                    .byte   0
 108 0014 FE                    .byte   -2
 109 0015 FC                    .byte   -4
 110 0016 FA                    .byte   -6
 111 0017 F9                    .byte   -7
 112 0018 F8                    .byte   -8
 113 0019 F8                    .byte   -8
 114 001a F8                    .byte   -8
 115 001b F9                    .byte   -7
 116 001c FA                    .byte   -6
 117 001d FC                    .byte   -4
 118 001e FE                    .byte   -2
 119 001f 00                    .byte   0
 120 0020 02                    .byte   2
 121 0021 04                    .byte   4
 122 0022 06                    .byte   6
 123 0023 07                    .byte   7
 124 0024 08                    .byte   8
 125 0025 08                    .byte   8
 126                    .global CareFree
 127                    .global CareFree
 128                            .section .bss
 131                    CareFree:
 132 0012 00                    .skip 1,0
 133                    .global Parameter_DynamicStability
 134                            .data
 137                    Parameter_DynamicStability:
 138 0026 64                    .byte   100
 139                    .global Parameter_CouplingYawCorrection
 142                    Parameter_CouplingYawCorrection:
 143 0027 40                    .byte   64
 144                    .global Parameter_AchsKopplung2
 147                    Parameter_AchsKopplung2:
 148 0028 41                    .byte   65
 149                    .global Parameter_AchsKopplung1
 152                    Parameter_AchsKopplung1:
 153 0029 5A                    .byte   90
 154                    .global Parameter_LoopGasLimit
 157                    Parameter_LoopGasLimit:
 158 002a 46                    .byte   70
 159                    .global Parameter_ServoRollControl
 162                    Parameter_ServoRollControl:
 163 002b 64                    .byte   100
 164                    .global Parameter_ServoNickControl
 167                    Parameter_ServoNickControl:
 168 002c 64                    .byte   100
 169                    .global Parameter_UserParam8
 170                    .global Parameter_UserParam8
 171                            .section .bss
 174                    Parameter_UserParam8:
 175 0013 00                    .skip 1,0
 176                    .global Parameter_UserParam7
 177                    .global Parameter_UserParam7
 180                    Parameter_UserParam7:
 181 0014 00                    .skip 1,0
 182                    .global Parameter_UserParam6
 183                    .global Parameter_UserParam6
 186                    Parameter_UserParam6:
 187 0015 00                    .skip 1,0
 188                    .global Parameter_UserParam5
 189                    .global Parameter_UserParam5
 192                    Parameter_UserParam5:
 193 0016 00                    .skip 1,0
 194                    .global Parameter_UserParam4
 195                    .global Parameter_UserParam4
 198                    Parameter_UserParam4:
 199 0017 00                    .skip 1,0
 200                    .global Parameter_UserParam3
 201                    .global Parameter_UserParam3
 204                    Parameter_UserParam3:
 205 0018 00                    .skip 1,0
 206                    .global Parameter_UserParam2
 207                    .global Parameter_UserParam2
 210                    Parameter_UserParam2:
 211 0019 00                    .skip 1,0
 212                    .global Parameter_UserParam1
 213                    .global Parameter_UserParam1
 216                    Parameter_UserParam1:
 217 001a 00                    .skip 1,0
 218                    .global Parameter_I_Faktor
 219                            .data
 222                    Parameter_I_Faktor:
 223 002d 0A                    .byte   10
 224                    .global Parameter_Gier_P
 227                    Parameter_Gier_P:
 228 002e 02                    .byte   2
 229                    .global Parameter_Gyro_Gier_I
 232                    Parameter_Gyro_Gier_I:
 233 002f 96                    .byte   -106
 234                    .global Parameter_Gyro_Gier_P
 237                    Parameter_Gyro_Gier_P:
 238 0030 96                    .byte   -106
 239                    .global Parameter_Gyro_I
 242                    Parameter_Gyro_I:
 243 0031 96                    .byte   -106
 244                    .global Parameter_Gyro_P
 247                    Parameter_Gyro_P:
 248 0032 96                    .byte   -106
 249                    .global Parameter_Gyro_D
 252                    Parameter_Gyro_D:
 253 0033 08                    .byte   8
 254                    .global Parameter_Hoehe_GPS_Z
 257                    Parameter_Hoehe_GPS_Z:
 258 0034 40                    .byte   64
 259                    .global Parameter_KompassWirkung
 262                    Parameter_KompassWirkung:
 263 0035 40                    .byte   64
 264                    .global Parameter_Hoehe_ACC_Wirkung
 267                    Parameter_Hoehe_ACC_Wirkung:
 268 0036 3A                    .byte   58
 269                    .global Parameter_Hoehe_P
 272                    Parameter_Hoehe_P:
 273 0037 10                    .byte   16
 274                    .global Parameter_HoehenSchalter
 277                    Parameter_HoehenSchalter:
 278 0038 FB                    .byte   -5
 279                    .global Parameter_Luftdruck_D
 282                    Parameter_Luftdruck_D:
 283 0039 30                    .byte   48
 284                    .global Looping_Oben
 285                    .global Looping_Oben
 286                            .section .bss
 289                    Looping_Oben:
 290 001b 00                    .skip 1,0
 291                    .global Looping_Unten
 292                    .global Looping_Unten
 295                    Looping_Unten:
 296 001c 00                    .skip 1,0
 297                    .global Looping_Rechts
 298                    .global Looping_Rechts
 301                    Looping_Rechts:
 302 001d 00                    .skip 1,0
 303                    .global Looping_Links
 304                    .global Looping_Links
 307                    Looping_Links:
 308 001e 00                    .skip 1,0
 309                    .global Looping_Roll
 310                    .global Looping_Roll
 313                    Looping_Roll:
 314 001f 00                    .skip 1,0
 315                    .global Looping_Nick
 316                    .global Looping_Nick
 319                    Looping_Nick:
 320 0020 00                    .skip 1,0
 321                    .global Ki
 322                            .data
 325                    Ki:
 326 003a 3801                  .word   312
 327                    .global HoverGas
 328                    .global HoverGas
 329                            .section .bss
 332                    HoverGas:
 333 0021 0000                  .skip 2,0
 334                    .global LageKorrekturNick
 335                    .global LageKorrekturNick
 338                    LageKorrekturNick:
 339 0023 0000                  .skip 2,0
 340                    .global LageKorrekturRoll
 341                    .global LageKorrekturRoll
 344                    LageKorrekturRoll:
 345 0025 0000                  .skip 2,0
 346                    .global NeueKompassRichtungMerken
 347                    .global NeueKompassRichtungMerken
 350                    NeueKompassRichtungMerken:
 351 0027 00                    .skip 1,0
 352                    .global CalibrationDone
 353                    .global CalibrationDone
 356                    CalibrationDone:
 357 0028 00                    .skip 1,0
 358                    .global CompassGierSetpoint
 359                    .global CompassGierSetpoint
 362                    CompassGierSetpoint:
 363 0029 0000                  .skip 2,0
 364                    .global WaypointTrimming
 365                    .global WaypointTrimming
 368                    WaypointTrimming:
 369 002b 00                    .skip 1,0
 370                    .global carefree_old
 371                            .data
 374                    carefree_old:
 375 003c 32                    .byte   50
 376                    .global FromNC_AltitudeSpeed
 377                    .global FromNC_AltitudeSpeed
 378                            .section .bss
 381                    FromNC_AltitudeSpeed:
 382 002c 00                    .skip 1,0
 383                    .global FromNC_AltitudeSetpoint
 384                    .global FromNC_AltitudeSetpoint
 387                    FromNC_AltitudeSetpoint:
 388 002d 0000 0000             .skip 4,0
 389                    .global AltitudeSetpointTrimming
 390                    .global AltitudeSetpointTrimming
 393                    AltitudeSetpointTrimming:
 394 0031 0000                  .skip 2,0
 395                    .global SollHoehe
 396                    .global SollHoehe
 399                    SollHoehe:
 400 0033 0000 0000             .skip 4,0
 401                    .global HoehenWert
 402                    .global HoehenWert
 405                    HoehenWert:
 406 0037 0000 0000             .skip 4,0
 407                    .global StartTrigger
 408                    .global StartTrigger
 411                    StartTrigger:
 412 003b 00                    .skip 1,0
 413                    .global MotorenEin
 414                    .global MotorenEin
 417                    MotorenEin:
 418 003c 00                    .skip 1,0
 419                    .global SenderOkay
 420                    .global SenderOkay
 423                    SenderOkay:
 424 003d 00                    .skip 1,0
 425                    .global Poti
 426                    .global Poti
 429                    Poti:
 430 003e 0000 0000             .skip 9,0
 430      0000 0000 
 430      00
 431                    .global StickGas
 432                    .global StickGas
 435                    StickGas:
 436 0047 0000                  .skip 2,0
 437                    .global StickGier
 438                    .global StickGier
 441                    StickGier:
 442 0049 0000                  .skip 2,0
 443                    .global StickRoll
 444                    .global StickRoll
 447                    StickRoll:
 448 004b 0000                  .skip 2,0
 449                    .global StickNick
 450                    .global StickNick
 453                    StickNick:
 454 004d 0000                  .skip 2,0
 455                    .global HoverGasMax
 456                            .data
 459                    HoverGasMax:
 460 003d FF03                  .word   1023
 461                    .global HoverGasMin
 462                    .global HoverGasMin
 463                            .section .bss
 466                    HoverGasMin:
 467 004f 0000                  .skip 2,0
 468                    .global StickGasHover
 469                            .data
 472                    StickGasHover:
 473 003f 7800                  .word   120
 474                    .global GierGyroFehler
 475                    .global GierGyroFehler
 476                            .section .bss
 479                    GierGyroFehler:
 480 0051 0000                  .skip 2,0
 481                    .global Umschlag180Roll
 482                            .data
 485                    Umschlag180Roll:
 486 0041 90D0 0300             .long   250000
 487                    .global Umschlag180Nick
 490                    Umschlag180Nick:
 491 0045 90D0 0300             .long   250000
 492                    .global TrichterFlug
 493                    .global TrichterFlug
 494                            .section .bss
 497                    TrichterFlug:
 498 0053 00                    .skip 1,0
 499                    .global HoehenReglerAktiv
 500                    .global HoehenReglerAktiv
 503                    HoehenReglerAktiv:
 504 0054 00                    .skip 1,0
 505                    .global KompassSignalSchlecht
 506                            .data
 509                    KompassSignalSchlecht:
 510 0049 3200                  .word   50
 511                    .global KompassFusion
 514                    KompassFusion:
 515 004b 20                    .byte   32
 516                    .global CalculateCompassTimer
 519                    CalculateCompassTimer:
 520 004c 64                    .byte   100
 521                    .global KompassSollWert
 522                    .global KompassSollWert
 523                            .section .bss
 526                    KompassSollWert:
 527 0055 0000                  .skip 2,0
 528                    .global KompassValue
 529                            .data
 532                    KompassValue:
 533 004d FFFF                  .word   -1
 534                    .global Mess_Integral_Hoch
 535                    .global Mess_Integral_Hoch
 536                            .section .bss
 539                    Mess_Integral_Hoch:
 540 0057 0000 0000             .skip 4,0
 541                    .global SummeRoll
 542                    .global SummeRoll
 545                    SummeRoll:
 546 005b 0000 0000             .skip 4,0
 547                    .global SummeNick
 548                    .global SummeNick
 551                    SummeNick:
 552 005f 0000 0000             .skip 4,0
 553                    .global Mess_Integral_Gier2
 554                    .global Mess_Integral_Gier2
 557                    Mess_Integral_Gier2:
 558 0063 0000 0000             .skip 4,0
 559                    .global Mess_Integral_Gier
 560                    .global Mess_Integral_Gier
 563                    Mess_Integral_Gier:
 564 0067 0000 0000             .skip 4,0
 565                    .global Mess_IntegralRoll2
 566                    .global Mess_IntegralRoll2
 569                    Mess_IntegralRoll2:
 570 006b 0000 0000             .skip 4,0
 571                    .global Mess_IntegralRoll
 572                    .global Mess_IntegralRoll
 575                    Mess_IntegralRoll:
 576 006f 0000 0000             .skip 4,0
 577                    .global Mess_IntegralNick2
 578                    .global Mess_IntegralNick2
 581                    Mess_IntegralNick2:
 582 0073 0000 0000             .skip 4,0
 583                    .global Mess_IntegralNick
 584                    .global Mess_IntegralNick
 587                    Mess_IntegralNick:
 588 0077 0000 0000             .skip 4,0
 589                    .global Integral_Gier
 590                    .global Integral_Gier
 593                    Integral_Gier:
 594 007b 0000 0000             .skip 4,0
 595                    .global IntegralAccZ
 596                    .global IntegralAccZ
 599                    IntegralAccZ:
 600 007f 0000 0000             .skip 4,0
 601                    .global IntegralAccRoll
 602                    .global IntegralAccRoll
 605                    IntegralAccRoll:
 606 0083 0000 0000             .skip 4,0
 607                    .global IntegralAccNick
 608                    .global IntegralAccNick
 611                    IntegralAccNick:
 612 0087 0000 0000             .skip 4,0
 613                    .global IntegralRoll2
 614                    .global IntegralRoll2
 617                    IntegralRoll2:
 618 008b 0000 0000             .skip 4,0
 619                    .global IntegralRoll
 620                    .global IntegralRoll
 623                    IntegralRoll:
 624 008f 0000 0000             .skip 4,0
 625                    .global IntegralNick2
 626                    .global IntegralNick2
 629                    IntegralNick2:
 630 0093 0000 0000             .skip 4,0
 631                    .global IntegralNick
 632                    .global IntegralNick
 635                    IntegralNick:
 636 0097 0000 0000             .skip 4,0
 637                    .global ControlHeading
 638                    .global ControlHeading
 641                    ControlHeading:
 642 009b 00                    .skip 1,0
 643                    .global NeutralAccZ
 644                    .global NeutralAccZ
 647                    NeutralAccZ:
 648 009c 0000                  .skip 2,0
 649                    .global NaviCntAcc
 650                    .global NaviCntAcc
 653                    NaviCntAcc:
 654 009e 0000                  .skip 2,0
 655                    .global NeutralAccY
 656                    .global NeutralAccY
 659                    NeutralAccY:
 660 00a0 0000                  .skip 2,0
 661                    .global NeutralAccX
 662                    .global NeutralAccX
 665                    NeutralAccX:
 666 00a2 0000                  .skip 2,0
 667                    .global StartNeutralNick
 668                    .global StartNeutralNick
 671                    StartNeutralNick:
 672 00a4 0000                  .skip 2,0
 673                    .global StartNeutralRoll
 674                    .global StartNeutralRoll
 677                    StartNeutralRoll:
 678 00a6 0000                  .skip 2,0
 679                    .global AdNeutralGier
 680                    .global AdNeutralGier
 683                    AdNeutralGier:
 684 00a8 0000                  .skip 2,0
 685                    .global AdNeutralRoll
 686                    .global AdNeutralRoll
 689                    AdNeutralRoll:
 690 00aa 0000                  .skip 2,0
 691                    .global AdNeutralNick
 692                    .global AdNeutralNick
 695                    AdNeutralNick:
 696 00ac 0000                  .skip 2,0
 697                    .global BaroExpandActive
 698                    .global BaroExpandActive
 701                    BaroExpandActive:
 702 00ae 0000                  .skip 2,0
 703                            .text
 704                    .global CopyDebugValues
 706                    CopyDebugValues:
 707                    /* prologue: frame size=0 */
 708 0000 EF92                  push r14
 709 0002 FF92                  push r15
 710 0004 0F93                  push r16
 711 0006 1F93                  push r17
 712                    /* prologue end (size=4) */
 713 0008 8091 0000             lds r24,EE_Parameter+28
 714 000c 9927                  clr r25
 715 000e 880F                  lsl r24
 716 0010 991F                  rol r25
 717 0012 880F                  lsl r24
 718 0014 991F                  rol r25
 719 0016 7C01                  movw r14,r24
 720 0018 0027                  clr r16
 721 001a F7FC                  sbrc r15,7
 722 001c 0095                  com r16
 723 001e 102F                  mov r17,r16
 724 0020 8091 0000             lds r24,IntegralNick
 725 0024 9091 0000             lds r25,(IntegralNick)+1
 726 0028 A091 0000             lds r26,(IntegralNick)+2
 727 002c B091 0000             lds r27,(IntegralNick)+3
 728 0030 BC01                  movw r22,r24
 729 0032 CD01                  movw r24,r26
 730 0034 A801                  movw r20,r16
 731 0036 9701                  movw r18,r14
 732 0038 0E94 0000             call __divmodsi4
 733 003c 3093 0000             sts (DebugOut+2)+1,r19
 734 0040 2093 0000             sts DebugOut+2,r18
 735 0044 8091 0000             lds r24,IntegralRoll
 736 0048 9091 0000             lds r25,(IntegralRoll)+1
 737 004c A091 0000             lds r26,(IntegralRoll)+2
 738 0050 B091 0000             lds r27,(IntegralRoll)+3
 739 0054 BC01                  movw r22,r24
 740 0056 CD01                  movw r24,r26
 741 0058 A801                  movw r20,r16
 742 005a 9701                  movw r18,r14
 743 005c 0E94 0000             call __divmodsi4
 744 0060 3093 0000             sts (DebugOut+4)+1,r19
 745 0064 2093 0000             sts DebugOut+4,r18
 746 0068 8091 0000             lds r24,Mittelwert_AccNick
 747 006c 9091 0000             lds r25,(Mittelwert_AccNick)+1
 748 0070 97FD                  sbrc r25,7
 749 0072 0396                  adiw r24,3
 750                    .L2:
 751 0074 9595                  asr r25
 752 0076 8795                  ror r24
 753 0078 9595                  asr r25
 754 007a 8795                  ror r24
 755 007c 9093 0000             sts (DebugOut+6)+1,r25
 756 0080 8093 0000             sts DebugOut+6,r24
 757 0084 8091 0000             lds r24,Mittelwert_AccRoll
 758 0088 9091 0000             lds r25,(Mittelwert_AccRoll)+1
 759 008c 97FD                  sbrc r25,7
 760 008e 0396                  adiw r24,3
 761                    .L3:
 762 0090 9595                  asr r25
 763 0092 8795                  ror r24
 764 0094 9595                  asr r25
 765 0096 8795                  ror r24
 766 0098 9093 0000             sts (DebugOut+8)+1,r25
 767 009c 8093 0000             sts DebugOut+8,r24
 768 00a0 8091 0000             lds r24,AdNeutralGier
 769 00a4 9091 0000             lds r25,(AdNeutralGier)+1
 770 00a8 2091 0000             lds r18,AdWertGier
 771 00ac 3091 0000             lds r19,(AdWertGier)+1
 772 00b0 821B                  sub r24,r18
 773 00b2 930B                  sbc r25,r19
 774 00b4 9093 0000             sts (DebugOut+10)+1,r25
 775 00b8 8093 0000             sts DebugOut+10,r24
 776 00bc 8091 0000             lds r24,HoehenWert
 777 00c0 9091 0000             lds r25,(HoehenWert)+1
 778 00c4 A091 0000             lds r26,(HoehenWert)+2
 779 00c8 B091 0000             lds r27,(HoehenWert)+3
 780 00cc BC01                  movw r22,r24
 781 00ce CD01                  movw r24,r26
 782 00d0 25E0                  ldi r18,lo8(5)
 783 00d2 30E0                  ldi r19,hi8(5)
 784 00d4 40E0                  ldi r20,hlo8(5)
 785 00d6 50E0                  ldi r21,hhi8(5)
 786 00d8 0E94 0000             call __divmodsi4
 787 00dc 3093 0000             sts (DebugOut+12)+1,r19
 788 00e0 2093 0000             sts DebugOut+12,r18
 789 00e4 8091 0000             lds r24,AdWertAccHoch
 790 00e8 9091 0000             lds r25,(AdWertAccHoch)+1
 791 00ec 9093 0000             sts (DebugOut+14)+1,r25
 792 00f0 8093 0000             sts DebugOut+14,r24
 793 00f4 8091 0000             lds r24,UBat
 794 00f8 9091 0000             lds r25,(UBat)+1
 795 00fc 9093 0000             sts (DebugOut+16)+1,r25
 796 0100 8093 0000             sts DebugOut+16,r24
 797 0104 8091 0000             lds r24,Motor+1
 798 0108 9927                  clr r25
 799 010a 9093 0000             sts (DebugOut+18)+1,r25
 800 010e 8093 0000             sts DebugOut+18,r24
 801 0112 8091 0000             lds r24,Motor+9
 802 0116 9927                  clr r25
 803 0118 9093 0000             sts (DebugOut+20)+1,r25
 804 011c 8093 0000             sts DebugOut+20,r24
 805 0120 8091 0000             lds r24,Motor+17
 806 0124 9927                  clr r25
 807 0126 9093 0000             sts (DebugOut+22)+1,r25
 808 012a 8093 0000             sts DebugOut+22,r24
 809 012e 8091 0000             lds r24,Motor+25
 810 0132 9927                  clr r25
 811 0134 9093 0000             sts (DebugOut+24)+1,r25
 812 0138 8093 0000             sts DebugOut+24,r24
 813 013c 8091 0000             lds r24,Motor+33
 814 0140 9927                  clr r25
 815 0142 9093 0000             sts (DebugOut+26)+1,r25
 816 0146 8093 0000             sts DebugOut+26,r24
 817 014a 8091 0000             lds r24,Motor+41
 818 014e 9927                  clr r25
 819 0150 9093 0000             sts (DebugOut+28)+1,r25
 820 0154 8093 0000             sts DebugOut+28,r24
 821 0158 8091 0000             lds r24,Motor+49
 822 015c 9927                  clr r25
 823 015e 9093 0000             sts (DebugOut+30)+1,r25
 824 0162 8093 0000             sts DebugOut+30,r24
 825 0166 8091 0000             lds r24,Motor+57
 826 016a 9927                  clr r25
 827 016c 9093 0000             sts (DebugOut+32)+1,r25
 828 0170 8093 0000             sts DebugOut+32,r24
 829 0174 8091 0000             lds r24,SenderOkay
 830 0178 9927                  clr r25
 831 017a 9093 0000             sts (DebugOut+34)+1,r25
 832 017e 8093 0000             sts DebugOut+34,r24
 833 0182 8091 0000             lds r24,ErsatzKompass
 834 0186 9091 0000             lds r25,(ErsatzKompass)+1
 835 018a A091 0000             lds r26,(ErsatzKompass)+2
 836 018e B091 0000             lds r27,(ErsatzKompass)+3
 837 0192 2091 0000             lds r18,GIER_GRAD_FAKTOR
 838 0196 3091 0000             lds r19,(GIER_GRAD_FAKTOR)+1
 839 019a 4091 0000             lds r20,(GIER_GRAD_FAKTOR)+2
 840 019e 5091 0000             lds r21,(GIER_GRAD_FAKTOR)+3
 841 01a2 BC01                  movw r22,r24
 842 01a4 CD01                  movw r24,r26
 843 01a6 0E94 0000             call __divmodsi4
 844 01aa 3093 0000             sts (DebugOut+36)+1,r19
 845 01ae 2093 0000             sts DebugOut+36,r18
 846 01b2 8091 0000             lds r24,Capacity
 847 01b6 9091 0000             lds r25,(Capacity)+1
 848 01ba 9093 0000             sts (DebugOut+38)+1,r25
 849 01be 8093 0000             sts DebugOut+38,r24
 850 01c2 8091 0000             lds r24,Capacity+4
 851 01c6 9091 0000             lds r25,(Capacity+4)+1
 852 01ca 9093 0000             sts (DebugOut+40)+1,r25
 853 01ce 8093 0000             sts DebugOut+40,r24
 854 01d2 8091 0000             lds r24,ServoNickValue
 855 01d6 9091 0000             lds r25,(ServoNickValue)+1
 856 01da 9093 0000             sts (DebugOut+42)+1,r25
 857 01de 8093 0000             sts DebugOut+42,r24
 858 01e2 8091 0000             lds r24,KompassValue
 859 01e6 9091 0000             lds r25,(KompassValue)+1
 860 01ea 9093 0000             sts (DebugOut+44)+1,r25
 861 01ee 8093 0000             sts DebugOut+44,r24
 862 01f2 1092 0000             sts (DebugOut+46)+1,__zero_reg__
 863 01f6 1092 0000             sts DebugOut+46,__zero_reg__
 864 01fa 8091 0000             lds r24,Capacity+6
 865 01fe 9927                  clr r25
 866 0200 9093 0000             sts (DebugOut+48)+1,r25
 867 0204 8093 0000             sts DebugOut+48,r24
 868 0208 8091 0000             lds r24,GPS_Nick
 869 020c 9091 0000             lds r25,(GPS_Nick)+1
 870 0210 9093 0000             sts (DebugOut+50)+1,r25
 871 0214 8093 0000             sts DebugOut+50,r24
 872 0218 8091 0000             lds r24,GPS_Roll
 873 021c 9091 0000             lds r25,(GPS_Roll)+1
 874 0220 9093 0000             sts (DebugOut+52)+1,r25
 875 0224 8093 0000             sts DebugOut+52,r24
 876 0228 8091 0000             lds r24,VersionInfo+5
 877 022c 8823                  tst r24
 878 022e 01F4                  brne .L5
 879 0230 8091 0000             lds r24,VersionInfo+6
 880 0234 8823                  tst r24
 881 0236 01F0                  breq .L4
 882                    .L5:
 883 0238 8091 0000             lds r24,DebugOut+1
 884 023c 8160                  ori r24,lo8(1)
 885 023e 00C0                  rjmp .L7
 886                    .L4:
 887 0240 8091 0000             lds r24,DebugOut+1
 888 0244 8E7F                  andi r24,lo8(-2)
 889                    .L7:
 890 0246 8093 0000             sts DebugOut+1,r24
 891                    /* epilogue: frame size=0 */
 892 024a 1F91                  pop r17
 893 024c 0F91                  pop r16
 894 024e FF90                  pop r15
 895 0250 EF90                  pop r14
 896 0252 0895                  ret
 897                    /* epilogue end (size=5) */
 898                    /* function CopyDebugValues size 300 (291) */
 900                    .global Piep
 902                    Piep:
 903                    /* prologue: frame size=0 */
 904 0254 EF92                  push r14
 905 0256 FF92                  push r15
 906 0258 1F93                  push r17
 907 025a CF93                  push r28
 908 025c DF93                  push r29
 909                    /* prologue end (size=5) */
 910 025e 182F                  mov r17,r24
 911 0260 7B01                  movw r14,r22
 912 0262 8091 0000             lds r24,MotorenEin
 913 0266 8823                  tst r24
 914 0268 01F4                  brne .L8
 915 026a 8091 0000             lds r24,PlatinenVersion
 916 026e 8C30                  cpi r24,lo8(12)
 917 0270 00F0                  brlo .L11
 918 0272 8631                  cpi r24,lo8(22)
 919 0274 01F4                  brne .L10
 920                    .L11:
 921 0276 2998                  cbi 37-0x20,1
 922 0278 00C0                  rjmp .L12
 923                    .L10:
 924 027a 299A                  sbi 37-0x20,1
 925                    .L12:
 926 027c 1150                  subi r17,lo8(-(-1))
 927 027e 1F3F                  cpi r17,lo8(-1)
 928 0280 01F0                  breq .L26
 929 0282 F092 0000             sts (beeptime)+1,r15
 930 0286 E092 0000             sts beeptime,r14
 931 028a E701                  movw r28,r14
 932                    .L34:
 933 028c 8091 0000             lds r24,beeptime
 934 0290 9091 0000             lds r25,(beeptime)+1
 935 0294 892B                  or r24,r25
 936 0296 01F4                  brne .L31
 937 0298 2097                  sbiw r28,0
 938 029a 01F0                  breq .L12
 939                    .L31:
 940 029c 8091 0000             lds r24,UpdateMotor
 941 02a0 8823                  tst r24
 942 02a2 01F0                  breq .L34
 943 02a4 1092 0000             sts UpdateMotor,__zero_reg__
 944 02a8 8091 0000             lds r24,beeptime
 945 02ac 9091 0000             lds r25,(beeptime)+1
 946 02b0 892B                  or r24,r25
 947 02b2 01F4                  brne .L19
 948 02b4 2197                  sbiw r28,1
 949                    .L19:
 950 02b6 0E94 0000             call LIBFC_Polling
 951 02ba 00C0                  rjmp .L34
 952                    .L26:
 953 02bc 8091 0000             lds r24,PlatinenVersion
 954 02c0 8C30                  cpi r24,lo8(12)
 955 02c2 00F0                  brlo .L23
 956 02c4 8631                  cpi r24,lo8(22)
 957 02c6 01F4                  brne .L22
 958                    .L23:
 959 02c8 299A                  sbi 37-0x20,1
 960 02ca 00C0                  rjmp .L8
 961                    .L22:
 962 02cc 2998                  cbi 37-0x20,1
 963                    .L8:
 964                    /* epilogue: frame size=0 */
 965 02ce DF91                  pop r29
 966 02d0 CF91                  pop r28
 967 02d2 1F91                  pop r17
 968 02d4 FF90                  pop r15
 969 02d6 EF90                  pop r14
 970 02d8 0895                  ret
 971                    /* epilogue end (size=6) */
 972                    /* function Piep size 67 (56) */
 974                    .global CalibrierMittelwert
 976                    CalibrierMittelwert:
 977                    /* prologue: frame size=0 */
 978 02da CF93                  push r28
 979 02dc DF93                  push r29
 980                    /* prologue end (size=2) */
 981 02de 8091 0000             lds r24,PlatinenVersion
 982 02e2 8D30                  cpi r24,lo8(13)
 983 02e4 01F4                  brne .L36
 984 02e6 0E94 0000             call SucheGyroOffset
 985                    .L36:
 986 02ea 1092 7A00             sts 122,__zero_reg__
 987 02ee 8091 0000             lds r24,AdWertNick
 988 02f2 9091 0000             lds r25,(AdWertNick)+1
 989 02f6 9093 0000             sts (MesswertNick)+1,r25
 990 02fa 8093 0000             sts MesswertNick,r24
 991 02fe 8091 0000             lds r24,AdWertRoll
 992 0302 9091 0000             lds r25,(AdWertRoll)+1
 993 0306 9093 0000             sts (MesswertRoll)+1,r25
 994 030a 8093 0000             sts MesswertRoll,r24
 995 030e 8091 0000             lds r24,AdWertGier
 996 0312 9091 0000             lds r25,(AdWertGier)+1
 997 0316 9093 0000             sts (MesswertGier)+1,r25
 998 031a 8093 0000             sts MesswertGier,r24
 999 031e 2091 0000             lds r18,AdWertAccNick
 1000 0322 3091 0000            lds r19,(AdWertAccNick)+1
 1001 0326 C901                 movw r24,r18
 1002 0328 880F                 lsl r24
 1003 032a 991F                 rol r25
 1004 032c 880F                 lsl r24
 1005 032e 991F                 rol r25
 1006 0330 820F                 add r24,r18
 1007 0332 931F                 adc r25,r19
 1008 0334 820F                 add r24,r18
 1009 0336 931F                 adc r25,r19
 1010 0338 9093 0000            sts (Mittelwert_AccNick)+1,r25
 1011 033c 8093 0000            sts Mittelwert_AccNick,r24
 1012 0340 2091 0000            lds r18,AdWertAccRoll
 1013 0344 3091 0000            lds r19,(AdWertAccRoll)+1
 1014 0348 C901                 movw r24,r18
 1015 034a 880F                 lsl r24
 1016 034c 991F                 rol r25
 1017 034e 880F                 lsl r24
 1018 0350 991F                 rol r25
 1019 0352 820F                 add r24,r18
 1020 0354 931F                 adc r25,r19
 1021 0356 820F                 add r24,r18
 1022 0358 931F                 adc r25,r19
 1023 035a 9093 0000            sts (Mittelwert_AccRoll)+1,r25
 1024 035e 8093 0000            sts Mittelwert_AccRoll,r24
 1025 0362 8FEC                 ldi r24,lo8(-49)
 1026 0364 8093 7A00            sts 122,r24
 1027 0368 A0E0                 ldi r26,lo8(Poti)
 1028 036a B0E0                 ldi r27,hi8(Poti)
 1029 036c C0E0                 ldi r28,lo8(EE_Parameter+5)
 1030 036e D0E0                 ldi r29,hi8(EE_Parameter+5)
 1031 0370 97E0                 ldi r25,lo8(7)
 1032                   .L46:
 1033 0372 8991                 ld r24,Y+
 1034 0374 E82F                 mov r30,r24
 1035 0376 FF27                 clr r31
 1036 0378 EE0F                 add r30,r30
 1037 037a FF1F                 adc r31,r31
 1038 037c E050                 subi r30,lo8(-(PPM_in))
 1039 037e F040                 sbci r31,hi8(-(PPM_in))
 1040 0380 0190                 ld __tmp_reg__,Z+
 1041 0382 F081                 ld r31,Z
 1042 0384 E02D                 mov r30,__tmp_reg__
 1043 0386 E158                 subi r30,lo8(-(127))
 1044 0388 FF4F                 sbci r31,hi8(-(127))
 1045 038a 1E16                 cp __zero_reg__,r30
 1046 038c 1F06                 cpc __zero_reg__,r31
 1047 038e 04F0                 brlt .L40
 1048 0390 E0E0                 ldi r30,lo8(0)
 1049 0392 F0E0                 ldi r31,hi8(0)
 1050 0394 00C0                 rjmp .L41
 1051                   .L40:
 1052 0396 EF3F                 cpi r30,255
 1053 0398 F105                 cpc r31,__zero_reg__
 1054 039a 04F0                 brlt .L41
 1055 039c EFEF                 ldi r30,lo8(255)
 1056 039e F0E0                 ldi r31,hi8(255)
 1057                   .L41:
 1058 03a0 8C91                 ld r24,X
 1059 03a2 282F                 mov r18,r24
 1060 03a4 3327                 clr r19
 1061 03a6 E217                 cp r30,r18
 1062 03a8 F307                 cpc r31,r19
 1063 03aa 04F4                 brge .L43
 1064 03ac 8150                 subi r24,lo8(-(-1))
 1065 03ae 00C0                 rjmp .L49
 1066                   .L43:
 1067 03b0 2E17                 cp r18,r30
 1068 03b2 3F07                 cpc r19,r31
 1069 03b4 04F4                 brge .L39
 1070 03b6 8F5F                 subi r24,lo8(-(1))
 1071                   .L49:
 1072 03b8 8C93                 st X,r24
 1073                   .L39:
 1074 03ba 9150                 subi r25,lo8(-(-1))
 1075 03bc 1196                 adiw r26,1
 1076 03be 97FF                 sbrs r25,7
 1077 03c0 00C0                 rjmp .L46
 1078 03c2 8091 0000            lds r24,EE_Parameter+65
 1079 03c6 9927                 clr r25
 1080 03c8 AA27                 clr r26
 1081 03ca BB27                 clr r27
 1082 03cc BC01                 movw r22,r24
 1083 03ce CD01                 movw r24,r26
 1084 03d0 24EC                 ldi r18,lo8(2500)
 1085 03d2 39E0                 ldi r19,hi8(2500)
 1086 03d4 40E0                 ldi r20,hlo8(2500)
 1087 03d6 50E0                 ldi r21,hhi8(2500)
 1088 03d8 0E94 0000            call __mulsi3
 1089 03dc DC01                 movw r26,r24
 1090 03de CB01                 movw r24,r22
 1091 03e0 8093 0000            sts Umschlag180Nick,r24
 1092 03e4 9093 0000            sts (Umschlag180Nick)+1,r25
 1093 03e8 A093 0000            sts (Umschlag180Nick)+2,r26
 1094 03ec B093 0000            sts (Umschlag180Nick)+3,r27
 1095 03f0 8091 0000            lds r24,EE_Parameter+66
 1096 03f4 9927                 clr r25
 1097 03f6 AA27                 clr r26
 1098 03f8 BB27                 clr r27
 1099 03fa BC01                 movw r22,r24
 1100 03fc CD01                 movw r24,r26
 1101 03fe 0E94 0000            call __mulsi3
 1102 0402 DC01                 movw r26,r24
 1103 0404 CB01                 movw r24,r22
 1104 0406 8093 0000            sts Umschlag180Roll,r24
 1105 040a 9093 0000            sts (Umschlag180Roll)+1,r25
 1106 040e A093 0000            sts (Umschlag180Roll)+2,r26
 1107 0412 B093 0000            sts (Umschlag180Roll)+3,r27
 1108                   /* epilogue: frame size=0 */
 1109 0416 DF91                 pop r29
 1110 0418 CF91                 pop r28
 1111 041a 0895                 ret
 1112                   /* epilogue end (size=3) */
 1113                   /* function CalibrierMittelwert size 161 (156) */
 1115                           .section        .progmem.data,"a",@progbits
 1118                   __c.35:
 1119 0000 0A0D 4143            .string "\n\rACC not calibrated!\r\n"
 1119      4320 6E6F 
 1119      7420 6361 
 1119      6C69 6272 
 1119      6174 6564 
 1120                           .text
 1121                   .global SetNeutral
 1123                   SetNeutral:
 1124                   /* prologue: frame size=0 */
 1125 041c A0E0                 ldi r26,lo8(0)
 1126 041e B0E0                 ldi r27,hi8(0)
 1127 0420 E0E0                 ldi r30,pm_lo8(1f)
 1128 0422 F0E0                 ldi r31,pm_hi8(1f)
 1129 0424 0C94 0000            jmp __prologue_saves__+12
 1130                   1:
 1131                   /* prologue end (size=6) */
 1132 0428 882E                 mov r8,r24
 1133 042a C0E0                 ldi r28,lo8(0)
 1134 042c D0E0                 ldi r29,hi8(0)
 1135 042e 7E01                 movw r14,r28
 1136 0430 6E01                 movw r12,r28
 1137 0432 1092 0000            sts VersionInfo+5,__zero_reg__
 1138 0436 D093 0000            sts (NeutralAccX)+1,r29
 1139 043a C093 0000            sts NeutralAccX,r28
 1140 043e D093 0000            sts (NeutralAccY)+1,r29
 1141 0442 C093 0000            sts NeutralAccY,r28
 1142 0446 D093 0000            sts (NeutralAccZ)+1,r29
 1143 044a C093 0000            sts NeutralAccZ,r28
 1144 044e D093 0000            sts (AdNeutralNick)+1,r29
 1145 0452 C093 0000            sts AdNeutralNick,r28
 1146 0456 D093 0000            sts (AdNeutralRoll)+1,r29
 1147 045a C093 0000            sts AdNeutralRoll,r28
 1148 045e D093 0000            sts (AdNeutralGier)+1,r29
 1149 0462 C093 0000            sts AdNeutralGier,r28
 1150 0466 1092 0000            sts Parameter_AchsKopplung1,__zero_reg__
 1151 046a 1092 0000            sts Parameter_AchsKopplung2,__zero_reg__
 1152 046e 1092 0000            sts ExpandBaro,__zero_reg__
 1153 0472 0E94 0000            call CalibrierMittelwert
 1154 0476 84E6                 ldi r24,lo8(100)
 1155 0478 90E0                 ldi r25,hi8(100)
 1156 047a 0E94 0000            call Delay_ms_Mess
 1157 047e 0E94 0000            call CalibrierMittelwert
 1158 0482 8091 0000            lds r24,EE_Parameter+13
 1159 0486 80FF                 sbrs r24,0
 1160 0488 00C0                 rjmp .L51
 1161 048a 8091 0000            lds r24,MessLuftdruck
 1162 048e 9091 0000            lds r25,(MessLuftdruck)+1
 1163 0492 875B                 subi r24,lo8(951)
 1164 0494 9340                 sbci r25,hi8(951)
 1165 0496 00F4                 brsh .L53
 1166 0498 8091 0000            lds r24,MessLuftdruck
 1167 049c 9091 0000            lds r25,(MessLuftdruck)+1
 1168 04a0 8E5E                 subi r24,lo8(750)
 1169 04a2 9240                 sbci r25,hi8(750)
 1170 04a4 00F4                 brsh .L51
 1171                   .L53:
 1172 04a6 0E94 0000            call SucheLuftruckOffset
 1173                   .L51:
 1174 04aa 0FE1                 ldi r16,lo8(31)
 1175                   .L57:
 1176 04ac 8AE0                 ldi r24,lo8(10)
 1177 04ae 90E0                 ldi r25,hi8(10)
 1178 04b0 0E94 0000            call Delay_ms_Mess
 1179 04b4 8091 0000            lds r24,AdWertGier
 1180 04b8 9091 0000            lds r25,(AdWertGier)+1
 1181 04bc C80F                 add r28,r24
 1182 04be D91F                 adc r29,r25
 1183 04c0 8091 0000            lds r24,AdWertNick
 1184 04c4 9091 0000            lds r25,(AdWertNick)+1
 1185 04c8 E80E                 add r14,r24
 1186 04ca F91E                 adc r15,r25
 1187 04cc 8091 0000            lds r24,AdWertRoll
 1188 04d0 9091 0000            lds r25,(AdWertRoll)+1
 1189 04d4 C80E                 add r12,r24
 1190 04d6 D91E                 adc r13,r25
 1191 04d8 0150                 subi r16,lo8(-(-1))
 1192 04da 07FF                 sbrs r16,7
 1193 04dc 00C0                 rjmp .L57
 1194 04de 9701                 movw r18,r14
 1195 04e0 205F                 subi r18,lo8(-(16))
 1196 04e2 3F4F                 sbci r19,hi8(-(16))
 1197 04e4 3695                 lsr r19
 1198 04e6 2795                 ror r18
 1199 04e8 3695                 lsr r19
 1200 04ea 2795                 ror r18
 1201 04ec 3093 0000            sts (AdNeutralNick)+1,r19
 1202 04f0 2093 0000            sts AdNeutralNick,r18
 1203 04f4 C601                 movw r24,r12
 1204 04f6 4096                 adiw r24,16
 1205 04f8 9695                 lsr r25
 1206 04fa 8795                 ror r24
 1207 04fc 9695                 lsr r25
 1208 04fe 8795                 ror r24
 1209 0500 9093 0000            sts (AdNeutralRoll)+1,r25
 1210 0504 8093 0000            sts AdNeutralRoll,r24
 1211 0508 6096                 adiw r28,16
 1212 050a F5E0                 ldi r31,5
 1213 050c D695         1:      lsr r29
 1214 050e C795                 ror r28
 1215 0510 FA95                 dec r31
 1216 0512 01F4                 brne 1b
 1217 0514 D093 0000            sts (AdNeutralGier)+1,r29
 1218 0518 C093 0000            sts AdNeutralGier,r28
 1219 051c 9093 0000            sts (StartNeutralRoll)+1,r25
 1220 0520 8093 0000            sts StartNeutralRoll,r24
 1221 0524 3093 0000            sts (StartNeutralNick)+1,r19
 1222 0528 2093 0000            sts StartNeutralNick,r18
 1223 052c 8820                 tst r8
 1224 052e 01F4                 brne .+2
 1225 0530 00C0                 rjmp .L58
 1226 0532 8091 0000            lds r24,Mittelwert_AccNick
 1227 0536 9091 0000            lds r25,(Mittelwert_AccNick)+1
 1228 053a 97FF                 sbrs r25,7
 1229 053c 00C0                 rjmp .L59
 1230 053e 9095                 com r25
 1231 0540 8195                 neg r24
 1232 0542 9F4F                 sbci r25,lo8(-1)
 1233                   .L59:
 1234 0544 6CE0                 ldi r22,lo8(12)
 1235 0546 70E0                 ldi r23,hi8(12)
 1236 0548 0E94 0000            call __divmodhi4
 1237 054c 9B01                 movw r18,r22
 1238 054e 7093 0000            sts (NeutralAccX)+1,r23
 1239 0552 6093 0000            sts NeutralAccX,r22
 1240 0556 8091 0000            lds r24,Mittelwert_AccRoll
 1241 055a 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 1242 055e 97FF                 sbrs r25,7
 1243 0560 00C0                 rjmp .L60
 1244 0562 9095                 com r25
 1245 0564 8195                 neg r24
 1246 0566 9F4F                 sbci r25,lo8(-1)
 1247                   .L60:
 1248 0568 6CE0                 ldi r22,lo8(12)
 1249 056a 70E0                 ldi r23,hi8(12)
 1250 056c 0E94 0000            call __divmodhi4
 1251 0570 7093 0000            sts (NeutralAccY)+1,r23
 1252 0574 6093 0000            sts NeutralAccY,r22
 1253 0578 8091 0000            lds r24,Aktuell_az
 1254 057c 9091 0000            lds r25,(Aktuell_az)+1
 1255 0580 9093 0000            sts (NeutralAccZ)+1,r25
 1256 0584 8093 0000            sts NeutralAccZ,r24
 1257 0588 B901                 movw r22,r18
 1258 058a 84E0                 ldi r24,lo8(4)
 1259 058c 90E0                 ldi r25,hi8(4)
 1260 058e 0E94 0000            call SetParamWord
 1261 0592 6091 0000            lds r22,NeutralAccY
 1262 0596 7091 0000            lds r23,(NeutralAccY)+1
 1263 059a 86E0                 ldi r24,lo8(6)
 1264 059c 90E0                 ldi r25,hi8(6)
 1265 059e 0E94 0000            call SetParamWord
 1266 05a2 6091 0000            lds r22,NeutralAccZ
 1267 05a6 7091 0000            lds r23,(NeutralAccZ)+1
 1268 05aa 88E0                 ldi r24,lo8(8)
 1269 05ac 90E0                 ldi r25,hi8(8)
 1270 05ae 0E94 0000            call SetParamWord
 1271 05b2 00C0                 rjmp .L61
 1272                   .L58:
 1273 05b4 84E0                 ldi r24,lo8(4)
 1274 05b6 90E0                 ldi r25,hi8(4)
 1275 05b8 0E94 0000            call GetParamWord
 1276 05bc 9093 0000            sts (NeutralAccX)+1,r25
 1277 05c0 8093 0000            sts NeutralAccX,r24
 1278 05c4 86E0                 ldi r24,lo8(6)
 1279 05c6 90E0                 ldi r25,hi8(6)
 1280 05c8 0E94 0000            call GetParamWord
 1281 05cc 9093 0000            sts (NeutralAccY)+1,r25
 1282 05d0 8093 0000            sts NeutralAccY,r24
 1283 05d4 88E0                 ldi r24,lo8(8)
 1284 05d6 90E0                 ldi r25,hi8(8)
 1285 05d8 0E94 0000            call GetParamWord
 1286 05dc 9C01                 movw r18,r24
 1287 05de 9093 0000            sts (NeutralAccZ)+1,r25
 1288 05e2 8093 0000            sts NeutralAccZ,r24
 1289 05e6 8091 0000            lds r24,NeutralAccX
 1290 05ea 9091 0000            lds r25,(NeutralAccX)+1
 1291 05ee 8150                 subi r24,lo8(2049)
 1292 05f0 9840                 sbci r25,hi8(2049)
 1293 05f2 00F4                 brsh .L63
 1294 05f4 8091 0000            lds r24,NeutralAccY
 1295 05f8 9091 0000            lds r25,(NeutralAccY)+1
 1296 05fc 8150                 subi r24,lo8(2049)
 1297 05fe 9840                 sbci r25,hi8(2049)
 1298 0600 00F4                 brsh .L63
 1299 0602 2150                 subi r18,lo8(1025)
 1300 0604 3440                 sbci r19,hi8(1025)
 1301 0606 00F0                 brlo .L61
 1302                   .L63:
 1303 0608 80E0                 ldi r24,lo8(__c.35)
 1304 060a 90E0                 ldi r25,hi8(__c.35)
 1305 060c 9F93                 push r25
 1306 060e 8F93                 push r24
 1307 0610 80E0                 ldi r24,lo8(pm(uart_putchar))
 1308 0612 90E0                 ldi r25,hi8(pm(uart_putchar))
 1309 0614 9F93                 push r25
 1310 0616 8F93                 push r24
 1311 0618 E091 0000            lds r30,_printf_P
 1312 061c F091 0000            lds r31,(_printf_P)+1
 1313 0620 0995                 icall
 1314 0622 8091 0000            lds r24,Mittelwert_AccNick
 1315 0626 9091 0000            lds r25,(Mittelwert_AccNick)+1
 1316 062a 97FF                 sbrs r25,7
 1317 062c 00C0                 rjmp .L64
 1318 062e 9095                 com r25
 1319 0630 8195                 neg r24
 1320 0632 9F4F                 sbci r25,lo8(-1)
 1321                   .L64:
 1322 0634 6CE0                 ldi r22,lo8(12)
 1323 0636 70E0                 ldi r23,hi8(12)
 1324 0638 0E94 0000            call __divmodhi4
 1325 063c 7093 0000            sts (NeutralAccX)+1,r23
 1326 0640 6093 0000            sts NeutralAccX,r22
 1327 0644 8091 0000            lds r24,Mittelwert_AccRoll
 1328 0648 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 1329 064c 97FF                 sbrs r25,7
 1330 064e 00C0                 rjmp .L65
 1331 0650 9095                 com r25
 1332 0652 8195                 neg r24
 1333 0654 9F4F                 sbci r25,lo8(-1)
 1334                   .L65:
 1335 0656 6CE0                 ldi r22,lo8(12)
 1336 0658 70E0                 ldi r23,hi8(12)
 1337 065a 0E94 0000            call __divmodhi4
 1338 065e 7093 0000            sts (NeutralAccY)+1,r23
 1339 0662 6093 0000            sts NeutralAccY,r22
 1340 0666 8091 0000            lds r24,Aktuell_az
 1341 066a 9091 0000            lds r25,(Aktuell_az)+1
 1342 066e 9093 0000            sts (NeutralAccZ)+1,r25
 1343 0672 8093 0000            sts NeutralAccZ,r24
 1344 0676 0F90                 pop __tmp_reg__
 1345 0678 0F90                 pop __tmp_reg__
 1346 067a 0F90                 pop __tmp_reg__
 1347 067c 0F90                 pop __tmp_reg__
 1348                   .L61:
 1349 067e 1092 0000            sts (MesswertNick)+1,__zero_reg__
 1350 0682 1092 0000            sts MesswertNick,__zero_reg__
 1351 0686 1092 0000            sts (MesswertRoll)+1,__zero_reg__
 1352 068a 1092 0000            sts MesswertRoll,__zero_reg__
 1353 068e 1092 0000            sts (MesswertGier)+1,__zero_reg__
 1354 0692 1092 0000            sts MesswertGier,__zero_reg__
 1355 0696 84E6                 ldi r24,lo8(100)
 1356 0698 90E0                 ldi r25,hi8(100)
 1357 069a 0E94 0000            call Delay_ms_Mess
 1358 069e 8091 0000            lds r24,AdWertAccNick
 1359 06a2 9091 0000            lds r25,(AdWertAccNick)+1
 1360 06a6 9C01                 movw r18,r24
 1361 06a8 220F                 lsl r18
 1362 06aa 331F                 rol r19
 1363 06ac 220F                 lsl r18
 1364 06ae 331F                 rol r19
 1365 06b0 280F                 add r18,r24
 1366 06b2 391F                 adc r19,r25
 1367 06b4 280F                 add r18,r24
 1368 06b6 391F                 adc r19,r25
 1369 06b8 3093 0000            sts (Mittelwert_AccNick)+1,r19
 1370 06bc 2093 0000            sts Mittelwert_AccNick,r18
 1371 06c0 8091 0000            lds r24,AdWertAccRoll
 1372 06c4 9091 0000            lds r25,(AdWertAccRoll)+1
 1373 06c8 8C01                 movw r16,r24
 1374 06ca 000F                 lsl r16
 1375 06cc 111F                 rol r17
 1376 06ce 000F                 lsl r16
 1377 06d0 111F                 rol r17
 1378 06d2 080F                 add r16,r24
 1379 06d4 191F                 adc r17,r25
 1380 06d6 080F                 add r16,r24
 1381 06d8 191F                 adc r17,r25
 1382 06da 1093 0000            sts (Mittelwert_AccRoll)+1,r17
 1383 06de 0093 0000            sts Mittelwert_AccRoll,r16
 1384 06e2 8091 0000            lds r24,EE_Parameter+28
 1385 06e6 C82E                 mov r12,r24
 1386 06e8 DD24                 clr r13
 1387 06ea EE24                 clr r14
 1388 06ec FF24                 clr r15
 1389 06ee 4427                 clr r20
 1390 06f0 37FD                 sbrc r19,7
 1391 06f2 4095                 com r20
 1392 06f4 542F                 mov r21,r20
 1393 06f6 C701                 movw r24,r14
 1394 06f8 B601                 movw r22,r12
 1395 06fa 0E94 0000            call __mulsi3
 1396 06fe 4B01                 movw r8,r22
 1397 0700 5C01                 movw r10,r24
 1398 0702 6093 0000            sts IntegralNick,r22
 1399 0706 7093 0000            sts (IntegralNick)+1,r23
 1400 070a 8093 0000            sts (IntegralNick)+2,r24
 1401 070e 9093 0000            sts (IntegralNick)+3,r25
 1402 0712 9801                 movw r18,r16
 1403 0714 4427                 clr r20
 1404 0716 37FD                 sbrc r19,7
 1405 0718 4095                 com r20
 1406 071a 542F                 mov r21,r20
 1407 071c C701                 movw r24,r14
 1408 071e B601                 movw r22,r12
 1409 0720 0E94 0000            call __mulsi3
 1410 0724 DC01                 movw r26,r24
 1411 0726 CB01                 movw r24,r22
 1412 0728 8093 0000            sts IntegralRoll,r24
 1413 072c 9093 0000            sts (IntegralRoll)+1,r25
 1414 0730 A093 0000            sts (IntegralRoll)+2,r26
 1415 0734 B093 0000            sts (IntegralRoll)+3,r27
 1416 0738 8092 0000            sts Mess_IntegralNick,r8
 1417 073c 9092 0000            sts (Mess_IntegralNick)+1,r9
 1418 0740 A092 0000            sts (Mess_IntegralNick)+2,r10
 1419 0744 B092 0000            sts (Mess_IntegralNick)+3,r11
 1420 0748 8093 0000            sts Mess_IntegralRoll,r24
 1421 074c 9093 0000            sts (Mess_IntegralRoll)+1,r25
 1422 0750 A093 0000            sts (Mess_IntegralRoll)+2,r26
 1423 0754 B093 0000            sts (Mess_IntegralRoll)+3,r27
 1424 0758 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 1425 075c 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 1426 0760 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 1427 0764 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 1428 0768 8091 0000            lds r24,Luftdruck
 1429 076c 9091 0000            lds r25,(Luftdruck)+1
 1430 0770 A091 0000            lds r26,(Luftdruck)+2
 1431 0774 B091 0000            lds r27,(Luftdruck)+3
 1432 0778 9093 0000            sts (StartLuftdruck)+1,r25
 1433 077c 8093 0000            sts StartLuftdruck,r24
 1434 0780 1092 0000            sts (VarioMeter)+1,__zero_reg__
 1435 0784 1092 0000            sts VarioMeter,__zero_reg__
 1436 0788 1092 0000            sts Mess_Integral_Hoch,__zero_reg__
 1437 078c 1092 0000            sts (Mess_Integral_Hoch)+1,__zero_reg__
 1438 0790 1092 0000            sts (Mess_Integral_Hoch)+2,__zero_reg__
 1439 0794 1092 0000            sts (Mess_Integral_Hoch)+3,__zero_reg__
 1440 0798 0091 0000            lds r16,KompassValue
 1441 079c 1091 0000            lds r17,(KompassValue)+1
 1442 07a0 1093 0000            sts (KompassSollWert)+1,r17
 1443 07a4 0093 0000            sts KompassSollWert,r16
 1444 07a8 84E6                 ldi r24,lo8(100)
 1445 07aa 90E0                 ldi r25,hi8(100)
 1446 07ac 9093 0000            sts (KompassSignalSchlecht)+1,r25
 1447 07b0 8093 0000            sts KompassSignalSchlecht,r24
 1448 07b4 82E3                 ldi r24,lo8(50)
 1449 07b6 90E0                 ldi r25,hi8(50)
 1450 07b8 9093 0000            sts (beeptime)+1,r25
 1451 07bc 8093 0000            sts beeptime,r24
 1452 07c0 8091 0000            lds r24,EE_Parameter+65
 1453 07c4 9927                 clr r25
 1454 07c6 AA27                 clr r26
 1455 07c8 BB27                 clr r27
 1456 07ca BC01                 movw r22,r24
 1457 07cc CD01                 movw r24,r26
 1458 07ce 24EC                 ldi r18,lo8(2500)
 1459 07d0 39E0                 ldi r19,hi8(2500)
 1460 07d2 40E0                 ldi r20,hlo8(2500)
 1461 07d4 50E0                 ldi r21,hhi8(2500)
 1462 07d6 0E94 0000            call __mulsi3
 1463 07da DC01                 movw r26,r24
 1464 07dc CB01                 movw r24,r22
 1465 07de 8856                 subi r24,lo8(-(15000))
 1466 07e0 954C                 sbci r25,hi8(-(15000))
 1467 07e2 AF4F                 sbci r26,hlo8(-(15000))
 1468 07e4 BF4F                 sbci r27,hhi8(-(15000))
 1469 07e6 8093 0000            sts Umschlag180Nick,r24
 1470 07ea 9093 0000            sts (Umschlag180Nick)+1,r25
 1471 07ee A093 0000            sts (Umschlag180Nick)+2,r26
 1472 07f2 B093 0000            sts (Umschlag180Nick)+3,r27
 1473 07f6 8091 0000            lds r24,EE_Parameter+66
 1474 07fa 9927                 clr r25
 1475 07fc AA27                 clr r26
 1476 07fe BB27                 clr r27
 1477 0800 BC01                 movw r22,r24
 1478 0802 CD01                 movw r24,r26
 1479 0804 0E94 0000            call __mulsi3
 1480 0808 DC01                 movw r26,r24
 1481 080a CB01                 movw r24,r22
 1482 080c 8856                 subi r24,lo8(-(15000))
 1483 080e 954C                 sbci r25,hi8(-(15000))
 1484 0810 AF4F                 sbci r26,hlo8(-(15000))
 1485 0812 BF4F                 sbci r27,hhi8(-(15000))
 1486 0814 8093 0000            sts Umschlag180Roll,r24
 1487 0818 9093 0000            sts (Umschlag180Roll)+1,r25
 1488 081c A093 0000            sts (Umschlag180Roll)+2,r26
 1489 0820 B093 0000            sts (Umschlag180Roll)+3,r27
 1490 0824 1092 0000            sts (ExternHoehenValue)+1,__zero_reg__
 1491 0828 1092 0000            sts ExternHoehenValue,__zero_reg__
 1492 082c C801                 movw r24,r16
 1493 082e AA27                 clr r26
 1494 0830 97FD                 sbrc r25,7
 1495 0832 A095                 com r26
 1496 0834 BA2F                 mov r27,r26
 1497 0836 2091 0000            lds r18,GIER_GRAD_FAKTOR
 1498 083a 3091 0000            lds r19,(GIER_GRAD_FAKTOR)+1
 1499 083e 4091 0000            lds r20,(GIER_GRAD_FAKTOR)+2
 1500 0842 5091 0000            lds r21,(GIER_GRAD_FAKTOR)+3
 1501 0846 BC01                 movw r22,r24
 1502 0848 CD01                 movw r24,r26
 1503 084a 0E94 0000            call __mulsi3
 1504 084e DC01                 movw r26,r24
 1505 0850 CB01                 movw r24,r22
 1506 0852 8093 0000            sts ErsatzKompass,r24
 1507 0856 9093 0000            sts (ErsatzKompass)+1,r25
 1508 085a A093 0000            sts (ErsatzKompass)+2,r26
 1509 085e B093 0000            sts (ErsatzKompass)+3,r27
 1510 0862 1092 0000            sts (GierGyroFehler)+1,__zero_reg__
 1511 0866 1092 0000            sts GierGyroFehler,__zero_reg__
 1512 086a 0E94 0000            call LED_Init
 1513 086e 8091 0000            lds r24,FC_StatusFlags
 1514 0872 8460                 ori r24,lo8(4)
 1515 0874 8093 0000            sts FC_StatusFlags,r24
 1516 0878 8FEF                 ldi r24,lo8(-1)
 1517 087a 8093 0000            sts FromNaviCtrl_Value,r24
 1518 087e 1092 0000            sts FromNaviCtrl_Value+1,__zero_reg__
 1519 0882 80E2                 ldi r24,lo8(32)
 1520 0884 8093 0000            sts FromNaviCtrl_Value+2,r24
 1521 0888 C0E0                 ldi r28,lo8(Poti)
 1522 088a D0E0                 ldi r29,hi8(Poti)
 1523 088c A0E0                 ldi r26,lo8(EE_Parameter+5)
 1524 088e B0E0                 ldi r27,hi8(EE_Parameter+5)
 1525 0890 07E0                 ldi r16,lo8(7)
 1526                   .L69:
 1527 0892 8D91                 ld r24,X+
 1528 0894 E82F                 mov r30,r24
 1529 0896 FF27                 clr r31
 1530 0898 EE0F                 add r30,r30
 1531 089a FF1F                 adc r31,r31
 1532 089c E050                 subi r30,lo8(-(PPM_in))
 1533 089e F040                 sbci r31,hi8(-(PPM_in))
 1534 08a0 8081                 ld r24,Z
 1535 08a2 9181                 ldd r25,Z+1
 1536 08a4 8158                 subi r24,lo8(-(127))
 1537 08a6 8993                 st Y+,r24
 1538 08a8 0150                 subi r16,lo8(-(-1))
 1539 08aa 07FF                 sbrs r16,7
 1540 08ac 00C0                 rjmp .L69
 1541 08ae 84E6                 ldi r24,lo8(100)
 1542 08b0 8093 0000            sts SenderOkay,r24
 1543 08b4 8091 0000            lds r24,ServoActive
 1544 08b8 8823                 tst r24
 1545 08ba 01F0                 breq .L70
 1546 08bc 579A                 sbi 42-0x20,7
 1547 08be 00C0                 rjmp .L71
 1548                   .L70:
 1549 08c0 80E0                 ldi r24,lo8(4352)
 1550 08c2 91E1                 ldi r25,hi8(4352)
 1551 08c4 9093 0000            sts (NickServoValue)+1,r25
 1552 08c8 8093 0000            sts NickServoValue,r24
 1553                   .L71:
 1554 08cc 8091 0000            lds r24,AdNeutralNick
 1555 08d0 9091 0000            lds r25,(AdNeutralNick)+1
 1556 08d4 8056                 subi r24,lo8(-(-2400))
 1557 08d6 9940                 sbci r25,hi8(-(-2400))
 1558 08d8 815C                 subi r24,lo8(11201)
 1559 08da 9B42                 sbci r25,hi8(11201)
 1560 08dc 00F0                 brlo .L72
 1561 08de 8091 0000            lds r24,VersionInfo+5
 1562 08e2 8160                 ori r24,lo8(1)
 1563 08e4 8093 0000            sts VersionInfo+5,r24
 1564                   .L72:
 1565 08e8 8091 0000            lds r24,AdNeutralRoll
 1566 08ec 9091 0000            lds r25,(AdNeutralRoll)+1
 1567 08f0 8056                 subi r24,lo8(-(-2400))
 1568 08f2 9940                 sbci r25,hi8(-(-2400))
 1569 08f4 815C                 subi r24,lo8(11201)
 1570 08f6 9B42                 sbci r25,hi8(11201)
 1571 08f8 00F0                 brlo .L73
 1572 08fa 8091 0000            lds r24,VersionInfo+5
 1573 08fe 8260                 ori r24,lo8(2)
 1574 0900 8093 0000            sts VersionInfo+5,r24
 1575                   .L73:
 1576 0904 8091 0000            lds r24,AdNeutralGier
 1577 0908 9091 0000            lds r25,(AdNeutralGier)+1
 1578 090c 8C52                 subi r24,lo8(-(-300))
 1579 090e 9140                 sbci r25,hi8(-(-300))
 1580 0910 8957                 subi r24,lo8(1401)
 1581 0912 9540                 sbci r25,hi8(1401)
 1582 0914 00F0                 brlo .L74
 1583 0916 8091 0000            lds r24,VersionInfo+5
 1584 091a 8460                 ori r24,lo8(4)
 1585 091c 8093 0000            sts VersionInfo+5,r24
 1586                   .L74:
 1587 0920 8091 0000            lds r24,NeutralAccX
 1588 0924 9091 0000            lds r25,(NeutralAccX)+1
 1589 0928 8C52                 subi r24,lo8(-(-300))
 1590 092a 9140                 sbci r25,hi8(-(-300))
 1591 092c 835C                 subi r24,lo8(451)
 1592 092e 9140                 sbci r25,hi8(451)
 1593 0930 00F0                 brlo .L75
 1594 0932 8091 0000            lds r24,VersionInfo+5
 1595 0936 8860                 ori r24,lo8(8)
 1596 0938 8093 0000            sts VersionInfo+5,r24
 1597                   .L75:
 1598 093c 8091 0000            lds r24,NeutralAccY
 1599 0940 9091 0000            lds r25,(NeutralAccY)+1
 1600 0944 8C52                 subi r24,lo8(-(-300))
 1601 0946 9140                 sbci r25,hi8(-(-300))
 1602 0948 835C                 subi r24,lo8(451)
 1603 094a 9140                 sbci r25,hi8(451)
 1604 094c 00F0                 brlo .L76
 1605 094e 8091 0000            lds r24,VersionInfo+5
 1606 0952 8061                 ori r24,lo8(16)
 1607 0954 8093 0000            sts VersionInfo+5,r24
 1608                   .L76:
 1609 0958 8091 0000            lds r24,NeutralAccZ
 1610 095c 9091 0000            lds r25,(NeutralAccZ)+1
 1611 0960 8050                 subi r24,lo8(-(-512))
 1612 0962 9240                 sbci r25,hi8(-(-512))
 1613 0964 8355                 subi r24,lo8(339)
 1614 0966 9140                 sbci r25,hi8(339)
 1615 0968 00F0                 brlo .L77
 1616 096a 8091 0000            lds r24,VersionInfo+5
 1617 096e 8062                 ori r24,lo8(32)
 1618 0970 8093 0000            sts VersionInfo+5,r24
 1619                   .L77:
 1620 0974 86E4                 ldi r24,lo8(70)
 1621 0976 8093 0000            sts carefree_old,r24
 1622 097a 0E94 0000            call LIBFC_HoTT_Clear
 1623                   /* epilogue: frame size=0 */
 1624 097e ECE0                 ldi r30,12
 1625 0980 CDB7                 in r28,__SP_L__
 1626 0982 DEB7                 in r29,__SP_H__
 1627 0984 0C94 0000            jmp __epilogue_restores__+12
 1628                   /* epilogue end (size=5) */
 1629                   /* function SetNeutral size 705 (694) */
 1631                           .lcomm tmpl.27,4
 1632                           .lcomm tmpl2.28,4
 1633                           .lcomm tmpl3.29,4
 1634                           .lcomm tmpl4.30,4
 1635                           .lcomm oldNick.31,2
 1636                           .lcomm oldRoll.32,2
 1637                           .lcomm d2Roll.33,2
 1638                           .lcomm d2Nick.34,2
 1639                   .global Mittelwert
 1641                   Mittelwert:
 1642                   /* prologue: frame size=19 */
 1643 0988 A3E1                 ldi r26,lo8(19)
 1644 098a B0E0                 ldi r27,hi8(19)
 1645 098c E0E0                 ldi r30,pm_lo8(1f)
 1646 098e F0E0                 ldi r31,pm_hi8(1f)
 1647 0990 0C94 0000            jmp __prologue_saves__+0
 1648                   1:
 1649                   /* prologue end (size=6) */
 1650 0994 8091 0000            lds r24,AdNeutralGier
 1651 0998 9091 0000            lds r25,(AdNeutralGier)+1
 1652 099c 2091 0000            lds r18,AdWertGier
 1653 09a0 3091 0000            lds r19,(AdWertGier)+1
 1654 09a4 821B                 sub r24,r18
 1655 09a6 930B                 sbc r25,r19
 1656 09a8 9093 0000            sts (MesswertGier)+1,r25
 1657 09ac 8093 0000            sts MesswertGier,r24
 1658 09b0 8091 0000            lds r24,AdWertNickFilter
 1659 09b4 9091 0000            lds r25,(AdWertNickFilter)+1
 1660 09b8 97FD                 sbrc r25,7
 1661 09ba 0796                 adiw r24,7
 1662                   .L83:
 1663 09bc 9C01                 movw r18,r24
 1664 09be 13E0                 ldi r17,3
 1665 09c0 3595         1:      asr r19
 1666 09c2 2795                 ror r18
 1667 09c4 1A95                 dec r17
 1668 09c6 01F4                 brne 1b
 1669 09c8 3093 0000            sts (MesswertNick)+1,r19
 1670 09cc 2093 0000            sts MesswertNick,r18
 1671 09d0 8091 0000            lds r24,AdWertRollFilter
 1672 09d4 9091 0000            lds r25,(AdWertRollFilter)+1
 1673 09d8 97FD                 sbrc r25,7
 1674 09da 0796                 adiw r24,7
 1675                   .L84:
 1676 09dc B3E0                 ldi r27,3
 1677 09de 9595         1:      asr r25
 1678 09e0 8795                 ror r24
 1679 09e2 BA95                 dec r27
 1680 09e4 01F4                 brne 1b
 1681 09e6 9093 0000            sts (MesswertRoll)+1,r25
 1682 09ea 8093 0000            sts MesswertRoll,r24
 1683 09ee 3093 0000            sts (RohMesswertNick)+1,r19
 1684 09f2 2093 0000            sts RohMesswertNick,r18
 1685 09f6 9093 0000            sts (RohMesswertRoll)+1,r25
 1686 09fa 8093 0000            sts RohMesswertRoll,r24
 1687 09fe 8091 0000            lds r24,Mittelwert_AccNick
 1688 0a02 9091 0000            lds r25,(Mittelwert_AccNick)+1
 1689 0a06 AC01                 movw r20,r24
 1690 0a08 440F                 lsl r20
 1691 0a0a 551F                 rol r21
 1692 0a0c 480F                 add r20,r24
 1693 0a0e 591F                 adc r21,r25
 1694 0a10 2091 0000            lds r18,AdWertAccNick
 1695 0a14 3091 0000            lds r19,(AdWertAccNick)+1
 1696 0a18 C901                 movw r24,r18
 1697 0a1a 880F                 lsl r24
 1698 0a1c 991F                 rol r25
 1699 0a1e 880F                 lsl r24
 1700 0a20 991F                 rol r25
 1701 0a22 820F                 add r24,r18
 1702 0a24 931F                 adc r25,r19
 1703 0a26 820F                 add r24,r18
 1704 0a28 931F                 adc r25,r19
 1705 0a2a 480F                 add r20,r24
 1706 0a2c 591F                 adc r21,r25
 1707 0a2e 57FF                 sbrs r21,7
 1708 0a30 00C0                 rjmp .L85
 1709 0a32 4D5F                 subi r20,lo8(-(3))
 1710 0a34 5F4F                 sbci r21,hi8(-(3))
 1711                   .L85:
 1712 0a36 5595                 asr r21
 1713 0a38 4795                 ror r20
 1714 0a3a 5595                 asr r21
 1715 0a3c 4795                 ror r20
 1716 0a3e 5093 0000            sts (Mittelwert_AccNick)+1,r21
 1717 0a42 4093 0000            sts Mittelwert_AccNick,r20
 1718 0a46 8091 0000            lds r24,Mittelwert_AccRoll
 1719 0a4a 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 1720 0a4e AC01                 movw r20,r24
 1721 0a50 440F                 lsl r20
 1722 0a52 551F                 rol r21
 1723 0a54 480F                 add r20,r24
 1724 0a56 591F                 adc r21,r25
 1725 0a58 2091 0000            lds r18,AdWertAccRoll
 1726 0a5c 3091 0000            lds r19,(AdWertAccRoll)+1
 1727 0a60 C901                 movw r24,r18
 1728 0a62 880F                 lsl r24
 1729 0a64 991F                 rol r25
 1730 0a66 880F                 lsl r24
 1731 0a68 991F                 rol r25
 1732 0a6a 820F                 add r24,r18
 1733 0a6c 931F                 adc r25,r19
 1734 0a6e 820F                 add r24,r18
 1735 0a70 931F                 adc r25,r19
 1736 0a72 480F                 add r20,r24
 1737 0a74 591F                 adc r21,r25
 1738 0a76 57FF                 sbrs r21,7
 1739 0a78 00C0                 rjmp .L86
 1740 0a7a 4D5F                 subi r20,lo8(-(3))
 1741 0a7c 5F4F                 sbci r21,hi8(-(3))
 1742                   .L86:
 1743 0a7e 5595                 asr r21
 1744 0a80 4795                 ror r20
 1745 0a82 5595                 asr r21
 1746 0a84 4795                 ror r20
 1747 0a86 5093 0000            sts (Mittelwert_AccRoll)+1,r21
 1748 0a8a 4093 0000            sts Mittelwert_AccRoll,r20
 1749 0a8e 2091 0000            lds r18,AdWertAccNick
 1750 0a92 3091 0000            lds r19,(AdWertAccNick)+1
 1751 0a96 C901                 movw r24,r18
 1752 0a98 880F                 lsl r24
 1753 0a9a 991F                 rol r25
 1754 0a9c 880F                 lsl r24
 1755 0a9e 991F                 rol r25
 1756 0aa0 820F                 add r24,r18
 1757 0aa2 931F                 adc r25,r19
 1758 0aa4 820F                 add r24,r18
 1759 0aa6 931F                 adc r25,r19
 1760 0aa8 9C01                 movw r18,r24
 1761 0aaa 4427                 clr r20
 1762 0aac 37FD                 sbrc r19,7
 1763 0aae 4095                 com r20
 1764 0ab0 542F                 mov r21,r20
 1765 0ab2 8091 0000            lds r24,IntegralAccNick
 1766 0ab6 9091 0000            lds r25,(IntegralAccNick)+1
 1767 0aba A091 0000            lds r26,(IntegralAccNick)+2
 1768 0abe B091 0000            lds r27,(IntegralAccNick)+3
 1769 0ac2 820F                 add r24,r18
 1770 0ac4 931F                 adc r25,r19
 1771 0ac6 A41F                 adc r26,r20
 1772 0ac8 B51F                 adc r27,r21
 1773 0aca 8093 0000            sts IntegralAccNick,r24
 1774 0ace 9093 0000            sts (IntegralAccNick)+1,r25
 1775 0ad2 A093 0000            sts (IntegralAccNick)+2,r26
 1776 0ad6 B093 0000            sts (IntegralAccNick)+3,r27
 1777 0ada 2091 0000            lds r18,AdWertAccRoll
 1778 0ade 3091 0000            lds r19,(AdWertAccRoll)+1
 1779 0ae2 C901                 movw r24,r18
 1780 0ae4 880F                 lsl r24
 1781 0ae6 991F                 rol r25
 1782 0ae8 880F                 lsl r24
 1783 0aea 991F                 rol r25
 1784 0aec 820F                 add r24,r18
 1785 0aee 931F                 adc r25,r19
 1786 0af0 820F                 add r24,r18
 1787 0af2 931F                 adc r25,r19
 1788 0af4 9C01                 movw r18,r24
 1789 0af6 4427                 clr r20
 1790 0af8 37FD                 sbrc r19,7
 1791 0afa 4095                 com r20
 1792 0afc 542F                 mov r21,r20
 1793 0afe 8091 0000            lds r24,IntegralAccRoll
 1794 0b02 9091 0000            lds r25,(IntegralAccRoll)+1
 1795 0b06 A091 0000            lds r26,(IntegralAccRoll)+2
 1796 0b0a B091 0000            lds r27,(IntegralAccRoll)+3
 1797 0b0e 820F                 add r24,r18
 1798 0b10 931F                 adc r25,r19
 1799 0b12 A41F                 adc r26,r20
 1800 0b14 B51F                 adc r27,r21
 1801 0b16 8093 0000            sts IntegralAccRoll,r24
 1802 0b1a 9093 0000            sts (IntegralAccRoll)+1,r25
 1803 0b1e A093 0000            sts (IntegralAccRoll)+2,r26
 1804 0b22 B093 0000            sts (IntegralAccRoll)+3,r27
 1805 0b26 8091 0000            lds r24,NaviAccNick
 1806 0b2a 9091 0000            lds r25,(NaviAccNick)+1
 1807 0b2e 2091 0000            lds r18,AdWertAccNick
 1808 0b32 3091 0000            lds r19,(AdWertAccNick)+1
 1809 0b36 820F                 add r24,r18
 1810 0b38 931F                 adc r25,r19
 1811 0b3a 9093 0000            sts (NaviAccNick)+1,r25
 1812 0b3e 8093 0000            sts NaviAccNick,r24
 1813 0b42 8091 0000            lds r24,NaviAccRoll
 1814 0b46 9091 0000            lds r25,(NaviAccRoll)+1
 1815 0b4a 2091 0000            lds r18,AdWertAccRoll
 1816 0b4e 3091 0000            lds r19,(AdWertAccRoll)+1
 1817 0b52 820F                 add r24,r18
 1818 0b54 931F                 adc r25,r19
 1819 0b56 9093 0000            sts (NaviAccRoll)+1,r25
 1820 0b5a 8093 0000            sts NaviAccRoll,r24
 1821 0b5e 8091 0000            lds r24,NaviCntAcc
 1822 0b62 9091 0000            lds r25,(NaviCntAcc)+1
 1823 0b66 0196                 adiw r24,1
 1824 0b68 9093 0000            sts (NaviCntAcc)+1,r25
 1825 0b6c 8093 0000            sts NaviCntAcc,r24
 1826 0b70 8091 0000            lds r24,Aktuell_az
 1827 0b74 9091 0000            lds r25,(Aktuell_az)+1
 1828 0b78 2091 0000            lds r18,NeutralAccZ
 1829 0b7c 3091 0000            lds r19,(NeutralAccZ)+1
 1830 0b80 821B                 sub r24,r18
 1831 0b82 930B                 sbc r25,r19
 1832 0b84 9C01                 movw r18,r24
 1833 0b86 4427                 clr r20
 1834 0b88 37FD                 sbrc r19,7
 1835 0b8a 4095                 com r20
 1836 0b8c 542F                 mov r21,r20
 1837 0b8e 8091 0000            lds r24,IntegralAccZ
 1838 0b92 9091 0000            lds r25,(IntegralAccZ)+1
 1839 0b96 A091 0000            lds r26,(IntegralAccZ)+2
 1840 0b9a B091 0000            lds r27,(IntegralAccZ)+3
 1841 0b9e 820F                 add r24,r18
 1842 0ba0 931F                 adc r25,r19
 1843 0ba2 A41F                 adc r26,r20
 1844 0ba4 B51F                 adc r27,r21
 1845 0ba6 8093 0000            sts IntegralAccZ,r24
 1846 0baa 9093 0000            sts (IntegralAccZ)+1,r25
 1847 0bae A093 0000            sts (IntegralAccZ)+2,r26
 1848 0bb2 B093 0000            sts (IntegralAccZ)+3,r27
 1849 0bb6 8FEC                 ldi r24,lo8(-49)
 1850 0bb8 8093 7A00            sts 122,r24
 1851 0bbc 1092 0000            sts AdReady,__zero_reg__
 1852 0bc0 2091 0000            lds r18,Mess_IntegralRoll
 1853 0bc4 3091 0000            lds r19,(Mess_IntegralRoll)+1
 1854 0bc8 4091 0000            lds r20,(Mess_IntegralRoll)+2
 1855 0bcc 5091 0000            lds r21,(Mess_IntegralRoll)+3
 1856 0bd0 2987                 std Y+9,r18
 1857 0bd2 3A87                 std Y+10,r19
 1858 0bd4 4B87                 std Y+11,r20
 1859 0bd6 5C87                 std Y+12,r21
 1860 0bd8 2954                 subi r18,lo8(93001)
 1861 0bda 3B46                 sbci r19,hi8(93001)
 1862 0bdc 4140                 sbci r20,hlo8(93001)
 1863 0bde 5040                 sbci r21,hhi8(93001)
 1864 0be0 04F0                 brlt .L87
 1865 0be2 28E4                 ldi r18,lo8(93000)
 1866 0be4 3BE6                 ldi r19,hi8(93000)
 1867 0be6 41E0                 ldi r20,hlo8(93000)
 1868 0be8 50E0                 ldi r21,hhi8(93000)
 1869 0bea 00C0                 rjmp .L167
 1870                   .L87:
 1871 0bec 8985                 ldd r24,Y+9
 1872 0bee 9A85                 ldd r25,Y+10
 1873 0bf0 AB85                 ldd r26,Y+11
 1874 0bf2 BC85                 ldd r27,Y+12
 1875 0bf4 885B                 subi r24,lo8(-93000)
 1876 0bf6 9449                 sbci r25,hi8(-93000)
 1877 0bf8 AE4F                 sbci r26,hlo8(-93000)
 1878 0bfa BF4F                 sbci r27,hhi8(-93000)
 1879 0bfc 04F4                 brge .L89
 1880 0bfe 28EB                 ldi r18,lo8(-93000)
 1881 0c00 34E9                 ldi r19,hi8(-93000)
 1882 0c02 4EEF                 ldi r20,hlo8(-93000)
 1883 0c04 5FEF                 ldi r21,hhi8(-93000)
 1884                   .L167:
 1885 0c06 2D83                 std Y+5,r18
 1886 0c08 3E83                 std Y+6,r19
 1887 0c0a 4F83                 std Y+7,r20
 1888 0c0c 5887                 std Y+8,r21
 1889 0c0e 00C0                 rjmp .L88
 1890                   .L89:
 1891 0c10 8985                 ldd r24,Y+9
 1892 0c12 9A85                 ldd r25,Y+10
 1893 0c14 AB85                 ldd r26,Y+11
 1894 0c16 BC85                 ldd r27,Y+12
 1895 0c18 8D83                 std Y+5,r24
 1896 0c1a 9E83                 std Y+6,r25
 1897 0c1c AF83                 std Y+7,r26
 1898 0c1e B887                 std Y+8,r27
 1899                   .L88:
 1900 0c20 2091 0000            lds r18,Mess_IntegralNick
 1901 0c24 3091 0000            lds r19,(Mess_IntegralNick)+1
 1902 0c28 4091 0000            lds r20,(Mess_IntegralNick)+2
 1903 0c2c 5091 0000            lds r21,(Mess_IntegralNick)+3
 1904 0c30 2D87                 std Y+13,r18
 1905 0c32 3E87                 std Y+14,r19
 1906 0c34 4F87                 std Y+15,r20
 1907 0c36 588B                 std Y+16,r21
 1908 0c38 2954                 subi r18,lo8(93001)
 1909 0c3a 3B46                 sbci r19,hi8(93001)
 1910 0c3c 4140                 sbci r20,hlo8(93001)
 1911 0c3e 5040                 sbci r21,hhi8(93001)
 1912 0c40 04F0                 brlt .L91
 1913 0c42 28E4                 ldi r18,lo8(93000)
 1914 0c44 3BE6                 ldi r19,hi8(93000)
 1915 0c46 41E0                 ldi r20,hlo8(93000)
 1916 0c48 50E0                 ldi r21,hhi8(93000)
 1917 0c4a 00C0                 rjmp .L168
 1918                   .L91:
 1919 0c4c 8D85                 ldd r24,Y+13
 1920 0c4e 9E85                 ldd r25,Y+14
 1921 0c50 AF85                 ldd r26,Y+15
 1922 0c52 B889                 ldd r27,Y+16
 1923 0c54 885B                 subi r24,lo8(-93000)
 1924 0c56 9449                 sbci r25,hi8(-93000)
 1925 0c58 AE4F                 sbci r26,hlo8(-93000)
 1926 0c5a BF4F                 sbci r27,hhi8(-93000)
 1927 0c5c 04F4                 brge .L93
 1928 0c5e 28EB                 ldi r18,lo8(-93000)
 1929 0c60 34E9                 ldi r19,hi8(-93000)
 1930 0c62 4EEF                 ldi r20,hlo8(-93000)
 1931 0c64 5FEF                 ldi r21,hhi8(-93000)
 1932                   .L168:
 1933 0c66 2983                 std Y+1,r18
 1934 0c68 3A83                 std Y+2,r19
 1935 0c6a 4B83                 std Y+3,r20
 1936 0c6c 5C83                 std Y+4,r21
 1937 0c6e 00C0                 rjmp .L92
 1938                   .L93:
 1939 0c70 8D85                 ldd r24,Y+13
 1940 0c72 9E85                 ldd r25,Y+14
 1941 0c74 AF85                 ldd r26,Y+15
 1942 0c76 B889                 ldd r27,Y+16
 1943 0c78 8983                 std Y+1,r24
 1944 0c7a 9A83                 std Y+2,r25
 1945 0c7c AB83                 std Y+3,r26
 1946 0c7e BC83                 std Y+4,r27
 1947                   .L92:
 1948 0c80 A091 0000            lds r26,MesswertGier
 1949 0c84 B091 0000            lds r27,(MesswertGier)+1
 1950 0c88 BB8B                 std Y+19,r27
 1951 0c8a AA8B                 std Y+18,r26
 1952 0c8c FD01                 movw r30,r26
 1953 0c8e CF01                 movw r24,r30
 1954 0c90 AA27                 clr r26
 1955 0c92 97FD                 sbrc r25,7
 1956 0c94 A095                 com r26
 1957 0c96 BA2F                 mov r27,r26
 1958 0c98 A090 0000            lds r10,Mess_Integral_Gier
 1959 0c9c B090 0000            lds r11,(Mess_Integral_Gier)+1
 1960 0ca0 C090 0000            lds r12,(Mess_Integral_Gier)+2
 1961 0ca4 D090 0000            lds r13,(Mess_Integral_Gier)+3
 1962 0ca8 A80E                 add r10,r24
 1963 0caa B91E                 adc r11,r25
 1964 0cac CA1E                 adc r12,r26
 1965 0cae DB1E                 adc r13,r27
 1966 0cb0 A092 0000            sts Mess_Integral_Gier,r10
 1967 0cb4 B092 0000            sts (Mess_Integral_Gier)+1,r11
 1968 0cb8 C092 0000            sts (Mess_Integral_Gier)+2,r12
 1969 0cbc D092 0000            sts (Mess_Integral_Gier)+3,r13
 1970 0cc0 E090 0000            lds r14,ErsatzKompass
 1971 0cc4 F090 0000            lds r15,(ErsatzKompass)+1
 1972 0cc8 0091 0000            lds r16,(ErsatzKompass)+2
 1973 0ccc 1091 0000            lds r17,(ErsatzKompass)+3
 1974 0cd0 E80E                 add r14,r24
 1975 0cd2 F91E                 adc r15,r25
 1976 0cd4 0A1F                 adc r16,r26
 1977 0cd6 1B1F                 adc r17,r27
 1978 0cd8 E092 0000            sts ErsatzKompass,r14
 1979 0cdc F092 0000            sts (ErsatzKompass)+1,r15
 1980 0ce0 0093 0000            sts (ErsatzKompass)+2,r16
 1981 0ce4 1093 0000            sts (ErsatzKompass)+3,r17
 1982 0ce8 F091 0000            lds r31,Looping_Nick
 1983 0cec F98B                 std Y+17,r31
 1984 0cee FF23                 tst r31
 1985 0cf0 01F0                 breq .+2
 1986 0cf2 00C0                 rjmp .L95
 1987 0cf4 8091 0000            lds r24,Looping_Roll
 1988 0cf8 8823                 tst r24
 1989 0cfa 01F0                 breq .+2
 1990 0cfc 00C0                 rjmp .L95
 1991 0cfe 8091 0000            lds r24,Parameter_GlobalConfig
 1992 0d02 86FF                 sbrs r24,6
 1993 0d04 00C0                 rjmp .L95
 1994 0d06 8091 0000            lds r24,MesswertRoll
 1995 0d0a 9091 0000            lds r25,(MesswertRoll)+1
 1996 0d0e AA27                 clr r26
 1997 0d10 97FD                 sbrc r25,7
 1998 0d12 A095                 com r26
 1999 0d14 BA2F                 mov r27,r26
 2000 0d16 BC01                 movw r22,r24
 2001 0d18 CD01                 movw r24,r26
 2002 0d1a 2981                 ldd r18,Y+1
 2003 0d1c 3A81                 ldd r19,Y+2
 2004 0d1e 4B81                 ldd r20,Y+3
 2005 0d20 5C81                 ldd r21,Y+4
 2006 0d22 0E94 0000            call __mulsi3
 2007 0d26 9B01                 movw r18,r22
 2008 0d28 AC01                 movw r20,r24
 2009 0d2a 97FF                 sbrs r25,7
 2010 0d2c 00C0                 rjmp .L96
 2011 0d2e 2150                 subi r18,lo8(-(2047))
 2012 0d30 384F                 sbci r19,hi8(-(2047))
 2013 0d32 4F4F                 sbci r20,hlo8(-(2047))
 2014 0d34 5F4F                 sbci r21,hhi8(-(2047))
 2015                   .L96:
 2016 0d36 BBE0                 ldi r27,11
 2017 0d38 5595         1:      asr r21
 2018 0d3a 4795                 ror r20
 2019 0d3c 3795                 ror r19
 2020 0d3e 2795                 ror r18
 2021 0d40 BA95                 dec r27
 2022 0d42 01F4                 brne 1b
 2023 0d44 8091 0000            lds r24,Parameter_AchsKopplung2
 2024 0d48 682E                 mov r6,r24
 2025 0d4a 7724                 clr r7
 2026 0d4c 8824                 clr r8
 2027 0d4e 9924                 clr r9
 2028 0d50 CA01                 movw r24,r20
 2029 0d52 B901                 movw r22,r18
 2030 0d54 A401                 movw r20,r8
 2031 0d56 9301                 movw r18,r6
 2032 0d58 0E94 0000            call __mulsi3
 2033 0d5c DC01                 movw r26,r24
 2034 0d5e CB01                 movw r24,r22
 2035 0d60 8093 0000            sts tmpl3.29,r24
 2036 0d64 9093 0000            sts (tmpl3.29)+1,r25
 2037 0d68 A093 0000            sts (tmpl3.29)+2,r26
 2038 0d6c B093 0000            sts (tmpl3.29)+3,r27
 2039 0d70 B7FF                 sbrs r27,7
 2040 0d72 00C0                 rjmp .L97
 2041 0d74 8150                 subi r24,lo8(-(4095))
 2042 0d76 904F                 sbci r25,hi8(-(4095))
 2043 0d78 AF4F                 sbci r26,hlo8(-(4095))
 2044 0d7a BF4F                 sbci r27,hhi8(-(4095))
 2045                   .L97:
 2046 0d7c 1C01                 movw r2,r24
 2047 0d7e 2D01                 movw r4,r26
 2048 0d80 ACE0                 ldi r26,12
 2049 0d82 5594         1:      asr r5
 2050 0d84 4794                 ror r4
 2051 0d86 3794                 ror r3
 2052 0d88 2794                 ror r2
 2053 0d8a AA95                 dec r26
 2054 0d8c 01F4                 brne 1b
 2055 0d8e 2092 0000            sts tmpl3.29,r2
 2056 0d92 3092 0000            sts (tmpl3.29)+1,r3
 2057 0d96 4092 0000            sts (tmpl3.29)+2,r4
 2058 0d9a 5092 0000            sts (tmpl3.29)+3,r5
 2059 0d9e 8091 0000            lds r24,MesswertNick
 2060 0da2 9091 0000            lds r25,(MesswertNick)+1
 2061 0da6 AA27                 clr r26
 2062 0da8 97FD                 sbrc r25,7
 2063 0daa A095                 com r26
 2064 0dac BA2F                 mov r27,r26
 2065 0dae BC01                 movw r22,r24
 2066 0db0 CD01                 movw r24,r26
 2067 0db2 2D81                 ldd r18,Y+5
 2068 0db4 3E81                 ldd r19,Y+6
 2069 0db6 4F81                 ldd r20,Y+7
 2070 0db8 5885                 ldd r21,Y+8
 2071 0dba 0E94 0000            call __mulsi3
 2072 0dbe 97FF                 sbrs r25,7
 2073 0dc0 00C0                 rjmp .L98
 2074 0dc2 6150                 subi r22,lo8(-(2047))
 2075 0dc4 784F                 sbci r23,hi8(-(2047))
 2076 0dc6 8F4F                 sbci r24,hlo8(-(2047))
 2077 0dc8 9F4F                 sbci r25,hhi8(-(2047))
 2078                   .L98:
 2079 0dca FBE0                 ldi r31,11
 2080 0dcc 9595         1:      asr r25
 2081 0dce 8795                 ror r24
 2082 0dd0 7795                 ror r23
 2083 0dd2 6795                 ror r22
 2084 0dd4 FA95                 dec r31
 2085 0dd6 01F4                 brne 1b
 2086 0dd8 A401                 movw r20,r8
 2087 0dda 9301                 movw r18,r6
 2088 0ddc 0E94 0000            call __mulsi3
 2089 0de0 DC01                 movw r26,r24
 2090 0de2 CB01                 movw r24,r22
 2091 0de4 8093 0000            sts tmpl4.30,r24
 2092 0de8 9093 0000            sts (tmpl4.30)+1,r25
 2093 0dec A093 0000            sts (tmpl4.30)+2,r26
 2094 0df0 B093 0000            sts (tmpl4.30)+3,r27
 2095 0df4 B7FF                 sbrs r27,7
 2096 0df6 00C0                 rjmp .L99
 2097 0df8 8150                 subi r24,lo8(-(4095))
 2098 0dfa 904F                 sbci r25,hi8(-(4095))
 2099 0dfc AF4F                 sbci r26,hlo8(-(4095))
 2100 0dfe BF4F                 sbci r27,hhi8(-(4095))
 2101                   .L99:
 2102 0e00 9C01                 movw r18,r24
 2103 0e02 AD01                 movw r20,r26
 2104 0e04 ECE0                 ldi r30,12
 2105 0e06 5595         1:      asr r21
 2106 0e08 4795                 ror r20
 2107 0e0a 3795                 ror r19
 2108 0e0c 2795                 ror r18
 2109 0e0e EA95                 dec r30
 2110 0e10 01F4                 brne 1b
 2111 0e12 2093 0000            sts tmpl4.30,r18
 2112 0e16 3093 0000            sts (tmpl4.30)+1,r19
 2113 0e1a 4093 0000            sts (tmpl4.30)+2,r20
 2114 0e1e 5093 0000            sts (tmpl4.30)+3,r21
 2115 0e22 8091 0000            lds r24,tmpl3.29
 2116 0e26 9091 0000            lds r25,(tmpl3.29)+1
 2117 0e2a 9093 0000            sts (KopplungsteilNickRoll)+1,r25
 2118 0e2e 8093 0000            sts KopplungsteilNickRoll,r24
 2119 0e32 8091 0000            lds r24,tmpl4.30
 2120 0e36 9091 0000            lds r25,(tmpl4.30)+1
 2121 0e3a 9093 0000            sts (KopplungsteilRollNick)+1,r25
 2122 0e3e 8093 0000            sts KopplungsteilRollNick,r24
 2123 0e42 2219                 sub r18,r2
 2124 0e44 3309                 sbc r19,r3
 2125 0e46 4409                 sbc r20,r4
 2126 0e48 5509                 sbc r21,r5
 2127 0e4a 2093 0000            sts tmpl4.30,r18
 2128 0e4e 3093 0000            sts (tmpl4.30)+1,r19
 2129 0e52 4093 0000            sts (tmpl4.30)+2,r20
 2130 0e56 5093 0000            sts (tmpl4.30)+3,r21
 2131 0e5a E20E                 add r14,r18
 2132 0e5c F31E                 adc r15,r19
 2133 0e5e 041F                 adc r16,r20
 2134 0e60 151F                 adc r17,r21
 2135 0e62 E092 0000            sts ErsatzKompass,r14
 2136 0e66 F092 0000            sts (ErsatzKompass)+1,r15
 2137 0e6a 0093 0000            sts (ErsatzKompass)+2,r16
 2138 0e6e 1093 0000            sts (ErsatzKompass)+3,r17
 2139 0e72 8091 0000            lds r24,Parameter_CouplingYawCorrection
 2140 0e76 8823                 tst r24
 2141 0e78 01F4                 brne .L100
 2142 0e7a 57FF                 sbrs r21,7
 2143 0e7c 00C0                 rjmp .L101
 2144 0e7e 2F5F                 subi r18,lo8(-(1))
 2145 0e80 3F4F                 sbci r19,hi8(-(1))
 2146 0e82 4F4F                 sbci r20,hlo8(-(1))
 2147 0e84 5F4F                 sbci r21,hhi8(-(1))
 2148                   .L101:
 2149 0e86 5595                 asr r21
 2150 0e88 4795                 ror r20
 2151 0e8a 3795                 ror r19
 2152 0e8c 2795                 ror r18
 2153 0e8e A21A                 sub r10,r18
 2154 0e90 B30A                 sbc r11,r19
 2155 0e92 C40A                 sbc r12,r20
 2156 0e94 D50A                 sbc r13,r21
 2157 0e96 A092 0000            sts Mess_Integral_Gier,r10
 2158 0e9a B092 0000            sts (Mess_Integral_Gier)+1,r11
 2159 0e9e C092 0000            sts (Mess_Integral_Gier)+2,r12
 2160 0ea2 D092 0000            sts (Mess_Integral_Gier)+3,r13
 2161                   .L100:
 2162 0ea6 2A89                 ldd r18,Y+18
 2163 0ea8 3B89                 ldd r19,Y+19
 2164 0eaa 7901                 movw r14,r18
 2165 0eac 0027                 clr r16
 2166 0eae F7FC                 sbrc r15,7
 2167 0eb0 0095                 com r16
 2168 0eb2 102F                 mov r17,r16
 2169 0eb4 8091 0000            lds r24,tmpl4.30
 2170 0eb8 9091 0000            lds r25,(tmpl4.30)+1
 2171 0ebc A091 0000            lds r26,(tmpl4.30)+2
 2172 0ec0 B091 0000            lds r27,(tmpl4.30)+3
 2173 0ec4 E80E                 add r14,r24
 2174 0ec6 F91E                 adc r15,r25
 2175 0ec8 0A1F                 adc r16,r26
 2176 0eca 1B1F                 adc r17,r27
 2177 0ecc C801                 movw r24,r16
 2178 0ece B701                 movw r22,r14
 2179 0ed0 2981                 ldd r18,Y+1
 2180 0ed2 3A81                 ldd r19,Y+2
 2181 0ed4 4B81                 ldd r20,Y+3
 2182 0ed6 5C81                 ldd r21,Y+4
 2183 0ed8 0E94 0000            call __mulsi3
 2184 0edc 9B01                 movw r18,r22
 2185 0ede AC01                 movw r20,r24
 2186 0ee0 97FF                 sbrs r25,7
 2187 0ee2 00C0                 rjmp .L102
 2188 0ee4 2150                 subi r18,lo8(-(2047))
 2189 0ee6 384F                 sbci r19,hi8(-(2047))
 2190 0ee8 4F4F                 sbci r20,hlo8(-(2047))
 2191 0eea 5F4F                 sbci r21,hhi8(-(2047))
 2192                   .L102:
 2193 0eec 6BE0                 ldi r22,11
 2194 0eee 5595         1:      asr r21
 2195 0ef0 4795                 ror r20
 2196 0ef2 3795                 ror r19
 2197 0ef4 2795                 ror r18
 2198 0ef6 6A95                 dec r22
 2199 0ef8 01F4                 brne 1b
 2200 0efa 8091 0000            lds r24,Parameter_AchsKopplung1
 2201 0efe A82E                 mov r10,r24
 2202 0f00 BB24                 clr r11
 2203 0f02 CC24                 clr r12
 2204 0f04 DD24                 clr r13
 2205 0f06 CA01                 movw r24,r20
 2206 0f08 B901                 movw r22,r18
 2207 0f0a A601                 movw r20,r12
 2208 0f0c 9501                 movw r18,r10
 2209 0f0e 0E94 0000            call __mulsi3
 2210 0f12 DC01                 movw r26,r24
 2211 0f14 CB01                 movw r24,r22
 2212 0f16 8093 0000            sts tmpl.27,r24
 2213 0f1a 9093 0000            sts (tmpl.27)+1,r25
 2214 0f1e A093 0000            sts (tmpl.27)+2,r26
 2215 0f22 B093 0000            sts (tmpl.27)+3,r27
 2216 0f26 B7FF                 sbrs r27,7
 2217 0f28 00C0                 rjmp .L103
 2218 0f2a 8150                 subi r24,lo8(-(4095))
 2219 0f2c 904F                 sbci r25,hi8(-(4095))
 2220 0f2e AF4F                 sbci r26,hlo8(-(4095))
 2221 0f30 BF4F                 sbci r27,hhi8(-(4095))
 2222                   .L103:
 2223 0f32 3C01                 movw r6,r24
 2224 0f34 4D01                 movw r8,r26
 2225 0f36 3CE0                 ldi r19,12
 2226 0f38 9594         1:      asr r9
 2227 0f3a 8794                 ror r8
 2228 0f3c 7794                 ror r7
 2229 0f3e 6794                 ror r6
 2230 0f40 3A95                 dec r19
 2231 0f42 01F4                 brne 1b
 2232 0f44 6092 0000            sts tmpl.27,r6
 2233 0f48 7092 0000            sts (tmpl.27)+1,r7
 2234 0f4c 8092 0000            sts (tmpl.27)+2,r8
 2235 0f50 9092 0000            sts (tmpl.27)+3,r9
 2236 0f54 C801                 movw r24,r16
 2237 0f56 B701                 movw r22,r14
 2238 0f58 2D81                 ldd r18,Y+5
 2239 0f5a 3E81                 ldd r19,Y+6
 2240 0f5c 4F81                 ldd r20,Y+7
 2241 0f5e 5885                 ldd r21,Y+8
 2242 0f60 0E94 0000            call __mulsi3
 2243 0f64 97FF                 sbrs r25,7
 2244 0f66 00C0                 rjmp .L104
 2245 0f68 6150                 subi r22,lo8(-(2047))
 2246 0f6a 784F                 sbci r23,hi8(-(2047))
 2247 0f6c 8F4F                 sbci r24,hlo8(-(2047))
 2248 0f6e 9F4F                 sbci r25,hhi8(-(2047))
 2249                   .L104:
 2250 0f70 2BE0                 ldi r18,11
 2251 0f72 9595         1:      asr r25
 2252 0f74 8795                 ror r24
 2253 0f76 7795                 ror r23
 2254 0f78 6795                 ror r22
 2255 0f7a 2A95                 dec r18
 2256 0f7c 01F4                 brne 1b
 2257 0f7e A601                 movw r20,r12
 2258 0f80 9501                 movw r18,r10
 2259 0f82 0E94 0000            call __mulsi3
 2260 0f86 DC01                 movw r26,r24
 2261 0f88 CB01                 movw r24,r22
 2262 0f8a 8093 0000            sts tmpl2.28,r24
 2263 0f8e 9093 0000            sts (tmpl2.28)+1,r25
 2264 0f92 A093 0000            sts (tmpl2.28)+2,r26
 2265 0f96 B093 0000            sts (tmpl2.28)+3,r27
 2266 0f9a B7FF                 sbrs r27,7
 2267 0f9c 00C0                 rjmp .L105
 2268 0f9e 8150                 subi r24,lo8(-(4095))
 2269 0fa0 904F                 sbci r25,hi8(-(4095))
 2270 0fa2 AF4F                 sbci r26,hlo8(-(4095))
 2271 0fa4 BF4F                 sbci r27,hhi8(-(4095))
 2272                   .L105:
 2273 0fa6 AC01                 movw r20,r24
 2274 0fa8 BD01                 movw r22,r26
 2275 0faa 8CE0                 ldi r24,12
 2276 0fac 7595         1:      asr r23
 2277 0fae 6795                 ror r22
 2278 0fb0 5795                 ror r21
 2279 0fb2 4795                 ror r20
 2280 0fb4 8A95                 dec r24
 2281 0fb6 01F4                 brne 1b
 2282 0fb8 4093 0000            sts tmpl2.28,r20
 2283 0fbc 5093 0000            sts (tmpl2.28)+1,r21
 2284 0fc0 6093 0000            sts (tmpl2.28)+2,r22
 2285 0fc4 7093 0000            sts (tmpl2.28)+3,r23
 2286 0fc8 2A89                 ldd r18,Y+18
 2287 0fca 3B89                 ldd r19,Y+19
 2288 0fcc 37FF                 sbrs r19,7
 2289 0fce 00C0                 rjmp .L107
 2290 0fd0 3095                 com r19
 2291 0fd2 2195                 neg r18
 2292 0fd4 3F4F                 sbci r19,lo8(-1)
 2293                   .L107:
 2294 0fd6 2134                 cpi r18,65
 2295 0fd8 3105                 cpc r19,__zero_reg__
 2296 0fda 04F0                 brlt .L112
 2297 0fdc D401                 movw r26,r8
 2298 0fde C301                 movw r24,r6
 2299 0fe0 97FE                 sbrs r9,7
 2300 0fe2 00C0                 rjmp .L110
 2301 0fe4 B095                 com r27
 2302 0fe6 A095                 com r26
 2303 0fe8 9095                 com r25
 2304 0fea 8195                 neg r24
 2305 0fec 9F4F                 sbci r25,lo8(-1)
 2306 0fee AF4F                 sbci r26,lo8(-1)
 2307 0ff0 BF4F                 sbci r27,lo8(-1)
 2308                   .L110:
 2309 0ff2 8138                 cpi r24,lo8(129)
 2310 0ff4 9105                 cpc r25,__zero_reg__
 2311 0ff6 A105                 cpc r26,__zero_reg__
 2312 0ff8 B105                 cpc r27,__zero_reg__
 2313 0ffa 04F4                 brge .L109
 2314 0ffc DB01                 movw r26,r22
 2315 0ffe CA01                 movw r24,r20
 2316 1000 77FF                 sbrs r23,7
 2317 1002 00C0                 rjmp .L111
 2318 1004 B095                 com r27
 2319 1006 A095                 com r26
 2320 1008 9095                 com r25
 2321 100a 8195                 neg r24
 2322 100c 9F4F                 sbci r25,lo8(-1)
 2323 100e AF4F                 sbci r26,lo8(-1)
 2324 1010 BF4F                 sbci r27,lo8(-1)
 2325                   .L111:
 2326 1012 8138                 cpi r24,lo8(129)
 2327 1014 9105                 cpc r25,__zero_reg__
 2328 1016 A105                 cpc r26,__zero_reg__
 2329 1018 B105                 cpc r27,__zero_reg__
 2330 101a 04F0                 brlt .L112
 2331                   .L109:
 2332 101c 81E0                 ldi r24,lo8(1)
 2333 101e 8093 0000            sts TrichterFlug,r24
 2334 1022 00C0                 rjmp .L112
 2335                   .L95:
 2336 1024 1092 0000            sts (KopplungsteilRollNick)+1,__zero_reg__
 2337 1028 1092 0000            sts KopplungsteilRollNick,__zero_reg__
 2338 102c 1092 0000            sts (KopplungsteilNickRoll)+1,__zero_reg__
 2339 1030 1092 0000            sts KopplungsteilNickRoll,__zero_reg__
 2340 1034 1092 0000            sts tmpl2.28,__zero_reg__
 2341 1038 1092 0000            sts (tmpl2.28)+1,__zero_reg__
 2342 103c 1092 0000            sts (tmpl2.28)+2,__zero_reg__
 2343 1040 1092 0000            sts (tmpl2.28)+3,__zero_reg__
 2344 1044 1092 0000            sts tmpl.27,__zero_reg__
 2345 1048 1092 0000            sts (tmpl.27)+1,__zero_reg__
 2346 104c 1092 0000            sts (tmpl.27)+2,__zero_reg__
 2347 1050 1092 0000            sts (tmpl.27)+3,__zero_reg__
 2348                   .L112:
 2349 1054 8091 0000            lds r24,tmpl2.28
 2350 1058 9091 0000            lds r25,(tmpl2.28)+1
 2351 105c A091 0000            lds r26,(tmpl2.28)+2
 2352 1060 B091 0000            lds r27,(tmpl2.28)+3
 2353 1064 BC01                 movw r22,r24
 2354 1066 CD01                 movw r24,r26
 2355 1068 24E6                 ldi r18,lo8(100)
 2356 106a 30E0                 ldi r19,hi8(100)
 2357 106c 40E0                 ldi r20,hlo8(100)
 2358 106e 50E0                 ldi r21,hhi8(100)
 2359 1070 0E94 0000            call __divmodsi4
 2360 1074 E090 0000            lds r14,tmpl.27
 2361 1078 F090 0000            lds r15,(tmpl.27)+1
 2362 107c E21A                 sub r14,r18
 2363 107e F30A                 sbc r15,r19
 2364 1080 F092 0000            sts (TrimRoll)+1,r15
 2365 1084 E092 0000            sts TrimRoll,r14
 2366 1088 8091 0000            lds r24,tmpl.27
 2367 108c 9091 0000            lds r25,(tmpl.27)+1
 2368 1090 A091 0000            lds r26,(tmpl.27)+2
 2369 1094 B091 0000            lds r27,(tmpl.27)+3
 2370 1098 BC01                 movw r22,r24
 2371 109a CD01                 movw r24,r26
 2372 109c 24E6                 ldi r18,lo8(100)
 2373 109e 30E0                 ldi r19,hi8(100)
 2374 10a0 40E0                 ldi r20,hlo8(100)
 2375 10a2 50E0                 ldi r21,hhi8(100)
 2376 10a4 0E94 0000            call __divmodsi4
 2377 10a8 DA01                 movw r26,r20
 2378 10aa C901                 movw r24,r18
 2379 10ac 2091 0000            lds r18,tmpl2.28
 2380 10b0 3091 0000            lds r19,(tmpl2.28)+1
 2381 10b4 8C01                 movw r16,r24
 2382 10b6 021B                 sub r16,r18
 2383 10b8 130B                 sbc r17,r19
 2384 10ba 1093 0000            sts (TrimNick)+1,r17
 2385 10be 0093 0000            sts TrimNick,r16
 2386 10c2 8091 0000            lds r24,GIER_GRAD_FAKTOR
 2387 10c6 9091 0000            lds r25,(GIER_GRAD_FAKTOR)+1
 2388 10ca A091 0000            lds r26,(GIER_GRAD_FAKTOR)+2
 2389 10ce B091 0000            lds r27,(GIER_GRAD_FAKTOR)+3
 2390 10d2 BC01                 movw r22,r24
 2391 10d4 CD01                 movw r24,r26
 2392 10d6 28E6                 ldi r18,lo8(360)
 2393 10d8 31E0                 ldi r19,hi8(360)
 2394 10da 40E0                 ldi r20,hlo8(360)
 2395 10dc 50E0                 ldi r21,hhi8(360)
 2396 10de 0E94 0000            call __mulsi3
 2397 10e2 2091 0000            lds r18,ErsatzKompass
 2398 10e6 3091 0000            lds r19,(ErsatzKompass)+1
 2399 10ea 4091 0000            lds r20,(ErsatzKompass)+2
 2400 10ee 5091 0000            lds r21,(ErsatzKompass)+3
 2401 10f2 2617                 cp r18,r22
 2402 10f4 3707                 cpc r19,r23
 2403 10f6 4807                 cpc r20,r24
 2404 10f8 5907                 cpc r21,r25
 2405 10fa 04F0                 brlt .L113
 2406 10fc 261B                 sub r18,r22
 2407 10fe 370B                 sbc r19,r23
 2408 1100 480B                 sbc r20,r24
 2409 1102 590B                 sbc r21,r25
 2410 1104 2093 0000            sts ErsatzKompass,r18
 2411 1108 3093 0000            sts (ErsatzKompass)+1,r19
 2412 110c 4093 0000            sts (ErsatzKompass)+2,r20
 2413 1110 5093 0000            sts (ErsatzKompass)+3,r21
 2414                   .L113:
 2415 1114 2091 0000            lds r18,ErsatzKompass
 2416 1118 3091 0000            lds r19,(ErsatzKompass)+1
 2417 111c 4091 0000            lds r20,(ErsatzKompass)+2
 2418 1120 5091 0000            lds r21,(ErsatzKompass)+3
 2419 1124 57FF                 sbrs r21,7
 2420 1126 00C0                 rjmp .L114
 2421 1128 260F                 add r18,r22
 2422 112a 371F                 adc r19,r23
 2423 112c 481F                 adc r20,r24
 2424 112e 591F                 adc r21,r25
 2425 1130 2093 0000            sts ErsatzKompass,r18
 2426 1134 3093 0000            sts (ErsatzKompass)+1,r19
 2427 1138 4093 0000            sts (ErsatzKompass)+2,r20
 2428 113c 5093 0000            sts (ErsatzKompass)+3,r21
 2429                   .L114:
 2430 1140 6091 0000            lds r22,MesswertRoll
 2431 1144 7091 0000            lds r23,(MesswertRoll)+1
 2432 1148 6E0D                 add r22,r14
 2433 114a 7F1D                 adc r23,r15
 2434 114c 9B01                 movw r18,r22
 2435 114e 4427                 clr r20
 2436 1150 37FD                 sbrc r19,7
 2437 1152 4095                 com r20
 2438 1154 542F                 mov r21,r20
 2439 1156 8091 0000            lds r24,Mess_IntegralRoll2
 2440 115a 9091 0000            lds r25,(Mess_IntegralRoll2)+1
 2441 115e A091 0000            lds r26,(Mess_IntegralRoll2)+2
 2442 1162 B091 0000            lds r27,(Mess_IntegralRoll2)+3
 2443 1166 820F                 add r24,r18
 2444 1168 931F                 adc r25,r19
 2445 116a A41F                 adc r26,r20
 2446 116c B51F                 adc r27,r21
 2447 116e 8093 0000            sts Mess_IntegralRoll2,r24
 2448 1172 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 2449 1176 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 2450 117a B093 0000            sts (Mess_IntegralRoll2)+3,r27
 2451 117e 8091 0000            lds r24,LageKorrekturRoll
 2452 1182 9091 0000            lds r25,(LageKorrekturRoll)+1
 2453 1186 681B                 sub r22,r24
 2454 1188 790B                 sbc r23,r25
 2455 118a CB01                 movw r24,r22
 2456 118c AA27                 clr r26
 2457 118e 97FD                 sbrc r25,7
 2458 1190 A095                 com r26
 2459 1192 BA2F                 mov r27,r26
 2460 1194 2985                 ldd r18,Y+9
 2461 1196 3A85                 ldd r19,Y+10
 2462 1198 4B85                 ldd r20,Y+11
 2463 119a 5C85                 ldd r21,Y+12
 2464 119c 820F                 add r24,r18
 2465 119e 931F                 adc r25,r19
 2466 11a0 A41F                 adc r26,r20
 2467 11a2 B51F                 adc r27,r21
 2468 11a4 8093 0000            sts Mess_IntegralRoll,r24
 2469 11a8 9093 0000            sts (Mess_IntegralRoll)+1,r25
 2470 11ac A093 0000            sts (Mess_IntegralRoll)+2,r26
 2471 11b0 B093 0000            sts (Mess_IntegralRoll)+3,r27
 2472 11b4 C090 0000            lds r12,Umschlag180Roll
 2473 11b8 D090 0000            lds r13,(Umschlag180Roll)+1
 2474 11bc E090 0000            lds r14,(Umschlag180Roll)+2
 2475 11c0 F090 0000            lds r15,(Umschlag180Roll)+3
 2476 11c4 C816                 cp r12,r24
 2477 11c6 D906                 cpc r13,r25
 2478 11c8 EA06                 cpc r14,r26
 2479 11ca FB06                 cpc r15,r27
 2480 11cc 04F4                 brge .L115
 2481 11ce 88EA                 ldi r24,lo8(25000)
 2482 11d0 91E6                 ldi r25,hi8(25000)
 2483 11d2 A0E0                 ldi r26,hlo8(25000)
 2484 11d4 B0E0                 ldi r27,hhi8(25000)
 2485 11d6 8C19                 sub r24,r12
 2486 11d8 9D09                 sbc r25,r13
 2487 11da AE09                 sbc r26,r14
 2488 11dc BF09                 sbc r27,r15
 2489 11de 8093 0000            sts Mess_IntegralRoll,r24
 2490 11e2 9093 0000            sts (Mess_IntegralRoll)+1,r25
 2491 11e6 A093 0000            sts (Mess_IntegralRoll)+2,r26
 2492 11ea B093 0000            sts (Mess_IntegralRoll)+3,r27
 2493 11ee 8093 0000            sts Mess_IntegralRoll2,r24
 2494 11f2 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 2495 11f6 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 2496 11fa B093 0000            sts (Mess_IntegralRoll2)+3,r27
 2497                   .L115:
 2498 11fe 2227                 clr r18
 2499 1200 3327                 clr r19
 2500 1202 A901                 movw r20,r18
 2501 1204 2C19                 sub r18,r12
 2502 1206 3D09                 sbc r19,r13
 2503 1208 4E09                 sbc r20,r14
 2504 120a 5F09                 sbc r21,r15
 2505 120c 8091 0000            lds r24,Mess_IntegralRoll
 2506 1210 9091 0000            lds r25,(Mess_IntegralRoll)+1
 2507 1214 A091 0000            lds r26,(Mess_IntegralRoll)+2
 2508 1218 B091 0000            lds r27,(Mess_IntegralRoll)+3
 2509 121c 8217                 cp r24,r18
 2510 121e 9307                 cpc r25,r19
 2511 1220 A407                 cpc r26,r20
 2512 1222 B507                 cpc r27,r21
 2513 1224 04F4                 brge .L116
 2514 1226 D701                 movw r26,r14
 2515 1228 C601                 movw r24,r12
 2516 122a 885A                 subi r24,lo8(-(-25000))
 2517 122c 9146                 sbci r25,hi8(-(-25000))
 2518 122e A040                 sbci r26,hlo8(-(-25000))
 2519 1230 B040                 sbci r27,hhi8(-(-25000))
 2520 1232 8093 0000            sts Mess_IntegralRoll,r24
 2521 1236 9093 0000            sts (Mess_IntegralRoll)+1,r25
 2522 123a A093 0000            sts (Mess_IntegralRoll)+2,r26
 2523 123e B093 0000            sts (Mess_IntegralRoll)+3,r27
 2524 1242 8093 0000            sts Mess_IntegralRoll2,r24
 2525 1246 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 2526 124a A093 0000            sts (Mess_IntegralRoll2)+2,r26
 2527 124e B093 0000            sts (Mess_IntegralRoll2)+3,r27
 2528                   .L116:
 2529 1252 6091 0000            lds r22,MesswertNick
 2530 1256 7091 0000            lds r23,(MesswertNick)+1
 2531 125a 600F                 add r22,r16
 2532 125c 711F                 adc r23,r17
 2533 125e 9B01                 movw r18,r22
 2534 1260 4427                 clr r20
 2535 1262 37FD                 sbrc r19,7
 2536 1264 4095                 com r20
 2537 1266 542F                 mov r21,r20
 2538 1268 8091 0000            lds r24,Mess_IntegralNick2
 2539 126c 9091 0000            lds r25,(Mess_IntegralNick2)+1
 2540 1270 A091 0000            lds r26,(Mess_IntegralNick2)+2
 2541 1274 B091 0000            lds r27,(Mess_IntegralNick2)+3
 2542 1278 820F                 add r24,r18
 2543 127a 931F                 adc r25,r19
 2544 127c A41F                 adc r26,r20
 2545 127e B51F                 adc r27,r21
 2546 1280 8093 0000            sts Mess_IntegralNick2,r24
 2547 1284 9093 0000            sts (Mess_IntegralNick2)+1,r25
 2548 1288 A093 0000            sts (Mess_IntegralNick2)+2,r26
 2549 128c B093 0000            sts (Mess_IntegralNick2)+3,r27
 2550 1290 8091 0000            lds r24,LageKorrekturNick
 2551 1294 9091 0000            lds r25,(LageKorrekturNick)+1
 2552 1298 681B                 sub r22,r24
 2553 129a 790B                 sbc r23,r25
 2554 129c CB01                 movw r24,r22
 2555 129e AA27                 clr r26
 2556 12a0 97FD                 sbrc r25,7
 2557 12a2 A095                 com r26
 2558 12a4 BA2F                 mov r27,r26
 2559 12a6 2D85                 ldd r18,Y+13
 2560 12a8 3E85                 ldd r19,Y+14
 2561 12aa 4F85                 ldd r20,Y+15
 2562 12ac 5889                 ldd r21,Y+16
 2563 12ae 820F                 add r24,r18
 2564 12b0 931F                 adc r25,r19
 2565 12b2 A41F                 adc r26,r20
 2566 12b4 B51F                 adc r27,r21
 2567 12b6 8093 0000            sts Mess_IntegralNick,r24
 2568 12ba 9093 0000            sts (Mess_IntegralNick)+1,r25
 2569 12be A093 0000            sts (Mess_IntegralNick)+2,r26
 2570 12c2 B093 0000            sts (Mess_IntegralNick)+3,r27
 2571 12c6 E090 0000            lds r14,Umschlag180Nick
 2572 12ca F090 0000            lds r15,(Umschlag180Nick)+1
 2573 12ce 0091 0000            lds r16,(Umschlag180Nick)+2
 2574 12d2 1091 0000            lds r17,(Umschlag180Nick)+3
 2575 12d6 E816                 cp r14,r24
 2576 12d8 F906                 cpc r15,r25
 2577 12da 0A07                 cpc r16,r26
 2578 12dc 1B07                 cpc r17,r27
 2579 12de 04F4                 brge .L117
 2580 12e0 88EA                 ldi r24,lo8(25000)
 2581 12e2 91E6                 ldi r25,hi8(25000)
 2582 12e4 A0E0                 ldi r26,hlo8(25000)
 2583 12e6 B0E0                 ldi r27,hhi8(25000)
 2584 12e8 8E19                 sub r24,r14
 2585 12ea 9F09                 sbc r25,r15
 2586 12ec A00B                 sbc r26,r16
 2587 12ee B10B                 sbc r27,r17
 2588 12f0 8093 0000            sts Mess_IntegralNick,r24
 2589 12f4 9093 0000            sts (Mess_IntegralNick)+1,r25
 2590 12f8 A093 0000            sts (Mess_IntegralNick)+2,r26
 2591 12fc B093 0000            sts (Mess_IntegralNick)+3,r27
 2592 1300 8093 0000            sts Mess_IntegralNick2,r24
 2593 1304 9093 0000            sts (Mess_IntegralNick2)+1,r25
 2594 1308 A093 0000            sts (Mess_IntegralNick2)+2,r26
 2595 130c B093 0000            sts (Mess_IntegralNick2)+3,r27
 2596                   .L117:
 2597 1310 2227                 clr r18
 2598 1312 3327                 clr r19
 2599 1314 A901                 movw r20,r18
 2600 1316 2E19                 sub r18,r14
 2601 1318 3F09                 sbc r19,r15
 2602 131a 400B                 sbc r20,r16
 2603 131c 510B                 sbc r21,r17
 2604 131e 8091 0000            lds r24,Mess_IntegralNick
 2605 1322 9091 0000            lds r25,(Mess_IntegralNick)+1
 2606 1326 A091 0000            lds r26,(Mess_IntegralNick)+2
 2607 132a B091 0000            lds r27,(Mess_IntegralNick)+3
 2608 132e 8217                 cp r24,r18
 2609 1330 9307                 cpc r25,r19
 2610 1332 A407                 cpc r26,r20
 2611 1334 B507                 cpc r27,r21
 2612 1336 04F4                 brge .L118
 2613 1338 D801                 movw r26,r16
 2614 133a C701                 movw r24,r14
 2615 133c 885A                 subi r24,lo8(-(-25000))
 2616 133e 9146                 sbci r25,hi8(-(-25000))
 2617 1340 A040                 sbci r26,hlo8(-(-25000))
 2618 1342 B040                 sbci r27,hhi8(-(-25000))
 2619 1344 8093 0000            sts Mess_IntegralNick,r24
 2620 1348 9093 0000            sts (Mess_IntegralNick)+1,r25
 2621 134c A093 0000            sts (Mess_IntegralNick)+2,r26
 2622 1350 B093 0000            sts (Mess_IntegralNick)+3,r27
 2623 1354 8093 0000            sts Mess_IntegralNick2,r24
 2624 1358 9093 0000            sts (Mess_IntegralNick2)+1,r25
 2625 135c A093 0000            sts (Mess_IntegralNick2)+2,r26
 2626 1360 B093 0000            sts (Mess_IntegralNick2)+3,r27
 2627                   .L118:
 2628 1364 8091 0000            lds r24,Mess_Integral_Gier
 2629 1368 9091 0000            lds r25,(Mess_Integral_Gier)+1
 2630 136c A091 0000            lds r26,(Mess_Integral_Gier)+2
 2631 1370 B091 0000            lds r27,(Mess_Integral_Gier)+3
 2632 1374 8093 0000            sts Integral_Gier,r24
 2633 1378 9093 0000            sts (Integral_Gier)+1,r25
 2634 137c A093 0000            sts (Integral_Gier)+2,r26
 2635 1380 B093 0000            sts (Integral_Gier)+3,r27
 2636 1384 8091 0000            lds r24,Mess_IntegralNick
 2637 1388 9091 0000            lds r25,(Mess_IntegralNick)+1
 2638 138c A091 0000            lds r26,(Mess_IntegralNick)+2
 2639 1390 B091 0000            lds r27,(Mess_IntegralNick)+3
 2640 1394 8093 0000            sts IntegralNick,r24
 2641 1398 9093 0000            sts (IntegralNick)+1,r25
 2642 139c A093 0000            sts (IntegralNick)+2,r26
 2643 13a0 B093 0000            sts (IntegralNick)+3,r27
 2644 13a4 8091 0000            lds r24,Mess_IntegralRoll
 2645 13a8 9091 0000            lds r25,(Mess_IntegralRoll)+1
 2646 13ac A091 0000            lds r26,(Mess_IntegralRoll)+2
 2647 13b0 B091 0000            lds r27,(Mess_IntegralRoll)+3
 2648 13b4 8093 0000            sts IntegralRoll,r24
 2649 13b8 9093 0000            sts (IntegralRoll)+1,r25
 2650 13bc A093 0000            sts (IntegralRoll)+2,r26
 2651 13c0 B093 0000            sts (IntegralRoll)+3,r27
 2652 13c4 8091 0000            lds r24,Mess_IntegralNick2
 2653 13c8 9091 0000            lds r25,(Mess_IntegralNick2)+1
 2654 13cc A091 0000            lds r26,(Mess_IntegralNick2)+2
 2655 13d0 B091 0000            lds r27,(Mess_IntegralNick2)+3
 2656 13d4 8093 0000            sts IntegralNick2,r24
 2657 13d8 9093 0000            sts (IntegralNick2)+1,r25
 2658 13dc A093 0000            sts (IntegralNick2)+2,r26
 2659 13e0 B093 0000            sts (IntegralNick2)+3,r27
 2660 13e4 8091 0000            lds r24,Mess_IntegralRoll2
 2661 13e8 9091 0000            lds r25,(Mess_IntegralRoll2)+1
 2662 13ec A091 0000            lds r26,(Mess_IntegralRoll2)+2
 2663 13f0 B091 0000            lds r27,(Mess_IntegralRoll2)+3
 2664 13f4 8093 0000            sts IntegralRoll2,r24
 2665 13f8 9093 0000            sts (IntegralRoll2)+1,r25
 2666 13fc A093 0000            sts (IntegralRoll2)+2,r26
 2667 1400 B093 0000            sts (IntegralRoll2)+3,r27
 2668 1404 8091 0000            lds r24,HiResNick
 2669 1408 9091 0000            lds r25,(HiResNick)+1
 2670 140c 97FD                 sbrc r25,7
 2671 140e 0796                 adiw r24,7
 2672                   .L119:
 2673 1410 03E0                 ldi r16,3
 2674 1412 9595         1:      asr r25
 2675 1414 8795                 ror r24
 2676 1416 0A95                 dec r16
 2677 1418 01F4                 brne 1b
 2678 141a 9093 0000            sts (MesswertNick)+1,r25
 2679 141e 8093 0000            sts MesswertNick,r24
 2680 1422 8091 0000            lds r24,HiResRoll
 2681 1426 9091 0000            lds r25,(HiResRoll)+1
 2682 142a 97FD                 sbrc r25,7
 2683 142c 0796                 adiw r24,7
 2684                   .L120:
 2685 142e 13E0                 ldi r17,3
 2686 1430 9595         1:      asr r25
 2687 1432 8795                 ror r24
 2688 1434 1A95                 dec r17
 2689 1436 01F4                 brne 1b
 2690 1438 9093 0000            sts (MesswertRoll)+1,r25
 2691 143c 8093 0000            sts MesswertRoll,r24
 2692 1440 8091 0000            lds r24,AdWertNick
 2693 1444 9091 0000            lds r25,(AdWertNick)+1
 2694 1448 0F97                 sbiw r24,15
 2695 144a 04F4                 brge .L121
 2696 144c 88E1                 ldi r24,lo8(-1000)
 2697 144e 9CEF                 ldi r25,hi8(-1000)
 2698 1450 9093 0000            sts (MesswertNick)+1,r25
 2699 1454 8093 0000            sts MesswertNick,r24
 2700                   .L121:
 2701 1458 8091 0000            lds r24,AdWertNick
 2702 145c 9091 0000            lds r25,(AdWertNick)+1
 2703 1460 0797                 sbiw r24,7
 2704 1462 04F4                 brge .L122
 2705 1464 80E3                 ldi r24,lo8(-2000)
 2706 1466 98EF                 ldi r25,hi8(-2000)
 2707 1468 9093 0000            sts (MesswertNick)+1,r25
 2708 146c 8093 0000            sts MesswertNick,r24
 2709                   .L122:
 2710 1470 2091 0000            lds r18,PlatinenVersion
 2711 1474 2A30                 cpi r18,lo8(10)
 2712 1476 01F4                 brne .L123
 2713 1478 8091 0000            lds r24,AdWertNick
 2714 147c 9091 0000            lds r25,(AdWertNick)+1
 2715 1480 835F                 subi r24,lo8(1011)
 2716 1482 9340                 sbci r25,hi8(1011)
 2717 1484 04F0                 brlt .L124
 2718 1486 88EE                 ldi r24,lo8(1000)
 2719 1488 93E0                 ldi r25,hi8(1000)
 2720 148a 9093 0000            sts (MesswertNick)+1,r25
 2721 148e 8093 0000            sts MesswertNick,r24
 2722                   .L124:
 2723 1492 8091 0000            lds r24,AdWertNick
 2724 1496 9091 0000            lds r25,(AdWertNick)+1
 2725 149a 8A5F                 subi r24,lo8(1018)
 2726 149c 9340                 sbci r25,hi8(1018)
 2727 149e 04F0                 brlt .L126
 2728 14a0 00C0                 rjmp .L169
 2729                   .L123:
 2730 14a2 8091 0000            lds r24,AdWertNick
 2731 14a6 9091 0000            lds r25,(AdWertNick)+1
 2732 14aa 815D                 subi r24,lo8(2001)
 2733 14ac 9740                 sbci r25,hi8(2001)
 2734 14ae 04F0                 brlt .L127
 2735 14b0 88EE                 ldi r24,lo8(1000)
 2736 14b2 93E0                 ldi r25,hi8(1000)
 2737 14b4 9093 0000            sts (MesswertNick)+1,r25
 2738 14b8 8093 0000            sts MesswertNick,r24
 2739                   .L127:
 2740 14bc 8091 0000            lds r24,AdWertNick
 2741 14c0 9091 0000            lds r25,(AdWertNick)+1
 2742 14c4 805E                 subi r24,lo8(2016)
 2743 14c6 9740                 sbci r25,hi8(2016)
 2744 14c8 04F0                 brlt .L126
 2745                   .L169:
 2746 14ca 80ED                 ldi r24,lo8(2000)
 2747 14cc 97E0                 ldi r25,hi8(2000)
 2748 14ce 9093 0000            sts (MesswertNick)+1,r25
 2749 14d2 8093 0000            sts MesswertNick,r24
 2750                   .L126:
 2751 14d6 8091 0000            lds r24,AdWertRoll
 2752 14da 9091 0000            lds r25,(AdWertRoll)+1
 2753 14de 0F97                 sbiw r24,15
 2754 14e0 04F4                 brge .L129
 2755 14e2 88E1                 ldi r24,lo8(-1000)
 2756 14e4 9CEF                 ldi r25,hi8(-1000)
 2757 14e6 9093 0000            sts (MesswertRoll)+1,r25
 2758 14ea 8093 0000            sts MesswertRoll,r24
 2759                   .L129:
 2760 14ee 8091 0000            lds r24,AdWertRoll
 2761 14f2 9091 0000            lds r25,(AdWertRoll)+1
 2762 14f6 0797                 sbiw r24,7
 2763 14f8 04F4                 brge .L130
 2764 14fa 80E3                 ldi r24,lo8(-2000)
 2765 14fc 98EF                 ldi r25,hi8(-2000)
 2766 14fe 9093 0000            sts (MesswertRoll)+1,r25
 2767 1502 8093 0000            sts MesswertRoll,r24
 2768                   .L130:
 2769 1506 2A30                 cpi r18,lo8(10)
 2770 1508 01F4                 brne .L131
 2771 150a 8091 0000            lds r24,AdWertRoll
 2772 150e 9091 0000            lds r25,(AdWertRoll)+1
 2773 1512 835F                 subi r24,lo8(1011)
 2774 1514 9340                 sbci r25,hi8(1011)
 2775 1516 04F0                 brlt .L132
 2776 1518 88EE                 ldi r24,lo8(1000)
 2777 151a 93E0                 ldi r25,hi8(1000)
 2778 151c 9093 0000            sts (MesswertRoll)+1,r25
 2779 1520 8093 0000            sts MesswertRoll,r24
 2780                   .L132:
 2781 1524 8091 0000            lds r24,AdWertRoll
 2782 1528 9091 0000            lds r25,(AdWertRoll)+1
 2783 152c 8A5F                 subi r24,lo8(1018)
 2784 152e 9340                 sbci r25,hi8(1018)
 2785 1530 04F0                 brlt .L134
 2786 1532 00C0                 rjmp .L170
 2787                   .L131:
 2788 1534 8091 0000            lds r24,AdWertRoll
 2789 1538 9091 0000            lds r25,(AdWertRoll)+1
 2790 153c 815D                 subi r24,lo8(2001)
 2791 153e 9740                 sbci r25,hi8(2001)
 2792 1540 04F0                 brlt .L135
 2793 1542 88EE                 ldi r24,lo8(1000)
 2794 1544 93E0                 ldi r25,hi8(1000)
 2795 1546 9093 0000            sts (MesswertRoll)+1,r25
 2796 154a 8093 0000            sts MesswertRoll,r24
 2797                   .L135:
 2798 154e 8091 0000            lds r24,AdWertRoll
 2799 1552 9091 0000            lds r25,(AdWertRoll)+1
 2800 1556 805E                 subi r24,lo8(2016)
 2801 1558 9740                 sbci r25,hi8(2016)
 2802 155a 04F0                 brlt .L134
 2803                   .L170:
 2804 155c 80ED                 ldi r24,lo8(2000)
 2805 155e 97E0                 ldi r25,hi8(2000)
 2806 1560 9093 0000            sts (MesswertRoll)+1,r25
 2807 1564 8093 0000            sts MesswertRoll,r24
 2808                   .L134:
 2809 1568 6091 0000            lds r22,Parameter_Gyro_D
 2810 156c 6623                 tst r22
 2811 156e 01F4                 brne .+2
 2812 1570 00C0                 rjmp .L137
 2813 1572 4091 0000            lds r20,HiResNick
 2814 1576 5091 0000            lds r21,(HiResNick)+1
 2815 157a 8091 0000            lds r24,oldNick.31
 2816 157e 9091 0000            lds r25,(oldNick.31)+1
 2817 1582 481B                 sub r20,r24
 2818 1584 590B                 sbc r21,r25
 2819 1586 5093 0000            sts (d2Nick.34)+1,r21
 2820 158a 4093 0000            sts d2Nick.34,r20
 2821 158e 2091 0000            lds r18,HiResNick
 2822 1592 3091 0000            lds r19,(HiResNick)+1
 2823 1596 280F                 add r18,r24
 2824 1598 391F                 adc r19,r25
 2825 159a 37FF                 sbrs r19,7
 2826 159c 00C0                 rjmp .L138
 2827 159e 2F5F                 subi r18,lo8(-(1))
 2828 15a0 3F4F                 sbci r19,hi8(-(1))
 2829                   .L138:
 2830 15a2 3595                 asr r19
 2831 15a4 2795                 ror r18
 2832 15a6 3093 0000            sts (oldNick.31)+1,r19
 2833 15aa 2093 0000            sts oldNick.31,r18
 2834 15ae 4138                 cpi r20,129
 2835 15b0 5105                 cpc r21,__zero_reg__
 2836 15b2 04F0                 brlt .L139
 2837 15b4 80E8                 ldi r24,lo8(128)
 2838 15b6 90E0                 ldi r25,hi8(128)
 2839 15b8 00C0                 rjmp .L171
 2840                   .L139:
 2841 15ba 4058                 subi r20,lo8(-128)
 2842 15bc 5F4F                 sbci r21,hi8(-128)
 2843 15be 04F4                 brge .L140
 2844 15c0 80E8                 ldi r24,lo8(-128)
 2845 15c2 9FEF                 ldi r25,hi8(-128)
 2846                   .L171:
 2847 15c4 9093 0000            sts (d2Nick.34)+1,r25
 2848 15c8 8093 0000            sts d2Nick.34,r24
 2849                   .L140:
 2850 15cc 4091 0000            lds r20,HiResRoll
 2851 15d0 5091 0000            lds r21,(HiResRoll)+1
 2852 15d4 8091 0000            lds r24,oldRoll.32
 2853 15d8 9091 0000            lds r25,(oldRoll.32)+1
 2854 15dc 481B                 sub r20,r24
 2855 15de 590B                 sbc r21,r25
 2856 15e0 5093 0000            sts (d2Roll.33)+1,r21
 2857 15e4 4093 0000            sts d2Roll.33,r20
 2858 15e8 2091 0000            lds r18,HiResRoll
 2859 15ec 3091 0000            lds r19,(HiResRoll)+1
 2860 15f0 280F                 add r18,r24
 2861 15f2 391F                 adc r19,r25
 2862 15f4 37FF                 sbrs r19,7
 2863 15f6 00C0                 rjmp .L142
 2864 15f8 2F5F                 subi r18,lo8(-(1))
 2865 15fa 3F4F                 sbci r19,hi8(-(1))
 2866                   .L142:
 2867 15fc 3595                 asr r19
 2868 15fe 2795                 ror r18
 2869 1600 3093 0000            sts (oldRoll.32)+1,r19
 2870 1604 2093 0000            sts oldRoll.32,r18
 2871 1608 4138                 cpi r20,129
 2872 160a 5105                 cpc r21,__zero_reg__
 2873 160c 04F0                 brlt .L143
 2874 160e 80E8                 ldi r24,lo8(128)
 2875 1610 90E0                 ldi r25,hi8(128)
 2876 1612 00C0                 rjmp .L172
 2877                   .L143:
 2878 1614 4058                 subi r20,lo8(-128)
 2879 1616 5F4F                 sbci r21,hi8(-128)
 2880 1618 04F4                 brge .L144
 2881 161a 80E8                 ldi r24,lo8(-128)
 2882 161c 9FEF                 ldi r25,hi8(-128)
 2883                   .L172:
 2884 161e 9093 0000            sts (d2Roll.33)+1,r25
 2885 1622 8093 0000            sts d2Roll.33,r24
 2886                   .L144:
 2887 1626 462F                 mov r20,r22
 2888 1628 5527                 clr r21
 2889 162a 8091 0000            lds r24,d2Nick.34
 2890 162e 9091 0000            lds r25,(d2Nick.34)+1
 2891 1632 849F                 mul r24,r20
 2892 1634 B001                 movw r22,r0
 2893 1636 859F                 mul r24,r21
 2894 1638 700D                 add r23,r0
 2895 163a 949F                 mul r25,r20
 2896 163c 700D                 add r23,r0
 2897 163e 1124                 clr r1
 2898 1640 9B01                 movw r18,r22
 2899 1642 77FF                 sbrs r23,7
 2900 1644 00C0                 rjmp .L146
 2901 1646 215F                 subi r18,lo8(-(15))
 2902 1648 3F4F                 sbci r19,hi8(-(15))
 2903                   .L146:
 2904 164a F4E0                 ldi r31,4
 2905 164c 3595         1:      asr r19
 2906 164e 2795                 ror r18
 2907 1650 FA95                 dec r31
 2908 1652 01F4                 brne 1b
 2909 1654 8091 0000            lds r24,MesswertNick
 2910 1658 9091 0000            lds r25,(MesswertNick)+1
 2911 165c 820F                 add r24,r18
 2912 165e 931F                 adc r25,r19
 2913 1660 9093 0000            sts (MesswertNick)+1,r25
 2914 1664 8093 0000            sts MesswertNick,r24
 2915 1668 8091 0000            lds r24,d2Roll.33
 2916 166c 9091 0000            lds r25,(d2Roll.33)+1
 2917 1670 849F                 mul r24,r20
 2918 1672 D001                 movw r26,r0
 2919 1674 859F                 mul r24,r21
 2920 1676 B00D                 add r27,r0
 2921 1678 949F                 mul r25,r20
 2922 167a B00D                 add r27,r0
 2923 167c 1124                 clr r1
 2924 167e AD01                 movw r20,r26
 2925 1680 9D01                 movw r18,r26
 2926 1682 B7FF                 sbrs r27,7
 2927 1684 00C0                 rjmp .L147
 2928 1686 215F                 subi r18,lo8(-(15))
 2929 1688 3F4F                 sbci r19,hi8(-(15))
 2930                   .L147:
 2931 168a E4E0                 ldi r30,4
 2932 168c 3595         1:      asr r19
 2933 168e 2795                 ror r18
 2934 1690 EA95                 dec r30
 2935 1692 01F4                 brne 1b
 2936 1694 8091 0000            lds r24,MesswertRoll
 2937 1698 9091 0000            lds r25,(MesswertRoll)+1
 2938 169c 820F                 add r24,r18
 2939 169e 931F                 adc r25,r19
 2940 16a0 9093 0000            sts (MesswertRoll)+1,r25
 2941 16a4 8093 0000            sts MesswertRoll,r24
 2942 16a8 8091 0000            lds r24,HiResNick
 2943 16ac 9091 0000            lds r25,(HiResNick)+1
 2944 16b0 860F                 add r24,r22
 2945 16b2 971F                 adc r25,r23
 2946 16b4 9093 0000            sts (HiResNick)+1,r25
 2947 16b8 8093 0000            sts HiResNick,r24
 2948 16bc 8091 0000            lds r24,HiResRoll
 2949 16c0 9091 0000            lds r25,(HiResRoll)+1
 2950 16c4 840F                 add r24,r20
 2951 16c6 951F                 adc r25,r21
 2952 16c8 9093 0000            sts (HiResRoll)+1,r25
 2953 16cc 8093 0000            sts HiResRoll,r24
 2954                   .L137:
 2955 16d0 0091 0000            lds r16,RohMesswertRoll
 2956 16d4 1091 0000            lds r17,(RohMesswertRoll)+1
 2957 16d8 8091 0000            lds r24,KopplungsteilNickRoll
 2958 16dc 9091 0000            lds r25,(KopplungsteilNickRoll)+1
 2959 16e0 1016                 cp __zero_reg__,r16
 2960 16e2 1106                 cpc __zero_reg__,r17
 2961 16e4 04F4                 brge .L148
 2962 16e6 9C01                 movw r18,r24
 2963 16e8 97FF                 sbrs r25,7
 2964 16ea 00C0                 rjmp .L149
 2965 16ec 2227                 clr r18
 2966 16ee 3327                 clr r19
 2967 16f0 281B                 sub r18,r24
 2968 16f2 390B                 sbc r19,r25
 2969                   .L149:
 2970 16f4 C901                 movw r24,r18
 2971 16f6 AA27                 clr r26
 2972 16f8 97FD                 sbrc r25,7
 2973 16fa A095                 com r26
 2974 16fc BA2F                 mov r27,r26
 2975 16fe 2091 0000            lds r18,Parameter_CouplingYawCorrection
 2976 1702 3327                 clr r19
 2977 1704 4427                 clr r20
 2978 1706 5527                 clr r21
 2979 1708 BC01                 movw r22,r24
 2980 170a CD01                 movw r24,r26
 2981 170c 0E94 0000            call __mulsi3
 2982 1710 9B01                 movw r18,r22
 2983 1712 AC01                 movw r20,r24
 2984 1714 97FF                 sbrs r25,7
 2985 1716 00C0                 rjmp .L150
 2986 1718 215C                 subi r18,lo8(-(63))
 2987 171a 3F4F                 sbci r19,hi8(-(63))
 2988 171c 4F4F                 sbci r20,hlo8(-(63))
 2989 171e 5F4F                 sbci r21,hhi8(-(63))
 2990                   .L150:
 2991 1720 76E0                 ldi r23,6
 2992 1722 5595         1:      asr r21
 2993 1724 4795                 ror r20
 2994 1726 3795                 ror r19
 2995 1728 2795                 ror r18
 2996 172a 7A95                 dec r23
 2997 172c 01F4                 brne 1b
 2998 172e 8091 0000            lds r24,TrimRoll
 2999 1732 9091 0000            lds r25,(TrimRoll)+1
 3000 1736 820F                 add r24,r18
 3001 1738 931F                 adc r25,r19
 3002 173a 00C0                 rjmp .L173
 3003                   .L148:
 3004 173c 97FF                 sbrs r25,7
 3005 173e 00C0                 rjmp .L152
 3006 1740 9095                 com r25
 3007 1742 8195                 neg r24
 3008 1744 9F4F                 sbci r25,lo8(-1)
 3009                   .L152:
 3010 1746 AA27                 clr r26
 3011 1748 97FD                 sbrc r25,7
 3012 174a A095                 com r26
 3013 174c BA2F                 mov r27,r26
 3014 174e 2091 0000            lds r18,Parameter_CouplingYawCorrection
 3015 1752 3327                 clr r19
 3016 1754 4427                 clr r20
 3017 1756 5527                 clr r21
 3018 1758 BC01                 movw r22,r24
 3019 175a CD01                 movw r24,r26
 3020 175c 0E94 0000            call __mulsi3
 3021 1760 9B01                 movw r18,r22
 3022 1762 AC01                 movw r20,r24
 3023 1764 97FF                 sbrs r25,7
 3024 1766 00C0                 rjmp .L153
 3025 1768 215C                 subi r18,lo8(-(63))
 3026 176a 3F4F                 sbci r19,hi8(-(63))
 3027 176c 4F4F                 sbci r20,hlo8(-(63))
 3028 176e 5F4F                 sbci r21,hhi8(-(63))
 3029                   .L153:
 3030 1770 66E0                 ldi r22,6
 3031 1772 5595         1:      asr r21
 3032 1774 4795                 ror r20
 3033 1776 3795                 ror r19
 3034 1778 2795                 ror r18
 3035 177a 6A95                 dec r22
 3036 177c 01F4                 brne 1b
 3037 177e 8091 0000            lds r24,TrimRoll
 3038 1782 9091 0000            lds r25,(TrimRoll)+1
 3039 1786 821B                 sub r24,r18
 3040 1788 930B                 sbc r25,r19
 3041                   .L173:
 3042 178a 9093 0000            sts (TrimRoll)+1,r25
 3043 178e 8093 0000            sts TrimRoll,r24
 3044 1792 E090 0000            lds r14,RohMesswertNick
 3045 1796 F090 0000            lds r15,(RohMesswertNick)+1
 3046 179a 8091 0000            lds r24,KopplungsteilRollNick
 3047 179e 9091 0000            lds r25,(KopplungsteilRollNick)+1
 3048 17a2 1E14                 cp __zero_reg__,r14
 3049 17a4 1F04                 cpc __zero_reg__,r15
 3050 17a6 04F4                 brge .L154
 3051 17a8 9C01                 movw r18,r24
 3052 17aa 97FF                 sbrs r25,7
 3053 17ac 00C0                 rjmp .L155
 3054 17ae 2227                 clr r18
 3055 17b0 3327                 clr r19
 3056 17b2 281B                 sub r18,r24
 3057 17b4 390B                 sbc r19,r25
 3058                   .L155:
 3059 17b6 C901                 movw r24,r18
 3060 17b8 AA27                 clr r26
 3061 17ba 97FD                 sbrc r25,7
 3062 17bc A095                 com r26
 3063 17be BA2F                 mov r27,r26
 3064 17c0 2091 0000            lds r18,Parameter_CouplingYawCorrection
 3065 17c4 3327                 clr r19
 3066 17c6 4427                 clr r20
 3067 17c8 5527                 clr r21
 3068 17ca BC01                 movw r22,r24
 3069 17cc CD01                 movw r24,r26
 3070 17ce 0E94 0000            call __mulsi3
 3071 17d2 9B01                 movw r18,r22
 3072 17d4 AC01                 movw r20,r24
 3073 17d6 97FF                 sbrs r25,7
 3074 17d8 00C0                 rjmp .L156
 3075 17da 215C                 subi r18,lo8(-(63))
 3076 17dc 3F4F                 sbci r19,hi8(-(63))
 3077 17de 4F4F                 sbci r20,hlo8(-(63))
 3078 17e0 5F4F                 sbci r21,hhi8(-(63))
 3079                   .L156:
 3080 17e2 96E0                 ldi r25,6
 3081 17e4 5595         1:      asr r21
 3082 17e6 4795                 ror r20
 3083 17e8 3795                 ror r19
 3084 17ea 2795                 ror r18
 3085 17ec 9A95                 dec r25
 3086 17ee 01F4                 brne 1b
 3087 17f0 8091 0000            lds r24,TrimNick
 3088 17f4 9091 0000            lds r25,(TrimNick)+1
 3089 17f8 820F                 add r24,r18
 3090 17fa 931F                 adc r25,r19
 3091 17fc 00C0                 rjmp .L174
 3092                   .L154:
 3093 17fe 97FF                 sbrs r25,7
 3094 1800 00C0                 rjmp .L158
 3095 1802 9095                 com r25
 3096 1804 8195                 neg r24
 3097 1806 9F4F                 sbci r25,lo8(-1)
 3098                   .L158:
 3099 1808 AA27                 clr r26
 3100 180a 97FD                 sbrc r25,7
 3101 180c A095                 com r26
 3102 180e BA2F                 mov r27,r26
 3103 1810 2091 0000            lds r18,Parameter_CouplingYawCorrection
 3104 1814 3327                 clr r19
 3105 1816 4427                 clr r20
 3106 1818 5527                 clr r21
 3107 181a BC01                 movw r22,r24
 3108 181c CD01                 movw r24,r26
 3109 181e 0E94 0000            call __mulsi3
 3110 1822 9B01                 movw r18,r22
 3111 1824 AC01                 movw r20,r24
 3112 1826 97FF                 sbrs r25,7
 3113 1828 00C0                 rjmp .L159
 3114 182a 215C                 subi r18,lo8(-(63))
 3115 182c 3F4F                 sbci r19,hi8(-(63))
 3116 182e 4F4F                 sbci r20,hlo8(-(63))
 3117 1830 5F4F                 sbci r21,hhi8(-(63))
 3118                   .L159:
 3119 1832 86E0                 ldi r24,6
 3120 1834 5595         1:      asr r21
 3121 1836 4795                 ror r20
 3122 1838 3795                 ror r19
 3123 183a 2795                 ror r18
 3124 183c 8A95                 dec r24
 3125 183e 01F4                 brne 1b
 3126 1840 8091 0000            lds r24,TrimNick
 3127 1844 9091 0000            lds r25,(TrimNick)+1
 3128 1848 821B                 sub r24,r18
 3129 184a 930B                 sbc r25,r19
 3130                   .L174:
 3131 184c 9093 0000            sts (TrimNick)+1,r25
 3132 1850 8093 0000            sts TrimNick,r24
 3133 1854 8091 0000            lds r24,Parameter_GlobalConfig
 3134 1858 87FF                 sbrs r24,7
 3135 185a 00C0                 rjmp .L82
 3136 185c B989                 ldd r27,Y+17
 3137 185e BB23                 tst r27
 3138 1860 01F0                 breq .+2
 3139 1862 00C0                 rjmp .L82
 3140 1864 8091 0000            lds r24,Looping_Roll
 3141 1868 8823                 tst r24
 3142 186a 01F4                 brne .L82
 3143 186c E1E0                 ldi r30,lo8(257)
 3144 186e EE16                 cp r14,r30
 3145 1870 E1E0                 ldi r30,hi8(257)
 3146 1872 FE06                 cpc r15,r30
 3147 1874 04F0                 brlt .L161
 3148 1876 8091 0000            lds r24,MesswertNick
 3149 187a 9091 0000            lds r25,(MesswertNick)+1
 3150 187e 8E0D                 add r24,r14
 3151 1880 9F1D                 adc r25,r15
 3152 1882 8050                 subi r24,lo8(-(-256))
 3153 1884 9140                 sbci r25,hi8(-(-256))
 3154 1886 00C0                 rjmp .L175
 3155                   .L161:
 3156 1888 F0E0                 ldi r31,lo8(-256)
 3157 188a EF16                 cp r14,r31
 3158 188c FFEF                 ldi r31,hi8(-256)
 3159 188e FF06                 cpc r15,r31
 3160 1890 04F4                 brge .L162
 3161 1892 8091 0000            lds r24,MesswertNick
 3162 1896 9091 0000            lds r25,(MesswertNick)+1
 3163 189a 8E0D                 add r24,r14
 3164 189c 9F1D                 adc r25,r15
 3165 189e 8050                 subi r24,lo8(-(256))
 3166 18a0 9F4F                 sbci r25,hi8(-(256))
 3167                   .L175:
 3168 18a2 9093 0000            sts (MesswertNick)+1,r25
 3169 18a6 8093 0000            sts MesswertNick,r24
 3170                   .L162:
 3171 18aa 21E0                 ldi r18,hi8(257)
 3172 18ac 0130                 cpi r16,lo8(257)
 3173 18ae 1207                 cpc r17,r18
 3174 18b0 04F0                 brlt .L164
 3175 18b2 8091 0000            lds r24,MesswertRoll
 3176 18b6 9091 0000            lds r25,(MesswertRoll)+1
 3177 18ba 800F                 add r24,r16
 3178 18bc 911F                 adc r25,r17
 3179 18be 8050                 subi r24,lo8(-(-256))
 3180 18c0 9140                 sbci r25,hi8(-(-256))
 3181 18c2 00C0                 rjmp .L176
 3182                   .L164:
 3183 18c4 3FEF                 ldi r19,hi8(-256)
 3184 18c6 0030                 cpi r16,lo8(-256)
 3185 18c8 1307                 cpc r17,r19
 3186 18ca 04F4                 brge .L82
 3187 18cc 8091 0000            lds r24,MesswertRoll
 3188 18d0 9091 0000            lds r25,(MesswertRoll)+1
 3189 18d4 800F                 add r24,r16
 3190 18d6 911F                 adc r25,r17
 3191 18d8 8050                 subi r24,lo8(-(256))
 3192 18da 9F4F                 sbci r25,hi8(-(256))
 3193                   .L176:
 3194 18dc 9093 0000            sts (MesswertRoll)+1,r25
 3195 18e0 8093 0000            sts MesswertRoll,r24
 3196                   .L82:
 3197                   /* epilogue: frame size=19 */
 3198 18e4 E2E1                 ldi r30,18
 3199 18e6 CD5E                 subi r28,-19
 3200 18e8 0C94 0000            jmp __epilogue_restores__+0
 3201                   /* epilogue end (size=4) */
 3202                   /* function Mittelwert size 2000 (1990) */
 3204                   .global SendMotorData
 3206                   SendMotorData:
 3207                   /* prologue: frame size=0 */
 3208                   /* prologue end (size=0) */
 3209 18ec 8091 0000            lds r24,MotorenEin
 3210 18f0 8823                 tst r24
 3211 18f2 01F4                 brne .L178
 3212 18f4 8091 0000            lds r24,FC_StatusFlags
 3213 18f8 8C7F                 andi r24,lo8(-4)
 3214 18fa 8093 0000            sts FC_StatusFlags,r24
 3215 18fe A0E0                 ldi r26,lo8(MotorTest)
 3216 1900 B0E0                 ldi r27,hi8(MotorTest)
 3217 1902 E0E0                 ldi r30,lo8(Motor)
 3218 1904 F0E0                 ldi r31,hi8(Motor)
 3219 1906 9BE0                 ldi r25,lo8(11)
 3220                   .L183:
 3221 1908 8091 0000            lds r24,PC_MotortestActive
 3222 190c 8823                 tst r24
 3223 190e 01F4                 brne .L182
 3224 1910 8C93                 st X,r24
 3225                   .L182:
 3226 1912 8D91                 ld r24,X+
 3227 1914 8183                 std Z+1,r24
 3228 1916 1282                 std Z+2,__zero_reg__
 3229 1918 9150                 subi r25,lo8(-(-1))
 3230 191a 3896                 adiw r30,8
 3231 191c 97FF                 sbrs r25,7
 3232 191e 00C0                 rjmp .L183
 3233 1920 8091 0000            lds r24,PC_MotortestActive
 3234 1924 8823                 tst r24
 3235 1926 01F0                 breq .L185
 3236 1928 8091 0000            lds r24,PC_MotortestActive
 3237 192c 8150                 subi r24,lo8(-(-1))
 3238 192e 8093 0000            sts PC_MotortestActive,r24
 3239 1932 00C0                 rjmp .L185
 3240                   .L178:
 3241 1934 8091 0000            lds r24,FC_StatusFlags
 3242 1938 8160                 ori r24,lo8(1)
 3243 193a 8093 0000            sts FC_StatusFlags,r24
 3244                   .L185:
 3245 193e 8091 0000            lds r24,I2C_TransferActive
 3246 1942 8823                 tst r24
 3247 1944 01F0                 breq .L186
 3248 1946 1092 0000            sts I2C_TransferActive,__zero_reg__
 3249 194a 0895                 ret
 3250                   .L186:
 3251 194c 8093 0000            sts motor_write,r24
 3252 1950 8093 0000            sts twi_state,r24
 3253 1954 8091 0000            lds r24,BLFlags
 3254 1958 8E7F                 andi r24,lo8(-2)
 3255 195a 8093 0000            sts BLFlags,r24
 3256 195e 85EA                 ldi r24,lo8(-91)
 3257 1960 8093 BC00            sts 188,r24
 3258 1964 0895                 ret
 3259                   /* epilogue: frame size=0 */
 3260                   /* epilogue: noreturn */
 3261                   /* epilogue end (size=0) */
 3262                   /* function SendMotorData size 61 (61) */
 3264                   .global ParameterZuordnung
 3266                   ParameterZuordnung:
 3267                   /* prologue: frame size=0 */
 3268 1966 CF93                 push r28
 3269 1968 DF93                 push r29
 3270                   /* prologue end (size=2) */
 3271 196a A0E0                 ldi r26,lo8(Poti)
 3272 196c B0E0                 ldi r27,hi8(Poti)
 3273 196e C0E0                 ldi r28,lo8(EE_Parameter+5)
 3274 1970 D0E0                 ldi r29,hi8(EE_Parameter+5)
 3275 1972 57E0                 ldi r21,lo8(7)
 3276                   .L203:
 3277 1974 9991                 ld r25,Y+
 3278 1976 E92F                 mov r30,r25
 3279 1978 FF27                 clr r31
 3280 197a EE0F                 add r30,r30
 3281 197c FF1F                 adc r31,r31
 3282 197e E050                 subi r30,lo8(-(PPM_in))
 3283 1980 F040                 sbci r31,hi8(-(PPM_in))
 3284 1982 0190                 ld __tmp_reg__,Z+
 3285 1984 F081                 ld r31,Z
 3286 1986 E02D                 mov r30,__tmp_reg__
 3287 1988 E158                 subi r30,lo8(-(127))
 3288 198a FF4F                 sbci r31,hi8(-(127))
 3289 198c EF3F                 cpi r30,255
 3290 198e F105                 cpc r31,__zero_reg__
 3291 1990 01F0                 breq .L194
 3292 1992 04F0                 brlt .L194
 3293 1994 EFEF                 ldi r30,lo8(255)
 3294 1996 F0E0                 ldi r31,hi8(255)
 3295 1998 00C0                 rjmp .L195
 3296                   .L194:
 3297 199a F7FF                 sbrs r31,7
 3298 199c 00C0                 rjmp .L195
 3299 199e E0E0                 ldi r30,lo8(0)
 3300 19a0 F0E0                 ldi r31,hi8(0)
 3301                   .L195:
 3302 19a2 9931                 cpi r25,lo8(25)
 3303 19a4 01F4                 brne .L197
 3304 19a6 EC93                 st X,r30
 3305 19a8 00C0                 rjmp .L193
 3306                   .L197:
 3307 19aa 4C91                 ld r20,X
 3308 19ac 242F                 mov r18,r20
 3309 19ae 3327                 clr r19
 3310 19b0 E217                 cp r30,r18
 3311 19b2 F307                 cpc r31,r19
 3312 19b4 01F0                 breq .L193
 3313 19b6 CF01                 movw r24,r30
 3314 19b8 821B                 sub r24,r18
 3315 19ba 930B                 sbc r25,r19
 3316 19bc 97FD                 sbrc r25,7
 3317 19be 0396                 adiw r24,3
 3318                   .L200:
 3319 19c0 9595                 asr r25
 3320 19c2 8795                 ror r24
 3321 19c4 9595                 asr r25
 3322 19c6 8795                 ror r24
 3323 19c8 242F                 mov r18,r20
 3324 19ca 280F                 add r18,r24
 3325 19cc 2C93                 st X,r18
 3326 19ce 822F                 mov r24,r18
 3327 19d0 9927                 clr r25
 3328 19d2 E817                 cp r30,r24
 3329 19d4 F907                 cpc r31,r25
 3330 19d6 04F4                 brge .L201
 3331 19d8 2150                 subi r18,lo8(-(-1))
 3332 19da 00C0                 rjmp .L323
 3333                   .L201:
 3334 19dc 2F5F                 subi r18,lo8(-(1))
 3335                   .L323:
 3336 19de 2C93                 st X,r18
 3337                   .L193:
 3338 19e0 5150                 subi r21,lo8(-(-1))
 3339 19e2 1196                 adiw r26,1
 3340 19e4 57FF                 sbrs r21,7
 3341 19e6 00C0                 rjmp .L203
 3342 19e8 8091 0000            lds r24,EE_Parameter+15
 3343 19ec 883F                 cpi r24,lo8(-8)
 3344 19ee 00F0                 brlo .L324
 3345 19f0 EFEF                 ldi r30,lo8(255)
 3346 19f2 F0E0                 ldi r31,hi8(255)
 3347 19f4 E81B                 sub r30,r24
 3348 19f6 F109                 sbc r31,__zero_reg__
 3349 19f8 E050                 subi r30,lo8(-(Poti))
 3350 19fa F040                 sbci r31,hi8(-(Poti))
 3351 19fc 8081                 ld r24,Z
 3352                   .L324:
 3353 19fe 8093 0000            sts Parameter_Luftdruck_D,r24
 3354 1a02 8091 0000            lds r24,Parameter_Luftdruck_D
 3355 1a06 8823                 tst r24
 3356 1a08 01F0                 breq .L207
 3357 1a0a 8436                 cpi r24,lo8(100)
 3358 1a0c 00F0                 brlo .L207
 3359 1a0e 84E6                 ldi r24,lo8(100)
 3360 1a10 8093 0000            sts Parameter_Luftdruck_D,r24
 3361                   .L207:
 3362 1a14 8091 0000            lds r24,EE_Parameter+17
 3363 1a18 883F                 cpi r24,lo8(-8)
 3364 1a1a 00F0                 brlo .L325
 3365 1a1c EFEF                 ldi r30,lo8(255)
 3366 1a1e F0E0                 ldi r31,hi8(255)
 3367 1a20 E81B                 sub r30,r24
 3368 1a22 F109                 sbc r31,__zero_reg__
 3369 1a24 E050                 subi r30,lo8(-(Poti))
 3370 1a26 F040                 sbci r31,hi8(-(Poti))
 3371 1a28 8081                 ld r24,Z
 3372                   .L325:
 3373 1a2a 8093 0000            sts Parameter_Hoehe_P,r24
 3374 1a2e 8091 0000            lds r24,Parameter_Hoehe_P
 3375 1a32 8823                 tst r24
 3376 1a34 01F0                 breq .L212
 3377 1a36 8436                 cpi r24,lo8(100)
 3378 1a38 00F0                 brlo .L212
 3379 1a3a 84E6                 ldi r24,lo8(100)
 3380 1a3c 8093 0000            sts Parameter_Hoehe_P,r24
 3381                   .L212:
 3382 1a40 8091 0000            lds r24,EE_Parameter+30
 3383 1a44 883F                 cpi r24,lo8(-8)
 3384 1a46 00F0                 brlo .L326
 3385 1a48 EFEF                 ldi r30,lo8(255)
 3386 1a4a F0E0                 ldi r31,hi8(255)
 3387 1a4c E81B                 sub r30,r24
 3388 1a4e F109                 sbc r31,__zero_reg__
 3389 1a50 E050                 subi r30,lo8(-(Poti))
 3390 1a52 F040                 sbci r31,hi8(-(Poti))
 3391 1a54 8081                 ld r24,Z
 3392                   .L326:
 3393 1a56 8093 0000            sts Parameter_Gyro_P,r24
 3394 1a5a 8091 0000            lds r24,Parameter_Gyro_P
 3395 1a5e 8B30                 cpi r24,lo8(11)
 3396 1a60 00F4                 brsh .L216
 3397 1a62 8AE0                 ldi r24,lo8(10)
 3398 1a64 00C0                 rjmp .L327
 3399                   .L216:
 3400 1a66 8F3F                 cpi r24,lo8(-1)
 3401 1a68 01F4                 brne .L217
 3402                   .L327:
 3403 1a6a 8093 0000            sts Parameter_Gyro_P,r24
 3404                   .L217:
 3405 1a6e 8091 0000            lds r24,EE_Parameter+75
 3406 1a72 883F                 cpi r24,lo8(-8)
 3407 1a74 00F0                 brlo .L328
 3408 1a76 EFEF                 ldi r30,lo8(255)
 3409 1a78 F0E0                 ldi r31,hi8(255)
 3410 1a7a E81B                 sub r30,r24
 3411 1a7c F109                 sbc r31,__zero_reg__
 3412 1a7e E050                 subi r30,lo8(-(Poti))
 3413 1a80 F040                 sbci r31,hi8(-(Poti))
 3414 1a82 8081                 ld r24,Z
 3415                   .L328:
 3416 1a84 8093 0000            sts Parameter_J16Timing,r24
 3417 1a88 8091 0000            lds r24,Parameter_J16Timing
 3418 1a8c 8630                 cpi r24,lo8(6)
 3419 1a8e 00F4                 brsh .L221
 3420 1a90 85E0                 ldi r24,lo8(5)
 3421 1a92 00C0                 rjmp .L329
 3422                   .L221:
 3423 1a94 8F3F                 cpi r24,lo8(-1)
 3424 1a96 01F4                 brne .L222
 3425                   .L329:
 3426 1a98 8093 0000            sts Parameter_J16Timing,r24
 3427                   .L222:
 3428 1a9c 8091 0000            lds r24,EE_Parameter+77
 3429 1aa0 883F                 cpi r24,lo8(-8)
 3430 1aa2 00F0                 brlo .L330
 3431 1aa4 EFEF                 ldi r30,lo8(255)
 3432 1aa6 F0E0                 ldi r31,hi8(255)
 3433 1aa8 E81B                 sub r30,r24
 3434 1aaa F109                 sbc r31,__zero_reg__
 3435 1aac E050                 subi r30,lo8(-(Poti))
 3436 1aae F040                 sbci r31,hi8(-(Poti))
 3437 1ab0 8081                 ld r24,Z
 3438                   .L330:
 3439 1ab2 8093 0000            sts Parameter_J17Timing,r24
 3440 1ab6 8091 0000            lds r24,Parameter_J17Timing
 3441 1aba 8630                 cpi r24,lo8(6)
 3442 1abc 00F4                 brsh .L226
 3443 1abe 85E0                 ldi r24,lo8(5)
 3444 1ac0 00C0                 rjmp .L331
 3445                   .L226:
 3446 1ac2 8F3F                 cpi r24,lo8(-1)
 3447 1ac4 01F4                 brne .L227
 3448                   .L331:
 3449 1ac6 8093 0000            sts Parameter_J17Timing,r24
 3450                   .L227:
 3451 1aca 8091 0000            lds r24,EE_Parameter+56
 3452 1ace 873F                 cpi r24,lo8(-9)
 3453 1ad0 01F4                 brne .L229
 3454 1ad2 4299                 sbic 40-0x20,2
 3455 1ad4 00C0                 rjmp .L362
 3456 1ad6 00C0                 rjmp .L234
 3457                   .L229:
 3458 1ad8 863F                 cpi r24,lo8(-10)
 3459 1ada 01F4                 brne .L233
 3460 1adc 439B                 sbis 40-0x20,3
 3461 1ade 00C0                 rjmp .L234
 3462                   .L362:
 3463 1ae0 8CE8                 ldi r24,lo8(-116)
 3464 1ae2 00C0                 rjmp .L332
 3465                   .L234:
 3466 1ae4 86E4                 ldi r24,lo8(70)
 3467 1ae6 00C0                 rjmp .L332
 3468                   .L233:
 3469 1ae8 883F                 cpi r24,lo8(-8)
 3470 1aea 00F0                 brlo .L332
 3471 1aec EFEF                 ldi r30,lo8(255)
 3472 1aee F0E0                 ldi r31,hi8(255)
 3473 1af0 E81B                 sub r30,r24
 3474 1af2 F109                 sbc r31,__zero_reg__
 3475 1af4 E050                 subi r30,lo8(-(Poti))
 3476 1af6 F040                 sbci r31,hi8(-(Poti))
 3477 1af8 8081                 ld r24,Z
 3478                   .L332:
 3479 1afa 8093 0000            sts Parameter_Servo3,r24
 3480 1afe 8091 0000            lds r24,EE_Parameter+57
 3481 1b02 873F                 cpi r24,lo8(-9)
 3482 1b04 01F4                 brne .L239
 3483 1b06 4299                 sbic 40-0x20,2
 3484 1b08 00C0                 rjmp .L363
 3485 1b0a 00C0                 rjmp .L244
 3486                   .L239:
 3487 1b0c 863F                 cpi r24,lo8(-10)
 3488 1b0e 01F4                 brne .L243
 3489 1b10 439B                 sbis 40-0x20,3
 3490 1b12 00C0                 rjmp .L244
 3491                   .L363:
 3492 1b14 8CE8                 ldi r24,lo8(-116)
 3493 1b16 00C0                 rjmp .L333
 3494                   .L244:
 3495 1b18 86E4                 ldi r24,lo8(70)
 3496 1b1a 00C0                 rjmp .L333
 3497                   .L243:
 3498 1b1c 883F                 cpi r24,lo8(-8)
 3499 1b1e 00F0                 brlo .L333
 3500 1b20 EFEF                 ldi r30,lo8(255)
 3501 1b22 F0E0                 ldi r31,hi8(255)
 3502 1b24 E81B                 sub r30,r24
 3503 1b26 F109                 sbc r31,__zero_reg__
 3504 1b28 E050                 subi r30,lo8(-(Poti))
 3505 1b2a F040                 sbci r31,hi8(-(Poti))
 3506 1b2c 8081                 ld r24,Z
 3507                   .L333:
 3508 1b2e 8093 0000            sts Parameter_Servo4,r24
 3509 1b32 8091 0000            lds r24,EE_Parameter+58
 3510 1b36 883F                 cpi r24,lo8(-8)
 3511 1b38 00F0                 brlo .L334
 3512 1b3a EFEF                 ldi r30,lo8(255)
 3513 1b3c F0E0                 ldi r31,hi8(255)
 3514 1b3e E81B                 sub r30,r24
 3515 1b40 F109                 sbc r31,__zero_reg__
 3516 1b42 E050                 subi r30,lo8(-(Poti))
 3517 1b44 F040                 sbci r31,hi8(-(Poti))
 3518 1b46 8081                 ld r24,Z
 3519                   .L334:
 3520 1b48 8093 0000            sts Parameter_Servo5,r24
 3521 1b4c 8091 0000            lds r24,EE_Parameter+16
 3522 1b50 883F                 cpi r24,lo8(-8)
 3523 1b52 00F0                 brlo .L335
 3524 1b54 EFEF                 ldi r30,lo8(255)
 3525 1b56 F0E0                 ldi r31,hi8(255)
 3526 1b58 E81B                 sub r30,r24
 3527 1b5a F109                 sbc r31,__zero_reg__
 3528 1b5c E050                 subi r30,lo8(-(Poti))
 3529 1b5e F040                 sbci r31,hi8(-(Poti))
 3530 1b60 8081                 ld r24,Z
 3531                   .L335:
 3532 1b62 8093 0000            sts Parameter_HoehenSchalter,r24
 3533 1b66 8091 0000            lds r24,EE_Parameter+19
 3534 1b6a 883F                 cpi r24,lo8(-8)
 3535 1b6c 00F0                 brlo .L336
 3536 1b6e EFEF                 ldi r30,lo8(255)
 3537 1b70 F0E0                 ldi r31,hi8(255)
 3538 1b72 E81B                 sub r30,r24
 3539 1b74 F109                 sbc r31,__zero_reg__
 3540 1b76 E050                 subi r30,lo8(-(Poti))
 3541 1b78 F040                 sbci r31,hi8(-(Poti))
 3542 1b7a 8081                 ld r24,Z
 3543                   .L336:
 3544 1b7c 8093 0000            sts Parameter_Hoehe_ACC_Wirkung,r24
 3545 1b80 8091 0000            lds r24,EE_Parameter+21
 3546 1b84 883F                 cpi r24,lo8(-8)
 3547 1b86 00F0                 brlo .L337
 3548 1b88 EFEF                 ldi r30,lo8(255)
 3549 1b8a F0E0                 ldi r31,hi8(255)
 3550 1b8c E81B                 sub r30,r24
 3551 1b8e F109                 sbc r31,__zero_reg__
 3552 1b90 E050                 subi r30,lo8(-(Poti))
 3553 1b92 F040                 sbci r31,hi8(-(Poti))
 3554 1b94 8081                 ld r24,Z
 3555                   .L337:
 3556 1b96 8093 0000            sts Parameter_Hoehe_GPS_Z,r24
 3557 1b9a 8091 0000            lds r24,EE_Parameter+29
 3558 1b9e 883F                 cpi r24,lo8(-8)
 3559 1ba0 00F0                 brlo .L338
 3560 1ba2 EFEF                 ldi r30,lo8(255)
 3561 1ba4 F0E0                 ldi r31,hi8(255)
 3562 1ba6 E81B                 sub r30,r24
 3563 1ba8 F109                 sbc r31,__zero_reg__
 3564 1baa E050                 subi r30,lo8(-(Poti))
 3565 1bac F040                 sbci r31,hi8(-(Poti))
 3566 1bae 8081                 ld r24,Z
 3567                   .L338:
 3568 1bb0 8093 0000            sts Parameter_KompassWirkung,r24
 3569 1bb4 8091 0000            lds r24,EE_Parameter+31
 3570 1bb8 883F                 cpi r24,lo8(-8)
 3571 1bba 00F0                 brlo .L339
 3572 1bbc EFEF                 ldi r30,lo8(255)
 3573 1bbe F0E0                 ldi r31,hi8(255)
 3574 1bc0 E81B                 sub r30,r24
 3575 1bc2 F109                 sbc r31,__zero_reg__
 3576 1bc4 E050                 subi r30,lo8(-(Poti))
 3577 1bc6 F040                 sbci r31,hi8(-(Poti))
 3578 1bc8 8081                 ld r24,Z
 3579                   .L339:
 3580 1bca 8093 0000            sts Parameter_Gyro_I,r24
 3581 1bce 8091 0000            lds r24,EE_Parameter+32
 3582 1bd2 883F                 cpi r24,lo8(-8)
 3583 1bd4 00F0                 brlo .L340
 3584 1bd6 EFEF                 ldi r30,lo8(255)
 3585 1bd8 F0E0                 ldi r31,hi8(255)
 3586 1bda E81B                 sub r30,r24
 3587 1bdc F109                 sbc r31,__zero_reg__
 3588 1bde E050                 subi r30,lo8(-(Poti))
 3589 1be0 F040                 sbci r31,hi8(-(Poti))
 3590 1be2 8081                 ld r24,Z
 3591                   .L340:
 3592 1be4 8093 0000            sts Parameter_Gyro_D,r24
 3593 1be8 8091 0000            lds r24,EE_Parameter+33
 3594 1bec 883F                 cpi r24,lo8(-8)
 3595 1bee 00F0                 brlo .L341
 3596 1bf0 EFEF                 ldi r30,lo8(255)
 3597 1bf2 F0E0                 ldi r31,hi8(255)
 3598 1bf4 E81B                 sub r30,r24
 3599 1bf6 F109                 sbc r31,__zero_reg__
 3600 1bf8 E050                 subi r30,lo8(-(Poti))
 3601 1bfa F040                 sbci r31,hi8(-(Poti))
 3602 1bfc 8081                 ld r24,Z
 3603                   .L341:
 3604 1bfe 8093 0000            sts Parameter_Gyro_Gier_P,r24
 3605 1c02 8091 0000            lds r24,EE_Parameter+34
 3606 1c06 883F                 cpi r24,lo8(-8)
 3607 1c08 00F0                 brlo .L342
 3608 1c0a EFEF                 ldi r30,lo8(255)
 3609 1c0c F0E0                 ldi r31,hi8(255)
 3610 1c0e E81B                 sub r30,r24
 3611 1c10 F109                 sbc r31,__zero_reg__
 3612 1c12 E050                 subi r30,lo8(-(Poti))
 3613 1c14 F040                 sbci r31,hi8(-(Poti))
 3614 1c16 8081                 ld r24,Z
 3615                   .L342:
 3616 1c18 8093 0000            sts Parameter_Gyro_Gier_I,r24
 3617 1c1c 8091 0000            lds r24,EE_Parameter+40
 3618 1c20 883F                 cpi r24,lo8(-8)
 3619 1c22 00F0                 brlo .L343
 3620 1c24 EFEF                 ldi r30,lo8(255)
 3621 1c26 F0E0                 ldi r31,hi8(255)
 3622 1c28 E81B                 sub r30,r24
 3623 1c2a F109                 sbc r31,__zero_reg__
 3624 1c2c E050                 subi r30,lo8(-(Poti))
 3625 1c2e F040                 sbci r31,hi8(-(Poti))
 3626 1c30 8081                 ld r24,Z
 3627                   .L343:
 3628 1c32 8093 0000            sts Parameter_I_Faktor,r24
 3629 1c36 8091 0000            lds r24,EE_Parameter+41
 3630 1c3a 883F                 cpi r24,lo8(-8)
 3631 1c3c 00F0                 brlo .L344
 3632 1c3e EFEF                 ldi r30,lo8(255)
 3633 1c40 F0E0                 ldi r31,hi8(255)
 3634 1c42 E81B                 sub r30,r24
 3635 1c44 F109                 sbc r31,__zero_reg__
 3636 1c46 E050                 subi r30,lo8(-(Poti))
 3637 1c48 F040                 sbci r31,hi8(-(Poti))
 3638 1c4a 8081                 ld r24,Z
 3639                   .L344:
 3640 1c4c 8093 0000            sts Parameter_UserParam1,r24
 3641 1c50 8091 0000            lds r24,EE_Parameter+42
 3642 1c54 883F                 cpi r24,lo8(-8)
 3643 1c56 00F0                 brlo .L345
 3644 1c58 EFEF                 ldi r30,lo8(255)
 3645 1c5a F0E0                 ldi r31,hi8(255)
 3646 1c5c E81B                 sub r30,r24
 3647 1c5e F109                 sbc r31,__zero_reg__
 3648 1c60 E050                 subi r30,lo8(-(Poti))
 3649 1c62 F040                 sbci r31,hi8(-(Poti))
 3650 1c64 8081                 ld r24,Z
 3651                   .L345:
 3652 1c66 8093 0000            sts Parameter_UserParam2,r24
 3653 1c6a 8091 0000            lds r24,EE_Parameter+43
 3654 1c6e 883F                 cpi r24,lo8(-8)
 3655 1c70 00F0                 brlo .L346
 3656 1c72 EFEF                 ldi r30,lo8(255)
 3657 1c74 F0E0                 ldi r31,hi8(255)
 3658 1c76 E81B                 sub r30,r24
 3659 1c78 F109                 sbc r31,__zero_reg__
 3660 1c7a E050                 subi r30,lo8(-(Poti))
 3661 1c7c F040                 sbci r31,hi8(-(Poti))
 3662 1c7e 8081                 ld r24,Z
 3663                   .L346:
 3664 1c80 8093 0000            sts Parameter_UserParam3,r24
 3665 1c84 8091 0000            lds r24,EE_Parameter+44
 3666 1c88 883F                 cpi r24,lo8(-8)
 3667 1c8a 00F0                 brlo .L347
 3668 1c8c EFEF                 ldi r30,lo8(255)
 3669 1c8e F0E0                 ldi r31,hi8(255)
 3670 1c90 E81B                 sub r30,r24
 3671 1c92 F109                 sbc r31,__zero_reg__
 3672 1c94 E050                 subi r30,lo8(-(Poti))
 3673 1c96 F040                 sbci r31,hi8(-(Poti))
 3674 1c98 8081                 ld r24,Z
 3675                   .L347:
 3676 1c9a 8093 0000            sts Parameter_UserParam4,r24
 3677 1c9e 8091 0000            lds r24,EE_Parameter+70
 3678 1ca2 883F                 cpi r24,lo8(-8)
 3679 1ca4 00F0                 brlo .L348
 3680 1ca6 EFEF                 ldi r30,lo8(255)
 3681 1ca8 F0E0                 ldi r31,hi8(255)
 3682 1caa E81B                 sub r30,r24
 3683 1cac F109                 sbc r31,__zero_reg__
 3684 1cae E050                 subi r30,lo8(-(Poti))
 3685 1cb0 F040                 sbci r31,hi8(-(Poti))
 3686 1cb2 8081                 ld r24,Z
 3687                   .L348:
 3688 1cb4 8093 0000            sts Parameter_UserParam5,r24
 3689 1cb8 8091 0000            lds r24,EE_Parameter+71
 3690 1cbc 883F                 cpi r24,lo8(-8)
 3691 1cbe 00F0                 brlo .L349
 3692 1cc0 EFEF                 ldi r30,lo8(255)
 3693 1cc2 F0E0                 ldi r31,hi8(255)
 3694 1cc4 E81B                 sub r30,r24
 3695 1cc6 F109                 sbc r31,__zero_reg__
 3696 1cc8 E050                 subi r30,lo8(-(Poti))
 3697 1cca F040                 sbci r31,hi8(-(Poti))
 3698 1ccc 8081                 ld r24,Z
 3699                   .L349:
 3700 1cce 8093 0000            sts Parameter_UserParam6,r24
 3701 1cd2 8091 0000            lds r24,EE_Parameter+72
 3702 1cd6 883F                 cpi r24,lo8(-8)
 3703 1cd8 00F0                 brlo .L350
 3704 1cda EFEF                 ldi r30,lo8(255)
 3705 1cdc F0E0                 ldi r31,hi8(255)
 3706 1cde E81B                 sub r30,r24
 3707 1ce0 F109                 sbc r31,__zero_reg__
 3708 1ce2 E050                 subi r30,lo8(-(Poti))
 3709 1ce4 F040                 sbci r31,hi8(-(Poti))
 3710 1ce6 8081                 ld r24,Z
 3711                   .L350:
 3712 1ce8 8093 0000            sts Parameter_UserParam7,r24
 3713 1cec 8091 0000            lds r24,EE_Parameter+73
 3714 1cf0 883F                 cpi r24,lo8(-8)
 3715 1cf2 00F0                 brlo .L351
 3716 1cf4 EFEF                 ldi r30,lo8(255)
 3717 1cf6 F0E0                 ldi r31,hi8(255)
 3718 1cf8 E81B                 sub r30,r24
 3719 1cfa F109                 sbc r31,__zero_reg__
 3720 1cfc E050                 subi r30,lo8(-(Poti))
 3721 1cfe F040                 sbci r31,hi8(-(Poti))
 3722 1d00 8081                 ld r24,Z
 3723                   .L351:
 3724 1d02 8093 0000            sts Parameter_UserParam8,r24
 3725 1d06 8091 0000            lds r24,EE_Parameter+45
 3726 1d0a 883F                 cpi r24,lo8(-8)
 3727 1d0c 00F0                 brlo .L352
 3728 1d0e EFEF                 ldi r30,lo8(255)
 3729 1d10 F0E0                 ldi r31,hi8(255)
 3730 1d12 E81B                 sub r30,r24
 3731 1d14 F109                 sbc r31,__zero_reg__
 3732 1d16 E050                 subi r30,lo8(-(Poti))
 3733 1d18 F040                 sbci r31,hi8(-(Poti))
 3734 1d1a 8081                 ld r24,Z
 3735                   .L352:
 3736 1d1c 8093 0000            sts Parameter_ServoNickControl,r24
 3737 1d20 8091 0000            lds r24,EE_Parameter+49
 3738 1d24 883F                 cpi r24,lo8(-8)
 3739 1d26 00F0                 brlo .L353
 3740 1d28 EFEF                 ldi r30,lo8(255)
 3741 1d2a F0E0                 ldi r31,hi8(255)
 3742 1d2c E81B                 sub r30,r24
 3743 1d2e F109                 sbc r31,__zero_reg__
 3744 1d30 E050                 subi r30,lo8(-(Poti))
 3745 1d32 F040                 sbci r31,hi8(-(Poti))
 3746 1d34 8081                 ld r24,Z
 3747                   .L353:
 3748 1d36 8093 0000            sts Parameter_ServoRollControl,r24
 3749 1d3a 8091 0000            lds r24,EE_Parameter+59
 3750 1d3e 883F                 cpi r24,lo8(-8)
 3751 1d40 00F0                 brlo .L354
 3752 1d42 EFEF                 ldi r30,lo8(255)
 3753 1d44 F0E0                 ldi r31,hi8(255)
 3754 1d46 E81B                 sub r30,r24
 3755 1d48 F109                 sbc r31,__zero_reg__
 3756 1d4a E050                 subi r30,lo8(-(Poti))
 3757 1d4c F040                 sbci r31,hi8(-(Poti))
 3758 1d4e 8081                 ld r24,Z
 3759                   .L354:
 3760 1d50 8093 0000            sts Parameter_LoopGasLimit,r24
 3761 1d54 8091 0000            lds r24,EE_Parameter+62
 3762 1d58 883F                 cpi r24,lo8(-8)
 3763 1d5a 00F0                 brlo .L355
 3764 1d5c EFEF                 ldi r30,lo8(255)
 3765 1d5e F0E0                 ldi r31,hi8(255)
 3766 1d60 E81B                 sub r30,r24
 3767 1d62 F109                 sbc r31,__zero_reg__
 3768 1d64 E050                 subi r30,lo8(-(Poti))
 3769 1d66 F040                 sbci r31,hi8(-(Poti))
 3770 1d68 8081                 ld r24,Z
 3771                   .L355:
 3772 1d6a 8093 0000            sts Parameter_AchsKopplung1,r24
 3773 1d6e 8091 0000            lds r24,EE_Parameter+63
 3774 1d72 883F                 cpi r24,lo8(-8)
 3775 1d74 00F0                 brlo .L356
 3776 1d76 EFEF                 ldi r30,lo8(255)
 3777 1d78 F0E0                 ldi r31,hi8(255)
 3778 1d7a E81B                 sub r30,r24
 3779 1d7c F109                 sbc r31,__zero_reg__
 3780 1d7e E050                 subi r30,lo8(-(Poti))
 3781 1d80 F040                 sbci r31,hi8(-(Poti))
 3782 1d82 8081                 ld r24,Z
 3783                   .L356:
 3784 1d84 8093 0000            sts Parameter_AchsKopplung2,r24
 3785 1d88 8091 0000            lds r24,EE_Parameter+64
 3786 1d8c 883F                 cpi r24,lo8(-8)
 3787 1d8e 00F0                 brlo .L357
 3788 1d90 EFEF                 ldi r30,lo8(255)
 3789 1d92 F0E0                 ldi r31,hi8(255)
 3790 1d94 E81B                 sub r30,r24
 3791 1d96 F109                 sbc r31,__zero_reg__
 3792 1d98 E050                 subi r30,lo8(-(Poti))
 3793 1d9a F040                 sbci r31,hi8(-(Poti))
 3794 1d9c 8081                 ld r24,Z
 3795                   .L357:
 3796 1d9e 8093 0000            sts Parameter_CouplingYawCorrection,r24
 3797 1da2 8091 0000            lds r24,EE_Parameter+104
 3798 1da6 883F                 cpi r24,lo8(-8)
 3799 1da8 00F0                 brlo .L358
 3800 1daa EFEF                 ldi r30,lo8(255)
 3801 1dac F0E0                 ldi r31,hi8(255)
 3802 1dae E81B                 sub r30,r24
 3803 1db0 F109                 sbc r31,__zero_reg__
 3804 1db2 E050                 subi r30,lo8(-(Poti))
 3805 1db4 F040                 sbci r31,hi8(-(Poti))
 3806 1db6 8081                 ld r24,Z
 3807                   .L358:
 3808 1db8 8093 0000            sts Parameter_MaximumAltitude,r24
 3809 1dbc 9091 0000            lds r25,NC_To_FC_MaxAltitude
 3810 1dc0 9923                 tst r25
 3811 1dc2 01F0                 breq .L301
 3812 1dc4 8091 0000            lds r24,Parameter_MaximumAltitude
 3813 1dc8 9817                 cp r25,r24
 3814 1dca 00F0                 brlo .L300
 3815                   .L301:
 3816 1dcc 8091 0000            lds r24,Parameter_MaximumAltitude
 3817 1dd0 8823                 tst r24
 3818 1dd2 01F4                 brne .L299
 3819                   .L300:
 3820 1dd4 9093 0000            sts Parameter_MaximumAltitude,r25
 3821                   .L299:
 3822 1dd8 8091 0000            lds r24,EE_Parameter+13
 3823 1ddc 8093 0000            sts Parameter_GlobalConfig,r24
 3824 1de0 8091 0000            lds r24,EE_Parameter+110
 3825 1de4 8093 0000            sts Parameter_ExtraConfig,r24
 3826 1de8 8091 0000            lds r24,EE_Parameter+69
 3827 1dec 883F                 cpi r24,lo8(-8)
 3828 1dee 00F0                 brlo .L359
 3829 1df0 EFEF                 ldi r30,lo8(255)
 3830 1df2 F0E0                 ldi r31,hi8(255)
 3831 1df4 E81B                 sub r30,r24
 3832 1df6 F109                 sbc r31,__zero_reg__
 3833 1df8 E050                 subi r30,lo8(-(Poti))
 3834 1dfa F040                 sbci r31,hi8(-(Poti))
 3835 1dfc 8081                 ld r24,Z
 3836                   .L359:
 3837 1dfe 8093 0000            sts Parameter_DynamicStability,r24
 3838 1e02 8091 0000            lds r24,EE_Parameter+97
 3839 1e06 883F                 cpi r24,lo8(-8)
 3840 1e08 00F0                 brlo .L360
 3841 1e0a EFEF                 ldi r30,lo8(255)
 3842 1e0c F0E0                 ldi r31,hi8(255)
 3843 1e0e E81B                 sub r30,r24
 3844 1e10 F109                 sbc r31,__zero_reg__
 3845 1e12 E050                 subi r30,lo8(-(Poti))
 3846 1e14 F040                 sbci r31,hi8(-(Poti))
 3847 1e16 8081                 ld r24,Z
 3848                   .L360:
 3849 1e18 8093 0000            sts Parameter_ExternalControl,r24
 3850 1e1c 8091 0000            lds r24,Parameter_I_Faktor
 3851 1e20 282F                 mov r18,r24
 3852 1e22 3327                 clr r19
 3853 1e24 2F5F                 subi r18,lo8(-(1))
 3854 1e26 3F4F                 sbci r19,hi8(-(1))
 3855 1e28 8CE3                 ldi r24,lo8(10300)
 3856 1e2a 98E2                 ldi r25,hi8(10300)
 3857 1e2c B901                 movw r22,r18
 3858 1e2e 0E94 0000            call __divmodhi4
 3859 1e32 7093 0000            sts (Ki)+1,r23
 3860 1e36 6093 0000            sts Ki,r22
 3861 1e3a 8091 0000            lds r24,EE_Parameter+27
 3862 1e3e 8093 0000            sts MAX_GAS,r24
 3863 1e42 8091 0000            lds r24,EE_Parameter+26
 3864 1e46 8093 0000            sts MIN_GAS,r24
 3865 1e4a 9091 0000            lds r25,EE_Parameter+99
 3866 1e4e 9333                 cpi r25,lo8(51)
 3867 1e50 00F4                 brsh .+2
 3868 1e52 00C0                 rjmp .L306
 3869 1e54 81E0                 ldi r24,lo8(1)
 3870 1e56 8093 0000            sts CareFree,r24
 3871 1e5a 983F                 cpi r25,lo8(-8)
 3872 1e5c 00F0                 brlo .L307
 3873 1e5e EFEF                 ldi r30,lo8(255)
 3874 1e60 F0E0                 ldi r31,hi8(255)
 3875 1e62 E91B                 sub r30,r25
 3876 1e64 F109                 sbc r31,__zero_reg__
 3877 1e66 E050                 subi r30,lo8(-(Poti))
 3878 1e68 F040                 sbci r31,hi8(-(Poti))
 3879 1e6a 8081                 ld r24,Z
 3880 1e6c 8233                 cpi r24,lo8(50)
 3881 1e6e 00F4                 brsh .L307
 3882 1e70 1092 0000            sts CareFree,__zero_reg__
 3883                   .L307:
 3884 1e74 8091 0000            lds r24,carefree_old
 3885 1e78 2091 0000            lds r18,CareFree
 3886 1e7c 8217                 cp r24,r18
 3887 1e7e 01F0                 breq .L308
 3888 1e80 8330                 cpi r24,lo8(3)
 3889 1e82 00F4                 brsh .L309
 3890 1e84 3091 0000            lds r19,SpeakHoTT
 3891 1e88 2223                 tst r18
 3892 1e8a 01F0                 breq .L310
 3893 1e8c 8CED                 ldi r24,lo8(1500)
 3894 1e8e 95E0                 ldi r25,hi8(1500)
 3895 1e90 9093 0000            sts (beeptime)+1,r25
 3896 1e94 8093 0000            sts beeptime,r24
 3897 1e98 3323                 tst r19
 3898 1e9a 01F4                 brne .L312
 3899 1e9c 8EE2                 ldi r24,lo8(46)
 3900 1e9e 00C0                 rjmp .L361
 3901                   .L310:
 3902 1ea0 88EC                 ldi r24,lo8(200)
 3903 1ea2 90E0                 ldi r25,hi8(200)
 3904 1ea4 9093 0000            sts (beeptime)+1,r25
 3905 1ea8 8093 0000            sts beeptime,r24
 3906 1eac 3323                 tst r19
 3907 1eae 01F4                 brne .L312
 3908 1eb0 87E1                 ldi r24,lo8(23)
 3909                   .L361:
 3910 1eb2 8093 0000            sts SpeakHoTT,r24
 3911                   .L312:
 3912 1eb6 85E0                 ldi r24,lo8(5)
 3913 1eb8 8093 0000            sts NeueKompassRichtungMerken,r24
 3914 1ebc 2093 0000            sts carefree_old,r18
 3915 1ec0 00C0                 rjmp .L308
 3916                   .L309:
 3917 1ec2 8150                 subi r24,lo8(-(-1))
 3918 1ec4 8093 0000            sts carefree_old,r24
 3919                   .L308:
 3920 1ec8 8091 0000            lds r24,FromNaviCtrl+7
 3921 1ecc 9091 0000            lds r25,(FromNaviCtrl+7)+1
 3922 1ed0 97FF                 sbrs r25,7
 3923 1ed2 00C0                 rjmp .L316
 3924 1ed4 8091 0000            lds r24,CareFree
 3925 1ed8 8823                 tst r24
 3926 1eda 01F0                 breq .L316
 3927 1edc 8091 0000            lds r24,VersionInfo+5
 3928 1ee0 8068                 ori r24,lo8(-128)
 3929 1ee2 8093 0000            sts VersionInfo+5,r24
 3930 1ee6 00C0                 rjmp .L316
 3931                   .L306:
 3932 1ee8 1092 0000            sts CareFree,__zero_reg__
 3933 1eec 8AE0                 ldi r24,lo8(10)
 3934 1eee 8093 0000            sts carefree_old,r24
 3935                   .L316:
 3936 1ef2 8091 0000            lds r24,FromNaviCtrl+7
 3937 1ef6 9091 0000            lds r25,(FromNaviCtrl+7)+1
 3938 1efa 97FF                 sbrs r25,7
 3939 1efc 00C0                 rjmp .L317
 3940 1efe 8091 0000            lds r24,MotorenEin
 3941 1f02 8823                 tst r24
 3942 1f04 01F0                 breq .L317
 3943 1f06 8091 0000            lds r24,CareFree
 3944 1f0a 8823                 tst r24
 3945 1f0c 01F0                 breq .L317
 3946 1f0e 8091 0000            lds r24,BeepMuster
 3947 1f12 9091 0000            lds r25,(BeepMuster)+1
 3948 1f16 8F5F                 subi r24,lo8(-1)
 3949 1f18 9F4F                 sbci r25,hi8(-1)
 3950 1f1a 01F4                 brne .L317
 3951 1f1c 88E9                 ldi r24,lo8(15000)
 3952 1f1e 9AE3                 ldi r25,hi8(15000)
 3953 1f20 9093 0000            sts (beeptime)+1,r25
 3954 1f24 8093 0000            sts beeptime,r24
 3955 1f28 80E0                 ldi r24,lo8(-23552)
 3956 1f2a 94EA                 ldi r25,hi8(-23552)
 3957 1f2c 9093 0000            sts (BeepMuster)+1,r25
 3958 1f30 8093 0000            sts BeepMuster,r24
 3959 1f34 1092 0000            sts CareFree,__zero_reg__
 3960                   .L317:
 3961 1f38 8091 0000            lds r24,CareFree
 3962 1f3c 8823                 tst r24
 3963 1f3e 01F0                 breq .L318
 3964 1f40 8091 0000            lds r24,FC_StatusFlags2
 3965 1f44 8160                 ori r24,lo8(1)
 3966 1f46 8093 0000            sts FC_StatusFlags2,r24
 3967 1f4a 8091 0000            lds r24,Parameter_AchsKopplung1
 3968 1f4e 823D                 cpi r24,lo8(-46)
 3969 1f50 00F4                 brsh .L190
 3970 1f52 825E                 subi r24,lo8(-(30))
 3971 1f54 8093 0000            sts Parameter_AchsKopplung1,r24
 3972 1f58 00C0                 rjmp .L190
 3973                   .L318:
 3974 1f5a 8091 0000            lds r24,FC_StatusFlags2
 3975 1f5e 8E7F                 andi r24,lo8(-2)
 3976 1f60 8093 0000            sts FC_StatusFlags2,r24
 3977                   .L190:
 3978                   /* epilogue: frame size=0 */
 3979 1f64 DF91                 pop r29
 3980 1f66 CF91                 pop r28
 3981 1f68 0895                 ret
 3982                   /* epilogue end (size=3) */
 3983                   /* function ParameterZuordnung size 772 (767) */
 3985                           .lcomm sollGier.0,4
 3986                           .lcomm tmp_long.1,4
 3987                           .lcomm tmp_long2.2,4
 3988                           .lcomm IntegralFehlerNick.3,4
 3989                           .lcomm IntegralFehlerRoll.4,4
 3990                           .lcomm RcLostTimer.5,2
 3991                           .lcomm delay_neutral.6,1
 3992                           .lcomm delay_einschalten.7,1
 3993                           .lcomm delay_ausschalten.8,1
 3994                           .lcomm move_safety_switch.9,1
 3995                           .lcomm ausgleichNick.10,4
 3996                           .lcomm ausgleichRoll.11,4
 3997                           .lcomm stick_nick.12,2
 3998                           .lcomm stick_roll.13,2
 3999                           .lcomm cnt.14,2
 4000                           .lcomm last_n_p.15,1
 4001                           .lcomm last_n_n.16,1
 4002                           .lcomm last_r_p.17,1
 4003                           .lcomm last_r_n.18,1
 4004                           .lcomm MittelIntegralNick_Alt.19,4
 4005                           .lcomm MittelIntegralRoll_Alt.20,4
 4006                           .lcomm HeightTrimming.21,2
 4007                           .lcomm FilterHCGas.22,2
 4008                           .lcomm HoverGasFilter.23,4
 4009                           .data
 4012                   delay.24:
 4013 004f 64                   .byte   100
 4014                           .lcomm BaroAtUpperLimit.25,1
 4015                           .lcomm BaroAtLowerLimit.26,1
 4016                           .text
 4017                   .global MotorRegler
 4019                   MotorRegler:
 4020                   /* prologue: frame size=23 */
 4021 1f6a A7E1                 ldi r26,lo8(23)
 4022 1f6c B0E0                 ldi r27,hi8(23)
 4023 1f6e E0E0                 ldi r30,pm_lo8(1f)
 4024 1f70 F0E0                 ldi r31,pm_hi8(1f)
 4025 1f72 0C94 0000            jmp __prologue_saves__+0
 4026                   1:
 4027                   /* prologue end (size=6) */
 4028 1f76 0E94 0000            call Mittelwert
 4029 1f7a 8091 0000            lds r24,FC_StatusFlags
 4030 1f7e 9927                 clr r25
 4031 1f80 8471                 andi r24,lo8(20)
 4032 1f82 9070                 andi r25,hi8(20)
 4033 1f84 892B                 or r24,r25
 4034 1f86 01F4                 brne .L365
 4035 1f88 8091 0000            lds r24,EE_Parameter+111
 4036 1f8c 82FF                 sbrs r24,2
 4037 1f8e 00C0                 rjmp .L366
 4038 1f90 8091 0000            lds r24,HoverGas
 4039 1f94 9091 0000            lds r25,(HoverGas)+1
 4040 1f98 0097                 sbiw r24,0
 4041 1f9a 01F0                 breq .L367
 4042 1f9c 02E0                 ldi r16,hi8(600)
 4043 1f9e 8835                 cpi r24,lo8(600)
 4044 1fa0 9007                 cpc r25,r16
 4045 1fa2 04F4                 brge .L367
 4046 1fa4 9C01                 movw r18,r24
 4047 1fa6 97FF                 sbrs r25,7
 4048 1fa8 00C0                 rjmp .L368
 4049 1faa 2D5F                 subi r18,lo8(-(3))
 4050 1fac 3F4F                 sbci r19,hi8(-(3))
 4051                   .L368:
 4052 1fae 3595                 asr r19
 4053 1fb0 2795                 ror r18
 4054 1fb2 3595                 asr r19
 4055 1fb4 2795                 ror r18
 4056 1fb6 8091 0000            lds r24,EE_Parameter+37
 4057 1fba 9927                 clr r25
 4058 1fbc 289F                 mul r18,r24
 4059 1fbe A001                 movw r20,r0
 4060 1fc0 299F                 mul r18,r25
 4061 1fc2 500D                 add r21,r0
 4062 1fc4 389F                 mul r19,r24
 4063 1fc6 500D                 add r21,r0
 4064 1fc8 1124                 clr r1
 4065 1fca CA01                 movw r24,r20
 4066 1fcc 64E6                 ldi r22,lo8(100)
 4067 1fce 70E0                 ldi r23,hi8(100)
 4068 1fd0 0E94 0000            call __divmodhi4
 4069 1fd4 CB01                 movw r24,r22
 4070 1fd6 00C0                 rjmp .L887
 4071                   .L367:
 4072 1fd8 8DE2                 ldi r24,lo8(45)
 4073 1fda 90E0                 ldi r25,hi8(45)
 4074 1fdc 00C0                 rjmp .L887
 4075                   .L366:
 4076 1fde 8091 0000            lds r24,EE_Parameter+37
 4077 1fe2 9927                 clr r25
 4078                   .L887:
 4079 1fe4 9093 0000            sts (HooverGasEmergencyPercent)+1,r25
 4080 1fe8 8093 0000            sts HooverGasEmergencyPercent,r24
 4081                   .L365:
 4082 1fec 2091 0000            lds r18,GasIsZeroCnt
 4083 1ff0 3091 0000            lds r19,(GasIsZeroCnt)+1
 4084 1ff4 55E7                 ldi r21,hi8(30000)
 4085 1ff6 2033                 cpi r18,lo8(30000)
 4086 1ff8 3507                 cpc r19,r21
 4087 1ffa 01F4                 brne .L371
 4088 1ffc 1092 0000            sts (StickGas)+1,__zero_reg__
 4089 2000 1092 0000            sts StickGas,__zero_reg__
 4090 2004 8091 0000            lds r24,MIN_GAS
 4091 2008 9927                 clr r25
 4092 200a 9093 0000            sts (HooverGasEmergencyPercent)+1,r25
 4093 200e 8093 0000            sts HooverGasEmergencyPercent,r24
 4094                   .L371:
 4095 2012 6091 0000            lds r22,StickGas
 4096 2016 7091 0000            lds r23,(StickGas)+1
 4097 201a 7A83                 std Y+2,r23
 4098 201c 6983                 std Y+1,r22
 4099 201e 8091 0000            lds r24,MIN_GAS
 4100 2022 9927                 clr r25
 4101 2024 0A96                 adiw r24,10
 4102 2026 6817                 cp r22,r24
 4103 2028 7907                 cpc r23,r25
 4104 202a 04F4                 brge .L372
 4105 202c 9A83                 std Y+2,r25
 4106 202e 8983                 std Y+1,r24
 4107                   .L372:
 4108 2030 8091 0000            lds r24,SenderOkay
 4109 2034 8436                 cpi r24,lo8(100)
 4110 2036 00F0                 brlo .+2
 4111 2038 00C0                 rjmp .L373
 4112 203a 8091 0000            lds r24,FC_StatusFlags2
 4113 203e 82FD                 sbrc r24,2
 4114 2040 00C0                 rjmp .L373
 4115 2042 8091 0000            lds r24,RcLostTimer.5
 4116 2046 9091 0000            lds r25,(RcLostTimer.5)+1
 4117 204a 0097                 sbiw r24,0
 4118 204c 01F0                 breq .L374
 4119 204e 0197                 sbiw r24,1
 4120 2050 9093 0000            sts (RcLostTimer.5)+1,r25
 4121 2054 8093 0000            sts RcLostTimer.5,r24
 4122 2058 00C0                 rjmp .L375
 4123                   .L374:
 4124 205a 1092 0000            sts MotorenEin,__zero_reg__
 4125 205e 9093 0000            sts (modell_fliegt)+1,r25
 4126 2062 8093 0000            sts modell_fliegt,r24
 4127 2066 8091 0000            lds r24,FC_StatusFlags
 4128 206a 8D7E                 andi r24,lo8(-19)
 4129 206c 8093 0000            sts FC_StatusFlags,r24
 4130                   .L375:
 4131 2070 8091 0000            lds r24,PlatinenVersion
 4132 2074 8A30                 cpi r24,lo8(10)
 4133 2076 01F0                 breq .L377
 4134 2078 8431                 cpi r24,lo8(20)
 4135 207a 00F0                 brlo .L376
 4136                   .L377:
 4137 207c 289A                 sbi 37-0x20,0
 4138 207e 00C0                 rjmp .L378
 4139                   .L376:
 4140 2080 2898                 cbi 37-0x20,0
 4141                   .L378:
 4142 2082 8091 0000            lds r24,modell_fliegt
 4143 2086 9091 0000            lds r25,(modell_fliegt)+1
 4144 208a 895E                 subi r24,lo8(1001)
 4145 208c 9340                 sbci r25,hi8(1001)
 4146 208e 00F0                 brlo .L379
 4147 2090 8091 0000            lds r24,Capacity+6
 4148 2094 8536                 cpi r24,lo8(101)
 4149 2096 00F0                 brlo .L379
 4150 2098 8091 0000            lds r24,HooverGasEmergencyPercent
 4151 209c 9091 0000            lds r25,(HooverGasEmergencyPercent)+1
 4152 20a0 9A83                 std Y+2,r25
 4153 20a2 8983                 std Y+1,r24
 4154 20a4 8091 0000            lds r24,FC_StatusFlags
 4155 20a8 8061                 ori r24,lo8(16)
 4156 20aa 8093 0000            sts FC_StatusFlags,r24
 4157 20ae 8091 0000            lds r24,EE_Parameter+1
 4158 20b2 A82F                 mov r26,r24
 4159 20b4 BB27                 clr r27
 4160 20b6 AA0F                 add r26,r26
 4161 20b8 BB1F                 adc r27,r27
 4162 20ba FD01                 movw r30,r26
 4163 20bc E050                 subi r30,lo8(-(PPM_diff))
 4164 20be F040                 sbci r31,hi8(-(PPM_diff))
 4165 20c0 1182                 std Z+1,__zero_reg__
 4166 20c2 1082                 st Z,__zero_reg__
 4167 20c4 8091 0000            lds r24,EE_Parameter+2
 4168 20c8 282F                 mov r18,r24
 4169 20ca 3327                 clr r19
 4170 20cc 220F                 add r18,r18
 4171 20ce 331F                 adc r19,r19
 4172 20d0 C901                 movw r24,r18
 4173 20d2 8050                 subi r24,lo8(-(PPM_diff))
 4174 20d4 9040                 sbci r25,hi8(-(PPM_diff))
 4175 20d6 FC01                 movw r30,r24
 4176 20d8 1182                 std Z+1,__zero_reg__
 4177 20da 1082                 st Z,__zero_reg__
 4178 20dc A050                 subi r26,lo8(-(PPM_in))
 4179 20de B040                 sbci r27,hi8(-(PPM_in))
 4180 20e0 1196                 adiw r26,1
 4181 20e2 1C92                 st X,__zero_reg__
 4182 20e4 1E92                 st -X,__zero_reg__
 4183 20e6 2050                 subi r18,lo8(-(PPM_in))
 4184 20e8 3040                 sbci r19,hi8(-(PPM_in))
 4185 20ea D901                 movw r26,r18
 4186 20ec 1196                 adiw r26,1
 4187 20ee 1C92                 st X,__zero_reg__
 4188 20f0 1E92                 st -X,__zero_reg__
 4189 20f2 8091 0000            lds r24,EE_Parameter+4
 4190 20f6 E82F                 mov r30,r24
 4191 20f8 FF27                 clr r31
 4192 20fa EE0F                 add r30,r30
 4193 20fc FF1F                 adc r31,r31
 4194 20fe E050                 subi r30,lo8(-(PPM_in))
 4195 2100 F040                 sbci r31,hi8(-(PPM_in))
 4196 2102 1182                 std Z+1,__zero_reg__
 4197 2104 1082                 st Z,__zero_reg__
 4198 2106 00C0                 rjmp .L381
 4199                   .L379:
 4200 2108 1092 0000            sts MotorenEin,__zero_reg__
 4201 210c 00C0                 rjmp .L381
 4202                   .L373:
 4203 210e 8091 0000            lds r24,SenderOkay
 4204 2112 8D38                 cpi r24,lo8(-115)
 4205 2114 00F4                 brsh .+2
 4206 2116 00C0                 rjmp .L382
 4207 2118 8091 0000            lds r24,FC_StatusFlags
 4208 211c 8F7E                 andi r24,lo8(-17)
 4209 211e 8093 0000            sts FC_StatusFlags,r24
 4210 2122 9091 0000            lds r25,EE_Parameter+38
 4211 2126 82E3                 ldi r24,lo8(50)
 4212 2128 989F                 mul r25,r24
 4213 212a C001                 movw r24,r0
 4214 212c 1124                 clr r1
 4215 212e 9093 0000            sts (RcLostTimer.5)+1,r25
 4216 2132 8093 0000            sts RcLostTimer.5,r24
 4217 2136 E981                 ldd r30,Y+1
 4218 2138 FA81                 ldd r31,Y+2
 4219 213a B997                 sbiw r30,41
 4220 213c 04F0                 brlt .L383
 4221 213e 8091 0000            lds r24,MotorenEin
 4222 2142 8823                 tst r24
 4223 2144 01F0                 breq .L383
 4224 2146 8091 0000            lds r24,modell_fliegt
 4225 214a 9091 0000            lds r25,(modell_fliegt)+1
 4226 214e FFEF                 ldi r31,hi8(-1)
 4227 2150 8F3F                 cpi r24,lo8(-1)
 4228 2152 9F07                 cpc r25,r31
 4229 2154 01F0                 breq .L383
 4230 2156 0196                 adiw r24,1
 4231 2158 9093 0000            sts (modell_fliegt)+1,r25
 4232 215c 8093 0000            sts modell_fliegt,r24
 4233                   .L383:
 4234 2160 8091 0000            lds r24,modell_fliegt
 4235 2164 9091 0000            lds r25,(modell_fliegt)+1
 4236 2168 8F3F                 cpi r24,255
 4237 216a 9105                 cpc r25,__zero_reg__
 4238 216c 01F0                 breq .+2
 4239 216e 00F4                 brsh .L385
 4240 2170 1092 0000            sts SummeNick,__zero_reg__
 4241 2174 1092 0000            sts (SummeNick)+1,__zero_reg__
 4242 2178 1092 0000            sts (SummeNick)+2,__zero_reg__
 4243 217c 1092 0000            sts (SummeNick)+3,__zero_reg__
 4244 2180 1092 0000            sts SummeRoll,__zero_reg__
 4245 2184 1092 0000            sts (SummeRoll)+1,__zero_reg__
 4246 2188 1092 0000            sts (SummeRoll)+2,__zero_reg__
 4247 218c 1092 0000            sts (SummeRoll)+3,__zero_reg__
 4248 2190 1092 0000            sts sollGier.0,__zero_reg__
 4249 2194 1092 0000            sts (sollGier.0)+1,__zero_reg__
 4250 2198 1092 0000            sts (sollGier.0)+2,__zero_reg__
 4251 219c 1092 0000            sts (sollGier.0)+3,__zero_reg__
 4252 21a0 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 4253 21a4 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 4254 21a8 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 4255 21ac 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 4256 21b0 00C0                 rjmp .L386
 4257                   .L385:
 4258 21b2 8091 0000            lds r24,FC_StatusFlags
 4259 21b6 8260                 ori r24,lo8(2)
 4260 21b8 8093 0000            sts FC_StatusFlags,r24
 4261                   .L386:
 4262 21bc 8091 0000            lds r24,EE_Parameter+3
 4263 21c0 E82F                 mov r30,r24
 4264 21c2 FF27                 clr r31
 4265 21c4 EE0F                 add r30,r30
 4266 21c6 FF1F                 adc r31,r31
 4267 21c8 E050                 subi r30,lo8(-(PPM_in))
 4268 21ca F040                 sbci r31,hi8(-(PPM_in))
 4269 21cc 8081                 ld r24,Z
 4270 21ce 9181                 ldd r25,Z+1
 4271 21d0 8135                 cpi r24,81
 4272 21d2 9105                 cpc r25,__zero_reg__
 4273 21d4 04F4                 brge .+2
 4274 21d6 00C0                 rjmp .L387
 4275 21d8 2091 0000            lds r18,MotorenEin
 4276 21dc 2223                 tst r18
 4277 21de 01F0                 breq .+2
 4278 21e0 00C0                 rjmp .L387
 4279 21e2 8091 0000            lds r24,EE_Parameter+4
 4280 21e6 E82F                 mov r30,r24
 4281 21e8 FF27                 clr r31
 4282 21ea EE0F                 add r30,r30
 4283 21ec FF1F                 adc r31,r31
 4284 21ee E050                 subi r30,lo8(-(PPM_in))
 4285 21f0 F040                 sbci r31,hi8(-(PPM_in))
 4286 21f2 8081                 ld r24,Z
 4287 21f4 9181                 ldd r25,Z+1
 4288 21f6 8C34                 cpi r24,76
 4289 21f8 9105                 cpc r25,__zero_reg__
 4290 21fa 04F4                 brge .+2
 4291 21fc 00C0                 rjmp .L388
 4292 21fe 8091 0000            lds r24,delay_neutral.6
 4293 2202 8F5F                 subi r24,lo8(-(1))
 4294 2204 8093 0000            sts delay_neutral.6,r24
 4295 2208 893C                 cpi r24,lo8(-55)
 4296 220a 00F4                 brsh .+2
 4297 220c 00C0                 rjmp .L387
 4298 220e 2093 0000            sts delay_neutral.6,r18
 4299 2212 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 4300 2216 1092 0000            sts modell_fliegt,__zero_reg__
 4301 221a 3091 0000            lds r19,EE_Parameter+1
 4302 221e E32F                 mov r30,r19
 4303 2220 FF27                 clr r31
 4304 2222 EE0F                 add r30,r30
 4305 2224 FF1F                 adc r31,r31
 4306 2226 E050                 subi r30,lo8(-(PPM_in))
 4307 2228 F040                 sbci r31,hi8(-(PPM_in))
 4308 222a 8081                 ld r24,Z
 4309 222c 9181                 ldd r25,Z+1
 4310 222e 8734                 cpi r24,71
 4311 2230 9105                 cpc r25,__zero_reg__
 4312 2232 04F4                 brge .L391
 4313 2234 8091 0000            lds r24,EE_Parameter+2
 4314 2238 E82F                 mov r30,r24
 4315 223a FF27                 clr r31
 4316 223c EE0F                 add r30,r30
 4317 223e FF1F                 adc r31,r31
 4318 2240 E050                 subi r30,lo8(-(PPM_in))
 4319 2242 F040                 sbci r31,hi8(-(PPM_in))
 4320 2244 8081                 ld r24,Z
 4321 2246 9181                 ldd r25,Z+1
 4322 2248 0190                 ld __tmp_reg__,Z+
 4323 224a F081                 ld r31,Z
 4324 224c E02D                 mov r30,__tmp_reg__
 4325 224e F7FF                 sbrs r31,7
 4326 2250 00C0                 rjmp .L392
 4327 2252 F095                 com r31
 4328 2254 E195                 neg r30
 4329 2256 FF4F                 sbci r31,lo8(-1)
 4330                   .L392:
 4331 2258 E734                 cpi r30,71
 4332 225a F105                 cpc r31,__zero_reg__
 4333 225c 04F4                 brge .+2
 4334 225e 00C0                 rjmp .L390
 4335                   .L391:
 4336 2260 41E0                 ldi r20,lo8(1)
 4337 2262 2091 0000            lds r18,EE_Parameter+2
 4338 2266 A22F                 mov r26,r18
 4339 2268 BB27                 clr r27
 4340 226a AA0F                 add r26,r26
 4341 226c BB1F                 adc r27,r27
 4342 226e A050                 subi r26,lo8(-(PPM_in))
 4343 2270 B040                 sbci r27,hi8(-(PPM_in))
 4344 2272 8D91                 ld r24,X+
 4345 2274 9C91                 ld r25,X
 4346 2276 1197                 sbiw r26,1
 4347 2278 8734                 cpi r24,71
 4348 227a 9105                 cpc r25,__zero_reg__
 4349 227c 04F0                 brlt .L393
 4350 227e E32F                 mov r30,r19
 4351 2280 FF27                 clr r31
 4352 2282 EE0F                 add r30,r30
 4353 2284 FF1F                 adc r31,r31
 4354 2286 E050                 subi r30,lo8(-(PPM_in))
 4355 2288 F040                 sbci r31,hi8(-(PPM_in))
 4356 228a 8081                 ld r24,Z
 4357 228c 9181                 ldd r25,Z+1
 4358                   .L393:
 4359 228e 8D91                 ld r24,X+
 4360 2290 9C91                 ld r25,X
 4361 2292 8734                 cpi r24,71
 4362 2294 9105                 cpc r25,__zero_reg__
 4363 2296 04F0                 brlt .L394
 4364 2298 8091 0000            lds r24,EE_Parameter+1
 4365 229c E82F                 mov r30,r24
 4366 229e FF27                 clr r31
 4367 22a0 EE0F                 add r30,r30
 4368 22a2 FF1F                 adc r31,r31
 4369 22a4 E050                 subi r30,lo8(-(PPM_in))
 4370 22a6 F040                 sbci r31,hi8(-(PPM_in))
 4371 22a8 8081                 ld r24,Z
 4372 22aa 9181                 ldd r25,Z+1
 4373 22ac 8734                 cpi r24,71
 4374 22ae 9105                 cpc r25,__zero_reg__
 4375 22b0 04F0                 brlt .L394
 4376 22b2 42E0                 ldi r20,lo8(2)
 4377                   .L394:
 4378 22b4 E22F                 mov r30,r18
 4379 22b6 FF27                 clr r31
 4380 22b8 EE0F                 add r30,r30
 4381 22ba FF1F                 adc r31,r31
 4382 22bc E050                 subi r30,lo8(-(PPM_in))
 4383 22be F040                 sbci r31,hi8(-(PPM_in))
 4384 22c0 8081                 ld r24,Z
 4385 22c2 9181                 ldd r25,Z+1
 4386 22c4 8634                 cpi r24,70
 4387 22c6 9105                 cpc r25,__zero_reg__
 4388 22c8 04F4                 brge .L395
 4389 22ca 8091 0000            lds r24,EE_Parameter+1
 4390 22ce E82F                 mov r30,r24
 4391 22d0 FF27                 clr r31
 4392 22d2 EE0F                 add r30,r30
 4393 22d4 FF1F                 adc r31,r31
 4394 22d6 E050                 subi r30,lo8(-(PPM_in))
 4395 22d8 F040                 sbci r31,hi8(-(PPM_in))
 4396 22da 8081                 ld r24,Z
 4397 22dc 9181                 ldd r25,Z+1
 4398 22de 8734                 cpi r24,71
 4399 22e0 9105                 cpc r25,__zero_reg__
 4400 22e2 04F0                 brlt .L395
 4401 22e4 43E0                 ldi r20,lo8(3)
 4402                   .L395:
 4403 22e6 E22F                 mov r30,r18
 4404 22e8 FF27                 clr r31
 4405 22ea EE0F                 add r30,r30
 4406 22ec FF1F                 adc r31,r31
 4407 22ee E050                 subi r30,lo8(-(PPM_in))
 4408 22f0 F040                 sbci r31,hi8(-(PPM_in))
 4409 22f2 8081                 ld r24,Z
 4410 22f4 9181                 ldd r25,Z+1
 4411 22f6 8A5B                 subi r24,lo8(-70)
 4412 22f8 9F4F                 sbci r25,hi8(-70)
 4413 22fa 04F4                 brge .L396
 4414 22fc 8091 0000            lds r24,EE_Parameter+1
 4415 2300 E82F                 mov r30,r24
 4416 2302 FF27                 clr r31
 4417 2304 EE0F                 add r30,r30
 4418 2306 FF1F                 adc r31,r31
 4419 2308 E050                 subi r30,lo8(-(PPM_in))
 4420 230a F040                 sbci r31,hi8(-(PPM_in))
 4421 230c 8081                 ld r24,Z
 4422 230e 9181                 ldd r25,Z+1
 4423 2310 8734                 cpi r24,71
 4424 2312 9105                 cpc r25,__zero_reg__
 4425 2314 04F0                 brlt .L396
 4426 2316 44E0                 ldi r20,lo8(4)
 4427                   .L396:
 4428 2318 E22F                 mov r30,r18
 4429 231a FF27                 clr r31
 4430 231c EE0F                 add r30,r30
 4431 231e FF1F                 adc r31,r31
 4432 2320 E050                 subi r30,lo8(-(PPM_in))
 4433 2322 F040                 sbci r31,hi8(-(PPM_in))
 4434 2324 8081                 ld r24,Z
 4435 2326 9181                 ldd r25,Z+1
 4436 2328 8A5B                 subi r24,lo8(-70)
 4437 232a 9F4F                 sbci r25,hi8(-70)
 4438 232c 04F4                 brge .L397
 4439 232e 8091 0000            lds r24,EE_Parameter+1
 4440 2332 E82F                 mov r30,r24
 4441 2334 FF27                 clr r31
 4442 2336 EE0F                 add r30,r30
 4443 2338 FF1F                 adc r31,r31
 4444 233a E050                 subi r30,lo8(-(PPM_in))
 4445 233c F040                 sbci r31,hi8(-(PPM_in))
 4446 233e 8081                 ld r24,Z
 4447 2340 9181                 ldd r25,Z+1
 4448 2342 8634                 cpi r24,70
 4449 2344 9105                 cpc r25,__zero_reg__
 4450 2346 04F4                 brge .L397
 4451 2348 45E0                 ldi r20,lo8(5)
 4452                   .L397:
 4453 234a 842F                 mov r24,r20
 4454 234c 0E94 0000            call SetActiveParamSet
 4455                   .L390:
 4456 2350 8091 0000            lds r24,EE_Parameter+2
 4457 2354 E82F                 mov r30,r24
 4458 2356 FF27                 clr r31
 4459 2358 EE0F                 add r30,r30
 4460 235a FF1F                 adc r31,r31
 4461 235c E050                 subi r30,lo8(-(PPM_in))
 4462 235e F040                 sbci r31,hi8(-(PPM_in))
 4463 2360 8081                 ld r24,Z
 4464 2362 9181                 ldd r25,Z+1
 4465 2364 0190                 ld __tmp_reg__,Z+
 4466 2366 F081                 ld r31,Z
 4467 2368 E02D                 mov r30,__tmp_reg__
 4468 236a F7FF                 sbrs r31,7
 4469 236c 00C0                 rjmp .L399
 4470 236e F095                 com r31
 4471 2370 E195                 neg r30
 4472 2372 FF4F                 sbci r31,lo8(-1)
 4473                   .L399:
 4474 2374 7E97                 sbiw r30,30
 4475 2376 04F4                 brge .L398
 4476 2378 8091 0000            lds r24,EE_Parameter+1
 4477 237c E82F                 mov r30,r24
 4478 237e FF27                 clr r31
 4479 2380 EE0F                 add r30,r30
 4480 2382 FF1F                 adc r31,r31
 4481 2384 E050                 subi r30,lo8(-(PPM_in))
 4482 2386 F040                 sbci r31,hi8(-(PPM_in))
 4483 2388 8081                 ld r24,Z
 4484 238a 9181                 ldd r25,Z+1
 4485 238c 8A5B                 subi r24,lo8(-70)
 4486 238e 9F4F                 sbci r25,hi8(-70)
 4487 2390 04F4                 brge .L398
 4488 2392 81E0                 ldi r24,lo8(1)
 4489 2394 8093 0000            sts WinkelOut+6,r24
 4490 2398 1092 0000            sts CalibrationDone,__zero_reg__
 4491 239c 88EE                 ldi r24,lo8(1000)
 4492 239e 93E0                 ldi r25,hi8(1000)
 4493 23a0 9093 0000            sts (beeptime)+1,r25
 4494 23a4 8093 0000            sts beeptime,r24
 4495 23a8 00C0                 rjmp .L387
 4496                   .L398:
 4497 23aa 0E94 0000            call GetActiveParamSet
 4498 23ae 0E94 0000            call ParamSet_ReadFromEEProm
 4499 23b2 80E0                 ldi r24,lo8(0)
 4500 23b4 0E94 0000            call LipoDetection
 4501 23b8 8091 0000            lds r24,EE_Parameter+39
 4502 23bc 0E94 0000            call LIBFC_ReceiverInit
 4503 23c0 8091 0000            lds r24,Parameter_GlobalConfig
 4504 23c4 80FF                 sbrs r24,0
 4505 23c6 00C0                 rjmp .L401
 4506 23c8 8091 0000            lds r24,MessLuftdruck
 4507 23cc 9091 0000            lds r25,(MessLuftdruck)+1
 4508 23d0 875B                 subi r24,lo8(951)
 4509 23d2 9340                 sbci r25,hi8(951)
 4510 23d4 00F4                 brsh .L403
 4511 23d6 8091 0000            lds r24,MessLuftdruck
 4512 23da 9091 0000            lds r25,(MessLuftdruck)+1
 4513 23de 8E5E                 subi r24,lo8(750)
 4514 23e0 9240                 sbci r25,hi8(750)
 4515 23e2 00F4                 brsh .L401
 4516                   .L403:
 4517 23e4 0E94 0000            call SucheLuftruckOffset
 4518                   .L401:
 4519 23e8 80E0                 ldi r24,lo8(0)
 4520 23ea 0E94 0000            call SetNeutral
 4521 23ee 81E0                 ldi r24,lo8(1)
 4522 23f0 8093 0000            sts CalibrationDone,r24
 4523 23f4 8093 0000            sts ServoActive,r24
 4524 23f8 579A                 sbi 42-0x20,7
 4525 23fa 00C0                 rjmp .L888
 4526                   .L388:
 4527 23fc 8081                 ld r24,Z
 4528 23fe 9181                 ldd r25,Z+1
 4529 2400 855B                 subi r24,lo8(-75)
 4530 2402 9F4F                 sbci r25,hi8(-75)
 4531 2404 04F4                 brge .L405
 4532 2406 8091 0000            lds r24,delay_neutral.6
 4533 240a 8F5F                 subi r24,lo8(-(1))
 4534 240c 8093 0000            sts delay_neutral.6,r24
 4535 2410 893C                 cpi r24,lo8(-55)
 4536 2412 00F0                 brlo .L387
 4537 2414 2093 0000            sts MotorenEin,r18
 4538 2418 2093 0000            sts delay_neutral.6,r18
 4539 241c 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 4540 2420 1092 0000            sts modell_fliegt,__zero_reg__
 4541 2424 81E0                 ldi r24,lo8(1)
 4542 2426 0E94 0000            call SetNeutral
 4543 242a 81E0                 ldi r24,lo8(1)
 4544 242c 8093 0000            sts CalibrationDone,r24
 4545                   .L888:
 4546 2430 88E1                 ldi r24,lo8(24)
 4547 2432 8093 0000            sts SpeakHoTT,r24
 4548 2436 0E94 0000            call GetActiveParamSet
 4549 243a 68E7                 ldi r22,lo8(120)
 4550 243c 70E0                 ldi r23,hi8(120)
 4551 243e 0E94 0000            call Piep
 4552 2442 00C0                 rjmp .L387
 4553                   .L405:
 4554 2444 2093 0000            sts delay_neutral.6,r18
 4555                   .L387:
 4556 2448 8091 0000            lds r24,EE_Parameter+3
 4557 244c E82F                 mov r30,r24
 4558 244e FF27                 clr r31
 4559 2450 EE0F                 add r30,r30
 4560 2452 FF1F                 adc r31,r31
 4561 2454 E050                 subi r30,lo8(-(PPM_in))
 4562 2456 F040                 sbci r31,hi8(-(PPM_in))
 4563 2458 8081                 ld r24,Z
 4564 245a 9181                 ldd r25,Z+1
 4565 245c 8B5A                 subi r24,lo8(-85)
 4566 245e 9F4F                 sbci r25,hi8(-85)
 4567 2460 04F0                 brlt .+2
 4568 2462 00C0                 rjmp .L408
 4569 2464 2091 0000            lds r18,EE_Parameter+100
 4570 2468 E22F                 mov r30,r18
 4571 246a FF27                 clr r31
 4572 246c EF77                 andi r30,lo8(127)
 4573 246e F070                 andi r31,hi8(127)
 4574 2470 EE0F                 add r30,r30
 4575 2472 FF1F                 adc r31,r31
 4576 2474 E050                 subi r30,lo8(-(PPM_diff))
 4577 2476 F040                 sbci r31,hi8(-(PPM_diff))
 4578 2478 8081                 ld r24,Z
 4579 247a 9181                 ldd r25,Z+1
 4580 247c 0697                 sbiw r24,6
 4581 247e 04F0                 brlt .L409
 4582 2480 84E6                 ldi r24,lo8(100)
 4583 2482 00C0                 rjmp .L889
 4584                   .L409:
 4585 2484 8081                 ld r24,Z
 4586 2486 9181                 ldd r25,Z+1
 4587 2488 8B5F                 subi r24,lo8(-5)
 4588 248a 9F4F                 sbci r25,hi8(-5)
 4589 248c 04F4                 brge .L410
 4590 248e 8CE9                 ldi r24,lo8(-100)
 4591                   .L889:
 4592 2490 8093 0000            sts move_safety_switch.9,r24
 4593                   .L410:
 4594 2494 8091 0000            lds r24,MotorenEin
 4595 2498 E091 0000            lds r30,EE_Parameter+4
 4596 249c 8823                 tst r24
 4597 249e 01F0                 breq .+2
 4598 24a0 00C0                 rjmp .L412
 4599 24a2 FF27                 clr r31
 4600 24a4 EE0F                 add r30,r30
 4601 24a6 FF1F                 adc r31,r31
 4602 24a8 E050                 subi r30,lo8(-(PPM_in))
 4603 24aa F040                 sbci r31,hi8(-(PPM_in))
 4604 24ac 8081                 ld r24,Z
 4605 24ae 9181                 ldd r25,Z+1
 4606 24b0 855B                 subi r24,lo8(-75)
 4607 24b2 9F4F                 sbci r25,hi8(-75)
 4608 24b4 04F4                 brge .L415
 4609 24b6 8091 0000            lds r24,EE_Parameter+111
 4610 24ba 83FD                 sbrc r24,3
 4611 24bc 00C0                 rjmp .L416
 4612 24be E22F                 mov r30,r18
 4613 24c0 FF27                 clr r31
 4614 24c2 EE0F                 add r30,r30
 4615 24c4 FF1F                 adc r31,r31
 4616 24c6 E050                 subi r30,lo8(-(PPM_in))
 4617 24c8 F040                 sbci r31,hi8(-(PPM_in))
 4618 24ca 8081                 ld r24,Z
 4619 24cc 9181                 ldd r25,Z+1
 4620 24ce 855B                 subi r24,lo8(-75)
 4621 24d0 9F4F                 sbci r25,hi8(-75)
 4622 24d2 04F0                 brlt .L414
 4623                   .L416:
 4624 24d4 8091 0000            lds r24,EE_Parameter+100
 4625 24d8 8823                 tst r24
 4626 24da 01F0                 breq .L414
 4627                   .L415:
 4628 24dc 8091 0000            lds r24,EE_Parameter+111
 4629 24e0 83FF                 sbrs r24,3
 4630 24e2 00C0                 rjmp .L413
 4631 24e4 8091 0000            lds r24,EE_Parameter+100
 4632 24e8 E82F                 mov r30,r24
 4633 24ea FF27                 clr r31
 4634 24ec EE0F                 add r30,r30
 4635 24ee FF1F                 adc r31,r31
 4636 24f0 E050                 subi r30,lo8(-(PPM_in))
 4637 24f2 F040                 sbci r31,hi8(-(PPM_in))
 4638 24f4 8081                 ld r24,Z
 4639 24f6 9181                 ldd r25,Z+1
 4640 24f8 875F                 subi r24,lo8(-9)
 4641 24fa 9F4F                 sbci r25,hi8(-9)
 4642 24fc 04F4                 brge .+2
 4643 24fe 00C0                 rjmp .L413
 4644 2500 8091 0000            lds r24,move_safety_switch.9
 4645 2504 8436                 cpi r24,lo8(100)
 4646 2506 01F0                 breq .+2
 4647 2508 00C0                 rjmp .L413
 4648                   .L414:
 4649 250a 2091 0000            lds r18,CalibrationDone
 4650 250e 2223                 tst r18
 4651 2510 01F0                 breq .L417
 4652 2512 8091 0000            lds r24,FC_StatusFlags
 4653 2516 8860                 ori r24,lo8(8)
 4654 2518 8093 0000            sts FC_StatusFlags,r24
 4655                   .L417:
 4656 251c 8091 0000            lds r24,delay_einschalten.7
 4657 2520 8F5F                 subi r24,lo8(-(1))
 4658 2522 8093 0000            sts delay_einschalten.7,r24
 4659 2526 8E3F                 cpi r24,lo8(-2)
 4660 2528 00F4                 brsh .+2
 4661 252a 00C0                 rjmp .L423
 4662 252c 1092 0000            sts delay_einschalten.7,__zero_reg__
 4663 2530 8091 0000            lds r24,VersionInfo+5
 4664 2534 8823                 tst r24
 4665 2536 01F0                 breq .+2
 4666 2538 00C0                 rjmp .L419
 4667 253a 2223                 tst r18
 4668 253c 01F4                 brne .+2
 4669 253e 00C0                 rjmp .L419
 4670 2540 8091 0000            lds r24,NC_ErrorCode
 4671 2544 8823                 tst r24
 4672 2546 01F0                 breq .+2
 4673 2548 00C0                 rjmp .L419
 4674 254a 81E0                 ldi r24,lo8(1)
 4675 254c 90E0                 ldi r25,hi8(1)
 4676 254e 9093 0000            sts (modell_fliegt)+1,r25
 4677 2552 8093 0000            sts modell_fliegt,r24
 4678 2556 81E0                 ldi r24,lo8(1)
 4679 2558 8093 0000            sts MotorenEin,r24
 4680 255c 1092 0000            sts sollGier.0,__zero_reg__
 4681 2560 1092 0000            sts (sollGier.0)+1,__zero_reg__
 4682 2564 1092 0000            sts (sollGier.0)+2,__zero_reg__
 4683 2568 1092 0000            sts (sollGier.0)+3,__zero_reg__
 4684 256c 1092 0000            sts Mess_Integral_Gier,__zero_reg__
 4685 2570 1092 0000            sts (Mess_Integral_Gier)+1,__zero_reg__
 4686 2574 1092 0000            sts (Mess_Integral_Gier)+2,__zero_reg__
 4687 2578 1092 0000            sts (Mess_Integral_Gier)+3,__zero_reg__
 4688 257c 1092 0000            sts Mess_Integral_Gier2,__zero_reg__
 4689 2580 1092 0000            sts (Mess_Integral_Gier2)+1,__zero_reg__
 4690 2584 1092 0000            sts (Mess_Integral_Gier2)+2,__zero_reg__
 4691 2588 1092 0000            sts (Mess_Integral_Gier2)+3,__zero_reg__
 4692 258c 8091 0000            lds r24,EE_Parameter+28
 4693 2590 E82E                 mov r14,r24
 4694 2592 FF24                 clr r15
 4695 2594 0027                 clr r16
 4696 2596 1127                 clr r17
 4697 2598 8091 0000            lds r24,Mittelwert_AccNick
 4698 259c 9091 0000            lds r25,(Mittelwert_AccNick)+1
 4699 25a0 9C01                 movw r18,r24
 4700 25a2 4427                 clr r20
 4701 25a4 37FD                 sbrc r19,7
 4702 25a6 4095                 com r20
 4703 25a8 542F                 mov r21,r20
 4704 25aa C801                 movw r24,r16
 4705 25ac B701                 movw r22,r14
 4706 25ae 0E94 0000            call __mulsi3
 4707 25b2 DC01                 movw r26,r24
 4708 25b4 CB01                 movw r24,r22
 4709 25b6 8093 0000            sts Mess_IntegralNick,r24
 4710 25ba 9093 0000            sts (Mess_IntegralNick)+1,r25
 4711 25be A093 0000            sts (Mess_IntegralNick)+2,r26
 4712 25c2 B093 0000            sts (Mess_IntegralNick)+3,r27
 4713 25c6 8091 0000            lds r24,Mittelwert_AccRoll
 4714 25ca 9091 0000            lds r25,(Mittelwert_AccRoll)+1
 4715 25ce 9C01                 movw r18,r24
 4716 25d0 4427                 clr r20
 4717 25d2 37FD                 sbrc r19,7
 4718 25d4 4095                 com r20
 4719 25d6 542F                 mov r21,r20
 4720 25d8 C801                 movw r24,r16
 4721 25da B701                 movw r22,r14
 4722 25dc 0E94 0000            call __mulsi3
 4723 25e0 DC01                 movw r26,r24
 4724 25e2 CB01                 movw r24,r22
 4725 25e4 8093 0000            sts Mess_IntegralRoll,r24
 4726 25e8 9093 0000            sts (Mess_IntegralRoll)+1,r25
 4727 25ec A093 0000            sts (Mess_IntegralRoll)+2,r26
 4728 25f0 B093 0000            sts (Mess_IntegralRoll)+3,r27
 4729 25f4 8091 0000            lds r24,IntegralNick
 4730 25f8 9091 0000            lds r25,(IntegralNick)+1
 4731 25fc A091 0000            lds r26,(IntegralNick)+2
 4732 2600 B091 0000            lds r27,(IntegralNick)+3
 4733 2604 8093 0000            sts Mess_IntegralNick2,r24
 4734 2608 9093 0000            sts (Mess_IntegralNick2)+1,r25
 4735 260c A093 0000            sts (Mess_IntegralNick2)+2,r26
 4736 2610 B093 0000            sts (Mess_IntegralNick2)+3,r27
 4737 2614 8091 0000            lds r24,IntegralRoll
 4738 2618 9091 0000            lds r25,(IntegralRoll)+1
 4739 261c A091 0000            lds r26,(IntegralRoll)+2
 4740 2620 B091 0000            lds r27,(IntegralRoll)+3
 4741 2624 8093 0000            sts Mess_IntegralRoll2,r24
 4742 2628 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 4743 262c A093 0000            sts (Mess_IntegralRoll2)+2,r26
 4744 2630 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 4745 2634 1092 0000            sts SummeNick,__zero_reg__
 4746 2638 1092 0000            sts (SummeNick)+1,__zero_reg__
 4747 263c 1092 0000            sts (SummeNick)+2,__zero_reg__
 4748 2640 1092 0000            sts (SummeNick)+3,__zero_reg__
 4749 2644 1092 0000            sts SummeRoll,__zero_reg__
 4750 2648 1092 0000            sts (SummeRoll)+1,__zero_reg__
 4751 264c 1092 0000            sts (SummeRoll)+2,__zero_reg__
 4752 2650 1092 0000            sts (SummeRoll)+3,__zero_reg__
 4753 2654 84E6                 ldi r24,lo8(100)
 4754 2656 8093 0000            sts NeueKompassRichtungMerken,r24
 4755 265a 84E3                 ldi r24,lo8(52)
 4756 265c 00C0                 rjmp .L890
 4757                   .L419:
 4758 265e 8CED                 ldi r24,lo8(1500)
 4759 2660 95E0                 ldi r25,hi8(1500)
 4760 2662 9093 0000            sts (beeptime)+1,r25
 4761 2666 8093 0000            sts beeptime,r24
 4762 266a 2223                 tst r18
 4763 266c 01F0                 breq .+2
 4764 266e 00C0                 rjmp .L423
 4765 2670 81E0                 ldi r24,lo8(1)
 4766 2672 00C0                 rjmp .L890
 4767                   .L413:
 4768 2674 1092 0000            sts delay_einschalten.7,__zero_reg__
 4769 2678 00C0                 rjmp .L423
 4770                   .L412:
 4771 267a FF27                 clr r31
 4772 267c EE0F                 add r30,r30
 4773 267e FF1F                 adc r31,r31
 4774 2680 E050                 subi r30,lo8(-(PPM_in))
 4775 2682 F040                 sbci r31,hi8(-(PPM_in))
 4776 2684 8081                 ld r24,Z
 4777 2686 9181                 ldd r25,Z+1
 4778 2688 8C34                 cpi r24,76
 4779 268a 9105                 cpc r25,__zero_reg__
 4780 268c 04F0                 brlt .L426
 4781 268e 8091 0000            lds r24,EE_Parameter+111
 4782 2692 83FD                 sbrc r24,3
 4783 2694 00C0                 rjmp .L427
 4784 2696 E22F                 mov r30,r18
 4785 2698 FF27                 clr r31
 4786 269a EE0F                 add r30,r30
 4787 269c FF1F                 adc r31,r31
 4788 269e E050                 subi r30,lo8(-(PPM_in))
 4789 26a0 F040                 sbci r31,hi8(-(PPM_in))
 4790 26a2 8081                 ld r24,Z
 4791 26a4 9181                 ldd r25,Z+1
 4792 26a6 855B                 subi r24,lo8(-75)
 4793 26a8 9F4F                 sbci r25,hi8(-75)
 4794 26aa 04F0                 brlt .L425
 4795                   .L427:
 4796 26ac 8091 0000            lds r24,EE_Parameter+100
 4797 26b0 8823                 tst r24
 4798 26b2 01F0                 breq .L425
 4799                   .L426:
 4800 26b4 8091 0000            lds r24,EE_Parameter+111
 4801 26b8 83FF                 sbrs r24,3
 4802 26ba 00C0                 rjmp .L424
 4803 26bc 8091 0000            lds r24,EE_Parameter+100
 4804 26c0 E82F                 mov r30,r24
 4805 26c2 FF27                 clr r31
 4806 26c4 EE0F                 add r30,r30
 4807 26c6 FF1F                 adc r31,r31
 4808 26c8 E050                 subi r30,lo8(-(PPM_in))
 4809 26ca F040                 sbci r31,hi8(-(PPM_in))
 4810 26cc 8081                 ld r24,Z
 4811 26ce 9181                 ldd r25,Z+1
 4812 26d0 8E5C                 subi r24,lo8(-50)
 4813 26d2 9F4F                 sbci r25,hi8(-50)
 4814 26d4 04F4                 brge .L424
 4815 26d6 8091 0000            lds r24,move_safety_switch.9
 4816 26da 8C39                 cpi r24,lo8(-100)
 4817 26dc 01F4                 brne .L424
 4818                   .L425:
 4819 26de 8091 0000            lds r24,delay_ausschalten.8
 4820 26e2 8F5F                 subi r24,lo8(-(1))
 4821 26e4 8093 0000            sts delay_ausschalten.8,r24
 4822 26e8 8B3F                 cpi r24,lo8(-5)
 4823 26ea 00F0                 brlo .L423
 4824 26ec 1092 0000            sts MotorenEin,__zero_reg__
 4825 26f0 1092 0000            sts delay_ausschalten.8,__zero_reg__
 4826 26f4 1092 0000            sts (modell_fliegt)+1,__zero_reg__
 4827 26f8 1092 0000            sts modell_fliegt,__zero_reg__
 4828 26fc 86E2                 ldi r24,lo8(38)
 4829                   .L890:
 4830 26fe 8093 0000            sts SpeakHoTT,r24
 4831 2702 00C0                 rjmp .L423
 4832                   .L424:
 4833 2704 1092 0000            sts delay_ausschalten.8,__zero_reg__
 4834                   .L423:
 4835 2708 8091 0000            lds r24,GasIsZeroCnt
 4836 270c 9091 0000            lds r25,(GasIsZeroCnt)+1
 4837 2710 13E0                 ldi r17,hi8(1000)
 4838 2712 883E                 cpi r24,lo8(1000)
 4839 2714 9107                 cpc r25,r17
 4840 2716 00F4                 brsh .L381
 4841 2718 0196                 adiw r24,1
 4842 271a 9093 0000            sts (GasIsZeroCnt)+1,r25
 4843 271e 8093 0000            sts GasIsZeroCnt,r24
 4844 2722 00C0                 rjmp .L381
 4845                   .L408:
 4846 2724 1092 0000            sts move_safety_switch.9,__zero_reg__
 4847 2728 1092 0000            sts (GasIsZeroCnt)+1,__zero_reg__
 4848 272c 1092 0000            sts GasIsZeroCnt,__zero_reg__
 4849 2730 00C0                 rjmp .L381
 4850                   .L382:
 4851 2732 2E5E                 subi r18,lo8(750)
 4852 2734 3240                 sbci r19,hi8(750)
 4853 2736 00F0                 brlo .L381
 4854 2738 8091 0000            lds r24,GPSInfo+4
 4855 273c 9091 0000            lds r25,(GPSInfo+4)+1
 4856 2740 8059                 subi r24,lo8(400)
 4857 2742 9140                 sbci r25,hi8(400)
 4858 2744 00F4                 brsh .L381
 4859 2746 8091 0000            lds r24,HoehenWert
 4860 274a 9091 0000            lds r25,(HoehenWert)+1
 4861 274e A091 0000            lds r26,(HoehenWert)+2
 4862 2752 B091 0000            lds r27,(HoehenWert)+3
 4863 2756 8C5D                 subi r24,lo8(1500)
 4864 2758 9540                 sbci r25,hi8(1500)
 4865 275a A040                 sbci r26,hlo8(1500)
 4866 275c B040                 sbci r27,hhi8(1500)
 4867 275e 04F4                 brge .L381
 4868 2760 80E3                 ldi r24,lo8(30000)
 4869 2762 95E7                 ldi r25,hi8(30000)
 4870 2764 9093 0000            sts (GasIsZeroCnt)+1,r25
 4871 2768 8093 0000            sts GasIsZeroCnt,r24
 4872 276c 8091 0000            lds r24,modell_fliegt
 4873 2770 9091 0000            lds r25,(modell_fliegt)+1
 4874 2774 8A5E                 subi r24,lo8(1002)
 4875 2776 9340                 sbci r25,hi8(1002)
 4876 2778 00F0                 brlo .L381
 4877 277a 89EE                 ldi r24,lo8(1001)
 4878 277c 93E0                 ldi r25,hi8(1001)
 4879 277e 9093 0000            sts (modell_fliegt)+1,r25
 4880 2782 8093 0000            sts modell_fliegt,r24
 4881                   .L381:
 4882 2786 8091 0000            lds r24,NewPpmData
 4883 278a 8150                 subi r24,lo8(-(-1))
 4884 278c 8093 0000            sts NewPpmData,r24
 4885 2790 8091 0000            lds r24,NewPpmData
 4886 2794 8F3F                 cpi r24,lo8(-1)
 4887 2796 01F0                 breq .L437
 4888 2798 8091 0000            lds r24,FC_StatusFlags
 4889 279c 84FF                 sbrs r24,4
 4890 279e 00C0                 rjmp .L436
 4891                   .L437:
 4892 27a0 0E94 0000            call ParameterZuordnung
 4893 27a4 B090 0000            lds r11,EE_Parameter+23
 4894 27a8 8091 0000            lds r24,stick_nick.12
 4895 27ac 9091 0000            lds r25,(stick_nick.12)+1
 4896 27b0 9C01                 movw r18,r24
 4897 27b2 220F                 lsl r18
 4898 27b4 331F                 rol r19
 4899 27b6 280F                 add r18,r24
 4900 27b8 391F                 adc r19,r25
 4901 27ba C090 0000            lds r12,EE_Parameter+1
 4902 27be AC2D                 mov r26,r12
 4903 27c0 BB27                 clr r27
 4904 27c2 AA0F                 add r26,r26
 4905 27c4 BB1F                 adc r27,r27
 4906 27c6 FD01                 movw r30,r26
 4907 27c8 E050                 subi r30,lo8(-(PPM_in))
 4908 27ca F040                 sbci r31,hi8(-(PPM_in))
 4909 27cc 4B2D                 mov r20,r11
 4910 27ce 5527                 clr r21
 4911 27d0 8081                 ld r24,Z
 4912 27d2 9181                 ldd r25,Z+1
 4913 27d4 849F                 mul r24,r20
 4914 27d6 F001                 movw r30,r0
 4915 27d8 859F                 mul r24,r21
 4916 27da F00D                 add r31,r0
 4917 27dc 949F                 mul r25,r20
 4918 27de F00D                 add r31,r0
 4919 27e0 1124                 clr r1
 4920 27e2 2E0F                 add r18,r30
 4921 27e4 3F1F                 adc r19,r31
 4922 27e6 37FF                 sbrs r19,7
 4923 27e8 00C0                 rjmp .L438
 4924 27ea 2D5F                 subi r18,lo8(-(3))
 4925 27ec 3F4F                 sbci r19,hi8(-(3))
 4926                   .L438:
 4927 27ee B901                 movw r22,r18
 4928 27f0 7595                 asr r23
 4929 27f2 6795                 ror r22
 4930 27f4 7595                 asr r23
 4931 27f6 6795                 ror r22
 4932 27f8 A050                 subi r26,lo8(-(PPM_diff))
 4933 27fa B040                 sbci r27,hi8(-(PPM_diff))
 4934 27fc 8091 0000            lds r24,EE_Parameter+24
 4935 2800 082F                 mov r16,r24
 4936 2802 1127                 clr r17
 4937 2804 8D91                 ld r24,X+
 4938 2806 9C91                 ld r25,X
 4939 2808 809F                 mul r24,r16
 4940 280a 7001                 movw r14,r0
 4941 280c 819F                 mul r24,r17
 4942 280e F00C                 add r15,r0
 4943 2810 909F                 mul r25,r16
 4944 2812 F00C                 add r15,r0
 4945 2814 1124                 clr r1
 4946 2816 6E0D                 add r22,r14
 4947 2818 7F1D                 adc r23,r15
 4948 281a 7093 0000            sts (stick_nick.12)+1,r23
 4949 281e 6093 0000            sts stick_nick.12,r22
 4950 2822 8091 0000            lds r24,stick_roll.13
 4951 2826 9091 0000            lds r25,(stick_roll.13)+1
 4952 282a 9C01                 movw r18,r24
 4953 282c 220F                 lsl r18
 4954 282e 331F                 rol r19
 4955 2830 280F                 add r18,r24
 4956 2832 391F                 adc r19,r25
 4957 2834 D090 0000            lds r13,EE_Parameter+2
 4958 2838 AD2D                 mov r26,r13
 4959 283a BB27                 clr r27
 4960 283c AA0F                 add r26,r26
 4961 283e BB1F                 adc r27,r27
 4962 2840 FD01                 movw r30,r26
 4963 2842 E050                 subi r30,lo8(-(PPM_in))
 4964 2844 F040                 sbci r31,hi8(-(PPM_in))
 4965 2846 8081                 ld r24,Z
 4966 2848 9181                 ldd r25,Z+1
 4967 284a 849F                 mul r24,r20
 4968 284c F001                 movw r30,r0
 4969 284e 859F                 mul r24,r21
 4970 2850 F00D                 add r31,r0
 4971 2852 949F                 mul r25,r20
 4972 2854 F00D                 add r31,r0
 4973 2856 1124                 clr r1
 4974 2858 2E0F                 add r18,r30
 4975 285a 3F1F                 adc r19,r31
 4976 285c 37FF                 sbrs r19,7
 4977 285e 00C0                 rjmp .L439
 4978 2860 2D5F                 subi r18,lo8(-(3))
 4979 2862 3F4F                 sbci r19,hi8(-(3))
 4980                   .L439:
 4981 2864 A901                 movw r20,r18
 4982 2866 5595                 asr r21
 4983 2868 4795                 ror r20
 4984 286a 5595                 asr r21
 4985 286c 4795                 ror r20
 4986 286e A050                 subi r26,lo8(-(PPM_diff))
 4987 2870 B040                 sbci r27,hi8(-(PPM_diff))
 4988 2872 8D91                 ld r24,X+
 4989 2874 9C91                 ld r25,X
 4990 2876 809F                 mul r24,r16
 4991 2878 7001                 movw r14,r0
 4992 287a 819F                 mul r24,r17
 4993 287c F00C                 add r15,r0
 4994 287e 909F                 mul r25,r16
 4995 2880 F00C                 add r15,r0
 4996 2882 1124                 clr r1
 4997 2884 4E0D                 add r20,r14
 4998 2886 5F1D                 adc r21,r15
 4999 2888 5093 0000            sts (stick_roll.13)+1,r21
 5000 288c 4093 0000            sts stick_roll.13,r20
 5001 2890 8091 0000            lds r24,CareFree
 5002 2894 8823                 tst r24
 5003 2896 01F4                 brne .+2
 5004 2898 00C0                 rjmp .L440
 5005 289a CB01                 movw r24,r22
 5006 289c 77FD                 sbrc r23,7
 5007 289e 0396                 adiw r24,3
 5008                   .L441:
 5009 28a0 DC01                 movw r26,r24
 5010 28a2 B595                 asr r27
 5011 28a4 A795                 ror r26
 5012 28a6 B595                 asr r27
 5013 28a8 A795                 ror r26
 5014 28aa CA01                 movw r24,r20
 5015 28ac 57FD                 sbrc r21,7
 5016 28ae 0396                 adiw r24,3
 5017                   .L442:
 5018 28b0 FC01                 movw r30,r24
 5019 28b2 F595                 asr r31
 5020 28b4 E795                 ror r30
 5021 28b6 F595                 asr r31
 5022 28b8 E795                 ror r30
 5023 28ba 8091 0000            lds r24,FromNC_Rotate_C
 5024 28be 682F                 mov r22,r24
 5025 28c0 7727                 clr r23
 5026 28c2 67FD                 sbrc r22,7
 5027 28c4 7095                 com r23
 5028 28c6 6A9F                 mul r22,r26
 5029 28c8 9001                 movw r18,r0
 5030 28ca 6B9F                 mul r22,r27
 5031 28cc 300D                 add r19,r0
 5032 28ce 7A9F                 mul r23,r26
 5033 28d0 300D                 add r19,r0
 5034 28d2 1124                 clr r1
 5035 28d4 8091 0000            lds r24,FromNC_Rotate_S
 5036 28d8 482F                 mov r20,r24
 5037 28da 5527                 clr r21
 5038 28dc 47FD                 sbrc r20,7
 5039 28de 5095                 com r21
 5040 28e0 4E9F                 mul r20,r30
 5041 28e2 C001                 movw r24,r0
 5042 28e4 4F9F                 mul r20,r31
 5043 28e6 900D                 add r25,r0
 5044 28e8 5E9F                 mul r21,r30
 5045 28ea 900D                 add r25,r0
 5046 28ec 1124                 clr r1
 5047 28ee 280F                 add r18,r24
 5048 28f0 391F                 adc r19,r25
 5049 28f2 37FF                 sbrs r19,7
 5050 28f4 00C0                 rjmp .L443
 5051 28f6 295F                 subi r18,lo8(-(7))
 5052 28f8 3F4F                 sbci r19,hi8(-(7))
 5053                   .L443:
 5054 28fa 93E0                 ldi r25,3
 5055 28fc 3595         1:      asr r19
 5056 28fe 2795                 ror r18
 5057 2900 9A95                 dec r25
 5058 2902 01F4                 brne 1b
 5059 2904 3093 0000            sts (StickNick)+1,r19
 5060 2908 2093 0000            sts StickNick,r18
 5061 290c 6E9F                 mul r22,r30
 5062 290e 9001                 movw r18,r0
 5063 2910 6F9F                 mul r22,r31
 5064 2912 300D                 add r19,r0
 5065 2914 7E9F                 mul r23,r30
 5066 2916 300D                 add r19,r0
 5067 2918 1124                 clr r1
 5068 291a 4A9F                 mul r20,r26
 5069 291c C001                 movw r24,r0
 5070 291e 4B9F                 mul r20,r27
 5071 2920 900D                 add r25,r0
 5072 2922 5A9F                 mul r21,r26
 5073 2924 900D                 add r25,r0
 5074 2926 1124                 clr r1
 5075 2928 00C0                 rjmp .L919
 5076                   .L440:
 5077 292a 8091 0000            lds r24,EE_Parameter+98
 5078 292e E82F                 mov r30,r24
 5079 2930 FF27                 clr r31
 5080 2932 E050                 subi r30,lo8(-(sintab))
 5081 2934 F040                 sbci r31,hi8(-(sintab))
 5082 2936 8681                 ldd r24,Z+6
 5083 2938 8093 0000            sts FromNC_Rotate_C,r24
 5084 293c 9081                 ld r25,Z
 5085 293e 9093 0000            sts FromNC_Rotate_S,r25
 5086 2942 A82F                 mov r26,r24
 5087 2944 BB27                 clr r27
 5088 2946 A7FD                 sbrc r26,7
 5089 2948 B095                 com r27
 5090 294a A69F                 mul r26,r22
 5091 294c 9001                 movw r18,r0
 5092 294e A79F                 mul r26,r23
 5093 2950 300D                 add r19,r0
 5094 2952 B69F                 mul r27,r22
 5095 2954 300D                 add r19,r0
 5096 2956 1124                 clr r1
 5097 2958 E92F                 mov r30,r25
 5098 295a FF27                 clr r31
 5099 295c E7FD                 sbrc r30,7
 5100 295e F095                 com r31
 5101 2960 E49F                 mul r30,r20
 5102 2962 C001                 movw r24,r0
 5103 2964 E59F                 mul r30,r21
 5104 2966 900D                 add r25,r0
 5105 2968 F49F                 mul r31,r20
 5106 296a 900D                 add r25,r0
 5107 296c 1124                 clr r1
 5108 296e 280F                 add r18,r24
 5109 2970 391F                 adc r19,r25
 5110 2972 37FF                 sbrs r19,7
 5111 2974 00C0                 rjmp .L446
 5112 2976 295F                 subi r18,lo8(-(7))
 5113 2978 3F4F                 sbci r19,hi8(-(7))
 5114                   .L446:
 5115 297a 83E0                 ldi r24,3
 5116 297c 3595         1:      asr r19
 5117 297e 2795                 ror r18
 5118 2980 8A95                 dec r24
 5119 2982 01F4                 brne 1b
 5120 2984 3093 0000            sts (StickNick)+1,r19
 5121 2988 2093 0000            sts StickNick,r18
 5122 298c A49F                 mul r26,r20
 5123 298e 9001                 movw r18,r0
 5124 2990 A59F                 mul r26,r21
 5125 2992 300D                 add r19,r0
 5126 2994 B49F                 mul r27,r20
 5127 2996 300D                 add r19,r0
 5128 2998 1124                 clr r1
 5129 299a E69F                 mul r30,r22
 5130 299c C001                 movw r24,r0
 5131 299e E79F                 mul r30,r23
 5132 29a0 900D                 add r25,r0
 5133 29a2 F69F                 mul r31,r22
 5134 29a4 900D                 add r25,r0
 5135 29a6 1124                 clr r1
 5136                   .L919:
 5137 29a8 281B                 sub r18,r24
 5138 29aa 390B                 sbc r19,r25
 5139 29ac 37FF                 sbrs r19,7
 5140 29ae 00C0                 rjmp .L447
 5141 29b0 295F                 subi r18,lo8(-(7))
 5142 29b2 3F4F                 sbci r19,hi8(-(7))
 5143                   .L447:
 5144 29b4 03E0                 ldi r16,3
 5145 29b6 3595         1:      asr r19
 5146 29b8 2795                 ror r18
 5147 29ba 0A95                 dec r16
 5148 29bc 01F4                 brne 1b
 5149 29be 3093 0000            sts (StickRoll)+1,r19
 5150 29c2 2093 0000            sts StickRoll,r18
 5151 29c6 8091 0000            lds r24,EE_Parameter+4
 5152 29ca E82F                 mov r30,r24
 5153 29cc FF27                 clr r31
 5154 29ce EE0F                 add r30,r30
 5155 29d0 FF1F                 adc r31,r31
 5156 29d2 E050                 subi r30,lo8(-(PPM_in))
 5157 29d4 F040                 sbci r31,hi8(-(PPM_in))
 5158 29d6 8081                 ld r24,Z
 5159 29d8 9181                 ldd r25,Z+1
 5160 29da 9095                 com r25
 5161 29dc 8195                 neg r24
 5162 29de 9F4F                 sbci r25,lo8(-1)
 5163 29e0 9093 0000            sts (StickGier)+1,r25
 5164 29e4 8093 0000            sts StickGier,r24
 5165 29e8 8530                 cpi r24,5
 5166 29ea 9105                 cpc r25,__zero_reg__
 5167 29ec 04F0                 brlt .L448
 5168 29ee 0497                 sbiw r24,4
 5169 29f0 00C0                 rjmp .L891
 5170                   .L448:
 5171 29f2 0FEF                 ldi r16,hi8(-4)
 5172 29f4 8C3F                 cpi r24,lo8(-4)
 5173 29f6 9007                 cpc r25,r16
 5174 29f8 04F4                 brge .L450
 5175 29fa 0496                 adiw r24,4
 5176                   .L891:
 5177 29fc 9093 0000            sts (StickGier)+1,r25
 5178 2a00 8093 0000            sts StickGier,r24
 5179 2a04 00C0                 rjmp .L449
 5180                   .L450:
 5181 2a06 1092 0000            sts (StickGier)+1,__zero_reg__
 5182 2a0a 1092 0000            sts StickGier,__zero_reg__
 5183                   .L449:
 5184 2a0e 8091 0000            lds r24,GPS_Aid_StickMultiplikator
 5185 2a12 8823                 tst r24
 5186 2a14 01F4                 brne .+2
 5187 2a16 00C0                 rjmp .L452
 5188 2a18 282F                 mov r18,r24
 5189 2a1a 3327                 clr r19
 5190 2a1c 8091 0000            lds r24,StickNick
 5191 2a20 9091 0000            lds r25,(StickNick)+1
 5192 2a24 97FD                 sbrc r25,7
 5193 2a26 0796                 adiw r24,7
 5194                   .L453:
 5195 2a28 13E0                 ldi r17,3
 5196 2a2a 9595         1:      asr r25
 5197 2a2c 8795                 ror r24
 5198 2a2e 1A95                 dec r17
 5199 2a30 01F4                 brne 1b
 5200 2a32 289F                 mul r18,r24
 5201 2a34 A001                 movw r20,r0
 5202 2a36 299F                 mul r18,r25
 5203 2a38 500D                 add r21,r0
 5204 2a3a 389F                 mul r19,r24
 5205 2a3c 500D                 add r21,r0
 5206 2a3e 1124                 clr r1
 5207 2a40 CA01                 movw r24,r20
 5208 2a42 57FD                 sbrc r21,7
 5209 2a44 0F96                 adiw r24,15
 5210                   .L454:
 5211 2a46 B4E0                 ldi r27,4
 5212 2a48 9595         1:      asr r25
 5213 2a4a 8795                 ror r24
 5214 2a4c BA95                 dec r27
 5215 2a4e 01F4                 brne 1b
 5216 2a50 9093 0000            sts (StickNick)+1,r25
 5217 2a54 8093 0000            sts StickNick,r24
 5218 2a58 8091 0000            lds r24,StickRoll
 5219 2a5c 9091 0000            lds r25,(StickRoll)+1
 5220 2a60 97FD                 sbrc r25,7
 5221 2a62 0796                 adiw r24,7
 5222                   .L455:
 5223 2a64 A3E0                 ldi r26,3
 5224 2a66 9595         1:      asr r25
 5225 2a68 8795                 ror r24
 5226 2a6a AA95                 dec r26
 5227 2a6c 01F4                 brne 1b
 5228 2a6e 289F                 mul r18,r24
 5229 2a70 B001                 movw r22,r0
 5230 2a72 299F                 mul r18,r25
 5231 2a74 700D                 add r23,r0
 5232 2a76 389F                 mul r19,r24
 5233 2a78 700D                 add r23,r0
 5234 2a7a 1124                 clr r1
 5235 2a7c CB01                 movw r24,r22
 5236 2a7e 77FD                 sbrc r23,7
 5237 2a80 0F96                 adiw r24,15
 5238                   .L456:
 5239 2a82 F4E0                 ldi r31,4
 5240 2a84 9595         1:      asr r25
 5241 2a86 8795                 ror r24
 5242 2a88 FA95                 dec r31
 5243 2a8a 01F4                 brne 1b
 5244 2a8c 9093 0000            sts (StickRoll)+1,r25
 5245 2a90 8093 0000            sts StickRoll,r24
 5246                   .L452:
 5247 2a94 8090 0000            lds r8,StickNick
 5248 2a98 9090 0000            lds r9,(StickNick)+1
 5249 2a9c 8091 0000            lds r24,GPS_Nick
 5250 2aa0 9091 0000            lds r25,(GPS_Nick)+1
 5251 2aa4 881A                 sub r8,r24
 5252 2aa6 990A                 sbc r9,r25
 5253 2aa8 9092 0000            sts (StickNick)+1,r9
 5254 2aac 8092 0000            sts StickNick,r8
 5255 2ab0 0091 0000            lds r16,StickRoll
 5256 2ab4 1091 0000            lds r17,(StickRoll)+1
 5257 2ab8 8091 0000            lds r24,GPS_Roll
 5258 2abc 9091 0000            lds r25,(GPS_Roll)+1
 5259 2ac0 081B                 sub r16,r24
 5260 2ac2 190B                 sbc r17,r25
 5261 2ac4 1093 0000            sts (StickRoll)+1,r17
 5262 2ac8 0093 0000            sts StickRoll,r16
 5263 2acc 8091 0000            lds r24,EE_Parameter+3
 5264 2ad0 E82F                 mov r30,r24
 5265 2ad2 FF27                 clr r31
 5266 2ad4 EE0F                 add r30,r30
 5267 2ad6 FF1F                 adc r31,r31
 5268 2ad8 E050                 subi r30,lo8(-(PPM_in))
 5269 2ada F040                 sbci r31,hi8(-(PPM_in))
 5270 2adc E080                 ld r14,Z
 5271 2ade F180                 ldd r15,Z+1
 5272 2ae0 8FE7                 ldi r24,lo8(127)
 5273 2ae2 90E0                 ldi r25,hi8(127)
 5274 2ae4 E80E                 add r14,r24
 5275 2ae6 F91E                 adc r15,r25
 5276 2ae8 F092 0000            sts (StickGas)+1,r15
 5277 2aec E092 0000            sts StickGas,r14
 5278 2af0 8091 0000            lds r24,Parameter_Gyro_P
 5279 2af4 9927                 clr r25
 5280 2af6 AA27                 clr r26
 5281 2af8 97FD                 sbrc r25,7
 5282 2afa A095                 com r26
 5283 2afc BA2F                 mov r27,r26
 5284 2afe BC01                 movw r22,r24
 5285 2b00 CD01                 movw r24,r26
 5286 2b02 0E94 0000            call __floatsisf
 5287 2b06 DC01                 movw r26,r24
 5288 2b08 CB01                 movw r24,r22
 5289 2b0a 20E0                 ldi r18,lo8(0x41200000)
 5290 2b0c 30E0                 ldi r19,hi8(0x41200000)
 5291 2b0e 40E2                 ldi r20,hlo8(0x41200000)
 5292 2b10 51E4                 ldi r21,hhi8(0x41200000)
 5293 2b12 BC01                 movw r22,r24
 5294 2b14 CD01                 movw r24,r26
 5295 2b16 0E94 0000            call __addsf3
 5296 2b1a DC01                 movw r26,r24
 5297 2b1c CB01                 movw r24,r22
 5298 2b1e BC01                 movw r22,r24
 5299 2b20 CD01                 movw r24,r26
 5300 2b22 0E94 0000            call __fixunssfsi
 5301 2b26 DC01                 movw r26,r24
 5302 2b28 CB01                 movw r24,r22
 5303 2b2a 8093 0000            sts GyroFaktor,r24
 5304 2b2e 8091 0000            lds r24,Parameter_Gyro_I
 5305 2b32 8093 0000            sts IntegralFaktor,r24
 5306 2b36 8091 0000            lds r24,Parameter_Gyro_Gier_P
 5307 2b3a 9927                 clr r25
 5308 2b3c AA27                 clr r26
 5309 2b3e 97FD                 sbrc r25,7
 5310 2b40 A095                 com r26
 5311 2b42 BA2F                 mov r27,r26
 5312 2b44 BC01                 movw r22,r24
 5313 2b46 CD01                 movw r24,r26
 5314 2b48 0E94 0000            call __floatsisf
 5315 2b4c DC01                 movw r26,r24
 5316 2b4e CB01                 movw r24,r22
 5317 2b50 20E0                 ldi r18,lo8(0x41200000)
 5318 2b52 30E0                 ldi r19,hi8(0x41200000)
 5319 2b54 40E2                 ldi r20,hlo8(0x41200000)
 5320 2b56 51E4                 ldi r21,hhi8(0x41200000)
 5321 2b58 BC01                 movw r22,r24
 5322 2b5a CD01                 movw r24,r26
 5323 2b5c 0E94 0000            call __addsf3
 5324 2b60 DC01                 movw r26,r24
 5325 2b62 CB01                 movw r24,r22
 5326 2b64 BC01                 movw r22,r24
 5327 2b66 CD01                 movw r24,r26
 5328 2b68 0E94 0000            call __fixunssfsi
 5329 2b6c DC01                 movw r26,r24
 5330 2b6e CB01                 movw r24,r22
 5331 2b70 8093 0000            sts GyroFaktorGier,r24
 5332 2b74 8091 0000            lds r24,Parameter_Gyro_Gier_I
 5333 2b78 8093 0000            sts IntegralFaktorGier,r24
 5334 2b7c 8091 0000            lds r24,ExternControl+10
 5335 2b80 80FF                 sbrs r24,0
 5336 2b82 00C0                 rjmp .L457
 5337 2b84 8091 0000            lds r24,Parameter_ExternalControl
 5338 2b88 8138                 cpi r24,lo8(-127)
 5339 2b8a 00F4                 brsh .+2
 5340 2b8c 00C0                 rjmp .L457
 5341 2b8e 8091 0000            lds r24,ExternControl+3
 5342 2b92 9927                 clr r25
 5343 2b94 87FD                 sbrc r24,7
 5344 2b96 9095                 com r25
 5345 2b98 2B2D                 mov r18,r11
 5346 2b9a 3327                 clr r19
 5347 2b9c 829F                 mul r24,r18
 5348 2b9e D001                 movw r26,r0
 5349 2ba0 839F                 mul r24,r19
 5350 2ba2 B00D                 add r27,r0
 5351 2ba4 929F                 mul r25,r18
 5352 2ba6 B00D                 add r27,r0
 5353 2ba8 1124                 clr r1
 5354 2baa 8A0E                 add r8,r26
 5355 2bac 9B1E                 adc r9,r27
 5356 2bae 9092 0000            sts (StickNick)+1,r9
 5357 2bb2 8092 0000            sts StickNick,r8
 5358 2bb6 8091 0000            lds r24,ExternControl+4
 5359 2bba 9927                 clr r25
 5360 2bbc 87FD                 sbrc r24,7
 5361 2bbe 9095                 com r25
 5362 2bc0 829F                 mul r24,r18
 5363 2bc2 F001                 movw r30,r0
 5364 2bc4 839F                 mul r24,r19
 5365 2bc6 F00D                 add r31,r0
 5366 2bc8 929F                 mul r25,r18
 5367 2bca F00D                 add r31,r0
 5368 2bcc 1124                 clr r1
 5369 2bce 0E0F                 add r16,r30
 5370 2bd0 1F1F                 adc r17,r31
 5371 2bd2 1093 0000            sts (StickRoll)+1,r17
 5372 2bd6 0093 0000            sts StickRoll,r16
 5373 2bda 8091 0000            lds r24,ExternControl+5
 5374 2bde 282F                 mov r18,r24
 5375 2be0 3327                 clr r19
 5376 2be2 27FD                 sbrc r18,7
 5377 2be4 3095                 com r19
 5378 2be6 8091 0000            lds r24,StickGier
 5379 2bea 9091 0000            lds r25,(StickGier)+1
 5380 2bee 820F                 add r24,r18
 5381 2bf0 931F                 adc r25,r19
 5382 2bf2 9093 0000            sts (StickGier)+1,r25
 5383 2bf6 8093 0000            sts StickGier,r24
 5384 2bfa 8091 0000            lds r24,ExternControl+7
 5385 2bfe 282F                 mov r18,r24
 5386 2c00 3327                 clr r19
 5387 2c02 27FD                 sbrc r18,7
 5388 2c04 3095                 com r19
 5389 2c06 8091 0000            lds r24,EE_Parameter+18
 5390 2c0a 9927                 clr r25
 5391 2c0c 289F                 mul r18,r24
 5392 2c0e 8001                 movw r16,r0
 5393 2c10 299F                 mul r18,r25
 5394 2c12 100D                 add r17,r0
 5395 2c14 389F                 mul r19,r24
 5396 2c16 100D                 add r17,r0
 5397 2c18 1124                 clr r1
 5398 2c1a 1093 0000            sts (ExternHoehenValue)+1,r17
 5399 2c1e 0093 0000            sts ExternHoehenValue,r16
 5400 2c22 8091 0000            lds r24,ExternControl+6
 5401 2c26 9927                 clr r25
 5402 2c28 8E15                 cp r24,r14
 5403 2c2a 9F05                 cpc r25,r15
 5404 2c2c 04F4                 brge .L457
 5405 2c2e 9093 0000            sts (StickGas)+1,r25
 5406 2c32 8093 0000            sts StickGas,r24
 5407                   .L457:
 5408 2c36 8091 0000            lds r24,StickGas
 5409 2c3a 9091 0000            lds r25,(StickGas)+1
 5410 2c3e 97FF                 sbrs r25,7
 5411 2c40 00C0                 rjmp .L459
 5412 2c42 1092 0000            sts (StickGas)+1,__zero_reg__
 5413 2c46 1092 0000            sts StickGas,__zero_reg__
 5414                   .L459:
 5415 2c4a 8091 0000            lds r24,Parameter_GlobalConfig
 5416 2c4e 82FF                 sbrs r24,2
 5417 2c50 00C0                 rjmp .L460
 5418 2c52 1092 0000            sts IntegralFaktor,__zero_reg__
 5419                   .L460:
 5420 2c56 4091 0000            lds r20,StickNick
 5421 2c5a 5091 0000            lds r21,(StickNick)+1
 5422 2c5e CA01                 movw r24,r20
 5423 2c60 57FD                 sbrc r21,7
 5424 2c62 0396                 adiw r24,3
 5425                   .L462:
 5426 2c64 9C01                 movw r18,r24
 5427 2c66 3595                 asr r19
 5428 2c68 2795                 ror r18
 5429 2c6a 3595                 asr r19
 5430 2c6c 2795                 ror r18
 5431 2c6e 37FF                 sbrs r19,7
 5432 2c70 00C0                 rjmp .L463
 5433 2c72 3095                 com r19
 5434 2c74 2195                 neg r18
 5435 2c76 3F4F                 sbci r19,lo8(-1)
 5436                   .L463:
 5437 2c78 8091 0000            lds r24,MaxStickNick
 5438 2c7c 9091 0000            lds r25,(MaxStickNick)+1
 5439 2c80 8217                 cp r24,r18
 5440 2c82 9307                 cpc r25,r19
 5441 2c84 04F4                 brge .L461
 5442 2c86 CA01                 movw r24,r20
 5443 2c88 57FF                 sbrs r21,7
 5444 2c8a 00C0                 rjmp .L464
 5445 2c8c 9095                 com r25
 5446 2c8e 8195                 neg r24
 5447 2c90 9F4F                 sbci r25,lo8(-1)
 5448                   .L464:
 5449 2c92 97FD                 sbrc r25,7
 5450 2c94 0396                 adiw r24,3
 5451                   .L465:
 5452 2c96 9595                 asr r25
 5453 2c98 8795                 ror r24
 5454 2c9a 9595                 asr r25
 5455 2c9c 8795                 ror r24
 5456 2c9e 9093 0000            sts (MaxStickNick)+1,r25
 5457 2ca2 8093 0000            sts MaxStickNick,r24
 5458 2ca6 8536                 cpi r24,101
 5459 2ca8 9105                 cpc r25,__zero_reg__
 5460 2caa 04F0                 brlt .L467
 5461 2cac 84E6                 ldi r24,lo8(100)
 5462 2cae 90E0                 ldi r25,hi8(100)
 5463 2cb0 00C0                 rjmp .L892
 5464                   .L461:
 5465 2cb2 0197                 sbiw r24,1
 5466                   .L892:
 5467 2cb4 9093 0000            sts (MaxStickNick)+1,r25
 5468 2cb8 8093 0000            sts MaxStickNick,r24
 5469                   .L467:
 5470 2cbc 4091 0000            lds r20,StickRoll
 5471 2cc0 5091 0000            lds r21,(StickRoll)+1
 5472 2cc4 CA01                 movw r24,r20
 5473 2cc6 57FD                 sbrc r21,7
 5474 2cc8 0396                 adiw r24,3
 5475                   .L469:
 5476 2cca 9C01                 movw r18,r24
 5477 2ccc 3595                 asr r19
 5478 2cce 2795                 ror r18
 5479 2cd0 3595                 asr r19
 5480 2cd2 2795                 ror r18
 5481 2cd4 37FF                 sbrs r19,7
 5482 2cd6 00C0                 rjmp .L470
 5483 2cd8 3095                 com r19
 5484 2cda 2195                 neg r18
 5485 2cdc 3F4F                 sbci r19,lo8(-1)
 5486                   .L470:
 5487 2cde 8091 0000            lds r24,MaxStickRoll
 5488 2ce2 9091 0000            lds r25,(MaxStickRoll)+1
 5489 2ce6 8217                 cp r24,r18
 5490 2ce8 9307                 cpc r25,r19
 5491 2cea 04F4                 brge .L468
 5492 2cec CA01                 movw r24,r20
 5493 2cee 57FF                 sbrs r21,7
 5494 2cf0 00C0                 rjmp .L471
 5495 2cf2 9095                 com r25
 5496 2cf4 8195                 neg r24
 5497 2cf6 9F4F                 sbci r25,lo8(-1)
 5498                   .L471:
 5499 2cf8 97FD                 sbrc r25,7
 5500 2cfa 0396                 adiw r24,3
 5501                   .L472:
 5502 2cfc 9595                 asr r25
 5503 2cfe 8795                 ror r24
 5504 2d00 9595                 asr r25
 5505 2d02 8795                 ror r24
 5506 2d04 9093 0000            sts (MaxStickRoll)+1,r25
 5507 2d08 8093 0000            sts MaxStickRoll,r24
 5508 2d0c 8536                 cpi r24,101
 5509 2d0e 9105                 cpc r25,__zero_reg__
 5510 2d10 04F0                 brlt .L474
 5511 2d12 84E6                 ldi r24,lo8(100)
 5512 2d14 90E0                 ldi r25,hi8(100)
 5513 2d16 00C0                 rjmp .L893
 5514                   .L468:
 5515 2d18 0197                 sbiw r24,1
 5516                   .L893:
 5517 2d1a 9093 0000            sts (MaxStickRoll)+1,r25
 5518 2d1e 8093 0000            sts MaxStickRoll,r24
 5519                   .L474:
 5520 2d22 8091 0000            lds r24,FC_StatusFlags
 5521 2d26 84FF                 sbrs r24,4
 5522 2d28 00C0                 rjmp .L475
 5523 2d2a 1092 0000            sts (MaxStickNick)+1,__zero_reg__
 5524 2d2e 1092 0000            sts MaxStickNick,__zero_reg__
 5525 2d32 1092 0000            sts (MaxStickRoll)+1,__zero_reg__
 5526 2d36 1092 0000            sts MaxStickRoll,__zero_reg__
 5527                   .L475:
 5528 2d3a ED2D                 mov r30,r13
 5529 2d3c FF27                 clr r31
 5530 2d3e EE0F                 add r30,r30
 5531 2d40 FF1F                 adc r31,r31
 5532 2d42 E050                 subi r30,lo8(-(PPM_in))
 5533 2d44 F040                 sbci r31,hi8(-(PPM_in))
 5534 2d46 4091 0000            lds r20,EE_Parameter+60
 5535 2d4a 242F                 mov r18,r20
 5536 2d4c 3327                 clr r19
 5537 2d4e 8081                 ld r24,Z
 5538 2d50 9181                 ldd r25,Z+1
 5539 2d52 2817                 cp r18,r24
 5540 2d54 3907                 cpc r19,r25
 5541 2d56 04F4                 brge .L476
 5542 2d58 8091 0000            lds r24,EE_Parameter+108
 5543 2d5c 82FF                 sbrs r24,2
 5544 2d5e 00C0                 rjmp .L476
 5545 2d60 81E0                 ldi r24,lo8(1)
 5546 2d62 8093 0000            sts Looping_Links,r24
 5547 2d66 00C0                 rjmp .L477
 5548                   .L476:
 5549 2d68 ED2D                 mov r30,r13
 5550 2d6a FF27                 clr r31
 5551 2d6c EE0F                 add r30,r30
 5552 2d6e FF1F                 adc r31,r31
 5553 2d70 E050                 subi r30,lo8(-(PPM_in))
 5554 2d72 F040                 sbci r31,hi8(-(PPM_in))
 5555 2d74 842F                 mov r24,r20
 5556 2d76 9927                 clr r25
 5557 2d78 2091 0000            lds r18,EE_Parameter+61
 5558 2d7c 821B                 sub r24,r18
 5559 2d7e 9109                 sbc r25,__zero_reg__
 5560 2d80 2081                 ld r18,Z
 5561 2d82 3181                 ldd r19,Z+1
 5562 2d84 2817                 cp r18,r24
 5563 2d86 3907                 cpc r19,r25
 5564 2d88 04F4                 brge .L477
 5565 2d8a 1092 0000            sts Looping_Links,__zero_reg__
 5566                   .L477:
 5567 2d8e 4091 0000            lds r20,EE_Parameter+2
 5568 2d92 E42F                 mov r30,r20
 5569 2d94 FF27                 clr r31
 5570 2d96 EE0F                 add r30,r30
 5571 2d98 FF1F                 adc r31,r31
 5572 2d9a E050                 subi r30,lo8(-(PPM_in))
 5573 2d9c F040                 sbci r31,hi8(-(PPM_in))
 5574 2d9e 5091 0000            lds r21,EE_Parameter+60
 5575 2da2 852F                 mov r24,r21
 5576 2da4 9927                 clr r25
 5577 2da6 2227                 clr r18
 5578 2da8 3327                 clr r19
 5579 2daa 281B                 sub r18,r24
 5580 2dac 390B                 sbc r19,r25
 5581 2dae 8081                 ld r24,Z
 5582 2db0 9181                 ldd r25,Z+1
 5583 2db2 8217                 cp r24,r18
 5584 2db4 9307                 cpc r25,r19
 5585 2db6 04F4                 brge .L479
 5586 2db8 8091 0000            lds r24,EE_Parameter+108
 5587 2dbc 83FF                 sbrs r24,3
 5588 2dbe 00C0                 rjmp .L479
 5589 2dc0 81E0                 ldi r24,lo8(1)
 5590 2dc2 8093 0000            sts Looping_Rechts,r24
 5591 2dc6 00C0                 rjmp .L480
 5592                   .L479:
 5593 2dc8 8091 0000            lds r24,Looping_Rechts
 5594 2dcc 8823                 tst r24
 5595 2dce 01F0                 breq .L480
 5596 2dd0 E42F                 mov r30,r20
 5597 2dd2 FF27                 clr r31
 5598 2dd4 EE0F                 add r30,r30
 5599 2dd6 FF1F                 adc r31,r31
 5600 2dd8 E050                 subi r30,lo8(-(PPM_in))
 5601 2dda F040                 sbci r31,hi8(-(PPM_in))
 5602 2ddc 8091 0000            lds r24,EE_Parameter+61
 5603 2de0 9927                 clr r25
 5604 2de2 851B                 sub r24,r21
 5605 2de4 9109                 sbc r25,__zero_reg__
 5606 2de6 2081                 ld r18,Z
 5607 2de8 3181                 ldd r19,Z+1
 5608 2dea 8217                 cp r24,r18
 5609 2dec 9307                 cpc r25,r19
 5610 2dee 04F4                 brge .L480
 5611 2df0 1092 0000            sts Looping_Rechts,__zero_reg__
 5612                   .L480:
 5613 2df4 EC2D                 mov r30,r12
 5614 2df6 FF27                 clr r31
 5615 2df8 EE0F                 add r30,r30
 5616 2dfa FF1F                 adc r31,r31
 5617 2dfc E050                 subi r30,lo8(-(PPM_in))
 5618 2dfe F040                 sbci r31,hi8(-(PPM_in))
 5619 2e00 4091 0000            lds r20,EE_Parameter+60
 5620 2e04 242F                 mov r18,r20
 5621 2e06 3327                 clr r19
 5622 2e08 8081                 ld r24,Z
 5623 2e0a 9181                 ldd r25,Z+1
 5624 2e0c 2817                 cp r18,r24
 5625 2e0e 3907                 cpc r19,r25
 5626 2e10 04F4                 brge .L483
 5627 2e12 8091 0000            lds r24,EE_Parameter+108
 5628 2e16 80FF                 sbrs r24,0
 5629 2e18 00C0                 rjmp .L483
 5630 2e1a 81E0                 ldi r24,lo8(1)
 5631 2e1c 8093 0000            sts Looping_Oben,r24
 5632 2e20 00C0                 rjmp .L484
 5633                   .L483:
 5634 2e22 8091 0000            lds r24,Looping_Oben
 5635 2e26 8823                 tst r24
 5636 2e28 01F0                 breq .L484
 5637 2e2a EC2D                 mov r30,r12
 5638 2e2c FF27                 clr r31
 5639 2e2e EE0F                 add r30,r30
 5640 2e30 FF1F                 adc r31,r31
 5641 2e32 E050                 subi r30,lo8(-(PPM_in))
 5642 2e34 F040                 sbci r31,hi8(-(PPM_in))
 5643 2e36 842F                 mov r24,r20
 5644 2e38 9927                 clr r25
 5645 2e3a 2091 0000            lds r18,EE_Parameter+61
 5646 2e3e 821B                 sub r24,r18
 5647 2e40 9109                 sbc r25,__zero_reg__
 5648 2e42 2081                 ld r18,Z
 5649 2e44 3181                 ldd r19,Z+1
 5650 2e46 2817                 cp r18,r24
 5651 2e48 3907                 cpc r19,r25
 5652 2e4a 04F4                 brge .L484
 5653 2e4c 1092 0000            sts Looping_Oben,__zero_reg__
 5654                   .L484:
 5655 2e50 4091 0000            lds r20,EE_Parameter+1
 5656 2e54 E42F                 mov r30,r20
 5657 2e56 FF27                 clr r31
 5658 2e58 EE0F                 add r30,r30
 5659 2e5a FF1F                 adc r31,r31
 5660 2e5c E050                 subi r30,lo8(-(PPM_in))
 5661 2e5e F040                 sbci r31,hi8(-(PPM_in))
 5662 2e60 5091 0000            lds r21,EE_Parameter+60
 5663 2e64 852F                 mov r24,r21
 5664 2e66 9927                 clr r25
 5665 2e68 2227                 clr r18
 5666 2e6a 3327                 clr r19
 5667 2e6c 281B                 sub r18,r24
 5668 2e6e 390B                 sbc r19,r25
 5669 2e70 8081                 ld r24,Z
 5670 2e72 9181                 ldd r25,Z+1
 5671 2e74 8217                 cp r24,r18
 5672 2e76 9307                 cpc r25,r19
 5673 2e78 04F4                 brge .L487
 5674 2e7a 8091 0000            lds r24,EE_Parameter+108
 5675 2e7e 81FF                 sbrs r24,1
 5676 2e80 00C0                 rjmp .L487
 5677 2e82 81E0                 ldi r24,lo8(1)
 5678 2e84 8093 0000            sts Looping_Unten,r24
 5679 2e88 00C0                 rjmp .L488
 5680                   .L487:
 5681 2e8a 8091 0000            lds r24,Looping_Unten
 5682 2e8e 8823                 tst r24
 5683 2e90 01F0                 breq .L488
 5684 2e92 E42F                 mov r30,r20
 5685 2e94 FF27                 clr r31
 5686 2e96 EE0F                 add r30,r30
 5687 2e98 FF1F                 adc r31,r31
 5688 2e9a E050                 subi r30,lo8(-(PPM_in))
 5689 2e9c F040                 sbci r31,hi8(-(PPM_in))
 5690 2e9e 8091 0000            lds r24,EE_Parameter+61
 5691 2ea2 9927                 clr r25
 5692 2ea4 851B                 sub r24,r21
 5693 2ea6 9109                 sbc r25,__zero_reg__
 5694 2ea8 2081                 ld r18,Z
 5695 2eaa 3181                 ldd r19,Z+1
 5696 2eac 8217                 cp r24,r18
 5697 2eae 9307                 cpc r25,r19
 5698 2eb0 04F4                 brge .L488
 5699 2eb2 1092 0000            sts Looping_Unten,__zero_reg__
 5700                   .L488:
 5701 2eb6 8091 0000            lds r24,Looping_Links
 5702 2eba 8823                 tst r24
 5703 2ebc 01F4                 brne .L492
 5704 2ebe 8091 0000            lds r24,Looping_Rechts
 5705 2ec2 8111                 cpse r24,__zero_reg__
 5706                   .L492:
 5707 2ec4 81E0                 ldi r24,lo8(1)
 5708                   .L491:
 5709 2ec6 8093 0000            sts Looping_Roll,r24
 5710 2eca 8091 0000            lds r24,Looping_Oben
 5711 2ece 8823                 tst r24
 5712 2ed0 01F4                 brne .L495
 5713 2ed2 8091 0000            lds r24,Looping_Unten
 5714 2ed6 8823                 tst r24
 5715 2ed8 01F0                 breq .L494
 5716                   .L495:
 5717 2eda 81E0                 ldi r24,lo8(1)
 5718 2edc 8093 0000            sts Looping_Nick,r24
 5719 2ee0 1092 0000            sts Looping_Roll,__zero_reg__
 5720 2ee4 1092 0000            sts Looping_Links,__zero_reg__
 5721 2ee8 1092 0000            sts Looping_Rechts,__zero_reg__
 5722 2eec 00C0                 rjmp .L436
 5723                   .L494:
 5724 2eee 8093 0000            sts Looping_Nick,r24
 5725                   .L436:
 5726 2ef2 8091 0000            lds r24,Looping_Roll
 5727 2ef6 8823                 tst r24
 5728 2ef8 01F4                 brne .L498
 5729 2efa 8091 0000            lds r24,Looping_Nick
 5730 2efe 8823                 tst r24
 5731 2f00 01F0                 breq .L497
 5732                   .L498:
 5733 2f02 8091 0000            lds r24,EE_Parameter+59
 5734 2f06 9927                 clr r25
 5735 2f08 2981                 ldd r18,Y+1
 5736 2f0a 3A81                 ldd r19,Y+2
 5737 2f0c 8217                 cp r24,r18
 5738 2f0e 9307                 cpc r25,r19
 5739 2f10 04F4                 brge .L499
 5740 2f12 9A83                 std Y+2,r25
 5741 2f14 8983                 std Y+1,r24
 5742                   .L499:
 5743 2f16 81E0                 ldi r24,lo8(1)
 5744 2f18 8093 0000            sts TrichterFlug,r24
 5745                   .L497:
 5746 2f1c 8091 0000            lds r24,FC_StatusFlags2
 5747 2f20 9927                 clr r25
 5748 2f22 9C01                 movw r18,r24
 5749 2f24 2470                 andi r18,lo8(4)
 5750 2f26 3070                 andi r19,hi8(4)
 5751 2f28 82FF                 sbrs r24,2
 5752 2f2a 00C0                 rjmp .L500
 5753 2f2c 8091 0000            lds r24,GPS_Nick
 5754 2f30 9091 0000            lds r25,(GPS_Nick)+1
 5755 2f34 9095                 com r25
 5756 2f36 8195                 neg r24
 5757 2f38 9F4F                 sbci r25,lo8(-1)
 5758 2f3a 9093 0000            sts (StickNick)+1,r25
 5759 2f3e 8093 0000            sts StickNick,r24
 5760 2f42 8091 0000            lds r24,GPS_Roll
 5761 2f46 9091 0000            lds r25,(GPS_Roll)+1
 5762 2f4a 9095                 com r25
 5763 2f4c 8195                 neg r24
 5764 2f4e 9F4F                 sbci r25,lo8(-1)
 5765 2f50 9093 0000            sts (StickRoll)+1,r25
 5766 2f54 8093 0000            sts StickRoll,r24
 5767 2f58 8091 0000            lds r24,StickGasHover
 5768 2f5c 9091 0000            lds r25,(StickGasHover)+1
 5769 2f60 9093 0000            sts (StickGas)+1,r25
 5770 2f64 8093 0000            sts StickGas,r24
 5771 2f68 8091 0000            lds r24,Parameter_GlobalConfig
 5772 2f6c 8B77                 andi r24,lo8(123)
 5773 2f6e 8B66                 ori r24,lo8(107)
 5774 2f70 8093 0000            sts Parameter_GlobalConfig,r24
 5775 2f74 8091 0000            lds r24,Parameter_ExtraConfig
 5776 2f78 8C7B                 andi r24,lo8(-68)
 5777 2f7a 8093 0000            sts Parameter_ExtraConfig,r24
 5778 2f7e 88EC                 ldi r24,lo8(-56)
 5779 2f80 8093 0000            sts Parameter_HoehenSchalter,r24
 5780 2f84 00C0                 rjmp .L501
 5781                   .L500:
 5782 2f86 8091 0000            lds r24,FC_StatusFlags
 5783 2f8a 84FF                 sbrs r24,4
 5784 2f8c 00C0                 rjmp .L501
 5785 2f8e 3093 0000            sts (StickGier)+1,r19
 5786 2f92 2093 0000            sts StickGier,r18
 5787 2f96 3093 0000            sts (StickNick)+1,r19
 5788 2f9a 2093 0000            sts StickNick,r18
 5789 2f9e 3093 0000            sts (StickRoll)+1,r19
 5790 2fa2 2093 0000            sts StickRoll,r18
 5791 2fa6 9AE5                 ldi r25,lo8(90)
 5792 2fa8 9093 0000            sts GyroFaktor,r25
 5793 2fac 88E7                 ldi r24,lo8(120)
 5794 2fae 8093 0000            sts IntegralFaktor,r24
 5795 2fb2 9093 0000            sts GyroFaktorGier,r25
 5796 2fb6 8093 0000            sts IntegralFaktorGier,r24
 5797 2fba 1092 0000            sts Looping_Roll,__zero_reg__
 5798 2fbe 1092 0000            sts Looping_Nick,__zero_reg__
 5799                   .L501:
 5800 2fc2 8091 0000            lds r24,MittelIntegralNick
 5801 2fc6 9091 0000            lds r25,(MittelIntegralNick)+1
 5802 2fca A091 0000            lds r26,(MittelIntegralNick)+2
 5803 2fce B091 0000            lds r27,(MittelIntegralNick)+3
 5804 2fd2 2091 0000            lds r18,IntegralNick
 5805 2fd6 3091 0000            lds r19,(IntegralNick)+1
 5806 2fda 4091 0000            lds r20,(IntegralNick)+2
 5807 2fde 5091 0000            lds r21,(IntegralNick)+3
 5808 2fe2 820F                 add r24,r18
 5809 2fe4 931F                 adc r25,r19
 5810 2fe6 A41F                 adc r26,r20
 5811 2fe8 B51F                 adc r27,r21
 5812 2fea 8093 0000            sts MittelIntegralNick,r24
 5813 2fee 9093 0000            sts (MittelIntegralNick)+1,r25
 5814 2ff2 A093 0000            sts (MittelIntegralNick)+2,r26
 5815 2ff6 B093 0000            sts (MittelIntegralNick)+3,r27
 5816 2ffa 8091 0000            lds r24,MittelIntegralRoll
 5817 2ffe 9091 0000            lds r25,(MittelIntegralRoll)+1
 5818 3002 A091 0000            lds r26,(MittelIntegralRoll)+2
 5819 3006 B091 0000            lds r27,(MittelIntegralRoll)+3
 5820 300a E090 0000            lds r14,IntegralRoll
 5821 300e F090 0000            lds r15,(IntegralRoll)+1
 5822 3012 0091 0000            lds r16,(IntegralRoll)+2
 5823 3016 1091 0000            lds r17,(IntegralRoll)+3
 5824 301a EB82                 std Y+3,r14
 5825 301c FC82                 std Y+4,r15
 5826 301e 0D83                 std Y+5,r16
 5827 3020 1E83                 std Y+6,r17
 5828 3022 8E0D                 add r24,r14
 5829 3024 9F1D                 adc r25,r15
 5830 3026 A01F                 adc r26,r16
 5831 3028 B11F                 adc r27,r17
 5832 302a 8093 0000            sts MittelIntegralRoll,r24
 5833 302e 9093 0000            sts (MittelIntegralRoll)+1,r25
 5834 3032 A093 0000            sts (MittelIntegralRoll)+2,r26
 5835 3036 B093 0000            sts (MittelIntegralRoll)+3,r27
 5836 303a 8091 0000            lds r24,MittelIntegralNick2
 5837 303e 9091 0000            lds r25,(MittelIntegralNick2)+1
 5838 3042 A091 0000            lds r26,(MittelIntegralNick2)+2
 5839 3046 B091 0000            lds r27,(MittelIntegralNick2)+3
 5840 304a E090 0000            lds r14,IntegralNick2
 5841 304e F090 0000            lds r15,(IntegralNick2)+1
 5842 3052 0091 0000            lds r16,(IntegralNick2)+2
 5843 3056 1091 0000            lds r17,(IntegralNick2)+3
 5844 305a EF82                 std Y+7,r14
 5845 305c F886                 std Y+8,r15
 5846 305e 0987                 std Y+9,r16
 5847 3060 1A87                 std Y+10,r17
 5848 3062 8E0D                 add r24,r14
 5849 3064 9F1D                 adc r25,r15
 5850 3066 A01F                 adc r26,r16
 5851 3068 B11F                 adc r27,r17
 5852 306a 8093 0000            sts MittelIntegralNick2,r24
 5853 306e 9093 0000            sts (MittelIntegralNick2)+1,r25
 5854 3072 A093 0000            sts (MittelIntegralNick2)+2,r26
 5855 3076 B093 0000            sts (MittelIntegralNick2)+3,r27
 5856 307a 8091 0000            lds r24,MittelIntegralRoll2
 5857 307e 9091 0000            lds r25,(MittelIntegralRoll2)+1
 5858 3082 A091 0000            lds r26,(MittelIntegralRoll2)+2
 5859 3086 B091 0000            lds r27,(MittelIntegralRoll2)+3
 5860 308a E090 0000            lds r14,IntegralRoll2
 5861 308e F090 0000            lds r15,(IntegralRoll2)+1
 5862 3092 0091 0000            lds r16,(IntegralRoll2)+2
 5863 3096 1091 0000            lds r17,(IntegralRoll2)+3
 5864 309a EB86                 std Y+11,r14
 5865 309c FC86                 std Y+12,r15
 5866 309e 0D87                 std Y+13,r16
 5867 30a0 1E87                 std Y+14,r17
 5868 30a2 8E0D                 add r24,r14
 5869 30a4 9F1D                 adc r25,r15
 5870 30a6 A01F                 adc r26,r16
 5871 30a8 B11F                 adc r27,r17
 5872 30aa 8093 0000            sts MittelIntegralRoll2,r24
 5873 30ae 9093 0000            sts (MittelIntegralRoll2)+1,r25
 5874 30b2 A093 0000            sts (MittelIntegralRoll2)+2,r26
 5875 30b6 B093 0000            sts (MittelIntegralRoll2)+3,r27
 5876 30ba F090 0000            lds r15,Looping_Nick
 5877 30be FF86                 std Y+15,r15
 5878 30c0 FF20                 tst r15
 5879 30c2 01F4                 brne .L504
 5880 30c4 8091 0000            lds r24,Looping_Roll
 5881 30c8 8823                 tst r24
 5882 30ca 01F4                 brne .+2
 5883 30cc 00C0                 rjmp .L886
 5884                   .L504:
 5885 30ce 1092 0000            sts IntegralAccNick,__zero_reg__
 5886 30d2 1092 0000            sts (IntegralAccNick)+1,__zero_reg__
 5887 30d6 1092 0000            sts (IntegralAccNick)+2,__zero_reg__
 5888 30da 1092 0000            sts (IntegralAccNick)+3,__zero_reg__
 5889 30de 1092 0000            sts IntegralAccRoll,__zero_reg__
 5890 30e2 1092 0000            sts (IntegralAccRoll)+1,__zero_reg__
 5891 30e6 1092 0000            sts (IntegralAccRoll)+2,__zero_reg__
 5892 30ea 1092 0000            sts (IntegralAccRoll)+3,__zero_reg__
 5893 30ee 1092 0000            sts MittelIntegralNick,__zero_reg__
 5894 30f2 1092 0000            sts (MittelIntegralNick)+1,__zero_reg__
 5895 30f6 1092 0000            sts (MittelIntegralNick)+2,__zero_reg__
 5896 30fa 1092 0000            sts (MittelIntegralNick)+3,__zero_reg__
 5897 30fe 1092 0000            sts MittelIntegralRoll,__zero_reg__
 5898 3102 1092 0000            sts (MittelIntegralRoll)+1,__zero_reg__
 5899 3106 1092 0000            sts (MittelIntegralRoll)+2,__zero_reg__
 5900 310a 1092 0000            sts (MittelIntegralRoll)+3,__zero_reg__
 5901 310e 1092 0000            sts MittelIntegralNick2,__zero_reg__
 5902 3112 1092 0000            sts (MittelIntegralNick2)+1,__zero_reg__
 5903 3116 1092 0000            sts (MittelIntegralNick2)+2,__zero_reg__
 5904 311a 1092 0000            sts (MittelIntegralNick2)+3,__zero_reg__
 5905 311e 1092 0000            sts MittelIntegralRoll2,__zero_reg__
 5906 3122 1092 0000            sts (MittelIntegralRoll2)+1,__zero_reg__
 5907 3126 1092 0000            sts (MittelIntegralRoll2)+2,__zero_reg__
 5908 312a 1092 0000            sts (MittelIntegralRoll2)+3,__zero_reg__
 5909 312e 8091 0000            lds r24,Mess_IntegralNick
 5910 3132 9091 0000            lds r25,(Mess_IntegralNick)+1
 5911 3136 A091 0000            lds r26,(Mess_IntegralNick)+2
 5912 313a B091 0000            lds r27,(Mess_IntegralNick)+3
 5913 313e 8093 0000            sts Mess_IntegralNick2,r24
 5914 3142 9093 0000            sts (Mess_IntegralNick2)+1,r25
 5915 3146 A093 0000            sts (Mess_IntegralNick2)+2,r26
 5916 314a B093 0000            sts (Mess_IntegralNick2)+3,r27
 5917 314e 8091 0000            lds r24,Mess_IntegralRoll
 5918 3152 9091 0000            lds r25,(Mess_IntegralRoll)+1
 5919 3156 A091 0000            lds r26,(Mess_IntegralRoll)+2
 5920 315a B091 0000            lds r27,(Mess_IntegralRoll)+3
 5921 315e 8093 0000            sts Mess_IntegralRoll2,r24
 5922 3162 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 5923 3166 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 5924 316a B093 0000            sts (Mess_IntegralRoll2)+3,r27
 5925 316e 1092 0000            sts (ZaehlMessungen)+1,__zero_reg__
 5926 3172 1092 0000            sts ZaehlMessungen,__zero_reg__
 5927 3176 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 5928 317a 1092 0000            sts LageKorrekturNick,__zero_reg__
 5929 317e 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 5930 3182 1092 0000            sts LageKorrekturRoll,__zero_reg__
 5931 3186 0F85                 ldd r16,Y+15
 5932 3188 0023                 tst r16
 5933 318a 01F0                 breq .+2
 5934 318c 00C0                 rjmp .L505
 5935                   .L886:
 5936 318e 8091 0000            lds r24,Looping_Roll
 5937 3192 8823                 tst r24
 5938 3194 01F0                 breq .+2
 5939 3196 00C0                 rjmp .L505
 5940 3198 8091 0000            lds r24,Aktuell_az
 5941 319c 9091 0000            lds r25,(Aktuell_az)+1
 5942 31a0 8150                 subi r24,lo8(513)
 5943 31a2 9240                 sbci r25,hi8(513)
 5944 31a4 04F4                 brge .L506
 5945 31a6 8091 0000            lds r24,MotorenEin
 5946 31aa 8823                 tst r24
 5947 31ac 01F4                 brne .+2
 5948 31ae 00C0                 rjmp .L505
 5949                   .L506:
 5950 31b0 9090 0000            lds r9,FromNaviCtrl_Value
 5951 31b4 A090 0000            lds r10,EE_Parameter+28
 5952 31b8 2090 0000            lds r2,Mittelwert_AccNick
 5953 31bc 3090 0000            lds r3,(Mittelwert_AccNick)+1
 5954 31c0 4090 0000            lds r4,Mittelwert_AccRoll
 5955 31c4 5090 0000            lds r5,(Mittelwert_AccRoll)+1
 5956 31c8 1914                 cp __zero_reg__,r9
 5957 31ca 04F0                 brlt .+2
 5958 31cc 00C0                 rjmp .L507
 5959 31ce BB24                 clr r11
 5960 31d0 CC24                 clr r12
 5961 31d2 DD24                 clr r13
 5962 31d4 CA01                 movw r24,r20
 5963 31d6 B901                 movw r22,r18
 5964 31d8 A601                 movw r20,r12
 5965 31da 9501                 movw r18,r10
 5966 31dc 0E94 0000            call __divmodsi4
 5967 31e0 7901                 movw r14,r18
 5968 31e2 8A01                 movw r16,r20
 5969 31e4 8091 0000            lds r24,FromNaviCtrl+9
 5970 31e8 9091 0000            lds r25,(FromNaviCtrl+9)+1
 5971 31ec 281A                 sub r2,r24
 5972 31ee 390A                 sbc r3,r25
 5973 31f0 C101                 movw r24,r2
 5974 31f2 AA27                 clr r26
 5975 31f4 97FD                 sbrc r25,7
 5976 31f6 A095                 com r26
 5977 31f8 BA2F                 mov r27,r26
 5978 31fa E81A                 sub r14,r24
 5979 31fc F90A                 sbc r15,r25
 5980 31fe 0A0B                 sbc r16,r26
 5981 3200 1B0B                 sbc r17,r27
 5982 3202 6B81                 ldd r22,Y+3
 5983 3204 7C81                 ldd r23,Y+4
 5984 3206 8D81                 ldd r24,Y+5
 5985 3208 9E81                 ldd r25,Y+6
 5986 320a A601                 movw r20,r12
 5987 320c 9501                 movw r18,r10
 5988 320e 0E94 0000            call __divmodsi4
 5989 3212 5901                 movw r10,r18
 5990 3214 6A01                 movw r12,r20
 5991 3216 8091 0000            lds r24,FromNaviCtrl+11
 5992 321a 9091 0000            lds r25,(FromNaviCtrl+11)+1
 5993 321e 481A                 sub r4,r24
 5994 3220 590A                 sbc r5,r25
 5995 3222 C201                 movw r24,r4
 5996 3224 AA27                 clr r26
 5997 3226 97FD                 sbrc r25,7
 5998 3228 A095                 com r26
 5999 322a BA2F                 mov r27,r26
 6000 322c A81A                 sub r10,r24
 6001 322e B90A                 sbc r11,r25
 6002 3230 CA0A                 sbc r12,r26
 6003 3232 DB0A                 sbc r13,r27
 6004 3234 292C                 mov r2,r9
 6005 3236 3324                 clr r3
 6006 3238 27FC                 sbrc r2,7
 6007 323a 3094                 com r3
 6008 323c 432C                 mov r4,r3
 6009 323e 532C                 mov r5,r3
 6010 3240 C801                 movw r24,r16
 6011 3242 B701                 movw r22,r14
 6012 3244 A201                 movw r20,r4
 6013 3246 9101                 movw r18,r2
 6014 3248 0E94 0000            call __mulsi3
 6015 324c 97FF                 sbrs r25,7
 6016 324e 00C0                 rjmp .L508
 6017 3250 6150                 subi r22,lo8(-(511))
 6018 3252 7E4F                 sbci r23,hi8(-(511))
 6019 3254 8F4F                 sbci r24,hlo8(-(511))
 6020 3256 9F4F                 sbci r25,hhi8(-(511))
 6021                   .L508:
 6022 3258 3B01                 movw r6,r22
 6023 325a 4C01                 movw r8,r24
 6024 325c 09E0                 ldi r16,9
 6025 325e 9594         1:      asr r9
 6026 3260 8794                 ror r8
 6027 3262 7794                 ror r7
 6028 3264 6794                 ror r6
 6029 3266 0A95                 dec r16
 6030 3268 01F4                 brne 1b
 6031 326a C601                 movw r24,r12
 6032 326c B501                 movw r22,r10
 6033 326e A201                 movw r20,r4
 6034 3270 9101                 movw r18,r2
 6035 3272 0E94 0000            call __mulsi3
 6036 3276 97FF                 sbrs r25,7
 6037 3278 00C0                 rjmp .L509
 6038 327a 6150                 subi r22,lo8(-(511))
 6039 327c 7E4F                 sbci r23,hi8(-(511))
 6040 327e 8F4F                 sbci r24,hlo8(-(511))
 6041 3280 9F4F                 sbci r25,hhi8(-(511))
 6042                   .L509:
 6043 3282 5B01                 movw r10,r22
 6044 3284 6C01                 movw r12,r24
 6045 3286 19E0                 ldi r17,9
 6046 3288 D594         1:      asr r13
 6047 328a C794                 ror r12
 6048 328c B794                 ror r11
 6049 328e A794                 ror r10
 6050 3290 1A95                 dec r17
 6051 3292 01F4                 brne 1b
 6052 3294 8091 0000            lds r24,MaxStickNick
 6053 3298 9091 0000            lds r25,(MaxStickNick)+1
 6054 329c 8134                 cpi r24,65
 6055 329e 9105                 cpc r25,__zero_reg__
 6056 32a0 04F4                 brge .L511
 6057 32a2 8091 0000            lds r24,MaxStickRoll
 6058 32a6 9091 0000            lds r25,(MaxStickRoll)+1
 6059 32aa 8134                 cpi r24,65
 6060 32ac 9105                 cpc r25,__zero_reg__
 6061 32ae 04F0                 brlt .L510
 6062                   .L511:
 6063 32b0 D401                 movw r26,r8
 6064 32b2 C301                 movw r24,r6
 6065 32b4 97FE                 sbrs r9,7
 6066 32b6 00C0                 rjmp .L512
 6067 32b8 0196                 adiw r24,1
 6068 32ba A11D                 adc r26,__zero_reg__
 6069 32bc B11D                 adc r27,__zero_reg__
 6070                   .L512:
 6071 32be 3C01                 movw r6,r24
 6072 32c0 4D01                 movw r8,r26
 6073 32c2 9594                 asr r9
 6074 32c4 8794                 ror r8
 6075 32c6 7794                 ror r7
 6076 32c8 6794                 ror r6
 6077 32ca D601                 movw r26,r12
 6078 32cc C501                 movw r24,r10
 6079 32ce D7FE                 sbrs r13,7
 6080 32d0 00C0                 rjmp .L513
 6081 32d2 0196                 adiw r24,1
 6082 32d4 A11D                 adc r26,__zero_reg__
 6083 32d6 B11D                 adc r27,__zero_reg__
 6084                   .L513:
 6085 32d8 5C01                 movw r10,r24
 6086 32da 6D01                 movw r12,r26
 6087 32dc D594                 asr r13
 6088 32de C794                 ror r12
 6089 32e0 B794                 ror r11
 6090 32e2 A794                 ror r10
 6091                   .L510:
 6092 32e4 8091 0000            lds r24,FromNaviCtrl_Value+2
 6093 32e8 282F                 mov r18,r24
 6094 32ea 3327                 clr r19
 6095 32ec 27FD                 sbrc r18,7
 6096 32ee 3095                 com r19
 6097 32f0 432F                 mov r20,r19
 6098 32f2 532F                 mov r21,r19
 6099 32f4 2615                 cp r18,r6
 6100 32f6 3705                 cpc r19,r7
 6101 32f8 4805                 cpc r20,r8
 6102 32fa 5905                 cpc r21,r9
 6103 32fc 04F4                 brge .L514
 6104 32fe 3901                 movw r6,r18
 6105 3300 4A01                 movw r8,r20
 6106                   .L514:
 6107 3302 9927                 clr r25
 6108 3304 87FD                 sbrc r24,7
 6109 3306 9095                 com r25
 6110 3308 9095                 com r25
 6111 330a 8195                 neg r24
 6112 330c 9F4F                 sbci r25,lo8(-1)
 6113 330e AA27                 clr r26
 6114 3310 97FD                 sbrc r25,7
 6115 3312 A095                 com r26
 6116 3314 BA2F                 mov r27,r26
 6117 3316 6816                 cp r6,r24
 6118 3318 7906                 cpc r7,r25
 6119 331a 8A06                 cpc r8,r26
 6120 331c 9B06                 cpc r9,r27
 6121 331e 04F4                 brge .L515
 6122 3320 3C01                 movw r6,r24
 6123 3322 4D01                 movw r8,r26
 6124                   .L515:
 6125 3324 2A15                 cp r18,r10
 6126 3326 3B05                 cpc r19,r11
 6127 3328 4C05                 cpc r20,r12
 6128 332a 5D05                 cpc r21,r13
 6129 332c 04F4                 brge .L516
 6130 332e 5901                 movw r10,r18
 6131 3330 6A01                 movw r12,r20
 6132                   .L516:
 6133 3332 A816                 cp r10,r24
 6134 3334 B906                 cpc r11,r25
 6135 3336 CA06                 cpc r12,r26
 6136 3338 DB06                 cpc r13,r27
 6137 333a 04F0                 brlt .+2
 6138 333c 00C0                 rjmp .L518
 6139 333e 5C01                 movw r10,r24
 6140 3340 6D01                 movw r12,r26
 6141 3342 00C0                 rjmp .L518
 6142                   .L507:
 6143 3344 EA2C                 mov r14,r10
 6144 3346 FF24                 clr r15
 6145 3348 0027                 clr r16
 6146 334a 1127                 clr r17
 6147 334c CA01                 movw r24,r20
 6148 334e B901                 movw r22,r18
 6149 3350 A801                 movw r20,r16
 6150 3352 9701                 movw r18,r14
 6151 3354 0E94 0000            call __divmodsi4
 6152 3358 3901                 movw r6,r18
 6153 335a 4A01                 movw r8,r20
 6154 335c C101                 movw r24,r2
 6155 335e AA27                 clr r26
 6156 3360 97FD                 sbrc r25,7
 6157 3362 A095                 com r26
 6158 3364 BA2F                 mov r27,r26
 6159 3366 681A                 sub r6,r24
 6160 3368 790A                 sbc r7,r25
 6161 336a 8A0A                 sbc r8,r26
 6162 336c 9B0A                 sbc r9,r27
 6163 336e 6B81                 ldd r22,Y+3
 6164 3370 7C81                 ldd r23,Y+4
 6165 3372 8D81                 ldd r24,Y+5
 6166 3374 9E81                 ldd r25,Y+6
 6167 3376 A801                 movw r20,r16
 6168 3378 9701                 movw r18,r14
 6169 337a 0E94 0000            call __divmodsi4
 6170 337e 5901                 movw r10,r18
 6171 3380 6A01                 movw r12,r20
 6172 3382 C201                 movw r24,r4
 6173 3384 AA27                 clr r26
 6174 3386 97FD                 sbrc r25,7
 6175 3388 A095                 com r26
 6176 338a BA2F                 mov r27,r26
 6177 338c A81A                 sub r10,r24
 6178 338e B90A                 sbc r11,r25
 6179 3390 CA0A                 sbc r12,r26
 6180 3392 DB0A                 sbc r13,r27
 6181 3394 D401                 movw r26,r8
 6182 3396 C301                 movw r24,r6
 6183 3398 97FE                 sbrs r9,7
 6184 339a 00C0                 rjmp .L519
 6185 339c 0F96                 adiw r24,15
 6186 339e A11D                 adc r26,__zero_reg__
 6187 33a0 B11D                 adc r27,__zero_reg__
 6188                   .L519:
 6189 33a2 3C01                 movw r6,r24
 6190 33a4 4D01                 movw r8,r26
 6191 33a6 F4E0                 ldi r31,4
 6192 33a8 9594         1:      asr r9
 6193 33aa 8794                 ror r8
 6194 33ac 7794                 ror r7
 6195 33ae 6794                 ror r6
 6196 33b0 FA95                 dec r31
 6197 33b2 01F4                 brne 1b
 6198 33b4 D601                 movw r26,r12
 6199 33b6 C501                 movw r24,r10
 6200 33b8 D7FE                 sbrs r13,7
 6201 33ba 00C0                 rjmp .L520
 6202 33bc 0F96                 adiw r24,15
 6203 33be A11D                 adc r26,__zero_reg__
 6204 33c0 B11D                 adc r27,__zero_reg__
 6205                   .L520:
 6206 33c2 5C01                 movw r10,r24
 6207 33c4 6D01                 movw r12,r26
 6208 33c6 E4E0                 ldi r30,4
 6209 33c8 D594         1:      asr r13
 6210 33ca C794                 ror r12
 6211 33cc B794                 ror r11
 6212 33ce A794                 ror r10
 6213 33d0 EA95                 dec r30
 6214 33d2 01F4                 brne 1b
 6215 33d4 8091 0000            lds r24,MaxStickNick
 6216 33d8 9091 0000            lds r25,(MaxStickNick)+1
 6217 33dc 8134                 cpi r24,65
 6218 33de 9105                 cpc r25,__zero_reg__
 6219 33e0 04F4                 brge .L522
 6220 33e2 8091 0000            lds r24,MaxStickRoll
 6221 33e6 9091 0000            lds r25,(MaxStickRoll)+1
 6222 33ea 8134                 cpi r24,65
 6223 33ec 9105                 cpc r25,__zero_reg__
 6224 33ee 04F0                 brlt .L521
 6225                   .L522:
 6226 33f0 C401                 movw r24,r8
 6227 33f2 B301                 movw r22,r6
 6228 33f4 23E0                 ldi r18,lo8(3)
 6229 33f6 30E0                 ldi r19,hi8(3)
 6230 33f8 40E0                 ldi r20,hlo8(3)
 6231 33fa 50E0                 ldi r21,hhi8(3)
 6232 33fc 0E94 0000            call __divmodsi4
 6233 3400 3901                 movw r6,r18
 6234 3402 4A01                 movw r8,r20
 6235 3404 C601                 movw r24,r12
 6236 3406 B501                 movw r22,r10
 6237 3408 23E0                 ldi r18,lo8(3)
 6238 340a 30E0                 ldi r19,hi8(3)
 6239 340c 40E0                 ldi r20,hlo8(3)
 6240 340e 50E0                 ldi r21,hhi8(3)
 6241 3410 0E94 0000            call __divmodsi4
 6242 3414 5901                 movw r10,r18
 6243 3416 6A01                 movw r12,r20
 6244                   .L521:
 6245 3418 8091 0000            lds r24,EE_Parameter+4
 6246 341c E82F                 mov r30,r24
 6247 341e FF27                 clr r31
 6248 3420 EE0F                 add r30,r30
 6249 3422 FF1F                 adc r31,r31
 6250 3424 E050                 subi r30,lo8(-(PPM_in))
 6251 3426 F040                 sbci r31,hi8(-(PPM_in))
 6252 3428 8081                 ld r24,Z
 6253 342a 9181                 ldd r25,Z+1
 6254 342c 0190                 ld __tmp_reg__,Z+
 6255 342e F081                 ld r31,Z
 6256 3430 E02D                 mov r30,__tmp_reg__
 6257 3432 F7FF                 sbrs r31,7
 6258 3434 00C0                 rjmp .L524
 6259 3436 F095                 com r31
 6260 3438 E195                 neg r30
 6261 343a FF4F                 sbci r31,lo8(-1)
 6262                   .L524:
 6263 343c 7A97                 sbiw r30,26
 6264 343e 04F0                 brlt .L523
 6265 3440 C401                 movw r24,r8
 6266 3442 B301                 movw r22,r6
 6267 3444 23E0                 ldi r18,lo8(3)
 6268 3446 30E0                 ldi r19,hi8(3)
 6269 3448 40E0                 ldi r20,hlo8(3)
 6270 344a 50E0                 ldi r21,hhi8(3)
 6271 344c 0E94 0000            call __divmodsi4
 6272 3450 3901                 movw r6,r18
 6273 3452 4A01                 movw r8,r20
 6274 3454 C601                 movw r24,r12
 6275 3456 B501                 movw r22,r10
 6276 3458 23E0                 ldi r18,lo8(3)
 6277 345a 30E0                 ldi r19,hi8(3)
 6278 345c 40E0                 ldi r20,hlo8(3)
 6279 345e 50E0                 ldi r21,hhi8(3)
 6280 3460 0E94 0000            call __divmodsi4
 6281 3464 5901                 movw r10,r18
 6282 3466 6A01                 movw r12,r20
 6283                   .L523:
 6284 3468 89E1                 ldi r24,lo8(25)
 6285 346a 8093 0000            sts KompassFusion,r24
 6286 346e 21E2                 ldi r18,lo8(33)
 6287 3470 6216                 cp r6,r18
 6288 3472 7104                 cpc r7,__zero_reg__
 6289 3474 8104                 cpc r8,__zero_reg__
 6290 3476 9104                 cpc r9,__zero_reg__
 6291 3478 04F0                 brlt .L525
 6292 347a 70E2                 ldi r23,lo8(32)
 6293 347c 672E                 mov r6,r23
 6294 347e 712C                 mov r7,__zero_reg__
 6295 3480 812C                 mov r8,__zero_reg__
 6296 3482 912C                 mov r9,__zero_reg__
 6297                   .L525:
 6298 3484 30EE                 ldi r19,lo8(-32)
 6299 3486 6316                 cp r6,r19
 6300 3488 3FEF                 ldi r19,hi8(-32)
 6301 348a 7306                 cpc r7,r19
 6302 348c 3FEF                 ldi r19,hlo8(-32)
 6303 348e 8306                 cpc r8,r19
 6304 3490 3FEF                 ldi r19,hhi8(-32)
 6305 3492 9306                 cpc r9,r19
 6306 3494 04F4                 brge .L526
 6307 3496 60EE                 ldi r22,lo8(-32)
 6308 3498 662E                 mov r6,r22
 6309 349a 6FEF                 ldi r22,hi8(-32)
 6310 349c 762E                 mov r7,r22
 6311 349e 6FEF                 ldi r22,hlo8(-32)
 6312 34a0 862E                 mov r8,r22
 6313 34a2 6FEF                 ldi r22,hhi8(-32)
 6314 34a4 962E                 mov r9,r22
 6315                   .L526:
 6316 34a6 41E2                 ldi r20,lo8(33)
 6317 34a8 A416                 cp r10,r20
 6318 34aa B104                 cpc r11,__zero_reg__
 6319 34ac C104                 cpc r12,__zero_reg__
 6320 34ae D104                 cpc r13,__zero_reg__
 6321 34b0 04F0                 brlt .L527
 6322 34b2 50E2                 ldi r21,lo8(32)
 6323 34b4 A52E                 mov r10,r21
 6324 34b6 B12C                 mov r11,__zero_reg__
 6325 34b8 C12C                 mov r12,__zero_reg__
 6326 34ba D12C                 mov r13,__zero_reg__
 6327                   .L527:
 6328 34bc 50EE                 ldi r21,lo8(-32)
 6329 34be A516                 cp r10,r21
 6330 34c0 5FEF                 ldi r21,hi8(-32)
 6331 34c2 B506                 cpc r11,r21
 6332 34c4 5FEF                 ldi r21,hlo8(-32)
 6333 34c6 C506                 cpc r12,r21
 6334 34c8 5FEF                 ldi r21,hhi8(-32)
 6335 34ca D506                 cpc r13,r21
 6336 34cc 04F4                 brge .L518
 6337 34ce 40EE                 ldi r20,lo8(-32)
 6338 34d0 A42E                 mov r10,r20
 6339 34d2 4FEF                 ldi r20,hi8(-32)
 6340 34d4 B42E                 mov r11,r20
 6341 34d6 4FEF                 ldi r20,hlo8(-32)
 6342 34d8 C42E                 mov r12,r20
 6343 34da 4FEF                 ldi r20,hhi8(-32)
 6344 34dc D42E                 mov r13,r20
 6345                   .L518:
 6346 34de 8091 0000            lds r24,Mess_IntegralNick
 6347 34e2 9091 0000            lds r25,(Mess_IntegralNick)+1
 6348 34e6 A091 0000            lds r26,(Mess_IntegralNick)+2
 6349 34ea B091 0000            lds r27,(Mess_IntegralNick)+3
 6350 34ee 8619                 sub r24,r6
 6351 34f0 9709                 sbc r25,r7
 6352 34f2 A809                 sbc r26,r8
 6353 34f4 B909                 sbc r27,r9
 6354 34f6 8093 0000            sts Mess_IntegralNick,r24
 6355 34fa 9093 0000            sts (Mess_IntegralNick)+1,r25
 6356 34fe A093 0000            sts (Mess_IntegralNick)+2,r26
 6357 3502 B093 0000            sts (Mess_IntegralNick)+3,r27
 6358 3506 8091 0000            lds r24,Mess_IntegralRoll
 6359 350a 9091 0000            lds r25,(Mess_IntegralRoll)+1
 6360 350e A091 0000            lds r26,(Mess_IntegralRoll)+2
 6361 3512 B091 0000            lds r27,(Mess_IntegralRoll)+3
 6362 3516 8A19                 sub r24,r10
 6363 3518 9B09                 sbc r25,r11
 6364 351a AC09                 sbc r26,r12
 6365 351c BD09                 sbc r27,r13
 6366 351e 8093 0000            sts Mess_IntegralRoll,r24
 6367 3522 9093 0000            sts (Mess_IntegralRoll)+1,r25
 6368 3526 A093 0000            sts (Mess_IntegralRoll)+2,r26
 6369 352a B093 0000            sts (Mess_IntegralRoll)+3,r27
 6370                   .L505:
 6371 352e 8091 0000            lds r24,ZaehlMessungen
 6372 3532 9091 0000            lds r25,(ZaehlMessungen)+1
 6373 3536 8F3F                 cpi r24,255
 6374 3538 9105                 cpc r25,__zero_reg__
 6375 353a 01F0                 breq .+2
 6376 353c 00F4                 brsh .+2
 6377 353e 00C0                 rjmp .L529
 6378 3540 6F85                 ldd r22,Y+15
 6379 3542 6623                 tst r22
 6380 3544 01F0                 breq .+2
 6381 3546 00C0                 rjmp .L530
 6382 3548 8091 0000            lds r24,Looping_Roll
 6383 354c 8823                 tst r24
 6384 354e 01F0                 breq .+2
 6385 3550 00C0                 rjmp .L530
 6386 3552 8091 0000            lds r24,TrichterFlug
 6387 3556 8823                 tst r24
 6388 3558 01F0                 breq .+2
 6389 355a 00C0                 rjmp .L530
 6390 355c 7091 0000            lds r23,EE_Parameter+68
 6391 3560 788B                 std Y+16,r23
 6392 3562 7723                 tst r23
 6393 3564 01F4                 brne .+2
 6394 3566 00C0                 rjmp .L530
 6395 3568 8091 0000            lds r24,MittelIntegralNick
 6396 356c 9091 0000            lds r25,(MittelIntegralNick)+1
 6397 3570 A091 0000            lds r26,(MittelIntegralNick)+2
 6398 3574 B091 0000            lds r27,(MittelIntegralNick)+3
 6399 3578 B7FF                 sbrs r27,7
 6400 357a 00C0                 rjmp .L531
 6401 357c 8150                 subi r24,lo8(-(255))
 6402 357e 9F4F                 sbci r25,hi8(-(255))
 6403 3580 AF4F                 sbci r26,hlo8(-(255))
 6404 3582 BF4F                 sbci r27,hhi8(-(255))
 6405                   .L531:
 6406 3584 E92E                 mov r14,r25
 6407 3586 FA2E                 mov r15,r26
 6408 3588 0B2F                 mov r16,r27
 6409 358a 1127                 clr r17
 6410 358c 07FD                 sbrc r16,7
 6411 358e 1A95                 dec r17
 6412 3590 E092 0000            sts MittelIntegralNick,r14
 6413 3594 F092 0000            sts (MittelIntegralNick)+1,r15
 6414 3598 0093 0000            sts (MittelIntegralNick)+2,r16
 6415 359c 1093 0000            sts (MittelIntegralNick)+3,r17
 6416 35a0 8091 0000            lds r24,MittelIntegralRoll
 6417 35a4 9091 0000            lds r25,(MittelIntegralRoll)+1
 6418 35a8 A091 0000            lds r26,(MittelIntegralRoll)+2
 6419 35ac B091 0000            lds r27,(MittelIntegralRoll)+3
 6420 35b0 B7FF                 sbrs r27,7
 6421 35b2 00C0                 rjmp .L532
 6422 35b4 8150                 subi r24,lo8(-(255))
 6423 35b6 9F4F                 sbci r25,hi8(-(255))
 6424 35b8 AF4F                 sbci r26,hlo8(-(255))
 6425 35ba BF4F                 sbci r27,hhi8(-(255))
 6426                   .L532:
 6427 35bc 892F                 mov r24,r25
 6428 35be 9A2F                 mov r25,r26
 6429 35c0 AB2F                 mov r26,r27
 6430 35c2 BB27                 clr r27
 6431 35c4 A7FD                 sbrc r26,7
 6432 35c6 BA95                 dec r27
 6433 35c8 898B                 std Y+17,r24
 6434 35ca 9A8B                 std Y+18,r25
 6435 35cc AB8B                 std Y+19,r26
 6436 35ce BC8B                 std Y+20,r27
 6437 35d0 8093 0000            sts MittelIntegralRoll,r24
 6438 35d4 9093 0000            sts (MittelIntegralRoll)+1,r25
 6439 35d8 A093 0000            sts (MittelIntegralRoll)+2,r26
 6440 35dc B093 0000            sts (MittelIntegralRoll)+3,r27
 6441 35e0 8091 0000            lds r24,EE_Parameter+28
 6442 35e4 A82E                 mov r10,r24
 6443 35e6 BB24                 clr r11
 6444 35e8 CC24                 clr r12
 6445 35ea DD24                 clr r13
 6446 35ec 2091 0000            lds r18,IntegralAccNick
 6447 35f0 3091 0000            lds r19,(IntegralAccNick)+1
 6448 35f4 4091 0000            lds r20,(IntegralAccNick)+2
 6449 35f8 5091 0000            lds r21,(IntegralAccNick)+3
 6450 35fc C601                 movw r24,r12
 6451 35fe B501                 movw r22,r10
 6452 3600 0E94 0000            call __mulsi3
 6453 3604 97FF                 sbrs r25,7
 6454 3606 00C0                 rjmp .L533
 6455 3608 6150                 subi r22,lo8(-(255))
 6456 360a 7F4F                 sbci r23,hi8(-(255))
 6457 360c 8F4F                 sbci r24,hlo8(-(255))
 6458 360e 9F4F                 sbci r25,hhi8(-(255))
 6459                   .L533:
 6460 3610 672E                 mov r6,r23
 6461 3612 782E                 mov r7,r24
 6462 3614 892E                 mov r8,r25
 6463 3616 9924                 clr r9
 6464 3618 87FC                 sbrc r8,7
 6465 361a 9A94                 dec r9
 6466 361c 6092 0000            sts IntegralAccNick,r6
 6467 3620 7092 0000            sts (IntegralAccNick)+1,r7
 6468 3624 8092 0000            sts (IntegralAccNick)+2,r8
 6469 3628 9092 0000            sts (IntegralAccNick)+3,r9
 6470 362c 2091 0000            lds r18,IntegralAccRoll
 6471 3630 3091 0000            lds r19,(IntegralAccRoll)+1
 6472 3634 4091 0000            lds r20,(IntegralAccRoll)+2
 6473 3638 5091 0000            lds r21,(IntegralAccRoll)+3
 6474 363c C601                 movw r24,r12
 6475 363e B501                 movw r22,r10
 6476 3640 0E94 0000            call __mulsi3
 6477 3644 97FF                 sbrs r25,7
 6478 3646 00C0                 rjmp .L534
 6479 3648 6150                 subi r22,lo8(-(255))
 6480 364a 7F4F                 sbci r23,hi8(-(255))
 6481 364c 8F4F                 sbci r24,hlo8(-(255))
 6482 364e 9F4F                 sbci r25,hhi8(-(255))
 6483                   .L534:
 6484 3650 272E                 mov r2,r23
 6485 3652 382E                 mov r3,r24
 6486 3654 492E                 mov r4,r25
 6487 3656 5524                 clr r5
 6488 3658 47FC                 sbrc r4,7
 6489 365a 5A94                 dec r5
 6490 365c 2092 0000            sts IntegralAccRoll,r2
 6491 3660 3092 0000            sts (IntegralAccRoll)+1,r3
 6492 3664 4092 0000            sts (IntegralAccRoll)+2,r4
 6493 3668 5092 0000            sts (IntegralAccRoll)+3,r5
 6494 366c 8091 0000            lds r24,IntegralAccZ
 6495 3670 9091 0000            lds r25,(IntegralAccZ)+1
 6496 3674 A091 0000            lds r26,(IntegralAccZ)+2
 6497 3678 B091 0000            lds r27,(IntegralAccZ)+3
 6498 367c B7FF                 sbrs r27,7
 6499 367e 00C0                 rjmp .L535
 6500 3680 8150                 subi r24,lo8(-(255))
 6501 3682 9F4F                 sbci r25,hi8(-(255))
 6502 3684 AF4F                 sbci r26,hlo8(-(255))
 6503 3686 BF4F                 sbci r27,hhi8(-(255))
 6504                   .L535:
 6505 3688 892F                 mov r24,r25
 6506 368a 9A2F                 mov r25,r26
 6507 368c AB2F                 mov r26,r27
 6508 368e BB27                 clr r27
 6509 3690 A7FD                 sbrc r26,7
 6510 3692 BA95                 dec r27
 6511 3694 8093 0000            sts IntegralAccZ,r24
 6512 3698 9093 0000            sts (IntegralAccZ)+1,r25
 6513 369c A093 0000            sts (IntegralAccZ)+2,r26
 6514 36a0 B093 0000            sts (IntegralAccZ)+3,r27
 6515 36a4 D801                 movw r26,r16
 6516 36a6 C701                 movw r24,r14
 6517 36a8 8619                 sub r24,r6
 6518 36aa 9709                 sbc r25,r7
 6519 36ac A809                 sbc r26,r8
 6520 36ae B909                 sbc r27,r9
 6521 36b0 8093 0000            sts IntegralFehlerNick.3,r24
 6522 36b4 9093 0000            sts (IntegralFehlerNick.3)+1,r25
 6523 36b8 A093 0000            sts (IntegralFehlerNick.3)+2,r26
 6524 36bc B093 0000            sts (IntegralFehlerNick.3)+3,r27
 6525 36c0 2091 0000            lds r18,EE_Parameter+67
 6526 36c4 E22E                 mov r14,r18
 6527 36c6 FF24                 clr r15
 6528 36c8 0027                 clr r16
 6529 36ca 1127                 clr r17
 6530 36cc BC01                 movw r22,r24
 6531 36ce CD01                 movw r24,r26
 6532 36d0 A801                 movw r20,r16
 6533 36d2 9701                 movw r18,r14
 6534 36d4 0E94 0000            call __divmodsi4
 6535 36d8 5901                 movw r10,r18
 6536 36da 6A01                 movw r12,r20
 6537 36dc 2093 0000            sts ausgleichNick.10,r18
 6538 36e0 3093 0000            sts (ausgleichNick.10)+1,r19
 6539 36e4 4093 0000            sts (ausgleichNick.10)+2,r20
 6540 36e8 5093 0000            sts (ausgleichNick.10)+3,r21
 6541 36ec 8989                 ldd r24,Y+17
 6542 36ee 9A89                 ldd r25,Y+18
 6543 36f0 AB89                 ldd r26,Y+19
 6544 36f2 BC89                 ldd r27,Y+20
 6545 36f4 8219                 sub r24,r2
 6546 36f6 9309                 sbc r25,r3
 6547 36f8 A409                 sbc r26,r4
 6548 36fa B509                 sbc r27,r5
 6549 36fc 8093 0000            sts IntegralFehlerRoll.4,r24
 6550 3700 9093 0000            sts (IntegralFehlerRoll.4)+1,r25
 6551 3704 A093 0000            sts (IntegralFehlerRoll.4)+2,r26
 6552 3708 B093 0000            sts (IntegralFehlerRoll.4)+3,r27
 6553 370c BC01                 movw r22,r24
 6554 370e CD01                 movw r24,r26
 6555 3710 A801                 movw r20,r16
 6556 3712 9701                 movw r18,r14
 6557 3714 0E94 0000            call __divmodsi4
 6558 3718 2093 0000            sts ausgleichRoll.11,r18
 6559 371c 3093 0000            sts (ausgleichRoll.11)+1,r19
 6560 3720 4093 0000            sts (ausgleichRoll.11)+2,r20
 6561 3724 5093 0000            sts (ausgleichRoll.11)+3,r21
 6562 3728 D601                 movw r26,r12
 6563 372a C501                 movw r24,r10
 6564 372c D7FE                 sbrs r13,7
 6565 372e 00C0                 rjmp .L536
 6566 3730 8150                 subi r24,lo8(-(255))
 6567 3732 9F4F                 sbci r25,hi8(-(255))
 6568 3734 AF4F                 sbci r26,hlo8(-(255))
 6569 3736 BF4F                 sbci r27,hhi8(-(255))
 6570                   .L536:
 6571 3738 892F                 mov r24,r25
 6572 373a 9A2F                 mov r25,r26
 6573 373c AB2F                 mov r26,r27
 6574 373e BB27                 clr r27
 6575 3740 A7FD                 sbrc r26,7
 6576 3742 BA95                 dec r27
 6577 3744 9093 0000            sts (LageKorrekturNick)+1,r25
 6578 3748 8093 0000            sts LageKorrekturNick,r24
 6579 374c 57FF                 sbrs r21,7
 6580 374e 00C0                 rjmp .L537
 6581 3750 2150                 subi r18,lo8(-(255))
 6582 3752 3F4F                 sbci r19,hi8(-(255))
 6583 3754 4F4F                 sbci r20,hlo8(-(255))
 6584 3756 5F4F                 sbci r21,hhi8(-(255))
 6585                   .L537:
 6586 3758 BB27                 clr r27
 6587 375a 57FD                 sbrc r21,7
 6588 375c BA95                 dec r27
 6589 375e A52F                 mov r26,r21
 6590 3760 942F                 mov r25,r20
 6591 3762 832F                 mov r24,r19
 6592 3764 9093 0000            sts (LageKorrekturRoll)+1,r25
 6593 3768 8093 0000            sts LageKorrekturRoll,r24
 6594 376c 8091 0000            lds r24,MaxStickNick
 6595 3770 9091 0000            lds r25,(MaxStickNick)+1
 6596 3774 8134                 cpi r24,65
 6597 3776 9105                 cpc r25,__zero_reg__
 6598 3778 04F4                 brge .L539
 6599 377a 8091 0000            lds r24,MaxStickRoll
 6600 377e 9091 0000            lds r25,(MaxStickRoll)+1
 6601 3782 8134                 cpi r24,65
 6602 3784 9105                 cpc r25,__zero_reg__
 6603 3786 04F4                 brge .L539
 6604 3788 8091 0000            lds r24,EE_Parameter+4
 6605 378c E82F                 mov r30,r24
 6606 378e FF27                 clr r31
 6607 3790 EE0F                 add r30,r30
 6608 3792 FF1F                 adc r31,r31
 6609 3794 E050                 subi r30,lo8(-(PPM_in))
 6610 3796 F040                 sbci r31,hi8(-(PPM_in))
 6611 3798 8081                 ld r24,Z
 6612 379a 9181                 ldd r25,Z+1
 6613 379c 0190                 ld __tmp_reg__,Z+
 6614 379e F081                 ld r31,Z
 6615 37a0 E02D                 mov r30,__tmp_reg__
 6616 37a2 F7FF                 sbrs r31,7
 6617 37a4 00C0                 rjmp .L540
 6618 37a6 F095                 com r31
 6619 37a8 E195                 neg r30
 6620 37aa FF4F                 sbci r31,lo8(-1)
 6621                   .L540:
 6622 37ac 7A97                 sbiw r30,26
 6623 37ae 04F0                 brlt .L538
 6624                   .L539:
 6625 37b0 8091 0000            lds r24,FromNaviCtrl_Value
 6626 37b4 8F3F                 cpi r24,lo8(-1)
 6627 37b6 01F4                 brne .L538
 6628 37b8 8091 0000            lds r24,LageKorrekturNick
 6629 37bc 9091 0000            lds r25,(LageKorrekturNick)+1
 6630 37c0 97FD                 sbrc r25,7
 6631 37c2 0196                 adiw r24,1
 6632                   .L541:
 6633 37c4 9595                 asr r25
 6634 37c6 8795                 ror r24
 6635 37c8 9093 0000            sts (LageKorrekturNick)+1,r25
 6636 37cc 8093 0000            sts LageKorrekturNick,r24
 6637 37d0 8091 0000            lds r24,LageKorrekturRoll
 6638 37d4 9091 0000            lds r25,(LageKorrekturRoll)+1
 6639 37d8 97FD                 sbrc r25,7
 6640 37da 0196                 adiw r24,1
 6641                   .L542:
 6642 37dc 9595                 asr r25
 6643 37de 8795                 ror r24
 6644 37e0 9093 0000            sts (LageKorrekturRoll)+1,r25
 6645 37e4 8093 0000            sts LageKorrekturRoll,r24
 6646                   .L538:
 6647 37e8 8091 0000            lds r24,MittelIntegralNick2
 6648 37ec 9091 0000            lds r25,(MittelIntegralNick2)+1
 6649 37f0 A091 0000            lds r26,(MittelIntegralNick2)+2
 6650 37f4 B091 0000            lds r27,(MittelIntegralNick2)+3
 6651 37f8 B7FF                 sbrs r27,7
 6652 37fa 00C0                 rjmp .L543
 6653 37fc 8150                 subi r24,lo8(-(255))
 6654 37fe 9F4F                 sbci r25,hi8(-(255))
 6655 3800 AF4F                 sbci r26,hlo8(-(255))
 6656 3802 BF4F                 sbci r27,hhi8(-(255))
 6657                   .L543:
 6658 3804 892F                 mov r24,r25
 6659 3806 9A2F                 mov r25,r26
 6660 3808 AB2F                 mov r26,r27
 6661 380a BB27                 clr r27
 6662 380c A7FD                 sbrc r26,7
 6663 380e BA95                 dec r27
 6664 3810 8093 0000            sts MittelIntegralNick2,r24
 6665 3814 9093 0000            sts (MittelIntegralNick2)+1,r25
 6666 3818 A093 0000            sts (MittelIntegralNick2)+2,r26
 6667 381c B093 0000            sts (MittelIntegralNick2)+3,r27
 6668 3820 8091 0000            lds r24,MittelIntegralRoll2
 6669 3824 9091 0000            lds r25,(MittelIntegralRoll2)+1
 6670 3828 A091 0000            lds r26,(MittelIntegralRoll2)+2
 6671 382c B091 0000            lds r27,(MittelIntegralRoll2)+3
 6672 3830 B7FF                 sbrs r27,7
 6673 3832 00C0                 rjmp .L544
 6674 3834 8150                 subi r24,lo8(-(255))
 6675 3836 9F4F                 sbci r25,hi8(-(255))
 6676 3838 AF4F                 sbci r26,hlo8(-(255))
 6677 383a BF4F                 sbci r27,hhi8(-(255))
 6678                   .L544:
 6679 383c 892F                 mov r24,r25
 6680 383e 9A2F                 mov r25,r26
 6681 3840 AB2F                 mov r26,r27
 6682 3842 BB27                 clr r27
 6683 3844 A7FD                 sbrc r26,7
 6684 3846 BA95                 dec r27
 6685 3848 8093 0000            sts MittelIntegralRoll2,r24
 6686 384c 9093 0000            sts (MittelIntegralRoll2)+1,r25
 6687 3850 A093 0000            sts (MittelIntegralRoll2)+2,r26
 6688 3854 B093 0000            sts (MittelIntegralRoll2)+3,r27
 6689 3858 8091 0000            lds r24,IntegralNick
 6690 385c 9091 0000            lds r25,(IntegralNick)+1
 6691 3860 A091 0000            lds r26,(IntegralNick)+2
 6692 3864 B091 0000            lds r27,(IntegralNick)+3
 6693 3868 2F81                 ldd r18,Y+7
 6694 386a 3885                 ldd r19,Y+8
 6695 386c 4985                 ldd r20,Y+9
 6696 386e 5A85                 ldd r21,Y+10
 6697 3870 281B                 sub r18,r24
 6698 3872 390B                 sbc r19,r25
 6699 3874 4A0B                 sbc r20,r26
 6700 3876 5B0B                 sbc r21,r27
 6701 3878 2093 0000            sts tmp_long.1,r18
 6702 387c 3093 0000            sts (tmp_long.1)+1,r19
 6703 3880 4093 0000            sts (tmp_long.1)+2,r20
 6704 3884 5093 0000            sts (tmp_long.1)+3,r21
 6705 3888 8091 0000            lds r24,IntegralRoll
 6706 388c 9091 0000            lds r25,(IntegralRoll)+1
 6707 3890 A091 0000            lds r26,(IntegralRoll)+2
 6708 3894 B091 0000            lds r27,(IntegralRoll)+3
 6709 3898 EB84                 ldd r14,Y+11
 6710 389a FC84                 ldd r15,Y+12
 6711 389c 0D85                 ldd r16,Y+13
 6712 389e 1E85                 ldd r17,Y+14
 6713 38a0 E81A                 sub r14,r24
 6714 38a2 F90A                 sbc r15,r25
 6715 38a4 0A0B                 sbc r16,r26
 6716 38a6 1B0B                 sbc r17,r27
 6717 38a8 E092 0000            sts tmp_long2.2,r14
 6718 38ac F092 0000            sts (tmp_long2.2)+1,r15
 6719 38b0 0093 0000            sts (tmp_long2.2)+2,r16
 6720 38b4 1093 0000            sts (tmp_long2.2)+3,r17
 6721 38b8 2093 0000            sts IntegralFehlerNick.3,r18
 6722 38bc 3093 0000            sts (IntegralFehlerNick.3)+1,r19
 6723 38c0 4093 0000            sts (IntegralFehlerNick.3)+2,r20
 6724 38c4 5093 0000            sts (IntegralFehlerNick.3)+3,r21
 6725 38c8 E092 0000            sts IntegralFehlerRoll.4,r14
 6726 38cc F092 0000            sts (IntegralFehlerRoll.4)+1,r15
 6727 38d0 0093 0000            sts (IntegralFehlerRoll.4)+2,r16
 6728 38d4 1093 0000            sts (IntegralFehlerRoll.4)+3,r17
 6729 38d8 8091 0000            lds r24,Mess_IntegralNick2
 6730 38dc 9091 0000            lds r25,(Mess_IntegralNick2)+1
 6731 38e0 A091 0000            lds r26,(Mess_IntegralNick2)+2
 6732 38e4 B091 0000            lds r27,(Mess_IntegralNick2)+3
 6733 38e8 821B                 sub r24,r18
 6734 38ea 930B                 sbc r25,r19
 6735 38ec A40B                 sbc r26,r20
 6736 38ee B50B                 sbc r27,r21
 6737 38f0 8093 0000            sts Mess_IntegralNick2,r24
 6738 38f4 9093 0000            sts (Mess_IntegralNick2)+1,r25
 6739 38f8 A093 0000            sts (Mess_IntegralNick2)+2,r26
 6740 38fc B093 0000            sts (Mess_IntegralNick2)+3,r27
 6741 3900 8091 0000            lds r24,Mess_IntegralRoll2
 6742 3904 9091 0000            lds r25,(Mess_IntegralRoll2)+1
 6743 3908 A091 0000            lds r26,(Mess_IntegralRoll2)+2
 6744 390c B091 0000            lds r27,(Mess_IntegralRoll2)+3
 6745 3910 8E19                 sub r24,r14
 6746 3912 9F09                 sbc r25,r15
 6747 3914 A00B                 sbc r26,r16
 6748 3916 B10B                 sbc r27,r17
 6749 3918 8093 0000            sts Mess_IntegralRoll2,r24
 6750 391c 9093 0000            sts (Mess_IntegralRoll2)+1,r25
 6751 3920 A093 0000            sts (Mess_IntegralRoll2)+2,r26
 6752 3924 B093 0000            sts (Mess_IntegralRoll2)+3,r27
 6753 3928 8889                 ldd r24,Y+16
 6754 392a 8823                 tst r24
 6755 392c 01F0                 breq .L545
 6756 392e 2091 0000            lds r18,GierGyroFehler
 6757 3932 3091 0000            lds r19,(GierGyroFehler)+1
 6758 3936 2138                 cpi r18,129
 6759 3938 3105                 cpc r19,__zero_reg__
 6760 393a 04F0                 brlt .L546
 6761 393c 8091 0000            lds r24,AdNeutralGier
 6762 3940 9091 0000            lds r25,(AdNeutralGier)+1
 6763 3944 0196                 adiw r24,1
 6764 3946 9093 0000            sts (AdNeutralGier)+1,r25
 6765 394a 8093 0000            sts AdNeutralGier,r24
 6766                   .L546:
 6767 394e 2058                 subi r18,lo8(-128)
 6768 3950 3F4F                 sbci r19,hi8(-128)
 6769 3952 04F4                 brge .L545
 6770 3954 8091 0000            lds r24,AdNeutralGier
 6771 3958 9091 0000            lds r25,(AdNeutralGier)+1
 6772 395c 0197                 sbiw r24,1
 6773 395e 9093 0000            sts (AdNeutralGier)+1,r25
 6774 3962 8093 0000            sts AdNeutralGier,r24
 6775                   .L545:
 6776 3966 1092 0000            sts (GierGyroFehler)+1,__zero_reg__
 6777 396a 1092 0000            sts GierGyroFehler,__zero_reg__
 6778 396e 81E0                 ldi r24,lo8(1)
 6779 3970 90E0                 ldi r25,hi8(1)
 6780 3972 9093 0000            sts (cnt.14)+1,r25
 6781 3976 8093 0000            sts cnt.14,r24
 6782 397a E090 0000            lds r14,IntegralFehlerNick.3
 6783 397e F090 0000            lds r15,(IntegralFehlerNick.3)+1
 6784 3982 0091 0000            lds r16,(IntegralFehlerNick.3)+2
 6785 3986 1091 0000            lds r17,(IntegralFehlerNick.3)+3
 6786 398a D801                 movw r26,r16
 6787 398c C701                 movw r24,r14
 6788 398e 17FF                 sbrs r17,7
 6789 3990 00C0                 rjmp .L549
 6790 3992 8827                 clr r24
 6791 3994 9927                 clr r25
 6792 3996 DC01                 movw r26,r24
 6793 3998 8E19                 sub r24,r14
 6794 399a 9F09                 sbc r25,r15
 6795 399c A00B                 sbc r26,r16
 6796 399e B10B                 sbc r27,r17
 6797                   .L549:
 6798 39a0 8150                 subi r24,lo8(513)
 6799 39a2 9240                 sbci r25,hi8(513)
 6800 39a4 A040                 sbci r26,hlo8(513)
 6801 39a6 B040                 sbci r27,hhi8(513)
 6802 39a8 04F0                 brlt .L548
 6803 39aa 84E0                 ldi r24,lo8(4)
 6804 39ac 90E0                 ldi r25,hi8(4)
 6805 39ae 9093 0000            sts (cnt.14)+1,r25
 6806 39b2 8093 0000            sts cnt.14,r24
 6807                   .L548:
 6808 39b6 8091 0000            lds r24,MittelIntegralNick_Alt.19
 6809 39ba 9091 0000            lds r25,(MittelIntegralNick_Alt.19)+1
 6810 39be A091 0000            lds r26,(MittelIntegralNick_Alt.19)+2
 6811 39c2 B091 0000            lds r27,(MittelIntegralNick_Alt.19)+3
 6812 39c6 2091 0000            lds r18,MittelIntegralNick
 6813 39ca 3091 0000            lds r19,(MittelIntegralNick)+1
 6814 39ce 4091 0000            lds r20,(MittelIntegralNick)+2
 6815 39d2 5091 0000            lds r21,(MittelIntegralNick)+3
 6816 39d6 821B                 sub r24,r18
 6817 39d8 930B                 sbc r25,r19
 6818 39da A40B                 sbc r26,r20
 6819 39dc B50B                 sbc r27,r21
 6820 39de 815E                 subi r24,lo8(-(19999))
 6821 39e0 914B                 sbci r25,hi8(-(19999))
 6822 39e2 AF4F                 sbci r26,hlo8(-(19999))
 6823 39e4 BF4F                 sbci r27,hhi8(-(19999))
 6824 39e6 8F53                 subi r24,lo8(39999)
 6825 39e8 9C49                 sbci r25,hi8(39999)
 6826 39ea A040                 sbci r26,hlo8(39999)
 6827 39ec B040                 sbci r27,hhi8(39999)
 6828 39ee 00F0                 brlo .L551
 6829 39f0 8091 0000            lds r24,FromNaviCtrl_Value+1
 6830 39f4 8931                 cpi r24,lo8(25)
 6831 39f6 04F4                 brge .+2
 6832 39f8 00C0                 rjmp .L550
 6833                   .L551:
 6834 39fa 21E0                 ldi r18,lo8(4097)
 6835 39fc E216                 cp r14,r18
 6836 39fe 20E1                 ldi r18,hi8(4097)
 6837 3a00 F206                 cpc r15,r18
 6838 3a02 20E0                 ldi r18,hlo8(4097)
 6839 3a04 0207                 cpc r16,r18
 6840 3a06 20E0                 ldi r18,hhi8(4097)
 6841 3a08 1207                 cpc r17,r18
 6842 3a0a 04F4                 brge .+2
 6843 3a0c 00C0                 rjmp .L552
 6844 3a0e 8091 0000            lds r24,last_n_p.15
 6845 3a12 8823                 tst r24
 6846 3a14 01F4                 brne .+2
 6847 3a16 00C0                 rjmp .L553
 6848 3a18 D801                 movw r26,r16
 6849 3a1a C701                 movw r24,r14
 6850 3a1c 17FF                 sbrs r17,7
 6851 3a1e 00C0                 rjmp .L554
 6852 3a20 8827                 clr r24
 6853 3a22 9927                 clr r25
 6854 3a24 DC01                 movw r26,r24
 6855 3a26 8E19                 sub r24,r14
 6856 3a28 9F09                 sbc r25,r15
 6857 3a2a A00B                 sbc r26,r16
 6858 3a2c B10B                 sbc r27,r17
 6859                   .L554:
 6860 3a2e 9C01                 movw r18,r24
 6861 3a30 AD01                 movw r20,r26
 6862 3a32 B7FF                 sbrs r27,7
 6863 3a34 00C0                 rjmp .L555
 6864 3a36 2150                 subi r18,lo8(-(511))
 6865 3a38 3E4F                 sbci r19,hi8(-(511))
 6866 3a3a 4F4F                 sbci r20,hlo8(-(511))
 6867 3a3c 5F4F                 sbci r21,hhi8(-(511))
 6868                   .L555:
 6869 3a3e F9E0                 ldi r31,9
 6870 3a40 5595         1:      asr r21
 6871 3a42 4795                 ror r20
 6872 3a44 3795                 ror r19
 6873 3a46 2795                 ror r18
 6874 3a48 FA95                 dec r31
 6875 3a4a 01F4                 brne 1b
 6876 3a4c 8091 0000            lds r24,cnt.14
 6877 3a50 9091 0000            lds r25,(cnt.14)+1
 6878 3a54 820F                 add r24,r18
 6879 3a56 931F                 adc r25,r19
 6880 3a58 9093 0000            sts (cnt.14)+1,r25
 6881 3a5c 8093 0000            sts cnt.14,r24
 6882 3a60 D801                 movw r26,r16
 6883 3a62 C701                 movw r24,r14
 6884 3a64 17FF                 sbrs r17,7
 6885 3a66 00C0                 rjmp .L556
 6886 3a68 0796                 adiw r24,7
 6887 3a6a A11D                 adc r26,__zero_reg__
 6888 3a6c B11D                 adc r27,__zero_reg__
 6889                   .L556:
 6890 3a6e E3E0                 ldi r30,3
 6891 3a70 B595         1:      asr r27
 6892 3a72 A795                 ror r26
 6893 3a74 9795                 ror r25
 6894 3a76 8795                 ror r24
 6895 3a78 EA95                 dec r30
 6896 3a7a 01F4                 brne 1b
 6897 3a7c 8093 0000            sts ausgleichNick.10,r24
 6898 3a80 9093 0000            sts (ausgleichNick.10)+1,r25
 6899 3a84 A093 0000            sts (ausgleichNick.10)+2,r26
 6900 3a88 B093 0000            sts (ausgleichNick.10)+3,r27
 6901 3a8c 8958                 subi r24,lo8(5001)
 6902 3a8e 9341                 sbci r25,hi8(5001)
 6903 3a90 A040                 sbci r26,hlo8(5001)
 6904 3a92 B040                 sbci r27,hhi8(5001)
 6905 3a94 04F0                 brlt .L557
 6906 3a96 88E8                 ldi r24,lo8(5000)
 6907 3a98 93E1                 ldi r25,hi8(5000)
 6908 3a9a A0E0                 ldi r26,hlo8(5000)
 6909 3a9c B0E0                 ldi r27,hhi8(5000)
 6910 3a9e 8093 0000            sts ausgleichNick.10,r24
 6911 3aa2 9093 0000            sts (ausgleichNick.10)+1,r25
 6912 3aa6 A093 0000            sts (ausgleichNick.10)+2,r26
 6913 3aaa B093 0000            sts (ausgleichNick.10)+3,r27
 6914                   .L557:
 6915 3aae 2091 0000            lds r18,ausgleichNick.10
 6916 3ab2 3091 0000            lds r19,(ausgleichNick.10)+1
 6917 3ab6 4091 0000            lds r20,(ausgleichNick.10)+2
 6918 3aba 5091 0000            lds r21,(ausgleichNick.10)+3
 6919 3abe 57FF                 sbrs r21,7
 6920 3ac0 00C0                 rjmp .L558
 6921 3ac2 2150                 subi r18,lo8(-(255))
 6922 3ac4 3F4F                 sbci r19,hi8(-(255))
 6923 3ac6 4F4F                 sbci r20,hlo8(-(255))
 6924 3ac8 5F4F                 sbci r21,hhi8(-(255))
 6925                   .L558:
 6926 3aca 232F                 mov r18,r19
 6927 3acc 342F                 mov r19,r20
 6928 3ace 452F                 mov r20,r21
 6929 3ad0 5527                 clr r21
 6930 3ad2 47FD                 sbrc r20,7
 6931 3ad4 5A95                 dec r21
 6932 3ad6 8091 0000            lds r24,LageKorrekturNick
 6933 3ada 9091 0000            lds r25,(LageKorrekturNick)+1
 6934 3ade 820F                 add r24,r18
 6935 3ae0 931F                 adc r25,r19
 6936 3ae2 9093 0000            sts (LageKorrekturNick)+1,r25
 6937 3ae6 8093 0000            sts LageKorrekturNick,r24
 6938 3aea 00C0                 rjmp .L560
 6939                   .L553:
 6940 3aec 81E0                 ldi r24,lo8(1)
 6941 3aee 8093 0000            sts last_n_p.15,r24
 6942 3af2 00C0                 rjmp .L560
 6943                   .L552:
 6944 3af4 1092 0000            sts last_n_p.15,__zero_reg__
 6945                   .L560:
 6946 3af8 40E0                 ldi r20,lo8(-4096)
 6947 3afa E416                 cp r14,r20
 6948 3afc 40EF                 ldi r20,hi8(-4096)
 6949 3afe F406                 cpc r15,r20
 6950 3b00 4FEF                 ldi r20,hlo8(-4096)
 6951 3b02 0407                 cpc r16,r20
 6952 3b04 4FEF                 ldi r20,hhi8(-4096)
 6953 3b06 1407                 cpc r17,r20
 6954 3b08 04F0                 brlt .+2
 6955 3b0a 00C0                 rjmp .L561
 6956 3b0c 8091 0000            lds r24,last_n_n.16
 6957 3b10 8823                 tst r24
 6958 3b12 01F4                 brne .+2
 6959 3b14 00C0                 rjmp .L562
 6960 3b16 D801                 movw r26,r16
 6961 3b18 C701                 movw r24,r14
 6962 3b1a 17FF                 sbrs r17,7
 6963 3b1c 00C0                 rjmp .L563
 6964 3b1e 8827                 clr r24
 6965 3b20 9927                 clr r25
 6966 3b22 DC01                 movw r26,r24
 6967 3b24 8E19                 sub r24,r14
 6968 3b26 9F09                 sbc r25,r15
 6969 3b28 A00B                 sbc r26,r16
 6970 3b2a B10B                 sbc r27,r17
 6971                   .L563:
 6972 3b2c 9C01                 movw r18,r24
 6973 3b2e AD01                 movw r20,r26
 6974 3b30 B7FF                 sbrs r27,7
 6975 3b32 00C0                 rjmp .L564
 6976 3b34 2150                 subi r18,lo8(-(511))
 6977 3b36 3E4F                 sbci r19,hi8(-(511))
 6978 3b38 4F4F                 sbci r20,hlo8(-(511))
 6979 3b3a 5F4F                 sbci r21,hhi8(-(511))
 6980                   .L564:
 6981 3b3c 69E0                 ldi r22,9
 6982 3b3e 5595         1:      asr r21
 6983 3b40 4795                 ror r20
 6984 3b42 3795                 ror r19
 6985 3b44 2795                 ror r18
 6986 3b46 6A95                 dec r22
 6987 3b48 01F4                 brne 1b
 6988 3b4a 8091 0000            lds r24,cnt.14
 6989 3b4e 9091 0000            lds r25,(cnt.14)+1
 6990 3b52 820F                 add r24,r18
 6991 3b54 931F                 adc r25,r19
 6992 3b56 9093 0000            sts (cnt.14)+1,r25
 6993 3b5a 8093 0000            sts cnt.14,r24
 6994 3b5e D801                 movw r26,r16
 6995 3b60 C701                 movw r24,r14
 6996 3b62 17FF                 sbrs r17,7
 6997 3b64 00C0                 rjmp .L565
 6998 3b66 0796                 adiw r24,7
 6999 3b68 A11D                 adc r26,__zero_reg__
 7000 3b6a B11D                 adc r27,__zero_reg__
 7001                   .L565:
 7002 3b6c 23E0                 ldi r18,3
 7003 3b6e B595         1:      asr r27
 7004 3b70 A795                 ror r26
 7005 3b72 9795                 ror r25
 7006 3b74 8795                 ror r24
 7007 3b76 2A95                 dec r18
 7008 3b78 01F4                 brne 1b
 7009 3b7a 8093 0000            sts ausgleichNick.10,r24
 7010 3b7e 9093 0000            sts (ausgleichNick.10)+1,r25
 7011 3b82 A093 0000            sts (ausgleichNick.10)+2,r26
 7012 3b86 B093 0000            sts (ausgleichNick.10)+3,r27
 7013 3b8a 8857                 subi r24,lo8(-5000)
 7014 3b8c 9C4E                 sbci r25,hi8(-5000)
 7015 3b8e AF4F                 sbci r26,hlo8(-5000)
 7016 3b90 BF4F                 sbci r27,hhi8(-5000)
 7017 3b92 04F4                 brge .L566
 7018 3b94 88E7                 ldi r24,lo8(-5000)
 7019 3b96 9CEE                 ldi r25,hi8(-5000)
 7020 3b98 AFEF                 ldi r26,hlo8(-5000)
 7021 3b9a BFEF                 ldi r27,hhi8(-5000)
 7022 3b9c 8093 0000            sts ausgleichNick.10,r24
 7023 3ba0 9093 0000            sts (ausgleichNick.10)+1,r25
 7024 3ba4 A093 0000            sts (ausgleichNick.10)+2,r26
 7025 3ba8 B093 0000            sts (ausgleichNick.10)+3,r27
 7026                   .L566:
 7027 3bac 2091 0000            lds r18,ausgleichNick.10
 7028 3bb0 3091 0000            lds r19,(ausgleichNick.10)+1
 7029 3bb4 4091 0000            lds r20,(ausgleichNick.10)+2
 7030 3bb8 5091 0000            lds r21,(ausgleichNick.10)+3
 7031 3bbc 57FF                 sbrs r21,7
 7032 3bbe 00C0                 rjmp .L567
 7033 3bc0 2150                 subi r18,lo8(-(255))
 7034 3bc2 3F4F                 sbci r19,hi8(-(255))
 7035 3bc4 4F4F                 sbci r20,hlo8(-(255))
 7036 3bc6 5F4F                 sbci r21,hhi8(-(255))
 7037                   .L567:
 7038 3bc8 232F                 mov r18,r19
 7039 3bca 342F                 mov r19,r20
 7040 3bcc 452F                 mov r20,r21
 7041 3bce 5527                 clr r21
 7042 3bd0 47FD                 sbrc r20,7
 7043 3bd2 5A95                 dec r21
 7044 3bd4 8091 0000            lds r24,LageKorrekturNick
 7045 3bd8 9091 0000            lds r25,(LageKorrekturNick)+1
 7046 3bdc 820F                 add r24,r18
 7047 3bde 931F                 adc r25,r19
 7048 3be0 9093 0000            sts (LageKorrekturNick)+1,r25
 7049 3be4 8093 0000            sts LageKorrekturNick,r24
 7050 3be8 00C0                 rjmp .L570
 7051                   .L562:
 7052 3bea 81E0                 ldi r24,lo8(1)
 7053 3bec 8093 0000            sts last_n_n.16,r24
 7054 3bf0 00C0                 rjmp .L570
 7055                   .L561:
 7056 3bf2 1092 0000            sts last_n_n.16,__zero_reg__
 7057 3bf6 00C0                 rjmp .L570
 7058                   .L550:
 7059 3bf8 1092 0000            sts (cnt.14)+1,__zero_reg__
 7060 3bfc 1092 0000            sts cnt.14,__zero_reg__
 7061 3c00 84E6                 ldi r24,lo8(100)
 7062 3c02 90E0                 ldi r25,hi8(100)
 7063 3c04 9093 0000            sts (KompassSignalSchlecht)+1,r25
 7064 3c08 8093 0000            sts KompassSignalSchlecht,r24
 7065                   .L570:
 7066 3c0c 6889                 ldd r22,Y+16
 7067 3c0e 262F                 mov r18,r22
 7068 3c10 3327                 clr r19
 7069 3c12 8091 0000            lds r24,cnt.14
 7070 3c16 9091 0000            lds r25,(cnt.14)+1
 7071 3c1a 2817                 cp r18,r24
 7072 3c1c 3907                 cpc r19,r25
 7073 3c1e 04F4                 brge .L571
 7074 3c20 3093 0000            sts (cnt.14)+1,r19
 7075 3c24 2093 0000            sts cnt.14,r18
 7076                   .L571:
 7077 3c28 1091 0000            lds r17,FromNaviCtrl_Value+1
 7078 3c2c 1123                 tst r17
 7079 3c2e 01F0                 breq .L572
 7080 3c30 212F                 mov r18,r17
 7081 3c32 3327                 clr r19
 7082 3c34 27FD                 sbrc r18,7
 7083 3c36 3095                 com r19
 7084 3c38 8091 0000            lds r24,cnt.14
 7085 3c3c 9091 0000            lds r25,(cnt.14)+1
 7086 3c40 2817                 cp r18,r24
 7087 3c42 3907                 cpc r19,r25
 7088 3c44 04F4                 brge .L572
 7089 3c46 3093 0000            sts (cnt.14)+1,r19
 7090 3c4a 2093 0000            sts cnt.14,r18
 7091                   .L572:
 7092 3c4e 4091 0000            lds r20,IntegralFehlerNick.3
 7093 3c52 5091 0000            lds r21,(IntegralFehlerNick.3)+1
 7094 3c56 6091 0000            lds r22,(IntegralFehlerNick.3)+2
 7095 3c5a 7091 0000            lds r23,(IntegralFehlerNick.3)+3
 7096 3c5e 4138                 cpi r20,lo8(129)
 7097 3c60 5105                 cpc r21,__zero_reg__
 7098 3c62 6105                 cpc r22,__zero_reg__
 7099 3c64 7105                 cpc r23,__zero_reg__
 7100 3c66 04F0                 brlt .L574
 7101 3c68 8091 0000            lds r24,AdNeutralNick
 7102 3c6c 9091 0000            lds r25,(AdNeutralNick)+1
 7103 3c70 2091 0000            lds r18,cnt.14
 7104 3c74 3091 0000            lds r19,(cnt.14)+1
 7105 3c78 820F                 add r24,r18
 7106 3c7a 931F                 adc r25,r19
 7107 3c7c 9093 0000            sts (AdNeutralNick)+1,r25
 7108 3c80 8093 0000            sts AdNeutralNick,r24
 7109                   .L574:
 7110 3c84 4058                 subi r20,lo8(-128)
 7111 3c86 5F4F                 sbci r21,hi8(-128)
 7112 3c88 6F4F                 sbci r22,hlo8(-128)
 7113 3c8a 7F4F                 sbci r23,hhi8(-128)
 7114 3c8c 04F4                 brge .L575
 7115 3c8e 8091 0000            lds r24,AdNeutralNick
 7116 3c92 9091 0000            lds r25,(AdNeutralNick)+1
 7117 3c96 2091 0000            lds r18,cnt.14
 7118 3c9a 3091 0000            lds r19,(cnt.14)+1
 7119 3c9e 821B                 sub r24,r18
 7120 3ca0 930B                 sbc r25,r19
 7121 3ca2 9093 0000            sts (AdNeutralNick)+1,r25
 7122 3ca6 8093 0000            sts AdNeutralNick,r24
 7123                   .L575:
 7124 3caa 81E0                 ldi r24,lo8(1)
 7125 3cac 90E0                 ldi r25,hi8(1)
 7126 3cae 9093 0000            sts (cnt.14)+1,r25
 7127 3cb2 8093 0000            sts cnt.14,r24
 7128 3cb6 C090 0000            lds r12,IntegralFehlerRoll.4
 7129 3cba D090 0000            lds r13,(IntegralFehlerRoll.4)+1
 7130 3cbe E090 0000            lds r14,(IntegralFehlerRoll.4)+2
 7131 3cc2 F090 0000            lds r15,(IntegralFehlerRoll.4)+3
 7132 3cc6 D701                 movw r26,r14
 7133 3cc8 C601                 movw r24,r12
 7134 3cca F7FE                 sbrs r15,7
 7135 3ccc 00C0                 rjmp .L577
 7136 3cce 8827                 clr r24
 7137 3cd0 9927                 clr r25
 7138 3cd2 DC01                 movw r26,r24
 7139 3cd4 8C19                 sub r24,r12
 7140 3cd6 9D09                 sbc r25,r13
 7141 3cd8 AE09                 sbc r26,r14
 7142 3cda BF09                 sbc r27,r15
 7143                   .L577:
 7144 3cdc 8150                 subi r24,lo8(513)
 7145 3cde 9240                 sbci r25,hi8(513)
 7146 3ce0 A040                 sbci r26,hlo8(513)
 7147 3ce2 B040                 sbci r27,hhi8(513)
 7148 3ce4 04F0                 brlt .L576
 7149 3ce6 84E0                 ldi r24,lo8(4)
 7150 3ce8 90E0                 ldi r25,hi8(4)
 7151 3cea 9093 0000            sts (cnt.14)+1,r25
 7152 3cee 8093 0000            sts cnt.14,r24
 7153                   .L576:
 7154 3cf2 8091 0000            lds r24,MittelIntegralRoll_Alt.20
 7155 3cf6 9091 0000            lds r25,(MittelIntegralRoll_Alt.20)+1
 7156 3cfa A091 0000            lds r26,(MittelIntegralRoll_Alt.20)+2
 7157 3cfe B091 0000            lds r27,(MittelIntegralRoll_Alt.20)+3
 7158 3d02 2091 0000            lds r18,MittelIntegralRoll
 7159 3d06 3091 0000            lds r19,(MittelIntegralRoll)+1
 7160 3d0a 4091 0000            lds r20,(MittelIntegralRoll)+2
 7161 3d0e 5091 0000            lds r21,(MittelIntegralRoll)+3
 7162 3d12 821B                 sub r24,r18
 7163 3d14 930B                 sbc r25,r19
 7164 3d16 A40B                 sbc r26,r20
 7165 3d18 B50B                 sbc r27,r21
 7166 3d1a 815E                 subi r24,lo8(-(19999))
 7167 3d1c 914B                 sbci r25,hi8(-(19999))
 7168 3d1e AF4F                 sbci r26,hlo8(-(19999))
 7169 3d20 BF4F                 sbci r27,hhi8(-(19999))
 7170 3d22 8F53                 subi r24,lo8(39999)
 7171 3d24 9C49                 sbci r25,hi8(39999)
 7172 3d26 A040                 sbci r26,hlo8(39999)
 7173 3d28 B040                 sbci r27,hhi8(39999)
 7174 3d2a 00F0                 brlo .L579
 7175 3d2c 1931                 cpi r17,lo8(25)
 7176 3d2e 04F4                 brge .+2
 7177 3d30 00C0                 rjmp .L578
 7178                   .L579:
 7179 3d32 01E0                 ldi r16,lo8(4097)
 7180 3d34 C016                 cp r12,r16
 7181 3d36 00E1                 ldi r16,hi8(4097)
 7182 3d38 D006                 cpc r13,r16
 7183 3d3a 00E0                 ldi r16,hlo8(4097)
 7184 3d3c E006                 cpc r14,r16
 7185 3d3e 00E0                 ldi r16,hhi8(4097)
 7186 3d40 F006                 cpc r15,r16
 7187 3d42 04F4                 brge .+2
 7188 3d44 00C0                 rjmp .L580
 7189 3d46 8091 0000            lds r24,last_r_p.17
 7190 3d4a 8823                 tst r24
 7191 3d4c 01F4                 brne .+2
 7192 3d4e 00C0                 rjmp .L581
 7193 3d50 D701                 movw r26,r14
 7194 3d52 C601                 movw r24,r12
 7195 3d54 F7FE                 sbrs r15,7
 7196 3d56 00C0                 rjmp .L582
 7197 3d58 8827                 clr r24
 7198 3d5a 9927                 clr r25
 7199 3d5c DC01                 movw r26,r24
 7200 3d5e 8C19                 sub r24,r12
 7201 3d60 9D09                 sbc r25,r13
 7202 3d62 AE09                 sbc r26,r14
 7203 3d64 BF09                 sbc r27,r15
 7204                   .L582:
 7205 3d66 9C01                 movw r18,r24
 7206 3d68 AD01                 movw r20,r26
 7207 3d6a B7FF                 sbrs r27,7
 7208 3d6c 00C0                 rjmp .L583
 7209 3d6e 2150                 subi r18,lo8(-(511))
 7210 3d70 3E4F                 sbci r19,hi8(-(511))
 7211 3d72 4F4F                 sbci r20,hlo8(-(511))
 7212 3d74 5F4F                 sbci r21,hhi8(-(511))
 7213                   .L583:
 7214 3d76 09E0                 ldi r16,9
 7215 3d78 5595         1:      asr r21
 7216 3d7a 4795                 ror r20
 7217 3d7c 3795                 ror r19
 7218 3d7e 2795                 ror r18
 7219 3d80 0A95                 dec r16
 7220 3d82 01F4                 brne 1b
 7221 3d84 8091 0000            lds r24,cnt.14
 7222 3d88 9091 0000            lds r25,(cnt.14)+1
 7223 3d8c 820F                 add r24,r18
 7224 3d8e 931F                 adc r25,r19
 7225 3d90 9093 0000            sts (cnt.14)+1,r25
 7226 3d94 8093 0000            sts cnt.14,r24
 7227 3d98 D701                 movw r26,r14
 7228 3d9a C601                 movw r24,r12
 7229 3d9c F7FE                 sbrs r15,7
 7230 3d9e 00C0                 rjmp .L584
 7231 3da0 0796                 adiw r24,7
 7232 3da2 A11D                 adc r26,__zero_reg__
 7233 3da4 B11D                 adc r27,__zero_reg__
 7234                   .L584:
 7235 3da6 13E0                 ldi r17,3
 7236 3da8 B595         1:      asr r27
 7237 3daa A795                 ror r26
 7238 3dac 9795                 ror r25
 7239 3dae 8795                 ror r24
 7240 3db0 1A95                 dec r17
 7241 3db2 01F4                 brne 1b
 7242 3db4 8093 0000            sts ausgleichRoll.11,r24
 7243 3db8 9093 0000            sts (ausgleichRoll.11)+1,r25
 7244 3dbc A093 0000            sts (ausgleichRoll.11)+2,r26
 7245 3dc0 B093 0000            sts (ausgleichRoll.11)+3,r27
 7246 3dc4 8958                 subi r24,lo8(5001)
 7247 3dc6 9341                 sbci r25,hi8(5001)
 7248 3dc8 A040                 sbci r26,hlo8(5001)
 7249 3dca B040                 sbci r27,hhi8(5001)
 7250 3dcc 04F0                 brlt .L585
 7251 3dce 88E8                 ldi r24,lo8(5000)
 7252 3dd0 93E1                 ldi r25,hi8(5000)
 7253 3dd2 A0E0                 ldi r26,hlo8(5000)
 7254 3dd4 B0E0                 ldi r27,hhi8(5000)
 7255 3dd6 8093 0000            sts ausgleichRoll.11,r24
 7256 3dda 9093 0000            sts (ausgleichRoll.11)+1,r25
 7257 3dde A093 0000            sts (ausgleichRoll.11)+2,r26
 7258 3de2 B093 0000            sts (ausgleichRoll.11)+3,r27
 7259                   .L585:
 7260 3de6 2091 0000            lds r18,ausgleichRoll.11
 7261 3dea 3091 0000            lds r19,(ausgleichRoll.11)+1
 7262 3dee 4091 0000            lds r20,(ausgleichRoll.11)+2
 7263 3df2 5091 0000            lds r21,(ausgleichRoll.11)+3
 7264 3df6 57FF                 sbrs r21,7
 7265 3df8 00C0                 rjmp .L586
 7266 3dfa 2150                 subi r18,lo8(-(255))
 7267 3dfc 3F4F                 sbci r19,hi8(-(255))
 7268 3dfe 4F4F                 sbci r20,hlo8(-(255))
 7269 3e00 5F4F                 sbci r21,hhi8(-(255))
 7270                   .L586:
 7271 3e02 232F                 mov r18,r19
 7272 3e04 342F                 mov r19,r20
 7273 3e06 452F                 mov r20,r21
 7274 3e08 5527                 clr r21
 7275 3e0a 47FD                 sbrc r20,7
 7276 3e0c 5A95                 dec r21
 7277 3e0e 8091 0000            lds r24,LageKorrekturRoll
 7278 3e12 9091 0000            lds r25,(LageKorrekturRoll)+1
 7279 3e16 820F                 add r24,r18
 7280 3e18 931F                 adc r25,r19
 7281 3e1a 9093 0000            sts (LageKorrekturRoll)+1,r25
 7282 3e1e 8093 0000            sts LageKorrekturRoll,r24
 7283 3e22 00C0                 rjmp .L588
 7284                   .L581:
 7285 3e24 81E0                 ldi r24,lo8(1)
 7286 3e26 8093 0000            sts last_r_p.17,r24
 7287 3e2a 00C0                 rjmp .L588
 7288                   .L580:
 7289 3e2c 1092 0000            sts last_r_p.17,__zero_reg__
 7290                   .L588:
 7291 3e30 20E0                 ldi r18,lo8(-4096)
 7292 3e32 C216                 cp r12,r18
 7293 3e34 20EF                 ldi r18,hi8(-4096)
 7294 3e36 D206                 cpc r13,r18
 7295 3e38 2FEF                 ldi r18,hlo8(-4096)
 7296 3e3a E206                 cpc r14,r18
 7297 3e3c 2FEF                 ldi r18,hhi8(-4096)
 7298 3e3e F206                 cpc r15,r18
 7299 3e40 04F0                 brlt .+2
 7300 3e42 00C0                 rjmp .L589
 7301 3e44 8091 0000            lds r24,last_r_n.18
 7302 3e48 8823                 tst r24
 7303 3e4a 01F4                 brne .+2
 7304 3e4c 00C0                 rjmp .L590
 7305 3e4e D701                 movw r26,r14
 7306 3e50 C601                 movw r24,r12
 7307 3e52 F7FE                 sbrs r15,7
 7308 3e54 00C0                 rjmp .L591
 7309 3e56 8827                 clr r24
 7310 3e58 9927                 clr r25
 7311 3e5a DC01                 movw r26,r24
 7312 3e5c 8C19                 sub r24,r12
 7313 3e5e 9D09                 sbc r25,r13
 7314 3e60 AE09                 sbc r26,r14
 7315 3e62 BF09                 sbc r27,r15
 7316                   .L591:
 7317 3e64 9C01                 movw r18,r24
 7318 3e66 AD01                 movw r20,r26
 7319 3e68 B7FF                 sbrs r27,7
 7320 3e6a 00C0                 rjmp .L592
 7321 3e6c 2150                 subi r18,lo8(-(511))
 7322 3e6e 3E4F                 sbci r19,hi8(-(511))
 7323 3e70 4F4F                 sbci r20,hlo8(-(511))
 7324 3e72 5F4F                 sbci r21,hhi8(-(511))
 7325                   .L592:
 7326 3e74 E9E0                 ldi r30,9
 7327 3e76 5595         1:      asr r21
 7328 3e78 4795                 ror r20
 7329 3e7a 3795                 ror r19
 7330 3e7c 2795                 ror r18
 7331 3e7e EA95                 dec r30
 7332 3e80 01F4                 brne 1b
 7333 3e82 8091 0000            lds r24,cnt.14
 7334 3e86 9091 0000            lds r25,(cnt.14)+1
 7335 3e8a 820F                 add r24,r18
 7336 3e8c 931F                 adc r25,r19
 7337 3e8e 9093 0000            sts (cnt.14)+1,r25
 7338 3e92 8093 0000            sts cnt.14,r24
 7339 3e96 D701                 movw r26,r14
 7340 3e98 C601                 movw r24,r12
 7341 3e9a F7FE                 sbrs r15,7
 7342 3e9c 00C0                 rjmp .L593
 7343 3e9e 0796                 adiw r24,7
 7344 3ea0 A11D                 adc r26,__zero_reg__
 7345 3ea2 B11D                 adc r27,__zero_reg__
 7346                   .L593:
 7347 3ea4 73E0                 ldi r23,3
 7348 3ea6 B595         1:      asr r27
 7349 3ea8 A795                 ror r26
 7350 3eaa 9795                 ror r25
 7351 3eac 8795                 ror r24
 7352 3eae 7A95                 dec r23
 7353 3eb0 01F4                 brne 1b
 7354 3eb2 8093 0000            sts ausgleichRoll.11,r24
 7355 3eb6 9093 0000            sts (ausgleichRoll.11)+1,r25
 7356 3eba A093 0000            sts (ausgleichRoll.11)+2,r26
 7357 3ebe B093 0000            sts (ausgleichRoll.11)+3,r27
 7358 3ec2 8857                 subi r24,lo8(-5000)
 7359 3ec4 9C4E                 sbci r25,hi8(-5000)
 7360 3ec6 AF4F                 sbci r26,hlo8(-5000)
 7361 3ec8 BF4F                 sbci r27,hhi8(-5000)
 7362 3eca 04F4                 brge .L594
 7363 3ecc 88E7                 ldi r24,lo8(-5000)
 7364 3ece 9CEE                 ldi r25,hi8(-5000)
 7365 3ed0 AFEF                 ldi r26,hlo8(-5000)
 7366 3ed2 BFEF                 ldi r27,hhi8(-5000)
 7367 3ed4 8093 0000            sts ausgleichRoll.11,r24
 7368 3ed8 9093 0000            sts (ausgleichRoll.11)+1,r25
 7369 3edc A093 0000            sts (ausgleichRoll.11)+2,r26
 7370 3ee0 B093 0000            sts (ausgleichRoll.11)+3,r27
 7371                   .L594:
 7372 3ee4 2091 0000            lds r18,ausgleichRoll.11
 7373 3ee8 3091 0000            lds r19,(ausgleichRoll.11)+1
 7374 3eec 4091 0000            lds r20,(ausgleichRoll.11)+2
 7375 3ef0 5091 0000            lds r21,(ausgleichRoll.11)+3
 7376 3ef4 57FF                 sbrs r21,7
 7377 3ef6 00C0                 rjmp .L595
 7378 3ef8 2150                 subi r18,lo8(-(255))
 7379 3efa 3F4F                 sbci r19,hi8(-(255))
 7380 3efc 4F4F                 sbci r20,hlo8(-(255))
 7381 3efe 5F4F                 sbci r21,hhi8(-(255))
 7382                   .L595:
 7383 3f00 232F                 mov r18,r19
 7384 3f02 342F                 mov r19,r20
 7385 3f04 452F                 mov r20,r21
 7386 3f06 5527                 clr r21
 7387 3f08 47FD                 sbrc r20,7
 7388 3f0a 5A95                 dec r21
 7389 3f0c 8091 0000            lds r24,LageKorrekturRoll
 7390 3f10 9091 0000            lds r25,(LageKorrekturRoll)+1
 7391 3f14 820F                 add r24,r18
 7392 3f16 931F                 adc r25,r19
 7393 3f18 9093 0000            sts (LageKorrekturRoll)+1,r25
 7394 3f1c 8093 0000            sts LageKorrekturRoll,r24
 7395 3f20 00C0                 rjmp .L598
 7396                   .L590:
 7397 3f22 81E0                 ldi r24,lo8(1)
 7398 3f24 8093 0000            sts last_r_n.18,r24
 7399 3f28 00C0                 rjmp .L598
 7400                   .L589:
 7401 3f2a 1092 0000            sts last_r_n.18,__zero_reg__
 7402 3f2e 00C0                 rjmp .L598
 7403                   .L578:
 7404 3f30 1092 0000            sts (cnt.14)+1,__zero_reg__
 7405 3f34 1092 0000            sts cnt.14,__zero_reg__
 7406 3f38 84E6                 ldi r24,lo8(100)
 7407 3f3a 90E0                 ldi r25,hi8(100)
 7408 3f3c 9093 0000            sts (KompassSignalSchlecht)+1,r25
 7409 3f40 8093 0000            sts KompassSignalSchlecht,r24
 7410                   .L598:
 7411 3f44 4889                 ldd r20,Y+16
 7412 3f46 242F                 mov r18,r20
 7413 3f48 3327                 clr r19
 7414 3f4a 8091 0000            lds r24,cnt.14
 7415 3f4e 9091 0000            lds r25,(cnt.14)+1
 7416 3f52 2817                 cp r18,r24
 7417 3f54 3907                 cpc r19,r25
 7418 3f56 04F4                 brge .L599
 7419 3f58 3093 0000            sts (cnt.14)+1,r19
 7420 3f5c 2093 0000            sts cnt.14,r18
 7421                   .L599:
 7422 3f60 8091 0000            lds r24,FromNaviCtrl_Value+1
 7423 3f64 8823                 tst r24
 7424 3f66 01F0                 breq .L600
 7425 3f68 282F                 mov r18,r24
 7426 3f6a 3327                 clr r19
 7427 3f6c 27FD                 sbrc r18,7
 7428 3f6e 3095                 com r19
 7429 3f70 8091 0000            lds r24,cnt.14
 7430 3f74 9091 0000            lds r25,(cnt.14)+1
 7431 3f78 2817                 cp r18,r24
 7432 3f7a 3907                 cpc r19,r25
 7433 3f7c 04F4                 brge .L600
 7434 3f7e 3093 0000            sts (cnt.14)+1,r19
 7435 3f82 2093 0000            sts cnt.14,r18
 7436                   .L600:
 7437 3f86 4091 0000            lds r20,IntegralFehlerRoll.4
 7438 3f8a 5091 0000            lds r21,(IntegralFehlerRoll.4)+1
 7439 3f8e 6091 0000            lds r22,(IntegralFehlerRoll.4)+2
 7440 3f92 7091 0000            lds r23,(IntegralFehlerRoll.4)+3
 7441 3f96 4138                 cpi r20,lo8(129)
 7442 3f98 5105                 cpc r21,__zero_reg__
 7443 3f9a 6105                 cpc r22,__zero_reg__
 7444 3f9c 7105                 cpc r23,__zero_reg__
 7445 3f9e 04F0                 brlt .L602
 7446 3fa0 8091 0000            lds r24,AdNeutralRoll
 7447 3fa4 9091 0000            lds r25,(AdNeutralRoll)+1
 7448 3fa8 2091 0000            lds r18,cnt.14
 7449 3fac 3091 0000            lds r19,(cnt.14)+1
 7450 3fb0 820F                 add r24,r18
 7451 3fb2 931F                 adc r25,r19
 7452 3fb4 9093 0000            sts (AdNeutralRoll)+1,r25
 7453 3fb8 8093 0000            sts AdNeutralRoll,r24
 7454                   .L602:
 7455 3fbc 4058                 subi r20,lo8(-128)
 7456 3fbe 5F4F                 sbci r21,hi8(-128)
 7457 3fc0 6F4F                 sbci r22,hlo8(-128)
 7458 3fc2 7F4F                 sbci r23,hhi8(-128)
 7459 3fc4 04F4                 brge .L604
 7460 3fc6 8091 0000            lds r24,AdNeutralRoll
 7461 3fca 9091 0000            lds r25,(AdNeutralRoll)+1
 7462 3fce 2091 0000            lds r18,cnt.14
 7463 3fd2 3091 0000            lds r19,(cnt.14)+1
 7464 3fd6 821B                 sub r24,r18
 7465 3fd8 930B                 sbc r25,r19
 7466 3fda 9093 0000            sts (AdNeutralRoll)+1,r25
 7467 3fde 8093 0000            sts AdNeutralRoll,r24
 7468 3fe2 00C0                 rjmp .L604
 7469                   .L530:
 7470 3fe4 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 7471 3fe8 1092 0000            sts LageKorrekturRoll,__zero_reg__
 7472 3fec 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 7473 3ff0 1092 0000            sts LageKorrekturNick,__zero_reg__
 7474 3ff4 1092 0000            sts TrichterFlug,__zero_reg__
 7475                   .L604:
 7476 3ff8 8091 0000            lds r24,IntegralFaktor
 7477 3ffc 8823                 tst r24
 7478 3ffe 01F4                 brne .L605
 7479 4000 1092 0000            sts (LageKorrekturRoll)+1,__zero_reg__
 7480 4004 1092 0000            sts LageKorrekturRoll,__zero_reg__
 7481 4008 1092 0000            sts (LageKorrekturNick)+1,__zero_reg__
 7482 400c 1092 0000            sts LageKorrekturNick,__zero_reg__
 7483                   .L605:
 7484 4010 8091 0000            lds r24,MittelIntegralNick
 7485 4014 9091 0000            lds r25,(MittelIntegralNick)+1
 7486 4018 A091 0000            lds r26,(MittelIntegralNick)+2
 7487 401c B091 0000            lds r27,(MittelIntegralNick)+3
 7488 4020 8093 0000            sts MittelIntegralNick_Alt.19,r24
 7489 4024 9093 0000            sts (MittelIntegralNick_Alt.19)+1,r25
 7490 4028 A093 0000            sts (MittelIntegralNick_Alt.19)+2,r26
 7491 402c B093 0000            sts (MittelIntegralNick_Alt.19)+3,r27
 7492 4030 8091 0000            lds r24,MittelIntegralRoll
 7493 4034 9091 0000            lds r25,(MittelIntegralRoll)+1
 7494 4038 A091 0000            lds r26,(MittelIntegralRoll)+2
 7495 403c B091 0000            lds r27,(MittelIntegralRoll)+3
 7496 4040 8093 0000            sts MittelIntegralRoll_Alt.20,r24
 7497 4044 9093 0000            sts (MittelIntegralRoll_Alt.20)+1,r25
 7498 4048 A093 0000            sts (MittelIntegralRoll_Alt.20)+2,r26
 7499 404c B093 0000            sts (MittelIntegralRoll_Alt.20)+3,r27
 7500 4050 1092 0000            sts IntegralAccNick,__zero_reg__
 7501 4054 1092 0000            sts (IntegralAccNick)+1,__zero_reg__
 7502 4058 1092 0000            sts (IntegralAccNick)+2,__zero_reg__
 7503 405c 1092 0000            sts (IntegralAccNick)+3,__zero_reg__
 7504 4060 1092 0000            sts IntegralAccRoll,__zero_reg__
 7505 4064 1092 0000            sts (IntegralAccRoll)+1,__zero_reg__
 7506 4068 1092 0000            sts (IntegralAccRoll)+2,__zero_reg__
 7507 406c 1092 0000            sts (IntegralAccRoll)+3,__zero_reg__
 7508 4070 1092 0000            sts IntegralAccZ,__zero_reg__
 7509 4074 1092 0000            sts (IntegralAccZ)+1,__zero_reg__
 7510 4078 1092 0000            sts (IntegralAccZ)+2,__zero_reg__
 7511 407c 1092 0000            sts (IntegralAccZ)+3,__zero_reg__
 7512 4080 1092 0000            sts MittelIntegralNick,__zero_reg__
 7513 4084 1092 0000            sts (MittelIntegralNick)+1,__zero_reg__
 7514 4088 1092 0000            sts (MittelIntegralNick)+2,__zero_reg__
 7515 408c 1092 0000            sts (MittelIntegralNick)+3,__zero_reg__
 7516 4090 1092 0000            sts MittelIntegralRoll,__zero_reg__
 7517 4094 1092 0000            sts (MittelIntegralRoll)+1,__zero_reg__
 7518 4098 1092 0000            sts (MittelIntegralRoll)+2,__zero_reg__
 7519 409c 1092 0000            sts (MittelIntegralRoll)+3,__zero_reg__
 7520 40a0 1092 0000            sts MittelIntegralNick2,__zero_reg__
 7521 40a4 1092 0000            sts (MittelIntegralNick2)+1,__zero_reg__
 7522 40a8 1092 0000            sts (MittelIntegralNick2)+2,__zero_reg__
 7523 40ac 1092 0000            sts (MittelIntegralNick2)+3,__zero_reg__
 7524 40b0 1092 0000            sts MittelIntegralRoll2,__zero_reg__
 7525 40b4 1092 0000            sts (MittelIntegralRoll2)+1,__zero_reg__
 7526 40b8 1092 0000            sts (MittelIntegralRoll2)+2,__zero_reg__
 7527 40bc 1092 0000            sts (MittelIntegralRoll2)+3,__zero_reg__
 7528 40c0 1092 0000            sts (ZaehlMessungen)+1,__zero_reg__
 7529 40c4 1092 0000            sts ZaehlMessungen,__zero_reg__
 7530                   .L529:
 7531 40c8 E090 0000            lds r14,StickGier
 7532 40cc F090 0000            lds r15,(StickGier)+1
 7533 40d0 C701                 movw r24,r14
 7534 40d2 F7FE                 sbrs r15,7
 7535 40d4 00C0                 rjmp .L607
 7536 40d6 8827                 clr r24
 7537 40d8 9927                 clr r25
 7538 40da 8E19                 sub r24,r14
 7539 40dc 9F09                 sbc r25,r15
 7540                   .L607:
 7541 40de 0497                 sbiw r24,4
 7542 40e0 04F0                 brlt .L606
 7543 40e2 8091 0000            lds r24,Parameter_GlobalConfig
 7544 40e6 84FD                 sbrc r24,4
 7545 40e8 00C0                 rjmp .L606
 7546 40ea 82E3                 ldi r24,lo8(50)
 7547 40ec 8093 0000            sts NeueKompassRichtungMerken,r24
 7548                   .L606:
 7549 40f0 1091 0000            lds r17,EE_Parameter+25
 7550 40f4 A12E                 mov r10,r17
 7551 40f6 BB24                 clr r11
 7552 40f8 CC24                 clr r12
 7553 40fa DD24                 clr r13
 7554 40fc B701                 movw r22,r14
 7555 40fe 8827                 clr r24
 7556 4100 77FD                 sbrc r23,7
 7557 4102 8095                 com r24
 7558 4104 982F                 mov r25,r24
 7559 4106 9701                 movw r18,r14
 7560 4108 F7FE                 sbrs r15,7
 7561 410a 00C0                 rjmp .L609
 7562 410c 2227                 clr r18
 7563 410e 3327                 clr r19
 7564 4110 2E19                 sub r18,r14
 7565 4112 3F09                 sbc r19,r15
 7566                   .L609:
 7567 4114 4427                 clr r20
 7568 4116 37FD                 sbrc r19,7
 7569 4118 4095                 com r20
 7570 411a 542F                 mov r21,r20
 7571 411c 0E94 0000            call __mulsi3
 7572 4120 9B01                 movw r18,r22
 7573 4122 AC01                 movw r20,r24
 7574 4124 C601                 movw r24,r12
 7575 4126 B501                 movw r22,r10
 7576 4128 0E94 0000            call __mulsi3
 7577 412c 97FF                 sbrs r25,7
 7578 412e 00C0                 rjmp .L610
 7579 4130 6150                 subi r22,lo8(-(511))
 7580 4132 7E4F                 sbci r23,hi8(-(511))
 7581 4134 8F4F                 sbci r24,hlo8(-(511))
 7582 4136 9F4F                 sbci r25,hhi8(-(511))
 7583                   .L610:
 7584 4138 59E0                 ldi r21,9
 7585 413a 9595         1:      asr r25
 7586 413c 8795                 ror r24
 7587 413e 7795                 ror r23
 7588 4140 6795                 ror r22
 7589 4142 5A95                 dec r21
 7590 4144 01F4                 brne 1b
 7591 4146 9B01                 movw r18,r22
 7592 4148 812F                 mov r24,r17
 7593 414a 9927                 clr r25
 7594 414c 8E9D                 mul r24,r14
 7595 414e D001                 movw r26,r0
 7596 4150 8F9D                 mul r24,r15
 7597 4152 B00D                 add r27,r0
 7598 4154 9E9D                 mul r25,r14
 7599 4156 B00D                 add r27,r0
 7600 4158 1124                 clr r1
 7601 415a CD01                 movw r24,r26
 7602 415c B7FD                 sbrc r27,7
 7603 415e 0396                 adiw r24,3
 7604                   .L611:
 7605 4160 9595                 asr r25
 7606 4162 8795                 ror r24
 7607 4164 9595                 asr r25
 7608 4166 8795                 ror r24
 7609 4168 280F                 add r18,r24
 7610 416a 391F                 adc r19,r25
 7611 416c 8091 0000            lds r24,CompassGierSetpoint
 7612 4170 9091 0000            lds r25,(CompassGierSetpoint)+1
 7613 4174 280F                 add r18,r24
 7614 4176 391F                 adc r19,r25
 7615 4178 4427                 clr r20
 7616 417a 37FD                 sbrc r19,7
 7617 417c 4095                 com r20
 7618 417e 542F                 mov r21,r20
 7619 4180 2093 0000            sts sollGier.0,r18
 7620 4184 3093 0000            sts (sollGier.0)+1,r19
 7621 4188 4093 0000            sts (sollGier.0)+2,r20
 7622 418c 5093 0000            sts (sollGier.0)+3,r21
 7623 4190 8091 0000            lds r24,Mess_Integral_Gier
 7624 4194 9091 0000            lds r25,(Mess_Integral_Gier)+1
 7625 4198 A091 0000            lds r26,(Mess_Integral_Gier)+2
 7626 419c B091 0000            lds r27,(Mess_Integral_Gier)+3
 7627 41a0 821B                 sub r24,r18
 7628 41a2 930B                 sbc r25,r19
 7629 41a4 A40B                 sbc r26,r20
 7630 41a6 B50B                 sbc r27,r21
 7631 41a8 8093 0000            sts Mess_Integral_Gier,r24
 7632 41ac 9093 0000            sts (Mess_Integral_Gier)+1,r25
 7633 41b0 A093 0000            sts (Mess_Integral_Gier)+2,r26
 7634 41b4 B093 0000            sts (Mess_Integral_Gier)+3,r27
 7635 41b8 8155                 subi r24,lo8(50001)
 7636 41ba 934C                 sbci r25,hi8(50001)
 7637 41bc A040                 sbci r26,hlo8(50001)
 7638 41be B040                 sbci r27,hhi8(50001)
 7639 41c0 04F0                 brlt .L612
 7640 41c2 80E5                 ldi r24,lo8(50000)
 7641 41c4 93EC                 ldi r25,hi8(50000)
 7642 41c6 A0E0                 ldi r26,hlo8(50000)
 7643 41c8 B0E0                 ldi r27,hhi8(50000)
 7644 41ca 8093 0000            sts Mess_Integral_Gier,r24
 7645 41ce 9093 0000            sts (Mess_Integral_Gier)+1,r25
 7646 41d2 A093 0000            sts (Mess_Integral_Gier)+2,r26
 7647 41d6 B093 0000            sts (Mess_Integral_Gier)+3,r27
 7648                   .L612:
 7649 41da 8091 0000            lds r24,Mess_Integral_Gier
 7650 41de 9091 0000            lds r25,(Mess_Integral_Gier)+1
 7651 41e2 A091 0000            lds r26,(Mess_Integral_Gier)+2
 7652 41e6 B091 0000            lds r27,(Mess_Integral_Gier)+3
 7653 41ea 805B                 subi r24,lo8(-50000)
 7654 41ec 9C43                 sbci r25,hi8(-50000)
 7655 41ee AF4F                 sbci r26,hlo8(-50000)
 7656 41f0 BF4F                 sbci r27,hhi8(-50000)
 7657 41f2 04F4                 brge .L613
 7658 41f4 80EB                 ldi r24,lo8(-50000)
 7659 41f6 9CE3                 ldi r25,hi8(-50000)
 7660 41f8 AFEF                 ldi r26,hlo8(-50000)
 7661 41fa BFEF                 ldi r27,hhi8(-50000)
 7662 41fc 8093 0000            sts Mess_Integral_Gier,r24
 7663 4200 9093 0000            sts (Mess_Integral_Gier)+1,r25
 7664 4204 A093 0000            sts (Mess_Integral_Gier)+2,r26
 7665 4208 B093 0000            sts (Mess_Integral_Gier)+3,r27
 7666                   .L613:
 7667 420c 0091 0000            lds r16,KompassValue
 7668 4210 1091 0000            lds r17,(KompassValue)+1
 7669 4214 17FD                 sbrc r17,7
 7670 4216 00C0                 rjmp .L614
 7671 4218 8091 0000            lds r24,Parameter_GlobalConfig
 7672 421c 83FF                 sbrs r24,3
 7673 421e 00C0                 rjmp .L614
 7674 4220 8091 0000            lds r24,CalculateCompassTimer
 7675 4224 8150                 subi r24,lo8(-(-1))
 7676 4226 8093 0000            sts CalculateCompassTimer,r24
 7677 422a 8823                 tst r24
 7678 422c 01F0                 breq .+2
 7679 422e 00C0                 rjmp .L631
 7680 4230 8DE0                 ldi r24,lo8(13)
 7681 4232 8093 0000            sts CalculateCompassTimer,r24
 7682 4236 8091 0000            lds r24,IntegralNick
 7683 423a 9091 0000            lds r25,(IntegralNick)+1
 7684 423e A091 0000            lds r26,(IntegralNick)+2
 7685 4242 B091 0000            lds r27,(IntegralNick)+3
 7686 4246 B7FF                 sbrs r27,7
 7687 4248 00C0                 rjmp .L616
 7688 424a 8150                 subi r24,lo8(-(511))
 7689 424c 9E4F                 sbci r25,hi8(-(511))
 7690 424e AF4F                 sbci r26,hlo8(-(511))
 7691 4250 BF4F                 sbci r27,hhi8(-(511))
 7692                   .L616:
 7693 4252 39E0                 ldi r19,9
 7694 4254 B595         1:      asr r27
 7695 4256 A795                 ror r26
 7696 4258 9795                 ror r25
 7697 425a 8795                 ror r24
 7698 425c 3A95                 dec r19
 7699 425e 01F4                 brne 1b
 7700 4260 7C01                 movw r14,r24
 7701 4262 97FF                 sbrs r25,7
 7702 4264 00C0                 rjmp .L617
 7703 4266 F094                 com r15
 7704 4268 E194                 neg r14
 7705 426a F108                 sbc r15,__zero_reg__
 7706 426c F394                 inc r15
 7707                   .L617:
 7708 426e 8091 0000            lds r24,IntegralRoll
 7709 4272 9091 0000            lds r25,(IntegralRoll)+1
 7710 4276 A091 0000            lds r26,(IntegralRoll)+2
 7711 427a B091 0000            lds r27,(IntegralRoll)+3
 7712 427e B7FF                 sbrs r27,7
 7713 4280 00C0                 rjmp .L618
 7714 4282 8150                 subi r24,lo8(-(511))
 7715 4284 9E4F                 sbci r25,hi8(-(511))
 7716 4286 AF4F                 sbci r26,hlo8(-(511))
 7717 4288 BF4F                 sbci r27,hhi8(-(511))
 7718                   .L618:
 7719 428a 29E0                 ldi r18,9
 7720 428c B595         1:      asr r27
 7721 428e A795                 ror r26
 7722 4290 9795                 ror r25
 7723 4292 8795                 ror r24
 7724 4294 2A95                 dec r18
 7725 4296 01F4                 brne 1b
 7726 4298 9C01                 movw r18,r24
 7727 429a 97FF                 sbrs r25,7
 7728 429c 00C0                 rjmp .L619
 7729 429e 3095                 com r19
 7730 42a0 2195                 neg r18
 7731 42a2 3F4F                 sbci r19,lo8(-1)
 7732                   .L619:
 7733 42a4 E216                 cp r14,r18
 7734 42a6 F306                 cpc r15,r19
 7735 42a8 04F4                 brge .L620
 7736 42aa 7901                 movw r14,r18
 7737                   .L620:
 7738 42ac B701                 movw r22,r14
 7739 42ae F7FE                 sbrs r15,7
 7740 42b0 00C0                 rjmp .L621
 7741 42b2 695F                 subi r22,lo8(-(7))
 7742 42b4 7F4F                 sbci r23,hi8(-(7))
 7743                   .L621:
 7744 42b6 2B01                 movw r4,r22
 7745 42b8 A3E0                 ldi r26,3
 7746 42ba 5594         1:      asr r5
 7747 42bc 4794                 ror r4
 7748 42be AA95                 dec r26
 7749 42c0 01F4                 brne 1b
 7750 42c2 22E0                 ldi r18,lo8(2)
 7751 42c4 30E0                 ldi r19,hi8(2)
 7752 42c6 420E                 add r4,r18
 7753 42c8 531E                 adc r5,r19
 7754 42ca 6090 0000            lds r6,ErsatzKompass
 7755 42ce 7090 0000            lds r7,(ErsatzKompass)+1
 7756 42d2 8090 0000            lds r8,(ErsatzKompass)+2
 7757 42d6 9090 0000            lds r9,(ErsatzKompass)+3
 7758 42da 2091 0000            lds r18,GIER_GRAD_FAKTOR
 7759 42de 3091 0000            lds r19,(GIER_GRAD_FAKTOR)+1
 7760 42e2 4091 0000            lds r20,(GIER_GRAD_FAKTOR)+2
 7761 42e6 5091 0000            lds r21,(GIER_GRAD_FAKTOR)+3
 7762 42ea C401                 movw r24,r8
 7763 42ec B301                 movw r22,r6
 7764 42ee 0E94 0000            call __divmodsi4
 7765 42f2 5901                 movw r10,r18
 7766 42f4 6A01                 movw r12,r20
 7767 42f6 3093 0000            sts (ErsatzKompassInGrad)+1,r19
 7768 42fa 2093 0000            sts ErsatzKompassInGrad,r18
 7769 42fe 021B                 sub r16,r18
 7770 4300 130B                 sbc r17,r19
 7771 4302 C801                 movw r24,r16
 7772 4304 845E                 subi r24,lo8(-(540))
 7773 4306 9D4F                 sbci r25,hi8(-(540))
 7774 4308 68E6                 ldi r22,lo8(360)
 7775 430a 71E0                 ldi r23,hi8(360)
 7776 430c 0E94 0000            call __divmodhi4
 7777 4310 9C01                 movw r18,r24
 7778 4312 245B                 subi r18,lo8(-(-180))
 7779 4314 3040                 sbci r19,hi8(-(-180))
 7780 4316 8091 0000            lds r24,KompassSignalSchlecht
 7781 431a 9091 0000            lds r25,(KompassSignalSchlecht)+1
 7782 431e 0097                 sbiw r24,0
 7783 4320 01F0                 breq .L622
 7784 4322 0197                 sbiw r24,1
 7785 4324 9093 0000            sts (KompassSignalSchlecht)+1,r25
 7786 4328 8093 0000            sts KompassSignalSchlecht,r24
 7787 432c 00C0                 rjmp .L623
 7788                   .L622:
 7789 432e 49E1                 ldi r20,lo8(25)
 7790 4330 E416                 cp r14,r20
 7791 4332 F104                 cpc r15,__zero_reg__
 7792 4334 04F4                 brge .L623
 7793 4336 8091 0000            lds r24,GierGyroFehler
 7794 433a 9091 0000            lds r25,(GierGyroFehler)+1
 7795 433e 820F                 add r24,r18
 7796 4340 931F                 adc r25,r19
 7797 4342 9093 0000            sts (GierGyroFehler)+1,r25
 7798 4346 8093 0000            sts GierGyroFehler,r24
 7799 434a 8091 0000            lds r24,NeueKompassRichtungMerken
 7800 434e 8823                 tst r24
 7801 4350 01F0                 breq .L623
 7802 4352 8150                 subi r24,lo8(-(-1))
 7803 4354 8093 0000            sts NeueKompassRichtungMerken,r24
 7804 4358 8823                 tst r24
 7805 435a 01F4                 brne .L623
 7806 435c B092 0000            sts (KompassSollWert)+1,r11
 7807 4360 A092 0000            sts KompassSollWert,r10
 7808                   .L623:
 7809 4364 8091 0000            lds r24,KompassSignalSchlecht
 7810 4368 9091 0000            lds r25,(KompassSignalSchlecht)+1
 7811 436c 892B                 or r24,r25
 7812 436e 01F4                 brne .L627
 7813 4370 8091 0000            lds r24,KompassFusion
 7814 4374 9927                 clr r25
 7815 4376 289F                 mul r18,r24
 7816 4378 B001                 movw r22,r0
 7817 437a 299F                 mul r18,r25
 7818 437c 700D                 add r23,r0
 7819 437e 389F                 mul r19,r24
 7820 4380 700D                 add r23,r0
 7821 4382 1124                 clr r1
 7822 4384 CB01                 movw r24,r22
 7823 4386 B201                 movw r22,r4
 7824 4388 0E94 0000            call __divmodhi4
 7825 438c CB01                 movw r24,r22
 7826 438e AA27                 clr r26
 7827 4390 97FD                 sbrc r25,7
 7828 4392 A095                 com r26
 7829 4394 BA2F                 mov r27,r26
 7830 4396 680E                 add r6,r24
 7831 4398 791E                 adc r7,r25
 7832 439a 8A1E                 adc r8,r26
 7833 439c 9B1E                 adc r9,r27
 7834 439e 6092 0000            sts ErsatzKompass,r6
 7835 43a2 7092 0000            sts (ErsatzKompass)+1,r7
 7836 43a6 8092 0000            sts (ErsatzKompass)+2,r8
 7837 43aa 9092 0000            sts (ErsatzKompass)+3,r9
 7838                   .L627:
 7839 43ae 8091 0000            lds r24,NeueKompassRichtungMerken
 7840 43b2 8823                 tst r24
 7841 43b4 01F4                 brne .L614
 7842 43b6 8091 0000            lds r24,KompassSollWert
 7843 43ba 9091 0000            lds r25,(KompassSollWert)+1
 7844 43be 2091 0000            lds r18,ErsatzKompassInGrad
 7845 43c2 3091 0000            lds r19,(ErsatzKompassInGrad)+1
 7846 43c6 821B                 sub r24,r18
 7847 43c8 930B                 sbc r25,r19
 7848 43ca 845E                 subi r24,lo8(-(540))
 7849 43cc 9D4F                 sbci r25,hi8(-(540))
 7850 43ce 68E6                 ldi r22,lo8(360)
 7851 43d0 71E0                 ldi r23,hi8(360)
 7852 43d2 0E94 0000            call __divmodhi4
 7853 43d6 9C01                 movw r18,r24
 7854 43d8 245B                 subi r18,lo8(-(-180))
 7855 43da 3040                 sbci r19,hi8(-(-180))
 7856 43dc 8091 0000            lds r24,Parameter_KompassWirkung
 7857 43e0 8695                 lsr r24
 7858 43e2 9927                 clr r25
 7859 43e4 289F                 mul r18,r24
 7860 43e6 D001                 movw r26,r0
 7861 43e8 299F                 mul r18,r25
 7862 43ea B00D                 add r27,r0
 7863 43ec 389F                 mul r19,r24
 7864 43ee B00D                 add r27,r0
 7865 43f0 1124                 clr r1
 7866 43f2 9D01                 movw r18,r26
 7867 43f4 B7FF                 sbrs r27,7
 7868 43f6 00C0                 rjmp .L629
 7869 43f8 215F                 subi r18,lo8(-(15))
 7870 43fa 3F4F                 sbci r19,hi8(-(15))
 7871                   .L629:
 7872 43fc F4E0                 ldi r31,4
 7873 43fe 3595         1:      asr r19
 7874 4400 2795                 ror r18
 7875 4402 FA95                 dec r31
 7876 4404 01F4                 brne 1b
 7877 4406 3093 0000            sts (CompassGierSetpoint)+1,r19
 7878 440a 2093 0000            sts CompassGierSetpoint,r18
 7879 440e 00C0                 rjmp .L631
 7880                   .L614:
 7881 4410 1092 0000            sts (CompassGierSetpoint)+1,__zero_reg__
 7882 4414 1092 0000            sts CompassGierSetpoint,__zero_reg__
 7883                   .L631:
 7884 4418 8091 0000            lds r24,TrichterFlug
 7885 441c 8823                 tst r24
 7886 441e 01F0                 breq .L632
 7887 4420 1092 0000            sts SummeRoll,__zero_reg__
 7888 4424 1092 0000            sts (SummeRoll)+1,__zero_reg__
 7889 4428 1092 0000            sts (SummeRoll)+2,__zero_reg__
 7890 442c 1092 0000            sts (SummeRoll)+3,__zero_reg__
 7891 4430 1092 0000            sts SummeNick,__zero_reg__
 7892 4434 1092 0000            sts (SummeNick)+1,__zero_reg__
 7893 4438 1092 0000            sts (SummeNick)+2,__zero_reg__
 7894 443c 1092 0000            sts (SummeNick)+3,__zero_reg__
 7895                   .L632:
 7896 4440 F090 0000            lds r15,Looping_Nick
 7897 4444 FF20                 tst r15
 7898 4446 01F4                 brne .L633
 7899 4448 8091 0000            lds r24,IntegralFaktor
 7900 444c 282F                 mov r18,r24
 7901 444e 3327                 clr r19
 7902 4450 4427                 clr r20
 7903 4452 5527                 clr r21
 7904 4454 8091 0000            lds r24,IntegralNick
 7905 4458 9091 0000            lds r25,(IntegralNick)+1
 7906 445c A091 0000            lds r26,(IntegralNick)+2
 7907 4460 B091 0000            lds r27,(IntegralNick)+3
 7908 4464 BC01                 movw r22,r24
 7909 4466 CD01                 movw r24,r26
 7910 4468 0E94 0000            call __mulsi3
 7911 446c DC01                 movw r26,r24
 7912 446e CB01                 movw r24,r22
 7913 4470 BC01                 movw r22,r24
 7914 4472 CD01                 movw r24,r26
 7915 4474 28EF                 ldi r18,lo8(11000)
 7916 4476 3AE2                 ldi r19,hi8(11000)
 7917 4478 40E0                 ldi r20,hlo8(11000)
 7918 447a 50E0                 ldi r21,hhi8(11000)
 7919 447c 0E94 0000            call __divmodsi4
 7920 4480 3901                 movw r6,r18
 7921 4482 00C0                 rjmp .L634
 7922                   .L633:
 7923 4484 6624                 clr r6
 7924 4486 7724                 clr r7
 7925                   .L634:
 7926 4488 E090 0000            lds r14,Looping_Roll
 7927 448c EE20                 tst r14
 7928 448e 01F4                 brne .L635
 7929 4490 8091 0000            lds r24,IntegralFaktor
 7930 4494 282F                 mov r18,r24
 7931 4496 3327                 clr r19
 7932 4498 4427                 clr r20
 7933 449a 5527                 clr r21
 7934 449c 8091 0000            lds r24,IntegralRoll
 7935 44a0 9091 0000            lds r25,(IntegralRoll)+1
 7936 44a4 A091 0000            lds r26,(IntegralRoll)+2
 7937 44a8 B091 0000            lds r27,(IntegralRoll)+3
 7938 44ac BC01                 movw r22,r24
 7939 44ae CD01                 movw r24,r26
 7940 44b0 0E94 0000            call __mulsi3
 7941 44b4 DC01                 movw r26,r24
 7942 44b6 CB01                 movw r24,r22
 7943 44b8 BC01                 movw r22,r24
 7944 44ba CD01                 movw r24,r26
 7945 44bc 28EF                 ldi r18,lo8(11000)
 7946 44be 3AE2                 ldi r19,hi8(11000)
 7947 44c0 40E0                 ldi r20,hlo8(11000)
 7948 44c2 50E0                 ldi r21,hhi8(11000)
 7949 44c4 0E94 0000            call __divmodsi4
 7950 44c8 2901                 movw r4,r18
 7951 44ca 00C0                 rjmp .L636
 7952                   .L635:
 7953 44cc 4424                 clr r4
 7954 44ce 5524                 clr r5
 7955                   .L636:
 7956 44d0 8091 0000            lds r24,TrimNick
 7957 44d4 9091 0000            lds r25,(TrimNick)+1
 7958 44d8 893C                 cpi r24,201
 7959 44da 9105                 cpc r25,__zero_reg__
 7960 44dc 04F0                 brlt .L637
 7961 44de 88EC                 ldi r24,lo8(200)
 7962 44e0 90E0                 ldi r25,hi8(200)
 7963 44e2 00C0                 rjmp .L894
 7964                   .L637:
 7965 44e4 8853                 subi r24,lo8(-200)
 7966 44e6 9F4F                 sbci r25,hi8(-200)
 7967 44e8 04F4                 brge .L638
 7968 44ea 88E3                 ldi r24,lo8(-200)
 7969 44ec 9FEF                 ldi r25,hi8(-200)
 7970                   .L894:
 7971 44ee 9093 0000            sts (TrimNick)+1,r25
 7972 44f2 8093 0000            sts TrimNick,r24
 7973                   .L638:
 7974 44f6 8091 0000            lds r24,TrimRoll
 7975 44fa 9091 0000            lds r25,(TrimRoll)+1
 7976 44fe 893C                 cpi r24,201
 7977 4500 9105                 cpc r25,__zero_reg__
 7978 4502 04F0                 brlt .L640
 7979 4504 88EC                 ldi r24,lo8(200)
 7980 4506 90E0                 ldi r25,hi8(200)
 7981 4508 00C0                 rjmp .L895
 7982                   .L640:
 7983 450a 8853                 subi r24,lo8(-200)
 7984 450c 9F4F                 sbci r25,hi8(-200)
 7985 450e 04F4                 brge .L641
 7986 4510 88E3                 ldi r24,lo8(-200)
 7987 4512 9FEF                 ldi r25,hi8(-200)
 7988                   .L895:
 7989 4514 9093 0000            sts (TrimRoll)+1,r25
 7990 4518 8093 0000            sts TrimRoll,r24
 7991                   .L641:
 7992 451c 8091 0000            lds r24,MesswertNick
 7993 4520 9091 0000            lds r25,(MesswertNick)+1
 7994 4524 AA27                 clr r26
 7995 4526 97FD                 sbrc r25,7
 7996 4528 A095                 com r26
 7997 452a BA2F                 mov r27,r26
 7998 452c 2091 0000            lds r18,GyroFaktor
 7999 4530 A22E                 mov r10,r18
 8000 4532 BB24                 clr r11
 8001 4534 CC24                 clr r12
 8002 4536 DD24                 clr r13
 8003 4538 BC01                 movw r22,r24
 8004 453a CD01                 movw r24,r26
 8005 453c A601                 movw r20,r12
 8006 453e 9501                 movw r18,r10
 8007 4540 0E94 0000            call __mulsi3
 8008 4544 9B01                 movw r18,r22
 8009 4546 AC01                 movw r20,r24
 8010 4548 8091 0000            lds r24,TrimNick
 8011 454c 9091 0000            lds r25,(TrimNick)+1
 8012 4550 AA27                 clr r26
 8013 4552 97FD                 sbrc r25,7
 8014 4554 A095                 com r26
 8015 4556 BA2F                 mov r27,r26
 8016 4558 E7E0                 ldi r30,7
 8017 455a 880F         1:      lsl r24
 8018 455c 991F                 rol r25
 8019 455e AA1F                 rol r26
 8020 4560 BB1F                 rol r27
 8021 4562 EA95                 dec r30
 8022 4564 01F4                 brne 1b
 8023 4566 280F                 add r18,r24
 8024 4568 391F                 adc r19,r25
 8025 456a 4A1F                 adc r20,r26
 8026 456c 5B1F                 adc r21,r27
 8027 456e 57FF                 sbrs r21,7
 8028 4570 00C0                 rjmp .L643
 8029 4572 215C                 subi r18,lo8(-(63))
 8030 4574 3F4F                 sbci r19,hi8(-(63))
 8031 4576 4F4F                 sbci r20,hlo8(-(63))
 8032 4578 5F4F                 sbci r21,hhi8(-(63))
 8033                   .L643:
 8034 457a 76E0                 ldi r23,6
 8035 457c 5595         1:      asr r21
 8036 457e 4795                 ror r20
 8037 4580 3795                 ror r19
 8038 4582 2795                 ror r18
 8039 4584 7A95                 dec r23
 8040 4586 01F4                 brne 1b
 8041 4588 8301                 movw r16,r6
 8042 458a 020F                 add r16,r18
 8043 458c 131F                 adc r17,r19
 8044 458e 1093 0000            sts (MesswertNick)+1,r17
 8045 4592 0093 0000            sts MesswertNick,r16
 8046 4596 8091 0000            lds r24,MesswertRoll
 8047 459a 9091 0000            lds r25,(MesswertRoll)+1
 8048 459e AA27                 clr r26
 8049 45a0 97FD                 sbrc r25,7
 8050 45a2 A095                 com r26
 8051 45a4 BA2F                 mov r27,r26
 8052 45a6 BC01                 movw r22,r24
 8053 45a8 CD01                 movw r24,r26
 8054 45aa A601                 movw r20,r12
 8055 45ac 9501                 movw r18,r10
 8056 45ae 0E94 0000            call __mulsi3
 8057 45b2 9B01                 movw r18,r22
 8058 45b4 AC01                 movw r20,r24
 8059 45b6 8091 0000            lds r24,TrimRoll
 8060 45ba 9091 0000            lds r25,(TrimRoll)+1
 8061 45be AA27                 clr r26
 8062 45c0 97FD                 sbrc r25,7
 8063 45c2 A095                 com r26
 8064 45c4 BA2F                 mov r27,r26
 8065 45c6 67E0                 ldi r22,7
 8066 45c8 880F         1:      lsl r24
 8067 45ca 991F                 rol r25
 8068 45cc AA1F                 rol r26
 8069 45ce BB1F                 rol r27
 8070 45d0 6A95                 dec r22
 8071 45d2 01F4                 brne 1b
 8072 45d4 280F                 add r18,r24
 8073 45d6 391F                 adc r19,r25
 8074 45d8 4A1F                 adc r20,r26
 8075 45da 5B1F                 adc r21,r27
 8076 45dc 57FF                 sbrs r21,7
 8077 45de 00C0                 rjmp .L644
 8078 45e0 215C                 subi r18,lo8(-(63))
 8079 45e2 3F4F                 sbci r19,hi8(-(63))
 8080 45e4 4F4F                 sbci r20,hlo8(-(63))
 8081 45e6 5F4F                 sbci r21,hhi8(-(63))
 8082                   .L644:
 8083 45e8 F6E0                 ldi r31,6
 8084 45ea 5595         1:      asr r21
 8085 45ec 4795                 ror r20
 8086 45ee 3795                 ror r19
 8087 45f0 2795                 ror r18
 8088 45f2 FA95                 dec r31
 8089 45f4 01F4                 brne 1b
 8090 45f6 4201                 movw r8,r4
 8091 45f8 820E                 add r8,r18
 8092 45fa 931E                 adc r9,r19
 8093 45fc 9092 0000            sts (MesswertRoll)+1,r9
 8094 4600 8092 0000            sts MesswertRoll,r8
 8095 4604 8091 0000            lds r24,MesswertGier
 8096 4608 9091 0000            lds r25,(MesswertGier)+1
 8097 460c 880F                 add r24,r24
 8098 460e 991F                 adc r25,r25
 8099 4610 AA27                 clr r26
 8100 4612 97FD                 sbrc r25,7
 8101 4614 A095                 com r26
 8102 4616 BA2F                 mov r27,r26
 8103 4618 2091 0000            lds r18,GyroFaktorGier
 8104 461c 3327                 clr r19
 8105 461e 4427                 clr r20
 8106 4620 5527                 clr r21
 8107 4622 BC01                 movw r22,r24
 8108 4624 CD01                 movw r24,r26
 8109 4626 0E94 0000            call __mulsi3
 8110 462a 5B01                 movw r10,r22
 8111 462c 6C01                 movw r12,r24
 8112 462e 97FF                 sbrs r25,7
 8113 4630 00C0                 rjmp .L645
 8114 4632 2FE3                 ldi r18,lo8(63)
 8115 4634 30E0                 ldi r19,hi8(63)
 8116 4636 40E0                 ldi r20,hlo8(63)
 8117 4638 50E0                 ldi r21,hhi8(63)
 8118 463a A20E                 add r10,r18
 8119 463c B31E                 adc r11,r19
 8120 463e C41E                 adc r12,r20
 8121 4640 D51E                 adc r13,r21
 8122                   .L645:
 8123 4642 E6E0                 ldi r30,6
 8124 4644 D594         1:      asr r13
 8125 4646 C794                 ror r12
 8126 4648 B794                 ror r11
 8127 464a A794                 ror r10
 8128 464c EA95                 dec r30
 8129 464e 01F4                 brne 1b
 8130 4650 8091 0000            lds r24,IntegralFaktorGier
 8131 4654 282F                 mov r18,r24
 8132 4656 3327                 clr r19
 8133 4658 4427                 clr r20
 8134 465a 5527                 clr r21
 8135 465c 8091 0000            lds r24,Integral_Gier
 8136 4660 9091 0000            lds r25,(Integral_Gier)+1
 8137 4664 A091 0000            lds r26,(Integral_Gier)+2
 8138 4668 B091 0000            lds r27,(Integral_Gier)+3
 8139 466c BC01                 movw r22,r24
 8140 466e CD01                 movw r24,r26
 8141 4670 0E94 0000            call __mulsi3
 8142 4674 DC01                 movw r26,r24
 8143 4676 CB01                 movw r24,r22
 8144 4678 BC01                 movw r22,r24
 8145 467a CD01                 movw r24,r26
 8146 467c 20EF                 ldi r18,lo8(22000)
 8147 467e 35E5                 ldi r19,hi8(22000)
 8148 4680 40E0                 ldi r20,hlo8(22000)
 8149 4682 50E0                 ldi r21,hhi8(22000)
 8150 4684 0E94 0000            call __divmodsi4
 8151 4688 B501                 movw r22,r10
 8152 468a 620F                 add r22,r18
 8153 468c 731F                 adc r23,r19
 8154 468e 7093 0000            sts (MesswertGier)+1,r23
 8155 4692 6093 0000            sts MesswertGier,r22
 8156 4696 0150                 subi r16,lo8(4097)
 8157 4698 1041                 sbci r17,hi8(4097)
 8158 469a 04F0                 brlt .L646
 8159 469c 80E0                 ldi r24,lo8(4096)
 8160 469e 90E1                 ldi r25,hi8(4096)
 8161 46a0 9093 0000            sts (MesswertNick)+1,r25
 8162 46a4 8093 0000            sts MesswertNick,r24
 8163                   .L646:
 8164 46a8 8091 0000            lds r24,MesswertNick
 8165 46ac 9091 0000            lds r25,(MesswertNick)+1
 8166 46b0 8050                 subi r24,lo8(-4096)
 8167 46b2 904F                 sbci r25,hi8(-4096)
 8168 46b4 04F4                 brge .L647
 8169 46b6 80E0                 ldi r24,lo8(-4096)
 8170 46b8 90EF                 ldi r25,hi8(-4096)
 8171 46ba 9093 0000            sts (MesswertNick)+1,r25
 8172 46be 8093 0000            sts MesswertNick,r24
 8173                   .L647:
 8174 46c2 51E0                 ldi r21,lo8(4097)
 8175 46c4 8516                 cp r8,r21
 8176 46c6 50E1                 ldi r21,hi8(4097)
 8177 46c8 9506                 cpc r9,r21
 8178 46ca 04F0                 brlt .L648
 8179 46cc 80E0                 ldi r24,lo8(4096)
 8180 46ce 90E1                 ldi r25,hi8(4096)
 8181 46d0 9093 0000            sts (MesswertRoll)+1,r25
 8182 46d4 8093 0000            sts MesswertRoll,r24
 8183                   .L648:
 8184 46d8 8091 0000            lds r24,MesswertRoll
 8185 46dc 9091 0000            lds r25,(MesswertRoll)+1
 8186 46e0 8050                 subi r24,lo8(-4096)
 8187 46e2 904F                 sbci r25,hi8(-4096)
 8188 46e4 04F4                 brge .L649
 8189 46e6 80E0                 ldi r24,lo8(-4096)
 8190 46e8 90EF                 ldi r25,hi8(-4096)
 8191 46ea 9093 0000            sts (MesswertRoll)+1,r25
 8192 46ee 8093 0000            sts MesswertRoll,r24
 8193                   .L649:
 8194 46f2 6150                 subi r22,lo8(4097)
 8195 46f4 7041                 sbci r23,hi8(4097)
 8196 46f6 04F0                 brlt .L650
 8197 46f8 80E0                 ldi r24,lo8(4096)
 8198 46fa 90E1                 ldi r25,hi8(4096)
 8199 46fc 9093 0000            sts (MesswertGier)+1,r25
 8200 4700 8093 0000            sts MesswertGier,r24
 8201                   .L650:
 8202 4704 8091 0000            lds r24,MesswertGier
 8203 4708 9091 0000            lds r25,(MesswertGier)+1
 8204 470c 8050                 subi r24,lo8(-4096)
 8205 470e 904F                 sbci r25,hi8(-4096)
 8206 4710 04F4                 brge .L651
 8207 4712 80E0                 ldi r24,lo8(-4096)
 8208 4714 90EF                 ldi r25,hi8(-4096)
 8209 4716 9093 0000            sts (MesswertGier)+1,r25
 8210 471a 8093 0000            sts MesswertGier,r24
 8211                   .L651:
 8212 471e 8091 0000            lds r24,BattLowVoltageWarning
 8213 4722 482F                 mov r20,r24
 8214 4724 5527                 clr r21
 8215 4726 8091 0000            lds r24,UBat
 8216 472a 9091 0000            lds r25,(UBat)+1
 8217 472e 4817                 cp r20,r24
 8218 4730 5907                 cpc r21,r25
 8219 4732 04F4                 brge .L652
 8220 4734 2091 0000            lds r18,UBat
 8221 4738 3091 0000            lds r19,(UBat)+1
 8222 473c 0981                 ldd r16,Y+1
 8223 473e 1A81                 ldd r17,Y+2
 8224 4740 049F                 mul r16,r20
 8225 4742 C001                 movw r24,r0
 8226 4744 059F                 mul r16,r21
 8227 4746 900D                 add r25,r0
 8228 4748 149F                 mul r17,r20
 8229 474a 900D                 add r25,r0
 8230 474c 1124                 clr r1
 8231 474e B901                 movw r22,r18
 8232 4750 0E94 0000            call __udivmodhi4
 8233 4754 7A83                 std Y+2,r23
 8234 4756 6983                 std Y+1,r22
 8235                   .L652:
 8236 4758 2981                 ldd r18,Y+1
 8237 475a 3A81                 ldd r19,Y+2
 8238 475c 220F                 lsl r18
 8239 475e 331F                 rol r19
 8240 4760 220F                 lsl r18
 8241 4762 331F                 rol r19
 8242 4764 3A83                 std Y+2,r19
 8243 4766 2983                 std Y+1,r18
 8244 4768 4091 0000            lds r20,Parameter_GlobalConfig
 8245 476c 40FD                 sbrc r20,0
 8246 476e 00C0                 rjmp .+4
 8247 4770 0C94 0000            jmp .L653
 8248 4774 EE20                 tst r14
 8249 4776 01F0                 breq .+4
 8250 4778 0C94 0000            jmp .L653
 8251 477c FF20                 tst r15
 8252 477e 01F0                 breq .+4
 8253 4780 0C94 0000            jmp .L653
 8254 4784 00E0                 ldi r16,lo8(0)
 8255 4786 10E0                 ldi r17,hi8(0)
 8256 4788 4801                 movw r8,r16
 8257 478a 8091 0000            lds r24,HoverGas
 8258 478e 9091 0000            lds r25,(HoverGas)+1
 8259 4792 9093 0000            sts (DebugOut+44)+1,r25
 8260 4796 8093 0000            sts DebugOut+44,r24
 8261 479a 2091 0000            lds r18,BaroExpandActive
 8262 479e 3091 0000            lds r19,(BaroExpandActive)+1
 8263 47a2 2115                 cp r18,__zero_reg__
 8264 47a4 3105                 cpc r19,__zero_reg__
 8265 47a6 01F0                 breq .+2
 8266 47a8 00C0                 rjmp .L654
 8267 47aa 8091 0000            lds r24,MessLuftdruck
 8268 47ae 9091 0000            lds r25,(MessLuftdruck)+1
 8269 47b2 8959                 subi r24,lo8(921)
 8270 47b4 9340                 sbci r25,hi8(921)
 8271 47b6 00F0                 brlo .L655
 8272 47b8 87B5                 in r24,71-0x20
 8273 47ba 803F                 cpi r24,lo8(-16)
 8274 47bc 00F4                 brsh .L656
 8275 47be 8091 0000            lds r24,ExpandBaro
 8276 47c2 8150                 subi r24,lo8(-(-1))
 8277 47c4 00C0                 rjmp .L896
 8278                   .L656:
 8279 47c6 81E0                 ldi r24,lo8(1)
 8280 47c8 8093 0000            sts BaroAtLowerLimit.26,r24
 8281 47cc 00C0                 rjmp .L663
 8282                   .L655:
 8283 47ce 8091 0000            lds r24,MessLuftdruck
 8284 47d2 9091 0000            lds r25,(MessLuftdruck)+1
 8285 47d6 8436                 cpi r24,100
 8286 47d8 9105                 cpc r25,__zero_reg__
 8287 47da 00F4                 brsh .L659
 8288 47dc 87B5                 in r24,71-0x20
 8289 47de 8031                 cpi r24,lo8(16)
 8290 47e0 00F0                 brlo .L660
 8291 47e2 8091 0000            lds r24,ExpandBaro
 8292 47e6 8F5F                 subi r24,lo8(-(1))
 8293                   .L896:
 8294 47e8 8093 0000            sts ExpandBaro,r24
 8295 47ec 9FE0                 ldi r25,lo8(15)
 8296 47ee 8902                 muls r24,r25
 8297 47f0 9001                 movw r18,r0
 8298 47f2 1124                 clr r1
 8299 47f4 8091 0000            lds r24,DruckOffsetSetting
 8300 47f8 821B                 sub r24,r18
 8301 47fa 87BD                 out 71-0x20,r24
 8302 47fc 8CE2                 ldi r24,lo8(300)
 8303 47fe 91E0                 ldi r25,hi8(300)
 8304 4800 9093 0000            sts (beeptime)+1,r25
 8305 4804 8093 0000            sts beeptime,r24
 8306 4808 8EE5                 ldi r24,lo8(350)
 8307 480a 91E0                 ldi r25,hi8(350)
 8308 480c 9093 0000            sts (BaroExpandActive)+1,r25
 8309 4810 8093 0000            sts BaroExpandActive,r24
 8310 4814 00C0                 rjmp .L663
 8311                   .L660:
 8312 4816 81E0                 ldi r24,lo8(1)
 8313 4818 8093 0000            sts BaroAtUpperLimit.25,r24
 8314 481c 00C0                 rjmp .L663
 8315                   .L659:
 8316 481e F092 0000            sts BaroAtUpperLimit.25,r15
 8317 4822 F092 0000            sts BaroAtLowerLimit.26,r15
 8318 4826 00C0                 rjmp .L663
 8319                   .L654:
 8320 4828 8091 0000            lds r24,HoehenWert
 8321 482c 9091 0000            lds r25,(HoehenWert)+1
 8322 4830 A091 0000            lds r26,(HoehenWert)+2
 8323 4834 B091 0000            lds r27,(HoehenWert)+3
 8324 4838 64E0                 ldi r22,4
 8325 483a 880F         1:      lsl r24
 8326 483c 991F                 rol r25
 8327 483e AA1F                 rol r26
 8328 4840 BB1F                 rol r27
 8329 4842 6A95                 dec r22
 8330 4844 01F4                 brne 1b
 8331 4846 8093 0000            sts SummenHoehe,r24
 8332 484a 9093 0000            sts (SummenHoehe)+1,r25
 8333 484e A093 0000            sts (SummenHoehe)+2,r26
 8334 4852 B093 0000            sts (SummenHoehe)+3,r27
 8335 4856 1093 0000            sts (VarioMeter)+1,r17
 8336 485a 0093 0000            sts VarioMeter,r16
 8337 485e 2150                 subi r18,lo8(-(-1))
 8338 4860 3040                 sbci r19,hi8(-(-1))
 8339 4862 3093 0000            sts (BaroExpandActive)+1,r19
 8340 4866 2093 0000            sts BaroExpandActive,r18
 8341                   .L663:
 8342 486a 2091 0000            lds r18,Parameter_HoehenSchalter
 8343 486e 41FF                 sbrs r20,1
 8344 4870 00C0                 rjmp .L664
 8345 4872 2233                 cpi r18,lo8(50)
 8346 4874 00F4                 brsh .L665
 8347 4876 8091 0000            lds r24,delay.24
 8348 487a 8150                 subi r24,lo8(-(-1))
 8349 487c 8093 0000            sts delay.24,r24
 8350 4880 8F3F                 cpi r24,lo8(-1)
 8351 4882 01F0                 breq .+2
 8352 4884 00C0                 rjmp .L671
 8353 4886 8091 0000            lds r24,SpeakHoTT
 8354 488a 8823                 tst r24
 8355 488c 01F4                 brne .L667
 8356 488e 8091 0000            lds r24,HoehenReglerAktiv
 8357 4892 8823                 tst r24
 8358 4894 01F0                 breq .L667
 8359 4896 88E2                 ldi r24,lo8(40)
 8360 4898 8093 0000            sts SpeakHoTT,r24
 8361                   .L667:
 8362 489c 1092 0000            sts HoehenReglerAktiv,__zero_reg__
 8363 48a0 8091 0000            lds r24,HoehenWert
 8364 48a4 9091 0000            lds r25,(HoehenWert)+1
 8365 48a8 A091 0000            lds r26,(HoehenWert)+2
 8366 48ac B091 0000            lds r27,(HoehenWert)+3
 8367 48b0 8093 0000            sts SollHoehe,r24
 8368 48b4 9093 0000            sts (SollHoehe)+1,r25
 8369 48b8 A093 0000            sts (SollHoehe)+2,r26
 8370 48bc B093 0000            sts (SollHoehe)+3,r27
 8371 48c0 81E0                 ldi r24,lo8(1)
 8372 48c2 8093 0000            sts delay.24,r24
 8373 48c6 00C0                 rjmp .L671
 8374                   .L665:
 8375 48c8 2734                 cpi r18,lo8(71)
 8376 48ca 00F0                 brlo .L671
 8377 48cc 8091 0000            lds r24,SpeakHoTT
 8378 48d0 8823                 tst r24
 8379 48d2 01F4                 brne .L670
 8380 48d4 8091 0000            lds r24,HoehenReglerAktiv
 8381 48d8 8823                 tst r24
 8382 48da 01F4                 brne .L670
 8383 48dc 87E2                 ldi r24,lo8(39)
 8384 48de 8093 0000            sts SpeakHoTT,r24
 8385                   .L670:
 8386 48e2 88EC                 ldi r24,lo8(-56)
 8387 48e4 8093 0000            sts delay.24,r24
 8388 48e8 00C0                 rjmp .L897
 8389                   .L664:
 8390 48ea 8091 0000            lds r24,ExternHoehenValue
 8391 48ee 9091 0000            lds r25,(ExternHoehenValue)+1
 8392 48f2 820F                 add r24,r18
 8393 48f4 911D                 adc r25,__zero_reg__
 8394 48f6 2091 0000            lds r18,EE_Parameter+18
 8395 48fa 3327                 clr r19
 8396 48fc 829F                 mul r24,r18
 8397 48fe A001                 movw r20,r0
 8398 4900 839F                 mul r24,r19
 8399 4902 500D                 add r21,r0
 8400 4904 929F                 mul r25,r18
 8401 4906 500D                 add r21,r0
 8402 4908 1124                 clr r1
 8403 490a CA01                 movw r24,r20
 8404 490c AA27                 clr r26
 8405 490e 97FD                 sbrc r25,7
 8406 4910 A095                 com r26
 8407 4912 BA2F                 mov r27,r26
 8408 4914 8093 0000            sts SollHoehe,r24
 8409 4918 9093 0000            sts (SollHoehe)+1,r25
 8410 491c A093 0000            sts (SollHoehe)+2,r26
 8411 4920 B093 0000            sts (SollHoehe)+3,r27
 8412                   .L897:
 8413 4924 81E0                 ldi r24,lo8(1)
 8414 4926 8093 0000            sts HoehenReglerAktiv,r24
 8415                   .L671:
 8416 492a 8091 0000            lds r24,IntegralNick
 8417 492e 9091 0000            lds r25,(IntegralNick)+1
 8418 4932 A091 0000            lds r26,(IntegralNick)+2
 8419 4936 B091 0000            lds r27,(IntegralNick)+3
 8420 493a E090 0000            lds r14,GIER_GRAD_FAKTOR
 8421 493e F090 0000            lds r15,(GIER_GRAD_FAKTOR)+1
 8422 4942 0091 0000            lds r16,(GIER_GRAD_FAKTOR)+2
 8423 4946 1091 0000            lds r17,(GIER_GRAD_FAKTOR)+3
 8424 494a BC01                 movw r22,r24
 8425 494c CD01                 movw r24,r26
 8426 494e A801                 movw r20,r16
 8427 4950 9701                 movw r18,r14
 8428 4952 0E94 0000            call __divmodsi4
 8429 4956 5901                 movw r10,r18
 8430 4958 6A01                 movw r12,r20
 8431 495a 8091 0000            lds r24,IntegralRoll
 8432 495e 9091 0000            lds r25,(IntegralRoll)+1
 8433 4962 A091 0000            lds r26,(IntegralRoll)+2
 8434 4966 B091 0000            lds r27,(IntegralRoll)+3
 8435 496a BC01                 movw r22,r24
 8436 496c CD01                 movw r24,r26
 8437 496e A801                 movw r20,r16
 8438 4970 9701                 movw r18,r14
 8439 4972 0E94 0000            call __divmodsi4
 8440 4976 B901                 movw r22,r18
 8441 4978 C501                 movw r24,r10
 8442 497a 0E94 0000            call ihypot
 8443 497e 5C01                 movw r10,r24
 8444 4980 CC97                 sbiw r24,60
 8445 4982 04F0                 brlt .L672
 8446 4984 5CE3                 ldi r21,lo8(60)
 8447 4986 A52E                 mov r10,r21
 8448 4988 B12C                 mov r11,__zero_reg__
 8449                   .L672:
 8450 498a C501                 movw r24,r10
 8451 498c 0E94 0000            call c_cos_8192
 8452 4990 5C01                 movw r10,r24
 8453 4992 80E2                 ldi r24,lo8(32)
 8454 4994 8093 0000            sts VarioCharacter,r24
 8455 4998 1092 0000            sts (AltitudeSetpointTrimming)+1,__zero_reg__
 8456 499c 1092 0000            sts AltitudeSetpointTrimming,__zero_reg__
 8457 49a0 8091 0000            lds r24,HoehenReglerAktiv
 8458 49a4 8823                 tst r24
 8459 49a6 01F4                 brne .+2
 8460 49a8 00C0                 rjmp .L673
 8461 49aa 8091 0000            lds r24,FC_StatusFlags
 8462 49ae 9927                 clr r25
 8463 49b0 9C01                 movw r18,r24
 8464 49b2 2071                 andi r18,lo8(16)
 8465 49b4 3070                 andi r19,hi8(16)
 8466 49b6 84FD                 sbrc r24,4
 8467 49b8 00C0                 rjmp .L673
 8468 49ba 8091 0000            lds r24,FC_StatusFlags2
 8469 49be 8260                 ori r24,lo8(2)
 8470 49c0 8093 0000            sts FC_StatusFlags2,r24
 8471 49c4 7091 0000            lds r23,Parameter_ExtraConfig
 8472 49c8 872F                 mov r24,r23
 8473 49ca 9927                 clr r25
 8474 49cc 41E0                 ldi r20,lo8(1)
 8475 49ce C42E                 mov r12,r20
 8476 49d0 D12C                 mov r13,__zero_reg__
 8477 49d2 C822                 and r12,r24
 8478 49d4 D922                 and r13,r25
 8479 49d6 80FD                 sbrc r24,0
 8480 49d8 00C0                 rjmp .L675
 8481 49da 8091 0000            lds r24,Parameter_GlobalConfig
 8482 49de 81FD                 sbrc r24,1
 8483 49e0 00C0                 rjmp .L674
 8484                   .L675:
 8485 49e2 C980                 ldd r12,Y+1
 8486 49e4 DA80                 ldd r13,Y+2
 8487 49e6 3093 0000            sts (HeightTrimming.21)+1,r19
 8488 49ea 2093 0000            sts HeightTrimming.21,r18
 8489 49ee 3093 0000            sts (AltitudeSetpointTrimming)+1,r19
 8490 49f2 2093 0000            sts AltitudeSetpointTrimming,r18
 8491 49f6 8091 0000            lds r24,FC_StatusFlags
 8492 49fa 806C                 ori r24,lo8(-64)
 8493 49fc 8093 0000            sts FC_StatusFlags,r24
 8494 4a00 00C0                 rjmp .L676
 8495                   .L674:
 8496 4a02 8091 0000            lds r24,FC_StatusFlags
 8497 4a06 81FF                 sbrs r24,1
 8498 4a08 00C0                 rjmp .L677
 8499 4a0a 0091 0000            lds r16,StickGasHover
 8500 4a0e 1091 0000            lds r17,(StickGasHover)+1
 8501 4a12 C801                 movw r24,r16
 8502 4a14 0F96                 adiw r24,15
 8503 4a16 2090 0000            lds r2,StickGas
 8504 4a1a 3090 0000            lds r3,(StickGas)+1
 8505 4a1e 8215                 cp r24,r2
 8506 4a20 9305                 cpc r25,r3
 8507 4a22 04F0                 brlt .+2
 8508 4a24 00C0                 rjmp .L678
 8509 4a26 8091 0000            lds r24,BaroAtUpperLimit.25
 8510 4a2a 8823                 tst r24
 8511 4a2c 01F0                 breq .+2
 8512 4a2e 00C0                 rjmp .L678
 8513 4a30 8091 0000            lds r24,FC_StatusFlags
 8514 4a34 87FF                 sbrs r24,7
 8515 4a36 00C0                 rjmp .L679
 8516 4a38 8091 0000            lds r24,FC_StatusFlags
 8517 4a3c 8F77                 andi r24,lo8(127)
 8518 4a3e 8093 0000            sts FC_StatusFlags,r24
 8519 4a42 8091 0000            lds r24,HoehenWert
 8520 4a46 9091 0000            lds r25,(HoehenWert)+1
 8521 4a4a A091 0000            lds r26,(HoehenWert)+2
 8522 4a4e B091 0000            lds r27,(HoehenWert)+3
 8523 4a52 8093 0000            sts SollHoehe,r24
 8524 4a56 9093 0000            sts (SollHoehe)+1,r25
 8525 4a5a A093 0000            sts (SollHoehe)+2,r26
 8526 4a5e B093 0000            sts (SollHoehe)+3,r27
 8527                   .L679:
 8528 4a62 8091 0000            lds r24,FC_StatusFlags
 8529 4a66 8064                 ori r24,lo8(64)
 8530 4a68 8093 0000            sts FC_StatusFlags,r24
 8531 4a6c E090 0000            lds r14,Parameter_MaximumAltitude
 8532 4a70 EE20                 tst r14
 8533 4a72 01F0                 breq .L680
 8534 4a74 8091 0000            lds r24,SollHoehe
 8535 4a78 9091 0000            lds r25,(SollHoehe)+1
 8536 4a7c A091 0000            lds r26,(SollHoehe)+2
 8537 4a80 B091 0000            lds r27,(SollHoehe)+3
 8538 4a84 BC01                 movw r22,r24
 8539 4a86 CD01                 movw r24,r26
 8540 4a88 24E6                 ldi r18,lo8(100)
 8541 4a8a 30E0                 ldi r19,hi8(100)
 8542 4a8c 40E0                 ldi r20,hlo8(100)
 8543 4a8e 50E0                 ldi r21,hhi8(100)
 8544 4a90 0E94 0000            call __divmodsi4
 8545 4a94 8E2D                 mov r24,r14
 8546 4a96 9927                 clr r25
 8547 4a98 AA27                 clr r26
 8548 4a9a BB27                 clr r27
 8549 4a9c 8217                 cp r24,r18
 8550 4a9e 9307                 cpc r25,r19
 8551 4aa0 A407                 cpc r26,r20
 8552 4aa2 B507                 cpc r27,r21
 8553 4aa4 04F4                 brge .L680
 8554 4aa6 D092 0000            sts (AltitudeSetpointTrimming)+1,r13
 8555 4aaa C092 0000            sts AltitudeSetpointTrimming,r12
 8556 4aae 00C0                 rjmp .L681
 8557                   .L680:
 8558 4ab0 C101                 movw r24,r2
 8559 4ab2 801B                 sub r24,r16
 8560 4ab4 910B                 sbc r25,r17
 8561 4ab6 0F97                 sbiw r24,15
 8562 4ab8 97FF                 sbrs r25,7
 8563 4aba 00C0                 rjmp .L682
 8564 4abc 9095                 com r25
 8565 4abe 8195                 neg r24
 8566 4ac0 9F4F                 sbci r25,lo8(-1)
 8567                   .L682:
 8568 4ac2 9093 0000            sts (AltitudeSetpointTrimming)+1,r25
 8569 4ac6 8093 0000            sts AltitudeSetpointTrimming,r24
 8570 4aca 8BE2                 ldi r24,lo8(43)
 8571 4acc 8093 0000            sts VarioCharacter,r24
 8572                   .L681:
 8573 4ad0 1092 0000            sts WaypointTrimming,__zero_reg__
 8574 4ad4 00C0                 rjmp .L683
 8575                   .L678:
 8576 4ad6 C801                 movw r24,r16
 8577 4ad8 0F97                 sbiw r24,15
 8578 4ada 2816                 cp r2,r24
 8579 4adc 3906                 cpc r3,r25
 8580 4ade 04F4                 brge .L684
 8581 4ae0 2091 0000            lds r18,BaroAtLowerLimit.26
 8582 4ae4 2223                 tst r18
 8583 4ae6 01F4                 brne .L684
 8584 4ae8 8091 0000            lds r24,FC_StatusFlags
 8585 4aec 86FF                 sbrs r24,6
 8586 4aee 00C0                 rjmp .L685
 8587 4af0 8091 0000            lds r24,FC_StatusFlags
 8588 4af4 8F7B                 andi r24,lo8(-65)
 8589 4af6 8093 0000            sts FC_StatusFlags,r24
 8590 4afa 8091 0000            lds r24,HoehenWert
 8591 4afe 9091 0000            lds r25,(HoehenWert)+1
 8592 4b02 A091 0000            lds r26,(HoehenWert)+2
 8593 4b06 B091 0000            lds r27,(HoehenWert)+3
 8594 4b0a 8093 0000            sts SollHoehe,r24
 8595 4b0e 9093 0000            sts (SollHoehe)+1,r25
 8596 4b12 A093 0000            sts (SollHoehe)+2,r26
 8597 4b16 B093 0000            sts (SollHoehe)+3,r27
 8598                   .L685:
 8599 4b1a 8091 0000            lds r24,FC_StatusFlags
 8600 4b1e 8068                 ori r24,lo8(-128)
 8601 4b20 8093 0000            sts FC_StatusFlags,r24
 8602 4b24 C101                 movw r24,r2
 8603 4b26 801B                 sub r24,r16
 8604 4b28 910B                 sbc r25,r17
 8605 4b2a 0F96                 adiw r24,15
 8606 4b2c 97FF                 sbrs r25,7
 8607 4b2e 00C0                 rjmp .L686
 8608 4b30 9095                 com r25
 8609 4b32 8195                 neg r24
 8610 4b34 9F4F                 sbci r25,lo8(-1)
 8611                   .L686:
 8612 4b36 9095                 com r25
 8613 4b38 8195                 neg r24
 8614 4b3a 9F4F                 sbci r25,lo8(-1)
 8615 4b3c 9093 0000            sts (AltitudeSetpointTrimming)+1,r25
 8616 4b40 8093 0000            sts AltitudeSetpointTrimming,r24
 8617 4b44 8DE2                 ldi r24,lo8(45)
 8618 4b46 8093 0000            sts VarioCharacter,r24
 8619 4b4a 2093 0000            sts WaypointTrimming,r18
 8620 4b4e 00C0                 rjmp .L683
 8621                   .L684:
 8622 4b50 8DE3                 ldi r24,lo8(61)
 8623 4b52 8093 0000            sts VarioCharacter,r24
 8624 4b56 6091 0000            lds r22,FromNC_AltitudeSpeed
 8625 4b5a 6623                 tst r22
 8626 4b5c 01F0                 breq .L688
 8627 4b5e 2091 0000            lds r18,FromNC_AltitudeSetpoint
 8628 4b62 3091 0000            lds r19,(FromNC_AltitudeSetpoint)+1
 8629 4b66 4091 0000            lds r20,(FromNC_AltitudeSetpoint)+2
 8630 4b6a 5091 0000            lds r21,(FromNC_AltitudeSetpoint)+3
 8631 4b6e 8091 0000            lds r24,SollHoehe
 8632 4b72 9091 0000            lds r25,(SollHoehe)+1
 8633 4b76 A091 0000            lds r26,(SollHoehe)+2
 8634 4b7a B091 0000            lds r27,(SollHoehe)+3
 8635 4b7e 8217                 cp r24,r18
 8636 4b80 9307                 cpc r25,r19
 8637 4b82 A407                 cpc r26,r20
 8638 4b84 B507                 cpc r27,r21
 8639 4b86 04F4                 brge .L688
 8640 4b88 8091 0000            lds r24,FC_StatusFlags
 8641 4b8c 8064                 ori r24,lo8(64)
 8642 4b8e 8093 0000            sts FC_StatusFlags,r24
 8643 4b92 862F                 mov r24,r22
 8644 4b94 9927                 clr r25
 8645 4b96 9093 0000            sts (AltitudeSetpointTrimming)+1,r25
 8646 4b9a 8093 0000            sts AltitudeSetpointTrimming,r24
 8647 4b9e 8AE0                 ldi r24,lo8(10)
 8648 4ba0 8093 0000            sts WaypointTrimming,r24
 8649 4ba4 8EE5                 ldi r24,lo8(94)
 8650 4ba6 8093 0000            sts VarioCharacter,r24
 8651 4baa 8091 0000            lds r24,FC_StatusFlags
 8652 4bae 87FF                 sbrs r24,7
 8653 4bb0 00C0                 rjmp .L683
 8654 4bb2 8091 0000            lds r24,FC_StatusFlags
 8655 4bb6 8F77                 andi r24,lo8(127)
 8656 4bb8 00C0                 rjmp .L899
 8657                   .L688:
 8658 4bba 6623                 tst r22
 8659 4bbc 01F4                 brne .+2
 8660 4bbe 00C0                 rjmp .L691
 8661 4bc0 2091 0000            lds r18,FromNC_AltitudeSetpoint
 8662 4bc4 3091 0000            lds r19,(FromNC_AltitudeSetpoint)+1
 8663 4bc8 4091 0000            lds r20,(FromNC_AltitudeSetpoint)+2
 8664 4bcc 5091 0000            lds r21,(FromNC_AltitudeSetpoint)+3
 8665 4bd0 8091 0000            lds r24,SollHoehe
 8666 4bd4 9091 0000            lds r25,(SollHoehe)+1
 8667 4bd8 A091 0000            lds r26,(SollHoehe)+2
 8668 4bdc B091 0000            lds r27,(SollHoehe)+3
 8669 4be0 2817                 cp r18,r24
 8670 4be2 3907                 cpc r19,r25
 8671 4be4 4A07                 cpc r20,r26
 8672 4be6 5B07                 cpc r21,r27
 8673 4be8 04F4                 brge .L691
 8674 4bea 8091 0000            lds r24,FC_StatusFlags
 8675 4bee 8068                 ori r24,lo8(-128)
 8676 4bf0 8093 0000            sts FC_StatusFlags,r24
 8677 4bf4 862F                 mov r24,r22
 8678 4bf6 9927                 clr r25
 8679 4bf8 9095                 com r25
 8680 4bfa 8195                 neg r24
 8681 4bfc 9F4F                 sbci r25,lo8(-1)
 8682 4bfe 9093 0000            sts (AltitudeSetpointTrimming)+1,r25
 8683 4c02 8093 0000            sts AltitudeSetpointTrimming,r24
 8684 4c06 86EF                 ldi r24,lo8(-10)
 8685 4c08 8093 0000            sts WaypointTrimming,r24
 8686 4c0c 86E7                 ldi r24,lo8(118)
 8687 4c0e 8093 0000            sts VarioCharacter,r24
 8688 4c12 8091 0000            lds r24,FC_StatusFlags
 8689 4c16 86FF                 sbrs r24,6
 8690 4c18 00C0                 rjmp .L683
 8691 4c1a 8091 0000            lds r24,FC_StatusFlags
 8692 4c1e 8F7B                 andi r24,lo8(-65)
 8693                   .L899:
 8694 4c20 8093 0000            sts FC_StatusFlags,r24
 8695 4c24 8091 0000            lds r24,HoehenWert
 8696 4c28 9091 0000            lds r25,(HoehenWert)+1
 8697 4c2c A091 0000            lds r26,(HoehenWert)+2
 8698 4c30 B091 0000            lds r27,(HoehenWert)+3
 8699 4c34 8093 0000            sts SollHoehe,r24
 8700 4c38 9093 0000            sts (SollHoehe)+1,r25
 8701 4c3c A093 0000            sts (SollHoehe)+2,r26
 8702 4c40 B093 0000            sts (SollHoehe)+3,r27
 8703 4c44 00C0                 rjmp .L683
 8704                   .L691:
 8705 4c46 8091 0000            lds r24,FC_StatusFlags
 8706 4c4a 807C                 andi r24,lo8(-64)
 8707 4c4c 01F4                 brne .+2
 8708 4c4e 00C0                 rjmp .L683
 8709 4c50 8091 0000            lds r24,WaypointTrimming
 8710 4c54 8823                 tst r24
 8711 4c56 01F4                 brne .L695
 8712 4c58 E090 0000            lds r14,HoehenWert
 8713 4c5c F090 0000            lds r15,(HoehenWert)+1
 8714 4c60 0091 0000            lds r16,(HoehenWert)+2
 8715 4c64 1091 0000            lds r17,(HoehenWert)+3
 8716 4c68 D801                 movw r26,r16
 8717 4c6a C701                 movw r24,r14
 8718 4c6c 8058                 subi r24,lo8(-(-128))
 8719 4c6e 9040                 sbci r25,hi8(-(-128))
 8720 4c70 A040                 sbci r26,hlo8(-(-128))
 8721 4c72 B040                 sbci r27,hhi8(-(-128))
 8722 4c74 2091 0000            lds r18,SollHoehe
 8723 4c78 3091 0000            lds r19,(SollHoehe)+1
 8724 4c7c 4091 0000            lds r20,(SollHoehe)+2
 8725 4c80 5091 0000            lds r21,(SollHoehe)+3
 8726 4c84 8217                 cp r24,r18
 8727 4c86 9307                 cpc r25,r19
 8728 4c88 A407                 cpc r26,r20
 8729 4c8a B507                 cpc r27,r21
 8730 4c8c 04F4                 brge .L898
 8731 4c8e D801                 movw r26,r16
 8732 4c90 C701                 movw r24,r14
 8733 4c92 8058                 subi r24,lo8(-(128))
 8734 4c94 9F4F                 sbci r25,hi8(-(128))
 8735 4c96 AF4F                 sbci r26,hlo8(-(128))
 8736 4c98 BF4F                 sbci r27,hhi8(-(128))
 8737 4c9a 2817                 cp r18,r24
 8738 4c9c 3907                 cpc r19,r25
 8739 4c9e 4A07                 cpc r20,r26
 8740 4ca0 5B07                 cpc r21,r27
 8741 4ca2 04F0                 brlt .L699
 8742                   .L898:
 8743 4ca4 8093 0000            sts SollHoehe,r24
 8744 4ca8 9093 0000            sts (SollHoehe)+1,r25
 8745 4cac A093 0000            sts (SollHoehe)+2,r26
 8746 4cb0 B093 0000            sts (SollHoehe)+3,r27
 8747 4cb4 00C0                 rjmp .L699
 8748                   .L695:
 8749 4cb6 1092 0000            sts WaypointTrimming,__zero_reg__
 8750                   .L699:
 8751 4cba 8091 0000            lds r24,FC_StatusFlags
 8752 4cbe 8F73                 andi r24,lo8(63)
 8753 4cc0 8093 0000            sts FC_StatusFlags,r24
 8754 4cc4 1092 0000            sts (HeightTrimming.21)+1,__zero_reg__
 8755 4cc8 1092 0000            sts HeightTrimming.21,__zero_reg__
 8756 4ccc 71FF                 sbrs r23,1
 8757 4cce 00C0                 rjmp .L700
 8758 4cd0 84EF                 ldi r24,lo8(500)
 8759 4cd2 91E0                 ldi r25,hi8(500)
 8760 4cd4 9093 0000            sts (beeptime)+1,r25
 8761 4cd8 8093 0000            sts beeptime,r24
 8762                   .L700:
 8763 4cdc 8091 0000            lds r24,StartTrigger
 8764 4ce0 8823                 tst r24
 8765 4ce2 01F4                 brne .L683
 8766 4ce4 8091 0000            lds r24,HoehenWert
 8767 4ce8 9091 0000            lds r25,(HoehenWert)+1
 8768 4cec A091 0000            lds r26,(HoehenWert)+2
 8769 4cf0 B091 0000            lds r27,(HoehenWert)+3
 8770 4cf4 C397                 sbiw r24,51
 8771 4cf6 A105                 cpc r26,__zero_reg__
 8772 4cf8 B105                 cpc r27,__zero_reg__
 8773 4cfa 04F0                 brlt .L683
 8774 4cfc 81E0                 ldi r24,lo8(1)
 8775 4cfe 8093 0000            sts StartTrigger,r24
 8776                   .L683:
 8777 4d02 6091 0000            lds r22,HeightTrimming.21
 8778 4d06 7091 0000            lds r23,(HeightTrimming.21)+1
 8779 4d0a 8091 0000            lds r24,AltitudeSetpointTrimming
 8780 4d0e 9091 0000            lds r25,(AltitudeSetpointTrimming)+1
 8781 4d12 680F                 add r22,r24
 8782 4d14 791F                 adc r23,r25
 8783 4d16 7093 0000            sts (HeightTrimming.21)+1,r23
 8784 4d1a 6093 0000            sts HeightTrimming.21,r22
 8785 4d1e CB01                 movw r24,r22
 8786 4d20 77FF                 sbrs r23,7
 8787 4d22 00C0                 rjmp .L703
 8788 4d24 8827                 clr r24
 8789 4d26 9927                 clr r25
 8790 4d28 861B                 sub r24,r22
 8791 4d2a 970B                 sbc r25,r23
 8792                   .L703:
 8793 4d2c 855F                 subi r24,lo8(501)
 8794 4d2e 9140                 sbci r25,hi8(501)
 8795 4d30 04F4                 brge .+2
 8796 4d32 00C0                 rjmp .L702
 8797 4d34 4091 0000            lds r20,WaypointTrimming
 8798 4d38 4423                 tst r20
 8799 4d3a 01F0                 breq .L704
 8800 4d3c 8091 0000            lds r24,FromNC_AltitudeSetpoint
 8801 4d40 9091 0000            lds r25,(FromNC_AltitudeSetpoint)+1
 8802 4d44 2091 0000            lds r18,SollHoehe
 8803 4d48 3091 0000            lds r19,(SollHoehe)+1
 8804 4d4c 821B                 sub r24,r18
 8805 4d4e 930B                 sbc r25,r19
 8806 4d50 0996                 adiw r24,9
 8807 4d52 4397                 sbiw r24,19
 8808 4d54 00F4                 brsh .L705
 8809 4d56 8091 0000            lds r24,FromNC_AltitudeSetpoint
 8810 4d5a 9091 0000            lds r25,(FromNC_AltitudeSetpoint)+1
 8811 4d5e A091 0000            lds r26,(FromNC_AltitudeSetpoint)+2
 8812 4d62 B091 0000            lds r27,(FromNC_AltitudeSetpoint)+3
 8813 4d66 00C0                 rjmp .L901
 8814                   .L705:
 8815 4d68 242F                 mov r18,r20
 8816 4d6a 3327                 clr r19
 8817 4d6c 27FD                 sbrc r18,7
 8818 4d6e 3095                 com r19
 8819 4d70 432F                 mov r20,r19
 8820 4d72 532F                 mov r21,r19
 8821 4d74 8091 0000            lds r24,SollHoehe
 8822 4d78 9091 0000            lds r25,(SollHoehe)+1
 8823 4d7c A091 0000            lds r26,(SollHoehe)+2
 8824 4d80 B091 0000            lds r27,(SollHoehe)+3
 8825 4d84 820F                 add r24,r18
 8826 4d86 931F                 adc r25,r19
 8827 4d88 A41F                 adc r26,r20
 8828 4d8a B51F                 adc r27,r21
 8829                   .L901:
 8830 4d8c 8093 0000            sts SollHoehe,r24
 8831 4d90 9093 0000            sts (SollHoehe)+1,r25
 8832 4d94 A093 0000            sts (SollHoehe)+2,r26
 8833 4d98 B093 0000            sts (SollHoehe)+3,r27
 8834 4d9c 00C0                 rjmp .L707
 8835                   .L704:
 8836 4d9e 8091 0000            lds r24,EE_Parameter+18
 8837 4da2 2091 0000            lds r18,SollHoehe
 8838 4da6 3091 0000            lds r19,(SollHoehe)+1
 8839 4daa 4091 0000            lds r20,(SollHoehe)+2
 8840 4dae 5091 0000            lds r21,(SollHoehe)+3
 8841 4db2 1616                 cp __zero_reg__,r22
 8842 4db4 1706                 cpc __zero_reg__,r23
 8843 4db6 04F4                 brge .L708
 8844 4db8 63E0                 ldi r22,lo8(3)
 8845 4dba 0E94 0000            call __udivmodqi4
 8846 4dbe 280F                 add r18,r24
 8847 4dc0 311D                 adc r19,__zero_reg__
 8848 4dc2 411D                 adc r20,__zero_reg__
 8849 4dc4 511D                 adc r21,__zero_reg__
 8850 4dc6 00C0                 rjmp .L900
 8851                   .L708:
 8852 4dc8 63E0                 ldi r22,lo8(3)
 8853 4dca 0E94 0000            call __udivmodqi4
 8854 4dce 281B                 sub r18,r24
 8855 4dd0 3109                 sbc r19,__zero_reg__
 8856 4dd2 4109                 sbc r20,__zero_reg__
 8857 4dd4 5109                 sbc r21,__zero_reg__
 8858                   .L900:
 8859 4dd6 2093 0000            sts SollHoehe,r18
 8860 4dda 3093 0000            sts (SollHoehe)+1,r19
 8861 4dde 4093 0000            sts (SollHoehe)+2,r20
 8862 4de2 5093 0000            sts (SollHoehe)+3,r21
 8863                   .L707:
 8864 4de6 1092 0000            sts (HeightTrimming.21)+1,__zero_reg__
 8865 4dea 1092 0000            sts HeightTrimming.21,__zero_reg__
 8866 4dee E090 0000            lds r14,HoehenWert
 8867 4df2 F090 0000            lds r15,(HoehenWert)+1
 8868 4df6 0091 0000            lds r16,(HoehenWert)+2
 8869 4dfa 1091 0000            lds r17,(HoehenWert)+3
 8870 4dfe D801                 movw r26,r16
 8871 4e00 C701                 movw r24,r14
 8872 4e02 8050                 subi r24,lo8(-(-1024))
 8873 4e04 9440                 sbci r25,hi8(-(-1024))
 8874 4e06 A040                 sbci r26,hlo8(-(-1024))
 8875 4e08 B040                 sbci r27,hhi8(-(-1024))
 8876 4e0a 2091 0000            lds r18,SollHoehe
 8877 4e0e 3091 0000            lds r19,(SollHoehe)+1
 8878 4e12 4091 0000            lds r20,(SollHoehe)+2
 8879 4e16 5091 0000            lds r21,(SollHoehe)+3
 8880 4e1a 8217                 cp r24,r18
 8881 4e1c 9307                 cpc r25,r19
 8882 4e1e A407                 cpc r26,r20
 8883 4e20 B507                 cpc r27,r21
 8884 4e22 04F4                 brge .L902
 8885 4e24 D801                 movw r26,r16
 8886 4e26 C701                 movw r24,r14
 8887 4e28 8050                 subi r24,lo8(-(1024))
 8888 4e2a 9C4F                 sbci r25,hi8(-(1024))
 8889 4e2c AF4F                 sbci r26,hlo8(-(1024))
 8890 4e2e BF4F                 sbci r27,hhi8(-(1024))
 8891 4e30 2817                 cp r18,r24
 8892 4e32 3907                 cpc r19,r25
 8893 4e34 4A07                 cpc r20,r26
 8894 4e36 5B07                 cpc r21,r27
 8895 4e38 04F0                 brlt .L711
 8896                   .L902:
 8897 4e3a 8093 0000            sts SollHoehe,r24
 8898 4e3e 9093 0000            sts (SollHoehe)+1,r25
 8899 4e42 A093 0000            sts (SollHoehe)+2,r26
 8900 4e46 B093 0000            sts (SollHoehe)+3,r27
 8901                   .L711:
 8902 4e4a 8091 0000            lds r24,Parameter_ExtraConfig
 8903 4e4e 81FF                 sbrs r24,1
 8904 4e50 00C0                 rjmp .L713
 8905 4e52 84E6                 ldi r24,lo8(100)
 8906 4e54 90E0                 ldi r25,hi8(100)
 8907 4e56 9093 0000            sts (beeptime)+1,r25
 8908 4e5a 8093 0000            sts beeptime,r24
 8909                   .L713:
 8910 4e5e 8091 0000            lds r24,EE_Parameter+22
 8911 4e62 8823                 tst r24
 8912 4e64 01F4                 brne .L702
 8913 4e66 8091 0000            lds r24,FromNC_AltitudeSpeed
 8914 4e6a 8823                 tst r24
 8915 4e6c 01F4                 brne .L702
 8916 4e6e 4091 0000            lds r20,HoverGas
 8917 4e72 5091 0000            lds r21,(HoverGas)+1
 8918 4e76 57FF                 sbrs r21,7
 8919 4e78 00C0                 rjmp .L715
 8920 4e7a 4D5F                 subi r20,lo8(-(3))
 8921 4e7c 5F4F                 sbci r21,hi8(-(3))
 8922                   .L715:
 8923 4e7e 5595                 asr r21
 8924 4e80 4795                 ror r20
 8925 4e82 5595                 asr r21
 8926 4e84 4795                 ror r20
 8927 4e86 8091 0000            lds r24,UBat
 8928 4e8a 9091 0000            lds r25,(UBat)+1
 8929 4e8e 2091 0000            lds r18,BattLowVoltageWarning
 8930 4e92 3327                 clr r19
 8931 4e94 489F                 mul r20,r24
 8932 4e96 F001                 movw r30,r0
 8933 4e98 499F                 mul r20,r25
 8934 4e9a F00D                 add r31,r0
 8935 4e9c 589F                 mul r21,r24
 8936 4e9e F00D                 add r31,r0
 8937 4ea0 1124                 clr r1
 8938 4ea2 CF01                 movw r24,r30
 8939 4ea4 B901                 movw r22,r18
 8940 4ea6 0E94 0000            call __divmodhi4
 8941 4eaa 7093 0000            sts (StickGasHover)+1,r23
 8942 4eae 6093 0000            sts StickGasHover,r22
 8943 4eb2 6634                 cpi r22,70
 8944 4eb4 7105                 cpc r23,__zero_reg__
 8945 4eb6 04F4                 brge .L716
 8946 4eb8 86E4                 ldi r24,lo8(70)
 8947 4eba 90E0                 ldi r25,hi8(70)
 8948 4ebc 00C0                 rjmp .L903
 8949                   .L716:
 8950 4ebe 6739                 cpi r22,151
 8951 4ec0 7105                 cpc r23,__zero_reg__
 8952 4ec2 04F0                 brlt .L702
 8953 4ec4 86E9                 ldi r24,lo8(150)
 8954 4ec6 90E0                 ldi r25,hi8(150)
 8955                   .L903:
 8956 4ec8 9093 0000            sts (StickGasHover)+1,r25
 8957 4ecc 8093 0000            sts StickGasHover,r24
 8958                   .L702:
 8959 4ed0 8091 0000            lds r24,BaroExpandActive
 8960 4ed4 9091 0000            lds r25,(BaroExpandActive)+1
 8961 4ed8 892B                 or r24,r25
 8962 4eda 01F0                 breq .L720
 8963 4edc 8091 0000            lds r24,HoehenWert
 8964 4ee0 9091 0000            lds r25,(HoehenWert)+1
 8965 4ee4 A091 0000            lds r26,(HoehenWert)+2
 8966 4ee8 B091 0000            lds r27,(HoehenWert)+3
 8967 4eec 8093 0000            sts SollHoehe,r24
 8968 4ef0 9093 0000            sts (SollHoehe)+1,r25
 8969 4ef4 A093 0000            sts (SollHoehe)+2,r26
 8970 4ef8 B093 0000            sts (SollHoehe)+3,r27
 8971 4efc 00C0                 rjmp .L720
 8972                   .L677:
 8973 4efe 8091 0000            lds r24,HoehenWert
 8974 4f02 9091 0000            lds r25,(HoehenWert)+1
 8975 4f06 A091 0000            lds r26,(HoehenWert)+2
 8976 4f0a B091 0000            lds r27,(HoehenWert)+3
 8977 4f0e 8059                 subi r24,lo8(-(-400))
 8978 4f10 9140                 sbci r25,hi8(-(-400))
 8979 4f12 A040                 sbci r26,hlo8(-(-400))
 8980 4f14 B040                 sbci r27,hhi8(-(-400))
 8981 4f16 8093 0000            sts SollHoehe,r24
 8982 4f1a 9093 0000            sts (SollHoehe)+1,r25
 8983 4f1e A093 0000            sts (SollHoehe)+2,r26
 8984 4f22 B093 0000            sts (SollHoehe)+3,r27
 8985 4f26 8091 0000            lds r24,EE_Parameter+22
 8986 4f2a 8823                 tst r24
 8987 4f2c 01F0                 breq .L721
 8988 4f2e 9927                 clr r25
 8989 4f30 00C0                 rjmp .L904
 8990                   .L721:
 8991 4f32 88E7                 ldi r24,lo8(120)
 8992 4f34 90E0                 ldi r25,hi8(120)
 8993                   .L904:
 8994 4f36 9093 0000            sts (StickGasHover)+1,r25
 8995 4f3a 8093 0000            sts StickGasHover,r24
 8996 4f3e E980                 ldd r14,Y+1
 8997 4f40 FA80                 ldd r15,Y+2
 8998 4f42 F092 0000            sts (HoverGas)+1,r15
 8999 4f46 E092 0000            sts HoverGas,r14
 9000 4f4a 8EE2                 ldi r24,lo8(46)
 9001 4f4c 8093 0000            sts VarioCharacter,r24
 9002                   .L720:
 9003 4f50 C090 0000            lds r12,HoverGas
 9004 4f54 D090 0000            lds r13,(HoverGas)+1
 9005                   .L676:
 9006 4f58 E090 0000            lds r14,HoehenWert
 9007 4f5c F090 0000            lds r15,(HoehenWert)+1
 9008 4f60 0091 0000            lds r16,(HoehenWert)+2
 9009 4f64 1091 0000            lds r17,(HoehenWert)+3
 9010 4f68 2091 0000            lds r18,SollHoehe
 9011 4f6c 3091 0000            lds r19,(SollHoehe)+1
 9012 4f70 4091 0000            lds r20,(SollHoehe)+2
 9013 4f74 5091 0000            lds r21,(SollHoehe)+3
 9014 4f78 2E15                 cp r18,r14
 9015 4f7a 3F05                 cpc r19,r15
 9016 4f7c 4007                 cpc r20,r16
 9017 4f7e 5107                 cpc r21,r17
 9018 4f80 04F0                 brlt .L724
 9019 4f82 8091 0000            lds r24,Parameter_ExtraConfig
 9020 4f86 80FD                 sbrc r24,0
 9021 4f88 00C0                 rjmp .L782
 9022                   .L724:
 9023 4f8a 8091 0000            lds r24,BaroExpandActive
 9024 4f8e 9091 0000            lds r25,(BaroExpandActive)+1
 9025 4f92 892B                 or r24,r25
 9026 4f94 01F0                 breq .L725
 9027 4f96 C090 0000            lds r12,HoverGas
 9028 4f9a D090 0000            lds r13,(HoverGas)+1
 9029 4f9e 00E0                 ldi r16,lo8(0)
 9030 4fa0 10E0                 ldi r17,hi8(0)
 9031 4fa2 00C0                 rjmp .L726
 9032                   .L725:
 9033 4fa4 D801                 movw r26,r16
 9034 4fa6 C701                 movw r24,r14
 9035 4fa8 821B                 sub r24,r18
 9036 4faa 930B                 sbc r25,r19
 9037 4fac A40B                 sbc r26,r20
 9038 4fae B50B                 sbc r27,r21
 9039 4fb0 8093 0000            sts tmp_long.1,r24
 9040 4fb4 9093 0000            sts (tmp_long.1)+1,r25
 9041 4fb8 A093 0000            sts (tmp_long.1)+2,r26
 9042 4fbc B093 0000            sts (tmp_long.1)+3,r27
 9043 4fc0 8230                 cpi r24,lo8(-32766)
 9044 4fc2 00E8                 ldi r16,hi8(-32766)
 9045 4fc4 9007                 cpc r25,r16
 9046 4fc6 0FEF                 ldi r16,hlo8(-32766)
 9047 4fc8 A007                 cpc r26,r16
 9048 4fca 0FEF                 ldi r16,hhi8(-32766)
 9049 4fcc B007                 cpc r27,r16
 9050 4fce 04F4                 brge .L727
 9051 4fd0 81E0                 ldi r24,lo8(-32767)
 9052 4fd2 90E8                 ldi r25,hi8(-32767)
 9053 4fd4 AFEF                 ldi r26,hlo8(-32767)
 9054 4fd6 BFEF                 ldi r27,hhi8(-32767)
 9055 4fd8 00C0                 rjmp .L905
 9056                   .L727:
 9057 4fda 8F5F                 subi r24,lo8(32767)
 9058 4fdc 9F47                 sbci r25,hi8(32767)
 9059 4fde A040                 sbci r26,hlo8(32767)
 9060 4fe0 B040                 sbci r27,hhi8(32767)
 9061 4fe2 04F0                 brlt .L728
 9062 4fe4 8FEF                 ldi r24,lo8(32767)
 9063 4fe6 9FE7                 ldi r25,hi8(32767)
 9064 4fe8 A0E0                 ldi r26,hlo8(32767)
 9065 4fea B0E0                 ldi r27,hhi8(32767)
 9066                   .L905:
 9067 4fec 8093 0000            sts tmp_long.1,r24
 9068 4ff0 9093 0000            sts (tmp_long.1)+1,r25
 9069 4ff4 A093 0000            sts (tmp_long.1)+2,r26
 9070 4ff8 B093 0000            sts (tmp_long.1)+3,r27
 9071                   .L728:
 9072 4ffc 0091 0000            lds r16,tmp_long.1
 9073 5000 1091 0000            lds r17,(tmp_long.1)+1
 9074 5004 8091 0000            lds r24,Parameter_Hoehe_P
 9075 5008 282F                 mov r18,r24
 9076 500a 3327                 clr r19
 9077 500c 4427                 clr r20
 9078 500e 5527                 clr r21
 9079 5010 8091 0000            lds r24,tmp_long.1
 9080 5014 9091 0000            lds r25,(tmp_long.1)+1
 9081 5018 A091 0000            lds r26,(tmp_long.1)+2
 9082 501c B091 0000            lds r27,(tmp_long.1)+3
 9083 5020 BC01                 movw r22,r24
 9084 5022 CD01                 movw r24,r26
 9085 5024 0E94 0000            call __mulsi3
 9086 5028 97FF                 sbrs r25,7
 9087 502a 00C0                 rjmp .L730
 9088 502c 615E                 subi r22,lo8(-(31))
 9089 502e 7F4F                 sbci r23,hi8(-(31))
 9090 5030 8F4F                 sbci r24,hlo8(-(31))
 9091 5032 9F4F                 sbci r25,hhi8(-(31))
 9092                   .L730:
 9093 5034 25E0                 ldi r18,5
 9094 5036 9595         1:      asr r25
 9095 5038 8795                 ror r24
 9096 503a 7795                 ror r23
 9097 503c 6795                 ror r22
 9098 503e 2A95                 dec r18
 9099 5040 01F4                 brne 1b
 9100 5042 6093 0000            sts tmp_long.1,r22
 9101 5046 7093 0000            sts (tmp_long.1)+1,r23
 9102 504a 8093 0000            sts (tmp_long.1)+2,r24
 9103 504e 9093 0000            sts (tmp_long.1)+3,r25
 9104 5052 6530                 cpi r22,lo8(-507)
 9105 5054 2EEF                 ldi r18,hi8(-507)
 9106 5056 7207                 cpc r23,r18
 9107 5058 2FEF                 ldi r18,hlo8(-507)
 9108 505a 8207                 cpc r24,r18
 9109 505c 2FEF                 ldi r18,hhi8(-507)
 9110 505e 9207                 cpc r25,r18
 9111 5060 04F4                 brge .L731
 9112 5062 84E0                 ldi r24,lo8(-508)
 9113 5064 9EEF                 ldi r25,hi8(-508)
 9114 5066 AFEF                 ldi r26,hlo8(-508)
 9115 5068 BFEF                 ldi r27,hhi8(-508)
 9116 506a 00C0                 rjmp .L906
 9117                   .L731:
 9118 506c 6050                 subi r22,lo8(1024)
 9119 506e 7440                 sbci r23,hi8(1024)
 9120 5070 8040                 sbci r24,hlo8(1024)
 9121 5072 9040                 sbci r25,hhi8(1024)
 9122 5074 04F0                 brlt .L732
 9123 5076 80E0                 ldi r24,lo8(1024)
 9124 5078 94E0                 ldi r25,hi8(1024)
 9125 507a A0E0                 ldi r26,hlo8(1024)
 9126 507c B0E0                 ldi r27,hhi8(1024)
 9127                   .L906:
 9128 507e 8093 0000            sts tmp_long.1,r24
 9129 5082 9093 0000            sts (tmp_long.1)+1,r25
 9130 5086 A093 0000            sts (tmp_long.1)+2,r26
 9131 508a B093 0000            sts (tmp_long.1)+3,r27
 9132                   .L732:
 9133 508e 8090 0000            lds r8,tmp_long.1
 9134 5092 9090 0000            lds r9,(tmp_long.1)+1
 9135 5096 2091 0000            lds r18,VarioMeter
 9136 509a 3091 0000            lds r19,(VarioMeter)+1
 9137 509e 37FF                 sbrs r19,7
 9138 50a0 00C0                 rjmp .L734
 9139 50a2 295F                 subi r18,lo8(-(7))
 9140 50a4 3F4F                 sbci r19,hi8(-(7))
 9141                   .L734:
 9142 50a6 83E0                 ldi r24,3
 9143 50a8 3595         1:      asr r19
 9144 50aa 2795                 ror r18
 9145 50ac 8A95                 dec r24
 9146 50ae 01F4                 brne 1b
 9147 50b0 4FEF                 ldi r20,hi8(-126)
 9148 50b2 2238                 cpi r18,lo8(-126)
 9149 50b4 3407                 cpc r19,r20
 9150 50b6 04F4                 brge .L735
 9151 50b8 21E8                 ldi r18,lo8(-127)
 9152 50ba 3FEF                 ldi r19,hi8(-127)
 9153 50bc 00C0                 rjmp .L736
 9154                   .L735:
 9155 50be 2038                 cpi r18,128
 9156 50c0 3105                 cpc r19,__zero_reg__
 9157 50c2 04F0                 brlt .L736
 9158 50c4 20E8                 ldi r18,lo8(128)
 9159 50c6 30E0                 ldi r19,hi8(128)
 9160                   .L736:
 9161 50c8 C901                 movw r24,r18
 9162 50ca AA27                 clr r26
 9163 50cc 97FD                 sbrc r25,7
 9164 50ce A095                 com r26
 9165 50d0 BA2F                 mov r27,r26
 9166 50d2 2091 0000            lds r18,Parameter_Luftdruck_D
 9167 50d6 3327                 clr r19
 9168 50d8 4427                 clr r20
 9169 50da 5527                 clr r21
 9170 50dc BC01                 movw r22,r24
 9171 50de CD01                 movw r24,r26
 9172 50e0 0E94 0000            call __mulsi3
 9173 50e4 97FF                 sbrs r25,7
 9174 50e6 00C0                 rjmp .L738
 9175 50e8 6D5F                 subi r22,lo8(-(3))
 9176 50ea 7F4F                 sbci r23,hi8(-(3))
 9177 50ec 8F4F                 sbci r24,hlo8(-(3))
 9178 50ee 9F4F                 sbci r25,hhi8(-(3))
 9179                   .L738:
 9180 50f0 B2E0                 ldi r27,2
 9181 50f2 9595         1:      asr r25
 9182 50f4 8795                 ror r24
 9183 50f6 7795                 ror r23
 9184 50f8 6795                 ror r22
 9185 50fa BA95                 dec r27
 9186 50fc 01F4                 brne 1b
 9187 50fe 9B01                 movw r18,r22
 9188 5100 5FEF                 ldi r21,hi8(-255)
 9189 5102 6130                 cpi r22,lo8(-255)
 9190 5104 7507                 cpc r23,r21
 9191 5106 04F4                 brge .L739
 9192 5108 20E0                 ldi r18,lo8(-256)
 9193 510a 3FEF                 ldi r19,hi8(-256)
 9194 510c 00C0                 rjmp .L740
 9195                   .L739:
 9196 510e 6F3F                 cpi r22,255
 9197 5110 7105                 cpc r23,__zero_reg__
 9198 5112 01F0                 breq .L740
 9199 5114 04F0                 brlt .L740
 9200 5116 20E0                 ldi r18,lo8(256)
 9201 5118 31E0                 ldi r19,hi8(256)
 9202                   .L740:
 9203 511a 8091 0000            lds r24,FC_StatusFlags
 9204 511e 807C                 andi r24,lo8(-64)
 9205 5120 01F0                 breq .L742
 9206 5122 C901                 movw r24,r18
 9207 5124 37FD                 sbrc r19,7
 9208 5126 0396                 adiw r24,3
 9209                   .L743:
 9210 5128 9C01                 movw r18,r24
 9211 512a 3595                 asr r19
 9212 512c 2795                 ror r18
 9213 512e 3595                 asr r19
 9214 5130 2795                 ror r18
 9215 5132 00C0                 rjmp .L744
 9216                   .L742:
 9217 5134 8091 0000            lds r24,Parameter_ExtraConfig
 9218 5138 80FF                 sbrs r24,0
 9219 513a 00C0                 rjmp .L744
 9220 513c C901                 movw r24,r18
 9221 513e 37FD                 sbrc r19,7
 9222 5140 0796                 adiw r24,7
 9223                   .L746:
 9224 5142 9C01                 movw r18,r24
 9225 5144 F3E0                 ldi r31,3
 9226 5146 3595         1:      asr r19
 9227 5148 2795                 ror r18
 9228 514a FA95                 dec r31
 9229 514c 01F4                 brne 1b
 9230                   .L744:
 9231 514e 820E                 add r8,r18
 9232 5150 931E                 adc r9,r19
 9233                   .L726:
 9234 5152 2091 0000            lds r18,Parameter_Hoehe_ACC_Wirkung
 9235 5156 2223                 tst r18
 9236 5158 01F4                 brne .+2
 9237 515a 00C0                 rjmp .L747
 9238 515c 6091 0000            lds r22,Mess_Integral_Hoch
 9239 5160 7091 0000            lds r23,(Mess_Integral_Hoch)+1
 9240 5164 8091 0000            lds r24,(Mess_Integral_Hoch)+2
 9241 5168 9091 0000            lds r25,(Mess_Integral_Hoch)+3
 9242 516c 97FF                 sbrs r25,7
 9243 516e 00C0                 rjmp .L748
 9244 5170 6158                 subi r22,lo8(-(127))
 9245 5172 7F4F                 sbci r23,hi8(-(127))
 9246 5174 8F4F                 sbci r24,hlo8(-(127))
 9247 5176 9F4F                 sbci r25,hhi8(-(127))
 9248                   .L748:
 9249 5178 E7E0                 ldi r30,7
 9250 517a 9595         1:      asr r25
 9251 517c 8795                 ror r24
 9252 517e 7795                 ror r23
 9253 5180 6795                 ror r22
 9254 5182 EA95                 dec r30
 9255 5184 01F4                 brne 1b
 9256 5186 3327                 clr r19
 9257 5188 4427                 clr r20
 9258 518a 5527                 clr r21
 9259 518c 0E94 0000            call __mulsi3
 9260 5190 97FF                 sbrs r25,7
 9261 5192 00C0                 rjmp .L749
 9262 5194 615E                 subi r22,lo8(-(31))
 9263 5196 7F4F                 sbci r23,hi8(-(31))
 9264 5198 8F4F                 sbci r24,hlo8(-(31))
 9265 519a 9F4F                 sbci r25,hhi8(-(31))
 9266                   .L749:
 9267 519c 55E0                 ldi r21,5
 9268 519e 9595         1:      asr r25
 9269 51a0 8795                 ror r24
 9270 51a2 7795                 ror r23
 9271 51a4 6795                 ror r22
 9272 51a6 5A95                 dec r21
 9273 51a8 01F4                 brne 1b
 9274 51aa 6093 0000            sts tmp_long.1,r22
 9275 51ae 7093 0000            sts (tmp_long.1)+1,r23
 9276 51b2 8093 0000            sts (tmp_long.1)+2,r24
 9277 51b6 9093 0000            sts (tmp_long.1)+3,r25
 9278 51ba 6138                 cpi r22,lo8(-127)
 9279 51bc AFEF                 ldi r26,hi8(-127)
 9280 51be 7A07                 cpc r23,r26
 9281 51c0 AFEF                 ldi r26,hlo8(-127)
 9282 51c2 8A07                 cpc r24,r26
 9283 51c4 AFEF                 ldi r26,hhi8(-127)
 9284 51c6 9A07                 cpc r25,r26
 9285 51c8 04F4                 brge .L750
 9286 51ca 80E8                 ldi r24,lo8(-128)
 9287 51cc 9FEF                 ldi r25,hi8(-128)
 9288 51ce AFEF                 ldi r26,hlo8(-128)
 9289 51d0 BFEF                 ldi r27,hhi8(-128)
 9290 51d2 00C0                 rjmp .L907
 9291                   .L750:
 9292 51d4 6F3F                 cpi r22,lo8(255)
 9293 51d6 7105                 cpc r23,__zero_reg__
 9294 51d8 8105                 cpc r24,__zero_reg__
 9295 51da 9105                 cpc r25,__zero_reg__
 9296 51dc 01F0                 breq .L751
 9297 51de 04F0                 brlt .L751
 9298 51e0 80E0                 ldi r24,lo8(256)
 9299 51e2 91E0                 ldi r25,hi8(256)
 9300 51e4 A0E0                 ldi r26,hlo8(256)
 9301 51e6 B0E0                 ldi r27,hhi8(256)
 9302                   .L907:
 9303 51e8 8093 0000            sts tmp_long.1,r24
 9304 51ec 9093 0000            sts (tmp_long.1)+1,r25
 9305 51f0 A093 0000            sts (tmp_long.1)+2,r26
 9306 51f4 B093 0000            sts (tmp_long.1)+3,r27
 9307                   .L751:
 9308 51f8 8091 0000            lds r24,tmp_long.1
 9309 51fc 9091 0000            lds r25,(tmp_long.1)+1
 9310 5200 880E                 add r8,r24
 9311 5202 991E                 adc r9,r25
 9312                   .L747:
 9313 5204 8091 0000            lds r24,Parameter_Hoehe_GPS_Z
 9314 5208 282F                 mov r18,r24
 9315 520a 3327                 clr r19
 9316 520c 8091 0000            lds r24,FromNaviCtrl_Value+4
 9317 5210 9927                 clr r25
 9318 5212 87FD                 sbrc r24,7
 9319 5214 9095                 com r25
 9320 5216 289F                 mul r18,r24
 9321 5218 F001                 movw r30,r0
 9322 521a 299F                 mul r18,r25
 9323 521c F00D                 add r31,r0
 9324 521e 389F                 mul r19,r24
 9325 5220 F00D                 add r31,r0
 9326 5222 1124                 clr r1
 9327 5224 9F01                 movw r18,r30
 9328 5226 F7FF                 sbrs r31,7
 9329 5228 00C0                 rjmp .L753
 9330 522a 2158                 subi r18,lo8(-(127))
 9331 522c 3F4F                 sbci r19,hi8(-(127))
 9332                   .L753:
 9333 522e 220F                 lsl r18
 9334 5230 232F                 mov r18,r19
 9335 5232 221F                 rol r18
 9336 5234 330B                 sbc r19,r19
 9337 5236 FFEF                 ldi r31,hi8(-127)
 9338 5238 2138                 cpi r18,lo8(-127)
 9339 523a 3F07                 cpc r19,r31
 9340 523c 04F4                 brge .L754
 9341 523e 20E8                 ldi r18,lo8(-128)
 9342 5240 3FEF                 ldi r19,hi8(-128)
 9343 5242 00C0                 rjmp .L755
 9344                   .L754:
 9345 5244 2F3F                 cpi r18,255
 9346 5246 3105                 cpc r19,__zero_reg__
 9347 5248 01F0                 breq .L755
 9348 524a 04F0                 brlt .L755
 9349 524c 20E0                 ldi r18,lo8(256)
 9350 524e 31E0                 ldi r19,hi8(256)
 9351                   .L755:
 9352 5250 820E                 add r8,r18
 9353 5252 931E                 adc r9,r19
 9354 5254 C401                 movw r24,r8
 9355 5256 AA27                 clr r26
 9356 5258 97FD                 sbrc r25,7
 9357 525a A095                 com r26
 9358 525c BA2F                 mov r27,r26
 9359 525e E090 0000            lds r14,HoverGas
 9360 5262 F090 0000            lds r15,(HoverGas)+1
 9361 5266 9701                 movw r18,r14
 9362 5268 4427                 clr r20
 9363 526a 37FD                 sbrc r19,7
 9364 526c 4095                 com r20
 9365 526e 542F                 mov r21,r20
 9366 5270 BC01                 movw r22,r24
 9367 5272 CD01                 movw r24,r26
 9368 5274 0E94 0000            call __mulsi3
 9369 5278 97FF                 sbrs r25,7
 9370 527a 00C0                 rjmp .L757
 9371 527c 6150                 subi r22,lo8(-(511))
 9372 527e 7E4F                 sbci r23,hi8(-(511))
 9373 5280 8F4F                 sbci r24,hlo8(-(511))
 9374 5282 9F4F                 sbci r25,hhi8(-(511))
 9375                   .L757:
 9376 5284 29E0                 ldi r18,9
 9377 5286 9595         1:      asr r25
 9378 5288 8795                 ror r24
 9379 528a 7795                 ror r23
 9380 528c 6795                 ror r22
 9381 528e 2A95                 dec r18
 9382 5290 01F4                 brne 1b
 9383 5292 C61A                 sub r12,r22
 9384 5294 D70A                 sbc r13,r23
 9385 5296 8091 0000            lds r24,AltitudeSetpointTrimming
 9386 529a 9091 0000            lds r25,(AltitudeSetpointTrimming)+1
 9387 529e 892B                 or r24,r25
 9388 52a0 01F0                 breq .+2
 9389 52a2 00C0                 rjmp .L758
 9390 52a4 1E14                 cp __zero_reg__,r14
 9391 52a6 1F04                 cpc __zero_reg__,r15
 9392 52a8 04F0                 brlt .+2
 9393 52aa 00C0                 rjmp .L758
 9394 52ac 9801                 movw r18,r16
 9395 52ae 17FF                 sbrs r17,7
 9396 52b0 00C0                 rjmp .L759
 9397 52b2 3095                 com r19
 9398 52b4 2195                 neg r18
 9399 52b6 3F4F                 sbci r19,lo8(-1)
 9400                   .L759:
 9401 52b8 2D33                 cpi r18,61
 9402 52ba 3105                 cpc r19,__zero_reg__
 9403 52bc 00F4                 brsh .L760
 9404 52be 8091 0000            lds r24,HoverGasMin
 9405 52c2 9091 0000            lds r25,(HoverGasMin)+1
 9406 52c6 8C15                 cp r24,r12
 9407 52c8 9D05                 cpc r25,r13
 9408 52ca 04F4                 brge .L909
 9409 52cc 00C0                 rjmp .L918
 9410                   .L760:
 9411 52ce 2C53                 subi r18,lo8(-(-60))
 9412 52d0 3040                 sbci r19,hi8(-(-60))
 9413 52d2 85E0                 ldi r24,5
 9414 52d4 3695         1:      lsr r19
 9415 52d6 2795                 ror r18
 9416 52d8 8A95                 dec r24
 9417 52da 01F4                 brne 1b
 9418 52dc 2031                 cpi r18,16
 9419 52de 3105                 cpc r19,__zero_reg__
 9420 52e0 00F0                 brlo .L765
 9421 52e2 2FE0                 ldi r18,lo8(15)
 9422 52e4 30E0                 ldi r19,hi8(15)
 9423                   .L765:
 9424 52e6 4091 0000            lds r20,HoverGasMin
 9425 52ea 5091 0000            lds r21,(HoverGasMin)+1
 9426 52ee 1016                 cp __zero_reg__,r16
 9427 52f0 1106                 cpc __zero_reg__,r17
 9428 52f2 04F4                 brge .L766
 9429 52f4 80E1                 ldi r24,lo8(16)
 9430 52f6 90E0                 ldi r25,hi8(16)
 9431 52f8 821B                 sub r24,r18
 9432 52fa 930B                 sbc r25,r19
 9433 52fc 489F                 mul r20,r24
 9434 52fe 9001                 movw r18,r0
 9435 5300 499F                 mul r20,r25
 9436 5302 300D                 add r19,r0
 9437 5304 589F                 mul r21,r24
 9438 5306 300D                 add r19,r0
 9439 5308 1124                 clr r1
 9440 530a B4E0                 ldi r27,4
 9441 530c 3695         1:      lsr r19
 9442 530e 2795                 ror r18
 9443 5310 BA95                 dec r27
 9444 5312 01F4                 brne 1b
 9445 5314 2C15                 cp r18,r12
 9446 5316 3D05                 cpc r19,r13
 9447 5318 00F4                 brsh .L908
 9448                   .L918:
 9449 531a 8091 0000            lds r24,HoverGasMax
 9450 531e 9091 0000            lds r25,(HoverGasMax)+1
 9451 5322 C816                 cp r12,r24
 9452 5324 D906                 cpc r13,r25
 9453 5326 04F0                 brlt .L758
 9454                   .L909:
 9455 5328 6C01                 movw r12,r24
 9456 532a 00C0                 rjmp .L758
 9457                   .L766:
 9458 532c 205F                 subi r18,lo8(-(16))
 9459 532e 3F4F                 sbci r19,hi8(-(16))
 9460 5330 8091 0000            lds r24,HoverGasMax
 9461 5334 9091 0000            lds r25,(HoverGasMax)+1
 9462 5338 829F                 mul r24,r18
 9463 533a 8001                 movw r16,r0
 9464 533c 839F                 mul r24,r19
 9465 533e 100D                 add r17,r0
 9466 5340 929F                 mul r25,r18
 9467 5342 100D                 add r17,r0
 9468 5344 1124                 clr r1
 9469 5346 9801                 movw r18,r16
 9470 5348 A4E0                 ldi r26,4
 9471 534a 3695         1:      lsr r19
 9472 534c 2795                 ror r18
 9473 534e AA95                 dec r26
 9474 5350 01F4                 brne 1b
 9475 5352 4C15                 cp r20,r12
 9476 5354 5D05                 cpc r21,r13
 9477 5356 04F0                 brlt .L771
 9478 5358 6A01                 movw r12,r20
 9479 535a 00C0                 rjmp .L758
 9480                   .L771:
 9481 535c C216                 cp r12,r18
 9482 535e D306                 cpc r13,r19
 9483 5360 00F0                 brlo .L758
 9484                   .L908:
 9485 5362 6901                 movw r12,r18
 9486                   .L758:
 9487 5364 C601                 movw r24,r12
 9488 5366 AA27                 clr r26
 9489 5368 97FD                 sbrc r25,7
 9490 536a A095                 com r26
 9491 536c BA2F                 mov r27,r26
 9492 536e FDE0                 ldi r31,13
 9493 5370 880F         1:      lsl r24
 9494 5372 991F                 rol r25
 9495 5374 AA1F                 rol r26
 9496 5376 BB1F                 rol r27
 9497 5378 FA95                 dec r31
 9498 537a 01F4                 brne 1b
 9499 537c 9501                 movw r18,r10
 9500 537e 4427                 clr r20
 9501 5380 37FD                 sbrc r19,7
 9502 5382 4095                 com r20
 9503 5384 542F                 mov r21,r20
 9504 5386 BC01                 movw r22,r24
 9505 5388 CD01                 movw r24,r26
 9506 538a 0E94 0000            call __divmodsi4
 9507 538e 2093 0000            sts tmp_long2.2,r18
 9508 5392 3093 0000            sts (tmp_long2.2)+1,r19
 9509 5396 4093 0000            sts (tmp_long2.2)+2,r20
 9510 539a 5093 0000            sts (tmp_long2.2)+3,r21
 9511 539e C090 0000            lds r12,tmp_long2.2
 9512 53a2 D090 0000            lds r13,(tmp_long2.2)+1
 9513 53a6 8091 0000            lds r24,FilterHCGas.22
 9514 53aa 9091 0000            lds r25,(FilterHCGas.22)+1
 9515 53ae 9C01                 movw r18,r24
 9516 53b0 220F                 lsl r18
 9517 53b2 331F                 rol r19
 9518 53b4 280F                 add r18,r24
 9519 53b6 391F                 adc r19,r25
 9520 53b8 2C0D                 add r18,r12
 9521 53ba 3D1D                 adc r19,r13
 9522 53bc 37FF                 sbrs r19,7
 9523 53be 00C0                 rjmp .L774
 9524 53c0 2D5F                 subi r18,lo8(-(3))
 9525 53c2 3F4F                 sbci r19,hi8(-(3))
 9526                   .L774:
 9527 53c4 A901                 movw r20,r18
 9528 53c6 5595                 asr r21
 9529 53c8 4795                 ror r20
 9530 53ca 5595                 asr r21
 9531 53cc 4795                 ror r20
 9532 53ce 5093 0000            sts (FilterHCGas.22)+1,r21
 9533 53d2 4093 0000            sts FilterHCGas.22,r20
 9534 53d6 8091 0000            lds r24,EE_Parameter+14
 9535 53da 282F                 mov r18,r24
 9536 53dc 3327                 clr r19
 9537 53de 220F                 lsl r18
 9538 53e0 331F                 rol r19
 9539 53e2 220F                 lsl r18
 9540 53e4 331F                 rol r19
 9541 53e6 2417                 cp r18,r20
 9542 53e8 3507                 cpc r19,r21
 9543 53ea 04F4                 brge .L910
 9544 53ec 8091 0000            lds r24,MAX_GAS
 9545 53f0 282F                 mov r18,r24
 9546 53f2 3327                 clr r19
 9547 53f4 220F                 lsl r18
 9548 53f6 331F                 rol r19
 9549 53f8 220F                 lsl r18
 9550 53fa 331F                 rol r19
 9551 53fc 2055                 subi r18,lo8(-(-80))
 9552 53fe 3040                 sbci r19,hi8(-(-80))
 9553 5400 4217                 cp r20,r18
 9554 5402 5307                 cpc r21,r19
 9555 5404 04F0                 brlt .L776
 9556                   .L910:
 9557 5406 3093 0000            sts (FilterHCGas.22)+1,r19
 9558 540a 2093 0000            sts FilterHCGas.22,r18
 9559                   .L776:
 9560 540e 8091 0000            lds r24,Parameter_ExtraConfig
 9561 5412 80FF                 sbrs r24,0
 9562 5414 00C0                 rjmp .L778
 9563 5416 8091 0000            lds r24,FilterHCGas.22
 9564 541a 9091 0000            lds r25,(FilterHCGas.22)+1
 9565 541e 2981                 ldd r18,Y+1
 9566 5420 3A81                 ldd r19,Y+2
 9567 5422 8217                 cp r24,r18
 9568 5424 9307                 cpc r25,r19
 9569 5426 04F0                 brlt .L779
 9570 5428 3093 0000            sts (FilterHCGas.22)+1,r19
 9571 542c 2093 0000            sts FilterHCGas.22,r18
 9572                   .L779:
 9573 5430 4091 0000            lds r20,FilterHCGas.22
 9574 5434 5091 0000            lds r21,(FilterHCGas.22)+1
 9575 5438 5A83                 std Y+2,r21
 9576 543a 4983                 std Y+1,r20
 9577 543c 00C0                 rjmp .L782
 9578                   .L778:
 9579 543e 2981                 ldd r18,Y+1
 9580 5440 3A81                 ldd r19,Y+2
 9581 5442 2E19                 sub r18,r14
 9582 5444 3F09                 sbc r19,r15
 9583 5446 37FF                 sbrs r19,7
 9584 5448 00C0                 rjmp .L781
 9585 544a 2D5F                 subi r18,lo8(-(3))
 9586 544c 3F4F                 sbci r19,hi8(-(3))
 9587                   .L781:
 9588 544e 3595                 asr r19
 9589 5450 2795                 ror r18
 9590 5452 3595                 asr r19
 9591 5454 2795                 ror r18
 9592 5456 6091 0000            lds r22,FilterHCGas.22
 9593 545a 7091 0000            lds r23,(FilterHCGas.22)+1
 9594 545e 620F                 add r22,r18
 9595 5460 731F                 adc r23,r19
 9596 5462 7A83                 std Y+2,r23
 9597 5464 6983                 std Y+1,r22
 9598 5466 00C0                 rjmp .L782
 9599                   .L673:
 9600 5468 8091 0000            lds r24,EE_Parameter+22
 9601 546c 8823                 tst r24
 9602 546e 01F4                 brne .L783
 9603 5470 6091 0000            lds r22,HoverGas
 9604 5474 7091 0000            lds r23,(HoverGas)+1
 9605 5478 77FF                 sbrs r23,7
 9606 547a 00C0                 rjmp .L784
 9607 547c 6D5F                 subi r22,lo8(-(3))
 9608 547e 7F4F                 sbci r23,hi8(-(3))
 9609                   .L784:
 9610 5480 7595                 asr r23
 9611 5482 6795                 ror r22
 9612 5484 7595                 asr r23
 9613 5486 6795                 ror r22
 9614 5488 4091 0000            lds r20,UBat
 9615 548c 5091 0000            lds r21,(UBat)+1
 9616 5490 8091 0000            lds r24,BattLowVoltageWarning
 9617 5494 282F                 mov r18,r24
 9618 5496 3327                 clr r19
 9619 5498 649F                 mul r22,r20
 9620 549a C001                 movw r24,r0
 9621 549c 659F                 mul r22,r21
 9622 549e 900D                 add r25,r0
 9623 54a0 749F                 mul r23,r20
 9624 54a2 900D                 add r25,r0
 9625 54a4 1124                 clr r1
 9626 54a6 B901                 movw r22,r18
 9627 54a8 0E94 0000            call __divmodhi4
 9628 54ac CB01                 movw r24,r22
 9629 54ae 00C0                 rjmp .L911
 9630                   .L783:
 9631 54b0 9927                 clr r25
 9632                   .L911:
 9633 54b2 9093 0000            sts (StickGasHover)+1,r25
 9634 54b6 8093 0000            sts StickGasHover,r24
 9635 54ba 8091 0000            lds r24,StickGasHover
 9636 54be 9091 0000            lds r25,(StickGasHover)+1
 9637 54c2 8734                 cpi r24,71
 9638 54c4 9105                 cpc r25,__zero_reg__
 9639 54c6 04F4                 brge .L786
 9640 54c8 86E4                 ldi r24,lo8(70)
 9641 54ca 90E0                 ldi r25,hi8(70)
 9642 54cc 00C0                 rjmp .L912
 9643                   .L786:
 9644 54ce 8639                 cpi r24,150
 9645 54d0 9105                 cpc r25,__zero_reg__
 9646 54d2 04F0                 brlt .L787
 9647 54d4 86E9                 ldi r24,lo8(150)
 9648 54d6 90E0                 ldi r25,hi8(150)
 9649                   .L912:
 9650 54d8 9093 0000            sts (StickGasHover)+1,r25
 9651 54dc 8093 0000            sts StickGasHover,r24
 9652                   .L787:
 9653 54e0 8981                 ldd r24,Y+1
 9654 54e2 9A81                 ldd r25,Y+2
 9655 54e4 9093 0000            sts (FilterHCGas.22)+1,r25
 9656 54e8 8093 0000            sts FilterHCGas.22,r24
 9657 54ec 8091 0000            lds r24,FC_StatusFlags
 9658 54f0 806C                 ori r24,lo8(-64)
 9659 54f2 8093 0000            sts FC_StatusFlags,r24
 9660 54f6 8091 0000            lds r24,FC_StatusFlags2
 9661 54fa 8D7F                 andi r24,lo8(-3)
 9662 54fc 8093 0000            sts FC_StatusFlags2,r24
 9663                   .L782:
 9664 5500 8091 0000            lds r24,FC_StatusFlags
 9665 5504 9927                 clr r25
 9666 5506 9C01                 movw r18,r24
 9667 5508 2270                 andi r18,lo8(2)
 9668 550a 3070                 andi r19,hi8(2)
 9669 550c 81FF                 sbrs r24,1
 9670 550e 00C0                 rjmp .L789
 9671 5510 8091 0000            lds r24,HoverGasFilter.23
 9672 5514 9091 0000            lds r25,(HoverGasFilter.23)+1
 9673 5518 A091 0000            lds r26,(HoverGasFilter.23)+2
 9674 551c B091 0000            lds r27,(HoverGasFilter.23)+3
 9675 5520 0097                 sbiw r24,0
 9676 5522 A105                 cpc r26,__zero_reg__
 9677 5524 B105                 cpc r27,__zero_reg__
 9678 5526 01F0                 breq .L791
 9679 5528 8091 0000            lds r24,StartTrigger
 9680 552c 8130                 cpi r24,lo8(1)
 9681 552e 01F4                 brne .L790
 9682                   .L791:
 9683 5530 E981                 ldd r30,Y+1
 9684 5532 FA81                 ldd r31,Y+2
 9685 5534 CF01                 movw r24,r30
 9686 5536 AA27                 clr r26
 9687 5538 97FD                 sbrc r25,7
 9688 553a A095                 com r26
 9689 553c BA2F                 mov r27,r26
 9690 553e 1EE0                 ldi r17,14
 9691 5540 880F         1:      lsl r24
 9692 5542 991F                 rol r25
 9693 5544 AA1F                 rol r26
 9694 5546 BB1F                 rol r27
 9695 5548 1A95                 dec r17
 9696 554a 01F4                 brne 1b
 9697 554c 8093 0000            sts HoverGasFilter.23,r24
 9698 5550 9093 0000            sts (HoverGasFilter.23)+1,r25
 9699 5554 A093 0000            sts (HoverGasFilter.23)+2,r26
 9700 5558 B093 0000            sts (HoverGasFilter.23)+3,r27
 9701                   .L790:
 9702 555c 8091 0000            lds r24,StartTrigger
 9703 5560 8130                 cpi r24,lo8(1)
 9704 5562 01F4                 brne .L792
 9705 5564 82E0                 ldi r24,lo8(2)
 9706 5566 8093 0000            sts StartTrigger,r24
 9707                   .L792:
 9708 556a E980                 ldd r14,Y+1
 9709 556c FA80                 ldd r15,Y+2
 9710 556e C701                 movw r24,r14
 9711 5570 AA27                 clr r26
 9712 5572 97FD                 sbrc r25,7
 9713 5574 A095                 com r26
 9714 5576 BA2F                 mov r27,r26
 9715 5578 9501                 movw r18,r10
 9716 557a 4427                 clr r20
 9717 557c 37FD                 sbrc r19,7
 9718 557e 4095                 com r20
 9719 5580 542F                 mov r21,r20
 9720 5582 BC01                 movw r22,r24
 9721 5584 CD01                 movw r24,r26
 9722 5586 0E94 0000            call __mulsi3
 9723 558a DC01                 movw r26,r24
 9724 558c CB01                 movw r24,r22
 9725 558e 8093 0000            sts tmp_long2.2,r24
 9726 5592 9093 0000            sts (tmp_long2.2)+1,r25
 9727 5596 A093 0000            sts (tmp_long2.2)+2,r26
 9728 559a B093 0000            sts (tmp_long2.2)+3,r27
 9729 559e B7FF                 sbrs r27,7
 9730 55a0 00C0                 rjmp .L793
 9731 55a2 8150                 subi r24,lo8(-(8191))
 9732 55a4 904E                 sbci r25,hi8(-(8191))
 9733 55a6 AF4F                 sbci r26,hlo8(-(8191))
 9734 55a8 BF4F                 sbci r27,hhi8(-(8191))
 9735                   .L793:
 9736 55aa 7C01                 movw r14,r24
 9737 55ac 8D01                 movw r16,r26
 9738 55ae ADE0                 ldi r26,13
 9739 55b0 1595         1:      asr r17
 9740 55b2 0795                 ror r16
 9741 55b4 F794                 ror r15
 9742 55b6 E794                 ror r14
 9743 55b8 AA95                 dec r26
 9744 55ba 01F4                 brne 1b
 9745 55bc E092 0000            sts tmp_long2.2,r14
 9746 55c0 F092 0000            sts (tmp_long2.2)+1,r15
 9747 55c4 0093 0000            sts (tmp_long2.2)+2,r16
 9748 55c8 1093 0000            sts (tmp_long2.2)+3,r17
 9749 55cc 6091 0000            lds r22,modell_fliegt
 9750 55d0 7091 0000            lds r23,(modell_fliegt)+1
 9751 55d4 2FE0                 ldi r18,hi8(4000)
 9752 55d6 603A                 cpi r22,lo8(4000)
 9753 55d8 7207                 cpc r23,r18
 9754 55da 00F4                 brsh .L794
 9755 55dc 8091 0000            lds r24,HoverGasFilter.23
 9756 55e0 9091 0000            lds r25,(HoverGasFilter.23)+1
 9757 55e4 A091 0000            lds r26,(HoverGasFilter.23)+2
 9758 55e8 B091 0000            lds r27,(HoverGasFilter.23)+3
 9759 55ec 9C01                 movw r18,r24
 9760 55ee AD01                 movw r20,r26
 9761 55f0 FAE0                 ldi r31,10
 9762 55f2 5695         1:      lsr r21
 9763 55f4 4795                 ror r20
 9764 55f6 3795                 ror r19
 9765 55f8 2795                 ror r18
 9766 55fa FA95                 dec r31
 9767 55fc 01F4                 brne 1b
 9768 55fe 821B                 sub r24,r18
 9769 5600 930B                 sbc r25,r19
 9770 5602 A40B                 sbc r26,r20
 9771 5604 B50B                 sbc r27,r21
 9772 5606 A801                 movw r20,r16
 9773 5608 9701                 movw r18,r14
 9774 560a E4E0                 ldi r30,4
 9775 560c 220F         1:      lsl r18
 9776 560e 331F                 rol r19
 9777 5610 441F                 rol r20
 9778 5612 551F                 rol r21
 9779 5614 EA95                 dec r30
 9780 5616 01F4                 brne 1b
 9781 5618 820F                 add r24,r18
 9782 561a 931F                 adc r25,r19
 9783 561c A41F                 adc r26,r20
 9784 561e B51F                 adc r27,r21
 9785 5620 8093 0000            sts HoverGasFilter.23,r24
 9786 5624 9093 0000            sts (HoverGasFilter.23)+1,r25
 9787 5628 A093 0000            sts (HoverGasFilter.23)+2,r26
 9788 562c B093 0000            sts (HoverGasFilter.23)+3,r27
 9789                   .L794:
 9790 5630 6054                 subi r22,lo8(8000)
 9791 5632 7F41                 sbci r23,hi8(8000)
 9792 5634 00F4                 brsh .L795
 9793 5636 8091 0000            lds r24,HoverGasFilter.23
 9794 563a 9091 0000            lds r25,(HoverGasFilter.23)+1
 9795 563e A091 0000            lds r26,(HoverGasFilter.23)+2
 9796 5642 B091 0000            lds r27,(HoverGasFilter.23)+3
 9797 5646 9C01                 movw r18,r24
 9798 5648 AD01                 movw r20,r26
 9799 564a 6CE0                 ldi r22,12
 9800 564c 5695         1:      lsr r21
 9801 564e 4795                 ror r20
 9802 5650 3795                 ror r19
 9803 5652 2795                 ror r18
 9804 5654 6A95                 dec r22
 9805 5656 01F4                 brne 1b
 9806 5658 821B                 sub r24,r18
 9807 565a 930B                 sbc r25,r19
 9808 565c A40B                 sbc r26,r20
 9809 565e B50B                 sbc r27,r21
 9810 5660 A801                 movw r20,r16
 9811 5662 9701                 movw r18,r14
 9812 5664 F2E0                 ldi r31,2
 9813 5666 220F         1:      lsl r18
 9814 5668 331F                 rol r19
 9815 566a 441F                 rol r20
 9816 566c 551F                 rol r21
 9817 566e FA95                 dec r31
 9818 5670 01F4                 brne 1b
 9819 5672 820F                 add r24,r18
 9820 5674 931F                 adc r25,r19
 9821 5676 A41F                 adc r26,r20
 9822 5678 B51F                 adc r27,r21
 9823 567a 00C0                 rjmp .L913
 9824                   .L795:
 9825 567c 8091 0000            lds r24,VarioMeter
 9826 5680 9091 0000            lds r25,(VarioMeter)+1
 9827 5684 8091 0000            lds r24,VarioMeter
 9828 5688 9091 0000            lds r25,(VarioMeter)+1
 9829 568c 97FF                 sbrs r25,7
 9830 568e 00C0                 rjmp .L798
 9831 5690 9095                 com r25
 9832 5692 8195                 neg r24
 9833 5694 9F4F                 sbci r25,lo8(-1)
 9834                   .L798:
 9835 5696 8436                 cpi r24,100
 9836 5698 9105                 cpc r25,__zero_reg__
 9837 569a 04F4                 brge .L796
 9838 569c 8091 0000            lds r24,HoehenWert
 9839 56a0 9091 0000            lds r25,(HoehenWert)+1
 9840 56a4 2091 0000            lds r18,SollHoehe
 9841 56a8 3091 0000            lds r19,(SollHoehe)+1
 9842 56ac 821B                 sub r24,r18
 9843 56ae 930B                 sbc r25,r19
 9844 56b0 8150                 subi r24,lo8(-(255))
 9845 56b2 9F4F                 sbci r25,hi8(-(255))
 9846 56b4 8F5F                 subi r24,lo8(511)
 9847 56b6 9140                 sbci r25,hi8(511)
 9848 56b8 00F4                 brsh .L796
 9849 56ba 8091 0000            lds r24,HoverGasFilter.23
 9850 56be 9091 0000            lds r25,(HoverGasFilter.23)+1
 9851 56c2 A091 0000            lds r26,(HoverGasFilter.23)+2
 9852 56c6 B091 0000            lds r27,(HoverGasFilter.23)+3
 9853 56ca 9C01                 movw r18,r24
 9854 56cc AD01                 movw r20,r26
 9855 56ce EEE0                 ldi r30,14
 9856 56d0 5695         1:      lsr r21
 9857 56d2 4795                 ror r20
 9858 56d4 3795                 ror r19
 9859 56d6 2795                 ror r18
 9860 56d8 EA95                 dec r30
 9861 56da 01F4                 brne 1b
 9862 56dc 821B                 sub r24,r18
 9863 56de 930B                 sbc r25,r19
 9864 56e0 A40B                 sbc r26,r20
 9865 56e2 B50B                 sbc r27,r21
 9866 56e4 8E0D                 add r24,r14
 9867 56e6 9F1D                 adc r25,r15
 9868 56e8 A01F                 adc r26,r16
 9869 56ea B11F                 adc r27,r17
 9870                   .L913:
 9871 56ec 8093 0000            sts HoverGasFilter.23,r24
 9872 56f0 9093 0000            sts (HoverGasFilter.23)+1,r25
 9873 56f4 A093 0000            sts (HoverGasFilter.23)+2,r26
 9874 56f8 B093 0000            sts (HoverGasFilter.23)+3,r27
 9875                   .L796:
 9876 56fc 8091 0000            lds r24,HoverGasFilter.23
 9877 5700 9091 0000            lds r25,(HoverGasFilter.23)+1
 9878 5704 A091 0000            lds r26,(HoverGasFilter.23)+2
 9879 5708 B091 0000            lds r27,(HoverGasFilter.23)+3
 9880 570c 7EE0                 ldi r23,14
 9881 570e B695         1:      lsr r27
 9882 5710 A795                 ror r26
 9883 5712 9795                 ror r25
 9884 5714 8795                 ror r24
 9885 5716 7A95                 dec r23
 9886 5718 01F4                 brne 1b
 9887 571a 9093 0000            sts (HoverGas)+1,r25
 9888 571e 8093 0000            sts HoverGas,r24
 9889 5722 4091 0000            lds r20,EE_Parameter+20
 9890 5726 4423                 tst r20
 9891 5728 01F0                 breq .L799
 9892 572a 5527                 clr r21
 9893 572c 9C01                 movw r18,r24
 9894 572e BA01                 movw r22,r20
 9895 5730 0E94 0000            call __divmodhi4
 9896 5734 C901                 movw r24,r18
 9897 5736 861B                 sub r24,r22
 9898 5738 970B                 sbc r25,r23
 9899 573a 9093 0000            sts (HoverGasMin)+1,r25
 9900 573e 8093 0000            sts HoverGasMin,r24
 9901 5742 260F                 add r18,r22
 9902 5744 371F                 adc r19,r23
 9903 5746 3093 0000            sts (HoverGasMax)+1,r19
 9904 574a 2093 0000            sts HoverGasMax,r18
 9905 574e 00C0                 rjmp .L802
 9906                   .L799:
 9907 5750 1092 0000            sts (HoverGasMin)+1,__zero_reg__
 9908 5754 1092 0000            sts HoverGasMin,__zero_reg__
 9909 5758 8FEF                 ldi r24,lo8(1023)
 9910 575a 93E0                 ldi r25,hi8(1023)
 9911 575c 9093 0000            sts (HoverGasMax)+1,r25
 9912 5760 8093 0000            sts HoverGasMax,r24
 9913 5764 00C0                 rjmp .L802
 9914                   .L789:
 9915 5766 1092 0000            sts StartTrigger,__zero_reg__
 9916 576a 1092 0000            sts HoverGasFilter.23,__zero_reg__
 9917 576e 1092 0000            sts (HoverGasFilter.23)+1,__zero_reg__
 9918 5772 1092 0000            sts (HoverGasFilter.23)+2,__zero_reg__
 9919 5776 1092 0000            sts (HoverGasFilter.23)+3,__zero_reg__
 9920 577a 3093 0000            sts (HoverGas)+1,r19
 9921 577e 2093 0000            sts HoverGas,r18
 9922 5782 00C0                 rjmp .L802
 9923                   .L653:
 9924 5784 8091 0000            lds r24,FC_StatusFlags
 9925 5788 806C                 ori r24,lo8(-64)
 9926 578a 8093 0000            sts FC_StatusFlags,r24
 9927                   .L802:
 9928 578e 8091 0000            lds r24,NC_To_FC_Flags
 9929 5792 81FF                 sbrs r24,1
 9930 5794 00C0                 rjmp .L803
 9931 5796 8981                 ldd r24,Y+1
 9932 5798 9A81                 ldd r25,Y+2
 9933 579a 97FD                 sbrc r25,7
 9934 579c 0396                 adiw r24,3
 9935                   .L805:
 9936 579e 9595                 asr r25
 9937 57a0 8795                 ror r24
 9938 57a2 9595                 asr r25
 9939 57a4 8795                 ror r24
 9940 57a6 2091 0000            lds r18,HooverGasEmergencyPercent
 9941 57aa 3091 0000            lds r19,(HooverGasEmergencyPercent)+1
 9942 57ae 2817                 cp r18,r24
 9943 57b0 3907                 cpc r19,r25
 9944 57b2 00F4                 brsh .L804
 9945 57b4 8091 0000            lds r24,HoverGas
 9946 57b8 9091 0000            lds r25,(HoverGas)+1
 9947 57bc 892B                 or r24,r25
 9948 57be 01F0                 breq .L804
 9949 57c0 220F                 lsl r18
 9950 57c2 331F                 rol r19
 9951 57c4 220F                 lsl r18
 9952 57c6 331F                 rol r19
 9953 57c8 3A83                 std Y+2,r19
 9954 57ca 2983                 std Y+1,r18
 9955                   .L804:
 9956 57cc 8091 0000            lds r24,HoehenWert
 9957 57d0 9091 0000            lds r25,(HoehenWert)+1
 9958 57d4 A091 0000            lds r26,(HoehenWert)+2
 9959 57d8 B091 0000            lds r27,(HoehenWert)+3
 9960 57dc 8093 0000            sts SollHoehe,r24
 9961 57e0 9093 0000            sts (SollHoehe)+1,r25
 9962 57e4 A093 0000            sts (SollHoehe)+2,r26
 9963 57e8 B093 0000            sts (SollHoehe)+3,r27
 9964 57ec 88E9                 ldi r24,lo8(15000)
 9965 57ee 9AE3                 ldi r25,hi8(15000)
 9966 57f0 9093 0000            sts (beeptime)+1,r25
 9967 57f4 8093 0000            sts beeptime,r24
 9968 57f8 80E0                 ldi r24,lo8(3584)
 9969 57fa 9EE0                 ldi r25,hi8(3584)
 9970 57fc 9093 0000            sts (BeepMuster)+1,r25
 9971 5800 8093 0000            sts BeepMuster,r24
 9972                   .L803:
 9973 5804 2091 0000            lds r18,MIN_GAS
 9974 5808 822F                 mov r24,r18
 9975 580a 9927                 clr r25
 9976 580c 880F                 lsl r24
 9977 580e 991F                 rol r25
 9978 5810 880F                 lsl r24
 9979 5812 991F                 rol r25
 9980 5814 8896                 adiw r24,40
 9981 5816 6981                 ldd r22,Y+1
 9982 5818 7A81                 ldd r23,Y+2
 9983 581a 8617                 cp r24,r22
 9984 581c 9707                 cpc r25,r23
 9985 581e 04F0                 brlt .L806
 9986 5820 9A83                 std Y+2,r25
 9987 5822 8983                 std Y+1,r24
 9988                   .L806:
 9989 5824 7091 0000            lds r23,MAX_GAS
 9990 5828 7D8B                 std Y+21,r23
 9991 582a 872F                 mov r24,r23
 9992 582c 9927                 clr r25
 9993 582e 880F                 lsl r24
 9994 5830 991F                 rol r25
 9995 5832 880F                 lsl r24
 9996 5834 991F                 rol r25
 9997 5836 8055                 subi r24,lo8(-(-80))
 9998 5838 9040                 sbci r25,hi8(-(-80))
 9999 583a A981                 ldd r26,Y+1
 10000 583c BA81                ldd r27,Y+2
 10001 583e 8A17                cp r24,r26
 10002 5840 9B07                cpc r25,r27
 10003 5842 04F4                brge .L807
 10004 5844 9A83                std Y+2,r25
 10005 5846 8983                std Y+1,r24
 10006                  .L807:
 10007 5848 8091 0000           lds r24,MissingMotor
 10008 584c 8823                tst r24
 10009 584e 01F4                brne .L809
 10010 5850 8091 0000           lds r24,Capacity+6
 10011 5854 8F3F                cpi r24,lo8(-1)
 10012 5856 01F4                brne .L809
 10013 5858 8091 0000           lds r24,NC_ErrorCode
 10014 585c 8823                tst r24
 10015 585e 01F0                breq .L808
 10016                  .L809:
 10017 5860 8091 0000           lds r24,modell_fliegt
 10018 5864 9091 0000           lds r25,(modell_fliegt)+1
 10019 5868 0297                sbiw r24,2
 10020 586a C097                sbiw r24,48
 10021 586c 00F4                brsh .L808
 10022 586e E981                ldd r30,Y+1
 10023 5870 FA81                ldd r31,Y+2
 10024 5872 1E16                cp __zero_reg__,r30
 10025 5874 1F06                cpc __zero_reg__,r31
 10026 5876 04F4                brge .L808
 10027 5878 81E0                ldi r24,lo8(1)
 10028 587a 90E0                ldi r25,hi8(1)
 10029 587c 9093 0000           sts (modell_fliegt)+1,r25
 10030 5880 8093 0000           sts modell_fliegt,r24
 10031 5884 E22E                mov r14,r18
 10032 5886 FF24                clr r15
 10033 5888 EE0C                lsl r14
 10034 588a FF1C                rol r15
 10035 588c EE0C                lsl r14
 10036 588e FF1C                rol r15
 10037 5890 8701                movw r16,r14
 10038 5892 085D                subi r16,lo8(-(40))
 10039 5894 1F4F                sbci r17,hi8(-(40))
 10040 5896 1A83                std Y+2,r17
 10041 5898 0983                std Y+1,r16
 10042                  .L808:
 10043 589a 2981                ldd r18,Y+1
 10044 589c 3A81                ldd r19,Y+2
 10045 589e 3093 0000           sts (DebugOut+16)+1,r19
 10046 58a2 2093 0000           sts DebugOut+16,r18
 10047 58a6 8091 0000           lds r24,sollGier.0
 10048 58aa 9091 0000           lds r25,(sollGier.0)+1
 10049 58ae A091 0000           lds r26,(sollGier.0)+2
 10050 58b2 B091 0000           lds r27,(sollGier.0)+3
 10051 58b6 12E0                ldi r17,2
 10052 58b8 880F        1:      lsl r24
 10053 58ba 991F                rol r25
 10054 58bc AA1F                rol r26
 10055 58be BB1F                rol r27
 10056 58c0 1A95                dec r17
 10057 58c2 01F4                brne 1b
 10058 58c4 0091 0000           lds r16,MesswertGier
 10059 58c8 1091 0000           lds r17,(MesswertGier)+1
 10060 58cc 081B                sub r16,r24
 10061 58ce 190B                sbc r17,r25
 10062 58d0 213A                cpi r18,161
 10063 58d2 3105                cpc r19,__zero_reg__
 10064 58d4 04F0                brlt .L811
 10065 58d6 C901                movw r24,r18
 10066 58d8 37FD                sbrc r19,7
 10067 58da 0196                adiw r24,1
 10068                  .L813:
 10069 58dc 9595                asr r25
 10070 58de 8795                ror r24
 10071 58e0 8017                cp r24,r16
 10072 58e2 9107                cpc r25,r17
 10073 58e4 04F4                brge .L812
 10074 58e6 8C01                movw r16,r24
 10075                  .L812:
 10076 58e8 9095                com r25
 10077 58ea 8195                neg r24
 10078 58ec 9F4F                sbci r25,lo8(-1)
 10079 58ee 0817                cp r16,r24
 10080 58f0 1907                cpc r17,r25
 10081 58f2 04F4                brge .L818
 10082 58f4 8C01                movw r16,r24
 10083 58f6 00C0                rjmp .L818
 10084                  .L811:
 10085 58f8 0135                cpi r16,81
 10086 58fa 1105                cpc r17,__zero_reg__
 10087 58fc 04F0                brlt .L819
 10088 58fe 00E5                ldi r16,lo8(80)
 10089 5900 10E0                ldi r17,hi8(80)
 10090                  .L819:
 10091 5902 3FEF                ldi r19,hi8(-80)
 10092 5904 003B                cpi r16,lo8(-80)
 10093 5906 1307                cpc r17,r19
 10094 5908 04F4                brge .L818
 10095 590a 00EB                ldi r16,lo8(-80)
 10096 590c 1FEF                ldi r17,hi8(-80)
 10097                  .L818:
 10098 590e 4D89                ldd r20,Y+21
 10099 5910 242F                mov r18,r20
 10100 5912 3327                clr r19
 10101 5914 220F                lsl r18
 10102 5916 331F                rol r19
 10103 5918 220F                lsl r18
 10104 591a 331F                rol r19
 10105 591c C901                movw r24,r18
 10106 591e 6981                ldd r22,Y+1
 10107 5920 7A81                ldd r23,Y+2
 10108 5922 861B                sub r24,r22
 10109 5924 970B                sbc r25,r23
 10110 5926 8017                cp r24,r16
 10111 5928 9107                cpc r25,r17
 10112 592a 04F4                brge .L821
 10113 592c 8C01                movw r16,r24
 10114                  .L821:
 10115 592e 8981                ldd r24,Y+1
 10116 5930 9A81                ldd r25,Y+2
 10117 5932 821B                sub r24,r18
 10118 5934 930B                sbc r25,r19
 10119 5936 0817                cp r16,r24
 10120 5938 1907                cpc r17,r25
 10121 593a 04F4                brge .L822
 10122 593c 8C01                movw r16,r24
 10123                  .L822:
 10124 593e 8091 0000           lds r24,MesswertNick
 10125 5942 9091 0000           lds r25,(MesswertNick)+1
 10126 5946 6091 0000           lds r22,StickNick
 10127 594a 7091 0000           lds r23,(StickNick)+1
 10128 594e 861B                sub r24,r22
 10129 5950 970B                sbc r25,r23
 10130 5952 9093 0000           sts (DiffNick)+1,r25
 10131 5956 8093 0000           sts DiffNick,r24
 10132 595a D090 0000           lds r13,IntegralFaktor
 10133 595e 2091 0000           lds r18,SummeNick
 10134 5962 3091 0000           lds r19,(SummeNick)+1
 10135 5966 4091 0000           lds r20,(SummeNick)+2
 10136 596a 5091 0000           lds r21,(SummeNick)+3
 10137 596e DD20                tst r13
 10138 5970 01F0                breq .L823
 10139 5972 661A                sub r6,r22
 10140 5974 770A                sbc r7,r23
 10141 5976 C301                movw r24,r6
 10142 5978 AA27                clr r26
 10143 597a 97FD                sbrc r25,7
 10144 597c A095                com r26
 10145 597e BA2F                mov r27,r26
 10146 5980 00C0                rjmp .L914
 10147                  .L823:
 10148 5982 AA27                clr r26
 10149 5984 97FD                sbrc r25,7
 10150 5986 A095                com r26
 10151 5988 BA2F                mov r27,r26
 10152                  .L914:
 10153 598a 280F                add r18,r24
 10154 598c 391F                adc r19,r25
 10155 598e 4A1F                adc r20,r26
 10156 5990 5B1F                adc r21,r27
 10157 5992 2093 0000           sts SummeNick,r18
 10158 5996 3093 0000           sts (SummeNick)+1,r19
 10159 599a 4093 0000           sts (SummeNick)+2,r20
 10160 599e 5093 0000           sts (SummeNick)+3,r21
 10161 59a2 8091 0000           lds r24,SummeNick
 10162 59a6 9091 0000           lds r25,(SummeNick)+1
 10163 59aa A091 0000           lds r26,(SummeNick)+2
 10164 59ae B091 0000           lds r27,(SummeNick)+3
 10165 59b2 8150                subi r24,lo8(64001)
 10166 59b4 9A4F                sbci r25,hi8(64001)
 10167 59b6 A040                sbci r26,hlo8(64001)
 10168 59b8 B040                sbci r27,hhi8(64001)
 10169 59ba 04F0                brlt .L825
 10170 59bc 80E0                ldi r24,lo8(64000)
 10171 59be 9AEF                ldi r25,hi8(64000)
 10172 59c0 A0E0                ldi r26,hlo8(64000)
 10173 59c2 B0E0                ldi r27,hhi8(64000)
 10174 59c4 8093 0000           sts SummeNick,r24
 10175 59c8 9093 0000           sts (SummeNick)+1,r25
 10176 59cc A093 0000           sts (SummeNick)+2,r26
 10177 59d0 B093 0000           sts (SummeNick)+3,r27
 10178                  .L825:
 10179 59d4 8091 0000           lds r24,SummeNick
 10180 59d8 9091 0000           lds r25,(SummeNick)+1
 10181 59dc A091 0000           lds r26,(SummeNick)+2
 10182 59e0 B091 0000           lds r27,(SummeNick)+3
 10183 59e4 8050                subi r24,lo8(-64000)
 10184 59e6 9640                sbci r25,hi8(-64000)
 10185 59e8 AF4F                sbci r26,hlo8(-64000)
 10186 59ea BF4F                sbci r27,hhi8(-64000)
 10187 59ec 04F4                brge .L826
 10188 59ee 80E0                ldi r24,lo8(-64000)
 10189 59f0 96E0                ldi r25,hi8(-64000)
 10190 59f2 AFEF                ldi r26,hlo8(-64000)
 10191 59f4 BFEF                ldi r27,hhi8(-64000)
 10192 59f6 8093 0000           sts SummeNick,r24
 10193 59fa 9093 0000           sts (SummeNick)+1,r25
 10194 59fe A093 0000           sts (SummeNick)+2,r26
 10195 5a02 B093 0000           sts (SummeNick)+3,r27
 10196                  .L826:
 10197 5a06 C090 0000           lds r12,EE_Parameter+35
 10198 5a0a 2091 0000           lds r18,DiffNick
 10199 5a0e 3091 0000           lds r19,(DiffNick)+1
 10200 5a12 78E0                ldi r23,lo8(8)
 10201 5a14 E72E                mov r14,r23
 10202 5a16 EC14                cp r14,r12
 10203 5a18 00F0                brlo .L827
 10204 5a1a 8C2D                mov r24,r12
 10205 5a1c 9927                clr r25
 10206 5a1e 829F                mul r24,r18
 10207 5a20 A001                movw r20,r0
 10208 5a22 839F                mul r24,r19
 10209 5a24 500D                add r21,r0
 10210 5a26 929F                mul r25,r18
 10211 5a28 500D                add r21,r0
 10212 5a2a 1124                clr r1
 10213 5a2c CA01                movw r24,r20
 10214 5a2e 57FD                sbrc r21,7
 10215 5a30 0796                adiw r24,7
 10216                  .L828:
 10217 5a32 7C01                movw r14,r24
 10218 5a34 63E0                ldi r22,3
 10219 5a36 F594        1:      asr r15
 10220 5a38 E794                ror r14
 10221 5a3a 6A95                dec r22
 10222 5a3c 01F4                brne 1b
 10223 5a3e 00C0                rjmp .L829
 10224                  .L827:
 10225 5a40 8C2D                mov r24,r12
 10226 5a42 8695                lsr r24
 10227 5a44 9927                clr r25
 10228 5a46 829F                mul r24,r18
 10229 5a48 B001                movw r22,r0
 10230 5a4a 839F                mul r24,r19
 10231 5a4c 700D                add r23,r0
 10232 5a4e 929F                mul r25,r18
 10233 5a50 700D                add r23,r0
 10234 5a52 1124                clr r1
 10235 5a54 CB01                movw r24,r22
 10236 5a56 77FD                sbrc r23,7
 10237 5a58 0396                adiw r24,3
 10238                  .L830:
 10239 5a5a 7C01                movw r14,r24
 10240 5a5c F594                asr r15
 10241 5a5e E794                ror r14
 10242 5a60 F594                asr r15
 10243 5a62 E794                ror r14
 10244                  .L829:
 10245 5a64 A090 0000           lds r10,Ki
 10246 5a68 B090 0000           lds r11,(Ki)+1
 10247 5a6c 9501                movw r18,r10
 10248 5a6e 4427                clr r20
 10249 5a70 37FD                sbrc r19,7
 10250 5a72 4095                com r20
 10251 5a74 542F                mov r21,r20
 10252 5a76 8091 0000           lds r24,SummeNick
 10253 5a7a 9091 0000           lds r25,(SummeNick)+1
 10254 5a7e A091 0000           lds r26,(SummeNick)+2
 10255 5a82 B091 0000           lds r27,(SummeNick)+3
 10256 5a86 BC01                movw r22,r24
 10257 5a88 CD01                movw r24,r26
 10258 5a8a 0E94 0000           call __divmodsi4
 10259 5a8e E20E                add r14,r18
 10260 5a90 F31E                adc r15,r19
 10261 5a92 9090 0000           lds r9,Parameter_DynamicStability
 10262 5a96 692D                mov r22,r9
 10263 5a98 7727                clr r23
 10264 5a9a 8827                clr r24
 10265 5a9c 9927                clr r25
 10266 5a9e 9801                movw r18,r16
 10267 5aa0 17FF                sbrs r17,7
 10268 5aa2 00C0                rjmp .L831
 10269 5aa4 2227                clr r18
 10270 5aa6 3327                clr r19
 10271 5aa8 201B                sub r18,r16
 10272 5aaa 310B                sbc r19,r17
 10273                  .L831:
 10274 5aac 37FF                sbrs r19,7
 10275 5aae 00C0                rjmp .L832
 10276 5ab0 2F5F                subi r18,lo8(-(1))
 10277 5ab2 3F4F                sbci r19,hi8(-(1))
 10278                  .L832:
 10279 5ab4 3595                asr r19
 10280 5ab6 2795                ror r18
 10281 5ab8 A981                ldd r26,Y+1
 10282 5aba BA81                ldd r27,Y+2
 10283 5abc 2A0F                add r18,r26
 10284 5abe 3B1F                adc r19,r27
 10285 5ac0 4427                clr r20
 10286 5ac2 37FD                sbrc r19,7
 10287 5ac4 4095                com r20
 10288 5ac6 542F                mov r21,r20
 10289 5ac8 0E94 0000           call __mulsi3
 10290 5acc 97FF                sbrs r25,7
 10291 5ace 00C0                rjmp .L833
 10292 5ad0 615C                subi r22,lo8(-(63))
 10293 5ad2 7F4F                sbci r23,hi8(-(63))
 10294 5ad4 8F4F                sbci r24,hlo8(-(63))
 10295 5ad6 9F4F                sbci r25,hhi8(-(63))
 10296                  .L833:
 10297 5ad8 26E0                ldi r18,6
 10298 5ada 9595        1:      asr r25
 10299 5adc 8795                ror r24
 10300 5ade 7795                ror r23
 10301 5ae0 6795                ror r22
 10302 5ae2 2A95                dec r18
 10303 5ae4 01F4                brne 1b
 10304 5ae6 9B01                movw r18,r22
 10305 5ae8 6E15                cp r22,r14
 10306 5aea 7F05                cpc r23,r15
 10307 5aec 04F4                brge .L834
 10308 5aee 7B01                movw r14,r22
 10309                  .L834:
 10310 5af0 3095                com r19
 10311 5af2 2195                neg r18
 10312 5af4 3F4F                sbci r19,lo8(-1)
 10313 5af6 E216                cp r14,r18
 10314 5af8 F306                cpc r15,r19
 10315 5afa 04F4                brge .L835
 10316 5afc 7901                movw r14,r18
 10317                  .L835:
 10318 5afe 8091 0000           lds r24,MesswertRoll
 10319 5b02 9091 0000           lds r25,(MesswertRoll)+1
 10320 5b06 6091 0000           lds r22,StickRoll
 10321 5b0a 7091 0000           lds r23,(StickRoll)+1
 10322 5b0e 861B                sub r24,r22
 10323 5b10 970B                sbc r25,r23
 10324 5b12 9093 0000           sts (DiffRoll)+1,r25
 10325 5b16 8093 0000           sts DiffRoll,r24
 10326 5b1a 2091 0000           lds r18,SummeRoll
 10327 5b1e 3091 0000           lds r19,(SummeRoll)+1
 10328 5b22 4091 0000           lds r20,(SummeRoll)+2
 10329 5b26 5091 0000           lds r21,(SummeRoll)+3
 10330 5b2a DD20                tst r13
 10331 5b2c 01F0                breq .L836
 10332 5b2e 461A                sub r4,r22
 10333 5b30 570A                sbc r5,r23
 10334 5b32 C201                movw r24,r4
 10335 5b34 AA27                clr r26
 10336 5b36 97FD                sbrc r25,7
 10337 5b38 A095                com r26
 10338 5b3a BA2F                mov r27,r26
 10339 5b3c 00C0                rjmp .L915
 10340                  .L836:
 10341 5b3e AA27                clr r26
 10342 5b40 97FD                sbrc r25,7
 10343 5b42 A095                com r26
 10344 5b44 BA2F                mov r27,r26
 10345                  .L915:
 10346 5b46 280F                add r18,r24
 10347 5b48 391F                adc r19,r25
 10348 5b4a 4A1F                adc r20,r26
 10349 5b4c 5B1F                adc r21,r27
 10350 5b4e 2093 0000           sts SummeRoll,r18
 10351 5b52 3093 0000           sts (SummeRoll)+1,r19
 10352 5b56 4093 0000           sts (SummeRoll)+2,r20
 10353 5b5a 5093 0000           sts (SummeRoll)+3,r21
 10354 5b5e 8091 0000           lds r24,SummeRoll
 10355 5b62 9091 0000           lds r25,(SummeRoll)+1
 10356 5b66 A091 0000           lds r26,(SummeRoll)+2
 10357 5b6a B091 0000           lds r27,(SummeRoll)+3
 10358 5b6e 8150                subi r24,lo8(64001)
 10359 5b70 9A4F                sbci r25,hi8(64001)
 10360 5b72 A040                sbci r26,hlo8(64001)
 10361 5b74 B040                sbci r27,hhi8(64001)
 10362 5b76 04F0                brlt .L838
 10363 5b78 80E0                ldi r24,lo8(64000)
 10364 5b7a 9AEF                ldi r25,hi8(64000)
 10365 5b7c A0E0                ldi r26,hlo8(64000)
 10366 5b7e B0E0                ldi r27,hhi8(64000)
 10367 5b80 8093 0000           sts SummeRoll,r24
 10368 5b84 9093 0000           sts (SummeRoll)+1,r25
 10369 5b88 A093 0000           sts (SummeRoll)+2,r26
 10370 5b8c B093 0000           sts (SummeRoll)+3,r27
 10371                  .L838:
 10372 5b90 8091 0000           lds r24,SummeRoll
 10373 5b94 9091 0000           lds r25,(SummeRoll)+1
 10374 5b98 A091 0000           lds r26,(SummeRoll)+2
 10375 5b9c B091 0000           lds r27,(SummeRoll)+3
 10376 5ba0 8050                subi r24,lo8(-64000)
 10377 5ba2 9640                sbci r25,hi8(-64000)
 10378 5ba4 AF4F                sbci r26,hlo8(-64000)
 10379 5ba6 BF4F                sbci r27,hhi8(-64000)
 10380 5ba8 04F4                brge .L839
 10381 5baa 80E0                ldi r24,lo8(-64000)
 10382 5bac 96E0                ldi r25,hi8(-64000)
 10383 5bae AFEF                ldi r26,hlo8(-64000)
 10384 5bb0 BFEF                ldi r27,hhi8(-64000)
 10385 5bb2 8093 0000           sts SummeRoll,r24
 10386 5bb6 9093 0000           sts (SummeRoll)+1,r25
 10387 5bba A093 0000           sts (SummeRoll)+2,r26
 10388 5bbe B093 0000           sts (SummeRoll)+3,r27
 10389                  .L839:
 10390 5bc2 2091 0000           lds r18,DiffRoll
 10391 5bc6 3091 0000           lds r19,(DiffRoll)+1
 10392 5bca 48E0                ldi r20,lo8(8)
 10393 5bcc 4C15                cp r20,r12
 10394 5bce 00F0                brlo .L840
 10395 5bd0 8C2D                mov r24,r12
 10396 5bd2 9927                clr r25
 10397 5bd4 829F                mul r24,r18
 10398 5bd6 B001                movw r22,r0
 10399 5bd8 839F                mul r24,r19
 10400 5bda 700D                add r23,r0
 10401 5bdc 929F                mul r25,r18
 10402 5bde 700D                add r23,r0
 10403 5be0 1124                clr r1
 10404 5be2 CB01                movw r24,r22
 10405 5be4 77FD                sbrc r23,7
 10406 5be6 0796                adiw r24,7
 10407                  .L841:
 10408 5be8 6C01                movw r12,r24
 10409 5bea B3E0                ldi r27,3
 10410 5bec D594        1:      asr r13
 10411 5bee C794                ror r12
 10412 5bf0 BA95                dec r27
 10413 5bf2 01F4                brne 1b
 10414 5bf4 00C0                rjmp .L842
 10415                  .L840:
 10416 5bf6 C694                lsr r12
 10417 5bf8 8C2D                mov r24,r12
 10418 5bfa 9927                clr r25
 10419 5bfc 829F                mul r24,r18
 10420 5bfe D001                movw r26,r0
 10421 5c00 839F                mul r24,r19
 10422 5c02 B00D                add r27,r0
 10423 5c04 929F                mul r25,r18
 10424 5c06 B00D                add r27,r0
 10425 5c08 1124                clr r1
 10426 5c0a CD01                movw r24,r26
 10427 5c0c B7FD                sbrc r27,7
 10428 5c0e 0396                adiw r24,3
 10429                  .L843:
 10430 5c10 6C01                movw r12,r24
 10431 5c12 D594                asr r13
 10432 5c14 C794                ror r12
 10433 5c16 D594                asr r13
 10434 5c18 C794                ror r12
 10435                  .L842:
 10436 5c1a 9501                movw r18,r10
 10437 5c1c 4427                clr r20
 10438 5c1e 37FD                sbrc r19,7
 10439 5c20 4095                com r20
 10440 5c22 542F                mov r21,r20
 10441 5c24 8091 0000           lds r24,SummeRoll
 10442 5c28 9091 0000           lds r25,(SummeRoll)+1
 10443 5c2c A091 0000           lds r26,(SummeRoll)+2
 10444 5c30 B091 0000           lds r27,(SummeRoll)+3
 10445 5c34 BC01                movw r22,r24
 10446 5c36 CD01                movw r24,r26
 10447 5c38 0E94 0000           call __divmodsi4
 10448 5c3c C20E                add r12,r18
 10449 5c3e D31E                adc r13,r19
 10450 5c40 692D                mov r22,r9
 10451 5c42 7727                clr r23
 10452 5c44 8827                clr r24
 10453 5c46 9927                clr r25
 10454 5c48 9801                movw r18,r16
 10455 5c4a 17FF                sbrs r17,7
 10456 5c4c 00C0                rjmp .L844
 10457 5c4e 2227                clr r18
 10458 5c50 3327                clr r19
 10459 5c52 201B                sub r18,r16
 10460 5c54 310B                sbc r19,r17
 10461                  .L844:
 10462 5c56 37FF                sbrs r19,7
 10463 5c58 00C0                rjmp .L845
 10464 5c5a 2F5F                subi r18,lo8(-(1))
 10465 5c5c 3F4F                sbci r19,hi8(-(1))
 10466                  .L845:
 10467 5c5e 3595                asr r19
 10468 5c60 2795                ror r18
 10469 5c62 E981                ldd r30,Y+1
 10470 5c64 FA81                ldd r31,Y+2
 10471 5c66 2E0F                add r18,r30
 10472 5c68 3F1F                adc r19,r31
 10473 5c6a 4427                clr r20
 10474 5c6c 37FD                sbrc r19,7
 10475 5c6e 4095                com r20
 10476 5c70 542F                mov r21,r20
 10477 5c72 0E94 0000           call __mulsi3
 10478 5c76 97FF                sbrs r25,7
 10479 5c78 00C0                rjmp .L846
 10480 5c7a 615C                subi r22,lo8(-(63))
 10481 5c7c 7F4F                sbci r23,hi8(-(63))
 10482 5c7e 8F4F                sbci r24,hlo8(-(63))
 10483 5c80 9F4F                sbci r25,hhi8(-(63))
 10484                  .L846:
 10485 5c82 E6E0                ldi r30,6
 10486 5c84 9595        1:      asr r25
 10487 5c86 8795                ror r24
 10488 5c88 7795                ror r23
 10489 5c8a 6795                ror r22
 10490 5c8c EA95                dec r30
 10491 5c8e 01F4                brne 1b
 10492 5c90 9B01                movw r18,r22
 10493 5c92 6C15                cp r22,r12
 10494 5c94 7D05                cpc r23,r13
 10495 5c96 04F4                brge .L847
 10496 5c98 6B01                movw r12,r22
 10497                  .L847:
 10498 5c9a 3095                com r19
 10499 5c9c 2195                neg r18
 10500 5c9e 3F4F                sbci r19,lo8(-1)
 10501 5ca0 C216                cp r12,r18
 10502 5ca2 D306                cpc r13,r19
 10503 5ca4 04F4                brge .L848
 10504 5ca6 6901                movw r12,r18
 10505                  .L848:
 10506 5ca8 8091 0000           lds r24,MIN_GAS
 10507 5cac 282E                mov r2,r24
 10508 5cae 3324                clr r3
 10509 5cb0 5090 0000           lds r5,EE_Parameter+101
 10510 5cb4 60E0                ldi r22,lo8(Motor)
 10511 5cb6 862E                mov r8,r22
 10512 5cb8 60E0                ldi r22,hi8(Motor)
 10513 5cba 962E                mov r9,r22
 10514 5cbc 50E0                ldi r21,lo8(Mixer+13)
 10515 5cbe A52E                mov r10,r21
 10516 5cc0 50E0                ldi r21,hi8(Mixer+13)
 10517 5cc2 B52E                mov r11,r21
 10518 5cc4 4BE0                ldi r20,lo8(11)
 10519 5cc6 442E                mov r4,r20
 10520 5cc8 30E0                ldi r19,lo8(tmp_motorwert)
 10521 5cca 632E                mov r6,r19
 10522 5ccc 30E0                ldi r19,hi8(tmp_motorwert)
 10523 5cce 732E                mov r7,r19
 10524                  .L883:
 10525 5cd0 D501                movw r26,r10
 10526 5cd2 2C91                ld r18,X
 10527 5cd4 1216                cp __zero_reg__,r18
 10528 5cd6 04F0                brlt .+2
 10529 5cd8 00C0                rjmp .L852
 10530 5cda 2034                cpi r18,lo8(64)
 10531 5cdc 01F4                brne .L853
 10532 5cde E981                ldd r30,Y+1
 10533 5ce0 FA81                ldd r31,Y+2
 10534 5ce2 FF8B                std Y+23,r31
 10535 5ce4 EE8B                std Y+22,r30
 10536 5ce6 00C0                rjmp .L854
 10537                  .L853:
 10538 5ce8 4981                ldd r20,Y+1
 10539 5cea 5A81                ldd r21,Y+2
 10540 5cec CA01                movw r24,r20
 10541 5cee AA27                clr r26
 10542 5cf0 97FD                sbrc r25,7
 10543 5cf2 A095                com r26
 10544 5cf4 BA2F                mov r27,r26
 10545 5cf6 3327                clr r19
 10546 5cf8 27FD                sbrc r18,7
 10547 5cfa 3095                com r19
 10548 5cfc 432F                mov r20,r19
 10549 5cfe 532F                mov r21,r19
 10550 5d00 BC01                movw r22,r24
 10551 5d02 CD01                movw r24,r26
 10552 5d04 0E94 0000           call __mulsi3
 10553 5d08 97FF                sbrs r25,7
 10554 5d0a 00C0                rjmp .L855
 10555 5d0c 615C                subi r22,lo8(-(63))
 10556 5d0e 7F4F                sbci r23,hi8(-(63))
 10557 5d10 8F4F                sbci r24,hlo8(-(63))
 10558 5d12 9F4F                sbci r25,hhi8(-(63))
 10559                  .L855:
 10560 5d14 26E0                ldi r18,6
 10561 5d16 9595        1:      asr r25
 10562 5d18 8795                ror r24
 10563 5d1a 7795                ror r23
 10564 5d1c 6795                ror r22
 10565 5d1e 2A95                dec r18
 10566 5d20 01F4                brne 1b
 10567 5d22 7F8B                std Y+23,r23
 10568 5d24 6E8B                std Y+22,r22
 10569                  .L854:
 10570 5d26 F501                movw r30,r10
 10571 5d28 2181                ldd r18,Z+1
 10572 5d2a 2034                cpi r18,lo8(64)
 10573 5d2c 01F4                brne .L856
 10574 5d2e 2E89                ldd r18,Y+22
 10575 5d30 3F89                ldd r19,Y+23
 10576 5d32 2E0D                add r18,r14
 10577 5d34 3F1D                adc r19,r15
 10578 5d36 3F8B                std Y+23,r19
 10579 5d38 2E8B                std Y+22,r18
 10580 5d3a 00C0                rjmp .L857
 10581                  .L856:
 10582 5d3c 203C                cpi r18,lo8(-64)
 10583 5d3e 01F4                brne .L858
 10584 5d40 4E89                ldd r20,Y+22
 10585 5d42 5F89                ldd r21,Y+23
 10586 5d44 4E19                sub r20,r14
 10587 5d46 5F09                sbc r21,r15
 10588 5d48 5F8B                std Y+23,r21
 10589 5d4a 4E8B                std Y+22,r20
 10590 5d4c 00C0                rjmp .L857
 10591                  .L858:
 10592 5d4e C701                movw r24,r14
 10593 5d50 AA27                clr r26
 10594 5d52 97FD                sbrc r25,7
 10595 5d54 A095                com r26
 10596 5d56 BA2F                mov r27,r26
 10597 5d58 3327                clr r19
 10598 5d5a 27FD                sbrc r18,7
 10599 5d5c 3095                com r19
 10600 5d5e 432F                mov r20,r19
 10601 5d60 532F                mov r21,r19
 10602 5d62 BC01                movw r22,r24
 10603 5d64 CD01                movw r24,r26
 10604 5d66 0E94 0000           call __mulsi3
 10605 5d6a 97FF                sbrs r25,7
 10606 5d6c 00C0                rjmp .L860
 10607 5d6e 615C                subi r22,lo8(-(63))
 10608 5d70 7F4F                sbci r23,hi8(-(63))
 10609 5d72 8F4F                sbci r24,hlo8(-(63))
 10610 5d74 9F4F                sbci r25,hhi8(-(63))
 10611                  .L860:
 10612 5d76 B6E0                ldi r27,6
 10613 5d78 9595        1:      asr r25
 10614 5d7a 8795                ror r24
 10615 5d7c 7795                ror r23
 10616 5d7e 6795                ror r22
 10617 5d80 BA95                dec r27
 10618 5d82 01F4                brne 1b
 10619 5d84 AE89                ldd r26,Y+22
 10620 5d86 BF89                ldd r27,Y+23
 10621 5d88 A60F                add r26,r22
 10622 5d8a B71F                adc r27,r23
 10623 5d8c BF8B                std Y+23,r27
 10624 5d8e AE8B                std Y+22,r26
 10625                  .L857:
 10626 5d90 F501                movw r30,r10
 10627 5d92 2281                ldd r18,Z+2
 10628 5d94 2034                cpi r18,lo8(64)
 10629 5d96 01F4                brne .L861
 10630 5d98 2E89                ldd r18,Y+22
 10631 5d9a 3F89                ldd r19,Y+23
 10632 5d9c 2C0D                add r18,r12
 10633 5d9e 3D1D                adc r19,r13
 10634 5da0 3F8B                std Y+23,r19
 10635 5da2 2E8B                std Y+22,r18
 10636 5da4 00C0                rjmp .L862
 10637                  .L861:
 10638 5da6 203C                cpi r18,lo8(-64)
 10639 5da8 01F4                brne .L863
 10640 5daa 4E89                ldd r20,Y+22
 10641 5dac 5F89                ldd r21,Y+23
 10642 5dae 4C19                sub r20,r12
 10643 5db0 5D09                sbc r21,r13
 10644 5db2 5F8B                std Y+23,r21
 10645 5db4 4E8B                std Y+22,r20
 10646 5db6 00C0                rjmp .L862
 10647                  .L863:
 10648 5db8 C601                movw r24,r12
 10649 5dba AA27                clr r26
 10650 5dbc 97FD                sbrc r25,7
 10651 5dbe A095                com r26
 10652 5dc0 BA2F                mov r27,r26
 10653 5dc2 3327                clr r19
 10654 5dc4 27FD                sbrc r18,7
 10655 5dc6 3095                com r19
 10656 5dc8 432F                mov r20,r19
 10657 5dca 532F                mov r21,r19
 10658 5dcc BC01                movw r22,r24
 10659 5dce CD01                movw r24,r26
 10660 5dd0 0E94 0000           call __mulsi3
 10661 5dd4 97FF                sbrs r25,7
 10662 5dd6 00C0                rjmp .L865
 10663 5dd8 615C                subi r22,lo8(-(63))
 10664 5dda 7F4F                sbci r23,hi8(-(63))
 10665 5ddc 8F4F                sbci r24,hlo8(-(63))
 10666 5dde 9F4F                sbci r25,hhi8(-(63))
 10667                  .L865:
 10668 5de0 A6E0                ldi r26,6
 10669 5de2 9595        1:      asr r25
 10670 5de4 8795                ror r24
 10671 5de6 7795                ror r23
 10672 5de8 6795                ror r22
 10673 5dea AA95                dec r26
 10674 5dec 01F4                brne 1b
 10675 5dee AE89                ldd r26,Y+22
 10676 5df0 BF89                ldd r27,Y+23
 10677 5df2 A60F                add r26,r22
 10678 5df4 B71F                adc r27,r23
 10679 5df6 BF8B                std Y+23,r27
 10680 5df8 AE8B                std Y+22,r26
 10681                  .L862:
 10682 5dfa F501                movw r30,r10
 10683 5dfc 2381                ldd r18,Z+3
 10684 5dfe 2034                cpi r18,lo8(64)
 10685 5e00 01F4                brne .L866
 10686 5e02 2E89                ldd r18,Y+22
 10687 5e04 3F89                ldd r19,Y+23
 10688 5e06 200F                add r18,r16
 10689 5e08 311F                adc r19,r17
 10690 5e0a 3F8B                std Y+23,r19
 10691 5e0c 2E8B                std Y+22,r18
 10692 5e0e 00C0                rjmp .L867
 10693                  .L866:
 10694 5e10 203C                cpi r18,lo8(-64)
 10695 5e12 01F4                brne .L868
 10696 5e14 4E89                ldd r20,Y+22
 10697 5e16 5F89                ldd r21,Y+23
 10698 5e18 401B                sub r20,r16
 10699 5e1a 510B                sbc r21,r17
 10700 5e1c 5F8B                std Y+23,r21
 10701 5e1e 4E8B                std Y+22,r20
 10702 5e20 00C0                rjmp .L867
 10703                  .L868:
 10704 5e22 C801                movw r24,r16
 10705 5e24 AA27                clr r26
 10706 5e26 97FD                sbrc r25,7
 10707 5e28 A095                com r26
 10708 5e2a BA2F                mov r27,r26
 10709 5e2c 3327                clr r19
 10710 5e2e 27FD                sbrc r18,7
 10711 5e30 3095                com r19
 10712 5e32 432F                mov r20,r19
 10713 5e34 532F                mov r21,r19
 10714 5e36 BC01                movw r22,r24
 10715 5e38 CD01                movw r24,r26
 10716 5e3a 0E94 0000           call __mulsi3
 10717 5e3e 97FF                sbrs r25,7
 10718 5e40 00C0                rjmp .L870
 10719 5e42 615C                subi r22,lo8(-(63))
 10720 5e44 7F4F                sbci r23,hi8(-(63))
 10721 5e46 8F4F                sbci r24,hlo8(-(63))
 10722 5e48 9F4F                sbci r25,hhi8(-(63))
 10723                  .L870:
 10724 5e4a F6E0                ldi r31,6
 10725 5e4c 9595        1:      asr r25
 10726 5e4e 8795                ror r24
 10727 5e50 7795                ror r23
 10728 5e52 6795                ror r22
 10729 5e54 FA95                dec r31
 10730 5e56 01F4                brne 1b
 10731 5e58 AE89                ldd r26,Y+22
 10732 5e5a BF89                ldd r27,Y+23
 10733 5e5c A60F                add r26,r22
 10734 5e5e B71F                adc r27,r23
 10735 5e60 BF8B                std Y+23,r27
 10736 5e62 AE8B                std Y+22,r26
 10737                  .L867:
 10738 5e64 F301                movw r30,r6
 10739 5e66 8081                ld r24,Z
 10740 5e68 9181                ldd r25,Z+1
 10741 5e6a 2E89                ldd r18,Y+22
 10742 5e6c 3F89                ldd r19,Y+23
 10743 5e6e 8217                cp r24,r18
 10744 5e70 9307                cpc r25,r19
 10745 5e72 04F4                brge .L871
 10746 5e74 B901                movw r22,r18
 10747 5e76 680F                add r22,r24
 10748 5e78 791F                adc r23,r25
 10749 5e7a 77FF                sbrs r23,7
 10750 5e7c 00C0                rjmp .L872
 10751 5e7e 6F5F                subi r22,lo8(-(1))
 10752 5e80 7F4F                sbci r23,hi8(-(1))
 10753                  .L872:
 10754 5e82 7595                asr r23
 10755 5e84 6795                ror r22
 10756 5e86 7F8B                std Y+23,r23
 10757 5e88 6E8B                std Y+22,r22
 10758 5e8a 00C0                rjmp .L873
 10759                  .L871:
 10760 5e8c 5520                tst r5
 10761 5e8e 01F4                brne .L874
 10762 5e90 4E89                ldd r20,Y+22
 10763 5e92 5F89                ldd r21,Y+23
 10764 5e94 440F                add r20,r20
 10765 5e96 551F                adc r21,r21
 10766 5e98 481B                sub r20,r24
 10767 5e9a 590B                sbc r21,r25
 10768 5e9c 5F8B                std Y+23,r21
 10769 5e9e 4E8B                std Y+22,r20
 10770 5ea0 00C0                rjmp .L873
 10771                  .L874:
 10772 5ea2 51E0                ldi r21,lo8(1)
 10773 5ea4 5515                cp r21,r5
 10774 5ea6 00F4                brsh .L873
 10775 5ea8 252D                mov r18,r5
 10776 5eaa 3327                clr r19
 10777 5eac 6E89                ldd r22,Y+22
 10778 5eae 7F89                ldd r23,Y+23
 10779 5eb0 861B                sub r24,r22
 10780 5eb2 970B                sbc r25,r23
 10781 5eb4 B901                movw r22,r18
 10782 5eb6 0E94 0000           call __divmodhi4
 10783 5eba AE89                ldd r26,Y+22
 10784 5ebc BF89                ldd r27,Y+23
 10785 5ebe A60F                add r26,r22
 10786 5ec0 B71F                adc r27,r23
 10787 5ec2 BF8B                std Y+23,r27
 10788 5ec4 AE8B                std Y+22,r26
 10789                  .L873:
 10790 5ec6 C101                movw r24,r2
 10791 5ec8 880F                lsl r24
 10792 5eca 991F                rol r25
 10793 5ecc 880F                lsl r24
 10794 5ece 991F                rol r25
 10795 5ed0 EE89                ldd r30,Y+22
 10796 5ed2 FF89                ldd r31,Y+23
 10797 5ed4 8E17                cp r24,r30
 10798 5ed6 9F07                cpc r25,r31
 10799 5ed8 04F4                brge .L916
 10800 5eda FD89                ldd r31,Y+21
 10801 5edc 8F2F                mov r24,r31
 10802 5ede 9927                clr r25
 10803 5ee0 880F                lsl r24
 10804 5ee2 991F                rol r25
 10805 5ee4 880F                lsl r24
 10806 5ee6 991F                rol r25
 10807 5ee8 2E89                ldd r18,Y+22
 10808 5eea 3F89                ldd r19,Y+23
 10809 5eec 2817                cp r18,r24
 10810 5eee 3907                cpc r19,r25
 10811 5ef0 04F0                brlt .L878
 10812                  .L916:
 10813 5ef2 9F8B                std Y+23,r25
 10814 5ef4 8E8B                std Y+22,r24
 10815                  .L878:
 10816 5ef6 8E89                ldd r24,Y+22
 10817 5ef8 9F89                ldd r25,Y+23
 10818 5efa 97FD                sbrc r25,7
 10819 5efc 0396                adiw r24,3
 10820                  .L880:
 10821 5efe 9595                asr r25
 10822 5f00 8795                ror r24
 10823 5f02 9595                asr r25
 10824 5f04 8795                ror r24
 10825 5f06 F401                movw r30,r8
 10826 5f08 8183                std Z+1,r24
 10827 5f0a 880F                lsl r24
 10828 5f0c 991F                rol r25
 10829 5f0e 880F                lsl r24
 10830 5f10 991F                rol r25
 10831 5f12 2E89                ldd r18,Y+22
 10832 5f14 3F89                ldd r19,Y+23
 10833 5f16 281B                sub r18,r24
 10834 5f18 390B                sbc r19,r25
 10835 5f1a C901                movw r24,r18
 10836 5f1c 880F                lsl r24
 10837 5f1e 8283                std Z+2,r24
 10838 5f20 EE89                ldd r30,Y+22
 10839 5f22 FF89                ldd r31,Y+23
 10840 5f24 D301                movw r26,r6
 10841 5f26 ED93                st X+,r30
 10842 5f28 FC93                st X,r31
 10843 5f2a 00C0                rjmp .L851
 10844                  .L852:
 10845 5f2c F401                movw r30,r8
 10846 5f2e 1182                std Z+1,__zero_reg__
 10847 5f30 1282                std Z+2,__zero_reg__
 10848                  .L851:
 10849 5f32 4A94                dec r4
 10850 5f34 22E0                ldi r18,lo8(2)
 10851 5f36 30E0                ldi r19,hi8(2)
 10852 5f38 620E                add r6,r18
 10853 5f3a 731E                adc r7,r19
 10854 5f3c 44E0                ldi r20,lo8(4)
 10855 5f3e 50E0                ldi r21,hi8(4)
 10856 5f40 A40E                add r10,r20
 10857 5f42 B51E                adc r11,r21
 10858 5f44 68E0                ldi r22,lo8(8)
 10859 5f46 70E0                ldi r23,hi8(8)
 10860 5f48 860E                add r8,r22
 10861 5f4a 971E                adc r9,r23
 10862 5f4c 47FE                sbrs r4,7
 10863 5f4e 00C0                rjmp .L883
 10864                  /* epilogue: frame size=23 */
 10865 5f50 E2E1                ldi r30,18
 10866 5f52 C95E                subi r28,-23
 10867 5f54 0C94 0000           jmp __epilogue_restores__+0
 10868                  /* epilogue end (size=4) */
 10869                  /* function MotorRegler size 8305 (8295) */
 10871                          .comm TrimNick,2,1
 10872                          .comm TrimRoll,2,1
 10873                          .comm ErsatzKompass,4,1
 10874                          .comm ErsatzKompassInGrad,2,1
 10875                          .comm MesswertNick,2,1
 10876                          .comm MesswertRoll,2,1
 10877                          .comm MesswertGier,2,1
 10878                          .comm Mittelwert_AccNick,2,1
 10879                          .comm Mittelwert_AccRoll,2,1
 10880                          .comm NaviAccNick,2,1
 10881                          .comm NaviAccRoll,2,1
 10882                          .comm h,1,1
 10883                          .comm m,1,1
 10884                          .comm s,1,1
 10885                          .comm DiffNick,2,1
 10886                          .comm DiffRoll,2,1
 10887                          .comm Parameter_Servo3,1,1
 10888                          .comm Parameter_Servo4,1,1
 10889                          .comm Parameter_Servo5,1,1
 10890                          .comm Parameter_J16Bitmask,1,1
 10891                          .comm Parameter_J16Timing,1,1
 10892                          .comm Parameter_J17Bitmask,1,1
 10893                          .comm Parameter_J17Timing,1,1
 10894                          .comm Parameter_GlobalConfig,1,1
 10895                          .comm Parameter_ExtraConfig,1,1
 10896                          .comm MesswertGierBias,2,1
 10897                          .comm RohMesswertNick,2,1
 10898                          .comm RohMesswertRoll,2,1
 10899                          .comm MittelIntegralNick,4,1
 10900                          .comm MittelIntegralRoll,4,1
 10901                          .comm MittelIntegralNick2,4,1
 10902                          .comm MittelIntegralRoll2,4,1
 10903                          .comm MAX_GAS,1,1
 10904                          .comm MIN_GAS,1,1
 10905                          .comm GyroFaktor,1,1
 10906                          .comm GyroFaktorGier,1,1
 10907                          .comm IntegralFaktor,1,1
 10908                          .comm IntegralFaktorGier,1,1
 10909                          .comm Parameter_NaviGpsModeControl,1,1
 10910                          .comm Parameter_NaviGpsGain,1,1
 10911                          .comm Parameter_NaviGpsP,1,1
 10912                          .comm Parameter_NaviGpsI,1,1
 10913                          .comm Parameter_NaviGpsD,1,1
 10914                          .comm Parameter_NaviGpsACC,1,1
 10915                          .comm Parameter_NaviOperatingRadius,1,1
 10916                          .comm Parameter_NaviWindCorrection,1,1
 10917                          .comm Parameter_NaviSpeedCompensation,1,1
 10918                          .comm Parameter_ExternalControl,1,1
 10919                          .comm Parameter_MaximumAltitude,1,1
 10920                          .comm KopplungsteilNickRoll,2,1
 10921                          .comm KopplungsteilRollNick,2,1
 10922                          .comm tmp_motorwert,24,1
 10923                  /* File "fc.c": code 12371 = 0x3053 (12310), prologues  31, epilogues  30 */
DEFINED SYMBOLS
                            *ABS*:00000000 fc.c
  C:\Temp/ccsD8yYp.s:3      *ABS*:0000003f __SREG__
  C:\Temp/ccsD8yYp.s:4      *ABS*:0000003e __SP_H__
  C:\Temp/ccsD8yYp.s:5      *ABS*:0000003d __SP_L__
  C:\Temp/ccsD8yYp.s:6      *ABS*:00000000 __tmp_reg__
  C:\Temp/ccsD8yYp.s:7      *ABS*:00000001 __zero_reg__
  C:\Temp/ccsD8yYp.s:15     .bss:00000000 GasIsZeroCnt
  C:\Temp/ccsD8yYp.s:21     .bss:00000002 HooverGasEmergencyPercent
  C:\Temp/ccsD8yYp.s:27     .data:00000000 VarioCharacter
  C:\Temp/ccsD8yYp.s:32     .data:00000001 GIER_GRAD_FAKTOR
  C:\Temp/ccsD8yYp.s:39     .bss:00000004 FC_StatusFlags2
  C:\Temp/ccsD8yYp.s:45     .bss:00000005 FC_StatusFlags
  C:\Temp/ccsD8yYp.s:51     .bss:00000006 modell_fliegt
  C:\Temp/ccsD8yYp.s:57     .bss:00000008 MaxStickRoll
  C:\Temp/ccsD8yYp.s:63     .bss:0000000a MaxStickNick
  C:\Temp/ccsD8yYp.s:69     .data:00000005 ExternHoehenValue
  C:\Temp/ccsD8yYp.s:76     .bss:0000000c ExternStickGier
  C:\Temp/ccsD8yYp.s:82     .bss:0000000e ExternStickRoll
  C:\Temp/ccsD8yYp.s:88     .bss:00000010 ExternStickNick
  C:\Temp/ccsD8yYp.s:94     .data:00000007 sintab
  C:\Temp/ccsD8yYp.s:131    .bss:00000012 CareFree
  C:\Temp/ccsD8yYp.s:137    .data:00000026 Parameter_DynamicStability
  C:\Temp/ccsD8yYp.s:142    .data:00000027 Parameter_CouplingYawCorrection
  C:\Temp/ccsD8yYp.s:147    .data:00000028 Parameter_AchsKopplung2
  C:\Temp/ccsD8yYp.s:152    .data:00000029 Parameter_AchsKopplung1
  C:\Temp/ccsD8yYp.s:157    .data:0000002a Parameter_LoopGasLimit
  C:\Temp/ccsD8yYp.s:162    .data:0000002b Parameter_ServoRollControl
  C:\Temp/ccsD8yYp.s:167    .data:0000002c Parameter_ServoNickControl
  C:\Temp/ccsD8yYp.s:174    .bss:00000013 Parameter_UserParam8
  C:\Temp/ccsD8yYp.s:180    .bss:00000014 Parameter_UserParam7
  C:\Temp/ccsD8yYp.s:186    .bss:00000015 Parameter_UserParam6
  C:\Temp/ccsD8yYp.s:192    .bss:00000016 Parameter_UserParam5
  C:\Temp/ccsD8yYp.s:198    .bss:00000017 Parameter_UserParam4
  C:\Temp/ccsD8yYp.s:204    .bss:00000018 Parameter_UserParam3
  C:\Temp/ccsD8yYp.s:210    .bss:00000019 Parameter_UserParam2
  C:\Temp/ccsD8yYp.s:216    .bss:0000001a Parameter_UserParam1
  C:\Temp/ccsD8yYp.s:222    .data:0000002d Parameter_I_Faktor
  C:\Temp/ccsD8yYp.s:227    .data:0000002e Parameter_Gier_P
  C:\Temp/ccsD8yYp.s:232    .data:0000002f Parameter_Gyro_Gier_I
  C:\Temp/ccsD8yYp.s:237    .data:00000030 Parameter_Gyro_Gier_P
  C:\Temp/ccsD8yYp.s:242    .data:00000031 Parameter_Gyro_I
  C:\Temp/ccsD8yYp.s:247    .data:00000032 Parameter_Gyro_P
  C:\Temp/ccsD8yYp.s:252    .data:00000033 Parameter_Gyro_D
  C:\Temp/ccsD8yYp.s:257    .data:00000034 Parameter_Hoehe_GPS_Z
  C:\Temp/ccsD8yYp.s:262    .data:00000035 Parameter_KompassWirkung
  C:\Temp/ccsD8yYp.s:267    .data:00000036 Parameter_Hoehe_ACC_Wirkung
  C:\Temp/ccsD8yYp.s:272    .data:00000037 Parameter_Hoehe_P
  C:\Temp/ccsD8yYp.s:277    .data:00000038 Parameter_HoehenSchalter
  C:\Temp/ccsD8yYp.s:282    .data:00000039 Parameter_Luftdruck_D
  C:\Temp/ccsD8yYp.s:289    .bss:0000001b Looping_Oben
  C:\Temp/ccsD8yYp.s:295    .bss:0000001c Looping_Unten
  C:\Temp/ccsD8yYp.s:301    .bss:0000001d Looping_Rechts
  C:\Temp/ccsD8yYp.s:307    .bss:0000001e Looping_Links
  C:\Temp/ccsD8yYp.s:313    .bss:0000001f Looping_Roll
  C:\Temp/ccsD8yYp.s:319    .bss:00000020 Looping_Nick
  C:\Temp/ccsD8yYp.s:325    .data:0000003a Ki
  C:\Temp/ccsD8yYp.s:332    .bss:00000021 HoverGas
  C:\Temp/ccsD8yYp.s:338    .bss:00000023 LageKorrekturNick
  C:\Temp/ccsD8yYp.s:344    .bss:00000025 LageKorrekturRoll
  C:\Temp/ccsD8yYp.s:350    .bss:00000027 NeueKompassRichtungMerken
  C:\Temp/ccsD8yYp.s:356    .bss:00000028 CalibrationDone
  C:\Temp/ccsD8yYp.s:362    .bss:00000029 CompassGierSetpoint
  C:\Temp/ccsD8yYp.s:368    .bss:0000002b WaypointTrimming
  C:\Temp/ccsD8yYp.s:374    .data:0000003c carefree_old
  C:\Temp/ccsD8yYp.s:381    .bss:0000002c FromNC_AltitudeSpeed
  C:\Temp/ccsD8yYp.s:387    .bss:0000002d FromNC_AltitudeSetpoint
  C:\Temp/ccsD8yYp.s:393    .bss:00000031 AltitudeSetpointTrimming
  C:\Temp/ccsD8yYp.s:399    .bss:00000033 SollHoehe
  C:\Temp/ccsD8yYp.s:405    .bss:00000037 HoehenWert
  C:\Temp/ccsD8yYp.s:411    .bss:0000003b StartTrigger
  C:\Temp/ccsD8yYp.s:417    .bss:0000003c MotorenEin
  C:\Temp/ccsD8yYp.s:423    .bss:0000003d SenderOkay
  C:\Temp/ccsD8yYp.s:429    .bss:0000003e Poti
  C:\Temp/ccsD8yYp.s:435    .bss:00000047 StickGas
  C:\Temp/ccsD8yYp.s:441    .bss:00000049 StickGier
  C:\Temp/ccsD8yYp.s:447    .bss:0000004b StickRoll
  C:\Temp/ccsD8yYp.s:453    .bss:0000004d StickNick
  C:\Temp/ccsD8yYp.s:459    .data:0000003d HoverGasMax
  C:\Temp/ccsD8yYp.s:466    .bss:0000004f HoverGasMin
  C:\Temp/ccsD8yYp.s:472    .data:0000003f StickGasHover
  C:\Temp/ccsD8yYp.s:479    .bss:00000051 GierGyroFehler
  C:\Temp/ccsD8yYp.s:485    .data:00000041 Umschlag180Roll
  C:\Temp/ccsD8yYp.s:490    .data:00000045 Umschlag180Nick
  C:\Temp/ccsD8yYp.s:497    .bss:00000053 TrichterFlug
  C:\Temp/ccsD8yYp.s:503    .bss:00000054 HoehenReglerAktiv
  C:\Temp/ccsD8yYp.s:509    .data:00000049 KompassSignalSchlecht
  C:\Temp/ccsD8yYp.s:514    .data:0000004b KompassFusion
  C:\Temp/ccsD8yYp.s:519    .data:0000004c CalculateCompassTimer
  C:\Temp/ccsD8yYp.s:526    .bss:00000055 KompassSollWert
  C:\Temp/ccsD8yYp.s:532    .data:0000004d KompassValue
  C:\Temp/ccsD8yYp.s:539    .bss:00000057 Mess_Integral_Hoch
  C:\Temp/ccsD8yYp.s:545    .bss:0000005b SummeRoll
  C:\Temp/ccsD8yYp.s:551    .bss:0000005f SummeNick
  C:\Temp/ccsD8yYp.s:557    .bss:00000063 Mess_Integral_Gier2
  C:\Temp/ccsD8yYp.s:563    .bss:00000067 Mess_Integral_Gier
  C:\Temp/ccsD8yYp.s:569    .bss:0000006b Mess_IntegralRoll2
  C:\Temp/ccsD8yYp.s:575    .bss:0000006f Mess_IntegralRoll
  C:\Temp/ccsD8yYp.s:581    .bss:00000073 Mess_IntegralNick2
  C:\Temp/ccsD8yYp.s:587    .bss:00000077 Mess_IntegralNick
  C:\Temp/ccsD8yYp.s:593    .bss:0000007b Integral_Gier
  C:\Temp/ccsD8yYp.s:599    .bss:0000007f IntegralAccZ
  C:\Temp/ccsD8yYp.s:605    .bss:00000083 IntegralAccRoll
  C:\Temp/ccsD8yYp.s:611    .bss:00000087 IntegralAccNick
  C:\Temp/ccsD8yYp.s:617    .bss:0000008b IntegralRoll2
  C:\Temp/ccsD8yYp.s:623    .bss:0000008f IntegralRoll
  C:\Temp/ccsD8yYp.s:629    .bss:00000093 IntegralNick2
  C:\Temp/ccsD8yYp.s:635    .bss:00000097 IntegralNick
  C:\Temp/ccsD8yYp.s:641    .bss:0000009b ControlHeading
  C:\Temp/ccsD8yYp.s:647    .bss:0000009c NeutralAccZ
  C:\Temp/ccsD8yYp.s:653    .bss:0000009e NaviCntAcc
  C:\Temp/ccsD8yYp.s:659    .bss:000000a0 NeutralAccY
  C:\Temp/ccsD8yYp.s:665    .bss:000000a2 NeutralAccX
  C:\Temp/ccsD8yYp.s:671    .bss:000000a4 StartNeutralNick
  C:\Temp/ccsD8yYp.s:677    .bss:000000a6 StartNeutralRoll
  C:\Temp/ccsD8yYp.s:683    .bss:000000a8 AdNeutralGier
  C:\Temp/ccsD8yYp.s:689    .bss:000000aa AdNeutralRoll
  C:\Temp/ccsD8yYp.s:695    .bss:000000ac AdNeutralNick
  C:\Temp/ccsD8yYp.s:701    .bss:000000ae BaroExpandActive
  C:\Temp/ccsD8yYp.s:706    .text:00000000 CopyDebugValues
                            *COM*:00000002 Mittelwert_AccNick
                            *COM*:00000002 Mittelwert_AccRoll
                            *COM*:00000004 ErsatzKompass
  C:\Temp/ccsD8yYp.s:902    .text:00000254 Piep
  C:\Temp/ccsD8yYp.s:976    .text:000002da CalibrierMittelwert
                            *COM*:00000002 MesswertNick
                            *COM*:00000002 MesswertRoll
                            *COM*:00000002 MesswertGier
  C:\Temp/ccsD8yYp.s:1118   .progmem.data:00000000 __c.35
  C:\Temp/ccsD8yYp.s:1123   .text:0000041c SetNeutral
                             .bss:000000b0 tmpl.27
  C:\Temp/ccsD8yYp.s:1631   .bss:000000b4 tmpl2.28
  C:\Temp/ccsD8yYp.s:1632   .bss:000000b8 tmpl3.29
  C:\Temp/ccsD8yYp.s:1633   .bss:000000bc tmpl4.30
  C:\Temp/ccsD8yYp.s:1634   .bss:000000c0 oldNick.31
  C:\Temp/ccsD8yYp.s:1635   .bss:000000c2 oldRoll.32
  C:\Temp/ccsD8yYp.s:1636   .bss:000000c4 d2Roll.33
  C:\Temp/ccsD8yYp.s:1637   .bss:000000c6 d2Nick.34
  C:\Temp/ccsD8yYp.s:1641   .text:00000988 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/ccsD8yYp.s:3206   .text:000018ec SendMotorData
  C:\Temp/ccsD8yYp.s:3266   .text:00001966 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/ccsD8yYp.s:1638   .bss:000000c8 sollGier.0
  C:\Temp/ccsD8yYp.s:3985   .bss:000000cc tmp_long.1
  C:\Temp/ccsD8yYp.s:3986   .bss:000000d0 tmp_long2.2
  C:\Temp/ccsD8yYp.s:3987   .bss:000000d4 IntegralFehlerNick.3
  C:\Temp/ccsD8yYp.s:3988   .bss:000000d8 IntegralFehlerRoll.4
  C:\Temp/ccsD8yYp.s:3989   .bss:000000dc RcLostTimer.5
  C:\Temp/ccsD8yYp.s:3990   .bss:000000de delay_neutral.6
  C:\Temp/ccsD8yYp.s:3991   .bss:000000df delay_einschalten.7
  C:\Temp/ccsD8yYp.s:3992   .bss:000000e0 delay_ausschalten.8
  C:\Temp/ccsD8yYp.s:3993   .bss:000000e1 move_safety_switch.9
  C:\Temp/ccsD8yYp.s:3994   .bss:000000e2 ausgleichNick.10
  C:\Temp/ccsD8yYp.s:3995   .bss:000000e6 ausgleichRoll.11
  C:\Temp/ccsD8yYp.s:3996   .bss:000000ea stick_nick.12
  C:\Temp/ccsD8yYp.s:3997   .bss:000000ec stick_roll.13
  C:\Temp/ccsD8yYp.s:3998   .bss:000000ee cnt.14
  C:\Temp/ccsD8yYp.s:3999   .bss:000000f0 last_n_p.15
  C:\Temp/ccsD8yYp.s:4000   .bss:000000f1 last_n_n.16
  C:\Temp/ccsD8yYp.s:4001   .bss:000000f2 last_r_p.17
  C:\Temp/ccsD8yYp.s:4002   .bss:000000f3 last_r_n.18
  C:\Temp/ccsD8yYp.s:4003   .bss:000000f4 MittelIntegralNick_Alt.19
  C:\Temp/ccsD8yYp.s:4004   .bss:000000f8 MittelIntegralRoll_Alt.20
  C:\Temp/ccsD8yYp.s:4005   .bss:000000fc HeightTrimming.21
  C:\Temp/ccsD8yYp.s:4006   .bss:000000fe FilterHCGas.22
  C:\Temp/ccsD8yYp.s:4007   .bss:00000100 HoverGasFilter.23
  C:\Temp/ccsD8yYp.s:4012   .data:0000004f delay.24
  C:\Temp/ccsD8yYp.s:4008   .bss:00000104 BaroAtUpperLimit.25
  C:\Temp/ccsD8yYp.s:4014   .bss:00000105 BaroAtLowerLimit.26
  C:\Temp/ccsD8yYp.s:4019   .text:00001f6a 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
AdWertGier
AdWertAccHoch
UBat
Motor
Capacity
ServoNickValue
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